Professional Documents
Culture Documents
Rigid body displacement occurs when the relative position between any points
within the solid body remain unchanged. This is a topic of Engineering Mechanics
(Statics), Engineering Dynamics I, II, and III.
Deformation occurs when the relative position between any points within the solid
body change – a topic of Mechanics of Solids I, and II.
Rigid body motion
Q
P 90°
R
Q
90°
R
P Q y
y
90°- y
R
P
0 x
Deformation 0 x
(a) (b)
𝑃𝑥
𝛿= = 𝑢(𝑥)
𝐸𝐴
y A B C
0 x
y
A B C
0 x
uA uB uC
1
MECH3361/9361 Semester 2, 2016
𝑃
Let 𝑐 = 𝐸𝐴 denote a constant. Thus:
𝑃
𝑢𝐴 = 𝑢(𝑥 = 𝑥𝐴 ) = ( ) 𝑥 = 𝑐𝑥𝐴
𝐸𝐴 𝐴
𝑃
𝑢𝐵 = 𝑢(𝑥 = 𝑥𝐵 ) = ( ) 𝑥𝐵 = 𝑐𝑥𝐵
𝐸𝐴
𝑃
𝑢𝐶 = 𝑢(𝑥 = 𝑥𝐶 ) = ( ) 𝑥𝐶 = 𝑐𝑥𝐶
𝐸𝐴
In general, the displacements in a solid subjected to deformation are non-uniform and would
be some function of co-ordinates. In a general 2D case (x-y case), 𝑢 = 𝑢(𝑥, 𝑦) and 𝑣 =
𝑣(𝑥, 𝑦), where u and v are the displacements in x and y directions, respectively. In 3D, 𝑢 =
𝑢(𝑥, 𝑦, 𝑧), 𝑣 = 𝑣(𝑥, 𝑦, 𝑧), and 𝑤 = 𝑤(𝑥, 𝑦, 𝑧), where w is the displacement in the z direction.
Note that we ignore rigid body displacement in Mechanics of Solids I and II.
2.2. Strain
2.2.1. Normal and shear strain
Similar to stress, strains can be classified as either normal or shear strains. Normal strain is
the relative change in distance between two ends of a segment of original length l0.
𝑙 − 𝑙0
𝜀=
𝑙0
(2.1)
If the segment is in tension, then 𝑙 > 𝑙0 and the normal strain is positive. In compression, 𝑙 <
𝑙0 , resulting in a negative normal strain.
Shear strain is defined by the change in the included angle of two segments.
1 1
𝛾 = tan 𝜓 ≈ 𝜓
2 2
(2.2)
If shear causes a reduction in the included angle, then shear strain is positive. If shear causes
an increase in the included angle, then shear strain is negative.
Note that the displacement at a point is easy to measure, however, strain is more difficult to
measure, as we require at least two measurement points in the solid. The accuracy of a point
strain measurement will therefore be dependent on the distance between these two points.
2
MECH3361/9361 Semester 2, 2016
𝜕𝑢(𝑥, 𝑦)
𝑢 + 𝛥𝑢 = 𝑢 + 𝛥𝑥
𝜕𝑥
𝜕𝑣(𝑥, 𝑦)
𝑣 + 𝛥𝑣 = 𝑣 + 𝛥𝑦
𝜕𝑦
𝜕𝑢
𝑃′ 𝑅 ′ − 𝑃𝑅 (𝛥𝑥 + 𝑢 + 𝛥𝑥 − 𝑢) − 𝛥𝑥 𝜕𝑢
𝜀𝑥𝑥 = lim [ ] = lim [ 𝜕𝑥 ]=
𝑥→0 𝑃𝑅 𝑥→0 𝛥𝑥 𝜕𝑥
(2.3)
𝜕𝑣
𝑃′ 𝑄 − 𝑃𝑄 (𝛥𝑦 + 𝑣 + 𝛥𝑦 − 𝑣) − 𝛥𝑥 𝜕𝑣
𝜕𝑦
𝜀𝑦𝑦 = lim [ ] = lim [ ]=
𝑦→0 𝑃𝑄 𝑦→0 𝛥𝑦 𝜕𝑦
(2.4)
y Q’
v+ v
Q R’
y u
P’ u+ u
v
P x
x R
3
MECH3361/9361 Semester 2, 2016
y
u+ u
u Q’
Qy’
Q y R’
v
y u x
P’ Rx’ v+ v
v
P x
x R
𝛥𝑣 𝛥𝑢
𝜓 = 𝜓𝑥 + 𝜓𝑦 ≈ tan 𝜓𝑥 + tan 𝜓𝑦 = +
when 𝜓𝑥 and 𝜓𝑦 are small 𝛥𝑥 𝛥𝑦
1 1 𝛥𝑣 𝛥𝑢 1 𝜕𝑣 𝜕𝑢
𝛾= lim tan 𝜓 = lim ( + ) = ( + )
2 𝛥𝑥→0 𝛥𝑥→0 2 𝛥𝑥 𝛥𝑦 2 𝜕𝑥 𝜕𝑦
𝛥𝑦→0 𝛥𝑦→0
(2.5)
𝜕𝑢
𝜀𝑥𝑥 =
𝜕𝑥
𝜕𝑣
𝜀𝑦𝑦 =
𝜕𝑦
1 𝜕𝑣 𝜕𝑢
𝜀𝑥𝑦 = ( + )
2 𝜕𝑥 𝜕𝑦
(2.6)
𝜕𝑢 𝜕𝑣 𝜕𝑤
𝜀𝑥𝑥 =
, 𝜀𝑦𝑦 = , 𝜀𝑧𝑧 =
𝜕𝑥 𝜕𝑦 𝜕𝑧
1 𝜕𝑣 𝜕𝑢 1 𝜕𝑤 𝜕𝑣 1 𝜕𝑢 𝜕𝑤
𝜀𝑥𝑦 = ( + ) , 𝜀𝑦𝑧 = ( + ) , 𝜀𝑥𝑧 = ( + )
2 𝜕𝑥 𝜕𝑦 2 𝜕𝑦 𝜕𝑧 2 𝜕𝑧 𝜕𝑥
(2.7)
4
MECH3361/9361 Semester 2, 2016
Example 2.1
A rectangle parallelepiped of infinitesimal dimension lx, ly, lz is subjected to two different
states of small strain expressed by the strain tensors (matrices). Determine the relative
volume changes of the element during these deformations.
−10 2 4
𝜀2 = [ 2 −6 8 ] × 10−5
4 8 15
Solution
ly(1+ y) l
y
lx
lx(1+ x)
Since the deformations are small, the relative angle change can be ignored.
= 𝑉0 (1 + 𝜀𝑥𝑥 + 𝜀𝑦𝑦 + 𝜀𝑧𝑧 + 𝜀⏟𝑥𝑥 𝜀𝑦𝑦 + 𝜀𝑦𝑦 𝜀𝑧𝑧 + 𝜀𝑥𝑥 𝜀𝑧𝑧 + 𝜀𝑥𝑥 𝜀𝑦𝑦 𝜀𝑧𝑧 )
ignore higher order results
Hence the relative volume change can be expressed as a volume strain or dilatation.
𝑉 − 𝑉0
𝛥=
𝑉0
𝑉0 (1 + 𝜀𝑥𝑥 + 𝜀𝑦𝑦 + 𝜀𝑧𝑧 ) − 𝑉0
=
𝑉0
𝛥 = 𝜀𝑥𝑥 + 𝜀𝑦𝑦 + 𝜀𝑧𝑧
(2.8)
5
MECH3361/9361 Semester 2, 2016
For strain states ε1 and ε2, the volume changes Δ1 and Δ2 can therefore be calculated.
Under strain state ε1, a positive dilatation occurs, while under strain state ε2, there is a
negative dilatation.
(2.9)
y 3
2
2 1
3
x
Based on these three sets of data, we want to determine the normal and shear strains about the
x and y axes. Since we have three unknown terms and aim to find, ε xx, εyy, εxy, we can use Eq.
(2.10) three times, once for each angle, simultaneously solving for the three unknown strain
terms, εxx, εyy, εxy, as shown in Eq. (2.11).
6
MECH3361/9361 Semester 2, 2016
(2.10)
Example 2.2
A “thick bar” is subjected to a set of external loads within the xy-plane as illustrated in Fig.
2.7. Using the strain gauge rosette shown in the figure, the direct strains at a point are
measured to be 𝜀𝐴 = −1 × 10−4, 𝜀𝐵 = 1 × 10−4, and 𝜀𝐶 = 1.8 × 10−4. Determine εxx, εyy,
and εxy.
60°
C B 120°
60° 60°
A
Solution
7
MECH3361/9361 Semester 2, 2016
𝜀𝑥𝑥 = −1 × 10−4
𝜀𝑦𝑦 = 2.6 × 10−4
𝜀𝑥𝑦 = 0.46 × 10−4
2 2 2
𝐼2,𝜀 = 𝜀𝑥𝑥 𝜀𝑦𝑦 + 𝜀𝑦𝑦 𝜀𝑧𝑧 + 𝜀𝑧𝑧 𝜀𝑥𝑥 − 𝜀𝑥𝑦 − 𝜀𝑦𝑧 − 𝜀𝑧𝑥
2 2 2
𝐼3,𝜀 = 𝜀𝑥𝑥 𝜀𝑦𝑦 𝜀𝑧𝑧 + 2𝜀𝑥𝑦 𝜀𝑦𝑥 𝜀𝑧𝑥 − 𝜀𝑥𝑥 𝜀𝑦𝑧 − 𝜀𝑦𝑦 𝜀𝑧𝑥 − 𝜀𝑧𝑧 𝜀𝑥𝑦
(2.11)
(2.12)
There are three roots to this equation for a 3D case. As with stress, various methods can be
used to solve for the principal strains. MATLAB can be used to determine the roots
numerically using the coefficients of the Eigen equation (which are the strain invariants
adjusted for the signs in the equation).
Alternatively, the principal strains and principal strain direction cosines can be calculated as
eigenvalues and eigenvectors directly from the strain tensor.
8
MECH3361/9361 Semester 2, 2016
>> A = [εxx εxy εxz; εyx εyy εyz; εzx εzy εzz];
>> [cosines,principals] = eig(A)
Example 2.3
Given the following strain state, determine the principal strains.
Solution
𝜀 3 − 1.6𝜀 2 − 2.8116𝜀 = 0
𝜀(𝜀 2 − 1.6𝜀 − 2.8116) = 0
1.6 ± √(−1.6)2 − 4(1)(−2.8116)
𝜀𝑝 = 0, and 𝜀𝑝 = × 10−4
2(1)
Ranking the principal strain solutions according to 𝜀1 > 𝜀2 > 𝜀3, we get:
𝜀1 = 2.658 × 10−4
𝜀2 = 0
𝜀3 = −1.058 × 10−4
Note that similar to principal stress, the principal strain planes have no shear strain.
9
MECH3361/9361 Semester 2, 2016
Incompatible
Compatible
Using the strain displacement relationships developed in Section 2.3, strain components are
easily determined by known displacements. Conversely, to determine the displacements from
the known strain components, a strain compatibility condition is required. This is because:
Mathematically, there will not be a unique solution to the displacement field (three
components: u,v,w) from six known strain components (εxx, εyy, εzz, εxy, εyz, εzx)
Physically, displacement fields should be continuous and cannot be arbitrary, as
illustrated in Fig. 2.7.
𝜕𝑢 𝜕𝑣 1 𝜕𝑣 𝜕𝑢
𝜀𝑥𝑥 = , 𝜀𝑦𝑦 = , 𝜀𝑥𝑦 = ( + )
𝜕𝑥 𝜕𝑦 2 𝜕𝑥 𝜕𝑦
𝜕 2 𝜀𝑥𝑥 𝜕3𝑢
=
𝜕𝑦 2 𝜕𝑥𝜕𝑦 2
𝜕 2 𝜀𝑦𝑦 𝜕3𝑣
=
𝜕𝑥 2 𝜕𝑦𝜕𝑥 2
𝜕 2 𝜀𝑥𝑦 1 𝜕 3 𝑣 𝜕3𝑢
= ( + )
𝜕𝑥𝜕𝑦 2 𝜕𝑥 2 𝜕𝑦 𝜕𝑦 2 𝜕𝑥
10