Advanced Mechanics of Materials

Analysis of Stress II

Judy P. Yang (楊子儀)

Sept. 21, 2023

Department of Civil Engineering

National Yang Ming Chiao Tung University
 Outline
• 3D Stress Transformation
• Principal Stresses in Three Dimensions
• Normal and Shear Stresses on Oblique Planes
• Mohr’s Circle in Three Dimensions

2
 Example
• Apply Mohr’s circle to determine the equivalent state of stress if
an element is rotated 30∘ clockwise from the below element
Rotating 60∘ clockwise in Mohr’s circle from
𝑃𝑃 to 𝑃𝑃𝑃, locate pt 𝑃𝑃𝑃
−1  4 
=α tan=   28.07


 6 + 1.5 
β = 60 − α = 31.93

• Solution
σx =
−6ksi,τ xy =
4ksi, σ y =
9ksi
reference pt P ( −6, 4 )
σx +σ y 
center C  , 0  = (1.5, 0 )
2
  P ' (σ x ' , τ x ' y ' )
x
30 

2
 σ x −σ y  σ x' =
1.5 − R cos β = − 5.71ksi
 + τ xy 8.50
2
=R  =
 2  τ x' y' =
− R sin β = − 4.50ksi
at pt Q: σ y ' =
1.5 + R cos β =
8.71ksi 3
 Example 1.4 Stress in a Frame
• Apply Mohr’s circle to determine the normal and shear stresses
acting on a plane defined by 𝜃𝜃 = 30∘ for a stress element of a
loaded frame shown below

• Solution
σ x = 28MPa, σ y = −14 MPa,τ xy = 0
reference pt A1 ( 28, 0 )
A ' (σ x ' , τ x ' y ' )
σx +σ y 
center C  , 0  = ( 7, 0 )
 2  σ x '= 7 + R cos 60 =17.5MPa
2 τ x' y' =
− R sin 60 =
−18.19 MPa
 σ x −σ y 
 + τ xy 21
2
=R  = at pt B ': σ y ' =
7 − R cos 60 =
−3.5MPa
 2 
4
 3D Stress Transformation
Consider an infinitesimal tetrahedron 𝑄𝑄𝐴𝐴𝐴𝐴𝐴𝐴 isolated from a
continuous medium subjected to a stress resultant 𝒑𝒑 acting on an
oblique plane 𝐴𝐴𝐴𝐴𝐴𝐴
• Orientation of plane 𝐴𝐴𝐴𝐴𝐴𝐴
– Defined by angles btw a unit normal
𝒏𝒏 to the plane & 𝑥𝑥, 𝑦𝑦, 𝑧𝑧 axes

– Direction cosines
• cos 𝛼𝛼 = cos 𝒏𝒏, 𝑥𝑥 = 𝑙𝑙
• Goal • cos 𝛽𝛽 = cos 𝒏𝒏, 𝑦𝑦 = 𝑚𝑚
– Relate stresses on perpendicular • cos 𝛾𝛾 = cos 𝒏𝒏, 𝑧𝑧 = 𝑛𝑛
planes (QAB, QBC, QAC)
intersecting at the origin to the • 𝑙𝑙 2 + 𝑚𝑚2 + 𝑛𝑛2 = 1
normal and shear stresses on – 𝒏𝒏 = 𝑙𝑙𝒊𝒊 + 𝑚𝑚𝒋𝒋 + 𝑛𝑛𝒌𝒌
oblique plane 𝐴𝐴𝐴𝐴𝐴𝐴 – 𝑨𝑨 = 𝐴𝐴𝒏𝒏 = 𝐴𝐴 𝑙𝑙𝒊𝒊 + 𝑚𝑚𝒋𝒋 + 𝑛𝑛𝒌𝒌
 3D Stress Transformation
• Area of perpendicular planes
𝐴𝐴𝑄𝑄𝑄𝑄𝑄𝑄 = 𝑨𝑨 � 𝒊𝒊 = 𝐴𝐴 𝑙𝑙𝒊𝒊 + 𝑚𝑚𝒋𝒋 + 𝑛𝑛𝒌𝒌 � 𝒊𝒊 = 𝐴𝐴𝐴𝐴
𝐴𝐴𝑄𝑄𝑄𝑄𝐶𝐶 = 𝐴𝐴𝐴𝐴
𝐴𝐴𝑄𝑄𝐵𝐵𝐶𝐶 = 𝐴𝐴𝐴𝐴
• Force equilibrium in 𝑥𝑥, 𝑦𝑦, 𝑧𝑧 directions
pA = σ x AQAB + σ y AQAC + σ z AQBC
⇒ p = σ xl + σ y m + σ z n
= (σ x i + τ xy j + τ xz k ) l + (τ xy i + σ y j + τ yz k ) m + (τ xz i + τ yz j + σ z k ) n
= px i + p y j + pz k
𝑝𝑝𝑥𝑥 = 𝜎𝜎𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑛𝑛
𝑝𝑝𝑦𝑦 = 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜎𝜎𝑦𝑦 𝑚𝑚 + 𝜏𝜏𝑦𝑦𝑧𝑧 𝑛𝑛 1
𝑝𝑝𝑧𝑧 = 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚 + 𝜎𝜎𝑧𝑧 𝑛𝑛
– In the limit as the tetrahedron shrink to a point 𝑄𝑄, the stress
resultant 𝒑𝒑 at a point is specified 6
 3D Stress Transformation
• Stress 𝝉𝝉′ on 𝐴𝐴𝐴𝐴𝐴𝐴
– For a Cartesian coordinate system 𝑥𝑥𝑥𝑥𝑥𝑥𝑥𝑥𝑥, assume 𝑥𝑥𝑥 coincides with 𝒏𝒏
• Two 𝑥𝑥𝑥𝑥𝑥𝑥 systems are related by direction cosines
– 𝑙𝑙1 = cos 𝑥𝑥𝑥, 𝑥𝑥 , 𝑚𝑚1 = cos 𝑥𝑥𝑥, 𝑦𝑦 , 𝑛𝑛 1 = cos 𝑥𝑥𝑥, 𝑧𝑧
• Substitute 𝑙𝑙1 , 𝑚𝑚1 , 𝑛𝑛 1 into 𝑙𝑙, 𝑚𝑚, 𝑛𝑛 in 1 ⇒ 1 ∗
– Project 𝑝𝑝𝑥𝑥 , 𝑝𝑝𝑦𝑦 , and 𝑝𝑝𝑧𝑧 in 𝑥𝑥𝑥 direction
𝜎𝜎𝑥𝑥𝑥 = 𝑝𝑝𝑥𝑥 𝑙𝑙1 + 𝑝𝑝𝑦𝑦 𝑚𝑚1 + 𝑝𝑝𝑧𝑧 𝑛𝑛1 2
From 1 ∗ & 2 ,
2 2 2
𝜎𝜎𝑥𝑥𝑥 = 𝜎𝜎𝑥𝑥 𝑙𝑙1 + 𝜎𝜎𝑦𝑦 𝑚𝑚1 + 𝜎𝜎𝑧𝑧 𝑛𝑛1 + 2 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙1 𝑚𝑚1 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚1 𝑛𝑛1 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙1 𝑛𝑛1 3
– Project 𝑝𝑝𝑥𝑥 , 𝑝𝑝𝑦𝑦 , and 𝑝𝑝𝑧𝑧 in 𝑦𝑦𝑦 and 𝑧𝑧𝑧 directions
𝜏𝜏𝑥𝑥′𝑦𝑦′ = 𝜎𝜎𝑥𝑥 𝑙𝑙1 𝑙𝑙2 + 𝜎𝜎𝑦𝑦 𝑚𝑚1 𝑚𝑚2 + 𝜎𝜎𝑧𝑧 𝑛𝑛1 𝑛𝑛2 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙1 𝑚𝑚2 + 𝑚𝑚1 𝑙𝑙2
+𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚1 𝑛𝑛2 + 𝑛𝑛1 𝑚𝑚2 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑛𝑛1 𝑙𝑙2 + 𝑙𝑙1 𝑛𝑛2 4
𝜏𝜏𝑥𝑥′𝑧𝑧′ = 𝜎𝜎𝑥𝑥 𝑙𝑙1 𝑙𝑙3 + 𝜎𝜎𝑦𝑦 𝑚𝑚1 𝑚𝑚3 + 𝜎𝜎𝑧𝑧 𝑛𝑛1 𝑛𝑛3 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙1 𝑚𝑚3 + 𝑚𝑚1 𝑙𝑙3
+𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚1 𝑛𝑛3 + 𝑛𝑛1 𝑚𝑚3 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑛𝑛1 𝑙𝑙3 + 𝑙𝑙1 𝑛𝑛3 5
7
 3D Stress Transformation
• Stress 𝝉𝝉′ on 𝐴𝐴𝐴𝐴𝐴𝐴
– Similarly, let 𝒏𝒏 coincide with 𝑦𝑦𝑦 and 𝑧𝑧𝑧 directions

– Project 𝑝𝑝𝑥𝑥 , 𝑝𝑝𝑦𝑦 , 𝑝𝑝𝑧𝑧 in 𝑥𝑥𝑥, 𝑦𝑦𝑦, 𝑧𝑧𝑧 direction

2 2 2
𝜎𝜎𝑦𝑦𝑦 = 𝜎𝜎𝑥𝑥 𝑙𝑙2 + 𝜎𝜎𝑦𝑦 𝑚𝑚2 + 𝜎𝜎𝑧𝑧 𝑛𝑛2 + 2 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙2 𝑚𝑚2 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚2 𝑛𝑛2 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙2 𝑛𝑛2 6
2 2 2
𝜎𝜎𝑧𝑧𝑧 = 𝜎𝜎𝑥𝑥 𝑙𝑙3 + 𝜎𝜎𝑦𝑦 𝑚𝑚3 + 𝜎𝜎𝑧𝑧 𝑛𝑛3 + 2 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙3 𝑚𝑚3 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚3 𝑛𝑛3 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙3 𝑛𝑛3 7
𝜏𝜏𝑦𝑦𝑦𝑦𝑦𝑦
= 𝜎𝜎𝑥𝑥 𝑙𝑙2 𝑙𝑙3 + 𝜎𝜎𝑦𝑦 𝑚𝑚2 𝑚𝑚3 + 𝜎𝜎𝑧𝑧 𝑛𝑛2 𝑛𝑛3 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑚𝑚2 𝑙𝑙3 + 𝑙𝑙2 𝑚𝑚3 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑛𝑛2 𝑚𝑚3 + 𝑚𝑚2 𝑛𝑛3
+ 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙2 𝑛𝑛3 + 𝑛𝑛2 𝑙𝑙3 8
– 3 - 8 define the 3D state of stress

8
 3D Stress Transformation
• Stress
– Tensor of second rank
– Stress transformation
– 𝜏𝜏′𝑟𝑟𝑟𝑟 = 𝑙𝑙𝑟𝑟𝑟𝑟 𝑙𝑙𝑠𝑠𝑠𝑠 𝜏𝜏𝑖𝑖𝑖𝑖 = 𝑙𝑙𝑟𝑟𝑟𝑟 𝜏𝜏𝑖𝑖𝑖𝑖 𝑙𝑙𝑗𝑗𝑗𝑗 𝑇𝑇 ⇒ 𝝉𝝉′ = 𝑵𝑵𝝉𝝉𝑵𝑵𝑇𝑇
e.g. 𝜏𝜏′𝑟𝑟𝑟𝑟 = 𝑙𝑙𝑟𝑟𝑥𝑥 𝑙𝑙𝑠𝑠𝑥𝑥 𝜏𝜏𝑥𝑥𝑥𝑥 + 𝑙𝑙𝑟𝑟𝑥𝑥 𝑙𝑙𝑠𝑠𝑠𝑠 𝜏𝜏𝑥𝑥𝑥𝑥 + 𝑙𝑙𝑟𝑟𝑥𝑥 𝑙𝑙𝑠𝑠𝑧𝑧 𝜏𝜏𝑥𝑥𝑥𝑥 +
𝑙𝑙𝑟𝑟𝑦𝑦 𝑙𝑙𝑠𝑠𝑥𝑥 𝜏𝜏𝑦𝑦𝑦𝑦 + 𝑙𝑙𝑟𝑟𝑦𝑦 𝑙𝑙𝑠𝑠𝑦𝑦 𝜏𝜏𝑦𝑦𝑦𝑦 + 𝑙𝑙𝑟𝑟𝑦𝑦 𝑙𝑙𝑠𝑠𝑧𝑧 𝜏𝜏𝑦𝑦𝑦𝑦 +
𝑙𝑙𝑟𝑟𝑧𝑧 𝑙𝑙𝑠𝑠𝑥𝑥 𝜏𝜏𝑧𝑧𝑧𝑧 + 𝑙𝑙𝑟𝑟𝑧𝑧 𝑙𝑙𝑠𝑠𝑦𝑦 𝜏𝜏𝑧𝑧𝑧𝑧 + 𝑙𝑙𝑟𝑟𝑧𝑧 𝑙𝑙𝑠𝑠𝑧𝑧 𝜏𝜏𝑧𝑧𝑧𝑧
– As 𝑥𝑥𝑥, 𝑦𝑦𝑦, 𝑧𝑧𝑧 are orthogonal, direction cosines satisfy the below
trigonometric relations:
2 2 2
𝑙𝑙𝑖𝑖 + 𝑚𝑚𝑖𝑖 + 𝑛𝑛𝑖𝑖 = 1 𝑖𝑖 = 1~3
𝑙𝑙1 𝑙𝑙2 + 𝑚𝑚1 𝑚𝑚2 + 𝑛𝑛1 𝑛𝑛2 = 0
𝑙𝑙2 𝑙𝑙3 + 𝑚𝑚2 𝑚𝑚3 + 𝑛𝑛2 𝑛𝑛3 = 0
𝑙𝑙1 𝑙𝑙3 + 𝑚𝑚1 𝑚𝑚3 + 𝑛𝑛1 𝑛𝑛3 = 0
9
 3D Principal Stresses
• 3D principal stresses
– For normal stresses having extreme values on mutually
perpendicular planes with zero shear stresses, i.e. 𝜎𝜎1 > 𝜎𝜎2 > 𝜎𝜎3
– For normal stress acting on an oblique 𝑥𝑥𝑥 plane
𝜎𝜎𝑥𝑥𝑥 = 𝜎𝜎𝑥𝑥 𝑙𝑙 2 + 𝜎𝜎𝑦𝑦 𝑚𝑚2 + 𝜎𝜎𝑧𝑧 𝑛𝑛2 + 2 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙𝑙𝑙 3
– Extreme or stationary values of 𝜎𝜎𝑥𝑥𝑥
𝜕𝜕𝜎𝜎𝑥𝑥𝑥 𝜕𝜕𝑛𝑛
= 𝑝𝑝𝑥𝑥 + 𝑝𝑝𝑧𝑧 = 0
𝜕𝜕𝑙𝑙 𝜕𝜕𝜕𝜕
𝜕𝜕𝜎𝜎𝑥𝑥𝑥 𝜕𝜕𝜕𝜕
= 𝑝𝑝𝑦𝑦 + 𝑝𝑝𝑧𝑧 =0
𝜕𝜕𝑚𝑚 𝜕𝜕𝑚𝑚
𝜕𝜕𝜕𝜕 𝑙𝑙 𝜕𝜕𝜕𝜕 𝑚𝑚
𝑛𝑛2 = 1 − 𝑙𝑙 2 − 𝑚𝑚2 ⇒ =− , =−
𝜕𝜕𝜕𝜕 𝑛𝑛 𝜕𝜕𝜕𝜕 𝑛𝑛
𝑝𝑝𝑥𝑥 𝑝𝑝𝑦𝑦 𝑝𝑝𝑧𝑧
∴ = =
𝑙𝑙 𝑚𝑚 𝑛𝑛
– The proportionality indicates the stress resultant must be parallel to
unit normal 𝒏𝒏 and thus there is no shear
∴ 𝑝𝑝𝑥𝑥 = 𝜎𝜎𝑝𝑝 𝑙𝑙, 𝑝𝑝𝑦𝑦 = 𝜎𝜎𝑝𝑝 𝑚𝑚, 𝑝𝑝𝑧𝑧 = 𝜎𝜎𝑝𝑝 𝑛𝑛 (9)
10
 3D Principal Stresses
• Recall
𝑝𝑝𝑥𝑥 = 𝜎𝜎𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑛𝑛
𝑝𝑝𝑦𝑦 = 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜎𝜎𝑦𝑦 𝑚𝑚 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑛𝑛 1
𝑝𝑝𝑧𝑧 = 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚 + 𝜎𝜎𝑧𝑧 𝑛𝑛
– (9) ⇒ 1 : 3 principal stresses (𝜎𝜎𝑝𝑝 ) & principal planes exist such that
𝜎𝜎𝑥𝑥 − 𝜎𝜎𝑝𝑝 𝑙𝑙 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑛𝑛 =0
𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜎𝜎𝑦𝑦 − 𝜎𝜎𝑝𝑝 𝑚𝑚 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑛𝑛 = 0
𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚 + 𝜎𝜎𝑧𝑧 − 𝜎𝜎𝑝𝑝 𝑛𝑛 = 0
– Nontrivial solution for direction cosines
𝜎𝜎𝑥𝑥 − 𝜎𝜎𝑝𝑝 𝜏𝜏𝑥𝑥𝑥𝑥 𝜏𝜏𝑥𝑥𝑥𝑥
𝜏𝜏𝑥𝑥𝑥𝑥 𝜎𝜎𝑦𝑦 − 𝜎𝜎𝑝𝑝 𝜏𝜏𝑦𝑦𝑦𝑦 =0
𝜏𝜏𝑥𝑥𝑥𝑥 𝜏𝜏𝑦𝑦𝑦𝑦 𝜎𝜎𝑧𝑧 − 𝜎𝜎𝑝𝑝
– Principal stresses: characteristic values (eigenvalues) of stress tensor 𝜏𝜏𝑖𝑖𝑖𝑖
– Direction cosines: eigenvectors of 𝜏𝜏𝑖𝑖𝑖𝑖
– Since the stress tensor is symmetric with real components, it has real
eigenvalues (i.e., the principal stresses are real)

11
 3D Principal Stresses
• Expanding characteristic determinant gives characteristic equation
σ 3p − I1σ p2 + I 2σ p − I 3 = 0
I1 = σ x + σ y + σ z
σ x τ xy σ y τ yz σ x τ xz
I 2= + + = σ xσ y + σ yσ z + σ xσ z − τ xy2 − τ yz2 − τ xz2
τ xy σ y τ yz σ z τ xz σ z
σ x τ xy τ xz
I 3 = τ xy σ y τ yz
τ xz τ yz σ z
– 𝐼𝐼1 , 𝐼𝐼2 , 𝐼𝐼3 : stress invariants (independent of x, y, z)
– Principal stresses are independent of the orientation of the original
coordinate system
𝐼𝐼1 = 𝜎𝜎𝑥𝑥𝑥 + 𝜎𝜎𝑦𝑦𝑦 + 𝜎𝜎𝑧𝑧𝑧 = 𝜎𝜎𝑥𝑥 + 𝜎𝜎𝑦𝑦 + 𝜎𝜎𝑧𝑧
• Direction cosines
𝜎𝜎𝑥𝑥 − 𝜎𝜎𝑖𝑖 𝜏𝜏𝑥𝑥𝑥𝑥 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙𝑖𝑖 0
𝜏𝜏𝑥𝑥𝑥𝑥 𝜎𝜎𝑦𝑦 − 𝜎𝜎𝑖𝑖 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚𝑖𝑖 = 0 , 𝑖𝑖 = 1,2,3
𝜏𝜏𝑥𝑥𝑥𝑥 𝜏𝜏𝑦𝑦𝑦𝑦 𝜎𝜎𝑧𝑧 − 𝜎𝜎𝑖𝑖 𝑛𝑛𝑖𝑖 0 12
 3D Principal Stresses
• Find the stress invariants, the principal stresses, and the principal directions
1 2 3  1 − 5.14 2 3 𝑙𝑙1 0
τ =  2 2 0  Consider 𝜎𝜎1 = 5.14, 2 2 − 5.14 0 𝑚𝑚1 = 0
 3 0 2  3 0 2 − 5.14 𝑛𝑛1 0
𝑙𝑙1 0.657
• Solution 2 2 2
Use 𝑙𝑙 + 𝑚𝑚 + 𝑛𝑛 = 1 to normalize 𝒏𝒏1 ⇒ 𝒏𝒏1 = 𝑚𝑚1 = 0.418
I1 =1 + 2 + 2 = 5 𝑛𝑛1 0.627
I 2 =1 ⋅ 2 + 2 ⋅ 2 + 1 ⋅ 2 − 22 − 02 − 32 Consider 𝜎𝜎2 = 2
= −5 −1 2 3 𝑙𝑙2 0
2 0 0 𝑚𝑚2 = 0
1 2 3 3 0 0 𝑛𝑛2 0
I 3 = 2 2 0 = −22 𝑚𝑚2 2 + 𝑛𝑛2 2 = 1
3 0 2 ⇒ 𝑚𝑚2 = 0.832, 𝑛𝑛2 = −0.555 or 𝑚𝑚2 = −0.832, 𝑛𝑛2 = 0.555
σ 3 − 5σ 2 − 5σ + 22 =
0 𝑙𝑙2 0
𝒏𝒏2 = 𝑚𝑚2 = 0.832
(σ − 2 ) (σ 2 − 3σ − 11) =
0 𝑛𝑛2 −0.555
3 ± 53 Consider 𝜎𝜎3 = −2.14
σ 2,=
= σ 𝑙𝑙3
2 −0.754
2 2 2
⇒ σ1 =
5.14, σ 2 =
2, σ 3 =
−2.14 Use 𝑙𝑙 + 𝑚𝑚 + 𝑛𝑛 = 1 to normalize 𝒏𝒏3 ⇒ 𝒏𝒏3 = 𝑚𝑚3 = 0.364
13
𝑛𝑛3 0.546
 Example 1.7 3D Stress in a Machine
Component
• The stress tensor at a point in a machine w.r.t. a Cartesian coordinate system is
50 10 0
𝜏𝜏𝑖𝑖𝑖𝑖 = 10 20 40 𝑀𝑀𝑀𝑀𝑀𝑀
0 40 30
Determine the state of stress and stress invariants in 𝑥𝑥𝑥𝑥𝑥𝑥𝑥𝑥𝑥 system by rotating 𝑥𝑥, 𝑦𝑦
through 𝜃𝜃 = 45∘ counterclockwise about 𝑧𝑧 axis

𝑇𝑇
1⁄ 2 1⁄ 2 0 50 10 0 1⁄ 2 1⁄ 2 0
𝑇𝑇
• 𝜏𝜏𝑖𝑖′𝑗𝑗′ = 𝑵𝑵𝝉𝝉𝑵𝑵 = − 1⁄ 2 1⁄ 2 0 10 20 40 − 1⁄ 2 1⁄ 2 0
0 0 1 0 40 30 0 0 1
45 −15 28.28
= −15 25 28.28 𝑀𝑀𝑀𝑀𝑀𝑀
28.28 28.28 30
• 𝐼𝐼1 = 100𝑀𝑀𝑀𝑀𝑀𝑀, 𝐼𝐼2 = 1400 𝑀𝑀𝑀𝑀𝑀𝑀 2 , 𝐼𝐼3 = −53000 𝑀𝑀𝑀𝑀𝑀𝑀 3
14
 Normal and Shear Stresses on an
Oblique Plane
• Stress Transformation
– Given the principal stresses (triaxial stresses) acting on perpendicular
planes, determine the normal & shear stresses acting on an oblique plane
of a tetrahedron
– Recall 1 :
𝑝𝑝𝑥𝑥 = 𝜎𝜎𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑛𝑛 = 𝜎𝜎1 𝑙𝑙
𝑝𝑝𝑦𝑦 = 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜎𝜎𝑦𝑦 𝑚𝑚 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑛𝑛 = 𝜎𝜎2 𝑚𝑚 4
𝑝𝑝𝑧𝑧 = 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚 + 𝜎𝜎𝑧𝑧 𝑛𝑛 = 𝜎𝜎3 𝑛𝑛
– From (4), stress resultant
𝑝𝑝2 = 𝜎𝜎1 2 𝑙𝑙 2 + 𝜎𝜎2 2 𝑚𝑚2 + 𝜎𝜎3 2 𝑛𝑛2 = 𝜎𝜎 2 + 𝜏𝜏 2 ⇒ 𝜏𝜏 2 = 𝑝𝑝2 − 𝜎𝜎 2

– Recall 3 : 𝜎𝜎𝑥𝑥𝑥 = 𝜎𝜎𝑥𝑥 𝑙𝑙 2 + 𝜎𝜎𝑦𝑦 𝑚𝑚2 + 𝜎𝜎𝑧𝑧 𝑛𝑛2 + 2 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙𝑙𝑙
𝜎𝜎 = 𝜎𝜎1 𝑙𝑙 2 + 𝜎𝜎2 𝑚𝑚2 + 𝜎𝜎3 𝑛𝑛2
⇒ 𝜏𝜏 2 = 𝜎𝜎1 2 𝑙𝑙 2 + 𝜎𝜎2 2 𝑚𝑚2 + 𝜎𝜎3 2 𝑛𝑛2 − 𝜎𝜎1 𝑙𝑙 2 + 𝜎𝜎2 𝑚𝑚2 + 𝜎𝜎3 𝑛𝑛2 2
⇒ 𝜏𝜏 = 𝜎𝜎1 − 𝜎𝜎2 2 𝑙𝑙 2 𝑚𝑚2 + 𝜎𝜎2 − 𝜎𝜎3 2 𝑚𝑚2 𝑛𝑛2 + 𝜎𝜎3 − 𝜎𝜎1 2 𝑛𝑛2 𝑙𝑙 2 1⁄2
• If principal stresses are all equal, shear stress vanishes regardless of choices of
direction cosines
15
 Normal and Shear Stresses on an
Oblique Plane
• Stress Transformation
– Given normal & shear acting on perpendicular planes
𝜎𝜎 = 𝜎𝜎𝑥𝑥 𝑙𝑙 2 + 𝜎𝜎𝑦𝑦 𝑚𝑚2 + 𝜎𝜎𝑧𝑧 𝑛𝑛2 + 2 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙𝑙𝑙
1
2 2 2 2
𝜏𝜏 = 𝜎𝜎𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑚𝑚 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑛𝑛 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜎𝜎𝑦𝑦 𝑚𝑚 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑛𝑛 + 𝜏𝜏𝑥𝑥𝑥𝑥 𝑙𝑙 + 𝜏𝜏𝑦𝑦𝑦𝑦 𝑚𝑚 + 𝜎𝜎𝑧𝑧 𝑛𝑛 −𝜎𝜎 2

– Substituting (4) into 𝑙𝑙 2 + 𝑚𝑚2 + 𝑛𝑛2 = 1 yields

2 2 2
𝑝𝑝𝑥𝑥 𝑝𝑝𝑦𝑦 𝑝𝑝𝑧𝑧
+ + =1
𝜎𝜎1 𝜎𝜎2 𝜎𝜎3

• A stress ellipsoid has its three semiaxes as principal stresses

• The geometric interpretation shows that principal stresses are extreme
values of normal stress
• If 𝜎𝜎1 = 𝜎𝜎2 = 𝜎𝜎3 , a state of hydrostatic stress exists & stress ellipsoid
becomes a sphere
– Any three mutually perpendicular axes are principal axes

16
 Octahedral Stress
• Consider stresses acting on plane 𝐴𝐴𝐴𝐴𝐴𝐴 with 𝑄𝑄𝑄𝑄 = 𝑄𝑄𝑄𝑄 = 𝑄𝑄𝑄𝑄 as
one of eight faces of a regular octahedron
– The normal to the oblique plane has equal direction
cosines relative to principal axes
𝑙𝑙 2 + 𝑚𝑚2 + 𝑛𝑛2 = 1
1
𝑙𝑙 = 𝑚𝑚 = 𝑛𝑛 =
3
• 𝜎𝜎 = 𝜎𝜎1 𝑙𝑙 2 + 𝜎𝜎2 𝑚𝑚2 + 𝜎𝜎3 𝑛𝑛2
1
2 2 2 2
• 𝜏𝜏 = 𝜎𝜎1 − 𝜎𝜎2 𝑙𝑙 𝑚𝑚 + 𝜎𝜎2 − 𝜎𝜎3 𝑚𝑚2 𝑛𝑛2 + 𝜎𝜎3 − 𝜎𝜎1 2 𝑛𝑛2 𝑙𝑙 2 2
– Octahedral stress
1
𝜎𝜎𝑜𝑜𝑜𝑜𝑜𝑜 = 𝜎𝜎1 + 𝜎𝜎2 + 𝜎𝜎3
3
1 2 2 2 1⁄2
𝜏𝜏𝑜𝑜𝑜𝑜𝑜𝑜 = 𝜎𝜎1 − 𝜎𝜎2 + 𝜎𝜎2 − 𝜎𝜎3 + 𝜎𝜎3 − 𝜎𝜎1
3
– 𝜎𝜎𝑜𝑜𝑜𝑜𝑜𝑜 & 𝜏𝜏𝑜𝑜𝑜𝑜𝑜𝑜 are the same for eight planes for failure analysis of ductile
materials
17
 Mohr’s Circle in Three Dimensions
• Consider the state of stress at a point given by 𝝉𝝉 with
𝜎𝜎1 > 𝜎𝜎2 > 𝜎𝜎3 :
𝜎𝜎1 0 0
𝝉𝝉 = 0 𝜎𝜎2 0
0 0 𝜎𝜎3
– Absolute maximum shear stress
1
𝜏𝜏𝑚𝑚𝑚𝑚𝑚𝑚 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝜏𝜏13 𝑎𝑎 = 𝜎𝜎1 − 𝜎𝜎3
2
• occurs on planes oriented at 45∘ to the principal planes
• bisects maximum (𝜎𝜎1 ) and minimum (𝜎𝜎3 ) principal stresses

18
 Mohr’s Circle in Three Dimensions
• Recall
𝑙𝑙 2 + 𝑚𝑚2 + 𝑛𝑛2 = 1
𝜎𝜎 = 𝜎𝜎1 𝑙𝑙 2 + 𝜎𝜎2 𝑚𝑚2 + 𝜎𝜎3 𝑛𝑛2
𝜏𝜏 2 = 𝜎𝜎1 2 𝑙𝑙 2 + 𝜎𝜎2 2 𝑚𝑚2 + 𝜎𝜎3 2 𝑛𝑛2 − 𝜎𝜎 2
Solve for direction cosines
2 τ + (σ − σ 2 )(σ − σ 3 )
2

l = ≥0
( 1 2 )( 1 3 ) (σ 2 − σ 3 ) =
2 2
σ − σ σ − σ  σ +σ3 
⇒ σ − 2  + τ 2
≥ τ 232
2  4
2 τ + (σ − σ 3 )(σ − σ 1 )
2 
m = ≥0
(σ 3 − σ 1 ) =
2 2
(σ 2 − σ 3 )(σ 2 − σ 1 ) 
 σ −
σ 3 + σ1 
 + τ 2
≤ τ 132
 2  4
2 τ + (σ − σ 1 )(σ − σ 2 )
2

n = ≥0  σ1 + σ 2 
2
(σ 1 − σ 2 ) =
2

( 3 1 )( 3 2 )
σ − σ σ − σ σ −  +τ ≥
2
τ 122
 2  4
σ 1 > σ 2 > σ 3
τ 2 + (σ − σ 2 )(σ − σ 3 ) ≥ 0
τ 2 + (σ − σ 3 )(σ − σ 1 ) ≤ 0
τ 2 + (σ − σ 1 )(σ − σ 2 ) ≥ 0
19
 Example
• Given a 3D state of stress at a point, draw a Mohr’s circle and
locate principal stresses
120 −55 −75
𝝉𝝉 = 55 33
𝑠𝑠𝑠𝑠𝑠𝑠. −85
• Solution
𝜎𝜎 3 − 90𝜎𝜎 2 − 18014𝜎𝜎 + 471680 = 0
𝜎𝜎1 = 176.80𝑀𝑀𝑀𝑀𝑀𝑀
𝜎𝜎2 = 24.06𝑀𝑀𝑀𝑀𝑀𝑀
𝜎𝜎3 = −110.86𝑀𝑀𝑀𝑀𝑀𝑀
𝜎𝜎1 +𝜎𝜎2 𝜎𝜎1 −𝜎𝜎2
𝐶𝐶1 : ,0 = 100.43𝑀𝑀𝑀𝑀𝑀𝑀, 0 , 𝑅𝑅1 = = 76.37𝑀𝑀𝑀𝑀𝑀𝑀
2 2
𝜎𝜎1 +𝜎𝜎3 𝜎𝜎 −𝜎𝜎
𝐶𝐶2 : ,0 = 32.97𝑀𝑀𝑀𝑀𝑀𝑀, 0 , 𝑅𝑅2 = 1 3 = 143.83𝑀𝑀𝑀𝑀𝑀𝑀
2 2
𝜎𝜎2 +𝜎𝜎3 𝜎𝜎 −𝜎𝜎
𝐶𝐶3 : ,0 = −43.40𝑀𝑀𝑀𝑀𝑀𝑀, 0 , 𝑅𝑅3 = 2 3 = 67.40𝑀𝑀𝑀𝑀𝑀𝑀
2 2 20