Duke University

Department of Civil and Environmental Engineering

CEE 421L. Matrix Structural Analysis
Fall, 2012
Henri P. Gavin

Strain Energy in Linear Elastic Solids

Consider a force, Fi , applied gradually to a structure. Let Di be the resulting
displacement at the location and in the direction of the force Fi . If the
structure is elastic, the force-displacement curve follows the same path on
loading and unloading.
Fj

Fi

Fi

Dj

Di
000000
111111
000000
111111
000000
111111
11111
00000
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111
000000
111111
00000
11111

v(x)
000
111
111
000
000
111
000
111
000
111
000
111
000
111
000
111
000
111

Fi

w(x)

00000
11111
11111
00000
00000
11111

00000
11111
11111
00000
00000
11111

111111111
000000000
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111
000000000D+ D
111111111
D
i

Di

Figure 1. Forces and displacements on the surface of an elastic solid.

If Fi is increased by Fi and the corresponding increase in the displacement

is Di , then as Fi 0, the incremental work, W , done by the load
Fi passing through a displacement Di is approximately Fi Di , or, more
precisely,
W =

Z D +D
i
i
Di

Fi (Di ) dDi .

(1)

When the structure is elastic and linear, that is Fi (Di ) = ki Di , the work of
a force increasing from 0 to Fi , moving through corresponding displacements
from 0 to Di is
Z D
Z D
1
11 2 1
i
i
F = Fi Di .
(2)
W =
Fi dDi =
ki Di dDi = ki Di2 =
0
0
2
2 ki i
2

CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin

If a linear elastic structure is subjected to a system of point forces F1 , F2 , . . . , Fn ,

Fi
Di

Fj

F1

Dj

Dn Fn

D1
Fn

Ra

Dn

111
000
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111

00000
11111
11111
00000
00000
11111

F1
D

F1

111111
000000
000000
111111
000000
111111
000000
111111

Rb

111111
000000
000000
111111
000000
111111

D1

Di
Fi
Fi
Di

00000
11111
11111
00000
00000
11111

Rc

Dj
Fj

000000
111111
111111
000000
000000
111111

Fj
Dj

Fn
Dn
11111
00000
00000
11111
00000
11111
00000
11111

Figure 2. Point forces and collocated displacements on linear elastic solids and structures.

causing displacements, D1 , D2 , . . . , Dn , in the direction of those forces, then

the total external work, W , is given by
1
1
{F1 D1 + F2 D2 + + Fn Dn } = {F }T {D} .
(3)
2
2
In the absence of any energy dissipation, this work is stored in the structure
in the form of strain energy. In elastic structures carrying static loads, the
external work and strain energy are numerically equal to one another.
W =

External Work = Strain Energy

W =U

(4)

Note that forces at fixed reaction points, R, do no work because the displacements at the reactions are presumed to be zero.
Example: Small element subjected to normal stress xx

CC BY-NC-ND H.P. Gavin

Strain Energy in Linear Elastic Solids

Strain Energy in a general state of stress and strain

A three dimensional linear elastic solid with loads supplied by external forces
F1 , . . . , Fn , and through support reactions R, can be considered to be made
up of small cubic elements as shown below.
Fi
Di

zz

Fj
Dj
Fn

Dn
Ra

000
111
111
000
000
111
000
111
000
111
000
111
000
111
000
111
000
111

yy

F1
00000
11111
11111
00000
00000
11111

Rb

yz

xz

11111
00000
00000
11111
00000
11111

xx

xy

Rc

Figure 3. Stresses within a linear elastic solid.

The incremental strain energy, dU , for this elemental cube of volume dV can
be written:
1
dU = {xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
2
Integrating the incremental strain energy, dU , over an entire volume, V , the
total strain energy, U , is
1Z
{xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
U=
2 V
If the stresses and strains are re-written as vectors,
{}T = {xx yy zz xy xz yz }
{}T = {xx yy zz xy xz yz } ,
then the total strain energy can be written compactly as
1Z
U=
{}T {} dV.
(5)
2 V
This equation is a general expression for the internal strain energy of a linear
elastic structure of any type. It can be simplified significantly for structures
built from a number of prismatic members, such as trusses and frames.
CC BY-NC-ND H.P. Gavin

CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin

Axial Strain Energy, xx = Nx /A, xx = u0 (x)

Consider a rod subjected to a normal force, Nx :

Nx

Nx

dl

1111
0000
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111

xx

xx dl

Figure 4. Internal axial forces, deformation, and stresses in an axially-loaded prismatic bar.

The normal stress on an element dA is

xx = Exx =

Nx
.
A

The corresponding strain is

xx
= u0 (x) .
E
The incremental internal strain energy, dU , in an incremental volume element,
xx =

dV , in terms of axial forces, Nx , or axial displacements, u(x), is

2
1 xx
1 Nx2
1
dV =
dA dl
dU = xx xx dV =
2
2 E
2 EA2
1
1
= E2xx dV = E(u0 (x))2 dA dl
2
2
and the total strain energy in a bar in tension or compression is

1 Z Nx2 ZZ
U=
dA dl
2 l EA2 A
RR
Since A = A dA,

or

ZZ
1Z
0
2
U=
E(u (x))
dA dl.
A
2 l

1 Z Nx2
1Z
2
U=
dl
or
U=
EA (u0 (x)) dl.
(6)
2 l EA
2 l
A prismatic bar with a constant axial force, Nx , and a constant strain xx =
x /L, along its length, is like a truss element, and the strain energy can be
expressed as
1 Nx2 L
U=
2 EA

or

U=

1 EA 2
.
2 L x

(7)
CC BY-NC-ND H.P. Gavin

Strain Energy in Linear Elastic Solids

Bending Strain Energy, xx = Mz y/Iz , xx = v 00 (x) y

Consider a beam subjected to a pure bending moment about the z-axis, Mz :
y

v" dl

M zz

M zz

1111
0000
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
000
0000111
1111
000
111
000
111
000
111
000
111
000
111
x
000
111
000
111
000
111

xx

dl

Figure 5. Internal bending moments, deformation, and stresses in a prismatic beam.

The normal stress on an element dA at a distance y from the neutral axis is

xx (y) = Exx (y) =

Mz y
.
Iz

The corresponding strain is

xx
= y v 00 (x) y.
E
The incremental internal strain energy, dU , in a volume element, dV , in terms
of bending moments, Mz (x), or transverse displacement, v(x), is
xx (y) =

2
1
1 xx
1 Mz2 y 2
dU = xx xx dV =
dV =
dA dl
2
2 E
2 EIz2
1
1
2
= E2xx dV = E (v 00 (x) y) dA dl ,
2
2
and the total strain energy in a beam under pure bending moments is

1 Z Mz2 ZZ 2
U=
y dA dl
2 l EIz2 A

or

ZZ
1Z
00
2
U=
E(v (x))
y 2 dA dl.
A
2 l

Since the bending moment of inertia, I, is A y 2 dA, provided that the origin
RR
of the coordinate system lies on the neutral axis of the beam ( A yz dy dz = 0),
RR

U=

1 Z Mz2
dl
2 l EIz

or

U=

1Z
EIz (v 00 (x))2 dl.
l
2

(8)

CC BY-NC-ND H.P. Gavin

CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin

Shear Strain Energy, xy = Vy Q(y)/Iz t(y), xy = vs0 (x)

Consider a beam subjected to a shear force, V , (and bending moment):
y

t(y)
d

000000
111111
111111
000000
000000
111111
000000
111111
000000
111111

Vy

Vy

vs

00000
11111
11111
00000
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111

xy

dl

Figure 6. Internal shear forces, deformation, and stresses, of a prismatic beam.

xy (y) = Gxy (y) =

Vy Q(y)
Iz t(y)

Q(y) = Moment of Area of Cross Section =

Z d/2
y

t(y)y dy

2
1
1 xy
1 Vy2 Q(y)2
dU = xy xy dV =
dA dl =
dA dl
2
2G
2 Iz2 Gt(y)2

1 Z Vy2 ZZ Q(y)2
1 Z Vy2 A ZZ Q(y)2
U=
dA dl =
dA dl
2 l Iz2 G A t(y)2
2 l GA Iz2 A t(y)2
This last integral reduces to a constant that depends only upon the shape of
the cross-section. This constant is given the variable name .

A ZZ Q(y)2
dA
= 2
Iz A t(y)2
Values of for some common cross-section shapes are given below ( > 1).
solid circular sections:
solid rectangular sections:
thin-walled circular tubes:
thin-walled square tubes:

1.08
1.15
1.95
2.35

I-sections in strong-axis shear: A/(td)

With this simplification, the internal strain energy due to shear forces is
Vy2
1 Z Vy2
1Z
U=
dl =
dl .
2 l GA
2 l G(A/)

(9)
CC BY-NC-ND H.P. Gavin

Strain Energy in Linear Elastic Solids

The term (A/) is called the effective shear area.

As a review of shear stresses in beams, consider the shear stress in a rectangular section (with section d b).
xy =

Q(y) =

Z d/2
y

t(y)y dy = b
xy

Z d/2
y

Vy
=
2Iz

Vy Q(y)
Iz t(y)
d/2

y2

y dy = b
2 y

d2 y 2

=b

8
2

d2

y2 .
4

This stress varies parabolically along the direction of the applied shear. It is
maximum at the centroid of the section and zero at the ends.
The corresponding shear strain energy equation in terms of displacements is
a bit more subtle
1Z
G(A/)(vs0 (x))2 dl .
(10)
U=
2 l
where the total transverse displacement is a combinastion of bending-related
vb (x) and shear-related vs (x) displacements, v(x) = vb (x) + vs (x). For example,
Z
ZZ M (x)
Vz (x)
zz
dx
and
vs (x) =
dx .
vb (x) =
EIzz (x)
GA(x)/

CC BY-NC-ND H.P. Gavin

CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin

Torsional Strain Energy, x = Tx r/J, x = r 0

Consider a circular shaft subjected to a constant torsional moment, Tx :
y

y
r
z

Tx

Tx

00000000
11111111
11111111
00000000
00000000
11111111
00000000
11111111
00000000
11111111

dl
Figure 7. Internal torsional moments, deformation, and stresses in a prismatic rod.

The circumferential shear stress x (r) is

x (r) = Gx (r) =

Tx r
J

and the corresponding shear strain is

x (r) =

x (r)
= r 0 .
G

The incremental internal strain energy, dU , in terms of torsional moments,

Tx (x), or torsional rotations, (x), is
2
1 x
1 Tx2 r2
1
dV =
dA dl
dU = x x dV =
2
2G
2 GJ 2
1 2
1
= Gx
dV = G(r 0 )2 dA dl
2
2

and the total strain energy for the shaft is

1 Z Tx2 ZZ 2
U=
r dA dl
2 l J 2G A
Since the term

RR

Ar

or

ZZ
1Z
0 2
U=
G( )
r2 dA dl.
A
2 l

dA is the same as the polar moment of inertia, J,

U=

1 Z Tx2
dl
2 l GJ

or

U=

1Z
GJ(0 )2 .
l
2

(11)

CC BY-NC-ND H.P. Gavin

Strain Energy in Linear Elastic Solids

Total Strain Energy arising from Combined Axial Stresses

As a review of the material above, consider a three-dimensional bending
problem with a super-imposed normal force, Nx .

y
My
Nx
Mz

dl
Figure 8. Internal axial force and bending moments in a prismatic beam.

Nx Mz y My z

+
.
A
Iz
Iy
The total strain energy arising from axial and pure bending effects is
2
1 Z xx
1 Z 1 ZZ 2
1Z
xx xx dV =
dA dl.
dV =
Un =
2 V
2 V E
2 l E A xx
2
The term xx
in the integral above can be expanded as follows.
xx =

ZZ
A

2
xx
dA =

ZZ

N2
x
A A2

Mz2 y 2 My2 z 2
Nx Mz y
Nx My z
Mz My zy
+
+

2
+
2

2
dA.
Iz2
Iy2
AIz
AIy
Iz Iy

But, since the coordinate axes are assumed to pass through the centroid of
the cross-sectional area,
ZZ
A

y dA =

ZZ
A

z dA =

ZZ
A

yz dA = 0

Therefore, the total potential energy is simply the sum of the potential energies due to axial and bending moments individually.

Z M2
Z M2

1 Z Nx2
y
z
Un =
dl +
dl +
dl .
l EIz
l EIy
2 l EA
CC BY-NC-ND H.P. Gavin

10

CEE 421L. Matrix Structural Analysis Duke University Fall 2012 H.P. Gavin

Total Strain Energy arising from Combined Shear Stresses

Just as a structural element can be subjected to combined normal and bending stresses, combined shear stresses can also act together.

y
Vy
Tx
Vz

dl
Figure 9. Internal shear forces and torsional moment in a prismatic beam.

xy =

Vy Qy (y)
Iz tz (y)

xz =

Vz Qz (z)
Iy ty (z)

x =

Tx r
J

Through mathematical manipulations similar to those above, it can be shown

that

Z
Z T2

Vy2
Vz2
1 Z
x
Uv =
dl +
dl +
dl ,
l G(A/z )
l GJ
2 l G(A/y )
where

A ZZ Qy (y)
y = 2
dA
Iz A tz (y)
A ZZ Qz (z)
z = 2
dA
Iy A ty (z)
Total Strain Energy
The total strain energy for solids subjected to axial, bending, shear, and
torsional forces is the sum of Un and Uv above.
CC BY-NC-ND H.P. Gavin

11

Strain Energy in Linear Elastic Solids

Summary
Strain energy is a kind of potential energy arising from the deformation of
elastic solids. For structural elements (bars, beams, or shafts) strain energy
is expressed in terms of the elasticity of the material (E or G), the dimensions of the element (L, A, I, J, or A/), and either the internal forces (or
moments) in the element (N (x), M (x), V (x), or T (x)), or the deformation
of the element (u0 (x), v 00 (x), vs0 (x), 0 (x)).
force

deformation

force-based
strain-energy

Axial

Nx (x)

u0 (x)

RL

Bending

Mz (x)

v 00 (x)

RL

Shear

Vy (x)

vs0 (x)

RL

Torsion

Tx (x)

0 (x)

RL

deformation-based
strain energy

Nx (x)2
x=0 E(x)A(x) dx

RL

Mx (x)2
x=0 E(x)I(x) dx

RL

Vx (x)2
x=0 G(x)(A(x)/) dx

RL

Tx (x)2
x=0 G(x)J(x) dx

RL

x=0

x=0

x=0

x=0

E(x)A(x)(u0 (x))2 dx
E(x)I(x)(v 00 (x))2 dx
G(x)(A(x)/)(vs0 (x))2 dx
G(x)J(x)(0 (x))2 dx

where:
E(x)
G(x)
A(x)
I(x)
A(x)/
J(x)
Nx (x)
Mz (x)
Vy (x)
Tx (x)
u0 (x)
v 00 (x)
vs0 (x)
0 (x)

is
is
is
is
is
is
is
is
is
is
is
is
is
is

Youngs modulus
the shear modulus
the cross sectional area of a bar
the bending moment of inertia a beam
the effective shear area a beam
the torsional moment of inertia of a shaft
the axial force within a bar
the bending moment within a beam
the shear force within a beam
the torque within a shaft
du(x)/dx, the axial strain, u(x) is the axial displacement along the bar
d2 v(x)/dx2 , the curvature, v(x) is the transverse bending displacement of the beam
dvs (x)/dx, the shear deformation, vs (x) is the transverse shear displacement of the beam
d(x)/dx, the torsional deformation, (x) is the torsional rotation of the shaft

CC BY-NC-ND H.P. Gavin