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Review of Basic Elasticity Equations

Stresses and Cauchy's Stress Formula

6 Stresses:  ij  9 terms, but  ij   ji for most analyses

plane direction

x3
33
x3

32
31 23
13 22
22
12 21
x2 21 23 x2
11

x1
x1 Tractions on back face

Slice cube to obtain tetrahedron

x3

C (o, o, c)

0 (o, b, o)
x2
B
(a, o, o)
A
x1

Boundary Tractions: Ti   ji n j (Cauchy’s Stress Formula)

Components of outward normal
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Details of derivation of Cauchy’s formula

x
3

C (o
,o,c)   ndS
F0
2 1
21

22nd
2 S

 32n3dS
11
T2dS

12
 T2 i2ni
21
 In
 general, T ijni
j
13 (o,b
,o)

22
x

31 2

23 B

32

(a,o
,o)
A

33
x
1

The derivation is based on equilibrium in x1 , x 2 , x 3 directions.

Cauchy’s formula assures us that the nine components of stresses  ij are necessary and
sufficient to define the traction across any surface element in a body. Hence the stress state in a
body is characterized completely by the set of quantities  ij . Since Ti is a vector and Equation
(3.4-2) is valid for an arbitrary vector n j , it follows that  ij is a tensor. Henceforth  ij will be
called a stress tensor. p. 72 Y.C. Fung

Details
 ij
plane direction of traction
Define Ai = area of face of tetrahedron which has outward normal in xi direction.

Forces on 3 of the 4 forces of tetrahedron

Net force =   ij Ai  net force in direction j
We can prove that Ai  Ani
 sum of force in 3 faces   ij ni A

Force on 4th face

 Tj A
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Sum of forces = 0
   ij ni A  T j A  0
 T j   ij ni

x3
C o,o,c

O o,b,o
x2
B

a, o, o
A
x1

FACE AREA
� �
A1 =0 BC 1
2 0 B �0C = 12 bjˆ �ckˆ = 12 bc
� �
A2 =0 AC 1
2 0C �0 A = = 12 ac
� �
A3 =0 AB 1
2 0 A�0 B = = 12 ab

( ( ac) )
� � 1

( aiˆ +ckˆ =12 +( ab ) +( bc )

2 2 2
AB �AC =12 ( - aiˆ +bjˆ) �-
2
A = ABC 1
2

� �
v AB �AC bciˆ +acjˆ +abkˆ
Unit Normal to ABC =n = =
( )
1
� �
( ac ) 2 +( ab) 2 +( bc ) 2
2
AB �AC

 Note that Ai  ni A
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Example: Bar Under Uniaxial Stress

B
x2 b
h T1

x1
A

  ij  0 except for  11
  11  T1

What is the traction on the plane AB? (see sketch below)

B 
 AB 

n n
AB
d
 k  cos i  sin  j  k i
A 
n   cos j  sin  i
Ti   ji n j

Matrix form T  nT

L

M
0O
N0 0P
11
 sin   cos
Q
L
sin   O
M
N0 P
11

Q
 What is net force in x1 direction?

If bar had been subjected to pure shear  12 , then tractions on the plane AB would be

T  sin   cos
L
M
0  12 O
P
N
 12 0 Q

L
M
 cos  12 O
P
Nsin  12 Q
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Derivation of Equilibrium Equations:  ji , j  f i  0

fi

Ti
x

fi = force/unit volume

F  0 z z f i dV  Ti dS  0

z z
f i dV   ji n j dS  0

z z
f i dV 
 ji
x j
dV  0

zLM
M
O
P
N P
Q
 ji
x j
 f i dV  0

Since boundary of region is arbitrary

 ji
  fi  0
x j
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Strains and Compatibility

Fu I
u j
Tensor Strains (linear):  ij  1
2 G
Hx
i
j

x J
K
i

Engineering Strains: Same as tensor except 2  for shear strains

(we will usually use engineering shear)

Linear Shear Strain

Tensor shear strain = 1/2 x change in angle between two initially perpendicular lines
Engineering shear strain = change in angle between two initially perpendicular lines

2D Example

y
u

2
y

v
1
x
x

v
tan 1 
x
u
tan  2 
y

For small , tan   

v u
change in angle  1   2  
x y
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Compatibility Equations

 Why needed?
3 displacement functions
6 strain functions
But strains are derivable from displacement
 cannot have 6 independent strain functions
 need 3 constraint equations.

[There are 6 compatibility equations but only 3 independent  can choose any 3]

These are one possible choice.

 2  yz  2  yy  2  zz
  0
yz z 2 y 2

 2  xz  2  xx  2  zz
  0
xz z 2 x 2

 2  xy  2  yy  2  xx
  0
xy x 2 y 2

 Not needed if formulated in terms of displacements

 We will probably not need
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Engineering Properties

Define the following by describing a suitable experiment

 Young’s modulus (extensional modulus)
 Shear modulus
 Poisson’s ratio
 Thermal expansion coefficients

Note: The meaning is not clear for other than isotropic materials and orthotropic materials in the
material coordinate system. … more later

There are many other properties, but these will be our primary focus.
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General Linear Constitutive Relations

 Relate stress and strain tensors

 In the absence of thermal and moisture effects,

 ij   kl i , j , k , l  1, 3
;
Cijkl

81 terms = 34

Symmetry of strain tensor:  kl   lk

(see definition of strain)

Cijkl  kl  Cijkl  lk
but k and l are dummy indices � can switch order
Cijkl  kl  Cijlk  kl � Cijkl  Cijlk
14 2 43
reduces number
of unique terms to 54=6 � 9

Symmetry of stress tensor:  ij   ji

Cijkl  kl  Cijkl  kl � Cijkl  C jikl
1 4 2 43
reduction to 36
unique constants  6 �6

U U
If there exists a strain-energy density function U such that  ij   , then,  ij  Cijkl  kl  
ij ij
� ij �2U � kl �2U
But  Cijkl  and  , which is the same =>Cijkl  Cklij
� kl � ij � kl � ij � kl � ij
> only 21 unique constant for general anisotropic (aeolotropic) elastic material

kl ij 11 22 33 12 23 13

11
36 terms, but only
22 21 unique ones

33

12

23

13
Requirement for positive definiteness (wait until we get to 2D analysis)
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Contracted Notation (Voight)

 ij   ji  only 6 unique stresses

 ij   ji  only 6 unique strains

Let’s just use 1 index and have range  1  6

Similarly, for Cijkl use 2 indices with range  1  6
6 unique possibilities for each pair of indices

Comments
 Don’t forget the components are parts of tensors. The lists of stresses and strains and the
array of the constitutive coefficients are not tensors.
 When we use engineering shears strain, the components are not part of a tensor but
transformations can be derived from the relationship between engineering and tensor
shear strains.

Contracted Notation & Engineering Shear Strain (order can vary!)

If x, y, z  1, 2, 3
s1 =s 11 e1 =e11 =ex
s2 =s 22 e2 =e22 =ey
s3 =s 33 e3 =e33 =ez
s4 =s 23 e4 =2e23 =eyz
s5 =s 31 e5 =2e31 =exz
s6 =s 12 e6 =2e12 =exy

9
6 6 matrix
  C   ,   1, 6 36 terms in C

Note: C  C  21 independent constants

  C 
General:   

61 6 6 61
Content of C (ie. non-zero Cij) depends on material symmetries
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Boundary conditions

 Specify traction or displacement along entire boundary

 Cannot specify u2 and T2 at same point, etc.

Ti

Note: You do not specify strains or components of the stress tensor.

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Self-study

Index Notation

1. Repeated index indicates summation

n
aij b j , j  1, n   aij b j
j 1

2. Index appearing more than twice has no meaning. Do not do it.

aij b j c j

3. Range of summation should be noted if it is not clear from the context.

4. Summation indices are called “dummy indices,” i.e. they can be replaced with another index.
ai bi  a j b j

5. Unrepeated indices are called “free indices”. The free indices must be the same in every
term.
 i   ji n j

6. Kronecker Delta:
 ij  0 for i  j

 1 for i  j

Examples

F
1 ui u j ur ur I i, j, r  1, 3
Nonlinear Strains:    ij  G
H  
2 x j xi xi x j JK
 ji
Equilibrium:  Xi  0 i, j  1, 3
x j
Miscellaneous:  ij ij  3 i , j  1, 3
u j ij  ui
ui
  ij
u j

zch z
xi
Ajh dV  Ajh ni dS