8.1 8.2 8.3 8.4 8.5 8.1 a 2) Chapter Eight Energy Method Introduction Strain energy expressions Principal of stationary potential energy; several degrees of freedom ------ Castigliano’s first theorem ---- Examples Principal of stationary complementary energy -—---- Castigliano;s second theorem ---- Statically indeterminate problems -: Review and Summary Introduction Two methods in solid mechanics --- vectorial methods and energy methods or variational methods vectorial methods ---- emphasized in elementary courses and are formulated in terms of vector quantities such as forces and displacement Energy methods---- formulated in terms of scalar quantities such as work and energy. Advantages o f energy methods -- ---- ability to avoid some extraneous detail and to yield approximate solution for complicated problems. Degree of freedom (d.o.f.) ------ the number of independent quantities needed to define uniquely the configuration of a system ----generalized coordinates.8.2 Strain energy expression * Work is done by a force as it moves through a distance, and by a moment as it turns through an angle. , Force f 8 Len a au a aU = fu 4 a # Oo i) © FIGURE 7.2.1. (a) Force f moves along the path from A to B. (b) Stretching of a linear spring by a force f (when u = A, f = F). (c) Strain energy stored in the spring. aW =(feosp)du — W+ I" f cos du (the work done by a moment : mcosjd¢ ) do If the effect of force is to distort an elastic body (such as a linear spring), work done by f id stored as strain energy U (expressed in terms of displacement). Complementary strain energy U* (expressed in terms of force). For a linear elastic material U and U' are numerically equal. (1) The strain energy U=U(A) BO A kh U=f) fdu =f, kudu= fku (2) The complementary strain energy U’=U'(F) u = fiuat = [4 fy U=fik« A unit column of linear elastic material can be viewed as a linear spring, so the complementary strain energy U is fi fanare rt as ates tei, a fay wo) FIGURE 1.6.1. Unit volumes of linearly elastic material, with distorted shapes shown by dashed lines. (a) Uniaxial stress o. (b) Shear stress 7. u ze +o + 0 - Wwi(a,0, + 00, + 0,0,)] (1.6.12) +elh+a+ al * The complementary strain energy U* (expressed _in terms of stress or force) for a bar of length L under general complex loading is (by volume integral) My FIGURE 7.2.2. (a) Curved bar Toaded by forces F,, Fy, and F. at its tend, where y and 2 are principal cen- twoidal axes. (b) Forces, moments, and 7~* torque at an arbitrary cross section. G is the centroid. S's the shear center (see Section 9.6) (M2 nN? v2 a uv= ff (Be eee BeBe Kn HS bending torque axial transverse moments force shear forces (7.2.3) where E = elastic modulus, G = shear modulus, and A = cross-sectional area.* Expression for the strain energy U (in terms of displacements) of a slender straight bar is (replacing My by — £7, (d’w/ dx"), ) M, =EI,(d?widx’), — T =GJ(d0/dx) El,(@w\ _ EL.(d’e\” , Gi(d0\” _ 4 Ee) 5 See 7.2.5) u [2 (2) a\ae) * ala) |e 08 where v and w are displacements in the y and z directions, respectively, and is the angle of twist. Again y and z are centroidal principal axes of the cross section, ¢ Slender circular rings Moment-curvature relations for the ring M me FIGURE 7.2.4. Circular ring of initial mean radius R that deforms in ‘its own plane. The (small) radial displacement is called v. (Rox, U strain energy for straight bar) « Energy of transverse shear WW E., “ana A=bh u=f fee itt hdedx 23g" “fh Asa} FIGURE 7.2.3. Rectangular cross section. Trans- verse shear force V, produces shear stress... which varies parabolically from 3V./2A at z = 0 t0 zero at z= £h2,8.3 Principal of stationary potential energy; several degrees of freedom ---- Castigliano’s first theorem ---- Examples « Admissible or kinematically admissible configurations es +t ® FIGURE 7.3.1. Dashed lines show deflections of a propped cantilever beam, greatly exag- erated, (a) Inadmissible configurations. (b) Admissible configurations. © Potential energy IT of a structure --—- II=U+2 U ---- the strain energy Q.---- the potential of the loads For linear spring, d.o.£=A U=kN/2, Q=-FA Tl=U+Q=kX /2—FA « The principal of stationary potential energy: Among all admissible configuration (that satisfied static equilibrium conditions) makes the potential energy stationary with respect to small admissible variations of displacement. If the stationary condition is a minimum, the equilibrium state is stable. a io ka-F=05F=ks (A=") dA k dT] =(kA- F)dA =0© Several degrees of freedom ---- Castigliano’s first theorem (1) the potential energy IT for n degree of freedom D, T=U+Q U= U(D, : D,, esress, D. ) a=-Sro, T (2) then principal of stationary potential energy gives an =0= 8 ap, + Map, 4+ Map, aD, @D, @D, For any and all of these dDj, dI1 must vanish, this is possible only if gy G12) @D, (3) Castigilano’s first theorem: If strain energy U is expressed in terms of independent displacement d.o.f, then the load P; that corresponds to d.o.f. D; is given by the partial derivative of U with respect to D; aul - From above 35-=0 (for #=1,2, -+-,7) We have ou ap 7 (for $= 1,2,--,72) 6U For example : D, = A,D, =@ then x« Examples (Determine the displacement d.o.f. that define the static equilibrium configuration) T L oat Pa ® ® © FIGURE 7.5.1. (a) Two-bar linkage. (b) Weightless but rigid bar, pinned at point A, sup- ported by two identical wires, and loaded by moment Mc. (¢) Two linear springs in series, with load F, at point A and load Fy at point B (1) Two-Bar Linkage The only d.o.f. is B, that B=0 as re! we have (neglecting strain energy U) nce state, H=2=29 Eq-cosp)|-Feacsinp) a =0> tan f= 2F ap W (B is the value for static equilibrium.) (2) Rigid Bar The d. is Ag (Ac=2Ag), the rotation of the rigid bar is 0=0p/b AE, AE > A, v=", +a Q=-M,| = 3p 8 top QA,) a b AE.) A, m=4=5a%, -M,| —* 2 { b } all L =03A,= dA, SAEb the forces in the wires AE M. P, =A, =—, “LL "5b ¢ A E 2M P. = 4 (2dy) = 5bT 2 [ase eae Se Ee ‘ (3) Spring in Series Two d.o.f. are needed to define the configuration: Aa, Ap. Initially , Ay=Ap=0. 1 1 U= gh + ahs -A,)° Using Castigliano’s First theorem, we have oy, . mF, hd h(dy-A,)=Fy OU _ aA,8.4 Principal of stationary complementary energy --------- castigliano’s second theorem -—- Examples « Complementary energy of a structure ---- TI=U"+Q. For linear spring U'=F?/2k|_. F? TT" = Q=-FA FIGURE 7.8.1. Linear stress-strain relation, where ois uniax- ial stress and € is the corresponding strain. U, and U; are energy {bee densities (energy per unit volume.) The principal of stationary complementary energy: among all statically admissible stress fields, the actual stress field (that yields kinematically admissible displacements) makes the complementary energy stationary with respect small statically variations of stress. y Sbeos Faso, F=kA OF k (2) If there are several forces, we have ar _ 0 . OP, = for i=1,2,...... nn In previous example of two springs in series, we have om’ _ F,+F, OF , k a’ F,+F, , F, wats a OF, k, k,+ The complementary energy of a structure loaded by concentrated forces and/or moments is TI =U" -YIRD, 7 are 6U* =0>5 7=1,2,...... oP ap ( n) FIGURE 7.9.1. Lincarly elastic body. The » forces make point move to point /. The component of this mo- tion parallel to force F, is 4, Castigliaon’s second theorem: the partial derivative of complementary energy U” with respect to a load yields the displacement component of the loaded point in the direction of that load. aU" = PH12, n ap ( ) P, can be a force F or moment M. eu" éu" aC”,e Unit load method (A convient format of Castigliano’s second theorem) Using complementary strain energy expression U" for curved bar and 9; =5~, we find introducing =| ( yMy EI, aM y= oP. is a moment produced by a unit load P; (a unit m. force or a unit moment)e Examples (1) Cantilever beam Unit dummy toad Fe " Cait dummy lous 4 TT Lo Coro, Eat i 7 ao 3 ‘ re, a a t a ® «© FIGURE 7.10.1. (a) Uniform cantilever beam with concentrated force F and distributed load g. (b) Same beam, with load q only. (c) Procedure for calculating the horizontal deflection of point C on an L-shaped beam. (a) First determine the vertical deflection of B. The bending moment is (neglect shearing) 2 M(x) =-Fx- “ef using unit load methods, @M/0F =—x < m, 1 qx’ FL’ ql A, ={ —CRr-y(-x)dr = i ° Ia ee Ser BT (b) Find the deflection at B duc to q along (F=0), two method: (1) _ simply set F=0 in above expression for Ap, (2) temporarily apply a load (such as unit load) in the desired dorection, after using unit load method, then set this load to zero: ((case (b)) =f 4f-® 169 yar IE a=] al 2 io} “eee or] Set this load=0 (c) the horizontal deflection at C WA 1 (gx qh’h Aj, = | —()(s)ds + | —| -— |hdx = -—— " I EO” tA 2 6EI| Determine the Z-direction displacement of the (2) Split Ring} loaded end and its rotation component about the y | axis RU — cos 6y Rsing ™ | cnt R @) &) FIGURE 7.10.2. (2) Split ring in the xy plane loaded by a force F normal to its, plane. (b) Free-body diagram, viewed normal to the xy plane. Forces © and @ act in the +z and —z directions, respectively. Couple C is a dummy load used to compute rotation, (a) Bending and twisting moments (in ring) Mg and T are: M, =—FRsing—Csing T = FR(\—cos¢)—Ccos¢ here C is the unit couple for calculation of rotation (b) Calculate deflection, we set C=0 a= f(% OM, . T on EI oF “GI OF = (Rene Rsing)Rdg ' pa -cos)Rdp _ AER, 3nFR - EL GJ (c) Calculate the rotation, C=] >mg=-sind and T=-cosd, in aM, eT the above equation, we use Mal... 7, “0 E> BE WE FR? AER? obtain 9, = @(3) Truss Analysis aos / « o 0 FIGURE 7.10.4. (a) Statically determinate, pin-connected plane truss. (b) Dummy loads used for calculation of relative motion between points C and G. (c) Dummy loads used for calculation of the rotation of bar FG. Forces I/L produce a unit couple, (a) Calculate the vertical deflection at C by unit force method: first calculate the internal force N in each bar due to Q; then the force n due to unit force. Nn is nonzero only bars DB and DC, so ) . (i "| ‘DB DC ac=¥ (Fin) (Ee = FOE (1) 2H (1)=0 (b) Relative motion of points C. G. : we apply collinear force (unit load) as shown. Then NL OL Ace = —n|=3.414 w= >, (Hen) =s40 D.FCFD (c) Rotation of bar FG: we apply couple forces 1/L (unit moment), then NL Org = > (= "| = spacer \ E.8.5 Statically indeterminate problems ---- Examples Determine the bending moment in (1) propped cantilever beam} the statically indeterminate beam | @ L b ® ry ” FIGURE 7.11.4. (a) Uniform and uniformly loaded propped cantilever beam. (b) Reaction R at the left end is chosen as the redundant. (c) Reaction M, at the right end is chosen as the redundant, (a) Find the redundant and regard it as a known load on the structure. (b) The bending moment is M = Rx— qx" /2 OU =y,=0 or OR ie, Lp qe ah (m2 Joya =09R=3qL/8 (c) we can choose My as redundant, then by : MA io (eM as=0 ve OM, 0 ET aM, Obtain the same result as in (b). “MoM ° EI OR dx=0(3) Elastically support cantilever beam Tt 9 ee Le, ‘ qi i coro forces 2. d uy | & «@) © © FIGURE 7.11.2. (a) A linear spring of stiffness k supports the left end of the cantilever beam, (b, ¢) Structure and loads for two solution methods. We use two methods to solve this problem: (a) Consider the U" of the beam only, then ( +e yo? = b om vane A eu" _ eu" —_ a=[“ rm aR O(kA) Yai x when A is known, then R=kA Consider the U_ of whole system (beam and spring). ~_ RM? 2 UE ae where M = Rx gx [2 R is the reaction at the base of the spring, by Castigliano’s second theorem or unit load method: ou" 9 or By [mas =0 OR k my eM =x OR we can get R>A=%(3) Semicircular arch | | Find the support reaction of the arch F é As a My y F bel @ o ry «@ FIGURE 7.11.3, (a) Uniform semicircular arch with fixed ends. (b=d) Diagrams used in various methods of finding the support reactions. This is the statically indeterminate to the third degree. There are several methods to solve the problem: (a) Find U of the arch as U=U (V, h, Mo), then by using 6U -0 , eu =0 , 6U _ av oH eM, we obtain V, H, Mo. (b) By using symmetry, only have 2 unknows, H, /@, as z 0 shown in (c), then U" 0 (1) by 6U" eu" OH =0 > OM, =0 , we solve the problem. n (c)_ As shown in (d), U* =U"(H,M,), by ou =0, OU" =0 oH aM,| Find the forces in (4) Internally indeterminate truss| 7" tt @ © FIGURE 7.11.4. (a) Plane truss, internally statically indeterminate to the second degree. Connections are made by pins at the lettered nodes. (b) One of several possi- ble choices of redundants. we elect to use forces in bars AD and CF as redundants. These forces Fap and Fep are exposed if bars AD and CF are cut. Then the truss is rendered as statically determinate, i.e., all forces in bars can be written in terms of Qi, Qs, Fap and Fer. We can write U" as «th NPL | EA2AE, Fap and Fy can be obtain by eu" _, WU" _4 OF yy? OF ee Since in the imagined cut in each bar (before and after loads Fp, Fp), the relative approach or separation of the cut ends is zero.