Beruflich Dokumente
Kultur Dokumente
OF
SOLIDS AND
SHELLS
Theories and Approximations
SOLIDS AND
SHELLS
Theories and Approximations
Gerald Wempner
Professor emeritus
Georgia Institute of Technology
Atlanta, Georgia
U.S.A.
Demosthenes Talaslidis
Professor
Aristotle University Thessaloniki
Thessaloniki
Greece
CRC PR E S S
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The mechanics of solids and the mechanics of shells have long histories;
countless articles and books have been written by eminent scholars. Most
books address specic aspects which are necessarily restricted. Many are
limited by kinematical assumptions, e.g., small strains and/or small rota-
tions. Others are conned to specic behaviors, e.g., elasticity. This book
is also necessarily restricted but in a dierent way:
This book is intended as a reference for scholars, researchers, and prac-
titioners, to provide a reliable source for the mathematical tools of anal-
ysis and approximation. As such, those aspects which are common to all
continuous solids are presented in generality. These are the kinematics
(Chapter 3), the kinetics (Chapter 4), and the energetics (Chapter 6); the
only common limitations are the continuity and cohesion of the medium.
The basic quantities, e.g., strains, stresses, energies, and the mathemat-
ical relations are developed precisely. To achieve the requisite precision
and to reveal the invariant properties of physical entities, the foundations
are expressed via the language of vectorial and tensorial analysis (Chap-
ter 2). Additionally, geometrical and physical interpretations are empha-
sized throughout. Since large rotations play a central role in structural
responses, e.g., instabilities, the decomposition of rotations and strains is
given special attention and unique geometrical interpretations. Where spe-
cial restrictive conditions are invoked, they are clearly noted.
With a view toward practical applications, the authors have noted the
physical implications of various approximations. In the same spirit, only a
few specic results are presented; these are the exact solutions of much
signicance in engineering practice (simple bending and torsion, and exam-
ples of actual stress concentrations).
The utility of this book is enhanced by the unication of the various top-
ics: The theories of shells (Chapters 9 and 10) and nite elements (Chap-
ter 11) are couched in the general concepts of the three-dimensional con-
tinuous solid. Each of the variational principles and theorems of three di-
mensions (Chapter 6) has the analogous counterpart in the two dimensions
of the shell (Chapter 9).
We trust that the preceding preview serves to reveal our intended uni-
cation of the general foundations, the various theories and approximations.
The authors perspectives have been inuenced by many experiences, by
interactions with colleagues and by the eorts of many predecessors. A few
works are most notable: The classic of A. E. H. Love, the insightful works
of S. P. Timoshenko, the lucid monograph by V. V. Novozhilov, and the
text by A. E. Green and W. Zerna are but a few which have shaped our
views. Our grasp of energetic formulations and instability criteria are trace-
able to the important contributions by E. Tretz, B. Fraeijs de Veubeke,
and W. T. Koiter. Throughout this text, the authors have endeavored to
acknowledge the origins of concepts and advances. Inevitably, some are
overlooked; others are awed by historical accounts. The authors apologize
to persons who were inadvertently slighted by such mistakes.
On a personal note, Gerald Wempner must acknowledge his most inu-
ential teacher: His father, Paul Wempner, was a person with little formal
education, but one who demonstrated the value of keen observation and
concerted intellectual eort. Demosthenes Talaslidis would like to express
his gratitude to his wife Vasso for her tolerance and support throughout
preparation of this book. Both authors owe a debt of gratitude to Vasso
Talaslidis and Euthalia Papademetriou; their forbearance and hospitality
have enabled our collaboration. The authors are also indebted to Profes-
sor Walter Wunderlich who encouraged their earlier research. Finally, the
authors are obliged to Mrs. Feye Kazantzidou for her careful attention to
the illustrations.
1 Introduction
1.1 Purpose and Scope
1.2 Mechanical Concepts and Mathematical Representations
1.3 Index Notation
1.4 Systems
1.5 Summation Convention
1.6 Position of Indices
1.7 Vector Notation
1.8 Kronecker Delta
1.9 Permutation Symbol
1.10 Symmetrical and Antisymmetrical Systems
1.11 Abbreviation for Partial Derivatives
1.12 Terminology
1.13 Specic Notations
4 Stress
4.1 Stress Vector
4.2 Couple Stress
4.3 Actions Upon an Innitesimal Element
4.4 Equations of Motion
4.5 Tensorial and Invariant Forms of Stress and Internal Work
4.6 Transformation of StressPhysical Basis
4.7 Properties of a Stressed State
4.8 Hydrostatic Stress
4.9 Stress Deviator
4.10 Alternative Forms of the Equations of Motion
4.11 Signicance of Small Strain
4.12 Approximation of Moderate Rotations
5 Behavior of Materials
5.1 Introduction
5.2 General Considerations
5.3 Thermodynamic Principles
5.4 Excessive Entropy
5.5 Heat Flow
5.6 Entropy, Entropy Flux, and Entropy Production
5.7 Work of Internal Forces (Stresses)
5.8 Alternative Forms of the First and Second Laws
5.9 Saint-Venants Principle
5.10 Observations of Simple Tests
5.11 Elasticity
5.12 Inelasticity
5.13 Linearly Elastic (Hookean) Material
5.14 Monotropic Hookean Material
5.15 Orthotropic Hookean Material
5.16 Transversely Isotropic (Hexagonally Symmetric)
Hookean Material
5.17 Isotropic Hookean Material
5.18 Heat Conduction
5.19 Heat Conduction in the Hookean Material
5.20 Coecients of Isotropic Elasticity
5.20.1 Simple Tension
5.20.2 Simple Shear
5.20.3 Uniform Hydrostatic Pressure
5.21 Alternative Forms of the Energy Potentials
5.22 Hookean Behavior in Plane-Stress and
Plane-Strain
5.23 Justication of Saint-Venants Principle
5.24 Yield Condition
5.25 Yield Condition for Isotropic Materials
5.26 Tresca Yield Condition
5.27 von Mises Yield Criterion
5.28 Plastic Behavior
5.29 Incremental Stress-Strain Relations
5.30 Geometrical Interpretation of the Flow Condition
5.31 Thermodynamic Interpretation
5.32 Tangent Modulus of Elasto-plastic Deformations
5.33 The Equations of Saint-Venant, Levy, Prandtl, and Reuss
5.34 Hencky Stress-Strain Relations
9 Theory of Shells
9.1 Introduction
9.2 Historical Perspective
9.3 The Essence of Shell Theory
9.4 Scope of the Current Treatment
9.5 Kinematics
9.6 Strains and Stresses
9.7 Equilibrium
11 Concepts of Approximation
11.1 Introduction
11.2 Alternative Means of Approximation
11.3 Brief Retrospection
11.4 Concept of Finite Dierences
11.5 Stationarity of Functionals; Solutions and Forms
of Approximation
11.6 Nodal Approximations via the Stationarity of a
Functional
11.7 Higher-Order Approximations with Continuous
Derivatives
11.8 Approximation by Finite Elements; Physical and
Mathematical Implications
References
1.4 Systems
One advantage of index notation is that a system comprising many ele-
ments or components can be represented by one. For example, any of the
three components V1 , V2 , V3 is represented by Vi ; collectively, the three
components constitute a system of the rst order. A second-order system
is represented by a typical element Aij with two indices. The indices i and j
can independently assume the values 1, 2, 3; they are termed free indices.
The second-order system has nine components. A system of nth order has
n free indices and contains 3n components. Finally, an element without
indices (a system of order zero) is an invariant (see Section 2.7).
3
ai bi ai bi = a1 b1 + a2 b2 + a3 b3 ,
i=1
3
aAM bAN aAM bAN = a1M b1N + a2M b2N + a3M b3N ,
A=1
2
a b a b = a1 b1 + a2 b2 .
=1
3
3
aji bji aji bji
j=1 i=1
3
= (a1i b1i + a2i b2i + a3i b3i )
i=1
= a11 b11 + a21 b21 + a31 b31 + a12 b12 + a22 b22 + a32 b32
aii = ajj .
At times we may wish to signify only that element in which certain free
indices are equal. Then such indices are represented by the same minuscule
(lowercase letter) but the repeated index is underlined. Such repeated but
underlined indices do not indicate a summation. For example, Aii or Aii
represents any of the three elements A11 , A22 , A33 ; recall that Aii denotes
the sum:
Aii = A11 + A22 + A33 .
Caution: The same index cannot appear more than twice in a term; such
a repetition would be meaningless.
It is understood that a free index which appears on both sides of an
equation is assigned the same number on both sides. For example, the
equation
aj = bj + cj
a1 = b1 + c1 ,
a2 = b2 + c2 ,
a3 = b3 + c3 .
i j ij . (1.2)
Only one term of the sum does not vanish, the term in which i equals k.
Consequently, the sum reduces to
aij ik = akj .
Notice that the summation, involving one index i of the Kronecker delta
and one of another factor, has the eect of substituting the free index k of
the Kronecker delta for the repeated index i of the other factor.
Observe that the partial derivatives of independent variables xi are ex-
pressed by the Kronecker delta as follows:
xi
= ij . (1.3)
xj
Note that the Kronecker delta is an exceptional symbol which may carry
the indices in any position:
ij = ji = ij = ij = ji . (1.4)
ii = ii = ii = 3,
To demonstrate the utility of this system, we note that the vector product
of orthogonal unit vectors (1 , 2 , 3 ) is given by
i j = ijkk . (1.6)
= 16 (aii ajj akk 3aii ajk akj + aij ajk aki + aji akj aik ) (1.10)
Here, eij signies any second order system. Using (1.7), (1.9) to (1.11), and
(1.12ac), this determinant assumes the following form:
|eij ij | = 3 + I1 2 I2 + I3 . (1.13)
I1 = eii , (1.14a)
I3 = 16 (eii ejj ekk 3eii ejk ekj + eij ejk eki + eji ekj eik )
Aijk = Ajik .
If the sign of the element is reversed when two indices are interchanged,
then the system is antisymmetrical (or skewsymmetrical) with respect to
Bijk = Bjik .
The Kronecker delta ij and the permutation symbol ijk are notable
examples of completely symmetrical and antisymmetrical systems, respec-
tively.
Any system can be decomposed into one part which is symmetrical in
two indices and another part which is antisymmetrical. For example, if Aij
denotes an element of a system, then an element of a symmetrical system
is
A(ij) 12 (Aij + Aji ). (1.16)
An element of an antisymmetrical system is
It follows that
Aij = A(ij) + A[ij] . (1.18)
If Aij and Bij are symmetrical and antisymmetrical, respectively, then the
sum Aij Bij vanishes. The proof follows:
= 0.
A
A,i . (1.21)
xi
1.12 Terminology
For brevity we sometimes refer to a collection of quantities by a reference
to the typical quantity. Thus, we refer to the coordinates xi , meaning
the coordinates x1 , x2 , x3 , or vector ak , meaning the vector with com-
ponents a1 , a2 , a3 . In such terms of reference a symbol with free indices
is used to denote the entire system. However, mathematically the symbol
denotes a single element of the group.
General Notations
(
. ), ( . ) a tilde or bar over a symbol signies a specic reference
system
.
( ) a dot over a symbol signies time derivative (rate) or incre-
ment
(.) signies an increment or a rst-order variation
signies an identity or a denition
.
= signies an approximation
( . )| a vertical bar signies covariant dierentiation with respect
to the undeformed system; see (2.63) to (2.65)
Geometrical Quantities/Deformation
Stress
Thermal Quantities
T absolute temperature
Q thermal energy, heat supplied (per unit mass)
S entropy density (per unit mass) dened by (5.5a)
.
q heat ux (per unit deformed area)
2.1 Introduction
Many machine parts and structures have curved surfaces which dictate
the use of curvilinear coordinate systems. In particular, it is dicult to
formulate a general theory of shells without an adequate knowledge about
the coordinates of curved surfaces.
Although a rectangular system may be inscribed conveniently in certain
bodies, deformation carries the straight lines and planes to curved lines and
surfaces; rectangular coordinates are deformed into arbitrary curvilinear co-
ordinates. Consequently, we are unavoidably led to explore the dierential
geometry of curved lines and surfaces using curvilinear coordinates, if only
in the deformed body.
In general, coordinates need not measure length directly, as Cartesian
coordinates. The curvilinear coordinates need only dene the position of
points in space, but they must do so uniquely and continuously if they
are to serve our purpose in the mechanics of continuous media. A familiar
example is the spherical system of coordinates consisting of the radial dis-
tance and the angles of latitude and longitude: Spherical coordinates have
the requisite continuity except along the polar axis; one is a length and two
are angles, dimensionless in radians.
r = xii , (2.1)
Also, we assume that these have derivatives of any order required in the
subsequent analysis.
r xj
gi = j (2.5)
i i
g i g j ij . (2.6)
The vector g i is often called a reciprocal base vector. Since the vectors g i are
tangent to the coordinate curves, equation (2.6) means that the vectors g i
are normal to the coordinate surfaces. This is illustrated in Figure 2.3.
We will call the triad g i tangent base vectors and the triad g i normal base
vectors. In general they are not unit vectors.
The triad g i can be expressed as a linear combination of the triad g i ,
and vice versa. To this end we dene coecients g ij and gij such that
g im gjm = ji . (2.11)
g gi
i = i ,
e i = .
e (2.14a, b)
gii g ii
1
g ii = , g ij = gij = 0 (i = j).
gii
g ij = gij = ij ij .
xk xk
gij = . (2.15)
i j
and therefore
1
|g ij | = . (2.16c)
g
g i g j = M ijk g k , (2.17a)
g i g j = N ijk g k , (2.17b)
M = 16 ijk g k (g i g j ), (2.18a)
N = 16 ijk g k (g i g j ). (2.18b)
xk
g i r ,i = k , i j = ijk k .
i
1
N = . (2.21b)
g
With the notations of (2.21a, b), the equations (2.17a, b) take the forms:
ijk
gi gj = g ijk g k , gi gj = gk . (2.22a, b)
g
It follows that
ijk
g ijk = g k (g i g j ), = g k (g i g j ). (2.23a, b)
g
Let us dene
1
eijk g ijk , eijk ijk . (2.24a, b)
g
V = V i g i = Vi g i . (2.27a, b)
V i = gi V , Vi = g i V , (2.28a, b)
V i = g ij Vj , Vi = gij V j . (2.29a, b)
The coecients (V i gii ) and (Vi g ii ) are known as the physical compo-
V U = V i Ui = Vi U i = Vi Uj g ij = V i U j gij , (2.32ad)
V U = U V . (2.36)
Recall also that the value of the scalar triple product U (V W ) repre-
sents the volume of the parallelepiped whose edges are the vectors U , V
and W . It follows from (2.34a), the denitions (2.24a), and the properties
of the permutation symbol ijk (1.7) and (1.8) that
U (V W ) = V (W U ) = W (U V ) (2.37a, b)
and
U (V W ) = U (W V ), (2.38a)
= V (U W ), (2.38b)
= W (V U ). (2.38c)
dv = dr 1 (dr 2 dr 3 )
= r ,1 (r ,2 r ,3 ) d1 d2 d3
= g 1 (g 2 g 3 ) d1 d2 d3
= g d1 d2 d3 . (2.39)
gi
i = .
e
g ii
By (2.22a) we have
1 g 1
ds1 = e g d2 d3
= g 11 g d2 d3 . (2.40a)
Likewise,
ds2 = g 22 g d3 d1 , (2.40b)
ds3 = g 33 g d1 d2 . (2.40c)
i ) =
g 2 (dsi e g d3 d1 = ds n2 , (2.42b)
g i 2r 2 xp
g i,j = = p . (2.43ac)
j i j i j
The vector g i,j can be expressed as a linear combination of the base vec-
tors g i or g i :
The coecients ijk and kij are known as the Christoel symbols of the
rst and second kind , respectively. According to (2.44) and (2.46a, b), the
symbols are symmetric in two lower indices; that is,
Using (2.7), (2.8), and (2.46a, b), we obtain the following relations:
but also
l m n l 2 m
ijk = lmn + glm . (2.52)
i j
k k i j
Equation (2.52) shows that the Christoel symbols are not components of
a tensor (see Section 2.7).
From the denitions (2.16a), from (2.9), (2.12), and (2.49), it follows that
g
= gg ij
gij
and
1 g
= jji . (2.53)
g i
i = i (1 , 2 , 3 ), i = i (1 , 2 , 3 ).
i j
di = d .
j
i j i j
Ti = T , Ti = T . (2.54a, b)
j j
i j
F ij = F pq . (2.55)
p q
n superscripts n partial derivatives n superscripts
r r j j
gi = g
j . (2.56)
i j i i
p q
P ij = P pq . (2.57)
i j
n subscripts n partial derivatives n subscripts
A tensor may have mixed character, partly contravariant and partly co-
variant. The order of contravariance is given by the number of superscripts
and the order of covariance by the number of subscripts. The components
of a mixed tensor of order (m + n), contravariant of order m and covariant
of order n, transform as follows:
Observe that the transformations (2.55), (2.57), and (2.58) express the
tensorial components in one system i as a linear combination of the com-
ponents in another i . The distinction between the contravariance (super-
scripts) and covariance (subscripts) is crucial from the mathematical and
physical viewpoints. First, we observe that addition of tensorial compo-
nents is meaningful if, and only if, they are of the same form, the same
k l m n ij
Qkl
pq = Q .
i j p q mn
k n l m ij
Qkl
pk = Q .
i k j p mn
Note that
k n n
= = in .
i k i
Therefore,
l m ij
Qkl
pk = Q .
j p mi
In words, the latter components are the components of a second-order ten-
sor; it is a mixed tensor of rst-order contravariant (one free superscript)
and rst-order covariant (one free subscript). It is especially important to
observe that one repeated index is a superscript and one is a subscript;
one indicating the contravariant character, the other indicating the co-
variant character. Such repetition of indices and implied summation (one
superscriptone subscript) is an inviolate rule to retain the tensorial char-
acter.
Let us now consider the further contraction Qij ij
ij = T Sij . Again, T
ij
ij
and Sij , hence Qij are tensorial components. In the light of (2.55) and
(2.57)
i j mn p q
T ij S ij = T Spq .
m n i j
p q mn
T ij S ij = p q mn
T Spq = m n T Spq = T mn Smn . (2.59)
m
n
xk xl xk xk i j kl i j
gij = i j
kl = , g ij = = ;
i j xk xl xk xk
i
i = gm
g . (2.60)
m
It follows from (2.56) and (2.60) that the components gij and g ij transform
according to the rules for covariant and contravariant components, respec-
tively. Similarly, from equations (2.25a, b), the components eijk and eijk
are, respectively, covariant and contravariant:
xl xm xn i j k lmn
eijk = lmn , eijk = .
i j k xl xm xn
T pq = g pi g qj Tij . (2.61)
T ij = gip T pj , T ij = g ip Tpj ,
ijm r ijm r
T rln kp T klr np . (2.65)
Aj |kl = Aj |lk .
According to (2.64)
Aj |kl Aj |lk = Rijkl Ai , (2.66)
where
Rijkl ijl,k ijk,l + m i m i
jl mk jk ml . (2.67)
= lji,k kji,l + m m
jk ilm jl ikm , (2.68b)
From the denition (2.68c) and the symmetries of the components of the
metric tensor (gij = gji ) and of the Christoel symbol (ijk = jik ) it fol-
g ij = gij = ij ij ji .
V i |j = V i |j = V i,j = Vi,j .
I Ai B,i dv = Ai B,i g d1 d2 d3 , (2.70)
v v
I3 A3 B,3 g d3 d1 d2 . (2.71a)
v
A3 g ,3 B d1 d2 d3 .
= ni g i , then
If ni represent the components of the unit normal vector n
according to (2.42c)
g d1 d2 = n3 ds, g d1 d2 = n3 ds.
s s
I3 = A B n3 ds A3 g ,3 B dv. (2.71b)
s v g
s V,i dv = (s ni ) V ds g s ,i V dv.
v s v g
(2.73)
Integral transformations, which express certain surface integrals in terms
of line integrals are presented in Section 8.11.
sian coordinates of the particle, and i are unit vectors parallel to the axes
as shown in Figure 3.2. After deformation, the particle is at P with the
position vector
Equation (3.2) asserts that the terminal position of the particle depends
on its initial coordinates and time. The continuity of the medium requires
that R be continuous. We assume that its derivatives are also continuous.
The particles on a line of the body form a chain, called a material line,
which must remain intact as it deforms. If the coordinates of P and P are
(a1 , a2 , a3 ), then r = r(a1 , a2 , 3 ) and R = R(a1 , a2 , 3 ; t) trace the 3 line
through P initially and through P subsequently, as depicted in Figure 3.2.
The deformed coordinate line is often called a convected coordinate line.
Likewise, the 3 surfaces through P and P are dened by the equations
r = r(1 , 2 , a3 ) and R = R(1 , 2 , a3 ; t), respectively. Particles, which lie
initially on the surface through P , lie subsequently on the convected surface
through P .
The two particles at P and Q of the 1 line shown in Figure 3.2 are
displaced to P and Q of the deformed 1 line. The coordinates of P
and Q dier by the increment 1 , just as the coordinates of P and Q
in the undeformed conguration. The position of particle Q relative to
particle P is given by the vector R originating at P and terminating
at Q (see Figure 3.3). In the limit, as Q approaches P , the vector R
is tangent to the 1 line at P . It follows that the derivative R/1 is
tangent to the 1 line at particle P . Collectively, the partial derivatives
form the triad of tangent base vectors:
R
Gi = R,i . (3.3)
i
Gi Gj ij . (3.4)
The normal vector G1 , shown in Figure 3.3, is normal to the tangent base
vectors (G2 , G3 ) and, therefore, normal to the 1 surface. The vectors Gi
are often termed reciprocal base vectors; here we call them by the de-
scriptive phrase normal base vectors. Since the vector Gi is normal to the
i surface, the triad Gi must be noncoplanar; it follows that any vector can
be expressed as a linear combination of the normal base vectors.
The vector Gi can be expressed as a linear combination of the normal
base vectors and vice versa:
The coecients Gij and Gij are the covariant and contravariant compo-
nents of the metric tensor of the deformed coordinate system, as gij and g ij
are the components of the metric tensor of the reference system, in accor-
dance with equations (2.9) and (2.10). The contravariant components Gij
are determined by the covariant components, in the manner of (2.12):
The components of the metric tensor, Gij and Gij , play the same roles
in the deformed curvilinear system as their counterparts, gij and g ij , in
the reference system. In particular, the fundamental form of dierential
geometry determines the dierential length dL in the deformed system:
Just as gii determines the length along the undeformed i line, Gii provides
the measure of length along the deformed i line.
In accordance
with (3.6a, b), the lengths of the vectors Gi and Gi are
Gii and Gii , respectively. The unit vectors in the directions of Gi
and Gi are, respectively,
i
i = Gi ,
E i = G .
E (3.9a, b)
Gii Gii
Xk Xk
Gij = . (3.10)
i j
dV = G1 (G2 G3 ) d1 d2 d3 .
The measure of the deformed volume G can be expressed in terms of the
metric tensor Gij as the measure of the undeformed volume g is expressed
by equation (2.16a):
G = Gij . (3.11c)
where E i is the unit normal to the i surface; see equation (3.9b). The
area of the 3 coordinate surface is
3 (G1 G2 ) d1 d2 .
dS3 = E
Likewise,
dS1 = G11 G d2 d3 , dS2 = G22 G d1 d3 . (3.14b, c)
ijk
Eijk ijk G, E ijk . (3.17a, b)
G
V = v i g i = vi g i ,
or
V = V i Gi = Vi Gi .
v i = g i V = g ij vj , V i = Gi V = Gij Vj . (3.18a, b)
Unless otherwise noted, we associate components with the initial state, i.e,
via the undeformed metric (gij , g ij ).
A tensor can also be associated with the initial or the deformed system.
In certain instances it might be expedient to form components associated
with the deformed system. For example, instead of the associated tensor
of (2.61),
T pq = g pi g qj Tij ,
T pq = Gpi Gqj Tij .
Here the asterisk signals the deformed system. In such instances, one must
exercise care to avoid misunderstandings, for clearly ( T pq = T pq ). Since
the initial system is usually prescribed, it is that metric (gij and g ij ) which
is known, and consequently, association via the initial metric is usually the
most practical.
Derivatives of vectors in the deformed system require similar precau-
tions. Like the Christoel symbols of (2.46a, b), we have the symbols of the
deformed space:
ijk Gk Gi,j , k
ij Gk Gi,j = Gi Gk,j . (3.19a, b)
Like (2.47), the Christoel symbols for the deformed state are given by
1
ijk = 2 Gik,j + Gjk,i Gij,k . (3.20)
and
si V,i dV =
V
1 i
(si Ni ) V dS G s ,i V dV.
S V G
Again, tensors can be associated with the deformed system and all for-
mulations can be cast in the deformed system. Then, the deformed vectors
(Gi and Gi ) and the metric of the deformed conguration (Gij and Gij )
provide the bases. Special precautions are needed if the systems are mixed.
. .
2 = gij ]P i j , L2 = Gij ]P i j . (3.22)
The components of the metric tensor gij determine the initial length
and the components Gij determine the subsequent length L for the same
material line as it stretches from P Q to P Q . Although the metric tensors
provide a description of the deformation, they provide no information about
the displacement of the particles nor the rotation of the lines. Clearly,
a given line may stretch without rotating or rotate without stretching.
Throughout our analyses, careful distinctions between deformations and
rigid motions are paramount.
If the approximation (3.21b) is expressed in terms of the xed rectangular
Cartesian system, then the coordinates of the deformed segment P Q are
.
R i = Xi = Xi,j ]P xj , (3.23)
3.6 Strain
The deformation of a body is manifested by the extension of lines and
the distortion of angles between lines. In general, the nature and severity
of the deformation varies from point to point. A description of the defor-
mation at a point requires a precise means to fully describe the changes of
dierential geometry. Any collection of geometrical quantities, which pro-
vides such description, constitutes a measure of strain. Many alternatives
are possible. We explore two forms which are most useful in the mechan-
ics of solids. Both are dened by geometrical properties of the convecting
lines and surfaces. The rst, the so-called Green or Cauchy-Green strain,
is mathematically convenient. The second is the strain most commonly
employed in engineering. The signicance of these measures is apparent
later (Chapters 5 and 6) when we examine the work expended by stress
and when we express the internal potential of elastic materials.
Consider any neighboring particles at P and Q in the reference state
and the same particles at P and Q in a deformed state, as depicted in
Figure 3.5. The lengths of the vectors r and R joining the particles
are denoted by and L, respectively. We dene an extensional strain
1 L2 1 dL
lim 1 = 1 . (3.25a, b)
0 2 2 2 d
1 di dj
= (Gij gij ) . (3.27)
2 d d
The derivatives (di /d) serve to establish the initial orientation of the line
in question: If, for example, the unit vector e denes the initial direction
of the line, then from dr = g i di = e
d, it follows that
di
= gi e
. (3.28)
d
Suppose that the particles P and Q lie on the 1 line. Then, in accordance
with (3.28), (2.14a), and (2.6)
d2 d3
= =0 (3.29a, b)
d d
and
d1 1
= . (3.29c)
d g11
When the indices are equal, (i = j), then according to (3.30) and the
denition (3.31):
ii
ii = . (3.32)
gii
Gij = Gii Gjj (E
i E
j ). (3.33b)
According to (3.30),
Gii = gii (1 + 2ii ). (3.34)
In view of the denition (3.31) and the equations (3.33a, b) and (3.34), we
give a general denition of the physical strain components ij :
ij
ij = , (3.35a)
gii gjj
1
= 2 1 + 2ii 1 + 2jj (E
i E
j ) (
ei e
j ) . (3.35b)
Any quantity which measures the change of angle between lines is a shear
strain. According to (3.36), ij (i = j) is a nondimensional quantity which
serves to measure such change; it is the physical component of the shear
strain.
Each tensorial component ij of the Green strain tensor is related to a
physical component ij of strain by (3.35a, b). An extensional strain (i = j)
describes the stretching of the coordinate line and a shear strain (i = j)
determines the change of angle between two lines, as the change from 23 to
23 depicted in Figure 3.5. The collection of six components fully describes
the state of strain at the point.
The foregoing denitions are most common, mathematically convenient
and physically meaningful, but many alternatives are possible. Two deserve
particular attention in the mechanics of solids. An extensional strain, which
is commonly employed in engineering, is dened as follows:
lim L dL
h 1 = 1. (3.37a, b)
0 d
According to (3.25a, b) and (3.37a, b), the former is related to the latter by
the equation:
=h + 1h 2. (3.38)
2
d(L )
d = lim . (3.39)
L 0 L
= ln(1 + h)
= 1
2 ln(1 + 2). (3.40a, b)
k l
ij = kl . (3.41)
i j
ji = g ik kj , ij = g ik g jl kl . (3.42a, b)
xj xj
i = aij j =
a j , i = a
ij a
j = a
j .
xi xi
Evidently,
xj x
j
aij = a
i j = , ij = a
a j i = . (3.43a, b)
xi xi
In the Cartesian system, the metric tensor has components gij = ij and,
according to (3.35a, b), the components of the Cartesian tensor are also the
physical components of strain. Stated otherwise, the physical components
may be regarded as the components of strain in a local Cartesian system.
The extensional strains in the principal directions are termed the prin-
cipal strains. They are the extremal values of the extensional strain at the
point. In general, one principal strain is the maximum extensional strain
at the point and one is the minimum.
Although, in general, there are three distinct principal strains and conse-
quently, three distinct principal directions, certain special cases arise. The
most special case arises if all three principal strains are equal:
In this case, the extensional strain is the same in all directions and the
shear strain vanishes for all directions. Every direction is a principal direc-
tion. An innitesimal sphere of the medium would dilate (or contract) in a
spherically symmetric manner as depicted in Figure 3.8. Such deformation
is often referred to as pure, or simple, dilatation.
Another special case arises if two of the principal strains are equal:
11 = 22 = 33 . Then all lines in the (x2 x
3 ) plane experience the same
extensional strain and the shear strain vanishes for any directions in this
plane. All directions in the ( x2 x3 ) plane are principal directions. An
r i
n
= g = ni g i = ni g i , (3.46ad)
i
i j
ij = ni nj ij . (3.47a)
= ni nj ij = ni nj ij . (3.47b, c)
n = ni nj gij = ni nj g ij = ni ni = 1.
n (3.48ad)
= (ij gij ) nj = 0. (3.50a)
ni
(ij ij ) nj = 0. (3.50b)
Now, suppose that the components nj dene the direction of the ex-
tremal value, i.e., nj satisfy (3.50b) and the normality condition (3.48ad).
Then, if we multiply (3.50b) by the corresponding component ni , sum, and
enforce (3.48ad), we obtain
= ni nj ij = nj nj = . (3.51)
3 I1 2 + I2 I3 = 0, (3.52b)
where
I1 = ii , (3.53a)
I2 = 12 (ii jj ji ij ), (3.53b)
The cubic equation (3.52b) has three real roots (i) , the three principal
strains. Here, the parentheses used to enclose the letter i serve to avoid
confusing this label with an index. For each root, the simultaneous solution
of (3.50b) and (3.48ad) determines the corresponding principal direction
n
(i) .
Suppose that (1) and (2) are distinct roots of (3.52b), and ni(1) and
i
n(2) are the corresponding solutions of (3.50b) and (3.48ad). The roots,
(1) and (2) , are the principal strains (stationary values of extensional
(1) (= ni(1) g i ) and n
strain) in the directions of unit vectors n (2) (= ni(2) g i ).
Again, the parentheses used to enclose the numbers (1) and (2) of ni(1)
and ni(2) serve to avoid confusion with an index. Notice that ni(k) are
components of a tensor of rst order. According to (3.50a), we can form
the two equations:
(ij (1) gij ) nj(1) ni(2) = 0, (ij (2) gij ) nj(2) ni(1) = 0. (3.54a, b)
(i) n
n (j) = nk(i) nl(j) gkl = ij . (3.55)
If x
i denotes initial length along a principal line, then according to
(3.46ad)
m xi
(i) = nm
n (i) g m = g m = n(i)m g m = m g m .
x
i
It follows that
m x
i
nm m
(i) = g n
(i) = , n(i)m = g m n
(i) = . (3.56ad)
x
i m
k l
ij = = nk(i) nl(j) kl = (i) ij . (3.57)
x j kl
i x
Equation (3.57) implies that the shear strain components vanish in the prin-
cipal directions. In other words, the material lines x
i , which are orthogonal
in the initial state, remain orthogonal in the deformed state (see Figure 3.7).
The extensional strains (i) are the stationary values; in general, one is the
maximum and one is the minimum.
According to (3.41), (3.56d), and (3.57), components in an arbitrary sys-
tem i are expressed in terms of the principal strains (k) and directions ni(k)
as follows:
k x
x l k x
x k
ij = kl = (k) = n(k)i n(k)j (k) . (3.58a, b)
i j i j
k x
x k
ij ij = (k) = n(k)i n(k)j (k) , (3.59a, b)
x
i x
j
r r x i x i
a
= = (i) n
n i() n
(i) ( = 1, 2)
x x
i x x
and
a
n i() .
(i) n (3.60)
x i xi
12 12 = =n i(1) n
j(2) (i) ij . (3.61a, b)
x1 x2 (i)
The vectors a
satisfy the orthogonality and normality conditions:
a
1 a i(1) n
2 = n j(2) ij = 0, (3.62a)
a
1 a i(1) n
1 1 = n j(1) ij 1 = 0, (3.62b)
a
2 a i(2) n
2 1 = n j(2) ij 1 = 0. (3.62c)
i(1) n
=n j(2) ((i) ) ij
ni(1) n
(1) ( j(1) ij 1) (2) (
ni(2) n
j(2) ij 1). (3.63)
i(1) 2(2) n
= ((i) ) n i(2) = 0. (3.64b)
i(2)
n
The multipliers , (1) , (2) and the direction cosines n i(1) and n
i(2) must
be determined to satisfy (3.62ac) and (3.64a, b).
i(1) and summed, and if (3.62a, b) are enforced,
If (3.64a) is multiplied by n
then
i(1) n
(1) = 12 n j(2) (i) ij = 12 12 . (3.65a)
i(1) n
(2) = 12 n j(2) (i) ij = 12 12 . (3.65b)
Equations (3.65a, b) assert that the multipliers (1) and (2) are one half
the shear strain in the directions of a 1 and a
2 , respectively.
i(2) , if the indicated summation is performed,
If (3.64a) is multiplied by n
and if (3.62a, c) are enforced, then the result follows:
i(2) n
=n j(2) (i) ij = 22 . (3.66a)
i(1) n
=n j(1) (i) ij = 11 . (3.66b)
(i) i
a
1 n i(1) =
(i) = n n
,
2(1) (2)
(i) i
a
2 n i(2) =
(i) = n n
.
2(2) (1)
(i) i (i) i
i(1) =
n n
(2) , i(2) =
n n
(1) . (3.67a, b)
12 12
If the extensional strain 11 = 22 = does not equal a principal strain
(i) , then (3.67a, b) require that
i(1) =
n ni(2) .
In case n i(1) = n
i(2) for all i, then the orthogonality condition (3.62a) is
violated. If
1(1) = n
n 1(2) = n
2(1) =
n2(2) = k,
3(1) n
n 3(2) = 0,
2k 2 + (
n3(1) )2 = 1,
2k 2 + (
n3(2) )2 = 1.
3(1) =
Then, since n n3(2) ,
3(1) = n
n 3(2) = 0, k = 1/ 2.
A B
hij = hAB , (3.70a)
i j
A LA A A
= i j, (3.70b)
i j
LA A A A
= i j
i j. (3.70c)
Observe that the tensor is symmetric, hij = hji . Observe too that the nal
term in (3.70b, c) is the component of the metric gij according to (2.15).
The engineering strain tensor is especially relevant to the decomposition
described in Section 3.14. It also plays a central role in the work/energy
methods of Chapter 6.
K1 ii , K2 ji ij , K3 ji kj ik . (3.71ac)
Other invariants can be formed, but only three are independent. A no-
table example is found in the cubic equation (3.52b), wherein the coe-
cients I1 , I2 , and I3 are invariants that are expressed in terms of K1 , K2 ,
and K3 in accordance with (3.53ac):
I1 = K1 , (3.72a)
I2 = 12 (K 21 K2 ), (3.72b)
The volume metrics g or G are also invariant. They can be expressed
in terms of the invariants Ii or Ki . Specically, we cite the following:
G
|g ik Gkj | = |g ij | |Gij | = = |2ji + ji |.
g
I1 = hii , (3.75a)
I3 = 16 (hii hjj hkk + 2hij hjk hki 3hii hkj hjk ) = |hij |. (3.75c)
. . . .
h = hii ,
e = ii , ii = hii ,
h = e. (3.76ad)
To appreciate the role of the invariants, consider that the state of strain
is described by the three principal strains and three angles which locate
the principal directions. Since three invariants (I1 , I2 , I3 ) determine the
principal strains via the cubic equation (3.52b), the invariants and the
angles also suce to fully describe the state. In an isotropic material,
physical properties are independent of directions and, consequently, the
orientation of the principal lines is irrelevant. In short, the three strain
invariants provide the essential information about the strained state of an
isotropic material.
AB C
C A AB .
A B LA A A LA
Cij = CAB = = . (3.77ac)
i j i j i j
A A
gij = ,
i j
i B A i B A i LA
Cji = CB = C AB = , (3.79ac)
A j A j A j
n
A =
r
, A = R = R dA GA dA .
N
A LA A dLA dLA
A i
gi = n
, n
A = gA = g, (3.82ac)
i A A i
R A A B
Gi = G = C N . (3.83ac)
i i A i A B
Our transition from the arbitrary coordinates calls for the transformation:
m
AB = B Cm
C n
. (3.84)
A n
B n
Gi = C N .
n i B
We know that the vectors Gi and g i and the stretch Cin are tensors. We
also know that the equation (3.85b) holds for an arbitrary state (strain
and/or rotation). Then, the parenthetical term is also the component of a
tensor, the rotation tensor in the system of arbitrary coordinates i , as it is
expressed by a tensor transformation from the local Cartesian system A :
B j A
rn j = r . (3.85c)
n A B
The reader can now see the merit in the positioning of the indices on r,
though the position on a Cartesian component is inconsequential. Equa-
tion (3.85b) is now expressed fully in terms of the tensors in the arbitrary
coordinates:
Gi = Cin rn j g j . (3.86a)
Here, each component on the right side is associated with the metric gij
or g ij of the initial conguration. Accordingly, we have the alternative
forms:
n = rn j g j ,
g n = rn j g j .
g (3.87a, b)
The latter are rigidly rotated versions of the initial base vectors and are,
otherwise similar. Specically,
i g
g j = gij , g j = ij ,
i g g j = g ij .
i g (3.88ac)
g m = nm = rn j rm k g j g k ,
n g
nm = rn k rm k . (3.89)
rn j = g j g
n, rn j = g j g
n, (3.90a, b)
g j = rn j g
n, g j = rn j g
n, (3.91a, b)
g n g m = nm = rk n rk m . (3.92)
The equations (3.89) and (3.92) express the orthogonality of the rotation
which rigidly rotates the vectors n to N
, the tangent base vectors g
i
to g i i by (3.80) and (3.87a, b). The
i , and the normal base vectors g to g
subsequent deformation changes the triad g i to the nal deformed
i or g
triad Gi via the stretch according to (3.86ac):
Gi = Cin g
n, n.
Gi = Cin g (3.93a, b)
Cin = Gi g
n, Cin = Gi g
n = Gn g
i = Cni . (3.94a, b)
The latter gives meaning to the components of the stretch tensor. For
example, the component C12 is a component of the deformed vector G1 in
the direction of the rotated base vector g 2 , or, due to the symmetry of Cij ,
the component of G2 in the direction of the vector g 1 . It depends upon
the shear strain (h12 = h21 ); if the latter vanishes, then in accordance with
(3.78), C12 = g12 .
The equations (3.31), (3.78), (3.79e), (3.93a), and (3.94b) provide the
following:
Gi = Cim g
m = (im + hm gm ,
i ) (3.95)
hij = 12 (Gi g
j + Gj g
i ) gij , (3.96)
Note that hij and ij dier in the principal values and not in the principal
directions.
The decomposition expressed by (3.87a, b) and (3.93a, b) is illustrated by
Figure 3.12. The initial triad g i at a particle P is rigidly transported to P
and rotated to the similar triad g i in accordance with (3.87a, b); the triad
g
i is then deformed to the nal triad Gi in accordance with (3.93a, b).
Let us retrace the decomposition from another perspective: A rigid ro-
tation (3.87a, b) carries the tangent and normal base vectors (g i and g i )
i ). A deformation carries the latter to the cur-
g i and g
to similar triads (
rent deformed base vectors (Gi and Gi ). The last step is achieved via the
stretch Cij such that [see (3.78) and (3.94b)]:
Cij = Gi g
j = Gj g
i = hij + gij . (3.98ac)
hij = Gi g
j gij = Gj g
i gij . (3.99a, b)
The latter oers insight to the orientation of the rigidly rotated basis g i:
It lies in a position such that hij = hji ; a shear strain is equally comprised
of the two parts, i.e., (Gi g j ) and (Gj g i ) [see (3.96)]. If, for example,
no stretch occurs (lengths of Gi , g i , and g i are the same), then the angles
ij of Figure 3.13 between the vectors Gi and g j are equal to that between
the vectors Gj and g i , i.e., ij = ji . Stated otherwise, the symmetry
of the stretch Cij and strain hij enforces an intermediate position of the
rotated bases g i . Recall that if the coordinate lines i lie in principal
i and g
directions, the condition on the rotation requires that g i are coincident with
Gi , and, therefore, hij exhibits no shear components.
The intermediate (rotated) triad g j is characterized by the condition
i Gj = g
g j Gi .
In any case, only the deformation by the symmetric tensor (stretch Cij or
strain hij ) carries the rotated triad g
j to the triad Gi .
= C i g = C gi ,
G (3.100a, b)
m m i im
where
G
G
=G , iG
G j = Gij , iG
G = i ,
i j ij j j
C im = g i G
,
m C im = g i G
.
m (3.101a, b)
Again, the prime symbol over the vectors Gm in (3.100a, b) signies the
rst step of the decomposition.
The same deformation transforms g i to G i and g
i to Gi . The two sys-
tems, (g i and G g i and Gi ), dier by a rigid rotation. The equiv-
i ) and (
alence is evident in Figure 3.14; the two systems depicted at a and b
dier by a rotation of 90 about the normal to the plane of the page. Hence,
i LA
C im = Cm
i
= .
A m
Gi = Ri j G
,
j
j,
Gi = Rij G i = R i Gj ,
G j
= Rj G .(3.102ad)
Gi i j
Since the rotation follows the deformation, the components of the rotation
are associated via the metric of the deformed system. For example,
Ri j Rm j = im = Rjm Rj i . (3.103a, b)
i g
vector , = i = i Gi . The increment of g g i , can be
i , denoted by
expressed in the usual manner by the increments of the rotation vector or
tensor:
g i = g
i, g i = ri j g j .
(3.104a, b)
Using (3.104a, b), (2.26a), and (3.87b) and multiplying both sides by g j , it
follows that
ri j = ekil
k rlj , (3.105)
where
k ,
k g ekil = g kil .
Gi = Gi , Gi = Ri j G
,
j (3.106a, b)
where
k Gk , Ekil = G kil .
k ekij = 12 (
gi g
j
gj g
i )
ji . (3.108)
Gi = gii (1 + hii )E
Gii E i
.
i (3.112a)
g
i = i ,
gii e (3.112b)
1 e
e 2 = cos 12 .
1
P h12 = P h21 = 2 [(1 + h11 ) cos 12 + (1 + h22 ) cos 21 ] cos 12 .
. 1
P h12 = P h21 = 2 (cos 12 + cos 21 cos 12 )
1
= 2 (cos 12 + cos 21 ) cos 12
. 1
= 2 (12 + 21 ) sin 12 .
If the coordinates are initially orthogonal, then sin 12 = 1 and the approxi-
mation is one half of the change of angle, just as the physical approximation
12 of the Cauchy-Green strain.
R=r+V, (3.114)
or using (3.91b)
Gi = rn i g
n + V,i . (3.115b)
or
The latter form is possibly useful in pursuing the computations for large
deformations. The vector V is most usually expressed in terms of the initial
basis:
V = V i gi . (3.117)
Here, the vertical bar (|) signies the covariant derivative with respect to the
undeformed system (see Section 2.9). If the components of the displacement
vector are referred to the deformed basis (V = V i Gi ), then (3.116b) yields:
ij = 1
2 Vi |j + Vj |i Gmn Vm |i Vn |j . (3.118b)
g i g
i gi . (3.120)
1
2 (rij + rji ) = gij + 12 (g i g j + g j g i ).
The latter serves to decompose the strain hij into an initial term (linear in
displacement), a second term (attributed to the rotation), and a nal term
(quadratic in the displacement).
Alternatively,
Q Q
i
V ]Q = V ]P + V,i d = V ]P + V,i d(i i ). (3.122b, c)
P P
Now, by denition
V = R r, V,i = Gi g i .
Now, recall the denitions (2.45a, b) and (3.19a, b); accordingly, the integral
of (3.124) takes the form
Q
I ( i i )( ijm Gm ijm g m ) dj . (3.125)
P
It is independent of the path (an exact integral I exists; I,j = Fj ) if, and
only if,
Fj Fn
= .
n j
Applying the condition to the integral of (3.125), we obtain
+ ( i i ) ( ijm Gm ),n ( inm Gm ),j
(ijm g m ),n + (inm g m ),j = 0. (3.126)
We recall the equations (2.47) and (3.20) and also the denition (3.31) of
the strain component ij :
njm = 12 (Gnm,j + Gjm,n Gnj,m )
Employing again the earlier results of (2.46a, b) and (3.19a, b), we obtain
= 0. (3.130)
Note that the bracketed terms of (3.131) are nonlinear in the components
of strain. Note too that the components Gpq can be expressed in terms
of the covariant components Gpq via (3.7) and the latter in terms of the
strains via (3.31).
In view of the symmetry of the metric and strain tensors, some of the
equations are identical while others vanish identically. Indeed, there are but
six distinct components of the Riemann-Christoel tensor and, therefore,
six distinct equations represented by (3.131); specically
R2112 = 0, R3113 = 0, R2332 = 0,
(3.132af)
R2113 = 0, R2331 = 0, R1223 = 0.
The six distinct equations of (3.132af) are conditions for the compati-
bility of the strain components. In view of the symmetry, the six distinct
components can be represented by the components of a symmetrical second-
order tensor:
T kl kmi lnj Rminj . (3.133)
T ij = 0. (3.134)
.
From the equations of transformation (3.41), it follows that the rate ij in
another system of coordinates i is given by
. k l .
ij = kl . (3.136)
i j
.
Although the strain increment ij has mathematical and physical prop-
erties, which are similar to the strain, it is distinct. In particular, the
.
principal directions of the rate ij and strain ij are generally dierent.
.
It is most likely that the strain rate ij would be employed in analyses
of inelastic solids. In the event of nite deformations, such increments
might be associated with the deformed state; then components might also
be mathematically associated via the deformed metric (Gij or Gij ).
. .
= 12 (Gi V,j Gj V,i ). (3.138b)
It follows from (3.135) and (3.138a) and from (3.137) and (3.138b), respec-
tively, that . . . .
Gj = V,j = ( ij + ij ) Gi . (3.139)
.
Equation (3.139) serves to decompose the rate Gj into two parts: a
. .
deformational part ( ij Gi ) and a rotational part ( ij Gi ). The former
fully describes the rate of deformation; the latter represents the rigid-body
spin and, since it is a small increment, it can also be expressed by a
.
spin vector in the usual manner:
. . .
ij Gi = Gj = i Eijk Gk . (3.140)
It follows that
. . . .
ij = Ekji k , k = 12 E ijk ji . (3.141a, b)
Recall that the rotation is determined by the tensor Rij of (3.102a, b),
wherein the vector G i shown in Figure 3.15 is perceived as the conse-
quence of the prior deformation (g i G i ). In accordance with (3.138a)
and (3.102a, d), . .
.
ij = 12 (Rik R j k Rjk R ik ). (3.142)
Recall too that the rotation in question is the rotation that carries the
initial principal lines to their current positions; indeed
). . N
(N . (3.143)
.
The vector Gj is decomposed in (3.139), wherein the rate of deformation
. .
is expressed by the strain rate ij . Alternatively, the vector Gj is expressed
.
in terms of the strain rate hij by dierentiating (3.93a):
. . . .
n ) = C nj g
Gj = (Cjn g n + Cjn (
gn ) . (3.144)
We note that the rotational increment has alternative bases in the equa-
tions (3.140) and (3.147), viz.,
. . .
= i Gi = i g
i.
.
The rate of dilatation D follows from (3.12), (3.16a), (3.17a), (1.12c),
and (3.139) :
.
. G 1 .
D = ijk Gk (Gi Gj )
g 6 g
G ms . .
= G ( ms + ms )
g
.
= D Gij ij . (3.148)
The Eulerian shear rate between orthogonal lines of current lengths dX1
and dX2 can be dened likewise:
.
. 1 (R1 R2 )
E 12 lim .
2 X 1 0
X 0
X1 X2
2
1 . k l 1 . k l
= (Gk Gl ) = Gkl
2 Xi Xj 2 Xi Xj
k l .
= . (3.149b)
Xi Xj kl
i = 0,
K (3.151a)
1 i
i j = K 1 K 2 ,
K (3.151b)
2 j i 2 3 1
3 ji j ik = K3 K1 K2 + 2 K13 .
K (3.151c)
k 9
If the i and j lines are initially orthogonal, then the shear strain is essen-
tially half the reduction of the initial right angle:
. 1
ij = ij .
2 2
This is one half of the customary shear strain in engineering usage. From
(3.97), it follows too that the components of the engineering strain tensor
hij of equation (3.96) are practically the same as the components of the
Cauchy-Green tensor ij given by (3.31). It is very important to note that
these approximations are independent of the magnitudes of the motion
and especially the rotation. Many practical problems of exible bodies,
thin beams, plates, and shells (e.g., buckling) involve large rotations and
displacements, although strains remain very small.
From (3.87a), (3.95), and (3.97), it follows that
.
Gi = (im + hm m = (im + im ) rm j g j .
m = (im + im ) g
i )g (3.153ac)
Since the strain components are small compared to unity, the inverse of
(3.153b) is approximated by
.
i = (im im ) Gm .
g (3.154)
.
Gi = (in + hni ) g
n = (in + in ) g
n. (3.158)
We dene
ij 12 (g i Gj g j Gi ). (3.160)
Since the strain is small, it is evident that eij is small of the same order of
magnitude and that
.
ij = k ekji . (3.163)
Therefore, the approximations of (3.157) and (3.158) have the further sim-
plications
.
i = g i + ki g k ,
g (3.164)
.
Gi = g i + (eik + ki ) g k . (3.165)
ij 12 (Gi Gj gij )
.
= eij + 12 (eik + ki )(ekj + k j ), (3.166a)
.
ij = eij + 12 ki k j . (3.166b)
1
hij = 2 g i V,j + g j V,i + 12 g i g j + g j g i
+ 12 g i V,j + g j V,i . (3.167)
Gi = V,i + g i
= (ij + hji )
gj , (3.168)
g i g
i gi . (3.169)
It follows that
V,i = (ij + hji )g j + hji g j . (3.170)
g i = g i = k ekij g j , (3.171a)
= ji g j . (3.171b)
The substitution of (3.170) and (3.171a, b) into the nal term of (3.167)
yields all terms O(2 ), O(h), and higher:
.
1
2 (g i V,j + g j V,i ) = ki kj . (3.172)
Like Rminj , Rminj represents one of six distinct components. The engi-
neer understands that our knowledge of material behavior seldom permits
us to predict strains in structural and mechanical components with an ac-
curacy better than the foregoing approximations admit. Problems of severe
inelastic deformations, e.g., forging or extruding, or the elastic deformations
of rubber-like materials require more precise analyses.
F
i = lim . (4.1)
S0 S
1 = 1i E
i. (4.2)
M
ci = lim . (4.3)
S0 S
The physical components of the couple stress are dened as the components
of stress by (4.2); that is, ci = cik E
k.
The distribution of force acting upon the surface can be better approxi-
mated by specifying moments of higher order, in addition to the rst-order
moments cik . It is also conceivable that the higher-order moments are
needed in the limit if the continuous media is to represent certain uncom-
mon materials. Theory which includes higher-order moments has been
termed multipolar continuum mechanics ([18] to [19]).
Couple stresses and multipolar theories are not included in our subse-
quent developments. Nonetheless, the reader should be aware of such pos-
sibilities.
i dSi , (4.4)
dV = G d1 d2 d3 . (4.7)
Also note that the vector OAi has the rst-order approximation (Ai O):
.
OAi = R,i di = Gi di . (4.8)
An equation of motion for the element..requires that the sum (4.5) of all
forces equals the mass acceleration (R dV ):
..
( i dSi ),i di + f dV + O[(di )4 ] = R dV. (4.9)
1 ii i ..
G G + f = R. (4.10)
G ,i
Another equation of motion requires that the moment equals the moment-
of-inertia the angular acceleration. That moment-of-inertia has an order-
of-magnitude O[(di )5 ]. The moment of stresses has a rst approximation:
.
OAi ( i dSi ) = Gi ( i dSi ) di .
Note that
(di dSi ) = G Gii d1 d2 d3 .
In a primitive form, the two equations (4.10) and (4.11) are the equations
of motion which govern the stresses i ; the components comprise six scalar
equations.
As alternatives, we can employ a stress i per unit of undeformed area
and mass density 0 per unit of undeformed volume. Then, instead of the
equations (4.10) and (4.11), we obtain
1 ii i ..
g g + 0 f = 0 R, (4.12)
g ,i
Gi g g ii i = . (4.13)
i = ij E
j, (4.14a)
i = ij E j .
ij e
j = (4.14b, c)
It follows that
ij = Gjj Gj i , (4.15a)
ij = Gjj Gj i , (4.15b)
ij =
j i .
gjj g (4.15c)
. . 1 ii i .
ws + wf = G G R,i
G
1 ii i . .
+ G G R + f R. (4.16)
G ,i
The rst term . on the left corresponds solely to work done upon the rigid
translation R; stated otherwise, energy can be neither stored (elastically)
or dissipated (inelastically) by virtue of such nondeformational motion. It
is no more or less than the principle of virtual work to assert the vanishing
of the bracketed term; this is the equation of motion expressed in the form
(4.10). In terms of stress i , force f, and mass density 0 , per units of
initial area and initial volume, the equation takes the form (4.12).
.
Let us now return to the remaining term of (4.17b), i.e., u, or its coun-
.
terpart u0 (per unit initial volume):
. . .
u = Gii i R,i Gii i Gi , (4.18a, b)
. . .
u0 = g ii i R,i g ii i Gi . (4.18c, d)
.
Since the vector Gi transforms as the component of a covariant tensor,
the other factor in the invariant must transform as the component of a
contravariant tensor. Therefore, by employing the denitions
ti Gii i ij Gj , (4.19a, b)
si g ii i sij Gj tij g
j , (4.19ce)
sij Gj i g ii = g ii /Gjj ij , (4.20c, d)
j i
tij g g ii = ij .
g ii /gjj (4.20e, f)
. . .
u0 = sij Gj Gi = tij g
j Gi . (4.21b, c)
. . .
u0 = sij ij + sij ji , (4.23b)
. .
= tij hij + tij Cik l elkj . (4.23c)
Again, the concept of virtual work precludes work upon the rigid-body
.
rotation . If follows that
These are the conditions (4.11) and (4.13) expressed in terms of the tensorial
components of the stresses. By employing (3.79e), the last equation (4.24c)
assumes the form
The literature abounds with various names for the stress tensors, ij ,
s , and tij . It appears that the history can be traced to A. L. Cauchy [21],
ij
[22] (1823 and 1829, respectively) with subsequent works by G. Piola [23]
i j kl n
ij (n ) = ( ), (4.25a)
k l
i j kl i j
sij = s , tij = k l tkl . (4.25b, c)
k l
ti ij Gj , si sij Gj tij g
j , (4.26ac)
Epilogue
. . .
Note that R,i = G,i = V,i , the rate of the displacement gradient V,i .
g j = rn j g
n.
Now, the latter expresses that rate in terms of a bona de strain (mate-
rially objective) but demonstrates that tij is not a bona de stress. To
obtain a stress tij which is materially objective, one must introduce the
rigid rotation, viz.,
tij = ( tij rn j ).
The force upon the 1 face is 1 dS1 and that on the i face i dSi . If
..
this element is in motion, the sum of all external forces is dm R, where dm
denotes the mass; dm = dV . The equation of motion approaches
..
1 dS1 i dSi = dV R.
dSi
1 = i . (4.30a)
dS1
k
Gm = Gk .
m
1 j im
1j = . (4.30d)
i m
i j lm
ij = . (4.30e)
l m
Had we referred to the stress i (per unit of original area), then we would
have obtained either of the forms
i j lm i j
sij = s , tij = l m tlm . (4.30f, g)
l m
Again we note that the origin is the equation of motion; hence the trans-
formation applies in dynamic or static circumstances.
Now, suppose that the surface (A1 A2 A3 ) has the unit normal
N 1 ni Gi ni Gi .
A (4.31ac)
T 1 . (4.32)
s1 s3 )/2,
M = ( (4.34)
s3 J1 s2 + J2 s J3 = 0, (4.35)
Ai Ai = 1. (4.38)
s1 + s3 )/2.
sM = ( (4.39)
In special circumstances:
i = pE
i, i = p0 E
i, (4.40a, b)
ij = p Gij , (4.41a)
ij g ii ij
s = p0 G , (4.41b)
Gii
g ii j
ij
t = p0 Gi .
g (4.41c)
Gii
1 i
3 i = p. (4.42)
ij
= ij 13 kk Gij , i
j = ji 13 kk ji . (4.43a, b)
1 i ..
Gt + f = R, (4.44a)
G ,i
1 i ..
g s ,i + 0 f = 0 R. (4.44b)
g
or
1 ..
G ij Gj + f = R, (4.45a)
G ,i
1 ij ..
j ,i + 0 f = 0 R.
gt g (4.45c)
g
These approximations are quite evident from the denitions [see also equa-
tions (4.15a, b) and (4.20ad)]. Recall too that the dierences between
vectors g
i and Gi are merely the engineering strains; both undergo the
rotation of the principal lineshowever large! Therefore,
. ij . ij . .
ij =
= , ij = sij = tij . (4.46a, b)
ij
s sij 13 skk g ij , ij
t tij 13 tkk g ij . (4.47a, b)
Again, the rotations may still be large. As an example, we cite the very
large rotations of the blade in a band saw, which experiences rotations
of 180 although strains remain small everywhere .
Then, from any one of the equations (4.45ac), we obtain the approximate
equation of motion:
1 ij ..
g s g j + g sij kj g k ,i + 0 f = 0 R. (4.48)
g
1 ij ..
g s g j ,i + 0 f = 0 R. (4.49)
g
This is linear in the dependent variables (sij and R). It is the form most
frequently employed in mechanical and structural problems involving small
elastic deformations and in some circumstances of small inelastic deforma-
tions.
of a beam.
A slender beam with axis 1 = x1 is symmetrical about the x1 x2 plane
of rectangular coordinates (x1 , x2 , x3 ) as illustrated in Figure 4.8. Our beam
bends only in the plane of symmetry according to the Bernoulli hypothesis,
i.e., axis and cross-section experience the same moderate rotation. Tangent
vectors g 1 = 1 and g 2 = 2 are carried to
. .
E
1 (x1 ) = 1 + (x1 ) 1 , E
2 (x1 ) = 2 + (x1 ) 2 .
. . 3 . .
E
1,1 = E 2 = ,12 , E
2,1 = E
1 = 3,11 .
By the usual assumptions, the only nonzero components of stress are s11
and s12 , and these are functions only of coordinates x1 and x2 within a
cross-section; moreover,
. F 11 M x2
s11 = , F 12 s12 dA, I2 = (x2 )2 dA.
A I2 A A
Additionally, we place the axis at the centroid and assume that the lateral
surfaces are stress-free.
..
si,i = (s11 E
1 + s12 E
2 ),1 + (s21 E
1 ),2 + 0 f = 0 R.
(s11,1 s12 )E
1 + (s11 + s12 )E
,1
2 = 0.
These are consistent equations of equilibrium for a slice of the beam with
no lateral loading and small strains.
In addition to the equilibrium of force, we require that the moment vanish
on a slice (dxi 0):
12 12
(M,1 + F + x2 s dA )E
3 = 0, M x2 s11 dA.
A A
Since the beam is thin (x2 1), we neglect the nal term and accept the
approximation:
.
M,1 + F 12 = 0. (4.51)
We recognize that the equations (4.50a, b) are the conditions for equilibrium
of force components in the absence of lateral loading, tangential (x1 ) and
lateral (x2 ); whereas the equation (4.51) is the condition for equilibrium of
moment. We see the role of the moderate rotation and consequent curvature
.
= 3,1 .
Typically, one presumes a thrust F 11 = P (constant) upon a straight
column; i.e.,
= 3 = F 12 = M = 0.
F 11 = P + P (x1 ), 3 =
(x1 ), M = M (x1 ), F 12 = F .
P ,1 2
,1 F = 0,
M ,1 + F = 0.
Eliminating the transverse shear from the last two equations, we obtain the
familiar equation:
M ,11 + P
,1 = 0. (4.52)
= 3 = 21 = 12 (2 V ,1 1 V ,2 ),
.
e21 = 12 (2 V ,1 + 1 V ,2 ) = 21 = 0.
Here V = V 11 + V 22 so that
2 V ,1 = V 2,1 = V 1,2 = 1 V ,2 .
Therefore,
= V 2,1 .
M = EI ,1 = EI V 2,11 .
= EI
P 2
V 2,1111 + V = 0.
EI ,11
The buckling loads are the characteristic values (P/EI) for the solutions
V 2 (x1 ) subject to four end conditions on the displacement and derivatives
(V 2 ,
= V 2,1 , M = EI V 2,11 , and F = EI V 2,111 ).
5.1 Introduction
All of the preceding text, the kinematics in Chapter 3 and the descrip-
tions of stresses in Chapter 4, are applicable to any media that are co-
hesive and continuous. Strictly speaking, no real materials qualify, but
certainly exhibit some irregularities, if only microscopic. All are composed
of molecules in various assemblies and/or crystalline structures (e.g., plas-
tics and metals); some exhibit macroscopic discontinuities (e.g., lament
reinforced materials). Still the preceding descriptions are often applicable,
provided that the relevant properties are essentially continuous or, stated
otherwise, the phenomena in question are not contingent upon those irregu-
larities (e.g., inter- or intra-crystalline mechanisms of deformation). Indeed,
most analyses of machine parts and structural components are adequately
accomplished via the concept of a continuous medium. Precautions are
warranted at locations of discontinuity or at sites of microstructural activ-
ity.
The states of local deformation and internal force are characterized by
the variables of strain and stress, respectively; additionally, the former are
fully determined by the displacement eld. Still a solution to any practi-
cal problem (e.g., the consequences of an externally imposed displacement
or force upon any body) remains indeterminate without a description of
the properties of the media, i.e., a relationship between strain and stress;
for elastic media an expression of internal energy in terms of strain also
suces. Such relations, termed constitutive equations, characterize the de-
formational resistance of the material.
Like a mathematical description of any physical phenomenon, the con-
stitutive equations are approximations derived from experimental observa-
tions and established principles. Such approximations are always a compro-
mise between accuracy and utility, since precise formulations are worthless if
they are unworkable. Accordingly, we do not attempt a general treatment
E = K + I. (5.2)
The absolute temperature T and the strain components ij are among the
variables that determine the internal energy I . The strain might be ex-
pressed by the physical components ij , or, by appropriate tensorial com-
ponents (e.g., ij or hij ).
All the independent variables, which inuence thermal and mechanical
changes, are needed to dene a thermodynamic state. Any changes in these
variables constitute a thermodynamic process, and any process beginning
and ending with the same state constitutes a thermodynamic cycle.
The rst law of thermodynamics asserts that any change in the energy
content of a mechanical system is the sum of the work done by applied
forces and the heat supplied. If and Q denote the work done and heat
supplied (per unit mass), then the rst law takes the form
. . . .
I + K = + Q. (5.3)
A dot signies a material time derivative like the strain rate of (3.135), that is, a rate
wherein the loop on the integral sign signies that integration extends
through a complete cycle and the Q signies an increment, not neces-
sarily an exact dierential. The equality holds in (5.4) if, and only if, the
process is reversible. This means that during any reversible process, the
integral depends only on the initial and nal states; then, there exists a
function S, called the entropy density:
Q
S . (5.5a)
T
The validity of (5.4) is open to question if the local behavior is inuenced by thermal
gradients.
The quantity T
.
D S has the dimension of energy rate and is often called the internal
dissipation.
In words, the excess entropy can only increase. The inequality (5.8) is
attributed to R. J. E. Clausius.
.
i
q Gi G d1 d2 d3 .
In addition to the heat. owing into the element, heat may be generated
within the element. If h denotes the rate of heat generated (per unit mass),
then the net heat rate (per unit mass) is
. . 1 .
Q = h q i G ,i , (5.9)
G
wherein
. .
q i q Gi . (5.10)
. . 1 .
PS e si G ,i . (5.13a)
G
. .
. qi
= DS T,i . (5.14b)
T 2
.
The heat ux q i must have the opposite sign of the temperature gradient
T,i , since heat must ow from a hotter to a colder region. Therefore, the
. .
In words, the mechanical work , less the increase
. in kinetic energy K .is
manifested in the increase of internal energy I , less the heat supplied Q.
We recall that equation (4.17b) in view of the equations of motion (4.10)
[or (4.44a, b) and (4.45ac)] leads to equation (4.18a) or (4.18d), viz.,
. . . . . .
u = Gii i Gi = ti Gi , u0 = g ii i Gi = si Gi .
Here, the subscript 0 signies the energy per unit initial volume. In terms
of the alternative components of stress ( ij , sij , tij ), these equations take
the forms:
. .
u = ij ij , (5.17a)
. . .
u0 = sij ij = tij hij . (5.17b, c)
These are equations (4.23ac), wherein the nal term (work upon the rigid
.
rotation ) is deleted. In accordance with (5.16), we have the alternative
forms
1 ij . 1 . 1 . . .
ij = sij ij = tij hij = K, (5.17d)
0 0
1 ij . 1 . 1 . . .
ij = sij ij = tij hij = I Q. (5.18ac)
0 0
1 ij
s ij = I Q. (5.18d)
0
According to (5.6), (5.8), and (5.18ac), the second law takes the form:
. . . . 1 .
DW T DS = T S I + sij ij 0. (5.19)
0
The nal term represents the work expended by the stresses; it has the
alternative forms:
. 1 ij . 1 . 1 .
ws s ij = tij hij = ij ij . (5.20ac)
0 0
5.11 Elasticity
An elastic body can be deformed and restored to an initial state without
performing work upon the body or supplying heat from its surroundings.
In other words, the deformation of an elastic body is a reversible process.
It follows too that internal forces of interaction (stresses) are conservative,
that is, depend only on the existing state.
The thermodynamic state of an elastic material may be dened by the
strain components and the temperature. Since elastic deformations are
reversible, we presume the existence of the entropy density:
S = S(ij , T ). (5.21)
1 ij
dU = s dij + T dS, (5.24a)
0
Since the gradients are usually inconsequential, we neglect them at the outset to simplify
our development.
U U
dU = dij + dS. (5.24b)
ij S
Since the variables ij and S are independent in (5.24a, b), it follows that
U U
sij = 0 , T = . (5.25a, b)
ij S
1 ij
G(sij , T ) = U T S s ij . (5.27)
0
The dierential is
1 ij 1
dG = dU T dS S dT s dij ij dsij . (5.28a)
0 0
In view of (5.24a)
1
dG = ij dsij S dT. (5.28b)
0
The function G is the negative of the usual complementary energy of mechanical theory,
but dened here in accordance with thermodynamic theory; see I. I. Goldenblat ([28],
p. 201). The transformation from the variables U, ij , and S of (5.23) and (5.25a, b) to
the variables G, sij , and T of (5.27) and (5.29a, b) is known as a Legendre transforma-
tion. The transformation and the existence of the function G requires that the Hessian
determinant of the function U does not vanish; see C. Lanczos [29], p. 161 of the rst
or fourth edition.
G G
ij = 0 , S= . (5.29a, b)
sij T
F(ij , T ) U T S. (5.30)
1 ij
dF = s dij S dT. (5.31)
0
F F
sij = 0 , S= . (5.32a, b)
ij T
1 ij
H(sij , S) = U s ij . (5.33)
0
1
dH = ij dsij + T dS.
0
H H
ij = 0 , T = . (5.34a, b)
sij S
In essence, (5.30) and (5.33) accomplish partial Legendre transformations. The for-
mer transforms from the variable S to T but retains the variable ij while the latter
transforms from the variable ij to sij but retains the variable S.
U U
sij = 0 , T = (5.25a, b)
ij S
F F
sij = 0 , S= (5.32a, b)
ij T
G G
ij = 0 , S= (5.29a, b)
sij T
H H
ij = 0 , T = (5.34a, b)
sij S
If a deformation occurs very rapidly, there is little time for the material
to reach thermal equilibrium with its surroundings. Then the process is
essentially adiabatic, that is, dQ = dS = 0, and
1 ij 1
dU = s dij , dH = ij dsij , (5.35a, b)
0 0
U H
sij = 0 , ij = 0 . (5.36a, b)
ij sij
1 ij 1
dF = s dij , dG = ij dsij , (5.37a, b)
0 0
1 ij 1 ij
H=U s ij , G=F s ij . (5.39a, b)
0 0
5.12 Inelasticity
N
The occurrence of inelastic strains ij (N = 1, . . . , M ) characterizes an
irreversible process. These strains may be a consequence of time-dependent
(viscous) or time-independent (plastic) behavior. Then, work is dissipated
by nonconservative stresses sij
N upon the inelastic strains; the rate of dissi-
. 1 ij . N
DW = s (sum also on majuscule indices). (5.40)
0 N ij
The rst law of thermodynamics [see Sections 5.3 and 5.8, and equations
(5.18ad) and (5.23)] asserts that the work performed plus heat supplied
are manifested in internal energy:
1 ij . . .
s ij + Q = U . (5.42)
0
1 ij . . . .
s ij + T S U = D W 0. (5.43)
0
1 ij . 1 .N . .
s ij sij
N ij + T S U = 0. (5.44)
0 0
N
F = F(ij , ij , T ). (5.45)
1 ij . 1 .N . .
s ij sij
N ij F S T = 0. (5.47a)
0 0
F F F
sij = 0 , sij
N = 0 N
, S= . (5.48ac)
ij ij T
N
The inelastic strains ij play the same role as the internal variables of
L. Onsager [31], [32], J. Meixner [33], and M. A. Biot [34]. They provide
means to accommodate physical alterations of microstructure, e.g., dislo-
cations and slip in crystalline materials [35], [36].
Finally, we note that complementary functionals, such as the Gibbs po-
tential [see Section 5.11, equation (5.27)] can also be employed in the present
context. The reader is referred to the publication [37] which provides mod-
els to simulate the various types of inelastic deformations.
ij = ij = ji = ij .
If the strains are small enough, then the behavior of an elastic material can
be approximated by a linear relation between stress components, strain
components, and the temperature change
.
sij = E ijkl kl ij (T T0 ). (5.49)
A material which obeys the linear relation (5.49) is termed Hookean after
R. Hooke who proposed the proportionality of stress and strain.
More precisely, the state, hence F , is a functional of inelastic strain history, the strain
path, and not merely the prevailing state of inelastic strain.
R. Hooke. De Potentia Restitutiva (Of Spring). London, 1678.
Now, let us measure the free energy from the reference state (i.e., F ]0 = 0),
since the additive constant is irrelevant. In accordance with (5.32a) and
(5.49), the stress vanishes in the reference state and (F/ij )]0 = 0. It
follows that
1 2F 2F
F= ij kl + + ij (T T0 ) + . (5.50)
2 ij kl 0 ij T 0
The inverse of (5.49), viz., the strain-stress relations, are given by the
Gibbs energy:
wherein
ij = E ijmn mn . (5.55d)
1 = x1 ,
x 2 = x2 ,
x 3 = x3 .
x
Since 13 = 13 and 23 = 23 , any term of (5.52) which contains either
component alone must change sign; therefore, the coecients of such terms
must vanish to maintain the symmetry, that is,
and
13 = 23 = 0.
In short a coecient must vanish if the index 3 appears one or three times.
The remaining 13 elastic coecients follow:
In addition,
E 1212 = 12 (E 1111 E 1122 ). (5.59)
+ (il ak aj + jk ai al + ik aj al + jl ai ak ) + (ai aj ak al ),
In view of (5.59),
Only two elastic coecients and one thermal coecient remain. All coe-
cients can be expressed in terms of three as follows:
E ijkl = G( ik jl + il jk ) + ij kl , (5.61)
ij = (3 + 2G)ij . (5.62)
Equations (5.61) and (5.62) serve to express the two elastic coecients and
one thermal coecient in terms of the established coecients, G, , and :
The coecient G is known as the shear modulus, is the Lame coecient,
and the coecient of thermal expansion.
In arbitrary coordinates, i , equations (5.61) and (5.62) assume the form
E ijkl = G(g ik g jl + g il g jk ) + g ij g kl ,
ij = (3 + 2G)g ij .
0 F = Gij ij + ii jj (3 + 2G)(T T0 )kk . (5.63)
2
In view of the isotropy, the free energy, as well as the internal energy, can
be expressed in terms of the principal strains ( 1 , 2 , 3 ), or in terms of the
strain invariants (I1 , I2 , I3 or K1 , K2 , K3 ; see Section 3.13):
0 F = G+ I12 2GI2 (3 + 2G)(T T0 )I1 .
2
Likewise, the Gibbs potential and the enthalpy can be expressed in terms
of the stress invariants. The stress (5.49) takes the form:
1 ii
3s = 13 (3 + 2G)[kk 3(T T0 )]. (5.65)
Solving (5.65) for ii and substituting the result into (5.64), we obtain
2Gij = sij skk ij + 2G(T T0 )ij . (5.66)
3 + 2G
. T
q = i Gi , (5.67)
. 1
Q = Gij T,i G ,j , (5.68a)
G
. 1 ij
Q= G T,i G ,j . (5.68b)
0 g
. 1
Q = (T,i ),i . (5.69)
0
.
The entropy rate S is obtained from (5.32b) as follows:
. . 2F . 2F .
S= ij T. (5.70)
ij T T 2
Substituting (5.70) into (5.5c) and using the notation (5.51b), we have
. ij . 2F .
Q=T ij T T. (5.71)
0 T 2
If the strain rate vanishes, then the heat rate results from the temperature
change, that is, from the second term on the right side of (5.71); hence, the
so-called heat capacity Cv at constant volume is dened as follows:
2F
Cv T . (5.72)
T 2
. ij . .
Q=T + Cv T . (5.73)
0 ij
In practice, the strain rates are often small enough that the rst term on
the right side of (5.73) can be neglected; then, the approximation of (5.73)
and (5.69) provide the approximation
. .
(T,i ),i = 0 Cv T . (5.74)
The approximation (5.69) removes terms which couple the heat conduction and
deformation.
s11 =
, s12 = s13 = s22 = s23 = s33 = 0.
( + G)
11 =
,
G(3 + 2G)
In this situation, the more convenient coecients are the Youngs modulusE
and Poissons ratio :
= E11 , 22 = 33 = 11 . (5.77)
It follows that
(3 + 2G)
E= G, (5.78)
( + G)
= . (5.79)
2( + G)
The state of simple tension is one that satises equilibrium conditions. The
consequent strains correspond to simple extension in direction x1 and equal
contraction in every transverse direction (e.g., x2 , x3 ). Indeed, we suppose
that such state exists in a long isotropic specimen subjected to a tension
test as described in Section 5.10. One can measure the average extension
11 in a gage length and even the lateral contraction (22 , 33 ). Practically,
that is the means to determine the modulus E.
According to (5.66)
212 12 = /G, 11 = 22 = 33 = 13 = 23 = 0. (5.81)
sij = pij .
where
K = + 23 G. (5.84)
E 2G
= = , (5.85)
(1 + )(1 2) 1 2
E E
K= , G= . (5.86), (5.87)
3(1 2) 2(1 + )
0 F = Gij ij . (5.89)
The stress components are expressed in terms of the strain components and
temperature as follows:
ij E E
s = ij + kk ij (T T0 )ij . (5.94)
1+ 1 2 1 2
The strain components are expressed in terms of the stress components and
temperature as follows:
1+
ij = sij skk ij + (T T0 )ij . (5.96)
E 1+
K
0 F = Gij ij + ii jj 3K(T T0 )ii , (5.97)
2
1 ij ij 1 ii jj
0 G = s s s s (T T0 )sii . (5.98)
4G 18K
s = C (T T0 ). (5.100)
U = 12 C (T T0 ). (5.101)
E
= . (5.103)
1
i3 = 0, = (x1 , x2 ).
sij = E ij ij (T T0 ),
E
s33 = (T T0 ) , (5.104b)
1 2 1 +
s3 = 0. (5.104c)
1+
= s g s + g (T T0 ). (5.105b)
E 1+
The plane stress, or strain, equations, e.g., (5.105a, b) or (5.106a, b), do not
preclude nonhomogeneity; in either case, the coecients might be functions
of position (coordinates i ).
s11 = Y,
where Y denotes the tensile yield stress. When s11 < Y , the deformation
is elastic; when s11 = Y , plastic ow is imminent.
To extend this idea we proceed to a plane state of stress. For example,
suppose that a thin circular tube is subjected to the combined action of axial
tension and internal pressure as illustrated by Figure 5.6. If the wall is thin
the radial normal stress is negligible and the wall is subjected to normal
stresses s11 and s22 as shown. In a series of experiments, it is possible to
obtain many combinations of s11 and s22 which initiate yielding; they plot
a curve AB on the (s11 s22 ) plane of Figure 5.7.
Reversing the loads would produce negative values and a plot of the
closed curve ABCDA. The curve is called a yield curve. The equation of
that curve is a yield condition; it has the form
Y(s11 , s22 ) =
2,
s1 , s2 , s3 ) =
Y( 2, (5.108)
OQ = p(1 + 2 + 3 ), (5.109)
s1 p)1 + (
QP = ( s2 p)2 + (
s3 p)3 , (5.110a)
= si i , (5.110b)
where si are the principal values of the stress deviator tensor sij . The
vector OQ represents a hydrostatic state of stress while QP represents the
deviator.
The yield condition (5.108) is represented by a surface in the stress space
of Figure 5.8. If the stress components satisfy (5.108), then the vector OP
s1 s3 = 2 + if s1 s2 s3 , (5.111a)
if s1 s2 s3
2 3
s s = 2 + if s2 s1 s3 , (5.111b)
if s2 s1 s3
1 2
s s = 2 + if s1 s3 s2 . (5.111c)
if s1 s3 s2
(5.111d)
When the relative magnitudes of the principal stresses are known a priori,
the Tresca condition takes a simple form: it is expressed by the equation
of one plane; otherwise it assumes a mathematically complicated form.
s1 s2 )2 + (
( s2 s3 )2 + (
s1 s3 )2 = 3
2 . (5.112b)
Then, the von Mises circle circumscribes the Tresca hexagon of Figure 5.10
where
1 < m < 2/ 3.
produces elastic strain (follows EB) if the stress does not violate the new
yield condition Y1 . It is characteristic of a strain-hardening material that
each increment of plastic ow results in a new condition for subsequent
plastic ow. The prevailing yield condition depends on the entire history
of plastic deformation; mathematically, the yield stress is a functional, for
example,
P
Y = f (P ) dP ,
0
s = Y, (5.113a)
ds > 0. (5.113b)
Then
ds = k dP , (5.114a)
ds = E dE . (5.114b)
The small strain increment is the sum of the elastic and plastic parts:
E P 1 1
d = d + d = + ds. (5.115)
E k
Bear in mind that it is essential to know the entire history of plastic strain
as it determines the prevailing yield condition.
A general stress-strain relation involves six stress components and the
corresponding six strain components. It cannot be represented by a single
diagram, nor can the strain-hardening material be characterized by the
positive slope of a diagram. Some additional concepts are needed, and to
this end we examine the energy expended during plastic ow. Suppose that
the material is in a deformed state represented by point C of Figure 5.11.
It is then subjected to a cycle of loading and unloading in which the stress
is just sucient to enforce an incremental plastic strain dP . The energy
expended is
s dP > 0.
It is represented by the shaded area of Figure 5.11. During a second cycle
which causes a second increment of plastic strain, the energy expended is
Therefore,
More and more energy is expended to enforce each successive plastic strain
increment. The additional work is (ds dP ). It is represented graphically
by the area of the solid parallelogram in Figure 5.11.
A linear elastic, ideally plastic material has the simple stress-strain di-
agram of Figure 5.12. It diers from the diagram for a strain-hardening
material in that the yield condition is not altered by plastic deformation.
In other respects it is similar; the behavior is linear and elastic if the stress
does not violate the yield condition, Y 2 < s < Y 1 . Plastic ow in tension
will occur only if
s = Y, (5.117a)
and
ds = 0. (5.117b)
Notice that the plastic strain has an indenite magnitude. As before, any
change of stress is accompanied by an elastic strain; dE = ds/E. In
contrast with the strain-hardening material, no additional work is needed
to cause successive increments of plastic strain; (5.116a, b) is supplanted by
P
11 = , P P
22 = 33 = /2, P
12 = 0.
Now, if the tension s11 is reduced and the torsion s12 is applied, the tube
may be loaded according to path A DE in Figure 5.13. Suppose that in-
stead of loading according to path OA DE, the tube were loaded according
to path OB F E where the plastic deformation establishes the yield curve
B A . The plastic strain produced by this loading is essentially simple
shear:
P P P
11 = 22 = 33 = 0, P
12 = .
Y(sij ) =
2, (5.119)
Y
dY dsij . (5.120a)
sij
Again, the functional Y may depend on the loading path in stress space,
and the increment dY need not be an exact dierential.
The yield condition may be regarded as a surface in stress space, it
changes when the material strain hardens. When the stress point lies within
the yield surface, Y(sij ) <
2 , the behavior is elastic. Yielding occurs only
ij 2
when Y(s ) = . Moreover, the strain-hardening material yields only if
the stress point moves outside of the prevailing yield surface and thereby
changes the yield condition:
Y
dY dsij > 0. (5.120b)
sij
If the material is ideally plastic, the yield condition does not change:
dY = 0. (5.120c)
sij dP
ij > 0, dP
ij = 0. (5.121a, b)
dsij dP
ij > 0, dP
ij = 0. (5.122)
Again, we can interpret this to mean that additional work must be expended
on the strain-hardening material during successive increments of plastic
ow. If the material is ideally plastic,
dsij dP
ij = 0, dP
ij = 0. (5.123)
Y(sij ) =
2, (5.124a)
Y ij > 0, (5.124b)
dY ij ds
s = 0, (5.124c)
> 0, dP 0,
ij = (5.125a)
dsij dP
ij P
= 0, dij = 0, (5.125b)
Y
dP
ij = d , (5.126)
sij
Since dsij is any increment satisfying (5.124b, c), one can always nd a dsij which
violates (5.125a, b) unless dP
ij is given by (5.126).
dened must receive special attention; this occurs at the corner of a yield
surface. This circumstance has been addressed by various authors (see, e.g.,
W. T. Koiter [80], J. L. Sanders [81], and J. J. Moreau [82]).
According to (5.126), the stress-strain relation is linked to the yield con-
dition since it depends on Y. Moreover, if the yield condition is independent
of the invariant sii , then Y/sij = Y/ sij , and (5.126) involves only the
stress-deviator components.
Y
P
di = d . (5.127)
si
si ) =
Now, view Y( 2 as a surface in stress space shown in Figure 5.14.
1 ij E
dF = s dij S dT. (5.129)
0
This representation serves only for purposes of graphic illustration. One must not infer,
for example, that principal directions of stress and strain increments are coincident.
Y
dY GP d = dsij 0. (5.131)
dsij
GP > 0 strain-hardening,
GP = 0 ideal plasticity.
A strain increment includes the elastic increment (5.55a) and the inelastic
increment (5.126); for the isothermal conditions
Y
dij = Dijkl dskl + d. (5.132)
sij
Y
dsmn = E ijmn dij E ijmn d. (5.133)
sij
Y Y Y Y
E ijmn dij = mn dsmn + E ijmn ij mn d
smn s s s
P ijmn Y Y
= G +E d,
sij smn
or
Y Y Y
d = E ijmn dij GP + E ijmn . (5.134)
smn sij smn
Y Y
E ijpq E klmn
pq
ETijmn = E ijmn s skl . (5.136)
Y Y
GP + E ijmn ij mn
s s
dP ij
ij = d s . (5.137)
L. Prandtl [86] (1924) extended these by taking account of the elastic strain
as well. In 1930, A. Reuss [87] generalized the equations of L. Prandtl.
Y
= sij .
sij
P )2 dP
(d P
ij dij . (5.139)
P
d
P = d
d , d = . (5.140a, b)
1 P ij
dP
ij = s .
d (5.141)
Since dP
ii = 0, the work expended (5.130) to cause the inelastic strain
dP
ijis
skk
0 d D W = sij dP
ij =
ij
s + ij dP
ij
3
= sij dP
ij . (5.142)
0 d D W = d sij sij = d
2 = P .
d (5.143)
This assumption and its physical basis are discussed by R. Hill [63].
d
EP = . (5.144)
P
d
d
ij
dP
ij = P
s . (5.145)
E
Therefore,
2 ds
EP = .
3 dP
is constant, E P is zero, and the scalar
If the material is ideally plastic,
P
d (or d ) is indeterminate. In reality, the extent of the plastic ow
is determined by the constraints imposed by boundaries or by adjacent
material of the body.
When the elastic deformations are neglected, the behavior is termed
rigid-plastic. Then equations (5.137) or (5.145) are the complete stress-
strain relations. They are associated with the names of M. Levy and
R. von Mises. When elastic deformations are taken into account, they are
described by
d sij dskk
dE
ij = + . (5.146)
2G 9K ij
Then, the stress-strain relations are usually associated with the names of
L. Prandtl and A. Reuss.
where sij
0 are constants and C is a scalar. According to (5.138a, b), (5.139),
and (5.145),
ij
s0
dP
ij = dC,
EP
0
P =
d dC,
EP
02 sij
where ij P
0 s0 . Eliminating dC/E , we have
ij
s0
dP
ij = P ,
d
0
P ij P ij
P
ij = s0 = s .
0
= P/
.
d sij = 2G dij
E
= 2G(dij dP
ij ), (5.151)
The elimination of the inelastic increment in (5.151) and (5.153) gives the
dierential equation:
d sij 2G ij dij
+ s = 2G . (5.154)
dz dz
d
= (1 + ) ( > 0), (5.156)
dz
wherein
d 2 = dij dij . (5.157)
Although the relation (5.153) has the appearance of the Levy equation
(5.141), the present theory exhibits marked dierences. Most notably, some
inelastic deformation occurs at the onset of loading, though the initial re-
sponse (at = z = 0) is elastic, viz.,
2G(1 + )
s= 1 (1 + )[1+(/)] , (5.158)
+
Note that z is not strictly independent, but depends on the strain ij via (5.149) and
(5.153) [see also (5.156) and (5.157)].
At s = s1 , during loading,
ds s1
= 2G , (5.162)
d 1 1 + 1
The latter is graphically evident at the point P of Figure 5.15, where the
solid line follows the loading and unloading paths according to (5.158)
and (5.160), respectively; unloading at P exhibits the greater modulus
of (5.163). Since we anticipate stepwise linear computational procedures,
we can identify unloading via the criterion:
ij .P
s ij < 0.
dE kl
ij = Dijkl ds , (5.165)
1
Dijkl = (1 + )ik jl ij kl . (5.166)
E
dij = dE P
ij + dij (5.167)
1 ij
= Dijkl dskl + s d. (5.168)
E
Now, the relation (5.168) departs from the classical theory: P ij and d are
not initiated abruptly at the yield condition [i.e., (5.164)], but grow, albeit
gradually, with an intrinsic strain . To emulate the ideal plasticity, we
employ the form:
E n
d = d, (5.169)
0
where
1 ij
2 s sij , d 2 = dij dij . (5.170a, b)
20
E sij ij
s
eij ij , ij , ij
, (5.171ac)
s0 s0 s0
During loading d = ij d ij > 0, elastic and inelastic strains evolve ac-
cording to equation (5.172). During unloading ij d ij < 0, or equivalently
ij
deP P n
ij < 0, the behavior is elastic. Then, the nal term, deij = ij dz,
is deleted from (5.172). Any subsequent unloading progresses according to
(5.165); this exhibits no hardening.
To appreciate this model, we examine the simple states:
(i) In simple tension, we set 22 = 33 = (11 /2), since inelastic strain
predominates in the measure dz. Furthermore,
11 2 11 11 3
= , = , dz = de11 , (5.173ac)
3 2
n+1
de11 = d 11 + 11 de11 . (5.173d)
12
= 12 , = 2 12 , dz = 2 de12 , (5.174ac)
12 n+1
de12 = 1 + d 12 + 2 de12 . (5.174d)
Here, we set 2 12 12 ; then
(1 + ) 12
de12 = d + ( 12 )n+1 de12 . (5.174e)
2
k
de = d, (5.175)
1 n+1
where e = e11 or e12 , k = 1 or (1 + )/ 2, and = 11 or 12 . The simple
Figure 5.16 depicts loadings for various powers n and the limiting case
n = (ideal plasticity). A cycle of loading-unloading-reloading traces the
solid line (n = 4). Note that the material is unaltered by prior loading.
An application of this theory is included in the subsequent treatment of
elasto-plastic shells (see Subsection 10.8.5).
ij = p Gij .
. I . I .
I = S+ D Gij ij . (5.177)
S D
. . 1 .
Q = I ij ij . (5.180)
.
Substituting I of (5.177) into (5.180), we have
. 1 . I . I .
Q + ij ij = S+ D Gij ij . (5.181)
S D
The stress component of the reversible process is labeled Rij . With the
latter notation and with (5.182), equation (5.181) takes the form:
. 1 . I . I .
T S + Rij ij = S+ DGij ij . (5.183)
S D
Recall that the entropy and strain components are supposedly independent
variables. Therefore, from (5.183) we have
I ij I ij
Rij = D G = 0 G , (5.184a)
D D
I
T = . (5.184b)
S
.
The quantity R Q represents the rate of heat supplied during a reversible
process which eects the given change of state. In accordance with (5.180)
. . 1 .
RQ = I Rij ij . (5.188)
.
Eliminating R Q from (5.187) and (5.188), we obtain
. . . 1 .
DQ = (I Q) Rij ij .
But, the parenthetical term on the right is given by (5.180) and, therefore,
. 1 ij .
DQ = ( Rij ) ij . (5.189)
Recall that Rij is the conservative stress component, the pressure given
by (5.184a). The dierence
ij
D ij Rij (5.190)
. 1 ij .
DQ = > 0. (5.191)
D ij
. 1 ij . .
DQ = = D W ( ij , T ). (5.192a, b)
D ij
ij ij .
D = D ( ij , T ). (5.193)
. k l .
E ij = ,
xi xj kl
.
where i is a convected (curvilinear) coordinate and ij is the associated
strain rate.
If ij denote the rectangular components of stress associated with the
x lines and ij the components associated with the convected i lines, then,
i
xi xj kl i j kl
ij = , ij = .
k l xk xl
.
ij = ijkl kl ,
where
i j k l mnpq
ijkl =
.
xm xn xp xq
Since these are rectangular Cartesian tensors, three invariants assume
the forms:
. . . . . .
K1 = E ii , K2 = E ij E ij , K3 = E ij E ik E jk .
i xk . k . .
K1 (1 , 2 , 3 ) = E = ii = Gmn mn ,
xl i l
. . . . .
K2 = ij ji , K3 = ij ki jk .
Gpi Gqj . . . .
DW = 2 ( pq ij + pi qj ). (5.195)
2
In accord with (5.192) and (5.195), the dissipative stress components are
related to the strain rates, as follows:
ij . .
D = Gpi Gqj (2 pq + Gkl Gpq kl ). (5.196)
.
2 D
= + . (5.197)
3 D
The quantity ( 23 + ) is termed the coecient of bulk viscosity; it is anal-
ogous to the elastic (bulk) modulus K of (5.84).
.
P = , (5.199)
.
= + . (5.201)
E
Note: Here we assume that the same stress enforces the viscous and
elastic strains.
The Maxwell material is analogous to the mechanical model depicted in
Figure 5.17. The assembly consists of a viscous and an elastic element;
both transmit the same force . The extensions of the viscous and elastic
element are P and E , respectively, and the extension of the assembly is
the sum.
Three situations are particularly interesting:
Here 0 and 0 are constants and H(t) denotes the unit step at t = 0. In
cases (1) and (2), there is to be no initial (t = 0 ) stress or strain.
The strain increases abruptly to the value 0 /E, then increases linearly
with time as depicted in Figure 5.18a. This linear increase of strain is the
simplest form of creep.
The response to the step stress is determined by the parenthetical term
of (5.203); the function in parentheses is called the creep compliance.
In case 2, the Maxwell body is subjected to a sudden strain
= 0 H(t), (0 ) = 0. (5.204)
The stress jumps abruptly to the value E0 , then gradually decays and
eventually vanishes as depicted in Figure 5.18b.
The response to the step strain is determined by the parenthetical term
of (5.205); the function in parentheses is called the relaxation modulus.
In case 3, a sinusoidal stress is the imaginary part of
= 0 eit , (5.206)
where i = 1. Following the current convention, we consider the steady-
state solution of (5.201) with the complex stress of (5.206). That solution
is
1 i
= 0 eit . (5.207)
E
.
D = , (5.209)
is understood that the real and imaginary parts of the solution are the responses to the
cosine and sine functions, respectively.
R = E, (5.210)
E + (t), (5.213)
(E i)
. (5.214)
(E 2 + 2 2 )
Here (t) denotes the Dirac impulse at t = 0 and indicates that any attempt
to enforce an instantaneous strain upon the Kelvin material requires a stress
of unlimited magnitude.
Since the foregoing equations are linear, the strain caused by successive
loadings can be obtained by superposition. In particular, the material can
be subjected to the initial step = 0 H(t) and, at a subsequent time t = T ,
the stress can be abruptly removed by the step
= 0 H(t T ).
The strain = (t) is obtained by superposing the solutions. The result for
the Maxwell material is
1 t 1 tT
= 0 + H(t) + H(t T ) , (5.215)
E E
= 0 H(t).
It is evident from the analog of Figure 5.21 that the Maxwell and Kelvin
elements transmit this stress. Then, in accordance with (5.203) and (5.212),
the net strain is
= 1 + 2
1 t 1
= 0 + + 1 e(E2 /2 )t H(t). (5.217)
E1 1 E2
riod. The response according to (5.217) provides the plot of Figure 5.22.
The initial strain and initial slope of the plot and the intercept and slope
of the asymptote determine the four parameters E1 , E2 , 1 , and 2 .
By the analog of Figure 5.21,
. . .
= 1 + 2 ,
.
.
1 = + ,
1 E1
.
= 2 2 + E2 2 .
After eliminating 1 and 2 from these three equations, we obtain the dif-
ferential equation
.. . 2 .. 2 E2 . E2
2 + E2 = + + +1 + . (5.218)
E1 1 E1 1
Evidently, the conceptual model of Figure 5.21 serves to introduce the sec-
ond derivatives of stress and strain into the constitutive equation. Further
elaborations serve to introduce higher derivatives; in general, the linear
Let us assume that the creep compliance k(t) and relaxation modulus
m(t) exist. In other words, particular solutions of (5.219) are
and
= m(t), if = H(t), (5.221)
where the initial state is unstressed and unstrained. Since the equation is
linear, the strain (or stress) under arbitrary stress (or strain) is given by a
Duhamel integral; if = (t), then
t
d (z)
(t) = k(t z) dz. (5.222)
dz
Equations (5.219), (5.222), and (5.223) are alternative forms of the consti-
tutive equations for viscoelastic materials. Equations (5.222) and (5.223)
are called hereditary integrals as they involve the entire past history of stress
and strain.
If one adopts the Cauchy-Riemann denition of the integral, then equa-
tions (5.222) or (5.223) do not admit a discontinuity of stress or strain.
Then, if an initial step is imposed upon a quiescent state:
t
d
(t) = k(t) 0 H(t) + k(t z) dz. (5.224)
0 dz
The rst term on the right side of equation (5.224) describes the strains
caused by the initial step stress 0 H(t), whereas the second term represents
the strains resulting from subsequent changes in stress. Through integration
by parts, the following, second version of the hereditary integral is obtained:
t
dk(t z)
(t) = (t) k(0+) (z) dz. (5.225)
0 dz
We note that the general theory of Section 5.37 admits a reversible com-
ponent Rij [see equation (5.184a)]. That component is a hydrostatic pres-
sure which can only cause a reversible dilatation of the isotropic medium.
In the present circumstance of linear viscoelasticity, such dilatation is in-
distinguishable from any elastic contribution. The constitutive equations
of isothermal linear elasticity are
ij .
sD = 2 ij , (5.228a)
. .
pD = 13 (2 + 3) kk K kk . (5.228b)
ij
s = 2Gij , (5.229a)
The assumption of linear elasticity limits the theory to small strain, wherein ij = sij .
Furthermore, if the strains are small, we have for the volumetric strains e and h of
. .
(3.73ac) and (3.74ac) the approximation h = e = kk .
For simplicity, we limit our attention to isothermal deformations.
. . .P
kk = E
kk + kk , (5.230b)
. 1 .ij 1 ij
ij = s + s , (5.231a)
2G 2
. 1 . 1
kk = p + p. (5.231b)
K K
p = pE + pD . (5.232b)
It follows that
ij .
s = 2Gij + 2 ij , (5.233a)
.
sii = 3K kk + 3K kk . (5.233b)
P sij = Q ij , (5.234a)
p p = q kk , (5.234b)
m
n
k k
P = Pk , Q= Qk , (5.235a, b)
tk tk
k=0 k=0
m
n
k k
p= pk , q= qk . (5.236a, b)
tk tk
k=0 k=0
t
kk (z)
skk = 3 m2 (t z) dz. (5.237b)
z
= m2 (t) 2 m1 (t).
(t) (5.239)
3
The factor 2 is incorporated to achieve an analogy between the function m1 and the
shear modulus G.
t
skk (z)
kk = k2 (t z) dz. (5.240b)
z
N f
= sN f(s). (5.242)
tN
m
n
sij Pk sk = ij Qk sk , (5.244a)
k=0 k=0
m
n
p pk sk = kk qk sk . (5.244b)
k=0 k=0
m m
k=0 Pk sk pk sk
k 1 = n , k 2 = k=0 , (5.245a, b)
Qk sk+1 n k+1
k=0 k=0 qk s
n n
Qk sk qk sk
2m1 = mk=0 , 3m2 = k=0 . (5.245c, d)
k+1 m k+1
k=0 Pk s k=0 p k s
1 1
2k 1 (s) m1 (s) = , 3k 2 (s) m2 (s) = . (5.246a, b)
s2 s2
6.1 Introduction
Theoretically, the problems of continuous solids and structures can be
formulated, solved or approximated, by the mechanics of the preceding
chapters. These provide the dierential equations of equilibrium (or mo-
tion) governing stresses, the kinematical equations relating displacements
and strains, and then certain constitutive equations relating the stresses
and strains. That is the so-called vectorial mechanics (basic variables
are vectors), also termed Newtonian. An alternative approach is based
upon variations of work and energy. The latter is the so-called analytical
mechanics, or Lagrangean; both terms may be traced to J. L. Lagrange
and his treatise, Mecanique Analytique [102]. In all instances, the al-
ternative approach must provide the same description of the mechanical
system. However, in many instances the energetic approach has advantages
and frequently provides the most powerful means for eective approxima-
tions. This last attribute is especially important in the modern era of digital
computation which facilitates the approximation of continuous bodies by
discrete systems (e.g., nite elements).
Our treatment of the principles and methods is necessarily limited. We
conne our attention to the concepts and procedures as applied to equili-
brated systems. These are given in generality; principles, associated theo-
rems, and necessary functionals apply to nite deformations of continuous
bodies. In most instances, these can be readily extended to dynamic sys-
tems.
Although our primary concern is the analysis of continuous bodies, the
salient features of the principles are most evident in simpler discrete sys-
tems. Then too, we recognize the important applications to discrete models
of continuous bodies. Accordingly, the principles are initially formulated
here for discrete mechanical systems and later reformulated for the con-
tinuous body. Specically, the work or energy functions of the discrete
6.3 Terminology
Generalized Coordinates
The conguration of a mechanical system is determined by the positions
of all the particles that comprise the system. The conguration of a discrete
system consists of a nite number of particles or rigid bodies, and conse-
quently, the conguration is dened by a nite number of real variables
called generalized coordinates. An example is the angle which denes the
conguration of a pendulum. A continuous body is conceived as an innite
collection of particles and, consequently, its conguration must be specied
by an innity of values, a continuous vector function.
Any change in the conguration of a system is referred to as a displace-
ment of the system. To remove any ambiguity when the term displace-
ment is used in such context, we dene the magnitude of the displace-
ment as the largest distance traveled by any of the particles comprising the
system. In addition, we suppose that any motion occurs in a continuous
fashion; that is, the distance traveled vanishes with the time of travel.
Degrees of Freedom
The number of degrees of freedom is the minimum number of generalized
coordinates. For example, a particle lying on a table has two degrees of
freedom; a ball resting on a table has ve because three angles are also
needed to establish its orientation.
Constraints
Any geometrical condition imposed upon the displacement of a system
is called a constraint. A ball rolling upon a table has a particular kind
of constraint imposed by the condition that no slip occurs at the point of
contact. The latter is a nonintegrable dierential relation between the ve
coordinates; such conditions are called nonholonomic constraints.
Virtual Displacements
At times, it is convenient to imagine small displacements of a mechani-
cal system and to examine the work required to eect such movement. To
be meaningful, such displacements are supposed to be consistent with all
constraints imposed upon the system. Since these displacements are hypo-
thetical, they are called virtual displacements.
Work
If f denotes the resultant force upon a particle and V the displacement
vector, then the work performed by f during an innitesimal displace-
ment V is
w = f V . (6.1a)
w = f v t. (6.1b)
Generalized Forces
In general, the particles comprising a system do not have complete free-
dom of movement but are constrained to move in certain ways. For exam-
n
RN
VN = aiN qi , aiN = RN,i . (6.3a, b)
i=1
qi
If f N denotes the force acting upon the particle N , then the work done
during the displacement is
wN = f N VN (no summation on N ).
The work performed by all forces acting upon all particles of the system is
N
W = f VN
N
n
N
= f aiN qi .
i=1 N
If we dene
N
Qi f aiN ,
N
then
n
W = Qi qi . (6.4)
i=1
dv d
w = m v t = ( 12 mv 2 ) t.
dt dt
= 21 mv 2 . (6.6)
Therefore,
w = . (6.7)
Equation (6.7) states that the increment of work is equal to the increment
of kinetic energy.
Viewing a mechanical system as a collection of particles and summing
the work done upon all particles, we conclude that the work of all forces
upon a mechanical system equals the increase of the kinetic energy of the
system:
W w = T, (6.8)
where the summation extends over all particles of the system and T denotes
the kinetic energy of the entire system.
If (6.8) is integrable, i.e., T = dT , then over a time interval we obtain
t1
W = dT T. (6.9)
t0
Fouriers Inequality
According to the law of kinetic energy (6.9), the kinetic energy of a
mechanical system cannot increase unless positive work is performed. If
for every small virtual displacement that is consistent with the constraints.
The inequality (6.10) is known as Fouriers inequality.
w = f V = 0.
W = 0. (6.11)
dy W dy
Case a: W = f s, = f = 0,
ds s ds
dy W
Case b: W = f s, = 0.
ds s
The latter (b) follows since dy/ds = 0 at the equilibrium position, i.e., at
the bottom of the trough. A small motion consistent with the constraint
(rolls along the smooth path) requires work of higher order (no work of the
rst order in the displacement). The former (a) violates the requirement,
since dy/ds = 0. It follows that the system of Figure 6.1b conforms to the
criteria, the system of Figure 6.1a does not.
In view of the negative sign, it may be helpful to regard v as the work that
you would do upon the particle if you held the particle (in equilibrium by
exerting force f ) and transported it (slowly) to the position P . If P is
dened by Cartesian coordinates Xi , then the dierential of (6.15) is
v
dv = dXi f i dXi .
Xi
i v
f = . (6.16)
Xi
W = V(qi ).
dW d V, (6.17a)
n
V
= dqi . (6.17b)
i=1
q i
V
Qi = . (6.18)
qi
U
Fi = , Pi = . (6.20a, b)
qi qi
V = U + . (6.21)
V
Qi = = 0. (6.23)
qi
Since the equations (6.23) are the conditions which render the function V
stationary, the principle of virtual work becomes the principle of stationary
potential energy. In view of (6.21), (6.23) has the alternative form:
U
= . (6.24)
qi qi
In accordance with (6.20b) and (6.24), the external force P i upon the
equilibrated system satises the equation:
U
Pi = . (6.25)
qi
n
2U
dP i = dqj .
j=1
qi qj
If the determinant of the second derivatives does not vanish, then these
equations can be inverted, such that
qi = qi (P i ). (6.26)
Then n
C U qi
i
= qj + P .
P j i=1
qi P j
Equation (6.25) holds for the equilibrated system; then in view of (6.25),
C
qi = . (6.28)
P i
Note that the variables qi are related to the complementary energy C(P i )
as the variables P i are related to the potential U (qi ). The transformation
which reverses the roles of the complementary energies (U and C) and the
variables (P i and qi ) is known as a Legendre transformation.
V > 0.
kl2
V = + U = 2P l cos + sin2 + (2)2 . (6.29)
2 2
Note that any constant can be added to the potential energy without aecting our
analysis, since we are only concerned with variations in potential energy; we could as
well set = 2P l(1 cos ).
The condition must hold for arbitrary ; therefore, the equation of equi-
librium follows:
kl 2
P = cos + . (6.31)
2 l sin
Figure 6.4 displays plots of the dimensionless load (P/Pcr ) for various val-
ues of the parameters k and . The point P at the critical load [(P/Pcr ) = 1]
is called a bifurcation point: The branches of equilibrium states (6.31) in-
tersect the stem OP at point P .
First, let us consider the situation k = 0, the linkage without lateral
support. The branch P S is initially normal to the stem, but henceforth
has positive slope. The states on the stem OP are stable, unstable above
P . States on the branch P S are stable, since an ever increasing load is
required to cause additional deection. Practically, the structure fails at
P Pcr , because slight increases in loading cause excessive deection. A
column, for example, is said to buckle at the critical load.
Now, consider the system when kl2 = 8. The perfect system is, strictly
speaking, stable along the stem OP , unstable above P . The state at the
critical load Pcr or slightly below, say P = 0.8Pcr , are especially interesting.
As the unsupported linkage, the system does sustain a load P < Pcr in the
straight conguration to the critical load Pcr ; at the critical load, the system
snaps-through to the conguration of Q. The responses of this system are
best explained by examining the potentials at the specic loads. At the
critical load, the potential traces the curve P Q . Like the ball at the top
of the hill (e.g., P ), the system moves to the valley (e.g., Q ), a state Q of
where
Aij = Aij (). (6.34)
With no loss of generality, the coecients are treated as entirely symmetric
in their indices.
Since the state is a state of equilibrium, in accordance with the principle
of virtual work,
Ai = 0. (6.35)
If the quadratic term of (6.33) does not vanish identically, then it dom-
inates for small enough displacement. It follows that the state is stable
if
V2 (ui ) 12 Aij ui uj > 0. (6.36)
The state is critical if
1
2 Aij ui uj 0. (6.37)
In words, the state is critical if there exists one (or more), nonzero displace-
ment(s) ui which causes the quadratic term to vanish, that is,
ui ) 12 Aij u
V2 ( i u
j = 0. (6.38)
V2 = Aij ui uj = 0. (6.39)
Aij u
i = 0. (6.40)
The homogeneous system has a nontrivial solution if, and only if, the de-
terminant of coecients vanishes
Aij () = 0. (6.41)
du 1 2 d2 u 2
+ V + .
u= + + = W
d 2 d2 2
. . 2
= , = . (6.44a, b)
2
In the N -dimensional space, one can dene an arc length along a path
stemming from the critical state; that is,
dui
Wi = . (6.45)
d
d2 ui
Vi = . (6.46)
d2
dui 1 d2 ui 2
ui = + +
d 2 d2
2
= Wi + Vi + . (6.47)
2
3 4
V = Aijk Wi Wj Wk + 2 Aij Vi Vj
3! 8
4 4
+ Aijkl Wi Wj Wk Wl + Aijk Wi Wj Vk + O(5 ). (6.48)
4! 4
1
A3 Aijk Wi Wj Wk = 0. (6.49)
3!
If the terms of higher degree are neglected, then equation (6.50) constitutes
a linear system in the displacement Vj . In accordance with (6.45) and
(6.46), the solution V i is to satisfy the orthogonality condition:
V i Wi = 0. (6.51)
2
ui = Wi + V i
2
V = 4 A4 , (6.53)
where
1 2
A4 Aijkl Wi Wj Wk Wl Aij V i V j . (6.54)
4! 8
The system is stable if
A4 > 0. (6.55a)
A4 < 0. (6.55b)
1 1
+ Ai ui + Aij ui uj + Aijk ui uj uk + + . (6.56)
2 3!
Here, the prime ( ) signies the derivative with respect to the parameter .
Note that each of the coecients (Ai , Ai , etc.) is evaluated at the critical
load.
Along a smooth path from the reference state in the conguration-load
space, the path includes a step in the direction of , as well as the direc-
tion of qi . In place of (6.47), we have
2
ui = ui + Vi + , (6.57a)
2
2
( ) = + + . (6.57b)
2
Here, the vector (ui ; ) is the unit tangent and (Vi ; ) is the principal
normal at (qi ; ) of the path which traces equilibrium states in the space
of conguration-load (qi ; ).
In view of (6.59), the quadratic terms (2 ) dominate (6.58). The station-
ary principle, (V) = 0, gives the equilibrium equations for states very
near the reference state:
Aij uj = Ai . (6.60)
Ai = 0. (6.61)
Equations (6.62) are the equations (6.40) of the Tretz condition (6.39).
The solution of (6.62) is the buckling mode
ui = Wi . (6.63)
where
1
A3 Aijk Wi Wj Wk , (6.65)
3!
1
A2 A Wi Wj . (6.66)
2 ij
d V
= 32 A3 + 2A2 ( ) = 0, (6.69a)
d
or
2A2
= ( ). (6.69b)
3A3
d2 V
= 6A3 + 2A2 ( ) > 0, (6.70a)
d2
or, in accordance with (6.69b), the system is stable in the adjacent state if
Since V2 (Wi ) = 0 at the critical load, we expect that V2 (Wi ) > 0 at loads
slightly less than the critical value and that V2 (Wi ) < 0 at loads slightly
above the critical value. Therefore, we conclude that
1
A2 A Wi Wj < 0. (6.71)
2 ij
= A3 = 0, (6.72)
then, in view of (6.59), (6.62), (6.63), and (6.72), the potential of (6.56)
and (6.58) takes the form:
4 2 1
V = Aij Vi Vj + Aijk Vi Wj Wk + Aijkl Wi Wj Wk Wl +
8 4 4!
3 1
+ Ai Wi + Aij Wi Wj + + O(5 ).
(6.73)
2 2
Ai Wi = 0. (6.74)
Ai = 0. (6.75)
21
+ Aij Wi Wj ( ). (6.77)
2
If the solution V i and (6.79) are used in (6.77), then our approximation
of the potential takes the form:
V = 4 A4 + 2 ( )A2 , (6.80)
d V
= 43 A4 + 2A2 ( ) = 0, (6.81)
d
or
A2
2 = ( ). (6.82)
2A4
According to (6.55a, b), (6.71), and (6.82), a stable adjacent state of equi-
librium can exist only at loads above the critical value ( > ) and a state
below the critical value is unstable.
W. T. Koiter [107] provides rigorous arguments for the conditions (6.71)
and (6.75) if the critical conguration is a stable equilibrium conguration
for loads less than the critical value. For example, the two-dimensional sys-
tem has equilibrium congurations which trace a line along the axis, as
shown in Figure 6.7. The portion OP represents stable states, the bifurca-
tion point P represents the critical state, P R represents unstable states of
the reference conguration, and P Q represents stable postbuckled equilib-
rium states. Here, the principle of stationary energy in the critical congu-
ration at any load leads to equation (6.75), and the principle of minimum
energy in the stable states of OP ( < ) leads to the inequality (6.71).
If the cubic term of V does not vanish, then equilibrium states trace
paths with slope at the critical load, as shown in Figure 6.7a. If the
cubic term vanishes, then = 0, and the equilibrium states trace paths
as shown in Figure 6.7b. In each gure, the solid lines are stable branches
and the dotted lines are unstable.
Practically speaking, many structural systems display the instability pat-
terns of Figure 6.7, that is, the prebuckled conguration of the ideal struc-
ture is an equilibrium state under all loads. Notable examples are the
column under axial thrust, the spherical or cylindrical shell under external
pressure, and the cylinder under uniform axial compression. Theoretically,
each retains its form until the load reaches the critical value and then buck-
les. In the case of thin shells, initial imperfections cause pronounced depar-
tures from the initial form and often cause premature buckling ( ).
Our analysis of stability at the critical load is limited. The reader should
note, especially, that any of the various terms of the potential, for example,
V2 , V4 , may vanish identically. Then, further investigation, involving terms
of higher degree, is needed.
1 1
+ Aij ui uj + Aijk ui uj uk + ( )
2 3!
1
+ e Bi ui + Bij ui uj + + . (6.83)
2
Here, the linear terms in ui , Ai , and Ai , vanish because the reference cong-
uration is an equilibrium conguration of the ideal structure (e = 0) at any
load. Note: For all purposes, the coecients (Aij . . . , Bij . . .) are entirely
symmetric with respect to the indices.
As before, the components ui are expanded in powers of the arc length
along the ideal curve of Figure 6.8. Here, we make an assumption that the
initial deection of the actual structure is nearly the buckling mode Wi of
the ideal structure. Therefore, we have
k
ui = Wi + 2 Vi . (6.84)
2
4 1 k2 k
+ Aijkl Wi Wj Wk Wl + Aij Vi Vj + Aijk Wi Wj Vk
4! 8 4
k 2
+ e Bi Wi + Bi Vi , (6.85)
2
where A3 and A2 are dened by (6.65) and (6.66), as before. Since the
relative magnitudes of and e are unspecied, we must suppose that the
terms O(3 ) and O(e) dominate (6.85), if A3 = 0 and = 0. Then,
we have the approximation
=. 3
V A3 + 2A2 ( ) + eBi Wi . (6.86)
d V
= 32A3 + 2A2 ( ) + eBi Wi = 0. (6.87)
d
Now, recall that V is not the potential increment from the critical cong-
uration of the actual structure but the potential referred arbitrarily to the
critical conguration of the ideal structure. An equilibrium conguration
of the actual structure is stable or unstable, respectively, if the potential
is a minimum or a maximum; therefore, the critical load of the actual
d 2 V
= 6A3 + 2A2 ( ), (6.88)
d2
32 A3
e= . (6.90)
Bi Wi
A3 = 0. (6.91)
At the critical load, terms O(3 ) are absent from the potential of (6.85).
The latter must be stationary with respect to the displacement Vi ; for
equilibrium,
=. 4
V A4 + 2 A2 ( ) + eBi Wi . (6.94)
follows:
d V
= 43 A4 + 2A2 ( ) + eBi Wi = 0. (6.95)
d
d 2 V
2
= 122 A4 + 2A2 ( ), (6.96)
d
83 A4
e= . (6.98)
Bi Wi
Again, we note that the denition of e and the sign of Wi are arbitrary
and, therefore, we assume that Wi renders the sum Bi Wi > 0. Then, the
In the second instance (A3 = 0, A4 < 0), the corresponding relation be-
and assumes the following form:
tween
Plots of the actual buckling load versus the imperfection parameter for both
cases are presented in Figure 6.11. Note that small imperfections can cause
ws = g ii i V,i = si Gi , (6.101a)
= sij Gj Gi , (6.101b)
= tij g
j Gi . (6.101c)
V = R, R,i = Gi = V,i .
The work we must expend against the body force (per unit volume) is
wf = f V = f R. (6.102)
wt = T V = T R. (6.103)
Finally, the virtual work W upon the entire body is comprised of the
integrals of ws and wf throughout the volume v, and wt over the sur-
face st :
W = Ws + Wf + Wt , (6.104a)
W = (si Gi f V ) dv T V ds. (6.104b)
v st
Here, according to (6.101b, c), we have the alternative forms of the vector si :
si = sij Gj = tij g
j . (6.105a, b)
j + Cij g
= hij g j = (hij + Cil k eklj )
gj . (6.106b, c)
In each form, the rst term comprises the deformation; moreover, both
strains are symmetric,
ij = ji , hij = hji .
In each, the nal term represents solely the rigid rotation. The virtual work
of the stresses consists of the two parts, but only the symmetrical parts
Then the expression (6.104) incorporates only the virtual work of the sym-
metric tensor sij or the symmetric part t(ij) of the stress si .
Having established the equilibrium conditions (6.109a, b), we return to
the virtual work (6.104), but recall that V = R and Gi = R,i with
the requisite continuity of the vector R, derivatives and variations:
W = (si R,i f R) g d1 d2 d3 T R ds. (6.110a)
v st
Applying Greens theorem to the rst term [see equation (2.73)], we obtain
1 i
W = ( g s ),i + f R dv
v g
(T si ni ) R ds + (si ni ) R ds. (6.110b)
st sv
1
( g si ),i + f = in v, (6.111)
g
s i ni = T on st , (6.112)
R = on sv . (6.113)
ws = u0 = sij ij , (6.114a)
0 = tij hij .
= u (6.114b)
u0 u
0
sij = , tij = . (6.115a, b)
ij hij
If the body forces are conservative, the incremental work of body forces
is the negative of the variation of a potential f :
Wf = f f (Xi ) dv, (6.117)
v
where f is the potential (per unit initial volume) and Xi is the current
Cartesian coordinate of the particle (Xi R i ). Since Xi = i R(i ),
the potential is also implicitly a function of the arbitrary coordinate i .
The body force has alternative forms:
f
f = i = f i g i = f i Gi . (6.118)
Xi
t
T = i = T i g i = T i Gi . (6.120)
Xi
W = V (U + f + t ) = 0. (6.121)
In words, the system is in equilibrium if, and only if, the rst-order variation
V of the total potential V vanishes; or stated otherwise, the potential is
Note
that the integral U = u dv has a value for each function u(Xi ); such quantities
v
are called functionals. If u is assigned a variation u(Xi ), the corresponding change in U
is termed the variation of U and is denoted by U . Note also that Ws is not, in general,
the variation of a functional.
The rst-order variation, or, simply, rst variation, signies a variation which includes
only terms of rst order in the varied quantity, in this instance, the displacement.
hij = 12 (
g j R,i + g
i R,j ) gij . (6.123)
k = rkj g j .
g (6.124)
+ t (R) ds (R R ) ds.
T (6.125)
st sv
1 ij f
g Gj ,i i R dv
g Xi
R R ds
T ij Gj ni R ds
T
sv sv
ij t
+ Gj ni + i R ds. (6.126)
st Xi
u0
ij = in v, (6.127)
ij
1 f
( g ij Gj ),i i = in v, (6.129)
g Xi
t
ij Gj ni ( T ) = i on st , (6.130)
Xi
R=R on sv . (6.131)
Additionally, if R = on sv , then
= ij Gj ni
T on sv . (6.132)
g i = g
i = n
k ekin g n.
ni g (6.133)
Gi R,i = Cij g
j = (hji + ij ) g
j . (6.134)
+ t (R) ds R R ds.
T (6.135)
st sv
This functional is dependent on position R (in v and s), strain hij (in v),
multipliers ij (in v) and T (on sv ), and also the rotation (in v) according
to (3.87). Note that the vector eects the variation rij = rn j ekin k;
see equation (3.105) or (6.124). Notice too that the rotation is most readily
referred to the current state, i.e., = ig
i.
The rst-order variation assumes the form:
u0
V = (ij) hij (ij) hij 1 g i R,j + g
j R,i + gij
v hij 2
1
ij f
g gj i R
g ,i Xi
+ ij (hp + p )e
k
+ [ij] 1 g
R ,j g
R ,i dv
i i kjp
2 i j
R R ds
T
T ij g
j ni R ds
sv sv
ij t
+ g j ni + i R ds.
. (6.136)
st Xi
(ij) = u
0
in v, (6.137)
hij
hij = 21 (
g i R,j + g
j R,i ) gij in v, (6.138)
1 ij f
( g j ),i
g i = in v, (6.139)
g Xi
ji (hp + p ) =
jp (hi + i ) in v, (6.140)
j j j j
ij g t
j ni = i on st , (6.141)
Xi
R=R on sv , (6.142)
=
T ij g
j ni on sv . (6.143)
1. These are expressed in terms of the engineering strain hij and the
associated stress tij =
ij .
2. The system includes the additional equations (6.140) that are the
conditions of equilibrium associated with the rigid rotation . In
his memorable work, B. Fraeijs de Veubeke [121] calls this result
[equations (6.140)] a disguised form of the rotational equilibrium
conditions.
The ultimate value of any theorem is the basis for greater understand-
ing, further development, and useful applications. To those ends the general
principle provides a powerful basis for examining and developing means of
T R ds (R R ) T ds. (6.144)
s sv
=u c0 + tii .
0 + u (6.146b)
T R ds R R T ds,
s sv
or
P = c0 + tii f R dv
0 + u
u
v
T R ds R R T ds.
s sv
or
V= u0 f R) dv
( T R ds. (6.147b)
v st
P V + Vc V + V c . (6.148a, b)
Then
Vc uc0 + 12 sij gij + 1
2 si R,i dv
v
T R ds T R R ds, (6.149a)
sv sv
T R ds T R R ds. (6.149b)
sv sv
Apart from an irrelevant boundary integral, the form (6.149b) was derived
by B. Fraeijs de Veubeke [121]; form (6.149a) was obtained by G. A. Wemp-
ner [122].
The reader is forewarned that B. Fraeijs de Veubekes, and most earlier
works, assign the opposite sign to the complementary potential. Our de-
nition and our sign are chosen for the following reasons: First, we note the
analogies [10] between the densities (u0 and uc0 , u
0 and u c0 ) of (6.145a, b)
and the total potentials (V and Vc , V and V c ) in (6.148a, b). Moreover, in
both cases, the left sides of these equations are entirely independent of the
material properties. Most important however is the fact that the integral P
vanishes for every admissible equilibrium state. Recall that the potential
(V or V) is a relative minimum in a state of stable equilibrium. It follows
that the complementary potential is a relative maximum. Of course, this
holds only for admissible variations.
si ni = T on sv , (6.151b)
T = on st . (6.151c)
u
c0 ij
V c t + tij gij dv
v tij
si R ni ds T R R ds. (6.152b)
sv sv
i 1 i 1 i
= s ni R ds ( g s ),i R + s Gi dv. (6.153)
s v g 2
i
s R ni ds = si R ni ds
sv s
1
= ( g si ),i R + si Gi dv.
v g
si R ni ds = tij g
j Gi + tij
k ekjn g
n Gi dv.
sv v
Since the variations of stress components and rotations of bases are inde-
pendent in (6.154a, b), we have the respective stationary (Euler) equations:
1 uc0
(Gij gij ) ij = in v,
sij
2
{Vc = 0} sij = sji in v, (6.155a)
on sv
.
R=R
1 1
+ si R,i sij Gij = 0, (6.156a)
2 2
and
The nal term vanishes for an equilibrated state in the absence of body
force f . Then, the introduction of (6.156a, b) into (6.149a, b) yields the
Vc = uc0 tij hij ] dv +
[ T R ds. (6.157b)
v st
Here, the nal terms (integrals on sv ) have been omitted; those merely
assert the forced condition R = R on sv .
Observe that the rst integrals of Vc and V c are the negatives of the
internal energies, U and U . Note too that the stress T is not subject to
variation on st . As the forms (6.149a, b), the forms (6.157a, b) are station-
ary with respect to the equilibrated stresses as the stresses appear explicitly
in those functionals.
Recall the previous assessment of functionals P and P, the parts V and
V, and parts Vc and V c . The minimum of potential V (or V) implies a maxi-
mum of the complementary potential Vc (or V c ). However, those extremals
are attained with the admissible variations of all variables. In the absence
of body force f , Vc = V, and V c = V [see (6.147a, b)]. As previously
noted (see Section 6.17), the complementary potential is customarily the
negative of Vc (or V c ). In accord with such custom, let
Qc Vc = u0 dv T R ds, (6.158a)
v st
Qc V c = 0 dv
u T R ds. (6.158a)
v st
In the equilibrium state, these functionals (Qc and Qc ) are a relative min-
imum with respect to all admissible variations. It is the latter version
(minimum complementary potential) which is most cited in earlier works.
1 i i
T R ds = (s g ),i R + s R,i dv T R ds.
sv v g st
V c uc0 12 sij (R,j R,i gij ) + f R dv
v
+ T R ds R R T ds, (6.159a)
st sv
V c uc0 tij (
g j R,i gij ) + f R dv
v
+ T R ds R R T ds. (6.159b)
st sv
The functionals V c (sij , R) and V c (tij , R), dependent on stress and dis-
placement, are stationary with respect to those functions if, but only if, the
displacement-stress relations and equilibrium conditions are satised; these
are the Euler equations:
1 uc0
2 (R,i R,j gij )( ij ) = in v, (6.160a)
sij
( g sij Gj ),i + g f = in v, (6.160b)
sij Gi ni = T on st , (6.160c)
R=R on sv , (6.160d)
or
tij g
i ni = T on st , (6.161c)
R=R on sv . (6.161d)
In either case, one could accept the symmetry of the stress components
(sij = sji or t(ij) = t(ji) ). Again, because g i R,j = g
j R,i , an antisym-
metric part of stress tij does not contribute to the functional. One could also
admit the variation of base vectors Gi or g i which provides the equilibrium
conditions presented in equations (6.155a, b), sij = sji or tij Cin = tin Cij .
Note: The modied potentials, forms (6.125) and (6.135), are directly
related to their complementary counterparts, (6.159a, b), via (6.145a, b), as
follows:
V = V c , V = V c . (6.162)
We recall that
uc0
= ij = 12 (R,i R,j gij ), (6.164a)
sij
uc0
= hij = g
j R,i gij . (6.164b)
t(ij)
Therefore, the variations of the functionals C(sij ) and C(tij ) assume the
forms:
ij
C = s Gj R,i dv, (6.165a)
v
C = tij g
j R,i dv. (6.165b)
v
Note that sij = sji and tij = t(ij) = tji in the foregoing equations.
By partial integration of each, we obtain
1
C = g sij Gj ,i R dv + sij ni Gj R ds, (6.166a)
v g s
1
C = g tij g
j ,i R dv + tij ni g
j R ds. (6.166b)
v g s
sij ni Gj = tij ni g
j = T on s. (6.168a, b)
0
C = Rj ni tij ds = R0j T j0 .
s
0
Note dierences in the respective vectors: Rj0 Gj R0 , Rj g j R0 ,
ij ij
etc. The variations of stress (s or t ) are a consequence of the variations
of load (T j0 or T j0 ) and are in equilibrium with that variation [according
to (6.167a, b) and (6.168a, b)]. It follows that
C C
C = T i , C = T i0 ,
T i0 0 T i0
or
C 0 C
R0i = , Ri = . (6.170a, b)
T i0 T i0
Practically, the result (6.170a, b) is useful if one can readily express the
stress in terms of external loading. Engineers are familiar with elemen-
tary situations, particularly the so-called statically determinate prob-
lems, and also the method of a dummy load. The forms (6.163a, b)
are not limited to Hookean bodies, nor small deformations. However, we
note that usage of form C of (6.163a) is more limited than the form C
of (6.163b) since the strain [ij = (Gij gij )/2] appears explicitly. This
points to an inherent disadvantage in the use of the components sij , as
opposed to tij . The former components (sij = Gj si ) are based upon the
deformed basis (Gj and Gj ), whereas the latter (tij = g j si ) are based on
C uc0 + 12 sij gij + 12 sij Gij sij Gj g i dv, (6.171a)
v
C c0 + tii tij g
u j g i dv. (6.171b)
v
ij
C = t g j (R r),i dv = T (R r) ds.
v s
By the logic leading to (6.170a, b), we obtain similar results in terms of the
displacement (V = R r) at the point:
C C
V 0i = , V 0i = . (6.172a, b)
T i0 T i0
Again, we must question the limitations of the result and the practicality.
To that end, let us rewrite the integrands of C and C in (6.171a, b):
C = uc0 + 12 sij (Gj g j ) (Gi g i ) dv, (6.173a)
v
C = uc0 + tij g
j (
g i g i ) dv. (6.173b)
v
To grasp the signicance of the nal products, we recall the motion and
deformation which carries the vector g i to the vector g i and subsequently
to Gi . These are the rigid rotation of (3.87a, b) and then the deformation
of (3.86ac) and (3.95), viz.,
i = ri j g j ,
g Gk = (hik + ki )
gi .
1 ij . 1 ij
k
2 s (Gj g j ) (Gi g i ) = 2s j ki + O() , (6.174)
.
tij g g i g i ) = tij ji .
j ( (6.175)
Since we now consider small strains [see also (6.155b)], the relevant approx-
imation is tij = tji ; hence the right sides of (6.175) vanishes. The approx-
imations of C and C (6.173a, b) for small strain and moderate rotation
follow:
.
1 ij k
.
C = uc0 + 2 s j ki dv, C = u
c0 dv. (6.176a, b)
v v
Once again, we detect merit in the decomposition of strain and rotation, the
use of engineering strain hij and the associated stress tij , since C = C (tij )
does not depend explicitly on strain or rotation. All of the foregoing comple-
mentary energies (C, C, C , or C ) are independent of the elastic properties.
t
sij ij + S T + F + sij N
N ij
t0 v
ij 1
2 R,i R,j gij sij
1 ij
g s Gj ,i + f R dv dt
g
t
T ni sij Gj R ds + R R T ds dt. (6.177)
t0 st sv
. . . . . .
W u0 sij E 2 dv
ij R,i R,j f R Y
v
.
. .
T R ds T (R R) ds. (6.178)
st sv
. . .
Here, u0 = u0 ( E ij
ij ) denotes the internal energy; Y = Y(s ) = 2 , the
. . .E . .
yield condition; and W = W ( ij , sij , R, ). The usual integration
by parts and enforcement of stationarity lead to the requisite governing
equations:
.
u0
sij = .E in v, (6.179a)
ij
. . . . Y
ij R,i R,j = E
ij + in v, (6.179b)
sij
1 ij
g s Gi ,j + f = in v, (6.179c)
g
Y(sij ) = 2 in v, (6.179d)
sij Gi nj = T on st , (6.179e)
. .
R=R on sv . (6.179f)
. . . . .
W c = uc0 sij R,j R,i + f R + (Y 2 ) dv
v
. .
.
+ T R ds T R R ds. (6.180)
st sv
. . . . . .
Here, W c = W c (sij , R, ); uc0 = uc0 (sij ) denotes the complementary
ij 2
internal energy; and Y = Y(s ) = , the yield condition. The stationary
1 ij
g s Gi ,j + f = in v, (6.181b)
g
Y(sij ) = 2 in v, (6.181c)
sij Gi nj = T on st , (6.181d)
. .
R=R on sv . (6.181e)
.
The latter functional (W c ) does not explicitly contain the elastic strain ij
E
.
In a practical application, the variational method provides a means to
devise discrete approximations. The formulations and computations must
proceed stepwise from the prevailing deformed state. Then, it might prove
more expedient. to cast the functionals entirely in terms of increments of
. .
displacement R, strain ij , and stress sij . The latter are linearly related
via the tangent modulus ETijkl (see Section 5.32); that relation derives from
a quadratic form:
. . . . .
u = 12 ETijkl ij kl , sij = ETijkl kl . (6.182a, b)
These dier from the similar equations of Hookean elasticity: The expres-
. .
sion (6.182a) for u includes dissipation; stress sij is nonconservative and
. . .E .P
ij includes the inelastic strain ( ij = ij + ij ).
.
An incremental version of the functional W of (6.178) is a quadratic form
..
in the increments ( ). In that form, designated W , we signify quantities
of the reference state by a tilde ( ):
.. 1 ijkl . . . . . .
W = sij ij 1 R +R
R R
2 ET ij kl 2 ,i ,j ,j ,i
v
1 ij
. . . .
+ R,i
2s R,j f R dv
. . .
. .
T R ds T (R R) ds. (6.183)
st sv
. .
sij = ETijkl kl in v, (6.184a)
. . .
ij = 12 R R +R R in v, (6.184b)
,i ,j ,j ,i
1 .ij ij . .
g s R,i ,j + g s R,i ,j + f = in v, (6.184c)
g
. . .
+ sij R = T
nj sij R on st , (6.184d)
,i ,i
. .
R=R on sv . (6.184e)
.
The moduli ETijkl apply to loading, sij (Y/sij ) 0; in the event of unload-
ing, the equations (6.184ae) apply with ETijkl replaced by the elastic mod-
uli. The equations (6.184c, d) are merely the perturbations of (6.179c, e).
An alternative version of (6.183) expresses the strain as the sum of elastic
. . .P
and inelastic parts ( ij = E
ij + ij ), wherein [see equation (5.131)]
. .
sij = E ijkl E
ij , (6.185)
Y .ij .
s = GP . (6.186)
sij
. .ij . .
That alternative is a functional of E
ij , s , R, and , as follows:
.. 1 ijkl . E . E 1 .
W = E ij kl + GP ()2
v 2 2
. . . Y 1
.
R
.
sij Eij + R ,i R ,j + R ,j ,i
sij 2
1 ij . . . .
+ s R,i R,j f R dv
2
. . .
. .
T R ds T (R R) ds. (6.187)
st sv
. . 1 ijkl . E . E . .
sij E
ij = 2 E ij kl + 12 Dijkl sij skl . (6.188)
. . Y 1
.
R
.
sij ij R,i R,j + R ,j ,i
s 2
1 ij . . . .
+ s R,i R,j f R dv
2
. . .
. .
T R ds T (R R) ds. (6.189)
st sv
..
Strains do not appear explicitly in W ; it is a functional of the incremental
. . .c .
stresses sij , displacement R, and . Variation of incremental stress sij
provides a form of constitutive equations, viz.,
. . Y 1
. .
R .
Dijkl skl + ij = R,i R,j + R ,j ,i (6.190)
s 2
Y .ij .
s = GP 0.
sij
.
In the event of unloading [sij (Y/sij ) < 0], the equations apply as well
.
to the elastic response, wherein = 0.
7.1 Introduction
The linear theory of elasticity originated with Hookes law in 1678. How-
ever, the earliest formulation of a general theory for an isotropic body was
given by C. L. M. H. Navier in 1821. Unfortunately, Naviers formulation
suered from one defect: his description contained but one elastic constant.
Shortly thereafter, in 1822, A. L. Cauchy presented the formulation which
we know today as the classical theory of elasticity (see Section 5.20 and the
historical account presented by S. P. Timoshenko [46]).
In general, our ability to solve linear equations far exceeds our abilities
to cope with nonlinear equations, whether the equations in question are
dierential or algebraic. Consequently, engineers and scientists have neces-
sarily turned to linear approximations. As a result, the classical theory of
elasticity has become a highly developed discipline during the years since its
conception. Now, the structural engineer is expected to know the rudiments
of the classical theory of elasticity. To this end, we present only the basic
linear equations of isotropic elastic bodies. The reader seeking additional
developments, special methods, or solutions, may consult one or more of the
works by A. E. H. Love [1], N. I. Muskhelishvili [128], I. S. Sokolniko [129],
C. E. Pearson [130], V. V. Novozhilov [131], M. Filonenko-Borodich [132],
Y. C. Fung [54], S. P. Timoshenko and J. N. Goodier [133], and others.
The same kinematic equations govern the motions of all continuous me-
dia. In particular, the same linear equations are used to describe the kine-
matics and dynamics of a medium undergoing small displacements. Only
the constitutive equations dier. Again, linear constitutive equations can
be used to approximate viscoelastic media. Therefore, the linear problems
of elasticity and viscoelasticity are, in many ways, similar. Indeed under
certain conditions, the equations of the viscoelastic problem can be trans-
.
ij = eij = 12 (Vi,j + Vj,i ). (7.1)
ii , i = 12 ijk kj , (7.3a, b)
.
kj = n njk = 12 (Vk,j Vj,k ). (7.3c, d)
In theories of small strains and rotations, only the linear terms are retained
in the integrand of (3.122c). Then, the displacement V ]Q at a cite Q(i ) is
expressed in terms of the displacement and the rotation at another location
P (ai ) with coordinates ai and an integral as follows:
Q
V ]Q = V ]P +k (i ai )ki ]P +k [km + (i xi )(mk,i im,k )] dxm .
P
(7.4)
The integral exists if, and only if, the strains satisfy the compatibility con-
ditions; the linear versions of (3.130) are applicable, viz.,
Rmipq = ip,qm + qm,ip iq,pm pm,iq = 0, (7.5)
R2112 = R3113 = R2332 = R2113 = R2331 = R1223 = 0. (7.6)
Therefore, we need only the symbol sij in our subsequent linear theory.
If the strains and rotations are small compared to unity, then the tangent
Gi of (7.2), or the normal Gi , is nearly the initial vector i . Consequently,
.
the stress vector upon a surface with normal n = nii is given by a linear
version of (4.33a, b); specically,
T = sij j ni . (7.8)
The linear version of the equilibrium equation (4.45ac) implies that ro-
.
tation and strain are neglected, i.e., (sij g j ),i = sij,i g
j (sij g
j,i is neglected).
.
In the present case g
i = i . It follows that the equations of equilibrium (or
motion) assume the form:
sij
j + 0 f = . (7.9)
xi
E E
0 F = ij ij + ii jj (T T0 )jj , (7.10)
2(1 + ) 1 2 1 2
(1 + ) ij ij
0 G = s s sii sjj (T T0 )sii , (7.11)
2E 1+
(0 F)
sij = , (7.12a)
ij
E E
= ij + kk ij (T T0 )ij , (7.12b)
1+ 1 2 1 2
(0 G)
ij = , (7.13a)
sij
(1 + ) ij
= s skk ij + (T T0 )ij . (7.13b)
E 1+
The foregoing equations describe the medium in terms of the most common
coecients, Youngs modulus E and Poissons ratio . Alternatively, the
potentials and the stress-strain relations can be expressed in terms of the
Lame coecient and shear modulus G. In accordance with (5.63), (5.64),
and (5.66),
0 F = Gij ij + ii jj (3 + 2G)(T T0 )kk , (7.14)
2
The displacement, strain, and stress elds in the Hookean body are to
satisfy the linear dierential equations (7.1), (7.5), (7.9), and the linear
algebraic equations (7.12a, b) and (7.13a, b), or (7.15) and (7.16) through-
out the body. As usual, we assume that the body force and temperature
distributions are prescribed.
In addition to the eld equations cited, the stress components at the
surface must equilibrate the applied traction. If T is the traction prescribed
upon a portion st of the surface, then the boundary condition has the form:
sij j ni = T on st . (7.17)
(sij,i + 0 fj )j = , (7.21)
or
1
ij = sij skk ij . (7.22b)
2G 3 + 2G
Notice that the compatibility conditions of (7.20) are not relevant when
the solution is the displacement.
,j = Vi,ij .
Vi = F,i , (7.29)
F,ii = 0. (7.30)
( + 2G)F,jii = 0.
Vi,i = F,ii 0.
,ii = 0, k,ii = 0.
F ,iijj = . (7.33)
Fk,jj = 2k ,
Fj,j = xj j .
where
r= (xi i )(xi i ).
(sij,i + 0 fj )j = . (7.35)
Sir William Thomson (Lord Kelvin), Cambridge and Dublin Math. J., 1848; reprinted
( skk + qn skk,ip iq skk,pn pn skk,iq ) = 0. (7.36)
3 + 2G ip ,qn
2( + G) nn
sip,nn sin,pn spn,in skk + s ,ip = 0. (7.37a)
3 + 2G ip ,nn 3 + 2G
2( + G) nn
sip,nn skk + s ,ip = 0 (fi,p + fp,i ). (7.37b)
3 + 2G ip ,nn 3 + 2G
The second term of (7.37b) can be expressed in terms of the body force as
follows: form a sum of (7.36) by setting i = q, p = n; that is,
+ 2G ii
sin,in s = 0. (7.38)
3 + 2G ,nn
The initial term of (7.38) is expressed in terms of the body force in accor-
dance with the equilibrium equation (7.35); the result follows:
3 + 2G j
sii,nn = 0 f ,j . (7.39)
+ 2G
sij = ,ij ,
where
,pp = const.
It can be readily shown that the stress function also provides a solution
of the equilibrium equations in the absence of body force.
If the body force is constant, then it follows from (7.39) that
snn,kk = 0. (7.44)
The stress functions Tij include the stress functions of J. C. Maxwell and
G. Morera. By setting (T12 = T23 = T31 = 0) or (T11 = T22 = T33 = 0),
one obtains the solutions deduced by J. C. Maxwell or G. Morera (see
also I. S. Sokolniko [129], p. 335 and H. Sch afer [134]). The functions
Tij are subject to the dierential equations imposed by the compatibility
conditions.
V3 = 0, V = V (x1 , x2 ). (7.46a, b)
J.
C. Maxwell, Trans. Roy. Soc. Edinburgh, vol. 26, p. 27, 1870.
G.Morera, Atti Reale Accad. Lincei, Rome, ser. 5, vol. 1, pp. 137141 and 223234,
1892.
All but one of the compatibility conditions vanish identically. The remain-
ing compatibility condition follows:
R2112 = 0, 3 3 , = 0, (7.48a, b)
E
s3 = 0, s33 = (T T0 ) , (7.49a, b)
1 2 1 +
E E
s = + (T T0 ) . (7.49c)
1+ 1 2 1 2
In view of (7.49a), the stress upon a lateral surface must satisfy a two-
dimensional version of (7.17); namely,
s n = T (x1 , x2 ). (7.51)
Using (7.52), it can be shown that the dilatation = and the rotation
12 of (7.3d) are both plane harmonic functions, i.e.,
, = 0, 12, = 0.
1 +
= s s + E(T T0 ) . (7.53)
E
Employing the result (7.53), the compatibility equation (7.48c) takes the
form:
si3 = 0. (7.55)
Using (7.1) and (7.57), the equilibrium equations of plane stress can be
expressed in terms of the displacements; the result follows:
3 + 2G
G V, + V, = 0 f . (7.58)
+ 2G
s = 2G +
3K
(T T0 ) , (7.60)
3KG
2G = s s + (T T0 ) .
(7.61)
+ G)
2( G+
= ,
In the problem of plain strain, = , and in the problem of plane
stress
= 2G E 1 2
= , = =
. (7.62a, b)
+ 2G 1 2 1
s = 3 3 F, . (7.63)
F, = kE T, . (7.64)
s = 3 3 F, P , (7.65)
where
P , = 0 f , P = P . (7.66a, b)
1 2F 1 F
11 = s11 = 2 2
+ , (7.68a)
r r r
1 2F 1 F
12 = rs12 = + , (7.68b)
r r r2
2F
22 = r2 s22 = , (7.68c)
r2
and
2 1 1 2 2F 1 F 1 2F
2
+ + 2 2 2
+ + 2 = 0. (7.69)
r r r r r r r r 2
Here, sij denote the tensorial components and ij the physical components.
The solution of our problem is given by the Airy function:
r
F = M r2 + N ln + (Ar2 + Br4 + Cr2 + D) cos 2. (7.70)
a
a 4
22 T a2 T
= 1+ 2 1+3 cos 2, (7.71b)
2 r 2 r
a 4 a 2
T
12 = 13 +2 sin 2. (7.71c)
2 r r
A plot of the latter is shown in Figure 7.1. The maximum normal stress
occurs at the edge of the hole (x1 = 0, x2 = a), where
11 (0, a) = 3 T. (7.74)
From (7.73) it is evident that the stress diminishes rapidly with distance
from the hole. For example, at r = x2 = 4a
z = x1 + ix2 , z = x1 i2 , i2 = 1.
Goursat follows:
The form given by E.
where a prime ( ) signies the derivative.
By the integration of the strain-displacement equations, one can obtain
the Kolosov representation [135] of the displacement:
E.
equation u = 0. Bull. Soc. Math. France, vol. 26, p. 236, 1898.
Goursat. Sur l
conditions on the circle and, ultimately, the problem may be reduced to the
solution of an integral equation.
The foregoing remarks serve only to indicate a well-established technique
for the solution of plane problems. The interested reader can pursue the
method in the works cited. An excellent introduction is given in English by
I. S. Sokolniko [129]. Further developments and important applications
are contained in the text of A. E. Green and W. Zerna [3].
zi = xi /a, (7.78)
E
= cos z + sin z ,
1 1 1 2 1 (7.79a)
E
= sin z + cos z .
2 1 1 2 1 (7.79b)
1
11 = z2 + z22
2
2 2 2 2
z2 z32 + z2 z22 z32 + z2 z32 , (7.81a)
2 2 8
2 2
22 = z2 + z2 + z32 , (7.81b)
2
2 2
33 = z2 + z + z32 , (7.81c)
2 2
z2 1, z3 1. (7.82a, b)
If the material is linearly elastic and isotropic, the stress components are
given by (7.12b). If is the Poisson ratio of (7.12b), then
It follows that the lateral surfaces of the bar are stress-free and the same
distribution of normal stress acts on every cross-section. The deformation
of (7.80) describes bending of a bar under the stresses of (7.84af) if the
latter satisfy the conditions of equilibrium. Here, we return to the general
version of Section 4.10, equation (4.45c), which admits nite rotation. With
the omission of body force f, that equation assumes the form:
ij
j = .
gt g (7.85a)
i
Note that our initial system is Cartesian/rectangular and the strains are
. .
small; therefore, g = 1, tij = sij , g
j = E j . Equation (7.85a) takes the
simpler form:
ij
s E j = . (7.85b)
xi
= z2 E E
s11 E = . (7.86)
1,1 2
a
= E
3 x2 s11 dA + E
2 x3 s11 dA
A A
E
= E
3 x22 dA E
2 x3 x2 dA
a A A
E
= I E
I22 E 3
.
23 2 (7.87)
a
This description of the torsion was employed by Saint-Venant to eect the solution of
X1 = (x2 , x3 ) + x1 , (7.88a)
e
1 1 , (7.89a)
e
2 2 cos x1 + 3 sin x1 , (7.89b)
3 2 sin x1 + 3 cos x1 .
e (7.89c)
Now, the position vector to a particle of the deformed body takes the form:
R = (x1 + )
e1 + x2 e
2 + x3 e
3 . (7.90)
G1 = (x2 e
3 x3 e
2 ) + e
1 , (7.91a)
G2 = ,2 e
1 + e
2 , (7.91b)
G3 = ,3 e
1 + e
3 . (7.91c)
2 2 2 2
11 = (x + x23 ), 22 = ( )2 , 33 = ( )2 , (7.92ac)
2 2 2 ,2 2 ,3
12 = ( x3 ), 13 = ( + x2 ), 23 = ( ). (7.92df)
2 ,2 2 ,3 2 ,2 ,3
Notice that the strains are independent of x1 ; every slice along the x1 axis
deforms similarly.
If the strain components throughout the bar are small compared to unity,
then it follows from (7.92af) that
x2 1, x3 1, ,2 1, ,3 1. (7.93ad)
Consequently, the strain components 11 , 22 , 33 , and 23 are negligible in
comparison with 12 and 13 .
Since the material is linearly elastic and isotropic, the stresses are ob-
tained by means of (7.12b). In view of (7.92af) and (7.93ad), we have
the close approximation
. . . .
11 = 22 = 33 = 23 = 0, (7.94ad)
12 = ( x3 ), 13 = ( + x2 ), (7.94e, f)
2 ,2 2 ,3
. . . .
s11 = s22 = s33 = s23 = 0, (7.95ad)
We note that the foregoing approximations presume small strains but the
rotation (x1 ) is not limited.
Since the state described by the equations (7.94af) and (7.95af) is
derived from a continuous displacement, it remains only to determine the
warping function such that the stresses (s12 , s13 ) satisfy equilibrium.
.
Since the strains are small (Gi = g i ), the relevant equations are (4.45c);
viz.,
ij . ij
s gj = s Gj = . (7.96)
xi xi
(,2 x3 )G2 + (,3 + x2 )G3
x1
+ (,2 x3 )G1
x2
+ (,3 + x2 )G1 = . (7.97)
x3
The result (7.98) infers that the rotation x1 , even though nite, does not
preclude the linear solution. This might be anticipated because a large
rotation (x1 ) occurs only at a large distance (x1 ) from the constrained
end. Within a small segment (i.e., x1 l), the relative rotation ( x1 )
is imperceptible.
In addition to the dierential equation of equilibrium, the function
must meet the conditions for equilibrium of an element M at the lateral
surface (on boundary C of Figure 7.4). The traction sn must vanish:
sn = sij e
j ni . (7.99)
Here, ni = e
i n,
where n
is the unit normal to C. In particular,
n1 = 0, n2 = cos , n3 = sin .
(,2 x3 ) cos + (,3 + x2 ) sin C = 0. (7.101)
= G (x2 ,3 x3 ,2 + x22 + x23 ) dA. (7.102)
A
s21 s31
+ = 0. (7.103)
x2 x3
21 = ,3 , 31 = ,2 . (7.105a, b)
2 2
R1223 = (,22 + ,33 ),2 = 0.
It follows that
,22 + ,33 = B, (7.106)
,3 = ,2 x3 , ,2 = ,3 x2 . (7.107a, b)
It follows from (7.106) and (7.107a, b) that must satisfy Poissons equa-
tion
,22 + ,33 = 2. (7.108)
dx3 dx2
cos = , sin = .
dc dc
d
= 0, ]C = K, (7.109a, b)
dc
s1 s12 e
2 + s13 e
3 . (7.110)
The magnitude of s1 is
dx2 dx3
cos = , sin = . (7.111b)
dn dn
d
s1 = G . (7.111c)
dn
= 2G ( K) dA, (7.113b)
A
= K. (7.114)
d
s1 = G . (7.117)
dn
,2 = x3 + ,3 , ,3 = x2 ,2 . (7.118)
On the boundary C,
1 12 (x22 + x23 ) C = 0. (7.122)
1 1
= , = . (7.126a, b)
x2 x3 x3 x2
z = x2 + ix3 .
Alternatively,
b2 x3 ab2 x2 b2
F = a x3 + + i ax2 2 + .
2
x2 + x23 x2 + x23 2
ab2 x2 b2
1 = ax2 + . (7.127)
x22 + x23 2
The function must satisfy (7.122) on some curve C which determines the
shape of the cross-section. Accordingly, we seek the curve dened by the
equation:
ab2 x2 b2 1
ax2 2 2 + (x22 + x23 ) = 0. (7.128a)
x2 + x3 2 2
The curve is recognized more readily in the polar coordinates of Figure 7.7,
namely,
x3
r2 = x22 + x23 , = arctan .
x2
Now, suppose that the bar has a small groove, like a keyway, and consider
the limit:
lim s13 = 2Ga.
b/a 0
Of course, the linear equations (7.131a, b), which govern the deviatoric and
dilatational parts, can be combined in a single form relating the stress and
strain components. Alternatively, the relations can be given in the form of
integrals, such as (5.238) and (5.241); namely,
t
ij (z)
sij = 2 m1 (t z) dz
z
t
+ ij z) kk (z) dz,
(t (7.132)
z
t
1 skk (z)
+ ij [k2 (t z) k1 (t z)] dz. (7.133)
3 z
t 2
Vk,kj (z) Vj
+ j z) + m1 (t z)
(t dz = 0 j j . (7.134)
f
z t2
The reader should compare (7.134) with the Navier equation (7.24).
= C m1 (t),
(t)
From the Laplace transformation of (7.137) and from (5.246a, b), we con-
clude that
(1 + 32 C)k2 (t) = k1 (t). (7.138)
We observe that the moduli m1 and m2 play roles as the shear and bulk
moduli in elasticity and, therefore, we set
2 m2 2(1 + ) k2 1 2
C= , = , = . (7.139ac)
1 2 m1 3(1 2) k1 1+
A solution in the form (7.135) and (7.136) together with the relations
(7.132) and (7.139ac) leads to a spatial distribution of stress, similar to
the distribution in the elastic body, but varying with time in a manner
dependent upon the viscoelastic behavior. The separation of variables in
(7.134) provides the equation governing Vi
1
Vi,jj + Vj,ji = 0. (7.141)
1 2
Observe that the displacements Vi and, consequently, the strains ij corre-
spond to the solution of an elastic problem. However, the actual displace-
When the stress components are determined, the strain components may be
assumed in the form (7.136). Then, it follows from (7.133) and (7.139ac)
that
ij = s ij s kk ij , (7.145)
1+
t
F (z)
f(t) = k1 (t z) dz. (7.146)
z
dN g
= sN g(s). (7.148)
dtN
1
ij = 2 Vi,j + Vj,i , (7.149)
s ij,i + 0 fj j = . (7.150)
s ij j ni = T j j on st , (7.151)
Vi = Vi on sv . (7.152)
The system of linear equations (7.149) to (7.154) are entirely similar to the
basic system of the linear elastic problem; see equations (7.17) to (7.19),
8.1 Introduction
A shell is a thin layer of material. Consequently, the kinematics of a shell
are intimately related to the geometry of surfaces, the boundary surfaces,
or some intermediate surface. In most practical theories, the dierential
geometry of one reference surface completely determines the strain compo-
nents throughout the thickness. Our study is limited to those aspects of
the geometry which are essential to a full understanding of these theories
of shells.
r(1 , 2 , 3 ) = 0r(1 , 2 ) + 3 a
3 (1 , 2 ). (8.2)
The tangent base vectors of our coordinate system follow from (2.5)
and (8.2):
g = 0r , + 3 a
3, , g3 = a
3, (8.3a, b)
where the Greek indices have the range 1, 2. Let us denote the tangent
vectors at the reference surface as follows:
ai (1 , 2 ) g i (1 , 2 , 0). (8.4)
g = a + 3 a
3, , (8.5)
a = 0r , , g3 = a
3. (8.6a, b)
ai (1 , 2 ) g i (1 , 2 , 0), (8.7)
ai aj = ji . (8.8)
3 = g3 = a
a3 = a 3. (8.9a, b)
At each point of the surface we have two basic triads, ai and ai , where a
and a are tangent to the surface and a3 = a3 = a 3 is the unit normal.
The base vector a is tangent to the line, and the vector a is normal
to the line as shown in Figure 8.2.
The vectors a can be expressed as a linear combination of a and vice
versa:
a = a a , a = a a . (8.10a, b)
These linear relations are a subcase of (2.7) and (2.8), and the coecients
a and a are the components of the contravariant and covariant metric
Let
1
|a | = . (8.16)
a
3
e (1 , 2 ) e3 (1 , 2 , 0) = . (8.17c, d)
a
a a = e a
3, a a = e a
3, (8.18a, b)
3 a = e a ,
a 3 a = e a .
a (8.18c, d)
(1 , 2 ) a a, = (1 , 2 , 0), (8.19a, b)
(1 , 2 ) a a, = (1 , 2 , 0). (8.20a, b)
Here, the overbar ( ) signies that the symbol is evaluated at the reference
surface 3 = 0. If the derivatives are continuous (the surface is smooth),
then it follows from (8.6a) and the denitions (8.19a) and (8.20a) that
= , = . (8.21a, b)
= 12 (a, + a, a, ). (8.22)
a a = , a = a a , a = a a , (8.23ac)
a 3 a = 0,
3 a = a a
3 a
3 = 1. (8.24ac)
= a a, . (8.25)
In view of (8.23b, c) and the denitions (8.19a) and (8.20a), we see that
= a , = a . (8.26a, b)
b (1 , 2 ) a
3 a, = 3 (1 2 , 0), (8.27a, b)
b 1 2
3 a, =
( , ) a
1 2
3 ( , 0). (8.28a, b)
b = b = a a
3, , (8.29a, b)
b
= a a
3, . (8.30)
b = a b , b
= a b . (8.31a, b)
3 a
a 3,a = 0, (8.32a)
and, consequently,
a, = a + b a
3, (8.33a)
= a + b a
3. (8.33b)
a, =
a + b a
3. (8.34)
3, = b a = b
a a . (8.35a, b)
g a = a 3 b a , (8.36a)
= a 3 b a . (8.36b)
g = a 23 b + (3 )2 b b . (8.37a)
g3 = 0, g33 = 1. (8.37b, c)
d 0r = 0r , d = aa d , (8.38)
d 3,a da = b a da .
a3 = a (8.39)
From (8.38) and (8.39), we can form three scalar products, namely
d 0r d 0r d 0 2 = a d d , (8.40)
d 0r da3 = b d d , (8.41)
d a3 = a b b d d .
a3 d (8.42)
Equations (8.40) to (8.42) are known as the rst, second , and third funda-
mental forms, respectively. The coecients of the rst quadratic form are
components of the metric tensor of the surface coordinates; these compo-
nents serve to measure distances on the surface. Now, let us examine the
role of the coecients b appearing in the second quadratic form.
d
(1 1 ) = 0.
d1
1
d
2
12 = . (8.45)
d1
1 d2 =
2 d1 , (8.47a)
d1 d1
12 = 21 . (8.47b)
1
The torsion 21 is also called the geodesic torsion in the direction of
(see, for example, A. J. McConnell [138] and I. S. Sokolniko [139]).
= a a .
(8.50a, b)
2
2 2
1
d
= 1, 1 +
1 1 a + 1 1 b a
3.
d1
11 =
1 1 b . (8.51a)
2 is
Likewise, the normal curvature in the direction of
22 =
2 2 b . (8.51b)
2
d
= 2, 1 +
2 1 a + 2 1 b a
3.
d1
21 =
2 1 b . (8.52)
Observe that
12 = 21 ;
1 and
that is, the torsion in the orthogonal directions of 2 is the same.
In accordance with (8.18c),
=a
= e a ,
3
2 1 1
1 2 3 =
a
=
2 e a ,
2 =
1 e a , (8.53a)
1 =
2 e a . (8.53b)
12 =
1 2 b , (8.54a)
=
1 1 a e b , (8.54b)
= 2 2 a e b . (8.54c)
= a is given by a form
The normal curvature in the direction of
like (8.51a), namely,
= b . (8.55)
Now, let us seek the directions in which the normal curvature has extremal
values. The conditions for an extremal value are
= 0.
a = 1. (8.56)
(b a ) = 0. (8.57)
However, equations (8.57) have a nontrivial solution if, and only if, the
determinant of the coecients vanishes; that is,
|b a | = 0, (8.58a)
2 b 1
+ 2 e e
b b = 0. (8.58c)
h 12 b
. (8.60)
With the notations of (8.59) and (8.60), equation (8.58c) has the form:
2 2
h +
k = 0. (8.61)
Let
11 and and
22 be the two real roots of (8.61) and the cor-
1 2
responding solutions of (8.57). Then, multiplying (8.57) by 1 , likewise by
, and recalling equation (8.56), we obtain
2
11 =
11 a
1 1 = b 1 1 ,
22 =
22 a
2 2 = b 2 2 .
a
b 1 2 11 1 2 = 0,
a
b 2 1 22 2 1 = 0.
11
(
22 )a
1 2 = 0.
11 =
If the principal curvatures are distinct, i.e,
22 , then a
1 2 = 0;
that is, the principal directions are orthogonal.
22 ) = 2 2
11 )(
( h +
k = 0.
It follows that
11
k= 22 , (8.62)
h = 12 (
11 +
22 ). (8.63)
b
1 2 = 0,
a
1 1 = a 2 2 = 1,
a
1 2 = 0.
1 1
11 = b11 = b11 , 22 = b22 = b22 ,
r1 r2
Here, r1 and r2 are the principal radii of curvature; these are the radii of the
arcs traced by the intersections of the surface with the planes of ( 1)
a3 ,
and ( 2 ).
a3 ,
dr i = r ,i di = g i di . (8.64a, b)
dv = dr 3 (dr 1 dr 2 ) = g 3 (g 1 g 2 ) d1 d2 d3 . (8.65)
ds = a
3 (dr 1 dr 2 )
3 (g 1 g 2 ) d1 d2 .
=a (8.66)
3 (a1 a2 ) d1 d2 .
ds0 = a (8.67)
In view of (8.68a, b) and (8.69), equations (8.65) to (8.67) take the forms:
dv = g d1 d2 d3 , (8.70)
ds = g d1 d2 , (8.71)
ds0 = a d1 d2 . (8.72)
In accordance with (8.17c, d), equation (8.68b) has the alternative form
g= a 12 e a
3 (g g ). (8.73a)
With the expressions (8.59) and (8.60) for the Gaussian and mean curva-
tures,
k and
h, equation (8.73b) is reduced to the form:
g= a [1 2
h3 +
k(3 )2 ]. (8.73c)
The area ds1 of the 1 face of the elemental volume is obtained from the
expression:
ds1 = e1 (dr 2 dr 3 ),
g 1j
ds1 = g j (g 2 g 3 ) d2 d3
g 11
= g 11 g d2 d3 . (8.75a)
Likewise,
ds2 = g 22 g d1 d3 . (8.75b)
V = V a + V 3 a
3
= V a + V 3 a
3.
With the aid of (8.33a, b) to (8.35a, b) we can express the partial deriva-
tives V, in the alternative forms:
V, = (V , + V V 3 b )a + (V 3, + V b )
a3 , (8.76a)
V, = (V, V V 3 b )a + (V 3, + V b )
a3 . (8.76b)
V || V , + V
, (8.77a)
V || V, V . (8.77b)
V | V , + V i
i .
In the latter, the repeated Latin index implies a sum of three terms; more-
over, the components need not be evaluated at a particular surface. With
the notations of (8.77a, b), equations (8.76a, b) assume the forms
V, = (V || V 3 b )a + (V 3, + V b )
a3 , (8.78a)
V, = (V || V 3 b )a + (V 3, + V b )
a3 . (8.78b)
a V = a V || . (8.79b)
F (1 , 2 ), P (1 , 2 ), 1 2
or T ( , ), (8.80ac)
F (1 , 2 ), P (1 , 2 ), or T 1 2
( , ), (8.81ac)
A = T S .
From the denitions, it follows that the base vectors a and a trans-
form as components of covariant and contravariant tensors and, there-
fore, from (8.2a, b) it follows that a and a are components of surface
tensors, covariant and contravariant, respectively. Likewise, from (8.27a)
and (8.28a), it follows that b and b are components of covariant and
mixed surface tensors. Furthermore, e and e are components of asso-
ciated surface tensors, covariant and contravariant,
e = a a e , e = a a e .
With the aid of (8.17c, d) and (8.79a), we obtain for the covariant derivative:
e || = 0.
T = a a T T = a a T .
Observe that these components of the associated tensors are referred to the
same surface coordinates. Also notice that a vacant position is marked by
a dot. If the tensor is completely symmetric; that is
T = T = T = T ,
2
= 1 a1 .
22 2
= a2 2
x a
a
1
d2 = 1 dx2 .
a
Likewise,
I2 ( a A2 B,2 d2 ) d1
s
2
= a ) dx2
A B( ( a A2 ),2 B d1 d2 . (8.84)
1 2
c s
It follows that
1
I= A B(
a ) dx2
1 ( a A ), B ds. (8.85)
c s a
B B
= a d = a d( b ).
A A
The integral exists in a simply connected region (no holes in the surface)
independently of the path of integration if, and only if,
F F
= . (8.87)
b , , + b b + b b a
+ b b + b, b, a
3 = .
R , , +
= b b b b , (8.88)
If the surface contain holes, then an additional condition is needed to ensure the conti-
a R R = b b b b . (8.90a)
In other words, equation (8.90a) represents one condition for the existence
of 0r A; that condition can be restated as follows:
1
4 e e R = 1
4 e e (b b b b ).
1
4 e e R =
k. (8.91)
b || = b, b b ,
b || = b || . (8.92)
V || V || = R V , (8.94)
= (b b b b )V , (8.95)
V1 ||12 V1 ||21 =
k V 2, (8.96)
V2 ||12 V2 ||21 =
k V 1. (8.97)
It follows from equations (8.96) and (8.97) that the order of covariant dif-
ferentiation is immaterial, i.e.,
.
V || = V || ,
if
k 1, i.e, as one approaches a plane surface.
9.1 Introduction
Shells are both practical and aesthetically appealing in various mechani-
cal and structural applications. Consequently, much has been written about
their attributes and the theories which are intended to describe and predict
their mechanical behavior. Quite often the theoretical writings are entirely
shrouded in mathematical language, sometimes devoid of mechanical bases
or interpretations. Our intent is to employ the essential mathematics for
a concise presentation, but also to oer some insights into the mechanics
which serve to explain and to predict the unique behavior of shells. To-
wards these goals, we begin by citing some simple structural elements and
their distinctive behaviors.
At the risk of appearing simplistic, we mention rst the case of a thin,
straight, and homogeneous rod. When supported at both ends, transverse
loads cause perceptible bending and deection. The same rod can sustain
much greater axial load with imperceptible deformation. Similar observa-
tions apply to a thin at plate. Transverse loadings are accompanied by
bending and resisted by bending couples upon a cross-section. In-plane
loadings cause only stretching, compressing and/or shearing, resisted by
in-plane forces on a cross-section; these are termed membrane forces. Si-
multaneous bending and stretching of rods or plates usually occur only
under circumstances of combined loadings. An exception is noteworthy: If
a plate is xed or constrained along its entire perimeter and subjected to
transverse loads, then the bending necessarily deforms the plane to a curved
surface; such deformation is accompanied by stretching and the attendant
membrane forces. The latter are small enough to be neglected unless de-
ections are largethe interactions are included in nonlinear theories. The
simultaneous occurrence of bending and stretching, resisting couples and
membrane forces, provides a key to the mechanical behavior of shells.
resistance to the axial load drops abruptly to 667 Newton (150 pounds).
Figure 9.2 shows the postbuckled (deformed) cans; the cited loads are typ-
ical results from numerous tests (cf. [106], p. 578, Figure 9.7).
The shallow conical shell of Figure 9.3 provides a simple example of
a snap-buckling which is a characteristic phenomenon of thin shells. This
shell resists the symmetrical axial loading by virtue of the membrane forces.
As the load increases, the shallow shell is compressed to ever atter form;
the stiness diminishes. A plot of load versus deection traces a nonlinear
path as that shown in the Figure 9.4. We note that a conical surface can
assume another conical form without stretching: It is an inversion of the
initial surface. Indeed, the shallow shell can snap-through to another state
which is near that inverted form. Thus, at some load the shell snaps from
state A to B. Because the shell possesses some bending resistance, the
postbuckled form diers slightly from the conical form. Moreover, the shell
at state B is subjected to the same load of state A. One can appreciate the
behavior if one supposes that the conical shell has no bending resistance,
i.e., it is very thin. Then, an inverted state can exist with no externally
applied force, no internal forces, and no energy. Our hypothetical shell (no
exural stiness) must trace the symmetrical path, dotted in Figure 9.4.
This hypothetical shell is eectively a membrane; but one with hypotheti-
cal constraints which maintain the symmetrical conical form as deection
pursues the path from O to O . The inverted form at O possesses the
The role of membrane forces is often evident at the edges: This is illus-
trated in Figure 9.5. The impulsive load of Figure 9.5a is almost tangent
to the surface, hence resisted by membrane forces. The load of Figure 9.5b
acts transversely, causes bending and consequent fracture. The load of
Figure 9.5c acts at an interior site; since the shell has curvature (positive
Gaussian curvature), inextensional deformation is not possible and mem-
brane forces resist the impact. The reader can conduct such an experiment;
the authors do recommend that the wine be removed prior to aforesaid ex-
perimentation.
Finally, we reiterate the dominant role of membrane action and the at-
tendant forces; these account for the remarkable stiness of shells. As pre-
viously noted, stiness depends crucially upon the curvature of the shells
surface(s). In Figure 9.6, we observe natures most striking example: The
very thin chickens egg which exhibits great stiness, with or without its
natural liquid contents. Such stiness can be attributed to the nonzero
positive Gaussian curvature at every point:
1 1
> 0.
r1 r2
u(1 , 2 ) A3 (1 , 2 ) a
3 (1 , 2 ). (9.1b)
Here, A3 denotes the tangent vector to the deformed 3 line and a 3 is the
normal to the undeformed midsurface. With this assumption, the displace-
ment throughout the shell is expressed by two vectors, 0 V and u, functions
of the surface coordinates (1 , 2 ).
9.5 Kinematics
Apart from the basic assumption (9.1) that the displacement varies lin-
early through the thickness, the shell theory presented here is without re-
strictions upon the deformations: The equations admit large deformations,
displacements, rotations, and strains. The deformations of thin bodies are
often accompanied by large rotations, though strains may remain small.
Consequently, it is most appropriate to decompose the motion into rota-
tion and strain (see Section 3.14). Accordingly, a rotation, a stretch, and
an engineering strain are the appropriate choices. In choosing the most
convenient variables, we anticipate the role of the reference surface s0 and
the merits of using the dierential geometry (Chapter 8) of that surface,
before and after the deformation. Towards these goals, we observe that the
lines of the initial surface s0 have tangents a which are determined by
the position 0r:
a 0r , . (9.2)
The deformed lines have tangents A which are determined by the position
0R to the deformed surface S0 :
A 0R, . (9.3)
The vectors A play the same roles in the geometry of the deformed surface,
as a of the undeformed surface. In particular,
A A = , A A = A .
In the initial state, an arbitrary particle of the shell is located at the initial
distance 3 along the normal to the surface s0 . If a 3 denotes the unit
normal, then
r = 0r + 3 a
3. (9.4)
The same particle of the deformed shell is located by position R:
R = 0R + 3 A3 . (9.5)
n = rn j g j ,
g n = rn j g j .
g
n (1 , 2 , 0) an = rn j (1 , 2 , 0) aj .
g
and
ai An = ani + 0 hni ,
where
ani gni (1 , 2 , 0).
In particular, since a3 = a3 = 0,
a3 A = a A3 = 0 h3 , (9.6a, b)
a A = a + 0 h C . (9.7a, b)
bi = ri j aj . (9.8)
Note: The rotation rij of (9.8) is not that which carries aj to aj ! The
orientation of tangents b is such that the stretch C of the reference
surface is symmetric:
C b A = b A . (9.9)
C3i bi A3 . (9.10)
b3 A N
A = 0. (9.11)
b b = a , b b = a , b b = .
b b = e b3 , b3 b = e b , e = a 3 .
The rotated triad bi and the triad Ai are depicted in Figure 9.8. In accor-
A = C b = C b . (9.12a, b)
b c A = c A . (9.13a, b)
Also notice that this is an exceptional instance, wherein the tensors C and
c
are mixed:
C = a C , c
= A c .
C c = c C = . (9.14)
Moreover,
C = C a = c = c A = b A . (9.15)
Thin shells of common solid materials are most frequently analyzed via
theory based upon the hypothesis of H. Aron [151], G. R. Kirchho [152],
and A. E. H. Love [153]: Briey, they presumed that normal lines to surface
s0 remain straight and normal to the surface S0 ; then N A = 0. That is
a special case; the transverse shear C3 of equation (9.10) vanishes. In that
case the rotation of equation (9.8) is also the rotation of equation (3.87a, b).
Our study of the kinematics remains incomplete, since the six stretches
(C , C3i ) characterize only the deformation at the reference surface. We
require more to adequately describe the deformation of an element of the
shell. Such an element contains the dierential surfaces, ds0 and dS0
of Figure 9.9a and b, respectively; the element has the nite thickness
h = t + t+ .
Reduction from the theory of three dimensions necessitates expressions
for the deformed triad Gi in accord with the underlying assumption (9.5):
G = A + 3 A3, , G3 = A3 . (9.16a, b)
D A3, b , D3 A3, N
. (9.17a, b)
We recall the expressions for the curvatures of a surface [see Section 8.4,
B = A, N
, (9.18a)
= B A .
N (9.18b)
,
Note that these components (covariant B and mixed B ) are strictly as-
sociated via the metric A of the deformed surface S0 .
The requisite components Di are obtained from expression (9.10) by
using the inverse (9.13a, b) and equations (9.18a, b) and (8.78a), as follows:
A3 = C3 b + C33 N
= C c A + C 3 N
3 3
, (9.19a, b)
K A + D3 N
, (9.20b)
where
D3 (C3 c )B + C3,
3
. (9.21b)
Note that ( || ) signies the covariant derivative with respect to the metric of
the deformed surface. Again, using (9.12a, b) in (9.20a, b) and considering
(9.17a, b), we obtain
b A3, = K C = D , (9.22a)
b3 A3, N
A = D .
3, 3 (9.22b)
With the aid of (9.22a, b) and (9.12b), expression (9.20b) assumes the form:
A3, = D b + D3 N
. (9.22c)
. . . .
A3 = C 3 b + C3 b + C 33 N ).,
+ C 3 (N (9.23b)
3
. . . .
A3, = D b + D b + D3 N
+ D (N ).. (9.23c)
3
In general,
. . . .
bi = bi = k ekij bj = ji bj , (9.24ac)
where
. . . . . .
= k bk , ji k ekij = 12 (bj bi bi bj ). (9.25ac)
. . . .
A3 = C 3 b + C3 . b + C3 3. N
.
+ C 3 . . 3 b ,
+ C 33 N (9.27)
3
. . . .
A3, = D b + D . b + D 3. N
.
+ D . . 3 b .
+ D3 N (9.28)
3
Our further analysis of the element requires expressions for the elemental
area of a face ds consistent with volume dv as depicted in Figure 9.9a; here,
dc is the dierential length of the slice:
dc = g d , d 0 c = a d , (9.29a, b)
ds = g g d d3 = , (9.29c)
dv= g d1 d2 d3 . (9.30)
g = a + 3 a3, = a 3 b a , (9.31)
g= a , (9.32)
where
[1 2
h3 +
k(3 )2 ]. (9.33)
As implied in the previous studies (e.g., Section 6.14) the vector si can
be expressed via alternative bases. Here, it is most appropriate to employ
the triad bi (and associated triad bi ). Together with equations (9.16a, b),
(9.26) to (9.28), and (9.32), expression (9.34) provides the power per unit
area, as the integral:
t+
. .
us ws d3 , (9.35a)
t
t+ t+
.
.3
= A s d + A3, s 3 d3
t t
t+
.
+ A3 s3 d3 . (9.35b)
t
t+
M s 3 d3 , (9.36b)
t
t+
T s3 d3 . (9.37)
t
N b N , N ,
N 3 N (9.38a, b)
M b M , M ,
M 3 N (9.39a, b)
T b T , T3 N
T. (9.40a, b)
The corresponding physical components are forces and moments (see Sec-
tion 9.9).
In view of (9.22a), (9.26) to (9.28), and with the notations (9.38a, b) to
.
(9.40a, b), the integral us of (9.35) gives the rate of work:
. . . . . .
us = N C + M D + T C 3 + T 3 C 33 + M 3 D3
.
+ [(N 3 K M 3 )C T C33 + T 3 C3 M D3 ] 3
.
+ [(N K M )C + T C3 ] . (9.41)
h C a , D + b , (9.42a, b)
3 D3 . (9.42e)
As noted previously, Cij , cji , hji , and Hij are mixed tensors:
hij = aim hm
j , Hij = Aim Hjm ,
C = + h
, c
= + H . (9.44a, b)
In a simple form, this shows the nature of the stretch C and inverse c ,
and of the strain h and its inverse H [see equations (9.71a, b)].
9.7 Equilibrium
Our most expedient and precise route to the equations of equilibrium
and edge (boundary) conditions is the principle of virtual work (see Sec-
tion 6.14). Here, our body has three boundaries: the top and bottom
surfaces (s+ and s ) with applied tractions t+ and t , and the edge dened
by the curve ct on the reference surface s0 with tractions tc . The general
t+
. . .
W = d1 d2 si Gi f R g d3
s0 t
. .
t R a d1 d2
t+ R a+ d1 d2
s s+
t+ .
dc tc R d3 . (9.45)
ct t
. .
In the integral we employ R and Gi as dictated by (9.5) and (9.16a, b)
and the integrals of si as dened by (9.36a, b) and (9.37). Also, we note
from (9.32) that
a = a (t ) a ,
a+ = a (t+ ) a + .
t+ + + t F s , (t+ + ) t+ (t ) t C s , (9.46a, b)
t+ t+
f d3 F b , f 3 d3 C b . (9.46c, d)
t t
t+
tc d3 N , (9.47a)
t
t+
tc 3 d3 = M . (9.47b)
t
. .
N 0R + M A3 dc. (9.48)
ct
Here,
F F s + F b, C C s + C b. (9.49a, b)
1 .
+ M a , + T C A3 a d1 d2
s0 a
. .
+ N n N 0R dc + M n M A3 dc.
ct ct
(9.49c)
. .
The virtual work vanishes for arbitrary variations 0R and A3 on s0 and
on c if, and only if, the bracketed terms vanish. These are the equilibrium
equations consistent with the assumption (9.5):
1
N a , + F = on s0 , (9.50a)
a
1
M a , T + C = on s0 , (9.50b)
a
N n = N , M n = M on ct . (9.51a, b)
. .
A portion of the boundary may be constrained such that 0R and/or A3
are given; then the conditions (9.51) are supplanted by those constraints.
N 0R + M A3 dc
c
N 0R 0R ) + M A3 A
3 dc. (9.52)
cv
Here, the notations follow the previous form: cv denotes a part of the
edge where the displacement is constrained; the overbar ( ) signies the
imposed quantity and N , M are the edge tractions. . .
Note that the variation of the displacement 0R and A3 (consistent with
the constraints), enforces the equilibrium equations (9.50a, b) and (9.51a, b).
If the shell is elastic, then the stresses are presumed to derive from an
internal energy u 0 (hij , i ) (per unit area); conversely, the strains are to
derive from a complementary energy u c0 (N , M i , T i ). These are related
as their three-dimensional counterparts [see equation (6.145b)]:
N h + M i i + T i h3i = u
0 + u
c0 . (9.53)
Vc = c0 + N a M b + T 3 ds0
u
s0
N 0R + M A3 dc
cv
N 0R 0R + M ( A3 A
3 dc. (9.55)
cv
The sum of the two potentials (9.54) and (9.55) is the primitive func-
tional:
P = V + V c. (9.56)
This is analogous to the previous result [see equation (6.148b)]. The com-
plementary potential V c is to be stationary with respect to admissible (equi-
librated) variations of the stresses. The stationary conditions are then the
kinematic requirements.
Section 6.20 describes the stationary theorem of Hellinger-Reissner. We
recall that the functional is a modied complementary potential. In anal-
ogous manner, we now derive the two-dimensional version for the elastic
shell. We perform a partial integration upon the rst boundary integral of
V c [see Section 8.11, equation (8.85)] and enforce equilibrium as required:
N 0R + M A3 dc
cv
= N 0R + M A3 dc N 0R + M A3 dc
c ct
= N i bi 0R, + M i bi A3, + T A3 F 0R C A3 ds0
s0
N 0R + M A3 dc. (9.57)
ct
M (b A3, + b ) M 3 b3 A3,
T b A3 T 3 (b3 A3 1) + F 0R + C A3 ds0
+ N 0R + M A3 dc
ct
N 0R 0R + M A3 A
3 dc. (9.58)
cv
V = (V c )
= u0 N (h b 0R, + a ) M ( b A3, b )
s0
T (h3 b A3 ) T 3 (h33 b3 A3 + 1)
+ N 3 b3 0R, M 3 (3 b3 A3, ) F 0R C A3 ds0
N 0R + M A3 dc
ct
+ N 0R 0R + M (A3 A
3 dc. (9.59)
cv
Note that the functionals are dependent on the rotation of the triad bi .
Variations of the rotation provide the conditions of equilibrium (of mo-
ments); these are the conditions that the bracketed terms of (9.41) vanish.
Because the last functional admits variations of all variables, it provides a
powerful basis for approximation via nite elements. With appropriate lim-
itations, attention to mechanical and mathematical implications, one has
possibilities to introduce various approximations for each variable. This
provides additional capability and admits limited incompatibilities which
are described in Sections 11.11 and 11.13.3.
forms a N and (A3 M ) a, respectively. The force and moment per
unit length 0 c of an edge are [see equations (9.29b) and (8.15)]:
N A3 M
N , M . (9.61a, b)
a a
Additionally, we have the net external force F of (9.46a) and (9.46c), and
the net physical couple C from (9.46b) and (9.46d):
C = A3 (C s + C b ).
The actions upon an element are shown in Figure 9.10. Note that the
external loads are multiplied by the dierential area a d1 d2 and the
internal actions (N , M ) are multiplied by the lengths of edges a a .
Equilibrium of forces (from the free-body diagram) provides the equa-
tion (9.50a) of Section 9.7:
(N a ), + a F = .
This equation appears dierent than the previous version (9.50b); however,
by means of (9.50b) and (9.62a), we obtain
A3, M + A N = A3 T . (9.62b)
N K M C + T C3 e N
= . (9.62c)
t+
M 3 b3 M = b3 s 3 d3 . (9.64)
t
First, we note that our distinctions between vectors ai and bi are negligible
.
in the circumstances of small strain, i.e., a3 = g 3 = b3 N . Under most
3 3
conditions of loading, the component t = g s is negligible at the outer
surfaces. Hence, (b3 s ) is also negligible at the top and bottom surfaces.
If the distribution through the thickness is assumed parabolic:
3 . 3 t t+ 3 1 3 2
t = 0t 1 ( ) ,
t+ t t+ t
.
t3 = 0 t3 1 (23 /h)2 .
.
+ [N 3 C T C33 M D3 ] 3
.
+ [(N K M )C + T C3 ] . (9.65)
h b A a = C a , (9.66a, b)
h3 b A3 = C3 , (9.66c, d)
h33 N
A 1 = C 1,
3 33 (9.66e)
3 D3 N
A ,
3, (9.67a, b)
3
C3, + (C3 c )B , (9.67c)
D + b , (9.68a)
b A3, + b , (9.68b)
This version (9.70) still admits the deformed curvature B ; in most practical
.
situations, one can also set B = b . Note that the approximation (9.70)
merely neglects the deformation of the element in Figure 9.10 when enforc-
ing equilibrium of moment.
The remaining question concerns the approximation of the exural strain
of (9.42b) and (9.22a), viz.,
= b A3, + b .
= ( + h )( + H ) = + h + H + h H . (9.71a)
A = (h + a )b , (9.72a)
.
A3 = N + h3 b , (9.72b)
.
A3, = B A + h3 || b + h3 B N
, (9.72c)
.
b A3, = B B H + h3 || , (9.73a)
.
= B + B h + h3 || . (9.73b)
. . . .
A3 = h3 b + ( N
),
. . . . . . .
A3, = (B + B h + h3 || )b + B h3 N
B ( b )
. . . .
= b + B h3 N
B ( b ).
Here, .the strains are neglected in each of the terms associated with the
spin [see equations (9.25ac)]. Therefore,
. . .
us = N h + ( b ) (bi N i )
. .
+ M ( b ) (b M )B
. .
+ T h3 + ( N
) (b T ),
(9.75b)
. . .
= N h + M + T h3
. .
+ (N + B M ) 3 e + (N 3 T ) e . (9.75c)
.
Since no work is expended in the rigid spin ,
N + B M = N + B M , (9.76a)
N 3 = T . (9.76b)
Note that these equations follow also from (9.70). Note. too that the strain
.
in (9.74) and rate include a linear term B h . This suggests an
alternative exural strain:
(B b ) + h3 || . (9.77)
Now, the stress associated with the strain h is the symmetric stress:
n N + B M . (9.79)
1 1
( a N b ), + ( a T b3 ), + F = , (9.80a)
a a
1
( a M b ), T b + C = . (9.80b)
a
The latter (9.80b) can be solved for components T (transverse shear) and
substituted into the former (9.80a). The result is a second-order dieren-
tial equation (vectorial) or three components. That equation and (9.76a)
comprise the equilibrium conditions. Note: Consistency requires that (see
Section 8.4)
b, = b + B b3 , (9.81a)
b3, = B b . (9.81b)
In words, the triad bi are associated with the deformed (bent) surface S0 ,
.
where we are neglecting stretch ( = ).
+ 2 A ),
R = 0 R + 3 A3 = 0 R + 3 (N (9.83)
.
G = A + 3 (2 || B )A + 23 B N
, (9.84a)
+ 2 A ,
A3 G3 = N (9.84b)
where
12 A3 A .
Ai = bi + hji bj , bi = Ai + Hij Aj .
Recall that if the material of the shell is elastically symmetric with respect
to the 3 surface (see Section 5.14), i.e., the properties of the shell are
unaltered by the transformation (3 = 3 ), then the free energy per unit
volume (5.52) for a linearly elastic material takes the form
0 F = 12 E + E 33 33 + 2E 33 3 3 + 12 E 3333 33
2
(T T0 ) 33 33 (T T0 ). (9.85)
In previous discussions (see Sections 6.16 and 9.8), we extolled the merits
of the generalized potential V and the stationary criteria as the basis of
approximation. As a functional of position R, strain ij , and stress sij
[see equations (6.125) and (6.126)], we can introduce the most practical
approximations and derive the consistent equations. For the shell with
t+ = t = h/2, we have the generalized version:
h/2
V = u0 (ij ) sij ij 12 (Gi Gj gij ) f R d3 ds0
s0 h/2
h/2
+
(t R+ + + t R ) ds0 tc R d3 dc. (9.86)
s0 c h/2
. . .
With respect to the variation of position
R, the variation V appears like W
of (9.45) (here sij Gi = sj and ds0 = a d1 d2 ). The resulting stationary
conditions are the equilibrium equations (9.50a, b) and boundary conditions
(9.51a, b). Our present concerns are the strain-displacement and the con-
stitutive equations which are implicit in the approximations of (9.84a, b)
and those chosen for stress sij and strain ij . Our attention focuses upon
the variation:
h/2
. u0 . .
v = sij ij sij ij 12 (Gi Gj gij ) d3 . (9.87)
h/2 ij
where
= B + b + || + || , (9.90a)
= + || + || , (9.90b)
B + b .
Here, the most prominent omissions are terms O[(3 )2 2 ] which are neg-
ligible ( 1); these are traced to the terms produced by the transverse
shear ( || + || ). Throughout, the exural strain diers from that of the
Kirchho-Love theory (see Chapter 10); the curvature B is supplanted
by the term
B + || + || ,
h/2
u0 .
s3 3 d3 = 0. (9.91)
h/2 3
First, we note that the shear strain is given, according to (9.84a, b):
3 = 3 = 12 G3 G = + O(3 2 ).
Since the strains are small, we can neglect the higher powers; this implies
that 3 is constant through the thickness. Then, by (9.85) and (9.91),
h/2 h/2
3 3 3 .
N s d = 2 E 33 d3 .
h/2 h/2
We know that the shear stress s3 = s3 vanishes or, at most, has the
small value of a traction at the surfaces s+ and s . We adopt the simplest
approximation consistent with our observations and the denitions (9.36a)
and (9.38b): 3 2
. 3 3 2
s3 = s3 = N 1 . (9.93)
2h h
Then, it is reasonable to assume the transverse shear strain in the form of
(9.93), i.e., 3 2
2
3 = 1 . (9.94)
h
When the forms (9.93) and (9.94) are introduced into (9.91), we obtain
h/2 3 2
3 3 2
N 2 0 E 33 1 d3 = 0.
h/2 2h h
The normal component s33 is also absent, or very small, at the surfaces
s+ and s . Since our shell is presumably thin, we employ the relation
s33 = E 33 + E 3333 33 33 (T T0 ) = 0,
E 33 E 33 E 33 33
C E , =
, (9.96a)
E 3333 E 3333
0 F = 12 C + 2E 33 3 3
(T T0 ). (9.96b)
h
= C 0 0 h 0
0 T0
20
h3
+ C h2 0
T1
24 0
+ 2h(Fs ) 0 E 33 , (9.97)
where
h/2 h/2
1 1
T0 (T T0 ) d3 , T1 (T T0 )3 d3 .
h h/2 h2 h/2
The potential is thereby split into three parts; (1) membrane, (2) bending,
and (3) transverse shear. The factor Fs depends upon the approximation
of the shear strains (e.g., Fs = 1 for constant distribution through the
thickness). All coecients depend upon the actual constituency; in some
instances, a shell might be composed of lamina with less stiness in shear.
If the shell is homogeneous, then
E 2
0C = a a +a a + a a , (9.98a)
2(1 + ) 1
33 E
0E = a . (9.98b)
2(1 + )
10.1 Kinematics
In his theory of plates, G. R. Kirchho [152] introduced the hypothesis:
R = 0R + 3 N
, (10.1)
G = A 3 B A , (10.2a)
G3 = A3 N
. (10.2b)
The last equation (10.2b) asserts the orthogonality of the vectors A and
A3 N . This means that the rotation [Figure 9.8, equation (9.8)] which
carries the initial triad (a1 , a2 , a
3 = n)
to the convected (but undeformed)
triad (b1 , b2 , b3 = N ) is also the rotation of the principal lines (see Sec-
tion 9.5). In words, 3 is a principal direction. The only motion of the
normal N is a rotation and that is determined by the motion of the surface
s0 , specically, the. motion of the tangents A . We require the relation
between the spin , . . .
= A + 3 N ,
. .
and the motion of the surface (0R, = A ). That is dictated by the
orthogonality:
A N = 0.
.
= . E A ,
N (10.3b)
. . + . 3 E A ,
A = E N (10.3c)
where
E (1 , 2 ) = E3 (1 , 2 , 0) = A 3 ,
E (1 , 2 ) = E 3 (1 , 2 , 0) = 3 / A,
A=N
(A1 A2 ).
.
To examine the power of the stresses, we require Gi :
. .
).
G = A + 3 (N,
. .
= A 3 (B A ) . (10.5)
.
Following the decomposition of Section 3.18, we can express the rates A
and (N ). in terms of the strain and spin:
. . . .
A = (0 + )A + 3 N , (10.6a)
). = . A ,
(N (10.6b)
3
where
. . . .
3 E , 3 E .
t+ .
= ). + s3 (N
s A + 3 s (N ). d3 . (10.7b)
,
t
N A N , N ,
N 3 N T A T , (10.9ac)
M A M , M 3 N M . (10.9d, e)
. .
Substituting (10.6a) and (10.6c) for the rates A and A and employing
the components (10.9ae), we obtain
. . . .
us = N + B M 0 M B + N + B M 3 E
.
+ N 3 T B M 3 E . (10.10)
N + B M = N + B M , (10.11a)
N 3 = T + B M 3 . (10.11b)
As noted previously [see Section 9.11, equation (9.64)], the nal term
B M 3 has little consequence; indeed the stress M 3 is itself small. Then,
(10.11b) is simplied:
.
N 3 = T . (10.12)
We note the most convenient choices for the strains and stresses (cf. [157],
[159]). These are the symmetric tensors:
. .
0 12 (A a ), 0 = 12 A , (10.13a)
. .
(B b ), = B , (10.13b)
n N + B M = n , (10.14a)
m 12 (M + M ) = m . (10.14b)
The reader might compare (10.10) with the corresponding result (9.78)..
The latter (9.78) includes the work upon a transverse shear strain h3 .
Here, the stresses of (10.9ae) dier from those of (9.38a, b) to (9.40a, b),
but only by the stretch which carries b to A :
By (9.38a, b)
N N b + N 3 N
;
by (10.9a, b)
N N A + N 3 N
.
.
Since (9.78) applies to small strain (ij 1; hij = ij ), the distinction is
irrelevant.
.
). dc.
N 0R + M (N (10.16)
ct
Here, the force F and couple C include surface tractions on s and s+ and
body force f , as dened by (9.46ad) and (9.49a, b); edge force N and cou-
ple M are the actions per unit length as dened by (9.47a, b). Integration
results in the form of (9.49c) and the dierential equations (9.50a, b). There
is a .fundamental dierence: In the present case (N ). is not independent
of 0R, ; these are related according to equation (10.3a). Specically, we
have
. .
). = B A B A ,
(N (10.17a)
,
where
. . .
A B = (A B ) B A
. .
= B B A , (10.17b)
. .
B = A, N ).
+ A (N
,
.
+ ( A + B N
= A, N )..
) (N (10.17c)
A = 0 and N
Since N N
= 1,
.
). = N
A (N A , N ). = 0.
(N (10.17d)
Therefore,
. . .
N
B = A, N A . (10.17e)
.
= (N 3 T B M 3 )N
A = 0.
.
Then, the work W of (10.16) assumes the form:
. . .
W = N + B M A 0R, + C N
0R
,
s0
. . .
+ M N
0R M N
,
0R
, F 0R ds0
.
). dc.
N 0R + M (N
ct
(n B m )|| B m || C B + F = 0, (10.18a)
m || + (n B m )B + C || + F 3 = 0. (10.18b)
s0
c1
m1 = m
11 t1 + m M 1,
12 t2 N M1 = M
11 t1 + M
12 t2 ;
.
). dc2 =
M 1 (N ). M
11 t (N
M 0R dc2 .
12 N
1
c2 c2 c2
+
12 N (M
0R dc2 .
a c2 a c2 c2
(10.19)
The work of force N 1 on the edge,
. 1 .
N 1 0R dc2 = N t + N 13 N
0R dc2 ,
c2 c2
12 .
12 12 M
= M B12 t1 M B22 t2 +
0R,
N (10.20)
c2
t N .
B
c
11 is
On the other hand, the work of the component M
.
). = M
11 t1 (N
M (t ). = M
11 N 11 . .
11 t = M
1 2 2
11 = M n1 n1 ,
M (10.21a)
11 M
N 12 B = N n n M n n B ,
12 1 1 1 2 12 (10.21b)
12 M
N 12 B = N n n M n n B ,
22 1 2 1 2 22 (10.21c)
12
13 + M = N 3 n1 + (M n1 n2 ).
N (10.21d)
c2 c2
e e 0 || +
k 0 = 12 e e (b + b + ). (10.22)
Two additional equations derive from the equations of Codazzi (8.93a, b).
A version, linear in the strains 0 , follows:
|| || + b (0 || + 0 || 0 || )
b (0 || + 0 || 0 || ) = 0. (10.23)
. . . .
E E [ || + B (0 || + 0 || 0 || )] = 0. (10.25)
. . . .
t E E || + B (0 || + 0 || 0 || )
. .
. ds0 = 0. (10.26)
+ T E E (0 || B ) + K 0
+ 12 B (t || t || ) + 12 B (t || t || ) , (10.27)
1
m = E E
2 (t || + t || ) B T . (10.28)
. . .
0 + m ,
us = n (10.30)
where
= n 12 B m 12 B m ,
n (10.31a)
m = m . (10.31b)
. .
(E E )|| + E E B 0 ||
. .
12 ( E E B 0 E E B 0 )|| = 0, (10.32b)
m || B n
= 0, (10.33a)
|| 12 (B m B m )|| + B m || = 0.
n (10.33b)
.
E E 0 for m . (10.34b)
= E E T || + B || t + 14 B (3 t || t || )
n
+ 14 B (3 t || t || ) , (10.35a)
1
m = E E
2 (t || + t || ) B T . (10.35b)
. . .
0 + m .
us = n (10.36)
. .
us = (0 , ; T ). (10.37)
=
n , m = . (10.38a, b)
0
h
= C 0 0 + hD + h2 E
0
2
0 + h (T T0 ).
h (10.39)
C =C =C =C ,
D =D =D ,
E =E =E =E ,
=
, = . (10.40)
u = 12 C
(T T0 ). (10.41)
Let us assume that the elastic properties do not vary through the thick-
ness of the shell. In other words, the physical components of the stiness
tensor C are constant. These moduli are
K = g g g g C . (10.42a)
More specically, if the surface coordinates are lengths along lines of prin-
cipal curvature, then
g = 1 3 .
K
C = . (10.42b)
g g g g
K
0C = , (10.43)
a a a a
The bracketed term contains a power series in the curvatures (and torsion,
if the coordinates are not along principal lines). Similar examination of the
thermal coecients leads to a comparable result:
= 0 [1 + O(3 )].
(10.45)
h/2
= 1
2 0C [1 + O(3 )] d3
h/2
h/2
0 [1 + O(3 )] T d3 , (10.46)
h/2
Under the Kirchho hypothesis (10.1), with the notations of (10.2a) and
(10.13a, b):
1
2 G G g
.
= 0 + 3 (3 )2 12 (b + b ) + b b 0 . (10.47)
The approximation (10.47) displays the terms that are linear in the strains
3 2
0 and ; higher-order terms [e.g., ( ) b 0 , etc.] are not shown.
Integrating (10.46) with the approximation (10.47) and considering the re-
lation
.
A a = 2a a 0 ,
we obtain
h h2
= C +
20 0 0
12
h3
+ C 0 0 O(2 ) 0 (b + b )
24 0
+ O(2 h2 ) +
h 0 0 T0 + h T1 + , (10.48)
= M + B . (10.49)
The potential is thus split into the contributions from membrane (stretch-
ing) and bending energies:
h
M = C 0 0 , (10.50)
20
h3
B = C . (10.51)
24 0
If = 1/r denotes the largest curvature, then the magnitudes of the ne-
glected terms are, at most
2 2
h h 1 h
0C 0 0 = M ,
24 r 12 r
h3 h
C 0 (b + b ) = O M B ,
24 0 r
2 2
h3 h h
C = B .
24 0 r r
If the shell is thin, then h/r 1. In this case, the omitted terms are much
less than those contained in Loves approximation (10.49). Additionally,
we include the thermal contribution:
= M + B + T , (10.52)
where
T h 0 (0 T0 + h T1 ). (10.53)
Note that 2M B 2M + 2B .
n = = h(0 C 0 0 T0 ), (10.54a)
0
h2
m = =h 0C h 0 T1 . (10.54b)
12
This approach can be traced to the report by J. L. Synge and W. Z. Chien [155].
the approximation
.
B = b ,
(n m b + m )|| (b )m || + F = 0, (10.55a)
m || + (b )n b b m
+ (b + b )m m + F 3 = 0. (10.55b)
e e [0 || 12 (b + b + )] +
k 0 = 0, (10.56a)
e e || + b (0 || + 0 || 0 || )
(0 || + 0 || 0 || ) = 0. (10.56b)
Eh3 2
m = a a + a a + a a . (10.57b)
24(1 + ) 1
n || + F = 0, (10.58a)
m || + (b )n + F 3 = 0, (10.58b)
e e [0 || 12 (b + b + )] +
k 0 = 0, (10.59a)
e e [ || + b (0 || + 0 || 0 || )] = 0. (10.59b)
n || + F = 0, b n + F 3 = 0, (10.60a, b)
e e 0 || 12 (b + b ) +
k 0 = 0, (10.61a)
e e || + b (0 || + 0 || 0 || ) = 0. (10.61b)
e e || = 0. (10.62b)
n || + F = 0, (10.63a)
Eh3
|| + (b )n + F 3 = 0, (10.63b)
12(1 2 )
n
|| Eh(b b )
+ 12 Eh(
) + (1 + )F || = 0, (10.64a)
|| || = 0. (10.64b)
We recall the expressions for the covariant derivative [equation (8.77a, b)]
and equations (8.88) and (8.91). Furthermore, according to (8.96) and
(8.97), if the Gaussian curvature
k is relatively small (
k V 1), the order
of covariant dierentiation is immaterial. Then, the general solution of
equation (10.64b) can be expressed in terms of a surface invariant W :
.
= W || = W || . (10.65)
Eh3
W ||
+ e
e F || (b W || )
12(1 2 )
+ (b W || ) P + F 3 = 0, (10.67)
1 1
F ||
e
e (b W || ) W ||
Eh 2
1
+ [ P || (1 + )P || ] = 0. (10.68)
Eh
We suppose that the strains are small and conne ourselves to the usual
assumptions of classical plasticity.
With our concern for the overriding features of the behavior and a view
toward pragmatism, we must acknowledge the physical attributes of the
stresses and strains. Essentially, the stresses ( n , m ) are forces and
couples, respectively; the strains ( , ) are extensions and curvature
changes of the reference surface. If stresses are imposed which caused yield-
P
ing, then, upon removal of such stresses, some permanent extensions
and curvature changes P remain. If one accepts the arguments of classical
plasticity (e.g., [63]), then work is dissipated:
. . .P
P
wD = n + m . (10.70)
n , m ) = 0.
F ( (10.71)
That condition may be viewed as a surface in the space of the six stresses.
The shell can be described as strain-hardening if the function F changes
with the plastic deformation; F is then a functional of the plastic strains.
By the usual arguments (see Section 5.29) such strain-hardening is char-
acterized by the condition:
F F
F = 0, dF = n +
d d m > 0. (10.72a, b )
n m
. . F . . F
P = , P
= . (10.73a, b)
n m
.
Here, the overdot ( ) signies the increment. Recall that these stresses
measures a mean value and m a vari-
are quite dierent physically; n
ation of the stress distribution upon a section. Approximately, the stress
distribution in the HI-HO shell is linear:
N M
= + 12 z, (10.74)
h h3
where z is the distance along the normal from the reference surface and
(N , M ) are the physical components of ( n , m ).
It remains to explore the behavior of the shell as it relates to the ac-
tual material and to ascertain the validity of the foregoing concepts. In
particular, the equations (10.71) and (10.73a, b) serve no purpose without
useful forms of the function F . As one resorts to simple experiments (see
Section 5.10) to formulate the constitutive equations of a material, so one
N 12 M
= +z , (10.75)
bh bh3
where b and h are the width and depth of the rectangular section. If
Y denotes the yield stress in simple tension/compression, we dene the
dimensionless quantities:
N 6M 2z
s , n , m , . (10.76ad)
Y bhY bh2 Y h
Then,
s = n + m. (10.77a)
s=1=nm or s = 1 = n m. (10.77b, c)
These four lines dene the yield condition and enclose the region of HI-HO
behavior, as depicted in Figure 10.3.
Let us pursue our experiment upon a beam of ideally plastic material,
i.e., at yield s = 1 the material exhibits unrestricted plastic deformation
P , but recovery exhibits Hookean behavior, i.e., = E = /E. If
loading ensues, yielding progresses from the top, or bottom surface; Fig-
ure 10.4a depicts a circumstance of positive force and couple. Figure 10.4b
illustrates a limiting condition; i.e., the entire section has attained the yield
stress in tension (z > p) or compression (z < p):
The limit condition (b) is described by the equation (cf. P. G. Hodge
[200])
2m + 3n2 = 3. (10.78a)
2m 3n2 = 3. (10.78b)
h/6. (10.79)
. . . bh3 E .
N = bhE , M = ,
12
. E. . E.
n = , m = 3 . (10.81a, b)
Y Y
At state B,
. . 3E .
n = 0, m= . (10.82a, b)
8Y
h 3
= 0, = 0.
4 2
Only at the limit curve (where n = 1/2, m = 9/8) the incremental strain
is normal to the curve; stated otherwise, if
F = 2m + 3n2 3 = 0
.
where is some positive scalar.
It is the stress m that signicantly eects the hardening, i.e., the
change from FI to FL . This suggests that we examine the consequences
of unloading from a state of exure. For simplicity, let us consider the
removal of the stress m = 3/2 from the limit state D of Figure 10.3.
The distribution of stress on the section, before and after, are depicted in
Figure 10.6a, b; the latter is a consequence of elastic unloading, wherein
s = m.
.
Note that is the elastic-plastic increment of (10.84); hence, C
T is
the so-called tangent modulus which depends upon the prevailing state.
. .
s = C E
. (10.86)
. . Y
P
= , (10.87)
s
.
where is a positive scalar. If the material strain-hardens [see inequali-
ties (5.120b) and (5.131)] there exists a functional GP , such that
. Y .
GP s > 0. (10.88)
s
. . Y .
C = s + C , (10.89)
s
Y . Y . Y Y .
C = s + C .
s s s s
By means of the denition (10.88), the last equation assumes the form:
Y . Y Y .
C = GP + C . (10.90)
s s s
.
The scalar can be eliminated from (10.89) by means of (10.90) to provide
an explicit form for the tangent modulus:
C
T = C B , (10.91)
where
Y Y P Y Y
B C C G +C . (10.92)
s s s s
Figure 10.7 serves to identify the elements of the four layer club sandwich.
Additionally, we ascribe dierent moduli, E0 and E1 , to the outer and
inner layers, respectively. As before, E and Y denote the modulus and
tensile/compressive yield stress of the actual (homogeneous) shell. The
following dimensionless parameters are available for purposes of tting the
model:
N M
n = , m = . (10.95a, b)
2(1 + )t0 Y (1 + )t0 Y h
3
2 s s 13 s
s 1 = 0, (10.96)
.
.
s = C B . (10.97)
C = + . (10.98)
1+ 1
In these studies, the material is presumed ideally plastic; that provides
the more extreme test of our model. Then, the hardening parameter of
equation (10.88) vanishes, so that
C C S S
B = , (10.99)
C S S
S = s 13 s . (10.100)
The stresses s
N on the layers (0, 1, 2, 3) are readily transformed to the
stresses, n and m :
3
1 ti
n = s , (10.101)
2(1 + ) i=0 t0 i
3
1 t
m = i i s . (10.102)
2(1 + ) i=0 t0 i
dn11 dm11 1
= 1, = . (10.103a, b)
d 0 11 d11 3
Additionally, we require the correct limit moment (in bending m11 = 1/2).
= 1 + 2/. (10.103c)
1+ 1
m11
0 = = 1 + k1 2 (1 + ) . (10.103d)
3 1+
For any given , the four equations (10.103ad) determine the four pa-
rameters (, , k0 , k1 ). If membrane forces dominate, then a small value
[0 (1/2)] provides a good t. If bending dominates, then a pos-
itive value < (1/2) provides a better agreement between the piecewise
linear constitutive equations and the actual equations of the homogeneous
plate/shell.
Early studies were conducted with various strain histories, combina-
tions of extension and bending (e.g., 0 11 = 11 ), bending and torsion
(e.g., 11 = 12 ), and prestrain (e.g., 0 11 = 1.0) followed by bending (e.g.,
11 ). In each case, deformations extended well into the plastic range, fol-
lowed by complete reversals and reloading. The two traces of Figure 10.8
(radial path: 11 = 12 ) and Figure 10.9 (prestrain 0 11 = 1.00) are dis-
played to show the signicance of adjusting, via the positive parameter
= 0.15. Paths of combined extension and exure (e.g., 0 = )
are less sensitive to the postyielding approximation. In each example, the
four-layer models ( = 0, 0.15) are compared to the accurate response of a
model with 21 layers.
A few practical remarks are appropriate: The model provides the basis
of a subroutine in a computational program for the discrete approximation
of an elastic-plastic plate or shell. At each node of the surface, the state
of stress is characterized by 12 components (si , i = 1, 2, 3, 4). The ensu-
. .
ing deformations (0 , ) are determined by the subroutine; these are
piecewise linear as the traces of Figures 10.8 and 10.9. Inherent errors are
less if the material exhibits strain-hardening.
Our derived theory is founded upon a plasticity which does not embody
the abrupt initiation of plastic strain as characterized by an initial yield
condition. Instead, the theory admits a gradual evolution of the initial
yielding; this follows the so-called endochronic theory of K. C. Valanis
[89] (see Sections 5.35 and 5.36).
The distributions of stresses are represented by Legendre polynomials;
it is this feature which renders the higher-order stresses (m
2 , m3 , . . . )
workless.
We dene an arc length in the space of the three relevant components of
strain: . . . . .
2 = + . (10.105)
.
We suppose that the increment of plastic strain is measured by a scalar
(see Sections 5.29 and 5.35). Now, plastic strain evolves with the scalar ,
such that
d
>0 ( > 0).
d
The rate of such plastic deformation is to depend upon stress; thus one
can simulate the more abrupt transition approaching a yield condition.
Specically, we choose
. 3 n .
=
, (10.106)
2
denotes the second invariant of the stress deviator (s33 = 0):
where
2 = 32 (s s 13 s s ).
(10.107)
.
Clearly, this evolution of the plastic strain is akin to the Prandtl-Reuss
equations (see Section 5.33), as the strain is associated with the von Mises
.
yield condition (see Section 5.27), i.e., depends on . Accordingly, we
take
. . .P
= E
+ , (10.108a)
. .
= D s + (s 13 s g ). (10.108b)
where P(N ) denotes the Legendre polynomial of degree N . The stress dis-
tribution is approximated by a series of polynomials
s = 1 + 2N m
(N ) P(N ) (), (10.111)
.
Two versions of us result from the alternative expressions for the strain
.
rate ; equations (10.108b) and (10.110), respectively, provide
. . .
us = m
0 + m1 , (10.114a)
. .
= D m 1
(N ) m(N ) + m(N ) (m(M ) 3 m(M ) a )f (N M ) , (10.114b)
where
. (1 + 2N )(1 + 2M ) 1 .
f (N M ) = P(N ) P(M ) d. (10.115)
2 1
Variations of the metric g/a are neglected through the thickness of our thin shell.
and stresses m
(N ) .
The equality of the forms (10.114a, b) is satised if we equate coecients
of m
(N ) :
. . .
= D m 1
0 + (m(M ) 3 m(M ) a )f (0M ) , (10.116a)
. . .
= D m 1
1 + (m(M ) 3 m(M ) a )f (1M ) , (10.116b)
. .
0 = D m 1
(N ) + (m(M ) 3 m(M ) a )f (N M ) . (10.116c)
. (N ) .
e = D m
(N ) , (10.117)
.(N ) .
p = (m(M ) 13 m(M ) a )f (N M ) . (10.118)
.
which scalars and are determined in accordance with (10.105), (10.110),
and (10.111). In short, the implementation requires the storage of the
.
stresses m (N ) and the evaluation of the integrals f (N M ) at each step.
Studies (cf. [95]) indicate that an approximation of stress by four terms
[(P0 , P1 , P2 , P3 ) in equation (10.111)] provides very good agreement with
results using 21 stations (see Section 10.8.3). Such comparisons were made
for various loading paths which included radial paths (e.g., 11 = 11 ),
prestrain (e.g., 11 and 12 ) followed by exure (11 ), complete unloadings
and reversals. The interested reader can nd details and results in the
previous publication [95].
The derived theory oers one distinct advantage: Like the multi-layer
approach, an approximation of the distribution s () can be recovered at
any stage. Specically, following an inelastic deformation and subsequent
unloading, the approximate state of residual stress is available.
Figure 10.10 shows the results obtained through a complete cycle of
loading-unloading-reloading along the radial path 11 = 11 . Results are
shown for computations employing four and six term approximations of
the stress m (N ) ; also shown are the more precise results of a multi-layer
(21 layers) approach and the trace of Bienieks direct theory (see the next
Section 10.8.6). Figure 10.11 exhibits the approximation of stress s11 ()
following the path of Figure 10.10 to the state of unloading and reversal
(m111 = 0.34, 11 = 1.31).
where
N 6M
s , n , m . (10.121ac)
Y hY h2 Y
Enforcing the yield condition at the top/bottom surfaces provides the initial
FI = IN N IN M + IM M = 1, (10.122)
where
IN N = 32 (n n 13 n n ), (10.123a)
IN M = 3n m n m , (10.123b)
IM M = 32 (m m 13 m m ). (10.123c)
IN N + |IN M | + IM M = 1. (10.124)
F = IN N + A |IN M | + B IM M = 1. (10.125)
That maximum occurs for a distribution as in Figure 10.4 with p= 1/(2 3);
the corresponding values of the stresses are n11 = n 22
= 1/ 3, m11 =
22
m = 1,and IN N = 1/3, IM M = 1 and IN M = 2/ 3. It follows that
A = 1/(3 3). Accordingly, the limit condition assumes the form:
1 4
FL = IN N + |IN M | + IM M = 1. (10.126)
3 3 9
F = IN N + |IN M | + IM M = 1. (10.127)
An invariant IM M accounts for the translation with respect to moment
by introducing hardening parameters m ; these have the character of
residual moment stress. The invariant IM M has the form of IM M with
(m m ) replacing m
:
IM 3
M = 2 [(m m 1
)(m m ) 3 (m m )(m m )]. (10.128)
One anticipates a coecient [see equation (10.124)] which has value be-
tween 1 (as in F
I ) and 1/(3 3) (as in FL ). The Bieniek theory adopts the
latter [ = 1/(3 3)] accepting the error in the initial condition FI .
Itshould be noted that Bienieks IN M diers by the factor (1/2), hence, the coecient
by the factor 2.
Note that F in (10.127) diers from F in (10.71). The latter is equal to F of (10.127)
minus 1.
. F . F .
F = 1, F n + m > 0. (10.129)
n m
.
The hardening parameters m evolve with plastic strain P , the
inelastic changes-of-curvature:
. E F2 .
m = 3 (1 FL ) 2S P , (10.131)
Y F M
where
F F F F
F 2S
+ , (10.132)
n n m m
F F
F 2M , (10.133)
m m
Specically, if
s1 s2 s3 n11 n12 n22 , (10.135a)
e1 e2 e3 11 12 22 , (10.136a)
e4 e5 e6 11 12 22 , (10.136b)
then
11 12 13 1111 1122
E E E 0C 0 0C
E 21 E 22 E 23 h 0 0C
1212
0 , (10.137a)
31 32 33 2211 2222
E E E 0 C 0 0C
33 34 35 1111 1122
E E E h 3 0C 0 0C
E 43 E 44 E 45 0 0C
1212
0 . (10.137b)
53 54 55 12 2211 2222
E E E 0 C 0 0C
. . F F .i
ePi = , if F = 1 and s > 0. (10.138)
si si
. F .i
ePi = 0, if F < 1 or s 0. (10.139)
si
. F . F .
F = i si + i si = 0. (10.140)
s s
.
The parameter is eliminated as before [see equations (10.89) to (10.92)
of Subsection 10.8.3]. Then
. .
si = Dij ej . (10.141)
r = 0 r + 3 n,
R = 0 R + 3 N
. (10.145a, b)
R = 0 R + 3 G3 = 0 R + 3 A3 . (10.146a, b)
+ 2 A .
G3 = A3 = N (10.147)
= 21 (G G g g ).
G = R, = 0 R, + 3 A3, , (10.148a)
= 0 r , + 0V, + 3 (B A + 2 || A + 2 B N
), (10.148b)
g = 0 r , 3 b a = a 3 b a , (10.149)
we obtain
= 0 + 3 + (3 )2 , (10.150)
= (K b ), (10.152a)
K = B || || , (10.152b)
= 12 (B B b b )
+ (B || B || + 2 || || A + 2 B B ). (10.153)
Here, only the strain of the surface 0 is given explicitly in terms of the
displacement of the surface 0V . In the Kirchho-Love theory that is all
that is needed.
In the Kirchho-Love theory only,
K = B , (10.154a)
=N
A ,
, (10.154b)
( a + b n
=N + 0V, ). (10.154c)
We recall that the nite rotation which carries the initial triad (a1 , a2 , n)
to the convected triad (b1 , b2 , b3 N
) is expressed by the transforma-
Therefore,
K = r3 + b r3 3 + N
V ,
0 ,
r3 3 = r3 3 = b3 a3 = N
n.
= (B b )
= N
a b n
N N 0V, + b .
(10.156)
. .
= 12 (bi bl bi bl )rlj . (10.157)
+ (e3 + 3 )a .
A3 = n (10.158b)
Here eij and ij are the symmetric and antisymmetric tensors dened by
(3.159) and (3.160), respectively. Once again, we preclude stretching of the
normal:
.
A3 N
= 1.
i = ai = 12 eimn nm .
.
Here, we admit also a small transverse shear 0 3 = e3 . Then rotation
of the normal can be represented by a vector ; but this diers from by
virtue of the transverse shear:
A3 = n
+ n,
(10.158c)
= e (e3 + 3 ), 3 = 3 . (10.159a, b)
In terms of displacement:
3 = 12 (a3 0V, a N
), (10.160b)
e = e3 + 3 = a A3 . (10.161)
0 = 12 (A A a ), (10.162a)
.
= e + 12 i i . (10.162b)
.
Additionally, we note that rotation about the normal ( n = n)
is
usually small of the order of the strain [ = O(0 )]. Accordingly, we
neglect that component in the product ( ) of (10.162b). However,
the reader must be alert to exceptional circumstances: A simple example
is a thin elastic tube that has a slot along the entire length of a generator.
When subjected to axial torque, the tube exhibits pronounced rotation
about a normal; one can readily perceive the movement at edges of the
slot and also the warping of a cross-section. In the remaining strains,
0 3 and , we neglect the nonlinear terms. Then,
0 3 = e3 = 21 (a A3 + a3 A ), (10.163a)
= 12 [a ( n)
+ a3 0V, ], (10.163b)
= 12 [ (n
a ) + a3 0V, ]. (10.163c)
A A3, + b . (10.164a)
= 12 (e a , + e a , b 0 b 0 ). (10.164b)
Note that the latter is a symmetric version, the only part that contributes
to the internal work of the symmetric stress tensor m .
Once again, we remind the reader that the membrane stretching and
membrane forces play the dominant role in thin shells. It remains to estab-
lish the equilibrium equations consistent with the foregoing
. approximations.
These must follow from the principle of virtual work; W = 0, where
. .
F 0V C ( N
)] ds0
. .
[N 0V + M ( N
)] dc2 . (10.165a)
c2
The reader is referred to Figure 10.1 (see Section 10.3), where c1 and c2
denote distance along the normal and edge, respectively. The integrand
.
of (10.165a) contains terms of the type [ ] 0V , and
.
[ ] , . Both require an integration by parts. The nal result has
the form
. . .
W = [ Force ]i ai 0V + [ Moment ] a ds0
s0
. .
[ Force ] 0V + [ Moment ] dc2 . (10.165b)
c2
n b m || n b m b
3 T b + F = 0, (10.166a)
n b m b + n b m 3 || + T || + F 3 = 0. (10.166b)
m || T + C = 0, (10.166c)
m b = m b
. (10.166d)
n b m n + n b m 3 n1 = N A , (10.167a)
n b m 3 n + T n1 = N A3 . (10.167b)
e m n1 a = m1 n M 1 . (10.167c)
Note that the moderate rotation enters the conditions on force; in particu-
lar,
.
A = a + a .
c1
n1 = a t1 = .
b
m || b C + F = 0, (10.168a)
n b m b + n b m 3 ||
+ m || + C || + F 3 = 0. (10.168b)
n1 n1 m = M
11 , (10.169a)
n1 n2 m = M
12 . (10.169b)
A small transverse shear strain eects only the edge conditions [see Sec-
tion 10.3, equation (10.20)]. In the Kirchho-Love theory, the rotation of
(n1 n2 m ) M 12
T n1 + n b m 3 n1 + = T 1+ . (10.170)
c2 c2
M 1;
m1 = n
The stresses, s and N , are based upon the deformed vectors, G and
.
A . The latter is stretched in accordance with (10.158a) (e = 0 ).
This is the origin of the small terms in question. They reect a change
in the stress vector. An alternative denition, e.g., components associated
Since rotations about the normal are small and the order of covariant
dierentiation is immaterial, we have the approximations [see equations
(10.162a, b) and (10.164a, b)]:
.
0 = 0 e + 12 3 3
. 1 1
= 2 (0V || + 0V || 2b 0V3 ) + 2 0V3, 0V3, , (10.172)
. 1
= 2 (3 || + 3 || ) = 0V3 || . (10.173)
n || + F = 0, (10.175a)
m || + (b + 0V3 || )n + F 3 = 0. (10.175b)
Eh
+ ( V || V || V || V || ) + (1 + )F || = 0. (10.177)
2 0 3 0 3 0 3 0 3
n = P + e e F || , (10.178a)
where
P || = F . (10.178b)
When this solution is substituted into (10.176) and (10.177), we obtain the
two equations governing the two invariants F and 0V3 :
1 1
F || + e e (b + 0V3 || ) 0V3 ||
Eh 2
1
+ [P || (1 + )P || ] = 0, (10.179)
Eh
Eh3
V || e e (b + 0V3 || )F ||
12(1 2 ) 0 3
(b + 0V3 || )P F 3 = 0. (10.180)
These equations are the same as those obtained by W. T. Koiter [see equa-
tions (10.67) and (10.68) for quasi-shallow shells]. As previously noted,
but a shell with a small dimple may crumple under a much lower pressure,
for example, 0.1pC . In general, a well-designed shell, like the sphere under
uniform pressure, supports loads primarily by membrane action, but ironi-
cally the ecient shell is often most susceptible to snap-through buckling.
Such sensitivity to imperfections and to disturbances is the price for the
inherent strength and stiness of thin shells.
A thorough study of stability, particularly, eects of imperfections, dy-
namic loading, and postbuckling states are beyond the scope of our present
eort. However, an illustration may serve to indicate the precarious nature
of nearly critical equilibrium states.
Suppose that a perfect cylindrical shell is subjected to an axial load P as
shown in Figure 10.12. With the freedom to expand radially at the edge,
the shell is in equilibrium under the action of the simple membrane force
N 22 = P/2r, N 12 = N 21 = N 11 = 0. The Hookean shell experiences
a small axial strain proportional to the load. The plot of load P versus
axial displacement W traces the straight line OA of Figure 10.12. The
line extended beyond A represents equilibrium states which are unstable.
Hence, the load of point A is the critical load, or the so-called classical
. 2Eh2
PC = .
3(1 2 )
But, numerous experiments have placed the actual buckling load as low as
0.1PC [215].
The point A of Figure 10.12 is termed a branching, or bifurcation, point,
because another path emanates from point A; the other path represents
postbuckled congurations, which are not axially symmetric. To illustrate
the phenomena graphically, we can plot the load P versus a mean displace-
ment W . Recall that the postbuckled states of a beam or a plate trace a
0
= 12 (A A ), (10.181a)
= (B
B ).
(10.181b)
In accordance with the Kirchho-Love theory, the total strains are the
sums: 0 + 0 and + . In an isothermal Hookean deforma-
tion, the incremental change of internal energy follows in accordance with
equations (10.49) to (10.51):
=
h2
h h2
h 0 C 0
0 + + 0 C 0 0 + .
12 2 12
h2
. h
0 + m + 0 C 0 0 +
=n , (10.182)
2 12
h2
. h
0 + 0 C 0 0 +
=n . (10.183)
2 12
Since our analysis is concerned with small excursions from the fun-
damental state (A , B ), we assume that these are accompanied by
small strains and moderate rotations; specically [see (10.162a, b) and
(10.164a, b)]
0
i
= e + 12 i , (10.184)
= 12 (
3 || + b
3 || b ). (10.185)
1
2 (
e ).
+ e
Strictly speaking, the covariant derivatives are based upon the metric tensor
A of the reference state. The components, e , i , are obtained in
the manner of (10.160a, b); here, we employ the triad Ai and the small
displacement v from the prebuckled state:
e = 12 (A v , + A v , ), (10.186)
= 12 (A v , A v , ),
3 = (A3 v , ).
(10.187a, b)
= A3 v , A3 v , . (10.188)
h h2
+ C 0
0 + dS0 . (10.189)
20 12
is a func-
In view of equations (10.184) to (10.187a, b), the variation
tional of the displacement v with terms of degree two and four. If 2
denotes the aggregate of all terms of second degree, then the Tretz crite-
rion is the stationary condition:
2 = 0.
(10.190)
h3
n h 0 C 0 e ,
m C 0 .
12 0
It follows that
1
2 =
n + 2n A v ,
12 n
S0
+ n
A3 v ,
3 + m
A3 v , dS0 = 0.
m (10.191a)
Again, we suppose that the shell has an edge dened by a curve C2 with
arc length C2 on the surface S0 ; a curve C1 on S0 , normal to C2 , has arc
+ n
A A3
3 + m
,
1
+ m A A3 , v dS0
A
1
+ n + 2n A N1
12 n
C2
+ n
A3 N1
3 + m
1
+ m A A3 , N1 v dC2
A
N1 A3 v , dC2 = 0,
m (10.191b)
C2
where
C
N = .
Here, as before [see Section 10.2, equations (10.19) and (10.20), and Fig-
ure 10.1] the twist M 12 is not independent, but contributes to the transverse
shear, as a consequence of the Kirchho hypothesis. Since the variation
must vanish for arbitrary v on S0 , we have the equilibrium equation:
A n + 12 n
12 n m
B A
+ A m
|| + n 3 A3 , = . (10.192)
Here the double bar with the asterisk ( || ) signies the covariant derivative with respect
1 C2
+ m
|| + n 3 N1 A3 + N A3 = ,
m (10.193)
C2
N1 N1 = 0.
m (10.194)
10.13 Renements-Limitations-References
Most theories are intended to describe the behavior of thin shells; most
are founded on the Kirchho hypothesis and Hookean elasticity. Our treat-
ment sets forth the basics and provides an access to the vast literature, the
formulations and solutions, based on those foundations. The underlying
kinematics and statics might be applied, but cautiously, to other circum-
stances, even inelastic behavior.
For practical considerations, to reduce weight, to enhance surface prop-
erties, to gain stiness and/or strength, shells are composed of layers. In
such circumstances, one might adapt all or part of the Kirchho-Love the-
ory to each layer. For example, a shell might be composed of two dierent
layers with dissimilar thicknesses and materials. The hypothesis of Kirch-
ho might hold for each layer; the interface (not the mid-surface) would be
the appropriate reference surface. Such treatment of sandwich shells was
employed in the previous work of the rst author ([224], [225]). Extensive
formulations for composite shells are contained in the treatise of L. Librescu
[185].
Many theories have been advanced to accommodate the behavior of thick
shells. Such theories are typically founded upon alternative/better approx-
imations of displacement, strain and/or stress distributions through the
thickness. Progressively higher-order theories can be achieved by expand-
11.1 Introduction
Most analyses and designs of structural and mechanical elements are
based upon the foregoing theories of continua, yet we are seldom able to
obtain the mathematical solutions for the actual congurations. Even a
cursory review of our subject shows that solutions of the boundary-value
problems exist only for the most regular forms. Specically, we note solu-
tions for bodies with rectangular, cylindrical, spherical, and other regular
geometrical boundaries. To be sure, very important practical results have
been gleaned from exact solutions: The bending and torsion of prismatic
members (see Sections 7.14 and 7.15) are basic to the design of simple struc-
tures and machines. Stress concentrations are revealed by the solutions for
plates with holes and shafts with peripheral utes (see Section 7.12 and
Subsection 7.15.4). Still such solutions for the multitude of actual struc-
tural forms are unobtainable. Consequently, engineers must accept approx-
imations. In general, such approximations entail some a priori choices of
N functions and then a means to determine the N algebraic quantities
(e.g., coecients) which together provide the best approximations within
the computational limitations.
Computational limitations have been the greatest obstacle to the approx-
imation of the solutions. Specically, prior to the advent of solid-state elec-
tronics and microcircuits (i.e., electronic digital computers), the numerical
solution of large systems of equations was not a practical option. Math-
ematicians, scientists, and engineers resorted to a variety of procedures:
Orthogonal functions in the manner of Rayleigh-Ritz ([237] to [239]) have
been widely used, but essentially limited to simple geometrical boundaries.
The relaxation method [240] was a means to avoid the solution of large alge-
braic systems. The method of weighted residuals [241] (point/subdomain
collocation, Galerkin method [242], etc.) has also been employed to obtain
approximations, but all were limited by computational requirements.
df f . f
f lim = ,
dx x0 x x
where
f = fn fn1 , x = xn xn1 .
xn+1 xn = xn xn1 = x.
. 1
fn = (fn+1 2fn + fn1 ).
x2
d2 u P (x)
+ = 0. (11.1a)
dx2 EA
The nal term of (11.1b) is the mean value of P in the interval (xn1 , xn+1 )
when P , like u, is approximated by linear interpolation. If the end x = 0
is xed, then
u(0) = u0 = 0. (11.2)
du
(l) = E = 0. (11.3)
dx l
L(u) = 0. (11.5)
Here, gn (x) are preselected functions and An the discrete parameters which
determine the approximation via the stationarity conditions, viz.,
V
= 0. (11.7)
An
or
m
.
u(x) = [un wn (x) + un wn (x)]. (11.8b)
n=1
tion of discrete parameters. However, now the parameters are the nodal
values; more important, a discrete variation, say un , alters the approx-
imation only in the nite region adjoining the node (xn1 , xn+1 ). That
region of support can be taken ever smaller, much as the region about the
variation u(x) in Figure 11.1. Each of the m equations, e.g., V /un , is a
dierence equation which involves only the nodal values adjoining the nth
node; each entails an integral over the small region of the local support (the
The stationarity of V (u), together with the imposed constraint [u(0) = 0],
is fully equivalent to the dierential equation (11.1a) and the end condi-
tion (11.2).
Now, let us represent our approximation by nodal values un and linear
interpolation as in the preceding sections. This can be expressed in the
form:
.
u(x) = n (x),
un w
n
The shape functions, wn (x) and wn (x) are the cubics as depicted in Fig-
ure 11.3.
Our approximation of the stationary criterion on the functional of (11.9)
is achieved by the discrete variations of nodal values, un and un . Corre-
sponding to the variation of un , we obtain
6EA EA
(un1 2un + un+1 ) + (u un1 )
5x 10 n+1
1
(9Pn1 + 52Pn + 9Pn+1 )x
70
13
(P Pn+1
)x2 = 0. (11.14)
420 n1
In the limit
1 d2 u
lim (un+1 un1 ) = ,
x0 10x 5dx2
6 6 d2 u
lim (u n1 + 2u n u n+1 ) = ,
x0 5x2 5 dx2
1
lim (9Pn1 + 52Pn + 9Pn+1 ) = Pn ,
x0 70
13
lim (P Pn+1
)x = 0.
x0 420 n1
d2 u P
+ = 0.
dx2 EA
EA 1
un1 + 2un un+1 x3
15 x2
EA un+1 un1
+ un1 + 4un + un+1 6 x
30 2x
x3 Pn+1 Pn1
26 + 3Pn1 + 8Pn 3Pn+1 = 0. (11.15)
420 2x
un1 2un + un+1 x
3
EA 2
P n = 0.
x 15
d3 u dP
EA = 0.
dx3 dx
takes the forms of (6.102) and (6.103), respectively (per units of volume and
area). Together these contribute to the total virtual work of (6.110a, b),
viz.,
1 i
W = ( g s ),i + f R dv
v g
i
T s ni R ds + si ni R ds. (11.16)
st sv
1 2 3 1 2 2 3 1 3 1 2 3
f I =1 + + + 0 i hi . (11.18)
h1 h2 h3 h1 h2 h2 h3 h1 h3 h1 h2 h3
Here, for convenience only, a local origin is placed at the node I and
i = hi denes the boundaries of the subregion vI . With similar interpo-
lation throughout vI , we have
f I d1 d2 d3 = 1.
vI
By the principle of virtual work, the bracketed term must vanish for every
node I of our discrete model. The nal integral appears only if the region
of nonvanishing f I includes a portion of boundary st . First, let us consider
the condition for an interior node as shown in Figure 11.6; vI includes only
the contiguous elements, wherein f I = 0. Integration by parts in the region
vI yields
1 i
g s ,i + f f I dv
vI g
+ si+ si ni f I dsn + si ni T f I ds = 0. (11.20)
n sn sI
Here, the nal term, unlike that in (11.19), is work of the stress upon the
surface sJ through the node J. Now, the integration of the initial term and
enforcement of equilibrium (WJ = 0), provides the condition:
1
T f J ds = si ni f J ds ( g si ),i + f f J dv
sJ sJ vJ g
+ (si+ si )ni f J ds . (11.22)
s
The left side of (11.23) is the generalized force associated with node J,
a weighted integral of tractions upon sJ . If we divide by the area sJ and
pass to the limit, we obtain:
1
lim T f J ds T .
sJ 0 sJ sJ
If only the derivatives si,i are bounded , then the nal term vanishes and we
T = si ni . (11.24)
where
Vn VE (n1 , n2 , n3 ), (11.26)
i.e., Vn are the values of the exact solution at the nodes. Let VB denote
the potential provided by the approximation (11.25). This is greater than
the minimum VE :
VE < VB .
VE < VA VB . (11.27)
ment:
V1 = V 1 + 11 x1 + 13 x3 +
11 x1 x3 , (11.28a)
11 x3 ,
11 = 11 + 13 = 12 (
13 + 31 ) + 12 (e31 x3 +
11 x1 ),
2 = 12 (
13 31 ).
lbh 2 h2 2 2 l2 2 h2 2
V= E 11 +E +4G 13 +G
+G
e M l
11 . (11.29)
2 12 11 12 11 12 31
V
= 0, = 11 = 0,
11
V
= 0, = 13 = 0,
13
V
= 0, = e31 = 0,
e31
V bh 2
= 0, = M= Eh + Gl2 11 .
11 12
Of course, we know the exact solution and indeed our approximation (as
expected) provides that answer in the limit l 0. Unless the length l
of our nite element is much less than the depth h of the beam, the
approximation (due to the term Gbhl2 11 /12) is much too sti; in short, the
direct approach via the approximation (11.28a, b) is practically worthless.
In the words of B. Irons [255], this is a legal element, but useless in
practice.
Many students of nite elements have confronted the particular sti-
ness illustrated above. The distain for such stiness and impracticality,
led to the term locking. Since this particular stiness is traceable to
the shear energy, it has been termed shear locking. Various schemes
have been devised to overcome the diculty (see, e.g., R. H. MacNeal
[261]). An early means was proposed by the rst author: The origins
of the stiness were noted. It was also recognized that most practical
problems of thin elastic bodies (beams, plates, and shells) were quite ade-
quately treated by the theories of Bernoulli-Euler and Kirchho-Love. In
short, the Bernoulli/Kirchho/Love hypothesis is usually adequate: Nor-
mals to the midsurface are assumed to remain normal. These observations
by G. A. Wempner led him to the discrete counterpart ([116], [268]): At
an intermediate point of the element one introduces the discrete constraint;
for example, at the midpoint of the beam element the normal is constrained
to remain normal. The constraint is depicted in Figure 11.12a. Similar ex-
cessive stiness occurs in the simple quadrilateral or triangular elements of
a plate or shell (see the early works presented in [116], [268] to [271]). The
deformational modes of the shell elements are described in Section 11.13.
V1 = V 1 + 1i xi + e12 x1 x2 +
11 x1 x3 +
12 x2 x3 + 1 x1 x2 x3 , (11.30a)
V2 = V 2 + 2i xi + e21 x2 x1 +
22 x2 x3 +
21 x1 x3 + 2 x1 x2 x3 , (11.30b)
Extensional Flexural
212 = m
12 + (e12 x1 + e21 x2 ) + ( 21 )x3 + (1 x1 + 2 x2 )x3
12 +
213 = m
13 12 + 3 )x2
+ ( + 11 x1 + e31 x3 ) + (1 x1 + 3 x3 )x2
(
223 = m
23 21 + 3 )x1
+ ( + 22 x2 + e32 x3 ) + (2 x2 + 3 x3 )x1
(
m
12 = 12 + 21 , m
13 = 13 + 31 , m
23 = 23 + 32
VA 1 2 1 2
3 = (1 + )V 3 . (11.33a)
VB 1 2 1 2 1 1 2 2 2 2
3 = (1 + )V 3 + [ ( ) ]1 + [ ( ) ]2 . (11.33b)
Note that the nodes remain joined; all other particles are separated. How-
ever, as the nite element shrinks (hi 0), the surfaces approach congru-
ence. In other words, any smooth surface can be approximated by quadri-
lateral platelets as simple as the surface (11.33a); these converge (hi 0).
Practically, this means that some nonconformity need not preclude the
convergence of an approximation. Indeed such nonconforming elements are
admissible, though precautions are required. The renowned patch test
([279], [255], [253]) provides a necessary condition.
The virtual work W consists of two parts: The rst integral accounts
for the work of internal forces; in an elastic body that is the variation of
internal energy. The second integral is the virtual work of the external
tractions T . To the rst integral we can employ an integration by parts:
Now the evaluations must be performed at each interface sn , since V can be
discontinuous. We denote the dierent displacements on the positive and
negative sides by V N N
+ and V (our notation anticipates directions relative
to a coordinate). The result follows:
1
W = ( g si ),i V dv + (si ni T ) V ds
v g st
+ si (V N N
+ V ) ds. (11.35)
n sn
si (V N N
+ V ) ds = 0. (11.36)
n sn
Example:
Consider a problem of plane stress (s3 = 0), wherein the body is subdi-
vided into rectangular elements. Suppose that we test an approximation
V = VC + VD ,
where
VD = g J ( 1 ) pJ + hJ ( 2 ) q J . (11.37)
The conforming part might be the bilinear form, the two-dimensional coun-
terpart of equations (11.17) and (11.18). That part is irrelevant as it con-
tributes nothing to our test. For our example, we take
g J = 4[ 1 ( 1 )2 ], (11.38a)
hJ = 4[ 2 ( 2 )2 ]. (11.38b)
The form applies to each element with the origin at the lower left node.
The arbitrary patch of Figure 11.14 is subjected to a homogeneous stress T .
This acts on the surfaces of a typical interior element J. The two modes
of equations (11.38a, b) are depicted, much exaggerated: The rst, pJ ,
produces the bulge at the top (convex) and a similar depression (concave)
at the bottom. Without evaluation, it is evident that the consequent virtual
V n+ = V n
+ (si ni n ) (V n+ V n ) ds
n sn
n (V n+ V n ) = 0. (11.39)
n
V n+ = V n at each sn . (11.40)
Again, (11.40) and (11.41) add nothing to our theory of the continuous
body but serve a purpose in the approximation, wherein V n+ = V n .
Let us examine the implications of the modied functional F as applied
to approximations by nonconforming elements (V n+ = V n ). Typically, the
approximation of displacement can be expressed in the form:
.
V = V f I (1 , 2 , 3 )VI + J (1 , 2 , 3 ) q J . (11.42)
or
g M (V + V ) ds = 0. (11.44)
sM
In short, the discrete constraint (11.44) (one of the linear equations in our
system) requires that a weighted average of the discontinuity vanish. Such
condition is said to provide a weak conformity. If n is assumed constant
at each interface (g M = constant), then (11.44) asserts that the mean
values of V + ]M and V ]M are equal. Since the functions (i.e., surfaces)
are smooth, convergence (conformity in the limit) is insured.
We recall that the proof of convergence (Section 11.9) presumes con-
tinuity of the approximation VA . Although our approximation exhibits
interelement discontinuity, the condition (11.44) assures conformity in the
limit. The preceding proof need only be amended: Specically, we now
recognize that the exact solution VE can also be approximated in the form
(11.42) with the weak conformity of (11.44). The potential VB of in-
equality (11.27) is then the potential of that conguration.
en = |V n+ V n |.
The energy of such spring (per unit area) is the integral of (11.45). The
function Kn is the stiness of said spring; it can be variable on sn , i.e., a
function of the surface coordinates.
We note two prominent dierences between the present modication
(11.45) and the previous form (11.38a, b): First, the functions Kn are not
treated as unknowns; they are to be prescribed. Second, when these func-
tions are added to the potential V, the modied functional retains the
Section 10.11). We can carry the argument further: Any surface, hence
any shell, can be approximated by an assembly of plane elements, plates
(triangular or quadrilateral elements delineated along lines of curvatures).
In the latter case, both initial and deformed curvatures must be manifested
in the assembly.
The eight dominant modes are essential to the continuum theory of the
shell, a so-called shear deformable shell. The remaining six modes, i.e.,
12 , 3 , 1 , 2 ) constitute higher-order terms. The terms of 33 in
(e12 , e21 ,
Table 11.1 are absent as a consequence of the plane stress assumption. As
always, an appreciation of the mechanical/kinematical behavior is helpful;
accordingly the six H.O. modes are illustrated in Figures 11.16 to 11.19.
Figures 11.16 and 11.17 illustrate the two higher-order extensional and
exural modes, respectively. Figures 11.18 and 11.19 depict higher-order
modes of transverse shear, namely, the torsional and warping modes. These
H.O. modes must be inhibited; the corresponding terms must contribute
some internal energy. On the other hand, they contribute unnecessarily to
the excess energy of the model if retained everywhere. Specically, 11 ,
22 , 1 , and 2 need not appear in the transverse shear strains; they ap-
pear in the exural terms. It follows that our requirements are fullled by
approximations of the form:
We note too that the modes e12 and e21 are present in the extensional
strains 11 and 22 as well as the shear strain 12 . These terms can be
deleted from one, but not both. The omission of such repeated H.O. terms
reduces internal energy and improves convergence, when the model is based
upon the modied potential.
A simple, yet consistent, element derives from the modied potential of
Hu-Washizu. The element of the shell requires a simplied version of ap-
proximation (11.30ac): Specically, the transverse displacement is simpler
as a consequence of the plane stress assumption, viz.,
V3 = V 3 + 3 x + 3 x1 x2 ( = 1, 2). (11.47)
Again, only excessive energy emerges if the underlined terms are retained
in both places. These are H.O. terms; they are needed only to inhibit
a mode. Convergence is assured if only these are retained in one strain.
Here the best choice is not evident, but retention of both can only cause
unwarranted extensional and exural stiness. The simple quadrilat-
eral element, as described above, has been employed eectively for certain
benchmark problems [267]. An alternative elemental formulation [201] in-
corporates piecewise constant approximations for stresses and strains which
are just sucient to accommodate the various deformational modes. The
formulation leads to further simplications and also provides a mechanism
for the progressive yielding of elasto-plastic elements.
Triangular elements arise, if only at edges as seen in Figure 11.15. A
simple conforming element has the displacement components:
11 x3 ,
11 = 11 + (11.51a)
22 x3 ,
22 = 22 + (11.51b)
12 = 12 (
12 + 21 ) + 12 ( 21 )x3 ,
12 + (11.51d)
13 = 12 ( 11 x1 +
13 + 31 ) + 12 ( 12 x2 ) + 12 31 x3 , (11.51e)
23 = 12 ( 21 x1 +
23 + 32 ) + 12 ( 22 x2 ) + 12 32 x3 . (11.51f)
.
For the thin shell, we again neglect the transverse extension; 33 = 0. Then,
the underlined terms in equations (11.51c, e, f) are not present. Addition-
ally, we dene
12 12 (
12 +
21 ), 12 (
12
21 ). (11.52a, b)
12 = 12 + , 21 = 12 .
(11.53a, b)
12 + 21 ) + 12 x3 ,
12 = 12 ( (11.54a)
13 = 12 ( 11 x1 + 12 x2 + x2 ),
13 + 31 ) + 12 ( (11.54b)
Finally, we observe that the underlined H.O. terms of (11.54b, c) are not
needed, as these reect the exural modes of (11.51a, b) and (11.51d) or
13 + 31 ) + 12 x2 ,
13 = 12 ( (11.55a)
23 + 32 ) 12 x1 .
23 = 12 ( (11.55b)
1 1 1
11 , 22 , 2 (
12 + 21 ),
11 ,
22 , 12 , 2 (
13 + 31 ), 2 (
23 + 32 ),
and one higher-order mode, . The latter is the torsional mode depicted in
Figure 11.20b. The deletion of unnecessary terms of (11.54b, c) eliminates
unwarranted internal energy, the attendant excessive stiness, and uncou-
ples that mode from the bending modes ( 11 ,
22 ). The reader is reminded
that the use of the modied principle oers the possibilities of dierent
approximations of stress which in turn enables one to develop an ecient
element. The interested reader will nd further treatment of the triangular
element in ([277], [278]).
In Section 11.10, we described the excessive stiness which stems from
the intrusion of exural modes in the internal shear energy. Then, we cited
the discrete Kirchho constraints which inhibit transverse shear. Now,
we observe that the four constraints upon the rectangular element of Fig-
ure 11.12b suppress the homogeneous modes 12 ( 13 + 31 ) and 12 (
23 + 32 ),
and also the higher modes 12 and 3 of Figures 11.18 and 11.19. Like-
wise, the three constraints upon the triangular element of Figure 11.12c are
needed to suppress the homogeneous modes 12 ( 13 + 31 ) and 12 (
23 + 32 )
and the one higher mode of Figure 11.20b.
Previously, in Section 11.10, we described the discrete Kirchho con-
straints as a means to avoid the excessive shear energy. Experience shows
that the present method is equally eective, yet admits transverse shear
deformations, hence it applies as well to thicker plates and shells.
11.13.4 Summary
The foregoing commentary is but a synopsis of those mechanical features
that distinguish the nite elements of thin bodies. Much as the continuum
theories of shells, the discrete approximations are fraught with dicul-
ties which do not arise in their three-dimensional counterparts. The inter-
ested reader will nd a profusion of literature, many alternative methods,
and computational devices. Our intent is to set forth the basic concepts,
couched in the context of continuum theory and illustrated by the simplest
N Q (VQ ; ) = 0. (11.56)
RQ N Q (V Q + VQ ;
+ ). (11.58)
That system with n+1 unknowns is now augmented by the linear equation:
V ]M 1 V ]M + ]M 1 ]M = S 2 . (11.62)
VR ]M VR ]M + ]M
]M = 0. (11.63b)
At such point, the ensuing step follows the eigenvector of the homogeneous
system:
N Q
VR = 0. (11.65)
VR
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