Znt. J. l&gag Sci. Vol. 3, pp. 2746.

Pergamon Press 1965. Printed in Great Britain.

THE CONTACT

PROBLEM IN THE LINEAR OF VISCOELASTICITY

G. A. C. GRAHAM

THEORY

Department

of Mathematics, ~Co~uni~ted

The University of Glasgow, Scotland by I. N. SWBWN)

Abstract-Expressions are given for the displacement stress field produced at any point of a linear homogeneous and isotropic viscoelastic half space by an arbitrary time dependent distribution of pressure acting on its boundary. The distribution of normal surface traction prevailing when a rigid indentor of arbitrary profile is pressed against the surface of a viscoelastic half space is determined ia terms of a one parameter family of solutions to the corresponding elastic problem. This viscoelastic solution which is valid if the contact area possesses a single maximum is applied to the particular cases where the indentor is a sphere and a right circular cone. Finally Hertzs theory of the contact of elastic bodies is general&d to viscoelasticity theory and the equations governing the viscoelastic counterpart of Hertzs theory of elastic impact are given. 1. INTRODUCTION THE contact

problem of the mathematical theory of elasticity has its origins in the works of Boussinesq [l] and of Hertz [Z]. The object of this paper is to generalize some results obtained by the above authors and their successors to encompass the effect of arbitrary linear viscoelastic behaviour. Previously work has been done on this problem by Lee and Radok [3] who obtained, by exploiting a method due to Radok [4], the distribution of pressure over the contact area when a rigid sphere is pressed normally against the surface of a viscoelastic half space. This solution, which is valid only so long as the contact area does not decrease with time, was subsequently derived by Hunter [5] who extended it to the case where the contact area possesses a single maximum and used these results to give an analysis of the dynamic impact problem for a particular viscoelastic material. The method of Radok mentioned above was also used by Al-Rhozaie and Lee [6] to study the contact problem of a smooth rigid cylinder and a viscoelastic half space. In Section 2 of this paper we give a formulation of the mixed boundary value problem in the quasi static linear theory of viscoelasticity and state the generalized Papkovich Neuber stress function solution which is used as the basis of the ensuing analysis. In Section 3 we have derived expressions for the displacement-stress field acting at any point of a viscoelastic half space whose boundary has been subjected to an arbitrary time dependent distribution of normal pressure. In Section 4 we obtain a formula which gives, in terms of a one-parameter family of solutions to the corresponding elastic problem, the distribution of contact pressure prevailing when a rigid punch of arbitrary profile is pressed against the surface of a viscoelastic half space. This formula which is valid so long as the contact area does not decrease with time is generalised in Section 5 to the case where the contact area possesses a single maximum. The displacement-stress field acting at any point of the half space is now obtained by using the results of Section 3, and it is shown to be expressible in terms of integrals which will normally have been evaluated if the corresponding elastic punch problem has been solved. In Section 6 the results obtained previously are applied to solve the problem of a sphere on an arbitrary viscoelastic half space and the solutions of
27

28

G. A. C.

GRAHAM

Hunter [S] and of Lee and Radok [3] are recovered, while in Section 7 the corresponding problem for a cone is solved. In both these cases the equations governing the dynamic impact problem have been stated. In the final section the methods used in Sections 4 and 5 have been exploited to derive an extension to viscoelasticity of Hertzs theory of the contact of arbitrary smooth elastic bodies, valid if the contact area possesses a single maximum. Finally the viscoelasticanalogues to the equations governing Hertzs theory of the impact of elastic bodies are stated.
2. QUASI STATIC LINEAR TNEORY OF VISCOELASTtCITY: STRESS FUNCTION SOLUTIONS

Suppose a region R with boundary B is occupied by a homogeneous and isotropic linear viscoelastic solid. Let Ui(X, t) and aij(X, t) respectively, be the Cartesian components of displacement and stress which are defined for all (x, t) on R x (- co, a). We assume the body to be originally undisturb~ in the sense that
u~(x. r)=Oij(X,

t)=Oon RX(-a,

0).

(2.1)

The relevant fundamental system of field equations, appropriate to the linear quasi static theory, which must hold on R x (- co, may be written as followst co)
aij,j=O,
bij=cTji (2.2)

aij=LtG1*d(ui,j+ul,i)f~6ij(G2_Gl)*dUk,k

(2.3)

Here (2.2) are the stress equations of equilibrium for zero body force while (2.3) are the stress displacement equations. Moreover G,(t) and G,(t) which are defined for all time t and which vanish for negative time are the relaxation moduli in shear and isotropic compression, respectively. In (2.3) we have used the notation for Stieltjes Convolutions previously introduced in [7]. Thus iffand g are functions of position and time,f*dg stands for the function defined by the Riemann-Stieltjes integral 1=, fh C_f*dd(x,= 1=--ac t-f)ddx, 0 0 (2.41 s provided the integral is meaningful. In addition to the foregoing initial conditions and field equations certain boundary conditions must be met. The boundary conditions which prescribe the surface displacement and surface traction respectively, on complementary subsets B,(t) B2(f) of the and boundary B for all time take the form Ui=Ui
On ii,

(2.5) (2.6)

LTi,nj Tfon 8, =;

where n,(x, t) are the components of the outward unit normal to B and UXx, t), Tl(x, t) are given functions.: Here 8, (8,) represents the set of all pairs (x, t) such that x belongs to B,(t) (By) and -co <t< co. t Throughout this paper the subscriptsi, j, k, unless otherwise spe&ed take on the values 1,2,3; the usual conventions for summations over repeated indices and for space differentiation of tensor fields are implied. &I represents Kroneckers delt;.
$ In addition to this it is possible to.prescribe certain combinations of traction component and displacement component at surface points. In particular if R is given by z 2 0 then an acceptable combination would be to have the condition (2.6) suppIemented with the requirement that on 81 the components of shear traction and of normal ~pla~rnent conform to given prescribed values.

The contact problem in the linear theory of vismclasticity

29

Gurtin and Sternberg [7] have shown that the generalized Papkovich Neuber solution, which may be written in the form (2.7)

generates in the sense of (2.7) and (2.3) a solution of the fundamental system of field equations. Further if we require that Cp(x,t) and $&, t) vat&h for negative time then the initial conditions (2.1) are automatically satisfied. Substituting from (2.7) into (2.3) gives the following expression for the stresses oij=G1*dfA*d(#,y+x~~k,ij)-3G,*d(lti,l+Jfi,t)+2,j(G,-G,)*dJ/,,~~ where A is the auxiliary response function defined by A(t) = G,(t) +2&(r). (2.9) (2.8)

Thus the mixed problem under ~nsideration reduces to finding harmonic functions #, ei which vanish for negative time and which generate through (2.7) and (2.8) a displacement stress field consistent with the given boundary conditions.
3. STRESSES IN A HALF SPACE ACTED ON BY A DISTRIBUTED NORMAL LOAD We now consider the problem appropriate to a semi-infmite viscoelastic medium bounded by a plane, on a uniformly bounded sequence of regions Q(t) on which acts some time-de~ndent distribution of normal pressure. If R is given by ~20, then the foregoing problem consists of finding a solution [Q(x, Q, C&X, f)] to the field equations which satisfies the initial conditions (2.1), the boundary conditions

~,,(% Y, 0, 0 -P(-% YI 0 d,,(& Y, 0, t)=O

(x, ~1 on Q(t) (x, r) on B-W)

(4

(3.1) (b) (3.2) (3.3)

flzx(x,Y,

0,

Q= %y(~,y, 0,
Gzi(X,

o=o

CcY) on 4

and the conditions at infinity t)+O as J(XiXJ+cO Here, in order to comply with the initial conditions (2.1) p(x, y, I) is assumed to vanish for negative time. The solutibn to this problem will be based on the generalized Papkovich Neuber solution (2.7). In view of (2.7), (2.8) it is suli?cient to find harmonic functions &x9 9, Jlr(x, f) which vanish for negative time and satisfy the equations.

Gi*d[A*d(qb,33+Xk~k,33)-6G1*d(J/3,3)+2(G1_Gi)*d(~k,k)l= -P, CGY)on WY (4

G1*d[A*d(d),31+xklfik,31)-3G1*d(J/j,~+~l.3)l=Ot (x, Y) on B, (c) (3.4)

30

G.A.C.

GRAHAM

G,*d[A*d(~,,,+x,~,,,,)-3G,*d(~,,,+~,,,)l=O, (x, Y) on 4 GI*dth*d(~,ij+Xk~k,ij)-3G1*d(~i,j+~j,3f261j(GI_GZ)*d(lfik,k)l~O

Jtxixi~+co-

(4

as
69

Following Boussinesqs treatment of the corresponding functions x and U through the relations x(x, y, z, 0 Sf

elastostatic problem we introduce

R(r)~(5, tl, t)log(r + z)drd?

(3.5)

(3.6) where r= ,/{(x - r) f (y - q) -t-z2] and Q(l) is the contact area at time c. We will now record some properties of x and U which we have occasion to use later [8] :
at any point in the region z > 0 both x and U are continuous and have continuous derivatives

of all orders with respect to x, y, z. Further, all such derivatives can be formed by differentiating under the integral and they all tend to zero at infinite distances from the origin. In particular the second derivatives of U go to zero as the inverse of r3. Moreover V2x=V2U=0 and ax U. ;i;i= (3.7)

For any point M on the bounding plane z=O derivatives of x and U must be interpreted as limits to which the values of the corresponding derivatives of x and U at an interior point P(x, y, z) of R tend to as P approaches M through points of R. In this respect we record that all the first and second derivatives of x and U tend to definite finite limits as P approaches M, whether M is inside or outside the contact area n(t). In particular aU/az which becomes zero for points of z=O outside Q(t) satisfies the relation $&, Let # = I*dX, $1 =$*=O, J/3 =J*dU (3.9)
Y, 0 -27v(% Y, 0 6, Y) on Q(t).

(3.8)

where Z and J are undetermined functions of time t only. With the aid of (3.7), the above remarks on the derivatives of x and U and the rule for space differentiation of Stieltjes convolutions [7] it is easily verified that # and $* are harmonic and that (3.4 b, e) are satisfied. The remaining conditions will be met if we can find functions I, J which satisfy the equations 2rrGr*d[A*dI--2(2Gr + G2)*dJ]*dp=p, (x, Y) on Q(t) Gi*d[A*dI--3G1*dJ]*dUs,=0, (x, Y) on B (x, Y) on B. (3.10)

The contact problem in the linear theory of viscoelasticity

31

Equations (3.10) are equivalent to the requirement that t A*d&2(2G,+G,)*dJ=;GG; A*dI-3G1*dJ=0. Combining these and using (2.9) we get h*dJ = -&G;l which implies
J=-

(3.11)

2nG;

*dA- .

(3.12)

Substituting for J in either of (3.11) now yields h*d1+2+1=0. Therefore

I= -

$-*dA-.

(3.13)

aij(X,tll*

If now we combine (2.7), (2.8), (3.9), (3.12), (3.13) we get the required solution [I(~(x, r),

ux= - ~3K1*d($)+G+d(z$)]
uy= - +-l*d($+G;l.d($$)]
Uz= 2(2G1+G1)*dA-*dG;*dU-G;*d

cxx= - $G,*dA-1*d()fz$+2(G,-G,)tdA-1.d(~)] a,,,,= - $3G,.dK1*d@) +z$+2(G,-G,).dA-.d (3.14)

d zx=--

1 a2u 211 azz [

t G-1 is not to be confused with the algebraic inverse l/G of G. G is said to have Stieltjes inverse G-1 if G*dG-1 =H. See Gurtin and Stemberg [fl.

32
4. RIGID INDENTOR MONOTONIC

G. A.C. GRAHAM
AND VISCOELASTIC HALF SPACE INCREASING CONTACT AREA FOR

We now turn to the more difficult problem of determining the displacement and stress fields in a viscoelastic half space on a part Cl(t) of the surface of which the normal displacement conforms to the surface geometry of a given indentor while outside a(t) the normal traction is required to vanish. Moreover the boundary is assumed to be completely free of shear tractions. In this section we shall confine our attention to the case of monotonic increasing contact area, i.e. we assume that Q(t) is contained in Q(t) whenever ts t. The problem in hand consists of finding a solution to the fieldequations whichmeets(2.1), (3.1 b), (3.2), (3.3) together with the condition on the normal surface displacement which may be written in the form %(X9Y, 09 t)=a(t) -/Xx, y)H(t), (x, Y) on Q(t) (4.1) where /3(x, y) is prescribed by the surface geometry of the indentor and CI,which gives the displacement of the tip of the indentor, is some as yet undetermined, function of the contact area R. Here, as in the sequel, H stands for the Heaviside unit step function defined through
H(t)=O, -cQ<t<o; H(t)= 1, O<t<co.

(4.2)

We consider first the problem of obtaining the distribution of normal traction over the region Q(t) of z=O. If in the third of equations (3.14) we let z=O and substitute from (3.6) we find that the normal surface displacement is related to the pressure distribution, p(x, y, t), over the contact area through the equation

(4.3) where K is an auxiliary response function defined by K(t)= [ $2G, +G&dA-*dG;

1
(r),
~KH,

(4.4)

and p is the projection of r in the plane z=O. When, in (4.3) and (4.4) we substitute G1 =2/1H, G2 = (4.5)

where p and K are real constants, we get the equation (4.6) where

Equation (4.6), in which t appears only as a parameter, gives the normal surface displacement in terms of the distribution of contact pressure for the case of an elastic half space, with shear and bulk moduli ,LL and K respectively [7j, which is subjected to the boundary conditions (3. l), (3.2). If, in place of (3.1 a) we are given the condition (4.1) on the normal surface displacement then the distribution of pressure over the contact area may be obtained by inverting (4.6).

The contact problem in the linear theory of viscdasticity

33

Suppose, therefore, that at any time t the solution of (4.6) subject to (4.1) is given by P(X, Y, 0=4(x, where a(0 =A&)) (4.9)
Y, 0, k y) on 40

(4.8)

gives c(at any time t in terms of some known functionfof the current contact area. To solve the corresponding viscoelastic problem we have to find a distribution of pressure which generates through (4.3) normal surface displacements satisfying (4.1). With this in view we introduce the symbol o,,, to denote the upper bound of u(r) and extend the domain of the function q(x, y, t) by defining

4(x, Y,

o=o,

(x, Y) on qnax-4t).

(4.10)

By virtue of (4.8) and (4.10) we therefore have that the normal surface displacement defined through

u,(x, Y,

0,

o= k
[

O SI qtcypqs 1
(x, y, t)
a, rnax

(4.11)

conforms to the conditions (4.1) with a(t) given by (4.9). Since co,,,,, is independent of time, we may now freely change the order of time and space inte~ations and write (4.11) in the form

W-*WK
wmax
P

ddrdrt

tx

3>.
y t>

(4.12)

Further, if we assume that o(t) is contained in w(r) whenever tlt, we have by (4.10) and (2.4) that (M-*dq)(x, y)=O, (4.13) (x7 v) on a,,, - o(t). Thus (4.12) reduces to the relation (kK- *dqK w P fl)d5drl x y t)
> 7

(4.14)

showing that, for the case of monotonic increasing contact area, the pressure distribution p defined by (4.15) P(X, Y, 0 = W*dql(x,Y, I> acting over the area w(t) generates through (4.3) normal surface displacements which satisfy the condition {4.1), with a given by the same formula, (4.9), as in the elastic case. Finally if q(x, y, f) is required to vanish for negative time, we find that p(x, y, t) also does and that the initial conditions (2.1) together with the field equations and the conditions (3.1 b), (3.2), (3.3), (4.1) are met by the displacement stress field obtained by combining (3.5). (3.6), (3.14), (4.8), (4.10) and (4.15).

34

G. A.C.

GRAHAM

5. RIGID

INDENTOR AREA

AND

VISCOELASTIC

HALF

SPACE

WHEN

CONTACT

POSSESSES

A SINGLE

MAXIMUM

In this section we extend the solution obtained in the previous section to the case where the contact area rR(t) increases to a maximum at t = t,, say, and then decreases. As in the previous section we will first obtain the distribution of normal traction over the region G!(t) of z=O which generates through (4.3) normal surface displacements compatible with (4.1). We first note that if a(t), the contact area for the one parameter family of elastic solutions given through (4.8) and (4.9), increases monotonically to a maximum at t= t,,, and thereafter decreases then we may introduce a function t, of time through the equations
t1(t) = t trt,

(4
(5.1)
t>t, @I.

o(t) = cJ(t,@)), We recall from (4.12) that u,(x, y, o, t)=

[

r1(0 < L

K*d

0) max (ss
P

W-*dqK ddtdv

3 )1 75 (5.2)
(x y t)

generates through (4.8) and (4. IO) normal surface displacements compatible with (4.1) when a is given by (4.9). Rearranging (5.2) we get

= smK(r-Qd{

ljamaX

kS$? K - (0 - r)dq(5, V, r)dSdrl }, p

(5.3)

where the Stieltjes convolutions have been written out explicitly and the order of time and space integrations have been changed on the left hand side. Since o(t) is contained in o(t) whenever ts tl(t) we have by virtue of (2.4), (4.10) and (5.1) that
k

trw
-m

K- (t-t)

dq (x,y,t)=O

(x,y) on o,,,--w

(t).

(5.4)

Substituting from (4.11) and (5.4) and using (5.1 a) we see that (5.3) may be written in the form

where %(X, YY t) =f(c&)) - P(x, YM0, o, (x, v) on o(t). (5.6)

The contact problem in the linear theory of viscoelasticity

35

However if (x, y) belongs to w(t) then (x, y) also belongs to f&&t. Therefore, by (5.6) we have

o(7)

whenever t,(@l~rs@,

4(x,

Y* 0,

o--

J:m-t-e)d
J:,,,,
S:_,KQ-Q~

K-(e-z)du,(x,

y, 0, z)

=f(w(O)

- PC& YMO

K1(O , J1w r)df(o(zj)

6,

Y> on ~(0

(5.7)

where we have used the fact that the Riemann-Stieltjes integral of a function with respect to an integrator which is constant throughout the range of integration is zero [9]. From (5.5) and (5.7) it is now seen that the pressure distribution p defined by t

P(X,Y, 4 = k

fl@)

K-tt-+Mx,

Y,

(5.3)

-02

acting over the area o(t) generates through (4.3), normal surface displacements which satisfy the conditiont (4.1) with a given by (5.9) Finally, if q(x, y, t) is required to vanish for negative time, we find that p(x, y, t), given by (5.8) also does and that the initial conditions (2.1) together with the field equations and the conditions (3.1 b), (3.2), (3.3), (4.1) are met by the displa~ment stress field obtained by combining (3.5), (3.6), (3.14), (4.8), (4.10) and (5.8). In particular it is easy to verify using (3.5), (3.6), (4.10) and (5.4) that the functions x and U which generate through (3.14) the required displacement and stress fields are given in terms of the function q by the equations
tl(t)

x(x, Y, z, t>=

(o(T) z)Wrl tt, @lo&r J-U2 JJ dt, + 1 (5.10 tt, 3 w, Jfl(f) JJ 4tts
K-(t-z)d
1 k
Y, z, O=

-OS

K-(t-z)d

41)

-dude
r

(5.11)

Thus the complete solution of the problem in hand is expressible in terms of integrals which are already involved in the solution of the one parameter family of elastic problems and which will therefore normally have been evaluated. We may note here that the normal surface displacement, obtained by substituting from (5.11) into (3.14), is given by the equation

t We note here that for ts tm (5.8) is equivalent to (4.15). $ It should be noted that inherent in this result is the fact that the bounding curve of the viscoelastic contact area is, within the range of validity of this solution, always coincident with the bounding curve of a member of the one parameter family of elastic contact areas.

36

G. A. C.

GRAHAM

and is thus, in general, influenced by the viscoelastic nature of the material. t< t, however, using (5.1), we see that (5.12) reduces to the relation
u,(x, y, o, t) = k

For time

ss
w(r)
VISCOELASTIC HALF SPACE

(5.13)

Thus, by virtue of (4.6) we see that at any time t< t,,, during the process of the indentation the profile of the viscoelastic half space will be the same as that of an elastic half space which at that time is subjected to the same boundary conditions.
6. RIGID SPHERE AND

To illustrate the above solution we will now derive the distribution of pressure on the initially plane surface of a half space against which a rigid sphere of radius R is pressed. This problem consists of finding a solution to the field equations which meets (2.1), (3.1 b), (3.2), (3.3) together with the condition on the normal surface displacement which in this case may be written in the form

4(x,
where

Y, 0,

0 = 40 -

lf If(t)
2R

OIpsa(t)

(6.1)
(6.2)

p = J(X + y2>

and r(t) is some, as yet undetermined function of u(t). If in place of a viscoelastic half space we are given an elastic half space with shear and bulk moduli /* and K respectively then it has been shown that the distribution? [lo]

(6.3) over the area Olplu(t) with (6.1) provided generates through (4.6) normal surface displacements consistent

We will here confine our attention to the case where the circular contact area increases to a maximum at t = t,, say, and then decreases. The function t, of time will then be defined through the equations
t1(t) = t tst,

4t) = 4t1tth

tm <tm

t>t,.

(6.5)
we have by

Since q(p, t) as defined by (6.3) is zero for points outside the region Ospsu(t) invoking the results of Section 5 that the pressure distribution

P(P,

t)=L
n2R

t Here, and in the sequel, Re indicates that we take the real part of the function in parentheses.

s
tl(t)
_

K-'t~-~)d~Re(~[~2(~)-~Zl)~

(6.6)

The contact problem in the linear theory of viscoelasticity

31

over the area Osp~a(t) generates through (4.3) normal surface displacements which satisfy condition (6.1) when CIis given by the equation

By integrating (6.6) over the current contact area we find that the total pressure at time 1 is given by the equation P(t>=-

3;R;lrK-(t-r)da(r), m
s

(6.8)

which for times r<t,,, may be inverted to give

a3(t) =~$K*dF'jo

(6.9)

Therefore on substituting from (6.9) into (6.6) and (6.7) we obtain the pressure distribution (6.10) in terms of total pressure P which, so long as [kidP](t) is monotonically increasing with time, generates through (4.3) normal surface displa~ments consistent with condition (6.1) when a(t) is given by (6.11) If the viscoelastic material of the half space has similar behaviour in shear and dilatation then, according to Hunter [1 I], we may find an unequivocal value of Poissons ratio v for it. It is easy to verify that in terms of v, G1 and G2 will then be related through the equation (6.12) By substituting from (6.12) into (4.4) we find that for materials of the type in question the auxiliary response function K is given through the equation
K(r)=l-v n

G1(0

(6.13)

On. substituting from (6.13) into (6.6) and (6.7) we find that the pressure distribution

PC&t)=

2 aR(i-v)

J
-Q)

tl(r)

G(t - 7)d@e(Jb2(@ - ~~111

(6.14)

38

G. A.C.

GRAHAM

acting over the area 01 pla(t) when u is given by

generates normal surface displacements consistent with (6. I)

f

G;(t-8)d tln

G,(&-z)du2(r) s t1V)

(6.15)

which is in agreement with the solution obtained by Hunter [5] for this case. Finally, if in (6.14) and (6.15) we take v=+ we obtain the pressure distribution

Ph

o=Q
nR

over the area O_<p<a(t) with a(t) still being given by (6.15). (6.16) now gives the pressure distribution obtained when a sphere of radius R is pressed against the surface of an incompressible viscoelastic half space. For times t_<f,,, we note that the solution given through equations (6.15) and (6.16) is in agreement with that obtained by Lee and Radok [3] which was valid for monotonic increasing contact area only. Finally, from (6.8), we see that if the sphere has mass m and is made to impinge with velocity Dnormally on the viscoelastic half space then the impact is governed by the equation
d2a ms= -

s
tr(t)
_

Gl(t--z)d{Re(J[a2(t)-p21)}

(6.16)

& K-(t-t)d(a3(z))
s m

(6.17)

supplemented with the relation (6.7) and the initial conditions

a(O)=O,

$(O)=u.

(6.18)

By virtue of (6.5) it is immediate that for times tl t, the governing system of equations (6.7) (6.17) may be replaced by the single equation dcc
y$7. RIGID

---

4R* f
3n

Jm
_

K-(t-z)d~r~/~(z).

(6.19)

CONE

AND

VISCOELASTIC

HALF

SPACE

The problem of the indentation of an elastic half space by a right circular cone whose axis is normal to the indented plane has been treated by both Love [12] and Sneddon 1131. However, to the authors knowledge, the corresponding problem for a viscoelastic half space has not so far been solved. This problem consists of finding a solution to the field equations which meets (2,1), (3.1 b), (3.2), (3.3), together with the condition on the normal surface displacement which in this case takes the form u,(x, y, 0, r) = a(t) - p cot OH(t) O<p<a(r) (7.1)

where p and a have the same meanings as in the previous section and 28 is the vertical angle of the cone. If in place of a viscoelastic half space we are given an elastic half space with shear and bulk moduli p and ic respectively then it has been shown that the pressure distribution [12]

The contact problem in the linear theory of viscoelasticity

39

1+ Re(,/I1 --~~l~(~ll) C1b+33K) Yh o= 4p+3rc 'log 1- Re(,/[l -p2/a2(t)]) Cot

acting over the area Olpla(t) consistent with (7.1) provided generates through a(t) = ~na(t)cot 8.

(7.2)

(4.6) normal surface displacements (7.3)

If we consider only the case where the circular contact area increases to a maximum at t = r,,,, say, and thereafter decreases, then by reasoning strictly analogous to that used in the previous section it may be shown that the pressure distribution

P(P, 0 = - 4n

cot

~~1a~f91) I- R&/P - P~/~~WI>

I + Re(& -

(7.4)

acting over the area O<&a(t) where the function tl(t) is defined through equation (6.5) generates through (4.3) normal surface displacements which satisfy condition (7.1) when a is given by the equation

By integrating (7.4) over the current contact area we find that the total pressure at time t is given by the equation
P(t) = cot
2

e I(0
-m

K-(t-z)d(a(r)),

(7.6)

which if ts t,,, may be directly inverted to give

(7.7) We may now substitute for a in equations (7.4) and (7.5) and obtain a solution total pressure P which, as with the corresponding solution for the case of indentor, is valid so long as [K*dP](t) is monotonically increasing with time. The displacement stress field at any point of the half space is obtained by from (7.4) into (3.5) and (3.6) and using (3.14). To give credence to the remarks on this subject we note that the function U obtained by substituting from (7.4) given by
U(p, z,

in terms of a spherical substituting in Section 5 into (3.6) is

t)=T
(7.8) ~~])]/[l-R~~[lr ~])]~],,,~

~-(f-,,d~og([,+Re(JII-

40

G. A.C.

GRAHAM

or its equivaient

WP, 2, 0=x

JJ

p+lp.*(r)

J log~[~~Re(~[l-~])]/[l-R~
c0te b(t)

K-(t-r)d -CO

(7.9)

The double space integral involved on the right hand side has been evaluated in the process of investigating the elastic analogue to the problem under consideration 1121 and on substituting for it we obtain for instance, that along the line p = 0, z 2 0 the function U is given through the equation
u(z,

tp=COte

From (7.6) we see that the normal impact problem for a cone of mass m and vertical angle 28 is governed by the equation d2a YG= --cote 2 tl(t) _m

:1(J) J
-CC

J K(t-z)d(a2(z))
(7.11)

supplemented by the relation (7.5) and initia1 conditions of the form (6.18). For times TVt, equations (7.3, (7.11) reduce to the single equation d2cc
mdtz=-8. PRESSURE BETWEEN

2
n2c0te

(t J Kt
._

z)d(a2(t)) .
BODIES IN CONTACT

(7.12)

TWO VISCOELASTIC

We will now extend Hertzs theory [2] of the contact of smooth elastic bodies to encompass the case of arbitrary linear viscoelastic behaviour. As in the elastic theory we consider the common tangent plane, at the initial point of contact 0, of the two unstressed bodies to be the (x, y) plane. The surfaces of the bodies near the point of contact are then represented, with su~~ient approximation, by equations of the form z1 = A,x2 + Bly2 +2H,xy
z2=A2x2+B2y2+2Hzxy

(8.1)
(8.2)

the axes of z1 and z2 being directed along the normals drawn towards the interiors of the bodies respectively. The distance apart of any two points on the bodies is now
zi + 22 = (A I+

A2)x2 + (B, + B2)y2 + 2(H, + f&y

(8.3)

which for a suitable choice of the axes of x and y may be written in the form 21 +z2 =Ax2+By2,
A>O, B>O. (8.4)

The contact problem in the linear theory of viscuelasticity

41

Throughout the rest of this section we shall designate by [uf(x, t), b;j(X, t)](r= 1, 2) the displacement stress field, relative to the rectangular Cartesian axes (x, y, z,), obtaining in the body whose points are contained in z, > 0. Moreover we agree that the mechanical behaviour of the solid contained in z,>O(r = 1, 2) is characterised by the relaxation moduli G;(t) and G,(t) in shear and isotropic compression respectively. From geometrical considerations [14] it is easy to verify that the normal surface displacements must meet the condition u;(x, y, o, t)+u*(x, y, ,o, t)=c+)Ax*-By*, (x2 u> on W> (8.5)

where a(t) gives the total approach of the bodies at time t and n(t) is the current contact area. We will assume that the displacement stress field set up in each body is the same as that set up in a half space whose boundary, apart from a distribution of normal pressure over the contact area n(t), is traction free and which is subject to the initial conditions (2.1). Thus, if the distribution of normal surface pressure over the contact area is p(x, y, t) we have by (4.3) the relations u:(x, y, o, t)= [ (K)*d {[[*ytdg}&

y, 0,

(r=l,

2),

(8.6)

where K(r= 1, 2) are the auxiliary response functions defined by K(t)= $2G;+G;)ta(G;+2G;)-*d(G;)-

1
(t). y, t).

(8.7)

Using the addition theorem for Stieltjes convolutions we obtain from (8.6) the relation (8.8)

a;(& Y, o, f)+a:(x,

y, 0, t)=[(K+X)*d~SS~o~~drt}~~,

If in (8.7) and (8.8) we substitute G; = 2p,H,

we get

G; = 3qH,

(r=l,

2)

u;(x, y, 0, O+u,2(x, 0, y,
where KC

0=[(k1+k2)j-jnctjp(; %d+x,t) y,
(r=l, 2).

(8.9)

4&+3K, 47VL,(A 3%) +

(8.10)

(8.9), in which t appears only as a parameter, gives the relation between the sum of the normal surface displacements and the distribution of contact pressure for the case of two elastic bodies whose shear moduli are pL1and p2 respectively and whose bulk moduli are k1 and rc2 respectively. It has been shown by Hertz [14] that the distribution

42

G.A.C.

GRAHAM

4% y, o=

3Ma(O & 2n,/( 1- e2)(k1 + k2)

l_

Y2 a2(t) - (1 - e2)a2(t)

x2

I>

(8.11)

over the area bounded by the ellipse (1 -e2)x2+y2=(1 -e2)a2(t) (8.12)

generates through (8.9) a left hand side consistent with (8.5) when a(t) is given by (8.13)

c(=-

The eccentricity e of the ellipse (8.12) is determined by the equation m

di (1-e2+1)32{C(1+C)Ia

(8.14)

and is therefore seen to be dependent only on the surface geometry of the undeformed bodies, while the constant M is now determined in terms of e through the equation
(8.15)

We note that q(x, y, t) as defined through (8.11) is zero for points of the (x, y) plane that lie outside the ellipse (8.12). Therefore, by reasoning strictly analogous to that of Section 4, it can be shown, that, for monotonic increasing contact area, the pressure distribution
2

I--$

(I-,2),2

(x9
Y, 0

(8.16)

over the area bounded by the ellipse (8.12) generates through (8.8) a left hand side consistent with (8.5) when m(f) is given by (8.13). By integrating (8.16) over the current contact area we find that the total pressure at time t is given by the equation
P(t) = [M(K + K2)- *d(a3)](t) (8.17)

which may be inverted to give

a3(t)= j$(K1 +K)*dP

1
(t).

(8.18)

Therefore on substituting for a from (8.18) into (8.16) and (8.13) we obtain the pressure distribution P(& Y, o= 3M 2nJ( 1- e) (K + K2)*dP 23
M -x2

(K +K2)-*d

Y2
- G])}]

(x, Y, t)

(8.19)

The contact problem in the linear theory of viscoelasticity

43

in terms of total pressure P which, so long as [(K +K)*dPJ(t) is monotonically increasing with time, generates through (8.8) a left hand side consistent with (8.5) when a(r) is given by a= 3M3[(K +K2)*dP]23 m dC 4 o {5(1+0(1-e+C)}** s (8.20)

For the case where the contact area possesses a single maximum at t= t,,,(say) and then decreases we first introduce a function ti of time defined through the equations
t1(t)= t tst, (4

(8.21) a(r) = @r(t)), W) < &ll,

t>t, @I.

It is then found by following the procedure of Section 5 that the pressure distribution
P(%YJ) =

3M 2nJ(l-e2)

tl(t) (K1+~2)-1(t-~)d(@)Re($-&s -m

(l_$;a2(T)])b.22)

over the area bounded by the ellipse (8.12) generates through (8.8) a left hand side consistent with (8.5) when a(t) is given by
a(t)

=z
4

s t cs
m

dl

o {5(l+C)(l-e2+0)3
(K+K2)(t-e)d

a2(t) -

tm

s
e

(K+K2)-1(&-z)d(a2(t)) r,(e)

. 1

(8.23)

By integrating (8.22) over the current contact area we find that the total pressure at time t is given by the equation
P(t) = M

tl(0 s

_ o. (K +K)-

(t - z)d(a3(z)).

(8.24)

On substituting from (8.22) into (3.5) and (3.6) and using (3.14) we obtain the displacement stress field in each body. In particular we note that the normal surface displacement of the body occupying zi > 0 inside the contact area will be given by the formula 3M uxx, Y90, )=2nJ(1_e2) t _m K(t-B)d ~2/u2(s)-~2/(1-e2)u2(r)])~dydrl
P

r$(K1+K2)-(8-t)d{a(z)Re(J[l-

where the double space integral is taken over the region (I- e2)t2 + q2 I (I- e2)a2(0). (8.26)

44

G.A.C.GRAHAM

Since ~(5, QT, as defined through (8.22) is zero for points outside the region defined 6) through (8.26) we may, by taking the range of the space integral to be the upper bound of all the contact areas, reverse the order of integrations in (8.25) and get
a> Ys 0, )=2nJ(1_eZ)

3M
s

_-co K(t

fl(W -

0)d
s

(K1+K2)-1(&r)d --on

o(r)Re(JP

- C2/a2(r) P

rl/(l - e2b2(r)Ddrdrl

(8.27)

thus, as was pointed out by Lee and Radok [3] we see that in general the deformed shape of the surface of contact will be influenced by the viscoelastic operators. However for two bodies whose relaxation moduli are such that
G:/Gf=Gi/G$=n

(8.28)

where n is a constant, we find that for times K t,

4(x9 Y,090 =2n(n + 1)&l_

non zero contributions lie inside the ellipse

3M

40Re(&
e2)

- C2/a2(r)- q2/(1 P

e2)a2(Ol)d5dll (8 29)
9 *

ss

being made to the double space integral only for points (5, q) which (1 -e2)~2+~2=(1 -e2)a2(t). (8.30)

Using (8.5), (8.9) and (8.11) it is now easy to verify that for points which lie inside the elliptical contact area given by (8.12) the relation (8.29) reduces to

uz(x, 0, 0 Y,

-&Y(f)--Ax2-By2).

(8.31)

For two arbitrary smooth elastic bodies which impinge on one another with moderate velocities Hertz gave a theory of impact from which he could deduce the value of their greatest approach and the total duration of the impact in terms of the relative velocities of the two bodies just before impact. From the results given in this section it is seen that if the masses of the two viscoelastic bodies brought into contact are m, and m, respectively then the impact resulting from allowing them to impinge on one another with velocity II will be governed by the equation

?f!&.

m,+m,dt

2~

-M

s -CO

(r)(~+K2)-l(t_t)d(a3(~)) (8.32)

supplemented with the relation (8.23) and the initial conditions

a(0) = 0

g(o)=.

(8.33)

The contact problem in the linear theory of viscoelasticity

45

As with the examples given in Sections 6, 7 it is easily shown by virtue of (8.21) that for times is&, the governing system of equations (8.22), (8.32) may be replaced by the single equation d2a
t -N ;,2= (K + I?)-(t - z)d(a@)32

where N is given through the relation

00

di
1

312

o (5(1 -t-0(1 - e2 +OF

In conclusion we remark that the examination of the system of equations (8.23), (8.32) and (8.33) to determine the effect of arbitrary viscoelastic behaviour on the maximum penetration and on the time of contact of two bodies which have been made to impinge upon one another remains to be carried out.
AckmwIedgment-It is a pleasure to acknowledge the interest and helpful 1. N. SNEDDONunder whose supervision this investigation was carried out. discussions of Professor

REFERENCES [1] J. Boussm, Application &s potentiels d P&&e de ~eqailibre et da mouvemeat des solides elastiqaes. Gauthier Villars, Paris (1885). [2] H. HERTZ, MisceIkzneous Papers. Macmillan, New York (1896). [3] E. H. LEE, and J. R. M. RADOK, J. Appl. Mech. 27, (3) 438 (1960). [4] J. R. M. RADOK, Quart. Appl. Math. 15, (2) 198 (1957). [5] S. C. H-R, J. Mech. Phys. Solids 8, (4) 219 (1960). [6] S. M. AL-KHOZAIE and E. H. LEE, Influence of material compressibility in the viscoelastic problem. Division of Applied Mathematics, Brown University (1962). [7] M. E. GURTIN and E. STERNBERG, Arch. Rat. Mech. Anal. 11, (4) 291 (1962). [8] A. E. H. LOVE,Phil. Traas. Roy. Sot. A 228, (9) 377 (1929). [9] T. M. APOSTOL,Mathematical Analysis. Addison-Wesley, New York (1960). [lo] S. TIM~~~NKO and J. N. GOODIER,Theory of Elasticity. McGraw-Hill, New York (19.51). [ll] S. C. HUNTER,Progress in Solid Mechanics, Vol. I. North Holland, Amsterdam (1960). [12] A. E. H. Love, Quart. J. Math. 10, 161 (1939). [13] I. N. SHEDDON, Proc. Cumb. Phil. Sot. 44,492 (1948). [ 143 A. E. H . LOVE, Treatise on the Mathematical Theory of Elasticity. Dover Publications, New York (1944). A (Received 30 September 1964)

R&um&Lauteur &ablit les expressions qui &fin&sent le champ de d&formation provoqutses par uue distribution de pression sexercant, pendant un temp arbitraire, sur la surface dun corps semi&d&, de nature visco-&stique, hornet isotrope. La ~bu~n des contraiu&!s normales de surface qui se manifestent lorsquun p&%rateur rig&, de pro@ arbitraim, est appuyb B la surface dun corps visc&lastique semi-ind&ni, est d&em&&e sous la forme dune famille de solutions a un seul param&tre, correspondant au probl&ne purement &stique. Cctte solution de l%tat visco-&&que, qui est valable lorsque la surface de contact ne pr&sente quuu seul maximum, eat appliquk au cas particulier, pour lequel le p&n&rateur est constitue par une sph&e ou un u9ne &c&ire B angle droit. Finalement, lauteur &&alise la thbrie de Hertz, du contact entre corps &stiques, au cas & la visco&sticit& et il &ablit les &uations qui r&&sent le comportement visco-&astique par rapport B la th&orie de Hertz du contact Clastique.

46

G. A.C.

GRAHAM

Zusammenfassung-Ausdcke fur ein Verschiebespannungsfeld werden angegeben. Dieses wird an jedem beliebigen Punkt eines linear homogenen und isotrop viskoelastischen Halbraumes durch eine willkiirliche, zeitabhahgige und auf die Grenzebene einwirkende Druckverteilung hervorgerufen. Die Verteihmg der vorherrschenden normalen Ziehkraft, welche dann besteht, wenn em steifer Druckkiirper mit willktirlichem Profil gegen die OberlXche eines viskoelastischen Halbraumes presst, lasst sich als eine Schar von Lijsungen mit einem Parameter fur das entsprechende elastische Problem ausdrticken. Die Gtiltikeit dieser viskoelastischen Losung erstrecht sich auf solche Falle, wo die Kontaktfliiche ein einziges Maximum besitzt. Die Lijsung wird bei solden Sonderfallen eingesetzt, in denen der Druckkbrper eine Kugel oder ein Kreiskegel ist. Zum Schluss wird die Hertzsche Kontakttheorie fiir elastische Korper auf die Theorie der Viskoelastizitlt verallgemeinert, und die Gleichungen, welche das viskoelastische Gegensttick zur Hertzschen Theorie elastischer St&se bestimmen, werden angegeben. Sommario-Si danno le espressioni per il campo di sollecitazione di spostamento prodotto in qualsiasi punto di un mezzo spazio viscoelastico lineare omogeneo ed isotropic0 mediante una distribuzione di pressione, agente sulla wna limite, in dipendenza di un tempo arbitrario. La distribuzione della trazione superficiale normale prevalente quando si preme un penetratore rigid0 di profilo arbitrario contra la superticie di un mezzo spazio viscoelastico b determinata come una famiglia parametrica di soluzioni in funzione de1 problema delasticita corrispondente. Questa soluzione viscoelastica, valida se la superficiedi contatto possiede un unico massimo, B applicata aicasi particolari in cuiilpenetratore B dato da una sfera e da un cone circolare rigido. Per ultimo si generalizza la teoria de1 contatto dei corpi elastici di Hertz in base alla teoria della viscoelasticita e si riportano le equazioni the regolano la controparte viscoelastica della teoria dellurto elastic0 second0 Hertz.
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