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Governing Equations
This chapter develops the governing equations of motion for a homogeneous
isotropic elastic solid, using the linear three-dimensional theory of elastic-
ity in cylindrical coordinates. At first, classical relationships between stress,
strain, and displacement are reviewed and implemented into the dynamic
equilibrium equations. The mathematical representations of the linear the-
ory of elasticity derived in this chapter will set the stage for the development
of the required governing equations for the possible modes of vibrations in
cylindrical structures with any thickness.
y
σrr
σ zz
σ θθ
δz
δr
σ zz
r σ rr
σ θθ
δθ
θ x
∂σθθ
σθθ + δθ
∂θ
∂τθr
τθr + δθ
∂θ
∂τrθ
τrθ + δr
∂r
∂τzr ∂σrr
τ zr + δz σrr + δr
∂z ∂r
δθ σ rr
τrθ
τθr
σθθ
z ∂σ zz
σ zz + δz
∂z
σrr ∂τ zθ
τ zθ + δθ
∂θ
δz ∂τ
τθr δr τ zr + zr δr
Fr ∂r
σ θθ τθz ∂σrr
σrr + δr
∂r
δθ
order terms are very small, they can be neglected. Therefore, the change
in stress across the element is considered very small.
Canceling appropriate terms from both sides of the equation and after
simplifying, it yields:
∂σ rr 1 ∂τ rθ ∂τ rz σ rr − σ θθ
+ + + + Fr = 0 (2.2)
∂r r ∂θ ∂z r
Similarly, the equilibrium equation for the θ direction yields:
∂τ rθ 1 ∂σ θθ ∂τ θz 2
+ + + τ rθ + Fθ = 0 (2.3)
∂r r ∂θ ∂z r
and finally, for the z direction one may write:
∂τ rz 1 ∂τ θz ∂σ zz 1
+ + + τ rz + Fz = 0 (2.4)
∂r r ∂θ ∂z r
In the above simplifications, due to very small angle of δθ, the following
approximations were used:
δθ δθ δθ
cos ≈1 sin ≈ (2.5)
2 2 2
In addition to the stresses, body forces acting throughout the element have
been considered for each direction. These are denoted by Fr , Fθ , and Fz
which are introduced as forces in the r, θ, and z direction per unit of
volume. Due to the cancellation of the moments about each of the three
perpendicular axes, the relations among the six shear stress components
are presented by the following three equations:
τ rθ = τ θr τ θz = τ zθ τ zr = τ rz (2.6)
Therefore, the stress at any point in the cylinder may be accurately de-
scribed by three direct stresses and three shear stresses.
err E = σ rr − ν (σ θθ + σ zz ) (2.7)
eθθ E = σ θθ − ν (σzz + σ θθ ) (2.8)
ezz E = σ zz − ν (σ rr + σ θθ ) (2.9)
2. Governing Equations 19
where err , eθθ , and ezz are the direct strain in the r, θ, and z directions
respectively; E is the Young’s modulus or the modulus of elasticity; and ν
is a proportionality factor called Poisson’s ratio.
The other three Hooke’s law relations result from the following propor-
tionality between shear stresses and shear strains:
τ rθ = Gerθ (2.10)
τ rz = Gerz (2.11)
τ θz = Geθz (2.12)
where, erθ is the shear strain along θ and perpendicular to r; erz is the
shear strain along z and perpendicular to r; eθz is the shear strain along
z and perpendicular to θ; and G is the shear modulus or the modulus of
rigidity.
Through the general definition of shear stress and strain, the relationship
between shear modulus, Young’s modulus, and Poisson’s ratio is given as:
E
G= (2.13)
2 (1 + ν)
Lame’s elastic constant, λ, and volumetric strain, ε are introduced by the
following equations:
νE
λ = (2.14)
(1 − 2ν) (1 + ν)
ε = err + eθθ + ezz (2.15)
Then, a different form of Hooke’s law relating direct stresses and direct
strains can be achieved by adding the direct strain equations (2.7)-(2.9).
Eε
= σ rr + σ θθ + σ zz (2.16)
1 − 2ν
Rearranging equation (2.7), one may write:
σ rr − Eerr
σ θθ + σ zz = (2.17)
ν
Now, by substituting equation (2.17) into (2.16) it yields:
Eε σ rr Eerr
= σ rr + − (2.18)
1 − 2ν ν ν
and the result can be arranged as:
νEε
= (1 + ν) σ rr − Eerr (2.19)
1 − 2ν
20 2. Governing Equations
from which the direct stress in the radial direction is determined to be:
νE E
σ rr = ε+ err (2.20)
(1 − 2ν) (1 + ν) 1+ν
Now using the definitions of the shear modulus and Lame’s elastic constant,
the direct radial stress is presented as:
σ rr = λε + 2Gerr (2.21)
In a similar procedure, the direct circumferential stress and the direct axial
stress are represented in terms of the volumetric strain, Lame’s elastic con-
stant, the shear modulus, and the appropriate direct strains are presented
in the following equations.
σ θθ = λε + 2Geθθ (2.22)
σzz = λε + 2Gezz (2.23)
z
y
δz H
F ( r + δr , θ + δθ, z + δz )
G B
E D
A
δθ C
θ
r
δr
x
z
F1 F'
H
G F
E D'
uz B D1
uθ
A A' D
C'
ur C1 y
x
C
D'
B1 B ' D
B
δθ + Δδθ
O δθ
uθ A' C'
r C3
A A C1
2
D C2
Upon examining the radial strain at point A and ignoring the effects of
strains in the z direction, the strain in the side AC can be found. If the
distance A0 C 0 is transferred to the line AC by drawing arcs, with center
O, through A0 and C 0 to intersect the line OAC at points A2 and C2 then
the radial strain can be defined as:
A2 C2 − AC
err = (2.24)
AC
Considering the geometry of the Figure 2.6, the above equation can be
written in the following form:
µ ¶
∂ur
δr + δr − δr
∂r ∂ur
err = = (2.25)
δr ∂r
In a similar manner, the direct circumferential strain may be defined as:
A0 B 0 − AB
eθθ = (2.26)
AB
where,
AB = rδθ
and µ ¶
0 0 ∂uθ
A B = (r + ur ) δθ + δθ . (2.27)
r∂θ
The shear strain, erθ , is represented by the change of the angle BAC.
By drawing A0 C1 parallel to AC, A0 B1 parallel to AB, and continuing line
OA0 to yield point C3 , the following procedures will yield erθ which is a
rate of change of the line A0 C1 . Notice that A0 C1 is parallel to line AC.
where,
∠C3 A0 C 0 = ∠C1 A0 C 0 − ∠C1 A0 C3 (2.30)
and
A2 A0 uθ
∠C1 A0 C3 = ∠AOA0 = = . (2.31)
r + ur r
The definition of the length C1 C 0 is:
∂uθ
C1 C 0 = δr (2.32)
∂r
then,
C1 C 0 ∂uθ
∠C1 A0 C 0 = = . (2.33)
AC ∂r
Therefore, the shear angle C3 A0 C1 can be defined as:
∂uθ
δr u ∂uθ uθ
∠C3 A0 C 0 = ∂r
θ
− = − (2.34)
δr r ∂r r
The shear angle B1 A0 B 0 can be defined as:
B1 B 0
∠B1 A0 B 0 = (2.35)
rδθ
which is the radial displacement of B due to the angle δθ over the initial
length. In partial derivative form this simplifies to:
1 ∂ur ∂ur
∠B1 A0 B 0 = δθ = (2.36)
rδθ ∂θ r∂θ
Therefore, the shear strain erθ , is given as:
∂uθ uθ ∂ur
erθ = − + (2.37)
∂r r r∂θ
24 2. Governing Equations
H' G' G
1
H G
δz
B'
B1 A'
B A
rδθ
Considering the z direction, the direct axial strain can be defined simi-
larly to the procedure used in Cartesian coordinates. Recall that the axial
strain is defined as the ratio of the change in length to the original length
of the element in the z direction. Examining the strain in line AF in the z
direction, the direct axial strain is given as:
A0z Fz0 − Az Fz
ezz = (2.38)
Az Fz
which simplifies to:
∂uz
δz + δz − δz
ezz = ∂z (2.39)
δz
and finally to:
∂uz
ezz = (2.40)
∂z
In Figure 2.7 the z plane is shown as viewed from the origin. On the face
ABHG the shear strain eθz causes the right angle BAG to be displaced
to B 0 A0 G0 . Note that A0 B1 is parallel to AB and A0 G0 is parallel to AG.
Therefore, the shear strain, eθz , is given as:
1 ∂uθ 1 ∂uz
eθz = δz + δθ (2.42)
δz ∂z rδθ ∂θ
and simplifies to:
∂uθ ∂uz
eθz = + (2.43)
∂z r∂θ
2. Governing Equations 25
Finally by examining the (r, z) plane, the shear strain, erz , is defined as:
which yields:
∂ur ∂uz
δz δr
erz = ∂z + ∂r (2.45)
δz δr
and simplifies to:
∂ur ∂uz
erz = + (2.46)
∂z ∂r
There are now six strain components given in terms of the cylinder dis-
placements. This completes the development of the required strain-displacement
relationships.
Similarly, the three shear stresses in terms of shear strains are given by
equations (2.10)-(2.12) and the shear strains, in terms of displacement com-
ponents, are provided by equations (2.37), (2.43), and (2.46). Therefore,
26 2. Governing Equations
δ variation
ε volumetric strain
θ transverse direction
λ Lame’s elastic constant
μ, G shear modulus, modulus of rigidity
ν Poisson’s ratio
σ normal stress
σ rr , σ θθ , σzz direct stress in the r, θ, z directions
τ shear stress
τ rθ shear stress along θ and perpendicular to r
τ rz shear stress along z and perpendicular to r
τ θz shear stress along z and perpendicular to θ
∠ angle
∇2 Laplacian operator
∇ gradient
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