L10/1

LECTURE 10/11: THI N SHELL

1 Equilibrium equations of thin shell

2 Constitutive equations of thin shell

3 Shell examples

L10/2

SHELL


Para


A thin body in one direction. Curved version of the plate model.

www.modot.org/newsroom/images/Planetarium.J PG
www.scottspeck.com/.../north_point/DSCN3526a.jpg
L10/3

LEARNI NG OUTCOMES

Student knows the kinematic and kinetic assumptions of the shell model and the
mathematical tools and concepts needed when the solution domain is a surface of
Euclidean three-space, and

is able to derive the component forms of the equilibrium equations from the invariant
vector forms using directed derivatives and Christoffel symbols of midsurface
geometry, and

is able to derive the component forms of constitutive equations when shell is assumed
to be very thin.
L10/4

THI N BODY DI SPLACEMENT ASSUMPTI ONS

Bar:
0
( , , ) ( ) u x y z u x =



String:
0
( , , ) ( ) u s n b u s =



Straight beam:
0
( , , ) ( ) ( ) ( , ) u x y z u x x y z u = +

Curved beam:
0
( , , ) ( ) ( ) ( , ) u s n b u s s n b u = +

Thin slab:
0
( , , ) ( , ) u x y z u x y =




Membrane:
0
( , , ) ( , ) u z s n u z s =




Plate:
0
( , , ) ( , ) ( , ) ( ) u x y z u x y x y z u = +

Shell:
0
( , , ) ( , ) ( , ) ( ) u n u n o | o | u o | = +

L10/5

SHELL MODEL ASSUMPTI ONS








Kinematic assumption: Straight line segments perpendicular to the mid-surface remain
straight in deformation or straight and perpendicular to the mid-surface in deformation.
Therefore displacement ( , , ) ( ) ( ) ( )
n n n
u n u e u e u e e e ne
o o | | o o | |
o | u u = + + + +

.

Kinetic assumption: Stress component 0
nn
o = .
fdV

tdA

tdA

thin curved body

L10/6

SHELL EQUI LI BRI UM EQUATI ONS


( : )( ) 0
n
F I e F b k V + =



in O


[ ( : )( ) ] 0
n n n
M I e M e F c e k V + =



in O


c
S S =


in O



0 n F F =

or
0 0
0 u u =

on cO

( ) 0
n
n M M e =


or 0 u u =

on cO


in which
c
( ) F J D dn o =
}



&

c
( ) M nJ D dn o =
}



&

( ) S J dn o =
}

Gradient scaling
Volume element scaling
curvature effect
e
o

e
|

n
e

L10/7

SHELL EQUATI ONS I N CYLI NDRI CAL GEOMETRY


, ,
1
0
z zz z z
N N b
R
| |
+ + =

in O

, ,
1
0
z z
M M Q c
R
| || | | |
+ + =

in O


, ,
1 1
0
z z
N N Q b
R R
| || | | |
+ + =

in O

, ,
1
0
zz z z z z
M M Q c
R
| |
+ + =

in O


, ,
1 1
0
z z n
Q Q N b
R R
| | ||
+ + + =

in O




0 n F F =

or
0 0
0 u u =

on cO

( ) 0
n
n M M e =


or 0 u u =

on cO


Boundary conditions are simplest in the rotated qt system (belonging to O).


z
e

e
|

n
e

L10/8

- In the cylindrical geometry and z n | coordinates, the directed derivative, the non-zero
Christoffel symbol and curvature components are


z z
d = c

&

1
d
R
| |
= c

&

1
n n
R
|| | |
I = I = &
1
R
||
k =

- The component forms of equation ( : )( ) 0
n
F I e F b k V + =


are
, ,
1 1 1
0
i iz kik iz ikz ik kk n z z zz z nz nz z
d F F F F b F F F F b
R R R
| | |
k + I + I + = + + + =

, ,
1 1
0
i i kik i ik ik kk nz z z n
d F F F F b F F F b
R R
| | | | | || | | |
k + I + I + = + + =

, ,
1 1
0
i in kik in ikn ik kk nn n n zn z n
d F F F F b F F F b
R R
| | ||
k + I + I + = + + + =

L10/9

- The component forms of equation [ ( : )( ) ] 0
n n n
M I e M e F c e k V + =




( ) 0
i ij kik ij ikj ik kk nj nj j jnz
d M M M M F c e k + I + I + =

, ,
1 1 1 1
0
z z n n n n
M M M M M F c
R R R R
| || | | | | | |
+ + + =

( ) 0
i ij kik ij ikj ik kk nj nj j jn
d M M M M F c e
|
k + I + I + =

, ,
1 1 1
0
zz z z nz nz nz z
M M M M F c
R R R
| |
+ + + =



- Term
n
M
|
will be dropped as constitutive equation for a linearly elastic material give
0
n
M
|
= . The component forms of algebraic equations
c
S S =


will be satisfied a
priori by the selection of constitutive equation.

L10/10

CONSTI TUTI VE EQUATI ONS I N CYLI NDRI CAL GEOMETRY

If shell is assumed thin in the sense that only the leading term in t is retained

and the
origin of the naxis is placed at the midsurface, constitutive equations simplify to

,
, ,
2
,
,
,
( )
)
1
(1 )( ) / 2
(
z z n
z z n
zz
z z z
u
u u u
N
Et
N
N u u
u u
| |
| |
||
| | |
v k
vk
v
v k

+

=
` `

+
)
+
)

&
,
,
( )
z nz z
n
Q u
tG
Q u u
| | | |
e
e k
+

=
` `
+ +
) )
,
3
,
2
, ,
,
2
,
,
,
2
,
,
,
,
(1 )( ) / 2
12(1 )
(1 )( ) /
( )
2
z z
zz
z
z
z z
z z
n
z
z z z
z
z
u
M
M
t E
M
M
u u
u
u
| |
| |
||
| |
|
| | |
|
| | |
e
ke
v e k
k
k
k e
v
kve
v
e k k v e
e




+


=
` `
+

+ )

+
+
)
+

&
z
z
|
|
u e
e
u

=
` `

) )


The blue (quite important) terms are omitted in p.430 of J .N Reddy.
Kirchhoff constraints
L10/11

EXAMPLE L10/P1. Consider a cylindrical shell of radius R subjected to normal force
n
b . Assuming that the free ends are clamped, lengthening in the zdirection is not
constrained, and that the solution is rotation symmetric (derivatives with respect to |
vanish and 0 u
|
= ), derive the differential equation and the boundary conditions for
deflection ( ) ( )
n
w z u z = . Material is linearly elastic with properties E and v .


Answer:

3
,
2 2 2
,
0 ( )
12(1 )
zz n z zz z
t E
w b
R
Et
w w
R
v
v
+ + =

]0, [ z L e


,
0
z
w w = =

{0, } z L e



z
t
x
y
L
R
L10/12

- As derivatives with respect to the angular coordinate vanish, the equilibrium equations
simplify to (after elimination of the shear forces)

,
0
zz z
N = &
, ,
1
0
z z z z
N
R
M
| |
= &
,
1
0
zz zz n
N b
R
M
||
+ + =

- The Kirchhoff constraints simplify to 0
|
e = and
, z n z
u e = . When rotation variables
are eliminated there, the constitutive equations for the non-zero stress components
simplify to


,
2
1
( )
1
zz z z n
Et
N u u
R
v
v
=

&
2
,
1
( )
1
z z n
u u
Et
N
R
||
v
v
=

3
,
2
,
( )
12(1 )
1
zz n zz z z
t
u
E
M u
R
v
+ =

&
3
,
2 2
( )
12(1 )
1
n z n z
t E
M u u
R
||
v
v
= +

L10/13

- The solution is obtained as follows (
,
0
zz z
N = and 0
zz
N = at the free end of the
cylinder and therefore 0
zz
N )

,
2
1
( ) 0
1
zz z z n
Et
N u u
R
v
v
= =

,
1
z z n
u u
R
v =

2 2
2
,
1 1 1
( ) ( )
1 1
z z n n n n
Et Et
u u u
Et
N u u
R R R R
||
v
v
v
v
= = =



3 3
, ,
2 2
,
2
( ) ( )
12(1 ) 12(1
1
)
z z zz n zz n n zz
t E t E
M u u u
R
R
u
v v
v
= =

+ +

- The last equilibrium equation gives

,
1
0
zz zz n
N b
R
M
||
+ + =

3
,
2 2 2
,
0 ( )
12(1 )
zz n z zz z
t E
w b
R
Et
w w
R
v
v
+ + =

L10/14

CURVATURE

Curvature is the amount by which a geometric object deviates from being flat, or straight
in the case of a line. Curvature of a surface ( 1/ R k ) at a point depends on the direction
of a curve through the point.

Curvature:
c
( )
n
e k = V




Principal curvatures:
1 1
( , ) n k


and
2 2
( , ) n k


such that n n k k =



Gaussian curvature:
1 2
det[ ] K k k k = =



Mean curvature:
1 2
1 1 1
: ( )
2 2 2
n
H e I k k k = V = = +

Curvature concept has many somewhat different aspects and the related definitions!

This will be needed later!
L10/15

KELVI N-STOKES THEOREM

Kelvin-Stokes theorem relates the surface integral of the curl of a vector field over a
surface S in Euclidean three-space to the line integral of the vector field over its boundary
S c . Gauss theorem is obtained as a particular case.

( )
n
S S
a e dS a dr
c
V =
} }

[( ) ( )( )] ( )
n n
S S
b e b e dS n b ds
c
V V =
} }




The second term on the left hand side takes into account the curvature of the midsurface.
The term vanishes if 0
n
e V =

or 0
n
b e =

(in surface vector).
n
e

dr

S
S c
curvature!
L10/16

- Stokes theorem is used here in integration by parts on a curved midsurface geometry
with
n
a e b =


and vector identity ( ) ( ) ( ) b c c b b c V = V V





( )
n
S S
a e dS a ds
c
V =
} }


&



n
a e b =

[ ( )] ( )
n n n
S S
e b e dS e b dr
c
V =
} }



&



( ) ( ) ( )
n n n
e b b e e b V = V V

[( ) ( )( )] ( )
n n n
S S
b e b e dS e b dr
c
V V =
} }



& ( ) ( )
n n
e b dr b e dr =






[( ) ( )( )] ( )
n n n
S S
b e b e dS b e dr
c
V V =
} }



&

n
e dr nds =

[( ) ( )( )] ( )
n n
S S
b e b e dS n b ds
c
V V =
} }

L10/17

- Selection c a b =


, vector identity
c
( ) ( ) : ( ) a b a b a b V = V + V


and definition of
curvature :
n
e I k V =


give a useful integral identity


[( ) ( )( )] ( )
n n
S S
c e c e dS n c ds
c
V V =
} }

[( ( ) ( )( ) ] ( )
n n
S S
F u e e F u dS n F u ds o o o
c
V V =
} }

c
( ) : ( ) ( )( ) ( )
n n
S S S S
F udS F u dS e e F udS n F u ds o o o o
c
V + V V =
} } } }

c
: ( ) [ ( : )( )] ( )
n
S S S
F u dS F I e F udS n F u ds o k o o
c
V = V +
} } }

- The last form can be taken as integration by parts formula on a curved surface. If
: 0 I k =

(twice the mean curvature) or 0

n
e F =

, the usual form used already in

connection with plates is obtained.
L10/18

VOLUME AND SURFACE ELEMENTS OF SHELL

In virtual work expression, volume and surface elements of the body dV

and dA need to
be expressed in terms of the midsurface area and boundary elements dO,

dI

and
thickness element dn. The expressions depend on scaling factors according to:

( ) dV J n dnd = O ( )
n
dA J n d = O dA J dnd
o o
= I dA J dnd
| |
= I

Cylinder (1 )
n
J
R
= (1 )
n
n
J
R
= (1 )
z
n
J
R
= 1 J
|
=

Sphere
2
(1 )
n
J
R
=
2
(1 )
n
n
J
R
= (1 )
n
J
R
|
= (1 )
n
J
R
u
=

On a flat surface, curvature vanishes and all the scaling factors have the value 1!

L10/19

GRADI ENT AND MI DSURFACE GRADI ENT

In virtual work expression, gradient concerning a generic material point needs to be
expressed in terms of the midsurface gradient and scaling dyad D

according to

( ) ( )
1
s s s s n s s b
s n b
b
b
n
e e e e ne e
e e e D
s n b
k k
k
+ c c c
V = + + = V
c c c

1 1
( ) ( )
1
z z n n z n
e e e e e e e e e D
n z R n
| | |
k |
c c c
V = + + + + = V
c c c




1 1 1 1
( ) ( )
sin 1 1
n n n
e e e
n n
e e e e e e D
R R n
| | u u | u
k k u | u
c c c
V = + + + + =

V
c c c




Scaling dyad D

plays an important role in the constitutive equation. In the very thin body
limit D I ~

.
midsurface gradient
L10/20

VI RTUAL WORK DENSI TY OF SHELL


int
0 c c
: ( ) : ( ) ( ) :
n
w F u M e F S o o oe oe o|
O
= V V




ext
0
w b u c o o oe
O
= +

ext
0
w F u M o o oe
cO
= +




in which

c
( ) F J D dn o =
}



&

c
( ) M nJ D dn o =
}




&

S J dn o =
}

In contrast to the membrane and plate settings, the number of stress resultants is 3. When a
shell is thin in the sense / 1 t R D I ~

and S F ~

.

e
o

e
|

n
e

L10/21

- The basic kinematical quanties need to be expressed in terms of the kinematical
quantities of the midsurface

: D V = V

dV J dnd = O

&

n n
dA J d = O

&

d A J nd d
o o
= I

&

d A J nd d
| |
= I


- Strain (
0
u u ne = +


and displacement gradient is divided into symmetric and
antisymmetric parts with
c
| | =

) takes the form

0
( )
n
u D u n e c | e e | = V = V +V +




- With vector identities :( ) ( ): a b c a b c V = V


, : ( ) ( ): a b c a b c =


and
c c
: : a b a b =



the virtual work density of internal forces becomes

midsurface gradient
L10/22

int
c 0 c
:[ ( )] :
V n
w D u n e o o o oe oe o o| = V + V + +

int
c 0 c c
: ( ) : ( ) : ( ) :
V n
w D u nD D e o o o o oe o oe o o| = V V

int
c 0 c c
( ): ( ): ( ): :
V n
w D u n D D e o o o o oe o oe o o| = V V

int
c 0 c c c c
( ): ( ) ( ): ( ) ( ) ( ):
V n
w D u nD e D o o o o oe o oe o o| = V V





- Grouping all quantities depending on n, writing the volume element in the form
dV J dnd = O in which dO is the midsurface area element, and integration over the
small dimension (thickness) gives

int
c 0 c c c
[ ( ): ( ) ( ): ( ) W J D dn u nJ D dn o o o o oe
O
= V V
} } }




L10/23


c
( ) ( ): ]
n
e J D dn J dn d o oe o o| O
} }

int
0 c c
[ : ( ) : ( ) : ]
n
W F u M e F S d o o oe oe o|
O
= V V O
}






c
( ) F J D dn o =
}



&

c
( ) M nJ D dn o =
}



&

( ) S J dn o =
}

Later, the constitutive equations following from definitions of stress resultants do not
assume symmetry of stress o

which is taken just as the local form of the moment

equilibrium of the 3D elasticity.

- Volume and area forces contribute to the virtual work of external forces (we omit the
distributed moments although they make sense in the formulation). The surface
contribution needs to be divided into parts coming from the outer and inner surfaces
and from the edge
L10/24



ext
0
[ ( ) ]
V
W f udV f u nf J dn d o o o oe
O O
= = + O
} } }





ext
0
[ ( ) ]
n
A n
A
W t udA t u nt J d o o o oe
O
= = + O

} }





ext
0
w b u c o o oe
O
= +

&

( )
n
b fJ dn tJ = +

}



&

( )
n
c nfJ dn ntJ = +

ext
[ ( ) ]
i
i
A i
A
W t udA t u nt J dn d o o o oe
cO
= = + I
} } }



{ , } i o | e



ext
0
w F u M o o oe
cO
= +



&

F J tdn =
}

&

M nJ tdn =
}

inner and outer surfaces
edges
volume
L10/25

SHELL EQUI LI BRI UM EQUATI ONS


( : )( ) 0
n
F I e F b k V + =



in O


[ ( : )( ) ] 0
n n n
M I e M e F c e k V + =



in O


c
S S =


in O



0 n F F =

or
0 0
0 u u =

on cO

( ) 0
n
n M M e =


or 0 u u =

on cO


in which
c
( ) F J D dn o =
}



&

c
( ) M nJ D dn o =
}



&

( ) S J dn o =
}

Gradient scaling
Volume element scaling
curvature effect
e
o

e
|

n
e

L10/26

- Integration over the solution domain
3
O c (surface in Euclidean three-space) and its
boundary gives the virtual work expression

0 c c
[ :( ) :( ) ( ) : ]
n
W F u M e F S d o o oe oe o|
O
= V V O+
}





0 0
( ) ( ) b u c d F u M d o oe o oe
O cO
+ O+ + I
} }




- Integration by parts in the first two terms with the Stokes theorem (midsurface is not
flat and therefore the simple Gauss theorem is replaced by the Stokes theorem)

c
: ( ) [ ( : )( )] ( )
n
S S S
F u dS F I e F udS n F u ds o k o o
c
V = V +
} } }




c
: ( ) [ ( : )( )] ( )
n
S S S
M dS M I e M dS n M ds oe k oe oe
c
V = V +
} } }




L10/27

on the mid-surface domain gives an equivalent but more usefull form

0
[( ( : )( ) ] ] ( : )
n
W F I e F b u d S d o k o o|
O O
= V + O O+
} }





[ ( : )( ) ( ) ]
n n
M I e M e F c d k oe
O
V + O+
}





0
( ) ( ) n F F u d n M M d o oe
cO cO
+ I+ + I
} }




- If definition
n
e oe ou =

and the vector identity ( ) ( ) a b c a b c =



are used there
(to recover the original rotation variable), the virtual work expression becomes

0
[( ( : )( ) ] ] ( : )
n
W F I e F b u d S d o k o o|
O O
= V + O O
} }





{[ ( : )( ) ( ) ] }
n n n
M I e M e F c e d k ou
O
V + O+
}




L10/28


0
( ) [( ) ]
n
n F F u d n M M e d o ou
cO cO
+ I + I
} }




- Finally, the principle of virtual work and the basic lemma of variational calculus give


( : )( ) 0
n
F I e F b k V + =




in O


[ ( : )( ) ] 0
n n n
M I e M e F c e k V + =


in O


c
S S =

in O

and


0 n F F =

or
0 0
0 u u =

on cO

( ) 0
n
n M M e =


or 0 u u =

on cO

replaces the symmetry of stress in 3D elasticity
boundary conditions
equilibrium
L10/29

PLATE CONSTI TUTI VE EQUATI ONS

Constitutive equations
0
( , ) F F u u =


and
0
( , ) M M u u =


follow e.g. from the generalized
Hookes law, the definition of small strain, and the kinetic and kinematic assumptions of
the model:

0
2
1
:
z
F u k
Edz
z z
M
e
e

( V +

=
(
` `
( V


) )
}

& k e u =

[ ( )( ) ( )]
1 1
E
E I kk I kk I kkkk
v
v v
= +
+



&

c
1
( )
2
E E E

= +

Derivation of the problem dependent part for the laminated plates, orthotropic material,
heterogeneous material, etc. is straightforward, but the expression may be complicated.
problem dependent part
last index
pair conjugate
L10/30

SHELL CONSTI TUTI VE EQUATI ONS

Constitutive equations
0
( , ) F F u u =


,
0
( , ) M M u u =



follow e.g. from the generalized
Hookes law, the definition of small strain, and the kinetic and kinematic assumptions of
the model:

0
c
2
1
( ):
n
n
u e
F
D E DJ dn
M
n n
e
e
(
V +

=
` ` (
V
)
)

}

&
n
e e u =

[ ( )( ) ( )]
1 1
n n n n n n n n
E
E I e e I e e I e e e e
v
v v
= +
+





&


c
1
( )
2
E E E

= +

in which the integral expression depends on the material properties (elasticity dyad E

should be modified to include 0
nn
o = ) positioning of the midsurface (actually the
reference surface), thickness of the shell, and curvature of the reference surface.
problem dependent part
last index
pair
conjugate
L10/31

- The small strain expression of the plate making use of the division of the displacement
gradient into symmetric and anti-symmetric part according to u c | V = +



was earlier
found to be (note that
c
| | =

)

0 n
u u e n c | e e | = V = V + + V


.

As rigid body motion needs to produce zero strain a priori, |

is eliminated to get the
strain expression

c c 0 0 c c
1 1 1 1 1
: ( ) [ ( ) ] [ ( ) ] ( ) [ ( ) ]
2 2 2 2 2
n n
u u u u e e n c c c e e e e = + = V + V = V + V + + + V + V



- The stress-strain relationship is taken to consist of a symmetric part depending on
strain and on an anti-symmetric part to be chosen so that moment equilibrium
c
S S =


is
L10/32

satisfied (the anti-symmetric part is a kind of constraint stress). Assuming linearly
elastic material and using identity : ( ) ( ): a b c a b c =




c c
1 1
: : [ ( ) ] ( ): :
2 2
E E u u E E u E u o c o o o o

= + A = V + V + A = + V + A = V + A

: ( ) ( ): E D u E D u o o o = V + A = V + A

0
: ( ) ( ): ( )
n
E D u E D u e n o o e e o = V + A = V + + V + A






where
c
( ) / 2 E E E

= +

and
c
E E

=




. Notations
c
E

and

c
E

denote the first and last

index pair conjugates of E

. The precise definitions are

c c
: : b a b a

=



and
c c
: : a b a b

=



b

.

- The stress-resultant definitions of the virtual work expression give

L10/33


c c c
c 0
2
c c c c
:
n
D E D nD E D D I
F D u e
M nD J dn nD E D n D E D nD I J dn
S
E D nE D I
o e
o e
o o
(


V +

(

(
= = V
` ` `
(

A
( )
) )

} }

in which the integral term depends on the material properties, position of the
midsurface (actually the reference surface), thickness of the shell, and curvature of the
reference surface.

- The symmetry condition
c
0 S S =

can be manipulated into the form

| |
0
c c
( ) 1 : 2 0
n
u e
S S E E D n J dn J dn
e
o
e

V +

= + A =
`
V
)
} }

L10/34

the term
c c c cc c c
2( ) E E E E E E E E

= + =



vanishes at least when the material
is isotropic as then
c c c c
2 ( ) 0 E E G I I

= =


. Then 0 o A =

and the constitutive

equation simplifies to

0
c
c
2
c
1
( ):
n
n
u e
D F
J dn D E DJ dn
nD M
n n
e
o
e
o
(
V +

= =
` ` ` (
V

)
) )

} }

Assuming a very thin shell so that

D I =

and 1 J = , homogeneous material, and that
the first moment of n vanishes, the shell expressions boil down to the same form as the
plate expression. Without simplifications the membrane and bending modes are
connected.

L10/35

CONSTI TUTI VE EQUATI ONS I N CYLI NDRI CAL GEOMETRY

If shell is assumed thin in the sense that only the leading term in t is retained

and the
origin of the naxis is placed at the midsurface, constitutive equations simplify to

,
, ,
2
,
,
,
( )
)
1
(1 )( ) / 2
(
z z n
z z n
zz
z z z
u
u u u
N
Et
N
N u u
u u
| |
| |
||
| | |
v k
vk
v
v k

+

=
` `

+
)
+
)

&
,
,
( )
z nz z
n
Q u
tG
Q u u
| | | |
e
e k
+

=
` `
+ +
) )
,
3
,
2
, ,
,
2
,
,
,
2
,
,
,
,
(1 )( ) / 2
12(1 )
(1 )( ) /
( )
2
z z
zz
z
z
z z
z z
n
z
z z z
z
z
u
M
M
t E
M
M
u u
u
u
| |
| |
||
| |
|
| | |
|
| | |
e
ke
v e k
k
k
k e
v
kve
v
e k k v e
e




+


=
` `
+

+ )

+
+
)
+

&
z
z
|
|
u e
e
u

=
` `

) )


The blue (quite important) terms are omitted in p.430 of J .N Reddy.
L10/36

- Derivation of the stress-strain relationship is a straightforward but somewhat tedious
task. If the Taylor series with respect to thickness are truncated after the second order
terms (third order terms are missing so that remainders
4
( ) t O )


2
, , ,
1
/ ( )
12
zz z z n z z
F E u u u t
| |
kv ke = +

2 2
, , , ,
1
/ ( ( )
12
)
z z n n
F E u u u t u u
|| | | | | | |
v k k k k e = + + + +

2
, , ,
1
/ ( )
12
z z z z
F Gt u u t
| | | |
k ke = +

2 2
, , , ,
1
/ ( ) (
1
)
2
z z z z z
F Gt u u t u
| | | | |
k k e k = + + +

,
/ ( ) / ( )
zn nz z n z
F Gt F Gt u e = = +

, , ,
/
zz z z z z
M D u
| |
e kve k = +

L10/37


2 2 3
, , , , ,
3
/ ( )
20
( )
z z n n
M D u u t u u
|| | | | | | | | |
ve ke k k k k e = + + + +


, , ,
/ ( )
z z z z
M G u
| | | |
e k e + =


2 2 2 2
, , , , ,
3
/ ( )
20
z z z z z z
M G u t u
| | | | | |
e k ke k k ke = + + + +


where
2
1
E
E t
v
=

&

3
2
12
1
t E
D
v
=

&

3
12
t
G G =

&
2(1 )
E
G
v
=
+


- Also the moment equilibrium
c
S S =


is satisfied by the constitutive equations for S

,
but the expressions are not needed in shell analysis. Expression above give zero strains
under (small) rigid body motion of shell.

L10/38

CONSTI TUTI VE EQUATI ONS I N SPHERI CAL GEOMETRY

If shell is assumed thin in the sense that only the leading term in t needs to be retained

and
the origin of the naxis is placed at the midsurface, constitutive equations simplify to

, ,
, ,
,
2
,
( cot csc ( )
( cot csc ( )
(1 )( cot csc ) / 2
)
)
1
n n
n n
u u u u u
u
N
t E
N
R
u u u u
u u
N
u
u | | u u
u | |
||
uu
|
u
u
u
| u | | u
u u v
v u u
v u u
v
+ +
+ +
+ +




=
` `

)
)

3
, ,
, ,
2
, ,
cot csc
( cot csc )
(1 )( cot c
12
1
sc ) / 2
M
t E
M
R
M
u | | u u
u | | u u
| u | u |
||
uu
|u
e u e u ve
v e u e u
v
e
v e e u e u

+



= +
` `

)

+
+
+
)

,
,
( csc )
( )
n
n
u u
Q
tG
Q
u u
|
u
| | |
u u u
e k u
e k
+ +



=
` `

)

+
)
+


&
| u
|
u
e u
u
e

=
` `

) )

&
1
csc
sin
u
u

L10/39

EXAMPLE L10/P2. Show that small rigid body motion does not introduce stress in the
constitutive equations of thin cylindrical shell. The displacement and rotation fields of
rigid body motion are given by

0 0
( , , ) ( ) u z n u r | = +O +

in which
0
u

and O

are
constant vectors so that their components are constant in a Cartesian coordinate system.
The components in the cylindrical z n | coordinate system are

T
0
( sin cos )
( cos sin ( cos sin ) )
cos sin ( sin cos )
x y
z z
y x z x y
n x y x y
R
e u
u e u u R z
e u u z
|
| |
| | | |
| | | |

O O



= + O O + O
` ` `

O O
)
) )

,

T
cos sin
y x z
n
z
e
e
e
|
| |
e
O O

= O =
` `
O
) )

. Answer: Stress vanishes.