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Governing Equations
This chapter develops the governing equations of motion for a homogeneous
isotropic elastic solid, using the linear three-dimensional theory of elasticity in cylindrical coordinates. At first, classical relationships between stress,
strain, and displacement are reviewed and implemented into the dynamic
equilibrium equations. The mathematical representations of the linear theory of elasticity derived in this chapter will set the stage for the development
of the required governing equations for the possible modes of vibrations in
cylindrical structures with any thickness.
rr
zz
zz
rr
z
FIGURE 2.1. Direct Stresses in Cylindrical Coordinates.
16
2. Governing Equations
r +
r +
zr +
rr
zr
z
z
r
r
r
rr +
rr
r
r
r
r
of stress, strain, and displacement in cylindrical coordinates. The following sections provide a succinct review of essential topics needed for the
establishment of the governing elasto-dynamic equations.
2. Governing Equations
zz +
rr
17
zz
z
z
z
zr + zr r
r
Fr
z +
z
r r
z
rr +
rr
r
r
r
FIGURE 2.3. Stresses in the plane perpendicular to r and z direction.
order terms are very small, they can be neglected. Therefore, the change
in stress across the element is considered very small.
rr
r
rr +
r (r + r) z + r +
rz cos
r
rz
r
+ rz +
z
r+
r + Fr rz
z
2
r
= rr rz + r rz cos
+ rz r +
r +
2
2
+ +
rz sin
+ rz sin
(2.1)
2
2
18
2. Governing Equations
Canceling appropriate terms from both sides of the equation and after
simplifying, it yields:
rr
1 r
rz
rr
+
+
+
+ Fr = 0
r
r
z
r
(2.2)
(2.3)
(2.4)
1
2
sin
2
2
(2.5)
In addition to the stresses, body forces acting throughout the element have
been considered for each direction. These are denoted by Fr , F , and Fz
which are introduced as forces in the r, , and z direction per unit of
volume. Due to the cancellation of the moments about each of the three
perpendicular axes, the relations among the six shear stress components
are presented by the following three equations:
r = r
z = z
zr = rz
(2.6)
Therefore, the stress at any point in the cylinder may be accurately described by three direct stresses and three shear stresses.
= rr ( + zz )
= (zz + )
= zz ( rr + )
(2.7)
(2.8)
(2.9)
2. Governing Equations
19
where err , e , and ezz are the direct strain in the r, , and z directions
respectively; E is the Youngs modulus or the modulus of elasticity; and
is a proportionality factor called Poissons ratio.
The other three Hookes law relations result from the following proportionality between shear stresses and shear strains:
r
rz
z
= Ger
= Gerz
= Gez
(2.10)
(2.11)
(2.12)
E
2 (1 + )
(2.13)
(2.14)
(2.15)
Then, a dierent form of Hookes law relating direct stresses and direct
strains can be achieved by adding the direct strain equations (2.7)-(2.9).
E
= rr + + zz
1 2
(2.16)
rr Eerr
(2.17)
1 2
(2.18)
(2.19)
20
2. Governing Equations
from which the direct stress in the radial direction is determined to be:
rr =
E
E
+
err
(1 2) (1 + )
1+
(2.20)
Now using the definitions of the shear modulus and Lames elastic constant,
the direct radial stress is presented as:
rr = + 2Gerr
(2.21)
In a similar procedure, the direct circumferential stress and the direct axial
stress are represented in terms of the volumetric strain, Lames elastic constant, the shear modulus, and the appropriate direct strains are presented
in the following equations.
zz
= + 2Ge
= + 2Gezz
(2.22)
(2.23)
2. Governing Equations
z
y
H
F ( r + r , + , z + z )
r
r
z
F1
H
F
uz
A
ur
F'
A'
D'
D1
C1
C'
C
FIGURE 2.5. Element Subjected to Small Deformation.
21
22
2. Governing Equations
D'
B1 B '
u
r
C'
C3
C1
A'
A A
2
D
C2
Upon examining the radial strain at point A and ignoring the eects of
strains in the z direction, the strain in the side AC can be found. If the
distance A0 C 0 is transferred to the line AC by drawing arcs, with center
O, through A0 and C 0 to intersect the line OAC at points A2 and C2 then
the radial strain can be defined as:
err =
A2 C2 AC
AC
(2.24)
Considering the geometry of the Figure 2.6, the above equation can be
written in the following form:
ur
r +
r r
ur
r
=
(2.25)
err =
r
r
In a similar manner, the direct circumferential strain may be defined as:
e =
A0 B 0 AB
AB
(2.26)
where,
AB = r
and
u
.
A B = (r + ur ) +
r
0
(2.27)
2. Governing Equations
23
where,
er = C3 A0 C 0 + B1 A0 B 0
(2.29)
C3 A0 C 0 = C1 A0 C 0 C1 A0 C3
(2.30)
and
C1 A0 C3 = AOA0 =
A2 A0
u
=
.
r + ur
r
(2.31)
u
r
r
(2.32)
then,
C1 C 0
u
=
.
AC
r
Therefore, the shear angle C3 A0 C1 can be defined as:
C1 A0 C 0 =
u
r u
u
u
C3 A0 C 0 = r
r
r
r
r
(2.33)
(2.34)
B1 B 0
r
(2.35)
which is the radial displacement of B due to the angle over the initial
length. In partial derivative form this simplifies to:
B1 A0 B 0 =
1 ur
ur
=
r
r
(2.36)
u
u
ur
+
r
r
r
(2.37)
24
2. Governing Equations
H'
G' G
G
z
B'
B1
A'
Considering the z direction, the direct axial strain can be defined similarly to the procedure used in Cartesian coordinates. Recall that the axial
strain is defined as the ratio of the change in length to the original length
of the element in the z direction. Examining the strain in line AF in the z
direction, the direct axial strain is given as:
ezz =
A0z Fz0 Az Fz
Az Fz
(2.38)
uz
z z
z
z
(2.39)
uz
z
(2.40)
In Figure 2.7 the z plane is shown as viewed from the origin. On the face
ABHG the shear strain ez causes the right angle BAG to be displaced
to B 0 A0 G0 . Note that A0 B1 is parallel to AB and A0 G0 is parallel to AG.
Therefore, the shear strain, ez , is given as:
ez = G1 A0 G0 + B1 A0 B 0
(2.41)
1 u
1 uz
z +
z z
r
(2.42)
u
uz
+
z
r
(2.43)
2. Governing Equations
25
Finally by examining the (r, z) plane, the shear strain, erz , is defined as:
erz = G1 A0 G0 + C1 A0 C 0
(2.44)
which yields:
erz
ur
uz
z
r
z
=
+ r
z
r
(2.45)
ur
uz
+
z
r
(2.46)
There are now six strain components given in terms of the cylinder displacements. This completes the development of the required strain-displacement
relationships.
ur
u
ur
uz
ur
rr =
+
+
+
+ 2G
(2.47)
r
r
r
z
r
The substituted direct strains are in terms of displacements and the volumetric strain. Similarly, the direct circumferential stress and direct axial
stress, in terms of displacement, may be given as:
zz
ur
u
u
ur
uz
ur
=
+
+
+
+ 2G
+
r
r
r
z
r
r
ur
u
ur
uz
uz
=
+
+
+
+ 2G
r
r
r
z
z
(2.48)
(2.49)
Similarly, the three shear stresses in terms of shear strains are given by
equations (2.10)-(2.12) and the shear strains, in terms of displacement components, are provided by equations (2.37), (2.43), and (2.46). Therefore,
26
2. Governing Equations
u
u
ur
= G
+
r
r
r
u
uz
= G
+
z
r
ur
uz
= G
+
z
r
(2.50)
(2.51)
(2.52)
(2.53)
where r , , and z denote unit vectors directed along the (r, , and z) axes,
respectively. Substituting Hookes law equations into the dynamic equilibrium equations and introducing strain-displacement relationships yield the
governing equations of motion:
2 ur
(2.54)
= 2
r
t
2 u
(2.55)
2 u + ( + )
= 2
r
t
2 uz
(2.56)
2 uz + ( + )
= 2
z
t
where is the same as shear modulus G, is the volumetric strain, and the
2 is the three dimensional Laplacian operator in cylindrical coordinates
defined by:
2
2
2
2 = 2 +
(2.57)
+ 2 2+ 2
r
rr r
z
Multiplying equation (2.54) by r , equation (2.55) by , equation (2.56)
by z , and adding these three equations, the vector form of the governing
equation of motion is given by:
2 ur + ( + )
2u
t2
(2.58)
1
=
+
r +
+ z
r r
r
z
(2.59)
2 u + ( + ) ( u) =
2. Governing Equations
point label
strain
direct strain in r, , z directions
shear strain along and perpendicular to r
shear strain along z and perpendicular to r
shear strain along z and perpendicular to
Youngs modulus
forces in the r, , z directions per unit of volume
shear modulus, modulus of rigidity
unit vectors along the axes r, , z
radial direction
displacements in r, , z directions
displacement vector
axial direction
, G
rr , , zz
r
rz
z
variation
volumetric strain
transverse direction
Lames elastic constant
shear modulus, modulus of rigidity
Poissons ratio
normal stress
direct stress in the r, , z directions
shear stress
shear stress along and perpendicular to r
shear stress along z and perpendicular to r
shear stress along z and perpendicular to
angle
Laplacian operator
gradient
27
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