3 Stress Analysis

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R&DE (Engineers), DRDO
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Ramadas Chennamsetti
Stress Analysis
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Introduction
Body subjected to loading internal
resistance offered by body
Internal forces distributed continuously
over the body
Deformation deformable body finite
elastic modulus
Deformation continuous single valued
Stress analysis equilibrium of the body
every point is in equilibrium
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Introduction
Equilibrium
~ ~
a m F =
~ ~ ~ ~
G
I a m r M + =

= = 0 0
~
i
M M
Dynamic equilibrium Static equilibrium
0 0
~
= =

i
F F
G
r
x
y
z
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Forces
Surface forces/tractions
Force per unit area
Acts on surfaces
Need not be perpendicular to
surface area reactions of other parts
T
dS T F d
s
~
~
=
ds = infinitesimal area
=
S
s
dS T F
~
~
F
s
= Force corresponds to
traction acting over S
dS T dF
i si
=
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5
Traction Surface Normal
Direction of traction and normal to area -
different
dA differential element
x
y
z
T
n
dA
~
n - normal to area
T traction on area A
i i
e T T =
~
dA n dA
~ ~
=
Angle between traction and area vector =>
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Forces
Body load
Per unit volume or mass
Distributed over the body
Not a surface force
Acts at center of mass
Gravity force, centrifugal force
x
y
z
B
x
B
y
B
z
~
~ ~
~
~ ~

i i z y x
e B B k B j B i B B = + + =
Body force vector
Indices notation
V d B F d
B ~ ~
=
=
V
B
V d B F
~ ~
Total force due to body load
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Internal Forces
Body under equilibrium every particle
under equilibrium
Section A-A
Perpendicular to X - axis
A
A
P
I
II
F
A
P
x
y
z
I
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Internal Forces
Second part of the body
F
A
1
P
I
~
n
-F
II
~
n
~
3 3
~
2 2
~
1 1
~
~
e F e F e F e F F
i i
+ + = =
1, x
2, y
3, z
A
P
F
x
F
y
F
z
F
Decomposing forces
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Internal Forces
Normal stress
Force perpendicular to area
Shear stress
Force parallel to area
F
s
acts in the plane resolve into
components
1
1
1
1
0
11 11 lim
dA
dF
A
F
A
=
= =

1 1 0
1 lim
dA
dF
A
F
s s
A
s
=
1
2
1
2
0
21 lim
dA
dF
A
F
A
=
1
3
1
3
0
31 lim
dA
dF
A
F
A
=
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Internal Forces
Stress components depend on forces,
orientation of the plane
Notation Two indices
yx
First index plane & second index - direction

xx
ij
Indices notation
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Internal Forces
Stresses
A
A
P
x
y
z Neighboring material exerts forces on the faces
of infinitesimal element
Decompose these forces parallel &
perpendicular to co-ordinate axes
Divide by area, dA => 0
P
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Stresses at a Point
Stresses
zz
y
x
z
yx
yz
yy
dx
dz
dy
xx
xz
xy
zx
zz
zy
Traction on each face of

the element
~
3 3
~
2 2
~
1 1
~
~
e F e F e F e F F
i i
+ + = =
~
3
3
~
2
2
~
1
1
0
~
0
~
0
lim lim lim e
A
F
e
A
F
e
A
F
e
A
F
A
F
A
i
i
A A

~
3 13
~
2 12
~
1 11
~
1
~
1
e e e e T
i i
+ + = =
~
3 23
~
2 22
~
1 21
~
2
~
2
e e e e T
i i
+ + = =
~
3 33
~
2 32
~
1 31
~
3
~
3
e e e e T
i i
+ + = =
Traction on each plane => Stresses acting on that plane
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Stresses at a Point
x, y and z => 0 it becomes a point
[ ] [ ] [ ][ ]
~ ~
~
3
~
2
~
1
33 32 31
23 22 21
13 12 11
~
e T
e
e
e
T

= =>
(
(
(
(
(
(
(
(
=
Nine stress components
3 Normal stresses, 6 Shear stresses
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Stresses at a Point
Shear stresses - Complementary
xx
xy
yy
yx
yx
xy
xx
yy
dx
dy
Static equilibrium of the element
x
y
0 M
0 , 0
0 M , 0
z
~ ~
=
= =
= =

y x
F F
F
This gives =>
yx xy
=
Apply same method in other directions also, xz zx zy yz
= = ,
Shear stresses are complementary in nature
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Stresses at a Point
Stresses at a point 3D stress state
Nine stress components
Three normal stresses -
xx
,
yy
,
zz
Six shear stresses -
yz
,
zy
,
xz
,
zx
,
xy
,
yx
Complementary =>
yz
=
zy
;
xz
=
zx
;
xy
=
yx
Three shear stress components
Total number of stress components at a point
=> three normal + three shear = six
components
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Stresses at a Point
Nine (six) stress arrange in an array
Rows represent
First row stresses on x plane
Second row stresses on y plane
Third row stresses on z plane
[ ]
(
(
(
=
zz zy zx
yz yy yx
xz xy xx


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Sign Convention
Positive or negative stress depends on
Direction of area normal and
Force direction
+ n
x
y
z
+ n
+ n
xx
xy
xz
xx
Force in +ve x-direction
Area normal => +ve area
=> Stress is +ve - Tensile Stress
xy
Force in +ve y direction
Area => +ve area normal +ve
=> Stress is +ve
xz
Force in +ve z direction
Area => +ve area normal +ve
=> Stress is +ve
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Sign Convention
Positive/negative stresses
x
y
z
-n
xx
xz
xy
xx
Force in -ve x-direction
Area normal => -ve area
=> Stress is +ve - Tensile Stress
xy
Force in -ve y direction
Area => -ve area normal
=> Stress is +ve
xz
Force in -ve z direction
=> Stress is +ve
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Sign Convention
x
y
z
+ n
+ n
xx
xy
xz
+ n
xx
Force in -ve x-direction
Area normal => +ve area
=> Stress is -ve => Compressive
Stress
xy
Area => +ve area normal
=> Stress is -ve
xz
Force in -ve z direction
Area => +ve area normal
=> Stress is -ve
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Sign Convention
x
y
z
-n
xx
xz
xy
xx
Force in +ve x-direction
Area normal => -ve area
=> Stress is -ve => Compressive
Stress
xy
=> Stress is +ve
xz
Force in +ve z direction
=> Stress is -ve
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Cauchys formula
Stress components acting on an element
On each face three stress
components are acting
Consider a plane ABC
intersecting x, y and z
axes
Normal has direction
cosines (l, m, n)
zz
y
x
z
yx
yz
yy
dx
dz
dy
xx
xz
xy
zx
zz
zy
A
B
C
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Cauchys Formula
Six stress components are given at point
Tractions on an inclined plane
xx
xy
x
y
z
xz
zz
zy
zx
yy
yx
yz
o
A
B
C
x
y
z
A
B
C
T
x
T
y
T
z
T
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Cauchys Formula
Direction cosines of ABC plane
~ ~
3
~
2
~
1
~
i i
e l e n e m e l n = + + =
x
y
z
o
A
B
C
n
l
m
n
Equilibrium of tetrahedron
n m l T
A
A
A
A
A
A
T
A A A A T
zx yx xx x
z
zx
y
yx
x
xx x
z zx y yx x xx x

+ + =
+ + =
+ + =
n m l T
A A A A T
zy yy xy y
z zy y yy x xy y

+ + =
+ + =
n m l T
A A A A T
zz yz xz z
z zz y yz x xz z

+ + =
+ + =
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Cauchys Formula
Stress state at a point and direction cosines of a
plane => Tractions on that plane
n m l T
n m l T
n m l T
zz yz xz z
zy yy xy y
zx yx xx x

+ + =
+ + =
+ + =
{ } [ ]{ }

= =>
(
(
(
T
n
m
l
T
T
T
zz yz xz
zy yy xy
zx yx xx
z
y
x
1
2 2 2
= + + n m l
Indices notation
j ji i
l T =
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Normal Stress
Resultant traction
Direction cosines of T
R
Projections of T
i
on n
x
z
y
A
B
C
T
x
T
y
T
z
T
r
n (l, m, n),
n
2 2 2 2
z y x R
T T T T + + =
R
z
R
y
R
x
T
T
n
T
T
m
T
T
l = = =
' ' '
, ,
Normal stress on plane ABC
z y x n
nT mT lT + + =
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Normal Stress
Normal stress is given by,
z y x n
nT mT lT + + =
( )
( )
( )
zz yz xz
zy yy xy
zx yx xx n
n m l n
n m l m
n m l l

+ +
+ + +
+ + + =

( )
zx yz xy
zz yy xx n
nl mn lm
n m l

+ +
+ + + =
2
2 2 2
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Shear Stress
Calculate shear stress from tractions and
normal stress
T
n,
n
Plane
P
2 2 2
2 2 2
n
n
T
T

=
+ =
( )
2 2 2 2 2
n z y x
T T T + + =
( )
zx yz xy
zz yy xx n
nl mn lm
n m l

+ +
+ + + =
2
2 2 2
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Stress Transformation
Transformation of stresses from one
co-ordinate system (XYZ) to another
co-ordinate system (xyz)
X
Z
x
O
y
z
Y
xoX l = cos
11
P(X, Y) = P(x, y)
X
Y
x
y
2D case
o
xoY l = cos
12
yoX l = cos
21
yoY l = cos
22
P(x, y) => Vector
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2D Transformation
12 2 11 1 1
12 11
or
l X l X x
Yl Xl x
+ =
+ =
22 2 21 1 2
l X l X x + =
Writing in indices form
j ij i
X l x =
Writing in matrix form
{ } [ ]{ } X T x
X
X
l l
l l
x
x
= =>
)
`
=
)
`
2
1
22 21
12 11
2
1
Where [T] is transformation
matrix
[ ]
(
=
22 21
12 11
l l
l l
T
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Stress is a second-order tensor two
indices
Second order tensor => Outer product of
two first order tensors
Transforming this product to xyz csys
~ ~
b a c b a c
j i ij
= => =
mn jn im ij
mn jn im n m jn im n jn m im ij
l l
c l l b a l l b l a l b a c
j i
=
= = = =
'
' ' '
Dyadic product in XYZ csys
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Writing in terms of transformation matrix
[ ] [ ][ ][ ]
T
mn jn im ij
T T
l l

=
=
'
'
Where,
[ ]
(
(
(
=
zz zy zx
yz yy yx
xz xy xx

=> Stress tensor

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Principal Stresses
Maximum normal stresses which act on the
planes, where there is no shear stress
l n m l T
xz xy xx x
= + + =
m n m l T
yz yy xy y
= + + =
n n m l T
zz yz xz z
= + + =
Tractions on ABC in x, y & z directions
y
A
B
C
T
x
T
y
T
z
T
n (l, m, n),
x
z
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Principal Stresses
Writing in matrix form
(
(
(
(
(
(
n
m
l
n
m
l
z yz xz
yz y xy
xz xy x
1 0 0
0 1 0
0 0 1

[ ]{ } [ ]{ }
[ ] [ ] [ ]{ } 0 =
=

I
I
Homogeneous algebraic
equations Eigenvalue
problem
- Eigenvector, {} - Eigenvector
Expanding cubic equation three roots
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Principal Stresses
For non-trivial solution {} 0
Determinant = 0
[ ] [ ] 0 = I
0 =

z yz xz
yz y xy
xz xy x
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Principal Stresses
Eigenvalue problem
Homogeneous algebraic equations
Eigenvalues => Three principal stresses
Eigenvalues => Real values definite matrix
Eigenvectors => Orientation of principal planes
Number of Eigenvalues => order of matrix
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Principal Stresses
Expanding the determinant
0
3 2
2
1
3
= + I I I
z
yz y
xz xy x
z yz
yz y
z xz
xz x
y xy
xy x
z y x
symm
I
I
I

=
+ + =
+ + =
3
2
1
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Principal Stresses
Principal stresses can be obtained from the
following
|
\
|
+ + =
|
\
|
+ + =
|
\
|
+ =
3
240 cos
3
2
3
3
120 cos
3
2
3
3
cos
3
2
3
1
3
1
2
1
1
a I
a I
a I
|
|
\
|
+ =
3
2
1
2
I
I a
|
\
|
+ + =
3 27
2
2 1 3
1 3
I I
I I b
|
|
\
|
=

27 / 2
cos
3
1
a
b

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Principal Stresses
Stress invariants I
1
, I
2
& I
3
Invariant value doesnt change when the coordinate
system is rotated referring stresses wrt a different
coordinate system
Same coefficients of the characteristic equation for any
orientation
Independent of orientation of the planes
The principal stresses depend only on loading
For a given stress state three mutually perpendicular
planes - maximum stresses
Calculation of principal plane orientations use
direction cosines relation also
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Principal Stresses
Distinct values of
1
,
2
and
3
principal
planes unique mutually perpendicular
n
1
.n
2
= n
2
.n
3
= n
3
.n
1
= 0
If
1
=
2
&
3
different any direction
perpendicular to n
3
=> perpendicular
direction
n
3
,
3
Any direction on this plane
P
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Principal Stresses
If
1
=
2
=
3
= p
every direction is principal direction
hydrostatic state of stress any three
orthogonal directions
p
p
p
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41
Octahedral Stresses
A plane that makes equal angles with
principal planes Octahedral plane eight
planes
( )
3 2 1
2
3 2 1
3 3 2 2 1 1
2 2 2
, ,
3
1
1

+ + = + + = =
= = =
= = =
= =
= + +
l lT lT lT
l T l T l T
n m l
n m l
n m l
oct n Equal angle with principal planes
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Octahedral Stress
Equal angles with principal axes
Normal octahedral stress => Average of
principal stresses
It depends on first invariant
For a given stress state => Octahedral
normal stress - constant
( )
3 3
1
1
3 2 1
I
oct
= + + =
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Octahedral Stress
Octahedral shear stress shear stress from
tractions is given by,
( ) ( )
2
3 2 1
2
3
2
2
2
1
2
2 2 2 2 2 2
3
1
3
1
(
+ +
(
+ + = =>
= => =

oct
oct oct n
T T
Simplifying this expression,
( ) ( ) ( )
( )
2
2
1
2
1 3
2
3 2
2
2 1
3
3
2
3
1
I I
oct
oct
=
+ + = =>

Octahedral shear stress =>
oct
= (I
1
, I
2
) => Invariant
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State of Pure Shear
Only shear stress exist
The stress state at a point
six stress components,
ij
Infinite sets of planes through this point
For pure shear - Sum of main diagonal
terms in stress tensor vanish
=> Tr() = 0
xy
xy
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State of Pure Shear
Necessary and sufficient condition for
existence of a state of pure shear
=> First invariant of stress tensor = 0
0
1
= + + =
zz yy xx
I [ ]
(
(
(
=
zz zy zx
yz yy yx
xz xy xx

Individual normal stress components need not be zero

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Decomposition of Stress
The stress tensor
In indices notation,
ij
Decompose []
[ ]
(
(
(
=
zz zy zx
yz yy yx
xz xy xx

Stress state = Hydrostatic state + Deviatoric state (shear)

(
(
(
+
(
(
(
=
(
(
(
p
p
p
p
p
p
zz zy zx
yz yy yx
xz xy xx
zz zy zx
yz yy yx
xz xy xx

0 0
0 0
0 0
In indices notation
( )
ij ij ij ij ij ij
S p p p + = + =
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For pure shear => Tr(S
ij
)
Deviatoric stress tensor
( ) ( ) ( )
( ) stress mean
3
1
0
= = + + =
= + +
mm zz yy xx
zz yy xx
p
p p p

[ ]
(
(
(
=
(
(
(
(
(
(
=
'
'
'
3
2
3
2
3
2
zz yz xz
yz yy xy
xz xy
zz yz xz
yz yy xy
xz xy xx
xx
S

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Deviatoric stress the first invariant is
given by, => J
1
= Tr(S
ij
)
( ) ( ) ( )
( ) p J
p p p J
zz yy xx
zz yy xx
3
1
1
+ + = =>
+ + =

But,
( )
0
3
1
1
= =>
+ + =
J
p
zz yy xx

Use this relation
The first invariant of Deviatoric stress = 0
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Hydrostatic stress tensor volumetric part
of stress tensor spherical stress tensor
Hydrostatic part responsible for volume
change size change
p
p
p
p
p
p
=>>>
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Deviatoric part responsible for
deformation or shape change
Change in angle between two adjacent
sides => shape change distortion - shear
stress
Change in shape due to applied shear

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Invariants of deviatoric stress tensor
[ ]
(
(
(
=
'
'
'
zz yz xz
yz yy xy
xz xy
xx
S

'
'
'
3
'
'
'
'
'
'
2
' ' '
1
0
zz
yz yy
xz xy xx
zz yz
yz yy
zz xz
xz xx
yy xy
xy xx
zz yy xx
symm
J
J
J

=
+ + =
= + + =
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Equilibrium Equations
Body under static equilibrium every
material point under equilibrium
z
x
y
P
S
V
xx
xy
x
y
z
xz
zz
zy
zx
yy
yx
yz
o
A
B
C
Infinitesimal element, V d dm =
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Body and Traction forces => F
b
and F
t
Newtons second law
( )
t
V
V
z
V
V
y
V
V
x
V
a
dt
dt
t
V
dt
dz
z
V
dt
dy
y
V
dt
dx
x
V
dt
V d
t z y x V V
dt
V d
dm F d F d
z y x
b t
=
=
= +
~ ~ ~ ~
~
~ ~ ~ ~ ~
~ ~
~
~ ~
, , ,
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Rewrite,
Term 1 => Local acceleration
Term 2 => Convective acceleration
For small deformations, the particle of
mass dm doesnt move substantially so
this is term 2, which is very small
compared to local acceleration term.
Neglect term 2
~ ~
~ ~ ~ ~ ~
~
. V V
t
V
t
V
V
z
V
V
y
V
V
x
V
a
z y x
+
=
1
2
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This gives =>
t
V
dt
V d
a
=
~ ~
~
,
~
~ ~ t
V
dxdydz F d F d
b t
= +
V d B F d dS T F d
b t
~
~
~
~
, = =
,
~
~ ~
t
V
dxdydz V d B dS T
= +
Integrating this expression,

= +
V V S
V d
t
V
V d B dS T
~
~ ~
In indices notation,

= +
V
i
V
i
S
i
V d
t
V
V d B dS T
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But tractions on surfaces related to stresses
Cauchys formula
j ij i
l T = Use this relation

= +
= +
V
i
V
i
S
j ij
V
i
V
i
S
i
V d
t
V
V d B dS l
V d
t
V
V d B dS T

Use Gauss divergence theorem Volume integral to Surface integral

~ ~ ~ ~ ~
. . . dS A dS n A V d A
S S V

= =
dS l A V d
x
A
i
S
i
V i
i

=
Indices notation
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Use Gauss Divergence theorem
0 =
|
|
\
|
= +
= +

V d
t
V
B
x
V d
t
V
V d B V d
x
V d
t
V
V d B dS l
V
i
i
j
ij
V
i
V
i
V j
ij
V
i
V
i
S
j ij

This gives -
0 =
t
V
B
x
i
i
j
ij
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All three equilibrium equations
2
2
t
u
B
z y x
x
xz
xy
xx
= +
2
2
t
v
B
z y x
y
yz yy xy
= +

2
2
t
w
B
z y x
z
zz
yz
xz
= +

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Moment Equilibrium
~ ~ ~ ~
G
I a m r M + =
z
x
y
P
S
V
o
r
No rotations
~ ~ ~
a m r M =
In differential form
dt
V d
dm r M d M d
b t
~
~
~ ~
= +
dM
t
and dM
b
moments due to traction and body loads
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Plug dM
t
and dM
b
dt
V d
dm r V d B r dA T r
dt
V d
dm r M d M d
b t
~
~ ~ ~ ~ ~
~
~
~ ~
= +
= +
Integrating -

= +
V V S
V d
dt
V d
r V d B r dA T r
~
~ ~ ~ ~ ~
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Writing in indices form
V d e
t
V
r V d e B r dA e T r
k ijk
j
V
i k ijk j
V
i k ijk j
S
i
~ ~ ~

= +

Use Cauchys formula
m jm j
l T =
0
0
=
(
+
=
(
+

V d
t
V
r V d B r dA l r
V d
t
V
r V d B r dA T r
j
V
i j
V
i
S
m jm i ijk
j
V
i j
V
i j
S
i ijk

Use Gauss Divergence theorem
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Surface integral to volume integral
( ) 0
,
=
(
+

V d
t
V
r V d B r V d r
j
V
i j
V
i
V
m
jm i ijk

Use integration by parts - first term
0
, ,
= +
|
|
\
|
+
jm m i ijk
V
j
j m jm ijk i
r V d
t
V
B r
0
,
=
+
t
V
B
j
j m jm
So,
0
0
0
,
=
=
=
ij ijk
jm im ijk
jm m i ijk
r

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Cyclic symbol is skew-symmetric in i, j
jik ijk
=
( )
ji ij
ji ij
ji ij ijk
ji jik ij ijk
ji jik ij ijk

= =>
= =>
=
= +
= =
0
0
0
0 , 0
Stress tensor is
symmetric -
Shear stresses
complementary
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64

3 Stress Analysis

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9/30/2013

First index plane & second index - direction

Traction on each face of

R&DE (Engineers), DRDO

=> Stress tensor

R&DE (Engineers), DRDO

Individual normal stress components need not be zero

Stress state = Hydrostatic state + Deviatoric state (shear)

R&DE (Engineers), DRDO

Use Gauss divergence theorem Volume integral to Surface integral

R&DE (Engineers), DRDO

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