III.

Basis of Mechanics
3.1 General Consideration
3.2 Newton’s Law of Motion and Statics
3.3 Unit and Dimension
3.4 Material
3.5 Solid Mechanics of Slender Members
3.6 Uniaxial Loading
3.7 Torsion
3.8 Beam Theory
3.9 Buckling
3.10 Special phenomenon
3.1 General Consideration
 Basis of mechanics
 Three major factors
Force Material Displacement
Rigid-body motion
Deformation
 Material and Continuum, Deformation of material
 Solid

<Grain> <Grain and boundary> <Continuum>

 Rigid-body : No change in distance between particles occurs under external force.

 Elastic deformation: Deformation due to external force disappearing when it removes.
 Plastic deformation: Deformation due to external force remaining when it removes.

 Fluid including gas

 Some details of the 3 major factors

 Force
Internal Action and reaction force
Force Traction Exerted load, Reaction force
External
Body force Gravity, Magnetic force

 Displacement or motion
Rigid-body motion

Deformation

 Material: Set of particles continuously distributed Continuum

 Solid
 Rigid-body: No relationship between force and displacement is needed.
 Elastically deformable body: Linear elastic(Hooke’s law) and Non-elastic,
Isotropic(Common material) and Anisotropic (Composite material)
 Plastic body: Yield criterion, Isotropic hardening, Kinematic hardening

 Fluid including gas

 Classification of solid mechanics (SM)

Displacement Rigid-body Statics

Rigid-body
General SM dynamics
Elasticity

Deformation Narrow SM Plasticity

Flexible Fracture
dynamics mechanics

Vibration
3.2 Newton’s Law of Motion
and Statics
 Newton’s law of motion
Newton’s law

2nd Sum of all the forces exerting on a particle ( f ) is

equal to the acceleration ( a ) multiplied by the mass
law ( m ), i.e., f = ma.
Fi  R
j
ij
0  (F   R
i
i

j
ij
)0  F
i
i
  R
i j
ij
0
i, j  1,2, ,   x  2  0   (O)
3rd Action and reaction law: Two internal forces exerting   x y 5 0
 y  3  0   ( X)
law
between two particles have the same magnitude and
line of action and the opposite direction.
Rij   Rij 
i j
Rij  0

A material is a set of infinite number of particles .

F
•
i
0
i
• F : Sum of external force exerting F
on particle i F5 F
ij
R  
• R : Internal force exering on particle j R r F  R
i
i ij
0  r i  Fi   ri  R ij  0
from particle i
i  j  i i j

R
• All forces are bounding vectors.
R R R
R R  r  R
i j
i
ij
0
R
F
r  F
i
i
0
R R i
R R R R
F
R Requirement
F i
0 or F  0
R
R
r R R on equilibrium
r  F  0
i
i
or M  0 A
i
F
• The above requirement of equilibrium should satisfy
r
for all subsystem as well as the whole system.
F
A Leading to differential equations, for example,
r2  R  r3  R  o
23 32
equations of equilibrium.
 Derivation of requirement on equilibrium
using a six-particle body
F
F F1 + R 12 + R 13 + R 14 + R 15 + R 16 =0
R R F 2 + R 21 + R 23 + R 24 + R 25 + R 26 =0
R F 3 + R 31 + R 32 + R 34 + R 35 + R 36 =0
R R R
R R F 4 + R 41 + R 42 + R 43 + R 45 + R 46 =0
R
F 5 51 52 53 54 56
 F +R +R +R +R +R =0
R R
R R R R F 6 + R 61 + R 62 + R 63 + R 64 + R 65 =0
F
R
R
R F i
=0 Rij = -Rji
r R R

F
r
F
r 1  F1 + r 1  R 12 + r 1  R 13 + r 1  R 14 + r 1  R 15 + r 1  R 16 = 0
A
r 2  F 2 + r 2  R 21 + r 2  R 23 + r 2  R 24 + r 2  R 25 + r 2  R 26 = 0
r 3  F 3 + r 3  R 31 + r 3  R 32 + r 3  R 34 + r 3  R 35 + r 3  R 36 = 0
r 4  F 4 + r 4  R 41 + r 4  R 42 + r 4  R 43 + r 4  R 45 + r 4  R 46 = 0
r 5  F 5 + r 5  R 51 + r 5  R 52 + r 5  R 53 + r 5  R 54 + r 5  R 56 = 0
 r 6  F 6
+ r 6  R 61
+ r 6  R 62
+ r 6  R 63
+ r 6  R 64
+ r 6  R 65
=0
 r i  Fi = 0 ri  Rij = -rj  Rij

※Actual number of particles is infinite.

 Subsystem

Fy 2
Fx 2
※ The requirement of equilibrium should satisfy for any subsystem. Fy1
This statement is the same with the following statement: The Fx 3
requirement of equilibrium should satisfy for arbitrary infinitesimal area y
Fx1
in 2D or volume in 3D, leading to differential equation. Note that we
should define stress, i.e., force per unit area to define the force x
Fx 3
exerting on boundary of the infinitesimal area in 2D or volume in 3D.
Fx 4 Fy 4
 Requirement on equilibrium in 2D and 3D
2D plane 3D space Tip
  Fx  0 
  Fx  0    x,y, and z can be
 F  0   F  0   F  0   y F  0  replaced by any
 y    three independent
  Fz  0  directions

  M A, x  0 
 
M  0    M A, z  0   M A  0    M A, y  0 
A

M  0 
 A, z 
3 equations 6 equations

 Examples
P y
y'
F
f DF 
D E D
2L W
f BD RB
f AD 45  
45  
A C x
2L B 2L RA
x'
 Caution in applying requirements on equilibrium

  Fi  0 
F2    MB  ?
i

Fi   M A  r  F  0
A 
 i i 
A B
 i 
ri r i

 M B   ri  Fi
B
AB

r  i
B
A r B
  (ri  r )  Fi
1 A AB
A
r 1 F1 Fn i

  ri  Fi   r
A AB
 Fi
A AB B
ri  r  ri
i i

 M r   Fi
A AB

0
 F  0,  M  0   M  0
A B
ri and ri are dependent  A B
on the position of point i,
while r
AB
is fixed.
 M  0,  M  0   F  0
A B

(If r  F) AB
 Statics
 Statics and solid mechanics with three factors of mechanics
Subsystem 1
Factor Statics Solid mechanics

Force Requirement on equilibrium Equation of equilibrium or motion

Deform- Rigid-body Displacement-strain relation, Geometric

ation compatibility ground
Elastic body: Hooke’s law
Material Rigid-body
Plastic body: Plastic flow rule Subsystem 1 Subsystem 2
BC Geometric(essential) BC Geometric(essential) BC, mechanical(natural)
BC

 Entire system
 Ground and support
 Subsystem ground

 Separation of subsystems
 Essential separation of subsystems from support or ground
 Division of subsystems if needed
-When number of equations should be greater than that of new knowns
-When internal resultant forces is to be seen

 Newtonian mechanics Analytical mechanics

based on vector quantities based on energy
 Free-body diagram and application of RE on it
 Simply supported beam  F.B.D. No. 5   F.B.D. No. 6 
a P b a P b a P b
HA HA HB
L (X A)
VA (YA ) 
(X A)
VB (YB ) VA (YA )  (XB)
VB (YB )
a P b
 F.B.D. No. 1 
 Requirement on equilibrium
RA  RB   Fy  0 ; RA  RB  P  0 
P b    RA  (b / L) P 
No. 1   Fx  0 ; 0  0
a
 F.B.D. No. 2   
   R  ( a / L ) P 
 A
B
  

M 0; L R B a P 0 
RA RB
a P b   M A  0; L RB  a P  0 
 F.B.D. No. 3     RA  (b / L) P 
No. 2   x   

F 0 ; 0 0
 
   B
R ( a / L ) P 
RA VB  B
M  0;  L R A  b P  0 
a P b   Fy  0 ; VA  VB  P  0  H 0 
 F.B.D. No. 4     A 
No. 3   Fx  0 ; H A  0    VA  (b / L) P 
RA  YB 
  M A  0; LVB  a p  0
  V  (a / L) P 
  B 
 Statically indeterminate system
 3 points supporting beam
 Requirement on equilibrium
P
F  0 ; 0  0
x
①
A L/2 L/2 B L
F  0 ; R  R  R  P  0
y A B C
②

 M  0 ; L R  2 L R  ( L / 2) P  0
A B C ③

 M  0 ;  LR  LR  ( L / 2) P  0
B A C
④

 F.B.D.   M  0 ;  2 LR  LR  (3/ 2) L P  0
C A B
⑤

P  Eqs. ① ~ ⑤ have only two independent equations.

 Infinite number of equations can be made applying
moment balance requirement at arbitrary point.
RA RB RC
 Number of unknowns > number of equations
⇒ Statically indeterminate system

 Reactions in a statically indeterminate system can be determined

not by statics but by solid mechanics.
Division of total system into subsystems
Division of total system into subsystems

Rx M
Rx
Ry Ry
Division of total system into subsystems
 Forces in members of a truss structure
A C E
2
 At E
 Fx  0 ;  fCE  2 f DE  0
P
P
2
D
f CE  y F  0 ;  P 
2
f DE  0
B

f DE  f DE   2 P, f CE  P
f CD
2P
 At D f BD
2
 Fx  0 ;  f BD  2 P 2
0
 At C
2
 y
2
F  0 ; FCD  2 P 
2
0
f AC P
 Fx  0 ; P  f AC  2
f BC  0

 f BD   P, fCD  P 2
f BC
P  Fy  0 ;  P  2
f BC  0

Ans . f AC  2 P (in tension)  f BC   2 P, f AC  2 P

f BC   2 P (in compression), 
 2D static problem
 Tension of cable, T ?

 F.B.D. 
T

RB
30
300kg

RA

 Applying RE on FBD

 F  0 ; T  R sin 30  0
x B

 F  0 ; R  R cos30  300  0
y A B

 M  0;  8cos30 R  4 cos30  300  0

B A
 3D static problem
 Cable tension T ?

.  F.B.D.  z C  Requirement on equilibrium

D
D
T
 F  0; A  Bx x  2T
46.2
0
B
2kN Bx Ay  2  2.5T 0
Bz 46.2
Az  Bz  2T 0
E 46.2
E
M
A
Ay C
 0; rCA  ( Ax i  Ay j  Az k )
Ax
x Az y
 rCD  (2 j )
 Vector expression of line segments CA and CE  rCB  ( Bx i  Bz k )  0
rCA   3 i  6 k , rCD  5.5 i , rCB  3 i  4.5 k

CE  (  i  2.5 j )  (  3 i  6 k )  2 i  2.5 j  6 k
CE  ce  (2 i  2.5 j  6k ) / 46.2
CE
3.3 Unit and Dimension
 Unit and dimension

 System of Units

※ Three basis units characterize the system of units.

 Conventional unit: Basis units are length, weight, time, current, temperature, etc.

 Science unit: Basis units are length, mass, time, current, temperature, etc.

 Dimension
 [Length] ≡ [L], [Mass] ≡ [M], [Time] ≡ [T], [Weight] ≡ [F]

 Basis units of system of science units: [L], [M], [T]

 Basis units of system of conventional units : [L], [F], [T]

 British unit and SI unit

 British unit
 Basis unit: ft, lb, sec
 British unit belongs to conventional unit, i.e, lb means basically lbf(pound force).
 Unit for mass : slug = lb · sec2/ft

 SI unit (The International System of Units)

 Basis unit: m, kg, s
 In SI unit, kg means basically kgm(kilogram mass).
 Unit for force: N = kg · m/s2

 Entangled or mixed use of conventional and science units

 Many countries belonging to the Commonwealth of Nations are using British unit.
 The other countries are using SI unit. However, most people are using the SI unit like British unit, i.e,
they are using kg (i.e., kg force) instead of N (Newton).

 Sometimes mass is expressed in kg · s2/m, where kg means kgf.

 Basis unit, complement unit, assembled unit
 Basis unit
 Length : m, ft  Mass : kg, slug  Time : s, sec
 Current : A  Temperature : K  Voltage : V

 Complement unit
 rad

 Assembled unit
 Velocity : m/s, ft/sec  1N = 1kg · m/s2 , lb, kg
 Pressure : 1Pa = 1N/m2, psi = lb/in2, psf = lb/ft2, kg/m2, kg/mm2
 Work : 1J = 1N · m, lb · ft, kg · m  Power : 1W = 1J/s, lb · ft/sec, kg · m/s, PS, hp
 Moment : N · m, lb · ft, kg · m

 Factors for unit

 T(1012), G(109), M(106), k(103), c(10-2), m(10-3),  (10-6), n(10-9), p(10-12)

 Relationship between the two systems of unit

 1ft = 0.3048 m, 1 in = 25.4 mm, 1lb = 0.4536 kg

All units should be expressed in Roman characters while variables in Italic or

bold Roman characters.
 Example 1
 k
m n  , k  1kg/mm, m  1kg
m

1kg f /mm 1kg m g 1kg m 104 mm

k n   
1kg m 1kg m mm 1kg m mm  s 2
1
 100
s 1 k 50
n   (Hz)
2 m 

 Mistake due to gravitational acceleration.

Calculation of blow energy per stroke in hammer forging

E = (m × g + p × A)H
E = (56500kg×9.8+7kg/㎠×17671.5㎠)0.75m m/s 2
7kg/cm 2
=(553700kg +123700kg)0.75 cm 2

E = 508,050kg.m → 4,982,250 N-m

 From a lecture note floating in internet

Physical quantities SI U.S customary

and dimensions
mass [M] kg slug
length [L] m ft
time [T] s sec
force [F] N lb

F  ma  N  kg  m / sec 2
Original
W ( weight )  m(kg)  g (m / sec ), g  9.806 .m / sec
2 2

F  ma  N  kg  m / s 2
Modified
W ( weight )  m(kg)  g (m / s 2 ), g  9.806m / s 2
3.4 Material
 Tensile test

1200

Experiment (SCM435)
Analysis (SCM435)
1000 Experiment (ESW95)
Analysis (ESW95)
Engineering stress (MPa)

Experiment (ESW105)
Analysis (ESW105)
800

600

400

200

0
0 0.1 0.2 0.3 0.4
Engineering strain (mm/mm)
 Tensile test
Tensile test Lf  L0  
Definition of e and e
L0

 P
e  , e   e : engineering
P P L0 A0  t : true
Lf
Current
Initial
area A0
 t  ln  ln 1  
e 
EngineeringLstrain, Engineering stress
area A 0
Before necking occurs (Engineering = Conventional=Nominal)
P P A
t   0

A A A
Hooke's law 0in uniaxial loading
P Lf
   e 1   e 
t  A
E0 t ,L
0
 E
 x  E x ,  xx  E xx

Poisson’s ratio

Engineering stress-engineering strain curve

Y : Yield strength  lat 

Predictions of tensile test
U : Tensile strength    t
 max  100(%) : Elongation  long a
 Generalized Hooke's law for an isotropic material
y
Small deformation
 y Principle of superposition y
x
x
  
x z
z z
isotropic x y z
x  y  z 
E E E
 y   z  v x  x   z  v y  x   y  v z
 xy   yz   zx  0  xy   yz   zx  0  xy   yz   zx  0

E
i  0 G
2(1   )   Coefficient of
  x  E  x  v  y   z    T  thermal
1
1   xx  
  expansion
1 Poisson’s ratio    1   v       T 
 y E y x z 

  Hooke’s law
 xx 1  xx 1  ( xx )   z   z  v  x   y    T 
1 for an
 E    isotropic
   material
 yy   zz   xx    xx 1 1 1
  xy   xy ,  yx   yz ,  zx   zx 
E  G G G 
Thermal load and shrink fit
C
L

779MP
a -18MPa
3.5 Solid Mechanics
of Slender Members
 Mechanics of slender members
 Truss member or rod – Uniaxial loading  Stresses in beam
 Axial force
F
 Normal stress:  x   xx 
A t

 Circular shaft - Torsion

 Twisting moment
x
Tr
 Shear stress:  z 
J Mb y VQ VQ
x   ,  xy  ,  xz 
I zz bI zz tI zz
 Beam z ( x)
 Column
 Lateral force – Bending
moment and shear force  Compressive axial force
 Normal and shear stress,  Buckling P P
 I-beam, H-beam

Flange
Column
x Buckled
Web
 Internal force
 Definition of axes  Definition of cross-section
y
y

Axis of symmetry Positive x-face Negative x-face

z x
Neutral axis x1

z x

 Force and moment exerting cross-section y

y M xx : twisting moment Mb
Mb
M xz , M xy : bending moment
M xy x
Fxx : axial force F F
Fxz , Fxy : shear force V V
Fxy
F  Fxx , V  Fxy , M b  M xz
Fxx
Fxz M xx
M xz
 First subscript: Direction of face
x  Second subscript: Direction of force
z 3D 2D
3.6 Uniaxial Loading
 Deformation and stress in uniaxial loading

Spring) Rod, truss member

P P, x P P, 

P   P/ A
Stress
Force-deformation E
k
relationship 1 Strain
1
x   /L
k : spring constant E : modulus of elasticity
Hooke’s law
P  kx P  AE  ,   E , P  E 
k eq  AE L A L
L

x1P Displacement  L P
k AE

U  1 kx 2  1 1 P 2 Strain energy U  1 keq 2  1 L P 2

2 2k 2 2 AE
 Displacement, strain and stress in rod
3P 2P P P
P 2P
x
L0 A0
 2P Fx ( x)
Fx ( x) P
P P
x
x
Fx ( x) P P
 x ( x) 2 P / A0  x ( x) 2P
x P / A0 P / A0
x x
 x ( x) P / A0 2 / L0  P / A0
 x ( x)  / L0 2 P / A0
x
u ( x)
 x ( x)  / L0 x
x
x u ( x)  x ( x)
 / L0
x
u ( x)  x
x  / L0
2 / L0
P P P F ( x) F ( x  dx)
x x x
Fx ( x) P Fx ( x) P Fx ( x)
x x x
 x ( x) P / A0  x ( x) P / A0  x ( x) E
du
dx
x x x
 x ( x) du
 x ( x)  / L0  / L0  x ( x) dx
x x x
u ( x) u ( x)  /4 u ( x)
 /2 x x x
 Rod
P P

P P
Saint-Venant’s principle
End Effect ⊙ Two statically equivalent loads
have nearly the same influence on P
the material except the region near
to the load exerting area.
UP Down = P

Non-end Effect

P
=
Down UP
P
Principle of
End-Effect
symmetry
P P

P
P

(X) (X) (X) (O)

P/n n개
P

●●●

P
 Internal force, stress vector in tensile test
0 Stress vector
P   0 A 0i P  0A 0
(n )
P
n  cos  i  sin  j T  t (n)    0 sin  i
i A
θ θ j θ  0 sin 
A
o o A 0 o  0 cos  sin   nt

A0
sin 
= t θ n
x
 0 sin 2   nn
0 y

P  0A 0 t ( n )   0 sin 2  n   0 cos sin  t

θ=0
θ  30
θ  90 θ  45
θ  60
n
0 n n
θ n 0
3 θ 1
θ 0 2 0 o n
o o 0
o 2 2 o 2 1
0
4

3
0
4
 Internal force and stress components
0
N = P sin
n
t T = P cos 
N
T A0
θ θ A N P
o o sin  Normal stress  nn   sin 2    0 sin 2 
A A0
T P
A0 Shear stress  nt   cos  sin    0 cos  sin 
A A0

0 t ( n )   0 sin 2  n   0 cos sin  t   nn n   nt t

P  0A 0 P
θ=0

t θ  30
θ  90 t θ  45
θ  60
n
0 t n n
θ n 0
3
n  0 θ 1 o n
4 n  0
o θ o 2 o 1
n  0
o 4
1
3  nt   0
 nt   0 2 3
4  nt  0
4

P P P P
 Example
A B C D E
Ⅲ Force-deformation relationship
l1 l2 l3 l4 ③ ④
P l5 l6 Rl R l
C  C 5 ,  D  D 6
AC EC AD ED
<F. B. D.> Ⅱ Geometric compatibility
B
D E
P B C
RB RC RD
l2 l3 l4
l
Ⅰ
l2 :  C  (l2  l3 ): D   D  (1  3 ) C ⑤
Force equilibrium l2
F  P R  R  R  0
y B C D
①
 Reaction and displacement of point E

 M  l P  l R  (l  l ) R
B 1 2 C 2 3 D 0 ②
③④→⑤: RD 
AD RC l5 l
(1  3 ) RC ⑥
AC RDl6 l2
①,②,⑥ → RB , RC , RD
※ x-directional displacement is neglected under
small deformation. l2 :  C  (l2  l3  l4 ):  E
 Statically indeterminate system – thermal load
< Method I>
<F. B. D.>
A B C
P P
A1 , L1 , E1 A2 , L 2 , E2
T
1 , 1 2 , 2

Ⅲ Force-deformation relationship Ⅱ Geometric compatibility

 BA  1 L1  (- P / EA1  T ) L1  CA  0 ①

 CB   2 L2  (- P / EA2  T ) L2
 CA   BA   CB
L1 L
 P(  2 )  T ( L1  L2 ) ②  From Eqs. ① and ②
EA1 EA2
ET ( L1  L2 ) A1 A2 ET ( L1  L2 )
P 
< Method Ⅱ>
L1 L2 L1 A2  L2 A1
(  )
A1 A2
 CA due to T  T ( L1  L2 )
PL1 PL2  CA (T )    CA ( P)
 CA due to P   
A1 E A2 E
 Deformation of cylindrical pressure vessel

<F. B. D.> Ⅰ Force equilibrium

F x 0;
d 
Fs Fs < Method Ⅰ>

FT  Fs  0 FT 2 FT   rpb sin  d  0
0

< Method Ⅱ>

2 FT  p  b  2r  0  FT  pbr

Ⅱ Force-deformation relationship
t t
( pbr )2 (r  ) pr (r  )
T  2  R  2
p
(bt ) E tE FT FT

T
2 (r   R )  2 r  2 R  R 
2
 Tension in belt
 Law of Coulomb friction
N
Brake band N

F
v
N
μΔN N
 Magnitude: F   N
 Direction: Preventing relative motion
 : Coefficient of Coulomb friction,

 Applying RE on the FBD and governing equation  Solving

  Fr  0 ; N  T sin( / 2)  T (   )sin( / 2)  0  dT
   d
 
  F  0 ; N  T cos( / 2)  T (   )cos( / 2)  0  T
   ln T  C  
  
T  Ce  
dT
T (   )  T ( )   , sin  , cos 1
d 2 2 2

 dN   Boundary condition
  2   d  T  dT
 N  T   T   0    0 T (0)  T0
2    T
   dN T   d
 N  T   0   d    T  T0 e  
  
 Strain energy in rod

Force-deformation   P/ A
relationship P P,  Stress
E
P P, x 1 Strain
k eq du x
E : modulus of elasticity   /L 
dx
Hooke’s law   E , P  E  , P  AE  ,   PL  L P, k eq  AE
A L L AE AE L

 
L  1 P PL / L AL  1 P  V
2
Strain energy U  k eq 
1 2 P
2 2 AE 2 A AE 2AL

u  U  1   strain energydensity(function)
V 2
U   udV    dV  
1 1  2
dV
V 2 V 2 V E
2 2
  2  dAdx  
1 P 1 P dx
2 LA E A 2 L AE
2 2
du du
U  1  E 2 dV  1  E x  dAdx  1  EA x dx
2 V 2 L dx A 2 L dx
 Generalization of uniaxial loading
 Strain in rod under uniaxial loading Ⅰ Force equilibrium
xx
A B  F   F ( x)  q( x)x  F ( x  x)  0
x
Undeformed q  x  : Load per unit length dF
x    q( x)
x x  x dx
u (x ) u (x   x)
Ⅲ Stress-strain relation
Deformed q (x) x F(x  x)  F(x)  dF x
F(x)
dx   E Hooke’s law

x x

x
q(x)dt  q(x)x  0(x)2 F ( x)  A  AE  AE
du
dx
dF
A ' B ' AB u ( x  x)  u ( x) du   q( x)
  lim   x dx
AB x  0 x dx

x 0 0  d du
0  ( AE )   q( x)
 v x 0  dx dx
0 v x 
 0 Governing equation
3.7 Torsion
 Torsion of cylindrical shaft, problem definition
 Cross-section: Circular shaft (CS) Mt, T

 Role of CS: Power transmission, spring, etc. Shaft

 Assumption to apply rule of symmetry

Mt, T
 End-effects are negligible (Saint-Venant Principle)
 Uniform cross-section
 Geometry and material are axisymmetric Mt Twisting moment, torque
 Symmetric expansion and contraction are neglected
 Lengthening and shortening are neglected z
 Rule of symmetry z
Cavity

Mt Mt

upside
( x, y , z )
( r , , z ) • r
down
x  r cos
y  r sin  z
Mt Mt
zz
y

r y
 Summary x
 Diametrical straight line remains straight line x Local coordinate system
 Plane section, perpendicular to the central line, remains plane Reference coordinate system
 Relation of strain and angle of twist
 Strain components  Shear strain   z and angle of twist
z
  xx  xy  xz   ( z  z )  : Angle of twist
  rr  r  rz 
    d

 yx  yy
 yz 
  
  r   z  dz
: Rate of twist
r
       
 zx zy zz   zr z zz  z 


 Normal strain:  rr      zz  0
From assumption z  ( z) r     z z

 Shear strain:  r  Shear strain:  rz z r   z  r
z

z z d
  z   z  r
dz

r  z plane
r   plane  : Angle of twist

 r    r  0  rz   zr  0  rx  0 d
: Rate of twist
dz
 Stress components

 x-y-z coordinate  Cylindrical coordinate

system system

z
z  x plane   z plane
y  z plane z

r   plane
y
x
  xx  xy  yz  x  y plane z  r plane r   rr r rz 

 z 
 
 xy  yy  yz  z z  r 
   zz 
 zx  zy  zz   zr  z
z  face z  face  zz 
 zz
 z

 zx  zy  zr
 xz  yz  rz
r  r
y  face r  face
 xy  yx  yy  z  rr
 
 xx y r
x x  face (  )  face
 Hooke’s law
d  du u
  z  G  z  Gr  Gr L  xx  E xx  E E L   rr  1  rr      zz  
dz L dx L E

G
E 
   1     zz   rr  
E
2(1   )
  zz  1  zz   rr     
E

 Torsion test 2 1   
 Tensile test  r   r  1  r
E G

  G 
  E 2 1   

 z  z  1 z
E G

2 1   
    zr   zr  1  zr
E G
G E

1 1
 

 rr  r  rz   0 0 0    rr r rz   0 0 0 


  r   z    0 0 rd / dz 

 r   z    0 0 Grd / dz 

 zr  z  zz   0 rd / dz 0  
 zr  z  zz   0 Grd / dz 0 

 Requirement on equilibrium
 Homogeneous shaft
d dr
Mt   rdF   r dA   Gr 2
dA dF   dA
A A dz A
r
d d dF
Mt  G  r 2 dA GJ GJ : Torsional
r
dz A dz rigidity
d M Mr dA
 t    z   z  t A
dz GJ J dA  2 r dr
R0 
J   r 2 dA  2  r 3 dr  ( R 04  R i4 ) Polar second moment of inertia
A Ri 2 at the cross-section

 Composite shaft
d A 1G 1
M t   rdF   r dA   Gr 2
dA A 2G 2
A A dz A

d
G r 2 dA  G   d (G J  G J )
 1 A1 2 A
Mt  r 2
dA
dz 2  dz 1 1 2 2
Stress
d
, Gi   G1 if r  A1 
Mt Gi rM t
  
dz G1 J1  G2 J 2 G1 J1  G2 J 2  G2 if r  A2  r r
 Example 1 – Statically determinate system
< F.B.D. >

A L1 B L2 C
TA
TB  TC
TB TC

 Moment balance

M x  0;
TA  TB  TC  0  TA  TB  TC
M t , AB   TB  TC
M t , BC   TC

 Maximum angle of twist and stress

1
CA  [(TB  TC ) L1  TC L2 ]
GJ
(T  T )(d / 2)
 max  B C
J
 Example 2 – Statically indeterminate system
< F.B.D. >
A B C

TA T TC

 Moment balance  Geometric compatibility: CA  0

M x  0; 1
TA  T  TC  0  TC  T  TA
CA  BA  CB  [TA L1  (TA  T ) L2 ]  0
GJ
M t , AB  TA L2T
 TA 
M t , BC  TC  TA  T L1  L2

 Angle of twist at Point B and maximum shear stress

M t , AB TA L1 1  L1 L2T  L1 L2T
BA   dx     
GJ GJ GJ  L1  L2  GJ ( L1  L2 )
Tmax r
 max  , Tmax  max(TA , TC )
J
 Example 3 – Design of circular shaft

 Given value
P  260 hp, n  3800 rpm,  a  30,000 psi Ship

 Determination of diameter of the shaft

P  260 hp  260  6600 in  lb / s 1.716  106 in  lb / sec
2 rad rad
  3800 rpm  3800   398
60 sec sec
P  T   T  4.31 103 in  lb ①

T (d / 2) 16T 3 lb 16T
 max     (  30  10 )  d  ②

3

d 4 d3 a
in 2  a
32
16T
①+② d  3  0.90 in  1hp  76kg  m / s
 a
1 1
 76   lb  ft / sec
0.453 0.3048
 Summary of torsional problem of circular shaft
z Strain Stress

  rr  r  rz  Hooke’s law


0 0 0

 Force
      d  Mt
r
d  equilibrium
0 
  r   z 
0 Gr
 dz  dz GJ
    • rr 
1        
E  rr zz  d 
 zr z zz 

0 Gr 0 
z •  
1     zz   rr    dz 
 ( z  z ) E
•  zz  1  zz   rr     
E Mt r
r  r
 z   z 
z  r 
• J
 G
 z
 
• z 
G
For composite shaft
 zr
•  zr 
 ( z)
d
G
z Mt
  ...
dz G1 J1  G2 J2
•Rule of symmetry
•Assumption: rr     zz  0
 
d Mt
•Geometric compatibility:  dz  dz
dz GJ
d L L
 z   z r


dz 1 M t2
 r   r 0 U  dz
 rz   zr  0
2 L GJ
3.8 Beam Theory
 Beam and external load
Resultant force
Statically the same concentrated force with
a set of distributed force = Vector sum
passing through centroid of loading diagram

 Concentrated force R
q( x) q( x) y q( x)
A B
x

Statically
X x

Loading diagram
y
 Concentrated moment Saint-Venant’s principle

q( x) q( x) x x

  xq( x)dx  xdA  x

X  
Statically L A

 q( x)dx
L  dA
A
q( x) = Load intensity function = Load/length
 Internal force (Shear force and bending moment)
 Definition of axes  Definition of cross-section
y
y

Axis of symmetry Positive x-face Negative x-face

z x
Neutral axis x1

z x

 Force and moment exerting cross-section y

y M xx : twisting moment Mb
Mb
M xz , M xy : bending moment
M xy x
Fxx : axial force F F
Fxz , Fxy : shear force V V
Fxy
F  Fxx , V  Fxy , M b  M xz
Fxx
Fxz M xx
M xz  First subscript: Direction of
face
x  Second subscript: Direction of
z 3D force 2D
 Pure bending
 V ( x)  0, M b ( x)  constant

a a

L
M

x
Pa Pure bending
 Derivation of relationship between  and v( x)

d1 d dx y  v( x)
    
 ds dx ds
s
s  Slope s v
Curvature v( x) x x
  ? 0 x

1
v( x)  tan   cos 2   dx
1  v( x)2  ?
ds
v( x)    sec2 
s  x 2  v 2
d v( x)
   v 
2

dx 1  v( x) 2  x 1   
 x 
x 1

s  v 
2

1  
1 d d dx v( x)  x 
       v( x)
 3
ds dx ds
1  v  2
( x)  2
dx
ds

1
1  v 2 ( x )
 Example – Find SFD and BMD by cut method
0 L
R 
o L  Reactions 2
2
30 L
8 L
4
L 0 L
V ( x) 8
 L L 0 x
8
① 0 x
x  3L 2
8
V C
0 L 30 L x V Mb
8
3 L

3
 y
8
F  0 ; V ( x )  0 x  0 L
8
M b ( x) 0 2 3
 9  L2
128  M C  0 ; M b ( x)   x  0 Lx 2 8

Mb 
②
L
xL x ( L  x)
0 L 2 C
0 L Mb V
 Fy  0 ; V ( x)  8 0 L
0 L
M C  0 ; M b ( x) 
8
 L  x 8
 q( x)x

q( x) V ( x  x)
F y  0;  V ( x)  V ( x  x)  q( x)x  0

V ( x  x)  V ( x)
M b ( x) M b ( x  x) lim   q( x)
C
x 0 x
dV ( x)
V ( x)    q( x)
dx
x x
x
 M C  0; M b ( x  x)  M b ( x)  V ( x)x  q( x)x 2
0

M b ( x  x)  M b ( x) dM b ( x)
lim   V ( x)    V ( x)
x0 x dx

dM b ( x)
  V ( x), M b ( x)  V ( x)  0
dx
M b( x)  q ( x)
dV ( x)
  q ( x), V ( x)  q ( x)  0
dx
 Example – Find SFD and BMD using DE
 Reactions 0 L
R 
2
o L
2
L L
30 L 4 0 L
8 8
V ( x)
 Load intensity function
3o L L
V q ( x)   x  1  o  x 0 o  x   0
0 L 8 2

 Shear force and bending moment diagram

M b ( x) 3o L L
V ( x)    x 0  o  x 1 o  x  1
8 2
3o L 1 1 L
Mb  M b ( x)   x 1  o  x  2  o  x   2
0 L 8 2 2 2
 Distribution of internal force
 Bending moment and bending stress

x

=
 Shear force and shear stress

 xz

Mb
 xy
=
 Pure bending – deflection curve-strain relation
y
 Strain 

Plane of symmetry
Mb   Mb
A B C
P Q Q
y P y
R S x R
S
Neutral axis
D E F
R S   PQ

PQ   PQ (   y )   y

  xx   x       y v( x)
PQ  
Anticlastic curvature
vy
  y   z  v x   x 0 0
  0
y 0 0
  xy  0,  yz  0,  zx  0  zz   z    
(   / )  0 0 
 0
y y
x

x 0 0 
x
z
z 0 v x 0 
 xy  0  zx  0  yz  0  
0 v x 
 0
 Pure bending - stress-strain relation
 Hooke’s law of an isotropic material

•  xx  1  xx   yy   zz    Stress y
E
•  yy  1  yy   zz   xx     x  xy  xz 
E  

 yx   yz  y  face  yy
 zz  1  zz   xx   yy  
y
 
 zx  zy  z 
•
E

•  xy 
 xy

1     1  xy  ij   ji  zy
 yz  yx
 xy
xy
2 E 2G
 yz 1    x  face
•  yz   yz  1  yz  zx  xz  xx
2 E 2G
 zz x
 zx 1   
•  zx   zx  1  zx z z  face
2 E 2G

 Application of Hooke’s law Flange

y 0

 Assumption:  y  0,  z  0  xx   x
z  0 Web  yy   y
y  zz   z
  x  E x   E ,  yy   zz  ν xx  xx   x
  yy   y
 zz   zz
  xy  0,  yz  0,  zx  0( xy  0,  yz  0,  zx  0)
 Pure bending – Force equilibrium
 Application of requirement of force equilibrium

y
Mb 

  F  0 ;   dA  0 1
x x
If E  constant

 EydA  0  ydA  0
A

x  
Ey
,    ( A)  A A


  Mz  0 ; 
 A
y x dA  M b  EI zz : Flexural rigidity

If E  constant EI zz
1  Mb
 A
Ey Ey dA  M b
2

x   ,    ( A)


   
Mb y
E
 My  0 ;  z x dA  yzdA  0 I zz  y 2 dA x  
A  A A I zz
Automatically satisfied 2nd moment of inertia
for symmetric beam of the cross-section
 Summary of pure bending beam theory
1
 Curvature-deflection curve : v( x )  
 q( x )  v ( x )  M b ( x ) 
y
 Curvature-strain :  xx


y
 Constitutive law :    E xx   E
xx

 Axial force :  A
 xx dA  0  A ydA  0
1 Mb
 Bending moment :    ydA  M b    v ( x )
A xx
 EI
EIv ( x )  M b ( x )

( EIv( x))  Mb  q( x)

Mb y
 xx  
I zz

 Boundary conditions
• Geometric : v (0)  0, v(0)  0
v ( L)  0, v( L)  0
dV ( x )
 q ( x )
dx • Mechanical : V (0)  P , M b (0)  M , V ( L)  P ,
d 2 M b ( x)
 q( x ) M b (0)  EIv(0)  M  v(0) 
M
dM b ( x ) dx 2 EI
 V ( x )
P
dx V   M b ( x)  V (0)  ( EIv(0))  v(0)  
EI
 Engineering beam theory
 Purpose of engineering beam theory

 When shear force exists,  xz

-bending moment varies from position to position.
 xy
-shear stress as well as bending stress exist. M b ( x)

 Purpose of engineering beam theory is to calculate x

M b ( x   x)

x
the shear stress  xz
x
 Assumption of engineering beam theory
 The following relationships obtained by the pure bending beam theory are valid even
though shear force does not vanish.

M y 1 Mb
x   b ,  v( x ) 
I zz  EI zz

 Results of engineering beam theory

VQ
 yx   xy  Q   ydA
bI zz A1
 Engineering beam theory – Shear stress
 Take a cut fraction having -y face in the cut surface at y = y1
 A1 : Cross-sectional area
defined by y = y1

Assumption: uniform cross-section

 F x   (
A1
)
x x x  ( x ) x  dA Fyx  0 
( x ) xx  ( x ) x  
 M b ( x  x)  M b ( x)  y
I zz

M b ( x  x)  M b ( x) Fyx
 Q Q   ydA
I zz x x A1

dFyx dM b Q VQ
f    Shear flow
dx dx I zz I zz
dFyx VQ
 Fyx   yx bx    yx b  yx   xy 
dx bI zz

Assume: Fyx is uniformly distributed over width b

 Example 1 – Shear and bending stresses
 Given values
 a  1000psi, b  h  6, P  1000lb

 Calculated maximum shear force and bending moment

LP P
M b ) max  , Vmax 
4 2

 Allowable maximum beam length Lmax

Mb y LP / 4   h / 2  3LP
 x ) max    
Iz y  h / 2
bh 3 /12 2bh 2
2bh 2 a 2  63 in 3  1000lb
 x ) max   a  Lmax    144in
3P 3000lb  in 2

 Ratio of maximum shear stress to bending stress

3P
VQ P / 2  bh / 2  h / 4 3P  xy ) max h
 xy ) max      4bh 
bI b  bh 3 /12 4bh  x ) max 3LP 2 L
2bh 2
 Example 2 – Ratio of shear to bending stresses
0 o L L
q ( x)   x  1  o  x 0  o  x  L  1
h 2 2
L
o L o L
q( x)   0 b V ( x)    x  0   o  x 1   x  L 0
2 2
o L 1 L
M b ( x)   x 1   o  x  2  o  x  L 1
2 2 2
0 L
0 L
R  0 L 2 L o L L 1 L2 0 L2
2 Mb ( )    o  
2 2 2 2 4 8
V ( x)
0 L 0 L
h h
b 
2x  xy )  2 2 4  3 0 L
max
1 4bh
V b  bh3
0 L 12
0 L
2 0 L 2 0 L2  h 
 
M b ( x)  2   30 L
2
8
8  xy )  2
max
1 3 4bh
bh
12
Mb  x
0 L  xy ) h
 max

 xy ) max
L
 Example 3 – Beam deflection
 Problem
 v( x) ?
0 L
• q( x)   x 1  0  x 0
2
L
• EIv ( x)  q( x)  2  x 1  0  x
(4) 0 0

L
• EIv( x)  0  x 0  0  x1  C A
2
L 1 
• EIv( x)  20  x  20  x  C A x  CB
2

 Reactions
L 
0 • EIv( x)  0  x 2  0  x 3  C1
4 6
L 
L • EIv( x)  0  x 3  0  x 4  C1 x  C2
12 24
0 L 0 L
2 2  Determination of C1 , C2
• v(0)  0  C2  0
 Boundary conditions 0 0 0 L3
• v( L)  0  L  L  C1 L  0  C1  
4 4

12 24 24
 v(0)  0 
 
 v( L)  0  1  0 L 3 0 0 L3 
v( x)    x    x 
4
x
EI  12 24 24 
 M (0)  EIv(0)  0 
 b  0
 M b ( L)  EIv( L)  0  
24 EI
 2Lx 3
 x 4  L3 x 
 Principle of superposition
 Problem description  M b ( x)
3 L
• q( x)  2 PL x 2  2 P x 1  P x  2  1
3 L
• M b ( x)   PL  2 P x1  P x  1
2 2
 Reactions
L
P
L
P  v( x), v( L), ( L)  v( L)
2 2
• EIv( x)  M b ( x)
3PL
2
2P 3 P L
• EIv( x)   PLx  Px   x    C1 ( v(0)  0)
2 2
 Boundary conditions 2 2 2
 v(0)  0, v(0)  0
3 P P L
• EIv( x)   PLx 2  x 3   x   3  C2 ( v(0)  0)
4 3 6 2
 v( L)  0, v( L)  0
PL  3 1
3
1  7 PL3
• v( L)     
EI  4 3 6  8  16 EI
 Deflection and angle due to each force
5 PL2
P •  ( L)  
5 PL3 8 EI
1  
48 EI  Application of principle of superposition
PL2
1  
8 EI
PL2  1 5  7 PL2
P P
PL2
v  v1  v2     
2   EI  3 48  16 EI
3EI
PL2 5PL2
2  
2 EI
  1   2  
8EI
3.9 Buckling
 Governing equation of buckling of column
 Similarity and difference between beam and column
 Similarity: Bending moment and shear force are exerted and pure bending theory is applied.

 In beam theory, axial force ( P ) is neglected in calculating bending moment.

However, in column theory, axial force should be considered in calculating bending moment.

 Relationship of M b , V , P, and q( x)
dV dV dV
  yF  0 ; q ( x ) x  x  0   q ( x )  0    q ( x)
dx dx dx
  M C  0 ; M b ( x  x)  M b ( x)  V ( x)x v
P Displacement
q( x) 2 v( x) in the longitudinal
 x  P(v( x  x)  v( x))  0 direction is
2 x neglected
EI , L
dM b dv
 V  P  0
dx dx q( x)
d 2 M b dV d dv V ( x  x)  V ( x)  V x
 2
  ( P )0
dx dx dx dx V ( x)
C P
M b ( x)
d 2Mb d dv P M b ( x  x)  M b ( x)  M b x
 2
 ( P )  q ( x)
dx dx dx
x x
v( x) v( x  x)  v( x)  vx
 Governing equation of buckling of column
 Assume: Pure bending theory is applied.  Governing equations
d2 d dv
1 EIv( x)  M b ( x) ( M b )  ( P )  q ( x)
  v( x)
2
dx dx dx
 
1 Mb
  dV
 q ( x)  0
 EI d2 d 2v d dv
dx
dM b dv 2
( EI 2
)  ( P )  q ( x)
V  P  0
A
ydA  0 dx dx
dx dx dx dx
EI  일정, P =일정
 q ( x)  0
y P
 x  E v (4) ( x)   2 v( x)  0, 2 
 EI
 v( x)  Ce sx
x  
y s 4   2 s 2  0  s  0(중근) , s    i

 v( x)  C1  C2 x  C3 sin  x  C4 cos  x

Pure bending C1 , C2 , C3 , C4 are calculated by BCs.
 Example – buckling loads and modes
 Problem  Solving
P

P
v( x)  C3  2 sin  x  C4  2 cos  x
EI
v(0)  C1  C4  0 ①
3 x
x v3 ( x )  C sin v( L)  C1  C2 L  C3 sin  L  C4 cos  L  0 ②
v1 ( x )  C sin L
L EI , L v(0)  C4  2  0 ③
v( L)  C3  2 sin  L  C4  2 cos  L  0 ④
2 x
v2 ( x )  C sin
L
 Because   0 , C4  0 from Eq. ③. C1  0
from Eq. ① . In order to obtain non-trivial
 GE and homegeneous solution solution, sin  L  0 .
P P
v (4) ( x)  v( x)  0,  2  v( x)  C3 sin  x
EI EI
v( x)  C1  C2 x  C3 sin  x  C4 cos  x
 BCs sin  L  0   L  n    n / L(n  1, 2, , )
v(0)  0, v( L)  0 Pn EI
L  n  Pn  n 2 2 2  vn ( x )  C sin
n x
M b (0)  0  v(0)  0 EI L L
Pcr EI
M b ( L)  0  v( L)  0 L    Pcr   2 2 Buckling load
EI L
 Mode of buckling

Non-buckled Buckling mode 1 Buckling mode 2

(n=1) (n=2)
3.10 Special phenomenon
Stress concentration(SC) and SC factor K