MECH 303 Advanced Stress Analysis (Fall 2000/2001) Course Description: Introduce the basic concepts, equations and methods used to perform stress, strain and displacement analysis of an elastically deformed body Prerequisites: MECH 101 Mechanics of Solids I, MECH 202 Mechanics of Solids IT Textbook: Lecture notes Rreference books: 1. Zhilun Xu, Applied Elasticity, John Wiley & Sons, 1992. 2. S. Timoshenko and J.N. Goodier, Theory of Elasticity, McGraw-Hill, New York, 1970. Instructor: Dr. Qing-Ping SUN (Lecture: Class room 3584, Monday 1:00-3:00 pm; Friday 1:00-2:00 pm) (Office room 2548, e-mail megpsun, Tel. 8655) Tutorial: Dr. Qing-Ping SUN (my office Room 2548, anytime) Grade Policy: Mid-exam 50% Fin-exam 50% Contents: 1, Introduction (1 week) * Content, Concepts and Basic Assumptions 2. Theory of Plane Problems ( 4 weeks) Plane Stress and Plane Strain Equation of Equilibrium © Stress and Strain at a pointeee ew eeoee © ee 6 s.6 5 ee en ce ow eee en Stress-strain relations and Geometrical equations Boundary conditions and Saint-Venant's principal Solution of plane problem in terms of displacements Solution of plane problem in terms of stress Airy's stress function, Inverse and semi-inverse methods Solution of Plane Problems in Rectangular Coordinates (2 weeks) Solution by polynomials Determination of displacements Bending of a simple beam under uniform load Solution by trigonometric series Solution of Plane Problems in Polar Coordinates ( 2 weeks) Equilibrium equations in polar coordinates Geometrical and Physical equations in polar coordinates Stress function and compatibility equations in polar coordinates Axisymmetrial stress and corresponding displacements Pure bending of curved beams, hollow sylinder and Rotating disks Effect of circular holes on stress distribution and wedge (Mid-term examination) Torsion Stress function solution for torsion Membrane analogy Examples of practical interest Plane Problems on Thermal Stress ( 2 weeks) Thermoelastic physical equations Solution in terms of displacement, displacement potential Solution in terms of stress, stress function Theory of Spacial Problems (2 weeks) Stress and Strain at a point Basic equations of spacial problems Displacement and stress solutions Some simple examples (Final Examination)‘Chapter 1 Chapter 1 Introduction 1.1 Content of Theory of Elasticity 1.2 Important Concept in Theory of Elasticity 1.3. Basic Assumptions 1.4 Problems 1.1 Contents of Theory of Elasticity © Theory of Elasticity — is the branch of Solid Mechanics which deals with the stress and displacements in elastic solids produced by external forces or changes in temperature, © The purpose of study — is to check the sufficiency of the strength, stiffness, and stability of structural and machine elements. Solid Mechanics I - bar (Mechanics of Materials) Solid Mechanics II - bar system (Structure Mechanics) bars Solid Mechanics Solid Mechanics II - plates (Theory of Elasticity) blocks dams shells Solid Mechanics IV (Theory of Plasticity)Chapter 1 beam { ) mech. of mater. + For example beam: ( J theory of elasticity plate mech, of mater. + For example i Ah om 4 ++ plate theory of elast. 5 Joint application of the above three branches of solid mechanics ------------ Finite Element Method (FEM)(Chapter 1 1.2 Some important concepts in theory of elasticity © External forces © Stress (internal force) © Deformation — strains and displacement There are two kinds of external forces that act on the bodies (1) Body forces { gravitational force inertia forces (in motion) definition of body force: i Q ee iim, AV (vector quantity) Dimension is [force][length]*, eg., N/m’. Component of F — X, Y, Z, the projection of F on x, y, z axis Example, rotating disc in a uniform angular velocity wChapter 1 (2) Surface force { pressure (in water, atmosphere) contact force definition of surface force: F= fim As0 AS Dimension is [force][length}” Components of F along x, y, z axes denoted by XG ‘5 TAZAChapter 1 (3) The internal forces produced by external forces or changes in temperature Stress at a point: definition of stress at a point: S= ie M0 AA © —normal stress (normal component) 7 —shear stress (shear component)Chapter 1 (4) The stress state at a point Definition of the stress component and its sign (Note: differences with the definition in solid mechanics II) Normal stress: 6x(O4x), Oy(Gyy), x(Ozz) Relations between shear stresses Uye= Tay, Ve = Tes Vay =U yx We will show that the stress state on any section through the point can be calculated if we know the 6 stress components, i.e., the 6 stress components completely define the stress state at a point.Chapter 1 (5) Deformation: By deformation we mean the change of shape of a body and volume (6) Strain components: €x , €y , €z 5 Yay» Yyx> Yex completely define the deformation condition (or strain condition) at that point (7) Displacement: By displacement (unit: length) we mean that the change of position, the displacement components in the x, y, z axes are denoted by u, ¥, respectively. All the above oy , €y , u; at a point vary with the position of the point considered, so they are functions of coordinates in space. enon Bain ou oy canoe CeaChapter 1 1.3 Basic assumptions in theory of elasticity @ Q) 8) @ 6) 1.4 The body is continuous, so oy , €y , us can be expressed by continuous functions in space (x, y, z). The body is perfectly elastic - wholly obeys Hook’s law of elasticity - linear relations between stress components and strain components. The body is homogeneous, i.e., the elastic properties are the same throughout the body — elastic constants will be independent of the location in the body. The body is isotropic so that the elastic properties are the same in all directions, thus the elastic constants will be independent of the orientation of coordinate axes. example: 1. polycrystalline ceramics and steels 2. wood and fiber reinforced composite The displacements and strains are small, ic., the displacements components of all points of the body during deformation are very small compared with its original dimensions. Problems (Exercise): 1.14, 1.1.2, new:MECH 303 Chapter 2 Chapter 2 Theory of Plane Problems 2.1 Plane Stress and Plane Strain © spatial problems plane problem ---- plane stress and plane strain problems (1) plane stress problem (2) Plane strain problem and plane stress condition _ and plane strain condition 6, =f,(x,y) €,=fi(%y) 6,=f,(x,y) €,= f, (x,y) Ty =f,(xy) €,=4(%y) o,=0 €,=0 Tz =T,, =0 €,=€,,= = Example: thin plate Example: dam tla thy 2/2 o 2 ee E eee y y Fig. 2.1.1 Fig. 2.1.2 a1MECH 303 Chapter? 2.2 Equation of Equilibrium in Plane Problems (1) Plane Stress ar. o> Bose ony 0 ox oy CO CmaaO ce SF, =0>—*4+—* +Y=0 oy ox Dea 0 (2) Plane Strain é olca + ear x = 0) Ox oy 0c, Ca + qe oy Ox Wore A 720 az BoMECH S03 Chapter? 2.3 Stress at a Point ---- Principal Stress Fig, 2.3.1 es =0=> X,dd4=0,ldA+t,,mdA DAF, =0= Vdd =o,mdA +7,,1dA Xy =lo, +m, >Yy.= =o, +17. Normal stress on, shear stress ty are: Oy =X, +m, =Po, +n?o, +m, Ty =1Yy —mXy, =Inlo, -o,)+(0 =n, i.e, the stress components oy, oy, txy at point P completely determines the stress states at this point (in any plane AB) 23MECH 303/Chapter2 Principle plane (7,=0), Principal stress 7 vy =n (on _ principal _ plane) 1 SSI Y, y=mo, +lt,, (on_any_ plane) = (6-9,) (0-9y) = ty” = Two roots of o: oO; G, tO, set ty Oo, A Let a be the angle between o; and x axi: cos (90° cos @, i tan a, = => tan tan a, = => tana,-tan@a,=-l>oa,lo, Maximum and minimum stress at a point: © Prove that maximum & minimum stress are o; & o> respectively, ® maximum & minimum shear stress are + respectively © and acting on planes inclined at 45° with principal plane.MECH'303. Chapter? 2.4 Stress-strain relations (Physical equations, Constitutive equations, Hook’s law) Hook’s law in 3-dimensional form: (material property) 2=th,-le,+e)), 14-35% 8, = Gh, -ule,+0.), Toe He, +,)), 7a = E y CFA) Sxsam Cay (1) Plane Stress (.6,=0, oy,=0,,=0 ) He,), 8, =2(,-u3,), y= Eby A eye eee (Exs Eys Yxy) <==> (Gx, Sy, Say) (2) Plane Strain ( ¢,=0, yy, = y2=0 ) - Gz = W(Gxt+oy), & = Ce Oxz= Sy, = 0 (Ex, Ey Yay,) <=> (Gus Fyy Oxy)MECH'303/Chapter2) (3) Plane stress equation <> Plane strain equation E Ifreplace E by we “ Let yees Se 6) E(l+2) E~O <= Ifreplace E by a Hu wby l+u These two simple rules enable us to avoid the mathematical derivation of some equations required for the solution of a plane problem: by replacement of E and yas stated above.MECH 303 Chapter 2 2.5 Geometric equations (Strain-displacement relation.) Rigid-body displacements Geometrical aspect of plane problem (suitable to any kinds of materials as far as they are continuous) i tat ag \ oral le Displacement components at any point (u=u(x.y); v=v(x.y)) (1) Relations between strains and displacements the normal strain of line PA, by definition, is _PiA-de Barron 2 2 (PAP = ees (eee x x & a fav = (dora) 4 oy as} ezeran le au ev According to the basic assumption: fw ara, are small ou y quantities, i.e. | &|< o,, 6, ty > satisfy stress boundary conditions. 216‘MECH'303 Chapter’2 2.12 Airy’s stress function. Inverse method and semi-inverse method © Direct method — usually impossible @ Inverse method — take some function > satisfying the compatibility equation, then obtain stress components and find the surface force components, thus we know what problem they can solve. ©@ Semi-inverse method — we assume the solution for stress or displacements in a given problem, then proceed to show that all the differential equations and boundary conditions are satisfied. If some of the boundary conditions are not satisfied, then we have to modify the assumptions made. (Numerical method —— Finite element method, directly solve the equilibrium equation in terms of displacements.) 2417MEOH 303 Chapter’3 Chapter 3 Solution of Plane Problems in Rectangular Coordinates 3.1 Solution by polynomials @ Use inverse method @ Assume that there are no body forces, ¥ =Y =0 (1) When stress function @ is taken as linear form @=atbx+cy (a,b,c —constants ) then compatibility equation satisfied, stress components are o,=0, o, =0, t, at the boundary always gives ¥ =¥ =0 Conclusion: linear stress function corresponds to the case of no surface forces and no stress, for any shape of the body and coordinate axes superposition of a linear function to the stress function for any problem does not affect the stresses. (2) When 6 is taken as a polynomial of the second degree: +bxy toy? compatibility equation is also satisfied: Stress components: @ $,=ax’, then o,=2a, ty =t,=0 boundary condition in (for example) a rectangular plate with edges parallel to the coordinate axes, a>0, uniform tension a<0, uniform compression > in y direction ( see Fig. 3.1(a) )MECH 303 Chapter 3 in other shape of plates, the above solution corresponding to what kinds of boundary surface forces? Oe aa AO th (a) (b) © ye = ob (see Fig. 3.1(b)) Hence = bry can solve the problem of a rectangular plate in pure shear. © 6: =o", then 0, = 20, 0, =0, ty =.= c>0 uniform tension => inx direction. c<0 uniform compression Pe |_»P hy @ %=4%,+¢,+¢, superposition of 3 stress states.MECH 303 chapter's (3) When $ is taken as =a" then compatibility condition is satisfied. ©@ Stress components o, = Gay, o, =0, 1, =Ty =0 © Corresponding to the problems of pure bending of a rectangular beam. @ Relation between constant a and bending moment M and depth of beam h : where 7=1%//’, , the moment of inertia of the beam section © The bending moment is applied in other manners, Saint-Venant’s principle should be used to obtain the solution. 33MECH 308 Chapter 3 3.2 Determination of displacements By physical equation — For stress solution obtain strain solution By geometrical equation —+ obiain displacements An example in plane stress pure bending: (a) From above stress expressions, we have strains: Yo = From above ( by integration): uM Mos fb), vet Abd, £i(y), f(x) should satisfy: Thus: w= Say ay tt, omMECH 203 Chapter 3 @ The angle of rotation of any vertical line element in beam fp & 21 x-« = cross section remains plane after bending @ All the longitudinal lines (fibers) of the beam will have the same curvature © For displacement boundary condition of simply supported beam (a): from which we have uj=0, 20, a= Finally we have the expressions for displacements components: l M uM aM), yea ey zi a vag) pP? The deflection of the beam axis is M =f (xe. Yn = PL O-9 which is the same as the result obtained in mechanies of materials (MECH101). - © For displacement boundary condition of cantilever beam (b): cannot be exactly satisfied by obtained expression for u and v. If we use the conditions in mechanics of materials: ul, =0, then we have‘MECH 303 Chapter’) The defection of the beam axis is M 2 (4 Ye PE O-3) which is the same result obtained in mechanics of materials (MECHIO1). In the case of plane strain, we obtain the solution simply by replacing Boy yo HuMECH'303 Chapter 3 3.3 Bending of a simple beam under uniform load @ We use the semi-inverse method @ We may assume that , is only a function of y 2,=F0) then we have 6-Lsb)evb)+ AO) f(y) and f(y) are arbitrary functions © Compatibility equation requires303 Chapier3 which leads to: aT) _9 ene ‘We have S(y)= Ay? + By? +Cy+D, Sy) = Ev? + Fy? + Gy. A,B 2 0)=-4y° - Fy 4 + Ky. Salv)=-apy! - Go" +H + Ky The 6 becomes (Ay? + By? + Cy+D)+ x{Ey? FY +G)- Ay" -2y" + Hy + Ky? Stress components will be: (6.4y + 2B)+ x(6Ey + 2F)—2ay’ -2By’ +6Hy +2K, o, = Ay? +By +Gr4D, ty = —xGdy? +2By+C)-(GEy? +2F+G) 9 constants must be determined by boundary conditions. © From the condition of symmetry: E=F=G=0. There are 6 constants left. © Boundary conditions on the horizontal sides: 38z ‘MECH®303 Chapter’3 © Boundary conditions on the end surfaces: u-f-1, i 10h The resultant of t,y must be an upward force equal to ql: fe |.udy=-ql (satisfied) 39zi MECH 303 Chapter The obtained solution here is exact only if at the ends (x=+/) there are normal forces and shearing forces according to : 3-10MECH 303/Chapter’3 3.4 Triangular gravity wall (dam or retaining wall) SST On | | Il Fini Oy | , i UE ae tes (6) @ The density of wall material : p > weight (unit) : pg © The density of liquid :y > unit weight: yg @ Ifthe height of the wall is considered infinite. (1) The stress is produced by ~ gravity, proportional to pg - pressure, proportional to yg (2) Dimensional analysis of stress components ([force] / [length]’) dimension of pg is [force] / [length]° dimension of yg is [force] / [length]? dimension of x, y is [length] , . — dimensionless (3) If the stress components can be expressed in the form of polynomials, they must be combinations of expressions in the form of A pgx ,B pgy ,C ygx, Dygy, where A.B.C.D. are dimensionless numbers depending upon only o only. It can be seen that the stress function $ must be a polynomial of the third degree, ie. , $= ax’ +bx*ytexy" tey" (already satisfies the compatibility condition) Body force X=0, ¥=pg uMECH'303 Chapters Xe = 2ex + Gey oy’ 8 — 1y = 6ar+2by- pay The 4 constants are determined by the boundary conditions: © On the vertical surface x=0, oy\,.5= uy. Talay <0 3-8, oo © On the inclined surface (x= ytana), +mz,| =0 =0 mo, +i, (i=cosa, m=-sina) © Finally, the stress solution of the problem is o, = -7Ry 0, = (pg cota —2yg cot’ a)x + (7g cot? a — pe)y @ The above results are only exact when the height of the dam is infinite. For a finite height dam, the stress distribution near the foundation is approximate. ( Saint-Venant’s principle) 312“MECH 303 Chapter 3 3.5 Solution by trigonometric series @ Limitations of algebraic polynomials: (1) Difficult to satisfy the complicated boundary condition (2) For non-continuously distributed load, the method leads to complete failure (3) The need for a much more general method of selecting stress function @ Trigonometric series (inverse method) ‘We assume the stress function in the form of ,=sinax: f(y) @—arbitrary constant (Length)! compatibility equation V*9, =0 yields FW) 52 PIO), 24 p(y)|- ye ae +a‘ f(y)|=0 sin ax| u Sy) = Asinh ay + Bcoshay + Caysinh ay + Daycoshay , A, B,C, D are arbitrary constants , thus : 4, =sinax- f(y) Similarly, by assuming ¢, = cosa'x/,(y), we have another solution =cosa'x(4'sinha' y + B'cosha'y +C'a' ysinha' y+ D'a' ycosha' y) Since V‘g=0 is a linear differential equation, the sum of ¢, and ¢, is also a solution of V°¢=0. Further for any a=a, , a'=a',, we have the solution for stress function in the form of trigonometric series: ¢=>'sina,,x(A, sinha, y +B, cosha, y+ C,@,ysinha@,, y+ D,,VCosh a, ¥)+ Yeosa’, x(4', sinha,,'y +B", cosha,'y+C', @,'ysinha,'y+D', @,,' ycosha,,'y)MECH 303 Chaptét 3) u Corresponding stress components can be calculated by ay ‘These expression already satisfy the differential equations of equilibrium and compatibility equation, the constants Ap, Bm, Om... are to be determined by the boundary conditions. © Principal of superpositionMECH 303/Chaprer 3 3.6 Simple beam under arbitrary transverse loads Boundary condition of normal stresses at the ends of beam: Ce Uwe immediately have + &% =f, (m=1,2,3 Boundary conditions on the horizontal surfaces: We expand q(x), qi(x) into a series in sin in the interval of 0 | miroir * In the general case , we obtain the geometric equations: aos ae Loe ete eer A: Starting from that w, and ug are continuous functions of r and 0, derive the compatibility equations between ¢, , to , Yio 42MECH 303 Chapters Physical equations: since polar coordinates r and 0 are orthogonal , just as the rectangular coordinates x and y , the physical equations between stress and strain must have the same form, i.e. , 43MECH 303 Chapter 4.3 Stress function and compatibility equations in polar coordinates. Stress function g=9() ——» (x,y) in rectangular coordinates and (7,0) in polar coordinates © The relations between polar and rectangular coordinates: +y , O=arctan= (x,y)=>(r,0) x x=reosd , y=rsind (¢,0)=>(x,y) [26 _ 28 & 06.00 _ 0H sind 26 & rie 86 m& or r 00 26 _ OF & | 06.00 _ ng 8H, c080 29 cr ty arty B0ay = a +r 06 = H,»)= F(x,» A(zy)) Derive: o, = Prove that: A: It is easy to verify that the above stress expressions satisfy the equations of equilibrium when K,= Ky =0. A: On the other hand, we can prove that 44MECH 303 Chaprera So the compatibility equation in rectangular coordinates becomes that ( in polar coordinates) rte rar ae? ‘A: In summary : In solving a plane problem in polar coordinates, it is necessary to solve only the above compatibility equation for stress function $, then obtain the stress components which satisfy the boundary condition and condition of single-valued displacements. Most of case, the inverse or semi-inverse methods are employed. AMECH 303 Chapter 4.4 Coordinate transformation of stress components (b) By equilibrium analysis, we have following relations between stress components in two-coordinates systems: A: in so cos20—r,, sin20 o,+0, 0,-0% are cos 20+r, sin20 a sin20+7,,c0s20 or 7,08? 8+ 679 sin? 0-2r,» sinOcosO o, =o, sin’ 6+a, cos’ 0+ 2r,, sin@cosd ,)sinO.cos0 + r,4(cos? 0—sin? 0)MECH 303 Chaptora 4.5 Axisymmetrical stress and corresponding displacements ¢ Now we apply inverse method to assume that = 6 (r), then we have: 1d, d's te Coesereae) rdr dr? 4, t]} =0 ‘The compatibility Equation reduces to ‘The general solution of this ordinary differential equation is o=Alnr+Brinr+Cr+D, where A, B,C, D are arbitrary constants, the stress then becomes Ge =4450+2Inr) +20 r A 4 +BG+2Inr)+2C r Typ = Tq. =0 It is seen that the stress distribution is symmetrical with respect to any plane passing through the z axis, and this is said to be symmetrical about the axis. By using physical equations, we obtain strain of axisymmetrical problems: By integration, we obtain displacements: (using above 3 equations) 44MECH 303 Chapreré =n) 420 = 1)artinr =) 3u)Br-201- ser] sf), — = A ro \do+ f(r) df,(r dr dO re =0= flr)-r where /76) and f(r) are respectively arbitrary functions of @and r Wf, f= LO F is a constant LO), (soo =F from which we obtain: £()=Hr+F, His an arbitrary constant. 40) =I cos + K sind, I,K are arbitrary constants. Finally, we have the displacement solutions for the axisymmetric problems =z]-0+ ne +2(1—p)BAInr—1)+ (1-34) Br+2(1- 1hcr}1e0s0 Kina r s 80 6 Hy 1sind+ Kind The arbitrary constants A, B, C, H, I, K can be determined by known (boundary) conditions. It is noted that the displacements are usually not symmetrical about the z axis. For plane strain problem, the solution is obtained by simply replace fo > ay 48MECH 303 Chapter 4.6 Hollow cylinder subjected to uniform pressures Evidently the stress distribution must be axisymmetrical, then the stress components can be expressed by 44 nft+2inr)+20, eS Ty =T =0. Ae 9 =-~> + BG+2Inr)+2C, The above arbitrary constants A, B, C are determined by (1) boundary conditions: ‘already satisfied (2) single-valued displacement condition a +Hr—TIsin0 + Ksin@ ee Tnot single-valued.so we must take B=0 Uy = % So finally, we have the stress components: 49MECH 303/Chapierd T,9 =T,=0, O,,0, are principal stress. $f q.=0, only internal pressure q, acts, ~ give the stress expressions ~ give the stress expressions if b/a > « (large body with a circular hole of radius a) If q.=0, only external pressure q, acts, ~ give the stress expressions ~ give the stress expressions when a/b > 0.MECH 303 Chapters 4.7 Pure bending of curved beams Using the general solution for axisymmetrical problems, determine the constants A, B, C by the boundary conditions 0, (already satisfied) atlas OF long =0, fo,dr=0, Joorto=m Na GF Gl 4M ( b* Ob. P . Coe (e- Fe pes , Ty = Ty =0, 2 Ne ane 2 where N = 2-1) -42- (In?) a aMECH 303 Chapiers ¢ Prove that the cross sections of the curved beam remain plane after bending, i.c., the angle of rotation a. of a radial line element of the beam cua or IB E: Elastic modulus, B: Constant H: ConstantMUCH 303.Chapiet 4.8 Rotating Disks 4 Rotating with a constant angular speed @ rad/see. # Body force is the centrifugal force with K,= pw’r, Ke= 0. where pis the density of the material (stress function? ) 4 Axisymmetrical body under axisymmetrical force. ©, 6» are functions of r only, t = tor= 0, Ur = u(r), Ug = 0 # The equilibrium equation is reduced to an ordinary differential equation do, -o% dr r +po'r=0 d 2 or: —(ro,)— 0, + pwr =0 dr This equation can be satisfied by introducing a stress function $(t) such that ro, =, | oro, eo = di C= as, + por dr du, 4, = using geometrical equation (4° =p» €9 =—"> Ya =0) and physical equation (€ => © ), we can obtain the compatibility equation (prove it) as 43z MECH 303/Chhaprera -B+ n)p07 A, Bare determined by # boundary condition 7 the stress at the center of the disk (0) should not become “infinite” ,=> B=0. Finally, we have stress components: e 3+ 1+3 pur? FH petal Eo, Pea (tee 8 a 8 3+ mua The maximum stress occurs at the center of the disk. How we get the solution on MECH 202 ?MECH 303 Chapierd 4.9 Effect of Circular Holes on Stress Distribution # The effect of the hole is negligible at distances which are large in comparison with the dimension of the hole. @ To use polar coordinates is convenient, we convert the far boundary condition in rectangular coordinates into a polar coordinates: +4 c0s26, 1,9], =—Lsin 20 2 ee This surface force can be resolved into two parts: (1) 6 += q/2, tel -»= 0 ; => we have solution already. (b >> a) (2) 6» = (@/2) C0820, Tl m» = (-/2) sind to find the solution of (2), we assume $=£ (1) cos20 (semi-inyerse method) Compatibility condition leads to: f(r) = Ar + Br’ + C + Di’. The constants A, B, C, D can be determined by boundary conditions on the out ring and at the edge of the hole: 6,| =,=0, te] =a=0. Finally, we have: (please prove:) 45MECH 303 Chaprert © What we have when 7 —> © ? * At the edge of the hole (=a), we have y= q (1-2cos20) 50, Salmax=3q (0 = x/2, 3n/2) Solmin=-q (6 =0, 7) © onthe y axis (0-25 |, we have aadied =} Gy decreases rapidly from 3q to q as r 2 ar increases. y © On the x axis (8=0 or 7), we have peetalaa (al, is o2 > peas the distribution is shown in the above figure.MECH 303 Chapter © What about compression (-q) ? When the rectangular plate is subjected to uniform tensile forces of intensity q, and q in the x and y directions respectively, the stress components can be obtained by superposition. (1) q=qi, (2) q=q2 and replace 0 by 0+n/2, (3) adding two results together, (2) See the figure below Determine the stress around a small hole in a plate of any shape and any external loading, 1]MBGH 308 Chaprora 4.10 Wedge loaded at the vertex or the edge (P and/or M) Dimensional analysis: stress component should take the form of P N@B,9), if the wedge is loaded by concentrated load P per unit thickness. ee) Stress function must be expressed as ( o=7(0) © Compatibility equation gives [feet +r6(Ccos@ + Dsin@)=r6(Ccos6 + Dsiné) Av By, Finca fvetion of ond, wo ae! sess8 MECH 303 Chapierd <2> at the vertex of the wedge: cut out a sector of the wedge, by a cylindrical surface ab, the following equilibrium conditions of this sector: LF 5 0] Jo,rcosada|+ Pcos p =0 Dy 2 o> Jo,.rsin awa +Psinf =0 2 D, C. are determined by the above equations. Finally, we have 2f[saeew —) e a+sine a@-sina Next, we consider the case where the wedge is loaded by a couple at its vertex, with moment M per unit thickness. By dimensional analysis, the stress function must be $ = 6(8) Leda oeD) Se +4-£ l=0 r (Z de y $= Acos20 + Bsin20+CO+D # Compatibility condition becomes Exercise: (1) by antisymmetrical distribution of stress, prove that @ = Bsin20 + ce (2) by boundary condition to determine constants B, C. and prove that: 2M sin20 (sina-acosa)y?” M(cos20 - cosa) (sina -acosa)r?MECH 303 Chapter Lastly, consider the case where the wedge is loaded by uniform loads of intensity q on one of its edges, see below, i Exercise: Prove that the stress components are tan a(1 + cos 2)— (26 + sin 20) 4 ee 2(tana—a) tana(I-cos20)-(20—sin 20 moe 2(tana—a) (1-cos2)- tan@sin 20 (tana — a) q.MECH 303 Chapterd 4.11 Concentrated normal load on a straight boundary By using the stress components in the wedge, i.c., taking a=1, B=0, we obtain the stress component in the semi-infinite plate as ge a or Strain components (plane stress condition) _2Pcos , _ 2uPcosd L eee aEp Exercise: By using the condition of symmetry, 719 =O. Halocg = % and the assumption that a certain point on the x axis at a distance d from the origin does not move vertically, obtain the displacement components Ur, Up aS 2P 1 ——— me come ee @sin8, Fa esi 2in)sino @ peer Ocos0. wi Application of this solution to the case below (principle of superposition):MECH 303 Chapters Chapter 5 Torsion 5.1 Elementary Problems of Elasticity in 3-Dimensions Tension or compression of a bar in the axial direction; Uniform hydrostatic compression with no body force; Stretching of a Prismatical Bar by its own weight; Twist of Circular shafts of Constant Cross Section; Pure bending of Prismatical Bars (or shafts); Torsion of Straight Bars (non-circular cross section). eoeee (Saint-Venant Problems)MECH 303 Cnapier's 5.2 Stress Function Solution for Torsion Semi-inverse method: X=Y=Z=0 (no body force) o, + fa Boundary conditions: (i) For Lateral Surface (/, m, n=0) ol+tym+rn=0 identically satisfied oym+T,,1 +7, z i wf on+t,l+7,m=0= shear stress along N —> atthe boundary z is tangent to the boundary.MECH 303 Chapters (ii) For surface at the end (/ =m =0,n =+1) [[Xaxdy =0, [fFdvdy=0, ff(-¥x+Xy}ivdy = ¢ Equilibrium equations become ‘There certainly exists a function (x,y), so that =a9) mc) aaa Ox ite (—» Prandtl stress function (introduced by Prandtl, L.) Stress Compatibility conditions (from strain compatibility condition) become: Vo 2=0 5 Vty,=0MECH 303 Chapier5 ae ae replace Txzs Tyz by oa ad the above two equations become: 6 é — (V9) =0; (V9) =0 x (V"9) ew) = stress function ~@ must satisfy the Poisson equation: V’@=C (constant) 4 The obtained stress from @ must satisfy the boundary conditions (i) On the lateral surface, we have Cee teal es) pe > rae the above boundary along the boundary s, we have / = condition can be written as 6g dy a *)- dp ds ds =0>¢9| = const. Is Is For simplicity, we let P|; = 0. (ii) On the top surface, ¥ =7,., yy, a [[Xaxdy = {fr,dxdy = Wands = Ie, -9, tx = 0, Similarly, {[Ydxdy = 0.Eee MECH303:Cuapters The moment equilibrium becomes. (y+ Yxlixdy = M = 2[fodedy = In summary, to find @, so that V2p=C, gl, =0 and 2 [fdxdy = _lboundtary ace mec ¢ To determine the displacement u, v, w From stress solution, we have if 1 a eee eae ere a ee By geometrical equations, we have ax ae aw ay __ 169 au, dw_ lap a au @ & Ce @& & Gay & a After integration, we have U= Up + Wiz - Oy - Kyz V=Vot OX - Oz + Kxz Kis a constant Neglecting the rigid body displacement Up, Vo, ®(x)s My), O(a), then 35sscsnecnns seauas MECH 303/Chapiar'5 u=-Kyz, v=Kxz which can be expressed in polar coordinates as u,=0, up =Krz We can see that cach cross section (in x-y plane) does not change its shape, only rotates an angle &. =Kz, so the torsion angle per unit length of da baris G =X dz The w displacement component can be obiained from éw _ 1g Oxe (Gaoy Vs The w is normally not equal to zero. By the way, we can prove that V’0=-2GK, ie. Vo= =-2GK 56SMECHSOs CHapIORS ¢ In the case of multiply-connected body, shown below Occont a = eo) The boundary conditions in the outer and inner lateral surfaces lead to the following requirement for p: V79 =C=-2GK; Qlaoutey = 1 =0, Placinner) = P2s M =2 [[pdxdy + 29,4, = 2V where V is the volume of the “sand dune” shown in the figure. Solution of torsion in terms of displacements Assume: u=-Kyz, v=Kxz, w=K'¥(x,y), K is a constant, ‘P(x,y) is called warp function. We can prove that '¥ is a harmonic function, ie, Pye eoRU onan ae aeMECH 303 Chaipian’s 5.3 Membrane Analogy In the solution of torsion problems, the membrane analogy, introduced by L. Prandtl has proved very valuable. Imagine a homogeneous membrane supported at the edges, which has the same outline as that of the cross section of the twisted bar, subjected to a uniform lateral pressure q. z is the displacement of the membrane element in z-direction and S$ is the uniform tension per unit length at its boundary. The equation of equilibrium of the membrane element in z-direction is Oz Oz gqdxdy + a See =0 2 from which wehave V2 a On the boundary, it is clear that Z|, Compared with the differential equation of torsion, we find that @ is q identical to z; “J~ is identical to 2GK, the volume We 2 [fzdedy is identical to the M = 2 [Jgdxdy :MECH 303 Chapt’ About the stress distribution in torsion Consider point B on the membrane, the deflection of membrane along the contour line through B is constant, so we have az ac 0, Cis the length coordinate along the contour. The corresponding equation for the stress function @ is ap (20 dv Op de). ay ac \aydC adc) “dC ‘This expresses that the projection of the resultant shearing stress at a point B ‘on the normal N to the contour line is zero and therefore we may conclude that the resultant shearing stress at point B in the twisted bar is in the direction of the tangent to the contour line through this point. The magnitude of the resultant stress t at B is obtained by projecting 1,,, ty, on the tangent iG T,, cos(NX)—7,, cos(Ny) Bie | oRearg OE ax dN” ay dN) dN ‘Thus the magnitude of + at B is given by the maximum slope of the membrane at this point.MECHI303:Chaprer's 5.4 Examples of Practical Interest @ Torsion of bar with elliptic cross section 2 re 1), where m is a constant to be determine. Substituting 9 into differential equation (V7 = C), we have 2p2 2m 2m Ge ab = 2(a* +b°) Gi To determine C, we substitute @ into equation: 2if pirdy =M , we have 2(a? +b7)M C= ~~ Fabp® > 80 the stress function @ is VCs oo {D> which satisfies all conditions.So MBOR SUS Chaper s According to membrane analogy, it is clear that Tynax is at point B. When a=b (circular cross section), the solution turns to be exactly the same as in “Strength of Materials --- MECH 101” . Now to determine the displacement, by C= -2GK, we have ne s nee immediately we have = (a +b?)M (@+b?)M sie soe mar bG 70°C aw (a? -b7)M aw (a? - b*)M using the relation: 3° = "a or aia by integration, we have: _@?-b?)M (a? -b?)M Se) oer a*b*G we wt ho which means f\(y) = fx(x) = wo (constant, rigid body displacement in z direction). For simplicity, let wo = 0, we have (@ —b?)M no °G xy The above result shows that only when a=b (circular cross section), w=0, i.e., the cross section remains plane. The contour lines for the warped crossms sss ae MECH 308 Chapter 5 section are hyperbolas having the principal axes of the ellipse as asymptotes. (see Figure) @ Torsion of a Bar of Narrow Rectangular Cross Section By membrane analogy, the solution given is very simple: a Assuming a>>b, so we can approximately take a 7 @ basic equation V=C becomes a c With the boundary condition 9|,_.2 = 9, we have 2 Pe bs = 7 using 2 ffgardy=M, we obtain C= a ; v0 finally 9 = 24 — 2) ap __ 6M rae a abMECH'303 Charen Note: Calculating the torque corresponding to above stress (t,,) distribution a we find M’ = ab". This is only one half of the total torque M. The second half is given by the stress component ty which is entirely neglected when we assume the surface of the membrane is cylindrical. Torsion of Thin-walled Tubes RS, By membrane analogy, we can see that the shearing stresses are approximately uniformly distributed over the thickness of the wall since the variation in the slope of the membrane across the thickness is small (i.e., AC and BD are straight lines), therefore the shear stress at any point is (given by the slope) t= o i.e., shear stress is inversely proportional to the wall thickness, The relation between stress and torque M is (by membrane analogy again) M=2Ah = 2A8t where A is the mean of the area enclosed by outer and inner boundaries of the cross section of the tube. Finally, the angle of twist K can be determined by equilibrium of plate CD: A f Tas “= 4A with T and h being constants, we further have