PRINCIPAL STRESS/STRAIN/AXES, GENERAL HOOKE’S LAW

Given:
The state of stress at point P: 2 perpendicular directions: Material properties:
σ x = 100 MPa  1 3 E= 2 ⋅105 MPa
n
= i+ k
σ y = −20 MPa 2 2 ν = 0.3
σ z = 20 MPa  3 1 
m= − i+ k
τ xy = 0 MPa 2 2
τ xz = −30 MPa
τ yz = 0 MPa

Task:
a) Write down the matrix of the stress tensor.
b) Depict the state of stress at point P on an elementary cube.
c) Calculate stress coordinates σ n and τ nm from the stress tensor.
d) Determine the principal stresses and principal axes at point P.
e) Write down the matrix of the stress tensor in the coordinate system of the principal
axes.
f) Depict the state of stress at point P with Mohr circles.
g) Determine the equivalent stresses.
h) Determine the state of strain at point P.
i) Depict the state of strain at point P on an elementary tetrahedron.
j) Determine the principal strains.
k) Write down the matrix of the strain tensor in the coordinate system of the principal
axes!

Solution:
a) The matrix of the stress tenzor

σ x τ xy τ xz  100 0 −30 
  
F P τ yx σ y =
= τ yz   0 −20 0  MPa
τ zx τ zy σ z   −30 0 20 
 

Note: The matrix of the stress tensor is symmetric, so: τ xy = τ yx , τ xz = τ zx , τ yz = τ zy

1
b) Depiction of the state of stress at point P on an elementary cube.

c) Calculation of the stress coordinates σ n and τ nm from the stress tensor.


step 1: We calculate the stress vector acting on the surface with normal vector n :

100 0 −30   1/ 2   50 − 15 3   24.019 

       
ρ n = F P ⋅ n =  0 −20 0   0  =  0 
 =  0  MPa
20   3 / 2   −15 + 10 3   2.3205
 −30 0    

step 2: Calculation of stress coordinates σ n and τ nm belonging to the plane with


normal vector n .

Note: σ n and τ nm are the scalar coordinates of ρ n , so we have to take the dot product
  
of ρ n with the appropriate unit direction vectors ( n and m )

 50 − 15 3 
    
σn =
n ⋅ ρn =
1/ 2 0 3 / 2   0 =25 − 7.5 3 − 7.5 3 + 15 =
14.019 MPa
 −15 + 10 3 
 

 50 − 15 3 
    
τ mn m ρn =
=⋅ − 3 / 2 0 1/ 2  0 =−25 3 + 22.5 − 7.5 + 5 3 =
−19.641 MPa
 
 −15 + 10 3 
 
d) Determine the principal stresses and principal axes at point P.

• In case of a principal stress vector, acting on a principal plane with normal

  
vector e : ρe = σ e e (so we have no shear stresses)
  
• As any stress vector, ρe can be calculated as: ρ= e F P ⋅e
 
• Utilizing the previous 2 formulas: F P ⋅ e = σ ee
 
• Let’s multiply the left side with an identity matrix: F P ⋅ e = σ e Ie
  
• ( )
Substract the left side and multiply out e : F P − σ e I e = 0
• A product is zero, if one of the factors is zero, so we have 2 choices:
 
o e = 0 (this is the trivial solution, we don’t care with it)
o det F P − σ e I = 0 (this is the criterion of the non-trivial solution)
 (This is the characteristis equation)

2
  
(F P )
−σe I e =
0
step 1: eigenvalues (→ principal stresses) step 2: eigenvectors (→ principal axes)
The characteristic equation: 1) Principal axis belonging to σ 3 :
det F P − σ e I =
0  
σ 3 = σ y ⇒ e3 = j
With expanded matrices:
100 0 −30  1 0 0  2) Principal axis belonging to σ 1 :
 0 −20 0  − σ 0 1 0  =  
  e   0 ( )
F P − σ 1 I e1 =0
 −30 0 20  0 0 1 
With expanded matrices:
100 − σ e 0 −30  100 0 −30  1 0 0    x1  0 
  − 110 0 1 0    y  =  
0 −20 − σ e 0 0
=  0 −20 0      1  0
  0 0 1    z1   0 
−30 0 20 − σ e   −30 0 20 
100 − 110 0 −30   x1  0 
Let’s expand determinant along 2nd row:  0 −20 − 110 0   y1  = 0 
( −20 − σ e ) (
 100 − σ e )( 20 − σ e) (
− −30 )( )
−30  =0 
 −30 0
 
20 − 110   z1  0 
Note: always expand the dertminant along the
 −10 0 −30   x1  0 
row(or column), which contains 2 zeros!  0 −130 0   y  =  
( −20 − σ e )  2000 − 100σ e − 20σ e + σ e2 − 900 =
0    1  0 
 −30 0 −90   z1  0 
( −20 − σ e ) σ e2 − 120σ e + 1100 =
0 Matrix equation in scalar form:
from the firs factor: σ e = −20 MPa 1) − 10 x1 − 30 z1 =
0  ⇒ x1 = −3 z1

2) − 130
= y1 0  ⇒= y1 0
from the 2nd factor:
0  ⇒ x1 =
3) − 30 x1 − 90 z1 = −3 z1
120 ± 1202 − 4 ⋅1 ⋅1100 110 MPa
σe = = < The 1st and 3rd equations are the
2 ⋅1 10 MPa same, so we have 1 equation with 2
Put the results in descending order: unknowns → we can assign any
σ 1 = 110 MPa (non zero) value to z1, e.g. let it be
σ 2 = 10 MPa 1:
σ 3 = −20 MPa 1 ⇒ x1 =
z1 = −3
the magnitude of the calculated
e) Stress tensor in the coordinate system eigenvector:
of the principal axes: s1 = x12 + y12 + z12 = (−3) 2 + 02 + 12 = 10
σ 1 0 0  110 0 0  unit vector of the 1st principal axis:
=F P = 0 σ 2 0   0 10 0  MPa
   x  y1  z1 
e1 = 1 i + j+ k =
1,2,3
 0 0 σ 3   0 s1 s1 s1
0 −20 
−3  0  1  1  
=
10
i+
10
j+
10
k
=
10
(
−3i + k )
3) Principal axis belonging to σ 2 :
    1  
e2 = e3 × e1 = j ×
10
(
−3i + k = )
1     1  
=
10
(−3 j ×i + 

j ×=

k)
10
i + 3k ( )
−k i

3
 Notes:
• Just at the beginning of this exercise, one can observe, that on the plane,
perpenducilular to y axis, only σ y normal stress arises, this can be seen
from the elemnary cube and from the matrix of the stress tensor as well, as
in the column (and row) of σ y the shear stresses are zero. So without any
calculation, we can state that σ y = −20 MPa is a principal stress, and
because of this, the y axis is a principal axis.
• What we don’t know at the beginning regarding this, that is it the 1st, 2nd or
3rd principal stress/principal axis. After the calculation of the other principal
stresses, it turns out, that σ y is the third principal stress and as a result of
 
this the y axis is the 3rd principal axis. ( σ 3 = σ y ⇒ e3 = j ) this can be seen in
step 1) on he right column.
• In step 2), the Principal axis belonging to σ 1 was calculated. Instead of this
one may choose the Principal axis belonging to σ 2 as step 2).
• In step 3) we have 2 choices:
o either we calculate the remaining principal axis just like in step 2)
  
o or we utilize, that the principal unit vectors ( e1 , e2 , e3 ) form a right-
handed coordinate system, and as a result of this, if we know 2 of
them, the 3rd can be calculated with a simple cross product of the
previous 2.
• So this exercise is a litlle bit specific, in a way, that one of the three principal
stresses/axes is known at the beginning. Of course, if this condition is not
fulfilled, and the stress tensor has only one or zero shear stress pairs, the
problem can be solved, with the above presented method, just the
caclulation becomes a little bit more compicated (a cubic equation must be
solved, and the method in step 2) must be performed 2 times)

f) Depiction of stress state with Mohr circles

We drow 3 circles, between each

principal stresses.
The meaning of this depiction, is that
the coordinates of the σ − τ pairs

belonging to any arbitríry n direction
are always located in the grey zone.
The principal stresses/axes could be
constructed/calculated utilizing this
circles, instead of the numerical
method presented in the previous
point, but only if one of the principal
stresses is known at the beginning
(just like in this exercise).

4
g) Determination of the equivalent stresses.

• According to Coulomb, the equivalent stress is equal to the largest principal

stress in absolute value:
σ eq ( Coulomb
= ) max ( σ 1 , σ =
3 ) σ=
1 110 MPa

• According to Mohr, the state of stress is characterized by the diameter of the

largest Mohr’s circle in terms of damage:
σ eq ( Mohr )= σ 1 − σ 3 = 110 − ( −20 )= 130 MPa

• According to Huber-Mises-Hencky (=von Mises) theory:

1
σ eq ( HMH ) (σ 1 − σ 2 ) + (σ 1 − σ 3 ) + (σ 2 − σ 3 )=
2 2 2
= 
2  
1
(110 − 10 ) + (110 − (−20) ) + (10 − (−=
20) )  117.9 MPa
2 2 2
=
2  

Note: Coulomb theory is adviseable for brittle materials (like ceramics), while Mohr
and HMH theory for ductile materials (like steel). HMH theory provides a more
accurate result, Mohr theory provides a greater value compared to HMH, so it
effects safety in a positive way.

h) Determination of the state of strain at point P.

1  ν 
According to General Hooke’s law:
= A F − FI I 
2G  1 +ν 
where:
E 2 ⋅105
• G
= = = 76923 MPa (shear modolus)
2(1 +ν ) 2(1 + 0.3)
• FI = σ x + σ y + σ z = σ 1 + σ 2 + σ 3 = 110 + 10 − 20 = 100 MPa (first scalar invariant of
stress tensor)
• I is a 3x3 identity matrix
ν 0.3
• F=
I ⋅100= 23.08 MPa
1 +ν 1 + 0.3
General Hooke’s law with expanded matrices:

5
 1 1   
 εx 2
γ xy
2
γ xz 
 σ τ 
  τ xz  1 0 0  
 x xy
 ν
1 γ = εy
1
γ xyz 
1 
 τ yx σ y τ yz  − ( σ x + σ y + σ z ) 0 1 0  
2 yx
2  2G  1 +ν   
1  τ zx τ zy σ z  0 0 1  
1   FI
 
 γ zx γ zy εz  

2 2 
  F I

 
A

normal strains: shear strains:

1  ν  1 1 1  ν 
εx
= σ x − ⋅1 
FI= γ xy= γ yx= τ xy − FI ⋅ 0  ⇒
2G  1 +ν  2 2 2G  1 +ν 
1 τ xy 0
= (100 − 23.08 ⋅1) =5 ⋅10−4 ⇒ γ xy = γ yx = = =0
2 ⋅ 76923 G 76923

1  ν  1 1 1  ν 
εy
= σ y − FI=⋅1  γ xz= γ zx= τ xz − FI ⋅ 0  ⇒
2G  1 +ν  2 2 2G  1 +ν 
1 τ −30
= ( −20 − 23.08 ⋅1) =−2.8 ⋅10−4 ⇒ γ xz = γ zx =xz = = −3.9 ⋅10−4
2 ⋅ 76923 G 76923

1  ν  1 1 1  ν 
εz
= σ z − FI=⋅1 γ yz= γ zy= τ yz − FI ⋅ 0  ⇒
2G  1 +ν  2 2 2G  1 +ν 
1 τ yz 0
= ( 20 − 23.08 ⋅1) =−2 ⋅10−5 ⇒ γ yz = γ zy = = =0
2 ⋅ 76923 G 76923

The matrix of the strain tensor:

 1 1 
 εx 2
γ xy
2
γ xz 
   50 0 −19.5
AP =1 γ εy
1
γ xyz  = 0 −28 0  ⋅10−5
 2 yx 2  
1 1   −19.5 0 −2 
 γ zx γ zy εz 
 2 2 

i) Depiction the state of strain at point P on an elementary tetrahedron.

6
j) Determination of the principal strains!
NOTE: There are 2 ways to determine the principal strains:
 
(
• Either we solve the eigenvalue problem: AP − ε e I e = )
0 (just like in point d) for the
principal stresses).
•Or we apply the general Hooke’s law, written in the coordinate system of the
principal axes.
As we have already calculated the principle stresses, it is easier to use the latter method
now.
The principal strains:

1  ν  1
ε1= σ1 − FI ⋅1= (110 − 23.08 ⋅1)= 5.65 ⋅10−4
2G  1 +ν  2 ⋅ 76923

1  ν  1
ε 2 = σ 2 − FI ⋅1 = (10 − 23.08 ⋅1) =−8.5 ⋅10−5
2G  1 +ν 2 ⋅ 76923

1  ν  1
ε3 = σ 3 − FI ⋅1 = ( −20 − 23.08 ⋅1) =−2.8 ⋅10−4
2G  1 +ν 2 ⋅ 76923

Strain tensor in the coordinate system of the principal axes:

ε1 0 0  56.5 0 0 
0 ε 0=   −8.5 0  ⋅10−5
AP =  2  0
1,2,3
 0 0 ε 3   0 0 −28

The principal axes belonging to the principal strains are the same as the principal
axes belonging to the principal stresses.

7
Matlab code of the exercise:
clear all
clc

% DATA INPUT %%%%%%%%%%%%%%%%%%%%%%

% Stress tensor elements:
Sx=100;
Sy=-20;
Sz=20;
Txy=0;
Txz=-30;
Tyz=0;

% given directions:
n=[1/2;0;sqrt(3)/2];
m=[-sqrt(3)/2;0;1/2];

% Material properties:
E=2e5; % Young's modulus
nu=0.3; % Poisson's ratio
% STRESS TENSOR %%%%%%%%%%%%%%%%%%%%%%%
F=[Sx Txy Txz
Txy Sy Tyz
Txz Tyz Sz];

% STRESS COORDINATES (Sn and Tmn)%%%%%%

Rn=F*n;
Sn=n'*Rn
Tmn=m'*Rn

% PRINCIPAL STRESSES/AXES %%%%%%%%%%%%%%

[V,D]=eig(F,'vector');
% Principal stresses:
[S123,idx]=sort(D,'descend');
S1=S123(1);
S2=S123(2);
S3=S123(3);
% Stress tensor in the csys of the principal axes:
F123=diag(S123)
% Principal axes:
e123=V(:,idx)

% EQUIVALEMT STRESSES %%%%%%%%%%%%%%%%%%

S_Coulomb=max(abs(S1),abs(S3))
S_Mohr=S1-S3
S_HMH=sqrt(0.5*((S1-S2)^2+(S1-S3)^2+(S2-S3)^2))

% STRAIN TENSOR %%%%%%%%%%%%%%%%%%%%%%%%

G=E/(2*(1+nu));
FI=sum(diag(F));
A=1/(2*G)*(F-(nu/(1+nu))*FI*eye(3))

8
% PRINCIPAL STRAIN %%%%%%%%%%%%%%%%%%%%%

% Method 1:
[V,D]=eig(A,'vector');
% Principal strains:
[E123,idx]=sort(D,'descend');
% Strain tensor in the csys of the principal axes:
A123=diag(E123)
% Principal axes:
e123=V(:,idx)

% Method 2:
A123=1/(2*G)*(F123-(nu/(1+nu))*FI*eye(3))