3D Plane Stresses and Strains

Aims of this presentation:

•Enable understanding of the many equations
and terms involved with Stresses and Strains in
3-dimensional form.
•Stress and Strain tensors, and their invariants.

How we’ll meet these aims:

•Steady build-up of concepts by drawing on the basics of each.
•Step-by-step explanations of major equation derivations.
 How to navigate through the slides…
Each oneappear
5 boxes changes
at colour
the topasofthe
topics For the previous
are being progressed through next animation/slide
animation/slide
each slide…

Press these keys when the animations

have finished to make the most of them.
 …so let’s start off with: Stress
BASICS: Consider an arbitrary volume: z
If we cut away 3 segments to reveal 3
We must assume that:
internal surfaces…
•Material of volume is
Now we can also
continuous(uniform consider:
density).
•Material
Allisthe
cohesive(all
internal forces x y
elemental volumes connected).
A unit element with a very
small surface area ΔA
Types of Stress:

Normal Stress, σ Shear Stress, τ General stress state

around a point
If the chosen
Defined as theΔA
intensity
elementof If
Theweintensity
consider shear stress
of the
normaltowards
tends force ΔF0,to
the
the along the x-coordinate,
tangential weis
force on ΔA, Rule
As represented
of thumb for
elementalrelationship
following surface areaisΔA obtain the following
the shear stress. above…
subscripts:
equation(where Fx is the x
of one face:
derived:
component of the resultant σ Same letter as the axis it runs along.
force): First letter is the axis the shear stress is
τ perpendicular to, the second letter is the
axis the shear stress runs along.
R.C Hibbeler. (2014). Statics and Mechanics of Materials, 4th Edition, Pearson.; http://www.ah-engr.com/som/3_stress/images/element_3d_complete.gif; Cube – clipart
 Stress
y
y' x'
General
Plane Stress
Stress
τy'x' State:
σy' τx'y’
σy τyx σx' α
Plane Stress just
The 6 different
considers one surface τxy x
stress variables
–are
it is a 2D
dependent σx
representation.
on the σx
orientation of τxy
the plane… σx' σy'
τyx
τx'y’ τy'x'
σy y These are:
The
Consider
These n-axis
the
is normal
define the =cos
n - axis
following
to the oblique
orientation plane
of the β
–representation:
the orientation of =cos
plane: γ α m
which can be
defined by direction x =cos
z l n
cosines…
 Stress

The faces of the remaining oblique

Plane Stress 3D y
pyramid
Consider have area dAelement
a material
The triangular obliquen – where the
plane
Now Representation
the forces on this σn
subscript
from
is thean ‘n’ canrevealed
object
surface be x, y or
under z. This
when
remaining
indicates thevolume can be
axis avolume
shear force β n - axis
stress…
part of the cubic is is τxz ∙dAx τzx ∙dAz α
σz∙dA
dAz z
analysed…
acting perpendicular to, or a normal
removed… dAx x
σx∙dA
τxy ∙dAx m
τzy ∙dAz

force is acting parallel to. γ x

The
The shear and
areas of thenormal stresses
faces are as τyx ∙dAy
τyz ∙dAy
n τnt
dAyy
σy∙dA
are multiplied by the areas of
follows: z l
the faces they are acting on –
this=ensures that only forces There is a resultant force for each
dA∙
are=dA∙
being considered(see surface – let’s call the force on the
equations oblique plane F :
=dA∙ on Slide 3). Since F=
Where dA is the area of the Resultant
S∙dAstress x
oblique plane…. S Surface Area or…
The resultant
Now considering the normal stress σn stress S =
which is perpendicular to the oblique
plane and the shear stress is parallel to τnt
the oblique surface.
Due to Pythagoras’ theorem…
 Stress
Plane Stress 3D
Representation
y
Now resolving forces σn
along the x, y and z
coordinates… τxz ∙dAx τzx ∙dAz σz∙dAz

σx∙dAx τzy ∙dAz

τxy ∙dAx m
x
n τnt
τyz ∙dAy
τyx ∙dAy
σy∙dAy

σx∙dA ∙ + τyx ∙dA ∙ = Sx∙dA z l

+ τzx ∙dA ∙
Similarly
Since length
Since the
From resolving
length ‘n’
previousruns
‘l’ runs
‘m’ forces
runs
slide we σx∙ xl ∙ l + τyxτyx
σx∙dA ∙dA∙m
y ∙ m + τzx τ∙dA
zx ∙ zn∙ n = SSxx∙dAx
along
for thethe
along
learnt other
the z-axis…
that: directions…
x-axis…
y-axis…
σy∙dA ∙ m + τzy ∙dA ∙n = Sy∙dA σσyy∙ m + τzy ∙n + τxy ∙ l = Sy
+ τxy ∙dA∙ l
F= S∙dA Therefore…
σz∙ n + ττxz
xz ∙l + τyz ∙ m = Szz
σz∙dA ∙ n + τxz ∙dA ∙l + τyz ∙dA ∙ m = Sz∙dA These expressions can be represented in
We can divide each expression by stress tensor form:
its constituent dA term, to obtain l
the resultant stress in each m
direction… =
n
 Stress
3D Stress Tensors
Since we are considering three-
dimensional structures, our stress σpx 1 0
τxy τ0xz
tensor will be a 3 by 3 matrix, or τ0xy σpy 2 τ0yz
third order. If it was 2D plane
stress, then the tensor would be τ0xz τ0yz σσp3z
second order, a first order tensor
would essentially be a vector. τ

Note the symmetrical property

of the stress tensor matrix along
the normal stress diagonal.
If we recall the use of Mohr’s σ σ p3 σ p2 σ p1 σ
circle for 3D stress analysis – the
3 maximum, or principle normal
stresses occur when τ=0 Pa.
τ
 Stress
3D Stress Invariants
These
Considering
two sets
theofresultant
equations
the set stresses
of can
We can
After
when
now
some
be
now rearranging…
recall
principle
equated stress
into one
is taken
Sx = σp ∙l 1
equations derived in slide 6: into
account…
another…
σx + τyx ∙ m + τzx ∙ n = Sx
Sy = σp ∙m=σx + σy+ σz
2

σx τxy σx τxz
σy + τzy ∙ n + τxy ∙ l = Sy Sz = σp33 ∙n=det τxy σy +det τxz σz

σz + τxz ∙ l + τyz ∙ m = Sz +det σy τyz

Writing in matrix/tensor form… τyz σz
σx τxy τxz
l
m =det
τxy σy τyz
n
=0
τxz τyz σz

The expressions for I1, I2 and I3 are known as stress invariants.

If we find the determinant of
this matrix we obtain…
http://www.informit.com/articles/article.aspx?p=1729271&seqNum=13
 Stress
3D Stress Invariants

The expressions for I1, I2

=σx + σy+ σz and I3 are known as stress
invariants.
σx τxy σx τxz +det σy τyz
=σx σyτxy
=det z σx – (τxy)^2 – (τyz)^2 – (τzx)^2
+ σy σσzy+ σ+det They are coefficients that
τxz σz τyz σz
are independent of the axis
the stress acts along.
σx τxy τxz Hence, the principle stress
does not change even when
=det
τ xy σ y τ yz
=σ x ∙σy ∙σz +2∙ τxy∙ τyz ∙τzx – (σx ∙ (τyz)^2 +σy ∙ (τzx)^2 + σz ∙ (τxy)^2) there has been a stress
τxz τyz σz transformation.
After simplifying
them further we
Significance of these terms:
obtain…
I1 Always related to the hydrostatic stress case – which is the average of 3 normal stress components.

I2 Links to von Mises Stress, and deviation of stress and strain quantities during plastic deformation.

Determinant of stress or strain tensor, and an indicator of the degree of plastic deformation of a
I3 material.
DEN5102 lecture slides, sessions_20-21, Dr Toropov, QMUL, 2015; http://www.informit.com/articles/article.aspx?p=1729271&seqNum=13;
http://www.continuummechanics.org/cm/hydrodeviatoricstress.html
 Strain
BASICS: Imagine a bar with axial load applied to it…
The strain, ε, is simply the axial
Fσx Fσx deformation of the bar over the
y original axial length of the bar.
x
ε = δx/L
L δx
The load is applied as normal
stress(force/area), σx, on the
material – so the strain could
Poisson’s Ratio: also be thought of as:
Ratio of strain in the transverse ε = σx/E Young’s
direction to lateral direction, the Modulus
equation for which is:
From Hooke’s Law

Transverse axis
This would
Since tensilemean
deformation
that mostis materials
positive
and compressive
would end up withdeformation
a positive Poisson’s
is
negative,
ratio as they
theusually
overall get
equation has a
negative sign.
thinner(transverse) when they are Longitudinal axis
being stretched longitudinally.
http://silver.neep.wisc.edu/~lakes/PoissonIntro.html
 Strain
From the last slide…
Strain in 3 Dimensions

σx Stress acting in the x-direction will

cause deformation, and therefore
strain along the x-axis.
Due to Poisson’s ratio, for there to
be strain in the x-axis, there would
be corresponding strains in the y
and z-axes, i.e.
The normal stress can be applied
to the other directions to yield
similar expressions:
Y-direction: N.b. these are compressive
strains, so they have a
negative sign.

Z-direction:

DEN5102 lecture slides, sessions_22-24, Dr Toropov, QMUL, 2015; https://en.wikipedia.org/wiki/Poisson%27s_ratio

 Strain
Strain in 3 Dimensions

These expressions can be

X-direction:
superimposed to produce a single
strain equation for each
direction…

Y-direction: These are equations to

calculate normal strain.

Expressions for shear strain:

Z-direction:

y If
Assuming
Thedeformation
So
But general
Where… the
following
this only
starting
occurs
straindue
equation
applies shape
is to
cases
for
δx is
strain
a square…
can in both
be
obtained:
small
the x and y
calculated
strains.
directions…
using…
δy
x
GT

DEN5102 lecture slides, sessions_22-24, Dr Toropov, QMUL, 2015; http://www.continuummechanics.org/cm/smallstrain.html

 Strain
In a very similar
Strain Tensors
way to stress
tensors, the strain tensor matrix can
be set up like so:
γxy γxy /2 =εεxy εx
γyz γyz/2 =εεyz εy
εz
γxz γxz /2 =εεxz

Notable similarities between

Stress and Strain Cases: Strains Stresses

The axis at which principle strains occur – is when shear strain is

σx
equal to zero. σy
Strain tensor invariants also exist… σz
τxy
…along with the tensor matrices and equations derived from the
Mohr’s circle, the followingVariables
variables Key
key can be used to replace
τyz
stress terms with strain terms… τxz
 References
• DEN5102 lecture slides, session_19, sessions_20-21, sessions_22-24, Dr
Vassili Toropov, QMUL, 2015.
• DEN4102 lecture slides, Dr Emiliano Bilotti, QMUL.
• Equation stress with limits -
http://www.bu.edu/moss/files/2015/01/sigma_limit.jpg
• Stress state element - http://www.ah-
engr.com/som/3_stress/images/element_3d_complete.gif
• http://www.informit.com/articles/article.aspx?p=1729271&seqNum=1
3
• http://www.continuummechanics.org/cm/hydrodeviatoricstress.html
• http://silver.neep.wisc.edu/~lakes/PoissonIntro.html
• https://en.wikipedia.org/wiki/Poisson%27s_ratio
• http://www.continuummechanics.org/cm/smallstrain.html