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Constitutive Relations in Solids

Elasticity

H. Garmestani, Professor
School of Materials Science and Engineering
Georgia Institute of Technology
Outline:

Materials Behavior
Tensile behavior

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The Elastic Solid and Elastic Boundary Value

Problems
Constitutive equation is the relation between kinetics (stress, stress-

rate) quantities and kinematics (strain, strain-rate) quantities for a

specific material. It is a mathematical description of the actual behavior
of a material. The same material may exhibit different behavior at
different temperatures, rates of loading and duration of loading time.).
Though researchers always attempt to widen the range of temperature,
strain rate and time, every model has a given range of applicability.
Constitutive equations distinguish between solids and liquids; and
between different solids.
In solids, we have: Metals, polymers, wood, ceramics, composites,
concrete, soils
In fluids we have: Water, oil air, reactive and inert gases

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The Elastic Solid and Elastic

Boundary Value Problems
(cont.)
Load-displacement response

a l / l axial strain
d diametral strain
P / A0 stress
Poisson's Ratio

EY
k

d
a

e
Ml
t
I p

EY is Young' s modulus (or modulus of elasticity)

k is bulk modulus, e is dilatation (for an elastic material)
shear modulus (for a cylindrical bar of circular corss

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section of radius r to a torsional moment along the cylinder axis)

Examples of Materials
Behavior

Uniaxial loading-unloading stress-strain curves for

(a) linear elastic;
(b) nonlinear elastic; and
(c) inelastic behavior.

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Constitutive Equations: Elastic

Elastic behavior is characterized by the

following two conditions:

(1) where the stress in a material () is a unique
function of the strain (),
(2) where the material has the property for
complete recovery to a natural shape upon
removal of the applied forces
Elastic behavior may be Linear or non-linear

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Constitutive Equation
The constitutive equation for

elastic behavior in its most

general form as

C
where
C is a symmetric tensor-valued
function and is a strain tensor we
introduced earlier.
Linear elastic
C
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Nonlinear-elastic C()

Equations of Infinitesimal
Theory of Elasticity
Boundary Value Problems
we assume that the strain is small and there is no rigid body rotation.
Further we assume that the material is governed by linear elastic isotropic
material model.
Field Equations
(1)

Eij

1
ui , j u j.i
2

(1)

(2) Stress Strain Relations

ij E kkij 2E ij

(3)Cauchy Traction Conditions (Cauchy Formula)

(4) ji, j X j 0

ji, j Bi 0 For Statics

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B a For Dynamics
ji, j

(2)

ti ji n j

Equations of the Infinitesimal Theory of

Elasticity (Cont'd)

In general, We know that

ij
x j

Bi ai

Bi is the body force/mass

Bi is the body force/volume X i

ai is the acceleration
For small displacement
Thus

xi X i

Dxi ui
ui
vi

vj
Dt
t x i fixed
x j
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Equations of the Infinitesimal Theory

of Elasticity (Cont'd)
Assume v << 1, then

vi

ui
t

x i fixed

vi 2 ui
ai
2
t
t
Since dV dVo 1 E kk )

For small displacement,

1
o 1 E kk )1 0
1 E kk

1 E kk ) o

Thus for small displacement/rotation problem

ij
2 ui
Bi 2
x j
t

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Equations of the Infinitesimal

Theory of Elasticity (Cont'd)

Consider a Hookean elastic solid, then

ij E kkij 2E ij
uk,kij ui, j u j,i )

ij, j uk,kjij ui,ij u j,ij )

Thus, equation of equilibrium becomes

2 ui
Ekk
2 ui
o 2
o Bi )

t
xi
xi x j

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Equations of the Infinitesimal

Theory of Elasticity (Cont'd)
For static Equilibrium

2 ui
t

0 Then

2
2
2
Ekk

u1 o B1 0
)
2

2
2

x1
x2
x3
x1
2
2
2
Ekk

u2 o B2 0
)
2

2
2

x2
x2
x3
x1
2
2
2
Ekk

u3 o B3 0
)
2

2
2

x3
x2
x3
x1

The above equations are called Navier's equations of motion.

In terms of displacement components

)Ekk divu1 o B o
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2u
t 2

Plane Elasticity

In a number of engineering applications, the geometry of

the body and loading allow us to model the problem using
2-D approximation. Such a study is called ''Plane
elasticity''. There are two categories of plane elasticity,
plane stress and plane strain. After these, we will study

two special case: simple extension and torsion of a circular

cylinder.

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Plane Strain &Plane Stress

For plane stress,

ij ij x1 , x 2 )

i, j 1,2 )

(a) Thus equilibrium equation reduces to

11,1 12, 2 b1 0
21,1 22, 2 b2 0
13 23 33 0
(b) Strain-displacement relations are

E11 u1,1

E22 u2, 2

2 E12 u1, 2 u2,1

(c) With the compatibility conditions,

E11, 22 E22,11 2 E12,12

2 E11 2 E22 2 E12
2
2
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x2
x1
x1x2

Plane Strain &Plane Stress

(d)

Constitutive law becomes,

E11

1
11 v 22 )
EY

E22

1
22 v 11 )
EY

E12

1 v
2

12 12 12
EY
G
G

Note that E33

Inverting the left relations,

v
11 22 ) v E11 E22 )
EY
1 v

EY
E11 vE22 )
2
1 v
E
22 Y 2 E22 vE11 )
1 v
E
EY
12 Y E12
12 G 12
1 v
21 v )

11

Thus the equations in the matrix form become:

0 E11
11
1 v
EY v 1
E
0
22 1 v 2
22
12
0 0 1 v E12
(e) In terms of displacements (Navier's equation)
EY
EY
ui , jj
ui , ji bi 0
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21 v )
21 v )

i, j 1,2)

Plane Strain (b) (Cont'd)

(b)

Inverting the relations,

can be written as:

1 v
1 v ) 11 v 22
E11
EY
1 v
1 v ) 22 v 11
E22
EY
21 v ) 12 12
E12

EY
2
2G
(c)

Navier's equation for displacement can be written as:

EY
EY
ui , jj
u j , ji bi 0
21 v )
21 v )1 2v )

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i, j 1,2)

The Elastic Solid and Elastic

Boundary Value Problems

Relationship between kinetics (stress, stress rate) and kinematics (strain, strain-rate)
determines constitutive properties of materials.
Internal constitution describes the material's response to external thermo-mechanical
conditions. This is what distinguishes between fluids and solids, and between solids
wood from platinum and plastics from ceramics.
Elastic solid
Uniaxial test:
The test often used to get the mechanical properties

P
engineering stress
A0
l
engineering strain
l0

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Linear Elastic Solid

If ij is Cauchy tensor and E ij is small strain tensor, then in general,

ij Cijkl E kl
where Cijkl is a fourth order tensor, since T and E are second order
tensors. Cijkl is called elasticity tensor. The values of these components
with respect to the primed basis ei and the unprimed basis ei are related by
the transformation
law
C Q Q Q Q C
ijkl

mi

ni

rk

sl

mnrs

However, we know that Ekl Elk and ij ji then

Cijkl C jikl Ciklk We have C 44 symmetric matrix with 36 constants, If
elasticity is a unique scalar function of stress and strain, strain energy is given by
dU ij dE kl or U ij E ij

Then ij

U
E ij

C C
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ijkl

klij

Number of independent constants 21

Linear Elastic Solid

Show that if

for a linearly elastic solid, then

U
ij
Cijkl C klij
E ij

Solution:
Since for linearly elastic solid

Thus from

Now, since

U
ij
E ij

, we have

ij Cijkl E kl
Cijrs

U
2U

Ers Eij Eij Ers

2

Therefore,

, therefore

Cijkl C klij

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2U

Ers Eij

ij
Cijrs
E rs

Linear Elastic Solid (cont.)

Now consider that there is one plane of symmetry (monoclinic) material, then
One plane of symmetry => 13
If there are 3 planes of symmetry, it is called an ORTHOTROPIC material, then
orthortropy => 3 planes of symmetry => 9
Where there is isotropy in a single plane, then
Planar isotropy =>
5

When the material is completely isotropic (no dependence on orientation)

Isotropic =>
2

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Linear Elastic Solid (cont.)

Crystal structure

Triclinic
Monoclinic
Orthorhombic
Tetragonal
Hexagonal
Cubic
Isotropic

Rotational symmetry

None
1 twofold rotation
2 perpendicular twofold rotations
1 fourfold rotation
1 six fold rotation
4 threefold rotations

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Number of
independent
elastic
constants
21
13
9
6
5
3
2

Linear Isotropic Solid

A material is isotropic if its mechanical properties are
independent of direction

ij Cijkl E kl

Isotropy means

E kl

ij C ijkl

Cijkl Cijkl

Note that the isotropy of a tensor is equivalent to the isotropy of

a material defined by the tensor.
Most general form of C ijkl (Fourth order) is a function

Cijkl Aijkl Bijkl H ijkl

ij kl ik jl il jk

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Linear Isotropic Solid

Thus for isotropic material

ij Cijkl E kl
(ijkl ik jl il jk )E kl
ijkl E kl ik jl E kl il jk E kl
ij E kk E ij E ji
ij e ( )E ij

and are called Lame's

eijconstants.
2E ij
is also the shear modulus of the material (sometimes designated as G).

eI 2E

when i j ij 2E ij

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i j ij e 2E ij

Relationship between Youngs Modulus

EY, Poisson's Ratio , Shear modulus
=G and Bulk Modulus k
We know that

So we have

Also, we
have

ij eij 2E ij
kk 3 2)e or

1
kk
3 2)

E ij
kkij
ij
2
3 2

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Relationship between EY, ,=G

and k (Cont'd)
,

k
EY
v

2
3
3 2 )

2 )

, v
2v

1 2v )

EY ,
EY 2 )
3 EY

2 1 v )
31 2v )

EY
33 EY )

EY

2 1 v )

EY

3k 1 2v )

EY
1
2

EY , v
vEY
1 v )1 2v )
EY
21 v )
EY
31 2v )

k, v
3kv
1 v
3k 1 2v )
21 v )
k

Note: Lames constants, the Youngs modulus, the shear modulus, the Poissons
ratio and the bulk modulus are all interrelated. Only two of them are independent
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for a linear, elastic isotropic materials,