Institute of Applied Mechanics 5- 0

V. One-Variable Problems
Infinite Cylindrical Shell (20)
Spherical Shell (13)
Institute of Applied Mechanics 5- 1
hence
V.1-1 Infinite Cylindrical Shell (1)
Under external & internal pressure
r
r u e u ) ( =
r b
p e t =
r a
p e t =
No body force
B.C.s (i) at r = a
(ii) at r = b

0 = c c z & 0 =
z
u
infinitely long and ..
axisymmetric

0 = c c u &
0 =
u
u
a
b
p
p
b
a
r
u
z
or
rr a
p o =
0
r rz u
o o = =
or
rr b
p o =
0
r rz u
o o = =
( ) ( )
( )
rr r r r r rz r z r r z z
zr z r z z zz z z
u u u u uu u u u u
u u
o o o o o o
o o o
= + + + + +
+ + +
e e e e e e e e e e e e
e e e e e e
r a z rz r r rr r
p e e e e e n t = = = = o o o
u u

r b z rz r r rr r
p e e e e e n t = + + = = = o o o
u u
Institute of Applied Mechanics 5- 2
V.1-2 Infinite Cylindrical Shell (2)
More on symmetric argument (i)

0 = c c z & 0 =
z
u
infinitely long and nothing depends on z
z
y
x
o
zz
o
zy
o
zx
o
zz
o
zy
o
zx
o
zz
o
zy
o
zx
Similarly, 0
zr zu
o o = =
0
zx zy
o o = =
everywhere!!
How about conditions along the
plane of anti-symmetry?
True also for anisotropic materials!
(if material is symmetric w.r.t. z=const.)
u
z
u
y
u
x
u
z
u
y
u
x
Cauchys lemma
continuity
symm.
u
x
u
y
symm.
Institute of Applied Mechanics 5- 3
V.1-3 Infinite Cylindrical Shell (3)
More on symmetric argument (ii)
axisymmetry

0 = c c u &
0 =
u
u
Every plane containing the axis of symmetry is a symmetric plane.
u
u
r
u
r
u
u
u
r
u
r u
o
r u
o
uu
o
r u
o
uu
o
0
r u
o = 0
z u
o =
Cauchys lemma
continuity
Institute of Applied Mechanics 5- 4
V.1-4 Infinite Cylindrical Shell (4)
displacement gradient -- recall from p.4-19
z r r
z r
c
c
+
c
c
+
c
c
= V e e e
u
u
1
r r
r u
r r
e e e u ) (
1
|
|
.
|

\
|
c
c
+
c
c
= V
u
u
,
u
u
e
e
=
c
c
r
r
e
e
=
c
c

u
u
u
u
c
c
+
c
c
+
c
c
=
r r
r r r
r
u
r
u
r
u e
e
e
e e e
u u
e e e e
r
u
r
u
r r
+
c
c
=
strain components (see also p.4-21)
( ) | |
T
u u V + V =
2
1
r
u
r
rr
c
c
= c
r
u
r
=
uu
c
0 =
u
c
r
compatibility condition
( ) 0
d
d
=
rr
r
r
c c
uu
0 = c c z
0 = c c u
r
r u e u ) ( =
0 = = =
zz z zr
c c c
u
by observation
Institute of Applied Mechanics 5- 5
V.1-5 Infinite Cylindrical Shell (5)
eq. of equilibrium --- recall from p.4-22-25
V + = b 0 o
,
0
ji j i
b o + =
z r r
z r
c
c
+
c
c
+
c
c
= V e e e
u
u
1
rr r r r r rz r z
r r z z
zr z r z z zz z z
u u
u u uu u u u u
u u
o o o
o o o
o o o
= + +
+ + +
+ + +
e e e e e e
e e e e e e
e e e e e e
o
| |
1
r rr r r zz z z
r r
u uu u u
o o o
u
| | c c
V = + + +
|
c c
\ .
e e e e e e e e o
1
rr r r
r r r rr r rr r
r r
u u
u uu u uu u
o
o o o o
u u u u
| | | | c c c c c
= + + + +
| |
c c c c c
\ . \ .
e e e e
e e e e e e e e
d
d
rr rr
r
r r
uu
o o o
| |
= +
|
\ .
e
d
0
d
rr rr
r r
uu
o o o
+ =
only one equation
,
u
u
e
e
=
c
c
r
r
e
e
=
c
c

u
u
0
zr zu
o o = =
0
r u
o =
Institute of Applied Mechanics 5- 6
1
0
1 2
0
1
0
r z
rr r rr
r
z
r r
r z z r z
zz
z
b
r r z r
b
r r z r
b
r r z r
u uu
u
u uu u
u
u
o
o o o o

u
o
o o o

u
o o o
o

u
c
c c
+ + + + =
c c c
c
c c
+ + + + =
c c c
c c
c
+ + + + =
c c c
V.1-6 Infinite Cylindrical Shell (6)
Or, directly from p.4-25
d
0
d
rr rr
r r
uu
o o o
+ =
only one equation
Institute of Applied Mechanics 5- 7
V.1-7 Infinite Cylindrical Shell (7)
( ) ( ) ( ) ( )
,
2 / 2 0
b
rr r a b
a
u u r rdr ap u a bp u b
uu
t o o o o t o o + =
}
( )
,
= 0 for
, at ,
rr
r
rr a b
r a r b
p p r a b
uu
o o
o
< <

= =

( )
( )
( ) ( ) ( ) ( )
,
0
b
rr rr a rr b
r
a
r u dr p a u a p b u b
uu
o o o o o o o + + + + =
}
Derivation of equilibrium equations using the principle
of virtual work:
( )
,
rr
d u
u
d r r
uu
o
o
oc oc = =
d
0
d
rr rr
r r
uu
o o o
+ =
only one equation
0
T
ij ij i i i i
V S
dV b u dV T u dS o oc o o
c
=
} } }
r
u
r
rr
c
c
= c
r
u
r
=
uu
c
0 =
u
c
r
0 = = =
zz z zr
c c c
u
for a unit length of pipe
( ) ( ) ( )
( ) ( ) ( )
}
} } } }
=
= =
b
a
r rr rr rr
b
a
r rr
b
a
rr
b
a
r rr
b
a
r rr
b
a
r rr
udr r a u a b u b
udr r u r udr r dr u r rdr u r
o o o o o o
o o o o o o o o o o
,
, , , ,
Institute of Applied Mechanics 5- 8
constitutive law (stress-strain law), see also p.3-33
V.1-8 Infinite Cylindrical Shell (8)
2
ij ij kk ij
o o c c = +
( )
1
1
ij ij ij kk
E
c v o voo = +

0 =
zz
c from p.5-4
( ) 2
rr rr rr uu
o c c c = + + =

( )
uu
c c + +
rr
2
( ) 2
rr uu uu
o c c = + +
similarly,
( )
( )
( )
1
1
1
rr rr zz E
zz rr E
zz zz rr E
uu
uu uu
uu
c o v o o
c o v o o
c o v o o

= + (

= + (

= + (

0 =
( )
zz rr uu
o v o o = +

( )
| |
( )
| |
2
2
1
1
1
1
rr rr E
rr E
v
v
uu v
v
v
uu uu v
c o o
c o o

Institute of Applied Mechanics 5- 9

Navier-Cauchy equation, see also p.4-13
V.1-9 Infinite Cylindrical Shell (9)
( ) 0
, ,
= + + +
i jj i ji j
b u u
0 b u u = + V + VV +
2
) (
from p.5-4
u u
e e e e u
r
u
r
u
r r
+
c
c
= V
= V V = V u u
2
z r r
z r
c
c
+
c
c
+
c
c
= V e e e
u
u
1
|
|
.
|

\
|
c
c
+
c
c
+
|
|
.
|

\
|
c
c
+
c
c

c
c
+
c
c
=
u u u u
u
u u
u
u u
e
e e
e
e
e
e e
e
e e e e
2 2
2
1
r
u
r
u
r r
u
r
r r
r
r r r
r
r
u
r
u
r r
u
e
|
|
.
|

\
|

c
c
+
c
c
=
2 2
2
1
r
u
r
u
r u
r r
r r
+
c
c
=
|
|
.
|

\
|
c
c
+
c
c
= V e e e u ) (
1
u
u
r
r
u
r
u
r
e u
|
|
.
|

\
|
+
c
c
c
c
= VV
u VV =
0
d
d 1
d
d
2 2
2
= +
r
u
r
u
r r
u
(

+
c
c

c
c
+
c
c
u u u
u
e e e e e e
r
u
r
u
r r
r r r
1
Institute of Applied Mechanics 5-10
V.1-10 Infinite Cylindrical Shell (10)
Navier-Cauchy
equations
Equilibrium
equations
stress strain displacement
d
0
d
rr rr
r r
uu
o o o
+ =
from p.5-5, eq. of equilibrium
( ) 2
rr rr uu
o c c = + +
( ) 2
rr uu uu
o c c = + +
from p.5-7, constitutive law
from p.5-4, strain-displacement
r
u
r
rr
c
c
= c
r
u
r
=
uu
c
0
d
d 1
d
d
2 2
2
= +
r
u
r
u
r r
u
independent of elastic constants!!
directly from
Institute of Applied Mechanics 5-11
V.1-11 Infinite Cylindrical Shell (11)
0
d
d 1
d
d
2 2
2
= +
r
u
r
u
r r
u
Method I: in terms of displacement
equi-dimensional ODE, let
o
r u =
( ) 0 1 1 = + o o o
0 1
2
= o 1 = o
r a r a u
2 1
+ =
r
u
r
rr
c
c
= c
r
u
r
=
uu
c

+ =
=

2
2 1
2
2 1
r a a
r a a
rr
uu
c
c
( ) 2
rr uu uu
o c c = + +
( ) 2
rr rr uu
o c c = + +
2
1 2
2
1 2
rr
c c r
c c r
uu
o
o
= +

( )

=
+ =

2 2
1 1
2
2
a c
a c

B.C.s
2
1 2
2
1 2
rr
r a
rr
r b
c c a
c c b
o
o
=
=
= +

= +

b
a
p
p
=
=
( )
2 2 2 2
2
2 2 2 2
a b a b
p p a b a p b p
r
b a b a
uu
o


= +

( )
2 2 2 2
2
2 2 2 2
a b a b
rr
p p a b a p b p
r
b a b a
o


=

2 2
2 2
2
a b
zz
a p b p
b a
o v

=

( )
zz rr uu
o v o o = +
Institute of Applied Mechanics 5-12
V.1-12 Infinite Cylindrical Shell (12)
compatibility
conditions
strain stress
+ eq. equilibrium
compatibility conditions
in terms of stresses
(Beltrami-Michell eqn.)
compatibility condition
( ) 0
d
d
=
rr
r
r
c c
uu
d
0
d
rr rr
r r
uu
o o o
+ =
eq. of equilibrium
( )
| |
( )
| |

o o = c
o o = c
v
v
uu
v
uu
uu v
v
v
rr E
rr E rr
1
1
1
1
2
2
( ) ( )
1 1
d
0
d
rr rr
r
r
v v
uu uu v v
o o o o

= (

( ) ( )
1 1
1 1
d
0
d
rr rr r
r
v
uu uu v v
o o o o

+ =

( )
d
0
d
rr
r
uu
o o + =
1
2
rr
c
uu
o o + =
( )
1
2
rr rr
c
uu
o o o =
( )
1
2 d
0
d
rr rr
c
r r
o o
+ =
( )
1
d d
2
rr
rr
r
c r
o
o
=

1 2
log 2log
rr
c r b o = +
2
1 2 rr
c c r o =
Method II: in terms of stress
Stress distribution does not depend on
material parameters

1
1

dr
d
rr
o
v
Institute of Applied Mechanics 5-13
V.1-13 Remarks (1)
1. For traction B.C. problems, both governing eqns. & B.C.s
are all independent of material parameters!!
Stress distribution does not depend on material parameters
II
I
Note: Material cannot violate the aforementioned symmetries.
Institute of Applied Mechanics 5-14
V.1-14 Remarks (2)
2. displacement field
from p.5-11
r a r a u
2 1
+ =
( )
(

+
=
r
c
r c
E
u
2
1
2 1
1
v
v
from p.5-12
stress strain displacement
( )
| |
( )
| |

=
=

rr E
rr E rr
o o c
o o c
v
v
uu
v
uu
uu v
v
v
1
1
1
1
2
2
r
u
r
rr
c
c
= c
r
u
r
=
uu
c
u u
c r u =
( ) | |
( ) | |

=
+ =
+
+
2
2
2
2
1
1
1
1
2 1
2 1
r
c
E
r
c
E rr
c
c
v c
v c
v
uu
v
OK!
}
= r u
rr
d c
( ) | | const. 2 1
2
1
1
+ =
+
r
c
E
r c v
v
not a rigid body displacement!!
since e
r
is not in a fixed direction.
by using u/r = c
uu
Institute of Applied Mechanics 5-15
V.1-15 Remarks (3)
3. More on the solution
( )
2 2 2 2
2
2 2 2 2
a b a b
p p a b a p b p
r
b a b a
uu
o


= +

( )
2 2 2 2
2
2 2 2 2
a b a b
rr
p p a b a p b p
r
b a b a
o


=

uu
o
For p
b
= 0, then at r = a
2 2
2 2 2 2
a a
rr
a p p b
b a b a
o = =

2 2
2 2 2 2
a a
a p p b
b a b a
uu
o = + =

a
p
a
p
a b
a b
2 2
2 2

+
tension
piping system, canon, blood vessel
Institute of Applied Mechanics 5-16
V.1-16 Remarks (4)
4. Cylindrical hole in an infinite body subjected to remote tension
( )
2 2 2 2
2
2 2 2 2
a b a b
p p a b a p b p
r
b a b a
uu
o


= +

( )
2 2 2 2
2
2 2 2 2
a b a b
rr
p p a b a p b p
r
b a b a
o


=

T
B.C.s (i) at r = a
( ) 0 i.e. =
a
p
0
rr r rz u
o o o = = =
rr
T o = 0
r rz u
o o = =
(ii) at = b r
( ) T p
b
= i.e.
2
2
1
rr
a
T
r
o
| |
=
|
\ .
2
2
1
a
T
r
u u
o
| |
= +
|
\ .
Body is weakened by a hole.
isotropic tension (a)
( ) r
a T
r
T
u
2
2 2
+
+
=
2
zz
T o v =
No hole:
rr
T
uu
o o = =
Institute of Applied Mechanics 5-17
V.1-17 Remarks (5)
4. Cylindrical hole in an infinite body subjected to remote tension
isotropic tension
T
1
2
2
|
|
.
|

\
|
+ =
r
a
T
u u
o
(b) consider u u
o
(i) as r a
2 T
u u
o =
stress concentration factor = 2
(Stress Concentration Factor)
(ii) let r a, a 0
2 T
u u
o =
No matter how small the hole is..
(iii) let a 0, r 0
T
u u
o =
a
r
(ii)
(iii)
Function of a & r,
but discontinuous
at the origin of the
a-r plane
There is no hole at all.
Institute of Applied Mechanics 5-18
V.1-18 Remarks (6)
( )
2 2 2 2
2
2 2 2 2
a b a b
p p a b a p b p
r
b a b a
uu
o


= +

5. Cylindricl hole in an infinite body subjected to internal pressure
B.C.s (i) at r = a
0
rr r rz u
o o o = = =
(ii) at = b r ( ) 0 i.e. =
b
p
2
rr a
a
p
r
o
| |
=
|
\ .
2

a
a
p
r
u u
o
| |
=
|
\ .
0
zz
o =
0
rr a r rz
p
u
o o o = = =
funny limits again
r
a p
u
a
2
2
=
( )
2 2 2 2
2
2 2 2 2
a b a b
rr
p p a b a p b p
r
b a b a
o


=

Institute of Applied Mechanics 5-19
V.1-19 Remarks (7)
6. Thin wall approximation
( )
2 2 2 2
2
2 2 2 2
a b a b
p p a b a p b p
r
b a b a
uu
o


= +

( )
2 2 2 2
2
2 2 2 2
a b a b
rr
p p a b a p b p
r
b a b a
o


=

R
0
t
let
a
t
a
a b

1 <<
2
0
t R b + = 2
0
t R a =
( ) ( )( ) t R a b a b a b
0
2 2
2 = + =
( )
0
2 2
1 R t R b + ~ ( )
0
2 2
1 R t R a ~
( )
( ) 2
2
1 1 1
2
2
0
2 2
0
a b
b a b
o
a
o o
rr
p p
R
t
p p p
R
t
p
R
t
t R
R
+ ~
(

|
|
.
|

\
|

|
|
.
|

\
|

|
|
.
|

\
|
~ o
( )
( ) t p p R
R
t
p p p
R
t
p
R
t
t R
R
b a
b a b a
=
(

|
|
.
|

\
|
+
|
|
.
|

\
|

|
|
.
|

\
|
~
0
2
0
2
0 0 0
2
0
2
1 1 1
2
uu
o
Institute of Applied Mechanics 5-20
V.1-20 Remarks (8)
can be obtained from force equilibrium directly u u
o
( ) t p p R
b a
=
0 u u
o
( )
0
2 R p p
b a
=
( )
t
u
0
0
cos R p p
b a
=
u

uu
o
uu
o
( ) u u o
t
uu
d R p p t
b a 0
0
sin 2
}
=
( ) t p p R
b a
=
0

u u
o
Institute of Applied Mechanics 5-21
V.1-21 Solution Procedure
1. Select an appropriate coordinate system.
2. Write down the boundary conditions.
3. Identify the independent variables.
4. Determine the symmetry in the problem.
5. Obtain the general forms for u or o.
6. Simplify the governing equations.
7. Solve the PDE or ODE.
8. Apply the B.C.s to get the complete solution.
Institute of Applied Mechanics 5-22
V.2-1 Spherical Shell (1)
Under external & internal pressure
hence
R
R u e u ) ( =
R b
p e t =
R a
p e t =
No body force
B.C.s (i) at R = a
(ii) at R = b
spherical symmetry
0 = c c |

0 = c c u &
0 = =
u |
u u
p
b
p
a
a
b
or
RR a
p o =
0
R R | u
o o = =
or
RR b
p o =
0
R R | u
o o = =
0
R R | u |u
o o o = = =
Institute of Applied Mechanics 5-23
V.2-2 Spherical Shell (2)
displacement gradient -- recall from p.4-26
R R
R u
R R R
e e e e u ) (
sin
1 1
|
|
.
|

\
|
c
c
+
c
c
+
c
c
= V
u | |
u |
( )
u u | |
e e e e e e + +
c
c
=
R
u
R
u
R R
strain components (see also p.4-29)
( ) | |
T
u u V + V =
2
1
R
u
R
RR
c
c
= c
R
u
R
= =
uu ||
c c
compatibility condition
( ) 0
d
d
=
RR
R
R
c c
uu
R
R u e u ) ( =
0 = = =
|u u |
c c c
R R
u | |
u |
c
c
+
c
c
+
c
c
= V
sin
1 1
R R R
R
e e e
u
|
u
e
e
sin =
c
c
R
|
|
e
e
=
c
c
R
cylindrical shell
r
u
r
rr
c
c
= c
r
u
r
=
uu
c
0 = =
u
c c
r zz
0 = =
u
c c
z zr
( ) 0
d
d
=
rr
r
r
c c
uu
Institute of Applied Mechanics 5-24
V.2-3 Spherical Shell (3)
eq. of equilibrium --- recall from p.4-30
V + = b 0 o
,
0
ji j i
b o + =
RR R R R R R R
R R
R R
| | u u
| | || | | |u | u
u u u| u | uu u u
o o o
o o o
o o o
= + +
+ + +
+ + +
e e e e e e
e e e e e e
e e e e e e
o
|
1 1
sin
R RR R R
R R R
| u || | | uu u u
o o o
| | u
| | c c c
( V = + + + +
|

c c c
\ .
e e e e e e e e e o
( ) 2 d
d
RR RR
R
R R
uu
o o o | |
= = +
|
\ .
e
( ) 2 d
0
d
RR RR
R R
uu
o o o
+ =
only one equation
cylindrical shell
d
0
d
rr rr
r r
uu
o o o
+ =
Institute of Applied Mechanics 5-25
( )
0
cot 2 3
sin
1 1
0
cot 3
sin
1 1
0
cot 2
sin
1 1
= +
+
+ + +
= +
+
+ + +
= +
+
+ + +
u
|u u
uu
|u
u
|
uu || | |u || |
| uu ||
u
|

| o o
cu
co
| c|
co
c
co

| o o o
cu
co
| c|
co
c
co

| o o o o
cu
co
| c|
co
c
co
b
R R R R
b
R R R R
b
R R R R
R
R
R R
R
R RR
R
R
RR
V.2-4 Spherical Shell (4)
Or, directly from p.4-30
only one equation
( ) 2 d
0
d
RR RR
R R
uu
o o o
+ =
Institute of Applied Mechanics 5-26
V.2-5 Spherical Shell (5)
( )
2
,
2 = 0 for
, at ,
RR
R
RR a b
R R a R b
p p R a b
uu
o o
o

< <

= =

Derivation of equilibrium equations using the principle

of virtual work:
( ) 2 d
0
d
RR RR
R R
uu
o o o
+ =
only one equation
0
T
ij ij i i i i
V S
dV b u dV T u dS o oc o o
c
=
} } }
4 , 4
2 2
dR R dV R S t t = =
( )
R
u
dR
u d
RR
o
oc oc
o
oc
|| uu
= = = ,
( ) | | ( ) ( ) | | 0
2 2 2
,
= + +
}
b u p b a u p a dR R R u u
b a
b
a
R RR
o o o o o o o
|| uu
( ) | | ( ) ( ) ( ) ( ) 0 2
2 2
,
2
= + + + +
}
b u b p a u a p udR R R
b RR a RR
b
a
R RR
o o o o o o o
uu
( ) ( )
( ) ( ) ( ) ( ) b a b b udR R udR R u R
udR R dR u R dR u R
RR RR
b
a
R RR
b
a
R RR
b
a
RR
b
a
R RR
b
a
R RR
b
a
R RR
o o o o o o o o
o o o o o o
2 2
,
2
,
2 2
,
2
,
2
,
2
+ = =
=
} }
} } }
Institute of Applied Mechanics 5-27
constitutive law (stress-strain law), see also p.3-33
V.2-6 Spherical Shell (6)
2
ij ij kk ij
o o c c = +
( )
1
1
ij ij ij kk
E
c v o voo ( = +

( )
2
RR RR RR || uu
o c c c c = + + + =

( )
uu
c c 2 2 + +
RR
( ) 2
RR || uu uu
o o c c = = + +
similarly,
0
R R | u |u
o o o = = =
| |
( ) | |
RR
RR RR
E
E
vo o v c c
vo o c
uu uu ||
uu
= =
=
1
1
2
1
Institute of Applied Mechanics 5-28
V.2-7 Spherical Shell (7)
from p.5-23, constitutive law
from p.5-20, strain-displacement
0
2
d
d 2
d
d
2 2
2
= +
R
u
R
u
R R
u
independent of elastic constants!!
Navier-Cauchy
equations
Equilibrium
equations
stress strain displacement
directly from
from p.5-21, eq. of equilibrium
( ) 2 d
0
d
RR RR
R R
uu
o o o
+ =
( ) 2 2
RR RR uu
o c c = + +
( ) 2
RR || uu uu
o o c c = = + +
R
u
R
RR
c
c
= c
R
u
R
= =
uu ||
c c
0
d
d 1
d
d
2 2
2
= +
r
u
r
u
r r
u
Institute of Applied Mechanics 5-29
V.2-8 Spherical Shell (8)
Method I: in terms of displacement
equi-dimensional ODE, let
o
R u =
( ) 0 2 2 1 = + o o o
0 2
2
= + o o
2 , 1 = o
2
2 1
R a R a u + =

+ = =
=

3
2 1
3
2 1
2
2
R a a
R a a
RR
uu ||
c c
c
3
1 2
3
1 2
2
RR
c c R
c c R
uu
o
o
= +

( )

=
+ =

2 2
1 1
4
2 3
a c
a c

B.C.s
3
1 2
3
1 2
RR
R a
RR
R b
c c a
c c b
o
o
=
=
= +

= +

b
a
p
p
=
=
( )
( )
3 3 3 3
3
3 3 3 3
2
a b a b
p p a b a p b p
R
b a b a
uu
o


= +

( )
3 3 3 3
3
3 3 3 3
a b a b
RR
p p a b a p b p
R
b a b a
o


=

0
2
d
d 2
d
d
2 2
2
= +
R
u
R
u
R R
u
2
1 2
2
1 2
rr
c c r
c c r
uu
o
o
= +

( )( )
( )
( )
2
3 3
3 3
3 3
3 3
4 2 3

+
+

= R
a b
b a p p
R
a b
p b p a
u
b a b a

Institute of Applied Mechanics 5-30
V.2-9 Spherical Shell (9)
compatibility condition
( ) 0
d
d
=
RR
R
R
c c
uu
( ) { } ( )
d
1 2 0
d
RR RR
R
R
uu uu
v o vo o vo ( =

( ) ( )
1
d
1 0
d
RR RR R
R
v
uu uu
v o vo o o
+
= (

( )
d
2 0
d
RR
R
uu
o o + =
1
2 3
RR
c
uu
o o + =
( ) ( )
1
2 3
RR RR
c
uu
o o o =
( )
1
3 d
0
d
RR RR
c
R R
o o
+ =
( )
( )
1
1
d 3d
RR
RR
c R
c R
o
o

=

3
1 2 RR
c c R o =
compatibility
conditions
strain stress
+ eq. equilibrium
compatibility conditions
in terms of stresses
(Beltrami-Michell eqns.) Method II: in terms of stress
Stress distribution does not
depend on material
parameters
| |
( )
1
1
2
1
RR RR E
RR E
uu
uu uu
c o vo
c v o vo
=

= (

eq. of equilibrium
( ) 2 d
0
d
RR RR
R R
uu
o o o
+ =
Institute of Applied Mechanics 5-31
V.2-10 Remarks (1)
1. displacement field
R
u
R
RR
c
c
= c
If one determines displacement via stress strain displacement,
from u is OK!
uu ||
c c &
R
u
R
= =
uu ||
c c
But from u has the trouble, again, as in cylindrical shell.
RR
c
2. More on the solution
for p
b
= 0, then at R = a
RR a
p o =
( )
3 3
3 3 3 3
2
a a
a p p b
b a b a
uu ||
o o = = + =
( )
3 3
3 3
2
4
a b
b a
p p
a a

+
P
a
a
b
( )
( )
3 3 3 3
3
3 3 3 3
2
a b a b
p p a b a p b p
R
b a b a
uu
o


= +

Institute of Applied Mechanics 5-32
V.2-11 Remarks (2)
3. Spherical cavity in an infinite body subjected to remote tension
( )
( )
3 3 3 3
3
3 3 3 3
2
a b a b
p p a b a p b p
R
b a b a
uu
o


= +

isotropic tension
T
B.C.s (i) at R = a
( ) 0 i.e. =
a
p
0
RR R R | u
o o o = = =
RR
T o = 0
R R | u
o o = =
(ii) at = b R
( ) T p
b
= i.e.
3
3
1
RR
a
T
R
o
| |
=
|
\ .
3
3
1
1
2
a
T
R
|| u u
o o
| |
= = +
|
\ .
( )
3 3 3 3
3
3 3 3 3
a b a b
RR
p p a b a p b p
R
b a b a
o


=

2
2
1
rr
a
T
r
o
| |
=
|
\ .
2
2
1
a
T
r
u u
o
| |
= +
|
\ .
stress concentration factor
3
2 T
uu
o
=
funny limit again
Institute of Applied Mechanics 5-33
3
1
2
a
a
p
R
|| u u
o o
| |
= =
|
\ .
V.2-12 Remarks (3)
4. Spherical cavity in an infinite body subjected to internal pressure
B.C.s (i) at R = a
0
RR R R | u
o o o = = =
(ii) at = b R ( ) 0 i.e. =
b
p
3
RR a
a
p
R
o
| |
=
|
\ .
0
RR a R R
p
| u
o o o = = =
funny limits again
( )
( )
3 3 3 3
3
3 3 3 3
2
a b a b
p p a b a p b p
R
b a b a
uu
o


= +

( )
3 3 3 3
3
3 3 3 3
a b a b
RR
p p a b a p b p
R
b a b a
o


=

2

rr a
a
p
r
o
| |
=
|
\ .
2

a
a
p
r
u u
o
| |
=
|
\ .
Institute of Applied Mechanics 5-34
V.2-13 Remarks (4)
5. Thin wall approximation
let
a
t
a
a b

1 <<
2
0
t R b + = 2
0
t R a =
( ) t R a b
2
0
3 3
3 ~
( ) | | ( )
0
3
0
3
0 0
3
2 3 1 2 1 R t R R t R b + ~ + =
( )
0
3
0
3
2 3 1 R t R a ~
( )
2
3
0
2
0 0 0 0
3 3 3
1 1 1
3 2 2 2
RR a b b a
R t t t
p p p p
R t R R R
o
( (
| | | | | |
( = + + (
| | |
( ( \ . \ . \ .

( )
2
a b
p p +
=
( )
2
3
0
2
0 0 0 0
3 3 3
1 1 1
3 2 2 2 2
b a
a b
p p R t t t
p p
R t R R R
u u
o
( (
| | | | | |
( = + (
| | |
( ( \ . \ . \ .

( )
( )
3 3 3 3
3
3 3 3 3
2
a b a b
p p a b a p b p
R
b a b a
uu
o


= +

( )
3 3 3 3
3
3 3 3 3
a b a b
RR
p p a b a p b p
R
b a b a
o


=

( )
t
R p p
b a
2
0

=
( ) 2
a b
p p +
( ) t p p R
b a

0
Institute of Applied Mechanics 5-35
a
p
b
p
V.2-14 Remarks (5)
can be obtained from force equilibrium directly u u
o
( )
a b
R p p t
u u
o =
( )
0
2 2
2
0
0 0
2
cos sin d d
a b
R t
p p R
uu
t t
t o
| | | u
(
=
(

} }
( )
2
0
R p p
b a
= t
( )
2
0
2
0
4
2 cos
2
t
|
t
(

= R p p
b a
( )
0
2
a b
R p p t
u u
o =
|
uu
o uu
o
Institute of Applied Mechanics 5-36
V.1-21 Remarks (3)
The cross-section is a doubly-connected region. Hence, to
guarantee uniqueness of u, we have to add another constraint
on c:
0
e e x x u u
} }
} } } }
= =
(
(
(

+
(
(
(

=
+ = = V =
I I I I
t t
u uu
u u
u
u
u
u c c
2
0
2
0

0
cos
sin

0
sin
cos
d u du
rd dr d d d
o o o o
r rr
( ) | |
( ) | |

=
+ =
+
+
2
2
2
2
1
1
1
1
2 1
2 1
r
c
E
r
c
E rr
c
c
v c
v c
v
uu
v
[ = x d
z r
r
r d
1
0
0
d
0
cos
sin
d
0
sin
cos
d
(
(
(

+
(
(
(

+
(
(
(

= u u
u
u
u
x
( ) | |
( ) | |

=
+ =
+
+
2
2
2
2
1
1
1
1
2 1
2 1
r
c
E
r
c
E rr
c
c
v c
v c
v
uu
v
( ) | | const. 2 1
2
1
1
+ =
+
r
c
E
r c v
v