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EQUILIBRIUM & COMPATIBILITY ( 0 7 )

I Main topics
A Equilibrium

B Compatibility

C Plane strain

D Plane stress

E Anti-plane strain

II Equilibrium
The equations of equilibrium describe how stress can vary within a body. They
do not have any information on the rheology of the body, so these equations
apply to viscous fluids, plastics, and elastic solids. From balancing forces (see
diagram on next page)
2-D 3-D
11 12 11 12 13 (7.1a)
+ + F1 = 0 + + + F1 = 0
x1 x 2 x1 x 2 x 3
21 22 21 22 23 (7.1b)
+ + F2 = 0 + + + F2 = 0
x1 x 2 x1 x 2 x 3
F3 = 0 31 32 33 (7.1c)
+ + + F3 = 0
x1 x 2 x 3
or in tensor notation
ij
+ Fi = 0
x j
(7.1d)
where F = body force/unit volume. Commonly the only body force is due to
gravity, so Fvert = g. For true plane strain in the x,y plane there can be no
body force in the z-direction (Chou & Pagano, p. 70, Barber, p. 70).

Stephen Martel 7 -1 University of Hawaii

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EQUATIONS OF EQUILIBRIUM (2-D)

(yy + yy)
(yx + yx)
Small area element

y
(xy + xy)
Body force Y
(per unit area)
xx (xx + xx)
y
x
Body force X
x = y (per unit area)

xy
x

yx
yy

We again turn to force balances: Fx = 0 and Fy = 0 . First we sum forces in

the x-direction:
( xx + xx )(y ) - ( xx )(y ) + ( yx + yx )(x ) - ( yx )(x ) + Xxy = 0.

The terms involving xx and yx fall out. Dividing through by xy gives

( xx )/(x ) + ( yx )/(y ) + X = 0.
xx yx
Taking the limit as x and y go to zero: + + X = 0.
x y
yy xy
Similarly, + + Y = 0.
y x
These are the equations of equilibrium. Assuming the body forces are constant,
decreases in xx in the x-direction must be balanced by increases in yx in the y-
direction, etc.

The moments must balance as well. If moments are taken about the center of
the box, only the shear stresses contribute to the moment (the normal stresses
and body forces act through the center of the box and hence dont contribute).

Stephen Martel 7 -2 University of Hawaii

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By inspection of the diagram above, one can see that yx = xy , so the shear
stresses yx and xy since they must be equal at one point must be equal at all
points.

Stephen Martel 7 -3 University of Hawaii

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III Compatibility
A The strains of all the elements of a body must be compatible so that all
elements "fit together" during deformation without opening holes.

B The compatibility equation brings information on the elastic response of a

body; the equations of equilibrium do not.

C Compatibility conditions can be expressed in terms of strain (better for 2-D

problems) or displacement (better for 3-D problems).
The equations for strain in two dimensions are:
1 u u j
ij = i + i=1,2; j=1,2 (7.2a)
2 x j xi
u
11 = 1 (7.2b)
x1
1 u u
12 = 1 + 2 = 21 (7.2c)
2 x 2 x1
u
22 = 2 (7.2d)
x 2
These three equations are not independent; they rely on only t w o variables, the
displacements u1 and u2. We can combine the equations by taking partial
derivatives (we dont have many other options!):
u
2 2 1
11 x1 3u1
= = (7.3)
x2 2 x2 2 x2 2 x1
2 u2

222 x2 3 u2
= = (7.4)
x12 x12 x12x2
2 1 u1 u2
+
2 12 2 x2 x1 1 3u1 3u2
= = + (7.5)
x1 x2 x1 x2 2 x1 x2 2 x12 x2
Half the sum of (7.3) and (7.4) equals (7.5), so
1 2 11 2 22 2 12
+ = condition of compatibility (7.6)
2 x2 2 x12 x2 x1

Stephen Martel 7 -4 University of Hawaii

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This gives us three variables (3 strains) and three equations (7.1a, 7.1b, and
7.6). These equations are sufficient to determine how the stress and
deformation fields vary within an elastic body with no cavities (need to check
whether displacements are single-valued in a body with cavities).

IV Plane strain
A Displacements permitted only in two directions, and they do not vary as a
function of the third direction; displacements in the third direction are zero

B Restrained, frictionless boundaries

C Infinite 2-D bodies by symmetry ("thick plate")

Suppose displacements are not allowed in the z (or x3 ) directions. Then
1 u1 u3
13 = + = 0 + 0 = 0 = 31 (7.7)
2 x 3 x1
1 u u
23 = 2 + 3 = 0 + 0 = 0 = 32 5 strain terms are zero (7.8)
2 x 3 x 2
u3 1
33 = = 0 = [ 33 (11 + 22 )], so 33 = (11 + 22 ) (7.9)
x 3 E
The four strains that can be non-zero are:
1
11 =
E
[( )
1 2 11 (1 + ) 22 ] (7.10)

1
22 =
E
[( )
1 2 22 (1 + )11 ]
(note similarity to 7.10) (7.11)

1
12 =
E
[(1 + ) 12 ] = 21 (7.12)

D Compatibility equation for plane strain

Substituting (7.7)-(7.12) into the compatibility condition (7.6) yields:
2

[( 2
) ] +
[(
2 2
) ]
1 1 11 (1 + ) 22 1 22 (1 + )11 [(1 + )12 ]
=
2
(7.13)
2 x 2 2 x12 x 2x1

2 2 2 2 212
(1 2 ) 11 + 22 (1 + ) 11 + 22 = 2(1 + )
x 2 2 x12 x12 x 2 2 x1x 2 (7.14)

Dividing both sides through by (1+ )

Stephen Martel 7 -5 University of Hawaii

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2
xx 2 yy 2
xx 2 yy 2 xy
(1 ) 2
+ + =2
y x 2 x
2
y 2 xy (7.15)

The right side of (7.15) can be derived from the equilibrium equations
xx yx yy xy
+ + X = 0, (7.16a) + + Y = 0. (7.16b)
x y y x
Take the derivatives of (7.16a) with respect to x and (7.16b) relative to y to
get terms of 2 xy / x y.
2
2 xx yx X 2 yy 2 yx Y
2
+ + = 0, (7.17a)
2
+ + = 0. (7.17b)
x xy x y xy y
Adding these together and isolating the 2xy/y2 term:
2 2 xy 2
xx 2 yy X Y
= 2
+ 2
+ + . (7.18)
xy x y x y
Equating the right side of (7.18) with the left side of (7.15):
2 2 2 2 2
xx yy 2 xx yy xx yy X Y
(1 ) + + = + + + .
y 2 x 2 x 2 y 2 x 2 y 2 x y
(7.19)

This can be simplified

2
xx 2 yy 2
xx 2 yy X Y
(1 ) 2
+ + (1 ) + = + .
y x 2 x
2
y 2 x y
(7.20)
2 2
2
Now let = + (2 = Laplacian operator).
x 2 y 2
1 X Y
{
2 xx + yy = } + .
1 x y
(7.21)

This gives the governing equation for 2-D plane strain. Note that if the body
forces are constant, then the stress variation is independent of the elastic
properties (E and ) of the material; steel behaves as plastic.

Stephen Martel 7 -6 University of Hawaii

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V Plane stress (Generalized plane stress)

A Stresses in one direction are zero (thin plate approximation)

B A thin plate, plane stress solution is approximate; stresses are really those
averaged over the thickness of the thin plate. The mid-plane of a thin plate
under "plane stress" actually feels plane strain!

C Plane stress solutions can be converted to plane strain solutions by

E
E= 2
;=
substituting 1 1 in the plane stress solutions.

VI Anti-plane strain
A Displacements permitted only in one direction (e.g., the z-direction), do
not vary with z, but can vary as a function of x and y.

B Because the displacement fields are one-dimensional, anti-plane strain is

simpler to address than plane strain or plane stress

C Strains (five terms equal zero, including all the normal strains)

u1
11 = =0 (7.22)
x1
1 u u
12 = 1 + 2 = 0 + 0 = 0 = 21 (7.23)
2 x 2 x1
1 u u 1 u 1 u3
13 = 1 + 3 = 0 + 3 = = 31 (7.24)
2 x 3 x1 2 x1 2 x1
1 u u
21 = 2 + 1 = 0 + 0 = 0 = 12 (7.25)
2 x1 x 2
u 2
22 = =0 (7.26)
x 2
1 u u 1 u 1 u3
23 = 2 + 3 = 0 + 3 = = 32 (7.27)
2 x 3 x 2 2 x 2 2 x 2
1 u u 1 u 1 u
31 = 3 + 1 = 3 + 0 = 3 =
13
(7.28)
2 x1 x 3 2 x1 2 x 1
1 u u 1 u 1 u
32 = 3 + 2 = 3 + 0 = 3 =
23 (7.29)
2 x 2 x 3 2 x 2 2 x 2
u
33 = 3 = 0 (7.30)
x 3

Stephen Martel 7 -7 University of Hawaii

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D Stresses (five terms equal zero, including all the normal stresses)
E E (7.31)
11 = (11 + 22 + 33 ) + 11 = 0 + 0 = 0
(1 + )(1 2 ) (1 + )
(7.32)
12 = 2G12 = 0
u3 (7.33)
13 = 2G13 = G
x1
(7.34)
21 = 2G21 = 0
E E (7.35)
22 = (11 + 22 + 33 ) + 22 = 0 + 0 = 0
(1 + )(1 2 ) (1 + )
u
23 = 2G23 = G 3 (7.36)
x 2
u
31 = 2G31 = G 3 (7.37)
x1
u
32 = 2G32 = G 3 (7.38)
x 2
E E (7.39)
33 = (11 + 22 + 33 ) + 33 = 0 + 0 = 0
(1 + )(1 2 ) (1 + )

E Equilibrium (in the absence of body forces)

11 12 13 (7.40)
+ + + F1 = 0 0 + 0 + 0 = 0 Identically solved
x1 x 2 x 3
21 22 23 (7.41)
+ + + F2 = 0 0 + 0 + 0 = 0 Identically solved
x1 x 2 x 3
31 32 33 2 u 2 u3 2
+ + + F3 = 0 13 + 23 = 0 G 23 + 2
= 0 u3 = 0 (7.42)
x1 x 2 x 3 x1 x 2 x1 x 2
F Compatibility (in the absence of body forces)
The displacements must yield compatible strains
1 u3 13 1 2 u3 (7.43)
13 = =
2 x1 x 2 2 x1x 2
1 u3 23 1 2 u3 (7.44)
23 = =
2 x 2 x1 2 x1x 2
13 23 213 223
= = (7.45)
x 2 x1 x1x 2 x12
In light of the equilibrium condition (7.42), written for strains,

Stephen Martel 7 -8 University of Hawaii

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13 23 213 223
= = (7.46)
x1 x 2 x1x 2 x 2 2
Subtracting (7.46) from (7.45) yields
223 = 0 (7.47)
Substituting for the shear stress using (7.36) yields
2 23 = 0 (7.48)
One can show by analogous procedures that
213 = 0 (7.49)
and
213 = 0 (7.50)
So for anti-plane strain, the stresses, strains, and displacements in an x,y,z
reference frame all obey the Laplace equation.

F Plane strain and anti-plane strain solutions are completely independent

and can be superposed.

References
Barber, J.R., 1993, Elasticity: Kluwer Academic Publishers, Boston, p. 21-37
Timoshenko, S.P., and Goodier, J.N., 1971: Theory of elasticity, McGraw-Hill, New York, p. 26-
33.

Stephen Martel 7 -9 University of Hawaii