MCEN 5023/ASEN 5012

Chapter 4

Stress and Strain Tensors Deformation and Strain

Fall, 2006

Deformation and Strain

Displacement & Deformation
Displacement: A vector or the magnitude of a vector from the initial
position to a subsequent position assumed by a body.
Deformation: An alteration of shape, as by pressure or stress.
Example:

Case 1

Case 2

Time 0
Case 3
Time t

Deformation and Strain

Deformation and Strain
Strain characterizes a deformation
Example: 1D strain

L0
L

L L0
I =
L0

Deformation and Strain

Kinematics of Continuous Body
Time t
Time 0

xi
ai

a 2 x2

x3
a3

x1
a1

Time 0:

Undeformed configuration
Reference (initial) configuration
Material configuration

Time t:

Deformed configuration
Current configuration
Spatial configuration

Deformation and Strain

Kinematics of Continuous Body

xi = xi (a1 , a2 , a3 , t )
OR, due to continuous body

ai = ai ( x1 , x2 , x3 , t )
Lagrangian Description:

The motion is described by the material

coordinate and time t.

Eulerian Description:

The motion is described by the spatial

coordinate and time t.

Deformation and Strain

Lagrangian vs. Eulerian
Lagrangian

Eulerian

xi = xi (a1 , a2 , a3 , t )

ai = ai ( x1 , x2 , x3 , t )

(Tacking a material point)

(Monitoring a spatial point)

a 2 x2
The spatial
coordinates of
this material
point change
with time.

t=0

t=t1

t=t2

Different material
points pass this
spatial point

x1
a1

Deformation and Strain

Lagrangian vs. Eulerian

Lagrangian
Tracking a material point.
Material point is fixed but the spatial
coordinates have to be updated.
Good for constitutive model

Solid Mechanics

Eulerian
Tracking a spatial point.
Spatial coordinates are fixed but
Material points keep changing.
Not good for constitutive model.

Fluid Mechanics
Solid Mechanics

Deformation and Strain

Kinematics of Continuous Body
Time t
Time 0

ai

ui

xi

a 2 x2

x3
a3

x1
a1

Using undeformed configuration as reference:

ui (a1 , a2 , a3 ) = xi (a1 , a2 , a3 ) ai
Using deformed configuration as reference:

ui ( x1 , x2 , x3 ) = xi ai ( x1 , x2 , x3 )

Deformation and Strain

Measure the deformation
Time t
Time 0

ai

ui

P xi

P0

Q
Q0

a 2 x2

P0 = {a1, a2 , a3 }
x3
a3

x1
a1

Q0 = {a1 + da1, a2 + da2 , a3 + d a3 }

P = {x1, x2 , x3 }
Q = {x1 + dx1, x2 + dx2 , x3 + dx3 }

Deformation and Strain

Measure the deformation

Deformation and Strain

Measure the deformation

Deformation and Strain

Strain Tensor:

1 xk xk
Eij =
ij

2 ai a j

Green Strain

ak ak
1
eij = ij
2
xi x j

Almansi Strain

Deformation and Strain

Strain Tensor:

1 ui u j uk uk Green Strain
Eij =
+
+
2 a j ai ai a j
1 ui u j uk uk
eij =
+

2 x j xi xi x j

Almansi Strain

Applicable to both small and finite (large) deformation.

Deformation and Strain

Physical Explanations of Strain Tensor
Time t
Time 0

P0

da
a 2 x2

x3
a3

x1
a1

Q0

ui

dx

Deformation and Strain

Physical Explanations of Strain Tensor
Time t
Time 0

P0

da
a2 x2

x3
a3

x1
a1

Q0

ui

dx Q

Deformation and Strain

Physical Explanations of Strain Tensor
Time t
Time 0

n
v

a2 x2

x3
a3

x1
a1

ui

Deformation and Strain

ui
ui
If
<< 1
<< 1
a j
x j

small deformation

The quadratic term in Green strain and Almansi strain can be neglected.

1 ui u j
Eij =
+

2 a j ai

1 ui u j
eij =
+

2 x j xi

Also, in small deformation, the distinction between Lagrangian and

Eulerian disappears.

1 ui u j
Eij = eij =
+

2 x j xi
Cauchys infinitesimal strain tensor

Deformation and Strain

Cauchys infinitesimal strain tensor

1 ui u j
Eij = eij =
+

2 x j xi
u1
e11 = E11 =
x1

1 u2 u1

+
e12 = E12 =
2 x1 x2

u2
e22 = E22 =
x2

1 u3 u1

e13 = E13 =
+
2 x1 x3

u3
e33 = E33 =
x3

1 u3 u2

e23 = E23 =
+
2 x2 x3

Deformation and Strain

ui
ui
If
<< 1
<< 1
a j
x j

small deformation

Note:
In most of the cases,

ui
<< 1
a j
But,

ui
<< 1
x j

small deformation

Deformation and Strain

Engineering Strains

Coordinates: x, y, z

Displacements: u, v, w

Normal strains:

u
x =
= e11
x
v
y = = e22
y
w
z =
= e33
z

Deformation and Strain

Engineering Strains
Shear Strains:

xy

u v
=
+
= 2e12
y x

yz

v w
= +
= 2e23
z y

xz

u w
=
+
= 2e13
z x

Deformation and Strain

Stretches at small deformation

Deformation and Strain

Cauchys Shear Strain and Engineering Shear Strains

A
x2

A
C
B

dx2

dx1

C
x1

Deformation and Strain

Cauchys Shear Strain and Engineering Shear Strains

u1 u
1 =
=
x2 y

A
x2

xy = 1 + 2

dx2

2 C

B
dx1

u2 v
2 =
=
x1 x

C
x1

1
e12 = (1 + 2 )
2

Deformation and Strain

Cauchys Shear Strain and Engineering Shear Strains

e11
[e] = e12
e13

e12
e22
e23

e13
1

e23 = xy
2
e33 1

2 xz

Engineering Strain xy
xz

1
xy
2

y
1
yz
2

xy xz

y yz
yz z

1
xz
2
1
yz
2
z

Tensor

Not a tensor!!!

Deformation and Strain

Transformation of Coordinate System

In general

eij = ik jk eij

Deformation and Strain

Transformation of Coordinate System 2D
X

e2

X 2
e 2

X 1
e 1

e1

= cos 2 e11 + 2 sin cos e12 + sin 2 e22

e11
= sin 2 e11 2 sin cos e12 + cos 2 e22
e22

= sin cos(e22 e11 ) + cos 2 sin 2 e12

e12

Deformation and Strain

Transformation of Coordinate System 2D Mohr Circle

Deformation and Strain

Strain Invariants

Deformation and Strain

Strain Deviations
Mean Strain

e11 + e22 + e33 1

e0 =
=
3
3

Strain deviation tensor

e = e e0 I
eij = eij e0 ij

Octahedral Shear Strain

0 =

2
3

(e11 e22 )2 + (e22 e33 )2 + (e33 e11 )2 + 6(e122 + e232 + e312 )

Deformation and Strain

Determine Displacement Fields from Strains

1 ui u j
Eij = eij =
+

2 x j xi

Questions: Can the displacements be determined uniquely?

Deformation and Strain

Determine Displacement Fields from Strains

u1
= x1 + 3x2
x1

u1
= x12
x2

The strain fields are inconsistent because

u1 2u1
=

=3
x2 x1 x2 x1

u1 2u1
=

= 2x1
x1 x2 x1x2

2u1
2u1

x2 x1 x1x2

Deformation and Strain

Compatibility of Strain Fields
B

A
B

C
Compatible strain fields

D
B

B
C

Undeformed
A

Incompatible strain fields

C
C

Deformation and Strain

Integrability Condition
In general

u1
= f ( x1 , x2 )
x1

u1
= g ( x1 , x2 )
x2

Integrability condition ( Compatibility of strain fields )

2u1
2u1
=
x2 x1 x1x2

f
g
=
x2 x1

Integration of strain fields yields unique displacement components.

Deformation and Strain

Compatibility of Strain Fields

u1
e11 =
x1

u2
e22 =
x2

1 u2 u1

e12 =
+
2 x1 x2

Deformation and Strain

Compatibility of Strain Fields

eij ,kl + ekl ,ij eik , jl e jl ,ik = 0

St. Venant Equations of Compatibility
Totally 81 equations, but only 6 are essential.

e11, 22 + e22,11 = 2e12,12

e11, 23 = e23,11 + e12,13 + e13,12

e22,33 + e33, 22 = 2e23, 23

e22,13 = e13, 22 + e21, 23 + e23, 21

e11,33 + e33,11 = 2e13,13

e33,12 = e12,33 + e31,32 + e32,31