2.4.

1: Transformation of Stress
• Direction cosines z
Z
X
x y z θxZ
θxX
X l1 m1 n1

Y l2 m2 n2 y
Z l3 m3 n3

x
• Orthogonality properties θxY 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

• Normal vector to plane N =l iˆ + m ˆj + n kˆ
y
−σ z N
AOBC AOAC AOBA
x = l;= m;= n
AABC AABC AABC
P
A
σP
Stress vector on plane P:
   
−σ x
O
σ P =l σ x + m σ y + n σ z

σ P = σ Px iˆ + σ Py ˆj + σ Pz kˆ
C
−σ y
z

Components of the stress vector σ P : σ Px =l σ xx + m σ yx + n σ zx
σ Py =l σ xy + m σ yy + n σ zy
σ Pz =l σ xz + m σ yz + n σ zz
 Normal and shear stresses

• Normal and shear components

 
σ PN= N • σ P

( ) ( )
σ PN = l 2 σ xx + m 2 σ yy + n 2 σ zz + 2m n σ yz + 2n l ( σ xz ) + 2l m σ xy

σ PS = σ 2P − σ 2PN = σ P2x + σ P2y + σ P2z − σ P2N

• We often need the maximal and minimal

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

• Similarly, obtain

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

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

• How do we reduce these to a single short line?

 More compact notation

• Stress tensor transformation

 l1 m1 n1  σ xx σ xy σ xz   l1 l2 l3 
   
=Tnew l2 m 2 n 2   σ xy σ yy σ yz   m1 m 2 m3 
 l3 m3 n 3   σ xz σ yz

σzz   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
σ Px =l σ xx + m σ yx + n σ zx =l σ
σ Py =l σ xy + m σ yy + n σ zy =m σ
σ Pz =l σ xz + m σ yz + n σ zz =n σ
• That is, [l,m,n] is eigenvector of stress matrix
σ xx − σ σ xy σ xz   l  0  σ xx − σ σ xy σ xz
    
 σ xy σ yy − σ σ yz  m = 0  → σ xy σ yy − σ σ yz = 0
   m  0 
σ
 xz σ yz σ yy − σ     σ xz σ yz σ zz − σ

• Principal stresses are the eigenvalues.

• What properties eigenvalues of symmetric matrix?
 Stress invariants
• Setting determinant to zero gives
σ3 − I1 σ 2 − I 2 σ − I3 =
0
I1 = σ xx + σ yy + σ zz

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

σ xx σ xy σ xz
I=
3 σ xy σ yy σ yz= σ xx σ yy σ zz + 2 σ xy σ yz σ xz − σ xx σ 2yz − σ yy σ 2xz − σ zz σ 2xy
σ xz σ yz σ zz

• Why are the I’s 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 σ xx + σ yy + σ zz
• Mean normal stress σ=
m =I1
3 3
• We divide stress tensor
as T= Tm + Td
σ m 0 0 σ xx − σ m σ xy σ xz 
 
=Tm  0 =σ m 0  Td  σ xy σ yy − σ m σ yz 
 0 0 σ m   σ xz σ yz σ m 


• Mean stress responsible

for volume change
• Deviator for yielding
 Plane stress
• 2-D state of stress
σ xx σ xy 0
  σ xx σ xy 
σ zz =σ xz =σ yz =→
0 T= σ yx σ yy 0 = 
 0   σ yx σ yy 
 0 0

• Direction cosines
x y z
Y y

l1 = cos θ m1 = sin θ n1=0

X
θ π −θ
X
2

π +θ Y
2 l2 = − sin θ m 2 = cos θ n2=0
θ
Z l3=0 m3=0 n3=1
x
 Stress transformation
• Matrix version σXX σXY   cos θ sin θ  σ xx σ xy  cos θ − sin θ 
= =   − sin θ cos θ   σ 
σ yy   sin θ cos θ 
T
σ
 YX σ YY     yx

• Or σ XX = σ xx cos 2 θ + σ yy sin 2 θ + 2 σ xy cos θ sin θ

σYY = σ xx sin 2 θ + σ yy cos 2 θ − 2 σ xy cos θ sin θ
σ XY = (
− σ xx − σ yy ) (
sin θ cos θ + σ xy cos 2 θ − sin 2 θ )
σ XX = 1
2( σ xx + σ yy ) + 12 ( σ xx − σ yy ) cos 2θ + σ xy sin 2θ
σYY = 12 ( σ xx + σ yy ) − 12 ( σ xx − σ yy ) cos 2θ − σ xy sin 2θ

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

• Review Mohr’s 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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