Transformation of Elastic constants

(Derivation)
Transformation of Coordinates
General rotation (Eulerian angles)
Transformation of Displacement
Transformation of Strain

Transformation of Stress
Transformation due to rotation axis
Transformation of elastic constants

Transformation of Coordinates
Consider two right handed coordinates systems (X, Y, Z) & (X, Y, Z) rotated arbitrarily wrt
each other.
We can easily link coordinates of any vector S in two frames by simple
definition of vector:

S=Sx x + Sy y+ Sz z

where x, y, z and x, y, z are unit vector

S=Sx x + Sy y+ Sz z

along (X, Y, Z) and (X, Y, Z) respectively.

Sx= x.S = (x.x)Sx + (x.y)Sy +(x.z) Sz

Sy= y.S = (y.x)Sx + (y.y)Sy +(y.z) Sz
Sz= z.S = (z.x)Sx + (z.y)Sy +(z.z) Sz
In matrix form:
Sx

Sy
Sz

x.x

x.y

x.z

Sx

y.x

y.y

y.z

Sy

z.x

z.y

z.z

Sz
2

x.x

x.y

x.z
Cos(x,x) Cos(x,y) Cos(x,z)

Rotation matrix T=

y.x y.y
z.x

z.y

y.z
z.z

Cos(y,x) Cos(y,y) Cos(y,z)

Cos(z,x) Cos(z,y) Cos(z,z)

where cos(x,x) is cosine of between

x & x.

General rotation (Eulerian angles)

Three angles (A,B,C) are required in specifying the mutual orientation of two sets of orthogonal axes.

This can be pictured as three consecutive rotation operations.

1st rotation: a counterclockwise rotation of A about Z
cosA

T1 =

sinA

-sinA cosA

2nd rotation: a counterclockwise rotation of B about X

1

T2 = 0
0

cosB

SinB

-sinB CosB

3rd rotation: a counterclockwise rotation of C about Z

cosA sinC

T3=

-sinC cosC 0
0

1
4

The general rotation is the product of the three individual rotations:

ie Tnet=T3T2T1

Tnet=

l1

m1 n1

l2

m1 n 1

l3

m1 n 1

= T (say)

eq. 1

Where l1 = cosA cosC - cosB sinA sinC

m1 = cosC sinA + cosB cosA sinC
n1 = sinB cosC
l2 = -sinC cosA - cosB sinA cosC
m2 = -sinC sinA - cosB cosA cosC

n2 = cosC sinB
l3 = sinB sinA
m3= -sinB cosA
n3= cosB
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The rotational matrix is orthogonal i.e.

TT = T-1
Sx

If

Sx

Sy = T Sy
Sz
Sx

Then S =
y
Sz

Sz

TT

Sx
Sy
Sz

Transformation of Displacement
Consider that u1 , u2 , u3 are displacement components with respect to the coordinate system x1 , x2 , x3 and u1 , u2 ,
u3 are those corresponding to the x1 , x2 , x3 system. As displacements are also vectors, similar to coordinates, we
can write
u1

u1

u2 = T u 2
u3

eq2

u3

Transformation of Strain
We have to relate strain components
corresponding to the x1' , x2' , x2' coordinates to strain components
corresponding to the x1 , x2 , x3 coordinate system.
We have
To obtain 6*6 rotation matrix we have to write each one of the six components of
components of

in terms of every six

(Using chain rule of differentiation)

.....eq 3.a

where

obtained by partial differentiation of our rotation matrix (eq1)

Similarly
. eq 3.b
and
.eq 3.c

We can write u1 = l1u1 + m1u2 + n1u3

.from eq 2
..differentiating above eq. wrt x1

substituting Eqs(3.a,3.b,3.c) in above eq., we obtain

or
Thus the coefficients of strain in above eqn. constitutes 1st row of our 6*6 rotation matrix.

Proceeding in a similar way, it can be shown that

(Te=strain transformation matrix)
where

Te =

T11 T12
T12 T22

eq 4
9

With

Errata: 1st and 2nd terms of 2nd column of [T21] should be 2m2m3 & 2m3m1 respectively.

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Transformation of Stress
For stress transformation we relate stress components
components
in the x1' x2' x3' coordinates.

in the x1 x2 x3 coordinates to stress

We know that work done by stresses due to virtual displacements does not change when computed in two
coordinate systems.

So equating the work computed in two coordinate systems

We have
i.e.
where Ts=stress transformation matrix
..eq 5

and d= volume of body

Thus we have

i.e. Ts is inverse transpose of Te

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Transformation due to rotation axis

Consider the case of a simple in-plane rotation A about the x3(z) axis.
Rotation matrix is reduced to
cosA

T=
Lets say

sinA

-sinA cosA

m=cosA
n=sinA

Then stress and strain transformation matrices take the following forms:

.from eq1 &eq4

Similarly we can find stress and strain transformation matrices along any arbitrary axis about any angle.
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Transformation of Elastic Constants

The stress-strain relations are expressed as :
in the x1 x1 x3 coordinates
and

in the x1' x2' x3' coordinates

Here we have to find [C] in terms of [C].

From eq. 5 we have

and also
stiffness matrix is transformed by

C = [Te] C [Te]T

Proceeding in similar way

compliance matrix is transformed by

S = [Ts] S [Ts]T
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-Priyanshu Jain
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