2

Governing Equations
This chapter develops the governing equations of motion for a homogeneous
isotropic elastic solid, using the linear three-dimensional theory of elastic-
ity in cylindrical coordinates. At first, classical relationships between stress,
strain, and displacement are reviewed and implemented into the dynamic
equilibrium equations. The mathematical representations of the linear the-
ory of elasticity derived in this chapter will set the stage for the development
of the required governing equations for the possible modes of vibrations in
cylindrical structures with any thickness.

y
σrr
σ zz
σ θθ
δz

δr

σ zz

r σ rr
σ θθ
δθ

θ x

FIGURE 2.1. Direct Stresses in Cylindrical Coordinates.

A detailed mathematical review of elasto-dynamic problems can be found

in most classical text books on advanced mechanics of materials and the
theory of elasticity. In particular, references such as (Ford and Alexander
1963) and (Mal and Singh 1991) can provide the best extensive reviews

H.R. Hamidzadeh, R.N. Jazar, Vibrations of Thick Cylindrical Structures

DOI 10.1007/978-0-387-75591-5_2, © Springer Science+Business Media, LLC 2010
16 2. Governing Equations

∂σθθ
σθθ + δθ
∂θ
∂τθr
τθr + δθ
∂θ

∂τrθ
τrθ + δr
∂r
∂τzr ∂σrr
τ zr + δz σrr + δr
∂z ∂r
δθ σ rr

τrθ

τθr

σθθ

FIGURE 2.2. Stresses in the r and θ Directions.

of stress, strain, and displacement in cylindrical coordinates. The follow-

ing sections provide a succinct review of essential topics needed for the
establishment of the governing elasto-dynamic equations.

2.1 State of Stresses at a Point

A three dimensional state of stress in an infinitesimal cylindrical element
is shown in the following three figures. Figure 2.1 depicts such an element
with direct stresses, dimensions, and directions of the cylindrical coordi-
nate. Figure 2.2 represents the direct and shear stresses in the radial and
transverse directions (r and θ), and the variation of direct and shear stresses
in these two directions. Figure 2.3 shows direct and shear stresses associ-
ated with the planes perpendicular to the r and z directions, as well as
their variations along these directions.

In the above graphical representations the changes in direct and shear

stresses are given by considering the first order infinitesimal term used in
Taylor series approximation. The series approximation has been truncated
after the second term. Further terms within the series representation con-
tain terms of an infinitesimal length squared. Assuming that the second
 2. Governing Equations 17

z ∂σ zz
σ zz + δz
∂z
σrr ∂τ zθ
τ zθ + δθ
∂θ
δz ∂τ
τθr δr τ zr + zr δr
Fr ∂r

σ θθ τθz ∂σrr
σrr + δr
∂r
δθ

FIGURE 2.3. Stresses in the plane perpendicular to r and z direction.

order terms are very small, they can be neglected. Therefore, the change
in stress across the element is considered very small.

2.2 Equilibrium Equations in Terms of Stress

Utilizing Newton’s second law and the graphical representation of the state
of stress, the equilibrium equations for an infinitesimal element in a cylin-
drical coordinates will be developed. By examining the state of stress on
the element shown in section 2.1, the following equilibrium equation in the
r direction is given.
µ ¶ µ ¶
∂σrr ∂τ rθ δθ
σ rr + δr (r + δr) δθδz + τ rθ + δθ δrδz cos
∂r ∂θ 2
µ ¶µ ¶
∂τ rz δr
+ τ rz + δz r+ δrδθ + Fr δrδθδz
∂z 2
µ ¶
δθ δr
= σrr rδθδz + δτ rθ δrδz cos + τ rz r + δrδθ +
2 2
µ ¶
∂σθθ δθ δθ
+ σθθ + δθ δrδz sin + σ θθ δrδz sin (2.1)
∂θ 2 2
18 2. Governing Equations

Canceling appropriate terms from both sides of the equation and after
simplifying, it yields:
∂σ rr 1 ∂τ rθ ∂τ rz σ rr − σ θθ
+ + + + Fr = 0 (2.2)
∂r r ∂θ ∂z r
Similarly, the equilibrium equation for the θ direction yields:
∂τ rθ 1 ∂σ θθ ∂τ θz 2
+ + + τ rθ + Fθ = 0 (2.3)
∂r r ∂θ ∂z r
and finally, for the z direction one may write:
∂τ rz 1 ∂τ θz ∂σ zz 1
+ + + τ rz + Fz = 0 (2.4)
∂r r ∂θ ∂z r
In the above simplifications, due to very small angle of δθ, the following
approximations were used:
δθ δθ δθ
cos ≈1 sin ≈ (2.5)
2 2 2
In addition to the stresses, body forces acting throughout the element have
been considered for each direction. These are denoted by Fr , Fθ , and Fz
which are introduced as forces in the r, θ, and z direction per unit of
volume. Due to the cancellation of the moments about each of the three
perpendicular axes, the relations among the six shear stress components
are presented by the following three equations:

τ rθ = τ θr τ θz = τ zθ τ zr = τ rz (2.6)

Therefore, the stress at any point in the cylinder may be accurately de-
scribed by three direct stresses and three shear stresses.

2.3 Stress-Strains Relationships

The constitutive relation between stresses and strains for a homogeneous
and isotropic material can be expressed by Hooke’s law. By definition, a
homogeneous and isotropic material has the same properties in all direc-
tions. From this, the following three equations for direct strain in terms of
stress are presented:

err E = σ rr − ν (σ θθ + σ zz ) (2.7)
eθθ E = σ θθ − ν (σzz + σ θθ ) (2.8)
ezz E = σ zz − ν (σ rr + σ θθ ) (2.9)
 2. Governing Equations 19

where err , eθθ , and ezz are the direct strain in the r, θ, and z directions
respectively; E is the Young’s modulus or the modulus of elasticity; and ν
is a proportionality factor called Poisson’s ratio.

The other three Hooke’s law relations result from the following propor-
tionality between shear stresses and shear strains:

τ rθ = Gerθ (2.10)
τ rz = Gerz (2.11)
τ θz = Geθz (2.12)

where, erθ is the shear strain along θ and perpendicular to r; erz is the
shear strain along z and perpendicular to r; eθz is the shear strain along
z and perpendicular to θ; and G is the shear modulus or the modulus of
rigidity.

Through the general definition of shear stress and strain, the relationship
between shear modulus, Young’s modulus, and Poisson’s ratio is given as:
E
G= (2.13)
2 (1 + ν)
Lame’s elastic constant, λ, and volumetric strain, ε are introduced by the
following equations:
νE
λ = (2.14)
(1 − 2ν) (1 + ν)
ε = err + eθθ + ezz (2.15)

Then, a different form of Hooke’s law relating direct stresses and direct
strains can be achieved by adding the direct strain equations (2.7)-(2.9).
Eε
= σ rr + σ θθ + σ zz (2.16)
1 − 2ν
Rearranging equation (2.7), one may write:
σ rr − Eerr
σ θθ + σ zz = (2.17)
ν
Now, by substituting equation (2.17) into (2.16) it yields:
Eε σ rr Eerr
= σ rr + − (2.18)
1 − 2ν ν ν
and the result can be arranged as:
νEε
= (1 + ν) σ rr − Eerr (2.19)
1 − 2ν
20 2. Governing Equations

from which the direct stress in the radial direction is determined to be:
νE E
σ rr = ε+ err (2.20)
(1 − 2ν) (1 + ν) 1+ν
Now using the definitions of the shear modulus and Lame’s elastic constant,
the direct radial stress is presented as:

σ rr = λε + 2Gerr (2.21)

In a similar procedure, the direct circumferential stress and the direct axial
stress are represented in terms of the volumetric strain, Lame’s elastic con-
stant, the shear modulus, and the appropriate direct strains are presented
in the following equations.

σ θθ = λε + 2Geθθ (2.22)
σzz = λε + 2Gezz (2.23)

2.4 Strain-Displacement Relationships

In Figure 2.4, a small element of an elastic homogenous and isotropic
medium is represented in cylindrical coordinates. The element contains the
point A, which represents a given point having the coordinates of (r, θ, z)
and the point F , an infinitesimal distance away, having the coordinates
(r + δr, θ + δθ, z + δz). In this figure, the angle θ may be measured from
any arbitrary coordinate direction such as x.

A typical small linear deformation of this element is depicted in Figure

2.5 where displacement and the distorted shape of the enlarged element
is outlined. As can be seen, the displacement of point A to A0 is defined
by the three components of ur , uθ , and uz . Where ur , uθ , and uz are
the displacements in the radial direction, transverse direction, and axial
direction, respectively.

It should be noted that uθ is the actual linear displacement along a

circumferential arc. The displacements of the point F to F 0 are (ur + δur ),
(uθ + δuθ ), and (uz + δuz ). Considering a horizontal plane, in Figure 2.6,
the face ACDB of the element previously shown in Figure 2.5 moves to
A0 C 0 D0 B 0 where there is a change in the length of the sides and the angles
are sheared. Angle shearing is resulted by the change of the angle δθ to
(δθ + 4δθ).
 2. Governing Equations 21

z
y
δz H
F ( r + δr , θ + δθ, z + δz )
G B
E D
A

δθ C
θ
r

δr
x

FIGURE 2.4. An Element in Cylindrical Coordinates.

z
F1 F'
H

G F

E D'
uz B D1
uθ

A A' D
C'
ur C1 y
x
C

FIGURE 2.5. Element Subjected to Small Deformation.

22 2. Governing Equations

D'

B1 B ' D
B

δθ + Δδθ
O δθ
uθ A' C'
r C3
A A C1
2
D C2

FIGURE 2.6. Horizontal Plane of Strained Element.

Upon examining the radial strain at point A and ignoring the effects of
strains in the z direction, the strain in the side AC can be found. If the
distance A0 C 0 is transferred to the line AC by drawing arcs, with center
O, through A0 and C 0 to intersect the line OAC at points A2 and C2 then
the radial strain can be defined as:
A2 C2 − AC
err = (2.24)
AC
Considering the geometry of the Figure 2.6, the above equation can be
written in the following form:
µ ¶
∂ur
δr + δr − δr
∂r ∂ur
err = = (2.25)
δr ∂r
In a similar manner, the direct circumferential strain may be defined as:
A0 B 0 − AB
eθθ = (2.26)
AB
where,
AB = rδθ
and µ ¶
0 0 ∂uθ
A B = (r + ur ) δθ + δθ . (2.27)
r∂θ

In the definition of A0 B 0 , the increase in the angle of the arc of A0 B 0

is given by δuθ / (r + ur ) which can be approximated by (∂uθ / (r∂θ)) δθ.
 2. Governing Equations 23

Therefore, by neglecting the second order terms, the circumferential direct

strain is given by:
∂uθ ur
eθθ = + (2.28)
r∂θ r

The shear strain, erθ , is represented by the change of the angle BAC.
By drawing A0 C1 parallel to AC, A0 B1 parallel to AB, and continuing line
OA0 to yield point C3 , the following procedures will yield erθ which is a
rate of change of the line A0 C1 . Notice that A0 C1 is parallel to line AC.

erθ = ∠C3 A0 C 0 + ∠B1 A0 B 0 (2.29)

where,
∠C3 A0 C 0 = ∠C1 A0 C 0 − ∠C1 A0 C3 (2.30)
and
A2 A0 uθ
∠C1 A0 C3 = ∠AOA0 = = . (2.31)
r + ur r
The definition of the length C1 C 0 is:
∂uθ
C1 C 0 = δr (2.32)
∂r
then,
C1 C 0 ∂uθ
∠C1 A0 C 0 = = . (2.33)
AC ∂r
Therefore, the shear angle C3 A0 C1 can be defined as:
∂uθ
δr u ∂uθ uθ
∠C3 A0 C 0 = ∂r
θ
− = − (2.34)
δr r ∂r r
The shear angle B1 A0 B 0 can be defined as:
B1 B 0
∠B1 A0 B 0 = (2.35)
rδθ
which is the radial displacement of B due to the angle δθ over the initial
length. In partial derivative form this simplifies to:
1 ∂ur ∂ur
∠B1 A0 B 0 = δθ = (2.36)
rδθ ∂θ r∂θ
Therefore, the shear strain erθ , is given as:
∂uθ uθ ∂ur
erθ = − + (2.37)
∂r r r∂θ
24 2. Governing Equations

H' G' G
1
H G

δz

B'
B1 A'
B A
rδθ

FIGURE 2.7. The (z, θ) Plane of Strained Element.

Considering the z direction, the direct axial strain can be defined simi-
larly to the procedure used in Cartesian coordinates. Recall that the axial
strain is defined as the ratio of the change in length to the original length
of the element in the z direction. Examining the strain in line AF in the z
direction, the direct axial strain is given as:

A0z Fz0 − Az Fz
ezz = (2.38)
Az Fz
which simplifies to:
∂uz
δz + δz − δz
ezz = ∂z (2.39)
δz
and finally to:
∂uz
ezz = (2.40)
∂z

In Figure 2.7 the z plane is shown as viewed from the origin. On the face
ABHG the shear strain eθz causes the right angle BAG to be displaced
to B 0 A0 G0 . Note that A0 B1 is parallel to AB and A0 G0 is parallel to AG.
Therefore, the shear strain, eθz , is given as:

eθz = ∠G1 A0 G0 + ∠B1 A0 B 0 (2.41)

which is equivalent to:

1 ∂uθ 1 ∂uz
eθz = δz + δθ (2.42)
δz ∂z rδθ ∂θ
and simplifies to:
∂uθ ∂uz
eθz = + (2.43)
∂z r∂θ
 2. Governing Equations 25

Finally by examining the (r, z) plane, the shear strain, erz , is defined as:

erz = ∠G1 A0 G0 + ∠C1 A0 C 0 (2.44)

which yields:
∂ur ∂uz
δz δr
erz = ∂z + ∂r (2.45)
δz δr
and simplifies to:
∂ur ∂uz
erz = + (2.46)
∂z ∂r

There are now six strain components given in terms of the cylinder dis-
placements. This completes the development of the required strain-displacement
relationships.

2.5 Stress-Displacement Relationships

In this section, the stress-displacement relationships are developed by build-
ing upon Hooke’s law and strain displacement relationships. Beginning with
the direct radial stress in terms of strain and substituting the equations for
direct strains, the radial stress in terms of displacement can be presented
as: µ ¶
∂ur ∂uθ ur ∂uz ∂ur
σrr = λ + + + + 2G (2.47)
∂r r∂θ r ∂z ∂r
The substituted direct strains are in terms of displacements and the vol-
umetric strain. Similarly, the direct circumferential stress and direct axial
stress, in terms of displacement, may be given as:
µ ¶ µ ¶
∂ur ∂uθ ur ∂uz ∂uθ ur
σ θθ = λ + + + + 2G + (2.48)
∂r r∂θ r ∂z r∂θ r
µ ¶
∂ur ∂uθ ur ∂uz ∂uz
σ zz = λ + + + + 2G (2.49)
∂r r∂θ r ∂z ∂z

Similarly, the three shear stresses in terms of shear strains are given by
equations (2.10)-(2.12) and the shear strains, in terms of displacement com-
ponents, are provided by equations (2.37), (2.43), and (2.46). Therefore,
26 2. Governing Equations

these shear stresses are:

µ ¶
∂uθ uθ ∂ur
τ rθ = G − + (2.50)
∂r r r∂θ
µ ¶
∂uθ ∂uz
τ θz = G + (2.51)
∂z r∂θ
µ ¶
∂ur ∂uz
τ rz = G + (2.52)
∂z ∂r

2.6 Equations of Motion

In this section, the governing equations of motion in terms of a displacement
vector are generated. The displacement vector is given as:
u = ur ı̂r + uθ ı̂θ + uz ı̂z (2.53)
where ı̂r , ı̂θ , and ı̂z denote unit vectors directed along the (r, θ, and z) axes,
respectively. Substituting Hooke’s law equations into the dynamic equilib-
rium equations and introducing strain-displacement relationships yield the
governing equations of motion:
∂ε ∂ 2 ur
μ∇2 ur + (λ + μ) = ρ 2 (2.54)
∂r ∂t
∂ε ∂ 2 uθ
μ∇2 uθ + (λ + μ) = ρ 2 (2.55)
r∂θ ∂t
∂ε ∂ 2 uz
μ∇2 uz + (λ + μ) = ρ 2 (2.56)
∂z ∂t
where μ is the same as shear modulus G, ε is the volumetric strain, and the
∇2 is the three dimensional Laplacian operator in cylindrical coordinates
defined by:
∂2 ∂ ∂2 ∂2
∇2 = 2 + + 2 2+ 2 (2.57)
∂r r∂r r ∂θ ∂z
Multiplying equation (2.54) by ı̂r , equation (2.55) by ı̂θ , equation (2.56)
by ı̂z , and adding these three equations, the vector form of the governing
equation of motion is given by:
∂2u
μ∇2 u + (λ + μ) ∇ (∇ · u) = ρ (2.58)
∂t2
where ∇ is the cylindrical gradient:
µ ¶
∂ 1 ∂ ∂
∇= + ı̂r + ı̂θ + ı̂z (2.59)
∂r r r∂θ ∂z
 2. Governing Equations 27

2.7 Key Symbols

A, B, · · · A0 , B 0 point label
e strain
err , eθθ , ezz direct strain in r, θ, z directions
erθ shear strain along θ and perpendicular to r
erz shear strain along z and perpendicular to r
eθz shear strain along z and perpendicular to θ
E Young’s modulus
Fr , Fθ , Fz forces in the r, θ, z directions per unit of volume
G, μ shear modulus, modulus of rigidity
ı̂r , ı̂θ , ı̂z unit vectors along the axes r, θ, z
r radial direction
ur , uθ , uz displacements in r, θ, z directions
u displacement vector
z axial direction

δ variation
ε volumetric strain
θ transverse direction
λ Lame’s elastic constant
μ, G shear modulus, modulus of rigidity
ν Poisson’s ratio
σ normal stress
σ rr , σ θθ , σzz direct stress in the r, θ, z directions
τ shear stress
τ rθ shear stress along θ and perpendicular to r
τ rz shear stress along z and perpendicular to r
τ θz shear stress along z and perpendicular to θ

∠ angle
∇2 Laplacian operator
∇ gradient
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