Theories of Failure

R&DE (Engineers), DRDO
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Theories of Failure
Ramadas Chennamsetti
Summary
Maximum principal stress theory

Maximum principal strain theory
Maximum strain energy theory
Distortion energy theory
Maximum shear stress theory
Octahedral stress theory
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Introduction
Failure occurs when material starts exhibiting
inelastic behavior
Brittle and ductile materials different modes
of failures mode of failure depends on
loading
Ductile materials exhibit yielding plastic
deformation before failure
Yield stress material property
Brittle materials no yielding sudden failure
Factor of safety (FS)
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Introduction
Ductile and brittle materials
p
Ductile material
0.2%
Brittle material
Well defined yield point in ductile materials FS on yielding

No yield point in brittle materials sudden failure FS on failure
load
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Introduction
Stress developed in the material < yield stress

Simple axial load
x
If x = Y => yielding starts failure

x
Similarly in pure shear only shear

stress.
If max = Y => Yielding in shear
Multi-axial stress state ??
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Yielding is governed by single stress

component, x
Introduction
Various types of loads acting at the same time

T
N
M
Internal pressure and external UDL

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Axial, moment and torque
Introduction
Multiaxial stress state six stress components one
representative value
Define effective / equivalent stress combination of
components of multiaxial stress state
Equivalents stress reaching a limiting value property
of material yielding occurs Yield criteria
Yield criteria define conditions under which yielding
occurs
Single yield criteria doesnt cater for all materials
Selection of yield criteria
Material yielding depends on rate of loading static &
dynamic
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Introduction
Yield criteria expressed in terms of quantities
like stress state, strain state, strain energy etc.
Yield function => f(ij, Y), ij = stress state
If f(ij, Y)<0 => No yielding takes place no
failure of the material
If f(ij, Y) = 0 starts yielding onset of yield
If f(ij, Y) > 0 - ??
Yield function developed by combining stress
components into a single quantity effective
stress => e
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Introduction
Equivalent stress depends on stress state and
yield criteria not a property
Compare e with yield stress of material
Yield surface graphical representation of
yield function, f(ij, Y) = 0
Yield surface is plotted in principal stress
space Haiagh Westergaard stress space
Yield surface closed curve
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Parameters in uniaxial tension

Maximum principal stress

Applied stress => Y
Y
1 = Y, 2 = 0, 3 = 0
Maximum shear stress

2
Y
=
2
Maximum principal strain

1 = Y, 2 = 0, 3 = 0
Y
Y = ( 2 + 3 ) =
E E
E
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max =
1 3

Total strain energy density

1
1Y2
U = Y Y =
2
2 E
Linear elastic material
Y
[ ] = 0
0
0
0
0
0 Y p
0 = 0
0 0
0
p
0
0 p
0 + 0
p 0
0
p
0
0
0
p
First invariant = 0 for deviatoric part => p = Y/3
U = UD + UV
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Distortional energy

Volumetric strain energy density, UV = p2/2K
UD
Y 2 (1 2 )Y 2
Y2
Y2
(3 1 + 2 ) =
(1 + )
=
=
2E
6E
6E
3E
Y2
UD =
6G
Similarly for pure shear also
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UV
(
p2
Y2
1 2 ) 2
=
=
=
Y
2 K 18 K
6E
U D = U UV
Failure theories
Failure mode

Mild steel (M. S) subjected to pure tension

M. S subjected to pure torsion
Cast iron subjected to pure tension
Cast iron subjected to pure torsion

Max. principal stress theory Rankine

Max. principal strain theory St. Venants
Max. strain energy Beltrami
Distortional energy von Mises
Max. shear stress theory Tresca
Octahedral shear stress theory
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Theories of failure
Max. principal stress theory

Maximum principal stress reaches tensile yield

stress (Y)
For a given stress state, calculate principle
stresses, 1, 2 and 3
Yield function
If,
f < 0
) Y
no yielding
f = 0 onset of yielding
f > 0
not defined
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f = max ( 1 ,

Yield surface
Represent six surfaces
Yield surface
Yield strength same in

tension and compression
3
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1 = Y => 1 + Y = 0, 1 Y = 0
2 = Y => 2 + Y = 0, 2 Y = 0
3 = Y => 3 + Y = 0, 3 Y = 0

In 2D case, 3 = 0 equations become

1 = Y => 1 + Y = 0, 1 Y = 0
2 = Y => 2 + Y = 0, 2 Y = 0
-Y
Closed curve
Stress state inside elastic, outside => Yielding

Pure shear test => 1 = + Y, 2 = - Y
-Y
From the above => Y = Y
Experimental results Yield stress in shear

is less than yield stress in tension
Predicts well, if all principal stresses are tensile
Pure shear
y
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For tension => 1 = + Y
Max. principal strain theory

Failure occurs at a point in a body when the
maximum strain at that point exceeds the value
of the maximum strain in a uniaxial test of the
material at yield point
Y yield stress in uniaxial tension, yield
strain, y = Y/E
The maximum strain developed in the body
due to external loading should be less than this
Principal stresses => 1, 2 and 3 strains
corresponding to these stress => 1, 2 and 3
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Strains corresponding to principal stresses -
2 =
3 =
2
E
3
E
( 2 + 3 )
( 1 + 3 )
( 2 + 1 )
Maximum of this should be

less than y
For onset of yielding

Y
=> 1 ( 2 + 2 ) = Y
E
Y
2 = => 2 ( 3 + 1 ) = Y
E
Y
3 = => 3 (1 + 2 ) = Y
E
1 =
There are six equations

each equation represents a
plane
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1 =

Yield function
f = max i j k Y , i, j, k = 1, 2, 3
i jk
f = e Y
e = max i j k
For 2D case
i j k
2 1 = Y => 2 1 = Y
There are four equations, each equation represents a
straight line in 2D stress space
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1 2 = Y => 1 2 = Y

Equations
1 2 = Y , 1 2 = Y
2 1 = Y , 2 1 = Y
Plotting in stress space

2 2 1 = Y
1 2 = Y
1 2 = Y
Failure equivalent
stress falls outside yield
surface
2 1 = Y
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Biaxial loading
-2
For onset of yielding

2
= (1 +
Y = (1 +
Maximum principal stress theory

Y=
1 = | 2 |=
Max. principal strain theory predicts smaller value of stress

than max. principal stress theory
Conservative design
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Y = 1

Pure shear
Principal stresses corresponding to
shear yield stress
1 = +y , 2 = -y
For onset of yielding max. principal
strain theory
Relation between yield stress in tension and shear
y = Y/ (1 + ) for = 0.25
y = 0.8Y Not supported by experiments
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Y = y + y = y (1 + )
Strain energy theory

Failure at any point in a body subjected to a
state of stress begins only when the energy
density absorbed at that point is equal to the
energy density absorbed by the material when
subjected to elastic limit in a uniaxial stress
state
In uniaxial stress (yielding)
= E => Hookes law

Strain energy density,
U =
ij
d ij => U =
1 Y 2
U =
2 E
d
0
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Body subjected to external loads => principal

stresses
Strain energy associated with principal

stresses
1
U = ( 1 1 + 2 2 + 3 3 )
2
2 =
3 =
1
E
2
E
2
E
( 2 + 3 )
U=
( 3 + 1 )
For onset of yielding,
( 1 + 2 )
Y2
1 2
=
1 + 22 + 32 2(1 2 + 31 + 2 3 )
2E 2E
1 2
1 + 22 + 32 2(1 2 + 31 + 2 3 )
2E
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1 =
24

Yield function
f = 12 + 22 + 32 ( 1 2 + 2 3 + 3 1 ) Y 2
f = e2 Y 2
Equivalent stress => e2 = 12 + 22 + 32 ( 1 2 + 2 3 + 3 1 )
For 2D stress state => 3 = 0 Yield function

becomes
f = 2 + 2 Y 2
1
For onset of yielding => f = 0
12 + 22 1 2 Y 2 = 0
Plotting this in principal stress space

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Yielding => f = 0, safe f < 0

Rearrange the terms

2
This represents an ellipse

Transform to - csys
45o
Y
Equivalent stress
inside no failure
1
( )
1 = cos 45 sin 45 =
2
1
( + )
2 = sin 45 + cos 45 =
2
Substitute these in the above
expression
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1 2
1 2
+ 2
=1
Y Y
Y Y

2
2
Y
(1 )
Semi major axis OA => a =

Semi minor axis OB => b =
2
2
Y
(1 + )
= 1 =>
Y
(1 )
Y
(1 + )
2
a
2
b
=1
45o
o
Higher Poisson ratio bigger major axis, smaller minor axis

If = 0 => circle of radius Y
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Simplifying,

Pure shear

shear yield stress
1 = +y , 2 = -y
(1 + ), 2 = (1 + )
Strain energy, U =
(1 + ) 2 2
2E
1
Y
2E
=> Y =
2 (1 + ) y
y = 0.632 Y
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1 =
Distortional energy theory (von-Mises)

applying uniform stress from all the

directions on a body
Large amount of strain
energy can be stored
Experimentally verified
Pressure p applied from all sides
Pressures beyond yield
stress no failure of material
Hydrostatic loading change in size volume
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Hydrostatic loading
von-Mises theory
Energy associated with volumetric change
volumetric strain energy
Volumetric strain energy no failure of
material
Strain energy causing material failure
distortion energy associated with shear
First invariant of deviatoric stress = 0
For a given stress state estimate distortion
energy this should be less than distortion
energy due to uniaxial tensile safe
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von-Mises theory
Given stress state referred to principal coordinate system

1
[ ] = 0
0
2
0
0 1 p
0
0 p
0 = 0
2 p
0 + 0
3 0
0
3 p 0
Firstinvariant, J1 = 0
0
p
0
0
0
p
1
=> p = ii
3
Principal strains => 1, 2, 3

Volumetric strain => V = 1+ 2 + 3
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(1 p) + ( 2 p) + ( 3 p) = 0
von-Mises theory
1
V = 1 + 2 + 3 = {( 1 + 2 + 3 ) 2 ( 1 + 2 + 3 )}
E
(
1 2 )
3(1 2 )
( 1 + 2 + 3 ) =
V =
p
E
E
1
Volumetric strain energy, U V = p V
2
1 3(1 2 )
3(1 2 ) 2 (1 2 )
( 1 + 2 + 3 )2
UV = p
p=
p =
2
E
2E
6E
U = strain energy due to principal stresses & strains
1
2
2
2
U =
1 + 2 + 3 ( 1 2 + 2 3 + 3 1 )
2E
E
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This gives
von-Mises theory
Distortional energy
2 - m
m
m
1 - m
3 - m
1
1 2
2
2
2
2
UD =
1 + 2 + 3 2 ( 2 1 + 2 3 + 3 1 )
( 1 + 2 + 3 )
2E
6E
[(
Simplifying this
1
2
2
2
( 1 2 ) + ( 2 3 ) + ( 3 1 )
UD =
12G
]
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UD = U - UV
von-Mises theory
Compare this with distortion in uniaxial tensile

stress
Y2
1
( 1 2 )2 + ( 2 3 )2 + ( 3 1 )2
U D ==
=
6G 12G
2
2
2
=> 2Y 2 = ( 1 2 ) + ( 2 3 ) + ( 3 1 )
f = e2 Y 2
1
2
2
2
Equivalent stress, = ( 1 2 ) + ( 2 3 ) + ( 3 1 )
2
2
e
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Yield function,
von-Mises theory
Principal stresses of deviatoric shear stress, Sii

0 1 p
2
0 = 0
3 0
0
0
S1
[ ] = 0
S2
0
0
0
2 p
0
0 p
0 + 0
S3 0
0 p
0 + 0
3 p 0
0
p
0
0
p
0
0
0
p
0
0
p
Sii = ii p => ii = Sii + p

2Y 2 = ( 1 2 ) + ( 2 3 ) + ( 3 1 )
2
2Y 2 = ((S1 + p ) (S 2 + p )) + ((S 2 + p ) (S3 + p )) + ((S3 + p ) (S1 + p ))

2
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1
[ ] = 0
0
von-Mises theory
Simplifying this expression

2Y 2 = (S1 S 2 ) + (S 2 S3 ) + (S 3 S1 )
2
von-Mises criteria has square terms result

independent of signs of individual stress
components
Von-Mises equivalent stress => +ve stress
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Hydrostatic pressure does not appear in the expression
von-Mises theory
2D stress state => 3 = 0

f = 12 + 22 1 2 Y 2
Onset of yielding,
12 + 22 1 2 = Y 2
2
Re-arrange the terms
1 2 1 2
+ 2 =1
Y Y Y
This represents an ellipse
2
45o
o
Semi - major axis, OA = 2Y

2
Semi - minor axis, OB =
Y
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Yield function,
von-Mises theory
Pure shear

shear yield stress
1 = +y , 2 = -y
Y 2 = 12 + 22 1 2 = 3 y2 => y = 0.577Y
Suitable for ductile materials
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Shear yield = 0.577 * Tensile yield
von-Mises theory
Plot yield function in 3D principal stress space

1= 2= 3
1= 2= 3
1 + 2 + 3 = 0
Deviatoric plane
f = ( 1 2 ) + ( 2 3 ) + ( 3 1 ) 2Y 2 = 0
2
Cylinder, with hydrostatic stress as axis
i
+
j
+
k
~
3 ~ ~ ~
OA = 1 i + 2 j + 3 k
n =
Axis makes equal DCs with all axes
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von-Mises theory
Projection of OA on hydrostatic axis

~
= OB
i + j + k . i + j + k
1~ 2
3
~
~
~
~
~
OB =
3
1
( 1 + 2 + 3 )
OB =
3
1
1
(
=> OB = OB n =
1 + 2 + 3 ) i + j + k
~
~
3
3 ~ ~ ~
(
1 + 2 + 3 )
= p i + j + k
+
+
OB =
i
j
k
~
~
3
~ ~
~ ~
OA = OB + BA
~
BA = OA OB
~
BA = r = radius
of cylinder
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OA . n = OA n cos => OA cos =
OA . n
von-Mises theory
Radius of cylinder
BA = R = OA OB = 1 i + 2 j + 3 k p i + j + k
~
~
~
~
~
~
~
~ ~ ~
2 2 3 2 2 3 1 2 3 1 2
R= 1
i+
j+
k
~
3
3
3
~
~
~
R = S1 i + S 2 j + S 3 k
Radius =>
R=
S12 + S 22 + S 32
First invariant of deviatoris stress tensor, J 1 = 0 => S1 + S 2 + S 3 = 0
(S1 + S 2 + S 3 )2 = 0 = S12 + S 22 + S 32 = 2(S1 S 2 + S 2 S 3 + S 3 S1 )

2
2
2
Yield criteria => (S1 S 2 ) + (S 2 S 3 ) + (S 3 S1 ) = 2Y 2
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von-Mises theory
Yield criteria,
Y 2 = S12 + S 22 + S 32 S1 S 2 S 2 S 3 S 3 S1
Use, S12 + S 22 + S 32 = 2(S1 S 2 + S 2 S 3 + S 3 S1 )
1 2
Y = S + S + S + S1 + S 22 + S 32
2
3 2
3 2
2
2
2
Y = S1 + S 2 + S 3 = R
2
2
3
Y =
R
2
2
1
2
2
2
3
Yielding depends on deviatoric stresses

Hydrostatic stress has no role in yielding
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von-Mises theory
Second invariant of deviatoric stress

0
S2
0
0
S 0 S2
0 => J 2 = 1
+
0
0 S2
S3
J 2 = S1S 2 + S 2 S3 + S 3 S1
0 S1
+
S3 0
0
S3
1 2
S1S 2 + S 2 S3 + S3 S1 = S1 + S 22 + S32
2
1 2
1 2
R2
2
2
2
2
J 2 = S1 + S 2 + S3 => J 2 = S1 + S 2 + S3 =
2
2
2
3
Y 2 = R 2 => Y 2 = 3 J 2
2
Redfining yield function => f = 3 J 2 Y 2
J2 Materials
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S1
[S ] = 0
0
Max. shear stress theory (Tresca)

Yielding begins when the maximum shear

stress at a point equals the maximum shear
stress at yield in a uniaxial tension
max = KT =
1 2
2
=> max =
Y
= KT
2
If maximum shear stress < Y/2 => No failure occurs
max = KT =
1 2
2
=> max = y = KT
Shear yield = 0.5 Tensile yield

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For pure shear, 1 = +y , 2 = -y
Tresca theory
In 3D stress state principal stresses => 1, 2

and 3
Maximum shear stress
1 2 2 3 3 1
max .
1 2 2 3 3 1
Y
f = max .
,
,
KT =
2
2
2
2
f < 0 => No yielding
f = 0 => Onset of yielding
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Yield function
Tresca theory
Following equations are obtained

= K T =>
2
f1 ( 1 , 2 ) = 1 2 2 K T ;
2 3
= K T =>
2
f 3 ( 2 , 3 ) = 2 3 2 K T ;
3 1
= K T =>
2
f 5 ( 3 , 1 ) = 3 1 2 K T ;
1 2
2
= KT
f 2 ( 1 , 2 ) = 1 2 + 2 K T
2 3
2
= KT
f 4 ( 2 , 3 ) = 2 3 + 2 K T
3 1
2
= KT
f 6 ( 3 , 1 ) = 3 1 + 2 K T
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1 2
Tresca theory
Redefining yield function as,

f ( 1 , 2 , 3 ) = f1 ( 1 , 2 ). f 2 ( 1 , 2 ). f 3 ( 2 , 3 ). f 4 ( 2 , 3 ). f1 ( 1 , 2 )
) = ( 1 2 2 K T )( 1 2 + 2 K T )
( 2 3 2 K T )( 2 3 + 2 K T )
( 3 1 2 K T )( 3 1 + 2 K T )
3
Each function represents a plane in 3D principal stress space
)(
)(
f ( 1 , 2 , 3 ) = ( 1 2 ) 4 K T2 ( 2 3 ) 4 K T2 ( 3 1 ) 4 K T2
2
No effect of hydrostatic pressure in Tresca criteria

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f ( 1 , 2 ,
Tresca theory
Yield function in principal stress space
Hydrostatic axis
Tresca yield surface
1 - 2 = 2KT
2 - 1 = 2KT
View A along hydrostatic axis

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Tresca theory
Yield surface intersects principal axes at 2KT

Wall/plane of hexagon
Hydrostati c axis => 1 = 2 = 3
3 - 1 = 2K
1
cos =
=> = 54 .73 0
3
+ = 90 0 => = 35 .26 0
OA = 2 K T
C
Hydrostatic axis
Deviatoric plane, 1 + 2 + 3 = 0
OB = OA cos = 2 K T
2
3
OB projection of OA on
deviatoric plane
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Tresca theory
Tresca hexagon
2KT
2
3
A, B
300
D
OC = OD cos 30
=> OC = 2 K T
=> OC =
2 3
3 2
1 - 2 = 2KT
2 - 1 = 2KT
C
2KT
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Tresca theory
2D stress state - 3 = 0
Each equation represents two
lines in 2D stress space
2
1 2 = 2 K T
2 = 2 K T
1 = 2 K T
- 2KT 2 = 2KT C
1 = - 2KT
2 = - 2KT
450
1 = 2KT
450
A
2KT
B
1 - 2 = 2KT
OB = OA cos 45 = 2 K T
1
= 2KT
2
OA
OC =
= 2 2KT
cos 45
Yield curve elongated hexagon

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- 1 + 2 = 2KT
O
2KT
Tresca theory
2D stress state - 3 = 0
2
- 2KT 2 = 2KT C
- 1 + 2 = 2KT
1 = 2KT
O
1 = - 2KT
450
A
2KT
1 2 = 2 K T
2 = 2 K T
1 = 2 K T
B
1 - 2 = 2KT
2 = - 2KT
Yield curve elongated hexagon

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Each equation represents two

lines in 2D stress space
von-Mises Tresca theories

1 = Y, 2 = 0, 3 = 0
1
(1 2 )2 + (2 3 )2 + (3 1 )2
6
1 2 2 3 3 1
K T = max
,
,
2
2
2
von-Mises criteria => J2 = KM2 =

Trescas criteria =>
KM
1
=
Y,
3
1
KT = Y
2
Pure shear => 1 = +y, 2 = -y => K M = y = K T

1
1
KM =
Y = y , KT = Y = y
2
3
y = 0.577 Y (von Mises), y = 0.5Y (Tresca )
von-Mises criteria predicts 15% higher shear stress than Tresca
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Pure tension

2D stress space von-Mises and Tresca
2y
45o
o
45o
2y
Y 2 = 12 + 22 1 2
3 y2 = 12 + 22 1 2
Y = max .{ 1 2 , 1 , 2 }
Yielding in uniaxial tension
Yielding in shear
Tresca conservative
von-Mises conservative
2 1 2
= max . 1
,
,
2
2
2
2
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Experiments by Taylor & Quinney**

Thin walled tube subjected to axial and
torsional loads
A
xy
xx
xx
xx
xx
2
2 =

+ xy
2
2
xx
** Taylor and Quinney Plastic deformation of metals, Phil. Trans. Roy. Soc.A230, 323-362, 1931
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xx
2
1 =
+
+
xy
2
2

Tresca criteria
xx
2
2
2
2
Y = 1 2 = 2
+ xy => Y = xx + 4 xy
2
xx xy
< 1
+
Y Y /2
2
No yielding if,
Y 2 = 12 + 22 1 2
Y 2 = xx2 + 3 xy2
xx xy
< 1
No yielding if,
+
Y Y / 3
2
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von-Mises criteria

Plotting these two criteria

Experimental data shows
good agreement with vonMises theory.
0.6
von-Mises
Tresca
1
Aluminium
Mild steel
Copper
xx/ Y
Tresca conservative
von-Mises theory more
accurate generally used
in design
Experiments show that for
ductile materials yield in
shear is 0.5 to 0.6 times of
yield in tensile
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xy/ Y

Octahedral plane makes equal angles with all

principal stress axes direction cosines same
Shear stress acting on this plane octahedral
shear
Body subjected to pure tension, 1 = Y, 2 = 3 = 0
2 2
= Y
9
2
2
2
2
2Y = ( 1 2 ) + ( 2 3 ) + ( 3 1 )
2
oct
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1
2
2
2
= (1 2 ) + (2 3 ) + (3 1)
9
2
oct

Comparing this with von-Mises theory =>

both are same
Pure shear
1 = y, 2 = - y, 3 = 0
theory
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1
Same as von-Mises
( 1 2 )2 + ( 2 3 )2 + ( 3 1 )2 = 6 y2
9
9
theory in pure shear
2 2
2
oct = y
3
Octahedral shear stress
2
2
2
6 y2 = ( 1 2 ) + ( 2 3 ) + ( 3 1 )
theory => von-Mises
2
=
oct
Tensile & shear yield strengths

60
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Each failure theory gives a relation between

yielding in tension and shear ( = 0.25)
Failure theories in a nut shell
61
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62
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Theories of Failure

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Theories of Failure

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R&DE (Engineers), DRDO

Maximum principal stress theory

R&DE (Engineers), DRDO

Ductile and brittle materials

Well defined yield point in ductile materials FS on yielding

Stress developed in the material < yield stress

If x = Y => yielding starts failure

Similarly in pure shear only shear

Multi-axial stress state ??

Yielding is governed by single stress

Various types of loads acting at the same time

Internal pressure and external UDL

Axial, moment and torque

R&DE (Engineers), DRDO

R&DE (Engineers), DRDO

R&DE (Engineers), DRDO

Parameters in uniaxial tension

Maximum principal stress

Maximum shear stress

Maximum principal strain

Parameters in uniaxial tension

Total strain energy density

Linear elastic material

First invariant = 0 for deviatoric part => p = Y/3

Parameters in uniaxial tension

Volumetric strain energy density, UV = p2/2K

Mild steel (M. S) subjected to pure tension

Max. principal stress theory Rankine

Max. principal stress theory

Maximum principal stress reaches tensile yield

Max. principal stress theory

Yield strength same in

Max. principal stress theory

In 2D case, 3 = 0 equations become

Stress state inside elastic, outside => Yielding

From the above => Y = Y

Experimental results Yield stress in shear

For tension => 1 = + Y

Max. principal strain theory

R&DE (Engineers), DRDO

Max. principal strain theory

Strains corresponding to principal stresses -

Maximum of this should be

For onset of yielding

There are six equations

Max. principal strain theory

Max. principal strain theory

Plotting in stress space

Max. principal strain theory

For onset of yielding

Maximum principal stress theory

Max. principal strain theory predicts smaller value of stress

Max. principal strain theory

Relation between yield stress in tension and shear

Strain energy theory

= E => Hookes law

R&DE (Engineers), DRDO

Strain energy theory

Body subjected to external loads => principal

Strain energy associated with principal

For onset of yielding,

Strain energy theory

Equivalent stress => e2 = 12 + 22 + 32 ( 1 2 + 2 3 + 3 1 )

For 2D stress state => 3 = 0 Yield function