Structural Mechanics and Dynamics

AE213
z's'

zz zs

n
z'z'

t
nt
sszs

Lecture 1: Mohrs Circle

Dr Zahra Sharif Khodaei
1
z.sharif-Khodaei@imperial.ac.uk
 Structural Failure and Assessment

A structural analysis is conducted to determine if the structure is fit for its

purpose, i.e. does it meet its design specification. For aircraft structures
one very strong requirement is that the structure has the lowest possible
weight.

In addition, there are three aspects of the structural response under load
that must be satisfied:
1. That the deflections are not excessive.
2. That the stresses are below the design limit.
3. That there is no buckling of members or part of the structure
that affects the integrity of the structure as a whole.

In this section of the course we will be dealing with:

Transformation of stresses
Determination of Principal stresses
Mohrs Circle
2
 Introduction to stress elements
Stress elements are very useful way to represent stresses acting at some point on a
body. Isolating a small element (infinitesimal), we can show the stresses acting on
each face:
s
P Area A
= / = /

Maximum stress on a bar in tension Maximum Normal stress

Zero shear stress
s
P P = /

a
z
Maximum shear stress
Maximum stress on a bar in tension
Non-zero normal stress
P P
= 45
= /2
b

/2 3
 Two Dimensional Stress State

In general the state of stress at a point is This is often simplified to the plane stress
characterized by six independent normal state
and shear components which act on the
face of an element of material located at a
point.

ss

sz

zs

zz zz

zs

sz
ForForequilibrium:
equilibrium
we must have
1st suffix = direction of the normal to the plane ss
= =

zs sz
2nd suffice = the direction in which it acts 4
z
 Stress Transformation
The sign convention for shear stress is dened as follows: On a positive face
(i.e. a face on which the outward normal is in the positive coordinate direction),
a positive shear stress acts in the positive coordinate direction. On a negative
face a positive shear stress acts in the negative coordinate direction.
Thus is plotted positive on Mohrs circle and from equilibrium we have:
= .
ss s 's '
s 'z ' z 's ' z 'z '
sz

- +
zs
=
zz zz

zs
- z 'z ' z 's ' s 'z '
s s 's '
sz
For equilibrium
we must have

ss zs = sz

z 5
 z 'z ' Stress Transformation
s 's ' z 's '
s 'z '

z 's ' t z ' z ' n
zz

zs Z face

sz
z 'z ' z 's ' s 'z ' s 's '
ss
s

cos 2 sin2 2 sin cos

= sin2 cos2 2 sin cos .
sin cos sin cos cos 2 sin2
6
 Arbitrary Rotated Axis System

Consider the case, where the axes are rotated by some arbitrary angle, ,
then, consider the triangle of material OAB.
s z'
ss
s' A

sz

A zs
z
zz
o B
zz
z'z'
zs
A z's'
s
zz
o sz B
For equilibrium dl
we must have ds
zs = sz
zs
ss dz
o B
zs
z
7
ss
 Rotated Axis System

To simplify the algebra, we will consider the rotated axis system for normal and
shear stress states separately.

= +

8
 Rotated Axis System: Normal Stresses

A Equilibrium equation: Sum of forces in z and s direction = 0

A
o
B sin




ds dl
dz

cos B
F
F sin
sin
cos

F cos
9
Resolving the forces normal to the inclined plane

z ' z 'tdl zz tds cos ss tdz sin

since ds dl cos dz dl sin ds dl cos

z ' z 'tdl zztdl cos2 sstdl sin 2

= sin
A
sin

cos B

cos
sin 10
Resolving the forces parallel to the inclined plane

z 's 'tdl zz tds sin ss tdz cos

since ds dl cos dz dl sin

z 's 'tdl zz tdl sin cos ss tdl cos sin

A
sin

cos B

cos
sin
11

A Rotated Axis System: Shear Stresses

O B A

sin cos

sin
B

cos
12
 Rotated Axis System: Shear Stresses
Resolving the forces

Resolving the forces Normal to the inclined plane

z ' z 'tdl zs tds sin zs tdz cos

since ds dl cos dz dl sin

z ' z 'tdl zstdl sin cos zs tdl cos sin

Resolving the forces Parallel to the inclined plane

z 's 'tdl zstds cos zs tdz sin

since ds dl cos dz dl sin

z 's 'tdl zstdl cos2 zstdl sin 2

13
 Rotated Axis System: Normal &Shear Stresses

Resolving the forces Normal and Parallel to the plane AB gives:

z ' z 'tdl zz tdl cos 2 ss tdl sin 2 zs tdl sin cos zs tdl cos sin
z 's 'tdl zz tdl sin cos ss tdl cos sin zs tdl cos 2 zs tdl sin 2

tdl is a common factor so that:

z 'z ' zz cos 2 ss sin 2 zs sin 2 (1.a)

z 's '
1
zz ss sin 2 zs cos 2 (1.b)
2
The stress rotation can be written in matrix form as a tensor transformation

z ' z ' z 's ' cos sin zz zs cos sin

s 'z ' s 's ' sin cos sz
ss sin
cos

14
 Three Dimensional Stress Field

x 'x ' x 'y ' x ' z ' l1 l2 l 3 xx xy xz l1 m1 n1

y ' x ' y 'y ' y 'z ' m1 m2 m 3 yx yy yz l 2 m2 n 2
z 'x ' z 'y ' z 'z ' n 1 n2 n 3 zx zy zz l 3 m3 n 3

Where l,m,n are the direction cosines of the rotated stress field.
If the cube is in equilibrium then there are 6 independent components of the
stress tensor.
If we rotate the cube in such a way that no shear stress is caused and that all
the major stresses acting on it is normal to one of the planes, we can reduce
the stress tensor to:
I 0 0 zz
0 0 zx xy xy
II
yx xx
0 0 III
yy yz xz
where , and are known as principal stresses
(normal) and the axis is termed principal axis. z y
1
Means stress: = 3 ( + + ) x
15
 Stress Invariants
Every tensor has invariants associated to it which is independent from rotation
of the coordinate system. For a stress tensor it means that some combinations
of the stresses are the same irrespective of the orientation of the axis system
used to compute them. These are called the stress invariants. For a general
stress system there are three stress invariants.
First Stress I1 I II III xx yy zz const 3D
Invariant I 1 I II zz ss const 2D
The sum of the diagonal terms on the stress tensor is constant.

Second Stress I 2 I II II III III I

Invariant xx yy yy zz zz xx xy2 yz2 zx2 const 3D
I 2 I II zz ss 2zs const 2D

I 3 I II III
Third Stress
Invariant xx yy zz 2 xy yz zz xx yz2 yy zx2 zz xy2 const 3D
I3 0 2D

16
 Rotated Axis System: Normal &Shear Stresses
For a 2D case: There will be some angle, , where the shear stress is zero.
This is given by
0 zz ss sin 2 zs cos 2
1
2
so that 2 zs
tan 2
zz ss
Using the following trigonometric identities:
cos 2 = (1 + cos 2)/2; sin2 = (1 cos 2)/2; sin cos = sin 2/2;
and substituting for angle into equation (1.a) gives the following stress equations

zz ss 1
I zz ss 2 4 2zs
2 2
ss 1 (substituting +90)
II zz zz ss 2 4 2zs for
2 2
is the maximum direct stress for any angle and is the minimum (most
negative) direct stress.
17
 Mohrs Circle
Keeping in mind the principal stresses, now we will see that equations for
plane stress transformation have a graphical solution that is often convenient
to use and easy to remember to calculate the shear and normal stresses on a
plane.
This is achieved through the use of Mohrs circle developed by the German
engineer Otto Mohr.
Sign convention (normal):
+ z's'
Tensile - positive
Compressive - Negative
zz zs

n +
z'z'

t
nt
sszs

18
-
 How to Draw Mohrs Circle
Assume values of zz , ss and zs are known

i) Locate the points zz , zs and ss , zs which lie on the circle

ii) Connect the two points to get the diameter of the circle zs
Shear stress
ss zz zz

( zz , zs ) sz
zs ss

ss zz
Normal stress

zs
( ss , zs )
19
iii) Locate the centre of the circle on the horizontal axis for normal stress and
draw the circle

Shear stress

( zz , zs )
zs

c
ss zz
Normal stress

zs
( ss , zs ) zz ss
2 20
 How to Draw Mohrs Circle

iv) To find normal direct stress n and tangential shear stress t on a plane
angle anticlockwise: move by an angle 2 clockwise on the circle

z's'
Shear Stress

zs zz zs

zz 0
n
sz
z'z' stress
Normal
ss t
nt
sszs

21
 Mohrs Circle: Principal Stresses & Max Shear stress

The principal stresses are the two values where the circle crosses the
horizontal axis (maximum and minimum values)

Shear Stress Max. shear stress = radius =
2

Min. Principal Max. Principal

stress stress
p
O
C Normal stress

Min. shear stress

22
 How to Draw Mohrs Circle

z's' Stress
Shear
1
2

zz ss 2 4 zs2
12

zz , zs)
zs
Principal stress r Principal stress
= OC-Radius = Radius + OC
ss C 2
O
zz A
z'z'stress
Normal

-zs
ss , -zs) zz ss 2
23
 Principal Stresses
There will be some angle, , where the shear stress z 's ' is zero. This is given by

2 zs
0
1
zz ss sin 2 zs cos 2 So that tan 2
2 zz ss
Shear stress
zz ss
2

ss 2 zs
zz 2
2
21 zs
Direct stress
2 2
zs
zz ss

2

Substituting these gives the principal stresses as

zz ss 1
I zz ss 2 4 2zs
2 2
ss 1
II zz zz ss 2 4 2zs 24
2 2