Continuum mechanics

Chapter 2
Stresses
 Continuum mechanics

Reference
configuration
Prerequisite : Newton’s Laws + Divergence theorem
Today’s motto
“ You can’t build something big without a little bit a stress” J. Biarez
S2 - Stresses 2
 On the menu
Newton’s Law for an extended body
Conservation of linear momentum

Stress
Balance of internal forces
Stress tensor: definition and properties
Conservation of Angular momentum

Local equilibrium
Local Equilibrium equation
Boundary condition
Divergence of tensors

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Fundamental Principles
of Dynamics
Who is the French Newton ?
• Galileo
• Descartes
• Newton
• Du Chatelet
 Reference frame
Definition
A reference frame is made of 3 rigid and perpendicular
sticks/scales attached to one given point – the observer –
and equipped with a clock (x,t)

Inertial Reference Frame

Newton’s first law:
« there is at least one reference frame such that in this
frame the motion of a body subjected to no external
action is a rectilinear uniform motion »
Unless explicitly mentioned, we will only consider
Inertial Reference Frames in this course.

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 Motion of Particles
Conservation of Linear Momentum
(Newton’s 2nd law/ Space Invariance)
particle of mass mk with velocity vk(t)
Linear Momentum

2nd Law: definition of forces

Fk(t) sum of all forces acting on a particle

or:
ak(t) particle acceleration
« Fundamental principle of dynamics » (FPD)

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 Discretized body
For a set of particles
particles of mass mk and velocity vk
Sum for all the particles

Sum of forces
exteriors to m

After cancelation of reciprocal forces

(Newton’s 3rd law)

Momentum conservation
with

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Fundamental Principle of
Dynamics
Conservation of linear momentum
 Force definitions
Applied forces as Force Fields

Référence

Bulk force density inside the body

Surface force density on the boundary
The body is made of a large set of material
particles
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 For a continuum
By extension to a continuum
« material particles »
From mass to density field ρ(x,t)
From velocity to velocity field v(x,t)

Momentum of a continuous body Ωt

Applied forces on Ωt
= integral sum of force densities fV et fS

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 Continuum body
« Newton equation »
(« integral FPD »)
Momentum conservation

Or (with mass conservation )

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Stresses

Internal forces
 Summary
Dynamic fundamental equations

Static equilibrium

Référence

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 Sub-domain isolation
Virtual cut

Référence

Current configuration

=
+

Independent from shape and size

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 Internal forces
Are the forces of on
For a cut surface Σt
cohesion forces on this surface
Local forces
influence of surface orientation
Determined by the normal direction n to the tangent
plane in the point

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 Internal forces
Traction vector

For a given point:

A 3D loading
No influence of a curved surface

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 Sub-domain
Conservation of Linear Momentum on any

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Stresses

Stress tensor
Stress vector properties
Local action reaction principle
For an elementary cylinder

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Stress vector properties
Local action reaction principle
For an elementary cylinder

Reciprocity on traction vector

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Stress vector properties
Stress vector linearity
For an elementary tetrahedron

norm~ h3 norm ~ h2

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Stress vector properties
Stress tensor linearity
For an elementary thetraedron

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 Stress tensor
Definition

Components:
On an elementary cube

Stress vector:

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 Determination
Beam under its own weight
For a generic section

Force equilibrium

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 Determination
Beam under its own weight
hypotheses :
homogeneous beam (ρ is constant)
Stresses depends only on z

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 Determination
Beam under its own weight
Pure uniaxial stress state

In matrix form:

On an elementary cube:

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 Torques

Mechanical actions
 Mechanical actions
Definition Example: surface force

Forces:

Torque at A:

For a different point

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Fundamental Principle of
Dynamic II
Conservation of Angular Moment
 Continuum body
Angular momentum

Angular momentum conservation (« Euler equation»)

O « fixed » point

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Stress tensor properties
Symmetric tensor

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 Simple stress state
Hydrostatic stress state

ex: fluid at rest

Pure shear stress state

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Local equilibrium
 Local equilibrium
Principle
We take any arbitrary volume

Localization lemma
(integral vanish for an arbitrary volume)

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 Divergence theorem
State:
For a vector field v

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 Tensor divergence
Divergence theorem (generalized)

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Divergence of Tensors
Definition
vector

components (m=1,2,3)

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Local equilibrium

equation
 Local equilibrium
Integral force equilibrium
Divergence theorem

Localization lemma

Local equilibrium equation

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 Local equilibrium
Beam under its own weight

Local equilibrium verification

Verified at all points of the beam

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Local equilibrium

Boundary condition
 Boundary conditions
On a boundary
Isolation of a sub-domain on the boundary
Known or not

Unit outward norm

As seen before :

example: for a free surface:

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 Boundary condition
Beam under its own weight
For two different configuration

Local equilibrium

Free boundary

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 Boundary conditions
Beam under its own weight
For two different configurations

Local equilibrium

Free boundary

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Divergence of Tensors
Intrinsic expressions
In Cartesian coordinates

3 X
X 3
with = mn in ⌦ im
n=1 m=1

Tensor product derivation

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Divergence of Tensors
Intrinsic expressions
In cylindrical coordinates

with :

Derivation of a tensor product

Caution : and

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 Summary
Stress tensor

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 Summary
Local equilibrium

Boundary conditions

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Mécanique des milieux continus

Chapitre 2
Stresses