Continuum Mechanics And Transport Phenomena

Prof. T Ranganathan
Department of Chemical Engineering
Indian Institute of Technology, Madras

Lecture – 72
Hooke’s law – Strain-stress Relation

(Refer Slide Time: 00:15)

Now, we will start deriving the Hooke’s law. Look at the first bullet, it lists all the
assumptions we are discussed so far, it summarizes all the assumptions we are discussed so
far. So, when I say Hooke’s law, it is valid only under these assumptions that is why we
discussed. When we talk of a relationship between stress and strain, then assumptions are to
be discussed. Hooke’s laws is such a relationship and so, this limits the scope of Hooke’s
law.

So, the assumptions are:

● Homogeneous; properties are the same at any point now we know what properties are.
We are seen looked at three material properties Young’s modulus, shear modulus,
Poisson ratio
● Isotropic; at the point material properties are same in all directions
● Linear elastic solid; elastic a different relationship between stress and strain. When we
say stress and strain applies both for normal stress, shear stress and then normal strain
 shear strain. And linear tells you the relationship between them between the stress and
strain is linear.

And what we do is we are consider a body subjected to a general three dimensional stress.
What do I mean by that? I have a body subjected to normal stress along x direction and y
direction and z direction. Now to for easy discussion, we will consider a two dimensional
case and that is what is shown here. We have a plate in the undeformed configuration before
the force is being applied before the stress is being applied.

And the length of the sides are ∆x and ∆y . And the first figure what is shown is it is
subjected to normal stress along x direction τ xx , and it is shown to be ten tensile here. Now
the changed length or the changed length of the sides are also shown (1 + τ xx )∆x and the
length of along the y direction has changed to (1 + τ yy )∆y .

For this condition there is elongation along the x axis so, τ xx > 0 ; there is contraction along
the y axis so, τ yy < 0 . Now what is shown in the second diagram is the same plate subjected
to normal stress along y direction. Please note the point we are subjecting the plate to both
normal stress along x direction and normal stress along y direction. And so, the second figure
shows the plate subjected to normal stress along y direction. Now there is elongation along
the y direction so, the original length along y direction is ∆y . The new length increased
length is (1 + τ yy )∆y .

Now, there is contraction along x axis which is the perpendicular direction and the original
length is ∆x and the new length is (1 + τ xx )∆x . So, for this condition τ yy > 0 elongation
along y axis and contraction along x axis so, τ xx < 0 . Now what is that the third figure
represents? We are applying both the normal stresses together that is what is shown here; τ xx
and then τ yy .

We are applying both the tensile stresses together the first figure shows the plate subjected to
normal stress along x axis, second figure shows normal stress along y direction, third
represents the plate subjected to normal stress along x direction and y direction.

Now, let us say there is no normal stress along y direction momentarily; let us take there is no
normal stress along y direction. Then because of normal stress along x direction what would
τ xx
be the normal strain along x direction? This given by E this would have been the let us say
increase in length along x direction. If that two dimension element has been subjected to
normal stress along x direction only. But because there is normal stress along y direction
there is some decrease in length along the x direction, there is some nor negative or
contraction along the x direction what is that value, how do you find out that.

For the normal stress along y direction, the relationship between connecting τ yy and εyy is
given by the equation, τ yy = E εyy that is like we are seen earlier for x direction. So, this
relationship relates normal stress along y direction to normal strain along y direction by the
Young’s modulus. Remember once again we are taking the same Young’s modulus
independent of direction because it is a isotropic. I write that relationship for normal strain
τ yy
along y direction εyy = E .

Now my direction of stress is along y direction so, x becomes the perpendicular direction. So
how do we write normal strain along the perpendicular direction is − ν times is normal strain
τ yy
along the direction of stress. So, when we substitute for εyy in terms of E , we get the
expression for normal strain along x direction due to normal stress along y direction is that.
τ yy
So, the this is to be a negative there is a decrease in length which is − ν E .

τ yy
So, the contraction is − ν E . If there were no normal stress along y direction, this would
have been the increase in length. But because there is normal stress along y direction, there is
some contraction. So, the net increase in length is only so much that is what is shown here.

τ yy
The total is shown here E and the contraction because of τ yy we shown here the net is
shown here. So, in terms of equation there is shown geometrically in terms of equation, the
τ xx
let us call the effective normal strain along x direction is equal to E . If there were no
normal stress along y direction only this would be the value, but because they are normal
τ yy
stress along y direction it cause the contraction along the x direction which is − ν E . And so,
this two terms put together is the net normal strain along the x direction due to τ xx and τ yy .

The first term represents contribution from τ xx which is let us say along which is elongation.
Second term tells a contribution because of τ yy which is contraction and for the sum together
you get the net normal strain. So, what does it we have done? We have considered a body
subjected to all the three normal stresses for the present case, we are considered only two
dimensional case subjected to only τ xx and τ yy and seen what is the normal strain along x
direction.
(Refer Slide Time: 09:17)

Now, based on this let us come discuss this table. What this table shows us that the column
headings are the normal stresses along x direction, y direction, z direction. What are the row
headings? The normal strain along x direction, y direction and z direction.

τ xx τ yy τ zz

τ xx τ yy τ zz
εxx E
−ν E
−ν E

τ yy τ zz
εyy − ν τExx E
−ν E

τ yy τ zz
εzz − ν τExx −ν E E

Let us take the first column. What is the first column? The direction of stresses along the x
τ xx
axis, direction of strain along the same x axis and they are related by simply E . Now for
when the stress is along x direction y and z are the perpendicular directions and they are
related by − ν τExx . Similarly the strain along the z direction which another perpendicular
direction is − ν τExx .

So, what is the significance of the entries in the first column? You applied a normal stress
along x direction and the three rows represent normal strain along x direction, normal strain
along y direction and normal strain along z direction. This is what we are seen in the slide
previous to the earlier slide. Similarly if we apply normal stress along y direction, the normal
τ yy
strain along y direction is E because it is the same direction as the stress. Now the
τ yy
perpendicular directions are x and then z. How do we represent − ν E . Similarly for the z
τ yy
direction − ν E . Similarly we can write for the case where you apply normal stress along z
direction.

Now let us analyze particular row what we have seen is column wise, let us analyze one
particular row, let us take the first row. Now what is the significance of the first row? It says
normal strain as the row heading. It tells the contribution to normal strain because of normal
stress in x direction, normal stress in y direction, normal stress in z direction and this is what
we have seen in the previous slide and that is what is shown here.

We have seen the first two terms here. Look at the first row in the first row, the first column
τ xx τ yy
entries E . Second column entries − ν E and because it is three dimensional case, you have
τ zz
one more entry − ν E . The significance of the different terms in the first row are
contribution to normal strain along x direction because of normal stress in x direction, normal
stress in y direction, normal stress in z direction is it. So, now if you sum up all of them, you
get the normal strain in a x direction because of normal stresses in x, y and z direction that is
the significance.

So, what does this table about? We can discuss both column wise and row wise. The entries
in the column are the effect of stress in one direction on strain in three directions. If you
consider row wise, it is effect of stress in three directions on strain in one direction ok. So,
similarly we can discuss for εyy and εzz .
(Refer Slide Time: 13:27)

Because all the relationships are linear we just superimpose the effects of the three normal
stresses. What we have written first column is because of normal stress in x direction second
because of normal stress in y direction. Similarly, normal stress in z direction and each
individually tells you what is the normal strain in the x direction. Now we are just going to
add when is it possible because they are linear relationship and that is why we are able to just
add them or more formally, we can say superimposed. So, that is why since all relations are
linear, superimposed effects of τ xx , τ yy , τ zz that is the meaning of this addition. So, the εxx
represents the normal strain

τ xx τ yy
εxx = E −ν E − ν τEzz = 1
E [τ xx − ν (τ yy + τ zz )]
This addition is possible or super position is possible because the relationships are linear.
When you look at that expression what should come to your mind the way in or the way in
which we should we should interpret that is the first term represents the effect on normal
strain due to normal stress in the same direction. Other two the effect on normal strain
because of normal stress in the two other perpendicular directions that is what we should
understand. So, the effect of normal stress in all three directions are brought into this equation
or summed up in this equation.

Similarly you can write for other directions as well which means I am summing up the entries
in the second row and summing up entries in the third row as well. So, second row tells the
normal strain in the y direction because of once again three normal stresses
 τ xx τ yy τ zz
εyy =− ν E + E −ν E = 1
E [τ yy − ν (τ xx + τ zz )]
and third row tells normal strain in z direction because of normal stress in three directions.

τ xx τ yy τ zz
εzz =− ν E −ν E + E = 1
E [τ zz − ν (τ xx + τ yy )]
(Refer Slide Time: 16:15)

So, for we have discussed about normal strain. So, now, let us discuss about shear strain. We
introduced the shear modulus based on the linear relationship between τ xy and γ xy . We said
τ xy versus γ xy is linear and the proportionality constant is shear modulus.

Same expression is written, but for shear strain we have been the previous slide we wrote
expressions for the normal strain. Now we are going to write expressions for the shear strain.
So, the shear strain in the x y plane γ xy is

τ xy
γ xy = G

Now remember we discussed about the strain tensor where the components were εxx , εyy
and then εxy was the component of the strain tensor.

So, we can write an expression for εxy which is the component of strain tensor. We have seen
that

γ xy τ xy
εxy = 2
= 2G
Remember the graph is between τ xy and γ xy not εxy , the experimentally measure is γ xy not
εxy . So, the G connects τ xy and γ xy . Why are we interested in εxy because that is the
γ xy
component which appears in the strain tensor and εxy is related to γ xy as 2 .

τ xy
So, we can relate γ xy and τ xy also which is 2G . Similarly we can write expressions for γ yz
as,

τ yz
γ yz = G

You can write expression for εxy also as,

γ yz τ yz
εyz = 2
= 2G

Similarly,

τ zx
γ zx = G

γ zx τ zx
εzx = 2
= 2G

Now, we should note one difference between the way in which you wrote normal strains and
then shear strain. Now when we an expression for εxx on the right hand side, we took into
effect of τ xx , τ yy and τ zz . So, normal stresses acting on x along x direction, y direction, z
direction had effect on normal strain along x direction.

But now look at the expression for shear strain γ xy is returned to be depending only on τ xy .
So, one quick rough way of understanding is that you have a plate, you apply shearing stress
the change in angle depends on the this shear stress alone. This shear strain along x y plane is
not going depend on stress along y z plane and z x plane. So, that way these relationships are
I would say simpler compared to the relationships for normal strain, they just depend on the
shear stress in that plane only. So, any shear strain component is proportional to only
corresponding shear stress component and independent of normal stress components also, we
have not even considered effect of normal stress also.

So, any shear strain component let us say γ xy is proportional to only corresponding shear
stress competencies which is τ xy and independent of normal stress components. We have not
considered dependency have γ xy on let us say τ xx , τ yy , τ zz . That way these relationships
are like the standalone relationship straight away, you can get shear strain in terms of shear
stress and later on will express shear stress in terms of shear strain also.
(Refer Slide Time: 21:01)

Those are the stress tensor and the strain tensor. So, those are the assumptions which have
discussed homogeneous, isotropic, linear, elastic, solid. We can now summarize all the
relationships which have discussed so far for normal strain and shear strain. So, we have seen
as the expression for normal strain along x axis, analogously we can write an expression for
normal strain along y axis; similarly normal strain along z axis.

τ xx τ yy τ zz
εxx = E −ν E −ν E = 1
E [τ xx − ν (τ yy + τ zz )]
τ yy τ zz
εyy =− ν τExx + E
−ν E
= 1
E [τ yy − ν (τ xx + τ zz )]
τ yy τ zz
εzz =− ν τExx − ν E
+ E
= 1
E [τ zz − ν (τ xx + τ yy )]
We are also written expression for the off diagonal elements namely εxy , εyz and then εzx .

γ xy τ xy
εxy = 2
= 2G
γ yz τ yz
εyz = 2
= 2G

γ zx τ zx
εzx = 2
= 2G

So, how did we write? We wrote them in terms of the components of the stress tensor. So, 6
scalar relations between 6 independent stress and strain components. Remember we discussed
the stress tensor has 9 components, but only 6 are independent. Similarly for the strain tensor
there are 9 components, but only 6 are independent, εxy = εyx we are not even shown εyx
here because we have taken εyx to be equal to εxy .
So, 6 independent stress tensor components 6 independent strain tensor components and there
are 6 scalar relations between the 6 independent stress and strain components and that is the
three dimensional form of Hooke’s law.

τ xx
Where is a Hooke’s law known to you. That is εxx = E that is where what we already know
very well known to is one simplified form of what we are discussed so far ok. We are rarely
discussed more general form of Hooke’s law a three dimensional version of Hooke’s law
even what we are discussed is under this assumption homogeneous, isotropic, linear elastic
ok. What we already know very well known to us most of us are the Hooke’s law given by
τ xx
εxx = E .

What we are seen is a more generic version these are applicable for a three dimensional case
and remember the Hooke’s law is written for εxy and not for γ xy . Why is it? Because εxy is
the component of the strain tensor not γ xy .

The reason is I am we are writing expressions for components of strain tensor in terms of
components of stress tensor that is why, but the original experimentation is between τ xy and
γ xy because there is some experiment. We measured straightaway change in angle that is
why the x axis there is γ xy , but we need a relationship for εxy that has to be kept in mind.

(Refer Slide Time: 25:21)

Now, if you look at the equations and even if you look at the way in which we are discussed,
there are three material properties. What are they? The Young’s modulus E and then the shear
modulus G, the Poisson ratio ν ; there are three material properties ok, but only two of them
are independent. One depends on the other, one of them depends on the other, you cannot
there cannot be three independent material properties.

We can show that there is a relationship between E, ν and G resulting in only two
independent material properties and that is our next objective what is the relationship
between the three material properties. So, we will derive the relationship between three
material properties because the Hooke’s law under these assumptions can have only two
independent material properties. So, we have proceeding towards deriving a relationship
between E, G and ν .