Strength of Materials - I: Lecture Notes Chapter - III

Strength of Materials – I
Lecture Notes
Chapter – III
Strain
by
Prof. Dr. Mustafa Kemal Apalak
2020
Department of Mechanical Engineering
Erciyes University
https://www.facebook.com/MKACOURSES
Strength of Materials - I
Prof. Dr. Mustafa Kemal Apalak 10/09/2020 1

P original (undeformed) configuration

i
deformed configuration
displacement field
position vector
r= x i + y j +z k
initial position of P
pay attention it is in vectorial form
position vector in deformed configuration

the new position of point P in deformed
configuration
undeformed configuration
In order to determine the new deformed
shape/geometry of the body we can use the
coordinates of each particle inside body
to calculate its own position vector in the deformed
configuration deformed configuration

(Şekil değiştirmenin bileşenleri)
1) Translation (Öteleme) 2) Rotation (dönme) 3) General motion (Translation+Rotation) This means that
the volume of the
infinitesimal
Pi body is changed as
line segments
well as the shape of
the body will be
changed
differential volume
element
they are perpendicular each other and

line segments can rotate about coordinate center
parallel to coordinate axes
and elongate or contract along their own coordinate axes
Normal stress components result in changes in the volume of body since they are in the coordinate axes direction; namely,
since they are normal to the side faces of differential volume element
Shear stress components cause change in the shape of body since they are parallel to the side faces of differential volume
element
Effect of translation or the effects of normal stresses

Change in the volume of body
S zz
deformed volume element
undeformed volume element
due to the effects of only
normal stresses
Syy
Sxx
we can observe change in only the volume of body not in the shape of body
mm in
dilatation indicates change
in the unit volume of body mm in
Normal strain components
Sign convention : (+) shows an increase

(tension or elongation) in normal strain
(-) : a decrease in normal strain (compression or contraction)
Consequently,
if dilatation has
a sign of(+)
means
an increase or
(-) a decrease
in the volume of body

Let's consider the effects of

the shear stress components in the shape of body
S zy
B D
S yz
A C
As seen the right angles can not keep its original value in deformed
configuration; namely, the shape of body changes
Distortion (degeneration of shape) occurs due to

Shear angle or engineering shear strain shear stresses
Shear strains Shear angles
Gamma : shear angle (in radians) if shear angle has a sign of (+)
or engineering shear strain it means that there is a decrease in
right angle between two line
segments,
(-) indicates an increase in the right
angel between two line segments
zy : direction of change from z-axis to y-axis
yz : direction of change from y-axis to z-axis
(Kayma şekil değiştirmesi)

This is change in right angle between axes-y and z

three normal strains

remaining are shear strain components
Strain tensor which is symmetrical
tensile normal strain

SQUARE
deformed cross section
1 in
1 in
volume of undeformed bar volume of deformed bar
undeformed cross section compressive normal strains
kayma açısı (in radians)
tan Q = Q
in radian unit z 0.1 mm

sin Q = Q rigid wall
cos Q = 1 RHS moves
aproximately upward
Szy
LHS fixed
rigid wall cross section of rubber block is

Szy
distorted, thus, its shape is
degree changed
radian
? Szy, Syz : shear stresses are main reasons of distortion
Change in right angle is a decrease; therefore, its sign

becomes positive (+)
(radian)
Shear angle or engineering shear strain

(in radians)
Shear strain (non-dimensional)
since there is no force acting along the x- and y-axes
Important note :
Normal stresses result in change in only
Representation of shear angle volume or area and do not affect the shape of
area/volume
Shear stresses result in change in only shape
and do not affect the volume of area/volume
Representation of shear strains
important : Shear angle and shear strains have different definitions and are different quantities.

Undeformed configuration
Deformed configuration
y
line DE forms line DC after torque is applied Arclength
=r
Line DE rotates by angle
x
x
formula is in
x terms of radians
an increase in right angle value shear angle (in radians)

(it has a sign of negative due to an increase
in right angle)
shear strains
Strain Tensor

undeformed configuration
deformed configuration
A(2,0,0) -> x=2, y=0, z=0)
change in original length
new deformed length of line segment

özgül ağırlık
çökme veya sehim

Lower portion draws the upper
portion downward due to its own
weight
Upper portion
Lower portion
volume of dif. element
weight of dif. element 1
internal force at position z
2
Definition of normal strain
5
Normal stress at position z
3
change in the length of upper portion
Relation between stress and strain at position z
4
total change in the whole length of bar

weight of the lower portion at position z

Stage 2
The weight of the lower portion is equal to the internal force acting over the cross section of bar at
position z
Normal stress in tension over the

cross section of the bar at position z
Normal strain of the upper portion
at position z
The change in the length of

the upper portion over the position z

The total change in

the whole length of the bar



STRENGTH OF MATERIALS - I, (Shames 2, pr 3.7, pp 56)

Concept of Stress
1 2 x
Two cylinders are welded together and are held between immovable walls. A force F at the interface of the
members causes this interface to move 1 in to the left. What are the normal strains in each member along the
4
axis of the cylinder?
For the member – 1 (on the left of the interface)
⎛ ∆ε xx ⎞
(ε xx )1 = ⎜ =
−1(4 ) in
⎟
⎝ l ⎠1 8 × 12 in
(ε xx )1 = −2.604 ×10−3
For the member – 2 (on the right of the interface)
( xx )2 ⎜
ε =
⎛ ∆ε xx ⎞
=
1 ( )
4 in
⎟
⎝ l ⎠ 2 5 × 12 in
(ε xx )2 = +4.167 ×10−3
Dr. M. Kemal Apalak


L=3 m
Points A, D and C rotate about point B by 2 degree
arc-lengths spreads by points can be reduced to only

- transverse displacements by assuming small displacements
these elongations/contractions occur

due to couple M
Net axial deformations (elongations/

contractions) due to the couple effect of P
and M
m
m

Assuming that
The structure has a symmetry in terms of geometry and material mechanical properties of the bars
undeformed geometry
deformed geometry
axial deformation for each bar is very small
Normal strains



y undeformed y
geometry of dif element Strength of Materials - I
y
y y
x x
x x
shear angle
shear angle
0 0
All rotations and displacements are assumed to be very small
radians
in
Shear angle of tube I
Shear strain of tube I
radians
Shear angle of tube II in
in
Shear strain of tube II


Lower portion draws the upper portion downwards due to its own weight
z=0
z Upper portion
radius of the cross section at any position z

Lower portion
internal force over cross section at position z
A(z)
dV dz
dV
Weight of the lower portion
internal force weight of the lower portion

of the upper portion
for z=0, this relation gives us the total

elongation of the cone
in 3
z=0
in
ft


Upper portion
Lower portion
1st geometrical region
2nd geometrical region

z=0
The upper portion compresses z
the lower portion due to its own weight
z Lower portion
z=0
z=0 SECTION 2-2
SECTION 1-1
2nd geometrical region

1st geometrical region
on the cross section 1-1 of the lower portion
internal force is equal to the weight of upper portion above the position z
Hooke's Law

This is contraction of only portion 1 between

0 and l_1
A
z=
This is the contraction of the portion 2-2
B In order to calculate the total contraction of tube

assembly it is enough to sum both axial contractions
of A and B
from expression A
it has a negative sign (contraction)

from expression B
it has a negative sign (contraction)
this total contraction of tube assembly
This means the top edge A descends by 3.77 10^-6 in

9.18 m/s^2 * kg = 1 N
crushing test
tangential acceleration
angular acceleration
weight
rotation center mass =
normal acceleration r=0
O weight = mass * gravitational attraction gravitational acceleration
=constant
angular velocity
r=30-10=20 r
back mass
LHS : resultant external forces
RHS : inertial forces
front mass
gravitational attraction
weight = mass * attraction
R : reaction force
internal force is equal to inertial force
: differentil inertial load acting in differential mass dm
dV dr
internal force on cross section at position r
R: reaction by rigid wall induced by the whole mass of the rod
there is no mass at the back of the rod at

position r=20 in, therefore, the internal
force at this position is zero
angular velocity = ratio of tangential speed to radius constant
mass
weight
gravational attraction
reaction induced by the rigid wall on the rod
constant
internal force

compressive normal stress
compressive normal strain
This expression gives the contraction amount of the front mass of the rod at position r due to the back mass
The total contraction of the rod due to the inertial axial load


reaction induced by wall

z=0
back portion
dz
front portion
z=
constant reaction
z=0
back portion
dz
internal force
the elongation of the back portion at position z
total elongation of the rod,

consequently it corresponds to the
deflection of the point A of the rod


Homework

E : modulus
of
elasticity
elongation
P, A, L, E : four parameters affecting
the axial deformation of the rod

For double cross-sectional area,

we have to increase the load double 'P
in order to obtain same axial deformation


E : modulus of
elasticity
normal stress normal strain
modulus of elasticity
normal strain

force, length,cross-sectional area,

modulus
axial (normal) deformation
(E,A,L )_1
very important : This expression is valid for only elastic range of the material
(E,A,L)_2
(E,A,L)_3
this expression can be used for

axial deformation of the stepped bars
having elastic properties and primitive
cross-sectional geometry
E(x)
A(x) P(x)
total axial deformation
it is valid for elastic range of

where P(x), E(x) and A(x) material

(engineering stress)
(actual stress)
tensile
internal force compressive
in each region tensile
-P3+200=0
-P2-300+200=0
(+) means
elongation
P1, P2 and P3 are internal forces
-P1+500-300+200=0
The net elongation members 1, 2, 3 are deformable

of member 3 is
equalt to
difference of
B and A
members 1 and 2 are in compression

while member 3 is in tension
Since edge C is fixed A is absolute compression of both member 1 and 2

axial members are designed so that they can withstand only

rigid axial forces
statically determinate problem
link AB gets shortened link CD is elongated

This end is fixed
This end is fixed
Assumption : small strain-small displacement; consequently,

rotation center arc lengths of points B, D and E can be reduced to only their deflections
(transverse displacements)

Relaxation problem
in tension Strength of Materials - I
deformable
deformable in compression
deformable
this is also statically indeterminate problem
A and B are rigid plates the number of equilibrium equation is one
in tension whereas the number of unknowns is two
(A)
after turning the nuts the nuts advance

by a pitch, and rod EF is shortened by
this advancement. However, both bolts are
in tension and they are elongated
by an amount (this is called relaxation)
Therefore, the net change in the length of
rod EF is equal to the difference of
the nut advancement and relaxation this is advancement of nuts
amount in the bolts
(B)
internal force in bolts

internal force in rod



Assumption: materials are elastic
the end A is free
Fixed plate
Tube undergoes compression
Rod undergoes tension
End B is free
End B of the rod AB descends by 0.23116 mm
tensile stress



For plane problems (2D)

the number of equilibrium (statics) is
3 at maximum, if the number of
unknowns is higher than
the net number of
equilibrium equations
the problem of this type
is called statically indeterminate
The necessary additional equations can
be generated form the compatibility
relations of deformed geometry
of the assembly
Let m be the number of unknowns and n be the net number of the equilibrium equations, the difference of m-n is equal to
the order of statically indeterminate problem
As seen the number of unknowns is two but the number of equilibrium equation is
only one
m=2 and n=1, order=m-n=2-1=1
Free end
This is 1st order of statically indeterminate problem
Fixed end
the materials of both rod and tube are elastic
internal force in rod compatibility

these are independent relations relation
The compatibility relation means that the contarction of both tube and rod should be
equal
internal force in tube
Equilibrium of statics
F=0
Equilibrium requires that the resultant of internal forces should be equal to the resultant of external loads.

Equilibrium
(A)
Since both ends A and B of

Fixed support reaction at A
the bar AB are fixed
the net elongation of the bar AB
becomes ZERO, this is
compatibility relation in tension
of this problem Compatibility relation
This does not mean that
regions AC and CB in compression
are not deformed
in terms of Rods are elastic
Consequently, the summation of
individual axial deformations support reaction at B internal forces
of regions AC and CB Fixed
should be ZERO
in terms of (B)
support reactions
: internal force
: internal force
which are axial stresses in each region 1 and 2,

respectively.
superposition method allows us to divide

a statically indeterminate problem into
subproblems each of which are statically
determinate

internal force in each region

Fixed Problem 1
two unknowns : support reactions

only one equilibrium equation
can be used, m-n=2-1=1 (order)
Fixed all internal forces are in tension
The total length of the bar AB does not change 2

whereas Regions AD, DC, CK and KB can be axially deformed 1
3 4
the net elongation

of rod AB
statically statically
statically indeterminate determinate, determinate,
problem 1 problem 2
Problem 2
3
2 compatibility relation
1) compatibility 1
2) reactions
is absent
makes the problem statically indeterminate

Homework

Reference configuration
For an axial deformation problem (1D)
thermal axial elongation/contraction

T : thermal
after temperature changed by T
C, K, F
For a temperature change its volume is increased or decreased.

For one-diensional problem only change along the axis of bar is considered
Fixed Fixed
expansion
goes its original position
support reaction support reaction
Let temperature be changed by T
1) in case the body can not expand/contract thermally

freely the internal force distributions occur inside the body

thermal elongation for an increase

of temperature by T
thermal stage
assumption : material is elastic
contraction (axial deformation)
due to the internal force P or support reaction
structural stage
total axial deformation is equal to the summation
of thermal and structural axial deformations
internal force induced by thermal expansion In fact the total length of bar AB does not
( free expansion is not allowed) change
this axial stress is compressive

1 due to an temperature increase
in case of a temperature decrease this stress
2 THERMAL STRESS due to unfreely becomes tensile
expansion/contraction
3 when you consider
n this expression includes three parameters

affecting the internal force
2) if the material composition is not uniform
Each layer will
3) if the temperature variation is not uniform
expand
4) at the same time one or more of states 1, 2, 3
or contract
are existing
at different amount, therefore, each layer will apply an internal force to neighborhood layers
* * we can expect internal force distribution
inside the body * *
Fixed Fixed
support
support reaction reaction
cu I
al

Due to a temperature decrease of -75 C the bar ACB tends to contract. However, both supports A and B do not allow this, and
we can experience support reactions at A and B which are equal to each other
Strength of Materials - I and
Let's allow the bar are internal forces

to contract freely in each of regions
1 and 2. They are
Axial stresses are calculated from internal forces in tension
in tension
contraction due to
in tension
elongation due to
axial tensile
internal force
W can conclude that the net (total) elongation of stepped bar

should be equal to zero (compatibility relation) Thermal strain in each region
total thermal deformation of bar
Assuming elastic material Structural strain in each region
Total (net) axial strain of

The internal forces should be region AC is
material is elastic equal to support reaction equal to summation of
Unfortunately, we do not know elongation thermal and structural
the magnitude of support reaction point C moves right strains of region AC
Total (net) axial strain of region
structural CB is equal to summation of
strain of CB thermal and structural strains of
contraction region CB
point C moves right
compatibility relation
net (total) axial deformations of two regions are
elongates
shortens
in tension
verification of solution
number of unknowns is four whereas the number of equilibrium equations is

three
m - n = 4 - 3 = 1, 1st order of statically indeterminate problem
By considering problem we do not nedd to know Bx and By support reactions
one equilibrium equation two unknowns
Simplified deformed geometry
these are independent

relations
In order to develop another equation for two unknowns
we can consider geometrical compatibility
under assumption of small strain-small displacement
assuming elastic rods
elongations of rods
are transverse
displacements of
pertinent points
2nd required equation
Elongation of rod EC or the transverse

displacement of point C
Elongation of rod FD or the

transverse displacement of point D
the transverse displacement of point A

Rigid
brass
steel
for only brass

HOMEWORK

Rigid bar
internal force
in compression
in tension
internal force
elastic material
: support reaction
thermal deformation does not occur in rod AB =0
However, the brass rod expands due to T = 30 C

: support reaction Stage - 1 : Determine total axial strains
For steel rod total axial strain

thermal structural
in tension
0.45 m 0.3 m
For brass rod total axial strain structural

thermal in compression
net (total) axial deformation of rod AC
relations 3 and 4 are independent from each other

net (total) axial deformation of rod BD Assuming small-strain and small-displacement
we can reduce the arc-lengths of points C and D to
their own transverse displacements




STRENGTH OF MATERIALS - I, Beer 3, pr 2.42, pp 80
Stress concept
support reaction support reaction
A steel tube (𝐸 = 200 GPa) with a 32-mm outer diameter and a 4-mm thickness is placed in a vise that is
adjusted so that its jaws just touch the ends of the tube without exerting any pressure on them. The two forces
shown are then applied to the tube. After these forces are applied, the vise is adjusted to decrease the distance
between its jaws by 0.2 mm. Determine (a) the forces exerted by the vise on the tube at A and D, (b) the change
in length of the portion BC of the tube.
The cross-sectional area
𝜋
𝐴 = (322 − (32 − 4 × 2)2 )
4
𝐴 = 351.86 𝑚𝑚2
Equilibrium of forces
𝑅𝐴 − 𝑅𝐷 − 42 + 30 = 0
𝑅𝐴 − 𝑅𝐷 = 12 (1) two unknowns, only one equilibrium equation
Axial deformation compatibility relation
elastic material 𝑃𝑙 𝑙
∆= ∑𝑖 ( ) = 𝐴 𝐸 (𝑃1 + 𝑃2 + 𝑃3 ) = −0.2 (2) are internal forces
𝐴𝐸 𝑖
From the free-body diagram of each section Let's write the internal forces in terms of the supoort reaction on left R
𝑃1 = −𝑅𝐴
consequently, the number of unknowns are reduced three to one
𝑃2 = 42−𝑅𝐴 (3)
𝑃3 = 12 − 𝑅𝐴
Substituting (3) into (2) yields
80
(−𝑅𝐴 + 42−𝑅𝐴 + 12−𝑅𝐴 ) × 103 = −0.2
351.86 × 200 × 103
𝑅𝐴 = 76.64 𝑘𝑁
From the equilibrium (1)
76.64 − 𝑅𝐷 = 12
𝑅𝐷 = 64.64 𝑘𝑁
The internal force in the portion BC
𝐹𝐵𝐶 = 𝑃2 = 42−𝑅𝐴
𝐹𝐵𝐶 = 𝑃2 = 42 − 76.64
𝐹𝐵𝐶 = 𝑃2 = −34.64 𝑘𝑁
The axial deformation in the portion BC
𝑃𝑙 (−34.64 × 103 ) × 80
∆𝐵𝐶 = ( ) =
𝐴 𝐸 𝐵𝐶 351.86 × 200 × 103
∆𝐵𝐶 = −0.03938 𝑚𝑚
Dr. M. Kemal Apalak


Homework


2*2= 4 mm
due to turning nut A
four unknowns and three equilibrium equations
relaxation stage
Equilibrium
: final elongation of rod CE
Equilibrium assumption of
small strains-
relaxation stage small displacements
: final elongation of rod DA
relaxation
advancement of nut
internal tensile force in rod EC
internal tensile force in rod AD
axial deformation in rod EC
End C
axial deformation in rod AD

End A

Homework

Homework

1) nut A is turned
2) temperatures of both rods are increased
Let's use superposition method
Rigid bar
internal force in rod CE

Due to turning nut A
internal force in rod AD final axial deformation
final axial deformation
small strains and small displacements

and elastic behaviour
geometrical compatibility
this occurs due to only turning nut A

tensile stress

tensile stress this occurs due to only turning nut A
Let's calculate axial stresses due to only temperature differences

in bolt AD
structural axial deformation thermal axial deformation
total axial deformation
in bolt CE
this occurs due to only temperature difference

compressive axial stress
compressive axial stress

this occurs due to only temperature difference

Equation 10
Equation 12
Final stage apply superposition method
due to temperature difference total (net) stress in tension

total (net) stress in tension
due to turning nut A due to temperature difference
due to temperature difference

due to turning nut A due to temperature difference
* * Homework * *
Solve the same problem by assuming only turning nut C and same temperature differences ?


thermal structural
in compression
in tension

axial
steel
concrete
normal (axial) stress in concrete (in tension)
normal (axial) stress in steel

bars (in compression)





Fb Ft
net After the nut was tightened by 1/4 turn, bolt and tube
will be compressed, and then the bolt will tend to
stage of turning nut relaxation stage of the bolt elongate since it is in tension. Consequently, the final
single-threaded (1) equilibrium axial deformation state should be considered.
axial strain
axial stress in bolt (tensile stress)
axial stress in tube

(compressive stress)

* Homework *


Homework






elongation
total elongation
Comment : If the elongation of the portion of the member until position x is calculated the expression can be
re-written as follows



stress resultants
internal resultant axial force
moment resultant about y-axis
moment resultant about z-axis

Comments : For an axial member

the definiton of axial stress :
Axial stress on cross-section is constant
Definition of axial deformation :

Axial strain of cross-section is constant


Centroid
Axial deformation problem

axial stress on material 1
: internal force resultant on the material 1

by assuming the elastic materials
: internal force
resultant
axial stress on the material 2
on material 2
in material 1
internal force resultant
in material 2
This strain is constant on cross-section
in layer 1 and 2
in layer 1 and 2
As seen for an axial deformation problem, axial strain is constant on each layer, however
the axial stress in each layer sohoul not be constant.
In case the resultant load P is applied on centroid the bar is tended to bending.
In order not to bend the bar we have to apply P so that the bending moment is zero about z-axis

Comment: P1 and P2 are applied at the centroid of cross-section of each layer since the normal stress in each layer is uniform
internal force resultant in material 1
( external load)
internal force resultant in material 2
z-axis
perpendicular
to xy-plane
Let's sustitute P1 and P2 into their places
The application point of external axial load P

so that the axail deformation state can be satisfied

Strength of Materials - I: Lecture Notes Chapter - III

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Strength of Materials – I

Prof. Dr. Mustafa Kemal Apalak

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 1

P original (undeformed) configuration

pay attention it is in vectorial form

position vector in deformed configuration

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 2

(Şekil değiştirmenin bileşenleri)

they are perpendicular each other and

Effect of translation or the effects of normal stresses

Normal strain components

Sign convention : (+) shows an increase

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 4

Let's consider the effects of

Distortion (degeneration of shape) occurs due to

Shear strains Shear angles

(Kayma şekil değiştirmesi)

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 5

three normal strains

Strain tensor which is symmetrical

tensile normal strain

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 6

deformed cross section

undeformed cross section compressive normal strains

kayma açısı (in radians)

in radian unit z 0.1 mm

rigid wall cross section of rubber block is

Change in right angle is a decrease; therefore, its sign

Shear angle or engineering shear strain

Shear strain (non-dimensional)

since there is no force acting along the x- and y-axes

Representation of shear strains

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 8

an increase in right angle value shear angle (in radians)

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 9

A(2,0,0) -> x=2, y=0, z=0)

change in original length

new deformed length of line segment

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 10

çökme veya sehim

volume of dif. element

weight of dif. element 1

internal force at position z

Relation between stress and strain at position z

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 11

weight of the lower portion at position z

Normal stress in tension over the

The change in the length of

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 12

The total change in

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 13

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 14

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 15

STRENGTH OF MATERIALS - I, (Shames 2, pr 3.7, pp 56)

For the member – 1 (on the left of the interface)

For the member – 2 (on the right of the interface)

Dr. M. Kemal Apalak

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 16

Prof. Dr. Mustafa Kemal Apalak 10/09/2020 17

Points A, D and C rotate about point B by 2 degree

arc-lengths spreads by points can be reduced to only

these elongations/contractions occur