Theory of Elasticity

winter semester 2015/16

 General information

Lecturer: Ing. Jan Vorel, Ph.D., D2016

Consulting hours: Wednesday 17:00-18:00,
otherwise by appointment
E-mail: Jan.Vorel@fsv.cvut.cz

Web pages:
https://mech.fsv.cvut.cz/student/
(homework, information, documents)
 General information
Requirements:
Homework
2 semester tests, 17 points out of 34

11.11. - 1st semester test

9.12. (16.12.) - 2nd semester test
 General information
Requirements:
Homework
2 semester test, 17 points out of 34
Grading:
Semester tests points ... max 34
Final exam ... max 66
Oral exam if needed

Literature:
[1] Šejnoha, M., Bittnarová, J., Šejnoha, J.: The Theory of Elasticity 10,
ČVUT Publ. House, 2000
[2] Procházka, P.: The Theory of Elasticity 20, ČVUT Publ. House, 2000
 Content
Elastic beams loaded by:
tension or compression
simple bending
complex or asymmetrical (general) bending
combination of normal force and bending moments
shear in bending
torsion
buckling load
Elasto-plastic beams
Walls
3D structural elements
 Theory of Elasticity

1st lecture, October 7, 2015

1) Introduction – notation, basic equations

2) Beam loaded in tension/compression
 Theory of Elasticity

Elasticity = the ability of a body to resist

a distorting influence or stress and to return
to its original size and shape when the stress
is removed.

Strength of material = a limit state of stress

that leads to failure.
 Theory of Elasticity

Mississippi, Minneapolis, 2007

 Uniaxial tensile test

L L

F F
 Force-displacement diagram
– tensile test
F F

Nonlinear elastic behavior:

Linear elastic behavior: force is a function of
displacement is displacement (reversible
proportional to applied load deformation)
L L

F F Damage:
stiffness reduction
(cf. unloading)
Elasto-plastic behavior:
irreversible (residual)
deformation

L L
Stress-strain diagram

steel concrete

tension

compression
 Theory of Elasticity

Theory of Elasticity is the branch of Solid

Mechanics which deals with the stress and
displacements in elastic solids produced by
external forces or changes in temperature.

Basic task is to determine the displacements

and internal forces in the solid body caused by
a given load.
 Basic terms

Investigated solid body is describe by its

shape, dimensions, boundary conditions and
properties of material it is made from.
Load
 Mechanical
• volume forces
• surface forces
 Non-mechanical
• temperature changes
• prescribed support displacements
Example
 Example

volume forces

surface forces
temperature
change

support
 Basic quantities

load influence
 Basic quantities

load influence

• displacement
• strains
• internal forces
(stress)
 Basic quantities and equations

displacement external forces

strain-displacement static
equations equations

constitutive
strain int. forces/stress
equations
 Static equations

Prescribed forces – impact of

the surrounding environment external forces
on the studied solid body

static
Equilibrium equations
equations

Unknown forces (stress)

acting between neighboring int. forces/stress
points of the solid body
 Strain-displacement equations

Position change of individual

displacement points of the solid body

Influence of displacements on
strain-displacement strains in the individual points
equations of the solid body

Change of size and shape of

strain individual parts of the solid
body
 Constitutive equations

equations describing
the resistance of
material against the
experienced strain

constitutive
strain int. forces/stress
equations
 Basic hypothesis

Solid continuum is considered to be structureless.

The solid body is assumed to be perfectly
continuous.

Continuum elasticity considers the consequence

of atomic interactions in solids, but disregards
their nature.

Homogenous material has the same properties at

every point; it is uniform without irregularities.
 Basic hypothesis

Isotropic material has identical values of a

property in all directions (glass, metals, concrete,
etc.)

(In contrast, an anisotropic material has

the property which is directionally
dependent. Special cases are
orthotropic or transversally isotropic
materials (wood, some composites, etc.)
Model of solid continuum

The solid body can be considered as the

collection of infinitesimally small blocks
(elements).

stress
 Model of beam/bar

Beam = a long, sturdy element which is used to

support, e.g., the roof or floor of a building.
(one dimension exceeds remarkably the others)
Model of beam/bar

Center line (imaginary

line through the center
of gravity of all cross
sections)

center of gravity

cross
section
Model of beam/bar

z
Local (Cartesian) coordinate
x system
 Stress vs. Internal forces
Model of solid Model of beam/bar
continuum

Fundamental unit = Fundamental unit =

elementary block elementary segment of
the beam/bar
(segment between two
infinitesimally close cross
sections)
 Stress vs. Internal forces
Model of solid Model of beam/bar
continuum

Interaction is Interaction is
described by stress described by internal
components forces
 Stress vs. Internal forces
Model of solid Model of beam/bar
continuum

Internal forces are

resultants of stresses
over the cross
sectional area
Loading scenarios of beam

tension (compression)
Loading scenarios of beam

truss frame compression test

Loading scenarios of beam

bending (accompanied by shear)

Loading scenarios of beam

iPhone

steel frame
Loading scenarios of beam

torsion
Loading scenarios of beam

wooden beam
 Uniform tension of bar
constant cross section
external forces acting only on ends
simple tension => only normal internal force

L L
F F

L F … stress
… elongation (absolute) 
A
L
 … strain (relative elongation)
L
 Basic quantities and equations

displacement external forces

strain-displacement static
equations equations

constitutive
strain int. forces/stress
equations
 Basic quantities and equations for
uniform tension in bar

Δ𝐿 𝐹

strain-displacement static
equations equations

constitutive
𝜀 𝜎
equations
 Basic quantities and equations for
uniform tension in bar

EA
L F L F
L
beam stiffness in
  L / L tension/compression F  A

   E 
 Uniform tension in bar
- displacement

initial state

x u  x
state after loading

u  x  … displacement in the direction of x-axis

 Uniform tension in bar
- displacement
x
initial state

x  x u  x  x 
x u  x state after loading

x … initial length of segment

x  u  x  x   u  x  … new length of segment

 Uniform tension in bar
- displacement
x … initial length of segment

x  u  x  x   u  x  … new length of segment

u … absolute elongation of segment

u
… relative elongation of segment
x
u du
for an infinitesimally small segment:   lim   u
x0 x dx
du  x 
  x  … strain-displacement eq.
dx
 Uniform tension in bar
- stress and internal forces
For linear elastic material in uniaxial
tension/compression, the stress is proportional to
the relative elongation (strain)
  E … Hooke’s law
(constitutive eq.)
Normal force is calculated as an integral of
normalYoung’s (tensile)
stress over modulus
the cross sectional area:
(it measures the  x    of xthe

N stiffness  dydz
, y, zmaterial)
A
For uniaxial tension/compression it reads
N  x      x  dy dz  A  x 
A
 Uniform tension in bar
- stress and internal forces

N  x   A  x   EA   x 
normal stiffness of cross section
(stiffness in tension/compression)

N  EA … generalized constitutive eq.

(influence of cross section is included)
 Equilibrium equation of segment
external forces:
f x x  x / 2  x

N  x N  x  x 

x x position
 N  x   N  x  x   f x  x  x / 2  x  0

N  x  x   N  x  dN  x 
 f x  x  x / 2   0 ⇒  fx  x  0
x dx
 Fundamental equations
(bar in tension/compression)
d  du 
 EA    f x
dx  dx 
u( x ) f x (x )

du dN
   fx
dx dx

N  EA
 ( x) N ( x)
 Fundamental equations
(bar in tension/compression)

d  d  dudux 
 EA xEA
    f x f x  x 
dx  dx  dx  
• ordinary second order differential eq., linear
• 1 boundary condition on each end

free end … prescribed normal force … static b.c.

fixed end … prescribed displacement … kinematic b.c.

 Boundary conditions
(bar in tension/compression)
L
x
z
F
u 0  0 u  L  0 u 0  0 u '  L   F / EA  L 

F
u '  0    F / EA  0  u  L  0 mechanism
 Example
- column loaded by self-weight
L  10 m Calculate the column
z displacement due to
b  0,5 m self-weight
h  0,8 m
d  du 
E  20 GPa  EA    f x
dx  dx 
  2500 kg / m3
u ' 0  0 u  L  0

x EA  Ebh  8 GN
f x  gA  gbh  10 kN / m
 Example
- column loaded by self-weight
d  du 
z  EA    f x u ' 0  0 u  L  0
dx  dx 

First integration (calculation of inter. forces)

dN  x 
  fx
dx N  x   fxx
N 0  0
x
Second integration (calculation of displacement)
du  x  f x x2
EA  N  x   fxx u  x   C
dx EA 2
u  L  0 f x L2 f x L2
u  L    C  0 ... C 
EA 2 2 EA
 Example
- column loaded by self-weight
d  du 
z  EA    f x u ' 0  0 u  L  0
dx  dx 

Final displacement distribution:

f x x 2 f x L2
u  x   
EA 2 2 EA 2 EA

fx
 L2  x 2 

x
f x x2
u  x   C
EA 2
f x L2 f x L2
u  L    C  0 ... C 
EA 2 2 EA
 Example
- column loaded by self-weight
d  du 
z  EA    f x u ' 0  0 u  L  0
dx  dx 

Final displacement distribution:

f x x 2 f x L2
u  x   
EA 2 2 EA 2 EA

fx
 L2  x 2 

x Total elongation of the column:

fx 2 f x L2
L  u  L   u  0   0  L   62,5  m
2 EA 2 EA
 Temperature change
• increase of temperature the material tends to expand
• if the expansion is not allowed, the stress will build
up in the material

  T T
E
total
strain
strain caused by  T  T T
strain temperature
caused by change
stress
  E   T T 
N  EA   T T 
 Temperature change
If the bar is uniformly heated up and is uniformly pulled, the
stress and the displacement will be constant along whole bar.
The bar will be stretched but still straight.

Bar elongation:
L EA
L  N  LT T N  L  LT 
EA L
total
elongation elongation due to
elongation due
to normal force temp. change … LT  LT T

If the ends are clamped then L  0

and the normal force will arise in the bar: N   EAT T   EA T
Basic quantities and equations for
uniform tension in bar

EA
L F L F
L

  L / L F  A

   E 
Basic quantities and equations for
uniform tension in bar

EA
L F  L  LT  F
L
LT T
  L / L F  A
 T T

   E    T  
 Fundamental equations
(bar in tension/compression)
d   du 
 EA    T     f x
dx   d x 
u( x ) f x (x )
influence of
temperature
du dN
   fx
influence of dx
dx temperature

N  EA    T 
 ( x) N ( x)
The End