MCEN 5023/ASEN 5012

Chapter 5

Constitutive Equations and Linear Elasticity

Fall, 2006

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Linear Elasticity
Constitutive Equations

Stresses Strains

Forces Displacements

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Linear Elasticity
Constitutive Equations

Constitutive equations characterize material properties:

Stress Strain

Voltage Current

Temperature Heat flux

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Linear Elasticity
Hookes Law

f = kx = Ee

Generalized Hookes Law

For infinitesimal small strain:

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Linear Elasticity
Generalized Hookes Law
Reduction of total number of constants in Dijkl

1. Symmetry of stress and strain tensors

ij = ji

ekl = elk

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Linear Elasticity
Generalized Hookes Law
Reduction of total number of constants in Dijkl

2. Energy Potential W

W = ij d eij

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Linear Elasticity
Generalized Hookes Law Matrix Form

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Linear Elasticity
Generalized Hookes Law
Reduction of total number of constants in Dijkl
3. Orthotropic Materials
The material that has three orthogonal planes of symmetry
Collagen Molecule
( ~1nm)

Minerals in
Holes

Minerals Between
Molecules (~10nm)
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Linear Elasticity
Generalized Hookes Law
3. Orthotropic Materials

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Linear Elasticity
Generalized Hooks Law
4. Transversely Isotropic Materials

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Linear Elasticity
Generalized Hooks Law

5. Isotropic Materials 2 components

E Youngs Modulus

Poissons Ratio

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Linear Elasticity
Constitutive Model for Linear Elastic Isotropic Materials
E
E G=
2(1 + )

e11 = [ 11 ( 22 + 33 )]
1
E
e22 = [ 22 ( 11 + 33 )]
1
E
e33 = [ 33 ( 11 + 22 )]
1
E
1 1
e12 = 12
xy = xy
2G G
1 1
e23 = 23
yz = yz
2G G
1 1
e13 = 13
xz = xz
2G G 12
Linear Elasticity
Constitutive Model for Linear Elastic Isotropic Materials

1 +
eij = ij kk ij
E E

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Linear Elasticity
Constitutive Model for Linear Elastic Isotropic Materials

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Linear Elasticity
Constitutive Model for Linear Elastic Isotropic Materials

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Linear Elasticity
Constitutive Model for Linear Elastic Isotropic Materials

1 +
eij = ij kk ij
E E

E
ij = 2Geij + ekk ij
(1 + )(1 2 )

E
=
(1 + )(1 2 )
, G, are called Lam Constants.

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Linear Elasticity
Constitutive Model for Linear Elastic Isotropic Materials

E
ij = 2Geij + ekk ij
(1 + )(1 2 )

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Linear Elasticity
Constitutive Model for Linear Elastic Isotropic Materials
Five elastic constants: E G K
Only two of them are independent

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Linear Elasticity
Linear Elasticity What is linear elasticity about?
P P
deformed
undeformed

Question:
If we apply a force on
X2 X2 a material, what are
the stresses, strains
X1 X1
and displacements?

Object: Linear Elastic Body (Mr. Potato; Machine elements; Human hard
tissue) (E and v are given)
Output
Input
Boundary conditions Stresses, strains,
(Applied force; Applied
displacement )
displacements, at each
material point (x1,x2,x3)
???
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Linear Elasticity
Linear Elasticity
Things we want: Stresses, strains, displacements, at each material point (x1,x2,x3)

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Linear Elasticity
Linear Elasticity
If we take displacements as basic unknowns:

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Linear Elasticity
Linear Elasticity
Displacements can be obtained by integration of strains.
Things we want: Stresses, strains, at each material point (x1,x2,x3)

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Linear Elasticity
Linear Elasticity
If we take stresses as basic unknowns:

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Linear Elasticity
Linear Elasticity v

Boundary conditions: T
1
Prescribed displacements s
Prescribed tractions
1
X2 s u 2
s
u
X1

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Linear Elasticity
Linear Elasticity

Boundary conditions: Example

a
X2

X1

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Linear Elasticity
Linear Elasticity

Boundary conditions: Example

a
X2

X1

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Linear Elasticity
Linear Elasticity

Boundary conditions: Boundary conditions due to symmetry

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Linear Elasticity
Linear Elasticity

Boundary conditions: Boundary conditions due to symmetry

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Linear Elasticity
Boundary conditions: Boundary conditions due to symmetry
Nanoindentation: three-sided pyramidal tips are most often used.

Berkovich tip (included angle, 142.3) Cube corner tip (included angle, 90)

Indentation Impression
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Linear Elasticity
Nanoindentation:
1000

900

800
Force

700

Force (uN)
600

500 ing
Time oad
400 L

g
din
300

loa
200

Un
100

0
0 20 40 60 80
Indentation Depth (nm)

Loading: Elastic + Plastic

Unloading: Elastic

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Linear Elasticity
Boundary conditions: Boundary conditions due to symmetry
Top Views

3D perspective

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Linear Elasticity
Summary of Equations of Linear Elasticity

Kinematics: Eij = eij =

1
(ui, j + u j ,i )
2

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

Naviers: Gui , jj + ( + G )u j , ji + f i = 0

1 +
Constitutive: eij = ij kk ij ij = 2Geij + ekk ij
E E
Equilibrium: ij , j + f i = 0

ij X k ,k (X i , j + X j ,i )
1
Stress Compatibility (B-M) 2 ij + ,ij =
1 + 1

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Linear Elasticity
Methods for solving linear elasticity problem

Compatibility

Boundary Conditions
Displacement Kinematics Strain

Constitutive

Stress S-SF Rel. Stress Function

Equilibrium

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Linear Elasticity
Two Principles
1. Principle of Superposition

T1 T1
T2 T2

= +
X2 X2 X2

X1 X1 X1

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Linear Elasticity
Two Principles
2. St. Venants Principles:

Statically equivalent systems of forces produce the same stresses

and strains within a body except in the immediate region where the
loads are applied.

q P = qL

L L

If characteristic length of the area where a force is acting on is L, the

dimension of immediate region is ~L.
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Linear Elasticity
Example: Simple Tension

Gauge Length

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Linear Elasticity
Example: Simple Tension x2
x3

x1
Gauge
Length, L0

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Linear Elasticity
Example: Simple Tension x2
x3

x1
E
ij = 2Geij + ekk ij
(1 + )(1 2 )

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Linear Elasticity
Example: Simple Tension x2
x3

x1
E
ij = 2Geij + ekk ij
(1 + )(1 2 )

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Linear Elasticity
Example: Simple Tension x2
x3

x1
1 +
eij = ij kk ij
E E

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Linear Elasticity
Example: Simple Tension x2
x3

x1
1 +
eij = ij kk ij
E E

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