SESSION 2014-15 Semester 1

ME2113 Mechanics of Materials I (Part 1)

A/P Tay C. J.
Tay Cho Jui
Department of Mechanical Engineering
Applied Mechanics Group
NUS ME Dept Web Page
Office EA-05-13
mpetaycj@nus.edu.sg
Tel: 65162557

National University of Singapore

SESSION 2014-15 Semester 1

ME2113 Mechanics of Materials I
Modular Credits: 3
Pre- Requisites: EG1109-Statics and Mechanics of Materials

Workload: Lecture hr: 26 Tutorial hr: 5

Lab. hr: 6 Two Lab sessions

Assessment: Final Examination: 80%

Continuous assessment (Consisting of Labs and quiz) 20%
Course Lecturers A/P C J Tay Part I, A/P Vincent Tan Part II ;
Brief description of module: Part I

Analysis of Stress and Strain

Bending of Beams
Stresses in Loaded Beams
Deflection of Beams

Basic Text:
A.C. Ugural, Mechanics of Materials, McGraw-Hill,
1993
(Chapters 4, 7, 9 & 10 for part I)
Supplementary Readings:
F. P. Beer and E. R. Johnston, Jr. and J.T. DeWolf,
Mechanics of Materials, McGraw-Hiil, SI 3rd Ed., 2004.
R. C. Hibbeler,Mechanics of Materials, Prentice Hall, SI
2nd Ed., 2005.
J. M. Gere, Mechanics of Materials, Thomson
Brooks/Cole Publishing Company, 6th ed., 2004.
R. R. Craig, Jr., Mechanics of Materials, McGraw-Hill,
2nd ed., 2000.
National University of Singapore

NUS- Web Page IVLE

Module ME2113
Workbin
Lecture notes, Tutorial sheets, Lab manuals
FAQ
Tutorial Solutions, Past Exams Solutions
Discussion Forum
Announcement
Anonymous feedback via IVLE
National University of Singapore

SESSION 2014-15

LESSON PLAN
ME2113 Part I (6 weeks)
14 Aug
Stresses and Strains
21 Aug
Stresses and Strains
28 Aug
Shear force and Bending Moment in Beams
04 Sept
Stresses in Loaded Beams
11 Sep
Stresses in Loaded Beams/Deflection of Beams
18 Sep
Deflection of Beams
Mid-Semester Break
ME2113 Part II - Prof. Vincent Tan

ME2113 (part 1)
Tutorial Session
Day: Every Friday 9-10 am
Venue: Tutorial Room E3-06-02
Timetable: http://me.nus.edu.sg/
Consultation time for ME2113 (part 1)
Day: Every Thursday
Time: 5.00-6.30 pm Venue: Office EA-05-13

ME 2113 Part I Assessment (on-line)

14/10/2014
(3rd week after mid-sem break)
multiple-choice question quiz

ME 2113 Lectures will be webcast

Please be punctual
Lectures will start on time

Chapter 1

ANALYSIS OF STRESS AND STRAIN

s2

STRESSES
P

dF

n is normal to dA

dA

S1 , S2 are tangential

s1
n

(in plane)

Apply general force dF on dA

dFn
dA0 dA
dFS1
S1 lim
dA0 dA
dFS 2
S 2 lim
dA0 dA

n lim

Defn:

Normal
Shear

As dA 0, stress state is at the point P.

Note: Stress values depend on magnitude of dF and
also the direction of dF.

y
yy

Stresses shown are

all positive on a
cube of 1 unit
length

yx
yz
zy P
zx

xy
xz

xx
x

zz

For a small isolated element with planes perpendicular

to coordinate axes and surrounding a point P, there
exist 9 stress components.
They are
3 normal stresses
6 shear stresses

As size of parallelepiped reduces, in the limit, these 9 stress

components will define completely, the state of stress at the
point P.

The cube is stationary (in equilibrium)

y
yy
yx

yz

xy

zy
zx

xz

xx

zz
Take Moment about Z-axis
z

xy 1x1 - yx 1x1 = 0
i.e. xy = yx

From equilibrium (i.e. taking moment about any axis), we can show
that:

xy yx

xz zx
yz zy

yy
yx
yz

Number of unknown stresses reduced to 6.

zy

i.e. xx ,yy , zz, xy , xz , yz

zx
zz

National University of Singapore

xy

xz

xx
x

Stress Component on Arbitrary plane (2 dimensional case)

y

yx

xy
xy

Arbitrary plane whose normal makes an angle with horizontal

Q. What are the values of x, xy in terms of x, y and xy ?

Ty

xy
Tx

x
y'

xy
x'

x
B

yx
y

Let Tx and Ty be the stress components of x, xy in the x- and

y- directions.
Equilibrium of forces in

x- direction:

Tx x cos xy sin
AC
BC

and in y- direction: T y xy cos

Also, resolving forces
in the BC plane:

AB
BC

y sin

x ' Tx cos T y sin

x' y ' T y cos Tx sin

Substitute for Tx and Ty

x ' x cos 2 y sin 2 2 xy sin cos

x' y ' xy (cos 2 sin 2 ) ( y x ) sin cos

y can be found by substituting + /2 for

in expression for x,

i.e.

yx

y x sin y cos 2 xy sin cos

2

xy
xy

cos 2 cos 2 sin 2 2 cos 2 1 1 2 sin 2

etc
x

Sin 2 2 sin cos

z

National University of Singapore

Using the relations

Rewriting,
x

( x y )
2
( x y )
2

x, y ,

( x y )
2
( x y )

( x y )
2

cos 2 xy sin 2

(i)

cos 2 xy sin 2

(ii)

sin 2 xy cos 2

(iii)

y'

xy

xy

x'

x
x

Element A

Stresses on element A

When ,

x, y, 0
( x y )
2

i.e. tan 2
or

sin 2 xy cos 2 0
2 xy
( x y )

2 xy
1
tan 1
2
( x y )

Eq. a

x' which is denoted as 1 is known as the maximum

principal stress

y' which is denoted as 2 is known as the minimum principal

stress and
, which is denoted as is known as the principal angle

Convention for denoting stress

1. Normal stress, ij
i indicates the direction of a normal to the plane on
which the stress component acts;
j indicates the direction of the stress.
y

Usually denoted by ij , e.g. xx

yy
yx
yz

For simplicity
xx is written as x
yy is written as y

xy

zy
zx

zz

xz

xx
x

2. Shear

stress ij

i indicates the direction of a normal to the plane on

which the stress component acts;
j indicates the direction of the stress.
y
yy

e.g. xy

yx
yz

xy

zy
zx
zz

xz

xx
x

Sign convention
Sign convention- Normal stresses
Stress is positive Tension (e.g. xx)
negative Compression (e.g. -xx)

Sign convention- Shear stresses

y

+xy

-xy

x
Positive Shear

x
Negative Shear

Mohrs Circle for 2-D Stresses

We have
( x y ) ( x y )
x

cos 2 xy sin 2
2
2
( x y ) ( x y )

cos 2 xy sin 2
x

2
2

(i)

(a)

( x y ) ( x y )

cos 2 xy sin 2
2
2

( y ) ( x y )

cos 2 xy sin 2
y x

2
2

x, y ,

( x y )
2

sin 2 xy cos 2

2
(

x
y
x , y , 2
sin 2 xy cos 2
2

(ii)

(b)

(iii)

(c)

( y ) ( x y )

cos 2 xy sin 2
x x

2
2

( x y ) ( x y )

cos 2 xy sin 2
y

2
2

2
(

x
y
x , y , 2
sin 2 xy cos 2
2

Eqs. a) + c) gives

( x

x y
2

)
2

2
x' y'

x y

) 2 xy2

(a)
2

(b)

(c)

(iv)

Eqs. b) + c) gives
( y

x y
2

)
2

2
x' y'

x y

) 2 xy2

(v)

Eqns (iv) and (v) represent a circle in the - plane

with center

x y
2

,0)

and radius R given by:

x y
2

R
xy

National University of Singapore

( x

x y
2

x y

) 2 x2' y ' (

( x a )2 y 2 R 2

) 2 xy2

x y
2

R
xy

y-axis represents shear stress

x
xy

A point on the circumference is

given by its x and y coordinates
ie it represents the stresses on
a plane in the element

max

1
min

Q: What does a point on the

circumference of the circle represent?

x-axis represents normal stress

x y
2

,0)

Mohr's Circle - introduced by Otto Mohr in 1882

C Otto Mohr
(1835-1918)

Plane B y

xy

Plane A

xy
y

Hence the state of stress on Plane A or Plane B as shown

above can be represented by a point on the
circumference of a Mohrs circle

of center (

x y
2

,0)
A

x y
2
xy
R

and radius

x y
xy2
R
2
2

Plane B

(2 )

xy
x

Plane A

(1 )

x y
2
Y

CD direction of 1
1 = max prin stress
2 = min prin stress
max = max shear
stress

The normal stresses at this plane are the maximum (1) and
minimum (2) principal stresses.
From Mohrs circle

( x y )
2
( x y )
2

x y
2
xy
R

2
x y

2
xy

x y
2
xy

xy
tan 2
x y

2 xy

x y

2 xy

2 tan

y
x
1

2 xy
1

tan 1

2
x y

Compare with earlier derivations

2 xy
1
tan 1
2
( x y )

Eq. a

Hence this angle is indicated as

2 and not

x y
xy2
R
2
2

Plane B

xy
x

Plane A

x y
2
Y

Rcos(2 2 )

B (y , xy )
(y , xy )

2 2

A (x , -xy )

x' OC Rcos(2 2 )

(x , -xy )

y
Plane E

y
Plane B

xy

xy

x
Plane A

Plane D

center
x

x y
2

,0)

x y
2
xy
R

Principal angle =2
For a plane inclined at , x, y, xy can be obtained.

Stress components at any arbitrary plane can be determined from Mohrs

circle:

x OC Rcos(2 2 )
OC

x y
2

Note : cos(2 2 ) cos 2 cos 2 sin 2 sin 2

2 xy
and tan 2
( x y )

x y
2
( x y ) ( x y )
xy
R

cos 2 xy sin 2

x
2

2
2
On substituting and simplifying,
( y ) ( x y )
x x

cos 2 xy sin 2
2
2
(cf. eqn(i))
2

Similarly,

( x y ) ( x y )

cos 2 xy sin 2
2
2
( x y )

sin 2 xy cos 2
2

y
x, y ,

and

(i)

Note that rotation on Mohrs circle is twice that of element and sense of
direction of rotation of axes is the same for Mohrs circle and element.

Rcos(2 2 )

B (y , xy )
(y , xy )

A (x , -xy )

(x , -xy )

y
Plane E

y
Plane B

xy

xy

x
Plane A

Plane D

Sign convention for stresses when constructing and analyzing Mohrs circle:
x y
xy2
R
2
2

y
B?

Plane B

(2 )

xy

Plane A

(1 )

2
CD direction of 1
A?

x y
2

Sign convention for stresses when constructing and analyzing Mohrs circle:
Shear stresses if the shear stresses on opposite faces of the element
produce forces that result in a clockwise couple, these stresses are taken as
positive.

Plane B anticlockwise,
-ve on Mohrs circle

Plane A clockwise ,
+ve on Mohrs circle

National University of Singapore

IMPORTANT:
Do not confuse Mohrs circle sign convention with that of an entire element

+xy

-xy

x
Positive Shear

x
Negative Shear

Sign convention for normal stresses

Positive is tensile and plotted along positive x-axis

- negative is compressive and plotted along negative x-axis

National University of Singapore

 Please be punctual not puncture!

Lectures will start on time

ME 2113 Lectures will be webcast

Power point slides are available on webcast

Applications of Mohrs circle

i) Spherical Pressure Vessel
Consider a spherical pressure
vessel with radius r and wall
thickness t subjected to an
internal gage pressure p.

National University of Singapore

The normal stresses can be

related to the pressure p by
inspecting a free body
diagram of the pressure
vessel. To simplify the
analysis, we cut the vessel
in half as illustrated.
From equilibrium, the stress
around the wall must have a
net resultant to balance the
internal pressure across the
cross-section.

Applications of Mohrs circle

Stresses in Spherical
Pressure Vessel

Applications of Mohrs circle

Stresses in Spherical
Pressure Vessel

ii) Cylindrical
Pressure Vessel
Consider a cylindrical
pressure vessel with
radius r and wall
thickness t subjected to
an internal gage
pressure p.

National University of Singapore

To determine the
longitudinal stress, we
make a cut across the
cylinder similar to
analyzing the spherical
pressure vessel.
From equilibrium,

dx
r
P

To determine the hoop

stress, we make a cut
along the longitudinal
axis.
From equilibrium, the
hoop stress yields,

NOTE:
The hoop stress is twice as much as the longitudinal stress for the
cylindrical pressure vessel.

The above formulas are good for thin-walled pressure vessels. ie

radius r is larger than 5 times its wall thickness t (r > 5 t).

When a pressure vessel is subjected to external pressure, the

stresses are negative since the wall is now in compression instead
of tension.

National University of Singapore

 = 2

Q: What would happen to the sausages if they were

overcooked?
A: Cracks along the longitudinal direction appear first.
This is because the internal pressure generated by the
steam inside the sausage causes the skin to fail from hoop
stress since the hoop stress is twice as much as the
longitudinal stress in the sausage (cylindrical pressure
vessel).

EXAMPLE 1
The state of plane stress at a point (in a pressure
vessel) is represented by the figure shown.
Determine the stresses on an element oriented at
300 counterclockwise from the position shown.
Illustrate your answer on a diagram.
12 MPa

y
8 MPa

x
6 MPa

National University of Singapore

300

From Eqns. (i) to (iii), we have

( x y ) ( x y )
x'

cos 2 xy sin 2
2
2
( x y ) ( x y )
y'

cos 2 xy sin 2
2
2
( x y )
x, y,
sin 2 xy cos 2

(i)
(ii)
(iii)

Substituting = 300 , we have

x' 8.2 MPa
y ' 12.2 MPa
x, y , 5.66 MPa

To construct the Mohrs circle,

avg

x y
2

8 12
2 MPa
2

x y
xy2 102 62 11.66
R
2
2

center of circle

radius of circle

Question: Where should point A be ?

8
2

x
Point A ?
6
Clockwise,
+ve shear

R = 11.66

600

Point A ?

12 MPa
Plane B
Plane A
y

12

8 MPa

x
X'
300

6 MPa

From the Mohrs circle,

x ' 8.2 MPa

y ' 12.2 MPa

x

x, y , 5.66 MPa

Clockwise,
+ve shear 6

2
R = 11.66

Hence
anticlockwise

12.2 MPa

300

600
6
x

8.2 MPa
y'

-ve shear stress

at this point

x
5.66 MPa

300

National University of Singapore

12

Deformation and Strain

Deformation is a physical phenomenon it can be measured.
Strain is a mathematical concept.

Basic modes of deformation (displacement)

Rigid body and Non rigid body
Rigid body

Translation, Rotation

Non rigid body

Elongation, Angular Distortion

B'

B'

B'

A'
P'
P
O

A'

P
P

A
Translation

Rotation

A'

A'
P P'

Elongation

Angular Distortion

Definition of Strain
Q'

P'

Line element (direct strain)

Engineering strain of line element PQ.

P,Q, PQ

PQ

Rotation between two line elements (shearing strain)

Shearing strain

,
When is small

, tan( , )

National University of Singapore

1.2.2 Strain Displacement Relationships

Normal Strains

x
z

u
x

v
y

w
z

where u,v and w represent the displacements in the x, y and

z directions respectively.

1.2.2 Strain Displacement Relationships

Shear Strains

v u

x y
v w
yz
z y

xy

xz

u w

z x

(ii)

Assumptions
1. Deformations are infinitesimally small
2. Displacement of a point on the element is continuous, i.e.
no cracks, overlapping, slippage, etc. and also body from
which element is isolated, is continuous throughout.
3. Element is small, i.e. surroundings within close
neighbourhood of point P.

Convention for Strains

Normal Strains
D

C
C'

D'

A
A'

B'

i i indicates the direction in which the elongation or contraction is required. (the

sides are of an undeformed element)
Positive Strain for elongation (e.g. x)
Negative Strain for contraction (e.g. y)

Shear Strains
y
C'
D'

B'
A

A'

B
x

ij i, j indicate directions of two mutually perpendicular sides of an

undeformed element whose extent of angular deformation is required
(e.g. xy)

Strains at a point
The strains x, y, z, xy, yz and xz are those of a cube element
surrounding the point of interest, P(x, y, z). If the size of the cube is
allowed to become infinitesimally small, the strains can be regarded as
being the strains at point P(x, y, z) within a body.
Thus, 6 components of strains are required to define completely the state of
strain at point.

Transformation of Axes.
Often the strain components at a point referred to a set of axes are different
from the original axes.
For 2- D analysis, if x, y and xy are strains in x-y plane, what are the
equivalent strains x, y and xy referred to x and y axes that make an
angle with the x-y axes.

The three strain components referred to x-y axes which are at an angle to
x-y axes:

x'
y'
x' y '
2

x y x y

x y x y

x y
2

2
sin 2

cos 2
cos 2

xy
2

National University of Singapore

xy
2

xy
2

cos 2

sin 2

(d)

sin 2

(e)

(f)

Principal Strains
There will be a plane in the element which does not experience any shear
strains,
i.e. xy=0 .
From eqn(f)
x ' y ' x y sin 2 xy cos 2

0
i.e.
tan 2

xy
( x y )

or

tan 1
1
2

xy
( x y )

(g)

For this value of ,

x '
y '

( x y )
2
( x y )
2

x y xy

2 2

x y

2

xy

(h)

(i)

 x '

and
respectively.

y '

are called the maximum and minimum principal strains

(Usually denoted by 1 and 2)

The particular angle x or y denotes the direction of the principal axes, and
is denoted by . The rotation is defined as positive for counter-clockwise
rotation.

National University of Singapore

 x'

y'

( x y )
2

( x y )

x, y ,

( x y )
2

( x y )

( x y )
2

cos 2 xy sin 2

cos 2 xy sin 2

sin 2 xy cos 2

(i)

(ii)

(iii)

The three strain components referred to x-y axes which are at an angle to
x-y axes:

x'

y'
x' y '
2

x y x y

x y x y

x y
2

2
sin 2

cos 2
cos 2

xy
2

xy
2

xy
2

cos 2

sin 2

(d)

sin 2

(e)

(f)

Mohrs Circle of Strain

Re-examining eqns (d), (e) & (f) and compare
with eqns (i), (ii) & (iii) for x , y & xy

The equations are similar in form.

Therefore a Mohrs circle for strain can similarly be constructed
with center at x y ,0 in the x , xy plane. The radius of the

x y

xy
R

2
2

circle is

However for Mohrs strain circle,

x axis normal strain
y axis half shear stain
2

Mohrs Circle of Strain

The convention for constructing and reading shear strain values from Mohrs
strain circle is similar to that used for shear stress in Mohrs stress circle.
However for Mohrs strain circle,
x axis normal strain
y axis half shear strain
Sign convention for Mohrs strain circle
Normal strain: elongation +ve strain
contraction -ve strain
Shear strain: Positive shear stress results in positive shear strain
i.e. A positive shear strain corresponds to a clockwise shear stress couple.
A negative shear strain corresponds to an anti-clockwise shear stress couple.

National University of Singapore

+ve Shear stresses

+ve Shear strains

Mohrs Circle of Strain

Given the strain state
x , y , xy

the corresponding Mohrs strain circle can be plotted.

xy
y ,

x ' , x ' y '

2

y
x

xy

xy

y ' , x ' y '

2

xy
x ,
2

x y
2

x y
R
2

xy

2
2

x
x

Hence the strain components x , y and xy at any orientation can be determined.

Stress Strain Relationships

Stress and strain are related through the engineering properties of the material
of the body.

Assumptions

All the stresses / strains are within the elastic range of the material

Material is homogeneous (i.e. properties uniform throughout)

Material is isotropic (i.e. properties independent of direction)

Hookes law

(Uniaxial tensile test)

E
E Youngs modulus

Lateral contraction in y direction =

- Poissons ratio.

x
E

Application of y produces strains

y
E

( y direction)
( x direction)

Application of x and y simultaneously,

x
y

x
E

y
E

(a)
(i)

(b)

For three dimensions,

(a) (a)

(b)

1
x ( y z )
E
1
y y ( x z )
E
1
z z ( x y )
E

(ii)

(c)

For shear strains,

xy

xy

; yz

yz

; xz

xz

(iii)
G
G
G
G shear modulus of elasticity.
Eqns (ii) and (iii) represent the generalized Hookes law
(for isotropic, homogeneous materials).

The Hookes law is applicable to any orthogonal stress system.

e.g.

1
( r z )
E
1
1 1 ( 2 3 )
E

Substituting the values of y in Eq. (i)b into Eq. (i)a and express the stress
in terms of strains, we have
E
x y
x
1 2

Likewise we can obtain

E
y x
2
1

x
y

x
E

y
E

y
E

x
E

(a)
(i)
(b)

EXAMPLE 2
The strain components at a point in a machine
member are given by
x = 900 , y = -100 , xy = 600 .

Using Mohrs circle, determine the principal strains

and the maximum shearing strains.
Centre of circle: (x+ y )/2 = (900 -100)/2 = 400

Radius of circle
x y xy
900 100 600


R

583
2

2
2 2
2

y = -100

Max shearing strain

R=583

Plane B

-100 , 300

x = 900
A900 , -300

From the Mohrs circle

1 = 983 x

, 2 = -183 x

Plane A
x

On Plane A : x = 900 ,
anticlockwise shear on plane A, hence the shear
strain on Mohrs circle is ve
-(xy)/2= -600/2 = -300

400

10-6

xy=
+600

10-6

Maximum shearing strain max = 1166 x 10-6

On Plane B : y = -100 ,
clockwise shear on plane B, hence the shear
strain on Mohrs circle is +ve
(xy)/2= 600/2 = 300