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Energy Methods: 6.1 External Work
Energy Methods: 6.1 External Work
6. Energy Methods
6.1 External Work
6.1.1 Work of a Force
The work done by a force is equivalent to the product of the component of the
force acting in the direction of motion and the distance travelled.
r r
Ue F ds
If the force acts in the x -direction:
x
Ue Fdx
0
If a force is applied to a prismatic beam in a gradual manner, i.e. the magnitude
of the force increases from 0 to P , and the bar stretches by , when the
P
material behaves in a linear-elastic manner F x then:
x
P 1 P2 1
Ue xdx
2
P
2
(6-1)
0
6.1.2 Work of a
Couple
ENG5312 – Mechanics of Solids II 2
The force on the top face is dFz z dxdy and if it is applied gradually as the
element undergoes deformation d z z dz the work done by the force is (using
Eq. (6-1)):
1 1
dU i dFz d z z dxdyz dz
2 2
Or
1
dU i zz dV
2
Ui 2
dV (6-3)
V
2
Ui 2E dV
V
(6-4)
ENG5312 – Mechanics of Solids II 3
The force dF dxdy on the top face will move dz . Assuming dF is applied
gradually, and using Eq. (6-1):
1 1
dU i
dxdydz dV
2 2
Or
Ui 2
dV (6-5)
V
2
Ui 2G
dV
V
(6-6)
ENG5312 – Mechanics of Solids II 4
Assuming linear-elastic behaviour and all loads are applied gradually, the strain
energy associated with each normal and shear stress can be added to give:
1 1 1 1 1 1
Ui 2
x x yy zz xy xy yz yz xz xz dV (6-7)
2 2 2 2 2
V
1
x
E
x y z
1
y
E
zy x z
1
z
E
z x y
xy xy xy
xy ; xy ; xy
G G G
1 1 2
U i x2 y2 z2 xy yz2 xz2 x y y z x z dV (6-8)
V 2E
2G E
And if only the principal stresses act on the element (i.e. 1, 2 and 3)
1
U i 12 22 32 1 2 2 3 1 3 dV (6-9)
V 2E
E
ENG5312 – Mechanics of Solids II 5
The internal load at xfrom one end is N , and the normal stress is N / A .
using Eq. (6-4) the strain energy is:
x2 N2
Ui 2E
dV dV
V 2EA
2
V
The volume dV can be expressed as Adx and:
L
N2
Ui 2AE
dx (6-10)
0
If the cross-sectional area is constant:
N 2L
Ui (6-11)
2AE
Note:
o L , U i
o A, Ui
o E , U i
o i.e. something that is easy to distort will store more strain energy.
ENG5312 – Mechanics of Solids II 6
Consider the element of area dA , y from the neutral axis, then ( My /I) ,
and using Eq. (6-4):
2
2 1 My
Ui 2E
dV dV
2E I
V V
0 A
Will give the strain energy in the member, and since y 2
dA I :
A
L
M2
Ui dx
2EI
(6-12)
0
ENG5312 – Mechanics of Solids II 7
The internal shear force at x is V , and the shear stress on the element of area
VQ
dA is
It
. Using Eq. (6-6) the strain energy is:
2
2 1 VQ
U i 2G
dV dAdx
2G It
V V
Or
L
V2 Q2
Ui 2GI 2
t2
dAdx (6-13)
0 A
L
f sV 2
Ui 2GA
dx (6-15)
0
An example of the form factor calculation is given in the text. For a rectangular
cross-section f s 6 /5 .
ENG5312 – Mechanics of Solids II 8
Note: U i due to shear is usually much less than U i for bending (se e.g.14.4,
Hibbeler, 6e) and the shear strain energy stored in beams is usually neglected.
If the shaft is subjected to an internal torque T at from one end, the shear x
stress on the element dA at from the centroid is T / J , and using Eq. (6-
6) the strain energy is;
2
1 T
Ui
2G
dV dAdx
2G J
V
V
Or
L
T 2
Ui 2GJ dAdx
2
2
(6-16)
0 A
J 2
dA (6-17)
A
L
T2
Ui 2GJ
dx (6-18)
0
T 2L
Ui (6-19)
2GJ
ENG5312 – Mechanics of Solids II 9
Only mechanical energy will be considered, but kinetic energy will be neglected
since all loadings will be gradual.
Conservation of energy would require that the external work done by applied
loads (i.e. applied loads that cause deflections) must be equivalent to the strain
energy developed in a body as it deforms.
Ue Ui (6-20)
If the loads are removed the stored strain energy will restore the body to its
undeformed state (if the elastic limit has not been exceeded).
6.4.1 Trusses
1
Ue P (6-21)
2
the body is stored as strain energy. If, due to P , the
This external work done on
axial force N develops in a member, the strain energy stored in that member is
N 2L
from Eq. (6-11). To determine the total strain energy stored in the truss:
2AE
ENG5312 – Mechanics of Solids II 10
N 2L
Ui (6-22)
2AE
requires
Conservation of energy U e U i , therefore:
1 N 2L
P (6-23)
2 2AE
The deflection caused by P can be evaluated after the axial forces in each
member of the truss has been determined using statics.
6.4.2 Beams
Vertically Loaded
ENG5312 – Mechanics of Solids II 11
The couple moment will cause the rotation at the point of application, and it
does work due to this rotation: U e M o /2 from Eq. (6-2).
Conservation of energy, Eq. (6-20), would require:
L
1 M2
2
M 0 2EI dx (6-25)
0
Where M is a function of x.
the conservation of energy is limited to situations where only
Note: Application of
one applied load exists. For multiple applied loads, each load would have an
associated external work and deflection, but there is only one conservation
equation, so only one unknown deflection can be solved.
ENG5312 – Mechanics of Solids II 12
E.g. A weight is dropped from rest from a height h on to a linear spring, with
spring constant k . What is the maximum deflection of the spring?
o Conservation of energy:
T1 V1 T2 V2
1 2
W h max k max
2
2W 2W
2max max h0
k k
max st 2st 2 st h
o Or
h
max st 1 1 2 (6-27)
st
ENG5312 – Mechanics of Solids II 13
o Where the term in the square root is the extra displacement due to dynamic
loading.
o Note: if h 0 , i.e. the weight W is released while it just touches the spring,
max 2 st .
o Conservation of Energy;
T1 V1 T2 V
2
1 W 2 1 2
v k max
2 g 2
o Or
Wv 2
2max (6-28)
gk
st v 2
max (6-29)
g
With these assumptions, the deformable body behaves like a linear spring.
i.e. an effective spring constant can be defined and Eqs. (6-27) or (6-29) can be
used to determine max .
An equivalent spring constant is not required. All that is needed is the static
deflection, st , for use in Eq. (6-27). st can be obtained from the equation of
curve, Hooke’s Law, Appendix C, or conservation of energy and strain
the elastic
energy.
An impact factor, n , canbe defined from Eq. (6-27):
h
n 1 1 2 (6-30)
st
So:
max n st n W k
And
Pmax nW k max
And the maximum stress is then: max n st .