Lecture Two

Equations of elasticity
 Plane Strain w=0
ε zz , γ zx , γ zy = 0
 ∂u  ∂ 
   0
ε xx   ∂x   ∂x  σ xx   2G + λ λ 0  ε xx 
   ∂v   ∂  u  =     
σ
 yy   λ 2G + λ 0 ε yy  ,
ε yy 
= =  0   
γ   ∂y  ∂y   v  σ   0  γ 
    
xy 0 G   xy 
 xy   ∂u ∂v  ∂ ∂
 +   ∂y
 ∂y ∂x   ∂x 

ε} [ H ( ∂ )] {u}
{= or {σ} = [ E]{ε} ,
T

σ zz =λ ( ε xx + ε yy ) =ν (σ xx + σ yy ) ,σ zx =σ zy =0
 Equilibrium equation
∂ 0
∂
σ xx 
 ∂x 

∂y    f x 
 σ yy  =   [ H ( ∂ )]{σ} =
{f }
0 ∂ ∂     fy 
σ xy 
 ∂y 
∂x  

H ( ∂ ) σ = H ( ∂ ) Eε = H ( ∂ ) EHT ( ∂ ) u = f
∂ 
 0
∂ ∂
E13   ∂x 
 ∂x 0   E11 E12
∂y   ∂  u   f x 
  E21 E22 E23   0   =f 
0 ∂ ∂  ∂y   v   y 
   E31 E32 E33  
 ∂y ∂x  ∂ ∂
 ∂y ∂x 

 Boundary conditions
[ H (=
n )]{σ} H ( n ) EH=
(∂)u T
{f }
δ
δV
= ∫ σ ε − f udA
T T
2
2
∫ ( )(
δ ( ∂ ) ( ∂ ) u − f )dA
T T
u H EH
+ ∫ (δ uT ) ( H ( n ) EHT ( ∂ ) u − f ) ds =
0

 nx 0 ny 
H (n ) = 
0 ny nx 
 Compatibility equations
∂ ε xx
2
∂ 2ε yy ∂ 2γ xy
+ =
∂y 2
∂x 2 ∂x∂y
1  ∂ fx ∂ f y  2 ∂2 ∂2
∇ (σ xx + σ yy ) =−
2
 +  ,∇ = 2 + 2
1 −ν  ∂x ∂y  ∂y ∂x

∇ 2 (σ xx + σ yy ) =
0 in the absence of body force

∇ 2 (σ rr + σ θθ ) =
0 in cylindrical coordinates
 Plane stress
σ zz ,σ zx ,σ zy = 0
ε xx  1 −ν 0  σ xx 
  1  
ε yy=  −ν 1 0  σ yy  ,
γ  E  0 2 (1 +ν )  σ xy 
 xy   0
ν
− (σ xx + σ yy ) , ε zx =
ε zz = ε zy =
0
E
compatibility in terems of stress for body forces
 ∂ fx ∂ f y 
∇ (σ xx + σ yy ) =
2
− (1 +ν )  + 
 ∂x ∂y 
 Potential body forces
∂V ∂V
=fx = , fy
∂x 2 ∂x
∂φ ∂ 2φ ∂ 2φ
σ xx + V = 2 ,σ yy + V = 2 ,σ xy =−
∂y ∂x ∂x∂y
statisfy equilibrium automatically
From compatibility
∂ 4φ ∂ 4φ ∂ 4φ
+ 2 + =
∇ 4
φ (
=1 − ν ) ∇ 2
V
∂x 4
∂x ∂y ∂y
2 2 4

∇ 4φ =
0 if body force potential is harmonic
E ν
E→ ,ν → convert from plane stress to plane strain
1 −ν 2
1 −ν
Polar coordinates  ∂x
 ∂r
∂x 
∂θ  cosθ −rsinθ 
 =
rcosθ , y =
x= rsinθ → tanθ =y
, r 2
=x 2
+ y 2
 ∂y ∂y   sinθ rcosθ 
x
 ∂r ∂θ 
 ∂r ∂θ 
−T
 ∂x ∂x  cosθ −rsinθ  cosθ −sinθ / r 
  = 
 ∂r ∂θ   sinθ rcosθ   sinθ cosθ / r 
 ∂y ∂y 

∂  ∂r ∂θ   ∂  ∂ 
 ∂x   ∂x ∂x   ∂r  cosθ −sinθ / r   ∂r 
∂ =     
   ∂r ∂θ   ∂   sinθ cosθ / r   ∂ 
 ∂y   ∂y ∂y   ∂θ   ∂θ 

σ xx   cos 2θ sin 2θ −sin2θ  σ rr 

    
σ yy  =  sin θ cos 2θ sin2θ  σ θθ 
2

σ  sinθ cosθ −sinθ cos θ cos2θ  σ rθ 

 xy  
 Equilibrium
 ∂σ rr + 1 ∂σ rθ + σ rr − σ θθ  cosθ −  1 ∂σ θθ + ∂σ rθ + 2 σ rθ  sinθ =
    0
 ∂r r ∂θ r   r ∂θ ∂r r 
 ∂σ rr + 1 ∂σ rθ + σ rr=
− σ θθ   1 ∂σ θθ + ∂σ rθ += σ rθ 
  0 and  2  0
 ∂r r ∂θ r   r ∂θ ∂r r 
 ε rr  1 −ν 0  σ rr 
  1  
εθθ=   −ν 1 0  σ θθ 
γ  E  0 2 (1 +ν )  σ rθ 
 rθ   0
 Stress function
∂ ∂ 
∇ φ = (1 −ν ) ∇ V
4 2
 ∂x  cosθ −sinθ / r   ∂r 
 ∂ =  
   sinθ cosθ / r   ∂ 
 ∂y   ∂θ 
∂ ∂
T
∂  ∂ 
T

∂ 2  ∂x   ∂x   ∂r  cosθ −sinθ / r  cosθ −sinθ / r   ∂r 

T
∂2
∇=
2
+ =   ∂=      
∂x ∂y 2  ∂ 
2
   ∂   sinθ cosθ / r   sinθ cosθ / r   ∂ 
 ∂y   ∂y   ∂θ   ∂θ 
∂2 1 ∂ 1 ∂2
= 2+ + 2 ,
∂r r ∂r r ∂θ 2

 ∂ 2 1 ∂ 1 ∂ 2  ∂ 2 1 ∂ 1 ∂ 2 
∇ = 2+
4
+ 2 2 
+ + 2 2 
 ∂r r ∂r r ∂θ  ∂r 2
r ∂r r ∂θ 

1 ∂φ 1 ∂ 2φ ∂ 2φ ∂  1 ∂φ 
σ rr = + 2 , σ = , σ =
−
∂r  r ∂θ 
θθ rθ
r ∂r r ∂θ 2 ∂r 2
 Fourier loading
V ( r ,θ ) ∑n
=V
n
( r )e inθ
,φ ( r ,θ ) ∑n
φ
n
( r )e inθ

2φ 2n + 1 '' 2n + 1 '
''' 2 2 n2 ( n2 − 4 ) V '
n 2
Vn
φn +
IV
− n
2
φn + 3
φn + φn = Vn + − 2 = Fn ( r )
'' n

r r r r4 r r
= r expz , dr /= =
dz exp z r

δ 2=
1
r 2 ( D 2
− D ) , δ =
3 1
r 3 ( D 3
− 3 D 2
+ 2 D ) , δ =
4 1
r 4 ( D 4
− 6 D 3
+ 11D 2
− 6D )

 D 4 − 4 D 3 + ( 4 − 2n 2 ) D 2 + 4n 2 D + n 4 − 4n 2  φn=
( z ) r 4 Fn=
( r ) Gn ( z )
 Example 1
∂ 4φ ∂ 4φ ∂ 4φ
= (
φ a x −y 4 4
) ∂x 4
= 24a ,
∂y 4
= −24a ,
∂x 2∂y 2
= 0,∴∇ 4 = 0

∂ 2φ ∂ 2
φ
σ x == −12 ay 2
, σ y == 12 ax 2
,τ xy ==
0, f x σ x , f y =
σy
∂y 2
∂x 2
 Example 2
q

l/2 l/2

Boundary conditions

(
σy y=h =
2
0), σ y y =
− 2(
h =
− q ,τ y)=
± (
h =
2
0 )
 ∂ 2φ
x2
σ=
y f ( y=
) φ
,∴= f ( y ) + f 2 ( y ) try to find f and f 2
∂x 2 2
x2 d 4 f d 4 f2 d2 f d4 f d 4 f2 d2 f
4
+ 4
+2 2 = 0,∴ 4 = 0 and 4
+2 2 = 0
2 dy dy dy dy dy dy

d 4 f2 A 5
f =
Ay + By + Cy + D , and
3 2
=
−12 Ay − B, or, f 2 =
− y − By 4 + Ey 3 + Fy 2
dy 4 10

=φ
x2
2
( A
)B
Ay 3 + By 2 + Cy + D − y 5 − y 4 + Ey 3 + Fy 2
10 6

x2
σ=
x ( 6 Ay + 2 B ) − 2 Ay 3
− 2 By 2
+ 6 Ey + 2 F
2

σ y = Ay 3 + By 2 + Cy + D

τ= (
− x 3 Ay 2 + 2 By + C )
Boundary conditions
(
σy y=h =
2
0), σ y y(=
− h =
2
−)q ,(
τ y =
±)h =
2
0
h3 h2 h
A+ B+ C+D=
0
8 4 2
h3 h2 h
− A+ B− C+D=
−q
8 4 2
3h 2
A + hB + C =
0
4
3h 2
A − hB + C =
0
4
2q 3q q
A=
− 3 ,B =
0, C = ,D =
−
h 2h 2
 Constants E and F
6q 4q 2q 3q q
σx =
− 3 x2 y + y 3 + 6 Ey + 2 F σy =
− 3 y3 + y−
h h3 h 2h 2

 6q 3q  h/ 2
τ x  3 y2 − 
h 2h 
∫−h / 2=
σx (x / 2 )dy 0
l=

h/ 2 h/ 2 ql
∫−h /=σ (x
2 x
/ 2 ) ydy 0
l= ∫−h / 2τ ( x = l / 2 )dy = − 2
qql 2
=
F 0=
,E −
3 10h
4h
 Final results
qy 5 qx 2 y 3  ql 2 q  3 3qx 2 y qx 2
φ = 3 − 3 +  3 −  y + −
5h h  4h 10h  4h 4

6q 2 4q 3 3ql 2 3qy My qy  4 y 2 3 
σx =
− 3 x y+ 3 y + 3 y− =+  2 − 
h h 2h 5h I h h 5

2q 3 3q q
σy =
− 3y + y−
h 2h 2
 6q 3q  QS
τ x  3 y2 − =
= 
h 2 h  I
 Spectral Method
Replace unknown r by its N point nodal values r

r′ = D ⊗ Inr
 0 0   0 −GA GA 0  2 2 A 0 
  +   D −   D − ω ρ   r =
0
 0 GA GA 0   0 EI  0 I 

 Q   0 GA GA 0  
=
R =    +  D r
 M   0 0   0 EI  

= A 00r + A 01r′ − ( A10r )′ − ( A11r′ )′ − =

E q 0
R A10r + A11r′
=
 IN ⊗ A 00 + D ⊗ ( A 01 − A10 ) − D2 ⊗ A11  r =q

 A ss A sm   rs   0 
Ar = q
A   =  rs = −A −ss1A smrm
 ms A mm  rm  q m 

 Sss Ssm   rs   Rs   R m1 
S   =  ( −Sms A A sm + Smm )rm =
Rm = −1
ss  
 ms Smm  rm  R m  R m2 

 R m1 
=F =  Krm
-R m2 
 Natural Vibration Program
function[D,x]=cheb(N)
ifN==0,D=0;x=1;return,end
x=cos(pi*(0:N)/N)';
c=[2;ones(N-1,1);2].*(-1).^(0:N)';
X=repmat(x,1,N+1);dX=X-X';
D=(c*(1./c)')./(dX+(eye(N+1)));
D=D-diag(sum(D'));

%Example 1: unifrom beam clamp-clamp modes

N=15;D=cheb(N);I=eye(N+1);r2=1;
for k=1:4
r2=r2*.01;a=1/(2.5*r2);
A=kron(I,[0,0;0,a])+kron(D,[0,-a;a,0])-kron(D^2,[a,0;0,1]);
B=kron(I,[1,0;0,r2]);n=length(A);
s=[3:n-2];w=eig(A(s,s),B(s,s));w=sqrt(sqrt(sort(w)));2*w(1:5)'
end
 Stiffness equation
%Example 2: unifrom beam stiffness
N=15;D=cheb(N);I=eye(N+1);r2=1;
for k=1:4
r2=r2*.01;a=1/(2.5*r2);
A=kron(I,[0,0;0,a])+kron(D,[0,-a;a,0])-kron(D^2,[a,0;0,1]);
S=kron(I,[0,a;0,0])+kron(D,[a,0;0,1]);
n=length(A);m=[1:2,n-1:n];s=[3:n-2];
Asm=A(s,s)\A(s,m);Sms=S(m,s);Smm=S(m,m);
K=-Sms*Asm+Smm;K(3:4,:)=-K(3:4,:);
K(1:2:3,:)=2*K(1:2:3,:);K(:,1:2:3)=2*K(:,1:2:3);2*K
end
 2D elasticity
∂ ∂
σ xx  ∂ ∂
 ∂x 0   ∂x 0   E11 E12 E13  ε xx 
∂y   ∂y   
  σ yy  =  E21 E22 E23  ε yy 
0 ∂ ∂   0 ∂ ∂  
γ 
σ  
∂y ∂x     xy 
 E E E
∂y ∂x   xy   31 32 33

∂ 
 0
∂ ∂
E13   ∂x 
 ∂x 0   E11 E12
∂y   ∂  u 
  E21 E22 E23   0    = ∇ ⋅ ( c ⊗ ∇u )
0 ∂ ∂  ∂y  v 
   E31 E32 E33   
∂y ∂x  ∂ ∂
 ∂y ∂x 

  ∂ 
 ∂ ∂   c11 c12   ∂x    fx 
= ∂x ∂y  c   ∂  u  f 
   21 c 22      y
  ∂y  

 Governing equation
  ∂ 
 ∂ ∂   c11 c12   ∂x    fx 
  ∂ u =  f 
  ∂x ∂y  c 21 
c 22      y
  ∂y  

 ∂ ∂ ∂ ∂ ∂ ∂ ∂ ∂ 
 c11 + c12 + c 21 + c 22  u =
f
 ∂x ∂x ∂x ∂y ∂y ∂x ∂y ∂y 

 ∂ ∂   ∂ ∂ 
 c11 + c12  u =
q  c 21 + c 22  u =
q
 ∂x ∂y   ∂x ∂y 