Energy Methods

1
Strain Energy
• A uniform rod is subjected to a slowly increasing load

• The elementary work done by the load P as the rod

elongates by a small dx is
dU  P dx  elementary work

which is equal to the area of width dx under the load-

deformation diagram.

• The total work done by the load for a deformation x1,

x1
U   P dx  total work  strain energy
0
which results in an increase of strain energy in the rod.

• In the case of a linear elastic deformation,

x1
U   kx dx  12 kx12  12 P1x1
0 2
Strain Energy Density
• To eliminate the effects of size, evaluate the strain-
energy per unit volume,
x1
U P dx
V
 A L
0
1
u    x d  strain energy density
0

• The total strain energy density resulting from the

deformation is equal to the area under the curve to 1.

• As the material is unloaded, the stress returns to zero

but there is a permanent deformation. Only the strain
energy represented by the triangular area is recovered.

• Remainder of the energy spent in deforming the material

is dissipated as heat. 3
Strain-Energy Density
• The strain energy density resulting from
setting 1  R is the modulus of toughness.

• The energy per unit volume required to cause

the material to rupture is related to its ductility
as well as its ultimate strength.

• If the stress remains within the proportional

limit,
1
E12  12
u   E x d x  
0
2 2E
• The strain energy density resulting from
setting 1  Y is the modulus of resilience.
 Y2
uY   modulus of resilience
2E
4
Elastic Strain Energy for Normal Stresses
• In an element with a nonuniform stress distribution,
U dU
u  lim  U   u dV  total strain energy
V 0 V dV

• For values of u < uY , i.e., below the proportional

limit,
 x2
U  dV  elastic strain energy
2E

• Under axial loading,  x  P A dV  A dx

L
P2
U  dx
2 AE
0

• For a rod of uniform cross-section,

P2L
U
2 AE
5
Elastic Strain Energy for Normal Stresses
• For a beam subjected to a bending load,
 x2 M 2 y2
U  dV   2
dV
2E 2 EI

• Setting dV = dA dx,

M 2  2 
L L
M 2 y2
My U   dA dx   2
y dA dx
x  2 EI 2
2 EI  A 
I 0 A 0 
L
M2
 dx
2 EI
0

• For an end-loaded cantilever beam,

M   Px
L
P2 x2 P 2 L3
U  dx 
2 EI 6 EI
0
6
Strain Energy For Shearing Stresses
• For a material subjected to plane shearing
stresses,
 xy
u  xy d xy
0

• For values of xy within the proportional limit,

 2
xy
u  12 G xy  12  xy  xy 
2
2G

• The total strain energy is found from

U   u dV

 xy
2
 dV
2G

7
Strain Energy For Shearing Stresses
• For a shaft subjected to a torsional load,
 xy
2
T 2 2
U  dV   2
dV
2G 2GJ

• Setting dV = dA dx,
T 2  2 
L L
T 2 2
U   dA dx   2
 dA dx
2GJ 2
2GJ  A 
0A 0 
T
 xy  L
T2
J  dx
2GJ
0

• In the case of a uniform shaft,

T 2L
U
2GJ

8
Sample Problem A
a) Taking into account only the normal
stresses due to bending, determine the
strain energy of the beam for the
loading shown.
b) Evaluate the strain energy knowing
that the beam is a W10x45, P = 40
kips, L = 12 ft, a = 3 ft, b = 9 ft, and E
= 29x106 psi.
SOLUTION:
• Determine the reactions at A and B
from a free-body diagram of the
complete beam.
• Develop a diagram of the bending
moment distribution.
• Integrate over the volume of the
beam to find the strain energy.
• Apply the particular given
conditions to evaluate the strain
energy.
9
Sample Problem A
SOLUTION:
• Determine the reactions at A and B
from a free-body diagram of the
complete beam.
Pb Pa
RA  RB 
L L

• Develop a diagram of the bending

moment distribution.
Pb Pa
M1  x M2  v
L L

10
Sample Problem A
• Integrate over the volume of the beam to find
the strain energy.
a b
M 12 M 22
U  dx   dv
0
2 EI 0
2 EI
2 2
1  Pb  1  Pa 
a b

Over the portion AD,    x

2 EI 0  L 
 dx    v  dv
2 EI 0  L 
Pb
M1  x 1 P 2  b 2 a 3 a 2b 3  P 2 a 2b 2
L  
2 
   2
a  b 
Over the portion BD, 2 EI L  3 3  6 EIL
Pa
M2  v P 2a 2b2
L U
6 EIL

P  45 kips L  144 in. 40 kips 2 36 in 2 108 in 2

629  103 ksi 248 in 4 144 in 
U
a  36 in. b  108 in.
E  29  103 ksi I  248 in 4 U  3.89 in  kips
11
Work and Energy Under a Single Load
• Strain energy may also be found from
the work of the single load P1,
x1
U   P dx
0

• For an elastic deformation,

x1 x1
• Previously, we found the strain U   P dx   kx dx  12 k x12  12 P1x1
energy by integrating the energy 0 0
density over the volume.
For a uniform rod,
• Knowing the relationship between
 2
U   u dV   dV force and displacement,
2E PL
x1  1

L
P1 A2 Adx  P12 L AE
2
2E 2 AE  P L  P L
0 U  12 P1 1   1
 AE  2 AE
12
Work and Energy Under a Single Load
• Strain energy may be found from the work of other types
of single concentrated loads.

• Transverse load • Bending couple • Torsional couple

y1 1
U  P dy  1Py
2 1 1
U   M d  12 M11
0 0
 P1L3  P12 L3 2
 M1L  M1 L
 2 P1
1   2 M1
1

 3EI  6 EI  EI  2 EI
 

13
Deflection Under a Single Load
• If the strain energy of a structure due to a
single concentrated load is known, then the
equality between the work of the load and
energy may be used to find the deflection.

• Strain energy of the structure,

2 2
FBC LBC FBD LBD
U 
2 AE 2 AE



P 2l 0.6  0.8
3 3
 0.364
P 2l
From the given geometry, 2 AE AE
LBC  0.6 l LBD  0.8l
• Equating work and strain energy,
From statics, P2L 1
U  0.364  P yB
AE 2
FBC  0.6P FBD  0.8P Pl
y B  0.728
AE
14
Sample Problem D
SOLUTION:
• Find the reactions at A and B from a
free-body diagram of the entire truss.

• Apply the method of joints to

determine the axial force in each
member.

• Evaluate the strain energy of the

Members of the truss shown consist of truss due to the load P.
sections of aluminum pipe with the
cross-sectional areas indicated. Using • Equate the strain energy to the work
E = 73 GPa, determine the vertical of P and solve for the displacement.
deflection of the point E caused by the
load P.

15
Sample Problem D
SOLUTION:
• Find the reactions at A and B from a free-body
diagram of the entire truss.
Ax  21P 8 Ay  P B  21P 8

• Apply the method of joints to determine the

axial force in each member.

FDE   17 P FAC   15 P FAD  54 P FAB  0

8 8

FCE   15 P FCD  0 FBD   218 P

8
16
Sample Problem D

• Evaluate the strain energy of the • Equate the strain energy to the work by P
truss due to the load P. and solve for the displacement.
1 Py  U
Fi2 Li Fi2 Li
U   Ai
1 E
 2
2 Ai E 2 E
2U 2  29700 P 2 

1
2E

29700 P 2  yE 
P

P  2 E 

yE 
29.7  103 40  103 
yE  16.27mm 
9
73  10
17
Work and Energy Under Several Loads

18
19
Work and Energy Under Several Loads
• Deflections of an elastic beam subjected to two
concentrated loads,
x1  x11  x12  11P1  12 P2
x2  x21  x22   21P1   22 P2

• Compute the strain energy in the beam by

evaluating the work done by slowly applying
P1 followed by P2,

U  12 11P12  212 P1P2   22 P22 
• Reversing the application sequence yields

U  12  22 P22  2 21P2 P1  11P12 
• Strain energy expressions must be equivalent.
It follows that 1221 (Maxwell’s reciprocal
theorem). 20
Castigliano’s Theorem
• Strain energy for any elastic structure
subjected to two concentrated loads,

U  12 11P12  212 P1P2   22 P22 
• Differentiating with respect to the loads,
U
 11P1  12 P2  x1
P1
U
 12 P1   22 P2  x2
P2

• Castigliano’s theorem: For an elastic structure

subjected to n loads, the deflection xj of the
point of application of Pj can be expressed as
U U U
xj  and  j  j 
Pj M j T j
21
Deflections by Castigliano’s Theorem
• Application of Castigliano’s theorem is
simplified if the differentiation with respect to
the load Pj is performed before the integration
or summation to obtain the strain energy U.
• In the case of a beam,
L L
M2 U M M
U  dx xj   dx
2 EI Pj EI Pj
0 0

• For a truss,
n n
Fi2 Li U F L F
U  xj   i i i
2A E
i 1 i
Pj i 1 Ai E Pj

22
 Diketahui; L  2m, w  4kN/m, P  6kN
EI  5 MN.m2 Tentukan defleksi di poin A

U M M
L
yA   dx
P 0 EI P
Bending momen jarak x dari A
M
M  (Px  1/ 2 w x 2 )   x
P
U
 
L
)  x dx
1
yA      2
(Px 1/ 2 w x
P EI 0

 Px 
U
L
1
yA   2
 1/ 2 w x3 dx
P EI 0

U 1  PL3 wL4 
yA     
P EI  3 8 
23
y A  4.8mm 
 Tentukan defleksi dan slope di poin A
U M M
L

QA 0 EI QA
yA   dx

Bending momen jarak x dari A

M
M  (Q A x  1/ 2 w x 2 )   x
QA

  (Q x  1/ 2 w x ) x dx
U
L
1
yA   2

QA EI
A
0

U
 
L
1
yA   
3
1/ 2 w x dx
QA EI 0
U 1 wL4
yA   
QA EI 8
U M M M
L
A   dx  M  (M A  1/ 2 w x 2 )   1
M A 0 EI M A M A
L L
wL3
(M A  1/ 2 w x ) 1dx  ( 1/ 2 w x ) 1dx 
1 1
A   
2 2

EI 0 EI 0 6 EI 24
 Tentukan defleksi ke sumbu X dan Y di poin A

U U 2
FBC 2
LBC FBD LBD
xB   yB  U  
Q P 2 AE 2 AE
U FBC LBC FBC FBD LBD FBD U FBC LBC FBC FBD LBD FBD
xB    dan y B   
Q AE Q AE Q P AE P AE P
FBC  0.6 P  0.8Q FBD  0.8 P  0.6Q
FBC F F F
 0.8  BD  0.6  BC  0.6  BD  0.6
Q Q P P

xB 
FBC LBC FBC FBD LBD FBD 0.6 P(0.6l )
  (0.8) 
 0.8P (0.8l ) 0.6
AE Q AE Q AE AE
Pl Pl
xB  0.096  y B  0.728 25
AE AE
Tentukan R A , R B dan MB U
L
M M
yA   dx
R A 0 EI R A
Bending momen jarak x dari A
M
M  (R A x  1/ 2 w x ) 
2
x
RA

 (R x  1/ 2 w x )x dx

U
L
1
yA   2

R A EI
A
0

 R x 
U
L
1
yA   2
 1/ 2 w x 3 dx
R A EI
A
0

U 1  R A L3 wL4 
yA       0
R A EI  3 8 
3wL 5wL wL2
RA   RB  MB 
8 8 8
26
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28
29
30
31
32
33
Sample Problem E
Members of the truss shown
consist of sections of aluminum
pipe with the cross-sectional areas
indicated. Using E = 73 GPa,
determine the vertical deflection of
the joint C caused by the load P.
SOLUTION:
• For application of Castigliano’s theorem,
introduce a dummy vertical load Q at C.
Find the reactions at A and B due to the
dummy load from a free-body diagram of
the entire truss.
• Apply the method of joints to determine
the axial force in each member due to Q.
• Combine with the results of Sample
Problem 11.4 to evaluate the derivative
with respect to Q of the strain energy of
the truss due to the loads P and Q.
• Setting Q = 0, evaluate the derivative
which is equivalent to the desired
displacement at C.
34
Sample Problem E
SOLUTION:
• Find the reactions at A and B due to a dummy load Q
at C from a free-body diagram of the entire truss.
Ax   34 Q Ay  Q B  34 Q

• Apply the method of joints to determine the axial

force in each member due to Q.

FCE  FDE  0
FAC  0; FCD  Q

FAB  0; FBD   34 Q
35
Sample Problem E

• Combine with the results of Sample Problem 11.4 to evaluate the derivative
with respect to Q of the strain energy of the truss due to the loads P and Q.
 F L  F 1
yC    i i  i  4306 P  4263Q 
 Ai E  Q E

• Setting Q = 0, evaluate the derivative which is equivalent to the desired

displacement at C.

yC 

4306 40  103 N  yC  2.36 mm 
9
73  10 Pa
36
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