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INTRODUCTION
255
256 HENRY L. LANGI-IAAR [J. F. I.
cannot be solved for the x's ; in fact, Eq. 3 then shows that equilibrium
is impossible, unless -Pl = 0. In this case, xl may be regarded as the
coordinate of a "loose part" that is free from external force ; hence, the
configuration of the part is indeterminate. This condition prevails
whenever rigid displacements of the entire system are possible, if some
of the x's locate the system in space, since a system that is subjected
to self-equilibrating forces and moments does not have a unique location
in space.
If the Hessian of U is different from zero, Eq. 3 yields
x i = x , ( P ~ , P~, . . . , P,). (4)
Accordingly, U may be regarded as a function of the P's.
Legendre showed that equations of the type of Eq. 3, with a non-
vanishing Hessian, may be transformed by the introduction of a new
function T(Px, P2, " " , P,), defined by
T = P k x k - - U. (5)
With the present physical interpretations of the variables, the function
T is called "complementary energy." Differentiation of Eq. 5 yields
OT Ox, 0U
--= ~?xk + P k - -
OP~ OP~ OP~
or
OT
m = X i-J V
OP~ OP~ "
Consequently, by Eq. 3,
0T
OP~ = x,. (6)
CONSTRAINING FORCES
where ~W" now represents the virtual work of the external forces -P,
and the constraining forces O,.
For the " c u t " system, T is a function of the variables ( P 1 , • " " , -P,~ :
(21, " " , @ ) . Equation 6 remains valid, with the supplementary equa-
tions,
0T
o o ~ = y°'
(11)
T = f fk/v, (14)
de
260 HENRY L. LANGHAAR [J. F. I.
0 0
The entire body B must be in equilibrium under the action of the body
forces and the boundary stresses. The variation of the boundary
stresses is restricted by this condition. Then, the resulting variation
of the internal stresses conforms to the differential equations of equi-
librium; that is,
0
- - (fa,j) = O.
axj
Consequently,
0
~T f ulnj~jdS. (16')
aS~0
If the variation of the boundary stresses is further restricted so that
each component of the vector njS~; retains a constant sign in So, the
theorem of the mean for integrals yields
~T = ~ £ . n i ~ i dS,
{vhere as is the value of u~ at some point of So. The total load F~ on the
small area So is
F~ = I - n~ali dS.
0
Consequently,
fiT = RiSFi.
Letting the vector ~F~ be collinear with the vector F~, we obtain
~T = w~ F,
where F is the magnitude of the point force F~, and w is the component
of ~ in the direction of F~; that is, w is the deflection of the load F.
Also,
0T=
Therefore,
0T
w = OF" (17)
1 0T 1 0T
Ot -~- -- - - -'t- -- - -
a OFt a OF~"
0T 0T 0F1 0Y 0F2
OF - OF, OF q- OF~ OF "
OT --
OT .Al_
OY
_ _
OF OF, OF..,
Consequently,
1 0T
a OF"
Since the equal and opposite forces, F1 and F2, constitute a couple of
magnitude M = Fa, this equation may be written as follows:
0T
a - OM" (18)
Here, the notations (x, y, z) are used instead of (xl, x2, x3). The quan-
tities (X, Y, Z) are the components of body force.
To render the complementary energy T stationary in the classrof
stresses that satisfy Eq. 19 and the boundary conditions, we multiply
the quantities (P, Q, R) by Lagrange multipliers (u, v, w) that are func-
tions of (x, y, z), and add the resulting terms (s) to the integrand in
Eq. 14. Thus, a modified complementary energy function T is obtained :
where F is the Airy stress function. The Euler equation for this inte-
gral is V~F = 0. This is the known compatibility equation of plane
elasticity theory.
REFERENCES
(I) FR. ENGESSER, "0ber statisch unbestimmte Tr~iger bei beliebigem Formtinderungs-Gesetze
und fiber den Satz vonder kleinsten Erg~inzungsarbeit," Zeitschrift des Architekten- und
Ingenieur-Vereins zu Hannover, Vol. 35, columns 733-744 (1889).
(2) H. M. WESTERGAARD,"On the Method of Complementary Energy," A.S.C.E. Trans.,
Vol. 107, pp. 765-803 (1942).
(3) H. J. GREENBERG, "On the Variational Principles of Plasticity," Brown University Report
No. A1-S4, March, 1949.
(4) A. E. H. LOVE, "The Mathematical Theory of Elasticity," 4th ed., London, Cambridge
University Press, 1934.
(5) R. COURANTAND D. HILBERT, "Methoden der mathematischen Physik," Vol. I, p. 191,
New York, Interscience Publishers, 1943.
(6) T. M. CHARLTON,"Some Notes on the Analysis of Redundant Systems by Means of the
Conception of Conservation of Energy," JouR. FRANKLININST., Vol. 250, pp. 543-551
(1950).
(7) T. M. CnAaLTON, "The Analysis of Statically Indeterminate Structures by the Comple-
mentary Energy Method," Engineering, Vol. 174, pp. 389-391 (1952).
Postscript. The author learned belatedly of T. M. Charlton's excellent articles (6, 7). Charl-
ton's treatment discloses the principle of complementary energy from a new perspective,
since it employs the law of conservation of energy as a starting point.