Review of stress

Stress vector
The surface force intensity at a point P on the cut
plane (with outward normal n) of a free body:
F
T n lim
A0
A
Tn is defined as the stress
vector at point P on a surface
whose outward normal is n.
Using Newtons law of action
and reaction, at the same point
on the same plane but on Part B,
there exists a stress vector T-n
equal and opposite to Tn.
T n T n
 Definition of stress state at a point
Consider an infinitesimal
element PABC in the
deformed state. PB, PC,
and PA are parallel to the
x1-, x2, and x3-axes, respectively.
APC, area A1:
outward normal: e1,
stress vector: T-1;
APB, area A2: BPC, area A3:
outward normal: e2, outward normal: e3,
stress vector: T-2; stress vector: T-3;
ABC, area An:
outward normal: n,
stress vector: Tn;
The size of the tetrahedron will ultimately be made to
approach zero so that, in the limit, the inclined plane
will pass through the point P.
From Newtons second law,
T 1A1 T 2 A2 T 3 A3 T n An Fb 0
Fb represents body forces, which include the effect of
acceleration, if there is any.
Now the body force of the tetrahedron is proportional to
its volume, which approaches zero faster than the other
terms and can be neglected. Besides,
Ai cos(e i , n)An ni An
Hence,

T 1n1 T 2 n2 T 3 n3 T n 0 T i T i
Therefore,
T n T1n1 T 2 n2 T 3 n3
Now it is known that T1, T2, and T3 are vectors. They may
be expressed as:

T1 11 12 13
T

T 2 21 22 23
T

T1 31 32 33
T

It can be shown that ij ji Symmetric!

 Components of stress state
On the opposite surface of APC, the stress vector:
T1 11e1 12e 2 13e 3
Clearly, 11 is the normal stress and 12 and 13 are the
shear stresses on the plane whose outward normal is
e1. Similar interpretations can be given for the other
components of the stress tensor.
Hence, the diagonal components 11, 22 and 33 are
normal stresses, while the off-diagonal components
12, 13, 21, 23, 31, and 32 are shear stresses.
In matrix form:
11 12 13

ij 21 22 23
31 32 33

{ } { 11 22 33 12 23 13 }T

Engineering stress vector:

{ } { x y z xy yz xz }T
Principal stresses and stress invariants
Given the stress state at one point P. On
three particular planes that pass through
point P, the directions of the stress vectors
coincide with those of their outward normal
vectors. Such directions are known as the
principal stress directions and the three
normal stresses along these directions are
called the principal stresses.
The stress vector on one of these planes:
T n1 n3
n T
n2
n1 n2 n3 : the direction vector of the
T

principal stress
 is one of the eigenvalues of the matrix [ij],
and ni is one of the corresponding eigenvectors.

11 12 13 n1

21 22 23 2 0
n
31 32 33 n
3

11 12 13
21 22 23 0
31 32 33
Expanding the determinant:

3 I 1 2 I 2 I 3 0

where
I1 11 22 33 ii

11 12 11 13 22 23
I2
21 22 31 33 32 33

11 12 13
I 3 21 22 23
31 32 33

The three principal stresses 1, 2 and 3 and their

directions may then be obtained.
It is usually postulated that:
1 2 3
I1, I2 and I3 are three invariants that do not depend on
the orientation of the coordinate system. They are called
stress invariants.
In the coordinate system of the principal directions:
I1 1 2 3
I 2 1 2 2 3 3 1
I 3 1 2 3
It can be shown that the maximum and minimum normal
stresses (stationary values) of a stress state are
among the principal stresses.
The different combinations of stress invariants are also
invariants.
Deviatoric stress matrix
The stress matrix can be decomposed into a
spherical or hydrostatic stress matrix and a
deviatoric stress matrix:
11 p 12 13
sij 21 22 p 23
31 32 33 p

Usually, we express the mean stress:

1 1
p kk I1
3 3
Similar to the stress matrix, we can obtain the invariants
for the deviatoric stress matrix as well as the principal
deviatoric stresses and directions:

s 3 J1s 2 J 2 s J 3 0
J 1 s11 s22 s33 0
1 2
J 2 ( I1 3 I 2 )
3

1
J3 (2 I13 9 I1 I 2 27 I 3 )
27
Geometrical representation of stresses
Any stress state has three principal stresses.
We set up a three dimensional Cartesian
coordinate system, the axes of which are 1,
2, and 3, respectively.
One point represents more than one stress
states. The values of the three principal
stresses are the same, though the principal
directions may be different.
Such a space is useful in studying isotropic
elasticity and plasticity.
 Hydrostatic axis
An axis passing through
the origin and inclined to
the three axes at the same
angle. On this axis:
1 2 3
Deviatoric plane
Any plane that is
perpendicular to the
hydrostatic axis. All stress points on this plane have
the same first stress invariant I1. The deviatoric plane
that passes through the origin is called plane.
Consider a stress point P in the space:
OP ( 1 , 2 , 3 ), ON ( p, p, p )
NP OP ON ( s1 , s2 , s3 )
 We use to represent the length of ON, to represent
the length of NP.
3
ON 3 p I1
3
NP ( s12 s22 s32 ) 0.5 2 J 2
Lodes angle
Consider vector NP and the projections of the
coordinate axes i on the deviatoric plane.
We are to obtain the angle , which is
called the Lodes angle.
1
e
'
(2, 1, 1) NP ( s1 , s2 , s3 )
6
1
cos NP e ' (2 s1 s2 s3 )
6
3
s1
2
 3 s1 3 3 J3
cos cos 3
2 J2 2 J 23 / 2
Clearly, is also a stress invariant related to the second
and third deviatoric stress invariants.
If we define that , then
1 2 3

0 /3
And we can have:
2 2
s1 J 2 cos s2 J 2 cos(2 / 3 )
3 3
2
s3 J 2 cos(2 / 3 )
3
Then the principal stresses may be obtained:
 1 cos
1 2
2 I1 J 2 cos(2 / 3 )
3 3 cos(2 / 3 )
3

The Lodes angle is usually used to replace the third

deviatoric invariant J3 for its convenience. Three stress
invariants frequently used are:

I 1 , J 2 and
Review of strain
 Deformation
When the relative position of any two points in a
continuous body is changed, the body is said to be
deformed or strained.
Rigid body motion
If during the motion of a body, the distance
between every pair of points remains constant, the
body is said to undergo rigid motion
Translation and rotation rigid body
displacements
The deformation and rigid body motion are
geometric problems, or kinematical problems,
unrelated to material properties.
 Normal strain
If l=l , rigid body motion:
0

translation or rotation;
otherwise:
l l0
normal strain in AB
l0

Unit stretch or contraction

Shear strain
Distortion -
change of the angle:
0
If the deformation is small,

11 12 13
ij 21 22 23 Symmetric!
31 32 33

Engineering shear strain notation

The strain tensor is symmetric, hence in engineering,
usually the shear strains are expressed as:
12 12 21 2 12
23 23 32 2 23
31 31 13 2 31
Engineering strain vector: y z xy yz zx
T
x
Principal strains and strain invariants
Consider an infinitesimal element, for a
particular fiber in the element, if the strain
vector is along the direction of the fiber, that
is, the shear strain ns of that fiber is zero.
Such direction is called the principal direction
and the normal strain along that direction is
known as principal strain.

Hence, the eigenvalues of strain matrix are the

principal strains and the corresponding eigenvectors
are the principal directions.
 11 12 13
21 22 23 0
31 32 33

Expanding it:
n3 I1' n2 I 2' n I 3' 0
Where

I1' 11 22 33 ii First strain invariant

1
I 2 ( ii jj ij ji )
'
Second strain invariant
2
I 3' ij Third strain invariant
Deviatoric strain tensor
The strain tensor can be decomposed into
two parts, a spherical part associated with a
change in the volume, and a deviatoric part
associated with a change in shape.

(2 11 22 33 )
12 13
3
(2 22 11 33 )
e
ij
21 23
3
(2 33 11 22 )
31 32
3

Volumetric strain: v 11 22 33
 The invariants of the deviatoric strain tensor
Similar to the strain tensor, there exist 3 invariants
for the deviatoric strain tensor:

en3 J1' en2 J 2' en J 3' 0

J 1' e11 e22 e33 0

1
J 2 eij e ji
'

2
J 3' eij