Appendix A

Basic Field Equations in Cartesian,

Cylindrical, and Spherical Coordinates

For convenience, the basic three-dimensional field equations of elasticity are listed here for Cartesian, cylindrical, and spherical coordinate systems. This will eliminate searching for these results in various chapters of the text. Cylindrical and spherical coordinates are related to the basic Cartesian system, as shown in Figure A-1.

o
| u

~
Z
/ /

sS/

/ R t
IP

| |

'"

(Cylindrical Coordinates) FIGURE A-1

(Spherical Coordinates)

Cylindrical and spherical coordinate systems.

437

Strain-Displacement Relations
Cartesian Coordinates
Ou Ov Ow ex = -~x , e y = -~y , e z = Oz

(A.1)

eyz = ~ --~Z+

ezx = -~ --~x +--~z

1(o. ou)

Cylindrical Coordinates
er Obl r 1Q Ouo~ OUz = - ~ F ' go =-r bl r + O0 J ' e z = - Oz

](!OUr e ro = "~ N

-k- -~r -

OUo 7 1
(A.2)

1 (Ouo

l Ouz~

eoz = -~ \ Oz + r OO J

l (OUr OU.) ezr =-~ \ Oz -k----~r Spherical Coordinates

e e = - - ~ , e c~ = -~
uR +

Od? )

eo = R sin 4) \ O0 + sin 4)uR + cos ~bu4,

(Ouo

)
(A.3)

eRc~ = -~

- ~ q OR

1( l ou4) ouO ) e~o = ~-~ si--n--~ ~oo b + ~ - cot ~uo

eoR = ~ Rsin~b 00 t--0-R---

Equilibrium Equations
Cartesian Coordinates
-~x + - ~ y + ~ z

Offx

OTyx OTzx

+Fx=0 (A.4)

OT~ Oay Ozzy Ox ~---~y + --0-~z+ F y = 0 &xz O~yz Oa~ ---~x -F---~-+--~z + Fz = 0

438 ADVANCED APPLICATIONS

Cylindrical Coordinates
Oar 10~rO 0---~ + -r ~ ~

O'Crz 1

+ - - ( f i r -- frO) -t- F r = 0

O'crO 1 0 a o O'coz 2 ~--t--@ -Jr---TrO+ Fo = 0 r--~--~-zr Or 10"COz Oaz 1 0~rz ~ -Jr- ; - - ~ --[- --~Z -'[- ; T,rz + Fz = 0 Or

(A.5)

Spherical Coordinates
OaR

10T.Rdp OR + R - - ~ q
10a4)

1 1

OTRO

Rsin4) O0
0"C4)o

1 t- -R (2#R - #4) - ~~ + zR4) c~ dp) + FR = O 1

O'CRd p

- - ~ - ~ - R - - ~ + R sin~b 0---0--+ R [(ao - ao)cot4~ + 3~R4] + Fr = 0

O~RO 10v4)O 1 Oao 1 + R - - ~ + R sin ~b 0---0-+ ~ (2~o cot 4) + 3"CRO) + Fo = 0

(A.6)

Hooke's Law
Cartesian Coordinates
1 ex = ~ lax - v(ay + az)] ax = 2(ex + ey + ez) + 2pe~
ey = ~, [fly -- l~(O'z nI- fix)]

ay = 2(e~ + ey + ez) + 2pey

ffz = 2(ex -t-- ey -k- ez) + 2#ez "Cxy = 2#exy
"Cyz = 21~eyz

ez = ~ [az - v(a~ + ay)]

exyeyz - -

l+v E ~xy l+v

E
T'YZ

(A.7)

"Czx = 2#ezx

ezx = ~

l+v
E

"Czx

Cylindrical Coordinates
1 er = ~ [at - v(ao + a~)] ar = )C(er 4- eo + e~) + 2per frO = )~(er -t- eo + ez) + 2peo az = 2(er -+- eo + ez) + 2#ez "CrO = 2#erO "COz= 2#eoz "Czr = 21~ezr eo = ~ [ao - V(az + at)] ez = 2 [az - l~(lYr +

frO)]

l+v
erO - - ~ "CrO "COz
"Cz r

(A.8)

l+v
eOz - - ~

l+v
e zr --

Appendix A - Basic Field Equations in Cartesian, Cylindrical, and Spherical Coordinates

439

Spherical Coordinates
eR = ~ [~R - v ( ~ + ~o)] CR = 2(eR + e4 + eo) + 2#eR o'4, = 2(eR + e4 + eo) + 2pe 4) r = 2(eR + e4 + eo) + 2#eo zR4) = 2#eRe z4~o = 2#er zoR = 2peoR
1 1

e~b =

~ [~ - v(~o +
l+v

1 eo = 2 [oo - v ( ~ . +

~)] ~+~]
(A.9)

l+v eeo = - - ~ ~eo l+v

eOR -- T "COR

Equilibrium Equations in Terms of Displacements

(Navier's Equations)
Cartesian Coordinates

O (Ou Ov Ow) ~xx+~yy+-~-z + F x = 0 o(o. Ov Ow) ].l~ 2 V d- (,~ "+- fl ) -~y -~X -~" -~y -~- -~2 -~- F y 0 o(o. Ov Ow) uV'2w+(~+U)~z N+~+~z +F:=0
laVzu+(2+p)-~x
=

(A.IO)

Cylindrical Coordinates
It V2Ur r2 r2

-frO,] + (2 + P)-~r

II VZuo -- 7~ -~- -~---~j Jr- (2 + 11)-r-~

]AV 21gz .Jr_( X -~- ]A) -~2

go :ou

,O(lO

~r(rUr)

-k--

r-~ff + OzJ -k- Fr = 0

,o.o
+ Fo = 0

r--~r (ru,.) + - r - - ~ + ~ + F. = 0

(A.11)

O (l -~F O(fur) + rlot,,, ~z ) --~ +

Spherical Coordinates
2uR
It ~2UR R2

20u4~
R 20q~

2u,/, cot q5
R2

2 Ouo'] R 2 sin q50--0J

+ (2 q- l t ) - ~

0(~50

1 0 -~(R2UR) -t R sin q50~b (u,/, sin qS) -t R sin 49 O0 J + FR = 0

440 ADVANCED APPLICATIONS

2 OuR u~ _ 2 cos 4) Ouo'~ /~ V2u4' + R --y 0---~- R 2 sin 2 4~ R2 sin2~ O0 ,]

1 Ouo'~ 1 0 (~_ 0 2 1 0 + (2 + / ~ ) ~ - - ~ ',,1" ~-~(R uR) -t R sin 4~04~ (u4' sin ~b) + Rsin~b 0-0J +F,/, = 0
uo 2 OuR 2 cos 4) Ou4)~ la VZuo - R2 si---~2~b + R 2 sin2~ 0---0-+ R 2 sin 2 ~b 00 J

(A.12)

1 Ouo'~ 1 0 ( 1 0 (R 2 1 0 + (,~ + ,0 R sin 4' oo \k5 ~ ' - uR) + R s i-n - -7 0-7 ('~ sin 4,) + R - sin4~ - - - 0--0] + Fo = 0

Appendix A - Basic Field Equations in Cartesian, Cylindrical, and Spherical Coordinates

441