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Dr. A. Andriyana
Part A
Review of Algebra
Dr. A. Andriyana
Scalars
Definition
Simple physical quantities which are completely described by a
single real number, e.g. temperature, density, energy. They are
unaffected by coordinate system rotations or translations
Notation: T , , E , k
Dr. A. Andriyana
Vectors
Definition
Geometric entities endowed with both length and direction. They
are used to represent physical or mechanical quantities which have
both magnitude and direction, e.g. displacement, velocity, force
Notation:
r r r
U , v, F
r
r
r
r
a = a1e1 + a2 e2 + a3e3
x3
r 3 r
a = ai ei
a3
r
e3
r
e1
a1
i =1
r
a
r
e2
a2
x2
a1
r
a = a2
a3
x1
KMEB 4349 Continuum Mechanics
Dr. A. Andriyana
Algebra of Vectors
r
a = a12 + a22 + a32
r
b = b12 + b22 + b32
Property:
r r r r
a b = b a
Dr. A. Andriyana
Algebra of Vectors
r
a = a12 + a22 + a32
Property:
r r
r r
ab = b a
a2b3 a3b2
r
c = a3b1 a1b3
a1b2 a2b1
r
b = b12 + b22 + b32
Dr. A. Andriyana
Algebra of Vectors
r r
r r
ab = b a
Dr. A. Andriyana
Algebra of Vectors
Dr. A. Andriyana
Example 1
Question
Find the scalar product of the following two vectors:
r
r
r r
r r
r
b = 3e1 2e2 + e3
a = e1 + 2e2
Determine also the angle between the two vectors
Dr. A. Andriyana
Example 2
Question
r
Referring to Example 1, what is the angle between vector a with the
axis x1 , x2 and x3
Dr. A. Andriyana
Example 3
Question
Find the vector product of the following two vectors:
r
r
r r r
r
r
a = 2e1 + e2 e3
b = 4e2 + 5e3
Dr. A. Andriyana
Algebra of Vectors
x2
a2
r
a
a1
x1
Dr. A. Andriyana
Algebra of Vectors
x2
x2
a2
r
a
a2
a1
a1
x1
x1
Dr. A. Andriyana
Algebra of Vectors
x2
x2
a1 = OB + CD
= a1 cos + a2 sin
a2
r
a
a2
x1
a1
a2 = AC AB
= a2 cos a1 sin
A
O
a1
x1
Dr. A. Andriyana
Algebra of Vectors
x2
x2
a1 = OB + CD
= a1 cos + a2 sin
a2
r
a
a2
x1
a1
A
O
a1
x1
a2 = AC AB
= a2 cos a1 sin
a1 cos
a = sin
2
0 0
sin
cos
0
Q
KMEB 4349 Continuum Mechanics
0 a1
0 a2
0 0
Dr. A. Andriyana
Algebra of Vectors
a =Q a
Q = transpose of Q
T
r r
r r
r r
cos(e1 , e1) cos(e1 , e2 ) cos(e1 , e3 )
r r
r r
r r
Q = cos(e2 , e1) cos(e2 , e2 ) cos(e2 , e3 )
r r
r r
r r
cos(e3 , e1) cos(e3 , e2 ) cos(e3 , e3 )
r r
ei e j
r r
Note: cos(ei , e j ) = r r
ei e j
Dr. A. Andriyana
Example 4
Question
Consider the first basis
1
r
e1 = 0
0
0
r
e2 = 1
0
0
r
e3 = 0
1
1
r
e2 = 1
0
0
r
e3 = 0
1
r r
r
Find the components of a = e1 + 2e2
KMEB 4349 Continuum Mechanics
Dr. A. Andriyana
Tensors
Definition
Geometric entities introduced into physics to extend the notion of
scalars and vectors to higher orders, e.g. stress, strain, elasticity
tensors
Notation:
, , F A E
r
r
b = Aa
A11
A = A21
A31
A12
A22
A32
A13
A23
A33
Dr. A. Andriyana
Algebra of Tensors
1
T
Asym = A + A
2
Askew
1
T
= A A
2
Dr. A. Andriyana
Algebra of Tensors
A12
A22
A32
A13
A23
A33
B11
B = B21
B31
B12
B22
B32
B13
B23
B33
) (
) (
A : B = tr A B = tr B A = tr A B
) = tr (B A ) = B : A
T
Dr. A. Andriyana
Example 5
Question
Give the expression of the strain energy density W of an isotropic linear
elastic material if the strain energy density is defined by half of the
contraction between the stress and the strain tensors. Note that both
tensors are symmetric. What is the unit of W ?
11 12 13
= 12 22 23
13 23 33
W=
11 12 13
= 12 22 23
13 23 33
1
( : )
2
Dr. A. Andriyana
Example 6
Question
The configurational stress tensor is a second order tensor which
represents the amount of directional energy changes associated with
microstructural rearrangement in a material under loading. In the case
of anisotropic materials, this tensor is generally non-symmetric.
Determine the symmetry and skew parts of the configurational stress if
its expression is as follow:
3 4 1
= 6
0 1 MJ/m 3
3 13 4
Give comments on the form of symmetric and skew parts of this tensor
Dr. A. Andriyana
Algebra of Tensors
A12
A22
A32
A13
A11
= A21
A23
A12
A22
A32
A13
A23
er ,er ,er
A33
1 2 3
T
A = Q A Q
r r
r r
r r
cos(e1 , e1) cos(e1 , e2 ) cos(e1 , e3 )
r r
r r
r r
Q = cos(e2 , e1) cos(e2 , e2 ) cos(e2 , e3 )
r r
r r
r r
cos(e3 , e1) cos(e3 , e2 ) cos(e3 , e3 )
r r
ei e j
r r
Note: cos(ei , e j ) = r r
ei e j
Dr. A. Andriyana
r
r
r
r
a = a1 (x1 , x2 , x3 ) e1 + a2 ( x1 , x2 , x3 ) e2 + a3 (x1 , x2 , x3 ) e3
a1
x1
r
a
A = grad a = 2
x1
a
3
x1
a1
x2
a2
x2
a3
x2
a1
x3
a2
x3
a3
x3
Dr. A. Andriyana
r
b = div A
x
x
x3
2
b1 1
b = A21 + A22 + A23
2 x
x3
x2
b3 1
A
A
A
31
32
33
+
+
x3
x2
x1
Dr. A. Andriyana
Example 7
Question
The displacement of a particle in the material under biaxial loading is
given by
r
r
r
r
u = k1 x1e1 + k 2 x2e2 + k3e3
Determine the displacement gradient of the particle
Dr. A. Andriyana
Part B
Stress and Strain Tensors
Dr. A. Andriyana
Displacement-Strain Relation
For displacement field
u x (x, y, z )
r r
r
r
r
u = u ( x, y, z ) = u x ( x, y, z ) x + u y (x, y, z ) y + u z ( x, y, z ) z = u y (x, y, z )
u z ( x, y, z ) xr , yr , zr
Engineering strain tensor (small strain tensor)
u x
1 u u
= x + y
x
2 y
1 u x u z
+
2
z
x
1 u x u y
+
2 y
x
u y
y
1 u y u z
+
2 z
y
1 u x u z
+
2 z
x
1 u y u z
+
2 z
y
u z
z
xr , yr , zr
Dr. A. Andriyana
A = Ayx
Azx
Axy
Ayy
Azy
Axz
I
Ayz
= 0
Azz r r v 0
x, y,z
3 mutually orthogonal
directions
II
0
0
0
III nr
I , II , III
r r
I , n II , n III
Principal values
Principal directions
(no shear component)
Dr. A. Andriyana
A = Ayx
Azx
Axy
Ayy
Azy
Axz
I
Ayz
= 0
Azz r r v 0
x, y,z
II
3 mutually orthogonal
directions
r
r
An = n
det (A I ) =
0
0
III nr
I , II , III
r r
I , n II , n III
Principal values
Principal directions
(no shear component)
r r
(A - I ) n = 0
Axx
Axy
Axz
Ayx
Ayy
Ayz
Azx
Azy
Azz
=0
I , II , III
All real values for
a symmetric tensor
Dr. A. Andriyana
Example 8
Question
Construct the stress tensor at a point M located at surface of a circular
shaft used to transfer torque T from
a turbine to a generator. Use the
r r r
cylindrical coordinate system r , , z for this purpose.
Dr. A. Andriyana
General Remarks
Any elasticity (linear or non-linear) problem can be solved using the
following set of equations:
Equation
Displacement - strain
Equilibrium equation
1
T
H +H
2
r
div = 0
Number of
equations
Number of
unknowns
15
Dr. A. Andriyana
General Remarks
Any elasticity (linear or non-linear) problem can be solved using the
following set of equations:
Equation
Displacement Strain
Relation
Equilibrium
Equation
Constitutive
Equation
1
T
H +H
2
r
div = 0
= f ( )
Number of
Equations
Number of
Unknowns
No
additional
unknown
15
KMEB 4349 Continuum Mechanics
15
Dr. A. Andriyana
General Remarks
Any elasticity (linear or non-linear) problem can be solved using the
following set of equations:
Equation
Displacement Strain
Relation
Equilibrium
Equation
Constitutive
Equation
1
T
H +H
2
r
div = 0
E
E
=
+
(tr ) I
(1 + )(1 2 )
1+
Number of
Equations
Number of
Unknowns
No
additional
unknown
15
Dr. A. Andriyana