MECHANICS OF SOLIDS

MECHANICS OF SOLIDS

Arbind Kumar Singh

Department of Civil Engineering
Indian Institute of Technology Guwahati

New Delhi - 110 001

2007
MECHANICS OF SOLIDS
Arbind Kumar Singh

© 2007 by PHI Learning Private Limited, New Delhi. All rights reserved. No part of this book
may be reproduced in any form, by mimeograph or any other means, without permission in
writing from the publisher.

ISBN-978-81-203-3190-7

The export rights of this book are vested solely with the publisher.

Published by Asoke K. Ghosh, PHI Learning Private Limited, M-97, Connaught Circus, New Delhi-
110001 and Printed by Mudrak, 30-A, Patparganj, Delhi-110091.
 To
the Loving Memory of

Rajiv Kumar Singh

(1974–2003)
 Contents

Preface xiii

1 FORCE AND DEFORMATION 1–29

1.1 Introduction 1
1.2 Important Terms 2
1.3 Forces on a Body 3
1.3.1 Body Force 4
1.3.2 Surface Traction 5
1.3.3 Point Force 6
1.3.4 Total Force 12
1.4 Conservation of Linear Momentum 13
1.5 Conservation of Angular Momentum 14
1.6 Equilibrium 15
1.7 Method of Section 15
1.8 Conservation of Mass 24
1.9 Saint-Venant Principle 25
1.10 Mode of Deformation 26
Summary 28
Problems 28

2 STRESS AT A POINT 30–77

2.1 Introduction 30
2.2 Cauchy Axiom 30
2.3 Definition of Cauchy Stress 32
2.4 Conservation of Linear Momentum 37
2.5 Conservation of Angular Momentum: Symmetry of Stress Tensor 38
2.6 Indicial Notation 39
2.7 Application of Cauchy Equation 48
2.8 Transformation of Stress Tensor 51
vii
viii C ONTENTS

2.9 Hydrostatic and Deviatoric Components of Stress Tensor 54

2.10 Principal Stress and Principal Plane 56
2.11 Octahedral Stress 67
2.12 Geometric Representation of Stress 69
Summary 74
Problems 74

3 STRAIN AT A POINT 78–112

3.1 Introduction 78
3.2 Displacement at a Point 78
3.3 Relative Displacement 80
3.4 Infinitesimal Line Segment at Current Time 85
3.5 One-dimensional Motivation for Strain 86
3.6 Green–Lagrange Strain Tensor 88
3.7 Small Strain Tensor 91
3.8 Displacement Gradient 93
3.9 Physical Meaning of Component of Strain Tensor 101
3.10 Compatibility Conditions 105
3.11 Transformation of Strain Tensor 108
Summary 109
Problems 110

4 CONSTITUTIVE MODELLING 113–168

4.1 Basic Concepts of Engineering Analysis 113
4.2 Motivation for Experiments 115
4.3 Uniaxial Tension Test 116
4.4 State of Stress in Tension Test 122
4.5 Compression Test 124
4.6 Torsion Test 125
4.7 Triaxial Test 125
4.8 Bridgman’s Experiment 127
4.9 Different Types of Material Behaviour 127
4.10 Effect of Rate of Loading 129
4.11 Effect of Temperature 129
4.12 Behaviour of Metals under Cyclic Loading 130
4.13 Limitation of Macroscopic Tests 133
4.14 Idealized Material Behaviour 133
4.15 Elastic Behaviour: Mathematical Derivation 136
4.16 Engineering Elastic Constants: Isotropic Materials 147
4.17 Engineering Elastic Constants: Orthotropic Materials 151
4.18 Engineering Elastic Constants: Transversely Isotropic Materials 155
4.19 Different Elastic Constants 156
Summary 166
Problems 166
C ONTENTS ix

5 ENERGY OF DEFORMATION 169–188

5.1 Introduction 169
5.2 Work Done by Forces 170
5.3 Kinetic Energy of a Body 171
5.4 Potential of Body Force and Surface Traction 172
5.5 First Law of Thermodynamics: Strain Energy 172
5.6 Strain Energy Density Function for Linearly Elastic Body 176
5.7 Potential Energy of an Elastic Body 177
5.8 Distortional Energy and Volumetric Energy 178
5.9 Second Law of Thermodynamics 181
5.10 Engineering Approximation of First Law 184
Summary 185
Problems 186

6 BOUNDARY VALUE PROBLEM IN LINEAR ELASTICITY 189–209

6.1 Introduction 189
6.2 Boundary Value Problems 189
6.2.1 Field Equations 190
6.2.2 Boundary Conditions 192
6.3 Mathematical Problem in Linear Elasticity 193
6.4 Navier Equations: A Displacement Formulation 194
6.5 Equilibrium of a Linear Elastic Body in the Absence of Body Force 196
6.6 Force Formulation 198
6.7 Solution Techniques 201
6.8 Governing Equations in Polar Coordinates 202
6.8.1 Cylindrical Polar Coordinates 202
6.8.2 Spherical Polar Coordinates 204
Summary 205
Problems 206

7 EQUATIONS OF EQUILIBRIUM OF ROD 210–228

7.1 Introduction 210
7.2 Displacement of a Rod 210
7.3 Stress Resultant 211
7.4 Cauchy’s Equation for Rod 214
7.5 Equilibrium Equations 214
7.6 Properties of Cross-sectional Area 222
Summary 227
Problems 227

8 EXTENSION OF BAR 229–251

8.1 Introduction 229
8.2 Rod under Uniaxial Load: Elasticity Solution 230
8.2.1 Force Formulation 231
x C ONTENTS

8.3 Engineering Theory of Rod under Axial Load 239

8.4 General Discussions for Axial Problems 243
8.4.1 Truss Member 244
Summary 249
Problems 249

9 BENDING OF BEAM 252–315

9.1 Introduction 252
9.2 Pure Bending of Symmetric Cross-section: Elasticity Solution 253
9.3 Curvature of Deflection 261
9.4 Euler–Bernoulli’s Beam Theory 263
9.4.1 Remarks on Bending Theory 268
9.4.2 Summary of Assumptions of Bending of Beam 268
9.4.3 Geometric Explanation of Bending Deformation 269
9.5 Scope of the Bending Formula 271
9.6 Deflection of Beam 275
9.7 Solution of BVP 279
9.8 Pure Bending of Arbitrary Cross-section: Elasticity Solution 291
9.9 Biaxial Bending of Beam: Engineering Theory 298
9.10 Approximate Shear Stress in Euler–Bernoulli’s Beam 307
9.11 Shear Centre 310
Summary 311
Problems 311

10 TORSION OF CIRCULAR SHAFT 316–331

10.1 Introduction 316
10.2 Pure Torsion of Circular Section: An Elasticity Solution 316
10.3 Torsion of Circular Shaft: Engineering Theory 321
10.3.1 Geometric Explanation of Torsional Deformation 326
10.4 Engineering Applications of Torsion Formula 327
Summary 329
Problems 329

11 TORSION OF NONCIRCULAR BAR 332–370

11.1 Introduction 332
11.2 Displacement Formulation 333
11.3 Force Formulation 338
11.3.1 Equilibrium Equations 339
11.3.2 Compatibility Conditions 339
11.3.3 Boundary Conditions 340
11.4 Torsion of Elliptic Prismatic Bar 345
11.4.1 Displacement Formulation 345
11.4.2 Force Formulation 348
11.5 Torsion of Rectangular Section 350
11.6 Torsion of Bar with Thin Rectangular Cross-section 352
C ONTENTS xi

11.7 Torsion of Thin-walled Bar 355

11.7.1 Transformation of Stress in Path Coordinates 355
11.7.2 Single-cell 357
11.7.3 Multicell Closed Thin-walled Member 361
11.7.4 Combined Thin-walled Section 367
Summary 368
Problems 369

12 PLANE STRESS AND PLANE STRAIN 371–404

12.1 Introduction 371
12.2 Plane Stress 371
12.3 State of Strain in Plane Stress Case 373
12.3.1 Orthotropic Materials 374
12.4 Displacement 375
12.5 Equations of Motion 376
12.6 Compatibility Conditions 377
12.7 Boundary Value Problem for Plane Stress 378
12.8 Plane Strain Case 380
12.9 Constitutive Relations 382
12.9.1 Isotropic Materials 382
12.10 Equation of Motion 385
12.11 Compatibility Equations 385
12.12 Boundary Value Problem 386
12.13 Remarks on Plane Stress and Plane Strain Solutions 390
12.14 Solution of Boundary Value Problem and Stress Function Approach 390
12.15 Polynomial Airy Stress Function 392
12.16 Solution of Plane Stress/Plane Strain Problem in Polar Coordinates 398
12.17 Transformation of Stress/Strain in Plane Case 401
Summary 403
Problems 403

13 VARIATIONAL MECHANICS 405–445

13.1 Elements of Differential Calculus 405
13.2 Motivation for Calculus of Variation 407
13.3 Delta Operator 409
13.3.1 Properties of Delta Operator 410
13.3.2 Functional 411
13.4 Extremum of a Functional 413
13.5 Some Useful Mathematical Results 415
13.6 Constrained Extremum Problem 420
13.7 Virtual Displacement 422
13.8 Virtual Work 423
13.9 Hamilton’s Principle 425
13.10 Virtual Work Principle 425
13.11 Stationarity of Potential Energy 426
 Mechanics Of Solids

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