MCEN 5023/ASEN 5012 Chapter 4

Stress and Strain Tensors Deformation and Strain

Fall, 2006

Deformation and Strain

Displacement & Deformation Displacement: A vector or the magnitude of a vector from the initial position to a subsequent position assumed by a body. Deformation: An alteration of shape, as by pressure or stress.
Example: Case 1

Case 2

Time 0 Case 3 Time t

Deformation and Strain

Deformation and Strain Strain characterizes a deformation
Example: 1D strain L0 L

L L0 I = L0

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Kinematics of Continuous Body
Time t Time 0

xi ai

a 2 x2

x3 a3

x1 a1

Time 0:

Time t:

Undeformed configuration Reference (initial) configuration Material configuration

Deformed configuration Current configuration Spatial configuration

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Kinematics of Continuous Body

xi = xi (a1 , a2 , a3 , t )
OR, due to continuous body

ai = ai ( x1 , x2 , x3 , t )
Lagrangian Description: The motion is described by the material coordinate and time t. The motion is described by the spatial coordinate and time t.

Eulerian Description:

Deformation and Strain

Lagrangian vs. Eulerian Lagrangian Eulerian

xi = xi (a1 , a2 , a3 , t )
(Tacking a material point)

ai = ai ( x1 , x2 , x3 , t )
(Monitoring a spatial point)

a 2 x2
The spatial coordinates of this material point change with time. Different material points pass this spatial point

t=0

t=t1

t=t2

x1 a1

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Lagrangian vs. Eulerian

Lagrangian
Tracking a material point. Material point is fixed but the spatial coordinates have to be updated. Good for constitutive model

Eulerian
Tracking a spatial point. Spatial coordinates are fixed but Material points keep changing. Not good for constitutive model.

Solid Mechanics

Fluid Mechanics Solid Mechanics

Deformation and Strain

Kinematics of Continuous Body
Time t Time 0

ui

ai

xi

a 2 x2

x3 a3

x1 a1

Using undeformed configuration as reference:

ui (a1 , a2 , a3 ) = xi (a1 , a2 , a3 ) ai
Using deformed configuration as reference:

ui ( x1 , x2 , x3 ) = xi ai ( x1 , x2 , x3 )

Deformation and Strain

Measure the deformation
Time t Time 0

ui

P xi Q

ai

P0 Q0

a 2 x2

P0 = {a1, a2 , a3 }
x3 a3
x1 a1

Q0 = {a1 + da1, a2 + da2 , a3 + d a3 } P = {x1, x2 , x3 } Q = {x1 + dx1, x2 + dx2 , x3 + dx3 }

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Measure the deformation

Deformation and Strain

Measure the deformation

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Strain Tensor:

x x 1 k k Eij = ij 2 a a i j a a 1 k k eij = ij 2 x x i j

Green Strain

Almansi Strain

Deformation and Strain

Strain Tensor:

u j uk uk Green Strain u 1 i Eij = + + 2 a a a a j i i j u j uk uk u 1 i eij = + 2 x x x x j i i j

Almansi Strain

Applicable to both small and finite (large) deformation.

Deformation and Strain

Physical Explanations of Strain Tensor
Time t Time 0

ui

P0

da
a 2 x2

Q0

dx

x3 a3

x1 a1

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Physical Explanations of Strain Tensor
Time t Time 0
ui

P0

da
a2 x2

Q0

dx Q

x3 a3

x1 a1

Deformation and Strain

Physical Explanations of Strain Tensor
Time t Time 0
ui

n
a2 x2

x3 a3

x1 a1

Deformation and Strain ui ui If << 1 << 1 a j x j

u j u 1 i Eij = + 2 a a i j

small deformation

The quadratic term in Green strain and Almansi strain can be neglected.

u j u 1 i eij = + 2 x x j i

Also, in small deformation, the distinction between Lagrangian and Eulerian disappears.

u j u 1 i Eij = eij = + 2 x x i j
Cauchys infinitesimal strain tensor

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Cauchys infinitesimal strain tensor

u j u 1 i Eij = eij = + 2 x x i j
u1 e11 = E11 = x1 u2 e22 = E22 = x2 u3 e33 = E33 = x3

1 u2 u1 + e12 = E12 = 2 x1 x2 1 u3 u1 e13 = E13 = + 2 x1 x3 1 u3 u2 e23 = E23 = + 2 x2 x3

Deformation and Strain ui ui If << 1 << 1 a j x j

Note:
In most of the cases,

small deformation

ui << 1 a j
But,

ui << 1 x j

small deformation

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Engineering Strains

Coordinates: x, y, z
Normal strains:

Displacements: u, v, w

u x = = e11 x v y = = e22 y w z = = e33 z

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Engineering Strains Shear Strains:

xy yz
xz

u v = + = 2e12 y x v w = + = 2e23 z y
u w = + = 2e13 z x

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Stretches at small deformation

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Cauchys Shear Strain and Engineering Shear Strains

A x2

A B C

dx2

dx1

C x1

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Cauchys Shear Strain and Engineering Shear Strains

A x2 1 A 2 C

u1 u 1 = = x2 y

u2 v 2 = = x1 x

xy = 1 + 2
1 e12 = (1 + 2 ) 2

dx2

B dx1 C

x1

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Cauchys Shear Strain and Engineering Shear Strains

e11 [e] = e12 e13

e12 e22 e23

x e13 1 e23 = xy 2 e33 1 xz 2

1 xy 2

y
1 yz 2

1 xz 2 1 yz 2 z

Tensor

x Engineering Strain xy xz

xy xz y yz yz z

Not a tensor!!!

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Transformation of Coordinate System

In general

= ik jk eij eij

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Transformation of Coordinate System 2D
X
2

X 1
e 1

X
1

X2
e 2

e2

e1

= cos 2 e11 + 2 sin cos e12 + sin 2 e22 e11 = sin 2 e11 2 sin cos e12 + cos 2 e22 e22 = sin cos(e22 e11 ) + cos 2 sin 2 e12 e12

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Transformation of Coordinate System 2D Mohr Circle

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Strain Invariants

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Strain Deviations Mean Strain

e11 + e22 + e33 1 e0 = = 3 3

Strain deviation tensor

e = e e0 I
= eij e0 ij eij

Octahedral Shear Strain

0 =

2 3

2 2 2 (e11 e22 )2 + (e22 e33 )2 + (e33 e11 )2 + 6(e12 ) + e23 + e31

Deformation and Strain

Determine Displacement Fields from Strains

u j u 1 i Eij = eij = + 2 x j xi

Questions: Can the displacements be determined uniquely?

Deformation and Strain

Determine Displacement Fields from Strains

u1 = x1 + 3 x2 x1

u1 = x12 x2

The strain fields are inconsistent because

u1 2u1 = =3 x2 x1 x2 x1

u1 2u1 = = 2 x1 x1 x2 x1x2

2u1 2u1 x2 x1 x1x2

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Compatibility of Strain Fields B C

A B A C

Compatible strain fields D B Undeformed A D C C A B C C D

Incompatible strain fields

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Integrability Condition In general

u1 = f ( x1 , x2 ) x1

u1 = g ( x1 , x2 ) x2

Integrability condition ( Compatibility of strain fields )

2u1 2u1 = x2 x1 x1x2

f g = x2 x1

Integration of strain fields yields unique displacement components.

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Compatibility of Strain Fields

u1 e11 = x1

u2 e22 = x2

1 u2 u1 e12 = + 2 x1 x2

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Compatibility of Strain Fields

eij ,kl + ekl ,ij eik , jl e jl ,ik = 0

St. Venant Equations of Compatibility Totally 81 equations, but only 6 are essential.

e11, 22 + e22,11 = 2e12,12 e22,33 + e33, 22 = 2e23, 23 e11,33 + e33,11 = 2e13,13

e11, 23 = e23,11 + e12,13 + e13,12 e22,13 = e13, 22 + e21, 23 + e23, 21 e33,12 = e12,33 + e31,32 + e32,31