1

MECHANICS OF MATERIALS. EQUATIONS AND

THEOREMS
Version 2011-01-14
Stress tensor
Definition of traction vector

(1)
Cauchy theorem

(2)
Equilibrium

(3)
Invariants

(4)

(5)

(6)
or, written in terms of principal stresses,

(7)

(8)

(9)
Coordinate transformation

(10)
or, inverted

(11)
2

Stress deviator

(12)
Stress deviator invariants

(13)
Displacement and strain
Definition of displacement

(14)
Definition of infinitesimal strain

(15)
Engineering shear

; (16)
Voigt notation of stress and strain

Elastic anisotropy
A material is symmetric with respect to the transformation

if

(17)
or, using Voigt notation

(18)
3

where L is the transformation matrix for the transformation

in Voigt notation:
(19)
Stiffness (C) and engineering compliance (S) matrices for
some important classes of materials
Linearly orthotropic material

(20)
and

(21)
In Eq. (21), the actual number of independent material constants is reduced to 9 by the relations

(22)
Transversely isotropic material (symmetry axis

(23)
and
4

(24)
In Eq. (23), the actual number of independent material constants is reduced to 5 by the relation

(25)
Plasticity. Yield criteria
Flow function and equivalent stress: von Mises

(26)
Flow function and equivalent stress: Tresca

(27)
Plasticity. Flow rules
General

(28)

(29)

(30)
Perfect plasticity

(31)
5

Perfect plasticity, von Mises

(32)
where the equivalent plastic strain increment d

is defined as

(33)
Isotropic hardening, von Mises

(34)
or, in most cases,

(35)
where

(36)
(cf Eq. (31)). Flow rule:

(37)
or

(38)
Linear isotropic hardening, von Mises

(39)
Eqs. (37) and (38) can now be simplified into

(40)
and

(41)
(since

during plastic flow).

6

In the uniaxial tensile test, during plastic flow

Kinematic hardening, von Mises
The hardening is described by a backstress

(42)
The flow rule is

(43)
Kinematic hardening, Prager/von Mises
Pragers linear hypothesis:

(44)
This leads to a simplified expression for the flow rule:

(45)
In the uniaxial tensile test, during plastic flow

(Note the factor 3/2 in the denominator, which is a difference against the corresponding isotropic
uniaxial test!)
Plasticity. Computational aspects
Continuum tangent stiffness matrix

(46)
where

is the continuum tangent matrix.

has the following principal structure:

(47)
One common way of writing it in detail is
7

(48)
Viscoplasticity
Additive decomposition:

(49)
Norton uniaxial creep law for stationary creep

(50)
Multiaxial creep laws

(51)
with

Stationary creep (von Mises/Norton/Odqvist) (52)

Multiplicative isotropic hardening (53)

Perzyna overstress model (54)
Viscoelasticity
Maxwell material

(55)

(56)
8

(57)
Kelvin material

(58)

(59)

(60)
Standard linear solid

(61)

(62)

(63)
Relaxation modulus
The Laplace transform

of the relaxation modulus can be computed from the Laplace transform

of the creep compliance as

(64)
Hereditary integrals
For a given stress history , the strain response can be computed as the hereditary integral

(65)
or, in the Laplace transform space,

(66)
For a given strain history , the stress response can be computed as the hereditary integral
9

(67)
or, in the Laplace transform space,

(68)
Multiaxial hereditary integral

(69)
or, split into a deviator (

and a bulk (

part

(70)

(71)
In analogy with the previous uniaxial hereditary integrals, these can also be written as Laplace-
transformed equations [cf Eq. (68)]:

(72)

(73)

(74)
(be careful with the notations here:

is the full 4
th
order relaxation modulus tensor, while is the
shear modulus;

is the stress deviator, while is the Laplace space variable)

These equations can be used together with the viscoelastic correspondence principle for solving
multiaxial problems.
Damage
Isotropic damage postulate

(75)
which replaces

in the constitive laws. For instance, in linear elasticity:

(76)
10

or, if

(77)

(78)
Elastic damage: evolution law

(79)
(

is the maximum experienced value of the largest principal strain during the elastic history,

is
a fracture strain, and

is a threshold strain.)
Plastic damage: evolution lkaw

(80)
where

is the critical damage

Creep damage: Kachanov damage evolution law:

(81)
in which

(82)
where

is the largest principal stress and

is von Mises equivalent stress.