2 Elements of Solid Mechanics

FE Analysis of slender Beams and thin Shells EPUSP Academic Year 2020
Elements of Solid Mechanics
Prof. Dr.-Ing. Paulo M. Pimenta
Polytechnic School at the University of São Paulo

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›
Topics
1. Notation
2. Products
3. Deformation
4. Deformation gradient
5. External forces
6. Internal forces
7. Equations of motion
8. Weak Forms
9. Initial configuration
10. Total and incremental descriptions

Notation
scalars: a, b  , , 
vectors: a, b  ,  
2nd Order Tensors: A, B  ,  
4th Order Tensors: ,  

3
sum convention:  aibi  aibi Latin indices

i 1
2
 ab  a b Greek indices

1

Notation
products:
a b scalar product between vectors
A:B scalar product between tensors
a b vector or cross product between vectors
a b tensor or dyadic product between vectors
vector norm: a  a a

2nd Order Tensors

linear operator: y  Ax
tensor product: A  z  y  Ax   y  x  z
composition: AB  A  B   AB  x  A  Bx 
inverse: x  A1y , det A  0
transpose: y  Ax  x  AT y ,  y, x
4th Order Tensors

linear operator: Y  X
tensor product:   Z  Y  X  Y : X  Z
composition:          X     X 
inverse: X   1Y
transpose: Y : X  X : TY , Y , X

Orthogonal basis:
e2

 1, if i  j
e1, e2, e3 , 
ei  e j  ij  

 0, if i  j e1

e3
Components on orthogonal basis:

a  aiei
A  Aijei  e j
  Aijkl ei  e j  ek  el

Vector product
a b
c  a b
b

c  a b sin  a
Skew-symmetric tensors: AT  A
Skew-symmetric tensors and axial vectors:
A  Skew  a , a  axial  A  if Ax  a  x, x

Deformation
reference configuration current configuration
SR
e2 
x
e1
e3 VR V
Deformation: x  xˆ   or
x  xˆ i  where i    ei
Displacement field: u  uˆ     x  
Deformation Gradient
SR
e2 
x
e1
e3 VR V
x
Deformation gradient: F

x
F  fi  ei where fi 
i

Deformation Gradient
reference configuration
current configuration

SR S n
R
dS
dS
e2 b
dV R dV
e1
VR V
e3
volume deformation: dV  JdV R where J  det F

ndS  JFT dS R
surface deformation: (Nanson's rule)
ndS   CofF  dS R

External forces

reference configuration t current configuration

SR S n
R
dS
dS
e2 bb
dV R dV 
e1
V
e3
VR
surface forces: df S  tdS  dS R
body forces: dfV  bdV  dV R

Internal Forces: Stress vectors

reference configuration n
t

 dS
dS R
e2
VR V
e3 e1
df int
true stress vector: t
dS
df int  tdS  dS R
df int
nominal stress vector:  
dS R
Internal Forces: Stress Tensors

reference configuration n
t

 dS
dS R
e2
VR V
e3 e1
Cauchy stress tensor: t  Tn

P  JTFT
1st Piola-Kirchhoff stress tensor:   P

Internal forces: 1st PK stress tensor
SR S
e2 2
e1 1
e3
e2 3
e1
VR V
e3
P  i  ei
i  Pei

External resultants


SR S n
R
dS
dS
e2 bb
dV R dV 
e1
V
e3
VR
External force and moment resultants (pole is the origin):

f ext  V R
dV R

S R
 dS R
m ext  R
x  dV R
  R x  dS R
V S

Linear and angular momenta

reference configuration
SR S
u
e2 b
dm  dV R u
e1
VR V
e3
Linear and angular momenta and their time derivatives:
V R

u dV R
   V R

u dV R
 R
x  
u dV R
    R
x  
u dV R
V V

Global equations of motion (Euler laws)



SR S n
R
dS
dS
e2 bb
dV R dV 
e1
VR V
e3
f ext  

V R
dV R

S R
 dS R
 V R

u dV R
m ext   V R
x  dV R
  R
x  
S
dS R
 V R
x  
u dV R

Local equations of motion (Cauchy equations)

SR S
e2 2
e1 1
e3
e2 3 i,i    u
e1
VR V fi  i  o
e3
 j
where  j,i 
i
obs : i,i  divP and fi  i  o  Skew  PFT   O

Weak form: virtual work
external virtual work:
W ext     ud   u  ud     ud

  
internal virtual work:
u
W int
  P : Fd where F 
 
total virtual work:
W  W ext  W int
obs : u  1    ,  VR and   SR

Weak form: internal virtual work
Alternative expression:
u
W int
  i  u,id where u,i 
 i

Weak form: virtual work
Virtual work theorem:

 i,i    u on 
W  0 , u  
   P on 

obs : fi  i  o is not obtained!

 f ext
 

but : W  0 , u  
 ext

m  



Weak form: virtual power

external virtual power:
Pext     ud   u  u d     ud

  
internal virtual power :

u
P int
 P : F d   i  u,id where u,i 
  i
total virtual power :
P  Pext  Pint
obs : u  1    ,  VR and   SR

Weak form: virtual power
Virtual power theorem:

 i,i    u on 
P  0 , u  
   P on 

obs : fi  i  o is not obtained!

 f ext
 

but : P  0 , u  
 ext

m  



Weak form: virtual work vs. virtual power
Weak forms are used in numerical methods like the Finite Element
Method (FEM) and the Element Free Galerkin Method (EFGM, a
meshless method)
If the velocities are linear on the DOF’s (solids), there is no difference!
If the velocities are nonlinear on the DOF’s (rotation DOF’s in beams

and shells), both approaches lead to different approximations!

Boundary conditions
t 
reference configuration  current configuration
SR S n
StR
St
e2
Su
SuR
e1
e3 VR V
u u on  u  SuR (Dirichlet or essential)

  on t  StR (Neumann or natural)
obs :    u  t and  u  t  

Boundary conditions: virtual work
external virtual work:
W ext     ud   u  ud     ud

  t
admissibility condition:
u  1    | u  o on  u
virtual work theorem:
  i,i    u on 
W  0 , u  
   P  on t


Boundary conditions: virtual work
admissibility condition:
u  1    | u  o on  u
comments:
For approximation methods that are also interpolation

methods, like the FEM, it is easy to satisfy the condition
above.
For approximation methods that are not interpolation

methods, like the EFGM, it is necessary to extend the
virtual work statement in order to incorporate the essential
boundary conditions.

Constitutive Equations
Simple materials:
F  Fˆ  , t 
P  F tt  F 
0
Obs.: Skew  PFT   O must be satisfied

Elasticity
Constitutive equation: ˆ F 
P P
P
Tangent moduli:  
F
Obs.: Skew  PFT   O must be satisfied
or:  i  ˆi  f j 
 i
C ij 
f j
Obs.: fi   i  o must be satisfied

Hyperelasticity
  ˆ  F 

P 
F
2 
 
F 2
 
 T

or:   ˆ  fi 

i 
fi
2 
C ij 
fi f j
CijT  C ji 

Objectivity: superimposed rigid body motion

original motion
motion after superimposition
reference configuration S S
SR
e2  x
e1 x
e3 VR V
V
Original motion: x  x  ,t 
Motion after superimposition: x  q0  t  Q  t   x  , t   x  0, t  

translation rotation
Objectivity: superposed rigid body motion

original motion
motion after superimposition
SR
e2  x
e1 x
e3 VR V
V
x
Original deformation gradient: F

Deformation gradient after superposition: F  QF


original motion
motion after superposition
SR
e2  x
e1 x
e3 VR V
V
Original 1st PK stress tensor: P
1st PK stress tensor after superimposition: P  QP


original motion
motion after superposition
SR
e2  x
e1 x
e3 VR V
V
Original nominal stress vectors: i

nominal stress vectors after superimposition: i  Qi

Initial configuration
initial configuration
reference configuration So S current configuration
SR
u
e2  xo
e1 x
e3 VR Vo V
x
total deformation gradient: F

x o
initial deformation gradient: F 
o

x
effective deformation gradient: Fe   FF o1
x0
Initial configuration: comments

initial configuration
reference configuration o
S S current configuration
SR
u
e2  x
o
e1 x
e3 VR Vo V
For initially straight beams or for initially plane shells, the reference
configuration can be set equal to the initial one !
For initially straight beam finite elements or for initially flat triangular shell finite
elements, the reference configuration can be set equal to the initial one !
Incremental description (updated description)

increment initial
initial configuration current configuration
configuration
Si Si 1
reference configuration S o
SR
ui
ui1
x o
u
e2  xi
xi1
e1
e3
VR Vo Vi Vi 1
Time discretization (real in Dynamics, real or fictitious in Statics):

t t t
t0
•
t1 t2 ..• ti
•
ti 1 . . tn
t
. .

Incremental description: comments

increment initial
initial configuration current configuration
configuration
Si Si 1
reference configuration S o
SR
ui
ui1
x o
u
e2  xi
xi1
e1
e3
VR Vo Vi Vi 1
In numerical methods either ui 1 or u  can be approximated. These approx-

imations are called total and incremental (updated) approximations, respectively.
If the displacements are linear on the DOF’s (solids), there is no difference!

If the displacements are nonlinear on the DOF’s (rotation DOF’s in beams and shells),
the two approaches lead to different approximations!

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FE Analysis of slender Beams and thin Shells EPUSP Academic Year 2020

Elements of Solid Mechanics

Prof. Dr.-Ing. Paulo M. Pimenta

Polytechnic School at the University of São Paulo

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

2nd Order Tensors: A, B  ,  

4th Order Tensors: ,  

sum convention:  aibi  aibi Latin indices

 ab  a b Greek indices

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

2nd Order Tensors

4th Order Tensors

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Components on orthogonal basis:

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Skew-symmetric tensors and axial vectors:

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

volume deformation: dV  JdV R where J  det F

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

surface forces: df S  tdS  dS R

body forces: dfV  bdV  dV R

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Internal Forces: Stress vectors

Internal Forces: Stress Tensors

Cauchy stress tensor: t  Tn

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Internal forces: 1st PK stress tensor

reference configuration current configuration

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

External force and moment resultants (pole is the origin):

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Linear and angular momenta

Linear and angular momenta and their time derivatives:

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Global equations of motion (Euler laws)

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Local equations of motion (Cauchy equations)

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Weak form: virtual work

external virtual work:

W ext     ud   u  ud     ud

obs : u  1    ,  VR and   SR

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Weak form: internal virtual work

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Weak form: virtual work

Virtual work theorem:

obs : fi  i  o is not obtained!

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Weak form: virtual power

Pext     ud   u  u d     ud

internal virtual power :

total virtual power :

obs : u  1    ,  VR and   SR

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Weak form: virtual power

Virtual power theorem:

obs : fi  i  o is not obtained!

2. Elements of Solid Mechanics Prof. Dr.-Ing. Paulo M. Pimenta ‹nº›

Weak form: virtual work vs. virtual power

If the velocities are linear on the DOF’s (solids), there is no difference!

If the velocities are nonlinear on the DOF’s (rotation DOF’s in beams