Chapter 4

Elasticity & constitutive equations

4.1 The constitutive equations

• The constitutive equations determine the stress τij in the body as function of the body’s deforma-
tion.
Definition: A solid body is called elastic if
τij (xn , t) = τij (ekl (xn , t)). (4.1)
i.e. if the stress depends on the instantaneous, local values of the strain only.
• For small strains, a Taylor expansion of (4.1) gives:

∂τij 
τij = τij |e =0 + ekl . (4.2)
| {zkl } ∂ekl ekl =0
| {z }
Initial Stress τij0 Eijkl

• If the reference configuration coincides with a stress free state, then τij0 = 0 and we obtain Hooke’s
law:
τij = Eijkl ekl . (4.3)
Definition: A solid body is called homogeneous if Eijkl is independent of xi .
Definition: A solid body is called isotropic if its elastic properties are the same in all directions.
• For an isotropic homogeneous elastic solid:
Eijkl = λδij δkl + 2µδik δjl , (4.4)
where λ and µ are the Lamé constants.
• Stress-strain relationship for an isotropic homogeneous elastic solid:
τij = λδij ekk +2µeij , (4.5)
|{z}
=d

and in the inverse form:  

1 λ
eij = δik δjl − δij δkl τkl (4.6)
2µ (3λ + 2µ)
| {z }
Dijkl

so that
eij = Dijkl τkl . (4.7)
Written out:
1 λ
eij = τij − δij τkk (4.8)
2µ 2µ(3λ + 2µ) |{z}
=θ

9
MT30271 Elasticity: Elasticity & constitutive equations 10

• For an isotropic homogeneous elastic solid the principal axes of the stress and strain tensors coincide
and
θ = τkk = (3λ + 2µ)d = (3λ + 2µ)ekk (4.9)

4.2 Experimental determination of elastic constants

I. Simple Extension II. Simple Shear

T
D
D+∆D
τ
x2
L L+∆L γ



























x3 




























































































x1
T

Figure 4.1: Sketch illustrating the two fundamental experiments for the determination of the elastic
constants.

4.2.1 Experiment I: Simple extension of a thin cylinder

• Observations:
∆L
T = EA (4.10)
L
i.e.
τ33 = Ee33 (4.11)
(since e33 = ∆L/L) and
e11 e22
= = −ν (4.12)
e33 e33
where e11 = e22 = ∆D/D.
• E and ν are Young’s modulus and Poisson’s ration, respectively.

4.2.2 Experiment II: Simple shear

• Observation:
τ = Gγ (4.13)
i.e.
τ12 = G 2e12 . (4.14)
• G is the material’s shear modulus.

4.2.3 Constitutive equations in terms of E and ν

 
E  ν
τij = eij + δij ekk  . (4.15)
1+ν 1 − 2ν |{z}
d

• Note that materials with ν = 1/2 are incompressible, i.e. d ≡ 0.

 
1 
eij = (1 + ν)τij − νδij τkk  . (4.16)
E |{z}
θ
MT30271 Elasticity: Elasticity & constitutive equations 11

4.3 Relations between the elastic constants

λ= µ=G= E= ν=
µ(3λ+2µ) λ
λ, µ λ µ λ+µ 2(λ+µ)
λ(1−2ν) (1+ν)(1−2ν)λ
λ, ν λ 2ν ν
ν
µ(E−2µ) E−2µ
µ, E 3µ−E µ E 2µ
Eν E
E, ν (1+ν)(1−2ν) 2(1+ν) E ν