4-Stress Transformation 2015

CHAPTER 4: STRESS STATE
4.1 Introduction
4.2 Plane Stress State
4.3 Transformation of plane stress
4.4 Morh’s circle for plane stress
4.5 Three dimentional stress state
4.6 Generalised Hooke’s Laws
4.7 Transformation of plane strain
4.8 Morh’s circle for plane strain

4.1 INTRODUCTION
CROSS SECTION METHOD

4.1 INTRODUCTION
Point O is often chosen as the

centroid of the sectioned area

4.1 INTRODUCTION
y

4.1 INTRODUCTION
Stress state at a point is the set of all stresses acting on all faces passing through
this point.
• The most general state of stress at a point may be

represented by 6 components,
 x , y , z normal stresses
 xy ,  yz ,  zx shearing stresses
(Note :  xy   yx ,  yz   zy ,  zx   xz )
• Same state of stress is represented by a different set

of components if axes are rotated.
• The first part of the chapter is concerned with how

the components of stress are transformed under a
rotation of the coordinate axes. The second part of
the chapter is devoted to a similar analysis of the
transformation of the components of strain.
4.1 INTRODUCTION
SIGN CONVENTION:
Normal stress:
Tension is positive
Compression is Negative
Shear stress: two subscripts

+ First subscript denotes the face on which
the stress acts (normal vector of the face)
+ Second gives the direction on the stress
vector σy>0
Positive face (+): normal axis follows the

positive direction of the original axis
Negative face (-): normal axis follows the

negative direction of the original axis
4.1 INTRODUCTION
SIGN CONVENTION:
Positive direction (+): stress vector follows

positive direction of the axis
Negative direction (-): stress vector follows

negative direction of the axis
positive direction - positive face = positive stress
negative direction-negative face = positive stress
positive direction-negative face = negative stress
negative direction-negative face = negative stress

4.1 INTRODUCTION
STRESS STATES
σx σx
3-Dimensional stress state 2-Dimensional stress state 1-Dimensional stress state

(3D stress state) (2D stress state – plane stress) (1D stress state – uniaxial stress)
MATRIX FORM OF STRESS STATE
(Symmetric matrix)
4.2 PLANE STRESS STATE
• Plane Stress - state of stress in which two faces of

the cubic element are free of stress. For the
illustrated example, the state of stress is defined by
 x ,  y ,  xy and  z   zx   zy  0.
σy
τyx
y
τxy
σx σx
τxy
τyx
σy
x
• State of plane stress also occurs on the free surface

of a structural element or machine component, i.e.,
at any point of the surface not subjected to an
external force.
• State of plane stress occurs in a thin plate subjected to forces acting in the
midplane of the plate.
4.3 TRANSFORMATION OF PLANE STRESS
• Consider the conditions for equilibrium of a prismatic element with faces
perpendicular to the x, y, and x’ axes.
y
σy x’
y’ τxy’
σx’
τyx θ
τxy
σx σx
x
τxy
τyx
σy
 Fx  0   xA   x A cos   cos    xy A cos   sin

  y A sin  sin   xy A sin  cos 
 Fy   0   xy A   x A cos  sin   xy A cos   cos 
  y A sin  cos    xy A sin   sin
θ is positive if the rotation is counter clockwise from x to x’
y
σy x’
y’ τxy’
σy’ τyx θ
σx’
τxy
σx σx
x
τxy
τyx
σy
• The equations may be rewritten to yield
x  y  x  y
 x   cos 2   xy sin 2
2 2
x  y  x  y
 y   cos 2   xy sin 2
2 2
 x  y
 xy    sin 2   xy cos 2
2
Principal Stresses
• The previous equations are combined to
yield parametric equations for a circle,
 x   ave 2   x2y  R 2
where
2
 x  y  x  y 
 ave  R      xy
2
2  2 
• Principal stresses occur on the principal

planes of stress with zero shearing stresses.
2
 x  y  x  y 
 max, min       xy
2
2  2 
2 xy
tan 2 p 
 x  y
Note : defines two angles separated by 90o
Maximum Shearing Stresses
2
 x  y 
 max  R      xy
2
 2 
 x  y
tan 2 s  
2 xy
Note : defines two angles separated by 90o and

offset from  p by 45o
 x  y
    ave 
2
SPECIAL CASES OF PLANE STRESS
y
τyx
τxy
σx σx
τxy
τyx
x
y
τyx= τ
τxy
τxy
τyx
x
Pure shear
EXAMPLE 4.01 SOLUTION:
y Define axes x,y and stress names
correspondingly
• Find the element orientation for the principal
stresses from
2 xy
tan 2 p 
 x  y
x • Determine the principal stresses from

2
x  y  x  y 
For the state of plane stress shown,  max,min       xy
2
2  2 
determine (a) the principal panes,
(b) the principal stresses, (c) the • Calculate the maximum shearing stress with
maximum shearing stress and the  x  y 
2
corresponding normal stress.  max      xy
2
 2 
x  y
 
2
y EXAMPLE 4.01
SOLUTION:
• Find the element orientation for the principal
stresses from
2 xy 2 40
tan 2 p    1.333
 x   y 50   10
2 p  53.1, 233.1
x
 p  26.6, 116.6
 x  50 MPa  xy  40 MPa
 x  10 MPa • Determine the principal stresses from
2
x  y  x  y 
 max,min       xy
2
2  2 
 20  302  402
 max  70 MPa
 min  30 MPa
EXAMPLE 4.01
• Calculate the maximum shearing stress with
2
 x  y 
 max      xy
2
 2 
 302  402
 max  50 MPa
 x  50 MPa  xy  40 MPa  s   p  45
 x  10 MPa  s  18.4, 71.6
• The corresponding normal stress is

 x   y 50  10

   ave  
2 2
   20 MPa
4.4 MORH’S CIRCLE FOR PLANE STRESS
• With the physical significance of Mohr’s circle

for plane stress established, it may be applied
with simple geometric considerations. Critical
values are estimated graphically or calculated.
• For a known state of plane stress  x , y , xy
plot the points X and Y and construct the
circle centered at C.
2
 x  y  x  y 
 ave  R      xy
2
2  2 
• The principal stresses are obtained at A and B.

 max, min   ave  R
2 xy
tan 2 p 
 x  y
The direction of rotation of Ox to Oa is
the same as CX to CA.
R
• With Mohr’s circle uniquely defined, the state

of stress at other axes orientations may be
depicted.
• For the state of stress at an angle  with

respect to the xy axes, construct a new
diameter X’Y’ at an angle 2 with respect to
XY.
• Normal and shear stresses are obtained

from the coordinates X’Y’.
• Mohr’s circle for centric axial loading:
P P
x  ,  y   xy  0  x   y   xy 
A 2A
• Mohr’s circle for torsional loading:
Tc Tc
 x   y  0  xy  x y   xy  0
J J
EXAMPLE 4.02
For the state of plane stress shown,

(a) construct Mohr’s circle, determine
(b) the principal planes, (c) the SOLUTION:
principal stresses, (d) the maximum • Construction of Mohr’s circle
shearing stress and the corresponding  x   y 50   10
normal stress.  ave    20 MPa
2 2
CF  50  20  30 MPa FX  40 MPa
R  CX  302  402  50 MPa
EXAMPLE 4.02
• Principal planes and stresses
 max  OA  OC  CA  20  50
 max  70 MPa
 max  OB  OC  BC  20  50
 max  30 MPa
FX 40
tan 2 p  
CP 30
2 p  53.1
 p  26.6
EXAMPLE 4.02
• Maximum shear stress
 s   p  45  max  R     ave

 s  71.6  max  50 MPa    20 MPa
EXAMPLE 4.03
For the state of stress shown,

determine (a) the principal planes
and the principal stresses, (b) the
stress components exerted on the
element obtained by rotating the SOLUTION:
given element counterclockwise • Construct Mohr’s circle
through 30 degrees.  x   y 100  60
 ave    80 MPa
2 2
R CF 2  FX 2  202  482  52 MPa
EXAMPLE 4.03
• Principal planes and stresses

XF 48  max  OA  OC  CA  max  OA  OC  BC
tan 2 p    2.4
CF 20  80  52  80  52
2 p  67.4
 max  132 MPa  min  28 MPa
 p  33.7 clockwise
EXAMPLE 4.03
  180  60  67.4  52.6

• Stress components after rotation by 30o
 x  OK  OC  KC  80  52 cos 52.6
Points X’ and Y’ on Mohr’s circle that  y  OL  OC  CL  80  52 cos 52.6
correspond to stress components on the
 xy  KX   52 sin 52.6
rotated element are obtained by rotating
XY counterclockwise through 2  60  x  48.4 MPa
 y  111.6 MPa
 xy  41.3 MPa
Application of Morh’s circle to the Three-Dimensional Analysis of Stress
• Transformation of stress for an element • The three circles represent the

rotated around a principal axis may be normal and shearing stresses for
represented by Mohr’s circle. rotation around each principal axis.
• Points A, B, and C represent the • Radius of the largest circle yields the
principal stresses on the principal planes maximum shearing stress.
(shearing stress is zero) 1
 max   max   min
2
• In the case of plane stress, the axis

perpendicular to the plane of stress is a
principal axis (shearing stress equal zero).
• If the points A and B (representing the
principal planes) are on opposite sides of
the origin, then
a) the corresponding principal stresses
are the maximum and minimum
normal stresses for the element
b) the maximum shearing stress for the
element is equal to the maximum “in-
plane” shearing stress
c) planes of maximum shearing stress
are at 45o to the principal planes.
• If A and B are on the same side of the
origin (i.e., have the same sign), then
a) the circle defining max, min, and

max for the element is not the circle
corresponding to transformations within
the plane of stress
b) maximum shearing stress for the

element is equal to half of the
maximum stress
c) planes of maximum shearing stress are

at 45 degrees to the plane of stress
4.5 THREE DIMENSIONAL STRESS STATE
Principle directions: 1,2,3
σ1 > σ2 > σ3 2
σ2
σ1
σ3
1
τmax,3 2 σ2 2 σ2 2 σ2
3
σ1 σ1 σ1
σ3 σ3 σ3
1
τmax,11 τmax,2 1
3 3
3
Morh circles showing 3 maximum shear stresses in a 3D stress state
τ
σ1 > σ2 > σ3
τmax,2
τmax,3
τmax,1
0 σ3 σ2 σ1 σ
Therefore, in a stress state in general: τmax = τmax,2

4.6 GENERALISED HOOKE’S LAW
NORMAL STRAIN – NORMAL STRESS
• For an element subjected to multi-axial loading,
the normal strain components resulting from the
stress components may be determined from the
principle of superposition. This requires:
1) strain is linearly related to stress
2) deformations are small
• With these restrictions:
SHEAR STRAIN – SHEAR STRESS
• A cubic element subjected to a shear stress will

deform into a rhomboid. The corresponding shear
strain is quantified in terms of the change in angle
between the sides,
 xy  f  xy 
• A plot of shear stress vs. shear strain is similar the
previous plots of normal stress vs. normal strain
except that the strength values are approximately
half. For small strains,
 xy  G  xy  yz  G  yz  zx  G  zx
where G is the modulus of rigidity or shear modulus.

DILATATION: BULK MODULUS
• Relative to the unstressed state, the change in volume is

    
e  1  1   x  1   y 1   z   1  1   x   y   z 
 x  y z
1  2

E

 x  y  z 
 dilatation (change in volume per unit volum e)
• For element subjected to uniform hydrostatic pressure,

31  2  p
e  p 
E k
E
k  bulk modulus
31  2 
• Subjected to uniform pressure, dilatation must be

negative, therefore
0    12
Relation Among E, , and G
• An axially loaded slender bar will

elongate in the axial direction and
contract in the transverse directions.
• An initially cubic element oriented as in
top figure will deform into a rectangular
parallelepiped. The axial load produces a
normal strain.
• If the cubic element is oriented as in the
bottom figure, it will deform into a
rhombus. Axial load also results in a shear
strain.
• Components of normal and shear strain are
related,
E
 1   
2G
4.7 STRAIN ENERGY
Consider one stress element in 1 dimensional problem, in general:
P
Strain energy per unit volume u:
L
σ
σ
dσ1 E
where: ε is the maximum strain
1 Based on Hook’s law:
σ1
ε1 dε1 ε
Consider one stress element in 3 dimensional problem, in general:

4.7 STRAIN ENERGY
Based on generalized Hook’s law:
let:
4.7 STRAIN ENERGY
2 σ2 2 p σ2 - p
σ1 p σ1 - p
σ3 1
p σ3 - p 1
1
3 3
3
Matrix form of stress state:
Hydrostatic Deviatoric
Stress tensor tensor tensor
FURTHER READING
4.8 TRANSFORMATION FOR PLANE STRAIN
• Plane strain - deformations of the material

take place in parallel planes and are the
same in each of those planes.
• Plane strain occurs in a plate subjected

along its edges to a uniformly distributed
load and restrained from expanding or
contracting laterally by smooth, rigid and
fixed supports
components of strain :
 x  y  xy  z   zx   zy  0
• Example: Consider a long bar subjected
to uniformly distributed transverse loads.
State of plane stress exists in any
transverse section not located too close to
the ends of the bar.
4.8 TRANSFORMATION FOR PLANE STRAIN
• State of strain at the point Q results in
different strain components with respect
to the xy and x’y’ reference frames.
     x cos 2    y sin 2    xy sin cos 
 OB   45  12  x   y   xy 
 xy  2 OB   x   y 
• Applying the trigonometric relations

used for the transformation of stress,
x   y x   y  xy
 x   cos 2  sin 2
2 2 2
x   y x   y  xy
 y   cos 2  sin 2
2 2 2
 xy x   y  xy
 sin 2  cos 2
2 2 2
4.8 MORH’S CIRCLE FOR PLANE STRAIN
• The equations for the transformation of

plane strain are of the same form as the
equations for the transformation of plane
stress - Mohr’s circle techniques apply.
• Abscissa for the center C and radius R ,

2 2
x   y   x   y    xy 
 ave  R      
2  2   2 
• Principal axes of strain and principal strains,

 xy
tan 2 p 
x   y
 max   ave  R  min   ave  R
Three-Dimensional Analysis of Strain
• Previously demonstrated that three principal
axes exist such that the perpendicular
element faces are free of shearing stresses.
• By Hooke’s Law, it follows that the

shearing strains are zero as well and that
the principal planes of stress are also the
principal planes of strain.
• Rotation about the principal axes may be

represented by Mohr’s circles.
• For the case of plane strain where the x and y
axes are in the plane of strain,
- the z axis is also a principal axis
- the corresponding principal normal strain
is represented by the point Z = 0 or the
origin.
• If the points A and B lie on opposite sides
of the origin, the maximum shearing strain
is the maximum in-plane shearing strain, D
and E.
• If the points A and B lie on the same side of

the origin, the maximum shearing strain is
out of the plane of strain and is represented
by the points D’ and E’.
• Consider the case of plane stress,
 x  a  y  b  z  0
• Corresponding normal strains,

 
a  a  b
E E
 a 
b    b
E E
 
 c    a   b     a   b 
E 1 
• Strain perpendicular to the plane of stress

is not zero.
• If B is located between A and C on the

Mohr-circle diagram, the maximum
shearing strain is equal to the diameter CA.
• Strain gages indicate normal strain through

changes in resistance.
• With a 45o rosette, x and y are measured

directly. xy is obtained indirectly with,
 xy  2 OB   x   y 
• Normal and shearing strains may be

obtained from normal strains in any three
directions,
1   x cos 2 1   y sin 2 1   xy sin1 cos 1
 2   x cos 2  2   y sin 2  2   xy sin 2 cos  2
 3   x cos 2 3   y sin 2 3   xy sin3 cos 3

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CHAPTER 4: STRESS STATE

4.2 Plane Stress State

4.3 Transformation of plane stress

4.4 Morh’s circle for plane stress

4.5 Three dimentional stress state

4.6 Generalised Hooke’s Laws

4.7 Transformation of plane strain

4.8 Morh’s circle for plane strain

CROSS SECTION METHOD

Point O is often chosen as the

CROSS SECTION METHOD

CROSS SECTION METHOD

• The most general state of stress at a point may be

• Same state of stress is represented by a different set

• The first part of the chapter is concerned with how

Shear stress: two subscripts

Positive face (+): normal axis follows the

Negative face (-): normal axis follows the

Positive direction (+): stress vector follows

Negative direction (-): stress vector follows

positive direction - positive face = positive stress

negative direction-negative face = positive stress

positive direction-negative face = negative stress

negative direction-negative face = negative stress

3-Dimensional stress state 2-Dimensional stress state 1-Dimensional stress state

MATRIX FORM OF STRESS STATE

• Plane Stress - state of stress in which two faces of

• State of plane stress also occurs on the free surface

 Fx  0   xA   x A cos   cos    xy A cos   sin

• Principal stresses occur on the principal

Note : defines two angles separated by 90o and

x • Determine the principal stresses from

• The corresponding normal stress is

• With the physical significance of Mohr’s circle

• The principal stresses are obtained at A and B.

• With Mohr’s circle uniquely defined, the state

• For the state of stress at an angle  with

• Normal and shear stresses are obtained

• Mohr’s circle for torsional loading:

For the state of plane stress shown,

• Maximum shear stress

 s   p  45  max  R     ave

For the state of stress shown,

• Principal planes and stresses

  180  60  67.4  52.6

• Transformation of stress for an element • The three circles represent the

• In the case of plane stress, the axis

a) the circle defining max, min, and

b) maximum shearing stress for the

c) planes of maximum shearing stress are

Therefore, in a stress state in general: τmax = τmax,2

• A cubic element subjected to a shear stress will

where G is the modulus of rigidity or shear modulus.

• Relative to the unstressed state, the change in volume is

• For element subjected to uniform hydrostatic pressure,

• Subjected to uniform pressure, dilatation must be

• An axially loaded slender bar will

Consider one stress element in 3 dimensional problem, in general:

Matrix form of stress state:

• Plane strain - deformations of the material

• Plane strain occurs in a plate subjected

• Applying the trigonometric relations

• The equations for the transformation of

• Abscissa for the center C and radius R ,