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3 Mechanics PDF
3 Mechanics PDF
Basis of Mechanics
3.1 General Consideration
3.2 Newton’s Law of Motion and Statics
3.3 Unit and Dimension
3.4 Material
3.5 Solid Mechanics of Slender Members
3.6 Uniaxial Loading
3.7 Torsion
3.8 Beam Theory
3.9 Buckling
3.10 Special phenomenon
3.1 General Consideration
Basis of mechanics
Three major factors
Force Material Displacement
Rigid-body motion
Deformation
Material and Continuum, Deformation of material
Solid
Force
Internal Action and reaction force
Force Traction Exerted load, Reaction force
External
Body force Gravity, Magnetic force
Displacement or motion
Rigid-body motion
Deformation
Rigid-body
General SM dynamics
Elasticity
Flexible Fracture
dynamics mechanics
Vibration
3.2 Newton’s Law of Motion
and Statics
Newton’s law of motion
Newton’s law
j
ij
)0 F
i
i
R
i j
ij
0
i, j 1,2, , x 2 0 (O)
3rd Action and reaction law: Two internal forces exerting x y 5 0
y 3 0 ( X)
law
between two particles have the same magnitude and
line of action and the opposite direction.
Rij Rij
i j
Rij 0
R
• All forces are bounding vectors.
R R R
R R r R
i j
i
ij
0
R
F
r F
i
i
0
R R i
R R R R
F
R Requirement
F i
0 or F 0
R
R
r R R on equilibrium
r F 0
i
i
or M 0 A
i
F
• The above requirement of equilibrium should satisfy
r
for all subsystem as well as the whole system.
F
A Leading to differential equations, for example,
r2 R r3 R o
23 32
equations of equilibrium.
Derivation of requirement on equilibrium
using a six-particle body
F
F F1 + R 12 + R 13 + R 14 + R 15 + R 16 =0
R R F 2 + R 21 + R 23 + R 24 + R 25 + R 26 =0
R F 3 + R 31 + R 32 + R 34 + R 35 + R 36 =0
R R R
R R F 4 + R 41 + R 42 + R 43 + R 45 + R 46 =0
R
F 5 51 52 53 54 56
F +R +R +R +R +R =0
R R
R R R R F 6 + R 61 + R 62 + R 63 + R 64 + R 65 =0
F
R
R
R F i
=0 Rij = -Rji
r R R
F
r
F
r 1 F1 + r 1 R 12 + r 1 R 13 + r 1 R 14 + r 1 R 15 + r 1 R 16 = 0
A
r 2 F 2 + r 2 R 21 + r 2 R 23 + r 2 R 24 + r 2 R 25 + r 2 R 26 = 0
r 3 F 3 + r 3 R 31 + r 3 R 32 + r 3 R 34 + r 3 R 35 + r 3 R 36 = 0
r 4 F 4 + r 4 R 41 + r 4 R 42 + r 4 R 43 + r 4 R 45 + r 4 R 46 = 0
r 5 F 5 + r 5 R 51 + r 5 R 52 + r 5 R 53 + r 5 R 54 + r 5 R 56 = 0
r 6 F 6
+ r 6 R 61
+ r 6 R 62
+ r 6 R 63
+ r 6 R 64
+ r 6 R 65
=0
r i Fi = 0 ri Rij = -rj Rij
Fy 2
Fx 2
※ The requirement of equilibrium should satisfy for any subsystem. Fy1
This statement is the same with the following statement: The Fx 3
requirement of equilibrium should satisfy for arbitrary infinitesimal area y
Fx1
in 2D or volume in 3D, leading to differential equation. Note that we
should define stress, i.e., force per unit area to define the force x
Fx 3
exerting on boundary of the infinitesimal area in 2D or volume in 3D.
Fx 4 Fy 4
Requirement on equilibrium in 2D and 3D
2D plane 3D space Tip
Fx 0
Fx 0 x,y, and z can be
F 0 F 0 F 0 y F 0 replaced by any
y three independent
Fz 0 directions
M A, x 0
M 0 M A, z 0 M A 0 M A, y 0
A
M 0
A, z
3 equations 6 equations
Examples
P y
y'
F
f DF
D E D
2L W
f BD RB
f AD 45
45
A C x
2L B 2L RA
x'
Caution in applying requirements on equilibrium
Fi 0
F2 MB ?
i
Fi M A r F 0
A
i i
A B
i
ri r i
M B ri Fi
B
AB
r i
B
A r B
(ri r ) Fi
1 A AB
A
r 1 F1 Fn i
ri Fi r
A AB
Fi
A AB B
ri r ri
i i
M r Fi
A AB
0
F 0, M 0 M 0
A B
ri and ri are dependent A B
on the position of point i,
while r
AB
is fixed.
M 0, M 0 F 0
A B
(If r F) AB
Statics
Statics and solid mechanics with three factors of mechanics
Subsystem 1
Factor Statics Solid mechanics
Entire system
Ground and support
Subsystem ground
Separation of subsystems
Essential separation of subsystems from support or ground
Division of subsystems if needed
-When number of equations should be greater than that of new knowns
-When internal resultant forces is to be seen
M 0 ; L R 2 L R ( L / 2) P 0
A B C ③
M 0 ; LR LR ( L / 2) P 0
B A C
④
F.B.D. M 0 ; 2 LR LR (3/ 2) L P 0
C A B
⑤
Rx M
Rx
Ry Ry
Division of total system into subsystems
Forces in members of a truss structure
A C E
2
At E
Fx 0 ; fCE 2 f DE 0
P
P
2
D
f CE y F 0 ; P
2
f DE 0
B
f DE f DE 2 P, f CE P
f CD
2P
At D f BD
2
Fx 0 ; f BD 2 P 2
0
At C
2
y
2
F 0 ; FCD 2 P
2
0
f AC P
Fx 0 ; P f AC 2
f BC 0
f BD P, fCD P 2
f BC
P Fy 0 ; P 2
f BC 0
F.B.D.
T
RB
30
300kg
RA
Applying RE on FBD
F 0 ; T R sin 30 0
x B
F 0 ; R R cos30 300 0
y A B
D
D
T
F 0; A Bx x 2T
46.2
0
B
2kN Bx Ay 2 2.5T 0
Bz 46.2
Az Bz 2T 0
E 46.2
E
M
A
Ay C
0; rCA ( Ax i Ay j Az k )
Ax
x Az y
rCD (2 j )
Vector expression of line segments CA and CE rCB ( Bx i Bz k ) 0
rCA 3 i 6 k , rCD 5.5 i , rCB 3 i 4.5 k
CE ( i 2.5 j ) ( 3 i 6 k ) 2 i 2.5 j 6 k
CE ce (2 i 2.5 j 6k ) / 46.2
CE
3.3 Unit and Dimension
Unit and dimension
System of Units
Conventional unit: Basis units are length, weight, time, current, temperature, etc.
Science unit: Basis units are length, mass, time, current, temperature, etc.
Dimension
[Length] ≡ [L], [Mass] ≡ [M], [Time] ≡ [T], [Weight] ≡ [F]
British unit
Basis unit: ft, lb, sec
British unit belongs to conventional unit, i.e, lb means basically lbf(pound force).
Unit for mass : slug = lb · sec2/ft
Complement unit
rad
Assembled unit
Velocity : m/s, ft/sec 1N = 1kg · m/s2 , lb, kg
Pressure : 1Pa = 1N/m2, psi = lb/in2, psf = lb/ft2, kg/m2, kg/mm2
Work : 1J = 1N · m, lb · ft, kg · m Power : 1W = 1J/s, lb · ft/sec, kg · m/s, PS, hp
Moment : N · m, lb · ft, kg · m
E = (m × g + p × A)H
E = (56500kg×9.8+7kg/㎠×17671.5㎠)0.75m m/s 2
7kg/cm 2
=(553700kg +123700kg)0.75 cm 2
F ma N kg m / sec 2
Original
W ( weight ) m(kg) g (m / sec ), g 9.806 .m / sec
2 2
F ma N kg m / s 2
Modified
W ( weight ) m(kg) g (m / s 2 ), g 9.806m / s 2
3.4 Material
Tensile test
1200
Experiment (SCM435)
Analysis (SCM435)
1000 Experiment (ESW95)
Analysis (ESW95)
Engineering stress (MPa)
Experiment (ESW105)
Analysis (ESW105)
800
600
400
200
0
0 0.1 0.2 0.3 0.4
Engineering strain (mm/mm)
Tensile test
Tensile test Lf L0
Definition of e and e
L0
P
e , e e : engineering
P P L0 A0 t : true
Lf
Current
Initial
area A0
t ln ln 1
e
EngineeringLstrain, Engineering stress
area A 0
Before necking occurs (Engineering = Conventional=Nominal)
P P A
t 0
A A A
Hooke's law 0in uniaxial loading
P Lf
e 1 e
t A
E0 t ,L
0
E
x E x , xx E xx
Poisson’s ratio
E
i 0 G
2(1 ) Coefficient of
x E x v y z T thermal
1
1 xx
expansion
1 Poisson’s ratio 1 v T
y E y x z
Hooke’s law
xx 1 xx 1 ( xx ) z z v x y T
1 for an
E isotropic
material
yy zz xx xx 1 1 1
xy xy , yx yz , zx zx
E G G G
Thermal load and shrink fit
C
L
779MP
a -18MPa
3.5 Solid Mechanics
of Slender Members
Mechanics of slender members
Truss member or rod – Uniaxial loading Stresses in beam
Axial force
F
Normal stress: x xx
A t
Flange
Column
x Buckled
Web
Internal force
Definition of axes Definition of cross-section
y
y
z x
Neutral axis x1
z x
y M xx : twisting moment Mb
Mb
M xz , M xy : bending moment
M xy x
Fxx : axial force F F
Fxz , Fxy : shear force V V
Fxy
F Fxx , V Fxy , M b M xz
Fxx
Fxz M xx
M xz
First subscript: Direction of face
x Second subscript: Direction of force
z 3D 2D
3.6 Uniaxial Loading
Deformation and stress in uniaxial loading
P P, x P P,
P P/ A
Stress
Force-deformation E
k
relationship 1 Strain
1
x /L
k : spring constant E : modulus of elasticity
Hooke’s law
P kx P AE , E , P E
k eq AE L A L
L
x1P Displacement L P
k AE
P P
Saint-Venant’s principle
End Effect ⊙ Two statically equivalent loads
have nearly the same influence on P
the material except the region near
to the load exerting area.
UP Down = P
Non-end Effect
P
=
Down UP
P
Principle of
End-Effect
symmetry
P P
P
P
●●●
P
Internal force, stress vector in tensile test
0 Stress vector
P 0 A 0i P 0A 0
(n )
P
n cos i sin j T t (n) 0 sin i
i A
θ θ j θ 0 sin
A
o o A 0 o 0 cos sin nt
A0
sin
= t θ n
x
0 sin 2 nn
0 y
3
0
4
Internal force and stress components
0
N = P sin
n
t T = P cos
N
T A0
θ θ A N P
o o sin Normal stress nn sin 2 0 sin 2
A A0
T P
A0 Shear stress nt cos sin 0 cos sin
A A0
t θ 30
θ 90 t θ 45
θ 60
n
0 t n n
θ n 0
3
n 0 θ 1 o n
4 n 0
o θ o 2 o 1
n 0
o 4
1
3 nt 0
nt 0 2 3
4 nt 0
4
P P P P
Example
A B C D E
Ⅲ Force-deformation relationship
l1 l2 l3 l4 ③ ④
P l5 l6 Rl R l
C C 5 , D D 6
AC EC AD ED
<F. B. D.> Ⅱ Geometric compatibility
B
D E
P B C
RB RC RD
l2 l3 l4
l
Ⅰ
l2 : C (l2 l3 ): D D (1 3 ) C ⑤
Force equilibrium l2
F P R R R 0
y B C D
①
Reaction and displacement of point E
M l P l R (l l ) R
B 1 2 C 2 3 D 0 ②
③④→⑤: RD
AD RC l5 l
(1 3 ) RC ⑥
AC RDl6 l2
①,②,⑥ → RB , RC , RD
※ x-directional displacement is neglected under
small deformation. l2 : C (l2 l3 l4 ): E
Statically indeterminate system – thermal load
< Method I>
<F. B. D.>
A B C
P P
A1 , L1 , E1 A2 , L 2 , E2
T
1 , 1 2 , 2
BA 1 L1 (- P / EA1 T ) L1 CA 0 ①
CB 2 L2 (- P / EA2 T ) L2
CA BA CB
L1 L
P( 2 ) T ( L1 L2 ) ② From Eqs. ① and ②
EA1 EA2
ET ( L1 L2 ) A1 A2 ET ( L1 L2 )
P
< Method Ⅱ>
L1 L2 L1 A2 L2 A1
( )
A1 A2
CA due to T T ( L1 L2 )
PL1 PL2 CA (T ) CA ( P)
CA due to P
A1 E A2 E
Deformation of cylindrical pressure vessel
F x 0;
d
Fs Fs < Method Ⅰ>
FT Fs 0 FT 2 FT rpb sin d 0
0
2 FT p b 2r 0 FT pbr
Ⅱ Force-deformation relationship
t t
( pbr )2 (r ) pr (r )
T 2 R 2
p
(bt ) E tE FT FT
T
2 (r R ) 2 r 2 R R
2
Tension in belt
Law of Coulomb friction
N
Brake band N
F
v
N
μΔN N
Magnitude: F N
Direction: Preventing relative motion
: Coefficient of Coulomb friction,
Fr 0 ; N T sin( / 2) T ( )sin( / 2) 0 dT
d
F 0 ; N T cos( / 2) T ( )cos( / 2) 0 T
ln T C
T Ce
dT
T ( ) T ( ) , sin , cos 1
d 2 2 2
dN Boundary condition
2 d T dT
N T T 0 0 T (0) T0
2 T
dN T d
N T 0 d T T0 e
Strain energy in rod
Force-deformation P/ A
relationship P P, Stress
E
P P, x 1 Strain
k eq du x
E : modulus of elasticity /L
dx
Hooke’s law E , P E , P AE , PL L P, k eq AE
A L L AE AE L
L 1 P PL / L AL 1 P V
2
Strain energy U k eq
1 2 P
2 2 AE 2 A AE 2AL
u U 1 strain energydensity(function)
V 2
U udV dV
1 1 2
dV
V 2 V 2 V E
2 2
2 dAdx
1 P 1 P dx
2 LA E A 2 L AE
2 2
du du
U 1 E 2 dV 1 E x dAdx 1 EA x dx
2 V 2 L dx A 2 L dx
Generalization of uniaxial loading
Strain in rod under uniaxial loading Ⅰ Force equilibrium
xx
A B F F ( x) q( x)x F ( x x) 0
x
Undeformed q x : Load per unit length dF
x q( x)
x x x dx
u (x ) u (x x)
Ⅲ Stress-strain relation
Deformed q (x) x F(x x) F(x) dF x
F(x)
dx E Hooke’s law
x x
x
q(x)dt q(x)x 0(x)2 F ( x) A AE AE
du
dx
dF
A ' B ' AB u ( x x) u ( x) du q( x)
lim x dx
AB x 0 x dx
x 0 0 d du
0 ( AE ) q( x)
v x 0 dx dx
0 v x
0 Governing equation
3.7 Torsion
Torsion of cylindrical shaft, problem definition
Cross-section: Circular shaft (CS) Mt, T
upside
( x, y , z )
( r , , z ) • r
down
x r cos
y r sin z
Mt Mt
zz
y
r y
Summary x
Diametrical straight line remains straight line x Local coordinate system
Plane section, perpendicular to the central line, remains plane Reference coordinate system
Relation of strain and angle of twist
Strain components Shear strain z and angle of twist
z
xx xy xz ( z z ) : Angle of twist
rr r rz
d
yx yy
yz
r z dz
: Rate of twist
r
zx zy zz zr z zz z
Normal strain: rr zz 0
From assumption z ( z) r z z
Shear strain: r Shear strain: rz z r z r
z
z z d
z z r
dz
r z plane
r plane : Angle of twist
r r 0 rz zr 0 rx 0 d
: Rate of twist
dz
Stress components
z
z x plane z plane
y z plane z
r plane
y
x
xx xy yz x y plane z r plane r rr r rz
z
xy yy yz z z r
zz
zx zy zz zr z
z face z face zz
zz
z
zx zy zr
xz yz rz
r r
y face r face
xy yx yy z rr
xx y r
x x face ( ) face
Hooke’s law
d du u
z G z Gr Gr L xx E xx E E L rr 1 rr zz
dz L dx L E
G
E
1 zz rr
E
2(1 )
zz 1 zz rr
E
Torsion test 2 1
Tensile test r r 1 r
E G
G
E 2 1
z z 1 z
E G
2 1
zr zr 1 zr
E G
G E
1 1
Composite shaft
d A 1G 1
M t rdF r dA Gr 2
dA A 2G 2
A A dz A
d
G r 2 dA G d (G J G J )
1 A1 2 A
Mt r 2
dA
dz 2 dz 1 1 2 2
Stress
d
, Gi G1 if r A1
Mt Gi rM t
dz G1 J1 G2 J 2 G1 J1 G2 J 2 G2 if r A2 r r
Example 1 – Statically determinate system
< F.B.D. >
A L1 B L2 C
TA
TB TC
TB TC
Moment balance
M x 0;
TA TB TC 0 TA TB TC
M t , AB TB TC
M t , BC TC
TA T TC
M t , AB TA L1 1 L1 L2T L1 L2T
BA dx
GJ GJ GJ L1 L2 GJ ( L1 L2 )
Tmax r
max , Tmax max(TA , TC )
J
Example 3 – Design of circular shaft
Given value
P 260 hp, n 3800 rpm, a 30,000 psi Ship
T (d / 2) 16T 3 lb 16T
max ( 30 10 ) d ②
3
d 4 d3 a
in 2 a
32
16T
①+② d 3 0.90 in 1hp 76kg m / s
a
1 1
76 lb ft / sec
0.453 0.3048
Summary of torsional problem of circular shaft
z Strain Stress
dz 1 M t2
r r 0 U dz
rz zr 0
2 L GJ
3.8 Beam Theory
Beam and external load
Resultant force
Statically the same concentrated force with
a set of distributed force = Vector sum
passing through centroid of loading diagram
Concentrated force R
q( x) q( x) y q( x)
A B
x
Statically
X x
Loading diagram
y
Concentrated moment Saint-Venant’s principle
q( x) q( x) x x
q( x)dx
L dA
A
q( x) = Load intensity function = Load/length
Internal force (Shear force and bending moment)
Definition of axes Definition of cross-section
y
y
z x
Neutral axis x1
z x
y M xx : twisting moment Mb
Mb
M xz , M xy : bending moment
M xy x
Fxx : axial force F F
Fxz , Fxy : shear force V V
Fxy
F Fxx , V Fxy , M b M xz
Fxx
Fxz M xx
M xz First subscript: Direction of
face
x Second subscript: Direction of
z 3D force 2D
Pure bending
V ( x) 0, M b ( x) constant
a a
L
M
x
Pa Pure bending
Derivation of relationship between and v( x)
d1 d dx y v( x)
ds dx ds
s
s Slope s v
Curvature v( x) x x
? 0 x
1
v( x) tan cos 2 dx
1 v( x)2 ?
ds
v( x) sec2
s x 2 v 2
d v( x)
v
2
dx 1 v( x) 2 x 1
x
x 1
s v
2
1
1 d d dx v( x) x
v( x)
3
ds dx ds
1 v 2
( x) 2
dx
ds
1
1 v 2 ( x )
Example – Find SFD and BMD by cut method
0 L
R
o L Reactions 2
2
30 L
8 L
4
L 0 L
V ( x) 8
L L 0 x
8
① 0 x
x 3L 2
8
V C
0 L 30 L x V Mb
8
3 L
3
y
8
F 0 ; V ( x ) 0 x 0 L
8
M b ( x) 0 2 3
9 L2
128 M C 0 ; M b ( x) x 0 Lx 2 8
Mb
②
L
xL x ( L x)
0 L 2 C
0 L Mb V
Fy 0 ; V ( x) 8 0 L
0 L
M C 0 ; M b ( x)
8
L x 8
q( x)x
q( x) V ( x x)
F y 0; V ( x) V ( x x) q( x)x 0
V ( x x) V ( x)
M b ( x) M b ( x x) lim q( x)
C
x 0 x
dV ( x)
V ( x) q( x)
dx
x x
x
M C 0; M b ( x x) M b ( x) V ( x)x q( x)x 2
0
M b ( x x) M b ( x) dM b ( x)
lim V ( x) V ( x)
x0 x dx
dM b ( x)
V ( x), M b ( x) V ( x) 0
dx
M b( x) q ( x)
dV ( x)
q ( x), V ( x) q ( x) 0
dx
Example – Find SFD and BMD using DE
Reactions 0 L
R
2
o L
2
L L
30 L 4 0 L
8 8
V ( x)
Load intensity function
3o L L
V q ( x) x 1 o x 0 o x 0
0 L 8 2
x
=
Shear force and shear stress
xz
Mb
xy
=
Pure bending – deflection curve-strain relation
y
Strain
Plane of symmetry
Mb Mb
A B C
P Q Q
y P y
R S x R
S
Neutral axis
D E F
R S PQ
x 0 0
x
z
z 0 v x 0
xy 0 zx 0 yz 0
0 v x
0
Pure bending - stress-strain relation
Hooke’s law of an isotropic material
• xx 1 xx yy zz Stress y
E
• yy 1 yy zz xx x xy xz
E
yx yz y face yy
zz 1 zz xx yy
y
zx zy z
•
E
• xy
xy
1 1 xy ij ji zy
yz yx
xy
xy
2 E 2G
yz 1 x face
• yz yz 1 yz zx xz xx
2 E 2G
zz x
zx 1
• zx zx 1 zx z z face
2 E 2G
Assumption: y 0, z 0 xx x
z 0 Web yy y
y zz z
x E x E , yy zz ν xx xx x
yy y
zz zz
xy 0, yz 0, zx 0( xy 0, yz 0, zx 0)
Pure bending – Force equilibrium
Application of requirement of force equilibrium
y
Mb
F 0 ; dA 0 1
x x
If E constant
EydA 0 ydA 0
A
x
Ey
, ( A) A A
Mz 0 ;
A
y x dA M b EI zz : Flexural rigidity
If E constant EI zz
1 Mb
A
Ey Ey dA M b
2
x , ( A)
Mb y
E
My 0 ; z x dA yzdA 0 I zz y 2 dA x
A A A I zz
Automatically satisfied 2nd moment of inertia
for symmetric beam of the cross-section
Summary of pure bending beam theory
1
Curvature-deflection curve : v( x )
q( x ) v ( x ) M b ( x )
y
Curvature-strain : xx
y
Constitutive law : E xx E
xx
Axial force : A
xx dA 0 A ydA 0
1 Mb
Bending moment : ydA M b v ( x )
A xx
EI
EIv ( x ) M b ( x )
Boundary conditions
• Geometric : v (0) 0, v(0) 0
v ( L) 0, v( L) 0
dV ( x )
q ( x )
dx • Mechanical : V (0) P , M b (0) M , V ( L) P ,
d 2 M b ( x)
q( x ) M b (0) EIv(0) M v(0)
M
dM b ( x ) dx 2 EI
V ( x )
P
dx V M b ( x) V (0) ( EIv(0)) v(0)
EI
Engineering beam theory
Purpose of engineering beam theory
x
the shear stress xz
x
Assumption of engineering beam theory
The following relationships obtained by the pure bending beam theory are valid even
though shear force does not vanish.
M y 1 Mb
x b , v( x )
I zz EI zz
VQ
yx xy Q ydA
bI zz A1
Engineering beam theory – Shear stress
Take a cut fraction having -y face in the cut surface at y = y1
A1 : Cross-sectional area
defined by y = y1
F x (
A1
)
x x x ( x ) x dA Fyx 0
( x ) xx ( x ) x
M b ( x x) M b ( x) y
I zz
M b ( x x) M b ( x) Fyx
Q Q ydA
I zz x x A1
dFyx dM b Q VQ
f Shear flow
dx dx I zz I zz
dFyx VQ
Fyx yx bx yx b yx xy
dx bI zz
L
• EIv( x) 0 x 0 0 x1 C A
2
L 1
• EIv( x) 20 x 20 x C A x CB
2
Reactions
L
0 • EIv( x) 0 x 2 0 x 3 C1
4 6
L
L • EIv( x) 0 x 3 0 x 4 C1 x C2
12 24
0 L 0 L
2 2 Determination of C1 , C2
• v(0) 0 C2 0
Boundary conditions 0 0 0 L3
• v( L) 0 L L C1 L 0 C1
4 4
12 24 24
v(0) 0
v( L) 0 1 0 L 3 0 0 L3
v( x) x x
4
x
EI 12 24 24
M (0) EIv(0) 0
b 0
M b ( L) EIv( L) 0
24 EI
2Lx 3
x 4 L3 x
Principle of superposition
Problem description M b ( x)
3 L
• q( x) 2 PL x 2 2 P x 1 P x 2 1
3 L
• M b ( x) PL 2 P x1 P x 1
2 2
Reactions
L
P
L
P v( x), v( L), ( L) v( L)
2 2
• EIv( x) M b ( x)
3PL
2
2P 3 P L
• EIv( x) PLx Px x C1 ( v(0) 0)
2 2
Boundary conditions 2 2 2
v(0) 0, v(0) 0
3 P P L
• EIv( x) PLx 2 x 3 x 3 C2 ( v(0) 0)
4 3 6 2
v( L) 0, v( L) 0
PL 3 1
3
1 7 PL3
• v( L)
EI 4 3 6 8 16 EI
Deflection and angle due to each force
5 PL2
P • ( L)
5 PL3 8 EI
1
48 EI Application of principle of superposition
PL2
1
8 EI
PL2 1 5 7 PL2
P P
PL2
v v1 v2
2 EI 3 48 16 EI
3EI
PL2 5PL2
2
2 EI
1 2
8EI
3.9 Buckling
Governing equation of buckling of column
Similarity and difference between beam and column
Similarity: Bending moment and shear force are exerted and pure bending theory is applied.
Relationship of M b , V , P, and q( x)
dV dV dV
yF 0 ; q ( x ) x x 0 q ( x ) 0 q ( x)
dx dx dx
M C 0 ; M b ( x x) M b ( x) V ( x)x v
P Displacement
q( x) 2 v( x) in the longitudinal
x P(v( x x) v( x)) 0 direction is
2 x neglected
EI , L
dM b dv
V P 0
dx dx q( x)
d 2 M b dV d dv V ( x x) V ( x) V x
2
( P )0
dx dx dx dx V ( x)
C P
M b ( x)
d 2Mb d dv P M b ( x x) M b ( x) M b x
2
( P ) q ( x)
dx dx dx
x x
v( x) v( x x) v( x) vx
Governing equation of buckling of column
Assume: Pure bending theory is applied. Governing equations
d2 d dv
1 EIv( x) M b ( x) ( M b ) ( P ) q ( x)
v( x)
2
dx dx dx
1 Mb
dV
q ( x) 0
EI d2 d 2v d dv
dx
dM b dv 2
( EI 2
) ( P ) q ( x)
V P 0
A
ydA 0 dx dx
dx dx dx dx
EI 일정, P =일정
q ( x) 0
y P
x E v (4) ( x) 2 v( x) 0, 2
EI
v( x) Ce sx
x
y s 4 2 s 2 0 s 0(중근) , s i
v( x) C1 C2 x C3 sin x C4 cos x
Pure bending C1 , C2 , C3 , C4 are calculated by BCs.
Example – buckling loads and modes
Problem Solving
P
P
v( x) C3 2 sin x C4 2 cos x
EI
v(0) C1 C4 0 ①
3 x
x v3 ( x ) C sin v( L) C1 C2 L C3 sin L C4 cos L 0 ②
v1 ( x ) C sin L
L EI , L v(0) C4 2 0 ③
v( L) C3 2 sin L C4 2 cos L 0 ④
2 x
v2 ( x ) C sin
L
Because 0 , C4 0 from Eq. ③. C1 0
from Eq. ① . In order to obtain non-trivial
GE and homegeneous solution solution, sin L 0 .
P P
v (4) ( x) v( x) 0, 2 v( x) C3 sin x
EI EI
v( x) C1 C2 x C3 sin x C4 cos x
BCs sin L 0 L n n / L(n 1, 2, , )
v(0) 0, v( L) 0 Pn EI
L n Pn n 2 2 2 vn ( x ) C sin
n x
M b (0) 0 v(0) 0 EI L L
Pcr EI
M b ( L) 0 v( L) 0 L Pcr 2 2 Buckling load
EI L
Mode of buckling