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1. Shear force and bending moment
diagrams
Internal Forces in solids
Sign conventions
• Shear forces are given a special symbol on
y
V
1
2
and
z
V
• The couple moment along the axis of the member is
given
x
M T = =Torque
y z
M M = =bending moment.
Solid Mechanics
We need to follow a systematic sign convention for
systematic development of equations and reproducibility of
the equations
The sign convention is like this.
If a face (i.e. formed by the cutting plane) is +ve if its outward
normal unit vector points towards any of the positive coordinate
directions otherwise it is –ve face
• A force component on a +ve face is +ve if it is directed
towards any of the +ve coordinate axis direction. A force
component on a –ve face is +ve if it is directed towards any of
the –ve coordinate axis direction. Otherwise it is –v.
Thus sign conventions depend on the choice of coordinate
axes.
Shear force and bending moment diagrams of beams
Beam is one of the most important structural components.
• Beams are usually long, straight, prismatic members and
always subjected forces perpendicular to the axis of the beam
Two observations:
(1) Forces are coplanar
Solid Mechanics
(2) All forces are applied at the axis of the beam.
Application of method of sections
What are the necessary internal forces to keep the segment of
the beam in equilibrium?
x
y
z
F P
F V
F M
¿ = ¬
¿ = ¬
¿ = ¬
0
0
0
• The shear for a diagram (SFD) and bending moment
diagram(BMD) of a beam shows the variation of shear
Solid Mechanics
force and bending moment along the length of the
beam.
These diagrams are extremely useful while designing the
beams for various applications.
Supports and various types of beams
(a) Roller Support – resists vertical forces only
(b) Hinge support or pin connection – resists horizontal and
vertical forces
Hinge and roller supports are called as simple supports
(c) Fixed support or builtin end
Solid Mechanics
The distance between two supports is known as “span”.
Types of beams
Beams are classified based on the type of supports.
(1) Simply supported beam: A beam with two simple supports
(2) Cantilever beam: Beam fixed at one end and free at other
(3) Overhanging beam
(4) Continuous beam: More than two supports
Solid Mechanics
Differential equations of equilibrium
[ ]
x
F Σ = →+ 0
y
F Σ
(
= ↑ +
¸ ¸
0
V V V P x
V P x
V
P
x
∆ ∆
∆ ∆
∆
∆
+ − + =
= −
= −
0
x
V dV
P
x dx
lim
∆
∆
∆
→
= = −
0
[ ]
A
P x
M V x M M M
∆
Σ ∆ ∆ = − + + − =
2
0 0
2
P x
V x M
M P x
V
x
∆
∆ ∆
∆ ∆
∆
+ − =
+ − =
2
0
2
0
2
Solid Mechanics
x
M dM
V
x dx
lim
∆
∆
∆
→
= = −
0
From equation
dV
P
dx
= − we can write
D
C
X
D C
X
V V Pdx − = −
}
From equation
dM
V
dx
= −
D C
M M Vdx − = −
}
Special cases:
Solid Mechanics
Solid Mechanics
Solid Mechanics
Solid Mechanics
( ) ( ) x ≤ ≤ − 0 2 1 1
A B
V
V
V ; V
− =
=
= =
5 0
5
5 5
( ) ( )
( )
( )
( )
B C
x
V . x
V . x
V ; V
. x
x .
≤ ≤ −
− + − − =
= − + −
= − =
− + − =
¬ =
2 6 2 2
5 30 7 5 2 0
5 30 7 5 2
25 5
25 7 5 2 0
5 33
( ) ( )
C D
x
V
V
V ; V
≤ ≤ −
− + − − =
= +
= + = +
6 8 3 3
5 30 30 10 0
15
15 15
( ) ( )
D E
x
V
V
V
V ; V
≤ ≤ −
− + − − + =
+ =
= −
= − = −
8 10 4 4
5 30 30 10 20 0
5 0
5
5 5
x ( ) ( )
x ( ( )
x ( ) ( )
x ( ) ( )
≤ ≤ − −
≤ ≤ − −
≤ ≤ − −
≤ ≤ − −
0 2 1 1
2 6 2 2
6 8 3 3
8 10 4 4
Solid Mechanics
Problems to show that jumps because of concentrated force
and concentrated moment
( ) ( )
A B
x
M x
M x
M ; M
≤ ≤ − −
− + =
= − +
= + =
0 2 1 1
10 5 0
5 10
10 0
( ) ( )
( )
( )
( )
( )
E
x .
C
x
x
. x
M x x
. x
M x x
M .
M
=
=
≤ ≤ − −
−
− + − − + =
−
= − + − −
= +
=
2
2
5 33
6
2 6 2 2
7 5 2
10 5 30 2 0
2
7 5 2
10 5 30 2
2
41 66
40
( ) ( ) [ ]
( ) ( ) ( )
C
x
D
x
x C D
M x x x x
M
M
=
=
≤ ≤ − − −
− + − − + − + − + =
= +
= −
6
8
6 8 3 3
10 5 30 2 30 4 10 6 20 0
20
10
[ ] ( ) ( )
( ) ( ) ( ) ( )
E
x
x D E
M x x x x x
M
=
≤ ≤ − −
− + − − + − + − + − − =
=
8
8 10 4 4
10 5 30 2 30 4 10 6 20 20 8 0
0
Solid Mechanics
We can also demonstrate internal forces at a given section
using above examples. This should be carried first before
drawing SFD and BMD.
[ ] x A B ≤ ≤ − 0 2
Solid Mechanics
A
B
V
V
V
V
− =
=
=
=
5 0
5
5
5
A B
M x
M x
M ; M
− + =
= −
= =
10 5 0
10 5
10 0
[ ] x B C ≤ ≤ − 2 6
( )
( )
( )
B C
V . x
V . x
V ; V
. x
x .
− + − − =
= − + −
= − =
− + − =
=
5 30 7 5 2 0
7 5 2 5 30
25 5
25 7 5 2 0
5 33
( )
( )
C
E
B
x
M x x .
x
M
M x . .
x
M
−
− + − − + =
=
=
= =
=
=
2
2
10 5 30 2 7 5 0
2
6
40
5 33 41 66
2
0
[ ] x C D ≤ ≤ − 6 8
C D
V
V
V , V
− + − − =
=
= =
5 30 10 30 0
15
15 15
Solid Mechanics
[ ] x D E ≤ ≤ − 8 10
D E
V
V
V , V
− + − − + =
= −
= − = −
5 30 10 30 20 0
5
5 5
Solid Mechanics
[ ]
[ ]
x Ax
y Ay
Ay
F R
F R
R kN
M M .
M k m
∆
¿ →+ = ¬ =
(
¿ ↑ + = ¬ + − =
¸ ¸
= ↑
¿ = ¬ + − × =
= −
0 0
0 60 90 0
30
0 60 90 4 5 0
285
( )
( )
V x
V x
+ + − − =
= − −
= × −
= −
=
30 60 30 3 0
30 3 90
30 3 90
90 90
0
( )
B A
B A
M M
M M
− = − −
= + = −
= −
60
60 60 285
225
Solid Mechanics
( )
C B
C B
M M
M M
− = − −
= + = − +
= −
90
90 225 90
135
( )
D C
D C
M M
M M
− = − −
= + = − + =
135
135 135 135 0
y
Ay Cy
Ay Cy
F
R R
R R ( )
(
¿ ↑ + =
¸ ¸
+ − − =
+ =
0
200 240 0
440 1
[ ]
A
Cy
Cy
Ay
M
R
R kN
R kN
¿ =
− × − × + × =
= ↑
= ↑
0
200 3 240 4 8 0
195
245
V x
V x
V
V
+ − − =
= −
= × − = −
=
245 200 30 0
30 45
30 8 45 240 45
195
Solid Mechanics
*
M .
M .
M
− × + ×
= × − ×
=
245 3 90 1 5
245 3 90 1 5
600
[ ]
Ay By
A By
By
By
Ay
R R
M R
R
R kN
R kN
+ =
¿ = − × + + + =
− + + =
=
=
32
0 32 2 18 8 4 0
64 16 4 0
12
20
Solid Mechanics
Problem:
[ ]
( )
x
Ax
y Ay Dy Ay Dy
F
R
F R R R R
¿ →+ =
=
(
¿ = ↑ + + − − = ¬ + =
¸ ¸
0
0
0 60 50 0 110 1
( )
C A
C A
M M
M M
− = − −
= + = − + =
50
50 8 25 17
V x
V x
x
x / .
+ − =
= −
− =
= =
20 8 0
8 20
8 20 0
20 8 2 5
[ ]
A Dy
Dy
Ay
M . R
R kN
R kN
¿ = − × − × + × =
= = ↑
= ↑
0 60 1 5 50 4 5 0
290
58
5
52
Solid Mechanics
( )
y
B
F V x
V x x m
(
¿ = ↑ + + − =
¸ ¸
 
= − ≤ ≤

\ .
0 52 20 0
20 52 0 3
[ ]
( )
M
x
M x
x
M x x m
¿ =
+ − =
= − ≤ ≤
2
2
0
20
52 0
2
20
52 0 3
2
y
B C
F
V
V kN x m
(
¿ = ↑ +
¸ ¸
+ − =
 
= ↑ ≤ ≤

\ .
0
52 60 0
8 3 4
[ ] ( )
( )
B C
M M x x .
M x x . x m
¿ = − + − =
 
= − − ≤ ≤

\ .
0 52 60 1 5 0
52 60 1 5 3 4
Solid Mechanics
B E
B
M M .
M . .
− = −
= − +
1 6
1 6 67 6
x / . m
×− =
= =
20 52 0
52 20 2 6
dM
V
dx
dV
P
dx
= −
= −
[ ] ( ) ( )
( ) ( ) ( )
M M x x . x
M x x . x x
¿ = − + − + − =
= − − − − ≤ ≤
0 52 60 1 5 50 4 0
52 60 1 5 50 4 4 5
( )
y
F
V
V kN x
(
¿ = ↑ +
¸ ¸
+ − − =
= ≤ ≤
0
52 60 50 0
58 4 5
Solid Mechanics
D C
D C
M M
M M
− = −
= +
= − =
58
58
58 58 0
C B
C B
M M
M M
− = −
= − +
= − + =
8
8
8 66 58
B E
B E
M M .
M . M . .
− = −
= − + = − +
=
1 6
1 6 1 6 67 6
66
x / .
×− =
= =
20 52 0
52 20 2 6
dM
V
dx
dV
P
dx
= −
= −
B A
M M Vdx − = −
}
Solid Mechanics
2. Concept of stress
Traction vector or Stress vector
Now we define a quantity known as “stress vector” or
“traction” as
∆
∆
∆
→
=
,
,
R
n
A
F
T
A
lim
0
units
a
P N / m −
2
and we assume that the quantity
∆
∆
∆
→
→
,
R
A
M
A
lim
0
0
(1)
n
T
,
is a vector quantity having direction of
R
F ∆
,
(2)
n
T
,
represent intensity point distributed force at the point
"P" on a plane whose normal is ˆ n
(3)
n
T
,
acts in the same direction as
R
F ∆
,
Solid Mechanics
(4) There are two reasons are available for justification of the
assumption that
∆
∆
∆
→
→
,
R
A
M
A
lim
0
0
(a) experimental
(b) as A ∆ →0,
R
F ∆
,
becomes resultant of a parallel
force distribution. Therefore
R
M ∆ = 0
,
for  force
system.
(5)
n
T
,
varies from point to point on a given plane
(6)
n
T
,
at the same point is different for different planes.
(7)
n n
T T
′
= −
, ,
will act at the point P
(8) In general
Components of
n
T
,
R n t s
ˆ
ˆ ˆ F F n v t v s ∆ ∆ ∆ ∆ = + +
¸¸¸¸,
Solid Mechanics
∆ ∆ ∆ ∆
∆ ∆ ∆ ∆
∆ ∆ ∆ ∆
→ → → →
= = + +
,
,
R n t s
n
A A A A
F F v v
ˆ
ˆ ˆ T n t s
A A A A
lim lim lim lim
0 0 0 0
n nn nt ns
ˆ
ˆ ˆ T n t s σ τ τ = + +
,
where
∆
∆
∆
∆
σ
∆
∆
τ
∆
∆
τ
∆
→
→
→
= = =
= = =
= = =
n n
nn
A
t t
nt
A
s s
ns
A
F dF
Normal stresscomponent
A dA
v dv
Shear stresscomponent
A dA
v dv
Another shear componet
A dA
lim
lim
lim
0
0
0
σ
τ
−
−
Normal Stress
Shear stress
n nn
dF dA σ =
t nt
dV dA τ =
Notation of stress components
The magnitude and direction of
n
T
,
clearly depends on the
plane mm. Therefore, stress components magnitude &
direction depends on orientation of cut mm.
(a) First subscript plane on which σ is acting
(b) Second subscript direction
Solid Mechanics
Rectangular components of stress
Cuts ⊥ to the coordinate planes will give more valuable
information than arbitrary cuts.
∆ ∆ ∆ ∆
∆
∆ ∆ ∆
∆ ∆ ∆ ∆
→ → → →
= = + +
,
,
y
R x z
x
A A A A
v
F F v
ˆ ˆ ˆ
T i j k
A A A A
lim lim lim lim
0 0 0 0
x xx xy xz
ˆ ˆ ˆ
T i j k σ τ τ = + +
,
where
x
xx
A
y
z
xy xz
A A
F
Normal stress
A
v
v
Shear stress; Shear stress
A A
lim
lim lim
∆
∆ ∆
∆
σ
∆
∆
∆
τ τ
∆ ∆
→
→ →
= =
= = = =
0
0 0
Solid Mechanics
σ =
x xx
dF dA
y xy
dv dA τ =
z xz
dv dA τ =
Similarly,
∆ ∆ ∆ ∆
∆
∆ ∆ ∆
∆ ∆ ∆ ∆
→ → → →
= = + +
,
y
R x z
y
A A A A
F
F v v
ˆ ˆ ˆ
T i j k
A A A A
lim lim lim lim
0 0 0 0
τ σ τ = + +
,
y yx yy yz
ˆ ˆ ˆ
T i j k
τ τ σ = + +
,
z zx zy zz
ˆ ˆ ˆ
T i j k
xx
σ and
xy
τ will act only on xplane. We can see
x
σ and
xy
τ
only when we take section ⊥ to xaxis.
The stress tensor
σ τ τ
σ τ σ τ
τ τ σ
(
(
(
=
(
¸ ¸
(
(
¸ ¸
xx xy xz
jj yx yy yz
zx zy zz
Rectangular stresscomponents
• This array of 9 components is called as stress tensor.
• It is a second rank of tensor because of two indices
Components a point “P” on the xplane in x,y,z
directions
Solid Mechanics
• These 9 rectangular stress components are obtained by
taking 3 mutually ⊥planes passing through the point
“P”
• ∴ Stress tensor is an array consisting of stress
components acting on three mutually perpendicular
planes.
τ τ τ = + +
,
n nx ny nz
ˆ ˆ ˆ
T i j k
What is the difference between distributed loading & stress?
R
A
F
q lim
A ∆
∆
∆ →
=
0
yy
q σ = can also be called.
No difference!
Except for their origin!
Solid Mechanics
Sign convention of stress components.
A positive components acts on a +ve face in a +ve coordinate
direction
or
A positive component acts on a negative face in a negative
coordinate direction.
Say
x xy a
; Pa P σ τ = − = − 20 10 and
xz
Pa τ = 30 at a point P
means.
Solid Mechanics
State of stress at a point
The totality of all the stress vectors acting on every possible plane
passing through the point is defined to be state of stress at a point.
• State of stress at a point is important for the designer in
determining the critical planes and the respective critical
stresses.
• If the stress vectors [and hence the component] acting
on any three mutually perpendicular planes passing
through the point are known, we can determine the
stress vector
n
T
,
acting on any plane “n” through that
point.
The stress tensor will specify the state stress at point.
x x x y x z
ij y x y y y z
z x z y z z
σ τ τ
σ τ σ τ
τ τ σ
′ ′ ′ ′ ′ ′
′ ′ ′ ′ ′ ′ ′
′ ′ ′ ′ ′ ′
(
(
(
=
(
¸ ¸
(
(
¸ ¸
can also represent state of
stress at a point.
Solid Mechanics
The stress element
Is there any convenient way to visualize or represent the
state of stress at a point or stresses acting three mutually
perpendicular planes say x plane , yplane and zplane.
xx xy xz
ij yx yy yz
P
zx zy zz
σ τ τ
σ τ σ τ
τ τ σ
(
+ + +
(
(
= + + +
(
¸ ¸
(
+ + +
(
¸ ¸
( )
( )
xx xx
yy yy
x, y, z
Continuous functions of x, y, z
x, y, z
σ σ
σ σ
= ¹
¦
`
=
¦
)
Let us consider a stress tensor or state of stress at a point in a
component as
Solid Mechanics
ij
σ
− −
(
(
(
= −
¸ ¸
(
− − − (
¸ ¸
10 5 30
5 50 60
30 60 100
Equilibrium of stress element
[ ]
x
F ¿ = →+ 0
x yx zx x yx zx
dydz dxdz dydx dydz dxdz dxdy σ τ τ σ τ τ + + − − − = 0
Similarly, we can show that
y
F ¿ = 0 and
z
F ¿ = 0 is satisfied.
y
dz
dy
z
dx
x
xy
τ
xz
τ
x
σ
Solid Mechanics
P
z
M
C.C.W ve
¿ =
(
(
+
¸ ¸
0
( ) ( )
xy yx
dydz dx dxdz dy τ τ − = 0
xy yx
τ τ − = 0
xy yx
τ τ =
Shearing stresses on any two mutually perpendicular planes
are equal.
P
x
M
(
¿ = ¬
¸ ¸
0
yz zy
τ τ = and
P
y
M
(
¿ = ¬
¸ ¸
0
zx xz
τ τ =
Crossshears are equal a very important result
Since
xy yx
τ τ = , if
xy
ve τ = −
yx
τ is also –ve
Solid Mechanics
∴The stress tensor
xx xy xz
ij yx xy xy yz
zx xz zy yz yz
issec ondranksymmetrictensor
σ τ τ
σ τ τ σ τ
τ τ τ τ σ
(
(
(
= =
(
¸ ¸
(
= =
(
¸ ¸
Differential equations of equilibrium
[ ]
x
F ¿ →+ = 0
yx
x zx
x yx zx
x xy zx x
x y z y x z z y x
x y z
y z x z y x B x y z
τ
σ τ
σ τ τ
σ τ τ
∂
 
∂ ∂
   
+ ∆ ∆ ∆ + + ∆ ∆ ∆ + + ∆ ∆ ∆
 

∂ ∂ ∂ \ . \ .
\ .
− ∆ ∆ − ∆ ∆ − ∆ ∆ + ∆ ∆ ∆ = 0
yx
x zx
x
x y z y x z x y z B x y z
x y z
τ
σ τ
∂
∂
∆ ∆ ∆ + ∆ ∆ ∆ + ¿ ∆ ∆ + ∆ ∆ ∆ =
∂ ∂ ∂
2
0
Canceling x y ∆ ∆ and z ∆ terms and taking limit
yx
x zx
x
x
y
z
lim B
x y z
τ
σ τ
∆ →
∆ →
∆ →
∂
∂ ∂
+ + + =
∂ ∂ ∂ 0
0
0
0
Similarly we can easily show that
Solid Mechanics
[ ]
yx
x zx
x x
B F
x y z
τ
σ τ
∂
∂ ∂
+ + + = ¿ =
∂ ∂ ∂
0 0
xy yy zy
y y
B F
x y z
τ σ τ ∂ ∂ ∂
(
+ + + = ¿ =
¸ ¸
∂ ∂ ∂
0 0
[ ]
yz
xz zz
z z
B F
x y z
τ
τ σ
∂
∂ ∂
+ + + = ¿ =
∂ ∂ ∂
0 0
• If a body is under equilibrium, then the stress
components must satisfy the above equations and must
vary as above.
For equilibrium, the moments of forces about x, y and z axis
at any point must vanish.
p
z
M
(
¿ =
¸ ¸
0
xy yx
xy xy yx
yx
y x x
x y z y z y x z
x y
y
x z
τ τ
τ τ τ
τ
∂ ∂
    ∆ ∆
+ ∆ ∆ ∆ + ∆ ∆ − + ∆ ∆ ∆
 
∂ ∂
\ . \ .
∆
− ∆ ∆ =
2 2 2
0
2
.
Solid Mechanics
xy xy yx yx
xy yx
xy yx
y x z x y z
x y z x y z
x y
y x
x y
τ τ τ τ
τ τ
τ τ
∆ ∆ ∆ ∂ ∆ ∆ ∆ ∂
∆ ∆ ∆ ∆ ∆ ∆
+ − − =
∂ ∂
∂ ∂
∆ ∆
+ − − =
∂ ∂
2 2
2 2
0
2 2 2 2
0
2 2
Taking limit
xy yx
xy yx
x
y
z
y x
lim
x y
τ τ
τ τ
∆ →
∆ →
∆ →
∂ ∂
∆ ∆
+ − − =
∂ ∂ 0
0
0
0
2 2
xy yx
τ τ ¬ − = ¬ 0
xy yx
τ τ =
Relations between stress components and internal force
resultants
Solid Mechanics
x xx
A
F dA σ =
}
;
y xy
A
V dA τ =
}
;
z xz
A
V dA τ =
}
xz xy x
y dA dAz dM τ τ − =
( )
x xz xy
A
M y z dA τ τ = −
}
y xz
A
M dA σ =
}
;
z xy
A
M dA σ = −
}
Solid Mechanics
3. Plane stress and Plane strain
Plane stress 2D State of stress
If
( ) ( )
( ) ( )
x xy
ij
xy yy
x, y x, y
plane stressis a  state of stress
x, y x, y
σ τ
σ
τ σ
(
(
= −
(
¸ ¸
(
¸ ¸
All stress components are in the plane x y − i.e all stress
components can be viewed in x y − plane.
xy
x xy
x xy
ij xy y
yx y
D State of stress
Stresscomponentsinplane xy
τ
σ τ
σ τ
σ τ σ
τ σ
=
−
(
(
(
(
= =
(
(
¸ ¸
(
¸ ¸
(
¸ ¸
2
0
0
0 0 0
x xy xz
ij yx yy yz
zx zy zz
D State of stress
components
σ τ τ
σ τ σ τ
τ τ σ
−
(
(
(
= −
(
¸ ¸
(
(
¸ ¸
3
6
Solid Mechanics
This type of stressstate (i.e plane stress) exists in bodies
whose z direction dimension is very small w.r.t other
dimensions.
Stress transformation laws for plane stress
The state of stress at a point P in 2Dplane stress problems
are represented by
x xy
nn nt
ij
xy y nt tt
σ τ
σ τ
σ
τ σ τ σ
(
(
(
= =
(
(
¸ ¸
¸ ¸ (
¸ ¸
Solid Mechanics
* We can determine the stress components on any plane “n”
by knowing the stress components on any two mutually
⊥planes.
Stress transformation laws for plane stress
In order to get useful information we take different cutting
planes passing through a point. In contrast to 3D problem,
all cutting planes in plane stress problems are parallel to x
Solid Mechanics
axis. i.e we take different cutting plane by rotating about z
axis.
As in case of 3D, the state of stress at a point in a plane stress
domain is the totality of all the stress. If we know the stress
components on any two mutually⊥planes then stress
components on any arbitrary plane mm can be determined.
Thus the stress tensor
x xy
ij
xy y
σ τ
σ
τ σ
(
(
=
(
¸ ¸
(
¸ ¸
is sufficient to tell about the state of stress
at a point in the plane stress problems.
dA Area of AB
dACs Areaof BC
dASin Area of AC
θ
θ
=
=
=
n
F ¿ + = (
¸ ¸
0 ×
nn x xy xy
yy
dA dACos Cos dACos Sin dASin Cos
dASin Sin
σ σ θ θ τ θ θ τ θ θ
σ θ θ
− − − −
= 0
nn x xy yy
Cos Sin Cos Sin σ σ θ τ θ θ σ θ − − − =
2 2
2 0
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nn x y xy
x y x y
nn xy
Cos Sin Sin Cos
Cos Sin
σ σ θ σ θ τ θ θ
σ σ σ σ
σ θ τ θ
= + +
+ −
= + +
2 2
2
2 2
2 2
n
F ¿ + = (
¸ ¸
0 `
nt x xy xy
y
dA dACos Sin dACos Cos dASin Sin
dASin Cos
σ σ θ θ τ θ θ τ θ θ
σ θ θ
− − + −
= 0
( )
nt x y xy
Cos Sin Sin Cos Cos Sin τ σ θ θ σ θ θ τ θ θ = − + + −
2 2
( ) ( )
( )
nt x y xy
x y
nt xy
Cos Sin Cos Sin
Sin Cos
τ θ θ σ σ τ θ θ
σ σ
τ θ τ θ
= − − + −
−
= − +
2 2
2 2
2
We shall now show that if you know the stress components
on two mutually ⊥ planes then we can compute stresses on
any inclined plane. Let us assume that we know that state of
stress at a point P is given
x xy
ij
xy y
σ τ
σ
τ σ
(
(
=
(
¸ ¸
(
¸ ¸
This also means that
Solid Mechanics
Solid Mechanics
If θ θ = we can compute on AB
If
π
θ θ = +
2
we can compute on BC
If θ θ π = + we can compute on CD
If
π
θ θ = +
3
2
we can compute on DA
•
nn
σ and
nt
τ equations are known as transformation
laws for plane stress.
• They are not only useful in determination of stresses on
any plane but also useful in transforming stresses from
one coordinate system to another
• Transformation laws do not require an equilibrium state
and thus are also valid at all points of the body under
accelerations.
• These laws are true for any point P of a body.
Invariants of stress tensor
• Any quantity for which its 2D scalar components
transform from one coordinate system to another
according to
nn
σ and
nt
τ is called a two dimensional
Solid Mechanics
symmetric tensor of rank 2. Here in particular the tensor
is a stress tensor.
• Moment of inertia if
x xx y yy xy xy
I , I ; I σ σ τ = = = −
• By definition a tensor is a mathematical quantity that
transforms according to certain laws, such that certain
invariant properties are maintained for all coordinate
systems.
• Tensors, as governed by their transformation laws,
possess several properties. We now develop those
properties for 2D second vent symmetric tensor.
x y x y
nn xy
Cos Sin
σ σ σ σ
σ θ τ θ
+ −
= + + 2 2
2 2
x y x y
t xy
Cos Sin
σ σ σ σ
σ θ τ θ
+ −
= + − 2 2
2 2
x y
nt xy
Sin Cos
σ σ
τ θ τ θ
−
= − + 2 2
2
Solid Mechanics
n t x y x y
I σ σ σ σ σ σ
′ ′
+ = + = + =
1
I =
1
First invariant of stress in 2D
n t nt x y xy x y x y
I σ σ τ σ σ τ σ σ τ
′ ′ ′ ′
− = − = − =
2 2
2
I =
2
Second invariant of stress in 2D
• I , I
1 2
are invariants of 2D symmetric stress tensor at a
point.
• Invariants are extremely useful in checking the
correctness of transformation
• Of I
1
and I
2
, I
1
is the most important property : the
sum of normal stresses on any two mutually ⊥ planes
(⊥directions) is a constant at a given point.
• In 2D we have two stress invariants; in 3D we have
three invariants of stresses.
Solid Mechanics
Solid Mechanics
Problem:
A planestress condition exists at a point on the surface of a
loaded structure, where the stresses have the magnitudes
and directions shown on the stress element. (a) Determine
the stresses acting on a plane that is oriented at a −15
w.r.t.
the xaxis (b) Determine the stresses acting on an element
that is oriented at a clockwise angle of 15
w.r.t the original
element.
Solution:
it is in C.W.
x
y
xy
Q
σ
σ
τ
= −
=
= −
= −
46
12
19
15
Solid Mechanics
Substituting θ = −15
in
nt
τ equation
x y
MPas
σ σ +
− + −
= = = −
46 12 34
17
2 2 2
( ) ( ) Sin Sin . ; Cos Cos . θ θ = − = − = − = 2 2 15 0 5 2 2 15 0 866
x y x y
n xy
Cos Sin
σ σ σ σ
σ θ τ θ
+ −
(
= + +
(
¸ ¸
2 2
2 2
n
. . σ = − − × + × 17 29 0 866 19 0 5
n
. MPas σ = −
1
32 6
x y
nt xy
Sin Cos
σ σ
τ θ τ θ
−
(
= − +
(
¸ ¸
2 2
2
n t
MPa τ = −
1 1
31
x y
MPa
σ σ −
− − −
= = = −
46 12 58
29
2 2 2
n t
. . τ = − × − ×
1 1
29 0 5 19 0 866
Solid Mechanics
Now
As a check
t n nt
θ
σ σ τ
=
(
= =
¸ ¸ 2 75
n
Cos Sin
MPa
σ = − − × − ×
= −
17 29 2 165 19 2 165
32
nt
nt
. Sin Cos
MPa
τ
τ
= −
= −
0
0 29 330 19 330
31
n t x y
. . MPa s σ σ σ σ + = + = − − = − = − + 32 6 1 4 34 46 12
θ = 145
tn
Sin Cos
MPa
τ = + × − ×
=
29 150 19 150
31
t
cos sin σ ∴ = − − − 17 29 150 19 150
t
. MPa σ = −1 4
tn n t nt
θ
τ τ τ
=
(
= =
¸ ¸ 2 2 75
Solid Mechanics
4. Principal Stresses
Principal Stresses
Now we are in position to compute the direction and
magnitude of the stress components on any inclined plane at
any point, provided if we know the state of stress (Plane
stress) at that point. We also know that any engineering
component fails when the internal forces or stresses reach a
particular value of all the stress components on all of the
infinite number of planes only stress components on some
particular planes are important for solving our basic
question i.e under the action of given loading whether the
component will ail or not? Therefore our objective of this
class is to determine these plane and their corresponding
stresses.
(1) ( )
n y n y
n n xy
Cos Sin
σ σ σ σ
σ σ θ θ τ θ
+ −
= = + + 2 2
2 2
(2) Of all the infinite number of normal stresses at a point,
what is the maximum normal stress value, what is the
minimum normal stress value and what are their
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corresponding planes i.e how the planes are oriented ? Thus
mathematically we are looking for maxima and minima of
( )
n
Q σ function..
(3)
n y n y
n xy
Cos Sin
σ σ σ σ
σ θ τ θ
+ −
= + + 2 2
2 2
For maxima or minima, we know that
( )
n
x y xy
d
Sin Cos
d
σ
σ σ θ τ θ
θ
= = − − + 0 2 2 2
xy
x y
tan
τ
θ
σ σ
=
−
2
2
(4) The above equations has two roots, because tan repeats
itself after π . Let us call the first root as
P
θ
1
xy
P
x y
tan
τ
θ
σ σ
=
−
1
2
2
( )
xy
P P
x y
tan tan
τ
θ θ π
σ σ
= + =
−
2 1
2
2 2
Solid Mechanics
P P
s
π
θ θ = +
2 1
2
(5) Let us verify now whether we have minima or minima at
P
θ
1
and
P
θ
2
( )
( )
P
n
x y xy
n
x y P xy P
d
Cos Sin
d
d
Cos Sin
d
θ θ
σ
σ σ θ τ θ
θ
σ
σ σ θ τ θ
θ
=
= − − −
∴ = − − −
1 1
1
2
2
2
2
2 2 4 2
2 2 4 2
We can find
P
Cos s θ
1
2 and
P
Sin s θ
1
2 as
x y
P
x y
xy
Cos
σ σ
θ
σ σ
τ
−
=
−
 
+

\ .
1
2
2
2
2
2
xy xy
P
x y x y
xy xy
Sin
τ τ
θ
σ σ σ σ
τ τ
= =
− −
   
+ +
 
\ . \ .
1
2 2
2 2
2
2
2
2 2
Substituting
P
Cos θ
1
2 and
P
Sin θ
1
2
Solid Mechanics
( )( )
( )
P
x y x y
xy xy
n
x y x y
xy xy
x y
xy
x y x y
xy xy
x y
xy
x y
xy
d
d
θ θ
σ σ σ σ
τ τ
σ
θ
σ σ σ σ
τ τ
σ σ
τ
σ σ σ σ
τ τ
σ σ
τ
σ σ
τ
=
− − −
= −
− −
   
+ +
 
\ . \ .
− −
= −
− −
   
+ +
 
\ . \ .
(
−
  −
(
= +

(
\ .
−
 
¸ ¸
+

\ .
1
2
2
2 2
2 2
2
2
2 2
2 2
2
2
2
2
2
4
2
2 2
4
2 2
4
2
2
x y
n
xy
d
d
σ σ
σ
τ
θ
−
 
∴ = − +

\ .
2
2
2
2
4
2
(ve)
( ) ( ) ( )
( )
P P
n
x y P xy P
x y P xy P
d
Cos Sin
d
Cos Sin
π
θ θ θ
σ
σ σ θ π τ θ π
θ
σ σ θ τ θ
= = +
= − + − +
= − +
1 1
2 1
1 1
2
2
2
2 2 4 2
2 2 4 2
Substituting
P P
Cos &Sin θ θ
1 1
2 2 m we can show that
P
x y
n
xy
d
s
d
θ θ
σ σ
σ
τ
θ
=
−
 
∴ = − +

\ .
2
2
2
2
2
4
2
(+ve)
Solid Mechanics
Thus the angles
P
s θ
1
and
P
s θ
2
define planes of either
maximum normal stress or minimum normal stress.
(6) Now, we need to compute magnitudes of these stresses
We know that,
P
x y x y
n xy
x y x y
n P xy P
Cos Sin
Cos Sin
θ θ
σ σ σ σ
σ θ τ θ
σ σ σ σ
σ σ θ τ θ
=
+ −
= + +
+ −
= = + +
1 1
1
1
2 2
2 2
2 2
2 2
Substituting
P
Cos s θ
1
2 and
P
Sin θ
1
2
x y x y
xy
Max. Normal stress because of sign
σ σ σ σ
σ τ
+ −
 
= + +

\ .
+
2
2
1
2 2
Similarly,
( )
( )
P P
x y x y
n P
xy P
x y x y
P xy P
Cos
Sin
Cos Sin
π
θ θ θ
σ σ σ σ
σ σ θ π
τ θ π
σ σ σ σ
θ τ θ
= = =
+ −
= = + + +
+
+ −
= − −
1
2 1
1
1 1
2
2
2
2 2
2
2 2
2 2
Substituting
P
Cos θ
1
2 and
P
Sin θ
1
2
Solid Mechanics
x y x y
xy
Min.normal sressbecause of vesign
σ σ σ σ
σ τ
+ −
 
= − +

\ .
−
2
2
2 2
We can write
x y x y
xy
or
σ σ σ σ
σ σ τ
+ −
 
= ± +

\ .
2
2
1 2
2 2
(7) Let us se the properties of above stress.
(1)
P P
s
π
θ θ = +
2 1
2
 planes on which maximum normal stress
and minimum normal stress act are ⊥ to each other.
(2) Generally maximum normal stress is designated by σ
1
and minimum stress by σ
2
. Also
P P
; θ σ θ σ → →
1 2
1 2
alg ebraically i.e., σ σ
σ
σ
>
−
− −
1 2
1
2
0
1000
Solid Mechanics
(4) maximum and minimum normal stresses are collectively
called as principal stresses.
(5) Planes on which maximum and minimum normal stress
act are known as principal planes.
(6)
P
θ
1
and
P
θ
2
that define the principal planes are known as
principal directions.
(8) Let us find the planes on which shearing stresses are zero.
( )
nt x y xy
Sin Cos τ σ σ θ τ θ = = − − + 0 2 2
xy
x y
tan
directions of principal plans
τ
θ
σ σ
=
=
=
2
2
Thus on the principal planes no shearing stresses act.
Conversely, the planes on which no shearing stress acts are
known as principal planes and the corresponding normal
stresses are principal stresses. For example the state of stress
at a point is as shown.
Then
x
σ and
y
σ are
principal stresses because
no shearing stresses are
acting on these planes.
Solid Mechanics
(9) Since, principal planes are ⊥ to each other at a point P,
this also means that if an element whose sides are parallel to
the principal planes is taken out at that point P, then it will
be subjected to principal stresses. Observe that no shearing
stresses are acting on the four faces, because shearing
stresses must be zero on principal planes.
(10) Since
1
σ and
2
σ are in two ⊥ directions, we can easily
say that
x y x y
I σ σ σ σ σ σ
′ ′
+ = + = + =
1 2 1
Solid Mechanics
5. Maximum shear stress
Maximum and minimum shearing stresses
So far we have seen some specials planes on which the
shearing stresses are always zero and the corresponding
normal stresses are principal stresses. Now we wish to find
what are maximum shearing stress plane and minimum
shearing stress plane. We approach in the similar way of
maximum and minimum normal stresses
(1)
x y
nt xy
Sin Cos
σ σ
τ θ τ θ
−
 
= − +

\ .
2 2
2
( )
nt
x y xy
d
Cos Cos
d
τ
σ σ θ τ θ
θ
= − − + 2 2
For maximum or minimum
( )
nt
x y xy
d
Cos Sin
d
τ
σ σ θ τ θ
θ
= = − − − 0 2 2 2
( )
x y
xy
tan
σ σ
θ
τ
− −
¬ = 2
2
This has two roots
( )
x y
S
xy
tan
s stands for shear stress
p stands for principal stresses.
σ σ
θ
τ
−
= −
−
−
1
2
2
Solid Mechanics
( )
( )
x y
S S
xy
tan tan
σ σ
θ θ π
τ
− −
= + =
2 1
2 2
2
S S
π
θ θ ∴ = +
2 1
2
Now we have to show that at these two angles we will have
maximum and minimum shear stresses at that point.
Similar to the principal stresses we must calculate
( )
( )
S
nt
x y xy
nt
x y S xy S
d
Sin Cos
d
d
Sin Cos
d
θ θ
τ
σ σ θ τ θ
θ
τ
σ σ θ τ θ
θ
=
= − −
= − −
1 1
1
2
2
2
2
2 2 4 2
2 2 4 2
xy
S
x y
xy
Cos
τ
θ
σ σ
τ
=
−
 
+

\ .
1
2
2
2
2
2
2
( )
x y
S
x y
xy
Sin
σ σ
θ
σ σ
τ
− −
=
−
 
+

\ .
1
2
2
2
2
2
Substituting above values in the above equation we can
show that
Solid Mechanics
S
nt
d
d
θ θ
τ
θ
=
=
1
2
2
 ve
Similarly we can show that
S S
nt
d
d π
θ θ θ
τ
θ
= = +
=
2 1
2
2
2
+ ve
Thus the angles
S
θ
1
and
S
θ
2
define planes of either maximum
shear stress or minimum shear stress. Planes that define
maximum shear stress & minimum shear stress are again ⊥
to each other.. Now we wish to find out these values.
( )
( )
S
x y
nt xy
x y
nt S xy S
Sin Cos
Sin Cos
θ θ
σ σ
τ θ τ θ
σ σ
τ θ τ θ
=
−
= − +
−
= − +
1 1
1
2 2
2
2 2
2
Substituting
S
Cos θ
1
2 and
S
Sin s θ
1
2 , we can show that
x y
max xy
σ σ
τ τ
−
 
= + +

\ .
2
2
2
( )
( ) ( )
S S
x y
nt S xy S
Sin Cos
π
θ θ θ
σ σ
τ θ π τ θ π
= = +
−
= − + + +
1 1
2 1
2
2 2
2
Substituting
S
Cos θ
1
2 and
S
Sin θ
1
2
x y
min xy
σ σ
τ τ
−
 
= − +

\ .
2
2
2
Solid Mechanics
max
τ is algebraically
min
τ > , however their absolute
magnitude is same. Thus we can write
x y
max min xy
or
σ σ
τ τ τ
−
 
= ± +

\ .
2
2
2
Generally
max S
min S
τ θ
τ θ
−
−
1
2
Q. Why
max
τ and
min
τ are numerically same. Because
S
θ
1
&
S
θ
2
are ⊥ planes.
(2) Unlike the principal stresses, the planes on which
maximum and minimum shear stress act are not free from
normal stresses.
Solid Mechanics
x y x y
n xy
Cos Sin s
σ σ σ σ
σ θ τ θ
+ −
= + + 2 2
2 2
S
x y x y
n S xy S
Cos Sin
θ θ
σ σ σ σ
σ θ τ θ
=
+ −
= + +
1 1
1
2 2
2 2
Substituting
S
Cos θ
1
2 and
S
Sin θ
1
2
S
x y
n
θ θ
σ σ
σ σ
=
+
= =
1 2
( )
( )
S S
x y x y
n S
xy S
Cos
Sin
π
θ θ θ
σ σ σ σ
σ θ π
τ θ π
= = +
+ −
= + +
+ +
1
2 1
1
2
2
2 2
2
Simplifying this equation gives
S
x y
n
θ θ
σ σ
σ σ
=
+
= =
2 2
Therefore the normal stress on maximum and minimum
shear stress planes is same.
(3) Both the principal planes are ⊥ to each other and also the
planes of
max
τ and
min
τ are also ⊥ to each other. Now let us
see there exist any relation between them.
Solid Mechanics
6. Mohr’s circle
Mohr’s circle for plane stress
So far we have seen two methods to find stresses acting on
an inclined plane
(a) Wedge method
(b) Use of transformation laws.
Another method which is purely graphical approaches is
known as the Mohr’s circle for plane stress.
A major advantage of Mohr’s circle is that, the state of the
stress at a point, i.e the stress components acting on all
infinite number of planes can be viewed graphically.
Equations of Mohr’s circle
We know that,
x y x y
n xy
Cos Sin
σ σ σ σ
σ θ τ θ
+ −
= + + 2 2
2 2
This equation can also be written as
x y x y
n xy
Cos Sin
σ σ σ σ
σ θ τ θ
+ −
− = + 2 2
2 2
x y
nt xy
Sin Cos
σ σ
τ θ τ θ
−
 
= − +

\ .
2 2
2
( )
x y x y
n nt xy
x a y R
σ σ σ σ
σ τ τ
+ +
(    
− + = +
(  
\ . \ .
¸ ¸
↓ ↓ ↓
− + =
2
2
2 2
2
2 2
2 2
Solid Mechanics
The above equation is
clearly an equation of
circle with center at ( ) , 0 a
on τ σ − plane it
represents a circle with
center at
x y
,
σ σ +
 

\ .
0
2
and
having radius
x y
xy
R
σ σ
τ
−
 
= +

\ .
2
2
This circle on σ τ − plane
Mohr’s circle.
From the above deviation it
can be seen that any point P
on the Mohr’s circle
represents stress which are
acting on a plane passing
through the point.
In this way we can
completely visualize the
stresses acting on all
infinite planes.
Solid Mechanics
(3) Construction of Mohr’s circle
Let us assume that the state of stress at a point is given
A typical problem using Mohr’s circle i.e given
x y
, σ σ
′ ′
and
x y
τ
′ ′
on an inclined element. For the sake of clarity we
assume that,
x y
, s σ σ
′ ′
and
x y
τ
′ ′
all are positive and
x y
σ σ >
Solid Mechanics
• Since any point on the circle represents the stress
components on a plane passing through the point.
Therefore we can locate the point A on the circle.
• The coordinates of the plane
( )
x xy
A , σ τ = + +
Therefore we can locate the point A on the circle with
coordinates
( )
x xy
, s σ τ + +
• Therefore the line AC represents the xaxis. Moreover,
the normal of the Aplane makes 0
w.r.t the xaxis.
• In a similar way we can locate the point B
corresponding to the plane B.
Solid Mechanics
The coordinates of
( )
y xy
B , s σ τ = + −
Since we assumed that for the sake of similarity
y x
s σ σ < .
Therefore the point B diametrically opposite to point A.
• The line BC represents y axis. The point A corresponds
to Q = 0
, and pt. B corresponds to Q = 90
(+ve) of the
stress element.
At this point of time we should be able to observe two
important points.
• The end points of a diameter represents stress
components on two ⊥ planes of the stress element.
• The angle between x axis and the plane B is 90° (c.c.w)
in the stress element. The line CA in Mohr’s circle
represents x axis and line CB represents yaxis or plane
B. It can be seen that, the angle between xaxis and y
axis in the Mohr’s circle is 180° (c.c.w). Thus 2Q in
Mohr’s circle corresponds to Q in the stress element
diagram.
Stresses on an inclined element
• Point A corresponds to 0 Q = on the stress element.
Therefore the line CA i.e xaxis becomes reference line
from which we measure angles.
• Now we locate the point “D” on the Mohr’s circle such
that the line CD makes an angle of 2Q c.c.w from the x
axis or line CA. we choose c.c.w because in the stress
element also Q is in c.c.w direction.
Solid Mechanics
• The coordinates or stresses corresponding to point D on
the Mohr’s circle represents the stresses on the x′  face or
D on the stress element.
x avg
x y
y avg
RCos
RSin
RCos
SinceD&D are planesinthe
stress element ,thentheybecome
diametrically opposite point s on
thecircle, just likethe planes A&Bdid
σ σ β
τ β
σ σ β
′
′ ′
′
= +
=
= −
′
⊥
Calculation of principal stress
The most important application of the Mohr’s circle is
determination of principal stresses.
The intersection of the Mohr’s circle  with normal stress
axis gives two points P
1
andP
2
. Thus P
1
and P
2
represents
points corresponding to principal stresses. In the current
diagram the coordinates the of
P , s
P ,
σ
σ
=
=
1 1
2 2
0
0
avg
R σ σ = +
1
avg
R σ σ = −
2
The principal direction corresponding to σ
1
is now equal to
p
θ
1
2 , in c.c.w direction from the xaxis.
Solid Mechanics
p p
π
θ θ = ±
2 1
2
We can see that the points P
1
andP
2
are diametrically
opposite, this indicate that principal planes are ⊥ to each
other in the stress element. This fact can also be verified from
the Mohr’s circle.
In plane maximum shear stress
What are points on the circle at which the shearing stress are
reaching maximum values numerically? Points S
1
and S
2
at
the top and bottom of the Mohr’s circle.
• The points S
1
and S
2
are at angles θ = 2 90
from
pointsP
1
P
2
and, i.e the planes of maximum shear stress
are oriented at ±45
to the principal planes.
• Unlike the principal stresses, the planes of maximum
shear stress are not free from the normal stresses. For
example the coordinates of
max avg
max avg
S , s
S ,
τ σ
τ σ
= +
= −
1
2
max
R τ = ±
avg
σ σ =
Mohr’s circle can be plotted in two different ways. Both the
methods are mathematically correct.
Solid Mechanics
Finally
• Intersection of Mohr’s circle with the σ axis gives
principal stresses.
• The top and bottom points of Mohr’s circle gives
maximum –ve shear stress and maximum +ve shear
stress.
• Do not forget that all these inclined planes are obtained
by rotation about zaxis.
Solid Mechanics
Mohr’ circle problem
Solution:
A  (15000,4000)
B  (5000,4000)
(a)
x y
MPa
σ σ +
+
= =
15000 5000
10000
2 2
R MPa = 6403
x y
xy
R
σ σ
τ
−
 
−
 
= + = +


\ .
\ .
= +
2
2
2 2
2 2
15000 5000
4000
2 2
5000 4000
x y
σ σ −
= 5000
2
Solid Mechanics
Point D:
x
Cos . MPa σ
′
= + = 10000 6403 41 34 14807
x y
Sin . MPa τ
′ ′
= − = − 6403 41 34 4229
Point D′ :
n y
Cos . MPa σ σ
′
= = − = 10000 6403 41 34 593
nt x y
Sin . τ τ
′ ′
= = = 6403 41 34 4229
b)
P
.
; . σ θ = = =
1
1
38 66
16403 19 33
2
MPa σ =
2
3597
c)
max S
MPa . . τ θ = − = = −
1
6403 25 67 25 67
Solid Mechanics
(2) θ = 45
Principal stresses and principal shear stresses.
Solution:
( )
x y
x y
xy
R MPa
σ σ
σ σ
τ
+
− +
= = −
−
  − −
 
= + = + − =


\ .
\ .
2
2
2 2
50 10
20
2 2
50 10
40 50
2 2
( )
( )
A ,
B ,
→ − −
→
50 40
10 40
x y
x y
p R s
p R
σ σ
σ
σ σ
σ
+
= = + = − + =
+
= = − = − − = −
1 1
2 2
20 50 30
2
20 50 70
2
Solid Mechanics
p
p
p
Q .
Q .
Q .
=
=
=
1
1
2
2 233 13
116 6
206 6
s
s
s
Q .
Q .
Q .
=
=
=
1
1
2
2 143 13
71 6
161 6
Solid Mechanics
Q.
x y xy
MPa, MPa and MPa σ σ τ = = − = 31 5 33
Stresses on inclined element θ = 45
Principal stresses and maximum shear stress.
Solution:
x y
avg
MPa
σ σ
σ
+
−
= = =
31 5
13
2 2
x y
xy
R . MPa
σ σ
τ
−
 
= + =

\ .
2
2
37 6
2
( )
( )
A ,
B , − −
31 33
5 33
x avg
RCos s
. Cos . MPa
σ β σ
′
= +
= + = 37 6 28 64 13 46
x y
RSin . . . τ β
′ ′
= − = − = − 37 6 28 64 18 02
y avg
RCos
MPa
σ β σ
′
= −
= −20
Solid Mechanics
. MPa σ ∴ =
1
50 6
. MPa σ = −
2
24 6
p
. θ =
1
30 68
max s
min
avg
. MPa .
. MPa
MPa
τ θ
τ
σ σ
= − = −
= −
= =
1
37 6 14 32
37 6
13
Solid Mechanics
7. 3DStress Transformation
3Dstress components on an arbitrary plane
Basically we have done so far for this type of coordinate
system
x x x y x z
x x x y x z
n n n D i r . c o s i n e s o f x
ˆ ˆ ˆ ˆ
i n i n j n k
′ ′ ′
′ ′ ′
′
−
′
= + +
y x y y y z
y x y y y z
n n n
ˆ ˆ ˆ ˆ
j n i n j n k
′ ′ ′
′ ′ ′
′
= + +
z x z y z z
z x z y z z
n n n
ˆ ˆ ˆ ˆ
k n i n j n k
′ ′ ′
′ ′ ′
′
= + +
Solid Mechanics
n x x x y x z
n x x x y x z
ˆ ˆ ˆ
T T i T j T ks
ˆ ˆ ˆ
T i j k σ τ τ
′ ′ ′
′ ′ ′ ′ ′ ′
= + +
′ ′ ′
= + +
,
,
x x
x x
x z
ABC dA
PAB dAn
PAC dAn
PBC dAn
′
′
′
−
−
−
−
[ ]
x
F ¿ →+ = 0
x x x x x yx x y zx x z
T da dAn dAn dAn σ τ τ
′ ′ ′ ′
= + +
x x x x x yx x y zx x z
x y xy x x y x y zy x z
x z xz x x yz x y z x z
T n n n
T n n n
T n n n
σ τ τ
τ σ τ
τ τ σ
′ ′ ′ ′
′ ′ ′ ′
′ ′ ′ ′
= + +
= + +
= + +
x x y y z
x y y y z
z x y z z
σ τ τ
τ σ τ
τ τ σ
′ ′ ′ ′ ′
′ ′ ′ ′ ′
′ ′ ′ ′ ′
(
(
(
(
(
¸ ¸
x x y x z
, , σ τ τ
′ ′ ′ ′ ′
( ) ( )
x n x x x y x z x x x y x z
ˆ ˆ ˆ ˆ ˆ ˆ ˆ
T i T i T j T k . n i n j n k σ
′ ′ ′ ′ ′ ′ ′
′
= = + + + +
,
(1)
( ) ( )
x y n x x x y x z y x y y y z
ˆ ˆ ˆ ˆ ˆ ˆ ˆ
T j T i T j T k . n i n j n k τ
′ ′ ′ ′ ′ ′ ′ ′
′
= = + + + +
,
(2)
( ) ( )
x z n x x x y x z z x z y z z
ˆ ˆ ˆ ˆ ˆ ˆ ˆ
T k T i T j T k . n i n j n k τ
′ ′ ′ ′ ′ ′ ′ ′
′
= = + + + +
,
(3)
y x x y x yx y y zx y z
y y xy y y y y y zy y z
y z xz y y yz y y z y z
T n n n
T n n n
T n n n
σ τ τ
τ σ τ
τ τ σ
′ ′ ′ ′
′ ′ ′ ′
′ ′ ′ ′
= + +
= + +
= + +
( )( )
y y x y y y z y x y y y z
ˆ ˆ ˆ ˆ ˆ ˆ
T i T j T k n i n j n k σ
′ ′ ′ ′ ′ ′ ′
= + + + + (4)
( )( )
z z x z y z z z x z y z z
ˆ ˆ ˆ ˆ ˆ ˆ
T i T j T k n i n j n k σ
′ ′ ′ ′ ′ ′ ′
= + + + + (5)
Solid Mechanics
( )( )
y z y x y y y z z x z y z z
ˆ ˆ ˆ ˆ ˆ ˆ
T i T j T k n i n j n k τ
′ ′ ′ ′ ′ ′ ′ ′
= + + + + (6)
x x
x y
x z
n Cos
n Sin
n
θ
θ
′
′
′
=
=
= 0
y x
y y
y z
n Sin
n Cos
n
θ
θ
′
′
′
= −
=
= 0
z x
z y
z z
n
n
n
′
′
′
=
=
=
0
0
1
z x z y z
z
: : σ τ τ
σ
′ ′ ′ ′ ′
= = =
=
0 0 0
( ) ( )
x x y xy
y x y xy
x y x y xy
Cos Sin Sin Cos
Sin Cos Sin Cos
Sin Cos Cos Sin
σ σ θ σ θ τ θ θ
σ σ θ σ θ τ θ θ
τ σ σ θ θ τ θ θ
′
′
′ ′
= + +
= + −
= − − + −
2 2
2 2
2 2
2
2
x xy
xy y
σ τ
τ σ
(
(
(
(
¸ ¸
0
0
0 0 0
Principal stresses
x y z
n ,n ,n
( )
n x y z
n nx ny nz
ˆ ˆ ˆ
ˆ T n n i n j n k
ˆ ˆ ˆ
T T i T j T k
σ σ = = + +
= + +
,
,
Where
nx x x yx y zx z
ny xy x y y zy z
nz xz x yz y z z
T n n n
T n n n
T n n n
σ τ τ
τ σ τ
τ τ σ
= + +
= + +
= + +
x x y y z z
Tn n Tn n Tn n σ σ σ = = =
Solid Mechanics
( )
( )
( )
x x yx y zx z
yx x y y zy z
xz x yz y z z
n n n
n n n Syst. of linear homog. eqns.
n n n
σ σ τ τ
τ σ σ τ
τ τ σ σ
− + + = ¹
¦
¦
+ − + =
`
¦
+ + − =
¦
)
0
0
0
x y z x y z
n n n : n n n = = = + + =
2 2 2
0 1
( )
x xy zx
x
xy y zy y
zx yz z z
n
n
n
σ σ τ τ
τ σ σ τ
τ τ σ σ
(
−
¦ ¹
(
¦ ¦
− =
( ´ `
( ¦ ¦
−
¹ ) (
¸ ¸
0
For non trivial solution must be zero.
( ) ( )
( )
x y z x y y z z x xy yz zx
x y z xy yz zx x yz y zx z xy
σ σ σ σ σ σ σ σ σ σ σ τ τ τ σ
σ σ σ τ τ τ σ τ σ τ σ τ
− + + + + + − − −
− + − − − =
3 2 2 2 2
2 2 2
2 0
This has 3 real roots , , σ σ σ
1 2 3
( )
( )
x x yx y zx z
yx x y y zy z
x y z
n n n
n n n
and n n n
σ σ τ τ
τ σ σ τ
− + + =
+ − + =
+ + =
1
1
2 2 2
0
0
1
x y z
n ,n ,n σ
σ σ σ
¬ →
> >
1
1 2 3
Stress invariants
I I I σ σ σ − + − =
3 2
1 2 3
0 (1)
Solid Mechanics
x y z
x y y z x z xy yz zx
x y z xy yz zx x yz y zx z xy
I
I stress invar iants
I
σ σ σ
σ σ σ σ σ σ τ τ τ
σ σ σ τ τ τ σ τ σ τ σ τ
¹
= + +
¦
¦
= + + − − −
`
¦
= + − − −
¦
)
1
2 2 2
2
2 2 2
3
2
I I σ σ ′ ′ − + =
3 2
1 3
0
x y z x y x z y z x y y z x z
I I σ σ σ σ σ σ σ σ τ τ τ
′ ′ ′ ′ ′ ′ ′ ′ ′ ′ ′ ′ ′ ′ ′
′ ′
= + + = + + − − −
2 2 2
1 2
I I ; I I ; I I
′
′ ′
= = =
1 1 2 2 3 3
3D 2D
I
I
I
σ
σ σ σ
σ σ σ σ σ σ
σ σ
= + +
= + +
=
3
1 1 2 3
2 1 2 2 3 3 1
3 1 2
I
I
I
σ σ
σ σ
= +
=
=
1 1 2
2 1 2
3
0
Principal planes are orthogonal
n n
ˆ ˆ T n T .n
′
′
=
, ,
x y z
x y z
n nx ny nz
n n x n y n z
ˆ ˆ ˆ
ˆ n n i n j n k
ˆ ˆ ˆ
ˆ n n i n j n k
ˆ ˆ ˆ
T T i T j T k
ˆ ˆ ˆ
T T i T j T k
′ ′ ′
′ ′ ′ ′
= + +
′
= + +
= + +
= + +
,
,
Solid Mechanics
yx
n n
xy
ˆ ˆ T n T n
τ
τ
′
=
′
=
, ,
( ) ( )
n n
ˆ ˆ T n T n
ˆ ˆ ˆ ˆ n n n n σ σ
′
′
=
′ ′ =
1 2
, ,
( ) ( )
x x y y z z x x y y z z
n n n n n n n n n n n n σ σ
′ ′ ′ ′ ′ ′
+ + = + +
1 2
σ σ ≠
1 2
x x y y z z
n n n n n n
′ ′ ′
+ + = 0
ˆ ˆ n .n
′
must be ⊥ to each other.
The state of stress in principal axis
σ
σ
σ
(
(
(
(
¸ ¸
1
2
3
0 0
0 0
0 0
x
y
z
n x
n y
n z
T n
T n
T n
σ
σ
σ
=
=
=
1
2
3
n x y z
n n n σ σ σ σ = + +
2 2 2
1 2 3
x y z
n n n n
x y z
T T T T s
n n n σ σ σ
= + +
= + +
2
2 2 2
2 2 2 2 2 2
1 2 3
n n
T τ σ = −
2
2 2
,
Solid Mechanics
8. 3D Mohr’s circle and Octahedral stress
3D Mohr’s circle & principal shear stresses
x xy
ij xy y
z
σ τ
σ τ σ
σ
(
(
(
=
(
¸ ¸
(
¸ ¸
0
0
0 0
Once if you know and σ σ
1 2
τ
σ σ
τ
σ σ
σ
−
=
+
=
1
2 3
1
1 3
2
2
τ
σ σ
τ
σ σ
σ
−
=
+
=
2
1 3
2
1 2
2
2
τ
σ σ
τ
σ σ
σ
−
=
−
=
3
1 2
3
1 2
2
2
max
max , ,
σ σ σ σ σ σ
τ
− − −
=
1 2 2 3 3 1
2 2 2
σ σ σ > >
1 2 3
Solid Mechanics
• The maximum normal stress
1
σ and maximum shear
stress
max
τ and their corresponding planes govern the
failure of the engineering materials.
• It is evident now that in many twodimensional cases
the maximum shear stress value will be missed by not
considering σ =
3
0 and constructing the principal circle.
Solid Mechanics
Problem:
The state of stress at a point is given by
x y z
MPa, MPa, MPa and σ σ σ = = − = 100 40 80
xy yz zx
τ τ τ = = = 0
Determine in plane max shear stresses and maximum shear
stress at that point.
Solution:
MPa, MPa MPas σ σ σ = = = −
1 2 3
100 80 40
MPa
σ σ
τ
− −
= = =
1 2
12
100 80
10
2 2
MPa
σ σ
τ
− +
= = =
1 3
13
100 40
70
2 2
MPa
σ σ
τ
− +
= = =
2 3
23
80 40
60
2 2
MPa
MPa
σ σ
σ
σ
σ
+
= =
=
=
1 2
12
13
23
90
2
30
20
max
max , , τ τ τ τ =
12 13 23
max
MPa τ = 70 This occurs in the plane of 13
Solid Mechanics
, , τ τ τ →
1 2 3
Principal shear stress in 3D
( )
max
max , , τ τ τ τ =
1 2 3
Solid Mechanics
Plane stress
z
σ σ
σ σ
>
= =
1
3
0
x y
xy
σ σ
τ τ
−
 
= ± +

\ .
2
2
2
 in plane principal shear stresses.
max
σ σ σ
τ
−
= =
1 3 1
2 2
Solid Mechanics
Problem
At appoint in a component, the state of stress is as shown.
Determine maximum shear stress.
Solution:
ij
σ
(
(
=
(
¸ ¸
¸ ¸
100 0
0 50
 plane stress problem
We can also write the matrix as
ij
a
(
(
(
=
¸ ¸
(
(
¸ ¸
100 0 0
0 50 0
0 0 0
σ
σ
σ σ
=
=
− −
= =
1
2
1 2
100
50
100 50
25
2 2
max
MPa τ = 25
Solid Mechanics
Now with , , σ σ σ = = =
1 2 3
100 50 0
max
MPa
σ σ
τ
−
= =
1 3
50
2
Occurs in the plane 13 instead of 12
Solid Mechanics
Some important states of stresses
(1) Uniaxial state of stress: Only one nonzero principal
stress.
σ
σ
(
(
(
=
(
(
¸ ¸
(
¸ ¸
1
1
0 0
0
0 0 0
0 0
0 0 0
 plane stress.
(2) Biaxial state of stress: two nonzero principal stresses.
σ
σ
σ
σ
(
(
(
=
(
(
¸ ¸
(
¸ ¸
1
1
1
1
0 0
0
0 0
0
0 0 0
 plane stress
(3) Triaxial state of stress: All three principal stresses are
non zero.
σ
σ
σ
(
(
−
(
(
¸ ¸
1
2
3
0 0
0 0
0 0
3D stress
(4) Spherical state of stress: σ σ σ = =
1 2 3
(either +ve or – ve)
D
σ
σ
σ
(
(
−
(
(
¸ ¸
0 0
0 0 3
0 0
stressspecial case of triaxial stress.
Solid Mechanics
(5) Hydrostatic state of stress
P
P
P
+
(
(
+
(
+ (
¸ ¸
0 0
0 0
0 0
hydrostatic tension
P
P
P
−
(
(
−
(
− (
¸ ¸
0 0
0 0
0 0
hydrostatic compression.
(6) The state of pure shear
zy
x xy xz
ij xy y yz
zx z
σ τ τ
σ τ σ τ
τ τ σ
(
(
(
( =
¸ ¸
(
(
¸ ¸
x y x z
ij x y y z
z x z y
τ τ
σ τ τ
τ τ
′ ′ ′ ′
′ ′ ′ ′
′ ′ ′ ′
(
(
(
=
(
¸ ¸
(
(
¸ ¸
0
0
0
Then we say that the point P is in state of pure shear.
I =
1
0 is necessary and sufficient condition for state of pure
shear
Solid Mechanics
Octahedral planes and stresses
If
x y z
n n n = = w.r.t to the principal planes, then these planes
are known as octahedral planes. The corresponding stresses
are known as octahedral stresses.
Eight number of such planes can be identified at a given point 
Octahedron
x y z
n x y z
n n n
T n n n
σ σ σ σ
σ σ σ
= + +
= + +
2 2 2
1 2 3
2
2 2 2 2 2 2
1 2 3
x y z
x y z
n n n
n n n .
+ + =
= = = ± =
2 2 2
0
1
1
54 73
3
oct
σ σ σ σ
σ σ σ
     
= + +
  
\ . \ . \ .
+ +
=
2 2 2
1 1 1
1 2 3
1 1 1
3 3 3
3
Solid Mechanics
1
I
= meanstress
3
σ σ σ + +
=
1 2 3
3
oct
canbeint erpreted meannormal stress at a pt. σ = − −
oct n oct
T τ σ = −
2
2
( ) ( ) ( )
oct
τ σ σ σ σ σ σ = − + − + −
2 2 2
1 2 2 3 3 1
1
3
Therefore, the state of stress at a point can be represented
with reference to
(i) stress components of x,y,z coordinate system
(ii) stress components of x’,y’z’ coordinate system
(iii) using principal stresses
(iv) using octahedral shear and normal stresses
We can prove that:
oct
τ is smaller than
max
τ (exist only on 4 planes) but can exist on 8
planes at a point.
Solid Mechanics
Decomposition into hydrostatic and pure shear stress
x xy xz
ij yx z yz
zx zy z
σ τ τ
σ τ σ τ
τ τ σ
(
(
(
=
(
¸ ¸
(
(
¸ ¸
Mean stress
x y z I
P
σ σ σ + +
= =
1
3 3
x xy xz x xy xz
yx y yz yx y yz
zx zy z zx zy z
P
P
P P
P
P
Hydrostatic State of pureshear
stat of stress Deviatoric state of stress
Dilitational stress Stress deviator
σ τ τ σ τ τ
τ τ τ τ σ τ
τ τ σ τ τ σ
( (
−
(
( (
(
= + −
( (
(
( (
(
−
¸ ¸
( (
¸ ¸ ¸ ¸
0 0
0 0
0 0
Thus the state of the stress at a point can alos be represented
by sum of dilational stress and stress deviator
Solid Mechanics
I
P
σ σ σ + +
= =
1 2 3 1
3 3
P P
P P
P P
σ σ
σ σ
σ σ
−
( ( (
( ( (
= + −
( ( (
− ( ( (
¸ ¸ ¸ ¸ ¸ ¸
1 1
2 2
3 3
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
σ =
1
mean stress + deviation from the mean
The deviatoric and octahedral shear stresses are the answer
for the yielding behavior of materials – which is a type of
failure of materials.
Solid Mechanics
9. Deformation and strain analysis
Two types of deformation have been observed for an
infinitesimal element.
Deformation of the whole body = Sum of deformations of
Deformation is described by measuring two quantities.
(1)Elongation or contraction of a line segment
(2)Rotation of any two ⊥ lines.
Measure of deformations of an infinitesimal
element is known as strain.
• The strain component that measures elongation or
construction – normal strain ε
• The strain component that measures rotation of any two
⊥lines is – shearing strain γ
( )
( )
( )
u u x, y, z
v v x, y, z ( x, y, z) is the point in the undeformed geometry
w w x, y, z
= ¹
¦
=
`
¦
=
)
( ) ( ) ( )
= + +
,
ˆ ˆ ˆ
u u x, y, z i v x, y, z j w x, y, z k
Solid Mechanics
Normal strain ε  Account for changes in length between two
points.
( )
* * *
n
s s
P Q PQ s s
P lim lim
PQ s ∆ → ∆ →
− ∆ − ∆
∈ = =
∆ 0 0
We can also define the same point
x y z
, , ∈ ∈ ∈
(1) By definition
x
∈ is + if
*
s s ∆ > ∆
x
∈ is  if
*
s s ∆ > ∆
(2) It is immaterial how
* *
P Q is oriented finally. However for
n
∈ we must consider PQ in the direction of ˆ n in the
undeformed geometry
(3) In general
( )
n n
x, y, z s ∈ =∈
(4) No units.
(5) Meaning of
nn
∈
Shearing strain 
Accounts the change in angle
( )
n
Y P
+
Change in angle between
⊥ lines in
ˆ
ˆ n&t direction.
( )
nt nt
x x
y y
Y P lim lim
π
φ α β
∆ → ∆ →
∆ → ∆ →
− = +
0 0
0 0
2
Mm/mm,0.5%=0.005;
, µ µ
−
=
6
10 1000
. mm / mm
−
= × =
6
1000 10 0 001
( )
( )
*
n
*
n
n n
s s
s s if s
s s s s
∆ = +∈ ∆
∆ +∈ ∆ ∆ →
∈ ∆ =∈ ∆
1
1 0 =
=
lim as s ∆ →0
Solid Mechanics
(1)We must select two ⊥ lines in the undeformed geometry.
(2)Units of
nt
Y →radius.
(3)By deflection
nt tn
Y Y =
(4)Two subscripts are required for
Y  to show directions of initial
infinitesimal line segments.
(5)
nt
Y is +ve if angle is decreased
nt
Y is ve if angle is more.
By taking two ⊥ lines
We can define
n t nt
, &Y ∈ ∈
Rectangular strain components
x y xy
z y yz
x z xz
, andY PQRS
, andY QABS
, andY RSCD
∈ ∈ −
∈ ∈ −
∈ ∈ −
x xy xz
ij xy y yz
xz yz z
Y Y
E Y Y
Y Y
(
∈
(
(
= ∈
(
¸ ¸
(
∈
(
¸ ¸
They represent the state of strain at a point , since we can
determine strain along any direction ˆ n
 Rectangular strain components .
 We then say that we have strain
computer associated with x, y, z
coordinate system.
Solid Mechanics
Strain displacement relations: Strains are due to
deformation as displacement so there must be some relation
between deformational displacements and strains. So let us
consider the side of the element PQRS. We shall demonstrate
that ‘w’ has no impact. So it can be neglected.
P u, v
u v
Q u x ; v x
x x
→
∂ ∂
→ + ∆ + ∆
∂ ∂
* * *
PQ x
P Q x
= ∆
= ∆
( )
*
x
x x ∆ +∈ ∆ 1 =
( )
*
x
x
lim x x
∆ →
∆ = +∈ ∆
0
1
*
u v w
x x x x
x x x
u u v w
x
x x x x
∂ ∂ ∂
     
∆ = + ∆ + ∆ + ∆
  
∂ ∂ ∂ \ . \ . \ .
(
∂ ∂ ∂ ∂
     
= + + + + ∆
   (
∂ ∂ ∂ ∂ \ . \ . \ .
¸ ¸
2 2 2
2 2 2
1
1 2
Solid Mechanics
*
x
x
x
x
y
z
x x
lim
x
u u v w
lim
x x x x
u u v w
x x x x
v u v w
y y y y
w u v
z z z
∆ →
∆ →
∆ − ∆
∈ =
∆
∂ ∂ ∂ ∂
     
= + + + + −
  
∂ ∂ ∂ ∂ \ . \ . \ .
∂ ∂ ∂ ∂
     
∈ = + + + + −
  
∂ ∂ ∂ ∂ \ . \ . \ .
     
∂ ∂ ∂ ∂
∈ = + + + + −
  
∂ ∂ ∂ ∂
\ . \ . \ .
∂ ∂ ∂
   
∈ = + + +
 
∂ ∂ ∂ \ . \ .
0
2 2 2
0
2 2 2
2 2 2
2
1 2 1
1 2 1
1 2 1
1 2
w
z
∂
 
+ −

∂ \ .
2 2
1
So far no assumption has been made except for size of
x, y& z ∆ ∆ ∆
*
xy
* *
y u x u
Cos
x y
x y
φ
∆ ∂ ∆ ∂
(
 
= +

(
∂ ∂ \ . ∆ ∆ ¸ ¸
1
* *
y v x v
x y
x y
(
  ∆ ∂ ∆ ∂
 
+ +
(  
∂ ∂
\ . ∆ ∆
\ .
¸ ¸
1
* *
y w x w
x y
x y
(
∆ ∂ ∆ ∂
 
+
( 
∂ ∂
\ . ∆ ∆
¸ ¸
*
xy xy
x
y
z
Y lim
π
φ
∆ →
∆ →
∆ →
= −
0
0
0
2
Solid Mechanics
*
xy xy
x
y
z
SinY lim Cosφ
∆ →
∆ →
∆ →
=
0
0
0
( )
( )
xy
* *
x
y
z
*
x
*
y
x y u u v v w w
SinY lim
x y y x x y
x y
x x
y y
∆ →
∆ →
∆ →
(   ∆ ∆ ∂ ∂ ∂ ∂ ∂ ∂
 
= + + + +
 ( 
∂ ∂ ∂ ∂ ∂ ∂ \ . ∆ ∆
\ .
¸ ¸
∆ = +∈ ∆
∆ = +∈ ∆
0
0
0
1 1
1
1
( )
( )
xy
x
x y
y
z
u v u u v v w w
y x x y x y x y
SinY lim
∆ →
∆ →
∆ →
 
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
+ + + +

∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
\ .
=
+∈ +∈
0
0
0
1 1
( )
( )
xy
x y
u v u u v v w w
Sin
y x x y x y x y
Y
−
 
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
+ + + +

∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
\ .
=
+∈ +∈
1
1 1
( )
( )
yz
x y
u v u u v v w w
y x x y x y x y
Y sin
−
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
(
+ + + +
(
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
=
(
+∈ +∈
(
(
¸ ¸
1
1 1
( )( )
xz
x z
w u w w u u v v
x w x z x w x z
Y sin
−
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
(
+ + + +
(
∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂
=
(
+∈ +∈
(
¸ ¸
1
1 1
All bodies after the application of loads under go “small
deformations”
Solid Mechanics
Small deformations :
(1) The deformational displacements
ˆ ˆ
u ui vj wk = + +
,
are
infinitesimally small.
(2) The strains are small
(a) Changes in length of a infinitesimal line segment are
infinitesimal.
(b) Rotations of line segment are also infinitesimal.
x y z
u u u v u u v
, , , ; ; ; ;
x u w x x x y
∂ ∂ ∂ ∂ ∂ ∂ ∂
 
∈ ∈ ≤< ∈

∂ ∂ ∂ ∂ ∂ ∂ ∂ \ .
2
1 1 1 1 < < < are
negligible compare to
u v
,
x x
∂ ∂
∂ ∂
quantities.
x
u
x
u
x
∂
∈ = + −
∂
∂
−
∂
= +
1 2 1
2
1
1
2
x
y
z
u
x
v
y
w
z
∂
∈ =
∂
∂
∈ =
∂
∂
∈ =
∂
xy xy
SinY Y ≈
Solid Mechanics
( )
xy
x y
u v
y x v u
Y
x y
∂ ∂
+
∂ ∂ ∂ ∂
= = +
∂ ∂
+∈ +∈ 1
xz
yz
w u
Y
x z
v w
Y
z y
∂ ∂
= +
∂ ∂
∂ ∂
= +
∂ ∂
Another derivation : Let us take plane PQRS in xy plane.
Also assume that
( ) ( )
u u x, y & v v x, y = = only.
Small deformation
Displacements are small
Strains are small
* * *
x
x
P Q PQ x x
lim
PQ x ∆ →
− ∆ − ∆
∈ = =
∆ 0
Strains<0.001
* * *
x
x
y
y
y
x P Q x
x
y
x x
u
x
lim
x x
v
y y
y
v
lim
y y
′
∆ →
∆ →
∂
 
∆ = + ∆

∂
\ .
∂
 
+ ∆ − ∆

∂
∂
\ .
∈ = =
∆ ∂
 
∂
+ ∆ − ∆

∂
∂
\ .
∈ = =
∆ ∂
0
0
1
1
1
=
Y . < 0 06
*
s .
s mm
−
∆ =
= ×
4
0 2002
2 10
Solid Mechanics
*
xy xy
x x
y y
Y lim lim
π
φ α β
∆ → ∆ →
∆ → ∆ →
= − = +
0 0
0 0
2
v v
x
x x
tan
y y
x
x
x
α
∂ ∂
∆
∂ ∂
= =
∂ ∂
 
+
+ ∆

∂
∂
\ .
1
1
tanα α ≈
v
x
u
y
α
β
∂
=
∂
∂
=
∂
xy
u v
Y
y x
∂ ∂
= +
∂ ∂
u u v v
, , ,
x y y x
u u v
, ,
x y yx
∂ ∂ ∂ ∂
∂ ∂ ∂ ∂
   
∂ ∂ ∂
 

 
∂ ∂ ∂ \ .
\ . \ .
2 2
2
1 <
We can define the state of strain at point by six components
of strains
State of strain
 Engineering strain matrix
 We can find
n
∈ in any
direction we can find
nt
Y for
any two arbitrary directions.
x y, z, xy xz yz
yx zx zy
, Y , Y , Y
Y Y Y
∈ ∈ ∈
↓ ↓ ↓
x xy xz
ij xy y yz
xz yz z
Y Y
E Y Y
Y Y
(
∈
(
(
= ∈
(
¸ ¸
(
∈
(
¸ ¸
Solid Mechanics
2D strain transformation
Plain strain: In which
x xy
xy y
Y
Y
∈
(
(
∈
(
¸ ¸
( )
( )
( )
x x
y y
xy xy
x, y
x, y
Y Y x, y
∈ =∈
∈ =∈
=
z
yz
zx
Y
Y
∈ =
=
=
0
0
0
implication of these
equation is that a point in
a given plane does not
leave that plane all
deformations are in to
plane of the body.
Solid Mechanics
Given
x y xy
, & Y ∈ ∈ what are
n t nt
, & Y ∈ ∈ .
We can always draw PQRS for given ˆ n
If
x y xy
, & Y ∈ ∈
As in case of stress we call these formulae as transformations
laws.
x
x
x
dxSin
ds
dx
sin
ds
sin cos
θ
α
θ
θ θ
∈
=
=∈
=∈
1
y y
dy
cos cos sin
ds
α θ θ θ =∈ =∈
2
xy
xy
dy
Y sin
ds
Y sin sin
α θ
θ θ
=
=
3
Solid Mechanics
x y xy
n x y xy
x y xy
dL dxcos dysin Y dycos
dy dy dL dx
cos sin Y cos
dS ds ds ds
cos cos sin Y sin cos
θ θ θ
θ θ θ
θ θ θ θ θ
=∈ +∈ +
=∈ =∈ +∈ +
=∈ +∈ +
2
 state of strain at a point
 stress tensor
 strain tensor
Replace
x x
y y
xy
xy xy
Y
σ
σ
τ
→∈
→∈
→∈ =
2
( ) ( )
x y xy
x y xy
x y xy
sin cos sin cos Y sin
cos sin cos sin Y cos
cos sin cos sin Y cos
α θ θ θ θ θ
β θ θ θ θ θ
θ θ θ θ θ
= −∈ +∈ −
= −∈ − +∈ − −
=∈ −∈ −
2
2
2
( )
x y
xy
nt
Y
Y
sin cos θ θ
∈ −∈
= − + 2 2
2 2 2
x xy
xy y
Y
Y
∈
(
(
∈
(
¸ ¸
xy
x
xy
y
Y
Y
(
∈
(
(
(
∈
(
¸ ¸
2
2
x xy
xy y
∈ ∈
(
(
∈ ∈
(
¸ ¸
xy
xy
Y
∈ =
2
x xy
xy y
σ τ
τ σ
(
(
(
¸ ¸
x y x y xy
n
Y
cos sin θ θ
∈ +∈ ∈ −∈
∈ = + + 2 2
2 2 2
Solid Mechanics
Principal shears and maximum shear
In plane principal strains
xy xy
p
x y
/
tan Q
ϒ ∈ →
=
∈ −∈
2 2
2
p p
θ θ − − ⊥
1 2
to each other
, ∈ ∈ ∈ >∈
1 2 1 2
( )
x y
s
xy
s p
tan
/
θ
θ θ π
∈ −∈
= −
∈
= ±
1
2
2
4
s s
θ θ − − ⊥
1 2
to each other
x y
x y I
x y xy
y xy
xy
x y
I
J
I
J
Y
J
σ σ
σ σ τ
+ =
∈ +∈ =
− =
∈∈ −∈ =
 
∈ ∈ − =

\ .
1
2
2
2
2
2
2
2
x y
max min xy
max
max s
min
min s
or R
Y
Y
θ
θ
∈ −∈
 
∈ ∈ = ± = ± +∈

\ .
=∈ −
=∈ −
1
2
2
2
2
2
2
Solid Mechanics
Mohr’s Circle for strain
3Dstrain transformation
xy
x x y y z z xy xy
Y
; ; ; σ σ σ τ →∈ →∈ →∈ =∈ =
2
( )
( )
( )
x xy xz
xy y yz
xz yz z
∈ −∈ ∈ ∈
∈ ∈ −∈ ∈ =
∈ ∈ ∈ −∈
0
, , ∈ ∈ ∈
1 2 3
 ∈ >∈ >∈
1 2 3
* * * * *
s x y
s P Q P R
u v
x y x y
x x
′ ′
∆ = ∆ + ∆
∆ = +
∂ ∂
( (    
= + ∆ + + ∆ − ∆ + ∆
 
( (
∂ ∂ \ . \ . ¸ ¸ ¸ ¸
2 2 2
2 2 2
2 2
2 2
1 1
x x y y
,Y ,
′ ′ ′ ′
∈ ∈
Solid Mechanics
n
y
. x
x
y u v
x x y
x x x
∆
 
∈ = + ∆

∆
\ .
∆ ∂ ∂
(
   
= + + + ∆ − ∆ − ∆
 
(
∂ ∂ ∆ \ . \ . ¸ ¸
2
2 2
2 2 2
1
1 1
u u v v
x y x y
x x y y
y
x
x
u v
x y x y
x y
y
x
x
(
 
 
∂ ∂ ∂ ∂
 
( + + ∆ + + + ∆ − ∆ − ∆
 

∂ ∂ ∂ ∂ \ .
(
\ .
\ .
¸ ¸
=
∆
 
+ ∆

∆
\ .
 
∂ ∂
 
+ ∆ + + ∆ − ∆ + ∆


∂ ∂ \ .
\ .
=
∆
 
+ ∆

∆
\ .
2
2
2 2 2
2
2
2 2 2 2
2
1 2 1 2
1
1 2 1 2
1
Transformation
x x x x y y y z z z xy x x x y
yz x y x z zx x z x x
n n n n n
n n n n
σ σ σ σ τ
τ τ
′ ′ ′ ′ ′ ′
′ ′ ′ ′
= + + +
+ +
2 2 2
x x x x y x y z x z xy x x x y
yz x y x z zx x z x x
n n n n n
n n n n
′ ′ ′ ′ ′ ′
′ ′ ′ ′
∈ =∈ +∈ +∈ +∈
+∈ +∈
2 2 2
x y
x y x y
Y
τ
′ ′
′ ′ ′ ′
→∈ →
2
xy xy
yz yz
zx zx
τ
τ
τ
→∈
→∈
→∈
x x
y y
z zx
σ
σ
σ
→∈
→∈
→∈
Solid Mechanics
Principal strains:
( )
( )
( )
x x xy y xz z
xy x y y yz z
xz x yz y z z
n n n
n n n
n n n
∈ −∈ +∈ +∈ =
∈ + ∈ −∈ +∈ =
∈ +∈ + ∈ −∈ =
0
0
0
( )
( )
( )
x xy xz
xy y yz
xz yz z
∈ −∈ ∈ ∈
∈ ∈ −∈ ∈ =
∈ ∈ ∈ −∈
0
J J J ∈ − ∈ + ∈− =
3 2
1 1 2 3
0
x y z
J =∈ +∈ +∈
1
x xy
x y x z y z xy yz zx
xy y
y yz
x xz
yz z xz z
J
∈ ∈
=∈ ∈ +∈ ∈ +∈ ∈ −∈ −∈ −∈ +
∈ ∈
∈ ∈
∈ ∈
+
∈ ∈ ∈ ∈
2 2 2
2
x y z xy yz zx x yz y xz
x xy xz
z xy yx y yz
zx zy z
J =∈ ∈ ∈ +∈ ∈ ∈ −∈ ∈ −∈ ∈
∈ ∈ ∈
−∈ ∈ ∈ ∈ ∈
∈ ∈ ∈
2 2
3
2
∈ >∈ >∈
1 2 3
System of linear
homogeneous
equations
Solid Mechanics
( )
( )
x x xy y zx z
xy x y y zy z
x y z
n n n
n n n
n n n
∈ −∈ +∈ +∈ =
∈ + ∈ −∈ +∈ =
+ + =
1
1
2 2 2
0
0
1
x y z
n ,n &n ¬ unique
Decomposition of a strain matrix into state of pure shear +
hydrostatic strain
x xy xz x xy xz
ij yx y yz yx y yz
zx zy z zx zy z
State of pureshear Hydrostatic
( (
∈ ∈ ∈ ∈ −∈ ∈ ∈
∈
(
( (
(
(
∈ = ∈ ∈ ∈ = ∈ ∈ −∈ ∈ + ∈
( (
¸ ¸ (
( (
∈ (
∈ ∈ ∈ ∈ ∈ ∈ −∈
¸ ¸
( (
¸ ¸ ¸ ¸
0 0
0 0
0 0
where
x y z
∈ +∈ +∈
∈=
3
J
J
J
=∈ +∈ +∈
=∈ ∈ +∈ ∈ +∈ ∈
=∈ ∈ ∈
1 1 2 3
2 1 2 2 3 3 1
3 1 2 3
Solid Mechanics
Plane strain as a special case of 3D
∈ =
3
0 is also a principal strain
z → is a principal direction
if ; ∈ >∈ ∈ =∈
1 2 1 2
+ve
if ∈
1
+ve, ∈
2
ve.
if +ve, ve ∈ ∈
1 2
P & z ′ ′
1
will come closer
to the maximum extent,
so that the included angle
is
max
π
−∈
2
Solid Mechanics
Transformation equations for planestrain
Given state of strain at a point P.
xx xy
ij
xy yy
Y
E
Y
∈
(
(
=
(
¸ ¸
∈
(
¸ ¸
This also means that
Now what are the strains associated with x , y ′ ′ i.e
x x x y
i j
x y y y
Y
E
Y
′ ′ ′ ′
′ ′
′ ′ ′ ′
∈
(
(
=
(
¸ ¸
∈
(
¸ ¸
This also means that
deformation
Solid Mechanics
Assume that
xx yy
, ∈ ∈ and
x y
Y
′ ′
are +ve
Applying the law of cosines to triangular P* Q* R*
( ) ( ) ( ) ( )( )
( ) ( )
( )
( )
( )
xy
x x y x
y xy
P* R* P* R* Q* R* P* R* Q* R*
cos Y
x x y x
y cos Y
π
π
′
= + −
 
+

\ .
(
′
∆ +∈ = ∆ +∈ + ∆ +∈ − ∆ +∈ ( ( (
¸ ¸ ¸ ¸ ¸ ¸
¸ ¸
 
(
∆ +∈ +

¸ ¸
\ .
2 2 2
2
2 2
2
2
1 1 1 2 1
1
2
x x cosθ
′
∆ = ∆ and y x sinθ ′ ∆ = ∆
( )
xy xy xy
cos Y sinY Y
π
+ = − ≈ −
2
( ) ( )
( )
( )
( )( )
x x y
x y xy
x x cos x sin
x sin cos Y
θ θ
θ θ
′
′ ′ ′ ∆ +∈ = ∆ +∈ + ∆ +∈
′
− ∆ +∈ +∈ −
2
2 2
2 2 2 2 2
2
1 1 1
2 1 1
Solid Mechanics
( ) ( )
( )
( )
( )( )
( ) ( )
( )
x x y
x y xy
x x x x y y
xy x y x y
cos sin
sin cos Y
cos sin
sin Y
θ θ
θ θ
θ θ
θ
′
′
+∈ = +∈ + +∈
− +∈ +∈ −
+∈ + ∈ = +∈ + ∈ + +∈ + ∈
+ +∈ +∈ +∈ ∈
2
2 2
2 2
2 2 2 2 2
1 1 1
2 1 1
1 2 1 2 1 2
2 1
( )
( )
( )
( )
( )
x x y
xy x y
x y
xy
cos sin
Y sin
cos sin
Y sin
θ θ
θ
θ θ
θ
+ ∈ = + ∈ + + ∈
+ +∈ +∈
= + ∈ + + ∈
+
2 2
2 2
1 2 1 2 1 2
2 1
1 2 1 2
2
x x y xy
xy
x x y
cos sin Y sin
Y
cos sin sin
θ θ θ
θ θ θ
′
′
+ ∈ = + ∈ + ∈ +
∈ =∈ +∈ +
2 2
2 2
1 2 1 2 2 2
2
2
x y x y xy
x
Y
cos sin θ θ
′
∈ +∈ ∈ −∈
∈ = + + 2 2
2 2 2
If
y
Q
π
θ
′
= + ¬∈
2
x y x y xy
x
Y
cos sin θ θ
′
∈ +∈ ∈ −∈
∈ = + + 2 2
2 2 2
x y x y xy
y
Y
cos sin θ θ
′
∈ +∈ ∈ −∈
∈ = + − 2 2
2 2 2
x y x y ′ ′
∈ +∈ =∈ +∈ J = =
1
first invariant of strain.
Solid Mechanics
( )
x y xy
x OB
Q
OB x y xy
xy OB x y
Y
Y
Y
π
′
=
∈ +∈
∈ =∈ = +
∈ =∈ +∈ +
= ∈ − ∈ +∈
4
2 2
2
2
( )
( )
OB x y x y
x y OB x y
OB x y
Y
Y
( )
′ ′ ′ ′ ′
′ ′ ′ ′
′
∈ =∈ +∈ +
= ∈ − ∈ +∈
= ∈ − ∈ +∈
2
2
2 3
x y x y xy
x OB
Q Q
Y
sin cos
π
θ θ
′ ′
= +
∈ +∈ ∈ −∈
∈ =∈ = − +
4
2 2
2 2 2
 (4)
Substituting (4) in (3)
( ) ( ) ( )
x y x y x y xy x y
Y sin Y cos θ θ
′ ′
= ∈ +∈ − ∈ −∈ + − ∈ +∈ 2 2
( )
x y x y xy
Y sin Y cos θ θ
′ ′
= − ∈ −∈ + 2 2 (5)
tensorial normal strain
xx
∈ =engineering normal strain
xx yy z
, , =∈ ∈ ∈
tensorial shear strain
( )
xy
xy
Y
Engineeringshear strain 
∈ =

\ .
2 2
Solid Mechanics
( )
xz
xx xy xz
ij xy yy yz
zx zy zz zz
Y
(
 
∈ ∈ ∈ =

(
\ .
(
(
∈ = ∈ ∈ ∈
(
¸ ¸
(
∈ ∈ ∈ =∈
(
¸ ¸
2
( )
x y x y
x xy
x y x y
y xy
x y
x y xy
cos sin
cos sin
sin cos
θ θ
θ θ
θ θ
′
′
′ ′
∈ +∈ ∈ −∈
∈ = + +∈
∈ +∈ ∈ −∈
∈ = − −∈
∈ −∈
∈ = − +∈
2 2
2 2
2 2
2 2
2 2
2
Components.
 Strain tensors
Solid Mechanics
Problem:
An element of material in plane strain undergoes the
following strains
x y xy
Y
− − −
∈ = × ∈ = × = ×
6 6 6
340 10 110 10 180 10
Show them on sketches of properly oriented elements.
Solution:
x
−
′
∈ = − ×
6
340 10 ;
y
−
′
∈ = ×
6
110 10 ;
x y
Y
−
′
′
= ×
6
180 10
x
−
∈ = ×
6
340 10
Solid Mechanics
Problem:
During a test of an airplane wing, the strain gage readings
from a 45
rosette are as follows gage A,
−
×
6
520 10 ; gage B
−
×
6
360 10 and gage C
−
− ×
6
80 10
Determine the principal strains and maximum shear strains
and show them on sketches of properly oriented elements.
Solution:
(1)
x
OB
y
−
−
−
∈ = ×
∈ = ×
∈ = − ×
6
6
6
520 10
360 10
80 10
( )
( )
xy OB x y
Y
rad
− − −
−
= ∈ − ∈ +∈
= × × − × − ×
= ×
6 6 6
6
2
2 360 10 520 10 80 10
280 10
x y
− −
−
∈ +∈
× − ×
= = ×
6 6
6
520 10 80 10
220 10
2 2
Solid Mechanics
x y
− −
−
∈ −∈
× + ×
= = ×
6 6
6
520 10 80 10
300 10
2 2
xy
p
x y
xy
xy
e
tan
Y
θ
−
−
−
−
∈
× ×
= =
∈ −∈
×
×
∈ = = = ×
6
6
6
6
2
140 10
2
300 10
280 10
140 10
2 2
p
p p
.
. .
θ
θ θ
∴ =
= =
2 25 02
12 51 102 51
( ) ( )
x y x y
xy
or
.
− − −
− −
∈ +∈ ∈ −∈
 
∈ ∈ = ± +∈

\ .
= × ± × + ×
= × ± ×
2
2
1 2
2 2
6 6 6
6 6
2 2
220 10 300 10 140 10
220 10 331 06 10
.
.
−
−
∴ ∈ = ×
∈ = − ×
6
1
6
2
551 06 10
111 06 10
( ) ( )
x
.
x y x y
xy
Cos Sin
cos . Sin .
.
θ
θ θ
′
=
− − −
−
∈
∈ +∈ ∈ −∈
= + +∈
= × + × × + × ×
= ×
12 51
6 6 6
6
2 2
2 2
220 10 300 10 2 12 51 140 10 2 12 51
551 06 10
Solid Mechanics
p
. θ =
1
12 51 and
p
. θ =
2
102 51
(b) In plane maximum shear strains are
x y
xy xy
max xy
min
or
.
−
∈ −∈
 
∈ ∈ = ± +∈

\ .
= ± ×
2
2
6
2
331 06 10
( )
( )
xy
max
xy
min
.
.
−
−
∈ = ×
∈ = − ×
6
6
331 06 10
331 06 10
( )
x y
s
xy
tan Q
.
−
−
∈ −∈
− ×
= − =
∈
×
6
6
300 10
2
2
140 10
s
s s
Q .
Q . Q .
=
= − =
2 64 98
32 5 57 5
( )
( ) ( )
x y
x y xy
Q .
Sin . Cos .
. . .
′ ′
=
− − −
∈ −∈
∈ = − +∈
= − × − × = ×
57 5
6 6 6
2 57 5 2 57 5
2
271 89 10 59 17 10 331 06 10
Solid Mechanics
and
s
. θ = −
1
32 5
s
. θ = −
2
32 5
x y
−
∈ +∈
∈= = ×
6
220 10
2
min
max
Y .
Y .
−
−
= − ×
= ×
6
6
662 11 10
662 11 10
Solid Mechanics
10. Stress strain diagrams
• Bar or rod – the longitudinal direction is considerably
greater than the other two, namely the dimensions of
cross section.
• For the design of the m/c components we need to
understand about “mechanical behavior” of the
materials.
• We need to conduct experiments in laboratory to
observe the mechanical behavior.
• The mathematical equations that describe the
mechanical behavior is known as “constitutive
equations or laws”
• Many tests to observe the mechanical behavior tensile
test is the most important and fundamental test as we
gain or get lot of information regarding mechanical
behavior of metals
• Tensile test Tensile test machine, tensile test specimen,
extensometer, gage length, static testslowly varying
loads, compression test.
Stress strain diagrams
After performing a tension or compression tests and
determining the stress and strain at various magnitudes of
load, we can plot a diagram of stress Vs strain.
Solid Mechanics
Such is a characteristic of the particular material being tested
and conveys important information regarding mechanical
behavior of that metal.
We develop some ideas and basic definitions using σ −∈
curve of the mild steel.
Structural steel = mild steel = 0.2% carbon=low carbon steel
Region OA
(1) σ and ∈ linearly proportional.
(2) A Proportional limit
p
σ  proportionality is maintained.
(3) Slope of AO = modulus of elasticity “E” – N/m
2
,Pa
(4) Strains are infinites ional.
f o
o
L L
L
−
∈=
Solid Mechanics
Region AB
(1) Strain increases more rapidly than σ
(2) Elastic in this range
Proportionality is lost.
Region BC
(1) The slope at point B is horizontal.
(2) At this point B, ∈ increases without increase in further
load. I.e no noticeable change in load.
(3) This phenomenon is known as yielding
(4) The point B is said to be yield points, the corresponding
stress is yield stress
ys
σ of the steel.
(5) In region BC material becomes “perfectly plastic i.e
which means that it deforms without an increase in the
applied load.
(6) Elongation of steel specimen or ∈ in the region BC is
typically 10 to 20 times the elongation that occurs in region
OA.
(7)
s
∈ below the point A are said to be small, and
s
∈ above A
are said to be large.
(8)
s A
∈ <∈ are said to be elastic strains and
A
∈>∈ are said to
be plastic strains = large strains = deformations are
permanent.
Solid Mechanics
Region CD
(1)The steel begins to “strain harden” at “C” . During strain
hardening the material under goes changes in its crystalline
structure, resulting in increased resistance to the
deformation.
(2)Elongation of specimen in this region requires additional
load,
∴ σ −∈ diagram has + ve slope C to D.
(3) The load reaches maximum value – ultimate stress.
(4)The yield stress and ultimate stress of any material is also
known as yield strength and the ultimate strength .
(5)
u
σ is the highest stress the component can take up.
RegionDE
Further stretching of the bar is needed less force than
ultimate force, and finally the component breaks into two
parts at E.
Solid Mechanics
Look of actual stress strain diagrams
CtoE BtoC Oto A
∈ >∈ >∈
(1) Strains from O to A are
so small in comparison to the
strains from A to E that they
cannot be seen.
(2) The presence of well defined
yield point and subsequent large
plastic strains are characteristics of mild – steel.
(3) Metals such a structural steel that undergo large
permanent strains before failure are classified as ductile
metals.
Ex. Steel, aluminum, copper, nickel, brass, bronze,
magnesium, lead etc.
Aluminum alloys – Offset method
(1) They do not have clear cut yield point.
(2) They have initial straight line portion with clear
proportional limit.
(3) All does not have obvious
yield point, but undergoes
large permanent strains after
proportional limit.
(4) Arbitrary yield stress is
Solid Mechanics
determined by off set method.
(5) Offset yield stress is not material property
Elasticity & Plasticity
(1) The property of a material by which it (doesn’t) returns to
its original dimensions during unloading is called (plasticity)
elasticity and the material is said to be elastic (plastic).
(2) For most of the metals proportional limit = elastic limit.
(3) For practical purpose proportional limit = elastic limit =
yield stress
(4 )All metals have some amount of straight line portion.
Solid Mechanics
Brittle material in tension
(1) Materials that fail in tension at relatively low values of
strain are classified or brittle materials.
(2) Brittle materials fail with only little elongation (elastic)
after the proportional limit.
(3)Fracture stress = Ultimate stress for brittle materials
(4)Up to B, i.e fracture strains are elastic.
(5)No plastic deformation in case of brittle materials.
Ex. Concrete, stone, cast iron, glass, ceramics
Ductile metals under compression
Solid Mechanics
(1) σ −∈ curves in compression differ from σ −∈ in tension.
(2)For ductile materials, the proportional limit and the initial
portion of the σ −∈ curve is same in tension and
compression.
(3)After yielding starts the behavior is different for tension
and compression.
(4)In tension after yielding – specimen elongates – necking
and fractures or rupture. In compression – specimen bulges
out with increasing load the specimen is flattened out and
offers greatly increased resistance.
Brittle materials in compression
(1)Curves are similar both in tension and compression
(2)The proportional limit and ultimate stress i.e fracture
stress are different.
(3)In case of compression both are greater than tension case
(4)Brittle material need not have linear portion always they
can be nonlinear also.
Solid Mechanics
11. Generalized Hooke’s Law
(1) A material behaves elastically and also exhibits a linear
relationship between σ and ∈ is said to be linearly elastic.
(2) All most all engineering materials are linearly elastic up
to their corresponding proportional limit.
(3) This type of behavior is extremely important in
engineering – all structures designed to operate within this
region.
(4) Within this region, we know that either in tension or
compression
E
Stressinparticular direction straininthat dir. X E
σ = ∈
=
E =Modulus of elasticity –Pa,N / m
2
= Young’s modulus of elasticity.
(5)
x x
E σ = ∈ or
y y
E σ = ∈
(6) E σ = ∈ is known as Hooke’s law.
(7) Hooke’s law is valid up to the proportional limit or
within the linear elastic zone.
Solid Mechanics
Poisson’s ratio
When a prismatic bar is loaded in tension the axial
elongation is accompanied by lateral contraction.
Lateral contraction or lateral strain
f o
o
d d
d
−
′
∈= this comes out to be –ve
( )
lateral strain
Poisson's ratio = nu
axial strain
is perpendicular to
ν
′
−∈
=− =
∈
′
∈ ∈
If a bar is under tension ∈ +ve, ′ ∈ ve and ν = +
If a bar is under compression ∈ ve, ′ ∈ +ve and ν = +
ν =always +ve = material constant
For most metals . to . s ν = 0 25 0 35
Concrete . to . ν = 0 1 0 2
Rubber . ν = 0 5
ν is same for tension and compression
ν is constant within the linearly elastic range.
Solid Mechanics
Hooks law in shear
(1)To plot ,Y τ the test is twisting
of hollow circular tubes
(2) ,Y τ diagrams are (shape of them) similar in shape to
tension test diagrams
( )
Vs σ ∈ for the same material,
although they differ in magnitude.
(3)From Y τ − diagrams also we can obtain material
properties proportional limit, modulus of elasticity, yield
stress and ultimate stress.
(4)Properties are usually ½ of the tension properties.
(5)For many materials, the initial part o the shear stress
diagram is a st. line through the origin just in case of tension.
GY τ =  Hooke’s law in shear
G =Shear modulus of elasticity or modulus of rigidity.
Pa or N / m s =
2
Proportional limit
Elastic limit
Yield stress
Ultimate stress
Material properties
τ
ϒ
Proportional limit
G
1
Yield point
Solid Mechanics
E, v, and G → material properties – elastic constants  elastic
properties.
Basic assumptions solid mechanics
Fundamental assumptions of linear theory of elasticity are:
(a) The deformable body is a continuum
(b) The body is homogeneous
(c) The body is linearly elastic
(d) The body is isotropic
(e) The body undergoes small deformations.
Continuum
Completely filling up the region of space with matter it
occupies with no empty space.
Because of this assumption quantities like
( )
( )
( )
u u x, y, z
x, y, z
x, y, z
σ σ
=
=
∈=∈
Homogeneous
Elastic properties do not vary from point to point. For non
homogenous body
( )
( )
( )
E E x, y, z
v v x, y, z
G G x, y, z
=
=
=
Solid Mechanics
Linearly elastic
Material follows Hooke’s law
E
GY
v Constant
σ
τ
= ∈
=
=
Isotropic
Material properties are same in all directions at a point in the
body
E C for all
C for all
G C for all
θ
ν θ
θ
=
=
=
1
2
3
The meaning is that
x x
y y
E
E
σ
σ
= ∈
= ∈
The material that is not isotropic is anisotropic
( )
( )
( )
E E
G G
θ
ν ν θ
θ
=
=
=
The meaning is that
x x
y y
E
E
E E
σ
σ
= ∈
= ∈
≠
1
2
1 2
Solid Mechanics
Small deformations
(a) The displacements must be small
(b) The strains must also be small
Generalized Hooke’s law for isotropic material
We know the following quantities from the tension and
shear testing.
E
Tensiletest
v
σ = ∈
¹
¦
′
∈ `
= −
¦
) ∈
GY τ =  Shear test or torsion test.
What are the stress –strain relation for an element subjected
to 3D state of stress. i.e what is the generalized Hooke’s law.
Hooke’s law – when only one stress is acting
Generalized Hooke’s law – when more than one stress acting
We assume that
Material is linearly elastic, Homogeneous, Continuum,
undergoing small deformations and isotropic.
For an isotropic material the following are true
(1)Normal stress can only generate normal strains.
 Normal stresses for reference xyz cannot produce Y of this
reference
Solid Mechanics
(2)A shear stress say
xy
τ can only produce the corresponding
shear strain
xy
Y in the same coordinate system.
Principal of superposition:
This principle states that the effect of a given combined loading on
a structure can be obtained by determining separately the effects of
the various loads individually and combining the results obtained,
provided the following conditions are satisfied.
(1)Each effect is linearly related to the load that produces it.
(2)The deformations must be small.
Solid Mechanics
Let us know consider only
x
σ is applied to the element.
From Hooke’s we can write
x
x
x
y
x
z
E
v
E
v
E
σ
σ
σ
∈ =
∈ = −
∈ = −
Solid Mechanics
Only
y
σ applied
y
y
y
x
y
z
E
v
E
v
E
σ
σ
σ
∈ =
∈ = −
∈ = −
Similarly,
z
σ alone is applied
z
z
z
x
z
y
E
v
E
v
E
σ
σ
σ
∈ =
∈ = −
∈ = −
Contribution to
x
∈ due to all three normal stresses is
y
x
x
v
v
E E E
σ
σ σ
∈ = − −
3
( )
( )
( )
x x y z
y y x z
x z x y
Therefore
v
E
v
E
v
E
σ σ σ
σ σ σ
σ σ σ
(
∈ = − +
¸ ¸
(
∈ = − +
¸ ¸
(
∈ = − +
¸ ¸
1
1
1
Normal strains are not affected by shear stresses
Solid Mechanics
Now let us apply only
xy
τ
xy
xy
Y
G
τ
=
Similarly because of
yz xz
and τ τ
yz
yz
xz
xz
Y
G
Y
G
τ
τ
=
=
Therefore, when all six components of stresses and strains
are acting on an infinitesimal element or at a point then the
relation between six components of stresses and strains is
( )
( )
( )
x x y z
y y x z
x z x y
xy
xy
yz
yz
xz
xz
v
E
v
E
v
E
Y
G
Y
G
Y
G
σ σ σ
σ σ σ
σ σ σ
τ
τ
τ
(
∈ = − +
¸ ¸
(
∈ = − +
¸ ¸
(
∈ = − +
¸ ¸
=
=
=
1
1
1
These six equations are known as generalized Hooke’s law for
isotropic materials.
Solid Mechanics
Matrix representation of generalized Hooke’s law for
isotropic materials is therefore,
x x
y y
z z
xy xy
yz yz
xz xz
v v
E E E
v v
E E E
v v
E E E
Y
G
Y
Y
G
G
σ
σ
σ
τ
τ
τ
− −
(
(
(
− −
∈ (
¦ ¹ ¦ ¹
(
¦ ¦ ¦ ¦
∈
(
¦ ¦ ¦ ¦
− −
(
¦ ¦ ¦ ¦
∈
¦ ¦ ¦ ¦
(
=
´ ` ´ `
(
¦ ¦ ¦ ¦
(
¦ ¦ ¦ ¦
(
¦ ¦ ¦ ¦
(
¦ ¦ ¦ ¦
¹ ) ¹ )
(
(
(
¸ ¸
1
0 0 0
1
0 0 0
1
0 0 0
1
0 0 0 0 0
1
0 0 0 0 0
1
0 0 0 0 0
Stress components in terms of strains
( ) ( )
( )
x y z x y z x y z
x y z
v
s
E E
v
e
E
σ σ σ σ σ σ
σ σ σ
∈ +∈ +∈ = + + − + +
−
(
= + +
(
¸ ¸
1 2
1 2
x y z
e ∈ +∈ +∈ =
( )
x x x y z
v v
E
σ σ σ σ
(
∈ = − − +
¸ ¸
1
( )
x x y z x
v v
E
σ σ σ σ σ
(
= − + + +
¸ ¸
1
( )
( )
x x y z
v v
E
σ σ σ σ
(
= + − + +
¸ ¸
1
1
Solid Mechanics
( )
( )
( )
( )
x
veE
v
E v
v ve
E v
σ
σ
(
= + −
(
−
¸ ¸
× +
= −
−
1
1
1 2
1
1 2
x x
ve E
v v
σ
(
∴ = ∈ +
(
− + ¸ ¸ 1 2 1
E
v
µ =
+ 1
(mu) where
( )( )
Ev
v v
λ =
+ − 1 1 2
,
λ µ are Lames constants
x x
y y
z z
xy xy xy
xy yz yz
xy zx zx
e
e
e
Y G Y
Y G Y
Y G Y
σ λ µ
σ λ µ
σ λ µ
τ µ
τ µ
τ µ
= +∈
= +∈
= +∈
= =
= =
= =
2
2
2
Lame’s constants have no physical meaning
Stressstrain relations for plane stress
Solid Mechanics
( )
( )
( )
x x
y y
xy xy
z yz zx
x, y
x, y
x, y
σ σ
σ
τ τ
σ τ τ
=
=∈
=
= = = 0
( )
( )
( ) ( )
x x y
y y x
z x y x y
xy
xy
yz xz
v
E
v
E
v v
E v
Y
G
Y Y
σ σ
σ σ
σ σ
τ
∈ = −
∈ = −
−
∈ = − + = ∈ +∈
−
=
= =
1
1
1
0
Stress strain relations for plane strain
( )
( )
( )
x x
y y
xy xy
xz yz
x y
x, y
x, y
Y Y x, y
Y Y
e
∈ =∈
∈ =∈
=
∈ = = =
=∈ +∈
3
0
( )
( )
( )
( )
( )
( )
( )
( )
x x x
y y y
z x y z
x y
e x, y
e x, y
v x, y
v e e
ve
v
σ λ µ σ
σ λ µ σ
σ σ σ σ
λ µ
λ µ
λ µ
= + ∈ =
= + ∈ =
= − + =
= − +
= − +
= − + ∈ +∈
2
2
2
xy xy
xz yz
GY τ
τ τ
=
= = 0
Solid Mechanics
• Therefore, the stress transformation equations for plane
stress can also be used for the stresses in plane strain.
• The transformation laws for plane strain can also be
used for the strains in plane stress.
z
∈ does not effect
geometrical relationships used in derivation.
Example of Generalized Hooke’s law
Principal stress and strain directions of
isotropic materials
τ is zero along those planes,
therefore Y is also zero along these planes
i.e normal strains of the element are
principal strains. For isotropic materials 
the principal strains and
principal stresses occurs in the same direction.
σ λ µ
(
∈ = − − ∈
¸ ¸
x x y
v e v
E
1
σ σ =
x y
2
σ σ
σ λ µ
σ σ
σ λ µ
(
∈ = −
¸ ¸
= + ∈
(
∈ = −
¸ ¸
= + ∈
x x y
x x
y y x
y y
v
E
e
v
E
e
1
1
σ σ = −
x y
σ σ
σ
(
∈ = +
¸ ¸
+
 
=

\ .
x x y
x
v
E
v
E
1
1
Solid Mechanics
12. Volumetric strain and Bulk modulus
Relation between E, andG ν
( )
( )
xy
xy
v
E
v
E
σ τ σ σ
σ τ σ σ
= ∈ = −
= − ∈ = −
1 1 1 2
2 2 2 1
1
1
( )
( )
( )
xy
xy xy
xy
xy xy
xy
xy
v
v
E E
v
E
Y
G
G
τ
τ τ
τ
τ
τ
+
∈ = + =
− +
∈ =
∈ =∈ = =
−
∈ =
1
2
1
2
1
1
1
2 2
2
( )
xy xy
v
E G
τ τ +
= ¬
1
2
( )
E
G
v
=
+ 2 1
Only two elastic constants are independent.
Solid Mechanics
Volumetric straindilatation
Consider a stress element size dx,dy,dz
dv dxdydz =
After deformations
( )
( )
( )
*
x
*
y
*
z
dx dx
dy dy
dz dz
= +∈
= +∈
= +∈
1
1
1
In addition to the changes of length of the sides, the element
also distorts so that right angles no longer remain sight
angles. For simplicity consider only
xy
Y .
The volume
*
dv of the deformed element is then given by
( )
* * * * *
dv Area OA B C dz = ×
( ) ( )
* * * * *
xy
* *
xy
Area OA B C dx dy CosY
dx dy CosY
=
=
* * * *
xy
dv dx dy dz CosY ∴ =
For small
xy xy
Y CosY ≈ 1
( )
( )
( )
* * * *
x y z
dv dx dy dz Volumechange doesn't dependonY
dxdydz
∴ = −
= +∈ +∈ +∈ 1 1 1
dropping all second order infinitesimal terms
Solid Mechanics
( )
*
x y z
dv dxdydz = +∈ +∈ +∈ 1
Now, analogous to normal strain, we define the measure of
volumetric strain as
final volumeinitial volume
Volumetric strain
initialvolume
=
*
dv dv
e
dv
−
=
x y z
e =∈ +∈ +∈
• e =volumetric strain = dilatation. This expression is
valid only for infinitesimal strains and rotations
•
x y z
e J first invariance of strain. =∈ +∈ +∈ = =
1
• Volumetric strain is scalar quantity and does not
depend on orientation of coordinate system.
• Dilatation is zero for state of pure shear.
Bulk modulus of elasticity
( )
( )
x y z x y z
v
E
σ σ σ
−
∈ +∈ +∈ = + +
1 2
Mean stress
( )
x y z
σ σ σ σ = = + +
1
3
( ) v
e
E
σ
−
=
3 1 2
Ke σ =
Solid Mechanics
Where
( )
E
K
v
=
− 3 1 2
bulk modulus of elasticity.
• Bulk modulus is widely used in fluid mechanics.
• From physical reasoning E ,G ,K > > ≥ 0 0 0
Steel : E = 200 Gpa
v = 0.3
Al : E = 70 Gpa
v = 0.33
Copper: E = 100 Gpa
v = 0.35
( )
( )
E
G SinG Eand G
v
v v
= >
+
+ > → > −
0
2 1
1 0 1
Similarly SinG E & K > ≥ 0 0
( )
E
K v v .
v
= → − ≥ → ≤
−
1 2 0 0 5
3 1 2
∴ Theoretical bounds on v are
v . − < ≤ 1 0 5
asv . K α → → 0 5 and 0 C → material is incompressible.
Solid Mechanics
13. Axially loaded members
Solid Mechanics
Geometry, locating and material properties
• A prismatic bar is subjected to axial loading
• A prismatic bar is a st. structural member having
constant crosssection through out it length.
• Bar or rod →length of the member is > cross sectional
dimensions.
Axial force is a load directed along the axis of the member –
can create tension or compression in the member.
Typical cross sections of the members
 Solid Sections
 Hollow Sections
Solid Mechanics
Material properties: The member is homogenous linearly
elastic and isotropic material.
Stresses, strains and deformations
Consider a prismatic bar of constant crosssectional area A
and length L, with material properties A & v. Let the rod be
subjected to an axial force “p”, which acts along xaxis.
x y z
y z
F P
M M M
V V
=
= = =
= =
0
0
The right of the section mm exerts elementary forces or
stresses on to the left of the section to maintain the
equilibrium. Sum of all these elementary forces must be
equal to the resultant F.
 Other sections
Solid Mechanics
x
A
y x
z x
dA F
M zdA
M ydA
σ
σ
σ
=
= =
= − =
}
}
}
0
0
Above equation must be satisfied at every crosssection,
however, it does not tell how
x
σ is distributed in the cross
section.
The distribution cannot determine by the methods of static
or equations of equilibrium statically indeterminate
To know about the distribution of
x
σ in any given section, it is
necessary to consider the deformations resulting from the
application of loads.
Since the body needs to develop only
x
σ component in order
to maintain equilibrium, therefore the state of stress at any
point of prismatic rod is
x
ij
σ
σ
(
(
(
=
¸ ¸
(
(
¸ ¸
0 0
0 0 0
0 0 0
Solid Mechanics
We make the following assumptions on deformation based
on experimental evidence
(1)The axis of the bar remains straight after
deformation
(2)All plane crosssections remain plane and
perpendicular to the axis of the bar
Key
kinematical
assumptions
• As a result of the above kinematic assumptions all
points in a given yz plane have the same displacements
in the xdirection.
• Any line segment AB undergoes same strain
x
∈ therefore
x
∈ cannot be a function of y or z, but at most is a function
of x only.
In the present case situation is same at all crosssections of
the prismatic bar, therefore
x
Constant ∈ =
at all points of the body i.e
x
∈ is also no a function of x.
Solid Mechanics
Since we are studying a homogenous, linearly elastic and
isotropic prismatic bar
( )
( )
( )
x x y z
y y x z
z z x y
v
E
v
E
v
E
σ σ σ
σ σ σ
σ σ σ
(
∈ = − − →
¸ ¸
(
∈ = − − →
¸ ¸
(
∈ = − − →
¸ ¸
1
1
1
In the present case,
x
∈ is independent of y and z coordinates,
therefore
x
σ is also independent of y and z coordinates i.e
x
σ is uniformly distributed in a crosssection
Moreover throughout the bar.
We know that internal resultant force
x
A
F dA σ =
}
Since
x
σ is a independent of y & z
x
x
y x
z x
E
V
E
V
E
σ
σ
σ
∈ =
∈ = −
∈ = −
x x
E Constant σ = ∈ =
Solid Mechanics
A
F da A σ σ = =
}
∴
F P
A A
σ = =
y x
A A
z x
A A
M .zdA zdA
M .ydA ydA
σ
σ
= = ¬ =
= − = ¬ =
} }
} }
0 0
0 0
(1)
Eq. (1) indicates that moment are taken about the centroid of
the crosssection.
Elongation or Contraction
x
x
P
E AE
σ
∈ = =
Total elongation of the rod
( ) ( )
L L
x
P PL
u L u da dx
AE AE
δ − = = ∈ = =
} }
0 0
0
Solid Mechanics
x
P
A
PL
AE
AE Axial rigidity
σ
δ
=
=
=
If A,E and P are functions of x then
( )
( ) ( )
L
P x
dx
A x E x
δ =
}
0
Stiffness and flexibility
These are useful in computer analysis of structural members.
k
f
=
1
AE
k
L
=
L
f
AE
=
P kS
S fP
=
=
Solid Mechanics
Extension of results: Nonuniform bars (nonprismatic)
For a prismatic bar
This is exact solution for prismatic bar.
( )
( )
( )
( )
( )
( ) ( )
x
L
P x F x
A x A x
P x
S dx
A x E x
Approximate expression
σ = =
=
}
0
The above formula becomes a good approximation for
uniformly varying crosssectional area ( ) A x member.
Above formula is quite satisfactory if the angle of taper is
small
Plane sections remain plane and perpendicular to the x axis
is no longer valid for the case of nonprismatic rods.
x
P PL
&
A AE
σ δ = =
Solid Mechanics
( ) ( )
x x yx
F b y b x Σ σ τ = ¬ ∆ − ∆ = 0 0
( )
xy yx x
y
x . s
x
τ τ σ
∆
= =
∆
Taking x ∆ →0, we note that
yx
τ →0 only if
y
x
∆
→
∆
0 i.e at the
slope of the upper surface of the rod tends to zero.
Solid Mechanics
Case2
( )
A B
BC
A
AB
P P L PL
AE A E
PL P L
AE A E
δ
δ
− +
= =
−
= =
2
2 2
1
1 1
( )
A B
BC
AB A
P P
A
P / A
σ
σ
+
= −
= −
2
1
CA BC AB
S S δ = +
This method can be used when a bar consists of several
prismatic segments each having different material, each
having different axial forces, different dimensions and
different materials. The change in length may be obtained
from the equation
n
i i i
i
i i i
i
PL P
and
A E A
δ σ
=
= =
¿
1
Solid Mechanics
Statically indeterminate problems
Equilibrium
y
a a s
F
F F F P
Σ
(
=
¸ ¸
+ + − =
1 2
0
0
[ ]
C
a a
M
bF bF
Σ =
− =
1 2
0
0
(1)
For statically indeterminate problems we
must consider the deformation of the
entire system to obtain “compatibility
equation”
The rigid plate must be horizontal
after deformation
s A
geometric compatibility equation δ δ = ¬
s s A A
s A
s s A A
F L F L
and
A E E A
δ δ = =
Then using the geometry compatibility
(2)
a a
F F =
1 2
a s
F F P + = 2
s A
δ δ = ¬
A A s As
A A s s
F L F L
E A E A
=
Solid Mechanics
By solving (1) & (2) we can obtain internal forces
s
F &
A
F
Stresses in axially loaded members
Uniaxial state stress is a special case of plane stress
x
ij
σ
σ
(
(
=
(
¸ ¸
¸ ¸
0
0 0
x
x
max
σ σ
σ σ
τ
=
= =
1
1
2 2
Occurs at 45
to x y − or x z − planes.
Solid Mechanics
A−Principal stress elements
B,C −maximum shear stress elements.
Ductile material are weak in shear. They fail along
max
τ
planes.
Brittle materials weak in normal tensile stresses. They fail
along σ
1
planes.
Limitations of analysis
x
P PL
& S
A AE
σ = =
(1)They are exact for long prismatic bars of any crosssection,
when axial force is applied at the centroid of the end cross
sections.
Solid Mechanics
(2)They should not be employed (especially
x
P
A
σ = ) at
concentrated loads and in the regions of geometric
discontinuity.
(3)They provide good approximation if the taper is small.
(4)Above equations should not be applied for the case of
relatively short rods.
(5)They are exact for relatively short members under
compressive loading.
Solid Mechanics
Stress concentrations
• High stresses are known as stress concentrations
• Sources of stress concentrations stress raisers
• Stress concentrations are due to :
(1)Concentrated loads
(2)Geometric discontinuities
Stress concentration due to concentrated loads
max
ave
nom
Stress concentration factor=K
P
bt
σ
σ
σ
=
=
Solid Mechanics
Stress concentration due to hole
Discontinuities of cross section may result in high localized
or concentrated stresses.
max
nom
nom
P
K
dt
K Stressconcentration factor
σ
σ
σ
= =
=
Solid Mechanics
Stress Concentration due to fillet
max
ave
ave
P
K
dt
σ
σ
σ
= =
Solid Mechanics
14. Torsion of circular bars
Geometry, loading and Material properties
A prismatic bar of circular cross section subjected to equal
and opposite torques acting at the ends.
Whenever torques act on a member, then it will be twisted.
Torsion refers to the twisting of a straight bar when it is
loaded by torques.
Material: Homogeneous, linearly elastic, and isotropic
undergoing small deformations.
Presently theory is valid only for
Stresses and strains in polar coordinates
Stresses, strains and displacements in polar coordinates.
Since we are dealing with a circular member it is preferable
to use polar coordinates
Solid Mechanics
r r rx
ij r x
xr x x
θ
θ θ θ
θ
σ τ τ
σ τ σ τ
τ τ σ
(
(
(
=
¸ ¸
(
(
¸ ¸
( )
( )
( )
x x r
r r x
x r x
rQ
x rx
r x x xr rx
v
E
v
E
v
E
Y ; Y Y ; Y Y
G G G
θ
θ
θ
θ θ θ
σ σ σ
σ σ σ
σθ σ σ
τ
τ τ
∈ = − + (
¸ ¸
∈ = − + (
¸ ¸
∈ = − + (
¸ ¸
= = = = =
1
1
1
Equilibrium and elementary forces
Since every crosssection of the bar is identical and since every
crosssection is subjected to the same internal torque “T”, then the
bar is said to be under “pure torsion”
To keep the body under
equilibrium, elementary forces
x
dF dA
θ
τ = are only forces that are
required to be exerted by the other
section, so that
x y z y z
x
F V V M M
M T T
= = = = =
= =
0
0
Solid Mechanics
(1)
Direction of
zθ
τ can be obtained from the direction of
internal torque T at that section.
The state of stress in pure torsion is therefore
While the relation in (1) express an important condition that
must be satisfied by the shearing stresses
xQ
τ in any given
crosssection of the bar it does not tell how these stresses are
distributed in the crosssection.
The actual distribution of stresses under a given load is
statically indeterminate. So we must know about the
deformation of the bar.
Presence of
xθ
τ in polar coordinates means, presence of
xy xQ
xz xQ
Cos
Sin
τ τ θ
τ τ θ
=
=
x
x
A
dT dF r rdA
T rdA
T T
θ
θ
σ
τ
= × =
=
=
}
0
x
x
θ
θ
τ
τ
(
(
(
(
¸ ¸
0 0 0
0 0
0 0
Solid Mechanics
Therefore the state of stress in case pure torsion in terms of
rectangular stress components is then
xy xz
yx
zx
τ τ
τ
τ
(
(
(
(
¸ ¸
0
0 0
0 0
 state of pure shear.
We must then ensure that
Deformation in pure torsion
Following observations can be made from the deformation of
a circular bar subjected to equal and opposite end torques.
(1)The crosssections of the bar do not change in shape i.e
they remain circular.
(2)A line parallel to the x axis or longitudinal line become a
helical curve.
(3)All crosssections remain plane.
(4)All crosssections rotate about the axis of the bar as a solid
rigid slab.
y xy
z xz
V dA
V dA
τ
τ
= =
= =
}
}
0
0
Solid Mechanics
(5)However, various crosssections along the bar rotate
through different amount.
(6)The radial lines remain radial lines after deformation
(7)Neither the length of the bar nor the length of radius will
change.
These are especially of circular bars only. Not true for non
circular bars.
Assumptions on deformation for pure torsion
(1)All cross –sections rotate with respect to the axis of the
circular bar i.e xaxis.
(2)All crosssections remain plane and remain perpendicular
to the axis of the bar.
(3)Radial lines remain straight after the deformation.
(4)Neither the length of the bar nor its radius will change
during the deformation.
These assumptions are correct only if the circular bar
undergoes “small deformations” only.
Variation of shear strain (
x
Y
θ
)
Because of T
0
, the right
end will rotate through
an infinitesimal angle
φ  angle of twist.
Solid Mechanics
*φ  varies along the axis of the bar.
angle of twist per unit length.
xQ
Y dx Ydx rdφ = =
d
dx
φ
= − ¸ rate of twist
xQ
Y is independent of x and
d
Y r
dx
φ
=
Solid Mechanics
In case of pure torsion the shear strain Y varies linearly with
“r”
Maximum shear strain Y occurs at the outer surface of the
circular bar i.e., r R =
Shear strain is zero at the center of the bar.
The equation
d
Y r
dx
φ
= is strictly valid to circular bars having
small deformations.
If the material is linearly elastic
Therefore, variation of shear stress
xQ
τ in pure torsion is
given by
Shear stress τ is only function of “r” and varies linearly with
radius r of the circular bar.
max
d
Y R
dx
φ
=
GY τ =
xQ xQ
d
GY GY
dx
φ
τ τ = = =
max
max xQ
d
RG
dx
φ
τ τ = =
Solid Mechanics
The torsion formula
Relation between internal torque T and shear stressτ
A
T rdA
d
T Gr rdA
dx
τ
φ
=
=
}
}
Since G &
d
dx
φ
are independent of area A then
A
d
T G r dA
dx
φ
=
}
2
For solid circular bar,
P
d
T GI
dx
φ
∴ =
∴
But
d
Gr
dx
φ
τ =
P
T
Gr GI
τ
=
P
A
I r dA
Polar moment of inertiaof across sec tion
=
−
}
2
P
I D
π
=
4
32
P
I R
π
=
4
2
P
d T
dx GI
φ
= = ¸
P
Tr
I
Torsion formula
τ =
Solid Mechanics
This is the relation between shear stresses
xQ
τ and torque T
existing at the section.
Torsion formula is independent of material property.
Angles of twist
We now determine the relative rotation of any two cross
sections
P
d T
dx GI
φ
= = ¸
max
max xQ
P
TR
I
τ τ = =
max
T
D
for solidcircular bars
τ
π
=
3
16
B
A
x
B / A B A
P
x
T
dx
GI
φ φ φ = − =
}
Solid Mechanics
In case of prismatic circular bar subjected to equal opposite
torques at the ends
Direction of φ at a section is same as that of T
Since
P
d T
dx GI
φ
= = ¸ then, in case of pure torsion.
Thus in case of pure torsion ( ) x φ varies linearly with x
In case of torsion
The product
Load
displacement
P
GI −Torsional rigidity
B / A B A
P
B A
TL
n
GI
if x x L
puretorsion
φ φ φ = − =
− =
P P
TL T L
GI GI
φ = =
0
d
constant
dx L
φ φ
= = = ¸
P
TL
GI
φ =
P
P
GI L
k ; f
L GI
= =
Solid Mechanics
xy xQ
xz xQ
Cos
Sin
τ τ θ
τ τ θ
=
=
We should ensure that distribution of
xQ
τ should also gives
y z
V V = = 0
y xy x
A A
R
y
P
R
P
V dA Cos dA
Tr
V Cos drd
I
T
rCos drd
I
θ
π
π
τ τ θ
θ θ
θ θ
= =
=
= =
} }
} }
} }
2
0 0
2
0 0
0
R
z
P
T
V rSin drd
I
π
θ θ = =
} }
2
0 0
0
Hollow circular bars: The deformation of hollow circular
bars and solid circular bars are same. The key kinematic
assumptions are valid for any circular bar, either solid or
hollow. Therefore all equations of solid circular bars can be
employed for hollow circular bars, instead of using
y
V = 0
∴
z
V = 0 ∴
Solid Mechanics
Hollow bars are move efficient than solid bars of same “A”.
• Most of the material in soild shaft is stressed below the
maximum stress and also have smaller moment arm “r”.
• In hollow tube most of the material is near the outer
boundary, where τ is maximum values and has large
moment arms “r”.
( )
P
P
o i
Tr
I
I D solid
D D hollow
τ
π
π
=
= −
= − −
4
4 4
32
32
( )
P
P o i
I D Soild
I D D hollow
π
π
= −
= − −
4
4 4
32
32
o
max
P
i
min
P
TR
I
TR
I
τ
τ
=
=
Solid Mechanics
o
max
P P
i
min
P
TR TR
;
I I
TR
I
τ
τ
=
=
( )
Y
G
,Y f r
τ
τ
=
−
P
d T
dx GI
φ
= = ¸
B A
B / A
P
B A
TL
GI
L x x
constant
linearly withx
φ φ φ
φ
= − =
= −
=
=
¸
(4) If weight reduction and savings of materials are
important, it is advisable to use a circular tube.
(5) Ex large drive shafts, propeller shafts, and generator
shafts usually have hollow circular cross sections.
Extension of results
CaseI Bar with continuously varying crosssections and
continuously varying torque
• Pure torsion refers to torsion of prismatic bar subjected
to torques acting only at the ends.
Solid Mechanics
• All expressions are developed based on the key
kinematic assumptions, these are therefore, strictly valid
only for prismatic circular bars.
The above equations yield good approximations to the exact
solution, provide if ( ) R x doesn’t vary sharply with x.
( )
( )
( )
( )
( )
( )
( )
( )
B
A
P
P
x
B A B / A
P
x
T x r
x
I x
T x d
x
dx GI x
T x
dx
GI x
τ
φ
φ φ φ
=
= =
− = =
}
¸
Solid Mechanics
Some special cases
( )
( )
( )
( )
P
P
Tr
x
I x
T
x
GI x
τ =
= ¸
( )
( )
( )
( )
P
P
T x r
x
I
T x
x
GI
τ =
= ¸
Case II
i
i i
i
P
T r
I
τ =
i
n
i i
B / A
i P
i
T L
G I
φ
=
=
¿
1
Solid Mechanics
Statically indeterminate problems
(1)
We note that within
A
AB, T T = and
within
C
BC T T =
• To solve the problem we must consider geometry of
deformation to formulate the compatibility equation.
• Clearly the rotation of section B with respect to A must
be same as that with respect to C i.e
AB BC
A AB C BC
B / A B / C
AB P BC P
T L T L
;
G I G I
φ φ = =
(2)
A C
T T T + + = 0
[ ]
x
M Σ = 0
B / A B / C
Compatibility equation
φ φ =
AB BC
A AB C BC
AB P BC P
T L T L
G I G I
=
Solid Mechanics
Stresses in pure torsion
If a torsion bar is made up of brittle material, which is
generally weak in tension, failure will occur in tension along
a helix inclined at 45
to the axis.
Ductile materials generally fail in shear. When subjected to
torsion, a ductile circular bar breaks along a plane
perpendicular to its longitudinal axis or x – axis.
Solid Mechanics
x
P
A
σ =
Torsion testing m/c
Solid Mechanics
Combined loading or combined stress
Principal of
superposition
max
P
TR
I
τ =
x
P
A
σ =
Solid Mechanics
Stress concentrations in torsion
Stress concentration effect is greatest at section BB
avg nom
T
K K
D
τ τ τ
π
 
= = =

\ .
1
3
1
16
max avg nom
K K τ τ τ = =
Solid Mechanics
Limitations of torsion formulae
(1)The above solutions are exact for pure torsion of circular
members (solid or hollow section)
(2)Above equations can be applied to bars (solid or hollow)
with varying crosssections only when changes in ( ) R x are
small and gradual.
(3)Stresses determined from the torsion formula are valid in
regions of the bar away from stress concentrations, which are
high localized stresses that occur whenever diameter
changes abruptly and whenever concentrated torque are
applied.
(4)It is important to recognize that, the above equation
should not be used for bars of other shapes. Noncircular bars
under torsion are entirely different from circular bars.
P P P
Tr T TL d
, ; ;Y r
I GI GI dx
φ
τ φ = = = = ¸
Solid Mechanics
15. Symmetrical bending of beams
Some basics
• Transverse loads or lateral loads: Forces or moments
having their vectors perpendicular to the axis of the bar.
• Classification of structural members.
• Axially loaded bars : Supports forces having their
vectors directed along the axis of the bar.
• Bar in tension: Supports torques having their moment
vectors directed along the axis.
• Beams : Subjected to lateral loads.
• Beams undergo bending (flexure) because of lateral
loads.
Solid Mechanics
Roughly speaking, “bending” refers to a change in shape from
a straight configuration to a non straight configuration.
Bending moments i.e
z
M and
y
M are responsible for
bending of beams.
The loads acting on a beam cause the beam to bend or flex,
thereby deforming its axis into a curveknown as “
deflection curve” of the beam.
If all points inx y − plane remain in the xy − plane after
deformation i.e after bending then xy − plane is known as
“plane of bending”.
If a beam bend in a particular plane, then the deflection
curve is a plane curve lying in the plane of bending.
Solid Mechanics
The y −direction displacement [i.e. v −component] of any
point along its axis is known as the “deflection of the
beam”.
Pure bending and nonuniform bending
If the internal bending moment is constant at all sections
then beam is said to be under “pure bending”.
dM
V
dx
= −
Pure bending (i.e., M=constant) occurs only in regions of a beam
where the shear force is zero.
If ( ) M M x = it is non uniform bending
Solid Mechanics
Curvature of a beam
When loads are applied to the beam, if it bends in a plane
say xy −plane, then its longitudinal axis is deformed into a
curve.
O− Center of curvature
R− Radius of curvature
k
R
= =
1
Curvature
in general ( ) R R x = and ( ) k k x = .
RdQ dS =
dQ
k
R dS
= =
1
for any amount of R
The deflections of beams are very small under small
deformation condition. small deflections means that the
deflection curve is nearly flat.
under small deformations.
dQ
k
R dX
= =
1
Solid Mechanics
It is given that deflections at A and B should be zero.
Symmetrical bending of beams in a state of pure bending
Geometry, loading and material properties
A long prismatic member possess a plane of symmetry
subjected to equal and opposite couples M
0
(or bending
moments) acting in the same plane of symmetry.
Solid Mechanics
Initially we choose origin of the coordinate system “O” is
not at the centroid of the crosssection.
The y −axis passing through the crosssection is an axis of
symmetry. The XY plane is the plane of symmetry.
Material is homogeneous, linearly elastic and isotropic
undergoing small deformations.
Stresses in symmetric member in pure bending
x y z
x y
z
F V V
M M
M M M
= = =
= =
= =
0
0
0
Solid Mechanics
Therefore,
x
dA σ are the only elementary forces that are
required to be developed by right of the section on to the left
of the section.
The distribution of
X
σ any section should satisfy
x x
y x
z x
F dA
M z dA
M M y dA M
σ
σ
σ
= ¬ =
= ¬ =
= ¬ − =
}
}
}
0 0
0 0
Actual distribution of stresses  cannot by statics  statically
indeterminate  deformations should be considered.
Thus, the state of stress at any point within a prismatic beam
(crosssection having an axis of symmetry) subjected to pure
bending is a uniaxial state of stress.
x
M y dA σ = −
}
x
ij
σ
σ
(
(
(
=
¸ ¸
(
(
¸ ¸
0 0
0 0 0
0 0 0
Solid Mechanics
Deformations in a symmetric member in pure bending
Since the member is subjected to bending moments, it will
bend under the action of these couples.
Since, the prismatic member possessing a plane of symmetry
(i.e xy plane) and subjected to equal and opposite couples
M
0
acting in the plane of symmetry, the member will bend
in the plane of symmetry (i.e xy plane).
The curvature k at a particular point on the axis of the beam
depends on the bending moment at that point. Therefore a
prismatic beam in pure bending will have constant
curvature.
The line AB, which was originally a straight line, will be
transformed in to a circle of center O and so the line A B ′ ′.
Solid Mechanics
Decrease in length of AB and increase in length of A B ′ ′ in
positive bending.
Crosssections which are plane and ⊥ to the axis of
the undeformed beam, remain plane and remain⊥ to
the axis of the deformed beam i.e to the deflection
curve.
Kinematic
assumption
Variation of strain and M κ − relation
Elementary theory of bending or EulerBernoulli theory
Under the action of M
0
, the beam deflects in the xy – plane
(plane of symmetry) and any longitudinal fibers such as SS
bent into a circular curve. The beam is bent concave upward
(due to +ve bending) upon which is a +ve curvature.
Solid Mechanics
Crosssections mn and pq remain plane and normal to the
longitudinal axis of the beam. Crosssections mn and pq
rotate with respect to each other about zaxis.
Lower part of the beam is intension and upper part is in
compression.
The x axis lies along the neutral surface of undeformed
beam
Variation of strain and Mk relations (contd.)
Initial length of fiber ef dx =
Final length of
( )
* *
ef e f R y dQ = = −
The distance dx between two planes is unchanged at the
neutral surface,
dQ
RdQ dx k
R dx
= ¬ = =
1
Solid Mechanics
Therefore, the longitudinal strain i.e
x
∈ at a distance “y”
from the neutral axis is
( )
* *
x
R y dQ dx e f ef y
ef dx R
− − − −
∈ = = =
In case of pure bending
( ) ( )
x x x x
x and z , y ∈ ≠∈ ∈ =∈
The preceding equation shows that the longitudinal strains
( )
x
∈ in the beam (in pure bending) are proportional to the
curvature and vary linearly with the distance y from the
neutral axis or neutral surface.
x
∈ = 0 at the neutral surface
Maximum compressive
x
y
R
−
∈ =
1
Maximum tensile
x
y
R
+
∈ =
2
However, we still do not know the location of neutral axis or
neutral surface.
x
y
R
∴ ∈ = − ¬
x
ky ∈ = −
Solid Mechanics
Stresses in beams in pure bending : For linearly elastic and
isotropic beam material
( )
xy
x x y z xy
v Y
E G
τ
σ σ σ
(
∈ = − + =
¸ ¸
1
( )
yz
y y x z yz
v Y
E G
τ
σ σ σ
(
∈ = − + =
¸ ¸
1
( )
zx
z z x y xz
v Y
E G
τ
σ σ σ
(
∈ = − + =
¸ ¸
1
The state of the stress at any point within a prismatic beam
in pure bending is
x
ij
σ
σ
(
(
(
=
¸ ¸
(
(
¸ ¸
0 0
0 0 0
0 0 0
x x
Ey
E Eky
R
σ
−
∴ = ∈ = = −
y x x
z x x
V
V
E
V
V
E
σ
σ
∈ = − = − ∈
∈ = − = − ∈
From the above equation
( )
( ) ( )
x
x x x
x
x
x, z
y y
linear f ( y)
linear f ( y)
i.e., var ylinearly with the distance y from the neutral surface
σ σ
σ σ
σ
≠
= ∈ =∈
∈ =
∴ =
Solid Mechanics
x
σ at y = 0 i.e on the neutral surface = 0
Maximum compressive
x
EC
R
σ = −
1
Maximum tensile
x
EC
R
σ =
2
Maximum normal stress
x
σ occurs at the points farthest
from the neutral axis.
In order to compute the stresses and strain we must locate
the neutral axis of the crosssection.
Solid Mechanics
Location of neutral axis
We must satisfy the following equations at any given section
mm
Considering first equation
The above equation shows that the distance y between
neutral axis and centroid “C” of a crosssection is zero.
In other words, the neutral axis i.e zaxis pass through
the centroid of the crosssection, provided if the
material follows Hooke’s law.
x
x z
x y
dA
ydA M M M
zdA M
σ
σ
σ
=
− = = =
= =
}
}
}
0
0
0
x
A A
A
Ey
dA
R
ydA
σ = − =
=
} }
}
0
0
Solid Mechanics
The origin ‘O’ of coordinates is located at the centroid of the
crosssectional area.
Thus, when a prismatic beam of linearly elastic material is
subjected to pure bending, the y and z (neutral axis) axes are
principal centroidal axes.
Moment – Curvature relationship
Moment of inertia of
crosssectional area about
neutral axis
MomentCurvature relation
x
A
M ydA σ = −
}
A
Ey
M ydA
R
= +
}
A
E
M y dA
R
=
}
2
zz
A
y dA I = =
}
2
EI
M
R
∴ =
M
k
R EI
= =
1
M
k
R EI
= =
0
1
Solid Mechanics
Curvature k is directly proportional to M internal bending
moment and inversely proportional to EI flexural rigidity of
the beam.
Flexural rigidity is a measure of the resistance of a beam to
bending.
Relation between
x
σ and M Flexure formula
x
Eky σ = −
and
M
k
EI
=
 flexure formula.
Stresses evaluated from flexure formula are called bending
stresses or flexural stresses.
x
My
I
σ ∴ = −
Solid Mechanics
The maximum tensile and compressive bending stresses
occur at points located farthest from the neutral axis.
The maximum normal stresses are
Cross sectional properties of some common shapes
Section moduli
S =Section modulus
z − axis – neutral axis
MC M
I S
σ
−
= = −
1
1
1
MC M
I S
σ = =
2
2
2
I I
S and S
C C
= =
1 2
1 2
Solid Mechanics
zz
bh bh
I S = =
3 2
12 6
zz
d
I d S
π π
= =
3
4
64 32
zz
bh
I
h b / for eqilateral triangle
=
=
3
36
3 2
zz
I . r =
4
0 1098
Solid Mechanics
Distribution
x
σ on various crosssections
max
M
S
σ =
max
I
S
y
=
alllow
M S σ =
square
circle
S
.
S
= 1 18
Solid Mechanics
• This result shows that a beam of square crosssection is
more efficient in resisting bending then circular beam of
same area.
• A circle has a relatively larger amount of material
located near the neutral axis. This material is less highly
stresses.
• I  Section is more efficient then a rectangular cross
section of the same area and height, because I  section
has most of the material in the flanges at the greatest
available distance from the neutral axis.
Extension of results
Long prismatic beam under pure bending, and symmetrical
bending.
Elementary theory of bending
( ) M M x
M Constant
≠
=
( )
x
zz
My
y
I
I I
M
k
R EI
σ = −
=
= =
1
x
x
y x
z z
E
v
v
σ
∈ =
∈ = − ∈
∈ = − ∈
Solid Mechanics
Bending of beams due to applied lateral loads
Consider now a beam subjected to typical arbitrary
transverse loads acting. In this case the interval bending
moment ( ) M M x = and ( ) V x ≠ 0, and thus we have non
uniform bending.
Nonuniform bending is a result of presence of transverse shear
force
( )
V y . If
( )
V y = 0 then M = constant.
It can be shown that the above results can also be used for
nonuniform bending problems.
dM
V
dx
= −
( )
( )
( )
( )
x
M x y
x, y
I
M x
k
R x EI
σ
−
=
= =
1
( )
( )
x
x
y x
z x
x, y
x, y
E
σ
ν
ν
∈ =
∈ = − ∈
∈ = − ∈
Solid Mechanics
The above results can also be used for nonuniform bending
problems provided if they satisfy the following conditions.
• The crosssections should have yaxis of symmetry
• All applied transverse or lateral loads should lie in the
xy plane of symmetry and all applied couples act about
zaxis only.
• L h longslender beams − − >
• Bending that conforms to conditions (i) and (ii) is called
symmetrical bending.
If these three conditions are satisfied then one can employ
the following expressions for nonuniform bending aswell
Solid Mechanics
Application of above equations to the nonuniform bending
problems is equivalent to the following two assumptions.
(a)That even under such loading conditions, plane sections
still remain plane after deformation and they remain ⊥ to
the deformed longitudinal axis or neutral surface.
Bending stresses in a nonprismatic beam
The above equation can also be applied to the case of non
prismatic beam subjected to either pure or nonuniform
bending, provided crosssectional properties do not vary
sharply.
( )
( )
( )
( )
( )
x
zz
M x y
x, y
I
I I
M x
k x
R x EI
σ = −
=
= =
1
( )
( )
( )
x
x
y x
z z
x, y
E
x, y v
x, y v
σ
∈ =
∈ = − ∈
∈ = − ∈
( )
( )
( )
( )
( )
( )
x
M x y
I x
M x
k x
R x EI x
σ = −
= =
1
Solid Mechanics
Problem
Determine the maximum tensile and compressive stresses in
the beam due to the uniform load.
Solution
Centroid :
2
A mm
y
3
yA mm
1
× = 20 90 1800
50
×
3
90 10
2
× = 40 30 1200
20
×
3
24 10
A A Σ = = 3000
yA Σ = ×
3
114 10
Ay yA Σ =
y = × ¬
3
3000 114 10 ¬
y mm = 38
( )
zz
I I I Ad s Σ = = +
2
bh
Ad Σ
 
= +

\ .
= × + × + × × + ×
3
2
3 2 2 2
12
1 1
90 20 1800 12 30 40 1200 18
12 12
4 4
zz
I I mm m
−
= = × = ×
3 9
868 10 868 10
Solid Mechanics
C mm =
1
22 and C mm =
2
38
x
max
max
My
I
M I
: S
S
y
σ
σ
= −
= =
At maximum +ve bending moment i.e at (D)
at D:
At maximum ve moment i.e at (B)
I
S .
C
I
S .
C
−
−
−
−
−
−
×
= = = ×
×
×
= = = ×
×
9
6
1
3
1
9
6
2
3
2
868 10
39 45 10
22 10
868 10
22 84 10
38 10
max
t
M .
s .
σ
−
= =
×
6
2
1 898
22 84 10
max
t
. MPa σ = 83 1
max
C
M .
s .
σ
−
= =
×
6
1
1 898
39 45 10
max
C
. MPa σ = 48 11
max
t
M .
. MPa
s .
σ
−
= = =
×
6
1
3 375
85 55
39 45 10
max
C
M .
. MPa
s .
σ
−
= = =
×
6
2
3 375
147 8
22 84 10
max max
t C
. and . MPa σ σ = = 85 55 147 8
Solid Mechanics
Problem
a wooden member of length L = 3m having a rectangular
crosssection 3 cm × 6 cm is to be used as a cantilever with a
load P = 240N acting at the free end. Can the member carry
this load if the allowable flexural stress both in tension and
in compression is
allow
σ = 50 Mpa ?
Solution
max
M Nm = 720
A
. .
S m
.
−
×
= = ×
3
6 3
1 0 06 0 03
9 10
12 0 015
max max
t C
A A
M PL
S S
σ σ = = =
max max
t C allow
σ σ σ = =
∴The beam can carry P N = 240 only when oriented as in (B)
allow A
alow
S
P N
L
σ ×
= = 150
B
. .
S . m
.
−
×
= = ×
3
5 3
1 0 03 0 06
1 8 10
12 0 03
allow B
alow
S
P N
L
σ ×
= = 300
Solid Mechanics
Limitations
(1)The flexure formula is exact for a prismatic beam in pure
bending.
(2)It provides very good approximation of
x
σ for long
slender beams (L h) >> under symmetrical bending.
(3)The flexure formula can be employed for any shape of the
crosssection, provided the crosssection has yaxis of
symmetry.
(4)It should not be employed in regions close to geometric
discontinuities and concentrated loads.
Solid Mechanics
16. Shear Stresses in Beams
( )
y xy
A
V x dA τ =
}
It is reasonable to assume that
(1)The shear stresses acting on the crosssection are parallel
to the shear force ( )
y
V x i.e ⊥ to the line PQ
(2)It is also reasonable to assume that the shear stresses
xy
τ
are uniformly distributed across the width of the beam, so
that
x
M T = = 0 for symmetrical bending
( )
( ) ( )
xy xy
y xy
A
x, y such thats
V x x, y dA
τ τ
τ
∴ =
=
}
Solid Mechanics
• Thus, there are horizontal shear stresses (or longitudinal
shear stresses) acting between horizontal layers of the
beam as well as vertical shear stresses acting on the
crosssections.
• At any point of the beam
xy yx
τ τ =
• Pattern of distribution of
xy
τ =pattern of distribution of
yx
τ
• Since
xy yx
τ τ = , it follows that the vertical shear stresses
xy
τ must vanish at
h
y = ±
2
, if the beam is subjected only
lateral loads.
Solid Mechanics
Derivation of shear stress formula
Beam under nonuniform bending i.e ( ) M M x =
t = width or thickness of the beam at y y =
1
t = width or thickness of the beam at y y =
1
Solid Mechanics
We now wish to satisfy equilibrium in the x direction.
Taking
[ ]
x
F Σ →+ = 0 we have then
( ) ( )
( ) ( )
( )
( )
x x yx
A A
yx x x
A A
x
x x, y dA x, y dA t x
t x x, y dA x, y dA
x
M x y
x, y
I
σ σ τ
τ σ σ
σ
− + ∆ + + ∆ =
(
= + ∆ −
(
∆
(
¸ ¸
−
=
} }
} }
0
1
( ) ( )
( ) ( )
( ) ( )
yx
A A
yx
A
yx
A
t M x x ydA M x ydA
x I I
t M x x M x ydA
xI
M x x M x
ydA
It x
τ
τ
τ
(
= − + ∆ +
(
∆
(
¸ ¸
(
= − + ∆ −
(
∆
(
¸ ¸
+ ∆ − −
(
=
(
∆
¸ ¸
} }
}
}
1 1 1
1
1
taking limit as x ∆ →0
( ) ( )
yx
x
A
yx
A
M x x M x
lim ydA
It x
dM
ydA
It dx
τ
τ
∆ →
+ ∆ − −
=
∆
−
=
}
}
0
1
1
( )
y
dM
V x
dx
= −
( )
y
yx
A
V x
ydA
It
τ ∴ =
}
Solid Mechanics
The above integral is by definition the first moment of are A
about the zaxis, we denote it by symbol Q.
A
Q ydA =
}
y
yx xy
V Q
It
shear formula
τ τ τ ∴ = = =
(1)
in the above equation
zz
I I = stands for the moment of
inertia of the entire cross sectional area around the neutral
axis.
From (1)
y
yx
V Q
VQ
t f
I I
τ = = =
The quantity “f” is known as the “shear flow”.
Shear flow is the horizontal shear force per unit distance
along the longitudinal axis of the beam.
Solid Mechanics
Distribution of shear stresses in a Rectangular beam
An example of application of equations
A
h / y h
Q udA b y y s
b h
Q y
I bh
−
(  
= = − +

(
\ . ¸ ¸
 
= −

\ .
=
}
2
2
3
2
2 2
2 4
1
12
at
xy yx
h
y τ τ = ± = = 0
2
The shear stresses in a rectangular beam vary quadratically
with the distance y from the neutral axis.
Maximum value of shear stress occurs at the neutral axis
where Q is maximum.
max max
xy yx
Vh V
I A
τ τ = = =
2
3
8 2
xy yx
VQ V h
y
It I
τ τ
 
= = = −

\ .
2
2
2 4
Solid Mechanics
Thus
max
τ in a beam of rectangular crosssection is 50%
larger than the average shear stress
V
A
It is always possible to express the maximum shear stress
xy
τ
as
max
xy
V
K
A
τ =
for most of the crosssectional areas
K Rectangular =
3
2
K Circular =
4
3
K Triangular =
3
2
For most of the crosssection
max
τ occurs at the neutral axis.
This is not always true.
Solid Mechanics
Stress elements in nonuniform bending
Solid Mechanics
Problem
A wood beam AB is loaded as shown in the figure. It has a
rectangular cross –section (see figure). Determine the
maximum permissible value
max
p of the loads if the
allowable stress is bending is
allow
MPa σ = 11 (for both tension
and compression) and allowable stress in horizontal shear is
allow
. MPa τ = 1 2
Solution
max
V occurs at supports and maximum BM occurs in
between the loads.
Therefore, the maximum permissible values of the load P in
dending and shear respectively are
max
V P = max
M . P Pa = = 0 5
bh
S =
2
6
A bh =
max
max
M Pa
S
bh
σ ∴ = =
2
6
max max
max
xy yx max
V P P
A A bh
τ τ τ = = = = =
3 3 3
2 2 2
allow allow
allow allow
b s
bh bh
P P
a
σ τ
= =
2
2
6 3
Solid Mechanics
Substituting numerical values into these formulas,
Thus bending governs the design and the maximum
allowable load is
Problem
An I –beam is loaded as in figure. If it has the crosssection as
shown in figure, determine the shearing stresses at the levels
indicated. Neglect the weight of the beam.
Solution
Vertical shear is same at all sections
allow
b
allow
s
P . kN
P . kN
=
=
8 25
8 25
max
P . kN = 8 25
Solid Mechanics
( )( ) ( )( )
zz
I I . mm s = = − = ×
3 3
6 4
150 300 138 276
95 7 10
12 12
The ratio
V
. N / mm s
I .
−
×
= = ×
×
3
3 4
6
250 10
2 61 10
95 7 10
Level
( )
2
A mm
y
mm
3
Q Ay
mm
=
×
3
10
t
mm
xy
VQ
MPa
It
τ =
11 0 150 0 150 0
22
×
=
12 150
1800
144 259.2 150
12
4.5
56.4
33
×
=
×
=
12 150
1800
12 12
144
144
132
259.2
19.0
12
60.5
44
×
=
×
=
12 150
1800
12 138
1656
144
69
259.2
114.3
12
81.3
278.2
373.5
max
. MPa τ = 81 3
Solid Mechanics
Warping of the cross sections due to shear stress
Plane sections will not remain plane and perpendicular to
the axis of the beam in the deformed configuration due to
the presence of shear force.
The crosssections are wrapped with highest distortion at the
axis.
It can be shown that if L h >> then distortion of crosssections
due to shear negligible.
Use all formulae developed so far only when L h >>  such
beams are called slender beams.
Do not apply them if L h <<  short beams.
Solid Mechanics
17. Theories of failure or yield criteria
(1) Maximum shearing stress theory
(2) Octahedral shearing stress theory
(3) Maximum normal stress theory – for brittle materials.
Maximum shearing stress theory or Tresca Criterion
This theory says that:
Yielding occurs when the maximum shear stress in the material
reaches the value of the shear stress at yielding in a uniaxial
tension (or compression) test.
Maximum shearing stress under general state of stress is
( )
max
max , , τ τ τ τ =
1 2 3
where ; ;
σ σ σ σ σ σ
τ τ τ
− − −
= = =
2 3 1 3 1 2
1 2 3
2 2 2
The maximum shearing stress in uniaxial tension test at the
moment of yielding is
ys
t
σ
τ =
2
Tresca criterion is
ys
max
σ
τ ≥
2
Octahedral shearing stress theory or HenckyVonMises
failure criterion
This theory also known as “The maximum distortion strain
energy theory”
For ductile materials
Solid Mechanics
This theory states that
Yielding occurs when the octahedral shear stress in the material is
equal to the value of the octahedral shear stress at yielding in a
uniaxial tensile test.
( ) ( ) ( )
oct
τ σ σ σ σ σ σ = − + − + −
2 2 2
1 2 2 3 1 3
1
3
Octahedral shear stress in the uniaxial tension test at the
moment of yielding i.e.
y ys
σ σ σ = =
1
( )
( )
( )
t ys ys
t ys
τ σ σ
τ σ
= − + − + −
=
2 2
2
1
0 0 0 0
3
2
3
Von Mises theory says that
oct ys
τ σ ≥
2
3
von oct
σ τ =
3
2
Von Mises theory says that
von ys
τ σ ≥
Maximum Normal stress criterion or Rankine Theory:
This theory is generally used for design of components made
up of brittle materials.
* Excellent experimental evidence is available for
supporting maximum shearing stress and Von Mises
criterion
Solid Mechanics
According to this theory, a given structural component fails when
the maximum normal stress (tensile) in that component reaches the
ultimate strength or ultimate stress
ult
σ obtained from the tensile
test of a specimen of the same material.
Thus the structural component will fail when
Simple application of theories
ult
σ σ ≥
1
Solid Mechanics
18. Combined loading
Torsion + Direct shear
A
Mr
I
σ =
p
Tr
I
τ =
1
V
A
τ =
2
4
3
Solid Mechanics
Bending + axial loading
Neutral surface is now shifted due to the application of axial
load.
x
P
A
σ =
x
My
I
σ
−
=
zz
x
zz
M y P
A I
σ
  −
= +

\ .
Solid Mechanics
19. Elastic strain energy
Consider an infinitesimal stress element at point in a linearly
elastic body, subjected to a normal stress
x
σ
The work done by this force
¸
int
x x
distance
force
dW dF dS
dydz dx σ
= ×
= × ∈
1
2
1
2
¸¸_¸¸
int x x
dW dV σ = ∈
1
2
This internal work is stored in the volume of the element as
the internal elastic energy or the elastic strain energy.
x x
dU dV σ ∴ = ∈
1
2
dV =volume of the element.
The strain energy density U
0
is defined as the internal elastic
energy stored in an elastic body per unit volume of the
material.
x x
dU
Strainenergydensity U
dV
σ ∈
∴ = = =
0
2
Solid Mechanics
U
0
can be interpreted as an area under the inclined line on
the stressstrain diagram. Similar expressions can developed
for
y
σ and
z
σ corresponding to strains
y
∈ and
z
∈ .
Elastic strain energy for shearing stresses:
Analogous expressions apply for the shearing stresses
xz zx
, τ τ with the corresponding shear strains
yz
Y and
xz
Y
Strain energy for multiaxial states of stress
The strain energy expressions for a 3D state of stress follow
directly by addition of the energies of each stress component.
x x y y z z xy xy yz yz zx zx
dU
Y Y Y dV σ σ σ τ τ τ
=
(
∈ + ∈ + ∈ + + +
(
¸ ¸
1 1 1 1 1 1
2 2 2 2 2 2
The strain energy density for the most general case is
¸
shear xy xy
distance
average force
dU dxdz Y dy τ = ×
1
2
¸¸_¸¸
shear xy xy
dU Y dv τ =
1
2
Solid Mechanics
x x y y z z xy xy
yz yz zx zx
dU
U Y
dv
Y Y
σ σ σ τ
τ τ
= = ∈ + ∈ + ∈ +
+ +
0
1 1 1 1
2 2 2 2
1 1
2 2
Substituting the values of strain components from
generalized Hooke’s law, we can show that
It is the expression for elastic strain energy per unit volume
for linearly plastic, homogeneous, isotropic materials.
In general, for a stressed body the total strain energy is
obtained by integration of
0
U over its volume.
Internal strain energy in axially loaded bars
x z xy xz yz
σ σ τ τ τ = = = = = 0
x
x x x x
U
E E
σ
σ σ σ ∴ = ∈ = =
2
0
1 1 1
2 2 2
∴The total internal energy
x
V V
U U dv dV
E
σ = = =
} }
2
0
1
2
( ) ( )
( )
x y z x y y z z x
xy yz zx
v
U
E E
G
σ σ σ σ σ σ σ σ σ
τ τ τ
= + + − + +
+ + +
2 2 2
0
2 2 2
1
2
1
2
( )
V
U elastic energy stored U dV = =
}
0
Solid Mechanics
x
P P L
U AL .AL
E EA
EA
σ
= == =
2 2 2
2
2 2
2
P L
U
EA
=
2
2
Strain energy in torsion of circular shafts
U .Y .
G G
τ
τ τ τ = = =
2
0
1 1 1
2 2 2
v v
U U dv dv
G
τ = =
} }
2
0
1
2
p
Tr
I
τ = where
p
I R
π
=
4
2
R
p
T
U . .r . r.dr.L
G
I
π =
}
2
2
2
0
1
2
2
Strain energy in bending
x
v v
M M
U dv y dv y dA.L
E
EI EI
σ
∴ = = =
} } }
2 2 2
2 2
2 2
2
2 2
p
T L
U
GI
=
2
2
P
TY
I
τ =
Solid Mechanics
Conclusion
Axially loaded bars
P L
U
AE
=
2
2
Torsion of shafts
P
T L
U
GI
=
2
2
Bending (pure) of beams
M L
U
EI
=
2
2
We can use the following equations in case of nonuniform
cases
L L L
P
P T M
U dx ; U dx ; U dx
AE GI EI
= = =
} } }
2 2 2
0 0 0
2 2 2
M L
U
EI
=
2
2
Solid Mechanics
Problem:
( ) ( ) P x Y.A L x = −
( )
L
L
L
P
U dx
AE
Y A L x
dx
AE
Y A Y A L
L x Lx.dx L L L
AE E
Y A L Y AL
L L
AE E
=
−
=
(
= + − = + −
(
¸ ¸
(
= + − =
(
¸ ¸
}
}
}
2
0
2 2 2
0
2 2 2 3
2 2 2
3
0
2 2 3 2 3
3 3
2
2
2
2 2 3
2 3 6
P L
U
AE
=
2
2
( ) ( ) P x Y.A L x P = − +
( ) ( )
L
Y A L x P YA L x .P
U dx
AE
− + + −
=
}
2 2 2 2
0
2
2
Y AL P L YAP L
U L
E AE AE
Y AL P L YP
E AE E
(
= + + −
(
¸ ¸
= + +
2 3 2 2 2
2
2 3 2 2 2
2
6 2 2 2
6 2 2
Since U P or U δ ∞ ∞
2 2
principle of superposition should
not be used.
Solid Mechanics
20. Deflection of beams
When a beam with a straight longitudinal axis is loaded by
lateral loads, the axis is deformed into a curve, called the
“deflection curve” or “elasticcurve”
Deflections: means u ,v displacement of any particle. In case
of beams deflection means v displacement of particles
located on the axis of the beam.
Deflection calculation is an important part of component
design
Deflections  useful in vibration, analysis of various
engineering components ex. Earthquake loading.
Undesirable vibrations are due to excessive deflections.
Solid Mechanics
Approximate sketches of deflection curves
Approximate sketches of the deflection curve can be drawn
if BM diagram is available for a given loading.
We know that +BM means
 BM means
Examples
(1)
Solid Mechanics
The objective is to find the shape of the elastic curve or
deflection curve for given loads i.e., what is the function v(x).
There are two approaches
(1) Differential equations of the deflection curve
(2) Momentarea method
Differential equations of the deflection curve
Consider a cantilever beam: The axis of the beam deforms
into a curve as shown due to load P.
Here we assume only symmetrical bending case. The xy
plane is the plane of bending.
v ↓ − deflection of the beam.
v ve ↑ + and. v ↓ −
To obtain deflection curve we must express v as a function
of x.
Solid Mechanics
When the beam is bent, there is not only a deflection at each
point along the axis but also a rotation.
The angle of rotation θ of the axis of the beam is the angle
between x – axis and the tangent to the deflection curve at a
point.
For given xy coordinate system
ve anticlockwise θ →+ →
O Center of curvature ′ =
Radiusof curvature ρ =
From geometry d ds ρ θ =
d
k
ds
curvature of the deflectioncurve
θ
ρ
= =
1
k  curvature  +ve when angle of rotation increases as we
move along the beam in the +ve x – direction.
dv
Slopeof thedeflectioncurve tan
dx
θ = =
Slope
dv
dx
is positive when the tangent to the curve slopes
upward to the right.
The deflection curves of most beams have very small angles
of rotations, very small deflection and very small curvatures.
That is they undergo small deformations.
When the angle of rotation θ is extremely small, the
deflection curve is nearly horizontal
Solid Mechanics
ds dx ≈
This follows from the fact that
( ) ds dx dv v dx
′
= + = +
2 2 2
1
for small θ ( ) v′
2
can be neglected compared to 1
ds dx ∴ ≈
Therefore, in small deflection theory no difference in length
is said to exist between the initial length of the axis and the
arc of the elastic curve.
d
k
dx
θ
ρ
= =
1
Since θ is small tanθ θ ≈
d d v
k
dx
dx
θ
ρ
∴ = = =
2
2
1
d
k
dx
onlyinsmall deformationtheory
du
u
dx
ν
ν
θ
¹
′′
= =
¦
¦
`
¦
′ = =
¦
)
2
2
If the material of the beam is linearly elastic and follows
Hooke’s law, the curvature is
M
k
EI ρ
= =
1
dv
dx
θ ∴ =
Solid Mechanics
M + →leads to +K and so on
d v M
EI
dx
∴ =
2
2
or
d v
EI M
dx
=
2
2
The basic differential equations of the deflection curve.
Sign conventions used in the above equation:
(a) The (b)
dv
dx
and θ are
(c) k is + (d) M is +ve if beam bends
Another useful equations can be obtained by noting that
Nonprismatic beams
( ) ( )
( ) ( ) ( )
( ) ( ) ( )
d v
EI x M x
dx
EI x v v x
EI x v P x
=
′
′′
= −
′′
′′
= +
2
2
dM
V
dx
dV
p
dx
= −
= −
Solid Mechanics
For prismatic beams.
( )
( )
( )
nd
rd
th
EIv M x BMequation( order )
EIv V x Shear force equation( order )
EIv P x Load equation( order )
′′
=
′′′
= −
′′′′
= +
2
3
4
Integrating the equations and then evaluating constants of
integration from boundary conditions of the beam.
Assumptions involved in the above equations
(a) Material obeys Hooke’s law
(b) Slope of deflection curve small – small deformations
(c) Deformations due to bending only – shear neglected
When sketching deflection curve we greatly exaggerate the
deflection for clarity. Otherwise they actually are very small
quantities.
Solid Mechanics
Approximate sketching
(3) (4)
(5) (6)
Solid Mechanics
Boundary conditions
(1)Boundary conditions
(2)Continuity conditions
(3)Symmetry conditions
Boundary conditions
Pertain to the deflections and slopes at the supports of a
beam:
(i)Fixed support or clamped support
(ii)
( )
( ) ( ) ( )
v a
M a EIv a v a
=
′′ ′′
= = ¬ =
0
0 0
(iii)
( ) ( )
( ) ( )
M a EIv a
V a EIv a
′′
= =
′′
= − =
0
0
( )
( ) ( )
v a
a v a θ
=
′
= =
0
0
Solid Mechanics
Continuity conditions
All deflection curves are physically
continuous. Therefore
Similarly at “C”
( ) ( )
from side AC from side BC
v c v c
′ ′
=
Symmetry conditions
L
v
 
′
=

\ .
0
2
because of loading
and beam. This we should load
in advance.
The method for finding deflection using differential
equations is known as “ method of successive integration”.
Application of principle of superposition: Numerous
problems with different loadings have been solved and
readily available. Therefore in practice the deflection of beam
subjected to several or complicated loading conditions are
solved using principle of superposition.
+ +
( ) ( )
from side AC from side BC
v c v c =
Solid Mechanics
Problem 1
Determine the equation of the deflection curve for a simple
beam AB supporting a uniform load of intensity of acting
through out the span of the beam. Also determine maximum
deflection
max
δ at the mid point of the beam and the angles
of rotation
A
Q and
B
Q at the supports. Beam has constant EI.
Solution
qL
V qx = −
2
(1)
qL qx
M x − + =
2
0
2 2
qLx qx
M = −
2
2 2
(2)
Differential equation of deflection curve.
( ) EIv M x
qLx qx
EIv
′′
=
′′
= −
2
2 2
Slope of the beam
qL
V qx + − = 0
2
Solid Mechanics
qLx qx
EIv C ′ = − +
2 3
1
4 6
BC →Symmetry conditions
L
v x
qLL qL
C
qL qL
C
 
′
= =

\ .
= − +
= − +
2 3
1
3 3
1
0
2
0
16 48
0
16 48
qL
C = −
3
1
24
Slope equation is
( )
qLx qx qL
EIv s
q
v L L x
EI
′
= − −
−
′
= − +
2 3 3
3 2 3
4 6 24
6
24
Deflection of the beam
qLx qx qL
EIv x C = − − +
3 4 3
2
12 24 24
B.C.
( ) v x
C
= =
= − − + ¬
2
0 0
0 0 0 0
qLx qx qL
EIv x = − −
3 4 3
12 24 24
C =
2
0
Solid Mechanics
( )
( )
q
v L x Lx x
EI
q
v x L x Lx
EI
−
∴ = − +
−
= + −
3 3 4
4 3 3
2
24
2
24
you can check v = 0 at x = 0and L = 0
(b) From symmetry maximum deflection occurs at the
midpoint
L
x =
2
qL L
v x
EI
−
 
= =

\ .
4
5
2 384
ve sign means that deflection is downward as expected.
max
qL L
v x s
EI
δ
 
= = =

\ .
4
5
2 384
( )
A
qL
Q v
EI
−
′
= =
3
0
24
ve sign indicates clock wise rotation as expected.
( )
B
qL qL qL
Q v x L
EI EI EI
′ = = = − −
3 3 3
4 6 24
( )
qL
v L
EI
′
=
3
24
+ ve sign means anticlockwise direction.
since the problem is symmetric, ( ) ( ) v v L
′ ′
= 0
Solid Mechanics
Problem: 2
Above problem using third order equation
( ) EIv V x ′′′ = −
qL qL
EIv qx qx
 
′′′
= − − = −

\ .
2 2
Moment equation
qLx qx
EIv C
′′
= − +
2
1
2 2
B.C.
( ) ( ) M x EIv x
C
qLx qx
EIv
′′
= = ¬ = =
¬ =
′′
= −
1
2
0 0 0 0
0
2 2
Problem 3
Above problem using fourth order differential equation
P q
EIv q
=
′′′′
= −
Shear for a equation
EIv qx C ′′′ = − +
1
From symmetry conditions
Solid Mechanics
L L
V x EIv x
qL L
q C C
qL
EIv qx
   
′′′
= = ¬ = =
 
\ . \ .
= − + ¬ = +
′′′
∴ = − +
1 1
0 0
2 2
0
2 2
2
Problem 4
Determine the equation of the deflection curve for a
cantilever beam AB subjected to a uniform load of intensify
q. Also determine the angle of rotation and deflection at the
free end. Beam has constant EI.
Solution:
qL qx
M qLx + − + ¬
2 2
2 2
Differential equation of deflection curve
( ) EIv M x
qL qx
EIv qLx
′′
=
′′
= − + −
2 2
2 2
V qL qx + − = 0
V qx qL = −
qL qx
M qLx = − −
2 2
2 2
Solid Mechanics
Slope equation:
qL x qLx qx
EIv C ′ = − + − +
2 2 3
1
2 2 6
BC: ( ) v x ′ = = ¬ 0 0
qL x qLx qx
EIv′ = − + −
2 2 3
2 2 6
Deflection equation
qL x qLx qx
EIv C = − + − +
2 2 3 4
2
4 6 24
( ) v x
C
= =
= + − + ¬
2
0 0
0 0 0 0
qL x qLx qx
EIv ∴ = − + −
2 2 3 4
4 6 24
( ) v x L
qL qL qL qL
EIv
′ = ¬
− −
′
= + − =
3 3 3 3
2 2 6 6
B
qL
v Q
EI
′
∴ = = −
3
6
( ) v x L
q qL
v L L L
EI EI
= ¬
− −
(
= − + =
¸ ¸
4
4 4 4
3
6 4
24 24
maximum deflection also.
C =
1
0
C =
2
0
q
v L x Lx x
EI
− +
− (
= +
(
¸ ¸
2 2 3 4
6 4
24
¸
qL
v
EI
=
4
8
¬
( )
qL
v x L
EI
−
= =
4
3
24
Solid Mechanics
Problem 5
Above problem using third order equation
( ) EIv V x
EIv qL qx
′′
= −
′′′
= −
Moment equation
qx
EIv qLx C
′′
= − +
2
1
2
B.C. ( ) ( ) M x L EIv x L ′′ = = ¬ = = 0 0
qL qL qL
qL
qx qL
EI v qLx
¬ = − = ¬ = −
′ ′′
= − +
2 2 2
2
2 2
0 4
2 2 2
2 2
qx qL
EIv qLx
′′
= − +
2 2
2 2
Problem 6
Above problem with fourth order equation
( ) EIv P x
EIv q
−
′′′′ =
′′′′
∴ = ⊕
Shear force equation
EIv qx C ′′′ = − +
1
( ) ( ) B.C V x L EIv x L
qL C C qL
′′′
= = ¬ = =
= − + ¬ = +
1 1
0 0
0
Solid Mechanics
EIv qx qL ′′′ ∴ = − +
Problem 7
A simple beam AB supports a concentrated load P acting at
distances a and b from the lefthand and righthand supports
respectively. Determine the equations of the deflection
curve, the angles of rotation and at the supports, the
maximum deflection and the deflection at the midpoint C of
the beam. Constant EI
Solution
Pb
M x
L
− = ¬ 0
A
Q
B
Q
max
δ
L
δ
EI =
Pb
V
L
+ = 0
Pb
V
L
= −
Pbx
H
L
=
Pb
V P
L
+ − = 0
Pb
V P
L
= −
Pb Pb
x P x P
L L
+ = ¬ = −
Solid Mechanics
( )
( )
Pbx
M P x a
L
Pbx
M P x a
L
Pbx Pxa
M Px Pa Pa
L L
+ − −
= − −
= − + = − +
Differential equation of deflection curve
Pbx
EIv x a
L
Pxa
EIv Pa a x L
L
′′
= ≤ ≤
′′
= − + ≤ ≤
0
Slope equations:
Pbx
EIv C o x a
L
′
= + ≤ ≤
2
1
2
Px a
EIv Pax C a x L
L
−
′
= + + ≤ ≤
2
2
2
B.C. ( ) ( )
AP PB
v x a v x a
′ ′
= = =
( ) P L a a Pa
C Pa C
L L
PLa Pa Pa
C Pa C
L L L
Pa
C C
− −
+ = + +
/ / /
/ /
− + = − + +
/ / / / /
¬ = +
2 3
2
1 2
2 3 3
2
1 2
2
1 2
2 2
2 2 2
2
Solid Mechanics
Deflection curve equations:
Pbx
EIv C x C x a
L
Px a Pax
EIv C x C a x L
L
′
= + + ≤ ≤
−
= + + + ≤ ≤
3
1 3
3 2
2 4
0
6
6 2
B.C: ( ) v x = = 0 0 and ( ) v x L = = 0
C = + + ¬
3
0 0 0
PL a PaL
C L C
L
PL a PaL
C L C
PaL
C L C
= − + + +
= − + + +
= + +
3 2
2 4
2 2
2 4
2
2 4
0
6 2
0
6 2
3
( ) ( )
( )
AP PB
v x a v x a
P L a a Pa Pa
C a C a C
L L
PLa Pa Pa Pa
C a C a C
L L L
Pa Pa
C a C a C
Pa PaL
C a C a C L
= = =
− −
+ = + + +
/ / −
/ /
+ + = + + +
/ / /
+ = + +
= + − −
3 4 3
1 2 4
3 4 4 3
1 2 4
3 3
1 2 4
3 2
1 2 2
6 6 2
6 6 6 2
6 2
3 3
C =
3
0
PaL
C C L = − −
2
4 2
3
Solid Mechanics
Pa Pa PaL
C a C a C L
Pa PaL PaL Pa
C L C L
PaL Pa
C
/ / + = + − −
= − − ¬ = − −
= − −
3 3 2
2 2 2
3 2 2 3
2 2
3
2
2 3 3
6 3 3 6
3 6
Some important formulae to remember
(1)
(2)
(3)
(4)
(5)
Problem 8
A simple beam AB supports a concentrated load P acting at
the center as shown. Determine the equations of the
deflection curve, the angles of rotation
A
Q and
B
Q at the
supports, the maximum deflection
max
δ of the beam.
B B
qL qL
,Q
EI EI
δ = =
4 3
8 6
B B
PL PL
, Q
EI EI
δ = =
3 2
3 2
B B
M L M L
, Q
EI EI
δ = =
2
0 0
2
c max A B
qL qL
; Q Q
EI EI
δ δ = = = =
4 3
5
384 24
c max A B
PL PL
;Q Q
EI EI
δ δ = = = =
3 2
48 16
Solid Mechanics
Solution
P
V = −
2
Px
M =
2
Px
M =
2
P
M x − = 0
2
Px
M =
2
V P / = 2
P
V P + − = 0
2
Px L
M P x
Px L Px PL PL Px
M P x Px
 
− + − =

\ .
 
= − − = − + = −

\ .
0
2 2
2 2 2 2 2 2
PL Px
M = −
2 2
Solid Mechanics
Differential equation deflection curve
Px
EIv x L /
PL Px L
EIv x L
′′
= ≤ ≤
′′
= − ≤ ≤
0 2
2
2 2 2
Slope equations
Px
EIv C x L /
PLx Px L
EIv C x L
′
= + ≤ ≤
′
= − + ≤ ≤
2
1
2
2
0 2
4
2 4 2
AP PB
L L
v x v x
   
′ ′
= = =
 
\ . \ . 2 2
PL PL PL
C C + = − +
2 2 2
1 2
16 4 16
PL PL PL
C C C = + − = +
2 2 2
1 2 2
4 8 8
Deflection equations:
Px
EIv C x C x L /
PLx Px
EIv C x C L / x L
= + + ≤ ≤
= − + + ≤ ≤
3
1 3
2 3
2 4
0 2
12
2
4 12
B.C: ( ) v x = = 0 0 and ( ) v x L = = 0
PL
C C = +
2
1 2
8
Solid Mechanics
C = + + ¬
3
0 0 0
PL PL
C L C
PL
C L C
= − + +
= + +
3 3
2 4
3
2 4
0
4 12
6
AP PB
L L
v x v x
PL C L PL PL L
C C
L PL PL L
C C C
   
′ ′
= = =
 
\ . \ .
+ = − + +
= − + +
3 3 3
1
2 4
3 3
1 2 4
2 2
96 2 16 96 2
2 16 48 2
L PL PL L PL
C C C L
/ /
/ / + = + − −
/ /
3 3 3
2 2 2
2 16 24 2 6
( ) PL PL PL PL
C L C
− −
− − = ¬ =
2 3 3 3
2 2
2 8 3
24 6 16 48
C =
3
0
PL
C C L = − −
3
4 2
6
L PL L
C C C = + +
3
1 2 4
2 24 2
PL PL
C
−
= − =
2 2
2
9 3
48 16
PL
C = −
2
2
3
16
Solid Mechanics
PL PL PL
C ∴ = − + = −
2 2 2
1
3
16 8 16
( )
PL PL
C L
PL PL PL
 
−
∴ = − −

\ .
− + −
= + =
3 2
4
3 3 3
3
6 16
8 9 3
6 16 48
Deflection curves
Px PL L
EIv x C x
PLx Px PL PL L
EIv x x L
= − + ≤ ≤
= − + − + ≤ ≤
3 2
3
2 3 2 3
0
12 16 2
3
4 12 16 48 2
L
x
PL PL PL
EIv
=
−
= − =
3 3 3
2
96 32 48
( )
L
x
PL PL PL PL PL
EIv
PL
=
− − +
= − − + =
= −
3 3 3 3 3
2
3
6 1 9 2 3
16 96 32 48 96
48
PL
C = −
2
1
16
PL
C = −
3
4
48
L
x
PL
v
EI
=
∴ = −
3
2
48
Solid Mechanics
Slope equations:
Px PL L
EIv x
PLx Px PL L
EIv x L
′
= − ≤ ≤
′
= − − ≤ ≤
2 2
2 2
0
4 16 2
3
2 4 16 2
( )
( ) ( )
A
PL PL
EIv x
PL
v x Q Clock wise
EI
′
= = − = −
′
∴ = = = − −
2 2
2
0 0
16 16
0
16
( )
( )
( ) ( )
B
PL PL PL PL PL
EIv x L
PL
v x L Q +ve, CCW from xaxis
EI
− −
′
= = − − = =
′ ∴ = = =
2 2 2 2 2
2
8 4 3 3
2 4 16 16 16
16
Problem 9
A cantilever beam AB supports load of intensity of acting
over part of the span and a concentrated load P acting at the
free end. Determine the deflections
B
δ and angle of rotation
B
Q at end B of the beam. Beam has constant EI. Use principle
of superposition.
Solution
( )
B B
qa qL
L a , Q
EI EI
δ = − =
1 1
3 3
4
24 6
B B
PL PL
, Q
EI EI
δ = =
2 2
3 2
3 2
v PL / EI = −
3
48
Solid Mechanics
( )
B B B
B B B
qa PL
L a
EI EI
qa PL
Q Q Q
EI EI
δ δ δ = + = − +
= + = +
1 2
1 1
3 3
3 2
4
24 3
6 2
Solid Mechanics
21. Moment Area Method
This method is based upon two theorems related to the area
of the bending moment diagram it is called momentarea
method.
First moment area theorem
Consider segment AB of the deflection curve of a beam in
region of + ve curvature.
The equation
d M
EI
dx
θ
=
2
2
can be written as
d d M
dx EI
dx
θ θ
= =
2
2
M
d dx
EI
θ =
The quantity
M
dx
EI
corresponds to an infinitesimal area of
the
M
EI
diagram. According to the above equation the area is
equal to the arrange in angle between two adjacent point m
1
and m
2
. Integrating the above equation between any two
points A & B gives.
B B
B A BA
A A
M
d dx
EI
θ θ θ θ = − = ∆ =
} }
Solid Mechanics
This states that the arrange in angle measured in radius
between the two tangents at any two points A and B on the
elastic curve is equal to the area of
M
EI
diagram between A &
B , If
A
θ is known then
B A BA
θ θ θ = + ∆
In performing above integration, areas corresponding to the
M + are taken + ve, area corresponding to the – ve M are
taken –ve
If
B
A
M
dx
EI
}
is +ve tangent B rotates c.c.w from A or
B
θ is
algebraically larger than A.
If – ve – tangent B rotates c.w from A.
Second momentarea theorem
This is related to the deflection curve between A and B.
Solid Mechanics
We see that dt is a small contribution to
BA
t . Since the angles
between the tangents and xaxis are very small we can take
The expression
M
x dx
EI
=
1
first moment of infinitesimal area
M
dx
EI
w.r.t. a vertical line through B.
Integrating between the point A & B
B B
BA
A A
M
t dt x dx
EI
′
= =
} }
1
= First moment of the area of the
M
EI
diagram between points A & B, evaluated w.r.t. B.
if M is +ve φ =+ve
if M is ve φ =ve
x and x
1
are always taken +ve quantities.
∴Sign of tangential deviation depends on sign of M.
M
dt x d x dx
EI
θ = =
1 1
BA
AB
B
A
t x
t x
M
where dx
EI
φ
φ
φ
=
=
=
}
1
Solid Mechanics
A positive value of tangential deviation point B is above A
and vice versa – ve value means point B is below the point A.
In applying the moment area method a carefully prepared
sketch of the elastic curve is always necessary.
Problem:1
Consider an aluminum cantilever beam 1600 mm long with a
10 –kN for a applied 400 mm from the free end for a distance
of 600 mm from the fixed end, the beam is of greater depth
than it is beyond, having
4
I mm = ×
6
1
50 10 . For the
remaining 1000 mm of the beam
4
I mm = ×
6
2
10 10 . Find the
deflection and angular rotation of the free end. Neglect
weight of the beam and E GPa = 70
Solution:
2
2
N/mm
N/mm
−
× ×
= ×
9 6
3
70 10 10
70 10
EI . = ×
24
3 5 10
Solid Mechanics
.
A bh
E E
.
A bh
E
. .
A bh
E E
. .
A bh
E E
−
 
= = × × = −

\ .
= = −
−
 
= = × × = −

\ .
−
 
= = × × = −

\ .
1
2
3
4
1 1 0 12 36
600
2 2
129 6
1 1 0 48 115 2
480
2 2
1 1 0 12 7 2
120
2 2
B
BA B A
A
M
Q Q Q dx A A A A
EI
∆ = − = = + + +
}
1 2 3 4
B
. . .
Q
E E E E E
= − − − − = −
36 129 6 115 2 7 2 288
Solid Mechanics
B
Q . rad
E
−
= − = − = − ×
×
3
3
288 288
4 14 10
70 10
from tangent at
A.
BA B
t δ =
x mm; x ; x mm; x mm = = = =
2 1 3 4
1060 1400 840 480
BA B
t A x A x A x A x
. . .
E E E E
. mm
E
δ = = + + +
− − − −
       
= + + +
   
\ . \ . \ . \ .
−
= = −
1 1 2 2 3 3 4 4
36 129 6 115 2 7 2
1400 1060 840 480
288000
4 11
below the tangent at point A.
Problem 2
Find the deflection due to the concentrated force P applied as
soon as figure, at the center of a simply supported beam EI
constant.
Solution:
B
Q . rad
−
= ×
3
4 14 10
B
. mm δ = −4 11
Solid Mechanics
c CB
AB
v c c t
c c t
′′ ′
= −
′′ ′
=
1
2
Pa Pa
A bh a s
EI EI
Pa Pa
A bh a
EI EI
= = × × =
= = × × =
2
1
2
2
1 1 3 3
2 2 4 8
1 1 3 9
3
2 2 4 8
x a ; x a = =
1 2
2
2
3
( )
AB
Pa Pa
t A x A x a a
EI EI
Pa Pa Pa Pa
ve
EI EI EI EI
= + = +
= + = = +
2 2
1 1 2 2
3 3 3 3
3 2 9
2
8 3 8
9 10 5
4 4 4 2
Since EI is constant
M
EI
diagram is same as M
diagram.
Solid Mechanics
CB
Pa a Pa
t a s
EI EI
 
= × × × =

\ .
3
1 2
2
2 2 3 3
AB /
Pa
c c t
EI
′′ ′
= =
3
2
5
4
( )
c
Pa Pa Pa Pa
v
EI EI EI EI
−
∴ = − = =
3 3 3 3
15 4 5 11
4 3 4 12
The +ve sign of
AB
t &
CA
t indicate points A & C above the
tangent through B.
(a) The slope of the elastic curve at C can be found from the
slope of one of the ends as:
BC B C C B BC
Q Q Q Q Q Q ∆ = − ¬ = − ∆
B
BC B C
C
M Pa Pa
Q Q Q dx a s
EI EI EI
∆ = − = × × =
}
2
1
2
2 2 2
B AB
Pa Pa Pa Pa
Q t / L
EI a EI EI EI
≈ = − = −
3 2 2 2
5 1 5
2 4 2 8 2
(b) If the deflection curve equations is wanted then by
selecting an ordinary point E at a distance x
E
v E E EE
′′ ′ ′′
= −
c
Pa
v
EI
=
3
11
12
c
Pa
Q
EI
=
2
8
Solid Mechanics
E AB EB
L x
v t t
L
−
 
= −

\ .
In this way one
can obtain equation
of the deflection curve.
(c) To simplify the calculations some care in selecting the
tangent at a support must be considered.
In this approach to find
CA
t we need to consider
unhatched region which
is more difficult.
(d) The deflection at C can also be calculated as follows.
AC BC
c
t t
v
+
=
2
∴C is at the center of the beam. However, this is also move
complicated approach compared to first, as to find
CA
t we
again need to consider unhatched region.
Solid Mechanics
Problem 3
Find the deflection of the end A of the beams shown in
figure caused by the applied forces. The EI is constant.
Solution
Solid Mechanics
Pa Pa
A bh a
EI EI
a Pa Pa
A
EI EI
Pa Pa
A and A
EI EI
−
 
= = × × = −

\ .
 
= × × − = −

\ .
= =
2
1
2
2
2 2
3 4
1 1
2 2 2
1
2 2 4
4 2
a a a a a
x a ; x a
a a
x a a / ; x
= + = = + + =
= + = =
1 2
3 4
7 2 11
2
3 3 3 3 2 6
1 2
7 6
3 2 3
( )
CB
t A x A x A x
Pa a Pa a Pa a
EI EI EI
Pa Pa Pa Pa
EI EI EI EI
= + +
= − × + × + ×
− + +
= − + + =
2 2 3 3 4 4
2 2 2
3 3 3
3
11 7 2
4 6 4 6 2 3
11 7 8 11 7
24 24 3 24
CB
Pa Pa
t
EI EI
= =
3 3
4
24 6
The + sign of
CB
t indicates that the point C is above the
tangent through B. Hence corrected sketch of the elastic
curve is made.
Solid Mechanics
AB
Pa Pa
t a
EI EI
= − × = −
2 3
2
2 3 3
A AB
v t A A
Pa Pa Pa
EI EI EI
′′ ′
∴ = −
= − =
3 3 3
3 12 4
Note: Another method to find
A
v is shown. This may be
simpler method than the present one.
A
Pa
v
EI
=
3
4
Solid Mechanics
We need to follow a systematic sign convention for systematic development of equations and reproducibility of the equations The sign convention is like this.
If a face (i.e. formed by the cutting plane) is +ve if its outward normal unit vector points towards any of the positive coordinate directions otherwise it is –ve face • A force component on a +ve face is +ve if it is directed towards any of the +ve coordinate axis direction. A force component on a –ve face is +ve if it is directed towards any of the –ve coordinate axis direction. Otherwise it is –v.
Thus sign conventions depend on the choice of coordinate axes.
Shear force and bending moment diagrams of beams Beam is one of the most important structural components.
• Beams are usually long, straight, prismatic members and always subjected forces perpendicular to the axis of the beam
Two observations: (1) Forces are coplanar
Solid Mechanics
(2) All forces are applied at the axis of the beam.
Application of method of sections
What are the necessary internal forces to keep the segment of the beam in equilibrium?
Fx = 0 Fy = 0 Fz = 0 P V M
• The shear for a diagram (SFD) and bending moment diagram(BMD) of a beam shows the variation of shear
Solid Mechanics
force and bending moment along the length of the beam. These diagrams are extremely useful while designing the beams for various applications.
Supports and various types of beams
(a) Roller Support – resists vertical forces only
(b) Hinge support or pin connection – resists horizontal and vertical forces
Hinge and roller supports are called as simple supports
(c) Fixed support or builtin end
Solid Mechanics
The distance between two supports is known as “span”.
Types of beams
Beams are classified based on the type of supports. (1) Simply supported beam: A beam with two simple supports
(2) Cantilever beam: Beam fixed at one end and free at other
(3) Overhanging beam
(4) Continuous beam: More than two supports
Solid Mechanics Differential equations of equilibrium [Σ Fx = 0 → + ] Σ Fy = 0 ↑ + V + ∆V − V + P∆x = 0 ∆V = − P∆x ∆V = −P ∆x ∆V dV lim ∆x = dx = − P ∆ x →0 P ∆x 2 =0 [ Σ M A = 0 ] V ∆x − M + M + ∆ M − 2 P∆x 2 V ∆x + ∆ M − =0 2 ∆M P∆x +V − =0 ∆x 2 .
Solid Mechanics ∆ M dM lim ∆x = dx = −V ∆x →0 From equation dV = − P we can write dx VD − VC = − XD XC Pdx From equation dM = −V dx MD − MC = − Vdx Special cases: .
Solid Mechanics .
Solid Mechanics .
Solid Mechanics .
VE = −5 −25 + 7.5 ( x − 2 ) = 0 V = 5 − 30 + 7. VB = 5 2 ≤ x ≤ 6 (2) − (2) V − 5 + 30 − 7.33 6 ≤ x ≤ 8 ( 3) − ( 3) V − 5 + 30 − 30 − 10 = 0 V = +15 VC = +15 . VC = 5 x = 5.5 ( x − 2 ) = 0 .Solid Mechanics 0 ≤ x ≤ 2 − ( 1) − ( 1) 2 ≤ x ≤ 6 −(2 −(2) 6 ≤ x ≤ 8 − ( 3) − ( 3) 8 ≤ x ≤ 10 − ( 4 ) − ( 4 ) 0 ≤ x ≤ 2 ( 1) − ( 1) V −5=0 V =5 VA = 5 .5 ( x − 2 ) VB = −25 . VD = +15 8 ≤ x ≤ 10 ( 4 ) − ( 4 ) V − 5 + 30 − 30 − 10 + 20 = 0 V +5=0 V = −5 VD = −5 .
33 = 41.5 ( x − 2 )2 M = 10 − 5x + 30 ( x − 2 ) − 2 ME x =5.Solid Mechanics 0 ≤ x ≤ 2 − ( 1) − ( 1) M − 10 + 5x = 0 M = −5x + 10 M A = +10 .66 + MC x =6 = 40 6 ≤ x ≤ 8 − ( 3 ) − ( 3 ) [C − D] M − 10 + 5x − 30 ( x − 2 ) + 30 ( x − 4 ) + 10 ( x − 6 ) + 20 = 0 MC x =6 = 20 + MD x =8 = −10 8 ≤ x ≤ 10 [ D − E] ( 4 ) − ( 4 ) M − 10 + 5x − 30 ( x − 2 ) + 30 ( x − 4 ) + 10 ( x − 6 ) + 20 − 20 ( x − 8 ) = 0 M E x =8 = 0 Problems to show that jumps because of concentrated force and concentrated moment .5 ( x − 2 )2 M − 10 + 5x − 30 ( x − 2 ) + =0 2 7. M B = 0 2 ≤ x ≤ 6 − (2) − (2) 7.
This should be carried first before drawing SFD and BMD. 0 ≤ x ≤ 2 [ A − B] .Solid Mechanics We can also demonstrate internal forces at a given section using above examples.
Solid Mechanics V −5=0 V =5 VA = 5 VB = 5 2 ≤ x ≤ 6 [B − C ] M − 10 + 5x = 0 M = 10 − 5x M A = 10 . VD = 15 .66 x=2 MB = 0 V − 5 + 30 − 10 − 30 = 0 V = 15 VC = 15 . MB = 0 V − 5 + 30 − 7.5 V = 7.5 ( x − 2 ) = 0 ( x − 2 )2 2 =0 x=6 MC = 40 ME x = 5. VC = 5 x = 5.5 ( x − 2 ) + 5 − 30 VB = −25 .33 = 41.33 6 ≤ x ≤ 8 [C − D] −25 + 7.5 ( x − 2 ) = 0 M − 10 + 5x − 30 ( x − 2 ) + 7.
VE = −5 .Solid Mechanics 8 ≤ x ≤ 10 [ D − E] V − 5 + 30 − 10 − 30 + 20 = 0 V = −5 VD = −5 .
Solid Mechanics [ Fx → + = 0 ] Fy ↑ + = 0 R Ax = 0 R Ay + 60 − 90 = 0 RAy = 30 kN ↑ M + 60 − 90 × 4.5 = 0 [ M∆ = 0] M = 285 k − m 30 + V + 60 − 30 ( x − 3 ) = 0 V = 30 ( x − 3 ) − 90 = 30 × 3 − 90 = 90 − 90 =0 M B − M A = − ( −60 ) M B = 60 + M A = 60 − 285 = −225 .
Solid Mechanics MC − M B = − ( −90 ) MC = MB + 90 = −225 + 90 = −135 MD − MC = − ( −135 ) MD = MC + 135 = −135 + 135 = 0 Fy ↑ + = 0 R Ay + RCy − 200 − 240 = 0 R Ay + RCy = 440 ( 1) [ M A = 0] − 200 × 3 − 240 × 4 + RCy × 8 = 0 RCy = 195 kN ↑ RAy = 245 kN ↑ V + 245 − 200 − 30 x = 0 V = 30 x − 45 V = 30 × 8 − 45 = 240 − 45 V = 195 .
5 M = 600 RAy + RBy = 32 [ M A = 0 ] − 32 × 2 + 18 + 8 + 4 RBy = 0 −64 + 16 + 4 RBy = 0 RBy = 12 kN RAy = 20 kN .5 * M = 245 × 3 − 90 × 1.Solid Mechanics M − 245 × 3 + 90 × 1.
5 − 50 × 4 + RDy × 5 = 0 RDy = RAy 290 = 58 kN ↑ 5 = 52 kN ↑ .5 MC − M A = − ( −50 ) MC = M A + 50 = −8 + 25 = 17 Problem: [ Fx → + = 0 ] Fy = 0 ↑ + R Ay + RDy − 60 − 50 = 0 R Ay + RDy = 110 RAx = 0 ( 1) [ M A = 0 ] − 60 × 1.Solid Mechanics V + 20 − 8x = 0 V = 8x − 20 8x − 20 = 0 x = 20 / 8 = 2.
Solid Mechanics Fy = 0 ↑ + V + 52 − 20 x = 0 0 ≤ x ≤ 3m ( B) V = 20 x − 52 [ M = 0] 20 x 2 M+ − 52 x = 0 2 20 x 2 M = 52 x − ( 0 ≤ x ≤ 3m ) 2 Fy = 0 ↑ + V + 52 − 60 = 0 V = 8 kN ↑ 3 ≤ x ≤ 4m B C [ M = 0] M − 52 x + 60 ( x − 1.5 ) 3 ≤ x ≤ 4m B C .5 ) = 0 M = 52 x − 60 ( x − 1.
6 .5 ) + 50 ( x − 4 ) = 0 M = 52 x − 60 ( x − 1.6 m M B − ME = −1.6 + 67.6 M B = −1.5 ) − 50 ( x − 4 ) ( 4 ≤ x ≤ 5 ) dM = −V dx dV = −P dx 20 × −52 = 0 x = 52 / 20 = 2.Solid Mechanics Fy = 0 ↑ + V + 52 − 60 − 50 = 0 V = 58 kN ( 4 ≤ x ≤ 5) [ M = 0] M − 52 x + 60 ( x − 1.
Solid Mechanics M B − M A = − Vdx dM = −V dx dV = −P dx 20 × −52 = 0 x = 52 / 20 = 2.6 = 66 MC − MB = −8 MC = −8 + MB = −8 + 66 = 58 MD − MC = −58 MD = MC + 58 = 58 − 58 = 0 .6 + ME = −1.6 MB − ME = −1.6 MB = −1.6 + 67.
Solid Mechanics 2. Concept of stress Traction vector or Stress vector Now we define a quantity known as “stress vector” or “traction” as Tn = ∆FR lim ∆ A units Pa − N / m2 ∆ A→0 ∆MR lim ∆ A → 0 ∆ A →0 and we assume that the quantity (1) Tn is a vector quantity having direction of ∆FR (2) Tn represent intensity point distributed force at the point ˆ "P" on a plane whose normal is n (3) Tn acts in the same direction as ∆FR .
(5) Tn varies from point to point on a given plane (6) Tn at the same point is different for different planes.Solid Mechanics (4) There are two reasons are available for justification of the ∆MR assumption that lim →0 ∆ A →0 ∆ A (a) experimental (b) as ∆ A → 0. ∆FR becomes resultant of a parallel force distribution. (7) Tn′ = −Tn will act at the point P (8) In general Components of Tn ˆ ∆FR = ∆Fnn + ∆vtˆ + ∆vsˆ t s . Therefore ∆ M R = 0 for force system.
plane on which σ is acting (b) Second subscript.Solid Mechanics Tn = ∆FR ∆F ∆v ˆ ∆v ˆ = lim n n + lim t t + lim s ˆ s lim ∆ A ∆ A→0 ∆ A→0 ∆ A ∆ A→0 ∆ A ∆ A→0 ∆ A ˆ Tn = σ nnn + τ ntˆ + τ nsˆ t s where ∆Fn dFn lim ∆ A = dA = Normal stresscomponent ∆ A→0 ∆v dv τ nt = lim t = t = Shear stresscomponent ∆ A→0 ∆ A dA ∆v dv τ ns = lim s = s = Another shear componet dA ∆ A→0 ∆ A σ nn = σ − NormalStress τ − Shear stress dFn = σ nn dA dVt = τ nt dA Notation of stress components The magnitude and direction of Tn clearly depends on the plane mm. (a) First subscript.direction . stress components magnitude & direction depends on orientation of cut mm. Therefore.
Tx = ∆vy ∆FR ∆F ∆v ˆ ˆ+ = lim x ˆ + lim i j lim z k lim ∆ A ∆ A→0 ∆ A→0 ∆ A ∆ A→0 ∆ A ∆ A→0 ∆ A ˆ Tx = σ xxˆ + τ xy ˆ + τ xz k i j where σ xx = τ xy ∆Fx lim ∆ A = Normal stress ∆ A→0 ∆vy ∆v = lim = Shear stress.Solid Mechanics Rectangular components of stress Cuts ⊥ to the coordinate planes will give more valuable information than arbitrary cuts. τ xz = lim z = Shear stress ∆ A→0 ∆ A ∆ A→0 ∆ A .
y. ∆Fy ∆FR ∆ vx ˆ ∆v ˆ ˆ+ Ty = lim = lim i + lim j lim z k ∆ A→0 ∆ A ∆ A→0 ∆ A ∆ A→0 ∆ A ∆ A→0 ∆ A ˆ Ty = τ yxˆ + σ yy ˆ + τ yz k i j ˆ Tz = τ zxˆ + τ zy ˆ + σ zz k i j σ xx and τ xy will act only on xplane. We can see σ x and τ xy only when we take section ⊥ to xaxis.Solid Mechanics dFx = σ xx dA dvy = τ xy dA dvz = τ xz dA Similarly. • It is a second rank of tensor because of two indices .z directions σ xx σ jj = τ yx τ zx τ xy τ zy τ xz σ zz σ yy τ yz Rec tan gular stresscomponents • This array of 9 components is called as stress tensor. The stress tensor Components a point “P” on the xplane in x.
Solid Mechanics • These 9 rectangular stress components are obtained by taking 3 mutually ⊥ planes passing through the point “P ” • ∴ Stress tensor is an array consisting of stress components acting on three mutually perpendicular planes. ˆ Tn = τ nxˆ + τ ny ˆ + τ nz k i j What is the difference between distributed loading & stress? q = lim ∆FR ∆ A→0 ∆ A q = σ yy can also be called. No difference! Except for their origin! .
Solid Mechanics Sign convention of stress components. A positive components acts on a +ve face in a +ve coordinate direction or A positive component acts on a negative face in a negative coordinate direction. . Say σ x = −20 . Paτ xy = −10 Pa and τ xz = 30 Pa at a point P means.
• If the stress vectors [and hence the component] acting on any three mutually perpendicular planes passing through the point are known. σ x′x′ τ x′y′ τ z′x′ τ z′y′ τ x′z′ σ z′z′ σ ij′ = τ y′x′ σ y′y′ τ y′z′ can also represent state of stress at a point. we can determine the stress vector Tn acting on any plane “n” through that point.Solid Mechanics State of stress at a point The totality of all the stress vectors acting on every possible plane passing through the point is defined to be state of stress at a point. The stress tensor will specify the state stress at point. . • State of stress at a point is important for the designer in determining the critical planes and the respective critical stresses.
y .plane .z ) σ yy = σ yy ( x . +σ xx +τ xy +σ yy +τ zy +τ xz +τ yz +σ zz σ ij P = +τ yx +τ zx σ xx = σ xx ( x.y .y .z ) Continuous functions of x.Solid Mechanics The stress element Is there any convenient way to visualize or represent the state of stress at a point or stresses acting three mutually perpendicular planes say x. yplane and zplane.z Let us consider a stress tensor or state of stress at a point in a component as .
we can show that Fy = 0 and Fz = 0 is satisfied.Solid Mechanics −10 5 50 −30 −60 σ ij = 5 −30 −60 −100 Equilibrium of stress element y dz τ xy τ xz dx dy σx x z [ Fx = 0 → + ] σ x dydz + τ yx dxdz + τ zx dydx − σ x dydz − τ yx dxdz − τ zx dxdy = 0 Similarly. .
Solid Mechanics M zP = 0 C.C. if τ xy = − ve τ yx is also –ve . MxP = 0 τ yz = τ zy and MyP = 0 τ zx = τ xz Crossshears are equal.a very important result Since τ xy = τ yx .W + ve (τ xy dydz ) dx − (τ yx dxdz ) dy = 0 τ xy − τ yx = 0 τ xy = τ yx Shearing stresses on any two mutually perpendicular planes are equal.
Solid Mechanics ∴The stress tensor σ xx σ ij = τ yx = τ xy τ xy σ xy τ xz τ yz is sec ond rank symmetric tensor τ zx = τ xz τ zy = τ yz σ yz Differential equations of equilibrium [ Fx → + = 0 ] σx + ∂τ yx ∂σ x ∂τ ∆x ∆y∆z + τ yx + ∆y ∆x∆z + τ zx + zx ∆z ∆y∆x ∂x ∂y ∂z −σ x ∆y∆z − τ xy ∆x∆z − τ zx ∆y∆x + Bx ∆x∆y∆z = 0 ∂τ yx ∂σ x 2τ ∆x∆y∆z + ∆y∆x∆z + zx x∆y∆z + Bx ∆x∆y∆z = 0 ∂x ∂y ∂z Canceling ∆x∆y and lim ∆z terms and taking limit ∂σ x ∂τ yx ∂τ zx + + + Bx = 0 ∂x ∂y ∂z ∆x →0 ∆y →0 ∆z→0 Similarly we can easily show that .
M zp = 0 τ xy + ∂τ xy ∂x ∆x ∆y∆z ∂τ yx ∆y x ∆x + τ xy ∆y∆z − τ yx + ∆y ∆x∆z 2 2 ∂y 2 −τ yx ∆x∆z ∆y =0 2 . then the stress components must satisfy the above equations and must vary as above. y and z axis at any point must vanish. For equilibrium. the moments of forces about x.Solid Mechanics ∂σ x ∂τ yx ∂τ zx + + + Bx = 0 ∂x ∂y ∂z ∂τ xy ∂σ yy ∂τ zy + + + By = 0 ∂x ∂y ∂z ∂τ xz ∂τ yz ∂σ zz + + + Bz = 0 ∂x ∂y ∂z [ Fx = 0 ] Fy = 0 [ Fz = 0 ] • If a body is under equilibrium.
Solid Mechanics 2τ xy ∆y∆x∆z 2 ∂τ xy ∆x 2 ∆y∆z 2τ yx ∆x∆y∆z ∂τ yx ∆x∆y 2 ∆z + − − =0 ∂x 2 2 ∂y 2 τ xy + Taking limit ∂τ xy ∆x ∂τ yx ∆y − τ yx − =0 ∂x 2 ∂y 2 ∂τ xy ∆x ∂τ yx ∆y lim τ xy + − τ yx − =0 ∂x 2 ∂y 2 ∆x →0 ∆y →0 ∆z→0 τ xy − τ yx = 0 τ xy = τ yx Relations between stress components and internal force resultants .
Vy = τ xy dA . M z = − σ xy dA A .Solid Mechanics Fx = σ xx dA . Vz = τ xz dA A A A yτ xz dA − τ xy dAz = dMx Mx = A ( yτ xz − τ xy z ) dA A M y = σ xz dA .
e all stress components can be viewed in x − y plane.state of stress All stress components are in the plane x − y i.y ) σ x ( x. .y ) σ yy ( x. Plane stress and Plane strain Plane stress.y ) − plane stressis a .Solid Mechanics 3.2D State of stress 3D − State of stress σx τ zx τ xy τ zy τ xz σ zz σ ij = τ yx σ yy τ yz − 6 components 2 D − State of stress σ x τ xy 0 σ ij = τ xy 0 σy 0 0 = 0 σx τ yx =τ xy τ xy σy Stresscomponents in plane xy If σ ij = τ xy ( x.y ) τ xy ( x.
Solid Mechanics This type of stressstate (i.direction dimension is very small w.e plane stress) exists in bodies whose z . Stress transformation laws for plane stress The state of stress at a point P in 2Dplane stress problems are represented by σ ij = σ x τ xy τ xy σy = σ nn τ nt τ nt σ tt .r.t other dimensions.
Solid Mechanics * We can determine the stress components on any plane “n” by knowing the stress components on any two mutually ⊥ planes. all cutting planes in plane stress problems are parallel to x . In contrast to 3D problem. Stress transformation laws for plane stress In order to get useful information we take different cutting planes passing through a point.
As in case of 3D. i. dA = Area of AB dACsθ = Area of BC dASinθ = Area of AC Fn +=0 σ nn dA − σ x dACosθ Cosθ − τ xy dACosθ Sinθ − τ xy dASinθ Cosθ − σ yy dASinθ Sinθ = 0 σ nn − σ xCos 2θ − 2τ xy Sinθ Cosθ − σ yy Sin 2θ = 0 . Thus the stress tensor σ ij = σ x τ xy τ xy σy is sufficient to tell about the state of stress at a point in the plane stress problems.e we take different cutting plane by rotating about zaxis. If we know the stress components on any two mutually ⊥ planes then stress components on any arbitrary plane mm can be determined. the state of stress at a point in a plane stress domain is the totality of all the stress.Solid Mechanics axis.
Let us assume that we know that state of stress at a point P is given σ ij = This also means that σ x τ xy τ xy σy .Solid Mechanics σ nn = σ xCos 2θ + σ y Sin2θ + 2τ xy Sinθ Cosθ σ nn = Fn +=0 σx +σy 2 + σx −σy 2 Cos 2θ + τ xy Sin2θ σ nt dA − σ x dACosθ Sinθ − τ xy dACosθ Cosθ + τ xy dASinθ Sinθ − σ y dASinθ Cosθ = 0 τ nt = −σ xCosθ Sinθ + σ y Sinθ Cosθ + τ xy Cos 2θ − Sin2θ τ nt = −Cosθ Sinθ σ x − σ y + τ xy Cos 2θ − Sin 2θ τ nt 2 xyCos 2θ ( ) ( ) (σ x − σ y ) Sin2θ + τ =− ( ) We shall now show that if you know the stress components on two mutually ⊥ planes then we can compute stresses on any inclined plane.
Solid Mechanics .
Invariants of stress tensor • Any quantity for which its 2D scalar components transform from one coordinate system to another according to σ nn and τ nt is called a two dimensional .Solid Mechanics If θ = θ we can compute on AB If θ = θ + π 2 we can compute on BC If θ = θ + π we can compute on CD If θ = θ + 3π we can compute on DA 2 • σ nn and τ nt equations are known as transformation laws for plane stress. • They are not only useful in determination of stresses on any plane but also useful in transforming stresses from one coordinate system to another • Transformation laws do not require an equilibrium state and thus are also valid at all points of the body under accelerations. • These laws are true for any point P of a body.
Here in particular the tensor is a stress tensor. possess several properties. such that certain invariant properties are maintained for all coordinate systems.σ y = I yy . σ nn = σx +σy σx −σy 2 + 2 Cos 2θ + τ xy Sin2θ σt = σx +σy 2 + σx −σ y 2 Cos 2θ − τ xy Sin2θ τ nt = − σx −σ y 2 Sin2θ + τ xyCos 2θ . • Moment of inertia if σ x = I xx .τ xy = − I xy • By definition a tensor is a mathematical quantity that transforms according to certain laws. as governed by their transformation laws. • Tensors. We now develop those properties for 2D second vent symmetric tensor.Solid Mechanics symmetric tensor of rank 2.
Solid Mechanics σ n + σ t = σ x + σ y = σ x′ + σ y ′ = I 1 I 1 = First invariant of stress in 2D 2 2 σ nσ t − τ nt = σ xσ y − τ xy = σ x′σ y′ − τ x′y′ = I 2 I 2 = Second invariant of stress in 2D • I 1 . I 1 is the most important property : the sum of normal stresses on any two mutually ⊥ planes ( ⊥ directions) is a constant at a given point. in 3D we have three invariants of stresses.I 2 are invariants of 2D symmetric stress tensor at a point. • In 2D we have two stress invariants. • Invariants are extremely useful in checking the correctness of transformation • Of I 1 and I 2 . .
Solid Mechanics .
t the original element.r.W. where the stresses have the magnitudes and directions shown on the stress element. the xaxis (b) Determine the stresses acting on an element that is oriented at a clockwise angle of 15 w. .t. (a) Determine the stresses acting on a plane that is oriented at a −15 w.r.Solid Mechanics Problem: A planestress condition exists at a point on the surface of a loaded structure. Solution: σ x = −46 σ y = 12 τ xy = −19 Q = −15 it is in C.
5 − 19 × 0.866 σ n = −17 − 29 × 0.Solid Mechanics σx +σy 2 = = −46 + 12 −34 = = −17 MPas 2 2 −46 − 12 −58 = = −29 MPa 2 2 σx −σy 2 Sin 2θ = Sin 2 ( −15 ) = −0.5 .866 τ n1t1 = −31 MPa .5 σn = σx +σy 2 + σx −σy 2 Cos 2θ + τ xySin2θ σ n1 = −32. Cos 2θ = Cos 2 ( −15 ) = 0.6 MPas Substituting θ = −15 in τ nt equation τ nt = − σx −σy 2 Sin2θ + τ xyCos2θ τ n1t1 = −29 × 0.866 + 19 × 0.
4 MPa τ tn = τ n2t2 = τ nt θ =75 τ tn = +29 × Sin150 − 19 × Cos150 Now θ = 145 = 31 MPa σ n = −17 − 29Cos 2 × 165 − 19Sin2 × 165 = −32 MPa τ nt = 0.4 = −34 MPa = −46 + 12s .29Sin330 − 19Cos 3300 τ nt = −31 MPa As a check σ n + σ t = σ x + σ y = −32.Solid Mechanics σ t = σ n2 = τ nt θ =75 ∴ σ t = −17 − 29 cos 150 − 19 sin 150 σ t = −1.6 − 1.
(1) σ n = σ n (θ ) = σn +σ y 2 + σn −σ y 2 Cos 2θ + τ xy Sin2θ (2) Of all the infinite number of normal stresses at a point. We also know that any engineering component fails when the internal forces or stresses reach a particular value of all the stress components on all of the infinite number of planes only stress components on some particular planes are important for solving our basic question i. what is the minimum normal stress value and what are their .Solid Mechanics 4. provided if we know the state of stress (Plane stress) at that point. what is the maximum normal stress value. Principal Stresses Principal Stresses Now we are in position to compute the direction and magnitude of the stress components on any inclined plane at any point.e under the action of given loading whether the component will ail or not? Therefore our objective of this class is to determine these plane and their corresponding stresses.
e how the planes are oriented ? Thus mathematically we are looking for maxima and minima of σ ( Q ) function. we know that dσ n = 0 = − σ x − σ y Sin2θ + 2τ xyCos 2θ dθ ( ) tan 2θ = 2τ xy σx −σy (4) The above equations has two roots. Let us call the first root as θ P1 tan 2θ P1 = 2τ xy σx −σy tan 2θ P2 = tan 2θ P1 + π = ( ) 2τ xy σx −σy .Solid Mechanics corresponding planes i. n (3) σ n = σn +σy 2 + σn −σ y 2 Cos 2θ + τ xy Sin2θ For maxima or minima.. because tan repeats itself after π .
Solid Mechanics π θ P2 = θ P1 + s 2 (5) Let us verify now whether we have minima or minima at θ P1 and θ P2 d 2σ n = −2 σ x − σ y Cos 2θ − 4τ xy Sin2θ 2 dθ ( ) d 2σ n ∴ dθ 2 θ =θ = −2 σ x − σ y Cos 2θ P1 − 4τ xy Sin2θ P1 P1 ( ) We can find Cos 2θ P1 s and Sin2θ P1 s as Cos 2θ P1 = 2 σx −σy σx −σy 2 2 2 + τ xy Sin2θ P1 = 2 2τ xy σx −σy 2 2 = 2 + τ xy τ xy σx −σy 2 2 2 + τ xy Substituting Cos 2θ P1 and Sin2θ P1 .
Solid Mechanics d 2σ n dθ 2 θ =θ = P1 −2 σ x − σ y σ x − σ y 2 ( )( 2 σx −σy 2 2 )− 4τ xyτ xy 2 + τ xy σx −σy 2 2 4τ xy 2 2 + τ xy = − σx −σy ( ) σx −σy 2 −4 2 − 2 + τ xy σx −σy 2 2 2 + τ xy = σx −σy 2 2 + τ xy 2 σx −σy 2 2 2 + τ xy d 2σ n ∴ = −4 dθ 2 d2σn dθ 2 θ =θ π σx −σy 2 2 2 + τ xy (ve) P2 =θP1 + 2 = 2 σx −σ y Cos 2θP1 + π − 4τ xySin 2θP1 + π ( ) ( ) ( ) = 2 σ x − σ y Cos2θP1 + 4τ xySin2θP1 Substituting Cos 2θ P1 & Sin2θ P1 m we can show that ( ) d 2σ n ∴ dθ 2 θ =θ = −4 P2 σx −σy 2 2 2 + τ xy s (+ve) .
σ n θ =θ τ xy Sin ( 2θ P1 + π ) = P2 =θ P1 = 2 π = σ2 = σx +σy 2 + σx −σy 2 Cos 2θ P1 + π + ( ) σx +σy 2 − σx −σy 2 Cos 2θ P1 − τ xy Sin2θ P1 Substituting Cos 2θ P1 and Sin2θ P1 . (6) Now.Normal stress because of + sign Similarly. σn = σx +σy 2 + σx −σy 2 Cos 2θ + τ xy Sin2θ σ n θ =θ P1 = σ1 = σx +σy 2 + σx −σy 2 Cos 2θ P1 + τ xy Sin2θ P1 Substituting Cos 2θ P1 s and Sin2θ P1 σ1 = σx +σy 2 + σx −σy 2 2 2 + τ xy Max. we need to compute magnitudes of these stresses We know that.Solid Mechanics Thus the angles θ P1 s and θ P2 s define planes of either maximum normal stress or minimum normal stress.
Also θ P1 → σ 1 .planes on which maximum normal stress (2) Generally maximum normal stress is designated by σ 1 and minimum stress by σ 2 . 2 and minimum normal stress act are ⊥ to each other.e.θ P2 → σ 2 σ 1 > σ 2 alg ebraically i. (1) θ P2 = θ P1 + π s .. 0− σ1 −1000 − σ 2 .normal sress because of − ve sign We can write σ 1 or σ 2 = σx +σy 2 ± σx −σy 2 2 2 + τ xy (7) Let us se the properties of above stress.Solid Mechanics σ = σx +σy 2 − σx −σy 2 2 2 + τ xy Min.
. the planes on which no shearing stress acts are known as principal planes and the corresponding normal stresses are principal stresses. τ nt = 0 = − σ x − σ y Sin2θ + τ xyCos2θ tan 2θ = 2τ xy ( ) σx =σy = directions of principal plans Thus on the principal planes no shearing stresses act. Then σx and σy are principal stresses because no shearing stresses are acting on these planes.Solid Mechanics (4) maximum and minimum normal stresses are collectively called as principal stresses. Conversely. (6) θ P1 and θ P2 that define the principal planes are known as principal directions. (8) Let us find the planes on which shearing stresses are zero. For example the state of stress at a point is as shown. (5) Planes on which maximum and minimum normal stress act are known as principal planes.
we can easily σ x + σ y = σ 1 + σ 2 = σ x′ + σ y′ = I 1 . because shearing stresses must be zero on principal planes. then it will be subjected to principal stresses.Solid Mechanics (9) Since. (10) Since σ 1 and σ 2 are in two say that ⊥ directions. this also means that if an element whose sides are parallel to the principal planes is taken out at that point P. principal planes are ⊥ to each other at a point P. Observe that no shearing stresses are acting on the four faces.
We approach in the similar way of maximum and minimum normal stresses (1) τ nt = − σx −σy 2 Sin2θ + τ xyCos 2θ dτ nt = − σ x − σ y Cos 2θ + τ xyCos 2θ dθ ( ) For maximum or minimum dτ nt = 0 = − σ x − σ y Cos 2θ − 2τ xy Sin2θ dθ ( ) tan 2θ = This has two roots − σx −σy 2τ xy ( ) tan 2θS1 (σ x − σ y ) =− 2τ xy s − stan ds for shear stress p − stan ds for principal stresses. Maximum shear stress Maximum and minimum shearing stresses So far we have seen some specials planes on which the shearing stresses are always zero and the corresponding normal stresses are principal stresses.Solid Mechanics 5. . Now we wish to find what are maximum shearing stress plane and minimum shearing stress plane.
Similar to the principal stresses we must calculate d 2τ nt = 2 σ x − σ y Sin2θ − 4τ xyCos 2θ 2 dθ ( ) d 2τ nt dθ 2 θ =θ Cos 2θS1 = 2 = 2 σ x − σ y Sin2θS1 − 4τ xyCos 2θS1 S1 ( ) 2τ xy σx −σy 2 2 2 + τ xy Sin2θS1 = 2 − σx −σy ( ) 2 + τ xy σx −σy 2 2 Substituting above values in the above equation we can show that .Solid Mechanics tan 2θS2 = tan 2θS1 + π = ∴ ( ) − σx −σy 2τ xy ( ) θS2 = θS1 + π 2 Now we have to show that at these two angles we will have maximum and minimum shear stresses at that point.
Planes that define maximum shear stress & minimum shear stress are again ⊥ to each other. Now we wish to find out these values.ve S2 =θS1 + 2 π = + ve Thus the angles θS1 and θS2 define planes of either maximum shear stress or minimum shear stress. τ nt (σ x − σ y ) Sin2θ + τ =− 2 S1 xyCos 2θ τ nt θ =θ (σ x − σ y ) Sin2θ =− 2 S1 + τ xyCos 2θS1 Substituting Cos 2θS1 and Sin2θS1 s .Solid Mechanics d 2τ nt dθ 2 θ =θ Similarly we can show that d 2τ nt dθ 2 θ =θ = S1 . we can show that τ max = + σx −σy 2 2 2 + τ xy τ nt θ =θ S2 =θS1 (σ x − σ y ) Sin 2θ π =− ( S + 2 2 τ min = − σx −σy 2 1 + π + τ xyCos 2θS1 + π ) ( ) Substituting Cos 2θS1 and Sin2θS1 2 2 + τ xy ..
Because θS1 & (2) Unlike the principal stresses. Thus we can write their absolute τ max or τ min = ± Generally σx −σy 2 2 2 + τ xy τ max −θS1 τ min −θS2 θS2 are ⊥ planes. however magnitude is same. . Why τ max and τ min are numerically same. Q.Solid Mechanics τ max is algebraically > τ min . the planes on which maximum and minimum shear stress act are not free from normal stresses.
(3) Both the principal planes are ⊥ to each other and also the planes of τ max and τ min are also ⊥ to each other. .Solid Mechanics σn = σx +σ y σx −σy 2 + 2 Cos 2θ + τ xy Sin2θ s σ n θ =θ S1 = σx +σy 2 + σx −σy 2 Cos 2θS1 + τ xy Sin2θS1 Substituting Cos 2θS1 and Sin2θS1 σ = σ n θ =θ S1 = + σx +σy 2 2 Cos 2θS1 + π σ n θ =θ S2 =θS1 + 2 π = σx +σy σx −σy +τ xy Sin 2θS1 + π ( ) 2 ( ) Simplifying this equation gives σ = σ n θ =θ S2 = σx +σy 2 Therefore the normal stress on maximum and minimum shear stress planes is same. Now let us see there exist any relation between them.
Another method which is purely graphical approaches is known as the Mohr’s circle for plane stress. the state of the stress at a point. Equations of Mohr’s circle We know that. σn = σx +σ y σx −σy 2 + 2 Cos 2θ + τ xy Sin2θ This equation can also be written as σn − σx +σy 2 = σx −σ y 2 Cos 2θ + τ xy Sin2θ τ nt = − σn − σx −σy 2 2 Sin2θ + τ xyCos 2θ σx +σy 2 ↓ − a) 2 2 + τ nt = σx +σy 2 ↓ R2 2 2 + τ xy ↓ + y2 = (x . Mohr’s circle Mohr’s circle for plane stress So far we have seen two methods to find stresses acting on an inclined plane (a) (b) Wedge method Use of transformation laws.Solid Mechanics 6.e the stress components acting on all infinite number of planes can be viewed graphically. i. A major advantage of Mohr’s circle is that.
Solid Mechanics The above equation is clearly an equation of circle with center at ( a. In this way we can completely visualize the stresses acting on all infinite planes. From the above deviation it can be seen that any point P on the Mohr’s circle represents stress which are acting on a plane passing through the point. 0 ) on τ −σ plane it represents a circle with σx +σy . . 0 and center at 2 having radius R= σx −σ y 2 2 + τ xy This circle on σ − τ planeMohr’s circle.
σ y′ and τ x′y′ on an inclined element.Solid Mechanics (3) Construction of Mohr’s circle Let us assume that the state of stress at a point is given A typical problem using Mohr’s circle i. σ x′ . For the sake of clarity we assume that.e given σ x′ .σ y′s and τ x′y′ all are positive and σ x > σ y .
r. +τ xy ( ) Therefore we can locate the point A on the circle with coordinates +σ x .Solid Mechanics • Since any point on the circle represents the stress components on a plane passing through the point. • The coordinates of the plane A = +σ x . Therefore we can locate the point A on the circle.t the xaxis. +τ xy s • Therefore the line AC represents the xaxis. Moreover. the normal of the Aplane makes 0 w. ( ) . • In a similar way we can locate the point B corresponding to the plane B.
The line CA in Mohr’s circle represents x. Therefore the point B diametrically opposite to point A. • The line BC represents y.c. • The angle between x. ( ) Stresses on an inclined element • Point A corresponds to Q = 0 on the stress element.axis. and pt. we choose c. At this point of time we should be able to observe two important points. The point A corresponds to Q = 0 . • The end points of a diameter represents stress components on two ⊥ planes of the stress element. −τ xy s Since we assumed that for the sake of similarity σ y < σ x s .e xaxis becomes reference line from which we measure angles.axis and line CB represents yaxis or plane B. B corresponds to Q = 90 (+ve) of the stress element.axis and the plane B is 90° (c. . It can be seen that.c. Therefore the line CA i. • Now we locate the point “D” on the Mohr’s circle such that the line CD makes an angle of 2Q c.w direction.w) in the stress element.w from the xaxis or line CA.c.c.Solid Mechanics The coordinates of B = +σ y .c.w because in the stress element also Q is in c. Thus 2Q in Mohr’s circle corresponds to Q in the stress element diagram. the angle between xaxis and yaxis in the Mohr’s circle is 180° (c.w).
in c. 0 σ 1 = σ avg + R σ 2 = σ avg − R The principal direction corresponding to σ 1 is now equal to 2θ p1 .face or D on the stress element. In the current diagram the coordinates the of P1 = σ 1 . 0s P2 = σ 2 . Thus P1 and P2 represents points corresponding to principal stresses. The intersection of the Mohr’s circle .w direction from the xaxis. .with normal stress axis gives two points P1 and P2 .c. just likethe planes A& Bdid Calculation of principal stress The most important application of the Mohr’s circle is determination of principal stresses. σ x′ = σ avg + RCosβ τ x′y′ = RSinβ σ y′ = σ avg − RCosβ Since D& D′ are ⊥ planes inthe stress element .Solid Mechanics • The coordinates or stresses corresponding to point D on the Mohr’s circle represents the stresses on the x′ .thenthey become diametrically opposite point s on thecircle.
i. Both the methods are mathematically correct. the planes of maximum shear stress are not free from the normal stresses. • The points S1 and S2 are at angles 2θ = 90 from points P1 P2 and.σ avg τ max = ± R σ = σ avg Mohr’s circle can be plotted in two different ways. .e the planes of maximum shear stress are oriented at ±45 to the principal planes. This fact can also be verified from the Mohr’s circle. • Unlike the principal stresses.Solid Mechanics θ p2 = θ p1 ± π 2 We can see that the points P1 and P2 are diametrically opposite. For example the coordinates of S1 = +τ max .plane maximum shear stress What are points on the circle at which the shearing stress are reaching maximum values numerically? Points S1 and S2 at the top and bottom of the Mohr’s circle. this indicate that principal planes are ⊥ to each other in the stress element.σ avg s S2 = −τ max . In.
.Solid Mechanics Finally • Intersection of Mohr’s circle with the σ axis gives principal stresses. • Do not forget that all these inclined planes are obtained by rotation about zaxis. • The top and bottom points of Mohr’s circle gives maximum –ve shear stress and maximum +ve shear stress.
4000) B .4000) R= σx −σy 2 2 2 + τ xy = 15000 − 5000 2 2 + 4000 2 = 5000 2 + 4000 2 (a) R = 6403 MPa σx −σy = 5000 2 .(15000.Solid Mechanics Mohr’ circle problem Solution: σx +σy 2 = 15000 + 5000 = 10000 MPa 2 A .(5000.
67 = −25.34 b) = −4229 MPa Point D′ : σ n = σ y′ = 10000 − 6403Cos 41.34 = 593 MPa = 4229 σ 1 = 16403 .34 τ nt = τ x′y′ = 6403Sin 41.33 2 σ 2 = 3597 MPa c) τ max = 6403 MPa − θS1 = 25.66 = 19.Solid Mechanics Point D : σ x′ = 10000 + 6403Cos 41. θ P1 = 38.34 = 14807 MPa τ x′y′ = −6403Sin 41.67 .
−40 ) B → ( 10 . 40 ) p1 = σ 1 = p2 = σ 2 = σx +σy 2 σx +σy 2 .Solid Mechanics (2) θ = 45 Principal stresses and principal shear stresses. Solution: σx +σy 2 = −50 + 10 = −20 2 2 R= σx −σy 2 2 + τ xy = −50 − 10 2 2 + ( −40 )2 = 50 MPa + R = −20 + 50 = 30s − R = −20 − 50 = −70 A → ( −50 .
13 Qp1 = 116.6 .6 Qs2 = 161.Solid Mechanics 2Qp1 = 233.6 2Qs1 = 143.13 Qs1 = 71.6 Qp2 = 206.
02 σ y′ = RCosβ − σ avg = −20 MPa . 33 ) B ( −5 .6 MPa σx −σy A ( 31 . σ y = −5 MPa and τ xy = 33 MPa Stresses on inclined element θ = 45 Principal stresses and maximum shear stress. σ x = 31 MPa.64 + 13 = 46 MPa τ x′y′ = − RSinβ = −37.6 Cos 28. −33 ) σ x′ = RCosβ + σ avg s = 37. Solution: σ avg = R= σx +σy 2 2 = 2 31 − 5 = 13 MPa 2 2 + τ xy = 37.64 = −18.6 28.Solid Mechanics Q.
Solid Mechanics ∴ σ 1 = 50.6 MPa σ = σ avg = 13 MPa .68 τ max = 37.6 MPa σ 2 = −24.6 MPa θ p1 = 30.6 MPa − θ s1 = −14.32 τ min = −37.
c o s i n e s o f x ′ ˆ ˆ ′ = n x ′ x ˆ + n x ′ y ˆj + n x ′ z k i i ny′x ny′y ny′z ˆ ˆ ′ = ny′xˆ + ny′y ˆ + ny′z k j i j nz′x nz′y nz′z ˆ ˆ k′ = nz′xˆ + nz′y ˆ + nz′z k i j .Solid Mechanics 7. 3DStress Transformation 3Dstress components on an arbitrary plane Basically we have done so far for this type of coordinate system n x ′x n x ′y n x ′z − D i r .
τ x′z′ )( ) ˆ ˆ τ x′y′ = Tn ˆ ′ = (Tx′xˆ + Tx′y ˆ + Tx′z k ) . nx′xˆ + nx′y ˆ + nx′z k i i j i j Ty′x = σ x ny′x + τ yx ny′y + τ zx ny′z Ty′y = τ xy ny′y + σ y ny′y + τ zy ny′z Ty′z = τ xzny′y + τ yzny′y + σ zny′z ( (1) (2) (3) ( )( ) ˆ ˆ σ z′ = (Tz′xˆ + Tz′y ˆ + Tz′z k )( nz′xˆ + nz′y ˆ + nz′z k ) i j i j ˆ ˆ σ y′ = Ty′xˆ + Ty′y ˆ + Ty′z k ny′xˆ + ny′y ˆ + ny′z k i j i j (4) (5) .τ x′y′ . ( nz′xˆ + nz′y ˆ + nz′z k ) i j i j ˆ ˆ σ x′ = Tnˆ′ = Tx′xˆ + Tx′y ˆ + Tx′z k .Solid Mechanics ˆ Tn = Tx′xˆ + Tx′y ˆ + Tx′z ks i j ˆ Tn = σ x′x′ˆ′ + τ x′y′ˆ ′ + τ x′z′ k′ i j ABC − dA PAB − dAnx′x PAC − dAnx′x PBC − dAnx′z [ Fx → + = 0 ] Tx′x da = σ x dAnx′x + τ yx dAnx′y + τ zx dAnx′z Tx′x = σ x nx′x + τ yx nx′y + τ zx nx′z Tx′y = τ xy nx′x + σ y nx′y + τ zy nx′z Tx′z = τ xznx′x + τ yznx′y + σ znx′z σ x′ τ x′y′ τ x′y′ τ y′z′ σ y′ τ y′z′ σ z′ τ z′x′ τ y′z′ σ x′ . ( ny′xˆ + ny′y ˆ + ny′z k ) j i j i j ˆ ˆ ˆ τ x′z′ = Tn k′ = (Tx′xˆ + Tx′y ˆ + Tx′z k ) .
Solid Mechanics ˆ ˆ τ y′z′ = Ty′xˆ + Ty′y ˆ + Ty′z k nz′xˆ + nz′y ˆ + nz′z k i j i j ny′x = −Sinθ ny′y = Cosθ ny′z = 0 ( )( ) (6) nx′x = Cosθ nx′y = Sinθ nx′z = 0 nz′x = 0 nz′y = 0 nz′z = 1 σ z′ = 0 : τ x′z′ = 0 : τ y′z′ = 0 =σz σ x′ = σ xCos 2θ + σ y Sin 2θ + 2τ xy Sinθ Cosθ σ y′ = σ xSin2θ + σ yCos 2θ − 2τ xy Sinθ Cosθ τ x′y′ = − σ x − σ y Sinθ Cosθ + τ xy Cos θ − Sin θ Principal stresses σ x τ xy 0 τ xy 2 σy 0 0 0 ( ) ( 2 ) 0 nx .nz ˆ Tn = σ n = σ nxˆ + ny ˆ + nz k ˆ i j ˆ Tn = Tnxˆ + Tny ˆ + Tnz k i j Where Tnx = σ x nx + τ yx ny + τ zx nz Tny = τ xy nx + σ y ny + τ zy nz Tnz = τ xznx + τ yzny + σ znz ( ) Tnx = σ nx Tny = σ ny Tnz = σ nz .ny .
ny .σ 3 (σ x − σ 1 ) nx + τ yx ny + τ zx nz = 0 τ yx nx + σ y − σ 1 ny + τ zy nz = 0 and 2 2 2 nx + ny + nz = 1 ( ) nx . τ xznx + τ yzny + (σ z − σ ) nz = 0 2 2 2 nx = n y = n z = 0 : nx + n y + n z = 1 ( ) σx −σ τ xy τ zx For non trivial solution τ xy σ y −σ τ yz τ zx τ zy σz −σ ny = ( 0 ) nz nx must be zero.nz → σ 1 σ1 > σ2 > σ3 Stress invariants σ 3 − I 1σ 2 + I 2σ − I 3 = 0 (1) .σ 2 . 2 2 2 σ 3 − σ x + σ y + σ z σ 2 + σ xσ y + σ yσ z + σ zσ x − τ xy − τ yz − τ zx σ 2 2 2 − σ xσ yσ z + 2τ xyτ yzτ zx − σ xτ yz − σ yτ zx − σ zτ xy = 0 ( ( ) ( ) ) This has 3.of linear hom og.eqns.real roots σ 1 .Solid Mechanics (σ x − σ ) nx + τ yx ny + τ zx nz = 0 τ yx nx + σ y − σ ny + τ zy nz = 0 Syst.
I2 = I′ .n ˆ n = nxˆ + ny ˆ + nz k ˆ i j ˆ ˆ n′ = nx′ˆ + ny′ˆ + nz′ k i j ˆ Tn = Tnxˆ + Tny ˆ + Tnz k i j ˆ Tn′ = Tn′xˆ + Tn′y ˆ + Tn′z k i j .Solid Mechanics I1 = σ x + σ y + σ z 2 2 2 I 2 = σ xσ y + σ yσ z + σ xσ z − τ xy − τ yz − τ zx 2 2 2 I 3 = σ xσ yσ z + 2τ xyτ yzτ zx − σ xτ yz − σ yτ zx − σ zτ xy stress inv ar iants ′ ′ σ 3 − I 1σ 2 + I 3 = 0 2 2 2 ′ ′ I 1 = σ x′ + σ y′ + σ z′ I 2 = σ x′σ y′ + σ x′σ z′ + σ y′z′ − τ x′y′ − τ y′z′ − τ x′z′ I 1 = I 1′ . I3 = I′ 2 3 3D 2D I1 = σ 1 + σ 2 + σ 3 I 2 = σ 1σ 2 + σ 2σ 3 + σ 3σ 1 I 3 = σ 1σ 2σ 3 Principal planes are orthogonal I1 = σ 1 + σ 2 I 2 = σ 1σ 2 I3 = 0 ˆ ˆ Tnn′ = Tn′ .
Solid Mechanics τ xy ˆ ˆ Tnn′ = Tn′n = τ yx Tnn′ = Tn′n ˆ ˆ ˆ ˆ ˆ ˆ (σ 1n ) n′ = (σ 2 n′ ) n σ 1 nx nx′ + ny ny′ + nznz′ = σ 2 nx nx′ + ny ny′ + nznz′ σ1 ≠ σ2 nx nx′ + ny ny′ + nznz′ = 0 ˆ ˆ n′. ( ) ( ) The state of stress in principal axis σ1 0 0 Tnx = σ 1nx Tnz = σ 3nz 2 2 2 σ n = σ 1nx + σ 2 ny + σ 3nz 2 2 2 Tn = Tnx + Tny + Tnz s 2 2 2 2 2 2 = σ 1 nx + σ 2 ny + σ 3 nz 2 τ 2 = Tn − σ n 2 2 0 0 0 σ2 0 σ3 Tny = σ 2 ny .n must be ⊥ to each other.
Solid Mechanics 8. 2 . 3D Mohr’s circle and Octahedral stress 3D Mohr’s circle & principal shear stresses σ x τ xy σ ij = τ xy 0 0 0 σy 0 σz Once if you know σ 1 and σ 2 τ1 = 2 σ +σ3 στ 1 = 1 2 σ −σ3 τ2 = 1 2 σ +σ2 στ 2 = 1 2 σ −σ2 τ3 = 1 2 σ −σ2 στ 3 = 1 2 σ2 −σ3 σ1 > σ2 > σ3 τ max = max σ1 −σ2 σ2 −σ3 σ3 −σ1 2 . 2 .
Solid Mechanics • The maximum normal stress σ and maximum shear stress τ max and their corresponding planes govern the failure of the engineering materials. . 1 • It is evident now that in many twodimensional cases the maximum shear stress value will be missed by not considering σ 3 = 0 and constructing the principal circle.
Solid Mechanics Problem: The state of stress at a point is given by σ x = 100 MPa.τ 23 2 = 30 MPa σ1 +σ2 = 90 τ max = 70 MPa This occurs in the plane of 13 . σ z = 80 MPa and τ xy = τ yz = τ zx = 0 Determine in plane max shear stresses and maximum shear stress at that point.τ 13 . σ 2 = 80 MPa σ 3 = −40 MPas τ 12 = τ 13 = τ 23 = σ1 −σ2 2 = = = 100 − 80 = 10 MPa 2 100 + 40 = 70 MPa 2 80 + 40 = 60 MPa 2 σ1 −σ3 2 σ2 −σ3 2 σ 12 = σ 13 σ 23 = 20 MPa τ max = max τ 12 . σ y = −40 MPa. Solution: σ 1 = 100 MPa.
τ 2 .τ 3 ) .τ 3 → Principal shear stress in 3D τ max = max (τ 1 .τ 2 .Solid Mechanics τ 1 .
σ1 −σ3 2 = σ1 2 .Solid Mechanics Plane stress σ1 > σ σ3 = σz = 0 τ =± τ max = σx −σ y 2 2 2 + τ xy .in plane principal shear stresses.
the state of stress is as shown.Solid Mechanics Problem At appoint in a component. Determine maximum shear stress.plane stress problem 100 0 0 0 0 We can also write the matrix as aij = 0 0 50 0 σ 1 = 100 σ 2 = 50 σ 1 − σ 2 100 − 50 2 = 2 = 25 τ max = 25 MPa . Solution: σ ij = 100 0 0 50 .
σ 2 = 50 . σ 3 = 0 τ max = σ1 −σ3 2 = 50 MPa Occurs in the plane 13 instead of 12 .Solid Mechanics Now with σ 1 = 100 .
plane stress (3) Triaxial state of stress: All three principal stresses are non zero.Solid Mechanics Some important states of stresses (1) Uniaxial state of stress: Only one nonzero principal stress. σ1 0 0 0 0 0 − 3D stress σ2 0 σ3 (4) Spherical state of stress: σ 1 = σ 2 = σ 3 (either +ve or – ve) σ 0 0 0 0 − 3D stressspecial case of triaxial stress. (2) Biaxial state of stress: two nonzero principal stresses. σ1 0 0 0 0 0 0 = 0 0 σ1 0 0 0 . 0 σ 0 σ .plane stress. σ1 0 0 0 0 0 0 σ1 0 = σ1 0 0 σ1 .
(6) The state of pure shear σ x τ xy τ xz σ ij = τ xy σ y τ yz σz τ zx τ zy 0 τ x′y′ τ x′z′ 0 σ ij = τ x′y′ τ y′z′ 0 τ z′x′ τ z′y′ Then we say that the point P is in state of pure shear. I 1 = 0 is necessary and sufficient condition for state of pure shear .Solid Mechanics (5) Hydrostatic state of stress +P 0 0 0 +P 0 0 0 +P hydrostatic tension −P 0 0 0 −P 0 0 0 −P hydrostatic compression.
Eight number of such planes can be identified at a given point Octahedron 2 2 2 σ = σ 1nx + σ 2 ny + σ 3nz 2 2 2 2 2 2 Tn = σ 1 nx + σ 2 ny + σ 3 nz 2 2 2 nx + ny + nz = 1 2 nx = ny = nz = ± 1 = 54. The corresponding stresses are known as octahedral stresses.t to the principal planes.730 3 1 3 2 σ oct = σ 1 = σ1 +σ2 +σ3 3 1 3 2 +σ1 +σ1 1 3 2 . then these planes are known as octahedral planes.r.Solid Mechanics Octahedral planes and stresses If nx = ny = nz w.
z coordinate system (ii) stress components of x’. .y’z’ coordinate system (iii) using principal stresses (iv) using octahedral shear and normal stresses We can prove that: τ oct is smaller than τ max (exist only on 4 planes) but can exist on 8 planes at a point.Solid Mechanics σ1 +σ2 +σ3 3 = I1 = meanstress 3 σ oct = canbe int erpreted − − meannormal stress at a pt. the state of stress at a point can be represented with reference to (i) stress components of x. 2 τ oct = Tn 2 − σ oct τ oct = 1 3 (σ 1 − σ 2 ) 2 + (σ 2 − σ 3 ) 2 + (σ 3 − σ 1 ) 2 Therefore.y.
Solid Mechanics Decomposition into hydrostatic and pure shear stress σ x τ xy τ xz σ ij = τ yx σ z τ yz σz 3 = I1 3 τ zx τ zy Mean stress P = σx +σy +σz σx − P τ yx τ zx σ x τ xy τ xz τ yx τy τ zx τ zy σz P 0 0 0 0 P τ xy σy − P τ zy τ xz τ yz σz − P τ yz = 0 P 0 + Hydrostatic stat of stress Dilitational stress State of pure shear Deviatoric state of stress Stress deviator Thus the state of the stress at a point can alos be represented by sum of dilational stress and stress deviator .
Solid Mechanics P= σ1 +σ2 +σ3 3 0 P 0 0 0 + P = I1 3 0 0 0 σ1 0 0 0 0 P 0 σ2 0 σ1 − P 0 0 0 = 0 σ3 σ2 − P 0 σ3 − P σ 1 = mean stress + deviation from the mean The deviatoric and octahedral shear stresses are the answer for the yielding behavior of materials – which is a type of failure of materials. .
ε • The strain component that measures rotation of any two ⊥ lines is – shearing strain.z ) v = v ( x.y .z ) ˆ + w ( x.z ) ( x. (1)Elongation or contraction of a line segment (2)Rotation of any two ⊥ lines.y .y .y .y .z) is the point in the undeformed geometry w = w ( x.z ) Two types of deformation have been observed for an infinitesimal element.z ) k i j u = u ( x . Deformation and strain analysis ˆ u = u ( x.Solid Mechanics 9.y .y . Measure of deformations element is known as strain.γ . Deformation of the whole body = Sum of deformations of Deformation is described by measuring two quantities.z ) ˆ + v ( x. of an infinitesimal • The strain component that measures elongation or construction – normal strain .
ˆ t Ynt ( P ) lim π 2 ∆x →0 ∆y →0 − φnt = lim α + β ∆x →0 ∆y →0 . µ = 10 −6 .∈y .005.001 mm / mm Shearing strain Accounts the change in angle Yn+ ( P ) Change in angle between ⊥ lines in n & ˆ direction.5%=0.∈z (1) By definition ∈x is + if ∆s* > ∆s ∈x is .if ∆s > ∆s * lim as ∆s → 0 ∆s* = ( 1+ ∈n ) ∆s ∆s* ( 1+ ∈n ) ∆s if ∆s → 0 s ∈n ∆s s =∈n ∆s (2) It is immaterial how P* Q* is oriented finally. 1000 µ = 1000 × 10 −6 = 0.Account for changes in length between two points.Solid Mechanics Normal strain ε .0.z ) s (4) No units.y . P* Q* − PQ ∆s* − ∆s ∈n ( P ) = lim = lim PQ ∆s ∆s→0 ∆s→0 We can also define the same point ∈x . However for ˆ ∈n we must consider PQ in the direction of n in the undeformed geometry (3) In general ∈n =∈n ( x . (5) Meaning of ∈nn Mm/mm.
We then say that we have strain computer associated with x .Solid Mechanics (1)We must select two ⊥ lines in the undeformed geometry. (3)By deflection Ynt = Ytn (4)Two subscripts are required for Y .∈y andYyz − QABS ∈x . They represent the state of strain at a point .∈z andYxz − RSCD ∈x Eij = Yxy Yxz Yxy ∈y Yyz Yxz Yyz ∈z . (2)Units of Ynt → radius.to show directions of initial infinitesimal line segments. .Rectangular strain components .∈y andYxy − PQRS ∈z . (5) Ynt is +ve if angle is decreased Ynt is ve if angle is more. since we can ˆ determine strain along any direction n . By taking two ⊥ lines We can define ∈n .z coordinate system.y .∈t &Ynt Rectangular strain components ∈x .
So it can be neglected. v + ∆x ∂x ∂x PQ = ∆x P* Q* = ∆x* ∆x* ∆x →0 ( 1+ ∈x ) ∆x lim ∆x* = ( 1+ ∈x ) ∆x 2 ∆x = = * ∂u 1 + ∆x ∂x ∂v + ∆x ∂x 2 2 ∂w + ∆x ∂x ∂w + ∂x 2 2 ∂u ∂u 1+ 2 + ∂x ∂x ∂v + ∂x 2 ∆x . So let us consider the side of the element PQRS . We shall demonstrate that ‘w’ has no impact.Solid Mechanics Strain displacement relations: Strains are due to deformation as displacement so there must be some relation between deformational displacements and strains. P → u.v Q →u+ ∂u ∂v ∆x .
∆y & ∆z * Cosφxy = 1+ ∂u ∆x ∂u ∆y ∂x ∆x* ∂y ∆y* + + ∂v ∆x ∂x ∆x* ∂w ∆x ∂x ∆x* 1+ ∂v ∆y ∂y ∆y* ∂w ∆y ∂y ∆y* Yxy = lim π ∆x →0 2 ∆y →0 ∆z→0 * − φxy .Solid Mechanics ∆x* − ∆x ∈x = lim ∆x ∆x →0 = lim ∆x →0 ∂u ∂u 1+ 2 + ∂x ∂x 2 2 ∂v + ∂x 2 2 ∂w + ∂x 2 2 −1 ∂u ∂u ∈x = 1 + 2 + ∂x ∂x ∂v ∂u ∈y = 1 + 2 + ∂y ∂y ∂w ∂u ∈z = 1 + 2 + ∂z ∂z ∂v + ∂x ∂v + ∂y ∂v + ∂z ∂w + ∂x ∂w + ∂y ∂w + ∂z −1 −1 2 2 2 2 2 2 −1 So far no assumption has been made except for size of ∆x.
Solid Mechanics * SinYxy = lim Cosφxy ∆x →0 ∆y →0 ∆z→0 SinYxy = lim ∆x →0 ∆y →0 ∆z→0 1+ ∂u ∂u ∂v ∂v ∂w ∂w ∆x∆y + 1+ + ∂x ∂y ∂y ∂x ∂x ∂y ∆x* ∆y* ∆x* = ( 1+ ∈x ) ∆x ∆y* = 1+ ∈y ∆y ∂u ∂v ∂u ∂u ∂v ∂v ∂w ∂w + + + + ∂y ∂x ∂x ∂y ∂x ∂y ∂x ∂y ( ) SinYxy = lim ∆x →0 ∆y →0 ∆z→0 ( 1+ ∈x ) ( 1+ ∈y ) Sin −1 Yxy = ∂u ∂v ∂u ∂u ∂v ∂v ∂w ∂w + + + + ∂y ∂x ∂x ∂y ∂x ∂y ∂x ∂y ( 1+ ∈x ) ( 1+ ∈y ) Yyz = sin −1 ∂u ∂v ∂u ∂u ∂v ∂v ∂w ∂w + + + + ∂y ∂x ∂x ∂y ∂x ∂y ∂x ∂y ( 1+ ∈x ) ( 1+ ∈y ) Yxz = sin −1 ∂w ∂u ∂w ∂w ∂u ∂u ∂v ∂v + + + + ∂x ∂w ∂x ∂z ∂x ∂w ∂x ∂z ( 1+ ∈x )( 1+ ∈z ) All bodies after the application of loads under go “small deformations” .
quantities. . ∂x ∂x ∈x = 1 + 2 ∂u −1 ∂x 2 ∂u −1 = 1 + ∂x 2 ∂u ∂x ∂v ∈y = ∂y ∈x = ∈z = ∂w ∂z SinYxy ≈ Yxy . ∈y ≤< 1 . (b) Rotations of line segment are also infinitesimal. ∂u ∂u ∂u ∂v . ∂u ∂v are ∂x ∂y negligible compare to ∂u ∂v . (2) The strains are small (a) Changes in length of a infinitesimal line segment are infinitesimal.Solid Mechanics Small deformations : ˆ ˆ (1) The deformational displacements u = ui + vj + wk are infinitesimally small. . ∈z ∂u 1. ∂x 2 . ∂x ∂u ∂w ∂x 1 ∈x 1 .
y ) & v = v ( x .Solid Mechanics Yxy = ∂u ∂v + ∂y ∂x = ∂v ∂u + ∂x ∂y ( 1+ ∈x + ∈y ) Yxz = ∂w ∂u + ∂x ∂z ∂v ∂w Yyz = + ∂z ∂y Also assume that u = u ( x .06 ∆s* = 0.001 Y < 0. Small deformation Displacements are small Strains are small P* Q* − PQ ∆x* − ∆x ∈x = lim = PQ ∆x ∆x →0 ∆x* P* Q* = 1 + 1+ ′ ∂y ∆x ∂x ∈x = lim ∆x →0 ∂y ∆x − ∆x ∂u ∂x = ∆x ∂x ∂v ∆y − ∆y ∂y ∂v = ∆y ∂y Strains<0.2002 s = 2 × 10 −4 mm 1+ ∈y = lim ∆y →0 . Another derivation : Let us take plane PQRS in xy plane.y ) only.
∈z. ∂x ∂y ∂y ∂x ∂u ∂x 2 1 ∂v .We can find ∈n in any direction we can find Ynt for any two arbitrary directions. . Yxz . . . ∂yx 2 ∂u . ∈y . Yyz ↓ ↓ ↓ Yyx Yzx Yzy State of strain ∈x Yxy Eij = Yxy Yxz ∈y Yyz Yxz Yyz ∈z . ∂y 2 We can define the state of strain at point by six components of strains ∈x .Engineering strain matrix . Yxy .Solid Mechanics Yxy = lim π 2 ∆x →0 ∆y →0 * − φxy = lim α + β ∆x →0 ∆y →0 ∂v ∂v ∆x ∂x tan α = = ∂x ∂y ∂y 1+ ∆x 1 + ∂x ∂x tan α ≈ α ∂v α= ∂x ∂u β= ∂y Yxy = ∂u ∂v + ∂y ∂x ∂u ∂u ∂v ∂v .
y ) implication of these equation is that a point in a given plane does not leave that plane all deformations are in to plane of the body.y ) Yxy = Yxy ( x . ∈z = 0 Yyz = 0 Yzx = 0 .strain transformation Plain strain: In which ∈x =∈x ( x.Solid Mechanics 2D.y ) ∈x Yxy Yxy ∈y ∈y =∈y ( x.
∈ dxSinθ α1 = x ds dx =∈x sinθ ds =∈x sinθ cosθ α 2 =∈y cosθ dy =∈y cosθ sinθ ds α 3 = Yxy sinθ dy ds = Yxy sinθ sinθ .∈t & Ynt . ˆ We can always draw PQRS for given n If ∈x .∈y & Yxy As in case of stress we call these formulae as transformations laws.∈y & Yxy what are ∈n .Solid Mechanics Given ∈x .
state of strain at a point σ x τ xy .stress tensor τ xy σy ∈y Replace ∈x ∈xy ∈xy ∈y ∈xy = Yxy 2 σ x →∈x σ y →∈y τ xy →∈xy = Yxy 2 .Solid Mechanics dL =∈x dx cosθ + ∈y dy sinθ + Yxy dy cosθ dy dy dL dx =∈n =∈x cosθ + ∈y sinθ + Yxy cosθ dS ds ds ds =∈x cosθ cosθ + ∈y sin2 θ + Yxy sinθ cosθ ∈n = ∈x + ∈y 2 + ∈x − ∈y 2 cos 2θ + Yxy 2 sin 2θ α = − ∈x sinθ cosθ + ∈y sinθ cosθ − Yxy sin2 θ β = − ∈x cosθ ( − sinθ ) + ∈y cos θ ( − sinθ ) − Yxy cos 2 θ =∈x cos θ sinθ − ∈y cos θ sinθ − Yxy cos 2 θ ∈x − ∈y Yxy Ynt =− sin 2θ + cos 2θ 2 2 2 ( ) ∈x Yxy ∈x Yxy 2 Yxy ∈y Yxy 2 .strain tensor .
principal strains 2 ∈xy → ϒ xy / 2 tan 2Qp = ∈x − ∈y θ p1 − θ p2 − ⊥ to each other ∈1 .∈2 tan 2θs ∈1 >∈2 (∈x − ∈y ) =− 2 ∈xy θ s = θ p1 ± π / 4 θ s1 − θs2 − ⊥ to each other σ x + σ y = I1 ∈x + ∈y = J I 2 σ xσ y − τ xy = I 2 2 ∈∈y − ∈xy = J 2 ∈max or ∈min = ± R = ± Ymax =∈max −θ s1 2 Ymin =∈min −θ s2 2 ∈x − ∈y 2 2 + ∈2 xy ∈x∈y − Yxy 2 2 = J2 .Solid Mechanics Principal shears and maximum shear In plane.
∈y′ 3Dstrain transformation σ x →∈x .∈1 >∈2 >∈3 ∆s 2 = ∆x 2 + ∆y 2 ∆s *2 =P Q * * ′2 +P R * * ′2 2 = ∂u 1+ ∆x ∂x + ∂v 1+ ∆y ∂x 2 − ∆x 2 + ∆y 2 .Solid Mechanics Mohr’s Circle for strain ∈x′ .∈2 .∈3 .σ z →∈z . σ y →∈y .Yx′y′ .τ xy =∈xy = Yxy 2 (∈x − ∈) ∈xy ∈xz (∈y − ∈) ∈yz ∈xy ∈xz ∈yz =0 (∈z − ∈) ∈1 .
Solid Mechanics ∆y ∈n = 1 + ∆x ∂u = 1+ ∂x 2 2 2 .∆x ∂v ∆y 1+ ∂x ∆x 2 + ∆x 2 − ∆x 2 − ∆y 2 = ∂u 1+ ∂x ∂u ∂v +2 ∆x 2 + 1 + ∂x ∂y ∆y 1+ ∆x 2 2 +2 ∆x ∂v ∆y 2 − ∆x 2 − ∆y 2 ∂y 1+2 = ∂u ∂v ∆x 2 + 1 + 2 ∆y 2 − ∆x 2 + ∆y 2 ∂x ∂y ∆y 1+ ∆x 2 ∆x Transformation 2 2 2 σ x′ = σ x nx′x + σ y ny′y + σ znz′z + τ xy nx′x nx′y + τ yznx′y nx′z + τ zx nx′znx′x 2 2 2 ∈x′ =∈x nx′x + ∈y nx′y + ∈z nx′z + ∈xy nx′x nx′y σ x →∈x τ xy →∈xy σ y →∈y τ yz →∈yz σ z →∈zx τ zx →∈zx + ∈yz nx′y nx′z + ∈zx nx′znx′x τ x′y′ →∈x′y′ → Yx′y′ 2 .
Solid Mechanics Principal strains: (∈x − ∈) nx + ∈xy ny + ∈xz nz = 0 ∈xy nx + ∈y − ∈ ny + ∈yz nz = 0 ∈xz nx + ∈yz ny + (∈z − ∈) nz = 0 ( ) System of linear homogeneous equations ∈xz ∈yz = 0 (∈x − ∈) ∈xy ∈xz (∈y − ∈) ∈yz ∈xy (∈z − ∈) 2 ∈3 − J 1 ∈1 + J 2 ∈ − J 3 = 0 J 1 =∈x + ∈y + ∈z 2 J 2 =∈x∈y + ∈x∈z + ∈y ∈z − ∈xy − ∈2 yz − ∈2 zx ∈x ∈xy ∈xy ∈y + ∈y ∈yz ∈yz ∈z + ∈x ∈xz ∈xz ∈z 2 J 3 =∈x∈y ∈z + ∈xy ∈yz∈zx − ∈x∈2 − ∈y ∈xz yz ∈x − ∈z∈2 ∈yx xy ∈xy ∈xz ∈y ∈yz ∈z ∈zx ∈zy ∈1 >∈2 >∈3 .
Solid Mechanics (∈x − ∈1 ) nx + ∈xy ny + ∈zx nz = 0 ∈xy nx + ∈y − ∈1 ny + ∈zy nz = 0 2 2 2 nx + ny + nz = 1 ( ) nx .ny & nz unique J 1 =∈1 + ∈2 + ∈3 J 2 =∈1∈2 + ∈2∈3 + ∈3∈1 J 3 =∈1∈2∈3 Decomposition of a strain matrix into state of pure shear + hydrostatic strain ∈x ∈xy ∈xz ∈x − ∈ ∈xy ∈xz ∈ 0 0 ∈ij = ∈yx ∈y ∈yz = ∈yx ∈y − ∈ ∈yz + 0 ∈ 0 0 0 ∈ ∈zx ∈zy ∈z ∈zx ∈zy ∈z − ∈ where ∈= ∈x + ∈y + ∈z 3 State of pure shear Hydrostatic .
∈1 =∈2 +ve if ∈1 +ve. if ∈1 +ve.Solid Mechanics Plane strain as a special case of 3D ∈3 = 0 is also a principal strain z→ is a principal direction if ∈1 >∈2 . ∈2 ve. so that the included angle is π 2 − ∈max . ∈2 ve ′ P1 & z′ will come closer to the maximum extent.
y′ i.e Ei′j′ = ∈x′x′ Yx′y′ Yx′y′ ∈y′y′ This also means that . Eij = ∈xx Yxy Yxy ∈yy This also means that deformation Now what are the strains associated with x′ .Solid Mechanics Transformation equations for planestrain Given state of strain at a point P.
∈yy and Yx′y′ are +ve Applying the law of cosines to triangular P * Q* R * ( P * R * )2 = ( P * R * )2 + ( Q * R * )2 − 2 ( P * R * )(Q * R * ) cos π 2 + Yxy 2 ∆x′ ( 1+ ∈x′ ) ∆y 1+ ∈y = ∆x ( 1+ ∈x ) 2 + ∆y 1+ ∈y ( ) 2 − 2 ∆x ( 1+ ∈x ) ( ) cos π 2 ∆x = ∆x′ cos θ and ∆y = ∆x′ sinθ cos π + Yxy = − sinYxy ≈ −Yxy 2 + Yxy ( ) ∆x′2 ( 1+ ∈x′ ) = ∆x′2 cos 2 θ ( 1+ ∈x ) + ∆x′2 sin2 θ 1+ ∈y − 2 ∆x′ sinθ cosθ ( 1+ ∈x ) 1+ ∈y −Yxy 2 2 2 ( )( ( ) ) 2 .Solid Mechanics Assume that ∈xx .
.Solid Mechanics ( 1+ ∈x′ )2 = cos 2 θ ( 1+ ∈x )2 + sin2 θ ( 1+ ∈y ) − 2 sinθ cos θ ( 1+ ∈x ) 1+ ∈y 2 2 2 1+ ∈x′ +2 ∈x = cos 2 θ 1+ ∈x +2 ∈x + sin 2 θ 1+ ∈2 +2 ∈y y ( ( + sin 2θ Yxy 1+ ∈x + ∈y + ∈x∈y ( ) )( −Yxy ) ( ) ) 1 + 2 ∈x = cos 2 θ ( 1 + 2 ∈x ) + sin2 θ 1 + 2 ∈y ) = cos 2 θ ( 1 + 2 ∈x ) + sin 2 θ ( 1 + 2 ∈y ) + Yxy sin 2θ 1+ ∈x + ∈y + Yxy sin 2θ Yxy 2 ( ( ) 1 + 2 ∈x′ = 1 + 2 ∈x cos 2 θ + 2 ∈y sin2 θ + Yxy sin 2θ ∈x′ =∈x cos θ + ∈y sin θ + ∈x′ = If ∈x + ∈y 2 + ∈x − ∈y 2 2 2 sin 2θ Yxy 2 sin 2θ cos 2θ + θ =Q+ ∈x′ = ∈y′ = π 2 2 ∈y′ + + ∈x − ∈y 2 ∈x − ∈y 2 cos 2θ + cos 2θ − Yxy 2 Yxy 2 sin 2θ sin 2θ ∈x + ∈y ∈x + ∈y 2 ∈x′ + ∈y′ =∈x + ∈y = J 1 = first invariant of strain.
∈z tensorial shear strain ∈xy ( ) Engineering shear strain Yxy = 2 2 .∈yy .Solid Mechanics ∈x′ Q=π =∈OB = 4 ∈x + ∈y 2 + Yxy 2 2 ∈OB =∈x + ∈y +Yxy Yxy = 2 ∈OB − ∈x + ∈y 2 ∈OB′ =∈x′ + ∈y′ +Yx′y′ Yx′y = 2 ∈OB′ − ∈x′ + ∈y′ = 2 ∈OB′ − ∈x + ∈y ∈x + ∈y 2 ∈x − ∈y 2 Yxy 2 ( ) ( ( ) ) ( 3) ∈x′ Q=Q+ π =∈OB′ = 4 − sin 2θ + cos 2θ  (4) Substituting (4) in (3) Yx′y′ = ∈x + ∈y − ∈x − ∈y sin 2θ + Yxy cos 2θ − ∈x + ∈y (5) ) ( ) Yx′y′ = − (∈x − ∈y ) sin 2θ + Yxy cos 2θ ( ( ) tensorial normal strain ∈xx = engineering normal strain =∈xx .
Solid Mechanics ∈xx ∈xy ∈ij = ∈xy ∈yy ∈zx ∈zy ∈xz = Yxz 2 Components. .Strain tensors (∈zz =∈zz ) ∈yz ∈x′ = ∈y′ = ∈x′y′ ∈x + ∈y 2 ∈x + ∈y 2 + − ∈x − ∈y 2 ∈x − ∈y 2 cos 2θ + ∈xy sin 2θ cos 2θ − ∈xy sin 2θ xy (∈x − ∈y ) sin 2θ + ∈ =− 2 cos 2θ .
∈y′ = 110 × 10 −6 . Solution: ∈x = 340 × 10 −6 ∈x′ = −340 × 10 −6 .Solid Mechanics Problem: An element of material in plane strain undergoes the following strains ∈x = 340 × 10 −6 ∈y = 110 × 10 −6 Yxy = 180 × 10 −6 Show them on sketches of properly oriented elements. Yx′y′ = 180 × 10 −6 .
Solid Mechanics Problem: During a test of an airplane wing. gage B 360 × 10 −6 and gage C −80 × 10 −6 Determine the principal strains and maximum shear strains and show them on sketches of properly oriented elements. 520 × 10 −6 . the strain gage readings from a 45 rosette are as follows gage A. Solution: ∈x = 520 × 10 −6 ∈OB = 360 × 10 −6 ∈y = −80 × 10 −6 Yxy = 2 ∈OB − ∈x + ∈y ( = 2 × 360 × 10 −6 − 520 × 10 −6 − 80 × 10 −6 = 280 × 10 −6 rad ( ) ) (1) ∈x + ∈y 2 520 × 10 −6 − 80 × 10 −6 = = 220 × 10 −6 2 .
06 × 10 −6 .02 θ p = 12.06 × 10 −6 ∈x′ θ =12.51 ) = 551.06 × 10 −6 ∈2 = −111.51 2 2 + ∈xy ∈x − ∈y 2 = 220 × 10 −6 ± ( 300 × 10 −6 ) ( 2 + 140 × 10 −6 ) 2 = 220 × 10 −6 ± 331.51 ∈1 or ∈2 = ∈x + ∈y 2 ± θ p = 102.51 = ∈x + ∈y 2 + ∈x − ∈y 2 Cos 2θ + ∈xy Sin2θ = 220 × 10 −6 + 300 × 10 −6 cos ( 2 × 12.06 × 10 −6 ∴ ∈1 = 551.Solid Mechanics ∈x − ∈y 2 520 × 10 −6 + 80 × 10 −6 = = 300 × 10 −6 2 2 ∈xy e × 140 × 10 −6 tan 2θ p = = ∈x − ∈y 300 × 10 −6 280 × 10 −6 ∈xy = = = 140 × 10 −6 2 2 Yxy ∴ 2θ p = 25.51 ) + 140 × 10 −6 Sin ( 2 × 12.
5 ∈x′y′ Q = 57.06 × 10 −6 .5) + ∈ =− 2 Cos 2 ( 57.5 (∈x − ∈y ) Sin2 ( 57.06 × 10−6 (∈xy )min = −331.17 × 10 −6 = 331.Solid Mechanics θ p1 = 12.06 × 10 −6 (∈xy )max = 331.06 × 10−6 tan 2Qs (∈x − ∈y ) = −300 × 10−6 =− 2.5 ) = −271.plane maximum shear strains are xy ∈max or xy ∈min = ± ∈x − ∈y 2 2 2 + ∈xy = ±331. ∈xy 140 × 10 −6 Qs = 57.98 Qs = −32.5 xy 2Qs = 64.89 × 10 −6 − 59.51 (b) In.51 and θ p2 = 102.
Solid Mechanics θ s1 = −32.11 × 10 −6 Ymax = 662.5 and θ s2 = −32.11 × 10 −6 ∈x + ∈y 2 ∈= = 220 × 10 −6 .5 Ymin = −662.
compression test.as we gain or get lot of information regarding mechanical behavior of metals • Tensile test Tensile test machine. gage length.Solid Mechanics 10. static testslowly varying loads. • The mathematical equations that describe the mechanical behavior is known as “constitutive equations or laws” • Many tests to observe the mechanical behavior. extensometer. • For the design of the m/c components we need to understand about “mechanical behavior” of the materials. we can plot a diagram of stress Vs strain. Stress strain diagrams • Bar or rod – the longitudinal direction is considerably greater than the other two. namely the dimensions of cross section. . Stress strain diagrams After performing a tension or compression tests and determining the stress and strain at various magnitudes of load. tensile test specimen. • We need to conduct experiments in laboratory to observe the mechanical behavior.tensile test is the most important and fundamental test.
(2) A. Structural steel = mild steel = 0.Pa (4) Strains are infinites ional. .proportionality is maintained.Solid Mechanics Such is a characteristic of the particular material being tested and conveys important information regarding mechanical behavior of that metal. (3) Slope of AO = modulus of elasticity “E” – N/m2.Proportional limit σ p . We develop some ideas and basic definitions using σ − ∈ curve of the mild steel.2% carbon=low carbon steel ∈= L f − Lo Lo Region OA (1) σ and ∈ linearly proportional.
(7) ∈s below the point A are said to be small. and ∈s above A are said to be large. Region BC (1) The slope at point B is horizontal.Solid Mechanics Region AB (1) Strain increases more rapidly than σ (2) Elastic in this range Proportionality is lost. the corresponding stress is yield stress σ ys of the steel. (5) In region BC material becomes “perfectly plastic i. (8) ∈s <∈A are said to be elastic strains and ∈>∈A are said to be plastic strains = large strains = deformations are permanent. (6) Elongation of steel specimen or ∈ in the region BC is typically 10 to 20 times the elongation that occurs in region OA. I. ∈ increases without increase in further load. .e which means that it deforms without an increase in the applied load.e no noticeable change in load. (2) At this point B. (3) This phenomenon is known as yielding (4) The point B is said to be yield points.
(2)Elongation of specimen in this region requires additional load. (4)The yield stress and ultimate stress of any material is also known as yield strength and the ultimate strength . and finally the component breaks into two parts at E. resulting in increased resistance to the deformation. RegionDE Further stretching of the bar is needed less force than ultimate force. During strain hardening the material under goes changes in its crystalline structure. (3) The load reaches maximum value – ultimate stress.Solid Mechanics Region CD (1)The steel begins to “strain harden” at “C” . (5) σ u is the highest stress the component can take up. ∴ σ − ∈ diagram has + ve slope C to D. .
(4) Arbitrary yield stress is . magnesium.Solid Mechanics Look of actual stress strain diagrams ∈C toE >∈BtoC >∈Oto A (1) Strains from O to A are so small in comparison to the strains from A to E that they cannot be seen. brass. lead etc. (2) The presence of well defined yield point and subsequent large plastic strains are characteristics of mild – steel. bronze. copper. aluminum. Steel. (3) All does not have obvious yield point. (2) They have initial straight line portion with clear proportional limit. (3) Metals such a structural steel that undergo large permanent strains before failure are classified as ductile metals. but undergoes large permanent strains after proportional limit. Ex. nickel. Aluminum alloys – Offset method (1) They do not have clear cut yield point.
Solid Mechanics determined by off set method. (5) Offset yield stress is not material property
Elasticity & Plasticity
(1) The property of a material by which it (doesn’t) returns to its original dimensions during unloading is called (plasticity) elasticity and the material is said to be elastic (plastic).
(2) For most of the metals proportional limit = elastic limit. (3) For practical purpose proportional limit = elastic limit = yield stress (4 )All metals have some amount of straight line portion.
Solid Mechanics
Brittle material in tension
(1) Materials that fail in tension at relatively low values of strain are classified or brittle materials. (2) Brittle materials fail with only little elongation (elastic) after the proportional limit. (3)Fracture stress = Ultimate stress for brittle materials (4)Up to B, i.e fracture strains are elastic. (5)No plastic deformation in case of brittle materials. Ex. Concrete, stone, cast iron, glass, ceramics
Ductile metals under compression
Solid Mechanics (1) σ − ∈ curves in compression differ from σ − ∈ in tension. (2)For ductile materials, the proportional limit and the initial portion of the σ − ∈ curve is same in tension and compression. (3)After yielding starts the behavior is different for tension and compression. (4)In tension after yielding – specimen elongates – necking and fractures or rupture. In compression – specimen bulges out with increasing load the specimen is flattened out and offers greatly increased resistance.
Brittle materials in compression
(1)Curves are similar both in tension and compression (2)The proportional limit and ultimate stress i.e fracture stress are different. (3)In case of compression both are greater than tension case (4)Brittle material need not have linear portion always they can be nonlinear also.
Solid Mechanics
11. Generalized Hooke’s Law
(1) A material behaves elastically and also exhibits a linear relationship between σ and ∈ is said to be linearly elastic. (2) All most all engineering materials are linearly elastic up to their corresponding proportional limit. (3) This type of behavior is extremely important in engineering – all structures designed to operate within this region. (4) Within this region, we know that either in tension or compression
σ = E∈
Stress in particular direction = straininthat dir.X E
E = Modulus of elasticity – Pa,N / m2
= Young’s modulus of elasticity. (5) σ x = E ∈x or σ y = E ∈y (6) σ = E ∈ is known as Hooke’s law. (7) Hooke’s law is valid up to the proportional limit or within the linear elastic zone.
Solid Mechanics
Poisson’s ratio
When a prismatic bar is loaded in tension the axial elongation is accompanied by lateral contraction. Lateral contraction or lateral strain ∈′ = d f − do do this comes out to be –ve lateral strain − ∈′ = axial strain ∈
Poisson' ratio =ν ( nu ) = − s ∈′ is perpendicular to∈
If a bar is under tension ∈ +ve, ∈′ ve and ν = + If a bar is under compression ∈ ve, ∈′ +ve and ν = +
ν = always +ve = material constant
For most metals
ν = 0.25 to 0.35s
ν = 0.5
Concrete ν = 0.1 to 0.2 Rubber
ν is same for tension and compression ν is constant within the linearly elastic range.
Y diagrams are (shape of them) similar in shape to tension test diagrams (σ Vs ∈) for the same material. modulus of elasticity.Hooke’s law in shear G = Shear modulus of elasticity or modulus of rigidity. (5)For many materials. = Pa or N / m2 s Proportional limit Elastic limit Yield stress Ultimate stress Material properties . (3)From τ − Y diagrams also we can obtain material properties proportional limit. τ = GY . line through the origin just in case of tension. (4)Properties are usually ½ of the tension properties.Y the test is twisting of hollow circular tubes τ Yield point Proportional limit G 1 ϒ (2)τ . the initial part o the shear stress diagram is a st. yield stress and ultimate stress.Solid Mechanics Hooks law in shear (1)To plot τ . although they differ in magnitude.
z ) σ = σ ( x . For nonhomogenous body E = E ( x . Continuum Completely filling up the region of space with matter it occupies with no empty space.elastic properties.y .z ) Homogeneous Elastic properties do not vary from point to point.y .y .z ) .y .v.z ) G = G ( x. Basic assumptions solid mechanics Fundamental assumptions of linear theory of elasticity are: (a) The deformable body is a continuum (b) The body is homogeneous (c) The body is linearly elastic (d) The body is isotropic (e) The body undergoes small deformations.z ) v = v ( x.z ) ∈=∈ ( x.y . Because of this assumption quantities like u = u ( x.Solid Mechanics E.y . and G → material properties – elastic constants .
Solid Mechanics Linearly elastic Material follows Hooke’s law σ = E∈ τ = GY v = Constant Isotropic Material properties are same in all directions at a point in the body E = C1 ν = C2 G = C3 The meaning is that for allθ for allθ for allθ σ x = E ∈x σ y = E ∈y The material that is not isotropic is anisotropic E = E (θ ) ν = ν (θ ) G = G (θ ) The meaning is that σ x = E1 ∈x σ y = E2 ∈y E1 ≠ E2 .
Solid Mechanics Small deformations (a) The displacements must be small (b) The strains must also be small Generalized Hooke’s law for isotropic material We know the following quantities from the tension and shear testing. Continuum. . i.Shear test or torsion test. Hooke’s law – when only one stress is acting Generalized Hooke’s law – when more than one stress acting We assume that Material is linearly elastic. undergoing small deformations and isotropic. For an isotropic material the following are true (1)Normal stress can only generate normal strains. What are the stress –strain relation for an element subjected to 3D state of stress. Homogeneous.e what is the generalized Hooke’s law. σ = E∈ ∈′ Tensiletest v=− ∈ τ = GY .Normal stresses for reference xyz cannot produce Y of this reference .
Solid Mechanics (2)A shear stress say τ xy can only produce the corresponding shear strain Yxy in the same coordinate system. (1)Each effect is linearly related to the load that produces it. Principal of superposition: This principle states that the effect of a given combined loading on a structure can be obtained by determining separately the effects of the various loads individually and combining the results obtained. . (2)The deformations must be small. provided the following conditions are satisfied.
Solid Mechanics Let us know consider only σ x is applied to the element. From Hooke’s we can write ∈x = σx E ∈y = − v ∈z = − v σx σx E E .
Solid Mechanics Only σ y applied ∈y = σy E ∈x = − v ∈z = − v σy σy E E Similarly. σ z alone is applied ∈z = σz E ∈x = − v ∈y = − v σz σz E E Contribution to ∈x due to all three normal stresses is σ x vσ y vσ 3 ∈x = − − E E E Therefore 1 σx − v σy +σz E 1 ∈y = σ y − v (σ x + σ z ) E 1 ∈x = σ z − v σ x + σ y E ∈x = ( ) ( ) Normal strains are not affected by shear stresses .
. when all six components of stresses and strains are acting on an infinitesimal element or at a point then the relation between six components of stresses and strains is 1 σx − v σy +σz E 1 ∈y = σ y − v (σ x + σ z ) E 1 ∈x = σ z − v σ x + σ y E ∈x = ( ) ( ) Yxy = Yyz = Yxz = τ xy G τ yz τ xz G G These six equations are known as generalized Hooke’s law for isotropic materials.Solid Mechanics Now let us apply only τ xy Yxy = τ xy G Similarly because of τ yz and τ xz Yyz = Yxz = τ yz τ xz G G Therefore.
1 E −v E −v E 0 0 0 ∈x ∈y ∈z Yxy Yyz Yxz = −v E 1 E −v E 0 0 0 −v E −v E 1 E 0 0 0 0 0 0 1 G 0 0 0 0 0 0 1 G 0 0 0 0 0 0 1 G σx σy σz τ xy τ yz τ xz Stress components in terms of strains ∈x + ∈y + ∈z = 1 2v σx +σy +σz − σx +σy +σz s E E 1 − 2v e = σx +σy +σz E ( ) ( ) ( ) ∈x + ∈y + ∈z = e ∈x = = = 1 σ x − vσ x − v σ y + σ z E ( ) ) 1 σ x − v σ x + σ y + σ z + vσ x E ( ) 1 σ x (1 + v) − v σ x + σ y + σ z E ( .Solid Mechanics Matrix representation of generalized Hooke’s law for isotropic materials is therefore.
Solid Mechanics = = 1 veE σ x (1 + v) − E (1 − 2v) σ × (1 + v) E − ve (1 − 2v) ∴ σ x = ∈x + E = µ (mu) 1+ v where ve E 1 − 2v 1 + v λ= Ev ( 1 + v )( 1 − 2 v ) λ.µ are Lames constants σ x = eλ + ∈x µ σ y = eλ + ∈y µ σ z = eλ + ∈z µ τ xy = YxyG = 2 µYxy τ xy = YyzG = 2 µYyz τ xy = YzxG = 2 µYzx Lame’s constants have no physical meaning Stressstrain relations for plane stress .
y ) Yxy = Yxy ( x .y ) ∈3 = Yxz = Yyz = 0 e =∈x + ∈y σ x = eλ + µ ∈x = σ x ( x .y ) σ z = − v σ x + σ y = σ z ( x .y ) ∈y =∈y ( x.y ) σ z = τ yz = τ zx = 0 1 σ x − vσ y E 1 ∈y = σ y − vσ x E v −v ∈z = − σ x + σ y = ∈x + ∈y E 1− v ∈x = ( ) ( ) ( ) ( ) Yxy = τ xy G Yyz = Yxz = 0 Stress.y ) σ y =∈y ( x.Solid Mechanics σ x = σ x ( x.y ) τ xy = τ xy ( x.y ) = − v ( 2 eλ + µ e ) = − ve ( 2 λ + µ ) = − v ( 2 λ + µ ) ∈x + ∈y ( ) ( ) τ xy = GYxy τ xz = τ yz = 0 .strain relations for plane strain ∈x =∈x ( x.y ) σ y = eλ + µ ∈y = σ y ( x.
For isotropic materials the principal strains and principal stresses occurs in the same direction. Example of Generalized Hooke’s law ∈x = 1 σ x − vσ y E σ x = λ e + µ ∈x 1 σ y − vσ x E σ x = 2σ y σ x = −σ y ∈y = σ y = λ e + µ ∈y ∈x = 1 σ x − vλ e − vµ ∈y E ∈x = 1 σ x + vσ y E 1+ v = σx E Principal stress and strain directions of isotropic materials is zero along those planes. • The transformation laws for plane strain can also be used for the strains in plane stress. the stress transformation equations for plane stress can also be used for the stresses in plane strain. ∈z does not effect geometrical relationships used in derivation. τ . therefore Y is also zero along these planes i.Solid Mechanics • Therefore.e normal strains of the element are principal strains.
ν and G σ 1 = τ xy σ 2 = −τ xy ∈1 = ∈2 = 1 (σ 1 − vσ 2 ) E 1 ∈2 = (σ 2 − vσ 1 ) E ∈1 = τ xy ( 1 + v ) 1 τ xy + vτ xy = E E −τ xy ( 1 + v ) ( ) ∈1 =∈xy = ∈2 = −τ xy 2G E Yxy 2 = τ xy 2G τ xy ( 1 + v ) τ xy E G= = 2G E 2 (1 + v) Only two elastic constants are independent.Solid Mechanics 12. . Volumetric strain and Bulk modulus Relation between E.
the element also distorts so that right angles no longer remain sight angles.dz dv = dxdydz After deformations dx* = ( 1+ ∈x ) dx dy* = 1+ ∈y dy dz* = ( 1+ ∈z ) dz In addition to the changes of length of the sides.Solid Mechanics Volumetric straindilatation Consider a stress element size dx.dy . For simplicity consider only Yxy . The volume dv* of the deformed element is then given by ( ) ( ) Area ( OA* B* C* ) = dx* ( dy* CosYxy ) dv* = Area OA* B* C* × dz* = dx* dy* CosYxy ∴ dv* = dx* dy* dz* CosYxy For small Yxy CosYxy ≈ 1 ∴ dv* = dx* dy* dz* − Volumechange doesn' depend onY t = ( 1+ ∈x ) 1+ ∈y ( 1+ ∈z ) dxdydz dropping all second order infinitesimal terms ( ) .
Bulk modulus of elasticity ∈x + ∈y + ∈z = (1 − 2v) E (σ x + σ y + σ z ) ) Mean stress = σ = 1 σx +σy +σz 3 ( e= 3(1 − 2v) σ E σ = Ke . This expression is valid only for infinitesimal strains and rotations • e =∈x + ∈y + ∈z = J 1 = first in variance of strain. we define the measure of volumetric strain as ( ) Volumetric strain = final volumeinitial volume initialvolume dv* − dv e= dv e =∈x + ∈y + ∈z • e = volumetric strain = dilatation. analogous to normal strain.Solid Mechanics dv* = 1+ ∈x + ∈y + ∈z dxdydz Now. • Volumetric strain is scalar quantity and does not depend on orientation of coordinate system. • Dilatation is zero for state of pure shear.
Solid Mechanics Where K = E bulk modulus of elasticity.3 E = 70 Gpa v = 0.G > 0 .35 G= E SinG E and G > 0 2 (1 + v) ( 1 + v ) > 0 → v > −1 Similarly SinG E > 0 & K ≥ 0 K= ∴ E → 1 − 2 v ≥ 0 → v ≤ 0.5 Theoretical bounds on v are material is incompressible.K ≥ 0 Steel : Al : Copper: E = 200 Gpa v = 0.5 3(1 − 2v) −1 < v ≤ 0.5 K → α and C →0 . • From physical reasoning E > 0 . 3(1 − 2v) • Bulk modulus is widely used in fluid mechanics.33 E = 100 Gpa v = 0. as v → 0.
Solid Mechanics 13. Axially loaded members .
cross sectional Axial force is a load directed along the axis of the member – can create tension or compression in the member. structural member having constant crosssection through out it length. Typical cross sections of the members . locating and material properties • A prismatic bar is subjected to axial loading • A prismatic bar is a st. • Bar or rod → length of the member is dimensions.Solid Sections .Solid Mechanics Geometry.Hollow Sections .
Other sections Material properties: The member is homogenous linearly elastic and isotropic material. strains and deformations Consider a prismatic bar of constant crosssectional area A and length L. with material properties A & v. F=P Mx = M y = M z = 0 Vy = Vz = 0 The right of the section mm exerts elementary forces or stresses on to the left of the section to maintain the equilibrium. which acts along xaxis. .Solid Mechanics . Stresses. Let the rod be subjected to an axial force “p”. Sum of all these elementary forces must be equal to the resultant F.
statically indeterminate To know about the distribution of σ x in any given section. however. Since the body needs to develop only σ x component in order to maintain equilibrium. it is necessary to consider the deformations resulting from the application of loads. x The distribution cannot determine by the methods of static or equations of equilibrium.Solid Mechanics σ x dA = F A M y = σ x zdA = 0 M z = − σ x ydA = 0 Above equation must be satisfied at every crosssection. it does not tell how σ is distributed in the crosssection. therefore the state of stress at any point of prismatic rod is σ ij = 0 0 σx 0 0 0 0 0 0 .
• Any line segment AB undergoes same strain ∈ therefore ∈ cannot be a function of y or z. but at most is a function of x. x x In the present case situation is same at all crosssections of the prismatic bar.e ∈x is also no a function of x.only. .Solid Mechanics We make the following assumptions on deformation based on experimental evidence (1)The axis of the bar remains straight after deformation (2)All plane crosssections remain plane and perpendicular to the axis of the bar Key kinematical assumptions • As a result of the above kinematic assumptions all points in a given yz plane have the same displacements in the xdirection. therefore ∈x = Constant at all points of the body i.
therefore σ x is also independent of y and z coordinates i. We know that internal resultant force F = σ x dA A Since σ x is a independent of y & z .Solid Mechanics Since we are studying a homogenous. ∈x is independent of y and z coordinates. linearly elastic and isotropic prismatic bar 1 σx − v σy −σz → E 1 ∈y = σ y − v (σ x − σ z ) → E 1 ∈z = σ z − v σ x − σ y → E ∈x = ( ) ∈x = ( ) E V ∈y = − σ x E V ∈z = − σ x E σx In the present case.e σ x is uniformly distributed in a crosssection Moreover σ x = E ∈x = Constant throughout the bar.
ydA = 0 A (1) Eq. (1) indicates that moment are taken about the centroid of the crosssection.Solid Mechanics F = σ da = σ A A ∴ σ= F P = A A M y = σ x . Elongation or Contraction ∈x = Total elongation of the rod σx E = P AE L u ( L ) − u ( 0 ) = δ = ∈x da = 0 L P PL dx = AE AE 0 .zdA = 0 A A zdA = 0 ydA = 0 A M z = − σ x .
.E and P are functions of x then δ= P (x) dx A(x) E(x) 0 Stiffness and flexibility P = kS S = fP k= k= 1 f AE L f = L AE These are useful in computer analysis of structural members.Solid Mechanics σx = P A PL δ= AE AE = Axial rigidity L If A.
Above formula is quite satisfactory if the angle of taper is small Plane sections remain plane and perpendicular to the x.axis is no longer valid for the case of nonprismatic rods. σx = S= L P(x) F (x) = A(x ) A(x) P(x) dx A(x)E(x) 0 Approximate exp ression The above formula becomes a good approximation for uniformly varying crosssectional area A ( x ) member. .Solid Mechanics Extension of results: Nonuniform bars (nonprismatic) For a prismatic bar P PL & δ= A AE σx = This is exact solution for prismatic bar.
. Taking ∆x → 0 . we note that τ yx → 0 only if ∆y → 0 i.Solid Mechanics Σ Fx = 0 σ x ( b∆y ) − τ yx ( b∆x ) = 0 ∆y s ∆x τ xy = τ yx = σ x ( x ) .e at the ∆x slope of the upper surface of the rod tends to zero.
each having different axial forces.Solid Mechanics Case2 δ BC = PL − ( PA + PB ) L2 = AE A2 E2 PL − PAL1 δ AB = = AE A1E1 A2 σ AB = − PA / A1 σ BC = − ( PA + PB ) δCA = SBC + S AB This method can be used when a bar consists of several prismatic segments each having different material. different dimensions and different materials. The change in length may be obtained from the equation δ= Pi Li i =1 Ai Ei n and σi = Pi Ai .
Solid Mechanics Statically indeterminate problems Equilibrium Σ Fy = 0 Fa1 + Fa 2 + Fs − P = 0 [Σ MC = 0] bFa1 − bFa 2 = 0 Fa 1 = Fa 2 2 Fa + Fs = P (1) For statically indeterminate problems we must consider the deformation of the entire system to obtain “compatibility equation” The rigid plate must be horizontal after deformation δs = δ A δs = Fs Ls As Es geometric compatibility equation and δA = FAL A E A AA (2) Then using the geometry compatibility δs = δ A FAL A Fs L As = EA AA Es As .
.Solid Mechanics By solving (1) & (2) we can obtain internal forces Fs & FA Stresses in axially loaded members Uniaxial state stress is a special case of plane stress σ ij = σx 0 0 0 σ1 = σx σ σ τ max = 1 = x 2 2 Occurs at 45 to x − y or x − z planes.
They fail along σ 1 planes. Limitations of analysis σx = P PL & S= A AE (1)They are exact for long prismatic bars of any crosssection. They fail along τ max planes.C − maximum shear stress elements. when axial force is applied at the centroid of the end crosssections.Solid Mechanics A − Principal stress elements B. Brittle materials weak in normal tensile stresses. . Ductile material are weak in shear.
(4)Above equations should not be applied for the case of relatively short rods. (2)They should not be employed (especiallyσ x = (3)They provide good approximation if the taper is small.Solid Mechanics P ) at A concentrated loads and in the regions of geometric discontinuity. . (5)They are exact for relatively short members under compressive loading.
Solid Mechanics
Stress concentrations
• High stresses are known as stress concentrations • Sources of stress concentrations stress raisers • Stress concentrations are due to :
(1)Concentrated loads (2)Geometric discontinuities
Stress concentration due to concentrated loads
Stress concentration factor=K =
σ max σ ave
σ nom =
P bt
Solid Mechanics
Stress concentration due to hole
Discontinuities of cross section may result in high localized or concentrated stresses.
P dt K = Stressconcentration factor K=
σ max σ nom
σ nom =
Solid Mechanics
Stress Concentration due to fillet
K=
σ max σ ave
σ ave =
P dt
Solid Mechanics
14. Torsion of circular bars
Geometry, loading and Material properties
A prismatic bar of circular cross section subjected to equal and opposite torques acting at the ends.
Whenever torques act on a member, then it will be twisted. Torsion refers to the twisting of a straight bar when it is loaded by torques. Material: Homogeneous, linearly elastic, and isotropic undergoing small deformations. Presently theory is valid only for
Stresses and strains in polar coordinates
Stresses, strains and displacements in polar coordinates.
Since we are dealing with a circular member it is preferable to use polar coordinates
Solid Mechanics
σ ij
∈x =
σ r τ rθ τ rx = τθ r σθ τθ x τ xr τ xθ σ x
1 σ x − v (σ r + σ θ ) E 1 ∈r = σ r − v (σ x + σ θ ) E 1 ∈x = σθ − v (σ r + σ x ) E Yrθ =
τ rQ
G
; Yxθ = Yθ x =
τ xθ
G
; Yxr = Yrx =
τ rx
G
Equilibrium and elementary forces
Fx = Vy = Vz = M y = M z = 0 Mx = T = T0
Since every crosssection of the bar is identical and since every crosssection is subjected to the same internal torque “T”, then the bar is said to be under “pure torsion” To keep the body under equilibrium, elementary forces dF = τ xθ dA are only forces that are required to be exerted by the other section, so that
Solid Mechanics
dT = dF × r = σ xθ rdA T = τ xθ rdA T = T0
Direction of τ zθ can be obtained from the direction of internal torque T at that section. The state of stress in pure torsion is therefore
0 0 0 0 0 τ xθ 0
A
(1)
τθ x
0
While the relation in (1) express an important condition that must be satisfied by the shearing stresses τ xQ in any given crosssection of the bar it does not tell how these stresses are distributed in the crosssection. The actual distribution of stresses under a given load is statically indeterminate. So we must know about the deformation of the bar. Presence of τ xθ in polar coordinates means, presence of
τ xy = τ xQCosθ τ xz = τ xQSinθ
Solid Mechanics Therefore the state of stress in case pure torsion in terms of rectangular stress components is then 0 τ xy τ xz 0 0 0 . (4)All crosssections rotate about the axis of the bar as a solid rigid slab.state of pure shear. (3)All crosssections remain plane.e they remain circular. 0 τ yx τ zx We must then ensure that Vy = τ xy dA = 0 Vz = τ xz dA = 0 Deformation in pure torsion Following observations can be made from the deformation of a circular bar subjected to equal and opposite end torques. .axis or longitudinal line become a helical curve. (2)A line parallel to the x. (1)The crosssections of the bar do not change in shape i.
angle of twist. . various crosssections along the bar rotate through different amount. Assumptions on deformation for pure torsion (1)All cross –sections rotate with respect to the axis of the circular bar i. (6)The radial lines remain radial lines after deformation (7)Neither the length of the bar nor the length of radius will change. These assumptions are correct only if the circular bar undergoes “small deformations” only. (2)All crosssections remain plane and remain perpendicular to the axis of the bar. Variation of shear strain ( Yxθ ) Because of T0 .Solid Mechanics (5)However. These are especially of circular bars only. (3)Radial lines remain straight after the deformation.e xaxis. (4)Neither the length of the bar nor its radius will change during the deformation. Not true for noncircular bars. the right end will rotate through an infinitesimal angle φ .
Solid Mechanics *φ . dφ = − rate of twist angle of twist per unit length.varies along the axis of the bar. dx YxQ is independent of x and YxQ dx = Ydx = rdφ Y =r dφ dx .
e. The equation Y = r dφ is strictly valid to circular bars having dx small deformations. variation of shear stress τ xQ in pure torsion is given by τ = τ xQ = GYxQ = GY dφ dx Shear stress τ is only function of “r” and varies linearly with radius r of the circular bar..Solid Mechanics In case of pure torsion the shear strain Y varies linearly with “r” Maximum shear strain circular bar i. τ max = τ xQmax = RG dφ dx . r = R Y occurs at the outer surface of the Ymax = R dφ dx Shear strain is zero at the center of the bar. If the material is linearly elastic τ = GY Therefore.
Solid Mechanics The torsion formula Relation between internal torque T and shear stressτ T = τ rdA A T = Gr Since G & dφ rdA dx dφ are independent of area A then dx T =G dφ 2 r dA dx A I P = r 2 dA Polar moment of inertia of across − sec tion A For solid circular bar. IP = π 32 D4 IP = π 2 R4 ∴ T = GI P dφ dx ∴ dφ = dx = T GI P But τ = Gr = T GI P dφ dx τ Gr τ= Tr IP Torsion formula .
τ max = τ xQmax = TR IP τ max = 16T π D3 for solid circular bars Angles of twist We now determine the relative rotation of any two crosssections = dφ T = dx GI P xB xA φB / A = φB − φ A = T dx GI P . Torsion formula is independent of material property.Solid Mechanics This is the relation between shear stresses τ xQ and torque T existing at the section.
dx GI P = dφ φ = = constant dx L Thus in case of pure torsion φ ( x ) varies linearly with x In case of torsion TL GI P Load φ= displacement k= GI P L .Solid Mechanics In case of prismatic circular bar subjected to equal opposite torques at the ends φB / A = φB − φA = if xB − x A = L puretorsion TL n GI P Direction of φ at a section is same as that of T φ= TL T0L = GI P GI P Since = dφ T = then. in case of pure torsion. f = L GI P The product GI P − Torsional rigidity .
Therefore all equations of solid circular bars can be employed for hollow circular bars. instead of using .Solid Mechanics τ xy = τ xQCosθ τ xz = τ xQSinθ We should ensure that distribution of τ xQ should also gives Vy = Vz = 0 Vy = τ xy dA = τ xθ Cosθ dA Vy = A 2π R A 0 Tr Cosθ drdθ IP 0 rCosθ drdθ = 0 T = IP 2π R 0 0 ∴ Vy = 0 T Vz = IP 2π R 0 0 rSinθ drdθ = 0 ∴ Vz = 0 Hollow circular bars: The deformation of hollow circular bars and solid circular bars are same. either solid or hollow. The key kinematic assumptions are valid for any circular bar.
where τ is maximum values and has large moment arms “r”. τ= IP = π 4 D − solid 32 π 4 Do − Di4 − hollow = 32 Tr IP ( ) . • Most of the material in soild shaft is stressed below the maximum stress and also have smaller moment arm “r”. • In hollow tube most of the material is near the outer boundary.Solid Mechanics π 4 D − Soild 32 π IP = Do 4 − Di4 − hollow 32 IP = ( ) τ max = τ min TRo IP TR = i IP Hollow bars are move efficient than solid bars of same “A”.
. Extension of results CaseI Bar with continuously varying crosssections and continuously varying torque • Pure torsion refers to torsion of prismatic bar subjected to torques acting only at the ends.Solid Mechanics τ max = τ min TR TRo . propeller shafts. (5) Ex large drive shafts. IP IP TR = i IP G τ . it is advisable to use a circular tube. and generator shafts usually have hollow circular cross sections.Y − f ( r ) = dφ T = dx GI P TL GI P Y= τ φ B / A = φB − φ A = L = xB − x A = constant φ = linearly with x (4) If weight reduction and savings of materials are important.
provide if R ( x ) doesn’t vary sharply with x. . strictly valid only for prismatic circular bars.Solid Mechanics • All expressions are developed based on the key kinematic assumptions. τ (x) = T (x)r IP (x ) (x) = T (x) dφ = dx GI P ( x ) xB xA φB − φ A = φB / A = T (x) dx GI P ( x ) The above equations yield good approximations to the exact solution. these are therefore.
Solid Mechanics Some special cases τ (x) = Tr IP (x ) GI P ( x ) T τ (x) = T (x)r IP T (x) GI P (x) = Case II (x) = τi = Ti ri I Pi n φB / A = Ti Li i =1 Gi I Pi .
φB / C = C BC G AB I PAB GBC I PBC TAL AB T L = C BC G AB I PAB GBC I PBC (2) . • Clearly the rotation of section B with respect to A must be same as that with respect to C i.Solid Mechanics Statically indeterminate problems [Σ Mx = 0] We note that within within TA + TC + T = 0 (1) AB.e φB / A = φB / C Compatibility equation φB / A = TAL AB T L . T = TA and BC T = TC • To solve the problem we must consider geometry of deformation to formulate the compatibility equation.
which is generally weak in tension.Solid Mechanics Stresses in pure torsion If a torsion bar is made up of brittle material. When subjected to torsion. Ductile materials generally fail in shear. . a ductile circular bar breaks along a plane perpendicular to its longitudinal axis or x – axis. failure will occur in tension along a helix inclined at 45 to the axis.
Solid Mechanics σx = P A Torsion testing m/c .
Solid Mechanics Combined loading or combined stress Principal of superposition τ max = TR IP σx = P A .
Solid Mechanics Stress concentrations in torsion Stress concentration effect is greatest at section BB τ max = Kτ avg = Kτ nom τ avg = τ nom = Kτ 1 = K 16T 3 π D1 .
Y = r GI P GI P dx Limitations of torsion formulae (1)The above solutions are exact for pure torsion of circular members (solid or hollow section) (2)Above equations can be applied to bars (solid or hollow) with varying crosssections only when changes in R ( x ) are small and gradual. the above equation should not be used for bars of other shapes.Solid Mechanics τ= Tr . (4)It is important to recognize that. which are high localized stresses that occur whenever diameter changes abruptly and whenever concentrated torque are applied. . (3)Stresses determined from the torsion formula are valid in regions of the bar away from stress concentrations.φ = . Noncircular bars under torsion are entirely different from circular bars. IP = T TL dφ .
. • Bar in tension:.Supports torques having their moment vectors directed along the axis. • Classification of structural members. • Axially loaded bars :.Supports forces having their vectors directed along the axis of the bar. Symmetrical bending of beams Some basics • Transverse loads or lateral loads: Forces or moments having their vectors perpendicular to the axis of the bar. • Beams :.Subjected to lateral loads. • Beams undergo bending (flexure) because of lateral loads.Solid Mechanics 15.
.Solid Mechanics Roughly speaking. “bending” refers to a change in shape from a straight configuration to a non straight configuration. The loads acting on a beam cause the beam to bend or flex. thereby deforming its axis into a curveknown as “ deflection curve” of the beam.e after bending then xy − plane is known as “plane of bending”. then the deflection curve is a plane curve lying in the plane of bending. Bending moments i. If a beam bend in a particular plane. M y are responsible for If all points in x − y plane remain in the xy − plane after deformation i.e M z and bending of beams.
M=constant) occurs only in regions of a beam where the shear force is zero. Pure bending and nonuniform bending If the internal bending moment is constant at all sections then beam is said to be under “pure bending”. If M = M ( x ) it is non.e. v − component] of any point along its axis is known as the “deflection of the beam”.uniform bending .e.Solid Mechanics The y − direction displacement [i.. dM = −V dx Pure bending (i.
k= 1 dQ under small deformations. small deflections means that the deflection curve is nearly flat. if it bends in a plane say xy − plane. then its longitudinal axis is deformed into a curve. RdQ = dS k= 1 dQ = for any amount of R R dS The deflections of beams are very small under small deformation condition. O− Center of curvature R − Radius of curvature 1 = Curvature R k= in general R = R ( x ) and k = k ( x ) . = R dX .Solid Mechanics Curvature of a beam When loads are applied to the beam.
Solid Mechanics It is given that deflections at A and B should be zero. loading and material properties A long prismatic member possess a plane of symmetry subjected to equal and opposite couples M0 (or bending moments) acting in the same plane of symmetry. . Symmetrical bending of beams in a state of pure bending Geometry.
linearly elastic and isotropic undergoing small deformations. The XY plane is the plane of symmetry.Solid Mechanics Initially we choose origin of the coordinate system “ O ” is not at the centroid of the crosssection. Material is homogeneous. Stresses in symmetric member in pure bending Fx = Vy = Vz = 0 Mx = My = 0 M z = M = M0 . The y − axis passing through the crosssection is an axis of symmetry.
statically indeterminate .Solid Mechanics M = − yσ x dA Therefore.deformations should be considered. Thus.cannot by statics . σ x dA are the only elementary forces that are required to be developed by right of the section on to the left of the section. The distribution of σ X any section should satisfy Fx = 0 My = 0 Mz = M σ x dA = 0 zσ x dA = 0 − yσ x dA = M Actual distribution of stresses . the state of stress at any point within a prismatic beam (crosssection having an axis of symmetry) subjected to pure bending is a uniaxial state of stress. σ ij σx 0 0 = 0 0 0 0 0 0 .
the prismatic member possessing a plane of symmetry (i.plane) and subjected to equal and opposite couples M0 acting in the plane of symmetry. . will be transformed in to a circle of center O and so the line A′B′ . Therefore a prismatic beam in pure bending will have constant curvature.Solid Mechanics Deformations in a symmetric member in pure bending Since the member is subjected to bending moments. it will bend under the action of these couples. The curvature k at a particular point on the axis of the beam depends on the bending moment at that point. which was originally a straight line.e xy plane). the member will bend in the plane of symmetry (i. Since. The line AB.e xy.
. the beam deflects in the xy – plane (plane of symmetry) and any longitudinal fibers such as SS bent into a circular curve.e to the deflection curve. The beam is bent concave upward (due to +ve bending) upon which is a +ve curvature. Variation of strain and M − κ relation Elementary theory of bending or EulerBernoulli theory Under the action of M0 . remain plane and remain ⊥ to assumption the axis of the deformed beam i.Solid Mechanics Decrease in length of AB and increase in length of A′B′ in positive bending. Crosssections which are plane and ⊥ to the axis of Kinematic the undeformed beam.
RdQ = dx k= 1 dQ = R dx . Lower part of the beam is intension and upper part is in compression. The x.) Initial length of fiber ef = dx Final length of ef = e* f * = ( R − y ) dQ The distance dx between two planes is unchanged at the neutral surface. Crosssections mn and pq rotate with respect to each other about zaxis.Solid Mechanics Crosssections mn and pq remain plane and normal to the longitudinal axis of the beam.axis lies along the neutral surface of undeformed beam Variation of strain and Mk relations (contd.
e ∈x at a distance “y” from the neutral axis is e* f * − ef ( R − y ) dQ − dx − y ∈x = = = ef dx R ∴ ∈x = − y R ∈x = − ky In case of pure bending ∈x ≠∈x ( x and z ) . . ∈x = 0 at the neutral surface Maximum compressive ∈x = Maximum tensile ∈x = − y1 R + y2 R However.Solid Mechanics Therefore. the longitudinal strain i. we still do not know the location of neutral axis or neutral surface.∈x =∈x ( y ) The preceding equation shows that the longitudinal strains (∈x ) in the beam (in pure bending) are proportional to the curvature and vary linearly with the distance y from the neutral axis or neutral surface.
e.var y linearly with the distance y from the neutral surface ∈x = linear f ( y ) .Solid Mechanics Stresses in beams in pure bending :..For linearly elastic and isotropic beam material ∈x = 1 σx − v σy +σz E ( ) ) Yxy = Yyz = Yxz = τ xy G 1 ∈y = σ y − v (σ x + σ z ) E ∈z = τ yz G 1 σz − v σx +σy E ( τ zx G The state of the stress at any point within a prismatic beam in pure bending is σ ij σx 0 0 = 0 0 0 0 0 0 −Ey = −Eky R ∴ σ x = E ∈x = V ∈y = − σ x = −V ∈x E V ∈z = − σ x = −V ∈x E From the above equation σ x ≠ σ ( x .z ) σ x = σ ( y ) ∈x =∈x ( y ) ∴σ x = linear f ( y ) i.
Solid Mechanics σ x at y = 0 i. In order to compute the stresses and strain we must locate the neutral axis of the crosssection. .e on the neutral surface = 0 Maximum compressive σ x = − Maximum tensile EC 1 R σx = EC 2 R Maximum normal stress σ x occurs at the points farthest from the neutral axis.
the neutral axis i.e zaxis pass through the centroid of the crosssection. .Solid Mechanics Location of neutral axis We must satisfy the following equations at any given section mm σ x dA = 0 − σ x ydA = M = M0 = M z σ x zdA = M y = 0 Considering first equation Ey σ x dA = − =0 R A A ydA = 0 A The above equation shows that the distance y between neutral axis and centroid “C” of a crosssection is zero. provided if the material follows Hooke’s law. In other words.
when a prismatic beam of linearly elastic material is subjected to pure bending. Thus.Solid Mechanics The origin ‘O’ of coordinates is located at the centroid of the crosssectional area. the y and z (neutral axis) axes are principal centroidal axes. Moment – Curvature relationship M = − σ x ydA A M=+ M= Ey ydA R A y 2 dA = I zz = Moment of inertia of A crosssectional area about neutral axis E y 2 dA RA ∴ M= k= EI R 1 M = R EI k= 1 M0 = R EI MomentCurvature relation .
Relation between σ x and M .internal bending moment and inversely proportional to EI.Solid Mechanics Curvature k is directly proportional to M.flexural rigidity of the beam. ∴ σx = − . Flexural rigidity is a measure of the resistance of a beam to bending.Flexure formula σ x = −Eky and k = M EI My .flexure formula. I Stresses evaluated from flexure formula are called bending stresses or flexural stresses.
Solid Mechanics The maximum tensile and compressive bending stresses occur at points located farthest from the neutral axis. The maximum normal stresses are σ1 = S1 = − MC1 M =− I S1 I I and S2 = C1 C2 σ2 = MC 2 M = I S2 Section moduli S = Section modulus Cross.sectional properties of some common shapes z − axis – neutral axis .
Solid Mechanics I zz bh 3 = 12 bh 2 S= 6 π I zz = d 4 64 π d3 S= 32 bh 3 I zz = 36 h = 3 b / 2 for eqilateral triangle I zz = 0.1098r 4 .
Solid Mechanics
Distribution σ x on various crosssections
σ max =
S=
M S I
ymax
M = σ alllowS
Ssquare Scircle
= 1.18
Solid Mechanics • This result shows that a beam of square crosssection is more efficient in resisting bending then circular beam of same area. • A circle has a relatively larger amount of material located near the neutral axis. This material is less highly stresses. • I  Section is more efficient then a rectangular crosssection of the same area and height, because I  section has most of the material in the flanges at the greatest available distance from the neutral axis.
Extension of results
Long prismatic beam under pure bending, and symmetrical bending.
M ≠ M (x) M = Constant
σx (y) = −
I = I zz 1 M k= = R EI
My I
∈x =
σx
E
∈y = − v ∈x ∈z = − v ∈z
Elementary theory of bending
Solid Mechanics
Bending of beams due to applied lateral loads
dM = −V dx
Consider now a beam subjected to typical arbitrary transverse loads acting. In this case the interval bending moment M = M ( x ) and V ( x ) ≠ 0, and thus we have nonuniform bending.
Nonuniform bending is a result of presence of transverse shear force V ( y ) . If V ( y ) = 0 then M = constant.
It can be shown that the above results can also be used for nonuniform bending problems.
σ x ( x,y ) =
−M (x ) y I M (x) 1 k= = R (x) EI
∈x ( x,y ) = ∈y = −ν ∈x ∈z = −ν ∈x
σ x ( x,y )
E
Solid Mechanics
The above results can also be used for nonuniform bending problems provided if they satisfy the following conditions.
• The crosssections should have yaxis of symmetry • All applied transverse or lateral loads should lie in the xy plane of symmetry and all applied couples act about zaxis only. • L
h − − long slender beams
• Bending that conforms to conditions (i) and (ii) is called symmetrical bending.
If these three conditions are satisfied then one can employ the following expressions for nonuniform bending aswell
Solid Mechanics
σ x ( x,y ) = −
I = I zz k(x) =
M (x) y I
∈x ( x,y ) =
σx
E
M (x) 1 = R(x) EI
∈y ( x ,y ) = − v ∈x ∈z ( x,y ) = − v ∈z
Application of above equations to the nonuniform bending problems is equivalent to the following two assumptions. (a)That even under such loading conditions, plane sections still remain plane after deformation and they remain ⊥ to the deformed longitudinal axis or neutral surface.
Bending stresses in a nonprismatic beam
The above equation can also be applied to the case of nonprismatic beam subjected to either pure or nonuniform bending, provided crosssectional properties do not vary sharply.
σx = −
k (x) =
M (x) y I (x) M (x) 1 = R ( x ) EI ( x )
Solution Centroid : A mm2 y yA mm3 1 20 × 90 = 1800 50 90 × 10 3 2 40 × 30 = 1200 20 24 × 10 3 3 A = Σ A = 3000 Σ yA = 114 × 10 Ay = Σ yA y 3000 = 114 × 10 3 y = 38 mm I zz = I = Σ I + Ad 2 s bh 3 =Σ + Ad 2 12 = 1 1 90 × 20 3 + 1800 × 12 2 + × 30 × 40 2 + 1200 × 182 12 12 ( ) I zz = I = 868 × 10 3 mm4 = 868 × 10−9 m4 .Solid Mechanics Problem Determine the maximum tensile and compressive stresses in the beam due to the uniform load.
898 = s1 39.8 MPa −6 s2 22.45 × 10 −6 C1 22 × 10 −3 I 868 × 10 −9 S2 = = = 22.8 MPa .45 × 10 −6 M 3.55 and σ Cmax = 147.Solid Mechanics C1 = 22 mm and C 2 = 38 mm σx = − σ max My I M I = :S= S ymax At maximum +ve bending moment i.e at (B) σt max = = M 3.1 MPa = M 1.45 × 10 −6 σC max σC max = 48.898 = s2 22.e at (D) I 868 × 10 −9 S1 = = = 39.375 = = 147.375 = = 85.55 MPa s1 39.11 MPa At maximum ve moment i.84 × 10 σC max σ tmax = 85.84 × 10 −6 max σt max = 83.84 × 10 −6 −3 C 2 38 × 10 at D: σt = M 1.
Can the member carry this load if the allowable flexural stress both in tension and in compression is σ allow = 50 Mpa ? Solution Mmax = 720 Nm 1 0.06 × 0.033 SA = = 9 × 10 −6 m 3 12 0.03 × 0.06 3 SB = = 1.03 σ ×S Palow = allow B = 300 N L Palow = σ allow × S A ∴The beam can carry P = 240 N only when oriented as in (B) .8 × 10 −5 m3 12 0.015 σ tmax = σ Cmax = M PL = SA SA σ tmax = σ Cmax = σ allow = 150 N L 1 0.Solid Mechanics Problem a wooden member of length L = 3m having a rectangular crosssection 3 cm × 6 cm is to be used as a cantilever with a load P = 240 N acting at the free end.
provided the crosssection has yaxis of symmetry.Solid Mechanics Limitations (1)The flexure formula is exact for a prismatic beam in pure bending. (3)The flexure formula can be employed for any shape of the crosssection. . (2)It provides very good approximation of σ x for long slender beams (L >> h) under symmetrical bending. (4)It should not be employed in regions close to geometric discontinuities and concentrated loads.
so that M x = T = 0 for symmetrical bending ∴ τ xy = τ xy ( x. Shear Stresses in Beams Vy ( x ) = τ xy dA A It is reasonable to assume that (1)The shear stresses acting on the crosssection are parallel to the shear force Vy ( x ) i.y ) dA .e ⊥ to the line PQ (2)It is also reasonable to assume that the shear stresses τ xy are uniformly distributed across the width of the beam.Solid Mechanics 16.y ) A such thats Vy ( x ) = τ xy ( x.
it follows that the vertical shear stresses τ xy must vanish at y = ± . • At any point of the beam τ xy = τ yx • Pattern of distribution of τ xy = pattern of distribution of τ yx • Sinceτ xy = τ yx .Solid Mechanics • Thus. if the beam is subjected only lateral loads. there are horizontal shear stresses (or longitudinal shear stresses) acting between horizontal layers of the beam as well as vertical shear stresses acting on the crosssections. h 2 .
e M = M ( x ) t = width or thickness of the beam at y = y1 t = width or thickness of the beam at y = y1 .Solid Mechanics Derivation of shear stress formula Beam under nonuniform bending i.
y ) dA + τ yxt∆x = 0 A A τ yxt = 1 ∆x σ x ( x + ∆x.y ) dA A σ x ( x .y ) dA − σ x ( x.direction.y ) = τ yxt = −M (x ) y I A 1 1 1 − M ( x + ∆x ) ydA + M ( x ) ydA ∆x I A IA 1 M ( x + ∆x ) − M ( x ) ydA ∆xI A τ yxt = − τ yx = −1 M ( x + ∆x ) − M ( x ) ∆x It ydA A taking limit as ∆x → 0 τ yx = τ yx = −1 dM ydA It dx A M ( x + ∆x ) − M ( x ) −1 lim ydA It ∆x→0 ∆x A dM = −Vy ( x ) dx Vy ( x ) ∴ τ yx = ydA It A . Taking [ Σ Fx → + = 0 ] we have then − σ x ( x + ∆x.Solid Mechanics We now wish to satisfy equilibrium in the x.y ) dA + σ x ( x.
.Solid Mechanics The above integral is by definition the first moment of are about the zaxis. A Q = ydA A ∴ τ yx = τ xy = τ = VyQ It (1) shear formula in the above equation I = I zz stands for the moment of inertia of the entire cross sectional area around the neutral axis. Shear flow is the horizontal shear force per unit distance along the longitudinal axis of the beam. From (1) τ yxt = f = VyQ I = VQ I The quantity “f” is known as the “shear flow”. we denote it by symbol Q.
τ xymax = τ yxmax Vh 2 3 V = = 8I 2A .Solid Mechanics Distribution of shear stresses in a Rectangular beam An example of application of equations Q = udA = b A h −y 2 y+ h / 2−y s 2 b h2 Q= − y2 2 4 I= 1 3 bh 12 τ xy = τ yx at y = ± VQ V h 2 = = − y2 It 2 I 4 h 2 τ xy = τ yx = 0 The shear stresses in a rectangular beam vary quadratically with the distance y from the neutral axis. Maximum value of shear stress occurs at the neutral axis where Q is maximum.
This is not always true.Solid Mechanics Thus τ max in a beam of rectangular crosssection is 50% V larger than the average shear stress A It is always possible to express the maximum shear stress τ xy as τ xymax = K 3 2 V A for most of the crosssectional areas K= Rec tan gular K= K= 4 3 3 2 Circular Triangular For most of the crosssection τ max occurs at the neutral axis. .
Solid Mechanics Stress elements in nonuniform bending .
Vmax = P Mmax = 0. It has a rectangular cross –section (see figure).5 P = Pa bh 2 S= A = bh 6 M 6 Pa ∴ σ max = max = 2 S bh 3 Vmax 3 P 3 P τ xymax = τ yxmax = τ max = = = 2 A 2 A 2 bh Therefore.2 MPa Solution Vmax occurs at supports and maximum BM occurs in between the loads. the maximum permissible values of the load P in dending and shear respectively are Pallow b = σ allowbh 2 6a Pallow s = 2τ allow bh 3 . Determine the maximum permissible value pmax of the loads if the allowable stress is bending is σ allow = 11 MPa (for both tension and compression) and allowable stress in horizontal shear is τ allow = 1.Solid Mechanics Problem A wood beam AB is loaded as shown in the figure.
25 kN Pallow s = 8. Solution Vertical shear is same at all sections . If it has the crosssection as shown in figure.25 kN Thus bending governs the design and the maximum allowable load is Pmax = 8. determine the shearing stresses at the levels indicated. Neglect the weight of the beam.25 kN Problem An I –beam is loaded as in figure.Solid Mechanics Substituting numerical values into these formulas. Pallow b = 8.
5 VQ MPa It = 1800 12 × 150 = 1800 12 × 12 278.2 12 = 144 44 12 × 150 144 69 259.2 114.2 19.3 MPa .0 t mm 150 150 12 mm ×10 3 mm3 150 144 144 132 τ xy = 0 4.5 12 81.5 56.7 × 106 mm 4s V 250 × 10 3 The ratio = = 2.3 = 1656 τ max = 81.2 259.4 60.Solid Mechanics I zz = I = ( 150 )( 300 )3 ( 138 )( 276 )3 12 − 12 = 95.7 × 106 Level A mm2 11 22 33 0 12 × 150 ( ) y Q = Ay 0 259.3 = 1800 12 × 138 373.61 × 10 −3 N / mm 4s I 95.
The crosssections are wrapped with highest distortion at the axis.such beams are called slender beams. It can be shown that if L >> h then distortion of crosssections due to shear negligible. Do not apply them if L << h . Use all formulae developed so far only when L >> h . .short beams.Solid Mechanics Warping of the cross sections due to shear stress Plane sections will not remain plane and perpendicular to the axis of the beam in the deformed configuration due to the presence of shear force.
Solid Mechanics 17.τ 2 . Maximum shearing stress under general state of stress is τ max = max (τ 1 . τ3 = σ1 −σ2 2 The maximum shearing stress in uniaxial tension test at the moment of yielding is τt = σ ys 2 Tresca criterion is τ max ≥ σ ys 2 Octahedral shearing stress theory or HenckyVonMises failure criterion This theory also known as “The maximum distortion strainenergy theory” . τ2 = σ1 −σ3 2 .τ 3 ) where τ 1 = σ2 −σ3 2 . Maximum shearing stress theory or Tresca Criterion This theory says that: Yielding occurs when the maximum shear stress in the material reaches the value of the shear stress at yielding in a uniaxial tension (or compression) test. Theories of failure or yield criteria (1) Maximum shearing stress theory (2) Octahedral shearing stress theory For ductile materials (3) Maximum normal stress theory – for brittle materials.
τ oct = 1 3 (σ 1 − σ 2 ) 2 + (σ 2 − σ 3 ) 2 + (σ 1 − σ 3 ) 2 Octahedral shear stress in the uniaxial tension test at the moment of yielding i. σ y = σ ys = σ 1 τt = τt = 1 3 ( σ ys − 0 ) 2 + ( 0 − 0 )2 + σ ys − 0 ( ) 2 2 σ ys 3 Von Mises theory says that τ oct ≥ 2 σ ys 3 σ von = 3 τ oct 2 Von Mises theory says that τ von ≥ σ ys * Excellent experimental evidence is available for supporting maximum shearing stress and Von Mises criterion Maximum Normal stress criterion or Rankine Theory: This theory is generally used for design of components made up of brittle materials.Solid Mechanics This theory states that Yielding occurs when the octahedral shear stress in the material is equal to the value of the octahedral shear stress at yielding in a uniaxial tensile test. .e.
Thus the structural component will fail when σ 1 ≥ σ ult Simple application of theories . a given structural component fails when the maximum normal stress (tensile) in that component reaches the ultimate strength or ultimate stress σ ult obtained from the tensile test of a specimen of the same material.Solid Mechanics According to this theory.
Solid Mechanics 18. Combined loading Torsion + Direct shear σA = Mr I τ1 = 4V 3A Tr Ip τ2 = .
.Solid Mechanics Bending + axial loading σx = σx = P A − My I σx = − M zz y P + A I zz Neutral surface is now shifted due to the application of axial load.
Elastic strain energy Consider an infinitesimal stress element at point in a linearly elastic body.Solid Mechanics 19. subjected to a normal stress σ x The work done by this force 1 dWint = dF × dS 2 1 = σ x dydz × ∈x dx 2 force distance 1 dWint = σ x ∈x dV 2 This internal work is stored in the volume of the element as the internal elastic energy or the elastic strain energy. dU σ x ∈x ∴ Strain energy density = U0 = = dV 2 . The strain energy density U0 is defined as the internal elastic energy stored in an elastic body per unit volume of the material. ∴ 1 dU = σ x ∈x dV 2 dV = volume of the element.
Solid Mechanics U0 can be interpreted as an area under the inclined line on the stressstrain diagram.τ zx with the corresponding shear strains Yyz and Yxz Strain energy for multiaxial states of stress The strain energy expressions for a 3D state of stress follow directly by addition of the energies of each stress component. Elastic strain energy for shearing stresses: 1 dUshear = τ xy dxdz × Yxy dy 2 average force distance 1 dU shear = τ xy Yxy dv 2 Analogous expressions apply for the shearing stresses τ xz . Similar expressions can developed for σ y and σ z corresponding to strains ∈y and ∈z . dU = 1 1 1 1 1 1 σ x ∈x + σ y ∈y + σ z ∈z + τ xyYxy + τ yzYyz + τ zxYzx dV 2 2 2 2 2 2 The strain energy density for the most general case is .
we can show that U0 = 1 v 2 2 2 σ x + σ y + σ z − σ xσ y + σ yσ z + σ zσ x 2E E 1 2 2 2 + τ xy + τ yz + τ zx 2G ( ( ) ( ) ) It is the expression for elastic strain energy per unit volume for linearly plastic. homogeneous. 0 U = elastic energy ( stored ) = U 0 dV V Internal strain energy in axially loaded bars σ x = σ z = τ xy = τ xz = τ yz = 0 1 1 σ 1 2 ∴ U 0 = σ x ∈x = σ x x = σx 2 2 E 2E ∴ The total internal energy = U = U 0 dv = V 1 2 σ x dV 2E V . for a stressed body the total strain energy is obtained by integration of U over its volume.Solid Mechanics U0 = dU 1 1 1 1 = ∈x σ x + ∈y σ y + ∈z σ z + τ xyYxy dv 2 2 2 2 1 1 + τ yzYyz + τ zxYzx 2 2 from Substituting the values of strain components generalized Hooke’s law. isotropic materials. In general.
L 2 2 2E 2 EI 2 EI v v 2 σx .Y = τ .2π r.L 2G I p 0 T 2L U= 2GI p Strain energy in bending M2 2 M2 ∴ U= dv = y dv = y 2 dA. = τ 2 2 G 2G 1 2 U = U 0 dv = τ dv 2G v v τ= R4 TY IP τ= Tr Ip R where I p = π 2 1 T2 2 U= .AL = 2 2E 2 EA 2 EA P 2L U= 2 EA 2 σx Strain energy in torsion of circular shafts 1 1 τ 1 2 U0 = τ .Solid Mechanics P2 P2L U= AL == . 2 .dr.r .
Solid Mechanics M 2L U= 2 EI Conclusion P2L Axially loaded bars U = 2 AE Torsion of shafts T 2L U= 2GI P M 2L U= 2 EI Bending (pure) of beams We can use the following equations in case of nonuniform cases P2 T2 M2 U= dx . U = dx . U = dx 2 AE 2GI P 2EI 0 0 0 L L L .
P U= dx 2 AE 0 Y 2 AL3 P 2 L2 2YAP 2 L2 U= + + L − 6E 2 AE 2 AE 2 Y 2 AL3 P 2 L2 YP 2 = + + 6E 2 AE 2 E Since U ∞ P 2 not be used.dx = L L + − L3 2 AE 0 2E 3 Y 2 A2 3 L3 Y 2 AL3 3 L + −L = = 2 AE 3 6E P2L U= 2 AE P ( x ) = Y.Solid Mechanics Problem: P ( x ) = Y.A ( L − x ) + P L L Y 2 A2 ( L − x )2 + P 2 + 2YA ( L − x ) .A ( L − x ) L P2 U= dx 2 AE 0 Y 2 A2 ( L − x ) 2 = dx 2 AE 0 Y 2 A2 2 Y2A 2 L3 2 = L + x − 2 Lx. L or U∞δ 2 principle of superposition should .
. analysis of various engineering components ex. Earthquake loading. Undesirable vibrations are due to excessive deflections. In case of beams deflection means v displacement of particles located on the axis of the beam. called the “deflection curve” or “elasticcurve” Deflections: means u . Deflection calculation is an important part of component design Deflections .Solid Mechanics 20. the axis is deformed into a curve.useful in vibration.v displacement of any particle. Deflection of beams When a beam with a straight longitudinal axis is loaded by lateral loads.
We know that +BM means .BM means Examples (1) .Solid Mechanics Approximate sketches of deflection curves Approximate sketches of the deflection curve can be drawn if BM diagram is available for a given loading.
Solid Mechanics The objective is to find the shape of the elastic curve or deflection curve for given loads i.. ↑ v + ve and. . what is the function v(x). ↓ − v deflection of the beam.e. Here we assume only symmetrical bending case. There are two approaches (1) Differential equations of the deflection curve (2) Momentarea method Differential equations of the deflection curve Consider a cantilever beam: The axis of the beam deforms into a curve as shown due to load P. The xy plane is the plane of bending. ↓ − v To obtain deflection curve we must express v as a function of x.
the deflection curve is nearly horizontal .Solid Mechanics When the beam is bent. very small deflection and very small curvatures. The angle of rotation θ of the axis of the beam is the angle between x – axis and the tangent to the deflection curve at a point.curvature . That is they undergo small deformations. The deflection curves of most beams have very small angles of rotations. Slope of the deflectioncurve = Slope dv = tanθ dx dv is positive when the tangent to the curve slopes dx upward to the right. When the angle of rotation θ is extremely small. there is not only a deflection at each point along the axis but also a rotation. For given xy coordinate system θ → + ve → anticlockwise O′ = Center of curvature ρ = Radius of curvature From geometry ρ dθ = ds dθ ρ ds curvature of the deflectioncurve k= 1 = k .+ve when angle of rotation increases as we move along the beam in the +ve x – direction.
Solid Mechanics ds ≈ dx This follows from the fact that ds = dx 2 + dv 2 = 1 + ( v′ ) dx 2 for small θ ( v′ ) can be neglected compared to 1 2 ∴ ds ≈ dx Therefore. in small deflection theory no difference in length is said to exist between the initial length of the axis and the arc of the elastic curve. the curvature is k= 1 ρ = M EI . k= 1 ρ = dθ dx Since θ is small tanθ ≈ θ ∴ 1 dv =θ dx dθ d 2 v ∴k = = = 2 ρ dx dx d 2ν k = 2 = ν ′′ dx only insmall deformationtheory du θ= = u′ dx If the material of the beam is linearly elastic and follows Hooke’s law.
Sign conventions used in the above equation: (a) The (c) k is + (b) dv and θ are dx (d) M is +ve if beam bends Another useful equations can be obtained by noting that dM = −V dx dV = −p dx Nonprismatic beams d2v EI ( x ) 2 = M ( x ) dx ( EI ( x ) v′′ )′ = − v ( x ) ( EI ( x ) v′′ )′′ = + P ( x ) .Solid Mechanics + M → leads to +K and so on d2v M ∴ 2= or EI dx d2 v EI 2 = M dx The basic differential equations of the deflection curve.
Otherwise they actually are very small quantities. . EIv′′ = M ( x ) EIv′′′ = −V ( x ) EIv′′′′ = + P ( x ) BM equation( 2 nd order ) Shear force equation( 3rd order ) Load equation( 4th order ) Integrating the equations and then evaluating constants of integration from boundary conditions of the beam.Solid Mechanics For prismatic beams. Assumptions involved in the above equations (a) Material obeys Hooke’s law (b) Slope of deflection curve small – small deformations (c) Deformations due to bending only – shear neglected When sketching deflection curve we greatly exaggerate the deflection for clarity.
Solid Mechanics Approximate sketching (3) (4) (5) (6) .
Solid Mechanics Boundary conditions (1)Boundary conditions (2)Continuity conditions (3)Symmetry conditions Boundary conditions Pertain to the deflections and slopes at the supports of a beam: (i)Fixed support or clamped support v ( a) = 0 θ ( a ) = v′ ( a ) = 0 (ii) v ( a) = 0 M ( a ) = EIv′′ ( a ) = 0 (iii) v′′ ( a ) = 0 M ( a ) = EIv′′ ( a ) = 0 V ( a ) = −EIv′′ ( a ) = 0 .
+ + . Therefore in practice the deflection of beam subjected to several or complicated loading conditions are solved using principle of superposition.Solid Mechanics Continuity conditions All deflection curves are physically continuous. Therefore v ( c ) from side AC = v ( c ) from side BC Similarly at “C” v′ ( c ) from side AC = v′ ( c ) from side BC Symmetry conditions v′ L = 0 because of loading 2 and beam. The method for finding deflection using differential equations is known as “ method of successive integration”. Application of principle of superposition: Numerous problems with different loadings have been solved and readily available. This we should load in advance.
(2) EIv′′ = M ( x ) qLx qx 2 EIv′′ = − 2 2 Slope of the beam . Also determine maximum deflection δ max at the mid point of the beam and the angles of rotation Q A and QB at the supports. Beam has constant EI. Solution V+ qL − qx = 0 2 V = qx − qL 2 (1) qL qx 2 M− x+ =0 2 2 qLx qx 2 M= − 2 2 Differential equation of deflection curve.Solid Mechanics Problem 1 Determine the equation of the deflection curve for a simple beam AB supporting a uniform load of intensity of acting through out the span of the beam.
C. v(x = 0) = 0 0 = 0 − 0 − 0 + C2 C2 = 0 qLx 3 qx 4 qL3 EIv = − − x 12 24 24 .Solid Mechanics qLx 2 qx 3 EIv′ = − + C1 4 6 BC → Symmetry conditions v′ x = L =0 2 qLL2 qL3 0= − + C1 16 48 qL3 qL3 0= − + C1 16 48 qL3 C1 = − 24 Slope equation is qLx 2 qx 3 qL3 EIv′ = − − s 4 6 24 −q v′ = L3 − 6L2 + x 3 24EI ( ) Deflection of the beam qLx 3 qx 4 qL3 EIv = − − x + C2 12 24 24 B.
Solid Mechanics ∴v = −q L3 x − 2 Lx 3 + x 4 24EI −q v= x 4 + L3 x − 2 Lx 3 24EI ( ) ( ) you can check v = 0 at x = 0 and L = 0 (b) From symmetry maximum deflection occurs at the L midpoint x = 2 −5qL4 L v x= = 2 384EI ve sign means that deflection is downward as expected. 24EI since the problem is symmetric. 5qL4 L = v x= = s 2 384EI δ max −qL3 Q A = v′ ( 0 ) = 24EI ve sign indicates clock wise rotation as expected. qL3 qL3 qL3 QB = v′ ( x = L ) = − − 4EI 6EI 24EI qL3 v′ ( L ) = + ve sign means anticlockwise direction. v′ ( 0 ) = v′ ( L ) .
C. M (x = 0) = 0 C1 = 0 qLx qx 2 EIv′′ = − 2 2 EIv′′ ( x = 0 ) = 0 Problem 3 Above problem using fourth order differential equation P=q EIv′′′′ = −q Shear for a equation EIv′′′ = −qx + C 1 From symmetry conditions .Solid Mechanics Problem: 2 Above problem using third order equation EIv′′′ = −V ( x ) EIv′′′ = − qx − Moment equation qL qL = − qx 2 2 qLx qx 2 EIv′′ = − + C1 2 2 B.
Solution: V + qL − qx = 0 V = qx − qL qL2 qx 2 M+ − qLx + 2 2 qL2 qx 2 M = qLx − − 2 2 Differential equation of deflection curve EIv′′ = M ( x ) qL2 qx 2 EIv′′ = − + qLx − 2 2 . Beam has constant EI.Solid Mechanics V x= L =0 2 L 0 = −q + C 1 2 EIv′′′ x = C1 = + qL 2 qL 2 L =0 2 ∴ EIv′′′ = −qx + Problem 4 Determine the equation of the deflection curve for a cantilever beam AB subjected to a uniform load of intensify q. Also determine the angle of rotation and deflection at the free end.
Solid Mechanics qL2 x qLx 2 qx 3 Slope equation: EIv′ = − + − + C1 2 2 6 BC: v′ ( x = 0 ) =C 1 = 0 0 qL2 x qLx 2 qx 3 EIv′ = − + − 2 2 6 Deflection equation qL2 x 2 qLx 3 qx 4 EIv = − + − + C2 4 6 24 v (x = 0) = 0 0 = 0 + 0 − 0 + C2 qL2 x 2 qLx 3 qx 4 ∴ EIv = − + − 4 6 24 − −q 2 2 v= 6L x + 4Lx 3 24EI C2 = 0 + x4 v′ ( x = L ) −qL3 qL3 qL3 −qL3 + − = EIv′ = 2 2 6 6 qL3 ∴ v′ = QB = − 6EI v(x = L) −q −3qL4 4 4 4 v= 6 L − 4L + L = 24EI 24EI qL4 maximum deflection also. −3qL4 v= v(x = L) = 8EI 24EI .
Solid Mechanics Problem 5 Above problem using third order equation EIv′′ = −V ( x ) EIv′′′ = qL − qx Moment equation qx 2 EIv′′ = qLx − + C1 2 B.C V ( x = L ) = 0 EIv′′′ ( x = L ) = 0 C1 = + qL − 0 = −qL + C 1 . M ( x = L ) = 0 EIv′′ ( x = L ) = 0 2 qL2 qL2 0 = qL − = 2 2 qx 2 qL2 EI ′v′′ = qLx − + 2 2 qL2 4=− 2 qx 2 qL2 EIv′′ = qLx − + 2 2 Problem 6 Above problem with fourth order equation EIv′′′′ = P ( x ) ∴ EIv′′′′ = ⊕ q Shear force equation EIv′′′ = −qx + C 1 B.C.
Solid Mechanics ∴ EIv′′′ = −qx + qL Problem 7 A simple beam AB supports a concentrated load P acting at EI = distances a and b from the lefthand and righthand supports respectively. Determine the equations Q A the QB of deflection δL δ curve. the maximum deflection and the deflection at the midpoint C of the beam. Constant EI Solution Pb +x=P L x=P− Pb L Pb V+ =0 L Pb V =− L Pbx Pb H= M− x=0 L L V+ Pb −P=0 L Pb V =P− L . the angles of rotation andmax at the supports.
Solid Mechanics M + P ( x − a) − M= Pbx L Pbx − P ( x − a) L Pbx Pxa M= − Px + Pa = − + Pa L L Differential equation of deflection curve Pbx 0≤x≤a L Pxa EIv′′ = − + Pa a≤x≤L L EIv′′ = Slope equations: Pbx 2 EIv′ = + C1 o ≤ x ≤ a 2L − Px 2 a EIv′ = + Pax + C 2 a ≤ x ≤ L 2L B.C. v′ ( x = a ) AP = v′ ( x = a ) PB P ( L − a ) a2 − Pa3 + C1 = + Pa2 + C 2 2L 2L / // // PLa2 Pa3 Pa3 − + C1 = − + Pa2 + C 2 / // // 2L 2L 2L Pa2 C1 = + C2 2 .
C: v ( x = 0 ) = 0 and v ( x = L ) = 0 0 = 0 + 0 + C3 C3 = 0 PL3 a PaL2 + + C2L + C 4 0=− 6L 2 PL2 a PaL2 + + C2L + C 4 0=− 6 2 PaL2 = + C2L + C 4 3 PaL2 C4 = − − C2L 3 v ( x = a ) AP = v ( x = a ) PB P ( L − a ) a3 − Pa 4 Pa 3 + C1a = + + C2 a + C4 6L 6L 2 // // PLa 3 Pa 4 − Pa 4 Pa 3 + + C1 a = + + C2 a + C 4 / 6L 6L // 6L 2 Pa 3 Pa 3 + C1a = + C2 a + C 4 6 2 Pa 3 PaL2 C1 a = + C2 a − − C2L 3 3 .Solid Mechanics Deflection curve equations: Pbx 3 EIv′ = + C 1x + C 3 6L 0≤x≤a − Px 3 a Pax 2 EIv = + + C2x + C4 a ≤ x ≤ L 6L 2 B.
Q A = QB = 48EI 16EI (5) δ c = δ max Problem 8 A simple beam AB supports a concentrated load P acting at the center as shown. QB = 0 2 EI EI (2) (3) (4) δ c = δ max 5qL4 qL3 = .Solid Mechanics Pa 3 Pa 3 PaL2 / / + C2 a = + C2 a − − C2L 2 3 3 Pa 3 PaL2 =− − C2L 6 3 PaL Pa 3 C2 = − − 3 6 PaL2 Pa 3 C2L = − − 3 6 Some important formulae to remember (1) qL4 qL3 δB = . .QB = 8EI 6EI PL3 PL2 δB = . Determine the equations of the deflection curve. QB = 3EI 2 EI M0 L2 M L δB = . Q A = QB = 384EI 24EI PL3 PL2 = . the maximum deflection δ max of the beam. the angles of rotation Q A and QB at the supports.
Solid Mechanics Solution M= Px 2 V =− M− M= Px 2 P 2 P x=0 2 Px 2 M= V+ P −P=0 2 V=P/2 M− Px L +P x− =0 2 2 Px L Px PL PL Px M= −P x− = − Px + = − 2 2 2 2 2 2 M= PL Px − 2 2 .
C: v ( x = 0 ) = 0 and v ( x = L ) = 0 .Solid Mechanics Differential equation deflection curve Px 0≤x≤L/ 2 2 PL Px L EIv′′ = − ≤x≤L 2 2 2 EIv′′ = Slope equations Px 2 EIv′ = + C1 4 0≤x≤L/ 2 L ≤x≤L 2 L 2 PB PLx Px 2 EIv′ = − + C2 2 4 v′ x = L 2 = v′ x = AP PL2 PL2 PL2 + C1 = − + C2 16 4 16 PL2 PL2 PL2 C1 = C 2 + − = C2 + 4 8 8 PL2 C1 = C 2 + 8 Deflection equations: Px 3 EIv = + C 1x + C 3 12 0≤x≤L/ 2 PLx 2 Px 3 EIv = − + C2x + C4 L / 2 ≤ x ≤ L 4 12 B.
Solid Mechanics 0 = 0 + 0 + C3 C3 = 0 PL3 PL3 0= − + C2L + C 4 4 12 PL3 = + C2L + C 4 6 PL3 C4 = − − C2L 6 v′ x = L 2 = v′ x = AP L 2 PB PL3 C1L PL3 PL3 L + = − + C2 + C 4 96 2 16 96 2 L PL3 PL3 L − + C2 + C 4 C1 = 2 16 48 2 L PL3 L C1 = + C2 + C 4 2 24 2 / / L PL3 PL3 L PL3 / / = + C2 − − C2L C2 + / / 2 16 24 2 6 PL3 PL3 PL3 − − = C2L 24 6 16 C2 = ( 2 − 8 − 3 ) PL2 48 9 PL2 −3PL2 C2 = − = 48 16 3 PL2 C2 = − 16 .
Solid Mechanics 3PL2 PL2 PL2 ∴ C1 = − + =− 16 8 16 PL2 C1 = − 16 PL3 −3 PL2 ∴ C4 = − −L 6 16 − PL3 3 PL3 ( −8 + 9 ) PL3 = + = 6 16 48 PL3 C4 = − 48 Deflection curves Px 3 PL2 − EIv = x + C3 12 16 0≤x≤ L 2 PLx 2 Px 3 3 PL2 PL3 L EIv = −+ − x+ ≤x≤L 4 12 16 48 2 EIv x = L 2 PL3 PL3 − PL3 = − = 96 32 48 PL3 =− 48EI ∴ v x= L 2 EIv x = L 2 PL3 PL3 3 PL3 PL3 ( 6 − 1 − 9 + 2 ) PL3 = − − + = 96 32 48 96 16 PL3 =− 48 .
Determine the deflections δ B and angle of rotation QB at end B of the beam. Solution δ B1 δ B2 qa 3 = ( 4L − a ) . 24EI PL3 = . Beam has constant EI. Use principle of superposition.Solid Mechanics v = − PL3 / 48EI Slope equations: Px 2 PL2 EIv′ = − 4 16 0≤x≤ L 2 PLx Px 2 3PL2 EIv′ = − − 2 4 16 PL2 PL2 EIv′ ( x = 0 ) = 0 − =− 16 16 L ≤x≤L 2 PL2 ∴ v′ ( x = 0 ) = QA = − ( − ) Clock wise 16EI PL2 PL2 3 PL2 ( 8 − 4 − 3 ) PL2 PL2 EIv′ ( x = L ) = − − = = 2 4 16 16 16 PL2 ∴ v′ ( x = L ) = QB = (+ ve. 3EI QB2 QB1 PL2 = 2 EI qL3 = 6EI . CCW from xaxis ) 16EI Problem 9 A cantilever beam AB supports load of intensity of acting over part of the span and a concentrated load P acting at the free end.
Solid Mechanics δ B = δ B1 + δ B2 qa3 PL3 = ( 4L − a ) + 24EI 3EI qa3 PL2 = + 6EI 2 EI QB = QB1 + QB1 .
Moment. B A M dx corresponds to an infinitesimal area of EI dθ = θ B − θ A = ∆θ BA = M dx EI A B .Solid Mechanics 21. The equation d 2θ M = can be written as 2 EI dx d 2θ dθ M = = 2 dx EI dx dθ = M dx EI The quantity the M diagram. According to the above equation the area is EI equal to the arrange in angle between two adjacent point m1 and m2 .Area Method This method is based upon two theorems related to the area of the bending moment diagram it is called momentarea method. First moment area theorem Consider segment AB of the deflection curve of a beam in region of + ve curvature. Integrating the above equation between any two points A & B gives.
areas corresponding to the + M are taken + ve. Second momentarea theorem This is related to the deflection curve between A and B.tangent B rotates c.c. If – ve – tangent B rotates c. area corresponding to the – ve M are taken –ve If M dx is +ve.Solid Mechanics This states that the arrange in angle measured in radius between the two tangents at any two points A and B on the M elastic curve is equal to the area of diagram between A & EI B . .w from A.w from A or θ B is EI A B algebraically larger than A. If θ A is known then θ B = θ A + ∆θ BA In performing above integration.
r. a vertical line through B. evaluated w.t. EI Integrating between the point A & B B B′ A M dx = first moment of infinitesimal area EI tBA = dt = x1 A M M dx = First moment of the area of the EI EI diagram between points A & B. B. Since the angles between the tangents and xaxis are very small we can take dt = x1dθ = x1 The expression x1 M dx EI M dx w.Solid Mechanics We see that dt is a small contribution to tBA . tBA = φ x1 t AB = φ x where φ = M dx EI A B if M is +ve if M is ve φ = +ve φ = ve x and x1 are always taken +ve quantities. ∴ Sign of tangential deviation depends on sign of M. .r.t.
the beam is of greater depth than it is beyond. Neglect weight of the beam and E = 70GPa Solution: EI = 3. having I 1 = 50 × 106 mm4 . In applying the moment area method a carefully prepared sketch of the elastic curve is always necessary. For the remaining 1000 mm of the beam I 2 = 10 × 106 mm4 .5 × 10 24 70 × 109 × 10 −6 N/mm2 = 70 × 10 3 N/mm2 .Solid Mechanics A positive value of tangential deviation. Problem:1 Consider an aluminum cantilever beam 1600 mm long with a 10 –kN for a applied 400 mm from the free end for a distance of 600 mm from the fixed end.point B is above A and vice versa – ve value means point B is below the point A. Find the deflection and angular rotation of the free end.
2 288 − − − =− E E E E E .12 36 A1 = bh = × 600 × =− E E 2 2 129.12 7.Solid Mechanics 1 1 −0.6 A2 = bh = − E 1 1 −0. 2 A4 = bh = × 120 × =− 2 2 E E ∆QBA = QB − Q A = QB = − M dx = A1 + A2 + A3 + A4 EI A B 36 129.48 115.2 A3 = bh = × 480 × =− 2 2 E E 1 1 −0.2 7.6 115.
11 mm E δ B = −4.6 −115.14 × 10 −3 rad E 70 × 10 3 QB = 4. Solution: . x1 = 1400 . at the center of a simply supported beam EI constant. x4 = 480 mm tBA = δ B = A1x1 + A2 x2 + A3 x3 + A4 x 4 = −36 −129. 288 288 =− = −4.Solid Mechanics QB = − A. x3 = 840 mm.2 −7.11 mm below the tangent at point A. Problem 2 Find the deflection due to the concentrated force P applied as soon as figure.2 1400 + 1060 + 840 + 480 E E E E −288000 = = −4.14 × 10 −3 rad tBA = δ B from tangent at x2 = 1060mm.
x 2 = 2 a 3 3 Pa2 2 9 Pa2 t AB = A1x1 + A2 x2 = a+ 2a 8EI 3 8EI Pa3 9 Pa3 10 Pa3 5 Pa3 = + = = ( + ve ) 4EI 4EI 4EI 2 EI . Since EI is constant vc = c′′c′ − tCB 1 c′′c′ = t AB 2 1 1 3 Pa 3 Pa2 A1 = bh = × a × = s 2 2 4EI 8EI 1 1 3Pa 9 Pa2 = A2 = bh = × 3 a × 2 2 4EI 8EI 2 x1 = a .Solid Mechanics M EI diagram is same as M diagram.
Solid Mechanics 1 Pa 2a Pa 3 tCB = × 2 a × × = s 2 2 EI 3 3EI c′′c′ = t AB / 2 5 Pa 3 = 4EI 5 Pa 3 Pa 3 ( 15 − 4 ) Pa 3 11Pa 3 ∴ vc = − = = 4EI 3EI 4EI 12 EI 11Pa 3 vc = 12 EI The +ve sign of t AB & tCA indicate points A & C above the tangent through B. (a) The slope of the elastic curve at C can be found from the slope of one of the ends as: ∆QBC = QB − QC QC = QB − ∆QBC ∆QBC M 1 Pa Pa2 = QB − QC dx = × 2 a × = s EI 2 2 EI 2 EI C 5 Pa 3 1 Pa 2 5Pa 2 Pa 2 /L= − = − 2 EI 4 a 2 EI 8EI 2 EI Pa2 Qc = 8EI B QB ≈ t AB (b) If the deflection curve equations is wanted then by selecting an ordinary point E at a distance x vE = E′′E′ − EE′′ .
∴C .Solid Mechanics vE = In this way one can obtain equation of the deflection curve. as to find tCA we again need to consider unhatched region. vc = t AC + tBC 2 is at the center of the beam. this is also move complicated approach compared to first. L−x t AB − tEB L (c) To simplify the calculations some care in selecting the tangent at a support must be considered. (d) The deflection at C can also be calculated as follows. In this approach to find tCA we need to consider unhatched region which is more difficult. However.
The EI is constant. Solution .Solid Mechanics Problem 3 Find the deflection of the end A of the beams shown in figure caused by the applied forces.
x4 = 32 3 tCB = A2 x2 + A3 x3 + A4 x 4 Pa2 11a Pa 2 7 a Pa2 2 a =− × + × + × 4EI 6 4EI 6 2 EI 3 11Pa3 7 Pa 3 Pa3 ( −11 + 7 + 8 ) Pa3 =− + + = 24EI 24EI 3EI 24EI 4 Pa 3 Pa 3 tCB = = 24EI 6EI The + sign of tCB indicates that the point C is above the tangent through B. Hence corrected sketch of the elastic curve is made. . x 2 = + +a= 3 3 33 2 6 1a 2a x3 = + a = 7 a / 6 .Solid Mechanics 1 1 − Pa Pa 2 A1 = bh = × a × =− 2 2 EI 2 EI 1 a Pa Pa 2 A2 = × × − =− 2 2 EI 4EI Pa 2 A3 = 4EI Pa 2 and A4 = 2 EI a 7a 2a a 11a x1 = + 2 a = .
Solid Mechanics Pa 2 2 Pa 3 t AB = − × a=− 2 EI 3 3EI ∴ v A = t AB − A′′A′ Pa3 Pa3 Pa3 = − = 3EI 12 EI 4EI Pa 3 vA = 4EI Note: Another method to find v A is shown. . This may be simpler method than the present one.
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