Main formulae S1

Simple bending (engineer’s bending theory):

𝑀 𝜎 𝐸
= =
𝐼 𝑦 𝑅

d𝑄
= −𝑤(𝑥 )
d𝑥
d𝑀
𝑄=
d𝑥

d
𝑀 = −𝐸𝐼
d𝑥

Second moment of area:

Rectangle: Circle:

𝐼 = 𝐼 =

𝐼 = 𝐼 + 𝐴ℎ

Torsion of a circular section:

𝑇 𝜏 𝐺𝜃
= =
𝐽 𝑟 𝐿

𝜋𝑅
𝐽=
2

Buckling:
𝐹 =
Main formulae S2

Stress
 Definition of the stress vector:
The stress vector T at point M with respect to a facet of outward normal
unit vector ⃗ is given by:
  xx  xy  xz   nx 
  
T ( M , n)    yx  yy  yz  .  n y 
  
 zx  zy  zz   nz 

 Stress equilibrium (where f is the vector of volume forces, ie, gravity),

for a plane stress state (2D)

  xx  xy
   fx  0
 x y

  xy   yy  f  0
 x y
y

Strain
 Definition of the strain matrix as a function of the components of the
displacement vector ⃗

 u x 1  u x u y  1  u x u z 
      
 x 2  y x  2  z x 
 1  u u  u y 1  u y u z  
   x  y    
 2  y x  y 2  z y  
 
 1  u x  u z  1  u y u z  u z 
 2  z     
 x  2  z y  z 
  Solid rotation matrix:
 1  u x u y  1  u x u z 
 0      
 2  y x  2  z x 
 1  u u  1  u y u z  
    x  y  0   
 2  y x  2  z y  
 
  1  u x  u z  1  u u  
 2  z    y z 0 
 x  2  z y  

 Volume change:
V1  V0
  I   II   III  trace()
V0

Stress and strain transformation

 The relationship between the components of the strain matrix in
reference frame (x,y,z) and in a new reference frame (x’,y’,z) rotated by
an angle theta (see schematic below) is:
  xx   cos 2 
'
sin 2  2 cos  sin     xx 
 '    
  yy    sin  cos  2 cos  sin     yy 
2 2

  xy'    cos  sin  cos  sin  cos 2   sin 2     xy 

  

This can also be expressed in a linearized way

using the double angle 2
  xx'  1  cos 2 1  cos 2 2sin 2    xx 
 '  1   

 yy  2  1  cos 2 1  cos 2 2sin 2   yy 
  xy 
'
  sin 2 sin 2 2 cos 2    xy 
 
The same relationships hold for the stress matrix components.

 Mohr circle
  Invariants and principal values
Strain invariants: I1 ( )  tr ( )   xx   yy ; I 2 ( )   xx yy   xy xy
(same for stress)
Characteristic equation: X  I1 X  I 2  0
2

Constitutive relations

 3D Hooke’s law  Inverse 3D Hooke’s law

 
 xx  (1  )(1  2 )  (1  ) xx   ( yy   zz ) 
1 E
 xx  ( xx  ( yy   zz ))
E 


 yy  (1  )(1  2 )  (1  ) yy  ( xx   zz ) 
E
  1 (  (   ))
 yy E yy xx zz

 
 zz  (1  )(1  2 )  (1  ) zz   ( yy   xx ) 
E
 zz  1 ( zz  ( xx   yy ))
 E 
 
  1   
E
 xy  1   xy
 xy E
xy

 1    E 
 xz   xz  xz 1  xz
 E 
  yz  E  yz
1   1 
 yz   yz
 E

 Hooke’s law in plane stress:

 E E 
 0 
  xx   1  1  2
2
   xx 
   E  
0    yy 
E
  yy    1  2 1  2 
    
 xy  E   xy  
 0 0   zz   ( yy   xx )
 1   and 1 

 Inverse Hooke’s law in plane stress:

 1  
  0 
  xx   E E
   xx 
     
0    yy 
1
  yy     E E 
    
 xy  1    xy 
 0 0 
 E 
  Hooke’s law in plane strain:
  xx   1   0    xx 
  E   
 
 yy  1  1  2   1   0    yy 
      0 1  2    xy   zz   ( xx   yy )
 xy   0
with

 Inverse Hooke’s law in plane strain:

  xx   1   0    xx 
  1    

    1   0   
E 
yy yy
  
1    xy 

 xy   0 0

Complements
 Von Mises equivalent stress (for a plane stress state)

 eq   xx2   yy2   xx yy  3 xy2

 Elastic strain energy:
1
2 V
We   : dv

 :    xx xx   yy yy   zz zz  2 xy xy  2 xz xz  2 yz yz

with