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Cauchys stress theorem states that in a stress tensor field there is a traction vector t that linearly
depends on the outward unit normal n:
(a)
ti n
ij i
(b)
f x, y , z ax by cz d 0
is given by
a
N f b
c
1
The unit vector of the surface
2 x y 3z 9
is
2
N 1
n 1 2 2
N 2 1 ( 3) 2
3
2
1
n 1
14
3
n t n
20 10 10 2 80
1 1
t n 10 30 0 1 50
14 14
10 0 50 3 170
Then
80 2
1 1 720
n t n 50 1
14 14 14
170 3
n 51 Force / area
2
51
n n n 1
14
3
2
Shear stress vector can be simply calculated by subtract the normal stress vector n from the
traction vector t
80 2 160 / 7
1 360 1
t 50 1 10 / 7
14 7 14 14
170 3 110 / 7
3
Problem 3-2: Three invariants of a stress tensor
100 1 180
0 20 0
180 0 20
Recall: these values do not change no matter the coordinate system selected
I1 x y z 100 20 20
I1 60
2 2 2
I2 x y y z z x xy yz zx
I2 10000
2 2 2
I3 x y z 2 xy yz zx x yz y zx z xy
I3 168000
b) Principal stresses
4
100 0 80
0 20 0
80 0 20
is given by
100 0 80
det 0 20 0 0
80 0 20
1 140
2 60
3 20
The principal stresses are the three eigenvalues of the stress tensor
xp 140
yp 60
zp 20
5
Problem 3-4: Transformation Matrix
Suppose the state of stress at a point relative to a x, y, z coordinate system is given by:
15 10
10 5
Try to find a new coordinate system (x, y) that corresponds to the principal directions of the
stress tensor.
c. Verify .
15 10
10 5
is given by
15 10
det 0
10 5
1 19.14
2 9.14
The principal stresses are the two eigenvalues of the stress tensor
xp 19.14
yp 9.14
6
b) Determine transformation matrix
For 1 19.14
15 19.14 10 x1
0
10 5 19.14 x2
x2 0.414
Normalize eigenvector
1 1
1
12 ( 0.414) 2 0.414
0.92
1
0.38
For 1 9.14
15 ( 9.14) 10 x1
0
10 5 ( 9.14) x2
x2 2.414
Normalize eigenvector
1 1
2
12 (2.414)2 2.414
0.38
1
0.92
Check 1 2 ?
7
1 2 0.92 0.38 0.38 0.92 0
1 2 !
Transformation Matrix
L 1 2
0.92 0.38
L
0.38 0.92
b) Verify
T
' L L
If we transform the given stress tensor, will we arrive at the principal stresses?
8
Problem 3-5: Beam Equilibrium
Derive the equation of force and moment equilibrium of a beam using the equilibrium of an
infinitesimal beam element of the length dx.
1. Distributed loads q
3. Moments M and M dM
dN
Fx 0 N dN N 0 0
dx
dV
Fy 0 V qdx (V dV ) 0 q ( )
dx
dx
M 0 M qdx( ) (V dV )dx M dM 0
2
dV
q
dx
dV
dV dx qdx
dx
10
Substitute the above equation into the moment equilibrium equation, we have
q
dM (dx) 2 Vdx q(dx) 2 0
2
dM Vdx
dM
V
dx
To sum up, the equations of force and moment equilibrium of a beam are
dN
0
dx
dV
q
dx
dM
V
dx
11
Problem 3-6: Moderately large deflections in beams
Explain which of the three equilibrium equations below is affected by the finite rotations in the
theory of the moderately large deflections of beam.
1. Moment equilibrium
1. Distributed loads q
3. Moments M and M dM
12
Moment equilibrium of the element at point O
dx
M 0 M qdx( ) (V dV )dx M dM 0
2
dV
q
dx
dV
dV dx qdx
dx
Substitute the above equation into the moment equilibrium equation, we have
q
dM (dx) 2 Vdx q(dx) 2 0
2
dM Vdx
dM
V
dx
The axial force equilibrium equation is not affected by moderately large deflection.
13
Define effective shear force V * as the sum of the cross-sectional shear V and the projection of
the axial force into the vertical direction
dw
V* V N sin V N
dx
(3)
V * dV * V * qdx 0
dV *
q 0
dx
dV d dw dV dN dw d 2w
N q N 2 q 0
dx dx dx dx dx dx dx
dV d 2w
N 2 q 0
dx dx
14
Problem 3-7:
At full draw, and archer applies a pull of 150N to the bowstring of the bow shown in the figure.
Determine the bending moment at the midpoint of the bow.
P is the pulling force at point A and T is the tension in the string. Force balance at point A
Fx 0
P 2T cos 70 0
15
P 150
T 219.3N
2cos 70 2cos 70
MB 0
Tx 0.7 Ty 0.35 M B 0
MB Tx 0.7 Ty 0.35
T cos 70 0.7 T sin 70 0.35
219.3 cos 70 0.7 219.3 sin 70 0.35
124.6N m
16
Problem 3-8:
A curved bar ABC is subjected to loads in the form of two equal and opposite force P, as shown
in the figure. The axis of the bar forms a semicircle of radius r.
Determine the axial force N, shear force V, and bending moment M acting at a cross section
defined by the angle
We can determine axial force N, shear force V according to the force balance diagram
N P sin
V P cos
MB 0
P r sin M 0
We have the bending moment M acting at a cross section defined by the angle
M P r sin
17
Problem 3-9:
The centrifuge shown in the figure rotates in a horizontal plane (the xy plane) on a smooth
surface about the z axis (which is vertical) with an angular acceleration . Each of the two arms
has weight w per unit length and supports a weight W 2.5wL at its end.
Derive formulas for the maximum shear force and maximum bending moment in the arms,
assuming b L / 9 and c L / 10
18
Force balance at any point of radius r
b L
w * W
V r dr * b L c
r
g g
W 2 W
b L r2 b L c
2g g
By observation maximum shear force and bending moment occurs at r=b (closest point to the
center line)
W 2 W
Vmax b L b2 b L c
2g g
2 2
W L L W L L
L L
2g 9 9 g 9 10
wL2
Vmax 3.64
g
W 1 3 1 2 W
M max b L b3 r b L b2 b L c b L c b
g 3 2 g
3 3 2 2
W 1 L L 1 L L W L L L
L r L L L
g 3 9 9 2 9 9 g 9 10 10
wL3a
M max 3.72
g
19
Problem 3-10:
A simple beam AB supports two connective loads P and 2P that are distance d apart (see figure).
The wheels may be placed at any distance x from the left support of the beam.
(a) Determine the distance x that will produce maximum shear force in the beam, and also
determine the maximum shear force Vmax
(b) Determine the distance that will produce the maximum bending moment, and also draw
the corresponding bending moment diagram. (Assume P=10kN, d=2.4m, and L=12m)
C D
C D
MA 0
20
RB L P x 2P x d
3Px 2 Pd
3Px 2 Pd
RB
L L
FY 0
RA 3P RB
2d 3x
RA P 2
L L
C D
3Px 2 Pd 2d 3x
There are two possible maximum shear forces, and P 2 , depending on
L L L L
the position of the wheels x:
2d 2d
If x 0, the two possible maximum shear forces are Vmax P max 3 ,
L L
d d
If x L d, the two possible maximum shear forces are Vmax P max 3 ,
L L
d 2.4
Vmax P 3 10 3 28kN at x L d Note : 0 x L d
L 12
21
b) From the shear force diagram, we know the bending moment diagram could be either i orii
The maximum bending moment occurs at either point C or D. Thus we need only calculate
moment at these two points to determine the maximum bending moment.
2d 3x 3Px 2 Pd
Knowing RA P 2 and RB ,
L L L L
2d 3x 2
MC RA x P 3 x
L L
MD RA x d P d
2d 3dx 3x 2 2d
P 3 x 3 d Pd
L L L L
2d 5d 3x 2
P 3 d 3 x Pd
L L L
d
If x 0, M C 0, M D 2Pd 1
L
d
If x L d, MC Pd 1 ,MD 0
L
d 2.4
MD 2 Pd 1 2 10 2.4 1 38.4N m
L 12
M max 38.4 N m
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