Formula sheet Mechanics for Civil Engineering

Solids and Fluids

Mass conservation
0
𝜌: mass density [kg/m3]
𝑣 : particle velocity [m/s]

Momentum conservation
𝑓
𝜎 : stress at plane j in i direction [N/m2]
𝑓 : body force [N/m3]

Kinematic relations for solids

Relative displacements
𝑑𝑢 𝜀 𝜀 𝜀 𝑑𝑥 0 𝜃 𝜃 𝑑𝑥
𝑑𝑢 𝜀 𝜀 𝜀 𝑑𝑦 𝜃 0 𝜃 𝑑𝑦
𝑑𝑢 𝜀 𝜀 𝜀 𝑑𝑧 𝜃 𝜃 0 𝑑𝑧

Strains
𝜀 , 𝑥 ,𝑥 𝑥, 𝑦, 𝑧
𝜀 𝜀
𝛾 𝜀 𝜀 2𝜀 for 𝑖 𝑗

Rigid‐body rotations
𝜃
𝜃 𝜃

Constitutive equation for linear elastic isotropic solids: Flexibility matrix

𝜀 1 𝜈 𝜈 0 0 0 𝜎
⎡𝜀 ⎤ ⎡ 𝜈 1 𝜈 0 0 0 ⎤ ⎡𝜎 ⎤
⎢𝜀 ⎥ ⎢ 𝜈 𝜈 1 0 0 0 ⎥ ⎢𝜎 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢𝜀 ⎥ ⎢0 0 0 1 𝜈 0 0 ⎥ ⎢𝜎 ⎥
⎢𝜀 ⎥ ⎢0 0 0 0 1 𝜈 0 ⎥ ⎢𝜎 ⎥
𝜀
⎣ ⎦ ⎣0 0 0 0 0 1 𝜈 ⎦ ⎣𝜎 ⎦
𝐸: Young’s modulus [N/m ] 2

𝜈: Poisson’s ratio [‐]

Constitutive equation for linear elastic isotropic solids: Stiffness matrix

𝜎 1 𝜈 𝜈 𝜈 0 0 0 𝜀
⎡𝜎 ⎤ ⎡ 𝜈 1 𝜈 𝜈 0 0 0 ⎤ ⎡𝜀 ⎤
⎢𝜎 ⎥ ⎢ ⎥⎢ ⎥
⎢ ⎥ ⎢ 𝜈 𝜈 1 𝜈 0 0 0 ⎥ ⎢𝜀 ⎥
⎢𝜎 ⎥ ⎢ 0 0 0 1 2𝜈 0 0 ⎥ ⎢𝜀 ⎥
⎢𝜎 ⎥ ⎢ 0 0 0 0 1 2𝜈 0 ⎥ ⎢𝜀 ⎥
⎣𝜎 ⎦ ⎣ 0 0 0 0 0 1 2𝜈 ⎦ ⎣ 𝜀 ⎦

1
 Formula sheet Mechanics for Civil Engineering

Plane stress (on y face) for linear elastic isotropic solids

Assumptions: 𝑓 0; 𝜎 𝜎 𝜎 0

𝜎 1 𝜈 0 𝜀 𝜀 1 𝜈 0 𝜎
𝜎 𝜈 1 0 𝜀 or 𝜀 𝜈 1 0 𝜎
𝜎 0 0 1 𝜈 𝜀 𝜀 0 0 1 𝜈 𝜎

Plane strain (in y direction) for linear elastic isotropic solids

Assumption: 𝑓 0
Conditions: 𝜀 𝜀 𝜀 0

𝜎 1 𝜈 𝜈 0 𝜀
𝜎 𝜈 1 𝜈 0 𝜀 or
𝜎 0 0 1 2𝜈 𝜀

𝜀
1 𝜈 1 𝜈 𝜈 0 𝜎
𝜀 𝜈 1 𝜈 0 𝜎
𝐸
𝜀 0 0 1 𝜎

Kinematic relations for fluids

Relative velocities
𝑑𝑣 𝜀 𝜀 𝜀 𝑑𝑥 0 𝜔 𝜔 𝑑𝑥
𝑑𝑣 𝜀 𝜀 𝜀 𝑑𝑦 𝜔 0 𝜔 𝑑𝑦 , 𝜔 𝜃
𝑑𝑣 𝜀 𝜀 𝜀 𝑑𝑧 𝜔 𝜔 0 𝑑𝑧

Strain rates
𝜀 , 𝑥 ,𝑥 𝑥, 𝑦, 𝑧
𝜀 𝜀
𝛾 𝜀 𝜀 2𝜀 for 𝑖 𝑗

Rigid‐body rotational velocities

𝜔
𝜔 𝜔

Governing equations for 1D solid and fluid systems related to

Steady flow & static deformation, Linear and Amplitude‐dependent wave propagation
Equation of motion for a bar (oriented in x direction) 𝜌: density [kg/m3]
𝜌𝐴 𝐸𝐴 𝑞 𝐴: area [m2]
𝐸: Young’s modulus [N/m2]
Normal force versus axial strain:
𝑞 : line load [N/m]
𝑁 𝐸𝐴𝜀 𝐸𝐴 𝑢 : displacement [m]
Distributed spring/dashpot‐type support reaction: 𝜒: distributed‐spring constant [N/m2]
𝜕𝑢 𝜂: distributed‐dashpot constant [N s/m2]
𝑞 𝜒𝑢 𝜂
𝜕𝑡

Equation of motion for shear layer (oriented in z 𝜌: density [kg/m3]

direction) 𝐺: shear modulus [N/m2]
𝜌 𝐺 𝑓 𝑓 : body force [N/m3]
𝑢 : displacement [m]
Shear stress versus shear strain:
2
 Formula sheet Mechanics for Civil Engineering

𝜕𝑢
𝜎 2𝐺𝜀 𝐺
𝜕𝑧

Equation of motion for a diaphragm wall (oriented 𝑑: wall thickness [m]

in z direction) 𝑝 : line load per unit of length [N/m2]
𝜌𝑑 𝑝 𝑢 : displacement [m]
𝜒: distributed‐spring constant [N/m3]
Normal force per unit of length versus axial strain:
𝜂: distributed‐dashpot constant [N s/m3]
𝑛 𝜀
Distributed spring/dashpot‐type support reaction:
𝜕𝑢
𝑝 𝜒𝑢 𝜂
𝜕𝑡

Mass conservation for steady incompressible flow ℎ: hydraulic head [m]

In x direction: 0
In r (radial) direction: 0

Mass and momentum balance for wave propagation 𝐵: storage width [m]
in rivers ℎ: water depth [m]
𝐵 0 𝑄: discharge [m3/s]
𝐴 : conveyance area [m2]
| | 𝑐 : resistance coefficient [‐]
𝑔𝐴 0 𝑅: hydraulic radius [m]

Mass and momentum balance for linearized wave Ψ: coefficient of linearized resistance [1/s]
propagation in rivers with resistance ℎ : mean water level [m]
𝐵 0 𝜁: fluctuation about mean water level [m]

𝑔𝐴 Ψ𝑄 0 𝑐 : wave speed in channel

Combining these, with ℎ 𝑠, 𝑡 ℎ 𝜁 𝑠, 𝑡 : without resistance [m/s]
𝜕 𝜁 𝜕 𝜁 𝜕𝜁
𝑐 Ψ 0
𝜕𝑡 𝜕𝑠 𝜕𝑡

Stationary response for open channels, important 𝜔 2𝜋/𝑇: wave frequency [rad/s]
relations: 𝑇: wave period [s]
i𝜔𝐵 𝜕𝜁 𝛾: complex‐valued wave number taking
𝑄 𝑠 into account resistance [rad/m]
𝛾 𝜕𝑠
𝛾 𝑘 𝑖𝜇 𝑘 0: real‐valued wave number taking
into account resistance [rad/m]
𝜇 0: resistance parameter [m‐1]
𝜁 , 𝑄 : complex‐valued ‘amplitudes’ of
elevation and discharge
D’Alembert’s solution for non‐dispersive wave propagation in linear 1D systems
(𝑓 can be any field variable; s can be x,y or z)
𝑓 𝑠, 𝑡 𝑓 𝑠 𝑐𝑡 𝑓 𝑠 𝑐𝑡 or 𝑓 𝑠, 𝑡 𝑓 𝑡 𝑓 𝑡

Wave speed in channel without resistance: 𝑐

Wave speed in bar without continuous support: 𝑐

3
 Formula sheet Mechanics for Civil Engineering

Relation between 𝑁 and 𝑣 in bar Relation between 𝑄 and 𝜁 in channel

(𝑡 ∓ can be 𝑥 ∓ 𝑐𝑡) (𝑡 ∓ can be 𝑠 ∓ 𝑐𝑡)
𝑁 𝑡 𝑣 𝑡 𝑄 𝑡 𝐵𝑐𝜁 𝑡
𝑁 𝑡 𝑣 𝑡 𝑄 𝑡 𝐵𝑐𝜁 𝑡

Amplitude‐dependent waves (in traffic flow and long‐wave channel flows)

𝑼 𝑭 𝑼 𝐹 𝑈 ,𝑈
Conservative form: 0 with 𝑭
𝐹 𝑈 ,𝑈

𝑼 𝑼 𝑎 𝑈 ,𝑈 𝑏 𝑈 ,𝑈 𝑎 𝑏
Quasi‐linear form: 𝑨 𝑼 0 with 𝑨 or 𝑨
𝑐 𝑈 ,𝑈 𝑑 𝑈 ,𝑈 𝑐 𝑑

√ Eigenvectors
𝜆
Eigenvalues 1 √
𝜆
√ 𝒗 √ 𝒘
1
with Δ 𝑎 𝑑 4𝑏𝑐 1 √
𝒗 √ 𝒘
1

𝜆 𝑉 𝜌 𝜌𝑉 𝜌 𝑣 𝜌𝑉 𝜌 ARZ model
ARZ model 1
𝜆 𝑉 𝜌 𝑣 𝒗 𝒘
1
1
𝒗 𝒘
1

𝜆 𝑉 𝑔𝑑 LW equations
LW equations 1
𝜆 𝑉 𝑔𝑑
𝒗 𝒘
1
1
𝒗 𝒘
1
Traffic flow Density 𝜌
Flow 𝑞 min 𝑉 𝑘; 𝑤 𝜌 𝜌 𝑄 𝜌𝑉

4
 Formula sheet Mechanics for Civil Engineering

Diffusion phenomena
Heat conservation with conduction (in x direction) 𝑇: temperature [K]
𝜌𝑐 𝜆 0 𝜆: thermal conductivity
[J/(K m s) = W/(m K)]
𝜌: mass density [kg/m3]
𝑐: specific heat [J/(kg K)]
Soil consolidation (in z direction) 𝑝 : excess pore pressure [N/m2]
𝐶 𝑘: hydraulic conductivity [m/s]
𝜌: mass density [kg/m3]
𝑘
𝐶 𝑔: gravity constant [m/s2]
𝑚 𝜌𝑔 𝑚 : coefficient of compressibility [m2/N]
High‐water waves in rivers 𝐵 : conveyance width [m]
𝑐 𝐾 0 𝐵: width [m]
𝑄 : discharge uniform flow [m3/s]
HW‐wave propagation speed:
𝑈 : velocity uniform flow [m/s]
1 𝑑𝑄 3𝐵
𝐶 𝑈 𝑔: gravity constant [m/2]
𝐵 𝑑ℎ 2𝐵 𝑅: hydraulic radius [m]
with:
𝑖 : bed slope [‐]
𝑈 𝑔𝑅𝑖 𝑐 𝑐 : friction coefficient [‐]
Response following abrupt release of volume V at t = 0 𝑉: volume [m ]
3

in s = 0: 𝑑 : initial depth [m]

𝑉/𝐵 𝑠 𝑐 𝑡 𝑑: actual depth [m]
𝑑 𝑠, 𝑡 𝑑 exp 𝐴 : conveyance area [m2]
√2𝜋𝜎 2𝜎
with:
𝜎 √2𝐾𝑡 𝐾 𝑄 𝐴 𝑔𝑅𝑖 /𝑐

General
Fourier series 𝑏 𝑓 𝑥 sin 𝑑𝑥
𝑓 𝑥 ∑ 𝑎 cos 𝑏 sin
𝑎 𝑓 𝑥 cos 𝑑𝑥

General solutions to some ordinary differential

equations

𝜕 𝑣
𝑝 𝑣 0, 𝑣 𝑣 𝑥
𝜕𝑥
Solution: 𝑣 𝑥 𝐶 exp 𝑝𝑥 𝐶 exp 𝑝𝑥

𝜕 𝑣
𝑝 𝑣 0, 𝑣 𝑣 𝑥
𝜕𝑥
Solution: 𝑣 𝑥 𝐶 cos 𝑝𝑥 𝐶 sin 𝑝𝑥 or
𝑣 𝑥 𝐶 exp i𝑝𝑥 𝐶 exp i𝑝𝑥

Complex trigonometric definitions

cos 𝑥 exp i𝑥 exp i𝑥

sin 𝑥 exp i𝑥 exp i𝑥
cos i𝑥 cosh 𝑥
sin i𝑥 i sinh 𝑥