ENGINEERING MECHANICS

Engineering Mechanics
Volume 2: Stresses, Strains, Displacements

by

C. HARTSUIJKER
Delft University of Technology, Delft, The Netherlands
and

J.W. WELLEMAN
Delft University of Technology, Delft, The Netherlands

A C.I.P. Catalogue record for this book is available from the Library of Congress.

ISBN 978-1-4020-4123-5 (HB)

ISBN 978-1-4020-5763-2 (e-book)

Published by Springer,
P.O. Box 17, 3300 AA Dordrecht, The Netherlands.
www.springer.com

This is a translation of the original Dutch work Toegepaste Mechanica, Deel 2: Spanningen, Vervormingen, Verplaatsingen, 2001,
Academic Service, The Hague, The Netherlands.

Printed on acid-free paper

All Rights Reserved

2007 Springer
No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming,
recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and
executed on a computer system, for exclusive use by the purchaser of the work.

Table of Contents

Preface
Foreword

ix
xiii

1
1.1
1.2
1.3

Material Behaviour
Tensile test
Stress-strain diagrams
Hookes Law

1
1
5
11

2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9

Bar Subject to Extension

The fibre model
The three basic relationships
Strain diagram and normal stress diagram
Normal centre and bar axis
Mathematical description of the extension problem
Examples relating to changes in length and displacements
Examples relating to the differential equation for extension
Formal approach and engineering practice
Problems

15
16
18
24
26
30
34
45
52
54

3
3.1
3.2
3.3
3.4
3.5

Cross-Sectional Properties
First moments of area; centroid and normal centre
Second moments of area
Thin-walled cross-sections
Formal approach and engineering practice
Problems

71
74
91
121
132
135

4
4.1
4.2
4.3
4.4
4.5

Members Subject to Bending and Extension

The fibre model
Strain diagram and neutral axis
The three basic relationships
Stress formula and stress diagram
Examples relating to the stress formula for bending with
extension
Section modulus
Examples of the stress formula related to bending without
extension
General stress formula related to the principal directions
Core of the cross-section

151
153
155
157
168

4.6
4.7
4.8
4.9

171
184
186
198
203

vi

ENGINEERING MECHANICS. VOLUME 2: STRESSES, DEFORMATIONS, DISPLACEMENTS

4.10 Applications related to the core of the cross-section

4.11 Mathematical description of the problem of bending with
extension
4.12 Thermal effects
4.13 Notes for the fibre model and summary of the formulas
4.14 Problems

208
219
223
228
234
271
272

5.5
5.6
5.7
5.8

Shear Forces and Shear Stresses Due to Bending

Shear forces and shear stresses in longitudinal direction
Examples relating to shear forces and shear stresses in
the longitudinal direction
Cross-sectional shear stresses
Examples relating to the shear stress distribution in a
cross-section
Shear centre
Other cases of shear
Summary of the formulas and rules
Problems

6
6.1
6.2
6.3
6.4
6.5
6.6

Bar Subject to Torsion

Material behaviour in shear
Torsion of bars with circular cross-section
Torsion of thin-walled cross-sections
Numerical examples
Summary of the formulas
Problems

411
412
415
426
445
468
471

5
5.1
5.2
5.3
5.4

7
7.1
7.2

Deformation of Trusses
The behaviour of a single truss member
Williot diagram

282
300
310
367
377
382
385

483
484
487

7.3
7.4
7.5

Williot diagram with rigid-body rotation

WilliotMohr diagram
Problems

504
514
521

8
8.1
8.2
8.3
8.4
8.5
8.6

Deformation Due to Bending

Direct determination from the moment distribution
Differential equation for bending
Forget-me-nots
Moment-area theorems
Simply supported beams and the M/EI diagram
Problems

541
543
557
576
598
633
648

9
9.1
9.2
9.3
9.4
9.5

Unsymmetrical and Inhomogeneous Cross-Sections

Sketch of the problems and required assumptions
Kinematic relationships
Curvature and neutral axis
Normal force and bending moments centre of force
Constitutive relationships for unsymmetrical and/or
inhomogeneous cross-sections
Plane of loading and plane of curvature neutral axis
The normal centre NC for inhomogeneous cross-sections
Stresses due to extension and bending a straightforward
method
Applications of the straightforward method
Stresses in the principal coordinate system alternative
method
Transformation formulae for the bending stiffness tensor
Application of the alternative method based on the
principal directions
Displacements due to bending

679
679
682
686
690

9.6
9.7
9.8
9.9
9.10
9.11
9.12
9.13

695
701
706
714
715
734
736
752
761

Table of Contents

Maxwells reciprocal theorem

Core of a cross-section
Thermal effects
Shear flow and shear stresses in arbitrary cross-sections
shear centre
9.18 Problems

809
845

Index

865

9.14
9.15
9.16
9.17

773
777
791

vii

Preface

This Volume is the second of a series of two:

Volume 1: Equilibrium
Volume 2: Stresses, deformations and displacements

These volumes introduce the fundamentals of structural and continuum

mechanics in a comprehensive and consistent way. All theoretical developments are presented in text and by means of an extensive set of figures.
Numerous examples support the theory and make the link to engineering
practice. Combined with the problems in each chapter, students are given
ample opportunities to exercise.
The book consists of distinct modules, each divided into sections which are
conveniently sized to be used as lectures. Both formal and intuitive (engineering) arguments are used in parallel to derive the important principles.
The necessary mathematics is kept to a minimum however in some parts
basic knowledge of solving differential equations is required.
The modular content of the book shows a clear order of topics concerning
stresses and deformations in structures subject to bending and extension.
Chapter 1 deals with the fundamentals of material behaviour and the intro-

duction of basic material and deformation quantities. In Chapter 2 the fibre

model is introduced to describe the behaviour of line elements subject to extension (tensile or compressive axial forces). A formal approach is followed
in which the three basic relationships (the kinematic, constitutive and static
relationships) are used to describe the displacement field with a second
order differential equation. Numerous examples show the influence of the
boundary conditions and loading conditions on the solution of the displacement field. In Chapter 3 the cross-sectional quantities such as centre of
mass or centre of gravity, centroid, normal (force) centre, first moments of
area or static moments, and second moments of area or moments of inertia
are introduced as well as the polar moment of inertia. The influence of the
translation of the coordinate system on these quantities is also investigated,
resulting in the parallel axis theorem or Steiners rule for the static moments
and moments of inertia. With the definitions of Chapters 1 to 3 the complete
theory for bending and extension is combined in Chapter 4 which describes
the fibre model subject to extension and bending (EulerBernoulli theory).
The same framework is used as in Chapter 2 by defining the kinematic,
constitutive and static relationships, in order to obtain the set of differential
equations to describe the combined behaviour of extension and bending. By

ENGINEERING MECHANICS. VOLUME 2: STRESSES, DEFORMATIONS, DISPLACEMENTS

choosing a specific location of the coordinate system through the normal

(force) centre, we introduce the uncoupled description of extension and
bending. The strain and stress distribution in a cross-section are introduced
and engineering expressions are resolved for cross-sections with at least
one axis of symmetry. In this chapter also some special topics are covered
like the core of a cross-section, and the influence of temperature effects.
For non-constant bending moment distributions, beams have to transfer
shear forces which will lead to shear stresses in longitudinal and transversal
section planes. Based on the equilibrium conditions only, expressions for
the shear flow and the shear stresses will be derived. Field of applications
are (glued or dowelled) interfaces between different materials in a composite cross-section and the stresses in welds. Special attention is also given to
thin-walled sections and the definition of the shear (force) centre for thinwalled sections. This chapter focuses on homogeneous cross-sections with
at least one axis of symmetry. Shear deformation is not considered.
Chapter 6 deals with torsion, which is treated according to the same concept
as in the previous chapters; linear elasticity is assumed. The elementary
theory is used on thin-walled tubular sections. Apart from the deformations
also shear stress distributions are obtained. Special cases like solid circular
sections and open thin-walled sections are also treated.
Structural behaviour due to extension and or bending is treated in Chapters 7 and 8. Based on the elementary behaviour described in Chapters 2 and
4 the structural behaviour of trusses is treated in Chapter 7 and of beams in
Chapter 8. The deformation of trusses is treated both in a formal (analytical)
way and in a practical (graphical) way with aid of a relative displacement
graph or so-called Williot diagram. The deflection theory for beams is
elaborated in Chapter 8 by solving the differential equations and the introduction of (practical) engineering methods to obtain the displacements
and deformations based on the moment distribution. With these engineering

formulae, forget-me-nots and moment-area theorems, numerous examples

are treated. Some special cases like temperature effects are also treated in
this chapter.
Chapter 9 shows a comprehensive description of the fibre model on unsymmetrical and or inhomogeneous cross-sections. Much of the earlier
presented derivations are now covered by a complete description using
a two letter symbol approach. This formal approach is quite unique and
offers a fast and clear method to obtain the strain and stress distribution
in arbitrary cross-sections by using an initially given coordinate system
with its origin located at the normal centre of the cross-section. Although a
complete description in the principal coordinate system is also presented, it
will become clear that a description in the initial coordinate system is to be
preferred. Centres of force and core are also treated in this comprehensive
theory, as well as the full description of the shear flow in an arbitrary crosssection. The last part of this chapter shows the application of this theory
on numerous examples of both inhomogeneous and unsymmetrical crosssections. Special attention is also given to thin-walled sections as well as
the shear (force) centre of unsymmetrical thin-walled sections which is of
particular interest in steel structures design.
This latter chapter is not necessarily regarded as part of a first introduction
into stresses and deformations but would be more suitable for a second or
third course in Engineering Mechanics. However, since this chapter offers
the complete and comprehensive description of the theory, it is an essential
part of this volume.
We do realise, however, that finding the right balance between abstract
fundamentals and practical applications is the prerogative of the lecturer.
He or she should therefore decide on the focus and selection of the topics
treated in this volume to suit the goals of the course in question.

Preface

The authors want to thank especially the reviewer Professor Graham M.L.
Gladwell from the University of Waterloo (Canada) for his tedious job to
improve the Dutch-English styled manuscript into readable English. We
also thank Jolanda Karada for her excellent job in putting it all together
and our publisher Nathalie Jacobs who showed enormous enthusiasm and
patience to see this series of books completed and to have them published
by Springer.
Coenraad Hartsuijker
Hans Welleman
Delft, The Netherlands
July 2007

xi

Foreword

Structural or Engineering Mechanics is one of the core courses for new

students in engineering studies. At Delft University of Technology a joint
educational program for Statics and Strength of Materials has been developed by the Koiter Institute, and has subsequently been incorporated in
the curricula of faculties like Civil Engineering, Aeronautical Engineering,
Architectural Engineering, Mechanical Engineering, Maritime Engineering
and Industrial Design.
In order for foreign students also to be able to benefit from this program an English version of the Dutch textbook series written by Coenraad
Hartsuijker, which were already used in most faculties, appeared to be necessary. It is fortunate that in good cooperation between the writers, Springer
and the Koiter Institute Delft, an English version of two text books could
be realized, and it is believed that this series of books will greatly help the
student to find his or her way into Engineering or Structural Mechanics.
Indeed, the volumes of this series offer some advantages not found
elsewhere, at least not to this extent. Both formal and intuitive approaches
are used, which is more important than ever. The books are modular and can
also be used for self-study. Therefore, they can be used in a flexible manner

and will fit almost any educational system. And finally, the SI system is
used consistently. For these reasons it is believed that the books form a
very valuable addition to the literature.
Ren de Borst
Scientific Director, Koiter Institute Delft