STATE OF STRESS AND

STRESS TENSOR

MECHANICS OF MATERIALS (MSE 305) LECTURE

DELIVERED BY:

DR. J. O. OLAWALE
November 2023
 TRANSFORMATION MATRIX AND THE
TENSOR CONCEPT OF STRESS
• The state of stress at a point in a three dimensional body is a second-
order tensor due to the way the stress components transform under
rotation of the coordinate axes.

• Hence, many aspects of stress, such as the equation for the

transformation of the stress components from one set of coordinate
axes to another coordinate system or the existence of principal
stresses, becomes simpler when we realized that stress is a second-
rank tensor quality.

• Consider a transformation of a vector (a first-rank tensor) from one

coordinate system to another.
• If we consider vector 𝑆ҧ = 𝑆1 𝑖1 + 𝑆2 𝑖2 + 𝑆3 𝑖3 with unit vector 𝑖1 , 𝑖2 , 𝑖3
in the directions 𝑥1 , 𝑥2 , 𝑥3 and 𝑆1 , 𝑆2 , 𝑆3 are the components of 𝑆ҧ
referred to the 𝑥 ′1 , 𝑥 ′ 2 , 𝑥 ′ 3 axes, Fig. 6.1.

• 𝑆 ′1 is obtained by resolving 𝑆1 , 𝑆2 , 𝑆3 along new direction 𝑥 ′1 :

𝑆 ′1 = 𝑆1 𝑐𝑜𝑠 𝑥1 , 𝑥 ′1 + 𝑆2 𝑐𝑜𝑠 𝑥2 , 𝑥 ′1 + 𝑆3 𝑐𝑜𝑠 𝑥3 , 𝑥 ′1
or
𝑆 ′1 = 𝑎11 𝑆1 + 𝑎12 𝑆2 + 𝑎13 𝑆3

where 𝑎11 is the direction cosine between 𝑥 ′1 and 𝑥1 , 𝑎12 is the

direction cosine between 𝑥 ′1 and 𝑥2 etc. Similarly;
𝑆 ′ 2 = 𝑎21 𝑆1 + 𝑎22 𝑆2 + 𝑎23 𝑆3
Fig. 6.1: Transformation of axes for a vector
 𝑆 ′ 3 = 𝑎31 𝑆1 + 𝑎32 𝑆2 + 𝑎33 𝑆3
Since, the leading suffix for each direction cosines in each equation is
the same, so we can write the equation as;
3

𝑆 ′1 = ෍ 𝑎1𝑗 𝑆𝑗
𝑗=1
3

𝑆 ′ 2 = ෍ 𝑎2𝑗 𝑆𝑗
𝑗=1
3

𝑆 ′ 3 = ෍ 𝑎3𝑗 𝑆𝑗
𝑗=1
These three equations can be combined by writing
3

𝑆 ′ 𝑖 = ෍ 𝑎𝑖𝑗 𝑆𝑗 𝑖 = 1, 2, 3 = 𝑎𝑖1 𝑆1 + 𝑎𝑖2 𝑆2 + 𝑎𝑖3 𝑆3

𝑗=1

This equation can be simplify further by using Einstein suffix notation:

𝑆 ′ 𝑖 = 𝑎𝑖𝑗 𝑆𝑗

Index 𝑖 appearing singly on each side of the equation is a free index

(free suffix) that ranges over these integers to yield the three separate
equation. The repeated index is called a dummy suffix. Its only purpose
is to indicate summation over the integers 1, 2, 3.
Example 6.1: The displacements of point in a deformed elastic solid
(𝑈) are related to the coordinates points (𝑥) by a vector relationship
𝑈𝑖 = 𝑒𝑖𝑗 𝑥𝑗 . Expand this tensor expression.

Solution:
Since 𝑗 is the dummy suffix, summation will take place over 𝑗 = 1, 2, 3

𝑈1 = ෍ 𝑒1𝑗 𝑥𝑗 = 𝑒11 𝑥1 + 𝑒12 𝑥2 + 𝑒13 𝑥3

𝑈2 = ෍ 𝑒2𝑗 𝑥𝑗 = 𝑒21 𝑥1 + 𝑒22 𝑥2 + 𝑒23 𝑥3

 𝑈3 = ෍ 𝑒3𝑗 𝑥𝑗 = 𝑒31 𝑥1 + 𝑒32 𝑥2 + 𝑒33 𝑥3

The coefficients in these equations are the components of the strain

tensor.
 BASIC EQUATION OF STRESS
TRANSFORMATION AT POINT IN A SOLID
The product of two vectors 𝐴ҧ and 𝐵ത having components (𝐴1 , 𝐴2 , 𝐴3 )
and (𝐵1 , 𝐵2 , 𝐵3 ) results in a second-rank tensor 𝑇𝑖𝑗 . The components of
this tensor can be displayed as a 3 × 3 matrix.
𝑇11 𝑇12 𝑇13 𝐴1 𝐵1 𝐴1 𝐵2 𝐴1 𝐵3
𝑇𝑖𝑗 = 𝑇21 𝑇22 𝑇23 = 𝐴2 𝐵1 𝐴2 𝐵2 𝐴2 𝐵3
𝑇31 𝑇32 𝑇33 𝐴3 𝐵1 𝐴3 𝐵2 𝐴3 𝐵3

On transformation of axes the vector components becomes (𝐴′1 , 𝐴′ 2 ,

𝐴′ 3 ) and (𝐵′1 , 𝐵′ 2 , 𝐵′ 3 ). We wish to find the relationship between the
nine components of 𝑇𝑖𝑗 and the nine components of 𝑇′𝑖𝑗 after the
transformation of axes.
 𝐴′ 𝑘 = 𝑎𝑘𝑖 𝐴𝑖 , 𝐵′ 𝑙 = 𝑎𝑙𝑗 𝐵𝑗

𝐴′ 𝑘 𝐵′ 𝑙 = 𝑎𝑘𝑖 𝐴𝑖 𝑎𝑙𝑗 𝐵𝑗 = 𝑎𝑘𝑖 𝑎𝑙𝑗 𝐴𝑖 𝐵𝑗

𝑇 ′ 𝑘𝑙 = 𝑎𝑘𝑖 𝑎𝑙𝑗 𝑇𝑖𝑗

Since stress is a second-rank tensor, the components of the stress tensor

can be written as:
𝜎11 𝜎12 𝜎13 𝜎𝑥 𝜏𝑥𝑦 𝜏𝑥𝑧
𝜎𝑖𝑗 = 𝜎21 𝜎22 𝜎23 = 𝜏𝑦𝑥 𝜎𝑦 𝜏𝑦𝑧
𝜎31 𝜎32 𝜎33 𝜏𝑧𝑥 𝜏𝑧𝑦 𝜎𝑧

The transformation of the stress tensor 𝜎𝑖𝑗 from 𝑥1 , 𝑥2 , 𝑥3 system of

axes to the 𝑥 ′1 , 𝑥 ′ 2 , 𝑥 ′ 3 axes is given by
 𝜎𝑘𝑙 = 𝑎𝑘𝑖 𝑎𝑙𝑗 𝜎𝑖𝑗

where 𝑖 and 𝑗 are dummy suffixes and 𝑘 and 𝑙 are free suffixes. To
expand the tensor equation, we first sum over 𝑗 = 1, 2, 3.
𝜎𝑘𝑙 = 𝑎𝑘𝑖 𝑎𝑙1 𝜎𝑖1 + 𝑎𝑘𝑖 𝑎𝑙2 𝜎𝑖2 + 𝑎𝑘𝑖 𝑎𝑙3 𝜎𝑖3

Now summing over 𝑖 = 1, 2, 3

𝜎𝑘𝑙 = 𝑎𝑘1 𝑎𝑙1 𝜎11 + 𝑎𝑘1 𝑎𝑙2 𝜎12 + 𝑎𝑘1 𝑎𝑙3 𝜎13
+𝑎𝑘2 𝑎𝑙1 𝜎21 + 𝑎𝑘2 𝑎𝑙2 𝜎22 + 𝑎𝑘2 𝑎𝑙3 𝜎23
+𝑎𝑘3 𝑎𝑙1 𝜎31 + 𝑎𝑘3 𝑎𝑙2 𝜎32 + 𝑎𝑘3 𝑎𝑙3 𝜎33

For each 𝑘 and 𝑙 there will be an equation. Thus, to find the equation for
normal stress in the 𝑥 ′1 direction, let 𝑘 = 1 and 𝑙 = 1.
 𝜎11 = 𝑎11 𝑎11 𝜎11 + 𝑎11 𝑎12 𝜎12 + 𝑎11 𝑎13 𝜎13
+𝑎12 𝑎11 𝜎21 + 𝑎12 𝑎12 𝜎22 + 𝑎12 𝑎13 𝜎23
+𝑎13 𝑎11 𝜎31 + 𝑎13 𝑎12 𝜎32 + 𝑎13 𝑎13 𝜎33

Similarly, if we want to determine the shear stress on the 𝑥 ′ plane in the

𝑧 ′ direction, that is 𝜏𝑥 ′ 𝑧 ′ , let 𝑘 = 1 and 𝑙 = 3.
𝜎13 = 𝑎11 𝑎31 𝜎11 + 𝑎11 𝑎32 𝜎12 + 𝑎11 𝑎33 𝜎13
+𝑎12 𝑎31 𝜎21 + 𝑎12 𝑎32 𝜎22 + 𝑎12 𝑎33 𝜎23
+𝑎13 𝑎31 𝜎31 + 𝑎13 𝑎32 𝜎32 + 𝑎13 𝑎33 𝜎33
Example 6.2: The state of stress at a point for system of reference axes
𝑥, 𝑦, 𝑧 is transformed to a new set of axes 𝑥 ′ , 𝑦 ′ , 𝑧 ′ by rotating 𝑥, 𝑦, 𝑧
through 𝜃° counterclockwise about z axis, established the direction
cosines between 𝑥, 𝑦, 𝑧 axes and 𝑥 ′ , 𝑦 ′ , 𝑧 ′ axes.

Solution:

Step 1
Sketch the 𝑥, 𝑦, 𝑧 and 𝑥 ′ , 𝑦 ′ , 𝑧 ′ axes as 𝑋1 , 𝑋2 , 𝑋3 and 𝑋 ′1 , 𝑋 ′ 2 , 𝑋 ′ 3
respectively for convenience since we are working with tensor
quantities.
Step 2
From the sketch the direction cosines is established as follow:

𝑎11 = 𝑐𝑜𝑠 𝑋 ′1 𝑋1 = cos 𝜃°

𝑎12 = 𝑐𝑜𝑠 𝑋 ′1 𝑋2 = cos 90° − 𝜃° = sin 𝜃
𝑎13 = 𝑐𝑜𝑠 𝑋 ′1 𝑋3 = cos 90° = 0
𝑎21 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋1 = cos(90° + 𝜃°) = − sin 𝜃
𝑎22 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋2 = cos 𝜃°
𝑎23 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋3 = cos 90° = 0
𝑎31 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋1 = cos 90° = 0
𝑎32 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋2 = cos 90° = 0
𝑎33 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋3 = cos 0° = 1
Since the prime coordinates was obtained by rotation about 𝑋3 axis, it is
clear that the 𝑋3 axis and 𝑋 ′ 3 coincides (i.e. the angle between them is
0) while both of them are mutually orthogonal with respect to 𝑋 ′1 , 𝑋1
and 𝑋 ′ 2 , 𝑋2 axes.

𝑖. 𝑒 𝑎13 = 𝑎23 = 𝑎31 = 𝑎32 = cos 90° = 0 while 𝑎33 = cos 0° = 1

Thus,
𝑎11 𝑎12 𝑎13 cos 𝜃 sin 𝜃 0
𝑎21 𝑎22 𝑎23 = − sin 𝜃 cos 𝜃 0
𝑎31 𝑎32 𝑎33 0 0 1
Example 6.3: The state of stress at a point for system of reference axes
𝑥, 𝑦, 𝑧 is given by:
200 100 0
100 0 0
0 0 500
If a new set of axes 𝑥 ′ , 𝑦 ′ , 𝑧 ′ is formed by rotating 𝑥, 𝑦, 𝑧 60° about z
axis, find the matrix of the stress tensor for new axes 𝑥 ′ , 𝑦 ′ , 𝑧 ′ through
the same point. Use tensor concepts.

Solution:
Step 1
Sketch the 𝑥, 𝑦, 𝑧 and 𝑥 ′ , 𝑦 ′ , 𝑧 ′ axes as 𝑋1 , 𝑋2 , 𝑋3 and 𝑋 ′1 , 𝑋 ′ 2 , 𝑋 ′ 3 for
convenience since we are working with tensor quantities.
𝑎11 = 𝑐𝑜𝑠 𝑋 ′1 𝑋1 = cos 𝜃° = cos 60° = 1Τ2
𝑎12 = cos 𝑋 ′1 𝑋2 = cos 90° − 𝜃° = sin 𝜃° = sin 60° = 3Τ
2
𝑎13 = 𝑐𝑜𝑠 𝑋 ′1 𝑋3 = cos 90° = 0
𝑎21 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋1 = cos(90° + 𝜃°) = − sin 𝜃 = − sin 60° = − 3Τ
2
𝑎22 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋2 = cos 𝜃° = cos 60° = 1Τ2
𝑎23 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋3 = cos 90° = 0
𝑎31 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋1 = cos 90° = 0
𝑎32 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋2 = cos 90° = 0
𝑎33 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋3 = cos 0° = 1
Since the prime coordinates was obtained by rotation about 𝑋3 axis, it is
clear that the 𝑋3 axis and 𝑋 ′ 3 coincides (i.e. the angle between them is
0) while both of them are mutually orthogonal with respect to 𝑋 ′1 , 𝑋1
and 𝑋 ′ 2 , 𝑋2 axes.

∴ 𝑎13 = 𝑎23 = 𝑎31 = 𝑎32 = cos 90° = 0 while 𝑎33 = cos 0° = 1

Thus
1ൗ 3ൗ 0
𝑎11 𝑎12 𝑎13 cos 60° sin 60° 0 2 2
𝑎21 𝑎22 𝑎23 = − sin 60° cos 60° 0 =
𝑎31 𝑎32 𝑎33 − 3 ൗ2 1ൗ 0
0 0 1 2
0 0 1
Step 3
200 100 0 𝜎11 𝜎12 𝜎13
100 0 0 ≡ 𝜎21 𝜎22 𝜎23
0 0 500 𝜎31 𝜎32 𝜎33

Step 4
The transformation of the stress tensor 𝑖𝑗 from 𝑋1 , 𝑋2 , 𝑋3 axes to 𝑋 ′1 ,
𝑋 ′ 2 , 𝑋 ′ 3 axes is given by 𝜎𝑘𝑙 = 𝑎𝑘𝑖 𝑎𝑙𝑗 𝜎𝑖𝑗 where 𝑖 and 𝑗 are dummy
suffixes and 𝑘 and 𝑙 are free suffixes.
𝜎𝑘𝑙 = 𝑎𝑘1 𝑎𝑙1 𝜎11 + 𝑎𝑘1 𝑎𝑙2 𝜎12 + 𝑎𝑘1 𝑎𝑙3 𝜎13
+𝑎𝑘2 𝑎𝑙1 𝜎21 + 𝑎𝑘2 𝑎𝑙2 𝜎22 + 𝑎𝑘2 𝑎𝑙3 𝜎23
+𝑎𝑘3 𝑎𝑙1 𝜎31 + 𝑎𝑘3 𝑎𝑙2 𝜎32 + 𝑎𝑘3 𝑎𝑙3 𝜎33
Step 5
From the transformation equation above the components of the stress
tensor for new axes are:
𝜎′11 = 𝑎11 𝑎11 𝜎11 + 𝑎11 𝑎12 𝜎12 + 𝑎11 𝑎13 𝜎13
+𝑎12 𝑎11 𝜎21 + 𝑎12 𝑎12 𝜎22 + 𝑎12 𝑎13 𝜎23
+𝑎13 𝑎11 𝜎31 + 𝑎13 𝑎12 𝜎32 + 𝑎13 𝑎13 𝜎33

3ൗ
𝜎′11 = 1Τ 2
2 200 + 1Τ2 2 100 + − 3ൗ2 1Τ
2 100

𝜎′11 = 50 + 25 3 − 25 3 = 50 𝑀𝑃𝑎
 𝜎′12 = 𝑎11 𝑎21 𝜎11 + 𝑎11 𝑎22 𝜎12 + 𝑎11 𝑎23 𝜎13
+𝑎12 𝑎21 𝜎21 + 𝑎12 𝑎22 𝜎22 + 𝑎12 𝑎23 𝜎23
+𝑎13 𝑎21 𝜎31 + 𝑎13 𝑎22 𝜎32 + 𝑎13 𝑎23 𝜎33

𝜎′12 = 1Τ
2 − 3ൗ2 200 + 1Τ2 1Τ
2 100 + 3ൗ
2 − 3ൗ2 100

𝜎′12 = 50 3 + 25 − 75 = −136.6 𝑀𝑃𝑎

𝜎′21 = 𝑎21 𝑎11 𝜎11 + 𝑎21 𝑎12 𝜎12 + 𝑎21 𝑎13 𝜎13
+𝑎22 𝑎11 𝜎21 + 𝑎22 𝑎12 𝜎22 + 𝑎22 𝑎13 𝜎23
+𝑎23 𝑎11 𝜎31 + 𝑎23 𝑎12 𝜎32 + 𝑎23 𝑎13 𝜎33
𝜎′21 = − 3ൗ2 1Τ
2 200 + − 3ൗ2 3ൗ
2 100 + 1Τ2 1Τ
2 100

𝜎′21 = −50 3 − 75 + 25 = −136.6 𝑀𝑃𝑎

𝜎′33 = 𝑎31 𝑎31 𝜎11 + 𝑎31 𝑎32 𝜎12 + 𝑎31 𝑎33 𝜎13
+𝑎32 𝑎31 𝜎21 + 𝑎32 𝑎32 𝜎22 + 𝑎32 𝑎33 𝜎23
+𝑎33 𝑎31 𝜎31 + 𝑎33 𝑎32 𝜎32 + 𝑎33 𝑎33 𝜎33
𝜎′33 = 1 1 500 = 500 𝑀𝑃𝑎
Example 6.4: For a given element Solution:
in the state of plane stress as Given that 𝜎𝑥 = −8 ksi , 𝜎𝑦 =
shown in the figure. Using tensor 10 𝑘𝑠𝑖 , 𝜏𝑥𝑦 = 6 𝑘𝑠𝑖 , and 𝜎𝑧 =
concept find the normal and shear
stress components acting on the 𝜏𝑦𝑧 = 𝜏𝑧𝑥 = 0. The state of stress
faces of an element rotated at a point for system of reference
anticlockwise through an angle axes 𝑥, 𝑦, 𝑧 is written in matrix
70°. form as:
−8 6 0
6 10 0
0 0 0
𝑥, 𝑦, 𝑧 and 𝑥 ′ , 𝑦 ′ , 𝑧 ′ axes are
sketch as 𝑋1 , 𝑋2 , 𝑋3 and 𝑋 ′1 , 𝑋 ′ 2 ,
𝑋 ′ 3 for convenience since we are
working with tensor quantities.
From the sketch above the direction cosines is established as follow:

𝑎11 = 𝑐𝑜𝑠 𝑋 ′1 𝑋1 = cos 𝜃° = cos 70° = 0.342

𝑎12 = 𝑐𝑜𝑠 𝑋 ′1 𝑋2 = cos 90° − 𝜃° = sin 𝜃 = sin 70° = 0.94
𝑎13 = 𝑐𝑜𝑠 𝑋 ′1 𝑋3 = cos 90° = 0
𝑎21 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋1 = cos(90° + 𝜃°) = − sin 𝜃 = − sin 70° = −0.94
𝑎22 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋2 = cos 𝜃° = cos 70° = 0.342
𝑎23 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋3 = cos 90° = 0
𝑎31 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋1 = cos 90° = 0
𝑎32 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋2 = cos 90° = 0
𝑎33 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋3 = cos 0° = 1
 𝑎11 𝑎12 𝑎13 0.342 0.94 0
𝑎21 𝑎22 𝑎23 = −0.94 0.342 0
𝑎31 𝑎32 𝑎33 0 0 1
Given that
−8 6 0 𝜎11 𝜎12 𝜎13
6 10 0 ≡ 𝜎21 𝜎22 𝜎23
0 0 0 𝜎31 𝜎32 𝜎33
The transformation of the stress tensor 𝑖𝑗 from 𝑋1 , 𝑋2 , 𝑋3 axes to 𝑋 ′1 ,
𝑋 ′ 2 , 𝑋 ′ 3 axes is given by 𝜎𝑘𝑙 = 𝑎𝑘𝑖 𝑎𝑙𝑗 𝜎𝑖𝑗 where 𝑖 and 𝑗 are dummy
suffixes and 𝑘 and 𝑙 are free suffixes.
𝜎𝑘𝑙 = 𝑎𝑘1 𝑎𝑙1 𝜎11 + 𝑎𝑘1 𝑎𝑙2 𝜎12 + 𝑎𝑘1 𝑎𝑙3 𝜎13
+𝑎𝑘2 𝑎𝑙1 𝜎21 + 𝑎𝑘2 𝑎𝑙2 𝜎22 + 𝑎𝑘2 𝑎𝑙3 𝜎23
+𝑎𝑘3 𝑎𝑙1 𝜎31 + 𝑎𝑘3 𝑎𝑙2 𝜎32 + 𝑎𝑘3 𝑎𝑙3 𝜎33
From the transformation equation above the components of
normal and shear stresses of the stress tensor for new axes are
evaluated as follow:

𝜎𝑥 ′ = 𝑎11 𝑎11 𝜎11 + 𝑎11 𝑎12 𝜎12 + 𝑎11 𝑎13 𝜎13

+𝑎12 𝑎11 𝜎21 + 𝑎12 𝑎12 𝜎22 + 𝑎12 𝑎13 𝜎23
+𝑎13 𝑎11 𝜎31 + 𝑎13 𝑎12 𝜎32 + 𝑎13 𝑎13 𝜎33
2 2
𝜎𝑥 ′ = 0.342 −8 + 0.342 0.94 6 + 0.342 0.94 6 + 0.94 10

𝜎𝑥 ′ = −0.936 + 1.929 + 1.929 + 8.836 = 11.8 𝑘𝑠𝑖

 𝜎𝑦 ′ = 𝑎21 𝑎21 𝜎11 + 𝑎21 𝑎22 𝜎12 + 𝑎21 𝑎23 𝜎13
+𝑎22 𝑎21 𝜎21 + 𝑎22 𝑎22 𝜎22 + 𝑎22 𝑎23 𝜎23
+𝑎23 𝑎21 𝜎31 + 𝑎23 𝑎22 𝜎32 + 𝑎23 𝑎23 𝜎33
2 2
𝜎𝑦 ′ = 0.94 −8 + −0.94 0.342 6 + 0.342 −0.94 6 + 0.342 10

𝜎𝑦 ′ = −7.069 − 1.929 − 1.929 + 1.170 = −9.8 𝑘𝑠𝑖

𝜏𝑥 ′ 𝑦′ = 𝑎11 𝑎21 𝜎11 + 𝑎11 𝑎22 𝜎12 + 𝑎11 𝑎23 𝜎13

+𝑎12 𝑎21 𝜎21 + 𝑎12 𝑎22 𝜎22 + 𝑎12 𝑎23 𝜎23
+𝑎13 𝑎21 𝜎31 + 𝑎13 𝑎22 𝜎32 + 𝑎13 𝑎23 𝜎33
2
𝜏𝑥 ′𝑦′ = (0.342) −0.94 (−8) + 0.342 6 + 0.94 −0.94 6 + 0.94 0.342 10

𝜏𝑥 ′ 𝑦′ = 2.572 + 0.702 − 5.302 + 3.215 = 1.19 𝑘𝑠𝑖

Example 6.5: An element in a Solution:
state of plane stress have Given that 𝜎𝑥 = 80 MPa , 𝜎𝑦 =
components acting on its 20 𝑀𝑃𝑎 , 𝜏𝑥𝑦 = 60 𝑀𝑃𝑎 , and
coordinate faces as shown in the
𝜎𝑧 = 𝜏𝑦𝑧 = 𝜏𝑧𝑥 = 0 . The matrix
figure. If a new set of axes 𝑥 ′ , 𝑦 ′ ,
𝑧 ′ is formed by rotating 𝑥, 𝑦, 𝑧 that represent state of stress is
40° clockwise about 𝑧 axis, use written in matrix form as:
tensor concept to determine the 80 60 0
stress components in the new axes. 60 20 0 𝑀𝑃𝑎
0 0 0
𝑥, 𝑦, 𝑧 and 𝑥 ′ , 𝑦 ′ , 𝑧 ′ axes are
sketch as 𝑋1 , 𝑋2 , 𝑋3 and 𝑋 ′1 , 𝑋 ′ 2 ,
𝑋 ′ 3 for convenience since we are
working with tensor quantities.
From the sketch above the direction cosines is established as follow:

𝑎11 = 𝑐𝑜𝑠 𝑋 ′1 𝑋1 = cos 𝜃° = cos(−40°) = 0.766

𝑎12 = 𝑐𝑜𝑠 𝑋 ′1 𝑋2 = cos 90° − 𝜃° = sin 𝜃 = sin −40° = −0.643
𝑎13 = 𝑐𝑜𝑠 𝑋 ′1 𝑋3 = cos 90° = 0
𝑎21 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋1 = cos(90° + 𝜃°) = − sin 𝜃 = − sin −40° = 0.643
𝑎22 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋2 = cos 𝜃° = cos(−40°) = 0.766
𝑎23 = 𝑐𝑜𝑠 𝑋 ′ 2 𝑋3 = cos 90° = 0
𝑎31 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋1 = cos 90° = 0
𝑎32 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋2 = cos 90° = 0
𝑎33 = 𝑐𝑜𝑠 𝑋 ′ 3 𝑋3 = cos 0° = 1
 𝑎11 𝑎12 𝑎13 0.766 −0.643 0
𝑎21 𝑎22 𝑎23 = 0.643 0.766 0
𝑎31 𝑎32 𝑎33 0 0 1
Given that
80 60 0 𝜎11 𝜎12 𝜎13
60 20 0 ≡ 𝜎21 𝜎22 𝜎23
0 0 0 𝜎31 𝜎32 𝜎33
The transformation of the stress tensor 𝑖𝑗 from 𝑋1 , 𝑋2 , 𝑋3 axes to 𝑋 ′1 ,
𝑋 ′ 2 , 𝑋 ′ 3 axes is given by 𝜎𝑘𝑙 = 𝑎𝑘𝑖 𝑎𝑙𝑗 𝜎𝑖𝑗 where 𝑖 and 𝑗 are dummy
suffixes and 𝑘 and 𝑙 are free suffixes.
𝜎𝑘𝑙 = 𝑎𝑘1 𝑎𝑙1 𝜎11 + 𝑎𝑘1 𝑎𝑙2 𝜎12 + 𝑎𝑘1 𝑎𝑙3 𝜎13
+𝑎𝑘2 𝑎𝑙1 𝜎21 + 𝑎𝑘2 𝑎𝑙2 𝜎22 + 𝑎𝑘2 𝑎𝑙3 𝜎23
+𝑎𝑘3 𝑎𝑙1 𝜎31 + 𝑎𝑘3 𝑎𝑙2 𝜎32 + 𝑎𝑘3 𝑎𝑙3 𝜎33
From the transformation equation above the components of normal and
shear stresses of the stress tensor for new axes are evaluated as follow:

𝜎𝑥 ′ = 𝑎11 𝑎11 𝜎11 + 𝑎11 𝑎12 𝜎12 + 𝑎11 𝑎13 𝜎13

+𝑎12 𝑎11 𝜎21 + 𝑎12 𝑎12 𝜎22 + 𝑎12 𝑎13 𝜎23
+𝑎13 𝑎11 𝜎31 + 𝑎13 𝑎12 𝜎32 + 𝑎13 𝑎13 𝜎33
2 2
𝜎𝑥 ′ = 0.766 80 + 0.766 −0.643 60 + −0.634 0.766 60 + −0.643 20

𝜎𝑥′ = 46.940 − 29.552 − 29.552 + 8.269 = −3.9 𝑀𝑃𝑎

 𝜎𝑦 ′ = 𝑎21 𝑎21 𝜎11 + 𝑎21 𝑎22 𝜎12 + 𝑎21 𝑎23 𝜎13
+𝑎22 𝑎21 𝜎21 + 𝑎22 𝑎22 𝜎22 + 𝑎22 𝑎23 𝜎23
+𝑎23 𝑎21 𝜎31 + 𝑎23 𝑎22 𝜎32 + 𝑎23 𝑎23 𝜎33
2 2
𝜎𝑦 ′ = 0.643 80 + 0.643 0.766 60 + 0.766 −0.643 60 + 0.766 20

𝜎𝑦′ = 33.076 + 29.552 + 29.552 + 11.735 = 103.9 𝑀𝑃𝑎

𝜏𝑥 ′ 𝑦′ = 𝑎11 𝑎21 𝜎11 + 𝑎11 𝑎22 𝜎12 + 𝑎11 𝑎23 𝜎13

+𝑎12 𝑎21 𝜎21 + 𝑎12 𝑎22 𝜎22 + 𝑎12 𝑎23 𝜎23
+𝑎13 𝑎21 𝜎31 + 𝑎13 𝑎22 𝜎32 + 𝑎13 𝑎23 𝜎33
2
𝜏𝑥 ′𝑦′ = (0.776) 0.643 (80) + 0.766 60 + −0.643 0.643 60 + −0.643 0.766 20

𝜏𝑥 ′ 𝑦′ = 39.403 + 35.205 − 24.807 − 39.951 = 40 𝑀𝑃𝑎

References
1. Case, J. and Chilver, A.H. “Strength of Materials and Structure” The
English Language Book Society and Edward Arnold (Publisher)
Ltd., London.
2. Dieter, G.E. (1988). “Mechanical Metallurgy”. McGraw-Hill Book
Company, London.