Constitutive Law Part I :

Elastic Stress-Strain Relation

IMSC002 Theory of Elasticity and Plasticity

IMSC002 by W.M.Quach, 2006

Validities of Stresses and Strains

A valid stress field ij must satisfy the
Equilibrium Equations [i.e. Eq. (1.11) ], and
the traction boundary conditions.
A valid strain field ij must be related to the
displacements through the StrainDisplacement Relation [i.e. Compatibility
Equations, Eq. (2.9) ].
How about the Relationship between
Stresses and Strains? (Constitutive Law)
IMSC002 by W.M.Quach, 2006

Constitutive Law
Elastic Stress-Strain Relation
Generalized Hookes Law
Plasticity and Failure Theory
(a) Yield and Failure Criteria, &
(b) Flow rules.
Assumptions in the present study :
Isotropic and Homogeneous materials
Small Strains Linear Elastic material
behaviour
IMSC002 by W.M.Quach, 2006

Stress-Strain Curves of Materials

True Strain & Engineering Strain :

true

dL
L
=
= ln
= ln (1 + eng ) .. (2.19)
L = Lo L
Lo

eng =

L Lo
Lo

.. (2.2)

Assume the material is incompressible

(constant volume) :

Ao Lo = AL
true =

Tension

P P L
L
=
= eng
A Ao Lo
Lo

true = eng (1 + eng )

.. (2.20)

.. (2.19)

= ln (1 + eng )

true
IMSC002 by W.M.Quach,
2006

1-D Elastic Stress-Strain Relation

Consider an element subjected to uniaxial stress
in the x-direction. Under the linear elastic
behaviour, the relationship between the uniaxial
stress and the induced axial strain is given by
the Hookes Law:
x = E x
.. (2.21)

Lateral contraction of
an element in tension

Materials

y = z = x =

Metals

0.3

Concrete

0.1

Rubbers

0.5

Foams

In the linearly elastic region, the axial tensile stress

induces a lateral contraction of the elements
cross-sectional area:

where

x
E

is Poissons Ratio, and is defined as:

laterial strain
axial strain

IMSC002 by W.M.Quach, 2006

.. (2.23)

Hookes Law in 2-D Pure Shear

In the linear elastic range, the shear stress
and shear strain are related by:

xy = G xy

.. (2.22)

where G is the Shear Modulus of Elasticity,

and it is related to the Elastic Modulus E &

An element in pure
shear on the x-y plane

Poissons Ratio by:

E
G=
2(1 + )

.. (2.29)

Therefore, only two independent material constants are needed to describe

the elastic stress-strain relation for isotropic & homogeneous materials:
either (E and ) or (G and ).
IMSC002 by W.M.Quach, 2006

2-D Elastic Stress-Strain Relation:

Axial & Shear Deformations
Axial (or Direct) stresses produce only
direct strains and the corresponding
lateral contractions along the other
directions:

x =
Direct stress

x y
E

, y =

y x
E

When

z =0

Shear stresses induce only shear strains:

xy =

Pure shear

xy
G

IMSC002 by W.M.Quach, 2006

3-D Elastic Stress-Strain Relation:

Generalized Hookes Law
Similar to the 2-D elastic stress-strain relation, the elastic strain
field at a point in 3-D can be determined for a given stress state:
x =

ij = d ijkl kl
or

ij = cijkl kl
i, j , k , l = x, y , z (or 1,2,3)

1
x ( y + z ) , xy = xy
E
G

yz
1
y = y ( x + z ) , yz =
E
G

1
z = z ( x + y ) , xz = xz
E
G

.. (2.28)

x = 2G x + ( x + y + z ), xy = G xy
y = 2G y + ( x + y + z ), yz = G yz
z = 2G z + ( x + y + z ), xz = G xz
E

=
IMSC002 by W.M.Quach,
(1 + )(1 2006
2 )

.. (2.30)

3-D Elastic Stress-Strain Relation:

Generalized Hookes Law
The 3-D stress state at a point consists of three direct stress
components (x, y, z) and three shear stress components

(xy, yz, xz). These six stress components contribute to the

elastic strains at the same point, and these stresses and strains
are related by:

x c11 c12
c
y 21 c22
z c31 c32
ij = cijkl kl
=
xy c41 c42
i, j , k , l = x, y , z (or 1,2,3) yz c51 c52

xz c61 c62

c13

c14

c15

c23
c33
c43

c24
c34
c44

c25
c35
c45

c53
c63

c54
c64

c55
c65

c16 x
c26 y
c36 z
.. (2.27)
c46 xy
c56 yz

c66 xz

Note: The coefficients Cij represent 36 material-dependent elastic constants.

IMSC002 by W.M.Quach, 2006

Volumetric Strain
Initial volume of an elastic solid:

Vo = dxdydz
Final volume for the elastic solid under the triaxial
stresses (x, y, z) :

Vo + V = (1 + x )dx (1 + y )dy (1 + z )dz

Volumetric
change due to
an uniaxial
stress

The unit volume change, or the Dilatation, or the so-called

Volumetric Strain:

& substituting
Eq.(2.28)

ij = d ijkl kl

1 + ( x + y + z ) dxdydz

Vol =

(1 2 ) ( + + )
V
= ( x + y + z ) =
.. (2.31)
x
y
z
Vo
E
IMSC002 by W.M.Quach, 2006

Bulk Modulus of Elasticity

The Bulk Modulus, K , is the ratio of the mean stress (or hydrostatic

stress), m , to the volumetric strain, Vol :

& make use of
Eq.(2.30)

m
K=
Vol
K=

m = ( x + y + z ) 3
Vol = ( x + y + z ) =

(1 2 ) (
E

+ y + z )

E
.. (2.33)
3(1 2 )

Bulk Modulus, K , measures the resistance of an elastic solid to

volume change.
Materials with a large value of K are difficult to deform under
hydrostatic state of stresses.
For incompressible materials,

= 0.5

and

IMSC002 by W.M.Quach, 2006

Vol = 0 .

Saint-Venants Principle

Two equivalent force systems need NOT to induce the identical

distribution of strains throughout a body.
If an actual distribution of forces is replaced by a statically
equivalent system, stresses and strains throughout the body is
altered only near the regions of load application.

IMSC002 by W.M.Quach, 2006

Problem Solving for a 3-D Elastic

Stress Analysis
For a 3-D elastic structure subjected to a given load & boundary
conditions, we want to determine the following quantities (15 unknowns)
at each material point within the structure:
Stresses 6 components (x, y, z, xy, yz, xz)
Strains 6 components (x, y, z, xy, yz, xz)
Displacements 3 components (u, v, w)
The solution of these 15 unknowns, should make the following
conditions (totally 15 independent equations) satisfied:
The Boundary Conditions and the Stress Equilibrium Equations are
satisfied.
The strains are compatible with the displacements (i.e. Compatibility
Conditions).
The stresses are related to the strains through the elastic stress-strain
relation (i.e. Generalized Hookes Law).
IMSC002 by W.M.Quach, 2006

Problem Solving for a 3-D Elastic

Stress Analysis
These 15 independent equations for a 3-D elastic solid are resulted from:
a. Stress Equilibrium Equations (3 eqs.):
x xy xz
c. Generalized Hookes Law (6 eqs.):
x
y
y

y
xy
x

z
yz
z

+ Fx = 0

+ Fy = 0 .. (1.11)

z xz yz
+
+ Fz = 0
+
x
y
z

b. Compatibility Equations (6 eqs.):

2 xy

2
2 x y
,
+
=
xy
x 2
y 2

2 yz
yz

2 y
z 2

2 z
+ 2 ,
y

2 xz 2 z 2 x
=
+ 2 ,
zx
x 2
z

xy
1
(
)
x = x y + z , xy =
E
G

1
y ( x + z ) , yz = yz .. (2.28)
E
G

1
z = z ( x + y ) , xz = xz
E
G
y =

Note:
2 x 1 yz xz xy

+
+
=
z
y
yz 2 x x
1 ui u j

=
+
ij
2
2 j
i
y 1 yz xz xy
.. (2.9)

+
=
y
z
zx 2 y x
i , j = x, y , z
u x = u , u y = v, u z = w
2 z 1 yz xz xy

=
2006
y
z
xIMSC002
y 2 z byW.M.Quach,
x

Problem Solving for a 2-D Elastic

Stress Analysis
For a 2-D elastic structure subjected to a given load & boundary
conditions (i.e. Plane Stress or Plane Strain), there are only 8 unknowns
for each material point within the structure:
Stresses 3 components (x, y, xy)
Strains 3 components (x, y, xy)
Displacements 2 components (u, v)
The solution of these 8 unknowns, should make the following conditions
(totally 8 independent equations) satisfied:
The Boundary Conditions and the Stress Equilibrium Equations are
satisfied.
The strains are compatible with the displacements (i.e. Compatibility
Conditions).
The stresses are related to the strains through the elastic stress-strain
relation (i.e. Generalized Hookes Law).
IMSC002 by W.M.Quach, 2006

Problem Solving for a 2-D Elastic

Stress Analysis
These 8 independent equations for a 2-D elastic problem are resulted from:
a. Stress Equilibrium Equations (2 eqs.):
x xy
x
y
y

y
xy
x

+ Fx = 0

+ Fy = 0

b. Compatibility Equations (3 eqs.):

2 y
2 x
3u
3v
,
=
= 2 ,
2
2
2
y
xy
x
x y
xy
2

xy

Plane
Stress
( z = 0)

c. Hookes Law (3 eqs.):

x y
y x
x =
, y =
E

xy =

xy
G

v
u
+
xy 2 x 2 y
3

.. (1.10)

.. (2.8)

2
Plane x = 1 x y
1
E
E

Strain
( z = 0) y = 1 2 y x , xy = xy
IMSC002 by W.M.Quach, 2006
1
E
G

Principle of Superposition
This principle is VALID and can be applied, only when all the
following conditions are satisfied:
The material possesses linear elastic behaviour under the
combined loading due to superposition.
The resultant displacement and deformation are small.
Superposition CANNOT be applied to problems involving:
Plastic deformation,
Large displacement and deformation.

IMSC002 by W.M.Quach, 2006