ME 6201: Applied Elasticity and Plasticity

3-D stress-Strain

Prof. S.K.Sahoo
 The stresses (normal and shear) on a inclined plane
• Let consider the general 3D state of stress
at a point specified by,  x ,  y ,  z ,  xy ,  yz ,  zx
• Similar to 2D case, let find out the
y yy normal and shear stress on a
A arbitrarily doubly inclined plane ABC.

 yx
 yz zz  N(l1,m1,n1)
xy
 xz  zx • The plane ABC is
xx specified by its normal N.
xx  zy  zy It is represented by its
O  xz direction cosines
 xy  zx B x (l1,m1,n1).
 yz • If N makes angles , Φ,  with x,y,z axes,
zz  yx then l1 = cos,m1 =cos Φ,n1 =cos .

C yy
• Values of l1,m1,n1 are not independent.
z Having relations, l12+m12+n12=1
 The stresses (normal and shear) on a inclined plane
• As the elemental cube is in static equilibrium, the
tetrahedron ABCO will be in equilibrium by the
stress act in faces OAC, OAB, OBC and the
y yy resultant stress/traction  on face ABC.
A 
 yx
 yz zz  N(l1,m1,n1)
xy
 xz  zx xx
xx  zy  zy
O  xz
 xy  zx x
B • Let Area of the plane ABC is A.
 yz
zz  yx So, Area of OAB=An1
Area of OBC=Am1
C yy
z Area of OAC=Al1
 The stresses (normal and shear) on a inclined plane
• Let the resultant stress  has components Sx, Sy &
Sz in x, y, z-directions. Applying force balance
equations, we have:
y
F x 0 AS x   x Al1   xy Am1   zx An1  0
A

zz
 F y  0,

 zx Sy AS y   xy Al1   y Am1   yz An1  0

 zy
 xz Sx
xx
O Sz
 xy  yz B x F  0,z

 yx
C AS z   zx Al1   yz Am1   z An1  0
yy
z
 The stresses (normal and shear) on a inclined plane
S x   xl1   xy m1   zx n1
• Simplifying,
S y   xyl1   y m1   yz n1
y S z   zxl1   yz m1   z n1
A
zz
 S
 zx y
n3
 zy Sz
n1 • Adding normal
 xz n2 components of S , S ,
Sx x y
xx Sz, we have,
O
 xy  yz B x
 n   n1   n 2   n 3
 yx
C  n  S xl1  S y m1  S z n1
yy
z
 The stresses (normal and shear) on a inclined plane
• Putting values of Sx,
Sy, Sz, we have
 n   xl12   y m12   z n12  2 xyl1m1  2 yz m1n1  2 zx n1l1
y
A
 s
zz
 zx n  s2   2   n2
 xz  zy
 S x2  S y2  S z2   n2
xx O
 xy  yz B x
 yx
C
yy
z
 Principal stresses and Principal planes in 3D stress system
• Let the plane ABC (direction cosine of l,m,n) is oriented in such a
way that the resultant stress σ has only normal component, ie, is
normal to plane ABC, ie, a principal stress.
• As σ is itself normal to
y plane ABC its components
A N(l,m,n) in x,y,z-directions Sx, Sy, Sz
can be found by
zz
 zx
=  n
multiplying it with its
direction cosines l, m, n.
Sy Sx   l Sy   m Sz   n
 zy
 xz
Sx
xx O Sz • Also Sx, Sy, Sz can be
found from stress terms
 xy  yz B x S   l  m  n
x xx xy zx
 yx
S y   xyl   yy m   yz n
C
yy S z   zxl   yz m   zz n
z
 Principal stresses and Principal planes in 3D stress system
• Subtracting first set from second ones, ( xx   )l   xy m   zx n  0
we have,
• These are three homogeneous linear  xyl  ( yy   )m   yz n  0
equations in l,m,n. To give a non-zero
solution it is necessary that the
 zxl   yz m  ( zz   )n  0
determinant should be zero.
( xx   )  xy  xz   l 
( xx   )  xy  xz    

 (  ) 

  (   )   m  0
 0
xy yy yz
 xy yy yz
  xz   xz  yz ( zz   )  n 
  yz ( zz   ) 
• Expanding this determinant we get a  3  ( xx   yy   zz ) 2 
cubic equation in σ as,
( xx yy   yy zz   zz xx   xy2   yz2   zx2 ) 
( xx yy zz  2 xy yz zx   xx yz2   yy zx2   zz xy2 )  0
• The three roots of the cubic equation (designated as σI, σII , σIII ) are three
principal stresses and for each Principal stress associated by a principal plane.
It can be obtained by putting the value of σ (σI, σII , σIII ) in the equations and
solved separately. These planes are orthogonal to each other.
 Stress Invariants
• The cubic equations of σ can be written as,  3  J1 2  J 2  J 3  0
• Where, J1   xx   yy   zz J 2   xx yy   yy zz   zz xx   xy2   yz2   zx2
 xx  xy  yy  yz  xx  xz
  
 xy  yy  yz  zz  xz  zz
J 3  ( xx yy zz  2 xy yz zx   xx yz2   yy zx2   zz xy2 )
 xx  xy  zx
  xy  yy  yz • J1, J2, J3 are known as the first,
 zx  yz  zz second, and third invariants of stress
respectively.

• J1, J2, J3 are called invariants as they

do not depend on reference axis
orientation.
 When Principal axes are the Referred axes
 I 0 0 
• Stress matrix will be,
 ij   0  II 0 
 s
 0 0  III 
n
• Let find the stress on a
inclined plane having direction
cosine l2,m2,n2
• Components Sx, Sy & Sz in x, y, z-directions
• Normal stress is: of resultant stress  will be,
 n   I l22   II m22   III n22 S x   I l2 S y   II m2 S z   III n2

 s2   2   n2
• Shear stress is:  S x2  S y2  S z2   n2
  I2l22   II2 m22   III
2 2
n2  ( I l22   II m22   III n22 ) 2

l22  m22  n22  1

• Stress invariant are:
J1   I   II   III So, n22  1  l22  m22
J 2   I  II   II  III   III  I
J 3   I  II  III
 Planes & Values of Maximum Shear Stress

• When plane l3,m3,n3 has the maximum  ( s2 )  ( s2 )

 0
shear stress, conditions to satisfy are: l3 m3

• Assuming:  I   II   III
• The solutions are:
1 1  II   III
l3  0, m3   , n3   Maximum shear stress 
2 2 2

1 1  I   III
l3   , m3  0, n3   Maximum shear stress 
2 2 2
1 1  I   II
l3   , m3   , n3  0 Maximum shear stress 
2 2 2
• Each one of the three planes of maximum shear is inclined at 450
to two of the principal directions and parallel to the third one.
• When,  I   II   III
• No shear stress exists on any plane and
state of stress is hydrostatic, where S   I   II   III
 Mean and Deviatoric Stresses
• The mean stress, also called hydrostatic stress is,
1 1 1 1
S   m  J1   ii  ( xx   yy   zz )  ( I   II   III )
3 3 3 3
• In tensor notation,  S0 0 • This tensor indicate, on any arbitrary
0 S 0
  plane the stress resultant will be
 0 0 S  normal and equal to S
• When the mean/hydrostatic stress components are subtracted from the
stress tensor components, deviatoric stress are obtained

 xx  xy  zx   S 0 0   xx  S  xy  zx   S xx S xy S zx 
      

 xy  yy  yz    0 S 0     xy  yy  S  yz    S xy S yy S yz   Sij
 zx  yz  zz   0 0 S    zx  yz  zz  S   S zx S yz S zz 
 
• It can be expressed as, Where,

Sij   ij  S ij  ij  Kronec ker delta  1 when i  j

 0 when i  j
Significance of Hydrostatic stress & Deviatoric Stress

Hydrostatic stress Deviatoric Stress

• Responsible for • Responsible for

volume change. Shape change.

• K, εv attached to it. • Deformation or

distortion take place.
 Octahedral Stress
• A plane that makes equal angles with the
principal planes is called an octahedral plane.
• So, l=m=n, as l2+m2+n2=1, we have
1
lmn
We can get 8 such planes 3
• The normal and shear stresses on these
planes are called the octahedral normal  II I
 III S y   II m  Sx   I l 
stress and octahedral shear stress. S   z III n  3 3
3
 2
 2
 2
 oct
2
 S x2  S y2  S z2  I
 II
 III
 I   II   III 1
3 3 3 ( n )oct   I l 2   II m 2   III n 2   J1  mean stress
3 3
( s2 )oct  ( 2 )oct  ( n2 )oct
( s2 ) oct 
1
9

( I   II ) 2  ( II   III ) 2  ( III   I ) 2 
• In stress terms, we have, ( s ) oct 
2 2 1
( J1  3 J 2 ) 2
• If on a plane, mean stress is zero, then 3
normal stress on octahedral plane is zero 1 1
( n )oct  ( xx   yy   zz )  J1  mean stress
& only shear stress will act. 3 3
( s2 )oct 
1
9

( xx   yy ) 2  ( yy   zz ) 2  ( zz   xx ) 2  6( xy2   yz2   zx2 ) 
 Principal Strains
The procedure is analogous to stress  xx  xy  zx 
 
Let ij is the designated strain tensor  ij   xy  yy  yz 
• To give a non-zero solution for required  zx  yz  zz 
 
principal plans of strain, it is necessary
 xx    xy  zx   l 
that the determinant should be zero.  
  xy  yy    yz  m  0
• The solved cubic equations can be   zx  yz  zz     n 

written as,  3    2       0
1 2 3
Where, 1   xx   yy   zz
 xx  xy  yy  yz  xx  xz
2   
• 1,  2,  3 are known as the first,  xy  yy  yz  zz  xz  zz
second, and third invariants of strain
respectively.  xx  xy  zx
3   xy  yy  yz
 zx  yz  zz
• The three roots of the cubic equation (designated as I,  II ,  III ) are three
principal strains and for each Principal strain associated by a principal plane. It
can be obtained by putting the value of  ( I,  II ,  III ) in the equations and
solved separately. These planes are orthogonal to each other.
Example: 2 0 0 
Given:  ij  0 3 4  Find principal values and directions.
0 4  3
Answer:
( 2   ) 0 0 
 0   (2   )( 2  25)  0
 (3   ) 4   I  5  II  2  III  5
 0 4 (3   )

For ( xx   I )  xy  xz   l  (2  5)l 0 0 

    0 0
I  5   xy ( yy   I )  yz  m  0 (3  5) m 4 n
  xz  
  yz ( zz   I )  n   0 4m (3  5)n

 3l  0m  0n  0  3l  0  l  0
2
0l  2m  4n  0 m
 2m  4n  0 5
0l  4m  8n  0 1
4m  8n  0 n
5
Similarly, putting the values for σII , σIII , we can
find the other two associated principal planes l 2  m2  n2  1
Example:  xx  80 Mpa;  yy  60 Mpa; zz  20 Mpa
Given: Stress components  xy  20 Mpa; xz  40 Mpa; yz  10 Mpa
Find: Invariants, Principal Values, max. shear and oct. shear stress.
Find normal stress on a plane normal to iˆ  2 ˆj  kˆ ,ie, direction cosines are:
1 2 1
, ,
Answer: First Invariant 6 6 6

Second Invariant  xx yy   yy zz   zz xx   2 xy   2 yz   2 zx  5500

Third Invariant

Characteristic Equation:
 3  160 2  5500  0  0
 max  12  1   3   55 Mpa
 ( 2  160  5500)  0
 2 oct  19  1   2    2   3    3   1  
2 2 2
 1  110 Mpa  
 2  50 Mpa  44.97Mpa
σ1 =
 00
3

 n   x l12   y m12   z n12  2 xy l1m1  2 yz m1n1  2 zx n1l1

Putting values, σn =95.3 MPa

 Mohr’s Circle for the Three-Dimensional Stress System
• Limitation: If the principal stresses σI , σII , σIII are given, then the normal stress
σn and σs on a arbitrary plane having direction cosine (l,m,n) can be found out.
We know that,
2    
2 2 2 σ is the resultant stress
 n   I l   II m   III n
2 2 s n

 S x2  S y2  S z2   n2
l 2  m2  n2  1   I2l 2   II2 m 2   III
2 2
n  ( I l 2   II m 2   III n 2 ) 2

Substituting, m2  1 l 2  n2

So,  n  l  I   II 1  l  n    III n
2 2 2 2
2
n 
 n  l 2  II   I    II
 III   II 
  l   
2
s
2 2
I
2
II   2
II n  2
 2
III  2
II   l 
2
I   II    II  n  III   II 
2

2

Substituting value of n2 in 
Similarly, we can get,
 s2   II   n  III   n 
2 2
we can get, l 
s
 II   I  III   I 
2  s2   III   n  I   n  2  s2   I   n  II   n 
m  , n 
 III   II  I   II   I   III  II   III 
From first equation of l2
 n   II  n   III    s2  l 2  I   II  I   III 

2 2
    III      III 
or   n  II    s  l  I   II  I   III    II
2 2

 2   2 

It is a equation of a circle
( x  a ) 2  y 2  r 2 centre at (a,0) of radius r

Thus, if l,m,n are given for a particular plane,  n &  s lie on the circle

specified by equation given above. When  n is the abscissa and

 s the ordinate, the circle having a centre at   II   III  

,0 
 2 
2

and a radius  
l 2  I   II  I   III     II   III 
 2 
 Instruction to draw Mohr’s Circle
1. Mark the points P1, P2, P3 on the n axis where OP1   I , OP2   II , OP3   III .

2. Draw circles on diameter P1P2, P2P3 & P1P3 having centres at C1, C2, C3 at

3. Through P1, P2, P3 draw lines parallel to the   I   II    II   III    III   I 

.  ,0 ,  ,0  &  ,0 
 2  2   2 
 s axis, say P1T1, P2T2, P3T3. From P1 draw a
line at angle  to P1T1,, Where l  cos
which cut the circles at Q2 & Q3 respectively to circle P1P3 & P1P2.
The coordinates of Q3 are  II   I   II  cos 2  ,  I   II  cos  sin 
So, C2Q3 
2   II   III  2 I   II l 2 

 2 


  I   II l 1  l 2 
2   II   III 2 2
 
 2


 l  I   II  I   

III 

i.e., It is the radius of the circle & C2Q3 = C2Q2 . So, Draw curve with centre C2.
In the same way, starting from the expression for m2 & n2,  n &  s lie on a circle
•From P3 draw a line at angle  (Where cos=n) to cut the circles P3P2, P3P1 on S3 & S2. Draw a
curve with centre C1. From P2 draw line at angle  (where cos   m)
to P2P3 & P2P1 cross on R2 & R3 & draw a curve with centre C3. All three curves meets at point P.
•Draw perpendicular PN to  n axis
•PN =  s & ON =  n
Mohr’s Circle for the 3-D Stress System

s
T2
T3 Q2 S2 T1
P
R3
R2 S3 Q3
O    
P3 P1  n
C2 P2 N C3 C1
III
n
II
I