1

Stress at a Point Stress at a Point

Lecture 3 Lecture 3
Engineering 473 Engineering 473
Machine Design Machine Design
Purpose Purpose
The stress state at critical locations in a machine
component is required to evaluate whether the
component will satisfy strength design
requirements.
The purpose of this class is to review the concepts
and equations used to evaluate the state of stress at
a point.
2D Cartesian Stress 2D Cartesian Stress
Components Components
xx
!
xx
!
yy
!
yy
!
xy
"
xy
"
yx
"
yx
"
xy
"
X
Y
i

Face
Direction
Notation Notation
! Normal Stress
" Shear Stress
Moment equilibrium requires that
yx xy
" " =
Tensor Sign Convention Tensor Sign Convention
xx
!
xx
!
yy
!
xy
"
xy
"
yx
"
yx
"
Stresses acting in a positive
coordinate direction on a positive
face are positive.
Shear stresses acting in the
negative coordinate direction on a
negative face are positive.
X
i

Y
P
o
s
i
t
i
v
e
F
a
c
e
Positive
Face
Negative
Face
N
e
g
a
t
i
v
e
F
a
c
e
This sign convention must be
used to satisfy the differential
equilibrium equations and
tensor transformation
relationships.
2D Mohrs Circle 2D Mohrs Circle
Sign Convention Sign Convention
xx
!
xx
!
yy
!
xy
"
xy
"
yx
"
yx
"
Y
X
i

The sign convention used

with the 2D Mohrs circle
equations is slightly
different.
A positive shear stress is
one that tends to create
clockwise (CW) rotation.
2D Mohrs Circle 2D Mohrs Circle
(Transformation of Axis) (Transformation of Axis)
xx
!
yy
!
xy
"
yx
"
!
"
#
#
x
y
All equations for a 2-D
Mohrs Circle are
derived from this figure.
dx
dy
ds
F in the x- and y-
directions yields the
transformation-of-axis
equations
( ) ( )
( ) ( ) 2# cos " 2# sin
2
! !
"
2# sin " 2# cos
2
! !
2
! !
!
xy
yy xx
xy
yy xx yy xx
+

=
+

+
+
=
2
2D Mohrs Circle 2D Mohrs Circle
(Principal Stress Equations) (Principal Stress Equations)
2
xy
2
yy xx
2 1
2
xy
2
yy xx yy xx
2 1
"
2
! !
" , "
"
2
! !
2
! !
! , !
+

=
+

+
=
The transformation-of-axis equations can be used to
find planes for which the normal and shear stress are
the largest.
We will use these equations extensively during this class.
2D Mohrs Circle 2D Mohrs Circle
(Graphical Representation) (Graphical Representation)
Shigley, Fig. 3.3
Note that the shear
stress acting on the
plane associated with
a principal stress is
always zero.
2
xy
2
yy xx
2 1
2
xy
2
yy xx yy xx
2 1
"
2
! !
" , "
"
2
! !
2
! !
! , !
+

=
+

+
=
Comments on Shear Stress Comments on Shear Stress
Sign Convention Sign Convention
xx
!
xx
!
yy
!
xy
"
xy
"
yx
"
yx
"
xx
!
xx
!
yy
!
xy
"
xy
"
yx
"
yx
"
Tensor Tensor
2D Mohrs 2D Mohrs
Circle Circle
2
xy
2
yy xx
2 1
2
xy
2
yy xx yy xx
2 1
"
2
! !
" , "
"
2
! !
2
! !
! , !
+

=
+

+
=
The sign convention is
important when the
transformation-of-axis
equations are used.
The same answer is obtained
when computing the principal
stress components.
3D Stress Components 3D Stress Components
x
y
z
i
j

xx
!
zz
!
yy
!
xy
"
xz
"
yx
"
zx
"
zy
"
Note that the tensor
sign convention is
used.
There are nine
components of stress.
Moment equilibrium
can be used to reduce
the number of stress
components to six.
zy yz
zx xz
yx xy
" "
" "
" "
=
=
=
Cauchy Cauchy Stress Tensor Stress Tensor

zz zy zx
yz yy yx
xz xy xx
! " "
" ! "
" " !
!
is known as the Cauchy stress
tensor. Its Cartesian components
are shown written in matrix form.
Tensors are quantities that are
invariant to a coordinate
transformation.
A vector is an example of a first
order tensor. It can be written with
respect to many different
coordinate systems.
jn ij mi mn
$ ! $ ! =
Tensor Transformation Tensor Transformation
Equation Equation
Tensor Transformation Tensor Transformation
Equation Equation
!
Cauchy Formula
F in the x,y,and z directions
yields the Cauchy Stress
Formula.

(
(
(

z
y
x
zz zy zx
yz yy yx
xz xy xx
T
T
T
n
m
l
! " "
" ! "
" " !
This equation is similar to the
Mohrs circle transformation-
of-axis equation
x
z
y
A
B
C
xx
!
xy
"
xz
"
zz
!
zy
"
zx
"
yy
!
yx
"
yz
"
k

n j

m i

l n + + =
P
T
H
n
x
z
y
A
B
C P
T
H
n n
!
u
"
v
"
3
3D Principal Stresses 3D Principal Stresses

'
=

'
(
(
(

z
y
x
zz zy zx
yz yy yx
xz xy xx
T
T
T
n
m
l
! " "
" ! "
" " ! The shear stress on planes
normal to the principal
stress directions are zero.

'

'

n
m
l
!
n
m
l
! " "
" ! "
" " !
zz zy zx
yz yy yx
xz xy xx
( )
( )
( )

)

(
(
(

0
0
0
n
m
l
! ! " "
" ! ! "
" " ! !
zz zy zx
yz yy yx
xz xy xx
We need to find the plane in
which the stress is in the
direction of the outward unit
normal.
This is a
homogeneous
linear equation.
3D Principal Stresses 3D Principal Stresses
( (Eigenvalue Eigenvalue Problem) Problem)
( )
( )
( )

)

'

'

'

'

(
(
(

0
0
0
n
m
l
! ! " "
" ! ! "
" " ! !
zz zy zx
yz yy yx
xz xy xx
A homogeneous linear
equation has a solution
only if the determinant of
the coefficient matrix is
equal to zero.
( )
( )
( )
0
! ! " "
" ! ! "
" " ! !
zz zy zx
yz yy yx
xz xy xx
=

This is an eigenvalue
problem.
3D Principal Stresses 3D Principal Stresses
(Characteristic Equation) (Characteristic Equation)
( )
( )
( )
0
! ! " "
" ! ! "
" " ! !
zz zy zx
yz yy yx
xz xy xx
=

The determinant can be

expanded to yield the
equation
0 I ! I ! I !
3 2
2
1
3
= +
2
xy zz
2
zx yy
2
yz xx zx yz xy zz yy xx 3
2
zx
2
yz
2
xy xx zz zz yy yy xx 2
zz yy xx 1
" ! " ! " ! " " 2" ! ! ! I
" " " ! ! ! ! ! ! I
! ! ! I
+ =
+ + =
+ + =
I
1
, I
2
, and I
3
are known as
the first, second, and third
invariants of the Cauchy
stress tensor.
3D Principal Stresses 3D Principal Stresses
0 I ! I ! I !
3 2
2
1
3
= +
There are three roots to the
characteristic equation,
1
,

2
, and
3
.
Each root is one of the
principal stresses.
The direction cosines can be
found by substituting the
principal stresses into the
homogeneous equation and
solving.
The direction cosines
define the principal
directions or planes.
Characteristic Equation Characteristic Equation
3D Mohrs Circles 3D Mohrs Circles

1
2

1,2

1,3

2,3
Note that the principal
stresses have been ordered
such that .
Maximum shear stresses Maximum shear stresses
2
! !
"
2
! !
"
2
! !
"
3 1
1,3
3 2
2,3
2 1
1,2

=
3 2 1
! ! !
Octahedral Stresses Octahedral Stresses
( ) ( )
( )
( ) ( ) ( ) [ ]
( ) ( ) ( )
( )
2
1
2
xz
2
yz
2
xy
2
xx zz
2
zz yy
2
yy xx
2
1
2
1 3
2
3 2
2
2 1
2
1
2
1,3
2
2,3
2
oct
zz yy xx 3 2 1 1 oct
" " " 6
! ! ! ! ! !
3
1
! ! ! ! ! !
3
1
" " "
3
2
"
! ! !
3
1
! ! !
3
1
I
3
1
!
1,2

+ + +
+ +
=
+ + =
+ + =
+ + = + + = =
Note that there eight corner planes in a cube.
Hence the name octahedral stress.
4
Assignment Assignment
Derive the Cauchy stress formula. Hint: A
x
=A l, A
y
=A m, A
z
=A n
Verify the that the terms in the 3D characteristic equation used to compute
the principal stresses are correct.
Draw a Mohrs circle diagram properly labeled, find the principal normal and
maximum shear stresses, and determine the angle from from the x axis to
1
.

xx
=12 ksi,
yy
=6 ksi,
xy
=4 ksi cw.
Use the Mohrs circle formulas to compute the principal stresses and compare
to those found using the Mohrs circle graph.
Write the stress components given above as a Cauchy stress matrix. Use
MATLAB to compute the principal stresses. Compare the answers to those
found using Mohrs circle. Note that tensor notation is required.
Read chapter 4 Covers Mohrs Circle in detail.