Duke University

Department of Civil and Environmental Engineering

CEE 421L. Matrix Structural Analysis
Fall, 2012
Henri P. Gavin

Strain Energy in Linear Elastic Solids

Consider a force, Fi , applied gradually to a structure. Let Di be the resulting

displacement at the location and in the direction of the force Fi . If the
structure is elastic, the force-displacement curve follows the same path on
loading and unloading.

Fj
Fi
Dj ∆ Fi
Di
000000
111111
000000
111111 Fi
111111111
000000000
000000000
111111111
000000000
111111111
000000
111111
11111
00000
000000
111111
00000
11111
000000
111111
00000
11111

000000000
111111111
000000
111111
00000
11111
000000
111111
00000
11111
v(x)000000
111111
00000
11111 w(x)
000000000
111111111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111

000000000
111111111
00000
11111
000000
111111
000
111 00000
11111
000000
111111
00000
11111
111
000 σ 000000
111111
00000
11111

000000000
111111111
000
111 000000
111111
00000
11111
000
111 000000
111111
00000
11111
000
111 000000
111111
00000
11111

000000000
111111111 ∆ Di
000
111 000000
111111
00000
11111
000000
111111
000
111 00000
11111
000
111
ε
000000000
111111111
000
111

000000000
111111111
000000000
111111111
000000000D+ ∆ D
111111111
00000
11111
11111
00000
00000
11111

00000
11111
11111
00000
0 Di i i
00000
11111

Figure 1. Forces and displacements on the surface of an elastic solid.

If Fi is increased by ∆Fi and the corresponding increase in the displacement

is ∆Di , then as ∆Fi → 0, the incremental work, ∆W , done by the load
Fi passing through a displacement ∆Di is approximately Fi ∆Di , or, more
precisely, Z D +∆D
i i
∆W = Fi (Di ) dDi . (1)
Di

When the structure is elastic and linear, that is Fi (Di ) = ki Di , the work of
a force increasing from 0 to Fi , moving through corresponding displacements
from 0 to Di is
Z D
i
Z D
i 1 11 2 1
W = Fi dDi = ki Di dDi = ki Di2 = F = Fi Di . (2)
0 0 2 2 ki i 2
2 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2012 – H.P. Gavin

If a linear elastic structure is subjected to a system of point forces F1 , F2 , . . . , Fn ,

Fi Fj F1
Dj Dn Fn
Di D1
Fn
Dn Dj
111
000
Di
000
111 00000
11111 000000
111111
000
111 11111
00000
00000
11111 111111
000000
000000
111111
000
111
000
111
000
111 Fi Fj
000
111
000
111
000
111
F1
Ra 000
111
Fi Fj Fn
D D1
1 Di Dj Dn
111111
000000
F1 000000
111111
000000
111111

111111
000000
000000
111111 00000
11111 11111
00000
00000
11111
11111
00000
000000
111111
000000
111111 Rc 00000
11111 00000
11111
00000
11111

Rb

Figure 2. Point forces and collocated displacements on linear elastic solids and structures.

causing displacements, D1 , D2 , . . . , Dn , in the direction of those forces, then

the total external work, W , is given by
1 1
{F1 D1 + F2 D2 + · · · + Fn Dn } = {F }T {D} .
W = (3)
2 2
In the absence of any energy dissipation, this work is stored in the structure
in the form of strain energy. In elastic structures carrying static loads, the
external work and strain energy are numerically equal to one another.
External Work = Strain Energy

W =U (4)

Note that forces at fixed reaction points, R, do no work because the displace-
ments at the reactions are presumed to be zero.

Example: Small element subjected to normal stress σxx

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Strain Energy in Linear Elastic Solids 3

Strain Energy in a general state of stress and strain

A three dimensional linear elastic solid with loads supplied by external forces
F1 , . . . , Fn , and through support reactions R, can be considered to be made
up of small cubic elements as shown below.
Fi Fj σ zz
Dj
Di
Fn τ yz
Dn τ xz
000
111
111
000
000
111
000
111
000
111
σyy
Ra
000
111
000
111
000
111
000
111 V
D
1 σxx τ xy
11111
00000
F1 00000
11111
00000
11111

00000
11111
11111
00000
00000
11111
Rc
Rb

Figure 3. Stresses within a linear elastic solid.

The incremental strain energy, dU , for this elemental cube of volume dV can
be written:
1
dU = {σxx xx + σyy yy + σzz zz + τxy γxy + τxz γxz + τyz γyz } dV.
2
Integrating the incremental strain energy, dU , over an entire volume, V , the
total strain energy, U , is
1Z
U= {σxx xx + σyy yy + σzz zz + τxy γxy + τxz γxz + τyz γyz } dV.
2 V
If the stresses and strains are re-written as vectors,
{σ}T = {σxx σyy σzz τxy τxz τyz }
{}T = {xx yy zz γxy γxz γyz } ,
then the total strain energy can be written compactly as
1Z
U= {σ}T {} dV. (5)
2 V
This equation is a general expression for the internal strain energy of a linear
elastic structure of any type. It can be simplified significantly for structures
built from a number of prismatic members, such as trusses and frames.

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4 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2012 – H.P. Gavin

Axial Strain Energy, σxx = Nx /A, xx = u0 (x)

Consider a rod subjected to a normal force, Nx :

1111
0000
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
Nx Nx 0000
1111
0000
1111
0000
1111
0000
1111
x 0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
σxx
dl ε xx dl

Figure 4. Internal axial forces, deformation, and stresses in an axially-loaded prismatic bar.

The normal stress on an element dA is

Nx
σxx = Exx = .
A
The corresponding strain is
σxx
= u0 (x) .
xx =
E
The incremental internal strain energy, dU , in an incremental volume element,
dV , in terms of axial forces, Nx , or axial displacements, u(x), is
2
1 1 σxx 1 Nx2
dU = σxx xx dV = dV = dA dl
2 2 E 2 EA2
1 1
= E2xx dV = E(u0 (x))2 dA dl
2 2
and the total strain energy in a bar in tension or compression is
1 Z Nx2 ZZ 1Z 0 2
ZZ
U= dA dl or U= E(u (x)) dA dl.
2 l EA2 A 2 l A

Since A = A dA,
RR

1 Z Nx2 1Z 2
U= dl or U= EA (u0 (x)) dl. (6)
2 l EA 2 l
A prismatic bar with a constant axial force, Nx , and a constant strain xx =
∆x /L, along its length, is like a truss element, and the strain energy can be
expressed as
1 Nx2 L 1 EA 2
U= or U= ∆ . (7)
2 EA 2 L x

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Strain Energy in Linear Elastic Solids 5

Bending Strain Energy, σxx = −Mz y/Iz , xx = −v 00 (x) y

Consider a beam subjected to a pure bending moment about the z-axis, Mz :

y v" dl
1111
0000
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000111
1111000
000
111
000
111
M zz M zz x
000
111
000
111
000
111
000
111
000
111
000
111

σ
xx

dl

Figure 5. Internal bending moments, deformation, and stresses in a prismatic beam.

The normal stress on an element dA at a distance y from the neutral axis is

Mz y
σxx (y) = Exx (y) = − .
Iz
The corresponding strain is
σxx
= −κy ≈ −v 00 (x) y.
xx (y) =
E
The incremental internal strain energy, dU , in a volume element, dV , in terms
of bending moments, Mz (x), or transverse displacement, v(x), is
2
1 1 σxx 1 Mz2 y 2
dU = σxx xx dV = dV = dA dl
2 2 E 2 EIz2
1 1 2
= E2xx dV = E (v 00 (x) y) dA dl ,
2 2
and the total strain energy in a beam under pure bending moments is
1 Z Mz2 ZZ 2 1Z 00 2
ZZ
U= y dA dl or U= E(v (x)) y 2 dA dl.
2 l EIz2 A 2 l A

Since the bending moment of inertia, I, is A y 2 dA, provided that the origin
RR

of the coordinate system lies on the neutral axis of the beam ( A yz dy dz = 0),
RR

1 Z Mz2 1Z
U= dl or U= EIz (v 00 (x))2 dl. (8)
2 l EIz 2 l

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6 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2012 – H.P. Gavin

Shear Strain Energy, τxy = Vy Q(y)/Iz t(y), γxy = vs0 (x)

Consider a beam subjected to a shear force, V , (and bending moment):

y
y
000000
111111 00000
11111
111111
000000 11111
00000
000000
111111 00000
11111
000000
111111 00000
11111
t(y) 000000
111111 y 00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
d Vy v’s Vy x
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
τ
xy
dl

Figure 6. Internal shear forces, deformation, and stresses, of a prismatic beam.

Vy Q(y)
τxy (y) = Gγxy (y) =
Iz t(y)
Z d/2
Q(y) = Moment of Area of Cross Section = t(y)y dy
y
2
1 1 τxy 1 Vy2 Q(y)2
dU = τxy γxy dV = dA dl = dA dl
2 2G 2 Iz2 Gt(y)2
1 Z Vy2 ZZ Q(y)2 1 Z Vy2  A ZZ Q(y)2
 

U= dA dl = dA dl
2 l Iz2 G A t(y)2 2 l GA Iz2 A t(y)2
This last integral reduces to a constant that depends only upon the shape of
the cross-section. This constant is given the variable name α.
A ZZ Q(y)2
α= 2 dA
Iz A t(y)2
Values of α for some common cross-section shapes are given below (α > 1).
solid circular sections: α ≈ 1.08
solid rectangular sections: α ≈ 1.15
thin-walled circular tubes: α ≈ 1.95
thin-walled square tubes: α ≈ 2.35
I-sections in strong-axis shear: α ≈ A/(td)
With this simplification, the internal strain energy due to shear forces is
1 Z αVy2 1Z Vy2
U= dl = dl . (9)
2 l GA 2 l G(A/α)
CC BY-NC-ND H.P. Gavin
Strain Energy in Linear Elastic Solids 7

The term (A/α) is called the effective shear area.

As a review of shear stresses in beams, consider the shear stress in a rectan-

gular section (with section d × b).
Vy Q(y)
τxy =
Iz t(y)
d/2
y2  d2 y 2 
  
Z d/2 Z d/2
Q(y) = t(y)y dy = b y dy = b  =b  −
y y 2 y 8 2
d2
 
Vy
τxy =  − y2 .
2Iz 4
This stress varies parabolically along the direction of the applied shear. It is
maximum at the centroid of the section and zero at the ends.

The corresponding shear strain energy equation in terms of displacements is

a bit more subtle
1Z
U= G(A/α)(vs0 (x))2 dl . (10)
2 l
where the total transverse displacement is a combinastion of bending-related
vb (x) and shear-related vs (x) displacements, v(x) = vb (x) + vs (x). For exam-
ple,
ZZ M (x) Z Vz (x)
zz
vb (x) = dx and vs (x) = dx .
EIzz (x) GA(x)/α

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8 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2012 – H.P. Gavin

Torsional Strain Energy, τxθ = Tx r/J, γxθ = r θ0

Consider a circular shaft subjected to a constant torsional moment, Tx :

y y

r R θ’ Tx 00000000
11111111
11111111
00000000
00000000
11111111
Tx 00000000
11111111 τx θ
z x 00000000
11111111

dl

Figure 7. Internal torsional moments, deformation, and stresses in a prismatic rod.

The circumferential shear stress τxθ (r) is

Tx r
τxθ (r) = Gγxθ (r) =
J
and the corresponding shear strain is
τxθ (r)
γxθ (r) = = r θ0 .
G
The incremental internal strain energy, dU , in terms of torsional moments,
Tx (x), or torsional rotations, θ(x), is
2
1 1 τxθ 1 Tx2 r2
dU = τxθ γxθ dV = dV = dA dl
2 2G 2 GJ 2
1 2 1
= Gγxθ dV = G(r θ0 )2 dA dl
2 2
and the total strain energy for the shaft is
1 Z Tx2 ZZ 2 1Z 0 2
ZZ
U= r dA dl or U= G(θ ) r2 dA dl.
2 l J 2G A 2 l A

2
Since the term Ar dA is the same as the polar moment of inertia, J,
RR

1 Z Tx2 1Z
U= dl or U= GJ(θ0 )2 . (11)
2 l GJ 2 l

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Strain Energy in Linear Elastic Solids 9

Total Strain Energy arising from Combined Axial Stresses

As a review of the material above, consider a three-dimensional bending

problem with a super-imposed normal force, Nx .

My

Nx
Mz x
z

dl
Figure 8. Internal axial force and bending moments in a prismatic beam.

Nx Mz y My z
− σxx = + .
A Iz Iy
The total strain energy arising from axial and pure bending effects is
2
1Z 1 Z σxx 1 Z 1 ZZ 2
Un = σxx xx dV = dV = σ dA dl.
2 V 2 V E 2 l E A xx
2
The term σxx in the integral above can be expanded as follows.
Mz2 y 2 My2 z 2
 
ZZ ZZ N2 Nx Mz y Nx My z Mz My zy 
2 x
σxx dA = + + − 2 + 2 − 2 dA.
A A  A2 Iz2 Iy2 AIz AIy Iz Iy 
But, since the coordinate axes are assumed to pass through the centroid of
the cross-sectional area,
ZZ ZZ ZZ
y dA = z dA = yz dA = 0
A A A
Therefore, the total potential energy is simply the sum of the potential ener-
gies due to axial and bending moments individually.
Z M2
 
1 Z Nx2 Z M2
z y

Un =  dl + dl + dl .
2 l EA l EIz l EIy

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10 CEE 421L. – Matrix Structural Analysis – Duke University – Fall 2012 – H.P. Gavin

Total Strain Energy arising from Combined Shear Stresses

Just as a structural element can be subjected to combined normal and bend-

ing stresses, combined shear stresses can also act together.

Vy

Tx
Vz x
z

dl
Figure 9. Internal shear forces and torsional moment in a prismatic beam.

Vy Qy (y) Vz Qz (z) Tx r
τxy = τxz = τxθ =
Iz tz (y) Iy ty (z) J
Through mathematical manipulations similar to those above, it can be shown
that
Vy2
 
1 Z Z Vz2 Z T2
x

Uv =  dl + dl + dl ,
2 l G(A/αy ) l G(A/αz ) l GJ

where  2
A ZZ  Qy (y) 
αy = 2 dA
Iz A tz (y)
 2
A ZZ  Qz (z) 
αz = 2 dA
Iy A ty (z)

Total Strain Energy

The total strain energy for solids subjected to axial, bending, shear, and
torsional forces is the sum of Un and Uv above.

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Strain Energy in Linear Elastic Solids 11

Summary

Strain energy is a kind of potential energy arising from the deformation of

elastic solids. For structural elements (bars, beams, or shafts) strain energy
is expressed in terms of the elasticity of the material (E or G), the dimen-
sions of the element (L, A, I, J, or A/α), and either the internal forces (or
moments) in the element (N (x), M (x), V (x), or T (x)), or the deformation
of the element (u0 (x), v 00 (x), vs0 (x), θ0 (x)).

“force” deformation force-based deformation-based

strain-energy strain energy

RL Nx (x)2 RL
Axial Nx (x) u0 (x) x=0 E(x)A(x) dx x=0 E(x)A(x)(u0 (x))2 dx

RL Mx (x)2 RL
Bending Mz (x) v 00 (x) x=0 E(x)I(x) dx x=0 E(x)I(x)(v 00 (x))2 dx

RL Vx (x)2 RL
Shear Vy (x) vs0 (x) x=0 G(x)(A(x)/α) dx x=0 G(x)(A(x)/α)(vs0 (x))2 dx

RL Tx (x)2 RL
Torsion Tx (x) θ0 (x) x=0 G(x)J(x) dx x=0 G(x)J(x)(θ0 (x))2 dx

where:
E(x) is Young’s modulus
G(x) is the shear modulus
A(x) is the cross sectional area of a bar
I(x) is the bending moment of inertia a beam
A(x)/α is the effective shear area a beam
J(x) is the torsional moment of inertia of a shaft
Nx (x) is the axial force within a bar
Mz (x) is the bending moment within a beam
Vy (x) is the shear force within a beam
Tx (x) is the torque within a shaft
u0 (x) is du(x)/dx, the axial strain, u(x) is the axial displacement along the bar
v 00 (x) is d2 v(x)/dx2 , the curvature, v(x) is the transverse bending displacement of the beam
vs0 (x) is dvs (x)/dx, the shear deformation, vs (x) is the transverse shear displacement of the beam
θ0 (x) is dθ(x)/dx, the torsional deformation, θ(x) is the torsional rotation of the shaft

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