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xx y
2v
x 2
(6.2.1)
The beam theory assumptions are essentially the same for the plate, leading to strains
which are proportional to distance from the neutral (mid-plane) surface, z, and expressions
similar to 6.2.1. This leads again to linearly varying stresses xx and yy ( zz is also
taken to be zero, as in the beam theory).
initial
position
The slopes of the plate along the x and y directions are w / x and w / y .
125
Kelly
Section 6.2
Curvature
Recall from Book I, 7.4.11, that the curvature in the x direction, x , is the rate of change
of the slope angle with respect to arc length s, Fig. 6.2.2, x d / ds . One finds that
2 w / x 2
1 w / x 2
(6.2.2)
3/2
Also, the radius of curvature R x , Fig. 6.2.2, is the reciprocal of the curvature, R x 1 / x .
Rx
x
Fig. 6.2.2: Angle and arc-length used in the definition of curvature
As with the beam, when the slope is small, one can take tan w / x and
d / ds / x and Eqn. 6.2.2 reduces to (and similarly for the curvature in the y
direction)
1
2w
2 ,
R x x
1
2w
2
R y y
(6.2.3)
126
Kelly
Section 6.2
A
C
x
w
w 2 w
x
x x 2
C
w
x
w
y
w 2 w
y
y y 2
y
Figure 6.2.3: Physical meaning of the curvatures
Twist
Not only does a plate curve up or down, it can also twist (see Fig. 6.1.3). For example,
shown in Fig. 6.2.4 is a plate undergoing a pure twisting (constant applied twisting
moments and no bending moments).
M xy
y
M xy
x
Figure 6.2.4: A twisting plate
If one takes a row of line elements lying in the y direction, emanating from the x axis, the
further one moves along the x axis, the more they twist, Fig. 6.2.4. Some of these line
elements are shown in Fig. 6.2.5 (bottom right), as veiwed looking down the x axis
towards the origin (elements along the y axis are shown bottom left). If a line element at
position x has slope w / y , the slope at x x is w / y x (w / y ) / x . This
motivates the definition of the twist, defined analogously to the curvature, and denoted by
1 / Txy ; it is a measure of the twistiness of the plate:
2w
1
Txy xy
127
(6.2.4)
Kelly
Section 6.2
w
A
x
D
C
y
x xy
w
B
A
2
x
y xy
w
C
A
The signs of the moments, radii of curvature and curvatures are illustrated in Fig. 6.2.6.
Note that the deflection w may or may not be of the same sign as the curvature. Note
also that when M x 0, 2 / x 2 0 , when M y 0, 2 / y 2 0 .
Rx 0
Mx 0
z
x
2 / x 2 0
2 / x 2 0
Mx 0
z
x
Rx 0
On the other hand, for the twist, with the sign convention being used, when
M xy 0, 2 / xy 0 , as depicted in Fig. 6.2.4.
Principal Curvatures
Consider the two Cartesian coordinate systems shown in Fig. 6.2.7, the second ( t n )
obtained from the first ( x y ) by a positive rotation . The partial derivatives arising in
128
Kelly
Section 6.2
the curvature expressions can be expressed in terms of derivatives with respect to t and n
as follows: with w w x, y , an increment in w is
w
w
w
x
y
x
y
(6.2.5)
y t sin
(6.2.6)
Thus
w w
w
cos
sin
y
t
x
(6.2.7)
sin
cos
y
n
x
(6.2.8)
cos
sin
x t
n
w w
w
sin
cos
y t
n
(6.2.9)
t
o
x
Figure 6.2.7: Two different Cartesian coordinate systems
The relationship between second derivatives can be found in the same way. For example,
w
2w
cos sin
cos
sin
2
n
n
x
t
t
2
2
2
w
w
w
cos 2 2 sin 2 2 sin 2
tn
t
n
129
(6.2.10)
Kelly
Section 6.2
2w
2
2
cos 2 sin 2
2
x
t
2
2
w
2
sin
cos 2
2
2
y
t
2
sin 2
n 2
2
sin 2
n 2
2
tn
2
tn
(6.2.11)
2 2
2
2w
cos
sin
sin
2
xy
t 2
x 2
y 2
2w
2
2
2
2
2
sin
cos
sin
2
xy
n 2
x 2
y 2
(6.2.12)
2 2
2w
2
sin cos 2 2 cos 2
tn
xy
x
y
or1
1
1
1
1
cos 2
sin 2
sin 2
Rt
Rx
Ry
Txy
1
1
1
1
sin 2
cos 2
sin 2
Rn
Rx
Ry
Txy
(6.2.13)
1
1
1
1
sin cos
cos 2
R
Ttn
Txy
y Rx
These equations which transform between curvatures in different coordinate systems have
the same structure as the stress transformation equations (and the strain transformation
equations), Book I, Eqns. 3.4.8. As with principal stresses/strains, there will be some
angle for which the twist is zero; at this angle, one of the curvatures will be the
minimum and one will be the maximum at that point in the plate. These are called the
principal curvatures. Similarly, just as the sum of the normal stresses is an invariant
(see Book I, Eqn. 3.5.1), the sum of the curvatures is an invariant2:
1
1
1
1
R x R y Rt Rn
(6.2.14)
If the principal curvatures are equal, the curvatures are the same at all angles, the twist is
always zero and so the plate deforms locally into the surface of a sphere.
1
2
these equations are valid for any continuous surface; Eqns. 6.2.12 are restricted to nearly-flat surfaces.
this is known as Eulers theorem for curvatures
130
Kelly
Section 6.2
1
1
dS
pq
x x x
2
xx
(6.2.15)
q
y
w
x
x
w
w( x, y )
x
x
w x, y
mid-surface p
v x, y
u x, y
v
v( x, y ) x
x
v
x
u ( x, y )
u
x
x
In the plate theory, it will be assumed that the displacement gradients are small:
u
,
x
u
,
y
u
,
z
v v
,
,
x y
v
,
z
w
,
z
of order 1 say, so that squares and products of these terms may be neglected.
However, for the moment, the squares and products of the slopes will be retained, as they
may be significant, i.e. of the same order as the strains, under certain circumstances:
2
w
w
, ,
x
y
w w
x y
131
Kelly
Section 6.2
xx 1 2
u w
1
x x
(6.2.16)
With 1 x 1 x / 2 for x 1 , one has (and similarly for the other normal strains)
xx
yy
zz
u 1 w
x 2 x
v 1 w
y 2 y
w
(6.2.17)
Consider next the angle change for line elements initially lying parallel to the axes, Fig.
6.2.9. Let be the angle r p q , so that / 2 is the change in the initial right
angle rpq .
w
z
z
v
z
z
r
u
z
z
w
x
x
u
x
x
v
x
x
cos
pq rr qq r r qq pr
pq pr
u u v v w
w
x z
z
x x z x z
x z x z x
z
2
2
2
2
2
2
u v w
w u v
x 1
z 1
z z z
x x x
132
(6.2.18)
Kelly
Section 6.2
cos
xz
z x x z
(6.2.19)
For small , sin cos , so (and similarly for the other shear strains)
1 u
w w
xy
2 y x x y
1 u w
2 z x
xz
1 v
(6.2.20)
yz
2 z y
The normal strains 6.2.17 and the shear strains 6.2.20 are non-linear. They are the starting
point for the various different plate theories.
Von Krmn Strains
Introduce now the assumptions of the classical plate theory. The assumption that line
elements normal to the mid-plane remain inextensible implies that
zz
w
0
z
(6.2.21)
This implies that w w x, y so that all particles at a given x, y through the thickness of
the plate experinece the same vertical displacement. The assumption that line elements
perpendicular to the mid-plane remain normal to the mid-plane after deformation then
implies that xz yz 0 .
The strains now read
133
Kelly
Section 6.2
u 1 w
x 2 x
v 1 w
y 2 y
0
xx
yy
zz
1 u
(6.2.22)
w w
xy
2 y x x y
xz 0
yz 0
These are known as the Von Krmn strains.
Membrane Strains and Bending Strains
u 0 ( x, y )
u ( x, y , z ) z
z
x
x
(6.2.23)
It can be seen that the function u 0 ( x, y ) is the displacement in the mid-plane. In terms of
the mid-surface displacements u 0 , v 0 , w0 , then,
u u0 z
w0
w
, v v0 z 0 , w w0
x
y
(6.2.24)
xx
u
2 w0
1 w
0 0 z
x 2 x
x 2
2
yy
xy
v
2 w0
1 w
0 0 z
y 2 y
y 2
v 1 w w0
1 u
0 0 0
2 y
x 2 x y
(6.2.25)
2 w0
z
xy
The first terms are the usual small-strains, for the mid-surface. The second terms,
involving squares of displacement gradients, are non-linear, and need to be considered
when the plate bending is fairly large (when the rotations are about 10 15 degrees).
These first two terms together are called the membrane strains. The last terms,
involving second derivatives, are the flexural (bending) strains. They involve the
curvatures.
When the bending is not too large (when the rotations are below about 10 degrees), one
has (dropping the subscript 0 from w)
Solid Mechanics Part II
134
Kelly
Section 6.2
u 0
2w
z 2
x
x
v0
2w
z 2
y
y
xx
yy
1 u
(6.2.26)
2w
xy 0 0 z
2 y
x
xy
Some of these strains are illustrated in Figs. 6.2.10 and 6.2.11; the physical meaning of
xx is shown in Fig. 6.2.10 and some terms from xy are shown in Fig. 6.2.11.
w
u0 z
x
z
p
mid-surface
u0 z
xx
w
x
w 2 w
x
x x 2
w u0
2w
z 2 x
x x
x
w
x
x
u0
u0
x
x
a
p
v0
a, p
w
2w
z
z
x
y
xy
v0
v0 z
v0
x
x
w
y
b, q
Figure 6.2.11: the deformation of 6.2.10 viewed from above; a , b are the
deformed positions of the mid-surface points a, b
135
Kelly
Section 6.2
Finally, when the mid-surface strains are neglected, according to the final assumption of
the classical plate theory, one has
xx z
2w
,
x 2
yy z
2w
,
y 2
xy z
2w
xy
(6.2.27)
In summary, when the plate bends up, the curvature is positive, and points above the
mid-surface experience negative normal strains and points below experience positive
normal strains; there is zero shear strain. On the other hand, when the plate undergoes a
positive pure twist, so the twisting moment is negative, points above the mid-surface
experience negative shear strain and points below experience positive shear strain; there
is zero normal strain. A pure shearing of the plate in the x y plane is illustrated in Fig.
6.2.12.
top
mid-surface
bottom
Figure 6.2.12: Shearing of the plate due to a positive twist (neative twisting moment)
Compatibility
Note that the strain fields arising in the plate satisfy the 2D compatibility relation Eqn.
1.3.1:
2
2 xy
2 xx yy
2
xy
y 2
x 2
(6.2.28)
This can be seen by substituting Eqn. 6.25 (or Eqns 6.26-27) into Eqn. 6.2.28.
136
Kelly
Section 6.2
xx
1
xx yy , yy yy xx , xy
xy
E
E
E
E
E
(6.2.29)
so, from 6.2.27, and solving 6.2.29a-b for the normal stresses,
xx
yy
xy
2w
z 2
x
2w
E
z
1 2 y 2
1 2
2w
y 2
2w
x 2
(6.2.30)
E
2w
z
1 xy
Substituting Eqns. 6.2.30 into the definitions of the moments, Eqns. 6.1.1, 6.1.2, and
integrating, one has
2w
M x D 2
x
2w
M y D 2
y
M xy D1
2w
y 2
2w
x 2
(6.2.31)
2w
xy
where
D
Eh 3
12 1 2
(6.2.32)
Equations 6.2.31 are the moment-curvature equations for a plate. The momentcurvature equations are analogous to the beam moment-deflection equation
2 v / x 2 M / EI . The factor D is called the plate stiffness or flexural rigidity and
plays the same role in the plate theory as does the flexural rigidity term EI in the beam
theory.
Stresses and Moments
xx
M yz
M xy z
Mxz
,
yy
xy
h 3 / 12
h 3 / 12
h 3 / 12
137
(6.2.33)
Kelly
Section 6.2
(6.2.34)
(6.2.35)
Also, there exist principal planes, upon which the shear stress is zero (right through the
thickness). The moments acting on these planes, M 1 and M 2 , are called the principal
moments, and are the greatest and least bending moments which occur at the element.
On these planes, the twisting moment is zero.
xy
nn
xy
tt
tn
xx
Figure 6.2.13: Plate Element; (a) stresses acting on element, (b) rotated element
138
Kelly
Section 6.2
(6.2.36)
showing that the moment-curvature relations 6.2.31 hold in all Cartesian coordinate
systems.
6.2.6 Problems
1. Use the curvature transformation relations 6.2.11 and the moment transformation
relations 6.2.35 to derive the moment-curvature relations 6.2.36.
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Kelly