Week 1

1
Mechanics of Solids II (MECH3361/5361)

1. Introduction
COURSE OUTLINE

Aims: To learn how to analyse the behaviour of solid materials and structures subjected to
stress and deformation in more complex scenarios.

Lecturers, Tutorials and Lab:
Lectures: Monday: 11am-1pm and Wednesday: 11am-12pm (PNR Lect Theatre 1-Farrell)
Tutorials: 2-4pm Monday (Mech Tut Rm 1 & 2, PNR Drawing office 1), Wednesday
(Chemical Engineering Lecture Room 1), Friday (Mechanical Engineering
Drawing Office)
Classroom activities: Run Classroom activities for attendance checking during lectures
indefinitely.
Lab: 2-5pm each Tuesday, Thursday and Friday, s163, Mechanical Building

Learning suggestions:
Reading text and lecture notes. Do more exercises. Participate in computer lab sessions,
Prepare yourself before walk into tutorial class.

Assessments:
- A final examination at the end of the semester (50%)
- Four assignments: 20% (5% each) to be finished INDEPENDENTLY
- Two in-class quizzes: 20% (10% each) Semi-open book
- A laboratory experiment on the strain gauge technique and knowledge: 10%
(5% for quiz, and 5% for the groups lab report). Each student is responsible to make
sure that his/her name and student ID are presented in the submitted report. Fail to do
so will lead to 0% of the lab report mark.
Note: A late submission of each day will result in a mark reduction of 25% for both
the assignments and lab report.

2. RELATION WITH OTHER UNITS

Engineering
Mechanics
ENGG1802
Dynamics I
AMME2301
Mechanics
of Solids I
AMME2500
Engineering
Dynamics II
Particle dynamics
displacement,
velocity,
acceleration
Non-deformable
Deformable
Forces, Moments
Free body diagram
Stress, deflection
Bar, shaft, beam,
column (simple)
3U Maths/2U Physics in high school
MECH3361
Mechanics
of Solids II
Deformable
Stress, Strain
2D and 3D
problems (complex)
AMME3500
Engineering
Dynamics III
Control
Non-deformable
Non-deformable Non-deformable
Rigid body dynamics
Linear/angular motion
Week 1
2
3. MECHANICS OF SOLIDS I (AMME2301)
Stress analysis:

( ) ( ) A y dy y yt y Q
top
y
y
' ' = =
}
A is the top (or bottom) portion of the members cross-section
Deformation:
Torsional angle of twist:
GJ
TL
= T-Torque, L=length, G=shear modulus, J=polar moment of inertia
Axial deformation (elongation):
EA
PL
= o P=axial force, L=length, E-Youngs modulus, A=cross-sectional area
Bending deformation
Deflection:
( )
D Cx dxdx
EI
x M
v + + =
}}
or ( ) D Cx dxdx x M EIv + + =
}}

Slope:
( )
C dx
EI
x M
dx
dv
+ = = u
}
or ( ) C dx x M
dx
dv
EI EI + = = u
}

M=bending moment, I=second moment of inertia, E=Youngs modulus
Biaxial Stress Systems and Mohr circles

Bending normal
stress
o
M
= -My/I
Total normal
stress
o =F/A -My/I
Torsional
Load
(Torque T)
Bending
Load
(Transverse
Force P)
Combined
Loads
Stress
Distributions
Stresses Stresses Produced by Each Load Individually
T
B
x A
D
B
N.A.
x A
D
P
P
T
A
B
D
N.A.
x
B
A
D
F
F
o
avg
Tensile average
normal stress
o
avg
=F/A
Torsional shear
stress
t
T
= T/J
Transverse
shear stress
t
V
= VQ/It
T
B
A
D
C
C
B
A
D
o
M
B
A,C
D
B
A,C
D
B
A
D
C
t
B
A
D
C
Total shear
stress at N.A.
t = VQ/ItT/J
Axial
Load
(Force F)
y
y
N.A.
N.A.
N.A.
+o
xx
+o
yy
o
xx
x
y
+t
xy
+t
yx
Upward in the
right hand face
Tensile or
outward direction
-o
xx
-o
yy
o
xx
x
y
-t
xy
-t
yx
Downward in the
right hand face
Compressive or
inward direction
t
sn
o
nn
o
yy
o
xx
t
xy
t
xy
t
max
o
11
o
22
t
max
2u=2u
p1
2
( )
2
yy xx
o + o
2
2
2
xy
yy xx
R t +
|
|
.
|

\
| o o
=
2u
p2
180
Week 1
3
Mechanics of Solids II (MECH3361)

Chapter 1 Stress

1.1 Definition of Stress

External forces on a body
Consider an element of continuous (no voids) and cohesive (no cracks, breaks and defects)
material subjected to a number of externally applied loads as shown in Fig. 1.1a). It is
supposed that the member is in equilibrium.


(a) (b)
Fig. 1.1 External and internal forces in a structural member

If we now cut this body, the applied forces can be thought of as being distributed over the cut
area A as in Fig. 1.1b). Now if we look at infinitesimal regions AA, we assume the resultant
force in this infinitesimal area is AF. In fact, AF is also a distributed force. When AA is
extremely small, we can say that the distributed force AF is nearly uniform. In other words, if
we look at the whole sectioned area, we can say that the entire area A is subject to an infinite
number of forces, where each one (of magnitude AF) acts over a small area of size AA. Now,
we can define stress.

Definition: Stress is the intensity of the internal force on a specific plane
passing through a point.

Mathematically, stress at a point can be expressed as
A A
n
A
A
= =
A
F
T
0
lim o (1.1)
Dividing the magnitude of internal force AF by the acting area AA, we obtain the stress. If we
let AA approach zero, we obtain the stress at a point. In general, the stress could vary in the
body, which depends on the position that we are concerning.

The stress is one of most important concepts that we introduced in mechanics of solids.
Why? Design of structures is largely dependent on stress level for safety reasons.


AF
AF
n
AF
t
Cross section: A AA
F
1
F
2
F
3 F
5
F
4
Free Body Diagram
F
1
F
2
t
n
Week 1
4
Normal and Shear Stress
As we known, force is a vector that has both magnitude and direction. But in the stress
definition, we only consider the magnitude of the force so far. Obviously, this may easily
confuse us. Lets still take patch AA as an example. As we can see, force AF is not
perpendicular to the sectioned infinitesimal area AA. If we only take the magnitude of the
force into account, apparently, the stress may not reflect the real mechanical status at this
point. In other words, we need to consider both magnitude and direction of the force.

Now lets resolve the force AF in normal (AF
n
) and tangential (AF
t
) directions of the acting
area as Fig. 1.1b). The intensity of the force or force per unit area acting normally to section
AA is called Normal Stress, o
nn
(sigma), and it is expressed as:
A
F
n
A
nn
A
A
=
A 0
lim o (1.2)
If this stress pulls on the area it is referred as Tensile Stress and defined as Positive. If it
pushes on the area it is called Compressive Stress and defined as Negative.

The intensity or force per unit area acting tangentially to AA is called Shear Stress, t
nt
(tau),
and it is expressed as:

A
F
t
A
nt
A
A
=
A 0
lim t (1.3)

Unit of stress: N/m
2
or Pa (Pascal). In engineering practice: KPa=10
3
Pa, MPa=10
6
Pa,
GPa=10
9
Pa are used generally.


1.2 Notation for Stresses
Obviously, the elementary notation described above is not sufficiently flexible and convenient
for use in general, because (1) the direction of surface AA can change, and (2) there are
infinite tangential directions on a specific surface. i.e. the normal stress o
nn
can vary with the
direction change of n and shear stress t
nt
can be in any tangential direction of the surface.

Cartesian coordinate system
However, recall that we often solve the engineering problems under a reference coordinate
system, for instance, a Cartesian coordinate system xyz as show in Fig. 1.2. Clearly, it will be
convenient to discuss stress at a point of interest P on an infinitesimal plane through P with its
external normal n in one of the directions along a reference coordinate.

For example, we can consider an infinitesimal sectional plane through P in coordinate z,
where n is coincident with z. Then the traction can be resolved along these three axes as
On the z-sectional plane:
( )
z
z y x
z z
z z
A
n
A d
d
A d
d
A d
d
A d
d d d
A d
d
A
k j i o o o + + =
|
|
.
|

\
|
+ + =
|
|
.
|

\
|
+ +
=
|
.
|

\
|
=
|
.
|

\
|
A
A
=
A
z
y
x
z y x
F
F
F
F F F
F F
T
0
lim
(1.4)
The first suffix of a stress component indicates the direction of the sectional plane (z,
here). The second denotes the direction of the stress component along the coordinate.
k j i
zz zy zx
n
o o o + + = T
z - sectional plane
Resolution direction
(i.e.coordinate directions)
Week 1
5
Positive/negative planes:
If normal is the same as coordinate direction, this plane is positive (Fig. 1.2b). Otherwise
negative (Fig. 1.2c).
Similarly, we can have other infinitesimal planes through P in the direction of other
coordinates. Positive/negative z; Positive/negative y; Positive/negative x; totally six planes.

Fig. 1.2 Stress in Cartesian coordinate

Representation of infinitesimal cube
For the sake of convenient presentation, we often use an infinitesimal cube formed by the six
infinitesimal planes mentioned above as shown in Fig. 1.3. On each plane, we have one
normal stress component and two shear stress components.

Fig. 1.3 Stress in infinitesimal cube

We can arrange the stress component in a form of matrix (or namely, tensor)


Thus from above, we know that the stress state at Point P should be expressed by nine stress
components. In engineering, we denote them as stress matrix or stress tensor:
(
(
(

zz zy zx
yz yy yx
xz xy xx
o o o
o o o
o o o
or
(
(
(

zz zy zx
yz yy yx
xz xy xx
o t t
t o t
t t o


F
1
F
2
F
3
F
5
F
4
x
y
z
o
x
y
z
o
y
z
o
Z-plane
P
zz
o
zy
o
zx
o
x
y
z
o
x
y
z
o
y
z
o
x
y
z
o
x
y
z
o
y
z
o
P
P
n
n
+

Normal in the same
direction of coordinate (z)
Positive
z-plane
Negative
z-plane
Normal in the opposite
direction to coordinate (z)
x
y
z
o
x
y
z
o
y
z
o
zz
o
zy
o
zx
o
zz
o
zy
o
zx
o
yz
o
yy
o
yx
o
xz
o
xy
o
xx
o
xx
o
xy
o
xz
o
yx
o
yy
o
yz
o
zx
o
zy
o
zz
o
x y z
Plane normal to x
Plane normal to y
Plane normal to z
Direction of stress component
(coordinate direction)
Week 1
6
Cylindrical coordinate system
(
(
(

zz z zr
z r
rz r rr
o t t
t o t
t t o
u
u uu u
u


Example 1.1
Draw the stress states at two different points
in a machine component measured as
(
(
(

=
19 15 0
15 17 18
0 18 16
A
(
(
(

=
20 0 0
0 25 20
0 20 19
B
Soln: To reflect the stress matrix to an infinitesimal cube, you can first determine the
corresponding notation.
(
(
(

=
(
(
(

=
zz zy zx
yz yy yx
xz xy xx
A
o o o
o o o
o o o
19 15 0
15 17 18
0 18 16

Thus 0 , 18 , 16 = = =
xz xy xx
o o o , which means in the x-section (ie. front face, or namely, x-
plane), the three components in x, y, and z directions can be determined. Thus, in the x-
section (x-plane), draw positive 16 in x-direction, positive 18 in y-direction, and 0 in z-
direction as shown in the front face of the left infinitesimal element. Similarly, y and z plane
stresses can be drawn as shown:


1.3 Sign of Stresses
It is necessary to define positive and negative sense of stresses for convenience.

Positive direction of normal stress.
Consider normal stress o
nn
on an infinitesimal plane AA
n
, whose external normal is n, We
define that o
nn
is positive if its direction is in the normal direction of section, as in Fig. 1.4
(left). Otherwise, negative (right).
Tensile = positive Compressive= negative

Fig. 1.4 Sign of normal stress (left the same direction as the normal direction of section
plane; right opposite to the normal direction of section plane)
x
y
z
o
x
y
z
o
y
z
o
19
15
18
16
18
15
17
x
y
z
o
x
y
z
o
y
z
o
20
20
19
20
25
x-section
y-section
z-section
z-section
y-section
x-section
x
y
z
o
xx
o
+
positive
x
y
z
o
xx
o

negative
n n
Week 1
7
Positive direction of shear stress.
For a shear stress o
nt
in the infinitesimal plane AA
n
, where t is a tangential direction of AA
n
.
In the positive plane (e.g. Fig. 1.5a, where the external normal n of AA
n
has the same
direction as a coordinate axis x), the positive o
nt
should have the same direction as coordinate
axis t (i.e. y in Fig. 1.5a). In the negative plane, the positive o
nt
should have the opposite
direction to coordinate axis t (i.e. y in Fig. 1.5d).

Fig. 1.5 Sign of shear stress

1.4 Symmetry of the stress matrix

Are they all independent? Or Can we use a smaller number of stress component to facilitate
the description of stress state?

Lets check the infinitesimal element shown before. If we cut the infinitesimal element in the
middle, i.e. a z-section as shown in dashed line. We can have the sectional model on the right
hand side, a 2D version of infinitesimal element.

Fig. 1.6 Equilibrium of element

In the 2D element, the moment equation can be written as:
( )( ) ( )( ) ( )( ) ( )( ) 0
2
1
2
1
2
1
2
1
=
(

|
.
|

\
|
A A A
(

|
.
|

\
|
A A A
(

|
.
|

\
|
A A A +
(

|
.
|

\
|
A A A y z x y z x x z y x z y
yx yx xy xy
o o o o
0 =
yx xy
o o
Thus
yx xy
o o = (Or:
yx xy
t t = )
Similarly by checking equilibrium conditions in the yz- and xz planes, we can have
x
y
z
o
xy
o
+
positive
x
y
z
o xy
o

negative
x
y
z
o
xy
o
+
positive
x
y
z
o
xy
o

negative
n
n
n
n
(Positive-section) (Positive-section)
(Negative-section) (Negative-section)
(a) (b)
(c) (d)
x
y
z
o
x
y
z
o
y
z
o
zz
o
zy
o
zx
o
zz
o
zy
o
zx
o
yz
o
yy
o
yx
o
xz
o
xy
o
xx
o
A
B
C D
A
B C
D
x
y
x
y
yy
o
yy
o
xx
o
xy
o
xy
o
yx
o
yx
o
Ax
Ay
O
Week 1
8
x
y
z
o
10
40(-)
40(-)
10
30(-)
+x-plane
+y-plane
+z-plane

zx xz
o o = (Or:
zx xz
t t = )

zy yz
o o = (Or:
zy yz
t t = )
Thus we have shown that the stress matrix or stress tensor is symmetrical, i.e.

ji ij
o o = (where ) , , , z y x j i = (1.5)
Only SIX independent stress components are needed to describe the stress state at a point.

(
(
(

zz zy zx
yy yx
xx
o o o
o o
o

Example 1.2
(1) Draw an infinitesimal cube to show the stress tensor o
A :
(
(
(

=
10 0 40
0 30 0
40 0 10
A
o
Soln:








(2) Write the stress tensor from the stressed infinitesimal cube (note the signs of the shear
stress are not given in the figure and you need to decide them):


Soln:
Look at the planes in the infinitesimal cube. Obviously, the front y-section is a negative plane
(its normal direction is opposite to y-positive). Other two faces shown are positive planes:
x-plane (positive): ) ( 40 ), ( 20 ), ( 60 z to opp y to opposite n compressio
xz xy xx
= = = o o o

y-plane (negative): 0 ), ( 60 ), ( 20 = = =
yz yy yx
y to opp or tension x as same o o o
z-plane (positive): ) ( 60 , 0 ), ( 40 z as same or tension x to opposite
zz zy zx
= = = o o o
So the stress tensor can be written as:
(
(
(

=
60 0 40
0 60 20
40 20 60
B
o

(
(
(

zz zy zx
yz yy yx
xz xy xx
o o o
o o o
o o o
x
y
z
o
20 20
40
40
60
60
60
- y-plane
+x-plane
x
y
z
o
20 20
40
40
60
60
60
+z-plane
Week 1
9
Recap
Stress
A A
n
A
A
= =
A
F
T
0
lim o
A
F
n
A
nn
A
A
=
A 0
lim o
A
F
t
A
nt
A
A
=
A 0
lim t

Notation for Stresses ( )
z
z y x
z
z
n
A d
d
A d
d
A d
d
A d
d
k j i o o o + + =
|
|
.
|

\
|
+ + =
|
.
|

\
|
=
z
y
x
F
F
F F
T

Stress tensor: | |
(
(
(

=
zz zy zx
yz yy yx
xz xy xx
o o o
o o o
o o o
o
Convention of normal stress:
In any plane (Positive or Negative): Tension: positive Compression: negative

Convention of shear stress:
In Positive plane: + shear stress follows the same direction of coordinate direction
In Negative plane: + shear stress follows the opposite direction of coordinate direction


Example 1.3
(1) Draw infinitesimal cube to show the stress tensor [o
A
]
| |
(
(
(

=
10 0 40
0 30 20
40 20 10
A
o
Soln: Note that the coordinator is different from that in Ex 1.2.
AF
AF
n
AF
t
Cross section: A AA
F
1
F
2
F
3 F
5
F
4
Free Body Diagram
F
1
F
2
t
n
F
1
F
2
F
3
F
5
F
4
x
y
z
o
x
y
z
o
y
z
o
Z-plane
P
AF
x
AF
y
AF
z
k j i
zz zy zx
n
o o o + + = T
z - sectional plane
Resolution direction
(i.e.coordinate directions)
x
y
z
o
x
y
z
o
y
z
o
zz
o
zy
o
zx
o
zz
o
zy
o
zx
o
yz
o
yy
o
yx
o
xz
o
xy
o
xx
o
xx
o
xy
o
xz
o
yx
o
yy
o
yz
o
zx
o
zy
o
zz
o
x y z
Plane normal to x
Plane normal to y
Plane normal to z
Direction of stress component
(coordinate direction)
x
y
z
o
x
y
z
o
y
z
o
xx
o
+
positive
x
y
z
o
x
y
z
o
y
z
o
xx
o

negative
x
y
z
o
x
y
z
o
y
z
o
xy
o
+
positive
x
y
z
o
x
y
z
o
y
z
o xy
o

negative
x
y
z
o
x
y
z
o
y
z
o
xy
o
+
positive
x
y
z
o
x
y
z
o
y
z
o
xy
o

negative
n
n
x
y
z
o
x
y
z
o
y
z
o
xy
o
+
positive
x
y
z
o
x
y
z
o
y
z
o xy
o

negative
x
y
z
o
x
y
z
o
y
z
o
xy
o
+
positive
x
y
z
o
x
y
z
o
y
z
o
xy
o

negative
n
n
x
y
o
z
Week 1
10
y-plane
x-plane
x
y
z
o
20 20
40
40
60
60
60
z-plane
Step 1: Determine the convention of section planes (all + in the visible planes).
Step 2: | |
(
(
(

=
(
(
(

=
zz zy zx
yz yy yx
xz xy xx
A
o o o
o o o
o o o
o
10 0 40
0 30 20
40 20 10
.
Step 3: In +x-plane: 40 , 20 , 10 = = =
xz xy xx
o o o
In +y-plane: 0 , 30 , 20 = = =
yz yy yx
o o o
In +z-plane: 10 , 0 , 40 = = =
zz zy zx
o o o
(2) Write the stress tensor from the stressed infinitesimal cube
(note the signs of the shear stress are not given in the figure and
you need to decide them):
Soln:
Step 1: Determine the convention of section planes. Look at the
visible planes in the infinitesimal cube. Obviously, the visible x-
plane is a negative plane (its normal direction is opposite to x-
positive). Similarly, other two faces shown are also negative
sections as shown.
Step 2: In x-plane:
) ( 40 ), ( 20 ), ( 60 z as same y to opposite n compressio
xz xy xx
+ = + = = o o o
In y-plane: 0 ), ( 60 ), ( 20 = = + =
yz yy yx
tension x to opposite o o o
In z-plane:
) ( 60 , 0 ), ( 40 tension x as same
zz zy zx
= = + = o o o
Step 3: write the stress tensor
(
(
(

=
60 0 40
0 60 20
40 20 60
B
o

1.5 Stress Transformation
Stresses in any direction (2D) (Mechanics of Solids I)
Cut a triangle in 2D infinitesimal element, leaving the left and bottom sides and a third side
inclined at an angle u from the vertical. Two of its surfaces have the normals in the opposite x
and y directions; the third has a normal at an angle u from the x axis, as in Fig. 1.6 (right).

Fig. 1.6 Stress in different direction Fig. 1.7 Stresses with coordinate rotation

It is now necessary to apply the equilibrium equations about the Normal n & Tangent t axes.
u u t u u t u u o u u o o sin ) cos ( cos ) sin ( cos ) cos ( sin ) sin ( 0



y x
x
y
V
xy
V
yx
F
xx
F
yy nn n
A A A A A F = =

o
xx
o
yy
o
yy
o
xx
x
y
x
y
t
xy
t
yx
A
c
o
s
u
Asinu
t
tn
t
xy
o
yy
o
xx
u
u
u
u
u
o
nn
x
y
x
y
u
n
t
A
yx
t
o
xx
o
yy
o
yy
o
xx
x
y
x
y
t
xy
t
yx
A
c
o
s
u
Asinu
t
tn
t
xy
o
yy
o
xx
u
u
u
u
u
o
nn
x
y
x
y
u
n
t
A
yx
t
x
y
o
x
y
o
x

u
o
xx
o
yy
o
xx
o
xy
o
yy
o
xy
u
u+90
x
y
o
10
40
30
+z-plane
+x-plane
+y-plane
z
10
40
20
20
x
y
z
o
20 20
40
40
60
60
60
Week 1
11
Since
yx xy
t t = , the above equation can be simplified to:
u u t + u o + u o = o sin cos sin cos
xy yy xx nn
2
2 2
(1.6a)
Using the following trigonometric functions:
( ) u + = u 2 1
2
1
2
cos cos ( ) u = u 2 1
2
1
2
cos sin u u = u sin cos sin 2 2
we can obtain:
( ) ( )
u t + u
o o
+
o + o
= o 2 2
2 2
sin cos
xy
yy xx yy xx
nn
(1.6b)
And in a similar way, by applying equilibrium in tangential (t) axis and using the
trigonometric functions we can get:
u u t u u t u u o u u o o cos ) cos ( sin ) sin ( sin ) cos ( cos ) sin ( 0



y x
x
y
V
xy
V
yx
F
xx
F
yy nt t
A A A A A F + + = =

| | | | u t u t u u o u u o o
2 2
cos sin cos sin 2
2
1
cos sin 2
2
1
xy yx xx yy nt
+ =
Use trigonometrics, we can have: ( ) ( ) u u u u u 2 cos 2 cos 1
2
1
2 cos 1
2
1
sin cos
2 2
= + =
( )
u t u
o o
t 2 cos 2 sin
2
xy
xx yy
tn
+

= (1.7)
Based on these above two equations, we can determine the stress in any plane.

Stresses with coordinate axis rotation (Mechanics of Solids II)
Lets consider 2D stress state undergoing coordinate rotation, from xoy to xoy (Fig. 1.7).
' ' x x
o can be determined from the previous section where the coordinate x is coincide with
normal n. Thus the stress in an inclined plane of u can be calculated by
u u o u o u o o sin cos 2 sin cos
2 2
' ' xy yy xx x x
+ + = (1.8)
' ' y y
o can be determined by viewing the inclined plane with angle of (u+90)

( ) ( ) ( ) ( )
( )
u u o u o u o
u u o u o u o
u u o u o u o o
cos sin 2 cos sin
cos sin 2 cos sin
90 sin 90 cos 2 90 sin 90 cos
2 2
2 2
2 2
' '
xy yy xx
xy yy xx
xy yy xx y y
+ =
+ + =
+ + + + + + =

Thus u u o u o u o o cos sin 2 cos sin
2 2
' ' xy yy xx y y
+ = (1.9)
Similarly
( )
u o u
o o
t o 2 cos 2 sin
2
' ' ' ' xy
xx yy
y x y x
+

= = (1.10)

Remarks:
Lets add (1.8) to (1.9)
( ) ( ) u u o u u o u u o u u o o o cos sin 2 cos sin 2 cos sin cos sin
2 2 2 2
' ' ' ' xy xy yy xx y y x x
+ + + + = +
Thus:
yy xx y y x x
o o o o + = +
' ' ' '

which means that the summation of two normal stress components is independent on the
rotation of coordinate system. We will show this again in 3D: const
zz yy xx
= + + o o o .

Week 1
12
Example 1.4
Rotate the following stress tensors about z-axis for u=90
o
(units MPa). .
3
2
1 1
] [
0 0
0 1
0
|
|
|
.
|

\
|

= o
Soln: Since the rotation is about z-axis and 0 = =
zy zx
o o , we do not need to change z-directional
stresses:
2 1 0 ) 1 ( 2 1 ) 2 ( 0 ) 1 ( 90 sin 90 cos ) 1 ( 2 90 sin ) 2 ( 90 cos ) 1 (
sin cos 2 sin cos
2 2
2 2
' '
= + + = + + =
+ + = u u o u o u o o
xy yy xx x x

1 90 cos 90 sin ) 1 ( 2 90 cos ) 2 ( 90 sin ) 1 (
cos sin 2 cos sin
2 2
2 2
' '
= + =
+ = u u o u o u o o
xy yy xx y y

( )
( )
( ) ( ) ( ) ( ) ( ) ( ) 1 180 cos 1 180 sin
2
1
90 2 cos 1 90 2 sin
2
1 2
2 cos 2 sin
2
' '
= + = +

=
+

= u o u
o o
t
xy
xx yy
y x

3
' '
= =
zz z z
o o (rotates about z-axis)
Thus: .
3
1
1 2
] ' [ MPa
0 0
0 1
0
|
|
|
.
|

\
|
= o

Principal stresses (Mechanics of Solids I)
To find the maximum stress, mathematically, we can solve from Eq. (1.6b)
( ) ( )
( ) 0 2 cos 2 2 sin
2 sin 2 cos
2 2
0
= + =
(

+
+
c
c
= =
c
c
u o u o o
u o u
o o o o
u u
o
xy yy xx
xy
yy xx yy xx
nn

yy xx
xy
p
o o
o
u

=
2
2 tan
(1.11)
where the maximum normal stresses occur. We call such a maximum and minimum
nn
o the
principal stresses. From Eq. 1.10, ( ) u o u o o o 2 cos 2 2 sin 2
' ' xy yy xx y x
+ = , we can obtain
0 ) / ( 2
' '
= c c = u o o
nn y x
, meaning that when
nn
o reaches its extrema (principal stresses)
on the plane, 0 =
nt
o . (In other words, if seeing a zero shear plane, this plane is a
principal plane).
In Eq. (1.11), there are two roots u
p1
and u
p2
. (2u
p1
and 2u
p2
are 180 apart, thus u
p1
and u
p2

are 90 apart.), i.e.
Two roots: ( )
yy xx
xy
p p
o o
o
u u

= + =
2
180 2 tan 2 tan
Thus for u
p1
( )
2
yy xx
o o
xy
t
( )
2
2
2
xy
yy xx
t
o o
+
(

2u
p
2u
p
+180
Fig. 1.8 principal stress and principal plane
Week 1
13
( )
( ) ( )

+
(

=
+
(

=
2
2
1
2
2
1
2 2
2 cos
2
2 sin
xy
yy xx yy xx
p
xy
yy xx
xy p
o
o o o o
u
o
o o
o u
(1.12)
For u
p2
(=u
p1
+90)
( )
( ) ( )

+
(

=
+
(

=
2
2
2
2
2
2
2 2
2 cos
2
2 sin
xy
yy xx yy xx
p
xy
yy xx
xy p
o
o o o o
u
o
o o
o u
(1.13)
Substituting the above two trigonometric relations into

( ) ( )
u o u
o o o o
o 2 sin 2 cos
2 2
xy
yy xx yy xx
nn
+

+
+
=
we can have
( ) ( )
( )
( ) ( )
( )
( )
( )
( ) ( )
2
2
2
2
2
2
2
2
2
2
2
2 2
2
2
2
2 2
2
2 2
xy
yy xx yy xx
xy
yy xx
xy
yy xx
yy xx
xy
yy xx
xy
xy
yy xx
yy xx
yy xx yy xx
nn
o
o o o o
o
o o
o
o o
o o
o
o o
o
o
o o
o o
o o o o
o
+
(

+
=
+
(

+
(

+
=
+
(

+
(

+
=


( ) ( )
2
2
3 , 1
2 2
xy
yy xx yy xx
o
o o o o
o +
(

+
= (1.14)

Maximum shear stresses (Mechanics of Solids I)
To find the maximum shear stress, mathematically, we can solve for
( )
( ) 0 2 sin 2 2 cos
2 cos 2 sin
2
0
= =
(

c
c
= =
c
c
u o u o o
u o u
o o
u u
o
xy yy xx
xy
xx yy
nt

xy
yy xx
s
o
o o
u
2
2 tan

= (1.15)
There are two roots ( )
xy
yy xx
s s
o
o o
u u
2
180 2 tan 2 tan

= + =
By comparison with the max normal stresses (principal stresses) orientation, each roots of 2u
s

is 90 from 2u
p
. Thus the roots of u
s
and u
p
are 45 apart. The planes for max shear stress
can be determined by orienting 45 from the principal plane.
Ref to Fig. 1.9, we can have:
Week 1
14
( )
2
yy xx
o o

xy
t
( )
2
2
2
xy
yy xx
t
o o
+
(

2u
s
2u
s
+180
Fig. 1.9 Maximum shear stress/shear plane
( )
2
2
2 2
2 sin
xy
yy xx yy xx
s
o
o o o o
u +
(

|
|
.
|

\
|

= ,
( )
2
2
2
2 cos
xy
yy xx
xy s
o
o o
o u +
(

=
Thus the maximum shear stress is calculated as follows:
( )
( )
s xy s
xx yy
nt
u o u
o o
o 2 cos 2 sin
2
max
+

=
( )
( )
( ) ( )
( )
2
2
2
2
2
2
max
2
2 2
2
2
xy
yy xx
xy
yy xx
xy
xy
xy
yy xx
yy xx
xx yy
nt
o
o o
o
o o
o
o
o
o o
o o
o o
o +
(

=
+
(

+
+
(

|
|
.
|

\
|

=

( )
( )
2
2
max
2
xy
yy xx
nt
o
o o
o +
(

= (1.16)
From the definition of the principal stresses, we have:
( )
( )
( )
3 1
min
max
2
1
o o
o
o
=

nt
nt
(1.17)
Example 1.5: Determine the principal and
maximum shear stresses for the following stress
tensor: | |
(
(
(

=
30 0 0
0 10 20
0 20 50
o
Soln: Step 1: Draw the Mohr Circle
Center of Mohr Circle:
( )
MPa c
yy xx
30
2
10 50
2
=
+
=
o + o
=
Radius of Mohr Circle: ( ) MPa . R
xy
yy xx
28 28 20
2
10 50
2
2
2
2
2
= +
|
.
|

\
|
= t +
|
|
.
|

\
| o o
=
Step 2: Determine the orientation of the principle stress:
( )
0 . 1
10 50
20 2
2
2 tan =

=
yy xx
xy
p
o o
t
u ,
( )
= = u 5 22
2
0 1
1
.
. arctan
p
and
= u + = u 5 112 90
1 2
.
p p

Step 3: Compute the principal stresses and the maximum shear stress
( )
MPa
MPa
R c
xy
yy xx yy xx
72 . 1
28 . 58
28 . 28 30
2 2
2
2
33
11
= = = +
|
|
.
|

\
|

+
= t
o o o o
o
o

So we can write: MPa MPa MPa 72 . 1 , 30 , 28 . 58
33 22 11
= = = o o o ) . . (
33 22 11
o o o > > e i
t
o
o
yy
=10
o
xx
=50
t
xy
=20
t
max
=28.28
o
11
=58.28 o
22
=1.72
t
max
2u
2 R=28.28
C = 30
0
Week 1
15
( ) MPa . R
xy
yy xx
max
28 28 20
2
10 50
2
2
2
2
2
= +
|
.
|

\
|
= t +
|
|
.
|

\
| o o
= = t
Step 4: Draw infinitesimal elements indicating magnitude and orientations
Note that the principal stresses correspond to zero shear; but max shears do not correspond to
zero normal stress


Cylindrical Pressure Vessels for experiments (Mechanics of Solids I)
This analysis will look at tubes with an internal pressure and closed ends. Let o
xx
be the Axial
Stress due to the pressure on the end walls, and o
uu
= o
yy
be the Hoop Stress due to the
pressure acting on the curved surface.

Fig. 1.10 FBD of axial section of vessel Fig. 1.11 FBD of circumferential section of the
vessel
Axial Stress
Look at a FBD of the axial section as shown in Fig. 1.10 and check for the axial equilibrium.
( ) ( )
xx x
rt P r F o t t 2 0
2
+ = =

ie: ( )
xx
rt r P o t = t 2
2

which gives the equation for Axial Stress( or Longitudinal Stress):

t
Pr
xx
2
= o (1.18)
Hoop Stress
Look now at a FBD of the circumferential section as shown in Fig. 1.11.
Equating the forces vertically gives:
( ) ( ) t L L r P F
y
o + = =
uu
2 2 0 ( ) rLP Lt 2 2 = o
uu

which simplifies to give the equation for Hoop Stress (or Circumferential Stress):
t
yy
Pr/ = = o o
uu
(1.19)

Example 1.6
Determine the Principal stresses and maximum shear stresses and their orientation for a
pressurised vessel. Assume ( ) MPa t 10 2 Pr = .
Soln:
Step 1: Principal stresses: Since there is no shear stress, x and y are the principal directions so
o
11
=58.28MPa
o
22
= 1.72MPa
u = 22.5
o
30MPa
30MPa
= 22.5
o
t
max
=28.28MPa
Orientation of Principal Stresses Orientation of Maximum Shear Stress
o
xx
P
t
Sectioned plane
r
x
y
o
xx
o
yy
P
o
uu
o
uu
L
t
Week 1
16
20 2
1
= = =
xx yy
o o o and 10
2
= =
xx
o o (note that
2 1
o o > ). ( = = 90 , 0
2 1 p p
u u )
Step 2: Shear stresses:
( )
( )
( ) ( ) 5 10 20
2
1
2
1
2 1
min
max
= = =

o o
o
o
nt
nt
MPa
(or use the equation: ( )
( )
( )
MPa
xy
yy xx
nt
5 0
2
20 10
2
2
2
2
2
max
= +
(

= +
(

= t
o o
o )
Step 3: Max shear direction ( ) =

= + =
0 2
20 10
2
180 2 tan 2 tan
xy
yy xx
s s
o
o o
u u

= +
=
270 180 2
270 2
2
1
s
s
u
u

=
=

45
135
2
1
s
s
u
u