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Chapter 2-2
Chapter 2-2
Continued
Differential Equations of Motion for a Deformable body
Stress Equilibrium
• If deformed body has zero
acceleration, then it is
differential equation of
equilibrium.
• Required to find
• Load stress and load
deflection relationship
Assumptions:
• Small displacement
• No distinction between
coordinate axes in the General deformed body
deformed and undeformed
state
Free Body Diagram
Multiply stresses
by area of face σ xx σ xy σ xz
Bx 0
and sum. x y z
σ xy σ yy σ yz
By 0
Multiply Body x y z
Forces by volume. σ σ yz σ zz
xz
Bz 0
x y z
Collect terms and
Simplify.
(2.45)
Differential Cylindrical Coordinates
Equations of Motion for a Deformable body
x1 r cosθ
x2 r sinθ
x3 z
ê r ê1 cos θ ê 2 sin θ
ê ê1 sin θ ê 2 cos θ
ê z ê 3
Coordinate Relationships
Deformed state
Eulerian Coordinates
x x x,y,z
* *
y* y* x,y,z (2.55)
z z x,y,z
* *
*
x x x ,y ,z*
*
y y x ,y ,z
* * * Eq (2.56) define the initial
location of a particle P that
z z x ,y ,z
* * * lies at a point (x*,y*,z*) in the
deformed member
Strain of a line element Line Element
P x, y,z P* x* , y* ,z*
Q x dx, y dy,z dz Q* x* dx * , y* dy* ,z* dz *
PQ ds P*Q* ds*
Engineering Strain of PQ
ds* ds (2.57)
εE
ds
Not unique
ε E 1
definition
Total Differentials
GREEN STRAIN
• By eq (2.55), total differential,
x *
x *
x *
dx
*
dx dy dz
x y z
(2.58)
y *
y *
y *
dy
*
dx dy dz
x y z
z *
z *
z *
dz * dx dy dz
x y z
u x* x displacement in x-direction
v y* y displacement in y-direction P P*
x* x u ds Displacements
dx dy dz
2 2 2 2
y* y v (2.59)
ds dx dy dz
* 2 * 2 * 2 * 2
z* z w (2.60)
Magnification Factor / Total Green Strain, M : Measure of
the strain of a line in the body with dcs (l, m, n)
dx
l
ds
dy
m
ds
dz
n
ds
(2.61)
σ PN l 2 σ xx m 2 σ yx n 2 σ zx
2m n σ yz 2n l σ xz 2l m σ xy
(2.62)
1 2
M x Ex Ex xx (2.61a)
2
• εxx – physically is the magnification factor of the line
element at P that lies initially in the x direction.
• If engineering strain, εEx is small (<<1) , we get εxx ≈ εEx
Magnification Factor
Interpretation
1
M x Ex 2Ex xx
2
1 2 (2.61b)
M y Ey Ey yy
2
1 2
M z Ez Ez zz
2
(εxx , εyy , εzz ) –physically means the magnification factors
for line elements that initially lie parallel to the (x,y,z) axes.
*
* dx ds
dx dy dz l
l m n ds ds*
ds ds ds *
* dy ds
m
* * * ds ds*
dx dy dz
l* * m* * n* * * dz *
ds
ds ds ds n
ds ds*
(2.64) (2.65)
Final Direction of a Line Element
Recall
By eq 2.58 and 2.59, we get
x* x u
x *
x *
x * y* y v
dx
*
dx dy dz z* z w
x y z
y *
y *
y *
dy
*
dx dy dz (2.66)
x y z
z *
z *
z *
dz * dx dy dz
x y z
(2.67)
Final Direction of a Line Element
Final Direction of Line
Final Direction cosines of line element ds when it passes
into the line element ds* under deformation
u u u
1 E l 1 l+ m n
*
x y z
v v v (2.68)
1 E m l+ 1 m n
*
x y z
w w w
1 E n l+ m 1 n
*
x y z
Rotation between two line elements
ShearStrain)
(Shear Strain
PA ds1 P* *
A ds *
1
* * *
PB ds2 P B ds
2
PA PB
PA l1 ,m1 ,n1 PA l1* ,m1* ,n1*
PB l2 ,m2 ,n2 PB l * ,m* ,n*
2 2 2
Rotation between two line elements
(Shear Strain)
As PA ┴ PB ,
cos l1l2 +m1m2 +n1n2 0 (2.69)
2
l1 1 m1 0 n1 0
l2 0 m2 1 n2 0
Eq 2.71 yields,
12 xy 2 xy (2.72)
Rotation between two line elements
Shear
(Shear Strains
Strain)
xy 2 xy
yz 2 yz (2.73)
xz 2 xz
E1 1
E2 1 (2.74)
*
2
12 1 E1 1 E2 cos * *
2
xx xy xz
xy yy yz
xz yz zz
Under rotation of axes, the components of strain tensor
transform in exactly the same way as stress tensor (2.15,2.17)
Transformation of Strain
• Here, εXX is extensional strain of a line element at P that
lies in the direction of X axis. εXY and εXZ are shear
components between pair of line elements that are
parallel to the axes (X,Y) and (X,Z)
Transformation of Strain
Normal Strain Transformation
• Let ds lie parallel to X ,Y, Z axis, eq 2.61 and table
2.2
(2.76)
Transformation of Strain
Shear Strain Transformation
• Take line elements PA and PB parallel to X and Y axes
respectively
Principal Strains
Principal Strains
• Through any undeformed member , there exist 3 mutually
perpendicular line elements that remain perpendicular
under deformation. They are principal strains.
xx M xy xz
xy yy M yz 0
xz yz zz M
(2.77)
3 2
M I1M I2 M I3 0
Strain Invariants
Principal Strains
3 2
M I1M I2 M I3 0
I1 xx yy zz
xx xy xx xz yy yz
I2
xy yy xz zz yz zz
2xy 2xz 2yz xx yy xx zz yy zz
Strain Invariants
Principal Strains
xx xy xz
I 3 xy yy yz
xz yz zz
2 2 2
xx yy zz 2 xy yz xz xx yz yy xz zz xy
Principal Directions
Principal Strain Directions
l xx M m xy n xz 0
2 of first 3
l xy m yy M n yz 0
equations are
independent
l xz m yz n zz M 0
(2.79)
2 2 2
l m n 1
Principal Strains
Strain Invariants
If (x,y,z) axes are principal strain axes,
then εxx = M1 , εyy = M2 , εzz = M3, other strains = 0
I 1 M1 M 2 M 3
I 2 M1 M 2 M 2 M 3 M 3 M 1
I 3 M1 M 2 M 3 (2.78)
Small
SmallDisplacement Theory
Displacement
Quadratic terms areNormal
discardedStrains
u
ε xx
x
v
ε yy
y
w
(2.81) ε zz
z
Small
Small Displacement
Displacement Theory
Shear Strains
u 1 v u
ε xx ε xy ε yx
x 2 x y
v 1 w u
ε yy ε xz ε zx
y 2 x z (2.81)
w 1 w v
ε zz ε yz ε zy
z 2 y z
M E
Strain Compatibility Relations
u 2ε xx 3u
ε xx
x y 2
xy 2
2
v ε yy 3v
ε yy 2
y x 2
x y
1 v u 2ε xy
3u 3v
ε xy 2 2
2 x y xy xy 2
x y
2 2
ε xx ε yy
2 ε xy
2
y 2
x 2
xy
Strain
Strain Compatibility
Compatibility Relations
ε yy
2
ε xx
2
ε xy
2
2
x 2
y 2
xy
ε zz ε xx
2 2
ε xz2
2
x 2
z 2
xz
ε zz ε yy ε yz
2 2 2
2
y 2
z 2
yz
Strain Compatibility Relations
Strain Compatibility
For general 3 D state of stress
ε zz
2
2ε xy 2ε yz
ε zx 2
xy z 2
zx yz
(2.83)
ε yy
2
ε xz ε xy ε yz
2 2 2
xz y 2
yz xy
ε xx ε yz ε xz ε xy
2 2 2 2
yz x 2
xy xz
Strain Compatibility Relations
Shear Strain
2ε xy γ xy
2ε xz γ xz
2ε yz γ yz
Strain-Displacement relations for cylindrical
Cylindrical Coordinates
coordinates
u 1 u v v
ε rr γ rθ 2 ε rθ
r r r r
u 1 v u w
ε θθ γ rz 2 ε rz
r r θ z r
w v 1 w
ε zz γ zθ 2 ε zθ
z z r
Strain-Displacement relations for spherical
Spherical Coordinates
coordinates
u
ε rr
r
u 1 v
ε θθ
r r θ
u v 1 w
ε cot
r r r sin
Strain-Displacement relations for spherical
Spherical Coordinates
coordinates
1 u v v
γ rθ 2 ε rθ
r r r
1 u w w
γr 2 εr
r sin r r
1 w 1 v
γθ 2 εθ w cot
r r sin
Strain Compatibility Relations
Transformations
• If we use tensor strain components then strain
transforms just like stress.
• Principal values, principal directions and invariants are
also just like stress.
• Mohr’s circle works for strain as well!
PROBLEM 3
PROBLEM 4
Equations
3 - Stress Equilibrium Equations