faculty of science 10 Sep 2023 | 1

and engineering

10 September 2023 | 1

L2B – Structural mechanics

Dr. Ir. R. (René) Fluit

University of Groningen, Faculty of Science and Engineering
University Medical Center Groningen, SPRINT
E-mail: [email protected]
Office: 3215.1109 (Monday-Thursday)
 10 Sep 2023 | 2

Content
› Role FEM in design
▪ Designing in general, added value FEM, feasibility

› Structural Mechanics
▪ Element types; trusses, beams, shells, solids

▪ Mechanics Truss

- Principle FEM Structural Mechanics

▪ Exercise ‘trusses’

▪ Mechanics Beams

▪ Important loads: Normal force, shear force, bending, torsion

▪ Exercise ‘shaft’

▪ Exercise ‘beams’

▪ Introduction week assignment 2

 10 Sep 2023 | 3

Recap L2A (trusses)

N1 N2

u1 u2

𝐸𝐴
𝑁1 = (𝑢1 − 𝑢2 ) 𝑁1 𝐸𝐴 1 −1 𝑢1
𝑙
𝐸𝐴 = ∙ 𝑢 or 𝐹 = 𝐾 ∙ 𝑢 with
𝑁2 𝑙 −1 1 2
𝑁2 = (−𝑢1 + 𝑢2)
𝑙
 10 Sep 2023 | 4

Beam element
› Able to take up forces in axial as in transverse direction as well as moments.
› Discrete system: coupling of elements on clear visible (discrete) nodes
› Nodal forces expressed in nodal displacements via known deformation
equations
 10 Sep 2023 | 5

Beam element – cross-section

› Cross-section determines its area/polar moment of inertia (resistance to
bending/ torsion)
 10 Sep 2023 | 6

Beam element – example

 10 Sep 2023 | 7

Beam element – standard deformations

𝐷𝑙 2 𝐷𝑙 3
D 𝜑2 = , 𝑣2 =
2𝐸𝐼 3𝐸𝐼

𝑀𝑙 𝑀𝑙 2
𝜑2 = , 𝑣2 =
𝐸𝐼 2𝐸𝐼
 10 Sep 2023 | 8

Beam element – deformation equations

𝑢1 𝑁1
𝑣1 𝐷1
𝜑1 𝑀1
› 𝑢= 𝑢 ,F=
2 𝑁2
𝑣2 𝐷2
𝜑2 𝑀2

𝑁2 𝑙
𝑢2 − 𝑢1 =
𝐸𝐴
𝐷2 𝑙 3 𝑀2 𝑙 2
› Deformation equations: 𝑣2 − 𝑣1 = 𝜑1 ∙ 𝑙 + +
3𝐸𝐼 2𝐸𝐼
𝐷2 𝑙 2 𝑀2 𝑙
𝜑2 − 𝜑1 = +
2𝐸𝐼 𝐸𝐼
 10 Sep 2023 | 9

Beam element – deformation equations

𝑁2 𝑙
𝑢2 − 𝑢1 =
𝐸𝐴
𝐷2 𝑙 3 𝑀2 𝑙 2
› Deformation equations: 𝑣2 − 𝑣1 = 𝜑1 ∙ 𝑙 +
3𝐸𝐼
+
2𝐸𝐼
𝐷 𝑙 2 𝑀 𝑙
𝜑2 − 𝜑1 = 2 + 2 Steps:
2𝐸𝐼 𝐸𝐼
• Fill in known values (𝐸, 𝐼, 𝐴, 𝑙)
𝐸𝐴
0 0 −
𝐸𝐴
0 0 • Solve equations
𝑙 𝑙
𝑁1 0
12𝐸𝐼 6𝐸𝐼
0 −
12𝐸𝐼 6𝐸𝐼
𝑢1 • Determine displacements/
𝑙3 𝑙2 𝑙3 𝑙2 strains
𝐷1 6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 2𝐸𝐼 𝑣1
𝑀1 0 0 − 2 𝜑
𝑙2 𝑙 𝑙 𝑙 • Calculate stresses (𝜎 = 𝐸𝜀)
› = ∙ 𝑢1
𝑁2 −
𝐸𝐴
0 0
𝐸𝐴
0 0 2
𝐷2 𝑙 𝑙 𝑣2
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
𝑀2 0 − 3 − 0 − 𝜑2
𝑙 𝑙2 𝑙3 𝑙2
6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 4𝐸𝐼
0 0 − 2
𝑙2 𝑙 𝑙 𝑙
Derivation of stiffness matrix: see video
 10 Sep 2023 | 10

Beam mechanics
› Definitions (stress, displacement, strain)
› Mechanical properties (tensile test)
› Loads
▪ Axial

▪ Transverse (leads to bending/ shear)

▪ Torsion

▪ Combinations
 10 Sep 2023 | 11

(Engineering) Stress
› Stress = Force/ (original) area; units = [N/m2]
› Normal stress (𝜎) and shear stress (𝜏)

𝑃⊥ 𝑃//
𝜎= 𝜏=
𝐴0 𝐴0
A0
A0
P⊥ P⊥ P//

P⊥= load perpendicular to area

P//= load parallel to area
A0= original area before load
 10 Sep 2023 | 12

(Engineering) Strain
› Relative change in length due to load
∆𝑙
▪ ε=
𝑙0
▪ For tension and compression: ∆𝑙 = 𝑙 − 𝑙0
 10 Sep 2023 | 13

Transverse strain
› When object is stretched, object
becomes longer and thinner
› When compressed: shorter and
thicker
› Poisson’s ratio (Greek nu)
▪ ν = ε𝑥𝑥 /ε𝑦𝑦

▪ with tensile load in y-direction

▪ 0.25-0.35 for metals
▪ ~0.5 for rubber (=max)
▪ ~0 for cork (=min)
▪ Affects ‘Packing density’
 10 Sep 2023 | 14

Mechanical properties
› Tensile test

extensometer tensile test specimen

gauge
length

https://yasincapar.com/wp-content/uploads/2020/10/tensile-test.gif
 10 Sep 2023 | 15

Tensile test
UTS (Ultimate Elastic region (Hooke’s
tensile strength) Fracture
law):
𝜎
Young′s Modulus 𝐸 =
𝜀
Y (yield stress)
Plastic
σ (stress)

Elastic

ε (strain)
 10 Sep 2023 | 16

Loads
› Axial (normal stress, see also lecture L2A)
› Transverse
▪ Shear force (shear stress)
▪ Bending moment (normal stress)
› Torsion (shear stress)
› Combinations
 10 Sep 2023 | 17

Internal forces and moments

› 1. Calculate reaction forces
2. Make a cross-section at a convenient location
3. Draw the internal forces (N,D (or V),M) and solve equations of equilibrium
› Beware of the sign conventions (left or right-sided cross-section)
› Consider the following example:
 10 Sep 2023 | 18

Reaction forces
› Solve equilibrium equations
› ∑𝐹𝑥 = 0 ⇒ −𝑅𝑥,1 + 𝐹 = 0
▪ 𝑹𝒙,𝟏 = 𝑭
› ∑𝐹𝑦 = 0 ⇒ 𝑅𝑦,1 + 𝑅𝑦,2 − 𝑊 = 0
› ∑𝑀1 = 0 ⇒ −𝑊𝐿1 + 𝑅𝑦,2 (𝐿1 + 𝐿2 ) = 0
𝑳𝟏
▪ 𝑹𝒚,𝟐 = 𝑾
𝑳𝟏 +𝑳𝟐
𝐿1 𝐿1 +𝐿2 𝐿1 𝑳𝟐
▪ 𝑹𝒚,𝟏 = 𝑊 − 𝑊 =𝑊 − =𝑾
𝐿1 +𝐿2 𝐿1 +𝐿2 𝐿1 +𝐿2 𝑳𝟏 +𝑳𝟐
 10 Sep 2023 | 19

Axial forces and stress

› For cross-section 1a
› ∑Fx = 0 ⇒ −R x,1 + N = 0
▪ N = R x,1 = F
› Internal stress due to axial forces
𝑁 𝑥 𝑁
▪ 𝜎𝑁 = =
𝐴 𝐴
 10 Sep 2023 | 20

Shear forces
› For cross-section 1a
𝐿2
▪ ∑Fy = R y,1 − D = 0 yields 𝐷 = 𝑊
𝐿1 +𝐿2
› For cross-section 2
▪ ∑Fy = R y,1 − D − W = 0

𝐿2
▪ 𝐷 = R y,1 − 𝑊 = 𝑊 − 𝑊 = −𝑅𝑦,2
𝐿1 +𝐿2
 10 Sep 2023 | 21

Shear stress
› Shear stress
𝐷 𝑥
▪ 𝜏𝐷 = 𝑐 ⋅
𝐴
› 𝑐 is a factor depending on shape of the
cross-section
3
▪ for rectangular bars
2
4
▪ for round bars
3
▪ 1 for some specific areas (hatched):
 10 Sep 2023 | 22

Bending moment
› For cross-section 1
▪ ∑𝑀 = R y,1 ∙ x − M = 0 yields M x = R y,1 ∙ x
› For cross-section 2
▪ ∑𝑀 = R y,1 ∙ x − W ∙ x − L1 − M = 0
𝐿2
▪ 𝑀=𝑊 ∙ x − W ∙ x − L1 =
𝐿1 +𝐿2
𝐿1
▪ 𝑀 = −W ∙ 𝑥 ∙ + W ∙ L1 = W ∙ L1 − 𝑥 ∙ 𝑅𝑦,2
𝐿1 +𝐿2

Convention: Clockwise moments are positive

 10 Sep 2023 | 23

Bending moment
› For cross-section 1 (x = [0, L1 ])
▪ M x = R y,1 ∙ x
▪ M x=0 =0
𝐋𝟐 ∙𝐋𝟏
▪ M x = L1 = R y,1 ∙ x = 𝐖
𝐋𝟏 +𝐋𝟐
› For cross-section 2 (x = [L1 , L1 + L2 ])
▪ M(x) = W ∙ L1 − x ∙ R y,2
L1
▪ M x = L1 = W ∙ L1 − L1 ∙ W =
L1 +L2
L1 L1 +L2 L1
W ∙ L1 1 − = W ∙ L1 − =
L1 +L2 L1 +L2 L1 +L2
𝐋𝟐 ∙𝐋𝟏
𝐖
𝐋𝟏 +𝐋𝟐
L1
▪ M x = L1 + 𝐿2 = W ∙ L1 − (L1 +𝐿2 ) ∙ W =
L1 +L2
L1 +𝐿2
W ∙ L1 − W ∙ L1 ∙ =0
L1 +L2
 10 Sep 2023 | 24

Normal stress due to bending

W
› Bending moment causes tension and
compression in the beam according to
−𝑦⋅𝑀 𝑥
▪ 𝜎𝑀 =
𝐼
▪ 𝑦 is the distance from the neutral axis location max. tension

▪ 𝐼 is the area moment of inertia compression

› At neutral axis: no stress due to bending

› Area moment of inertia
tension
▪ Resistance of beam to bending/ deflection

▪ Geometry cross-section determines 𝐼

▪ Example: I-shaped beams in buildings have

high stiffness/ weight ratio

 10 Sep 2023 | 25

Area/polar moment of inertia

› Defined as
▪ 𝐼𝑥𝑥 = ‫ 𝑦 𝐴׬ ׬‬2 𝑑𝑥𝑑𝑦

▪ 𝐼𝑦𝑦 = ‫ 𝑥 𝐴׬ ׬‬2 𝑑𝑥𝑑𝑦

› Not to confuse with polar moment of
inertia
▪ Ability of object to resist torsion/

angular rotation (denoted with 𝐼𝑐 or 𝐼𝑝 )

› Common cross-sections
▪ Use table to calculate inertia
 10 Sep 2023 | 26

Torsion
› Indicated with ‘double arrows’
𝑇⋅𝑟
› Stress 𝜏 𝑇 =
𝐼𝑝

▪ Increases with radius

 10 Sep 2023 | 27

Loads and stresses

𝑁 𝑥
› Axial (normal stress) 𝜎𝑁 =
𝐴
› Transverse
𝐷 𝑥
▪ Shear force (shear stress) 𝜏𝐷 = 𝑐 ⋅
𝐴
−𝑦⋅𝑀 𝑥
▪ Bending moment (normal stress) 𝜎𝑀 =
𝐼
𝑇(𝑥)⋅𝑟
› Torsion (shear stress) 𝜏𝑇 =
𝐼𝑝

› Combinations
 10 Sep 2023 | 28

Coffee break
 10 Sep 2023 | 29

Von-Mises criterion
𝑁 𝑥
› Axial (normal stress) 𝜎𝑁 =
𝐴
𝐷 𝑥
› Shear force (shear stress) 𝜏𝐷 = 𝑐 ⋅
𝐴
−𝑦⋅𝑀 𝑥
› Bending moment (normal stress) 𝜎𝑀 =
𝐼
𝑇(𝑥)⋅𝑟
› Torsion (shear stress) τT =
𝐼𝑝

› Equivalent Von-Mises stress

1 2 2 2 2 2
▪ 𝜎𝑉 = 𝜎𝑥𝑥 − 𝜎𝑦𝑦 + 𝜎𝑦𝑦 − 𝜎𝑧𝑧 + 𝜎𝑧𝑧 − 𝜎𝑥𝑥 2 + 3 𝜎𝑥𝑦 + 𝜎𝑦𝑧 + 𝜎𝑧𝑥
2

▪ Yield criterion
▪ Principal stresses and axes can be computed (but cumbersome)
 10 Sep 2023 | 30

Huber and Hencky criterion

N x
› Axial (normal stress) σN =
A
D x
› Shear force (shear stress) τD = c ⋅
A
−y⋅M x
› Bending moment (normal stress) σM =
I
T(x)⋅r
› Torsion (shear stress) τT =
Ip

› Huber and Hencky

▪ σV = σ2 + 3τ2 with
▪ σ = σM + σN (axial stress due to bending (𝑀) and axial load (𝑁))
▪ τ = τD + τT (shear stress due to shear force (𝐷) and torsion (𝑇))
 10 Sep 2023 | 31

Example shaft
› Consider a circular shaft with radius r having the following geometry and loads
▪ r = 50 mm

▪ L1 = 3 m

▪ L2 = 2 m

▪ W = 10 kN

▪ F = 5 kN

▪ T = 10 kNm

› Determine the equivalent stress using the Huber and Henky criterion
 10 Sep 2023 | 32

Normal and shear force

› A = π𝑟 2 = π(50)2 = 7854 𝑚𝑚2
𝐿1 2
› 𝑅𝑦,1 = 𝐹 = 10 ⋅ = 4 𝑘𝑁
𝐿1 +𝐿2 2+3
𝐿2 3
› 𝑅𝑦,2 = 𝐹 = 10 ⋅ = 6 kN
𝐿1 +𝐿2 2+3
N x 𝐹 5000𝑁
› σN = = = = 0.64 𝑀𝑃𝑎
A 𝐴 7854 𝑚𝑚2
D x 4 6000𝑁
› τD = c⋅ = ⋅ = 1.02 𝑀𝑃𝑎
A 3 7854 𝑚𝑚2
 10 Sep 2023 | 33

Bending and torsion

L1 L2 2⋅3
› M=W = 10000 ⋅ = 1.2 ∙ 104 Nm
L1 +L2 2+3
1 1
› Ixx = πr 4 = π 50 ∙ 10−3 4 = 4.91 m4
4 4
› Location of maximum stress at y = 50 mm
−y⋅M x 50∙10−3 𝑚 ⋅1.2∙104 Nm
› σM = =− = 1.2223 ∙
I 4.91 m4
N
108 = 122.23 𝑀𝑃𝑎
m2
T(x)⋅r 10000Nm⋅ 50∙10−3 𝑚 N
› τT = = 1 = 5.093 ∙ 107 =
Ip π(50∙10−3 m)4 m2
2
50.93 𝑀𝑃𝑎
 10 Sep 2023 | 34

Equivalent stress
› σM = 122.23 𝑀𝑃𝑎
› τT = 50.93 𝑀𝑃𝑎
› σN = 0.64 𝑀𝑃𝑎
› τD = 1.02 𝑀𝑃𝑎
› τ = τD + τT = 1.02 + 50.93 = 51.95 𝑀𝑃𝑎
› σ = σM + σN = 122.23 + 0.64 = 122.87 𝑀𝑃𝑎
› σV = σ2 + 3τ2 = 122.872 + 3 ∙ 51.952 = 152.29 𝑀𝑃𝑎

› Yield strength
▪ Steel: 250 𝑀𝑃𝑎 (No plastic deformation)
▪ Bone: ~120 𝑀𝑃𝑎 (Fracture)
 10 Sep 2023 | 35

Week assignment 2
› Two weeks (deadline 22-sep 5:00 PM)
› Hand calculations (see lecture slides)
and COMSOL model
▪ Calculate minimum required diameter
for steel and aluminum shaft
▪ Compare COMSOL and manual
calculations
› In COMSOL, use a parametric sweep to
determine the minimum required
diameter
› Write a report with your findings
› See Brightspace for further information
and requirements
 10 Sep 2023 | 36

Exercise shaft
› Download L2B_Exercise1_Shaft.pdf guide from Brightspace
 10 Sep 2023 | 37

Exercise supported beam

› Download L2B_Exercise2_Supported_Beam.pdf guide from Brightspace
5 [kN]

3 [m] 2 [m]