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Problem Set #2 6

Problem 4
For the stress tensor
⎛ ⎞
1 1 0
σij = ⎝ 1 1 0 ⎠
⎜ ⎟

0 0 2
a) Find the principal stresses and directions. (Use a right­handed coordinate
system)
b) Compare the three Invariants for the original stress tensor and the prin­
cipal stress tensor.
c) Find the deviatoric stress tensor σijdev
d) Find the principal stresses and directions of the deviatoric stress tensor.
Find the Invariants of the deviatoric stress tensor.
e) What are the relations of the principal stresses, directions, shears, etc.=
for these two tensors (the complete and deviatoric tensors investigated
above)? Can you say anything in general about these relations for an
arbitrary stress tensor and its deviator?
f ) Construct Mohr’s circle for σij .
g) Construct Mohr’s circle for σijdev .
h) What is the relation between the maximum shear for the two tensors?
Solution
a) Finding the principal stresses and directions is done in the same way
as diagonalizing a matrix or finding the principal coordinate system (aka
the eigenbasis) — in fact these are all the same problem. In essence, we
want to find the right­handed coordinate system, expressed in terms of the
given coordinate system, in which only normal stresses act along each of the
basis vectors. There is a lot of linear algebra hidden in here, but I will just
state that given any stress tensor, you can find a pricipal coordinate system.
Mathematically, we can express the above statement like this:
σij · n
ˆ j = λˆ
nj (1)
which just says that the traction on the n̂j plane (remember we define our
planes by use of the vector normal to it) is along the normal vector (i.e. the
stress is normal to the plane). We rewrite equation 1 as
(σij − λ · δij ) · n
ˆj = 0 (2)
Problem Set #2 7

and the λ’s and n̂j ’s for which this is true are the eigenvalues (principal
stresses) and the eigenvectors (principal coordinate systems), respectively.
There will be three eigenvalues and associated eigenvecors which will solve
equation 2, not neccisarily unique. Two further constraints are placed on the
n̂j ’s, they must be normalized (unit length) and they must for a right­handed
coordinate system. We can express these two conditions as
�
normalized: |n
ˆj | = n
ˆj · n
ˆj = n21 + n22 + n23 = 1
right­handedness: n ˆj × n
ˆi = n ˆk
We proceed by finding the eigenvalues (principal stresses), which are the
λ’s which solve equation 2, we denote them in a matrix as:
⎛ ⎞
σ1 0 0
⎝ 0 σ2 0 ⎠
⎜ ⎟

0 0 σ3
and are found by solving for the roots of the characteristic polynomial
det (σij − λδij ) = 0
which can be simplified by use of the Invariants or solved directly. I will
solve this directly, and you can refer to your notes for how the characteristic
polynomial simplifies with the Invariants.
� �
� (1 − λ) 1 0 �
� � � �
1 (1 − λ) 0 � = (2 − λ) · (λ − 1)2 − 1 = (2 − λ)(λ − 2)λ = 0
� �
�
(2 − λ)
� �
� 0 0 �

The solutions to this characteristic polynomial are λ = 2, 2 and 0, these are

the principal stresses. Following the convention σ1 > σ2 > σ3 , σ1 = σ2 = 2
and σ3 = 0.
We then find the associated eigenvectors (principal directions), by solving
for a n̂j for each λ in equation 2. For simplicity, I am going to call the
components of⎛the eigenvectors⎞xj .⎛ ⎞ ⎛ ⎞
1­0 1 0 x1 0
For λ = 0, ⎝ 1 1­0 0 ⎠ · ⎝ x2 ⎠ = ⎝ 0 ⎠
⎜ ⎟ ⎜ ⎟ ⎜ ⎟

0 0 2­0 x3 0
� x1 = s
x + x2 = 0
⇒ 1 ⇒ x2 = −s
x3 = 0
x3 = 0
where s is an undetermined variable. We now enforce the normalization
constraint � √ √
s2 + (−s)2 + 02 = 2s2 = 2 s = 1
Problem Set #2 8

so s = √12 (note since this equation involves squaring, the sign is ambiguous,
so we just choose one, in this case positive), and the eigenvector associated
with σ3 = 0 is ⎛ ⎞
1
(3) 1
n̂j = √ ⎝ −1 ⎠ .
⎜ ⎟
2 0
We then find⎛ the eigenvectors associated
⎞ ⎛ with ⎞ σ1 ⎛
and ⎞
σ2 in the same way:
1−2 1 0 x1 0
For λ = 2, ⎜
⎝ 1 1−2 0 ⎟ ⎠ · ⎝ x2 ⎠ = ⎝ 0 ⎠
⎜ ⎟ ⎜ ⎟

0 0 2−2 x3 0
� x1 = s
x − x2 = 0
⇒ 1 ⇒ x2 = s
0 · x3 = 0
x3 = t

where s and t are undetermined variables. This gives us two vectors:

⎛ ⎞ ⎛ ⎞
0 s
(1) (2)
n̂j = ⎝ 0 ⎠ and n̂j = ⎝ s ⎠ .
⎜ ⎟ ⎜ ⎟

t 0
(2)
We now enforce the normalization constraint on n̂j
√ √ √
s2 + s2 + 02 = 2s2 = 2 s = 1

so s = √12 (again note the sign ambiguity, we choose positive), and the
eigenvector associated with σ2 = 2 is
⎛ ⎞
1
(2) 1
n̂j =√ ⎜ ⎝ 1 ⎠.
⎟
2 0
(1)
Now, the normalization constraint on n̂j is trivial, and it tells us that
t = ±1, so to resolve the ambiguity we now utalize the right­handedness
constraint:
� � ⎛ ⎞
� ı̂ ĵ k̂ � 0
(1)
�
(2) (3)
� 1 �� �
ˆ 1
n̂i = n̂j × n
ˆk = √ � 1 1 0 � = ı̂·0−ĵ·0+k·(−1−1)· √ =⎜ 0√ ⎟
�
⎝ ⎠
2 � 1 −1 0 �
� � 2 −2/ 2

so we find, subject to the normalization constraint above,

⎛ ⎞
0
(1)
n̂j = ⎝ 0 ⎠.
⎜ ⎟

−1
Problem Set #2 9

We can then put this all together as

⎛ ⎞ ⎛ ⎞
2 0 0 0 1 1
principal 1
σnn = ⎝ 0 2 0 ⎠ and n̂j(n) = √ · ⎝ √0 1 −1 ⎟
⎠,
⎜ ⎟ ⎜

0 0 0 2 − 2 0 0

where the first matrix is the principal stress tensor, and the columns of
the second matrix define the principal frame, given in terms of the original
coordinate system. Note that the final solution to this problem is non­unique
in terms of the signs of the eigenvectors, which is to say it is non­unique in
terms of π2 rotations about the axes.

b)
For the origninal stress tensor:
⎛ ⎞
1 1 0
σij = ⎝ 1 1 0 ⎠
⎜ ⎟

0 0 2

I1 = σii = 1 + 1 + 2 = 4

1 1� 2 �
I2 = ·(σij σij − σii σjj ) = · σ11 2
+ 2σ12 2
+ σ22 2
+ σ33 − (σ11 + σ22 + σ33 )2 = −4
2 2

I3 = |σij | = det (σij ) = 2(1 − 1) = 0

For the principal stress tensor:

⎛ ⎞
2 0 0
σij = ⎝ 0 2 0 ⎠
⎜ ⎟

0 0 0

I1 = σii = 2 + 2 + 0 = 4

1
I2 = · (σij σij − σii σjj ) = −σ11 σ22 = −4
2

I3 = |σij | = det (σij ) = 0

The Invariants of the original stress tensor and the principal stress tensor
are the same — they are invariant under coordinate system rotation.
Problem Set #2 10

c)
σii
The deviatoric stress tensor is found by σijdev = σij − 3
· δij , and is
⎛ ⎞ ⎛ ⎞ ⎛ ⎞
1 1 0 4 0 0 −1/3 1 0
1 ⎜
σijdev =⎝ 1 1 0 ⎠ − ·⎝ 0 4 0 ⎠ =⎝ 1 −1/3 0 ⎟
⎜ ⎟ ⎟ ⎜
3
⎠
0 0 2 0 0 4 0 0 2/3

d) Following the proceedure in part a, we find the eigenvalues (principal

stresses) and the eigenvectors (principal coordinates) as
⎛ ⎞ ⎛ ⎞
2/3 0 0 0 1 1
principal 1
σnn = ⎝ 0 2/3
⎜
0 ⎠ and n̂j(n) √ · ⎝ √
⎟ ⎜
0 1 −1 ⎟
⎠,
0 0 −4/3 2 − 2 0 0

The Invariants are

Idev
1 =0
4
Idev
2 =
3
−16
Idev
3 =
27
e) The definition of the deviatoric stress tensor is σijdev = σij − σ3kk · δij ,
which simply says that the deviatoric stress tensor is the stress tensor minus
the average of the normal stresses. So we decrease the principal stresses by
the same amount. Since the shear stresses stay the same, while the normal
stresses all decrease by the same amount, the principal coordinates stay the
same.
The relationship between the Invariants of the stress tensor and its devi­
ator can be found by (keep track of the indecies):
σkk σkk
Idev
1 = σiidev = σii − δii = σii − 3=0
3 3

1 � dev 2 �
Idev
3 = σij σij − σiidev σjj
dev
2
1 1 1 1 1
�� �� � � �� ��
= σij − σkk δij σij − σkk δij − σii − σkk δii σjj − σkk δjj
2 3 3 3 3
note that δii = 3, δij δij = 3, and σij δij = σii , and expanding the multiplied
terms
1 2 3
� �
= σij σij − σkk σjj + σkk σkk − σii σjj + 2σkk σjj − σkk σjj
2 3 9
1 −1 6 2
� � ��
= σij σij − σii σjj + σkk σjj + −
2 3 3 3
Problem Set #2 11

1 12
(σij σij − σii σjj ) +
= σkk σjj
2 23
1
⇒ Idev2 = I2 + I21
3
dev
For I3 I will derive this for the principal coordinate system, which no
loss of generality, setting p = −31 σkk = −1 3 1
I:
� �
Idev
3
dev dev dev
= det σijdev = σ11 σ22 σ33 = (σ11 + p) (σ22 + p) (σ33 + p)
� �
= σ11 σ22 σ33 + p σ11 σ22 + σ11 σ33 + σ22 σ33 + p (σ11 + σ22 + σ33 ) + p2
�3
−1 −1
� � � � �
2 2
= I3 + p −I2 − 3p + p = I2 − I1 (−I2 ) − 2 I1
3 3
1 2
⇒ Idev
3 = I3 + I1 I2 + I31
3 27
f ) Mohr’s circle is given by

σn = σc + σr cos 2θ

τ = σr sin 2θ
σ1 −σ2 σ1 +σ2
where σr = 2
, σr = 2
and σ1,2 are the principal stresses (σ1 > σ2 ).
For σij
σ2 = 0, σ1 = 2
which gives
σr = σc = 1.
The plot is given below.
g) For σijdev
−4 2
σ2 = , σ1 =
3 3
which gives
−1
σr = 1 and σc =
.
3
The plot of the Mohr’s circle for the full stress tensor (σij ) and its deviatoric
component (σijdev , labelled with a superscript d in the plot) is below.
Problem Set #2 12

t
tmax

sijd sr d sr sij

2qd 2q
-1/3 d
sc 0 2/3 sc 2
sn

h) The maximum shear stress occurs when sin 2θ = 0, which gives 2θ = π2 .

(This is also apparent from examining the plot of Mohr’s circle.) For 2θ = π2 ,
τ = σr is the maximum that the shear stress can be. Since σr = 1 for the
two tensors (σij and σijdev ) it follows that the maximum shear stress is the
same for both of the tensors.