Chapter-3

Viscoelastic Models

3.1 Objectives

In this chapter, we shall discuss about some basic definitions related to Viscoelastic

Materials and to derive constitutive equations for two viscoelastic models namely

Maxwell and Kelvin. Further, the creep and relaxation phenomena will be discussed.

3.2 Introduction

The property of the body to regain its original configuration (length, volume or shape)

when the deforming forces are removed is called elasticity. The materials or

substances which have property of elasticity are called elastic materials. For example,

spring. For an elastic material there exists a one-to-one coordination between stress

and strain. In the simplest case, there are six algebraic equations giving the strain

components in terms of the stresses or vice versa. If they are linear, they are known

as Hooke’s law. Some materials show a pronounced influence of the rate of loading,

the strain being larger if the stress has grown more slowly to its final value. The same

materials display creep, that is, an increasing deformation under sustained load, the

rate of strain depending on the stress. Such materials are called viscoelastic. The

constitutive equations of these materials may be either linear or nonlinear. The

viscoelastic materials are time dependent while elastic materials are time independent.

MAL-643 43
3.3 Viscoelastic Materials

Elastic material: The materials or substances which have property of elasticity are

called elastic materials. For example spring, Elastic ball.

Spring before deformation

Spring after deformation

Then according to Hook’s law, within elastic limit, the stress developed is directly

proportional to the strain produced in a body, i.e.

stress α strain ,

or stress = E × strain ,

i.e., τ = Ee , where E is a constant and is known as Modulus of elasticity of the

material of the body or Young’s Modulus.

Viscosity: Viscosity is the property of a fluid (liquid or gas) by virtue of which an

internal frictional force comes into play when the fluid in motion and opposes the

relative motion of its different layers. It is also called fluid friction.

Viscous material: The materials having the property of viscosity are called viscous

materials. For example: honey, dashpot.

MAL-643 44
Dashpot: Consider the dashpot shown in figure below. A piston is moving in a

cylinder with a perforated bottom so that no air is trapped inside. Between the

cylinder and the piston wall, there is a rather viscous lubricant (liquid) so that a force

is needed to displace the piston. The stronger this force, the faster the piston will

move.

Dashpot

3.4 Governing equation for viscous material:

Let L be the original length of dashpot and l be the extension produced in the

dashpot during deformation, then after deformation length of dashpot is L + l.

MAL-643 45
 ∂ (l + L ) ∂l ∂L ∂l
Now = + = (QL is constant) (1)
∂t ∂t ∂t ∂t

l
Since e = ⇒ l = eL
L

∂l ∂(eL ) ∂e
= =L
∂t ∂t ∂t

∂ (l + L ) ∂e
Then (1) ⇒ =L
∂t ∂t

Let τ be the stress developed in dashpot, then we have

∂ (l + L )
τα
∂t

∂(l + L ) ∂e ∂e
⇒τ = K = KL = η where η = KL
∂t ∂t ∂t

Therefore in viscous medium, the basic governing equation is

stress α rate of strain , i.e.,

∂e ∂e
τα ⇒ τ =η = η e& ,
∂t ∂t

where η is coefficient of viscosity.

MAL-643 46
The quantity e& is called the strain rate where dot represents ordinary or partial

derivatives with respect to time t. Thus, a material whose stress is proportional to the

strain rate is called a viscous material.

3.5 Three basic viscoelastic materials (or models)

Linear viscoelastic materials are the combination of elastic and viscous materials.

Viscoelastic materials (models) are constructed by the combining spring and dashpot.

a) Maxwell Model (or Maxwell materials):- In this model, spring and dashpot

are connected in series. This model is also called Maxwell fluid.

Maxwell model

b) Kelvin Model: - In this model, spring and dashpot are connected in parallel.

Kelvin model

c) Standard Linear Solid (or three parameter solid):- In this model, a spring

is connected in series with a Kelvin’s model.

MAL-643 47
 Standard Linear Solid

For every model, we shall consider following three things:

1. Constitutive equation (stress-strain relations)

2. Creep Phase

3. Relaxation Phase

Principle of Superposition: If stress τ 1 produces strain e1 and stress τ 2 produces

strain e2 , then the total stress τ 1 + τ 2 produces strain e1 + e2 .

Heaviside’s unit step function: It is denoted as H (t ) or u (t ) or ∆(t ) and is defined

1 , t > 0
as H (t ) = 
0 , t < 0

The function H (t ) is discontinuous at t = 0.

MAL-643 48
Dirac delta function: It is denoted as δ (t ) and is defined as

 0 , t≠0
δ (t ) = 
 ∞ , t=0

∞ 0+
Then ∫ δ (t ) dt = ∫ δ (t ) dt = 1
−∞ 0−

Creep Phase: Creep is the slow increasing deformation of a material under constant

stress and the rate of strain depends upon the stress.

For this, consider the stress cycle

τ (t ) = τ 0 H (t ) , where H (t ) is unit step function. So

 τ0 , t > 0
τ (t ) = 
 0 , t<0

For an elastic material, the strain cycle is

e(t ) = e0 H (t ) , where H (t ) is unit step function. So

MAL-643 49
  e , t>0
e(t ) =  0
 0 , t<0

But for viscoelastic material, the corresponding strain cycle is, e(t ) = τ 0 J (t )

where J (t ) an increasing function of t. J (t ) is different for different materials and is

called creep compliance.

Relaxation Phase: Consider the strain cycle

MAL-643 50
e(t ) = e0 H (t )

 e , t>0
= 0
 0 , t<0

For an elastic material

τ (t ) = τ 0 H (t )

 τ , t>0
= 0
 0 , t<0

For viscoelastic material, τ (t ) = e0Y (t ) ,where Y (t ) = 0, t < 0

Y (t ) is called Relaxation Modulus.

Y (t ) is a decreasing function of t and is different for different materials.

MAL-643 51
3.6 Maxwell Model

A spring and a dashpot are connected in series.

Since elements are connected in series. Hence, elongation is distributed on both

elements.

If e is the total elongation then e = e′ + e′′ (1)

where e′ is the elongation in the spring and e′′ is the elongation in the dashpot.

The stress-strain relation for spring is τ = Ee′ (2)

∂e′′
The stress-strain relation for dashpot is τ = η (3)
∂t

To obtain the stress-strain relation for the Maxwell Model, eliminating e′ , e′′ from

equations (1)-(3).
MAL-643 52
From (1), differentiate w.r.t. time t,

e& = e&′ + e&′′

∂e 1 ∂τ τ
or = +
∂t E ∂t η

η
or τ + τ& = ηe& (4)
E

Comparing it with the standard stress-strain relation for a viscoelastic material

m
d kτ m
d ke
∑ pk dt k
= ∑ qk dt k
with p0 = 1
k =0 k =0

τ + p1τ& + p2τ&& + ........... = q0 e + q1e& + q2 &e& + .......

η
We have p1 = , q 0 = 0 , q1 = η
E

Equation (4) can be re-written as

E
τ& + τ = Ee& (5)
η

τ
Or τ& + = Ee& , (6)
t*

η
where t * = is Relaxation time.
E

Equation (5) or (6) is required constitutive equation (or stress-strain relation) for a

Maxwell model.

Creep Phase for Maxwell model:

MAL-643 53
Consider the stress cycle, i.e. we apply a constant stress at t = 0 and discuss the

behaviour of strain.

τ (t ) = τ 0 H (t )

 τ , t>0
= 0 (7)
 0 , t<0

From equation (5) and (7)

∂τ 0 E ∂e
+ τ0 = E
∂t η ∂t

E ∂e
⇒ τ0 = E
η ∂t

∂e τ 0
⇒ =
∂t η

Integrating w.r.t. ‘t’ , we get

τ
e(t ) = 0 t + e0 , (8)
η

where e0 is constant of integration.

To find e0 , we integrate equation (6) w.r.t. time (t) between (− ε , ε )

ε ε ε
∂τ τ ∂e
∫ ∂t
dt + ∫ *
dt = E ∫ ∂t
dt
−ε −ε t −ε

ε
0 τ0 
τ (ε ) − τ (− ε ) +  ∫ 0 + ∫t *
dt  = E [e(ε ) − e(− ε )]
 −ε 0 

But τ (− ε ) = e(− ε ) = 0

MAL-643 54
Since material is in the natural state, therefore

τ0
τ (ε ) + ε = E e(ε )
t*

Taking limit as ε → 0 + , therefore

τ (0 + ) = E e(0 + ) (9)

Taking t → 0 + in equation (8), we get

( )
e 0 + = e0

τ (0 + )
⇒ = e0 (Using (9))
E

τ
⇒ e0 = 0
E

Using this value in equation (8), we get

τ τ t 1 τ
e(t ) = 0 t + 0 = τ 0  +  = 0 t + t *
η E η E  η
( )
Comparing with the definition of creep compliance

e(t ) = τ 0 J (t )

So, J (t ) =
η
1
(t + t* ) (10)

MAL-643 55
It is observed that for a fixed amount of stress, the strain instantly takes a finite value,

which is the behaviour of an elastic solid. So, for large values of t, the deformation

goes infinitely, which is behaviour of a viscous fluid.

Relaxation Phase for Maxwell model:

We assume that the strain cycle is given below and we discuss behaviour of stress

under constant strain.

MAL-643 56
e(t ) = e0 H (t )

 e , t>0
= 0 (11)
 0 , t<0

From equation (6), for t > 0, we get

τ
τ& + =0
t*

1
∫ * dt t
I.F. = e t =e t*

Solution is τ (t ) e
t
t*
= ∫ 0 dt + constant (τ 0 )

−t
τ (t ) = τ 0 e t*
, (12)

where τ 0 is constant of integration.

Taking limit as t → 0 + in equation (12), we get

( )
τ 0+ = τ 0

( )
⇒ Ee 0 + = τ 0 ⇒ τ 0 = Ee0

Substituting the value of τ 0 in equation (12), we get

−t
 −t * 
τ (t ) = E e0 e t*
= e0  Ee t  (13)
 

Equation (13) is required stress cycle.

Comparing with definition of Y (t ) ,

MAL-643 57
 −t
Y (t ) = Ee t
*

For a finite amount of strain, the Maxwell Model exhibits a finite amount of stress

instantly and then it goes on decreasing.

For large values of t, the Maxwell material has complete Relaxation.

MAL-643 58
3.7 Kelvin Model

In this model a spring and a dashpot are connected in parallel.

Suppose model is acted upon by a force P causing stress τ. Sine elements are

parallel, so τ is distributed itself upon both elements.

Hence τ = τ ′ + τ ′′ , (1)

where τ ′ is the stress on spring and τ ′′ is the stress on the dashpot.

Let e is the elongation of Kelvin element (model).

The stress-strain relation for a spring is τ ′ = Ee (2)

∂e
The stress-strain relation for a dashpot is τ ′′ = η (3)
∂t

To obtain the stress-strain relation for the Kelvin element (model), eliminating τ ′ and

τ ′′ from equations (1)-(3).

From (1)

τ = Ee + ηe& (4)

Comparing it with the standard stress-strain relation for a viscoelastic material, we

have

q 0 = e , q1 = η
MAL-643 59
Equation (4) can be re-written as

∂e E τ
+ e= (5)
∂t η η

∂e e τ
Or + = (6)
∂t t * η

η
where t * = = Relaxation time.
E

Equations (4) and (6) are required stress-strain relation for Kelvin Model.

Creep Phase:

Consider the stress cycle

τ (t ) = τ 0 H (t )

 τ , t>0
= 0 (7)
 0 , t<0

From equation (4) and (7), for t > 0

∂e ∂e E τ
τ 0 = Ee + η or + e= 0
∂t ∂t η η

Its integrating factor is given by

1
∫ t * dt t
=e t
*
I.F. = e

So, solution of equation is

τ 0 tt
e(t ) e
t
t*
=∫ e dt + c1
*

MAL-643 60
 τ t
= 0 t *e t + c1
*

τ −t
Or e(t ) = 0 + c1e t
*
(8)
E

η
where E = and c1 is constant of integration.
t∗

To find c1 , we integrate equation (5) w.r.t. time (t) between (− ε , ε )

ε ε ε
∂e
∫ e(t )dt =
E 1
∫ ∂t
dt +
η η ∫ τdt
−ε −ε −ε

ε  10 ε
E 
0
e(ε ) − e(− ε ) +  ∫ 0 + ∫ e(t )dt  =  ∫ 0 + ∫ τ 0 dt 
η  η −ε 0 
−ε 0

But e (− ε ) = 0

Since material is in the natural state, therefore

ε
e(ε ) +
E 1
η ∫ e(t ) dt = η τ
0
0 ε

Since viscoelastic material is a combination of elastic and viscous material. Hence, for

τ = τ 0 for t > 0, there is instant strain e0 for t > 0.

ε
So, ∫ e(t )dt = e0ε
0

Therefore, e(ε ) +
E 1
e0 ε = τ 0ε
η η

Taking ε → 0 , we have e 0 + = 0 ( ) (9)

MAL-643 61
Taking t → 0 + in equation (8), we get

( ) τ
e 0 + = 0 + c1 = 0
E

τ
⇒ c1 = − 0 (Using (9))
E

Using this value in equation (8), we get

τ τ −t * τ  −t * 
e(t ) = 0 − 0 e t = 0 1 − e t  (10)
E E E  

This is the required strain cycle.

MAL-643 62
We observe that under finite load, the model initially deforms slowly. So, for small

value of t, i.e., t → 0, e(t ) = 0 .

For large value of t, i.e., t → ∞ ,

τ
e(t ) = 0 = e∞ , i.e., under finite stress, there is finite strain.
E

This is the behaviour of an elastic solid.

Sine element deform slowly, so Kelvin element has delayed elasticity.

Comparing with the definition of creep compliance

e(t ) = τ 0 J (t )

1  −t * 
So, J (t ) = 1 − e t 
E  


Relaxation Phase

Consider the strain cycle is

e(t ) = e0 H (t )

MAL-643 63
  e , t>0
= 0
 0 , t<0

It is not possible since Kelvin model does not attain finite strain instantaneously.

Suppose at t = t1 > 0

− t1
τ0  
e(t ) = e1 and e1 = 1 − e t*  (Using (10)) (11)
E  


From equation (6), for t > 0 we get

e τ η
0 + 1 = ⇒ τ (t ) = e1 ⇒ τ (t ) = Ee1
* η
t t*
− t1  − t1 
τ  
⇒ τ (t ) = E 0 1 − e t  = τ 0 1 − e t  = finite value
* *

E    


We observe that τ (t ) is independent of t.

The relaxation in Kelvin element is incomplete, since there is a stress forever.

Relaxation Modulus:

∂e
We have τ = Ee + η
∂t

If e(t ) = e0 H (t )

Then

∂
τ = Ee0 H (t ) + η (e0 H (t )) = e0 [EH (t ) + ηδ (t )]
∂t
τ
⇒ = EH (t ) + ηδ (t ) = Y (t )
e0

MAL-643 64
 Chapter 5

Correspondence Principle of linear viscoelasticity and its applications

5.1 Objectives

In this chapter, we shall discuss about Correspondence Principle of linear

viscoelasticity and its applications to the deformation of a viscoelastic thick-walled

tube in plane strain.

5.2 Introduction

In this chapter, some simple stress problems involving a viscoelastic material have

been considered and solved. The general problem is the same for elastic and

viscoelastic structures. In both cases, the three basic sets of equations must be

satisfied: the equilibrium equations, the kinematic relations, and the constitutive

equations of the material. The first two of these are common to elastic and

viscoelastic materials. The only difference between elastic and viscoelastic materials

is in the constitutive equations of the material. For viscoelastic materials, Hooke’s

law is to be replaced by another equation. Thus the solution of viscoelastic problem

can be obtained with the help of corresponding solution of elastic problem. If the

solution of an elastic problem is known, the Laplace transformed solution of the

corresponding viscoelastic problem can be obtained on replacing elastic moduli µ

and K by the corresponding transformed moduli µ and K respectively and the

actual load by their Laplace transform. This is known as Correspondence Principle of

linear viscoelasticity.

MAL-643 87
5.3 Correspondence Principle of linear viscoelasticity

We know that the stress-strain relation for 1-D viscoelastic material is

∂ rτ ∂re
∑ pr ∂t r =∑ qr ∂t r
r r

Or P(τ ) = Q(e )

∂ rτ ∂re
where P = ∑ p r , Q =∑ q r
r ∂t r r ∂t r

Generalization: Consider a stress problem, let a body consisting of volume V

bounded by the surface S.

The basic equations are

1. Equations of Equilibrium: τ ij , j + Fi = 0 (1)

2. Kinematic Relations: eij =

1
(ui , j + u j ,i ) (2)
2

3. Boundary conditions are:

Ti nˆ = τ ijη j = f i on S
(3)
or u i = φ i on S

MAL-643 88
where f i and φ i are prescribed functions.

4. Constitutive equations: For an elastic material τ ij = λδ ij ϑ + 2 µ eij (4)

We define, Deviatoric strain ε ij and Deviatoric stress pij where

1
ε ij = eij − ϑδ ij ( ϑ = eii ) (5)
3

1
pij = τ ij − θδ ij (θ = τ ii ) (6)
3

Using equation (5) and (6) in equation (4), we get

1  1 
pij + θ δ ij = λδ ij ϑ + 2µ ε ij + ϑ δ ij 
3  3 

1  2 
⇒ pij + θ δ ij = λ + µ  δ ij ϑ + 2µ ε ij = Kδ ij ϑ + 2 µ ε ij (7)
3  3 

2
where Κ = λ + µ = Bulk Modulus
3

Taking i = j in equation (4), we have

 2 
τ ij = λδ ij ϑ + 2µ eij = (3λ + 2µ )ϑ = 3  λ + µ  ϑ
 3 

⇒ θ = 3 Kϑ (8)

Using (8) in equation (7), we have

pij +
1
3
( )
3Kϑδ ij = Kδ ijϑ + 2 µε ij

⇒ pij = 2µε ij (9)

MAL-643 89
Equation (1)-(3) and (8)-(9) hold for an elastic material. For a viscoelastic material,

equation (1) holds for a continuous material elastic or viscoelastic.

We write the viscoelastic stress-strain relation for 3-D viscoelastic material:

∂ r p ij ∂ r ε ij
∑ p ′r
r ∂t r
=∑ q ′r
r ∂t r
(10)
∂ rθ ∂ rϑ
and ∑ p ′r′ r =∑ q ′r′ r
r ∂t r ∂t

P ′( pij ) = Q ′(ε ij )
(11)
and P ′′(θ ) = Q ′′(ϑ )

where

m′
∂r n′
∂r
P ′ = ∑ p r′ , Q ′ = ∑ q r′
r =1 ∂t r r =1 ∂t r

m′′
∂r n′′
∂r
and P ′′ = ∑ p r′′ , Q ′′ = ∑ q ′r′
r =1 ∂t r r =1 ∂t r

Remark: Equation (9) and (10a) is for deviatoric changes of an elastic and

viscoelastic material and equation (8) and (10b) is for the dilatational changes of an

elastic and viscoelastic material respectively.

Correspondence Principle:

Consider a continuous material under constant load. For an elastic body, nothing

depends upon time. But for a viscoelastic material, φij , ε ij , θ , ϑ , f i , φi depends upon

time.

We use the method of Laplace transforms.

MAL-643 90
We take L.T. of equations (1), (3) and (11), we obtain

τ ij , j + Fi = 0 in V (12)

τ ijη j = f i on S
(13)
or u i = φi on S

P ′(s ) pij = Q ′(s )ε ij

(14)
and P ′′(s )θ = Q ′′(s )ϑ

where

m′ n′
P ′(s ) = ∑ p ′r s r , Q ′(s ) = ∑ q ′r s r
r =1 r =1
m′′ n′′
(15)
and P ′′(s ) = ∑ p ′r′s r
, Q ′′(s ) = ∑ q r′′s r

r =1 r =1

Assuming that there is no deformation at t=0.

We define Transform shear modulus µ ∗ and Transform bulk modulus K ∗ by the

relation

Q ′(s )
2 µ ∗ (s ) =
P ′(s )
(16)
Q ′′(s )
and 3K (s ) =
∗

P ′′(s )

Then equation (14) becomes

pij = 2 µ ∗ (s )ε ij
(17)
and θ = 3K ∗ (s )ϑ

Equations (12), (13) and (17) hold for a viscoelastic material.

MAL-643 91
On comparing the two sets of equations for an elastic material and viscoelastic

material, we observe that the quantities, pij , ε ij , θ , ϑ , f i , φi are replaced by

pij , ε ij , θ , ϑ , f i , φi and µ and K are replaced by µ ∗ and K ∗ respectively.

Hence, we have the following Correspondence Principle of Linear Viscoelasticity:

“If we know the solution of any problem for an elastic material, then the Transform of

solution of corresponding viscoelastic material can be known by replacing the

quantities pij , ε ij , θ , ϑ , f i , φi by their Laplace transforms and the elastic constants

µ and K are replaced by µ ∗ and K ∗ respectively.”

5.4 Applications of Correspondence Principle

Problem – I: Deformation of long thick walled tube due to internal pressure τ 1 and

external pressure τ 2 .

Problem – II: Deformation of thick walled tube under internal pressure τ 1 and tube

is in contact with a rigid medium.

Problem – I

Consider a long thick walled tube of inner radius ‘a’ and external radius ‘b’ under no

external forces.

Let there be internal pressure τ 1 and internal pressure τ 2 on the tube.

MAL-643 92
Since the tube is ring, it is plane strain problem.

Let the axis of the tube is taken along z-axis. We choose the x1 x2 plane.

Choosing the cylindrical co-ordinate system (r , θ , z ) .

∂
Due to axial symmetry, ≡0
∂θ

Therefore

u r = u r (r ) , uθ = 0 , u z = 0 (1)

Therefore equation of equilibrium gives

(λ + µ )grad divu + µ∇ 2u + F = 0
(λ + 2µ )grad divu − µ curlcurlu = 0
By equation (1) curlcurlu = 0

MAL-643 93
So, equation of equilibrium gives grad div u = 0

d  du u 
⇒  + =0
dr  dr r 

 du u 
Integrating, we have  +  = 2A (A is constant)
 dr r 

 du 
⇒ r + u  = 2 Ar ⇒ ru = Ar 2 + B
 dr 

where B is constant of integration.

B
⇒ u = Ar + (2)
r

Boundary conditions are:

τ rr = −τ 1 , when r = a
(3)
and τ rr = −τ 2 , when r = b

From equation (2), the stresses are given by

τ ij = λδ ijϑ + 2µeij

⇒ τ rr = λ div u + 2 µ err
 du u  ∂u
=λ  +  + 2µ
 dr r  ∂r
 B
= 2λ A + 2 µ  A − 2 
 r 

 B
⇒ τ rr = 2 (λ + µ )A + 2 µ  − 2  (4)
 r 

and τ θθ = λ div u + 2 µ eθθ

MAL-643 94
 B
⇒ τ θθ = 2 (λ + µ ) A + 2µ  2  (5)
r 

and τ zz = σ (τ rr + τ θθ )

τ rθ = 0

From equations (3) and (4), solving for A, B

 B
2 (λ + µ )A + 2 µ  − 2  = −τ 1
 a 
 B
and 2 (λ + µ ) A + 2 µ  − 2  = −τ 2
 b 

We get,

τ 1a 2 − τ 2 b 2 (τ 1 − τ 2 )b 2 a 2
A= B=
2 (λ + µ ) (b 2 − a 2 ) ( )
,
2µ b 2 − a 2

τ 1a 2 − τ 2b 2 (τ 1 − τ 2 )b 2 a 2   2µ  
A= B= Q K =  λ + 
or
 µ 2
2 K +  b − a2 ( )
,
(
2µ b − a 2 2
)   3  
 3

Using in equations (2), (4) and (5), the elastic solution is

τ 1a 2 − τ 2b 2(τ − τ )b 2 a 2 1
⇒u=
 µ 2
2 K +  b − a 2
r+ 1 2
( 2µ b 2 − a 2 r ) ( ) (6)

 3

τ 1a 2 − τ 2b 2 (τ 1 − τ 2 )b 2 a 2
⇒ τ rr = −
(b 2
− a2 ) (b 2
− a2 r 2 )
(7)
τ 1a − τ 2b
2 2
(τ 1 − τ 2 )b
a 2 2
and τ θθ = +
(b 2
−a 2
) (
b − a r2
2 2
)
MAL-643 95
To obtain the viscoelastic solution, we apply the correspondence principle which

states that the quantities τ 1 , τ 2 , u , τ rr , τ θθ must be replaced by their Laplace

transform and the elastic constants µ and K by

Q ′(s ) Q ′′(s )
µ ∗ (s ) = and K ∗ (s ) = .
2 P ′(s ) 3P ′′(s )

We also assume that there is step loading.

Therefore

τ 1 (t ) = τ 1 H (t ) , τ 2 (t ) = τ 2 H (t ) where H(t) is unit step function.

Taking the Laplace transform, we have

τ1 τ2
τ1 = , τ2 = (8)
s s

Also equation (7) is free from elastic constants. Therefore stresses do not change for

the viscoelastic material. Hence, we calculate only u.

From equation (6) and (8), the Laplace transform of viscoelastic solution is

3P′P′′ τ1a 2 − τ 2b 2  P ′  (τ 1 − τ 2 )b 2 a 2  1
⇒ u (s ) = 
(
s (2Q′′P′ + Q′P ′′)  b 2 − a 2  )
r + 
(
Q ′s  b 2 − a 2  r) 

We now choose the specific material to obtain the values of P ′, Q ′, P ′′, Q ′′ . We

consider two cases.

Case I:

We assume that the material is elastic in dilatation and Kelvin behaviour in distortion.

Since material is elastic in dilatation so, θ = 3Kϑ

MAL-643 96
L.T. gives us, θ = 3Kϑ

On comparing with P′′(s )θ = Q′′(s )ϑ , we get

P′′(s ) = 1, Q′′(s ) = 3K

Since material is Kelvin behaviour in distortion τ = q0 e + q1e&

∂
⇒ P ′(t ) = 1 , Q ′(t ) = q 0 + q1
∂t (11)
P ′(s ) = 1 , Q ′(s ) = q 0 + q1 s

Using equations (10) and (11) in equations (9), we get

τ 1a 2 − τ 2b 2   (τ 1 − τ 2 )b 2 a 2  1
u (s ) =
3 1

(
s (q0 + 6 K + q1s )  b 2 − a 2  ) r + 
(
(q0 + q1s )s  b 2 − a 2  r ) 

The solution is in Laplace transform domain.

 1 1 1 1 
Taking Inverse Laplace transform and using  =  −   , we get
 s (s + a ) a  s s + a  

   
 2    (τ − τ )b 2 a 2   1 1
3q1 τ a − τ 2b
2
1 q
u (s ) =
1 1 1 1
( ) ( )
×  1 2   − r + × 1  1 2 2 2  − 
q1 q 0 + 6 K  b − a 2   s q0 + 6 K  q1 q 0  b − a   s s + q 0 r
 s +
 q1  
 q1 


Taking Inverse L.T., we obtain

 q +6K   − 0t
q
τ 1a 2 − τ 2b 2   − 0 t
 1  (τ1 − τ 2 )b 2 a 2   q 1
u (t ) =
3
( ) ( )
q1
 2  1 − e r + q   1 − e 1 
q0 + 6 K  b − a
2
 
2
0  b − a
2
  r
   

(12)

is required displacement for Kelvin model.

MAL-643 97
Case II:

We assume that the material is elastic in dilatation and Maxwell viscoelastic

behaviour in distortion.

Since material is elastic in dilatation so, θ = 3Kϑ

L.T. gives us, θ = 3Kϑ

On comparing with P′′(s )θ = Q′′(s )ϑ , we get

P ′′(s ) = 1 , Q ′′(s ) = 3K (13)

Since material is Maxwell behaviour in distortion, the stress-strain relation is

τ + p1τ& = q1e&

Taking L.T., we obtain

(1 + p1s )τ = q1se (s )

Comparing with P′(s )τ = Q′(s )e , we get

P ′(s ) = (1 + sp1 ), Q ′(s ) = q1 (s ) (14)

We also assume that there is step loading.

Therefore

τ 1 (t ) = τ 1 H (t ) , τ 2 (t ) = τ 2 H (t )

Taking the Laplace transform, we have

τ1 τ2
τ1 = ,τ 2 = (15)
s s

Using in equation (9)

MAL-643 98
 3(1 + p1s ) τ 1a 2 − τ 2b 2  (1 + p1s )  (τ1 − τ 2 )b 2 a 2  1
u (s ) =  2
(
s ((1 + p1s )6 K + q1s )  b − a 2  )  r+ 
(
(q1 )s 2  b 2 − a 2  r ) 

Taking Inverse L.T., we obtain

 6K
t
τ 1a 2 − τ 2 b 2   −
q1 + 6 Kp 1  1  (τ 1 − τ 2 )b 2 a 2 
[t + p1 ]
q1
u (t ) =
1 1
2K

( 2
 b − a 2
)  1 −
  q1 + 6 Kp1

e 

r +  2
q1  b − a ( 2
)
 r

is required solution.

Particular case:

When the outer surface of the tube is free from external pressure.

Take τ 2 = 0

Problem-II

Consider the thick walled tube subjected to the internal pressure and τ 1 outer surface

is n contact with rigid medium. Like last article, we have

u r = u r (r ) , uθ = 0 , u z = 0 (1)

Boundary conditions are:

τ rr = −τ , when r = a
(2)
and u r = u = 0 , when r = b

Therefore equation of equilibrium gives

(λ + µ )grad divu + µ∇ 2u + F = 0
(λ + 2µ )grad divu − µ curlcurlu = 0
By equation (1), curlcurlu = 0

MAL-643 99