STRESS-STRAIN ANALYSIS

(UNIST)


E-mail:hwpark@unist.ac.kr
 STRESS
Stress
Fundamental concept related to the safety of a structure
Often used as criteria for mechanical design
Internal force created by deforming the shape against external
loads.

F K L
F

L L

Linear elasticity: the relation between internal force and

deformation is linear.
 SURFACE TRACTION
Surface traction (Stress) F
f1
The body is in equilibrium due to n
external forces (f1, f2, f3) and internal
forces P
A
f2
Force intensity acting on a cut plane
f3
Internal force acting at a point
on a plane whose unit normal is n:
F
T (n )
lim f6
A0 A f1
f5

The surface traction depends on the unit

normal direction n.
f2 f4
Surface traction will change when n
changes. z f3

unit = force per unit area (pressure) y

x
 NORMAL AND SHEAR STRESSES
Normal and shear stresses
Decompose T(n) into normal and tangential
components
n normal stress stress component parallel to n
n shear stress stress component perpendicular to n

T(n)
n
n T n (n )

n
(n ) 2
T n2 n2 n P

(n ) 2
n T n2

What if T(n) and n are in the same direction?

 CARTESIAN STRESS COMPONENTS
Surface traction changes according to the direction of the surface.
Impossible to store stress information for all directions.
Lets store surface traction parallel to the three coordinate directions.
Surface traction in other directions can be calculated from them.
Consider the x-face of an infinitesimal cube

T(x ) = Tx(x )i + Ty(x ) j + Tz(x )k

x
DF = DFx i + DFy j + DFz k
T( x ) xx i xy j xz k z
xz
z F
Fx
lim
xx Ax 0 A xx xy
x
y
Fy x y
xy lim
Ax 0 A
x
Fz

xz A 0lim
x Ax
 CARTESIAN COMPONENTS cont.
First index is the face and the second index is its direction
When two indices are the same, normal stress, otherwise shear stress.
Continuation for other surfaces.
Total nine components
Same stress components are defined for the negative planes.

Comp. Description
xx Normal stress on the x face in the x dir.
yy Normal stress on the y face in the y dir. zz
Normal stress on the z face in the z dir.
x
zz
xy Shear stress on the x face in the y dir. zx zy
z
yx Shear stress on the y face in the x dir. xz yz
z F
yz Shear stress on the y face in the z dir.
Shear stress on the z face in the y dir. xx xy yx yy
zy
y
xz Shear stress on the x face in the z dir. y
x
zx Shear stress on the z face in the x dir.
 CARTESIAN COMPONENTS cont.
Sign convention

Positive when tension and negative when

compression.
Shear stress acting on the positive face is
positive when it is acting in the positive
coordinate direction.

sgn( xx ) sgn(n) sgn(Fx )

sgn( xy ) sgn(n) sgn(Fy )
 STRESS TRANSFORMATION
If stress components in xyz-planes are known, it is possible to
determine the surface traction acting on any plane.
Consider a plane whose normal is n.
nx y

n n xi n yj n zk n y B
n n
z
Surface area (ABC = A) zx zz T(n)
xz
PAB Anz ; PBC Anx ; PAC An y zy
xx
xy P
yz A x
The surface traction
yx
T( n ) Tx( n ) i Ty( n ) j Tz( n )k yy
z C
Force balance (h 0)

x x A xx Anx yx Any zx Anz 0

F T (n )

Tx( n ) xx nx yx n y zx nz
 STRESS TRANSFORMATION cont.
All three-directions
Tx( n ) xx nx yx n y zx nz
Ty( n ) xy nx yy n y zy nz
Tz( n ) xz nx yz n y zz nz

Matrix notation

T( n ) [ ] n xx yx zx

[ ] xy yy zy
[]: stress matrix xz yz zz

Normal and shear components

n T(n ) n n [ ] n {n}T [ ]{n}

(n ) 2
n T n2
 SYMMETRY OF STRESS TENSOR
Stress tensor should be symmetric
9 components 6 components
Equilibrium of the angular moment yx
A B
M l ( xy yx ) 0 y
xy yx O x
xy l xy
Similarly for all three directions:
xy yx l
C D
yz zy yx
xz zx xx

yy xx xy zx
Lets use vector notation: zz
{ } [ ] xy yy yz
yz zx yz zz
zx

xy
 PRINCIPAL STRESSES
Can it be possible to find planes that have zero shear stresses?
Normal stress = principal stress
Normal direction = principal direction
Extreme values (max or min) of stress at the point
Three principal stresses and directions.
Stress vector (T(n)) // normal vector (n)
n and l are unknown
T (n )
n l: principal stress
n: principal direction

[ ] n n
Eigenvalue
problem
[ ] [I ] n 0
xx yx zx nx 0


What would be the
xy yy zy n y 0 solution?

xz yz zz nz 0
 PRINCIPAL STRESSES cont
n = 0 satisfies the equation: trivial solution
Non-trivial solution when the determinant is zero.
xx yx zx
xy yy zy 0
xz yz zz
Expanding the determinant equation:
I1 xx yy zz
3 I1 2 I 2 I 3 0 I 2 xx yy yy zz zz xx xy2 yz2 zx2
I 3 xx yy zz 2 xy yz zx xx yz2 yy zx2 zz xy2
I1, I2, I3: invariants of the stress matrix [], which are
independent of coordinate systems.
Three roots: principal stresses, 1 2 3
 PRINCIPAL DIRECTION
Calculate principal direction using principal stress.
Substitute each principal stress at a time.

xx 1 yx zx n1x 0
1
xy yy 1 zy n y 0
xz yz zz 1 n1z 0

Since the determinant is zero (i.e., the matrix is singular),

three equations are not independent.
An infinite number of solutions exist.
Need one more relation to uniquely determine n.
i 2
n ( nxi ) 2 ( niy ) 2 ( nzi ) 2 1, i 1, 2,3

Infinite solutions mean the same direction with different

magnitude.
We select the one that has unit magnitude
 PRINCIPAL DIRECTION cont.
Planes on which the principal stresses act are mutually
perpendicular
Lets consider two principal directions ni and nj, with i j.
[ ] ni i ni
[ ] n j j n j
Scalar products using nj and ni,

n j [ ] ni i n j ni
ni [ ] n j j ni n j
Subtract two equations,

( i j )ni n j 0

Since two principal stresses are different,

ni n j 0, when i j
 PRINCIPAL DIRECTION cont.
There are three cases for principal directions:
1. 1, 2, and 3 are distinct principal directions are three
unique mutually orthogonal unit vectors.
2. 1 = 2 and 3 are distinct n3 is a unique principal
direction, and any two orthogonal directions on the plane
that is perpendicular to n3 are principal directions.
3. 1 = 2 = 3 any three orthogonal directions are principal
directions. This state of stress corresponds to a hydrostatic
pressure.

n3
 COORDINATE TRANSFORMATION
When []xyz is given, what would be the components in a
different coordinate system xyz (i.e., []xyz)?
Unit vectors in xyz-coordinates:

b11 b12 b13

y
b1 b21 , b 2 b22 , b3 b23 x
y
b1 b 2 b3
3 3 3
b1= {1, 0, 0}T
in xyz coordinates, b 2 b1
while b {b1 , b21 , b31} in xyz coordinates
1 1
x
3
the rotational transformation matrix b

b11 b12 b13 z

z
1 3
[N ] [b1 b 2 b ] b2 b22
3
b2
b31 b32 b33

Stress does not rotate. The coordinates rotate
 COORDINATE TRANSFORMATION cont.
[N] transforms a vector in the xyz coordinates into the xyz
coordinates, while [N]T transforms a vector in the xyz
coordinates into the xyz coordinates. y
y x
Consider axyz = {1, 0, 0} :
T
1
b1
b2 b1
a xyz [N ] a xyz b21 b1 x
b1 b3
3
z
Stress transformation: Using stress vectors, z
( b1 ) (b2 ) ( b3 )
[T T T ]xyz [ ]xyz [b1 b 2 b 3 ] [ ]xyz [ N ]

By multiplying [N]T the stress vectors can be represented in the

xyz coordinates
[ ]xyz [ N ]T [ ]xyz [ N ]

The first [N] transforms the plane, while the second transforms
the force.
 MAXIMUM SHEAR STRESS

Important in the failure criteria of the material

Mohrs circle
maximum shear stress

1 3
max max
2
3 2 1
 What Stress Could Be Design Criteria?

It must be independent of the coordinate

system.
Stress Invariants
Principal Stresses
Maximum Shear Stress
 STRAIN
Strain is defined as the elongation per unit length

uy

P x P
ux

Tensile (normal) strains in x- and y-directions

u x u x
xx lim
x 0 x x
Textbook has different, but
u y u y
yy lim more rigorous derivations
y 0 y y
Strain is a dimensionless quantity. Positive for elongation and negative
for compression
 SHEAR STRAIN
Shear strain is the tangent of the change in angle between two
originally perpendicular axes
ux
u y
1 tan 1
x 2
y
u x
2 tan 2 /2 12
y 1 uy
P x
Shear strain (change of angle)
u y u x u y u x
xy 1 2 lim lim
x 0 x y 0 y x y
1 1 u y u x
xy xy
2 2 x y
Positive when the angle between two positive (or two negative)
faces is reduced and negative when the angle is increased.
Valid for small deformation
 STRAIN MATRIX
Strain matrix and strain vector
xx

xx xy xz yy
zz
[e] yx yy yz { }
zx zy zz yz
zx

xy
Normal component: nn n [e ] n

Coordinate transformation:[e]xyz [ N ] [e]xyz [ N ]

T

Principal strain: [e] n n

1 2 3 max 1 3
Maximum shear strain: 2 2

Will the principal direction of strain be the same as that of stress?

 STRESS VS STRAIN

[] is a symmetric 33 matrix [] is a symmetric 33 matrix

Normal stress in the direction n is Normal strain in the direction n is

nn n [s] n nn n [ ] n
Transformation of stress Transformation of strain
[s]xyz [ N ]T [s]xyz [ N ] [ ]xyz [ N ]T [ ]xyz [ N ]
Three mutually perpendicular Three mutually perpendicular
principal directions and principal principal directions and principal
stresses can be computed as strains can be computed as
eigenvalues and eigenvectors of eigenvalues and eigenvectors of
the stress matrix as [s] n n the strain matrix as [ ] n n
 STRESS-STRAIN RELATIONSHIP
Applied Load shape change (strain) stress
There must be a relation between stress and strain
Linear Elasticity: Simplest and most commonly used
Uni-axial Stress:
Axial force F will generate stress
In the elastic range, the relation between stress and strain is
zz F / A
zz E zz
F F

Reduction of cross-section

xx yy zz

E: Youngs modulus, : Poissons ratio

 UNI-AXIAL TENSION TEST

Ultimate
stress Fracture

Yield stress

Proportional
limit

Strain Necking
hardening

Terms Explanations
Proportional limit The greatest stress for which stress is still proportional to strain
Elastic limit The greatest stress without resulting in any permanent strain
Yield stress The stress required to produce 0.2% plastic strain
Strain hardening A region where more stress is required to deform the material
Ultimate stress The maximum stress the material can resist
Necking Cross section of the specimen reduces during deformation
Fracture Material failure
 LINEAR ELASTICITY (HOOKES LAW)
When the material is in the Proportional Limit (or Elastic
Limit)
In General 3-D Relationship
{ } [C] { }

xx C11 C12 C13 C14 C15 C16 xx

C
C22 C23 C24 C25 C26 yy
yy
21
zz C31 C32 C33 C34 C35 C36 zz
{ } , [C] , { }
yz C41 C42 C43 C44 C45 C46 yz
zx C51 C52 C53 C54 C55 C56 zx


xy C61 C62 C63 C64 C65 C66 xy
Stress-Strain Matrix
For homogeneous, isotropic material 36 constants can be
reduced to 2 independent constants.
 LINEAR ELASTICITY (HOOKES LAW) cont.
Isotropic Material: 1 0 0 0
1 0 0 0
Stress in terms of strain
E 1 0 0 0
[C]
{ } [C] { } (1 )(1 2 ) 0

0 0 1
2 0 0

0 0 0 0 1
2 0

0 0 0 0 0 1
2

xx 1 xx
E

yy 1 yy
1 1 2 1 zz
zz
xy G xy , yz G yz , zx G zx
Shear Modulus
Strain in terms of stress
E
xx 1 xx G
1
yy 1

yy 2(1 )
E 1 zz
zz
xy yz zx
xy , yz , zx
G G G
 DEGENERATION TO 2D
Plane Strain Problem
3D engineering problems are often simplified to 2D problems
Deformation in z-dir is constrained
Strain in z-dir is zero

zz 0, xz 0, yz 0
xx 1 0 xx
E
{} yy 1 0 yy
(1 )(1 2 ) 0
0 2 xy
1
xy

Normal stress in z-dir

y
y
E
zz
(1 )(1 2 )
xx yy
x
x
Plane strain model
z
 DEGENERATION TO 2D cont.
Plane Stress Problem:
Plate-like structure under in-plane loads fy
No constraints in thickness dir
Stresses in z-dir are zero
zz 0, xz 0, yz 0
Stress-strain relation y fx
x
xx 1 1 xx

yy E 1 yy

zz ( xx yy ) xx 1 0 xx
E E
{} yy 1 0 yy
xy
xy 1 2

G xy 0 0 1
2 (1 ) xy

yz zx 0
 EQUILIBRIUM EQUATIONS
Equilibrium Relation (2D)

xx xy yy dy
x y 0
y
2
yx
y
dy

xy yy 0
2
y xy
x y x
dx
2
xx x
dx xx x
dx
Equilibrium Relation (3D) 2 x 2
xy x
dx
2

xx xy xz yx dy
x y z 0
y
2

yy dy
xy yy yz y
2
0
x y z
yz zz
xz
0
x y z
 BOUNDARY-VALUE PROBLEM
When boundary conditions are given, how can we calculate the
displacement, stress, and strain of the structure?
Solve for displacement
Applied
loads

{} = [C] {}

Boundary
condition
Equilibrium equation
Constitutive equation (Stress-strain relation)
Strain definition
Load and boundary conditions
Compatibility conditions
 FAILURE THEORIES
Materials fail because the stress exceed the strength
Need to specify the exact stress type to determine
failure
Design Criteria
Material failure
Ductile material: yield stress
Brittle material: ultimate stress
Materials dont fail by changing volume (inter-atomic distance)
Shear stress (distortion of shape) is related to material failure.

Two Categories: stress-based and energy-based

 STRAIN ENERGY
Force Deformation Stress Stored Energy
Strain Energy Density: U 1
2
1
3-D situation: U ( 11 2 2 3 3 )
2
Use principal stress-strain relation E
1
1 E
( 1 2 3 ) i

1
2 ( 2 1 3 )
E
1 U Strain energy
3 E
( 3 1 2 )
i
Strain Energy Density:

1
U 12 22 32 2 ( 1 2 2 3 1 3 )
2E
in terms of principal stresses
 DECOMPOSITION OF ENERGY
Hydrostatic Stress (Volumetric stress)
Hydrostatic pressure does not contribute to failure
Thus, subtract the volumetric strain energy from total strain
energy.
Hydrostatic pressure: same for all directions
1 2 3 xx yy zz
h
3 3
Strain energy density caused by h:
1 3 (1 2 ) 2
Uh h2 h2 h2 2 ( h h h h h h ) h
2E 2 E
2
3 (1 2 ) 1 2 3
Uh
2 E 3
1 2
12 22 32 2( 1 2 2 3 1 3 )
6E
 DECOMPOSITION OF ENERGY cont.
Distortion Energy Density

Ud U Uh
1
12 22 32 1 2 2 3 1 3
3E
1 2
VM
3E
Von Mises Stress

1 2 2 3 3 1
2 2 2

VM
2

This energy contributes to material failure

 DISTORTION ENERGY THEORY
Von Mises (1913)
Material fails when the distortion energy reaches a certain level.
Material yields in the tensile test when xx = Y, and all others
are zero
Distortion energy when the material yields in tensile test
1 2
Ud Y
3E

In general stress status, the material yields when the distortion

energy is greater than that of the tensile test at yielding:
1 2 1 2
VM Y
3E 3E

Without calculating distortion energy, just compare the von

Mises stress with yield stress of the tensile test:
VM Y
 DISTORTION ENERGY THEORY cont.

3D stress status
( xx yy ) 2 ( yy zz ) 2 ( zz xx ) 2 6( xy2 yz2 zx2 )
VM
2

VM 12 22 32 1 2 2 3 1 3

2D (when 2 = 0)

VM 12 1 3 32

VM xx2 yy2 xx yy 3 xy2

 DISTORTION ENERGY THEORY cont.
Example: Pure Shear Problem
1 = = 3 and = 0
straight line through the origin at 45

Y2 12 1 1 12 3 12 3 2

Y
1 0.577 Y
3

3 Y 12 1 3 32
1 3

A Safe region

1
B Material failure
 MAX SHEAR STRESS THEORY
Tresca (1864)
Material fails when the max. shear stress exceeds the shear
stress in a tensile specimen at yield.
In tensile test, 1 = Y, 2 = 3 = 0:

Y
1 3

Y
Y max Y
2 2 2
Tresca theory is more conservative than the distortion energy
theory
Safe region
3
Failure in max. shear stress theory
Safe in distortion energy theory

C Pure shear problem

Y
1 1 3
D 2
 MAX PRINCIPAL STRESS THEORY
Rankine
Material fails when the principal stress reaches some limit on
normal stress such as tensile yield stress or ultimate tensile
stress.
This theory frequently used for brittle materials.
1 Y
Distortion energy theory
2

Principal stress theory

 SAFETY FACTOR
For design purposes it is convenient to include a chosen safety factor
N so that the stress will be safely inside the failure-stress envelope.
In many engineering applications, N = 1.1 1.5.
Safety factor in the distortion energy theory:
Y
NVM
VM
safety factor in the maximum shear stress theory:

Y Y / 2
N
max max
Note:

Y
Y
VM max
 !