A review on mechanics of materials

Lecture_00-01
Concept of Internal forces, Stress, Strain, and Deformation

Ph.D. Mai Đức Đãi

Faculty of Mechanical Engineering

Ho Chi Minh City University of Technology and Education

Khoa Cơ khí Chế tạo máy

Đại học Sư phạm Kỹ thuật Tp. HCM

4/20/2021 Mai Duc Dai 1

 Where is Strength of Material (SOM)…?
 Mechanics/Cơ học
Mechanics/Cơ học

Rigid Bodies/Vật rắn Deformable Fluids/Lưu chất

tuyệt đối Bodies/Vật rắn biến dạng

Statics/Tĩnh học SOM/Sức bền

vật liệu

Dynamics/Động
học-Động lực học

Engineering Mechanics Mechanics of Materials

Cơ kỹ thuật/Cơ lý thuyết Sức bền vật liệu
4/20/2021 Mai Duc Dai 2
[Ref. Tri. Truong Quang, Strength of Materials Lecture notes, UTE 2019 ]
 Object of study & Mission
Applied load (known)
External forces (phương trình cân bằng tĩnh học)
Support reaction (unknown)  Static equilibrium equations
Object Supports
of study conditions

Structures/mechnical parts (deformable objects)

Liên kết Prismatic and straight bars/structural members
Liên kết
Small strain and displacement, linear elastic behavior
Gối cố Gối di
- Thanh thẳng có tiết diện kg đổi dọc trục thanh
định động
- Chuyển vị bé, vật liệu ứng xử đàn hồi tuyến tính

 Internal forces:  axial force, shear force,

Material mechanical bending moments, torque.
response to  Stresses:  normal stress, shear stress Design
External forces Problems
 Displacement/deflection
Ứng xử của kết cấu khi chịu tải
4/20/2021 Mai Duc Dai 3
 Objectives of study
Bar in tension/compression
(Thanh chịu kéo/nén)
(Simple loading)

Strength of materials Shaft in torssion

Structural elements (Trục chịu xoắn)
Pure bending
(Uốn thuần túy)
Beam in bending
(Dầm chịu uốn) Strensverse bending
Is the material stiff enough? (Uốn ngang phẳng)
Is the material strong enough?
Combined axial, torsion, and flexural loading
(Combined loading)

Internal forces, stresses, strain and displacements

4/20/2021 Mai Duc Dai 4
 Mechanics of Materials Prob.

q P
z x
A h
B C d
 a
y y
Given:
 Geometric model including support conditions
 Loading
 Material properties: Young’s modulus, allowable stress

Ask for:
 Resultant internal forces
 Stress  Strength verification, cross section design with a given
theory of failure, alowable load
 Deformation: Displacement/deflection, twist angle, slope of
curvature
4/20/2021 Mai Duc Dai 5
 Assumptions (các giả thuyết)

Assumptions (giả thuyết):

 Small strain (biến dạng bé)
 Small displacement/deflection (chuyển vị bé)
 Linear elastic behavior (ứng xử đàn hồi tuyến tính)
 Homogeneous isotropic materials (vật liệu đồng nhất, đẳng hướng)
 Static loads (tải trọng tĩnh)

Nguyên lý cộng tác dụng

4/20/2021 Mai Duc Dai 6
 Internal Resultant Loadings
External loadings

Deformable
objects

Resulting a change the body’s At a material point inside

shape and size: the object, there are
Deformation existing strains

Internal resultant forces/loadings

Stress that existing within body to prevent
strains
4/20/2021 Mai Duc Dai 7
 Internal resultant loadings (nội lực)
 Nội lực là lực phát sinh bên trong vật thể nhằm chống lại
biến dạng gây ra do tải tác dụng

 Cách xác định nội lực: sử dụng pp mặt cắt (method of section)
P3 P3 

O P4
I O P4
P2 P2
II
P1
P1
Pn
Pn

P3
P4
Nội lực
These forces actually represent the P2  A Internal
effects of the material of one part of the resultant
body acting on the other P1 loanding  B
Pn
Free-Body Diagrams (FBD)
4/20/2021 Mai Duc Dai 8
 Internal resultant loadings (nội lực)
P3
P4

P2  A Nội lực
Internal
resultant
P1 loading  B
Pn
Free-Body Diagrams (FBD)

 Nội lực là lực phát sinh tại một điểm vật liệu bên trong kết cấu
chịu tải

 Nội lực phụ thuộc vào vị trí điểm khảo sát, điều kiện liên kết, ngoại
lực tác dụng lên vật.

 Nội lực cân bằng với ngoại lực tác dụng lên vật.
4/20/2021 Mai Duc Dai 9
 Internal resultant loadings (nội lực)
 Thu gọn hệ nội lực phân bố về tâm tiết diện O ta được

P3 

FRO
M RO P4
O
P2  A 
O
FRO  B
P1 
M RO
Pn
F.B.D.


FRO : Véctơ chính nội lực (Internal resultant force vector)

M RO: Mômen chính nội lực (Internal resultant moment vector)

4/20/2021 Mai Duc Dai 10

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 8]
 Internal resultant forces
 Các thành phần nội lực trong bài toán thanh (Internal resultant forces in
prismatic, straight bars/structural members)
Pn
+ Lực dọc Nz Kéo/nén

 A Mz
Mx + Lực cắt Qx , Qy Cắt
O Nz
P2 Qx z
My
+ Mômen xoắn Mz Xoắn
x
Qy
P1
y + Mômen uốn Mx,M y Uốn

Free-Body Diagram (FBD)

Hệ tọa độ: Right-handed coordinate system with z-axis along longitudinal axis of
the bar and passing through the centroid of cross section
Trục z trùng trục thanh, đi qua trọng tâm tiết diện ngang, x, y nằm trên mặt
phẳng tiết diện ngang xác định theo qui tắc bàn tay phải
4/20/2021 Mai Duc Dai 11
 Right-handed coordinate system

For right-handed coordinates, the right thumb points along the Z axis in the
positive direction and the curl of the fingers represents a motion from the first
or X axis to the second or Y axis.

When viewed from the top or Z axis the system is counter-clockwise.

4/20/2021 Mai Duc Dai 12
 Internal resultant forces
 Internal resultant forces in prismatic, straight bars/structural members
Normal force, Nz. This force acts perpendicular to
Pn the area. It is developed whenever the external
loads tend to push or pull on the two segments of
the body
 A Mz
Mx Shear force, Qx/Qy. The shear force lies in the
plane of the area, and it is developed when the
O Nz
z
external loads tend to cause the two segments of
P2 Qx the body to slide over one another.
x My
Qy Torsional moment or torque, Mz. This effect is
P1
y developed when the external loads tend to twist
one segment of the body with respect to the other
Free-Body Diagram (FBD) about an axis perpendicular to the area.
Bending moment, Mx/My. The bending moment is
caused by the external loads that tend to bend the
body about an axis lying within the plane of the
area.
4/20/2021 Mai Duc Dai 13
 Qui ước dấu nội lực (sign convention)

 Nz > 0, khi có chiều hướng ra ngoài mặt cắt

Pn  gây kéo

 Mz > 0, nhìn vào mặt cắt Mz dương khi có

 A Mz Mx chiều ngược chiều kim đồng hồ

O Nz  Qx/Qy > 0, khi làm cho phần kết cấu đang

P2 Qx z
My
khảo sát quay cùng chiều kim đồng hồ
x
Qy
P1  Mx > 0, khi gây căng thớ vật liệu ở phần
y dương trục y

Free-Body Diagram (FBD)  My > 0, khi gây căng thớ vật liệu ở phần
dương trục x

4/20/2021 Mai Duc Dai 14

 Determine the internal resultant forces
 Xác định các thành phần nội lực
External forces and Internal resultant forces acting
Nội lực cân bằng với ngoại lực:
on the considering segment are in equilibrium.

Pn
 Fx  0  Pxi  Qx  0

 Fy  0  Pyi Q y  0  A Mz
Mx

 Fz  0  Pzi  N z  0

 
 O Nz
 M x  0  M x Pi  M x  0 P2 Qx z
 
  My
 M y  0  M y Pi  M y  0
x

 
 M  0  M P  M  0
Qy
 z
P1
z i z y

4/20/2021 Mai Duc Dai 15

 Internal resultant forces diagram

4/20/2021 Mai Duc Dai 16

 Example

4/20/2021 Mai Duc Dai 17

 Example

P P P
B B B P 0 Nz

z z q

1 1 1 1

 q Nz  q


N z  P  qz 
A A
P  q
z

4/20/2021 Mai Duc Dai 18

 Example

M=qa2 q P=2qa
z
A B C D
RA 2a 3a RC a y

Determine reaction forces

5a
 M A  qa 2  5qa. 2
 2qa.6a  RC .5a  0

51
 RC  qa
10
5a
 M C RA .5a  2qa.a  qa 2  5qa 2
0

19
 RA  qa
10
4/20/2021 Mai Duc Dai 19
 Example
M=qa2 q P=2qa
z
A B C D
51 RA RC
RC  qa 2a 3a a y
10

19
RA  qa 19 2qa
10 10
qa

1
qa
10
Qy

31
 qa
10
10 2
 qa
361 2 360 2 5
qa qa
200 200
Mx

14 2
qa
5
4/20/2021 Mai Duc Dai 20
 Internal Resultant Loadings
External loadings

Deformable
objects

Resulting a change the body’s At a material point inside

shape and size: the object, there are
Deformation existing strains

Internal resultant forces/loadings

Stress that existing within body to prevent
strains
4/20/2021 Mai Duc Dai 21
 Stress
 Stress describes the intensity of the internal force acting on a specific
plane (area) passing through a point.

4/20/2021 Mai Duc Dai 22

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 22]
 Stress components

Normal stress:
ứng suất pháp
Shear stress:
ứng suất tiếp

4/20/2021 Mai Duc Dai 23

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 23]
 Average normal stress
Average normal stress distribution in an axially loaded bar

Saint-Venant’s principle

A  dA, N  dN

: Average normal stress  dN   dA

N: Internal resultant normal force N
N  A   
A: Cross-sectional area A
4/20/2021 Mai Duc Dai 24
[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 24, 25]
 Average normal stress

Eqilibrium on a material element

A   A     

4/20/2021 Mai Duc Dai 25

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 25, 26]
 Average shear stress

 If F is large enough, it can cause the material of

the bar to deform and fail along the planes
identified by AB and CD

avg: average shear stress at the section, which

is assumed to be the same at each point on the
section
V: internal resultant shear force on the section
determined from the equations of equilibrium
A: area of the section

4/20/2021 Mai Duc Dai 26

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 32]
 Shear Stress Equilibrium

F y 0  zy (x y)   zy (x y)  0

 zy   zy Same way  yz   yz

M x 0  zy (x y) z   yz (x y) y  0

 zy   zy   yz   yz  

Complementary property of shear

Tính chất đối ứng, ứng suất tiếp

4/20/2021 Mai Duc Dai 27

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 33]
 Stress components

Units
Pa = N/m2
MPa = 106 Pa = N/mm2
GPa = 109 Pa = 103MPa

4/20/2021 Mai Duc Dai 28

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 23]
 Average shear stress

Single Shear Double Shear

P F P F
 ave    ave  
A A A 2A
4/20/2021 Mai Duc Dai 29
[Ref. F. Beer, E. R. Johnston Jr., D. Mazurek, Vector of Mechanics for Engineers, McGraw-Hill, 2013]
 Factor of safety & allowable stress design

Factor of safety

failure load

allowable load

Stress linearly related to  N/A

applied load  avg  V / A

4/20/2021 Mai Duc Dai 30

 Internal Resultant Loadings
External loadings

Deformable
objects

Resulting a change the body’s At a material point inside

shape and size: the object, there are
Deformation existing strains

Internal resultant forces/loadings

Stress that existing within body to prevent
strains
4/20/2021 Mai Duc Dai 31
 Deformation (sự thay đổi hình dạng, kích thước)
 Whenever a force is applied to a body, it will tend to change the body’s shape
and size. These changes are referred to as deformation, and they may be highly
visible or practically unnoticeable.

 The deformation will not be

uniform throughout the body, and
so the change in geometry of any
Before stretching after stretching
line segment within the body may
vary substantially along its length.
Hence, to study deformation, we
will consider line segments that
are very short and located in the
neighborhood of a point.

 The deformation will also depend

on the orientation of the line
segment at the point.
4/20/2021 Mai Duc Dai 32
[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 69]
 Internal Resultant Loadings
External loadings

Deformable
objects

Resulting a change the body’s At a material point inside

shape and size: the object, there are
Deformation existing Strains

Internal resultant forces/loadings

Stress that existing within body to prevent
strains
4/20/2021 Mai Duc Dai 33
 Strain (biến dạng)
 In order to describe the deformation of a body by changes in the lengths of line
segments and changes in the angles between them, we will develop the concept of
strain.

 Normal Strain (biến dạng pháp tuyến)

Average normal strain  (epsilon)

4/20/2021 Mai Duc Dai 34

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 70]
 Strain (biến dạng)

 The normal strain at a point in a body of arbitrary shape is defined in a

similar manner.

Unit: Normal strain is a dimensionless quantity

Positive  line elongates

Negative  line contracts

4/20/2021 Mai Duc Dai 35

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 70]
 Strain (biến dạng)
 Shear Strain (biến dạng trượt)

4/20/2021 Mai Duc Dai 36

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 71]
 Strain (biến dạng)

Normal strains change the sides of the element

 change in the volume of the element

4/20/2021 Mai Duc Dai 37

[Ref. R.C. Hibbeler, Mechanics of Materials, 10th Edition, Pearson Prentice Hall, 2017. page 71]
 Strain (biến dạng)

Shear strain changes the angles between the sides of the element

 change in the shape of the element

4/20/2021 Mai Duc Dai 38

 END

4/20/2021 Mai Duc Dai 39