Displacement-strain relation:

1
ε= (u ⊗ ∇ + ∇ ⊗ u) (1)
2
In Cartesian coordinate system:
⎡ ⎤ ⎡ ⎤
∂
u (x, y, z) ∂x
⎢ ⎥ ⎢ ⎥
[u] = ⎢ v (x, y, z)
⎢
⎥,
⎥
[∇] = ⎢
⎢ ∂ ⎥
(2)
∂y
⎥
⎣ ⎦ ⎣ ⎦
∂
w (x, y, z) ∂z
⎡ ⎤ ⎡ ' ( * ⎤
∂u 1 ∂u ∂v 1
) ∂u ∂w
εx 1
γ 1
γ + +
⎢ 2 xy 2 xz ⎥ ⎢ ' ∂x
( 2 ∂y ∂x 2
' ∂z ∂x
( ⎥
[ε] = ⎢ 12 γyx 1 1 ∂v ∂u ∂v 1 ∂v ∂w
εy γ ⎥=⎢ + + (3)
⎢ ⎥ ⎢ ⎥
2 yz 2 ∂x ∂y ∂y 2 ∂z ∂y
⎥
⎣ ⎦ ⎣ ' ( ⎦
1 1 1 ∂w ∂u 1 ∂w ∂v ∂w
) *
γ
2 zx
γ
2 zy
εz 2 ∂x
+ ∂z 2 ∂y
+ ∂z ∂z

In cylindrical coordinate system:

⎡ ⎤ ⎡ ⎤
∂
ur (r, θ, z) ∂r
⎢ ⎥ ⎢ ⎥
[u] = ⎢ uθ (r, θ, z)
⎢
⎥,
⎥
[∇] = ⎢
⎢ 1 ∂ ⎥
(4)
r ∂θ
⎥
⎣ ⎦ ⎣ ⎦
∂
uz (r, θ, z) ∂z

⎡ ⎤
ε ε ε
⎢ rr rθ rz ⎥
[ε] = ⎢ εθr εθθ εθz (5)
⎢ ⎥
⎥
⎣ ⎦
εzr εzθ εzz
⎡ * ⎤
1 ∂uθ uθ
∂ur
) 1 ∂ur * 1
) ∂ur ∂uz
∂r 2 r ∂θ
+ ∂r
− r 2 ∂z
+ ∂r
⎢ * ⎥
∂uθ
= ⎢ 1 1 ∂u
− urθ 1 ∂u 1 1 ∂uz ∂uθ (6)
) * ) * )
+ + ur +
⎢ r θ
⎥
2 r ∂θ ∂r r ∂θ 2 r ∂θ ∂z
⎥
⎣ ⎦
1 ∂ur ∂uz 1 1 ∂uz ∂uθ ∂uz
) * ) *
2 ∂z
+ ∂r 2 r ∂θ
+ ∂z ∂z

Hooke’s law:

σ = 2µε + λ (trε) I (7)

1 λ
ε = σ− (trσ) I (8)
2µ 2µ (3λ + 2µ)
Eν E
λ= , µ=G= (9)
(1 + ν) (1 − 2ν) 2 (1 + ν)
or
+ ,
E ν
σ = ε+ (trε) I (10)
1+ν 1 − 2ν
+ ,
1+ν ν 1+ν ν
ε = σ− (trσ) I = σ − (trσ) I (11)
E 1+ν E E
In Cartesian and cylindrical coordinate system:
⎡ ⎤ ⎡ ⎤
σx τxy τxz σr τrθ τrz
⎢ ⎥ ⎢ ⎥
[σ] = ⎢ τyx σy τyz ⎥ , [σ] = ⎢ τθr σθ τθz (12)
⎢ ⎥ ⎢ ⎥
⎥
⎣ ⎦ ⎣ ⎦
τzx τzy σz τzr τzθ σz
Equilibrium equations:
divσ + b = ρa, σ = σT (13)
In Cartesian coordinate system:
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
∂σx
+ ∂τ∂yxy + ∂τ∂zxz bx ax
⎢ ∂x ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ∂τyx ∂σy ∂τyz
⎢ ∂x + ∂y + ∂z +
⎥ ⎢ by ⎥ = ρ ⎢ ay ⎥ (14)
⎥ ⎢ ⎥ ⎢ ⎥
⎣ ⎦ ⎣ ⎦ ⎣ ⎦
∂τzx
∂x
+ ∂τ∂yzy + ∂σ∂z
z
bz az

In cylindrical coordinate system:

⎡ ⎤ ⎡ ⎤ ⎡ ⎤
∂σr
+ 1r ∂τ∂θrθ + ∂σ∂zrz + 1r (σr − σθ ) b a
⎢ ∂r ⎥ ⎢ r ⎥ ⎢ r ⎥
⎢ ∂τrθ 1 ∂σθ ∂τθz 2
⎢ ∂r + r ∂θ + ∂z + r τrθ ⎥ + ⎢ bθ ⎥ = ρ ⎢ aθ ⎥ (15)
⎥ ⎢ ⎥ ⎢ ⎥
⎣ ⎦ ⎣ ⎦ ⎣ ⎦
∂τrz
∂r
+ 1r ∂τ∂θθz + ∂σ∂z
z
+ 1r τrz bz az

Compatibility condition:

∇ × (∇ × ε) = ∇ × ε × ∇ = 0 (16)

Lamé–Navier equation:

(λ + µ) (u · ∇) ⊗ ∇ + µ∇2 u + b = 0 (17)

(λ + µ) uk,ki + µui,jj + bi = 0 (18)

Plane strain problems:
In Cartesian coordinate system
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
1
u (x, y) ε γ 0 σ τ 0
⎢ ⎥ ⎢ x 2 xy ⎥ ⎢ x xy ⎥
[u] = ⎢ v (x, y) ⎥ , [ε] = ⎢ 12 γyx εy 0 ⎥, [σ] = ⎢ τyx σy 0 (19)
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎥
⎣ ⎦ ⎣ ⎦ ⎣ ⎦
0 0 0 0 0 0 σz

E
σx = 2G · εx + λ (εx + εy ) = ((1 − ν) εx + νεy ) (20)
(1 + ν) (1 − 2ν)
E
σy = 2G · εy + λ (εx + εy ) = ((1 − ν) εy + νεz ) (21)
(1 + ν) (1 − 2ν)
τxy = G · γxy (22)

εz = 0 =⇒ σz = ν (σx + σy ) = λ (εx + εy ) (23)

1+ν
εx = ((1 − ν) σx − ν · σy ) (24)
E
1+ν
εy = ((1 − ν) σy − ν · σx ) (25)
E
τxy
γxy = (26)
G
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
∂σx ∂τxy
+ b a
⎢ ∂x ∂y ⎥ ⎢ x ⎥ ⎢ x ⎥
⎢ ∂τyx ∂σy ⎥ ⎢
⎢ ∂x + ∂y ⎥ + ⎢ by ⎥ = ρ ⎢ ay ⎥ (27)
⎥ ⎢ ⎥
⎣ ⎦ ⎣ ⎦ ⎣ ⎦
0 bz az
 ⎡ ⎤ ⎡ ⎤⎡ ⎤
σ 1−ν ν 0 ε
⎢ x ⎥ E ⎢ ⎥⎢ x ⎥
⎢ σx ⎥ = ⎢ ν 1−ν 0 ⎥ ⎢ εy (28)
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎦ (1 + ν) (1 − 2ν) ⎣
⎥
⎣ ⎦⎣ ⎦
1−2ν
τxy 0 0 2
γxy
Plane stress problems:
In Cartesian coordinate system
⎡ ⎤ ⎡ ⎤
1
σx τxy 0 εx γ
2 xy
0
⎢ ⎥ ⎢ ⎥
[σ] = ⎢ τyx σy 0 ⎥ , [ε] = ⎢ 12 γyx εy 0 ⎥ (29)
⎢ ⎥ ⎢ ⎥
⎣ ⎦ ⎣ ⎦
0 0 0 0 0 εz

1
εx = (σx − ν · σy ) (30)
E
1
εy = (σy − ν · σx ) (31)
E
τxy
γxy = (32)
G
ν ν
σz = 0 =⇒ εz = − (εx + εy ) = − (σx + σy ) (33)
1−ν E

E
σx = (εx + νεy ) (34)
1 − ν2
E
σy = (εy + νεx ) (35)
1 − ν2
τxy = G · γxy (36)
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
∂σx ∂τxy
+ ∂y b a
⎢ ∂x ⎥ ⎢ x ⎥ ⎢ x ⎥
⎢ ∂τyx ∂σy ⎥ ⎢
⎢ ∂x + ∂y ⎥ + ⎢ by ⎥ = ρ ⎢ ay ⎥ (37)
⎥ ⎢ ⎥
⎣ ⎦ ⎣ ⎦ ⎣ ⎦
0 bz az
⎡ ⎤ ⎡ ⎤⎡ ⎤
σx 1 ν 0 ε
⎢ ⎥ E ⎢ ⎥⎢ x ⎥
σx ⎥ = ⎢ ν 1 0 ⎥ ⎢ εy (38)
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎦ 1 − ν2 ⎣
⎢ ⎥
⎣ ⎦⎣ ⎦
1−ν
τxy 0 0 2 γxy
Conversion between plane stress and plane strain:

conversion E is replaced by ν is replaced by

E ν
plane stress → plane strain 1−ν 2 1−ν
1+2ν ν
plane strain → plane stress (1+ν)2
E 1+ν