Fundamental solutions for isotropic size-dependent couple stress elasticity

Ali R. Hadjesfandiari, Gary F. Dargush ah@buffalo.edu, gdargush@buffalo.edu

Department of Mechanical and Aerospace Engineering, University at Buffalo, State University of New York, Buffalo, NY 14260 USA

ABSTRACT Fundamental solutions for two- and three-dimensional linear isotropic size-dependent couple stress elasticity are derived, based upon the decomposition of displacement fields into dilatational and solenoidal components. While several fundamental solutions have appeared previously in the literature, the present version is for the newly developed fully determinate couple stress theory. Within this theory, the couple stress tensor is skewsymmetrical and thus possesses vectorial character. The present derivation provides solutions for infinite domains of elastic materials under the influence of unit concentrated forces and couples. Unlike all previous work, unique solutions for displacements,

rotations, force-stresses and couple-stresses are established, along with the corresponding force-tractions and couple-tractions. These fundamental solutions are central in analysis methods based on Greens functions for infinite domains and are required as kernels in the corresponding boundary integral formulations for size-dependent couple stress elastic materials.

1. Introduction
1.1 Background It has long been suggested that the strength of materials has size-dependency in smaller scales. Consequently, a number of theories that include either second gradients of

deformation or extra rotational degrees of freedom, called microrotation, have been

proposed to capture this size-effect. These developments have impacts at the finest continuum scales, such as micro- and nano-scales, which in turn can affect modern micro- and nano-technology.

The inclusion of the above new measures of deformation requires the introduction of couple-stresses in these materials, alongside the traditional force-stresses. The possible

existence of couple-stress in materials was originally postulated by Voigt [1], while Cosserat and Cosserat [2] were the first to develop a mathematical model to analyze materials with couple-stresses. The Cosserats developed a general theory by considering microrotation, independent of the classical macrorotation. At first, experts in continuum mechanics did not see any necessity for the extra artificial degrees of freedom and considered the macrorotation vector as the sole degrees of freedom describing rotation. Toupin [3], Mindlin and Tiersten [4], Koiter [5] and others, following this line, considered the gradient of the rotation vector, as the curvature tensor, the effect of the second gradient of deformation in couple stress elastic materials. However, there are some difficulties with these formulations. The more notable ones relate to the

indeterminacy of the spherical part of the couple-stress tensor and the appearance of the body couple in constitutive relations for the force-stress tensor [4]. For isotropic elastic materials, there are two size dependent elastic constants required in this theory. However, the linear equilibrium equations in terms of displacements inexplicably involve only one of these constants. This inconsistent theory usually is called the indeterminate couple stress theory in the literature (Eringen [6]) and clearly cannot be used as a basis for reliable prediction of material behavior.

As a result of the inconsistencies noted above, a number of alternative theories have been developed. One branch revives the idea of microrotation and is called micropolar

theories (e.g., Mindlin [7]; Eringen [6]; Nowacki [8]). However, these theories exhibit inconsistencies, because microrotation is not a true continuum mechanical concept. The effect of the discontinuous microstructure of matter cannot be represented mathematically by an artificial continuous microrotation. The other main branch, labeled second gradient theories, avoids the idea of microrotation by introducing gradients of strain or rotation

(e.g., Mindlin and Eshel [9]; Lazar et al. [10]).

Although these theories use true

continuum representations of deformation, the resulting formulations are not consistent with correct boundary condition specifications and energy conjugacy requirements.

Recently, the present authors [11] have resolved all of the above difficulties and have developed the consistent couple stress theory for solids. It has been shown that a

consistent size-dependent continuum mechanics should involve only true continuum kinematical quantities without recourse to any additional artificial degrees of freedom. By using the definition of admissible boundary conditions, the principle of virtual work and some kinematical considerations, we have shown that the couple-stress tensor has a vectorial character and that the body couple is not distinguishable from the body force. The work also demonstrates that the stresses are fully determinate and the measure of deformation corresponding to couple-stress is the skew-symmetrical mean curvature tensor. This development can be extended quite naturally into many branches of

continuum mechanics, including, for example, elastoplasticity and piezoelectricity. However, the first step is the development of infinitesimal linear isotropic elasticity, which involves only a single size-dependent constant.

Since this theory is much more complicated than Cauchy elasticity, analytical solutions are rare and, consequently, numerical formulations are needed to solve more general sizedependent couple stress elastic boundary value problems. Interestingly, it seems the boundary element method is a suitable numerical tool to solve a wide range of couple stress elastic boundary value problems. However, this requires the free space Greens functions or fundamental solutions as the required kernels to transform the governing equations to a set of boundary integral equations. These fundamental solutions are the elastic solutions for an infinitely extended domain under the influence of unit concentrated forces and couples. The importance of these fundamental solutions is enhanced further, when we notice that the free space Greens functions play a direct role in the solution of many practical problems for infinite domains.

Mindlin and Tiersten [4] have given the necessary potential functions for obtaining the three-dimensional displacement fundamental solutions in the indeterminate isotropic elasticity. Chowdhury and Glockner [12] provide analogous functions by a matrix

inversion technique for steady state vibration. Interestingly, we find that our linear equilibrium equations in terms of displacements in the determinate theory are identical to those of Mindlin and Tiersten [4]. This means the above displacement solutions are valid in our determinate theory. However, due to the indeterminacy of stresses, appearance of body couples independent of body force and existence of two size-dependent elastic constants, the corresponding stresses were not obtainable within previous couple stress theory.

In the present work, we obtain all two- and three-dimensional displacement and stress fundamental solutions for our consistent isotropic couple stress elasticity. Within this theory, everything is fully determinate and depends on only a single size-dependent material constant. For the three-dimensional case, we derive the displacement kernels directly by a decomposition method and then determine the corresponding stresses.

Two-dimensional stress fundamental solutions have been presented in Huilgol [13] only for concentrated force, based on the indeterminate couple-stress theory developed by Mindlin [14,15]. Reference [11] shows that some of these developments for plane

problems remain useful in our determinate couple stress elasticity. However, we should remember in Mindlins theory, there is an extra material constant, along with indeterminacy in the spherical part of the couple-stress tensor. Here we derive the complete two-dimensional fundamental solutions for point force and point couple, including displacements, force- and couple-stresses with a method similar to that used in the three-dimensional case.

Before continuing with the development for couple stress elasticity, we should mention the work by Hirashima and Tomisawa [16], Sandru [17] and Khan et al. [18] to develop fundamental solutions within the framework of micropolar elasticity. Although their results have some similarities to our fundamental solutions, we should emphasize once

again that microrotations are not a fully consistent continuum mechanics concept. Consequently, these solutions are of limited practical utility.

1.2 Basic Equations Let us assume the three-dimensional coordinate system x1 x2 x3 as the reference frame with unit vectors e1 , e 2 and e 3 . Consider an arbitrary part of the material continuum occupying a volume V enclosed by boundary surface S . In a continuum mechanical theory for size-dependent couple stress materials, the equations of equilibrium become

ji , j + Fi = 0 ji , j + ijk jk = 0

(1) (2)

where ji and ji are force- and couple-stress tensors, and Fi is the body force per unit volume of the body. Within this theory, the force-stress tensor is generally non-

symmetric and can be decomposed as

ji = ( ji ) + [ ji ]

(3)

where ( ji ) and [ ji ] are the symmetric and skew-symmetric parts, respectively. In [11], we have shown that in a continuum mechanical theory, the couple-stress tensor is skewsymmetrical. Thus,

ji = ij
Therefore, the couple-stress vector i dual to the tensor ij can be defined by

(4)

i = ijk kj
where we also have

1 2

(5)

ijk k = ji

(6)

Then, the angular equilibrium equation gives the skew-symmetric part of the force-stress tensor as

[ ji ] = [i , j ]

(7)

We can consider the axial vector si dual to [ ji ] , where

1 si = ijk [ j , k ] 2
which also satisfies

(8)

ijk sk = [ ji ]

(9)

It is seen that by using Eqs. (7) and (8), we obtain

1 si = ijk k , j 2
which can be written in the vectorial form

(10)

s=
Interestingly , it is seen that

1 2

(11)

s = 0

(12)

The force-traction vector at a point on a surface with unit normal vector ni can be expressed as

t i(n ) = ji n j

(13)

Similarly, the moment-traction vector can be written

n mi( ) = ji n j = ijk n j k

(14)

which can also be written in the vectorial form

m (n ) = n

(15)

Reference [11] shows that in couple stress materials, the body couple is not distinguishable from the body force. The body couple Ci transforms into an equivalent body force

1 1 ijk Ck , j in the volume and a force-traction vector ijk C j nk on the 2 2

bounding surface. In vectorial form, this means

1 F + C F 2 and 1 n n t( ) + C n t( ) 2

in V

(16)

on S

(17)

This is the first important result required for the development of the fully determinate couple stress theory.

In addition, there is a need to introduce the appropriate kinematical and constitutive relations. As an initial step, the displacement gradients are decomposed into symmetrical and skew-symmetrical components, such that

ui , j = eij + ij
where

(18)

eij = u(i , j ) =

1 (ui, j + u j ,i ) 2 1 (ui, j u j ,i ) 2

(19)

ij = u[i , j ] =

(20)

Since the rotation tensor ij is skew-symmetrical, one can introduce a dual rotation vector, such that

i = ijkkj

1 2

(21)

In the usual infinitesimal Cauchy elasticity, only the symmetric strain tensor eij contributes to the stored energy. However, in the size-dependent couple stress elastic theory, mean curvatures ij also play a role, where

ij = [i , j ] =

1 (i , j j ,i ) 2

(22)

From Eq. (7), one can recognize that the mean curvature tensor is skew-symmetrical and thus can be rewritten in terms of a dual mean curvature vector [11], where

 i = ijk kj

1 2

(23)

Reference [11] derives the general constitutive relations for an elastic material, when stored energy is expressed in terms of the symmetrical strain tensor eij and the mean curvature vector i . Interestingly, for linear isotropic elastic media, the following

constitutive relations can be written for the force-stress and couple-stress, respectively

( ji ) = ekk ij + 2eij
i = 8 i
and therefore

(24) (25)

[ ji ] = [i , j ] = 8 [ j ,i ] = 2 ijk 2k

(26)

Here and are the usual Lam elastic moduli, while is the sole additional parameter that accounts for couple stress effects in an isotropic material. It is seen that these relations are similar to those in the indeterminate couple stress theory (Mindlin, Tiersten [4]; Koiter [5]), when the two size-dependent properties have the relation

= . Thus, in [11], we have derived couple stress theory with only one single sizedependent constant in which all former troubles with indeterminacy disappear. There is no spherical indeterminacy and the second couple stress coefficient depends on , such that the couple-stress tensor becomes skew-symmetric. Interestingly, the ratio

2 =l

(27)

specifies a characteristic material length l , which is absent in Cauchy elasticity, but is fundamental to the small deformation size-dependent elasticity theory under consideration here. It should be also noticed that

= 2

1 2

(28)

where represents the usual Poisson ratio. Therefore, Eq. (24) can be written as

 ( ji ) = 2
and the total stress tensor becomes

ekk ij + eij 1 2

(29)

ji = 2

ekk ij + eij + 2l 2 ijk 2k 1 2

(30)

By using the relations in Eqs. (19) and (21), this tensor can be written in terms of displacements as
2 uk ,k ij + ui , j + u j ,i 2 (ui , j u j ,i ) 1 2

ji =

(31)

After substituting Eq. (31) into Eq. (1), we can rewrite the governing differential equations in terms of the displacement and body force density fields as

( + + ) u
2

k ,ki

+ ( 2 ) 2ui + Fi = 0

(32)

or in vectorial form as

( + + )( u ) + (
2

) 2 u + F = 0

(33)

Note that Mindlin and Tiersten [4] previously derived an identical form within the context of their indeterminate couple stress theory. However, recall that the stresses in the Mindlin-Tiersten formulation not only involve two parameters and , but also are indeterminate.

The general solution for the displacement in the indeterminate theory has been derived by Mindlin and Tiersten [4]. This can be written
u = B l 2 B 1 r 1 l 2 2 B + B0 4 (1 )

(34)

where the vector function B and scalar function B0 satisfy the relations

1 l 2 2 2 B = F
2 B0 = r F

(35) (36)

Although, remarkably, these remain valid for the determinate couple stress theory, we instead use the direct decomposition method in the present work to derive the displacement fundamental solutions. Afterwards, we continue by developing the

corresponding rotations, curvatures and fully-determinate force- and couple-stresses and tractions, which has previously not been possible. This, in turn, enables the formulation of new boundary integral representations and the development of boundary element methods to solve a broad range of couple stress elastostatic boundary value problems in both two- and three-dimensions.

2. Fundamental Solutions for Three-Dimensional Case

In this section, we derive the fundamental solutions for the three-dimensional case. As was mentioned, these are the elastic solutions of an infinitely extended domain under the influence of unit concentrated forces and couples.

2.1 Concentrated Force

Assume that in the infinitey extended material, there is a unit concentrated force at the origin in an arbitrary direction specified by the unit vector a. This concentrated force can be represented as a body force
3 F = ( ) (x)a

(37)

where (3 ) (x ) is the Dirac delta function in three-dimensional space. It is known that

( 3) ( x ) = 2
By applying the vectorial relation

1 4 r

(38)

( G ) = ( G ) 2 G
for the vector 1 a , we decompose the body force as 4r a a 1 F = 2 a = 4 r 4 r 4 r

(39)

(40)

10

If we consider the decomposition of the resulting displacement u F as

u F = u (1) + u (2 )
u (1) = 0

(41)

where u (1) and u (2 ) are the dilatational and solenoidal part of displacement u F satisfying

(42) (43)

u (2 ) = 0
It is seen that

( + 2 ) 2u (1) =

a 4r a 4r

(44)

2 2 u (2 ) 2 u (2 ) =
If we introduce two vectors A (1) and A (2 ) , such that u (1) = A (1)
u (2 ) = A (2 )

(45)

(46) (47)

= A (2 ) 2 A (2 )

It is seen that they satisfy the conditions in Eqs. (42) and (43), respectively, and therefore

( + 2 ) 2 A(1) =

a 4 r a 4r

(48) (49)

2 2 A (2 ) 2 A (2 ) =

It is obvious that the solutions should be in the form A (1) = a A ( 2 ) = a where and are scalar functions of r having radial symmetry. Therefore, 2 = 1 4 ( + 2 )r (52) (53) (50) (51)

2 2 2 =

1 4 r

11

where 2 is the laplacian operator in three dimensions. Because of radial symmetry, it reduces to

1 d d d2 2 d 2+ = 2 r2 dr r dr r d dr
2

(54)

The regular solutions to the Eqs. (52) and (53) are

=
=
Therefore, we have A (1) =
A (2 ) =

1 r 8 ( + 2 )

(55)

er / l 1 1 r r 4 2 8

(56)

1 ra 8 ( + 2 )

(57)

1 l 2 1 er / l a ra 4 8 r

(58)

It is seen that from Eq. (46)

ui( ) =
1

xi xq 1 1 iq 2 aq 8 ( + 2 ) r r

(59)

By using the relation in Eq. (28), we have

+ 2 = 2
and Eq. (59) can be written as
ui( ) =
1

1 1 2

(60)

xi xq 1 2 1 iq 2 aq 16 (1 ) r r

(61)

It is also seen that from Eq. (47)

u
(2 )

= A

(2 )

1 1 er / l + a 4 r

(62)

Therefore

12

ui

( 2)

1 l 2 r r 2 r /l xi xq r r 2 r /l = + + + + + 3 3 3 1 1 e e iq aq 2 2 4 r 3 l l2 r l l 1 1 xi xq + 2 + iq aq 8 r r

(63)

and for the total displacement, we have

1 2 uiF = ui( ) + ui( ) =

xx 1 1 ( 3 4 ) iq + i 2q aq 16 (1 ) r r (64)

xi xq r r 2 r /l 1 l 2 r r 2 r /l 3 3 3 1 1 e e + + + + + + 2 iq aq 2 2 4 r 3 l l l r l

It should be noticed that the first part of this relation is the displacement from Cauchy elasticity. However, in our determinate theory, we can derive determinate stresses. These force- and couple-stresses are developed in the following.

As a first step in that direction, we find that the gradient of displacement from Eq. (64) is
uiF ,j = 1 1 16 (1 ) r 2 xj ij xq + jq xi 3 xi x j xq ( 3 4 ) iq + aq r r r3

r r 2 r 3 r /l x x j xq + + + 3 e i 3 15 15 15 6 2 l l l r 1 l 2 + aq 4 r 4 2 + + x x x r r ij q jq i iq j r /l + 3 + 3 + 2 e 3 l l r + 1 r r /l x j iq aq 1 + e 4 r 2 l r 1

(65)

Therefore, the strain tensor becomes

13

F eij = u(F i, j )

1 1 16 (1 ) r 2

x j iq + xi jq 2 ij xq + jq xi + x j iq 3 xi x j xq 3 4 + ( ) aq 2r 2r r3 (66)

r r2 r3 xi x j xq 15 15 + 15 + 6 2 + 3 e r / l 3 l 2 l l r 1 l + aq 4 r 4 2 ij xq + jq xi + iq x j r r r /l + 3 + 3 + 2 e 3 l r l + 1 r r / l xi jq + x j iq aq 1 + e r 8 r 2 l 1

Now, it is easily seen that

F = u kF,k = ekk

1 2 xq aq 8 (1 ) r 3

(67)

Therefore, the symmetric part of force-stress tensor becomes

(Fji ) = 2

F F ekk ij + eij = 1 2 x j iq + xi jq xq ij 3 xi x j xq + (1 2 ) aq 3 r r

1 1 8 (1 ) r 2

r r 2 r 3 r /l xi x j xq 15 15 + 15 + 6 2 + 3 e 3 l l l r 1 l 2 + aq 4 2 r 2 x x x + + r r ij q jq i iq j r /l + 3 + 3 + 2 e 3 l r l + 1 1 r r / l xi jq + x j iq aq 1 + e 4 r 2 l r

(68)

For the rotation vector, we have 1 1 e r / l 1 1 1 F = u F = u (2 ) = 4 r 2 2 2 which gives

(69)

14

iF =

1 8 r 2

r r / l ipq x p 1 + l e 1 r aq

(70)

It is seen that the mean curvature vector is

iF = ijkkF, j
1 1 1 1 r r 2 r / l r r 2 r / l xi xq = 3 3 + 3 + 2 e 2 aq + 1 + + 2 e 1 iq aq 16 r 3 16 r 3 l l r l l

1 2

(71)

and therefore, for the couple-stress vector, we have

iF = 8l 2 iF
= 1 l 2 r r 2 r / l xi xq 1 l 2 r r 2 r / l 3 3 e 3 a 1 + + 2 e 1 iq aq + + 2 q 2 3 2 r 3 l 2 l l l r r

(72)

It is seen that the skew-symmetric part of the force-stress tensor becomes

[Fji ] = [F i, j] =

1 1 r r / l xi jq x j iq aq 1 + e 4 r 2 r l

(73)

Therefore, the total force-stress tensor is

F F F (1 2 ) ji = ( ji ) + [ ji ] = 8 (1 ) r 2

x j iq + xi jq xq ij r

3 xi x j xq aq r3

r r 2 r 3 r /l xi x j xq 15 15 + 15 + 6 2 + 3 e 3 l l l r 1 l 2 + aq 4 2 r 2 r r ij xq + jq xi + iq x j r /l + 3 + 3 + 2 e 3 l r l + 1 1 r r / l xi jq aq 1 + e 2 r 2 l r

(74)

Interestingly, the force-traction vector becomes

15

n F ti( ) = F ji n j =

x j n j iq + xi nq xq ni 3 xi x j xq 1 1 1 2 + n j aq ( ) 8 (1 ) r 2 r r3 (75)

r r2 r3 / xi x j xq 15 15 + 15 + 6 2 + 3 e r l 3 n j l l l r 1 l 2 + aq 2 r 4 2 ni xq + nq xi + iq x j n j r r r /l + 3 + 3 + 2 e 3 l r l + 1 1 r r / l xi nq aq 1 + e r 2 r 2 l

and the moment-traction vector is

xn x 1 l2 r r 2 r /l x j n j F n F ipq i j jpq p aq 3 3 3 = + + 2 e mi ( ) = ijk n j k 3 2 r l l r r r 1 l 2 r r / l + 1 + e 1 ijq n j aq r3 l

(76)

Finally, we can consider the following relations

F uiF = U iq aq F iF = iq aq F F ji = jiq aq
F iF = iq aq
F ti(n )F = Tiq aq F mi(n )F = M iq aq

(77) (78) (79) (80) (81) (82)

F F F F F where U iq , iq , F jiq , iq , Tiq and M iq represent the corresponding displacement,

rotation , force-stress, couple-stress, force-traction and moment-traction, respectively, at

x due to a unit concentrated force in the q -direction at the origin. It is seen that, these

Greens functions are

16

F U iq =

xx 1 1 ( 3 4 ) iq + i 2q 16 (1 ) r r
(83)

r r 2 r /l 1 l 2 xi xq r r 2 r /l e e 3 3 3 1 1 + + + + + + iq 2 2 2 l l 4 r 3 l r l
F iq =

1 r r / l ipq x p 1 + e 1 8 r 2 l r 1

(84)

F jiq =

x j iq + xi jq xq ij 3 xi x j xq 1 1 + 1 2 ( ) aq r 8 (1 ) r 2 r3

r r 2 r 3 r /l xi x j xq 15 15 + 15 + 6 2 + 3 e 3 l l l r 1 l 2 + aq 4 2 r r r 2 r /l ij xq + jq xi + iq x j + 3 + 3 + 2 e 3 l r l +
F iq =

(85)

1 1 r r / l x j iq aq 1 + e 2 r 2 l r (86)

r r 2 r / l xi xq 1 l 2 r r 2 r / l 1 l 2 + + e 3 2 3 3 1 + + 2 e 1 iq l l2 2 r 3 2 r 3 r l l

( n)F Tiq =

x j n j iq + xi nq xq ni 3 xi x j xq 1 1 1 2 ) nj + 2 ( 8 (1 ) r r r3

r r2 r3 / xi xq x j n j 15 15 + 15 + 6 2 + 3 e r l 3 l 2 l l r 1 l + 2 r 4 ni xq + nq xi + iq x j n j r r 2 r /l + 3 + 3 + 2 e 3 l l r + 1 1 r r / l xi nq 1 + e 2 r 2 l r
F = M iq

(87)

xn x 1 l2 r r 2 r /l x j n j + + 2 e 3 3 3 ipq i j jpq p 3 2 r l l r r r 1 l r r / l 1 + e 1 ijq n j r3 l

2

(88)

17

2.2 Concentrated Couple

Assume that in an infinitely extended couple stress elastic material there is a unit concentrated couple at the origin in the arbitrary direction specified by the unit vector a. Therefore, this concentrated couple can be represented as a body couple
3 C = ( ) (x)a

(89)

As was mentioned previously, the effect of a body couple is equivalent to the effect of a body force represented by 1 1 F C = C = (3) (x ) a 2 2 or 1 Fi C = ijk 3 (x ), j ak 2 (91) (90)

with a vanishing surface effect at infinity. This shows that the displacement field of the
3 concentrated couple C = ( ) ( x ) a is equivalent to the rotation field of the concentrated

3 force F = ( ) ( x ) a . Therefore, the solutions of the two problems are related, such that

1 uiC = ijk u kF, j = iF 2 which gives

uiC = 1 r r / l ipq x p aq 1 + e 1 8 r 2 l r 1

(92)

(93)

From this it is seen that the gradient of the displacement is

uiC ,j =

r r 2 r /l x p x j 1 1 1 1 r r / l + + 2 e 2 ipq aq + 3 3 3 1 + e 1 ijq aq 3 3 l l 8 r 8 l r r

(94)

Therefore, the strain tensor becomes

x r r 2 r /l x j x 1 1 C eij 3 3 3 = u(C = + + 2 e ipq + i jpq p aq i, j ) 3 l l r 16 r r r (95)

18

It is interesting to note that

C C ekk = uk ,k = 0

(96)

which means the deformation field of a concentrated couple C = ( x ) a is equivoluminal. Therefore, the symmetric part of force-stress tensor is
C (Cji ) = 2 eij =

xx r r 2 r /l x j x p 1 1 3 3 3 + + 2 e 2 ipq + i 2 p jpq aq 3 l l 8 r r r

(97)

For the rotation vector, we have

C iC = ijk uk ,j

1 2

1 1 1 1 r r / l r r 2 r / l xi xq 3 3 + 3 + 2 e 2 iq aq = 1 + e 1 iq aq 3 16 r 8 r 3 l l l r

(98)

Furthermore, the mean curvature vector is 1 1 1 r r / l ipq x p C aq iC = ijkk 1+ e ,j = 2 2 2 32l r l r and therefore the couple-stress vector becomes 1 1 r r / l ipq x p aq 1 + e 4 r 2 l r

(99)

iC = 8l 2 iC =

(100)

The skew-symmetric part of iC , j is

[C i, j ] =
+

x x xx 1 1 r r 2 r /l 3 3 + + 2 e ipq j 2 p jpq i 2 p aq 3 8 r l l r r

(101)

1 1 r r / l 1 + e ijq aq 4 r 3 l

Therefore, the skew-symmetric part of force-stress tensor becomes

19

 [Cji ] = [C i, j] =

x x xx 1 1 r r 2 r /l + + 2 e ipq j 2 p jpq i 2 p aq 3 3 3 8 r l l r r 1 1 r r / l 1 + e ijq aq 4 r 3 l

(102)

and the total force-stress tensor becomes

C ji =

1 3 x j xp 1 1 r r 2 r / l xi x p 3 2 3 3 a + + + 2 e 2 jpq aq ipq q 8 r 3 r 2 8 r 3 l l r 1 1 r r / l 1 + e ijq aq 4 r 3 l

(103)

Then, the force-traction vector becomes

C ti( ) = C ji n j

1 3 x j xp 1 1 r r 2 r / l xi x p + + + 2 e 2 jpq n j aq 3 2 3 3 n a ipq j q 8 r 3 r 2 8 r 3 l l r 1 1 r r / l 1 + e ijq n j aq 4 r 3 l

(104)

and the couple-traction vector is given by

1 1 r r / l xi jq x j iq C n (C ) mi ( ) = ijk n j k n j aq = 1 + e r 4 r 2 l

(105)

Therefore, we can consider

C uiC = U iq aq C iC = iq aq C C ji = jiq aq

(106) (107) (108) (109) (110) (111)

iC = C iq a q
C t i(n )C = Tiq aq C mi(n )C = M iq aq

20

C C C C C where U iq , iq , C jiq , iq , Tiq and M iq represent the corresponding displacement,

rotation , force-stress, couple-stress, force-traction and moment-traction, respectively, at

x due to a unit concentrated couple in the q direction at the origin. Therefore, it is

easily seen that these infinite space Greens functions are

C F = iq = U iq

x 1 r r / l 1 + e 1 ipq p 2 8 r l r 1

(112)

C iq =

1 1 r r / l 1 1 r r 2 r / l xi xq 3 3 3 1 + e 1 iq + + 2 e 2 iq 3 3 16 r l l 8 r l r
1 3 x j xp ipq 8 r 3 r 2

(113)

C jiq =

r r 2 r / l xi x p 1 1 1 1 r r / l + 3 2 3 + 3 + 2 e 2 jpq 1 + e ijq 3 l l 8 r 4 r 3 l r

(114)

C iq =
C Tiq =

1 1 r r / l ipq x p 1 + e 4 r 2 l r

(115)

1 3 x j xp ipq n j 8 r 3 r 2 r r 2 r / l xi x p 1 1 1 1 r r / l 3 2 3 3 + + + 2 e 2 jpq n j 1 + e ijq n j 3 l l 8 r 4 r 3 l r

C M iq =

(116)

1 1 r r / l xi nq x j n j iq 1 + e r 4 r 2 l

(117)

3. Fundamental Solutions for Two-Dimensional Case

In this section, we first present the governing equations of size-dependent couple stress elasticity in two-dimensions under plane strain conditions. Then, we derive the complete two-dimensional fundamental solutions in a similar method used in the three-dimensional case. Reference [19] uses these fundamental solutions within a two-dimensional

boundary element method.

21

3.1 Governing Equations for Two Dimensions

We suppose that the media occupies a cylindrical region, such that the axis of the cylinder is parallel to the x3 -axis. Furthermore, we assume the body is in a state of planar deformation parallel to this plane, such that u ,3 = 0 , u3 = 0

in V

(118a,b)

where all Greek indices, here and throughout the remainder of the paper, will vary only over (1,2). Also, let V (2 ) and S (2 ) represent, respectively, the cross section of the body in the x1 x2 -plane and its bounding edge in that plane. As a result of these assumptions, all quantities are independent of x3 . Then, throughout the domain

= 0 , e3i = ei 3 = 0 , 3 = 0
and

(119a-c)

3 = 3 = 0 , 3 = 21 = 0

(120a,b)

Introducing the abridged notation

= 3 = u ,
where is the two-dimensional alternating symbol with

1 2

(121)

12 = 21 = 1, 11 = 22 = 0
Now, it is seen that the non-zero components of the curvature vector are
= ,
1 2

(122)

(123)

Therefore, the non-zero components of stresses are written

= 4 , ( ) = e + 2e
[ ] = [ , ] = 2 2
and

(124)

(125) (126)

22

 = e + 2 e 2 2
All the other stresses are zero, apart from 33 and 3 , which are given as

(127)

33 = 3 = 4,

(128) (129)

It should be noticed that these stresses in Eqs. (128) and (129), acting on planes parallel to the x1 x2 -plane, do not enter directly into the solution of the boundary value problem.

For the planar problem, the stresses must satisfy the three equilibrium equations

, + F = 0 3, + = 0
with the obvious requirement F3 = 0 . The moment equation can be written as

(130) (131)

[ ] = [ , ]
which actually gives the non-zero components

(132)

[21] = [12 ] = [1, 2 ]

(133)

We also notice that the force-traction reduces to

(n ) t = n

(134)

and the moment-traction has only one component m3 . This can be conveniently denoted by the abridged symbol m , where
(n ) = n = 4 m (n ) = m3

(135)

3.2 Concentrated Force

Assume that there is a line load on the x3 axis with an intensity of unity per unit length in the arbitrary direction specified by the unit vector a. represented by the body force
2 F = ( ) (x)a

This distributed load can be

(136)

where (2 ) (x ) is the Dirac delta function in two-dimensional space. It is known that

23

 1 2 ln r = (2 ) (x ) 2

(137)

By applying the vectorial relation in Eq. (39) for the vector body force as

1 ln ra , we decompose the 2

ln ra ln ra 1 F = 2 ln r a = 2 2 2 If we consider the decomposition of displacement u F as

(138)

u F = u (1) + u (2 )

(139)

where u (1) and u (2 ) are the dilatational and solenoidal part of the displacement vector
u F satisfying

u (1) = 0 u (2 ) = 0
then it is seen that ln ra ( + 2 ) 2u (1) = 2 ln ra 2

(140) (141)

(142) (143)

2 2 u (2 ) 2 u (2 ) =

If we introduce two vectors A (1) and A (2 ) such that

( ) u ( ) = ( A ( ) ) = ( A ( ) ) A ( )
u (1) = A (1)
2 2 2 2 2

(144) (145)

which satisfy the conditions of Eqs. (140) and (141), we obtain

( + 2 ) 2 A (1) = ln r a
2

(146) (147)

2 2 A (2 ) 2 A (2 ) =

ln r a 2

24

Then, the solutions are in the form

A (1) = a A ( 2 ) = a

(148) (149)

where and are scalar functions of r having two-dimensional radial symmetry. Therefore 2 = 1 ln r 2 ( + 2 ) (150) (151)

2 2 2 =

ln r 2

In two-dimensions, with radial symmetry, the laplacian 2 reduces to 2 d2 1 d + r 2 r dr

(152)

The regular solutions to Eqs. (150) and (151) are

1 ( r 2 ln r r 2 ) 8 ( + 2 )

(153)

l2 r 1 2 K 0 + ln r + r ln r r 2 2 l 8

(154)

where K 0 is the modified Bessel function of zeroth order. Therefore,

1 A( ) =

1 r 2 ln r r 2 a 8 ( + 2 )

(155)

l2 r 1 2 K 0 + ln r a + r 2 ln r r 2 a A( ) = 2 l 8

(156)

Then, from Eq. (144)

() = u
1

x x 1 2 2 2 + ( 2ln r 1) a 16 (1 ) r

(157)

and from Eq. (145)

1 r 2 2 K 0 + ln r a u( ) = A( ) 2 l

(158)

25

By using the relations 1 r r K 0 = K1 r l l l 1 r 1 r r K1 = K 0 K1 r l l l r l where K1 is the modified Bessel function of first order, we obtain
1 x x ( 2) u 2 2 ( 2ln r + 1) a =+ 8 r 1 r 2l r 2l x x 1 r l r l2 + K 0 + K1 2 2 a K 0 + K1 a 2 l r 2 l r l r 2 l r r
2

(159) (160)

(161)

(1) (2 ) and u which It should be noticed that there are rigid body translation terms in u

cannot affect stress distrributions. These terms can be neglected in this Greens function for stress analysis. Therefore, by ignoring these rigid body terms and using
F (1) (2 ) u = u + u

(162)

we obtain
F u =

x x 1 ( 3 4 ) ln r 2 a 8 (1 ) r

1 r 2l r 2l 2 x x 1 r l r l2 + K 0 + K1 2 2 a K 0 + K1 a 2 l r 2 l r l r 2 l r r

(163)

For the gradient of displacements, we have x x +x x x x 1 F u ( 3 4 ) + 2 , = aq 8 (1 ) r r r r3

+ + x x x r 2l r 2l 2 ij xq + jq xi + x j iq 4 K 0 + K1 2 2 r l r r r3 l r 1 x x x r x K1 2l l r r3 1 aq aq

(164)

Therefore, the strain tensor becomes

26

F u(F , ) = e =

x +x x x x x 1 (1 2 ) + 2 a 8 (1 ) r r r r3 a

+ +

x x x r 2l r 2l 2 x + x + x 4 K 0 + K1 2 2 r l r r r3 l r 1 r x + x 2 x x x K1 4l l r r3 1 a

(165)

This relation shows that

(F ) (1) e = e =

1 2 x a 4 (1 ) r 2

(166)

Therefore, the symmetric part of the force-stress tensor is

(F ) = 2

F F + e e = 1 2

x + x x x x x 1 (1 2 ) + 2 a 4 (1 ) r r r3
(167)

x x x 1 r 2l r 2l 2 x + x + x + 4 K 0 + K1 2 aq r l r l r r r3 + x x x 1 r x + x K1 2 2 l l r r3 aq

Next, we consider rotations and note that the only non-zero in-plane component is
F F = u , =

1 2

1 r l x K1 a 4l l r r

(168)

Then, the mean curvature components are

F = ,F =

1 2

r 2l r 2l 2 x x K 0 + K1 2 2 a 8 l 2 l r l r r 1
2

(169)

r l r l K 0 + K1 a 8 l l r l r 2 1
2

27

Therefore, the couple-stress vector becomes

F F = 8 l 2

1 r 2l r 2l 2 x x 1 r l r l2 = K 0 + K1 2 2 a K 0 + K1 2 a l r l r l r l r r

(170)

and the skew-symmetric part of the force-stress tensor becomes

F [F ] = [ , ] =

1 r x x K1 a r 2l l

(171)

with non-zero components

F [F 21] = [12 ] =

1 r x a x2 a1 K1 1 2 2l l r

(172)

Therefore, the total force-stress tensor is

F F = (F ) + [ ] =

x + x x x x x 1 (1 2 ) + 2 a 4 (1 ) r r r3
(173)

1 r 2l r 2l 2 x + x + x 4 x x x + K aq + K1 2 r 0 r r3 l r l r

x x x 1 r x K1 l l r r3

aq

and for the force-traction vector, we have

(n)F F t = n =

n x + x n n x x x x n 1 (1 2 ) + 2 3 4 (1 ) r r r

a a (174)

1 r 2l r 2l 2 n x + n x + x n 4 x x x n + K + K1 2 r 0 r r3 l r l r + x x x n 1 r n x K1 3 l l r r aq

28

while for moment-traction, we obtain

1 r 2l r 2l 2 x x n n F m( ) = n = K 0 + K1 2 2 a l r l r r 1 r l r l K + K1 2 n a 0 l r l r
2

(175)

Finally we can consider the following relations

F F u = U a F F = a

(176) (177) (178) (179) (180) (181)

F F = a
F F = a

( n )F F t = T a
F m (n )F = M a

F F F F , , and T represent the corresponding where the fundamental solutions U

displacement, force-stress, couple-stress and force-traction, respectively, at x due to a unit concentrated force in the -direction at the origin. Furthermore, the Greens

F F functions and M represent the corresponding rotation and moment-traction,

respectively, at x . From the above relations, one can establish

F = U

x x 1 ( 3 4 ) ln r 2 8 (1 ) r

1 r 2l r 2l 2 x x 1 r l r l2 + K 0 + K1 2 2 K 0 + K1 2 l r 2 l r l r 2 l r r
F =

(182)

1 r l x K1 4l l r r

(183)

29

F =

x + x x x x x 1 (1 2 ) + 2 4 (1 ) r r r3
(184)

+ +

1 r 2l r 2l 2 x + x + x 4 x x x K + K1 2 r 0 r r3 l r l r x x x 1 r x K1 l l r r3
1 r 2l r 2l 2 x x 1 r l r l 2 K 0 + K 1 2 2 K 0 + K 1 2 l r l r l r r l r

F =

(185)

F T =

n x + x n n x x x x n 1 + 1 2 2 ( ) r 4 (1 ) r r3

+ +

1 r 2l r 2l 2 n x + n x + x n 4 x x x n K (186) + K1 2 r r 0 r3 l r l r x x x n 1 r n x K1 3 l l r r
F = M

1 r 2l r 2l 2 x x n K + K1 2 0 r2 l r l r

1 r l r l2 K 0 + K1 2 n l r l r

(187)

3.3 Concentrated Couple

Now, assume that there is a line distribution of couple load along the x3 axis with unit intensity per unit length. This distributed load can be represented by a body couple
2 C = ( ) ( x ) e3

(188)

As we mentioned earlier, similar to three-dimensional case, the effect of a body couple in an infinite domain is equivalent to the result of a body force represented by 1 1 1 F C = C = (2 ) (x ) e3 = ,(2 )e 2 2 2 (189)

Therefore, it is seen that the solutions of the two problems of concentrated force
2 2 F = ( ) ( x ) a and concentrated couple C = ( ) ( x ) e3 are related, such that

30

1 F u C = U , e 2 or 1 C F u = U , 2

(190)

(191)

Thus, we have
C = u

1 r l x K1 4l l r r

(192)

and we can write the gradient of displacement as

C u , =

r 2l r 2l 2 x x 1 1 r l K1 K + K1 2 + 2 2 0 4l r 4l l r l r r l r 1

(193)

Therefore, the strain tensor is

C = e

r 2l r 2l 2 x x + x x K 0 + K1 8l 2 l r l r 2 r2 1

(194)

It is interesting to note that

C e = uC, = 0

(195)

which means the deformation field of a concentrated couple is equivoluminal, a property shared by the three-dimensional case. Then, the symmetric part of the force-stress tensor is
C (C ) = 2 e =

1 4l 2

r 2l r 2l 2 x x + x x K 0 l + r K1 l 2 r2 r

(196)

We also have for in-plane rotation

C C = u , =

1 2

r K0 8l l 1
2

(197)

and the mean curvature vector is

31

C = ,C =

1 2

r x K1 16l l r 1
3

(198)

Therefore, the couple-stress vector becomes

C C = 8l 2 =

1 r x K1 2l l r

(199)

For the skew-symmetric part of force-stress tensor, we have

F [F ] = [ , ] =

1 r K 0 2 4l l

(200)

with the non-zero components

C [C 21] = [12 ] =

1 r K0 2 4l l

(201)

Therefore, for the total force-stress tensor, we have

C C = (C ) + [ ]

1 r 2l r 2l 2 x x + x x 1 r K K0 + K1 2 + 2 0 2 2 4 l l r 4 l r l r l

(202)

The force-traction vector then becomes

( n )C C t = TC = n

(203) 1 r 2l r 2l 2 x x n + x x n 1 r K + K + K n 0 1 0 2 4 l 2 l r 4 l 2 r2 l r l

and the moment-traction is given by

F m (n )C = n =

1 r x n K1 2l l r

(204)

Finally, we have all of the necessary Greens functions or influence functions for the twodimensional case, which can be written

32

C C U = u =

1 r l x K1 4l l r r

(205)

C = C =
C C = =

r K0 8l l 1
2

(206)

1 r 2l r 2l 2 x x + x x 1 r + K1 2 + K K 0 2 0 2 2 4 l l r 4 l r l r l
C C = =

(207)

1 r x K1 2l l r

(208)

( n )C TC = t =

(209) 1 r 2l r 2l 2 x x n + x x n 1 r K + K + K n 0 1 0 2 4 l 2 l r 4 l 2 r2 l r l
M C = m (n )C =
1 r x n K1 2l l r

(210)

C C C where U , C , and T represent, respectively, the corresponding displacement,

force-stress, couple-stress and force-traction at x caused by a unit in-plane concentrated couple at the origin. Meanwhile, C and M C represent the respective corresponding rotation and moment-traction at x due to this unit in-plane concentrated couple at the origin.

4. Conclusions
We have derived the three- and two-dimensional fundamental solutions for isotropic sizedependent couple stress elasticity, based upon the fully determinate couple-stress theory. Recall that this new theory resolves all of the difficulties present in previous attempts to construct a viable size-dependent elasticity. Furthermore, since in this theory, body couples do not appear in the constitutive relations and everything depends on only a single size-dependent material constant, all expressions for the fundamental solutions are elegantly consistent and quite useful in practice. In particular, these solutions can be used directly as influence functions to analyze infinite domain problems or as kernels in integral equations for numerical analysis. For example, a boundary element method for

33

plane problems of couple stress elasticity is developed in [19], based upon these fundamental solutions. Future work will include the formulation of boundary element methods for linear elastic fracture mechanics and for three-dimensional couple stress problems.

References
[1] W. Voigt, Theoretische Studien fiber die Elastizitatsverhiltnisse der Kristalle (Theoretical Studies on the Elasticity Relationships of Crystals), Abh. Gesch. Wissenschaften 34, 1887. [2] E. Cosserat, F. Cosserat, Thorie des Corps Dformables (Theory of Deformable Bodies), A. Hermann et Fils, Paris, FR, 1909. [3] R.A. Toupin, Elastic Materials with Couple-Stresses, Archive for Rational Mechanics and Analysis, 11 (1962) 385-414. [4] R.D. Mindlin, H.F. Tiersten, Effects of Couple-Stresses in Linear Elasticity, Archive for Rational Mechanics and Analysis, 11 (1962) 415488. [5] W.T. Koiter, Couple Stresses in the Theory of Elasticity, I and II, Proceedings of the Koninklijke Nederlandse Akademie van Wetenschappen. Series B. Physical Sciences, 67 (1964) 17-44. [6] A.C. Eringen, Theory of micropolar elasticity, Fracture, vol 2, ed. H. Liebowitz, Academic Press, New York, (1968 ) 662-729. [7] R.D. Mindlin, Micro-Structure in Linear Elasticity, Archive for Rational Mechanics and Analysis, 16 (1964) 51-78. [8] W. Nowacki, Theory of Asymmetric Elasticity, Pergamon Press, Oxford, UK, 1986. [9] R.D. Mindlin, N.N. Eshel, On First Strain-Gradient Theories in Linear Elasticity, International Journal of Solids and Structures. 4 (1968) 109-124. [10] M. Lazar, G.A. Maugin, E.C. Aifantis, On Dislocations in a Special Class of Generalized Elasticity, Phys. Status Solidi (b), 242 (2005) 23652390. [11] A.R. Hadjesfandiari, G.F. Dargush, Couple Stress Theory for Solids, International Journal of Solids and Structures, 48 (2011) 2496-2510. [12] K.L. Chowdhury, P.G. Glockner, Matrix Inversions and Singular Solutions in the Linear Theories of Elasticity, Journal of Elasticity, 4 (1974) 235-242. [13] R.R. Huilgol, On the Concentrated Force Problem for Two-dimensional Elasticity with Couple Stresses, International Journal of Enginering Science, 5 (1967) 81-93. [14] R.D. Mindlin, Influence of Couple-Stresses on Stress-Concentrations, Experimental Mechanics, 3 (1963) 1-7.

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[15] R.D. Mindlin, Complex Representation of Displacements and Stresses in Plane Strain with Couple-Stresses, Proceedings of the International Symposium on Application of the Theory of Functions in Continuum Mechanics, Tbilisi, USSR (1963) 256-259. [16] K-I. Hirashima, S. Tomisawa, Fundamental Solutions for Stress Concentration Problems of TwoDimensional Cosserat Elastic Body, Theoretical and Applied Mechanics, 26 (1977) 43-57. [17] N. Sandru, On Some Problems of the Linear Theory of the Asymmetric Elasticity, International Journal of Engineering Science, 4 (1966) 81-94. [18] S.M. Khan, R.S. Dhaliwal, K.L. Chowdhury, Singular Solutions and Green's Method in Micropolar Theory of Elasticity, Applied Scientific Research, 25 (1971) 65-82. [19] A.R. Hadjesfandiari, G.F. Dargush, Boundary Element Formulation for Plane Problems in Couple Stress Elasticity, International Journal for Numerical Methods in Engineering, (2011) DOI: 10.1002/nme.

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