Theory of Elasticity & Plasticity

Formulae Sheets
1. Stress equilibrium equations:
x xy xz
+
+
+ Fx = 0
x
y
z
y xy yz
+
+
+ Fy = 0
y
x
z
z xz yz
+
+
+ Fz = 0
z
x
y
where Fx , Fy , Fz are the body forces in the x, y, z directions respectively.

2. Strain-displacement relations:
u
v
w
x = , y = , z =
x
y
z
u v
v w
w u
xy =
, zx =
+
+ , yz =
+
y x
z y
x z
Compatibility Condition:
2 xy 2 x 2 y
+
=
,
xy
y 2
x 2
2 yz
yz

2 y
z 2

2 z
+ 2 ,
y

2 xz 2 z 2 x
=
+ 2 ,
zx
x 2
z

2 x 1 yz xz xy

=
+
+
y
z
yz 2 x x
2 y

1 yz xz xy

+
zx 2 y x
y
z
2 z 1 yz xz xy

=
+

xy 2 z x
y
z
=

where u, v, w are the displacements in the x, y, z directions respectively.

3. 2-D Stress (or strain) transformation equations:

1
1
x ' = ( x + y ) + ( x y )cos 2 + xy sin 2
2
2
1
x ' y ' = ( x y )sin 2 + xy cos 2
2
1
1
y ' = x ' = + = ( x + y ) ( x y )cos 2 xy sin 2
2
2
2
where x' is inclined at an angle of anticlockwise from x . Strain transformation
( x' , y ' , x' y ' ) with
equations
can
be
obtained
by
replacing

x'

, y ' , x ' y ' = x ' y ' 2 ) , and ( x , y , xy ) with ( x , y , xy = xy 2) in the

above equations.

4. The (x' , y ' , z ') and (x, y, z ) Cartesian coordinate systems are related by the
following direction cosines:
l1 = cos( x, x ) , m1 = cos( x, y ) , n1 = cos( x, z ) ,
l 2 = cos( y , x ) , m2 = cos( y , y ) , n2 = cos( y , z ) ,
l3 = cos( z , x ) , m3 = cos( z , y ) , n3 = cos( z , z ) ,

x y
z
x l1 m1 n1
y l 2 m2 n2
z l3 m3 n3
The above direction cosines represent the projections of unit vectors in the x' , y ' , z '
directions onto the (x, y, z ) system.

5. 3-D Stress (or strain) transformation equations:

2
2
x l12
2l1m1
2l1n1
m1
n1
2
2
2
2l 2 m2
2l 2 n2
m2
n2
y l 2
2
2
z l3 2
2l3 m3
2l3 n3
m3
n3
=
xy l1l 2 m1m2 n1n2 (l1m2 + l 2 m1 ) (l1n2 + l 2 n1 )
xz l l m m n n (l m + l m ) (l n + l n )
1 3
1 3
1 3
3 1
1 3
3 1
13
yz l 2 l3 m2 m3 n2 n3 (l 2 m3 + l3 m2 ) (l 2 n3 + l3 n2 )

x
2m1n1

2m2 n2
y
z
2m3 n3

(m1n2 + m2 n1 ) xy
(m1n3 + m3 n1 ) xz

(m2 n3 + m3 n2 ) yz

Strain transformation equations can be obtained by replacing ( x ' , y ' , x ' y ' ) with

, y ' , x ' y ' = x ' y ' 2 ) , and ( x , y , xy ) with ( x , y , xy = xy 2) in the

above equations.
x'

6. Principal stress and Principal strains in 2-D:

x + y

x y
or 1 =

2
2
2

2 xy

+ xy 2 , with tan 2 p =
x y

and

x +y

x y
or 1 =

2
2
2

xy
xy
+
, with tan 2 p =
x y
2

7. Maximum shear stress and maximum shear strain in 2-D:

max

x y
=
2

+ xy 2 , with tan 2 s = x
2 xy

and

max

x y
= 2
2

y
xy
+
, with tan 2 s = x
xy
2
2

8. Characteristic equations for determining principal stresses at a point in 3-D:

( x p ) l + xy m + xz n = 0

xy l + ( y p ) m + yz n = 0
xz l + yz m + ( z p ) n = 0

or

p )

xy
xz

xy
xz
( y p ) yz = 0
( z p )
yz

or

p 3 I1 p 2 + I 2 p I 3 = 0
I1 = x + y + z
I 2 = x y + x z + y z xy xz yz
2

x xy xz
I 3 = xy y yz
xz yz z
where p = 1 , 2 , or 3 , with 1 > 2 > 3 . Characteristic equations for

principal strains and the strain invariants (I 1 , I 2 , I 3 ) can be obtained by replacing

( , , )
( , , =
x'

y'

with

x' y'

xy

xy

x'

, y ' , x' y ' = x' y ' 2) ,

2) in the above equations.

and

, y , xy )

with

9. Force boundary conditions:

p x = x l + xy m + xz n
p y = xy l + y m + yz n
p z = xz l + yz m + z n
r
r
r
with l = cos(n , x ), m = cos(n , y ), n = cos(n , z )

v
where n is the normal vector of the boundary surface; p x , p y and p z are the
surface tractions (surface forces per unit area) in the x, y, z directions respectively.

10. Elastic stress-strain relations:

x =

1
x ( y + z ) , xy = xy
E
G

1
y ( x + z ) , yz = yz ;
E
G

1
z = z ( x + y ) , xz = xz
E
G

y =

or

x = 2G x + ( x + y + z ), xy = G xy
y = 2G y + ( x + y + z ), yz = G yz
z = 2G z + ( x + y + z ), xz = G xz
where G =

E
E
, =
(1 + )(1 2 )
2(1 + )

or
x c11
c
y 21
z c31
=
xy c41
yz c51

xz c61

c12

c13

c14

c15

c22

c23

c24

c25

c32

c33

c34

c35

c42
c52

c43
c53

c44
c54

c45
c55

c62

c63

c64

c65

c16 x
c26 y
c36 z

c46 xy
c56 yz

c66 xz

where cij s are the material-dependent elastic constants.

11. Bulk modulus:

K=

m m
E
=
=
Vol 3 m 3(1 2 )

with
1
( x + y + z )
3

1
Mean strain : m = Vol = ( x + y + z )
3
3
Volumetric strain : Vol = x + y + z
Mean stress : m =

12. Let ( x, y, z ) be a scalar function (e.g., stress function).

The Gradient of is represented by:

i+
j+
k
z
x
y
where i, j , k are the unit vectors in the x, y, z direction respectively.

grad = =

The Divergence of a vector V (i.e. V = V x i + V y j + V z k ) is represented by:

V =

V x V y V z
+
+
z
x
y

Note V V

The Laplacian of is represented by:

2 2 2
2 =
+ 2 + 2
x 2
y
z

i+
j+
k ) leads to the
z
x
y

The Divergence of the Gradient of (i.e. =

Laplacian of (i.e. 2 ):

2 2 2
+ 2 + 2 = 2
x 2
y
z

i+
j + k ) and a vector V (i.e.
z
x
y
V = V x i + V y j + V z k ) is called the Curl of the vector V and is represented by:

The cross product of the operator (i.e. =

curl V = V =

x
Vx

y
Vy

z
Vz

If ( x, y, z ) and (x, y, z ) are two scalar functions and V is a vector, then

following results can be easily verified:
( ) = +
(V ) = V + V

( ) = 0
( V ) = 0

13. Effective stress (or the so-called von-Mises stress):

1
( x y )2 + ( y z )2 + ( x z )2 + 6 xy 2 + yz 2 + xz 2
2

e =

)]

14. Effective plastic strain increment:

d ep =

2
2
d ijp d ijp =
3
3

(d

p
x

d yp

) + (d
2

p
y

d zp

) + (d
2

p
x

d zp

2
2
2
3
d xyp + d yzp + d xzp
2

where d ijp is the plastic strain increment with i, j = x, y, z .

15. Plastic Modulus (for the effect stress-effect plastic strain relation):
d
EE
H p = Pe = t
d e
E Et
where E is the initial elastic modulus of the uniaxial stress-strain curve. Et is the
tangent modulus of the uniaxial stress-strain curve.
16. Tresca Yield Criterion (Maximum Shear Stress Theory):

max = yt 2
with max = ( 1 3 ) 2
where yt is the instantaneous yield stress.

17. Von Mises Yield Criterion (Maximum Distortional Energy Theory):

e = yt

1
( 1 2 )2 + ( 2 3 )2 + ( 1 3 )2
2

where e =
or e =

]
(

1
( x y )2 + ( y z )2 + ( x z )2 + 6 xy 2 + yz 2 + xz 2
2

18. Mises-Hencky Yield Criterion (Octahedral Shear Stress Theory):

2
oct =
yt
3
1
( 1 2 )2 + ( 2 3 )2 + ( 3 1 )2
where oct =
3
1
( x y )2 + ( y z )2 + ( x z )2 + 6 xy 2 + yz 2 + xz 2
or oct =
3

)]

19. Coulomb-Mohr Fracture Theory (Internal Friction Theory):

1 2

= 1 , for 1 > 0 & 2 < 0

u u
2 1

= 1 , for 1 < 0 & 2 > 0

u u

1 = u , 2 = u , for 1 > 0 & 2 > 0

1 = u , 2 = u , for 1 < 0 & 2 < 0
Where u is the ultimate tensile strength, and u is the ultimate compressive
strength.

20. Rankines Fracture Criterion (Maximum Principal Stress Theory):

Max( 1 , 2 , 3 ) = u

Where u is the ultimate strength.

21. Prandtl-Reuss Flow Rule (Incremental Theory):
f
d ijp = d
= d sij
ij
or
p
p
p
d xp d y d zp d xy d yz d xzp
d =
=
=
=
=
=
sx
sy
sz
xy
yz
xz
where d =

3d ep
2 e

sii = si = i m with i = x, y, z & m = ( x + y + z ) 3 ;

sij = ij for i j ;

ijp = ijp 2 with i, j = x, y, z but i j

1 2 1 2
Where f ( ij , yt ) = e yt = 0 is the yield function defined by von Mises
3
3
yield criterion.
22. In Prandtl-Reuss Flow Rule, the (total) strain increment d ij consists of elastic
strain increment d ije and plastic strain increment d ijp :
d ij = d ije + d ijp

with

d xy
1
d x (d y + d z ) , d xye =
E
G
d yz
1
d ye = d y (d x + d z ) , d yze =
E
G
d
1
d ze = d z (d x + d y ) , d xze = xz
G
E
d xe =

and
d xp =

2d
1

x ( y + z ), d xyp = 2d xy

3
2

d yp =

2d
1

y ( x + z ), d yzp = 2d yz

3
2

d zp =

2d
1

z ( x + y ), d xzp = 2d xz

3
2

23. Henckys plastic stress-strain relations (Deformational Theory):

3
1
1

x xp = x ( y + z ), xy xyp = xy
2
E
E

3 yz
1

p
y 2 ( x + z ), yz yz = E
s
3
1
1

z zp = z ( x + y ), xz xzp = xz
2
Es
Es

y yp =

1
Es

where E s =

e =

e
e

1
( x y )2 + ( y z )2 + ( x z )2 + 6 xy 2 + yz 2 + xz 2
2

) (

2
2
x y + y z
3
Where E s is the secant modulus.

e ep =

) + (
2

)]

2
2
2
3
xy + yz + xz
2

24. Henckys plastic stress-strain relations (Deformational Theory):

3
1
1

x xp = x ( y + z ), xy xyp = xy
2
E
E

3 yz
1

p
y 2 ( x + z ), yz yz = E
s
3
1
1

z zp = z ( x + y ), xz xzp = xz
2
Es
Es

y yp =

1
Es

where E s =

e =

e
e

1
( x y )2 + ( y z )2 + ( x z )2 + 6 xy 2 + yz 2 + xz 2
2

) (

2
2
x y + y z
3
Where E s is the secant modulus.

e ep =

) + (
2

)]

2
2
2
3
xy + yz + xz
2

25. The compatibility equation in terms of stresses, for Plane Strain Condition (i.e.
z = xz = yz = 0 ):
2
2
2 + 2
y
x

1
( x + y ) =
1

Fx Fy

+
y
x

26. The compatibility equation in terms of stresses, for Plane Stress Condition (i.e.
z = xz = yz = 0 ):
2
2
2 + 2
y
x

F
F

( x + y ) = (1 + ) x + y
y

27. The compatibility equation in terms of Airys stress function , for both Plane
Stress and Plane Strain Problems in absence of body forces (i.e. Fx = Fy = Fz = 0 ):
4
4
4
=
+2 2 2 + 4 =0
x 4
x y
y
4

2
2
where = 2 + 2
x
y
2

and

x =

2
2
2
=
=

y
xy
xy
y 2
x 2

28. Stress equilibrium equations, in polar coordinates:

r 1 r r
+
+
+ Fr = 0
r
r
r
1 r 2 r
+
+ F = 0
+
r
r
r
where Fr , F are the body forces in the radial and tangential (i.e. r , ) directions
respectively.
29. Transformation of stresses in Cartesian coordinates to those in Polar coordinates:
r = x cos 2 + y sin 2 + 2 xy sin cos

r = xy (cos 2 sin 2 ) + ( y x )sin cos

= x sin 2 + y cos 2 2 xy sin cos

or the reverse relations:

x = r cos 2 + sin 2 2 r sin cos

xy = r (cos 2 sin 2 ) ( r )sin cos

y = r sin 2 + cos 2 + 2 r sin cos

30. Strain-displacement relations, in polar coordinates:

u 1 v
1 u v v
u
r = , = +
, r =
+

r r
r r r
r
Compatibility Condition, in polar coordinates:
2
1 2 r 2 1 r 1 2 r
1
=
+ 2 r

+ 2
+
2
2
r r r r
r r r
r
r

31. The compatibility equation in terms stresses in polar coordinates, for both Plane
Stress and Plane Strain Problems in absence of body forces (i.e. Fr = F = Fz = 0 ):
2 ( r + ) =

d 2 ( r + ) 1 d ( r + )
+
=0
r
dr
dr 2

32. The compatibility equation in terms of Airys stress function (r , ) in polar

coordinates, for both Plane Stress and Plane Strain Problems in absence of body
forces (i.e. Fr = F = Fz = 0 ):
2 1
1 2 2

=0
= 2 +
+ 2
2

r
r

r
r

1
1 2
where 2 = 2 +
+ 2
r r r 2
r

and

r =

2
1
1 1 2
1 1 2
+ 2
=
=

,
,

r
2
2
2
r r
r r r
r
r r r

33. Elastic stresses and radial displacements in thick-walled short cylinders or ring with
free ends (in plane stress conditions) subjected to both external p o and internal pi
pressures:
a 2 pi b 2 po a 2 b 2 pi po
2 2
r =

2
2
b
a
r b a2

a 2 pi b 2 p o
+
=
2
2
b
a

2
2
1 a pi b p o

u=
E b 2 a 2

a 2 b 2 pi po

r 2 b2 a2

1 + a 2 b 2 ( pi p o ) 1
r +

E b2 a2
r

where a is the inner radius, b is the outer radius.

34. Stresses in thick-walled short cylinders or ring with free ends (in plane stress
conditions) subjected to elastic-plastic deformation under only internal pi pressures:
r
a

r = yp ln pi ,

= r + yp ,

r = 0
for plastic zone ( a r c )

and
c 2
r = 2 rc2
b c

b 2
1 2

c 2
= 2 rc2
b c

b 2
1 + 2 , r = 0

r
for elastic zone ( c r b )

where a & b are the inner and outer radii respectively, c is the radius of the
boundary surface between the elastic zone and plastic zone. yp is the initial yield
stress, and rc is the radial stress at r = c .
10

35. Elastic stresses and radial displacements in thick-walled long cylinders with
restrained ends (in plane strain conditions) subjected to both external p o and
internal pi pressures:
c
E c1
22

1 + (1 2 ) r
c
E c1
=
+ 22

1 + (1 2 ) r

r =

c2
r
in which the constants c1 & c 2 are determined from the conditions pertaining to the
inner and outer surfaces.
u = c1 r +

ij

36. The strain energy density U o ( = ij d ij ) for linear elastic bodies under a general
0

state of stresses:
Uo =
or

Uo =

1
( x x + y y + z z + xy xy + yz yz + xz xz )
2

1
1

x 2 + y 2 + z 2 ( x y + y z + x z ) +
xy 2 + yz 2 + xz 2
2E
E
2G

or
Uo =

) (

1
Vol 2 + 2G x 2 + y 2 + z 2 + G xy 2 + yz 2 + xz 2
2
E
, = + + .
where =
(1 + )(1 2 ) Vol x y z

)]

37. The potential energy :

= U W

with
the strain energy U = U o dV = U o dxdydz
V

the work done by external forces W =

and
(Fx u + Fy v + Fz w) dV + ( p x u + p y v + p z w) dA
A

11

38. Poissons equation for bars in pure torsion:

xz =

, yz =
x
y

2 2
+
= 2G
x 2 y 2
where is Prandtls stress function, and is the angle of twist per unit length.
39. Prandtls membrane analogy:

40. The ultimate torques for bars of various cross-sectional geometry:

41. Torsion of a circular bar:

T max G
=
=
J
r
L
4
where the polar moment of inertia J = r 2 . max is the maximum shear stress on

the lateral surfaces of the bar, r is the radius of the circular section, (= L ) is the
angle of twist, and L is the length of the bar.

12

42. Torsion of thin-walled open sections:

1
3
Effective polar moment of inertia, J e = b j t j
3
3T
T
=
Angle of twist per unit length, =
J eG G b j t j 3

Shear stress in a portion with a wall thickness t i , i = G t i =

3T t i

b t

j j

where bi is the width of a portion with a wall thickness t i .

43. Torsion of multiply connected thin-walled closed sections:
Applied torque, T = 2 Ai t i i
1
i dsi
2 Ai G
where si is the mean perimeter of the closed section (loop) i , Ai is the area
enclosed by the mean perimeter of the closed section (loop) i , and i is the shear
stress at the closed section with the enclosed area Ai .
Angle of twist per unit length, =

13