Chapter 1

Review of Elementary Mechanics of Materials

“Mechanics of materials” method:

1. Deformation; guesswork, intuition, symmetry, prior knowledge,

experiment, etc.

2. Strain; exact or approximate solution from deformation

3. Stress; constitutive relationship

4. Load; integration, equilibrium equations

5. Displacement; inversion of deformation-load relationship,

integration of strain, energy method

“Elasticity” method:

1. Equilibrium equations; differential form of Newton's law for

normal stresses, symmetry of shear stresses

2. Compatibility; continuum restrictions for strains

3. Constitutive relationships; stress-strain relationships (isotropic or

anisotropic material, linear or nonlinear material, etc.)

4. Boundary conditions; loads and supports

5. Solution; analytical or numerical

 Note on Notation
(Cartesian coordinates)

coordinates:

x = x1 e1 + x2 e 2 + x3 e3 ( x1, x2 , x3 )

x = xi + y j + zk ( x, y , z )

displacement:

u = u1 e1 + u2 e 2 + u3 e3 ( u1, u2 , u3 )

u = ux i + u y j + uz k ( ux , u y , uz )

u = u i + v j + wk ( u , v, w )

strain:

1 ⎛ ∂ui ∂u j ⎞
εij = ⎜ + ⎟
2 ⎜⎝ ∂x j ∂xi ⎟
⎠

⎡ ε11 ⎤ ⎡ ε xx ⎤ ⎡ εx ⎤
⎢ε ⎥ ⎢ε ⎥ ⎢ ε ⎥
⎢ 22 ⎥ ⎢ yy ⎥ ⎢ y ⎥
⎢ ε33 ⎥ ⎢ ε zz ⎥ ⎢ ε ⎥
⎢ ⎥ = ε ⎢ ⎥ = ⎢
z
⎥
ε
⎢ 12 ⎥ ⎢ xy ⎥ ⎢ γ xy / 2 ⎥
⎢ ε 23 ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ε yz ⎥ ⎢ γ yz / 2 ⎥
⎢ ⎥
⎢⎣ ε31 ⎥⎦ ⎢ε ⎥ ⎢ γ / 2⎥
⎣ zx ⎦ ⎣ zx ⎦

stress:

⎡ σ11 ⎤ ⎡ σ xx ⎤ ⎡ σx ⎤
⎢σ ⎥ ⎢ ⎥
σ yy ⎥ ⎢σ ⎥
⎢ 22 ⎥ ⎢ ⎢ y⎥
⎢ σ33 ⎥ ⎢σ ⎥ ⎢σ ⎥
⎢ ⎥ = ⎢ zz
⎥ = ⎢ z⎥
⎢ σ12 ⎥ ⎢ σ xy ⎥ ⎢ τ xy ⎥
⎢ σ23 ⎥ ⎢ ⎥ ⎢ ⎥
⎢ σ yz ⎥ ⎢ τ yz ⎥
⎢ ⎥
⎣⎢ σ31 ⎦⎥ ⎢σ ⎥ ⎢τ ⎥
⎣ zx ⎦ ⎣ zx ⎦
 Example I: Axial Tension/Compression
L
A

L+u

P P

1. Deformation

planes originally normal to the axis remain normal, but their separation changes

2. Strain
u
ε =
L

3. Stress
σ = E ε , εA = − ν ε

4. Load
P = ∫ σ dA = σ A
A

5. Displacement
PL
u =
EA
 Example II: Torsion
L
J
θ

T T
γ

1. Deformation

planes originally normal to the axis remain normal, their separation remains the same,
but they rotate in their in their own plane, i.e., around to the axis

2. Strain
θ
γ = r
L

3. Stress
τ = G γ , where E = 2 (1 + ν) G

4. Load
θG 2 θG J
T = ∫ τ r dA = ∫ r dA =
A L A L

πd4
2
where J = ∫ r dA =
A 32

5. Displacement
TL
θ =
GJ
 Example III: (Pure) Bending
y, v

I
x

y, v
ρ

M M
x

1. Deformation

planes originally normal to the axis remain normal, on the average their
separation remains the same, but they rotate around the axis of moment

2. Strain
y
ε = − = − v '' y
ρ

3. Stress
σ = Eε

4. Load
M = − ∫ σ y dA = v '' E ∫ y 2 dA = v '' E I
A A

V = − M ' = − E I v '''

q = − V ' = E I v ''''

5. Displacement
v = ∫∫ v '' dx 2
 Example IV: (Simple) Shear
L
A

V
V γ

1. Deformation

planes originally normal to the axis remain normal, their separation remains the same,
but they slide in their in their own plane

2. Strain
v
γ ≈
L

3. Stress
τ = Gγ

4. Load
V = ∫ τ dA ≈ τ A
A

5. Displacement
VL
v ≈
GA
 Symmetry of Shear Stresses
σy

τ yx
y
τ xy
x σx dy σx
τ xy dx
τ yx

σy

equilibrium equations (in 2-D):

σ x ( x + dx ) dy dz − σ x ( x ) dy dz + τ yx ( y + dy ) dx dz − τ yx ( y ) dx dz + Bx dx dy dz = 0

∂σ x ∂τ yx
+ + Bx = 0
∂x ∂y

σ y ( y + dy ) dx dz − σ y ( y ) dx dz + τ xy ( x + dx ) dy dz − τ xy ( x ) dy dz + B y dx dy dz = 0

∂σ y ∂τ xy
+ + By = 0
∂y ∂x

− τ xy dx dy dz + τ yx dx dy dz = 0

τxy ≡ τyx
 Warping
In torsion:

τ=0

τ T T
τ

T T

In shear:

τ=0

τ=0

V V

VQ
τ =
It
 Elementary Beam Formulas

strain- load- stress- load-

deformation miscellaneous
displacement stress strain displacement

u P σ P EA
extension ε= σ= =E = εA = − ν ε
L A ε u L

φr Tr τ T GJ
torsion γ= τ= =G = E = 2 G (1 + ν)
L J γ φ L

My σ M 1/ρ = v ′′
bending ε = − y v ′′ σ=− =E = IE
I ε v ′′ V = − M′
q = −V ′

shear- VQ τ V GA Q2
γ ≈ v′ τ= =G = k=
A
∫∫ dA
bending It γ v′ k
I 2 t2
Thin-Wall Pressure Vessels
t
po σh
pi σa σa

σh
ro

ro = ri + t , where ro ≈ ri ≈ r since t << ri < ro

p = pi − po is the gauge pressure

r
2 σh A t ≈ p 2 r A , therefore σh ≈ p
t

r
σa 2 π r t ≈ p π r 2 , therefore σa ≈ p
2t
 Plastic Deformation
ductile behavior

stress

σY , τY

E, G

strain

cubic crystal

[001]
[111]

slip
plane
[010]

[100] [110]

grain structure in polycrystalline materials

 Residual Stress in Torsion

T =0 T1 T2 = Tfe

τ2 = τ Y
τ1
τ=0

T3 T4 = Tfp T4 - Tfp = 0

τY τY
τY
_1 τ
3 Y

c
T = ∫∫ τ( r ) r dA = 2 π ∫ τ( r ) r 2 dr
A 0

c r π c3
elastic case: T = 2 π ∫ ( τ max ) r 2 dr = τ max
0 c 2

π c3
elastic limit: T fe = τY
2

c c3
plastic limit: T fp = 2 π τY ∫ r 2 dr = 2 π τY
0 3

T fp 4
=
T fe 3

4
in release the material acts linear: τ max = τY
3
 Stress Transformation
σy
y
σs τ ns σn
s n
τ xy
θ x σx

stress transformation equations:

σx + σ y σx − σ y
σn = + cos 2θ + τ xy sin 2θ = cos 2 θ σ x + sin 2 θ σ y + sin 2θ τ xy
2 2

σx + σ y σx − σ y
σs = − cos 2θ − τ xy sin 2θ = sin 2 θ σ x + cos 2 θ σ y − sin 2θ τ xy
2 2

σx − σ y
τns = − sin 2θ + τ xy cos 2θ
2

principal stresses:

σx + σ y σx − σ y 2
σ1 = + ( ) + τ2xy
2 2

σx + σ y σx − σ y 2
σ2 = − ( ) + τ2xy
2 2

maximum shear stress:

σx − σ y 2
τmax = ( ) + τ2xy
2
 Mohr' Circle
τ γ/2

σa , τmax εa , γmax /2

σy , τxy σn, - τns ε y , γxy/2 εn, -γns /2

2θ 2θ ε
σ
σ2 ,0 σ1,0 ε2 ,0 ε1,0
σs , τns σx,- τ xy ε s , γns /2 ε x,-γxy /2

σ x + σ y σn + σ s σ1 + σ2 σx − σ y 2
σa = = = and τmax = ( ) + τ2xy
2 2 2 2

ε x + ε y εn + ε s ε1 + ε2 γ ε x − ε y 2 γ 2xy
εa = = = and max = ( ) +
2 2 2 2 2 4
Equivalent Tension/Compression and Shear
Deformations
σ0

τ0 τ0

σ0 σ0

τ0 τ0

σ0
τ γ /2

τ0 = σ0 γ0 /2 = ε 0

- σ0 - ε0
σ0 σ ε0 ε

σ0 (1 + ν)
ε0 =
E

τ σ0
γ0 = 0 or 2 ε0 =
G G

E = 2 (1 + ν) G