Two-dimensional elasticity problems and Airy stress function

ε 11 = u1,1 ε 22 = u2, 2 ε 12 = ε 21 = 12 (u1,2 + u2,1 )

ε 12,12 = 12 (u1,212 + u2,112 ) = 12 (u1,122 + u2, 211 ) = 12 (ε 11,22 + ε 22,11 )

∂ 2ε xy 1 ∂ 2ε xx ∂ ε yy
2

Strain compatibility equation: = ( 2 + )

∂x∂y 2 ∂y ∂x 2

Plane stress conditions:

1 1 1
ε 11 = (σ 11 − νσ 22 ), ε 22 = (σ 22 − νσ 11 ), ε 12 = σ 12
E E 2G

Substitute into the strain compatibility equation, we have

1 1⎡1 1 ⎤
σ 12,12 = ⎢ (σ 11, 22 − νσ 22, 22 ) + (σ 22,11 − νσ 11,11 )⎥
2G 2 ⎣E E ⎦
⇒ 2(1 + ν )σ 12,12 = σ 11, 22 + σ 22,11 − νσ 11,11 − νσ 22, 22

Recall equilibrium equation,

σ 11,1 + σ 12 , 2 + b1 = 0, σ 21,1 + σ 22 , 2 + b2 = 0
⇒ σ 11,11 + σ 12 , 21 + b1,1 = 0, σ 21,12 + σ 22 , 22 + b2 , 2 = 0
⇒ 2σ 12 ,12 = −(σ 11,11 + b1,1 + σ 22 , 22 + b2 , 2 )

Hence,

− (1 + ν )(σ 11,11 + b1,1 + σ 22, 22 + b2, 2 ) = σ 11, 22 + σ 22,11 − νσ 11,11 − νσ 22, 22

⇒ σ 11,11 + σ 22, 22 + σ 11, 22 + σ 22,11 + (1 + ν )∇.b = 0
∂2 ∂2
⇒( + )(σ 11 + σ 22 ) + (1 + ν )∇.b = 0
∂x 2 ∂y 2
or ∇ 2 (σ 11 + σ 22 ) + (1 + ν )∇.b = 0

This is known as stress compatibility equation

Ex: Show that the stress compatibility equation for the case of plane strain is given by

1
∇ 2 (σ 11 + σ 22 ) + ∇.b = 0
1 −ν
Stress function φ

The two-dimensional elasticity problem is to solve the equilibrium differential equation

σ ⋅∇ + b = 0

subject to the boundary conditions and the compatibility requirement.

The method for solving these equations is by introducing a new function called stress
function φ=φ(x,y), defined in such a way that

∂ 2φ ∂Φ ∂Φ
σ 11 = − Φ = φ, 22 − Φ for some potential Φ, such that = b1 and = b2
∂y 2 ∂x1 ∂x 2
∂ 2φ
σ 22 = 2 − Φ = φ,11 − Φ
∂x
∂ 2φ
σ 12 =− = −φ,12
∂x∂y

Ex: Verify the equilibrium equations are satisfied. What is Φ for constant body force b?

Substitute the stresses into the stress compatibility equation, we have

∂2 ∂2
( 2 + 2 )(φ, 22 − Φ + φ,11 − Φ ) + (1 + ν )∇ ⋅ b = 0
∂x1 ∂x2
⇒ ∇ 2 (φ,11 + φ, 22 ) − (1 − ν )∇ 2 Φ = 0
⇒ ∇ 2 (∇ 2φ ) = (1 − ν )∇ 2 Φ

∂2 ∂2 ∂2 ∂2
or ( + )( + )φ = ∇ 2 (∇ 2φ ) = 0 for constant body force b
∂x1 ∂x2 ∂x1 ∂x2
2 2 2 2

Hence, for the solution of the elasticity problem of constant body force, we have to
solve the bi-harmonic equation ∇ 2 (∇ 2φ ) = 0 , subject to the given boundary conditions.

By taking polynomials of various degrees, we can create stress fields of different

characteristics. As the bi-harmonic equation is linear, we can use the principle of
superposition to combine and adjust the coefficients to satisfy the boundary conditions.
Example: Bending of cantilever by end shear

x
2d
P

B 3
Let φ = Axy + xy
3

σ 11 = φ, 22 = 2 Bxy
Then, σ 22 = φ,11 = 0
σ 12 = −φ,12 = −( A + By 2 )

Shear stress equals to zero on top and bottom surfaces,

A + Bd2 = 0

Total shear force at the end is given by

d d d d
⎡ 2 y3 ⎤ 4
∫−d 12
σ = − ∫−d + = ∫−d − = − = Bd 3 = P
2 2 2
dy A By dy B ( d y ) dy B ⎢ d y ⎥
⎣ 3 ⎦ −d 3
3P
or B=
4d 3

3P P b( 2 d ) 3 2 d 3
σ 11 = 2 Bxy = 3
xy = xy with moment of inertia, I= =
2d I 12 3

3P 2 P 2
σ 12 = B( d 2 − y 2 ) = 3
(d − y 2 ) = (d − y 2 )
4d 2I

These results coincide with the solution found in standard text of strength of materials.

For the case of plane stress, the strain components are given by
 ∂u σ 11 P
ε 11 = = = xy (1)
∂x E EI

∂v − νσ 11 − νP
ε 22 = = = xy (2)
∂y E EI

∂u ∂v σ 12 P
2ε 12 = + = = (d 2 − y 2 ) (3)
∂y ∂x G 2GI

Displacement u and v are given by integration of (1) and (2)

P 2
u= x y + f ( y)
2 EI
− νP 2
v= xy + g ( x )
2 EI

Substitute u and v into (3),

P 2 νP 2 P
x + f ' ( y) − y + g ' ( x) = (d 2 − y 2 )
2 EI 2 EI 2GI
⎡ Px 2
⎤ ⎡ Py 2
νPy 2
⎤ Pd 2
⇒ ⎢ 2 EI + g ' ( x ) + −
⎥ ⎢ 2GI 2 EI + f ' ( y ) ⎥ = 2GI
⎣ ⎦ ⎣ ⎦

Comparing coefficients, we have

Px 2 Py 2 νPy 2 Pd 2
+ g ' ( x ) = A, − + f ' ( y) = B and A+ B =
2 EI 2GI 2 EI 2GI

By direct integration, we get

Px 3 νPy 3 Py 3
g( x) = − + Ax + C and f ( y) = − + By + D
6 EI 6 EI 6GI

Hence,

Px 2 y νPy 3 Py 3
u= + − + By + D
2 EI 6 EI 6GI
− νPxy 2 Px 3
v= − + Ax + C
2 EI 6 EI

Constants A, B, C and D are to be determined from the displacement boundary

conditions.
At the fixed end, x=L, y=0, u=0 and v=0 give

PL3
D=0 and C= − AL
6 EI

− νPxy 2 Px 3 PL3
Hence, v= − + + A( x − L)
2 EI 6 EI 6 EI

(1) Assume that the horizontal fibre rotation equals to zero at the fixed end, then

∂v − νPy 2 Px 2 PL2
=0⇒ − + A=0⇒ A=
∂x x=L 2 EI 2 EI 2 EI
y =0

− νPxy 2 Px 3 PL2 x PL3 PL3

v= − + − End deflection = v x =0 = −
2 EI 6 EI 2 EI 3EI 3EI

Pd 2 Pd 2 PL2
A+ B = ⇒B= −
2GI 2GI 2 EI

Px 2 y νPy 3 Py 3 Pd 2 PL2
Hence, u= + − +( − )y
2 EI 6 EI 6GI 2GI 2 EI

Exercise:

Show that if we assume the vertical fibre (instead of the horizontal fibre) rotation equals
to zero at the fixed end, the end deflection becomes,

PL3 Pd 2 L
v x =0 = − −
3EI 2GI

Explain why there is an additional term.

(2) Assume that the vertical fibre rotation equals to zero at the fixed end, then

∂u Px 2 νPy 2 Py 2 PL2
=0⇒ + − +B =0⇒B =−
∂y x=L 2 EI 2 EI 2GI 2 EI
y =0

Px 2 y νPy 3 Py 3 PL2 y
u= + − −
2 EI 6 EI 6GI 2 EI

Pd 2 Pd 2 PL2
A+ B = ⇒ A= +
2GI 2GI 2 EI

− νPxy 2 Px 3 PL3 Pd 2 PL2

v= − + +( + )( x − L)
2 EI 6 EI 6 EI 2GI 2 EI

PL3 Pd 2 L
End deflection = v x =0 = − −
3EI 2GI

The second term is due to shear deformation.

Example: A hollow cylinder under internal pressure

σrr and σθθ are independent of θ, b

and are functions of r only.

σrθ = 0
a
In polar coordinates,
p
∂2
1 ∂ 1 ∂ 2
∇2 ≡ ( + + 2 )
∂r 2
r ∂r r ∂θ 2

When the stress function is independent of θ, we have

d 2φ 1 dφ
∇ 2φ ≡ ( + )
dr 2 r dr
d 2 1 d d 2φ 1 dφ d 4φ 2 d 3φ 1 d 2φ 1 dφ
and ∇ 2 (∇ 2φ ) = ( 2 + )( 2 + )= 4 + − +
dr r dr dr r dr dr r dr 3 r 2 dr 2 r 3 dr

The general solution for ∇ 2 (∇ 2φ ) = 0 is given by

φ = A ln r + Br 2 ln r + Cr 2 + D

From which,

1 1 A
σ rr = φ,r + φ = 2 + B (1 + 2 ln r ) + 2C
2 ,θθ
r r r
A
σ θθ = φ,rr = − 2 + B (3 + 2 ln r ) + 2C
r
1
σ rθ = −( φ,θ ) ,r = 0
r

For a complete circle under symmetric loading, B=0. Hence,

A A
σr = + 2C and σθ = − + 2C
r2 r2
Apply the boundary traction force conditions

A A
+ 2C = − p and + 2C = 0
a2 b2

A A a 2b2
− = p ⇒ A = p
b2 a 2 a 2 − b2

A a 2b2 1 a2
+ 2C = 0 ⇒ 2C = − p ⇒ 2C = p
b2 a 2 − b2 b2 b2 − a 2

Hence,

a 2b2 p a2 p a2 p b2
σr = + = (1 − ) compressive stress
a 2 − b2 r 2 b2 − a 2 b2 − a 2 r2

a 2b2 p a2 p a2 p b2
σθ = + = (1 + ) tensile stress
b2 − a 2 r 2 b2 − a 2 b2 − a 2 r2

a 2b2 p a2 p b2 + a 2
At the inner surface, r = a, σθ = 2 + = p always > p
b − a 2 a 2 b2 − a 2 b2 − a 2

a 2b2 p a2 p 2a 2
At the outer surface, r = b, σθ = + = p
b2 − a 2 b2 b2 − a 2 b2 − a 2

Exercise:

Find the stresses of a hollow cylinder under external pressure p.