Mechanics of Materials: Energy Methods

Seventh Edition
CHAPTER MECHANICS OF
MATERIALS
11 Ferdinand P. Beer
E. Russell Johnston, Jr.
John T. DeWolf
Energy Methods
David F. Mazurek
Lecture Notes:
Brock E. Barry
U.S. Military Academy
Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display.

MECHANICS OF MATERIALS
Edition
Seventh Beer • Johnston • DeWolf • Mazurek
Contents
Strain Energy Sample Problem 11.4
Strain Energy Density Work and Energy Under Multiple Loads
Elastic Strain Energy for Normal Stresses Castigliano’s Theorem
Elastic Strain Energy for Shearing Stresses Deflections by Castigliano’s Theorem
Sample Problem 11.2 Sample Problem 11.5
Strain Energy for a General State of Stress
Impact Loads
Concept Application 11.6
Design for Impact Loads
Work and Energy Under a Single Load
Deflection by the Work-Energy Method
Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 11 - 2

Edition
Strain Energy
• A uniform rod is subjected to a slowly
increasing load
• The elementary work done by the load P as
the rod elongates by a small dx is
dU  P dx  elementary work
Fig.11.1 Axially loaded rod.
which is equal to the area of width dx under

the load-deformation diagram.
• The total work done by the load for a
deformation
x
x 1,
1
Fig.11.3 Work due to load P is equal to
the area under the load-deformation
U  P dx  total work  strain energy
0
diagram.
which results in an increase of strain energy in

the rod.
• In the case of a linear elastic deformation,
x1
Fig.11.4 Work due to linear elastic U   kx dx  12 kx12  12 P1x1
deformation.
0
Edition
Strain Energy Density

• To eliminate the effects of size and direct attention to
the properties of the material, evaluate the strain-
energy per unit volume,
x
U 1
P dx

V 0A L
1
u    x d x  strain energy density
0
Fig.11.6 Strain-energy • The total strain energy density resulting from the
density is the area under
the stress-strain curve deformation is equal to the area under the curve to 
between x = 0 and x = 1 .
If loaded into the plastic
region, only the energy • As the material is unloaded, the stress returns to zero
associated with elastic
unloading is recovered. but there is a permanent deformation. Only the strain
energy represented by the triangular area is recovered.
• Remainder of the energy spent in deforming the material

is dissipated as heat.
Edition
Strain-Energy Density
• The strain energy density resulting from
setting R is the modulus of toughness.
• The energy per unit volume required to cause

the material to rupture is related to its
ductility as well as its ultimate strength.
Fig.11.7 Modulus of toughness is the
area under the stress-strain curve to • If the stress remains within the proportional
rupture.
limit of the material,
1
E12  12
u   E x d x  
0 2 2E
• The strain energy density resulting from

setting Y is the modulus of resilience.
 Y2
Fig.11.8 Modulus of resilience is the
uY   modulus of resilience
area under the stress-strain curve to
2E
yield.
Edition
Strain Energy for Normal Stresses

• In an element with a nonuniform stress distribution,
U dU
u  lim  U   u dV  total strain energy
V 0 V dV
• For values of u < uY , i.e., below the proportional

limit,
 x2
U  dV  elastic strain energy
Fig.11.9 Rod with centric axial 2E
load.
• Under axial loading,  x  P A dV  A dx

L
P2
U  dx
2 AE
0
• For a rod of uniform cross-section,

Fig.11.10 Prismatic rod with P2L
centric axial load.
U
2 AE

Edition
Strain Energy for Normal Stresses

• For a beam subjected to a bending load,
 x2 M 2 y2
U   dV   2
dV
2E 2 EI
• Setting dV = dA dx,
Fig.11.13 Transversely loaded beam.
M 2  2 
L L
M 2 y2
U   dA dx   2
y dA dx
2 EI 2
2 EI  A 
My 0 A 0 
x 
I L
M2
 dx
2 EI
0
• For an end-loaded cantilever beam,

M   Px
L
P2 x2 P 2 L3
Fig.11.14 Cantilever beam with load P. U  dx 
2 EI 6 EI
0

Edition
Strain Energy For Shearing Stresses

• For a material subjected to plane shearing
stresses,
 xy
u    xy d xy
0
• For values of xy within the proportional limit,

2
1 G 2
 xy
u 2 xy  12  xy  xy 
2G
• The total strain energy is found from

U   u dV
2
 xy
Fig.11.15 (a) Shearing strain  dV
corresponding to Txy. (b) Strain-energy 2G
density u is the area under the stress-
strain diagram.

Edition
Strain Energy For Shearing Stresses

• For a shaft subjected to a torsional load,
2
 xy T 2 2
T U  dV   2
dV
 xy  2G 2GJ
J
• Setting dV = dA dx,
T 2  2 
L L
T 2 2
U  dA dx   2
 dA dx
2GJ 2
2GJ  A 
0A 0 
L
T2
 dx
2GJ
0
Fig.11.17 Prismatic shaft subject to
torque. • In the case of a uniform shaft,
T 2L
U
2GJ

Edition
Sample Problem 11.2

SOLUTION:
• Determine the reactions at A and B
from a free-body diagram of the
complete beam.
• Develop a diagram of the bending

moment distribution.
a) Taking into account only the normal • Integrate over the volume of the
stresses due to bending, determine the beam to find the strain energy.
strain energy of the beam for the
loading shown. • Apply the particular given
conditions to evaluate the strain
b) Evaluate the strain energy knowing energy.
that the beam is a W10x45, P = 40
kips, L = 12 ft, a = 3 ft, b = 9 ft, and E
= 29x106 psi.

Edition
Sample Problem 11.2

SOLUTION:
• Determine the reactions at A and B
from a free-body diagram of the
complete beam.
Pb Pa
RA  RB 
L L
• Develop a diagram of the bending

Fig.1 Free-body and bending-moment
moment distribution.
diagrams.
Pb Pa
M1  x M2  v
L L
Fig.2 Free-body diagram, Fig.3 Free-body diagram,

taking a section within portion taking a section within portion
AD. DB.

Edition
Sample Problem 11.2

• Integrate over the volume of the beam to find
the strain energy.
a b
M12 M 22
U  dx   dv
2 EI 2 EI
0 0
a 2 b 2
1  Pb  1  Pa 
Over the portion AD,    x
2 EI  L 
 dx    x  dx
2 EI  L 
0 0
Pb
M1  x
L 1 P 2  b 2a3 a 2b3  P 2a 2b 2
    a  b
Over the portion BD, 2 EI L2  3 3  6 EIL2
Pa
M2  v P 2a 2b 2
L U
6 EIL
P  45 kips L  144 in.  40 kips  2  36 in  2 108 in  2

6 29  103 ksi  248 in 4 144 in 
U 
a  36 in. b  108 in.
E  29  103 ksi I  248 in 4 U  3.89 in  kips

Edition
Strain Energy for a General State of Stress

• Previously found strain energy due to uniaxial stress and plane
shearing stress. For a general state of stress,

u  12  x x   y y   z z   xy xy   yz yz   zx zx 
• With respect to the principal axes for an elastic, isotropic body,
u
1 2
2E

 a   b2   c2  2   a b   b c   c a  
 uv  ud
1  2v
uv    a   b   c  2  due to volume change
6E
ud 
1
12G
 
  a   b  2    b   c  2    c   a  2  due to distortion
• Basis for the maximum distortion energy failure criteria,

 Y2
ud   ud  Y  for a tensile test specimen
6G

Edition
Impact Loads
• To determine the maximum stress m
- Assume that the kinetic energy is
transferred entirely to the
structure,
U m  12 mv02
- Assume that the stress-strain

Fig.11.21 Rod subject to impact loading.
diagram obtained from a static test
is also valid under impact loading.
• Consider a rod which is hit at its
• Maximum value of the strain energy,
end with a body of mass m moving
2
with a velocity v0. m
Um   dV
2E
• Rod deforms under impact. Stresses • For the case of a uniform rod,
reach a maximum value m and then
2U m E mv02 E
disappear. m  
V V

Edition

SOLUTION:
• Due to the change in diameter, the
normal stress distribution is
nonuniform.
• Find the static load Pm which produces
the same strain energy as the impact.
Fig.11.22 Stepped rod impacted by a body • Evaluate the maximum stress
of mass m.
resulting from the static load Pm
Body of mass m with velocity v0 hits
the end of the nonuniform rod BCD.
Knowing that the diameter of the
portion BC is twice the diameter of
portion CD, determine the maximum
value of the normal stress in the rod.

Edition

Pm2  L 2  Pm2  L 2  5 Pm2 L
Um   
AE 4 AE 16 AE
16 U m AE
Pm 
5 L
Fig.11.22 Stepped rod impacted by a body
of mass m. • Evaluate the maximum stress resulting
SOLUTION: from the static load Pm
• Due to the change in diameter, Pm
the normal stress distribution is
m 
A
nonuniform.
16 U m E
U m  12 mv02 
5 AL
2 2
m m V 8 mv02 E mv02 E
 dV    1.265
2E 2E 5 AL AL

Edition

SOLUTION:
• The normal stress varies linearly along
the length of the beam and across a
transverse section.

Fig.11.23 Weight W falling on cantilever beam. • Evaluate the maximum stress

A block of weight W is dropped from a
height h onto the free end of the
cantilever beam. Determine the
maximum value of the stresses in the
beam.

Edition

For an end-loaded cantilever beam,

Pm2 L3
Um 
6 EI
6U m EI
Pm 
L3
Fig.11.23 Weight W falling on cantilever beam.
SOLUTION: • Evaluate the maximum stress

• The normal stress varies linearly
along the length of the beam and M m c Pm Lc
m  
across a transverse section. I I
U m  Wh 6U m E 6WhE
2
m 2
m V


LI c 2

 
L I c2 
 dV 
2E 2E
Edition
Design for Impact Loads

• For the case of a uniform rod,
2U m E
m 
V
• For the case of the nonuniform rod,
16 U m E
m 
5 AL
V  4 A L / 2   A L / 2   5 AL / 2
8U m E
m 
V
• For the case of the cantilever beam

Maximum stress reduced by: 6U m E
• uniformity of stress
m 

L I c2 
• low modulus of elasticity with      
L I / c 2  L 14 c 4 / c 2  14 c 2 L  14 V
high yield strength
24U m E
• large volume m 
V
Edition

• Strain energy may also be found from
the work of the single load P1,
x1
U   P dx
0
• For an elastic deformation,

x1 x1
• Previously, we found the strain U   P dx   kx dx  12 k x12  12 P1x1
energy by integrating the energy 0 0
density over the volume.
For a uniform rod,
• Knowing the relationship between
2
 force and displacement,
U   u dV   dV
2E
P1 L3
L x1 

 P1 A 2 Adx  P12 L 3EI
2E 2 AE  P L3
 P L
2 3
0 U  12 P1  1
 1
 3EI  6 EI

Edition

• Strain energy may be found from the work of other types
of single concentrated loads.
• Transverse load • Bending couple • Torsional couple
Fig.11.24 Cantilever beam Fig.11.25 Cantilever beam Fig.11.26 Cantilevered shaft

with load P1. with couple M1. with torque T1.
y1 1 1
U  P dy  1Py
2 1 1
U   M d  12 M11 U   T d  12 T11
0 0 0
 3 2 3
1 P  P1L   P1 L 1 M  M1L   M12 L 2
1 T  T1L   T1 L
  2 1 EI 
 2 1 JG  2 JG
2 1 3EI  6 EI 2 EI
 

Edition
Deflection by the Work-Energy Method

• If the strain energy of a structure due to a
single concentrated load is known, then the
equality between the work of the load and
energy may be used to find the deflection.
• Strain energy of the structure,

2 2
FBC LBC FBD LBD
U 
2 AE 2 AE
Fig.11.28 Frame CBD with vertical load P.

 
P 2l  0.6  3   0.8 3
 0.364
P 2l
From the given geometry, 2 AE AE
LBC  0.6 l LBD  0.8 l
• Equating work and strain energy,
From statics, P2L 1
U  0.364  P yB
FBC  0.6 P FBD  0.8 P AE 2
Pl
yB  0.728
AE

Edition
Sample Problem 11.4

SOLUTION:
• Find the reactions at A and B from a
free-body diagram of the entire truss.
• Apply the method of joints to

determine the axial force in each
member.
• Evaluate the strain energy of the

Members of the truss shown consist of truss due to the load P.
sections of aluminum pipe with the
cross-sectional areas indicated. Using • Equate the strain energy to the work
E = 73 GPa, determine the vertical of P and solve for the displacement.
deflection of the point E caused by the
load P.

Edition
Sample Problem 11.4

SOLUTION:
• Find the reactions at A and B from a free-
body diagram of the entire truss.
Ax  21 P 8 Ay  P B  21 P 8
• Apply the method of joints to determine

Fig.1 Free-body diagram of truss
(above); Force diagrams at joints the axial force in each member.
(below)
FDE   17
8
P FAC   15
8
P FAD   54 P FAB  0
FCE   15
8
P FCD  0 FBD   218 P

Edition
Sample Problem 11.4
• Evaluate the strain energy of the • Equate the strain energy to the work by P
truss due to the load P. and solve for the displacement.
1 Py
Fi2 Li 1 Fi2 Li U
U    Ai 2 E
2 Ai E 2 E
2U 2  29700 P 2 

1
2E

29700P 2  yE  
P P  2 E 
yE 
 29.7  103  40  103 
yE  16.27 mm 
9
73  10

Edition
Work and Energy Under Multiple Loads

• Deflections of an elastic beam subjected to two
concentrated loads,
x1  x11  x12  11 P1  12 P2
x2  x21  x22   21P1   22 P2
Fig.11.31 Beam with multiple loads.

• Compute the strain energy in the beam by
evaluating the work done by slowly applying
P1 followed by P2,

U  12 11P12  212 P1P2   22 P22 
• Reversing the application sequence yields

U  12  22 P22  2 21P2 P1  11P12 
• Strain energy expressions must be equivalent.
Fig.11.34 (a) Deflection due to P1
only. (b) Additional deflection due
It follows that (Maxwell’s reciprocal
to subsequent application of P2.
theorem).
Edition
Castigliano’s Theorem
• Strain energy for any elastic structure
subjected to two concentrated loads,

U  12 11P12  212 P1P2   22 P22 
• Differentiating with respect to the loads,
Fig.11.31 Beam with multiple loads.
U
 11P1  12 P2  x1
P1
U
 12 P1   22 P2  x2
P2
• Castigliano’s theorem: For an elastic structure

subjected to n loads, the deflection xj of the
point of application of Pj can be expressed as
U U U
xj  and  j  j 
Pj M j T j

Edition
Deflections by Castigliano’s Theorem

• Application of Castigliano’s theorem is
simplified if the differentiation with respect to
the load Pj is performed before the integration
or summation to obtain the strain energy U.
Fig.11.31 Beam with multiple loads. • In the case of a beam,
L L
M2 U M M
U  dx xj   dx
2 EI Pj EI Pj
0 0
• For a truss,
n n
Fi2 Li U F L F
U  xj   i i i
2A E
i 1 i
Pj i 1 Ai E Pj
Fig.11.40a Frame CBD supporting

vertical load P.

Edition
Sample Problem 11.5

SOLUTION:
• For application of Castigliano’s theorem,
introduce a dummy vertical load Q at C.
Find the reactions at A and B due to the
dummy load from a free-body diagram of
the entire truss.
• Apply the method of joints to determine
the axial force in each member due to Q.
Members of the truss shown
consist of sections of aluminum • Combine with the results of Sample
pipe with the cross-sectional areas Problem 11.4 to evaluate the derivative
indicated. Using E = 73 GPa, with respect to Q of the strain energy of
determine the vertical deflection of the truss due to the loads P and Q.
the joint C caused by the load P.
• Setting Q = 0, evaluate the derivative
which is equivalent to the desired
displacement at C.

Edition
Sample Problem 11.5

SOLUTION:
• Find the reactions at A and B due to a dummy load Q
at C from a free-body diagram of the entire truss.
Ax   34 Q Ay  Q B  34 Q
Fig.1 Dummy load Q applied to
joint C to determine vertical
deflection at C.
• Apply the method of joints to determine the axial
force in each member due to Q.
Fig.3 Free-body and force diagrams for joint D.
FCE  FDE  0
Fig.2 Free-body diagram of truss
with only dummy load Q. FAC  0; FCD  Q
FAB  0; FBD   34 Q

Edition
Sample Problem 11.5
• Combine with the results of Sample Problem 11.4 to evaluate the

derivative with respect to Q of the strain energy of the truss due to the
loads P and Q.
 F L  F 1
yC    i i  i   4306 P  4263Q 
 Ai E  Q E
• Setting Q = 0, evaluate the derivative which is equivalent to the desired
displacement at C.
yC 

4306 40  103 N  yC  2.36 mm 
9
73  10 Pa

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Seventh Edition

Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display.

Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 11 - 2

which is equal to the area of width dx under

which results in an increase of strain energy in

Strain Energy Density

• Remainder of the energy spent in deforming the material

• The energy per unit volume required to cause

• The strain energy density resulting from

Strain Energy for Normal Stresses

• For values of u < uY , i.e., below the proportional

• Under axial loading,  x  P A dV  A dx

• For a rod of uniform cross-section,

Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 11 - 6

Strain Energy for Normal Stresses

• For an end-loaded cantilever beam,

Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 11 - 7

Strain Energy For Shearing Stresses

• For values of xy within the proportional limit,

• The total strain energy is found from

Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 11 - 8

Strain Energy For Shearing Stresses

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Sample Problem 11.2

• Develop a diagram of the bending

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Sample Problem 11.2

• Develop a diagram of the bending

Fig.2 Free-body diagram, Fig.3 Free-body diagram,

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Sample Problem 11.2

P  45 kips L  144 in.  40 kips  2  36 in  2 108 in  2

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Strain Energy for a General State of Stress

• Basis for the maximum distortion energy failure criteria,

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- Assume that the stress-strain

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Concept Application 11.6

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Concept Application 11.6

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Concept Application 11.7

• Find the static load Pm which produces

Fig.11.23 Weight W falling on cantilever beam. • Evaluate the maximum stress

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Concept Application 11.7

For an end-loaded cantilever beam,

SOLUTION: • Evaluate the maximum stress

Design for Impact Loads

• For the case of the cantilever beam

Work and Energy Under a Single Load

• For an elastic deformation,

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Work and Energy Under a Single Load

• Transverse load • Bending couple • Torsional couple

Fig.11.24 Cantilever beam Fig.11.25 Cantilever beam Fig.11.26 Cantilevered shaft

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Deflection by the Work-Energy Method

• Strain energy of the structure,

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Sample Problem 11.4

• Apply the method of joints to