Lecture 2 – State of strain

Displacement:

From P 1 to P 2 , P 1 P 2 = U is displacement, the three component of U is

u = x 2 -x 1

v = y 2 -y 1

w = z 2 -z 1

The distance between P 1 and P 2 is 𝑑𝑑 = �(𝑥𝑥2 − 𝑥𝑥1 )2 + (𝑦𝑦2 − 𝑦𝑦1 )2 + (𝑧𝑧2 − 𝑧𝑧1 )2

Consider an infinitesimal cube, if there is a deformation:

z
C C'

M B'
M' B
A
A'
y

The edges MA, MB and MC become M’A’, M’B’ and M’C’ after deformation. We use ε x , ε y and
ε z to denote the elongation of MA, MB and MC as normal strain, use γ yz , γ xz , γ xy to denote the
angle change as shear strain.
𝑀𝑀′ 𝐴𝐴′ −𝑀𝑀𝑀𝑀 𝜋𝜋
𝜀𝜀𝑥𝑥 = 𝑀𝑀𝑀𝑀
, 𝛾𝛾𝑦𝑦𝑦𝑦 = 2 − ∠𝐶𝐶′𝑀𝑀′𝐵𝐵′

𝑀𝑀′ 𝐵𝐵′ −𝑀𝑀𝑀𝑀 𝜋𝜋

𝜀𝜀𝑦𝑦 = 𝑀𝑀𝑀𝑀
, 𝛾𝛾𝑥𝑥𝑥𝑥 = 2 − ∠𝐶𝐶′𝑀𝑀′𝐴𝐴′

𝑀𝑀′ 𝐶𝐶 ′ −𝑀𝑀𝑀𝑀 𝜋𝜋
𝜀𝜀𝑧𝑧 = 𝑀𝑀𝑀𝑀
, 𝛾𝛾𝑥𝑥𝑥𝑥 = 2 − ∠𝐴𝐴′𝑀𝑀′𝐵𝐵′

1
If we project the infinitesimal cube to the x-y plane:

The coordinates M → (x, y, z), B → (x, y+dy, z), A → (x+dx, y, z)

Take u(x, y, z), v(x, y, z) as the x, y components of displacement of M, the displacement

component for A and B are

A → A’: u(x+dx, y, z), v(x+dx, y, z)

B → B’: u(x, y+dy, z), v(x, y+dy, z)

𝑓𝑓(𝑥𝑥)′
Taylor series: f(x+Δx) = f(x) + ∆𝑥𝑥 + 𝑂𝑂(∆𝑥𝑥 2 )
1!

Take the Taylor series, therefore,

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
u(x+dx, y, z) = 𝑢𝑢 + 𝜕𝜕𝜕𝜕 𝑑𝑑𝑑𝑑, v(x+dx, y, z) = 𝑣𝑣 + 𝜕𝜕𝜕𝜕 𝑑𝑑𝑑𝑑

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
u(x, y+dy, z) = 𝑢𝑢 + 𝜕𝜕𝜕𝜕 𝑑𝑑𝑑𝑑, v(x, y+dy, z) = 𝑣𝑣 + 𝜕𝜕𝜕𝜕 𝑑𝑑𝑑𝑑

Thus, the elongations of MA, MB are

2 2
� 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
′ ′
𝑀𝑀 𝐴𝐴 − 𝑀𝑀𝑀𝑀 �𝑑𝑑𝑑𝑑 + 𝑑𝑑𝑑𝑑� + � 𝑑𝑑𝑑𝑑� − 𝑑𝑑𝑑𝑑 𝜕𝜕𝜕𝜕 2 𝜕𝜕𝜕𝜕 2
𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
𝜀𝜀𝑥𝑥 = = = ��1 + � + � � − 1
𝑀𝑀𝑀𝑀 𝑑𝑑𝑑𝑑 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 2 𝜕𝜕𝜕𝜕

Since 𝜕𝜕𝜕𝜕 ≪ 1 (much less than), 𝜀𝜀𝑥𝑥 = ��1 + 𝜕𝜕𝜕𝜕 � − 1 = 𝜕𝜕𝜕𝜕

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
Follow the same idea, 𝜀𝜀𝑦𝑦 = 𝜕𝜕𝜕𝜕, 𝜀𝜀𝑧𝑧 = 𝜕𝜕𝜕𝜕

2
For the shear strain

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
𝜋𝜋 𝑣𝑣 + 𝑑𝑑𝑑𝑑 − 𝑣𝑣 𝑢𝑢 + 𝜕𝜕𝜕𝜕 𝑑𝑑𝑑𝑑 − 𝑢𝑢 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
𝛾𝛾𝑥𝑥𝑥𝑥 = − 𝐴𝐴′ 𝑀𝑀′ 𝐵𝐵 ′ = 𝜕𝜕𝜕𝜕 + = +
2 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
Follow the same idea, 𝛾𝛾𝑦𝑦𝑦𝑦 = 𝜕𝜕𝜕𝜕
+ 𝜕𝜕𝜕𝜕 , 𝛾𝛾𝑥𝑥𝑥𝑥 = 𝜕𝜕𝜕𝜕
+ 𝜕𝜕𝜕𝜕

So we get the strain-displacement relationship as

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
𝜀𝜀𝑥𝑥 = 𝜕𝜕𝜕𝜕 , 𝛾𝛾𝑦𝑦𝑦𝑦 = 𝜕𝜕𝜕𝜕
+ 𝜕𝜕𝜕𝜕

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

𝜀𝜀𝑦𝑦 = 𝜕𝜕𝜕𝜕, 𝛾𝛾𝑥𝑥𝑥𝑥 = 𝜕𝜕𝜕𝜕
+ 𝜕𝜕𝜕𝜕

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

𝜀𝜀𝑧𝑧 = 𝜕𝜕𝜕𝜕
, 𝛾𝛾𝑥𝑥𝑥𝑥 = 𝜕𝜕𝜕𝜕 + 𝜕𝜕𝜕𝜕

This is called geometric equation (or Cauchy equation).

1 1 1
If we take 𝜀𝜀𝑥𝑥𝑥𝑥 = 𝜀𝜀𝑥𝑥 , 𝜀𝜀𝑦𝑦𝑦𝑦 = 𝜀𝜀𝑦𝑦 , 𝜀𝜀𝑧𝑧𝑧𝑧 = 𝜀𝜀𝑧𝑧 , 𝜀𝜀𝑦𝑦𝑦𝑦 = 2 𝛾𝛾𝑦𝑦𝑦𝑦 , 𝜀𝜀𝑥𝑥𝑥𝑥 = 2 𝛾𝛾𝑥𝑥𝑥𝑥 , 𝜀𝜀𝑥𝑥𝑥𝑥 = 2 𝛾𝛾𝑥𝑥𝑥𝑥

𝜀𝜀𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥

𝜀𝜀
Then, � 𝑦𝑦𝑦𝑦 𝜀𝜀𝑦𝑦 𝜀𝜀𝑦𝑦𝑦𝑦 � = �𝜀𝜀𝑦𝑦𝑦𝑦 𝜀𝜀𝑦𝑦𝑦𝑦 𝜀𝜀𝑦𝑦𝑦𝑦 � = 1 [∇𝑼𝑼 + (∇𝑼𝑼)T ]
2
𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧 𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧𝑧𝑧

This is called Cauchy strain tensor.

𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
⎡𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 ⎤
⎢𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕⎥
∇𝑼𝑼 = ⎢𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 ⎥
⎢𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕⎥
⎣ 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 ⎦

Coordinate transformation:

The same as the Cauchy’s strain tensor, we need to do the coordinate transformation and know
the strain at different direction.

The relation between new coordinate (x', y', z') and (x, y, z):

x y z
x' l1 m1 n1
y' l2 m2 n2
z' l3 m3 n3

3
The Cauchy’s strain tensor in the new coordinate:
𝜀𝜀𝑥𝑥 ′ 𝜀𝜀𝑥𝑥 ′ 𝑦𝑦 ′ 𝜀𝜀𝑥𝑥 ′ 𝑧𝑧 ′ 𝑙𝑙1 𝑚𝑚1 𝑛𝑛1 𝜀𝜀𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥 𝑙𝑙1 𝑙𝑙2 𝑙𝑙3
𝜺𝜺′ = �𝜀𝜀𝑦𝑦 ′ 𝑥𝑥 ′ 𝜀𝜀𝑦𝑦 ′ 𝜀𝜀𝑦𝑦 ′ 𝑧𝑧 ′ � = �𝑙𝑙2 𝑚𝑚2 𝑛𝑛2 � �𝜀𝜀𝑦𝑦𝑦𝑦 𝜀𝜀𝑦𝑦 𝜀𝜀𝑦𝑦𝑦𝑦 � �𝑚𝑚1 𝑚𝑚2 𝑚𝑚3 �
𝜀𝜀𝑧𝑧 ′ 𝑥𝑥 ′ 𝜀𝜀𝑧𝑧 ′ 𝑦𝑦′ 𝜀𝜀𝑧𝑧 ′ 𝑙𝑙3 𝑚𝑚3 𝑛𝑛3 𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧 𝑛𝑛1 𝑛𝑛2 𝑛𝑛3

The same as Cauchy’s stress tensor, we can always find a coordinate system (x', y', z'). The shear
strains are zero in its corresponding strain tensor.
𝜀𝜀𝑥𝑥 ′ 𝜀𝜀𝑥𝑥 ′ 𝑦𝑦 ′ 𝜀𝜀𝑥𝑥 ′ 𝑧𝑧 ′ 𝜀𝜀1 0 0
𝜺𝜺 = �𝜀𝜀𝑦𝑦 ′ 𝑥𝑥 ′
′ 𝜀𝜀𝑦𝑦 ′ 𝜀𝜀𝑦𝑦 ′ 𝑧𝑧 ′ � = � 0 𝜀𝜀2 0�
𝜀𝜀𝑧𝑧 ′ 𝑥𝑥 ′ 𝜀𝜀𝑧𝑧 ′ 𝑦𝑦′ 𝜀𝜀𝑧𝑧 ′ 0 0 𝜀𝜀3

ε 1 , ε 2 , and ε 3 are called principal stresses.

The principal strain can be calculated by getting the eigenvalues of the Cauchy’s strain tensor:

𝜀𝜀𝑥𝑥 − 𝜆𝜆 𝜀𝜀𝑥𝑥𝑥𝑥 𝜀𝜀𝑥𝑥𝑥𝑥

det(ε-λI) = � 𝜀𝜀𝑦𝑦𝑦𝑦 𝜀𝜀𝑦𝑦 − 𝜆𝜆 𝜀𝜀𝑦𝑦𝑦𝑦 � = 0
𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧𝑧𝑧 𝜀𝜀𝑧𝑧 − 𝜆𝜆

=> 𝜀𝜀 3 − J1 𝜀𝜀 2 + J2 𝜀𝜀 − J3 = 0

Where, J1 = 𝜀𝜀𝑥𝑥 + 𝜀𝜀𝑦𝑦 + 𝜀𝜀𝑧𝑧

2 2 2
J2 = 𝜀𝜀𝑦𝑦 𝜀𝜀𝑧𝑧 + 𝜀𝜀𝑥𝑥 𝜀𝜀𝑧𝑧 + 𝜀𝜀𝑥𝑥 𝜀𝜀𝑦𝑦 − (𝜀𝜀𝑦𝑦𝑦𝑦 + 𝜀𝜀𝑥𝑥𝑥𝑥 + 𝜀𝜀𝑥𝑥𝑥𝑥 )

J3 = det(𝜺𝜺)

The way to calculate the unit vector’s direction of principal strain is the same for principal stress.

Are the directions of principal strain the same as the directions of principal stress?