Energy Methods - 1

Generalized Hook' s Law

The normal strains are related to normal stresses by

1
ϵx = (σx - ν (σy + σz))
E
1
ϵy = (σy - ν (σx + σz))
E
1
ϵz = (σz - ν (σx + σy))
E
The shear strains are related to shear stresses by
τxy
γxy =
G
τyz
γyz =
G
τxz
γxz =
G
where G is the shear modulus given by
E
G=
2 (1 + ν)
Physical meaning of the above relations will be discussed in class

Elastic Strain Energy U & Elastic Strain Energy Density u

The work done by external forces in producing deformation is stored within the body as strain energy U. The
strain energy per unit volume is called the strain energy density u.
Examples:
◼ Axially Loaded Bar
Consider a bar subjected to an axial force P. Assuming that the length is L and cross - sectional area is A. Then
The work done W is given
by 12 P Δ where Δ is the deflection at the end

L P
2 Energy Methods-1(1)(1).nb

1 PL
W= P
2 A EE
L P2
2 A EE
1
The strain energy per unit volume u stored in the bar is given by 2
σ ϵ where σ is the normal stress and ϵ is the
corresponding strain
1 P P
u=
2 A A EE
P2
2 A2 EE
The strain energy U stored in the bar is given by ∫ u ⅆ V = u V where V is the volume of the bar
U=uAL
L P2
2 A EE
◼ Twisted Shaft with Circular x-section

L T

1 TL π c4
W= T /. J →
2 JG 2
L T2
c4 G π
1 Tr Tr
u=
2 J JG
r T2
2

2 G J2
π c4
u = u /. J →
2
2 r2 T2
c8 G π 2
L L c 2π
U =  u ⅆ V =   u dA dx    u r dr dθ dx
V 0 A 0 0 0
 Energy Methods-1(1)(1).nb 3

c
U = 2 π L  u r ⅆr
0

L T2
c4 G π
◼ Cantilever beam (square section a x a) subjected to a point load at its free end

L P
a
a
1 P L3 a4
W= P /. II →
2 3 EE II 12
2 L3 P2
a4 EE
(P x) y
σ= ;
II
ϵ = σ / EE;
1
u= σ ϵ;
2
a
L
2
U =   u a ⅆy ⅆx
a
0 -
2

a4 L3 P2
72 EE II2
a4
U = U /. II →
12
2 L 3 P2
a4 EE
◼ Elastic strain energy in one-dimensional members (beams, truss members, frame members, etc.)
Consider a structural member made of a material with elastic properties E & G and cross -
section properties (A, I, ky & kz ),
then the strain energy sotored due to varius loads are given by
4 Energy Methods-1(1)(1).nb

Mz My

Vz
Vy T
N

◼ U Due to normal (axial load) N

2
σx 2 L  NA  L N2 L N2 L N2
= dV =   dA dx =   dA dx =  A dx =  dx
V2 E 0 A 2E 0 2 A2 E A 0 2 A2 E 0 2AE

L P2
2 A EE

◼ U Due to torsion T (for a circular section)

2 T 2
L τ2 L  TJρ  L
J
 L T2 L T2
 dx =   dA dx =   ρ2 dA dx =  J dx =  dx
0 2G 0 A 2G 0 2G A 0 2 G J2 0 2GJ

◼ U Due to bending moment My :

My z 2 My 2
σx 2 L  Iy
 L  Iy  L My 2 L My 2
 dV =   dA dx =   z2 dA dx =  Iy dx =  ⅆx
V2 E 0 A 2E 0 2E A 0 2 E Iy 2 0 2 E Iy

◼ U Due to bending moment Mz :

2 Mz 2
σx 2 L  MIz y  LI  L Mz 2 L Mz 2
z z
 dV =   dA dx =   y2 dA dx =  Iz dx =  ⅆx
V2 E 0 A 2E 0 2E A 0 2 E Iz 2 0 2 E Iz

◼ U Due to shear force Vy

τxy 2
 dV =
V 2G
V Q 2 Vy 2
L  Iy tz  LI  Qz 2 L Vy 2 A Qz 2 L ky Vy 2
z z z
  dA dx =   dA dx =   ⅆA =  ⅆx
0 A 2G 0 2G A tz 0 2GA Iz 2 A tz 2 0 2GA

A Qz 2
where ky is given by  ⅆA
Iz 2 A tz 2
ky = 6 / 5 for a rectangular section
= 1.11 for a solid circular section

◼ U Due to shear force Vz

L kz Vz 2
 ⅆx
0 2GA
 Energy Methods-1(1)(1).nb 5

A Qy 2
where kz is given by  ⅆA
Iy 2 A ty 2

◼ U Due to Combined loads

L N2 L T2 L kz Vz 2
 ⅆx +  ⅆx + ... .. +  ⅆx
0 2EA 0 2GK 0 2GA
◼ Elastic strain energy for multi-member structures
n Li Ni 2 Li Ti 2 Li (kz )i (Vz )i 2
◼ U=  ds +  ds + ... .. +  ds
i=1
0 2 E i Ai 0 2 G i Ki 0 2 G i Ai

Energy Theorems & Principles

◼ Conservation of Energy
Work done by external loads is equal to to the internal strain energy stored in the structure, i.e. W = U
◼ Example 1: The beam AB has a square section (a x a). Find the vertical displacement at A.

A L B

E = const. a
a
Cross-section.

1
W = P ΔA
2
1 2
L 3 2
L
U=  M ⅆx +  V ⅆx
2 EI 0 5GA 0

4 P L3 6PL
Final Answer : ΔA = +
E a4 5 G a2

energy due to bending 5 L 2

Note that the : =
energy due to shear 3 (1 + ν) a
6 Energy Methods-1(1)(1).nb

◼ Mathematica Code
1
W = P ΔA;
2
M = -P x;
V = -P;
A = a2 ;
a4
EI = EE ;
12
1 L
2
3 L
2
U=  M ⅆx +  V ⅆ x;
2 EI 0 5GA 0
Solve[U ⩵ W, ΔA]

2 3 a2 EE L + 10 G L3  P
ΔA → 
5 a4 EE G
Expand[ΔA /. %]
6LP 4 L3 P
 + 
5 a2 G a4 EE
4 L3 P 6LP EE
Simplify  /. G → 
a4 EE 5 a2 G 2 (1 + ν)
5 L2
3 a2 (1 + ν)

◼ Example 2: The beam ABC has a circular section (radius = c). Find the vertical displacement at A. Neglect
energy caused by shear.

L L
A B C

E = const.
Cross-section.

8 P L3
Final Answer : ΔA =
3 π c4 E
 Energy Methods-1(1)(1).nb 7

◼ Mathematica Code (neglecting the shear energy)

1
W = P ΔA;
2
M1 = -P x;
M2 = -P x + By (x - L);
By = 2 P;
A = π c2 ;
π c4
EI = EE ;
4
1 L
2
1 2L
2
U=  M1 ⅆ x +  M2 ⅆ x;
2 EI 0 2 EI L
Solve[U ⩵ W, ΔA]

8 L3 P
ΔA → 
3 c4 EE π
◼ Example 3
Consider a three member frame ABCD is fixed at A and subjected to horizontal point load P at D. Find the
horizintal displacement at D. (Ignore energy caused by shear)

B C
L

L EI = const. L

A D
P

The strain energy caused by bending only (shear is neglected) is given by

C MDC 2 B MCB 2 A MBA 2
U= ⅆs +  ⅆs +  ⅆs
D 2 EI C 2 EI B 2 EI

where MDC MCB and MBA are the internal bending moments
in members CD BC and AB. The work done by external forces is W =
1 5 P L3
P (ΔD )H . Applying the conservation energy priciple, we get (Δ D )H =
2 3EI
8 Energy Methods-1(1)(1).nb

◼ Mathematica Code (neglecting the shear energy)

1
W = P ΔD;
2
Mdc = P x;
Mcb = P L;
Mba = P (L - x);
EI =.;
1 L
2
1 L
2
1 L
2
U=  Mdc ⅆ x +  Mcb ⅆ x +  Mba ⅆ x;
2 EI 0 2 EI 0 2 EI 0
Solve[U ⩵ W, ΔD]

5 L3 P
Out[ ]= ΔD → 
3 EI
◼ Example 4
Determine the vertical displacement at Joint D. Assume that A & E are constants

C B

0.8 L

D A
0.6 L
P
3P 3P
Reactions : Ax → - , Bx = and By = P
4 4
3P 5P
Member forces : NAD = 0, NAB = P, NBC = , NCD = P, NAC = -
4 4
1 5 2
Ni Li
P (ΔD )v = 
2 i=1 2 E i Ai

Solving for (ΔD )v :

7PL
(ΔD )v =
2EA