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EQUILIBRIUM & COMPATIBILITY ( 0 7 )

I Main topics
A Equilibrium

B Compatibility

C Plane strain

D Plane stress

E Anti-plane strain

II Equilibrium
The equations of equilibrium describe how stress can vary within a body. They
do not have any information on the rheology of the body, so these equations
apply to viscous fluids, plastics, and elastic solids. From balancing forces (see
diagram on next page)
2-D 3-D
∂σ 11 ∂σ 12 ∂σ 11 ∂σ 12 ∂σ 13 (7.1a)
+ + F1 = 0 + + + F1 = 0
∂x1 ∂x 2 ∂x1 ∂x 2 ∂x 3
∂σ 21 ∂σ 22 ∂σ 21 ∂σ 22 ∂σ 23 (7.1b)
+ + F2 = 0 + + + F2 = 0
∂x1 ∂x 2 ∂x1 ∂x 2 ∂x 3
F3 = 0 ∂σ 31 ∂σ 32 ∂σ 33 (7.1c)
+ + + F3 = 0
∂x1 ∂x 2 ∂x 3
or in tensor notation
∂σ ij
+ Fi = 0
∂x j
(7.1d)
where F = body force/unit volume. Commonly the only body force is due to
gravity, so Fvert = ρ g. For true plane strain in the x,y plane there can be no
body force in the z-direction (Chou & Pagano, p. 70, Barber, p. 70).

Stephen Martel 7 -1 University of Hawaii

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EQUATIONS OF EQUILIBRIUM (2-D)

(σyy + ∆σyy)
(σyx + ∆σyx)
Small area element

y
(σxy + ∆σxy)
Body force Y
(per unit area)
σxx (σxx + ∆σxx)
∆y
x
Body force X
∆x = ∆y (per unit area)

σxy
∆x

σyx
σyy

We again turn to force balances: ∑ Fx = 0 and ∑ Fy = 0 . First we sum forces in

the x-direction:
(σ xx + ∆σ xx )(∆y ) - (σ xx )(∆y ) + (σ yx + ∆σ yx )(∆x ) - (σ yx )(∆x ) + X∆x∆y = 0.

The terms involving σ xx and σ yx fall out. Dividing through by ∆ x∆y gives
(∆σ xx )/(∆x ) + (∆σ yx )/(∆y ) + X = 0.
∂σ xx ∂σ yx
Taking the limit as ∆ x and ∆y go to zero: + + X = 0.
∂x ∂y
∂σ yy ∂σ xy
Similarly, + + Y = 0.
∂y ∂x
These are the equations of equilibrium. Assuming the body forces are constant,
decreases in σ xx in the x-direction must be balanced by increases in σ yx in the y-
direction, etc.

The moments must balance as well. If moments are taken about the center of
the box, only the shear stresses contribute to the moment (the normal stresses
and body forces act through the center of the box and hence don’t contribute).

Stephen Martel 7 -2 University of Hawaii

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By inspection of the diagram above, one can see that ∆σ yx = ∆σ xy , so the shear
stresses σ yx and σ xy since they must be equal at one point must be equal at all
points.

Stephen Martel 7 -3 University of Hawaii

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III Compatibility
A The strains of all the elements of a body must be compatible so that all
elements "fit together" during deformation without opening holes.

B The compatibility equation brings information on the elastic response of a

body; the equations of equilibrium do not.

C Compatibility conditions can be expressed in terms of strain (better for 2-D

problems) or displacement (better for 3-D problems).
The equations for strain in two dimensions are:
1  ∂u ∂u j 
ε ij =  i + i=1,2; j=1,2 (7.2a)
2  ∂ x j ∂ xi 
∂u
ε 11 = 1 (7.2b)
∂x1
1  ∂u ∂u 
ε 12 =    1 + 2  = ε 21 (7.2c)
 2   ∂x 2 ∂x1 
∂u
ε 22 = 2 (7.2d)
∂x 2
These three equations are not independent; they rely on only t w o variables, the
displacements u1 and u2. We can combine the equations by taking partial
derivatives (we don’t have many other options!):
 ∂u 
2 ∂2 1
∂ ε11  ∂ x1  ∂ 3u1
= = (7.3)
∂ x2 2 ∂ x2 2 ∂ x2 2 ∂ x1
2 ∂u2 
∂  
∂ 2ε22  ∂x2  ∂ 3 u2
= = (7.4)
∂x12 ∂x12 ∂x12∂x2
2 1  ∂ u1 ∂ u2 
∂  + 
∂ 2 ε12 2  ∂ x2 ∂ x1  1  ∂ 3u1 ∂ 3u2 
= = + (7.5)
∂ x1∂ x2 ∂ x1∂ x2 2  ∂ x1∂ x2 2 ∂ x12 ∂ x2 
Half the sum of (7.3) and (7.4) equals (7.5), so
1  ∂ 2 ε11 ∂ 2 ε 22  ∂ 2 ε12
+ = condition of compatibility (7.6)
2  ∂ x2 2 ∂ x12  ∂ x2 ∂ x1

Stephen Martel 7 -4 University of Hawaii

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This gives us three variables (3 strains) and three equations (7.1a, 7.1b, and
7.6). These equations are sufficient to determine how the stress and
deformation fields vary within an elastic body with no cavities (need to check
whether displacements are single-valued in a body with cavities).

IV Plane strain
A Displacements permitted only in two directions, and they do not vary as a
function of the third direction; displacements in the third direction are zero

B Restrained, frictionless boundaries

C Infinite 2-D bodies by symmetry ("thick plate")

Suppose displacements are not allowed in the z (or x3 ) directions. Then
1  ∂u1 ∂u3 
ε 13 =  +  = 0 + 0 = 0 = ε 31 (7.7)
2  ∂x 3 ∂x1 
1  ∂u ∂u 
ε 23 =  2 + 3  = 0 + 0 = 0 = ε 32 5 strain terms are zero (7.8)
2  ∂x 3 ∂x 2 
∂u3 1
ε33 = = 0 = [σ 33 − ν (σ11 + σ 22 )], so σ 33 = ν (σ11 + σ 22 ) (7.9)
∂x 3 E
The four strains that can be non-zero are:
1
ε11 =
E
[( )
1 − ν 2 σ11 − ν (1 + ν )σ 22 ] (7.10)

1
ε22 =
E
[( )
1 − ν 2 σ 22 − ν (1 + ν )σ11 ]
(note similarity to 7.10) (7.11)

1
ε 12 =
E
[(1 + ν )σ 12 ] = ε 21 (7.12)

D Compatibility equation for plane strain

Substituting (7.7)-(7.12) into the compatibility condition (7.6) yields:
 2 

[( 2
) ] +
[(
2 2
) ]
1  ∂ 1 − ν σ11 − ν (1 + ν )σ 22 ∂ 1 − ν σ 22 − ν (1 + ν )σ11  ∂ [(1 + ν )σ12 ]
 =
2
(7.13)
2 ∂x 2 2 ∂x12  ∂x 2∂x1
 
 ∂2σ 2   ∂2σ 2  ∂2σ12
(1 − ν 2 ) 11 + ∂ σ 22  − ν (1 + ν )  11 + ∂ σ 22   = 2(1 + ν )
 ∂x 2 2 ∂x12   ∂x12 ∂x 2 2  ∂x1∂x 2 (7.14)

Dividing both sides through by (1+ν )

Stephen Martel 7 -5 University of Hawaii

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 ∂ 2 σ
xx ∂ 2 σ yy   ∂ 2 σ
xx ∂ 2 σ yy  ∂ 2 σ xy
(1 − ν )  2
+  − ν + =2
 ∂y ∂x 2   ∂x
2
∂y 2  ∂x∂y (7.15)

The right side of (7.15) can be derived from the equilibrium equations
∂σ xx ∂σ yx ∂σ yy ∂σ xy
+ + X = 0, (7.16a) + + Y = 0. (7.16b)
∂x ∂y ∂y ∂x
Take the derivatives of (7.16a) with respect to x and (7.16b) relative to y to
get terms of ∂2 σ xy / ∂ x ∂ y.
2
∂ 2 σ xx ∂ σ yx ∂X ∂ 2 σ yy ∂ 2 σ yx ∂Y
2
+ + = 0, (7.17a)
2
+ + = 0. (7.17b)
∂x ∂x∂y ∂x ∂y ∂x∂y ∂y
Adding these together and isolating the ∂2σxy/∂y2 term:
2∂ 2 σ xy  ∂ 2 σ
xx ∂ 2 σ yy ∂X ∂Y 
= − 2
+ 2
+ + . (7.18)
∂x∂y  ∂x ∂y ∂x ∂y 
Equating the right side of (7.18) with the left side of (7.15):
 2 2   2   2 2 
∂ σ xx ∂ σ yy   ∂2σ xx ∂ σ yy  ∂ σ xx ∂ σ yy ∂X ∂Y 
(1 − ν ) +  −ν +  = − + + + .
 ∂y 2 ∂x 2   ∂x 2 ∂y 2   ∂x 2 ∂y 2 ∂x ∂y 
(7.19)

This can be simplified

 ∂ 2 σ
xx ∂ 2 σ yy   ∂ 2 σ
xx ∂ 2 σ yy   ∂X ∂Y 
(1 − ν )  2
+  + (1 − ν )  +  = −  + .
 ∂y ∂x 2   ∂x
2
∂y 2   ∂x ∂y 
(7.20)
2 2
2 ∂ ∂
Now let ∇ = + (∇2 = Laplacian operator).
∂x 2 ∂y 2
1  ∂X ∂Y 
{
∇ 2 σ xx + σ yy = −}  + .
1 − ν  ∂x ∂y 
(7.21)

This gives the governing equation for 2-D plane strain. Note that if the body
forces are constant, then the stress variation is independent of the elastic
properties (E and ν ) of the material; steel behaves as plastic.

Stephen Martel 7 -6 University of Hawaii

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V Plane stress (Generalized plane stress)

A Stresses in one direction are zero (thin plate approximation)

B A thin plate, plane stress solution is approximate; stresses are really those
averaged over the thickness of the thin plate. The mid-plane of a thin plate
under "plane stress" actually feels plane strain!

C Plane stress solutions can be converted to plane strain solutions by

E′ ν′
E= 2
;ν=
substituting 1− ν′ 1 − ν ′ in the plane stress solutions.

VI Anti-plane strain
A Displacements permitted only in one direction (e.g., the z-direction), do
not vary with z, but can vary as a function of x and y.

B Because the displacement fields are one-dimensional, anti-plane strain is

simpler to address than plane strain or plane stress

C Strains (five terms equal zero, including all the normal strains)

∂u1
ε 11 = =0 (7.22)
∂x1
1  ∂u ∂u 
ε12 =  1 + 2  = 0 + 0 = 0 = ε21 (7.23)
2  ∂x 2 ∂x1 
1  ∂u ∂u  1  ∂u  1 ∂u3
ε13 =  1 + 3  = 0 + 3  = = ε31 (7.24)
2  ∂x 3 ∂x1  2  ∂x1  2 ∂x1
1  ∂u ∂u 
ε21 =  2 + 1  = 0 + 0 = 0 = ε12 (7.25)
2  ∂x1 ∂x 2 
∂u 2
ε 22 = =0 (7.26)
∂x 2
1  ∂u ∂u  1  ∂u  1 ∂u3
ε23 =  2 + 3  = 0 + 3  = = ε32 (7.27)
2  ∂x 3 ∂x 2  2  ∂x 2  2 ∂x 2
1  ∂u ∂u  1  ∂u  1 ∂u
ε31 =  3 + 1  =  3 + 0 = 3 =ε
13
(7.28)
2  ∂x1 ∂x 3  2  ∂x1  2 ∂x 1
1  ∂u ∂u  1  ∂u  1 ∂u
ε32 =  3 + 2  =  3 + 0 = 3 =ε
23 (7.29)
2  ∂x 2 ∂x 3  2  ∂x 2  2 ∂ x 2
∂u
ε33 = 3 = 0 (7.30)
∂x 3

Stephen Martel 7 -7 University of Hawaii

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D Stresses (five terms equal zero, including all the normal stresses)
νE E (7.31)
σ11 = (ε11 + ε22 + ε33 ) + ε11 = 0 + 0 = 0
(1 + ν )(1 − 2ν ) (1 + ν )
(7.32)
σ12 = 2Gε12 = 0
∂u3 (7.33)
ε13 = 2Gε13 = G
∂x1
(7.34)
ε21 = 2Gε21 = 0
νE E (7.35)
σ 22 = (ε11 + ε22 + ε33 ) + ε22 = 0 + 0 = 0
(1 + ν )(1 − 2ν ) (1 + ν )
∂u
ε23 = 2Gε23 = G 3 (7.36)
∂x 2
∂u
ε31 = 2Gε31 = G 3 (7.37)
∂x1
∂u
ε32 = 2Gε32 = G 3 (7.38)
∂x 2
νE E (7.39)
σ 33 = (ε11 + ε22 + ε33 ) + ε33 = 0 + 0 = 0
(1 + ν )(1 − 2ν ) (1 + ν )

E Equilibrium (in the absence of body forces)

∂σ11 ∂σ12 ∂σ13 (7.40)

+ + + F1 = 0 ⇒ 0 + 0 + 0 = 0 Identically solved
∂x1 ∂x 2 ∂x 3
∂σ 21 ∂σ 22 ∂σ 23 (7.41)
+ + + F2 = 0 ⇒ 0 + 0 + 0 = 0 Identically solved
∂x1 ∂x 2 ∂x 3
∂σ 31 ∂σ 32 ∂σ 33 ∂σ ∂σ  ∂ 2 u ∂ 2 u3  2
+ + + F3 = 0 ⇒ 13 + 23 = 0 ⇒ G 23 + 2
= 0 ⇒ ∇ u3 = 0 (7.42)
∂x1 ∂x 2 ∂x 3 ∂x1 ∂x 2  ∂x1 ∂x 2 
F Compatibility (in the absence of body forces)
The displacements must yield compatible strains
1 ∂u3 ∂ε13 1 ∂ 2 u3 (7.43)
ε13 = ⇒ =
2 ∂x1 ∂x 2 2 ∂x1∂x 2
1 ∂u3 ∂ε23 1 ∂ 2 u3 (7.44)
ε23 = ⇒ =
2 ∂x 2 ∂x1 2 ∂x1∂x 2
∂ε13 ∂ε23 ∂ 2ε13 ∂ 2ε23
= ⇒ = (7.45)
∂x 2 ∂x1 ∂x1∂x 2 ∂x12
In light of the equilibrium condition (7.42), written for strains,

Stephen Martel 7 -8 University of Hawaii

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∂ε13 −∂ε23 ∂ 2ε13 −∂ 2ε23

= ⇒ = (7.46)
∂x1 ∂x 2 ∂x1∂x 2 ∂x 2 2
Subtracting (7.46) from (7.45) yields
∇ 2ε23 = 0 (7.47)
Substituting for the shear stress using (7.36) yields
∇ 2σ 23 = 0 (7.48)
One can show by analogous procedures that
∇ 2ε13 = 0 (7.49)
and
∇ 2σ13 = 0 (7.50)
So for anti-plane strain, the stresses, strains, and displacements in an x,y,z
reference frame all obey the Laplace equation.

F Plane strain and anti-plane strain solutions are completely independent

and can be superposed.

References
Barber, J.R., 1993, Elasticity: Kluwer Academic Publishers, Boston, p. 21-37
Timoshenko, S.P., and Goodier, J.N., 1971: Theory of elasticity, McGraw-Hill, New York, p. 26-
33.

Stephen Martel 7 -9 University of Hawaii