Statically determinate vs indeterminate

Statically determinate structures Statically indeterminate structures

Equilibrium equations are sufficient to Requires additional information about the
determine reaction forces given applied the structure (deflection / compatibility) in
forces and geometry are known. addition to the equilibrium equations to solve.

10 N 0.1mm
Prescribed
displacement
F unknown F unknown

10 N 10 N
10 N/m 10 N/m

M and V M1 and V1 V2
unknown unknown unknown
10 N 10 N 10 N 10 N 10 N 10 N

V1 V2 V1 V2 V3 V4
unknown unknown unknown unknown unknown unknown
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Why We Need More Mathematics To
Describe Equilibrium At A Point
Trying to Use Forces

Consider a small patch of material

in a structure with the load

linear superposition or
states it is the same as

BUT the deformations should be different for ALL THREE cases

(take a piece of paper and apply the three load cases to see it for yourself)

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Required Mathematics To Describe
Equilibrium At A Point
Forces With a Twist Towards The Traction Vector

How can we distinguish between the three load cases

Connect the forces to the surface on / through which it acts:

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 New Math Leads to Traction Vector

Traction Vector: Forces Acting Through / On Surfaces

Discussion: Consider forces acting on surfaces with area A

f2 f3
f1

Surface Area A Surface Area A

Generalization of the three cases

Coordinate Force Vector + Surface = Traction Vector

System (outward normal)
y
f n t = f/A
Surface Area = A n
x
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Formalizing The Traction Vector
Coordinate Force Vector + Surface = Traction Vector
System (outward normal)
y
F n F
Surface Area = A n
x

Hence, two vectors are required to describe a traction vector

1. Force vector F
2. Surface normal n (normal always points outward) that defines the surface of area A

If the force is applied over a small surface area versus large surface area really matters in
Structures. Why?
Consider your hand as a surface do you prefer to drop a hammer directly onto your hand or
through a pushpin when dropped from the same height?
(Only meant as a thought experiment - do not try this at home)

The traction vector t on surface defined by outward normal n with area A is defined as:
t = F/A

What are the units of a traction vector? Pascal the same units as stress.

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Uni-axial Tension Bar
Consider same problem two different cuts to realise internal surfaces A1 and A2 and internal force
f that is used to compute t1 and t2

Does the direction between t1 and t2 change?

Does the magnitude between t1 and t2 change?

Colors: externally applied / internal force

Traction vector:
t1 = f/A1
Area: A1
Relationship between A2 and A1: A2 = A1/cos(θ)
Area: A2

θ Traction vector:
t2 = f/A2

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Traction Vector Expressed as
Stress Components
y Area: A

Traction vector:
f θ t (n)
t(n) = f/A

y
t(n) are expressed
θ σ τ
in the x-y C.S.
x A
x-y C.S.

σ and τ are t(n) expressed in the n and s

coordinate system
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Traction Vector Expressed as
Stress Components

INTERNAL FORCES INTERNAL TRACTIONS STRESS COMPONENTS

n1 n1
tn1x s1
f1x 1 1 σxx
1
f1y tn1y τxy
2 2 2
f 2
t n2
τyx
x x
s2
f2y t n2
n2
y
σyy n2
σ normal vector direction

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 Link Stress Matrix and Traction Vector
Force Equilibrium

STRESS COMPONENTS A1 = A cos(θ)

n1 A2 = A sin(θ)

s1 θ
Sum Forces Along x- direction:
σxx
1 A
τxy Sum Forces Along y- direction:
2
y τyx s2

x σyy n2
σ normal vector direction

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Symmetry Stress Matrix
Moment Equilibrium

f
d

STRESS COMPONENTS A1 = A cos(θ) Bar Unit Thickness d (out of paper)

n1 A2 = A sin(θ)

s1 θ
Sum of Moments Around :
σxx
1 A
τxy
2
y τyx s2

x σyy n2
σ normal vector direction

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Cauchy’s Stress Square
External Force to Internal Force

f f
n4 σyy σyy

s4 τyx τyx
n1 4
τxy
s1 θ τxy
tn -tn 3 σxx
σxx σxx
1 θ s3 σxx
τxy --n
2 τxy
- n3
τyx s2

σyy n2 τyx

σyy
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Cauchy’s Stress Square To Stress Matrix

f f
σyy n4
Stress Matrix
τyx s4
n1
4
s1 τxy

σxx σxx
1 3
τxy
s3
2 n3
y s2 τyx

x n2 σyy

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 Multiple Cauchy Stress Squares
External Force to Internal Force
Contributions
How f is applied How f is applied
we’ll consider we’ll consider
later later

f1 f1
f f2 f2 f
f3 f3
f = f1 + f2 + f3
1. Each Cauchy stress square has its own internal force
contribution.
2. Make Cauchy stress squares smaller and smaller (add many)
until we’re at a point (small differential squares).
3. Internal forces may change between squares.
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Cauchy’s Stress Square
Changing Internal Force Spatially (dx and dy)
Sum Forces x-direction:
σyy+ ∂σyy/∂y dy
τyx + ∂τyx/∂y dy

τxy + ∂τxy/∂x dx

σxx σxx + ∂σxx/∂x dx

dy

τxy
Sum Forces y-direction:
y τyx

x σyy

dx

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Cauchy’s Stress Square
Equilibrium 2D – Ignoring Any Z-direction
effects or equilibrium out of plane
σyy+ ∂σyy/∂y dy Stress Components are spatial functions
τyx + ∂τyx/∂y dy

τxy + ∂τxy/∂x dx

σxx σxx + ∂σxx/∂x dx

dy

τxy

Equilibrium when
no body forces are considered
y τyx

x σyy

dx

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Equilibrium 3D
Prescribed Textbook Figure 1.2
Stress Components are spatial functions

Equilibrium when
body forces are considered

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 Equilibrium 3D
Problem 1

Claimed equilibrium stress field

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Equilibrium 3D
Problem 2
No stresses out of the plane (out of page)
Claimed equilibrium stress field
(only non-zero components)

Cross sectional area moment of inertia

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Prescribed Tractions 3D
Problem 2

No stresses out of the Check whether tractions are

plane (out of page) Satisfied given stress field
Unit thickness with axis
in middle of front and
back surfaces

Top surface: y = -c
Left surface: x = -l
Top surface traction: w -> units N/m2
Bottom surface: y = c
Right surface: x = l Normals are outward
Left and right tractions: wl -> units N/m pointing normals of
Front surface: z = 0.5
Requires additional integral to compare unit length
Back surface: z = -0.5
Options: Integrate over z or y for comparison
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Undeformed vs deformed structure

Beam clamped
Force applied

Undeformed structure

Deformed structure

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Displacement Field Explained
Displacement Field – Function of x (1D), or x, y (2D)
Consider an undeformed structure or x, y and z (3D).

y
1D – Displacement Field has one component u(x) for
x
5

x-displacement (e.g. axial), or

w(x) for y-displacement (beam deflection)
10
with uniformly distributed applied load 2D – Displacement Field has two components
u(x) and v(x) for x and y displacement

3D – Displacement Field has three components

u(x), v(x) and w(x) for x, y and z displacement

which results in the deformed structure Displacement along x Displacement along y

thinner

longer
To express the deformed structure, we
require a displacement field

Displacement
Undeformed structure + = Deformed structure
Field
 Displacement Visualization
Displacement
Undeformed structure + = Deformed structure
Field
u(x,y)

Undeformed structure Undeformed structure

longer

v(x,y)

thinner
Undeformed structure Undeformed structure

u(x,y)

thinner
Undeformed structure Deformed structure
v(x,y)
longer
 Displacement Alternative Visualization
u(x,y)

thinner
Undeformed structure Deformed structure
v(x,y)
longer

Considering Only Discrete Points

Deformed structure
Undeformed structure
Structure defined for:
-5 <= x <= 5
Considering More Discrete Points
-2.5 <= y <= 2.5
Arrows are the displacement
field in vector form: Black Dots – Points Undeformed
[u(x,y), v(x,y)] Structure, each x, y coordinate
evaluated at x,y coordinates Red Dots – Points on Deformed
of the black dots Structure, black dot + displacement
vector
 Points Chosen on Undeformed Structure

Points on Deformed Structure =

Undeformed Points +
Displacement of Each Point
=0.5 u.l.

+
1 unit length

=
2 units length

Undeformed

Deformed

Displacement vector for each Point

 Uniaxial Strain 1D
Displacement field: u(x) Two Points on Surface 1,2

dx
Undeformed
1 2
x=L
x u(L) u(L)

dx +du
Deformed
1 2

Strain is the relative displacement –>

relative to original length
For this example what is u(x)? (dimensionless)
Consider coordinate system:
1. x = 0 -> u(0) = 0
2. x = L -> u(L) = u(L) = uL
3. This implies u(x) = (x/L)uL
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Strain 3D – Loads in All 3 Directions?
Displacement field: u(x,y,z), v(x,y,z), w(x,y,z)
Change in dx due to loads along y
Change in dx due to loads along x Change in dx due to loads along z

dx+∂u/∂xdx dx+∂u/∂ydy dx+∂u/∂zdz

1 2
1 2
+ + 1 2

Undeformed Undeformed Undeformed

Undeformed

Total Displacement: Sum of all three

1D Total Displacement displacement contributions of how u vary
dx+du

1 2
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Strain 3D
Displacement field: u(x,y,z), v(x,y,z), w(x,y,z)
dx dx + du

dy dy + dv

dz dz + dw

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Strain 3D Interpreting Terms
Figure 1.4 Prescribed Textbook
Displacement field: u(x,y,z), v(x,y,z), w(x,y,z)

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Packing using Algebra
Strain 3D
Displacement field: u(x,y,z), v(x,y,z), w(x,y,z)
dx dx + du
Displacement gradient

F contains rigid body rotations

We can decompose F into a symmetric
anti-symmetric part:
dy dy + dv

Strain matrix (tensor) is the symmetric

part

dz dz + dw
Spin matrix (tensor) is the anti-symmetric
part Ignore
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Strain 3D Voigt notation

Displacement field: u(x,y,z), v(x,y,z), w(x,y,z)

Strain matrix (tensor) is symmetric by construction

Compact – store only unique

values

Convenient when relating to

stress, which can also be
Expressed in Voigt Notation

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Stress - Strain Relations 3D
General Overview
Displacement field: u(x,y,z), v(x,y,z), w(x,y,z)

Relationship

Stress Tensor (3x3) related to Strain Tensor (3x3)

General Relationship: 3x3x3x3 Matrix -> 81 Independent Components (IC)
Stress tensor symmetry: 54 IC
Strain tensor symmetry: 36 IC
Existence hyperelastic materia (aeolotropic): 21 IC
Single plane of material symmetry: 13 IC
2/3 Perpendicular Symmetry Planes (Orthotropic): 9 IC
1 Plane of Isotropy: 5 IC
2/3/Infinite Planes of Isotropy: 2 IC
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Stress - Strain Relations 3D
Isotropic material
Displacement field: u(x,y,z), v(x,y,z), w(x,y,z)

Normal Strain and Stress

Superposition of uniaxial stress and strain
Relationship
Normal Strain in a direction = Strain due to stress in
direction + Poisson’s effect due to stresses in other
directions!

Poisson’s Effect

Shear strains are proportional to shear stress

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Stress - Strain Relations Planar 2D
Isotropic material
Loading, Boundary Conditions must be all along the direction of the plane. PLANE STRAIN
Much master to compute numerically – 2D problem instead of 3D problem

PLANE STRESS MIXED PLANE

No Stress on back and front surfaces of

plane but there are strains No Strains on back and front surfaces of
plane but there are stresses
THICKNESS

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 Plane Stress 2D (Thin Bodies)
Isotropic material
Loading, Boundary Conditions must be all along the direction of the plane.
Much master to compute numerically – 2D problem instead of 3D problem

PLANE STRESS

Loading in plane and thin

Shear components = 0:

Normal component = 0

See Eq. 1.18

Finally reduced 3x3 D matrix

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Plane Strain 2D (Thick Bodies)
Isotropic material
Loading, Boundary Conditions must be all along the direction of the plane.
Much master to compute numerically – 2D problem instead of 3D problem

PLANE STRAIN

Loading in plane and thick

Shear components = 0:

Normal component = 0

See Eq. 1.18

Finally reduced 3x3 D matrix
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Given problem statement with displacement
field, geometry and material – Check
Solution Procedure
Given: Strain Matrix Compute Voigt Notation
Compute

derive_by_array Matrix 2 Vector

Check equilibrium:

Check prescribed tractions (zero tractions on surfaces included): stress matrix at surface x normal

Check prescribed displacements: displacement field at prescribed surfaces

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

Stress Transformations (Recap Tractions P1)
Stress Matrix

Note:

σyy n4
τyx s4
A n4

n1
An3
s1 τxy

σxx σxx

τxy s3

An1 n3 Recover stress components

since our normals are
y s2 τyx An2

x n2 σyy

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

 Stress Transformations (Recap Tractions P1)
Stress Matrix

Note:

n4
s4
˜σ yy
˜τ yx A
n3

˜τ xy
n4 ˜σ xx
A

s3
n1 n3
s1

n2
˜σ xx A
˜τ xy Recover stress components
n1 ˜τ yx since our normals are
y A ˜σ yy
s2
x n2
Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com
 Principal Stresses
Consider the general stress matrix at a point

Eigenvalues of the stress matrix is the magnitude of the principal stress components.

Principal stresses only have a normal component i.e.

Eigenvectors of the stress matrix are the directions of principal tractions.

Since there are no shear components the eigenvectors are also in the same direction as the
surface normals that define the principal transformation.
Maximum shear, maximum tension and maximum compression can be easily calculated
Stress measures such as Von Mises

Copyright 2018 – Daniel N. Wilke – wilkedn@gmail.com

Stress Resultants
Normal forces

Shear forces

Bending moments

Torsion