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6. Energy Methods
6.1 External Work
6.1.1 Work of a Force
The work done by a force is equivalent to the product of the component of the
force acting in the direction of motion and the distance travelled.
Ue
F ds
x -direction:
Ue
Fdx
0
P
x then:
1
U e P xdx 1 P
P
2
2
0
(6-1)
6.1.2 Work of a
Couple
Ue
Md
0
Ue
M
1
d M
(6-2)
External work done by loads applied to a body will be converted into strain
energy. This strain energy is cause by normal and shear stresses that deform
the body.
The force on the top face is dFz z dxdy and if it is applied gradually as the
element undergoes deformation d z z dz the work done by the force is (using
Eq. (6-1)):
1
dU i zz dV
2
Ui
1
1
dFz d z z dxdyz dz
2
2
Or
dU i
dV
2
Ui
(6-4)
2
dV
2E
(6-3)
( / E) applies, and:
Note:
U i is always positive.
Or
Ui
is applied
1
1
dU i
dxdydz dV
2
2
dF
dV
2
Ui
(6-6)
2G dV
(6-5)
Assuming linear-elastic behaviour and all loads are applied gradually, the strain
energy associated with each normal and shear stress can be added to give:
Ui
x x
1
1
1
1
1
yy zz xy xy yz yz xz xz dV (6-7)
2
2
2
2
2
1
x y z
E
1
zy x z
E
1
z x y
E
xy
xy
xy
xy
; xy
; xy
G
G
G
U i
x2 y2 z2 xy2 yz2 xz2 x y y z x z dV (6-8)
2G
E
V 2E
1, 2 and 3 )
1 2
U i
1 22 32 1 2 2 3 1 3 dV
E
V 2E
(6-9)
Ui
The volume
Ui
and:
N2
dx
2AE
(6-10)
x2
N2
dV
dV
2
2E
2EA
V
Note:
L , U i
A,
Ui
E , U i
Ui
N 2L
2AE
(6-11)
i.e. something that is easy to distort will store more strain energy.
dA , y
2
dV
2E
Ui
The volume
dV
can be written as
Ui
M2
2EI y dAdx
2
Ui
1 My
dV
2E I
dV dAdx , so:
dA I :
M2
dx
2EI
(6-12)
x , then Eq.
y.
dA
VQ
is
. Using Eq. (6-6) the strain energy is:
It
U i
Ui
V2
2GI 2
Q2
dAdx
t2
Or
2
1 VQ
dAdx
It
2G dV 2G
(6-13)
A
I2
Q2
dA
t2
(6-14)
Ui
f sV 2
2GA dx
(6-15)
An example of the form factor calculation is given in the text. For a rectangular
cross-section f s 6 /5 .
Note: U i due to shear is usually much less than U i for bending (se e.g.14.4,
Hibbeler, 6e) and the shear strain energy stored in beams is usually neglected.
Ui
dV
2G
Or
Ui
1 T
dAdx
2G J
T 2
2GJ 2
dA dx
2
dA
2
(6-17)
Ui
(6-16)
T2
dx
2GJ
(6-18)
Ui
T 2L
2GJ
(6-19)
Only mechanical energy will be considered, but kinetic energy will be neglected
since all loadings will be gradual.
Conservation of energy would require that the external work done by applied
loads (i.e. applied loads that cause deflections) must be equivalent to the strain
energy developed in a body as it deforms.
Ue Ui
(6-20)
If the loads are removed the stored strain energy will restore the body to its
undeformed state (if the elastic limit has not been exceeded).
6.4.1 Trusses
P.
Ue
1
P
2
P , and
(6-21)
N 2L
from Eq. (6-11). To determine the total strain energy stored in the truss:
2AE
10
Ui
N 2L
2AE
(6-22)
requires
Conservation of energy
U e U i , therefore:
1
N 2L
P
2
2AE
(6-23)
The deflection caused by P can be evaluated after the axial forces in each
member of the truss has been determined using statics.
6.4.2
Vertically Loaded
Beams
1
P
2
M2
dx
2EI
Ui ,
(6-24)
x.
11
Mo .
The couple moment will cause the rotation at the point of application, and it
does work due to this rotation: U e M o /2 from Eq. (6-2).
Ui
M , and
1
M 0
2
M2
dx
2EI
(6-25)
x.
Where
Note: Application of
the conservation of energy is limited to situations where only
one applied load exists. For multiple applied loads, each load would have an
associated external work and deflection, but there is only one conservation
equation, so only one unknown deflection can be solved.
is a function of
12
E.g. A weight is dropped from rest from a height h on to a linear spring, with
spring constant k . What is the maximum deflection of the spring?
o
Conservation of energy:
T1 V1 T2 V2
W h max
1 2
k max
2
Or Work-Energy:
1
kxdx k2max
2
2max
2W
2W
max
h0
k
k
max
max
W 2
W
W
2
h
k
k
k
(6-26)
W k st or st W /k , and
max st 2st 2 st h
o
Or
h
max st 1 1 2
st
(6-27)
13
Where the term in the square root is the extra displacement due to dynamic
loading.
Note: if
max 2 st .
of the spring?
o
Conservation of Energy;
T1 V1 T2 V
2
1 W 2 1 2
v k max
2 g
2
Or
2max
Wv 2
gk
(6-28)
max
st v 2
g
(6-29)
Assume:
i.
14
With these assumptions, the deformable body behaves like a linear spring.
i.e. an effective spring constant can be defined and Eqs. (6-27) or (6-29) can be
used to determine max .
An equivalent spring constant is not required. All that is needed is the static
deflection, st , for use in Eq. (6-27). st can be obtained from the equation of
the elastic
curve, Hookes Law, Appendix C, or conservation of energy and strain
energy.
An impact factor,
st
So:
max n st n W k
And
Pmax nW k max
max n st .
(6-30)