Energy Methods in Applied Mechanics Henry L. Langhaar Department of Theoretical and Applied Mechanics University of Ilinois John Wiley and Sons, Inc, .* New York LondonCopyright © 1962 by John Wiley & Sons, Inc. All Rights Reserved ‘This book or any part thereof rust not be reproduced in any form without the written permission of the publisher. Library of Congress Catalog Card Number: 62-1052 Printed in the United States of AmericaPreface Students of engineering usually receive only fragmentary instruction in the important principles of classical mechanics, stemming from the works of Huygens, Leibniz, Bernoulli, and Lagrange, which assign a central role to the concepts of work, potential energy, and kinetic energy. These laws, designated as “energy principles of mechanics,” are sufficiently general to allow Newton’s second law to be deduced from them, An integrated and ‘modern treatment of energy principles of mechanics, with applications to dynamics of rigid bodies, analyses of clastic frames, general clastic theory, the theories of plates and shells, the theory of buckling, and the theory of vibrations, is undertaken in this work. The book has been planned for a two-semester course in advanced mechanics for graduate students. In addition, it may be used for inde- pendent study and for reference purposes. A sound course in advanced caléulus, the rudiments of Gibb’s vector theory, some knowledge of advanced strength of materials, and the fundamentals of elasticity theory are prerequisites. The student who has mastered these subjects will not find the mathematics too difficult. There are many abstractions, however, that must be digested slowly. The instructor should use many simple illustrations. Chapter 1, which serves as the groundwork for what follows, need not be comprehended fully at the frst reading; the student should refer back to that chapter frequently. The core of the theory is Jean Bernoulli's principle of virtual work. This law leads immediately to the more special principle of stationary potential energy. By means of the Legendre transformation the principle of virtual work yields the principle of complementary energy, which is a generalization of Castigliano’s theorem. Hamilton's principle is derived from the principle of virtual work with the aid of the concept of virtual work of inertial forces. Hamilton's principle yields Lagrange’s equations of motion directly. The theory of dynamics of rigid bodies and the theory of vibrations of systems with many degrees of freedom are developed with