Rupture Surfaces of a Thick Spherical Shell Under Internal Pressure

Author(s): Sadia M. Makky

Source: SIAM Journal on Applied Mathematics, Vol. 16, No. 2 (Mar., 1968), pp. 255-267
Published by: Society for Industrial and Applied Mathematics
Stable URL: http://www.jstor.org/stable/2099291 .
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SIAM J. APPL. MATH.

Vol. 16, No. 2, March 1968
Printed in U.S.A.

RUPTURE SURFACESOF A THICK SPHERICALSHELL

UNDER INTERNALPRESSURE*
SADIA M. MAKKYt

1. Introduction. Professor T. Y. Thomas' theory of fracture on surfaces

of instability has been applied to predict analytically the possible surfaces
of rupture of a thick-walled spherical shell under internal pressure. It is
assumed that the shell is made of incompressible, rigid-perfectly plastic
m-aterial, and the internal pressure is so high that the shell material is
ftully in the plastic state. Using either Tresca or von Mises' yield criterion,
H1lecky-vornMises' stress-rate of strain relations, in addition to compatibility and boundary conditions, it is shown that an initial discontinuity
in the velocity components will not damp out across the planes p = a
constant, where spdenotes the polar angle in the usual spherical coordinate
system (r, 6, q'). The last statement implies that the shell is subject to
rupture on the planes whose intersection with the inner and outer surfaces
of the shell are arcs of great circles.
2. Preliminary mathematical derivation.
2.1. The fundamental metric tensor and Christoffel symbols in a
spherical coordinate system. In the following sections there will be a need
to express the constitutive equations relative to a spherical coordinate system (r, 6, so).For easier reference, therefore, some expressions relative to
this system are given here.
The covariant components, gij, of the fundamental metric tensor relative to the spherical coordinate system are given by
(2.1)

grr

= 1,

goo=

r2,

gij =0 , otherwise.

gp = r2 sin2 0,

Likewise, in spherical coordinates, the contravariant componenits of the

fuindaiental imetric tensor are:
(2.2)

gr7=

1 '_ glP
g ;~~

r2Sin2 6'

0, otherwise.

To determine Christoffel symbols, one uses the following relatiorns (See

(2.3)

VA;

I1 gi)sm

C)g,mj+

ag.k

gjkX

Received by the editors JUne 1, 1964, and in re vised form July 26, 1966.
Techiical Support Section, Airplan1eDivisioIn, BoeinlgCoIt pany, Seattle, WashitigtonI. Now at College of Scieticc, University
255

of Bagdad, Bagdad, Iraq.

256

M. MAKKY

SADIA

Frotm(2.3) atndfroemielations (2.1) and (2.2) for the covariant anidconitravariant components of the fundamental metric tensor it follows:
rT = -r sin2 0,

-r

(2.4) Fr =r=
r=

-sin 0 cos 0,

r?

FIr' -,

PO

cot 0,

0, otherwise.

2.2. Covariant derivatives of velocity and stress tensors relative to

spherical coordinate system. The covarianlt derivative v$J of the velocity
comnponienit
vi with respect to the coordiniate xj is [1]
OVi

(2.5)

-j = cl

rT)Vji

Upon usinlg this relation-and the expression for the compoinents of Christoffel symbols, relative to the spherical coordinate system, given by (2.4),
oine finds that
(2.6)

(2.7)

vo,r

r,=yar

Vr,

CIv,
VU,-r

V,8

-rP,

-r

O)r

1
r

dvr8

rvr,

VP

-Pr
I,

da,
00

cot

VP,

cot
e 0 vp,

0 V4

(2.8)
VIP, =

+ sitn 0 cOs5 0o + r sin2 0 V,

Siimilarly,the covariant (compoIltnts of t}e stress tetnsorare

(2.9)

aij,k

=x _,

-ri

ik* 0rim

from which it follows:

OCrrrr
(Tr),r
=ara

(2.10)

+8,

?rss = d'+

-0Cosr

sin 0cos0 B 8 -<+

r il2

0 rrr,

RUPTURESURFACESOF A SPHERICALSHELL
00
=

O"Or,r

r
+ 2ro6r,
sin O cos 0 o-o-

-+

4,=

'dr
=O

Oc,

=-ao

=l

cot 0 o-,

+ s

,r, rP

(2.12)

0
'r

,Or

a oe, =

(2.11)

257

r
+ roor

eot 6o
0

a"" + 2r sin20 ovr + 2 sin 0 cos 6 o,o.

3. The stress distribution of a thick spherical shell under internal pressure when the shell is fully in the plastic equilibrium state. The symmetry
of a uniform internal pressure acting on a spherical shell of uniform thickness indicates that the shear components of the stress tensor relative to
the spherical coordinate system (r, 0, sp) must vanish, or
(3.1)

orO=

o0p= (Tor= 0.

This implies that the principal directions associated with the principal
niormal stresses can be taken along the spherical coordinate axes. The
magnitude of the principal normal stresses can be found by equating the
determinant Iaij - Tgij Ito zero, then solving for T, [2]. This gives
(3.2)

(Orr -

T)

(o-d

r2T) (of,

r2 sin2

6 T) = 0,

where the expressions for gij relative to spherical coordinates, and the
vanishing of the shear components of stress expressed in (3.1), are Conlsidered.
Equation (3.2) gives for the three principal stresses:
(3.3)

Tr = arr)

To = ool/r ,

TV = o-/(r2

sin2 6).

Since the principal values (Tr, To, T,) are the components of the stress
in canonical coordinate system, it is reasonable to assume, using again the
symmetry condition, that the principal normal stresses along the angular
coordinates are equal, or To = TV, from which it follows:
(3.4)

0sPo= sin2 6o_e0.

258

SADIA M. MAKKY

Consider, now, the equilibrium conditions (see [2])

(3.5)

0
O,

=ti kg

where the comma, as before, denotes covariant differentiation. Taking

i = 1, theli using (2.10), results iii
C0rr

or + r2

re0

ao + ror

+ r2 sin
( 3<P + sin OcosOti 2 0C,Okpr

i?
r + r sin0 0rr) = O.

The above relation is reduced to

(3.7)

Clrr+

O_r_

2arr _

20oeo =

r3

when use is made of (3.1) and (3.4). Similarly, by taking i

(3.5) reduces to

(3.8)

aLTo9

0 and

fcT4O4-

2 and 3),

0,

respectively. Equations (3.8) confirm what one expects from symmetry,

namely, that the stress components are independent of the angular coordinates 0 and sp.
The solution of (3.7) is found through the use of the Tresca yield condition which states that the elastic limit is reached when the difference between the maximum and minimum principal normal stresses is equal to the
material yield constant K. To determine which of the two principal normal
stresses Tr or To is the maximum, one must remember that in the elastic
state the angular principal normal stress is always greater than the radial
principal normal stress [3, pp. 356-359]. Therefore, one can assume that
the same relation holds when the shell is fully in the plastic state (see
Remarks 1 and 2 at the end of this section), or
(3.9a)

To

Tr=

K.

Equation (3.9a) is equivalent to

(3.9b)

000-

frr

= K,

when use is made of (3.3). Combining (3.4), (3.7) and (3.9b) yields
t3.10)

=r
ar

2K=0
r

OF A SPHERICAL

SURFACES

RUPTURE

SHELL

259

from which it follows that

2

= K logR2

(3.1la)

Urr

(3.11b)

=eeK2(K

(3.11c)

+ log i 2

Kr2 sin

(1 + log

where R is the outeir radius of the shell. Notice that in deriving (3.11a)
use is made of the bounidaryconiditions
(3.12)

?iji'

Fi=

where Fi are the covarianlt components of the applied external force and
n' are the contravariant components of the outward normal to the boundary of the shell. On the outer surface, r = R, there is no applied force.
Therefore, the right memnberof (3.12) vanishes and these relations are
satisfied identically by the stress distribution expressed by (3.1) and
(3.11). However, on the inner surface of the shell the applied force is the
internal pressure. Since the pressure is normal to surface, it follows that
the components of the force are

(3.13)

Fr

Fe = F

P,

=0 .

Furthermore, the components of the outward normal to the inner surface

are given by
(3.14)

=0.

Using (3.13) and (3.14) one can show that (3.12) are satisfied identically
for i = 2 and 3. In addition, for i = 1, the above relations determine
the internal pressure needed to reniderthe shell fully in the plastic state.
Thus, the internal pressure is
P = K loR a2

(3.15)

where a is the inner radius of the shell.

Remark 1. A treatment of the stress dlistribution in a thick spherical
shell urnderinternal pressure can be founldin Iloffmaii and Sachs [4].
Remark 2. Voni Mfises'yield condition is given by
(3.16)

Og

jOkm

where k is a m-aterialconstant, and oj are the coimponientsof the deviator

260

SADIA

M. MAKKY

I= o.j-

3 (aabg

stress tensor, i.e.,

(3.17)

)gijj

It can be verified, through the use of (2.1), (2.2), (3.1), (3.4) anid (3.17),
that von Mises' yield condition (3.16) is equivaleint to
(3.18)

1
2 a-0

0rr

V3/2

k = 4K.

The discussion in the following sections does not depend onl the sign of the
right member of (3.18); in fact, one reaches the same conclusion whatever
sign is taken. Nevertheless, using the boundary condition (3.12) for i = 1,
and the convention that the normal to a surface is in the outward directioni,
one can show that the sign of the right member in (3.18) must be positive,
thus indicatiing that the von Mises and Tresea yield conditions give identical results for the stress distribution of a spherical shell under internal
pressure.
4. Initiation of plastic flow and conditions for rupture.
4.1. General assumptions and the essence of the theory of fracture on
surfaces of instability. In the previous section the stress distribution is
derived for the spherical shell which is fully in a state of plastic equilibrium. Assume, now, that plastic flow initiates in a finite region of the shell
and that the region of plastic flow is separated from the region of plastic
equilibrium by a plane S, passing through the center of the spherical shell,
thus intersecting the inner and outer surfaces of the shell on arcs of great
circles. Clearly, one may write the equation for plane S as
(4.1)

O= const.

Since in the plastic equilibrium region the components of particle velocity are zero, while in the plastic flow region at least one of the velocity
components is different from zero, it is assumed that an initial discontinuity
in at least one of the velocity components exists across the plane S. The
behavior of the initial discontinuity relative to time, under the assumption
that the stress components and their partial derivatives are continuous
across S, determines whether or not the surface S is stable. If one shows
that the initial discontinuity will not be damped out, i.e., it does not go to
zero as I goes to inifinity, one concludes that S is a surface of instability.
According to the theory of fracture on surfaces of instability [2], one can
then say that S is a possible surface of fracture.
4.2. Constitutive equations and compatibility conditions. The equations
governing the behavior of the discontinuity of the velocity comnponents

RUPTURE

OF A SPHERICAL

SURFACES

SHELL

261

across the surface S are as follows:

1. Stress-rate of strain relations (see Remarks 2 and 4):
(4.2)

Eij=

f*j,

where eij are the components of the rate of strain tensor; these components
are related to the velocity components vj by

(4.3)

Eij =

2 (vi,j + vj,i).

Also, ; is a function of the stress and the rate of strain tensors; in fact,
for a material satisfying von Mises' yield condition it is given by
,

('ijlmk9g

)/1k

2. Equations of motion:
p

(4.4a)

gr j,k

where p is the density of the shell material. Upon expanding the left inenbers of the above equations, they become
(4.4b)

(avi

Vk!gi) -fk

Vi,j

Ogj.

3. The slip condition:

[vi]n' = 0,

(4.5)

where n' denote the contravariant components of the normal to the plane
S, and the brackets stand for the difference of the value of the function
within the brackets when evaluated on the two sides of S. The physical
interpretation of the slip condition is that there must be no separation
of the material particles across the surface S.
In addition, the yield condition, given by either (3.9) or (3.16), must
be satisfied.
Remark 1. Other geometrical and kinematical compatibility conditions
of the first kind are satisfied identically for this problem.
Remark 2. The incompressibility condition, namely, v, gqii
0, has been
used implicitly in writing the stress-rate of strain relations in the form
(4.2). In fact, without this condition these relations must read
(4.2a)

=j

where E* are the components of the rate of strain deviator tensor, given by
*

i-

k3(cab)gij

262

SADIA

M.

MAKKY

However, from the incompressibility condition, and the relations between

the components of the rate of strain and velocity (4.3), it follows that
-

fij

ij,

implying that (4.2) and (4.2a) are equivalent.

Remark 3. The continuity relation, namely,

-a +

pVi'j

giJ =

0,

with t referring to time, when combined with the incompressibility condition implies that for a homogeneous material the density is constant with
respect to time as well as to the spatial coordinates.
Remark 4. The Hencky-von Mises stress-rate of strain relations (4.2) are
chosen rather than the Prandtl-Reuss equations because the shell material is
assumed rigid-perfectly plastic; in other words, because the elastic strains
are assumed negligibly small.
4.3. Mathematical analysis. On the surface S, defined by sp = const., the
only nonvanishing component of the normal is n'. Consequently, the slip
condition (4.5) becomes
(4.6a)

0,

where the bar superscript denotes that the function is evaluated on the
plastic flow side of the surface S. The vanishing of the velocity components
on the plastic equilibrium side of S is used in deriving (4.6). In what follows, all the functions will be evaluated on the plastic flow side of S,
therefore the bar superscript will be dropped off unless the situation is not
clear. Accordingly, (4.6a) takes the form
(4.6b)

v^P=0.

Before considering the stress-rate of strain relations, consider the components of the deviator tensor on the plastic flow side of S. From the
assumption that the stress components are continuous across the surface S,
(3.17) reduces to
2K

* =
0rrr

080

Cp

*
0rB

3X
r2K
3

r2sin2OK

3
*
_
OJos

=?

0.

RUPTURE

OF A SPHERICAL

SURFACES

263

SHELL

In deriving the above, use is made of (3.1) and (3.11).

By substituting the above expressions for the components of the deviator
tensor, the stress-rate of strain relations (4.2), when evaluated on the plastic
flow side of S, become
(4.8)

Vr,r

Vr,6

-0

2K
i
3 A,

VO,r =

V,

0,

K2
r,

v
0,

VPo,r =

Vr,"o +

K2 . 2
3 r sin2OP,

V0,"P +

V"'0 =

0.

In the above, (4.3) giving the rate of strain tensor components in termls
of the covariant derivatives of the velocity compoinents is used. When
the expanded forms for these covariant derivatives (2.6), (2.7) and (2.18)
are used, (4.8) will be
(4.9)
(4.10)
(4.11)
(4.1)

+ sin COosOVo
+ rsin2OVF

'0 dso
+ sn 0

avr

2 ye +

(dvr

41

Kr2 Si2

2Sn

uvo= 0,
1r

) +4avp 0r
V1r =

Ov, +-f-cot

--cot

sn2 OVO

os0vo+r

(4.14)

rv,. =

,V+

(4.12)
(4.13)

2K

aVr

0 v" 0.

From (4.9) aind (4.10), one has

(4.15)

9v,.
-

+ 2

9lVe
-

+ 2rv, = 0.

Similarly fromr(4.10) and (4.11) it follows that

(4.16)

OV
D + sin 0 (Cos 0ve

Furthermore, since v,
(4.17)

) = 0.

0, (4.13) and (4.14) reduce to

aVr

and
(4.18)

sinG

_V_

264

M. MAKKY

SADIA

respectively. Notice that (4.16), (4.17) and (4.18) cannot be used to

determine-the behavior of the discontinuities; in fact, they merely define
the unknown functions (Ovi/lcp).
By a similar procedure, the equations of motion (4.4), when evaluated
on the plastic flow side of S, take the forms
+ Vr,rVr + vreor = 0,

(4.19)
(4.20)

(4.21)

?v

+ VO,rVr +

c3t

r = ?

VOse

Vss+ V50o-2
vp,,O

In deriving the above equations, use is made of the assumption that both
the stress components and their partial derivatives are continuous across
the surface S, that v, must vanish on the plastic flow side of S.
Substituting for the covariant derivatives (2.6), (2.7) and (2.8),
reduces (4.19) and (4.20) to
(4.22)

OVl
O,CVr

V +

(o v,

vo

Vo_
r - 2 0

anid
(4.23)

OVO+

a3t

(v-

ar

Vr + (V

\aO

rVr

=
20

respectively, while (4.21) will be identically satisfied.

4.4. Solving the differential equations. In the previous section, the
equations that govern the behavior of the discontinuity across the surface
S have been reduced to four partial differenitialequationis, niamely,
avo +
Thr

(4.12)

(4.15)

r2 a?r

(4.22)
)t
(4

(4.23)

VT+

r3
t /42
\Or
(-r
dt+

- re)Vr

-v, _
ao

+ 2 &O+

V7+

0o

+ (dX+
00

2v=
r

2rVr = 0,

O
=OY
0
r) r2

ri), Jr
)--O

resp)ectively, while (4.21) will be idenitically satisfied.

SURFACES OF A SPHERICAL

RUPTURE

SHELL

265

Assumle, as usual, that

(4.24a)

Vr

f (r) g (0) T'(t),

e= h (r) Q()

(4.24b)

T (t),

f, g, h, Q, and T are funictioinsof the inidicated variables to be

determined. Note that the function T(t) appears in the expression for
both r and ve , otherwise (4.12) and (4.15) will be violated.
Combining (4.12) with (4.24a) and (4.24b) results in

whlere

(4.25)

h'(r)Q(O) + f(r)g' (6)

2h(r)Q(O) =
r

By separating the variables, one finds that the above relation is equivalent
to

rf(o) = 4(0)

(4.26a)
(4.26b)

2h(r)
r

h'(r)

af(r),

where a is a consta.nt. Similaily, from (4.1.5), (4.24a) and (4.24T)) it;

follows that

Q'(0) =-

(4.27a)

d(

r2f'(r) + 2rf (r) = 2,h (r),

(4.27b)

where d is another constant. Differentiating both members of (4.26a),

then combining with (4.27a), one has
(4.28)

g"(0) + aI3gi(O)

0.

The solution of (4.28) is

(4.29)

=
g(0) -C

0 +--(2

sin /a

Cos \aO

0.

Consequently, (4.26a) becomes

(4.30)

Q(0)

(C( cos

\x/ag

0-

C2

sin

Vao30).

Notice that (4.29) and (4.30) satisfy, as expected, (4.27a).

By a similar procedure, namely, differentiating both members of (4.26b),
then combining the resulting equation with (4.27b), it follows that
(4.31)

h"r2 + 2(a3

1)h - 0.

266

SADIA

M. MAKKY

The solution of (4.31) is

(4.32)

h(r)

kir'' +

k2r?2

where n1 and n2 are the two roots of

(4.33)

t2-

it

+ 2(a3 - 1)

0.

In other words,
(4.34)

(1

2(1-

n2=

with

-y = \

Sao.

But, from (4.26b) it follows that

f(r) =

(4.35)

[kj(2

ni)r"'l + k2(2

n2)rf211.

However, (4.32) and (4.35) must satisfy (4.27b); thus, substituting these
expressions for g (r) and f (r) in (4.27b) results in

+ 2(Oa-1)

n2 -ni

=0

and n22 - n2+ 2Q(3Oa-1) = 0,

which is satisfied identically since n1 and n2 are the roots of (4.33).

The above analysis shows that the expressions for vr and ve satisfying
both (4.12) and (4.15) are

(4.36a)
(4.36b)

[C0 sin \/aIa 0

Vr =

cos v'x
-t 022CS
0][k1(2 -nl)r
\
+ k2(2

=-

(Ci cos Vao

n2)rf2 1]T(t)/la,

2 sin V/af 0) (k1 rnl + k2r'2)T(t).

To determine the function T (t), one must substitute (4.36a) and (4.36b)
for Vr and vo in (4.22). Upon substitution, one finds that the term
(dr

\aO

(4.37)

V
Vi)
r r

vanishes identically. Therefore, it follows that

+dT
+ T29g() df(r) = O.
dr

~~~~dt

However, the only way for (4.37) to be satisfied without violating the
condition of a nonzero initial discontinuity in at least one of the velocity
components across the surface S is to have
(4.38)

dfr

(4.39)

dt0

RUPTURE

OF A SPHERICAL

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267

SHELL

But, (4.38) implies that either

ni=1,

k2=0,

or
n2=

k=

0.

This means that one of the roots of (4.33) must equal 1. In either case,
it follows from (4.34) that
(4.40)

af3

Moreover, (4.39) implies that T(t)

v, and votake the simpler forms
vr =

. 1

1.
const. Consequently, using(4.40),

(P sin 0 + q cos 0)/a,

ya

(P cos0

q sin 0)r = (P cos 0 -q

sin ) -,
a

where P and q are two constants.

Expressions (4.41) satisfy identically (4.23), which is the last equation of
the system. This indicates that the analysis and the forms assumed for
v. and vo in (4.24a) and (4.24b) are valid.

4.5. The radialplanes as surfacesof fracture.The resultsof the previous

section point out that the values of both components of velocity v, and ve
when evaluated on the plastic flow side of S are independent of time. Therefore, any initial discontinuity across the surface S in these components
cannot be damped out. Since the material particles cannot sustain such
finite discontinuity indefinitely, it follows, using the terminology of the
theory of fracture on surfaces of instability [21, that the shell is subject
to rupture on the surface S. In other words, the radial planes, whose intersections with the inner and outer spherical surfaces of the shell are ares of
great circles, are possible surfaces of rupture.
REFERENCES
[11 T. Y. THOMAS,Basic Concepts of Tensor Analysis and Differential Geometry,
Academic Press, New York, 1961.
-, Plastic Flow and Fracture in Solids, Academic Press, New York, 1961.
[21
[31 S. TIMOSHENKOAND J. N. GOODIER, Theory of Elasticity, 2nd ed., McGraw-Hill,
New York, 1951.

[41 0. HOFFMANAND G. SACHS,Introduction to the Theory of Plasticity for Engineers,

McGraw-Hill,

New York, 1953.