ME 603: Applied Elasticity and Plasticity

Differential Equation and Compatibility

Prof. S.K.Sahoo
 EQUILIBRIUM AND COMPATIBILITY
• EQUILIBRIUM AND COMPATIBILITY
– Equilibrium equations - set the externally applied loads
equal to the sum of the internal element forces at all joints
or node points of a structural system;
– The exact solution for a problem in solid mechanics requires
that the differential equations of equilibrium for all
infinitesimal elements within the solid must be satisfied.
– For continuous solids - strains are defined as displacements
per unit length. To calculate absolute displacements at a
point, we must integrate the strains with respect to a fixed
boundary condition. A solution is compatible if the
displacement at all points is not a function of the path.
Therefore, a displacement compatible solution involves the
existence of a uniquely defined displacement field.
Body and Surface Forces Traction and Stress
Body Forces: per unit volume
P3
P2

Cantilever Beam Under Self-Weight Loading

p

P1
(Externally Loaded Body)

Surface Forces: per unit area F

n
A

S
Sectioned Axially Loaded Beam
(Sectioned Body)
 EXTERNAL FORCES ACTING ON THE BODY

Two basic types of external forces act on a body

1. Body force (force per unit volume) e.g., weight, inertia, magnetic, etc
2. Surface traction (force per unit surface area) e.g., friction, load

• Equilibrium requirements – forces and moments

For a finite size element or joint a substructure or complete structural
system the following six equilibrium equations must be satisfied
F x  0, M x  0,

F y  0, M y  0,

F z  0, M z  0.
• Compatibility requirements
Six components strain ( xx ,  yy ,  zz ,  xy ,  yz ,  zx ) are function of three
displacement components (u, v , w). So these six components can not
be independent to each other. The compatibility equations relate
these six components of strains.
 Static equilibrium equations
• Consider stresses on an infinitesimal element
 yy
 yy  dy
y y

 yx
 yx  dy
y
 yz
 yz 
y
dy
zz  xy 
 xy
dx
x
 xz  zx  xx 
 xx
dx
x
xx  zy 
 zy
dz  zy
z
 xy  xz 
 xz
dx x
 zx x
dy  zx 
z
dz
 yz
 zz 
 zz
z
dz  yx Differential stresses acting
dx on an elemental cube
z yy shown in positive direction
 • Making Equilibrium of forces in x direction
including the body forces :  Fx  0
 xx  yx
( xx  dx)dydz   xx dydz  ( yx  dy )dxdz   yx dxdz 
x y
 zx
( zx  dz )dxdy   zx dxdy  Xdxdydz  0
z
X= component of body forces in x-direction
Where,
Y= component of body forces in y-direction
Z= component of body forces in z-direction
 xx  yx  zx
It gives,   X 0
x y z
Similarly,  xy  yy  zy
  Y  0
F y  0, x y z

Fz  0,  xz  yz  zz
x

y

z
Z 0
Summarizing:
Static differential equilibrium equations are:
 xx  yx  zx
  X 0
x y z X= component of body forces in x-direction
 xy  yy  zy Y= component of body forces in y-direction
  Y  0
x y z Z= component of body forces in z-direction

 xz  yz  zz
  Z 0
x y z
Similarly, dynamic equilibrium equations are:
 xx  yx  zx Where,  =mass density
   X  u
x y z ü = acceleration in x-direction

 xy  yy  zy v = acceleration in y-direction

   Y  v w
 = acceleration in z-direction
x y z
 xz  yz  zz These THREE equations are not sufficient to
   Z  w
 solve for SIX unknown stress components.
x y z
So, strain equations are to be used.
Boundary conditions and surface traction
At boundary/surface the internal stress should satisfy/in equilibrium with
the external surface forces/traction. So external surface/traction forces
may be treated as continuation of the internal stress distribution.
2D X  l xx  m yx
Tx , Ty , Tz also used in place of
X ,Y , Z Y  l xy  m yy
Volume Y
Y F
element 3D
X
Z
X  l xx  m yx  n zx
X
Z
v Y  l xy  m yy  n zy
Volume (V) Area
u element Z   xz  m yz  n zz
w
y X = component of surface forces in x-direction
Y = component of surface forces in y-direction
Z = component of surface forces in z-direction
x
z Where, l, m and n are the direction cosine of the normal
to the boundary/surface of interest, ie, cosine of angle
made by normal with x,y,z axes respectively.
 Basic Boundary Conditions
  Traction force in tan gential direction
r  R R  Traction force in radial direction
y Y  r  
 yx  X

x  r
y r
 xy  Y  r  R
y x  X
  
x

(Cartesian Coordinate Boundaries) (Polar Coordinate Boundaries)

n = unit Y  l xy  m yy  Fy ( x, y )
normal vector
X  l xx  m yx  Fx ( x, y )
Where, l and m are the
y
direction cosine of the
normal to the surface of x
interest.
 Boundary Condition Examples

Fixed Condition
y Traction Condition
u=v=0 Traction Condition
X   x  S , Y   xy  0
X   xy  0, Y   y  S
S
x
b S
X 0

Y 0 y
a
x Fixed Condition
X   xy  0, Y   y  0
u=v=0
Traction Free Condition Traction Free Condition
Boundary Condition Examples….
Symmetry Boundary Conditions

Rigid-Smooth
Symmetry Line Boundary Condition
u0
Y 0
y

x
 u
• Strain-displacement equations dy
y C’
u, v and w are velocity components in y
D’
v
x,y z- directions respectively. v dy
y D
The strains can be calculated from the C
2 B’
fundamental principles of strains. u v
dy A’ dx
1
v x

In 2D A dx B
x
  u   u
 dx   u  dx   u   dx u dx
A' B'  AB   x  u
x      x
AB dx x
  v  
 dy   v  dy   v   dy
A' C'  AC  y v
 
y     
AC dy y
π
 xy   angle (C' A' B' )  β 1  β 2  tan β 1  tan β 2
2
v u
 
x y
• Strain-displacement equations…..
If the small displacement fields u, v and w are specified,
The consistent strains can be calculated directly from the following well-
known strain-displacement equations
u v w
x  , y  , z 
x y z
v w u v u w
 yz   ,  xy   ,  zx  
z y y x z x
• Definition of rotation
Rotation of a horizontal line may be different from the rotation of a vertical
line - following mathematical equations are used to define rotation of the
three axes 1  v w 
 x    ,
2  z y 
1  w u 
 y    ,
2  x z 
1  u v 
 z    .
2  y x 
• Compatibility Equations

Differentiating the strain relations εxx, εyy and εxy twice wrt y, x and x &y respectively.
u v u v
 xx  ,  yy  ,  xy   Here, εxy is total shear strain
x y y x
 2 xx  3u  2 yy  3v  2 xy  3v  3u
2
 2
,  2 ,  2  .
y xy x 2 x y xy x y xy 2

On substitution it gives:  2 xy 2 xx   yy

2

 2

xy y x 2

Similarly, we have:  2 yz 2 zz   yy

2

 2

yz y z 2

 2 zx  2 xx  2 zz
 2

zx z x 2

These are called the first set of compatibility equations

Differentiating the strain relations εxy, εyz and εzx twice wrt x & z, x and x &y
respectively.

 2 xy
 3v  3u  2 yz  3w  3v  2 zx  3u  3w
 2   2  2   2
xz x z xyz x 2 x y x z xy xyz x y
Subtracting second from first one and adding third, we will get:
 2 xy  2 yz  2 zx  3u
  2
xz x 2 xy xyz
Differentiating the strain relations εxx twice wrt y & z respectively.  2
  3
u
xx

yz xyz
(
  xx   xy  yz  zx
)
2
On substitution it gives:
2   
yz x z x y

Similarly, we have: 2
 2 yy

zx y x

y
 (
  yz  zx  xy
z
)
2
xy z y

z
(
 2 zz   zx  xy  yz
 
x
)
These are the second set of compatibility equations
 Compatibility Equations in stress terms: 2D (Plane stress)
Differential equilibrium equations are:
 xx  yx  xy  yy
 X 0  Y  0
x y x y
 2 xx   yy   xy
2 2
Compatibility equation is:   0
2 2
y x xy
Stress-strain relationship are:  xx 
1
E
  1
 
 xx  ( yy ) ,  yy   yy  ( xx ) ,
E
2(1  ) 1
 xy   xy   xy
E G
Putting the values of strains in stress terms in compatibility equation:

 2 xx  2 yy  2 yy  2 xx  2 xy
2
 2
 2
 2
 2(1   ) 0
y y x x xy
simplifying, compatibility equation in stress terms is :

 2 xx   yy  2 xy
(
 2 xx   yy  2 xy
)0
2 2

2
 2
2  2
 2
2
y x xy x y xy
 Solution of Elasticity problem: 2D (Plane stress)
Differential equilibrium equations & compatibility are:
 xx  yx  xy  yy
 X 0  Y  0
x y x y
Differentiating first equation wrt x & second one wrt y and adding:
 2 xx   xy X  2 xy  2 yy Y
2

2
  0  2
 0
x xy x xy y y
 2 xx   yy  2 xy
( )
2
X Y
2
 2
2  
x y xy x y
Putting it in compatibility equation for plane stress,
 2 yy  2 xx
2
 2
x
 2
 2 xy
 
y
X Y
 0
xy
( x y
)
 2 yy  2 xy
( ) (
 2 xx   yy
) (
 2 xx   yy
)0
2 2
 2 xx X Y
2
 2
2    2
 2
 2

x y xy x y x y x y 2

2
 2 xy
xy

X Y

x y
( )
Simplifying,

(  2 xx   yy
) ( 2 yy  2 xx
) ( ) ( )0
2
X Y X Y
2
 2
 2
 2
   
x y x y x y x y

It gives,
( 2
x 2
2
)
 2 ( xx   yy )  (1   )
y
X Y

x y
( )
 X Y 
 2 ( xx   yy )  (1  )  
 x y 

 2 2 
where,    2  2 
2

 x y 
 del operator

If body force is constant / negligible / vanishes

( 2
x 2
2
)
 2 ( xx   yy )  0
y
 Compatibility Equations in stress terms: 2D (Plane strain)
Differential equilibrium equations are:
 xx  yx  xy  yy
 X 0  Y  0
x y x y
 2 xx   yy   xy
2 2
Compatibility equation is:   0
2 2
y x xy
1  1 
Stress-strain relationship are:  xx 
E
(1   ) xx  yy ,  
yy 
E

(1  ) yy  xx 
2(1   ) 1
 xy   xy   xy
Putting the values of strains in stress terms in compatibility E G
equations:

 2 xx  2 yy  2 yy  2 xx  2 xy
2
(1  )  2
 (1  ) 2
 2
2 0
y y x x xy

simplifying, compatibility equation in stress terms is :

 2 xx   yy  2 xy
(
 2 xx   yy  2 yy  2 xx
)0
2 2

2
 2
2  2
 2
 2

y x xy x y x y 2
 Solution of Elasticity problem: 2D (Plane strain)
Differential equilibrium equations & compatibility are:
 xx  yx  xy  yy
 X 0  Y  0
x y x y
Differentiating first equation wrt x & second one wrt y and adding:
 2 xx   xy X  2 xy  2 yy Y
2

2
  0  2
 0
x xy x xy y y
 2 xx   yy  2 xy
( )
2
X Y
2
 2
2  
x y xy x y
Putting it in compatibility equation for plane strain,

 2 yy  2σ xy
(
 2 xx   yy  2 xx   yy
)0
2 2
 2 xx
 2    
x 2
y 2
xy x 2
y 2
y 2
x 2

 2 xx   yy
( )
2
X Y
2
 2
 
x y x y
Simplifying,
 2 xx   yy   yy  2 xx
( ) (
 2 xx   yy   yy  2 xx
)0
2 2 2 2
X Y
2
 2
 2
 2
   2
 2
 2

x y x y x y x y x y 2

(
 2 xx   yy  2 xx   yy
) ( )
2 2
X Y
It gives, (1  ) 2
 2
 2
  
y x x y 2 x y

(
(1  )
2
x 2
2
)
 2 ( xx   yy )  
y
X Y

x y
( )
( 2
x 2
2
)
 2 ( xx   yy )  
y
1 X Y

(1  ) x y
( )
where,  2 ( xx   yy )  
1  X Y 
  
 2 2  (1  )  x y 
   2  2 
2

 x y 
 del operator
If body force is constant / negligible / vanishes
( 2
x 2
2
)
 2 ( xx   yy )  0
y
 Summary
When body force is absent: 1. Stress distribution is same for plane stress and
plane strain situation (thick or thin component).
2. Stress distribution doesn’t depend on
material constants, ie, E or .
 2 2 
 2  2 ( xx   yy )  0
 x y 
3. Solution of plain problems require to
satisfy followings: X  l xx  m yx
4. Application:
Y  l xy  m yy
Photoelastic stress measurement

Indirect tension and compression

test or to know stress distribution in
complex body by multi axial loading
on a brittle materials such as
concrete, asphalt, hard metals, rock,
and ceramics can be estimated.

A model or prototype of actual body using photoelastic material is prepared.

Providing actual loading situations, stress distribution can be viewed and
estimated using specified lighting condition.
 Comparisons Between Plane Problems
Plane Strain Plane Stress

  u v  E   u v 
G 2u  (  G )    X  0 G 2u     X  0
x  x y  2(1  ) x  x y 
  u v  E   u v 
G 2v  (  G )    Y  0 G 2v      Y  0
y  x y  2(1  ) y  x y 

 xx  xy  xx  xy
 X 0  X 0
x y x y
 xy  y  xy  y
 Y  0  Y  0
x y x y
1  X Y   X Y 
 2 ( xx   yy )       2 ( xx   yy )  (1  )  
1   x y   x y 

 2 2 
   2  2 
2
where,  x y 
 del operator
Elastic Moduli Transformation Relations for Conversion
Between Plane Stress and Plane Strain Problems

Plane Strain Plane Stress

E v

Plane Stress to Plane Strain

E 
1  2 1 
E (1  2) 
Plane Strain to Plane Stress
(1  ) 2 1 

Therefore the solution to one plane problem also yields the solution
to the other plane problem through this simple transformation
Example: Compute the displacement field (i.e., y

displacement components u(x,y) and v(x,y))

within the block.  x  2 xy 2

2 1
The square block is in plane  y  3xy 2
strain and is subjected to the 2

following strains  xy  x 2  y 3 3 4
x
Answer
u v u v
We know,  x   2 xy  (1),  y   3xy  (2),  xy 
2
  x 2  y 3  (3)
x y y x
Integrating (1) and (2)
u ( x, y )  x 2 y  C1 ( y ) (4) Arbitrary function of ‘y’

v( x, y )  xy 3  C2 ( x) (5) Arbitrary function of ‘x’

Putting expressions (4) and (5) in equation (3)

 xy 
  
 x 2 y  C1 ( y )  xy 3  C2 ( x)


 x2  y3
y x
C ( y ) C ( x)
x2  1  y3  2  x2  y3
y x
C ( y ) C2 ( x)
 1  0
y x
 It gives,

C1 ( y ) C ( x)
 2  C (a constant)
y x
Integrating C1 ( y )  Cy  D1 D1 and D2 are two constants of integration
C2 ( x)  Cx  D2
u ( x, y )  x 2 y  Cy  D1 4
Putting it in equations (4) and (5)
v( x, y )  xy 3  Cx  D2 (5)

Values of C, D1 and D2 !!! From boundary conditions y

For three unknowns we require three boundary conditions

Boundary conditions are: u (0,0)  0, v(0,0)  0, v(2,0)  0 2

2 1

It gives C  0, D1  0, D2  0 2

3 4
x

Final displacement equations are:

u ( x, y )  x 2 y
v( x, y )  xy 3
Example : Determine the components of strain for the following displacement field
u  Axz , v  B( x 2  y 2 ) , w  Cxy , where A, B, C are constants.

Answer: Here, εxy ,εyz ,εzx are tensor shear strain terms
u v w 1  u v  1
x   Az ,  y   2 By ,  z   0 ,  xy      0  2 Bx   Bx
x y z 2  y x  2
1  v w  1 1 1  w u  1
 yz      0  Cx   Cx ,  zx      Cy  Ax 
2  z y  2 2 2  x z  2

Example : Check to see if the following strain field satisfies the two - dimensional
compatibility equation.  x  Ay 3 ,  y  Ax3 ,  xy  Bxy( x  y )
Answer : In compatibility equation, εxy is total shear strain
 2 x   y   xy
2 2

2
 2   6 Ay  6 Ax  B(2 x  2 y )
y x xy
1
 6 A  2B  A  B
3
1
 only satisfies equation with A  B
3
 Example : The displacement field in a solid body is given by
  
D  3 x 2 z  60 x i  5 z 2  20 xy j  6 z 2  2 xyz k 10 3 mm   
Evaluate the components of strain tensor at a point P whose coordinates are (3, 4, 0.5) mm.
Also, determine the principal strains and the principal axes. Show that the strain tensor reduces
to diagonal form if evaluated with respect to the principal axes.
Answer: From the given displacement field, the components of displacements are

  
u  3 x 2 z  60 x  10 3 mm v  5 z 2  20 xy  10 3 mm   
w  6 z 2  2 xyz 10 3 mm

The strain components are obtained using the strain-displacement relations;

u v
x   6 xz  60   10 3  6  3  0.5  60   10 3  6.9  10  2 y   20 x   10 3  6  10  2
x y
w
 12 z  2 xy   10 3  6  24   10 3  3  10  2 u v
z 
z  xy   yx    0  20 y   10 3  8  10  2
y x
u w
 yz   zy 
v w
  10 z  2 xz   10 3  0.8  10  2  zx   xz  
z x
 
 3 x 2  2 yz  10 3  3.1  10  2
z y

The above strain components can be combined to obtain the complete strain tensor as
   xy  xz 
  xx  xy   xz  
     6.9 4 1.55
 
    yx  yx  yy  yz  yz  10 2   4 6 0.4  10  2
   
  zx  zy  1.55 0.4 3 
 zx   zy   zz 
   
The strain invariants are calculated as follows;

J 1  6.9  6  3  10 2  0.159,

 6.9 4 6 0.4 6.9 1.55 

J 2      104  2.54103 1.784103 1.82975103

 4 6 0.4 3 1.55 3 
6.9 4 1.55
 6.15375103
J3  4 6 0.4  10 6  6.5641  10 5
The characteristic equation is 1.55 0.4 3

3  0.1592  6.15375  10 3   6.5641  10 5  0

After solving this equation we get;

3   III  10.74  10 2
2   II  3.320 10 2 1   I  1.84110 2
Principal plane direction cosines are: n1   0.5951 0.3046 0.7437,
n 2  0.5128  0.5687 0.6432 n 3  0.6188 0.7641 0.1822
Example: What should be the relations among the constants A to H so
that the following represents a possible state of two-dimensional
strains?  x  A  B x  y   x  y 
2 2 4 4  y  C  D x 2
 y 2
  x 4
 y 4

 xy  F  Gxyx 2  y 2  H 
Answer
The compatibility condition that should be satisfied in this case i.e.
 2 x   y   xy
2 2

2
 2 
y x xy
Substituting the values of the strain
components from the above, we get;


2 B  12 y 2  2 D  12 x 2  G 3 x 2  3 y 2  H 
Equating coefficients of like terms, we obtain the following relations
2 B  2 D  GH
3G  12  G  4

Hence , G4
B  D  2H
Example: The following are the components of the strain tensor in the
case of a plane strain problem.  x  a x 2  y 2   y  ay 2  xy  2axy
If a is a constant, show that it represents a possible (admissible) state of strain.
Ans. The compatibility conditions which are to be satisfied are given by
 2
  2
  2
 xy
 y
2 y
Taking left hand side;   x 
2 x
 
2 2
 2a  0  2a y 2
x 2
xy
y x
So, it is a admissible state of strain. It can
 2 xy
And the right hand side;  2a further be verified that the given state of
xy strain satisfies all the other compatibility
conditions (second set) as well.
Example: Show that the following does not represent a possible state of strain(the
components not shown are all zero):  x  az x  y   y  ay 2 z
2 2
 xy  2axyz
Both side of the compatibility equation are equal to 2az. But not a admissible field!!
Note that though the above corresponds to a plane state of strain (as the order strain
components are zero), the strain components are function of z. Here one equation is
not satisfied i.e.  2 x    yz  zx  xy 
2      
xz x  x y z 

Hence, it does not correspond to an admissible strain field.