Chapter 5 GENERALIZED HOOKE'S LAW, PRESSURE
VESSELS
5.1 INTRODUCTION
• Shear strains:
o In addition to the normal strain discussed in the previous chapter in connection with axially
loaded bars, in general, a body may also be subjected to shear strains.
o For the purposes of deformation analysis, such strains must be related to the applied shear
stress.
o This topic is discussed in Part A of this chapter.
• General mathematical definitions for normal and shear strains; and generalized Hooke's law:
o In Part B, general mathematical definitions for normal and shear strains are given.
o Then, by employing the method of superposition, the generalized Hooke's law is synthesized,
relating stresses and strains for a three-dimensional state of stress.
• Thin-walled pressure vessels and shells of revolution:
o Next, in Part C, thin-walled pressure vessels and shells of revolution are considered.
o The generalized Hooke's law is employed for the deformation analysis of these important
elements of construction.
• Thick-walled cylinders:
o In the concluding part, Part D, a solution for thick-walled cylinders is developed.
o This illustrates a solution of a typical boundary-value problem in the mathematical theory
of elasticity, and, at the same time, provides bounds on the applicability of the equations
established for thin-walled pressure vessels using engineering solid mechanics.
PART A CONSTITUTIVE RELATIONSHIPS FOR SHEAR
5.2 STRESS-STRAIN RELATIONSHIPS FOR SHEAR
5.2.1 Basic Concepts
• In addition to the normal strains related to the axial strains in bars
discussed in Chapters 3 and 4, a body may be subjected to shear
stresses that cause shear deformations.
• Shear strain:
o Definition of the shear strain:
An example of such deformations is shown in Figure 5-1. The
change in the initial right angle between any two imaginary
planes in a body defines shear strain 𝛾 (gamma).
o Dimensional measuring for the shear strain:
For infinitesimal elements, these small angles are measured in
radians.
o Subscripts for shear strain:
The 𝛾 subscripts shown in Figure 5-1 associate a particular
shear strain with a pair of coordinate axes.
o Transformation of shear strain:
Transformation of shear strain to any other mutually
perpendicular set of planes will be discussed in Section 11-13.
• Relationship between shear strain and shear stress
o For the purposes of deformation analysis, it is essential to
establish a relationship between shear strain and shear stress
based on experiments.
o As will become apparent in the next chapter, such experiments Figure 5-1: Possible shear
are most conveniently performed on thin-walled circular tubes in deformations of an element.
torsion. The elements of such tubes are essentially in a state of pure shear stress.
A relationship between shear strain and shear stress based
on experiments
Experiments are most conveniently performed on thin-
walled circular tubes in torsion.
Mechanics of Materials Chapter 5: Generalized, Hooke's Law, Pressure Vessels
o Illustrations of the conditions prevailing in a tube wall are shown in Figure 5-2. The
corresponding shear strains can be determined from the appropriate geometric
measurements.
o By using experiments with thin-walled tubes, the generated shear stress-strain diagrams, except
for their scale, greatly resemble those usually found for tension specimens.
Figure 5-2: Element in pure shear.
• Shear stresses on mutually perpendicular planes:
o Note that per Section 1-4, the shear stresses on
mutually perpendicular planes are equal; see Figure
5-2(a). This proof can be represented below:
𝑀𝑂 = 0 ↻ +
(𝜏𝑦𝑥 )(𝑑𝑧𝑑𝑥)(𝑑𝑦) − (𝜏𝑥𝑦 )(𝑑𝑦𝑑𝑧)(𝑑𝑥) = 0
𝜏𝑦𝑥 = 𝜏𝑥𝑦 ∎
o Moreover, since in this discussion, the stresses and
strains are limited to a planar case, the subscripts
for both can be omitted; see Figure 5-2(b).
• Further on Sign Convention of Shear Strains: O
o Shear strain in an element is positive when the angle
between two positive faces (or two negative faces) is
reduced.
o The strain is negative when the angle between two positive (or two negative) faces is increased.
o Thus, the strains shown in Figure 5-3b are positive, and we see that positive shear stresses are
accompanied by positive shear strains.
(a) (b)
Figure 5-3: Sign convention for shear stress and shear strain. (a) Positive shear stress, (b) positive shear strain.
• Small Strain Analysis.
o Most engineering design involves applications for which only small deformations are allowed.
In this course, therefore, we will assume that the deformations that take place within a body
are almost infinitesimal.
o For example, the normal strains occurring within the material are very small compared to
1, so that 𝜀 ≪ 1.
o This assumption has wide practical application in engineering, and it is often referred to as a
small strain analysis. It can also be used when an angle, 𝜃, is small, so that:
sin 𝜃 ≈ 𝜃, cos 𝜃 ≈ 1, 𝑎𝑛𝑑 tan 𝜃 ≈ 𝜃
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Mechanics of Materials Chapter 5: Generalized, Hooke's Law, Pressure Vessels
• Shear stress and shear strain diagrams:
o Two 𝜏 − 𝛾 diagrams are shown in Figure 5-4.
o In the idealized diagram of elastic perfectly plastic behavior, Figure 5-4(b), 𝜏𝑦𝑝 and 𝛾𝑦𝑝
designate, respectively, the shear yield stress and the shear yield strain.
o In numerous technical problems, the shear stresses do not exceed the yield strength of the
material.
Figure 5-4: Shear stress-strain diagrams; (a)
typical and (b) idealized for a ductile material.
• Extension of Hooke's law for shear stress and strain
o For most materials in this range of stress, just as for axially loaded bars, a linear relationship
between pure shear stress and the angle 𝛾 it causes can be postulated. Therefore,
mathematically, extension of Hooke's law for shear stress and strain reads:
𝜏 = 𝐺𝛾 Eq. 5-1
where 𝐺 is a constant of proportionality called the shear modulus of elasticity, or the modulus
of rigidity.
o Like 𝐸, 𝐺 is a constant for a given material.
o For emphasis, the relationship given by Eq. 5-1 is shown in Figure 5-5.
Figure 5-5: Linear or Hookean relation between pure shear stress and strain.
Dr. Salah R. Al Zaidee and DR. Rafaa M. Abbas Academic Year 2023-2024 Page 3
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Mechanics of Materials Chapter 5: Generalized, Hooke's Law, Pressure Vessels
5.2.2 Examples and Homeworks
Example 5-1
The rectangular plate is subjected to the deformation shown by the
dashed line. Determine the average shear strain 𝛾𝑥𝑦 in the plate.
Solution
With the definition and sign convention of
the shear strain presented, the shear strain
would be:
3
𝛾𝑥𝑦 ≈ = 0.02 (−𝑣𝑒)∎
150
Example 5-2
The rectangular plate is deformed into the shape of a parallelogram
shown by the dashed line. Determine the average shear strain at corner
𝐴 with respect to the 𝑥 and 𝑦 axes.
Solution
• With refereeing to the
deformed shape below, the
angles 𝛼 and 𝛽 would be:
2
𝛼≈ = 0.005 𝑟𝑎𝑑
400
4
𝛽≈ = 0.0133 𝑟𝑎𝑑
300
• With refereeing to the
definition of the shear strain:
𝛾𝑥𝑦 = 𝛼 − 𝛽 = 0.005
− 0.0133 =
𝛾𝑥𝑦 = −0.0083 ∎
Example 5-3
Determine the shear strain 𝛾𝑥𝑦 at corners 𝐴 and 𝐵 if the
plastic distorts as shown by the dashed lines.
Solution
• Referring to the geometry shown in below, the
small-angle analysis gives:
12 − 5
𝛼≈ = 0.0229 𝑟𝑎𝑑
300 + (8 − 2)
8−3
𝛽≈ = 0.0123 𝑟𝑎𝑑
400 + 12 − 4
2
𝜓≈ = 0.00494
400 + 5
β
Dr. Salah R. Al Zaidee and DR. Rafaa M. Abbas Academic Year 2023-2024 Page 4
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Mechanics of Materials Chapter 5: Generalized, Hooke's Law, Pressure Vessels
• Therefore, the corresponding shear strains would be:
𝛾𝑥𝑦 @ 𝐴 ≈ 𝛼 + 𝜓 = 0.0229 + 0.00494 = 0.02784 𝑟𝑎𝑑
𝛾𝑥𝑦 @ 𝐵 ≈ 𝛼 + 𝛽 = 0.0229 + 0.0123 = + 0.0352 𝑟𝑎𝑑
Example 5-4
The triangular plate is deformed into the shape shown
by the dashed line. Determine the normal strain along
edge 𝐵𝐶 and the average shear strain at corner 𝐴 with
respect to the 𝑥 and 𝑦 axes.
Solution B
• The normal strain along edge 𝐵𝐶 is:
Δ𝐿
𝜀𝐵𝐶 =
𝐿
𝐿𝐵𝐶 = √4002 + 3002 = 500 𝑚𝑚
𝐿𝐵′𝐶 = √(400 + 5)2 + (300 − 3)2
= 502.23 𝑚𝑚
𝐿𝐵′ 𝐶 − 𝐿𝐵𝐶 502.23 − 500
𝜀𝐵𝐶 = =
𝐿𝐵𝐶 500
𝜀𝐵𝐶 = 0.00446 ∎
3
𝛾𝑥𝑦 @ 𝐴 = = 0.00741 𝑟𝑎𝑑 (−𝑣𝑒)∎
400 + 5
Example 5-5
One of the shear mountings for a small piece of vibrating
mechanical equipment has the dimensions shown. The 8-mm-
thick pad of Grade 50 rubber1 has 𝐺 = 0.64 𝑀𝑃𝑎. Determine
the shear spring constant 𝑘𝑠 for this mounting. Neglect the
stiffness of the outer metal plates to which the rubber is
bonded.
Solution
• Here:
Δ
𝛾≈
𝑡
hence from Eq. 5-1,
Δ
𝜏 = 𝐺𝛾 = 𝐺 ( )
𝑡
• Further,
𝐹 𝐹 Δ
𝜏= ⟹ =𝐺 ( )
𝐴 𝐴 𝑡
• Therefore,
𝐹 𝐺𝐴 (0.64 × (40 × 20)) 𝑁
𝑘𝑠 = = = = 64 ∎
𝐷𝑒𝑙𝑡𝑎 𝑡 8 𝑚𝑚
• This solution neglects small local effects at the ends since no shear stresses act at the two
boundaries.
Example 5-6
Redesign the shear mounting in the previous example to retain the same shear spring constant 𝑘𝑠 but
changing its dimensions to a square pad with 10-mm-thick rubber.
Solution
• Since, the spring stiffness, 𝑘𝑠 , is:
𝐹 𝐺𝐴
𝑘𝑠 = =
𝐷𝑒𝑙𝑡𝑎 𝑡
• Therefore, the required plan area to to retain the same shear spring constant 𝑘𝑠 would be:
1
P. B. Lindley, Engineering Design with Natural Rubber (Hertford, England: Malaysian Rubber Producers' Research
Association, 1978).
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Mechanics of Materials Chapter 5: Generalized, Hooke's Law, Pressure Vessels
𝑘𝑠 𝑡 64 × 10
𝐴= = = 1000 𝑚𝑚2
𝐺 0.64
Example 5-7
Determine the spring constant 𝑘𝑠 for a shear pad made
from polyurethane elastomer 20 mm square and 6 mm
thick. The material constants are 𝐺 = 10 𝑘𝑃𝑎 and
𝛾 = 0.50. t= 6 mm
Solution
• Since, the spring stiffness, 𝑘𝑠 , is:
𝐹 𝐺𝐴
𝑘𝑠 = = a= 20 20
mm
𝐷𝑒𝑙𝑡𝑎 𝑡
• Therefore:
10
× (20 × 20) 𝑁
𝑘𝑠 = 1000 = 0.667
6 𝑚𝑚
Homework 5-1
Nylon strips are fused to glass plates. When moderately
heated the nylon will become soft while the glass stays
approximately rigid. Determine the average shear
strain in the nylon due to the load P when the assembly
deforms as indicated.
Ans.
𝛾𝑢𝑝𝑝𝑒𝑟 𝑙𝑎𝑦𝑒𝑟 ≈ 0.2 𝑟𝑎𝑑 (−𝑣𝑒)
𝛾𝑙𝑜𝑤𝑒𝑟 𝑙𝑎𝑦𝑒𝑟 ≈ 0.2 𝑟𝑎𝑑 (−𝑣𝑒)
Solution
• The shear strain for the upper layer:
Δ 2−1
𝛾𝑢𝑝𝑝𝑒𝑟 𝑙𝑎𝑦𝑒𝑟 ≈ = = 0.2 𝑟𝑎𝑑 (−𝑣𝑒)
𝑡 5
• The shear strain for the lower layer:
Δ 1−0
𝛾𝑙𝑜𝑤𝑒𝑟 𝑙𝑎𝑦𝑒𝑟 ≈ = = 0.2 𝑟𝑎𝑑 (−𝑣𝑒)
𝑡 5
Homework 5-2
An elastomeric bearing pad consisting of two
steel plates bonded to a chloroprene elastomer
(an artificial rubber) is subjected to a shear
force 𝑉 during a static loading test (see figure).
The pad has dimensions 𝑎 = 125 𝑚𝑚 and
𝑏 = 240 𝑚𝑚, and the elastomer has thickness
𝑡 = 50 𝑚𝑚. When the force 𝑉 equals 12 𝑘𝑁,
the top plate is found to have displaced laterally
8.0 𝑚𝑚 with respect to the bottom plate. What
is the shear modulus of elasticity 𝐺 of the
chloroprene? Answers 𝐺 = 2.5 𝑀𝑃𝑎
Solution
• The average shear stress is:
𝑉 12 × 103
𝜏= = = 0.4 𝑀𝑃𝑎
𝐴 125 × 240
• The shear strain is:
Δ 8
𝛾≈ = = 0.16 𝑟𝑎𝑑
𝑡 50
• The shear modulus 𝐺 is:
𝜏 0.4
𝐺= = = 2.5 𝑀𝑃𝑎
𝛾 0.16
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Mechanics of Materials Chapter 5: Generalized, Hooke's Law, Pressure Vessels
Homework 5-3
A joint between two concrete slabs A and B is filled with a flexible epoxy that bonds securely to the
concrete (see figure). The height of the joint is ℎ = 100 𝑚𝑚, its length is 𝐿 = 1.0 𝑚, and its thickness
is 𝑡 = 12 𝑚𝑚. Under the action of shear forces 𝑉, the slabs displace vertically through the distance
𝑑 = 0.048 𝑚𝑚 relative to each other. (a) What is the average shear strain 𝛾𝑎𝑣𝑔 in the epoxy? (b) What
is the magnitude of the forces 𝑉 if the shear modulus of elasticity 𝐺 for the epoxy is 960 𝑀𝑃𝑎?
Answer
𝛾𝑎𝑣𝑔 = 0.004 𝑟𝑎𝑑
𝑉 = 384 𝑘𝑁
Solution
• The average shear strain is:
𝑑 0.048
𝛾𝑎𝑣𝑔 = = = 0.004 𝑟𝑎𝑑
𝑡 12
• The average shear stress is:
𝜏𝑎𝑣𝑔 = 𝐺𝛾𝑎𝑣𝑔 = 960 × 0.004 = 3.84 𝑀𝑃𝑎
• The shear force is:
𝑉 3.84 × (1000 × 100)
𝜏𝑎𝑣𝑔 = ⟹ 𝑉 = 𝜏𝑎𝑣𝑔 × 𝐴 = = 384 𝑘𝑁
𝐴 1000
Homework 5-4
A flexible connection consisting of rubber pads (thickness 𝑡 = 9 𝑚𝑚) bonded to steel plates is shown
in the figure. The pads are 160 mm long and 80 mm wide. (a) Find the average shear strain 𝛾𝑎𝑣𝑔 in the
rubber if the force 𝑃 = 16 𝑘𝑁 and the shear modulus for the rubber is 𝐺 = 1250 𝑘𝑃𝑎. (b) Find the
relative horizontal displacement 𝛿 between the interior plate and the outer plates.
Answer
𝛾𝑎𝑣𝑔 = 0.0005 𝑟𝑎𝑑
𝛾𝑎𝑣𝑔 = 0.0045 𝑚𝑚
Solution
• The average shear stress is:
𝑃
𝑃 16 × 1000
𝜏𝑎𝑣𝑔 = 𝑜𝑟 2 = = 0.625 𝑀𝑃𝑎
2𝐴 𝐴 2 × 80 × 160
• The average shear strain:
𝜏𝑎𝑣𝑔 0.625
𝛾𝑎𝑣𝑔 = = = 0.5 𝑟𝑎𝑑
𝐺 1250
(1000)
• The relative horizontal displacement 𝛿 between the interior plate and the outer plates:
𝛿
𝛾𝑎𝑣𝑔 = ⟹ 𝛿 = 𝛾𝑎𝑣𝑔 𝑡 = 0.5 × 9 = 4.5 𝑚𝑚
𝑡
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