Theory of Elasticity Plasticity PDF

Lecture 1
Introduction
The rules of the game
Print version Lecture on Theory of Elasticity and Plasticity of
Dr. D. Dinev, Department of Structural Mechanics, UACEG

1.1
Contents
1 Introduction 1
1.1 Elasticity and plasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Overview of the course . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Course organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Mathematical preliminaries 6
2.1 Scalars, vectors and tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Index notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 Kronecker delta and alternating symbol . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Coordinate transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 Cartesian tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6 Principal values and directions . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.7 Vector and tensor algebra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.8 Tensor calculus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.2
1 Introduction
1.1 Elasticity and plasticity
Introduction
Elasticity and plasticity
• What is the Theory of elasticity (TE)?
– Branch of physics which deals with calculation of the deformation of solid bodies in
equilibrium of applied forces
– Theory of elasticity treats explicitly a linear or nonlinear response of structure to
loading
• What do we mean by a solid body?
– A solid body can sustain shear
– Body is and remains continuous during the deformation- neglecting its atomic struc-
ture, the body consists of continuous material points (we can infinitely ”zoom-in”
and still see numerous material points)
• What does the modern TE deal with?
– Lab experiments- strain measurements, photoelasticity, fatigue, material description
– Theory- continuum mechanics, micromechanics, constitutive modeling
– Computation- finite elements, boundary elements, molecular mechanics
1.3
1
Introduction

• Which problems does the TE study?
– All problems considering 2- or 3-dimensional formulation
1.4
Introduction

• Shell structures
1.5
Introduction

• Plate structures
1.6
Introduction
2
• Disc structures (walls)
1.7
Introduction
Mechanics of Materials (MoM)
• Makes plausible but unsubstantial assumptions
• Most of the assumptions have a physical nature
• Deals mostly with ordinary differential equations
• Solve the complicated problems by coefficients from tables (i.e. stress concentration fac-
tors)

• More precise treatment
• Makes mathematical assumptions to help solve the equations
• Deals mostly with partial differential equations
• Allows us to assess the quality of the MoM-assumptions
• Uses more advanced mathematical tools- tensors, PDE, numerical solutions
1.8
1.2 Overview of the course

Introduction
Overview of the course
• Topics in this class
– Stress and relation with the internal forces
– Deformation and strain
– Equilibrium and compatibility
– Material behavior
– Elasticity problem formulation
– Energy principles
– 2-D formulation
– Finite element method
– Plate analysis
– Shell theory
– Plasticity
Note
• A lot of mathematics
• Few videos and pictures
1.9
3
Introduction
• Textbooks
– Elasticity theory, applications, and numerics, Martin H. Sadd, 2nd edition, Elsevier
2009
– Energy principles and variational methods in applied mechanics, J. N. Reddy, John
Wiley & Sons 2002
– Fundamental finite element analysis and applications, M. Asghar Bhatti, John Wiley
& Sons 2005
– Theories and applications of plate analysis, Rudolph Szilard, John Wiley & Sons
2004
– Thin plates and shells, E. Ventsel and T. Krauthammer, Marcel Dekker 2001
1.10
Introduction
• Other references
– Elasticity in engineering mechanics, A. Boresi, K. Chong and J. Lee, John Wiley &
Sons, 2011
– Elasticity, J. R. Barber, 2nd edition, Kluwer academic publishers, 2004
– Engineering elasticity, R. T. Fenner, Ellis Horwood Ltd, 1986
– Advanced strength and applied elasticity, A. Ugural and S. Fenster, Prentice hall,
2003
– Introduction to finite element method, C.A. Felippa, lecture notes, University of Col-
orado at Boulder
– Lecture handouts from different universities around the world
1.11
1.3 Course organization

Introduction
Course organization
• Lecture notes- posted on a web-site: http://uacg.bg/?p=178&l=2&id=151&f=2&dp=23
• Instructor
– Dr. D. Dinev- Room 514, E-mail: ddinev_fce@uacg.bg
• Teaching assistant
– Dr. A. Taushanov- Room 437
• Office hours
– Instructor: Tues: 13-14; Thurs: 16-17
– TA: . . . . . . . . . . . .
Note
• For other time → by appointment
1.12
4
Introduction
7
dea 4
rG
3
1
40 50 60 70 80 90 100
Points
Course organization
• Grading
1.13
Introduction
Course organization
• Grading is based on
– Homework- 15%
– Two mid-term exams- 50%
– Final exam- 35%
• Participation
– Class will be taught with a mixture of lecture and student participation
– Class participation and attendance are expected of all students
– In-class discussions will be more valuable to you if you read the relevant sections
of the textbook before the class time
1.14
Introduction
Course organization
• Homeworks
– Homework is due at the beginning of the Thursday lectures
– The assigned problems for the HW’s will be announced via web-site
• Late homework policy
– Late homework will not be accepted and graded
• Team work
– You are encouraged to discuss HW and class material with the instructor, the TA’s
and your classmates
– However, the submitted individual HW solutions and exams must involve only your
effort
– Otherwise you’ll have terrible performance on the exam since you did not learn to
think for yourself
1.15
5
2 Mathematical preliminaries
2.1 Scalars, vectors and tensors
Mathematical preliminaries
Scalars, vectors and tensor definitions
• Scalar quantities- represent a single magnitude at each point in space
– Mass density- ρ
– Temperature- T
• Vector quantities- represent variables which are expressible in terms of components in a
2-D or 3-D coordinate system
– Displacement- u = ue1 + ve2 + we3
where e1 , e2 and e3 are unit basis vectors in the coordinate system
• Matrix quantities- represent variables which require more than three components to quan-
tify
– Stress matrix
 
σxx σxy σxz
σ =  σyx σyy σyz 
σzx σzy σzz
1.16
2.2 Index notation

Index notation
• Index notation is a shorthand scheme where a set of numbers is represented by a single
symbol with subscripts
   
a1 a11 a12 a13
ai =  a2  , ai j =  a21 a22 a23 
a3 a31 a32 a33
– a1 j → first row
– ai1 → first column
• Addition and subtraction
 
a1 ± b1
ai ± bi =  a2 ± b2 
a3 ± b3
 
a11 ± b11 a12 ± b12 a13 ± b13
ai j ± bi j =  a21 ± b21 a22 ± b22 a23 ± b23 
a31 ± b31 a32 ± b32 a33 ± b33
1.17
Index notation
• Scalar multiplication
   
λ a1 λ a11 λ a12 λ a13
λ ai =  λ a2  , λ ai j =  λ a21 λ a22 λ a23 
λ a3 λ a31 λ a32 λ a33
• Outer multiplication (product)
 
a1 b1 a1 b2 a1 b3
ai b j =  a2 b1 a2 b2 a2 b3 
a3 b1 a3 b2 a3 b3
1.18
6
Index notation
• Commutative, associative and distributive laws
ai + bi = bi + ai
ai j bk = bk ai j
ai + (bi + ci ) = (ai + bi ) + ci
ai (b jk c` ) = (ai b jk )c`
ai j (bk + ck ) = ai j bk + ai j ck
1.19
Index notation
• Summation convention (Einstein’s convention)- if a subscript appears twice in the same
term, then summation over that subscript from one to three is implied
3
aii = ∑ aii = a11 + a22 + a33
i=1
3
ai j b j = ∑ ai j b j = ai1 b1 + ai2 b2 + ai3 b3
j=1
– j- dummy index– subscript which is repeated into the notation (one side of the
equation)
– i- free index– subscript which is not repeated into the notation
1.20
Index notation- example
• The matrix ai j and vector bi are
   
1 2 0 2
ai j =  0 4 3 , bi =  4 
2 1 2 0
• Determine the following quantities

– aii = a11 + a22 + . . . = . . . (scalar)- no free index
– ai j ai j = a11 a11 + a12 a12 + a13 a13 + . . . = 1 × 1 + 2 × 2 + . . . = . . . (scalar)- no free
index
–
ai j b j = ai1 b1 + ai2 b2 + ai3 b3

   
a11 b1 + a12 b1 + a13 b3 ...
= ...  =  ... 
... ...
(vector)- one free index

1.21
7
ai j a jk = ai1 a1k + ai2 a2k + ai3 a3k


i = 1 a11 a1k + a12 a2k + a13 a3k
=  i = 2 a21 a1k + . . .
i = 3 a31 a1k + . . .
The first expression gives the components of the 1-st row
a11 a1k + a12 a2k + a13 a3k =


k = 1 a11 a11 + a12 a21 + a13 a31 = . . .
 k = 2 a11 a12 + a12 a22 + a13 a32 = . . .
k = 3 a11 a13 + a12 a23 + a13 a33 = . . .
Finally
 
1 10 6
ai j a jk =  6 19 18  (matrix)- two free indexes
6 10 7
• ai j bi b j = a11 b1 b1 + a12 b1 b2 + a13 b1 b3 + . . . = . . . (scalar)- no free index

1.22
– bi bi = b1 b1 + b2 b2 + . . . = . . . (scalar)- no free index
   
b1 b j b1 b1 b1 b2 b1 b3
bi b j =  b2 b j  =  . . .  = ...
b3 b j ...
(matrix)- two free indexes

1.23
– Unsymmetric matrix decomposition
1 1
ai j = (ai j + a ji ) + (ai j − a ji )
|2 {z } |2 {z }
symmetric antisymmetric
– Symmetric part
1
(ai j + a ji ) = . . .
2
– Antisymmetric part
1
(ai j − a ji ) = . . .
2
1.24
8
2.3 Kronecker delta and alternating symbol
Kronecker delta and alternating symbol
• Kronecker delta is defined as
 
1 0 0
1 if i = j
δi j = = 0 1 0 
6 j
0 if i =
0 0 1
• Properties of δi j
δi j = δ ji
δii = 3

δ11 a1 + δ12 a2 + δ13 a3 = a1
δi j a j =  . . . = ai
...
δi j a jk = aik
δi j ai j = aii
δi j δi j = 3
1.25
Kronecker delta and alternating symbol
• Alternating (permutation) symbol is defined as

 +1 if i jk is an even permutation of 1,2,3
εi jk = −1 if i jk is an odd permutation of 1,2,3
0 otherwise

• Therefore
ε123 = ε231 = ε312 = 1
ε321 = ε132 = ε213 = −1
ε112 = ε131 = ε222 = . . . = 0
• Matrix determinant

a11 a12 a13

det(ai j ) = |ai j | = a21 a22 a23 = εi jk a1i a2 j a3k = εi jk ai1 a j2 ak3

a31 a32 a33
1.26
2.4 Coordinate transformations

Coordinate transformations
9
• Consider two Cartesian coordinate systems with different orientation and basis vectors
1.27
• The basis vectors for the old (unprimed) and the new (primed) coordinate systems are
   0 
e1 e1
ei =  e2  , e0i =  e02 
e3 e03
• Let Ni j denotes the cosine of the angle between xi0 -axis and x j -axis
Ni j = e0i · e j = cos(xi0 , x j )
• The primed base vectors can be expressed in terms of those in the unprimed by relations
e01 = N11 e1 + N12 e2 + N13 e3

e02 = N21 e1 + N22 e2 + N23 e3
e03 = N31 e1 + N32 e2 + N33 e3
1.28
• In matrix form
e0i = Ni j e j
ei = N ji e0j
• An arbitrary vector can be written as
v = v1 e1 + v2 e2 + v3 e3 = vi ei
= v01 e01 + v02 e02 + v03 e03 = v0i e0i
1.29
• Or
v = vi N ji e0j
• Because v = v0j e0j thus
v0j = N ji vi
• Similarly
vi = Ni j v0j
• These relations constitute the transformation law for the Cartesian components of a vector
under a change of orthogonal Cartesian coordinate system
1.30
10
2.5 Cartesian tensors
Cartesian tensors
• General index notation scheme
a0 = a, zero order (scalar)
a0i = Nip a p , first order (vector)
a0i j = Nip N jq a pq , second order (matrix)
a0i jk = Nip N jq Nkr a pqr , third order
...
• A tensor is a generalization of the above mentioned quantities
Example
• The notation v0i = Ni j v j is a relationship between two vectors which are transformed to
each other by a tensor (coordinate transformation). The multiplication of a vector by a
tensor results another vector (linear mapping).
1.31
Cartesian tensors
• All second order tensors can be presented in matrix form
 
N11 N12 N13
Ni j =  N21 N22 N23 
N31 N32 N33
• Since Ni j can be presented as a matrix, all matrix operation for 3 × 3-matrix are valid
• The difference between a matrix and a tensor
– We can multiply the three components of a vector vi by any 3 × 3-matrix
– The resulting three numbers (v01 , v02 v03 ) may or may not represent the vector compo-
nents
– If they are the vector components, then the matrix represents the components of a
tensor Ni j
– If not, then the matrix is just an ordinary old matrix
1.32
Cartesian tensors
• The second order tensor can be created by a dyadic (tensor or outer) product of the two
vectors v0 and v
 0
v1 v1 v01 v2 v01 v3

N = v0 ⊗ v =  v02 v1 v02 v2 v02 v3 

v03 v1 v03 v2 v03 v3
1.33
Transformation example
• The components of a first and a second order tensor in a particular coordinate frame are
given by
   
1 1 0 3
bi =  4  , ai j =  0 2 2 
2 3 2 4
• Determine the components of each tensor in a new coordinates found through a rotation of
60◦ about the x3 -axis
1.34
11
• The rotation matrix is
  1 √ 
cos 300◦ cos 30◦ cos 90◦ 3

0
0  2√ 2
Ni j = cos(xi , x j ) = cos 210◦ cos 300◦ cos 90◦  =  − 3 1


2 2 0 
cos 90◦ cos 90◦ cos 0◦ 0 0 1
1.35
• The transformation of the vector bi is
 √  
1 3
2√ 2 0 1
b0i = Ni j b j =  − 23 1 4 = ...
  
2 0 
0 0 1 2
• The second order tensor transformation is

 √   1 √ T
1 3 3
0 1 0 3 0
 2√ 2  2√ 2
a0i j = Nip N j p a pq =  − 3 1 0 2 2  − 3 1
0  = ...
 
2 2 0  2 2
0 0 1 3 2 4 0 0 1
1.36
2.6 Principal values and directions

Principal values and directions for symmetric tensor
12
• The tensor transformation shows that there is a coordinate system in which the components
of the tensor take on maximum or minimum values
• If we choose a particular coordinate system that has been rotated so that the x30 -axis lies
along the vector, then vector will have components
 
0
v= 0 
|v|
1.37
• It is of interest to inquire whether there are certain vectors n that have only their lengths
and not their orientation changed when operated upon by a given tensor A
• That is, to seek vectors that are transformed into multiples of themselves
• If such vectors exist they must satisfy the equation
A · n = λ n, Ai j n j = λ ni
• Such vectors n are called eigenvectors of A

• The parameter λ is called eigenvalue and characterizes the change in length of the eigen-
vector n
• The above equation can be written as
(A − λ I) · n = 0, (Ai j − λ δi j )n j = 0
1.38
• Because this is a homogeneous set of equations for n, a nontrivial solution will not exist
unless the determinant of the matrix (. . .) vanishes
det(A − λ I) = 0, det(Ai j − λ δi j ) = 0
• Expanding the determinant produces a characteristic equation in terms of λ
−λ 3 + IA λ 2 − IIA λ + IIIA = 0
1.39
• The IA , IIA and IIIA are called the fundamental invariants of the tensor
IA = tr(A) = Aii = A11 + A22 + A33

1 1
IIA = tr(A)2 − tr(A2 ) = (Aii A j j − Ai j Ai j )
2 2
A11 A12 A22 A23 A11 A13
= + +
A21 A22 A32 A33 A31 A33
IIIA = det(A) = det(Ai j )
• The roots of the characteristic equation determine the values for λ and each of these may
be back-substituted into (A − λ I) · n = 0 to solve for the associated principle directions n.
1.40
13
Example
• Determine the invariants and principal values and directions of the following tensor:
 
3 1 1
A= 1 0 2 
1 2 0
• The invariants are
IA = . . . , IIA = . . . IIIA = . . .
• The characteristic equation is
−λ 3 + 3λ 2 + 6λ − 8 = 0
• The roots are λ1 = −2, λ2 = 1 and λ3 = 4

1.41
Example
• For λ1 = −2 we have (A − λ1 I) · n1 = 0
    
5 1 1 n11 0
 1 2 2   n21  =  0 
1 2 2 n31 0
• The homogeneous set of equations have linear dependent equations and the solution rep-
resents only the ratio between the solution set
• Applying n31 = 1 and solving the first end second equations we get
n1 = . . .
• Similarly for λ2 = 1 and λ3 = 4

1.42
2.7 Vector and tensor algebra

Vector and tensor algebra
• Scalar product (dot product, inner product)
a · b = |a||b| cos θ
• Magnitude of a vector
|a| = (a · a)1/2
• Vector product (cross-product)

 
e1 e2 e1 3
a × b = det  a1 a2 a3 
b1 b2 b3
• Vector-matrix products
Aa = Ai j a j = a j Ai j
aT A = ai Ai j = Ai j ai
1.43
14
Vector and tensor algebra
• Matrix-matrix products
AB = Ai j B jk
ABT = Ai j Bk j
AT B = A ji B jk
tr(AB) = Ai j B ji
tr(ABT ) = tr(AT B) = Ai j Bi j
where ATij = A ji and tr(A) = Aii = A11 + A22 + A33
1.44
2.8 Tensor calculus

Tensor calculus
• Common tensors used in field equations
a = a(x, y, z) = a(xi ) = a(x) − scalar
ai = ai (x, y, z) = ai (xi ) = ai (x) − vector
ai j = ai j (x, y, z) = ai j (xi ) = ai j (x) − tensor
• Comma notations for partial differentiation

∂
a,i = a
∂ xi
∂
ai, j = ai
∂xj
∂
ai j,k = ai j
∂ xk
1.45
Tensor calculus- example
• Vector differentiation
 ∂ a1 ∂ a1 ∂ a1 
∂x ∂y ∂z
∂ ai  ∂ a2 ∂ a2 ∂ a2
ai, j = =

∂xj ∂x ∂y ∂z 
∂ a3 ∂ a3 ∂ a3
∂x ∂y ∂z
1.46
Tensor calculus
• Directional derivative
– Consider a scalar function φ . Find the derivative of the φ with respect of direction s
dφ ∂ φ dx ∂ φ dy ∂ φ dz
= + +
ds ∂ x ds ∂ y ds ∂ z ds
– The unit vector in the direction of s is
dx dy dz
n = e1 + e2 + e3
ds ds ds
– The directional derivative can be expressed as a scalar product
dφ
= n · ∇φ
ds
1.47
15
Tensor calculus
• Directional derivative
– ∇φ is called the gradient of the scalar function φ and is defined by
∂φ ∂φ ∂φ
∇φ = e1 + e2 + e3
∂x ∂y ∂z
– The symbolic operator ∇ is called del operator (nabla operator) and is defined as
∂ ∂ ∂
∇ = e1 + e2 + e3
∂x ∂y ∂z
– The operator ∇2 is called Laplacian operator and is defined as
∂2 ∂2 ∂2
∇2 = + +
∂ x2 ∂ y2 ∂ z2
1.48
Tensor calculus
• Common differential operations and similarities with multiplications
Name Operation Similarities Order

Gradient of a scalar ∇φ ≈ λu vector ↑
Gradient of a vector ∇u = ui, j ei e j ≈ u⊗v tensor ↑
Divergence of a vector ∇ · u = ui, j ≈ u·v dot ↓
Curl of a vector ∇ × u = εi jk uk, j ei ≈ u×v cross →
Laplacian of a vector ∇2 u = ∇ · ∇u = ui,kk ei
Note
The ∇-operator is a vector quantity
1.49
• Scalar and vector functions are φ = x2 − y2 and u = 2xe1 + 3yze2 + xye3 . Calculate the
following expressions
• Gradient of a scalar
∇φ = . . .
• Laplacian of a scalar
∇2 φ = ∇ · ∇φ = . . .
• Divergence of a vector
∇·u = ...
• Gradient of a vector
∇u = . . .
1.50
16
• Curl of a vector
 
e1 e2 e3
∂ ∂ ∂
∇ × u = det  ∂x ∂y ∂z
 = ...
2x 3yz xy
1.51
Tensor calculus
• Divergence (Gauss) theorem
Z Z
u · ndS = ∇ · udV
S V
where n is the outward normal vector to the surface S

1.52
The End
• Welcome and good luck
• Any questions, opinions, discussions?
1.53
17

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Lecture 1

Dr. D. Dinev, Department of Structural Mechanics, UACEG

Elasticity and plasticity

Elasticity and plasticity

Elasticity and plasticity

Elasticity and plasticity

1.2 Overview of the course

1.3 Course organization

2.2 Index notation

• Determine the following quantities

ai j b j = ai1 b1 + ai2 b2 + ai3 b3

(vector)- one free index

ai j a jk = ai1 a1k + ai2 a2k + ai3 a3k

The first expression gives the components of the 1-st row

a11 a1k + a12 a2k + a13 a3k =

• ai j bi b j = a11 b1 b1 + a12 b1 b2 + a13 b1 b3 + . . . = . . . (scalar)- no free index

(matrix)- two free indexes

2.4 Coordinate transformations

e01 = N11 e1 + N12 e2 + N13 e3

• An arbitrary vector can be written as

• Because v = v0j e0j thus

N = v0 ⊗ v =  v02 v1 v02 v2 v02 v3 

• The second order tensor transformation is

2.6 Principal values and directions

Principal values and directions for symmetric tensor

• Such vectors n are called eigenvectors of A

• Expanding the determinant produces a characteristic equation in terms of λ

IA = tr(A) = Aii = A11 + A22 + A33

• The invariants are

• The characteristic equation is

• The roots are λ1 = −2, λ2 = 1 and λ3 = 4

• Similarly for λ2 = 1 and λ3 = 4

2.7 Vector and tensor algebra

• Vector product (cross-product)

2.8 Tensor calculus

• Comma notations for partial differentiation

– The operator ∇2 is called Laplacian operator and is defined as

Name Operation Similarities Order

where n is the outward normal vector to the surface S

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