THR Db” * = EDITION # ¥ Introduction to Solid Mechanics s Irving H. Shames The George Washington University James M. Pitarresi State University of New York at Binghamton Prentice-Hall of India (civatio [fanftied New Delhi - 110 001 2003oe This Indian Reprint-—Re. 295.00 (Orginal U.S. Eeiion—Rs. 3881.00) INTRODUCTION TO SOLID MECHANICS, 3rd Ed by Ining H. Shamos and James M, Pitarosi © 2000 by Prentice-Hal, Inc. (pow known as Paarson Education, Ine), Upper Saddle River, New Jersey O7488, U.S.A. Ail rights reserved. No par of his book may be reproduced in any orn, bby mmeagrapn or any other means, wihout permission in weiing from tho publisher. ISBN-81-205-22185, Published by Asoka K. Ghosh, Prentice-Hall of india Private Limited, M.Q7, Connaught Circus, Now Deti-110001 end Printed by Rakamal Electric Press, 6-388, G.T. Karnal Foad Inoustial Area, Deiti-110033,‘ Contents Preface ix About the Authors xv 1 Fundamental Notions 1 ud 12 13 14 1S 16 a7 Introduction 1 Fundamental Concepts 2 Vectors and Tensors 4 Force Distributions 4 ANote on Force and Mass 5 Closure 6 ALook Back 7 2 Stress 9 2h 2.2 23 24 28 2.6 27 28 Introduction 9 Stress 10 Stress Notation 22 Complementary Property of Shear 24 ‘AComment on the Complementary Property of Shear 27 Equations of Equilibrium in Differential Form 28 Closure 30 ALLook Ahead: Hydrostatics 30 Highlights (2) 31 Strain 47 31 Introduction 47 3.2 The Displacement Field 47 3.3. Strain Components 48 34 Strains in Terms of the Displacement Field 61 38 Compatibility Considerations 67 36 Closure 69 *3.7 ALook Abort; Fluid Mechanics 1 70 Highlights (3) 71 Introduction to Mechanical Properties of Solids 81 4.1 Introduction 81 4.2 The Tensile Test 82 4.3. Strain Hardening and Other Properties $8 44° Idealized One-Dimensional, Time- IndependpMt, Stress-Strain Laws 90 *4.5 ALook Ahead; Viscoclasticity and Creep 92 46 Fatigue 94 4.7 Suress Concentration 98 48 One-Dimensional Thermal Stress 100 4.9 Closure 102 4.10 A Look Back 103coments "4,11 A Look Ahead; Composite Matérials 103 Highlights (4) 105?” One-Dimensional Problems 111 SL Introduction 111 $.2 Basic Considerations 111 Statically Determinate Problems 113 ‘Statically Indeterminate Problems 121 Residval Stress Problem 129 Design Problem 134 ‘Thermoelastic Problems 138 Closure 142 ‘A.Look Ahead; Basic Laws of Contina 143 Highlights (5) 144 Generalized Hooke's Law and Introduction to Energy Methods 167 6:1 Introduction 167 Part A: Simple Constitutive Relations 62 Three-Dimensionel Hooke's Law for Isotropic Materials 168 63 Relation Between the Three Material Constants 171 64 Nonisothermal Hooke’s Law 174 *65 Nonisotropi, Linear, Blastic Behavior: Generalized Hooke’s Law 176 A Look Ahead; Fluid Mechanics 11179 *66 Part B: Introduction to Energy Methods 67 Stain Energy 179 68 Castigliano’s Second Theorem (Energy Methods 1) 185 *6. Basic Equations of Blasticity 195, 6.10 Closure 198 “6.1L A Look Ahead; Variational Methods 199 6.412 Highlights (6) 201 Plane Stress 213 7A 72 73 14 1S 16 Introduction 213, ‘Stress Variations at a Point for Plane Stress 214 ‘A Pause and a Comment 217 Principal Stresses and Principal Axes 219 Molu's Circle 223 Closure 230 Highlights (7) 231 Plane Strain 239 8 82 83 84 85 86 87 Invroduction 239 A Look Back; Taylor Series and Ditectional Derivatives 240 ‘Transformation Equations for Plane Strain 241 Propettics of Plane Strain 244 APertinent Comment 249 Strain Gages 250 Closure 253 Highlights (8) 254 Fallure Criteria 261 4 92 93 94 95 96 Introduction 261 Yield Criteria for Isotropic Ductile Materials 263 Yield Surfaces 272 Maximum Norinl Stress Theory for Brite Fracture 276 Comparison of the Theories 276 Closure 277 Highlights (9) 2789.7 A.Look Back; Equivalent Force Systems 279 10 section Forces in Beams 283 10.1 Introduction 283 aa 10.2 Shear Force, Axial Force, a2 and Bending Moment 283 10.3 Direct Formulations of Shear and 13 Bending-Moment Equations 294 re 104 Differential Relations for Bending ‘Moment, Shear Force, and Load 299 a 105 Sketching Shear-Force “11S and Bending-Moment Diagrams 302 *11.16 10.6 Problems Requiring Equations and Diagrams 307 10.7 Additional Considerations 311 108 Closure 314 10.9 ALook Back 315 1 Highlights (10) 317 2 111 Stresses in Beams 331 a U1 Introduction 331 Ds Part A: Basic Considerations “126 127 11.2 Pure Bending of Symmetric Beams 332 128 1.3 Bending of Symmetric Beams with Shear: Normal Stress 342 114 Bending of Symmetric Beams with Shear: Shear Stress 346 1.5 Determination of the Sign of ‘the Shear Stress 355 13.1 11.6 Consideration of General Cuts 360 13.2 Part B: Special Topics a *IL7 Composite Beams 371 134 *1L8 Case of Unsymmetric Beams 379 135 “110. ‘CONTENTS Vv ‘Shear Stress in Beams of Narrow ‘Open Cross Section 386 ANote on the Shear Center for Thin-Walled Open Members 392 Inelastic Behavior of Beams: ‘The Elastic, Perfectly Plastic Case 395 ANote on the Failure of a Structure: Limit Design 398 Inelastic Behavior of Beams: Generalized Stress-Strain Relation 401 ‘Stress Concentrations for Bending 403 Bending of Curved Beams 404 Closure 411 Highlights for Part A(11) 412 12 Deflection of Beams 435 Introduction 435 Differential Equations for Deflection of Symmetric Beams 435 AdditionaffProblems 445 Statically Indeterminate Beams 450 Superposition Methods 456 Shear Deflection of Beams 462 Energy Methods for Beams 464 Closure 473 ‘ALLook Ahead::A Closer Look at Beam Deflection and Highlights (12) 474 18 ‘Singularity Functions 491 Introduction 491 Delta Functions and Step Functions 491 Deflection Computations Using Singularity Functions 495 The Doublet Function 502, Closure 509vi contexts / 14 Torsion 513 : 14a 142 143 144 145 1146 14.7 48 "49 Introduction 513 Circular Shafts $13 ‘Torsion Problems Involving Circular Shafts 520 Stress Concentrations 528 “Torsion of Thin-Walled Noncircular Closed Shafts 530 Elastic, Perfectly Plastic Torsion $35, Noncircular Cross Sections 540 Strain Energy Computations for Twisting 546 Closure 552 Highlights (14) 553 15 Three-Dimensional Stress Properties at a Point 567 154 15.2 153 “184 “155 15.6 Introduction 567 ‘Three-Dimensional Transformation Formulations for Stress 567 Principal Stresses for a General State of Stress 583 ‘Tensor Invariants 589 ‘ALook Ahead: Tensor Notation 590 Closure 593 Highlights (15) 594 16 Three-Dimensional Strain Relations at a Point 599 164 16.2 163 164 Introduction $99 ‘Transformation Equations for Strain 599 Properties of Stain 606 Closure 609 Highlights (16) 609 17 introduction to Elastic Stability 613 17.1 Introduction 613 172 Definition of Critcsl Load 613 17.3 ANote on Types of Elastic Instabilities 615 17.4 Beam-Column Equations 617 17.5 The Column: Buckling Loads 619 17.6 Looking Back as Well as Ahead 628. 17.7 Solution of Beam-Column Problems 628 17.8 Initially Bent Member 631 *17.9 Eccentrically Loaded Columns 634 17.10 General Considerations 637 17.41 Inclastic Coluinn Theory 638 *17.12 ANote on Column Formulas 641 17.13 Closure 642 *17.14 A Look Ahead: Finite Elements 643 Highlights (17) 645 a 18 *ENERGY METHODS 657 ‘18.1 Introduction 657 Part A: Displacement Methods 18.2 Principal of Virtual Work 658 18.3 Method of Total Potential Energy 667 18.4 A Comment on the Total Potential Energy Method 672 185 The First Castigliano Theorem 672 Part B: Force Methods 18.6 Principal of Complementary Virtual Work 678 18.7 Complementary Potential Energy Principal 68219 18.8 Use of the Total Complementary Energy Principal 684 18.9 The Second Castigliano Theorem 687 38.10 Closure, 688 “Introduction to Finite Elements 697 19.1 AComment 697 Part A: Finite Elements for Trusses 19.2 Introduction 698 19.3 The Stiffness Matrix for an Element: Definition 699 19.4 Finite Blements and Trusses 700 19.5 Stiffness Matrix for an Element 704 19.6 The Global Stiffness Matrix 706 19,7 Solution of a Truss Problem 710 Part B: Some Preliminary General Considerations 19.8 Basic Considerations for Finite Elements 715 19.9 General Theory for the Displacement Method 718 19.10 Closure 722 APPENDICES |. Deformation of Isotropic Materials 723 Il, Proof Using Tensor Notation that Strain Is a Second-Order Tensor 727 ANote on the Maxweil-Bett! Theorem 729 WV. Tables Wide-flange Beams 732 ~ Standard Channels 735 Standard Angles 736 Standard Pipes 737 Property of Areas 738 Mechanical Properties of Materials 739 V.Answers to Problems 743 Index 765‘A deepsdraftcxisson vessel to be used for offshore ol ing. Photo by Wilfred Kruger / Black Star / Courtesy Exxon Corporation,Preface’ With the publication of the third edition, this book enters the third decade of its existence—this time with a co-author who used the book, fist as an undes- ‘graduate student and then later for many years as a professor, The main thrust ‘has not changed from that of its predecessors. We have strived to make this treatment careful and thorough without short changing or sneeking around important but challenging fundamentals. We have presented the theory in a ‘mature manner that we have found for many years and for varied classes to be within the reach of sephomores.* The goal has been to get to a point wherein students know the theory well enough so as to solve problems from first prin- ciples. That is, we have tried to avoid presenting in a weak matrix of discus- sion, lists of procedures for solving various classes of problems and for which strings of examples are presented in a way to encourage the mapping of homework problems from the examples. In short, we have tried to avoid a “black box” approach whose main thrust is on methodology. We have found over the years that students will retain the material much better when learning. stems from fundamentals to applications directly with a minimum of rote learning of recipes accompanied by excessive problem mapping. What is worse, we believe that students that “plug and chug,” relying on the recipes while cramming for exams, do not mature analytically in mechanics as they should. Furthermore, we believe that well grounded theory in solids will give the student a more meaningful experience and grasp in later mechanics-based ‘courses such as fluids, structures, machine design etc. ‘The steps we have taken in this edition to help foster problem solving ‘from first principles and to increase retention of basics are as follows: 1. At appropriate places, we flave inserted “A Look Back" section that reviews the material covered in-Statics, Dynamics, and Physics for pur- poses of continuity and to make for greater ease in dealing with new mate ‘ial that depends on these earlier studies. These sections are short and to the point “Later, more wil be sai abost sophomore coverage 8 well possbe se ofthis bookx PREFACE There are a number of started sections enttled,“A Look Ahead” which ‘open-end the text toward future work that may interest the student. We found thatthe more serious students will look at this material and at «Inter {in more advanced courses will come back to these sections for valuable linkups with the sobids courses. At the leas, they will see that the theory they are studying with some depth does continue on in later courses, 3. At the end of each chapter, there is “Closure” that reminds the Student of lhe contents of the chapter and sets the stage for the next chapter which with an “Introduction” section picks up the subject thread. ‘Thus, with these three items, we are attempting to provide continuity first between courses in the curriculum and also continuity between chapters in the course. This is important since mechanics in a vertical subject and solids is but one part ofa very extensive discipline. That is another ceason for ‘emphasizing the theory since itis the glue that binds the various aspocts of the subject. There is yet one more new item that we have included, 4. At the end of cach chapter, there is a “Highlights” section. Here, we go lover the essence of the chapter without mathematical and developmental details to give 2 physically meaningful discussion of Key items. This read- ‘ng comes after the student has read relevant parts ofthe chaptet for hisfher course, done the assigned homework, participated in classroom work, and 1heard and participated in discussions in and out of the classroom. This pos- sibility of an uncluttered but informed overview we find to be very valu- able for the learning process, 7 ‘We wis to emphasize that the developments and the examples are fay built around wht we call the thee pillars of solié mechanics, narely equilibrium, constitutive laws, and compatibilty.* Compatiliy is ca- fully defined early inthe book in terms of requiring the stun fields to be properly related to single-valed and continuous displacement felis. We do fo use the second-order parial differential equations to saisty compatibility but instead use geometry and trigonometry to accomplish this goal. As an ‘example, for a truss we make sure at a joint that, when the pin is associated. ‘ith one ofthe members, its movement is compatible with the movement of this pin wien itis associated with any otber member atthe joint. That is, the pin must end up a the same position, independent of which member it might be associated with, Thus, inthis way using geometry and trigonometry Wwe insure a single valued, continuous deformation ofthe truss. Those readers that gt into the energy formulations will ee tat compatbily plays an anal- ‘ogous and an equally imporant role a equtbrium. In energy formulations ‘we can use the vital stain displacement relations developed early in the book ‘form compaiie strain fields. The thee pillars are identified ts they occur in the energy material and are thus highlighted throughout the entire book. ‘Novice trom te cover tat eves te publiter is sporting “SOLID MECHANICS” wits ‘ee lit presomaly ted meine stove,AAs is well known, there are two conventions in use for shear forces, bending woments, etc. One is highly favored by civil engineers (called the stctural convention) and the other (called the stress convention) is used by a significant number of mechanical and aerospace engineers as well as by some ‘applied mechanicians. We have introduced bath conventions. However, atthe request of users of the earlier editions, we have gone over to the structural ‘convention inthis text. Also, we have used the more standard notation, v, for the deflection of the neutral surface. Next, we have presented the second Castigliano theorem carefully via the interesting Maxwell-Betti reciprocal theorem fairly ealy in the text and it is used for trusses a its introduction. Later, i ie used in the beam and torsion chapters. In presenting this very useful theorem, we point out that itis the third derived principe in the energy force methods and that there is an anal- ‘ogous set of principles called the ene?gy displacement methods. The inter- ested student is invited 10 examine these beautiful and powerful systems of Principles in chapter 18. Advanced work in solid mechanics will require a thorough understanding of this material. We have found that this chapter, although rigorous, is within the reach of competent sophomores should the instructor desire to use it for extra credit or honors work. To discourage excessive mapping, the homework problems are placed atthe end of the chapters. Twosthirds of the problems indicate in brackets the latest section ofthe chapter for which knowledge is needed for a solution: the Jast third is in random order. The instructors manual will give the instructor the information as to what last section is needed for a solution of these ra ‘dom problems. Also, the manual includes a three-level rating system of the degree of difficulty to be expected for each problem, Finally, examples are ‘not adjusted to fit each on a single page nor are they delineated asa series of stops. Instead generous explanations are made to elaborate how the theory and the modeling have been applied without such artificial constraints of ‘space and form. In shor, the examples are meant more to be read and studied. and less to be mapped, It is the feeling of the authors that the student should be familiar with the use of modern engineering computer-based tools, These include (but ae ‘by no means limited to) such general purpose codes at Mathematica, Math- CCAD. and Maple. Such computer programs allow for both symbolic and ‘numeric manipulations of expressions. This can be very helpful for both the derivation of equations as well as their solution, But perhaps most impor- tantly, codes such a8 these permit the students to conveniently maintain certain key parameters as variables within the solution equations, By subsequeaty plotting the relationship between the variables, insight into the nature of the solution is gained. In this way, the stdents cen accelerate their development of “engineering feel.” These problems ate double-started and are atthe very ends of the chapters. We have presented a series of problems throughout the ‘ext using this philosophy. We have made the problems independent of any particular software package. The focus i on the nature of the solution andthe interaction of the variables. We want to encourage the student to ty these PRERICE xd