Theories of Machine - S.s.Rattan PDF

R&DE (Engineers), DRDO
Theories of Failure
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Ramadas Chennamsetti
Summary
Maximum principal stress theory

Maximum principal strain theory
Maximum strain energy theory
Distortion energy theory
Maximum shear stress theory
Octahedral stress theory
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2
Introduction
Failure occurs when material starts exhibiting

inelastic behavior
Brittle and ductile materials – different modes
of failures – mode of failure – depends on
loading
Ductile materials – exhibit yielding – plastic
deformation before failure
Yield stress – material property
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Brittle materials – no yielding – sudden failure
Factor of safety (FS)
3
Introduction
Ductile and brittle materials

σ
σ σF
σY
σY σF
ε
εe εp ε
Ductile material 0.2% ε Brittle material
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Well – defined yield point in ductile materials – FS on yielding
No yield point in brittle materials sudden failure – FS on failure
load 4
Introduction
Stress developed in the material < yield stress

Simple axial load
σx σx
If σx = σY => yielding starts – failure

σx σx
Yielding is governed by single stress
component, σx
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Similarly in pure shear – only shear
stress.
Multi-axial stress state ??
If τmax = τY => Yielding in shear
5
Introduction
Various types of loads acting at the same time

T
N
M
Axial, moment and torque
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Internal pressure and external UDL
6
Introduction
Multiaxial stress state – six stress components – one

representative value
Define effective / equivalent stress – combination of
components of multiaxial stress state
Equivalents stress reaching a limiting value – property
of material – yielding occurs – Yield criteria
Yield criteria define conditions under which yielding
occurs
Single yield criteria – doesn’t cater for all materials
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Selection of yield criteria
Material yielding depends on rate of loading – static &
dynamic
7
Introduction
Yield criteria expressed in terms of quantities

like stress state, strain state, strain energy etc.
Yield function => f(σij, Y), σij = stress state
If f(σij, Y)<0 => No yielding takes place – no
failure of the material
If f(σij, Y) = 0 – starts yielding – onset of yield
If f(σij, Y) > 0 - ??
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Yield function developed by combining stress
components into a single quantity – effective
stress => σe
8
Introduction
Equivalent stress depends on stress state and

yield criteria – not a property
Compare σe with yield stress of material
Yield surface – graphical representation of
yield function, f(σij, Y) = 0
Yield surface is plotted in principal stress
space – Haiagh – Westergaard stress space
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Yield surface – closed curve
9
Parameters in uniaxial tension
Maximum principal stress

Applied stress => Y
Y Y
σ1 = Y, σ2 = 0, σ3 = 0
Maximum shear stress

σ1 −σ 3 Y
τ max = =
2 2
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Maximum principal strain
σ1 υ
ε Y = − (σ 2 + σ 3 ) =
Y
σ1 = Y, σ2 = 0, σ3 = 0
E E E
10
Total strain energy density

1 1Y2
Linear elastic material U = Yε Y =
2 2 E
Distortional energy
Y 0 0 Y − p 0 0  p 0 0
[σ ] =  0 0 0 =  0 −p 0  +  0 p 0 
 0 0 0  0 0 − p  0 0 p
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First invariant = 0 for deviatoric part => p = Y/3
U = UD + UV
11
Volumetric strain energy density, UV = p2/2K
UV =
p2
=
Y2
=
(1 − 2υ ) 2
Y
2 K 18 K 6E
U D = U −UV
Y 2 (1 − 2υ )Y 2 Y2 Y2
UD = − = (3 − 1 + 2υ ) = (1 + υ )
2E 6E 6E 3E
Y2
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UD =
6G
Similarly for pure shear also
12
Failure theories
Failure mode –
Mild steel (M. S) subjected to pure tension
M. S subjected to pure torsion
Cast iron subjected to pure tension
Cast iron subjected to pure torsion
Theories of failure
Max. principal stress theory – Rankine
Max. principal strain theory – St. Venants
Max. strain energy – Beltrami
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Distortional energy – von Mises
Max. shear stress theory – Tresca
Octahedral shear stress theory
13
Max. principal stress theory
Maximum principal stress reaches tensile yield

stress (Y)
For a given stress state, calculate principle
stresses, σ1, σ2 and σ3
Yield function
f = max (σ 1 , σ 2 ,σ 3 )− Y
f < 0
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If, no yielding
f = 0 onset of yielding
f > 0 not defined
14
Yield surface –
σ 1 = ± Y => σ 1 + Y = 0, σ 1 − Y = 0
σ 2 = ± Y => σ 2 + Y = 0, σ 2 − Y = 0 Represent six surfaces
σ 3 = ± Y => σ 3 + Y = 0, σ 3 − Y = 0 σ2
Yield surface
Y
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Yield strength – same in
tension and compression Y σ1
Y
σ3
15
In 2D case, σ3 = 0 – equations become

σ2
σ 1 = ± Y => σ 1 + Y = 0, σ 1 − Y = 0 Y
σ 2 = ± Y => σ 2 + Y = 0, σ 2 − Y = 0
Closed curve -Y Y
σ1
Stress state inside – elastic, outside => Yielding
Pure shear test => σ1 = + τY, σ2 = - τY -Y
For tension => σ1 = + σY
From the above => σY = τY τY τy
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Experimental results – Yield stress in shear
is less than yield stress in tension
τy
Predicts well, if all principal stresses are tensile Pure shear
16
Max. principal strain theory
“Failure occurs at a point in a body when the

maximum strain at that point exceeds the value
of the maximum strain in a uniaxial test of the
material at yield point”
‘Y’ – yield stress in uniaxial tension, yield
strain, εy = Y/E
The maximum strain developed in the body
due to external loading should be less than this
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Principal stresses => σ1, σ2 and σ3 strains
corresponding to these stress => ε1, ε2 and ε3
17
Strains corresponding to principal stresses -

σ1 υ For onset of yielding
ε1 = − (σ 2 + σ 3 )
=> σ1 −υ(σ 2 + σ 2 ) = ±Y
E E Y
ε1 =
σ2 υ E
ε2 = − (σ 1 + σ 3 ) ε 2 = => σ 2 −υ(σ 3 + σ1 ) = ±Y
Y
E E E
σ3 υ
ε3 = − (σ 2 + σ 1 ) ε 3 = => σ 3 −υ(σ1 + σ 2 ) = ±Y
Y
E
E E
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There are six equations –
Maximum of this should be each equation represents a
less than εy plane
18
Yield function
f = max σ i − υσ j − υσ k − Y , i, j, k = 1, 2, 3
i≠ j≠k
f = σe −Y
σ e = max σ i − υσ j − υσ k
i≠ j ≠k
For 2D case
σ 1 − υσ 2 = Y => σ 1 − υσ 2 = ±Y
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σ 2 − υσ 1 = Y => σ 2 − υσ 1 = ±Y
There are four equations, each equation represents a

straight line in 2D stress space 19
Equations – σ 1 − υσ 2 = Y , σ 1 − υσ 2 = −Y
σ 2 − υσ 1 = Y , σ 2 − υσ 1 = −Y
Plotting in stress space
σ2 σ 2 −νσ 1 = σ Y
σy
σ 1 −νσ 2 = −σ Y Failure – equivalent

σy
σ1 stress falls outside yield
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surface
σ 1 −νσ 2 = σ Y
σ 2 −νσ 1 = −σ Y
20
Biaxial loading -σ2
For onset of yielding –

Y = σ 1 − υσ 2 = σ (1 + υ ) σ1
Y = σ (1 + υ )
Maximum principal stress theory –
σ1 = | σ2 |= σ
Y=σ
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Max. principal strain theory predicts smaller value of stress
than max. principal stress theory
Conservative design
21
Pure shear
τy
Principal stresses corresponding to
shear yield stress
σ1 = +τy , σ2 = -τy
For onset of yielding – max. principal
strain theory
Y = τy + υ τy = τy (1 + υ)
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Relation between yield stress in tension and shear
τy = Y/ (1 + υ) for υ = 0.25
τy = 0.8Y Not supported by experiments 22
Strain energy theory
“Failure at any point in a body subjected to a

state of stress begins only when the energy
density absorbed at that point is equal to the
energy density absorbed by the material when
subjected to elastic limit in a uniaxial stress
state”
In uniaxial stress (yielding)
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ε y
σ = Eε => Hooke’s law U = ∫σ ij d ε ij => U = ∫ σdε

0
Strain energy density,
1 Y 2
U =
Ramadas Chennamsetti 2 E 23
Body subjected to external loads => principal

stresses σ 2
Strain energy associated with principal

stresses σ1
U = (σ 1ε 1 + σ 2 ε 2 + σ 3 ε 3 )
1
σ3
2
σ1 υ
ε1 = − (σ 2 + σ 3 ) U= [
σ1 + σ 22 + σ 32 − 2υ(σ1σ 2 + σ 3σ1 + σ 2σ 3 )
1 2
]
E E
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2E
σ2 υ
ε2 = − (σ 3 + σ 1 ) For onset of yielding,
E E
ε3 =
σ2
−
υ
(σ 1 + σ 2 )
Y2
=
2E 2E
1 2
[
σ1 + σ 22 + σ 32 − 2υ(σ1σ 2 + σ 3σ1 + σ 2σ 3 ) ]
E E 24
Yield function –
f = σ 12 + σ 22 + σ 32 − υ (σ 1σ 2 + σ 2σ 3 + σ 3σ 1 ) − Y 2
f = σ e2 − Y 2
Equivalent stress => σ e2 = σ 12 + σ 22 + σ 32 − υ (σ 1σ 2 + σ 2σ 3 + σ 3σ 1 )
Yielding => f = 0, safe f < 0
For 2D stress state => σ3 = 0 – Yield function
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becomes f = σ 2 + σ 2 − υσ σ − Y 2
1 2 1 2
For onset of yielding => f = 0 σ 12 + σ 22 − υσ 1σ 2 − Y 2 = 0

Plotting this in principal stress space 25
Rearrange the terms –  σ1   σ 2   σ1 σ 2 

2 3
  +   − 2υ   =1
σ2 Y  Y  Y Y 
Y ζ
η This represents an ellipse –
Transform to ζ-η csys
45o
σ1
Y
σ 1 = ζ cos 45 − η sin 45 =
1
(ζ − η )
2
σ 2 = ζ sin 45 + η cos 45 =
1
(ζ + η )
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2
Equivalent stress Substitute these in the above
inside – no failure expression
26
Simplifying, ζ2 η2 ζ2 η2
2
+ 2
= 1 => 2
+ 2
=1
Y Y a b
σ2
(1 − υ ) (1 + υ ) ζ
Y A
Y η
Semi major axis – OA => a = (1 − υ ) B
45o
o Y σ1
Y
Semi minor axis – OB => b =
(1 + υ )
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Higher Poisson ratio – bigger major axis, smaller minor axis
If υ = 0 => circle of radius ‘Y’
27
Pure shear τy
shear yield stress
σ1 = +τy , σ2 = -τy
τy τy
ε1 = (1 + υ ), ε 2 = − (1 + υ )
E E
Strain energy, U τ =
(1 + υ ) 2τ 2 =
1 2
=> Y = 2 (1 + υ )τ y
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y Y
2E 2E
τy = 0.632 Y
28
Distortional energy theory (von-Mises)
Hydrostatic loading
applying uniform stress from all the
directions on a body
Large amount of strain
energy can be stored
Experimentally verified
Pressures beyond yield Pressure ‘p’ applied from all sides
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stress – no failure of material
Hydrostatic loading – change in size – volume
29
von-Mises theory
Energy associated with volumetric change –

volumetric strain energy
Volumetric strain energy – no failure of
material
Strain energy causing material failure –
distortion energy – associated with shear –
First invariant of deviatoric stress = 0
For a given stress state estimate distortion
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energy – this should be less than distortion
energy due to uniaxial tensile – safe
30
von-Mises theory
Given stress state referred to principal co-

ordinate system –
σ1 0 0  σ1 − p 0 0  p 0 0
[σ ] =  0 σ2 0  =  0 σ2 − p 0  +  0 p 0 
 0 0 σ 3   0 0 σ 3 − p  0 0 p
Firstinvariant, J1 = 0
(σ1 − p) + (σ 2 − p) + (σ 3 − p) = 0
1
=> p = σ ii
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3
Principal strains => ε1, ε2, ε3
Volumetric strain => εV = ε1+ ε2 + ε3
31
von-Mises theory
This gives –
ε V = ε 1 + ε 2 + ε 3 = {(σ 1 + σ 2 + σ 3 ) − 2υ (σ 1 + σ 2 + σ 3 )}
1
E
εV =
(1 − 2υ )
(σ 1 + σ 2 + σ 3 ) = 3(1 − 2υ )
p
E E
1
Volumetric strain energy, U V = p ε V
2
1 3(1 − 2υ ) 3(1 − 2υ ) 2 (1 − 2υ )
UV = p p= p = (σ 1 + σ 2 + σ 3 )2
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2 E 2E 6E
U = strain energy due to principal stresses & strains
υ
U =
1
2E
( 2 2 2
)
σ 1 + σ 2 + σ 3 − (σ 1σ 2 + σ 2σ 3 + σ 3σ 1 )
E 32
von-Mises theory
Distortional energy –
σm σ2 - σm
= σm + σ1 - σm
σm σ3 - σm
UD = U - UV
 1 − 2υ 
UD =
1 2
[( 2 2
) ]
σ 1 + σ 2 + σ 3 − 2υ (σ 2σ 1 + σ 2σ 3 + σ 3σ 1 ) −  (σ 1 + σ 2 + σ 3 )
2
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2E  6E 
Simplifying this
UD =
1
12G
[
(σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
]
33
von-Mises theory
Compare this with distortion in uniaxial tensile

stress
U D ==
Y2
=
6G 12G
1
[
(σ 1 − σ 2 )2 + (σ 2 − σ 3 )2 + (σ 3 − σ 1 )2 ]
=> 2Y 2 = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
Yield function,
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f = σ e2 − Y 2
2
e
2
[
Equivalent stress, σ = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
1 2 2 2
]
34
von-Mises theory
Principal stresses of deviatoric shear stress, Sii

σ1 0 0  σ1 − p 0 0  p 0 0
[σ ] =  0 σ2 0  =  0 σ2 − p 0  +  0 p 0 
 0 0 σ 3   0 0 σ 3 − p  0 0 p
S1 0 0  p 0 0
[σ ] =  0 S2 0  +  0 p 0 
 0 0 S3   0 0 p
Sii = σii – p => σii = Sii + p
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2Y 2 = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
2Y 2 = ((S1 + p ) − (S 2 + p )) + ((S 2 + p ) − (S3 + p )) + ((S3 + p ) − (S1 + p ))

2 2 2
35
von-Mises theory
Simplifying this expression –

2Y 2 = (S1 − S 2 ) + (S 2 − S3 ) + (S 3 − S1 )
2 2 2
Hydrostatic pressure does not appear in the expression
von-Mises criteria has square terms – result

independent of signs of individual stress
components
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Von-Mises equivalent stress => +ve stress
36
von-Mises theory
2D stress state => σ3 = 0

Yield function, f = σ 12 + σ 22 − σ 1σ 2 − Y 2
Onset of yielding, σ 12 + σ 22 − σ 1σ 2 = Y 2
σ2
Re-arrange the terms –
Y ζ
A
 σ 1   σ 2   σ 1σ 2 
2 2
η
  +  − 2  =1 B
Y  Y   Y  45o
σ1
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o Y
This represents an ellipse
Semi - major axis, OA = 2Y
2
Semi - minor axis, OB = Y
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37
von-Mises theory
Pure shear – τy
shear yield stress
σ1 = +τy , σ2 = -τy
Y 2 = σ 12 + σ 22 − σ 1σ 2 = 3τ y2 => τ y = 0.577Y
Shear yield = 0.577 * Tensile yield
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Suitable for ductile materials
38
von-Mises theory
Plot yield function in 3D principal stress space

σ1= σ2= σ3 σ1= σ2= σ3
n
σ2 σ2 ~
A
σ1 + σ 2 + σ 3 = 0 B
Deviatoric plane
σ1 o σ1
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σ3 σ3
f = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 ) − 2Y 2 = 0 1  
2 2 2
n =  i + j + k 
~ 3 ~ ~ ~
Cylinder, with hydrostatic stress as axis OA = σ 1 i + σ 2 j + σ 3 k
~ ~ ~ ~
Axis makes equal DCs with all axes 39
von-Mises theory
Projection of OA on hydrostatic axis

OA . n
OA . n = OA n cosθ => OA cosθ = ~ ~
= OB
~ ~ n
 σ i + σ j + σ k . i + j + k 
 1~ 2 3  
OB =   ~ 
~ ~ ~ ~
3
OA = OB + BA
OB =
1
(σ 1 + σ 2 + σ 3 ) ~ ~ ~
3 BA = OA − OB
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~ ~ ~
(σ 1 + σ 2 + σ 3 )  i + j + k 
1 1
=> OB = OB n =
~ ~ 3 3 ~ ~ ~  BA = r = radius
OB =
(σ1 + σ 2 + σ 3 ) 
+ +  = p i + j + k 
of cylinder
~i j k  ~ 
~ 3  ~ ~  ~ ~
40
von-Mises theory
Radius of cylinder
BA = R = OA − OB =  σ 1 i + σ 2 j + σ 3 k  − p  i + j + k 
~ ~ ~ ~  ~ ~ ~ ~ ~ ~ 
 2σ − σ 2 − σ 3   2σ 2 − σ 3 − σ 1   2σ 3 − σ 1 − σ 2 
R= 1  i+   j+  k
~
 3 ~  3 ~  3 ~
R = S1 i + S 2 j + S 3 k
~ ~ ~ ~
Radius => R= S12 + S 22 + S 32
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First invariant of deviatoris stress tensor, J 1 = 0 => S1 + S 2 + S 3 = 0
(S1 + S 2 + S 3 )2 = 0 = S12 + S 22 + S 32 = −2(S1 S 2 + S 2 S 3 + S 3 S1 )
Yield criteria => (S1 − S 2 ) + (S 2 − S 3 ) + (S 3 − S1 ) = 2Y 2
2 2 2
41
von-Mises theory
Yield criteria,
Y 2 = S12 + S 22 + S 32 − S1 S 2 − S 2 S 3 − S 3 S1
Use, S12 + S 22 + S 32 = − 2(S1 S 2 + S 2 S 3 + S 3 S1 )
1
2
2
1 2
2
2
3 (
Y = S + S + S + S1 + S 22 + S 32
2 2
)
2 3 2
2
2
( 2 3 2
Y = S1 + S 2 + S 3 = R
2
)
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3
Y = R
2
Yielding depends on deviatoric stresses
Hydrostatic stress has no role in yielding 42
von-Mises theory
Second invariant of deviatoric stress

 S1 0 0
S 0 S2 0 S1 0
[S ] =  0 S2 0  => J 2 = 1 + +
0 S2 0 S3 0 S3
 0 0 S3 
J 2 = S1S 2 + S 2 S3 + S 3 S1
1 2
(
S1S 2 + S 2 S3 + S3 S1 = − S1 + S 22 + S32
2
)
1 2
( ) 1 2
J 2 = − S1 + S 2 + S3 => J 2 = S1 + S 2 + S3 =
2
2 2
2
2
( 2 R2
2
)
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3
Y 2 = R 2 => Y 2 = 3 J 2
2
Redfining yield function => f = 3 J 2 − Y 2
J2 Materials 43
Max. shear stress theory (Tresca)
“Yielding begins when the maximum shear

stress at a point equals the maximum shear
stress at yield in a uniaxial tension”
σ1 − σ 2 Y
τ max = KT = => τ max = = KT Y Y
2 2
If maximum shear stress < Y/2 => No failure occurs
τy
For pure shear, σ1 = +τy , σ2 = -τy
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σ1 − σ 2
τ max = KT = => τ max = τ y = KT
2
Shear yield = 0.5 Tensile yield 44

Tresca theory
In 3D stress state – principal stresses => σ1, σ2

and σ3
Maximum shear stress
 σ1 − σ 2 σ 2 − σ 3 σ 3 − σ1 
max . , , 
 2 2 2 
Yield function
 σ1 − σ 2 σ 2 − σ 3 σ 3 − σ1   Y
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f = max . , ,  − KT  = 
 2 2 2   2
f < 0 => No yielding
f = 0 => Onset of yielding 45
Tresca theory
Following equations are obtained

σ1 −σ 2 σ1 −σ 2
= K T => = ±KT
2 2
f1 (σ 1 , σ 2 ) = σ 1 − σ 2 − 2 K T ; f 2 (σ 1 , σ 2 ) = σ 1 − σ 2 + 2 K T
σ2 −σ3 σ2 −σ3
= K T => = ± KT
2 2
f 3 (σ 2 , σ 3 ) = σ 2 − σ 3 − 2 K T ; f 4 (σ 2 , σ 3 ) = σ 2 − σ 3 + 2 K T
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σ 3 −σ1 σ 3 −σ1
= K T => = ± KT
2 2
f 5 (σ 3 , σ 1 ) = σ 3 − σ 1 − 2 K T ; f 6 (σ 3 , σ 1 ) = σ 3 − σ 1 + 2 K T
46
Tresca theory
Redefining yield function as,

f (σ 1 , σ 2 , σ 3 ) = f1 (σ 1 , σ 2 ). f 2 (σ 1 , σ 2 ). f 3 (σ 2 , σ 3 ). f 4 (σ 2 , σ 3 ). f1 (σ 1 , σ 2 )
f (σ 1 , σ 2 , σ ) = (σ 1 − σ 2 − 2 K T )(σ 1 − σ 2 + 2 K T )
3
(σ 2 − σ 3 − 2 K T )(σ 2 − σ 3 + 2 K T )
(σ 3 − σ 1 − 2 K T )(σ 3 − σ 1 + 2 K T )
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Each function represents a plane in 3D principal stress space
( )( )(
f (σ 1 , σ 2 , σ 3 ) = (σ 1 − σ 2 ) − 4 K T2 (σ 2 − σ 3 ) − 4 K T2 (σ 3 − σ 1 ) − 4 K T2
2 2 2
)
No effect of hydrostatic pressure in Tresca criteria 47
Tresca theory
Yield function in principal stress space

σ3
σ3 A
σ2
σ1 - σ2 = 2KT σ2 - σ1 = 2KT
O
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Hydrostatic axis σ1 σ1 σ2
Tresca yield surface View ‘A’ – along hydrostatic axis

48
Tresca theory
Yield surface intersects principal axes at 2KT

Wall/plane of hexagon
σ3 - σ1 = 2K Hydrostati c axis => σ 1 = σ 2 = σ 3
1
cos α = => α = 54 .73 0
A 3
α + θ = 90 0 => θ = 35 .26 0
α
B θ
C OA = 2 K T
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Hydrostatic axis 2
O
OB = OA cos θ = 2 K T
3
OB – projection of OA on
Deviatoric plane, σ1 + σ2 + σ3 = 0
deviatoric plane 49
Tresca theory
Tresca hexagon
A, B σ3
2 D
2KT
3
300
O C D
σ1 - σ2 = 2KT σ2 - σ1 = 2KT
OC = OD cos 30 O C
2 3
=> OC = 2 K T
rd_mech@yahoo.co.in
σ1 σ2
3 2
=> OC = 2KT
50
Tresca theory
2D stress state - σ3 = 0 σ 1 − σ 2 = ±2 K T
Each equation represents two σ 2 = ±2 K T
lines in 2D stress space σ 1 = ±2 K T
σ2 2KT
O A
- 2KT σ2 = 2KT C 450
- σ1 + σ2 = 2KT σ1 = 2KT
B
O 450 A
rd_mech@yahoo.co.in
σ1 1
σ1 = - 2KT B
2KT OB = OA cos 45 = 2 K T = 2KT
σ1 - σ2 = 2KT
2
σ2 = - 2KT OA
OC = = 2 2KT
Yield curve – elongated hexagon
cos 45
51
Tresca theory
2D stress state - σ3 = 0
Each equation represents two

lines in 2D stress space
σ2 σ 1 − σ 2 = ±2 K T
- 2KT σ2 = 2KT C
σ 2 = ±2 K T
- σ1 + σ2 = 2KT σ1 = 2KT
O 450 A σ 1 = ±2 K T
rd_mech@yahoo.co.in
σ1
2KT
σ1 = - 2KT B
σ1 - σ2 = 2KT
σ2 = - 2KT
Yield curve – elongated hexagon 52

von-Mises – Tresca theories
Pure tension – σ1 = Y, σ2 = 0, σ3 = 0
von-Mises criteria => J2 = KM2 =

1
6
[
(σ1 −σ2 )2 + (σ2 −σ3 )2 + (σ3 −σ1 )2 ]
 σ1 − σ 2 σ 2 − σ 3 σ 3 − σ1 
Tresca’s criteria => K T = max  , , 
 2 2 2 
1 1
KM = Y, KT = Y
3 2
Pure shear => σ1 = +τy, σ2 = -τy => K M = τ y = K T
1 1
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KM = Y = τ y , KT = Y = τ y
3 2
τ y = 0.577 Y (von − Mises), τ y = 0.5Y (Tresca )
von-Mises criteria predicts 15% higher shear stress than Tresca
53
2D stress space – von-Mises and Tresca

σ
σ2 2
Y ζ 2τy A ζ
A
η η
B B
45o 45o 2τy
σ1 σ1
o Y o
3τ y
3τ y2 = σ 12 + σ 22 − σ 1σ 2
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Y 2 = σ 12 + σ 22 − σ 1σ 2
τy  σ −σ 2 σ1 σ 2 
Y = max .{σ 1 − σ 2 , σ 1 , σ 2 } 2
= max . 1
 2
,
2
, 
2 
Yielding in uniaxial tension Yielding in shear

Tresca – conservative von-Mises – conservative 54
Experiments by Taylor & Quinney**

Thin walled tube subjected to axial and
torsional loads
σ xx
 σ xx 
2
T
σ1 = +   + τ 2
xy
P
A
P
2  2 
σ xx
 σ xx 
2
τxy T
σ2 = −   + τ xy
2
2  2 
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σxx A
σxx
** Taylor and Quinney “Plastic deformation of metals”, Phil. Trans. Roy. Soc.A230, 323-362, 1931
55
Tresca criteria
 σ xx 
2
Y = σ1 −σ 2 = 2   + τ xy => Y = σ xx + 4τ xy
2 2 2 2
 2 
 σ xx   τ xy 
2 2
No yielding if,   +   < 1

 Y  Y /2
von-Mises criteria
Y 2 = σ 12 + σ 22 − σ 1σ 2
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Y 2 = σ xx2 + 3τ xy2
 σ xx   τ xy 
2 2
No yielding if,   +   < 1

 Y  Y / 3 
56
Plotting these two criteria –

τxy/ Y Experimental data shows
good agreement with von-
0.6
Mises theory.
Tresca – conservative
von-Mises
Tresca von-Mises theory more
accurate – generally used
1 σxx/ Y in design
rd_mech@yahoo.co.in
Aluminium Experiments show that for
Mild steel ductile materials yield in
shear is 0.5 to 0.6 times of
Copper
yield in tensile 57
Octahedral plane – makes equal angles with all

principal stress axes – direction cosines same
Shear stress acting on this plane – octahedral
shear
2
oct
9
[
τ = (σ1 −σ2 ) + (σ2 −σ3 ) + (σ3 −σ1)
1 2 2 2
]
Body subjected to pure tension, σ1 = Y, σ2 = σ3 = 0
rd_mech@yahoo.co.in
2 2
τ = Y 2
oct
9
2
[
2Y = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2 2 2
] 58
Comparing this with von-Mises theory =>

both are same τy
Pure shear
σ1 = τy, σ2 = - τy, σ3 = 0
τ oct
2
=
1
9
[ ]
(σ 1 − σ 2 )2 + (σ 2 − σ 3 )2 + (σ 3 − σ 1 )2 = 6 τ y2
9
Same as von-Mises
theory in pure shear
2 2
rd_mech@yahoo.co.in
τ oct = τ y
2
3 Octahedral shear stress

[ 2 2
]
6τ y2 = (σ 1 − σ 2 ) + (σ 2 − σ 3 ) + (σ 3 − σ 1 )
2
theory => von-Mises
theory
59
Tensile & shear yield strengths
Each failure theory gives a relation between

yielding in tension and shear (υ = 0.25)
rd_mech@yahoo.co.in
60
Failure theories in a nut shell
rd_mech@yahoo.co.in
61
rd_mech@yahoo.co.in
62

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R&DE (Engineers), DRDO

Maximum principal stress theory

Failure occurs when material starts exhibiting

Ductile and brittle materials

Stress developed in the material < yield stress

If σx = σY => yielding starts – failure

Various types of loads acting at the same time

Multiaxial stress state – six stress components – one

Yield criteria expressed in terms of quantities

Equivalent stress depends on stress state and

Maximum principal stress

Maximum shear stress

Total strain energy density

Volumetric strain energy density, UV = p2/2K

Maximum principal stress reaches tensile yield

In 2D case, σ3 = 0 – equations become

“Failure occurs at a point in a body when the

Strains corresponding to principal stresses -

There are four equations, each equation represents a

σ 1 −νσ 2 = −σ Y Failure – equivalent

Biaxial loading -σ2

For onset of yielding –

“Failure at any point in a body subjected to a

σ = Eε => Hooke’s law U = ∫σ ij d ε ij => U = ∫ σdε

Body subjected to external loads => principal

Strain energy associated with principal

For 2D stress state => σ3 = 0 – Yield function

For onset of yielding => f = 0 σ 12 + σ 22 − υσ 1σ 2 − Y 2 = 0

Rearrange the terms –  σ1   σ 2   σ1 σ 2 

Energy associated with volumetric change –

Given stress state referred to principal co-

Compare this with distortion in uniaxial tensile

Principal stresses of deviatoric shear stress, Sii

Sii = σii – p => σii = Sii + p

2Y 2 = ((S1 + p ) − (S 2 + p )) + ((S 2 + p ) − (S3 + p )) + ((S3 + p ) − (S1 + p ))

Simplifying this expression –

Hydrostatic pressure does not appear in the expression

von-Mises criteria has square terms – result

2D stress state => σ3 = 0

Shear yield = 0.577 * Tensile yield

Plot yield function in 3D principal stress space

Projection of OA on hydrostatic axis

Radius => R= S12 + S 22 + S 32

Second invariant of deviatoric stress

“Yielding begins when the maximum shear

Shear yield = 0.5 Tensile yield 44

In 3D stress state – principal stresses => σ1, σ2

Following equations are obtained

Redefining yield function as,

Yield function in principal stress space

Tresca yield surface View ‘A’ – along hydrostatic axis

Yield surface intersects principal axes at 2KT

Each equation represents two

Yield curve – elongated hexagon 52

von-Mises criteria => J2 = KM2 =

2D stress space – von-Mises and Tresca

Yielding in uniaxial tension Yielding in shear

Experiments by Taylor & Quinney**

No yielding if,   +   < 1

No yielding if,   +   < 1

Plotting these two criteria –

Octahedral plane – makes equal angles with all

Comparing this with von-Mises theory =>