Chapter 2 Stress, Principal Stresses, Strain Energy

Traction vector, stress tensor

z z z
F A Fz A Fx Fy

zx y xz x x xy

zy

yz y y

yx

F = Fx i + Fy j + Fz k is the traction force acting on the area A = A k

z = lim

Fy dFy Fz dFz Fx dFx = , zx = lim = , zy = lim = dA dA dA A 0 A A 0 A A 0 A

xy = yx , yz = zy , zx = xz

Principal stresses
At any point in a general state of stress, there are three mutually perpendicular principal planes which are free of shear stress. The normal stresses acting on the principal planes are called principal stresses and their directions are called principal directions. The highest and lowest principal stresses represent the maximum and minimum of all normal stresses on planes of any orientation at that point.

2-D case
y yx xy x xy yx y
dx dy

A = cos m = sin dR dA n x

d R = dR = dA d Ry d R dA d Rx np p x

d Ra

A dA j i d Rb m dA

n = A i + m j = cos i + sin j
dR a = x A dA i xy A dA j dR b = xy m dA i y m dA j dR = dRx i + dR y j

equilibrium requires that

dR + dR a + dR b = 0 x dRx dR = dA y xy xy A y m

if R is parallel to n then R dA n = 0
xy A 0 x = xy y m 0

nontrivial solution exists if

x xy xy y =0

eigenvalues (principal stresses)

x + y x y 2 ( ) + 2 xy 2 2
1 -1 2 xy tan 2 x y

eigenvectors (principal directions)

p =

3-D case

n = A i + m j + n k ( A2 + m2 + n 2 = 1 ) dR + dR a + dR b + dR c = 0
x dRx dR y = dA xy dRz xz xy y yz xz A yz m n x

R dA n = 0 if
x xy xz A 0 y yz m = 0 xy n 0 yz x xz 3 I1 2 + I 2 I 3 = 0
I1 = x + y + z
2 2 I 2 = x y + y z + z x 2 xy yz zx

2 2 I 3 = x y z + 2 xy yz zx x 2 yz y zx z xy

Because the stress tensor is symmetric, all three eigenvalues 1 2 3 are real and the eigenvectors are mutually orthogonal.

Octahedral and maximum shear stress

Let us assume that x, y, and z are principal axes parallel to 1, 2 , and 3 , respectively.
dRx 1 0 dR y = dA 0 2 0 0 dRz

dR = dA [] n

or

0 A 0 m 3 n

T =

dR = n dA

T = 1 A e1 + 2 m e2 + 3 n e3
2 2 2 2 2 T 2 = 1 A + 2 2 m + 3 n

normal stress
n =

dRn dR n = = 1 A2 + 2 m 2 + 3 n 2 dA dA

shear stress
s = s = s =
2 T 2 n

2 2 2 2 2 2 2 2 2 ( 1 A + 2 2 m + 3 n ) ( 1 A + 2 m + 3 n )

( 1 2 )2 A2 m 2 + (2 3 )2 m 2 n 2 + (1 3 )2 A2 n 2

for the octahedral plane

n=

1 1 1 i+ j+ k 3 3 3

octahedral normal stress

oct = oct =

1 ( 1 + 2 + 3 ) 3 1 ( x + y + z ) 3 I oct = 1 3

octahedral shear stress

oct =
oct =
1/ 2 1 ( 1 2 )2 + (2 3 )2 + (3 1 )2 3

1/ 2 1 ( x y )2 + ( y z )2 + ( z x )2 + 6 ( 2 + 2 + 2 xy yz zx 3

oct =

1/ 2 1 2 2 I1 6 I 2 3

maximum shear stress max =

1 3 2

Stress-Strain-Temperature Relations
Isotropic material

x = y = z =

x ( y + z ) + T E y ( x + z ) E + T

xy = yz = xz =

xy G yz G xz G

z ( x + y ) + T E E = 2 (1 + ) G

Plane state of stress

x =

x y + T E y x + T E xy G

x =

E
1
2

( x + y )

E T 1 E T 1

y =

y =

E
1
2

( y + x )

xy =

xy = G xy

General state of stress

x =
y = z =

E E T [(1 ) x + y + z ] (1 + ) (1 2 ) 1 2
E E T [(1 ) y + z + x ] (1 + ) (1 2 ) 1 2 E E T [(1 ) z + x + y ] (1 + ) (1 2 ) 1 2

Strain Energy Density

U = f du = k u du =
0 0 D D

k D2 F2 DF = = 2 2k 2

U = U o dV
V

Uo =

1 1 ( x x + y y + z z ) + ( xy xy + yz yz + xz xz ) 2 2

two-dimensional
Uo =

1 1 2 2 ( 2 xy x + y 2 x y ) + 2E 2G
E

Uo =

G 2 2 2 ( + + 2 ) + xy x y x y 2 2 (1 2 )

three-dimensional
Uo = 1 2 2 [2 x + y + z 2 ( x y + y z + x z )] 2E 1 2 2 ( xy + 2 + yz + xz ) 2G

Uo =

E 2 2 [(1 ) (2 x + y + z ) + 2 ( x y + y z + x z )] 2 (1 + ) (1 2 ) G 2 2 + (2 xy + yz + xz ) 2

Strain Energy of Beams

extension
U =
L

P2 dx A E 2 0

torsion

U =

T2 dx J G 2 0 M2 dx 0 2I E
1 A Q2 = 2 2 dy dz k I t

bending

U =

shear-bending

U =

V2 dx , 0 2 k AG

Castigliano's first theorem U U = Pk , = Mk k k Castigliano's second theorem

U * U * = k , = k Pk M k

Strain Energy of Distortion

Average normal stress a = Deviatoric stresses s x = x a , s y = y a , s z = z a
s xy = xy , s yz = yz , s zx = zx

1 1 ( x + y + z ) = (1 + 2 + 3 ) 3 3

Total strain energy density

Uo = + 1 2 2 [2 x + y + z 2 ( x y + y z + x z )] 2E 1 2 2 ( xy + 2 yz + xz ) 2G

Distortion strain energy density

U od = + 1 2 2 [sx + s2 y + s z 2 ( s x s y + s y s z + s x s z )] 2E

1 2 2 ( s xy + s 2 yz + s xz ) 2G

U od =

1 2 2 [( x y )2 + ( y z )2 + ( z x )2 + 6( 2 xy + yz + xz )] 12 G U od = 1 [( 1 2 )2 + ( 2 3 )2 + ( 3 1 )2 ] 12 G

Octahedral stress
oct =
1/ 2 1 ( x y )2 + ( y z )2 + ( z x )2 + 6 ( 2 + 2 + 2 xy yz zx 3

oct =

1/ 2 1 ( 1 2 )2 + (2 3 )2 + (3 1 )2 3

U od =

3 2 oct 4G

Effective stress e = oct

e =

3 2

1 2 2 1/ 2 [( x y )2 + ( y z )2 + ( z x )2 + 6( 2 xy + yz + xz )] 2

e =

1/ 2 1 (1 2 )2 + (2 3 )2 + (3 1 ) 2 2

in uniaxial tension e = x in hydrostatic stress e = 0 U od = 1 2 e 6G

Stress Concentration

max

0 =

P Dt

0
D t

nom =

P (D d ) t

max = Kt nom
d d d + 3.66 1.53 D D D
2 3

Kt = 3.00 3.13

0
2b

20

max 0
2a

max

20 20

20

0
a max = (1 + 2 ) 0 b

0
max = 2 0