ELASTICITY

TAKE HOME

Hirad Eghbalian
IAU

Page 0

Take Home I & II

1 Take Home I
1.1 Hydrostatic Stress and Stress Deviator Tensors
The stress tensor

can be expressed as the sum of two other stress tensors:

1. A mean hydrostatic stress tensor,

, which tends to change the volume of the
stressed body; and
2. A deviatoric component called the stress deviator, , which tends to distort it.
Where

is the mean stress given by,

1
.
3

The deviatoric stress tensor can be obtained by subtracting the hydrostatic stress tensor
from the Cauchy stress tensor,

0
0

0
0

As it is a second order stress tensor, the stress deviator tensor also has a set of invariants.
It can be shown that the principal directions of the stress deviator tensor
are the same
as the principal direction of the stress tensor . Thus, the characteristic equation is,
Where ,

and

= 0.

are the first, second, and third deviatoric stress invariants, respectively.

1
= (
2

1
2

=0,

Page 1

1
(
6

1
(
6

) +(

= det""

$=

) +(

) +(

) +(

2
27

) #+

) #=

1
3

1
3

+
.

Because
= 0,, the stress deviator tensor is in a state of pure shear.. A quantity called
the equivalent stress or von Mises stress
stress. The equivalent stress is defined as,
&

= '3

Figure 1

Page 2

1.2 Octahedral Stresses

Considering the principal directions as the coordinate axes, a plane whose normal vector
makes equal angles with each of the principal axes (i.e. having direction conics equal
to 33 ) is called an octahedral plane.
plane. There are a total of eight octahedral plan
planes
(FIGURE 2).
). The normal and shear components of the stress tensor on these planes are
called octahedral normal stress +,- and octahedral shear stress0+,- respectively.

Figure 2

0
0

Knowing that the stress tensor of point O in principal axes is,

= 0
0

The stress vector on octahedral plane is the given by,

*+,- =
(.)

/1 =
1

/ 1 +

( 1 +

1 +

/ 1 +
1 ).

/ 1

The normal component of the stress vector at point O associated with the octahedral
plane is,

+,-

=2

(3)

/ / +

1
= (
3

/ =

/ / +
+

Page 3

//

)=

/ /

1
.
3

Which is the mean normal stress or hydrostatic stress. This value is the same in all eight
octahedral planes. The shear stress on the octahedral plane is then,

1
=5 (
3

1
(
3

0+,- = 4*

) +(

(.)

(.)

1
) (
9

) +(

) #

1.3 Principal Stresses &Principal Directions

) 7

2
=8
3

At every point in a stressed body there are at least three planes, called principal planes,
with normal vector., called principal directions, where the corresponding stress vector
is perpendicular to the plane, i.e., parallel or in the same direction as the normal vector.,
and where there are no normal shear stresses0. . The three stresses normal to these
principal planes are called principal stresses.
The components of the stress tensor depend on the orientation of the coordinate
system at the point under consideration. However, the stress tensor itself is a physical
quantity and as such, it is independent of the coordinate system chosen to represent it.
There are certain invariants associated with every tensor which are also independent of
the coordinate system. For example, a vector is a simple tensor of rank one. In three
dimensions, it has three components. The value of these components will depend on the
coordinate system chosen to represent the vector, but the magnitude of the vector is a
physical quantity (a scalar) and is independent of the coordinate system chosen to
represent the vector.Similarly, every second rank tensor (such as the stress and the strain
tensors) has three independent invariant quantities associated with it. One set of such
invariants are the principal stresses of the stress tensor, which are just the eigenvalues of
the stress tensor. Their direction vectors are the principal directions or eigenvectors.

A stress vector parallel to the normal unit vector . is given by,

* (3) = . =

3 ..

Where a constant of proportionality, and in this particular case is corresponds to the

magnitudes 3 of the normal stress vectors or principal stresses. Let . be a unit
eigenvector. The,

Thus,

*. = . = .9 .

(* 9). = 0 :;< .. . = 1
Page 4

Let. = / 1 ;then, in component form,

In long form, we have,

"2

$/ = 0 :;< / / = 1 .

(2 )/ + 2 / + 2 / = 0
2 / + (2 )/ + 2 / = 0 ,
2 / + 2 / + (2 )/ = 0
/ +/ +/ =1.

Above equation are a system of linear homogeneous equation in / , / and / . Obviously,

a solution for this system is/ = / = / = 0. This is known as the trivial solution. This
solution simply states the obvious fact that . = 0 satisfies the equation*. = .,
independent of the value of . To find the nontrivial eigenvectors for*, we note that a
system of homogenous, linear equations admits a nontrivial solution only if the
determinant of its coefficients vanishes. That is,

That is,

2
? 2
2

|* 9| = 0 .
2

2
2

2
2

?=0.

Expanding the determinant results in a cubic equation in . It is called the characteristic

equation of*. The roots of this characteristic equation are the eigenvalues of*.
We know that the stress tensor is symmetric. The following significant theorem can be
proven;
The eigenvalues of any real symmetric tensor are all real.
Thus, for a real symmetric tensor, there always exist at least three real eigenvectors,
which we shall also call the principal direction. The corresponding eigenvalues are called
principal values.
We now prove that there always exist three principal directions that are mutually
perpendicular. Let. and . be two eigenvectors corresponding to the eigenvalues
and , respectively, of a stress tensor*. Then,

And

*.@ =

*. =

Page 5

. ,

. .

Thus,

. . *. =

And

. . *. =

For a stress tensor, * = * B , so that;

Thus,

.A . .@ ,

.@ . .A .

. . *.A = .A . * C .@ = . . *. .
(

)(.@ . .A ) = 0 .

It follows that if is not equal to , then.@ . .A = 0, that is,.@ and.A are perpendicular
to each other. We have thus proved that if the eigenvalues of a stress tensor are all
distinct, then the three principaldirections are mutually perpendicular.
Next, let us suppose that.@ and.A are two eigenvectors corresponding to the same
eigenvalue . Then, by definition, *.@ = . and *. = . so that for any D and E,

*(D.@ + E.A ) = D*.@ + E*.A = (D.@ + E.A ) .

That is, (D.@ + E.A ) is also an eigenvector with the same eigenvalue , In other words, if
there are two distinct eigenvectors with the same eigenvalue, then there are infinitely
many eigenvectors (which form a plane) with the same eigenvalue.This situation arises
when the characteristic equation has a repeated root. Suppose the characteristic
equation has roots =
= and ( distinct from ).
Let.F be the eigenvector corresponding to ; then.F is perpendicular to anyeigenvector
of . Therefore there exist infinitely many sets of three mutually perpendicular principal
directions, each containing.F and any two mutually perpendicular eigenvectors of the
repeated root .

In the case of a triple root, =

=
= , any vector is an eigenvector so thatthere
exist infinitely many sets of three mutually perpendicular principal directions.

From these discussions, we conclude that for stress tensor there exists at least one triad
of principal directions that are mutually perpendicular.

We have shown that for a real symmetric tensor, there always exist three principal
directions that are mutually perpendicular. Let.@ ,.A and.F be unit vectors in these
directions. Then, using.@ ,.A and.F as base vectors,the components of the stress tensor
are;

Page 6

That is,

2 = .@ . *.@ = .@ .
2 = .A . *.A = .A .
2 = .F . *.F = .F .
2 = .@ . *.A = .@ .
2 = .@ . *.F = .@ .
2 = .A . *.F = .A .
*# = 0
0

.@ =
.A =
.F =
.A =
.F =
.F =
0

0
0

.@ . .@ = ,
.A . .A = ,
.F . .F = ,
.@ . .A = 0,
.@ . .F = 0,
.A . .F = 0,

Thus, we shown that.@ ,.A and.F are principal directions and ,

stresses.

and

are principal

1.4 General Mohrs Circle

To construct the Mohr's circle for a general three-dimensional case of stresses at a point,
the values of the principal stresses( , , )and their principal directions(/ , / , / )
must be first evaluated.
Considering the principal axes as the coordinate system, instead of the
generalG , G , G coordinate system, and assuming that >
> , then the normal and
(.)
shear components of the stress vector* , for a given plane with unit vector., satisfy
the following equations;

"* (3) $ =

+ 03 =
3

/ +

//

/ +

/ +

/ +

/
I/ J =
1 /

Knowing that/ / = / + / + / = 1, we can solver for / , / , / , using

the Gauss elimination method which yields;
1

/
I/ J =
1
/

1
Page 7

3
L

+ 03
3

+ 03
3

/
I/ J
/

Thus,

)(

)(

satisfy;

>

>

/ =

03 + ( 3 )( 3 )
0
( )( )

/ =

03 + ( 3 )( 3 )
0
( )( )

/ =

Since

+ 03
3

03 + ( 3 )( 3 )
0
( )( )

, and(/ ) is non-negative, the numerators from the these equations

>0,

>0,

<0,

> 0 03 + (

< 0 03 + (

< 0 03 + (

These expressions can be rewritten as;

3
3

03 + 5

1
(

3
2

1
)7 (
4

03 + 5

1
(

3
2

1
)7 (
4

03 + 5

1
(
2

1
)7 (
4

)(

)(

)(

)0
)0
)0

)
)

Which are the equations of the three Mohr's circles for stress R , R and R with
radii S = ( ) , S = ( ) and S = ( ) , and their centers with
coordinates T (

), 0U , T (

), 0U and T (

), 0U , respectively. These

equations for the Mohr's circles show that all admissible stress points ( 3 , 03 ) lie on
these circles or within the shaded area enclosed by them (F IGURE 3). Stress
points( 3 , 03 )satisfying the equation for circleR lie on, or outside circle R . Stress points
Page 8

( 3 , 03 )satisfying the equation for circle

circleR lie on, or inside circle R . And finally, stress
points( 3 , 03 )satisfying
satisfying the equation for circleR
circle lie on, or outside circleR .

Figure 3

The characteristic equation of a tensor*,

tensor |* 9| = 0 can be written as;

1.5 Stress Tensor Invariants

2
? 2
2

(2 + 2 + 2
+ (2 2
(2 2
2 2

2
2

2
2

=0.

?=0

2 2 +2 2 2 2 +2 2 2 2 )
2 2 2 2 2 2 2 +2 2 2 +2 2 2
2 )=0
=2 +2 +2
Page 9

= VW(*) ,

=2 2 2 2 +2 2 2 2 +2 2 2 2
2
2
2
2
2
2
=X
X+X
X+X
X
2
2
2
2
2
2
1
= YVW (*)A VW(* A )Z ,
2
2
2
2
2
2 ? = [1V *#.
= ?2
2
2
2

VW , trace function, is defined to be the sum of the elements on the main diagonal and we
have;
VW(\]) = VW(]\),
VW(\B ) = VW(\) .

Thus,

VW(\]B ) = VW(\B ]).

Now we assume that ^is an orthogonal transformation that apply on stress tensor* to
transform it into*_ . Thus;
It can be shownVW(*) = VW(* _ );

Also can be written;

* _ = ^*^B

VW(* _ ) = VW(^*^B ) =

VW(* B ^B ^) = VW(*B 9) =
VW(* B ) = VW(*).

VW"* _ $ = VW (^*`a ^*`a ) =

A

VW(^**`a ) = VW(* a ^B ^*a ) =

So we have;

Thus

VW(* a * a ) = VW(* A )

= VW(*_ ) = VW(*) =

1
1
A
= Y VW(*)A VW"* _ $Z = YVW(B)A VW(BA )Z =
2
2

= [1V * _ # = [1V ^*`a # = [1V *``a # = [1V *c# = [1V *# =

_

and

Page 10

@ A F
A F d
F d e

1.6 Problems

From (SECTION 1.3) we have;

= 1 + 2 + 6 = 10

For

we have;

10

= 2
= 1

2 +1=0

= 0.420
= 0.234 h
= 10.187

1.420/ + 2/ + 3/ = 0
2/ + 3.420/ + 4/ = 0
3/ + 4/ + 6.42/ = 0
/ +/ +/ =1

/ = 1.71/ 2/

0.428/ + 0.16/ = 0h
/ = 0.373/
1.13/ + 0.42/ = 0
/ = 2.638/

(2.638 + 0.373 + 1)/ = 1 / = 0.351

For

/ = 0.927h
i
/ = 0.131

1_@ = (0.9271@ + 0.1311A + 0.3511F )

we have;

0.766/ + 2/ + 3/ = 0
2/ + 2.766/ + 4/ = 0
3/ + 4/ + 5.766/ = 0
/ +/ +/ =1
Page 11

/ = 1.383/ 2/

0.941/ + 1.468/ = 0 h
/ = 1.570/
0.149/ + 0.234/ = 0
/ = 0.171/

(0.171 + 1.570 + 1)/ = 1 / = 0.535

/ = 0.092h
i
/ = 0.840

1_A = (0.9131@ 0.1311A + 0.3511F )

1_F = 1_@ 1_A 1_F = (0.0921@ 0.6461A + 0.0021F )

n @ @
@ n @
@ @ n
=0

For

we have;

/ =

= 3
=2

3 2=0
=

= 1h
= 2

2/ + / + / = 0
/ 2/ + / = 0
/ + / 2/ = 0

1
1.5/ + 1.5/ = 0h
(/ + / ) i
/ =/ =/ =/
1.5/ 1.5/ = 0
2
3/ = 1 / =

1_F =

3
3

3
(1@ + 1A + 1F )
3

1_@ And1_A can be any two unit vector in 1_F plate.

Page 12

2 Take Home II
2.1 Stress Equilibrium Equations with Spherical Element

(S + rS) ;/t
rS

S ;/t

S ;/(t + rt)
t
u

S:

rt

ru

Figure 4

pp

q pp
rSs (S + rS) ;/trtru pp S ;/trtru
qS
q xx
rt
+ v w xx +
rty S ;/(t + rt)rSru xx S ;/trSruz ;/
qt
2
q xp
rt
+ vw xp +
rty S ;/(t + rt )rSru xp S ;/trSruz {|
qt
2
q }}
ru
rt
+ 5o }} +
rus SrSrt + }} SrSrt7 sin o s sin ot +
+ s
qu
2
2
q }p
ru
+ 5o }p +
rus SrSrt }p SrSrt7 cos
+ p S sin t rSrtru
qu
2
= p S sin t rSrtru

Page 13

ru
}} sin
2

pp

t+

rt
+t
2

}}

q }}
ru
qu

ru
2

uu

Figure 5

q pp
rSs (S + 2SrS ) ;/trtru pp S ;/trtru
qS
q xx
rt
+ v w xx +
rty S (sin t + cos t rt )rSru xx S ;/trSruz
qt
2
q xp
+ vw xp +
rty S (sin t + cos t rt )rSru xp S ;/trSruz
qt
q }}
ru
rus SrSrt + }} SrSrt7
sin t
5o }} +
qu
2
q }p
+ 5o }p +
rus SrSrt }p SrSrt7 +p S ;/ t rSrtru
qu
= p S ;/ t rSrtru

pp S ;/ t rSrtru +

tS S {|

+ S S2

SS

qS

S2 ;/ t rSrtru

t rSrtru +

tS

tt S

;/ t rSrtru

S ;/ t rSrtru

qt
;/ t rSrtru = S S2 ;/ t rSrtru

Page 14

uu

qu

S ;/ t rSrtru

t:
w

px

q px
rSy (S + rS ) sin t rtru px S sin t rtru
qS
q xx
rt
+ vw xx +
rty S sin(t + rt) rSru xx S sin t rSru z cos
qt
2
q xp
rt
+ vw xp +
rty S sin(t + rt ) rSru xp S sin t rSru z sin
2
qt
q }}
ru
rt
+ 5o }} +
rus SrSrt + }} SrSrt7 sin
cos ot +
+ s
qu
2
2
q }x
ru
ruy SrSrt }x SrSrtz cos
+ x S ;/ t rSrtru
+ vw }x +
2
qu
= x S ;/ t rSrtru

px

px S

q px
rSy (S + 2SrS) sin t rtru px S sin t rtru
qS
q xx
+ vw xx +
rty S (sin t + cos t rt)rSru xx S sin t rSru z
qt
q xp
rt
+ vw xp +
rty S(sin t + cos t rt)rSru xp S sin t rSru z
qt
2
q }}
ru
+ 5o }} +
rus SrSrt + }} SrSrt7
cos t
2
qu
q }x
ru
+ vw }x +
ruy SrSrt }x SrSrtz
+ x S ;/ t rSrtru
qu
2
= x S ;/ t rSrtru
;/ t rSrtru +
+

xp S

q px
S
qS

;/ t rSrtru +

;/ t rSrtru +

t rSrtru

q xx
S ;/ t rSrtru
qt

q }x
S ;/ t rSrtru + x S
qu

q px 1 q xx
1 q }x 1
+
+
+ Y"
qS
S qt
S ;/t qu
S

xx S {|

xx

q px 1 q xx
1 q }x 1
+
+
+ Y"
qS
S qt
S ;/t qu
S

xx

Page 15

}} S {

;/ t rSrtru = x S
}} $ cot t

+2

}} $ cot t

px

+3

| t rSrtru

;/ t rSrtru

xp Z

px Z +

+ x = x

x = x

u:

p}

p}

p} S

q p}
rSs (S + rS ) sin t rtru p} S sin t rtru
qS
q x}
rty S sin(t + rt ) rSru x} S sin t rSru
+ w x} +
qt
q }}
+ o }} +
rus SrSrt }} SrSrt
qu
q }p
ru
+ 5o }p +
s SrSrt + }p SrSrt7 sin
sin t
qu
2
q }x
ru
ruy SrSrt + }x SrSrtz sin cos t
+ vw }x +
2
qu
+ } S ;/ t rSrtru = } S ;/ t rSrtru

q p}
rSs (S + 2SrS) sin t rtru p} S sin t rtru
qS
q x}
rty S(sin t + cos t rt )rSru x} S sin t rSru
+ w x} +
qt
q }}
+ o }} +
rus SrSrt }} SrSrt
qu
q }p
ru
+ 5o }p +
s SrSrt + }p SrSrt7
sin t
qu
2
q }x
ru
+ vw }x +
ruy SrSrt + }x SrSrtz
cos t
qu
2
+ } S ;/ t rSrtru = } S ;/ t rSrtru

;/ t rSrtru +

q p}
S
qS

;/ t rSrtru +

q x}
S sin t rSrtru + }} SrSrtru + }p S sin t rSrtru
qt
+ }x S cos t rSrtru + } S ;/ t rSrtru = } S ;/ t rSrtru
+

q p} 1 q x}
1 q x} 1
+
+
+ "
qS
S qt
S ;/t qt
S

x} S cos t rSrtru

x}

cot t +

1 q x} 1
q p} 1 q x}
+
+
+ "2
qS
S qt
S ;/t qt
S

Page 16

}x

x}

cot t + 2

cot t + 3

p}

p} $

}p $

+ } = }

+ } = }

2.2 Transformation
Cartesian to Spherical
G = S sin t cos u
= S sin t sin u

q
1
q
1
q
1
q
=
+

qG sin t cos u qS S cos t cos u qt S sin t sin u qu

q
1
q
1
q
1
q
=
+
+
q sin t sin u qS S cos t sin u qt S sin t cos u qu

= S cos t

Tensor transformation:

1 q
1
q
q
=

q cos t qS S sin t qt

sin t cos u
^ = cos t cos u
sin u

sin t sin u
cos t sin u
cos u

*, = ^C B ^

pp
pp

pp

sin t cos u + xx sin t sin u + }} cos t + 0px sin t sin 2u

+ 0x} sin 2t sin u + 0p} sin 2t cos u

cos t cos u + xx cos t sin u + }} sin t + 0px cos t sin 2u

0x} sin 2t sin u 0}p sin 2t cos u

pp
pp

cos t
sin t
0

pp

sin u +

xx

cos u 0px sin 2u

sin 2t cos u + xx sin 2t sin u }} sin 2t + 0px sin 2t sin 2u

+ 20x} cos 2t sin u 20}p cos 2t cos u

cos t sin 2u + xx cos t sin 2u + 20px cos t cos 2u 20x} sin t cos u
+ 20}p sin t sin u
sin t sin 2u + xx sin t sin 2u + 20px sin t cos 2u + 20x} cos t cos u
20}p cos t sin u

Put above equation on the Cartesian form of stress equilibrium equation.

q q q
+
+
=0
qG
q
q

q q q
+
+
=0
qG
q
q
q q q
+
+
=0
qG
q
q
Page 17

And we have;

q pp 1 q xp
1 q }p 1
+
+
+ "2
S qt
S ;/t qu
S
qS

pp

q px 1 q xx
1 q }x 1
+
+
+ Y"
qS
S qt
S ;/t qu
S

xx

q p} 1 q x}
1 q x} 1
+
+
+ "2
qS
S qt
S ;/t qt
S

xx

x}

}}

}} $ cot t

cot t + 3

xp

+3

cot t$ = 0

p} $

px Z

=0

Cylindrical to Spherical
= S cos t

1 q
1
q
q
=

q cos t qS S sin t qt

= S sin t

q
1 q
1
q
=
+
q sin t qS S cos t qt

u=u

Tensor transformation:

sin t
^ = cos t
0

q
q
=
qu qu

cos t
sin t
0

*, = ^C B ^

pp
pp

"

sin t +

cos t +
pp

0} =

}}

xx

xx

xx $

p}

0
0
1

cos t +
sin t
}}

px sin 2t

px

sin 2t

sin 2t 0px cos 2t

cos t 0}x sin t

0} = 0p} sin t + 0}x cos t

Put above equation on the cylindrical form of stress equilibrium equation.

Page 18

=0

q 1 q } 1
+
+ (
q
qu

}} )

q } 1 q }} q } 2
+
+
+
qu

q
q

And we have;

q 1 q } q 1
+
+
+
qu

q
q

q pp 1 q xp
1 q }p 1
+
+
+ "2
qS
S qt
S ;/t qu
S

pp

q px 1 q xx
1 q }x 1
+
+
+ Y"
S qt
S ;/t qu
S
qS

xx

q p} 1 q x}
1 q x} 1
+
+
+ "2
qS
S qt
S ;/t qt
S

Page 19

xx

q
=0
q

x}

=0

=0

}}

}} $ cot t

cot t + 3

xp

+3

cot t$ = 0

p} $

px Z

=0

=0

3 Take Home III

Consider a body having a particular configuration at some reference time<+ , changes to
another configuration at time <. Referring to Figure 6, a typical material point P
undergoes a displacement u so that it arrives at the position;
= + (, <).

Figure 6

A neighboring point at + r arrives at + r, which is related to + r by

+ r = + r + ( + r, <).

From subtracting above equations, we have;

r = r + ( + r, <) (, <).

Using the definition of gradient of a vector function, above equation becomes

r = r + ()r,

We can write, r = r + ()r as;

Where,

r = r

= 9 + .

Here is known as the deformation gradient. We can write;

That is,

r. r = r. r = r. (C )r,
r

= r. r,

= C .

The tensor is known as the right Cauchy-Green deformation tensor.

Page 20

 = B = (9 + )B (9 + ) = 9 + + ()B + ()B ()

Let;

1
+ ()B + ()B ()#,
2

Where known as Lagrange strain tensor.

If we consider only cases where the components of the displacement vector as well as
their partial derivatives are all very small (mathematically infinitesimal) so that the
absolute value of every component of ()B ()is a small quantity of higher order than
those of the component of(). For such case
9 + 2,

Where,

1
+ ()B #,
2

Where known as the infinitesimal strain tensor.

Can right in curvilinear coordinate like,

=

1 q
w

1 +

3.1 Nonlinear Cartesian Strain

q1
y.
q

Geometrical Method

Figure 7

We can define strain,

r r

= 2 rG rG
Page 21

For element we have,

r = (_ _ ) = orG +

q
q
q
q
q
rGs + o rGs = w1 + 2
+ o s + o s y rG
qG
qG
qG
qG
qG

For R element we have,

r = (_ R _ ) = or +

rG

rG + rG

= rG

q 1 q q 1 q q
+
+
qG 2 qG qG 2 qG qG

q
q
q
q
q
rs + o rs = w1 + 2
+ o s + o s y r
q
q
q
q
q

=
For we have,

r r
2rGrG

r r
2rr

r + r

q
1q q
1 q q
+
+
q 2 q q 2 q q

= D + E

+ + +

Y1 + Z Y1 + Z

1
=
2

qG
q
=
qG

q:
qG

Tensor Calculus

= rG

q
q
q
q
q:
q

q
q
q

q:
q

q
q q q q q
+
+
+
qG q qG q qG q

1
+ ()B + ()B ()#
2

Page 22

q
1 q q
1 q q:

o + s
o +
s
qG
2 q qG
2 q qG

1 q
q
q:
1 q q
= o + s
o +
s
2 q qG
q
2 q q

q:
1 oq + q: s 1 oq + q: s

2 q qG
2 q q
q

q q q q
q: q: q q q q
q: q:

+
+
+
+
qG qG qG qG qG qG qG q qG q qG q
1 q q q q
q: q: q q q q
q: q:
+
+
+
+
+
2 qG q qG q qG q q q q q q q

q q + q q + q: q: q q + q q + q: q:
qG q qG q qG q q q q q q q

3.2 Nonlinear Polar Strain

Tensor Calculus

q q q q
q: q:

+
+
qG q qG q qG q
q q q q
q: q:
+
+
q q q q q q

q q q q
q: q:
+
+
q q q q q q

G = cos u
= sin u

1W = cos u 1 + sin u 1h
i
1 = sin u 1 + cos u 1i

= 1h
=

q1W q1
=
=0
q
q

q1W
q1
= 1 ,
= 1W
qu
q

q
q}
q
q

=
1 q
1 q}
o
} s
o
+ s
qu
qu

1
+ ()B + ()B ()#
2
q
1 1 q q} }
o
+
s
q
2 qu
q

=
1 1 q q} }
1 q}
o
+
s
o
+ s
2 qu
q

qu
q q 1 q q
q
q q} 1 q
q}
+
o

2
+

s
+
o

s
o
+ s
}
}
}
1 q q qu qu
qu
q
q
qu
qu

q}
1 q} q}
q}
2 q q} 1 q
+ o
} s o
+ s
o
+ 2
+ s
q q
qu
qu
qu qu
qu

Page 23

4 Take Home IV

1_ =

1 qG
1
q

( ) =

qG qG
q q

q1
1 q
1 q
=
1.
1 ; /

3
q
3 q
q W
q1
1 q3
=
1 ; /
3
q
q .
G = S cos u sin t

4.1 Strain Tensor in Spherical Coordinate

= S sin u sin t
= S cos t

Metric Coefficient

qG
q
q
= 8o s + o s + o s = 'cos u sin t + sin u sin t + cos t = 1
qS
qS
qS

qG
q
q
= 8o s + o s + o s = 'S cos u cos t + S sin u cos t + S sin t = S
qt
qt
qt
qG
q
q
= 8o s + o s + o s = 'S sin u sin t + S cos u sin t + 0 = S sin t
qu
qu
qu

Differentiation of unit vector,

q1p q1x q1}

=
=
=0
qS
qS
qS

q1x
q1p
q1}
= 1x ,
= 1p , ,
=0
qt
qt
qt

q1x
q1p
q1}
= sin t 1} ,
= cos t 1} , ,
= "sin t 1p + cos t 1x $
qu
qu
qu

Page 24

Now we have,

qx
1x qp
qp
q}
= 1p o
1p + 0s + 1p w
1x + 0y + 1p o
1} + 0s +
o
1 + p 1x s
qS
qS
qS
S qt p
1x qx
1x q}
+
w
1x x 1p y +
o
1 + 0s
S qt
S qt }
qx
1}
qp
1}
o
1p + sin t p 1} s +
w
1 + cos t x 1} y
+
S sin t qu
S sin t qu x
+

q}
1}

1 } "sin t 1p + cos t 1x $
S sin t qu }

qp

qS

1 qp x

=
S qt
S

1
q
}
p

S sin t qu
S

qx
qS
1 qx p
+
S qt
S
1 qx
}
cot t
S sin t qu
S

q}
qS
1 q}
S qt

x p
1 q}
+ cot t
+
S sin t qu
S
S

qp
1 1 qp qx x
1
1 qp q} }

+
y
+
s
w
o
2
S
2
S
sin
t qu
qS
qt
qS
S
qS
S

1 1 qp qx x
1 qx p
1 qx 1 q}
}
1
=
+
y
+
+
cot t y
w
w
qS
S
S qt
S
S qt
S
2 S qt
2 S sin t qu

1
q

1
1
1

1
q
q
q
x
x
p
}
}
}
}
}
p
o

+
s
+
cot t y
+ cot t
+
w
2 S sin t qu
S qt
S sin t qu
qS
S
S
S
S
2 S sin t qu

Page 25

4.2 Strain Tensor in Parabolic Coordinate

Figure 8

= , 0 <

= , 0 <

= , 0 < 2

The coordinate surfaces are,

Unit vectors are,

G = cos
= sin h

1
= ( )
2

G + = ( 2)( = {<)
G + = ( + 2)( = {<) h

tan = ( = {<)
G

1 = cos 1 + sin 1 + 1
1 = cos 1 + sin 1 1 h
1 = sin 1 + cos 1
Page 26

1
" cos 1 + sin 1 + 1 $
1 =
' +

h
1
" cos 1 + sin 1 1 $
1 =
' +

1 = sin 1 + cos 1

Metric coefficients are,

Unit vectors derivatives are,

= = ' +
=

q1

=
1
q
( + )
q1

=
1
q
( + )

q1

=
1
q ( + )

q1

=
1
q
( + )
q1

=
1
q
( + )

q1

=
1
q ( + )
q1 q1
=
=0
q
q

Finally we have,

q1
1
=
"1 + 1 $
q
( + )

Page 27

q
1

1
1
1 +

1
( + ) q
( + )
( + ) q
( + )
q
q
1
1

1 + 0y +
1 +
+
w

1
( + ) q
( + ) q
( + )

q
q

1 +
1 + 0y
1 +
w
( + ) q
( + )
( + ) q
1 q
1 q

1 +

1 +
1 +
1
q
q
( + )
( + )

1 q
1

1
"1 + 1 $
q
( + )

q ( + )
q

1
+

(
)
+

( + )

( + ) q

q ( + )
q

+

q
( + )

( + ) q

Page 28

q
q

( + )
+ +

1 q q

1 q (

+

" $

2 q
2 q
q ( + )
q ( + )

1 q (
1

1 q q
=
+

+

" $

q ( + )
q ( + )
2 q
( + ) 2 q

( +
1 q ( + ) q
1 q ( + ) q

+

2 q +

2 q

Page 29

+ ) q

+ ) q

+
+

 = , 0 <

4.3 Strain Tensor in Toroidal Coordinate

= u,

<u+

= , 0 < 2

Metric coefficients are,

Unit vectors derivatives are,

sinh cos
G =
cosh cos u

sinh sin h
=
cosh cos u

sin u

=
cosh cos u

= =
=

cosh cos u

sinh
cosh cos u

q1
sinh
=
1
q
cosh cos u }

q1}
sinh
=
1
q
cosh cos u
q1
=0
q

q1
sin u
=
1
qu
cosh cos u }
q1}
sinh
=
1
qu
cosh cos u
q1
=0
qu

q1 1 cosh cos u
=
1
q
cosh cos u

q1}
sinh sin u
=
1
q
cosh cos u

Finally,

q1
1 cosh cos u
sinh sin u
=
1 +
1
q
cosh cos u
cosh cos u }
Page 30

sinh
1 w
1 +
1 y
cosh cos u }
cosh cos u
q

q}
sinh
+
1 o
1}
1 s
cosh cos u
q
cosh cos u }
q

+
1 w
1 + 0y
cosh cos u
q
q

sin u
1} w
1
1 y
+
cosh cos u }
cosh cos u
qu

q}
sinh
+
1} o
1} +
1 s
cosh cos u
qu
cosh cos u }
q

1} w
1 + 0y
+
cosh cos u
qu
q
sinh
1 cosh cos u
+
1 w
1 +
1 y
cosh cos u
q
cosh cos u
q}
sinh sin u
sinh
1 o
1}
1 s
+
q
cosh cos u }
cosh cos u
q
sinh
1 cosh cos u
+
1 w
1
1
cosh cos u
q
cosh cos u
sinh sin u
+
1 s
cosh cos u }

Page 31

q
sinh

}
q cosh cos u

sinh
q
=
+

cosh cos u qu cosh cos u }

q 1 cosh cos u
cosh cos u
q
=

q}
sinh
+

q
cosh cos u
q}
sin u

qu cosh cos u
q}
sinh sin u
+

q cosh cos u

cosh cos u

q
q
q
qu
q 1 cosh cos u
sinh
+

cosh cos u
q
cosh

q
sinh
1 q} q
sinh

+
+
" + } $
q cosh cos u
qu cosh cos u
2 q

q
1 q
sinh
q}
sin u
}+ +
" + } $

2 q
qu cosh cos u
qu cosh cos u

1 q q}
sinh sin u
1 wq + q 1 cosh cos u y
w
+
+
y

q
q cosh cos u
cosh cos u
2 qu
2 q

Page 32

1 q
w
2 q

1 q
w
2 qu

q 1
+
q
cosh

5 Take Home V
We assume the following limits:
1. The relation between the applied loading and a quantity measuring the
deformation is linear.
2. The rate of load application does not have an effect.
3. Upon removal of the loading, the deformations disappear completely.
4. The deformations are very small.
Characteristics 14 are now used to formulate the constitutive equation of an ideal
material, the linearly elastic or Hookean elastic solid. The constitutive equation relates
the stress to relevant quantities of deformation. In this case, deformations are small and
the rate of load application has no effect. We therefore can write,
* = * ( ),

Where *the Cauchy is stress tensor and is the infinitesimal strain tensor, with*() = 0.
If, in addition, the function is to be linear, then we have, in component form,
2
2

=R
=R

=R

+R
+R

+R

+ + R
+ + R

+ + R

The preceding nine equations can be written compactly as,

2 =R

,
,

We know that R are components of a fourth-order tensor, here known as the elasticity
tensor. The values of these components with respect to the primed basis1_ and the
unprimed basis1 are related by the transformation law,
R_

= 3 R3 .

If the body is homogeneous, that is, the mechanical properties are the same for every
particle in the body, thenR are independent of position. We shall be concerned only
with homogeneous bodies. There are 81 coefficients; however, since = , we can
always combine the sum of the two terms, such as R
+R
, into one
) , so that (R
) becomes one independent coefficient.
term,(R
+R
+R
Equivalently, we can simply takeR
=R
. Thus, due to the symmetry of the strain
tensor; we have,
R

=R

from 81 to 81 9

= 54. We shall consider only the case where the stress tensor is symmetric, i.e.

The preceding equations reduce the number of independentR

2 =2
Page 33

As a consequence,

=R

= 18. Thus, we have, for the general case of a linearly elastic body, a maximum of

The preceding equations further reduce the number of independent coefficients

by

36 material coefficients.

Furthermore, we assume that the concept of elasticity is associated with the existence
of a stored energy function " $, also known as the strain energy function, which is a
positive definite function of the strain components such that,
2 =

For a linear elastic solid, 2 = R

, therefore,

q2
=R
q

Thus, we have,
R

q
q

Therefore,

q
q
=
= R ,
q q
q q
R

=R

Above equation reduce the number of elastic coefficients from 36 to36

L( L )

21. We can write the stress-strain relation for this general case in the following matrix
notation,
2
2

2
2
2
2

R
R

= R
R
R
R

R
R
R
R
R
R

R
R
R
R
R
R

R
R
R
R
R
R

5.1 Monoclinic linear Elastic Materials

R
R
R
R
R
R

R
R
R
R
R
R

2
2
2

If a linearly elastic solid has one plane of material symmetry, it is called a monoclinic
material. We shall demonstrate that for such a material, there are 13 independent
elasticity coefficients.
Let 1@ be normal to the plane of material symmetry . Then by definition, under the
change of basis,
1_@ = 1@ , 1_A = 1A , 1_F = 1F .
Page 34

The components of the fourth-order elasticity tensor remain unchanged, i.e.

Now R _

Thus,

=R

= 3 R3 ; therefore,

Where,

So,

R_

= 1 ,

= 3 R3 ,

= 1, /r |< = 0.

= 3 R3 = R
=R

=R

=R

=R

R
R
R
R

R
R
R
R

= R

=R

=R

=0

So that the constitutive equations have only 13 nonzero independent coefficients. Thus,
the stress strain laws for a monoclinic elastic solidhaving the G G plane as the plane of
symmetry are
2
2

2
2
2
2

R
R
R
R

R

R

= R
R
0
0

0
0

0
0

0
0

R
R

0
0
0
0

R
R

0
0
0
0

2
2
2

5.2 Orthotropic Linear Elastic Materials

If a linearly elastic solid has two mutually perpendicular planes of material symmetry,
say, plane with normal 1 and plane with normal1 , then automatically the plane
with normal 1 is also a plane of material symmetry. The material is called an orthotropic
elastic material. We shall demonstrate that for such a material, there are only nine
independent elastic coefficients. For this solid, the coefficients R now must be
invariant with respect to the transformation given by previous section as well as the
following transformation:
1_@ = 1@ , 1_A = 1A , 1_F = 1F .

Thus, among the 13 R that appear in previous section, those have an odd number of
the subscript 2 must also be zero. Thus,
R

=R

=R

=R

= 0.

Therefore, there are now only 9 independent coefficients and the constitutive equations
become,
Page 35

2
2

2
2
2
2

R

R

= R
0
0
0

R
R
R

0
0
0

R
R
R

0
0
0

0
0
0

0
0

0
0
0
0

2
2
2

0
0
0
0
0

If there exists a plane, say, /, such that every plane perpendicular to it is a plane
of symmetry, then the material is called a transversely isotropic material. The /,
is called the plane of isotropy and its normal direction 1F is the axis of transverse
isotropy.

5.3 Transversely Isotropic Linearly Elastic Materials

Let 1 , 1 and 1_ , 1_ be two sets of orthonormal bases lying on the plane where 1_
makes an angle of E with the1@ G; . We have,
1_@ = cos E 1@ + sin E 1A ,

1_A = sin E 1@ + cos E 1A ,

That is,

= cos E ,

1_F = 1F .

= sin E ,

= sin E ,

= cos E ,

= 0,

= 1.

Now, every E defines an orthonormal basis (1_@ , 1_A , 1_F ) with respect to which the
material is orthotropic. Thus for every E,we have, from the results of the previous section,
R_

= R_

=R

= R_
= R_

Including at E = 0,
=R
=R

Next, we have,

That is,
ButR _

= R_
= 0.
=R
= 0.

R_

= 0; therefore,

Similar, R _

= R_

= R_

= R_

= R_

= R_

= R_

=R

=R

=R

=R

=R

=R

=R

= R3 = R

R_

= 0 leads to,

= R_

= cos E sin E (R
R

=R
=R

Page 36

.
.

+R

).

Furthermore, since =
R
,R
=R
=R
,R
R_

Thus, R _

cos E R

= sin E , = = cos E ,
=R
= 0, we have,

= 3 R3
= R
( )R
)R
#
2(
R

= 0 gives,

(cos E sin E )R

2(cos E sin E )R

+ (cos E sin E)R

+ 2(cos E sin E)R

By adding two above equations, we obtain,

And finally,

(R

2R

4R

=R

)=0 R

+R

= 1 and R

sin E R

= 0 that,

Similarly, we can obtain from the equationR _

sin E R

=0

cos E R

1
= (R
2

=0

Thus, the number of independent coefficients reduces to 5 and we have, for a

transversely isotropic elastic solid with the axis of symmetry in the 1F direction, the
following stress strain law:
2
2

2
2
2
2

R

R

= R
0
0
0

R
R
R

0
0
0

R
R
R

0
0
0

0
0
0

0
0

0
0
0
0

(R

0
0
0
0
0
R

2
2
) 2

5.4 Isotropic Linearly Elastic Materials

The stress-strain equations given in the last section are for a transversely isotropic elastic
solid whose axis oftransverse isotropy is in the1F direction. If, in addition, 1@ is also an
axis of transverse isotropy, then clearly,we have,
R

=R

=R

,R

=R

,R

=R

(R

R
2

There are now only two independent coefficients and the stress strain law is,

Page 37

2
2

2 =
2
2
2
R
R

R
R
R
R

0
0

0
0
0
0

R
R
R

0
0
0

0
0
0
R

(R

0
0

0
0
0
0
R

(R

(R

0
0
0
0
0
R

The elements R are related to the Lames constants and as follows:

So we can write,

2
2

2
2
2
2

+ 2, R

+ 2
0
0
0

(R

= ,

+ 2
0
0
0

+ 2
0
0
0

Page 38

0
0
0

0
0

R
0
0
0
0

) = 2.

0

0
0 2
0 2
2

2
2
) 2

6 Take Home VI

Page 39

Page 40

Page 41

7 Take Home VII

From Helmholtz theoremwe knew that, any arbitrary vector field, like displacement, can
be written as summation of irrational and solenoidal field.
= t +

Using above equation in the Navier equations we find

+ ( + )(. ) + = 0

(t + ) + ( + )(. t + . ) + = 0
( + 2)( t) + ( ) + = 0

For the case of zero body forces, we consider special solution case with
t = {|/ <. , = n

For this case the displacement field representation as

For stress and strain we have

2 = t,

=
,

1
t
2 ,

Lame's Strain Potential

= t,

Galerkin (1930) showed that it is also useful to represent the displacement in terms of
second derivatives of a single vector function. The proposed representations given by
2 = 2(1 2 ) (. )

By comparing the representations given by previous equation with above, the Helmholtz
potentials can be related to the Galerkin vector by
t=

1 2
1
(. ), =
( )
2

For case = 1in cylindrical coordination we have

2 =

}}

q
q
q
, 2} =
, 2 = 2(1 )
qq
quq
q

q
q
w
y ,
q
q

q
1q
1 q
w

y ,
q
q qu

Page 42

o s
qquq

1 q
q
(1 )

qu
q

q
q
(2 )
,
q
q

q
q
(1 )

q
q

7.1 Kelvin's Problem: Galerkin Method

Figure 9

,
S

= w

= 2

= S = ' +

2} = 0,

2 = w

2(1 ) 1
+ + y
S
S S

(1 2 ) 3
= w
y,
S
S
}}

(1 2)
,
S

(1 2) 3
+ y,
S
S

(, )r

=0

= w

(1 2) 3
+ y
S
S

(, )r

r = SrS

=0

lim 2

(, ) r

rS
rS
= 2 2 (, )rS = 4 (1 2 )
+ 3 = 8 (1 )
S
S

8 (1 )

Page 43

7.2 Boussinesq's Problem: Galerkin - Lame's Strain Method

Figure 10

= = 0, = S
t = ln(S + )

From superposition we have

2 =

q qt
q 1 qt
q qt
+
, 2} =
+
, 2 = 2(1 )
+
qq q
quq qu
q
q

q
q
q t
w
y +
,
q
q
q
}}

1q t
o s+
qqu
qquq

q
1q
1 q
1q t
w

y +
,
q
q qu
qu
=

1 q
q
1q t
(1 )
+
qu
q
qqu

q
q
q t
(2 )
+
,
q
q
q

= w

= w

q
q
q t
(1 )
+
q
q
qq

(1 2 ) 3

+ y ,
S
S
S

(1 2) 3

+ y
S
S
S
Page 44

We known

= 0, so we have
w

(1 2)

+ 0y
= 0 = (1 2 )
S
S

= 2

= w

(, )r

3
y
S

=2 =

7.3 Cerruti's Problem: Galerkin - Lame's Strain Method

Figure 11

= S, = 0, = G ln(S + )
=
=

t=

RG
S+

G
S
G
v1 +
+ (1 2) w

yz
4 S
S
S + (S + )

G 1
1 2
G

1 2
o
s, : =
o +
s
(S + )
4 S S
4 S S
S+

G
3G
1 2
2S
v
+
wS
yz
(S + )
2 S
S
S+

G
3
1 2
2SG
v
+
w3S G
yz
(S + )
2 S
S
S+

3G
,
2 S

3G
,
2 S

+ (p) YS G
L

Page 45

3G
2 S

ZU

8 Take Home VIII

Figure 12

Su = S _ u _

=S

= _ u _ u

_ = S_

= (S _ )u _ (S )u = (u _ u) = u
}} =

}}

u
u S
=
u
u

= }} =

From boundary conditions we known

From first equations we have

}} r

u S

=0

}} r

u S
r = 0
u

S
r
r = S
r = 0

S =

We define
Page 46

From second boundary condition we have

1
r

u S
r =
u

u (S )

r =
u

u
r
5S
2S + r7 =

u
(S 2S + ) =
u
u

=
=
( S)
u

And finally we have

}}

( S ) ( S )
=

( S )

Figure 13

We assume = 6 ;/ and = 1 ;/ and = 1.5 ;/ and = 8 ;. ;/.

S=

ln

1
= = 6 0.75 = 5.25 ;/
2

1
= + = 6 + 0.75 = 6.75 ;/
2
Page 47

S=

From elasticity we have

}}

Where

Figure 14

1.5

ln

.
.

= 5.9686 ;/

= S = 6 5.9686 = 0.0314 ;/

( S)
8(6.75 5.969)
=
= 19.65 ;

1.5 0.0314 6.75

=

( S )
= 23.25 ;

v
ln + ln + ln + ( )z

= ( ) 4 oln s

Now we solve the problem with elasticity formulations

= 299.26

=h

=h

}} |

}} |

= 19.87 ;

= 23.31 ;

Page 48