MECH 5310/6310/6316 - Mechanics of Electronic Packaging

Auburn University
J. C. Suhling, 2017

FUNDAMENTALS OF
SOLID MECHANICS
Stress, Strain, and Displacement

J. C. Suhling, 2017
1
 SOLID MECHANICS
Quantities of Interest / Field Variables for Models

Displacement ui (i 1,2,3)
Global Movement of a Point Due to the Loading
Vector (3 Components)
Stress ij (i, j 1,2,3)
Measurement of the Internal Force Intensity at a Point
Symmetric 2nd Order Tensor (6 Components)
Strain ij (i, j 1,2,3)
Measurement of Local Deformations at a Point
Symmetric 2nd Order Tensor (6 Components)

Total of 15 Field Variables

J. C. Suhling, 2017
2
 DISPACEMENT
Definition

Deformed Body

P

x2 Undeformed Body
u u2

P u1
u3 Displacement Vector
e 2
e 1
x1 u u1e1 u 2e 2 u3e 3
e 3
Displacements
x3
u1, u 2 , u3
(Units = Length)
J. C. Suhling, 2017
3
 DISPLACEMENT
Transformation Equations
x 2 x2 u2
x1 u u3
Direction Cosines:
u1 u2 a ij cos(xi , x j ) ei e j
x1
u1
u3
x3
x 3
Transformation Relations Based on Geometry:

u1 a11 a12 a13 u1

u a a a u
2 21 22 23 2
u3 a 31 a 32 a 33 u 3
3
u [a]u u i a iju j
j 1
J. C. Suhling, 2017
4
 STRESS
Sectioning Plane Through Loaded Body

Loaded Body

P n

Sectioning Plane Through Point of Interest P

J. C. Suhling, 2017
5
 STRESS
Internal Forces on Exposed Surface

Distribution of Internal Forces Required for Equilibrium

FR

P P

MR
The Stress at Point P is the Internal Force per Unit Area
(Internal Force Intensity) at Point P
J. C. Suhling, 2017
6
 STRESS
Definition - Arbitrary Plane

Stress Vector

F F
Sn Sn lim nn nt
t A 0 A
n Ft
n
n Fn Stress Components
P
Fn
Normal Stress: n lim
A0 A

A
Ft
Shear Stress: n lim
A0 A

J. C. Suhling, 2017
7
 STRESS Stress
Force
Units Area

1 Newton N
SI/Metric: 2
1 2
1 Pa ( Pascal )
1m m
N N
10 6
2
1 2
1 MPa ( Mega Pascal )
m mm
1 dyne N
2
.1 2 .1 Pa
1 cm m

1 Pound lb
English: 2
1 2 1 psi ( Pound per Square Inch )
1 in in

1000 psi 1 ksi ( Kip per Square Inch )

J. C. Suhling, 2017
8
 STRESS
Discussion of Definition

Stress is a Point Quantity - Evaluated in the Limit as the Area

Approaches Zero Size
Historically, Stress Vectors are Resolved into Normal and Shear
Components Because:
They Cause Different Types of Localized Deformations (Strains) in Most
Materials (Normal Stresses are Typically Related to Length Changes and
Shear Stresses are Typically Related to Angular Changes)
They Have Different Influences on Material Failure in Various Materials
The Stress Components Will Depend on the Sectioning Plane
Chosen at the Point

J. C. Suhling, 2017
9
 STRESS
Definition for the Coordinate Axis Planes

Stress Components
For Example, Pick the Plane with: n e1
x2 11 lim
F1
F Normal Stress: A0 A

Ft
F2
F2
Shear Stresses: 12 lim
Fn F1 A0 A
x1
P n e1 F3 F3
13 lim
A0 A

x3 Stress Vector

e 2
A Sn 11e1 12e 2 13e 3
e 1 n 11
e 3
t 12
2
13
2

J. C. Suhling, 2017
10
 STRESS
Definition for the Coordinate Axis Planes

In a Similar Manner, 3 Stress Components Can

be Defined on Each of the Planes Normal to the
Other 2 Coordinate Axes:
Plane Normal Stress Shear Stresses
n e 2 2 2 21, 23

n e 3 33 31, 32

Subscript Convention: ij
First Subscript: Direction of The Normal to the Sectioning Plane
2nd Subscript: Direction of the Force Causing the Stress

J. C. Suhling, 2017
11
 STRESS
Notation for the Coordinate Axis Planes

Using Newtons 2nd Law

x2 22
for Rotational Motion
x1 (Eulers Equations: M = I),
x3 It can be Proved That:
21
12 12 21
23
32 11
13 31
23 32
31 13
33 Symmetric 2nd Order Component Matrix:
11 12 13 11 12 13
Normal Stress Signs: [] 21 22 23 12 22 23
Positive = Tension
Negative = Compression 31 32 33 13 23 33
J. C. Suhling, 2017
12
 STRESS
Plane Stress States

A Point is in a State of Plane Stress if One of the

3 Coordinate Planes is Stress Free

33 31 32 0
13 23 0
22
22

12
12
12

11 11

J. C. Suhling, 2017
13
 STRESS
Transformation Equations

Tetrahedron Analysis x2 22

x2 x1
x 2 x3 21
Sn 23 12

x1 32 11

n 31 13
e 2 n 33
e 1
n
e 3 x1
A

Given: ij and n
x3 x 3 Find: n and n
J. C. Suhling, 2017
14
 STRESS
Transformation Equations

Tetrahedron Analysis Unit Normal Vector

(Continued) x2
2 n
1
Stress Vector on Oblique Plane x1
3
x3
Sn n
n n1e1 n2e 2 n3e 3
n
n
Direction Cosines
n1 cos 1
Sn Sn1e1 Sn2e 2 Sn3e 3
n2 cos 2
2 n3 cos 3
n Sn n n Sn n2
n12 n22 n32 1
J. C. Suhling, 2017
15
 STRESS
Transformation Equations

Tetrahedron Analysis
(Continued)

F 0 as A 0 gives :

Sn1 11n1 21n 2 31n 3

Sn 2 12n1 22n 2 32n 3 Sni ji n j or Sn []t n
Sn 3 13n1 23n 2 33n 3

Sn1 11n1 12n 2 13n 3

Sn 2 12n1 22n 2 23n 3 Sni ijn j or Sn [ ]n
Sn 3 13n1 23n 2 33n 3
J. C. Suhling, 2017
16
 STRESS
Transformation Equations

Tetrahedron Analysis
(Continued)

n Sn n

n 11n12 22n22 33n32 212n1n2 213n1n3 223n2n3

n ijn i n j

2
n Sn 2n S2n1 S2n2 S2n3 2n

J. C. Suhling, 2017
17
 STRESS
Transformation Equations

x 2 x2

Direction Cosines:
x1
a ij cos(xi , x j ) ei e j
x1 ij ij

x3
x 3 Transformation Relations Derived Using Newtons Law:

12
11 13 a11 a12 a13 11 12 13 a11 a 21 a 31
a a a a a a
12 22 23 21 22 23 12 22 23 12 22 32

23 33 a 31 a 32 a 33 13 23 33 a13 a 23 a 33
13
3
[] [a ][][a ]t ij a
k ,l 1
ik a jl kl

J. C. Suhling, 2017
18
 STRESS
Principal Values (Normal Stress)

n 11n12 22n22 33n32 212n1n2 213n1n3 223n2n3

n f (n1 , n2 , n3 )

The Maximum and Minimum Values of the Normal Stress at

a Point are Called the Principal Stresses:

n n n
0 0 0 and n12 n22 n32 1
n1 n2 n3

J. C. Suhling, 2017
19
 STRESS
Principal Values (Normal Stress)
(Continued)

Solving the Max/Min Problem Leads to a Cubic Equation:

3 I12 I2 I3 0 Max

3 Roots: p1 , p2 , p3

where Min

I1 11 22 33
2 2
I2 1122 1133 2233 12 13 223
I3 112233 2121323 11223 2213
2 2
3312 det[ij ]

J. C. Suhling, 2017
20
 STRESS
Principal Values (Normal Stress)

Analytical Solution for Finding Roots of a Cubic Equation:

x3 Ax2 Bx C 0

Intermediate Variables: Roots:

1 1 3q A
p [3B A 2 ] 1 cos 1 x1 r cos 1
3 3 pr 3
1 2 A
q [2 A 3 9 AB 27C] 2 1 x 2 r cos 2
27 3 3
p 4 A
r2 3 1 x3 r cos 3
3 3 3

Hint: Make Sure You Use Radians for all Calculations Involving Angles on Your Calculator

J. C. Suhling, 2017
21
 STRESS
Principal Values (Normal Stress)

It can be Shown that the 3 Principal Stresses at any Point Occur on

3 Mutually Orthogonal Planes (called the Principal Planes), and that the
Shear Stresses are Zero on These Planes. The Normal Vectors to the
Principal Planes are Called the Principal Directions.

p3 n 3
n 2
p2

n 1

ij p1

J. C. Suhling, 2017
22
 STRESS
Principal Values (Normal Stress)

The Principal Stresses and Principal Directions

are also the Eigenvalues and Eigenvectors of the
Symmetric 3 x 3 Matrix of Stress Components:

11 12 13
[ ] 12 22 23

13 23 33

J. C. Suhling, 2017
23
 STRESS
Maximum Shear Stress

2
n Sn 2n S2n1 S2n2 S2n3 2n
n f (n1 , n2 , n3 )

The Maximum Value (in Magnitude) of the Shear Stress at

a Point is Called the Absolute Maximum Shear Stress:

n n n
0 0 0 and n12 n22 n32 1
n1 n2 n3

J. C. Suhling, 2017
24
 STRESS
Maximum Shear Stress
(Continued)

Solving the Max/Min Problem Leads to:

p1 p3
absmax
2

It can be Shown that the Maximum Shear Stress at any Point Occurs
on Planes that are Rotated 45o from the Principal Stress Planes
Number 1 and 3.

The Normal Stresses are Not Zero on the Planes with

the Maximum Shear Stresses, but Equal to: p3
n p1
2
J. C. Suhling, 2017
25
 STRAIN
Definition - Tensorial Strain

Deformed Body

P s
P
Undeformed Body

x2
P

e 2 s
x1
P
e 1
e 3

x3
J. C. Suhling, 2017
26
 STRAIN
Definition - Tensorial Strain

Small Directed Line Segment (Vector) in the Undeformed Body

s x1 e1 x 2 e 2 x 3 e 3

s s x12 x 22 x 32 x2 s
P
x1
x3

Same Small Directed Line Segment (Vector) in the Deformed Body

s x1 e1 x2 e 2 x3 e 3

s s x12 x22 x32
x2 P s
x1
x3
J. C. Suhling, 2017
27
 STRAIN
Definition - Tensorial Strain

Lagrangian Strain Components ijL (i, j 1,2,3)

3 3
s s 2ij x i x j
2 2 L

i 1 j1

Eulerian Strain Components ijE (i, j 1,2,3)

3 3
s s 2ij xi xj
2 2 E

i 1 j1

At Best, the Physical Meanings of These are Difficult to Understand!

J. C. Suhling, 2017
28
 STRAIN
Definition - "Engineering Strain

Deformed Body
s2
12
P 23

s3 s1
P 13

Undeformed Body

x2
P
s2
e 2
x1
P s1
e 1
e 3 s3

x3
J. C. Suhling, 2017
29
 STRAIN
Definition - "Engineering Strain

Normal Strains
s2
s1 s1 P
11 lim s1
s1 0
s1
s3
s2 s2
22 lim s2
s2 0
s 2

33 lim
s3 s3 P 23
12

s1
s3 0
s 3 s3 13

Normal Strain = Change in Length Over Original Length

for an Infinitesimal Line Segment at a Point
J. C. Suhling, 2017
30
 STRAIN
Definition - "Engineering Strain

Shear Strains
s2
P
212 12 lim
s1 ,s2 0 2
12
s1
s3
213 13 lim 13

s1 ,s3 0 2
s2

223 23 lim 23

s2 ,s3 0 2
P 23
12

s3 s1
13

Shear Strain = Change in Angle of an Originally Orthogonal

Set of Directions at a Point

J. C. Suhling, 2017
31
 STRAIN
Relationships Between the Various Strain Measures

It can be Shown that for Small Strains, the Various

Strain Measures are Approximately Equal:

ij L
ij
E
ij

for << 1

J. C. Suhling, 2017
32
 STRAIN
Units

All Strains are Dimensionless

Normal Strains are Often Listed with Units Such as
m/m, mm/mm, in/in, etc.
The Angles in Shear Strain Formulas Should be
Expressed in Radians

s2
s2

P P 23
12

s1 s1
s3 13
s3

J. C. Suhling, 2017
33
 STRAIN
Transformation Equations

x 2 x2

x1

x1

It can be Shown that the Strain Transformation Equations

x3
x 3 for the Tensorial Strains have the Same Form as the Stress
Transformation Equations. To Formulate the Corresponding
Strain Equation, Substitute:

in the Stress Equation.

J. C. Suhling, 2017
34
 STRAIN
Transformation Equations

For Example:

n 11n12 22n22 33n32 212n1n2 213n1n3 223n2n3

n 11n12 22n22 33n32 212n1n2 213n1n3 223n2n3

n 11n12 22n22 33n32 12n1n2 13n1n3 23n2n3

x2
n
x1
x3

J. C. Suhling, 2017
35
 STRAIN
Transformation Equations

x 2 x2

Direction Cosines:
x1
a ij cos(xi , x j ) ei e j
x1

Transformation Relations Derived Using Geometry/Calculus:

x3
x 3
12
11 13 a11 a12 a13 11 12 13 a11 a 21 a 31
a a a a a a
12 22 23 21 22 23 12 22 23 12 22 32
23 33 a 31 a 32 a 33 13 23 33 a13 a 23 a 33
13
3
[] [a ][][a ] t
ij a
k ,l 1
ik a jl kl

*These Relations are Only Exact for the Tensorial Strains

J. C. Suhling, 2017
36