Soil Dynamics

Lecture 05
Elastic Stress Waves in Bars
Luis A. Prieto-Portar, August 2006.
The propagation of stress in an elastic medium.
When stress is applied to a body, that stress will propagate away from the point of
application via stress waves. Different materials will propagate the stress at different
speeds.
For example, in sands the stress will propagate at about 1,000 feet/sec. In sandstones,
the stress will propagate at 14,000 feet/sec.
This lecture deals with the propagation of stress waves in elastic media in the form of
rods, bars or beams.
An example of this type of stress is that induced by a pile driving hammer striking
the head of a pre-cast concrete pile (shown on the next three slides).
The propagation of stress is central to the understanding of how dynamic loads
propagate in soils, whether the loads come from gravity, wind, explosions, etc., or
from earthquakes.
Stress and strain in elastic media.
The notation for the normal and shear stresses in an idealized very small element of a
much larger elastic body is shown below.
1
2
1
2
1
2
x
y
z
xy yx
yz zy
zx xz
x
y
z
xy x
yz y
zx z
Normal stresses,
Shear stresses
u
Normal strains
x
v
y
w
z
v u w v
Shear strains and
x y y z
w v u w
y z z x
u w v u
z x x y












=
=
=

| |
= + =
|

\

| |
= + =
|

\
|
= + =

\
|
|

where is the components

of rotation about the x, y
and the z axes.
Constitutive Relations (Hookes law).
In elastic and isotropic media, the stresses and the strains are related to each other
through relationships called constitutive relationships. These are:
( )
( )
( )
1
2
1
2
1
2
2 1
x x y z
y y z x
z z x y
xy xy
yz yz
zx zx
where E is Young' s elastic mod ulus and is Poisson' s ratio.
Shear stresses and shear strains are related via the shear mod ulus G,
E
G where G
( )
G
G








(
= +

(
= +

(
= +

= =
+
=
=
( )( )
( )
2
2
2
1 1 2
2
x x
y y
z z
x y z
Normal stresses can also be expressed in t erms of strains,
G
G
G
where,
E
and called the volumetric strain
Notice that ,
G









= +
= +
= +
= = + +
+
=
+
Longitudinal Elastic Stress Waves in a Bar.
The rod shown below is experiencing the propagation of a stress wave from left to
right. Using Newtons second law of motion (F = ma) we can find the differential
equation of motion.
( )
( )
2
2
2
2
2
2
2 2
2
2 2
1
C
A x
W V u
A x A ma a a
x g g g t
Since g,
u
x A x Assume A , and
x t
u
since E E, replace in the above equation,
x
u u
E
x x t
u u
or v whe
t x








| |

| |
+ + = = = =
|
|

\
\
=
| |

= =
|

\

| |
= =
|

\
| |

| |
=
|
|

\
\
| |

=
|

\
C
C
v is the longitudinal stress wav
E
re v
w e velo he c e y r . it

=
( ) ( )
( )
( )
1
2
C C
P
t C
A solution to find the displacement due to the stress wave could be,
u F v t x G v t x
The function F v t x is the propagation going along x ( Block # ) at time t ,
u F v t x
At time t t the function is represented by Block # shown below.
= + +
+
= +
+
( ) ( )
( ) ( ) ( )
1 2
t t C
t t t
C P
C
C
Therefore, at time t t,
u F v t t x x
If the block moves left without changing its shape from position# to position# ,
u u
or
F v t x F v t t x x
or
v t x
Therefore, the longitudinal stress wave velocity v
+
+
+
( = + +

=
( + = + +

=
=
( )
C
x
t
Similarly, the functionG v t x represents a wave traveling tothe right.

The velocity of the particles in the stressed zone.

There is a difference between the longitudinal stress wave propagation v
c
and the
velocity of the particles v
c
in the stressed zone.
Consider a compression stress pulse of intensity
x
and duration t applied to the rod.
The compressive stress pulse could be the result of a striking hammer upon a pre-cast
concrete pile. When this stress pulse is initially applied, that zone of the rod or pile
will be under compression. This compression wave will soon move to an adjacent
zone, such that, during the time interval t the stress will have traveled a distance x,
( )
C
C
x x
C
x v t
At an y time later on, that is, when t t' a segment of the pile of length x will
constitute the comressed zone. Hence,
x v t'
The elastic shortening u of the rod in t he wave packet x is thus,
u x v t' where u is the dis
E E

=
>
=
| | | |
= =
| |
\ \
x C
placement of the end of the rod .
The velocity of the particles u is therefore,
v u
u
t' E

= =

Therefore, the particle velocity is a function of the intensity of stress

x
, whereas the
longitudinal stress wave propagates at a velocity is a function of the material properties
only, that is,
The particle and the stress wave velocities are in the same direction when a
compression stress is applied to the end of the pile (or rod).
However, when a tensile stress is applied at the end of the rod, the particle and the
stress wave velocities are in opposite directions.
C
E
v

=
The reflection of elastic stress waves at the end of a rod or bar.
What happens when the stress wave reaches the opposite end of the pile (or rod)?
Notice the compression wave moving towards the right along the bar (or pile) in the
figure (a) below, and the tensile wave moving left.
Notice that when the two stress waves meet at section a-a they cancel each others
stress, but the particle velocity doubles!
After the waves pass each other the stress and velocity go back to zero.
Notice that the section a-a is essentially like a free end. Therefore, in figure (d) below
notice that a compression wave is reflected back as a tension wave. Both have the
same magnitude and shape. Obviously, a tension wave approaching the pile (or rod)
end will be reflected back as a compression wave.
In contrast to the compression versus tension example seen before, the figure below
shows the effect of two identical compression waves traveling in opposite directions.
When they cross each other (shown below) at section a-a, the stress is doubled but
the particle velocity becomes zero.
After the two compression waves pass each other, the stress and particle velocity
return to zero at section a-a.
Notice again, that section a-a remains stationary and hence behaves as the fixed end
of the rod or pile. Notice (below) that at the end, the compression wave is reflected
back also as a compression wave. At the end the stress is doubled.
Torsional waves in a rod (bar or pile).
In the figure below, the rod is experiencing a torsional force or torque T; the bar will
be rotated an angle at a distance x.
T
2
2
2 2 2 2
2
2 2 2 2
s
s
T
T T x J
x t
where J is the polar moment of inertia of the bar cross sec tion.
The torque T itself is given by,
T JG
x
Re placing T in t he force equation yields,
G
or v
t x t x
where,
G
v Notice th







| |
+ + =
|

\

= =

=
C
s
v is the velo
E
e similarity t
city of torsion
o v
wh al wa s ere . ve

=
The differential equation for the torsional stress wave in a bar is found again,
starting with Newtons second law (F = ma),
Former Secretary of State Henry Kissinger listens to a lecture on soil dynamics.
Longitudinal vibration of short bars.
The solution to the differential equation for the longitudinal stress waves of short bars
vibrating in their natural mode is given by,
( )
( )
1 2
1 2
2 2
2
2 2
2
n n
n
C
u( x, t ) U( x ) A sin t A cos t
where, U( x ) is the amplitude of the displacement along the length of the rod ,
A and A are cons tants and is the natural circular frequency of vibration.
u u
Backsubstituting int o v
t x
u x, t


= +

=

( )
( )
( )
( )
( )
( )
2
2 2
2
2
2
1 2
0
0
n
n n
c c
u x,t
x E t
or
U x, t
U x
x E
The solution for the amplitude U x can be of the form,
x x
U x B sin B cos
v v

+ =

| | | |
= +
| |
\ \
1) End conditions: free and free.
At the ends, the stress (and strain) at the ends are zero. In other words, at x = 0
dU(x)/dx = 0 and at x = L dU(x)/dx = 0. Differentiating our proposed solution U(x)
(previous slide),
1 2
1
1
2
2
0 0
0
n n n n
c c c c
n
c
n n
c c
n
c
B x B x dU ( x )
cos cos
dx v v v v
U sin g the first boundary condition yields ,
B
therefore B
v
U sin g the sec ond boundary condition yields ,
B x
( ) sin and sin ce B is not zero ,
v v
L
n or
v





| | | |
=
| |
\ \
= =
| |
=
|
\
=
2
1 2 3
c n
n c
n v L
therefore v
L n
Thus , the equation for the amplitude U ( x ) is ,
n x
U ( x ) B cos where n , , ...
L




= =
| |
= =
|
\
The free-free end condition for the vibration of a longitudinal wave in a short bar.
2) End conditions: fixed and fixed.
At x = 0 U(x) = 0 (that is, no displacement) and also at x = L U(x) = 0.
2
1 1
1
0
0 0
n n
c c
c n
n c
The first boundary condition yields,
B
and the sec ond boundary condition,
L L
B sin and since B yields n
v v
n v L
or therefore v
L n
Thus, the equation for the displacement amplitude U( x ) is,
n x
U( x ) B sin






=
| |
= =
|
\
= =
= 1 2 3 where n , , ...
L
| |
=
|
\
The fixed-fixed end condition for the vibration of a longitudinal short bar.
3) End conditions: fixed and free.
The boundary conditions for this case are,
at x = 0 (fixed end) U(x) = 0
at x = L (free end) dU(x)/dx = 0
2
1
1
0
0
2 1 1 2 3
2
2
n
n n
c c
c
The first boundary condition yields ,
U( x ) B
and the sec ond boundary condition,
B L dU( x )
cos
dx v v
L
or ( n ) where n , , ...
v
Thus , the equation for the displacement amplitude U( x ) is ,
U( x ) B sin




= =
| |
= =
|
\
= =
| |
|
\
=
( )
2 1 n x
L
(

(
(
(
(

The fixed-free end condition for the vibration of a longitudinal short bar.
The torsional vibration of short bars.
Torsional vibration is similar to longitudinal vibrations. The equation for the natural
modes of vibration is given as,
| |
1 2
2 2
2
2 2
n n
s
s
n
( x,t ) ( x ) A sin t A cos t
where is the amplitude of the angular distorsion.
The solutionof the differential equation,
v withthe solutionabove result s in,
t x
n v
for the free free and the fixed fixed end con
L




= +

=

=
( )
2 1
2
s
n
ditions, and
n v
for the fixed free end condition.
L


| |

|
\
=
References.
Dowding C.H., Construction Vibrations, Prentice-Hall, New Jersey, 1996;
Das, B., Principles of Soil Dynamics, PWS-Kent Publishing Co., Boston, 1993;
Richart F.E., Hall J.R., Woods R.D., Vibrations of Soils and Foundations, Prentice-
Hall Inc., New Jersey, 1970;
Humar J.L., Dynamics of Structures, Prentice-Hall, New Jersey, 1990;
Prakash S., Soil Dynamics, McGraw-Hill, New York, 1981;
Timoshenko S.P., Goodier J.N., Theory of Elasticity, McGraw-Hill Book Company,
New York, 1970;