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Phillip L. Gould
Analysis of Shells
and Plates
Springer-Verlag
New York Berlin Heidelberg
London Paris Tokyo
Phillip L. Gould
Department of Civil Engineering
Washington University
St. Louis, MO 63130, USA
Cataloging-in-Publication Data
Gould, Phillip L.
Analysis of shells and plates / Phillip L. Gould.
p. cm.
Includes bibliographies.
ISBN-13:978-1-4612- 8340·9
1. Shells (Engineering) 2. Plates (Engineering) I. Title.
TA660.S5G644 1987
624.1'776-dc 1987-21011
Previous edition: Phillip L. Gould, Static Analysis of Shells. © 1977 by D.C. Heath Company
All rights reserved. This work may not be translated or copied in whole or in part without the
written permission of the publisher (Springer-Verlag, 175 Fifth Avenue, New York, New York
10010, lJSA), except for brief excerpts in connection with reviews or scholarly analysis. Use in
connection with any form of information storage and retrieval, electronic adaptation, computer
software, or by similar or dissimilar methodology now known or hereafter developed is forbidden.
The use of general descriptive names, trade names, trademarks, etc. in this publication, even if the
former are not especially identified, is not to be taken as a sign that such names, as under~tood by
the Trade Marks and Merchandise Marks Act, may accordingly be used freely by anyone.
9 8 7 654 3 2 1
ISBN-13:978·1-4612-8340·9 e-ISBN-13:978-1-4612-3764·8
DOl: 10.1007/978-1-4612-3764·8
To David and Belle Gould,
my parents, and
Deborah Gould, my wife
Preface
vii
viii Preface
Phillip L. Gould
Acknowledgments
Many contributors, both direct and indirect, to an earlier volume Static Anal-
ysis of Shells (D. C. Heath, 1974), were acknowledged then and their contribu-
tion to this book is likewise appreciated.
The interest of the Springer-Verlag publishing program in allowing the
author to present a more complete, more accurate, and, hopefully, more incisive
treatment of the topic is greatly appreciated. The present work incorporates
the results of an additional decade of criticism, reflection and study, and,
hopefully, represents a significant improvement over the earlier volume.
In the past decade, the author has been influenced by a number of contem-
porary engineers and scientists. Among those whose contributions directly im-
pacted this book are-in alphabetical order-Dr. P. Bergan, Veritec, Norway;
Dr. D. Bushnell, Lockheed-Palo Alto; Dr. J. Bobrowski, Consulting Engineer,
UK.; Prof. C. R. Calladine, University of Cambridge; Prof. J. G. A. Croll,
University College, London; Prof. K. J. Han, University of Houston; Prof. S.
Kato, Toyohashi Institute of Technology; Prof. M. Ketchum, University of
Connecticut; Prof. W. Kratzig, Ruhr-Universitat-Bochum; Prof. D. Pecknold,
University of Illinois at Urbana-Champaign; Prof. E. Reissner, University of
California, San Diego; Dr. J. M. Rotter, University of Sydney; Prof. W.
Schnobrich, University of Illinois at Urbana-Champaign; Prof. S. Simmonds,
University of Alberta; Prof. U. Wittek, University of Kaiserlautern; Prof. J. K.
Wu, Peking University.
The author is also indebted to current and recent students B. J. Lee, J. S. Lin,
Robert Elkin, Michael Williams, and Hidajat Harintho for careful proofreading
and suggestions. Also, Mr. Sakul Pochanart assisted in improving the illustra-
tions and prepared many of the drawings. Ms. Kathryn Schallert carefully
revised and retyped much of the manuscript.
Finally, the author is appreciative of the academic atmosphere provided at
Washington University, and ofthe patience and cooperation of his colleagues
throughout the manuscript preparation process.
IX
Contents
Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Acknowledgments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
Chapter 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Role of the Theory of Elasttcity . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Engineering Theories. . . . . . . ....... ... . ... . . . . .. .. . . 1
1.3 Load Resistance Mechanisms ....... ... . ... . . . . .. .. . . 3
1.4 References. . . . . . . . . . . . . . . ....... ... . ... . . . . .. .. . . 14
1.5 Exercises. . . . . . . . . . . . . . . . ....... ... . ... . . . . .. .. . . 15
Chapter 2. Geometry... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.1 Curvilinear Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Middle Surface Geometry. . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3 Unit Tangent Vectors and Principal Directions. . . . . . . . . . 21
2.4 Second Quadratic Form of the Theory of Surfaces. . . . . . . . 26
2.5 Principal Radii of Curvature. . . . . . . . . . . . . . . . . . . . . . . . 28
2.6 Gauss-Codazzi Relations . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.7 Gaussian Curvature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.8 Specialization of Shell Geometry. . . . . . . . . . . . . . . . . . . . . 32
2.9 References...................................... 53
2.10 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Chapter 3. Equilibrium. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.1 Stress Resultants and Couples. . . . . . . . . . . . . . . . ........ 55
3.2 Equilibrium of the Shell Element. . . . . . . . . . . . . . ........ 60
3.3 Equilibrium Equations for Shells of Revolution. . . ........ 63
3.4 Equilibrium Equations for Plates. . . . . . . . . . . . . . ........ 67
3.5 Nature of the Applied Loading. . . . . . . . . . . . . . . ........ 67
3.6 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ 69
3.7 Exercises. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ 69
xi
xii Contents
Introduction
1
2 1 Introduction
~ middle axis
1.
surface
The common basis of shallow beam, medium-thin plate, and thin shell theories
is illustrated by the unified set of underlying assumptions. However, the means
• Readers who are interested in the historical development of solid mechanics and in the
distinguished personalities who contributed to this development are referred to Todhunter and
Pearson, A. E. H. Love, S. A. Timoshenko, and H. M. Westergaard. [1]
Table 1-1 Basic assumptions
Assumption Theory Consequence Justification
[1]
Transverse char- Shallow Beam is shallow in com- 0.01 ::::; h/l ::::; 0.5
acteristic dimen- beam parison to length, h < 1 cable deep
sion is small beam
in comparison Medium-thin Plate is thin in compari- 0.001 ::::; h/l ::::; 0.4
to lateral plate son to lateral dimen- membrane thick
characteristic sion, h < 1 plate
dimension Thin shell Shell is thin in compari- 0.001 ::::; h/l ::::; 0.05
son to minimum radius curved thick
of curvature, h « 1 membrane shell
[2]
Displacements are All Equilibrium may be for- Validity may be
small in com- mula ted with respect to established by
paris on to the initial undeformed calculation in
transverse char- geometry. Products of the course of
acteristic deformation param- the solution
dimension eters may be neglected.
The system may be de-
scribed by a system of
geometrically linear
equations
[3]
Transverse Shallow Plane sections before de- h<l
shearing strains beam formation remain plane
which act on after deformation
planes parallel Medium-thin Straight fibers which are h<l
to middle (sec- plate perpendicular to the
tion, plane, middle plane before
surface) are deformation remain
neglected perpendicular to the
middle plane after
deformation
Thin shell Straight fibers which are h«l
perpendicular to the
middle surface before
deformati.on remain
perpendicular to the
middle surface after
deformation
[4]
Normal stresses Shallow Beam depth does not h<l
acting on planes beam change during defor-
parallel to mid- mation
dIe (section, Medium-thin Plate thickness does not h< 1
plane, surface) plate change during defor-
are neglected mation
Thin shell Shell thickness does not h« 1
change during defor-
mation
4
1.3 Load Resistance Mechanisms 5
(c)
for resisting applied loading among these structural forms may be quite dif-
ferent. Idealized free-body diagrams of the three cases, along with an additional
form, the arch, are shown in figure 1-2. For simplicity, only a vertical loading
is shown in each case, but the following observations are generally valid for any
distributed loading.
The beam, being straight, depends on the shear V to resist transverse loading.
In turn, V, acting together with the loading and reaction R, requires a moment
M for equilibrium. The beam may be classified as a one-dimensional flexural
member.
The arch, because it is curved, can develop a thrust N to resist the applied
loading, in addition to the shear V. Although V and M are still present in the
general case, the efficiency ofthe arch form lies primarily in resisting the loading
with N and minimizing V and M. The arch may be called a one-dimensional
extensional member.
The plate, being flat, relies on the transverse shear V to resist transverse
6 1 Introduction
Fig. 1-3 (a) Pantheon, Rome, Italy, Dome Span = 43.4 m; Dome Rise = 21.6 m
only through initial curvature; this limits the application of arches and shells
both from a fabrication and from a utilization standpoint. The structural form
is subject to many constraints apart from the most efficient use of the material
and will be considered as specified a priori in most of this text.
It is of present as well as historic!!l interest to recognize that significant
structures were erected utilizing the efficient doubly curved form of the dome
long before the development of modern engineering analysis. 3 Several of these
structures survive today. The Pantheon of ancient Rome (figure 1-3), attributed
to Marcus Agrippa and Emperor Hadrian and constructed of a cementitious
material, has stood for about two thousand years; the Hagia Sophia in Istanbul
(figure 1-4), originally completed by Isidorus, Jr., has epitomized Byzantine
architecture for fifteen centuries. Beautifully tile-covered mosques from the
Persian empire (figure 1-5) survive in Iran. Increased geometrical refinement is
exhibited in the Renaissance cathedrals of Santa Maria del Fiore in Florence
(figure 1-6), constructed without shoring by Brunelleschi, and St. Peter's in
Rome (figure 1-7), designed by Michelangelo. Also, Sir Christopher Wren's St.
Paul's Cathedral (figure 1-8) remains to grace the London skyline.
Of these ancient domes, the Pantheon and Santa Maria are regarded as
among the greatest construction achievements of all time. 4,5 In addition to the
obviously spectacular clear span, the roof of the Pantheon is formed with
intersecting ribs (figure 1-3b) which provide greater stiffness and stability than
an equivalent amount of material of uniform thickness. Further weight reduc-
8 1 Introduction
Fig. 1-3(b) The Interior of the Pantheon; National Gallery of Art, Washington; Samuel H. Kress
Collection
Fig. 1-4 Hagia Sophia, Istanbul, Turkey. Dome Span = 31.9 m; Dome Rise = 13.8 m (Courtesy
Dr. I. Mungan)
Fig.1-6(a) S. Maria Del Fiore, Florence, Italy. Dome Span = 42.4 m; Dome Rise = 36.6 m
separated double wall (figure 1-6b), tied together by the meridional arches and
a secondary system of horizontal arches. Also incorporated was a timber chain
circling the dome to resist the somewhat vaguely understood outward thrust
resulting from the arched meridional profile. It is remarkable that the two
techniques used for increasing the structural efficiency of the walls of these
ancient structures have modern counterparts, i.e., stiffened and multilayered
shells as described in chapter 6.
Although the ancient domes were not thin or engineered in the modern sense,
they exhibit the.unique capability of the curved surface to bridge considerable
space without intermediate supports utilizing construction materials capable
of resisting only compressive forces. Modern techniques of structural analysis,
1.3 Load Resistance Mechanisms 11
.I ~ .... ,J
I 00
Fig. 1-6(b) Cross-Section of Dome of Santa Maria del Fiore from Sgrilli's Descrizione e studi
dell' insigne fabbrica di S. Maria del Fiore (Florence, 1733). From W. B. Parsons "Engineers and
Engineering in the Renaissance", the Williams and Wilkins Co., Baltimore, © 1939
12 1 Introduction
Fig. 1-7 St. Peter's, Rome, Italy. Dome Span = 41.6 m; Dome Rise = 35.1 m
most recently computer-based finite element modeling, have revealed the intui-
tive understanding of structural mechanics exhibited by the Romans and by
the men of the Renaissance in designing and building their spectacular domes.
Perhaps one reason that several shells remain from antiquity is the ability of
surface structures to survive extreme loading. It was reported that a cooling
tower shell was among the few surviving structures in the Tangshun, China,
earthquake of 1976. 6 The hyperbolic paraboloid shown in figure 1-9 resisted
the 1985 Mexico City earthquake without apparent structural damage amid
totally destroyed conventional structures. 7 Surely, the ancient domes from the
Persian empire, such as that in figure 1-5, have weathered many earthquakes.
These examples inspire confidence in the toughness of well-designed and con-
structed surface structures, and the remainder of this book is an exposition of
1.3 Load Resistance Mechanisms 13
Fig.1-8 St. Paul's, London, England, Dome Span = 30.8 m; Dome Rise = 33.5 m
the basic principles by which such structures withstand the forces of nature and
man.
The connection between the modern developments in thin shell technology
and corresponding significant scientific events in the post-industrial revolution
period are documented in chapter 1 of Fung and Sechler. 4 The remaining
chapters of that modern collection of papers (which is devoted to the unification
of theory, experiment, and design of thin shell structures) is probably best
appreciated after the fundamental material presented in this book has been
mastered.
14 1 Introduction
Fig. 1-9 Hyperbolic Paraboloid, Mexico City, After 1985 Earthquake (Courtesy M. Celebi)
1.4 References
1. I. Todhunter and K. Pearson, A History of the Theory of Elasticity and of the Strength
of Materials. 2 vols. (Cambridge: Cambridge University Press, 1886 and 1893).
Also A. E. H. Love, A Treastise on the Mathematical Theory of Elasticity, 4th ed.
(New York: Dover Publications, 1944), Introduction; S. A. Timoshenko, History
of Strength of Materials (New York: McGraw-Hill, 1953); and H. M. Wester-
gaard, Theory of Elasticity and Plasticity (New York: Dover Publications, 1964),
chap.lI.
2. J. T. Oden, Finite Elements of Nonlinear Continua (New York: McGraw-Hill, 1972),
pp. 144-145.
3. C. T. Grimm, "Brick Masonry Shells," Journal of the Structural Division, ASCE 101,
no. STI (January 1975): 79-95; discussion by K. Anadol and E. Arioylu, no. STll
(November 1975): 2451-2455.
4. J. Bobrowski, "Design Philosophy for Long Spans in Building and Bridges," The
Structural Engineer, 64A, no. 1 (January 1986): 5-12.
5. W. B. Parsens, "Engineers and Engineering in the Renaissance," (Baltimore, MD:
Williams and Wilkins, 1939): pp. 587-607.
6. J. K. Wu, private communication.
7. M. Celebi, private communication.
8. Y. C. Fung and E. E. Sechler, eds. Thin Shell Structures (Englewood Cliffs, NJ:
Prentice-Hall, 1971).
1.5 Exercises 15
1.5 Exercises
The numerical problems in this book are given without specific units to allow English,
metric, or SI unit dimensions to be selected.
1 It has been claimed that structural materials are generally more efficient in an
extensional rather than a bending mode. To illustrate this, consider the two cases
shown in figure 1-10. Both structures span the same distance 2L, carry the same load
P, and contain the same amount of material. For a span of L = 40, compare the
maximum fiber stress in each case.
Ip
L L
Fig. 1-10
CHAPTER 2
Geometry
Z =f(X, Y) (2.1)
Then, a set of coordinates a and 13 are selected which are related to the Cartesian
system by
X = f1(a,f3) (a)}
Y = f2(a, 13) (b) (2.2)
Z = f3(a,f3) (c)
where f1' f2' and f3 are continuous, single-valued functions. Since each ordered
pair (a, 13) corresponds to only one point on the surface, the surface is uniquely
described in terms of a and 13, which are called curvilinear coordinates. If one
of the coordinates, e.g., 13, is incremented 13 = 131, 13 = 132, ... ,13 = 13m then we
define a series of parametric curves on the surface, along which only a varies.
These curves are termed the SIX coordinate lines. Similarly, if a takes on the values
a = a l ' a = a 2, ...• a = am. we get the sp coordinate lines. The coordinate lines
are shown in figure 2-1.
If the coordinate lines SIX and sp are mutually perpendicular at all points on
the surface, the curvilinear coordinates are said to be orthogonal. Orthogonal
curvilinear coordinates are used exclusively in this book.
Equation (2.1), which describes the middle surface, may be written in terms of
a position vector emanating from the origin as shown in figure 2-2:
16
2.2 Middle Surface Geometry 17
r = Xu + Yv + Zw (2.3)
in which u, v, and ware unit vectors along the X, Y, and Z axes, respectively.
Substituting equation (2.2) into (2.3), the position vector is defined in terms
of the curvilinear coordinates by
(2.4)
The derivatives ofr with respect to the curvilinear coordinates are considered
next:
or
-=r (2.5a)
oa.''''
and
or
op = r,p (2.5b)
are vectors that are tangent to the s'" and sp coordinate lines, respectively. Since
18 2 Geometry
~--------------------------------y
x
Fig.2-2 Position Vector to a Point on the Middle Surface
the coordinate lines are orthogonal, these tangent vectors are orthogonal as
well, and their scalar product r,1X r,(J = O. 0
The vector joining the two points on the middle surface (oc, f3) and (oc + doc,
f3 + df3) shown in figure 2-2 is
ds = r.lXdoc + r, lX df3 (2.6)
Defining
A2 = r,1X or,1X (2.8a)
2.2 Middle Surface Geometry 19
and
B2 = r.{J or.{J (2.8b)
ds 2 = A 2 dIX 2 + B2 dfJ2 (2.9)
and
dS{J = BdfJ (2. lOb)
Thus, dsa. is the change in arc length along coordinate line sa. when IX is incre-
mented by dlX, and dS{J is the change in arc length along coordinate line s{J when
fJ is incremented by dfJ. We see that the Lame parameters are quantities which
relate the change in arc length on the surface to the corresponding change in
the curvilinear coordinate; hence the alternate name, measure number.
As a simple example, consider a circular arc of radius R in the Y - Z plane
shown in figure 2-3. If the curvilinear coordinate is chosen as the polar angle fJ,
dZ~
dY
------------~------~------~~----------y
ds = RdP (2.11)
A third possibility is to choose the arc length itself as the curvilinear coordinate.
Then
ds = 1 (ds) (2.14)
and the Lame parameter is the constant 1. It is apparent from this elementary
example that the Lame parameter may be a constant or a rather involved
function. For a particular problem, the choice of curvilinear coordinates which
correspond to the simplest possible expressions for the Lame parameter can
serve to expedite the mathematics of the solution greatly.
The preceding example illustrates that the Lame parameters may sometimes
be found by the geometric representation of equations (2.9) and (2.10). In more
complicated cases, we may compute the Lame parameters from equations (2.8)
and (2.3) as
A2 = (X,a)2 + (y,a)2 + (Z,a)2 (2.15a)
B2 = (X ,p )2 + (Y,p )2 + (Z,p )2 (2.15b)
Finally, with respect to the first quadratic form, note that it generally pertains
to the measurement of distances on the surface, but does not involve the specific
shape of the surface.
2.3 Unit Tangent Vectors and Principal Directions 21
t _~_r,p
(2.16b)
p - ±Ir,pl - B
and the normal vector is found by forming the vector product of t", and tp:
1
tn = t", x tp = AB(r,<z x r,p) (2.16c)
the surface with a plane containing the normal to the surface, tn. In particular,
normal sections containing the unit tangent vectors t", and tp are of interest.
2.3.2 Principal Directions: Now, consider the general point (tXi' /3j) on the mid-
dle surface as shown in figure 2-1. At this point, each coordinate line, Sp(tXi) and
Sat(/3j), may be regarded as a normal section with a corresponding radius of
curvature Rp(tXi' /3j) and Rat(tXi' /3j), respectively, which is directed from the center
of curvature to the point (tXi' /3j) along tn' Obviously, there are an infinite number
of possible Rat and Rp at any point, since an infinite number of orientations for
the curvilinear coordinates exist.
From the theory of surfaces, it may be shown that there is a system of
orthogonal curvilinear coordinates (tX*, /3*) oriented such that one radius of
curvature R:
= IR:I is the maximum of all possible IRati, whereas the other
radius of curvature R1 = IR1 I is the minimum of all possible IRp I. 1 We call this
system the principal orthogonal curvilinear coordinates corresponding to the
principal directions, tX* and /3*. The associated coordinate lines are known as
the lines of principal curvature, and R: and R1 as the principal radii of curvature.
In the subsequent derivation of unit tangent vector derivatives, principal direc-
tions will be used exclusively, so that tX and /3 imply tX* and /3*.
{::}
ta,p 0 0
tp,a B
(2.17)
tp,p -B,a -B
0
tn,,,, A Rp
tn,p
A
0 0
R",
B
0 0
Rp
We now consider the verification of equation (2.17). It is convenient to write
the equation once again with the elements grouped as shown:
2.3 Unit Tangent Vectors and Principal Directions 23
-A,p -A
0
B Ra.
(I) (II)
B,a.
0 0
A
(IV)
ta.,a.
H}
ta.,p A,p
0 0
tp,a. B
tp,p (II) (I)
tn,a. -B,a. -B
tn,p 0
A Rp
A
(III) 0
Ra.
B
0 (III)
Rp
so that ti,k has no component along t i . Taking i = Q(, P and nand k = Q( and p,
in tum, verifies the indicated zero terms in this group.
(2.18c)
Now consider the component oft.. ,.. in the tp direction, given by tp' t .. ,... We take
the derivative of the product t ... tp with respect to Q(
(t.. • t p), .. = tp' t .. ,.. + t .. · t p,.. (2.18d)
Since t ... tp = 0,
tp·t .. , .. = - t.. ·tp, .. (2.18e)
We replace t p, .. by equation (2.18c) to get
1
tp' t .. ,.. = - B t .. · [ - tpH, .. + t .. A,p + Ata,pJ
t.t -A ,_13
= __
13 a,a B (2.18f)
as given in the first row of equation (2.17). The other components of the
derivatives of ta and tp in the Q( and P directions may be verified in a similar
manner.
2.3.3.3 (III) Derivatives of tn. Consider the normal section at the point Pl on
the Sa coordinate line, as shown in figure 2-5. The vector tn is shown at the point
Pl and also at point Pz, a small distance As", away. The vector construction at
PI shows that the change in tn> At n, is approximately parallel to the tangent to
the curve at Pl and the chord PlP2' Therefore,
Atn = IAtnlt", (2. 19a)
By similar triangles, as Aoc diminishes,
2.3 Unit Tangent Vectors and Principal Directions 25
~n
t n2 \ tm
\ p.
I
Idtnl P1PZ
(2.19b)
Itn11 Ra
Considering figure 2-5 and equation (2. lOa),
P1PZ ~ dS a = Adoc (2.19c)
Recognizing Itn11 = 1, and substituting equations (2.19a) and (2.19c) into
(2.19b), we have
dtn A
-=-t (2. 19d)
doc Ra. a
(2.1ge)
as given in the fifth row of equation (2.17). tn,p is evaluated in a similar manner.
Note that the argument employed in (III) is more general than that used in (II),
since the entire derivative is computed instead of just one component.
26 2 Geometry
Since tn "til = 0,
(2.20b)
as given in the first row, third column, of equation (2.17). The remaining normal
components of the derivatives of ta and tp may be verified in a similar manner.
Recall that in section 2.2, we derived the first quadratic form of the theory of
surfaces, which pertains to the measurement of distances on the surface but not
specifically to the shape of the surface. In this section, we seek information with
respect to the latter property, the shape.
Consider a normal section which traces a plane curve with arc length coor-
dinate Si' An example is the normal section along Sa shown in figure 2-5;
however, Si is not necessarily restricted to only principal direction coordinate
lines in the ensuing development. The curvature of such a section is known as
the normal curvature Ki and is defined as a function of the position vector r,
shown in figure 2-2, by the Frenet-Serret formula 3 as
(2.21)
where the negative sign corresponds to the selection oftn as the outward normal,
i.e., directed toward the convexity of normal sections with positive curvature. 3
We want to express the normal curvature in terms of the curvilinear coor-
dinates oc and {3. Starting with
r.s,s, = (r,s,),s, = (r,aoc,s, + r,p{3,s,),s,
we first evaluate
and
2.4 Second Quadratic Form of the Theory of Surfaces 27
(2.24)
= - At« t".«(a .•.)2 - 2At« t".pa"iP" i - Btp t".P(P.sf
0 0 0
We may evaluate the scalar products in equation (2.24) from equation (2.17).
Therefore,
_A2 B2
"i
= ~(a .•f + O(a .•ip.•,) - R(P.•f
« p
(2.25)
dsf
where
(2.26b)
28 2 Geometry
where
II = Lda 2 + N dfJ2 (2.28b)
and
1= A2 da 2 + B 2dfJ2
(2.28c)
= First quadratic form (equation 2.9).
The second quadratic form II thus relates to the shape of the curve through the
presence of radii of curvature R" and Rp.
Thus far, we have assumed that the principal radii of curvature of the shell,
R" and R p , are known or easily found. We now examine the details of this
calculation.
Consider the case where the normal section corresponding to a is a curve
Z = f(X) in the X-Z plane.
R = -[1 + (Z,x)2J3 /2 (2.29)
" Z,xx
When the surface is specified parametrically in terms of the curvilinear
coordinates as in equation (2.4), we may compute the radius of curvature using
equation (2.21). If we take the Si direction as one of the coordinate lines, e.g., S,,'
then
(2.30)
Noting that o(,s. = IjA from equation (2.10a), and tn = (ljAB)(r,<x x r,p) from
equation (2.16c),
-A 3 B
R =----- (2.31)
<X (r,<x x r,p)' r,<x<x
Similarly,
-B 3 A
Rp=------ (2.32)
(r,<x x r,p)' r,pp
Equations (2.31) and (2.32) may be evaluated from equations (2.4), (2.15), and
(2.2) for a given geometry.
Another technique for computing the radii of curvature that is useful for shells
of revolution is illustrated in section 4.3.2.3.
(2.34a)
(2.34b)
(2.34c)
With t<x and tp being mutually orthogonal, equation (2.34c) may only be satisfied
if
(2.35)
and
(2.36)
30 2 Geometry
If we now consider one of the other second mixed partial derivative identities
or
results. Equations (2.35), (2.36), and (2.37) are known as the Gauss-Codazzi
relations and define the connectivity among A, B, R"" and R p , such that these
parameters define a surface. Equation (2.37) is particularly useful in the deriva-
tion of the equations of equilibrium and is discussed later.
Although we will not pursue the details, note that a parallel set of equa-
tions may be derived for the deformed middle surface by starting with the
normal vector to the deformed surface in place of tn in equation (2.33).3 The
resulting equations, properly termed Gauss-Codazzi relations for the deformed
middle surface, are the conditions for the continuity of the middle surface dis-
placements and the compatibility between the strains and displacements.
They serve the same role as the St. Venant equations in the theory of elastic-
ity. We refer to such equations in connection with the bending of shells in
chapter 9.
On the right side of equation (2.37), note the fraction 1/R",R p , which is the
product of the principal curvatures. This is known as the Gaussian curvature
and plays an important role in the characterization of shells. Although the
Gaussian curvature may be readily computed by using the equations of section
2.5, such a calculation is seldom required for purposes of classification; it is
often sufficient to know only the algebraic sign.
If we consider the normal sections corresponding to the principal directions,
the Gaussian curvature is positive if both centers of curvature lie on the same
side of the surface and is negative if the centers lie on opposite sides. If one of
the radii of curvatures is equal to infinity, the Gaussian curvature is zero.
Representative cases are shown in figure 2-6. A plate is the degenerate case of
a shell with zero Gaussian curvature, since both radii are infinite.
Technically, the Gaussian curvature is a scalar point function, and a partic-
ular shell may have regions with positive, negative, and/or zero values. Never-
theless, a single sign predominates for most practical cases. Calladine4 has
2.7 Gaussian Curvature 31
Rp
r
Examples
0
Sphere Hyperboloid
~c
Cylinder
of Revolution
/I 1
Flat Plate
(Degenerate
Case)
Fig. 2-8(a) Open Hyperbolic Paraboloid Roof, Ponce Coliseum, Puerto Rico (Courtesy Professor
A. C. Scordelis)
,;)
DIPLOMAl
~
~
Q
Fig. 2-8(1) Shallow Spherical Roof with Cutouts, Restaurant, Miami Beach, FL
2.7 Gaussian Curvature 39
Fig.2-8(n) Saddledome, Calgary, Alberta, Canada (Courtesy Dr. Jan Bobrowski, F. Eng.)
40 2 Geometry
Fig. 2-8(p) Supporting Columns for Hyperbolic Cooling Tower (Courtesy Professor W.
Schnobrich)
2.7 Gaussian Curvature 41
•••• I • I
Fig. 2-8(q) Human Aortic Heart Valve. Source: P. L. Gould et aI., "Stress Analysis of the Human
Aortic Valve," Journal of Computers and Structures 3 (1973): 379. (Courtesy Dr. R. Clarko reprinted
with permission of Pergamon Press)
Fig.2-8(r) Stiffened Cylindrical Shell (Courtesy Chicago Bridge & Iron Co.)
Fig. 2-8(s) Spheroidal Water Tower (Courtesy Chicago Bridge & Iron Co.)
Fig. 2-8(t) Column-Supported Spherical Tanks (Courtesy Chicago Bridge & Iron Co.)
42
Fig. 2-8(u) Column-Supported, Stiffened Water Tower (Courtesy Chicago Bridge & Iron Co.)
Fig. 2-8(v) Steel Hyperbolic Paraboloid Roof, Aircraft Hangar (Courte~y Lev Zetlin Associates,
Inc.)
43
44 2 Geometry
Because of the wide variety of plate and shell structures encountered in engi-
neering practice, several geometrical classes are of particular interest.
2.S.1 Shallow Shells: The theory of shallow shells has wide application for roof
shells that have a relatively small rise as compared to their spans. Considering
~O~__________~~-+__~__________~y
axis of rotation
generator
......
",
meridian-
parallel circle
or finite elements of the shell which can be considered shallow, and then
assembling these elements to satisfy the global geometry. B
where
----R ·R
center of
curvature r.>-===----1\---t-~---I
MERIDIAN MERIDIAN
Positive Gaussian Negative Gaussian
Curvature Curvature
PARALLEL CIRCLE
(2.41 b)
Consider a reference point on the surface. The angle formed by the extended
normal to the surface at this point and the axis of rotation is defined as the
meridional angle ,p; and, the angle between the radius of the parallel circle at
the point and the X axis is designated as the circumferential angle e. Corre-
spondingly, the meridians are taken as the Sa. coordinate lines, and Ra. = R,p,
the meridional radius of curvature. The parallel circles are the sfJ coordinate
lines, with RfJ = R o, the circumferential radius of curvature. The radius of the
parallel circle, which is equal to R as defined in equation (2.41b), is termed the
horizontal radius and is denoted by Ro. Note that Ro is not a principal radius
of curvature, since it is not normal to the surface. Rather, it is the projection of
Ro on the horizontal plane, i.e.,
(2.42)
A closed shell of revolution is frequently called a dome, and the peak of such
a shell is termed the pole. A pole introduces certain mathematical complications
because, at this point, Ro -. O.
In most applications, the curvilinear coordinate in the f3 or e direction is
chosen as the circumferential angle e. Therefore, from equation (2.10b),
dSfJ = Bdf3 = ds o = Rode (2.43a)
and thus
B = Ro = Rosin,p (2.43b)
In the a. or ,p direction, there are at least three useful choices for the curvilinear
coordinate: (a) the meridional angle ,p; (b) the axial coordinate Z; and (c) the
arc length s,p. The respective Lame parameter A for each case is:
(a) Meridional angle, ,p:
ds,p = R,pd,p (2.44a)
and from equation (2.10)
A=R,p (2.44b)
(b) Axial coordinate, Z:
Considering an element of arc length, similar to that shown on the inset of
figure 2-3, but with dY = dR o
ds~ = ds~ = dZ 2 + dR6
= dZ 2 + (R O,Z)2 dZ 2 (2.45a)
ds z = dZ[1 + (R o,z)2r/2 (2.45b)
and therefore
A = [1 + (R o,z)2r/2 (2.45c)
50 2 Geometry
The limits of the integral indicate the coordinate Z at the origin for Sz (perhaps
the base or top of the shell), and at the section where the coordinate is being
evaluated, respectively.
The choice of an appropriate curvilinear coordinate for the meridional
direction is problem-dependent and involves several considerations. In tower-
type shells, which are essentially vertical structures, the axial coordinate Z has
the greatest significance with respect to the physical construction of the shell.
For relatively flat domes, however, the axial coordinate approaches zero even
for points relatively far from the pole. The meridional angle rjJ may behave in
a similar manner, so the arc length will be the most stable coordinate for such
cases. Also, if the meridian has an inflection point, the coordinate rjJ might cause
difficulties because it may not provide a one-to-one correspondence with all
points on the shell surface.
The most popular, but by no means universal, preference of theoreticians in
the field of shells of revolution has been to choose the meridional angle rjJ as the
basis for the development of the government equations. This may be due
somewhat to historical precedent, since the early work on shells of revolution
focused on spherical shells 9 for which A = R", = constant, thereby greatly
simplifying the ensuing treatment.
We noted in section 2.6 that the parameters A, B, R,%, and Rp must satisfy the
three Gauss-Codazzi conditions to define a surface. These conditions, as given
by equations (2.35), (2.36), and (2.37), can be checked for the rjJ-(J curvilinear
coordinate system:
Equation (2.35):
Satisfied identically, since none of the parameters are functions of P((J).
Equation (2.36):
(
R9sinrjJ) = (R9sinrjJ),,,,
R9 ,'" R",
(2.48)
Substituting equation (2.47) for the numerator on the left-hand side (l.h.s)
equation (2.48) gives an identity. Thus, the Gauss-Codazzi conditions for a
shell of revolution described by the coordinates rp and () are satisfied, provided
equation (2.47) is valid. This equation is very useful in what follows, and it is
instructive to derive it from a purely geometric argument. Consider the meri-
dian shown in figure 2-12:
Referring to points Band D
At B, Ro(rp) = AB
At D, Ro(rp + ilrp) = CD
ilRo = CD - AB
52 2 Geometry
= BD sin (I - ~)
= BDcos~
Since BD = R¢A~
Or,
A(R6 sin ~) _ A.
A~ - R¢cos,!,
drP)2J1/2
ds¢ = R¢d~ = [ 1 + R~COS2~ ( dZ dZ = ds z
or
d~ = + 1
dZ - R¢(1 - cos 2 rP)1/2
(2.50)
1
=+---
- R¢sin~
2.8 Specialization of Shell Geometry 53
2.9 References
1. H. Kraus, Thin Elastic Shells (New York: Wiley, 1967), pp. 12-14.
2. V. V. Novozhilov, Thin Shell Theory [translated from 2nd Russian ed. by P. G.
Lowe (Groningen, The Netherlands: NoordhofT, 1964), pp. 9-30].
54 2 Geometr:
2.10 Exercises
2.1 Verify the second, third, fourth, and sixth equations of equation (2.17).
2.2 Derive equation (2.37).
2.3 Verify that the Gauss-Codazzi relations are satisfied for a shell of revolution with
A given by equation (2.45c).
2.4 The parametric equation for a shell of revolution is given in Kraus, Thin Elastic
Shells, as
r = Rocos8u + Ro sin 8v + Zw
where Ro = Ro(Z) follows the notation of equation (2.4) and figure 2-11.
(a) Choosing Z and 8 as the curvilinear coordinates, compute expressions for the
first and second quadratic forms. Note that if the alternate Cartesian axes
shown in Figure 2-13 are used, the parametric equation must be modified.
(b) Repeat (a) using the meridional angle I/J instead of Z.
2.5 Compute the first and second quadratic forms for the curvilinear coordinates
specified in exercise 2.4, considering the following geometries:
(a) Right circular cylinder.
(b) Ellipsoid of revolution.
(c) Hyperboloid of one sheet.
2.6 Investigate the relative merits of using r,a and r,(I' nonunit tangent vectors, as the
base vectors instead oft,a and t,(I' See Gol'denveizer, Theory of Elastic Thin Shells,
for an example of such a formulation.
CHAPTER 3
Equilibrium
Consider the element of the shell shown in figure 3-1(a), bounded by the normal
sections oc, oc + doc, /3, and /3 + d/3. The geometry of the middle surface of such
an element was considered in chapter 2 (see figures 2-2 and 2-4). Here, we show
the entire thickness h with the coordinate, defined in the direction of tn and
depict a differential volume element doc d/3 d, with thickness d" parallel to and
displaced from the middle surface a distance ,.
In figure 3-1(b), the stresses acting on the volume element are indicated. The
sign convention is that of the theory of elasticity, with the first subscript
indicating the surface on which the stress acts, as identified by the normal to
that surface, and the second subscript indicating the direction in which the stress
acts. The solution for the various stresses, shown in figure 3-1(b) at a particular
point of the continuum (oc, /3, 0, is the fundamental problem of the theory of
elasticity. Plate and shell theories deal with a simplification of the stress at a
point problem. Instead of the stresses, it is considered sufficient to solve for the
total forces and moments per length of middle surface, which are known as stress
resultants and stress couples, respectively.! The stress at any point presumably
can then be evaluated by back-substitution, although we will find that this can
sometimes be done only approximately.
We have thus alluded to the major simplification present in the plate and
shell problem as compared to the theory of elasticity problem: the plate or shell
problem is formulated and solved for the forces and moments per unit length
ofthe middle surface, rather than for the stresses at each point of the continuum.
Toward this end, we now consider the definition of the stress resultants and
couples in terms of the stresses.
In figure 3-2, the stress resultants and couples are shown on an element of
the middle surface. The extensional forces N.. and N p , transverse shear forces
Q", and Qp, and bending moments M", and Mp are represented by single
subscripted variables indicating the surface on which the force or moment acts,
whereas the in-plane shear forces N",p and N p"" and the twisting moments M",p
and M p"" carry a double subscript. The first subscript corresponds to the surface
on which the force or moment acts; the second indicates the direction in which
55
56 3 Equilibrium
middle surface
a+da
(0)
(b)
the force or moment acts. Though this notation is not completely consistent
with the theory of elasticity definitions shown in figure 3-1(b), it has been used
almost exclusively in classical texts and references, and a departure here is felt
to be inappropriate.
We now focus on an arc ofthe middle surface
(3.1)
along the Sa coordinate line and the corresponding arc of the volume element
3.1 Stress Resultants and Couples 57
Na+Na,a da /f
Qa +Qa,ada
1""'Np+Np ,pdP
Op+Qp,pdP
lying a distance, along the normal tn from the middle surface as shown in figure
3-3, which represents a view of figure 3-1(a) normal to tp. The length of the
volume elemep.t is
(3.2)
S8 3 Equilibrium
ta
Fig. 3-3 N
or m al se ct io n on a Shel
l E le m en t
a n d th e p ro
je c te d a re a
is
da/l(O = ds",
(O d~
(3.3)
= dS",(l + ~~)d~
A si m il a r se
ction n o rm a
l to t", gives
dS/I(O = dS/I (1 + ~~) (3.4)
da",(O = dS/I
(l + ~~)d~ (3.5)
w hTe re
h edS
m/Ia g=n it u d e ,
B dP· o f th e ,t re " r"
,u lt a n " acting
o n th e ,",ctio
n n o rm a l to
t. are
(3.6)
(3 .7 )
3.1 Stress Resultants and Couples 59
{MM}
p",
P = _ 1 fh/2 { (Jpp }
ds", -h/2 (Jp",
(dap(O
(3.9)
-
S h/2 { (Jpp }
-h/2 (Jp",
( ( 1+ _(
R",
) d(
At this point, we reiterate that once the plate or shell problem has been solved
for the stress resultants and couples, the recovery of the elasticity problem
would necessitate the inversion of equations (3.6)-(3.9), which might prove
difficult in a mathematically exact sense. In a way, this is the price paid to realize
a simplified theory-the sacrifice of mathematical precision to achieve a solu-
tion that is satisfactory from an engineering standpoint.
In practice, the stresses at a particular point in the continuum are usually
recovered from the stress resultants and couples by (a) neglecting the terms
(1 + (IR",) and (1 + (IRp) in equations (3.6)-(3.9); and, (b) assuming that all
stresses, except for the transverse shear stresses (J",n and (Jpn, vary linearly across
the cross section. The preceding arguments imply that
(3.10b)
When these relationships are introduced into equations (3.6)-(3.9), the maxi-
mum stresses on the cross section are
(J.. (
lJ
+_
- 2
N· + 6M··
h) = --.!!. __lJ
h - h2
(i. =
)
ex,f3)
= f3, ex
(3.10d)
60 3 Equilibrium
Then, the stresses at any other level within the cross section are found from
equations (3.10a) and (3. lOb).
Now that all ofthe stresses acting on the shell are referred to quantities defined
on the middle surface, we have reduced the problem to two dimensions and
seek a set of relationships between the stress resultants and couples that reflects
the equilibrium of the middle surface. In this derivation, we basically follow the
approach of Novozhilov,2 which is based on vector algebra. More mathe-
matical approaches based principally on tensor calculus, 3 as well as more physi-
cal approaches relying mainly on the free-body diagram and trigonometry,4.S
are available; in selecting the vector derivation, we hope to achieve an accom-
modation between mathematical elegance and sometimes cumbersome physi-
cal reasoning. The physical interpretation of the resulting equations will be
explored later for selected geometrical forms.
The stress resultants and couples on each face of the middle surface element,
shown in figure 3-2, are combined into stress and stress-couple vectors in figure
3-4. Also shown is the load vector q. In terms of the stress resultants and couples,
the resulting vectors are
F" = (N"t" + N"ptp + QlZtn)dsp (3.lla)
Fp = (Np"t" + Nptp + Qpt n ) ds" (3. 11 b)
~+~,ada /1 J~+Fp,pdP
Ca + Ca,ada Cp +Cp,pdP
(3.17c)
and
and the in-plane shear stress resultants Nrzp and N prz give
Nrzp dsp dsrz t" --+ second order
and
- N prz ds rz dsp t" --+ second order
The transverse shear stress resultant Qrz contributes
- Qrz dsp dsrz tp --+ second order
about tp whereas Qp gives
Qp dsrz dsp til. --+ second order
3.3 Equilibrium Equations for Shells of Revolution 63
about t". Collecting the second order contributions of the stress vector to
moment equilibrium, we have
(3.19)
3. Then, we note from figure 3-4 that the contribution of q is of third differential
order and therefore negligible.
4. Finally, we expand equation (3.18b) in accordance with equation (2.17),
combine the resulting terms with equation (3.19), factor in terms of the unit
vectors, and divide by dcx dP, giving
G"t" + Gptp + Gntn = 0 (3.20)
which is satisfied if and only if
G" = 0; Gp = 0; Gn = 0 (3.21)
Thus, we have the three scalar equations of moment equilibrium
G" = -(BM"p),,, - (AMp),p - B,,,Mp,, + A,pM" + QpAB = 0 (3.22a)
Gp = (BM"),,, + (AMp,,),p + A,pM"p - B,,,Mp - Q"AB = O. (3.22b)
(3.22c)
For the shell of revolution shown in figure 2-11, we set ex = rjJ and f3 = O. From
equations (2.44b) and (2.43b), A = R,p(rjJ) and B = Ro(rjJ) = Re(rjJ) sin rjJ. Also,
recall the Gauss-Codazzi condition, equation (2.47), which gives
B,a = Ro,,p = (Re sin rjJ),,p = R,p cos rjJ (3.23)
Writing the equilibrium equations including these relations, we have from
equations (3.l7a-c), and (3.22a-c),
(RoN,p),,p + R,pNe,p,e - R,pcosrjJNe + RoQ,p + q,pR,pRo = 0 (3.24a)
(RoN,pe),,p + R,pNe,e + R,pcosrjJNe,p + R,pQesinrjJ + qeR,pRo = 0 (3.24b)
(RoQ,p),,p + R,pQe,e - RoN,p - R,psinrjJNe + qnR,pRo = 0 (3.24c)
-(RoM,pe),,p - R,pMe,e - R,pcosrjJMe,p + R,pRoQe = 0 (3.24d)
(RoM,p),,p + R,pMe,p,e - R,pcos rjJ Me - R,pRoQ,p = 0 (3.24e)
M,pe M 8,p
N,pe - Ne,p + -- - - = 0 (3.24f)
R,p R8
The middle surface element for a shell of revolution geometry with positive
Gaussian curvature is shown in figure 3-5. Stress resultants and couples are
shown on an enlarged view of this element normal to tn in figure 3-6. Also shown
in figure 3-6 are horizontal and meridional sections, HVl, MVl, and MV2,
dX 0
horizontal
plane ~~;::-;:;--.~D dX ·OP =RcPB
dX=.BsL dB
OP
\
=cosrpdB
Fig. 3-5 Middle Surface Element and Geometrical Relationships for a Shell of Revolution
3.3 Equilibrium Equations for Shells of Revolution 65
Force Element
M;R o d8
Moment Element
3.3.2.1 Force Equilibrium in the tP Direction: Equation (3.24a). The first term
represents the increment in the force N;Ro dO as tP changes, whereas the second
66 3 Equilibrium
gives the increment in the force N8fJ RfJ dr/J with respect to e, as seen on the force
element in figure 3-6. Since R~ is not a function of e, it is treated as a constant
in the second term. The third term indicates a contribution of the force N 8RfJ dr/J
to the r/J direction equilibrium and is explained by first referring to view HV1,
where the radial component 2N8R~dr/Jde/2, which is in the horizontal plane, is
developed. This radial force is transferred to view MV1 and is further resolved
in the r/J and n directions, with the r/J component being the third term in equation
(3.24a). The negative sign indicates that the component acts in the negative r/J
direction as defined on figure 2-11. The fourth term is the contribution of
QfJR o de and is substantiated by considering view MV2. The last term is, of
course, the applied loading.
3.3.2.2 Force Equilibrium in the e Direction: Equation (3.24b). The first and
second terms are analogous to the corresponding terms of equation (~.24a) and
are easily verified on the force element. The third term is the circumferential con-
tribution of force N8~RfJ dr/J and arises because forces N8fJR~ dr/J and N 8fJ RfJ dr/J +
(N8~R~dr/J).8de are not parallel to one another, but rather are directed along
tangents to the meridians at e and e + de, respectively. As shown in figure 3-5,
the extension of these tangents defines an intersection on the axis of rotation
at an angle dX, which is expressed as de cos r/J. Therefore, from the force element,
we ha ve 2N8fJR~ dr/J dX/2 = N8~RfJ cos r/J dr/J de in the t8 direction. The fourth term
is the contribution ofQ8R~dr/J and is shown in view HV1, whereas the fifth term
is the applied loading.
3.3.2.3 Force Equilibrium in the n Direction: Equation (3.24c). The first two
terms are the increments of the transverse shear resultants QfJ and Q8 in the r/J
and e directions, respectively, as shown on the force element. The third term
represents the contribution of force NfJR o de and is obtained by projection in
view MV2. The fourth term, representing a similar contribution of N8R~ dr/J, is
the normal projection of the radial force N 8RfJ dr/J de in view M V 1. This force
was introduced previously in connection with the third term in equation (3.24a).
Both of these normal components are directed in the negative tn direction. The
fifth term again is the applied loading.
3.3.2.4 Moment Equilibrium about the t fJ Axis: Equation (3.24d). The first two
terms of this equation are analogous to the corresponding terms of equation
(3.24a) and may be verified accordingly on the moment element, noting that
the increments are directed in the negative t fJ direction. The third term is found
analogously to the projection of N8RO dr/J on views HV1 and MV1. The fourth
term is the contribution of the force Q8RfJ dr/J, multiplied by Ro de, as seen on
the force element.
3.3.2.5 Moment Equilibrium about the t8 Axis: Equation (3.24e). Again, the first
three terms are analogous to the force equilibrium equation, (3.24b), with the
3.5 Nature of the Applied Loading 67
third term being opposite in sense to N(Jq,Rq, d</J, as seen from the moment
element. The last term is the couple Qq,Ro dO Rq, d</J, which is directed along the
negative t(J direction.
3.3.2.6 Moment Equilibrium about the tn Axis: Equation (3.24f). The first two
terms represent the moments of the in-plane shear resultants Nq,(J and N(Jq, about
the normal tn' The third term is opposite in sense but analogous to the normal
projection of Nq,Ro d</J on view MV2; the fourth term follows the normal
projection of N(JRq,d</J on views HVI and MVl.
Thus far, we have assumed that the applied loading is expressible as a distributed
force per unit area of middle surface, with components in the directions of the
unit vectors. This leaves open the cases of concentrated forces, and distributed
and concentrated moments.
68 3 Equilibrium
In general, shells are most efficient when the loading is distributed over the
surface, because-provided certain geometrical and support conditions are
met-such loading can be resisted primarily by the extensional and in-plane
shear stress resultants, rather than by the transverse shear stress resultants and
the bending and twisting stress couples. In addition to the distributed surface
loading included in the formulation by q, distributed moments about the t¢
and t9 axes can easily be accommodated by including appropriate terms in
equations (3.22a) and (3.22b). Moments about the tn axis, however, are not
admissible, since the corresponding equilibrium equation, (3.22c), was sup-
pressed. A plate or shell generally offers very great stiffness to twisting about
the normal, provided rigid body motion is restrained.
Concentrated forces and moments require special attention in plate and shell
theory. Often, these loadings produce singular points, in which case admissible
solutions may be found only away from the point of application of the load. In
any case, these forces are usually resisted primarily by the transverse shears that
are directly related to the bending and twisting stress couples. We may view
concentrated forces and moments as limits of the corresponding distributed
effect. Consider the area L1a subjected to a uniformly distributed loading of
intensity p in figure 3-7. We define a concentrated force Pc as
Pc = lim (pAa) (3.26)
4A--+O
p4a remains constant
II 1III
(0) (b)
Fig.3-7 Concentrated Force and Moment
3.7 Exercises 69
M=
c lim (3.27)
a~-O
P cAe: remains constant
Equations (3.26) and (3.27) are somewhat abstract in this form, but are useful
in obtaining many solutions for plates and shells.
3.6 References
3.7 Exercises
3.1 Derive Fa' Fp, and F., as given in equation (3.17), from equation (3.14).
3.2 Derive G a , Gp , and G., as given in equation (3.22), from equations (3.18b) and (3.19).
3.3 Verify that equation (3.22c) is identically satisfied if (Jap = (Jpa.1t is often incorrectly
concluded that the identical satisfaction of equation (3.22c) implies that NaP = NPa
and MaP = Mpa. For what geometries do these relations hold?
3.4 Redraw figures 3-5 and 3-6 for a shell of revolution with negative Gaussian
curvature and verify the physical interpretation shown in the views HV1, MV1,
and MV2 for the negative curvature element.
3.5 Derive the equilibrium equations for a shell of revolution where the coordinate IX
is taken as the axial coordinate Z.
CHAPTER 4
Membrane Theory
We examine the individual terms of the force equilibrium equations, (3. 17a-c),
and the moment equilibrium equations, (3.22a-c). We see that the equations
are coupled only through the transverse shear stress resultants, QI% and Qp. If
we suppose that for a certain class of shells, the stress couples are an order of
magnitude smaller than the extensional and in-place shear stress resultants,
we may deduce from equations (3.22a-c) that the transverse shear stress resul-
tants are similarly small and thus may be neglected in the force equilibrium
equations, (3.17). This implies that the shell may achieve force equilibrium
through the action of in-plane forces alone. From a physical viewpoint, this
possibility is evident for the first two equilibrium equations which reflect
in-plane resistance to in-plane loading, a natural and obvious mechanism.
On the other hand, the third equilibrium equation refers to the normal direc-
tion, and the possibility of resisting transverse loading with in-plane forces
alone is not as apparent. It is evident from equation (3.17c) that this mode of
resistance is possible only if at least one radius of curvature is finite; i.e., RI%
and/or Rp #- 00. Thus, flat plates are excluded from resisting transverse loading
in this manner, within the limitations of small deformation theory (assumption
[2], table 1-1.
The applications and limitations of this idealized behavior, termed the mem-
brane theory of thin shells, is examined in this chapter for a variety of shell forms.
At present, it is constructive to consider some ofthe consequences of membrane
behavior. First, it is quite desirable from a material efficiency standpoint. Recall
from chapter 1 that structural materials are generally far more efficient in
extension rather than in flexure. Second, if we introduce an additional simplifi-
cation with respect to the shear stress resultants,
(4.2a)
70
4.2 Applicability of Membrane Theory 71
(4.2b)
(4.2c)
In these three equations, there are but three unknowns, N a , N p , and S. Such a
system is said to be statically determinate and thus independent of compati-
bility or constitutive considerations. Of course, this simplifies the subsequent
mathematics considerably. The convenient assumption stated in equation
(4.1) may be easily justified by considering the definition of Nap and Npa as
given in equations (3.6) and (3.7). Since (Tap = (Tpa because the stress tensor is
symmetric, NaP and NPa may differ only in the disparity of the terms 1 + 'IRp
and 1 + 'IRa' respectively. Since 'IRp and (IRa are themselves necessarily small
in comparison to 1, the difference in Nap and Npa is obviously negligible. Thus,
the simplification introduced in equation (4.1) is justified apart from other
considerations.
Equations (4.2a-c), together with the requisite boundary conditions, con-
stitute the essential components of the membrane theory. Strictly speaking, the
entire solution includes the evaluation of the displacements as well. This re-
quires the constitutive and compatibility relationships that have not yet been
developed here. However, just as in the analysis of statically determinate beams
and frames, the membrane theory displacements may be computed following
the establishment of the force field with only a few exceptions. 1 Consequently,
consideration of the membrane theory displacements is deferred until chapter 6.
The shells for which the membrane theory is applicable fall into two general
classes: (a) absolutely flexible shells or true membranes, which by virtue of their
thinness have a negligible bending stiffness; and, (b) shells with finite bending
stiffnesses which still develop relatively small bending stresses. 2
Concerning the absolutely flexible shells, there is little question of the domi-
nance of membrane action, provided that the principal stresses remained tensile.
The presence of compressive stresses in this type of shell would likely cause
buckling of the membrane. For flexible shells, the requirement of small displace-
ments as stated in assumption [2] of table 1-1 is often not attainable, and the
equations as developed herein are not applicable without modification. This
complication notwithstanding, membrane surfaces are widely used for long-
span roofs, as either tentlike or air-supported structures. An unusual example
of a thin, flexible, curved object to which shell theory has been applied for the
72 4 Membrane Theory
purpose of estimating the stresses present is the human aortic heart valve [figure
2-8 (q)]. 3
A wide variety of shells with finite bending rigidities can be designed and
constructed to resist external loading almost exclusively through membrane
action. We should recognize that the establishment of the precise bounds of the
membrane theory requires the consideration of the governing equations of the
general theory of shells. Rigorously, a valid membrane theory solution must be
a close approximation to the response that would be computed using the full
set of shell equations. However, we may make some observations regarding the
geometry, boundary conditions, and loading generally consistent with membrane
behavior.
With respect to the geometry, a continuous curved surface is conducive to
membrane action. Also recall that the second quadratic form of the theory of
surfaces, equation (2.28b), contains the principal radii of curvature, and a
smooth variation of these parameters is essential if equilibrium is to be achieved
without transverse shears and bending and twisting moments.
The boundary conditions must be specified with respect to the membrane
stress resultants, N", N p , and S, or the corresponding displacements, and must
indicate either a constraint that will fully develop the force on the boundary; a
release that will enable the shell to displace freely in the corresponding direction;
or, possibly, a linear combination of both, as in the case of an elastic support.
Moreover, the boundary should not provide constraints that would develop
moments and transverse shears. This implies that the ideal boundary must, in
some cases, permit rotations and transverse displacements while providing
complete restraint in the plane of the shell.
A loading that can be resisted by membrane action must be distributed
over the surface without severe variations or concentrations. In the mem-
brane equilibrium equations, (4.2a-c), concentrated loadings are not admis-
sible. From a physical standpoint, it is apparent that a load normal to and
concentrated over a small area of the shell surface would be resisted principally
by transverse shears which, in turn, produce bending, as demonstrated by
equations (3.22a-c).
From this brief discussion of the conditions which correspond to ideal
membrane behavior, it is obvious that to design and construct an actual shell
that satisfies all of these conditions may be quite difficult. However, even shells
which do not meet all of the requirements entirely can be built so that mem-
brane action predominates throughout most of the continuum, except for
localized regions in which the required conditions are violated. In short, many
shells exhibit basically membrane behavior augmented by locally prominent
bending action. This is not to say that all shells may be made to act pri-
marily as membranes or that all bending effects are localized, but such be-
havior is a desirable and often attainable result of good design and careful
construction.
4.3 Shells of Revolution 73
(4.3a)
(4.3b)
Nt/J Nil
Rt/J + RIJ = qn
(4.3c)
and
(4.4b)
and then introduce equations (4.4) and (4.5) into equations (4.3a) and (4.3b) to
get
74 4 Membrane Theory
(4.6b)
Equations (4.6a) and (4.6b) are the transformed membrane theory equilibrium
equations. Once t/I and'; are determined, Nq, and S follow from equations (4.4a)
and (4.4b), and N/I may then be calculated from equation (4.5). The subsequent
combination and the eventual solution of the transformed equilibrium equa-
tions are dependent on the circumferential distribution of the applied surface
loading. If the loading is distributed uniformly around the circumference, it is
termed axisymmetric, whereas if the loading is a variable function of e, it is
obviously nonsymmetric. Each possibility is considered further in the subse-
quent sections.
t/I(ifJ) = f (qn cos ifJ - qq, sin ifJ)Rq,R/I sin ifJ difJ (4.8)
t/I(ifJ) = t/I(ifJ') + fq, (qn cos ifJ - qq, sin ifJ)Rq,R/I sin ifJ difJ (4.9)
q,'
Of course, at ifJ = ifJ', t/I = IjJ(ifJ') = Nq,(ifJ')R/I(ifJ') sin 2 ifJ'. The solution for Nq, fol-
lows from equations (4.4a) and (4.9) as
4.3 Shells of Revolution 75
(4.10)
+ 1. 2,J.
f,p (qn COS ¢ - q,p sin ¢)R,pRIJ sin ¢ d¢
RlJsIn 'f' ,p'
Then, NIJ is computed from equation (4.5).
The in-plane shear stress resultant S is completely uncoupled from N,p and
N IJ , as is apparent from equations (4.7a) and (4.7b). For common axisymmetric
loading cases, qlJ = 0 and the shear stress is also 0; however, this is not necessarily
so, since equation (4.7b) may be integrated in an identical fashion to equation
(4.7a), yielding
(4.11)
or
In equations (4.11) and (4.12), ¢(¢") and S(¢") are the corresponding values of
the functions specified at the boundary ¢ = ¢". This solution represents a state
of pure shear produced by a torsional loading.
In summary, we observe that the membrane theory equilibrium equations
for axisymmetrically loaded shells of revolution reduce to two uncoupled first
order ordinary differential equations. This system admits the prescription of
two boundary conditions, one on the meridional stress resultant N,p' and the
other on the in-plane shear stress resultant S.
One special case is worthy of consideration before we turn to the integration
of equations (4.10) and (4.12) for specific shell geometries. If we consider a closed
shell as first discussed in section 2.8.2, we have the two possibilities illustrated
in figure 4-1. As mentioned in chapter 1, the form of domed roofs evolved from
the smooth to the pointed top in the Renaissance. In case (a), which we will call
a dome [figures 2-8(i) and (1)], the meridian remains continuous as ¢ and Ro -+ 0;
whereas in case (b), which may be termed a pointed or ogival shell, ¢ = ¢t at
Ro = O. If we take the pole angle ¢ = ¢p as the boundary ¢' in equation (4.9),
where ¢p = 0 for case (a) and ¢p = ¢t for case (b), and evaluate ljJ(¢p), we find
(0) (b)
Fig. 4-1 Closed Shells
Ntfo = 1
. 2 A.
ltfo (qn cos rP - qtfo sin rP)RtfoR e sin rP drP (4. 14a)
Re SIll 'I' tfo p
S= -
. Re
2 1. 2
SIll rP
l'"'"p qeR",Re2 SIll A. dA.
. 2 'I' 'I' (4. 14b)
qn=-q cos¢K
,, /cp
q
./
q =q sin,l,
't'
axis of rotation
"
~
4.3.2.2 Spherical Shells. As the first example, consider the spherical shell illus-
trated in figure 4-2. The shell has radius a, constant thickness h, mass density
p, and is bound by angles ifJt and ifJb' Initially, the weight of the shell alone, known
as the self-weight, is taken as the loading condition.
The principal radii of curvature are the definitive geometric parameters. The
radius of curvature of the meridian is, of course, the radius of the generating
circle a. This is easily verified by considering the equation of the meridian
Z2 + R'5 = a 2 and substituting into equation (2.29) with ex; = ifJ and X = Ro.
With Z,Ro = -Ro/Z and Z,RoRo = -(1/Z)(1 + R'5/Z 2), we find
- [1 + (R'5/z 2 )]3/2
R,p = -(1/Z)[1 + (R'5/Z 2 )]
= .../(Z2 + R'5) (4. 16a)
=a
The other principal radius may be computed from equation (2.42). We note
from figure 4-2 that the horizontal radius Ro = a sin ifJ, so that
78 4 Membrane Theory
a sin tP
RIJ = -- = a (4.16b)
sin tP
Equations (4.16a and b) obviously satisfy the Gauss-Codazzi condition, equa-
tion 2.47.
Next, consider the applied loading. The self-weight of the shell per unit area
of the middle surface is given by
q = pgh (4.17)
in which 9 = the acceleration of gravity. The load q acts vertically, of course.
The governing equilibrium equations require the loading to be resolved in the
tP, e, and n directions. Since the vertical load has no component in the circum-
ferential direction, qlJ = O. On the inset in figure 4-2, we have the resolution of
q into q</l and qn. The signs are established by comparison with the unit vectors
shown in figure 2-11.
At present, the boundaries are assumed to satisfy ideal membrane theory
restrictions. The upper boundary is presumed to be free of stresses and the lower
boundary is taken to be unyielding in the tP or meridional direction, free to
displace in the n or normal direction, and unrestrained against rotation about
an axis along the e or circumferential direction. The base conditions imply that
the necessary N</I to maintain equilibrium will be developed, but no Q</I or M</I
can occur. The roller symbol used on the figure corresponds to a similar
condition in plane structural analysis; however, here the boundary is a space
curve, and for shells which have circumferential loading, a condition in the e
direction also must be specified. In the latter instance, the ideal membrane
boundary must be extended beyond the simple conceptual model of a roller.
We now substitute the geometry, loading, and boundary conditions into
equation (4.10). These calculated quantities are R</I = RIJ = a; q</l = qsintP and
qn = -qcostP· We take tP' = tPt so that N</I(tPt) = O. Then, we have
-8 -6 -4 -2 o o 2 4 6
N4>lqa Nglqa
Fig. 4-3 Self-Weight Stress Resultants for Spherical Domes of Constant Thickness
which is in accordance with equation (4.15). It is also notable that the indeter-
minate form mentioned as point (2) in section 4.3.2.1 was resolved by evaluating
the integral first, and then going to the limit as <p -. O.
It is quite instructive to consider equations (4.20) and (4.21) for increasing
values of <p as shown in figure 4-3, where nondimensional plots for N", and No
are provided. These graphs actually represent the self-weight stresses for all
constant thickness spherical domes. For any particular dome for which the
lower boundary is located by a given value of <Pb' the relevant parts are the
regions <p ::5; <Pb' A shallow dome (rjJ" « 90°), a hemispherical dome (<Pb = 90°),
and a deep dome (<Pb > 90°) are illustrated in the insets of the graphs. An
interesting feature of the graphs is that N", is always negative or compressive,
whereas No changes from negative to positive. This exact transition point may
be computed from equation (4.21) as the value of <P satisfying
1
----,-- cos<p = 0
1 + cos<p
which has the solution <p = 51 °49'. The transItIon angle has some general
practical ramifications, since a shell with <Pb < 51 ° will be entirely in com pres-
80 4 Membrane Theory
sion under gravity loading, which is especially desirable for shells constructed
of concrete. '
With reference to the ancient masonry domes described in chapter 1, the
necessity for maintaining the entire dome in compression is obvious and is
apparently reflected in the change from the spherical to the more parabolic
profile used in the Renaissance.
The apparent desirability of providing an entirely compressive state of stress
is countered by another practical consideration. Recall that the support for the
spherical shell must develop the calculated value of Nt/J at ¢ = ¢b' An idealized
typical support is shown in figure 4-4(a), where a circumferential ring beam is
employed to resist the thrust. The shell is assumed to extend to the centroid of
the ring beam to eliminate the introduction of eccentricity.6 A section through
the ring beam is shown in the inset. The vertical component of the thrust,
V = N"'(¢b) sin ¢b' is transmitted to the foundation, whereas the horizontal
component must be developed by the beam. A half-plan of the ring is shown
in figure 4-4(b), with a unit length segment in the inset; there, the horizontal
reaction H = - N",(¢b) cos ¢b is countered by the radial component of the hoop
tension T.
We may evaluate T by summing forces in the X direction on figure 4-4(b).
(4.23a)
or the magnitude
(4.23b)
F or the spherical shell
b = a sin ¢b (4.24)
so that
(4.25)
For the self-weight case, we find by substituting equation (4.20) into equation
(4.25)
2 cos ¢b sin ¢b
TDL = qa 1 + COS'l'b
A. (4.26)
It is clear from comparing equation (4.26) and the graph for NIJ in figure 4-3
that there will be a strain incompatibility at the junction between the shell and
ring beam. For ¢b < 51 °49', the hoop stress NIJ is compressive; the ring force
TDL is tensile for all ¢b < 90°. Thus, the dome, which has been shown to be in
a state of compression through membrane theory analysis, must somehow
accommodate the circumferential expansion ofthe base ring accompanying the
tensile force TDL . Clearly, this cannot be accomplished with membrane action
4.3 Shells of Revolution 81
(0)
----·- - T
---+--T
(b)
Fig. 4-4 Ring Beam for a Shell of Revolution
82 4 Membrane Theory
Ideal Membrane
Boundary
of figure 4-5. Thus, if we enter (f = 11: - ¢> for ¢> on figure 4-3, the dead load stress
resultants for the lower portion of the shell are identical in magnitude but
opposite in sign to those read from the graph.
Another common loading condition for spherical domes is that of uniform
normal pressure. Consider a positive internal pressure p on the spherical dome.
We substitute R.p = RIJ = a; q.p = 0; qn = P and ¢>p = 0 into equation (4.14a),
whereupon
=--
pa 2 [1 .
a sin ¢> 2
-sm 2 ¢> J.p
0
(4.27)
pa
2
From equation (4.5)
rotation
a
t-
% Throat
o
U)
Bose
as
(4.30)
The ratio alb is the slope of the asymptote to the generating hyperbola shown
on figure 4-6, and the parameter
(4.31)
may be viewed as an indicator of the deviation of the profile from the degenerate
4.3 Shells of Revolution 85
The next step is to derive expressions for the principal radii of curvature in
terms of the curvilinear coordinate ,po Direct substitution of the equation of the
meridian into equation (2.29), as previously done for the spherical shell, leads
to cumbersome expressions since Z and Ro are not given as explicit functions
of ,po Instead we consider equation (4.32) along with the expression for the
differential arc length, equation (2.45a), which becomes for this case,
ds~ = dZ 2 + dR5
or
R2r/> dA.2
'I'
= Z .r/>2 dA.2
'I'
+ R2O,/f dA.2
'I' (4.33)
We then solve equation (4.32) for Z
and compute
Z _ RoRo,r/>
.r/> - Z(k2 - 1)
Since
Ro,r/> = Rr/> cos,p (4.35a)
. RoRrpcos,p
L,r/> = [(R5 _ a2)(k 2 _ 1)]1/2 (4.35b)
After substituting equations (4.35a) and (4.35b) into equation (4.33) and clearing
fractions, we may cancel R~ d,p2 in each term, so that
(R5 - a 2)(k 2 - 1) = R5COS2,p + (R5 - a 2)(k 2 - 1)cos 2 ,p (4.36)
from which we find, after some manipulation,
Ro a.J(k 2 - 1)
RIJ = - - = -::c:-;;-:''-;;--,----::-;-;;;- (4.37)
sin,p [k 2 sin 2 ,p - 1J 1/2
(4.38)
We now consider the elementary case of the self-weight. The principal radii
of curvature are given by equations (4.37) and (4.38), and the loading compo-
nents are q" = q sin iP and qn = - q cos iP as derived in figure 4-2. Also, we'take
iP' = iP" in equation (4.10), which becomes
sin 2 iPt [k 2 sin 2 iP - 1J 1/2 [k 2 sin 2 iP - 1]1/2
N,,(iP) = N,,(iPt) sin2iP [k2 sin2iPt - 1]1/2 a sin2iPJ(k2 - 1)
(4.39)
f" . 2 a2(k 2 - 1) sin iP diP
2
.J",(-qCOS ,p-qsm iP) [k2sin2iP-1J 2
'1 _ -cosiP 1
(iP) - 2[k 2 sin 2 iP - 1J + 4kJ(k 2 - 1)
In(J(k2 - 1) - kCOS iP )
J(k 2 - 1) + k cos iP
(4.40b)
Some further comments are in order regarding the preceding solution for the
self-weight stress resultants. If the shell thickness changes with the height of the
shell, the solution as derived must be generalized slightly. Assuming that the
shell thickness is or may be approximated as piecewise constant within a defined
subregion of the shell, the basic solution, equation (4.39), may be applied in
a stepwise fashion. For any subregion r bounded by iP: and iP: as shown in
figure 4-7,
(4.42a)
r = 1, ... ,n
and, from equation (4.17),
qr = pghr (4.42b)
where h r is the local constant thickness. We start at the top of the shell, r = 1,
for which the solution is given by equation (4.40a). Then, we evaluate equation
(4.40a) at iP = iP; = iP: to compute N,,(iP;) = N,,(iPn which is substituted into
the first term of equation (4.39). Thus, the solution for region r = 2 is given by
4.3 Shells of Revolution 87
equation (4.40a), plus the first term of equation (4.39), with (A taken as (p,2. For
the general region r, we have
, , sin2,p; [k 2 sin 2 ,p' _ 1]1/2
N~(,p ) = N~(,pt ) sin2 ,p' [k2 sin2,p; _ 1J1/2
(4.43)
, [k 2 sin 2 ,p' - 1J1/2 , ,
+ q a sin2,p',J(k2 _ 1) [~1(,p) - ~l(,pt)]
<p . -1 { Ro } (4.44)
= SID (a 2 + k2(R~ _ a2)]1/2
Values of <p in the first and second quadrant correspond to the lower and upper
portions of the shell, respectively.
To compute the limits of integration, <Pt and <P.. when the corresponding value
of R o, t, and s, are known, equation (4.44) can be used directly.
For spherical shells, we were able to deduce some general characteristics of
the response to self-load by making a nondimensional plot of the membrane
theory stress resultants. It is also useful to attempt such a study for the hyper-
boloidal shell. If we define a nondimensional meridional coordinate
(4.45)
nA,=
'f"
~
qa
-1.5 . . . - - - - - - - - - - - - - - .
-1.0
NS
nB= - -0.5
qo
o
0.5 L...-_"---_...L..-_-+-_.....I.-_....J
4.3.2.4 Toroidal Shells. The toroidal shell is quite useful and efficient for pres-
sure vessel applications. Also, segments of toroidal shells are frequently used as
transitions between cylindrical tanks and shallow spherical or flat caps [figure
2-8(y)]. This type of compound shell will be treated in some depth later.
Examining the toroidal geometry, figure 4-9, we see that the surface is
generated by the rotation of a closed curve, usually a circle, about an axis lying
inside the curve.
The definitive geometry is conveniently established from figure 4-9. The
meridian is the circle ABeD, with radius a. If we examine a normal to the surface
defined by a meridional angle <p, we observe that it pierces the surface at two
points; that is, there is not a one-to-one correspondence between curvilinear
coordinate <p and a unique point on the surface. The consequence of this
90 4 Membra ne Theory
axis of rotation
r -l
A A
anomaly is that the segment of the shell within the semicircle BAD must be
considered separately from that within BCD.
Considering the exterior segment BAD denoted by the superscript e,
RZ = bcscf/J e + a (4.46)
where b = the constant distance from the center of the generating circle to the
axis of rotation.
The center of curvature of the meridian BAD is on the same side of the
meridian as the center of curvature of RZ signifying a shell of positive Gaussian
curvature, so that
R~= +a (4.47)
For the interior segment BCD denoted by the superscript i,
R~ = b csc f/J i_a (4.48)
Observe that, for this segment, the center of curvature of the meridian lies on
the opposite side of the meridian from the center of curvature of R~ , indicating
that this segment has negative Gaussian curvature. Thus,
R~ =-a (4.49)
4.3 Shells of Revolution 91
= (b ,/,
CSC'f'e
pa
. 2,/,e
+ a) stn 'f'
(b ·,/,e a. 2,/,e C)
sm'f' + -2 sm 'f' + 1
NJ = pa (4.53)
2
At the common points Band D, ,pe = 0 and n, and ,pi = nand 0, respectively, and
(4.54)
Interesting, we see that the circumferential stress resultant Ne throughout the
shell, as well as the meridional stress resultant N,p at the top and bottom circles,
are independent of the relative plan size of the torous, as represented by b, and
are only dependent on the radius of the generating circle a. Also, as the mean
plan radius b becomes large as compared to a, N3 and N~ --+ pa throughout the
shell. These observations have rather simple physical interpretations which give
some insight into the general load resisting characteristics of shells.
First, to investigate the circumferential stress resultant N e, we consider the
half-plan free body as shown in figure 4-10. We have a resultant force of
magnitude p x [Projected area of outer circle - Projected area of inner circle],
acting in the Y direction. From figure 4-9, the difference in the projected
areas is 4ab + 2(tna 2 ) - [4ab - 2(tna 2 )J = 2na 2 , or simply twice the cross-
sectional area, so that the resultant force is 2npa 2 • This force must be balanced
by the force in the shell wall arising from N e. Since the pressure p is con-
stant throughout the cross section, it is reasonable to regard Ne as constant.
Therefore,
2Ne(2na) = 2pna 2
or
4.3 Shells of Revolution 93
inner
circle
a b
pa
No = - (4.55)
2
which verifies equations (4.51) and (4.53). In the next section, we further illus-
trate that equations of overall (as opposed to differential) equilibrium on
strategically chosen sections of shells can frequently lead to simple solutions
for the membrane theory stress resultants.
Next, we seek to interpret the values of Nt/> at the top and bottom circles.
From equations (4.46) and (4.48), the circumferential radius Ro -+ 00 at Band
D. Considering the so-called third equation of membrane equilibrium, equation
(4.3c),
Nt/> No
R:+R:=qn
0
t/>
(4.3c)
we have
or
(4.56)
which verifies equation (4.54). Once No has been derived from the consideration
of overall equilibrium [Le., figure 4-10 and equation (4.55)J, Nt/> may be com-
puted at any point on the meridian using equation (4.3c).
94 4 Membrane Theory
axis of rotation
(4.58)
Q(rP) = ft/J [qn(1]) cos 1] - qt/J(1]) sin 1]J [2nR o(1])J [Rt/J(1]) d1]J (4.59)
t/J,
which may be directly substituted into equation (4.58) to evaluate Nt/J(rP).
As an elementary example, we will again solve the spherical dome under
self-weight load, previously considered in section 4.3.2.2 and illustrated in figure
4-2. From figure 4-2, we have qn = -qcos1], qt/J = qsin1], Ro = a sin 1], and
Rt/J = a, so that
N = Q(rP)
t/J 2nasin 2 rP
(4.60b)
qa
= ~(cos rP - cos rPt)
sm 'P
whereupon
No(rP) = pRo [1 - Ro ]
2Rt/J
(4.61b)
from equation (4.3c). These simple equations hold for any shell of revolution.
96 4 Membrane Theory
(0 )
I' I
(b)
Fig.4-12 Symmetrically Loaded Cylindrical Shell
4.3.3.2 Circular Cylindrical Shells. A similar approach may be used for a circu-
lar cylindrical shell subject to an internal pressure p(Z). Consider a unit length
axial slice of such a cylinder with radius a as shown in figure 4-12(a). In this
case, the magnitude of the total resultant force along the e = 0 (vertical) axis is
Q(e) =2 f: p(Z)cos1J(l)(ad1J)
(4.62a)
= 2p(Z)a sin e
The corresponding component of the circumferential force, which must balance
Q(O), is
(4.62b)
Equating forces, we have
2N9 (O) sin 0 = 2p(Z)a sin 0
or
N9 = p(Z)a (4.62c)
4.3 Shells of Revolution 97
vanishes and equation (4.2c) confirms the result given in equation (4.62c). This
leaves equation (4.2a), which becomes
1
-(aNz
a ).z + qz = °
or
N z .z = -qz
so that
Nz = - f qzdZ (4.63a)
We may also write the integral in the alternate form introduced in section
4.3.2.1.
Equations (4.63a) and (4.63b) indicate that for a symmetrically loaded cylin-
drical shell, the meridional stress resultant is uncoupled from both the normal
loading and the circumferential stress resultant and is a function only of the
axial loading and the boundary conditions. For example, if the shell shown in
figure 4-12(a) is subjected to a uniform axial edge load N per unit length of
circumference, as shown in figure 4-12(b), and the pressure qz = 0, then equation
(4.63b) gives
Nz(Z) = N = constant (4.64)
so that the effect of the edge load penetrates along the axis of the cylinder and
must be developed on the opposite boundary. This unattenuated propagation
of edge loads is quite plausible if one recalls that the cylindrical shells have
meridians composed of straight lines parallel to such axial loads. A similar
situation arises in the membrane behavior of shells of negative Gaussian curva-
98 4 Mem brane Theory
I~
)\ OX;'
of rotation .
Vi
/
/
lt
\
\
\
(
~ -
te no restrain~
In
this direction
cone
s
(a)
=rqtl2
Reference
Section
( b)
Fig. 4- 13 Conical Shell
4.3 Shells of Revolution 99
ture, where tangential edge loads tend to propagate along the straight lines
on the surface. 9 This is illustrated in section 4.4.3.5.
It is interesting to compare the solutions for the toroidal shell and the
cylindrical shell under uniform normal pressure loading. For this purpose, the
coordinates <p and () on the toroid should be regarded as equivalent to () and
Z, respectively, in the cylinder. Now, if b » a, we find [from equation (4.50) or
(4.52) for the toroid and equation (4.62d) for the cylinder] that (Nqj)toroid =
(NO)Cylinder = pa. Furthermore, if the cylindrical shell is closed by a flat circular
plate, N z = P x (Area/Circumference) = pa/2, which would match No as com-
puted for the toroid in equations (4.51) and (4.53). Thus, the membrane resis-
tance mechanism of the two geometries is remarkably similar, with the torus
representing, in effect, a self-closing cylinder.
4.3.3.3 Conical Shells. We now investigate conical shells and initially examine
the frustum, as shown in figure 4-13(a). The shell is conveniently described in
terms of the axial coordinate Z, since the meridional angle <p = n/2 - rx =
constant. At any section,
Ro = t + Ztanrx (4.65)
and
R --------
Ro t + Ztanrx (4.66)
o - sin <p - cos 0(
Since the meridian is straight, R qj = 00, and from equation (4.3c) we immediately
obtain
t + Ztanrx
No=qn---- (4.67)
cosrx
Then, we concentrate on the meridional stress resultant N z .
Assume that the shell is subjected to an internal suction q, and that the top
is closed by a flat plate which is free to move radially and to rotate freely at the
junction with the conical shell. The idealized junction detail is shown in
the inset. Under these conditions, the plate transmits a total force of only
qnt 2 in the + Z direction to the shell. Therefore, the resultant axial force at the
top is of magnitude
Ql = -qnt 2 (4.68)
This force is distributed over the circumference of the top circle, 2nt, providing
an edge load of intensity qt/2 on the shell, as shown in figure 4-13(b).
We now want to derive the resultant force Q2(Z) due to the uniform suction.
We define an auxiliary axial coordinate 11 and resolve the load accordingly.
Then, we have
100 4 Membrane Theory
f:
0
and
(4.70b)
then,
Nz(Z) = Ql + Q2(Z)
2ncos1X(t + Ztan1X)
(4.71a)
_q{t 2 + 2Ztan1X[t + (Z/2) tan 1X]}
2cosa(t + Ztan1X)
and
(4.72b)
Since the N z comes entirely from the top plate reaction in the axial direction,
these equations agree with the solution for cylindrical shells found in the
previous section.
We may now investigate a complete cone by letting t - 0, whereby
q tan 1X
Nz = - - Z - - (4.73a)
2 cos 1X
and
4.3 Shells of Revolution 101
tan ex
NIJ= - q Z - - (4.73b)
cos ex
The complete cone is an illustration of a pointed closed shell, shown in figure
4-1 (b). In contrast to the dome, which was examined in detail in sections 4.3.2.1
and 4.3.2.2, N z and NIJ ~ 0 at the pole. Also, recall that for a closed spherical
shell under uniform pressure, we found N,p = NIJ throughout; whereas, for the
closed conical shell, the circumferential stress is double the meridional stress.
(4.74a)
-+--....1.....------0_ Z
cylinder ~%
~pa';~inf' ~_ V--Z-sphericol head
(po 12)cos-..J ~o, 12)cos¢,
'VfI r
pa,/2
Fig.4-14 Cylindrical Shell with a Spherical Head
102 4 Membrane Theory
(4.74b)
As far as the meridional stress resultant in the cylindrical shell is concerned, we
have shown in equation (4.64) that Nz = a constant dependent on the boundary
value and the axial loading, if present. As shown in the inset of figure 4-14,
the meridional stress in the sphere imparts an edge force per unit length of
(pad2) sin <Pl to the cylinder so that
T T
w
- - - -----l~-
_ ':::J
--------------:r-I-;n-d-er--I~~ ~r~
1
02
~ t~rojd
(b)
Fig.4-16 Compound Shells
in the stiffener can balance the radial thrust in the same manner as a cylindrical
shell resists normal pressure, so that 2T = (pa 1 /2) cos ¢(2a2), with the assump-
tion that w « a 2 • The ring, however, will restrain the radial expansion of the
cylinder, and thus violate the ideal membrane boundary requirements.
We consider two additional possibilities of providing a smooth transition.
In figure 4-16(a), we show an ellipsoidal cap; in figure 4-16(b), we insert a
segment of a toroidal shell between the cylinder and the spherical cap. The latter
form is sometimes called a torospherical head.
Considering the ellipsoidal head first, we note that a smooth transition is
provided between the cylinder and the cap along the meridian, so that trans-
verse shear in the cylinder is not required for radial equilibrium. However, the
hoop stresses computed for an ellipsoid again do not match those for a cylinder
as calculated from equation (4.76b)10; thus, an incompatibility in the circum-
ferential strain and subsequent radial deformation occurs, which, as before,
must be corrected by transverse shears on the cylinder and on the ellipsoid.
Also, the problem of forming a deep curved cap remains.
The torospherical head shown in figure 4-16(b) circumvents the deep cap
104 4 Membrane Theory
problem but it turns out that the hoop stresses and the corresponding radial
deformations, as computed from membrane theory, result in incompatibilities
at both the cylindrical-toroidal and toroidal-spherical junctions. The toro-
spherical shell will be treated in detail in the following section.
Meanwhile, we may illustrate an interesting property of compound pressure
vessels by considering the normal equilibrium equation
N,p No
R+R=qn (4.3c)
,p 0
which was earlier termed the single most incisive equation in thin shell theory.
We first apply the overall equilibrium approach developed in section 4.3.3.1 to
the shells shown in figure 4-16, and particularly consider equation (4.61a). At
any section defined by the coordinate rjJ, Nq,(rjJ) cannot change abruptly as long
as Ro does not change. With this in mind, we rewrite equation (4.3c) with qn = P
as
No = Ro(P - ~;)
With the foregoing arguments in mind, at a smooth transition
No =[ -R:,p + pJ (4.77)
Thus, even if the transition is smooth along the meridian and the loading is
also smooth, a sudden change in Rq, can radically change the magnitude and
even the algebraic sign of No. Recall that the cylindrical shell in figure 4-16
resists the pressure p by No/Ro, since R,p is 00. This occurs regardless of the
magnitude of N,p. Suddenly, at the transition, we encounter a finite value of Rq"
R,pe for the ellipsoid and a3 for the toroid. Since N,p is positive, equation (4.77)
reveals that No decreases in proportion to the now finite value of Rq,' even
perhaps becoming negative. Both of these cases may produce a large negative
value of the hoop stress resultant N O, l l and such shells may fail because of
circumferential buckling if proper strengthening and stiffening is not provided.
An actual case where this occurred is described in Fino and Schneider. 12 The
shell segment shown in figure 2-8(y) was fabricated to quantify this failure
mechanism further through an experimental study.
(4.78)
4.3 Shells of Revolution 105
sin 1/>1
Cyllndrlco.l
CROSS SECT,
which reduces to
Q2(</J) = pna 3 (sin</J - sin</JI) [a 3 (sin</J - sin</JI) + 2a I sin</JIJ (4.79c)
Summing equations (4.79a) and (4.79c), we have
Q(</J) = pnQ(</J) (4.80a)
where
Q(</J) = (a l sin </JI)2 + a 3 (sin</J - sin</JI)
(4.80b)
. [a 3 (sin</J - sin</JI) + 2a I sin</JIJ
From equation (4.58),
1
Nt/> = 2nRo sin </J Q(</J)
(4.81a)
pQ(</J)
(4.81b)
(4.82a)
(4.82b)
Substituting equations (4.81a) and (4.82a and b) into equation (4.81b) gives
_ [(a l
No-p
- a 3 ) sin ifJI
. A.
+ a3 sin ifJ]
sm",
.{1-
(4.83)
Q(r/J) }
2a 3 sin </J[(a l - a 3 ) sin </JI + a3 sin r/JJ
Equations (4.81a) and (4.83) constitute the membrane theory solution for the
so-called toroidal knuckle portion of the torospherical head. As implied in the
previous section, the form of equations (4.81b) and (4.83) suggests that No
4.3 Shells of Revolution 107
PLAN VIEW
HEAD NO.1 h=O.20·
HEAD NO.2 h .. O.25-
- .....-h
2ilAround
SECT.
~ Spherical
~ Toroicial
\
32.74' \
\
~ \
~ Cy""dCle.'
.___ ....___.. ____ .___ ._ ..... _____ ....J
CROSS SECT.
\\
\
Fig.4-18(b) Test Specimen Middle Surface Geometry
investigation and will be used here to compute the linear stress pattern due to
internal pressure.
From figure 4-18(a), allowing for the wall thickness h = 0.2 in., the geome-
trical properties are
a 1 = 172.9 in.
a 2 = 96.1 in.
a 3 = 32.74 in.
Toroidal knuckle:
Z2 + R2 - 95.7574Z - 126.72R + 5234.9519 = 0 (4.84b)
Cylindrical segment:
R - 96.1 = 0 (4.84c)
Pertinent material properties are Young's modulus E = 30,000 psi and Pois-
son's ratio J.l = 0.3. Equations (4.84) may be used to verify the continuity of
slopes at the junctions.
In figure 4-19, the circumferential stress resultant N(J is shown as a function
of the arc length siP' The change from tension in the spherical cap to compression
in the torus and again to tension in the cylinder is clearly illustrated. Along
with N(J, a scale for the extensional component of the circumferential stress,
G(J(J = N(J/h, is also given to facilitate comparisons with bending theory solutions,
which are somewhat thickness-dependent. The abrupt jumps are mitigated by
bending effects, which will be discussed in chapter 9.
1 . t/J [(qn cos t/J - qiP sin t/J)Ri sin 2 t/J] iP (4.85)
RiPR(Jsm '
+ R(J(qn,(J(J + q(J,(J sin t/J)
Equation (4.85) is a second order partial differential equation in t/I. Once t/I is
e
determined, may be found by solving equation (4.6a) or (4.6b).
200 ~
150 30 Membrane
Theory
100 20
50 10
V
-50 -10
/
-100 -20
-150 -30
V
~OO -40
SPHERE ~I~ TORUS -I .. CYLINDER--
{N;}
Ns
S
= ~o
J-
00 {N~COSj(}}
NJcosj(}
SJ sinj(}
(4.86b)
4.3 Shells of Revolution 111
Substituting equations (4.86) into equations (4.6a), (4.6b), and (4.85), we get
~
L...
j=O
{[Ri sin ¢ .
---'----t/l/,p
R,p
'J
+ j~J cosj()
(4.87a)
(4.87b)
= - [(q~ sin ¢ - jqDR,pR~ sin ¢J Sinj ()}
and
~
L...
j=O
{[ 1
R,pRo sin ¢
(R~ sin tP . ) -
---t/lJ,p
R,p '.,p
j2
R,p sin 2 ¢
'I'J COS]
./, 'J .()
= [ 1.
R,pRoSlD'I'
A. [(q~ cos tP - q~ sin ¢)RJ sin 2 ¢l,p (4.87c)
We may treat each equation of the series separately, and then obtain the total
solution by summing to a suitable truncation limit onj. We recognize that the
individual equations for each harmonic are ordinary, rather than partial, differ-
ential equations, since the ()-dependent terms may be cancelled. This is, of
course, a formidable mathematical simplification. Also, we see that equations
(4.87a) and (4. 87b), withj = 0, reduce to equations (4.7a) and (4.7b), respectively,
which have previously been investigated with respect to axisymmetric loading.
Thus, the previous solution for axisymmetric loading, as given by equation (4.8)
and (4.9), also serves as the solution of the j = 0 harmonic for the non symmetric
loading situation, with the loading taken as q~ and q~, the j = 0 components
of the surface loading. These solutions do not include the case of a j = 0
component of qo which, as mentioned in section 4.3.2.1, is quite rare. This case
can be accommodated, however, by simply interchanging the sinj() and cosj()
terms in equations (4.86a-c), obtaining an analogous set of equations to equa-
tions (4.87a-c), and combining the results of the two solutions.
Since the j = 0 case has already been solved, we now seek a solution to
equation (4.87c) for a general harmonicj > O. After cancelling the cosj() terms,
we have for harmonic j
112 4 Membrane Theor:
[ 1.,p 1,I/>J
RI/> sm ,I/>
= 1.,p
RIJ SIll
[(q~ cos,p - qJ sin ,p)Ri sin 2 ,pJ,1/>
(4.89b)
- RIJRI/>{q~ - qJ sin,p)
The transformation between equations (4.88) and (4.89b) is most easily verified
by substituting equation (4.89a) into equation (4.89b) and performing the
indicated differentiation with the aid of the Gauss-Codazzi relation, equation
(2.47).
Equation (4.89b) is in a form which permits 1 to be evaluated by successive
4.3 Shells of Revolution 113
integrations with respect to r/J. Then, 1/1 1 is found from equation (4.89a), and the
remaining auxiliary variables and stress resultants are determined from equa-
tions (4.87a), (4.86a), (4.4a), (4.4b), and (4.5). This procedure is straightforward
and, since it is discussed in detail in Novozhilov,14 it is not repeated here.
Rather, we present the results which may be easily verified as a solution by
direct substitution into the membrane theory equilibrium equations, (4.3a-c).
The stress resultants corresponding to j = 1 are
NtP = NJ cos (); N(J = Nl cos (); S = Sl sin () (4.90a, b, c)
where the Fourier coefficients are given by
tP tP
NJ = 2 1. rP {C 2 + C1 f RtP sin r/J dr/J +f <P(rP)R tP sin rP drP} (4.90d)
RosIn tP' tP'
R(J 1
N.(J1 = q1R
n (J - -Rq,
NtP (4.90e)
no constraints
~------~------~
Developed by
Tangential Constraint
~__ Developed by
tangential
constraint on
--- ---
s Tangential Constraint
Developed by
a_'__l~__~__r-__~~,, ~ Meridional Constraint
\N '\
__
m_e_"_a_ion
__
constraint only/
¢
(b)
Fig. 4-20 Boundary Requirements for Shells of Negative Gaussian Curvature
4.3 Shells of Revolution 117
The lattice designs of Engineer Shukov which are well known in construction
practice, outlined by the surface of a hyperboloid of one sheet and consisting of
rods arranged in straight lines, forming and tied together in horizontal rings, may
constitute instantaneously varying unstable systems under certain combinations of
geometric si2es and types of asymmetrical loads (wind loads, for example). Unless
such structures are properly reinforced by additional structural elements (for exam-
ple, tension members located in the planes of the rings), they possess very little
load-bearing capacity."
A diagram of a type of structure designed by Shukov, although not with
negative curvature in this case, is shown in figure 4_21. 18
...
wind
f--_ Y
components are
qt/>=0 (4.101a)
qIJ = 0 (4.101b)
qn = - p sin <6 cos e (4.101c)
where p = the static wind pressure intensity.
Therefore, from equation (4.86a),
q~ = -psin<6 (4.102)
At this point, a word of warning is in order. It is fairly obvious that the
pseudo static wind loading given on figure 4-22 and in equation (4.101c) has
been conceived as a reasonable facsimile of a possible pressure distribution to
fit the antisymmetricalload form, j = 1, and is not necessarily based on mea-
sured dynamic wind pressures. Extreme caution should be exercised in using
this loading for actual design. In section 4.3.7.5, a spherical shell is analyzed for
an experimentally determined pressure distribution and quite different results
are obtained. Nevertheless, the antisymmetrical pressure case is interesting.
Proceeding with the results for the spherical dome, we have Rt/> = RIJ = a;
C 1 = C 2 = 0; <6' = 0; and q~ = qJ = 0, q" = - p sin <6 substituted into equations
(4.90) and (4.91). After integration, the solution iS 19
cos <6
NJ = - pa 3 .
sm
3 <6 (2 + cos <6)(1 - cos <6)2 (4.103a)
""~
8
~
'"
~
....
'<
4.3 Shells of Revolution 121
Q sine/>
==-i-==~--Y
S(f,B)
I" (n)
-" NtfJ I,8 (a d8)(a cos 8) + Jo
("/2 I"-" qn(t/J,8)(ad8)(adt/J)(0)
(4.104)
+ f~" S(~,8)<ad8)(0) = 0
The last two integrals vanish because qn(t/J, 8) and S(n/2, 8) pass through the X
axis, so that we have remaining
122 4 Membrane Theory
= na 2 NJ (i)
=0
We thus confirm that
(4.105)
+ f:x s(i,o)sinO(adO)
=0
so that
2
(4.107)
3
as shown in figure 4-23.
The verification of the stress resultants using the overall equilibrium equa-
tions suggests that these two equations, written with reference to a general
coordinate ¢, should provide an independent derivation for NJ and S1, where-
upon Nl would be computed, as usual, from equation (4.3c). Note that, in the
general case, ¢b "# n12, so that N¢ and S would participate in ~Mx = 0, and N¢
in ~Fy = O. The procedure of summing forces and moments across a section to
compute bending and shear stresses is strikingly similar to beam theory. In fact,
4.3 Shells of R~olution 123
4.3.6.3 Rotational Shells under Seismic Loading. Another dynamic force fre-
quently simulated by a static representation is an earthquake or seismic load.
Records of actual or artificial earthquakes are generally available in the form
of two horizontal components (N -S) and (E- W), and a vertical component.
The vertical component is an axisymmetric loading which fits the solution
developed in section 4.3.2.1. Regarding the horizontal components, it is fre-
quently assumed that they are not in phase; i.e., the peak effects from the two
directions do not occur at the same instant on the structure. Since shells of
revolution are axisymmetric in construction, it is here regarded as sufficient to
consider only the stronger of the two components. The X axis in figure 4-25 is
presumed to be oriented to this direction.
From the results of a linear dynamic analysis or from some approximations
thereto, a total design base shear V may be computed corresponding to the
strong horizontal motion earthquake component. The base shear is frequently
written as a percentage C of the dead weight of the structure (e.g., 15% g).
Details of the computation of V are beyond the scope of this book since the
dynamic characteristics of the structure must enter into any rational treatment.
An excellent comprehensive discussion of this subject is given in Clough,21
and an application to shells of revolution is contained in Gould, Sen, and
Suryoutomo. 22 The remainder of this section is concerned with the determina-
tion of the distribution of surface loading that produces a specified value of the
base shear V and the evaulation of the corresponding membrane theory stress
resultants.
As depicted in figure 4-25, the magnitude of the base shear, V, is equal to the
total horizontal resultant of N", and S, or
V = RO(<Pb>[ Sl (<Pb) I~" sin 2 B dB - NJ(<Pb) cos 1>" I~" cos 2 B dB]
(4.108b)
= nRO(<Pb) [Sl(<Pb) - NJ(tA,)COS<Pb]
The subsequent analysis for the membrane theory stress resultants is depen-
dent on the surface loading which produces V. We know that the equivalent
surface loading should have a resultant in the direction of V; i.e.,
124 4 Membrane Theory
v
~
II
Surface
qds"dsp=V=Vtx (4.109)
Direction of
Horizonfol
GroUl~
Mofion
(b)
q(¢) sin 0, and a radial component of q(¢) cos O. Considering the meridional
view, figure 4-26(a), the radial component, q(¢) cos 0, is projected from the lower
figure and resolved into a meridional component, qt/J cos 0 cos ¢, and a normal
component, q(¢) cos 0 sin ¢. Thus. referring to figure 3-6 for the correct signs,
we have
qt/J = -q(¢)cos¢cosO (4. 110a)
ql) = q(¢) sin 0 (4.110b)
qn = -q(¢)sin¢cosO (4. 110c)
We compare equations (4. 110a-c) with equation (4.86a) and conclude that
q~ = -q(¢)cos¢ (4. 110d)
qJ = q(¢) (4.110e)
q~ = -q(¢)sin¢ (4. 11 Of)
126 4 Membrane Theory
g.2"
- .-.~-~---~--~--~ ., - -. - ._-._----_.-.
I- =
01
:1: 1 "lJ
U) J
1
N
+
\ r r q=CqOL E,13 r q=CqoL~132
~ / .,.;:,
Normal Mass Mass Height Mass Height 2
Displacement
,ST Fundamental
Mode
tv
-...)
Fig. 4-27 Seismic Loading Distributions for Hyperboloidal Shells
-
128 4 Membrane Theory
(4.114)
2 ..0
SHELL DATA
Zia
-1 ..0
-2.0
-3.0
Fig. 4-28 Effect of Base Shear Distribution on the Meridional Stress Resultant for a Hyper-
boloidal Shell
°
At this point, recall that the j = 0 and j = 1 solutions were directly related
to and derivable from static equations of overall equilibrium. The j = solu-
tion represents force equilibrium parallel to the axis of rotation, whereas the
j = 1 case reflects equilibrium of forces normal to the axis and equilibrium of
moments about the axis of overturning. In contrast,j > 1 does not correspond
to any equation of overall equilibrium. All loading cases for j > 1 are said to
be self-equilibrated with respect to the overall equilibrium of the shell. Thus,
the differential equations offer the most promising approach. One should note
at the outset (and it is demonstrated in subsequent sections) that the membrane
theory stress resultants in shells of revolution may be very sensitive to the
influence of the higher harmonic components of the surface loading, and that
shells which are subject to such loading must be investigated very thoroughly.
4.3.7.2 Spherical Shell with Edge Loading. One specific geometry that can be
solved for j > 1 is the spherical shell. We limit our investigation to the case of
no surface loading, which produces a homogeneous set of equations. This form
is sufficient to describe an important practical situation, the edge-loaded shell
of revolution. Once a homogeneous solution is available, a particular solution
for a given surface loading is easily obtained using the standard method of
variation of parameters.
It is expedient to return to the original untransformed membrane equations,
equation (4.3). We introduce the separated form of the stress resultants, equa-
tion (4.86b), for harmonic j into these equations. Noting that equation (4.3c)
gives N(J = - N", since qn = 0, we have
. . j.
N$.", + 2NJcotrjJ + sinrjJ SJ = 0 (4.118a)
4.3 Shells of Revolution 131
(4. l1Sb)
Q~ ,~ + (2cot<,6 - -!-)Q~
sm<,6 =0 (4. 120b)
(4.121a)
Qj _ C j tan j (<,6/2)
2- 2 sin 2 <,6 (4.121b)
N~. = 2sin2
1 <,6 [q. cotl "2 + q .tan).(<,6)J
.(¢l) "2 (4. 122a)
~ [C{. cotl.(<,6)
1 <,6 /~'o
S(<,6, e) = 2 sin2 "2 - q . tan}. (<,6)J
"2 sinje (4.l23b)
The constants for each harmonic, C{ and C~, must be evaluated from a set
of nonzero force boundary conditions which are also expanded in Fourier
series. One possibility is
L NJ(<,6') cosjO
00
L sj(<,6") sinje
00
In these equations, ¢/ and ¢/' denote the respective boundaries of the spherical
shell where N¢ and S are specified. Also, the form of equation (4.123) indicates
that N¢ and S may both be designated at the same boundary-e.g., ¢/ = ¢l" in
equation (4.124)-or that N¢ or S, alone, may be chosen at both boundaries.
In any case, only two boundary conditions are available, and the computed
values of N¢ and/or S at the other boundaries must be developed by the support
in order for the solution to remain valid.
For a spherical dome, cot(¢l/2) ~ 00 at the pole, so that Ci = 0 and only one
condition, N¢ or S, may be specified on the lower boundary.
axis of rotation
-L./ q
N.p(b)( 4>~-l-~'r-I-.1..rl-"+-:L,L.-hl,....L-.J,..rl.,..L.:~
~
~
(d)
(c )
R _ rcN</J(b)(tPb)
(4.128)
cl - f3 nc
Rcl has units of force/length.
Now, we wish to express the edge loading shown in figure 4-29(c) as a func-
tion of the circumferential coordinate 8. Referring to figure 4-29(d), we have,
134 4 Membrane Theory
formally,
N,p(ekP", 0) = [ -N,p(b)(~) + bRc/] (4.129)
where b = 1 if m(2nlnJ - f3 ::; 0 ::; m(2nlnJ + f3
°
(m = - nel2, ... , - 1,0, 1, ... , nel2)
b = for all other O.
The limits on b are set presuming an even number of columns and can be
adjusted accordingly for an odd number, and N,p(e) is taken as positive in the
positive sense of N,p(b).
We expand N,p(e) in a Fourier series similar to equation (4. 124a),
L
00
(4. 131a)
o 1
N,p(e)(rPb) = 2n
f1t [
-1t -
"") + un~ N,p(b)«(P,,)]
N,p(b)('Pb f3 ne
dO
(4.132)
f
(21tin c )-p 2(2ftinc )-p
. "") Nq,(b)(t/J,,) { 2 . . n (. . )
NJ(c)('I'b =
n
--;-slnJn
]
+ ]--:---p
nc
SlnJP
+ "c-
~ [
1
sinj (m-
2n + p) - sinj (m-
2n p]
- ) (4. 133b)
m-1 nc nc
The preceding assertions are easily verified for a specified numerical value of nco
We thus conclude that only those harmonicsj which are integer multiples of
the total number of columns nc participate in the solution, and we may rewrite
equation (4.130) as
00
o -4 -8 o .. 8 o as lot
S(3()O)lqa
Fig. 4-30 Stress Resultants for a Column-Supported Hemispherical Dome under Dead Load
j=4,8,12
---:--fJ SIDjfJcOSje
j
(4, 137b)
Recalling the Fourier series expansion for the stresses in the spherical shell,
equations (4.123a) and (4.l23b); taking q = 0 because we are considering a
dome; and evaluating equation (4.123a) at ¢Jb = n12,
Equating the coefficients of cosje for each term in the series in equations
(4. 137b) and (4.138), we find
. -4qa
q = ----;t3sin jfJ (j = 4,8,12) (4.139)
since tan j (nI4) = 1, and q = 0 for j -:f=. 4,8, 12. Now, we may write the solution
to case (c) of the superposition by substituting C~ into equations (4.123)
N¢>(c)(¢J, e) = - Ne(c)(¢J, 8)
(4. 140a)
- 2qa sinjfJ . (¢J) .
fJ . 2 ¢J
SID
L -.j -
00
j=4,8,12
tan} -2 COSje
2qa . (¢J) . .
Sc(¢J, e) = fJ . 2 ¢J
SID
L -.
sinjfJ
00
j
j=4, 8, 12
-tan} -2 SIDje (4. 140b)
The complete solution consists of case (b) plus case (c), which gives
-qa
N¢>(¢J, e) = 1 ¢J + N¢>(c)(¢J, e) (4.141a)
+ cos
Ne(¢J, e) = qa ( 1 ¢J - cos ¢J) - N¢>(c)(¢J, e) (4.141b)
1 + cos
4.3 Shells of Revolution 137
(4.141c)
in view of equations (4.20) and (4.21). Again, we stress that the value of S = Sc
computed from equation (4.141c) must be developed at the lower boundary.
To study the characteristics ofthis solution, we show the nondimensionalized
stress resultants for the hemisphere in figure 4-30. The half angle f3 is taken as
5°; N,p and No are graphed at () = 0°, the center line of the column; and S is
shown at () = 30°. The series converges rather slowly with about 14 terms
(n = 56) required to compute, within 1%, the known value of N,p at the base,
[360° /(4 x 2 x 5°)] N,pb(¢Jb)' or 9 times the continuous boundary reaction. The
continuous boundary stress resultants, which correspond to figure 4-29(b) and
are available from figure 4-3, are superimposed and shaded to indicate the
penetration of the discontinuous boundary reaction amplification into the
shell.
Although we have obtained a convergent membrane theory solution for the
spherical dome supported on columns, all shells with concentrated edge effects
are not able to sustain such loading in this way. Only a limited number of
specific geometries have been investigated, and no general proof is offered;
however, it appears that the attenuation of concentrated meridional edge effects
through principally membrane action occurs only in positive curvature shells.
Physically, it can be surmised that the straight characteristic lines present on
zero- and negative-curvature shells offer a path for the propagation of the edge
effect to the opposite boundaries, unless bending distortions occur.
While the quantification of bending effects is beyond the scope of this chapter,
we may expect that the shell may have to be strengthened to provide adequate
resistance. In concrete shells, the bending stresses are conveniently resisted by
local thickening. The wall thicknesses of the shells shown in figure 2-8(g) and
(p) are approximately equal to the column depth near the base and are gradually
reduced away from this region. For metal shells, thickening alone may not be
sufficient to provide an economical solution, since buckling in the region of
high compressive stresses must be considered. Auxiliary stiffeners, such as the
ring beam shown in figure 2-8(u), are one possibility. Another configuration
used for bin structures is to provide full-height columns, along with eave and
transition ring beams, as shown in figure 4_31. 30
Rotter has proposed a membrane theory solution for the case ofaxisym-
metrical loaded bins, based on the cyclic symmetry of the structure. 30 As shown
in figure 4-32, the shell is loaded locally by a normal pressure qn(Z) = Pn(Z) and
a wall friction loading qz(Z) = JLPn(Z), where the normal pressure Pn(Z) and the
friction coefficient JL are determined from the properties of the material. Con-
tainments for solids differ markedly from liquid storage tanks with the addi-
tional need to provide resistance to the wall friction loading from the solids.
These forces may be amplified during drawdown and should be considered
carefully be the designer. 31
Also acting are the self-load of the cylindrical shell qz = q = Wd(2naL),
138 4 Membrane Theory
Eaves
Ringbeam
~ Transition
~ Ringbeam
where Wi is the total weight of the cylindrical portion of the bin with length L;
and a circumferential line load qz(O) = W2 /(2na), where W 2 = the superimposed
vertical load at the top of the cylinder, Z =.0. Note that Nz(O) = - qz(O).
The vertical load in the shell wall is transferred into the adjacent column by
the in-plane shear stress resultant, S. By symmetry, S = 0 along the meridian
equidistant between two columns. Assuming S to be uniform along the column
and to vary linearly in the circumferential direction, we have
S(O) = ~
2neL
(1 _ ne O)
n
(4. 142a)
4.3 Shells of Revolution 139
Z
!q
LPn(ZI
L
~ Pn(z)
where
W = total load carried by the nc columns
=W1 +W2 +W3
and
W3 = total weight of the stored material in the bin
140 4 Membrane Theory
This implies that the total load is uniformly transferred into the columns along
the length L.
The circumferential stress resultant is easily found from equation (4.3c) as
(4. 142b)
For the meridional stress resultant, Nz(Z), we follow the overall equilibrium
approach, section 4.3.3.1. We have the resultant force from the weight of
the shell above the section Z, W 1 (Z/L); the resultant force from the super-
imposed vertical load, W z; the resultant force from the frictional loading,
2naJ-l J~ Pn(Z) dZ; and the total force in the columns, W(Z/L). Substituting into
equation (4.58) and recalling that a resultant axial load in the negative Z
direction is taken as positive, we have
(4. 142c)
N z .z
1
+ -S()
a' = ° (4. 143a)
=°
1
S. z + -N9
a ' ()
(4. 143b)
4.3 Shells of Revolution 141
:::
::n
Z
I
H
I
I a I
....
Wind
~~,--A----+.m-----Y
L
00
NZ} {Nl(Z)COSjO}
{ N6 =.~ N~(Z) cosjO (4.148)
S 1 0 Sl(Z) sinjO
where
. 2 .Z2
Nl(Z) =j pl_ (4. 149a)
2a
N/(Z) = -pia (4. 149b)
Si(Z) = _jpiZ (4. 149c)
These very simple expressions for the stress resultants for a general harmonic
j offer a rare insight into the interesting properties of the higher harmonic
components. Consider, for example, the solution expressed by equations (4.148)
and (4.149) contrasted with a solution for the resultant lateral force and over-
turning moment found by elementary beam theory:
1. The circumferential stress resultant N6 is not computable by beam theory.
2. The shear stress resultant is linearly proportional to the axial coordinate Z,
just as in beam theory. However, the shell solution shows that S is also
proportional to the harmonic number j. This discrepancy, of course, increases
in proportion to the contribution of the higher harmonics.
3. The meridional stress resultant is proportional to the square of the axial
coordinate by either theory; however, the shell solution reveals that Nz is
also proportional to j2, indicating that the meridional stress resultant is
highly sensitive to the higher harmonic components.
4.3 Shells of Revolution 143
, Wind
B =00
j ~
Pr
8= 72.5 0 0 .229
1 .277
2 .598
3 .472
4 .063
5 -.124
8= 1000 - - \. 6 -.027
7 .046
8 .000
9 -.023
·10 .009
11 .013
0 .21 P, 12 -.009
Fig. 4-34 Design Wind Pressure for Circular Towers (Reprinted with permission of American
Society of Civil Engineers)8
144 4 Membrane Theory
for the Fourier coefficients shown on figure 4-34. Summing for harmonics 0 to
12, we get
H2
Nz(H, 0) = 5.42- (4.151)
2a
Now, for comparison, we evaluate Nz(H, 0) from beam theory. Since only the
first harmonic contributes to the resultant force per unit height R y , we have
Since we are considering the stress resultant that acts on the circular middle
surface line, we compute Nz using the familiar linear stress formula N z = Mza/
Ix, where Ix is the moment of inertia of a circle of radius a about a diameter,
na 3. Thus, we have
4.3 Shells of Revolution 145
(4.152)
For the tabulated value of pi found in figure 4-34, equation (4.152) becomes
H2
Ni(H, O) = 0.277 2i (4.153)
and transverse shear, the cantilevered "slice-beam" appears to reveal the essen-
tials of the resisting mechanism of cylindrical-type shells subject to normal
pressures with substantial (i.e., significantj > 1 content) circumferential fluctua-
tion. In addition, Brissoulis and Pecknold suggested that the basic beam could
be generalized into a "propped-cantilever," with the reaction at the free end
representing the effect of a ring stiffener or a roof. 34
4.3.7.5 Spherical Shell Under Measured Pseudostatic Wind Pressure. The sepa-
rated flow pattern for wind acting on a cylindrical shell, figure 4-34, can also
be expected to occur on spherical shells, but is more complex since the flow
moves over as well as around the body. A set of pressure coefficients from a
wind tunnel test of a truncated sphere is shown on figure 4-36(a). It is apparent
that separation occurs both meridionally and circumferentially, with external
suction acting over most of the surface.
Each curve in figure 4-36(a) would require a set of Fourier coefficients to be
properly represented. This would complicate the harmonic-by-harmonic solu-
tion of equation (4.88), requiring the shell to be divided into meridional seg-
ments within which the Fourier coefficients for the loading could be taken as
constant. Ultimately, this produces a step-by-step solution to an initial value
problem starting at the free edge, which is similar to the procedure for variable
thickness shells discussed in section 4.3.2.3 and illustrated on figure 4-7.
In such cases, much of the efficiency of the harmonic superposition method
is lost, and it may become attractive to consider the partial differential equations
(4.3) in the variables rP and O. This approach requires only one solution over
the surface, but must usually be accomplished by a numerical method such as
finite differences. The curves for N", and No shown in figure 4-36(b) were obtained
by Bellworthy and Croll 36 in that way.
It is of interest to compare these results with those presented on figure 4-23
for the anti symmetric loading. The latter values are scaled by 0.9 to correspond
to the pressure coefficient at rP = 90°, 0 = 0° on figure 4-36(a), and are plotted
on figure 4-36(b). Any similarity between the curves is probably coincidental.
However, it might be fortuitous for thin metal shells, which are susceptible to
buckling and may have been designed for an antisymmetric pressure distribu-
tion, that the more realistic loading produces conservative values for the maxi-
mum negative hoop stress.
As in the previous section, the importance of establishing a realistic distri-
bution of wind pressure on the shell surface is apparent.
c:
..•
v
-•
ou eo- eo- 100· 120· , .. 0- 160" 180·
-1·2
Fig.4-36(a) External Wind Pressure Distribution for Truncated Spheres (From Bicknell, 1. and Davis, P., "Wind Tunnel
.j:>..
Studies of Spherical Tower Mounted Radomes", MIT, Lincoln Laboratories, Group Report 76-7(1958).) Reprinted with -.)
-
permission of Lincoln Laboratory, Massachusetts Institute of Technology, Lexington, Massachusetts.
_0 - Simplified Distribution
....
00
"'"
Test Results
l
{6
S6
$ o·
/
i
i 3d'
/
o /
"0' ,R
\0
o
o
/
• Lo
CD
CD,
•
.j>.
a::
I _____ 3
8
I J I ~
- -- -- po
-~ 0 ~ W ~ W ~
Meridional stress resultants N¢/pq Circumferential stress resultants Ne/pq ~
~
Fig. 4-36(b) Membrane Stress Resultant for Spherical Shell Under External Wind Pressure
4.3 Shells of Revolution 149
4.3.7.7 Commentary. The preceding example indicates that the solution to the
j > 1 case may be quite complicated for other than cylindrical, spherical, and,
perhaps, conical geometries. The transformation to the Hill's equation form has
apparently only been investigated for the hyperboloidal shell and may be useful
for other geometries as well. Also, the hyperboloidal shell under wind load has
been solved in the partial differential equation form, similar to that used for the
cylindrical shell in section 4.3.7.4, as opposed to the harmonic decomposition
approach stressed here. 41
The investigation of a doubly curved shell for asymmetric loading probably
approaches the limit to which analytical solutions are efficiently employed.
4.4 Shells of Translation 151
tional shells into two parts: (a) circular cylindrical shells; and, (b) shells of double
curvature.
1
Sx
,
+ -aN(J (J + q(J(X, ()) = 0
'
(4. 160b)
(4. 160c)
Nx(X,(}) = -~ f
S,(JdX - f
qx dX + f2((}) (4.161c)
qd
,IIIl
q=qE~
~I l/q,,=-qcf
d ~ OSS u
I
qs=q cos8sinS
I ~ I
I
l/qu
ddY =~cosS
Sy
~.. I ~~jq =-q cos 2S
n u
I ds y
dY
j=O
'.
q~SlD-
L
For the latter case, the function qd(X) may be considered as an odd function
on the interval - L ::; X ::; L, as shown in figure 4-38, whereupon
jnX
L qa S l DL -
00 ••
qAX) = (4. 164a)
j=l,3,odd
---
...
-L "
- -
qJ =2qd
-
L
i L
0
. nX
slD-dX
L
(4. 165a)
4
=-qd
n
and
4 . nX
qAX) ~ -qd SlD - (4. 165b)
n L
Finally, we evaluate the stress resultants, equations (4.161a-c), for both a
uniform dead load qd = constant, and for the first term approximation of qd as
given by equation (4. 165b). We proceed with the integration from the boundary
X = 0, and assume that the shell is simply supported; e.g., Nx(O) = Nx(L) = O.
For qd(X) = qd = constant, we have from equations (4. 163b) and (4. 163c)
S = - 2qdX sin 0 + 11 (0) (4. 166a)
1 2
N x = - - [ -qdX cos 0 + XII (0) 9] + 12(0) (4. 166b)
a '
S = -Sqd(L) nX.
- cos-smO + /1(0) (4. 16Sa)
n n L
1 [Sqd
Nx = -- - (L)2
- . nX
sm-cos(}+X/l«(})9 ] +12«(}) (4. 16Sb)
ann L '
156 4 Membrane Theory
We first apply the boundary conditiol1 Nx(O) = 0, from which f2(0) = O. Also,
we note that the loading qiX) is symmetrical about X = L/2, so that S(L/2) =
O. Then, from equation (4. 168a),fl (0) = 0, and the stress resultants Sand N x are
8qdL- nX.
S(X, 0) = ~cosLsmO (4. 169a)
8qdL2 . nX
Nx(X,O) = --3-sm-cosO (4.169b)
na L
Also, equation (4.163a) becomes
4qda . nX
N(J(X,O) = ---sm-cosO (4. 169c)
n L
It is interesting to compare the stress resultants computed from the actual
loading qd with those evaluated from the single term Fourier approximation.
Note the maximum stress resultants S(O), N x (L/2), and N(J(L/2), as shown in
table 4-1. From this comparison we see that except for S (0), the maximum stress
resultants are conservatively computed from the one term solution. If further
refinement is desired, additional terms of the series may be included. 45
An interesting aspect of this solution was the enforcement of the symmetry
boundary condition, S(L/2) = O. In general, the appropriate boundary con-
ditions, in addition to Nx(O) = Nx(L) = 0, would be constraints which can
develop the shear stress resultant S at the supports.
For this problem, the end point values of S are easily found from either
equation (4. 167a) or equation (4. 169a) as
S(O,O) = -S(L,O) = qdLsinO (4. 170a)
or
8qd L .
S(O,O) = - S(L, 0) = - 2 sm 0 (4. 170b)
n
respec~ively.
If the symmetry situation was not recognized or enforced, the appropriate
kinematic conditions would have been
(4. 170c)
4.4 Shells of Translation 157
see that the membrane theory solution implies that the shell resists transverse
loading primarily as a series of circular arches. In contrast, where supports are
not provided along the edge, the shell must resist transverse loading primarily
by flexural action in the longitudinal direction. Because the stress resultant N x
must develop the required longitudinal resisting couple at any section, the value
computed from membrane theory will be considerably altered by bending, as
we will see in chapter 9. Since the contribution of N(J( ± lU in resisting the
vertical load will be lost, the vertical equilibrium must be provided by S(O) and
S(L). From these heuristic observations, we may anticipate a significant read-
justment of all in-plane stress resultants, as well as the possible addition of
significant bending moments and transverse shear forces from the solution of
the general equations for open cylindrical shells.
4.4.2 Shells of Double Curvature: If we refer to the shell element shown in the
center of figure 4-40, the membrane theory equilibrium equations may be
directly written from equations (4.2a-c) by selecting the arc lengths as the
curvilinear coordinates. Therefore, we have IX = Sx and f3 = sy- However, a
somewhat different approach is widely used because it simplifies the subsequent
mathematics. 47 ,48 First, we choose the Cartesian coordinate system X - Y-Z as
shown on the figure. Then, the differential area element ds x dsy located at
Z(X, Y) is mapped onto the lower element dXdY in the X-Y plane. Also, a
shorthand notation for the incremental change of stress resultants is introduced
on the figure: N x+ = N x + Nx,xdx, etc.
Projected stress resultants N x , Ny, and SXY are defined, such that the X - Y
components of the resulting forces on the edges ds x or dsy are equal to the total
4.4 Shells of Translation 159
f-y
Mapped Element
I(NXZ'xdYt
(NyZ.ydXt Z Components
Shell Element
Z(X,Y)
Mapped Element
X and Y Components
}
dY
- = cosYy
dsy
(4.173)
dX
-d = cOSYx
Sx
then
(4. 174a)
N = Ny cosYx (4.174b)
y cos Yy
S = SXY (4. 174c)
Now, we derive the equilibrium equations for the mapped element. After
solving for the projected stress resultants, the actual membrane resultants are
recovered from equations (4. 174a-c). Since SXy = S from equation (4. 174c), we
drop the subscript on this term.
Summing forces in the X and Y directions, we have
(Nx + Nx.xdX)dY - NxdY + (S + S,ydY)dX - SdX + qxdX dY = 0
or
Nx,x + S,y + qx = 0 (4.175a)
and
Ny,y + S,x + qy = 0 (4.175b)
To form the third equilibrium equation, we project onto the plane the Z
components of the forces corresponding to the actual stress resultants, as shown
on the top element in figure 4-40.
We have from N x
. cosYy dY .
N x d sysmyx = Nx----smyx
cos Yx cosYy
= Nxtanyx dY (4.176a)
and from Ny
4.4 Shells of Translation 161
. cosYx dX .
Nydsxsmyy = Ny----smyy
cosyy cosYx
= Ny tan yy dX (4. 176b)
= NyZ,ydX
From the shear forces, we find
· yy = S --sm
S d Sy sm dY . yy
cosyy
= Stan yydY (4.176c)
= SZ,ydY
· S dX .
S dSx SIn Yx = --sm Yx
cOSYx
= Stanyx dX (4.176d)
= SZ.x dX
Summing the projected forces in the Z direction,
(NxZ,x),x + (NyZ,y),y + (SZ,y),x + (SZ,xb + qz = 0 (4.177)
It is convenient to expand and rearrange equation (4.177) as
Z,xxNx + 2Z, xy S + Z,yyNy + Z,x(Nx,x + S,y)
(4.178)
+ Z,y(Ny,y + S,x) + qz = 0
We then replace the terms in parentheses in equation (4.178) by qx and qy from
equations (4. 17Sa) and (4. 175b), leaving
(4.179)
as the third equilibrium equation.
We now introduce the Pucher stress function $l',49 which is defined such that
-/F,XY =S (4.18Oc)
It is easily verified by substitution that if $l' is a continuous function with
continuous partial derivatives, equations (4,175a) and (4.175b) are identically
satisfied. Therefore, the membrane theory stress analysis for shells of double
curvature reduces to the single equation
162 4 Membrane Theory
4.4.3.1 Surface Properties. The hyperbolic paraboloid (HP) is perhaps the most
fascinating of the translational shells. The basic form is generated by passing a
convex parabola over a concave parabola, producing an anticlastic surface, as
shown in figure 4-41. For obvious reasons, such a hyperbolic paraboloid is
commonly referred to as a "saddle" shell.
(4.182)
X = a1 - (::) Y (4.183)
shown as a dashed line in figure 4-41. In equation (4.183), a 1 and blare the
intercepts of the line on the X and Yaxes, respectively, and -adb 1 is the slope
of the line. Next, we locate the intersection of the vertical plane with the shell
surface. Since the X - Y projection of the intersection is the straight line given
by equation (4.183), we substitute the latter equation into equation (4.182) to
get the Z coordinate of the intersection of the plane and the surface as a function
of Y:
(4.184)
Z = +2..j(cX c y ) y + Cx 2
(4.186)
- ab a l a2 a l
Through any point on the surface pass two characteristics. To identify the
straight lines passing through a given point (X, Y), we substitute, X, Y and
equation (4.185) into equation (4.183) and find
_ _ - _ [(C y /b 2)]1/2_ (4.187)
al - X + (c x /a 2 ) y
(:J = ±1 (4.188)
Therefore, the families of straight lines are orthogonal. and we can define a new
coordinate system X - Y at 45° from the X - Y system, as shown in figure 4-42.
The more general transformation is treated in Billington. 51
The relationship between the original X - Y coordinates and a new pair
rotated 45° is easily derived from figure 4-42:
X = X cos 45 - Y sin 45
(4.189)
y = X sin 45 + Y cos 45
which, upon substitution into equation (4.182), gives
(4.190)
Now, we choose new boundaries for the surface that are parallel to the straight
lines, instead of to the parabolas. These are indicated by dashed lines on figure
4.4 Shells of Translation 165
x
Fig. 4-42 Coordinate Rotation for Hyperbolic Paraboloid
4-42 as EF, FG, GH, and HE. The plan dimension referred to in the rotated
coordinate system is d = (.J2/ 2)a, so that we may rewrite equation (4.190) as
-2c _
Z = (2d/ .J2)2XY
-c __
= d 2 XY (4.191)
=kXY
where k = -c/d 2 •
We show a quadrant of the hyperbolic paraboloid defined by equation (4.191)
in figure 4-43. W may visualize this surface as being formed by a straight line
parallel to the X axis, called a generator, translated between the two straight
lines OJ and KG, known as directrices, where point G has been displaced
vertically a distance - c from K in the Z direction. This construction produces
a warped hyperbolic paraboloidal surface with straight boundaries.
Hyperbolic paraboloids of this general form have become a symbol of grace
and elegance in architectural applications of thin shell roofs. Popularized by F.
Candela in Mexico,52 several examples of actual shells are shown in figures
2-8(a- e). A noteworthy construction feature ofthis surface is that the formwork
for reinforced concrete shells may be fabricated entirely from straight pieces.
166 4 Membrane Theory
directrix
G
Fig.4-43 Hyperbolic Paraboloid Formed by Straight-Line Generators
Z.i = kY
Z,f = kX
Z,ii = 0
4.4 Shells of Translation 167
J 0 K
ro~
View 00
~ G
A G'
e....J
G'
View cc
View
~
G K
G~ tie
View ff
dd
~JG
View ee
Fig.4-44 Hyperbolic Paraboloids with Straight Boundaries (a) Umbrella, (b) Gable (Hipped), (c)
Cantilever, (d) Saddle
Z,yy = 0
Z,Xy = k
whereupon equation (4.192) becomes
1 _.;-;
-jF'x-y- = -( -qz + kXqy + kIqx) (4.193)
, 2k
168 4 Membrane Theory
Note that there are no terms in S that can be affected by the boundary
conditions. Rather, the boundaries of the shell are required to develop the
computed values at X = d or Y = d.
We now proceed with the solution of equation (4.193) for $'. First, we take
a/ax and integrate with respect to f, giving
Ji',xx - + Yqx),x]
If [-qz,x + k(Xqy
= - 2k - - + 11 (X)-
dY
(4.195)
= Ny + f qydY
by equation (4. 180a). Similarly,
Ji',yy = - 21k f
[-qz,y + k(Xqy + Yqx),y] dX + 12(Y)
f
(4.196)
= Nx + qx dX
From equations (4.194), (4.195), and (4.196), we may write explicit expressions
for the projected stress resultants, and then evaluate the actual stress resultants
from equation (4.174), with X and Y replaced by X and f. The functions of
integration, 11 (X) and 12(Y)' can then be determined from the specified bound-
ary conditions along X = ± d and Y = ± d.
Frequently, when the hyperbolic paraboloid is used as a roof and subjected
principally to a distributed vertical loading, further assumptions are justified.
A first step is to consider only the Z component of loading, which greatly sim-
plifies the integrals in equations (4.195) and (4.196). A further step is to assume
that the remaining load qz is constant and uniformly distributed over the pro-
jected surface. If this is the case, equations (4.194), (4.195), and (4.196) reduce to
S = -qz (4.197)
2k
and
Ny = 11 (X) (4.198a)
N x = 12(Y) (4. 198b)
Referring to figure 4-43, if the boundary X = 0 or X = d is assumed to be
stress-free in the X direction [Nx(O, Y) = 0 or Nx(d, Y) = 0], then as Y varies
along that boundary, N x = 12(Y) = O. Similarly, a free boundary at Y= 0 or
Y = d gives 11 (X) = 0, so that the expressions for the stresses on the hyperbolic
4.4 Shells of Translation 169
paraboloid simplify to
(4.199)
and
Nx = Ny =0 (4.200)
where x and yare curvilinear coordinates on the shell surface corresponding
to X and Y on the projected surface.
A loading of the form qz = constant is frequently termed live load and is often
taken to represent snow loading, as discussed for cylindrical shells in section
4.4.1. For shells that are relatively shallow, a uniform distribution for qz may
also be used to approximate the dead load closely. If a uniform load approxi-
mation is used for the dead load, an equivalent value qz should be computed
by dividing the total shell weight by the plan area. This will ensure that overall
statics will not be violated.
We now reflect on the remarkably simple stress distribution found for a
uniform load on a hyperbolic paraboloid. Equations (4.199) and (4.200) indicate
a state of pure shear in the shell. To compute S, it is necessary only to evaluate
k = -cjd 2 and divide qz by 2k. In designers' jargon, this is termed a "back of
the envelope" calculation. But, one should not be deceived by the apparent
simplicity of the mathematics. We must inquire further into the physical
boundary conditions which have to be provided to sustain the shell in this
simple-to-calculate state of stress.
As an example, consider a uniform load qz = - Pu, constant per unit area of
projected surface, acting on the umbrella shell shown in figure 4-44(a). The shell
is shown in detail in figure 4-45, where the four segments are numbered. From
equation (4.199) and figure 4-45, k = -c/d 2 and
(0 )
J K
~ c ~
2S ~ G~2S
(c) View 00
(b)
C(d) C(d)
pression C(d) = 2S.J(d2 + c 2). An identical situation occurs along KG and the
other two interior edge members. Although the horizontal component of the
maximum compression at G for each interior edge member, C(d)[d/.J(d 2 + c2)],
is balanced by the similar component from the opposite interior edge member,
4.4 Shells of Translation 171
the vertical components of these four forces, 4C(d) [e/.j(d 2 + e 2)], is trans-
mitted through the column to the foundation. Of course, the total vertical force
4[2S.j(d 2 + e 2)] [e/.j(d 2 + e 2)] = 8Se should balance the total applied load
4Pud2. From equation (4.201),
8Pu d2e
8Se =
2e = 4pu d 2 (4.202)
We observe from figure 4-45(c) that the compressive forces flow naturally to
the support. Also note that the internal self-balancing of the maximum tensile
forces and the horizontal components of the maximum compressive forces
occurs only if the dimensions and loading are identical for the four seg-
ments. Any unbalanced loading will produce a resultant shear and overturning
moment, which would have to be resisted by the single column. For this reason,
the single free-standing umbrella is usually restricted to rather modest dimen-
sions. The umbrella has also been used in multiple repetitions to cover large
plan areas where occasional columns are acceptable. 53 In such applications,
greater lateral stability can be provided through frame action of the inter-
connected shells.
The stress pattern for any of the other cases shown in figure 4-44 is easily
obtained by locating the corresponding quadrant OJGK on each figure. Then,
the forces in the edge members are computed by starting from a point of
assumed zero axial force, usually the junction of the edge member with an
external boundary.
Next, consider a dead load Pd' constant per unit area of middle surface.
Referring to figure 4-40,
-pddsxdsy = qzdXdY
From equation (4.173), dX/ds x = cos /'x and dY/ds y = cos /'y, so that
-Pd
qz = --~'----- (4.203)
cosYx cos /,y
In terms of the X - 1" coordinates
tanyx = Z,i = k1"
tanyy = Z,y = kX
and
)
1 1
cos Yx = .j(1 + tan 2 Yx) = .j(1 + k21"2)
(4.204)
1 1
cos yy = .j(1 + tan 2 yy) = .j(1 + k 2X2)
so that
172 4 Membrane Theory
S= -qz
2k
= Pd
2k
[1 + ~k2(X2 +
2
1"2)J (4.206)
Then, we compute the extensional stress resultants from equations (4. 180a) and
(4. 180b) as
Ni = !#',yy
(4.208)
= -Pd[k 2 X1"+f(1")--]
2k 1 ,ff
and
Ny = !#',ii
(4.209)
The expressions for the dead-load stress resultants in this shell are evaluated
from equations (4.206), (4.211), (4.208), (4.209), (4.174), and (4.204).
(4.212a)
(4.212b)
(4.212c)
The forces in the edge members are computed in a similar manner as for the
uniform load case. However, since S = SeX, Y), we must proceed more formally.
Referring to figure 4-45,
C(X) =2 I i
o
-
SeX, d) dX
cos Yx
(4.213b)
(4.215)
for use in equation (4.199). The effect of this simplification on the accuracy of
the ensuing solution is not great for many practical geometries.
An interesting alternative to the free edge boundary conditions stated in
equation (4.210) is implied in a design example based on an actual shell having
174 4 Membrane Theory
the basic gable form shown in figure 4-44(b).s4 If the exterior edges KG and GJ
were taken as stress-free, the integration functions could be readily evaluated
by substituting
Nx(d, Y) =0
and
Ny(X,d) = 0
into equations (4.208) and (4.209), respectively. However, the subsequent
expressions for N x and Ny, analogous to equations (4.212b) and (4.212c), would
give nonzero (tensile) values along the ridge lines OJ and OK; that is,
Nx(O, Y) > 0
and
Ny(X,O) > 0
The horizontal components of these stress resultants would be balanced by
identical forces from the adjacent segments, but the vertical (Z) components
would add to produced an unbalanced force that would have to be sustained
by the edge member. This is illustrated in the inset of view bb in figure 4-44(b).
To avoid this situation, the designer apparently decided it was preferable to
assume that N x and Ny vanish along the ridge lines, and then to develop the
calculated values of the stress resultants on the perimeter. For this case, Nx and
Ny become compressive as well. We surmise that occasionally there is some
latitude in specifying boundary conditions in a membrane theory solution, and
that the subsequent problem of providing physical constraints consistent with
the assumed conditions should be kept in mind. This shell is discussed further
in sections 4.4.3.3 and 4.4.3.4.
4.4.3.3 Arch Action. The state of pure shear found for uniformly loaded hyper-
bolic paraboloid shells can be interpreted from another standpoint. We study
the same quadrant OJGK shown in figure 4-45, but, for variety, we consider
the saddle shell illustrated in figure 4-44(d). The membrane theory stress analy-
sis is the same, and the uniform negative shear S is shown in figure 4-46. From
elementary strength of materials, it is easily shown that a state of pure shear
with respect to the X - Y axes corresponds to principal tensile and compressive
stresses of the same magnitude acting in the X and Y directions as shown. If
we then take sections through the element parallel to the X and Y axes, we
reveal segments of the parabolic generators of the basic hyperbolic paraboloid
shown in figure 4-41. The convex parabola MN parallel to the Yaxis acts as a
compression arch subject to a uniformly distributed load Pu, producing a con-
stant axial compression of S per unit width. This is the elementary problem of
the second degree parabola subject to a uniform load per unit projected length.
Now, examining the parabola parallel to the X axis PQ, we find a similar
4.4 Shells of Translation 175
Compression Arch
Tension Arch
-
s s
..- s
Fig. 4-46 Arch Action for a Uniformly Loaded Hyperbolic Paraboloid
situation, except that we have a concave parabola forming a tension arch. Each
parabola imparts a constant reaction S per unit width of shell on the edge
members, e.g., at points Nand P on JG. Of course, the other ends of the
parabolas, indicated by dashed extensions, will intersect edge members in
adjacent quadrants.
To complete the arch representation, we investigate the edge forces. Con-
sidering a typical point on the boundary (e.g., N), observe that the unit width
compression arch imparts a force of S in the + Y direction, whereas the tension
arch acting on the same segment of the edge beam also produces a force of S
directed along the + X axis. The intersecting arches are coplanar at N, and we
may resolve the intersecting forces into components along and normal to the
176 4 Membrane Theory
edge member. The normal components cancel, while the axial components
produce a resultant force of ..)2S. This force acts over a length of edge beam
= ")2, so that we find a constant force S per unit length of edge beam as before.
Thus, the arch representation of the hyperbolic paraboloid is certainly equi-
valent to the previous shell solution, and often provides valuable insight-
especially if irregular shapes or boundaries are encountered.
The gable or hipped HP, figure 4-44(b), which was discussed in section 4.4.3.2,
should carry load primarily by compression arches parallel to OG and tension
arches parallel to KJ. Subsequent studies by Shaabon and Ketchum 55 have
shown that the tension arches are ineffective, and that practically the entire load
is transmitted to the corners by the intersecting compression arches passing
through the crown. Of course, the stress level is essentially doubled. This
behavior is attributed to the inability of the edge members to resist the tensile
forces in the shell; rather, they displace inward, forcing the load to flow to the
corners. 54,55
4.4.3.4 Edge Members. We have seen that the membrane theory stress analysis
for hyperbolic paraboloids with straight-line boundaries is fairly straight-
forward. We have also established the necessity of developing the in-plane
shear forces on the boundary. We now look at the requirements for ideal edge
members:
1. In order to develop the shear fully, the edge members should be inextensible.
2. Since the entire weight of the shell is ultimately carried to the foundation
through only four to eight compression members for the cases illustrated in
figure 4-44, the edge members should be capable of sustaining sizable axial
forces. These forces will produce corresponding strains that will conflict with
the first requirement.
3. The edge members should be self-supporting and should not be carried by
the shell. Since these members may be rather sizable, they would impart a
sizable additional load on the shell that might be unacceptable.
From this list, it is obvious that in practice it may be difficult to attain any of
these ideal conditions. As a specific illustration, consider the cantilever shell
shown in figure 4-44(c). For this shell, we have four different edge members, as
seen in table 4-2. Typical sections for such members in rs:inforced concrete shells
OK Exterior -Sd@O
KG Exterior -S-J(c 2 + d 2 ) @ G
OJ Ridge +2Sd @O
JG Valley -2S-J(c 2 + d 2 ) @ G
4.4 Shells of Translation 177
Downturned Upturned
Exterior
Ridge
Volley
Eccentricity
are shown in figure 4-47. The dashed lines indicate possible smooth transitions
between the shell and the edge member that may be desirable for architectural
and/or constructional purposes. The edge members may be proportioned as
struts under axial tension or compression.
Next, consider the self-weight of the edge members. Referring to figure
4-44(c), the ridge member OJ could be considered as a beam spanning between
o and J. The valley member GJ forms a triangular frame GJG' with the
corresponding member on the other half of the shell and resists the beam
reactions at 0 from the two ridge members, OJ and 0' J, in addition to their
self-weight and the shear forces imparted by the shell. Exterior member KK' is
178 4 Membrane Theory
regarded as a beam spanning between K and K' and carrying the beam reaction
at 0 from OJ, their self-weight and the shell shear forces. This brings us to the
exterior members KG and K' G', which are required to take the beam reactions
from KK' along with their self-weight and the shear forces, seemingly as
cantilevers.
Other alternatives are possible. In some cases, it is feasible to utilize exterior
walls or window wall framing to support the perimeter edge members. The shell
shown in figure 2-8(b) admits this possibility, whereas the shell shown in figure
2-8(e) obviously does not. Also, some designers might convert the self-weight
of some of the edge members~particularly those which cannot sustain them-
selves~to equivalent distributed loads, and include these loads in the uniform
load qz. This essentially requires the shell to support the edge beams.
Perhaps the most challenging cases from the design standpoint are canti-
levered compression edge members, such as KG, or the even longer members,
such as G' G, that occur in saddle shells as shown in figure 4-44(d). A spectacular
example is shown in figure 2-8(a).
Referring again to figures 4-44(c) and 4-45, if the neutral axis of the edge beam
for member KG does not coincide with the middle surface of the shell, the
shear force acts through an eccentricity that produces a uniformly distributed
moment. For the down turned beam (figure 4-47), the moment is opposite to
that produced by the cantilevered self-weight and thus counters the self-weight
somewhat; whereas for the upturned beam, the moment would add to that
arising from the self-weight. Depending on whether tension or compression is
introduced into the edge member by the shell and the particular exterior
support condition, a countering prestressing moment can generally be pro-
duced by appropriate upturning or downturning of the member to give the
required eccentricity.
Another possibility~particularly effective for tension edge members~is to
produce mechanical prestressing with rods or cables. Also, as shown on the
examples of figure 4-44, it is desirable to use ties between the supported ends
of the inclined compression members to counter the horizontal component of
the thrust. Insofar as the reduction of the dominance of the membrane type
action and the subsequent introduction of bending into the shell and the edge
member are concerned, a potentially detrimental effect is a relative horizontal
displacement of the abutments. 56 A comprehensive discussion of the forces in
the edge members of a hipped hyperbolic paraboloid and some pertinent design
recommendations for such shells are presented in Schnobrich and in Shaaban
and Ketchum. 57
Again, referring to the hipped shell discussed in the preceding two sections,
it has been suggested that if the edge members are not effective in transmitting
the in-plane shear stresses to the supports, then they may be reduced in size to
avoid loading the shell excessively. 57 Additionally, for a continuous group of
hipped hypars, the effect of prescribing a relative displacement of the abut-
ments consistent with the strain in a steel tie was investigated. 58 The state of
4.4 Shells of Translation 179
stress in the shell closely resembled the membrane theory pattern, but the edge
members received a nonsymmetrical loading. Limited field observations sup-
ported this characterization, as opposed to the unrestrained or undeforming
idealizations.
Finally, with respect to hyperbolic paraboloids with straight boundaries,
note that although the presentation has been pointed somewhat at reinforced
concrete shells, there are many interesting applications of this very efficient
structural form in other materials: for example, in steel 59 and wood. 60 A
cantilevered, cable-supported hyperbolic paraboloid forms the roof for the
jumbo jet hangar shown in figure 2-8(v), and metal hyperbolic paraboloid units
were used between long-span arched trusses to cover a large arena in Mexico
City constructed for the 1968 Olympic games.
2c y
Z,yy = -bl
and
Z,XY =0
so that equation (4.216) reduces to
= -
72cx ~,yy 2cy
bl.f/'.xx = -qz(X, Y) (4.217)
As a specific case, we take the uniform load qz = - Pu' There are obviously
multiple particular solutions, since the derivatives on fF are uncoupled. Two
possibilities are
(4.218)
and
(4.219)
180 4 Membrane Theory
21 b2
Ny
(X, Y) = - -2 P -
u Cy (4.221b)
seX, Y) =0 (4.221c)
The actual stress resultants, N x and Ny, may then be found from equation
(4.174).
For a given shell, the solution which will prevail is a function of the relative
stiffnesses of the boundaries. Referring to figure 4-41, if the boundaries at
X = ± a are fully developed in the x direction, and the shell is unrestrained at
Y = ± b, we would choose 21 = 0 and 22 = 1. This, of course, corresponds to
a tension arch in the x direction, such as we encountered in a previous section.
Similarly, 21 = 1 and 22 = 0 indicate full support in the y direction at Y = ± b,
and no restraint at X = ± a, or a compression arch in the y direction. Obviously,
with finite in-plane resistance along all boundaries, we would have nonzero
values of both 21 and 2 2, but the necessary requirement is that at least one pair
of the boundaries must develop the ensuing forces.
The possibility of "directing" the extensional stresses by adjusting the support
conditions makes this version of the hyperbolic paraboloid quite versatile.
Although a designer may prefer the state of uniform compression, 21 = 1, for
a reinforced concrete shell, a tensile state, 22 = 1, might be more desirable for
a steel structure. Numerous structures in this shape have been built using
high-strength steel cables as the principal members. In such applications, sag-
ging cables resist the principal tension and hogging cables span in the normal
direction. A roofing system consisting of precast panels or a fabric membrane
may be applied to such a structure.
Another variation on the hyperbolic paraboloid with curved boundaries is
to leave the edges free of extensional stresses and to resist the surface loading
by shear forces along only two parallel boundaries. In turn, the resulting
reactions can be provided by a pair of axially loaded boundary arches. As an
illustration, consider the hyperbolic paraboloid shown in figure 4-41 with
boundary conditions
(4.222a)
4.4 Shells of Translation 181
(4.223)
1 b2 =
Ny(X, Y) = --Pu-
2 Cy
P -
-~
2
(a
C
2
) = -N*
(4.224)
Nx(X, Y) = S(X, Y) = 0
as shown on the figure. The actual reactions, which are equivalent to Ny(X, ± 2a),
act in the middle surface and may be found from equations (4.223), (4.172), and
(4.174b); however, it is convenient to proceed in terms of the projected resul-
tants. The solution given in equation (4.224) balances the applied loading but
violates the boundary conditions stipulated in equations (4.222). Hence, it
represents only a particular solution for this system.
The homogeneous solution may be efficiently obtained through a physical
rather than a purely mathematical approach. We first identify the straight lines
or real characteristics on the surface. The slopes of these lines in the X - Y plane
are found from equation (4.185) specialized for the current geometry:
a1 (4.225)
b l = ±1
Some typical X - Y traces are shown in figure 4-48(c). We concentrate on those
which pierce the boundaries AB and CD at the reference points (X, =+= 2a),
respectively. Taking a segment of length ,J2 along each boundary (see inset,
figure 4-46), the edge forces ,J2N*, are resolved and translated along the
182 4 Membrane Theory
S(-oY)
8 ----... ~ ----.. ~ - .-...-.. ..-.- --- C
A - --- - ---
S(a,Y)
X
~ ~ ~_D
a a II a a
(a)
r---------------.---------------~---Y
(b) X
~--------~~--+----Y
(c)
x
Fig. 4-48 Hyperbolic Paraboloid with Curved Boundaries
4.4 Shells of Translation 183
B_ _c
(d) X
r--+----*-------~-----y
CD
(e) X
X
(f)
and CD are added. To produce resultant boundary forces that are parallel to
BC and AD, self-equilibrated edge forces N* acting along the newly denoted
characteristics are supplied. These forces give a resultant force in the Y direction
equal to 2N*(,J2/2). Dividing by the length of the boundary segment, J2, we
obtain
JS(±a, Y)J = N* = JNy(X, ±2a)J (4.226)
as the projected boundary reactions.
It is obvious that the foregoing argument can be repeated for each point
along AB and CD, so that the additional solution represented by figure 4-48(d)
combined with the solution given by equation (4.224) fulfills the boundary
conditions stated in equations (4.222a-c).
It is easily shown that the additional solution is indeed a homogeneous
solution to equation (4.217). Allowing for symmetry, the shell is divided into
four regions in figure 4-48 (e), and the stress state for each is indicated. In regions
1 and 4, N x = Ny = ±N* and S = O. Referring to equations (4.180a) and
(4.180b), ~yy = ~xx. Since c x /a 2 = cy/b 2 , equation (4.217) is satisfied. For
regions 2 and 3, the state of pure shear-i.e., N x = Ny = 0; S = ± N*-is
obviously a solution to equation (4.217). Thus, the combination of figures
4-48(b) and 4-48(e) gives the total stresses in each region, figure 4-48(f).
Note that the discontinuities between the various regions make the mem-
brane theory state of stress only an idealized possibility for this case. Careful
detailing and construction are required to approach this stress distribution in
an actual structure.
The Saddled orne, figure 2-8(n), is an elegant anticlastic shell with the bound-
ary defined by a space curve. The form is developed from a sphere of about 136
m in diameter, as shown in figure 4-49(a) The floor is circular, formed by the
intersection of a horizontal plane and the sphere (b), and the roof perimeter is
the intersection of an HP with the sphere (c) This produces the definitive form
of the appropriately named Saddled orne (d) bounded by an undulating ring
beam.
The roof is a stressed cable network with precast lightweight concrete panels
placed on the cables and the gaps filled with concrete. The result is a solid,
ribbed thin shell.
The ring beam is subjected to a complex system of loading which is basically
counterbalanced by prestressing. A member of this sophistication could only
be analyzed accurately by a numerical procedure, the finite element method,
which is well within the state of the art of modern technology.
The loading on the roof is a function of the stiffness of the ring and the
restraining A-frames, located at the two low points at the ends of the center
hogging cables and visible on figure 2-8(n). A very flexible ring would minimize
the forces in the net but allow large horizontal deflections; the restraint pro-
duced by a rigid A-frame would minimize the deflections at the expense of a
larger horizontal reaction transferred from the ring. The optimized final design
produced an elastic support which controlled the deflections while resisting the
4.4 Shells of Translation 185
la)
(d)
/
"
..... - - - ,
,\
I \
~'
~
, ... ,,- /
'--"
Fig. 4-49 Calga ry's Olympic Saddledome Design Concept
reactions due to the prestressing, dead and live loads, creep and thermal
efTects.61
Comparing this structure with the straight boundary HPs, figure 4-44, the
evolution of this form, facilitated by high-strength cables, prestressing, and
computer technology, is striking.
An interesting extension of the basic hyperbolic paraboloidal geometry can
be achieved by intersecting two shells, as shown in figure 4-50. Each quadrant
is known as a groined vault. The basic resistance is essentially in the directions
parallel to the exterior boundaries. Along the edges, the loading is transferred
186 4 Membrane Theory
(4.227)
(4.228)
X2 + y2 = _(dC2 )z (4.229)
X2 + y2 = _(dC2 )z (4.230)
(2Ca2X)
:!F,yy + (2CY)~_
b2 .:#',xx - qz(X, Y) (4.231)
which is very similar to equation (4.217), and suggests that this shell would resist
a uniform load qz = - Pu as an intersecting system of compression arches
parallel to the X and Y axis. It is easily shown by comparison with equations
(4.217), (4.218), and (4.221) that particular solutions of the form
4.4 Shells of Translation 187
z y
(4.232)
and
1 a2 2
a;;
.'1'"4 = --Pu- y (4.233)
4 ex
will produce projected stress resultants N x = 0 and Ny = 0, respectively. How-
ever, these simple unidirectional patterns are often not compatible with the
188 4 Membrane Theory
(4.234)
where
L
00
m = jnJc x
2a Cy
jn
n = 2b
z
skewed generators
straight
generator
directrix
where a concentrated reaction acts, and the remaining load is carried directly
to the supports by arch strips AOe and BOD in a fashion similar to that of the
hipped HP, as discussed in section 4.4.3.3. It is apparent that the actual stress
state cannot be fully described by membrane theory, and, therefore, bending
effects should be considered as well. Also, the details of construction might well
include some stiffening and rounding of the corner to spread the high shear
forces dictated by membrane theory equilibrium.
For a skewed conoid, the surface equation is more complicated. In either case,
the conoid is not a second order surface, and the discriminant test for Gaussian
curvature, equation (2.38), is inapplicable. However, it is readily observed from
figure 4-52 that the skewed conoid has negative Gaussian curvature, because
there are two sets of straight line generators, whereas the square conoid has
zero Gaussian curvature, since the two sets of generators become coincident.
Consider a square parabolic conoid,
and
(4.238)
which would yield the one-way arch action with Ny and S = O. Then, if we return
to equation (4. 174a) for the actual stress resultant N", and compute
4.5 References 191
2h
tan Yx = Z.x = ---XY
a2 L
h
tanyy = Z .Y = __
a 2 L X2
4.5 References
1. W. Fliigge, Stresses in Shells, 2nd ed. (Berlin: Springer-Verlag, 1973), pp. 100-102.
2. V. V. Novozhilov, Thin Shell Theory [translated from 2nd Russian ed. by P. G. Lowe
(Groningen, The Netherlands: NoordhotT, 1964), pp. 105-107].
3. P. L. Gould, A. Cataloglu, G. Dhatt, A Chattopadhyay, and R. E. Clark, "Stress
Analysis of the Human Heart Valve," Journal of Computers and Structures, 3,1973,
pp. 377-384.
4. S. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Shells, 2nd ed.
(New York: McGraw-Hill, 1959), pp. 449-450.
5. Novozhilov, Thin Shell Theory, pp. 117-119.
6. D. P. Billington, Thin Shell Concrete Structures (New York: McGraw-Hill, 2nd ed.
1982), p. 114.
7. E. H. Baker, L. Kovalevsky, and F. L. Rish, Structural Analysis of Shells (New York:
McGraw-Hill, 1972), p. 256.
8. P. L. Gould and S. L. Lee, "Hyperbolic Cooling Towers under Seismic Design
Load," Journal of the Structural Division, ASCE 93, no. ST3, (June 1967): 87-109.
Closure, Journal of the Structural Division, ASCE 94, no. ST10 (October 1968):
2487-2493; S. L. Lee and P. L. Gould, "Hyperbolic Cooling Towers under Wind
Load," Journal of the Structural Division, ASCE 93, no. ST5 (October 1967): 487-514.
9. Fliigge, Stresses in Shells, pp. 171-179.
10. Novozhilov, Thin Shell Theory, pp. 130-138.
11. Ibid.
12. A. Fino and R. W. Schneider, "Wrinkling of a Large Thin Code Head under Internal
Pressure," Welding Research Council Bulletin no. 69 (New York: Welding Research
Council, June 1961), pp. 11-13.
192 4 Membrane Theory
35. P. L. Gould, "The Cylindrical Shell Slice Beam," Journal of Engineering Mechanics,
ASCE 114, no. 7 (July, 1988).
36. A. J. Bellworthy and J. G. A. Croll, "Dielectric Space Frame Domes," Space Struc-
tures, 1, no. 1, (1985): 41-50.
37. Lee and Gould, "Hyperbolic Cooling Towers under Wind Load."
38. Novozhilov, Thin Shell Theory, pp. 315-319.
39. G. W. Hill, Collected Mathematical Works, vol. 1 (Washington, D.C.: Carnegie
Institute of Washington, 1905-1907), pp. 243-270; E. T. Whittaker and G. N.
Watson, A Course of Modern Analysis, 4th ed. (Cambridge: Cambridge University
Press, 1935), pp. 412-417.
40. P. L. Gould, "Unsymmetrically Loaded Hyperboloids of Revolution," Journal of
the Engineering Mechanics Division, ASCE 94, no. EM5 (October 1968): 1029-1043.
41. E. Ingerslev, "Design of Cooling Tower Shells," Proceedings of the June 1966
Bratislava, Czechoslovakia, Symposium on Tower Shaped Steel and Reinforced
Concrete structures, lASS. Madrid, Spain, 1968.
42. P. L. Gould, "Finite Element Analysis of Shells of Revolution" (London: Pitman,
1985).
43. Baker, Kovalevsky, and Rish, Structural Analysis of Shells.
44. "Design of Cylindrical Concrete Roofs," ASCE Manual of Engineering Practice no.
31 (New York: American Society of Civil Engineers, 1952); Billington, Thin Shell
Concrete Structures, chaps. 5 and 6.
45. Billington, Thin Shell Concrete Structures, pp. 186-191.
46. Billington, Thin Shell Concrete Structures, pp. 210-211.
47. Billington, Thin Shell Concrete Structures, pp. 258-262.
48. A. L. Parme, "Shells of Double Curvature," Trans. ASCE, vol. 123, 1958, pp.
990-1025.
49. Billington, Thin Shell Concrete Structures, pp. 261-262.
50. Billington, Thin Shell Concrete Structures, pp. 272-274.
51. Ibid.
52. C. Faber, Candela: The Shell Builder (New York: Reinhold, 1963).
53. "The New Newark Airport," Civil Engineering 44, no. 9 (September 1974): 74-76.
54. D. P. Billington, "Thin Shell Concrete Structures" (New York: McGraw Hill, 1965):
pp. 250-254; 2nd Ed., 1982, pp. 277-283.
55. A. Shaaban and M. Ketchum, "Design of Hipped Hypar Shells," Journal of the
Structural Division, ASCE, 102, no. ST11, (November 1976): pp. 2151-2161.
56. W. C. Schnobrich, "Analysis of Hyperbolic Paraboloid Shells," Symposium on
Concrete Thin Shells, ACI Special Publication SP-28, paper SP-28-13 (Detroit:
American Concrete Institute, 1971), pp. 275-311.
57. W. C. Schnobrich, "Analysis of Hipped Roof Hyperbolic Paraboloid Structures,"
Journal of the Structural Division, ASCE 98, no. ST7 (July 1972): 1575-1583;
discussion by M.S. Ketchum, vol. 99, no. ST4 (April 1973): 796-797; closure, vol.
100, no. ST2 (February 1974): 467-469; A. Shaaban and M. S. Ketchum "Design of
Hipped Hypar Shells," Journal of the Structural Division, ASCE 102, no. ST11
(November 1976): 2151-2161.
58. S. H. Simmonds, "Continuous Hypar Roofs for Water Treatment Plant," ACI Fall
Convention, Baltimore, November 1986.
194 4 Membrane Theory
Nondimensional Geometry
a = throat radius
s=-
s
a
R9 -J(k 2 - 1)
r: - - -
a - [k 2 sin 2 tfJ -1J 1/2
=-:;;~--;;-:--","=-;;;;-
9 -
R,p --J(k 2 - 1)
r,p = -a = =[k'""2-S1'""·n-:<-2-:-tfJ-----'1J=3/::;-2
ro = r9 sin tfJ
Surface Loading
q(tfJ) = q(tfJ)
qDL
Stress Resultants
195
196 Appendix 4A Summary of Surface Loading and Stress Resultants
Functions
M Distribution
q(¢J) = CqDL
<l>1(¢J) = C{2(1(¢J,) [(3(<6) - (3(¢J,)] - [(4(¢J) - (4(¢J,)]}
<l>2(¢J) = 2C[(1(¢J) - (l(¢J,)]
MH Distribution
MH2 Distribution
q(¢J) = C'2~2
-
<1>1 = + (9 + ~(5(¢J')]rPtrP
2C(2 [( 1(8
<1>2 = 2C'2[~5(¢J) - ~5(¢Jt)]
General
1 [J(k 2 - 1) . 2 ]
(1(¢J) = 4(k2 _ 1) k i n K - 2r8 cos¢J
K = ~J,.:.,,(k-..-2_----,1-'--)_---::-k_co_s-'--¢J
J(k 2 - 1) + kcos¢J
4.6 Exercises 197
1 [1
(4(<P) = 2k2(3 ,J(k2 _ l)lnK
2
+ kcos<p + 3k2
r,p ]
(5(<P) = (1(6 + ~(2 + (7
1
(6(<P) = 4k2(k2 _ 1) - (3 S
(1 = (l(<Pb) - (l(<Pt)
(2(<Pb) - (2(<Pt)
(2 = (l(<Pb) - (l(<Pt)
(5(<Pb) - (5(<Pt)
4.6 Exercises
4.1 Consider the spherical shell shown in figure 4-2, with a snow load of p, constant
per unit area of plan projection.
(a) Complete a membrane theory analysis for this loading, including a graphical
study similar to figure 4-3.
(b) At what angle t/> does the circumferential stress change from compression to
tension?
4.2 For the spherical shell under snow load described in the preceding exercise and
bound by a base angle ¢>h, compute the tensile force that would be developed in
the ring beam at t/> = t/>b.
4.3 Consider the spherical lantern shell as shown in figure 4-53.
(a) Compute the membrane theory stress resultants due to
(1) A uniform downward vertical line load of 500 (force/unit length of circum-
ference) on the upper ring.
(2) A live load of 30 (force/unit area of horizontal projection).
(3) A dead load of 75 (force/unit area of middle surface).
Compute each case separately, and then combine the results.
198 Appendix 4A Summary of Surface Loading and Stress Resultants
Fig. 4-53
(b) Compute the forces that must be developed by horizontal ring beams at the
upper and lower edges, so that the shell will behave approximately as a
membrane.
4.4 In section 4.3.2.2, we have seen that the self-weight meridional stress resultant in
a uniform thickness spherical dome increases as t/J increases. The correspond-
ing stress (I",,,, = N",/h will, of course, increase in the same fashion. To try
to equalize the self-weight meridional stress in a hemispherical dome, it is pro-
posed to increase the thickness from a basic value h = ho at t/J = 0 to h = hb at
t/J = 90° by using the transition h(t/J) = ho + (hb - h o ) sin t/J.
(a) Compute the N", and Ns for the resulting self-weight load, where the shell
material has mass density p.
(b) Show the variation of the meridional stress (I,p,p from t/J = 0 to t/J = 90°.
(c) Select a value for hb as a function of h o , so that the condition at the base will
govern.
4.5 Consider the ellipsoid of revolution shown in figure 4-54.
(a) Compute the expressions for the principal radii of curvature.
(b) Derive expressions for the membrane theory stress resultants due to a uniform
internal suction q.
(c) Is is possible to have tensile stresses in this shell under the suction q? For what
dimensional combination will this occur?
4.6 An open ogival shell is shown in figure 4-55.
(a) Determine the membrane theory stress resultants due to
(1) Dead load, q (force/unit area of middle surface).
(2) Live load, p (force/unit area of plan projection).
(3) Ring load, w (force/unit length of circumference).
Evaluate the effects of each loading separately. For cases (1) and (2), derive
the expressions by using the general formulation for axisymmetrically loaded
shells of revolution. Check cases (1) and (2) as well as (3) by using the alterna-
tive formulation based on overall vertical equilibrium.
(b) Investigate the singularity as t/Jl ~ O.
4.6 Exercises 199
axis of rotation
--t---------t
I
------I--b ---t------
Fig. 4-54
LL=p
~
I I I I
I
Fig. 4-55
0/2
0/2
0/2
o
Fig. 4-56
50
50
Fig. 4-57
Fig. 4-58
4.14 Consider a hyperboloidal shell of revolution as shown in figure 4-6. The shell is
subject to a vertical static seismic loading q = fqDV where f is a known fraction.
Determine the membrane theory stress resultants.
4.15 (a) Verify the first harmonic shell of revolution solution presented in equations
(4.90) and (4.91).
(b). Verify that for a dome, 8 1 (0) = 0, by considering equations (4.90f) and (4.91b).
202 Appendix 4A Summary of Surface Loading and Stress Resultants
z
H
c
Fig. 4-59
Compute the membrane theory stress resultants due to the self-weight of this shell.
4.22 For the hyperbolic paraboloid defined by equation (4.182), verify that the shell
has negative Gaussian curvature.
4.23 For the hyperbolic paraboloid shell shown in figure 4-60, compute
(a) N x and Ny due to a dead load q and a live load p.
(b) The axial force in the edge member AC at points A and B.
(c) Evaluate (a) and (b) for the following numerical values:
(1) Dead load of 40 (force per unit area of middle surface).
(2) Snow load of 20 (force per unit area of horizontal projection).
4.24 Consider the hyperbolic paraboloid shown in figure 4-61. Compute the membrane
theory stress resultants due to the fill load shown. Take the boundary conditions
as Nx(O, Y) = Ny(X,O) = o.
30 30
I
H I
J 60 V~]5
E,H G,J
o A 8 C Y ELEVATION
F 12I~c
E G 12~~
H ---tferOd------ G
CORNER ELEVATION
Fig. 4-60
204 Appendix 4A Summary of Surface Loading and Stress Resultants
Fig. 4-6 1
A (- ~ L,a,O)
c~
1
(0,0, H)
~----I&..4y
./3L
.~-I------l 1- L ,L,O)
L
Fig. 4-62
4.25 Verify the positive Gaussian curvatures of the elliptic paraboloid defined by
equation (4.227).
4.26 Consider the shell shown in figure 4-62. The shell is a paraboloid of revolution
on an equilateral triangular plan. It was shown in section 4.4.4 that this geometry
4.6 Exercises 205
Deformations
5.1 General
5.2 Displacement
206
5.2 Displacement 207
(b) (e)
t~ are shown with the transverse shearing strains defined as ,},,, and '}'p. The
positive sense shown is chosen arbitrarily to highlight '}'~ and Yp.
It was stated in the introduction that most classical work in shell and plate
theories has been based on the suppression of transverse shearing deformations
to achieve mathematical simplification. Currently, however, the analysis of
complex plates and shells is frequently carried out by powerful numerical
techniques that are not necessarily dependent on this simplification. Also, some
authors have expressed an opinion that the inclusion of transverse shearing
strains extends the bounds of the theory to include somewhat thicker plates
and shells. This is somewhat difficult to quantify, since a true thick shell theory
should account for transverse normal stresses as well, but it appears to be
correct in a heuristic sense. In the interest of generality, therefore, we will retain
208 5 Deformations
the transverse shearing strains and treat o~(C) as the deformed point away from
the middle surface, and A2 ({) as the corresponding displacement. Subsequently,
we will show that a theory which neglects transverse shearing strains is easily
obtained from the more general theory.
From figure 5-1,
(5.1)
or
(5.2)
Equation (5.2) expresses the deformation of a point off the middle surface in
terms of the deformation of the corresponding middle surface point and the
unchanging distance between the middle surface and the point in question.
This establishes the pattern for subsequent developments: to relate the behavior
of a point away from the middle surface to the behavior of the corresponding
point on the middle surface.
Here, DOl' D p, and D. are the components of the middle surface displacement
in the respective directions, and Da(O, Dp({), and D.(O are the corresponding
components away from the middle surface. Also, the position vector to the
deformed middle surface is expressed in terms of the displacement vector by
r'=r+A
(5.4)
In equation (5.2), the unit vectors of the deformed middle surface, t~, t p, and
t~, are present. In line with equation (5.4) for the vector r', we seek to write t~,
t p, and t~ in terms of the unit vectors of the undeformed middle surface. Since
t~=t~xtp (5.5)
it is sufficient to develop suitable expressions for t~ and tp.
By analogy with the definitions in equations (2.16) and (2.8), we have
r'
t' =~ (5.6a)
a A'
r'
t' -~ (5.6b)
p- B'
5.2 Displacement 209
where
A' = ± (r: . 0 r: . )1/2 (S.7a)
B' = -+(r'.p or'.p )1/2 (S.7b)
Thus, we have defined A' and B' as the Lame parameters for the deformed
middle surface. Now, taking %a of equation (S.4)
r: .. = r ... + (D.. t .. )... + (Dpt p)... + (D"tn)... (S.8)
The first term in equation (S.8) is replaced using equation (2.16a), and the
remaining terms are differentiated by the product rule, with the derivatives of
the unit tangent vectors obtained from equation (2.17). After carrying out the
indicated operations, we have
r: . = A[(1 + B.. )t.. + B..ptp - I/I.. t n ] (S.9)
where the coefficients of the unit vectors are given by
111
B.. = AD..... + ABA.pDp+R"Dn (S.lOa)
..
1 1
B.. p = A Dp.ac - AB A.pDa. (S.lOb)
Similarly,
r:p = B[Bp .. t .. + (1 + Bp)tp - I/Ipt n] (S.l1)
in which
(S.12a)
(S.12b)
The coefficients defined in equations (S.10) and (S.12) are extremely important
in what follows and are interpreted from a physical standpoint at a later stage
of this chapter.
We are ready to substitute equations (S.9)-(S.12) into equations (S.6a) and
(S.6b). As we carry out this operation, recall assumption [2] oftable 1-1, which
restricted the development to the domain of comparatively small deformations.
This limitation enables products of the coefficients defined in equations (S.lO)
210 5 Deformations
and (5.12) to be neglected, and ensures that the subsequent relationships will
be linear. We wish to emphasize at this point that although assumption [2J
greatly simplifies the problem from the mathematical standpoint, the justification
is based on verification of the magnitudes of the neglected terms for a particular
problem or class of problems. In most practical applications, the linear theory
has been verified to be adequate, but, if not, a variety of nonlinear theories are
available. 2
Performing the indicated substitutions, we have from equations (5.7a) and
(5.9)
A' = A[(l + B~)2 + B;p + 1/1;]1/2
(5.13)
~ A(l + B~)
and from equations (5.7b) and (5.11),
B' = B[B~~ + (1 + Bp)2 + I/IffJl/2
(5.14)
~ B(l + Bp)
after the product terms are dropped. Then, from equation (5.6a),
t' = A [(1 + B~)t~ + B~fJtp - l/I~tnJ
~ A(l + B~) (5.15)
~ t~ + B~ptfJ - I/I~tn
B-=[,---,Bp':.:::~---.::t~~+-----.:(_l_+-----.!Bp:-=-)t..!:.p_------.:...I/I~p.....::tn:.::J
t' _ _
p- B(l + Bp) (5.16)
~ Bp~t~ + tp - I/Ipt n
where
an d 1jI;
~~~'I';
1 + B;
./, (i = O(,P)
p,O(
j =
(S.18b)
5.2.3 Rotations: Recalling that the coefficients D" and Dp represent the respective
displacements of the middle surface along the s" and sp coordinate lines, the
terms 1/1" and I/Ip may be viewed as rotations of the normal t~ about the tp
and t~ axes, respectively. To show this, we construct figures S-2(a) and S-2(b),
which are, in turn, identical to the views shown in figures S-1(b) and S-l(c).
On figure S-2, the projections of the unit vectors to the undeformed surface t"
and tp may be considered to remain unit vectors within the scope of this theory;
i.e., t,,· t~ ~ 1 from equation (S.lS). If we scalar multiply equation (S.17) by t",
and then t p , we get
----~-------4~~~f t'ME----~----~r---
f3 a
(a) (b)
(S.21a)
and
I/Ip = tp·t~ (S.21b)
Equation (S.21a) is interpreted in figure S-2(a). Continuing,
t" . t~ = cos 1fI"
(S.21c)
(S.21d)
or, 1/1" is the rotation of the normal to the deformed middle surface about the
tp axis. Similarly, from figure S-2(b), I/Ip is the rotation of the normal about
the t~ axis. Within the scope of the small deformation theory, 1/1" and I/Ip may
be visualized as rotations about tp and t" as well.
We now consider the transverse shearing strains, initially defined in figures
S-l(b) and S-I(c), superimposed on the rotations 1/1" and I/Ip in figures S-2(a) and
S-2(b). We see that the terms 1/1" + y" and I/Ip + yp, which initially appeared in
equation (S.19), may be interpreted as rotations. If we consider a line connecting
a point away from the deformed middle surface, O 2, and the corresponding
middle surface point, and a second line along the normal to the undeformed
middle surface tn' the angles formed by the intersection of these lines are,
respectively,
D"p = I/Ill + Yll (S.22a)
in the (X-n plane and
Dp" = I/Ip + Yp (S.22b)
in the fJ-n plane. We also may observe from figure S-2 that if y" and Yp = 0,
DIlP and Dp" are, in turn, the angles between t" and t~, and tp and tp. DIlP
and Dpll are termed middle surface rotations and, together with D", Dp, and
Dn , constitute the set of generalized displacements for the shell theory under
study.
The complete description of the displacement of any point on or within the
shell surface is given in terms of the five generalized displacements. Seemingly,
rotation about the normal has no utility, provided that the structure is con-
strained against rigid body movement. However, there are occasionally cases
where the shell has a slope discontinuity or is approximated by an assemblage
of flat (facet) surfaces. 3 It may be then convenient to introduce the normal
rotation, which is known as the drilling degree of freedom.
5.3 Strain 213
p
p'
deformation after deformation
Fig. 5-3 Deformation of a Coordinate Line
5.3 Strain
Thus Ra, which appeared in the coefficient of ta in equation (S.9) and is defined
by equation (S.lOa), is the strain in the a direction. Correspondingly in the p
direction, the strain is given by Bp, which is defined in equation (S.12a). We have
thus found that the extensional strains occur quite naturally in the expressions
for the derivatives of the position vector to the deformed middle surface.
The in-plane shearing strain is defined as the change in angle between ta and
tp during deformation. Referring to figure S-4, the shearing strain is
t'p
."./2- £.D-~
aIJ /3a
Fig.5-4 In-Plane Shearing Strain
We form the indicated scalar product using equations (S.lS) and (S.16), which
gives
w = t~· tp = epa + eap + l/Jal/Jp (S.27)
Since the last term is negligible, we have
(S.28)
as the shearing strain. Again, eap and epa are found among the coefficients of
the equations defining the derivatives of the position vector of the deformed
middle surface as equations (S.lOb) and (S.12b). The transverse shearing strains
Ya and Yp have previously been defined.
5.3.2 Strain on Parallel Surface: The differential arc length along coordinate
line sa of the parallel surface is
dsa(O = A(OdO( (S.29)
Referring to the normal section, figure S-S,
dsa(O R a(,)
(S.30a)
dS a Ra
Since
(S.30b)
and
dS a = AdO( (S.30c)
then
(S.31)
5.3 Strain 215
surface
P, (C)
middle surface
Normal Section
Comparing equations (5.29) and (5.31), the Lame parameter for the parallel
surface is
and
after dropping terms of order (h/R) compared to 1; the latter order of magnitude
comparison is widely used in shell theory and is concisely stated as O(h/R): 1.
The coefficients of ( are
1 1
Ka = A DaP,a + AB A,pDpa (5.38)
and
1 1
Kp = B Dpa,p + AB B,aDaP (5.39)
where DaP and Dpa are defined in equation (5.22). The terms Ka and Kp correspond
to the familiar curvature terms in linear beam theory. For plates, they are indeed
curvatures, but, for shells, they are more properly called changes in curvature,
since shells by definition are initially curved.
For the in-plane shearing strain w(o, we first combine eap and epa as indicated
in equation (5.28). Adding equations (5.10b) and (5. 12b), we have
1 1 1 1
w=-D
A p,a - - A Da +-D
AB'P B a,p - - B Dp
AB,a (5.40)
and
(5.43)
It is convenient to introduce
T = t(Ta + Tp) (5.44)
Then, equation (5.41) is written as
w(O = w + 2(T (5.45)
where T is called the twist or the torsion of the middle surface.
We have now completely defined each strain on the parallel surface, except
for the transverse shearing strain, as a linear combination of two terms: (a) the
corresponding strain on the middle surface, which is expressed in terms of the
middle surface displacements by one of equations (5.10) or (5.12); and (b) a change
5.3 Strain 217
in curvature or a twist, which is, in turn, given in terms of the middle surface
displacements by equations (5.38), (5.39), or (5.42)-(5.44), respectively. The trans-
verse shearing strains are also defined in terms of middle surface displacements
by equations (5.22), (5.lOc), and (5.12c), but remain constant over the shell depth.
The differences in the variation of the strains through the thickness when
transverse shearing strains are included (linear vs. constant) give rise to a
curious phenomenon known as shear locking in finite element models when
numerical integrations through the thickness are required. 4 If suitable pre-
cautions are not taken, this can lead to serious errors; this is one reason that
solutions incorporating these strains have been slow to gain popularity.
These relationships among strains, changes in curvature, and twist on the
one hand, and the displacements of the middle surface on the other, are of
primary importance in the theory of shells and are called generalized strain-
displacement or kinematic equations. We have thus established the second basic
component of the elasticity problem as outlined in section 1.1, the conditions
of compatibility of the strains and displacements, suitably specialized for the
shell theory under consideration:
(5.46a)
1 1 1
ep = BDp,P + ABB,,,D,, + RDn (5.46b)
p
1 1 1 1
OJ = A Dp,,, - AB~,pD" + JjD",p - ABB,,,Dp (5.46c)
(5.46d)
(5.46e)
(5.46f)
Ka -- - -
A -D
1(1
A n,a - -R~
Da ,a - -
ABA ,p -D1) 1 (1 . 1)
B n,p - -Rp
Dp (5.47a)
Kp -- - -
B -D
1(1
B n,p - -Rp
Dp ,p - -
ABB,a -D 1) 1 (1 1)
A n,a - -Ra
Da (5.47b)
T = 2 !{-~(~D
A B n,p - ~Dp)
Rp ,a
- ~(~D
B A n,a - ~D)
R a a ,p
1
Kt/>=RDt/>o,t/> (5.48d)
if>
1 cos f/J
Ko = -R DOt/>,o + --p:-Dt/>o (5.48e)
o 0
1
Yt/> = +R(Dn,t/> - Dt/» + Dt/>o (5.48g)
t/>
5.4 Strain-Displacement Relations for Shells of Revolution 219
If the transverse shearing strains are neglected, we have the alternate form
K~ = -~[~(Dn,~
R~ R~
- D~)]
,~
(S,49a)
1 , cosfjJ
Ko = - R5 (Dn,o - sm fjJDo),o - R~Ro (Dn,~ - D~) (S,49b)
We may also write the strains and displacements for the shell of revolution in
the Fourier series form that proved expedient in the treatment of non symmetric
loading on shells of revolution. Following the procedure of section 4,3.S.2, we
have
G~ G~cosj()
Go G~cosj()
W w j sinj()
K~
00
K~COSj()
Ko
I
j=O K~COSj()
(S.50)
r r j sinj()
Y~ Y~ cosj()
Yo yl sinj()
and
D~ D~ cosj()
Do D~ sinj()
00
Dn I D~ cosj() (S.Sl)
j=O
D~o ~o cosj()
Do~ D~~ sinj()
Equations (S.SO) and (S,Sl) are substituted into equations (S,48) and (S,49) to
derive the kinematic equations for general harmonic j:
.1. .
G~ = R(D~,~ + D~) (S,S2a)
~
. 1. '.'
G~ = -(jD~ + cos fjJD~ + sm l/JD~) (S.52b)
Ro
220 5 Deformations
(S.S2c)
(S.S2d)
(S.S2e)
(S.S2f)
(S.S2g)
(S.S2h)
K~
o 1 [ -(D~.tfi
= -- 1 -
Rtfi Rtfi
0
D~)
0 J
.tfi
(S.53a)
j cos rjJ
+ sin rjJD~) - (S.S3b)
o
= R2
0 0 0 0
- D~)
0
-
cos rjJ
- 2 - (jD~
Ro
0
+ sm rjJD~)
• 0 J (S.S3c)
5.4.2 Physical Interpretation: The first two equations of(S.48a-h) for the exten-
sional strains may be physically interpreted by considering figure S-6, which
shows a segment of the meridian of a shell of revolution. The first term of
equation (S.48a) follows from the basic definition of strain as the change in
length of the differential segment op, Dtfi .tfi drjJ, divided by the initial length Rtfi drjJ.
The second term of the equation represents the strain from the normal dis-
placement Dn; this is easily visualized as a change in the arc length op due to
a change in R tfi , (Rtfi + Dn) drjJ - Rtfi drjJ, again divided by the initial length, Rtfi drjJ.
In equation (S.48b), the first term is again straightforward. The remaining two
terms occur because of the change in the radius of the parallel circle due to Dtfi
and D n, which is shown as Aoo' on figure S-6. The horizontal projection of Dtfi
is Dtfi cos rjJ, and that of Dn is Dn sin rjJ. Together, we have the change in the length
of the circular arc, (Dtfi cos rjJ + Dn sin rjJ) dO, divided by the original length, Ro dO.
Next, we consider equations (S.48d) and (S.48e), the changes of the curvature.
These are defined as the change in the surface rotations over the segments drjJ
5.4 Strain-Displacement Relations for Shells of Revolution 221
and dO, respectively, divided by the length of the segments. Equation (5.48d) is
the change in the rotation in the f/J direction, D"IJ, " df/J, divided by the arc length,
R" df/J, or (l/R,,)D"IJ,'" We may also interpret this result directly in terms of
the displacements by using figure 5-6. The rotation at the initial point in the
segment, point 0, as it moves to o~ is (l/R")D,,. From o~ to 0;, we have the
transverse shearing strain contribution of YIP' where the positive sense was
established by figure 5-2. There is also a rotation at o~ due to Dn. This is
illustrated in figure 5-7, where the same differential segment is shown with
an exaggerated Dn displacement. The rotation at o~ due to the change in Dn is
seen to be (l/R")Dn,,,-in a sense opposite that ofthe rotation due to D". Hence
the total change in rotation over the segment
(~D"
R"
+ YIP - ~Dn,") df/J
R" ,"
is divided by the segment length, R" df/J, to derive the meridional change in
curvature. This expression is verified by substituting equation (5.48g) into
(5.48d).
Equation (5.48e) has two components. The first term is the change in the
rotation DIJ", DIJ",IJ dO, divided by the arc length, Ro dO, or (l/Ro)DIJ",IJ' Again,
if a segment of the shell along a parallel circle is examined, this term may be
222 5 Deformations
,
0,
normal at 0
term w¢> is given by D¢>,8 de/(R o de) = (1/R o)D¢>,8' To evaluate w 8, note that point
p has moved a distance D8 + D8,¢> dfjJ in the e direction. When the e displacement
of point 0, D8 , is projected onto the corresponding displacement of p to p', it
becomes
r'
~o' //
D8¢~
~ ___-____q'
p'
(a)
Ro
-----DIJt/>
Ro + Ro,t/>d</J
over the segment, or we have a change of
Ro,t/>d</J Rt/>
-'-'------DIJt/> = --cos</JDIJt/>d</J
Ro Ro
After division by the arc length over which the change in horizontal radius
occurs, Rt/> d</J, we have the third term of equation (5.48f).
We have attempted to provide an explanation of the individual terms of
the compatibility equations by using physical arguments for the specialized
shell of revolution geometry. In a general shell, the physical illustrations would
become untenable; yet, the initial derivation by vector algebra was straight-
forward. In the past, considerable effort has been expended in deriving compati-
bility relationships for specialized geometries using strictly physical reasoning.
Here, in both the equilibrium and compatibility treatments, we have sought to
vary the approach somewhat by initially deemphasizing the physical in favor
of the mathematical approach, but then closely supporting the results with
specific physical illustrations.
As initially set forth in section 3.4, the shell equations are transformed into a
sufficiently general form for medium-thin plates by letting the radii of curvature
5.5 Strain-Displacement Relations for Plates 225
(S.S4b)
(S.S4c)
(S.S4d)
(S.S4e)
T
1[1
=2 A Dpa,a + B1 Da,p,p - AB
1 (A,pDa,p + B,a,Dp",)] (S.S4f)
(S.SSa)
(S.SSb)
(S.SSc)
- AlB [Art Dn,a, + ~'" DR,p]}
It has been noted several times that the adoption of assumption [3J and
the subsequent suppression of transverse shearing strains generally leads to
significant mathematical simplifications. An example of this may be seen for
the plate case by comparing equations (S.S4d)-(S.S4f) with equations (S.SSa)-
(S.SSc). In the latter equations, the curvatures and hence the entire flexural
behavior of the shell are dependent on only the normal displacement DR and
are essentially uncoupled from the extensional behavior. The form of the
curvature-displacement relations is identical to that encountered in elementary
beam theory. On the other hand, the retention of transverse shearing strains
226 5 Deformations
5.6 References
1. V. V. Novozhilov, Thin Shell Theory [translated from 2nd Russian ed. by P. G. Lowe
(Groningen, The Netherlands: NoordhotT, 1964), pp. 14-27].
2. H. Kraus, Thin Elastic Shells (New York: Wiley, 1967), chap. 1.
3. P. Bergan and M. K. Nygard, "Nonlinear Shell Elements with Six Freedoms per
Node," Proc. First World Congress on Computational Mechanics, University of
Texas at Austin, Austin, September 1985.
4. C. K. Choi, "Reduced Integrated Nonconforming Plate Element," Journal of Engi-
neering Mechanics, ASCE 112, No.4 (April 1986): 370-385.
5. A. L. Gol'denveizer, Theory of Elastic Thin Shells [translated from Russian ed.
(New York: Pergamon Press, 1961), pp. 92-96].
6. S. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Shells, 2nd ed.
(New York: McGraw-Hill, 1959), pp. 165-173.
5.7 Exercises
5.1 Perform the ditTerentiations indicated in equation (5.8) to verify equation (5.9); also,
verify equation (5.11).
5.2 Verify the expressions given for "", and "fJ in equations (5.38) and (5.39); also verify
the expressions for 't"", and 't"fJ' as given in equations (5.42) and (5.43).
5.3 On an appropriate sketch, show the physical meaning of the first term in equation
(5.48e) in terms of the middle surface displacements.
5.4 Derive the strain-displacement relations for a shell of revolution where the Lame
parameter A is taken to correspond to the axial coordinate Z. Give a physical
explanation of each term using appropriate sketches.
5.5 Show that the four terms £"'fJ' £fJ"" 't""" and 't"fJ satisfy the identity
£fJ'" £",fJ
't"",+-='t"fJ+-
R", RfJ
ify", = YfJ = O.
CHAPTER 6
1
8p(OC, p, 0 = E (O"pp - J1.0"",,,,) + aT(oc, p, 0 (6.1b)
1 1
w(oc, p, 0 = G O"",p = G (Jp", (6.1c)
(6.1d)
1
I'p(oc, P) = G O"pn (6.1e)
n
227
228 6 Constitutive Laws, Boundary Conditions, and Displacements
Matrix 6-1
II
0"•• (0(, p, () 0 0 0 6.+(".
1-112 I_p,2 I-II
II 1
0"(1(1(0(, p, () 0 0 0 6(1+("/1
1-112 1-112 I-II
1
0"./1(0(, p, 0 =E 0 0 0 0 (1)+2(, - EaT(O(, p, () 0
2(1 +11)
1
0"•• (0(, p) 0 0 0 0 Y. 0
2(1 +11)
1
0"/1.(0(, p) 0 0 0 0 Y/I 0
2(1 + II)
N" = f,"12
"/2
(1""
(
1+-
()
Rp
d(
=E f
"/2
-"/2
(8" 1 - J1.2
+ --+ (""
1 - Jl2
Jl8p
--+
1 - Jl2
J1.("p "fiT )
- - -1-
1 - J1.2
-
- Jl
(6.3)
.(1 + ~Jd(
Since (/Rp « 1, it may be neglected in this integration. We split the integral into
E f"/2 E"fi f"/2
N" = 1 2 (8" + ("" + Jl8p + Jl("p)d( - -1- T(Od( (6.4)
- Jl -"/2 - J1. -"/2
6.1 Constitutive Laws 229
f ,d,
h l2
-h12
=0
and the second and fourth terms of the first integral vanish, leaving
Eh
Na. = -1--
-Jl
2 (B", + JlBp) - N"'T (6.5)
where
Eri
N",T = - 1 -
fh l2 T(Od,
Jl -h12
which may be called the thermal load, is left in general form to accommodate
the possibility that T = T(O. The remainder of the stress resultant-strain
equations are obtained in the same fashion.
Now, consider the expression for M", in equation (3.8)
(6.6)
(6.7)
For a symmetric cross section, the first and third terms of the first integral
vanish, leaving
Eh 3
M", = 12(1 _ Jl2) (/(", + /1/(p) - M",T (6.8)
where
is known as the thermal moment. If Tis constant through the thickness, there are
no thermal moments. The remainder of the stress couple-curvature equations
are obtained in an identical fashion. Collecting the equations, we can develop
matrix 6-2, where
Na.T = NPT = NT = --
Eri fh l2 T(Od, (6.9a)
1 - Jl -h12
tv
w
o
Matrix 6-2
h p.h 0 0 0
NJ r 0 0 0 I s. I I N.T
1 - /1 2 1 - p.2
p.h h
Np I 0 0 0 0 0 0 BfJ NpT
I 1 - /1 2 1 - J1.2
0\
h (j
N. fJ I 0 0 0 0 0 0 0 ill 0 0
2(1 - p.) =
::t.
'"
h3 p.h 3 a-
::t.
M.I 0 0 0 0 0 0 K. M.T <i
12(1 - p.2) 12(1 - p.2)
l""'
=E I\>
p.h 3 h3 ~
0 0 0 0 0 0 !I'
MfJl KfJ MpT
12(1 - p.2) 12(1 - p.2) 0:1
0
h3
=
Q.
=
0 0 0 0 0 0 0 t 0 I\>
M.pl 12(1 + p.) ...
"<
(j
0
p.h
Q. 0 0 0 0 0 0 0 Y. 0
2(1 + p.) e:g.=
J..h !I'
=
0 0 0 0 0 0 0 0 I\>
Q/I YfJ Q.
2(1 + p.) =
~
l
!II
~
~
6.1 Constitutive Laws 231
MaT = MpT = MT
ECi.
= --
fh l2 T(Oe de (6.9b)
1 - Jl -h12
and where the shear moduli are now assumed to be related by Gn = AG. A,
sometimes called the shear correction factor or the transverse warping shape
factor, is relatively complex to define explicitly, but is commonly taken as 5/6
for isotropic shells. 2
Matrix 6-2 in the form
(6.10)
which serves to illustrate again that more complex material properties, expressed
through a modification of the stress-strain law [CJ, can be represented through
a corresponding generalization of [DJ without affecting the remaining develop-
ment. Similarly, the {NT} matrix can be suitably altered if {aT} is changed. We
consider some of these possibilities in the next section. Furthermore, we must
emphasize that two terms of [DJ, D33 and D66 , often appear in slightly different
forms, modified by a factor of2. This arises because of the somewhat ambiguous
definitions of wand 't" as given in equations (5.28) and (5.44); there is little
consensus on whether w should be defined as in equation (5.28), or as one-half
of that quantity. Similarly, the factor of 1/2 introduced into the definition of
't" could be omitted. The only requirement is to maintain consistency in the
constitutive matrix, and [DJ, as given in Matrix 6-2, is correct in this regard.
Also, note that for plates with no in-plane loading, the first three rows and
columns of matrix 6-2 may be deleted. If transverse shearing strains are not
included in the formulation-either for shells or for plates-the last two rows
and columns are not relevant; rather, the transverse shear resultants are ob-
tained from the fourth and fifth equilibrium equations, (3.22a) and (3.22b), once
the stress couples are computed.
It is also of interest to note that although the transverse shear resultants are
readily computed from the last two equations in matrix 6-2, the corresponding
stresses in matrix 6-1 violate the stress-free conditions on the faces ± h/2, since
Yo< and YP are constant through the thickness. This has been a major con-
sideration in the formulation of a consistent theory of plates, as discussed later
in section 8.6.4. However, within the context of our treatment, this violation is
only at the point (elasticity) level and may be circumvented by computing the
shear stresses directly from the stress resultants, as described in equations
(3.10).
Matrix 6-3
ShC11 d( ShC12 d( 0 0 0 0 0 0
Sh C 12 d( Sh C22 d( 0 0 0 0 0 0
0 0 Sh C44 d( 0 0 0 0 0
0 0 0 Sh C 11 (2 d( ShC12(2 d( 0 0 0
[Dor] =
0 0 0 Sh C12(2d( S.C 22 (2d( 0 0 0
0 0 0 0 0 S. C44 (2 d( 0 0
0 0 0 0 0 0 A,ShC55 d( 0
0 0 0 0 0 0 0 Ap S. C66 d(
coincide with the coordinate lines of the middle surface of the shell. The develop-
ment of composite material technology has made it feasible to produce very
efficient shells and plates having such orthotropic properties.
With this as a preface, we introduce a modified matrix [C] into equation (6.2)
C ll C l2 0 0 0
Cl2 C 22 0 0 0
[Cor] = 0 0 C44 0 0 (6.11)
0 0 0 C55 0
0 0 0 0 C66
For homogeneous shells, the integrals in matrix 6-3 and equations (6.13a-d)
are easily evaluated in explicit form. For multilayered sections, the integrals
may be computed by summing over the thickness. Multilayered shells and
plates are widely used in applications of high-performance materials. For such
layered shells, the shape factors A./X and A.{J are determined for specific cases
by Dong and Tso, 3 through correlation with selected reference solutions based
on the theory of elasticity. A complete bibliography on the calculation of shape
factors for layered plates and shells is also given there.
6.1.3 Stiffened Shells and Plates and Reticulated Shells: There are two addi-
tional structural systems which are neither shells nor plates by the strict defini-
tion, but may be conveniently treated as such. These are (a) shells or plates to
which discrete stiffeners, surface undulations, or folds have been added to
supplement the strength and/or rigidity of the basic constant thickness section;
and, (b) frames composed of intersecting grids of closely spaced members that
follow the topography of a curved surface. Such frameworks are termed shell-
like structures or reticulated shells and combine the favorable structural char-
acteristics of the basic geometric form with the use of efficient prefabricated
components, requiring little or no falsework for erection. 4 The ancient Pantheon
(figure 1-3) is a stiffened shell; the contemporary Astrodome in Houston, Texas
(figure 2-8 [m]), is a reticulated shell.
Although it is theoretically possible to model these relatively complex sys-
tems as ensembles of the various constituent components, it is often feasible,
considerably simpler, and more economical to use surface structure equations.
Naturally, the question arises as to the appropriate value for the "thickness"
since, by definition, a shell or plate has a piecewise constant or smoothly varying
thickness. It appears to be proper to consider this question at the level of the
stress resultant-strain relationships, matrix [D], rather than at the stress-strain
level, matrix [C], since the latter matrix is based on the stress-at-a-point focus
of the theory of elasticity-which obviously has little meaning when we must
consider equivalent thicknesses.
A fairly common and quite illustrative example is that of a shell or plate with
equispaced stiffening ribs running in one direction, as shown in figure 6-1, or
in both directions. A common method of treating this problem is to combine
the properties of the basic shell or plate and the stiffener over a repeating
interval of the cross section, such as d{J' and then to compute an equivalent
thickness in the direction of the stiffener. This process is often referred to by
the colloquial title of verschmieren, after the German verb "to smear over."
For a shell which behaves essentially in accordance with membrane theory,
the equivalent thickness is logically computed with respect to the extensional
rigidity, whereas for a plate subjected to bending, it would be based on the
flexural rigidity.
To illustrate such a computation, consider the situation shown in figure 6-1.
For a shell, we compute the area of the repeating cross section, hd{J + lib, and
234 6 Constitutive Laws, Boundary Conditions, and Displacements
f3
h = (121hii)1/3 (6.15b)
" dp
The thickness in the {J direction is again taken as hp = h.
The equivalent thicknesses are then used to compute the corresponding terms
of matrix [D]. Referring to the elements of matrix 6-2, we would use her to
compute the terms in the first and fourth rows, and hp for the terms in the second
and fifth rows. It has been suggested 5 that the terms corresponding to the
shearing rigidity (rows three, seven, and eight) be evaluated by using the basic
6.1 Constitutive Laws 235
thickness h, whereas the twisting rigidity (row six) may be computed using
the basic thickness or, in some cases, be neglected altogether. This technique
may be easily extended to cases in which the stiffeners run in both directions
by computing appropriate hp thicknesses from formulas analogous to equations
(6.14) and (6.15). A form of a plate supplemented by beams running in two
directions known as a waffle slab (figure 2-8[w]) is quite widely used in reinforced
concrete building construction.
This simple illustration of a verschmieren procedure raises several questions
which we consider at this point. If only one equivalent thickness is defined in
each direction, should it be the extensional or the flexural thickness for a shell
that may have significant bending? We have opted for the extensional, but will
this equivalent thickness adequately represent the flexural characteristics of
the stiffened shell? Also, what about the shearing and twisting thicknesses? To
include only the basic shell or plate, as mentioned in the preceding paragraph,
seems to be a rather crude approximation. Finally, the use of different equiv-
alent thicknesses in the at: and f3 directions for the extensional and bending
rigidities would cause matrix [D] to be unsymmetric because of the off-diagonal
terms in rows one, two, four, and five. This leads to contradictions and com-
putational difficulties that should be avoided.
From the preceding questions, it is obvious that a procedure which embodies
more of the characteristics of the actual structure is desirable. This is especially
true as the stiffeners become more prominent with respect to the basic cross
section, up to the case of reticulated structures, where they may constitute
practically the entire means of resisting the primary forces and moments.
A promising approach for this problem is the split rigidity concept introduced
by Buchert. 4 The method is a generalization of a development by E. Reissner,
who has been one of the most prolific contributors to the theory of shells in the
middle and late twentieth century.6 Essentially, different equivalent thicknesses
for the extensional, shearing, bending, and twisting terms may be specified. To
avoid difficulties with nonsymmetry in [D], Poisson's ratio is neglected. This
leads to a diagonal matrix [Deq], which replaces [D] in equation (6.10):
[D
eq
J= r
E h h
I
hap(m) h;(b) h~(b) h;P(b) Ah,.(m) )ohp(m)J
arm) p(m) 2 12 12 12 2 2 (6.16)
The additional subscripts (m) and (b) indicate membrane or extensional and
bending or flexural, respectively.
To illustrate the split rigidity concept, we choose a reticulated shell composed
of a gridwork of structural members, as shown in figure 6-2. The members are
assumed to have locally constant spacing, d,. and d p ; areas A,. and Ap; moments
of inertia I,. and Ip; and St. Venant torsion constants K,. and K p, in each
direction. Any infilled material between the main members is assumed to be
either restricted to local loading distribution, and therefore negligible in this
analysis, or included in the section properties of the main members.
With these idealizations, we may immediately compute
236 6 Constitutive Laws, Boundary Conditions, and Displacements
A" (6.17)
h,,(m)=T
p
and
Ap
hp(m) =d (6.18)
"
The equivalent in-plane shear thickness is a bit harder to visualize. A first
approximation, considering only the primary members of the frame, would be
to take the average of the equivalent extensional thicknesses, t[h,,(rn) + hp(rn)],
so that
We note that there is the possibility of increasing the in-plane shear resistance
substantially through the integration of the infilling material with the primary
frame structure.
Now, we turn to the equivalent flexural thicknesses. Considering the Q(
direction first, we equate the moments of inertia per unit width of the frame
member and the equivalent shell
f" _ ~h3
d - 12 ,,(b)
p
from which
(6.22)
(6.23)
6.2.1 Role of Boundary Conditions in the Formulation of Shell and Plate Theories:
In the preceding section, we have presented the constitutive laws that serve to
connect the equilibrium equations derived in chapter 3 and the compatibility
relations developed in chapter 5. The classical formulation of the solid me-
chanics problem embodies these three components, which may be collected as
a set of partial differential equations or as an energy principle. We explore both
238 6 Constitutive Laws, Boundary Conditions, and Displacements
ofthese formats in depth in the succeeding chapters; however, there is one more
ingredient necessary to complete the theory in either case: a suitable set of
boundary conditions. The possibilities may be classified as follows: (a) static
(a stress resultant or stress couple is specified; (b) kinematic (a displacement
or rotation is specified); and (c) elastic (a linear combination of a static and
a kinematic quantity is specified). This may be represented by a spring-type
support.
In the following discussion, we place two restrictions on the boundary con-
ditions to simplify the formulation somewhat: (a) all boundaries coincide with
either an Sa or sp coordinate line and, (b) all kinematic boundary conditions are
homogeneous. Exceptions to the first restriction include such problems as skew
intersections and cutouts and are best treated using discrete approximation
techniques such as the finite element method. Nonhomogeneous boundary
conditions are not necessarily more difficult to deal with than the homogeneous
variety, but since they occur comparatively infrequently, it is usually expedient
to exclude this possibility from the general formulation and to treat such
situations that may arise as special cases.
Na or Da N,s or Dp
Nap or Dp (NaP a Dp)
~
or D
a (~a or Dp)
Qa or Dn (Oap or q,) o.e or Do ((Sa/3 or Dn)
Ma or Dap Mp or Dpa
Recognize that the terms used to describe the boundaries-e.g., hinged and
roller-are essentially two-dimensional in implication and do not fully describe
the constraint in the f3 direction. Consequently, the conditions on D p , and/or
Dpa may be interchanged with NaP and/or Map, respectively, if the physical
situation seems appropriate. Also, the term simply supported is often imprecisely
used to also describe the hinged or roller cases. Technically, this condition
should be reserved for beam-like situations for which a meridional constraint
is not necessary. A similar set of conditions can be derived for the boundary
f3 = 11.
6.2.3 Kirchhoff Boundary Conditions: We have mentioned several times that
much of the classical theory of shells and plates is based on the suppression
of the transverse shearing strains. From the statement of the admissible bound-
ary conditions presented in the preceding section, we can anticipate that the
most general system of governing differential equations is of tenth order in
each direction, permitting prescription of five conditions on each of the four
boundaries. When transverse shearing strains are not included, the governing
equations are reduced to eighth order in each direction, and a contracted set
of boundary conditions is required.
The derivation of the static conditions consistent with the suppression of
transverse shearing strains is one of the more interesting theoretical problems
in the theories of shells and plates. These are commonly known as the Kirchhoff
boundary conditions after the noted mathematician G. Kirchhoff, who first
+ (MIZP + MlZp,pdP)Sin(:~:)
Since MIZP,pdP is of higher order than the remaining terms and sin(dsp/2Rp) ~
dS p/2R p, the effective in-plane shear is
- M lZp
NlZp = N IZP +-- (6.24)
Rp
Summing forces in the n direction, we have
-
Q = Q + M IZP . p (6.25)
17. 17. B
and
(6.27)
Now, referring to figure 6-3, we have the five static boundary conditions
contracted to four along each boundary.
For the corresponding kinematic conditions, we first examine equations (5.46g)
and (5.46h) with YIZ = Yp = O. Then DIZP and DplZ , corresponding to the bending
couples, are equal to "'17. and "'p,
respectively. For the effective shear stresses,
which incorporate the twisting couples, we have Dp and Dn on the IX = (X
boundary, and DIZ and Dn on the P = P boundary. These are also listed on
figure 6-3.
Since these radii ~ 00, the effective in-plane shear is superfluous, and we are
left with only the effective transverse shears, as given by equations (6.25) and
(6.27).
and
(6.29)
along OF and
Dy = 0; Nyx = 0; Qy = 0; Dyx = 0; Myx = 0
along OE. It is possible to affect further savings by defining symmetry along
the diagonal OD, but since this involves displacements along non-principal lines
of curvature, it lies outside our present scope. The conditions for the shell of
translation are also applicable to uniformly loaded, symmetrically supported
plates. .
As a final example, we choose the same elliptic paraboloid illustrated in
figure 4-51(a) subjected to a hydrostatic loading acting normal to the X-Y
plane. The distribution in the Y direction is given by
(b - Y)
qAX, Y) = q 2
and the loading is assumed to be uniform across the X direction. This loading
is readily decomposed into a constant component (j = 0)
For shells, {X} can usually be evaluated with sufficient accuracy by using the
membrane theory, as discussed in the previous paragraph. The elements of [F],
being displacements due to boundary transverse shear forces and bending
moments, must still be computed by using the bending theory; however, since
no surface loads are involved, only the homogeneous bending equations need
be considered, which frequently simplifies the solution. A specific illustration
of this method is presented in chapter 9 for the bending analysis of cylindrical
shells.
Thus, we have suggested a variety of reasons for studying the middle surface
displacements of shells in equilibrium under a known internal stress field
computed by the membrane theory.
1
6p = Eh [(Np - /IN,,) + (1 - /l)NT] (6.33b)
A. • Ro
R o6o = Do,o + cos 'I' D", + sm ifJ Dn = Eh [(No - /IN,,,) + (1 - /l)NT] (6.34b)
Ro 2(1 + /l)Ro
Row = RDo,,,, + D""o - cosifJ Do = Eh S (6.34c)
¢ = Dt/> (6.35b)
sin¢
Next, we substitute equations (6.35a) and (6.35b) into equations (6.34a-c) and
eliminate Dn between the first two equations, giving
- RIJ - 1
~,t/> - sin¢ "',0 = Ehsin¢ [(Rt/> + {lRIJ)Nt/> - (RIJ + /1Rt/»NIJ] (6.36a)
- Dt/J
~ = sin¢
(6.38a)
= ~E f-~-[(Rq)
hsm¢
+ j.tRo)Nq) - (Ro + j.tRq»)NoJd¢
1
Dq)o = -R(Dn.q) - Dq») (6.38d)
q)
Do
DOq)=~ (6.38e)
Ro
The indefinite integrals in equations (6.38a) and (6.38b) may be written in
the alternate form
(6.39a)
(6.39b)
where ¢", and ¢"" are the boundaries at which Dq) and Do are specified. We have
used ¢", and ¢"" to emphasize that these boundaries are not the same bound-
aries where the corresponding stress resultants are specified, ¢' and ¢", as
identified in equations (4.10) and (4.11). Recalling the arguments of section 6.2.2,
we cannot specify Nq) and Dq), nor S and Do on the same boundary. Moreover,
since we have presumably specified the boundary values Nq)(¢') and S(¢") in
the equilibrium solution, Dq) and Do must be imposed at the other boundary in
each case. Thus, we have little latitude in the choice for ¢", and ¢"".
When Ro is not finite, as for ¢ = 0 on a toroidal shell, equation (6.38c) is not
applicable, but an alternate equation for Dn can be found from equation (6.34a).
For a dome, we again encounter indeterminate forms for Dq) and Do at the
pole. It is easily shown using L'Hospital's rule that Dq)(O) = Do(O) = O. Then,
equations (6.38a-c) gives
(6.40)
250 6 Constitutive Laws, Boundary Conditions, and Displacements
and
qa 2 (
Dn(rh,) = -h 1 + J-L t/J - cos rPb ) (6.43)
E 1 + cos b
At the pole, the normal displacement is found using equations (4.22) and
(6.40):
_qa 2
Dn(O) = 2Eh (1 - J-L) (6.44)
o oL--~::"':"""-~--='-=:----=':=---7.
0.4
I/J
1- 4 r - - - . - - - r - - - - . - - - - r - - - - ,
k2: 1.05
1.10
d
n
=Dn Eh
Q02 o r---~~~~--+---_+--~
The final major equation for the displacements corresponds to the anti-
symmetrical case, j = 1, earlier discussed in section 4.3.6. Following the same
252 6 Constitutive Laws, Boundary Conditions, and Displacements
( 1 -) 1
R",sin¢ ~</> ,</> = R(J sin ¢Eh
(6.49)
x {2(1 + J-l)(R(JS1 ),</> - Ci~ ¢ [(R", + J-lR(J)Nt - (R(J + J-lR",)Ni] ) }
>1
6.3 Membrane Theory Displacements 253
(6.S0b)
254 6 Constitutive Laws, Boundary Conditions, and Displacements
0'
(b)
2(1 + Jl}a
aw = aDe.x + Dx .e = Eh S (6. SOc}
Dx = ;h f
(Nx - JlNe}dx + f3(()} (6.51)
De = 1
-~
f Dx,e dX + 2(1Eh+ /l) f S dX + f4(O) (6.52)
(6.53)
The membrane theory rotations are found from equations (5.46g) and (5.46h),
with I'll = I'p = 0:
(6.54)
and
(6.55)
A ready example is the simply supported cylindrical shell subject to the first
harmonic of the Fourier series expansion for the dead load. The stress analysis
for this loading was carried out in section 4.4.1, and the stress resultants are
given by equations (4.169). The boundary conditions must be stated with respect
to the displacements. The longitudinal symmetry dictates that Dx(L/2) = O.
Since the boundary corresponds to the simply supported condition discussed
in section 6.2.2, we also have De(O) = O. These boundary conditions yield
f3(O) = f4(O) = O.
Proceeding, we find by substituting equations (4.169) into equations (6.51)-
(6.55), and carrying out the integrations and substitutions,
Dx 4qd(L)[2L2
= - - - -- - /la ] cos-cosO
nX (6.56a)
nEh n n2a L
(6.56b)
(6.56c)
(6.56d)
4qd [ 2/lL2]. nX .
Dex = ---h a - - 2 - sm-smO (6.56e)
nE n a L
The preceding expressions are useful in the bending analysis of open cylindrical
shells, when the membrane theory solution serves as the particular solution. The
boundary displacements, as computed from equations (6.56a-c), are corrected
by edge forces and moments to satisfy prescribed compatibility conditions on
the longitudinal boundaries. 18 The procedure is quite analogous to the classical
256 6 Constitutive Laws, Boundary Conditions, and Displacements
(6.58b)
4qda . nX
No = ---sm-cose (6.58c)
n L
We note from equation (6.58b) that the function !2(e) remains to be deter-
mined, obviously from consideration of the displacements. If we substitute
equations (6.58a) and (6.58b) into equations (6.51) and (6.52), we have
1
Dx = Dxs + Eh !2(e)X + !3(e) (6.59a)
(6.59b)
where Dxs and Dos represent the corresponding displacements from the simply
supported cases, equations (6.56a) and (6.56b), respectively. We now have three
functions of integration to be evaluated from the boundary conditions
(6.60a)
6.3 Membrane Theory Displacements 257
(6.60c)
These equations form only three independent conditions because of the symmetry
of the problem. Since Dos and Dxs automatically satisfy equations (6.60b) and
(6.60c), we find by evaluating Dx(O), Do(O), and Dx(L/2) that
Dxs(O, 0) + 13(0) = 0 (6.61a)
14(0) =0 (6.61b)
(6.61c)
from which
2Eh
12(0) = LDxs(O,o) (6.62a)
Nx = -8qd
- [L2 . nX
-SlO- -
(2L2
-- - J.la )] cosO (6.63)
2 n na L n2 a
with S and No given by equations (6.58a) and (6.58c), respectively. The corre-
sponding displacements are
Dx 4qd
=- - - 2 - J.la ][cos -nX + -2X - 1] cos 0
- (L)[2L2 (6.64a)
nEh n n a L L
4qd (L)[L
DO=--h - 22+4+3J.l) S. l O
- (2U nX-
nE n n n a L
(6.64b)
+ (-
2L2- J.la ) (X2
---X)] sinO
n2 a aL a
The remaining displacements Dn , Dxo , and Dox are easily evaluated from
equations (6.53)-(6.55).
258 6 Constitutive Laws, Boundary Conditions, and Displacements
6.3.4.2 Shells with Double Curvature. For doubly curved shells of the form con-
sidered in section 4.4.2, the computation of displacements due to the membrane
theory stresses is not widely treated in the literature. This is probably due to
two main reasons: (a) One ofthe principal uses for the membrane displacements
is to incorporate them into a flexibility type general solution, as described in
the previous section. Although this approach is quite applicable for shells of
revolution and for cylindrical shells, it is not particularly suited for doubly
curved translational shells due to the lack of homogeneous bending solutions.
(b) The integration of the stress resultant-displacement relations generally must
be carried out numerically, even for the shell of revolution geometry, although
the stress resultants may have been evaluated analytically. Rather than deal
with partially analytical, partially numerical solutions, it is often expedient to
employ a strictly numerical approach. Such a technique for translational shells
is described in Hedgren and Billington. 19 Also, the general techniques of finite
differences 20 and finite elements 21 have been applied to this class of problem.
6.4 References
9. Lord Kelvin and P. G. Tait, Treatise on Natural Philosophy, vol. 1, pt. 2, 1883,
p.188.
10. S. Timoshenko and J. N. Goodier, Theory of Elasticity, 2nd ed. (New York:
McGraw-Hill, 1951), p. 33.
11. P. G. Glockner, "Symmetry in Structural Mechanics," Journal of the Structural
Division, ASCE 99, no. STl (January 1973): 71-89.
12. V. V. Novozhilov, Thin Shell Theory [translated from 2nd Russian ed. by P. G. Lowe
(Groningen, The Netherlands: Noordhoff, 1964), p. 118].
13. P. L. Gould and S. L. Lee, "Hyperbolic Cooling Towers under Seismic Design
Load," Journal of the Structural Division, ASCE 93, no. ST3, (June 1967): 87-109.
14. W. Fliigge, Stresses in Shells, 2nd ed. (Berlin: Springer-Verlag, 1973), pp. 85-87,
121-124.
15. D. W. Martin, J. S. Maddock, and W. E. Scriven, "Membrane Displacements in
Hyperbolic Cooling Towers Due to Wind- and Dead-Loading," Proc. Institution of
Civil Engineers 28, 1964, pp. 327-337.
16. L. J. Brombolich and P. L. Gould, "Finite Element Analysis of Shells of Revolution
by Minimization of the Potential Energy Functional," Proc. Conference on Applica-
tions of the Finite Element Method in Civil Engineering, Vanderbilt University,
Nashville, Tenn., November 1969, pp. 279-307; L. J. Brombolich and P. L. Gould,
"A High-Precision Curved Shell Finite Element," Synoptic, AIAA Journal 10, no. 6
(June 1972): 727-728.
17. Gould and Lee, "Hyperbolic Cooling Towers."
18. "Design of Cylindrical Concrete Roofs," ASCE Manual of Engineering Practice 31
(New York: American Society of Civil Engineers, 1952).
19. A. W. Hedgren and D. P. Billington, "Numerical Analysis of Translational Shell
Roofs," Journal of the Structural Division, ASCE 92, no. STI (February 1966):
223-244.
20. M. Soare, Application of Finite Difference Equations to Shell Analysis (Oxford:
Pergamon Press, 1967).
21. R. W. Clough and C. P. Johnson, "Finite Element Analysis of Arbitrary Thin Shells,"
Concrete Thin Shells, ACI publication SP-28 (Detroit: American Concrete Institute,
1971), pp. 333-363.
6.5 Exercises
6.1 With reference to section 6.2.2, list the boundary conditions on the boundary
fJ = If for the free, fixed, hinged, roller, and sliding idealizations.
6.2 Generalize the hinged boundary condition on ex. = Cl to represent elastic displace-
ment and rotation constraints.
6.3 Consider the fJ = If boundary and derive equations (6.26) and (6.27).
6.4 Consider a shell of revolution geometry and directly derive equations (6.28) and
(6.29).
6.S Determine the normal displacements at points A and B on the toroidal shell shown
in figure 4-9 due to an internal pressure p.
260 6 Constitutive Laws, Boundary Conditions, and Displacements
6.6 Determine the decrease in diameter of a complete sphere of radius a and thickness
h under an internal suction q.
6.7 For the cylindrical shell under the harmonically dependent loading considered in
section 4.3.7.4, derive expressions for the displacements for the casesj = O,j = 1,
and j > 1. Sketch the deflections on an elevation and on a cross section for each
harmonic case.
6.8 Write equations (6.34a-c) in harmonic form and consider separately the cases
j = O,j = 1, andj > 1. Verify the pole conditions for D" DB' and D•.
6.9 Determine the membrane theory displacements for an open cylindrical shell, as
shown in figure 4-37, subject to a uniform loading q., as given by equations (4.171),
for the following cases:
(a) Load uniformly distributed in X direction.
(b) Load harmonically distributed in X direction.
6.10 Derive the governing equations for the membrane theory displacements of a
hyperbolic paraboloid, as shown in figure 4-41, for a uniform live load qz = -po
If the shell is supported by two vertical arches spanning between the corners of
the shell above A and D, and Band C, respectively, state the corresponding
boundary conditions.
CHAPTER 7
7.1 General
The strain energy for an elastic body Ue may be written in terms of the strain
energy density dUe as
Ue = Iv dUe (7.1)
261
262 7 Energy and Approximate Methods
=A (1 + ~«) (1 + ~p)
doc B dP d(
U·=~LLO"J{E}dV (7.4)
Keeping in mind that the elements of {O"T } may be regarded as known, equation
(7.5) is an expression ofthe strain energy in terms of strain-type quantities alone.
We may now multiply out the terms in equation (7.5). Since the arithmetic is
quite lengthy and straightforward, it is omitted here. After integration through
the thickness and some rearrangement, the resulting expression is
7.3 Potential Energy of the Applied Loads 263
-h/2
T(e) de
+ Jl)(K" + K(J) J
h/2 }
- ex(1 T(Oe de AB drx df3
-h/2
where the volume integral has been replaced by a surface integral over S.
Modified expressions for U. which correspond to other stress-strain laws may
be written in the same manner using the appropriate [C], as discussed in
chapter 6.
Iffor the moment we neglect the temperature dependent terms, we may group
equation (7.6) as
U. = 2(1 _E r{
Jl2) Js h[l]
h 2
+ 4"[11] h
+ 12 [III]
3
}
ABdrxdf3 (7.7)
+L [r JS(l
4(tX, jJ). A(tX, jJ) A (tX, jJ) dtX (7. lOa)
L
s
+ 4(a, 13) . A(a, f3)B(a, 13) df3 ] + ~ q(a, jJ) . A(a, jJ)}
or, in terms of the components,
In equations (7.10a) and (7. lOb), the second term signifies that the load potentials
for each line load acting on the shell surface are summed, and the third term
indicates that load potentials for each concentrated load are similarly summed.
Note that equations (7.8) and (7.9) can be generalized to include distributed,
line, and concentrated couples corresponding to the rotations Drzp and Dprz .
inertial effects, then the law of conservation of energy requires that the work
done by the surface tractions be equal to the strain energy stored in the material.
Now, a change (5A is imposed on the displacement field A, which moves to
a new position A + (5A. (5( ) is the variational operator and, for our purposes,
(5 A may be regarded as a linear increment of the vector A. Also, (5 A is assumed
to be compatible with the constraints of the system, although this restriction is
not necessary but only convenient. 1 The source of (5 A is not specified; i.e., it
does not necessarily result from any particular loading system. Hence, (5A is
called a virtual displacement.
Next, we write the energy balance corresponding to the virtual displacement.
The virtual work performed by the surface tractions is given by
1
s s.
+ 4(Ci, [3). (5 A(a, [3)B(a, [3) d[3] +I q(Ci, TJ)· (5 A(a, TJ)
~ s
and the strain energy is changed by (5UE' which is written from equation (7.1) as
(5 Iv dUE
may be evaluated from equation (7.5); however, since equation (7.5) is not yet
written as an explicit function of the displacement A, and since variations
or increments of A are being considered, we choose to leave the r.h.s. of
equation (7.12) in the general form.
Then, the energy balance is written by equating equations (7.11) and (7.12):
7.4.3 Rayleigh-Ritz Method: Consider the displacement vector A(ex, /3), which
was defined originally in equation (5.3a) to include D", Dp, and Dn. Because we
may have additional generalized displacements, such as D"p and Dp" as defined
in equations (5.22a) and (5.22b), and because in some cases not all of the
displacement components are included, we write A in the general form
(7.15)
where the index m can be set according to the problem at hand.
The next step is to assume that each I1k(k = I,m) in equation (7.15) is of the
form
(7.16)
(k = I,m) (7.17)
1= 1,n
which produces a set of simultaneous algebraic equations for the coefficients
Ckl • Following the solution of these equations, the displacement functions 11k
can readily be used to find strains and curvatures, from which stress resultants
and couples may be computed.
The convergence ofthis method in a rigorous mathematical sense is considered
268 7 Energy and Approximate Methods
where Ak is one element of the general displacement vector {A}, equation (7.15),
and B is a linear differential operator. For example, the Laplacian operator in
Cartesian coordinates, obtained by setting
B( ) = ( ).xx +( ).yy (7.20)
Iv RktPkl dV = 0 (7.22a)
or
(7.22b)
270 7 Energy and Approximate Methods
7.6 References
7.7 Exercises
7.1 Generalize equations (7.8) to include the possibility of surface loading consisting
of distributed, line, and concentrated couples.
7.2 Consider a simple supported beam oflength L, with a uniformly distributed load w.
(a) Compute the deflected shape D(x), by using a sequence of coordinate functions
7.7 Exercises 271
. nx . 2nx
D(x) = C 1 + C2SlOT + C3SlOT + ...
and observe the convergence. Use both the Rayleigh-Ritz and Galerkin
methods.
(b) Repeat the procedure, using a sequence of polynomials of the form
D(x) = C1 + c 2x(L - x) + C3X2(L - x) + c4 x(L - X)2 + ...
For the polynomials, recall that the sequence must satisfy the boundary
conditions
7.3 Consider equations (7.10) and generalize the load potential to include distributed,
line, and concentrated applied moments.
CHAPTER S
Bending of Plates
8.1.1 General Formulation: The equilibrium equations for initially flat plates
are stated as equations (3.25a-e); the strain-displacement relations are given by
equations (5.54) or, with transverse shearing strains suppressed, as equations
(5.55). Taken together with the stress resultant-strain relationships in the form
of equation (6.10), the requisite boundary conditions discussed in section 6.2,
and specifically the Kirchhoff conditions equations (6.25) and (6.27), the ele-
ments of a quite general plate theory are available and substantiated.
It is convenient to consider the development of the theory of plates in several
stages, initially neglecting transverse shearing strains and in-plane stress resul-
tants and also assuming isotropic material properties. Then, the theory will be
generalized as necessary.
When the in-plane forces are neglected, equations (3.25a) and (3.25b) are
removed, leaving
272
8.1 Governing Equations 273
(S.3b)
(S.3c)
1
- AB
[AA,PDn,a + Ii
B]}D
,a
n,p
(S.4a)
(8.4b)
(8.4c)
1
- AB
[AA ,p D B]}
D
n,a + Ii n,p
,a
(S.5a)
274 8 Bending of Plates
and
(8.5b)
so that Q" and Qp can be computed once the stress couples have been deter-
mined. This is analogous to the elementary theory of beams, in which the shear
force is evaluated from equilibrium considerations rather than from a constitu-
tive law. Only transverse shearing strains can be suppressed; the corresponding
forces are required for equilibrium.
The formulation of the plate bending problem is completed as follows:
1. Introduce equations (8.4) into equations (8.5).
2. Differentiate equations (8.5a) and (8.5b) by f3 and IX, respectively.
3. Substitute into equation (8.1a).
The resulting equation expresses equilibrium in the normal direction in terms
of the single displacement Dn and constitutes the governing equation of the
system. This is a classical displacement formulation. Once Dn is evaluated, the
stress couples may be computed by differentiation from equations (8.5a) and
(8.5b).
We also have the effective transverse shears, Q" and Qp,
-
Q = Q + M"p,p (8.6a)
" " B
- Mp
Qp=Qp+~ (8.6b)
A
which we obtain from equations (6.25) and (6.27). Also, the rotations Dap and
Dpa are found from equations (5.54g) and (5.54h) with y" = YP = 0:
1
DaP = l/I" = - A Dn,,, (8.7a)
1
Dp" = l/IfJ = -liDn,p (8.7b)
It is evident from the complexity of the foregoing expressions that the algebra
involved in carrying out the steps outlined in the previous paragraphs becomes
quite involved. For our purposes, it is sufficient to specialize the further develop-
ment for two predominant cases: Cartesian coordinates and polar coordinates,
r-------------------~---------y
~+Xy
Fig. 8-1 Forces and Moments in Cartesian Coordinates
= [Mx . x + M yx•y ]
Qx
= -D[Dz . xxx + IlDz.xyy + (1 -1l)Dz .xyy ] (8.9b)
= -D[Dz . xxx + Dz.xyy]
Next, we take a/ay of equation (8.9a) and a/ax of equation (8.9b) and substitute
into equation (8.1a) to get
Qx.x + Qy.y + qz =0 (8.10)
or
-D[Dz.xxxx + 2Dz .xxyy + Dz.yyyy] + qz = 0 (8.11)
Equation (8.11) may be written concisely as
V 2 (V 2 Dz ) = V 4 Dz = qz (8.12)
D
where
V2( ) = ( ),xx +( ).yy (8.13a)
and
(8.13b)
V2( ) and V4( ) are commonly called the Laplacian and biharmonic operators,
respectively,l and (8.12) is commonly known as the plate equation.
The homogeneous part of the governing equation of the engineering theory
of medium thin plates is the biharmonic equation
(8.14)
The recognition of this form is important for at least two reasons. First, there
is a considerable reservoir of mathematical knowledge dealing with biharmonic
equations which can be transferred to our plate theory.2 Second, because V4( )
is invariant, we may obtain the corresponding equation for any other system
of orthogonal curvilinear coordinates by simply transforming the biharmonic
operator. We will verify this for polar coordinates in the next section and utilize
the invariant property of the V2 and V4 operators repeatedly.
Of particular interest with respect to the preceding formulation is the reduc-
tion of the system to an equation with a single dependent variable. Stepping
back through the derivation, we find that the key step was the expression ofthe
extensional and shearing strains in terms of the normal displacement Dz only,
equations (8.2) and (8.3). In order to interpret this form a physical standpoint,
we examine a segment of the middle plane along a normal section traced by
the X -Z plane as shown in figure 8-2.
We show the segment deformed in the positive Z direction, where both the
displacement Dz and the derivative Dz.x are positive. Also, we recall the basic
8.1 Governing Equations 277
Plate
•
:::"."::::'~x
: '
:. :.
Plate
Because the Lame parameters are constant, the strain in the X -direction is
found from equation (S.S4a), as simply
ilx(O = Dx,x
(S.16)
= -(Dz,xx
which corresponds to equation (S.2a), after lat, in equation (S.3a) is specialized
for Cartesian coordinates.
An identical argument referred to a normal section traced by the YZ plane
gives
Dy = -(Dz,y (S.17)
and
(S.lS)
corresponding to equation (S.2b), with equation (S.3b) suitably specialized.
Equations (S.lS) and (S.17) clearly illustrate the coupling of the in-plane dis-
placements to the normal displacement, which is the key to the relatively simple
form of the plate equation.
The in-plane shearing strain, adapted from equation (S.S4c), is
OJ = Dx,y + Dy,x
(S.19)
= -2(Dz ,xy
which matches equation (S.2c) with T specialized for Cartesian coordinates.
To complete the formulation, we also list the effective transverse shears Qx
and Qy. From equations (S.6), (S.Sc), and (S.9).
Qx = Qx + Mxy,y
(S.20a)
= -D[Dz,xxx + (2 - J.l)Dz,xyy]
and
Qy = Qy + Mxy,x
(S.20b)
= -D[Dz,yyy + (2 - J.l)Dz,xxy]
The rotations DXY and Dyx are found from equation (S.7) as
Dxy = r/lx = -Dz,x (S.21a)
Dyx = r/ly = -Dz,y (S.21b)
It is notable that equation (S.l1) is the two-dimensional counterpart of the
familiar Bernoulli-Euler equation, which is the cornerstone of beam theory.
Taking Dz = Dz(X) or Dz(Y) only in equation (S.ll) and neglecting Poisson's
ratio in the elastic constant D, we have the governing differential equation for
a beam of unit width and depth h.
8.1 Governing Equations 279
Equation (8.11) also serves to articulate the differences between a plate and
a two-dimensional gridwork of beams. Whereas the first and third terms, Dz,xxxx
and Dz , yyyy, clearly describe bending resistance in the respective directions, the
second term, 2Dz ,xxyy, represents the contribution of the twisting rigidity to
the load resistance. This is easily verified by examining equations (8.8), in which
the directional derivatives Dz,xx and Dz,yy form the bending stress couples and
the mixed derivative Dz,xy produces the twisting stress couple.
The presence of the twisting couples discerns between two-dimensional flexural
behavior and plate behavior. In this regard, it is of interest to note that in 1789,
J. Bernoulli proposed approximating a plate with a system of perpendicular
intersecting beams, based on an earlier model of a flexible membrane by Euler.
S. Germain, aided by Lagrange, incorporated the twisting term to find the
homogeneous part of equation (8.11), and the correct strain energy expression
was derived by Poisson. A comprehensive plate theory, including loading terms
and boundary conditions, was finally advanced by Navier in 18203 , although
the final resolution of the free edge boundary conditions in terms of effec-
tive forces appeared somewhat later, as discussed in section 6.2.3. We shall
thoroughly explore Navier's approach later in this chapter.
A---------------------y
o~ ,0;
Fig. 8-3 Forces and Moments in Polar Coordinates
8.1 Governing Equations 281
and
1
QR = R [(RMRh + M R6 ,6 - M 6]
1
=R [MR + RMR,R + M R6,6 - M 6] (8.24b)
1 1 1 2 ]
= -D [ DZ,RRR +R DZ,RR - R2 DZ,R + R2 DZ,R66 - R3 DZ,66
1 1 qz
+ R3 (DZ,R - 2Dz,R66) + R4 (4Dz ,66 + DZ,6666) = Ii (8.26)
It may be verified that equation (8.26) can be written as the biharmonic equation
V 4 Dz = V 2 [V 2 Dz ] = qz (8.27)
D
where, in polar coordinates,
2 1 1
V ( )= ( ),RR +R( ),R + R2 ( ),611 (8.28a)
or
(8.28b)
(8.29b)
(8.30a)
MR(j=O (8.31c)
Also,
Q(j=O (8.32a)
and
QR= QR (8.32c)
Finally, the governing equation simplifies to
2 1 1 qz
DZ,RRRR + R DZ,RRR - R2 DZ,RR + R3 DZ,R = Ii (8.33a)
or
(8.33b)
8.1.4 Force and Moment Transformations: Once we have selected the 0( and P
coordinates, we may evaluate the transverse shear resultants and stress couples
8.1 Governing Equations 283
from the preceding equations only on planes parallel to the Sa. and sp coordinate
lines. Frequently, we are interested in values on other planes, since the maxi-
mum transverse shear and/or bending moment may act in directions other than
those coinciding with the coordinate lines.
The approach is similar to that used to evaluate principal stresses in linear
elasticity. In figure 8-4(a), a second set of orthogonal axes (e, 11), which represent
arbitrary directions for which we wish to evaluate the forces and moments, are
z
MaptJ.s( siny
I Ma~'(
~.~ : :: ~
,jnY
VI
<J M~;~:-~-:-o:-;-t .:r"'M~(:~
M17~
(b) (C )
defined. These axes are oriented by the angle y measured clockwise in the 1X-f3
plane. On the differential rectangular element in the inset, bound by Sa and sp
coordinate lines, we superimpose the rotated coordinates and consider shaded
triangle CD, which is enlarged in figure 8-4(b). The positive senses of the stress
resultants acting on the element are obtained from figure 3-2.
Summing forces in the Z direction, we have
-QaAs~sin y - QpAs~cosy + Q"As~ = 0
or
Q" = Qasin y + Qpcosy (8.34)
From the shaded triangle ~, we may find
Q~ = Qa cos y - Qp sin y (8.35)
Next, we treat the stress couples acting on the triangular element CD, as
shown in figure 8-4(c). Again, the positive senses of the couples are set from
figure 3-2. From moment equilibrium about the ~ axis, we have
- M"As~ + Ma sin 2 yAs~ + Mp cos 2 yAs~ + Mpa cos y sin yAs~
+ Map sin y cos yAs~ = 0
With Mpa = MaP'
M" = Masin2y + Mpcos 2 y + 2Mapsinycosy (8.36a)
This equation may be written in terms of the double angle 2y as
M" = -t(Ma + Mp) - t(Ma - Mp) cos 2y + Map sin 2y (8.36b)
Moment equilibrium about the rJ axis yields
M,,~As~ - Ma sin y cos yAs~ + Mp cos y sin yAs~ + Map sin 2 yAs~
- Mpacos2yAs~ = 0
from which
M,,~ = (Ma - Mp)sinycosy - Map(sin 2 y - cos 2 y) (8.37a)
or, in terms of the double angle,
M,,~ = -t(Ma - Mp)sin2y + Mapcos2y (8.37b)
A similar calculation for triangle ~ gives
M~ = Ma cos 2 Y + M{J sin 2 y - 2Map sin y cos y (8.38a)
or
(8.38b)
and
8.1 Governing Equations 285
V2 Dz = -~M (8.43)
Equations (8.43) and (8.45) comprise the alternate formulation and allow the
plate problem to be solved in an analogous manner as a uniformly stretched,
laterally loaded membrane. The membrane problem is regarded as somewhat
simpler to treat numerically.4
d
Fixed or Clamped Dz = DlI.p = 0 Dz=Dpll.=O
or or
Dz = Dz,lI. = 0 Dz = Dz,p = 0
Simply
Supported
o Dz = 0; Mil. = 0
or
Dz = Dz,lI.lI. = 0
Dz O;Mp =0
=
or
Dz = Dz,pp = 0
Free
o QII.=MII.=O Qp=Mp=O
8.1 Governing Equations 287
t..-""l..- Mx/c)-MXy(b)
I
X=X
I
I
I
tMXY (d)+ Myx(e) = 2MXY (X,Y)
Fig. 8-5 Forces at Right-angle Comer
have some interesting implications for edges which are supported. In figure 8-5,
we show two boundaries of a simply supported rectangular plate, where the
Kelvin-Tait approach developed on figures 6-4 and 6-5 is used to replace the
twisting stress couples by closely spaced forces. The positive sense of these
couples is established from figure 8-1.
We first study two typical differential segments, say band c, on the X = X
boundary. At the junction, we have a net contribution to the effective shear
equal to
(8.48)
Again, the positive sense is established from the direction of Qx in figure R-l (cd.
If Mxy is a continuous function with continuous derivatives, equation (8.48)
becomes
Mxy,yL\Y (8.49)
which combines with QxL\Y to give the effective shear Qx, as written in equation
(8.20a) after the L\ Y terms have been cancelled. On the other hLmd, consider the
case in which Mxy may be continuous, but not the first derivative in the Y
direction. This corresponds to a jump discontinuity in M Xy along the boundarv,
which produces a concentrated force at the point of discontinuity, with the
magnitude given by equation (8.48). Conversely, if a concentrated force of a
given magnitude is applied along the boundary, the twisting stress couple must
undergo a jump equal to the magnitude of the applied force.
We carry the argument one step further by considering the intersection of
the two boundaries X = X and Y = Y at the corner. Here, there is definitely a
jump discontinuity producing a concentrated force of magnitude
(8.50al
Since Myx = M xy , we have the corner force
Reorner = 2Mxy (8.50b)
The concept of the corner force is not limited to the intersection of two free
boundaries, where it obviously must vanish. In general, any right angle corner
where at least one ofthe intersecting boundaries can develop Mn or MIX will
have a corner force. Physically, a plate having twisting stress couples acting as
shown in figure 8-5 would require that the force 2Mxy (.X, Y) be developed at
the corner to prevent the corner from uplifting. The case of non-right angle
intersections and the detailed distribution of the effective transverse shear along
the entire boundary will be examined for some specific examples in the following
sections.
It should also be mentioned that the homogeneous boundary conditions
discussed in this section may be generalized to include prescri bed edge displace-
ments and forces. For example, within the definition of fixed and hinged
conditions, a nonzero value of the transverse displacement })z may be accom-
8.2 Rectangular Plates 289
z
Middle Plane
-F-----y
x
Fig. 8-6 Rectangular Plate Loaded by Edge Moments
290 8 Bending of Plates
Mx(X, Y) = Ml (S.51a)
My(X, Y) = M2 (S.51b)
Then, we may write from equations (S.Sa) and (S.Sb)
Mx = Ml = -D(Dz,xx + IlDz,yy) (S.52a)
My = M2 = -D(Dz,yy + IlDz,xx) (S.52b)
We eliminate Dz,yy to get
(Ml -IlM2)
Dz,xx = - D(1 _ 1l2) (S.53)
and
Dz(X, Y) = (S.55)
from which
C = _ (M2 - IlMd (S.5Sb)
5 2D(1 - 1l2 )
Also, from equations (S.Sc), (S.54), and (S.57a),
8.2 Rectangular Plates 291
C3 = Cs =0 (8.61a)
Also, Dz(X, b) = Dz(X, - b) so that
C6 = 0 (8.61 b)
Since C 3 = 0, equation (8.59) gives
Mxy =0 (8.62)
This leaves only C9 still to be determined.
Since we have no readily apparent kinematic boundary conditions to con-
strain the displacement, we may arbitrarily select a point on the deflected plate
as the reference for measuring Dz . It is convenient to choose the origin X = 0,
Y = 0, as a point of zero displacement, i.e.,
Dz(O,O) =0 (8.63)
meaning that Z is measured from the middle surface of the deflected plate. Once
again, we stress that this arbitrary choice does not affect the stress resultants
or couples, since C9 is a rigid-body term. Imposing equation (8.63) on equation
(8.60) gives C 9 = 0 so that, in view of equations (8.61),
-1 2 2
Dz(X, Y) = 2D(1 _ /l2) [(Ml - /lM2)X + (M2 - /lMdY ] (8.64)
292 8 Bending of Plates
° °
Finally, since Dz,xx and Dz , yy are constant, Qx = Qy = from equation (8,9).
Likewise, with Mxy = 0, Qx = and Qy = 0 from equation (8.20), and there are
no corner forces.
We have treated the rectangular plate subject to edge moments in detail. It
is noteworthy that the computational effort was substantially reduced by
starting with a physically plausible stllte of constant bending in each direction
and then proceeding to derive a consistent solution for the problem at hand.
Although this approach may appear to be ad hoc and is obviously not com-
pletely general, it is often productive. It is in the spirit ofthe semi-inverse method,
attributed to St. Venant, 5 which is so widely applied in the theory of elasticity,
It is also important to reflect on the role of the preceding solution in the
engineering application of the theory of plates. First, we will uSe some special
cases to demonstrate that certain loading combinations are valuable for experi-
mental verification of the theory. Second, we will find that the preponderance
of readily obtainable analytic solutions are for plates with simply supported
boundaries. The well-known flexibility method of structural analysis, outlined
in section 6.3.1, suggests that solutions for plates with fixed boundaries can be
obtained by combining the corresponding solution for a simply supported
boundary condition with a solution due to edge moments of appropriate
magnitude, so as to satisfy the no-rotation condition at the boundaries.
M 2 2
Dz(X, Y) = - 2D(1 + p.) (X + Y ) (8.65)
Dz = - -MY 2 (8.66)
2D
2b
Loading o n Plate
z
Deflected Surface
due fo M2 only 20
Cross - Section at Y = 0
by simply applying equal couples to two parallel edges and leaving the other
edges unloaded. Closer scrutiny reveals that the Poisson effect under this
loading would produce a contraction of the top fibers and an extension of the
bottom fibers, with a corresponding curvature as shown in the cross section on
figure 8-7. Thus, the moment J.lM is required on the other edges to produce
294 8 Bending of Plates
f---I---- y
,
I
2M I 2M
2M
(c)
2M
Fig. 8-8 Antic1astic Bending of Rectangular Plate
I b /
/
-7
7 y
I
I
/
l'tl", /
/
/
q (X;f)
z
x
Fig. 8-9 Arbitrary Transverse Loading on Rectangular Plate
v4 Dz(X, Y) = qz(X,
D
Y) (8.70)
V4 Dz -_ L'" L'"
j=l k=l
- +2 (jn)2(kn)2
[(jn)4
a
- - + (kn)4]
a
-
b b
.k. X. Y
·Di smjn-smkn- (8.72)
a b
= n4 ~ L
'" '" [(j)2
}=1 k=l
-a + (k)2]2.
-
b
X Y
Diksinjn-sinkn-b
a
The r.h.s. of equation (8.70) is expanded as
qz(X, Y) 1 ~ ~ .k. . X. Y
--- = - L.. L.. qi smjn-smkn-
b (8.73)
D D j=l k=l a
where qik is the Fourier coefficient for the loading.
We proceed to evaluate qik by the standard method. To keep the notation
consistent,j and k should be regarded as specific, though general, indices in the
following operations; I and m are introduced as the corresponding variable
indices:
1. Multiply both sides by sinmn(Y/b)dY and integrate from 0 to b.
2. Note that
o
f
(m =1= k)
b k Y .
Y
sm nbsmmn b d Y =
• {b (8.74a)
o 2" (m = k)
3. Multiply both sides by sinln(X/a)dX and integrate from 0 to a.
4. Note that
o
f
(l =1= j)
a. x. I Xd
smjn-sm n- X = {a (8.74b)
o a a 2" (I = j)
Steps (2) and (4) demonstrate the orthogonality property that greatly facilitates
the evaluation of the Fourier coefficients. Therefore,
We now substitute equations (8.72) and (8.73) into equation (8.70) and write
the equation for a specific j and k:
n 4 [(-j)2 + (k)2]2.
- Dik =qik
- (8.76)
a b D
where qik is given by equation (8.75). We then solve equation (8.76) for Dik and
substitute into equation (8.71) to write the complete solution as
298 8 Bending of Plates
(8.77)
16
= n 2jk qo (j and k odd)
8-2
w), :'G)'t (in ~)F. (k·f)
Table Functions for double sine series solution
1 k
Dz .y = -Dyx sin cos
n 3D b
GY
1
Dz .xx -sin sin
n 2D
1
Dz.xy
n2D (~)G) cos cos
1
Dz . yy
n2D (~Y sin -sin
Dz .xxx
1
nD
1
GY -cos sin
Dz .xxy
nD (~YG) -sin cos
G)GY
1
Dz .xyy cos -sin
nD
1
Dz . yyy
nD (~Y sin -cos
Mx
n2 GY +~(~Y sin sin
My
n2 ~GY +GY sin sin
1
Mxy
n2
(1- ~)G)G) cos cos
G)[(~Y +GYJ
1
Qx cos sin
n
Qy
n (~)[(~Y +(~YJ sin cos
1
Qx
n (~)[GY +(2-~)GYJ cos sin
G)[(2-~)GY +GYJ
1
Qy sin cos
n
299
300 8 Bending of Plates
or
=0 (j and k even) (8.80)
from which we find
Dz(X, Y)
(8.81)
=
16qo.f.f
11:6 D ._ L.- _ L.-
}-1,3 ... k-1,3 ...
')2 + (k)2J2
jk [ (~
1
b
. . X . k Y
smJ1I: -a sm 11: b
Dz(~ ~) _16~qo,,=-a_4 f
= f [sinj~Sink~] (8.82)
2' 2 1I: 6 D j=1,3, ... k=1,3,... jk(j2 + k 2 )2
j k [ ]
1 1 +0.2500
1 3 -0.0033
3 1 -0.0033
1 5 +0.0003
This indicates quite rapid convergence, so that even the first term of the series
should be quite close to the actual displacement. However, in this regard, we
recall that the bending and twisting stress couples are computed from the
second, and the transverse shear resultants from the third derivatives of Dz .
From table 8-2, it is obvious that each differentiation adds a j or k to the
numerator, thereby reducing the convergence rate. Therefore, although the
displacements may converge quite quickly, many more terms of the series may
be required to evaluate moments and shears accurately.
2M)(Y
Fig.8-10 Single Harmonic Distributed Loading on Rectangular Plate
(S.S3)
(S.S4)
from which we find the effective transverse shears Qx and Qy from table S-2:
_
Qx(X,Y)=
(16qo)[~ + (2 - Jl)~]
7 (1 1)2
x.
COS1taStn1t b
Y (S.S5a)
a a2 + b2
and
(S.S5b)
Qx(O, Y), Qx(a, Y), Qy(X,O), and Qy(X, b). The positive sense of these forces is
found by referring to figure 8-l.
We now consider equilibrium in the Z direction and define the total applied
load
(8.86c)
-f:
(8.87)
[IQy(X,O)1 + IQy(X,b)IJdX
After considerable algebra we compute
64 ab
QZ2 = -4qO 2
n (a + b2 )2 [a
4
+ 2(2 -
22
J1.)a b
4
+b J (8.88)
(8.89)
as an apparently unbalanced force. But, we must also include the comer forces.
From equation (8.50b) and figure 8-5, we see that there are comer forces of
magnitude 2Mxy as shown on figure 8-10. Referring to table 8-2 and equation
(8.83), we find
Mxy(X, Y)
(8.90)
8.2 Rectangular Plates 303
In evaluating Rxy at each comer, we note from figure 8-5 that a positive Mxy
produces a comer force in the negative Z direction. At each comer, (X = 0, a;
Y = 0, b) Mxy is negative, so that the comer forces are directed in the positive
Z direction. Each force is given by
(8.91)
(8.94a)
and
p.GY + GY . X. Y
( 16
[GY + (~YJsmnasmnb
)( 1) (8.94b)
My(X, Y) = n 2Qo n2
It is obvious that both functions will follow the load distribution shown in figure
8-10 with maxima at the center, X = a12, Y = b12.
In order to assess the relative magnitude ofthe bending moments at the center
of a square plate where b = a, we evaluate
304 8 Bending of Plates
Mx
aa) = My (a2'2a) = 4(1 + Jl) qoa
(2'2 1C 4
2
~ (0.04 - 0.05)qoa
2
(8.95)
1 (16
Dz(X)=-
E1 1C
qo
--2- ) (a)4.
-
1C
X
Sln1C-
a
(8.96c)
from which
M(X) = E1Dz ,xx
(8.96d)
16qo 2 . X
= __ a SIn 1C-
41C a
(8.96e)
By comparing equations (8.95) and (8.96e), it is apparent that the plate is a far
more efficient flexural member than the equivalent beam due to the two-way
flexural action and the twisting rigidity. Equation (8.95), which gives the maxi-
mum bending moment for a uniformly loaded square plate, also confirms the
observations of the seventeenth-century French physicist Mariotte, who sur-
mised that the total load Qo corresponding to the maximum
moment, in this
case Qo = qoa 2 , should remain constant and independent of the size ofthe plate
if the thickness is not changed. 8
It is of interest to compute the moments in the vicinity of the corners by
considering rotated axes ~, Yf at 45° to the X - Y coordinates, as shown on
figure 8-9. Referring to figure 8-4(c) and taking 0( = X, fJ = Y, and y = 45° in
equations (8.36b), (8.38b), and (8.37b), respectively, give
R
Mq = M XY ="2
R
M~= -MXY = -
2
8.2 Rectangular Plates 305
M,,~ = M~" =0
Thus, in the vicinity of the corner, we find a state of anticlastic bending, as
described in section 8.2.1.4. The moments ±Mxy or ±R/2 are the same order
of magnitude as the moments in the center of the plate, e.g., O.68Mmax for a
square plate. 9 Mq is essentially a clamping moment, similar to that developed
at a fixed boundary.
Another manifestation of the corner force phenomenon may be observed by
visualizing a rectangular plate under self-weight set on a continuous knife edge.
Seemingly, this boundary would correspond to an ideal simple support condi-
tion. However, for an applied loading in the downward (negative Z) direction,
the preceding solution would indicate corner forces acting downward on the
plate. If the plate simply rests on the knife edge with no tied owns, the corners
will tend to rise away from the support. It may also be remarked that the lack
of restraint to develop the corner forces will remove the clamping effect of Mq
and thereby cause the maximum moments at the center to increase,9 perhaps
by 35% for a square plate.
x
Fig. 8-11 Patch Loading on Rectangular Plate
306 8 Bending of Plates
(8.97)
= 0 otherwise
~ and '1 denote the X and Y coordinates, respectively, ofthe center ofthe patch.
Substituting equation (8.97) into equation (8.75), we have
.
q~k =
( -b (Q )
4 ) -do 11;+C/2 S"+d/2 X Y
sinjn-sinkn-
b dYdX
a c l;-c/2 ,,-d/2 a
(8.98)
16 Q . . ~ . k '1 . . c . k d
= n2cdjk osm]n-a sm n hsm]n 2a sm n 2b
8.2.2.5 Concentrated Loading. The solution just obtained for the patch loading
may be used to describe a concentrated load at any point on the plate. To
illustrate, we consider Qo acting at X = ~ and Y = '1, as shown on figure 8-12.
We take equation (8.98) with c and d approaching zero and get
6
qik=~~gn~jkQosinjn-asinkn~
~
(. . c) (.
sm]n"2
cad
k d)
sm n 2b
(8.99)
The limit is evaluated by L'Hospital's rule, which gives, for the last two terms,
.. c . k d
sm]n 2a sm n 2b jn kn
lim - - - ---::--
c-+o c d 2a 2b
d-+O
x
Fig.8-12 Concentrated Load on Rectangular Plate
. . ~ . k rJ
sInJn-sIn n-b
Dz(X, Y;~,rJ) = QO-4- L L [(-.)2 + (k)2J2
4
n abD
0000
j=1 k=1
- ]
a
sinjn-sinkn-
X
a
Y
b
a b
(8.101)
D ( -a -a) Qo
~O.Ol-a
2
(8.103)
z 2'2 D
To compare equation (8.103) with a beam solution, we must take the entire
plate as the beam width a. Then (EI)beam ~ aD and
8.2.3.1 General Technique. Although the double sine series solution developed
in the previous section is straightforward, the resulting expressions often require
that many terms be included in the summation to attain acceptable precision.
Of course, this objection is largely anachronistic in the era of the computer;
nevertheless, it is of interest from a fundamental standpoint to explore the
possibility of generating more efficient solutions. Also, the Navier solution is
well suited for the simply supported boundary only, and the desire to treat other
boundary conditions gave rise to the work of Levy, a pupil of St. Venant, and
Estanave. 6 The ensuing single series approach was exploited by NtLdai as well,
and carries the name of the Levy-NtLdai solution.
We introduce this technique by taking the displacement function Dz as the
sum of (a) DZ1 ' a beam solution which satisfies equilibrium and the boundary
conditions in one direction; and, (b) DZ2 ' a homogeneous solution which can
be used to enforce the boundary conditions in the other direction, while not
violating the boundary conditions in the first direction.
We refer to figure 8-13 where the X axis is located along the center line of
the plate, for reasons which will become obvious. We select DZl = DZl (X) as
the beam bending solution for a loading qz which satisfies the boundary
conditions at X = 0 and X = a. For example, a simply supported beam under
a uniform load qz = qo has a deflection function
8.2 Rectangular Plates 309
I. b/2
X
b/2
Fig.8-13 Coordinates for U:vy-Nadai Solution
(8.105)
8.2.3.2 Simply Supported Plate Under Uniform Load. We consider the case of
a uniformly loaded, simply supported plate, previously treated in section 8.2.2.2.
Using equation (8.105) for D Z1 ' with El replaced by D, we require the functions
to satisfy
X
L I/IJ(Y) sinj1t-a
00.
DZ2 = (8.107)
i=l
where I/Ii is a function of Yalone. This expression for DZ2 automatically satisfies
the boundary conditions in the X direction. Substituting equation (8.107) into
equation (8.12), we have .
4
V DZ2 00
a
J=l
)4I/IJ -
=?: -J1t.[(. (. )2
2 -
a
J1t.
I/I.Jyy
.
+ I/I!yyyy J '.
X
smJ1t-
a (8.108)
=0
Equation (8.108) is satisfied for all j if the terms within [ ] = 0, leading to the
linear ordinary differential equation for I/Ii(y):
.
I/I!yyyy - 2 ~ (J. 1)2tI/I,Jyy
.
+ (.~)4 I/IJ
J1t .
= 0 (8.109)
. Y' h j1t-
+ Qj1t-sm YJ' X
smj1t-
a a a
We have the integration constants C{ and q available to satisfy the simply
supported boundary conditions at Y = ± bj2. Since we have already invoked
the requirement of symmetry to suppress the odd terms in equation (8.110), the
conditions at Y = + bj2,
are sufficient. It is necessary to expand the expression for DZ1 in a Fourier series
so that the constants can be chosen in harmonic form. This series is found
routinely9 as
4qoa4 1 .. X
DZ1 = -5-
1t D j=l.
L3.odd --;sSlDJ1t-
00
J a
(8.113)
=
qa
°D
4
L
00 [4 . Y Y YJ X
s:s + q coshj1t- + C~j1t-sinhj1t- sinj1t-
(8.114)
j=1.3.odd 1t J a a a a
where the original constants q and q have been modified by the common
factor. Now, the constants are evaluated by applying equation (8.112):
Ci = - 2(A.i sinh ,V + 2 cosh A.i) (8.11 Sa)
5 1t SjS cosh 2 A.l
and
(8.115b)
where
,V = j1tb (8.115c)
2a
The rotations, stress couples, and transverse shear stress resultants can be
obtained directly from equations (8.20), (8.8), and (8.9).
In retrospect, it is apparent that the "beam" solution could have been taken
in the form of a series initially. This would lead directly to equation (8.114)
without encountering equation (8.111).
A detailed study of this solution, including the convergence properties, is
contained in Timoshenko and Woinowsky-Krieger. 9 We have already exam-
ined this problem in detail in section 8.2.2.2, and the results found there can
be confirmed with the single series solution. Also available are parametric tables
for the various functions for uniform and hydrostatic loading. 9 Additionally,
single series solutions are developed for some additional cases including the
bending moments under a concentrated load,12 a somewhat difficult com-
putational exercise as noted in section 8.2.2.5.
Some results of the comprehensive study in Reference 12 are of general
interest. The single series Levy-Nadai solution is usually more rapidly con-
verging than the double series Navier solution. Heuristically, this indicates that
starting with the known beam function as a first approximation leads efficiency
312 8 Bending of Plates
y
I I
I I~
I It
I I
I
I
I k, a
I
I I~
I I
I----- ___I ~
b/2 bl2
I
x
Fig.8-14 Rectangular Plate Loaded by Edge Moments
solution procedures are discussed in Kiattikomol, Keer and Dundurs, 15 and ex-
tensive tabulated results are provided by Szilard. 16 These analytical approaches
become rather involved, and one must soon turn to numerical techniques. The
classical solutions remain valuable, however, as a basis for incisively evaluating
the results of numerical solutions through quantitative comparisons and order-
of-magnitude bounds.
[ J.R = 0
[ ] = C1
( )
,R
C1
R
( ) = C1 lnR + C2
[ lR = C 1 RlnR + C2 R
[ ] =C 1(~2 InR _ :2) + 2~2 + 3
C C
= C1 R 2 lnR + C2 R 2 + C3
where C 1 and C2 have been redefined. Continuing
314 8 Bending of Plates
and, finally,
D z = DZh = C 1 R21nR + C 2R 2 + C3 1nR + C4 (8.117)
where C 1 and C2 have again been redefined. The terms composing equation
(8.117) are known as biharmonic functions, because they individually and collec-
tively satisfy the biharmonic equation in polar coordinates.
It is informative to compute the rotation, stress couples, and transverse shear
corresponding to DZh ' These are found from equations (8.30c), (8.31), and (8.32b)
and are listed in table 8-3. We note the following characteristics of the tabulated
functions:
1. R 2 1n R is singular at R = 0 and R = 00, and is the only term which contri-
butes to QR'
2. R 2 is singular at R = 00; for this function MR = Mo (homogeneou.s bending).
3. In R is singular at R = O.
4. 1 is regular throughout.
These characteristics are useful for expediting solutions to various problems,
as we will see later.
8.3.1.3 Solid Plates. Consider the case of a constant edge moment M applied
around the circumference of a simply supported circular plate with radius a, as
shown in figure 8-15.
The boundary conditions are
Dz(a) =0 (8. 118a)
MR(a) = M (8.118b)
Of course, we may write equation (8.118b) as a function of Dz , but, as we shall
see, this is unnecessary. There are two additional boundary conditions required,
since we have a fourth order system. These conditions follow from the require-
ment that the solution remains finite at R = O. This is a familiar situation, which
we first encountered in the treatment of domes in chapter 4. In our preceding
characterization of the various biharmonic terms, we noted the singularity of
the In Rand R 2 1n R terms at R = 0, so that we must set C 1 = C3 = O. Then,
we find, by substituting the remaining terms in equation (8.117) into equations
(8.118) with the help of table 8-3, that
C2 a 2 + C4 = 0 (8.119a)
M
-C2 2(1 + Ji) = Ii (8.119b)
00
w
2
(')
E..
I>l
....
"C
Table 8-3 Solution components for a circular plate iii
ct
Solution Functions of Dz '"
Component
I D,(R) D1M(R) M,(R(D QR(R) qz(R)
= -DZ,R
M'(Re
D D
=- DZ,RR + iDz,RJ =- ~ DZ,R - P,Dz,RRJ
= DZ,RRR = V:Dz
1
+ JiDZ,RR
1
- -R2DZ,R
Homogeneous
DZh(R)
C1 x R 2 1nR -R(21nR + 1) -[2(1 + p,)lnR + 3 + P,J -[2(1 + p,)lnR + 1 + 3p,] -4/R 0
C2 x R2 -2R -2(1 + p,) -2(1 + p,) 0 0
1
C3 x lnR (1 - p,)/R 2 -(1 - p,)/R 2 0 0
R
C4 X 1 0 0 0 0 0
Particular
qz(R) = qo
qo/64D x I R4 -4R3 -4(3 + p,)R2 -4(1 + 3p,)R2 -32R 64
w
Vl
-
316 8 Bending of Plates
ff.
I
Mr. L
t~--Q--~~~-R-Q--~J
:,\M
from which
-M
(S.120a)
C2 = 2D(1 + Jl)
Ma 2
(S.120b)
C = 2D(1
4 + Jl)
and
M 2 2
(S.121)
Dz(R) = 2(1 + Jl)D (a - R )
Also, we find
(S.122)
which indicates that the bending moment is constant throughout the plate in
all directions. A state of homogeneous bending was previously encountered for
a rectangular plate in section S.2.1.2.
The first logical case of applied surface loading is a uniform load qz = qQ, as
shown on figure S-16. It is easily verified by direct substitution into equation
(8.116) that the particular solution is
(8.124)
(8.126a)
and
from which
(8.128)
At the boundary, R = a,
318 8 Bending of Plates
(8.130)
(8.131)
so that the maximum moment occurs at the center of the plate. At the pole,
MR(O) = M 6 (0), which again illustrates the isotropy condition first encountered
in the study ofaxisymmetrica1ly loaded shells of revolution, section 4.3.2.1.
We now investigate a clamped plate under uniform load, as shown in figure
8-17. There are two evident procedures: (a) We may superimpose the solutions
for the cases shown in figures 8-16 and 8-15 and enforce the compatibility
condition DR6 (a) = 0 to compute MR(a); or, (b) we may take the solution as
equation (8.124), with the constants determined from the boundary conditions
(8.132)
We select (a), the superposition approach, and enter table 8-3 with constants
from equations (8.120) and (8.127) to find
qo [-2(3 + p,)
DR6(a) = 64D
2
(1 + p,) a (- 2a) - 4a
3J - 2(1
M
+ p,)D ( - 2a) (8.133)
=0
from which
qoa 2
M max = MR(a) = - -8 (8.134)
The deflection function for the clamped plate is found by superimposing equa-
tion (8.128) and equation (8.121) with M = MR(a) as given by equation (8.134),
8.3 Circular Plates 319
,(0
't\j'""'1 f
M
Base Line
-
0 _
-
Clamped Plate
.! ~
-
CII
0 M
r
---''--_~_--I._ _~_ _ _ _ _ _ _ _~~ ___L--~B~as~ Line - Simply
Supported Plate
R
R=O R=a
Fig. 8-18 Moments in Circular Plates
We may consisely plot the stress couples for both the simply supported and the
clamped boundary conditions on a common graph, figure 8-18, since the edge
moment MR(a) produces a constant value of MR and M8 throughout.
8.3.1.4 Plates with Annular Openings. Another case of interest is a circular plate
with an annular opening, as illustrated in figure 8-19. We first consider the plate
under an exterior edge moment Ml and an interior edge moment M 2 , both
uniformly distributed around the circumference. Only the exterior boundary is
constrained against displacement in the Z direction. We have the homogeneous
solution, equation (8.117), subject to the boundary conditions
a a
Fig.8-19 Circular Plate with Annular Opening
320 8 Bending of Plates
Q Q
Dz(a) =0 (a)
MR(a) = M1 (b)
(8.136)
QR(b) =0 (c)
MR(b) = M2 (d)
A check of table 8-3 reveals that only the C 1 term contributes to QR(R). From
equation (8.136c), QR(b) = 0 so that C 1 = O. The remaining conditions, equa-
tions (8.136a), (8.136b), and (8.136d), lead to the complete solution 17
1 [a 2M1 - b 2M2 2 2
Dz(R) = D(a2 _ b2) 2(1 + /1) (a - R )
(8.137)
Dz(R) =
Ma 2 [(a 2 - R2) b2
D(a 2 _ b 2 ) 2(1 + /1) - (1 - /1) In aRJ (8.138)
(8.139)
(8.140)
Now, if we let the hole shrink, e.g., b -+ 0, then Mo(b) -+ 2M, indicating that there
will be a stress concentration around the hole approaching twice the value of
the moment applied on the outer edge.
This deduction may be generalized a bit more. If we consider a plate of
arbitrary shape which has a state of homogeneous bending M and a circular
hole of radius d, as shown in figure 8-21, the solution in polar coordinates should
contain the same biharmonic terms as equation (8.138),
(8.141)
The influence of the In R term on the moments diminishes rapidly away from
the hole, whereas the R2 term produces homogeneous bending. If we use the
boundary conditions
MR(d) =0 (8. 142a)
MR(R -+ (0) = M (8.142b)
we find from table 8-3 that
(8. 143a)
and
(8.143b)
from which
322 8 Bending of Plates
(8.144)
and
(8.145)
(8.146)
(8. 147a)
or
(8.147b)
rI
I
l,~
qJL
b b
a a
MR(b) =0 (8.148a)
Dz(a) =0 (8.148b)
MR(a) = 0 (8.148c)
and the complete solution finally takes the form 1 7
(8.149)
where
C6 -
__ ~[(1 + J.l) a 2 b2
4nD (1 - J.l) (a 2 - b 2 )
ln~]
a
(8.150b)
limlnb=O (8.151)
b~O 1
b2
by L'Hospital's rule, we find
P = 2n f: qz(R)R dR (8.153)
~+ QR(b)~
+
a~)
M2
l
I
~ 6
M2 =MR (b)
For more complex loadings, the corresponding values of QR(b) and MR(b)
8.3 Circular Plates 325
(0)
( b)
(c)
( d)
L Fi(R) cosjO
00
This approach is identical to that employed for the shell of revolution in section
4.3.5.2. From a physical standpoint, this is plausible since the circular plate is
the degenerate case of the shell of revolution as Rtf> -+ 00.
The function FO(R) is the solution of the axisymmetric case as given by
equation (8.117). For j ~ 1, we substitute equation (8.156) into equation (8.26)
to get
Forj> 1,
Fi(R) = C1Ri + C~R-i + qRi+ 2 + CiR-(j-2) (8.159)
° ql + q2
qz=--- (8.160)
2
(8.161)
For the symmetric component, q~, we have already obtained solutions for
simply supported and clamped boundaries in section 8..3.1.3. To apply the
8.3 Circular Plates 327
w;;...-~--+--x
IIIII IQ,;Q2
Since the governing equation, equation (8.26), requires four derivatives with
respect to R, we select a fifth order function for the particular solution
Dip = CJR s cos e (8.165)
Substituting equation (8.165) into equation (8.26), we find
CH120 + 2(60) - [20 + 2(20)] + [5 + 2(5)] + (-4 + l)}Rcose
qi R
= - -cos e (8. 166a)
D a
or
ql R
192CJR cos e = ~ -cos e (8.166b)
D a
from which
1
Cl_~ (8.167)
5 - 192Da
and
(8.168)
(8.171)
Di(R,8) = q
192(3 : JL)D [7 + JL - (3 + JL)(~rJ
(8.175)
. Ra(a 2 - R2)cos8
A detailed solution for the antisymmetric loading condition with a simply
supported boundary is presented in Timoshenko and W oinowsky-Krieger, 19
where the stress couples, the transverse shear forces, and the locations and
magnitudes of the maximum moments are established. Also, the problem of a
clamped circular plate under an eccentric concentrated load and some rather
extensive generalizations thereof are examined in Timoshenko and W oinowsky-
Krieger19 and in Michell. 20 Among other things, the latter solutions provide an
illustration of the Maxwell-Betti reciprocal theorem for a plate. 21
8.4.1 General Approach: There are a number of solutions for plates with other
than rectangular or circular planform which can be expressed in Cartesian or
polar coordinates. In Cartesian coordinates, solutions for triangular and ellipti-
cal plates are found by starting with a deflection function Dz that is proportional
to the equation of the boundary of the plate, which ensures that Dz = 0 on the
boundary. The function may be augmented in order to satisfy either a simply
supported or a clamped condition. In polar coordinates, a sector shape can
readily be treated using the general solution described in section 8.3.2.1. Some
representative illustrations are presented in the following sections. Also, a vari-
ety of tabulated results for various shaped plates are contained in Szilard. 16. 18
~.~y+-'-x-~o=o
o v'3 3v'3
+----·!--------~----x
2-0=O
y- - 'X+_
./3 3V'3
0/3
o
3M
Dz = ---DZl = -M- [ 4 a3 ]
X 3 - 3Xy 2 - a(X2 + y2) + 27 (8.177)
4aD 4aD
To verify this solution we must show that (a) V 4 D z = 0 on the entire plate; (b)
Dz = 0 on the boundaries; (c) Mx( -a/3, Y) = M·(the other boundaries may
also be checked but this will not be necessary because of the symmetry).
Proceeding, we consider
1. V 4 Dz = 0 throughout: From equations (8.13) we note that any nonzero term
remaining after the application of V2( ) must be at least quadratic in X and
y. No such terms are present in equation (8.177).
2. D z = 0 on boundary: This is obviously satisfied from the derivation of DZl •
3. Mx( -a/3, Y) = M: From equation (8.8a)
Mx = -D(Dz,xx + J1.Dz ,yy)
M
= -D 4aD [6X - 2a + J1.( -6X - 2a)]
M
Mx( -a/3, Y) = - 4a[ -2a - 2a + J1.(2a - 2a)] = M
D =
Z
~[X3
64aD
- 3Xy2 - a(X2 + y2) + ~a3J
27
(8.178)
.(~a2 _ X2 _ Y2)
This solution may be verified in a similar manner to that for equation (8.177).
It is instructive to perform a detailed stress analysis on this plate, following the
general computational format presented in section 8.2.2.3. Among other things,
this will confirm the absence of concentrated corner forces at a non-right angle
corner. This is left to the exercises.
A solution for a simply supported isosceles right triangular plate is also given
by Timoshenko and Woinowsky-Krieger. 22
8.4.3 Elliptical Plates: A clamped elliptical plate is shown in figure 8-27 and
the equation of the boundary is used to write
X2 y2
DZI = - -2 - - 2+ 1 (8.179)
a b
----+--.,-.-x
where
c=
8D
(3 3+ 2)
a4 +b 4 a2 b2
(8.180b)
8.4.4 Circular Sector Plates: A plate which is a slice of a complete circle may
be solved using a procedure similar to that described in section 8.3.2.1, except
that the displacement function for the harmonics j ;;::: 1 is taken as a Fourier
sine series. The arithmetic is rather involved, and the interested reader is referred
to Szilard. 24
The relatively meager array of available solutions for irregularly shaped
plates points to the tremendous breakthrough made possible when the finite
element technique became available. This method enables almost any form to
be realistically modeled and solved.
8.5.1 Strain Energy for Plates in Flexure: Refer to the general expression for
U. as given by equation (7.6). We are presently considering no extensional
strains, and, in accordance with our previous development, we choose to neglect
transverse shearing strains. Therefore, we have only the component III in
equation (7.7) remaining along with the bending thermal term.
V. D Js {
="2 r 2
(Dz,xx + Dz,yy) - 2
2(1 - f.l)[Dz,xxDz,yy - (Dz,xy) ]
f
(8.183)
h'2 }
+ a(l + f.l)(Dz,xx + Dz,yy) T(OC d, dY dX
-h/2
Since the strain energy density dV" which is the integrand of equation (8.184),
is obviously independent of the choice of coordinate axes and since V2 Dz has
been shown to be invariant, the term
(8.185)
also must be invariant. This observation can be useful for transforming V. to
other coordinate systems.
For polar coordinates, we may repeat the preceding calculations with IX = R,
P = 0, n = Z, A = 1, and B = R. However, for variety, we will use the invariant
property of dV. as discussed in the preceding paragraph, since V 2 Dz is already
available in polar coordinates and is given by equation (8.28a) or (8.28b). The
thermal term will be omitted since it is proportional to V 2 Dz . Therefore, we
need only transform the term stated in equation (8.185).
Referring to figure 8-3, we have
R2 = X2+ y2 (8.186a)
X
R ,x = -R = cos() (8.186b)
Y . ()
R ,y = -R = SIn (8.186c)
from which
o = cosOR,x - 1 sin ()
(8.187)
,x Rsin() R
using equation (8.l86b). Similarly,
334 8 Bending of Plates
() y = cos(} (8.188)
, R
Equations (8.186a-c), (8.187), and (8.188) constitute the basic relations required
to transform equation (8.185) into polar coordinates.
We now evaluate the required derivatives using the chain rule:
Similarly, we compute
• 2 sin () cos () cos 2 ()
Dz,yy = sm (}DZ,RR +2 R DZ,R8 + ~DZ,88
(8.190)
cos 2 () 2 sin () cos () D
+ ~DZ,R - R2 Z,8
The sum of equations (8.189) and (8.190) checks with equation (8.28a) for V 2 Dz .
Finally, we evaluate
Dz,xy == cos (}(DZ,RRR,y + DZ,R8(},Y) + DZ,R[ -sin9(O,y)]
sin ()
-T(Dz ,8R R ,y + DZ,88(},Y)
(cos 2 0 - sin 2 9) D
- R2 Z,O
8.5 Energy Method Solutions 335
r-2(1;-
Dz,xxDz,rY - (DZ,Xy)2 = (l/R)Dz,RDz,RR' which, along with the first two terms
in equations (8.28a), gives
for equation (8.184) with the thermal term omitted. For the common case of a
solid circular plate with radius a, equation (8.192) becomes
Us = nD S 0
a [(
DZ,RR
1)2
+ /iDZ,R -
2(1 - Jl)
R
J
DZ,RDz,RR RdR (8.193)
Dz = D~ksinjn-sinkn-b (8.194)
j=1 k=l a
we have
j=1k=1
00
-
a
• X. Y
smjn-smkn-
a b (8.195a)
j=1 k=1
X
a
Y
-b sinjn-sinkn-
b (8. 195b)
Dz,xy = L L
00
j=1 k=1
00
~k• (jn)
- (kn)
a
X
-b cosjn-cos Y
kn-
b
a
(8.195c)
form
j=1 k=1 j=1 k=1
However, because of the orthogonality relationships, only those terms corre-
sponding to the same j and the same k will remain after integration, and the
double summations over j and k reduce to single summations. Therefore,
omitting the terms which subsequently drop out, we have
(8.196)
336 8 Bending of Plates
_ n 4 abD
Uel - 8 j~ k~l
00 00 jk
(Dz )
2[(1)2 + (~)2J2
a b (8.197)
We now consider
0 J=l k=l
00
(Dfkf
• [(jn)2(kn)2
-
a
-
b
X
sin 2 jn~
a
(8.198)
Since
and
foa
sin
x
a
2 jn~dX =
fa cos
0
X
2 jn~dX = -
a
a
2
the entire expression for Ue2 vanishes and Ve = Vel, with no thermal effects.
We are now prepared to impart a virtual displacement to the system. Re-
calling the derivation in section 7.4.1, the virtual displacement is required to
conform to the constraints of the system, which means in this case the boundary
conditions. If the virtual displacement is twice differentiable, the strain-
displacement conditions, equations (5.55a-c), will automatically satisfy com-
patibility. Therefore, it is logical to take the virtual displacement in the form of
equation (8.194).
We proceed for a single general term of the series and choose for the virtual
displacement
(8.199)
where bD~k represents the amplitude of the virtual displacement. Also, note that
the source of the virtual displacement need not be specified.
Referring to figure 8-12, the virtual work done by the external load Qo acting
at X = ~ and Y = 11 is
For U. we take Ulf, the single general term of the series given by equation
(8.197), and evaluate
ab [( ]')2
'k
U.,D z = UI1' Dj1
'k
= -n4D
8- ~ + (k)2J2
'k
b (2Di) (8.202)
Now, equating equations (8.200) and (8.203) and cancelling the terms b~k, we
find
(8.204)
Dz = ~~ 'k' X·kY
~ ~ Di smjn-sm n- (8.205)
j=l k=l
b a
which checks with equation (8.101).
This example serves to illustrate that the principle of virtual work can serve
as an alternate statement of equilibrium.
a a
the problem considered in the previous section. It may be omitted here as well
and
D fa fb
u. ="2 -a -b (V2 DZ )2 dY dX (8.210)
(8.212)
The integrations are somewhat tedious and are not given here in detail, but the
340 8 Bending of Plates
result is 26
8.5.3.3 Galerkin Solution. The one-term Galerkin solution follows from equa-
tions (7.19)-(7.22). We first compute the residual error term R k , defined by
equation (7.21), by substituting equation (8.206) into equation (8.12). Con-
tinuing from equations (8.208a-c), we find
Dz,xxxx = 24c(y2 - b2)2 (8.219a)
Dz,yyyy = 24c(X2 - a 2f (8.219b)
Dz,xxyy = 16c(3X2 - a 2)(3 y2 - b 2 ) (8.219c)
and
Rk = V4 Dz _ qo
D
= 8c[3(y2 - b 2 )2 + 4(3X2 - a 2)(3y2 - b 2) + 3(X2 _ a 2)] (8.220)
from which
qo I
c = ----------- (8.222)
D III
where I is identical to the numerator of equation (8.216) and
In order to show that the one-term Rayleigh-Ritz and Galerkin solutions are
identical, we must prove II = III, where II is defined in equation (8.216). We
rewrite both II and III in terms of the coordinate function rPz. In view of
equations (8.208a) and (8.208b),
We now integrate equation (8.224) by parts. For the first term, we have
f fb
a
-a -b rPz,xxrPz,xx dY dX =
fb -b rPz,xxrPz,x LdY
a
- fa fb
(8.226)
rPz,xrPz,xxx dY dX
If the boundary terms at X = ± a drop out, we have reduced the first term of
equation (8.224) to that of (8.225). Considering the physical boundary condi-
tions discussed in section 8.1.6, we see that
a
rPz,xxrPz,x I = 0
-a
342 8 Bending of Plates
implies that either the moment or rotation is zero on the boundary. Similarly,
for
a
rPZ,xxxrPz I =0
-a
either the transverse shear or the deflection must vanish. For the clamped plate,
the rotation and deflection are zero on X = ± a so that the boundary terms
drop out and the first terms of II and III are identical. Similar integrations by
parts reduce the second and third terms of II to the corresponding terms of III,
so that the one-term Rayleigh-Ritz and Galerkin solutions are identical.
Mx = + Dor45DZ,YY)
-(Dor44Dz,xx (8.231a)
My = -(Dor55Dz,yy + Dor54Dz,xx) (8.231b)
Mxy = Myx = -Dor66DZ,XY (8.231c)
The elements of [D or ]' DOrij ' are presumed to be known, as discussed in section
6.1.2, and Dor45 = Dor54 '
If we take each Dorij as constant, we may write the equilibrium equation by
first substituting equation (8.231) into equation (8.9a) and (8.9b) to get
Qy = + Dor45DZ,Xxy + Dor66DZ,xxy)
-(Dor55DZ,yyy (8.232a)
Qx = -(Dor44Dz,xxx + Dor45DZ,XYy + Dor66DZ,XYY) (8.232b)
and then introducing equations (8.232a) and (8.232b) into equation (8.10), which
becomes
(8.233)
+ qz = 0
To verify the consistency of this derivation, we may check the isotropic case,
From matrix 6-2, Dor44 = Dor55 = D, Dor45 = JlD, and Dor66 = D(1 - Jl). There-
fore, Dor45 + Dor66 = D and equation (8.233) reduces to equation (8.11).
Equation (8.233) is of interest in the study of stiffened plates. In this applica-
tion, the term Dor45 may be neglected, as discussed in section 6.1.3, and the terms
Dor44 , Dor55 , and Dor66 are taken as the corresponding elements of [Deq],
equation (6.23). Other methods of finding the material constants for specific
configurations are discussed in Timoshenko and Woinowsky-Krieger. 31
For a rectangular plate simply supported on all sides, equation (8.233) may
be solved using the Navier approach, following section 8.2.2. Starting with
equation (8.71) for Dz , the l.h.s. of equation (8.233) becomes
j~ k~l [(i1t)4
00 00 (i1t)2(k1t)2
Dor44 -;; + 2(Dor45 + Dor66 ) -;; b
(8.234)
( k1t)4] X. Y
+ Dor55 b 'k'
D~ SlDi 1t-;;SlDk1t b
With the r.h.s expanded in a Fourier series as given in equation (8.73) and qik
344 8 Bending of Plates
~~ X·kY
D z ( X, Y ) = jft kf-l
'k'
Di sm j 7t-;;-sm 7tb (8.236)
Thus, available solutions for simply supported isotropic plates are easily ex-
tended to include orthotropic plates, once the material properties are defined.
V 4 Dz = qz (8.237)
Dr
'where Dr is a transformed flexural rigidity which is computed from the basic
properties, E and fl, of the individuallayers. 32 • 33
One type of layered plate is called a sandwich plate and is composed of at
least three plies. The outer layers, or skin, are usually relatively thin, but of high
strength, and resist the flexural and twisting moments by dev~loping couples of
opposing in-plane forces; the inner core transmits the shear stresses between
the outer layers. This behavior is similar to that of an H-shaped beam, where
the two outer layers would represent the flanges and the inner fayer, the web.
The analysis of this type of plate may be based on a large deflection theory
developed by E. Reissner. 34
directly in terms of the normal displacement [see equations (8.15) and (8.17)]
and leads to much simplified governing equations.
Although the contradictions incorporated in elementary plate theory have
been evident since the time of Kirchhoff, a satisfactory alternative which in-
cludes transverse shearing deformations appeared relatively recently (1944) and
is attributed to E. Reissner, 35,36 with some significant embellishments by A.
Green. 37 More recently, refined plate theories have been classified into first
and higher order shearing deformation theories,38 which carry the respective
names of Hencky-Mindlin and Kromm-Reddy. The distinction is drawn
because the first order theory (commonly known as Mindlin plate theory) does
not satisfy the shear stress-free conditions on the surfaces ± hj2. This is easily
seen by referring to the last two equations of matrix 6-1, where the shear stresses
are proportional to the shearing strains which are constant through the thick-
ness and, hence, do not necessarily vanish at the surfaces. The higher order
theories attempt to correct this shortcoming by including thickness-dependent
factors, at the expense of adding unknowns into the equations. As discussed in
section 6.1.1.2, the deficiency is minor in the context of elementary plate and
shell theory. It has also been observed that the effect of shearing deformations
is more pronounced in orthotropic than in isotropic plates. 38 The interested
reader is referred to Timoshenko and Woinowski-Kreiger 39 and to Reddy38
for some examples of solutions including transverse shearing deformations.
Although the inclusion of transverse shearing deformations complicates the
problem considerably for a differential equation formulation, the incorporation
of these effects is relatively easy in an energy-based approach. If we consider
equations (7.6) and (7.7), we see that the linear component Ehj[2(1 - Jl2)] [I]
contains the transverse shearing strains. Thus, we may add
4(1
Eh
+ Jl)
r
Js (Ya
2 2
+ Yp)ABdad/3 (8.238)
(8.239)
-h12
}
T(oe de dX dY
8.6.5 Folded Plates: Plates are basically shallow flexural members and are
somewhat inefficient in flexural action. An appealing procedure to increase the
8.6 Extensions of the Theory of Plates 347
forces are resisted by the flexural action of the plate acting as a beam of width
h, and depth D and span L. This is termed diaphragm action.
The end blocks are generally solid infills or stiff frames, rigid in the vertical
plane but flexible in the longitudinal direction, and a supporting structure, such
as a wall or a line of columns. Away from the ends, the ridge lines deflect in
accordance with the diaphragm action of the plates acting as beams with span
L, width h, and depth D. Thus, an interaction occurs between the plate and the
diaphragm behavior along the ridge lines, since the supports for the plate action
are not unyielding but elastic. This conceptual model is the basis for many of
the folded plate theories used in engineering design. Because these design
methods are generally developed in term~ of planar structural analysis theory
rather than in terms of the theory of plates, they are not treated here. The
interested reader is referred to Yitzhaki 42 and to Simpson. 43
The governing equations for folded plates may be written in the context of
the theory of plates by combining the equations describing the in-plane forces
and corresponding displacements with the basic plate equation, equation (8.12).
To do this, we take local Cartesian coordinates such that X and Yare in the
plane of each plate and write equations (3.25a) and (3.25b) as
Nx,x + Nxy,y + qx = 0 (8.243a)
Nxy,x + Ny,y + qy = 0 (8.243b)
Next, we replace the stress resultants by the strains using matrix 6-2, without
thermal effects.
Eh [
1 _ J-l2 (ex + J-ley).x + -1 2
- J-l w ]
- ,y + qx = 0
Eh [1 - J-l
1 _ J-l2 - 2 - w ,x
]
+ (ey + J-lex),y + qy = 0
(8.244)
(8.245a)
Eh [1 - J-l
1 _ J-l2 -2-(D y ,x + Dx,y),x + (Dy,y + J-lDx,x),y ] + qy = 0 (8.245b)
(8.246)
form the governing equations for the so-called exact theory of folded plates. 44
Solutions using this theory are presented by several authors,45-48 and a critical
evaluation of various solution procedures is available. 49
8.7 Instability and Finite Deformation 349
Original Plate
--~~------------- Sa
~--~--~--~~~~--~
N xy = N yX' we have
Qx,x + Qy,y - NxDxy,x - NyDyx,y - Nxy(Dyx,x + Dxy,y)
(8.250)
+ Dxyqx + Dyxqy + qz = 0
A more familar form of equation (8.250), applicable for transverse loading
only, is found by letting qx = qy = 0 and also by suppressing transverse shearing
strains, allowing
(8.251)
to be introduced from equations (8.7). Then, substituting equations (8.10)-(8.12)
into equation (8.250), we have
(8.252)
which becomes the governing equation for the deflection of a plate in the
presence of lateral forces.
In polar coordinates, oc = R, f3 = 8, and n = Z along with A = 1 and B = R.
Equations (3.25a) and (3.25b) become
(RNR),R + NOR,o - No + qRR = 0 (8.253a)
(RNRO),R + No,o + NOR + qoR = 0 (8.253b)
and equation (8.247) expands to
QR + RQR,R + Qo,o - DRI!(NR + RNR,R + NOR,I!)
- D9R(NRI! + RNRI!,R + NI!,o) - NRRDRI!,R (8.254)
- NI!DI!R,I! - NRI!RDI!R,R - NORDRI!,I! + qzR = 0
Substituting equations (8.253a) and (8.253b) into equation (8.254) and taking
N RIJ = N IJR , we have
(8.255)
+ NRIJ(DI!R - RDIJR,R - DRO,I!) + qRDRIJR + qlJDoRR + qzR = 0
Now, we let qR = qlJ = 0 and suppress the transverse shearing strains. From
1
equations (8.30), this gives DRIJ = - DZ,R and DIJR = - R Dz,I!' Introducing
equations (8.24)-(8.27) into equation (8.255), we get
DV 4 Dz - NRDz,RR - R
NIJ( DZ,R + R1 Dz,lJo)
2NRI! (1
+~ RDz,I!-Dz,RIJ
) =qz
(8.256)
8.7.2 Modification of Strain Energy: The expression for strain energy, as given
by equations (7.6) and (7.7), must be supplemented when coupling of the nor-
mal displacements and the in-plane strains is included, since nonlinear strain
terms are required. We refer to the basic description of deformation as dis-
cussed in sections 5.2 and 5.3. However, we will not attempt to develop a
complete nonlinear theory, but only to retain those higher order terms con-
taining Dn. This corresponds to a modified finite deformation theory, in which
the in-plane displacements remain small but the rotations are regarded as
moderate.
First consider equations (5.13) and (5.14) for A' and B'. Noting from equations
(5.10c) and (5.12c), respectively, that "'" and "'p
contain Dn terms, we have
A' = A [ (1
1
+ e,,)2 + A2 (Dn ,,,)2
J1 2 / (8.258)
and
(8.259)
and
We now return to the definition of the middle surface strains in section 5.3.1.
We denote the modified strains as e", ep, and ro, respectively, and retain the basic
definitions of these components of strain. Then, equation (5.25) becomes
8.7 Instability and Finite Deformation 353
(8.262)
_
+"21 (D
13)2
n• p
6p = 6p (8.263)
For the shearing strain, we note the product 1jI"ljIp in equation (5.27), which
previously had been neglected. Referring to equations (5.lOc) and (5.12c) and
retaining only the Dn terms,
(8.264)
In order to obtain a modified expression for the strain energy, refer to the
basic expression, equation (7.4). Assume that the strain energy due to bending
is not changed by the axial forces and remains the cubic component of equation
(7.7), (D/2) [III]. Also assume that the in-plane stress resultants are due entirely
to applied edge loading in the plane of the plate, in which case they are
unchanged during bending. This implies that the external and internal work
done by these constant stress resultants acting through the corresponding
external and internal in-plane displacements will cancel in the energy balance
when a virtual transverse displacement is introduced. This may be formally
substantiated by rather involved arguments,50 which are not repeated here.
Therefore, the additional strain energy V., is due entirely to the straining of the
middle surface as a result of the bending. With these assumptions, we can write
Note that there is no 1/2 coefficient in equation (8.265), since the in-plane stress
resultants are already acting when the additional middle surface strains occur.
r
Substituting equations (8.262)-(8.264) into equation (8.265) gives
V. = ~ Is [N,,(D~"r + Np(Di p
(8.266)
+ 2N"p (D~,,) (DiP)] AB dex df3
and the total strain energy for plate bending in the presence of constant in-plane
forces is
354 8 Bending of Plates
D
U. + U. = U.+S = 2[III] + U. (8.267)
U. =
r
2"1 Js [Nx(Dz,x) 2 + Ny(Dz,y) 2 + 2Nxy Dz ,x Dz,y] dX dY (8.268)
1
U. = 2" Jsr [NR(Dz,R) + Ne (Dz,e)2
2
R R e) RdRdfJ]
+ 2NReDz ,R (Dz, (8.269)
(8.272)
(8.273)
As before, the Fourier coefficient for the applied surface loading, qik, is evaluated
from equation (8.75). The total plate deflection is then computed from equation
(8.71).
If the in-plane load is tensile, Dik, and hence the deflection, is reduced from
the case with no in-plane forces; however, if Nx is compressive, the deflection
8.7 Instability and Finite Deformation 355
8
.01.0
........,
-II·.... 6
+
....
.010
~
'----'
4
o ~ ______ __ ___ __
~ ~ ~ ~ - L_ _~_ _ _ _ L __~____~~_
3& 4./20
alb
Fig. 8-31 Lower Bound for Critical Load in Rectangular Plate
is increased. In fact, there are critical values of N x , one for each of the specific
harmonicsj = Jand k = k, for which the denominator of { } in equation (8.273)
vanishes and the deflection becomes infinite:
The N XCT are the elastic buckling loads for a uniaxially compressed, simple
supported rectangular plate and are unaffected by the transverse load qz.
It is evident from equation (8.274) that Nxcr is quite similar in form to the
Euler buckling formula for columns. It includes the term n 2 , the term D =
Eh 3 /[12(1 - J.l2)], which is equivalent to the EI term in the column formula,
and the length terms a and b. However, the length terms are not only in the
denominator; rather, the dimension in the direction of loading, a, appears also
in the numerator. 1\lso note that the J term, corresponding to the harmonic
numbers of the buckling modes in the direction of loading, occurs in both the
numerator and denominator. The value of Jwhich yields the lowest critical load
is not obvious from equation (8.274). It is quite clear, however, that k = 1 will
356 8 Bending of Plates
Grr
give the lowest value of NXer> so that we may write
-
N Xer1 =
-n 2
-,:;z-
D[-ba+ }t;
j
1 aJ2 (8.276)
[ j-b
-
1
+ =- aJ2 ~ 4 (8.277)
a j b
Of course, the number of waves in the buckled shape will still depend on alb.
The deflected shape for] = 2, corresponding to .j2 ::s; alb ::s; J6, is shown on
the inset.
In contrast to column buckling, note that the lowest critical load is practically
independent of the length ofthe member in the direction of the loading. Rather,
only the length of the loaded edge, which is a quantity not present in the column
problem, is significant.
It should be noted that the single series Levy-Nadai approach, introduced
in section 8.2.3, is effective for plate instability investigations as well. The latter
is the logical alternative to the Navier solution when boundary conditions
other than all sides simply supported are encountered. The single series solution
is applied in Brush and Almroth,51 and an application is suggested in the
exercises.
given by equation (8.196). Following the procedure detailed in section 8.5.2, the
additional strain energy due to the in-plane forces is
(8.279)
Vii
2
= -8- jf; k~l (D~kf
n ab 00 00 [_
Nx ~
(j)2 + Ny- (k)2]
b (8.280)
Adding equation (8.280) to equation (8.197) gives the total strain energy U'+ii.
Next, we take for U. H the single general term of the series, vl!ii> and find
JV.+ ii . From equation (8.280), we have
(8.281)
(8.282)
(8.284)
Equation (8.284) can lead to several classes of buckling problems, such as (a)
Nx and Ny are proportional, i.e., Nx = INcr and Ny = gN"" where I and g are
specified constants which permit Ncr to be evaluated; and, (b) Nx (or Ny) is a
fixed value. Correspondingly, Nycr (or Nxcr ) can be computed. As an example,
358 8 Bending of Plates
(8.289)
Eh
Nxy = 2(1 + J-L) OJ (c)
1
By = Eh (Ny - J-LNx ) (b) (8.293)
2(1 + J-L)
OJ = Eh Nxy (c)
(8.295c)
and equations (8.295a-c) are introduced into equations (8.294) and (8.252), we
obtain
(8.296)
and
(8.297)
which are known as von Karman equations for the large deflection of plates,
after the famous contemporary mechanician.
The von Karman equations are coupled and nonlinear. The nonlinearity
arises from the relaxation of assumption [lJ, and the enforcement of this
assumption immediately reduces equation (8.297) to the equation of the linear
theory, equation (8.12). Also, the equations are written in invariant form and
thus may be readily transformed to other coordinate systems. Y. C. Fung 52
observed that the r.h.s. of equation (8.296) is related to the Gaussian curvature
of the deformed surface. From equation (2.38), we confirm that (D z ,Xy)2 -
Dz,xxDz, yy = b, the discriminant of the deformed surface, so that if the plate is
bent into a developable surface (zero Gaussian curvature) such as a cylinder,
the r.h.s. of equation (8.296) vanishes.
We may investigate this in more detail by referring to the cylindrically bent
plate shown on figure 8-7, which was treated in section 8.2.1.3. Because of the
single curvature, Dz,xx = Dz , yX = 0 and the r.h.s. of equation (8.297) reduces to
1
Dz,yyyy = D (qz + NyDz,yy) (8.298)
D z , yy is left in general form rather than being evaluated from equation (8.66),
since the presence of Ny will modify D z somewhat. Equation (8.298) is a fourth
order ordinary linear differential equation with a constant coefficient, which is
readily solved by classical methods. The homogeneous solution is written as
(8.299a)
where
(8.299b)
(8.300)
8.7 Instability and Finite Deformation 361
from which
D = N y(1 - IlZ) Y
y Eh
(8.303)
since Dy(O) = O.
To express Dy as the difference between the final arc length and the initial
length in the Y direction, refer to equation (2.46) with Sz replaced by Sy, dZ
by dY, and dR o by dD z . Since the deformation is symmetric, we need consider
only half the plate (0 < Y < b). Then, from equation (2.46),
so that
Dy = Sy - b = ~ f: (Dz,y)ZdY (8.306)
-1l 2)b = ~ (b (D
D
y= N
y (1 )2dY
Eh 2 Jo Z,y
(8.307)
362 8 Bending of Plates
Equation (8.307) along with equations (8.299a) and (8.299b) and a particular
solution such as equation (8.300) constitute the solution to the problem of
cylindrical bending when the in-plane displacements of the middle surface are
restrained. An obvious iterative solution algorithm is to begin with an assumed
value of Ny; compute the integration constants in equation (<8.299a) using the
appropriate boundary conditions on Dz ; and finally, check the assumed Ny
using equation (8.307). Solutions of the cylindrical bending problem are avail-
able in Timoshenko and Woinowsky-Krieger. 53
For equations (8.296) and (8.297), a limited number of analytical solutions
using the Navier approach are available,54 but the calculations are quite
involved and numerical solutions are attractive.
An important point which might be investigated with solutions based on the
finite deflection theory of plates is the limit of the small deflection theory.
Specifically, we are interested in two points: (a) how large the normal displace-
ment D z must be in order to obtain stress couples significantly different from
those calculated using elementary plate theory; and, (b) how significant are
the in-plane stress resultants accompanying the finite transverse displacement?
These questions are difficult to answer in general but may be studied for circular
plates, as we will show in the next section.
From section 8.3.1.4, we recall that for an axisymmetric loading qR(R), QR(R)
can be directly expressed in terms of qR' so that QR may be regarded as a known
quantity in what follows.
Now, we use the strain-displacement relations for polar coordinates, which
are obtained from equations (8.262) and (8.263) together with (S.S4a) and (S.S4b),
to write
(8.310)
and
8.7 Instability and Finite Deformation 363
(8.311)
Eh [ 1 DRJ
NR = 1 _ J12 DR,R + 2(Dz ,R) + J11{
2
(8.312)
and
Finally, we substitute equations (8.312) and (8.313) into equations (8.308) and
(8.309) to get
(8.314)
and
(8.315)
Thus, the elementary theory appears to be conservative and fairly accurate for
deflections up to about one-half the plate thickness.
To assess the significance of the in-plane stress resultants, we must refer to
actual stresses, rather than the stress resultants. From elementary strength of
materials and the definitions in chapter 3,
h) N; 6M;
O'u
( ±"2 =h±V (8.316)
The stress resultants NR and N9 are both tensile and relatively small in the
central portion of the plate. In the outer portion, NR -+ 0 and N9/h becomes
compressive and reaches a magnitude of almost 20% of 6M/h 2 , where M is the
constant moment of the elementary theory. From this, we conclude that with
deflections approaching the half-thickness of the plate, the seemingly simple
case of uniform moment may be susceptible to circumferential instability be-
cause of the relatively high compressive values of N 9 •
This study has provided us with an opportunity to assess the validity and
limitations of one of the important assumptions in the elementary theory of
plates, assumption [lJ.
8.8 References
1. R. Szilard, Theory and Analysis of Plates, Prentice-Hall, Inc., Englewood Cliffs, NJ,
1974, p. 36.
2. M. Filonenko-Borodich, Theory of Elasticity, [trans. from Russian, (New York:
Dover Publications), pp. 260-268].
3. S. Timoshenko, History of the Strength of Materials (New York: McGraw-Hill,
1953), pp. 119-122.
4. S. Timoshenko, and S. Woinowsky-Krieger, Theory of Plates and Sheils, 2nd ed.,
(New York: McGraw-Hill, 1959), p. 92-97.
5. S. Timoshenko and J. N. Goodier, Theory of Elasticity, 2nd ed., (New York:
McGraw-Hill, 1951), pp. 316-317.
6. S. Timoshenko, History of the Strength of Materials, pp. 333-340.
7. A Nadai, Die Elastichen Platten, (Berlin: Springer-Verlag, 1925), p. 42.
8. S. Timoshenko, History of the Strength of Materials, pp. 110-113.
9. S. Timoshenko and W. Woinowsky-Krieger, Theory of Plates and Shells, pp. 113-
135.
to. R. Courant and D. Hilbert, Methods of Mathematical Physics, Vol. I, (New York:
Interscience Publishers, 1966), pp. 351-396.
11. Manual of Steel Construction, 8th ed., (New York: American Institute of Steel
Construction, 1980), pp. 2.114-2.125.
12. S. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Sheils, pp. 136-
162.
13. Ibid., chap. 6.
8.8 References 365
41. L. J. Brombolich and P. L. Gould, "A High-Precision Curved Shell Finite Element,"
AIAA Journal, vol. 10, no. 6, June 1972, pp. 727-728.
42. D. Yitzhaki, Prismatic and Cylindrical Shell Roofs (Haifa, Israel: Haifa Science
Publishing, 1958).
43. H. Simpson, "Design of Folded Plate Roofs," Journal of the Structural Division,
ASCE, vol. 84, no. 1, January 1958, pp. 1-21.
44. D. P. Billington. Thin Shell Concrete Structures (New York: McGraw-Hill, 1965),
chaps. 8 and 9.
45. M. Pultar, "Foundations of Folded Plate Theories," lASS International Colloquium
on the Progress of Shell Structures in the Last 10 Years and Its Future Development,
Session VI, Madrid, Spain, September-October 1969, pp. 1-16.
46. J. E. Goldberg and J. L. Leve, ''Theory of Prismatic Folded Plates," Memoirs,
IABSE, vol. 17, 1957, p. 59.
47. V. A. Pulmano and S. L. Lee, "Prismatic Shells with Intermediate Columns," Journal
of the Structural Division, ASCE, vol. 91, no. ST6, December 1965, pp. 215-237.
48. M. Pultar, D. B. Billington, and J. Riera, "Folded Plates Continuous over Flexible
Supports," Journal of the Structural Division, ASCE, vol. 93, no. ST5, October 1967,
pp.253-277.
49. Phase I Report of the Task Committee on Folded Plate Construction, Journal of
the Structural Division, ASCE, vol. 89, no. ST6, December 1963, pp. 365-406.
50. S. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Sheils, pp. 380-
387.
51. D. O. Brush and B. O. Almroth, Buckling of Bars, Plates and Shells (New York:
McGraw-Hill, 1975), pp. 94-112.
52. Y. C. Fung, Foundations of Solid Mechanics (Englewood Cliffs, NJ: Prentice-Hall,
1965), pp. 463-470.
53. S. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Shells, chap. 1.
54. Ibid., pp. 421-428.
55. Ibid., pp. 396-415.
8.9 Exercises
The numerical problems are given without specific units to allow English, metric, or SI
unit dimensions to be selected.
8.1 Using an appropriate free-body diagram and the definition
Dr = -C;Dz.r
and
8.9 Exercises 367
X
rrFr -Y- - - -
I
I
I
I +
------, I
I
0/2
=
I I
L
I
_______ _ _ _ _ _ _ ....JI 0/2 Fluid, unit wt. = y
b/2 bI2
Fig. 8-32
8.2 A rectangular plate rests on an elastic foundation with modulus K. The units of
K are force/surface area/distance in the transverse direction. Derive the governing
equations for the bending of this plate.
8.3 Using an appropriate free-body diagram and the Kelvin-Tait argument, verify the
effective shear expression in polar coordinates as given by equations (8.30).
8.4 Consider triangle a> in figure 8-4 and derive equations (8.38) and (8.39).
8.5 The simply supported plate shown in figure 8-32 is half-submerged in a fluid of
unit weight y.
(a) Obtain a solution for the displacement function using both the Navier and
Levy-Nadai methods.
(b) Using one of the preceding solutions:
(1) Determine the midspan deflections.
(2) Determine the maximum value of Mx and the location on the plate.
(3) Plot the variations of (a) Mx and My along the center lines of the plate
and (b) Qx and Qy along each boundary.
(4) Compute the corner forces.
8.6 Consider the plate shown in figure 8-9. The loading qz(X, Y) = qo = constant.
All edges are simply supported, except the edge along the Yaxis at X = 0, which
is clamped. Using the L6vy-Nadai approach, derive the deflection function and
compare the maximum moments in the X and Y directions to those found when
all sides are simply supported. To facilitate the numerical work, a square plate
a = b may be used as the basis of comparison.
8.7 Consider the axisymmetrically loaded, simply supported circular plate as shown
in figure 8-33.
(a) Obtain the solutions for the displacement, the radial moment, and the circum-
ferential moment.
(b) Evaluate the maximum radial and circumferential moments.
(c) Verify the solution for a concentrated load at the center of the plate of
magnitude Po = qo1tb 2 , given by equation (8.152).
368 8 Bending of Plates
QO
/5.
t t f f t
D-
b
Fig. 8-33
qo
t t t
~ ~
b
Fig. 8-34
1 II 1 I I 1J (0)
~(bJ
Fig. 8-35
8.9 Exercises 369
Rigid Plug
1
I III I I II~ I
Fig. 8-36
8.8 Consider the clamped circular plate shown in figure 8-34 and re-solve exercise 8.7.
8.9 Consider the circular plate as shown in figure 8-35. The plate is subjected to (a) a
uniformly distributed load qo; and (b) a hydrostatic loading with maxi-
mum intensity ql, and is supported on a knife-edge circular support which has a
radius b.
Derive the general solution for the deflection function for this plate. The
solution should consist of a diagram of the superposition representation (if
required) plus a careful statement of the appropriate conditions required to
evaluate the integration constants. It is suggested that each loading case be treated
separately.
8.10 Consider the circular plate with a rigid insert as shown in figure 8-36. The plate is
subjected to a uniformly distributed load of intensity qo on the insert and ql on the
annulus.
(a) Derive the general solution for the deflection function for this plate. The
solution should consist of a diagram of the superposition representation (if
required) plus a careful statement of the appropriate conditions required to
evaluate the integration constants.
(b) Compute the expressions for the radial and circumferential moments and
determine the maximum values and locations.
8.11 Consider the triangular plate shown in figure 8-26 subject to a uniformly distri-
buted load qo.
370 8 Bending of Plates
b
+-----f'---X
b
t--~o -~
-==r:rrrrnn
---+----=-0
qo
Fig. 8-37
c
_1~~!---,---,--,'---'---'--1 ---.---.-y
mtmf:~:m~~:1:f:f:f:::: - - - - - - -: 0/2
- ):::::::::::::::::::::::\::::::::::::.,:::::::: q I T
::r:::::::::::::::::::::::::::::::::::::::::::::::::+ - -- - - -....+-----t-
I
T
lL _____________ -1I 0/2
b/2 b/2
x
Fig. 8-38
the loaded edges (0, Y) and (a, Y) and the boundary conditions on the other edges
are unspecified.
8.17 Consider the rectangular plate as shown on figure 8-31.
(a) Re-solve the all sides simply supported case treated in section 8.7.3 using a
U:vy- Nlidai solution in the form of equations (8.106) and (8.107).
(b) Determine the critical load for the case when the plate is clamped along the
unloaded edges (X , 0) and (X, b).
8.18 Consider the circular plate shown in figure 8-33 with an added uniform radial
compression force N R • Determine the critical value of N R .
8.19 In section 8.2.2.3, the maximum bending moment in a square simply supported
plate under a uniform load was shown to be proportional to the total load on the
plate, q oa 2 .
(a) Investigate the variation of the maximum normal displacement as the radius a
increases while q oa 2 remains constant.
(b) Investigate this proportionality for a case where two opposite sides are fixed,
whereas the other opposite sides are simply supported.
CHAPTER 9
9.1 General
In earlier chapters, we derived the equilibrium, strain-displacement, and con-
stitutive equations and stated the required boundary conditions for the bending
theory of shells, referred to a system of orthogonal curvilinear coordinates.
Also, we developed strain energy and potential energy expressions that can be
incorporated into an energy formulation of the shell theory. In this chapter,
these equations are specialized for various classes of shells, as we have done for
the membrane theory equations in chapter 4.
Before proceeding, again note that many shells may achieve equilibrium
through membrane action alone, provided the requisite conditions are closely
approached by the actual shell. For such shells, bending is a secondary phe-
nomenon often confined to narrow regions near boundaries, geometric dis-
continuities, and concentrated loads. On the other hand, there are shells for
which the membrane theory idealization is grossly violated by the physical
situation. The bending behavior may alter the stress pattern from that com-
puted by the membrane theory in two ways: (a) significant transverse shearing
forces and bending and twisting moments can develop; and, (b) the pattern of
the in-plane stress resultants may be altered markedly by the bending deforma-
tions. Although a shell may seriously violate the membrane theory require-
ments, there still remains the possibility of resisting transverse loading primarily
with in-plane forces, which is the basic initial attraction of this structural form.
It is this latter possibility, whereby the transverse loading may be resisted by a
combination of in-plane forces and transverse shearing forces, which distin-
guishes bending of shells from the elementary behavior of plates.
In the study of shell bending, cylindrical and conical shells are frequently con-
sidered apart from rotational and translational shells, although they technically
may fall into one or both of these classes. The bending behavior of shells with
zero Gaussian curvature is quite distinct, however, since in the direction where
the radius of curvature is infinite, these shells cannot develop any membrane
forces to resist the transverse loading. As we have seen in chapter 4, the
membrane theory solutions for such shells generally show the entire transverse
loading being sustained in the curved direction, a one-way resistance pattern.
When the membrane boundary conditions in the curved direction are violated
372
9.2 Circular Cylindrical Shells 373
(9.2b)
1
OJ = Do • x + -Q Dx • 0 (9.2c)
KX = Dxo.x (9.2d)
374 9 Shell Bending and Instability
(9.2e)
(9.3b)
Also, we have the effective shear forces evaluated from equations (6.24)-(6.27):
(9.3d)
(9.3e)
N ex = N ex (9.3f)
Qe = Qe + Mex,x (9.3g)
The constitutive relations are given by matrix 6-2, with IX and f3 taken as X and
e, respectively. These are restated here only in the matrix form of equation (6.10)
(9.4)
with the subscripts serving to remind us of our choice of coordinates.
It is easily verified that the membrane theory equations are recoverable from
the preceding expressions. With the bending terms neglected and N ex = N xe =
S, equations (9.1a-c) reduce to equations (4.160) and equations (9.2a-c), and
the corresponding parts of equation (9.4) are identical to equations (6.50).
axisymmetricalloading, the terms qe, Nex, N xe , Mex, M xe , Qe, co, "e, 't, Ye, De,
Du , and all terms differentiated with respect to () drop out. This leaves the three
equilibrium equations
N x .x + qx = 0 (9.5a)
Ne
Qxx--+
. a qn =0 (9.5b)
Mx.x - Qx =0 (9.5c)
and the strain-displacement relationships
6X = Dx.x (9.6a)
Dn
6e=- (9.6b)
a
We also have the pertinent constitutive relationships from equation (9.4). These
are written explicitly from matrix 6-2 as
Eh
Nx = - - - 2 (6 x + JJ6e ) - NXT (9.Sa)
I-JJ
(9.Sb)
(9.Se)
where D has been defined explicitly in equation (S.4d). When transverse shearing
strains are suppressed, equation (9.Se) is of no use, so that Qx must be evaluated
from equation (9.5c).
We now express the equilibrium equations in terms of the displacements in
the classical fashion of a displacement formulation.
First, we substitute equations (9.6a-d) into equations (9.Sa-e) to get the
stress resultants and couples in terms of the displacements. Also, in view of
equations (6.9), we set NXT = NeT = NT and MXT = MeT = M T . Then, we
have
376 9 Shell Bending and Instability
Nx = Eh
-- -2 ( DX X + j1-
Dn) - NT (9.9a)
1-j1 . a
Mx = DDx(J.x - MT (9.9c)
M(J = j1DDx (J.x - MT (9.9d)
AEh
Qx = 2(1 + j1) (Dn.x + DX(J) (9.ge)
In the absence of transverse shearing strains, we use equation (9.7) for Kx and
find
Mx = -DDn. xx - MT (9. lOa)
M(J = -j1DDn. xx - MT (9. lOb)
(9. 11 a)
(9. 11 b)
(9. 11 c)
The loading and thermal terms are presumed as known and transposed to
the r.h.s. The resulting set of three equations in the three unknowns Dx , Dn ,
and DX(J constitutes the displacement formulation. We will not reduce these
equations further, but concentrate on the theory in which transverse shearing
strains are neglected.
With Yx = 0, DX(J is expressed in terms of Dn by equation (9.6d). We need
retain only the first of equations (9.11), along with a new equation found by
substituting equations (9.9b) and (9.lOc) into equation (9.5b):
(9.12a)
-DDnxXxX- (1
Eh 2) ( j1Dxx+-
Dn) = NT
-qn--+MTXX (9.12b)
. a -j1 . a a'
9.2 Circular Cylindrical Shells 377
This set may be reduced to a single equation. We first integrate both sides of
equation (9. 12a), which gives
Nx = - f qx dX +C (9.13b)
We may rewrite the integral in equation (9.13b) in the alternate form introduced
in chapter 4 by choosing C = Nx(O). Then, we have
Dx,x 1 - J-l2 [ -
=~ IX qx dX + NT + Nx(O)] -
0
J-l
-;;Dn (9.13d)
(9.14)
which consolidates to
DDn xxxx
'a
+ -Eh2 Dn = qn (1 -
+ -a-J-l) NT - MT xx
'
(9.15)
+ ~[LX qxdX - Nx(O)]
where
k4 = 3(1 - J-l2) = ~ (9. 16b)
a 2h 2 4Da 2
Equation (9.16a) may be recognized as the governing equation for a well-
378 9 Shell Bending and Instability
(9.17)
(9.20)
where C 1 -C4 are integration constants.
The particular solution is, of course, dependent on the loading, and the con-
stants C 1 -C4 are found from applying the appropriate boundary conditions,
as we see in several examples later.
-x
metrically loaded cylindrical shells, however, there are many cases for which
the forces at one boundary do not materially affect those at the other boundary.
Such shells are termed semi-infinite.
We may demonstrate this behavior by referring to equation (9.20). If X is
measured from one boundary, the factor e kX will grow very large as X increases
unless C3 = C4 = 0, whereas the factor e- kX will cause the other terms to
attenuate. Thus, the solution simplifies to
(9.21)
with C 1 and C2 evaluated from the boundary conditions at X = O.
The semi-infinite approach simplifies the ensuing arithmetic considerably.
The range of shell parameters for which this assumption is valid may be
determined by considering a shell with an arbitrary edge loading and observing
the behavior of the solution as the distance from the loaded boundary increases.
As shown in figure 9-1, a transverse shear force Qo and bending moment Mo
are applied uniformly around the circumference at X = O. The positive signs
are chosen in accordance with figure 3-2. We have, from equations (9. lOa) and
(9.10c),
Mo = Mx(O) = -DDn,xx(O) (9.22a)
Qo = Qx(O) = - DDn,xxx(O) (9.22b)
from which
(9.23a)
and
(9.23b)
380 9 Shell Bending and Instability
Matrix 9-1
Mo Qo
D_ O 0 F1(kX) (a)
-2k 2 -2k3
Qo Mo
D_.x 0 0 F2 (kX) (b)
1 2k2 k
D Qo
D_.xx -Mo 0 0 F3(kX) (c)
k
1.0
0.8
0.6
0.4
0.2
,
F.
0
4.0 5.0
-0.2
kX
-0.4
L= n fo (9.25)
~3(1 - f1.)2
Eh -Eh [ Qo ]
No(X) = ~Dn(X) = 2ak 2D MoF2(kX) + TF3(kX) (9.26d)
,-----------~------------~------x
(0)
p
----'~ 1 t J,---
(b)
figure 9-3(b), reveals that the problem reduces to the case of an edge-loaded
semi-infinite shell, similar to that treated in the previous section, with boundary
conditions
p
Qo = Qx(O) = -2" (9.27a)
(9.28a)
(9.28b)
9.2 Circular Cylindrical Shells 383
P
Mx(O) = 4k (9.29b)
P
Qx(O) = -"2 (9.29c)
PEh Pak
N 8 (0) = 8ak 3 D =2 (9.29d)
x p(X)
o A
(9.32)
(0 )
~~)=
72
8+ 1
12 hl2
T = IS + To
(b)
Fig.9-5 Built-In Cylindrical Shell under Pressure and Thermal Loadings
9.2.2.5 Built-In Shell under Internal Pressure and Temperature Gradient. Next,
we examine the cylindrical shell shown in figure 9-5(a), which is subject to
a uniform internal pressure p and a linear temperature gradient- Tl on the
outside and T2 on the inside. Both the pressure and the thermal gradient are
taken as constant along the length of the shell, and the ends are fixed against
translation and rotation. We again assume that L is sufficiently large so that
semi-infinite analysis is valid. A similar problem is considered by Kraus using
the more general short-shell solution,4 but for only a uniform temperature
change through the thickness.
Proceeding, we have the homogeneous solution from equation (9.21)
Dnh = e-kX(C 1 cos kX + C2 sin kX) = C 1 F 3 (kX) + C 2 F4 (kX) (9.34)
We now examine equation (9.16a) with respect to the construction of a particular
solution and consider each term on ther.h.s. individually.
First, for the pressure term qn = p, we select
p pa 2
Dnp1 = 4k4D Eh
(9.35)
386 9 Shell Bending and Instability
(9.36b)
T = _T,__1_-_T_2 (9.36c)
a 2
f
Then, from equation (6.9a) and (6.9b),
E?i. h/2 E?i.h
NT = -1- T(Od( = -1-T. (9.37a)
- J.l -h/2 - J.l
from which
(9.39)
Since MT,xx = qx = 0 in this case, no particular solutions are required for these
terms.
Finally, we have the axial stress resultant term Nx(O), which gives
(9.40a)
or
J.l J.la
D np3 = -- k 4 Nx(O) = --h Nx(O) (9.40b)
4 aD E
(9.42a)
Now, we substitute the membrane theory stress resultant N(l> as given by equation
(4.62b),
N()=pa (9.42b)
along with
N x =0 (9.42c)
into equation (9.42a), which gives
pa 2
Dn = Dnml = Eh (9.42d)
which is the same as equation (9.35). For the thermal term, referring to
equations (6.9a) and (6.9b), we introduce
E~h
Nx = N() = NT =--T. (9.43a)
1-f.1
into equation (9.42a). Then,
a Mh
Dn = Dnm2 = -h - - T.(1 - f.1) = ~aT. (9.43b)
E 1 - f.1
which is identical to equation (9.39). Similarly, with N x = Nx(O) in equation
(9.42a),
(9.43c)
which matches equation (9.40b). We thus have quantified the earlier assertion
that the membrane theory solution frequently serves as a particular solution to
the bending theory equations.
We now proceed with the general solution, which is the sum of equations
(9.34) and (9.41), by enforcing the boundary conditions
(9.44a)
and
Dx()(O) = -Dn,x(O) = 0 (9.44b)
The first condition gives
pa 2 _ f.1a
C1 + Eh + cxaT. - Eh Nx(O) = 0 (9.45a)
388 9 Shell Bending and Instability
and
(9.46b)
To evaluate the term Nx(O) explicitly, we integrate equation (9.13d), giving
with
1 _Jl.2
Dx,x(O) = ---m;- [NT + Nx(O)] (9.47b)
pa 2
C 1 = - [ Eh + ( 1 _1 JI.)_rxa1'. ] (9.48a)
and
C2 = C1 (9.48b)
Correspondingly, equation (9.41) can be consolidated into
pa 2 ( 1 )_ (9.49)
Dnp = Eh + 1 _ JI. rxa1'.
and together with equation (9.34),
D n" = C 1 F 3 (kX) + C 2 F4 (kX) (9.50)
constitutes the general solution. We also need Dx,x, which is found from
equation (9.13d), as
(9.51)
9.2 Circular Cylindrical Shells 389
Explicit expressions for the stress resultants and couples may be written by
substituting the preceding solution into equations (9.9) and (9.10). This is
routine and is omitted for brevity. However, we may surmise from our previous
studies of the semi-infinite cylindrical shell that the homogeneous part of the
solution Dnh will be most influential near the ends and will diminish as X
increases, whereas the particular part Dnp , which is also the membrane theory
solution, will predominate away from the ends. Also, note from equation (9.10)
that there will be bending in the shell~even after the effects of Dnh diminish~
because of the constant thermal moment M T •
9.2.2.6 Short Cylindrical Shells. When the distance between boundary points,
L, is such that L < n/k, the semi-infinite assumption is no longer valid, and the
general solution, (9.20), should be used. We consider the extension of the
edge-loaded cylinder problem, shown in figure 9-1, to the case where line
moments and transverse shear forces are applied to both ends (figure 9-6).
We first rewrite equation (9.20) as
(9.52a)
where
Fs(kX) = e- kX cos kX
F6(kX) = e- kX sin kX
(9.52b)
F7 (kX) = e kX cos kX
F8(kX) = e kX sin kX
r-----x
~~--------------~:
~ B
Mx(O) = -DDn.xx(O) = MA
Qx(O) = -DDn.xxx(O) = QA
(9.53)
Mx(L) = -DDn.xx(kL) = MB
Qx(L) = -DDn.xxx(kL) = QB
We now turn to the tedious calculation of the derivatives of Dnh • We first
evaluate
r} c}
Matrix 9-2
0 -1 0 1
k k -k k
C2 -1 QA
F6(kL) -Fs(kL) -Fs(kL) F7(kL)
k[Fs(kL) k[Fs(kL) -k[F7(kL) k[F7(kL) ~: = 2k 2 D ~:
-F6(kL)] +F6(kL)] + Fs(kL)] -Fs(kL)]
Dl F6 = k(Fs - F6 )
D2F6 = -2PFs
D3 F6 = 2P(Fs + F6 )
Dl F7 = k(F7 - Fs)
D2F7 = - 2k2FS
D3F7 = -2k 3(F7 + Fs)
Dl Fs = k(F7 + Fs)
D2Fs = 2k2F7
D2 Fs = 2P(F7 - Fs)
Now, we insert the appropriate derivatives into equation (9.53), noting that
Fs(O)= F7(0) = 1 and F6 (0) = Fs(O) = 0, to get matrix 9-2, or
1
[FJ{C} = - 2k 2 D {B} (9.55a)
from which
(9.55b)
Although {C} may be written explicitly in algebraic form, the resulting expres-
sions are cumbersome; also, in the computer era, it is routine to evaluate {C}
by specifying numerical values for the shell parameters and performing the
inversion and multiplication. We shall regard the problem as essentially solved
at this point and consider an application.
p.
L b
As the cylinder deforms in the radial direction, the ring will retard the ex-
pansion or contraction. The resulting contact force between the cylinder and
the stiffener is shown as P in figure 9-7. This problem is somewhat similar in
concept to that shown in figure 4-4, where the ring beam of a dome is analyzed.
In that case, the strain incompatibility at the interface of the shell and the beam
could not be resolved because of the limitations of the membrane theory. Here,
however, we are able to enforce the deformation compatibility between the ring
stiffener and the shell.
We assume that the stiffener thickness hs « L, so that the reaction can be
considered to act on the shell as a radial line load. We take the inside radius of
the stiffener as a = a + hj 2, where a is the radius at the shell middle surface and
h is the shell thickness. Also, b is the width of the stiffener. In practice, the
stiffeners may be located on the inside of the shell, requiring a slight modification
of the solution.
The radial deformation ofthe ring stiffener due to the line load P (forcejlength
of circumference) is easily computed by considering the stiffener to be a short
cylindrical shell with radius = a + bj2, thickness = b, and length = hs • Then we
apply equation (6.53) which, for the loading and geometry under consideration,
reduces to
[a + (bj2)]
Dn = Ds = Eb No (9.56a)
Assuming the line load to be uniformly distributed over the length h., and using
equation (4.62c),
9.2 Circular Cylindrical Shells 393
No = P
hs
(a+~)
2
(9.56b)
Now, we examine the forces acting on the shell. We assume the loading
is a uniform internal pressure p, so that the particular solution is given by
equation (9.35):
(9.57)
Also, we have the force P applied to the shell by the ring stiffener. Assuming P
is directed outward on the ring, as depicted on the figure, an equal and opposite
force reacts on the shell, as shown in the inset. This is the same situation depicted
in figure 9-3, but with the sense reversed. Thus, we may find end conditions
from equations (9.27), referring to figure 9-6 for the correct algebraic signs for
Qx(O) = QA and Qx(L) = QB:
P
Qx(O) ="2 (9.58a)
(9.58b)
and
P
Qx(L) = -"2 (9.58c)
(9.60)
from which P is found. Then, the remaining stress resultants and couples are
routinely calculated.
A slight variation in this problem is noted in Timoshenko and Woinowsky-
Krieger. 2 If the shell is closed at both ends, an axial stress resultant
pna 2 pa
Nx = - - = -
2na 2
is present. This contributes to the particular solution given by equation (9.40b).
Thus,
(9.62)
D
np
= pa
Eh
2
(1 -~)
2
(9.63)
1
aMx , xx + -Mo
a ' 00 + 2Mxo , xo - No + qna = 0 (9.64c)
Next, we substitute equations (9.2a-c) and (9.3a-c) into (9.4) to get the stress
resultant-displacement equations
(9.65a)
(9.65b)
N xo = 2(1nh l 1
_ Jl) Do,x + ~Dx,o J (9.65c)
Mx= -D[Dnxx+
, Jl2(Dnoo-Doo)J-MxT
a ' ,
(9.65d)
Mo = -D [JlDn , xx + ~2
a (Dn' 80 - Do , o)J - MOT (9.65e)
Then, these expressions for the resultants and couples are inserted into equa-
tions (9.64a-c) to obtain equilibrium equations in terms of the displacements.
396 9 Shell Bending and Instability
1 2(
-_ ---11- -qo
Eh
+- - + - -T,O
N T,O
a
- M)
a2
(9.66c)
(9.67b)
9.2 Circular Cylindrical Shells 397
1
T = --Dn X(J (9,67c)
a '
These interpretations give a reasonable physical basis to the elimination of
the O(h2 /12a 2 ) terms.
We now collect the simplified equations as
h2 1
-V4Dn +2 (flaDx,x + D(J,(J + Dn) = Pn (9.68c)
12 a
where
(9.69a)
(9.69b)
(9.69c)
and
2 1
V ( ) = ( ),xx + 2( ),(J(J (9.69d)
a
is the harmonic operator in the X -() cylindrical coordinate system. Kraus l1
has derived a similar set of equations, applicable for noncircular cylindrical
shells as well, by neglecting the stress couples in equation (9.64b) and using
equations (9.67) for the changes in curvatures at the outset. The only perceptible
difference appears to be that the thermal moment gradient term in P(J, M T ,(J/a 2 ,
is not present in his equations.
It is easily verified that for axisymmetric loading, equations (9.68a) and
(9.68c) are identical to equations (9.12a), and (9.12b), which reduce ultimately
to equations (9.16a) and (9.16b).
The formulation continues by forming a judicious set of mixed partial deri-
vatives as suggested by Kraus: l1 (a) iJ2/oX 2 (equation [9.68a]); (b) 02/0()2
(equation [9.68a]); (c) 02/0 XO() (equation [9.68b]); and, (d) solution of (a) and
(b) for the mixed partials of De:
(9.70b)
c;~)
and
(9.71)
Equation (9.71) becomes the governing equation for D x , once Dn has been
determined.
We may derive a similar equation for Do by interchanging equations (9.68a)
and (9.68b) in the aforementioned mixed partial operations (a), (b), and (c) and
solving (a) and (b) for the mixed partials of Dx. This produces
+ ~ [ Po.xx -
Dx.xxxo = 1 2a (1 - ~)
-2- Do.xxxx - (1)
a2 Do.xxoo
(9.72a)
-(:2 ) Dn.xxo ]
and
(9.73)
which becomes the governing equation for De, once Dn has been determined.
Finally, we may isolate the normal displacement Dn. The procedure is: (a)
a/ox (equation [9.71]); (b) a/ae (equation [9.73]); and, (c) V4 (equation [9.68c]).
These operations give
-c;
(V 4De),e = V 4(De,e)
(9.74c)
After substituting equations (9.74a) and (9.74b) into equations (9.74c), we have
the desired equations for Dn:
h2 8
12 V Dn +
(1 -
fJ2)
~ Dn,xxxx
(9.75)
4 1[ 1
= V Pn - ~ fJPx,xxx - a2 PX,X99 + (2 +a fJ) P9,XX9 + ( a13) P9,999
]
Equations (9.71), (9.73), and (9.75) are among the most famous equations in
the theory of thin shells and are commonly referred to as, alternately, Donnell's
equations, Jenkins's equations, or Vlasov's equations. The eighth order system
is uncoupled for the displacements, so that once Dn is determined from
equation (9.75), Dx and De may be found by solving equations (9.71) and (9.73),
respectively. These equations are also used, with slight elaboration, to study
the dynamic response of circular cylindrical shells. 12
The appropriate boundary conditions for the foregoing equations are estab-
lished from figure 6-3, with a = X and P = e. The relationships in which there
400 9 Shell Bending and Instability
are no transverse shearing strains included are applicable here. Note that the
equations derived pertain to open, as well as to closed, circular cylindrical shells.
For closed shells, the boundary conditions in the () direction are replaced by
continuity conditions of the form f(O) = f(2n), where f(() is a function which
is continuous at () = O.
Before considering some specific applications, it is instructive to make some
general comments on the analytical solution of the governing equations for
this theory, equations (9.71), (9.73) and (9.75), or, alternately, the coupled
equations (9.68a-c). Complete solutions are fairly complicated algebraically,
but are extensively documented in specialized works, such as Fliigge. 13
Briefly, the solutions of the homogeneous equations for edge loadings at
X = it = constant are of interest for both open and closed· shells and are
obtained by taking the Fourier expansions
Note that for closed shells, Dih(O) = Dih (2n)(i = X, (), n), which serve as the con-
tinuity or periodicity conditions. Then, for a general harmonic j, the substitution
of equations (9.76) into the governing equations gives an eighth order algebraic
system. The solution ultimately takes the general form
Ri(X,() = CG{C{[e-glx(f!Cosg3x - fising3x)]
+ CHe-g X(flcosg 3x + f/s ing 3x)]
1
those terms associated with q-q are suppressed, and therefore only four
boundary conditions are needed.
For an edge loading at X = X, such as we studied for axisymmetric loading,
the integration constants are determined by first substituting the respective
displacements, Ri(X, 0), into the stress resultant-displacement relations, equa-
tions (9.65); and then setting those expressions corresponding to the specified
edge loadings equal to their boundary values, Nx(X), NX9 (X), Qx(X), and/or
Mx(X). Additional equations may be obtained by the specification of kinematic
boundary conditions Dx(X), D9(X), Dn(X), and/or D9X(X), For a semi-infinite
shell, X corresponds to X = 0, whereas for a complete shell, X stands for X = L
as well.
Next, we consider the homogeneous solutions for a shell with an edge loading
applied at a boundary 0 = (j = constant. Obviously, this case is pertinent only
for open cylindrical shells, such as those discussed in section 4.4.1. Here, series
solutions of the form
k X
DXh Dxh(O) cos kn L
00
. X
D9h L
k=O
D;h(O)smkn L (9.78)
X
Dnh D!h( 0) cos kn L
are widely used. An eighth order algebraic system must be evaluated for each
harmonic component k, from which the solution may be expressed in the same
form as equation (9.77), with j replaced by k, and the coordinates X and 0
interchanged:
Rk = CG{CHe-91//(Rcosg30 - ftsing3 0 )
+ Q[e- 9'//(ftcosg 30 + Rsing 3 0)]
+ Q[e- 929 (Rcosg 4 0 - f.t sin g4 0 )
+ C![e-929(f.tcosg40 + Rsing 4 0)]
+ Q[e 919 (Rcosg 30 + Rsing 3 0)]
+ CHe 9,9( -ftcosg 30 + R sin g3 0 )] (9.79)
X
coskn L
' kn LX
sm
402 9 Shell Bending and Instability
Such solutions are used extensively in the analysis of open cylindrical shell roofs,
and extensive tabulations are found in Design of Cylindrical Concrete Roofs. 14
We now consider particular solutions for various applied loadings and
thermal effects. A general approach is to take
.k X
Dkp cos kn L cosj8
00 00
II
j=O k=O
(9.80)
.k X
D~p cos kn L cosj8
Such solutions may be combined with the edge load solutions generated from
equations (9.76) and (9.78) to solve a wide range of cylindrical shell problems.
Recall from our earlier calculation of the membrane theory displacements for
cylindrical shells (section 6.3.4.1) that the solution for the example considered
was precisely in the format of equations (9.80), with j = k = 1. This strongly
suggests that the membrane theory solution will serve as a particular solution
for the bending theory equations in many instances.
Finally, in our general discussion of solution procedures, we outline the tech-
nique of Vlasov,15 which is very attractive for certain problems. Starting with
the three coupled equations, (9.68a-c), and using a nondimensional axial co-
ordinate X/L, he introduces a stress function
(9.81)
from which the three displacements Dx , De, and Dm as well as the stress
resultants and couples, can be found by differentiation. The particular solutions
correspond to the individual surface loading components Px, Pe, and Pn' respec-
tively, and the resulting equation is in the same form as equation (9.75) with cD
replacing Dn. He specializes the equation for a normal loading Pn(X,8) and
9.2 Circular Cylindrical Shells 403
further stipulates that the shell is simply supported on all four sides. Referring
to section 6.2.2, this corresponds to boundaries such that where X = X =
e
constant, N x = Mx = D8 = Dn = 0; and where () = = constant, N8 = M8 =
Dx = Dn = O. Next, he uses the Navier approach, which is familiar from plate
solutions, to write
'"
'V
~ L...
= L... ~ ",;k'
'V"
(). k X
slnj7t=sln 7t-= (9.82)
j=l k=l () X
This stress function automatically satisfies the simply supported boundary
conditions. ~k is then determined so as to satisfy the governing equation for
each harmonic jk.
The solution by Vlasov's technique is fairly simple to implement, although
we do not pursue the details here. An interesting and useful result is the solution
for a cylindrical shell under a concentrated load, which isolates the Green's
function for such structures. 16
~rz-. q(X)
ing Beam
Nxe(O,O) = L:
j=l
Nl-AO) cosjO (9.88)
and
Nl-AO) = 0 (j -:/= inJ (9.89b)
Thus, we have expressed the fourth boundary condition at X = 0 [equation
(9.87)] in the harmonic form
406 9 Shell Bending and Instability
00
are obtained by summing the stress resultants and couples and displacements
obtained from the specific forms of equation (9.77) over the participating
harmonics at various circumferential locations e, and then adding these values
to the case [4-29(b)] results.
Fliigge 18 has considered a case with a/h = 150, nc = 8, and fJ = 6°. This gives
an amplification of 360°/(8 x 2fJ) = 360/96 = 3.75 for N x at the base; that is,
Rcl = 3.75NXb(0). The effect of this amplification and the corresponding change
in No dies out at about X = a, with the stress resultants above this level
practically equal to the membrane theory values.
In Gould 19 the column-supported shell model is generalized to represent
a longitudinally distributed, as opposed to a line, attachment between the column
and the shell wall. This study is particularly applicable to elevated storage tanks,
such as that shown in figure 2-8(u).
If the support is a wall or frame in the Y-Z plane, it must be sufficiently stiff to
prevent displacements in the Y or Z directions; yet, it must be sufficiently flexible
to permit displacements along the X axis and rotations about the Y axis.
Obviously, these requirements are difficult to satisfy exactly in a physical struc-
ture, but they are probably the best representation which can be incorporated
into an elementary analytical solution.
Now, consider the boundary conditions in the e direction. Referring to figure
9-9(a), three situations are identified: exterior, interior-general, and interior-
symmetry line. In some cases, the resistance is augmented by stiffening beams
spanning the length L; here, we will not consider this situation but only the
basic shell. First, the exterior edge may be regarded as free, so that
(9.92)
The interior edges are somewhat more complicated to characterize, since they
are continuous with the adjacent shell. Clearly, the displacements Dx, Do, and
the rotation Dox must be compatible between the intersecting shells. Strict
enforcement of this condition could result in four simultaneous equations per
interior valley line, which greatly complicates the calculations. A simplification,
widely used in design, is to treat every interior edge as if it were located
408 9 Shell Bending and Instability
Top
Base ~
~
Base
Compression 0 Tension
Nx
(b)
Fig. 9-9 Open Cylindrical Shell
9.2 Circular Cylindrical Shells 409
(9.93d)
which is identical to equation (6.55) obtained for the membrane theory rotation.
In addition, we may obtain two static conditions from the symmetry assump-
tion. First, the transverse shear stress resultants NlJx must be equal and opposite
on any two coincident edges. When such edges lie along a symmetry line,
- (exterior) - (interiOr)
NIJX( - Ok) = 0 b I; NlJx( ± Ok) = 0 b I (9.94a)
arre arre s
is the only possibility. Similarly, any resultant vertical force Fz on one edge
must have an equal and opposite counterpart on the other edge. Thus, for edges
along symmetry lines,
For clarity, all quantities computed from the membrane theory equations will
be designated by the subscript m. We check the expressions for the stress
resultants, equations (4. 169a-c), and find that the static boundary conditions in
the X direction, N x = Mx = 0 at X = 0 and L, are satisfied. An examination of
the membrane theory displacements for this case, given by equations (6.56a-c),
reveals that the kinematic boundary conditions in the X direction, Do = Dn = 0
at X = 0 and L, are similarly satisfied. Thus, the only possible violation of
the membrane theory conditions may occur on the () = ± ()k boundaries.
Observe from figure 4-39 that the idealized membrane boundary must develop
NOm and Sm at () = ± ()k' This is in clear conflict with the exterior edge condition,
equation (9.92), where No and Nox, which corresponds to Sm, are required to
vanish. An interior edge can develop only the Y component of NOm' FYm =
Nom cos (), as shown on figure 9-9(a), leaving the Z component, Fzm = - NOm sin (),
unbalanced. With respect to the N ox or Sm force, however, a careful examination
of figure 4-39 reveals that the sense of Sm along two adjacent boundaries as
computed from the membrane theory solution would be in the same direction,
either in the ( +) or ( - ) X direction. On the other hand, two adjacent shells
would be expected to develop equal and opposite shear resultants along their
common boundary, since no resultant force along the X axis can exist. More-
over, if the interior valley is a symmetry line as assumed in developing equations
(9.94a), then Nox must be equal to O. It is apparent, then, that the longitudinal
boundary conditions implied for the development of the state of stress predicted
by the membrane theory are grossly violated.
The basic procedure to rectify these violations consists of starting with the
computed membrane theory stress resultants, which are in equilibrium with the
applied loading, and the corresponding displacements. Then, corrective edge
loads are applied to satisfy the boundary conditions at () = ± ()k' Mathematically,
this is equivalent to adopting the membrane theory solution as the particular
solution to the governing equations. This has been shown quantitatively to be
a sufficiently close approximation,20 which is hardly surprising in view of our
previous discussions.
With the membrane theory solution taken as the particular solution, we need
consider only the homogeneous portion of Donnell's equation for the corrective
edge loadings. Specifically, refer to the solutions given by equations (9.78), which
were proposed for loading along edges e = constant. Notice that these expres-
sions are in the same Fourier series form as our membrane theory solution.
This is, of course, no coincidence, but the very reason for taking the membrane
theory solutions as Fourier series in the first place. As we have stated earlier, the
displacements, stress resultants, and couples corresponding to equations (9.78)
take the general form of equation (9.79). Now, we further assume that the semi-
infinite simplification is applicable, so that the effects at opposite boundaries
() = ± ()k are uncoupled. This leaves only the first half of equation (9.79), with
undetermined constants C~-C!.
We first consider the exterior edge. The violation of the boundary conditions
9.2 Circular Cylindrical Shells 411
stated in equation (9.92) are precisely equal to the membrane theory stress
resultants evaluated at () = Ok. From equations (4. 169a-c),
8qdL X .
Sm(X, ()k) = --z-cos n-sm ()k (9.96)
n L
and
(9.97)
QJ (~ , ()k) = 0 (9.98d)
after which ct-CJ are determined. Note that the functions of (X/L) [sin n(X/L)]
or [cos n(X/L)] are the same for both the membrane theory and bending theory
solutions, so that once the free edge condition is enforced at one point in the
interval 0 :::;; X :::;; L, it is satisfied at every point. This is another advantage of
the Fourier series representation.
Once the constants of integration are determined for the exterior edge solution,
the stress resultants and couples from the bending theory solution can be
evaluated at a sufficient number of coordinates [(X/L), ()] to obtain the stress
distribution. Of course, the membrane theory stress resultants are added to Nix,
Ni, and Ni to get the complete expression for these functions. Finally, the total
displacements may be computed as the sum of the membrane theory values,
equations (6.56a-e), and those found from the bending solutions with the
constants inserted. This solution is valid in the exterior portion of the shell
«()k ;:::: () ;:::: 0).
We have not provided sufficient detail here with respct to the bending
solutions to perform calculations on actual shells, but detailed procedures
and examples are available (see Design of Cylindrical Concrete Roofszl and
BillingtonZZ).1t is often convenient to construct the bending theory corrections
to the membrane theory solutions as linear combinations of unit load solutions
412 9 Shell Bending and Instability
of the type
(9.99a)
and
Ni = 1; N(Jx = MJ = QJ = 0 (9.99b)
Stich solutions are tabulated for a wide range of shell parameters in Design of
Cylindrical Concrete Roo/s. 23
We now take up the idealized interior edge, referring to the boundary
conditions given by equations (9.93) and (9.94). We use an analogous procedure,
superimposing the membrane theory solution with bending solutions for edge
loadings. The constants of integration are evaluated from the conditions
where the bending components are taken from expressions of the form of
equation (9.79), and the membrane theory parts are given by equations (6.56a-e)
and (4. 169a-c). Also, D y , and D(Jx are expressed in terms of D(J and Dn by
equations (9.93c) and (9.93d), respectively, and Fz is stated in terms of Q(J and
N(J by equation (9.94c). Again, these computations may be expedited by the use
of the tables in Design of Cylindrical Concrete Roofs. 24
Finally, with respect to simply supported circular cylindrical shells without
intermediate supports, we should assess the relevance of the rather complex
analysis we have outlined. We made a start in this direction at the conclusion
of section 4.4.1. Now we can amplify some of these remarks, since we have, in
principle, satisfied the boundary conditions on all edges.
Basically, at every cross section, the shell must resist the statical bending
moment due to the applied loading, regardless of the theory used. For a uniform
load w (force/length) the statical moment at the center line X = L/2 is the
well-known
_ L2
Mx=w- (9.101)
8
9.3 Shells of Revolution 413
where I = the moment of inertia of the cross section with unit thickness about
the centroidal axis. This may be regarded as a gross measure of the relevance
of the shell theory, as opposed to beam theory, calculations. In figure 9-9(b),
we show the distribution of N x over the cross section for a single barrel shell
analyzed in Design of Cylindrical Concrete Roofs,25 along with the straight line
distribution given by equation (9.102). Note that both the maximum tensile
and compressive stress resultants are more than double the values computed
from the linear strain, beam theory formula. It has been verified that both
distributions of N x yield practically the same statical moment Mx about the
centroid of the cross section. 26 Obviously, the analysis of an open cylindrical
shell by elementary beam theory is grossly inaccurate, insofar as the elastic
response is concerned.
(9.104c)
(9.105)
(9.106a)
and
where
111 Dor12
= -- an d (9.106c)
Dor11
Next, we eliminate Dn between equations (9.106a) and (9.106b) to find
1
D",o = -R(Dn.", - D",) (9.109)
so that -(1/R",)'" [l.h.s. (9.108)] = D",o, which is one of our dependent variables.
To complete the derivation, the stress resultants N", and No on the r.h.s. of
equation (9.107b) must be expressed in terms of the other variable Q",. This is
most easily accomplished by using the overall equilibrium concept introduced
in section 4.3.3.1. With Q", now included, equation (4.57) generalizes to
(9.110)
where Q(¢) is the resultant vertical load in the negative Z direction, expressed
as a function of the surface loading by equation (4.59). Therefore,
Q(¢)
N", . ¢ + Q", cot ¢
= 2 nRo SIll (9.111a)
The specialized form ofthe first of our governing equations, equations (9.105), is
a2
])Q; = D;8.;; + cot ,pD;B.; - (cot 2 ,p + Jl)D;8 (9. 114b)
Noting the similarity between the preceding two equations, we may define the
operator32
L( ) = ( ).# + cot,p( ).; - cot 2 ,p( ) (9.115)
whereupon the equations become
L(Q;) + JlQ; = -EhD;B (9. 116a)
a2
L(D;8) - JlD;8 = ])Qt/> (9.116b)
We substitute equation (9. 116b) into (9.116a), and (9. 116a) into (9. 116b), to get,
respectively,
a 2 Eh
LL(D;8) - Jl 2D;8 = ---VD;8 (9. 117a)
a 2 Eh
LL(Q;) - Jl2Q; = ---V Q; (9. 117b)
so that the equations are uncoupled. When one variable is determined, the other
may be immediately found from equations (9. 116a) and (9.116b), and all other
terms follow from the previous formulae.
It is of interest to rewrite equation (9. 117b) in the form
LL(Q;) + 4k4 Q; = 0 (9. 118a)
where
(9. 118b)
The resulting equation (9.118a) is quite similar to equation (9. 16a), which
describes cylindrical shells. Here, of course, the operator L( ) causes more
complication in the eventual solution.
It is also convenient to express equation (9.118a) in complex form as 33
418 9 Shell Bending and Instability
9.3.2.3 Asymptotic Solutions for Spherical Shells. One of the most powerful
methods for solving the complicated differential equations that arise in the
bending theory of shells is that of asymptotic integration. This method is
developed in Kraus 38 and Novozhilov 39 and applied to both symmetrically
and asymmetrically loaded shells of revolution in the latter reference. A detailed
development is beyond our objectives in this book. It is sufficient to mention
here that the asymptotic integration technique, as applied to second order
equations such as equation (9.121), transforms the equation into a form in which
the first derivative of the dependent variable is eliminated.
The attractiveness of solving the bending theory equations for rotational
shells in a relatively simple way has given rise to some useful approximate
methods, in which it is postulated that the solutions to the homogeneous
equations have the form
9.3 Shells of Revolution 419
e±k¢ sin k¢ }
(9.124)
e±k¢cos k¢
which give
m = ±(1 ± i)k (9.127)
so that the complete solution is
Q</> = B 1e(1+i)k</> + B 2e(1-i)k</> + B 3e-(1+i)k</> + B4e-(1-i)k</> (9.128)
where Bl - B4 are integration constants.
We now wish to redefine the integration constants so that Q</> is expressed
in terms of real functions. First, we use the identities
e~k</> = cos k¢J + i sin k¢J}
(9.129)
e-· k</> = cos k¢J - i sin k</J
to rewrite equation (9.128) as
Q</> = (Bl + B 2)e k</> cos k</J + i(Bl - B 2)e k</> sin k¢J
1
= - Eh Q9I.¢¢ (9.136)
The actual displacements are sometimes of interest. Dq, and Dn may be individually
found from the simultaneous solution of equations (6.34a) and (6.34b). Of more
use for our purposes is the radial displacement DR, which is defined in the inset
of figure 9-10 as
(9.137a)
422 9 Shell Bending and Instability
which gives
Also, from equation (9.104d) with Dor45 = /1, and (9. 138a)
Mo(¢) = /1M",(f/J) (9.139)
We have thus derived approximate, but explicit, expressions for the forces,
moments, and displacements in an edge-loaded spherical shell. From these
equations, it is obvious that the assumption leading to equation (9.125)-the
neglect of Q", and Q""", as compared to Q""",,,,-is reasonable since each sub-
sequent differentiation gives a factor k that is of o (a/h). Moreover, the presence
of the cot </J and coe </J coefficients of Q""", and Q"" respectively, in equation
(9.121) further reduces the influence of the latter terms when </J > rc/4. The limits
of application of the semi-infinite solution can be established using figure 9-2,
with kX replaced by k</J where k is given by equation (9.118b).
For practical application, it is helpful to represent the previous solution in
the same format as we used for the edge-loaded cylindrical shell. Consider the
loading shown in figure 9-10, which is analogous to figure 9-1 for the cylindrical
shell. We take
Mo = M",(</Jb) (9. 140a)
Qo = Q",(t/J,,) (9. 140b)
whereupon, from equations (9.132) and (9.138c) with f/J = 0,
Qo = C1 (9.141a)
(9.141b)
9.3 Shells of Revolution 423
from which
Cl = Qo (9. 142a)
2k
C2 =-Mo - Qo (9. 142b)
a
9.3.2.4 Compound Shells. We are now able to resume our consideration of the
cylindrical shell with a spherical head, as shown in figure 4-14 and discussed
in section 4.3.4. Previously, we found that the membrane theory, by itself, was
inadequate, since (a) radial deformations between the two shells were incom-
patible; and, (b) except for the complete hemisphere, the radial component of
the meridional force in the spherical shell was unbalanced. We may now fully
analyze the shell by the flexibility method described in section 6.3.1, using the
notation introduced in equation (6.30).
On figure 9-11(a), we show the pressurized shell from figure 4-14, with the
axial coordinate taken as X, and the origin placed at the end of the cylinder.
The respective thicknesses of the spherical and cylindrical segments are defined
as hI and h2' and the Young's moduli and Poisson's ratios as El and E2 and
fl.l and fl.2· Note that sintfrl = a2la l ·
Loading case [9.11(b)] requires the membrane theory solutions for the cylin-
drical and the spherical shells, given in equations (4.74)-(4.76) and equations
(6.38a-e), as well as a bending solution for the cylindrical shell, given by
equations (9.21)-(9.29) and matrix 9-1, with Qo = p(ad2) cos tfrl and Mo = O.
As we have noted previously, the membrane theory solution for the internal
pressure loading gives incompatibilities for both the relative radial displace-
ment [figure 9-11(d)] and the relative meridional rotation [figure 9-11(e}] of
the spherical and cylindrical shells at their junction. We denote these quantities
in the original shell, case [9-11(a)], as Lll and Ll2' and in case [9-11(b)] as ~1
and ~2' There is no contribution to ~2 from the membrane theory solutions
for either segment, since, under the uniform internal pressure loading, each shell
deforms without any rotation of the meridian. This is easily visualized. How-
ever, there still remains a contribution of ~2 from the line load p(ad2) cos tfrl'
To restore the compatibility, we provide loading case [9-11(c)], consisting
of the static correspondents of Lll and Ll 2 -namely, a radial transverse shear
force Xl and a meridional moment X2' equal and opposite on each segment.
Solutions for these loading systems are given for the cylindrical shell by equa-
tions (9.22)-(9.29) and matrix 9-1 with Qo = Xl and Mo = X2' where the signs
are established in accordance with figure 9-1; and for the spherical shell by
equations (9.132)-(9.142) with Qo = Xl sin tfr, and Mo = X2' where the signs are
established in accordance with figure 3-6. For the flexibility formulation that
we are following, it is expedient to solve the following loading cases: (i) Qo = 1,
424 9 Shell Bending and Instability
X---lI.---=
(0)
---0--0
(b)
7
+
X,C05t/J,
(c)
{.::\l}
.::\2
= {~l} + [Fll F12]{Xl}
.::\2 F21 F22 X2
(9.143)
First, note that we are dealing with relative displacements and rotations,
which are computed from the absolute displacements of the two segments of
the shell. Therefore, we must carefully define the sign convention for these
quantities. Corresponding to the senses assumed for the redundants Xl and X2
in figure 9-11(c), it is consistent to take the positive sense of the relative radial
displacement as increasing, i.e., inward on the cylinder (del) and outward on
the sphere (d.d. Similarly, a positive relative meridional rotation will open
the internal angle between the cylinder (de2 ) and the sphere (d. 2 ), originally
n/2 + rPl' These are illustrated on figure 9-1l(d) and (e). For example, if we
compute the radial displacement in the cylinder Dn due to one of the loading
cases, and it is positive (outward) by the cylindrical shell convention, it takes
a negative sign in the relative displacement expression, since it is opposite to
in sense to del' On the other hand, a positive computed value for the radial
displacement of the spherical shell DR is consistent with dsl , so that it has a
positive sign in the relative displacement expression. Similarly, a positive me-
ridional rotation DX/J in the cylindrical shell may be seen from figure 5-2(a) (with
0( = X and fJ = 0) to be opposite in sense to de2 , so that it gets a negative sign.
The rotation of the spherical shell is established from figure 5-2(a) (with 0( = rP
and fJ = 0), where a positive meridional rotation DI/J/J(rP), corresponds to a
positive d. 2 •
Next, note that the compatibility condition requires that the relative radial
displacement and relative meridional rotation between the two segments van-
ishes, or
(9.144)
For the evaluation of the elements of {X} and [F], we refer to the chart of
basic solutions given in table 9-1. Note that the cylindrical and spherical
segments may each have different constant thicknesses and material properties.
In the last column, the most probable algebraic sign of the computed displace-
ment or rotation on the shell segment is assumed, and the corresponding
algebraic sign of the contribution of this quantity to the relative displacement
is given.
First we calculate the displacements with the continuity constraints relaxed,
Xl and X2 •
For the cylindrical shell, we compute the normal displacement du~ to the
internal pressure from equation (9.42a) with N x == p(ad2) sin rPl and N/J = pa 2 as
Contributes Sign
Segment Loading Compute Equations to Convention
(9.42a) with
D. N" = p(ad2)sinIP1
p ~1 +D. -+ -del
(DX9 = 0) and
N8 = pa2
Qo = p(ad2) cos 1P1 D. matrix 9-1, row (a) ~1 -D. -+ +de1
(9.6d) with Yx = 0;
Cylindrical Mo=O DX8 then [\2 -DX8 = +dc2
a = a2 matrix 9-1, row (b)
h = h2, jJ. = 112
E2h~ D. matrix 9-1, row (a) F11 -D. -+ +dc1
E = E2 D = D2 =
, 12(1 - jJ.~) (9.6d) with Yx = 0;
X=O Qo = 1 then
DX8 F21 -DX8 -+ +dc2
Mo=O \Q
k4 _ 3(1 - jJ.n matrix 9-1, row (b)
2 - 2 til
(a2h2) c.-
D. matrix 9-1, row (a) F12 -D. -+ +dc1 ~
t::tI
(9.6d) with Yx = 0; "e:=
Qo =0 then
DX8 F22 -DX8 -+ +dc2 QQ
=
Mo = 1 I»
matrix 9-1, row (b)
...=Po.
=
~
~
.:;-
'"w
Vl
::r"
g,
'"
8.,
~
o
[
o·
I:)
Table 9-1 Continued
DR (9.137b) with
P ~I +DR -> +dsl
(D¢>o = 0) N¢> = No = p(ad2)
(9.137b) with
Spherical Qo = sin <PI = azla l DR N¢> and No from Fl1 +DR -> +dsl
R¢>=Ro=a Mo=O (9.134c) and (9.135b)
a = al or
h=h l
,Il=1l1 C I = sin <PI = azla l
D¢>o (9.136) FZI + D¢>o -> +dsz
E E D= I, = DI Cz = -sin<pI = -azlal
<P = <Pb = <PI
¢=O (9. 137b) with
Qo = 0 DR N¢ and No from F12 -DR-> -dsl
k1 = 3(1 - Iln(::Y Mo = 1 (9.134c) and (9. 135b)
or
CI = 0
D¢>8 (9.136) Fzz +D¢o-> +dsz
Cz = 2k l la l
oj::.
tv
-...)
428 9 Shell Bending and Instability
giving a positive contribution to AI' This loading does not produce a contribution
to A2 .
Next, we compute the contribution of the unit actions on the cylindrical shell
to the flexibility influence coefficients.
Solving for Dn with Qo = 1 and Mo = 0 inserted into matrix 9-1, row (a),
we find
1
(9. 146a)
(9. 146c)
(9.147c)
-
~
_ p [ - -a~-
1 - E2h2
(1 - -112)
2 4D2k~
a1a2(1- 11 1)]
+ aIcos£P1 + --=--~:--::---'-::':"
2E1h1
(9.148a)
(9.148c)
(9.1 48d)
430 9 Shell Bending and Instability
F 12 -_ _1_ - 2a2 k2
1 (9. 148e)
2k~D2 E1 h1 a 1
and, from (9. 146d) and (9.147d),
_ 1 4 3
F22 - - - - k1 (9. 148f)
k2D2 E 1 h 1a 1
Note that F21 = F12 , a check of symmetry.
The equations can be put in better order for evaluation if we write the shell
parameter k2 for the cylindrical shell in the same nondimensional form as k1
for the spherical shell, i.e.,
K -
1 - P
[_ a~
E h
(1_1l2)
2
1 2
+ Ea 2ah2 k 2 cos 'f'1
A..
+a
1a 2(1-
2E h
lld J (9. 149b)
22 11
(9. 149c)
(9.149d)
(9. 14ge)
If the materials and/or the thicknesses for the two shells are the same, the
equations can be further simplified.
Once all of the terms are evaluated,
(9.150)
in view of equation (9.144). After determining Xl and X2' the stress resultants,
couples, and displacements in the cylindrical and spherical segments are found
as linear combinations of the solutions for the loading cases shown in figure
9-11(b) and (c).
We shall not pursue further details of the calculations here, but refer to
a numerical study in Fliigge. 41 There, two cases are considered, a hemispherical
head and a shallower cap with ¢J1 = 45°. For both cases, h1 = h2 = h, h/a = 0.01,
9.3 Shells of Revolution 431
and J1 = 0.3. On figures 9-12(a) and (b), comparative values of the meridional
stress couple, Mx or Mt/>, and the circumferential or hoop stress resultant, No,
are shown for the two examples.
The meridional moments increase greatly for the discontinuous case. Simi-
larly, for the circumferential stress resultant, the hemispherical head provides
a smooth transition for the hoop stresses in the two segments; the shallow
cap results in an increased magnitude of No as well as a change in sense to
compression, which gives rise to the possibility of circumferential buckling or
wrinkling. An independent calculation 42 gave a maximum No = -7.8pa for
the shallow cap.
Although the hemispherical head might seem more attractive on the basis of
this comparison, the fabrication advantages of shallow caps have been pointed
out previously, and the practical solution is often to include a circumferential
ring stiffener, as we see in figure 2-8(r). Details regarding the design of such
stiffeners and other practical considerations are found in Pirok and Wozniak. 43
When an elastic stiffener is used, it is possible to generalize the model to include
the stiffener, following the same reasoning we employed in section 9.2.2.7.
A comprehensive study of ring-stiffened cylindrical-conical shells under hydro-
static loading was performed by the author and his co-workers, and the results
are reported in Gould et al. 44 and Wang and Gould. 45 In general, an adequate
circumferential stiffener greatly moderates the extreme amplifications caused
by a geometric discontinuity.44
Another possibility for reducing the stress amplification due to a geometric
discontinuity is the use of a transition segment, such as a torospherical head,
discussed in section 4.3.4.2 and illustrated in figures 4-16(b) and 4-17. Ranjan
432 9 Shell Bending and Instability
08 mi ddle surface
I I I I
200 ---.-.- 0.2 in thickness -
150 psi Uni form
Pressure
150 Membrane -
Theory
100
."",---- ......
\ I
/
.... --
50
\ I
\ I
\
\ Arc Length from Pole I
;,,-
j
~-
..........
V
-50
\
\
t'
-100 \ /,
-150
I
-200
~ SPHERE ~I~ TORUS ~14 CYLINDER - -
Moreover, shells with a special form of the meridian, i.e., (l/Rq, - 1/Ro)csc 2rP =
constant, can be solved for the general harmonic loadingj > 1, which suggests
a substitute curve approximation for other meridional profiles. Beyond this,
it is generally necessary to neglect terms of O[P(h/R)] to achieve a solution;
thus, for higher harmonics, the accuracy diminishes. However, a large number
of practical problems can be described rather closely in terms of the lower
harmonic load components-such as the wind loading shown on figure 4-34-
so that the Novozhilov method has wide applicability. The author has extended
this approach to include cases in which terms of o [P(h/R)] may be significant,
such as in the column-supported shell problem discussed in section 4.3.7.3. 50
It is felt, however, that currently the most feasible approach to the general
solution of shells of revolution under asymmetrical as well as symmetrical
loading is to use an energy-based numerical solution. We develop the required
energy expressions for shells of revolution in the next section.
9.3.4.2 Geometry. Recall from section 2.8.2 that three possibilities were presented
for the meridional coordinate: the meridional angle rP, the axial coordinate Z,
and the meridional arc length sq,. In fact, the various computations that are
required in an actual problem sometimes involve functions of two, or even all
three of these possibilities. For this topic, it is convenient to use the R-Z
Cartesian coordinates to locate stations on the shell, but to take the arc length
as the primary dependent variable. It is convenient to define for each segment
9.3 Shells of Revolution 435
Axis of Revolution
R·I
(R i ,Z;)
R------~--~-~~---------------4-------,
R.1+ I
Z
Fig.9-13 Shell of Revolution Finite Element Geometry (Reprinted with permission of American
Institute of Aeronautics and Astronautics. Source: L. J. Brombolich and P. L. Gould, "A High-
Precision Curved Shell Finite Element," AIAA Journal, 10, no. 6 [June 1972]: 727)
Ro(Z) = R (9.153a)
[1 + (R )2]3/2
R,p(Z) = O.Z (9.153b)
Ro.zz
sin ¢(Z) = [1+ (R o.z )2r 1/2 (9.153c)
cos ¢(Z) = Ro.z[1 + R o. z )2r 1/2 (9.153d)
Ro
R/I(Z) = - . - (9.153e)
sm¢
M,p L
i=O
M*cosj() (9.154)
M/I M~cosj()
M,p/l M*esinj()
We may then further restrict our development to typical harmonic j of
segment i, for which the stress resultants and couples and the strains and
changes in curvature are represented by vectors {Ni} and {.:i}, respectively, as
defined in matrix 6-2 and equation (6.10). Typical elements of these vectors are
NJ cosj(), wi sinj(), etc. Also, we have the displacement vector {Ai}, defined in
accordance with equation (5.51), as
{AI} = {D* cosj() D~ sinj() D~ cosj() D*o cosj() D~,p sinj()} (9.155)
Matrix 9-3
1
L. ( ).s 0 0 0
, R,p
cos ,p j sin <p
0 0
Ro Ro Ro
-j 1 cos,p
L i ( ).s-R; 0 0 0
Ro
1
0 0 0 L., ( ).s 0
[Bf] =
cos ,p j
0 0 0
Ro Ro
-j 1 cos,p
0 0 0 2Li ( ).s - 2Ro
2Ro
1
0 - L. ( ).s -1 0
R,p ,
sin,p j
0 0 -1
Ro Ro
(9.156b)
as
(9.157)
curvature remain finite as s --+ 0. Consider, for example, the expression for f,~,
which we write from equation (9.158) and matrix 9-3, row (2), as
. cos <p. j . sin <P .
f,J
fJ
= --m
R + -DJ
R fJ + --DJ
'I' R n
(9.159)
o 0 0
For both shells shown in figure 4-1, Ro(O) = 0, so that for the first term to remain
finite as s --+ 0, (cos <P D~)s=o = 0, which creates an indeterminate form. The
second term will remain finite only if (jD~)s=o = 0, and the third term requires
that (sin <p D~)s=o = 0. Hence, we have the general pole condition
(cos<pD~ + jD~ + sinq)DDs=o = ° (9.160)
for which we may investigate the individual pole conditions. We have six
separate possibilities to study, consisting of two types of closed shells, (<p)s=o =
and (<p)s=o = <Pt, for j = 0, j = 1, and j > 1. It is easiest to treat the harmonics
°
individually.
j = 0: For this case, equation (9.160) reduces to
(cos<pD3 + sinq)D~)s=o = ° (9.161a)
If (<p)s=o = 0, the second term drops out, so that no restriction is needed on D~;
whereas if (<p)s=o = <Pt>
D3(0) = ° (9.161b)
as recorded in the second line, second column, of table 6-1. Also, for the latter
case, equation (9.161a) gives
D3(0) = - tan <ptD~(O) (9.161c)
as listed in the second line, third column, of table 6-1.
j = 1: Here, equation (9.160) becomes
1. j . 1. tanr/J . tanr/J . ]
= [ -Vi'Y'S
Li
+L A.
DJe,s + -DJ
R n- -R- V i'Y + --DJ
L n,s
i cos 'I' r/J r/J i s~o
For the dome, r/J -+ 0 as s -+ 0 and the last two terms drop out, giving
. 1. j. 1.
eMO) = -D~,s(O) + -D~,s(O) + -(O)D~(O) (9.167)
Li Li Rr/J
In practice, when a dome is modeled by multiple segments, equation (9.167) is
used for e~(s) in the uppermost segment where i = O.
To make this discussion complete, we present the entire set of modified
strain-displacement equations for a dome: 51
(9.168)
where rows 2, 3, 5, 6, and 8 (corresponding to eo, w, Kr/J' r, and Ye) of [BiJ are
replaced by the modified equations, such as equation (9.167), as depicted in
matrix 9-4.
Additionally, there are circumstances in which the pole cannot conveniently
be located at s = 0, but coincides with s = L i . For example, a shell which is
closed at both ends will present such a situation at one end unless complete
440 9 Shell Bending and Instability
Matrix 9-4
1 1
Lo ( ),s 0 0 0
R",
1 j 1
Lo ( ),s Lo ( ),s 0 0
R",
-j
Lo ( ),s 0 0 0 0
1
0 0 0 Lo ( ),s 0
[Bb] =
1 j
0 0 0 Lo ( ),s Lo ( ),s
-j
0 0 0 2Lo ( ),s 0
-1
0 Lo ( ),s -1 0
R",
1 j
0 Lo ( ),s 0 -1
R",
loading and geometric symmetry are present, whereupon only half the shell
must be considered. Similar modified strain-displacement equations may be
developed by enforcing the finite strain conditions at s = L; instead of s = O.
An analogous set of equations can be developed for the case shown in
figure 4-1(b) where rP = rPt·
Thus, we have the strain-displacement relationships given as a function of
the nondimensional arc length variable s by matrix 9-3 and equation (9.158),
augmented by special equations for pole segments, matrix 9-4 and equation
(9.168.)
Ui; =~
2
i1 fX
0 -x
LNiJ {Ei} dA; (9.169a)
noting that [Dor] is symmetric. Finally, we replace the strains by the displace-
ments using matrix 9-3 and equation (9.158), and get
Vji = - Sal f~" LA{J {q{} dAi - f~" LA{(Z;)J {t}{(Z;)} R(Zi) d8
-f~"
(9.172)
LA{(Zi+1)J {t}{(Zi+1)}R(Zi+d d8
where {q{} {Ai(Z;)}, and {t}{(Zi)} are defined corresponding to equation (7.10a).
Note that in a numerical calculation, the second and the third terms of
equation (9.172) would both not ordinarily appear. The second term might be
included with segment i - 1, or the third with segment i + 1, depending on the
computational order.
For the entire shell,
p
V/ = L (Vi; + vj;)
i=l
(9.173)
{)V/ = 0 (9.174)
442 9 Shell Bending and Instability
(~1== 1,p
1,5) (9.175)
where A{l = D~, A{2 = Dj, A{3 = D~, A{4 = D~e, and Ai5 = Djtfo are quite popular
for this application. It is important to note that n, the order of the approxima-
tion for each A{k' may vary for each displacement k, segment i, and harmonic j.
Upon substitution of the set of 5p comparison functions of the form of
equation (9.175) for {An into equations (9.171) and (9.172), and the operation
by [B{] on the polynomials, the extremum problem represented by equation
(9.174), is transformed into the maximum-minimum problem of the calculus
(k
I = o,n)
= 1,5 (9.176)
i = 1,p
9.4.1 General: The general theory of shells of translation, apart from cylindrical
shells, is lightly treated in contemporary English-language textbooks. Although
there are many papers in the literature that describe analysis methods for such
shells, most are based on idealized boundary conditions that do not necessarily
match the physical situation very closely. For example, the inclusion of flexible
edge members, which are often present in reality, greatly complicates the analysis.
From a practical standpoint, however, numerous translational shells having
spectacularly large spans have been constructed. As an example, we may take
the shell shown in figure 2-8(a). Such major structures certainly warrant a com-
plete investigation, beyond the scope of the membrane theory. The means for
carrying out such investigations are often computer-based numerical solutions,
such as finite element or finite difference techniques, or carefully executed
experimental studies using physical models. The current availability and capa-
bilities of numerical analysis procedures for translational shells are described
in Schnobrich. 54 Here, we introduce two theories upon which many of the
currently popular numerical algorithms are founded.
Shallow shells were introduced in section 2.8.1, and we build on this geometric
concept in the following paragraphs. Some quantitative criteria for a shell to
be classified as shallow are also stated later.
Proceeding, we first consider the force equilibrium equations in general form,
equations (3.17). We omit the transverse shear stress terms as stated in assump-
tion (a) and take N lZp = NplZ = S:
(BNIZ),IZ+ (AS),p + A,pS - B,lZNp + qlZAB = 0 (9. 177a)
(BS),IZ + (ANp),p + B,IZS - A,pNIZ + qpAB = 0 (9. 177b)
AB AB
(BQIZ),IZ + (AQp),p - NIZR - NpR + qn AB =0 (9. 177c)
IZ P
We first wish to express the transverse shear forces in terms of the normal
displacement Dn. With transverse shearing strains suppressed, QIZ and Qp are
given in terms of the stress couples through equations (3.22a) and (3.22b):
1
Qp = AB [(BMIZP),IZ + (AMp),p + B,IZMplZ - A,pMIZJ (9.178a)
(9.178b)
Next, we apply the constitutive law matrix 6-2, omitting the thermal terms, and
take M IZP = MplZ to write the stress couples as functions of KIZ , Kp, and r:
MIZ = D(KIZ + JlKp) (9. 179a)
Mp = D(JlKIZ + Kp) (9.179b)
M IZP = D(1 - Jl)r (9.179c)
Before substituting equations (9. 179a-c) into (9.178a) and (9.178b), we express
the changes in curvature as functions of the displacements. These relationships
are given, in general, by equations (5.47a-c), but we invoke assumption (b) and
eliminate the contributions of DIZ and Dp. The simplified compatibility equations
are
K IZ = --1(1 ) 1
A n,lZ ,IZ - -
A -D A ,p D n,p
AB2 (9.180a)
K
p- B -D
- --
1(1 ) 1
B n,p ,p - - - B,IZ Dn,lZ
A2B (9.180b)
1- ( D 1 1 )
r=-
AB n,lZp --A
A ,p Dn,lZ --B
B ,IZ Dn,p (9. 180c)
and then into equations (9.178a) and (9.178b). The algebra is considerable, and
we defer to N ovozhilov 5 5 to write
(9.181a)
(9.181b)
Finally, substituting equations (9.181a) and (9.181b) into equation (9. 177c) and
dividing through by AB, we obtain
-D
AB
{[B 2
A (V Dn),a
]
,a + [A"B(V 2 Dn),p J}
,p Na - Rp
- Ra Np + qn = 0 (9.182)
which we recognize as being very similar to the equilibrium equation for plates.
Thus, we have equations (9. 177a) and (9. 177b), together with equations (9.183)
and the requisite boundary conditions, constituting the shell theory which
was apparently derived independently by Mushtari in the Soviet Union and
Donnell in the United States. 55
The governing equations at this stage of the development are somewhat
similar to those encountered in section 8.7.5 following the derivation of equation
(8.294). Equations (8.252) and (8.294) formed a coupled set of equations for the
finite displacement theory of plates. The dependent variables in those equations
were the normal displacement and the in-plane stress resultants; that is essentially
the same situation we now have with equations (9.177a) and (9.177b) and
equation (9.183). Therefore, the introduction of a stress function !II', defined
such that
N a= -B1 (1-!II' )
B ,p ,p + -
AB ,a A1 ,a
1B -!II' (9.184a)
1(1
N p -- -A -!II' )
A ,a ,a +-1A -!II'
AB
1
,p B ,p (9. 184b)
S = --1! I( I ' - -A
1 1 )
AB ,ap A ,fJ !II',a - -B
B ,a !II',p (9.184c)
is quite logical. 56
446 9 Shell Bending and Instability
The steps in the back substitution are tedious and, basically, are similar to
our previous exercises in the development of the von Karman equations in
section 8.7.5. We omit the details and follow the procedure suggested by
Vlasov. 57 Also, we consider the special case in which the in-plane components
of the surface loading q/Z and qp are equal to O. The resulting equations are
-1- [(-B
A2B A1 ,/Z ) ,/Z B ,p ) ,p ] ff',/Z --
+ (1-A - -1- -1§ -
R/ZRp A ,/Z - 0 (9.185a)
-1- [(-B
AB2 A1 ,/Z ) ,/Z + (1-A
B ,p ) ,p ]
ff',p -- - -1- -1§
R/ZRp B
-
,p - 0 (9.185b)
and
DV 4 Dn + V2 ff' - qn = 0 (9.186a)
where
The equalities in equations (9.185a) and (9.185b) have been obtained by invoking
equation (2.37), the third Gauss-Codazzi relationship; the second term in
equation (9.186a) is expressed in terms of the operator V2( ) by using the first
two Gauss-Codazzi relations, equations (2.35) and (2.36).
It may now be argued that for certain classes of problems, equations (9.185a)
and (9.185b) may be considered to be satisfied. First, for shells of zero Gaussian
curvature, such as cylindrical or conical shells, equations (9.185a) and (9.185b)
are identically satisfied. Also, if we think of shells that are relatively flat or
shallow, the Gaussian curvature will be small and the coefficients of ff',/Z and
ff',p in equations (9.185a) and (9.185b) will be an order of magnitude smaller
than the coefficients of the same terms in equations (9.186), so the former equa-
tions can be regarded to be approximately satisfied. A third class of problems
for which the first two equations may be ignored are those cases in which the
stress resultants are rapidly varying functions of ex and p. Then, the higher
derivatives of § predominate, and the contribution of the terms associated
with ff',/Z and ff',p will be relatively small as compared to those multiplying ff',,.,.
and ff',pp. Similar reasoning was used to motivate the Geckeler approximation
in section 9.3.2.3.
We now seek a second relationship between Dn and ff'. This accomplishment
is attributed to Vlasov by Novozhilov 58 and requires two general steps.
The first operation is the derivation of the compatibility equations for the
deformation of the middle surface in terms of strains and curvatures only. These
equations are analogous to the S1. Venant equations of the theory of elasticity
and may be established by following the same steps employed in the derivation
of the Gauss-Codazzi relations in section 2.6, if the tangent vectors to the de-
formed middle surface are used in place of the tangent vectors to the undeformed
9.4 Shells of Translation 447
Thus, the solution of the coupled equations (9.186a) and (9.187) is sufficient to
describe the complete pattern of stress and deformation within the limitations
of the approximations introduced in the course of the derivation. Novozhilov
observed that these equations form the basis for the investigation of many
practical problems. 59 Also, explicit solutions are provided by Vlasov 60 and are
based on some further approximations: (a) the shell is described by Cartesian
coordinates, with
A=B::::::1 (9.188)
and, (b) R .. and Rp are taken as constant (average values) and are given by
R .. (X, Y) = Rx (9.189)
Rp(X, Y) = fiy (9.190)
These assumptions are specifically tied to the shallow shell notion and, according
to Vlasov, can be utilized for shells that cover rectangular plan areas if the rise
is no more than 1/5 of the smaller side of the rectangle.
The introduction of the simplifications given in equations (9.188)-(9.190) into
the previous equations reduces the operators V2( ) and V2( ) to
V2( ) =( ),xx + ( ), yy (9.191)
and
-2 1 1
V ( ) = fiy ( ),xx + fix ( ),yy (9.192)
where fi y and Rx are average values of the radii of curvature along the respective
coordinate lines. The solution then proceeds with the introduction of a potential
function G, such that
(9.193a)
448 9 Shell Bending and Instability
and
ff = EhV 2 G (9.193b)
When introduced into equation (9. 186a), equations (9.193) give 61
9.4.3 Theory of Shallow Shells: The theory of shallow shells is roughly equivalent
to the simplification of the MDV theory that is facilitated by equations (9.189)
and (9.190) and has been widely used for shell analysis. The approach is to
employ some simplifying assumptions at the outset to derive the governing
equations in a form which is particularly suited for shell roofs covering rect-
angular plan areas. This theory has also been used to analyze shells that
become locally shollow when the original shell is divided into finite segments
or elements-a procedure to which we have often alluded in our previous
discussions.
Refer to the basic geometric relationships introduced in section 2.8.1. Recalling
the assumption that (Z.x)2 and (Z'y)2 may be neglected in comparison to unity,
we may evaluate the principal radii of curvature from equation (2.29)
1
Rx= - - - (9.195a)
Z,xx
Similarly,
1
R y = --- (9.195b)
Z,yy
The expressions for the extensional strains Bx and By are obtained directly
from equation (5.46a) and (5.46b) as
(9.196a)
and
(9. 196c)
The equation for the in-plane shearing strain could similarly be written from
9.4 Shells of Translation 449
and
V2( ) =( ),xx +( ),yy (9.201e)
450 9 Shell Bending and Instability
Px and P y in equations (9.201c) and (9.201d) are cumulative in-plane forces and
are set to 0 on boundaries that are unrestrained in the X and Y directions,
respectively. Note that this theory is slightly complicated by starting with
non-orthogonal coordinates, but retains the generality of including the in-plane
components of the surface loading qx and qy. For most shells encountered in
practice, the MDV theory and the theory of shallow shells are fairly equivalent
and both are sometimes referred to as shallow shell theories. From an applica-
tions standpoint, the most significant difference is probably in the nature of the
external boundaries. If the boundaries are coincident with the coordinate lines
of the middle surface, the general form of the M ushtari - Donnell-Vlasov theory
is appropriate; if the boundaries fall along the Cartesian coordinate lines, the
theory of shallow shells, or the even simpler specialization of the MDV theory,
seems to be more attractive.
9.4.4 Strain Energy for Shallow Shells: The energy expressions and principles
derived in chapter 7 are directly adaptable to shells of translation, but we have
not carried out the details of the specializations based on the theories presented
in the last two sectons. However, it is of general interest to examine the expres-
sion for strain energy, equation (7.6), using the simplified strain-displacement
relationship, equations (9.196)-(9.198). With the transverse shearing strains
neglected, term [I] of equation (7.7) becomes
(9.204)
• Bifurcation Poi nt
/
/
L--------------------------------------Dn
Fig.9-14 Paths of Shell Instability
approach was used for the study of plate instability in section 8.7.3. Note that
the same Ncr is obtained regardless of the transverse loading, which we call qn
for shells.
The second approach follows from the realization that ~r is independent of
qn' This suggests that the transverse loading can be ignored in the stability
analysis, which means that for N < Ncr> Dn = O. This is indicated by curve 2,
which is the special case of 1 for qn = O. Then, at N = ~r> the displacements
become unbounded as before, following path 3. This approach is attractive
because the complete solution for Dn as a function of qn and N is not required.
Rather, the states of equilibrium just prior to and just after instability can be
examined without concern for the remainder of the load-deflection curve. At
the transition point (~r> 0), a bifurcation of equilibrium is said to occur, since
there are at least two possible states of equilibrium, Dn = 0 and Dn --+ 00. This
approach is, of course, familiar from the classical solution of the Euler column
buckling problem. In regard to the unbounded displacements following bifurca-
tion, curve 3, a more sophisticated analysis may yield an unstable (descending)
post-buckling path, curve 4.
Although it is implied by curve 2 that the equilibrium path prior to buckling
is linear, buckling of shells may also be preceded by a nonlinear pre buckling
response, such as a curve 1. 66 The bifurcation would then occur at the intersection
of curves 1 and 4. 67
A third approach which should be mentioned is that of using geometrically
nonlinear strain-displacement relationships to determine the complete load-
deflection curve-unloading as well as loading. As illustrated by curve 5,
a critical load Ncr(nl)' which occurs at a limit point, may be found somewhat
below Ncr. A classical illustration is an axially compressed conical shell, such
as that shown in figure 4-13, where the axial shortening and accompanying
rotational deformation would cause an immediate degradation of the stiffness. 66
Then, the curve would show unloading, and perhaps reloading, as other ele-
ments of resistance are mobilized by the finite deformations. If this latter
resistance is adequate, the load may eventually surpass NCr(nl) and even Ncr>
provided the material capacity is not exceeded. An actual shell cannot unload
in most cases, so there may be a sudden transition from the loading to the
reloading branches ofthe curve at N = ~r(nl)' with a corresponding jump in Dn.
This is termed snap-through buckling and is characteristic of shallow arches
and shells.
Shells with initial imperfections follow a path such as 5. As the magnitude
of the imperfections decreases, the descending branch of curve 5 approaches
curve 4.
Note that all three of the general approaches discussed have been predicated
on elastic buckling. If material nonlinearities are present for N :5; ~r> then
additional complications arise. Sometimes these can be handled conveniently
by the tangent modulus theory.
9.5 Instability and Finite Deformations 453
equation (9.207a):69
8 12(1 - 112) - 4 1
V G + h2 V G = Jj(NxoDn.xx + NYODn,yy + 2S0 Dn,xy) (9.208a)
where again
V2( ) = ( ),xx +( ),yy (9.208b)
-2 1 1
V ( ) = Ry ( ),xx + Rx ( ),yy (9.208c)
9.5.3 Energy Method for Cylindrical Shells: From an energy standpoint, the
transition between the pre buckled and post buckled states may be represented
by the following stability criterion: 70 (a) there is no bending prior to the onset
of buckling, so that the total strain energy is due to the in-plane stress resultants;
(b) at the onset of instability, there are additional contributions to the strain
energy due to middle surface straining and bending; and, (c) the increase in
strain energy as buckling occurs must be equal to the work done by the external
loading and by the components of the in-plane forces that act through normal
displacements. The latter source of "external" work is analogous to the load
component qnl introduced in the previous section and is not present during
infinitesimal deformations. We illustrate this for a cylindrical shell under uni-
form axial loading, as shown in figure 9-15.
We first consider the strains and charges in curvature prior to and following
buckling.
In the pre buckled state, which we designated by the subscript 0, we assume
that there is no bending. There is no normal loading acting, so that the third
equilibrium equation, (9.5b), with Qx = qnO = 0, gives NfJO = O. We now refer to
the constitutive law, equations (6.1) with IX = X, f3 = (), and no thermal terms.
9.5 Instability and Finite Deformations 455
a L
The axial strain just before buckling is found from equation (6.1a) as
Ncr
exo = - - (9.21Oa)
Eh
The corresponding circumferential strain follows from equation (6.1b) as
(9.210b)
As a result of buckling, the normal displacement becomes Dn , producing
a circumferential strain e 91 . This strain is proportional to Dn through equation
(9.6b), so that
(9.211)
Therefore, the total circumferential strain after the shell has buckled is
e9 = e90 + e91
(9.212)
Dn
=- - Jlexo
a
To find the corresponding meridional strain, we now refer to the first equation
of matrix 6-2 with Na. = N x = -Ncr:
(9.213a)
456 9 Shell Bending and Instability
from which
(9.213b)
Substituting for N"rlEh from equation (9.2lOa) and for 80 from equation (9.212),
we find
8x = -;; - 118 x o)
(1 - 11 2 )8 XO - 11 (Dn
(9.214)
Ean
U. = 1 _ 112
fL {h(8X2+ 82+ 2118x 8
0 0 0) + h12 Kx2} dX
2
(9.216)
Next, we consider the work done by the external loading and the normal
components of the in-plane forces during buckling. For the external loading,
N = -N"r and
equation (9.207a). The work done over the circumference by qnl acting through
Dn is
V2( ) = !V 2( ) (9.223)
a
(9.226)
(9.231)
(9.232b)
or
2 = + 2~[3(1 - 1l 2 )] (9.232c)
ha
The negative root of 2 is meaningful, since it results in a positive Pcr> which has
already been defined as an internal suction or external pressure.
With
2 = -2~[3(1 - 1l 2 )]
(9.233)
ha
9.5 Instability and Finite Deformations 459
2E (h)2 (9.234)
Perl = J[3(t - 112)] ~
is the lowest buckling pressure for a spherical shell. This equation is applicable
for complete spheres, as well as for spherical shells that have close to ideal
membrane boundary conditions. A direct treatment of spherical shell buckling
in polar coordinates is developed in Brush and Almroth. 72
Note that we have arrived at the lowest critical load, without first finding
a general solution for the normal displacement Dn. Subsequently we may
investigate the normal displacement Dn , which is the mode shape of the buckle.
If we return to equation (9.208d),
Dn = V 4 G
= V2(AG) (9.235)
= AV 2 G
The potential function G, in turn, is found from equation (9.228)
V 2 G - AG = 0 (9.236)
where A is given by equation (9.233). The solutions of equation (9.236) are the
eigenfunctions of the problem. Recall, however, that we have used the simplest
form of the MDV theory based on Cartesian coordinates. Consequently,
solutions of equations (9.235) and (9.236) that satisfy the kinematic boundary
conditions are only feasible if the shell covers a rectangular plan area. For
boundaries coincident with the coordinate lines, the original form of the theory,
equations (9.186a), (9.t86b), and (9.187), should be used in place of the sub-
sequently simplified equation (9.194). This is carried out in some detail in
Vlasov,73 where it is shown that the lowest critical pressure only differs from
Perl' as computed from equation (9.234), by a term of 0 [11(h/a)]: 1. Nevertheless,
the more rigorous solution provides a basis for determining the eigenfunctions
and subsequent displacement or mode shapes. In many applications, only Perl
is of interest, and the solution obtained from equation (9.234) is sufficient to
estimate the buckling pressure. Note that, in this regard, quite large factors
of safety against elastic buckling-perhaps three to five or even more-are
commonly specified for the design of thin shells. Since the bifurcation analysis
accounts for neither initial imperfections nor nonlinear behavior, the critical
pressure obtained theoretically is very difficult to approach in reality, even
in carefully controlled experiments,74 and a very ample factor of safety is
prudent unless a more sophisticated analysis can be accomplished. A means for
introducing additional refinements into the analysis is described in section 9.5.6.
However, many design procedures are based on the elastic critical load, reduced
substantially by a "knockdown factor."
Substituting equation (9.237) into I1U. and I1Uq as given by equations (9.218)
and (9.221), respectively, gives
I1U. = an {
EhC 2L
2 2 -
2p,Ehe
xo
C fL sinmn-dX
X m4n4C 2 }
+D 2 3 (9.238)
a a 0 L L
and
After substituting equations (9.238) and (9.239) into equation (9.222), and noting
from equation (9.210a) that exo = ( - Ncr/Eh), we find the coefficients of the C
terms cancelling and the coefficients of C 2 producing
[m 2n 2 Eh L2 ]
-
Ncr =D -u + a2D m2n2 (9.240)
(9.241b)
and
(9.242)
a.J[3(1 - p,2)]
The length of the buckled waves is given, in terms of the characteristic fo
term noted in section 9.2.2.2, by
(9.243)
which may be useful for establishing the proper meridional spacing of ring
stiffeners.
The identical result may be obtained by solving the equilibrium equation,
equation (9.209).
Various other specific solutions based on the two approaches developed in
this chapter are available in the literature for spherical and cylindrical shells.
9.5 Instability and Finite Deformations 461
Using either the differential equation or the energy approach, the solutions
are quite simple and may be used for other geometries with some judicious
geometric approximations (see Vlasov 75 and Fliigge 76). Also, an extensive
array of more complex situations, including body forces, fluid pressure, tor-
sion, orthotropic shells, and initial imperfections, is treated in Brush and
Almroth. 77
9.5.6 Finite Deformation of Shallow Shells: Recall from section 8.7.5 that
the introduction of the geometrically nonlinear strain-displacement rela-
tions, (8.289a-c), lead to the von Karman equations, describing finite de-
formations for plates. Vlasov has derived a similar set of equations for shallow
shells. 78
In this case, the nonlinear strain-displacement relations are the same as for
plates, except that ex and By each have an additional term proportional to
the radii of curvature, as we may verify from equations (5.46a) and (5.46b).
Therefore, the appropriate equations in Cartesian coordinates are
_ Dn 1 2
ex = Dx .x + Rx + :2(Dn,x) (9.244a)
(9.244b)
(9.244c)
If we follow the identical steps leading to equation (8.296), we obtain 79
4= _ [2 1 Dn,yy - Ry
V .'#' - Eh (Dn,xy) - Dn,XXDn,yy - Rx 1 Dn,xx] (9.245)
Equations (9.245) and (9.246) constitute the generalized von Karman equations,
which form a finite deformation theory for shallow shells. In these equations,
the in-plane stress resultants Ny and Ny are assumed as positive. The corre-
sponding plate equations (8.296) and (8.297), of course, follow for Rx = Ry = 00;
also, for a cylindrical shell of radius a, Rx = 00 and Ry = a. Similarly, for
a spherical shell with radius a, Rx = Ry = a.
We have noted in the previous section that the elastic buckling load based
on infinitesimal deformation theory, as presented in sections 9.5.1 through 9.5.5,
may only be a rough indication of the load at which an actual shell may buckle.
We have also suggested that a more elaborate analysis may provide theoretical
results which are in reasonable agreement with physical experiments. Such
an analysis has been provided by two of the most distinguished mechanicians
and engineers of the twentieth century, T. von Karman and H. S. Tsein, in
their study of the postbuckling behavior of cylindrical shells based on the finite
deformation equations presented in this section. so They used a Rayleigh-Ritz
approach and assumed an approximate expression for D n , selecting the un-
specified parameters based on minimization of the potential energy functional
and on some test results. This analysis provides a strain energy expression
similar to equation (9.238), modified by a factor proportional to the buckled
normal deflection to thickness ratio Dn/h. For Dn/h = 0, the critical load is given
by equation (9.242); as Dn/h increases, the critical load decreases rapidly to only
about 1/3 of this value. S !
A frcq uently used equation for the buckling of axially loaded cylindrical shells
based on their analysis is
Eh2
Ncr! = 3ay'[3(1 _ J.l2)]
(9.247)
Eh2
~0.2-
a
that correlated quite well with numerical predictions based on equations (9.241a),
(9.241 b), and (9.242). 82 It was observed that the correlation between analytically
predicted and experimentally measured buckling loads was considerably better
than similar comparisons for closed cylindrical shells. It was also noted that
open shells have a theoretical critical stress of only 10% to 15% of the cor-
responding values for comparable closed shells in the range of parameters
investigated. A relatively complete compilation of the rather extensive literature
in this area is contained in the study.
P P
A=--
A=-
PCL PCL
1.0
The upper curve, Aero is the small deformation (linear) critical load, whereas
the lower curve, Ab' is a reduced critical load based only on the bending portion
of the strain energy, roughly equivalent to neglecting the group I terms in
equation (7.7). The latter calculation is claimed to yield a lower bound solution
to the linear buckling value. The third computation, a nonlinear analysis
indicated by the plotted points, will be discussed subsequently.
Buckling may be idealized as a shift in the load resistance mechanism from
a stiff membrane mode, associated with the group I terms in equation (7.7),
to a more flexible bending mode. Accordingly, the initial imperfections would
be primarily acted upon by the in-plane stress resultants. It follows that this
sensitivity would be measured by the difference of the curves, Acr - Ab = Am.
This difference ()bviously reduces with decreasing Gaussian curvature and is
quantified by the factor (1.g. In the negative curvature region, the points where
the curves intersect correspond to geometrical combinations for which pure
bending or inextensional deformations, discussed in section 4.3.6.1, may occur.
Between the curves for Acr and Ab' the plotted points indicate values calculated
by a nonlinear analysis. The difference between these values and the lower curve
is regarded as confirmation of Ab as the lower bound, not only for the linear but
also for the nonlinear critical load.
Shells must also be investigated for buckling due to asymmetric normal
pressure, such as the wind load depicted on figure 4-36(a) for a spherical shell
and on figure 4-34 for a cylinder or hyperboloid. We expect buckling to initiate
in regions of high compression under those loading conditions.
'"v.
2' Rl/h=190 5'
1!t Rl
l, 2 jRl ,'/Rl =6,00 A _ qR12 '"
Iii
- Eh2 5i
Q
qrE! 1 I A r q p. =0.2
Acr k =1(2) §
+ A~ Po
R1~, I I I T I I i 1-'-C-I~R1
R2 +0,08 +0,06 +0,04 +0,02 0 -0,02 -0,04 -0,06 -0,08 R2
For the spherical shell, the resultants plotted in figure 4-36(b) indicate that
there are regions along the windward meridian where both N,p and NIJ are
compressive. This is true for the simplified as well as for the realistic pressure
distribution. The biaxial state of compression tends to increase the imperfection
sensitivity.
In contrast, for the cylindrical shell considered in section 4.3.7.4, the circum-
ferential stress resultant No is proportional to the load, equation (4.149b), and
thus would be compressive along the windward meridian, () = 0°. However,
the meridional stress, equation (4.149a), would be tensile in this region as a
result of overturning and would tend to counter a circumferentially initiated
buckle. Similarly, in the separation zone, () ~ 70°, the tendency for a me-
ridionally initiated buckle due to a compressive N,p is countered by a tensile
value of NIJ. The same behavior is true for hyperboloidal shells. Such shells,
where the compression is only uniaxial and perhaps opposed in the perpen-
dicular direction, may be regarded as imperfection-insensitive for that particular
loading case. For an axial or self-load, a state of biaxial compression may be
present in the same shell, e.g., figure 4-8, and the shell would be more sensitive
to imperfections.
9.6 References
72. D. O. Brush and B. O. Almroth, Buckling of Bars, Plates, and Shells (New York:
McGraw-Hill, 1975), pp. 142-258.
73. Vlasov, General Theory of Shells, pp. 525-529.
74. Timoshenko and Gere, Theory of Elastic Stability, pp. 468-473.
75. Vlasov, General Theory of Shells, pp. 529-538.
76. Flugge, Stresses in Shells, chap. 7.
77. Brush and Almroth, Buckling of Bars, Plates, and Shells.
78. Vlasov, General Theory of Shells, pp. 538-543.
79. Ibid.
80. T. von Karman and H. S. Tsien, "The Buckling of Thin Cylindrical Shells under
Elastic Compression," Journal of Aeronautical Sciences 8 (1941): 303.
81. Timoshenko and Gere, Theory of Elastic Stability, pp. 471-472.
82. T. H. Yang and S. A. Guralnick, "Buckling of Axially Loaded Open Shells," Journal
of the Engineering Mechanics Division, ASCE 102, no. EM2 (April 1976): 199-211.
83. H. Kolisnik and C. Tahiani, "A Survey of Methods of Analysis of Stiffened Shell
Structures," Civil Engineering Research Report No. 85-3, Royal Military College of
Canada (August 1985).
84. W. T. Koiter, "Over de Stabiliteit van het elastisch evenwicht," Dissertation Delft,
1945, English Translation NASA TT F-lO, 833 (1967).
85. U. Wittek, "Beitrag zum Tragverhalten der Strukturen bei endlichen Verformungen
unter besonderer Beachtung des Nachbeulmechanismus dunner Flachentragwerke,"
Mitteilung Nr. 80-1, Technical Reports, Institut fur Konstruktiven Ingenierbau,
Ruhr-Universitat Bochum (May 1980).
9.7 Exercises
9.1 (a) Consider exercise 4.8. Assume that the lower boundary is fixed and determine
the bending stress resultants and couples in terms of the radius a, height H,
thickness h, Young's modulus E, Poisson's ratio J.t, and the unit weight y.
(b) Re-solve part (a), except now assume that the lower boundary is hinged.
9.2 Consider the solution for exercises 9.1(a) or (b) with properties typical of two
common engineering materials, and graph the variations of No and M x for the
tank full and half-full. Locate the points of maximum stress.
Material properties
Property Steel Concrete Units
E 30 x 10 6 3 X 106 force/area
J.t 0.25 0.10
h 0.25 10 length
H 250 250 length
a 250 250 length
y 0.20 0.08 force/volume
470 9 Shell Bending and Instability
For the English system, length units = inches; area unit = inches 2 ; volume units =
inches 3 ; force units = pounds.
9.3 Consider the shell shown in figure 9-5 with the following numerical values.
Additionally, E, Jl, and h are as listed under Steel in exercise 9.2.
Compute Dn, No, and Mx due to the pressure and temperature effects separately
and in combination. Locate the points of maximum stress by graphing the results.
9.4 Consider the ring-stiffened cylindrical shell shown in figure 9-7, but with the rings
located on the inside of the shell. Derive the equations to evaluate the contact
force P.
9.5 Consider the tapered cylindrical shells as shown in figure 9-18. The shell is
subjected to hydrostatic pressure with the unit weight of the fluid = y.
(a) Derive the general solution for the displacement function, and also expressions
for Mx and No.
(b) If the analytical solution becomes too involved, set up a numerical solution
for (a).
(c) Consider an alternative to the gradual increase in thickness, whereby the shell
is constructed in two constant thickness segments
x
H
a
Fig. 9-18
9.7 Exercises 471
Conclusion
10.1 General
The preceding chapters have treated the analysis of thin elastic plates and shells
from a unified viewpoint, insofar as possible. Specializations to specific forms-
e.g., membrane shells, flat plates-were introduced in a logical sequence after
the general aspects of the theory were set forth. The emphasis was on explaining
the mechanics of surface structures, with ample examples to illustrate the most
important aspects. In general, relatively simple and idealized cases, which could
readily be solved analytically, were used to illustrate the salient points. Fairly
complete compilations of known analytical solutions for both plates 1 and thin
shells 2 are available elsewhere to supplement the examples given in the text.
The solution of more complex structures is relegated to the domain of numerical
analysis, and several citations to the literature in this area were provided.
Although the calculations for those situations may be more involved, such
structures generally reflect the same basic behavioral characteristics as the
relatively simple illustrations contained in this book.
10.2 Proportioning
One aspect of the shell design process that has not been extensively addressed
in this text is proportioning. Rather, the emphasis here has been on analysis.
In a practical sense, proportioning is vital, and it is our hope that interest in
this topic has been aroused. It is clear that the specific form of a surface
structure is mainly determined by the anticipated function: flat plates for
carrying pedestrian and vehicular traffic, shells of revolution for containment,
and shallow shells for long, clear-span roofs. Also, the construction materials-
generally metals and/or concrete-playa very important role in the propor-
tioning process.
Although the proportioning of surface structures is obviously very much
related to the anticipated function and the material of construction, it is possible
to offer a few general comments on this topic. We consider separately (a) regions
472
10.2 Proportioning 473
of the structure where the stresses are primarily in-plane or membrane; and,
(b) regions where there is significant bending action.
In case (a), direct tensile stresses should be resisted entirely by reinforcing
steel in concrete shells, or by providing ample wall thicknesses for metal shells.
Regions with direct compressive stresses are generally controlled by stability
requirements, particularly in metal plate structures.
For case (b), the bending moments or stress couples may be resisted by con-
sidering a concrete section with reinforcement near the surfaces to act as a wide
flexural member. However, the relatively small effective depth available may
complicate the provision of ample reinforcing steel. For thin metal structures,
it is often impractical to resist high local bending stresses with the basic shell
thickness, so that stiffening members are attached.
Beyond these brief generalizations, the proportioning ofthin surface structures
is a somewhat subjective and always challenging branch of structural design
which has become somewhat specialized for various structural forms and
materials.
For thin concrete shells, the Building Code Requirements for Reinforced
Concrete (ACI 318) give some general guidelines. 3 The shell thickness and the
reinforcement area and spacing should satisfy the conditions of strength and
serviceability which prevail for all concrete structures. Additionally, thin shells
must be investigated for general and local instability. Often, the shell thickness
is determined by the later consideration.
Reinforcement is required to resist tensile stresses, as well as to control
shrinkage and thermal cracking. The bars which resist the in-plane stress
resultants should be placed in two or more directions and should ideally be
oriented in the general directions of the principal tensile stresses, especially in
regions of high tension. Often, however, this is impractical, so that the required
resistance in every direction must be provided by an orthogonal mesh. A
representative situation is illustrated in figure 10-1, where the various types
of reinforcement required in an umbrella shell are shown. The orthogonal grid
for the shell proper, the additional shell steel in the vicinity of the columns, and
the edge beam reinforcement are difficult to accommodate in a relatively thin
section, and careful planning and supervision are necessary to ensure a sound,
crack-free structure.
Reinforcement to resist stress couples should be placed near both faces even
though moment reversal is not anticipated, since the bending may vary rapidly
along the surface. The two layers may also include the membrane reinforcement,
or there may be three or more layers. The provision of adequate clearance and
cover may necessitate increasing the shell thickness in such cases.
Of course, the edge members must be proportioned to resist the forces
imparted by the shell. Often, an adjacent portion of the shell can be assumed
to act with the member, or the edge member may be formed by a smooth
transition from the shell cross section. Frequently in concrete shells, post-
tensioning is employed to improve the efficiency of these members.
474 10 Conclusion
For steel tanks, J. N. Pirok and R. S. Wozniak 4 have treated several aspects
of proportioning. They discuss the calculation of the plate thickness in tensile
regions with regard to efficiency of the welded joints. In regions of compression,
the proper consideration of stability effects on the allowable stress is elaborated.
In junction regions (rings and knuckles), guidelines are provided for deter-
mining the portion of the shell wall that might be effective as a ring beam,
acting alone or with an additional structural member. Stiffeners and opening
reinforcement are also discussed briefly. The tank shown in figure 2-8(r) serves
as a representative example of these concepts.
Beyond the rather general treatments elaborated in the preceding paragraphs,
there are a number of authoritative works for concrete cooling towers, 5 steel
tanks, 6 pressure vessels, 7 and bins. 8, 9 Also, a number of unusual concrete tanks
are analyzed and partially detailed in a recent volume on shell structures. 10
This being the case, he concludes that "he, who cares about beautiful and genuine
structures, cannot accept the fact that concrete shells are slowly disappearing."
He conjectures that with the imaginative application of modern falsework
techniques, such as pneumatic forms, and new materials, such as fiber concrete,
light and versatile concrete shells may again be competitive, especially if some
premium is allowed for quality.
Newspaper editor Horace Greeley, a renowned observer of the American
scene, wrote in 1860: "I think concrete walls, rightly made, wi11last a thousand
years." 12 The same is surely true of concrete shells, and it is a challenge to the
present and future generations of structural engineers to see that such structures
are indeed "rightly made."
10.4 References
1. R. Szilard, Theory and Analysis of Plates (Englewood Cliffs, NJ: Prentice-Hall, 1974).
2. E. H. Baker, L. Kovalevsky, and F. L. Rish, Structural Analysis of Shells (New York:
McGraw-Hill, 1972).
3. "Building Code Requirements for Reinforced Concrete" (ACI 318-83) with Com-
mentary (ACI 318R-83) (Detroit: American Concrete Institute, 1983), chap. 19.
4. J. N. Pirok and R. Wozniak, "Steel Tanks," in Structural Engineering Handbook,
E. H. Gaylord, Jr., and C. N. Gaylord, eds. (New York: McGraw-Hill, 1968), sec.
23.
5. "Reinforced Concrete Cooling Tower Shells: Practice and Commentary," Journal
of the ACI, Title 81-52, 81, no. 6 (November-December 1984): 623-631.
6. "Recommended Rules for Design and Construction of Large, Welded, Low Pressure
Storage Tanks," API Standard 620 American Petroleum Institute, 1966, "Welded
Steel Tanks for Oil Storage," API Standard 650, American Petroleum Institute,
1973; "AWWA Standard for Steel Tanks-Standpipes, Reserving and Elevated
Tanks-for Water Storage," AWWA D100-67, American Water Works Association,
or AWS D5.2-67, American Welding Society.
7. "Rules for Construction of Pressure Vessels," div. 1, 1971 ed., ASME Boiler and
Pressure Vessel Code, sec. VIII, American Society of Mechanical Engineers, 1971;
"Alternative Rules for Pressure Vessels," div. 2, 1971 ed., ASME Boiler and Pressure
Vessel Code, sec. VIII, American Society of Mechanical Engineers, 1971.
476 10 Conclusion
Base shear, 123, 124, 126-129, 202; dis- external, 171, 188,434,450; fixed,
tributions, 126-129, 195-197 239,259,286,292,305,318,328,
Beam, 5, 270, 271, 279, 285, 304, 344; 329,331,352,367,370,371; force,
action, 158, 378; deep, 4; down- 184, 344, 401, 402; free, 78, 113,
turned, 177-178; edge, See Edge 142, 146, 157, 168, 173, 239, 259,
member; gridwork, 279; ring, See 286, 344,407,462; hinged, 239,
Ring beam; simply supported, 308; 240, 259; idealizations of, 238-240;
slice, See Slice-ibeam; solution, 308, interior, 407-412; knife edge, 305,
311; stiffening, 407; theory of, I, 3, 369; loaded, 419; longitudinal, 157,
4, 122, 142, 144, 145, 225, 274, 255; points, 389; reaction, 263;
278, 408, 413; upturned, 177-178 requirements, 135; roller, 78, 239,
Bellworthy, A., 146, 193 240, 259; shell, 240; simply-sup-
Bending, energy, 263; general, 137, 158, ported, 239, 240, 286, 308, 317,
325-329; homogeneous, 246, 258, 328,329,363,367,402,407; slid-
321; moment, 55, 144, 145,316, ing, 239, 259; straight, 166, 167,
379, 394, 412, See also Overturning 176, 179; symmetry line, 409; trans-
moment; of plates, See Plates, bend- verse, 157; uncoupled, 410; See also
ing of; of shells, v, 132, 151, 178, Boundary conditions and specific
189, 372-450; resistance, 279; stiff- types of shells
ness, See Flexural rigidity; stress Boundary conditions, 71, 72, 74-76,
couples, 68, 242, 279; stresses, 137, 115, 151, 155, 156, 168, 169, 172,
473; theory, 109,471; See also 181, 184, 188, 190,237-244,259,
Flexural 268,269,272,308-310,312,314,
Bergen, P., vii, 212, 226 318,319,321,322,326,328,329,
Bernoulli, J., 279 336-338,341,356,361-363,371,
Bernoulli-Euler equation, 278; theory, 3 372,382,387,389,395,400,401,
Bifurcation, 451, 452 404-407, 409, 410, 412, 444, 463;
Biharmonic equation, 276, 279, 285, axial, 256, 317; clamped, See fixed;
314,325,326,461; function, 314, displacement, See kinematic; elastic,
321,325,326; operator, 276, 281, 238; fixed, 239, 288, 326, 327; free,
282, 352 239,279,287,411; force, 131, 132,
Billington, D., 80, 156-158,161, 163, 344; hinged, 239, 288; homogene-
164, 174, 176, 186, 188, 191, 193, ous, 238, 288; ideal, 72, 82, 103,
194,258,259,348,366,395,410, 443; kinematic, 156, 238-240, 255,
411,466,467 291,401,402,410,442,459; Kirch-
Bin, 137-140, 474 hoff, See Kirchhoff boundary condi-
Binomial expansion, 172, 361; theorem, tions; membrane, 72, 372, 410, 443,
352 459; mixed, 88; natural, 442-443;
Bobrowski, J., vii, 14, 185,194 nonhomogeneous, 238; no-rotation,
Boiler end, See Bottom and Hemispheri- 292; plates, 242, 243, 286, 312;
cal head roller, 239; shells of revolution, 243;
Bottom, 406 simply supported, 239, 287, 292,
Boundary, 155, 157, 164, 175, 180, 190, 296, 298, 309, 310, 326, 327, 329;
249,286,287,317,372,402,407; sliding, 239; static, 238-240, 402,
arch, 180, 188; assumptions, See 410, 442; symmetry, 156; See also
Assumptions for boundaries; Boundaries and specific types of
clamped, See fixed; column-support- shells
ed, See Column-supported shell; Brissoulis, D., 145, 146, 192
constraints, See Constraints; continu- Brombolich, L., 252, 259, 346, 366,
ous, 132, 137, 157; exterior, 410; 435,439,442,468
Index 479
298, 332, 376-378, 395-400, 436, 367, 374; width, 394; See also
441; function, 267, 298, 326, 382, Kirchhoff, G.
470; generalized, 346; harmonic Eigenfunction, 459
components of, 253, 254; in-plane, Eigenvalue, 458
344, 353; membrane theory, See Elastic boundary, See Boundary condi-
Membrane theory displacements, tions, elastic; constants, 294; foun-
meridional, 115; method, 433, See dation, 367, 378; law, See Constitu-
also formulation; middle surface, tive law; modulus, See Young's
246-258; nonsymmetric, 248, 250- modulus
253; normal, 126, 127, 225, 250, Elasticity, Theory of, vi. 1,30,55,56,
259,345,371,428,444,451,452, 63,217,231,233,261,268,279,
454, 455, 459; of plates, See Plates, 285, 292, 446
deflected; radial, 421, 423-425; rel- Elkin, R., vii
ative, 253, 254, 423-425; rigid Ellipse, 186
body, 238, 239; of shells with dou- Elliptic equation, 31, 162; paraboloid,
ble curvature, 258; of shells of revo- 162, 186-190,204,205,244,448,
lution, 247-253; of shells of transla- 471
tion, 253-258; small, 4, 245; Elliptical plate, 329, 331; transition, See
tangential, 115; vector, 206-208, Ellipsoidal cap
264,267,269,442; virtual, See Ellipsoid of revolution, 54, 198,
Virtual work, principle of 463
Distances, measurement of, 20, 26 Ellipsoidal cap (head), 103, 200
Distributed load, 264, 383, 384, 441; End conditions, See Boundary conditions
moment, 67, 68 Energy, criterion, See Stability criterion;
Dome, 49, 50, 75, 76, 101, 113, 114, formulation for shells, 261, 372,
135, 136, 201, 202, 314, 392, 434, 413,434-443; methods, 261-271,
439; ancient, 10; masonry, 80; See 332-342, 346; minimum total poten-
also Spherical dome tial, See Minimum total potential en-
Dong, S., 233, 258, 344, 365 ergy, principle of; potential, See Po-
Donnell, L., 394, 399, 444, 445; equa- tential energy; principle, v. 237,
tion, 399; See also Mushtari- 264-269; solutions for plates, 322,
Donnell-Vlasov theory 342; solutions for shells, 322-342;
Doubly-curved shells, 150, 158-162 strain, See Strain energy; See also
Drawdown, 137 specific types of
Drilling degree-of-freedom, 212, 222, Engineering theories, 1-3
238 Equilibrium, vi. 4, 55-70, 245, 265,
Dundurs, J., 312, 365 266, 274, 337, 375, 441; of an ele-
Dynamic force, 118, 123, 126 ment, 284; equations, I, 61-67, 73-
76, 104, 152, 160, 206, 222, 237,
245,248,250,272,276,281,342,
Earthquake, See Seismic 343, 349, 359, 362, 372, 373, 395,
Eccentricity effects, 178 396, 413, 433, 449, 453, 454, 462;
Edge, See Boundary; force (load), 97, overall, 92-95, 104-106, 119, 121,
98, 102, 132, 133, 137, 173-176, 122, 126, 130, 140, 143, 198,205,
184,255,289-295,378-381,389, 245,302,381,416; See also specif-
400,401,410,416,419,421,422; ic geometric types
member, 135, 169, 170-179, 443, Error function, 269, 340
473; moment, 416 Estanave, 308
Effective causes, method of, 266; depth, Euler, L., 266, 267, 279, 452
473; forces and couples, 241-243, Expansion, See Thermal
482 Index
Extensional energy, 263; force, 55; mem- Form work , 165, 475
ber, 5; mode, 6, 381; rigidity, 233; Forray, M., 266, 269, 270, 339, 365
shearing, 263; strain, 213, 215, 220, Fourier coefficient, 113, 134, 144, 146"
332, 448; stress resultant, 62-68, 296,297,354; series, 109-112,
70, 378; thickness, 235-237 131, 134, 136, 137, 142, 150, 154-
Extremum problem, 267, 442 156, 188,219,243,251, 255, 296-
298,311,326,343,404,409-411,
433, 436, 441
Faber, C, 32, 54, 165, 193 Free boundary, See Boundary and
Facet surface, 212 Boundary conditions; vibration, 126
Factor of safety, 130, See also Knock- Frenet-Serret formula, 26
down factor Friction coefficient, 137; load, See Wall
Falsework, See Formwork friction loading
Field measurements, 140 Frustum of a cone, 98
Fill load, 203 Function, 16; integration, 174; odd, 154;
Filonenko-Borodich, M., 276, 364 stress, See Stress function
Final causes, Method of, 266 Functional, 266, 434, 440-442
Finite deformation of plates, 352, 358- Fung, Y.C., 13, 14,360, 366
364, 444; deformation of shells, Future applications, 474, 475
461-463; difference method, 258,
342,443; element method, 48, 184,
217,258,268,342,346,433,442, Gable HP shell, 167, 174, 176, 178
443 Galerkin method, 269-271, 337, 340-
Fino, A., 104, 191 342
Finsterwalter, U., 395 Gauss, K., 31
First quadratic form, See Quadratic form, Gauss-Codazzi conditions, 29, 30, 50,
first 51,54,64,73,78,91,417,466
Fliichentragwerke, v Gaussian curvature, 30-32, 48, 64, 69,
Flexible shell, 71 83,89,90,97, 115, 116, 137, 151,
Flexibility influence coefficient, 246, 163, 186, 190,203,204,360,372,
424-430; matrix, 246, 430; method, 373,381, 446, 463, 464
245,246,256,258,292,423-425 Geckeler approximation, 419, 420, 446
Flexural action, 6, 279, 304; member, 5, Generator, parabolic, 174; plane curve,
6; mode, 6, 381; rigidity, 233,273, 48; skewed, 189; straight, 165, 166,
342,344,347,378; thickness, 235, 189
236 Geometry, v, vi, 16-54, 72, 115,400,
FlUgge, W., 60, 69, 71, 89, 98,191, 434-436; smooth, 419; of middle
252,259,395,400,407,413,417, surface, 16-20; regular, 157; See
418, 430, 433, 461, 466-469 also specific types of shells
Folded plate, 45, 233, 346-348 Gere, 1., 454, 459, 462, 468, 469
Force, axial, 171; body, 263, 461; Gergely, P., 179, 194
boundary conditions, See Boundary Germain, S., 279
conditions; concentrated, 288; com- Gibson, 1., 395; equation, 399
pressive, 169-171, 173, 371; -defor- Glockner, P., 243, 259
mation relationship, 218; equilibri- Goldberg, 1., 348, 366
um, See Equilibrium equations; Gol'denveizer, A., 26, 30, 54, 222,
extensional, 191; in-plane, See In- 226
plane force; method, 433; tensile, Goodier, 1., 241, 259, 292, 364
169-171; vertical, 171,325; See Gould, P., 72, 86, 89, 123, 126, 128,
also specific types of 132, 149, 151, 191-193,227,250,
Index 483
252, 253, 258, 259, 346, 366, 406, Hyperbolic cooling tower, 39, 40, 83,
407, 431, 433-435, 439, 442 126, 150; equation, 31, 162; sur-
Gravity loading, See Self-weight load face, 31, 32; See also Hyperboloidal
Greeley, H., 475, 476 shell of revolution
Green, A., 60, 69,345,365 Hyperbolic paraboloid shell (HP), 14,
Green's function, 307, 370, 383, 403 32-35,39,43, 162-186, 190,203-
Gregory, J., 466 205; arch action in, 174-176, 190;
Gridwork system, 233 displacements, 260; edge members,
Grimm, C., 14 169-179, 203; steel, 43, 179; with
Groined vault, 185 curved boundary, 179-186; with
Guralnick, S., 462, 469 straight boundary, 166--174; wood,
179
Hyperboloid of one sheet, 54, 83, 117,
Haas, A., 32, 54, 190, 194 199; of revolution, 126, 151,463-
Hadrian, Emperor, 7 466
Hagia Sophia, 7, 9 Hyperboloidal shell of revolution, vi, 83-
Han, K., vii 89, 146, 149-151, 195-197,201,
Hansen, J., 237, 258, 270 250; displacements of, 250, 251,
Harintho, H., vii, 431, 467 253; geometry of, 83-86; seismic
Harmonic analysis, See Fourier series; loading on, 126--130, 195-197; self-
component, 401,406,433; loading, weight load on, 86--89; wind loading
260, 300-305,434; number, 355, on, 146, 149-151; See also Hyper-
436, 438, 440, 442; solution, 112, bolic cooling tower
405; See also Fourier series Hypergeometric equation, 418
Heart valve, 41, 72
Hedgren, A., 258, 259
Hemisphere, 8 Imperfection, 452, 461
Hemispherical head, 430-432, shell, 79, Imperfection sensitivity, 463-466
101-102, 119, 135-137, 198,202; Incompatible defonnation, 80
See also Spherical shells Indeterminate fonn, 76, 79, i 13, 114,
Hencky-Mindlin theory, 345 249, 438, 439
Heppler, C., 231, 258, 268, 270 Inertial effects, 264
Hemnann, G., 54 Inextensional deformation, 464, See also
Hetenyi, M., 378, 466 Pure bending deformation
Hilbert, D., 268, 270, 307, 364 Infilled material, 235, 236
Hill, G., 150, 193; equation, 150 Influence surface, 307
Hipped HP shell, See Gable HP shell Ingerslev, E., 150, 193
Hoff, N., 329, 365, 394 In-plane displacement, 278, 352, 353,
Holes, 381, See also Annular plates 362,443; force, 70, 176,272, 348-
Homogeneous bending, 314; equation, 358,402,450,456; loading, 6, 67,
130; solution, 130-131, 405 354-358,450,451,453; shear, 6,
Hooke's law, 227 176, 188,241,242; shearing strain,
Hoop stress (resultant), 78, 80, 102, 104; 213, 214, 216, 278, 353, 448;
tension, 80 strain, 447; stress resultant, 62-68,
Horizontal circle, 94; radius, 49, 77, 91, 70, 75, 142, 444, 453, 462, 464,
105, 223, 224 473
Huffington, J., 237, 258 Instability, energy method, 454-457,
Hydrostatic loading, 199, 200, 202, 244, 459-461; equilibrium method, 453,
311,326,327,367,369,370,431, 454,457-459; general, 6, 171,451,
470 453; local, 451; of plates, 349-358,
484 Index
Lowe, P., 53, 69, 191, 226, 259, 446 Methods, See specific titles
Lowrey, R., 227, 258 Michelangelo, 7
Lur'e, A., 395 Michell, J., 329, 365
Middle axis, 2, 4; plane, 2, 4, 229, 276,
277,289,358; surface, 2,4, 16-18,
Maddock, J., 252, 259 30,55,60,64, 1I5, 144, 171,206-
Mapping, 158-162 218, 229, 232, 237, 241, 250, 264,
Marcus Agrippa, 7 352,447
Mariotte, 304 Mindlin, R., plate theory, 345
Martin, D., 252, 259 Minimum total potential energy, principle
Mass density, 144, 198 of, 266, 267, 441, 442
Mass, Mass-Height distributions, 126- Mixed formulation, 413, 433
129, 196 Mode shape, 126-128, 459
Material, axis, 231; law, See Constitutive Model, mathematical, v
law; nonlinearity, 452; properties, v, Modulus of elasticity, See Young's mod-
400, 414, 425, 430; structural, 6, ulus
15, 472 Mohr's circle, 285
Maximum-minimum conditions, 442 Moment, bending, 5, 158,317-319,329,
Maxwell-Betti reciprocal theorem, 329 344; clamping, 305; concentrated,
Measurement of distance on a surface, 20 See Concentrated moment; -curva-
Measure number, 19 ture relations, 343; edge, 289, 292,
Medium-thin plates, v, See also Plates 320, 325, 329, 342; equilibrium, See
Meissner, E., 413, 433, 467 Equilibrium equations; of inertia,
Members, classification of, 5, 6 144, 234-236,413; overturning,
Membrane, 4, 279, 286 143, 171,202; twisting, 6, 344; See
Membrane theory, 70-205, 233, 243, also Stress couple
245,263,372,374,389,392,402, Momentless state of stress, See Mem-
404,407, 411, 423, 433, 443, 472; brane theory of shells
applicability, 71, 72; displacements, Monse, A .. 474
71, 245-258, 386, 387, 402,410; Multilayered shells, 10, 233
for shells of revolution, 73-151, Multiple barrel shells, See Barrel shells
247-253; for shells of translation, Mushtari, K., 444, 445; -Donnell-Vlasov
151-191,253-258; state of stress, (MDV) Theory, 443--448, 450, 453,
453; statically indeterminate, 256- 459,471
258; stress resultants, See Stress re-
sultant; solution in bending theory,
404, 405, 410-412, 416, 423 Nadai, A., 295, 308; See also Levy-Na-
Mexico City earthquake, 12, 14 dai solution
Meridian, 48, 49, 50, 76, 89, 90, 98, Navier, 3, 279, 296, 308; hypothesis, 3;
104, 108, 132, 200, 220, 404, 434, solution, 29fr.308, 311, 335, 337,
466 343,356,362,367,402
Meridional angle, 48-50, 54, 73, 94, 95, Negative curvature shells, See Gaussian
199,434; bending, 145; coordinate, curvature
50-53, 88, 95, 243, 404, 434; direc- New Newark Airport, The, 171,
tion, 50; force, 243; length, 95; 193
load, 125; moment, 423, 425, 431; Newton's laws, 1
radius of curvature, See Principal ra- Nonlinear equations, 452, 461-463; for-
dius of curvature; segment, 146; mulation, 263; plate theory, 3, 352-
strain, 455; stress (resultant), 75, 92, 354, 358-364; prebuckling state,
94,97,98, 102, 129, 140, 142, 451,452; shell theory, 3,461-465;
144, 198, 202, 466 See also Finite deformation of . . .
486 Index
241-243, 278, 282-284, 291, 298, Vlasov, V., 53, 54, 115, 192,395,399,
300-302,308,311,314,370,378, 402,403,447,448,453,454,457,
395, 413, 450 466--469; equation, 399; See also
Transverse warping shape factor, Mushtari-Donnell-Vlasov theory
231 Volume, 266, differential, 262; element,
Trapezoidal method, 250 56,57
Trial function, 442 Von Kannan, See Karman, T. von
Triangular plate, 329-331, 369
Tsein, H., 462, 469
Tso, F., 233, 258 Waffle slab, 44, 235
Tsui, E., 380,466 Wall friction loading, 137, 140,406
Twist of surface, 216, 223, 272 Wang, R., 431, 467
Twisting energy, 263; moment, 6, 55; Water tower, See Tower, water
rigidity, 6, 235, 237, 279, 304; Washizu, K., 265, 270
stress couple, 68, 242, 279, 287, Watson, G., 150, 193
288; stress resultant, See Stress re- Wave length of bending, 381; buckling,
sultant; thickness, 235, 237 460
Weight of a shell, 126, 140, 173, 176,
See also Self-weight
Umbrella HP shell, 167, 169-172,473, Welded joints, 474
474 Welded Steel Tanks for Oil Storage, 474,
Uniformly distributed load, 153, 154, 475
168, 169, 173, 178, 179,203,298, Westergaard, H., 3, 14
300-306,309-312,316,318,331, Whittaker, E., 150, 193
337, 369, 370, 409 Williams, M, vii
Unit load, 307; normal vector, 21-26, Wind, load(ing), 117, 118, 202,433,
57,206-212; tangent vector, 21-26, 434; pressure, 118, 119, 146-151;
61, 208-212, 446, 447; vector, 17, tunnel tests, 140, 143, 146-148
21,78,211; weight, 199,200 Wittek, U., vii. 463,469
Unsymmetrical loading, See Nonsym- Woinowsky-Kreiger, S., See Timoshenko
metrical loading and Woinowsky-Kreiger
Wozniak, R., 431, 467, 474, 475
Wren, Sir c., 7
Valley, interior, 410; member, 177 Wrinkling, 431,432
Variable coefficient, 149 Wu, 1.K., vii. 14
Variational operator, 265; principle, 265,
270
Variation of parameters, 130 Yang, T., 462, 469
Vault, 35, 185, 186 Yitzhaki, D., 348, 366
Vector algebra, 60, 224; calculus, vi; See Young's modulus, 109,227,423
also specific types
Verschmieren, 233, 235
Virtual displacement, 265, 266, 353; Zema, W., 60, 69, 395
principle of, 261, 264-266 Zero curvature shells, See Gaussian cur-
Virtual work, 265, 335-337, 356--358, vature
370; principle of, 265, 357 Zienkiewicz, 0., 268, 270