Analysis of Stress

 Definition of stress.
 Equilibrium equations.
 Stress transformation
 Principal stresses and principal directions.
 Maximum shear stress.
 Some special states of stresses
Applied Forces
Applied forces transmitted to an elastic body
can be classified into two categories:
 Body forces:
Acting directly in the interior of a body and
specified by the intensity per unit volume
(for small deformation theory). Examples are
gravitational and magnetic forces etc.
 Surface traction:
Acting on the boundary of a body or an
imaginary boundary inside a body and
specified by the intensity per unit area.
Definition of Stress
Consider an infinitesimal element n
on a surface S. Let F and M denote
resultant force and moment acting on this
element.
Then, we define the stress at point P surface S
from the following limit:
F dF
σ  lim 
An 0 A dAn
F needs to be decomposed for stresses
n

in normal and tangent directions of n.
 Note that the contribution from moment
M for stresses is ignored as n→ 0
(no couple stress).
Normal and Shear Stresses
Let decompose F into three orthogonal
components: x2
Fs2 F

one normal direction to the interface; two Fn

tangent directions to the interface along

P
An Fs1

some directions s1 and s2.

The normal and shear stresses are given by: O
x1

 Fn
 nn  lim  normal stress
 An  0  A
n

 Fs1
 ns  lim x3
1  An  0  An
shear stress
 Fs2
 ns  lim
2  An  0  An
Notation of Stress
State of stress at a point for a 3-D
solid can be uniquely represented by
its components on three orthogonal  22

planes as follows:  21
 23
 33  12
 11  12  13  x2
 13  31

σ   ij    21  22  23 
 11  11
 32
 32  13
 31
 31  32  33  O x1
 12
 23
 33
 The first subscript identifies the x3  21

direction of the normal to the plane.  22

 The second subscript identifies the

direction of the force.
Sign Convention
 Normal stress is positive when it is
directed outward from the domain of  22
interest.  21
 Shear stress is positive when x2
 23
 33  12
 13  31
 it acts in a positive coordinate  11
 32
 32  13
 11

direction provided that the outward  12  31

normal to the plane is in a positive O x1  23
 33
coordinate direction. x 3
 21

 it acts in a negative coordinate  22

direction if the outward normal is in
a negative coordinate direction.
 Equilibrium Equations
 Consider an infinitesimal rectangular element close to
point P with its edges parallel to the axes.
 Stresses at each side of this element are defined as shown.
22
 Xi (i=1,2,3) denotes the body force.
 2 1
 From Taylor series,
 23

  12
X2
33
x2
 13  31 dx 2
 11 X1
  11  dx1 
2
 11 2  32 X3  11
 11   11  dx1    12  31
 
 32
x1 x1
2 P
2! O x1
 23
13

 33  21 dx3
  12  dx1 
2 x3
 12 2
 12   12  dx1   dx1  22
x1 x1
2
2!

 Equilibrium Equations
 Since the element sides are very small (dx , dx , dx  0)
1 2 3

the stresses at positive planes can be expressed as

 11  12
 11   11  dx1  12   12  dx1 22
x1 x1
 2 1
 23

  X2
  12
 13   13  13 dx1  21   21  21 dx2 x2
 13  31
33
dx 2
x1 x2  11
 32
X1
 11
X3  32
 22  12 P  31
 

 22   22  dx2 O x1
 23
13

x2  33  21 dx3

x3
 dx1  22
 33
 33   33  dx3
x3
Equilibrium Equations
 For the static equilibrium of forces in x1-direction
  
  11  11 dx1 dx2 dx3   11dx2 dx3  21 
 21
 x1  x2
dx2
dx 2
X1  11   11 dx1
x2  31
  21   11
   21  dx2 dx1dx3   21dx1dx3 x1

 x2  P   31
x1
 31 
O
dx 3
 x3
x3  21 dx3
  31 

   31  dx3 dx1dx2   31dx1dx2 dx1

 x3 
 11  21  31
 X 1dx1dx2 dx3  0     X1  0
x1 x2 x3
Equilibrium Equations
 Similar procedure can be repeated for the force  22
equilibrium x2 and x3 directions.  21

 Therefore, the equilibrium equations in the

 23 X2
 33  12 dx 2
x2
 13  31
Cartesian coordinates can be written as  11
 32
X3
X1
 13
 32
 11

 12 P  31
 23
 11  21  31
O x1

 33
   X1  0 x3  21 dx3
x1 x2 x3

}
dx1  22

 12  22  32
x1

x2

x3
 X2  0
 ji , j
 X i  0 Indicial Notation
 13  23  33 Also applicable for dynamic equilibrium
   X3  0
x1 x2 x3 If D’Alembert’s force is included in X
 Symmetry of Stress Tensor
 Let take moment at the center of the element  22

about the x1-axis.  21

 23 X2
 33  12 dx 2
  23   dx2  13  31
x2

  23 dx1dx3 
dx2  11 X1  11
  23 
 
dx2 dx1dx3   32  13
X3 
 x2   2 2 O x1
 12 P  31 32
 23
 33 dx3
x3  21

  32   dx3 dx3
dx1  22

   32  dx3  dx1dx2    32 dx1dx2  0

 x3   2 2

 Neglecting the terms of higher order than

(element side)3 yields  
Symmetry of Stress Tensor
 Taking similar moment equilibrium about the x2
and x3 axes yields    and   
respectively.  22

 21
 23 X2
 33  12 dx 2
x2
 13  31
X1
 11  11
 32  13
 Thus ij
X3
ji Symmetry of Stress Tensor  12 P  31 32

O x1  23
 33 dx3
x3  21
dx1  22

 Only six (not nine) components required for a

complete state of stress at a point.
Traction (Stress Vector)
 Consider a small tetrahedron PABC with
an inclined face having an unit normal x 2
C
vector n and a surface traction (stress n T
vector) T applied on the plane ABC.

dx2
O
x 1

13 33
x
The other three faces oriented
3

  11
 31 dx1
perpendicular to the three axes.  12 P   32
23
B

dx
3
21
 Let denote the areas of surfaces as A  22
PAC = S1
PAB = S2
PBC = S3
ABC = S
Traction
 Let T1, T2 and T3 denote the Cartesian
components of the traction T.
C
 For the force equilibrium in the x1-direction. x 2

n T

dx2
T1S   11S1   21S 2   31S3 O
x 1

13
x 3
33
 11
 31
 Let n1, n2 and n3 denote the direction cosines  12 P   32
dx1
B
of the vector n. 23

dx
3
21
 It can be shown that A  22

n1 = S1 / S; n2 = S2 / S; and n3 = S3 / S

Traction
 The volume of a tetrahedron PABC is
dxS)/3 = dx1S1)/3 B
dx1
= dx2S2)/3 
dx

= dx3S3)/3

dx2
 Thus, dx/dx1 = S1/S = cos1 = n1 dx1 C
P
dx 3
dx/dx2 = S2/S = cos2 = n2
dx/dx3 = S3/S = cos3 = n3
A
Traction
 Therefore,
T   n  n  n x
C
2
1 11 1 21 2 31 3
n T
 Similarly, the force equilibrium in x2 and x3

dx2
O
x 1

13
directions yields x 3
 11
 31
33
dx1
T   n  n  n
2 21 1 22 2 23 3
 12 P   32
23
B

dx
3
21
T   n  n  n
3 31 1 32 2 33 3 A  22

 Or, using indicial notation

Ti   ji n j
 Or, due to the symmetry of stress tensor  Ti   ij n j
Traction Example
 If a state of stress at a point is  The traction vector Ti on such
defined as plane can be computed from
2 4 6 
 ij    4 2  6  T1   2
  
4  6  1 2 
 1 2 
 6  6  15 
 2 
T 4 2  6  
T   6  6  15 1 2 
 3   
 Determine the traction vector Ti on   1.24 
a plane where the unit vector is  
   1.24 
given by  4.60
 
1 1 1 
(n1 , n2 , n3 )   , , 
2 2 2
Equations of Motions
 The equations of motions can be derived from x2

Newton’s 2nd law (Euler’s 1st law) of motions. . v

S
 Balance of linear momentum: The time rate of the x V

linear momentum is equal to the applied force. x1

O

d  
F     vdV 
dt  V  x3

d
 X i dV   Ti dS  (  ui dV )
V S dt V
(X i  ji , j ) dV    ui dV  ji , j
 X i   ui
V V
Equations of motion
Stress Transformation
 Consider the traction (stress vector) formula.
Ti   ji n j x
C
2

ni
 Since Ti is a vector, then it can be rewritten as T i

dx2
O
x 1

13
aik Tk   ji n j x 3
 11
 31
33
dx1
P   32
 where aik denotes the cosine of the angle  12
23
B

dx
3
21
between unprimed and primed coordinates. A  22

 Due to the stress vector formula,

 nm   ji n j
aik mk
Stress Transformation
 Apply the transformation law to the vector nm .
C
 n j   ji n j
aik a jm mk x 2

ni
 Since nj is an arbitrary unit vector, T i

dx2
O
x 1

13 33
a jm aik mk
   ji x 3
 11
 31
 and  12 P   32
dx1
B
23

dx
3
21
aki amj km   ij A  22

 Thus  ij is a second order tensor since it obeys

the transformation law for such tensor.
Principal Stress and Principal Direction
 For a given state of stress at a point P,
there can be a plane passing through this
point such that there is not shear traction
x2
 ni
on that plane. O
x
ni
1

dx2
 Such a plane is called a principal plane. x 3

 The normal traction on the plane is dx1

P
called a principal stress.

dx
3
 The direction of the outward normal
vector is called a principal direction or
principal axis.
Principal Stress and Principal Direction
 Let ABC be a principal plane with nj as
the unit outward normal vector and  is x2
the principal stress. C  ni
 From the traction (stress vector) formula, O
x 1
ni

dx2
 ni   ij n j
x 3

   ij  n j  0
dx1
ij 3 P B

dx
 This is an eigenvalue problem, in which A
 a pricipal stress, is an eigenvalue and
nj, a princiapl direction, is an eigenvector.
Principal Stress and Principal Direction
 The characteristic equation is given by
 3  I1 2  I 2  I 3  0
where I1, I2 and I3 are the first, second and
x2
 C  ni
third stress invariants respectively, and O
x 1
ni

dx2
I1   ii x 3

 
dx1
I 2  I   ij ji / 2
1
2
3 P B

dx
I 3  det  ij 

 
 I13  2 ij jk ki  3I1 ij ji / 6 A
Principal Stress and Principal Direction
 Since the [ij] is symmetric, then the
characteristic equation will give three real
roots, i.e. there are three real values of
principal stresses.
 Let ,  and  be the principal stresses
 The stress invariants can then be expressed in
terms of the principal stresses as
x2

I1   1   2   3 O
x 1

I 2   1 2   2 3   3 1
x 3

I 3   1 2 3
Principal Stress and Principal Direction
 When ,  and  are distinct, then
the corresponding orthogonal principal
planes will be unique.
 If two principal stresses are equal, e.g.
 =  , only the principal axis in the
direction of  will be unique.
x2

 If all three principal stresses are equal, O

x 1

i.e.  =  =  =  (hydrostatic x 3

stress), any three mutually orthogonal

axes will form a set of principal axes.
Maximum Shear Stress
 Let , and  be the principal stresses at
point P and the corresponding principal
3
directions are x1, x2 and x3, then ni
Ni
x2
Ti
 1 0 0  1

 ij    0  2 0 
P Si
x1
 
O

 0 0  3  x3

2
 Let Ti, be the traction on an inclined plane
ABC, in which the unit normal vector is
denoted by ni.
Maximum Shear Stress
 Let Ni and Si be the normal and tangential
components of the traction Ti. Thus,
3

N i  Tk nk ni
Ni
x2 ni
Ti
  jk n j nk ni 1
Si
P
and Si  Ti  N i
x1
O

  ji n j   jk n j nk ni x3

2
T1   1n1 ; T2   2 n2 ; T3   3 n3
N i   1k n1nk   2 k n2 nk   3k n3 nk  ni
 
  1n12   2 n22   3 n32 ni
Maximum Shear Stress
 Then,
2
Si Si  Si
2 2 3
 Ti  N i x2 ni
Ni

  1n1    2 n2    3 n3 
2 2 2 Ti
1
P Si

 
2 x1

  n  n  n
2 2 2 O

1 1 2 2 3 3
x3
 Since 2

n12  n22  n32  1

 We can then express SiSi in terms of the principal stresses, and n1 and n2.
 The planes where SiSi is maximum or minimum can be obtained by taking its
derivative with respect to n1 and n2 and setting them to zero.
Maximum Shear Stress
 Let find plane that the maximum shear stress occurs with n3 = 0. Then,
x2
n12  n22  1, and

 
2
Si Si   1n1    2 1  n1
2 2 n


 
2
  1n12   2 1  n12 
  x1
  12 n12   22 1  n12  

     
2 2
 n 2
1 1  2 1 n 1  n1   1  n1
2
2 1
2 2
2
2

  1   2  n12   1   2  n14
2 2

 The planes where SiSi is maximum or minimum can be obtained by taking its
derivative with respect to n1 and setting it to zero.
Maximum Shear Stress
 The plane that the maximum shear stress occurs can then be found from
S i S i   1   2  n 2   1   2  n 4
2 2 x 2
1 1

Si Si
 2  1   2  n1  4  1   2  n13
2 2
n
n1 
0
 Thus, x1
1 1 
n1   ; and n2  
2 2
 and the magnitude of the shear and normal stresses on this plane are
 1   2 
Si    
 2 
1   2
and N i 
2
Maximum Shear Stress
 The max. (or min.) shear stress occurs on the plane bisecting the angle between the
two principal directions.
 It has the value equal to half the difference between those two principal stresses.
 By following a similar procedure, the planes that the max. stresses occur and the
values of the corresponding stress can be obtained as shown in the table below.
n1 1 0 0 0  1  1
2 2
0 1 0  1 0  1
n2 2 2

0 0 1  1  1 0
2 2
n3

Normal Stress 1 2 3  2 3  3  1 1   2

2 2 2

0 0 0  2 3  3  1 1   2
Shear Stress   
2 2 2

principal stresses max./min. shear stresses

Octahedral Stresses and Planes
 Octahedral plane: a plane making an equal
angle with the principal axes. There can be
eight such planes, in which
n12  n22  n32  1 3
 The magnitude of the shear stress on each
octahedral plane or octahedral shear stress
 is given by
9 o2   1   2    2   3    3   1  
2 2 2

 
 The octahedral shear stress is important in
the study of material yielding.
Deviatoric Stress Tensor
 Deviatoric stress tensor or stress  The first, second and third
deviator: deviatoric stress invariants:
1 J 1  sii  0
sij   ij   kk  ij
3 1
 Thus J 2  sij s ji
2
   kk  
 
 11  3   12  13  1
    J 3  sij s jk ski
    3
 sij     21  22   kk   23 


 3    Note that
 
  31  32  33   kk  3
  3   J 2   o2
2
Some Special States of Stresses
 Uniaxial stress:  Hydrostatic stress:
x2 x2

O O
x 1 x 1

x 3 x 3

 0 0    0 0 
 ij    0 0 0   ij    0  0 
  
 0 0 0   0 0  

 Principal stress: , = =0.  Principal stress:  = =-.
 Principal direction: x1, x2 and x3.  Principal direction: any direction
Note that x2 and x3 can be replaced (no shear stress on any plane).
by any direction in x2 and x3 plane.
 Other cases: plane stress, pure
shear, etc.
Plane Stress Problems
 The plane stress can be assumed when
one dimension of a solid body is much
smaller than the others.
 For example, when a plate is subjected to
loading applied uniformly over its x

thickness and in the plane of the plate.

 When the direction of a plate is relatively Thickness = t
small in the X3- direction, the normal
stress 33, the shear stresses 13 and
23 are assumed to be zero.
x
(=  = = 0)
Example
 Determine the principle stresses from the state of plane stress
given below.
 1 12 
 ij    
 12 6 
a  a   11 22   4a122 

2

 1  1  11 22 a a
From     
 2  2  a  a   a11  a22   4a122 
2
 11 22
 1   10 
Thus,     
 2  15

 What is the value of the maximum shear stress?

Example
 The components of traction on the max. shear stress plane can
be determined from x 2

N
 1   2 
 2.5
2 

S 
 1   2 
 12.5
S

2 x1

 Max. shear stress 

 You can also find the above components of traction by using

the orthogonal transformation of stress tensors or drawing a
Mohr’s circle.