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Continuum Stress and Equilibrium

This document discusses concepts of stress and force equilibrium in continua. It presents equations showing that the normal stress on a plane is equal to the stress tensor dotted with the plane's normal vector, and the shear stress is equal to the stress tensor dotted with the normal vector minus the normal stress. Newton's laws are applied to derive equilibrium equations relating stress derivatives, body forces, and acceleration. The stress tensor is shown to be symmetric by considering angular momentum balance. Principal stresses and orthogonal principal directions of a stress tensor are introduced.

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Thangadurai Senthil Ram Prabhu
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60 views6 pages

Continuum Stress and Equilibrium

This document discusses concepts of stress and force equilibrium in continua. It presents equations showing that the normal stress on a plane is equal to the stress tensor dotted with the plane's normal vector, and the shear stress is equal to the stress tensor dotted with the normal vector minus the normal stress. Newton's laws are applied to derive equilibrium equations relating stress derivatives, body forces, and acceleration. The stress tensor is shown to be symmetric by considering angular momentum balance. Principal stresses and orthogonal principal directions of a stress tensor are introduced.

Uploaded by

Thangadurai Senthil Ram Prabhu
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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EN0175

09 / 28 / 06

Continuing on concepts of stress in a continuum: Traction on an arbitrary plane with normal vector n

t j = ij ni v Tv t = n
This equation indicates that the normal stress on a plane with normal vector n is

n = t n = n T n
Accordingly, the shear stress on a plane with normal n is

v v

t = t n n = T n n T n n

(v

v v

v t

n
v v

v n

Force equilibrium (i.e. application of Newtons law F = ma to a continuum; also called balance of linear momentum)

v X

dV

v u
v x

dv

EN0175

09 / 28 / 06

v u displacement vector
v u v & velocity vector =u t v 2u & v & acceleration vector =u 2 t

v v & &) & & dV total inertia force on volume V ( dm = dV , a = u u

Consider all the forces acting on the volume:

v t dS total surface force on V v f dV total body force on V

According to Newtons law,

In index notation:
S

v v v & & dV t dS + f dV = u
V V

t
The first term is

&&j dV dS + f j dV = u
V V

t
S

dS = ij ni dS = ij , i dV (Divergence theorem)
S V

Thus

(
V

ij , i

&& j )dV = 0 + fj u

Since this is true for any volume V (e.g., we can shrink V to a point), the integrand must vanish every point in the continuum,

&&j ij , i + f j = u
i.e.

ij xi

&&j + fj = u

Compare this with the equation we derived earlier for the 1D case:

&& + f = u x

EN0175

09 / 28 / 06

Classical derivation of equilibrium equations for a continuum:

Consider all the forces in the x1 acting on a small block of material shown below:

3 31 + 31 x3
x3

11
21 x2 x2

21
11 + 11 x1 x1

f1

21 +

2
31

Summing up all the forces in x1 direction and applying Newtons law,

11 21 11 + x x1 11 x2 x3 + 21 + x x2 21 x1x3 + 1 2 . 31 &&1 31 + x x3 31 x1x2 + f1x1x2 x3 = x1x2 x3u 3


This leads to

11 21 31 &&1 + + + f1 = u x1 x2 x3
Similarly,

12 22 32 &&2 + + + f2 = u x1 x2 x3 13 23 33 &&3 + + + f3 = u x1 x2 x3
i.e.

ij xi

&&j + fj = u

EN0175

09 / 28 / 06

Moment equilibrium (Balance of angular momentum) Net moment of all forces should vanish at equilibrium

In index notation:

v v v v v v & & dV x t dS + x f dV = x u
V V

ijk

v v v &&j ek dV xi t j ek dS + ijk xi f j ek dV = ijk xi u


V V

Canceling ek at both sides,

ijk

&&j dV xi t j dS + ijk xi f j dV = ijk xi u


V V

The first term is

ijk i

x pj n p dS = ( ijk xi pj ), p dV
V V

= ijk ( ip pj + xi pj , p )dV = ijk ij + ijk xi pj , p dV


V

Thus

[
V

ijk

&&j )]dV = 0 ij + ijk xi ( pj , p + f j u

ijk ij = 0
k = 1 , ij1 ij = 23 32 = 0 23 = 32 k = 2 , ij 2 ij = 31 13 = 0 31 = 13 k = 3 , ij 3 ij = 12 21 = 0 12 = 21
Therefore, balance of angular momentum states that stress tensor is symmetric, i.e.

ij = ji

EN0175

09 / 28 / 06

3
x3

12
x1

21
x2

1
A simpler demonstration of symmetry of stress tensor:

( 12 x2 x3 ) x1 = ( 21x1x3 ) x2
12 = 21 ti = ji n j
v v Tv t = n = n ( is symmetric)
Eigenvalues of a matrix

v v T =
This has a very clear meaning for stress tensors. The eigenvalues of a stress tensor are called principal stresses, corresponding to the normal stresses on planes with no shear stresses, i.e.

v v v t = n = n
There in general exist 3 principal stresses and 3 mutually orthogonal principal directions. Writing

n = n in matrix form:
11 12 13

For nontrivial solution of n ,

13 n1 22 23 n2 = 0 23 33 n3

12

11 12 13
Let the solution to equation (*) be

13 22 23 =0 23 33

12

(*)

1 2 3 ,

n (1) = 1 n (1)

(1)
5

EN0175

09 / 28 / 06

n (2 ) = 2 n (2 )
v v n (2 ) (1) n (1) (2) leads to

(2)

v (1) v (2 ) ( 1 2 )n n = 0
which shows that, if orthogonal vectors, n

1 2 , we must have n (1) n (2 ) = 0 . Therefore, n (1) , n (2 ) are


v v v v v n (2 ) . Similarly, we can show n (1) n (3) and n (2 ) n (3) .

v (1)

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