HES5320 Solid Mechanics

Topic 3:
Stress and Strain

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 Content
 Equilibrium equations: Cartesian and Cylindrical
coordinates

 Strain in terms of displacement: Cartesian and

Cylindrical coordinates

 Compatibility equations: Cartesian and Cylindrical

coordinates

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 Stress and strain
Conceptually, stress is defined as the intensity of the
internal force acting on a specific plane (area) passing
through a point.
Stress, in general, cannot be measured directly
It is calculated from the knowledge of the strain

Strain can be defined as an average elongation,

shortening, deformation, or distortion due to applied
forces or loadings.

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 Stress: Normal Stress
Consider the axially loaded member in Fig 3.1(a). It
should be understood that the arrows (of the force)
simply represent force resultants on the faces of the
member. That is, it should not be seen as a force solely
applied along the line of the arrow. This is also true for
the internal force ∆𝐹
The intensity of the internal force (Fig 3.2b)
acting normal to the area ∆𝑨 is called normal
stress 𝝈.
∆𝐹
𝜎=
∆𝐴

a b A normal stress is produced by a normal strain

Fig 3.1. An axially loaded
member The limit of the above expression, as the
area becomes small is:
∆𝐹 𝑑𝑑
𝜎 = lim =
∆𝐴→0 ∆𝐴 𝑑𝑑
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 Stress: Shear Stress
Consider the transversely loaded member in Fig 3.2(a).
From early lessons, we conclude that internal forces must
exist in the plane of the section as shown in Fig 3.2b.
These internal forces, in the case of a transversely loaded
or tangentially loaded members or torsionally loaded
members lead to another type of stress called shear
a forces.

The intensity of the shear force divided by the

cross-sectional area on which it acts is called a
shear stress 𝝉 (Greek symbol tau).

b 𝑺𝑺𝑺𝑺𝑺 𝒇𝒇𝒇𝒇𝒇(𝑷)
𝝉=
Fig 3.2. A transversely 𝑨
loaded member
A shear stress is produced by a shear strain

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 Variation of stress and strain

In slide page 4, the load-carrying member is subjected purely to a 1D normal

stress. In slide page 5, the transversely loaded member is also subjected to a 1D
shear stress. However, in most practical situations, a member is subjected to
combined loads that lead to a more complex stress state.
 It is therefore necessary to examine the variation of stress between adjacent points and derive suitable
expressions for this variation
 Relationships for stresses may be found by considering the equilibrium of a small element of material
 The equilibrium equations are obtained from the relationship between the internal forces and the area on
which these forces are acting
 The solution of these equations of equilibrium must satisfy the boundary conditions of the problem as defined
by the forces
 However, for statically indeterminate problem, it is not possible to obtain the individual components of stress
directly from equilibrium equations alone
 In such cases, it is necessary to consider the elastic deformations of the material such that, in a continuous strain
field, the displacements are compatible with stress distribution
 These relationships are termed the equations of compatibility

 Equations of equilibrium and compatibility are general and can be derived in terms of various co-ordinate
systems

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 Equilibrium Equations: Cartesian Coordinates

Fig 3.3a Elements within a plane

Fig 3.3b Stresses on an element

The naming convention for the stress on each plane follows this:
𝝈𝒙𝑨𝑨 is the normal stress, in 𝑥 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 and on plane 𝐴𝐴
𝝉𝒙𝒚𝑨𝑨 is the shear stress, on plane 𝐴𝐴 whose normal is 𝑥, acting in 𝑦 − 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑

where 𝑋 is the body force that acts on the entire volume (e.g. gravity, inertia).
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 Equilibrium Equations: Cartesian Coordinates
Divide through by the volume 𝛿𝑥𝛿𝑦𝛿𝑧 to get:

𝝈𝒙𝒙𝒙− 𝝈𝒙𝑨𝑨 𝝉𝒚𝒙𝑩𝑩− 𝝉𝒚𝒙𝒙𝑫

+ +𝑿=𝟎
𝜹𝜹 𝜹𝜹
In the limit as 𝛿𝑥 → 0, 𝛿𝑦 → 0:

Again, 𝑌 is a body force. Divide through by the volume 𝛿𝑥𝛿𝑦𝛿𝑧 to get:

𝝈𝒚𝒚𝒚− 𝝈𝒚𝑨𝑫 𝝉𝒙𝒚𝒚𝒚− 𝝉𝒙𝒙𝑨𝑩

+ +𝒀=𝟎
𝜹𝒚 𝜹𝜹
Also, in the limit as 𝛿𝑥 → 0, 𝛿𝑦 → 0, we have:
𝝏𝝈𝒚 𝝏𝝉𝒙𝒙
𝝏𝒚
+ 𝝏𝒙
+𝒀=𝟎
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 Equilibrium Equations: Cartesian
Coordinates
If the body forces (𝑋 𝑎𝑎𝑎 𝑌) are negligible, then the
equilibrium equations for a 2D problem in a Cartesian
coordinate reduce to:

𝝏𝝈𝒚 𝝏𝝉𝒙𝒙
+ =𝟎 Eq. (2)
𝝏𝝏 𝝏𝝏

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 Equilibrium Equations: Cylindrical
Coordinates
The cylindrical coordinate is ideal for analyzing the stresses in structures/members
that have curved parts e.g. cylindrical tanks, pressure vessels, spherical gas tanks
and discs.

Spherical gas tank

10 Cylindrical vessels
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 Equilibrium Equations: Cylindrical
Coordinates
Consider the equilibrium of the element of a curved body in cylindrical coordinates:

𝝈𝜽 is the circumferential stress

𝝉𝒓𝜽 and 𝝉𝒓𝜽 are both shear stresses
𝜹𝜹 is the angle subtended by the curved surface
𝑹 is the radial body force

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 Cylindrical Coordinates: Resolve the forces in
radial direction

As 𝛿𝛿 → 𝜃, sin ½𝛿𝛿 → ½ 𝛿𝜃 and cos ½𝛿𝛿 → 1 and by neglecting the

second and higher-order terms and dividing by 𝑟𝛿𝛿𝛿𝑟𝛿𝑧, we have

OR

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 Cylindrical Coordinates: Resolve the forces in
tangential direction

Follow the same steps as in previous slide to obtain

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 Cylindrical Coordinates: Equilibrium equations
The two equilibrium equations, in cylindrical coordinate, for a 2D problem are now:

Eq.(3)

Eq.(4)
Axial Symmetry
In certain cases, such as a ring, disc or cylinder, the body is symmetrical about
central axis 𝑧 through 𝑂. In this instance
 σθ at any particular radius is constant
 Stress component depend on 𝒓 only
 The shear stress component τθ𝐫 must vanish
These conditions, arising from axial symmetry, lead to the elimination of
Eq.(4) and reduces Eq. (3) to:

Eq.(5)
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 Strain in terms of displacement: Cartesian Coordinates
Now that we have our equilibrium equations in terms of stress (equations 1-4). What can we do with it?
Remember that we cannot measure stress directly, we have to measure it through strain.
Strain, in turn, depends on displacement or deformation. Our next move is now to relate both
strain and displacement, which will then help us to relate stress and strain. Get the idea?

Here, we consider, the strain

field in a Cartesian coordinate
for a 2D problem. The strain
components are as defined
below

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 Strain in terms of displacement: Cylindrical Coordinates
Here, we consider the strain field in a cylindrical coordinate for a 2D
problem defined by the following components:

Axial Symmetry
Again, for the body that is symmetrical about a central axis, 𝑧 through 𝑂
-There is no tangential displacement, 𝑣
- 𝑢 does not vary with θ
-Shear strain γ𝑟θ is equal to zero, therefore τθ𝑟 is zero

This then lead to a reduced displacement field with just two components:

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 COMPATIBILITY EQUATIONS:
CARTESIAN COORDINATES

Compatibility equations: the relations between

strains and stresses in a 2-dimensional plane

In the strain-displacement relationships, there are six

strain measures but only three independent
displacements (for a 3D problem). That is, there are 6
unknowns for only 3 independent variables. As a
result, there exists 3 constraint, or compatibility
equations.

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 COMPATIBILITY EQUATIONS:
CARTESIAN COORDINATES
The three strains in 2D are expressed in terms of two displacement as follows.

Notice now that we have three strain equations with 2 unknowns (𝑢, 𝑣).
There must be a relationship between the three strains.
This may be obtained by differentiating the expressions of
strains with respect to 𝑥, or 𝑦, or both 𝑥 and 𝑦.

Eliminating 𝑢 and 𝑣 between these 3 equations provides the relationship below:

Compatibility equation
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 Compatibility equations in terms of stresses
To obtain the compatibility equation in terms of stress, we need to recall the expression for the
Generalized Hooke’s law. Hooke’s law relates stress and strain through the constant of
proportionality called the Young’s modulus.
We will consider the case of a plane stress under which σz= 0 and 𝜀𝑥 , 𝜀𝑦 and 𝛾𝑥𝑥 are related
to the stresses as:
σ x νσ y
εx = −
E E
σ y νσ x
εy = −
E E
τ xy 2τ xy (1 +ν )
γ xy = =
G E
Substituting the above equations in the following equation

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 6

Eqns. 7&8 are the previously derived equilibrium equations. Differentiating eqn. 7 with
respect to 𝒙 and eqn. 8 with respect to 𝒚 and add to get

Eliminate τ𝒙𝒙 between eqns. 6 and 9

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 Summary of compatibility equations in
Cartesian coordinates
In terms of strains:

10

In terms of stresses:

11

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 Summary of compatibility equations in
Cylindrical coordinates
In terms of strains:

12

In terms of stresses:

13

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 Summary of compatibility equations
under axial symmetry
Remember in the case of axial symmetry, there is no dependence on 𝜃.
Therefore, the compatibility equation in terms of stresses, for an axially
symmetrical body reduces to:

 d2 1 d 
 2 + (σ r + σ θ ) = 0
 dr r dr 

Multiplying out:

d 2 σ r 1 dσ r d 2 σ θ 1 dσ θ
2
+ + 2
+ =0 (14)
dr r dr dr r dr

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 Summary of compatibility equations under axial symmetry

From equilibrium equation (slide page 14):

dσ r
Obtain 𝜎𝜃 from the above Eqns. σθ = r + σr
dr
Differentiate the above equation:
dσ θ dσ r d 2 σ r dσ r
= +r 2
+ (15)
dr dr dr dr
and
d 2σθ d 2σr d 2σr d 3σr d 2σr d 2
σ d 3
σr
= + + r + =3 r
+r (16)
dr 2 dr 2 dr 2 dr 3 dr 2 dr 2
dr 3
Substituting Eqns. (15) and (16) for 𝜎𝜃 in Eqn. (14) and gathering terms
together gives:
d 3σ r d 2 σ r 3 dσ r
r 3
+5 2
+ =0
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dr dr r dr
 Summary of compatibility equations in under axial symmetry

d 3σ r d 2 σ r 3 dσ r
r 3
+5 2
+ =0 17
dr dr r dr

For an axially symmetrical system with no body force,

Eqn. 17 is a third-order ordinary differential equation in terms of 𝜎𝑟

One particular solution of this equation is :

18

19

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 Example 3.1
Derive compatibility equations from the following strain-
displacement relationships:

Solution:
Differentiate first equation with respect to θ and the second equation with
respect to z
∂ε z ∂ w2
∂γ θz 1 ∂ 2 w
= =
∂θ ∂z∂θ ∂z r ∂θ∂z

Thus the compatibility equation is :

∂ε z ∂γ θz
=r
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∂θ ∂z
 Example 3.2
Derive compatibility equations from the following
strain-displacement relationships:

Solution:
Differentiate first equation with respect to z, the second equation with
respect to y , and the third equation with respect to x

∂γ xy ∂ 2u ∂ 2v ∂γ xz ∂ 2u ∂γ yz ∂ 2v
= + = =
∂z ∂y∂z ∂x∂z ∂y ∂z∂y ∂x ∂z∂x
Therefore the compatibility equation is :
∂γ xy ∂γ xz ∂γ yz
= +
27 SUTS HES5320 Sem 2 2014 ∂z ∂y ∂x