2.4.

1: Transformation of Stress
Direction cosines z
Z
X
x y z xZ
xX
X l1 m1 n1

Y l2 m2 n2
y
Z l3 m3 n3

x
Orthogonality properties xY Y

and unit length

l12 + l22 + l32 = 1 l12 + m12 + n12 = 1 l1l2 + m1m2 + n1n2 = 0 l1m1 + l2 m2 + l3 m3 = 0
m12 + m22 + m32 = 1 l22 + m22 + n22 = 1 l1l3 + m1m3 + n1n3 = 0 l1n1 + l2 n2 + l3 n3 = 0
n12 + n22 + n32 = 1 l32 + m32 + n32 = 1 l2l3 + m2 m3 + n2 n3 = 0 m1n1 + m2 n2 + m3 n3 = 0

Is there a less redundant

description?
 Stresses on an inclined plane
uur
Normal vector to plane N = l i + m j + n k
y
z N
AOBC A A
x = l; OAC = m; OBA = n
AABC AABC AABC
P
A
P
Stress vector on plane P:
uur uur uur uuur
x O
P = l x + m y + n z
uur
P = Px i + Py j + Pz k
C
y
z
uur
Components of the stress vector P : Px = l xx + m yx + n zx
Py = l xy + m yy + n zy
Pz = l xz + m yz + n zz
 Normal and shear stresses

Normal and shear components

JG JJG
PN = N P

( ) ( )
PN = l 2 xx + m 2 yx + n 2 zx + 2m n yz + 2n l ( xz ) + 2l m xy

PS = P2 P2N = P2x + P2y + P2z P2N

We often need the maximal and minimal

normal stresses and maximum shear
stress. Why?
 Stress transformation
Using the equation for normal stresses
XX = l12 xx + m12 yy + n12 zz + 2m1n1 yz + 2n1l1 xz + 2l1m1 xy
YY = l22 xx + m22 yy + n22 zz + 2m2 n2 yz + 2n2l2 xz + 2l2 m2 xy
ZZ = l32 xx + m32 yy + n32 zz + 2m3 n3 yz + 2n3l3 xz + 2l3 m3 xy

Similarly, obtain

XY = l1l2 xx + m1m2 yy + n1n2 zz + ( m1n2 + m2 n1 ) yz + ( l1n2 + l2 n1 ) xz + ( l1m2 + l2 m1 ) xy

XZ = l1l3 xx + m1m3 yy + n1n3 zz + ( m1n3 + m3 n1 ) yz + ( l1n3 + l3 n1 ) xz + ( l1m3 + l3 m1 ) xy
YZ = l2l3 xx + m2 m3 yy + n2 n3 zz + ( m2 n3 + m3 n2 ) yz + ( l2 n3 + l3 n2 ) xz + ( l2 m3 + l3 m 2 ) xy

How do we reduce these to a single short line?

 More compact notation

Stress tensor transformation

l1 m1 n1 xx xy xz l1 l2 l3

Tnew = l2 m 2 n 2 xy yy yz m1 m 2 m3
l3 m3 n 3 xz yz

zz n1 n 2 n 3

Matrix notation
l1 l2 l3
r = m1 m 2 m3 = rotation matrix:measured from old system
n1 n 2 n 3

Tnew = r T Told r
 Principal stresses
Can obtain principal stresses by posing
two seemingly unrelated questions
What plane will give us maximum or minimal
normal stresses?
What plane will give us zero shear stresses?
Both approaches give the same answer: A
coordinate system with zero shear stresses
and extreme normal stresses
Textbook derives equations based on zero
shear stresses
 Derivation
Stress vector normal to plane, hence
Px = l xx + m yx + n zx = l
Py = l xy + m yy + n zy = m
Pz = l xz + m yz + n zz = n
That is, [l,m,n] is eigenvector of stress matrix
xx xy xz l 0 xx xy xz

xy yy yz m = 0 xy yy yz = 0
m 0

xz yz yy xz yz zz

Principal stresses are the eigenvalues.

What properties eigenvalues of symmetric matrix?
 Stress invariants
Setting determinant to zero gives
3 I1 2 I 2 I3 = 0
I1 = xx + yy + zz

xx xy xx xz yy yz
I2 = = 2xy + 2xz + 2yz xx yy xx zz yy zz
xy yy xz zz yz zz

xx xy xz
I3 = xy yy yz = xx yy zz + 2 xy yz xz xx 2yz yy 2xz zz 2xy
xz yz zz

Why are the Is invariant to coordinate system?

 Example
s=[1,1,1;1,1,1;1,1,1]
s=1 1 1
1 1 1 What are easy checks that the answers
1 1 1 obtained from Matlab are correct?

>> [l,sig]=eig(s)

l =0.4082 0.7071 0.5774

0.4082 -0.7071 0.5774
-0.8165 0 0.5774
sig = 0 0 0
0 0 0
0 0 3
 Another example
s=1 1 0
1 1 1
0 1 1 If we swapped the solutions
of the two examples. How
>> [l,sig]=eig(s) could we tell that something is
wrong?
l =0.5000 -0.7071 0.5000
-0.7071 0.0000 0.7071
0.5000 0.7071 0.5000

sig =-0.4142 0 0
0 1.0000 0
0 0 2.4142
 Mean and deviator stresses
1 xx + yy + zz
Mean normal stress m = I1 =
3 3
We divide stress tensor
as T = Tm + Td
m 0 0 xx m xy xz

Tm = 0 m 0 Td = xy yy m yz
0 0 m xz yz m

Mean stress responsible

for volume change
Deviator for yielding
 Plane stress
2-D state of stress
xx xy 0
xx xy
zz = xz = yz = 0 T = yx yy 0 =
0 yx yy
0 0

Direction cosines
x y z
Y y
X
l1 = cos m1 = sin n1=0
2
X
+ Y
2 l2 = sin m 2 = cos n2=0

Z l3=0 m3=0 n3=1
x
 Stress transformation
XX XY cos sin xx xy cos sin
Matrix version T= =
YX YY sin cos yx yy sin cos

Or XX = xx cos 2 + yy sin 2 + 2 xy cos sin

YY = xx sin 2 + yy cos 2 2 xy cos sin

(
XY = xx yy ) (
sin cos + xy cos 2 sin 2 )
XX = 1
2( xx + yy ) + 12 ( xx yy ) cos 2 + xy sin 2
YY = 12 ( xx + yy ) 12 ( xx yy ) cos 2 xy sin 2

XY = 12 ( xx yy ) sin 2 + xy cos 2

Review Mohrs circle in textbook

 Reading assignment
Sections 2.5-6: Question: Where do we use the first of
equations 2.45 in elementary beam theory?

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