Mechanics of Materials (Fourth Edition in Sl Units)

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Fourth Edition in Sl Units

'

MECHANICS OF MATERIAtS

FERDINAND P. BEER Late of Lehigh University

E. RUSSELL JOHNSTON, JR. University of Connecticut

JOHN T. DEWOLF University of Connecticut

R Higher Education Boston Burr Ridge, IL Dubuque, lA Madison, WI New York San Francisco St. Louis Bangkok Bogota Caracas Kuala Lumpur Lisbon London Madrid Mexico City Milan Montreal New Delhi Santiagq Seoul Singapore Sydney Taipei Toronto

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MECHANICS OF MATERIALS Fourth Edition in SI Units

Publication Year: 2006 Exclusive rights by McGraw-Hill Education (Asia), for manufacture and export. This book cannot be re:::xported from the country to which it is sold by McGraw-HilL Published by McGraw-Hill, a business unit of The McGraw-Hill Companies, Inc., 1221 Avenue of the Americas, New York, NY 10020. Copyright© 2006,2001, 1992, 1981 by The McGraw-Hiii Companies, [nc. All rights reserved. No part of this publication may be reproduced or distributed in any form or by any means, or stored in a database or retrieval system, without the prior written permission ofThe McGraw-Hill Companies, Inc., including, but not limited to, in any network or other electronic storage or transmission, or broadcast for distance learning. Some ancillaries, including electronic and print components, may not be available to customers outside the United States.

The credits section for this book begins on page 757 and is considered an extension of the copyright page.

10 09 08 07 06 05 20 09 08 07 IT CTF SLP

When ordering this title, use ISBN 007-U4999-0

Printed in Singapore

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About the Authors As publishers of the books written by Ferd Beer and Russ Johnston, we are often asked how did they happen to write the books together, with one of them at Lehigh and the other at the University of Connecticut. The answer to this question is simple. Russ Johnston's first teaching ·appointment was in the Department of Civil Engineering and Mechanics at Lehigh University. There he met Ferd Beer, who had

joined that department two years earlier and was in charge of the courses in mechanics. Born in France and educated in France and Switzerland (he held an M.S. degree from the Sorbonne and an Sc.D. degree in the field of theoretical mechanics from the University of Geneva), Ferd had come to the United States after serving in the French army during the early part of World War II and had taught for four years at Williams

College in the Williams¥ MIT joint arts and engineering program. Born in Philadelphia, Russ had obtained a B.S. degree in civil engineering from the University of Delaware and an Sc.D. degree in the field of structural engineering from MIT. Ferd was delighted to discover that the young man who had been hired chiefly to teach graduate structural engineering courses was not only willing but eager to help him reorganize the mechanics courses. Both believed that these courses should be taught from a few basic principles and that the various concepts involved would be best understood and remembered by the students if they were presented to them in a graphic way. Together they wrote lecture notes in statics and dynamics, to which they later added problems they felt would appeal to future engineers, and soon they produced the manuscript of the first edition of Mechanics for Engineers. The second edition of Mechanics for Engineers and the first edition of Vector Mechanics for Engineers found Russ Johnston at Worcester Polytechnic Institute and the next editions at the University of Connecticut. In the meantime, both Ferd and Russ had assumed administrative responsibilities in their departments, and both were involved in research, consulting, and supervising graduate students-Ferd in the area of stochastic processes and random vibrations, and Russ in the area of elastic stability and structural analysis and design. However, their interest in improving the teaching of the basic mechanics courses had not subsided, and they both taught sections of these courses as they kept revising their texts and began

v

.ut the Authors

writing together the manuscript of the first edition of Mechanics of Materials. Ferd and Russ's contributions to engineering education earned them a number of honors and awards. They were presented with the West~ em Electric Fund Award for excellence in the instruction of engineer~ ing students by their respective regional sections of the American Society for Engineering Education, and they both received the Distinguished Educator Award from the Mechanics Division of the same society. In 1991 Russ received the Outstanding Civil Engineer Award from the Connecticut Section of the American Society of Civil Engineers, and in 1995 Ferd was awarded an honorary Doctor of Engineer~ ing degree by Lehigh University. John T. DeWolf, Professor of Civil Engineering at the University of Connecticut, joined the Beer and Johnston team as an author on the second edition of Mechanics of Materials. John holds a B.S. degree in civil engineering from the University of Hawaii and M.E. and Ph.D. degrees in structural engineering from Cornell University. His research interests are in the area of elastic stability, bridge monitoring, and structural analysis and design. He is a member of the Connecticut Board of Examiners for Professional Engineers.

Contents Preface

XIII

list of Symbols xix

1 INTRODUCTION-CONCEPT OF STRESS 2 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 1.10 1.11 1.12 1.13

Introduction A Short Review of the Methods of Statics Stresses in the Members of a Structure Analysis and Design Axial Loading; Normal Stress Shearing Stress Bearing Stress in Connections Application to the Analysis and Design of Simple Structures Method of Problem Solution Numerical Accuracy Stress on an Oblique Plane under Axial Loading Stress under General Loading Conditions; Components of Stress Design Considerations

2 2 5 6 7 9 11

24 27

Review and Summary for Chapter 1

38

12 14 15 23

2 STRESS AND STRAIN-AXIAL LOADING

47 2.1 2.2 2.3 '2.4 2.5 2.6

Introduction Normal Strain under Axial Loading Stress-Strain Diagram True Stress and True Strain Hooke's Law; Modulus of Elasticity Elastic versus Plastic Behavior of a Material

47 48

50 55

56 57

vii

mtents

Repeated Loadings; Fatigue Deformations of Members under Axial Loading . &2.9 Statically Indeterminate Problems 2.10 Problems Involving Temperature Changes 2.11 Poisson's Ratio 2. f2·-Multiaxial Loi!djng_; (3er:>erall~e>LJ:iooke's Law *2;13··· Dilatation; Bulk . Modulus 2.14 · Shearli1£rStrai" - · • · 2.15 Further Discussion of Deformations under Axial Loading; Relation among E, v, and G ,_*2~ 16" Stress-Strain Relationships for Fiber-Reinforced Composite Materials 2.17 Stress and Strain Distribution under Axial Loading; Saint-Venant's Principle 2.1.1!. Stress Concentrations 2.19 Plastic Deformations *2.20 Residual Stresses 2.7 2.8

.A

Review and Summary for Chapter 2

59 61 70 74 84 85 87 89 92 95 104 107 109 113 121

3 TORSION

132 3.1 Introduction 3.2 Preliminary Discussion of the Stresses in a Shaft Deformations in a Circular Shaft 3.3 3.4 Stresses in the Elastic Range 3.5 Angle of Twist in the Elastic Range ~1:-,r ,"'(~~ Statically Indeterminate Shafts -~-Y. Desi[ln.otTiansmiSsioii Shafts ______ ·· ·· 3.7 3.8 Stress Concentrations in Circular Shafts *3.9 Plastic Deformations in Circular Shafts *3.10 Circular Shafts Made of an Elastoplastic Material *3.11 Residual Stresses in Circular Shafts *3.12 Torsion of Noncircular Members ·3.13 Thin-Walled Hollow Shafts

Review and Summary for Chapter 3

132 134 136 139 150 153 165 167 172 174 177 186 189 198

4 PURE BENDING

209 4.1 4.2 4.3 4.4

Introduction Symmetric Member in Pure Bending Deformations in a Symmetric Member in Pure Bending Stresses and Deformations in the Elastic Range

209 211 213 216

4.5 4.6 4.7 *4.8

*4.·9 *4.10 *4.11

4.12 4.13 4.14 ·4.15

Deformations in a Transverse Cross Section Bending of Members Made of Several Materials Stress Concentrations Plastic Deformations Members Made of an Elastoplastic Material Plastic Deformations of Members with a S'1ngle Plane of Symmetry Residual Stresses Eccentric Axial Loading in a Plane of Symmetry Unsymmetric Bending General Case of Eccentric Axial Loading Bending of Curved Members

220 230 234 243 246

Review and Summary for Chapter 4

298

250 250 260 270 276 285

5 ANALYSIS AND DESIGN OF BEAMS FOR BENDING

308 5.1

5.2 5.3 5.4 •5.5

•5.6

Introduction Shear and Bending-Moment Diagrams Relations among Load, Shear, and Bending Moment Design of Prismatic Beams for Bending Using Singularity Functions to Determine Shear and Bending Moment in a Beam Nonprismatic Beams

308 311 322 332

Review and Summary for Chapter 5

363

343 354

6

SHEARING STRESSES IN BEAMS AND THIN-WALLED MEMBERS

372 6.1 6.2 6.3 6.4 *6.5

6.6 6.7 *6.8

*6.9

Introduction Shear on the Horizontal Face of a Beam Element Determination of the Shearing Stresses in a Beam Shearing Stresses in Common Types of Beams Further Discussion of the Distribution of Stresses in a Narrow Rectangular Beam Longitudinal Shear on a Beam Element of Arbitrary Shape Shearing Stresses in Thin-Walled Members Plastic Deformations Unsymmetric Loading of Thin-Walled Members; Shear Center

T,

Review and Summary for Chapter 6

372 374 376 377 380 388 390 392 402 414

Contents

ix

1

ents

TRANSFORMATIONS OF STRESS AND STRAIN

423 7.1 7.2 7.3 7.4 7.5 7.6 *7.7 *7.8

7.9 ·7.10 *7.11 *7.12

·7.13

Introduction Transformation of Plane Stress Principal Stresses: Maximum Shearing Stress Mohr's Circle for Plane Stress General State of Stress Application of Mohr's Circle to the Three-Dimensional Analysis of Stress Yield Criteria for Ductile Materials under Plane Stress Fracture Criteria for Brittle Materials under Plane Stress Stresses in Thin-Walled Pressure Vessels Transformation of Plane Strain Mohr's Circle for Plane Strain Three-Dimensional Analysis of Strain Measurements of Strain; Strain Rosette Review and Summary for Chapter 7

423 425 428 436 446 448 451 453 462 470 473 475 478 486

8 PRINCIPAL STRESSES UNDER A GIVEN LOADING

496 *8.1 *8.2

*8.3 *8.4

Introduction Principal Stresses in a Beam Design of Transmission Shafts Stresses under Combined Loadings

496 497 500 508

Review and Summary for Chapter 8

521

9 DEFLECTION OF BEAMS

530 9.1 9.2 9.3 *9.4

9.5 *9.6

9.7

Introduction Deformation of a Beam under Transverse Loading Equation of the Elastic Curve Direct Determination of the Elastic Curve from the Load Distribution Statically Indeterminate Beams Using Singularity Functions to Determine the Slope and Deflection of a Beam Method of Superposition

530 532 533 538 540 549 558

9.8 *9.9 *9.10

*9.11 *9.12 *9.13 *9.14

Application of Superposition to Statically Indeterminate Beams Moment-Area Theorems Application to Cantilever Beams and Beams with Symmetric Loading Bending-Moment Diagrams by Parts Application of Moment-Area Theorems to Beams with Unsymmetric Loadings Maximum Deflection Use of Moment-Area Theorems with Statically Indeterminate Beams Review and Summary for Chapter 9

Contents

560 569 571 573 582 584 586 594

10 COLUMNS

607 10.1 10.2 10.3 10.4 •1o.s 10.6 10.7

Introduction Stability of Structures Euler's Formula for Pin-Ended Columns Extension of Euler's Formula to Columns with Other End Conditions Eccentric Loading; the Secant Formula Design of Columns under a Centric Load Design of Columns under an Eccentric Load Review and Summary for Chapter 10

607 608 610 614 625 636 652 662

11 ENERGY METHODS

670 11.1 11.2 11.3 11.4 11.5 *11.6

11.7 11.8 11.9 11.10 .11.11 .11.12 *11.13

.11.14

Introduction Strain Energy Strain-Energy Density Elastic Strain Energy for Normal Stresses Elastic Strain Energy for Shearing Stresses Strain Energy for a General State of Stress Impact Loading Design for Impact Loads Work and Energy under a Single Load Deflection under a Single Load by the Work-Energy Method Work and Energy under Several Loads Castigliano's Theorem Deflections by Castigliano's Theorem Statically Indeterminate Structures

698 709 711 712 716

Review and Summary for Chapter 11

726

670 670 672 674 677 680 693 695 696

xi

mtents

APPENDICES

735 A B

c D E

Moments of Areas Typical Properties of Selected Materials Used in Engineering Properties of Rolled-Steel Shapes Beam Deflections and Slopes Fundamentals of Engineering Examination

736 746 750

762 763

Photo Credits

757

Index

759

Answers to Problems

768

PREFACE OBJECTIVES

The main objective of a basic mechanics course should be to develop in. the engineering student the ability to analyze a given problem in a simple and logical manner and to apply to its solution a few fundamental and

well"understood principles. This text is designed for the first course in mechanics of materials-or strength of materials-offered to enginee1ing students in the sophomore or junior year. The authors hope that it will help

instmctors achieve this goal in that particular course in the same way that their other texts may have helped them in statics and dynamics. GENERAL APPROACH In this text the study of the mechanics of materials is based on the

understanding of a few basic concepts and on the use of simplified models. This approach makes it possible to develop all the necessary formulas in a rational and logical manner, and to clearly indicate the conditions under which they can be safely applied to the analysis and design of actual engineering structures and machine components. Free-body Diagrams Are Used Extensively. Throughout the text free-body diagrams are used to determine external or internal forces. The use of "picture equations'' will also help the students understand the superposition of loadings and the resulting stresses and deformations. Design Concepts Are Discussed Throughout the Text Whenever Appropriate. A discussion of the application of the factor of safety to design can be found in Chap. 1, where the concepts of both allowable stress design and load and resistance factor design are presented. Optional Sections Offer Advanced or Specialty Topics. Topics such as residual stresses, torsion of noncircular and thin-walled members, bending of curved beams, shearing stresses in non-symmetrical members, and failure criteria, have been included in optional sections for use in courses of varying emphases. To preserve the integrity of the subject, these topics are presented in the proper sequence, wherever they log-

xiii

·eface

ically belong. Thus, even when not covered in the course, they are highly visible and can be easily referred to by the students if needed in a later course or in engineering practice. For convenience all optional sections have been indicated by asterisks. CHAPTER ORGANIZATiON

It is expected that students using this text will have completed a course in statics. However, Chap. 1 is designed to provide them with an opportunity to review the concepts learned in that course, while shear and bending-moment diagrams are covered in detail in Sees. 5.2 and 5.3. The properties of moments and centroids of areas are described in Appendix A; this material can be used to reinforce the discussion of the determination of normal and shearing stresses in beams (Chaps. 4, 5, and 6). The first four chapters of the text are devoted to the analysis of the stresses and of the corresponding deformations in various struc~ tural members, considering successively axial loading, torsion, and pure bending. Each analysis is based on a few basic concepts, namely, the conditions of equil~brium of the forces exerted on the member, the relations existing between stress and strain in the rna~ terial, and the conditions imposed by the supports and loading of the member. The study of each type of loading is complemented by a large number of examples, sample problems, and problems to be assigned, all designed to strengthen the students' understanding of the subject. The concept of stress at a point is introduced in Chap. 1, where it is shown that an axial load can produce shearing stresses as well as normal stresses, depending upon the section considered. The fact that stresses depend upon the orientation of the surface on which they are computed is emphasized again in Chaps. 3 and 4 in the cases of torsion and pure bending. However, the discussion of computational techniques-such as Mohr's circle-used for the trans~ formation of stress at a point is delayed until Chap. 7, after students have had the opportunity to solve problems involving a combina~ tion of the basic loadings and have discovered for themselves the need for such techniques. The discussion in Chap. 2 of the relation between stress and strain in various materials includes fiber-reinforced composite materials. Also, the study of beams under transverse loads is covered in two separate chapters. Chapter 5 is devoted to the determination of the normal stresses in a beam and to the design of beams based on the allowable normal stress in the material used (Sec. 5.4). The chapter begins with a discussion of the shear and bending~moment diagrams (Sees. 5.2 and 5.3) and includes an optional section on the use of singularity functions for the determination of the shear and bending moment in a beam (Sec. 5.5). The chapter ends with an optional section on nonprismatic beams (Sec. 5.6).

Chapter 6 is devoted to the determination of shearing stresses in beams and thin-walled members under transverse loadings. The formula for the shear flow, q = VQ/l, is derived in the traditional way. Mofe advanced aspects of the design of beams, such as the determination of the principal stresses at the junction of the flange and web of a W-beam, are in Chap. 8, an optional chapter that may be covered after the transformations of stresses ~ave been discussed in Chap. 7. The design of transmission shafts is in that chapter for the same reason, as well as the determination of stresses under combined loadings that can now include the determination of the principal stresses, principal planes, and maximum shearing stress at a given point. Statically indeterminate problems are first discussed in Chap. 2 and considered throughout the text for the various loading conditions encountered. Thus, students are presented at an early stage with a method of solution that combines the analysis of deformations with the conventional analySis of forces used in statics. In this way, they will have become thoroughly familiar with this fundamental method by the end of the course. In addition, this approach helps the students realize that stresses themselves are statically indeterminate and can be computed Ol).ly by considering the corresponding distribution of strains. The concept of plastic deformation is introduced in ~hap. 2, where it is applied to the analysis of members under axial loading. Problems involving the plastic deformation of circular shafts and of prismatic beams are also considered in optional sections of Chaps. 3, 4, and 6. While some of this material can be omitted at the choice of the instructor, its inclusion in the body of the text will help students realize the limitations of the assumption of a linear stress-strain relation and serve to caution them against the inappropriate use of the elastic torsion and flexure formulas. The determination of the deflection of beams is discussed in Chap. 9. The first part of the chapter is devoted to the integration method and to the method of superposition, with an optional section (Sec. 9.6) based on the use of singularity functions. (This section should be used only if Sec. 5.5 was covered earlier.) The second part of Chap. 9 is optional. It presents the moment-area method in two lessons. Chapter 10 is devoted to columns and contains material on the design of steel, aluminum, and wood columns. Chapter 11 covers energy methods, including Castigliano's theorem. PEDAGOGICAL FEATURES

Each chapter begins with an introductory section setting the purpose and goals of the chapter and describing in simple terms the material to be covered and its application to the solution of engineering problems. Chapter Lessons. The body of tl1e text has been divided into units, each consisting of one or several theory sections followed by samM ple problems and a large number of problems to be assigned. Each unit

Preface

XV

·eface

corresponds to a well-defined topic and generally can be covered in one lesson. Examples and Sample Problems. The theory sections include many examples designed to illustrate the material being presented and facilitate its understanding. The sample problems are intended to show some of the applications of the theory to the solution of engineering problems. Since they have been set up in much the same form that students will use in solving the assigned problems. the sample problems serve the double purpose of amplifying the text and demonstrating the type of neat and orderly work that students should cultivate in their own solutions. Homework Problem Sets. Most of the problems are of a practical nature and should appeal to engineering students. They are primarily designed, however, to illustrate the material presented in the text and help the students understand the basic principles used in mechanics of materials. The problems have been grouped according to the portions of material they illustrate and have been arranged in order of increasing difficulty. Problems requiring special attention have been indicated by asterisks. Answers to problems are given at the end of the book, except for those with a number set in italics. Chapter Review and Summary. Each chapter ends with a review and summary of the material covered in the chapter. Notes in the margin have been included to help the students organize their review work, and cross references provided to help them find the portions of material requiring their special attention. Review Problems. A set of review problems is included at the end of each chapter. These problems provide students further opportunity to apply the most important concepts introduced in the chapter. Computer Problems. The availability of personal computers makes it possible for engineering students to solve a great number of challenging problems. A group of six or more problems designed to be solved with .a computer can be found at the end of each chapter. Developing the algorithm required to solve a given problem will benefit the students in two different ways: (I) it will help them gain a better understanding of the mechanics principles involved; (2) it will provide them with an opportunity to apply the skills acquired in their computer programming course to the solution of a meaningful engineering problem. Fundamentals o! Engineering Examination. Engineers who seek to be licensed as Professional Engineers must take two exams. The first exam, the Fundamentals of Engineering Examination, includes subject material from Mechanics of Materials. Appendix E lists the topics in Mechanics of Materials that are covered in this exam along with problems that can be solved to review this material.

ACKNOWLEDGMENTS

Preface

The authors thank the many companies that provided photographs for this . edition. We also wish to recognize the determined efforts and patience of our photo researcher Sabina Dowell. · We are pleased to recognize Dellnis Ormand of FineLine Illustrations of Farmingdale, New York for the artful illustrations which contributed so much to the effectiveness of the text. Our special thanks go to Professor Dean Updike, of the Department of Mechanical Engineerillg and Mechanics, Lehigh University for his patience and cooperation as he checked the solutions and answers of all the problems in this edition. We also gratefully acknowledge the help, comments and suggestions offered by the many users of previous editions of Mechanics of

Materials. E. Russell Johnston, Jr. John T. DeWolf

XVi j

list of Symbols P, Pu

a A,B,C, ...

Constant; distance

A,B, C,.

Points

q

f.rea Distance; width Constant; distance; radius Centroid

Q Q

A,CI

b

c

c C1, C2,.

Forces; reactions

E

Constants of integration Column stability factor Distance; diameter; depth Diameter Distance; eccentricity; dilatation Modulus of elasticity

f

Frequency; function

c, d D

e

F l'S. G h

H H,J,K

[, !_,,. f,._.., . 1 k K

L L,

m M M,M.".

Mo M, Mu n p

p

Po

Dead load (LRFD)

s l

Thickness; distance; tangential deviation

'

s T T u,v u

u

Factor of safety

Modulus of rigidity; shear modulus Distance; height Force Points Moment of inertia Product of inertia Polar moment of inertia Spring constant; shape factor; bulk modulus; constant Stress concentration factor; torsional spring constant Length; span Length; span Effective length Mass Couple Bending moment Bending moment, dead load (LRFD) Bending moment, live load (LRFD) Bending moment, ultimate load (LRFD) Number; ratio of moduli of elasticity; normal direction Pressure Force; concentrated load

Ultimate load (LRFD)

Shearing force per unit length; shear flow Force First moment of area Radius; radius of gyration Force; reaction Radius; modulus of rupture Length

R R

Force

Live load (LRFD)

v

v

v

w W,W y, Z

X,

x,y, z

z

"·~·'Y

" 'Y 'Yo 'YL 8

e' A

u p urd-Vfr~m (1.12) into (1.13). and observing from Fig. 1.30c that Ao = A0 cos 8;-.pr Ae = A 0 /cos 8, where A0 denotes the

,I

//

(d)

Fig. 1.30

23

24

Introduction-Concept of Stress

area of a section perpendicular to the axis of the member, we obtain PcosB

cr=

T=

A0/cos 8

P sin f)

A0/cos 8

or p

p . 8 cos f) r = -sm Ao

a= -cos2 8

Ao

(a)

(1.14)

We note from the first of Eqs. (1.14) that the normal stress a is maximum when iJ = 0, i.e., when the plane of the section is perpendi~ cular to the axis of the member, and that i~ _approaGh.~s zero as 8 ap~ preaches 90". We check that the. value of ci when 8 = Q- is /" -' '

Axial loading

p

P!A 0

m

(b) Stresses for 0"' 0

(1.15)

a=-

Ao

as we found earlier in Sec. 1.3. The second of Eqs. (1.14) shows that the shearing stress Tis zero for 8 = 0 and 8 = 90", and that for 8 = 45" it reaches its maximum value T

m

p

p

~

Uo

= -sin 45" cos 45" = -

(1.16)

(c) Stresses for 0"' 45"

r,.,"' P/2A 11

PI2A 0 (d) Stresses for 0 "' -45"

The first of Eqs. (1.14) indicates that, when f)= 45", the normal stress u' is also equal to P/2A 0: p

p

Ao

2Ao

a'= -cos2 45" = -

(1.17)

Fig. 1.31

The results obtained in Eqs. (1.15), (1.16), and (1.17) are shown graphically in Ftg. 1.31. We note that the same loading may produce either a normal stress Um = P/A0 and no shearing stress (Fig. 1.3lb), or a normal and a shearing stress of the same magnitude u' = Tm = P/2A 0 (Fig. 1.31 c and d), depending u'pon the orientation of the section.

1.12. STRESS UNDER GENERAL LOADING CONDITIONS; COMPONENTS OF STRESS

Fig. 1.32

The examples of the previous sections were limited to members under axial loading and connections under transverse loading. Most structural members and machine components are under more involved loading conditions. Consider a body subjected to several loads Pi> P2, etc. (Fig. 1.32). To understand the stress condition created by these loads at some point Q within the body,- we.~~all first pass a section through Q, using a plane parallel to the yz plane. The portion of the body to the left of the section is subjected to some of the original loads, and to normal and shear~ ing forces distributed over the section. We shall denote by LlFx and Ll_!x;respeCtively, the normal and the shearing forces acting on a small

It

1.12. Stress Under General Loading Conditions

(a)

(b)

Fig. 1.33

area b.A surrounding point Q (Fig. 1.33a). Note that the superscript x is used to indicate that the forces IJ.Fx and Ll V' act on a surface per~ pendicular to the x axis. While the normal force LlFx has a well"defined direction, the shearing force A vx may have any direction in the plane of the section. We therefore resolve IJ. yx into two component forces, AV~ and 11 v;, in directions parallel to the y and z axes, respectively (Fig. 1.33 b). Dividing now the magnitude of each force by the area AA, and letting b.A approach zero, we define the three stress components shown in Fig. 1.34: ~-----.

E>" and Ez corresponding, respectively, to each of the above loadings will be different. Because the fibers are parallel to the x axis, the lamina will offer a much stronger resistance to a loading directed along the x axis than to a loading directed along the y or z axis, and Ex will be much larger than either £1' oc~

.

A fiat laminate is obtained by superposing a number of layers or laminas. If the laminate is to be subjected only to an axial load causing tension, the fibers in all layers should have the same orientation as the load in order to obtain the greatest possible strength. But if the lam~ inate may be in compression, the matrix material may not be sufficiently strong to prevent the fibers from kinking or buckling. The lateral stability of the laminate may then be increased by positioning some of the layers so that their fibers will be perpendicular to the load. Positioning some layers so that their fibers are oriented at 300,45°, or 60° to the load may also be used to increase the resistance of the laminate to inplane shear. Fiber~reinforced composite materials will be further discussed in Sec. 2.16, where their behavior under multiaxialloadings will be considered.

2.6. ELASTIC VERSUS PLASTIC BEHAVIOR OF A MATERIAL

If the strains caused in a test specimen by the application of a given load disappear when the load is removed, the material is said to behave elastically. The largest value of the stress for which the material bew haves elastically is called the elastic limit of the material. If the material has a well-defined yield point as in Fig. 2.9a, the elastic limit, the proportional limit (Sec. 25), and the yield point are essentially equaL In other words, the material behaves elastically and

2.6. E!astlc Versus Plastic Behavior

~~

~:,:~~'···•·· ······.,) ,/ ~'t~, ...

Fibers

Fig. 2.17 Layer of fiber.reinforced composite materiaL

57

58

Stress and Strain-Axial Loading

x Rupture B

L---~-------------'

A

D

Fig. 2.18

xRupture

L---!---------------' D

A

Fig. 2.19

linearly as long as the stress is kept below the yield point. If the 'eld point is reached, however, yield takes place as described in S '. 2.3 and, when the load is removed, the stress and strain decrease ·n a linear fashion, along a line CD parallel to the straight-line port' nAB of the loading curve (Fig. 2.18). The fact that e does not retu'rn ,o zero after the load has been removed indicates that a permanent set' or plastic deformation of the material has taken place. For most materials, the plastic deformation depends not only upon the maximum value reached by the stress, but also upon the time elapsed before the load is removed. The stress-dependent part of the plastic deformation is referred to as slip, and the time-dependent part-which is also influenced by the temperature-as creep. When a material does not possess a well-defined yield point, the elastic limit cannot be detennined with precision. However, assuming the elastic limit equal to the yield strength as defined by the offset method (Sec. 2.3) results in only a small error. Indeed, referring to Fig. 2.13, we note that the straight line used to determine point Y also represents the unloading curve after a maximum stress O'y has been reached. While the material does not behave truly elastically, the resulting plastic strain is as small as the selected offset. If, after being loaded and unloaded (Fig. 2.19), the test specimen is loaded again, the new loading curve will closely follow the earlier unloading curve until it almost reaches point C; it will then bend to the right and connect with the curved portion of the original stress-strain diagram. We note that the straight-line portion of the new loading curve is longer than the corresponding portion of the initial one. Thus, the proportional limit and the elastic limit have increased as a result of the strain-hardening that occurred during the earlier loading of the specimen. However, since the point of rupture R remains unchanged, the ductility of the specimen, which should now be measured from point D, has decreased. We have assumed in our discussion that the specimen was loaded twice in the same direction, i.e., that both loads were tensile loads. Let us now consider the case when the second load is applied in a direction opposite to that of the first one. We assume that the material is mild steel, for which the yield strength is the same in tension and in compression. The initial load is tensile and is applied until point C has been reached on the stress-strain diagram (Fig. 2.20). After unloading (point D), a compressive load is applied, causing the material to reach point H, where the stress is equal to -o-y. We note that portion DH of the stress-strain diagram is curved and does not show any clearly defined yield point. This is referred to as the Bauschinger effect. As the compressive load is maintained, the material yields along line HJ.

If the load is removed after point J has been reached, the stress returns to zero along line JK, and we note that the slope of JK is equal to the modulus of elasticity E. The resulting permanent set AK may be positive, negative, or zero, depending upon the lengths of the segments BC and HI. If a tensile load is applied again to the test specimen, the portion of the stressstrain diagram beginning at K (dashed line) will curve up and to the right until the yield stress a y has been reached.

C'

8 c ,.,. f-1'---i'-;,/

I

'---,-"f--ur

J

Fig. 2.20

H

,

If the initial loading is large enough to cause strain-hardening of the material (point C'), unloading takes place along line C'D'. As the reverse lo"ad is applied, the stress becomes compressive, reaching its maximum value at H' and maintaining it as the material yields along line H'f. We note that while the maximum value of the compressive stress is less than (T y, the total change in stress between C' and H' is still equal to 2cr y. If point K or K' coincides with the origin A of the diagram, the permanent set is equal to zero, and the specimen may appear to have returned to its original condition. However, internal changes will have taken place and, while the same loading sequence may be repeated, the specimen will rupture without any warning after relatively few repeti~ tions. This indicates that the excessive plastic deformations to which the specirrien was subjected have caused a radical change in the char~ acteristics of the materiaL Reverse loadings into the plastic range, therefore, are seldom allowed, and only under carefully controlled condi~ tions. Such situations occur in the straightening of damaged material and in the final alignment of a structure or machine.

2.7. REPEATED LOADINGS; FATIGUE

In the preceding sections we have considered the behavior of a test specM imen subjected to an axial loading. We recall that, if the maximum stress in the specimen does not exceed the elastic limit of the material, the specimen returns to its initial condition when the load is removed. You might conclude that a given loading may be repeated many times, provided that the stresses remain in the elastic range. Such a conclusion is correct for loadings repeated a few dozen or even a few hundred times. However, as you will see, it is not correct when loadings are repeated thousands or millions of times. In such cases, rupture will occur at a stress much lower than the static breaking strength; this phenomenon is known as fatigue. A fatigue failure is of a brittle nature, even for rna~ terials that are normally ductile.

2.7. Repeated loadings; Fatigue

59

60

Stress and Strain-Axial Loading

350

280 ?. 0.

6

210

~ 140 ~

A!umi;mm (202 P 2 , and P 3 , we must pass sections through each of the component parts, drawing each time the free-body diagram of the portion of rod located to the right of the section (Fig. 2.23c). Expressing that each of the free bodies is in equilibrium, we obtain successively P, ~ 240 kN ~ 240 X 101 N

180 kN

I 300 mm

L, A3

i

A;E;

Fig. 2.23

A

A

L

c B

p (,)

Fig. 2.24

(b)

The rod BC of Fig. 2.22, which was used to derive formula (2.7), and the rod AD of Fig. 2.23, which has just been discussed in Example 2.01, both had one end attached to a fixed support. In each case, therefore, the deformation a of the rod was equal to the displacement of its free end. When both ends of a rod move, hOwever, the deformation of the rod is measured by the relative displacement of one end of the rod with respect to the other. Consider, for instance, the assembly shown in Fig. 2.24a, which consists of three elastic bars of length L connected by a rigid pin at A. If a load Pis applied at B (Fig. 2.24b), each of the three bars will deform. Since the bars AC and AC' are attached to fixed supports at C and C', their common deformation is mea~ sured by the displacement aA of point A. On the other hand, since both ends of bar AB move, the deformation of AB is measured by the difference between the displacements aA and aB of points A and B, i.e., by the relative displacement of B with respect to A. Denoting this relative displacement by 881A, we write

PL

88/A

= 8s - aA = AE

(2.10)

where A is the cross-sectional area of AB and E is its modulus of elasticity.

62

SAMPLE PROBLEM 2.1 The rigid bar BDE is supported by two links AB and CD. Link AB is made of aluminum (E = 70 GPa) and has a cross-sectional area of 500 mm 2 ; link CD is made of steel (E = 200 GPa) and has a cross-sectional area of 600 mm2• For the 30-kN force shown, determine the deflection (a) of B, (b) of D, (c) of E.

'

SOLUTION

Free Body: Bar BDE

-(30 kN)(0.6 m) + FCD(02 m) = 0 Fco = +90 kN Fco 90 kN tension -(30 kN)(OA m) - FA 8 (02 m) = 0 FAB = -60kN FAn = 60 kN compression

+1'EM8 = 0:

F'.-\IJ = 60 ICN

a. Deflection of B. we have P = -60·kN

A

I L

A= .'500 mm2 E=70GPa

0.3m

PL

i! 8 = - =

AE

Since the internal force in link AB is compressive,

( -60 X 103 N)(03 m)

(500

X

10- 6 m2)(70

X 109 Pa)

=

-514 X 10- 6 m

The negative sign indicates a contraction of member AB, and, thus, an up-

B

ward deflection of end B: F . w = 60 kN

88 = 0.5\4mmt '·~~ 0.9m

7.5kN

L•l>'.i===s::t''==~ Fig. P2.23

2.24 Each of the links AB and CD is made of aluminum (E = 75 GPa) and has a cross-sectional area of 125 mm 2• Knowing th~t they support the rigid member BC, determine the deflection of point £.

1

,---,c~o~·::·ci'ii"':=;~o F l80mm

~d~ l ~ ld'-o::::··;E>· ...

+-)

Bl~

~~,£

260mm

Fig. P2.24

j_ _..;,Au 18 kN

Fig. P2.25

1-240 mm -~

.£,_., 18 kN

2.25 Members ABC and DEF are joined with steel links(£ = 200 GPa). Each of the links is made of a pair of25 X 35-mm plates. Determine the change in length of (a) member BE, (b) member CF.

D

c A o.

Problems

1

~

I" r-:0';1

'1.]_' . ~

··~··:xN?·'

,,,,;,,;,[

B

___±_

/9ll~;m

0.32m---i

0.08m

Fig. P2.26

2.26 The length of the 2~mm-diameter steel wire CD has been adjusted so that with no load applied, a gap of 1.5 mm exists between the end B of the rigid beam ACB and a contact point E. Knowing that E = 200 GPa, determine where a 20-kg block should be placed on the beam in order to cause contact

between B and E. 2.27 Members AB and CD are 30-mm-diameter steel rods, and members BC and AD are 22-mm-diameter steel rods. When the turnbuckle is tight-

ened, the diagonal member AC is put in tension. Knowing that E = 200 GPa, determine the largest allowable tension in AC so that the deformations in members AB and CD do not exceed l.O mm. 2.28 For the structure in Frob. 2.27, determine (a) the distance h so that the deformations in members AB, BC, CD, and AD are equal, (b) the corresponding tension in member A C.

2.29 Determine the deflection of the apex A of a homogeneous paraboloid of revolution of height h, density p, and modulus of elasticity E, due to its own weight

Fig. P2.29

2.30 A homogeneous cable of length Land uniform cross section is suspended from one end. (a) Denoting by p the density (mass per unit volume) of the cable and byE its modulus of elasticity, determine the elongation of the cable due to its own weight. (b) Show that the same elongation would be obtained if the cable were horizontal and if a force equal to half of its weight were applied at each end. 2.31 Denoting byE the "engineering strain" in a tensile specimen, show that the true strain is €1 = l n( 1 + €). 2.32

The volume of a tensile specimen is essentially constant while plas-

tic deformation occurS. If the initial diameter of the specimen is d 1, show that

when the diameter is d, the true strain is

€1 =

2 ln(d1/d).

Fig. P2.27

69

70

Stress and Strain-Axial Loading

2.9. STATICALLY INDETERMINATE PROBLEMS

In the problems considered in the preceding section, we could always use free~body diagrams and equilibrium equations to determine the internal forces produced in the various portions of a member under given loading conditions. The values obtained for the internal forces were then entered into Eq. (2.8) or (2.9) to obtain the deformation of the member. There are many problems, however, in which the internal forces cannot be determined from statics alone. In fad, in most of these problems the reactionS themselves-which are external forces--cannot be determined by simply drawing a free-body diagram of the member and writing the corresponding equilibrium equations. The equilibrium equations must be complemented by relations involving deformations obtained by considering the geometry of the problem. Because statics is not sufficient to determine either the reactions or the internal forces, problems of this type are said to be statically indeterminate. The following examples will show how to handle this type of problem.

A rod of length L, cross-sectional area A 1, and modulus of elasticity E!> has been placed inside a tube of the same length L, but of cross-sectional area A2 and modulus of elasticity E2 (Fig. 2.25a). What is the deformation of the rod and tube when a force P is exerted on a rigid end plate as shown?

Denoting by P 1 and P2, respectively, the axial forces in the rod and in the tube, we draw free-body diagrams of all three elements (Fig. 2.25b, c, d). Only the last of the diagrams yields any significant information, namely: (2.11)

Clearly, one equation is not sufficient to determine the two unknown internal forces P 1 and P 2 • The problem is statically indeterminate. However, the geometry of the problem shows that the deformations 8 1 and 82 of the rod and tube must be equal. Recalling Eq. (2.7), we write (a)

(2.12)

(b)

Equating the deformations 8 1 and 82, we obtain: (2.13)

(c)

Equations (2.11) and (2.13) can be solved simultaneously for P 1 and P 2 :

(d)

Fig. 2.25

Either of Eqs. (2.12) can then be used to determine the common deformation of the rod and tube.

A bar AB of length L and uniform crosS section is attached to rigid supports at A and B before being loaded. What are the stresses in portiotls AC and BC due to the application of a load P at point C (Fig. 2.26a)?

Drawing the free-body diagram of the bar (Fig. 2.26b ), we obtain the equilibrium equation

(2.l4) Since this equation is not sufficient to determine the two unknown. reactions RA and R8, the problem is statically indeterminate. However, the reactions may be determined if we observe :.'"rom the geometry that the total elongation 8 of the bar must be zero. Denoting by 8 1 and 82, respectively, the elongations of the po1tions AC and BC, we write

or, expressing 0 1 and 02 in terms of the corresponding internal forces ? 1 and ? 2: (a)

(b)

(2.l5)

Fig. 2.26

,C

(«)

cl t

~-----~, lbi

::m IE"

But we note from the free-body diagrams shown respectively in parts band c of Fig. 2.27 that P 1 = R11 and P2 = -R8 • Carrying these values into (2.15), we write

(2.l6) Equations (2.14) and (2.16) R11 and R8 ; we obtain R11 desired stresses .)

€x

=~[(I

€_1•

-- E 1 [ (I - v2)u_,. - v( l

- v2)u_,.- v{l + v)o-y]

+ v)o-x]

Fig. P2.73

2.74 In many situations it is known that the normal stress in a given direction is zero, for example, u~ = 0 in the case of the thin plate shown. For this case, which is known as plane stress, show that if the strains Ex and Ey have been determined experimentally, we can express u'", uy, and Ez as follows: cr:,.

Fig. P2.74

101

] :1

102

! Stress and Strain-Axial Loading

2.75 The plastic block shown is bonded to a rigid support and to avertical plate to which a 240-kN load P is applied. Knowing that for the plastic used G = 1050 MPa, determine the deflection of the plate, 2.76 What load P should be applied to the plate of Prob. 2.75 to produce a 1.5-mm deflection? 2. 77 A vibration isolation unit consists of two blocks of hard rubber bonded to a plate AB and to rigid supports as shown. Knowing that a force of magnitude P = 24 kN causes a deflection 8 = 1.5 mm of plate AB, determine the modulus of rigidity of the rubber used.

Dimensions in mm

Fig. P2.75

Fig. P2.77 and P2.78

2.78 A vibration isolation unit consists of two blocks of hard rubber with a modulus of rigidity G = 19 MPa bonded to a plate AB and to rigid supports as shown. Denoting by P the magnitude of the force applied to the plate and by 8 the corresponding deflection, determine the effective spring constant, k = P/0, of the system. 2.79 An elastomeric bearing (G = 0.9 MPa) is used to support a bridge girder as shown to provide flexibility during earthquakes. The beam must not displace more than 10 mm when a 22-kN laterallo.ad is applied as shown. Knowing that the maximum allowable shearing stress is 420 kPa, determine (a) the smallest allowable dimension b, (b) the smallest required thickness a.

Fig. P2.79

)

2.80 For the elastomeric bearing in Pro b. 2. 79 with b = 220 mm and

Problems

a = 30 mm, determine the shearing modulus G and the shear stress r for a maximum lateral load P = 19 kN and a· maximum displacement 8 = 12 mm. 2.81 Two blocks of rubber with a modulus of rigidity G = 12 MPa are bonded to rigid supports and to a plate AB. Knowing that c = 100 mm and P ·= 40 kN, determine the smallest allowable dimensions a and b of the blocks if the shearing stress i:n the rubber is not to exceed 1.4 MPa and the de" flection of the plate is to be at least 5 mm. 2.82 Two blocks of rubber with a modulus of rigidity G = 10 MPa at'e bonded to rigid supports and to a plate AB. Knowing that b = 200 mm and c = 125 mm, determine the largest allowable load P and the smallest a!~ lowable thickness a of the blocks if the shearing stress in the rubber is not to exceed 1.5 MPa and the deflection of the plate is to be at least 6 mm.

Fig. P2.81 and P2.82

*2.83 Determine the change in volume of the 50~mm gage length seg~ ment AB in Prob. 2.62 (a) by computing the dilatation of the material, (b) by subtracting the original volume of portion AB from its final volume.

*2.84 · Determine the dilatation e and the change in volume of the length of the rod shown if (a) the rod is made of steel withE = 200 GPa and v = 0.30, (b) the rod is made of aluminum withE = 73 GPa and v = 0.35. 200~mm

45kN

.

i

/ 25-mm diameter 4!5kN

~·!Wf'>j0t@~ ~-200mm~ Fig. P2.84 Fig. P2.85

*2.85 (a) For the axial loading shown, determine the change in height and the change in volume of the brass cylinder shown. (b) Solve part a, assuming that the loading is hydrostatic with a-~ = a-)'= O"z = -70 MPa.

"2.86 A 150-mm diameter solid steel sphere is lowered into the ocean to a point where the pressure is 50 MPa (about 5 km below the surface). Knowing that E = 200 GPa and v = 0.30, determine (a) the decrease in diameter of the sphere, (b) the decrease in volume of the sphere, (c) the percent increase in the density of the sphere. *2.87 A vibration isolation support consists of a rod A of radius R 1 and a tube B of inner radius R2 bonded to a 80-mm-long hollow rubber cylinder with a modulus of rigidity G = 10.93 MPa. Determine the required value of the ratio R-/R 1 if a lO~kN force P is to cause a 2-mm deflection of rod A. "2.88 A vibration isolation support consists of a rod A of radius R1 = 10 mm and a tube B of inner radius R2 = 25 mm bonded to an 80-mm-long hollow rubber cylinder with a modulus of Jtigidity G = 12 MPa. Determine the largest allowable forc~e- P that may be applied to rod A if its deflection is not to exceed 2.50 mm.

Fig. P2.87 and P2.88

1 03

104

Stress and Strain-Axial loading

E_,"" 50 CPa E!J"" 15.2 cp., Ez"" 15.2GPa

Vxz

= 0.254

Vxy""

0.254

Vzy""' OA28

y

*2.89 The material constants E, G, k, and v are related by Eqs. (2.33) and (2.43). Show that any one of these constants may be expressed in tenns of any other two constants. For example, show that (a) k = GE/(9G - 3E) and (b) v ~ (3k - 2G)/(6k + 2G). *2.90 Show that for any given material, the ratio GIE of the modulus of rigidity,over the modulus of elasticity is always less than~ but more than [Hint: Refer to Eq. (2.43) and to Sec. 2.13.]

t.

*2.91 A composite cube with 40~mm sides and the properties shown is made with glass polymer fibers aligned in the x direction. The cube is constrained against deformations in they and z directions and is subjected to a ten~ sile load of 65 kN in the x direction. Determine (a) the change in the length of the cube in the x direction, (b) the stresses cr., crY' and cr ~· *2.92 The composite cube of Prob. 2.91 is constrained against defor~ mation in the z direction and elongated in the x direction by 0.035 mm due to a tensile load in the x direction. Determine (a) the stresses ux, ay, and az, (b) the change in the dimension in the y direction.

Fig. P2.91

2.17. STRESS AND STRAIN DISTRIBUTION UNDER AXIAL LOADING; SAINT-VENANT'S PRINCIPLE

Fig. 2.58

We have assumed so far that, in an axially loaded member, the normal stresses are uniformly distributed in any section perpendicular to the axis of the member. As we saw in Sec. 1.5, such an assumption may be quite in error in the immediate vicinity of the points of application of the loads. However, the detennination of the actual stresses in a given section of the member requires the solution of a statically indeterminate problem. In Sec. 2.9, you saw that statically indeterminate problems involving the determination of forces can be solved by considering the deformations caused by these forces. It is thus reasonable to conclude that the determination of the stresses in a member requires the analysis or' the strains produced by the stresses in the member. This is essentially the approach found in advanced textbooks, where the mathematical theory of elasticity is used to determine the distribution of stresses corresponding to various modes of application of the loads at the ends of the member. Given the more limited mathematical means at our disposal, our analysis of stresses will be restricted to the particular case when two rigid plates are used to transmit the loads to a member made of a homogeneous isotropic material (Fig. 2.58). If the loads are applied at the center of each plate, t the plates will move toward each other without rotating, causing the member to get shorter, while increasing in width and thickness. It is reasonable to assume that the member will remain straight, that plane sections will retMore precisely, the common line of action of the loads should pass through !he centroid of the cross section (cf. Sec. 1.5).

l I

2.17. Stress and Strain Under Axial loading

p

P' (b)

main plane, and that all elements of the member will deform in the same way, since such an assumption is clearly compatible with the given end conditions. This is illustrated in Fig. 2.59, which shows a rubber model before and after loading.;!: Now, if all elements deform in the same way, the distribution of strains throughout the member must be uniform. In other words, the axial strain Ey and the lateral strain Ex = -ve>. are constant. But, if the stresses do not exceed the proportional limit, Hooke's law applies and we may write uy = Eey, from which it follows that the normal stress a-Y is also constant. Thus, the distribution of stresses is uniform throughout the member and, at any point,

p

On the other hand, if the loads are concentrated, as illustrated in Fig. 2.60, the elements in the immediate vicinity of the points of application of the loads are subjected to very large stresses, while other elements near the ends of the member are unaffected by the loading. This may be verified by observing that strong deformations, and thus large strains and large stresses, occur near the points of application of the loads, while no defonnation takes place at the corners. As we consider elements farther and farther from the ends, however, we note a progressive equalization of the deformations involved, and thus a more nearly unifonn distribution of the strains and stresses across a section of the member. This is further illustrated in Fig. 2.61, which shows the result of the calcUlation by advanced mathematical methods of the tNote that for long, slender members, another configuration is possible, and indeed will prevail, if the load is suffi~iently large; the member buckles and assumes a curved shape. This will be discussed in Chap. 10.

P'

Fig. 2.60

105

106

Stress and Strain-Axial Loading

p

ifmin

""0.9730"ave

ifona.~ "" 1.027crave

= 0.198crave

ifmin = 0.6680"ave

ifmin

if'""'

ifma.x = 2.57SO"~ve

= l.3870',we

P'

Fig. 2.61

distribution of stresses across various sections of a thin rectangular plate subjected to concentrated loads. We note that at a distance b from either end, where b is the width of the plate, the stress distribution is nearly unifonn across the section, and the value of the stress 0'1 at any point of that section can be assumed equal to the average value P/A. Thus, at a distance equal to, or greater than, the width of the member, the distribution of stresses across a given section is the same, whether the member is loaded as shown in Fig. 2.58 or Fig. 2.60. In other words, except in the immediate vicinity of the points of application of the loads, the stress distribution may be assumed independent of the actual mode of application of the loads. This statement, which applies not only to axial loadings, but to practically any type of load, is known as SaintVenant's principle, after the French mathematician and engineer Adhemar Barre de Saint-Venant (1797-1886). While Saint-Venant's principle makes it possible to replace a given loading by a simpler one for the purpose of computing the stresses in a structural member, you should keep in mind two important points when applying this principle: 1. The actual loading and the loading used to compute the stresses must be statically equivalent. 2. Stresses cannot be computed in this manner in the immediate vicinity of the points of application of the loads. Advanced the~ oretical or experimental methods must be used to determine the distribution of stresses in these areas. You should also observe that the plates used to obtain a uniform stress distribution in the member of Fig. 2.59 must allow the member to freely expand laterally. Thus, the plates cannot be rigidly attached to the member; you must assume them to be just in contact with the mem~ ber, and smooth enough not to impede the lateral expansion of the member. While such end conditions can actually be achieved for a member in compression, they cannot be physically realized in the case of a member in tension. It does not matter, however, whether or not an actual fixture can be realized and used to load a member so that the dis~ tribution of stresses in the member is uniform. The important thing is to imagine a model that will allow such a distribution of stresses, and to keep this model in mind so that you may later compare it with the actual loading conditions.

2.18. Stress Concentrations

2.18. STRESS CONCENTRATIONS

As you saw in the preceding section,. the stresses near the points of ap~ plication of concentrated loads can reach values much larger than the average value of the stress in the member. When a structural member

contains a discontinuity; such as a hole or a sudden change in cross sec~ tion, high localized stresses can also occur near the discontinuity. Fig~ ures 2.62 and 2.63 show the distribution of stresses in critical sections corresponding to two such situations. Figure 2.62 Tefers to a flat bar with a circular hole and shows the stress distribution in a section passing through the center of the hole~ Figure 2.63 refers to a flat bar consisting of two portions of different widths connected by fillets; it shows the stress distribution in the narrowest part of the connection, where the highest stresses occur.

P'

...

,---

~-:

P'

()""\'(;''

Fig. 2.62 Stress distribution ~·ear· circular hole in flat bar under axial loading.

Fig. 2.63 Stress distribution near fillets in flat bar under axial loading.

These results were obtained experimentally through the use of a photoelastic method. Fortunately for the engineer who has to design a given member and cannot afford to carry out such an analysis, the results obtained are independent of the size of the member and of the material used; they depend only upon the ratios of the geometric parameters involved, i.e., upon the ratio r/d in the case of a circular hole, and upon the ratios r/d and D/d in the case of fillets. Furthennore, the designer is more interested in the maximum value of the stress in a given section, than in the actual distribution of stresses in that section, since his main concern is to determine whether the allowable stress will be exceeded under a given loading, and not where this value will be exceeded. For this reason, one defines the ratio K

=(}'max

(2.48)

(}'ave

of the maximum stress over the average stress computed in the critical (narrowest) section of the discontinuity. This ratio is referred to as the stress-concentration factor of the given discontinuity. Stress-concentration factors can be comyuted once and for all in terms of the ratios of the geometric parameters involved, and the results obtained can be

107

1 OS

expressed in the fonn of tables or of graphs, as shown in Fig. 2.64. To determine the maximum stress occuning near a discontinuity in a given member subjected to a given axial load P, the designer needs only to compute the average stress a-ave = PIA in the critical section, and multiply the result obtained by the appropriate value of the stress-concentration factor K. You should note, however, that this procedure is valid only as long as u max does not exceed the proportional limit of the material, since the values of K plotted in Fig. 2.64 were obtained by assuming a lin~ ear relation between stress and strain.

stress and Strain-Axial Loading

3.4

!.;,.~~

3. 2

3.0

2. ,I"-

2. 6

"

2. 4 K 2. 2

t- t-

2. 0 l. 8 l. 6 l.4 l. 2 l.0

0.1

0

0.2

0.3

0.4

0.5

0.6

cld

-

o.,

u,~~~-•••mowu••~---Y= 1'/d

(b) Flat bars with fillets

(a) Flat bars with holes

Fig. 2.64 Stress concentration factors for flat bars under axial loadingt Note that the average stress must be computed across the narrowest section: u~w = P/td, where tis the thickness of the bar.

Determine the largest axial load P that can be safely supported by a flat steel bar consisting of two portions, both 10 mm thick and, respectively, 40 and 60 mm wide, connected by fJllets of radius r = 8 mm. Assume an allowable normal stress of 165

MPa. We first compute the ratios

p_ = d

60 rnm = 1. 50 40mm

r

d=

· 8mm

40mm = 0 ·20

Carrying this value into Eq. (2.48). and solving for have

K = 1.82

we

(T max

=

T=L

L

6

G=77Xl09 Pa

2" rad) = 34.9 "" = 2¢ ( "' 360°

9

-(,~l.~02~1~X~1~0~-~m~'~)(~77~X~1~0~~Pa~) (34.9 X 10- 3 rad) 1.5 m

Substituting the given values

L = 1.5 m X

ro-

= !.829

T

X 103 N · m

= !.829 kN · m

3 rad

What angle of twist will create a shearing stress of 70 MPa on the inner surface of the hollow steel shaft of Examples 3.01 and 3.0:2? The method of attack for solving this problem that first comes to mind is to use Eq. (3.10) to find the torque T corresponding to the given value of 7, and Eq. (3.16) to determine the angle of twist tjJ corresponding to the value of T just found. A more direct solution, however, may be used. From Hooke's law, we first compute the shearing strain on the inner surface of the shaft:

6

. = 7min = 70 X l0 Pa = 'Ymtn

77 X 109 Pa

G

909

X 10 _6

Recalling Eq. (3.2), which was obtained by expressing the length of arc AA' in Fig. 3.l4c in tenns of both y and¢, we have c-

~

r8

60mm

c/>c29 ...

mm

~

2.734>c

(2)

a. Torque T0

"" 22mm

Shaft AB. With TAB = T0 and c = 9.5 mm, together with a maximum permissible shearing stress of 55 MPa, we write r

rc"' 60 mm

r8 ,22mm

~

'Tall

r

TABC

-J

To(9.5

55MPa

X

10- 1 m)

~7T (9.5 X 10- 3

T0 = 74.1 N·m

m/

c ~

2.73(2.95°)

~

0.0514 rad= 2.95°

= ¢c;o = ~

8.05°

For end A of shaft AB, we have ¢A =

156

~

4>a + ¢A/B = 8,05" +

2.15°

2.95". Using (2),

SAMPLE PROBLEM 3.5 A steel shaft and an aluminum tube are connected to a fixed support and to a rigid disk as shown in the cross section. Knowing that the initial stresses are zero, determine the maximum torque T 0 that can be applied to the disk if the allowable stresses are 120 MPa in the steel shaft and 70 MPa in the aluminum tube. Use G = 77 GPa for steel and G = 27 GPa for aluminum.

SOLUTION Statics. Free Body of Disk. Denoting by T 1 the torque exerted by the tube on the disk and by T 2 the torque exerted by the shaft, we find (!)

Deformations. Since both the tube and the shaft are connected to the rigid disk, we have

T1L1

T20.

J1G1

T 1 (0.5 m)

lzG2 T2 (0.5 m)

(2.003 X 10- 6 m4)(27 GPa)

(0.614 X 10- 6 m')(77 GPa)

"'' = ¢,: 0.5 m

T,

r::=

(2)

~~:

I II

'T ~lum ::5

Shearing Stresses. We assume that the requirement

38mm ··"· ·;:·, 30mm .

70 MPa is

critical. For the aluminum tube, we have ralumll

(70 MPa)(2.003 X 10- 6 m4)

c1

0.038 m

T1 = - - = Aluminum G 1 = 27GPa h"" }[(38 l'J'illl) 4 - (30 mm)4] = 2.oo.1 x w- 6 m4

3690N·m

Using Eq. (2), we compute the corresponding value T2 and then find the imum shearing stress in the steel shaft

max~

T, = 0.874T1 = 0.874(3690) = 3225 N · m T2 c, (3225 N · m)(0.025 m) Tsted

=~=

0. 614 X lO

G m4

=

131.,3 MPa

We note that the allowable steel stress of 120 MPa is exceeded; our assumption was wrong. Thus the maximum torque T 0 will be obtained by making 'T~ 1ec! = 120 MPa. We first determine the torque T 2. T2

Tsteell2

= -- = c2

(120 MPa)(0.614 X 10- 6 m4) 0.025 m

2950 N · m

From Eg. (2), we have G1 = 77 CPa ]J = i((25mm) 4 = 0.614 X l0- 6m4

2950 N · m = 0.874T1

T1

= 3375 N · m

Using Eq. (1), we obtain the maximum permissible torque

T0 = T1 + T2 = 3375 N · m + 2950 N · m T0

= 6325 kN

· m - is large enough to cause a plastic deformation, the radius Prof the

p

Fig. 3.38

,,.

p

175

176

elastic core is obtained by making y equal to the yield strain Yr in Eq. (3.2) and solving for the corresponding·value Prof the distance p. We have Lyy py=(3.34)

Torsion

4>

Let us denote by r the angle of twist at the onset of yield, i.e., when Pr = c. Making 4> = 4>r and py = c in Eq. (3.34), we have Lyy

c=-

4>r

(3.35)

Dividing (3.34) by (3.35), member by member, we obtain the following relation:t (3.36) If we carry into Eq. (3.32) the expression obtained for py/c, we express the torque T as a function of the angle of twist ¢,

T=~Tr(l-±::) T

2¢r

Fig. 3.39

3¢r

¢

(3.37)

where Ty and ¢r represent, respectively, the torque and the angle of twist at the onset of yield. Note that Eq. (3.37) may be used only for values of larger than r/Jy. For

y, T is within about 3% of TP, and for 4> = 3r within about 1%. Since the plot ofT against that we have obtained for an idealized elastoplastiC material (Fig. 3.39) differs greatly from the shearing-stressstrain diagram of that material (Fig. 3.37), it is clear that the shearingstress-strain diagram of an actual material cannot be obtained directly from a torsion test canied out on a solid circular rod made of that material. However, a fairly accurate diagram may be obtained from a tor~ sion test if the specimen used incorporates a portion consisting of a thin circular tube.* Indeed, we may assume that the shearing stress will have a constant valuer in that portion. Equation (3.1) thus reduces to

1' =pAT where p denotes the average radius of the tube and A its cross-sectional area. The shearing stress is thus proportional to the torque, and sucM cessive values of r can be easily computed from the corresponding values ofT. On the other hand, the values of the shearing strain y may be obtained from Eq. (3.2) and from the values of¢ and L measured on the tubular portion of the specimen. tEquation (3.36) applies to any ductile material with a well-defined yield point, since its derivation is independent of the shape of the stresNtrain diagram beyond the yield point. fin order to minimize the possibility of failure by buckling, the specimen should be made so that the length of the tubular portion is no longer than its diameter.

A solid circular shaft, 1.2 m long and 50 mm in diameter, is subjected to a 4.60.kN · m torque at each end (Fig. 3AO). Assuming the shaft to be made of an elastoplastic material with a yield -strength in shear of 150 MPa and a modulus of rigidity of 77 GPa, determine (a) the radius of the elastic core, (b) the angle of twist of the shaft

Solving Eq. (3.32) for (py/c) 3 and substituting the values ofT and T y, we- have

= 4(!!!:)3 c

3T = 4 - 3(4.60 kN. m)

!!!: = 0.630 c

py

(b) Angle of Twist. twist

0.250

3.68 kN · m

Tr

= 0.630(25 mm) = 15.8 mm We first determine the angle of

'

(b) Residual Stresses.

Tc

and the value J = 614 X 10- 9 m4 obtained in the soiution of Example 3.08, we have

'

~

JG

~

(4.60 X 103 N · m)(1.2 m) (614 X 10· 9 m4 )(77 X 109 Pa)

or 360° w·' rad)d 2'TTra

r(Mh)

We recall from Example 3.08

~

(4.60 x !03 N · m)(25 x

614 x 10

1 187.3 MPa

9

w·' m)

m4

Superposing the two distributions of stresses, we obtain the residual stresses shown in Fig. 3.44c. We check that, even though the reverse stresses exceed the yield strength T y, the assumption of a linear distribution of these stresses is valid, since they do not exceed 2-r Y·

= 116.8 X 10-~ rad

¢>' = (1!6.8 x

8.50° - 6.69° ~ 1.81°

that the yield strength is 7r = 150 MPa and that the radius of the elastic· core corresponding to the given torque is py = 15.8 mm. The distribution of the stresses in the loaded shaft is thus as shown in Fig. 3.44a. The distribution of stresses due to the opposite 4.60 kN • m torque required to unload the shaft is linear and as shown in Fig. 3.44b. The maximum stress in the distribu~ tion of the reverse stresses is obtained from Eq. (3.9); 7 ~nx=-=

TL

~

~ 6.69°

I

r(MPa)

7(MPa)

150 ~---·

+

p

p

~-~--

:

-:

15.8 mm

-118.4

25 mm

-187.3 ------(o)

(b)

kl

Fig. 3.44

179

SAMPLE PROBLEM 3.7 Shaft AB is made of a mild steel which is assumed to be elastop!astic with G = 77 GPa and Ty = 145 MPa. A torque Tis applied and gradually increased in magnitude. Determine the magnitude ofT and the corresponding angle of twist (a) when yield first occurs, (b) when the deformation has become fully plastic.

SOLUTION r(MPa)

Geometric Properties

The geometric properties of the cross section are c 1 = !(38 mm} = 19 mm J = &1r(c~ c1) = !7T[(29 mm) 4 a.

Onset of Yield. For

rr""" 14.'5 MPa

,

r,

Tr = 4.S:3kN · m

r,J

Tmax

=

Ty

-

=

c2 = t(58 mm) = 29 mm (19 mm) 4 ] = 906.3 X 103 mm 3 145 MPa, we find

(145 MPa)(9063 X !03 mm 3 ) 29 mm

~- ~ ~-~'-'::-:;,-----'

c2

Ty = 4.53 k.N · m = ...!!::._ 3

(3.44)

c2ab G

The coefficients Ct and c2 depend only upon the ratio a/band are given in Table 3.1 for a number of values of that ratio. Note that Eqs. (3.43) and (3.44) are valid only within the elastic range. TABLE 3.1.

Coefficients for

Rectangular Bars in Torsion

alb

c,

c,

1.0 1.2 1.5 2.0 2.5 3.0 4.0 5.0 10.0

0.208 0.219 0.231 0.246 0.258 0.267 0.282 0.291 0.312 0.333

0.1406 0.1661 0.1958 0.229 0.249 0.263 0.281 0.291 0.312 0.333

00

We note from Table 3.1 that for a/b 2:! 5, the coefficients c 1 and c2 are equal. It may be shown that for such values of a/b, we have

c 1 = c2

= t(l -

0.630b/a)

(for alb "' 5 only)

(3.45)

The distribution-of shearing stresses in a noncircular member may be visualized more easily by using the membrane analogy. A homoge-

neous elastic membrane attached to a fixed frame and subjected to a unifonn pressure on Ol)e of its sides happens to constitute an analog of the bar in torsion, i.e., the determination of the deformation of the membrane

3.12. Torsion of Noncircular Members

187

188

Torsion

Tangent of m,.,.

Horizontal

Fig. 3.49

depends upon the solution of the same partial differential equation as the detennination of the shearing stresses in the bar. t .More specifically, if Q is a point of the cross section of the bar and Q' the corresponding point of the membrane (Fig. 3.49), the shearing stress T at Q will have the same direction as the horizontal tangent to the membrane at Q', and its magnitude will be proportional to the maximum slope of the membrane at Q' .:j: Furthennore, the applied torque will be proportional to the volume between the membrane and the plane of the fixed frame. In the case of the membrane of Fig. 3.49, which is attached to a rectangular frame, the steepest slope occurs at the midpoint N' of the larger side of the frame. Thus, we verify that the maximum shearing stress in a bar of rectangular cross section will occur at the midpoint N of the larger side of that section. The membrane analogy may be used just as effectively to visualize the shearing stresses in any straight bar of uniform, noncircular cross section. In particular, let us consider several thin-walled members with the cross sections shown in Fig. 3.50, which are subjected to the same torque. Using the membrane analogy to help us visualize the shearing stresses, we note that, since the same torque is applied to each member, the same volume will be located under each membrane, and the maximum slope will be about the same in each case. Thus, for a thinwalled member of uniform thiCkness and arbitrary shape, the maximum shearing stress is the same as for a rectangular bar with a very large value of a/band may be detennined from Eq. (3.43) with c 1 = 0.333.§

-l

L Fig. 3.50

tSee ibid. sec. 107. :j:This is the slope measured in a direction perpendicular to the horizontal tangent at Q'. §It could also be shown that the angle of twist may be detennined from Eq. (3.44) with c1 = 0.333.

3.13. Thln~wa!led Hollow Shafts

'3.13. THIN-WALLED HOLLOW SHAFTS

In the preceding section we saw that the determination of stresses in noncirc\]lar members generally requires the use of advanced mathe-

matical methods. Iri th