Basic Equation of

Theory of Elasticity
 Concept of Stress

Body Forces

Surface forces

Concentrated Forces
 F  Resultant of
Internal Force

 F 
 n  lim  
 A 0 A
 

A system of external forces acting on a body

 Normal and shear stresses on a plane

 F1 
 n  lim  
 A  0 A
 
 F 
1  lim  2 
 A 0
 A 
 F3 
 2  lim  
 A 0
 A 
 Stress Components
• Sign Conventions
Stresses varies from point
to point within continuum.
Hence continuous function
of coordinate.

Stress components in
Cartesian coordinate system

Equations of Equilibrium: Fx = 0 Fy = 0 Fz = 0

Moment Equilibrium: x = 0 y = 0 z = 0

For writing down the force equilibrium equation in x direction , let us consider
all the forces in the x direction, on summation and equating to zero, we get,
  x     yx 
 Fx    x  dx  dydz   x dydz    yx  dy  dxdz
 x   y 
   zx 
  yx dxdz    zx  dz  dxdy   zx dxdy  X dxdydz
 z 
     y 
1x    x  x dx  1y    y  dy 
 x   y 
  x 
  x 
1
x dx 
 x 
  xy    yx 
 1
xy

   xy  dx  1
yx

   yx  dy 
 x   y 
  yz    zy 
1yz    yz  dy  1zy    zy  dz 
 y   z 
Stresses acting on the three  
   
mutually perpendicular planes 1zx    zx  zx dz  1xz    xz  xz dx 
 z   x 
Which after simplification gives

  x  yx  zx
  X0
x y z

Similarly, summing up all forces in the y and z directions and equating

them individually to zero, we get

  xy  y  zy
 Fy  0,   Y0
x y z

  xz  yz  z
 Fz  0,   Z0
x y z
By considering the moment equilibrium we can obtain three moment
equilibrium equations. For example, taking the moment about the z-
axis and equating it to zero, we get,

  yx  dy dy
 M z    yx  dy dxdz   yx dxdz
 y  2 2

  xy  dx dx
   xy  dx dydz   xy dydz 0
 x  2 2

Neglecting higher order terms and simplifying, we get

 xy   yx
Similarly, from the moment equilibrium conditions about the y and
x axes, we get
 zx   xz and  yz   zy
 Concept of Deformation

(Motion of points within the

body relative to each other)

u, v, w are the displacement

component

Lagrangian Description
Stress & Starin Displacement
 lf  li 
 lim  
Deformation of a body li  0
 li 
 
    
2 

 = Final angle between two lines which are /2

When the deformation of the body becomes large  strains become
large and then will not be linear related to derivatives of displacement.
Such strains are referred as finite strain.
2 2 2
u  u   v   w 
x  1  2          1
x  x   x   x 

2 2 2
v  u   v   w 
y  1  2       1
y  y   y   y 

2 2 2
w  u   v   w 
z  1  2       1
z  z   z   z 

Where x, y, and z are the direct strains and u, v and w are the
displacements in the x, y and z directions respectively.
The shear strain – displacement relations can be obtained by finding
out the net angular change caused between two initially orthogonal
line elements, again through geometrical consideration. The general
shear strain – displacement relations for large deformation can be
obtained as
u v  u   u   v   v   w   w 
         
y x  x   y   x   y   x   y 
 xy  arc sin
1 x  1 y 

v w  u   u   v   v   w   w 
               
z y  y   z   y   z   y   z 
 yz  arc sin
1 y  1 z 
w u  u   u   v   v   w   w 
         
x z  x   z   x   z   x   z 
 zx  arc sin
1 z  1 x 
Where xy, yz and zx are the shear strain in xy, yz and zx planes respectively.
By neglecting H. O. Derivatives

u
x 
x
v
y 
y
w
z 
z
and u v
 xy  
y x

v w
 yz  
z y

w u
 zx  
x z
 Strain Compatibility
 2 x  y   xy
2 2

  u, v, w are given strain components can

y 2
x 2
xy be uniquely determined. But if six strains
 2 y  2 z   yz
2 components are given then u, v, w, z can
  not be uniquely determined.
z 2 y 2
yz

 2 z  2 x  2  zx
 
x 2
z 2
zx
And for Small Displacement
 2 x    yz  zx  xy 
2       If u, v, w, z are single
yz x  x y z  values then there
 2 y    yz  zx  xy  must exists in strain
2       components
zx y  x y z 
 2 z    yz  zx  xy 
2      
xy z  x y z 
 Hook’s Law

Stress deals with static equilibrium of Body

Strain is defined as the change in geometry of body

i.e., strains are related to displacements..

Hence stresses are related to strains by Physical

law called Constitutive Law
 Body

Elastic Body
Rigid Body

Homogeneous Body
Non Homogeneous Body

Isotropic Body Anisotropic body

 Generalized Hook’s Law
Homogeneous – Anisotropic Body

Homogeneous structure and composition remains same

x  S11 S12 S13 S14 S15 S16    x 
    
 y  S 21 S 22 S 23 S 24 S 25 S 26    y 
 z  S31 S32 S33 S34 S35 S36    z 
   
  yz  S 41 S 42 S 43 S 44 S 45 S 46    yz 
  zx  S51 S52 S53 S54 S55 S56    zx 
    
 xy  S 61 S 62 S 63 S 64 S 65 S 66   xy 

Compliance Matrix
   x   C11 C12 C13 C14 C15 C16  x 
    
 y  C 21 C 22 C 23 C 24 C 25 C 26  y 
  z  C 31 C 32 C 33 C 34 C 35 C 36   z 
   
 yz  C 41 C 42 C 43 C 44 C 45 C 46    yz 
 zx  C 51 C 52 C 53 C 54 C 55 C 56    zx 
    
 xy  C 61 C 62 C 63 C 64 C 65 C 66   xy 

Stiffness Matrix
or in condensed form

{i} = [Cij] {i} (i, j = 1, 2, ……6)

Where Cij is the stiffness matrix and is the inverse of the compliance
or flexibility matrix, that is,

[Cij] = [Sij]-1
Plane of Symmetry

Axis of Symmetry
If strain energy density function exists then
Cij =Cji and we have only 21 constants

 x  C11 C12 C13 C14 C15 C16  x 

    
 y  C22 C23 C24 C25 C26  y 
 z   C33 C34 C35 C36  z 
   
 yz   C44 C45 C46   yz 
 zx   C55 C56   zx 
    
 xy   C66   xy 
For orthotropic Material we have nine
Independent constants

 x  C11 C12 C13 0 0 0  x 

    
 y  C22 C23 0 0 0  y 
 z   C33 0 0 0  z 
   
 yz   C44 0 0   yz 
 zx   C55 0   zx 
    
 xy   C66   xy 
 For Isotropic Material we have two Independent constants

 x  C11 C12 C13 0 0 0  x 

    
 y  C22 C23 0 0 0  y 
 z   C33 0 0 0  z 
   
 yz   C44 0 0   yz 
 zx   C55 0   zx 
    
 xy   C66   xy 

 1   E    2G
C11 = C22 = C33  
 1     1  2 
C12 =C13 =C23 E
 All these are
 1     1  2  connected to
E Lame’s Constant
C44 = C55 = C66 G
2  1  
Two Dimensional Orthotropic Body

 x   C11 C12 0   x 
     
 y   C12 C22 0  y 
   0 0 C66   xy 
 xy  
Ex vxy E y
C11  , C12 
1  vxy v yx 1  vxy v yx
Ey
C22  , C66  Gxy
1  vxy v yx
 Two dimensional isotropic body

 x   C11 C12 0   x 
     
 y   C12 C22 0  y 
   0 0 C66   xy 
 xy  

Ex vE E
C11  C22  , C12  , C66 
1 v 2
1 v 2
2 1 v
For real problems, the solution of these differential
equations should satisfy the specified surface or
boundary conditions.

If the boundary conditions are specified in terms

of loads or stresses over the complete surface of
the body, then such problems are classified as first
boundary value problems.
On the other hand if the boundary conditions are
specified in terms of displacements over the
complete surface of the body then it is referred to
as second boundary value problem.

If the boundary conditions specified are in

terms of load, or stresses over a part of the
surface of the body and in terms of
displacements for the remaining part of the
surface of the body, such problems are referred
to as mixed boundary value problems.