Advanced Strength and Applied Elasticity Fourth Edition Anset C. UcurAL New Jersey Institute of Technology SAuL K. FENSTER New Jersey Institute of Technology i) 43000 PRENTICE HALL Professional Technical Reference Upper Saddle River, New Jersey 07458, | oliSorsoter soe ‘weptricomang cmt va eamed azengb and ape classy/AnselC.Usprat Sel at vase igpctcnene tn Sey mnt tmnt as ee amass iris codetion soperiion Paty Denon (Fae Tiss Compostion (=) {Cover dg dst ty Voi (Rrciesor Gn Cece Bonus ‘aoaactring buyec Nara alae Patlener Berard Good Marke anager Don DsPusua Port sane Mele View [Pulsenios production ager Aone R Geta 2m 5 aon Eaton ne SQ. 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Peston Edenton North Asa Lt HongKong Penton incon Cara, id Toto Deans Etro Menino SAG C¥. ‘eaten Bdeuon pan Tg Paason Edson Malone LA Contents Preface to the Fourth Edition List of Symbols Chapter 1 Analysis of Stress u 2 3 ra us 16 wy rey Introduction Scope of Treatment Definition of Suess Components of Stress: Stress Tensor Some Special Cates of Stress Internal Foree-Resultant and Stress Relations Stresses on lncined Planes in an Axally Loaded Member ‘Variation of Stress within a Body ‘Two-Dimensional Stress ata Point Principal Stresees and Maximum Shear Stress in Two Dimensions ‘Mol’s Cirle for Two-Dimensional Stress ‘Three-Dimensional Stress at a Point Principal Stresses in Three Dimensions Normal and Shear Stresses on an Oblique Plane Moke's Circle for Three-Dimensional Stress Boundary Conditions in Terms of Surface Forces Problems Chapter? Strain ond Stress Strain Relations BSSELERE Introduetion Deformation Stiaia Defnred Equations of Compatibility State of Strain ata Point Engineering Materials Strest-Strain Diagrams Hooke's Law and Poisson's Ratio29 Generalized Hooke’s Law 240. Measurement of Suain: Bonded Strain Gages 2M Strain Energy 2A2 Strain Energy in Common Structural Members 243 Components of Strain Enorgy 244. Saint-Venant’s Principle Problems Chapter 3 Two-Dimensional Problems in Elasticity 31 Introduction 32 Fundamental Principles of Analysis Part A— Formulation and Methods of Solution 33. Plane Strain Problems 34 Plane Stress Problems 35. Airy’ Stress Function 36 Solution of Elasticity Problems 37 Thermal Stresses 38 Basic Relations in Polar Coordinates Part B— Stress Concentrations 39 Stresses Due to Concentrated Loads 3410. Stress Distribution near Concentrated Load Acting on a Beam BLL Stes Concentration Factors 312 Neuber's Diagram BIS Contact Stresses Problems Chapter 4 Failure Criteria 44 Introduction Failure Failure by Yielding Failure by Fracture Yield and Fracture Criteria ‘Maximum Shearing Stress Theory ‘Maximum Distortion Energy Theory (ctahodral Shearing Stress Theory 49° Comparison ofthe Yielding Theories 410 Maximum Principal Stress Theory 411 Mohr's Theory 432 Coulomb-MoheTacory WARS Introductory Fracture Mechanics 414 Faluce Criteria for Metal Fatigue 445 Fatigue Life under Combined Loading 416 Impact or Dynamic Loads 417 Dyzamic and Thermal Effects Problems BeRRECE 158 159 10 18 17 370 ya, vs Chapter 5 Bending of Beams sa 5a 53 34 35 56 37 53 59) 510 Sa saz 53 sus Bus Introduction Part A—Exact Solutions Pure Bending of Beams of Symmetiiesl Cross Section Pure Bending of Beams of Asymmetrical Cross Section Bending ofa Cantilever of Narrow Section Bending ofa Sirply Supported, Narrow Beara Part B— Approximate Solutions Elementary Tacory of Bending Bending and Sheating Stresses tect of Transverse Normal Stress Composite Bears ‘Shear Center Statically Indeterminate Systems ‘Energy Method for Deflection Part C—Curved Beams Exact Solution ‘Tangential Sress Winkler's Theory Combined Tangential and Normal Stresses Probleme Chapter6 Torsion of Prismatic Bars on oa 63 oa 6s 66 or 6s 69 610 Introduction Elementary Theory of Torsion of Cixcular Bars ‘General Solution ofthe Torsion Problem Prandtl’ Stress Function Prandt’s Membrane Analogy “Torsion of Thin-Walled Members of Open Cross Section ‘Torsion of Multiply Connseted Thin-Walled Sections Fluid Flow Analogy and Stress Concentration ‘Torsion of Restrained Thin. Walled Members of Open Cross Section Curved Cireular Bars: Helical Springs Problems (Chapter? Numerical Methods m 2 73 74 7s Tntrodvetion nite Differences Finite Difference Equations ‘Curved Boundaries Boundary Conditions Finite Element Method Properties of a Finite Elemeat Formulation of te Finite Element Method 184 134 ce 188 32 195740 Use of Digital Computers Problems Chapter 8 Axisymmetically Loaded Members 81 Introduction 82 Thick-Wolled Cylinders 83. Maximum Tangential Stress 8A Application of Failure Theories 85 Compound Cylinders 86 Rotating Disks of Constant Thickness 87 Rotating Disks of Variable Thickness 8S Rotating Disks of Uniform Suress 89 Thermal Stresses in Thin Disks ‘810 ‘Thermal Stress in Long Ciscular Cylinders 841 Fite Element lation 812 Formulation of Axisymmetsic Element Problems Chapter Beams on Elastic Foundations Wo Insoiton 32 Guna Tey 23 Tntnte Bese Wey 24 Sole Beams 3S Fie Bane: Caretin of oan 36 Beams Supposed y Bay Space laste Eemonts 7 _Sinpned Sao fo Relay Sf Bess 38 Sonn by ints Diterences 93 Appice Pilea Chapter 10. Energy Methods 104 Introduction 102 Work Done in Deformation 303 Reciprocity Theorem Castigliano's Theorem Unit or Dummy Load Method Crotti-Engesser Theorem Statically netermanate Systems Principe of Vial Work Principle of Minimum Potential Energy ‘Application of Trigonometrc Series Rayleigh-Ritz Method Problems S38 au 314 ais 325 333 336 3a 309 9 350 355 359 361 30 364 369 309 30 378 conten Chapter 11 Blastie Stability ut m2 n3 ua us 16 uz us n9 110 aun Introduction Critical Load Buckling of a Columa End Conditions Citical Stress in @ Cofumn Allowable Stress Initially Curved Members Eccentrially Loaded Columns: Secant Formula, Energy Methods Applied to Buckling Solution by Finite Ditferences Finite Difeence Solution for Uneventy Spaced Nodes Chapter 12. Plastic Behavior of Materials wa 22 23 a ws 26 27 2B 29 210 po me Introduction Plastic Deformation “True StressTrue Strain Curve in Simple Tension Instability in Simple Tension Plastic Deflection of Beams Analysis of Perfectly Plastic Beams Collapse Load of Structures Elastic-Plastic Torsion Elastic-Plastic Stresses in Rotating Disks Plastic Strose-Strain Relations Plastic Siress-Strain Increment Relations Suesscs in Perfectly Past Thick-Walled Cylinders Problems Chapter 13 Plates and Shells BEE BEREREEEE i Part A~—Dending of Thin Paes Bac Assimptions Strain-Curvatre Relations Stress, Curvature and Moment Relations (Governing Equations of Pate Deflection Boundary Conditions Simply Supported Rectangular Pls Aina owed ear Pate ion of Retongl Plates y the Sain Energy Me Finite Element Solution ° “e Method Part B—embrane Stresses in Thin Shells Batic Asmptions Simple Membrane Action Symmetry Loaded Sel of Revotton 413 a 888 88 5 45 a8 & 40 485 a or 91 3“i 1343. Some Comaton Cases of Shells of Revolution 4314 Cylindrical Shells of General Shape Problems AnpendicA Indical Notation Appendix B Solution ofthe Stress Cubie Equation Bal Principal stresses B2 Direction Cosines Appendix € Moments of Composite Areas CA Controid €2 Moments of Inertia €3 Paralic-AxisTheotem CA. Principal Moments of Inertia Appendix D Tables Dai _ Average Propertcs of Common Engineering Materials D2 Conversion Factors SI Units to US. Customary Units D3 Si Unit Prefixes DA _Deflections and Slopes of Beams References Answers to Selected Problems Index 495 ar 503 50s 506 s10 S19 33 sue 3 524 36 526 527 sa sa cones Preface to the Fourth Edition INTRODUCTION ‘This text is a development of classroom notes prepared in connection with ad vanced undergraduate and first-year graduate courses in clatcity and the mechan ics of solids. I is designed to satisfy the requirements of eourscs subsequent to an elementary tcatment of the strength of materials. In addition to its applicability 10 ‘cronautical, civil, and mechanical engineering and to engineering mechanics cure ricula, the authors have endeavored to make the text useful to practicing engineers Enmiphasi is given to numerical techniques (whieh lend themselves to computer tion) inthe solution of problems resisting analyica reatment The sos placed on ‘sumerical solutions is not intended to deny the value of classical analysis, which is given a rather full treatment. Ir instead attempt to fill what the authors believe to be a void in the world of textbooks. ‘An effort has been made to present balance between the theory necessary 10 sn insight into the mechanics, but which can often offer no more than crude ap- proximations to real problems because of simplifications related to geometry and Conditions of toading, and numerieal solutions, which are so useful in presenting, stress analysis in a more realistic setting. The authors have thus attempted to emt phasize those aspects of theory and application that prepare a student for more ad- ‘Yanoed study or for professional practice in design and analysis. ‘The theory of elasticity plays three important roles inthe text: I provides exact solutions where the configurations of loading and boundary are roativly simple it provides a check on the limitations ofthe mechanics of materials approach; and it se0ves asthe basis of approximate solutions employing aumerical analysis. ‘To make the text as clear as posible, atention is given to the presentation of the fundamentals of the mechanics of materiale. The phytical significance ofthe so lutions and practical applications are given emphasic The authars have macie x spe ial effort to illustrate important principles and applications with numerical cxamples. Consistent with announced national policy, problems are included in the text in whieh the physical quantities are expressed in the International System of Units ($1). All important quantities ae defined in both SI and US. Customary Sys tem of units A sign convention, consistent with veetor mechanic, is employedthroughoat for loads internal foros and streses This convention conforms to that ‘used in most classical strength of materials and elasticity texts, as well as to that ‘most often employed in the numerical analysis of complex structures. ‘TEXT ARRANGEMENT Becaust of the extensive subdivision into a variety of topics and the employment of alternative methods of analysis, the text should provide flexibility in the choice of assignments to cover courses of varying length and content. Most chapters are sub- ‘Stantaly seltcontained, Hence the order of presentation can be smoothly altered to meet an instructors preference Its suggested, however, that Chapters 1 and 2, ‘hich address the analysis of basic concepts, should be studied first. The emphasis placed on the treatment of two-dimensional problems in elasticity (Chapter 3) may Sitter sccording tothe scope ofthe cours. “This fourth edition of Advanced Strength and Applied Blastcty seeks to pre- serve the objectives and emphases of the previous editions. Every effort has been tmade to provide a more complete and current text through the inclusion of new material dealing with the fundamental principles of stress analysis failure criteria; fracture mechanies, compound cylinders, numerical methods, energy and vari- tional methods; buckling of stepped columns; and common shell types. The entire text has been reexamined and maay improvements have been made throughout by 1 process of elimination and rearrangement. Some sections have been expanded 19 improve on previous expositions. "The references, provided as en aid tothe student who wishes to purse further certain expects ofa subject, have been updated and identified at the end of the text. Thave resisted the tomptation to increase the material covered except where ab- solutely necessary. However, it was considered desirable to add a number of illus- trative examples and a large numberof problems important in engineering practice and design, Most changes in subject-matter coverage were prompted by the sugges- ions of faculty familiar with earlier editions. 'As before its hoped that I ave maintained larity of presentation, simplicity asthe subject permits, unpretentious depth an effort to encourage intuitive under- Standing, and 4 shunning ofthe irrelevant. In this context, as throughout, emphasis is placed on the we of fundamental in order to build student understanding and an ability to solve the more complex problems. SUPPLEMENT ‘The books accompanied by a Solutions Manual available to instructors It features complete solutions to all problems in the text. Answers to selected problems are given atthe end af the book, Preface he Fourth Eaton ACKNOWLEDGMENTS Its particular pleasure to acknowledge the contributions of those who assisted the authors in the evaluation of the text. Thanks, of course, are due to the many readers who have contributed goneral ideas and to reviewers who have made de~ tailed comments on previous editions, Thess particularly include the fllowing:F Freudenstein, Columbia University; R. A. Scot, University of Michigan; MW. Wilcox and ¥. Chan Jian, Souther Methodist University; CT: Sun, University of| Florida; B. Koplik, 1. Kountouras,K.A. Nath, R, Sodhi, and C. E, Wilson, New Jer- sey Institute of Technology; H. Smith, J, South Dakota School of Mines and Tech= ‘ology; B.P. Gupta, Gannoo University, Bang, University of Notre Dame; B Koo, University of Toledo: 1. Easley, University of Kansas; A. Bailey, North Caroling State University, W. F Wright, Vanderbilt University; R. Burks SUNY Maritime College; G. E. 0: Widera, University of Minois|R. H. Kobke, University of South Caroling; B. M. Kwak, University of Jowa: G. Nadig, Widener University: R. L. Brown, Montana State University; 8H. Advani, West Vitgnia University; E. Nas sat Ilinois Institute of Technology; R.£.Sann, Stevens Insitute of Technology; C. (0.Smith, University of Nebraska: ! Kempner, Polytechnic University of New York, and P.C.Prister, North Dakota Stato University, Accuracy checking of tve problems and typing of Solutions Manual were done ‘expertly and with considerable care by Dr. Younglin Chung. I am grateful to him for his hard work. Iam deeply indebted to my colleagues who have found the text ‘seful through the years and to Bernard Goodwin, publisher of Prentice Hill PTR, ‘who has encouraged the preparation ofthis edition. Copy editing and production were handled skliully by the staff of Pine Tree Composition, Tne. and Prentice Hall Their professional help is appreciated. A.C Upural Holmdel NI Pret the Fourth Elton‘About Prentice Hall Professional Technical Reference ith oii reaching backto the industry's fist computer scence publishing progam Inthe 3960s, and formally aunched a sown impntn 986, Prentice Hal Professional “Technical Reference (PH PTR) has developed inte the leading prvider of tectnical books inthe word toca. Our eltor now publish aver 200 books annual authored by leaders nthe es of computing, engineerin, and business. (ur res are fly planted inthe soll that gave ise 1 the technical revolution ‘urbookshat contain many of theindustys computing acengineeting asses: Kemighan and tcie’ C Programming Language, Nemath’s UND Systm ‘Adminstration Handbook, Mosiman" Core ove, 38 Johnsons High Spee Digital Desi, PH PTR seknowadges its auspeous beginnings whileitloks tothe future for inspiration. Ve continu to avbve and break ner grourdin. publishing by proving ody professionals ith tomorrows Soltons. AST TROg Tt AMMAgol ASD "SB List of Symbols ict carry-over factor, torsonslvigidty distance om neutral axis to outer fiber distribution factor. flexural rigidity of plate elasticity mateix diameter, distance ‘modulus of elasticity ia tension or compression ‘modulus of plasticity or secant modulus tangent modulus dllatation, distance, covenriity body feree per unit volume, concentrated forse ssplacement function of finite element ‘modulus of elasticity in shear Acceleration of gravity (W9.81 mis!) ‘depth of bear, height, membrane deflection, mesh width moment of inertia of area, stress invariant Polar moment of inertia of area, strain invariant bulk modulus spring constant of an elastic suppor, stiffness factor, ther: mal conductivity fatigue factor, strength coefficient stiffness matrix of whole structure ‘constant, modulus of elastic foundation, spring constant, stress concentra- tion factor stiffness matrix of finite clement lent, span moment twisting moment in plates moment caused by uni toad {fatigue lile (cycles), force actor of safety, number, strain hardeing index direction cosines concentrated forceo> geet at gto NEES & ee gesae Ret anager ue discbued oa pr unit length oes, restr, es eta finumorent fee ef pd Ut length shang force sl foes matzo hte elemest fad seacton ‘aston modula tear center fetes gyration polar cordate nee lng in ra cirve teevpraure tig couple or rgue tienes Sualn energy Sin eey per unit volume compliant energy Stoning for volume veo eve wore Component of dpisement plane srouon modula eared eam fetor feoangular coordinates gle coelticient of hemal expansion, form factor fo shear ometeliacorge sect ape Sar sin eign per nit volume or specie weight an atten, fate ference operator, varatioal symbol, placement nod dapiacement matrix of fnite leat, hang ofa neon oral sla Engi ang of twist prot egth lope Polson ratio hal lead factor, Lam constant potential eneray sty oes per wit volume), reins oral tes shear ates total angle of wit sss faction ingle velocty seam funtion Lief Symbols CHAPTER 1 Analysis of Stress 14 INTRODUCTION “The basic structure of matter is characterized by nontniormity and discontinuity attributable to its various subdivisions: molecules, atoms, and subatomic partcis, ‘Our concern inthis text isnot with the particulate structure, however, and it wil be assumed that the matier with which we are concerned is homogeneous and Continuously distributed over its volume. There isthe clear implication in uch an approach thatthe smallest element cut from the body possesses the same proper ties as the body. Random fluctuations inthe properties ofthe material are thus of no consequence. This approach is that of continuum mechanics, ia which solid elas- tic materials are treated as though they are continoous media, rather than com- posed of discrete molecules. Of the states of matter, we are here concerned only ‘ith the soli, with its ability to maintain its shape without the need of a container and to resist continuous shear, tension, and compression. In contrast with cigi-body statics and dynamics, which treat the external be- havior of bodies (that is, the equilibrium and motion of bodies without regard to ‘small deformations associated with the application of load), the mechanics of slide is concerned withthe relationships of external effect (forces and moments) to ternal stresses and strains Two different approaches used in solid mechanics are the ‘mechanics of materials or elementary theory (aso called the technical theory) and the theory of elatctty. The mechanics of materials focuses mainly on the mote or less approximate solutions of practical probloms On the other hand, the theory of