CE6780: Advanced Structural Mechanics

Module 1: Theory of Elasticity and Inelasticity

Arun Menon
Department of Civil Engineering, IIT Madras
E-mail: arunmenon@iitm.ac.in; Phone: (044) 2257 4299

Theory of Elasticity and Inelasticity

ANALYSIS OF STRESS & STRAIN

Analysis of Stress and Strain

Definition of Stress at a Point
Planecutingeneralloadedbody
P3

P1

R2

P2

P4

R1

P5

R3
3

Analysis of Stress and Strain

Definition of Stress at a Point
Forcetransmittedthroughincremental area and
components:normalandshearforce

FN
F

A
S
FS
DA

FN FS F
,
,
Averagestresses: DA DA DA
lim F

Stressvectordefinedatapoint:
DA 0 DA
Normalstress
lim FN
N
vector:
DA 0 DA

Shearstress lim Fs
s
DA 0 DA
vector:

Analysis of Stress and Strain

Surface Forces and Body Forces
Traction:Distributedforceactingoveracutsectionor
lateralsurfaceofthebody
BodyForce:Distributedforceactingthroughthevolume
ofthebody

By
y
Bx

A
DA

Bz
P
R
x

z
R
P
4

Analysis of Stress and Strain

Negative faces

Stress Components at a Point

InfinitesimalvolumearoundPointP

yy
xx
Positive faces

yz
yx

xy
x

zy
xx

xz
zz
zx

xx
y

Direction of stress

Direction of normal of the plane

on which the stress acts

x
z

yy

xx xy xz Negative faces

Stress Tensor T yx yy yz
zx zy zz

Analysis of Stress and Strain

Negative faces

Stress Components at a Point

InfinitesimalvolumearoundPointP

yy
xx
Positive faces

yz
yx

xy
x

zy
xx

xz
zz
zx
xx xy
Symmetrical

T yx yy
Stress Tensor

x
z

zx

zy

yy
xz xx xy xz

yz xy yy yz
zz zx yz zz

NOTE: Only 6 components are required to describe the state of stress, if the
only forces that act on the free body are surface forces and body forces , as
in the volume element with uniform stress components (in case of body
couples or surface couples, all 9 components are required for the
unsymmetrical state of stress).
7

Analysis of Stress and Strain

Negative faces

Stress Components at a Point

InfinitesimalvolumearoundPointP

yy
xx
Positive faces

yz
yx

xy
x

zy
xx

xz
zz
zx
xx xy
Symmetrical

T yx yy
Stress Tensor

zx

zy

yy
xz xx xy xz

yz xy yy yz
zz zx yz zz

Equality of cross shears can be established by taking moment equilibrium

about the (x, y, z) axes: xy yx yz zy xz zx
x
z

Refertosolutiontotutorialno.1
8

Analysis of Stress and Strain

Stress Notations
Frequentlyusedsymmetricstressnotations

xx
yy
zz
xy=yx
yz=zy
xz=zx
x
y
z
txy=tyx
tyz=tzy
txz=tzx
Xx
Xy
Xz
Xy=Yx
Yz=Zy
Xz=Zx
11
22
33
12=21
23=32
13=31

Indicial or index
notations

Analysis of Stress and Strain

Stress Acting on an Arbitrary Plane
Stressvectorsx,yandzonplanesperpendiculartox,
y,zaxes: i j k
x
xx
xy
xz

y yx i yy j yz k
i, j and k are unit vectors relative
z zxi zy j zzk

to (x, y, z) axes.

xy j

xx i
j
xz k

10

Analysis of Stress and Strain

Stress Acting on an Arbitrary Plane
y

-x

StressvectorPactingonanarbitraryobliqueplane
throughpoint0.
Unit normal vector to the plane P is:
N li mj nk
x

Where (l, m, n) are direction cosines of N.

-z
Vectorial summation of forces action on
tetrahedral element yields:
N

P l x m y n z

Px, Py, Pz are the projections of the stress

A
P
vector P along the (x, y, z) axes:

P Px i Py j Pz k

Therefore, Px l xx m yx n zx
Py l xy m yy n zy

Cauchys stress
-y

formula:

Tetrahedral element 0ABC

Pz l xz m yz n zz

Stress components on any oblique plane defined by unit

normal N: (l, m, n) can be calculated if 6 stress
components at 0 are known.
11

Analysis of Stress and Strain

Stress Acting on an Arbitrary Plane
y

NormalandShearStressonanObliquePlane:
Normal stress PN on the plane is the

projection of vector P in the direction of N:

x

PN P N
-z

PN l 2 xx m 2 yy n 2 zz lm xy yx
N

mn yz zy nl xz zx
A

PN l 2 xx m 2 yy n 2 zz 2lm xy
P
2mn yz 2nl xz

The magnitude of the shear stress on the

plane P: PS

2
2
2
2
2
PS P2 - PN
Px
Py
Py
- PN

-x
-y

Tetrahedral element 0ABC

z
12

Analysis of Stress and Strain

Transformation of Stress/Rotation of Axes
Stresscomponentsrelativetonewreferenceaxes:
Two rectangular coordinate systems with

common origin, 0: (x, y, z) and (X, Y, Z).

z
Plane perpendicular
tXZ
Cosines of the angles between the
to X-axis
coordinate axes (x, y, z) and (X, Y, Z):
Z

X
Cosineoftheangle
x
y
z

betweenxandX
X
X
l1
m1
n1
k

0
Y
l2
m2
n2
tXY i
j

y
Z
l3
m3
n3

The normal stress component on a plane

perpendicular to X axis, X
x

Stress components on plane perpendicular

to transformed axes X-axes

X l12 x m12 y n12 z 2l1m1t xy 2m1n1t yz

2n1l1t xz
13

Analysis of Stress and Strain

Transformation of Stress/Rotation of Axes
Stresscomponentsrelativetonewreferenceaxes:

Similarly, Y, Z
z
Plane perpendicular
tXZ
Y l22 x m22 y n22 z 2l2 m2t xy 2m2 n2t yz
to X-axis
Z
2n2l2t xz

X
Z l32 x m32 y n32 z 2l3m3t xy 2m3n3t yz

X
2n3l3t xz
k

0
tXY i
Shearing stress component tXY is the
j

y component in the Y-direction of the stress

vector on a plane perpendicular to the X

axis.
Therefore, the scalar product of the vector
X with a unit vector parallel to Y-axis:

N 2 l2i m2 j n2k
Stress components on plane perpendicular
(Note: X is similar to P in slide: 11)
to transformed axes X-axes

14

Analysis of Stress and Strain

Transformation of Stress/Rotation of Axes
Stresscomponentsrelativetonewreferenceaxes:
Shearing stress component tXY :

t XY X N 2 Y N1
z
Plane perpendicular
tXZ
to X-axis
l1l2 x m1m2 y n1n2 z l1m2 m1l2 t xy
Z

m1n2 n1m2 t yz n1l2 l1n2 t xz

X

Shearing stress component tXZ and tXZ are

X
obtained with scalar products with
k

0
respective unit normal:
tXY i
j

y t XZ X N 3 Z N1
l1l3 x m1m3 y n1n3 z l1m3 m1l3 t xy

m1n3 n1m3 t yz n1l3 l1n3 t xz

x

Stress components on plane perpendicular

to transformed axes X-axes

t YZ Y N 3 Z N 2
l2l3 x m2 m3 y n2 n3 z l2 m3 m2l3 t xy
m2 n3 n2 m3 t yz n2l3 l2 n3 t xz
15

Analysis of Stress and Strain

Transformation of Stress/Rotation of Axes
To define using matrix notation:

X t XY

t
XY Y
t ZX t YZ

t XZ l1 m1 n1 x t xy t xz l1 l2 l3

t YZ l2 m2 n2 t xy y t yz m1 m2 m3
Z l3 m3 n3 t zx t yz z n1 n2 n3

16

Analysis of Stress and Strain

Principal Stresses and Directions
Criticalquestions:
Arethereanyplanespassingthroughthepointonwhichthe
resultantstressesarewhollynormal?i.e.Shearstressesvanish
Whatistheplaneonwhichthenormalstressesreacha
maximum?i.e.PrincipalstressesandPrincipalplanes
Whatistheplaneonwhichtheshearstressesreachamaximum?

17

Analysis of Stress and Strain

Principal Stresses and Directions
AssumeaplanewithunitnormalNwithdirection
cosines(l,m,n)onwhichthestressPiswhollynormal:
N li mj nk
P N
TheprojectionsofPalong(x,y,z)axesare:
Px l Py m Pz n
Normalandshearstressesonanyplanewithunitnormal
NcanbedefinedwithCauchys Stress Formula
Px l x mt yx nt zx
Py lt xy m y nt zy
Pz lt xz mt yz n z
18

Analysis of Stress and Strain

Principal Stresses and Directions
Subtracting
l x - mt yx nt zx 0
lt xy m y - nt zy 0
lt xz mt yz n z - 0
Thesearelinearhomogeneousequationsin(l,m,n)
Thetrivialsolutionl=m=n=0isnotpossible:
l 2 m2 n2 1
Thereforethedeterminantofthecoefficientsofl,m,n
shouldvanish:
x -
t xy
t xz l 0
x - t xy
t xz

t xy
t zx

t yz

m 0
z - n 0

t yz

t xy
t zx

t yz

t yz

z -
19

Analysis of Stress and Strain

Principal Stresses and Directions
Expanding
3 - x y z 2 x y y z z x - t xy2 - t yz2 - t zx2
- x y z 2t xyt yzt zx - xt yz2 - yt zx2 - zt xy2 0
The3rootsofthecubicequationatpoint0are:1,2,3
Thedirectioncosinesofthe3principalaxesareobtained
fromthefollowingrelation,bysettinginturnequalto
1,2,3andconsideringl 2 m2 n2 1
l xx - m yx n zx 0
l xy m yy - n zy 0

l xz m yz n zz - 0

20

Analysis of Stress and Strain

Stress Invariants
Examiningthedeterminant:
3 - x y z 2 x y y z z x - t xy2 - t yz2 - t zx2
- x y z 2t xyt yzt zx - xt yz2 - yt zx2 - zt xy2 0
IntroducingtermsI1,I2andI3:Invariantsofstress
3 - I1 2 I 2 - I 3 0
I1 x y z
I2

x t xy y t yz z t xz

t xy x t yz z t xz z

x y y z z x - t xy2 - t yz2 - t zx2

x t xy t xz
I 3 t xy y t yz
t zx t yz z
x y z 2t xyt yzt zx - xt yz2 - yt zx2 - zt xy2

21

Analysis of Stress and Strain

Stress Invariants
Themagnitudesanddirectionsof1,2,3foragiven
memberdependonlyontheloadsappliedandnoton
thechoiceofcoordinateaxesusedtospecifythestate
ofstressatpoint0.
ThereforeI1,I2andI3areInvariantsofstressandmust
havethesamemagnitudeforallcoordinateaxes.
Aninvariantisonewhosevaluedoesnotchangewhen
theframeofreferenceischanged.
(l,m,n)isEigenvectorofthestressmatrix
Principlestresses1,2,3aretheEigenvalues.

22