P4 Stress and Strain Dr. A.B.

Zavatsky
HT08

Lecture 6
Mohr’s Circle for Plane Stress
Transformation equations for plane stress.
Procedure for constructing Mohr’s circle.
Stresses on an inclined element.
Principal stresses and maximum shear stresses.
Introduction to the stress tensor.

1
 Stress Transformation Equations
y
σy y1
τyx σy1 τy1x1 τx1y1 x1
y
τxy σx1

σx x
σx θ x
τxy σx1 τy1x1
τyx τx1y1
σy1

σ x +σ y σ x −σ y
σ x1 = + cos 2θ + τ xy sin 2θ
2 2

τ x1 y1 = −
(σ x −σ y )
sin 2θ + τ xy cos 2θ
2
If we vary θ from 0° to 360°, we will get all possible values of σx1 and τx1y1
for a given stress state. It would be useful to represent σx1 and τx1y1 as
functions of θ in graphical form.
2
To do this, we must re-write the transformation equations.
σ x +σ y σ x −σ y
σ x1 − = cos 2θ + τ xy sin 2θ
2 2

τ x1 y1 = −
(σ x −σ y )
sin 2θ + τ xy cos 2θ
2

Eliminate θ by squaring both sides of each equation and adding

the two equations together.
2 2
⎛ σ x +σ y ⎞ ⎛σ x −σ y ⎞
⎜ σ x1 − ⎟ + τ x1 y12 = ⎜ ⎟ + τ xy 2
⎜ ⎟ ⎜ ⎟
⎝ 2 ⎠ ⎝ 2 ⎠

Define σavg and R

2
σ x +σ y ⎛σ x −σ y ⎞
σ avg = R= ⎜ ⎟ + τ xy 2
⎜ ⎟
2 ⎝ 2 ⎠
3
Substitue for σavg and R to get

(σ x1 − σ avg ) 2 + τ x1 y12 = R 2
which is the equation for a circle with centre (σavg,0) and radius R.

This circle is usually referred to as

Mohr’s circle, after the German civil
engineer Otto Mohr (1835-1918). He
developed the graphical technique for
drawing the circle in 1882.

The construction of Mohr’s circle is

one of the few graphical techniques
still used in engineering. It provides
a simple and clear picture of an
otherwise complicated analysis.

4
 Sign Convention for Mohr’s Circle

y1
y (σ x1 − σ avg ) 2 + τ x1 y12 = R 2
σy1 τy1x1 τx1y1 x1
σx1 2θ
θ
σavg σx1
x
R
σx1 τy1x1
τx1y1
σy1 τx1y1

Notice that shear stress is plotted as positive downward.

The reason for doing this is that 2θ is then positive counterclockwise,

which agrees with the direction of 2θ used in the derivation of the
tranformation equations and the direction of θ on the stress element.

Notice that although 2θ appears in Mohr’s circle, θ appears on the

stress element.
5
Procedure for Constructing Mohr’s Circle
1. Draw a set of coordinate axes with σx1 as abscissa (positive to the
right) and τx1y1 as ordinate (positive downward).
2. Locate the centre of the circle c at the point having coordinates σx1
= σavg and τx1y1 = 0.
3. Locate point A, representing the stress conditions on the x face of
the element by plotting its coordinates σx1 = σx and τx1y1 = τxy. Note
that point A on the circle corresponds to θ = 0°.
4. Locate point B, representing the stress conditions on the y face of
the element by plotting its coordinates σx1 = σy and τx1y1 = −τxy.
Note that point B on the circle corresponds to θ = 90°.
5. Draw a line from point A to point B, a diameter of the circle passing
through point c. Points A and B (representing stresses on planes
at 90° to each other) are at opposite ends of the diameter (and
therefore 180° apart on the circle).
6. Using point c as the centre, draw Mohr’s circle through points A
and B. This circle has radius R.
(based on Gere)
6
 σy
B τyx
y
τxy
σy
x
σx σx
B (θ=90)
τxy A
-τxy τyx

σx1
c
R
τxy

A (θ=0)

σavg
σx
τx1y1
7
 Stresses on an Inclined Element
1. On Mohr’s circle, measure an angle 2θ counterclockwise from
radius cA, because point A corresponds to θ = 0 and hence is
the reference point from which angles are measured.

2. The angle 2θ locates the point D on the circle, which has

coordinates σx1 and τx1y1. Point D represents the stresses on the
x1 face of the inclined element.

3. Point E, which is diametrically opposite point D on the circle, is

located at an angle 2θ + 180° from cA (and 180° from cD). Thus
point E gives the stress on the y1 face of the inclined element.

4. So, as we rotate the x1y1 axes counterclockwise by an angle θ,

the point on Mohr’s circle corresponding to the x1 face moves
counterclockwise through an angle 2θ.
(based on Gere)

8
 σy
B τyx
σy1 y
τxy
x
σx σx
B (θ=90)
τxy A
E (θ+90) 2θ+180 τyx
-τx1y1
σx1
τx1y1 c
D (θ)
y
R 2θ y1
σy1 τy1x1 τx1y1
A (θ=0) x1
E σx1

σx1 θ D
x
σx1 τy1x1
τx1y1
τx1y1 σy1

9
 σy
Principal Stresses B τyx
y
τxy
x
σx σx
B (θ=90)
2θp2 τxy A
τyx

σ1 σx1
σ2 c
2θp1 y
R
σ2
A (θ=0)
P2 σ1
θp2
θp1 P1
x
σ1

τx1y1 σ2
10
 Maximum Shear Stress σy
B τyx
y
τxy

B (θ=90) σx x
σx

τmin τxy A
2θs τyx

σx1 Note carefully the

c
directions of the
y shear forces.
τmax R
σs
A (θ=0)
τmax σs
τmax θs τmax
σs x
σs τmax
τx1y1 σs
11
Example: The state of plane stress at a point is represented by the stress
element below. Draw the Mohr’s circle, determine the principal stresses and
the maximum shear stresses, and draw the corresponding stress elements.
σ x +σ y − 80 + 50
c = σ avg = = = −15 σ 1,2 = c ± R
2 2
σ 1,2 = −15 ± 69.6
R= (50 − (− 15)) 2 + (25)2 σ 1 = 54.6 MPa
R = 65 2 + 25 2 = 69.6 σ 2 = −84.6 MPa
A (θ=0)

σ2 σ1
σ
c
B
50 MPa R
B (θ=90)
y
80 MPa x 80 MPa

A τmax τ max = R = 69.6 MPa

25 MPa σ s = c = −15 MPa
50 MPa
τ
12
 50 MPa
25
tan 2θ 2 = = 0.3846
80 − 15
y
2θ 2 = 21.0°
80 MPa x 80 MPa
2θ1 = 21.0 + 180° = 201°

25 MPa θ1 = 100.5° θ 2 = 10.5°

50 MPa

A (θ=0)

σ2 σ1
y
σ
2θ2 c
54.6 MPa R
2θ1 B (θ=90)
100.5
o 84.6 MPa

84.6 MPa x
10.5o
2θ

54.6 MPa
τ
13
 50 MPa
2θ 2 = 21.0°
2θ s min = − (90 − 21.0) = −69.0°
y
θ s min = −34.5°
80 MPa x 80 MPa
taking sign convention into
τmin account
25 MPa
50 MPa

A (θ=0) 2θ
2θsmin

σ
y 2θ2 c
15 MPa R
15 MPa B (θ=90)
2θsmax
o
55.5
x
-34.5o
τmax 2θ 2 = 21.0°
15 MPa
15 MPa 2θ s max = 21.0 + 90° = 111.0°
θ s max = 55.5°
69.6 MPa
τ
14
Example: The state of plane stress at a point is represented by the stress
element below. Find the stresses on an element inclined at 30° clockwise
and draw the corresponding stress elements.
50 MPa
σx1 = c – R cos(2θ2+60)
σy1 = c + R cos(2θ2+60)
y C (θ = -30°) τx1y1= -R sin (2θ2+60)
80 MPa x 80 MPa σx1 = -26
σy1 = -4
-60° τx1y1= -69
A (θ=0)
25 MPa
50 MPa

y1 σ
y 2θ2
4.15 MPa B (θ=90)
25.8 MPa
D
-60+180°
o x
-30
25.8 MPa D (θ = -30+90°) 2θ
4.15 MPa C x1 θ = -30°
68.8 MPa 2θ = -60°
τ
15
Principal Stresses σ1 = 54.6 MPa, σ2 = -84.6 MPa
But we have forgotten about the third principal stress!

Since the element is in plane stress (σz = 0),

the third principal stress is zero.

σ1 = 54.6 MPa
σ2 = 0 MPa
A (θ=0)
σ3 = -84.6 MPa

This means three

σ3 σ2 σ1
Mohr’s circles can σ
be drawn, each
based on two
principal stresses: B (θ=90)

σ1 and σ3
σ1 and σ2
σ2 and σ3
τ
16
 σ3

σ1 σ1

σ3
σ3 σ3 σ2 σ1
σ

σ1 σ1
σ3

σ3

σ1 σ1 τ
σ3
17
 σy
The stress element shown is in plane stress. B τyx
What is the maximum shear stress? τxy
y
x
σx σx

B τxy A
τyx

σ3 σ2 σ1
σx1

σ −σ2
τ max(1,2) = 1
2
A σ −σ3 σ 2
τ max(2,3) = 2 =
2 2
σ1 − σ 3 σ1
τ
overall maximum max(1,3) = =
τx1y1 2 2

18
 Introduction to the Stress Tensor
y
σyy
τyx
⎛ σ xx τ xy τ xz ⎞
τyz
τxy
⎜ ⎟
τzy ⎜ τ yx σ yy τ yz ⎟
σxx σxx x ⎜⎜ ⎟⎟
τzx τxz ⎝ τ zx τ zy σ zz ⎠
σzz
Normal stresses on the diagonal
z Shear stresses off diagaonal
σyy τxy = τyx, τxz = τzx, τyz = τzy

The normal and shear stresses on a stress element in 3D can be

assembled into a 3x3 matrix known as the stress tensor.

19
From our analyses so far, we know that for a given stress system,
it is possible to find a set of three principal stresses. We also know
that if the principal stresses are acting, the shear stresses must be
zero. In terms of the stress tensor,

⎛ σ xx τ xy τ xz ⎞ ⎛ σ1 0 0 ⎞
⎜ ⎟ ⎜ ⎟
⎜ τ yx σ yy τ yz ⎟ ⎜ 0 σ2 0 ⎟
⎜⎜ ⎟⎟ ⎜0 ⎟
⎝ τ zx τ zy σ zz ⎠ ⎝ 0 σ 3⎠

In mathematical terms, this is the process of matrix diagonaliza-

tion in which the eigenvalues of the original matrix are just the
principal stresses.

20
Example: The state of plane stress at a point is represented by the
stress element below. Find the principal stresses.
50 MPa

⎛ σ x τ xy ⎞ ⎛ − 80 − 25 ⎞
y M = ⎜⎜ ⎟ = ⎜⎜
⎟ ⎟⎟
80 MPa x 80 MPa ⎝τ yx σ y ⎠ ⎝ − 25 50 ⎠
We must find the eigenvalues of
25 MPa
50 MPa
this matrix.

Remember the general idea of eigenvalues. We are looking

for values of λ such that:
Ar = λr where r is a vector, and A is a matrix.
Ar – λr = 0 or (A – λI) r = 0 where I is the identity matrix.

For this equation to be true, either r = 0 or det (A – λI) = 0.

Solving the latter equation (the “characteristic equation”)
gives us the eigenvalues λ1 and λ2.
21
 ⎛ − 80 − λ − 25 ⎞
det ⎜⎜ ⎟⎟ = 0
⎝ − 25 50 − λ ⎠
(−80 − λ )(50 − λ ) − (−25)(−25) = 0
λ2 + 30λ − 4625 = 0 So, the principal stresses are –84.6 MPa and
λ = −84.6, 54.6 54.6 MPa, as before.
Knowing the eigenvalues, we can find the eigenvectors. These can be
used to find the angles at which the principal stresses act. To find the
eigenvectors, we substitute the eigenvalues into the equation (A – λI ) r
= 0 one at a time and solve for r.

⎛ − 80 − λ − 25 ⎞ ⎛ x ⎞ ⎛ 0 ⎞ ⎛ − 134.6 − 25 ⎞ ⎛ x ⎞ ⎛ 0 ⎞
⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟
⎝ − 25 50 − λ ⎠ ⎝ y ⎠ ⎝ 0 ⎠ ⎝ − 25 − 4.64 ⎠ ⎝ y ⎠ ⎝ 0 ⎠
⎛ − 80 − 54.6 − 25 ⎞ ⎛ x ⎞ ⎛ 0 ⎞ x = −0.186 y
⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟
⎝ − 25 50 − 54.6 ⎠ ⎝ y ⎠ ⎝ 0 ⎠ ⎛ − 0.186 ⎞
⎜⎜ ⎟⎟ is one eigenvector.
⎝ 1 ⎠
22
 ⎛ − 80 − λ − 25 ⎞ ⎛ x ⎞ ⎛ 0 ⎞ ⎛ 4.6 − 25 ⎞ ⎛ x ⎞ ⎛ 0 ⎞
⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟
⎝ − 25 50 − λ ⎠ ⎝ y ⎠ ⎝ 0 ⎠ ⎝ − 25 134.6 ⎠ ⎝ y ⎠ ⎝ 0 ⎠
⎛ − 80 − (−84.6) − 25 ⎞ ⎛ x ⎞ ⎛0⎞ x = 5.388 y
⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟
− 25 50 − (−84.6) ⎠ ⎝ y ⎠ ⎝ 0 ⎠ ⎛ 5.388 ⎞ is the other eigenvector.
⎝ ⎜⎜ ⎟⎟
⎝ 1 ⎠
Before finding the angles at which the principal stresses act, we can
check to see if the eigenvectors are correct.
⎛ 54.6 0 ⎞ ⎛ − 0.186 5.388 ⎞ ⎛ − 80 − 25 ⎞
D = ⎜⎜ ⎟⎟ C = ⎜⎜ ⎟⎟ M = ⎜⎜ ⎟⎟
⎝ 0 − 84.6 ⎠ ⎝ 1 1 ⎠ ⎝ − 25 50 ⎠
D = C −1M C

C −1 =
1
AT where A = matrix of co - factors
det C
−1 ⎛ − 0.179 0.967 ⎞
C = ⎜⎜ ⎟⎟
⎝ 0.179 0.033 ⎠
23
 ⎛ − 0.179 0.967 ⎞ ⎛ − 80 − 25 ⎞ ⎛ − 0.186 5.388 ⎞ ⎛ 54.6 0 ⎞
D = ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟
⎝ 0.179 0.033 ⎠ ⎝ − 25 50 ⎠ ⎝ 1 1 ⎠ ⎝ 0 − 84.6 ⎠

To find the angles, we must calculate the unit eigenvectors:

⎛ − 0.186 ⎞ ⎛ − 0.183 ⎞ ⎛ 5.388 ⎞ ⎛ 0.938 ⎞
⎜⎜ ⎟⎟ → ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ → ⎜⎜ ⎟⎟
⎝ 1 ⎠ ⎝ 0.983 ⎠ ⎝ 1 ⎠ ⎝ 0.183 ⎠
And then assemble them into a rotation matrix R so that det R = +1.
⎛ 0.983 − 0.183 ⎞
R = ⎜⎜ ⎟⎟ det R = (0.983)(0.983) − (0.183)(−0.183) = 1
⎝ 0.183 0.983 ⎠
The rotation matrix has the form
⎛ cosθ − sin θ ⎞
R = ⎜⎜ ⎟⎟ D ′ = RT M R
⎝ sin θ cosθ ⎠

So θ = 10.5°, as we found earlier for one of the principal angles.

24
Using the rotation angle of 10.5°, the matrix M (representing the
original stress state of the element) can be transformed to matrix
D’ (representing the principal stress state).

D ′ = RT M R
⎛ 0.983 0.183 ⎞ ⎛ − 80 − 25 ⎞ ⎛ 0.983 − 0.183 ⎞
D′ = ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟
⎝ − 0.183 0.983 ⎠ ⎝ − 25 50 ⎠ ⎝ 0.183 0.983 ⎠
⎛ − 84.6 0 ⎞
D′ = ⎜⎜ ⎟⎟
⎝ 0 54.6 ⎠
y

54.6 MPa
So, the transformation equations,
o 84.6 MPa Mohr’s circle, and eigenvectors all
100.5
give the same result for the principal
84.6 MPa x
10.5o stress element.

54.6 MPa

25
Finally, we can use the rotation matrix approach to find the stresses
on an inclined element with θ = -30°.

⎛ cos(−30°) − sin( −30°) ⎞ ⎛ 0.866 0.5 ⎞

R = ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟
⎝ sin( −30°) cos(−30°) ⎠ ⎝ 0.5 0.866 ⎠
M ′ = RT M R
⎛ 0.866 − 0.5 ⎞ ⎛ − 80 − 25 ⎞ ⎛ 0.866 0.5 ⎞
M ′ = ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟
⎝ 0.5 0.866 ⎠ ⎝ − 25 50 ⎠ ⎝ − 0.5 0.866 ⎠ y1
y
⎛ − 25.8 − 68.8 ⎞ ⎛ σ x1 τ xy ⎞
M ′ = ⎜⎜ ⎟⎟ = ⎜⎜ ⎟
⎟
⎝ − 68.8 − 4.15 ⎠ ⎝ τ yx σ y1 ⎠
4.15 MPa
25.8 MPa

Again, the transformation equations, o

-30
x
Mohr’s circle, and the stress tensor 25.8 MPa
approach all give the same result.
4.15 MPa x1
68.8 MPa
26