Chapter 11 Energy Method

-- Utilize the Energy Method to solve

engineering mechanics problems.
-- Set aside the Equations of quilibrium

1.
Introduction
The relations between forces and deformation :
Stress -- Ch 1
Fundamental concept of

Strain Ch 2
Strain Energy Ch 11

We will learn:
1. Modulus of Toughness
2. Modulus of resilience
3. Castigliano Theorem

11.2 Strain
Energy
dU Pdx

(11.1)

x1

U Pdx
0

x1

Strain energy U Pdx

(11.2)

If the material response is elastic:

x1

1 2
kxdx kx1
2

P kx

1
U P1 x1
2

(11.3)

11.3 Strain-Energy
Density
x1 P dx
U

0 A L
V

1
U
x d x
0
V
1

Strain energy density u x d x

0

(11.4)

Modulus of Toughness = Toughness

= area under the - curve.

 x E x
u

E 12
E x d x
2

12
u
2E
Y2
uY
2E
Modulus of Resilience:

(11.5)

(11.6)

(11.7)

(11.8)

11.4 Elastic strain Energy for

Normal Stresses
U
u lim
V 0 V

dU
u
dV
1

u xd x
0

1 2 1
1 x2
u E x x x
2
2
2E

(11.9)

 x E x

1 2 1
1 x2
u E x x x
2
2
2E

x2
U dV
2E
P2
U
dV
2
2 EA

(11.9)

(11.11)

(11.12)

P2
U
dV
2
2 EA
U

P2
dx
2 AE

dV Adx
P2L
U
2 AE

(11.13)

11.5 Elastic Strain Energy for

Shearing
xy

u xy d xy

(11.18)

1 2 1
u G xy xy xy
2
2
Stresses
dU
u
dV

or

xy2
U dV
2G

2
xy

2G

U udV

(11.19)

(11.20)

(11.21)

Strain Energy in Torsion

xy2
T 2 2
U dV
dV
2
2G
2GJ

(11.19)

dV dAdx

T2
2
(

dA)dx
2
2GJ

T2
dx
2GJ

T 2L
U
2GJ

(11.21)

(11.22)

11.6 Strain Energy for a General

State
1 of Stress
u ( x x y y z z xy xy yz yz zx zx )
2

From Eq. (2.38)

X y z
x

E
E
E
X y z
y

E
E
E
X y z
z

E
E
E
xy
yz

xy
yz
zx zx
G
G
G
u

1
1 2
( x2 y2 z2 2 ( x y y z z x )]
( xy yz2 zx2 )
2E
2G

(2.38)

(11.26)

(11.25)

1
1 2
2
2
2
u
( x y z 2 ( x y y z z x )]
( xy yz2 zx2 )
2E
2G
(11.26)

If the principal stresses are used:

1
u
( a2 b2 c2 2 ( a b b c c a )]
2E
Where a, b, c = the principal stresses

(11.27)

u uv ud

(11.28)

Where uv = the part of energy leading to volume change

= hydrostatic stress
ud = deviatoric energy = the part of energy leading to
shape change.
Defining Mean Stress or Average Stress

a b c

(11.29)

And set:

'
a

where

= mean stress

'
b

'
i

+ + 0
'
b

'
c

(11.30)

= deviatoric stress

Combining Eqs. (11-29) and (11.30)

'
a

'
c

(11.31)

 a' + b' + c' 0

(11.31)

-- They only change the shape, but do not lead to

the change of the volume of the material.

The dilatation, V/V, caused by the state of stress can be

obtained, via Eq. (2.31)

X y z
2 ( X y z)
e

E
E
as

1 2 '
e
( a + b' + c' )
E

or

e=0

The uv can be obtained by substituting into Eq. (11.27)

to obtain

1
3(1 2 ) 2
2
2
uv
[3 2 (3 )]

2E
2E
By means of Eq. (11.29) we have

1 2
uv
( a + b + c )2
6E

(11.32)

The distortion or deviatoric energy can be obtained as

1
ud u uv
[3( a2 b2 c2 ) 6 ( a b b c c a )
6E
(1 2 )( a b c )2 ]
After simplification:
ud

1
[( a2 2 a b b2 ) ( b2 2 b c c2 ) ( c2 2 c a a2 )]
6E

Recalling Eq. (2.43)

E
1
2G

or

1 1

2G
E

(2.43)

Hence, the previous equation takes a new form

1
ud
[( a b )2 ( b c )2 ( c a )2 ]
12G
For 2-D cases, c 0

Eq. (11.33) reduces to

1
ud
( a2 a b b2 )
6G
For uniaxial tension, i.e. 1-D cases,

y2
( ud ) y
6G

(11.33)

b = 0 and a = y

(11.34)

Substituting this equation to the previous equation, it leads to

a2 a b b2 Y2

(7.26)

Expanding the same operation to a 3-D case, one can have

( a b )2 ( b c )2 ( c a )2 2 Y2

(11.35)

Replacing < by =, it follows

( a b ) 2 ( b c ) 2 ( c a ) 2 2 Y2
This is a circular cylinder of radius 2 / 3 y

(11.36)

The 2- D Yield Locus:

a b
2
a

2
b

2
Y

(7.26)

The 3- D Yield Locus:

( a b )2 ( b c )2 ( c a )2 2 Y2

(11.35)

11.7 Impact Loading

1 2
K. E. of the ball = K. E. = mvo
2
The strain energy in the bar:

m2
U m dV
2E

(11.37)

Assuming:
1. No heat dissipation
2. The ball sticks with the rod after impact.

1 2
U m K . E . mv0
2

(11.38)

If the stress is uniform within the rod:

m2
m2 V
U m dV
2E
2E
Therefore, m can be determined as:

2U m E
mv02 E
m

V
V

(11.39)

11.8 Design for Impact

Loads
Case A: For a Uniform-Diameter Rod:
m

2U m E
V

(11.45a)

Case B: For a Multiple-Section Rod:

L
L L
V 4 A A 5 A
2
2 2

8U m E
V

(11.45b)

Case C: For a Circular Cantilever Rod:

6U m E
L( I / c )2

(11.44)

1 4
I c
4

However,
Hence,

1 4 2 1 2
1
L( I / c ) L( c / c ) c L V
4
4
4
2

Eq. (11.44) can be reduced to

m

24U m E
V

(11.45c)

Since

E
V

We conclude that:
--- in order to develop lower m in the rod, the rod
should have

1. Lower E
2. Larger V
3. Uniform m

11.9 Work and Energy under a

Single Load
Case A: For an Uniaxial Load:
x1

Strain energy U Pdx

0

1
U P1 x1
2

(11.2)

(11.3)

Case B: For a Cantilever Beam:

1
U P1 y1
2
1 P1 L3
P12 L3
U P1 (
)
2 3 EI
6 EI

(11.46)

Case C: For a Beam in Bending:

1
Md M11
2

1
M1 L M12 L
U M1 (
)
2
EI
2 EI

(11.47)

(11.48)

Case D: For a Beam in Torsion:

1
Td T11
2

1 T1 L T12 L
U T1 ( )
2 JG
2 JG

(11.49)

11.10 Deflection under a Single Load by the

Case A: For an Uniaxial Load:

1 Method 2U
Work-Energy
U P1 x1 x1
2

(11.3)

P1

where x1 = deflection due to P1

Case B: For a Beam in Bending:

1
U M11
2

2U
1
M1

(11.47)

where 1 = deflection due to single moment M1

11.11 Work and Energy under

Several Loads
Deflection due to P1:

x11 11 P1

x21 21 P1

(11.54)

Deflection due to P2:

x12 12 P2

x22 22 P2

(11.54)

ij = influence coefficients
The combining effect of P1 and P2

x1 x11 x12 11 P1 12 P2
x2 x21 x22 21 P1 22 P2

(11.54)
(11.54)

Calculating the Work Done by P1 and P2:

Case I: Assuming P1 is applied first --At Point 1, the work done by P1 is

1
1
1
P1 x11 P1 (11 P1 ) 11 P12
2
2
2

(11.58)

At Point 2, the work done by P1 is zero.

P2 is applied next --At Point 2, the work done by P2 is

1
1
1
P2 x22 P2 ( 22 P2 ) 22 P22
2
2
2

(11.59)

At Point 1, the work done by P1 due to additional defection

[caused by P2] is

P1 x12 P1 (12 P2 ) 12 P1 P2

(11.60)

(11.58) + (11.59) + (11.60), the total strain

energy is

1
U (11 P12 212 P2 P1 22 P22 )
2

(11.61)

Case II: Assuming P2 is applied first --1

U ( 22 P22 212 P2 P1 11 P12 )
2
(11.62)

Equating Eqs. (11.61) and (11.62) leads

to

12 12
-- Maxwell Reciprocal Theorem

11.12 Castiglianos
Theorem
1
U (11 P12 212 P2 P1 22 P22 )
2
U
11 P1 12 P2 x1
P1
U
12 P1 22 P2 x2
P2

(11.61)

(11.63)

(11.64)

Or, in general

U
xj
Pj
(11.65)

U
j
M j
(11.66)

[ Castiglianos Theorem ]

General Formulation for

Castiglianos
Theorem
For multiple loading, P , P , ., P
1

the deflection of the point of application of Pi can be expressed as

x j jk Pk

(11.66)

The total strain energy of the structure is

1
U ik Pi Pk
2i k

(11.67)

Differentiating U w.r.to Pj
U 1
1
jk Pk ji Pi
Pj 2 k
2 i

Since ij = ji, the above equation becomes

U 1
1
jk Pk ji Pi jk Pk
k
Pj 2 k
2 i

(11.65)

xj

U
Pj

-- for concentrated loads

U
M j

-- for moment loads

U
j
T j

-- for torsion

11.13 Deflections by
Castiglianos
Total strain energy ofTheorem
a beam
subjected to bending
2
L M
U
dx (11.17)
0 2 EI
Deflection at point Pj
L M M
U
xj

dx
0 EI P
Pj
j

But, the differentiation

can be applied prior to
integration.

(11.70)

Total strain energy of a truss member

Fi 2 Li
U
i 1 2 Ai E
n

(11.71)

Deflection at point Pj

U n Fi Li Fi
xj

Pj i 1 Ai E Pj

(11.72)

If no load is applied to a point, where we desire to obtain a

deflection:
-- Apply a dummy (fictitious) load Q at that point, determine

U
xj
Q j
Then, set Q = 0.

[ Castiglianos
Theoem ]

(11.76)

11.14 Statically Indeterminate

Structures
Structure indeterminate to the 1 degree:
st

Procedures:
1. Assume one support as redundant
2. Replace it with an unknown force
3. y = U/RA = 0 solving for RA
L M M
U
yA

dx
0
R A
EI RA

1
M RA x wx 2
2

M
x
RA

1 L
1 3
2
yA
( RA x wx )dx

0
EI
2
1 RA L3 wL4

)0
EI 3
8

3
3
RA wL RA wL
8
8
5
RB wL
8

1 2
M B wL [
8