Lecture 6

2-D formulation
Plane theory of elasticity
Print version Lecture on Theory of Elasticity and Plasticity

Dr. D. Dinev, Department of Structural Mechanics, UACEG

6.1

Contents
1 Plane strain 1

2 Plane stress 3

3 Plane strain vs. plane stress 5

4 Airy stress function 5

5 Polynomial solution of 2-D problem 7

6 General solution strategy 14

7 Numerical methods 15 6.2

1 Plane strain
Plane strain
Introduction
• Because of the complexity of the field equations analytical closed-form solutions to full
3-D problems are very difficult to accomplish
• A lot of problems into the area of engineering can be approximated by 1-D or 2-D strain
or stress state
– rods, beams, columns, shafts etc.
– Retaining walls, disks, plates, shells
6.3

Plane strain

1
Problem definition
• Consider an infinitely long prismatic body
• If the body forces and surface tractions have no components on z-direction the deformation
field can be reduced into

u = u(x, y)
v = v(x, y)
w=0

• This deformation is called as a state of plane strain in the (x, y)-plane

• Thus all cross-sections will have same displacements
6.4

Plane strain
Field equations
• The strain-displacement relations become
 
∂u ∂v 1 ∂u ∂v
εxx = , εyy = , εxy = +
∂x ∂y 2 ∂y ∂x
εzz = εxz = εyz = 0

• In matrix form
  ∂ 
0

εxx ∂x  
∂ u
 0
 εyy  =  
∂y 
v
2εxy ∂ ∂
∂y ∂x

• The St.-Venant’s compatibility equation is

∂ 2 εxx ∂ 2 εyy ∂ 2 εxy

+ = 2
∂ y2 ∂ x2 ∂ x∂ y
6.5

Plane strain
Field equations
• The stress-strain relations are

σxx = (λ + 2µ)εxx + λ εyy

σyy = λ εxx + (λ + 2µ)εyy
σzz = λ εxx + λ εyy
σxy = µ2εxy
σxz = σyz = 0

2
 • In matrix form
   
σxx λ + 2µ λ 0  
εxx
 σyy   λ λ + 2µ 0 
 σzz  = 
     εyy 
λ λ 0 
εxy
σxy 0 0 2µ
6.6

Plane strain
Field equations
• The equilibrium equations are reduced to
∂ σxx ∂ σxy
+ + fx = 0
∂x ∂y
∂ σxy ∂ σyy
+ + fy = 0
∂x ∂y
• In matrix form
 " ∂
#    
σxx σxy ∂x fx 0
∂ + =
σxy σyy ∂y
fy 0
6.7

Plane strain
Field equations
• The Navier’s displacement equilibrium equations are
 
2 ∂ ∂u ∂v
µ∇ u + (λ + µ) + + fx = 0
∂x ∂x ∂y
 
∂ ∂u ∂v
µ∇2 v + (λ + µ) + + fy = 0
∂y ∂x ∂y
2 2
where ∇2 = ∂∂x2 + ∂∂y2 - Laplacian operator
• The Beltrami-Michell stress equation is
 
1 ∂ fx ∂ fy
∇2 (σxx + σyy ) = − +
1−ν ∂x ∂y
• The surface tractions (stress BCs)are
    
tx σxx σxy nx
=
ty σxy σyy ny
6.8

2 Plane stress
Plane stress

Problem definition

3
 • Consider an arbitrary disc which thickness is small in comparison to other dimensions
• Assume that there is no body forces and surface tractions in z-directions and the surface of
the disc is stress free
• Thus imply a stress field

σxx = σxx (x, y)

σyy = σyy (x, y)
σxy = σxy (x, y)
σzz = σxz = σyz = 0
6.9

Plane stress
Field equations
• The Hooke’s law
   
εxx 1 −ν 0  
 εyy  1  −ν σxx
1 0 
 εzz  = E
     σyy 
 −ν −ν 0 
σxy
εxy 0 0 1+ν

• Relation between normal strains

ν
εzz = − (εxx + εyy )
1−ν
6.10

Plane stress
Field equations
• Strain-displacement equations
  ∂ 
0 0

εxx ∂x  
 εyy   0 ∂
0  u
∂y
 εzz  =  v 
   
∂ 
 0 0 ∂z  w
2εxy ∂ ∂
0
∂y ∂x

εyz = εzx = 0

• St.-Venant’s compatibility equation is

∂ 2 εxx ∂ 2 εyy ∂ 2 εxy

+ = 2
∂ y2 ∂ x2 ∂ x∂ y
6.11

Plane stress
Field equations
• Equilibrium equations - same as in plane strain
 " ∂ #    
σxx σxy ∂x fx 0
∂ + =
σxy σyy ∂y
f y 0

6.12

4
 E ν
Plane
E ν
stress to strain 1−ν 2 1−ν
Plane
E(1+2ν) ν
strain to stress (1+ν)2 1+ν

Plane stress
Field equations
• The Navier’s displacement equilibrium equations are
 
E ∂ ∂u ∂v
µ∇2 u + + + fx = 0
2(1 − ν) ∂ x ∂ x ∂ y
 
E ∂ ∂u ∂v
µ∇2 v + + + fy = 0
2(1 − ν) ∂ y ∂ x ∂ y

• The Beltrami-Michell stress equation is

 
∂ fx ∂ fy
∇2 (σxx + σyy ) = −(1 + ν) +
∂x ∂y

• The surface tractions (stress BCs)are

    
tx σxx σxy nx
=
ty σxy σyy ny
6.13

3 Plane strain vs. plane stress

Plane strain vs. plane stress
Summary
• The plane problems have identical equilibrium equations, BCs and compatibility equa-
tions
• The similar equations show that the differences are due to different constants involving
different material constants
• The field equations of plane stress can be obtained from equations of plane strain by fol-
lowing substitution
• When ν = 0 plane strain ≡ plane stress
6.14

4 Airy stress function

Airy stress function
The Method
• A popular method for the solution of the plane problem is using the so called Stress func-
tions
• It employs the Airy stress function and reduce the general formulation to a single equation
in terms of a single unknown
• The general idea is to develop a stress field that satisfies equilibrium and yields a single
governing equation from the compatibility equations.
• The obtained equilibrium equation ca be solved analytically in closed-form
6.15

5
Airy stress function
The Method
• Assume that the body forces are zero
• The Beltrami-Michell stress compatibility equations are

∇2 (σxx + σyy ) = 0

• Equilibrium equations are

∂ σxx ∂ σxy
+ =0
∂x ∂y
∂ σxy ∂ σyy
+ =0
∂x ∂y

• The stress BCs are

    
tx σxx σxy nx
=
ty σxy σyy ny
6.16

Airy stress function

The Method
• The Beltrami-Michell equation can be expanded as

∂ 2 σxx ∂ 2 σyy ∂ 2 σxx ∂ 2 σyy

+ + + =0
∂ x2 ∂ x2 ∂ y2 ∂ y2
• The equilibrium equations are satisfied if we choose the representation

∂ 2φ ∂ 2φ ∂ 2φ
σxx = , σyy = , σxy = −
∂ y2 ∂ x2 ∂ x∂ y

where φ = φ (x, y) is an arbitrary form called an Airy stress function

• Substitution of the above expressions into the Beltrami-Michell equations lied to

∂ 4φ ∂ 4φ ∂ 4φ
+ 2 + =0
∂ x4 ∂ x2 ∂ y2 ∂ y4
6.17

Airy stress function

The Method
• George Biddell Airy (1801-1892)
6.18

6
Airy stress function
The Method
• The previous expression is a biharmonic equation. In short notation

∇2 ∇2 φ (x, y) = 0

• Thus all equations of the plane problem has been reduced to a single equation in terms of
the Airy stress function φ (x, y).
• This function is to be determined in the 2-D region R bounded by the boundary S
• Appropriate BCs are necessary to complete a solution
6.19

5 Polynomial solution of 2-D problem

Polynomial solution of 2-D problem
The Method
• The solution with polynomials is applicable in Cartesian coordinates and useful for prob-
lems with rectangular domains
• Based on the inverse solution concepts - we assume a form of the solution of the equation
∇2 ∇2 φ (x, y) = 0 and then try to determine which problem may be solved by this solution
6.20

Polynomial solution of 2-D problem

The Method
• The assumed solution is taken to be a general polynomial and can be expressed in the
power series
∞ ∞
φ (x, y) = ∑ ∑ Cmn xm yn
m=0 n=0

where Cmn are constants to be determined

• The method produces a polynomial stress distribution and not satisfies the general BCs
• We need to modify the BCs using St.-Venant principle- with statically equivalent BCs
• The solution would be accurate at points sufficiently far away from the modified boundary
6.21

Polynomial solution of 2-D problem

Example 1
• Let’s use a trial solution- first order polynomial

φ (x, y) = C1 x +C2 y +C3

• The solution satisfies the biharmonic equation

• Go to the stress field
∂ 2φ ∂ 2φ ∂ 2φ
σxx = = 0, σyy = = 0, σxy = − =0
∂ y2 ∂ x2 ∂ x∂ y

Question
• What this solution mean?
6.22

7
Polynomial solution of 2-D problem
Example 2
• Use a higher order polynomial
φ (x, y) = C1 y2
• The solution also satisfies the biharmonic equation
• The stress field
∂ 2φ ∂ 2φ ∂ 2φ
σxx = = ..., σyy = = ..., σxy = − = ...
∂ y2 ∂ x2 ∂ x∂ y
6.23

Polynomial solution of 2-D problem

Example 2
• The solution fits with the uniaxial tension of a disc
• The boundary conditions are
σxx (±`, y) = . . .
σyy (x, ±h) = . . .
σxy (±`, y) = σxy (x, ±h) = . . .
• The constant C1 can be obtained from the BCs
6.24

Polynomial solution of 2-D problem

Example 3
• Pure bending of a beam - a comparison with the MoM solution
6.25

Polynomial solution of 2-D problem

Review of the beam theory

• á la Speedy Gonzales
• Assumptions
– Long beam- h  `
– Small displacements- u  h and v  h
– Small strains- εxx  1
– Bernoulli hypothesis- εyy ≈ 0 and σxy ≈ 0
6.26

8
Polynomial solution of 2-D problem
Review of the beam theory
• Displacement field
u(x, y, z) = yθ
v(x, y, z) = v(x, y)
• Because γxy = 0, thus
∂v
θ =−
∂x
• The final displacements are
∂v
u(x, y, z) = −y
∂x
v(x, y, z) = v(x, y)
6.27

Polynomial solution of 2-D problem

Review of the beam theory

• Strain field
∂ 2v
εxx = −y
∂ x2
• Compatibility equation
1 dθ dθ d2v
=κ = ≈ = 2
r ds dx dx
• The strain field can be expressed
εxx = −yκ
• Hooke’s law
σxx = Eεxx = −yEκ
6.28

Polynomial solution of 2-D problem

Review of the beam theory

9
 • Bending moment
Z
M= σxx ydA = −EIκ
A

• Equilibrium equations

dV
= −q
dx
dM
= −V
dx
6.29

Polynomial solution of 2-D problem

Review of the beam theory
• Differential equation

d4v
EI =q
dx4
• 4-th order ODE- needs of four BCs
6.30

Polynomial solution of 2-D problem

Example 3- MoM solution

• MoM solution
6.31

Polynomial solution of 2-D problem

Example 3- Elasticity solution

• Elasticity solution
6.32

Polynomial solution of 2-D problem

Example 3- Elasticity solution
• Strong BCs

σyy (x, ±c) = . . . , σxy (x, ±c) = . . . , σxy (±`, y) = . . .

6.33

10
Polynomial solution of 2-D problem
Example 3- Elasticity solution
• Weak BCs- imposed in a weak form (using the St.-Venant principle)
Z c Z c
σxx (±`, y)dy = . . . , σxx (±`, y)ydy = . . .
−c −c
6.34

Polynomial solution of 2-D problem

Example 3- Elasticity solution
• Based on the MoM solution (linear σxx distribution) we try a following solution
φ (x, y) = A1 y3
• The function satisfies ∇4 φ (x, y) = 0
• The stress functions are
σxx = 6A1 y
σyy = 0 → satisfies σyy (x, ±c) = 0
σxy = 0 → satisfies σxy (x, ±c) = 0, σxy (±`, y) = 0
• This trial solution fits with the BCs
6.35

Polynomial solution of 2-D problem

Example 3- Elasticity solution
• The constant A1 is obtained from the weak BC at x = ±`
Z c
σxx (±`, y)dy ≡ 0
−c
Z c
M
σxx (±`, y)ydy = 4c3 A1 = −M, → A1 = −
−c 4c3
• Thus the Airy stress function is
M 3
φ (x, y) = − y
4c3
• Corresponding stresses are
3M
σxx = − y
2c3
σyy = 0
σxy = 0
6.36

Polynomial solution of 2-D problem

Example 3- Elasticity solution
• Strain field-by the Hooke’s law
3M
εxx = − y
2Ec3
3Mν
εyy = y
2Ec3
εxy = 0
• Displacement field- by strain-displacement equations
3M
u=− xy + f (y)
2Ec3
3Mν 2
v= y + g(x)
4Ec3

• The functions f (y) and g(x) have to be determined from the definition of the shear strain
6.37

11
Polynomial solution of 2-D problem
Example 3- Elasticity solution
• The definition of the shear strain gives
3M 1 ∂ f (y) 1 ∂ g(x)
εxy = − 3
x+ +
4Ec 2 ∂y 2 ∂x
• This result can be compared with the shear strain obtained from the constitutive relations
εxy = 0
3M 1 ∂ g(x) 1 ∂ f (y)
− x+ + =0
4Ec3 2 ∂x 2 ∂y
6.38

Polynomial solution of 2-D problem

Example 3- Elasticity solution
• The equation can be partitioned into
∂ f (y)
= ω0
∂y
∂ g(x) 3M
= x + ω0
∂x 2Ec3
where ω0 is an arbitrary constant
• Integration of the above equation gives
f (y) = uo + yω0
3M
g(x) = 3 x2 + xω0 + v0
4c E
• The constants u0 , v0 and ω0 express the rigid-body motion of the beam
6.39

Polynomial solution of 2-D problem

Example 3- Elasticity solution
• The back substitution into the displacement field gives
3M
u(x, y) = u0 + yω0 − xy
2c3 E
3M 3Mν
v(x, y) = v0 + xω0 + 3 x2 + 3 y2
4c E 4c E
• The constants can be found from the essential BCs
6.40

Polynomial solution of 2-D problem

Example 3- Elasticity solution

• The essential BCs are concentrated at points of beam ends
u(−`, 0) = 0 → u0 = 0
3M`2
v(−`, 0) = 0 → + v0 − `ω0 = 0
4c3 E
3M`2
v(`, 0) = 0 → + v0 + `ω0 = 0
4c3 E

6.41

12
Polynomial solution of 2-D problem
Example 3- Elasticity solution
• The constants are

u0 = 0
ω0 = 0
3M`2
v0 = −
4c3 E
• Displacement field can be completed as
3M
u(x, y) = − xy
2c3 E
3M
v(x, y) = 3 (x2 + νy2 − `2 )
4c E
6.42

Polynomial solution of 2-D problem

2

-1

-2

-3 -2 -1 0 1 2 3

Example 3- Elasticity solution

• Vector plot of the displacement field
6.43

Polynomial solution of 2-D problem

Example 3- Elasticity solution
• Elasticity solution
M
u(x, y) = − xy
EI
M 2
v(x, y) = (x + νy2 − `2 )
2EI
• MoM solution
M
u(x) = − xy
EI
M 2
v(x) = (x − `2 )
2EI
where I = 32 c3

Note
It is convenient to use a computer algebra system for the mathematics (Maple, Mathematica etc.)
6.44

13
Polynomial solution of 2-D problem

Example 3
• General conclusion
6.45

6 General solution strategy

General solution strategy

Selection of the polynomial order

• Step 1- Determine the maximum order of polynomial using MoM arguments

Example 1
• Normal loading-q(x) → xn
• Shear force- V (x) → xn+1
• Bending moment- M(x) → xn+2
• Stress- σxx → xn+2 y
• Airy function- xn+2 y3
• Maximum order= n + 5
6.46

General solution strategy

Example 2
• Shear loading-n(x) → xm
• Shear force- V (x) → xm
• Bending moment- M(x) → xm+1
• Stress- σxx → xm+1 y
• Airy function- xm+1 y3
• Maximum order= m + 4
6.47

14
General solution strategy
Selection of the polynomial order
• Step 2- Write down a polynomial function φ (x, y) that contains all terms up to order
max(m + 4, n + 5)

φ (x, y) = C1 x2 +C2 xy +C3 y2 +C4 x3 + . . .

6.48

General solution strategy

Selection of the polynomial order
• May use the Pascal’s triangle for the polynomial

1
x y
x2 xy y2
x3 x2 y xy2 y3
x4 x3 y x 2 y2 xy3 y4
x5 x4 y x 3 y2 x2 y3 xy4 y5

• And constants
C1 C2 C3
C4 C5 C6 C7
C8 C9 C10 C11 C12
C13 C14 C15 C16 C17 C18

• The first three terms have no physical meaning (zero stress field)
6.49

General solution strategy

Selection of the polynomial order
• Step 3 Compatibility condition

∇2 ∇2 φ (x, y) = 0

• Step 4 Boundary conditions- strong and weak. Lead to a set of equations for Ci
• Step 5 Solve all equations and determine Ci

Other types of solution

• Fourier series method
• ......
6.50

7 Numerical methods
Numerical methods
Ritz method
• The Airy stress function is approximated by
∞ ∞
φ (x, y) = ∑ ∑ Cmn xm yn
m=0 n=0

• The trial function is a combination of elementary functions (polynomials, trigonometric or

hyperbolic forms)
• The approximate solution is required to satisfy the stress BCs
6.51

15
Numerical methods
Ritz method
• The unknown coefficients Cmn are to be determined so as to minimize the TPE functional
of the problem
• The total potential energy functional for the 2D problem is
Z `Z b
1h 2 2 2


Π(ci ) = σxx + 2σxy + σyy dydx
2E −` −b

• The minimizing condition can be expressed as a series of

∂Π
=0
∂Cmn
6.52

Numerical methods

Example- Ritz method

• Determine the stress field using the Ritz method
6.53

Numerical methods

Example- Finite elements method

• Consider a cantilever wall with a circular opening
6.54

16
Numerical methods
Example- Finite elements method
• Material- C20/25
• Thickness- 10 cm
6.55

Numerical methods

Example- Finite elements method

• Consider two load cases
– PX → px=1000 kN/m
– PZ → pz=-1000 kN/m
• Determine the displacement and stress fields using finite elements
6.56

Numerical methods

The End
• Any questions, opinions, discussions?
6.57

17