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y1
y y1x1 x1y1 x1 x1
yx xy
x
y1
x xy yx
x
x1 x1y1
x y1x1 y1
x1 = x1 y1 =
x + y
2
x y
2
( x y ) sin 2
2
cos 2 + xy sin 2
+ xy cos 2
If we vary from 0 to 360, we will get all possible values of x1 and x1y1 for a given stress state. It would be useful to represent x1 and x1y1 as functions of in graphical form.
2
x1
x + y
2
x y
2
x1 y1 =
( x y ) sin 2
2
Eliminate by squaring both sides of each equation and adding the two equations together.
x1
x + y
2
+ x1 y12 =
x y 2
+ xy 2
avg =
x + y
2
R=
x y 2
+ xy 2
3
( x1
avg ) 2 + x1 y12 = R 2
which is the equation for a circle with centre (avg,0) and radius R. This circle is usually referred to as Mohrs circle, after the German civil engineer Otto Mohr (1835-1918). He developed the graphical technique for drawing the circle in 1882. The construction of Mohrs circle is one of the few graphical techniques still used in engineering. It provides a simple and clear picture of an otherwise complicated analysis.
4
( x1
avg ) 2 + x1 y12 = R 2
2 avg
R
x1
x1y1
Notice that shear stress is plotted as positive downward. The reason for doing this is that 2 is then positive counterclockwise, which agrees with the direction of 2 used in the derivation of the tranformation equations and the direction of on the stress element. Notice that although 2 appears in Mohrs circle, appears on the stress element.
5
4.
5.
6.
B y B (=90) -xy c xy R
y
y
yx xy
x
x xy yx
x1
2.
3.
4.
y
y x
yx xy x
2+180
x1
y y1x1 x1y1 x1 x1
D
y1x1 y1
9
x1y1
x1y1
Principal Stresses
B (=90) 2p2
x xy
y
y x
yx xy x
A
yx
c R
1 2p1 A (=0)
x1
y 2
P2
1
p2
1
p1
P1
x1y1
2
10
y
y x
yx xy x
A
yx
x1
A (=0) s x1y1
max max s s
s
s max max
11
Example: The state of plane stress at a point is represented by the stress element below. Draw the Mohrs circle, determine the principal stresses and the maximum shear stresses, and draw the corresponding stress elements.
c = avg =
R=
x + y
2
80 + 50 = 15 2
R = 65 2 + 25 2 = 69.6
2 c B
80 MPa 50 MPa y x 80 MPa
1 R
B (=90)
A
25 MPa 50 MPa
max
50 MPa
y 80 MPa x 80 MPa
25 MPa 50 MPa
1 = 100.5 2 = 10.5
A (=0)
2
y
54.6 MPa
1
22 21
c R
B (=90)
84.6 MPa
10.5o
54.6 MPa
13
50 MPa
y 80 MPa x 80 MPa
s min = 34.5
25 MPa 50 MPa
min
A (=0)
2smin
2 R
B (=90)
y
15 MPa 15 MPa
22 2smax
55.5
o
-34.5o
x
15 MPa
max
s max = 55.5
14
Example: The state of plane stress at a point is represented by the stress element below. Find the stresses on an element inclined at 30 clockwise and draw the corresponding stress elements.
50 MPa
y 80 MPa x 80 MPa
C ( = -30) -60
A (=0)
25 MPa 50 MPa
y 25.8 MPa
y1 4.15 MPa
22 D -60+180
B (=90)
-30
x 25.8 MPa
D ( = -30+90)
2
= -30 2 = -60
15
4.15 MPa
C
68.8 MPa
x1
A (=0)
B (=90)
16
1 3 1
17
The stress element shown is in plane stress. What is the maximum shear stress?
x
y
y x
yx xy x
xy yx
x1
2 max(1,2) = 1
2 3 2 max(2,3) = 2 = 2 2
x1y1
yy yz xx zy
yx xy
zx xz zz
z
xx x
xx xy xz yx yy yz zx zy zz
yy
Normal stresses on the diagonal Shear stresses off diagaonal xy = yx, xz = zx, yz = zy
The normal and shear stresses on a stress element in 3D can be assembled into a 3x3 matrix known as the stress tensor.
19
From our analyses so far, we know that for a given stress system, it is possible to find a set of three principal stresses. We also know that if the principal stresses are acting, the shear stresses must be zero. In terms of the stress tensor,
xx xy xz yx yy yz zx zy zz
0 1 0 0 2 0 0 0 3
In mathematical terms, this is the process of matrix diagonalization in which the eigenvalues of the original matrix are just the principal stresses.
20
Example: The state of plane stress at a point is represented by the stress element below. Find the principal stresses.
50 MPa
y 80 MPa x 80 MPa
x xy 80 25 = M = yx y 25 50
We must find the eigenvalues of this matrix.
25 MPa 50 MPa
Remember the general idea of eigenvalues. We are looking for values of such that: Ar = r where r is a vector, and A is a matrix. Ar r = 0 or (A I) r = 0 where I is the identity matrix. For this equation to be true, either r = 0 or det (A I) = 0. Solving the latter equation (the characteristic equation) gives us the eigenvalues 1 and 2.
21
So, the principal stresses are 84.6 MPa and 54.6 MPa, as before.
Knowing the eigenvalues, we can find the eigenvectors. These can be used to find the angles at which the principal stresses act. To find the eigenvectors, we substitute the eigenvalues into the equation (A I ) r = 0 one at a time and solve for r.
80 25 x 0 = 25 50 y 0 25 x 0 80 54.6 = 25 50 54.6 y 0
80 25 x 0 = 25 50 y 0 25 80 (84.6) x 0 = 25 50 (84.6) y 0
Before finding the angles at which the principal stresses act, we can check to see if the eigenvectors are correct.
0 54.6 D= 0 84.6 D = C 1M C 0.186 5.388 C = 1 1 80 25 M = 25 50
C 1 =
And then assemble them into a rotation matrix R so that det R = +1.
cos R= sin
sin cos
D = RT M R
Using the rotation angle of 10.5, the matrix M (representing the original stress state of the element) can be transformed to matrix D (representing the principal stress state).
D = RT M R 0.983 0.183 80 25 0.983 0.183 D = 0.183 0.983 25 50 0.183 0.983 0 84.6 D = 0 54.6
y
54.6 MPa
o
84.6 MPa
10.5o
So, the transformation equations, Mohrs circle, and eigenvectors all give the same result for the principal stress element.
54.6 MPa
25
Finally, we can use the rotation matrix approach to find the stresses on an inclined element with = -30.
cos(30) sin( 30) 0.866 0.5 R= sin( 30) cos(30) = 0.5 0.866
M = RT M R 0.866 0.5 80 25 0.866 0.5 M = 0.5 0.866 25 50 0.5 0.866 25.8 68.8 x1 xy M = 68.8 4.15 = yx y1
Again, the transformation equations, Mohrs circle, and the stress tensor approach all give the same result.
4.15 MPa 68.8 MPa
26
y1 4.15 MPa
25.8 MPa
-30
x 25.8 MPa x1