MASSACHUSETTS INSTITUTE OF TECHNOLOGY

DEPARTMENT OF MECHANICAL ENGINEERING

CAMBRIDGE, MA 02139

2.002 MECHANICS AND MATERIALS II

Spring, 2004

Creep and Creep Fracture: Part II

Stress and Deformation Analysis in Creeping

Structures

c
L. Anand

Steady-State Bending of Viscoplastic Beams

1. Kinematics

v(x, t)

trans. displ. of the neutral axis

. 2v(x,t)
(x, t) = x2
(x, y, t) = (x, t)y
(x, y, t) (x, t)y
. 2v(x,t)

(x, y, t) = x2

curvature of the neutral axis

longitudinal strain

longitudinal strain rate

curvature rate

| |sgn() =
=
Therefore, | | =
sgn() =

| |sgn()
|y |sgn(y)
| ||y | [sgn()sgn(y)

]
| ||y | and
sgn()sgn(y)

2. Constitutive Relation

= c
= 0

= s

(x, y, t) = s

||
s

| |
0

sgn()

1/n

sgn()

| (x, t)||y|
0

1/n

sgn()

(x, y, t) = {sgn()sgn(y)s}

0
s>0

|(x,

t)|
0

reference strain rate

reference stress

1/n

|y|1/n

3. Moment-Curvature Rate Relation

M (x, t) =

y(x, y, t)dA

= {sgn()s}

with

In

| (x, t)|
0

1/n

sgn(y) |y|1+1/n dA

| (x, t)|
M (x, t) = {sgn()s}

1/n

In

sgn(y)|y|1+1/ndA

4. Equation for Stress

| (x, t)|
(x, y, t) = {sgn()s}

0
M (x, t) 1/n
sgn(y)

(x, y, t) =
|y|
In

1/n

|y |1/n(sgn(y))

5. Dierential Equation for Lateral Displacement

1/n

|(x,

t)|
|M (x, t)| =
sIn

n
0
|M (x, t)|
(x, t) = 0
sgn(M (x, t))
sIn

n
2
|M (x, t)|
v(x, t)
= 0
sgn(M (x, t))
x2
sIn

Example Problem: Cantilever Beam

M (x, t) P (t)(L x) = 0
M (x, t) = P (t)(L x) 0 x L

n
2
v
|M |
(x) =
=

sgn(M )
0
2
x
sIn

n
|P (t)(L x)|
= 0
sIn

n
|P (t)
|
= 0
(L x)n
sIn

Example Problem: Cantilever Beam (cont.)

v = 0
Boundary conditions: (1) v = 0 at x = 0 and (2) x
at x = 0 (Assume P (t) > 0)

|P (t)|
v
1
= 0

(L x)n+1 + C1
x
sIn
n+1

n
|P (t)|
Ln+1
C1 = 0
(Using BC (2))
sIn
n+1

v
|P (t)|
1
n+1
n+1
= 0
(L x)
+L
x
sIn
n+1

n+2
|P (t)|
1
(L x)
+ Ln+1x + C2
v = 0
sIn
n+1
n+2

n+2
|P (t)|
1
L
C2 = 0
(Using BC (1))
sIn
n+1 n+2

Example Problem: Cantilever Beam (cont.)

|P (t)|
v = 0
sIn

(L x)n+2

Ln+2

1
+ Ln+1x
n+2
n+1
n+2

n
|P (t)|
Ln+2
(Tip deection rate)
= |v(x = L)| = 0
sIn
n+2

|P (t)| =

1/n

( / 0)(n + 2)
sIn
Ln+2

Three-Dimensional Generalization of Constitutive

Equations for Elastic-Viscoplastic Materials

1. Strain Rate Decomposition:

ij = eij + cij
ij
e
ij

c
ij

total strain rate

elastic strain rate

creep or viscoplastic strain rate

2. Constitutive Equations for eij :

1
e

ij =
(1 + ) ij
kk ij
E
k

Youngs modulus
Poissons ratio

2. Constitutive Equations for cij :

/} creep strain rate components

cij = c(3/2){ij
c = 0 {/s}n equivalent tensile creep rate

kk ij stress deviator components

ij = ij (1/3)
k

=
(3/2)
ij
Mises equivalent tensile stress
ij
i,j

2
2
2
= (1/2) (11 22) + (22 33) + (33 11) +

1/2

2
2
2
3 12 + 23 + 31

n
0
s

creep exponent
reference strain rate
reference stress

Note that in uniaxial tension when 11 = , with all

= (2/3), = =
other ij = 0, we have 11
22
33
(1/3), and = ||. Therefore, the constitutive
equation for cij yields
c11 = 0 {/s}n sgn()
c22 = c33 = (1/2)c11
cij = 0 otherwise,

as it should.

For the case of rigid-viscoplastic materials, the elastic strains and strain rates are neglected:
. c
ij = ij
;
/}
ij = cij = c(3/2){ij

c = 0 {/s}n

Example Problem: Torsion of Thin-walled Tube

Consider a thin-walled tube of radius r, wall thickness

t and length L. One end of the tube is xed, while on
the other a constant twisting moment Mt is applied.
The tube is at high homologous temperatures (creep
conditions prevail). Calculate the twisting rate for
the tube.

Example Problem: [Thin-Walled] Torsion

The angle of twist is a function of time, i.e., =

(t). The angle of twist per unit length is denoted by
= /L = (t)

Displacement eld:
ur = 0
u = zr
uz = 0

 Strain eld:

1 u
1 uz
1
z =
+
= r,
2 z
r
2
with all other ij = 0

Therefore the strain rate is

1
r

2
1
z =
r
2L
z =

(1)

 Constitutive equation: Since the applied moment M (t)

is constant, the elastic strain rate eij = 0. (Strictly,
we need to verify that ij = 0; however, the thinwalled tube in torsion has one constant non-zero stress
component, z , that is directly proportional to twisting moment, Mt (see Equilibrium, below)). Therefore,

3
3 z
ij
ij = c
z = c
2
2

c = 0

ij = ij
kk ij
3
k

 = .
The only non-zero stress component is z
z

Also, = 3 |z | from the denition of the equivalent

tensile stress. Therefore,

z =

3
0
2

3 |z |
s

sgn(z )

(2)

Equilibrium: The applied torque should balance the

internal torque of the only non-zero stress component,

z :

dMt = rdF = rz dA = rz (rdt) = z tr2 d

Mt =

2
0

z tr2 d = 2tr 2z

z =

Mt
2tr2

(3)

 Finally,

3
3 |z |
0
sgn(z )
2
s

1
3
3 |Mt|

r =
sgn(Mt)
0
2
2L
2
s 2tr

3|Mt|
L

sgn(Mt)
=
30
r
2tr2 s

L
3Mt
=
30
for Mt > 0
2
2tr s
r
z =

Example Problem: Torsion of Thick-walled Tube

Recall

1
3
r
= z (r) =
0
2
2

3 |z (r)|
s

(for a r b)

sgn(z (r))

For simplicity, let z (r) > 0. Therefore,

1/n
3
3 |z |
s
2

z (r) =
z (r)
;
z =
0
2
s
3
30
z (r) = r/2

z (r) Ar 1/n,
where
s

A
3
30L

1/n

With dMt = z (r)r 2 dr d = Ar 2+1/n dr d,

Mt = A
Let
Jn =

b 2
a

b 2
a

r 2+1/nddr =

r2+1/nddr

2
3+1/n
3+1/n
b
a

3 + 1/n

Since A = Mt/Jn,
Mt 1/n
r
z (r) =
Jn
and
1/n

s
Mt

=
Jn
3
30L

3 Mt

= 30
L
s Jn