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Shear Force and Bending Moment Diagrams: Internal Forces in Solids
Shear Force and Bending Moment Diagrams: Internal Forces in Solids
Sign conventions
1
and Vz
2
The couple moment along the axis of the member is
given
M x = T = Torque
M y = M z = bending moment.
Solid Mechanics
Two observations:
(1) Forces are coplanar
Solid Mechanics
Fy = 0
Fz = 0
Solid Mechanics
Solid Mechanics
Types of beams
Beams are classified based on the type of supports.
(1) Simply supported beam: A beam with two simple supports
(2) Cantilever beam: Beam fixed at one end and free at other
Solid Mechanics
[ Fx = 0 + ]
Fy = 0 +
V + V V + Px = 0
V = Px
V
= P
x
V dV
lim x = dx = P
x 0
P x 2
=0
[ M A = 0 ] V x M + M + M
2
Px 2
V x + M
=0
2
M
Px
+V
=0
x
2
Solid Mechanics
M dM
lim x = dx = V
x 0
From equation
dV
= P we can write
dx
VD VC =
XD
Pdx
XC
From equation
dM
= V
dx
MD MC = Vdx
Special cases:
Solid Mechanics
Solid Mechanics
Solid Mechanics
Solid Mechanics
0 x 2 ( 1) ( 1)
2 x 6 (2 (2)
6 x 8 ( 3) ( 3)
8 x 10 ( 4 ) ( 4 )
0 x 2 ( 1) ( 1)
V 5=0
V =5
VA = 5 ; VB = 5
2 x 6 (2) (2)
V 5 + 30 7.5 ( x 2 ) = 0
V = 5 30 + 7.5 ( x 2 )
VB = 25 ; VC = 5
25 + 7.5 ( x 2 ) = 0
x = 5.33
6 x 8 ( 3) ( 3)
V 5 + 30 30 10 = 0
V = +15
VC = +15 ; VD = +15
8 x 10 ( 4 ) ( 4 )
V 5 + 30 30 10 + 20 = 0
V +5=0
V = 5
VD = 5 ; VE = 5
Solid Mechanics
0 x 2 ( 1) ( 1)
M 10 + 5x = 0
M = 5x + 10
M A = +10 ; M B = 0
2 x 6 (2) (2)
7.5 ( x 2 )2
M 10 + 5x 30 ( x 2 ) +
=0
2
7.5 ( x 2 )2
M = 10 5x + 30 ( x 2 )
2
ME x =5.33 = 41.66 +
MC
x =6
= 40
6 x 8 ( 3 ) ( 3 ) [C D]
M 10 + 5x 30 ( x 2 ) + 30 ( x 4 ) + 10 ( x 6 ) + 20 = 0
MC
x =6
= 20 +
MD x =8 = 10
8 x 10 [ D E] ( 4 ) ( 4 )
M 10 + 5x 30 ( x 2 ) + 30 ( x 4 ) + 10 ( x 6 ) + 20 20 ( x 8 ) = 0
M E x =8 = 0
Problems to show that jumps because of concentrated force
and concentrated moment
Solid Mechanics
Solid Mechanics
V 5=0
V =5
VA = 5
M 10 + 5x = 0
M = 10 5x
M A = 10 ; MB = 0
VB = 5
2 x 6 [B C ]
V 5 + 30 7.5 ( x 2 ) = 0 M 10 + 5x 30 ( x 2 ) + 7.5
V = 7.5 ( x 2 ) + 5 30
VB = 25 ; VC = 5
25 + 7.5 ( x 2 ) = 0
x = 5.33
6 x 8 [C D]
x=6
MC = 40
( x 2 )2
2
ME x = 5.33 = 41.66
x=2
MB = 0
V 5 + 30 10 30 = 0
V = 15
VC = 15 , VD = 15
=0
Solid Mechanics
8 x 10 [ D E]
V 5 + 30 10 30 + 20 = 0
V = 5
VD = 5 , VE = 5
Solid Mechanics
Fx + = 0 ]
R Ax = 0
Fy + = 0
R Ay + 60 90 = 0
RAy = 30 kN
M = 0]
M + 60 90 4.5 = 0
M = 285 k m
30 + V + 60 30 ( x 3 ) = 0
V = 30 ( x 3 ) 90
= 30 3 90
= 90 90
=0
M B M A = ( 60 )
M B = 60 + M A = 60 285
= 225
Solid Mechanics
MC M B = ( 90 )
MC = MB + 90 = 225 + 90
= 135
MD MC = ( 135 )
MD = MC + 135 = 135 + 135 = 0
Fy + = 0
R Ay + RCy 200 240 = 0
R Ay + RCy = 440
( 1)
M A = 0]
200 3 240 4 + RCy 8 = 0
RCy = 195 kN
RAy = 245 kN
V + 245 200 30 x = 0
V = 30 x 45
V = 30 8 45 = 240 45
V = 195
Solid Mechanics
M 245 3 + 90 1.5
M = 245 3 90 1.5
M = 600
RAy + RBy = 32
M A = 0 ] 32 2 + 18 + 8 + 4 RBy = 0
64 + 16 + 4 RBy = 0
RBy = 12 kN
RAy = 20 kN
Solid Mechanics
V + 20 8x = 0
V = 8x 20
8x 20 = 0
x = 20 / 8 = 2.5
MC M A = ( 50 )
MC = M A + 50 = 8 + 25 = 17
Problem:
Fx + = 0 ]
RAx = 0
Fy = 0 + R Ay + RDy 60 50 = 0
R Ay + RDy = 110
M A = 0 ] 60 1.5 50 4 + RDy 5 = 0
290
= 58 kN
5
= 52 kN
RDy =
RAy
( 1)
Solid Mechanics
Fy = 0 +
V + 52 20 x = 0
V = 20 x 52
( B)
0 x 3m
[ M = 0]
20 x 2
M+
52 x = 0
2
20 x 2
M = 52 x
( 0 x 3m )
2
Fy = 0 +
V + 52 60 = 0
V = 8 kN
3 x 4m
[ M = 0] M 52 x + 60 ( x 1.5 ) = 0
M = 52 x 60 ( x 1.5 )
3 x 4m
Solid Mechanics
Fy = 0 +
V + 52 60 50 = 0
V = 58 kN
( 4 x 5)
[ M = 0] M 52 x + 60 ( x 1.5 ) + 50 ( x 4 ) = 0
M = 52 x 60 ( x 1.5 ) 50 ( x 4 ) ( 4 x 5 )
dM
= V
dx
dV
= P
dx
20 52 = 0
x = 52 / 20 = 2.6 m
M B ME = 1.6
M B = 1.6 + 67.6
Solid Mechanics
M B M A = Vdx
dM
= V
dx
dV
= P
dx
20 52 = 0
x = 52 / 20 = 2.6
MB ME = 1.6
MB = 1.6 + ME = 1.6 + 67.6
= 66
MC MB = 8
MC = 8 + MB
= 8 + 66 = 58
MD MC = 58
MD = MC + 58
= 58 58 = 0
Solid Mechanics
2. Concept of stress
Traction vector or Stress vector
Now we define a quantity known as stress vector or
traction as
Tn =
FR
lim A units Pa N / m2
A0
MR
lim A 0
A 0
(1) Tn is a vector quantity having direction of FR
(2) Tn represent intensity point distributed force at the point
"P" on a plane whose normal is n
(3) Tn acts in the same direction as FR
Solid Mechanics
(4) There are two reasons are available for justification of the
MR
assumption that lim
0
A 0 A
(a) experimental
(b) as A 0, FR becomes resultant of a parallel
force distribution. Therefore M R = 0 for force
system.
(5) Tn varies from point to point on a given plane
(6) Tn at the same point is different for different planes.
(7) Tn = Tn will act at the point P
(8) In general
Components of Tn
Solid Mechanics
Tn =
FR
Fn
vt
vs
=
n
+
t
+
lim A lim A lim A lim A s
A0
A0
A0
A0
Tn = nnn + ntt + nss
where
Fn dFn
lim A = dA = Normal stresscomponent
A0
v dv
nt = lim t = t = Shear stresscomponent
A0 A dA
v dv
ns = lim s = s = Another shear componet
dA
A0 A
nn =
NormalStress
Shear stress
dFn = nn dA
dVt = nt dA
Solid Mechanics
Tx =
vy
FR
Fx
v
=
i
+
lim A lim A lim A j + lim Az k
A0
A0
A0
A0
Tx = xxi + xy j + xz k
where
Fx
lim A = Normal stress
A0
vy
v
= lim
= Shear stress; xz = lim z = Shear stress
A0 A
A0 A
xx =
xy
Solid Mechanics
dvy = xy dA
dFx = xx dA
dvz = xz dA
Similarly,
Fy
FR
vx
vz
j +
Ty = lim
= lim
i + lim
lim A k
A
A
A
A0
A0
A0
A0
Ty = yxi + yy j + yz k
Tz = zxi + zy j + zz k
xx
jj = yx
zx
xy
xz
zz
Solid Mechanics
Tn = nxi + ny j + nz k
FR
A0 A
q = lim
Solid Mechanics
or
A positive component acts on a negative face in a negative
coordinate direction.
Say
x = 20 ; Pa xy = 10 Pa and xz = 30 Pa at a point P
means.
Solid Mechanics
xx xy
xz
ij = yx yy yz
zx
zy
zz
Solid Mechanics
ij
+ xx
+ xy
+ xz
= + yx
+ yy
+ yz
+ zx
+ zy
+ zz
xx = xx ( x,y ,z )
yy = yy ( x ,y ,z )
Solid Mechanics
ij =
10
30
50
60
30 60 100
xy
xz
dy
x
x
dx
z
Fx = 0 + ]
Fy = 0 and
Fz = 0 is satisfied.
Solid Mechanics
M zP = 0
C.C.W + ve
( xy dydz ) dx ( yx dxdz ) dy = 0
xy yx = 0
xy = yx
Shearing stresses on any two mutually perpendicular planes
are equal.
MxP = 0
yz = zy and
MyP = 0
zx = xz
yx is also ve
Solid Mechanics
The stress tensor
xx
ij = yx = xy
xy
xz
xy
zx = xz zy = yz yz
Differential equations of equilibrium
Fx + = 0 ]
x +
yx
x
x yz + yx +
y xz + zx + zx z yx
x
y
z
x yz xy xz zx yx + Bx xyz = 0
yx
x
2
xyz +
yxz + zx xyz + Bx xyz = 0
x
y
z
Canceling
xy
and
lim
x 0
y 0
z0
Solid Mechanics
x yx zx
+
+
+ Bx = 0
x
y
z
xy yy zy
+
+
+ By = 0
x
y
z
xz yz zz
+
+
+ Bz = 0
x
y
z
Fx = 0 ]
Fy = 0
Fz = 0 ]
M zp = 0
xy +
xy
x
x yz
yx
y
x
x
+ xy yz
yx +
y xz
2
2
2
y
yx xz
y
=0
2
Solid Mechanics
2 xy yxz
xy x 2 yz 2 yx xyz yx xy 2 z
+
=0
x
2
2
y
2
xy +
xy x
yx y
yx
=0
x 2
y 2
Taking limit
xy x
yx y
lim xy +
yx
=0
x 2
y 2
x 0
y 0
z0
xy yx = 0
xy = yx
Solid Mechanics
Fx = xx dA ; Vy = xy dA ; Vz = xz dA
A
y xz dA xy dAz = dMx
Mx =
A
( y xz xy z ) dA
M y = xz dA ; M z = xy dA
A
Solid Mechanics
3D State of stress
xy
xz
ij = yx yy yz 6 components
zx
zy
zz
2 D State of stress
x xy 0
ij = xy
0
y
0
0 =
0
xy
yx = xy
Stresscomponents in plane xy
If
ij =
x ( x,y ) xy ( x,y )
xy ( x,y ) yy ( x,y )
Solid Mechanics
This type of stress-state (i.e plane stress) exists in bodies
whose z - direction dimension is very small w.r.t other
dimensions.
ij =
x xy
xy
nn nt
nt tt
Solid Mechanics
* We can determine the stress components on any plane n
by knowing the stress components on any two mutually
planes.
Solid Mechanics
axis. i.e we take different cutting plane by rotating about zaxis.
ij =
x xy
xy
dA = Area of AB
dACs = Area of BC
dASin = Area of AC
Fn
+=0
Solid Mechanics
x +y
2
x y
2
Cos 2 + xy Sin2
+=0
(
)
x y )
(
=
Sin2 +
xyCos 2
ij =
This also means that
x xy
xy
Solid Mechanics
Solid Mechanics
If = we can compute on AB
If = +
we can compute on BC
If = + we can compute on CD
If = +
3
we can compute on DA
2
Solid Mechanics
symmetric tensor of rank 2. Here in particular the tensor
is a stress tensor.
Moment of inertia if x = I xx , y = I yy ; xy = I xy
nn =
t =
x +y x y
+
x +y
2
nt =
x y
2
x y
2
Cos 2 + xy Sin2
Cos 2 xy Sin2
Sin2 + xyCos 2
Solid Mechanics
n + t = x + y = x + y = I 1
I 1 = First invariant of stress in 2D
2
2
n t nt
= x y xy
= x y xy = I 2
Solid Mechanics
Solid Mechanics
Problem:
A plane-stress condition exists at a point on the surface of a
loaded structure, where the stresses have the magnitudes
and directions shown on the stress element. (a) Determine
the stresses acting on a plane that is oriented at a 15 w.r.t.
the x-axis (b) Determine the stresses acting on an element
that is oriented at a clockwise angle of 15 w.r.t the original
element.
Solution:
x = 46
y = 12
xy = 19
Q = 15
it is in C.W.
Solid Mechanics
x +y
2
x y
2
46 + 12 34
=
= 17 MPas
2
2
46 12 58
=
= 29 MPa
2
2
n = 17 29 0.866 + 19 0.5
n =
x +y
2
x y
2
Cos 2 + xySin2
n1 = 32.6 MPas
Substituting = 15 in nt equation
nt =
x y
2
Sin2 + xyCos2
Solid Mechanics
t = n2 = nt =75
t = 17 29 cos 150 19 sin 150
t = 1.4 MPa
tn = n2t2 = nt =75
= 31 MPa
Solid Mechanics
4. Principal Stresses
Principal Stresses
Now we are in position to compute the direction and
magnitude of the stress components on any inclined plane at
any point, provided if we know the state of stress (Plane
stress) at that point. We also know that any engineering
component fails when the internal forces or stresses reach a
particular value of all the stress components on all of the
infinite number of planes only stress components on some
particular planes are important for solving our basic
question i.e under the action of given loading whether the
component will ail or not? Therefore our objective of this
class is to determine these plane and their corresponding
stresses.
(1) n = n ( ) =
n + y
2
n y
2
Cos 2 + xy Sin2
Solid Mechanics
corresponding planes i.e how the planes are oriented ? Thus
mathematically we are looking for maxima and minima of
( Q ) function..
n
(3) n =
n +y
2
n y
2
Cos 2 + xy Sin2
tan 2 =
2 xy
x y
(4) The above equations has two roots, because tan repeats
itself after . Let us call the first root as P1
tan 2 P1 =
2 xy
x y
tan 2 P2 = tan 2 P1 + =
2 xy
x y
Solid Mechanics
P2 = P1 + s
2
d 2 n
= 2 x y Cos 2 4 xy Sin2
2
d
d 2 n
d 2 =
= 2 x y Cos 2 P1 4 xy Sin2 P1
P1
x y
Cos 2 P1 =
x y
2 xy
Sin2 P1 =
2
x y
2
=
2
+ xy
2
+ xy
xy
x y
2
2
+ xy
Solid Mechanics
d 2 n
d 2 =
=
P1
)(
2 x y x y
2
x y
x y
2
=
x y
d 2 n
= 4
d 2
P2 =P1 +
2
4 xy xy
x y
2
+ xy
2
+ xy
x y
2
2
+ xy
x y
2
) (
2
+ xy
2
4 xy
x y
2
4
2
d2n
d 2 =
x y
2
+ xy
2
+ xy
2
+ xy
(-ve)
= 2 x y Cos2P1 + 4 xySin2P1
Substituting Cos 2 P1 & Sin2 P1 m we can show that
d 2 n
d 2 =
= 4
P2
x y
2
2
+ xy
s
(+ve)
Solid Mechanics
Thus the angles P1 s and P2 s define planes of either
maximum normal stress or minimum normal stress.
(6) Now, we need to compute magnitudes of these stresses
We know that,
n =
x +y
2
n =
P1
x y
= 1 =
x +y
2
Cos 2 + xy Sin2
x y
2
Cos 2 P1 + xy Sin2 P1
1 =
x +y
2
x y
2
+ xy
n =
P2 = P1 =
2
= 2 =
x +y
xy Sin ( 2 P1 + )
=
x +y
2
x y
2
x y
2
Cos 2 P1 xy Sin2 P1
Cos 2 P1 + +
Solid Mechanics
x +y
2
x y
2
2
+ xy
1 or 2 =
x +y
2
x y
2
+ xy
2
and minimum normal stress act are to each other.
Solid Mechanics
(4) maximum and minimum normal stresses are collectively
called as principal stresses.
(5) Planes on which maximum and minimum normal stress
act are known as principal planes.
(6) P1 and P2 that define the principal planes are known as
principal directions.
(8) Let us find the planes on which shearing stresses are zero.
nt = 0 = x y Sin2 + xyCos2
tan 2 =
2 xy
x =y
and
are
Solid Mechanics
(9) Since, principal planes are to each other at a point P,
this also means that if an element whose sides are parallel to
the principal planes is taken out at that point P, then it will
be subjected to principal stresses. Observe that no shearing
stresses are acting on the four faces, because shearing
stresses must be zero on principal planes.
x + y = 1 + 2 = x + y = I 1
Solid Mechanics
x y
(1) nt =
Sin2 + xyCos 2
d nt
= x y Cos 2 + xyCos 2
d
tan 2 =
x y
2 xy
tan 2S1
x y )
(
=
2 xy
Solid Mechanics
S2 = S1 +
x y
2 xy
d 2 nt
= 2 x y Sin2 4 xyCos 2
2
d
d 2 nt
d 2 =
2 xy
Cos 2S1 =
2
x y
x y
Sin2S1 =
2
x y
2
2
+ xy
)
2
+ xy
Solid Mechanics
d 2 nt
d 2 =
- ve
S1
= + ve
S2 =S1 +
2
nt
x y )
(
=
Sin2 +
2
nt =
S1
xyCos 2
x y )
(
=
Sin2
2
S1
+ xyCos 2S1
max = +
nt =
S2 =S1
x y
2
x y )
(
=
Sin ( 2S
+
2
2
2
+ xy
min =
x y
2
+ + xyCos 2S1 +
2
+ xy
Solid Mechanics
max
max or min =
x y
2
their
absolute
2
+ xy
Generally
max S1
min S2
S2 are planes.
Solid Mechanics
x + y x y
n =
n =
S1
x +y
2
Cos 2 + xy Sin2 s
x y
2
= n =
n =
S2 =S1 +
2
+ xy Sin 2S1 +
S1
x +y
=
+
x +y
2
x y
2
Cos 2S1 +
= n =
S2
x +y
2
Solid Mechanics
6. Mohrs circle
Mohrs circle for plane stress
So far we have seen two methods to find stresses acting on
an inclined plane
(a)
(b)
Wedge method
Use of transformation laws.
n =
We know that,
x + y x y
+
Cos 2 + xy Sin2
x +y
2
nt =
n
x y
2
x y
2
x +y
(x
a)
Cos 2 + xy Sin2
Sin2 + xyCos 2
2
+ nt
=
x +y
2
y2 =
R2
2
+ xy
Solid Mechanics
The above equation is
clearly an equation of
circle with center at ( a, 0 )
on
plane
it
represents a circle with
x +y
, 0 and
center at
2
having radius
R=
x y
2
2
+ xy
Solid Mechanics
(3) Construction of Mohrs circle
Let us assume that the state of stress at a point is given
Solid Mechanics
Since any point on the circle represents the stress
components on a plane passing through the point.
Therefore we can locate the point A on the circle.
coordinates + x , + xy s
Therefore the line AC represents the x-axis. Moreover,
the normal of the A-plane makes 0 w.r.t the x-axis.
In a similar way we can locate the point B
corresponding to the plane B.
Solid Mechanics
The coordinates of B = + y , xy s
Since we assumed that for the sake of similarity y < x s .
Therefore the point B diametrically opposite to point A.
The line BC represents y- axis. The point A corresponds
to Q = 0 , and pt. B corresponds to Q = 90 (+ve) of the
stress element.
At this point of time we should be able to observe two
important points.
The end points of a diameter represents stress
components on two planes of the stress element.
The angle between x- axis and the plane B is 90 (c.c.w)
in the stress element. The line CA in Mohrs circle
represents x- axis and line CB represents y-axis or plane
B. It can be seen that, the angle between x-axis and yaxis in the Mohrs circle is 180 (c.c.w). Thus 2Q in
Mohrs circle corresponds to Q in the stress element
diagram.
Solid Mechanics
The coordinates or stresses corresponding to point D on
the Mohrs circle represents the stresses on the x - face or
D on the stress element.
x = avg + RCos
xy = RSin
y = avg RCos
Since D& D are planes inthe
stress element ,thenthey become
diametrically opposite point s on
thecircle, just likethe planes A& Bdid
1 = avg + R
2 = avg R
The principal direction corresponding to 1 is now equal to
2 p1 , in c.c.w direction from the x-axis.
Solid Mechanics
p2 = p1
max = R
= avg
Mohrs circle can be plotted in two different ways. Both the
methods are mathematically correct.
Solid Mechanics
Finally
Intersection of Mohrs circle with the -axis gives
principal stresses.
The top and bottom points of Mohrs circle gives
maximum ve shear stress and maximum +ve shear
stress.
Do not forget that all these inclined planes are obtained
by rotation about z-axis.
Solid Mechanics
Solution:
x +y
2
15000 + 5000
= 10000 MPa
2
A - (15000,4000)
B - (5000,-4000)
R=
x y
2
2
+ xy
= 5000 2 + 4000 2
(a)
R = 6403 MPa
x y
= 5000
2
15000 5000
2
+ 4000 2
Solid Mechanics
Point D : x = 10000 + 6403Cos 41.34 = 14807 MPa
xy = 6403Sin 41.34
= 4229 MPa
nt = xy = 6403Sin 41.34
b)
1 = 16403 ; P1 =
= 4229
38.66
= 19.33
2
2 = 3597 MPa
c)
Solid Mechanics
(2) = 45
Principal stresses and principal shear stresses.
Solution:
x +y
2
R=
50 + 10
= 20
2
x y
A ( 50 , 40 )
B ( 10 , 40 )
2
+ xy
50 10
2
p1 = 1 =
p2 = 2 =
x +y
2
x +y
2
+ ( 40 )2 = 50 MPa
+ R = 20 + 50 = 30s
R = 20 50 = 70
Solid Mechanics
2Qp1 = 233.13
Qp1 = 116.6
Qp2 = 206.6
2Qs1 = 143.13
Qs1 = 71.6
Qs2 = 161.6
Solid Mechanics
Q. x = 31 MPa, y = 5 MPa and xy = 33 MPa
Stresses on inclined element = 45
Principal stresses and maximum shear stress.
Solution:
avg =
R=
x +y
2
x y
2
=
2
31 5
= 13 MPa
2
2
+ xy
= 37.6 MPa
A ( 31 , 33 )
B ( 5 , 33 )
x = RCos + avg s
= 37.6 Cos 28.64 + 13 = 46 MPa
Solid Mechanics
1 = 50.6 MPa
2 = 24.6 MPa
p1 = 30.68
Solid Mechanics
7. 3D-Stress Transformation
3D-stress components on an arbitrary plane
n x x
n x y
n x z D i r . c o s i n e s o f x
i = n x x i + n x y j + n x z k
nyx nyy nyz
j = nyxi + nyy j + nyz k
nzx nzy nzz
k = nzxi + nzy j + nzz k
Solid Mechanics
Fx + = 0 ]
xy yz
xy
yz
zx yz
x , xy , xz
)(
)
xy = Tn j = (Txxi + Txy j + Txz k ) . ( nyxi + nyy j + nyz k )
xz = Tn k = (Txxi + Txy j + Txz k ) . ( nzxi + nzy j + nzz k )
x = Tni = Txxi + Txy j + Txz k . nxxi + nxy j + nxz k
(1)
(2)
(3)
(
)(
)
z = (Tzxi + Tzy j + Tzz k )( nzxi + nzy j + nzz k )
y = Tyxi + Tyy j + Tyz k nyxi + nyy j + nyz k
(4)
(5)
Solid Mechanics
)(
nyx = Sin
nyy = Cos
nzx = 0
nzy = 0
nxz = 0
nyz = 0
nzz = 1
(6)
z = 0 : xz = 0 : yz = 0
=z
x xy 0
Principal stresses
nx ,ny ,nz
Tn = n = nxi + ny j + nz k
xy
Solid Mechanics
( x ) nx + yx ny + zx nz = 0
xy
zx
xy
zy
zx
yz
ny = ( 0 )
nz
must be zero.
nx
2
2
2
3 x + y + z 2 + x y + y z + z x xy
yz
zx
2
2
2
x y z + 2 xy yz zx x yz
y zx
z xy
=0
( x 1 ) nx + yx ny + zx nz = 0
yx nx + y 1 ny + zy nz = 0
and
nx ,ny ,nz 1
1 > 2 > 3
Stress invariants
3 I 1 2 + I 2 I 3 = 0
(1)
Solid Mechanics
I1 = x + y + z
2
2
2
I 2 = x y + y z + x z xy
yz
zx
2
2
2
I 3 = x y z + 2 xy yz zx x yz
y zx
z xy
3 I 1 2 + I 3 = 0
I 1 = x + y + z I 2 = x y + x z + yz x2y y2z x2z
I 1 = I 1 ;
I 2 = I 2 ; I 3 = I 3
3D
2D
I1 = 1 + 2 + 3
I 2 = 1 2 + 2 3 + 3 1
I 3 = 1 2 3
I1 = 1 + 2
I 2 = 1 2
I3 = 0
Tnn = Tn .n
n = nxi + ny j + nz k
n = nxi + nyj + nz k
Tn = Tnxi + Tny j + Tnz k
Tn = Tnxi + Tny j + Tnz k
Solid Mechanics
Tnn = Tnn
xy
= yx
Tnn = Tnn
( 1n ) n = ( 2 n ) n
1 nx nx + ny ny + nznz = 2 nx nx + ny ny + nznz
1 2
nx nx + ny ny + nznz = 0
n .n must be to each other.
Tnx = 1nx
Tny = 2 ny
Tnz = 3nz
2 = Tn n2
Solid Mechanics
x xy
ij = xy
0
z
Once if you know 1 and 2
1 =
2 3
2
+3
1 = 1
2
3
2 = 1
2
+2
2 = 1
2
2
3 = 1
2
2
3 = 1
2
1 > 2 > 3
max = max
1 2 2 3 3 1
2
Solid Mechanics
Solid Mechanics
Problem:
The state of stress at a point is given by
1 2
100 80
= 10 MPa
2
1 3
100 + 40
= 70 MPa
2
2 3
80 + 40
= 60 MPa
2
1 +2
= 90
12 =
2
= 30 MPa
13
23 = 20 MPa
max = max 12 , 13 , 23
Solid Mechanics
Solid Mechanics
Plane stress
1 >
3 = z = 0
=
max =
x y
1 3
2
2
+ xy
1
2
Solid Mechanics
Problem
At appoint in a component, the state of stress is as shown.
Determine maximum shear stress.
Solution:
ij =
100
50
1 = 100
2 = 50
1 2 100 50
2
max = 25 MPa
= 25
50 0
Solid Mechanics
Now with 1 = 100 , 2 = 50 , 3 = 0
max =
1 3
2
= 50 MPa
Solid Mechanics
1 0 0
0
0 0 =
0 0
1 0
0
- plane stress.
1
0
0
1 0 =
0
1
0
- plane stress
0
0 3D stress
0
0
0
0 3D stress-special case of triaxial stress.
Solid Mechanics
+P
+P
hydrostatic tension
hydrostatic compression.
x xy xz
ij = xy
y yz
zx zy
ij = xy
xy xz
0
zx zy
yz
0
Solid Mechanics
oct = 1
=
1
3
+1
1 +2 +3
3
1
= 54.730
3
1
3
+1
1
3
Solid Mechanics
1 +2 +3
3
I1
= meanstress
3
oct =
1
3
( 1 2 ) 2 + ( 2 3 ) 2 + ( 3 1 ) 2
oct is smaller than max (exist only on 4 planes) but can exist on 8
planes at a point.
Solid Mechanics
x xy xz
ij = yx
z yz
zx zy
Mean stress P =
x xy xz
yx
zx zy
x +y +z
yz = 0 P 0 +
z
Hydrostatic
stat of stress
Dilitational stress
I1
3
x P
xy
xz
yx
y P
yz
zx
zy
z P
Solid Mechanics
P=
1 +2 +3
0 = 0
0 +
I1
3
1 P
2 P
3 P
Solid Mechanics
u = u ( x ,y ,z )
v = v ( x,y ,z )
w = w ( x,y ,z )
of
an
infinitesimal
Solid Mechanics
x is - if s > s
lim as s 0
s* = ( 1+ n ) s
s*
( 1+ n ) s if
s n s
s 0
s =n s
Mm/mm,0.5%=0.005;
(4) No units.
= 10 6 , 1000
(5) Meaning of nn
= 1000 10 6 = 0.001 mm / mm
x 0
y 0
nt = lim +
x 0
y 0
Solid Mechanics
Yxy
Yxz
Eij = Yxy
Yyz
Yxz
Yyz
Solid Mechanics
u
v
x ; v + x
x
x
PQ = x
P* Q* = x*
( 1+ x ) x
x*
lim x* = ( 1+ x ) x
x 0
*
x =
=
u
1 + x
x
v
+
x
x
u u
1+ 2 +
x
x
v
+
x
w
+
x
x
w
+
x
Solid Mechanics
x* x
x = lim
x
x 0
= lim
x 0
u u
1+ 2 +
x
x
u u
x = 1 + 2 +
x
x
v
u
y = 1 + 2 +
y
y
w u
z = 1 + 2
+
z
z
v
+
x
v
+
x
v
+
y
v
+
z
w
+
x
w
+
x
w
+
y
w
+
z
1
2
1+
u x u y
x x* y y*
v y
y y*
v x
x x*
1+
w x
x x*
w y
y y*
Yxy = lim
x 0 2
y 0
z0
*
xy
Solid Mechanics
*
SinYxy = lim Cosxy
x 0
y 0
z0
SinYxy = lim
x 0
y 0
z0
1+
u u
v v w w xy
+ 1+
+
x y
y x x y x* y*
x* = ( 1+ x ) x
y* = 1+ y y
SinYxy = lim
u v u u v v w w
+ +
+
+
y x x y x y x y
x 0
y 0
z0
Sin 1
Yxy =
Yyz = sin 1
Yxz = sin 1
( 1+ x ) ( 1+ y )
u v u u v v w w
+ +
+
+
y x x y x y x y
( 1+ x ) ( 1+ y )
u v u u v v w w
+ +
+
+
y x x y x y x y
( 1+ x ) ( 1+ y )
w u w w u u v v
+
+
+
+
x w x z x w x z
( 1+ x )( 1+ z )
Solid Mechanics
Small deformations :
(1) The deformational displacements u = ui + vj + wk are
infinitesimally small.
(2) The strains are small
(a) Changes in length of a infinitesimal line segment are
infinitesimal.
(b) Rotations of line segment are also infinitesimal.
u u u v
, ,
,
x u w x
1 x
negligible compare to
1 ; y < 1 ; z
u v
,
quantities.
x x
u
1
x
2 u
1
= 1 + x
2
x = 1 + 2
u
x
v
y =
y
x =
z =
w
z
SinYxy Yxy
u
1;
x
u v
are
x y
Solid Mechanics
Yxy =
u v
+
y x
( 1+ x + y )
v u
+
x y
w u
+
x z
v w
Yyz = +
z y
Yxz =
Small deformation
Displacements are small
Strains are small
P* Q* PQ x* x
x = lim
=
PQ
x
x 0
x*
P* Q* = 1 +
x = lim
1+
x 0
1+
y = lim
y 0
y
x
x
y
x x
u
x
=
x
x
v
y y
y
v
=
y
y
Strains<0.001
Y < 0.06
s* = 0.2002
s = 2 10 4 mm
Solid Mechanics
Yxy = lim
x 0
y 0
*
xy
= lim +
x 0
y 0
v
v
x
x
tan =
= x
y
y
1+
x 1 +
x
x
tan
v
=
x
u
=
y
Yxy =
u v
+
y x
u u v v
, , ,
x y y x
u
x
u
,
y
1
v
,
yx
State of strain
x Yxy
Yxz
Eij = Yxy
Yyz
Yxz
Yyz
Solid Mechanics
Yxy
Yxy
z = 0
Yyz = 0
Yzx = 0
x =x ( x,y )
y =y ( x,y )
Yxy = Yxy ( x ,y )
implication
of
these
equation is that a point in
a given plane does not
leave that plane all
deformations are in to
plane of the body.
Solid Mechanics
Given x ,y & Yxy what are n ,t & Ynt .
We can always draw PQRS for given n
If x ,y & Yxy
2 =y cos
dy
=y cos sin
ds
dy
ds
= Yxy sin sin
3 = Yxy sin
Solid Mechanics
x + y
2
x y
2
cos 2 +
Yxy
2
sin 2
x y
Yxy
Ynt
=
sin 2 +
cos 2
2
2
2
Yxy
Yxy
x
Yxy
2
Yxy
2
x xy
- strain tensor
xy
xy
Replace
xy
- stress tensor
xy =
Yxy
2
x x
y y
xy xy =
Yxy
2
Solid Mechanics
tan 2Qp =
2 xy xy / 2
x y
p1 p2 to each other
1 ,2
tan 2s
1 >2
x y )
(
=
2 xy
s = p1 / 4
s1 s2 to each other
x + y = I1
max or min = R =
x + y = J I
2
x y xy
= I2
2
y xy
= J2
xy
Yxy
2
= J2
Ymax
=max s1
2
Ymin
=min s2
2
x y
2
+ 2xy
Solid Mechanics
x ,Yxy ,y
3D-strain transformation
x x ; y y ; z z ; xy =xy =
(x )
xy
xy
(y )
xz
yz
Yxy
2
xz
yz
=0
(z )
1 ,2 ,3 - 1 >2 >3
s 2 = x 2 + y 2
*2
* 2
=P Q
* * 2
+P R
u
1+
x
x
v
1+
y
x
x 2 + y 2
Solid Mechanics
y
n = 1 +
x
u
= 1+
x
u
1+
x
.x
v y
1+
x x
x 2 x 2 y 2
u
v
+2
x 2 + 1 +
x
y
y
1+
x
1+2
+2
2
u
v
x 2 + 1 + 2
y 2 x 2 + y 2
x
y
y
1+
x
Transformation
xy xy
v
y 2 x 2 y 2
y
Yxy
2
x x xy xy
y y yz yz
z zx zx zx
Solid Mechanics
Principal strains:
(x ) nx + xy ny + xz nz = 0
System of linear
homogeneous
equations
xy nx + y ny + yz nz = 0
xz nx + yz ny + (z ) nz = 0
(x )
xy
xy
(y )
xz
yz
xz
yz
= 0
(z )
3 J 1 12 + J 2 J 3 = 0
J 1 =x + y + z
2
J 2 =xy + xz + y z xy
yz
yz
xz
xz
2yz
2zx
xy
xy
2
J 3 =xy z + xy yzzx x2yz y xz
x
z2xy yx
xy xz
y
yz
zx zy
1 >2 >3
Solid Mechanics
(x 1 ) nx + xy ny + zx nz = 0
xy nx + y 1 ny + zy nz = 0
nx2 + ny2 + nz2 = 1
J 1 =1 + 2 + 3
J 2 =12 + 23 + 31
J 3 =123
x + y + z
3
zx
zy
0 0
Hydrostatic
Solid Mechanics
is a principal direction
if 1 >2 ; 1 =2 +ve
if 1 +ve, 2 -ve.
if 1 +ve, 2 -ve
P1 & z will come closer
max
Solid Mechanics
Eij =
xx Yxy
Yxy yy
deformation
Eij =
xx Yxy
Yxy yy
Solid Mechanics
( P * R * )2 = ( P * R * )2 + ( Q * R * )2 2 ( P * R * )(Q * R * )
cos
+ Yxy
x ( 1+ x )
y 1+ y
= x ( 1+ x )
cos
+ y 1+ y
2 x ( 1+ x )
+ Yxy
2
x = x cos and y = x sin
x2 ( 1+ x ) = x2 cos 2 ( 1+ x ) + x2 sin2 1+ y
)(
Solid Mechanics
( 1+ x )2 = cos 2 ( 1+ x )2 + sin2 ( 1+ y )
2 sin cos ( 1+ x ) 1+ y
)( Yxy )
1+ x2 +2 x = cos 2 1+ x2 +2 x + sin 2 1+ 2y +2 y
+ sin 2 Yxy 1+ x + y + xy
1 + 2 x = cos 2 ( 1 + 2 x ) + sin2 1 + 2 y
)
= cos 2 ( 1 + 2 x ) + sin 2 ( 1 + 2 y )
+ Yxy sin 2 1+ x + y
+ Yxy sin 2
1 + 2 x = 1 + 2 x cos 2 + 2 y sin2 + Yxy sin 2
2
x =x cos + y sin +
x =
If
x + y
2
=Q+
x =
y =
sin 2
cos 2 +
Yxy
2
sin 2
x + y
2
x + y
2
x y
Yxy
+
+
x y
2
x y
2
cos 2 +
cos 2
Yxy
2
Yxy
2
sin 2
sin 2
Solid Mechanics
x Q= =OB =
x + y
2
Yxy
2
2 OB =x + y +Yxy
Yxy = 2 OB x + y
2 OB =x + y +Yxy
Yxy = 2 OB x + y
= 2 OB x + y
x Q=Q+ =OB =
x + y
x y
2
sin 2 +
Yxy
2
)
( 3)
cos 2 -
(4)
) (
)
Yxy = (x y ) sin 2 + Yxy cos 2
(5)
( )
Solid Mechanics
xx xy
ij = xy yy
zx zy
y =
Yxz
2
Components.
yz
(zz =zz )
x + y
x =
xy
xz =
2
x + y
2
- Strain tensors
x y
2
x y
2
cos 2 + xy sin 2
cos 2 xy sin 2
x y )
(
=
sin 2 +
2
xy
cos 2
Solid Mechanics
Problem:
An element of material in plane strain undergoes the
following strains
x = 340 10 6 y = 110 10 6
Yxy = 180 10 6
Solution:
x = 340 10 6
Solid Mechanics
Problem:
During a test of an airplane wing, the strain gage readings
from a
45
Solution:
x = 520 10 6
OB = 360 10 6
y = 80 10 6
Yxy = 2 OB x + y
= 2 360 10 6 520 10 6 80 10 6
= 280 10 6 rad
(1)
x + y
2
520 10 6 80 10 6
=
= 220 10 6
2
Solid Mechanics
x y
2
520 10 6 + 80 10 6
=
= 300 10 6
2
e 140 10 6
tan 2 p =
=
x y
300 10 6
2 xy
280 10 6
xy =
=
= 140 10 6
2
2
Yxy
2 p = 25.02
p = 12.51
1 or 2 =
x + y
2
= 220 10 6
p = 102.51
x y
2
2
+ xy
300 10 6
) (
2
+ 140 10 6
= 220 10 6 331.06 10 6
1 = 551.06 10 6
2 = 111.06 10 6
x =12.51
=
x + y
2
x y
2
Cos 2 + xy Sin2
Solid Mechanics
p1 = 12.51
p2 = 102.51
and
or
xy
min =
x y
2
2
+ xy
= 331.06 10 6
x y ) 300 10 6
(
=
=
2. xy
140 10 6
2Qs = 64.98
Qs = 32.5
xy
Q = 57.5
Qs = 57.5
x y )
(
=
Sin2 ( 57.5 ) +
2
xy
Cos 2 ( 57.5 )
Solid Mechanics
x + y
2
= 220 10 6
Solid Mechanics
Solid Mechanics
Such is a characteristic of the particular material being tested
and conveys important information regarding mechanical
behavior of that metal.
We develop some ideas and basic definitions using
curve of the mild steel.
Structural steel = mild steel = 0.2% carbon=low carbon steel
=
L f Lo
Lo
Region O-A
(1) and linearly proportional.
(2) A- Proportional limit
p - proportionality is maintained.
(3) Slope of AO = modulus of elasticity E N/m2,Pa
(4) Strains are infinites ional.
Solid Mechanics
Region A-B
(1) Strain increases more rapidly than
(2) Elastic in this range
Proportionality is lost.
Region B-C
(1) The slope at point B is horizontal.
(2) At this point B, increases without increase in further
load. I.e no noticeable change in load.
(3) This phenomenon is known as yielding
(4) The point B is said to be yield points, the corresponding
stress is yield stress ys of the steel.
(5) In region B-C material becomes perfectly plastic i.e
which means that it deforms without an increase in the
applied load.
(6) Elongation of steel specimen or in the region BC is
typically 10 to 20 times the elongation that occurs in region
OA.
(7) s below the point A are said to be small, and s above A
are said to be large.
(8) s <A are said to be elastic strains and >A are said to
be plastic strains = large strains = deformations are
permanent.
Solid Mechanics
Region C-D
(1)The steel begins to strain harden at C . During strain
hardening the material under goes changes in its crystalline
structure, resulting in increased resistance to the
deformation.
(2)Elongation of specimen in this region requires additional
load,
Region-DE
Further stretching of the bar is needed less force than
ultimate force, and finally the component breaks into two
parts at E.
Solid Mechanics
copper,
nickel,
brass,
bronze,
Solid Mechanics
determined by off- set method.
(5) Off-set yield stress is not material property
Solid Mechanics
Solid Mechanics
(1) curves in compression differ from in tension.
(2)For ductile materials, the proportional limit and the initial
portion of the
curve is same in tension and
compression.
(3)After yielding starts the behavior is different for tension
and compression.
(4)In tension after yielding specimen elongates necking
and fractures or rupture. In compression specimen bulges
out- with increasing load the specimen is flattened out and
offers greatly increased resistance.
Solid Mechanics
= E
Stress in particular direction = straininthat dir.X E
Solid Mechanics
Poissons ratio
When a prismatic bar is loaded in tension the axial
elongation is accompanied by lateral contraction.
Lateral contraction or lateral strain
=
d f do
do
Poisson's ratio = ( nu ) =
lateral strain
=
axial strain
is perpendicular to
If a bar is under tension +ve, -ve and = +
If a bar is under compression -ve, +ve and = +
= 0.25 to 0.35s
= 0.5
Solid Mechanics
Yield point
Proportional limit
G
1
= Pa or N / m2 s
Proportional limit
Elastic limit
Yield stress
Ultimate stress
Material properties
Solid Mechanics
Continuum
Completely filling up the region of space with matter it
occupies with no empty space.
Because of this assumption quantities like
u = u ( x,y ,z )
= ( x ,y ,z )
= ( x,y ,z )
Homogeneous
Elastic properties do not vary from point to point. For nonhomogenous body
E = E ( x ,y ,z )
v = v ( x,y ,z )
G = G ( x,y ,z )
Solid Mechanics
Linearly elastic
Material follows Hookes law
= E
= GY
v = Constant
Isotropic
Material properties are same in all directions at a point in the
body
E = C1
= C2
G = C3
for all
for all
for all
x = E x
y = E y
The material that is not isotropic is anisotropic
E = E ( )
= ( )
G = G ( )
The meaning is that
x = E1 x
y = E2 y
E1 E2
Solid Mechanics
Small deformations
(a) The displacements must be small
(b) The strains must also be small
= E
Tensiletest
v=
Solid Mechanics
(2)A shear stress say xy can only produce the corresponding
shear strain Yxy in the same coordinate system.
Principal of superposition:
This principle states that the effect of a given combined loading on
a structure can be obtained by determining separately the effects of
the various loads individually and combining the results obtained,
provided the following conditions are satisfied.
(1)Each effect is linearly related to the load that produces it.
(2)The deformations must be small.
Solid Mechanics
x =
x
E
y = v
z = v
x
E
x
E
Solid Mechanics
Only y applied
y =
y
E
x = v
z = v
y
E
y
E
z =
z
E
x = v
y = v
z
E
z
E
x v y v 3
x =
E
E
E
Therefore
1
x v y +z
E
1
y = y v ( x + z )
E
1
x = z v x + y
E
x =
Solid Mechanics
Now let us apply only xy
Yxy =
xy
G
Yyz =
Yxz =
yz
G
xz
G
1
x v y +z
E
1
y = y v ( x + z )
E
1
x = z v x + y
E
x =
Yxy =
Yyz =
Yxz =
xy
G
yz
G
xz
G
Solid Mechanics
Matrix representation of generalized Hookes law for
isotropic materials is therefore,
x
y
z
Yxy
1
E
v
E
v
E
v
E
1
E
v
E
v
E
v
E
1
E
0
0
Yyz
Yxz
1
G
z
xy
1
G
xz
x
y
yz
1
G
1
2v
x +y +z
x +y +z s
E
E
1 2v
e = x +y +z
E
x + y + z =
x + y + z = e
x =
=
=
1
x v x v y + z
E
1
x v x + y + z + v x
E
1
x (1 + v) v x + y + z
E
Solid Mechanics
=
=
1
veE
x (1 + v)
E
(1 2v)
(1 + v)
E
x = x +
E
= (mu)
1+ v
where
ve
(1 2v)
ve
E
1 2v 1 + v
Ev
( 1 + v )( 1 2 v )
Solid Mechanics
x = x ( x,y )
y =y ( x,y )
xy = xy ( x,y )
z = yz = zx = 0
1
x v y
E
1
y = y v x
E
v
v
z = x + y =
x + y
E
1 v
x =
Yxy =
xy
G
Yyz = Yxz = 0
Stress- strain relations for plane strain
x =x ( x,y )
x = e + x = x ( x ,y )
Yxy = Yxy ( x ,y )
z = v x + y = z ( x ,y )
y =y ( x,y )
3 = Yxz = Yyz = 0
e =x + y
y = e + y = y ( x,y )
= v ( 2 e + e )
= ve ( 2 + )
= v ( 2 + ) x + y
xy = GYxy
xz = yz = 0
Solid Mechanics
1
x v y
E
x = e + x
x =
y =
1
y v x
E
y = e + y
x =
1
x v e v y
E
x = y
1
x + v y
E
1+ v
= x
E
x =
x = 2 y
Solid Mechanics
1
( 1 v 2 )
E
1
2 = ( 2 v 1 )
E
1 = xy
1 =
2 = xy
1 =
2 =
xy ( 1 + v )
1
xy + v xy =
E
E
xy ( 1 + v )
1 =xy =
2 =
xy
E
Yxy
2
xy
2G
2G
xy ( 1 + v ) xy
=
E
G=
2G
E
2 (1 + v)
Solid Mechanics
Volumetric strain-dilatation
Consider a stress element size dx,dy ,dz
dv = dxdydz
After deformations
dx* = ( 1+ x ) dx
dy* = 1+ y dy
dz* = ( 1+ z ) dz
In addition to the changes of length of the sides, the element
also distorts so that right angles no longer remain sight
angles. For simplicity consider only Yxy .
The volume dv* of the deformed element is then given by
(
)
Area ( OA* B* C* ) = dx* ( dy* CosYxy )
dv* = Area OA* B* C* dz*
= ( 1+ x ) 1+ y ( 1+ z ) dxdydz
dropping all second order infinitesimal terms
Solid Mechanics
dv* = 1+ x + y + z dxdydz
Now, analogous to normal strain, we define the measure of
volumetric strain as
Volumetric strain =
dv* dv
e=
dv
e =x + y + z
e = volumetric strain = dilatation. This expression is
valid only for infinitesimal strains and rotations
e =x + y + z = J 1 = first in variance of strain.
Volumetric strain is scalar quantity and does not
depend on orientation of coordinate system.
Dilatation is zero for state of pure shear.
x + y + z =
(1 2v)
E
Mean stress = =
e=
( x + y + z )
1
x +y +z
3
3(1 2v)
= Ke
Solid Mechanics
Where K =
E
bulk modulus of elasticity.
3(1 2v)
E = 200 Gpa
v = 0.3
Al :
E = 70 Gpa
v = 0.33
Copper:
E = 100 Gpa
v = 0.35
G=
E
SinG E and G > 0
2 (1 + v)
( 1 + v ) > 0 v > 1
Similarly SinG E > 0 & K 0
K=
E
1 2 v 0 v 0.5
3(1 2v)
1 < v 0.5
as v 0.5 K and
C 0
material is incompressible.
Solid Mechanics
Solid Mechanics
cross sectional
- Hollow Sections
Solid Mechanics
- Other sections
F=P
Mx = M y = M z = 0
Vy = Vz = 0
The right of the section m-m exerts elementary forces or
stresses on to the left of the section to maintain the
equilibrium. Sum of all these elementary forces must be
equal to the resultant F.
Solid Mechanics
x dA = F
A
M y = x zdA = 0
M z = x ydA = 0
Above equation must be satisfied at every cross-section,
however, it does not tell how is distributed in the crosssection.
x
x 0 0
ij = 0
0 0
0 0
Solid Mechanics
We make the following assumptions on deformation based
on experimental evidence
(1)The axis of the bar remains straight after
deformation
(2)All plane cross-sections remain plane and
perpendicular to the axis of the bar
Key
kinematical
assumptions
Solid Mechanics
Since we are studying a homogenous, linearly elastic and
isotropic prismatic bar
1
x v y z
E
1
y = y v ( x z )
E
1
z = z v x y
E
x =
x =
E
V
y = x
E
V
z = x
E
F = x dA
A
Solid Mechanics
F = da = A
A
F P
=
A A
M y = x .zdA = 0
zdA = 0
M z = x .ydA = 0
ydA = 0
(1)
Eq. (1) indicates that moment are taken about the centroid of
the cross-section.
Elongation or Contraction
x =
x
E
P
AE
u ( L ) u ( 0 ) = = x da =
0
P
PL
dx =
AE
AE
0
Solid Mechanics
P
A
PL
=
AE
AE = Axial rigidity
x =
P (x)
dx
A(x) E(x)
0
1
f
AE
L
f =
L
AE
These are useful in computer analysis of structural members.
k=
Solid Mechanics
x =
P
PL
& =
A
AE
x =
S=
P(x) F (x)
=
A(x ) A(x)
P(x)
dx
A
x
E
x
(
)
(
)
0
Solid Mechanics
Fx = 0
x ( by ) yx ( bx ) = 0
xy = yx = x ( x ) .
y
s
x
y
0 i.e at the
x
slope of the upper surface of the rod tends to zero.
Solid Mechanics
Case2
PL ( PA + PB ) L2
=
AE
A2 E2
PL PAL1
AB =
=
AE A1E1
BC =
BC =
( PA + PB )
A2
AB = PA / A1
CA = SBC + S AB
This method can be used when a bar consists of several
prismatic segments each having different material, each
having different axial forces, different dimensions and
different materials. The change in length may be obtained
from the equation
Pi Li
i =1 Ai Ei
and
i =
Pi
Ai
Solid Mechanics
Fy = 0
Fa1 + Fa 2 + Fs P = 0
[ MC = 0]
bFa1 bFa 2 = 0
Fa 1 = Fa 2
(1)
2 Fa + Fs = P
s = A
s =
Fs Ls
As Es
and
A =
FAL A
E A AA
s = A
FAL A Fs L As
=
EA AA Es As
(2)
Solid Mechanics
By solving (1) & (2) we can obtain internal forces Fs & FA
ij =
x 0
0
1 = x
max = 1 = x
2
Occurs at 45 to x y or x z planes.
Solid Mechanics
Limitations of analysis
x =
P
PL
& S=
A
AE
Solid Mechanics
P
) at
A
concentrated loads and in the regions of geometric
discontinuity.
(2)They should not be employed (especially x =
Solid Mechanics
Stress concentrations
High stresses are known as stress concentrations
Sources of stress concentrations- stress raisers
Stress concentrations are due to :
(1)Concentrated loads
(2)Geometric discontinuities
nom =
P
bt
max
ave
Solid Mechanics
max
nom
P
dt
K = Stressconcentration factor
K=
nom =
Solid Mechanics
K=
max
ave
ave =
P
dt
Solid Mechanics
Solid Mechanics
ij
r r rx
= r x
xr x x
1
x v ( r + )
E
1
r = r v ( x + )
E
1
x = v ( r + x )
E
x =
Yr =
rQ
G
; Yx = Y x =
x
G
; Yxr = Yrx =
rx
G
Fx = Vy = Vz = M y = M z = 0
Mx = T = T0
Since every cross-section of the bar is identical and since every
cross-section is subjected to the same internal torque T, then the
bar is said to be under pure torsion
To
keep
the
body
under
equilibrium, elementary forces
dF = x dA are only forces that are
required to be exerted by the other
section, so that
Solid Mechanics
dT = dF r = x rdA
(1)
T = x rdA
A
T = T0
Direction of z can be obtained from the direction of
internal torque T at that section.
The state of stress in pure torsion is therefore
0 0
0 0
0 x
x
0
xy = xQCos
xz = xQSin
Solid Mechanics
Therefore the state of stress in case pure torsion in terms of
rectangular stress components is then
0
xy xz
yx
zx
Vy = xy dA = 0
Vz = xz dA = 0
Deformation in pure torsion
Solid Mechanics
(5)However, various cross-sections along the bar rotate
through different amount.
(6)The radial lines remain radial lines after deformation
(7)Neither the length of the bar nor the length of radius will
change.
These are especially of circular bars only. Not true for noncircular bars.
- angle of twist.
Solid Mechanics
* - varies along the axis of the bar.
d
= rate of twist angle of twist per unit length.
dx
Y =r
d
dx
Solid Mechanics
In case of pure torsion the shear strain Y varies linearly with
r
Maximum shear strain
circular bar i.e., r = R
Y occurs
Ymax = R
d
dx
d
is strictly valid to circular bars having
dx
small deformations.
The equation Y = r
= GY
Therefore, variation of shear stress xQ in pure torsion is
given by
= xQ = GYxQ = GY
d
dx
max = xQmax = RG
d
dx
Solid Mechanics
T = rdA
A
T = Gr
Since G &
T =G
d
rdA
dx
d
are independent of area A then
dx
d 2
r dA
dx A
I P = r 2 dA
A
IP =
T = GI P
d
dx
d
=
dx
Gr
32
= Gr
But
T
GI P
D4
T
GI P
d
dx
Tr
IP
Torsion formula
IP =
R4
Solid Mechanics
max = xQmax =
TR
IP
16T
D3
for solid circular bars
max =
Angles of twist
We now determine the relative rotation of any two crosssections
d
T
=
dx GI P
B / A = B A =
xB
xA
T
dx
GI P
Solid Mechanics
B / A = B A =
if xB x A = L
TL
n
GI P
puretorsion
Since
TL T0L
=
GI P GI P
d
T
=
then, in case of pure torsion.
dx GI P
=
d
= = constant
dx L
=
displacement
k=
The product
TL
GI P
Load
GI P
L
; f =
L
GI P
GI P Torsional rigidity
Solid Mechanics
xy = xQCos
xz = xQSin
Vy = Vz = 0
Vy = xy dA = x Cos dA
Vy =
A
2 R
T
=
IP
Tr
Cos drd
I
0 P
2 R
rCos drd = 0
0 0
Vy = 0
T
Vz =
IP
2 R
rSin drd = 0
0 0
Vz = 0
Hollow circular bars: The deformation of hollow circular
bars and solid circular bars are same. The key kinematic
assumptions are valid for any circular bar, either solid or
hollow. Therefore all equations of solid circular bars can be
employed for hollow circular bars, instead of using
Solid Mechanics
4
D Soild
32
IP =
Do 4 Di4 hollow
32
IP =
TRo
IP
TR
= i
IP
max =
min
Tr
IP
4
D solid
32
IP =
Solid Mechanics
TR TRo
;
IP
IP
TR
= i
IP
max =
min
Y=
G
,Y f ( r )
=
d
T
=
dx GI P
B / A = B A =
L = xB x A
TL
GI P
= constant
= linearly with x
(4) If weight reduction and savings of materials are
important, it is advisable to use a circular tube.
(5) Ex large drive shafts, propeller shafts, and generator
shafts usually have hollow circular cross sections.
Extension of results
Case-I Bar with continuously varying cross-sections and
continuously varying torque
Pure torsion refers to torsion of prismatic bar subjected
to torques acting only at the ends.
Solid Mechanics
All expressions are developed based on the key
kinematic assumptions, these are therefore, strictly valid
only for prismatic circular bars.
(x) =
T (x)r
IP (x )
(x) =
T (x)
d
=
dx GI P ( x )
B A = B / A =
xB
xA
T (x)
dx
GI P ( x )
Solid Mechanics
(x) =
(x) =
Tr
IP (x )
(x) =
T (x)r
IP
(x) =
GI P ( x )
Case II
i =
B / A =
Ti ri
I Pi
n
Ti Li
i =1 Gi I Pi
T (x)
GI P
Solid Mechanics
[ Mx = 0]
TA + TC + T = 0
(1)
AB, T = TA and
BC T = TC
within
B / A = B / C
Compatibility equation
B / A =
TAL AB
T L
; B / C = C BC
G AB I PAB
GBC I PBC
TAL AB
T L
= C BC
G AB I PAB GBC I PBC
(2)
Solid Mechanics
Solid Mechanics
x =
P
A
Solid Mechanics
Principal of
superposition
max =
TR
IP
x =
P
A
Solid Mechanics
16T
D13
Solid Mechanics
Tr
,
IP
T
TL
d
; =
;Y = r
GI P
GI P
dx
Solid Mechanics
Solid Mechanics
bending of beams.
The loads acting on a beam cause the beam to bend or flex,
thereby deforming its axis into a curve-known as
deflection curve of the beam.
Solid Mechanics
dM
= V
dx
Pure bending (i.e., M=constant) occurs only in regions of a beam
where the shear force is zero.
Solid Mechanics
Curvature of a beam
When loads are applied to the beam, if it bends in a plane
say xy plane, then its longitudinal axis is deformed into a
curve.
O
Center of curvature
R Radius of curvature
k=
1
= Curvature
R
in general R = R ( x ) and k = k ( x ) .
RdQ = dS
k=
1 dQ
=
for any amount of R
R dS
k=
1 dQ
under small deformations.
=
R dX
Solid Mechanics
Solid Mechanics
Fx = Vy = Vz = 0
Mx = My = 0
M z = M = M0
Solid Mechanics
M = y x dA
Fx = 0
x dA = 0
My = 0
z x dA = 0
Mz = M
y x dA = M
ij
x 0 0
= 0 0 0
0 0 0
Solid Mechanics
Solid Mechanics
Solid Mechanics
RdQ = dx
k=
1 dQ
=
R dx
Solid Mechanics
e* f * ef ( R y ) dQ dx y
x =
=
=
ef
dx
R
x =
y
R
x = ky
Maximum compressive x =
y1
R
x =
+ y2
R
Maximum tensile
Solid Mechanics
x =
1
x v y +z
E
1
y = y v ( x + z )
E
z =
1
z v x +y
E
Yxy =
Yyz =
Yxz =
xy
G
yz
G
zx
G
ij
x 0 0
= 0 0 0
0 0 0
x = E x =
Ey
= Eky
R
V
y = x = V x
E
V
z = x = V x
E
From the above equation
x ( x ,z )
x = ( y ) x =x ( y )
x = linear f ( y )
x = linear f ( y )
i.e.,var y linearly with the distance y from the neutral surface
Solid Mechanics
x =
EC 1
R
EC 2
R
Solid Mechanics
x ydA = M = M0 = M z
x zdA = M y = 0
ydA = 0
A
Solid Mechanics
M=+
M=
Ey
ydA
R
A
E
y 2 dA
RA
y 2 dA = I zz = Moment of inertia of
A
cross-sectional area about
neutral axis
M=
k=
k=
EI
R
1 M
=
R EI
1 M0
=
R EI
Moment-Curvature relation
Solid Mechanics
x = Eky
and k =
M
EI
My
- flexure formula.
I
Stresses evaluated from flexure formula are called bending
stresses or flexural stresses.
x =
Solid Mechanics
1 =
MC1
M
=
I
S1
S1 =
I
I
and S2 =
C1
C2
2 =
MC 2 M
=
I
S2
-Section moduli
S = Section modulus
Solid Mechanics
I zz
bh 3
=
12
I zz = d 4
64
bh 2
S=
6
d3
S=
32
bh 3
I zz =
36
h = 3 b / 2 for eqilateral triangle
I zz = 0.1098r 4
Solid Mechanics
max =
S=
M
S
I
ymax
M = alllowS
Ssquare
Scircle
= 1.18
Solid Mechanics
This result shows that a beam of square cross-section is
more efficient in resisting bending then circular beam of
same area.
A circle has a relatively larger amount of material
located near the neutral axis. This material is less highly
stresses.
I - Section is more efficient then a rectangular crosssection of the same area and height, because I - section
has most of the material in the flanges at the greatest
available distance from the neutral axis.
Extension of results
Long prismatic beam under pure bending, and symmetrical
bending.
M M (x)
M = Constant
x (y) =
I = I zz
1 M
k= =
R EI
My
I
x =
x
E
y = v x
z = v z
Solid Mechanics
dM
= V
dx
It can be shown that the above results can also be used for
non-uniform bending problems.
M (x ) y
I
M (x)
1
k=
=
R (x)
EI
x ( x,y ) =
x ( x,y ) =
y = x
z = x
x ( x,y )
E
Solid Mechanics
Solid Mechanics
x ( x,y ) =
I = I zz
k(x) =
M (x) y
I
M (x)
1
=
R(x)
EI
x ( x,y ) =
x
E
y ( x ,y ) = v x
z ( x,y ) = v z
x =
M (x) y
I (x)
k (x) =
M (x)
1
=
R ( x ) EI ( x )
Solid Mechanics
Problem
Determine the maximum tensile and compressive stresses in
the beam due to the uniform load.
Solution
Centroid :-
A mm2
yA mm3
1 20 90 = 1800 50 90 10 3
2 40 30 = 1200 20 24 10 3
3
A = A = 3000 yA = 114 10
Ay = yA
y 3000 = 114 10 3
y = 38 mm
I zz = I = I + Ad 2 s
bh 3
=
+ Ad 2
12
=
1
1
90 20 3 + 1800 12 2 + 30 40 2 + 1200 182
12
12
Solid Mechanics
C1 = 22 mm and C 2 = 38 mm
My
I
M
I
=
:S=
S
ymax
x =
max
I 868 10 9
6
S1 =
=
=
.
39
45
10
C1 22 10 3
I
868 10 9
S2 =
=
= 22.84 10 6
3
C 2 38 10
at D:
t
max
M
1.898
=
s2 22.84 10 6
= 83.1 MPa
max
max
max
M
1.898
=
s1 39.45 10 6
= 48.11 MPa
max
max
M
3.375
=
= 85.55 MPa
s1 39.45 10 6
M
3.375
=
= 147.8 MPa
6
s2 22.84 10
Solid Mechanics
Problem
a wooden member of length L = 3m having a rectangular
cross-section 3 cm 6 cm is to be used as a cantilever with a
load P = 240 N acting at the free end. Can the member carry
this load if the allowable flexural stress both in tension and
in compression is allow = 50 Mpa ?
Solution
tmax = Cmax =
M PL
=
SA SA
allow S A
= 150 N
L
1 0.03 0.06 3
SB =
= 1.8 10 5 m3
12
0.03
S
Palow = allow B = 300 N
L
Solid Mechanics
Limitations
(1)The flexure formula is exact for a prismatic beam in pure
bending.
(2)It provides very good approximation of x for long
slender beams (L >> h) under symmetrical bending.
(3)The flexure formula can be employed for any shape of the
cross-section, provided the cross-section has y-axis of
symmetry.
(4)It should not be employed in regions close to geometric
discontinuities and concentrated loads.
Solid Mechanics
Vy ( x ) = xy dA
A
xy = xy ( x,y )
such thats
Vy ( x ) = xy ( x,y ) dA
A
Solid Mechanics
yx
Solid Mechanics
t = width
Solid Mechanics
We now wish to satisfy equilibrium in the x- direction.
Taking [ Fx + = 0 ] we have then
yxt =
1
x
x ( x + x,y ) dA x ( x,y ) dA
A
x ( x ,y ) =
yxt =
1
1
1
M ( x + x ) ydA +
M ( x ) ydA
x I A
IA
yxt =
yx =
M (x ) y
I
1
M ( x + x ) M ( x ) ydA
xI
A
1 M ( x + x ) M ( x )
x
It
ydA
A
taking limit as x 0
yx =
yx =
M ( x + x ) M ( x )
1
lim
ydA
It x0
x
A
1 dM
ydA
It dx A
dM
= Vy ( x )
dx
Vy ( x )
yx =
ydA
It A
Solid Mechanics
The above integral is by definition the first moment of are
about the z-axis, we denote it by symbol Q.
Q = ydA
A
yx = xy = =
VyQ
shear formula
It
(1)
From (1)
yxt = f =
VyQ
I
VQ
I
Solid Mechanics
h
y
2
y+
h / 2y
s
2
b h2
Q=
y2
2 4
I=
1 3
bh
12
xy = yx
at y =
h
2
VQ V h 2
=
=
y2
It 2 I 4
xy = yx = 0
xymax = yxmax
Vh 2 3 V
=
=
8I
2A
Solid Mechanics
Thus max in a beam of rectangular cross-section is 50%
V
larger than the average shear stress
A
xymax = K
V
A
K=
3
2
K=
4
3
Circular
K=
3
2
Triangular
Solid Mechanics
Solid Mechanics
Problem
A wood beam AB is loaded as shown in the figure. It has a
rectangular cross section (see figure). Determine the
maximum permissible value pmax of the loads if the
Solution
Vmax occurs at supports and maximum BM occurs in
between the loads.
Vmax = P
Mmax = 0.5 P = Pa
bh 2
S=
A = bh
6
M
6 Pa
max = max = 2
S
bh
3 Vmax 3 P 3 P
xymax = yxmax = max =
=
=
2 A
2 A 2 bh
Therefore, the maximum permissible values of the load P in
dending and shear respectively are
Pallow b =
allowbh 2
6a
Pallow s =
2 allow bh
3
Solid Mechanics
Substituting numerical values into these formulas,
Pallow b = 8.25 kN
Pallow s = 8.25 kN
Thus bending governs the design and the maximum
allowable load is
Pmax = 8.25 kN
Problem
An I beam is loaded as in figure. If it has the cross-section as
shown in figure, determine the shearing stresses at the levels
indicated. Neglect the weight of the beam.
Solution
Vertical shear is same at all sections
Solid Mechanics
I zz = I =
12
12
= 95.7 106 mm 4s
V 250 10 3
The ratio =
= 2.61 10 3 N / mm 4s
I 95.7 106
Level A mm2
Q = Ay
mm 10 3 mm3
mm
xy =
1-1
150
150
2-2
12 150
144
259.2
150
4.5
12
56.4
12
60.5
12
81.3
= 1800
3-3
12 150
144
259.2
= 1800
132
19.0
12 150
144
259.2
= 1800
69
114.3
12 12
278.2
= 144
4-4
12 138
373.5
= 1656
VQ
MPa
It
Solid Mechanics
Solid Mechanics
max = max ( 1 , 2 , 3 )
where 1 =
2 3
2
; 2 =
1 3
2
; 3 =
1 2
2
t =
ys
2
ys
2
Solid Mechanics
This theory states that
oct =
1
3
( 1 2 ) 2 + ( 2 3 ) 2 + ( 1 3 ) 2
t =
t =
1
3
ys 0
+ ( 0 0 )2 + ys 0
2
ys
3
von =
2
ys
3
3
oct
2
Solid Mechanics
According to this theory, a given structural component fails when
the maximum normal stress (tensile) in that component reaches the
ultimate strength or ultimate stress ult obtained from the tensile
test of a specimen of the same material.
Thus the structural component will fail when
1 ult
Simple application of theories
Solid Mechanics
A =
Mr
I
2 =
1 =
4V
3A
Tr
Ip
Solid Mechanics
x =
x =
P
A
x =
My
I
M zz y
P
+
A
I zz
Solid Mechanics
distance
1
dWint = x x dV
2
This internal work is stored in the volume of the element as
the internal elastic energy or the elastic strain energy.
1
dU = x x dV
2
Solid Mechanics
U0 can be interpreted as an area under the inclined line on
the stress-strain diagram. Similar expressions can developed
for y and z corresponding to strains y and z .
1
dUshear = xy dxdz Yxy dy
2
average force
distance
1
dU shear = xy Yxy dv
2
dU =
1
1
1
1
1
1
x x + y y + z z + xyYxy + yzYyz + zxYzx dV
2
2
2
2
2
2
The strain energy density for the most general case is
Solid Mechanics
U0 =
dU 1
1
1
1
= x x + y y + z z + xyYxy
dv 2
2
2
2
1
1
+ yzYyz + zxYzx
2
2
U0 =
) (
)
1
v
x2 + y2 + z2 x y + y z + z x
2E
E
1 2
2
2
+
xy + yz
+ zx
2G
from
x = z = xy = xz = yz = 0
1
1
1 2
U 0 = x x = x x =
x
2
2
E 2E
The
1 2
x dV
2
E
V
Solid Mechanics
x2
P2
P2L
U=
AL ==
.AL =
2
2E
2 EA
2 EA
P 2L
U=
2 EA
2
2 G 2G
1 2
U = U 0 dv =
dv
2G
v
v
Tr
Ip
where I p =
=
R4
1 T2 2
U=
. 2 .r .2 r.dr.L
2
G
Ip
0
T 2L
U=
2GI p
x2
M2 2
M2
U=
dv =
y dv =
y 2 dA.L
2
2
2E
2 EI
2 EI
v
v
TY
IP
Solid Mechanics
M 2L
U=
2 EI
Conclusion
P2L
Axially loaded bars U =
2 AE
Torsion of shafts
T 2L
U=
2GI P
M 2L
U=
2 EI
P2
T2
M2
U=
dx ; U =
dx ; U =
dx
2
AE
2
GI
2
EI
P
0
0
0
Solid Mechanics
Problem:
P ( x ) = Y.A ( L x )
L
P2
U=
dx
2
AE
0
L
Y 2 A2 ( L x ) 2
=
dx
2 AE
0
L
Y 2 A2 2
Y2A 2
L3
2
=
L + x 2 Lx.dx =
L L + L3
2 AE 0
2E
3
Y 2 A2 3 L3
Y 2 AL3
3
L + L =
=
2 AE
3
6E
P2L
U=
2 AE
P ( x ) = Y.A ( L x ) + P
L
Y 2 A2 ( L x )2 + P 2 + 2YA ( L x ) .P
U=
dx
2
AE
0
Y 2 AL3 P 2 L2 2YAP 2 L2
U=
+
+
L
6E
2 AE 2 AE
2
Y 2 AL3 P 2 L2 YP 2
=
+
+
6E
2 AE 2 E
Since U P 2
not be used.
or
Solid Mechanics
Solid Mechanics
+BM means
- BM means
Examples
(1)
Solid Mechanics
The objective is to find the shape of the elastic curve or
deflection curve for given loads i.e., what is the function v(x).
There are two approaches
(1) Differential equations of the deflection curve
(2) Moment-area method
Solid Mechanics
When the beam is bent, there is not only a deflection at each
point along the axis but also a rotation.
The angle of rotation of the axis of the beam is the angle
between x axis and the tangent to the deflection curve at a
point.
For given x-y coordinate system
+ ve anticlockwise
O = Center of curvature
= Radius of curvature
d = ds
From geometry
d
ds
curvature of the deflectioncurve
k=
dv
= tan
dx
dv
is positive when the tangent to the curve slopes
dx
upward to the right.
Slope
Solid Mechanics
ds dx
This follows from the fact that
2
ds = dx 2 + dv 2 = 1 + ( v ) dx
2
for small ( v ) can be neglected compared to 1
ds dx
Therefore, in small deflection theory no difference in length
is said to exist between the initial length of the axis and the
arc of the elastic curve.
k=
d
dx
dv
=
dx
d d 2 v
k = =
= 2
dx dx
1
d 2
k = 2 =
dx
only insmall deformationtheory
du
=
= u
dx
If the material of the beam is linearly elastic and follows
Hookes law, the curvature is
k=
M
EI
Solid Mechanics
+ M leads to +K and so on
d2v M
2=
or
EI
dx
d2 v
EI 2 = M
dx
The basic differential equations of the deflection curve.
Sign conventions used in the above equation:
(a) The
(b)
(c) k is +
dv
and are
dx
dM
= V
dx
dV
= p
dx
Non-prismatic beams
d2v
EI ( x ) 2 = M ( x )
dx
( EI ( x ) v ) = v ( x )
( EI ( x ) v ) = + P ( x )
Solid Mechanics
For prismatic beams.
EIv = M ( x )
BM equation( 2 nd order )
EIv = V ( x )
EIv = + P ( x )
Solid Mechanics
Approximate sketching
(3)
(5)
(4)
(6)
Solid Mechanics
Boundary conditions
(1)Boundary conditions
(2)Continuity conditions
(3)Symmetry conditions
Boundary conditions
Pertain to the deflections and slopes at the supports of a
beam:
(i)Fixed support or clamped support
v ( a) = 0
( a ) = v ( a ) = 0
(ii)
v ( a) = 0
M ( a ) = EIv ( a ) = 0
(iii)
v ( a ) = 0
M ( a ) = EIv ( a ) = 0
V ( a ) = EIv ( a ) = 0
Solid Mechanics
Continuity conditions
All deflection curves are physically
continuous. Therefore
Symmetry conditions
v
L
= 0 because of loading
2
Solid Mechanics
Problem 1
Determine the equation of the deflection curve for a simple
beam AB supporting a uniform load of intensity of acting
through out the span of the beam. Also determine maximum
deflection max at the mid point of the beam and the angles
of rotation Q A and QB at the supports. Beam has constant EI.
Solution
V+
qL
qx = 0
2
V = qx
qL
2
(1)
qL
qx 2
M x+
=0
2
2
qLx qx 2
M=
2
2
Differential equation of deflection curve.
EIv = M ( x )
qLx qx 2
EIv =
2
2
Slope of the beam
(2)
Solid Mechanics
qLx 2 qx 3
EIv =
+ C1
4
6
BC Symmetry conditions
v x =
L
=0
2
qLL2 qL3
0=
+ C1
16
48
qL3 qL3
0=
+ C1
16 48
qL3
C1 =
24
Slope equation is
qLx 2 qx 3 qL3
EIv =
s
4
6
24
q
v =
L3 6L2 + x 3
24EI
qLx 3 qx 4 qL3
EIv =
x + C2
12
24 24
B.C.
v(x = 0) = 0
0 = 0 0 0 + C2
C2 = 0
qLx 3 qx 4 qL3
EIv =
x
12
24 24
Solid Mechanics
q
L3 x 2 Lx 3 + x 4
24EI
q
v=
x 4 + L3 x 2 Lx 3
24EI
v =
5qL4
L
v x=
=
2
384EI
-ve sign means that deflection is downward as expected.
max
5qL4
L
= v x=
=
s
2
384EI
qL3
Q A = v ( 0 ) =
24EI
-ve sign indicates clock wise rotation as expected.
QB = v ( x = L ) =
4EI 6EI 24EI
qL3
v ( L ) =
+ ve sign means anticlockwise direction.
24EI
since the problem is symmetric, v ( 0 ) = v ( L )
Solid Mechanics
Problem: 2
Above problem using third order equation
EIv = V ( x )
EIv = qx
qL
qL
=
qx
2
2
Moment equation
qLx qx 2
EIv =
+ C1
2
2
B.C.
M (x = 0) = 0
C1 = 0
EIv ( x = 0 ) = 0
qLx qx 2
EIv =
2
2
Problem 3
Above problem using fourth order differential equation
P=q
EIv = q
Shear for a equation
EIv = qx + C 1
From symmetry conditions
Solid Mechanics
L
=0
2
L
0 = q + C 1
2
V x=
EIv = qx +
EIv x =
C1 = +
qL
2
L
=0
2
qL
2
Problem 4
Determine the equation of the deflection curve for a
cantilever beam AB subjected to a uniform load of intensify
q. Also determine the angle of rotation and deflection at the
free end. Beam has constant EI.
Solution:
V + qL qx = 0
V = qx qL
qL2
qx 2
M+
qLx +
2
2
qL2 qx 2
M = qLx
2
2
EIv = M ( x )
qL2
qx 2
EIv =
+ qLx
2
2
Solid Mechanics
qL2 x qLx 2 qx 3
Slope equation: EIv =
+
+ C1
2
2
6
BC:
v ( x = 0 ) =C01 = 0
qL2 x qLx 2 qx 3
EIv =
+
2
2
6
Deflection equation
qL2 x 2 qLx 3 qx 4
EIv =
+
+ C2
4
6
24
v (x = 0) = 0
0 = 0 + 0 0 + C2
C2 = 0
qL2 x 2 qLx 3 qx 4
EIv =
+
4
6
24
q
2 2
v=
6L x + 4Lx 3
24EI
x4
v ( x = L )
qL3 qL3 qL3 qL3
+
=
EIv =
2
2
6
6
qL3
v = QB =
6EI
v(x = L)
q
3qL4
4
4
4
v=
6 L 4L + L =
24EI
24EI
qL4 -maximum deflection also.
3qL4
v=
v(x = L) =
8EI
24EI
Solid Mechanics
Problem 5
Above problem using third order equation
EIv = V ( x )
EIv = qL qx
Moment equation
qx 2
EIv = qLx
+ C1
2
B.C. M ( x = L ) = 0
EIv ( x = L ) = 0
qL2 qL2
0 = qL
=
2
2
2
qL2
4=
2
qx 2 qL2
EI v = qLx
+
2
2
qx 2 qL2
EIv = qLx
+
2
2
Problem 6
Above problem with fourth order equation
EIv = P ( x )
EIv = q
Shear force equation
EIv = qx + C 1
B.C V ( x = L ) = 0
0 = qL + C 1
EIv ( x = L ) = 0
C1 = + qL
Solid Mechanics
EIv = qx + qL
Problem 7
A simple beam AB supports a concentrated
load P acting at
EI =
distances a and b from the left-hand and right-hand supports
B
respectively. Determine the equations QofA the Q
deflection
L
max at the supports, the
curve, the angles of rotation
and
maximum deflection and the deflection at the midpoint C of
the beam. Constant EI
Solution
Pb
+x=P
L
Pb
L
Pb
V+
=0
L
Pb
V =
L
Pbx
Pb
H=
M
x=0
L
L
x=P
Pb
P=0
L
Pb
V =P
L
V+
Solid Mechanics
M + P ( x a)
Pbx
L
Pbx
P ( x a)
L
Pbx
Pxa
M=
Px + Pa =
+ Pa
L
L
M=
Pbx
0xa
L
Pxa
EIv =
+ Pa
axL
L
EIv =
Slope equations:
Pbx 2
EIv =
+ C1 o x a
2L
Px 2 a
EIv =
+ Pax + C 2 a x L
2L
B.C. v ( x = a ) AP = v ( x = a ) PB
P ( L a ) a2
Pa3
+ C1 =
+ Pa2 + C 2
2L
2L
/ 2 Pa
/ /3
/ /3
PLa
Pa
+ C1 =
+ Pa2 + C 2
2 L/
2/ L/
2/ L/
Pa2
C1 =
+ C2
2
Solid Mechanics
Pbx 3
EIv =
+ C 1x + C 3
6L
0xa
Px 3 a Pax 2
EIv =
+
+ C2x + C4 a x L
6L
2
B.C: v ( x = 0 ) = 0 and v ( x = L ) = 0
C3 = 0
0 = 0 + 0 + C3
PL3 a PaL2
+
+ C2L + C 4
0=
6L
2
PL2 a PaL2
+
+ C2L + C 4
0=
6
2
PaL2
=
+ C2L + C 4
3
PaL2
C4 =
C2L
3
v ( x = a ) AP = v ( x = a ) PB
P ( L a ) a3
Pa 4 Pa 3
+ C1a =
+
+ C2 a + C4
6L
6L
2
/ /4
/ / 4 Pa 3
PLa 3 Pa
Pa
+
+ C1 a =
+
+ C2 a + C 4
6L
6/ L/
6L/
2
Pa 3
Pa 3
+ C1a =
+ C2 a + C 4
6
2
Pa 3
PaL2
C1 a =
+ C2 a
C2L
3
3
Solid Mechanics
Pa 3
Pa 3
PaL2
+ C/ 2 a =
+ C/ 2 a
C2L
2
3
3
Pa 3
PaL2
=
C2L
6
3
PaL2 Pa 3
C2L =
3
6
PaL Pa 3
C2 =
3
6
qL4
qL3
B =
,QB =
8EI
6EI
(2)
PL3
PL2
B =
, QB =
3EI
2 EI
(3)
M0 L2
M L
B =
, QB = 0
2 EI
EI
(4)
(5)
c = max
5qL4
qL3
=
; Q A = QB =
384EI
24EI
c = max
PL3
PL2
=
;Q A = QB =
48EI
16EI
Problem 8
A simple beam AB supports a concentrated load P acting at
the center as shown. Determine the equations of the
deflection curve, the angles of rotation Q A and QB at the
supports, the maximum deflection max of the beam.
Solid Mechanics
Solution
M=
Px
2
V =
M
M=
Px
2
P
2
P
x=0
2
M=
Px
2
P
P=0
2
V=P/2
V+
Px
L
+P x
=0
2
2
Px
L
Px
PL PL Px
M=
P x
=
Px +
=
2
2
2
2
2
2
M=
PL Px
2
2
Solid Mechanics
Px
0xL/ 2
2
PL Px L
EIv =
xL
2
2 2
EIv =
Slope equations
Px 2
EIv =
+ C1
4
0xL/ 2
PLx Px 2
EIv =
+ C2
2
4
v x =
L
2
= v x =
AP
L
xL
2
L
2
PB
PL2
PL2 PL2
+ C1 =
+ C2
16
4
16
PL2 PL2
PL2
C1 = C 2 +
= C2 +
4
8
8
PL2
C1 = C 2 +
8
Deflection equations:
Px 3
EIv =
+ C 1x + C 3
12
0xL/ 2
PLx 2 Px 3
EIv =
+ C2x + C4 L / 2 x L
4
12
B.C: v ( x = 0 ) = 0 and v ( x = L ) = 0
Solid Mechanics
0 = 0 + 0 + C3
C3 = 0
PL3 PL3
0=
+ C2L + C 4
4
12
PL3
=
+ C2L + C 4
6
PL3
C4 =
C2L
6
v x =
L
2
= v x =
AP
L
2
PB
+ C2 + C 4
96
2
16
96
2
L PL3 PL3
L
+ C2 + C 4
C1 =
2 16
48
2
L PL3
L
C1 =
+ C2 + C 4
2 24
2
L/ PL3 PL3
L/ PL3
C/ 2 +
=
+ C/ 2
C2L
2/ 16
24
2/
6
PL3 PL3 PL3
= C2L
24
6
16
C2 =
( 2 8 3 ) PL2
9 PL2 3PL2
C2 =
=
48
16
3 PL2
C2 =
16
48
Solid Mechanics
3PL2 PL2
PL2
C1 =
+
=
16
8
16
PL2
C1 =
16
PL3
3 PL2
C4 =
L
6
16
PL3 3 PL3 ( 8 + 9 ) PL3
=
+
=
6
16
48
PL3
C4 =
48
Deflection curves
Px 3 PL2
EIv =
x + C3
12
16
0x
L
2
PLx 2
Px 3 3 PL2
PL3 L
EIv =
+
x+
xL
4
12
16
48 2
EIv x = L
2
=
96
32
48
v x= L
2
EIv x = L
2
PL3
=
48EI
+
=
16
96
32
48
96
PL3
=
48
Solid Mechanics
v = PL3 / 48EI
Slope equations:
Px 2 PL2
EIv =
4
16
0x
PLx Px 2 3PL2
EIv =
2
4
16
L
2
L
xL
2
PL2
PL2
EIv ( x = 0 ) = 0
=
16
16
PL2
v ( x = 0 ) = QA =
( ) Clock wise
16EI
PL2 PL2 3 PL2 ( 8 4 3 ) PL2 PL2
EIv ( x = L ) =
=
=
2
4
16
16
16
PL2
v ( x = L ) = QB =
(+ ve, CCW from x-axis )
16EI
Problem 9
A cantilever beam AB supports load of intensity of acting
over part of the span and a concentrated load P acting at the
free end. Determine the deflections B and angle of rotation
QB at end B of the beam. Beam has constant EI. Use principle
of superposition.
Solution
B1
qa 3
=
( 4L a ) ,
24EI
B2
PL3
=
,
3EI
QB2
QB1
PL2
=
2 EI
qL3
=
6EI
Solid Mechanics
B = B1 + B2
qa3
PL3
=
( 4L a ) +
24EI
3EI
QB = QB1 + QB1
qa3 PL2
=
+
6EI 2 EI
Solid Mechanics
M
dx
EI
The quantity
M
dx corresponds to an infinitesimal area of
EI
M
diagram. According to the above equation the area is
EI
equal to the arrange in angle between two adjacent point m1
and m2 . Integrating the above equation between any two
points A & B gives.
the
B
A
d = B A = BA =
M
dx
EI
A
Solid Mechanics
This states that the arrange in angle measured in radius
between the two tangents at any two points A and B on the
M
elastic curve is equal to the area of
diagram between A &
EI
B , If A is known then
B = A + BA
In performing above integration, areas corresponding to the
+ M are taken + ve, area corresponding to the ve M are
taken ve
If
M
dx is +ve- tangent B rotates c.c.w from A or B is
EI
A
Solid Mechanics
We see that dt is a small contribution to tBA . Since the angles
between the tangents and x-axis are very small we can take
dt = x1d = x1
The expression x1
M
dx
EI
M
dx = first moment of infinitesimal area
EI
M
dx w.r.t. a vertical line through B.
EI
Integrating between the point A & B
B
tBA = dt = x1
M
M
dx = First moment of the area of the
EI
EI
if M is +ve
= +ve
if M is -ve
= -ve
M
dx
EI
A
Solid Mechanics
A positive value of tangential deviation- point B is above A
and vice versa ve value means point B is below the point A.
In applying the moment area method a carefully prepared
sketch of the elastic curve is always necessary.
Problem:1
Consider an aluminum cantilever beam 1600 mm long with a
10 kN for a applied 400 mm from the free end for a distance
of 600 mm from the fixed end, the beam is of greater depth
than it is beyond, having
EI = 3.5 10 24
70 109 10 6 N/mm2
= 70 10 3 N/mm2
Solid Mechanics
1
1
0.12
36
A1 = bh = 600
=
E
E
2
2
129.6
A2 = bh =
E
1
1
0.48
115.2
A3 = bh = 480
=
2
2
E
E
1
1
0.12
7. 2
A4 = bh = 120
=
2
2
E
E
QBA = QB Q A =
QB =
M
dx = A1 + A2 + A3 + A4
EI
A
=
E
E
E
E
E
Solid Mechanics
QB =
288
288
3
=
=
4
.
14
10
rad
3
E
70 10
QB = 4.14 10 3 rad
A.
from tangent at
tBA = B
Problem 2
Find the deflection due to the concentrated force P applied as
soon as figure, at the center of a simply supported beam EI
constant.
Solution:
Solid Mechanics
M
EI
diagram is same as M
diagram.
Since EI is constant
vc = cc tCB
1
cc = t AB
2
1
1
3 Pa 3 Pa2
A1 = bh = a
=
s
2
2
4EI 8EI
1
1
3Pa 9 Pa2
A2 = bh = 3 a
=
2
2
4EI 8EI
2
x1 = a ; x 2 = 2 a
3
3 Pa2 2
9 Pa2
t AB = A1x1 + A2 x2 =
a+
2a
8EI 3
8EI
Pa3 9 Pa3 10 Pa3 5 Pa3
=
+
=
=
( + ve )
4EI 4EI
4EI
2 EI
Solid Mechanics
1
Pa
2a
Pa 3
tCB = 2 a
=
s
2
2 EI
3
3EI
cc = t AB / 2
5 Pa 3
=
4EI
5 Pa 3 Pa 3 ( 15 4 ) Pa 3 11Pa 3
vc =
=
=
4EI 3EI
4EI
12 EI
11Pa 3
vc =
12 EI
The +ve sign of t AB & tCA indicate points A & C above the
tangent through B.
(a) The slope of the elastic curve at C can be found from the
slope of one of the ends as:
QBC = QB QC
QBC
QC = QB QBC
M
1
Pa Pa2
= QB QC
dx = 2 a
=
s
EI
2
2 EI 2 EI
C
QB t AB
5 Pa 3 1 Pa 2 5Pa 2 Pa 2
/L=
2 EI 4 a 2 EI 8EI 2 EI
Pa2
Qc =
8EI
vE = EE EE
Solid Mechanics
vE =
Lx
t AB tEB
L
t AC + tBC
2
Solid Mechanics
Problem 3
Find the deflection of the end A of the beams shown in
figure caused by the applied forces. The EI is constant.
Solution
Solid Mechanics
1
1
Pa
Pa 2
A1 = bh = a
=
2
2
EI
2 EI
1 a
Pa
Pa 2
A2 =
=
2 2
EI
4EI
Pa 2
A3 =
4EI
Pa 2
and A4 =
2 EI
a
7a
2a a
11a
x1 = + 2 a = ; x 2 =
+ +a=
3
3
33 2
6
1a
2a
x3 =
+ a = 7 a / 6 ; x4 =
32
3
tCB = A2 x2 + A3 x3 + A4 x 4
Pa2 11a Pa 2 7 a Pa2 2 a
=
+
+
4EI 6 4EI 6 2 EI 3
11Pa3 7 Pa 3 Pa3 ( 11 + 7 + 8 ) Pa3
=
+
+
=
24EI 24EI 3EI
24EI
4 Pa 3 Pa 3
tCB =
=
24EI 6EI
The + sign of tCB indicates that the point C is above the
tangent through B. Hence corrected sketch of the elastic
curve is made.
Solid Mechanics
Pa 2 2
Pa 3
t AB =
a=
2 EI 3
3EI
v A = t AB AA
Pa3 Pa3 Pa3
=
=
3EI 12 EI 4EI
Pa 3
vA =
4EI
Note: Another method to find v A is shown. This may be
simpler method than the present one.