Supplementary Notes for Lectures M12 and M13

Symmetry of Stress Tensor Consider moment equilibrium of differential element: Taking moments about x1 axis (i.e point C): dx ˘ dx ˘ È È Â M1 = 0 : 2 s 23 (dx 3dx1) 2 - 2 s 32 (dx2dx1) 3 = 0 Î Î 2 ˚ 2 ˚ fi s 23 = s 32 Area of face Thus, in general Moment arm s mn = s nm Stress tensor is symmetric. Six independent components of the stress tensor. s 11 s 22 s 33 s 12 Ê = s 21 ˆ s 23 ÁÁ = s 32 ˜˜ s 31 Ë = s 13 ¯ Note a positive (tensile) component of stress acts on a face with a positive normal in a positive direction. Thus a stress acting on a negative normal face, in a negative direction is also positive. If the stresses do not vary over the infinitesimal element, s mn acts on opposite faces, in opposite directions but with equal magnitude. But what happens if stress varies with position? Stress Equations of Equilibrium Consider equilibrium in x1 direction. Let stresses vary across cube. Also allow there to be a body force (per unit volume) f1 acting on the cube in the x1 direction: x3 s11 dx2 s 31 + ∂s 31 dx3 ∂x 3 s 21 + s21 dx3 ∂s 21 dx2 ∂x2 x2 s31 x1 s 11 + ∂s 11 dx ∂ x1 1 dx1 f1 fn is a “body force”, e.g. due to the weight of the element (rg), centrifugal acceleration (rrw2), electromagnetic fields etc. Taking equilibrium of forces in the x1 direction gives: Ê Ê Á s 11 + ∂s 11 dx1˜ˆ (dx2dx3 ) - s 11(dx 2dx 3 ) + Á s 21 + ∂s 21 dx 2 ˜ˆ (dx1dx 3 ) - s 21(dx1dx3 ) Ë ∂x1 ¯ Ë ∂x2 ¯ Ê ∂s ˆ + Á s 31 + 31 dx3˜ (dx1dx 2 ) - s 31(dx1dx2 ) + f1(dx1dx2dx3 ) = 0 Ë ∂x3 ¯ which simplifies to: ∂s11 ∂s 21 ∂s 31 + + + f1 = 0 ∂x1 ∂x 2 ∂x3 similarly, equilibrium in the x2 and x3 directions yields: ∂s12 ∂s 22 ∂s 32 + + + f2 = 0 and ∂x1 ∂x2 ∂x3 ∂s13 ∂s 23 ∂s 33 + + + f3 = 0 ∂x1 ∂x2 ∂x3 Canceling out terms and dividing through by the common dx1, dx 2 , dx3 . Gives: ∂s11 ∂s 21 ∂s 31 + + + f1 = 0 ∂x1 ∂x 2 ∂x3 x1 direction Similarly, ∂s12 ∂s 21 ∂s 31 + + + f2 = 0 ∂x1 ∂x 2 ∂x 2 x2 direction ∂s13 ∂s 23 ∂s 33 + + + f3 = 0 ∂x1 ∂x2 ∂x3 x3 direction These are the three equations of stress equilibrium. In tensor form: ∂s mn + fn + 0 ∂xm Stress Transformations Just as we need to resolve forces with respect to structural axes - need to resolve stress. - E.g. to identify directions which transmit maximum stress (tensile, shear, compressive) Two Dimensional Case: Consider a unit square (of unit depth dx3) What is the stress acting at some angle q ? Consider equilibrium of a triangular, wedge shaped element: • Align x̃1 perpendicular to cut face, x̃2 parallel to cut face • The element is of uniform depth dx3 • Must still be in equilibrium of forces: ÂF =0 S(Stress component x length x depth) note: dx 2 = dx̃2 cosq dx1 = dx̃2 sinq Equation of equilibrium in x̃1 direction: area Resolved component s̃11dx3dx̃ 2 - s11dx3 [dx̃ 2 cosq ]cos q - s 22 dx3[dx̃2 sin q ] sinq - s12 dx3[dx̃2 sin q ] cosq - s 21dx3[dx̃2 cosq ] sinq canceling out dx̃2 and combining s̃11 = cos2 q s 11 + sin2 q s 22 + 2 cosq sin q s 12 Note: 2 angles: 1 for area; one for resulting force This can be done for s˜12 and s˜ 22 , e.g. ( s˜12 = - s11 cosq sin q + s 22 sinq cosq + s12 cos2 q - sin2 q note you can always take equilibrium of an element ) Tensor form Transformation requires direction cosines (see below) Stresses are second order tensors (2 subscripts) and require two direction cosines for transformation. Thus: s˜ mn = l m˜ pl n˜ qs pq - 2nd order tensor requires 2 directional cosines - transforms stress from xn system to x̃m system one angle for area, one for component of force In 2-D s˜ gb = lg˜q l ˜ sqt bt Side Note: Direction Cosines Define direction cosine as: Angle between l mñ = cos[ x m x̃ n ] such that xm = l mñ x ñ or x̃n = lñ m x m Tensor equations where we mean x1 = l ˜1x̃1˜ + l 2˜ x̃ ˜2 + l 3˜ x̃3˜ 1 1 1 x2 = l 2˜n x̃ ñ x3 = l 3˜n x˜ñ We could who use the same idea for forces F̃n = l ñm Fm First order tensor is a vector (one subscript) requires one direction cosine for transformation. Angles measured positive counter-clockwise. l m˜ n = lnm̃ Since cosine is an even function cos(q ) = cos(- q ) But l m̃n ≠ ln˜ m - different angles 2-D Example x1 x̃1 l 1˜ 1 = cos q x̃2 l 2˜ 1 = cos(-(90 + q )) l 2˜ 2 = cos q l 3˜ 1 = cos 90 = 0 l 3˜ 2 = cos 90 = 0 x̃ 3 † x2 l 1˜ 2 = cos(90 - q ) = sin q x3 l 1˜ 3 = cos 90 = 0 l 2˜ 3 = cos 90 = 0 l 3˜ 3 = cos q = 1 One further way to transform stress is to use "Mohr's Circle" graphical method for rotating 2nd order tensors in 2-D coordinate system Mohr's Circle for Stress Mohr's circle is a geometric representation of the 2-D transformation of stresses. Construction: Given the state of stress shown below, with the following definition (by Mohr) of positive and negative shear: "Positive shear would cause a clockwise rotation of the infinitessimal element about the element center." Thus: s 2 1 (below) is plotted positive s 1 2 (below) is plotted negative: Following these rules do the following: 1. Plot s 1 1, - s 1 2 as point A 2. Plot s 2 2 , s 2 1 as point B 3. Connect A and B. 4. Draw a circle of diameter of the line AB about the point where the line AB crosses the horizontal axis (denote this as C). To read off the stresses for a rotated system: 1. Note that the vertical axis is the shear axis; the horizontal axis is the extensional stress axis. 2. Positive rotations are measured counter clockwise as referenced to the original system and thus to the line AB. 3. Rotate line AB about point C by the angle 2q, where q is the angle between the unrotated and rotated system. 4. The points D and E where the rotated line intersects the circle are used to read off the stresses in the rotated system. The vertical location of D is - s̃ 1 2 ; the horizontal location of D is s˜ 1 1. The vertical location of E is s˜ 2 1, the horizontal location of E is s˜ 2 2 Shear Mohr's Circle (Principal Stresses) H B G C F Ext 2qp A H' We can also immediately see the following: 1. The principal stresses (see below), s I and s II are defined by the points G and F (along the horizontal axis s̃ 1 2 = 0 ). The rotation angle to the principal axis is qp which is 1 the angle from the line AB to the horizontal line FG. 2 2. The maximum shear stress is defined by the points H and H' which are the endpoints of the vertical line. The line is orthogonal to the principal stress line and thus the maximum shear stress acts along a plane 45°
(=
90°/2) from the principal stress system. Principal Stresses The principal Stresses are the extremum (maximum or minimum) values of stress at a point. The principal directions are the directions corresponding to these extremum values of stress. The principal directions have no shear stresses associated with them (consider differential equation for stress equilibrium).