Appendix A Basic Field Equations in Cartesian,

Cylindrical, and Spherical

Coordinates

For convenience, the basic three-dimensional eld equations of elasticity are listed here for
Cartesian, cylindrical, and spherical coordinate systems. This will eliminate searching for these
results in various chapters of the text. Cylindrical and spherical coordinates are related to the
basic Cartesian system, as shown in Figure A-1.

z
q

q
x

x
(Cylindrical Coordinates)
FIGURE A-1

(Spherical Coordinates)

Cylindrical and spherical coordinate systems.

497

Strain-Displacement Relations
Cartesian Coordinates
@u
@v
@w
, ey , ez
@x
@y
@z


1 @u @v

exy
2 @y @x


1 @v @w
eyz

2 @z @y


1 @w @u

ezx
2 @x @z
ex

Cylindrical Coordinates



@ur
1
@uy
@uz
, ey

ur
, ez
@r
@y
@z
r


1 1 @ur @uy uy

@r
r
2 r @y


1 @uy 1 @uz

2 @z
r @y


1 @ur @uz

@r
2 @z

(A:2)



@uf
@uR
1
, ef
uR
@R
@f
R


1
@uy
ey
sin fuR cos fuf
R sin f @y


1 1 @uR @uf uf


eRf
@R
R
2 R @f


1
1 @uf @uy
efy

 cot fuy
@f
2R sin f @y


1
1 @uR @uy uy


eyR
@R
R
2 R sin f @y

(A:3)

er
ery
eyz
ezr

Spherical Coordinates

(A:1)

eR

498

APPENDIX A

Equilibrium Equations
Cartesian Coordinates
@sx @tyx @tzx

Fx 0
@x
@y
@z
@txy @sy @tzy

Fy 0
@x
@y
@z
@txz @tyz @sz

Fz 0
@x
@y
@z

(A:4)

@sr 1 @try @trz 1

(sr  sy ) Fr 0
@r
@z
r @y
r
@try 1 @sy @tyz 2

try Fy 0
@r
@z
r @y
r
@trz 1 @tyz @sz 1

trz Fz 0
@r
@z
r @y
r

(A:5)

Cylindrical Coordinates

Spherical Coordinates
@sR 1 @tRf
1 @tRy 1

(2sR  sf  sy tRf cot f) FR 0

@R R @f
R sin f @y
R
@tRf 1 @sf
1 @tfy 1

[(sf  sy ) cot f 3tRf ] Ff 0

@R
R @f R sin f @y
R
@tRy 1 @tfy
1 @sy 1

(2tfy cot f 3tRy ) Fy 0

@R
R @f
R sin f @y R

(A:6)

Hookes Law
Cartesian Coordinates

1
sx  (sy sz )
E

1
sy  (sz sx )
E

1
sz  (sx sy )
E
1

txy
E
1

tyz
E
1

tzx
E

ex
sx l(ex ey ez ) 2mex
sy l(ex ey ez ) 2mey

ey

sz l(ex ey ez ) 2mez
txy 2mexy

ez

tyz 2meyz
tzx 2mezx

exy
eyz
ezx

Basic Field Equations in Cartesian, Cylindrical, and Spherical Coordinates

(A:7)

499

Cylindrical Coordinates
1
sr  (sy sz )
E
1
sy  (sz sr )
E
1
sz  (sr sy )
E
1

try
E
1

tyz
E
1

tzr
E

er
sr l(er ey ez ) 2mer
sy l(er ey ez ) 2mey

ey

sz l(er ey ez ) 2mez
try 2mery
tyz 2meyz

ez

tzr 2mezr

ery
eyz
ezr

(A:8)

Spherical Coordinates

1
sR  (sf sy )
E

1
ef sf  (sy sR )
E

1
ey sy  (sR sf )
E
1
eRf
tRf
E
1
efy
tfy
E
1
eyR
tyR
E
eR

sR l(eR ef ey ) 2meR
sf l(eR ef ey ) 2mef
sy l(eR ef ey ) 2mey
tRf 2meRf
tfy 2mefy
tyR 2meyR

(A:9)

Equilibrium Equations in Terms of Displacements

(Naviers Equations)
Cartesian Coordinates


@ @u @v @w

Fx 0
@x @x @y @z


@ @u @v @w
mr2 v (l m)

Fy 0
@y @x @y @z


@ @u @v @w
mr2 w (l m)

Fz 0
@z @x @y @z
mr2 u (l m)

500

APPENDIX A

(A:10)

Cylindrical Coordinates




ur 2 @uy
@ 1@
1 @uy @uz

m r2 ur  2  2
(rur )
(l m)
Fr 0
r
@z
r @y
@r r @r
r @y




uy 2 @ur
1 @ 1@
1 @uy @uz
m r2 uy  2 2

(rur )
(l m)
Fy 0
r
@z
r @y
r @y r @r
r @y


@ 1@
1 @uy @uz
mr2 uz (l m)

(rur )
Fz 0
@z
@z r @r
r @y

(A:11)

Spherical Coordinates


2uR
2 @uf 2uf cot f
2
@uy

m r2 uR  2  2

R
R2
R @f
R2 sin f @y

@
1 @ 2
1
@
(R uR )
(uf sin f)
(l m)
@R R2 @R
R sin f @f

1 @uy

FR 0
R sin f @y


uf
2 @uR
2 cos f @uy
m r2 uf 2
 2 2  2 2
R @f R sin f R sin f @y

1 @
1 @ 2
1
@
(R uR )
(uf sin f)
(l m)
R @f R2 @R
R sin f @f

1 @uy

Ff 0
R sin f @y


uy
2
@uR
2 cos f @uf
2
m r uy  2 2 2 2

R sin f R sin f @y R2 sin2 f @y


1
@ 1 @ 2
1
@
(l m)
(R uR )
(uf sin f)
R sin f @y R2 @R
R sin f @f

1 @uy

Fy 0
R sin f @y

(A:12)

Basic Field Equations in Cartesian, Cylindrical, and Spherical Coordinates

501