Lecture 4

Development of Constitutive Equations for Continuum, Beams

and Plates

Problem 4-1: Summation Convention

Hooke’s law, a constitutive equation for a linear, elastic material, can be written in general form
as:

ij kk ij 2 ij where and are Làme constants.

a) Expand Hooke’s Law. How many independent equations are there?

b) Express and in terms of Young’s Modulus, E, and Poisson’s ratio, .

c) Where does the symmetry of the stress strain tensor come from?

d) Re-write the Hooke’s law in terms of E and .

e) Specify the constitutive equations to the case of plane stress.

Problem 4-1 Solution:

a) Hooke’s law

ij kk ij 2 ij

where

1, i = j
ij
0,i j

For i=1

11 ( 11 22 33 ) 2 11

12 2 12

13 2 13

1
 For i=2

21 2 21

22 ( 11 22 33 ) 2 22

23 2 23

For i=3

31 2 31

32 2 32

33 ( 11 22 33 ) 2 33

b) Express , in terms of E,

We need to solve for , . Let’s assume a plane stress state in a uniaxial test

11 0 0
ij 0 0 0
0 0 0

Note: Assume 11 =0 because it is a slender bar

Substitute the stress components into the inversed form of the constitutive equations

1
ij ij kk ij (1)
E E

2
We have

1
11 11
E

22 11 11
(2)
E

33 11 11
E

From the constitutive equations

ij kk ij 2 ij (3)

We have

22 ( 11 22 33 ) 2 22 (4)

11 ( 11 22 33 ) 2 11 (5)

Combining equation (2) and (4), we have

22 ( 11 11 11 ) 2 ( 11 ) 0 (6)

2
(7)
1 2

Combining equation (2) and (5), we have

11 ( 11 22 33 ) 2 11 E 11 (8)

(1 2 ) 2 E (9)

Substitute (7) into (9), solve for

E
G (10)
2( 1)

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Substitute (10) into (7), solve for

E
(11)
(1 2 )(1 )

c) Symmetry of the stress tensor

Let’s take an element in 2D(a unit square)

We know the normal forces are equal in magnitude and opposite in direction at opposite faces, so
as the shear forces.

xx xx

yy yy

F1 F1
F2 F2

Now let’s prove F1 F2 , take moments about the center

1 1 1 1
M F2 F2 F1 F1 0
2 2 2 2

F2 F1

xy yx

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d) Rewrite Hook’s law in terms of E and

Substitute equation (10) and (11) in part b into Hook’s law, we have:

E E
ij kk ij 2 ij kk ij 2 ij
(1 2 )(1 ) 2( 1)
E
ij kk ij ij
(1 ) 1 2

e) For Plane stress

E
11 2 11 22
1
E
22 2 22 11
1
E
12 12
1

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Problem 4-2: Inverting constitutive equations

The original form of the constitutive equation is to express stress ij in terms of strain. Invert the
3D constitutive equation and the 2D (plane stress) constitutive equation, meaning that strain ij
will be expressed in terms of stresses. The starting point of this problem is Eq. 4.19 for the 3D
case in the printed lecture notes. For the 2D case you can use Eq. 4.32 as a starting point.

Problem 4-2 Solution:

(1) The 3D constitutive equations for isotropic linear elastic materials expressed in terms of
E, is

E
ij kk ij ij (1)
(1 ) 1 2

By making contraction i j k , we have

E
kk kk 3 kk (2)
(1 ) 1 2

where kk 11 22 33 3

Express kk in terms of kk , E and

1 2v
kk kk (3)
E

Substitute equation (3) into equation (1), we have

E 1 2
ij kk ij ij (4)
(1 ) 1 2 E

Straight forwardly, the above equation gives

1
ij ij kk ij (5)
E E

which is the inverted form of 3D Hook’s law

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(2) The 2D constitutive equations for plane stress in terms of E, is

E
2
(1 ) (1)
1

Where

1, =
(2)
0,

Since

11 11 2 (3)

making contraction of equation (1):

E
(1 ) 2 (4)
(1 )

Replacing with , Straight forwardly,

1
(5)
E

Substitute (5) into (1), we have

E 1
2
(1 ) (6)
1 E

Rearrange (6), we have the inverted form

1
(7)
E E

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Problem 4-3: Stress and strain deviator

Defining the stress deviator sij

1
sij ij kk ij
3

and the strain deviator eij

1
eij ij kk ij
3

Convert the constitutive equation into two separate equations, one for the spherical part and other
for the distortional part. The spherical part gives a relation between the hydrostatic pressure and
the change of volume (Eq. 4.21). For the distortional part the equation was not given in the notes,
so we are asking you to find it.

Problem 4-3 Solution:

From the lecture notes, express kk in terms of kk , we have

E
kk kk (1)
1 2

From definition of stress deviator

1
sij ij kk ij (2)
3

We have

1
ij sij kk ij (3)
3

From definition of strain deviator

1
eij ij kk ij (4)
3

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We have

1
ij eij kk ij (5)
3

Substitute equation (3) and (5) into 3D constitutive equation

E
ij kk ij ij (6)
(1 ) 1 2

We have

1 E 1
sij kk ij kk ij eij kk ij (7)
3 (1 ) 1 2 3

Combining equation (1) with equation (7)

1 E E 1
sij kk ij kk ij eij kk ij (8)
3 1 2 (1 ) 1 2 3

Finally,

E
sij eij (9)
1

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MIT OpenCourseWare
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2.080J / 1.573J Structural Mechanics

Fall 2013

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