ES202 Solid Mechanics – Equation Sheet

• Equilibrium Equations
• Sum of the forces equals zero
• ∑𝐹̅ = 0
• ∑𝐹𝑥 = 0 , ∑𝐹𝑦 = 0 , ∑𝐹𝑧 = 0
• Sum of the moments equals zero
• ∑𝑀 ̅ =0
• 𝑀 ̅ = 𝑟̅ × 𝐹̅
• ∑𝑀𝑥 = 0 , ∑𝑀𝑦 = 0, ∑𝑀𝑧 = 0
• 𝑀𝑧,𝑖 = 𝑟⊥ 𝐹𝑖 = 𝐹𝑖 𝑟 sin 𝜃
• Equivalent Forces
𝐿 1 𝐿
• 𝐹𝑒𝑞 = ∫0 𝑓(𝑥)𝑑𝑥 𝑥𝑒𝑞 = 𝐹 ∫0 𝑥 𝑓(𝑥) 𝑑𝑥
𝑒𝑞

𝐿
• 𝐹𝑒𝑞 = 𝑤𝐿 𝑥𝑒𝑞 = 2

1 2
• 𝐹𝑒𝑞 = 2 𝐿𝐹𝑚𝑎𝑥 𝑥𝑒𝑞 = 3 𝐿

• Reactions
• Roller Pin Slider Fixed

• Trusses: Assembly of straight members, pinned at ends, with loads applied only at ends.
• Method of Joints: Free Body at each joint (2D: 3 eq/joint; 3D: 6 eq/joint)
• Method of Sections: Section truss, then free body on either side of section

• Internal Resultants:

𝑃 𝛿
• Normal Stress and Strain: 𝜎=𝐴 𝜖=𝐿
• Stress-Strain Diagrams:

• Modulus of Elasticity (𝐸): Slope of linear region

• 0.2% Offset Yield Stress:

• Offset linear portion of curve by 0.2% strain

• Yield is the intersection of offset line with

stress-strain curve

• True Stress and Strain:

Engineering Stress and Strain: 𝜎 = 𝑃/𝐴𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝜖 = 𝛿/𝐿𝑖𝑛𝑖𝑡𝑖𝑎𝑙

True Stress and Strain: 𝜎𝑡 = 𝑃/𝐴𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝜖𝑡 = 𝛿/𝐿𝑐𝑢𝑟𝑟𝑒𝑛𝑡

Relationship: 𝜎𝑡 = 𝜎(1 + 𝜖) 𝜖𝑡 = ln(1 + 𝜖)

• Unloading and Reloading:

• If in linear range, returns to zero strain

(perfectly “elastic”)

• If in plastic range, follows elastic line back to

zero stress

• Residual strain remains

• Upon reloading, follows elastic line to prior

stress, then follows original stress-strain curve

• Hookes Law: 𝜎 = 𝐸𝜖 (Linear region only)

 𝜖𝑦 𝜖𝑧
• Poisson’s Ratio: 𝜈≡− =− 𝜖𝑥 = axial strain in direction of load
𝜖𝑥 𝜖𝑥
𝜖𝑦 , 𝜖𝑧 = lateral strains in other directions
𝐹 𝐹
• Bearing Stress: 𝜎𝑏 ≡ 𝐴 = 𝑑 𝑡 Bearing area 𝐴𝑏 is projected area of bolt on
𝑏
bearing surface. 𝜏
• Average Shear Stress: 𝜏𝑎𝑣𝑔 = 𝑉/𝐴
𝜏 𝜏
• Shear stress on perpendicular planes are equal:

• Shear Strain: Angle of distortion, 𝛾 𝜏

• Shear Sign Convention:

• Positive Shear: Shear on positive face in positive coodinate direction.

Shear on negative face in negative coodinate direction.

• Negative Shear: Shear on positive face in negative coodinate direction.

Shear on negative face in positive coodinate direction.

• Positive shear produces positive strain; negative shear produces negative strain

𝐴𝑐𝑡𝑢𝑎𝑙 𝑆𝑡𝑟𝑒𝑛𝑔𝑡ℎ 𝐷𝑒𝑠𝑖𝑔𝑛 𝐴𝑙𝑙𝑜𝑤𝑎𝑏𝑙𝑒 𝑆𝑡𝑟𝑒𝑠𝑠

• Factor of Safety: 𝑛 = 𝑅𝑒𝑞𝑢𝑖𝑟𝑒𝑑 𝑆𝑡𝑟𝑒𝑛𝑔𝑡ℎ = 𝐶𝑎𝑙𝑐𝑢𝑙𝑎𝑡𝑒𝑑 𝑆𝑡𝑟𝑒𝑠𝑠
• Margin of Safety: 𝑀𝑂𝑆 = 𝑛 − 1 (Aerospace Standard)

• 𝑃 = 𝑘𝛿 = 𝛿/𝑓 (𝑘 = stiffness; 𝑓 = flexibility)

𝐸𝐴 𝐿
• 𝑘= 𝑓=
𝐿 𝐸𝐴
• Distributed Loads
𝑁𝑖 𝐿𝑖
• Discrete: 𝛿𝑇 = ∑
𝐸𝑖 𝐴𝑖

𝐿 𝑁(𝑥)𝑑𝑥 𝑥
• Continuous: 𝛿 = ∫0 𝐸𝐴(𝑥)
𝑁(𝑥) = 𝑁(𝑥0 ) − ∫𝑥 𝑝(𝑥)𝑑𝑥
0

• Statically Indeterminate Structures (# equations < # unknown reactions)

• Equilibrium Equations (statics): relate forces within structure
• Compatibility Equations (geometry): relate displacements within structure
• Force-Displacement Equations (solids): relate displacements to forces
• Inclined Sections:
• 𝜎𝑖 = 𝜎𝑥 cos2 𝜃 𝜎𝑚𝑎𝑥 = 𝜎𝑥
1 𝜎
• 𝜏𝑖 − 2 𝜎𝑥 sin 2𝜃 𝜏𝑚𝑎𝑥 = 2𝑥
• Thermal Expansion
• Thermal growth: 𝛿𝑇 = 𝛼Δ𝑇𝐿
• Thermal stress: 𝜎𝑇 = 𝐸𝛼Δ𝑇 (fully restrained)
• Bolts & Turnbuckles
• 𝛿𝑏𝑜𝑙𝑡 = 𝑛𝑝
• 𝛿𝑡𝑢𝑟𝑛𝑏𝑢𝑐𝑘𝑙𝑒 = 2𝑛𝑝
• 𝑛 = number of turns; 𝑝 = thread pitch
• Bolt torque: 𝑻 = 𝑲𝒅𝒃 𝑭 𝑲 = Bolt Factor ; 𝒅𝒃 = diameter; 𝑭= bolt load
• Stress Concentrations
• 𝜎𝑚𝑎𝑥 = 𝐾𝜎𝑛𝑜𝑚 (𝐾 is stress concentration factor read from plots)
• Fatigue
𝜎
• Stress Ratio: 𝑅 = 𝜎 𝑚𝑖𝑛
𝑚𝑎𝑥
• TORSION:
𝑑𝜙
• Maximum Shear Strain: 𝛾𝑚𝑎𝑥 = 𝑟 𝑑𝑥 = 𝑟𝜃
𝜌
• Shear strain varies linearly with radius: 𝛾 = 𝜌𝜃 = 𝑟 𝛾𝑚𝑎𝑥
• Shear Stress from Hooke’s Law: 𝜏𝑚𝑎𝑥 = 𝐺𝛾𝑚𝑎𝑥 = 𝐺𝑟𝜃
• Polar Moment of Inertia: 𝐼𝑝 ≡ ∫𝐴 𝜌2 𝑑𝐴
𝜋𝑑 4
• For Solid Round Shaft: 𝐼𝑝 =
32
𝜋
• For Hollow Round Shaft: 𝐼𝑝 = (𝑑𝑜4 − 𝑑𝑖4 )
32
𝑇𝑟
• Torsion Formula: 𝜏𝑚𝑎𝑥 = 𝐼
𝑝
16𝑇
• For Solid Round Shaft: 𝜏𝑚𝑎𝑥 = 3
𝜋𝑑
𝑇𝐿
• Angle of Twist: 𝜙 = 𝐺𝐼
𝑝
𝑇𝑟 𝑇 𝐿𝑖
• Discrete Distributed Torques: 𝜏𝑚𝑎𝑥,𝑖 = 𝐼 𝑖 𝑖 𝜙 = ∑𝜙𝑖 = ∑ 𝐺 𝑖𝐼
𝑝,𝑖 𝑖 𝑝,𝑖

• Continuously Distributed Torques:

𝑥
• Resolved internal torque: 𝑇(𝑥) = − ∫0 𝑡(𝑥) 𝑑𝑥 − 𝑇(0)
𝑇(𝑥)𝑟(𝑥)
• Maximum Shear Stress: 𝜏𝑚𝑎𝑥 (𝑥) = 𝐼𝑝 (𝑥)
𝑥 𝑇(𝑥)
• Angle of Twist: 𝜙(𝑥) = ∫0 𝐺𝐼 (𝑥) 𝑑𝑥
𝑝
• Inclined Sections:
• 𝜎𝜃 = 𝜏 sin 2𝜃 𝜏𝜃 = 𝜏 cos 2𝜃
• At 45°: 𝜏45° = 0 𝜎45° = 𝜎𝑚𝑎𝑥 = 𝜏
𝛾
• 𝜖𝑚𝑎𝑥 = 𝑚𝑎𝑥
2
𝐸
• 𝐸 = 2𝐺(1 + 𝜈) 𝐺 = 2(1+𝜈)

• Power Transmission: 𝑃 = 𝑇𝜔
𝑟𝑎𝑑 1 60
• Angular velocity 𝜔 1 𝑠
= 2𝜋 𝐻𝑧 = 2𝜋 𝑟𝑝𝑚
1
• Torque 𝑇 𝑁 ⋅ 𝑚 = 1𝐽 or 1𝑙𝑏𝑓 ⋅ 𝑖𝑛 = 12 𝑙𝑏𝑓 ⋅ 𝑓𝑡
𝐽 𝑙𝑏𝑓 ⋅𝑓𝑡 𝑙𝑏𝑓 ⋅𝑖𝑛
• Power 𝑃 1𝑊 = 1 𝑠 or 1 hp = 550 𝑠
= 550 ⋅ 12 𝑠
• Noncircular Prismatic Shafts
• Elliptical:
2𝑇
• Maximum Shear: 𝜏𝑚𝑎𝑥 = 𝜋𝑎𝑏2
𝑇𝐿 𝜋𝑎 3 𝑏3
• Twist: 𝜙 = 𝐺𝐽 𝐽𝑒 = 𝑎2 +𝑏2 (torsion constant)
𝑒
• Equilateral Triangles:
ℎ
𝑇( 𝑡 ) 15√3𝑇
• Maximum Shear: 𝜏𝑚𝑎𝑥 = 2
=
𝐽𝑡 2ℎ𝑡3
𝑇𝐿 ℎ4
• Twist: 𝜙 = 𝐺𝐽 𝐽𝑡 = 15 𝑡 3
𝑒 √
• Rectangles
𝑇
• Maximum Shear: 𝜏𝑚𝑎𝑥 = 𝑘 2
1 𝑏𝑡
𝑇𝐿 𝑇𝐿
• Twist: 𝜙= = 𝐽𝑟 = 𝑘2 𝑏𝑡 3
𝐺𝐽𝑟 (𝑘2 𝑏𝑡 3 )𝐺

𝑇 𝑇𝐿 4𝑡𝐴2𝑚
• Thin Walled Shafts 𝜏 = 2𝑡𝐴 𝜙 = 𝐺𝐽 𝐽 = 𝐿𝑚
𝑚

• BEAMS
• Types of Beams: Simply Supported Cantilevered Overhanging

• Load – Shear – Moment Relations

• 𝑑𝑉 = −𝑞(𝑥) 𝑑𝑥 𝑑𝑀 = 𝑉𝑑𝑥
𝐵 𝐵
𝑉𝐵 − 𝑉𝐴 = − ∫ 𝑞 𝑑𝑥 𝑀𝐵 − 𝑀𝐴 = ∫ 𝑉 𝑑𝑥
𝐴 𝐴

1 𝑑𝜃
• Curvature: 𝜅 = 𝜌 = 𝑑𝑥
𝑦
• Longitudinal Strain: 𝜖 = − = −𝜅𝑦
𝜌
𝑀𝑦
• Flexure Formula: 𝜎= − 𝐼
𝑀𝑐1 𝑀 𝑀𝑐2 𝑀
• Max Stress: Compression: 𝜎 = 𝐼
=𝑆 Tension: 𝜎 = 𝐼
=𝑆
1 2
• Moment of Inertia: 𝐼 ≡ ∫𝐴 𝑦 2 𝑑𝐴
𝑏ℎ 3 𝜋𝑑 4
• Rectangle: 𝐼 = 12
Circle: 𝐼 = 64
2
• Parallel Axis Theorem: 𝐼𝑎 = 𝐼 + 𝑎 𝐴 (𝐼 is about neutral axis)
• Neutral Axis: 𝑦̅ = ∑𝑦̅𝑖 𝐴𝑖 /∑𝐴𝑖

𝑉𝑄 𝑦=𝑦
• Shear Formula: 𝜏= 𝐼𝑏
𝑄(𝑦1 ) ≡ ∫𝑦=𝑦 𝑚𝑎𝑥 𝑦𝑑𝐴 = ∑𝑦̅𝑖 𝐴𝑖
1
3𝑉
• Rectangles: 𝜏𝑚𝑎𝑥 = 2𝐴
 4𝑉 4𝑉 𝑟22 +𝑟1 𝑟2 +𝑟12
• Circles: 𝜏𝑚𝑎𝑥 = Hollow Cylinders: 𝜏𝑚𝑎𝑥 = ( 2 2 )
3𝐴 3𝐴 𝑟2 +𝑟1
𝑑𝐹 𝑉𝑄
• Shear Flow: 𝑓 ≡ = 𝜏𝑏 =
𝑑𝑥 𝐼
• PLANE STRESS
𝜎𝑥 +𝜎𝑦 𝜎𝑥 −𝜎𝑦
• Transformation Equations: 𝜎𝑥1 = 2
+ 2
cos 2𝜃 + 𝜏𝑥𝑦 sin 2𝜃
𝜎𝑥 −𝜎𝑦
• 𝜏𝑥1 𝑦1 = − sin 2𝜃 + 𝜏𝑥𝑦 cos 2𝜃
2
• 𝜎𝑥1 + 𝜎𝑦1 = 𝜎𝑥 + 𝜎𝑦
𝜎𝑥 +𝜎𝑦 𝜎𝑥 −𝜎𝑦 2 2
• Principal Stresses: 𝜎1,2 = 2
± √( 2
) + 𝜏𝑥𝑦
2𝜏𝑥𝑦
• tan 2𝜃𝑝 =
𝜎𝑥 −𝜎𝑦
• 𝜏𝑥𝑦 (𝜃𝑝 ) = 0
𝜎𝑥 −𝜎𝑦 2 2
• Maximum Shear Stress: 𝜏𝑚𝑎𝑥 = √( ) + 𝜏𝑥𝑦
2
𝜎𝑥 −𝜎𝑦
• tan 2𝜃𝑠 = − 𝜃𝑠 = 𝜃𝑝 ± 45°
2𝜏𝑥𝑦
𝜎1 −𝜎2
• 𝜏𝑚𝑎𝑥 = 2
• Mohr’s Circle:

•
1 1
• Hooke’s Law: 𝜖𝑥 = 𝐸 (𝜎𝑥 − 𝜈𝜎𝑦 ) 𝜖𝑦 = 𝐸 (𝜎𝑦 − 𝜈𝜎𝑥 )
𝜈 𝜏𝑥𝑦
𝜖𝑧 = − 𝐸 (𝜎𝑥 + 𝜎𝑦 ) 𝛾𝑥𝑦 = 𝐺
𝐸 𝐸
• 𝜎𝑥 = (𝜖𝑥 + 𝜈𝜖𝑦 ) 𝜎𝑦 = (𝜖𝑦 + 𝜈𝜖𝑥 ) 𝜏𝑥𝑦 = 𝐺𝛾𝑥𝑦
1−𝜈 2 1−𝜈 2
Δ𝑉 1−2𝜈
• Dilation: 𝑒≡ = 𝜖𝑥 + 𝜖𝑦 + 𝜖 𝑧 = (𝜎𝑥 + 𝜎𝑦 )
𝑉0 𝐸
1
• Strain Energy Density: 𝑢 = 𝑢𝑥 + 𝑢𝑦 + 𝑢𝑥𝑦 = 2 (𝜎𝑥 𝜖𝑥 + 𝜎𝑦 𝜖𝑦 + 𝜏𝑥𝑦 𝛾𝑥𝑦 )
1 𝐸 1
• 𝑢 = 2 1−𝜈2 (𝜖𝑥2 + 2𝜈𝜖𝑥 𝜖𝑦 + 𝜖𝑦2 ) + 2 𝐺𝛾𝑥𝑦
2

2
𝜏𝑥𝑦
1
• 𝑢 = 2𝐸 (𝜎𝑥2 − 2𝜈𝜎𝑥 𝜎𝑦 + 𝜎𝑦2 ) + 2𝐺
 • THIN WALL PRESSURE VESSELS
𝑝𝑟 𝑝𝑟
• Spheres: 𝜎𝑥 = 𝜎𝑦 = 𝜎 = 𝜏𝑚𝑎𝑥 = 𝜏𝑥1 𝑧1 =
2𝑡 4𝑡
𝑝𝑟 𝑝𝑟 𝑝𝑟
• Cylinders: 𝜎𝑥 = 2𝑡
𝜎𝑦 = 𝑡
= 2𝜎𝑥 𝜏𝑚𝑎𝑥 = 2𝑡

BEAM DEFLECTION

• 𝑉 = −∫ 𝑞(𝑥)𝑑𝑥 ⇒ 𝑞 = 𝑉 ′ = 𝑀′′ = 𝐸𝐼𝜃 ′′′ = 𝐸𝐼𝛿′′′′

• 𝑀 = ∫ 𝑉(𝑥)𝑑𝑥 ⇒ 𝑉 = 𝑀′ = 𝐸𝐼𝜃 ′′ = 𝐸𝐼𝛿′′′

1
• 𝜃 = ∫ 𝐸𝐼 𝑀 𝑑𝑥 ⇒ 𝑀 = 𝐸𝐼𝜃 ′ = 𝐸𝐼𝛿′′

• 𝛿 = ∫ 𝜃 𝑑𝑥 ⇒ 𝜃 = 𝛿′
• 𝜃(𝑞1 + 𝑞2 ) = 𝜃(𝑞1 ) + 𝜃(𝑞2 )
• 𝛿(𝑞1 + 𝑞2 ) = 𝛿(𝑞1 ) + 𝛿(𝑞2 )
• Note: 𝜃 and 𝛿 are positive upward. This is different from the text where 𝑣 is upward deflection
so 𝜃 = −𝑣′ and 𝛿 = −𝑣 are downward.

• Superposition: If in linear elastic range, given two different load distributions 𝑞1 and 𝑞2 :

• 𝛿(𝑞1 + 𝑞2 ) = 𝛿(𝑞1 ) + 𝛿(𝑞2 )

• 𝜃(𝑞1 + 𝑞2 ) = 𝜃(𝑞1 ) + 𝜃(𝑞2 )
• Indeterminate Beams:

1. Select a reaction(s) as the “redundant” reaction

2. Solve for other reactions in terms of redundant
Integration Method
3. Integrate differential equations for slope and deflection curves
4. Apply boundary conditions to find constants of integration and the redundant reaction
5. Compute other reactions using equations from Step 2
Superposition Method:
3. Remove redundant reaction
4. Solve using available solutions (Tables H-1 and H-2) in terms of redundant
5. Superimpose redundant reaction to satisfy boundary condition at redundant
6. Solve for redundant reaction
7. Compute other reactions using equations from Step 2

COLUMN BUCKLING

• Pinned End
𝑃
• Differential Equation: 𝛿 ′′ + 𝐸𝐼 𝛿 = 0

𝑃
• General Solution: 𝛿 = 𝐴 sin 𝑘𝑥 + 𝐵 cos 𝑘𝑥 𝑘 = √𝐸𝐼

𝑛2 𝜋2 𝐸𝐼 𝜋2 𝐸𝐼
• Critical Load: 𝑃= 𝐿2
𝑃𝑐𝑟 = 𝐿2
MISCELLANEOUS

𝑀𝑃𝑎 = 106 𝑃𝑎 𝐺𝑃𝑎 = 109 𝑃𝑎

𝜋𝑑 2
Area of a circle: 𝐴 = 𝜋𝑟 2 = 4