Chapter 2: Elastic Constitutive Equations of a Laminate

2.0 Introduction

Equations of Motion
Symmetric of Stresses
Tensorial and Engineering Strains
Symmetry of Constitutive Equations

2.1 Three-Dimensional Constitutive Equations

General Anisotropic Materials

Orthotropic Materials
Transversely Isotropic Materials
Isotropic Materials

2.2 Relation Between Mathematical & Engineering Constants

Isotropic Materials
Orthotropic Materials

2.3 Constitutive Equations for an Orthotropic Lamina

Plane Strain Condition

Plane Stress Condition

2.4 Constitutive Equations for an Arbitrarily Oriented Lamina

Coordinate Transformation
Stress Transformation
Strain Transformation
Stiffness and Compliance Matrix Transformation

2.5 Engineering Constants of a Laminate

Lamina
Laminate

2.6 Hygrothermal Coefficients of a Lamina

2.7 Summary

2.0 INTRODUCTION
x2 u2

2.0.1 Equations of Motion of Elastic Solids

x

P( x1, x2 , x3 )

Equations of Equilibrium (Kinetics)

x1 u1

ij , j

2 ui
+ fi = 2
t

i, j = 1, 2, 3

22

x3 u3
x2 u2

23
32

33

12
12
31

Equations of Kinematics
(strain-displacement)

11

ij = 1 2 ui, j + u j ,i

x1 u1

22

x3 u3

x2 u2

23

31
33
x3 u3

21

Constitutive Equations (stress-strain)

12

32

13
x1 u1

11

ij = Cijkl kl

i, j, k , l = 1, 2, 3

2.0.2 Symmetry of Stresses

Consider a plane 1-2.

22

x2

21

11
12

Equilibrium
in x1 11 1 t 11 1 t + 21 1 t 21 1 t = 0

12

( 22 22 ) 1 t ( 12 12 ) 1 t = 0

11 Moment about A:
1

21

in x2

22

12 1 t 21 1 t = 0
12 = 21

Similarly we can show, from 2-3 plane 23 = 32

1-3 plane 13 = 31

Therefore, ij = ji i, j = 1, 2, 3
Stress tensor is Symmetric.
Tensorial and Contracted Notation
Tensorial
Contracted
x1

11
22
33
23 = 23
31 = 31
12 = 12

=
=
=

1
2
3
4 or 4
5 or 5
6 or 6

2.0.3 Tensorial and Engineering Strains

x2

Tensorial Strains:

ij = 1 2 ui, j + u j ,i

ii = ui,i

ij = 1 2 ui, j + u j ,i

i = j normal strains.

12

u1
x1
u
= 2
x2

1 = 11 =

2 = 22

3 = 33

u
= 3
x3

21

ij = ij + ji = ui, j + u j ,i = Total shear strain

Engineering Strains

12

i j tensorial shear strain.

Engineering shear strain

21

x1

22

u u
4 = 4 = 2 + 3
x3 x2

x2 u2

u u
5 = 5 = 3 + 1
x1 x3

23

21
12

31
32

u u
6 = 6 = 1 + 2
x2 x1

33
x3 u3

13
x1 u1

11

Generalized Hookes Law (3-D Constitutive Equation)

Stress-Strain Equation
1
2
3
4
5
6

C11
C21
C31
C41
C51
C61

i = Cij j
C12
C22
C32
C42
C52
C62

C13
C23
C33
C43
C53
C63

C14
C24
C34
C44
C54
C64

i, j = 1, 2,3, 4, 5, 6
C15
C25
C35
C45
C55
C65

C16
C26
C36
C46
C56
C66

1
2
3
4
5
6

C is called the stiffness matrix.

Strain-Stress Equation
1
2
3
4
5
6

S11
S21
S31
S41
S51
S61

i = Sij j
S12
S22
S32
S42
S52
S62

S13
S23
S33
S43
S53
S63

S is called the compliance matrix.

S14
S24
S34
S44
S54
S64

i, j = 1, 2,3, 4, 5, 6
S15
S25
S35
S45
S55
S65

S16
S26
S36
S46
S56
S66

1
2
3
4
5
6

2.0.4

Symmetry of Constitutive Matrix

Strain energy density,

1
U0 = i i
2
1
U0 = Cij j i
2
U
i = 0 = Cij j
i

- - - -(1)

2U 0
= Cij
j i

Eqn.(1) can be written as

1
U0 = j j
2
1
U0 = C ji i j
2
U
j = 0 = C ji i

2U 0
= C ji
i j
Since the order of differentiating a scalar quantity U0 shouldnot
change the result. Therefore, Cij = Cji .Stiffness matrix is symmetric.
Similarly, Sij = Sji

2.1

3-D CONSTITUTIVE EQUATIONS

(a) General Anisotropic Material (no plane of material symmetry).

1
1
C11 C12 C13 C14 C15 C16
2
2
C21 C22 C23 C24 C25 C26
3
3
C31 C32 C33 C34 C35 C36
=
4
4
C41 C42 C43 C44 C45 C46
5
5
C51 C52 C53 C54 C55 C56
6
6
C
C
C
C
C
C
61

62

63

64

65

66

Number of unknowns = 6x 6 = 36
Because symmetry of Cij, number of unknowns = 6x 7/ 2 = 21
(b) Specially Orthotropic Materials (3 mutually perpendicular planes of
material symmetry). Reference coordinate system is parallel to the material
coordinate system.
1
1
C11
2
2
C21 C22
Sym
3
3
C31 C32 C33
=
4
4
0
0
0 C44
5
5
0
0
0
0
C55
6
6
0
0
0
0
0
C
66

Number of unknowns = 9

Features

No interaction between normal stresses (1, 2, 3) and shear

strains (4, 5, 6 ). Normal stresses acting along principal material

directions produce only normal strains.

No interaction between shear stresses (4, 5, 6) and normal strains

(1, 2, 3). Shear stresses acting on principal material planes produce
only shear strains.

No interaction between shear stresses and shear strains on

different planes. That is shear stress acting on a principal plane
produces a shear strain only on that plane.

(c) Transversely Isotropic Material

An orthotropic material is called transversely isotropic when one of
its principal plane is a plane of isotropy. At every point on this plane, the
mechanical properties are the same in all directions.

(2-3): Plane of Isotropy

1
2
3
4
5
6

C11
C21 C22
C12 C23

C22

0
0

0
0

0
0

Number of unknowns = 5

C22 C23
2
0
0

Sym
C55
0

C55

1
2
3
4
5
6

(d) Isotropic Material

A material having infinite number of planes of material symmetry
through a point.

1 C11
C
2 12
3 C12
=
4 0
5 0

6 0
where

C11
C12
0
0
0

Sym
C11
0
0
0

C44
0
0

C44
0

C11 C12
2
Number of unknowns = 2

1

2
3

4
5

C44 6

C44 =

Summary
Material
1. Anisotropic material
2. Anisotropic elastic materials
3. Orthotropic material
4. Orthotropic material with
transverse isotropy
5. Isotropic material

Independent Elastic constants

36
21
9
5
2

2.2 Relations Between Mathematical and Engineering Constants

(a) Isotropic Materials (E & )
x2

3 = 1 / E
1
x1
x3

2 = 1 / E
1 = 1 / E

Definition:
Elastic Modulus (E) = Stress/Strain = 1/1
Poissons Ratio () = - Transverse strain/Applied strain = - 2

/1

x2

3 = 1 / E
2 = 1 / E
1 = 1 / E

x1

x3

Applied Stresses

Normal Strains

in x1

1 / E
1 / E
1 / E

in x2
in x3

2 / E

3 / E

2 / E
2 / E

3 / E

3 / E

Shear stresses
Shear Strains

4
5
6

Planes

x2-x3,
23

23 / G

x3 - x1
31

x1 - x2
12

31 / G
12 / G

x2

Constitutive Equation

1
x1

i = Sij j

1 1 E


2

E
3 E
= = 0
23
4
5 = 31 0
=
6
12 0

{ } = [ S]1{ }

x3

or

0
1

0
2

3
0
=
0
23
4
0 5 = 31
1 =
12
G 6
0

{ } = [C ]{ }

Restrictions of Elastic Constants

Shear modulus

G=

E
2(1 + )

for Shear modulus to be positive, > - 1

Bulk modulus

K=

E
3(1 2 )

for Bulk modulus to be positive, <

1 < < 1/2

1/2

(b) Orthotropic Materials

x2 E2

3 = 13 1 / E1

x1 E1

2 = 12 1 / E1
1 = 1 / E1

x3 E3

Definition:
Elastic Modulus (E1) = Stress/Strain = 1/1
Poissons Ratio (12) = - Transverse strain/Applied strain = - 2

/1

x2

3 = 13 1 / E1

2 = 12 1 / E1
1 = 1 / E1

x1

x3
Applied Stresses

Normal Strains

in x1

1 / E1
12 1 / E1
13 1 / E1

in x2
in x3

21 2 / E2

31 3 / E3

2 / E2
23 2 / E2

32 3 / E3

3 / E3

Shear stresses
Shear Strains

4
5
6

Planes

x2-x3,
23

23 / G23

x3 - x1
31

31 / G31

x1 - x2
12

12 / G12

Constitutive Equation

{ } = [ S]{ }
1 1 E11

12
2

E11
3 13 E11
= = 0
23
4
5 = 31 0
=
6
12
0

{ } = [ S]1{ }

21
1

E22

23

or

E22

E22

32
1

E33

E33

G23

E33
1

G31
0

0
2
3
0

0 4 = 23

5 = 31
0

6
12
G12

{ } = [C ]{ }

from Symmetry of S- matrix:

S12 = S21

31

S13 = S31

ij Ei
ij ji
=
=
or
Therefore
Ej

Ei E j
ji

Sij = S ji

when i j

S23 = S32

12 21 13 31 , and 23 = 32
,
=
=
That is
E2
E3
E1 E3
E1 E2

This is the well known Bettis reciprocal law of orthotropic material properties.

Stress-Strain Equation

{ } = [C ]{ }
Where [C ] = [ S]1
Coefficients of C are given by:
C11 =

1 23 32
E2 E3

C12 =

21 +13 23
E2 E3

12 +13 32
E1 E3

C22 =

113 31
E1 E3

C23 =

32 +12 31
E1 E3

23 + 21 31
E1 E2

C33 =

112 21
E1 E2

C13 =

13 +12 23
E1 E2

31 + 21 32
E2 E3

C44 = G23 ,

Where
=

1
E1 E2 E3

C55 = G13 ,

1
12
13

21
1
23

and
31
32
1

C66 = G12

Transversely Isotropic Material ( Plane : x2 x3 )

E2 = E3
G12 = G13

12 = 13
G23 =

E2
2(1 + 23 )

Restrictions on Elastic Constants of Orthotropic Materials

From Energy Principles, Lempriere showed that the Strain Energy is Positive
if the Stiffness and Compliance Matrices are Positive Definite.
Mathematical Argument
(a) If only one stress is applied at a time, then the work done is positive
if and only when the corresponding direct strain is positive. That is when
Sii > 0

Therefore: E1 , E2 , E3 , G12 , G23 , and G13 > 0

(b) Under suitable constraints, it is possible to deform a body in one-direction.

Then the work done will be positive if only when Cii > 0

C11 =

1 23 32
E2 E3

1 23 32 > 0

>0
or 23 32 < 1

or

In general

23 <

E2
E3

ij <

Ei
Ej

Note all through was assumed to be greater than 0. This condition

would give additional equations. (refer to R. M. Jones.)

2.3 Constitutive Equations of a Thin Orthotropic Lamina

Two-Dimensional Bodies: Variation in stress and strain can be defined
by two-coordinates.
There are two types of problems.
(a) Plane strain - Thick bodies

z = xz = yz = 0

xz = yz = 0
(b) Plane Stress - Thin bodies

z = xz = yz = 0

z = xz = yz = 0

x2 , y, v

x3 , z, w

x1, x, u

Strain-Stress Equation:
1 S11 S12 0 1


2 = S21 S22 0 2
0
0 S66 12
12

x2 , y, v

x3 , z, w

Or
1

1 E1

12

=
2
E1

12 0

x1, x, u
12
E1
1
E2

0
1
0 2
1
G12 12

Stress -Strain Equation:

1 Q11 Q12

2 = Q21 Q22
0
0
12

0 1

0 2

Q66 12
E

Where: E1 = 1121 21

Or

1 E1

2 = E12
0
12
E2
12 21

E2 = 1

E12

E2
0

0 1

0 2

G12 12
E

E2
12 21

E12
= 121 1 = 112
12 21

2.4 Stress-Strain Relations for Arbitrary Orientation of a Lamina

y

(a) Transformation of coordinates

P(x,y)

x1 x2 - Material coordinate system

xy

- Reference coordinate system

x

Consider a point P(x,y), its coordinates in

x1 x2 system is
x1 = xCos + ySin

x2

P(x,y)

x1

x2 = xSin + yCos

x2

or
x1 Cos
=
x2 Sin

x1

Sin x

Cos y

x1 1x
or x = 2 x
2

Direction cosine matrix

1 y x
2 y y

ij where I = 1,2 and j = 1, 2

(b) Stress Transformation

We use tensors transfer stresses between the two coordinate systems

ij = ik jl kl

i, j = 1, 2 and

k , l = x, y

Example: i=j=1

11 = 1111 xx + 1112 xy + 1211 yx + 1212 yy

If m = Cos and n = Sin Then

11 = m 2 xx + 2 mn xy + n 2 yy
Similarly we can establish the other two stress components. Finally we can write
2
2 mn xx
n2
11 m

2
m 2 2 mn yy
22 = n
mn mn m 2 n 2
12
xy

{ } x1 x2 = [T ]{ } x y
or

{ } x y = [T ]{ } x1 x2

[T ]

where

[T ] = [T ]1

- is the stress transformation matrix.

m 2 n2
2 mn
[T ] = [T ]1 = [T ( )] = n2 m2 2 mn
mn mn m 2 n 2

(c) Strain Transformation

{ } x yTen = [ T ]{ } x1 x2Ten

{ } x yTen

0 11

0 22

1
2 12 Eng

1 0
= [ T ] 0 1

0 0

{ } x yTen = [ T ] [ H ]{ } x x Eng
1

{ } x yEng = [ H ] 1 [ T ] [ H ]{ } x x Eng
1

{ } x yEng = [ T ]{ } x x Eng
1

1 0 0
[ H ] 1 = 0 1 0
0 0 2

Where strain transformation matrix is:

n2
mn
m2

mn
[ T ] = n2 m2
2 mn 2 mn m 2 n 2

(d) Stiffness Transformation

Let

{} xy = [Q] xy {} xy

in x - y coordinate system

Let us start with stress equation

{} xy = [T ] xy {}1 2
= [T ] xy [Q]1 2 {}1 2

{} xy = [T ][Q]1 2 [T ]1 {} xy
{} xy = [T ][Q]1 2 [T ]T {} xy

[Q] xy = [T ][Q]1 2 [T ]T

{}1 2 = [Q]1 2 {}1 2

{}1 2 = [T ]1 {} xy

Qxx

Qyx
Qsx

Qxy
Qyy
Qsy

Qxs
Q11

Qyx = [T ]Q12

Qss
0

where

Q11 =

E11
1 12 21

Q22 =

E22
1 12 21

Q12 =

12 E22
21 E11
=
1 12 21 1 12 21

Q66 = G12

Q21
Q22
0

0
T
0 [T ]

Q66

Elements pf [Q]xy matrix

Qxx = m 4 Q11 + n 4 Q22 + 2 m 2 n 2 Q12 + 4 m 2 n 2 Q66
Qyy = n 4 Q11 + m 4 Q22 + 2 m 2 n 2 Q12 + 4 m 2 n 2 Q66

Qxy = m 2 n 2 Q11 + m 2 n 2 Q22 + m 4 + n 4 Q12 4 m 2 n 2 Q66

(
)
(
)
Qys = mn 3Q11 m 3 nQ22 + ( m 3 n mn 3 )Q12 + 2( m 3 n mn 3 )Q66
2
Qss = m 2 n 2 Q11 + m 2 n 2 Q22 2 m 2 n 2 Q12 + ( m 2 n 2 ) Q66

Qxs = m 3 nQ11 mn 3Q22 + mn 3 m 3 n Q12 + 2 mn 3 m 3 n Q66

Notice in the [Q] xy matrix

It is fully populated - means normal-shear coupling.

Although 4 independent constants were used; we have 6 unknowns.

(e) Compliance Matrix

{ } xy = [T ]{ } x 1 x 2
= [T ][ S] x 1 x 2 { } x 1 x 2
1
{ } xy = [T ][ S] x 1 x 2 [T ] { } x y

{ } xy = [ S] x y { } x y
x Sxx

y = Syx
S
xy sx

Sxy
Syy
Ssy

where

Sxs xx

Sys yy
Sss xy

T
[ S] x y = [T ][ S]1 2 [T ]

S xx = m 4 S11 + n 4 S22 + 2 m 2 n 2 S12 + m 2 n 2 S66

Syy = n 4 S11 + m 4 S22 + 2 m 2 n 2 S12 + m 2 n 2 S66

S xy = m 2 n 2 S11 + m 2 n 2 S22 + m 4 + n 4 S12 m 2 n 2 S66

S xs = 2 m 3 nS11 2 mn 3 S22 + 2 mn 3 m 3 n S12 + mn 3 m 3 n S66

Sys = 2 mn 3 S11 2 m 3 nS22 + 2 m 3 n mn 3 S12 + m 3 n mn 3 S66

Sss = 4 m 2 n 2 S11 + 4 m 2 n 2 S22 8m 2 n 2 S12 + m 2 n 2

S66

2.5 Engineering Constants of an Arbitrarily Oriented Laminate

Arbitrarily Oriented Lamina
Let us examine what happens when you apply x in x direction.
We get ...
y

- in x

- in y

and shear strain,

Ex = x
x
xy =

or

xy

xy

x = x
Ex

y = xy x =

Shear coupling coefficient

or

xy

xy
Ex

xs =

xy

= xs x = xs x
Ex

Sxx =

1
Ex

Syx =

Ssx =

xy
Ex

xs
Ex

Ex =

1
Sxx

xy = Syx E x

xs = Ssx E x

Shear Coupling Coefficients:

Sxx =

1
Ex

Syx =

Ssx =

Ex =

xy

xy = Syx E x

Ex

xs
Ex

x Ex
xy
y =
E x
xy
xs
E
x

1
Sxx

xs = Ssx E x

xs ->Ratio of shear strain xy

to normal strain x due to
applied x.
sx ->Ratio of normal strain x
to shear strain xy due to
applied xy.
Similarly we have: ys, sy

yx

Ey
1
Ey
ys
Ey

sx

Gxy
xx
sy
yy

Gxy

xy

1
Gxy

Engineering Constants of an Arbitrarily Oriented Lamina

m2
n2 2
m2n2
1
2
2
2
m n 12 +
n m 21 +
=
Ex
E1
E2
G12

2 2

n2 2
m2
m2n2
1
2
2
2
n m 12 +
m n 21 +
=
E y E1
E2
G12
2 2

1
4m n
=
Gxy
E1

xy

yx

(1 + 12 ) +

4m n
E2

(1 + 21 ) +

m2 n2

G12

m2
n2 2
m2n2
2
2
2
=
=
m 12 n +
n 21 m +
Ex
Ey
E1
E2
G12

3
3

mn
m
n
sx xs 2 mn 2
2
mn
2
2
2
=
=
m n 12
n m 21 +
G12 E x
E1
E2
G12

sy
G12

3
3
m
n
mn

2 mn 2
2
mn
=
=
n m 2 12
m 2 n 2 21 +
Ey
E1
E2
G12

ys

Variation of Ex and Ey with Fiber Angle

Material: E1 = 10E2 & G12=0.45 E2
12=0.35 and E2 = 2 Msi

12
10
8

Ey
E2

Ex
E2

6
4
2
0
0

10

20

30

40

Angle

50

60

70

80

90

Variation of Gxy with Fiber Angle

1

0.8

Gxy
E2

0.6

0.4

0.2

0
0

10

20

30

40

50

Angle

60

70

80

90

Variation of xy with Fiber Angle

0.6
0.5

xy

0.4
0.3
0.2
0.1
0
0

15

30

45

Angle

60

75

90

Variation of xs and ys with Fiber Angle

0.5
0

ys

-0.5
-1

xs
-1.5
-2
-2.5
0

15

30

45

Angle

60

75

90

Engineering Constants of a Laminate

N-Layers
Each Layer can have different
Thickness, Orientation, and Material
N

T = ti
i =1

Stress-Strain in ith Layer

{ }av = T1 [C]dz{ }

{ }i = [C ]i { }i

Assumption: Strain is constant through out the laminate

Average Stress in the laminate is: { }av = [C ] dzt { }
N

= [C ]i ti { }
i =1

= [C ]av { }
or { }av = [ S ]x y { }av
1
T

{ }av

For 3-D model stress-strain are six

For 2-D model stress-strain are three

Engineering Constants are:

S

Gyz =

v1
S44

xy = Syx

1
Syy

Gxz =

v1
S55

xz = S zx

1
Szz

Gxy =

v1
S66

yz = S zy

Ex =

1
S xx

Ey =
Ez =

MmLamCode:
mmTEXlam:

xx

xx

yy

micromechanics and laminate analysis unidirectional code

micro and laminate analysis of textile fabric composite code

2.6 Hygrothermal Coefficients of a Lamina

2.6.1 Coefficients of Thermal Expansion
(a) Isotropic Materials
y
Original
b

x
l
l

Expanded due to T

T
T
T
Coefficient of thermal expansion, x = y = =

Units: in/in/oF or m/m /oC

l' l
lT

(B) Orthotropic Materials

x2

Deformed

b
b

x1

l
l
Original

Coefficient of thermal expansion

T
l' l
In x1-direction 1 = lT
In x2-direction
1T

Thermal strains: { } = 2T T
0

2T =

b' b
bT

2.6.2 Coefficients of Moisture Expansion

All organic composites absorbs moisture. The absorption depends on the relative
humidity to which it is exposed and its moisture content. For a given RH, temperature, and atmospheric pressure
composite will have a saturation value. This is moisture content that the material will reach, if it is exposed
for a very long time. This is a fixed value for a material. The moisture content is expressed as percent change
in weight of the material. Like thermal expansion,increase in moisture would also expands the material.
The orthotropic materials have two coefficients of moisture expansion, one along the fiber and the other
across the fiber.

x2

Deformed

Change in moisture
b
b

x1

l
l
Original

Coefficient of moisture expansion

In x1-direction 1T = ll' Ml
In x2-direction

2T

b' b
bM

{ }

Moisture strains: M

1M

= 2M M
0

2.6.3

x2

Coefficients of Thermal & Moisture Expansion

for Lamina in Arbitrary Orientation
y
x1
Recall the strain transformation:

{ T }xy = [T ]{ T }1 2
x

Where

m2
n2
mn
2

2
T
=
n
m
mn
[ ]

2
2
2 mn 2 mn m n

m=cos and n=sin

Thermal strains in x-y due to T are:
x m2
mn 1T
n2

2
m2
mn 2T T
y = n
2 mn 2 mn m 2 n 2 0
xy

xT

= yT
T
xy

Coefficients of thermal expansion in x-y:

xT = m 21T + n 2 2T

yT = n 21T + m 2 2T

T
xy
= 2 mn(1T 2T )

Coefficients of thermal expansion in x-y:

xT = m 21T + n 2 2T

yT = n 21T + m 2 2T
T
xy
= 2 mn(1T 2T )

Coefficients of moisture expansion in x-y:

xM = m 2 1M + n 2 2M
yM = n 2 1M + m 2 2M
M
xy
= 2 mn( 1M 2M )

Summary
2.0 Introduction

Equations of Motion
Symmetric of Stresses
Tensorial and Engineering Strains
Symmetry of Constitutive Equations

2.1 Three-Dimensional Constitutive Equations

General Anisotropic Materials

Orthotropic Materials
Transversely Isotropic Materials
Isotropic Materials

2.2 Relation Between Mathematical & Engineering Constants

Isotropic Materials
Orthotropic Materials

2.3 Constitutive Equations for an Orthotropic Lamina

Plane Strain Condition

Plane Stress Condition

2.4 Constitutive Equations for an Arbitrarily Oriented Lamina

Coordinate Transformation
Stress Transformation
Strain Transformation
Stiffness and Compliance Matrix Transformation

2.5 Engineering Constants of a Laminate

Lamina
Laminate

2.6 Hygrothermal Coefficients of a Lamina