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If, in addition to rotation, the lateral sides of the element are displaced
parallel to themselves, owing to stretching of the middle surface, and if the
corresponding unit elongations of the middle surface in the x and y direc-
tions are denoted by €1 and €2, respectively, the elongation e, of the lamina
considered above, as seen from Fig. 10-2, is
Substituting
we obtain
BENDING OF THIN SHELLS 44 1
In the same manner, we find for the elongation in the y direction
T
xA1
&- --- L , - -..Z . $/<-.
j I
: I
rx l
y ,/I/ :
; 1 1:;
: I $1::
; 1 //j
i I///
; f<'
\ I,'
4
normal stresses between laminae ( 0 , = 0 ) ,we obtain the following expres-
sions for the components of stress:
resultant forces will act in the middle surface of the shell. Using for these
resultant forces and for the bending moments per unit length the same
notations as in the case of plates (see Arts. 8.1 and 8.2), we obtain'
and also
where D has the same meaning as in the case of plates [see Eq. (8-3)] and
denotes the jlexural rigidity of the shell.
A more general case of deformation of the element in Fig. 10-1 is
obtained if we assume that, in addition to normal stresses, shearing
stresses also are acting on the lateral sides of the element. Using the
same notations as in the case of plates and considering that on the side
normal to the x axis the components of shearing stress are r,, and r,,, we
obtain for the resultant forces and'for the torsional moment
+h/2 +h / 2
Q= = / - h , 2 TZZ dz Nz, = /-h,2 rzvdz
+h / 2
Ma = - / - h / 2 Z T Z , d~ (10-5)
In the same manner, for the side normal to the y axis, we obtain
The relation between the shearing stress T,, and the twisting of the element
A B C D (Fig. 10-1) can be established exactly in the same manner as in the
case of an element cut out from a plate (see p. 324); in this way we obtain
where x,, takes the place of a2w/ax ay in the case of a plate and represents
the twist of the element A B C D during bending of the shell, so that x, d x
is the rotation2 of the edge BC relative to Oz with respect to the x axis.
1 The positive directions of moments and forces are the same as shown in Figs. 8-5
and 8-11 for bending of plates.
Rotations with respect to the 2,y, and z axes are taken positive in conformity with
the right-hand screw rule.
BENDING OF THIN SHELLS 443
If, in addition to twist, there is a shearing strain y in the middle surface
of the shell, we obtain
Thus assuming that during bending of a shell the linear elements normal
to the middle surface remain straight and become normal to the deformed
ndddle surface, we can express the resultantforces N,, Nu, and N, and the
moments M,, M,, and M, in terms of six quantities: the three components
of strain €1, C% and -y of the middle surface of the shell andthe three quanti-
ties x,, xu, and x, representing the changes of curvature and the twist of
the middle surface.
The strain energy of a deformed shell consists of two parts: (1) the
strain energy due to bending and (2) the strain energy due to stretching of
the middle surface. For the first part of this energy we can use Eq.
(8-29). Substituting in it the changes of curvatures x,, xu, and X,J,
instead of curvatures a2wlaz2, a2w/dy2, and azw/ax ay, we obtain
where the integration should be extended over the entire surface of the
shell.
That part of the energy due to stretching of the middle surface is
(Fig. 10-3), of unit width,' cut out from the shell by two axialZsections.
An element & of this strip (Fig. 10-3c) is submitted to the action of forces
N , and Nu dx in the middle surface of the shell and of a force q dx normal
to the surface, where q is the intensity of the load acting on the shell.
Also there will be bending moments acting on the sides of the element.
Let us assume that the forces N , are constant;i.e., that the cylindrical
shell is submitted to the action of a uniform axial tension or compression.
The forces Nu will depend on the radial displacements of the points of the
strip during deformation of the shell. Denoting these displacements in
the z direction by w, we find that the strain of the middle surface of the
W
from which N, = v N , - - Eh (a)
a
Considering bending of the strip mn, the forces (a) give a component in the
radial direction (Fig. 10-3d), the magnitude of which per unit length is
1 This width will be assumed as very small in comparison with the radius a, and
the cross section of the strip will be considered rectangular.
2 This term will be used hereafter to designate a section through the axis of the
cylinder.
BENDING O F THIN SHELLS 445
Summing up all transverse loads per unit length of the strip, we obtain
The quantity D is taken for the flexural rigidity of the strip, since distor-
tion of the cross section is prevented by the action of adjacent strips.
If the load q and the forces N , are given, the deflection of the shell is
found from Eq. (10-11). Application of this equation in studying buck-
ling of shells will be shown later (see Art. 11.1).
x
1
"'
;
...a-
//
which ie the same as in the case of small deflections of plates except that a dB takes
the place of dy. The three conditions (a), (b), and (c) will be satisfied by taking for
the components of displacement the same expressions as in the case of a circular ring
(see Art. 7.2). These components can be put in the following form:
' The theory of inextensional deformations of shells is due to Lord Rayleigh, Proc.
London Math. Soe., vol. 13, 1881, and Proc. Roy. Soe., London, vol. 45, 1889.
THEORY OF ELASTIC STABILITY
VI = 5
n-1
a(amcos no - a: sin no)
w, = - 2
n-1
na(a. sin no + a',, cos n ~ )
where a is the radius of the middle surface of the shell, 0 the central angle, and a, and
a: constants which must be calculated for each particular case of loading. The dis-
placements (d) represent the case in which all cross sections of the shell deform identi-
cally. On these displacements we can superpose displacements which vary along the
length of the cylinder and which are given by the series
us = - 5
n=l
(b. sin no + b: cos no)
a =z
n-1
2 (a. cos no - b: sin nn
w2 = -Z 5n-1
.(a. sin ne + b: cos no)
It can be proved readily that these expressions also satisfy the conditions of inexten-
sibility. Then the general expressions for displacements in inextensional deformation
of a cylindrical shell are
Owing to the central angle dB between the two elements, the latter rotation has a com-
ponent with respect to the y axis equal to
From the results (h) and (i) we conclude that the total angle of twist between the two
elements under consideration is
Hence
Substituting the calculated changes of curvatures in expression (10-9) for the strain
energy of bending' and using for displacements expressions (f),we finally obtain for the
total energy of deformation of a cylindrical shell of length 21 (Fig. 10-5) the following
expression:
This expression does not contain a term with n = 1, since, as was pointed out in con-
sidering the deformation of a circular ring (Art. 7.2), the corresponding displacements
are the same as for a rigid body and do not con-
tribute to the strain energy.
Let us now apply the above expression for U
in calculating the deformations produced in a
cylindrical shell by two equal and opposite forces
P acting along a diameter a t a distance c from
the middle (Fig. 10-5). These forces produce
work only on radial displacements w of their
points of application, and since the terms with FIG. 10-5
coefficients a . and b. in the expressions for wl
and w2 [see Eqs. ( d ) and (e)] vanish a t these points, only terms with coefficients a',
and b: will enter in the expressions for deformation. With the use of the principle
of virtual displacements, the equations for calculating coefficients a: and bi become
a u tia;
--7 = -na aa;(l + cos n r ) P
aa,
au
8b: = -nc )b:(l + cos n s ) P
1 The energy of deformation due to stretching of the middle surface of the shell is
zero in this case, since the deformation is assumed inextensional.
448 THEORY OF ELASTIC STABILITY
Substituting expression (10-12) for U,we obtain, for the case where n is an even
number,
a*P
I
an = -
n(n2 - 1)2rD1
ncPa8
0 =
nr
2 aa. cos
. nr8
w = --pa.s*n-
'2
a
+z bn cos 4
nr
- . nu8
b. mn -
we obtain an inextensional deformation such that the displacements u and w and also
the bending moments vanish along the edges mn and pq.
Summing up (a) and (b), the relative angular displacement about the
x axis of the side BC with respect to the side O A is
The rotation about the y axis of the side BC with respect to the side O A
is due to bending of generators in axial planes and is equal to1
The rotation about the z axis of the side BC with respect to the side O A
is due to bending of the generators in tangent planes and is equal to
The formulas (c), (d), and (e) give the three components of rotation of the
side BC with respect to the side O A .
Let us establish now the corresponding formulas for the angular dis-
placement of the side A B with respect to the'side OC. Owing to curva-
ture of the cylindrical shell, the initial angle between these lateral sides of
the element OABC is dB. However, because of displacements v andw,
this angle will be changed and rotation of the lateral side OC with respect
to the x axis becomes
The signs of the angular displacements with respect to coordinate axes z,y, and z
are taken in accordance with the right-hand screw rule.
BENDING OF THIN SHELLS 451
In calculating the angle of rotation about the y axis of the side AB with
respect to the side OC, we use for the twist expression (j) of the preceding
article (see p. 447) ; then the required angular displacement is
Rotation about the z axis of the side AB with respect to OC is due to dis-
placements v and w. Owing to displacement v, the angle of rotation of the
side OC is &/ax and that of the side AB is
Having the above formulas1 for the angles, we may now obtain the three
equations of equilibrium of the element OABC (Fig. 10-7a) by projecting
all forces on the x, y, and z axes. Beginning with those forces parallel to
the resultant forces N, and Nu,, and projecting them on the x axis, we
obtain (dN,/ax) dx a dB and (aNu,/a9) d9 dx. Owing t o the angle of
rotation given by expression (k), the forces parallel to Nu give in the
x direction a component
Because of the rotation given by expression (e), the forces parallel to the
resultant forces N, give in the x direction a component
1 These formulas can be obtained readily for a cylindrical shell from the general
formulas given by Love, ibid., p. 523.
452 THEORY OF ELASTIC STABILITY
Finally, owing to the angles given by expressions (d) and ( h ) , the forces
parallel to Q, and Q, give in the x direction the components
I n the derivation of these equations the change in size of the element due
to stretching of the middle surface was not considered. In the solution of
problems of stability a further refinement is sometimes introduced and the
strains al and rz of the middle surface are taken into account in writing the
equations of equilibrium of the element. Since 6, and €2 are small quanti-
ties expressed by the derivatives of the displacements u, v, and w [see Eqs.
(10-15)], they must be introduced only in those terms of Eqs. (10-13)
which are not multiplied by the derivatives of the displacements. Con-
sidering, for instance, the case of buckling of a cylindrical shell under
lateral pressure (Art. 11.5), we shall find that the stress resultant Nu is
very large in comparison with the other stress resultants; thus N,(1 + €1)
should be introduced, instead of Nu, in the second and the third of Eqs.
+ +
(10-13) and q(l e ~ ) ( l €2) should be substituted for q in the third
BENDING OF THIN SHELLS 453
equation to take into account the stretching of the middle surface. In
the case of buckling, of a cylindrical shell under torsion (Art. 11.11), the
stress resultants N, and Nu, become the most important; considering the
effect of stretching of the middle surface, Nu,(l + el) and N,(1 + c2)
instead of Nu, and N, should be substituted in the first and second of
Eqs. (10-13). This question of taking account of stretching of the middle
surface will be discussed later in considering particular problems.
Considering now the three equations of moments with respect to the x,
y, and z axes (Fig. 10-7b) and again taking into consideration the small
angular displacements of the sides BC and AB with respect to OA and
OC, respectively, we obtain the following equations:
By using the first two of these equations we can eliminate Q, and Q, from
Eqs. (10-13) and obtain in this way three equations containing the result-
ant forces N,, Nu, and N, and the moments M,, Mu, and M,,. By using
the formulas of Art. 10.1, we can express all these quantities in terms of the
.three strain components el, ez, and -y of the middle surface and the three
curvature changes x,, xu, and x,,, all of which are represented in terms of
the displacements u, v, and w as follows (see Art. 10.3) :
Thus we finally obtain the three differential equations for determining the
displacements u, v, and w.
10.5. Symmetrical Deformation of a Spherical Shell. Let us assume
that the vertical diameter is the axis of symmetry of the deformation of a
spherical shell (Fig. 10-8) and let us consider an element OABC cut out
from the shell by two meridional sections an angle d$ apart and by two
conical surfaces normal to the meridians and inclined to the axis of sym-
+
metry by the angles @and0 dB. Taking the x and y axes as tangents a t
0 to the meridian and to the parallel circle, respectively, and the z axis in
the radial direction, as shown in the figure, we denote the corresponding
454 THEORY OF ELASTIC STABILITY
(N, + dB
""
dB a sin ( 0 + dB) d$ - Nza sin 6 d+
) - N,a dB cos 0 d# - &,a sin 8 d# d e = 0
I n the same manner the other two equations of equilibrium can be written.
After simplification the three equations of equilibrium become
aN*
- + ( N , - Nu)cot e - Q2 =0
ae
ae + Q= cot e + N , + N , + qa = o
2+ ( M , - Mu) cot 8 - Q,a = 0
aM
a0
where q is the intensity of the external load. These equations should be
used in investigating deformation of a spherical shell under the action of a
normal load symmetrically distributed with respect to a diametral axis.
I n writing the equations of equilibrium for the case of the buckled sur-
face of a shell, which is assumed symmetrical with respect to a diametral
axis, we should take into account small changes of the angles between the
faces of an clement such as OABC, due to deformation. Considering the
change of the angle between the faces OC and AB of the element, we con-
1 The right-handscrew rule is used in determining the sign of rotation.
BENDING OF THIN SHELLS 455
clude from the assumed symmetry of deformation that there will be rota-
tion only with respect to the y axis. This angle of rotation for the face
OC is
Thus the angle between the faces OC and AB after deformation becomes
Considering now the change of the angle between the faces A 0 and BC,
we observe that, owing to symmetry of deformation, these faces rotate
only in their own planes by the angle
Such a rotation in the plane of the face BC has components with respect to
the x and z axes equal to
cos 0 d$ and - (: + *)
a dB sin 0 d$
sin 0 d$ + (- + -
2'0)
cos 0 d$
and cos 0 d$ - -
( +-
2'0)
sin 0 d$
respectively.
Using the angles given by expressions (a), (b), and (c), instead of the
initial angles dB, sin 0 d$, and cos 0 d$, the equations of equilibrium of the
element OA BC become
456 THEORY OF ELASTIC STABILITY
e l = - - -du w - cos
e2=--u e w
ad0 a a sin 0 a .
By using expressions (a) and (b), we obtain for the changes of curvature
With these values of el, e2, x,, and x, we obtain finally, from Eqs. (10-17),
two equations containing only u and w. The application of these equa-
tions in discussing stability of a compressed spherical shell will be shown
in Art. 11.13.
The differential equations of equilibrium developed in the last two
articles are based on Love's general theory of small deflections of thin
shells1which neglects stresses normal to the middle surface of the shell and
assumes that the normals to the undeformed middle surface remain nor-
mal to the deformed middle surface. I n recent years a considerable
literature has been developed dealing with various improvements of
Love's t h e ~ r y . ~
Some refinements of the theory were also obtained by
taking into account the effect of shearing forces on bending of shellsa In
the solution of many practical problems, the tendency has been to further
simplify Love's equations by omitting certain terms, so that the mathe-
matical treatment becomes simpler. Such a simplification was applied
first in the case of torsion of thin cylindrical shells4and will be discussed in
the next chapter. A similar simplification was developed later for other
cases of buckling of cylindrical shells.=
1 Ibid.
2 A bibliography of this subject is given in the paper by P. M. Naghdi, Appl.
Mech. Rev., vol. 9, p. 365, 1956.
"ee E. Reissner, J. Appl. Mech., vol. 12, p. A69, 1945, and J. Math. Phys.,
vol. 31, p. 109, 1952; P. M. Naghdi, Quart. Appl. Math., vols. 14 and 15, 1956 and
1957; and V. L. Salerno and M. A. Goldberg, J. Appl. Mech., vol. 27, p. 54, 1960.
4 L. H. Donnell, N A C A Tech. Rept. 479, 1933. The accuracy of the simplified
equations was discussed by N. J. Hoff, J. Appl. Mech., vol. 22, p. 329, 1955.
S. B. Batdorf, N A C A Tech. Note 1341, 1947.