ME 555 Stress Analysis
Ing. Prof. P. Y. Andoh, PhD, MGhIE
Phone: 0507970658
Email:
[email protected] Jan 2014
MODULE 2
ANALYSIS OF STRESS AND STRAIN
IN THREE DIMENSIONS
Lecture Outline
Part I: Analysis of Stress
a. Stress tensor, State of stress at a point, Stress on oblique plane
b. Principal Stresses, equilibrium equations, Octahedral stress, Mohr’s stress circle,
c. Numerical examples
Part II: Analysis of Strain
d. Strain tensor, Strain at a point, Strain transformation
e. Principal Strains, Strain invariants, Octahedral strain, Mohr’s strain circle, Equations of
compatibility for strain,
f. Strain rosettes,
g. Numerical examples
Part III: Stress-Strain Relations
h. Elastic Stress – Strain Relations
i. Generalised Hooke’s law,
j. Numerical examples
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Objectives
• This unit provides mathematical
relationships to understand relationships
between stress and strain in a solid which
obeys Hook’s law.
• Stress and strain at a point and in three
dimensions will be understood.
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Introduction
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Stress at a Point
• Stress at a point is resolved into normal and shear
components.
• Shear components are at arbitrary angles to the
coordinate axes.
• The normal stress σx acting on the plane perpendicular
to the x direction. (this also applies to σy and σz.)
• The shearing stress has two components and need two
subscripts; The first subscript is the plane in which the stress acts.
The second subscript is the direction in which the stress acts.
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Ex: τyz is the shear stress in the plane perpendicular to the y axis in the z direction
Stress at a Point: Sign Convention for Shear Stress
• A shear stress is positive if it points in
the positive direction on the positive
face of a unit cube. (and negative
direction on the negative face).
• A shear stress is negative if it points
in the negative direction of a positive
face of a unit cube. (and positive
direction on the negative face).
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Stress at a Point
• In order to establish state of stress at • Nine stress components can now
a point, nine quantities must be reduce to six independent quantities
defined; σx , σy , σz , τxy , τxz , τyx , σx , σy , σz , τxy , τxz , and τzy , which
τyx , τzx and τzy . can be written as
• If stress are slowly varying across
the infinitesimal cube, moment
equilibrium about the centroid of
the cube requires that
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Stress Tensor
• Stress tensor is used to simplify the equations for the
transformation of the stress components from one set of
coordinate axes to another coordinate system.
• First, we consider the transformation of a vector (first-
rank tensor) from one coordinate system to another.
• S = S1i1 + S2i2 + S3i3 when the unit vectors i1 , i2 , i3 are in
the direction x1 , x2 , x3. where S1 , S2 , S3 are the
components of S referred to the axes x1 , x2 , x3.
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Stress Tensor
• The components of S referred to the x’1 , x’2 , x’3
is obtained by resolving S1 , S2 , S3 along the new
direction x’
Where
a11 is the direction cosine between x’1 and x1
a12 is the direction cosine between x’1 and x2,
etc.
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Stress Tensor
• We could write the equations (from last slide) • The suffix notation (j)
as indicates summation when a
suffix occurs twice in the same
term. The summation will take
place over j.
• These three equations could be combined by
writing; • The transformation of the
stress tensor σij from the x1, x2,
x3 system of axes to the x’1 ,
• In greater brevity, the equation is obtained by x’2 , x’3 axes is given by
writing in the Einstein suffix notation.
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Rank of Tensors
• Scalars are tensors of rank zero, in which their quantity
remains unchanged with the transformation of axes.
• Vectors are tensors of first rank.
• Physical quantities such as stress, strain and many other
quantities are second-rank tensors which transform with
coordinate axes.
• The number of components required to specify a quantity
is 3n, when n is the rank of the tensor.
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Hydrostatic and Deviator Components of
Stress
The total stress tensor can be divided into
1. Hydrostatic or mean stress tensor, σm,
which involves only pure tension or
compression. Produce elastic volume
changes.
2. Deviator stress tensor σ’ij. Which
represents the shear stress in the total
state of stress. important in causing 14
Stress on Oblique Plane
• Consider an oblique plane normal to the
plane of the paper crossing x and y axis.
• The direction x’ is normal to the oblique
plane and y’ direction is lying in the oblique
plane.
• The normal stress σ and shear stress τ are
acting on this plane and A is the area on the
oblique plane.
• Sx and Sy denote the x and y components of the total stress acting on the inclined
face. The direction cosines between x’ and the x and y axes are l and m, hence l =
cosθ and m = sinθ. 15
Stress on Oblique Plane
• Summation of the forces • The normal stress acting on the oblique
plane is given by
• Or
• The shearing stress on the oblique plane
is given by
The components of Sx and Sy in the
direction of the normal stress σ are The stress σy’ can be found by substituting θ
+ π/2 for θ, we then have
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Stress on Oblique Plane
• The 3 equations can be expressed in terms of double angle 2θ.
• Note: σx’ + σy’ = σx + σy
• Thus the sum of the normal stresses on two perpendicular plan is an
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invariant quantity and independent of orientation or angle θ.
Principal Stresses
• When there is no shear stresses acting on the planes giving
the maximum normal stress acting on the planes.
• These planes are called the principal planes, and stresses
normal to these planes are the principal stresses σ1, σ2 and σ3
which in general do not coincide with the Cartesian
coordinate axes x, y, z.
• Directions of principal stresses are 1, 2 and 3
• Three principal stresses, σ1 , σ2 and σ3 , where σ1 > σ2 > σ3.
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Principal Stresses
• In general three dimensional state of stress consists
of three unequal principal stresses acting at a point,
which is called a triaxial state of stress.
• If two of the three principal stresses are equal
cylindrical.
• If σ1 = σ2 = σ3, implies hydrostatic or spherical.
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Principal Stresses
• Considering an elemental free body with diagonal
plane JKL of area A, which is assumed to be a
principal plane cutting through the unit cube.
• The principal stress σ is acting normal to the
plane JKL. The direction cosines of σ and x, y
and z axes is l, m and n respectively.
• In equilibrium, the forces acting on each of its
face must balance. Sx, Sy and Sz are the
components of σ along the axes.
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Principal Stresses
• Taking summation of the forces in • Summation of the forces in the other
the x direction results in two directions results in
• By setting the determinant of the
• Which reduces to coefficients of l, m and n = 0
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Principal Stresses
• Will give the solution of the determinant which results in a cubic equation in σ
• And invariant coefficients
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• Note:
Principal Shear Stresses
• The principal shear stresses
occur for the following • The maximum
combination of direction principal shear
cosines that bisect the angle stress τmax is
between two of the three given by
principal axes:
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Example 2-1
The state of stress is given by σx = 25p
and σy = 5p plus shearing stresses τxy. On
a plane at 45o counterclockwise to the
plane on which σx acts on the state of
stress is 50 MPa tension and 5 MPa shear.
Determine the values of σx , σy , τxy.
Solution
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Example 2-2
For σx = 110 MPa σy = 40 MPa, τxy = τyx = 28
MPa, determine the stresses for θ = 45o
Solution
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Example 2-3
For σx = -46 MPa σy = 12 MPa, τxy = τyx = -19
MPa, determine the stresses for θ = -15o
Solution
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Example 2-4
A steel shaft is to be force fitted into a fixed-ended Solution
cast-iron hub. The shaft is subjected to a bending Substituting the given stresses into the
moment M, a torque T, and a vertical force P. Suppose Eq. we obtain
that at a point Q in the hub, the stress field is as
shown, represented by the matrix
the direction cosines that define the
Determine the principal stresses and their orientation orientation of the planes on which σ1,
with respect to the original coordinate system. σ2, and σ3 act:
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Example 2-5
The stress tensor at a point in a
machine element with respect to a Solution
Cartesian coordinate system is given Direction cosines for θ = 45° are
by the following array:
Determine the state of stress and I1,
I1 = 100 MPa, I2 = 1400 (MPa)2, and I3 = –53,000
I2, and I3 for an x′, y′, z′ coordinate
(MPa)3,
system defined by rotating x, y
through an angle of θ = 45°
counterclockwise about the z axis
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Strain at a Point
• Deformation of a solid may be made up of • Displacement is a function of
dilatation (change in volume), or distortion distance, ui = f(xi) and for elastic
(change in shape). This results in solid and small displacement, ui is a
displacement of points in a continuum body. linear function of xi.
• Consider a solid body in fixed coordinates
x , y, z with a displacement from point Q to
Q’.
• The components of displacement are u, v, w.
• The displacement of Q is the vector uQ = f(u,
v, w) 30
Strain at a Point
• In three dimensional strain, • Consider an angular
each of the component of the distortion of an
displacement will be linearly element in the xy
related to each of the three plane by shearing
initial coordinates of the point. stresses,
• we have
• Three coefficients for the normal strains,
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Shear Strain
• The shear strain γ was defined as the total angular change
from a right angle
• And the definition of shear strain, γij = εij is called the
engineering shear strain.
• Since strain is a second-rank tensor, following the
transformation of stress previously done, the strain
tensor may be transformed one set of coordinate axes of
coordinate axes to a new system of axes by
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Strain Tensor and Rotation Tensor
• In general, displacement components
such as exy , eyx.. produce both shear
strain and rigid-body rotation.
• From tensor theory, any second-rank
tensor can be decomposed into a
symmetric tensor and an anisymmetric
tensor. • Strain tensor
• Rotation tensor
• The general displacement equations 33
Strain Tensor and Rotation Tensor
• Strain tensor can be divided into a 2. Strain deviator (shape change)
hydrostatic or mean strain and a strain
deviator.
1. Hydrostatic or mean strain (volume
change)
• These strains represent elongations
or contractions along the principal
axes that change the shape of the
Where Δ is the volume strain (change in body at constant volume.
volume).
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Principal and Maximum Shear Strains
• This case may also proceed from the corresponding stress relations by replacing σ
by ε and τ by γ.
• Therefore, we have
• Where l1 is the cosine of the angle between x and x’, m1 is the cosine of the angle
between y and x’ and so on.
• Similar expression are found for εy’, εz’, γy’z’ and γx’z’
• The three principal strains are the roots of the cubic equation.. 35
Principal and Maximum Shear Strains
• The strain Invariants are
• The maximum shearing strains can be obtained from
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Strain Measurements: Strain Gauges
• Strain can be measured by using a bonded-wire
resistance gauge or strain gauge.
• When the body is deformed, the wires in the
strain gauge are strained and their electrical
resistance is altered.
• The change in resistance, which is proportional
to strain can therefore be determined.
• Strain gauges can make only direct readings of
linear strain, while shear strains must be
determined indirectly. 37
Strain Measurements: Strain Rosette
• Special combination gages are available
for the measurement of the state of strain
at a point on a surface simultaneously in
three or more directions
• Generally, these consist of three gages
whose axes are either 45° or 60° apart.
• Consider three strain gages located at
angles θa; θb, , and θc with respect to
reference axis x (Fig.).
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Strain Measurements: Strain Rosette
• The a-, b-, and c-directed normal strains are
• When the values of εa, εb and εc are measured for given gage orientations θa, θb and
θc, the values of εx, εy and γxy can be obtained by simultaneous solution of Eqs.
• The arrangement of gages employed for this kind of measurement is called a strain
rosette 39
Example 2-6
A 2-m by I.5-m by I-m parallelepiped is
deformed by movement of corner point A to A: Solution
(1.9985, 1.4988, 1.0009). Calculate the The components of displacement of point
following quantities at point A: (a) the strain A are given by
components; (b) the normal strain in the
direction of the line AB and (c) the shearing
strain for perpendicular lines AB and AC
(a)First, referring to Fig., we represent the
displacement field
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Example 2-6 Continues
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Example 2-6 Continues
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Example 2-7
Strain rosette readings are made at a Solution
critical point on the free surface in a For the situation described, provides three
structural steel member. The 60° rosette simultaneous expression
contains three wire gages positioned at
0°, 60° and 120°. The readings are
Determine (a) the in-plane principal
strains and stresses and their directions,
and (b) the true maximum shearing
strain. The material properties are E =
200 GPa and ϑ = 0.3,
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Example 2-7 Continues
Solving for these
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Elastic Stress-Strain Relation
• The elastic stress is linearly related to • However, during linear extension, i.e., in x
elastic strain following Hooke’s law. axis, the contraction in the transverse y and
z direction causes a constant fraction of the
strain in the longitudinal direction known as
Poisson’s ratio v.
• Where E is the modulus of elasticity
in tension or compression.
• Note: for most metals v ~ 0.33
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Generalized Hooke’s Law
• As noted previously, Hooke’s law for one dimension or for the condition
of uniaxial stress and strain for elastic materials is given by
• Using the principle of superposition, the generalized Hooke’s law for a
three dimensional state of stress and strain in a homogeneous and isotropic
material can be shown to be,
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Relations for Various Material Constants
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Example 2-8
An aluminum alloy bar of circular cross-sectional area A and Solution
length L is subjected to an axial tensile force P (Fig.). The The resulting axial stress
modulus of elasticity and Poisson's ratio of the material are E and
v, respectively. For the bar, determine (a) the axial deformation;
(b) the change in diameter d; and (c) the change in volume ΔV. (d)
Evaluate the numerical values of the quantities obtained in (a)
through (c) for the case in which P = 60 kN, d = 25 mm, L = 3 m, Apply Hooke's law and
E = 70 GPa, /l = 0.3, and the yield strength σyp = 260 MPa. write
Also, the axial strain is
defined by
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Example 2-8 Continues
(a) The preceding expressions can be combined
to yield the axial deformation (c) The change in volume, substituting
and into the volume
equation
where the product AE is known as the axial
rigidity of the bar.
(b) The change in diameter equals the product
of transverse or lateral strain and diameter (d) For
the axial stress in the bar is
Thus
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Example 2-8 Continues
Thus, introducing the given data into the preceding
equations, we have
A positive sign indicates an increase in length and
volume; the negative sign means that the diameter has
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decreased
Example 2-9
Calculate the volumetric change of the steel block shown in Fig. 2.6 subjected to uniform
pressure p = 160 MPa acting on all faces. Use E = 210 GPa and v = 0.3.
Solution
The bulk modulus of elasticity of the material is
The dilatation is
Since the initial volume of the block
yields
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