SOLID MECHANICS 1

1. INDEX NOTATION & MATHEMATICAL PRELIMINARIES

1.1 Kronecker Delta 𝛿"#

𝛿"# = 0 𝑖 ≠ 𝑗
𝛿"" = 1 (𝑛𝑜 𝑠𝑢𝑚)
Consequences
𝛿"# = 𝛿#" (𝑠𝑦𝑚𝑚𝑒𝑡𝑟𝑖𝑐)
𝛿"" = 3 𝛿"# 𝛿"# = 𝛿"" = 3
𝛿"# 𝑣# = 𝑣" 𝛿"# 𝑣" = 𝑣#
𝛿"# 𝑣#9 = 𝑣"9 𝛿"# 𝑣"# = 𝑣"" = 𝑣##
𝛿"# 𝑐"#9 = 𝑐""9 = 𝑎9 (contraction)

1.2 Alternator Symbol 𝜀"#9

1, 𝑖𝑓 𝑖, 𝑗, 𝑘 𝑎𝑟𝑒 𝑎𝑛 𝑒𝑣𝑒𝑛 𝑝𝑒𝑟𝑚𝑢𝑡𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 (1,2,3)
𝜀"#9 = −1, 𝑖𝑓 𝑖, 𝑗, 𝑘 𝑎𝑟𝑒 𝑎𝑛 𝑜𝑑𝑑 𝑝𝑒𝑟𝑚𝑢𝑡𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 (1,2,3)
0, 𝑖𝑓 𝑡𝑤𝑜 𝑠𝑢𝑏𝑠𝑐𝑟𝑖𝑝𝑡𝑠 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒

e.g
𝜀FGH = 𝜀GHF = 𝜀HFG = 1
𝜀GFH = −1
𝜀GFG = 𝜀GGH = 0

1.3 Representation of Determinants

𝑣G 𝑣H
𝜀F#9 𝑣# 𝑤9 = 𝑤 𝑤H = det [𝑣# 𝑤9 ]
G

𝑢F 𝑢G 𝑢H
𝜀"#9 𝑢" 𝑣# 𝑤9 = 𝑣F 𝑣G 𝑣H = det [𝑢" 𝑣# 𝑤9 ]
𝑤F 𝑤G 𝑤H
𝑎FF 𝑎FG 𝑎FH
det[𝑎"# ] = 𝑎"# = 𝑎GF 𝑎GG 𝑎GH = 𝜀"#9 𝑎F" 𝑎G# 𝑎H9 = 𝜀"#9 𝑎"F 𝑎#G 𝑎9H
𝑎HF 𝑎HG 𝑎HH

𝛿"N 𝛿"O 𝛿"P

𝜀"#9 𝜀NOP = 𝛿#N 𝛿#O 𝛿#P , (1.8)
𝛿9N 𝛿9O 𝛿9P

1
det 𝑎"# = 𝜀"#9 𝜀NOP 𝑎"N 𝑎#O 𝑎9P , (1.11)
6

(1.11) is found as follows: Set i=p in (1.8), then j=q, then r=k. This results in 𝜀NOP 𝜀NOP = 6. Multiply
(1.6) by 𝜀NOP and use the result (𝜀"#9 𝜀"#9 = 6) to show that (1.11) is true.
1.4 Connection with Vector Algebra

Consider the frame (of reference),

𝑋 = {0, 𝒆𝟏 , 𝒆𝟐 , 𝒆𝟑 }

Then, if 𝒖 is a vector
𝒖 = 𝑢" 𝒆𝒊
𝑢" 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑐𝑎𝑙𝑎𝑟 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑒𝑛𝑡𝑠 𝑜𝑓 𝒖 𝑖𝑛 𝑋

Scalar (Dot) Product

𝒖 ∙ 𝒗 = 𝑢" 𝑣"
Vector (Cross) Product
𝒆𝟏 𝒆𝟐 𝒆𝟑
𝒘 = 𝒖 × 𝒗 = 𝑢F 𝑢G 𝑢H = 𝜀"#9 𝒆𝒊 𝑢# 𝑣9
𝑣F 𝑣G 𝑣H
and
𝒂 ∙ 𝒃 × 𝒄 = 𝜀"#9 𝑎" 𝑏# 𝑐9

1.5 Transformation of Vector Components (Under a Change of Frame)

Consider the two frames

𝑋 = 0, 𝒆𝟏 , 𝒆𝟐 , 𝒆𝟑 𝑎𝑛𝑑 𝑋 e = {0, 𝒆e𝟏 , 𝒆e𝟐 , 𝒆e𝟑 }
then
𝒆𝒊 ∙ 𝒆𝒋 = 𝛿"#
𝒆𝒑 ′ ∙ 𝒆𝒒 ′ = 𝛿NO
and
𝒆e𝒊 ∙ 𝒆𝒋 = 𝑎"# = cos (𝒆e𝒊 , 𝒆𝒋 )
𝑤ℎ𝑒𝑟𝑒 𝑎"# 𝑖𝑠 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 𝑚𝑎𝑡𝑟𝑖𝑥

Properties of Transformation Matrix

𝑎N" 𝑎O" = 𝛿NO
𝑎N" 𝑎N# = 𝛿"#

det 𝑎"# = ±1
det 𝑎"# = 1, 𝑖𝑓 𝑋 𝑎𝑛𝑑 𝑋 e 𝑎𝑟𝑒 𝑏𝑜𝑡ℎ 𝑟𝑖𝑔ℎ𝑡 ℎ𝑎𝑛𝑑𝑒𝑑 𝑓𝑟𝑎𝑚𝑒𝑠

Transformation of a vector
𝑣" 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑐𝑎𝑙𝑎𝑟 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡𝑠 𝑜𝑓 𝒗 𝑖𝑛 𝑋
𝑣Ne 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑐𝑎𝑙𝑎𝑟 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡𝑠 𝑜𝑓 𝒗 𝑖𝑛 𝑋 e

then, 𝑣" = 𝑎N" 𝑣Ne

1.6 Cartesian Tensors

Definition: A Cartesian Tensor of order 𝑁 (𝑁 is an integer) is an ordered set of 3q real

numbers
𝑣"#...9 𝑤ℎ𝑒𝑟𝑒 𝑡ℎ𝑒𝑟𝑒 𝑎𝑟𝑒 𝑁 𝑠𝑢𝑏𝑠𝑐𝑟𝑖𝑝𝑡𝑠

called the components of 𝒗 in the frame of reference 𝑋 such that for all transformations
(𝑨 = 𝑎"# ) taking 𝑋 into 𝑋 e
e
𝑣"#...9 = 𝑎"N 𝑎#O … 𝑎9P 𝑣NO…P
or
e
𝑣"#…9 = 𝑎N" 𝑎O# … 𝑎P9 𝑣NO…P

If 𝑁 = 0, we write 𝑣 in place of 𝒗 (scalar), not affected by transformation (invariant)

If 𝑁 = 1, 𝒗 is a vector
𝑣"e = 𝑎"N 𝑣N
If 𝑁 = 2, 𝑣"# is a second order tensor
e
𝑣NO = 𝑎N" 𝑎O# 𝑣"#
or in matrix form
𝑽 = 𝑣"# , 𝑽e = 𝑣NOe

then
𝑽e = 𝑨𝑽𝑨𝑻

Tensor Properties
Symmetry: A tensor 𝒗 of order 𝑁 ≥ 2 is symmetric (skew-symmetric) w.r.t. a pair of
indicies if its components remain unchanged (change in sign) under an interchange
of the two indicies
i.e. 𝑣"# = 𝑣#" 𝑠𝑦𝑚𝑚𝑒𝑡𝑟𝑖𝑐
𝑣"# = −𝑣#" 𝑠𝑘𝑒𝑤 − 𝑠𝑦𝑚𝑚𝑒𝑡𝑟𝑖𝑐

An Isotropic Tensor is independent of the frame of reference, 𝑋

e
i.e. 𝑣"# = 𝑣"#
e.g. 𝛿"# is an Isotropic Tensor
1.7 Tensor Mathematics

Fundamental Scalar Invariants of a Two-Tensor

𝐼F 𝒗 = 𝑣"" = 𝑣FF + 𝑣GG + 𝑣HH = 𝑡𝑟(𝒗)

1 𝑣FF 𝑣FG 𝑣GG 𝑣GH 𝑣FF 𝑣FH

𝐼G 𝒗 = 𝑣"" 𝑣## − 𝑣"# 𝑣"# = 𝑣 𝑣GG + 𝑣HG 𝑣HH + 𝑣HF 𝑣HH
2 GF

1
𝐼H 𝒗 = det 𝒗 = 𝜀"#9 𝜀NOP 𝑣"N 𝑣#O 𝑣9P
6

Inverse of a Two-Tensor
1
𝑣"# = 𝑖𝑛𝑣 𝑢"# = 𝜀 𝜀 𝑢 𝑢
2 det 𝒖 "NO #Py PN yO

Tensor Fields and Differentiation

𝜕 { 𝑣NO…P
= 𝑣NO…P,"#…|
𝜕𝑥" 𝜕𝑥# … 𝜕𝑥|

1.8 Miscellaneous Formulas and Relations

Quadratic Formula
For,
𝑎𝑥 G + 𝑏𝑥 + 𝑐 = 0

−𝑏 ± 𝑏 G − 4𝑎𝑐
𝑥=
2𝑎
Common Transformation Matricies
2-D Rotation:
cos 𝜃 − sin 𝜃
𝐴=
sin 𝜃 cos 𝜃

To Cartesian from Cylindrical:

cos 𝜃 −𝑟𝑠𝑖𝑛 𝜃 0
𝐴 = sin 𝜃 𝑟𝑐𝑜𝑠 𝜃 0
0 0 1
To Cylindrical from Cartesian:
cos 𝜃 𝑠𝑖𝑛 𝜃 0
𝐴 = −sin 𝜃 𝑐𝑜𝑠 𝜃 0
0 0 1
2. ANALYSIS OF STRESS
2.1 Tractions and Stress Components
The traction vector 𝑻𝒏 represents the intensity of the resultant force Δ𝑭 on Δ𝐴| and is
defined as follows.
Δ𝑭 𝑑𝑭
𝑻𝒏 = lim =
‡ˆ‰ →‹ Δ𝐴| 𝑑𝐴|
Note:
𝑑𝑭 = 𝑻𝒏 𝑑𝐴|

𝑭= 𝑻𝒏 𝑑𝐴|
𝑨𝒏
where the superscript 𝑛 indicates that the traction vector is related to surface
orientation

Consider a rectangle parallelepiped referred to 𝑥F , 𝑥G , 𝑥H subjected to traction 𝑻𝒊 acting on

each face 𝒆𝒊

𝑻𝒊 = 𝜎"# 𝒆𝒋

Now consider an arbitrary plane, with unit normal 𝒏

𝑛" = 𝒏 ∙ 𝒆𝒊
𝑇"| 𝒆𝒊 = 𝑻𝒊 𝑛"
𝑇"| 𝒆𝒊 = 𝜎"# 𝑛" 𝒆𝒋

Cauchy’s Formula:
𝑇"| = 𝜎#" 𝑛# = 𝜎"# 𝑛#

𝜎"# is a second order tensor

thus, 𝜎"#e = 𝑎"9 𝑎#Ž 𝜎9Ž
2.2 Equilibrium (Cartesian Coordinates)
The equations of equilibrium are derived from the principles of linear and angular
momentum. Linear momentum establishes the equilibrium equations, while angular
momentum proves the symmetry of the Cauchy Stress Tensor.

𝑓" + 𝜎"#,# = 0
(Cartesian Coordinate System)

where 𝑓" are the components of the body force vector

2.3 Normal and Tangential Stress Components

Normal Stress Component:

𝜎|| = 𝜎"# 𝑛" 𝑛#
Tangential Stress Component:
𝜎|y = 𝜎"# 𝑠" 𝑛#
where 𝑠" is the tangential unit vector

2.4 Principal Stresses

The solution to the following Eigen-Value problem results in the principal stresses (Eigen
values) and principal directions (Eigen vectors)

𝜎"# − 𝜎𝛿"# 𝑛# = 0

non-trivial solution if
𝜎"# − 𝜎𝛿"# = 0
or
𝜎 H − 𝐼F 𝜎 G + 𝐼G 𝜎 − 𝐼H = 0

where 𝐼F , 𝐼G , 𝑎𝑛𝑑 𝐼H are the stress invariants

𝐼F 𝜎 = 𝜎"" = 𝜎FF + 𝜎GG + 𝜎HH

𝜎FF 𝜎FG 𝜎GG 𝜎GH 𝜎FF 𝜎FH
𝐼G 𝜎 = 𝜎 𝜎GG + 𝜎HG 𝜎HH + 𝜎HF 𝜎HH
GF

𝐼H 𝜎 = det 𝜎

Principal directions are found by using the following additional relation

G G G
𝑛F9 + 𝑛G9 + 𝑛H9 =1

where 𝑘 = 1,2,3 corresponding the principal stress in question.

Note: for 𝜎F = 𝜎G = 𝜎H , 𝜎|y = 0 (for any plane)

2.5 Stress States

Octahedral Stresses
Consider eight planes that make the same angle with the principal stress direction
where,
𝑥F∗ > 0
1
𝑛F∗ = 𝑛G∗ = 𝑛H∗ =
3
Octahedral Normal Stress
‘’“
1 1
𝜎|| = 𝜎F + 𝜎G + 𝜎H = 𝜎""
3 3
(𝑎𝑛 𝑎𝑣𝑒𝑟𝑎𝑔𝑒 𝑜𝑓 𝑛𝑜𝑟𝑚𝑎𝑙 𝑠𝑡𝑟𝑒𝑠𝑠𝑒𝑠)

Octahedral Shear Stress

‘’“
1 G G G F/G
𝜎|y = 𝜎 − 𝜎G + 𝜎G − 𝜎H + 𝜎H − 𝜎F
3 F

Maximum Shear Stress

Recall that 𝜎F > 𝜎G > 𝜎H
•–—
1
𝜎|y = 𝜏•–— = 𝜎 − 𝜎H
2 F
Normal stress at maximum shear orientation
1
𝜎|| ™‰š
›œ• = 𝜎 + 𝜎H
2 F
Associated with the following directions (The plane that bisects maximum and
minimum principal stresses, 𝜎F and 𝜎H )
1 1
𝒏∗ = ± , 0, ∓
2 2
Deviator Stress
How does the stress deviate from the average?

𝑆"# represents the deviation of a stress state from the mean stress 𝜎
1 1
𝜎 = 𝜎99 = 𝐼F
3 3
Thus,
1
𝑆"# = 𝜎"# − 𝜎99 𝛿"#
3
and
𝑆99 = 0
Principal Stress Deviators
𝑆"# − 𝜎 (F) 𝛿"# = 0

H
𝜎 (F) − 𝐽G 𝜎 F − 𝐽H = 0
𝐽G = 3𝜎 G − 𝐼G
𝐽H = 𝐼H − 𝐼G 𝜎 + 2 𝜎 H
so,
1
𝐽G = 𝑆"# 𝑆"#
2
1
𝐽H = 𝑆"# 𝑆#9 𝑆9"
3
Projections Theorem
𝟏 𝟐
Consider two tractions 𝑻𝒏 and 𝑻𝒏 at point P.
¡ ¢
𝑇"| 𝑛" G = 𝑇"| 𝑛" F
Linear Stress State
𝟏 𝟐
If 𝒏(𝟏) and 𝒏(𝟐) are non-parallel planes, and 𝑻𝒏 = 𝑻𝒏 = 0, then two principal stresses
are zero
e.g. 𝜎G" = 𝜎H" = 0, ∀𝑖
𝜎FF ≠ 0
Pure Shear
If for any coordinate system 𝜎FF = 𝜎GG = 𝜎HH = 0 and 𝜎"# ≠ 0, then the state of stress if
one of pure shear

Note: 𝜎"" = 0 𝑛𝑜 𝑠𝑢𝑚 for any coordinate system under pure shear

Hydrostatic Stress
If 𝜎F = 𝜎G = 𝜎H = 𝑃, then this is a hydrostatic state of stress

Note: 𝜎"# = 0 𝑖 ≠ 𝑗 on any plane

2.6 Stress and Equilibrium in Cylindrical Coordinates

Radial Equilibrium
𝜕𝜎PP 1 𝜕𝜎P¥ 𝜕𝜎¦P 𝜎PP − 𝜎¥¥
+ + + +ℝ=0
𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧 𝑟

Hoop Equilibrium
𝜕𝜎P¥ 1 𝜕𝜎¥¥ 𝜕𝜎¥¦ 2𝜎¥P
+ + + +Θ=0
𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧 𝑟
Axial Equilibrium
𝜕𝜎¦P 1 𝜕𝜎¦¥ 𝜕𝜎¦¦ 𝜎¦P
+ + + +ℤ=0
𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧 𝑟
3. ANALYSIS OF STRAIN
3.1 Stress-Displacement Relationship
1
𝜀"# = [𝑢",# + 𝑢#," ]
2

𝜀"# : 𝐶𝑎𝑢𝑐ℎ𝑦 𝑆𝑡𝑟𝑎𝑖𝑛 𝑇𝑒𝑛𝑠𝑜𝑟

𝑢" : 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑉𝑒𝑐𝑡𝑜𝑟
In Explicit:
𝜕𝑢F 𝜕𝑢G 𝜕𝑢H
𝜀FF = , 𝜀GG = , 𝜀HH =
𝜕𝑥F 𝜕𝑥G 𝜕𝑥H
1 𝜕𝑢F 𝜕𝑢G
𝜀FG = 𝜀GF = +
2 𝜕𝑥G 𝜕𝑥F
1 𝜕𝑢F 𝜕𝑢H
𝜀FH = 𝜀HF = +
2 𝜕𝑥H 𝜕𝑥F
1 𝜕𝑢G 𝜕𝑢H
𝜀GH = 𝜀HG = +
2 𝜕𝑥H 𝜕𝑥G
3.2 Engineering Strain
𝛾"# = 2𝜀"# , (𝑖 ≠ 𝑗)
𝛾"# : 𝐸𝑛𝑔𝑖𝑛𝑒𝑒𝑟𝑖𝑛𝑔 𝑆𝑡𝑟𝑎𝑖𝑛
𝑁𝑜𝑡𝑒: 𝛾"# 𝑑𝑜𝑒𝑠 𝑛𝑜𝑡 𝑏𝑒ℎ𝑎𝑣𝑒 𝑙𝑖𝑘𝑒 𝑎 𝑠𝑒𝑐𝑜𝑛𝑑 𝑜𝑟𝑑𝑒𝑟 𝑡𝑒𝑛𝑠𝑜𝑟

3.3 Compatibility of Strain Components

The solution to the strain-displacement equations must be unique; in other

words, it must yield single valued displacements.

General Equations of Compatibility:

𝜀"#,9Ž + 𝜀9Ž,"# − 𝜀"9,#Ž − 𝜀#Ž,"9 = 0

This yields 81 equations, only 6 of which are useful…

𝜀FF,GG + 𝜀GG,FF = 2𝜀FG,FG

𝜀GG,HH + 𝜀HH,GG = 2𝜀GH,GH
𝜀HH,FF + 𝜀FF,HH = 2𝜀HF,HF

𝜀FG,FH + 𝜀FH,FG − 𝜀GH,FF = 𝜀FF,GH

𝜀GH,GF + 𝜀GF,GH − 𝜀HF,GG = 𝜀GG,HF
𝜀HF,HG + 𝜀HG,HF − 𝜀FG,HH = 𝜀HH,FG
3.4 Strain in Cylindrical Coordinates]

Strain-Displacement (Cylindrical)
(𝑢, 𝑣, 𝑤): 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑠 𝑖𝑛 (𝑟, 𝜃, 𝑧) 𝑟𝑒𝑠𝑝𝑒𝑐𝑡𝑖𝑣𝑒𝑙𝑦
𝜕𝑢 𝑢 1 𝜕𝑣 𝜕𝑤
𝜀P = , 𝜀¥ = + , 𝜀¦ =
𝜕𝑟 𝑟 𝑟 𝜕𝜃 𝜕𝑧
1 𝜕𝑣 𝑣 1 𝜕𝑢
𝜀P¥ = − +
2 𝜕𝑟 𝑟 𝑟 𝜕𝜃

1 𝜕𝑢 𝜕𝑤
𝜀P¦ = +
2 𝜕𝑧 𝜕𝑟

1 𝜕𝑣 1 𝜕𝑤
𝜀¥¦ = +
2 𝜕𝑧 𝑟 𝜕𝜃

Compatibility (Cylindrical)
4. MATERIAL BEHAVIOR
4.1 Linearly-Elastic Stress Strain Behavior

Introduction
In regards to the stress strain response, elastic materials have the same
loading and unloading path (lack of hysteresis).

Constitutive Stress-Strain Relation

𝜎"# = 𝐶"#9Ž 𝜀9Ž
…with no residual strain
𝐶"#9Ž : 𝑆𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑇𝑒𝑛𝑠𝑜𝑟 (𝐹𝑢𝑙𝑙 𝐴𝑛𝑖𝑠𝑜𝑡𝑟𝑜𝑝𝑦)

The stiffness may be simplified using Elastic Symmetry, Directional

Independence, and Rotational Independence, down to an
Isotropic Linearly-Elastic material.

Constitutive Relations for an Isotropic Linearly-Elastic Material

𝜎"# = 2𝜇𝜀"# + 𝜆𝜀99 𝛿"#
1 𝜆
𝜀"# = 𝜎"# − 𝜎 𝛿
2𝜇 2𝜇(3𝜆 + 2𝜇) 99 "#

𝜆, 𝜇: 𝐿𝑎𝑚𝑒 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡𝑠

or
𝐸 𝜈
𝜎"# = 𝜀"# + 𝜀 𝛿
1+𝜈 1 − 2𝜈 99 "#
1+𝜈 𝜈
𝜀"# = 𝜎"# − 𝜎99 𝛿"#
𝐸 𝐸

𝐸: 𝑌𝑜𝑢𝑛𝑔e 𝑠 𝑀𝑜𝑢𝑑𝑢𝑙𝑢𝑠
𝜈: 𝑃𝑜𝑖𝑠𝑠𝑜𝑛e 𝑠 𝑅𝑎𝑡𝑖𝑜

where,
𝐸𝜈 𝐸
𝜆= , 𝜇=
1 + 𝜈 1 − 2𝜈 2(1 + 𝜈)

Expanded
1
𝜀FF = 𝜎 − 𝜈 𝜎GG + 𝜎HH
𝐸 FF
1
𝜀GG = 𝜎GG − 𝜈 𝜎FF + 𝜎HH
𝐸
1
𝜀HH = 𝜎HH − 𝜈 𝜎FF + 𝜎GG
𝐸
1+𝜈 1+𝜈 1+𝜈
𝜀FG = 𝜎FG , 𝜀FH = 𝜎FH , 𝜀G = 𝜎GH
𝐸 𝐸 𝐸
4.2 Thermal Strains
Linearly-Elastic Isotropic

𝜎"# = 2𝜇𝜀"# + 𝜆𝜀99 𝛿"# − 𝛼 𝑇 − 𝑇‘ 𝛿"#

1+𝜈 𝜈
𝜀"# = 𝜎"# − 𝜎99 𝛿"# + 𝛼 𝑇 − 𝑇‘ 𝛿"#
𝐸 𝐸
4.3 Strain Energy Density
Linearly-Elastic Anisotropic
1
𝑊 = 𝜎"# 𝜀"#
2
Linearly-Elastic Isotropic
𝜈
𝑊 = 𝜇 𝜀"# 𝜀"# + 𝜀 𝜀
1 − 2𝜈 "# "#
4.4 Complimentary Strain Energy Density
Linearly-Elastic Anisotropic
1
𝑊 = 𝑊 ∗ = 𝜎"# 𝜀"#
2
Linearly-Elastic Isotropic
1+𝜈 𝜈
𝑊∗ = 𝜎9Ž 𝜎9Ž − 𝜎 𝜎
2𝐸 2𝐸 99 ŽŽ
4.5 Navier Equations
Objective: Develop equilibrium equations in terms of displacements

𝜇𝑢",## + 𝜆 + 𝜇 𝑢#,"# + 𝑓" = 𝜌𝑢"

or
𝜇∇G 𝒖 + 𝜆 + 𝜇 ∇∇ ∙ 𝐮 + 𝒇 = 𝜌𝒖

4.6 Beltrami-Michel Equations

Objective: Create compatibility equations in terms of stresses
1 𝜈
∇G 𝜎"# + Θ,"# = − 𝛿 𝑓 − 𝑓",# + 𝑓#,"
1+𝜈 1 − 𝜈 "# 9,9

where, Θ = σÃÃ
Special Cases
𝑓" = 𝑐" = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

∇G Θ = 0
and
∇Ä σÅÆ = 0
5. BOUNDARY VALUE PROBLEMS OF LINEAR ELASTICITY
5.1 Field Equations

Equilibrium
𝑓" + 𝜎"#,# = 0
Strain Displacement
1
𝜀"# = [𝑢",# + 𝑢#," ]
2
Compatibility
𝜀"#,9Ž + 𝜀9Ž,"# − 𝜀"9,#Ž − 𝜀#Ž,"9 = 0
Stress-Strain (no thermal)
𝜎"# = 2𝜇𝜀"# + 𝜆𝜀99 𝛿"#
1 𝜆
𝜀"# = 𝜎"# − 𝜎 𝛿
2𝜇 2𝜇(3𝜆 + 2𝜇) 99 "#

or
𝐸 𝜈
𝜎"# = 𝜀"# + 𝜀 𝛿
1+𝜈 1 − 2𝜈 99 "#
1+𝜈 𝜈
𝜀"# = 𝜎"# − 𝜎99 𝛿"#
𝐸 𝐸
Alternatives

Navier: Displacement Formulation of Equilibrium

𝜇𝑢",## + 𝜆 + 𝜇 𝑢#,"# + 𝑓" = 0

Note: If 𝑢" are obtained from this equation, and are

continuous differentiable, then compatibility is
identically satisfied

Beltrami-Michel: Stress formulation of Compatibility

1 𝜈
∇G 𝜎"# + Θ,"# = − 𝛿 𝑓 − 𝑓",# + 𝑓#,"
1+𝜈 1 − 𝜈 "# 9,9

Note: This equation satisfies equilibrium and

provides compatible strains
5.2 Boundary Conditions

Description of prescribed displacement and/or tractions on the boundary 𝑆 = 𝑆Ç + 𝑆™

𝑆Ç : Portion of the boundary with

prescribed dispalcements

𝑆™ : Portion of the boundary with

prescribed tractions

Three types of Boundary Value Problems

a) Prescribed Displacements 𝑈"

𝑆Ç = 𝑆 𝑎𝑛𝑑 𝑢" = 𝑈" 𝑜𝑛 𝑆

b) Prescribed Tractions 𝑇"|

𝑆™ = 𝑆 𝑎𝑛𝑑 𝜎"# 𝑛# = 𝑇"|

c) Mixed Conditions
𝑢" = 𝑈" 𝑜𝑛 𝑆Ç
𝜎"# 𝑛# = 𝑇"| 𝑜𝑛 𝑆™

5.3 Material Boundaries

Note: Field equations in both materials are the same, EXCEPT for the stress-strain
behavior

Continuity Conditions:
§ Tractions acting on the boundary surfaces are and opposite equal
on both materials (i.e. corresponding stress components are EQUAL)

e.g. 𝜎FFF = 𝜎FFG , 𝜎FGF = 𝜎FGG , 𝜎FHF = 𝜎FHG

§ Displacements at the boundaries (𝑢" ) are EQUAL

𝑢FF = 𝑢FG , 𝑢GF = 𝑢GG , 𝑢HF = 𝑢HG

5.4 Symmetry
On a Plane of Symmetry
§ The normal displacement component is zero
§ Shear stress components are zero
5.5 Principle of Virtual Work
Definitions:
Statically Admissible Stress Field 𝜎"#e , is one which satisfies
e
equilibrium and whose traction vector, 𝑇"| = 𝜎"#e 𝑛# , takes on
prescribed value on 𝑆™

Kinematically Admissible Displacement Field 𝑢"ee , is one which

is three times differentiable and assumes prescribed values on 𝑆Ç

PVW:
§ Consider a body in equilibrium under a set of surface tractions and body forces
𝑇"| , 𝑓"
§ Suppose that the body is then subjected to a set of virtual displacements, 𝛿𝑢"
§ The external virtual work, due to the virtual displacements, 𝛿𝑊É

𝛿𝑊É = 𝑇"| 𝛿𝑢" 𝑑𝐴 + 𝑓" 𝛿𝑢" 𝑑∀

Ê ∀

§ The internal virtual work, due to the internal virtual strains, 𝛿𝑊Ë

𝛿𝑊Ë = 𝜎"# 𝛿𝜀"# 𝑑∀

∀
§ It may be shown that
𝛿𝑊É = 𝛿𝑊Ë

𝑇"| 𝛿𝑢" 𝑑𝑆 + 𝑓" 𝛿𝑢" 𝑑∀ = 𝜎"# 𝛿𝜀"# 𝑑∀

Ê ∀ ∀
§ Thus if,
e
𝑇"| 𝑢"ee 𝑑𝑆 + 𝑓" 𝑢"ee 𝑑∀ = 𝜎"#e 𝜀"#
ee
𝑑∀
Ê ∀ ∀
§ Holds for all kinematically admissible displacement fields, then 𝜎"# ′ are necessarily
statically admissible (i.e. in equilibrium)

Notes:
§ The principle of virtual work may be used to establish equilibrium equations for the
system (i.e. if for any system 𝛿𝑊É = 𝛿𝑊Ë , then it is in equilibrium)
§ Have not required, up to this point, that the material be linearly-elastic
§ If 𝜎"#e and 𝑢"ee are the actual 𝜎"# and 𝑢" fields in a linearly elastic body, then
𝜎"# 𝜀"# = 2𝑊 = 2𝑊 ∗
and

𝑇"| 𝑢" 𝑑𝑆 + 𝑓" 𝑢" 𝑑∀ = 2 𝑊𝑑∀ = 2𝑈

Ê ∀ ∀

𝑈: 𝑆𝑡𝑟𝑎𝑖𝑛 𝐸𝑛𝑒𝑟𝑔𝑦
𝑊: 𝑆𝑡𝑟𝑎𝑖𝑛 𝐸𝑛𝑒𝑟𝑔𝑦 𝐷𝑒𝑛𝑠𝑖𝑡𝑦
5.6 Uniqueness
The field equations in 5.1 give rise to unique solutions (Proof in notes)

5.7 Inverse Method for Linearly Elastic Boundary Value Problems

In General:
§ Good for simple geometry and boundary conditions

§ Select stress/strain/displacement fields that satisfy the governing

equations, and see what boundary conditions are satisfied (not all
boundary conditions will be satisfied)

§ Formulate the corresponding Boundary Value Problem

Problem Solving Procedure

1. Specify all of the boundary conditions (even those which may not
hold, i.e. too strong)
2. Specify relevant symmetry conditions (these usually help determine
unknown functions in displacement functions).
3. Set solution constraints (e.g. no shear stresses/strains, no variation
in a coordinate direction). These are usually based on geometry and
boundary conditions
4. The Guess! Integrate field equations (e.g. Equilibrium or Strain-
Displacement) to find solution. Invoke boundary conditions,
symmetry conditions, and solution constraints when necessary.
3. MISCELLANEOUS

3.1 Integrals

3.2 Trigonometry

3.3 Calculus
𝜕G𝑓 𝜕G𝑓 𝜕G𝑓
∇G 𝑓 = ∆𝑓 = + +
𝜕𝑥 G 𝜕𝑦 G 𝜕𝑧 G