Chapter 5

The equations of linear elasticity

5.1

Summary of equations

Strain-displacement relations:
eij =

1
(ui,j + uj,i )
2

(5.1)

Equilibrium equations/equations of motion:

ij,j + Fi =

2 ui
t2

(5.2)

Constitutive equations:
ij = ij ekk + 2eij

5.2

(5.3)

Displacement formulation: The Navier-Lam

e equations

Solve for the displacements:

( + )uk,ki + ui,kk + Fi =

2 ui
t2

or symbolically:
( + ) grad div u + 2 u + F =

(5.4)

2u
,
t2

(5.5)

which is equivalent to:

( + 2) grad div u curl curl u + F =

2u
.
t2

(5.6)

This is a system of three coupled linear elliptic PDEs for the three displacements ui (xj ).

5.3

Stress formulation: The static Beltrami-Mitchell equations

For static deformations, we have

1
ii,jj +Fi,i = 0 or symbolically
1 + | {z }

1 2
+ div F = 0.
1+

(5.7)

,jj

and the stresses fulfil the Beltrami-Mitchell equations:

1

ij,kk +
kk,ij +
ij Fk,k +Fj,i + Fi,j = 0.
| {z } 1 + | {z } 1
|{z}
,ij
2 ij
div F

(5.8)

(5.8) represents a system of six coupled linear elliptic PDEs for the six stress components ij (xj ).
When these have been determined, the strains can be recovered from (4.6) or (4.16). Then the
displacements follow from (5.1). They are only determined up to arbitrary rigid body motions.
12

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MT30271 Elasticity: The equations of linear elasticity

5.4

Simplifications for F = const.:

For constant (or vanishing!) body force, the stress, strain and displacement components are biharmonic functions,
ui,jjkk = 0
ij,kkll = 0
eij,kkll = 0
(5.9)
or symbolically:
4 u = 0

4 ij = 0

4 eij = 0.

(5.10)

The dilation and the trace of the stress tensor are harmonic functions:
uj,jkk = d,kk = 0

jj,kk = ,kk = 0

(5.11)

2 = 0

(5.12)

or symbolically:
2 d = 0

Note that in (5.4) (5.8) F acts as an inhomogeneity in a system of linear equations. The system
can be transformed into a homogeneous system for uh = uup (with different boundary conditions)
if a particular solution up (which does not have to fulfil the boundary conditions) can be found.

5.5

Boundary conditions:
(0)

Displacement (Dirichlet) boundary conditions: Prescribed displacement field ui .

(0)

ui |D = ui

(5.13)
(0)

Stress (Neumann) boundary conditions: Prescribed (applied) traction ti

nj is the outer unit normal vector on the elastic body.
(0)

ti |D = ij nj |D = ti

on boundary. Note that

(5.14)

Mixed (Robin) boundary conditions elastic foundation represented by the stiffness tensor k ij .
Physically, this implies that the traction which the elastic foundation exerts on the body is propor(0)
tional to the boundary displacement. This can be combined with an applied traction ti as in the
Neumann case.
(0)
(ti + kij uj ) |D = (ij nj + kij uj ) |D = ti
(5.15)

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MT30271 Elasticity: The equations of linear elasticity

Governing Equations in Cylindrical Polar Coordinates

x1 = x = r cos , x2 = y = r sin , x3 = z = z.
u = (ur , u , uz ),

e = (eij ),

= (ij ),

where i, j = r, , z.

Vector calculus:
uz
1 f f
1 (rur ) 1 u
f
r +
+
+
+
,
z,
div u =
r
r
z
r r
r
z






u
uz
1 uz
ur
1 (ru ) 1 ur
r +
curl u =

z.
+
r
z
z
r
r r
r
grad f =

Stress-strain relations have the same form as in Cartesian coordinates:

ij = ij div u + 2eij ,

i, j = r, , z.

Stress-displacement relations:
rr

ur
,
= div u + 2
r

= div u + 2

r
u
u
1 ur
r
=
=

+
,

r
r
r

ur
1 u
+
r
r

rz
zr
uz
ur
=
=
+
,

r
z

zz = div u + 2

uz
,
z

z
z
1 uz
u
=
=
+
.

r
z

Strain-displacement relations:
err =
2er = 2er =

ur
,
r

e =

u
1 ur
u

+
,
r
r
r

1 u
ur
+ ,
r
r

2erz = 2ezr =

ezz =

ur
uz
+
,
z
r

uz
,
z

2ez = 2ez =

1 uz
u
+
.
r
z

Equilibrium equations (statics): for the displacement formulation, use Naviers equation,
( + 2) grad div u curl curl u + F = 0,
whereas for the stress formulation, use
rr
1 r
rz
rr
+
+
+
+ Fr
r
r
z
r
1
z
2
r
+
+
+ r + F
r
r
z
r
rz
1 z
zz
1
+
+
+ rz + Fz
r
r
z
r

= 0
= 0
= 0.

Stress boundary conditions: these are when t is prescribed. We have, from ti = n

j ij ,
tr

= n
r rr + n
r + n
z rz

t
tz

= n
r r + n
+ n
z z
= n
r rz + n
z + n
z zz

15

MT30271 Elasticity: The equations of linear elasticity

Governing Equations in Spherical Polar Coordinates

x1 = x = r sin cos , x2 = y = r sin sin , x3 = z = r cos .
u = (ur , u , u ),

e = (eij ),

Vector calculus:
grad f =

= (ij ),

where i, j = r, , .

1 f
1 f
f
r +
+
,
r
r
r sin


2

(r sin ur ) +
(r sin u ) +
(ru ) ,
r


 r
r
r sin


1


.
curl u = 2


r

r sin 
ur ru r sin u 

1
div u = 2
r sin

Stress-strain relations have the same form as in Cartesian coordinates:

ij = ij div u + 2eij ,

i, j = r, , .

Stress-displacement relations:
rr = div u + 2

2
= div u +
r

ur
,
r

= div u +


1 u
+ ur + u cot ,
sin

r
r
1 ur
u
u
=
=
+

r sin
r
r

2
r


u
+ ur ,

r
r
u
u
1 ur
=
=

+
,

r
r
r

1 u
1 u
u cot
=
=
+

r sin
r
r

Strain-displacement relations:
err =

ur
,
r

2er = 2er =

e =

1 u
ur
+ ,
r
r

u
1 ur
u

+
,
r
r
r
2e = 2e =

e =

1 u
ur
u cot
+
+
,
r sin
r
r

2er = 2er =

1 ur
u
u
+

,
r sin
r
r

1 u
u cot
1 u
+

.
r sin
r
r

Equilibrium equations (statics): for the displacement formulation, use Naviers equation,
( + 2) grad div u curl curl u + F = 0,
whereas for the stress formulation, use
rr
1 r
1 r
2rr + cot r
+
+
+
+ Fr
r
r
r sin
r
1
1
3r + ( ) cot
r
+
+
+
+ F
r
r
r sin
r
1
1
3r + 2 cot
r
+
+
+
+ F
r
r
r sin
r

= 0
= 0
= 0.

Stress boundary conditions: these are when t is prescribed. We have, from ti = n

j ij ,
tr
t

= n
r rr + n
r + n
r
= n
r r + n
+ n

= n
r r + n
+ n