1

II. Stress, Strain and Elasticity

Revision
Arcady Dyskin
A.V. Dyskin. Geomechanics Group, UWA
Plan
Stress and strain Stress and strain
Elasticity
Boundary conditions
Wave propagation
A.V. Dyskin. Geomechanics Group, UWA Slide 2
2
Learning objectives
Understanding stress and strain matrices, meaning
of components, equilibrium and compatibility
Change of components with coordinate
transformation, principal stress /strain, principal
axes, spherical and deviatoric parts
Assumptions of elasticity, generalised Hookes law
Isotropic and anisotropic rocks
Plane stress and plane strain
A.V. Dyskin. Geomechanics Group, UWA Slide 3
p
Elastic energy
Boundary conditions, the use of symmetry
Plane and Rayleigh waves
Stress and strain
Stress: Definition and equations of equilibrium
S i D fi i i d i f ibili Strain: Definition and equations of compatibility
Co-ordinate rotations
Principal stress/strain and principal directions
Spherical/deviatoric decomposition
Plane stress and plane strain
A.V. Dyskin. Geomechanics Group, UWA Slide 4
p
Mohrs circle
Cylindrical and spherical co-ordinates
3
Stress: Definition and equations of
equilibrium
Body forces Intensity of body forces Body forces. Intensity of body forces
Surface forces. Stress
Stress matrix
Force equilibrium
M e t e ilib i
A.V. Dyskin. Geomechanics Group, UWA Slide 5
Moment equilibrium
Body forces. Intensity of body forces
Force is an abstract notion representing the action of other
bodies on the given one.
Body forces y
Surface forces
Body forces act on all points of the given body
representing the remote action of other bodies
Intensity
A.V. Dyskin. Geomechanics Group, UWA Slide 6
4
Surface forces. Stress
Surface forces represent the action of other bodies on the surface of
the given one by means of direct contact. Intensity of surface forces
is called stress is called stress.
A.V. Dyskin. Geomechanics Group, UWA Slide 7
Stress components are labelled by 2 indexes: the first refers to the
direction of the surface element; the second to the component of
force.
Internal stress state
Stress
A.V. Dyskin. Geomechanics Group, UWA Slide 8
matrix
|
|
|
.
|

\
|
=
|
|
|
.
|

\
|
=
z zy zx
yz y yx
xz xy x
zz zy zx
yz yy yx
xz xy xx
o t t
t o t
t t o
o o o
o o o
o o o
o
5
Convenient index notations
o
33
o
31
x
3
o
22
o
11
o
31
o
31
o
21
o
23
o
12
o
13
x
2
|
|
|
.
|

\
|
=
33 32 31
23 22 21
13 12 11
o o o
o o o
o o o
o
A.V. Dyskin. Geomechanics Group, UWA
x
1
9
Sign conventions
A.V. Dyskin. Geomechanics Group, UWA Slide 10
Rock Mechanics convention
6
Stress on a surface element
z
y
x
F=(F
x
, F
y
, F
z
)
n=(n
x
, n
y
, n
z
)
A
S
F
A
n n n
S
F
A
n n n
S
F
A
n n n
x
x
x x y yx z zx
y
y
x xy y y z zy
z
z
x xz y yz z z
= = + +
= = + +
= = + +
o t t
t o t
t t o
A.V. Dyskin. Geomechanics Group, UWA Slide 11
x
Stress on a surface element in new notations
32 3 22 2 12 1
2
2
31 3 21 2 11 1
1
1
+ + = =
+ + = =
n n n
A
F
S
n n n
A
F
S
o o o
o o o
F=(F
1
, F
2
, F
3
)
n=(n n n )
x
3
1
2
3
2
2
2
1
33 3 23 2 13 1
3
3
= + +
+ + = =
n n n
n n n
A
F
S
A
o o o
n=(n
1
, n
2
, n
3
)
A
x
1
x
2
Take advantage of new notations
A.V. Dyskin. Geomechanics Group, UWA
1
3
1
2
3
1
=
= =

=
=
i
i
i
ij i
j
j
n
n
A
F
S o
Einstein convention
1 =
= =
i i
ij i
j
j
n n
n
A
F
S o
Summation over
repeated indices
Slide 12
7
Force equilibrium
Equations of equilibrium Equations of equilibrium
A.V. Dyskin. Geomechanics Group, UWA Slide 13
Force equilibrium in index notations
0
1
31 21 11
= +
c
c
+
c
c
+
c
c
f
x x x
o o o
0
0
3
3
33
2
23
1
13
2
3
32
2
22
1
12
3 2 1
= +
c
c
+
c
c
+
c
c
= +
c
c
+
c
c
+
c
c
c c c
f
x x x
f
x x x
x x x
o o o
o o o
0
3 2 1
c c c
j j j
f
o o o
A.V. Dyskin. Geomechanics Group, UWA
0
3
3
2
2
1
1
= +
c
+
c
+
c
j
j j j
f
x x x
Or, in index notations
or
0 = +
c
c
j
i
ij
f
x
o
or
0
,
= +
j i ij
f o
Slide 14
8
Moment equilibrium
Symmetry of stress matrix Symmetry of stress matrix
|
|
|
.
|

\
|
=
33 23 13
23 22 12
13 12 11
o o o
o o o
o o o
o
A.V. Dyskin. Geomechanics Group, UWA Slide 15
ji ij
o o =
Example
Uniform stress field
A.V. Dyskin. Geomechanics Group, UWA Slide 16
9
Strain: Definition and equations of
compatibility
Types of movement Types of movement
Displacement and strain
Meaning of strain components
Compatibility
A.V. Dyskin. Geomechanics Group, UWA Slide 17
Types of movement
Rigid body
displacement
A.V. Dyskin. Geomechanics Group, UWA Slide 18
Rigid body
rotation
Deformation
10
Displacement and strain
Small strains, |c|<<1
A.V. Dyskin. Geomechanics Group, UWA Slide 19
Meaning of strain components
z
A.V. Dyskin. Geomechanics Group, UWA Slide 20
x
11
Compatibility
Equations of compatibility
Meaning: the absence of
discontinuities
Compatible
A.V. Dyskin. Geomechanics Group, UWA Slide 21
Incompatible
Co-ordinate rotations
A.V. Dyskin. Geomechanics Group, UWA Slide 22
12
Principal directions
p
p
Three special orientations
of the volume element
p
axes which ensure the
absence of shear stresses
(strains)
o c |

|
|
|

|
|
I I
0 0 0 0
A.V. Dyskin. Geomechanics Group, UWA Slide 23
p
o o
o
c c
c
=
\

.
|
|
|
=
\

.
|
|
|
II
III
II
III
0 0
0 0
0 0
0 0
,
Principal stress/strain and principal
directions
Principal stress
(no shear stresses)
Principal strain
(no distortion)
3
2
A.V. Dyskin. Geomechanics Group, UWA Slide 24
1
2
13
Determination of principal stress and
strain
Stress
A.V. Dyskin. Geomechanics Group, UWA Slide 25
Eigenvalues and eigenvectors
Principal directions for stress and strain do not necessarily
coincide
Spherical/deviatoric decomposition
Stress
A.V. Dyskin. Geomechanics Group, UWA Slide 26
Strain
14
Plane stress and plane strain
Plane stress Plane strain
A.V. Dyskin. Geomechanics Group, UWA Slide 27
Mohrs circle
2D
A.V. Dyskin. Geomechanics Group, UWA Slide 28
3D
15
Cylindrical co-ordinates
A.V. Dyskin. Geomechanics Group, UWA Slide 29
Cylindrical co-ordinates (cont.)
Equations of equilibrium Definition of strain
A.V. Dyskin. Geomechanics Group, UWA Slide 30
16
Spherical co-ordinates
A.V. Dyskin. Geomechanics Group, UWA Slide 31
Spherical co-ordinates
Definition of strain Definition of strain
A.V. Dyskin. Geomechanics Group, UWA Slide 32
Equations of equilibrium
17
Summary: stress and strain
Stress
Combination (Cartesian product) of 2 vectors: surface element and force
Represented by 3*3 matrix, symmetric due to moment equilibrium
Equations of equilibrium(motion) due to force equilibrium Equations of equilibrium (motion) due to force equilibrium
Strain
Combination of 2 vectors: elementary length and relative displacements
of its ends
Represented by symmetric 3*3 matrix
Equations of compatibility (represent continuity of rocks)
Rock Mechanics sign convention
Normal vectors directed inwards hence signs of all stress and strain
A.V. Dyskin. Geomechanics Group, UWA Slide 33
g
components are reversed.
Component change with coordinate rotation (tensorial property)
Principal stress (strain) and directions
Splitting into spherical (hydrostatic pressure or volumetric
strain) and deviatoric parts
Elasticity
The need for constitutive equations
Equations of equilibrium and compatibility equations are
insufficient to uniquely determine stress and strain q y
Assumptions of elasticity
Generalised Hookes law
Isotropic rocks
3D Hookes law
Plane stress and plane strain
Anisotropic rocks
Transversal isotropic rocks
A.V. Dyskin. Geomechanics Group, UWA Slide 34
Transversal isotropic rocks
Orthotropic (orthorombic) rocks
2D anisotropy
Elastic energy
Boundary conditions
18
Assumptions of elasticity
Typical stress strain
o
Elasticity
Residual strain
Typical stress-strain
curve for rocks
A.V. Dyskin. Geomechanics Group, UWA Slide 35
E
c
Elasticity
1. Reversibility (no
residual strains)
2. Linearity (Hookes law)
3. Time independence
Generalised Hookes law
x
3
( )
|
|

|
c c c
|
|

|
o o o
13 12 11 13 12 11
x
1
x
2
( ) ( )
|
|
|
.

\
c c c
c c c = c = c
|
|
|
.

\
o o o
o o o = o = o
33 32 31
23 22 21
33 32 31
23 22 21
,
kl ij
kl ijkl ij kl ijkl ij
S C o = c c = o
Summation over
repeated indexes
A.V. Dyskin. Geomechanics Group, UWA Slide 36
Tensor of elastic
moduli
Tensor of
compliances
81 components 21 independent
19
Isotropy and anisotropy
Isotropic rocks
Moduli are independent of the direction of loading Moduli are independent of the direction of loading
Shear and normal stress and strain are not coupled
Principal directions for stress and strain coincide
Transversal isotropic and orthotropic rocks
Moduli depend upon the direction of loading
Exist directions where shear and normal stress and
strain are not coupled
A.V. Dyskin. Geomechanics Group, UWA Slide 37
p
General case
Moduli depend upon the direction of loading
Shear and normal stress and strain are coupled in all
directions
Isotropic material
Moduli are independent of the direction of loading
Shear and normal stress and strain are not coupled Shear and normal stress and strain are not coupled
Hookes law two independent parameters
c o
v
o
v
o
c
v
o o
v
o
v v
x x y z
y x y z
E E E
E E E
=
= +

1
1
1
5 . 0 1 s v s
A.V. Dyskin. Geomechanics Group, UWA Slide 38
c
v
o
v
o o
c
v
t c
v
t c
v
t
z x y z
xy xy yz yz zx zx
E E E
E E E
= +
=
+
=
+
=
+

1 1 1
, , ,
20
Other forms of isotropic Hookes law
A.V. Dyskin. Geomechanics Group, UWA Slide 39
v=0.5 or K= - incompressible material
Anisotropic rocks
Different elastic properties in different directions
Examples:
Transversal isotropic material
Foliated rock or layered rock mass
Rock or concrete with reinforcement in one direction
Rock at later stages of uniaxial compression
Orthotropic material
A.V. Dyskin. Geomechanics Group, UWA Slide 40
Rock with two or three orthogonal sets of fractures
Blocky rock mass
Concrete with reinforcement in two or three directions
21
Transversal isotropy

z E
2
Hooks law

+ =
+ =
=
z y x z
z y x y
z y x x
E E E
E E E
E E E
o o
v
o
v
c
o
v
o o
v
c
o
v
o
v
o c
2 2
2
2
1 1
1
2
2
1
1
1
1
1
1
x
y
z
E
1
A.V. Dyskin. Geomechanics Group, UWA Slide 41

+
= = =
xy xy zx zx yz yz
E G G
E E E
t
v
c t c t c
1
1
2 2
2 2 2
1
,
2
1
,
2
1
x
y
Orthotropy
c o
v
o
v
o
x x y z
E E E
=

1
21 31
z E
3
Hooks law
c
v
o o
v
o
c
v
o
v
o o
x x y z
y x y z
z x y z
E E E
E E E
E E E
= +
= +

1
1
1 2 3
12
1 2
32
3
13
1
23
2 3
x
y
z
E
2
E
1
A.V. Dyskin. Geomechanics Group, UWA Slide 42
c t c t c t
v v v v v v
yz yz zx zx xy xy
G G G
E E E E E E
= = =

= = =
1
2
1
2
1
2
23 13 12
1 21 2 12 2 32 3 23 3 13 1 31
, ,
, ,
x
y
22
Example
Pressurised borehole in a layered rock.
Stress concentration at the contour
E
o
u
o /q
90
90
q
E
2
E
1
o
u
/q
E
0
30
60 120
150
180
210 330
0
30
60 120
150
180
210 330
q q
A.V. Dyskin. Geomechanics Group, UWA Slide 43
E
2
/E
1
=0.2
( )
G
E
2
2
1
2 1
=
+ v
Video Clip
240
270
300
330
240
270
300
Isotropic
Highly anisotropic
2D isotropic Hookes law
Plane stress
Plane strain
A.V. Dyskin. Geomechanics Group, UWA Slide 44
23
2D orthotropic Hookes law
Plane stress
Plane strain from plane stress by
A.V. Dyskin. Geomechanics Group, UWA Slide 45
Plane strain from plane stress by
replacement
Elastic (strain) energy
1D case
A.V. Dyskin. Geomechanics Group, UWA Slide 46
General case
24
Expression of elastic energy via
moduli and compliances
Isotropic rock p
or
A.V. Dyskin. Geomechanics Group, UWA Slide 47
General anisotropic rock
kl ijkl ij kl ijkl ij
S C W o o = c c =
2
1
2
1
Boundary conditions
At each point of the boundary 3 conditions (2 in
2D) must be specified in either of: 2D) must be specified in either of:
Tractions (stresses acting on the elements of the
boundary surface)
Simulate the action of external bodies that are very soft as
compared to the rock
Displacements
Simulate the action of external bodies that are very stiff as
compared to the rock
A.V. Dyskin. Geomechanics Group, UWA Slide 48
p
Combination
Symmetry
Saint Venant principle
25
Example: Triaxial testing of a rock
sample
u
0
0
, 0 u u u u
z r
= = =
u
p
z
y

r
0 = t = t
= o
u u z r
r
p
A.V. Dyskin. Geomechanics Group, UWA Slide 49
Stiff loading frame
Full contact with looing platens, or
Full sliding
x
0 , 0 = = =
u z r
u u u
0 = t = t
u z zr
instead of
Saint Venant Principle
Complex load can be replaced with a statically equivalent
simpler one
Total force and moment are preserved
This affects only a vicinity of the surface where the load is
applied
F, M
A.V. Dyskin. Geomechanics Group, UWA Slide 50
Affected area
26
Summary: elasticity
Constitutive relationship (equations) to close the system of equations
Linear elasticity
Reversibility, Hookes law, time independence
Isotropic rock Isotropic rock
Two elastic constants
Principal directions for stress and strain coincide
Transverse isotropic rock
Five elastic constants
Plane of isotropy
Layered rock, one set of fractures
Orthotropic rock
Nine elastic constants
A.V. Dyskin. Geomechanics Group, UWA Slide 51
Nine elastic constants
Three planes of symmetry
Blocky rock, two or three mutually orthogonal sets of fractures
Plane stress and plane strain the same equations ,adjusted moduli
Boundary conditions 3 at each point
Saint-Venant principle
Complex load replaced with a statically equivalent one
Wave propagation
Equations of motion Equations of motion
Plane waves
Rayleigh waves
Energy distribution
A.V. Dyskin. Geomechanics Group, UWA Slide 52
27
Equations of motion
Adding inertial body forces
Equations
of motion
A.V. Dyskin. Geomechanics Group, UWA Slide 53
Plane waves. Isotropic infinite rock
Assumptions
Both o and u are functions of x only
Infinite rock (no boundaries)
Isotropic rock
A.V. Dyskin. Geomechanics Group, UWA Slide 54
28
Wave equations. Planar wave
Direction of wave
propagation 0
1
2
2
2 2
2
=
c
c

c
c
t
u
c x
u
x
P
x
x
z
y
u
x
u
z
u
y
Wave front
P-wave
S-waves
0
1
0
1
2
2
2 2
2
2
2
2 2
2
=
c
c

c
c
=
c
c

c
c
t
u
c x
u
t
u
c x
u
z
S
z
y
S
y
P
A.V. Dyskin. Geomechanics Group, UWA Slide 55
Non-planar wave front
Locally the front can be replaced with a
tangent plane
Plane waves
x
z
u
x
u
z
Direction of wave
propagation
A.V. Dyskin. Geomechanics Group, UWA Slide 56
y u
y
Wave front
29
Rayleigh waves
Waves near the boundary of a semi-space y p
Direction of wave propagation
Direction of particle motion
s

e
n
t
i
a
l
l
y
Velocity
A.V. Dyskin. Geomechanics Group, UWA Slide 57
D
e
c
a
y
e
x
p
o
n
e
Energy distribution
P S
- Point source, energy E
R l i h
Energy is concentrated in a surface layer of with
ct
P or S wave
h
Rayleigh wave
ct
A.V. Dyskin. Geomechanics Group, UWA Slide 58
( )
2
~
ct
E
W
( )h ct
E
W ~
Rayleigh wave can carry energy farther than P and S waves
30
Earthquakes
l H
W
r
1 1
~
2
Rayleigh wave
H
l
1
~ W
A.V. Dyskin. Geomechanics Group, UWA Slide 59
Seismic source
2 2
H l
W
+
Summary: waves
In isotropic rock, far from the boundaries, two
types of planar waves (the front is planar) exist
P wave: particles oscillate in the direction of wave P-wave: particles oscillate in the direction of wave
propagation
S-wave: particles oscillate in the direction normal to
wave propagation
Velocities of wave propagation are determined by
moduli and density. P-wave is faster than S-wave
Non-planar wave fronts locally treated as planar
A.V. Dyskin. Geomechanics Group, UWA Slide 60
Near boundary, the Rayleigh wave exists
Backward circular particle motion
Slower than S-wave
Energy is distributed farther than by plane waves
31
Conclusion
Stress and strain
Basic notions of mechanics
Continuum Continuum
Three dimensional tensors
Equations of equilibrium and compatibility
Constitutive law
Elasticity basic law
Isotropy and anisotropy
Boundary conditions
A.V. Dyskin. Geomechanics Group, UWA Slide 61
Dynamics
Equations of motion
Plane and Rayleigh waves
Velocity of wave propagation
Energy
Literature
Mase, G.H. Schaum's outline of theory and
problems of continuum mechanics.
Timoshenko, S.P. & J.N. Goodier Theory
of Elasticity. New York : McGraw-Hill.
Brady, B.H.G. & E.T. Brown. Rock
Mechanics for Underground Mining
A.V. Dyskin. Geomechanics Group, UWA Slide 62
Mechanics for Underground Mining.
George Allen & Unwin. London, Boston,
Sydney, 1985.