2 FUNDAMENTAL DEFINITIONS AND RELATIONSHIPS Pre cos(n,z) Pry | = cos(n,y) an Pas cos(nyz) where cos(njz) is the cosine of the angle between the mand = directions, and similarly for eoe(ny) and covin,a). 1.1.3. TRANSFORMATION OF AXES If a new set of orthogonal axes 2!, y’, 2! are chosen, the stress components in this coordinate system are related to the stress components in the original =, y, 2 system as follows: sy -asat se G2) where S, is the stress matrix with respect to the z'y’s! axes, S is the stress matrix with respect tothe 22 axes, A 4s the direction cosine matrix, A= | cos(e',2) costs',y) goste',2) eoaty'y2) coety'sy) costy's3) c00(s',2) eosts',y) e082", 3) A is the transpose of A. 1.1.4 PRINCIPAL STRESSES It is possible to show that there is one set of axes with respect to which all shear stresses are zero and the normal stresses have their extreme values. The three mutually cular planes where this condition exists are called the principal planes, and the normal stresses acting on these planes are the principal stresses. ‘The principal stresses, 1, 0; and 03 (the maximum, intermediate and minimua stresses respect- ively) may be found as the roots of the equation ang? + Jao, > dy = 0 + G5) where Jy = 0,40,40,= o(bulk streoa) eye + G.da) 2 = 0,9, 40,0,40,0,-1, 2 at, 2 at? Ta = O61, 9,105 ry Tye “Tae ses tb) = 0,9,0,-0,1,2-0,7,2-0,%,2 Fa Oya akys yan Satay ER Jy (oF 0), Jz, Js are often known as the first, ‘second and third stress invariants, as they remain ‘constant, independent of the coordinate system. In terms of the principal stresses, NO ant o tos wee G58) Ju = 0102 + 0205 + 0904 ses @.5b) Js = 10205 se (Se) ‘The directions of the normals to the principal planes are given by 208 (nyt) ses G63) . ses (2.60) se (1.60) Seats = tyl9,-3,) 05 = Naylys Tas! y%0) and 0, are the principal stresses = 12,8). + 1.1.5 MAXIMUM SHEAR STRESS ‘The maximm shear stress occurs on a plane whose normal makes an angle of 45° with the 0; and oy directions. ‘The maximm shear stress, ‘Taz at a point is given by