2.

001 - MECHANICS AND MATERIALS I

Lecture #26
12/11/2006
Prof. Carol Livermore
Energy Methods
3 Basic Ingredients of Mechanics:
1. Equilibrium
2. Constitutive Relations
 . . . Stress-Strain
F Force-Deformation
3. Compatibility
Dealing with geometric considerations
Castiglianos Theorem
Start with work:

F ds

W =

Conservative Forces:
EX: Gravity

u = mgh Potential Energy, Path Independent


 h
W = F ds =
mgdz = mgh
0

Note: Elastic systems are conservative.

Plastic deformation is not conservative.
EX: Springs

Energy = 1/2k 2

W =

P d =

kd =

Stored Energy = Work Put In

U =W
What if the spring were stretched a little further?

1 2
k
2

dU = P d
dU
P =
d
Complementary Energy (U )

U =

dP

Note: U = U due to linearity

U=
 U if this is non-linear
What if the load were stretched a little further?

dU = dP
dU
=
dP
Recall, for linear elastic material

dU
dP

Castiglianos Theorem:
Express complementary energy in terms of the loads
Add up all the complementary energy stroed in all the pieces
Find displacement of given point from derivative of U with respect to P at
that point in that direction
Example: Linear Spring

U =


dP =

k2 2
1
P
P2
dP =
=
= k 2
k
2k
2k
2

Example: Springs in series

F1 = F2 = P
U=

Ui =

F12
F2
P2
P2
+ 2 =
+
2k2
2k1
2k2
2k1

Use Castiglianos Theorem

P
P
U
=
+
dP
k1
k2

Find 1 using Castiglianos Theorem

Put a ctitous Pf to coinside with 1

Fx = 0

F1 + Pf + P = 0 F1 = Pf + P
F2 + P = 0 F2 = P
U=

F2
(Pf + P )2
P2
F12
+ 2 =
+
2k1
2k2
2k1
2k2
1 =

U
Pf + P
=
Pf
k1

Recall Pf =0, so:

1 =
=

P
k1

dU
Pf + P
P
=
+
dP
k1
k2
Pf = 0

So:

P
P
+
k2
k1

Note: This was done without doing compatibility explicitly.

Example Truss

U=

Ui =

2
FAB
F2
+ BC
2kAB
2kBC

Equilibrium of B

Fx = 0

FAB FBC sin = 0



Fy = 0

P FBC cos = 0
P = FBC cos
P
cos
= P tan

FBC =
FAB
U=

(P tan )2
+
2kAB

uB
y =

P
cos

2

1
2kBC

dU
P tan2
P
=
+
dP
kAB
cos2 kBC

Strain Energy Density


W =

F d


u=

d

This is useful in beam bending.

Stored Energy in A Beaam (xx , xx )

Total Energy Stored


U=

dV
V

xx dxx

Recall:
For a beam:

xx = Exx
For one material:
xx =

M y
I

Beam:

dV

xx dxx
 xx
xx dxx
=
dV
E
V
0

2
xx
=
dV
2E
V
V

For one material:


U=
V

M (x)2 2
y dV
2EI 2

So:
U=

1
2EI

M (x)2 dx For special case of one material beam.

Example:

M (x) = P (L x)
 L
P 2 L3
1
U=
P 2 (L x)2 dx =
2EI 0
6EI
tip =

dU
P L3
=
dP
3EI