Chapter 2

Strain and Stress-Strain Relationship

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Chapter2- 1

OUTLINE
2.1 Concept of Strain
2.2 Strain Transformation
2.2.1 Strain Transformation about z-Axis
2.2.2 Two-Dimensional Strain Transformation

2.2.3 Strain Invariants

2.3 Equation of Compatibility

2.4 Rigid Body Motion

2.5 Linear Elastic Stress-Strain Relationship

2.6 Bulk Modulus

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Chapter2- 2

OUTLINE (Contd)
2.7 Lam Constant
2.8 Thermoelasticity

2.8.1 Thermal Strain

2.8.2 Thermal Stress

2.8.3 Total Strain

2.8.4 Stress-Strain relationship

2.9 Strain energy

2.10 Saint Venants Principle
2.11 Example
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Chapter2- 3

2.1 Concept of Strain

Strain is the direction and intensity of the
deformation at a given point on a specific
plane. Like state of stress, strain is a tensor.
Ua

L
A

L0
A

Displacement Field
u=u(x,y,z)

v=v(x,y,z)
x

w=w(x,y,z)

z
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Chapter2- 4

Concept of Strain(Contd)
SMALL displacement is considered in this
course.Small displacement means that strain
produced by this displacement is much smaller
than 1.

Strain--- elongation divided by initial length, l

0

Normal Strain Components: x , y , z

(axial strain)

Shear Strain Components: xy , yz , xz

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Chapter2- 5

Concept of Strain(Contd)
A

P
Length of AB=x

u u

P
B

Lim u u AB (u AB) u
x

x 0
x
x

u
x
x

v
y
y

&

w
z
z

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(2-1)

Chapter2- 6

Concept of Strain(Contd)
y'

D
dy

v
dx
x

dx

x'
B
x

Counter clock wise rotation +.

(point to +z-direction)
u
v
dy
dx
u
y
v

tan

y
y
x tan x

dy
y
dx
x
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Chapter2- 7

Concept of Strain(Contd)
v u

x y

v w

z y

u w

z x

xy x y
yz
xz

(2-2)

1 ui u j
ij

2 x j xi

xy

xx

i, j 1 to 3

(2-3)

1 u x u y 1 u v 1
xy

2 y
x 2 y x 2

u
x
x

xz

1
xz
2

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yz

1
yz
2
Chapter2- 8

Concept of Strain(Contd)

In a matrix form, ij 2 xy
1
xz
2

x xy xz

ij xy y yz

xz yz z

1
1
xy xz
2
2
1
y
yz
2

1
yz z
2

(2-4)

Comparing the two matrices, in

the stress forms of equations can
be replaced by the
corresponding strain terms for
the normal components and a
factor of for the shear terms.

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Chapter2- 9

Concept of Strain(Contd)

Lagrangian strain based upon the Lagrangian

coordinate system.
(undeformed coordinate)
Eulerian strain based on the Eulerian
coordinate system.
Since small strain is considered in this course,
the Lagrangian strain is adopted without causing
errors of consequence.

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Chapter2- 10

2.2 Strain Transformation

Strain Transformation follows the transformation law
(equation 1-9 of stress).

l1
' l2
l3

m1
m2
m3

x
n1
1

n2 xy
2
n3 1
xz
2

1
xy
2

y
1
yz
2

xz
2 l1 l2
1
yz m1 m2

2
n1 n2
z

T T

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l3
m3

n3

(2-5)

(1-9)

Chapter2- 11

2.2.1 Strain Transformation About Z-Axis

l1 Cos
m1 Sin
n1 0

l 2 Sin

l3 0

m2 Cos

m3 0

n2 0

n3 1

Sec 1.7.1

Equation (2-5) gives

2
2
y ' x Sin yCos xy Sin Cos

1
1
xy ' x Sin Cos y Sin .Cos Cos 2 Sin 2 xy

(2-6)
2
2

xy ' y x 2Sin Cos xy Cos 2 Sin 2

yz ' xz Sin yz Cos

z ' z
xz ' xz Cos yz Sin
x ' xCos 2 y Sin 2 xy Sin Cos

or

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Chapter2- 12

1.7.1 Stress Transformation about z-axis

y' y

l1 Cos 11 Cos
m1 Cos 12 Cos (90 0 ) Sin

x'
x

n1 Cos 13 Cos90 0 0
l 2 Cos 21 Cos (90 0 ) Sin

m2 Cos 22 Cos
n2 Cos 23 Cos90 0 0

l3 Cos 31 0

m3 Cos 32 0

n3 Cos 13 Cos 0 0 1
z'
2
2
Substituting into Eqn x ' x m y n xy 2mn
(1-9), we have y ' x n 2 y m 2 xy 2mn

xy ' x mn y mn xy (m 2 n 2 )

(1-11)

yz ' xz Sin yz Cos yz Cos xz Sin

xz ' xz Cos yz Sin yz Sin xz Cos
'

z
z
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Chapter2- 13

2.2.2 2-D Strain Transformation

x'
Cos 2

Sin 2
y'
' 2Sin Cos
xy

Sin 2
Cos 2
2Sin Cos

Sin Cos x
(2-7)
Sin Cos y
Cos 2 Sin 2 xy

x ' T
Where
m2

T n 2

2mn

n2
m2
2mn

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mn
mn
2
2
m n

Chapter2- 14

1.7.2 Plane Stress Transformation

2
m2
n
2 mn
x
2
n2
2 mn
m
y

'
xy mn mn m 2 n 2

' T
or

Where

m2

T n 2

mn

n2
m2
mn

x
y

xy

(1-12)

2 mn
2 mn
m2 n2

Inverting the above equation, we obtain

T 1 '
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Chapter2- 15

2.2.3 Strain Invariants

J1 x y z

1
2
2
2
J 2 x y y z z x xy yz xz
4
1
1
x
xy
xz
2
2
1
1
J 3 xy
y
yz
2
2
1
1
xz
yz
z
2
2

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(2-8)

Chapter2- 16

1.8 Prin. Stresses in 3-D State of stress(Contd)

The stress invariants

I1=I1, I2=I2 and I3=I3

I1 x y z
I 2 x y y z z x xy 2 yz 2 xz 2

x xy y yz z xz
or

xy y yz z xz x
x xy xz
I3
y yz
sym
z
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Chapter2- 17

2.3 Equation of Compatibility

x , y , z , xy , yz , xz are not independent each other.
They have to satisfy certain equations. They are shown below:

x y xy

2
2
xy
y
x
2

2 y
z 2

2 yz

2
yz
y
2

2 x
xy yz xz
2

yz x z
x
y
2 y
xy yz xz
2

(2-9)
xz y z
x
y
2 z
xy yz xz
2

xy z z
x
y

2 z 2 x 2 xz

2
2
xz
x
z
The above equations can be obtained from displacementstrain relationship as shown in equations (2-1) and (2-2)
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Chapter2- 18

2.4 Rigid Body Motion

An elastic body undergoes a motion without
inducing strain is a rigid body motion.
Rigid Body Translation
An elastic body undergoes a displacement
without inducing strain.
u u0

v v0
w w0

0
x

v
0
y

w
0
z

x y z 0
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Chapter2- 19

Rigid Body Motion (contd)

Rigid Body Rotation
An elastic body undergoes a rotational displacement
without inducing a shear strain in x-y plane.

xy 0 u v K (Constant)
y

u ky C1 ( x)

v kx C 2 ( y )
C1 ' C2 ' 0

C1 ' 0

v
C 2 ' 0

No Translation;
Rotation only

or C1 = Constant, C 2 = Constant.

Assuming C1 , 0, C2 0
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u ky

v kx
Chapter2- 20

Rotational Vector
y'
y

D
dy
A

C
B

Counter clock wise rotation +.

(point to +z-direction)
v
dx
x

A
dx

x'
B

v
dx
v

x
x tan x

dx
x

y tan y

u
dy
u
y

dy
y

1
1 v u
z x x
2
2 x y
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Chapter2- 21

2.5 Linear Elastic Stress-Strain Relationship

x

x E x

x
E

Youngs Modulus

x
x 0

y 0

y x

Loading direction

y xy x

Contraction direction

No shear is induced for isotropic material

under uni-axial loading.
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Chapter2- 22

Linear Elastic Stress-Strain Relation (contd)

Consider an elastic body subjected to x , y & z only.
The strain at a point in a prescribed direction can be obtained
by summing the strain due to each individual loading.
y

y
z

x x, x x, y x, z

Loading direction
Strain direction

z
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Chapter2- 23

Linear Elastic Stress-Strain Relation (contd)

Strain due to
x

Strain due to y

y xy x

z xz x

y
E

x
E

y
E

Strain due to z
x

z
E

, y

z
E

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z
E
Chapter2- 24

Linear Elastic Stress-Strain Relation (contd)

Total strain is a summation of all strain components
in the same direction.
x

x
E

y
z

x
E

x
E

y
E

z
E

y
E

z
E

z
E

No shear strain

x
1
1
or, y
E
z

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x

y

1 z

(2-10)

Chapter2- 25

Linear Elastic Stress-Strain Relation (contd)

Inverting equation (2-10), we obtain

x
x
1

E
1
y
y

1 1 2

(2-10a)

Equation (2-10) indicates that stress and strain are

related through two material constants, E and .

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Chapter2- 26

Shear Stress-Strain Relationship

xy
yz
xz

xy

No other shear

G
components
yz

+ contribution and
G

no normal stress
xz
G
contribution.

(2-11)

where G is the Shear Modulus of material.

G can be in term of E and

E
as: G
21

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(2-12)

Chapter2- 27

Prove G

E
21

y
y

x
x
x

m2 n2
2mn x
x

2
2
y n
m
2mn y 0

2
2
xy ' mn mn m n xy

Rotate the element a 450 degree.

1 1
x ' y ' mn( y x ) 2
2 2

x ' y '
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Chapter2- 28

1
1
x x y

E
E
1
1
y y x

E
E

xy 0

m2 n2

2
mn
x

x
y n 2 m 2 2mn y

2
2
xy ' mn mn m n xy

1 1 1
xy ' 2mn x y 2

E
2 2

1
1
2
2
xy '
E
E
xy ' G xy G E
21

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Chapter2- 29

2.6 Bulk Modulus

For most elastic material subjected to a general loading,
the volume change of the material is proportional to the
mean stress, i.e. v x y z
(2-13)

oct
v
3
v = Volume of the material.
Consider a hydrostatic pressure acting on an elastic body, i.e.
x y z P
Then

v
P
v

or,

v
P k
v

(2-14)

k = Proportional constant
= Bulk modulus
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Chapter2- 30

Bulk Modulus (contd)

Equation (2-10) gives,

1 2v
x
( P) y z
E
v l x l x l y l y l z l z l xl y l z

v
l xl y l z
1 x 1 y 1 z 1 1 1
3

1 2
3 3 3 3
P
E
2

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(2-15)

Chapter2- 31

Bulk Modulus (contd)

Combining equation (2-14) and (2-15), we have

E
k
3(1 2 )
If

1
v
3
k 0

(2-16)

kE
1
1 2v 0 or v
2

1
In the practical application, 0
2

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Chapter2- 32

2.7 Lam Constant

Equation (2-10a) gives
x
x
1

E
y
1 y
1 1 2

(2-10a)

Equation (2-10) indicates that stress and strain are

related through two material constants, E and .

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Chapter2- 33

2.7 Lam Constant (contd)

The first equation of Equation (2-10a) gives

E
1 x y z
x
1 1 2

E
1 2 x x y z
1 1 2

E
E

x
e
1
1 1 2

2G x e
Where
G

E
21

E
1 1 2

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e x y z

(2-17)

Chapter2- 34

Lam Constant (contd)

Similarly, we can obtain

x 2G x e

y 2G y e
z 2G z e

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(2-18)

Chapter2- 35

2.8 Thermo elasticity

2.8.1 Thermal Strain
Strain T

l0

T
T

l0 l

(2-19)

Thermal Expansion
Coefficient

= CTE
(Unit: in/in/0F , m/m/0C)

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Chapter2- 36

Thermal Strain (contd)

For isotropic material, change of temperature in the material
does not produce shear strain. For some material in high
temperature range, (CTE) exhibits a function of temperature.

x T
T
y
T
z T
xy T 0
T
yz 0
T 0
xz
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(2-20)

Chapter2- 37

2.8.2 Thermal Stress

T 0
T 0

No Stress

T 0
T 0

No Strain

T 0

T 0

T 0

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T 0

Chapter2- 38

2.8.3 Total Strain

T 0 (Thermal Load)
P 0 (Mechanical Load)

T 0
P0
T 0

T 0
P0

Total

Total
T

T
E

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T 0
P0

(2-21)

Chapter2- 39

2.8.4 Stress-Strain Relationship

Combining equation (2-20) and (2-21), we can write stress-strain
relationship for a general solid under mechanical and thermal loads.

0
0
0

x E
x
E
E

0
0
0 y

E
E
E
z

0
0
0
yz 0
yz E
E
E

0
0
0
1
/
G
0
0
xz 0
xz
0
0
0
0 1/ G
0 xy 0
xy

0
0
0
0 1/ G
0

S
T

Mechanical
Strain

Thermal
Strain

C T (2-22)

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Chapter2- 40

2.9 Strain Energy

Strain energy is a work done by external forces in causing deformation.

1
Work P
2
P

dW P d A l d

lAd
l

d V

A
l

V d

(2-23)

Internal Energy

dW dU
(work done = Internal strain energy)

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Chapter2- 41

Strain Energy (contd)

U 0 = strain energy per unit volume.
x

1
1
1 x
2
U 0 x d x E x d x E x x x
2
2
2 E
0
0

(2-24)

Linear elastic

U0

U 0 = complementary strain energy.

U0

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Chapter2- 42

Strain Energy (contd)

1
1
1
1
1
1
U 0 x x y y z z xy xy yz yz xz xz (2-25)
2
2
2
2
2
2
1
1
1
(2-26)
11 2 2 3 3
2
2
2
1 2
2
2
2
2
2
2
e 2G x y z G xy yz xz
(2-27)
2
1

2
2
2

x y z x y y z x z
(2-28)
2E
E
1

xy 2 yz 2 xz 2
2G

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Chapter2- 43

Components of Strain Energy

U 0 U 0V U 0d
Strain energy per unit volume due to distortion.
Strain energy per unit volume due to volume change.

For a given state of stress,

x xy xz m 0
0 x m

xy y yz 0 m 0 xy

yz
z
m
xz

xz

Where

xy
xz

y m
yz
yz
z m

1
1
m x y z oct 1 2 3
3
3
1
1 2
m x y z
m
E
E
x y z m

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(2-29)

Chapter2- 44

Components of Strain Energy (contd)

U OV

1
1
1
m m m m m m
2
2
2
3
31 2 2
m m
m
2

(2-30)

2E

U Od U O U OV = Equation (2-26)- equation (2-30)

1
1
1
31 2 2
11 2 2 3 3
m
2
2
2
2E
1 2 3 1 2 1 3 1 3 2 2
1 1
2
3

oct 2
4G

31 2 1 2 3

2E
3

1
2
2
2
oct 1 2 2 3 3 1
3

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Chapter2- 45

2-10 Saint Venants Principle

Consider a plate subjected to a point load.
The dimension at a given section is shown as:

b
x=b/4
F

x=b/2

x=b

The principle states that the localized effects of

( ) caused by any load acting on the body will
dissipate or smooth out within a region that is
sufficiently remote from the point of the load
application.

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Chapter2- 46

Example
A steel bar is 10 inches long and has a square section exactly 2
in. on each side. It is loaded in an axial compression with
uniformly distributed end loads of 120,000 lb.
a) Compute the change in the bar length, section side, and
section diagonal.

Solution:
30E3
x
0.001 1000
E 30E 6
y x 0.3 0.001 300 y z y wo
P 120000

30 ksi
A
4

=0.0003x2=0.0006 in.

x x o
=-0.001X10=-0.01 inch

diag y2 z2 0.0006 2 inch

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Chapter2- 47

Example (contd)
b) The bar is put into a square hole exactly 2 in. on a side in
a body of infinite rigidity and then loaded axially to
120,000 lb. Neglect any frictional effects. Compute the
change in the bar length and the contact pressure along the
bar sides.
y

Solution:

E
z
z
E

y z 0 y z 0

x
z

0
E
E
y
x

0
E
E

Observing the above equations , we

x
obtain that y= z. Hence, we have y z
1

0.3
y z
30 103 12.86 Ksi
1 0.3
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Chapter2- 48

Example (contd)
b) (contd)
y
x
z x 2 2
x

E
E
E
E 1
30 103 2 0.32

1
743
6
30 10
0.7

x x o
=-0.000743X10=-0.0074 inch

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Chapter2- 49

Example (contd)
c) Repeat part b), except the hole is 2.0003 in. on a side.

Solution:
2.0003 2
y, allow
0.15 x10 3 in / in z , allow
2
y
z

y
E

z
E

E
E

z
E

y
E

allow 0.15 x10 3

allow 0.15 x10 3

Observing the above equations , we

obtain that y= z. Hence, we have
y

E
y, allow 6.431Ksi
1

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Chapter2- 50

Example (contd)
c) (contd)
x

x
E

y
E

z
E

1 2 y
E

30 103 2 0.3 6.431103

871
6
30 10

x x o
=-0.000871X10=-0.0087 inch

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Chapter2- 51

Example (contd)
d) Repeat part b), except that the outer material is not
infinitely rigid, and as a result of the axial bar loading, the
hole expands to 2.0003 in. on a side.

Solution:
y ,allow

2.0003 2
0.15 x103 in / in z ,allow
2

Hence, all the results are the same as calculated in

the previous case.

x -0.0087 inch
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Chapter2- 52