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Elasticity ME5413-Lecture1

This document provides an introduction to elasticity theory, which is concerned with determining stress, strain, and displacement distributions in elastic solids under external forces. It establishes a mathematical model using continuum mechanics and partial differential equations. Elasticity theory has applications in aeronautics, civil engineering, materials engineering, and mechanical engineering for stress analysis. The document also introduces scalar, vector, tensor, and index notation that are used to describe quantities in elasticity theory, such as stress, strain, displacement, and governing equations. It defines the Kronecker delta, permutation symbol, and their relationships which are important for tensor calculus.

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Parag Ahsan
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
41 views

Elasticity ME5413-Lecture1

This document provides an introduction to elasticity theory, which is concerned with determining stress, strain, and displacement distributions in elastic solids under external forces. It establishes a mathematical model using continuum mechanics and partial differential equations. Elasticity theory has applications in aeronautics, civil engineering, materials engineering, and mechanical engineering for stress analysis. The document also introduces scalar, vector, tensor, and index notation that are used to describe quantities in elasticity theory, such as stress, strain, displacement, and governing equations. It defines the Kronecker delta, permutation symbol, and their relationships which are important for tensor calculus.

Uploaded by

Parag Ahsan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Elasticity: Theory, Applications, and Numerics

THIRD EDITION

Introduction

Concerned with determining stress, strain, and displacement distribution in an elastic solid
under the inuence of external forces
Using continuum mechanics, formulation establishes a mathematical boundary value
problem model set of governing partial differential field equations with particular boundary
conditions

Engineering Applications
Aeronautical/Aerospace Engineering - stress, fracture, and fatigue analysis in aero structures.
Civil Engineering - stress and deection analysis of structures including rods, beams, plates, and
shells; geomechanics involving the stresses in soil, rock, concrete, and asphalt materials.
Materials Engineering - to determine the stress elds in crystalline solids, around dislocations
and in materials with microstructure.
Mechanical Engineering - analysis and design of machine elements, general stress analysis,
contact stresses, thermal stress analysis, fracture mechanics, and fatigue.
Subject also provides basis for advanced studies in inelastic material behavior including plasticity
and viscoelasticity, and to computational stress analysis using nite/boundary element methods.
2

Lecture I: Scalar, Vector, Tensor and Index Notation


Do you understand the meaning of the following expressions ?
ij , j bi ui
ij , j bi 0
ij Cijkl kl
1
ij ui , j u j ,i
2
ti ij n j

balance of linear momemtum


equilibrium equations
Hooke ' s law
strain - displacement equations
traction boundary conditions

Scalar, Vector, and Indicial Notation


5

: , . . (), (), ()
: ,
, . . (), ()
, , or , , , ,
.
(),
, ()

Scalar, Vector, and Indicial Notation


6

Rule (Einstein Summation Convention): when any index

variable in a term appears twice, it implies that we are


summing over all of its possible values. Typically from 1 to 3 in
3D Euclidean space, and from 1 to n in Rn ,
3

= 11 + 22 + 33 =
=1

This convention was introduced by Albert Einstein in 1916.

= = =


.

, , ,

Kronecker delta
7

: = 1, i = 1,2,3
:
1 2 = 2 3 = 1 3 = 0
=
=

1,
0,

11 = 22 = 33 = 1,

= 3

Kronecker delta
8

Type equation here.

= ,

1 0
I= 0 1
0 0

: = ()

0
0
1

ei e j ijk ek

1, if ijk is an even permution of 1, 2,3

ijk = 1, if ijk is an odd permution of 1, 2,3

0, otherwise

123 = 231 = 312 = 1


213 = 321 = 132 = 1
113 = 133 = 221 = 0

12

=
=

=
=
=
=
=
=

ijk pqr

ip

det jp
kp

ijk pqk ip jq iq jp
ijk pjk 2 ip

= =

iq ir

jq jr
kq kr

ijk ijk 6

Gradient operator and directional derivative:

Divergence and comma notation:

a,i

aij
a
a
; ai , j i ; aij ,k
; ...
xi
x j
xk

a1

x1
a
ai , j 2
x1
a3

x1

a1
x2
a2
x2
a3
x2

a1

x3
a2

x3
a3

x3

Laplacian and curl:

The curl of the vector field u is defined as

curlu u

ex

ey

x
ux

y
uy

ez

, in Cartesian coordinates system

u u y
u y u x

ux u z
ex z

z
z

x
y

uz

Divergence theorem (Gauss theorem):

Gradient theorem and curl theorem:

Change of Basis (Coordinate Transformations):


On many occasions in engineering applications, including elasticity, the need arises to transform
vectors and matrices from one coordinate system to another. Consider the vector u given by

u u1e1 u2e2 u3e3 uiei


Since bases are not unique, we can express u in two
different orthonormal bases:

u uiei =ui ei
uiei e j =ui ei e j uiij =ui ei e j u j =uiQij ui =u j Q ji ui =QijT u j

we define the 3 3 matrix Qij ei e j

we have u = QTu

uiei e j =ui ei e j ui Q ji =uiij u j =Q jiui u j =Q jiui

we define the 3 3 matrix Q ji e j ei

we have u = Qu or u = Q1u
we have Q1 = QT or QQT I or Qik Q jk ij (*)
This type of transformation is called an orthogonal coordinate transformation (OCT). A matrix
Q satisfying Eq. (*) is said to be an orthogonal matrix. That is, an orthogonal matrix is one
whose inverse is equal to the transpose. Q is sometimes called a rotation matrix.

Change of basis (Coordinate Transformations):


cos
Q sin
0

sin
cos
0

0
0 in 3D
1

cos
Q
sin

sin
in 2D
cos

ux ux cos u y sin

u y ux sin u y cos
We recall that the determinant of a matrix product is equal to the product of the determinants.
Also, the determinant of the transpose of a matrix is equal to the determinant of the matrix itself.

det QQT =detI det Q det QT 1 det Q 1 det Q 1


2

The plus sign occurs for rotations, and the minus sign occurs for combinations of rotations and
reflections.
The rows and columns of an orthogonal matrix must be unit vectors and mutually orthogonal. That
is, the rows and columns form an orthonormal set.
We note that the length of a vector is unchanged under an orthogonal coordinate transformation,
since the square of the length is given by

uiui =Qij u j Qik uk jk u j uk u j u j

Tensors:

Tensors:

trM = M ii Qik Qil M kl kl M kl M kk trM

Symmetry and Skew-Symmetry :

Both and are scalar functions, a, b, f is a vector field ,


using index notation to prove :
f f f
f f f
0
f 0
a b a b a b
0

. . .

f f f
f f f
0
f 0
0

f f f
f f f
0
f 0
0

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