Theory of Elasticity

R&DE (Engineers), DRDO
rd_mech@yahoo.co.in
2D Theory of Elasticity
Ramadas Chennamsetti
Summary

Field equations
Boundary conditions
Problem formulation
Plane strain
Plane stress
Airys stress function
Axially loaded bar
Pure bending of beam
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Introduction
In principle all practical problems 3D
problems very complex difficult to
handle
Reasonable assumptions bring down the
complexity in the problem reduces a
dimension => 2D problem
2D problems two independent variables
static problem three independent variables
dynamic problems
Field variables, = (x, y, t)
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Introduction

Conservation of mass
Principle of momentum
Principle of moment of momentum
First law of thermodynamics
Second law of thermodynamics - inequality
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Field variable is independent of third

dimension => z = 0
Continuum approach the following laws
hold good
Introduction
No inertia effects quasi-static / static
Small deformation and rotations
Material => isotropic same properties in all
the direction
Homogeneous material properties are
uniform over the domain
Linear elastic Hookes law holds good =>
Hookean material
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Field equations
Strain-displacement equations
1 ui u j 1
ij =
+
= (ui , j + ui , j )
2 x j xi 2
Six equation
ij ,kl + kl ,ij ik , jl jl ,ik = 0

Six equations three independent
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Compatibility equations
Field equations
Equilibrium equations
ij, j + Bi = 0
Three equations
ij
1+
=
ij
kk ij
Six equations
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Constitutive law Linear elastic Hookes

law
ij = kk ij + 2 ij
Field equations
(u i , ij , ij , , , Bi ) = 0
Unknowns
Lames constants
Body load
Not easy to solve analytically 15 equations to find out 15 unknowns

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Total 15 equations = 3 Equilibrium +

6 strain displacement + 6 constitutive laws
Unknowns => 3 Displacements, 6 stress
components and 6 strain components
Boundary value problem casted as
Boundary conditions
Solution of a differential (partial) equations
boundary conditions required
Boundary conditions influence the solution
field variable in the domain
BCs play a very essential role for properly
formulating and solving elasticity problems
In elasticity boundary conditions
displacements, tractions and combination
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Boundary conditions
Tn
Traction boundary
conditions
Displacement boundary
conditions
Tn
Mixed boundary
conditions
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Various boundary conditions in elasticity
Boundary conditions
Tractions
At A Direction cosines of
area normal => (0, 1, 0)
yy
xx is inside the boundary this

need not be zero
xy
yy
Tx = xy; Ty = yy
xy
xx
B
y
At B Direction cosines of
area normal => (1, 0, 0)
Tx = xx; Ty = xy
T x = l
xx
+ m
xy
T y = l
xy
+ m
yy
yy is inside the boundary this

need not be zero
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xx
Boundary conditions
Tractions
A
r
B
Tractions in Polar co-ordinate system

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Boundary conditions
Boundary 1 traction free
Tractions
DC => (0, 1, 0)
Tx = 0. xx + 1. xy = 0
1
Tx = xy = 0
Ty = 0. xy + 1. yy = 0 => yy = 0
Boundary 2 DCs (1, 0, 0)
Tx = 1. xx + 0. xy = S = xx
x
Boundary 4
u = 0; v = 0
Ty = 1. xy + 0. yy = 0 = xy
Boundary 3 DCs (0, -1, 0)
Tx = 0. xx - 1. xy = 0
Tx = xy = 0
Ty = 0. xy - 1. yy = 0 => yy = 0
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Boundary conditions
Boundary - 1 DCs (l, m, 0)
Tractions
This is a traction free boundary
DCs are constant on this

boundary
Tx = lxx + m xy = 0
Ty = mxx + l xy = 0
Boundary 2 Constrained
boundary U, V = 0
xx
3
xy
1
yy
Boundary 3- Traction is acting

x
DCs (-1, 0, 0)
Tx = -1xx + m xy = S => xx = - S
Individual stress components are not zero

Ty = mxx + l xy = 0 => xy = 0
on boundary - 1
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Problem formulation
3D elasticity 15 equations and 15 unknowns - 2D

elasticity 8 equations and 8 unknowns
Reformulating elasticity problems mathematically
convenient way
Two approaches
Displacement based express filed equation in

terms of displacements, ui Navier equation
Stress based express filed equation in terms of
stresses, ij
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Displacement based
Stress based formulations
Problem formulation
In displacement based formulation

Primary variable displacement solution is
obtained for displacements stresses and strains
secondary / derived variables
Strains derivation of displacements
Stresses use constitutive law
Primary variable stresses solution is obtained
for stresses strains and displacements
secondary variables
Strain compatibility equations
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In stress based formulation
Displacement formulation
Governing equation expressed in

displacements
Field equations
Equilibrium ij , j + Bi = 0 - (1)
Constituti ve law ij = kk ij + 2 ij
- (2)
- (3)
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1 ui u j
Strain - displacement ij =
+
2 x j xi
Differentiate (3) wrt j
ij , j = kk , j ij + 2 ij , j
- (4)
Plug this in (1)
Express all strain components in (5) in terms of

displacements Use equation (2)
u k , kj ij + (u i , jj + u j , ij ) + B i = 0
u k , ki + u j , ji + u i , jj + B i = 0
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ij, j + Bi = kk, jij + 2ij, j + Bi = 0 - (5)
u k , ki + u j , ji + u i , jj + B i = 0
+ )u j , ji + u i , jj + B i = 0
This gives three equations for i = 1, 2 and 3
( + )
x1
u1 u 2 u 3
+
+
x1 x 2 x 3
2
2
2
+ 2 +
+
2
2
x
2
3
u 1 + B1 = 0
Combining all three equations into a single equation
+ ) .U + 2 U + B = 0
~
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For i = 1 => x - direction
Governing equations in terms of displacements

three equations - reduced from 15 equations
( + )u j , ji + ui , jj + Bi = 0
(u i , , , Bi ) = 0
- (U)
Navier equation
Boundary conditions => ui = Ui on S boundary ui = ui ( x1 , x2 , x3 )

Solve second order PDEs get displacements
Use strain displacement relations for calculating strains
Constitutive relations for stresses
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Equations (U) known as Naviers or Lames equations
Stress formulation
In displacement formulation compatibility
equations play no role displacement
obtained are single valued and continuous
In stress formulation express governing
equation in terms of stresses
Stresses primary variables obtain
secondary variables displacements from
strain-displacement relations
Integrate -U relations compatibility
equations come into play
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Stress formulation
Boundary conditions only tractions

From the filed equations eliminate strains and
displacements
Compatibility equation
For k = l first three compatibility equations are obtained
1+
Constitutive law ij =
ij kk ij
E
E
Differentiate this wrt k and l, plug in (1)
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ij ,kl + kl,ij ik , jl jl ,ik = 0 - (1)
Stress formulation
Three compatibility equations for k=l = 1, 2

and 3
2 xx 2 zz
2 xz
+
=
2
2
z
x
xz
(i = j = 3, k = l = 1)
2 yy
zz
yz
+
=
2
2
y
yz
z
(i = j = 2 , k = l = 3 )
2
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2 yy
2 xy
2 xx
+
=
2
2
y
x
xy
( i = j = 1, k = l = 2)
Stress formulation
This gives
ij , kk + kk ,ij ik , jk jk ,ik =
1+
mm , kk
ij + mm ,ij kk mm , jk ik mm ,ik jk )
kk = 3
equilibriu m eqn. ij , j + Bi = 0
ij , j = Bi
Make use of equilibrium equation to reduce further
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Stress formulation
Governing equation in terms of stress

1
ij , kk +
kk ,ij =
mm , kk ij B i , j B j , i
1+
1+
( ij , , , Bi ) = 0
Beltrami-Michell compatibility equation

Six equations can be obtained for i, j = 1, 2, 3
Only three are independent similar to strain compatibility equations
Three more equations are required complemented by three
equilibrium equations - Six unknowns six equations
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Compatibility equation in terms of stresses, known as
Plane strain
Out-of-plane dimensions are large compared to

in-plane dimensions All loads and boundary conditions
independent of z co-ordinate
y
The deformation in z direction

assumed to be zero. w = 0
Deformations in x and y
directions depend on (x, y) only
u = u(x, y) and v = v(x, y)
z
Reduce a 3D problem to
2D problem
All cross-sections have same

displacements
Out of plane strains vanish
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Plane strain
In plane strain zz = 0, yz = 0 and zx = 0

Linear elastic material Hookes law
ij = kk ij + 2 ij
yy = ( xx + yy ) + 2
zz = ( xx + yy )
xy = 2 xy =
yy
xy
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xx = ( xx + yy ) + 2 xx
Plane strain
ij , j
+ Bi = 0
( ( xx + yy ) + 2 xx ) + ( xy ) + Bi = 0
x
y
u v
u u v
+ 2
+ B x = 0
+
+

+

x y y x
x y
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xy
xx
+
+ B x = 0 - (1)
x
y
xy
xx
+
+ B y = 0 - (2)
x
y
Use constitutive law and strain-displacement equations in (1)
Plane strain
Governing equation in x direction
u v
u + ( + ) + + Bx = 0
x x y
2
Use second equilibrium equation convert to displacements
u v
v + ( + ) + + B y = 0
y x y
In each of the above two equations, equilibrium, constitutive law
and displacement strain equations are inbuilt - Displacement
formulation
Eight equations => reduced to two equations in displacements
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Plane strain
Stress based formulation -
2 yy
2 xy
2 xx
+
=
2
2
y
x
xy
In 2D case, compatibility equation

Use constitutive law convert into
stresses
yy =
zz = 0 =
zz
E
yy
E
xy
xx
yy
+ zz )
( xx + zz )
+ yy ) => zz = ( xx + yy )
2(1 + )
=
xy
E
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xx =
xx
Plane strain
Compatibility equation in terms of stresses
2
2
(1 ) yy xx + 2 (1 ) xx
2
x
y
2 xy
yy
] = 2 xy
Use equilibrium equations to eliminate shear stress from above

equation
xx xy
xx xy
+
+ Bx = 0 =>
+
+ Bx = 0
x
y
x x
y
xy xx
xy yy
+
+ B y = 0 =>
+
+ B y = 0
x
y
y x
y
Add
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Above equation is obtained from compatibility, constitutive

equations
Plane strain
This is obtained as
2
2 xy
xx
B x B y
yy
+
+2
+
+
=0
2
2
x
y
xy
x
y
2 xy
2 xx
2 yy
B x B y
2
=
+
+
+
2
2
xy
y
x
y
x
2 xx 2 yy Bx B y
2
2
+
(1 ) yy xx + 2 (1 ) xx yy = 2 + 2 +
2
y
x
y
y
x
x
Simplifying this expression
1 Bx B y
( xx + yy ) =
+
1 x
y
2
Single governing
equation for stress based
formulation of plane
strain problems
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Plane strain
Governing equation
( xx
2
1
+ yy ) =
1
B x B y
+
y
x
In this equation, equilibrium, constitutive and compatibility

equations are inbuilt.
Only one governing equation three unknowns

In 2D two stress equilibrium equations exist use these two
with above governing equation
Boundary conditions given in terms of tractions. Relate them to
stresses
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Three stress components in 2D xx, yy, xx
Plane stress
Third dimension much smaller than inplane dimensions

Out of plane stresses zz, xz and
yz negligible
Body can have out of plane

deformation
y
zz is non-zero, xz and yz = 0
Stresses are functions of in-plane
displacements
Thin plates structures

Reducing a 3D problem
to a 2D problem
xx = xx ( x , y ),
yy = yy ( x , y ),
xy = xy ( x , y )
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Plane stress
Formulation of plane stress problem two

approaches
Formulation procedure same as in plane

strain
Formulation takes care of non-zero out of
normal strain and zero normal stress
Use field equations
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Displacement based
Stress based approach
Plane stress
Displacement based approach
1
0
xx xy
+
+ Bx = 0 ;
x
y
x
0 y
(1 )
xy
2
0
Plug in stress
equilibrium
equations
xy
xx
+
+ By = 0
x
y
E
E
E u v
+ + Bx = 0
+
+
2 xx
2 yy
x 1
1
y 2(1 + ) y x
E
E
E u v
+ + B y = 0
+
+
2 yy
2 xx
y 1
1
x 2(1 + ) y x
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x
E

y =
1

xy
Plane stress
Use strain displacement equations to convert

strains into displacements
Governing equations in terms of displacements
E
2 (1 ) x
In the above two equations equilibrium, constitutive laws

and strain-displacements equations
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u v
+ B x = 0
+
x y
u v
E
2
+ B y = 0
v +
+
2 (1 ) y x y
2u +
Plane stress
Stress based approach field equations in plane

stress problems
xx =
yy =
xy
xx
E
yy
yy
xx
E
E
2 (1 + )
=
xy
E
xy
xx
+
+ Bx = 0
x
y
xy
xx
+
+ By = 0
x
y
Compatibility equation
2 yy
2 xy
xx
+
=
2
2
y
x
xy
2
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Constitutive laws
Plane stress
Use constitutive laws in compatibility equation
eliminate strains in compatibility using constitutive
law
Compatibility equation in terms of stress stress
compatibility equation
Eliminate shear stress in stress compatibility
equation using two equilibrium equations
Differentiate x direction equilibrium equation wrt
x y direction eqn. wrt y, add these two get
shear stress
Plug this in stress compatibility equation
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Plane stress
The governing equation

( xx
2
B x B x
+ yy ) = (1 + )
+
x
x
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This is derived making use of strain compatibility equation,

constitutive laws and equilibrium equations
Summary Plane stress and strain

Plane strain
2u + ( + )
Displacement
u v
+ + Bx = 0
x x y
u v
2 v + ( + ) + + By = 0
y x y
Stress
2 ( xx +
yy
)=
1
1
B x B y
x
y
Plane stress
2u +
E
u v
+ + Bx = 0
2(1 ) x x y
2 v +
E
u v
+ + By = 0
2(1 ) y x y
2
B x B x
xx + yy = (1 + )
+
x
x
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Formulation
Summary Plane stress and strain

No elastic constants appear in governing equation
Solving these equations difficult some text book

problems
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Basic difference coefficients involving elastic

material constants
Solving one type of plane problem gives solution to
other type also using simple transformation of
elastic coefficients
In absence of body loads in stress formulation
governing equations of plane stress and strain are
same

In stress based formulation one equation in terms
of normal stresses and two equilibrium equations
for finding out the complete stress state
Reduce the complexity of equations
Introduce a new filed variable Airys stress
function ()
Aim reduce the governing equations from three to
one
Find the distribution of single variable get
stresses from that
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Airys stress function (ASF) defined for stress

based formulations both plane stress and
plane strain
Basic stress equilibrium equations
Body loads can be derived

from potential function V
Defining potential
B = V => Bi = V,i
~
V
V
Bx = , By =
x
y
Substitute in equilibrium
equations
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xy
xx
+
+ Bx = 0
x
y
xy
xx
+
+ By = 0
x
y

Equilibrium equations become

xy
( xx V ) +
= 0;
x
y
xy
+ ( yy V ) = 0
x y
Defining ASF as
xy
2
=
;
xy
yy
2
V =
x 2
ASF, = (x, y)
ASF satisfies both equilibrium equations.
In stress based formulation it has to satisfy one more
governing equation
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xx
2
V =
;
2
y

In plane strain stress based formulation

governing equation
1 Bx B y
( xx + yy ) =
+
1 x
y
2
2
1 V V

+ V +
=
+
+
y
x
1 x x y y
2
2 2
1
+ 2 2V =

+
2V
y
1
x
1
2
2
. =
2 2V
1
1 2 2
Bi-harmonic operator 4 =
V
1
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In plane stress stress based formulation

governing equation
Bx By
( xx + yy ) = (1 + )
+
y
x
2
2
2
2
+ 2 2V = (1 + ) 2V

+
x y
2 . 2 = (1 + 2) 2V
4 = (1 ) 2V
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2
2
V V
= (1 + )
+ V +
V +
+
y
x
x
x
y
y

Governing equations in terms of ASF

1 2 2
=
V
1
4 = (1 ) 2V
4
Plane strain
Plane stress
4
4
4
4
= 0 => 4 + 2 2 2 + 4 = 0
x
x y
y
Bi-harmonic equation solution to this equation => ASF

Problem of elasticity reduced to a single equation find in
solution domain and boundaries BCs - Tractions
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If body forces are neglected V = 0 In both cases the governing

equation is same
Stress formulation
This formulation is appropriate for use with traction
boundary conditions
Use Hookes law for calculating strains from
stresses
Compute displacements from strain-displacement
relations
Since compatibility equations are used in
formulating governing equations, the displacements
obtained from integration of strain-displacement
equations yield single valued, continuous filed
All equations are used for solving the problem
Closed form analytical solutions for elasticity
problems difficult rely on numerical methods
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Uniaxial tension ASF approach

A bar subjected to tension

y
2
2l
T
x
Boundary 1
Boundary 2
DCs => (1, 0, 0)
DCs => (-1, 0, 0)
Tx = T = lxx + m xy = xx = T
Tx = -T = lxx + m xy = xx = T
Ty = 0 = myy + l xy => xy = 0
Ty = 0 = myy + l xy => xy = 0
Remaining boundaries stress free.

Stress in x direction = T = constant
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2c
1

Stress in x direction given by ASF
At x = l,
yy and xy = 0
u
T
x =
y =
=
- (1)
E
E
x
E
y
v
T
x =
=
- (2)
y =
E
E
y
E
x
Integrate (1) and (2)
T
x + f (y)
E
T
v =
y + g (x)
RamadasEChennamsetti
u =
f(y) and g(x)

arbitrary functions
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xx
2
1 2
= constant = 2 = T => = Ty + c1 y + c2
y
2

Shear strain,
xy
xy
u
v
=
+
=
= 0
y
x
G
=> f ' ( y ) + g ' ( x ) = 0

f
=>
= o => f = o y + u o
y
g
= o => g = o x + v o
x
o, uo, vo arbitrary constants of integration.
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=> f ' ( y ) = g ' ( x ) = o

Functions f and g represent rigid body motions
Rigid body rotation - o and translations in x and
y directions => uo and vo
Terms related to rigid body motion result from straindisplacement relations
Displacements are determined from strain fields only
up to an arbitrary rigid motion
For complete determination of displacement filed
additional boundary conditions required evaluate
o, uo and vo
If rod has no rigid body motion => o, uo and vo = 0 53
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Pure bending of beam ASF approach

Beam subjected to pure bending

y
M
2c
2l
(x, c) = 0
xy
(x, c) = 0
xy
( l, y ) = 0
Boundary
Conditions
yy
Fx =
+c
xx
( l , y ) dy = 0
Statically equivalent
boundary condition
+c
M
xx
( l , y ) ydy
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In bending, variation of bending stress is linear

along y co-ordinate
should be a cubic polynomial
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Key point in ASF approach selection of an

appropriate stress function -
It has to satisfy all boundary conditions
capture physics of the problem
Some knowledge about structures behavior
helps in selection of

Linear variation of bending stress

2
xx = Ay = 2
Integrating the function
y
A 3
= y + C1 y + C 2 ASF satisfies all BCs
6
+c
( l , y ) ydy = M
xx
+c
+c
y
3M
c Ay dy = M => A 3 = M => A = 2 c 3
c
3
3 M y3
M 3
=
+ C1 y + C 2 = 3 y + C1 y + C 2
3
2 c 6
4c
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Stresses and strains

M 3
2
3M
= 3 y + C1 y + C2 => xx = 2 = 3 y
4c
y
2c
yy = 0, xy = 0
yy
u
3 M
xx =
y
=>
=
3
E
E
x
2 Ec
Integrate strain
displacement
yy
xx 3 M
yy =
=
y
equations
3
E
E 2 Ec
u=
3M
xy + f ( y );
3
2 Ec
v=
3M 2
y + g ( x)
3
4 Ec
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xx

u v
3M
'
'
xy =
+
= 0 =>
x
+
f
(
y
)
+
g
( x) = 0
3
y x
2 Ec
3M
'
'
=>
x
+
g
(
x
)
=
f
( y ) = o Integrate
3
2 Ec
3M x 2
g ( x) =
+ o x + vo
3
2 Ec 2
f ( y ) = o y + u o
Functions g(x) and f(y) represent rigid body motions
To evaluate constants, o, uo, vo constraints required
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Shear strain
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R&DE (Engineers), DRDO

R&DE (Engineers), DRDO

R&DE (Engineers), DRDO

Field variable is independent of third

R&DE (Engineers), DRDO

ij ,kl + kl ,ij ik , jl jl ,ik = 0

Constitutive law Linear elastic Hookes

Not easy to solve analytically 15 equations to find out 15 unknowns

Total 15 equations = 3 Equilibrium +

R&DE (Engineers), DRDO

Various boundary conditions in elasticity

xx is inside the boundary this

yy is inside the boundary this

Tractions in Polar co-ordinate system

Boundary 1 traction free

Boundary - 1 DCs (l, m, 0)

This is a traction free boundary

DCs are constant on this

Boundary 3- Traction is acting

Individual stress components are not zero

3D elasticity 15 equations and 15 unknowns - 2D

Displacement based express filed equation in

In displacement based formulation

In stress based formulation

Governing equation expressed in

Differentiate (3) wrt j

Plug this in (1)

Express all strain components in (5) in terms of

ij, j + Bi = kk, jij + 2ij, j + Bi = 0 - (5)

This gives three equations for i = 1, 2 and 3

Combining all three equations into a single equation

For i = 1 => x - direction

Governing equations in terms of displacements

Boundary conditions => ui = Ui on S boundary ui = ui ( x1 , x2 , x3 )

Equations (U) known as Naviers or Lames equations

R&DE (Engineers), DRDO

Boundary conditions only tractions

For k = l first three compatibility equations are obtained

ij ,kl + kl,ij ik , jl jl ,ik = 0 - (1)

Three compatibility equations for k=l = 1, 2

Governing equation in terms of stress

Beltrami-Michell compatibility equation

Compatibility equation in terms of stresses, known as

Out-of-plane dimensions are large compared to

The deformation in z direction

All cross-sections have same

In plane strain zz = 0, yz = 0 and zx = 0

Governing equation in x direction

Use second equilibrium equation convert to displacements

Stress based formulation -

In 2D case, compatibility equation

Compatibility equation in terms of stresses

Use equilibrium equations to eliminate shear stress from above

Above equation is obtained from compatibility, constitutive

Simplifying this expression

In this equation, equilibrium, constitutive and compatibility

Only one governing equation three unknowns

Three stress components in 2D xx, yy, xx