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Mechanics of Solids and Materials

Robert J. Asaro and Vlado A. Lubarda


University of California, San Diego
La Jolla, CA 92093

Contents
Preface
Part 1.

xviii
MATHEMATICAL PRELIMINARIES

Chapter 1. VECTORS AND TENSORS


1.1. Vector Algebra
1.2. Coordinate Transformation: Rotation of Axes
1.3. Second-Rank Tensors
1.4. Symmetric and Antisymmetric Tensors
1.5. Prelude to Invariants of Tensors
1.6. Inverse of a Tensor
1.7. Additional Proofs
1.8. Additional Lemmas for Vectors
1.9. Coordinate Transformation of Tensors
1.10. Some Identities with Indices
1.11. Tensor Product
1.12. Orthonormal Basis
1.13. Eigenvectors and Eigenvalues
1.14. Symmetric Tensors
1.15. Positive De niteness of a Tensor
1.16. Antisymmetric Tensors
1.16.1. Eigenvectors of W
1.17. Orthogonal Tensors
1.18. Polar Decomposition Theorem
1.19. Polar Decomposition: Physical Approach
1.19.1. Left and Right Stretch Tensors
1.19.2. Principal Stretches
1.20. The Cayley{Hamilton Theorem
1.21. Additional Lemmas for Tensors
1.22. Identities and Relations Involving r Operator
1.23. Suggested Reading

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Chapter 2. BASIC INTEGRAL THEOREMS


2.1. Gauss and Stokes's Theorems
2.1.1. Applications of Divergence Theorem
2.2. Vector and Tensor Fields: Physical Approach
2.3. Surface Integrals: Gauss Law

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vi

2.4.
2.5.
2.6.
2.7.
2.8.

CONTENTS

Evaluating Surface Integrals


2.4.1. Application of the Concept of Flux
The Divergence
Divergence Theorem: Relation of Surface to Volume Integrals
More on Divergence Theorem
Suggested Reading

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Chapter 3. FOURIER SERIES AND FOURIER INTEGRALS


3.1. Fourier Series
3.2. Double Fourier Series
3.2.1. Double Trigonometric Series
3.3. Integral Transforms
3.4. Dirichlet's Conditions
3.5. Integral Theorems
3.6. Convolution Integrals
3.6.1. Evaluation of Integrals by use of Convolution Theorems
3.7. Fourier Transforms of Derivatives of f (x)
3.8. Fourier Integrals as Limiting Cases of Fourier Series
3.9. Dirac Delta Function
3.10. Suggested Reading

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Part 2.

61

CONTINUUM MECHANICS

Chapter 4. KINEMATICS OF CONTINUUM


4.1. Preliminaries
4.2. Uniaxial Strain
4.3. Deformation Gradient
4.4. Strain Tensor
4.5. Stretch and Normal Strains
4.6. Angle Change and Shear Strains
4.7. In nitesimal Strains
4.8. Principal Stretches
4.9. Eigenvectors and Eigenvalues of Deformation Tensors
4.10. Volume Changes
4.11. Area Changes
4.12. Area Changes: Alternative Approach
4.13. Simple Shear of a Thick Plate with a Central Hole
4.14. Finite vs. Small Deformations
4.15. Reference vs. Current Con guration
4.16. Material Derivatives and Velocity
4.17. Velocity Gradient
4.18. Deformation Rate and Spin
4.19. Rate of Stretching and Shearing
4.20. Material Derivatives of Strain Tensors: E_ vs. D
4.21. Rate of F in Terms of Principal Stretches
4.21.1. Spins of Lagrangian and Eulerian Triads

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CONTENTS

4.22.
4.23.
4.24.
4.25.
4.26.
4.27.
4.28.
4.29.

vii

Additional Connections between Current and Reference State


Representations
93
Transport Formulae
94
Material Derivatives of Volume, Area, and Surface Integrals:
Transport Formulae Revisited
95
Analysis of Simple Shearing
97
Examples of Particle and Plane Motion
99
Rigid Body Motions
100
Behavior under Superposed Rotation
102
Suggested Reading
103

Chapter 5. KINETICS OF CONTINUUM


5.1. Traction Vector and Stress Tensor
5.2. Equations of Equilibrium
5.3. Balance of Angular Momentum: Symmetry of 
5.4. Principal Values of Cauchy Stress
5.5. Maximum Shear Stresses
5.6. Nominal Stress
5.7. Equilibrium in the Reference State
5.8. Work Conjugate Connections
5.9. Stress Deviator
5.10. Frame Indi erence
5.11. Continuity Equation and Equations of Motion
5.12. Stress Power
5.13. The Principle of Virtual Work
5.14. Generalized Clapeyron's Formula
5.15. Suggested Reading

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Chapter 6. THERMODYNAMICS OF CONTINUUM


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6.1. First Law of Thermodynamics: Energy Equation
131
6.2. Second Law of Thermodynamics: Clausius{Duhem Inequality 132
6.3. Reversible Thermodynamics
134
6.3.1. Thermodynamic Potentials
135
6.3.2. Speci c and Latent Heats
136
6.3.3. Coupled Heat Equation
138
6.4. Thermodynamic Relationships with p; V; T , and s
139
6.4.1. Speci c and Latent Heats
140
6.4.2. Coecients of Thermal Expansion and Compressibility 141
6.5. Theoretical Calculations of Heat Capacity
142
6.6. Third Law of Thermodynamics
144
6.7. Irreversible Thermodynamics
146
6.7.1. Evolution of Internal Variables
148
6.8. Gibbs Conditions of Thermodynamic Equilibrium
149
6.9. Linear Thermoelasticity
150
6.10. Thermodynamic Potentials in Linear Thermoelasticity
152
6.10.1. Internal Energy
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6.11.
6.12.
6.13.
6.14.
6.15.
6.16.
6.17.
6.18.

CONTENTS

6.10.2. Helmholtz Free Energy


6.10.3. Gibbs Energy
6.10.4. Enthalpy Function
Uniaxial Loading and Thermoelastic E ect
Thermodynamics of Open Systems: Chemical Potentials
Gibbs{Duhem Equation
Chemical Potentials for Binary Systems
Con gurational Entropy
Ideal Solutions
Regular Solutions for Binary Alloys
Suggested Reading

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Chapter 7. NONLINEAR ELASTICITY


7.1. Green Elasticity
7.2. Isotropic Green Elasticity
7.3. Constitutive Equations in Terms of B
7.4. Constitutive Equations in Terms of Principal Stretches
7.5. Incompressible Isotropic Elastic Materials
7.6. Elastic Moduli Tensors
7.7. Instantaneous Elastic Moduli
7.8. Elastic Pseudomoduli
7.9. Elastic Moduli of Isotropic Elasticity
7.10. Elastic Moduli in Terms of Principal Stretches
7.11. Suggested Reading

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Part 3.

185

LINEAR ELASTICITY

Chapter 8. GOVERNING EQUATIONS


8.1. Elementary Theory of Isotropic Linear Elasticity
8.2. Elastic Energy in Linear Elasticity
8.3. Restrictions on the Elastic Constants
8.3.1. Material Symmetry
8.3.2. Restrictions on the Elastic Constants
8.4. Compatibility Relations
8.5. Compatibility Conditions: Cesaro Integrals
8.6. Beltrami{Michell Compatibility Equations
8.7. Navier Equations of Motion
8.8. Uniqueness of Solution to Linear Elastic Boundary Value
Problem
8.8.1. Statement of the Boundary Value Problem
8.8.2. Uniqueness of the Solution
8.9. Potential Energy and Variational Principle
8.9.1. Uniqueness of the Strain Field
8.10. Betti's Theorem of Linear Elasticity
8.11. Plane Strain
8.11.1. Plane Stress

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CONTENTS

8.12.
8.13.
8.14.

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Governing Equations of Plane Elasticity


Thermal Distortion of a Simple Beam
Suggested Reading

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Chapter 9. ELASTIC BEAM PROBLEMS


9.1. A Simple 2D Beam Problem
9.2. Polynomial Solutions to r4  = 0
9.3. A Simple Beam Problem Continued
9.3.1. Strains and Displacements for 2D Beams
9.4. Beam Problems with Body Force Potentials
9.5. Beam under Fourier Loading
9.6. Complete Boundary Value Problems for Beams
9.6.1. Displacement Calculations
9.7. Suggested Reading

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Chapter 10. SOLUTIONS IN POLAR COORDINATES


10.1. Polar Components of Stress and Strain
10.2. Plate with Circular Hole
10.2.1. Far Field Shear
10.2.2. Far Field Tension
10.3. Degenerate Cases of Solution in Polar Coordinates
10.4. Bending of Curved Beams: Plane Stress
10.4.1. Pressurized Cylinder
10.4.2. A Curved Beam
10.5. Axisymmetric Deformations
10.6. Suggested Reading

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Chapter 11. TORSION AND BENDING OF PRISMATIC RODS


11.1. Torsion of Prismatic Rods
11.2. Elastic Energy of Torsion
11.3. Torsion of a Rod with Rectangular Cross Section
11.4. Torsion of a Rod with Elliptical Cross Section
11.5. Torsion of a Rod with Multiply Connected Cross Sections
11.5.1. Hollow Elliptical Cross Section
11.6. Bending of a Cantilever
11.7. Elliptical Cross Section
11.8. Suggested Reading

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Chapter 12. SEMI-INFINITE MEDIA


12.1. Fourier Transform of Biharmonic Equation
12.2. Loading on a Half-Plane
12.3. Upper Half-Plane Loading: Special Case
12.4. Symmetric Half-Plane Loading
12.5. Half-Plane Loading: Alternative Approach
12.6. Additional Half-Plane Solutions
12.6.1. Displacement Fields in Half-Spaces

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12.7.
12.8.

CONTENTS

12.6.2. Boundary Value Problem


12.6.3. Speci c Example
In nite Strip
12.7.1. Uniform Loading: a  x  a
12.7.2. Symmetrical Point Loads
Suggested Reading

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Chapter 13. ISOTROPIC 3D SOLUTIONS


13.1. Displacement-Based Equations of Equilibrium
13.2. Boussinesq{Papkovitch Solutions
13.3. Spherically Symmetrical Geometries
13.3.1. Internally Pressurized Sphere
13.4. Pressurized Sphere: Stress-Based Solution
13.4.1. Pressurized Rigid Inclusion
13.4.2. Disk with Circumferential Shear
13.4.3. Sphere Subject to Temperature Gradients
13.5. Spherical Indentation
13.5.1. Displacement-Based Equilibrium
13.5.2. Strain Potentials
13.5.3. Point Force on a Half-Plane
13.5.4. Hemispherical Load Distribution
13.5.5. Indentation by a Spherical Ball
13.6. Point Forces on Elastic Half-Space
13.7. Suggested Reading

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Chapter 14. ANISOTROPIC 3D SOLUTIONS


14.1. Point Force
14.2. Green's Function
14.3. Isotropic Green's Function
14.4. Suggested Reading

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Chapter 15. PLANE CONTACT PROBLEMS


15.1. Wedge Problem
15.2. Distributed Contact Forces
15.2.1. Uniform Contact Pressure
15.2.2. Uniform Tangential Force
15.3. Displacement-Based Contact: Rigid Flat Punch
15.4. Suggested Reading

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Chapter 16. DEFORMATION OF PLATES


16.1. Stresses and Strains of Bent Plates
16.2. Energy of Bent Plates
16.3. Equilibrium Equations for a Plate
16.4. Shear Forces and Bending and Twisting Moments
16.5. Examples of Plate Deformation
16.5.1. Clamped Circular Plate

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CONTENTS

16.6.
16.7.

16.5.2. Circular Plate with Simply Supported Edges


16.5.3. Circular Plate with Concentrated Force
16.5.4. Pealed Surface Layer
Rectangular Plates
16.6.1. Uniformly Loaded Rectangular Plate
Suggested Reading

Part 4.

MICROMECHANICS

xi

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Chapter 17. DISLOCATIONS AND CRACKS: ELEMENTARY


TREATMENT
17.1. Dislocations
17.1.1. Derivation of the Displacement Field
17.2. Tensile Cracks
17.3. Suggested Reading

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Chapter 18. DISLOCATIONS IN ANISOTROPIC MEDIA


18.1. Dislocation Character and Geometry
18.2. Dislocations in Isotropic Media
18.2.1. In nitely Long Screw Dislocations
18.2.2. In nitely Long Edge Dislocations
18.2.3. In nitely Long Mixed Segments
18.3. Planar Geometric Theorem
18.4. Applications of the Planar Geometric Theorem
18.4.1. Angular Dislocations
18.5. A 3D Geometrical Theorem
18.6. Suggested Reading

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Chapter 19. CRACKS IN ANISOTROPIC MEDIA


19.1. Dislocation Mechanics: Reviewed
19.2. Freely Slipping Crack
19.3. Crack Extension Force
19.4. Crack Faces Loaded by Tractions
19.5. Stress Intensity Factors and Crack Extension Force
19.5.1. Computation of the Crack Extension Force
19.6. Crack Tip Opening Displacement
19.7. Dislocation Energy Factor Matrix
19.8. Inversion of a Singular Integral Equation
19.9. 2D Anisotropic Elasticity { Stroh Formalism
19.9.1. Barnett{Lothe Tensors
19.10. Suggested Reading

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Chapter 20. THE INCLUSION PROBLEM


20.1. The Problem
20.2. Elshelby's Solution Setup
20.3. Calculation of the Constrained Fields: uc ; ec , and c

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xii

20.4.
20.5.
20.6.
20.7.
20.8.

20.9.

CONTENTS

Components of the Eshelby Tensor for Ellipsoidal Inclusion


Elastic Energy of an Inclusion
Inhomogeneous Inclusion: Uniform Transformation Strain
Nonuniform Transformation Strain Inclusion Problem
20.7.1. The Cases M = 0; 1
Inclusions in Isotropic Media
20.8.1. Constrained Elastic Field
20.8.2. Field in the Matrix
20.8.3. Field at the Interface
20.8.4. Isotropic Spherical Inclusion
Suggested Reading

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Chapter 21. FORCES AND ENERGY IN ELASTIC SYSTEMS


21.1. Free Energy and Mechanical Potential Energy
21.2. Forces of Translation
21.2.1. Force on an Interface
21.2.2. Finite Deformation Energy Momentum Tensor
21.3. Interaction between Defects and Loading Mechanisms
21.3.1. Interaction between Dislocations and Inclusions
21.3.2. Force on a Dislocation Segment
21.4. Elastic Energy of a Dislocation
21.5. In-Plane Stresses of Straight Dislocation Lines
21.6. Chemical Potential
21.6.1. Force on a Defect due to a Free Surface
21.7. Applications of the J Integral
21.7.1. Force on a Clamped Crack
21.7.2. Application of the Interface Force to Precipitation
21.8. Suggested Reading

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Chapter 22. MICROPOLAR ELASTICITY


22.1. Introduction
22.2. Basic Equations of Couple-Stress Elasticity
22.3. Displacement Equations of Equilibrium
22.4. Correspondence Theorem of Couple-Stress Elasticity
22.5. Plane Strain Problems of Couple-Stress Elasticity
22.5.1. Mindlin's Stress Functions
22.6. Edge Dislocation in Couple-Stress Elasticity
22.6.1. Strain Energy
22.7. Edge Dislocation in a Hollow Cylinder
22.8. Governing Equations for Antiplane Strain
22.8.1. Expressions in Polar Coordinates
22.8.2. Correspondence Theorem for Antiplane Strain
22.9. Antiplane Shear of Circular Annulus
22.10. Screw Dislocation in Couple-Stress Elasticity
22.10.1. Strain Energy
22.11. Con gurational Forces in Couple-Stress Elasticity

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CONTENTS

22.12.
22.13.
22.14.
22.15.
22.16.
22.17.
22.18.

22.11.1. Reciprocal Properties


22.11.2. Energy due to Internal Sources of Stress
22.11.3. Energy due to Internal and External Sources of Stress
22.11.4. The Force on an Elastic Singularity
Energy-Momentum Tensor of a Couple-Stress Field
Basic Equations of Micropolar Elasticity
Noether's Theorem of Micropolar Elasticity
Conservation Integrals in Micropolar Elasticity
Conservation Laws for Plane Strain Micropolar Elasticity
M Integral of Micropolar Elasticity
Suggested Reading

Part 5.

THIN FILMS AND INTERFACES

xiii

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Chapter 23. DISLOCATIONS IN BIMATERIALS


23.1. Introduction
23.2. Screw Dislocation Near a Bimaterial Interface
23.2.1. Interface Screw Dislocation
23.2.2. Screw Dislocation in a Homogeneous Medium
23.2.3. Screw Dislocation Near a Free Surface
23.2.4. Screw Dislocation Near a Rigid Boundary
23.3. Edge Dislocation (bx ) Near a Bimaterial Interface
23.3.1. Interface Edge Dislocation
23.3.2. Edge Dislocation in an In nite Medium
23.3.3. Edge Dislocation Near a Free Surface
23.3.4. Edge Dislocation Near a Rigid Boundary
23.4. Edge Dislocation (by ) Near a Bimaterial Interface
23.4.1. Interface Edge Dislocation
23.4.2. Edge Dislocation in an In nite Medium
23.4.3. Edge Dislocation Near a Free Surface
23.4.4. Edge Dislocation Near a Rigid Boundary
23.5. Strain Energy of a Dislocation Near a Bimaterial Interface
23.5.1. Strain Energy of a Dislocation Near a Free Surface
23.6. Suggested Reading

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Chapter 24. STRAIN RELAXATION IN THIN FILMS


24.1. Dislocation Array beneath the Free Surface
24.2. Energy of a Dislocation Array
24.3. Strained-Layer Epitaxy
24.4. Conditions for Dislocation Array Formation
24.5. Frank and van der Merwe Energy Criterion
24.6. Gradual Strain Relaxation
24.7. Stability of Array Con gurations
24.8. Stronger Stability Criteria
24.9. Further Stability Bounds
24.9.1. Lower Bound

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xiv

CONTENTS

24.9.2. Upper Bound


24.10. Suggested Reading

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Chapter 25. STABILITY OF PLANAR INTERFACES


25.1. Stressed Surface Problem
25.2. Chemical Potential
25.3. Surface Di usion and Interface Stability
25.4. Volume Di usion and Interface Stability
25.5. 2D Surface Pro les and Surface Stability
25.6. Asymptotic Stresses for 1D Surface Pro les
25.7. Suggested Reading

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542

Part 6.

543

PLASTICITY AND VISCOPLASTICITY

Chapter 26. PHENOMENOLOGICAL PLASTICITY


26.1. Yield Criteria for Multiaxial Stress States
26.2. Von Mises Yield Criterion
26.3. Tresca Yield Criterion
26.4. Mohr{Coulomb Yield Criterion
26.4.1. Drucker{Prager Yield Criterion
26.5. Gurson Yield Criterion for Porous Metals
26.6. Anisotropic Yield Criteria
26.7. Elastic-Plastic Constitutive Equations
26.8. Isotropic Hardening
26.8.1. J2 Flow Theory of Plasticity
26.9. Kinematic Hardening
26.9.1. Linear and Nonlinear Kinematic Hardening
26.10. Constitutive Equations for Pressure-Dependent Plasticity
26.11. Nonassociative Plasticity
26.12. Plastic Potential for Geomaterials
26.13. Rate-Dependent Plasticity
26.14. Deformation Theory of Plasticity
26.14.1. Rate-Type Formulation of Deformation Theory
26.14.2. Application beyond Proportional Loading
26.15. J2 Corner Theory
26.16. Rate-Dependent Flow Theory
26.16.1. Multiplicative Decomposition F = F e  F p
26.17. Elastic and Plastic Constitutive Contributions
26.17.1. Rate-Dependent J2 Flow Theory
26.18. A Rate Tangent Integration
26.19. Plastic Void Growth
26.19.1. Ideally Plastic Material
26.19.2. Incompressible Linearly Hardening Material
26.20. Suggested Reading

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CONTENTS

Chapter 27. MICROMECHANICS OF CRYSTALLOGRAPHIC


SLIP
27.1. Early Observations
27.2. Dislocations
27.2.1. Some Basic Properties of Dislocations in Crystals
27.2.2. Strain Hardening, Dislocation Interactions, and
Dislocation Multiplication
27.3. Other Strengthening Mechanisms
27.4. Measurements of Latent Hardening
27.5. Observations of Slip in Single Crystals and Polycrystals at
Modest Strains
27.6. Deformation Mechanisms in Nanocrystalline Grains
27.6.1. Background: AKK Model
27.6.2. Perspective on Discreteness
27.6.3. Dislocation and Partial Dislocation Slip Systems
27.7. Suggested Reading
Chapter 28. CRYSTAL PLASTICITY
28.1. Basic Kinematics
28.2. Stress and Stress Rates
28.2.1. Resolved Shear Stress
28.2.2. Rate-Independent Strain Hardening
28.3. Convected Elasticity
28.4. Rate-Dependent Slip
28.4.1. A Rate Tangent Modulus
28.5. Crystalline Component Forms
28.5.1. Additional Crystalline Forms
28.5.2. Component Forms on Laboratory Axes
28.6. Suggested Reading
Chapter 29. THE NATURE OF CRYSTALLINE DEFORMATION:
LOCALIZED PLASTIC DEFORMATION
29.1. Perspectives on Nonuniform and Localized Plastic Flow
29.1.1. Coarse Slip Bands and Macroscopic Shear Bands in
Simple Crystals
29.1.2. Coarse Slip Bands and Macroscopic Shear Bands in
Ordered Crystals
29.2. Localized Deformation in Single Slip
29.2.1. Constitutive Law for the Single Slip Crystal
29.2.2. Plastic Shearing with Non-Schmid E ects
29.2.3. Conditions for Localization
29.2.4. Expansion to the Order of 
29.2.5. Perturbations about the Slip and Kink Plane
Orientations
29.2.6. Isotropic Elastic Moduli
29.2.7. Particular Cases for Localization

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29.3.
29.4.
29.5.

CONTENTS

Localization in Multiple Slip


29.3.1. Double Slip Model
29.3.2. Constitutive Law for the Double Slip Crystal
Numerical Results for Crystalline Deformation
29.4.1. Additional Experimental Observations
29.4.2. Numerical Observations
Suggested Reading

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696
696
699
701

Chapter 30. POLYCRYSTAL PLASTICITY


30.1. Perspectives on Polycrystalline Modeling and Texture
Development
30.2. Polycrystal Model
30.3. Extended Taylor Model
30.4. Model Calculational Procedure
30.4.1. Texture Determinations
30.4.2. Yield Surface Determination
30.5. Deformation Theories and Path-Dependent Response
30.5.1. Speci c Model Forms
30.5.2. Alternative Approach to a Deformation Theory
30.5.3. Nonproportional Loading
30.6. Suggested Reading

705

Chapter 31. LAMINATE PLASTICITY


31.1. Laminate Model
31.2. Additional Kinematical Perspective
31.3. Final Constitutive Forms
31.3.1. Rigid-Plastic Laminate in Single Slip
31.4. Suggested Reading

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733

Part 7.

735

BIOMECHANICS

Chapter 32. MECHANICS OF A GROWING MASS


32.1. Introduction
32.2. Continuity Equation
32.2.1. Material Form of Continuity Equation
32.2.2. Quantities per Unit Initial and Current Mass
32.3. Reynolds Transport Theorem
32.4. Momentum Principles
32.4.1. Rate-Type Equations of Motion
32.5. Energy Equation
32.5.1. Material Form of Energy Equation
32.6. Entropy Equation
32.6.1. Material Form of Entropy Equation
32.6.2. Combined Energy and Entropy Equations
32.7. General Constitutive Framework
32.7.1. Thermodynamic Potentials per Unit Initial Mass

705
709
711
713
714
716
718
720
721
721
724

737
737
738
739
740
741
742
744
744
746
747
748
748
749
750

CONTENTS

32.8.
32.9.
32.10.
32.11.
32.12.
32.13.
32.14.
32.15.

32.7.2. Equivalence of the Constitutive Structures


Multiplicative Decomposition of Deformation Gradient
32.8.1. Strain and Strain-Rate Measures
Density Expressions
Elastic Stress Response
Partition of the Rate of Deformation
Elastic Moduli Tensor
32.12.1. Elastic Moduli Coecients
Elastic Strain Energy Representation
Evolution Equation for Stretch Ratio
Suggested Reading

xvii

751
751
753
753
755
756
757
759
759
760
762

Chapter 33. CONSTITUTIVE RELATIONS FOR MEMBRANES


33.1. Biological Membranes
33.2. Membrane Kinematics
33.3. Constitutive Laws for Membranes
33.4. Limited Area Compressibility
33.5. Simple Triangular Networks
33.6. Suggested Reading

763
763
764
768
770
770
771

Part 8.

773

SOLVED PROBLEMS

Chapter 34. SOLVED PROBLEMS FOR CHAPTERS 1-33

775

Bibliography

987

Index

1009

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