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Chapter 7
Linear Elasticity
C. Agelet de Saracibar
ETS Ingenieros de Caminos, Canales y Puertos, Universidad Politcnica de Catalua (UPC), Barcelona, Spain
International Center for Numerical Methods in Engineering (CIMNE), Barcelona, Spain
Linear Elasticity > Contents
Contents
Chapter 7 Linear Elasticity
1. Linear elastic model
2. Linear elastic IBVP
3. Solution of the linear elastic IBVP
4. Orthogonal curvilinear coordinates
5. Assignments
6. Linear thermoelastic model
7. Linear thermoelastic IBVP
8. Solution of the linear thermoelastic IBVP
9. Assignments
10. Plane linear elasticity
( )
= : 0 + = : 0 0
C = 1 1 + 2 I , Cabcd = ab cd + ( ac bd + ad bc )
x x
x
2
( T
2
)
= u = u + ( u ) , ab = ( ua ,b + ub,a ) in I
)
u t =0 = 0
u = u on u I
u in
t = n = t on I = v0
t t =0
October 11, 2013 Carlos Agelet de Saracibar 27
Linear Elasticity > Linear Elastic IBVP
div + 0b = 0
= ( tr ) 1 + 2 in I
s
= u
u = u on u I
t =n = t on I
)
u t =0 = 0
u = u on u I
u in
t = n = t on I = v0
t t =0
October 11, 2013 Carlos Agelet de Saracibar 31
Linear Elasticity > Solution of the Linear Elastic IBVP
div = div ( ( tr ) 1 + 2 )
= grad ( tr ) + 2 div
n = ( ( tr ) 1 + 2 ) n
= ( tr ) n + 2 n
(
= ( div u ) n + grad u + ( grad u ) n
T
)
2u
( + ) grad ( div u ) + div ( grad u ) + 0b = 0 2 in I
t
u = u on u I
( T
( div u ) n + grad u + ( grad u ) n = t on I )
u
u t =0 = 0, = v0 in
t t =0
October 11, 2013 Carlos Agelet de Saracibar 35
Linear Elasticity > Solution of the Linear Elastic IBVP
u = u on u I
( T
( div u ) n + grad u + ( grad u ) n = t on I )
2
( T
2
)
= u = u + ( u ) , ab = ( ua ,b + ub,a ) in I
Isothermal isotropic linear elastic constitutive equations
= ( tr ) 1 + 2 , ab = dd ab + 2 ab in I
Cylindrical Coordinates
Cylindrical Coordinates
Cylindrical Coordinates
Cylindrical Coordinates
Vector position
x = x ( r , , z ) = r cos e x + r sin e y + z e z
Physical basis
x
= cos e x + sin e y
r
x
= r sin e x + r cos e y
x
= ez
z
Cylindrical Coordinates
Cylindrical Coordinates
Euclidean norms of the physical basis vectors
x x x
= 1, = r, = 1,
r z
Cylindrical Coordinates
Cylindrical Coordinates
Nabla differential operator
1
= er + e + e z
r r z
T
1
[ ] =
r r z
Cylindrical Coordinates
Navier Equations
e 2G z 2 ur
( + 2G ) + 2G + 0br = 0 2
r r z t
1 e r z 2u
( + 2G ) 2G + 2G + 0b = 0 2
r z r t
e 2G ( r ) 2G r 2u z
( + 2G ) + + 0bz = 0 2
z r r r t
Cylindrical Coordinates
Navier Equations
1 ( rur ) 1 u u z
e = div u = + +
r r r z
1 1 u z u
r = z =
2 r z
1 ur uz
= zr =
2 z r
1 1 ( ru ) 1 ur
z = r =
2 r r r
Cylindrical Coordinates
Components of the Strain Tensor
rr r rz
[ ] = r z
rz z zz
ur 1 1 ur u u 1 ur u z
+ +
r 2 r r r 2 z r
1 1 ur u u 1 u ur 1 u 1 u z
= + + +
2 r r r r r 2 z r
1 ur u z 1 u 1 u z u z
2 z r
+
+
2 z r z
October 11, 2013 Carlos Agelet de Saracibar 46
Linear Elasticity > Orthogonal Curvilinear Coordinates
Spherical Coordinates
Spherical Coordinates
Spherical Coordinates
Spherical Coordinates
Vector position
x = x ( r , , ) = r sin cos e x + r sin sin e y + r cos e z
Physical basis
x
= sin cos e x + sin sin e y
r
x
= r cos cos e x + r cos sin e y r sin e z
x
= r sin sin e x + r sin cos e y
October 11, 2013 Carlos Agelet de Saracibar 48
Linear Elasticity > Orthogonal Curvilinear Coordinates
Spherical Coordinates
Spherical Coordinates
Euclidean norms of the physical basis vectors
x x x
= sin , = r, = r sin ,
r r z
Spherical Coordinates
Spherical Coordinates
Nabla differential operator
1 1
= er + e + e
r r r sin
T
1 1
[ ] =
r r r sin
Spherical Coordinates
Navier Equations
e 2G ( sin ) 2G 2 ur
( + 2G ) + + 0br = 0 2
r r sin r sin t
1 e 2G r 2G ( r sin ) 2u
( + 2G ) + + b
0
= 0 2
r r sin r sin r t
1 e 2G ( ) 2G r
r 2
u
( + 2G ) + + 0b = 0 2
r sin r r r t
Spherical Coordinates
Navier Equations
1 ( r 2
ur sin ) ( ru sin ) ( ru )
e = div u = 2 + +
r sin r
1 1 ( u sin ) 1 u
r = =
2 r sin r sin
1 1 ur 1 ( ru )
= r =
2 r sin r r
1 1 ( ) 1 ur
ru
= r =
2 r r r
October 11, 2013 Carlos Agelet de Saracibar 52
Linear Elasticity > Orthogonal Curvilinear Coordinates
Spherical Coordinates
Components of the Strain Tensor
rr r r
[ ] r
=
r
ur 1 1 ur u u
rr = r = +
r 2 r r r
1 u ur 1 1 ur u u
= + r = +
r r 2 r sin r r
1 u u ur 1 1 u 1 u u
= + cot + = + cot
r sin r r 2 r sin r r
October 11, 2013 Carlos Agelet de Saracibar 53
Linear Elasticity > Assignments
Assignments
Assignment 7.1
A uniform compression pressure, denoted as p, is applied to the
lateral surface of the cylinder of radius R of the figure. The mate-
rial of the cylinder is assumed to be isotropic linear elastic with
Lam constants = . There is an horizontal rigid surface on the
top of the cylinder at a distance a<<R.
Body forces and frictional effects are a
Assignment 7.1
Assignment 7.1
Boundary conditions will depend on the value of the applied
pressure. Let us consider the following problems,
Problem 1: The cylinder is not in contact with the top horizon-
tal surface. BC on the top surface of the cylinder are zero
tractions. The range of values of the pressure is 0 p p *
where p * is the pressure needed for the cylinder just to make
contact (without contact pressure) with the top horizontal
surface.
Problem 2: The cylinder is in contact with the top horizontal
surface. BC on the top surface of the cylinder are zero
incremental vertical displacements (measured from the
displacements at the end of Problem 1) and p p *.
October 11, 2013 Carlos Agelet de Saracibar 55
Linear Elasticity > Assignments
Assignments
Problem 1 Problem 2
0 p p* p* p
0 p = p p *
a
u u
h h
p p
p p
A A
R R R R
Assignment 7.1
Problem 1
We consider the following steps:
Step 1. System of coordinates.
Taking into accoun the geometry of the problem, we select a
cylindrical system of coordinates to solve the problem.
Assignment 7.1
Step 2. Hypotheses on the displacements
Using cylindrical coordinates the displacement field takes the
form,
T
[u] = ur ( r, , z ) u ( r , , z ) uz ( r , , z )
Taking into account the axial symmetry of the geometry, loading
and BC we consider a displacement field of the form,
T
[u] = ur ( r, z ) 0 uz ( r , z )
Furthermore, taking into account that the pressure is uniform,
and there is frictionless contact we introduce the following
additional hypotheses, yielding a displacement field of the form,
T
[u] = ur ( r ) 0 u z ( z )
October 11, 2013 Carlos Agelet de Saracibar 58
Linear Elasticity > Assignments
Assignment 7.1
Step 3. Navier equations in cylindrical coordinates.
Taking into account quasi-static conditions and body forces
negligible,
e 2G z
( + 2G ) + 2G + 0br = 0
r r z
1 e r z
( + 2G ) 2G + 2G + 0b = 0
r z r
e 2G ( r ) 2G r
( + 2G ) + + 0bz = 0
z r r r
Assignment 7.1
Step 3. Navier equations in cylindrical coordinates.
Taking into account the hypotheses introduced on the displace-
ment field,
1 ( rur ) 1 u u z 1 ( rur ) u z
e = div u = + + = +
r r r z r r z
1 1 u z u
r = z = =0
2 r z
1 ur u z
= zr = =0
2 z r
1 1 ( ru ) 1 ur
z = r = =0
2 r r r
October 11, 2013 Carlos Agelet de Saracibar 60
Linear Elasticity > Assignments
Assignment 7.1
Step 3. Navier equations in cylindrical coordinates.
Then, the (non-trivial) Navier equations take the form,
e 1 ( rur ( r ) ) u z ( z ) 1 ( rur ( r ) )
= + = =0
r r r r z r r r
e 1 ( rur ( r ) ) u z ( z ) u z ( z )
= + = =0
z z r r z z z
Integrating the Navier equations yields,
1
ur ( r ) = A1r + A2 , u z ( z ) = A3 z + A4
r
Assignment 7.1
Step 4. Boundary conditions.
The BC on displacements for Problem 1 read,
1
ur ( r ) r = 0 = A1r + A2 =0 A2 = 0
r r =0
u z ( z ) z =0 = A3 z + A4 z =0
=0 A4 = 0
Substituting into the equations of the components of the
displacement yields,
ur ( r ) = A1r , u z ( z ) = A3 z
Assignment 7.1
Step 4. Boundary conditions.
The components of the strain tensor take the form,
A1 0 0
[ ] = 0 A1 0
0 0 A3
Taking into account that = , the components of the stress
tensor take the form,
4 A1 + A3 0 0
[ ] = 0 4 A1 + A3 0
0 0 2 A1 + 3 A3
October 11, 2013 Carlos Agelet de Saracibar 63
Linear Elasticity > Assignments
Assignment 7.1
Step 4. Boundary conditions.
The BC on the traction vector for Problem 1, conveniently
writting the non-trivial component in terms of the components
of the stress tensor yields,
r r=R
= ( 4 A1 + A3 ) = p
z z =h
= ( 2 A1 + 3 A3 ) = 0
Assignment 7.1
Step 5. Solution of Problem 1
The solution in displacements, strains and stresses for Problem 1
takes the form,
p T
[u] = [ 3r 0 2 z ]
10
3 0 0 p 0 0
p ,
[ ] = 0 3 0 [ ] = 0 p 0
10
0 0 2 0 0 0
Assignment 7.1
Step 5. Solution of Problem 1
The value of the pressure for which the cylinder comes into
contact with the top surface is given by,
p* 5 a
uz ( z ) z =h = h=a p* =
5 h
Then, the range of values of the pressure for the solution of the
Problem 1 is given by,
5 a
0 p p* =
h
Assignment 7.1
Step 6. Curve p-.
The curve p- for Problem 1 is given by,
3p 10
:= ur ( r ) r = R = R p=
10 3R
The stress zA for Problem 1 is zero for any value of p (within the
range of values of p defining Problem 1).
Assignment 7.1
Problem 2
We have to use an incremental formulation and we may use the
results obtained in Steps 1-3 from Problem 1, yielding an
increment of displacements,
1
ur ( r ) = B1r + B2 , u z ( z ) = B3 z + B4
r
Assignment 7.1
Step 4. Boundary conditions.
The BC on displacements for Problem 2 (imposed on the
reference or undeformed configuration) read,
1
ur ( r ) r =0 = B1r + B2 = 0 B2 = 0
r r =0
u z ( z ) z =0 = B3 z + B4 z =0
= 0 B4 = 0
u z ( z ) z = h = B3 z z = h = 0 B3 = 0
Assignment 7.1
Step 4. Boundary conditions.
The components of the incremental strain tensor take the form,
B1 0 0
0 0
[ ]
= B1
0 0 0
Taking into account that = , the components of the
incremental stress tensor take the form,
4 B1 0 0
[ ] = 0 4 B1 0
0 0 2 B1
October 11, 2013 Carlos Agelet de Saracibar 70
Linear Elasticity > Assignments
Assignment 7.1
Step 4. Boundary conditions.
The BC on the incremental traction vector for Problem 2,
conveniently writting the non-trivial component in terms of the
component of the incremental stress tensor yields,
p
r r=R
= ( 4 B1 ) = p B1 =
4
Assignment 7.1
Step 5. Solution of Problem 2
The incremental solution in displacements, strains and stresses
for Problem 2 takes the form,
p T
[ u ] = [ r 0 0]
4
1 0 0 2 0 0
p , p
[ ]
= 0 1 0 [ ]
= 0 2 0
4 2
0 0 0 0 0 1
Assignment 7.1
Step 6. Curves p- and zA -
The curve p- for Problem 2 is given by,
p 4
:= ur ( r ) r = R = R p =
4 R
Assignment 7.1
p p
4
p =
R
5 a
p=
h 10
p=
3R
3Ra
=
2h
Assignment 7.1
p p
p = 2 zA
5 a
p=
h zA
zA
Assignment 7.2
Assignment 7.2 [Classwork]
Consider a sphere A with radius R1=R and a spherical crown B
with external radius R2=2R. The two spheres are of the same iso-
tropic linear elastic material (Young modulus E>0 and Poissons
coefficient =0). There is a small uniform gap a<<R between
them. A uniform pressure p is applied on the external surface of
the spherical crown B.
Body forces and frictional effects B p
Assignment 7.2
Assignment 7.2 [Classwork]
1) Obtain the value of the pressure p for which the two bodies
come into contact.
2) Plot the curve pressure-delta, where delta is defined as
minus the radial displacement of the external surface of the
spherical crown B.
Assignment 7.2
Step 1. Taking into account the geometry and BCs of the problem
we will use a spherical coordinates system.
Assignment 7.2
Integrating the Navier equation yields,
B
ur ( r ) = Ar + 2
r
The non-zero components of the stress tensor take the form,
2B B
r ( r ) = E A 3 , ( r ) = ( r ) = E A + 3
r r
Assignment 7.2
Step 4. While the two bodies are not in contact, the displace-
ments, strains and stresses in the body 1 are zero and the
internal pressure on the body 2 is equal to zero. BCs for body 2,
while the two bodies are not in contact, take the form,
B 2B
(2)
r ( 2 R ) = E A 3 = p, r ( R ) = E A 3 = 0
(2)
4R R
Solving the system of equations yields,
8 4
A= p, B = pR3
7E 7E
Assignment 7.2
The radial displacement and normal radial stress for body 2 take
the form,
8 R 3
8 R3
ur ( r ) =
(2)
p r + 2 , r (r) =
(2)
p 1 3
7E 2r 7 r
The pressure needed for the two bodies to come into contact is
given by,
8 R 7 Ea
u (2)
r ( R) = p R + = a p=
7E 2 12 R
The solution obtained is valid for a range of values of the
pressure given by,
7 Ea
0 p
12 R
October 11, 2013 Carlos Agelet de Saracibar 81
Linear Elasticity > Assignments
Assignment 7.2
The curve p-delta for this phase of the loading will be given by,
8 R 17 7E
:= u (2)
r ( 2 R ) = p 2 R + = pR p=
7E 8 7E 17 R
p
7 Ea
p=
12 R
7E
p=
17 R
17 a
=
12
October 11, 2013 Carlos Agelet de Saracibar 82
Linear Elasticity > Assignments
Assignment 7.2
For higher values of the pressure, the two bodies will be in
contact and therefore the boundary conditions will be different.
The incremental radial displacement and incremental normal
radial stress fields for body 1 will be given by,
B1 2 B1
u ( r ) = A1r + 2 , r ( r ) = A1 3
(1)
r
(1)
r r
The incremental radial displacement and incremental normal
radial stress fields for body 2 will be given by,
B2 2 B2
u (2)
r ( r ) = A2 r + 2 , r ( r ) = A2 3
(2)
r r
Assignment 7.2
Denoting as p* the uniform contact pressure between the two
bodies, the boundary conditions for bodies 1 and take the form,
B1 2 B1
u ( r = 0 ) = A1r + 2
(1)
r = 0, (1)
r ( R ) = E A1 3 = p *
r r =0 R
2 B2 2 B2
( 2)
r ( R ) = E A2 3 = p*, r ( 2 R ) = E A2 3 = p
( 2)
R 8R
Solving the systems of equations, the constants are given by,
p*
A1 = , B1 = 0
E
1 4 R3
A2 = ( p * 8p ) , B2 = ( p * p )
7E 7E
October 11, 2013 Carlos Agelet de Saracibar 84
Linear Elasticity > Assignments
Assignment 7.2
The contact pressure p* can be determined by imposing that the
incremental radial displacement of the points of each one of the
bodies at the contact surface has to be the same, yielding,
ur(1) ( R ) = ur(2) ( R )
1 1 4
p* = ( p * 8p ) + ( p * p )
E 7E 7E
p* = p
Substituting into the expressions of the constants, yields
p
A1 = , B1 = 0
E
p
A2 = , B2 = 0
October 11, 2013
E
Carlos Agelet de Saracibar 85
Linear Elasticity > Assignments
Assignment 7.2
The incremental displacement and incremental stress fields for
bodies 1 and 2 take the form,
p
u ( r ) =
(1)
r r , r(1) ( r ) = p
E
p
ur ( r ) =
(2)
r , r(2) ( r ) = p
E
Note that the two bodies have the same incremental displace-
ment and incremental stress fields. This is because the two
bodies have the same material properties and, since they are in
contact, the two bodies deform as if they were a single sphere of
radius 2R. In fact Problem 2 could have been solved considering
the two bodies as if they were a single one.
October 11, 2013 Carlos Agelet de Saracibar 86
Linear Elasticity > Assignments
Assignment 7.2
The incremental p-incremental delta curve is given by,
2R E
:= u (2)
r ( 2 R ) = p p =
E 2R
p p
E
p =
7 Ea 2R
p=
12 R 7E
p=
17 R
17 a
=
12
October 11, 2013 Carlos Agelet de Saracibar 87
Linear Elasticity > Linear Thermoelastic Model
M ( , ) := ( 0 ) :
Dint := : 0 ( + )
( , ) ( , )
= : 0 0 : 0
( , ) ( , )
= 0 : 0 + 0 0 ,
2 ( , ) 2 ( , )
C = 0 , Cabcd = 0
ab cd
2 ( , ) 2 ( , )
= 0 , ab = 0
ab
2 ( , )
c0 = 0
2
October 11, 2013 Carlos Agelet de Saracibar 95
Linear Elasticity > Linear Thermoelastic Model
0
C = C+
0c0
C = 0
2
e ( , )
, Cabcd = 0
2
e ( , )
ab cd
c0
= 0
2
e ( , ) c0
, ab = 0
2
e ( , )
0 0 ab
1 1 e ( , )
2
=
c0 0 2
October 11, 2013 Carlos Agelet de Saracibar 106
Linear Elasticity > Linear Thermoelastic Model
0 2
:= + , :=
0c0
October 11, 2013 Carlos Agelet de Saracibar 108
Linear Elasticity > Linear Thermoelastic Model
= ( tr ) 1 + 2 ( 0 ) 1
m = Ke ( 0 )
2
T
) in I
)
u t =0 = 0
u = u on u I
u in
t = n = t on I = v0
t t =0
October 11, 2013 Carlos Agelet de Saracibar 120
Linear Elasticity > Solution of the Linear Thermoelastic IBVP
div = div ( ( tr ) 1 + 2 ( 0 ) 1)
= grad ( tr ) + 2 div grad ( 0 )
n = ( ( tr ) 1 + 2 ( 0 ) 1) n
= ( tr ) n + 2 n ( 0 ) n
(
= ( div u ) n + grad u + ( grad u ) n ( 0 ) n
T
)
(
n = ( div u ) n + grad u + ( grad u ) n ( 0 ) n = t
T
)
Introducng a modified prescribed traction vector defined as,
t := t + ( 0 ) n
the (modified) prescribed traction boundary condition may be
written as,
(
n = ( div u ) n + grad u + ( grad u ) n = t
T
)
October 11, 2013 Carlos Agelet de Saracibar 124
Linear Elasticity > Solution of the Linear Thermoelastic IBVP
(
( div u ) n + grad u + ( grad u ) n = t on I
T
)
u
u t =0 = 0, = v0 in
t t =0
October 11, 2013 Carlos Agelet de Saracibar 125
Linear Elasticity > Solution of the Linear Thermoelastic IBVP
2
T
) in I
Isotropic linear thermoelastic constitutive equation
= ( tr ) 1 + 2 ( 0 ) 1 in I
Assignment 7.3
Assignment 7.3
A void cylinder of an isotropic linear thermoelastic material with
height h, inner radius R and outer radius 2R, is inside of a rigid
void cylinder of the same height h and inner radius 2R+a, such
that there is a gap a<<R between both of them, as it is shown in
the figure. A uniform increment of temperature is applied to
the inner cylinder.
a
2R a
A B A B
h
R
R
2R
Assignment 7.3
Assignment 7.3
The problem is considered as quasistatic. Body forces in the
cylinder and frictional effects are negligible. The material proper-
ties of the inner cylinder are: Young modulus E , Poissons coeffi-
cient = 0 and thermal expansion coefficient .
1) Compute the increment of temperature needed for the inner
cylinder to come into contact with the rigid one.
2) Plot the vs curve, where is the radial displacement of
the inner surface of the inner cylinder, and determine the
increment of temperature needed for the inner radius of the
cylinder to go back to its original position.
3) Plot the r vs , vs and z vs curves at the inner
and outer surfaces of the inner cylinder.
October 11, 2013 Carlos Agelet de Saracibar 128
Linear Elasticity > Assignments
Assignment 7.4
Assignment 7.4
Let us consider a sphere of material 1 and radius R1 = 1 placed
inside a void sphere of material 2, inner radius R1 = 1 and outer
radius R2 = 2 . Both spheres are initially in contact without any
pressure. An external uniform pressure p is applied to the exter-
nal surface of the void sphere and a uniform increment of tem-
perature is applied to both spheres.
Materials 1 and 2 are isotropic linear ther- B p
Assignment 7.4
Assignment 7.4
1) Determine all the possible values of p and (positives or
negatives) such that the contact between the two spheres is
maintained. Plot the result in a p vs axis.
2) Obtain the stresses in the each one of the two spheres for
those values.
yielding,
ux = ux ( x, y ) , u y = u y ( x, y )
yielding,
u z = u z ( x, y , z )
ux ( x, y ) uz ( x, y, z )
xz = + =0
z x
u y ( x, y ) uz ( x, y, z )
yz = + =0
z y
: t * = 0
b
+ : t * = 0
y superficie media
ux u y ux u y
x ( x, y ) = , y ( x, y ) = , xy ( x, y ) = +
x y y x
u z
z = =0
z
ux uz u y uz
xz = + = 0, yz = + =0
z x z y
x xy 0
[ ] = xy y 0
0 0 z
such that,
x = x ( x, y ) , y = y ( x, y ) , xy = xy ( x, y )
z = z ( x, y ) =
2( + )
( x + y ) = ( x + y )
Seccin transversal
Seccin
transversal
Seccin transversal
x 1 0 x
E
y = 2 1 0 y
1
xy
0 0 (1 ) 2 xy
E
E = E E = 1 2
Plane stress: Plane strain:
= =
(1 )
October 11, 2013 Carlos Agelet de Saracibar 149
Linear Elasticity > Plane Linear Elasticity
u x u *x
= * on u I
u y u y
2. Prescribed tractions
x xy nx t x ( x, y , t )
*
= * on I
xy y n y t y ( x, y , t )
October 11, 2013 Carlos Agelet de Saracibar 151
Linear Elasticity > Plane Linear Elasticity