Strain Energy in Linear Elastic Solids

CEE 201L. Uncertainty, Design, and Optimization

Department of Civil and Environmental Engineering
Duke University
Henri P. Gavin
Spring, 2014

Consider a force, Fi , applied gradually to a structure. Let Di be the resulting

displacement at the location and in the direction of the force Fi . If the
structure is elastic, the force-displacement curve follows the same path on
loading and unloading.
Fj

Fi

F
i

Dj

Di
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v(x)
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Fi

w(x)

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D
D+
i

Di

Figure 1. Forces and displacements on the surface of an elastic solid.

If Fi is increased by Fi and the corresponding increase in the displacement

is Di , then as Fi 0, the incremental work, W , done by the load
Fi passing through a displacement Di is approximately Fi Di , or, more
precisely,
W =

Di +Di
Di

Fi (Di ) dDi .

(1)

When the structure is elastic and linear, that is Fi (Di ) = ki Di , the work of
a force increasing from 0 to Fi , moving through corresponding displacements
from 0 to Di is
W =

Di
0

Fi dDi =

Di
0

1
11 2 1
2
ki Di dDi = ki Di =
F = Fi Di .
2
2 ki i
2

(2)

CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2014 H.P. Gavin

If a linear elastic structure is subjected to a system of point forces F1 , F2 , . . . , Fn ,

Fi
Di

Fj

F
1

Dj

Dn Fn

D1
Fn
Dn

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F1
D

D1

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F
1

Di
Fi
Fi
Di

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Dj
Fj

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Fn
Dn

Fj
Dj
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Figure 2. Point forces and collocated displacements on linear elastic solids and structures.

causing displacements, D1 , D2 , . . . , Dn , in the direction of those forces, then

the total external work, W , is given by
W =

1
1
{F1 D1 + F2 D2 + + Fn Dn } = {F }T {D} .
2
2

(3)

In the absence of any energy dissipation, this work is stored in the structure
in the form of strain energy. In elastic structures carrying static loads, the
external work and strain energy are numerically equal to one another.
External Work = Strain Energy
W =U

(4)

Note that forces at xed reaction points, R, do no work because the displacements at the reactions are presumed to be zero.
Example: Small element subjected to normal stress xx

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Strain Energy in Linear Elastic Solids

Strain Energy in a general state of stress and strain

A three dimensional linear elastic solid with loads supplied by external forces
F1 , . . . , Fn , and through support reactions R, can be considered to be made
up of small cubic elements as shown below.
Fi
Di

zz

Fj
Dj
Fn

Dn
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000
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000
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000

F
1

yz

xz
yy

xx

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xy

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Figure 3. Stresses within a linear elastic solid.

The incremental strain energy, dU , for this elemental cube of volume dV can
be written:
1
dU = {xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
2
Integrating the incremental strain energy, dU , over an entire volume, V , the
total strain energy, U , is
1
U=
{xx xx + yy yy + zz zz + xy xy + xz xz + yz yz } dV.
2 V
If the stresses and strains are re-written as vectors,
{}T = {xx yy zz xy xz yz }
{ }T = {

xx yy zz

xy xz yz } ,

then the total strain energy can be written compactly as

1
{}T { } dV.
(5)
U=
V
2
This equation is a general expression for the internal strain energy of a linear
elastic structure of any type. It can be simplied signicantly for structures
built from a number of prismatic members, such as trusses and frames.
CC BY-NC-ND H.P. Gavin

CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2014 H.P. Gavin

Axial Strain Energy, xx = Nx /A,

xx

= u (x)

A short section of a bar subjected to an axial force Nx stretches by du.

dA

Nx

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dx

Nx

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xx

du = (du/dx) dx
= ( xx ) dx

Figure 4. Internal axial forces, deformation, and stresses in a short section of a bar.

The strain along this short section of bar is

du
= u (x) . . . and . . . xx = E xx .
dx
The normal stress on a small part of the cross section, of area dA, is
Nx
xx =
. . . and . . .
xx = xx /E
A
The incremental internal strain energy, dU , in an incremental volume element,
dV , in terms of axial forces Nx and axial displacements u(x) is
xx

2
1 Nx
1 Nx
1
1
(u (x)) dV =
dV = E(u (x))2 dV
dU = xx xx dV =
2
2 A
2 EA2
2
and the total strain energy in a bar in tension or compression is
2
1 Nx
U=
2 l EA2
Since A = A dA,

dA dx or U =

1
2

E(u (x))2

dA dx.

2
1 Nx
1
2
U=
dx
or
U=
EA (u (x)) dx
(6)
2 l EA
2 l
A prismatic bar with a constant axial force, Nx , and a constant strain
xx = x /L, along its length is like a truss element, and the strain energy

can be expressed as
2
1 Nx L
U=
2 EA

or

U=

1 EA 2

2 L x

or simply

1
U = Nx x
2

(7)

CC BY-NC-ND H.P. Gavin

Strain Energy in Linear Elastic Solids

Bending Strain Energy, xx = Mz y/Iz ,

xx

v y

A short section of a beam subjected to a bending moment Mz about the

z-axis bends by an angle d.
y

dx+ dx = dx y dx

Mz

Mz

d = (d /dx) dx = dx

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x
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xx

dx

Figure 5. Internal bending moments, deformation, and stresses in a prismatic beam.

The normal stress on a cross-section element of area dA at a distance y from

the neutral axis is
xx (y) =

Mz y
Iz

. . . and . . .

xx

= xx /E

The strain along this short section of bar at a distance y from the neutral
axis is
xx (y)

= y v y,

. . . and . . .

xx = E

xx

The incremental internal strain energy, dU , in a volume element, dV , in terms

of bending moments Mz (x) and transverse displacement v(x) is
1
dU = xx
2

xx

2
1
Mz y
1 Mz y 2
1
2
dV =

(v (x)y) dV =
dV = E (v (x)y) dV
2
2
I
2 EIz
2

and the total strain energy in a beam under pure bending moments is
1
U=
2

2
Mz
l EI 2
z

y 2 dA dx

or

U=

1
2

E(v (x))2

y 2 dA dx.

Since the bending moment of inertia, I, is A y 2 dA, provided that the origin
of the coordinate system lies on the neutral axis of the beam ( A yz dy dz = 0),
U=

1
2

2
Mz
dx
l EIz

or

U=

1
2

EIz (v (x))2 dx.

(8)

CC BY-NC-ND H.P. Gavin

CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2014 H.P. Gavin

Shear Strain Energy, xy = Vy Q(y)/Iz t(y), xy = vs (x)

A short section beam subjected to a shear force Vy deects by an amount dvs .
y

t(y)
d

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dvs = (dvs /dx)dx = v dx

s
y

Vy

Vy

v
s

y
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xy

dx

Figure 6. Internal shear forces, deformation, and stresses, if a short section of a beam.

xy (y) =

Vy Q(y)
Iz t(y)

. . . and . . .

xy = xy /G

Q(y) = Moment of Area of Cross Section =

d/2
y
2

t(y)y dy

2
1
1 xy
1 Vy2 Q(y)
dU = xy xy dV =
dV =
dA dx
2
2
2G
2 Iz Gt(y)2

Q(y)2
1 Vy2
Q(y)2
1 Vy2 A
U=
dA dx =
dA dx
2
2
2 l Iz G A t(y)2
2 l GA Iz A t(y)2
This last integral reduces to a constant that depends only upon the shape of
the cross-section. This constant is given the variable name .

A
= 2
Iz

Q(y)2
dA
A t(y)2

Values of for some common cross-section shapes are given below ( > 1).
solid circular sections:
solid rectangular sections:
thin-walled circular tubes:
thin-walled square tubes:

1.08
1.15
1.95
2.35

I-sections in strong-axis shear: A/(td)

With this simplication, the internal strain energy due to shear forces is
1
U=
2

Vy2
1
dx =
l GA
2

Vy2
dx .
l G(A/)

(9)
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Strain Energy in Linear Elastic Solids

The term (A/) is called the eective shear area.

As a review of shear stresses in beams, consider the shear stress in a rectangular section (with section d b).
xy =

Q(y) =

d/2
y

t(y)y dy = b
xy

d/2
y

Vy
=
2Iz

Vy Q(y)
Iz t(y)
d/2

y2

y dy = b
2 y

d2 y 2

=b

8
2

d2

y2 .
4

This stress varies parabolically along the direction of the applied shear. It is
maximum at the centroid of the section and zero at the ends.
By analogy, the corresponding shear strain energy equation in terms of displacements is
1
G(A/)(vs (x))2 dx
(10)
U=
2 l
where the total transverse displacement is a combinastion of bending-related
vb (x) and shear-related vs (x) displacements, v(x) = vb (x) + vs (x). For example,
Vz (x)
Mzz (x)
dx
and
vs (x) =
dx .
vb (x) =
EIzz (x)
GA(x)/

CC BY-NC-ND H.P. Gavin

CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2014 H.P. Gavin

Torsional Strain Energy, x = Tx r/J, x = r

A short section of a circular shaft loaded with a torque Tx twists by an
angle d.
y

y
r
z

R(d /dx) = R

Tx

Tx

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dx
Figure 7. Internal torsional moments, deformation, and stresses in a short section of a shaft.

The circumferential shear stress x (r) is

Tx r
. . . and . . .
J
and the corresponding shear strain is
x (r) =

x (r) = r

. . . and . . .

x = x /G

x = Gx

The incremental internal strain energy dU in terms of torsional moments

Tx (x) and torsional rotations (x) is
2
1 Tx r
1 Tx r2
1
1
( r) dV =
dV = G( r)2 dV
dU = x x dV =
2
2 J
2 GJ 2
2
and the total strain energy for the shaft is
2
1 Tx
1
r2 dA dx
or
U=
G( )2
r2 dA dx.
l J 2G A
l
A
2
2
Since the term A r2 dA is the same as the polar moment of inertia, J,

U=

2
1
1 Tx
dx
or
U=
GJ( (x))2 dx.
(11)
l GJ
l
2
2
For a prismatic shaft with a constant torque along its length Tx , and a total
twist , the strain energy can be expressed as

U=

2
1 Tx L
U=
2 GJ

or

U=

1 GJ 2

2 L

or simply

1
U = Tx
2

(12)

CC BY-NC-ND H.P. Gavin

Strain Energy in Linear Elastic Solids

Total Strain Energy arising from Combined Axial Stresses

As a review of the material above, consider a three-dimensional bending
problem with a super-imposed normal force, Nx .

y
My
Nx
Mz

dx
Figure 8. Internal axial force and bending moments in a prismatic beam.

Nx Mz y My z

+
.
A
Iz
Iy
The total strain energy arising from axial and bending eects is
2
1
1 xx
1 1
Un =
xx xx dV =
2 dA dx.
dV =
V
V E
l E
A xx
2
2
2
2
The term xx in the integral above can be expanded as follows.
xx =

2
xx dA =

N2
x
A A2

2
2
Mz y 2 My z 2
Nx Mz y
Nx My z
Mz My zy
+
+2
2
dA.
+
2
2
2
Iz
Iy
AIz
AIy
Iz Iy

But, since the coordinate axes are assumed to pass through the centroid of
the cross-sectional area,
A

y dA =

z dA =

yz dA = 0

Therefore, the total potential energy is simply the sum of the potential energies due to axial and bending moments individually.
2
2
2
1 Nx
1 Mz
1 My
Un =
dx +
dx +
dx
2 l EA
2 l EIz
2 l EIy
CC BY-NC-ND H.P. Gavin

10 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2014 H.P. Gavin

Total Strain Energy arising from Combined Shear Stresses

Just as a structural element can be subjected to combined normal and bending stresses, combined shear stresses can also act together.

y
Vy
Tx
Vz

dx
Figure 9. Internal shear forces and torsional moment in a short section of a beam.

xy =

Vy Qy (y)
Iz tz (y)

xz =

Vz Qz (z)
Iy ty (z)

x =

Tx r
J

Through mathematical manipulations similar to those above, it can be shown

that
2
Vy2
Vz2
1
1
1 Tx
Uv =
dx +
dx +
dx ,
2 l G(A/y )
2 l G(A/z )
2 l GJ
where
A
y = 2
Iz
A
z = 2
Iy

Q (y)
y
dA
A
tz (y)
Q (z)
z
dA
A
ty (z)

Total Strain Energy

The total strain energy for solids subjected to axial, bending, shear, and
torsional forces is the sum of Un and Uv above.
CC BY-NC-ND H.P. Gavin

11

Strain Energy in Linear Elastic Solids

Summary
Strain energy is a kind of potential energy arising from stress and deformation
of elastic solids. In an elastic solid, the work of external forces, W , is stored
entirely as elastic strain energy, U , within the solid.
In linear elastic solids:

Displacements and rotations increase linearly with forces and moments.

The work of an external force F acting through a displacement D on

1
the solid is given by W = 2 F D.

The work of an external moment M acting through a rotation on the

solid is given by W = 1 M .
2

For slender structural elements (bars, beams, or shafts) the internal forces,
moments, shears, and torques vary along the length of the element. So do
the displacements and rotations.
The strain energy of spatially-varying internal forces F (x) acting through
spatially-varying internal displacements D(x) is

U=

1
2

F (x)

dD(x)
1
dx =
dx
2

F (x)D (x) dx

The strain energy of spatially-varying internal moments M (x) acting through

spatially-varying internal rotations (x) is

U=

1
2

M (x)

d(x)
1
dx =
dx
2

M (x) (x) dx
CC BY-NC-ND H.P. Gavin

12 CEE 201L. Uncertainty, Design, and Optimization Duke University Spring 2014 H.P. Gavin

force

Axial

Bending

deformation

Nx (x)

u (x)

Mz (x)

v (x)

Vy (x)

vs (x)

Shear

Torsion

E(x)
G(x)

Tx (x)

(x)

strain energy (U )

1
2

1
2

1
2

1
2

Nx (x)u (x)dx

1
2

Mz (x)v (x)dx

1
2

Vy (x)vs (x)dx

1
2

Tx (x) (x)dx

1
2

Nx (x)2
dx
E(x)A(x)

1
2

Mx (x)2
dx
E(x)I(x)

1
2

Vx (x)2

dx
A(x)

G(x)

Tx (x)2
dx
G(x)J(x)

1
2

1
2

E(x)A(x)(u (x))2 dx
l

E(x)I(x)(v (x))2 dx
l

G(x)
l

A(x)
2
(vs (x)) dx

G(x)J(x)( (x))2 dx
l

is Youngs modulus
is the shear modulus

A(x) is the
I(x) is the
A(x)/ is the
J(x) is the

cross sectional area of a bar

bending moment of inertia of a beam
eective shear area of a beam
torsional moment of inertia of a shaft

Nx (x)
Mz (x)
Vy (x)
Tx (x)

is
is
is
is

the
the
the
the

axial force within a bar

bending moment within a beam
shear force within a beam
torque within a shaft

u(x)
u (x)
v(x)
v (x)
vs (x)
vs (x)
(x)
(x)

is
is
is
is
is
is
is
is

the
the
the
the
the
the
the
the

axial displacement along the bar

axial displacement per unit length, du(x)/dx, the axial strain
transverse bending displacement of the beam
rotation per unit length, the curvature, approximately d2 v(x)/dx2
transverse shear displacement of the beam
transverse shear displacement per unit length, dvs (x)/dx
torsional rotation (twist) of the shaft
torsional rotation per unit length, d(x)/dx

CC BY-NC-ND H.P. Gavin