M.

Vable

Intermediate Mechanics of Materials: Chapter 7

Energy Methods
Minimum-energy principles are an alternative to statement of equilibrium equations.
Displacements

Ki

ne

ma

tic

External
Forces
and
Moments

dels

Mat

ium

eria

ilibr

l Mo

Equ

ds

etho

M
rgy

Ene

Strains

Internal
Forces
and
Moments

Static Equivalency
Stresses
3

The learning objectives in this chapter is:

Understand the perspective and concepts in energy methods.

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

Strain Energy
The energy stored in a body due to deformation is called the strain
energy.
The strain energy per unit volume is called the strain energy density
and is the area underneath the stress-strain curve up to the point of
deformation.

Uo = Complimentary strain energy den

A

dUo = d
d

Uo = Strain energy density

d
Strain Energy:

dUo = d
U =

Uo

dV [

Strain Energy Density:

Units:

Uo =

N-m / m3, Joules / m3, in-lbs / in3, or ft-lb/ft.3

Complimentary Strain Energy Density: U o =

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

Linear Strain Energy Density

1
E
Uniaxial tension test: U o = d = ( E ) d = --------- = ---
2
2
1
U o = ---
2
Strain energy and strain energy density is a scaler quantity.
1
U o = --- [ xx xx + yy yy + zz zz + xy xy + yz yz + zx zx ]
2
1-D Structural Elements
A
y
x
z
dV=Adx

dx

Axial strain energy

All stress components except xx are zero.
xx = E xx
UA

1 2
= --- E xx dV =
2
V

UA =

xx =

du
( x)
dx

1 du 2
--2- E d x d A dx =

L A

U a dx
L

1 du 2
--E d A dx
2 d x
A

du 2
1
U a = --- EA
2 d x

Ua is the strain energy per unit length.

UA =

U a dx
L

1N
U a = --- ------2 EA

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

Torsional strain energy

All stress components except x in polar coordinate are zero
x = G x
UT =

1 2
--2- G x dV =

L A

UT =

1 d 2
2
--G d A d x
2 d x
A

d 2
1
U t = --- GJ
2 d x

U t dx
L

d
( x)
dx

1 d 2
--2- G d x d A dx =

x =

Ut is the strain energy per unit length.

2

1T
U t = --- ------2 GJ

U t dx

UT =

Strain energy in symmetric bending about z-axis

There are two non-zero stress components, xx and xy.
2

xx = E xx

UB

1 2
= --- E xx dV =
2
V

xx = y
2

dv
dx

1 d v
--2- E y d x2 d A dx =

L A

2
2

1d v
--- 2
2d x
2

UB =

Ub

dx

Ub

d v
1
= --- E I zz 2
2
d x

Ey

d A dx

where Ub is the bending strain energy per unit length.

2

UB =

Ub
L

dx

Ub

1Mz
= --- ----------2 E I zz

The strain energy due to shear in bending is:

US =

1
--2- xy xy dV =

As

max max

1 xy
- dV
--2- -----E

Us UB

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

Table 7.1 Energy densities

Strain energy density per
unit length

Complimentary strain
energy density per unit
length

Axial

1 du 2
U a = --- EA
2 d x

1N
U a = --- ------2 EA

Torsion of circular shafts

1 d 2
U t = --- GJ
2 d x

1T
U t = --- ------2 GJ

Symmetric
bending of
beams

d v
1
U b = --- E I zz

2
d x2

1 Mz
U b = --- ----------2 E I zz

7-5

M. Vable

Intermediate Mechanics of Materials: Chapter 7

Work
If a force moves through a distance, then work has been done by the
force.
dW = Fdu

Work done by a force is conservative if it is path independent.

Non-linear systems and non-conservative systems are two independent
description of a system.
Loading Mode

Work
P

W = Pu L

uL

p(x)

W =

p ( x )u ( x ) dx
0

u(x)
T

W = T L

t (x)

W =

t ( x ) ( x ) dx
0

( x)

W = Pv L

vL
P

=
M

dv
dx

W = M L
L

v(x)

W =

p ( x )v ( x ) dx
0

p(x)

Any variable that can be used for describing deformation is called the
generalized displacement.
Any variable that can be used for describing the cause that produces
deformation is called the generalized force.

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

Virtual Work
Virtual work methods are applicable to linear and non-linear systems,
to conservative as well as non-conservative systems.
The principle of virtual work:
The total virtual work done on a body at equilibrium is zero.
W = 0
Symbol will be used to designate a virtual quantity
W ext = W int
Types of boundary conditions
y Displacement and rotation specified
at this end
T
Px

Internal forces and moment specified

at this end to meet equilibrium
Vy
T
T
N
Px
Mz

Py

Kinematic variable
(Primary variable)
u

M
or

or

or

dv
dx

or

Py
Statical variable
(Secondary variable)
N
T
Vy
Mz

Geometric boundary conditions (Kinematic boundary conditions)

(Essential boundary conditions):
Condition specified on kinematic (primary) variable at the boundary.
Statical boundary conditions
(Natural boundary conditions)
Condition specified on statical (secondary)variable at the boundary.

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

Kinematically admissible functions

Functions that are continuous and satisfies all the kinematic boundary
conditions are called kinematically admissible functions.
actual displacement solution is always a kinematically admissible
function
Kinematically admissible functions are not required to correspond to
solutions that satisfy equilibrium equations.
Statically admissible functions
Functions that satisfy satisfies all the static boundary conditions, satisfy equilibrium equations at all points, and are continuous at all points
except where a concentrated force or moment is applied are called
statically admissible functions.
Actual internal forces and moments are always statically admissible.
Statically admissible functions are not required to correspond to solutions that satisfy compatibility equations.
7.3
Determine a class of kinematically admissible displacement
functions for the beam shown in Fig. P7.3.
w
A

B
L

wL2

C
L

Fig. P7.3
7.4
For the beam and loading shown in Fig. P7.3 determine a statically admissible bending moment.

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

Virtual displacement method

The virtual displacement is an infinitesimal imaginary kinematically
admissible displacement field imposed on a body.
actual displacement

x
kinematically admissible displacement
v = virtual displacement

Of all the virtual displacements the one that satisfies the virtual work
principle is the actual displacement field.
Virtual Force Method
The virtual force is an infinitesimal imaginary statically admissible
force field imposed on a body.
Of all the virtual force fields the one that satisfies the virtual work
principle is the actual force field.

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M. Vable

Intermediate Mechanics of Materials: Chapter 7

7.7
The roller at P shown in Fig. P7.7 slides in the slot due to the
force F = 20kN. Both bars have a cross-sectional area of A = 100 mm2
and a modulus of elasticity E = 200 GPa. Bar AP and BP have lengths of
LAP= 200 mm and LBP= 250 mm respectively. Determine the axial stress
in the member AP by virtual displacement method.
B

110o

Fig. P7.7
7.8
A force F = 20kN is appled to pin shown in Fig. P7.8. Both
bars have a cross-sectional area of A = 100 mm2 and a modulus of elasticity E = 200 GPa. Bar AP and BP have lengths of LAP= 200 mm and
LBP= 250 mm respectively. Using virtual force method determine the
movement of pin in the direction of force F.
B

110o
P

40o
F

Fig. P7.8

7-10