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Introduction to Mechanics
of deformable bodies
Analysis of deformable bodies
1. Identification of a system
2. Simplification of this system
3. To develop model which can be analyzed
2. Assumptions
& ∑M = 0
i. e. 2aFD − (a + b)W = 0 --- 2
hC L + a
= --------- 3
hD L − a
δ C = h − hC
δ D = h − hD } ---------- 4
3. Relation between forces and deflections
Assuming same spring constant and linear spring
FC = kδ C
FD = kδ D
} ---------- 5
Equation 1 to 5 will give seven independent
relations for seven unknowns
FC , FD , hC , hD , δ C , δ D & b
Known: a, L, h, k, W
2
a 2 Kh
b= − 1]
--------- 6
[
L W
Spring deflections
W b
δ C = (1 − )
2k a } ---------- 7
W b
δ D = (1 + )
2k a
It can be seen that δ D is always positive in
the sense defined in Fig. d. δ C is positive as
long as b < a. When b = a, the man is directly
over the spring D, and, as would be
expected, all the load is taken by the spring
D, and the deflection and force in the spring
C are zero. When b > a, then δ C is negative
(i.e., the spring extends). In Fig. C we
assumed that b > a and that the spring C is
compressed.
If after making these assumptions in a
particular case the result from equation 6
was b > a, then we would find from algebra
that both δ C and FC were negative. These
negative results would be interpreted to
mean that the actual δ C and FC were in
directions opposite to those defined as
positive in Fig. D
Equation 6 could be written in following
nondimensional form
b a 2 h
=( ) ( − 1) ------- 8
L L W
2k
}-- 1
2. Study of geometric compatibility requirements
a. After application of load the spring should be
remain connected to the bar. The bar is rigid
one so points A, B, and C remain collinear
after application of load which will yield
δ B − 1 2 (δ A + δ C ) ------ 2
3. Relations between forces and deformations
FA FB FC
δA = , δB = , δC = } - - - -3
kA kB kC
Equation 1, 2, and 3 are three equations for six
unknown deflections at point A, B and C and three
unknown forces FA, FB and FC can be obtained. In
general
Remarks
1. Each deflection is linear to λ
2. For each position of the load the middle
deflection at B is always midway between the
end deflections A and C
3. When the load is near one end, the deflection
at other end is negative
4. When the load is at the position indicated by λ
0
in fig. (d) all three spring deflections are equal
5. The line marked A in fig. (d) represents the
deflection δ A (λ ) . It also represents the actual
position of the bar when the load is applied at
point A.
6. When load is at point A the deflection at three
spring locations are given by the ordinate of
three lines at λ = −1
7. If ordinate δ B (−1) is transferred to the location
of point B i. e. λ = 0 and δ C (−1) is transferred
to the location of point C i. e. λ = 1 , the
transferred ordinates lie precisely on the line
marked at A
8. The line marked B and C in fig. (d) also have
this same reciprocal property.
9. The position marked λ 0 is the one point on
the bar whose deflection is independent of the
load location. It acts as a pivot point for the bar
Pivot location is given by
GEOMETRIC COMPATIBILITY
Since the beam moves down without rotating,
we must have
Using this equality, we see from the lengths of the
bars in Fig. 2.9a that
c = 0.355m
If we repeated the analysis for a load of 300 kN, the
solution would be represented by the points a' and
b' in Fig. 2.9b, with the results
It is not surprising that this value of c differs from the
previous result, since a nonlinear material does not
produce equal increments of elongation for equal
increments of load. For example, in Fig. 2.9b a value
of PIA of 50 MN/m2 produces a δ /L of 0.0006,
whereas the next increment of 50 MN/m2
produces an increment in δ IL of 0.0009.
Analysis of thin ring and thin cylinders
Force equilibrium
Following relations will be deduced
FT = prb - - - - (d)
∑ Fy = p ( 2rb) − 2 FT = 0 - - - - (e)
Force deformation relation
FT [2Π (r + t )] 2Π pr 2 t
δT = 2 = (1 + ) - - - - - (f)
(bt ) E tE 2r
Geometric compatibility
δT
δR = - - - (g)
2Π
2
pr t
δR = (1 + ) - - - - (h)
tE 2r
2
pr
δR = - - - - - (i)
tE
Analysis of flexible drives
Force equilibrium
Δθ Δθ
∑ Fr = ΔN − T sin − (T + ΔT ) sin =0
2
∑ Fθ = (T + ΔT ) cos
Δθ
− T cos
Δθ
2
− fΔN = 0
} -- (a)
2 2
Δθ Δθ
ΔN − T − (T + ΔT ) =0
2
(T + ΔT ) − T − fΔN = 0
2
} -- (b)
ΔT dT
= fT - - - (c) = fT - - - - (d)
Δθ dθ
fθ
T = T AD e - - - - (e)
Substituting
T = TBC = 40kN , atθ = Π and f = 0.4
0.4θ
T = 11.38e kN - - - - (f)
Relation between force and deformation
TR Δθ
Δδ = - - - - (g)
AE
Geometric Compatibility
θ =Π
θ =Π TR dθ
δ AB = ∫ dδ = ∫ - - - - - - (h)
θ =0
θ = 0 AE
T AD R Π fθ T AD R fΠ
δ AB =
AE 0 ∫ e dθ =
AEf
(e − 1) - - - - - - (i)
Statically Indeterminate Situations
We shall now consider two examples in which we
must examine the deformation of the system in
order to determine the manner in which the forces
are distributed within the system.
Example2.9
Figure 2.12a shows the pendulum of a clock which
has a12-N weight suspended by three rods of
760-mm length. Two of the rods are made of brass
and the third of steel. We wish to know how much of
the 12-N suspended weight is carried by each rod.
Force equilibrium
∑ Fy = 12 − FS − 2 FB = 0 - - - - (a)
Geometric compatibility
δ S = δ B - - - - - - (b)
Relation between forces and deformations
FS LS FB LB
δS = δB = - - - - (c)
AS E S AB E B
Combining (b) and (c),
AS E S LB
FS = FB - - - - - (d)
AB E B LS
(1.3) 2 (200)760
FS = 2
FB = 0.541FB
(2.5) (100)760
Combining (a) and (d), we find
FS = 2.55 N
FB = 4.72 N
Example 2.10
FL FAD 1.6
δ AD =( ) AD = } - - - -(c)
AE 0.00071(30 × 10 ) 6
FL FAB 1.2
δ AB =( ) AB =
AE 0.005(10 × 10 6 )
Solving (a), (b), and (c) simultaneously, we obtain
FAD = 1.72 lb tension
FAB = 5.35 lb compression
δ y = 0.00020 in. } - - - (d)
δ x = 0.00013 in.
ELASTIC ENERGY;
CASTIGLIANO'S THEOREM
In this section we give a brief introduction to the
concept of energy and develop a powerful tool for
calculating deflections of elastic systems.
The work done by a force vector F when its point of
application moves through a displacement vector
ds is the scalar, or dot, product
F . ds = F cos θ ds
where θ is the angle between F and ds.
In general, F will vary as the point of application
follows a certain path so that the total work done by
F is given by an integral
∫ F . ds
Conservative systems:
When work is done by an external force on certain
systems, their internal geometric states are altered in
such a way that they have the potential to give back
equal amounts of work whenever they are returned
to their original configurations.
e.g. Elastic spring
Consider the elastic, but not necessarily linear, spring
in Fig. 2.17. Let the spring undergo a gradual
elongation process during which the external force F
remains in equilibrium with the internal tension. The
potential energy U associated with an elongation b is
defined to be the work done by F in this process
δ
∫ F .ds = ∫ Fdδ = U
0
- - - - - - (2.3)
Fig.2.17
Nonlinear spring (a) has deflectionδ due to force F.
Potential energy U is area under force-deflection curve (b).
Complementary energy U * is area above curve (c).
In Fig. 2.17b, this energy appears as the shaded area under the
force-deflection curve. Note that U is a function of the elongation
δ . If this spring should happen to be part of a larger elastic
system, it will always contribute the energy (2.3) to the total
stored energy of the system whenever its individual elongation
is δ
Next, consider the general elastic system of Fig. 2.18a, which
can be loaded by an arbitrary number of loads. At a typical
loading point Ai the load is Pi, and the equilibrium displacement
due to all the loads is sj. If, during the loading process, the
displacements si are permitted to grow slowly through a
sequence of equilibrium configurations, the total work done by
all the external loads will equal to the total potential energy U
stored by all the internal elastic members
si
∑ ∫ P • ds
i
i i = U - - - - - (2.4)
0
∫ s • dF
When complementary work is done on certain
systems, their internal force states are altered in such
a way that they are capable of giving up equal
amounts of complementary work when they are
returned to their original force states. Under these
circumstances the complementary work done on such
a system is said to be stored as complementary
energy.
Let us reconsider the gradual loading process for the
nonlinear spring of Fig.2.17a. The complementary
energy U* associated with a force F is defined to be the
complementary work done by F
F
∫ s ⋅ dF = ∫ δ dF =
0
U *
- - - (2.5)
∑∫s
i
i ⋅ dpi = ∑ ∫ δ i dpi = U - - - - - - (2.6)
i
*
0 0
Suppose that the system in Fig. 2.18a is in its equilibrium
position with the complementary energy (2.6). We now
consider a small increment ΔPi to the load Pi while all the
other loads remain fixed. The internal forces will change
slightly to maintain force equilibrium, and the increment in
complementary work will equal the increment in
complementary energy ΔU * .For small ΔPi we have,
approximately
ΔU *
δ i ΔPi = ΔU * or = δi
ΔPi
In the limit as ΔPi → 0 this approaches a derivative
which we indicate as a partial derivative since all the
other loads were held fixed
∂U *
= δ i - - - - - (2.7)
∂Pi
This result is a form of Castigliano's theorem (extended to
nonlinear systems). It states that if the total complementary
energy U* of a loaded elastic system is expressed in terms of
the loads, the in-line deflection at any particular loading point is
obtained by differentiating U* with respect to the load at that
point. The theorem can be extended to include moment loads
Mi as well as force loads Pi. In the case of a moment load, the
φ
in-line displacement is the angle of rotation i about the axis of
the moment vector Mi, and in place of (2.7) we have
∂U *
= φi - - - - - - - - (2.8)
∂M i
For the linear spring the elastic energy is
1 2 1 F2
U = kδ = Fδ = - - - - - - - (2.10)
2 2 2k
Similarly, for the linear uniaxial member the elastic energy is
EA 2 1 P2L
U= δ = Pδ = - - - - - - - (2.11)
2L 2 2 EA
Finally, the in-line deflection δ i at any loading point A i is
obtained by differentiation with respect to the load Pi
∂U
δi = - - - - - - (2.12)
∂Pi
Example 2.11
Consider the system of two springs shown in Fig.
2.19. We shall use Castigliano's theorem to obtain
the deflections δ 1 and δ 2 which are due to the
external loads P1 and P2
To satisfy the equilibrium requirements the internal spring
forces must be
F1 = P1 + P2 & F2 = P2
The total elastic energy using (2.10), is
2
( P1 + P2 ) 2 P2
U = U1 + U 2 = +
2 k1 2k 2
Solution:
Total energy is
2 2
P1 P2 2P 2 P 2
U = U1 + U 2 = + = + - - - - - - (a)
2 k1 2 k 2 2 k1 2 k 2
Deflection of point D in the direction of P
∂U ∂ ⎛ P2 P2 ⎞ ⎛1 1 ⎞
δP = = ⎜⎜ + ⎟⎟ = 2 P⎜⎜ + ⎟⎟ - - - - - - - - (b)
∂P ∂P ⎝ k1 2k 2 ⎠ ⎝ k1 2 k 2 ⎠
δ P = 2 × 20 [0.0421 + 0.0023] × 10 −6 = 1.77 mm
2 k1 2 k 2
and
∂U P−Q
δQ = = 0− - - - - - - - - - - (d)
∂Q k2
butQ = 0, therefore
−P
δQ = = −0.0915 mm
k2
Fig. 2.21
Structure of Fig. 2.20 with
fictitious load Q at D.
Example 2.13
As a final example in this chapter, let us use Castigliano's
theorem to determine deflections in the truss' problem that
we considered in Example 2.5 and in the computer-solution
example of Sec.2.5.
The method of solution here is exactly the same as in the
previous example; i.e., we calculate the total energy in
terms of the real and fictitious loads, and determine
deflections by taking appropriate derivatives. However,
because a larger number of members is involved, it is
worthwhile to set up a system that permits the necessary
manipulations with the least effort.
Solution:
If a truss is made of n axially loaded members, the
energy stored in the ith member, according to (2.11), is
2
Fi Li
Ui = - - - - - - (a)
2 Ai Ei
and the total energy in the system of n members is
n
U = ∑ U i - - - - - - (b)
i −1
∂U −6
δP = = 0.1651 + 3.2Q × 10
∂P
but
Q = −16.67 × 10 3
Thus
δ P = 0.1651 − 0.0534 = 0.1117 in.