S005317

Foundations of Solid Mechanics

Changwen Mi
Office: 九龙湖校区土木大楼1401
Phone: 13611568828
Outline
• Scope of the course? (课程涵盖范围)
• Applications (应用)
• Prerequisites (先修知识要求)
• Solution procedure (课程内容概览)
• What did we learn from mechanics of material (材力概念回顾)
• Generalization of concepts (材力概念扩展)
• A 1D example of boundary value problems (1D边值问题示例)
• Course outline (课程主要内容)
• References (参考书目)
• Grading and collaboration policies (评分政策)
• Greek letters (希腊字母)
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Scope of the Course

Boundary Value Problem

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Applications
• Geomechanics: Modeling the
shape of planets, tectonics, and
earthquake prediction
• Civil engineering: Designing
structures or soil foundations

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Applications
• Mechanical engineering: Designing load-bearing
components for vehicles, engines, or turbines for power
generation and transmission, as well as appliances
• Manufacturing engineering: Designing processes (such
as machining) for forming metals and polymers

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Applications
• Biomechanics: Designing implants and medical devices,
as well as modeling stress driven phenomena controlling
cellular and molecular processes

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Applications
• Materials science:
Designing composites,
alloy microstructures, thin
films, and developing
techniques for processing
materials

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Applications
• Microelectronics: Designing failure-resistant packaging
and interconnects for microelectronic circuits

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Applications
• Nanotechnology: Modeling stress-driven self-assembly
on surfaces, manufacturing processes such as nano-
imprinting, and modeling atomic-force microscope/
sample interactions

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Applications
• Crack Propagation

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Prerequisites for the Course
• Mechanics of Materials
• Mechanical behavior of materials and analysis of stress
and deformation in engineering structures and
continuous media.
• Topics include concepts of stress and strain; the elastic,
plastic, and time dependent response of materials;
principles of structural analysis and application to
simple bar structures, beam theory, instability and
buckling, torsion of shafts; general three-dimensional
states of stress; Mohr's circle; stress concentrations.

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Prerequisites for the Course
• Introduction to Engineering
• An introduction to various engineering disciplines,
thought processes, and issues
• Topics include computing in engineering, engineering
design, optimization, and estimation.
• Case studies in engineering are used to illustrate
engineering fields and scientific principles, including
in-depth studies of statics and optics.
• Laboratories and design projects are included.

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Prerequisites for the Course
• Applied Mathematics
• Mathematical techniques involving differential
equations used in the analysis of physical, biological
and economic phenomena
• Emphasis on the use of established methods, rather
than rigorous foundations
• First and second order differential equations
• Applications of linear algebra to systems of equations;
numerical methods; nonlinear problems and stability;
introduction to partial differential equations; ...

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Prerequisites for the Course

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Solution Procedure
1. Decide on what to calculate.
2. Identify the geometry of the solid to be modeled.
3. Determine the loading applied to the solid.
4. Decide what physics must be included in the model.
5. Choose (and calibrate) a constitutive law that describes
the behavior of the material.
6. Choose a method of analysis.
7. Solve the problem, analytically, numerically or
experimentally.

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What to Calculate
• The deformed shape of a structure or component subjected
to mechanical, thermal, or electrical loading
• The forces required to cause a particular shape change
• The stiffness of a structure or component
• The internal forces (stresses) in a structure or component
• The critical forces that lead to failure by structural
instability (buckling)
• Natural frequencies of vibration for a structure or
component

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What to Calculate
• Predicting the critical loads to cause fracture in a brittle or
ductile solid containing a crack
• Predicting the fatigue life of a component under cyclic
loading
• Predicting the rate of growth of a stress-corrosion crack in
a component
• Predicting the creep life of a component
• Finding the length of a crack that a component can contain
and still withstand fatigue or fracture
• Predicting the wear rate of a surface under contact loading
• Predicting the fretting or contact fatigue life of a surface
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What to Calculate
• Calculating the properties (e.g., elastic modulus, yield stress, stress-strain curve,
fracture toughness, etc.) of a composite material in terms of those of its
constituents
• Predicting the influence of the microstructure (e.g., texture, grain structure,
dispersoids, etc.) on the mechanical properties of metals such as modulus, yield
stress, strain hardening, etc.
• Modeling the physics of failure in materials, including fracture, fatigue, plasticity,
and wear, and using the models to design failure resistant materials
• Modeling materials processing, including casting and solidification, alloy heat
treatments, and thin-film and surface-coating deposition (e.g., by sputtering,
vapor deposition, or electroplating)
• Modeling biological phenomena and processes, such as bone growth, cell
mobility, cell wall/particle interactions, and bacterial mobility

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Geometry
• Geometry is important for modeling brittle fracture,
fatigue failure, or for calculating critical loads required to
initiate plastic flow in a component.
• Less important for creep damage, large-scale plastic
deformation (e.g., metal forming) or vibration analysis.
• Geometrical features typically only influence local
stresses. (≤ 3L)
• Start with the simplest possible model and gradually
refine the calculation.

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Loading
• Displacement boundary conditions Su
• Traction boundary conditions, either normal or tangential or both, St
• Mixed boundary conditions, e.g. horizontal displacements + vertical
traction at a point
• Gravitational or electromagnetic body forces
• Contact forces
• Nonuniform thermal expansion
• Materials process such as phase transformation that causes the solid
to change its shape

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Difficulties on Applying Loading
• Can earthquake loading on a building be modeled as a
prescribed acceleration of the building’s base?
• How to identify pressure loading arising from wind or
fluid forces?
• How to estimate frictional coefficients in contact loading?
• How to model attractive forces between two contacting
surfaces in nanoscale and biological applications?

• In these cases, standards are helpful…

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Boundary Conditions
• Must specify exactly three components of either
displacement (u1, u2, u3), or traction (t1, t2, t3), or mixed,
e.g. (u1, t2, t3) or (u1, u2, t3), at each point on the boundary.
• Conservation of both linear and angular momentum must
be satisfied.

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What Physics to Include
• Consider temperature, electric or magnetic fields, or mass/
fluid diffusion through the solid?
• Perform a transient heat conduction analysis?
• Do a dynamic analysis or a static analysis?
• Are you solving a coupled fluid/solid interaction problem?

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Define Material Behavior
• Isotropic linear elasticity: for F

polycrystalline metals, ceramics,

glasses, and polymers; small strain;
only two material constants; readily
available; for deflection calculations, ΔL
Linearly Elastic
fatigue analysis, and vibration
analysis
• Anisotropic linear elasticity: for
reinforced composites, wood, and
single crystals of metals and
ceramics; stiffer in some directions
than others; small strain; 3 to 21
constants; available 24
Define Material Behavior
• Hyper-elasticity: for rubbers and foams; nearly
incompressible (ν→0.5); several material parameters;
hard to find; experimental calibration required
Stress (MPa)

neo-Hookean solid

Strain (100%) 25
Define Material Behavior
• Viscoelasticity: for polymeric materials, polymer-based
composites, biological tissue, and can also model slow
creep in amorphous solids such as glass; at least three
parameters; behavior varies widely among materials and
is highly temperature dependent; almost certainly requires
experimental calibration

Maxwell Element: spring stiffness E, dashpot viscosity η

• Increase in strain under constant stress:

• Show hysteresis during cyclic loading:
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Define Material Behavior
• σ = ε· f(t) - linear visco-elasticity
• σ = f(ε, t) - non-linear visco-elasticity
• Creep: increasing strain with time under constant stress

• Relaxation: decreasing stress with time under constant strain

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Define Material Behavior
• Rate-independent metal plasticity: for calculating
permanent deformation; strain hardening; Gurson
plasticity model for void growth; require calibration

Rigid-perfectly plastic

Elastoplastic-hardening

Elastic-perfectly plastic
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Define Material Behavior
• Elastoviscoplasticity: the flow stress of metal increase
with strain rate; for high-speed machining , explosive
shock loading, and creep; complex models require
calibration

Elastoviscoplastic-hardening

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Define Material Behavior
• Crystal plasticity: for anisotropic plastic flow in a single
crystal of a metal; for metal-forming processes; still under
development because material data are not easily found
and are laborious and expensive to measure
Define Material Behavior
• Strain gradient plasticity: to model the behavior of very
small volumes of a metal (less than 100 µm) which are
typically stronger than bulk samples; still under
development

• Discrete dislocation plasticity: models plastic flow in

very small volumes of material by tracking the nucleation,
motion, and annihilation of individual dislocations;
difficult to calibrate.
• Critical state plasticity (cam-clay)
• Pressure-dependent viscoplasticity
• Atomistic models
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Method: Analytical Solutions
• Exact solutions (closed-form)
• 2D linear elastic solids, under static or dynamic loading
by integral transforms, stress function methods, and
complex variable methods
• 2D viscoelastic solids
• Certain simple 3D linear elastic problems using integral
transforms
• 2D (plane strain) deformation of rigid plastic solids using
slip line fields
• Semi-analytical solutions: infinite power series &
improper integral representations, followed by numerical
evaluation 32
Method: Analytical Solutions
• The principle of superposition can be used to extend the
point force solution to arbitrary pressures acting on a
surface.

⎡σ x τ xy ⎤ 2 1 ⎡ Yx 2 y + Xx3 Yxy 2 + Xx 2 y ⎤
⎢τ ⎥ =− 4 ⎢ 2 ⎥
⎣ xy σ y⎦ π r ⎣Yxy 2
+ Xx 2
y Yy 3
+ Xxy ⎦

p(s)

2 ap( s )( x − s ) 2 y 2 a t ( s )( x − s )3 x
σx = − ∫ ds − ∫ ds
π − a [( x − s ) + y ]
2 2 2
π − a [( x − s ) + y ]
2 2 2 a a
t(s)
2 a p( s ) y 3 2 a t ( s )( x − s ) y 2
σy = − ∫ ds − ∫ ds
π −a [( x − s )2 + y 2 ]2 π −a [( x − s )2 + y 2 ]2
2 a p( s )( x − s ) y 2 2 a t ( s )( x − s ) 2 y
τ xy = − ∫ s− ∫ ds
π − a [( x − s ) + y ]
2 2 2
π − a [( x − s ) + y ]
2 2 2
y
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Method: Numerical Solution
• Finite element method (FEM): can solve almost any
problem in solid mechanics, provided you understand how
to model your material
• Finite difference method
• Boundary element method: mostly useful for linear
elastic problems
• Atomistic methods: integrate the equations of motion for
atoms or molecules; use empirical constitutive equations;
exceedingly small material volumes and short timescales

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Method: Numerical Solution

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Method: Experimental Solution

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Boundary Value Problems in Solid Mechanics
Given: Ask for:
• Geometry • Deformed shape/stress
• Material properties • Temperature
• Applied loads • Heat flux
• Applied temperature/heat
• Initial conditions

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What Did We Learn from Mechanics of Materials
• Tension of prismatic bars
• Torsion of circular shafts
• Bending of beams

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What Did We Learn from Mechanics of Materials
• Deformation
(kinematics)
• Stress (kinetics)
• Material behavior
(Linear elastic)

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What Did We Learn from Mechanics of Materials
• Strength theory
• Stiffness condition
• Stability

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What Did We Learn from Mechanics of Materials
• Dynamic loading
• Cyclic loading

rough zone fatigue origin

smooth zone
What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

Failure of a bolt in single shear

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What Did We Learn from Mechanics of Materials

Power generation shaft Automotive power train shaft Ship drive shaft

Complex crank shaft Tire shift drive Screwdriver

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What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

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What Did We Learn from Mechanics of Materials

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Generalization of Concepts in Mechanics of Materials

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Generalization of Concepts in Mechanics of Materials

• Displacement: vectors • A unified mathematical

• Stress and strain: tensors framework is needed to
• Kinematics + Kinetics understand theses concepts
in a fully three dimensional
• Material behaviors
continuum solid body.
• Boundary conditions
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A 1D Example: Momentum Balance

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A 1D Example: Kinematics

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A 1D Example: Material Behavior
A 1D Example: BVP Formulation

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A 1D Example: Sinusoidal Traction BCs
A 1D Example: Resonance

• Shattering of
glass at certain
high pitch
• Ultrasonic
destruction of
kidney stone
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A 1D Example: Natural Vibration

• Resonance of
a structure
occurs when
the frequency
of applied
force matches
the natural
vibrating
frequency of
the structure,
i.e. ω=ωN.
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Course Outline
• Introduction (导论)
• Mathematical background (数学基础)
• Strains in a solid/Kinematics (应变度量/运动学)
• Stress in a solid/Kinetics (应力度量/动力学)
• Mechanical behavior of solids (固体本构)
• Simple boundary value problems (BVPs) (简单变值问题)
• BVPs for elastic solids (弹性力学边值问题)
• BVPs for plastic solids (塑性力学边值问题)
• Failure modes in solids (固体失效模式)
• Variational methods (变分法)
• The finite element method (有限元法)
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References
• Textbook:
ØAllan Bower, Applied Mechanics of Solids, CRC Press,
2010. (available on http://solidmechanics.org/ for free)
• Highly recommended references:
Ø T. Belytschko, W.K. Liu, B. Moran and K.I. Elkhodary, Nonlinear
Finite Elements for Continua and Structures, 2nd Ed., John Wiley &
Sons, 2014.
Ø Y.C. Fung, A First Course in Continuum Mechanics, 3rd Ed.,
Prentice-Hall, 1994.
Ø Y.C. Fung and P. Tong, Classical and Computational Solid
Mechanics, World Scientific, 2001.
Ø L. Malvern, An Introduction to the Mechanics of a Continuous
Medium, Prentice-Hall, 1969.
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Grading and Collaboration Policies
• Assignment category Percentage
• Homework 30%
• Project 30%
• Final 40%
• Collaboration policy: We encourage discussions on homework and
computer assignments: you can learn a lot from working with a group. This
means that you are permitted to discuss homework problems and computer
assignments with classmates, and are permitted to seek help from other
students if you run into difficulties. However, material submitted for grading
should represent independent work of its author. Any work done in
collaboration should be clearly marked as such. It is not acceptable to copy
the work of other students, and it is not acceptable for two students to submit
identical copies of any part of an assignment.
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Computing Project
1. Choose a problem to solve.
2. Write a short proposal that defines the problem to be
solved, describes what will be calculated, outlines briefly
how the calculation will be done.
3. Submit the proposal via email and obtain approval from
the instructor.
4. Set up a theoretical or finite element model and perform
the calculations, analyses, and discussions.
5. Write a formal report no more than 10 pages that
summarizes the results.
6. Give a short oral presentation to the rest of the class.

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Greek Letters
Greek Letters

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