L1/1

KUL-49.4250 MODELS FOR BEAM, PLATE

AND SHELL STRUCTURES
Spring-2012

https://noppa.tkk.fi/noppa/kurssi/kul-49.4250/etusivu
L1/2

BAR



A thin body in 2 directions.
L1/3

STRING



A thin body in 2 directions. Curved version of the bar model!
teachers.sduhsd.k12.ca.us/.../GatewayArch.jpg www.math.udel.edu/.../Chain/Demo%20015.jpg
L1/4

STRING MODEL: THE CURVATURE EFFECT














L1/5

MEMBRANE



A thin body in one direction. Membrane is a curved version of a thin slab!
L1/6

CURVED BEAM



A thin body in two directions. Curved version of the beam model.
L1/7

SHELL


Para


A thin body in one direction. Curved version of the plate model.

www.modot.org/newsroom/images/Planetarium.JPG
www.scottspeck.com/.../north_point/DSCN3526a.jpg
L1/8

LEARNING OUTCOMES OF THE COURSE


Student is able to represent the scalar, vector and dyad (tensor) quantities and operators
of continuum mechanics in Cartesian and non-Cartesian coordinate systems,

knows the kinematic and kinetic assumptions of the beam, plate, and shell models,

is able to derive boundary value problems for beams, plates, and shells by using the
principle of virtual work, and

is able to solve the boundary value problems in simple cases either analytically or
approximately with a continuous approximation and the principle of virtual work.

Prerequisites are Kul-49.3200 Mechanics of Materials II, linear algebra and boundary
value problems.
L1/9

LECTURE 1/11 : COORDINATE SYSTEMS


1 Quantities of mechanics: scalars, vectors, tensors

2 Dyad and tensor algebra

3 Orthogonal curvilinear material coordinates



L1/10

LEARNING OUTCOMES

Student knows the summation convention, the basic concepts of index notation, and
the meanings of the delta and permutation symbols,

is able to represent the directed quantities (vectors and dyads) of continuum
mechanics by using the index notation and manipulate and simplify expressions, and

knows how to derive the basis vector derivatives of polar, cylindrical, spherical and
intrinsic coordinate systems.


L1/11

QUANTITIES OF MECHANICS

The common quantities of mechanics can be classified into scalars a magnitude, vectors
a

magnitude & direction and dyads a

magnitude & direction & direction.

Scalar a

Vector
x y y X Y Z
a a i a j a k a I a J a K = + + = + +

Dyad
xx xy zy zz XX XY ZY ZZ
a a ii a ij a kj a kk a II a IJ a KJ a KK = + + + + = + + + +

Quantities are invariant with respect to coordinate system, but components depend on the
basis!
component
base vector





L1/12

FUNDAMENTAL AND DERIVED QUANTITIES

Fundamental quantities are chosen to be length L [m], mass m [kg] and force F [N] (time
is not important in Kul-49.4250). Derived quantities have definitions in terms of the
fundamental quantities

Density: / m V = A A

3
[ ] kgm

=

Position vector: r xi yj zk = + +

[ ] m r =

Cauchy stress:
{ }
xx xy xz
yx yy yz
zx zy zz
i
i j k j
k
o o o
o o o o
o o o
(

(


(
=
`
(

(

)

/ F A o = A A
2
[ ] Nm o

=

L1/13

COMPONENT REPRESENTATION

A square matrix can be taken as the component representation of a dyad and a column or
row matrix that of a vector. The component notation is convenient in a Cartesian
coordinate system.

Invariant
{ } { }
x
x y z y
z
i a
a a a a j i j k a
k a





= =
` `


)
)

&
{ }
xx xy xz
yx yy yz
zx zy zz
a a a i
a i j k a a a j
a a a k
(

(


(
=
`
(

(

)

Component
x
y
z
a
a
a



=
`


)
a &
xx xy xz
yx yy yz
zx zy zz
a a a
a a a
a a a
(
(
(
=
(
(

a
first index row
second index column
L1/14

SUMMATION CONVENTION

A once repeated (dummy) index in a term means summation over all the values of the
index set I . The index set depends on the setting (usually implicit). A non-repeated (free)
index takes all the values of the index set.

Position:
i i x x y y z z
r r e r e r e r e = = + +

( { , , } I x y z = )

Stress:
ij i j xx x x xy x y yz y z zz z z
e e e e e e e e e e o o o o o o = = + + + +



Elastic material:
ijkl i j k l xxxx x x x x xxxy x x x y zzzz z z z z
E E e e e e E e e e e E e e e e E e e e e = = + + +

The order of the basis vectors is important (vector product is not commutative)!

in the order of indices!
index set
L1/15

IMPORTANT DEFINITIONS

Summation convention:
1 1 2 2 i I i i i i n n
a b a b a b a b a b
e
= = + + +
Comma notation:
,
/
i j i j
a x a c c
Delta symbol: {0,1}
ij i j
e e o e

(
i j ij
e e o =

)
Permutation symbol: ( ) { 1, 0,1}
ijk i j k
e e e c e

(
i j ijk k
e e e c =

)
Identity (c o ):
ijk imn jm kn jn km
c c o o o o =
Determinant: Det( )
ijk lmn il jm kn
a a a c c = a
Sign of
ijk
c changes in each permutation of the indices. The definitions are useful in a
Cartesian coordinate system and in a curvilinear orthogonal system!
L1/16

RULES TO BE REMEMBERED

A once repeated (dummy) index in a term means summation over all the values of the
index set I (summation convention). A dummy index can be changed to some other
symbol not already appearing in the term.

A non-repeated (free) index takes all the values of the index set.

Index set may depend on the problem dimension and it is not necessarily repeated in
every occasion of the use.

Never use the same dummy symbol in the sums of a term.

A delta symbol eats indices

L1/17

EXAMPLE (J.N.Reddy 1.1). Prove the following properties of
ij
o and
ijk
c (assume that
{1, 2, 3} I = ) (a) 3
ij ij
o o = (b) 6
ijk jki
c c = , (c) 0
ijk ij
F c = whenever
ij ji
F F =


- Definition of delta-symbol 1
ij
o = when i j = and 0
ij
o = whenever i j = :

11 22 33
3
ij ij ii
o o o o o o = = + + =

- Identity (c o )
ijk imn jm kn jn km
c c o o o o = gives

( ) ( ) (3 9) 6
ijk jki ijk ikj jk kj jj kk jj jj kk
c c c c o o o o o o o = = = = =

- Identity 2a a a = + and property
ijk jik
c c = give

1 1 1
( ) ( ) ( ) 0
2 2 2
ijk ij ijk ij jik ji ijk ij ijk ji ijk ij ji
F F F F F F F c c c c c c = + = = =
L1/18

INDEX REPRESENTATION

Index notation is very useful e.g. in vector manipulations and proving vector identities
involving the gradient operator. As examples, in a Cartesian coordinate system
i j ij
e e o =


&
i j ijk k
e e e c =

& ( )
ijk i j k
e e e c =

& /
i i
e x V = c c

:

Inner product: ( )
i i j j i j i j i j ij i i
a b a e b e a b e e a b a b o = = = =

Outer product: ( )
i i j j i j i j ijk i j k
a b a e b e a b e e a b e c = = =

Divergence: ( )
i j j i j j j j i j j i
i i i i i
a e a e e e a a e e e a a
x x x x x
c c c c c
V = = + = =
c c c c c


Curl:
j
i j j i j j k kij j ijk k
i i i i
a
a e a e e e a e a e
x x x x
c c
c
c c c
V = = = =
c c c c


L1/19

EXAMPLE. Show that the following identities hold:

(a) ( ) v v v | | | V = V + V

,

(b) ( ) ( ) ( ) a b c a c b a b c =




Use the index notation in a Cartesian coordinate system.

- ( ) ( ) div( ) grad( )
i j j i i
i i i
v e e v v v v v
x x x
| | | | | |
c c c
V = = + = +
c c c



- ( ) ( ) ( )
i i j j k i j k i j k i j k l lin njk
a b c a e e b e a b c e e e a b c e c c = = =

( ) ( )
i j k l nil njk i j k l ij lk ik lj i j i j i i j j
a b c a b c e a b c e a b c e a b c e c c o o o o = = =

( ) ( ) ( ) a b c b a c c a b =





L1/20

EXAMPLE. Use the index notation in a Cartesian coordinate system to prove the identity
1
( ) ( )
2
a a a a a a V = V V

.

- Let us start from the left hand side

( ) ( ) ( )
k k
i i j k k i i l ljk nil ljk i n
j j j
a a
a a a e e a e a e e a e
x x x
c c c
c c c
V = = =
c c c


( ) ( )
j
k k i
lin ljk i n in jk ik jn i n i j i i
j j j j
a
a a a
a a a e a e a e a e
x x x x
c c o o o o
c
c c c
V = = =
c c c c



2
1
( )
2
a a a a a V = V V


L1/21

STRUCTURAL SYSTEM AND MATERIAL SYSTEM

In a particle model, particles are identified by natural numbers (or labels). In a continuum
model, particles are identified by coordinates ( , , ) x y z

of the material coordinate system
which moves and deforms with the body i.e. closed system of particles.








Structural ( , , ) X Y Z

coordinate system is needed in the description of geometry.
y
A
x
4
O
X

z
1
2
Y
Z
P
i
structural
material
body
L1/22

CARTESIAN COORDINATES
( )
, , x y z

In a Cartesian coordinate system, a particle is identified by its distances
( )
, , x y z from the
planes 0 x = , 0 y = and 0 z = , respectively.

Mapping:
i i
r r e xi yj zk = = + +





Basis:
, ,
/
i i i i
e r r e = =

& 1
i
h =

Derivatives:
,
0
j j i
i
e e
r
c
=
c



Cartesian coordinate system is useful as a reference system as basis vectors of the system
are constants!
reference system! P



O


L1/23

BASIS VECTORS; RECIPE

A generic mapping between two coordinate systems consists of relationships between
coordinates and basis vectors. Here the basis vectors are defined as normalized partial
derivatives of the position vector with respect to the coordinates (just a convenient
choice).

(a) Start with the position vector ( , , )
i i
r r e o | =

in a Cartesian system


(c) Take derivatives
, , i i
h r r e
o o o
= =

(d) Scaling coefficients h h h h
o o o o
= =




(e) Normalize to get the basis / e h h
o o o
=

Scaling coefficients are needed later e.g. in connection with the V-operator!
constants!
L1/24

POLAR COORDINATES
( )
, r |

In a curvilinear rectangular polar coordinate system, a particle is identified by its distance
r from the origin and angle | from a chosen line.

Mapping: cos sin
r
r re r i r j | | = = +




Basis:
c s
s c
r
e
i
e
j
|
| |
| |

(

=
(
` `
(


) )


&
1
r
h
h
r
|



=
` `

)
)


Derivatives:
r
r
e
e
e
e
|
|
|


c

=
` `
c


)
)

and

0
r
e
r
e
|

c

=
`
c

)

|
r


P
O
L1/25

The derivatives can be obtained in the following manner:

-
cos sin
sin cos
r
e
i
e
j
|
| |
| |

(

=
(
` `
(


) )


and
cos sin
sin cos
r
e
i
e
j
|
| |
| |

(

=
(
` `
(


) )




-
cos sin sin cos
( ) )
sin cos cos sin
r
e
i i
e
j j
|
| | | |
| |
| | | |

( (
c c

= =
( (
` ` `
c c
( (


) ) )





-
sin cos cos sin 0 1
cos sin sin cos 1 0
r r r
r
e e e
e
e e e
e
|
| | |
| | | |
|
| | | |

( ( (
c

= = =
( ( (
` ` ` `
c
( ( (

)
) ) )






constants!
L1/26

DERIVATIVES OF BASIS VECTORS; RECIPE

(a) Start with the relationship [ ]
e i
e F j
e k
o
|

=
` `


)
)

1
[ ]
i e
j F e
k e
o
|

=
` `


)
)

(b) Take derivative on both sides ( [ ])
e i
e F j
s s
e k
o
|

c c
=
` `
c c


)
)

{ , , } s o | e

(c) Retain the basis
1
( [ ])[ ]
e e
e F F e
s s
e e
o o
| |

c c
=
` `
c c


) )





constants!
L1/27

CYLINDRICAL COORDINATES
( )
, , r z |

A particle is identified by its distance r from the z-axis origin, angle | from the x-axis and
distance z from the xy-plane ( 0 z = ):

Mapping: cos sin r r i r j zk | | = + +

Basis:
c s 0
s c 0
0 0 1
r
z
e i
e j
e k
|
| |
| |

(

(

= (
` `
(

(

)
)

&
1
1
r
z
h
h r
h
|



=
` `


) )


Derivatives:
0 1 0
1 0 0
0 0 0
r r
z z
e e
e e
e e
| |
|
(
(
c

= (
` `
c
(

(

) )



, otherwise zeros


r

P



O

L1/28

SPHERICAL COORDINATES
( )
, , r | u

A particle is identified by its distance r from the origin, angle | from the x-axis in xy-
plane ( 0 z = ) and angle u from the z-axis:

Mapping: (s c s s c ) r r i j k u | u | u = + +

Basis:
s c s s c
s c 0
c c c s s
r
e i
e j
e k
|
u
u | u | u
| |
u | u | u

(

(

= (
` `
(

(

)
)

&
1
s
r
z
h
h r
h r
|
u



=
` `


) )


Derivatives:
0
0
0
r
e
e
r
e
|
u


c

=
` `
c


) )

,
s
s c
c
r
r
e e
e e e
e e
|
| u
u |
u
u u
|
u




c

=
` `
c


)
)



, 0
r
r
e e
e
e e
u
|
u
u


c

=
` `
c

) )

,


r
P



O

L1/29

EXAMPLE. Derive the derivative expressions of the basis vectors
r
e

, e
|

and e
u

with
respect to , , r | u in terms of the basis vectors
r
e

, e
|

and e
u

. Use the general recipe and the

relationship

s c s s c
s c 0
c c c s s
r
e i
e j
e k
|
u
u | u | u
| |
u | u | u

(

(

= (
` `
(

(

)
)

Answer:
r
r
e s e
e s e c e
e c e
|
| u
u |
u
u u
|
u




c
=
` `
c


)
)



, 0
r
r
e e
e
e e
u
|
u
u


c
=
` `
c

) )

,
0
0
0
r
e
e
r
e
|
u


c
=
` `
c


) )

L1/30

- The generic recipe gives


| | | |
1
0
( ) 0
0
r r
e e
e F F e
r r
e e
| |
u u

c c
= =
` ` `
c c


) ) )






| | | |
1
0 s 0
( ) s 0 c
0 c 0
r r r
e e e
e F F e e
e e e
| | |
u u u
u
u u
| |
u

(
(
c c

= = (
` ` `
c c
(

(

) ) )






| | | |
1
0 0 1
( ) 0 0 0
1 0 0
r r r
e e e
e F F e e
e e e
| | |
u u u
u u

(
(
c c
= = (
` ` `
c c
(

(

) ) )