Strain Energy in Linear Elastic Solids

CEE 201L. Uncertainty, Design, and Optimization

Department of Civil and Environmental Engineering
Duke University
Henri P. Gavin
Spring, 2015

Consider a force, Fi , applied gradually to a structure. Let Di be the resulting

displacement at the location and in the direction of the force Fi . If the
structure is elastic, the force-displacement curve follows the same path on
loading and unloading.

Fj
Fi
Dj Fi
Di
000000
111111
000000
111111 Fi
111111111
000000000
000000000
111111111
000000000
111111111
000000
111111
00000
11111
000000
111111
11111
00000
000000
111111
00000
11111

000000000
111111111
000000
111111
00000
11111
000000
111111
00000
11111
v(x)000000
111111
00000
11111 w(x)
000000000
111111111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111

000000000
111111111
00000
11111
000000
111111
111
000 00000
11111
000000
111111
00000
11111
000
111 000000
111111
00000
11111

000000000
111111111
000
111 000000
111111
00000
11111
000
111 000000
111111
00000
11111
000
111 000000
111111
00000
11111

000000000
111111111 Di
000
111 000000
111111
00000
11111
000000
111111
000
111 00000
11111
000
111

000000000
111111111
000
111

000000000
111111111
000000000
111111111
000000000D+ D
111111111
00000
11111
11111
00000
00000
11111

11111
00000
00000
11111
0 Di i i
00000
11111

Figure 1. Forces and displacements on the surface of an elastic solid.

If Fi is increased by Fi and the corresponding increase in the displacement

is Di , then as Fi 0, the incremental work, W , done by the load
Fi passing through a displacement Di is approximately Fi Di , or, more
precisely, Z D +D
i i
W = Fi (Di ) dDi . (1)
Di

When the structure is elastic and linear, that is Fi (Di ) = ki Di , the work of
a force increasing from 0 to Fi , moving through corresponding displacements
from 0 to Di is
Z D
i
Z D
i 1 11 2 1
W = Fi dDi = ki Di dDi = ki Di2 = F = Fi Di . (2)
0 0 2 2 ki i 2
2 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2015 H.P. Gavin

If a linear elastic structure is subjected to a system of point forces F1 , F2 , . . . , Fn ,

Fi Fj F1
Dj Dn Fn
Di D1
Fn
Dn Dj
11111
00000
Di 11111
00000
000
111 00000
11111
00000
11111 00000
11111
00000
11111
111
000 00000
11111 00000
11111
000
111
000
111
000
111 Fi Fj
000
111
000
111
000
111
F1
000
111
Fi Fj Fn
D D1
1 Di Dj Dn
00000
11111
F1 11111
00000
00000
11111

00000
11111
11111
00000
11111
00000
00000
11111 00000
11111 11111
00000
00000
11111
00000
11111 00000
11111 00000
11111

Figure 2. Point forces and collocated displacements on linear elastic solids and structures.

causing displacements, D1 , D2 , . . . , Dn , in the direction of those forces, then

the total external work, W , is given by
1 1
W = {F1 D1 + F2 D2 + + Fn Dn } = {F }T {D} . (3)
2 2
In the absence of any energy dissipation, this work is stored in the structure
in the form of strain energy. In elastic structures carrying static loads, the
external work and strain energy are equal.
Internal Strain Energy = Work of External Forces

Uint = Wext (4)

Note that forces at fixed reaction points, R, do no work because the displace-
ments at the reactions are presumed to be zero.

Example: Small element subjected to normal stress xx

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Strain Energy in Linear Elastic Solids 3

Strain Energy in a general state of stress and strain

A three dimensional linear elastic solid with loads supplied by external forces
F1 , . . . , Fn , and through support reactions R, can be considered to be made
up of small cubic elements as shown below.
Fi Fj zz
Dj
Di
Fn yz
Dn xz
000
111
111
000
000
111
000
111
000
111
yy
000
111
000
111
000
111
000
111 V
D
1 xx xy
11111
00000
F1 00000
11111
00000
11111

11111
00000
00000
11111
00000
11111

Figure 3. Stresses within a linear elastic solid.

The incremental strain energy, dU , for this elemental cube of volume dV can
be written:
1
dU = {xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
2
Integrating the incremental strain energy, dU , over an entire volume, V , the
total strain energy, U , is
1Z
U= {xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
2 V
If the stresses and strains are re-written as vectors,

{}T = {xx yy zz xy xz yz }
{}T = {xx yy zz xy xz yz } ,

then the total strain energy can be written compactly as

1Z
U= {}T {} dV. (5)
2 V

This equation is a general expression for the internal strain energy of a linear
elastic structure of any type. It can be simplified significantly for structures
built from a number of prismatic members, such as trusses and frames.

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4 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2015 H.P. Gavin

Axial Strain Energy, xx = Nx /A, xx = u0 (x)

A short section of a bar subjected to an axial force Nx stretches by du.

1111
0000
0000
1111
0000
1111
0000
1111
0000
1111
dA 000
111
111
000 0000
1111
0000
1111
Nx 000
111
000
111
000
111
Nx 0000
1111
0000
1111
0000
1111
0000
1111
x 0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
xx
dx du = (du/dx) dx
= ( xx ) dx

Figure 4. Internal axial forces, deformation, and stresses in a short section of a bar.

The strain along this short section of bar is

du
xx == u0 (x) . . . and . . . xx = Exx .
dx
The normal stress on a small part of the cross section, of area dA, is
Nx
xx = . . . and . . . xx = xx /E
A
The incremental internal strain energy, dU , in an incremental volume element,
dV , in terms of axial forces Nx and axial displacements u(x) is
1 1 Nx 1 Nx2 1
!
0
dU = xx xx dV = (u (x)) dV = 2
dV = E(u0 (x))2 dV
2 2 A 2 EA 2
and the total strain energy in a bar in tension or compression is
1 Z Nx2 ZZ 1Z 0 2
ZZ
U= dA dx or U = E(u (x)) dA dx.
2 l EA2 A 2 l A

Since A = A dA,
RR

1 Z Nx2 1Z 2
U= dx or U= EA (u0 (x)) dx (6)
2 l EA 2 l
A prismatic bar with a constant axial force, Nx , and a constant strain
xx = x /L, along its length is like a truss element, and the strain energy
can be expressed as
1 Nx2 L 1 EA 2 1
U= or U= or simply U = Nx x (7)
2 EA 2 L x 2

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Strain Energy in Linear Elastic Solids 5

Bending Strain Energy, xx = Mz y/Iz , xx vb00 y

A short section of a beam subjected to a bending moment Mz about the

z-axis bends by an angle d.
y
1111
0000
0000
1111
0000
1111
0000
1111
d/2 d/2
0000
1111
0000
1111
0000
1111
0000
1111
0000111
1111000
dx+ dx = dx y dx 000
111
000
111
Mz Mz x
000
111
000
111
000
111
000
111
000
111
d = (d /dx) dx = dx 000
111

xx

dx

Figure 5. Internal bending moments, deformation, and stresses in a prismatic beam.

The normal stress on a cross-section element of area dA at a distance y from

the neutral axis is
Mz y
xx (y) = . . . and . . . xx = xx /E
Iz
The strain along this short section of bar at a distance y from the neutral
axis is
xx (y) = y vb00 y, . . . and . . . xx = Exx
The incremental internal strain energy, dU , in a volume element, dV , in terms
of bending moments Mz (x) and transverse displacement v(x) is
1 1 Mz y 1 Mz2 y 2 1
!
00 2
dU = xx xx dV = (vb (x)y) dV = 2
dV = E (vb00 (x)y) dV
2 2 I 2 EIz 2
and the total strain energy in a beam under pure bending moments is
1 Z Mz2 ZZ 2 1Z 00 2
ZZ
U= y dA dx or U= E(vb (x)) y 2 dA dx.
2 l EIz2 A 2 l A

Since the bending moment of inertia, I, is A y 2 dA, provided that the origin
RR

of the coordinate system lies on the neutral axis of the beam ( A yz dy dz = 0),
RR

1 Z Mz2 1Z
U= dx or U= EIz (vb00 (x))2 dx. (8)
2 l EIz 2 l

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6 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2015 H.P. Gavin

Shear Strain Energy, xy = Vy Q(y)/Iz t(y), xy = vs0 (x)

A short section beam subjected to a shear force Vy deflects by an amount dvs .

y
dvs = (dvs /dx)dx = vs dx y
000000
111111 00000
11111
111111
000000 11111
00000
000000
111111 00000
11111
000000
111111 00000
11111
t(y) 000000
111111 y 00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
d Vy vs Vy x
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111

xy
dx

Figure 6. Internal shear forces, deformation, and stresses, if a short section of a beam.

Vy Q(y)
xy (y) = . . . and . . . xy = xy /G
Iz t(y)
Z d/2
Q(y) = Moment of Area of Cross Section = t(y)y dy
y
2
1 1 xy 1 Vy2 Q(y) 2
dU = xy xy dV = dV = dA dx
2 2G 2 Iz2 Gt(y)2
1 Z Vy2 ZZ Q(y)2 1 Z Vy2 A ZZ Q(y)2

U= dA dx = dA dx
2 l Iz2 G A t(y)2 2 l GA Iz2 A t(y)2
This last integral reduces to a constant that depends only upon the shape of
the cross-section. This constant is given the variable name .
A ZZ Q(y)2
= 2 dA
Iz A t(y)2
Values of for some common cross-section shapes are given below ( > 1).
solid circular sections: 1.08
solid rectangular sections: 1.15
thin-walled circular tubes: 1.95
thin-walled square tubes: 2.35
I-sections in strong-axis shear: A/(td)
With this simplification, the internal strain energy due to shear forces is
1 Z Vy2 1Z Vy2
U= dx = dx . (9)
2 l GA 2 l G(A/)
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Strain Energy in Linear Elastic Solids 7

The term (A/) is called the effective shear area.

As a review of shear stresses in beams, consider the shear stress in a rectan-

gular section (with section d b).
Vy Q(y)
xy =
Iz t(y)
d/2
y2 d2 y 2

Z d/2 Z d/2
Q(y) = t(y)y dy = b y dy = b =b
y y 2 y 8 2
d2

Vy
xy = y2 .
2Iz 4
This stress varies parabolically along the direction of the applied shear. It is
maximum at the centroid of the section and zero at the ends.

By analogy, the corresponding shear strain energy equation in terms of dis-

placements is
1Z
U= G(A/)(vs0 (x))2 dx (10)
2 l
where the total transverse displacement is a combinastion of bending-related
vb (x) and shear-related vs (x) displacements, v(x) = vb (x) + vs (x). For exam-
ple,
ZZ M (x) Z Vz (x)
zz
vb (x) = dx and vs (x) = dx .
EIzz (x) GA(x)/

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8 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2015 H.P. Gavin

Torsional Strain Energy, x = Tx r/J, x = r0

A short section of a circular shaft loaded with a torque Tx twists by an

angle d.
y y

r R(d /dx) = R Tx 00000000

11111111
11111111
00000000
00000000
11111111
Tx 00000000
11111111 x
z d d x 00000000
11111111

dx

Figure 7. Internal torsional moments, deformation, and stresses in a short section of a shaft.

The circumferential shear stress x (r) is

Tx r
x (r) =
. . . and . . . x = x /G
J
and the corresponding shear strain is

x (r) = 0 r . . . and . . . x = Gx

The incremental internal strain energy dU in terms of torsional moments

Tx (x) and torsional rotations (x) is
1 1 Tx r 1 Tx2 r2 1
!
dU = x x dV = (0 r) dV = 2
dV = G(0 r)2 dV
2 2 J 2 GJ 2
and the total strain energy for the shaft is
1 Z Tx2 ZZ 2 1Z 0 2
ZZ
U= 2
r dA dx or U = G( ) r2 dA dx.
2 J G
l A 2 l A

Since the term A r2 dA is the same as the polar moment of inertia, J,

RR

1 Z Tx2 1Z
U= dx or U= GJ(0 (x))2 dx. (11)
2 GJ
l 2 l

For a prismatic shaft with a constant torque along its length Tx , and a total
twist , the strain energy can be expressed as
1 Tx2 L 1 GJ 2 1
U= or U= or simply U = Tx (12)
2 GJ 2 L 2

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Strain Energy in Linear Elastic Solids 9

Total Strain Energy arising from Combined Axial Stresses

As a review of the material above, consider a three-dimensional bending

problem with a super-imposed normal force, Nx .

My

Nx
Mz x
z

dx
Figure 8. Internal axial force and bending moments in a prismatic beam.

Nx Mz y My z
xx =
+ .
A Iz Iy
The total strain energy arising from axial and bending effects is
2
1Z 1 Z xx 1 Z 1 ZZ 2
Un = xx xx dV = dV = dA dx.
2 V 2 V E 2 l E A xx
2
The term xx in the integral above can be expanded as follows.
Mz2 y 2 My2 z 2

ZZ ZZ N2 Nx Mz y Nx My z Mz My zy
2 x
xx dA = + + 2 + 2 2 dA.
A A A2 Iz2 Iy2 AIz AIy Iz Iy
But, since the coordinate axes are assumed to pass through the centroid of
the cross-sectional area,
ZZ ZZ ZZ
y dA = z dA = yz dA = 0
A A A
Therefore, the total potential energy is simply the sum of the potential ener-
gies due to axial and bending moments individually.
1 Z Nx2 1 Z Mz2 1 Z My2
Un = dx + dx + dx
2 l EA 2 l EIz 2 l EIy
CC BY-NC-ND H.P. Gavin
10 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2015 H.P. Gavin

Total Strain Energy arising from Combined Shear Stresses

Just as a structural element can be subjected to combined normal and bend-

ing stresses, combined shear stresses can also act together.

Vy

Tx
Vz x
z

dx
Figure 9. Internal shear forces and torsional moment in a short section of a beam.

Vy Qy (y) Vz Qz (z) Tx r
xy = xz = x =
Iz tz (y) Iy ty (z) J
Through mathematical manipulations similar to those above, it can be shown
that
1Z Vy2 1Z Vz2 1 Z Tx2
Uv = dx + dx + dx ,
2 l G(A/y ) 2 l G(A/z ) 2 l GJ
where 2
A ZZ Qy (y)
y = 2 dA
Iz A tz (y)
2
A ZZ Qz (z)
z = 2 dA
Iy A ty (z)

Total Strain Energy

The total strain energy for solids subjected to axial, bending, shear, and
torsional forces is the sum of Un and Uv above.

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Strain Energy in Linear Elastic Solids 11

Summary

Strain energy is a kind of potential energy arising from stress and deformation
of elastic solids. In an elastic solid, the work of external forces, W , is stored
entirely as elastic strain energy, U , within the solid.

In linear elastic solids:

Displacements and rotations increase linearly with forces and moments.

The work of an external force F acting through a displacement D on

the solid is given by W = 21 F D.

The work of an external moment M acting through a rotation on the

solid is given by W = 12 M .

For slender structural elements (bars, beams, or shafts) the internal forces,
moments, shears, and torques vary along the length of the element; so do the
displacements and rotations.

The strain energy of spatially-varying internal forces F (x) acting through

spatially-varying internal displacements D(x) is

1Z dD(x) 1Z
U= F (x) dx = F (x)D0 (x) dx
2 l dx 2 l

The strain energy of spatially-varying internal moments M (x) acting through

spatially-varying internal rotations (x) is

1Z d(x) 1Z
U= M (x) dx = M (x)0 (x) dx
2 l dx 2 l
CC BY-NC-ND H.P. Gavin
12 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2015 H.P. Gavin

force deformation strain energy (U )

Z Z Z
0 0 Nx (x)2
Axial Nx (x) u (x) 1
2
Nx (x)u (x)dx 1
2 E(x)A(x)
dx 1
2
E(x)A(x)(u0 (x))2 dx
l l l

Z Z Z
Mz (x)2
Bending Mz (x) vb00 (x) 1
2
Mz (x)vb00 (x)dx 1
2 E(x)I(x)
dx 1
2
E(x)I(x)(vb00 (x))2 dx
l l l

Z Z Z
Vy (x)2
Shear Vy (x) vs0 (x) 1
2
Vy (x)vs0 (x)dx 1
2 A(x) dx 1
2
G(x) A(x)

(vs0 (x))2 dx
l l G(x) l

Z Z Z
0 0 Tx (x)2
Torsion Tx (x) (x) 1
2
Tx (x) (x)dx 1
2 G(x)J(x)
dx 1
2
G(x)J(x)(0 (x))2 dx
l l l

E(x) is Youngs modulus

G(x) is the shear modulus

A(x) is the cross sectional area of a bar

I(x) is the bending moment of inertia of a beam
A(x)/ is the effective shear area of a beam
J(x) is the torsional moment of inertia of a shaft

Nx (x) is the axial force within a bar

Mz (x) is the bending moment within a beam
Vy (x) is the shear force within a beam
Tx (x) is the torque within a shaft

u(x) is the axial displacement along the bar

u0 (x) is the axial displacement per unit length, du(x)/dx, the axial strain
v(x) is the transverse bending displacement of the beam
vb00 (x) is the bending rotation per unit length, the curvature, approximately d2 v(x)/dx2
vs (x) is the transverse shear displacement of the beam
vs0 (x) is the transverse shear displacement per unit length, dvs (x)/dx
(x) is the torsional rotation (twist) of the shaft
0 (x) is the torsional rotation per unit length, d(x)/dx

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