Introduction Plane elasticity Three-dimensional elasticity Summary

Linearized theory of elasticity

Arie Verhoeven
averhoev@win.tue.nl

CASA Seminar, May 24, 2006

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Seminar: Continuum mechanics

1 Stress and stress principles Bart Nowak March 8
2 Strain and deformation Mark van Kraaij March 29
3 General principles Ali Etaati April 12
4 Constitutive equations Godwin Kakuba April 19
5 Fluid mechanics Peter in t Panhuis May 3
6 Linearized theory of elasticity Arie Verhoeven May 24
7 Complex representation Erwin Vondenhoff June 7
of the stress function
8 Principles of virtual work Andriy Hlod June 21
9 The boundary element method Zoran Ilievsky June 28

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

The Cauchy stress tensor

For a linear elastic solid we have the identity:

TJi (X, t) = TJi (x + u(x, t)).

In terms of Cartesian components, the first Piola-Kirchhoff stress

tensor TJi0 is related to the Cauchy stress Tri at the points x = X + u
by

0 XJ
TJi0 = Tri . (1)
xr
The displacement-gradient components are small compared to unity.
The equations of motion in the reference state are given by

TJi0 d 2 xi
+ 0 b0i = 0 2 . (2)
XJ dt

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Field equations

Field Equations of Linearized Isotropic Isothermal Elasticity

Tji 2
3 Eqs. of Motion Xj + bi = tu2i (3)
6 Hookes Law Eqs. Tij = Ekk ij + 2Eij (4)
1 ui uj
6 Geometric Eqs. Eij = 2 Xj + Xi (5)
15 eqs. for 6 stresses, 6 strains, 3 displacements

The two Lam elastic constants and , introduced by Lam in 1852,

are related to the more familiar shear modulus G, Youngs modulus
E, and Poissons ratio as follows:
E E
=G= and = .
2(1 + ) (1 + )(1 2)

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Boundary conditions

1 Displacement boundary conditions, with the three

components ui prescribed on the boundary.
2 Traction boundary conditions, with the three traction
components ti = Tji nj prescribed at a boundary point.
3 Mixed boundary conditions include cases where
1 Displacement boundary conditions are prescribed on a part
of the bounding surface, while traction boundary conditions
are prescribed on the remainder, or
2 at each point of the boundary we choose local rectangular
Cartesian axes Xi and then prescribe:
1 u1 or t1 , but not both,
2 u2 or t2 , but not both, and
3 u3 or t3 , but not both.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Naviers displacement equations

Equations of this form were given by Navier in a memoir of

1821, published in 1827, but they contained only one elastic
constant because they were deduced from an inadequate
molecular model. The two-constant version was given by
Cauchy in 1822.
Navier Equation
( + )( u) + 2 u + b = tu
2
2 (8)

Traction Boundary Condition

n + u)
( u)n + (u n = prescribed function (9)
2u
Elastostatics: t 2
= 0.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Plane elasticity (1)

In plane deformation, the assumptions uz = 0 and ux and uy

indepenent of z lead to only three independent strain components
ex , ey , and exy = 12 xy , which are independent of z, a state of plane
strain parallel to the xy -plane. The isotropic Hookes law reduces to

x = e + 2Gex
y = e + 2Gey (3)
xy = 2Gexy

with, in addition,
z = e = (x + y ), (4)
where
E E
e = ex + ey , G= , and = . (5)
2(1 + ) (1 + )(1 2)

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Plane elasticity (2)

To these must be added two equations of motion

xy 2 ux
)
x
x + y + bx = t 2
xy y 2 uy
(6)
x + y + +by = t 2

and one compatibility equation

2 ex 2 ey 2 exy
2
+ 2
=2 , (7)
y x xy

if for small displacements we ignore the difference between the

material coordinates X , Y and the spatial coordinates x, y .

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Particular solution for body forces

The linearity can also be used to construct the solution in two parts:
ij = ijH + ijP , eij = eijH + eijP .
The particular solution ijP , eijP satisfies the given equations with
given body-force distributions but not the boundary conditions.
The distribution ijH , eijH satisfies the homogeneous differential
equations (with no body force) and suitably modified boundary
conditions.
When the body force is simply the weight, say bx = 0, by = g,
then a possible particular solution is

yP = gy C, xP = xy
P
= 0, (8)

where C is the value of yP at y = 0.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Airy stress function

For plane strain with no body forces, the equilibrium equations are
identically satisfied if the stresses are related to a scalar function
(x, y ), called Airys stress function, by the equations

2 2 2
x = , y = , xy = . (9)
y 2 x 2 xy
The compatibility equation then becomes the biharmonic equation

21 (21 ) = 0 (10)

or
41 = 0,
2 2
where 1 = x 2
+ y 2
is the 2D Laplace operator.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Boundary conditions for Airy stress function

Airy stress function useful for boundary conditions for tractions.

Since ti = ji nj , we have tx = x nx + xy ny and ty = xy nx + y ny or
 
2 dy 2 dx
)
d
tx = y 2 ds
+ xy ds = ds y 
2 dy 2
dx d
(11)
ty = xy ds x 2 ds
= ds x .

Hence, integrating along the boundary, we obtain

R
x = C ty ds + C1
d dy
and dx
R
y = C tx ds + C2 . Now we can calculate ds = x ds + y ds ,
d dy dx d
R
dn = x ds y ds and = C ds ds + C3 at the boundary.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Elasticity model in cylindrical coordinates

In cylindrical coordinates, we have

u = ur er + u e + uz ez .

Then the displacement-gradient tensor u is derived by

differentiating the variable unit vectors er , e as well as the
coefficients of the three unit vectors. Small-strain components in
cylindrical coordinates are

Errh= ur
r E = 1r iu
+ r
ur
Ezz uz
 = z 
1 1 ur u u 1 u 1 uz
Er = 2 r + r Ez = + (12)
r
1 uz ur

2 z r
Ezr = 2 r + z .

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Plane stress equations in polar coordinates

Plane-strain components will be denoted

for
u = uer + ve
by er = u
r e = 1r v u
+
r (13)
1 1 u v v
er = 2 r + r r

Hookes law in polar coordinates

r = e + 2Ger = e + 2Ge
r = 2Ger where e = er + e
z = (r + .

(14)

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Lam solution for cylindrical tube (1)

Consider a tube long in the z-direction, loaded by internal pressure pi
and external pressure po , with negligible body forces, and assume
plane deformation with radial symmetry, independent of z and in the
plane region a r b. The Navier equations then become, with
u = uz = 0, ur = u, simply
 
d 1 d
( + 2G) (ru) = 0. (15)
dr r dr

Two integrations with respect to r then give

B
u = Ar + . (16)
r
In polar coordinates we get

ur B ur B
er = =A 2 e = =A+ 2 er = 0 (17)
r r r r
/centre for analysis, scientific computing and applications
Introduction Plane elasticity Three-dimensional elasticity Summary

Lam solution for cylindrical tube (2)

Hookes law gives
= 2A + 2GA 2GB

r r2
= 2A + 2GA + 2GB
r 2 (18)
r = 0 z = 4A( + G).

We apply the boundary conditions at r = a and r = b.

2GB

r = a pi = 2A( + G) a2
2GB (19)
r = b po = 2A( + G) b2
whence
(pi po )a2 b2
)
2GB = b2 a2
pi a2 po b2
(20)
2( + G)A = b2 a2
so that the stress distribution is

pi a2 po b2 2 2
r = b2 a2
bp2i p o a b
a2 r 2



pi a2 po b2 2 2
= b2 a2
+ bp2i p o a b
a2 r 2
(21)
2(pi a2 po b2 )


z = b2 a2
r = 0.
/centre for analysis, scientific computing and applications
Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Direct solution of Navier equations

e 2 uk uk
( + G) + G2 uk + bk = 2 where e = .
Xk t Xk
2
Already in 1969, for elastostatics, with tu2k = 0, the solution of such a
set of three equations in three dimensions by finite-difference or
finite-element methods is beginning to be a possibility.
An advantage of direct solving the 3D problem instead of the less
complex 2D problem is that strains can be obtained in terms of the
first partial derivatives of the displacement field.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

The Helmholtz representation

Each continuously differentiable vector field u can be represented as

u = + . (22)

For definiteness there is also the requirement

0.

Equations of motion in terms of the potentials:

2 2
( + 2G)(2 ),k + Gekrs (2 s ),r = ( 2
),k + ekrs ( 2 ),r .
t t
Specific solutions also satisfy the wave equations.

1 2 1 2 k
2 = 2 k = .
c12 t 2 c22 t 2

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Papkovich-Neuber potentials
When the Helmholtz representation is substituted into the elastostatic
Navier Eq., we get

b
2 [ + ] = ,
G

where = 2(1)
12 . The Papkovic-Neuber potentials are 0 and ,
which is defined by
= + .
Then we get Poissons equations

2 = Gb
(

2 = br
0 G

The solution can be found by Greens formula. In general, the

potentials satisfy complicated boundary conditions.
/centre for analysis, scientific computing and applications
Introduction Plane elasticity Three-dimensional elasticity Summary

Greens formula (1)

Two sufficiently differentiable functions f and g in volume V bounded

by S satisfy Greens Second Identity:
Z   Z
g f  2
f g g2 f dV .

f g dS = (23)
S n n V

Let P be an arbitrary field point and Q a variable source point. Then

Greens formula expresses the value fP as follows:
Z    Z
1 f 1 1 2
4fP = f dS fdV .
S r 1 n n r 1 r
V 1

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Greens formula for the half-space

In potential theory the Greens function G(P, Q) for a region is a
symmetric function of the form

1
G(P, Q) = + g(P, Q) 2 g = 0.
r1

where r1 = kP Qk. We obtain the formula for f in terms of Greens

function: Z Z
G
4fP = f dS G2 fdV .
S n V

Let Q2 be the image point of Q in the XY-plane and let r2 = kP Q2 k.

For the half-space, it is possible to determine G(P, Q):

1 1
G(P, Q) = .
r1 r2
Z Z
1 f 1
f (P) = dS G2 fdV
2 Z S r0 4 V
/centre for analysis, scientific computing and applications
Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Normal traction problem

Given on part S1 of the boundary S (z = 0) of the half-space a

distributed normal pressure of intensity q, the traction boundary
conditions are

Tzz = q Tzx = Tzy = 0 on S1 .

with zero tractions on the remainder of the boundary z = 0. We seek

the Papkovich-Neubich potentials, assuming that 1 2 0, such
that
1
u = 3 ez (0 + z3 ) and 2 0 = 2 3 0.
4(1 )

They can be found by using Greens formula for the half-space.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Boussinesq problem of concentrated normal

force on boundary of half-space

This problem is solved by taking limit S1 O and q such that

R
limS1 O S1 qdS = P, which is a finite concentrated load at O in the
positive z-direction.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Solution of Boussinesq problem

We obtain
2 (x, y , z) = (1)P
GR
(1)(12)P
Z [ 0 (x, y , z)] = GR
0 (x, y , z) = (1)(12)P
G log(R + z)
Now also the displacements and tractions can be computed.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Outline

1 Introduction

2 Plane elasticity
Rectangular coordinates
Cylindrical and polar coordinates

3 Three-dimensional elasticity
Direct solution of Naviers equation
Examples

4 Summary

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Summary

Naviers equations
Plane elasticity
Airy stress function
Plane elasticity in polar coordinates
Lam solution for tube
Helmholtz representation
Papkovich-Neuber potentials
Boussinesq problem

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Literature.

L.E. Malvern: Introduction to the mechanics of a continuous

medium, Prentice-Hall, 1969, pp 497-568.

/centre for analysis, scientific computing and applications

Introduction Plane elasticity Three-dimensional elasticity Summary

Literature.

L.E. Malvern: Introduction to the mechanics of a continuous

medium, Prentice-Hall, 1969, pp 497-568.

Y.C. Fung: Foundations of solid mechanics, Englewood Cliffs,

N.J.: Prentice-Hall, Inc., 1965.

A.E. Green, W. Zerna: Theoretical elasticity, London: Oxford

University Press, 1954.

A.E.H. Love: Mathematical theory of elasticity, 4th ed. New York:

Dover Publications, Inc., 1944.

S. Timoshenko, J.N. Goodier: Theory of elasticity, 2nd ed. New

York: McGraw-Hill Book Company, 1951.

H.M. Westergaard: Theory of elasticity and plasticity, New York:

Dover Publications, Inc., 1952.

/centre for analysis, scientific computing and applications