Engineering Analysis with Boundary Elements 25 (2001) 203±210

www.elsevier.com/locate/enganabound

Dynamic crack problems in three-dimensional

transversely isotropic solids
A. SaÂez*, J. DomõÂnguez
Escuela Superior de Ingenieros, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092-Sevilla, Spain
Received 13 October 2000; accepted 7 December 2000

Abstract
In this paper, a general boundary element approach for three-dimensional dynamic crack problems in transversely isotropic bodies is
presented for the ®rst time. Quarter-point and singular quarter-point elements are implemented in a quadratic isoparametric element context.
The procedure is based on the subdomain technique, the displacement integral representation for elastodynamic problems and the expres-
sions of the time-harmonic point load fundamental solution for transversely isotropic media. Numerical results corresponding to cracks under
the effects of impinging waves are presented. The accuracy of the present approach for the analysis of dynamic fracture mechanics problems
in transversely isotropic solids is shown by comparison of the obtained results with existing solutions. q 2001 Elsevier Science Ltd. All
rights reserved.
Keywords: Three-dimensional cracks; Boundary elements; Wave propagation; Transversely isotropic bodies

1. Introduction Gao [4] presented in 1992 the quadratic isoparemetric

The basic fracture mechanics concepts for transver-
sely isotropic solids were set thirty years ago by Kassir
and Sih [1].
p They showed that the stress singularity of
the order r near the periphery of three-dimensional (3-
D) cracks, well known for isotropic materials, remains
in the case of transversely isotropic solids. The magni-
tude of the local stresses may also be described in this
case in terms of the stress intensity factors (SIFs).
Kassir and Sih obtained general expressions of stresses
and displacements near the crack front for cracks of arbi-
trary shape in a plane perpendicular to the material axis of
symmetry.
A small number of boundary element (BE) papers has
been dedicated to the analysis of fracture mechanics
problems in non-isotropic materials. Among these
papers, the early work of Snyder and Cruse [2] and
the more recent one of Chan and Cruse [3] should be
mentioned. Cruse and his co-workers developed a BE
approach for the analysis of two-dimensional (2-D)
crack problems in fully anisotropic bodies. Tan and
* Corresponding author. Tel.: 134-9544-87293; fax: 134-9544-87295.
E-mail address: asaez@cica.es (A. SaÂez).
0955-7997/01/$ - see front matter q 2001 Elsevier Science Ltd. All rights reserved.
PII: S 0955-799 7(01)00005-4
formulation for fully anisotropic 2-D problems. They
used quarter-point traction-singular crack-tip elements to
compute SIFs directly from the traction nodal values at
the crack-tip as done by MartõÂnez and DomõÂnguez [5] for
isotropic materials.
The ®rst 3-D BE formulation for fracture mechanics
in non-isotropic materials was presented by Ishikawa
[6]. This author studied crack problems in 3-D transver-
sely isotropic and fully anisotropic bodies. The approach
is based on the subdomain technique and the use of quarter-
point elements and transition elements placed next to them.
No singularity is introduced to represent the tractions at the
crack front.
More recently Saez et al. [7] have presented a BE
approach for static 3-D crack problems in transversely
isotropic solids based also on the displacement integral
equation and the subdomain technique. They use a quar-
ter-point nine-node element, previously developed by
Ariza et al. [8] for isotropic solids, to represent the
crack displacement variation and a singular quarter-
point nine-node element [8] for the singular tractions
next to the crack front. The singular shape functions
are obtained by dividing the quadratic shape functions
by the square root of the distance to the front. This fact
204 A. SaÂez, J. DomõÂnguez / Engineering Analysis with Boundary Elements 25 (2001) 203±210

constitutes one of the main differences with respect to these independent constants as
Ishikawa's approach [6], which contains a tractions repre- 0 1 0 1
sentation unable to reproduce the actual singular traction s 11 C11 C12 C13 0 0 0
distribution. B C B C
B s 22 C B C12 C11 C13 0 0 0 C
B C B C
An important amount of research work has also been B C B C
Bs C BC C13 C33 0 0 0 C
done on different BE approaches for 2-D and 3-D B 33 C B 13 C
B CˆB C
dynamic crack problems using the classical formulation B C B C
B s 23 C B 0 0 0 C44 0 0 C
in conjunction with multidomain methods [9,10] or B C B C
B C B C
B s 31 C B 0 0 0 0 C44 0 C
formulations based on the tractions integral representa- @ A @ A
tion [11±13]. Interesting reviews can be found in the s 12 0 0 0 0 0 …C11 2 C12 †=2
papers by Beskos [14] and Aliabadi [15]. Most work 0 1
has been carried out for isotropic media. To the authors' e11
knowledge there is not a previous 3-D BE formulation B C
B e22 C
for the analysis of dynamic fracture mechanic problems B C
B C
B e C
in anisotropic or transversely isotropic media. There B 33 C
exist only some integral equation formulations which B
B
C:
C …1†
B 2e23 C
can be integrated in a semi-analytical way for penny-shaped B C
B C
cracks [16,17]. B 2e31 C
@ A
In this paper, a general BE approach for the analysis 2e12
of 3-D dynamic fracture mechanics problems in trans-
versely isotropic media is presented. The approach is This relation becomes the well known isotropic material
based on the frequency domain formulation for trans- Hooke's law by letting: C11 ˆ C33 ˆ l 1 2m ; C44 ˆ m and
versely isotropic media recently presented by the C12 ˆ C13 ˆ l (l and m being Lame's constants).
authors in Ref. [18] combined with the subdomain tech- When the general dynamic equilibrium equation for
nique and with a special crack element [7,8]. This anisotropic solids is written in terms of displacements and
element was proved to be robust and to yield accurate solved for zero body forces and time-harmonic motion,
results for 3-D static problems in isotropic and transversely three types of plane waves are solution of the problem.
isotropic media. These waves are not purely longitudinal or purely transver-
sal. They are called quasi-longitudinal or quasi-transversal
as the displacements are dominated by their longitudinal or
2. Dynamic behavior of transversely isotropic solids transversal component. The material characteristic equation
de®nes three phase velocities for each direction n. The
A homogeneous elastic material is transversely isotropic representation of the three velocities for any direction
when it has symmetric properties in all the planes perpen- de®nes a surface of velocities with three leaves. In case of
dicular to a given direction (say x3). In this case, only ®ve transversely isotropic materials there is a separable leaf
material constants of the general Hooke's law are indepen- corresponding to purely transversal motions, the other two
dent. The constitutive equation can be written in terms of leaves being associated to quasi-longitudinal and

Fig. 1. Section of phase velocity surface for a graphite±epoxy composite.

 A. SaÂez, J. DomõÂnguez / Engineering Analysis with Boundary Elements 25 (2001) 203±210 205

quasi-transversal motions, respectively. Fig. 1 shows a x can be easily obtained as

section in the plane x2 ±x3 of the velocity surface for a
graphite±epoxy composite which can be modeled as trans- 2uplp …x; v†
pplk …x; v† ˆ Cjkpq hj : …5†
versely isotropic. 2xq
In the case of isotropic materials the phase velocities are
The solution to this problem for general anisotropic solids
the same in any direction n and only two different phase
was obtained by Wang and Achenbach [21] in 1995. They
velocities cL and cT ˆ cT1 ˆ cT2 exist. The associated displa-
used the Radon transform to reduce the 3-D system of
cements are purely longitudinal and purely transversal,
coupled partial differential equations to a 1-D system of
respectively. The phase velocity surface consists of two
coupled ordinary differential equations. This system is
concentric spheres. An extensive treatment of the propaga-
uncoupled by means of its eigenvectors and eigenvalues.
tion of waves in anisotropic and transversely isotropic elas-
The subsequent application of the inverse Radon transform
tic media can be found in the books of Musgrave [19] and
yields the displacement fundamental solution in terms of an
Payton [20].
integral over the surface of a unit sphere.
The static part of the solution can be written as a line
3. BE formulation integral over the circumference of a unit circle de®ned in
the plane perpendicular to the position vector x at the collo-
The displacement integral representation for time-harmo- cation point (Fig. 2)
nic problems in transversely isotropic elastic bodies is 1 Z
formally the same as for the isotropic case. The only change upS
lk …x† ˆ Alk …d† dL…d†; r ˆ uxu; …6†
8p2 r uduˆ1
in the BE formulation is presented by the fact that the funda-
mental solution corresponds to a unit point load in an in®- where d is the unit external normal to the circumference in
nite transversely isotropic domain. Thus, the basic integral its plane, and the Alk kernel for transversely isotropic solids
equation can be written as is given by
Z Z ( ! )
cilk uilk 1 pplk uk dG ˆ uplk pk dG; …2† dl dk MS 1 dlk
G G Alk …d† ˆ 2 S 1 S C44 ;
1 2 d32 QS L L
which relates the displacement components uk at a point i
with the boundary displacements uk and tractions pk, and the  
d d KS
fundamental solution displacements u lkp and tractions pplkp on A13 …d† ˆ A31 …d† ˆ 2k5 1 S3 C44 ; A33 …d† ˆ S C44 ;
Q Q
the boundary G due to a unit concentrated load at point i.
The independent coef®cient c lki ˆ dlk for internal points and l; k ˆ 1; 2;
cilk ˆ 0 for external points. The integrals in Eq. (2) are in the
sense of Cauchy principal value.
M S …d3 † ˆ k1 d32 1 …1 2 d32 †; K S …d3 † ˆ d32 1 k2 …1 2 d32 †;
After discretization and writing Eq. (2) for each boundary
node, a system of equations of the type
LS …dS † ˆ d32 1 k4 …1 2 d32 †;
Gp ˆ Hu …3†
is obtained; where G and H are system matrices obtained by QS …d3 † ˆ k1 d32 1 k3 d32 1 …1 2 d32 † 1 k3 d32 1 …1 2 d32 †2 ;
integration over the BE, and p and u are the nodal boundary
traction and displacement vectors, respectively. Eq. (3)
together with the boundary conditions, yield the solution
of the problem.

3.1. Fundamental solution

Consider a unit time-harmonic point load (with frequency

v ) applied at the origin of coordinates along the l cartesian
direction. The displacement at a point x along the k direction
can be written as

uplk …x; v† ˆ upS pR

lk …x† 1 ulk …x; v†; …4†
where upS
lk is singular and corresponds to the static funda-
mental solution, and upR
lk is a regular function which tends to
zero as v ! 0:
The tractions on a surface with unit normal h at the point Fig. 2. Geometry of unit sphere and e, x, n and d vectors.
206 A. SaÂez, J. DomõÂnguez / Engineering Analysis with Boundary Elements 25 (2001) 203±210

where Note that the phase velocities cm depend only on n3, as

expected.
k1 ˆ c33 ; k2 ˆ c11 ; k3 ˆ 1 1 k1 k2 2 …c13 1 1†;
The space derivatives needed for the computation of the
1 Cmn tractions (Eq. (5)) are
k4 ˆ …c 2 c12 †; k5 ˆ c13 1 1 with cmm ˆ :
2 11 C44 2 pR
u …x; v†
2xq lp
The derivatives of the static part of the solution needed for
the computation of tractions are
  i Z X3

2 pS 1 Z 2 ˆ ikm nq sign…n´x†Bm
lp …n; v† e
ikm un´xu
dS…n†:
ulp …x† ˆ 2 2 2 ei ´ {dq Alp …d†} dL…d†; 16p2 unuˆl mˆ1
2xq 8p r u duˆl 2di
…9†
…7†
The kernels in the integrals (8) and (9) are symmetric with
where e is a unit vector along the direction of x. The geome- respect to the plane n´x ˆ 0. Thus these integrals are
try of x, e and d can be seen in Fig. 2. reduced to integrals over a half sphere (n´x . 0).
The regular part of the displacements has the form of an To obtain the fundamental solution displacement and
integral over the surface of a unit sphere at the collocation traction values for each point of interest one has to evaluate
point (Fig. 2) expressions (6)±(9). The ®rst two contain an integral over a
i Z X3 circumference and the last two an integration over a unit
upR
lk …x; v† ˆ Bm
lk …n; v†e
ikm un´xu
dS…n†; …8† sphere. These integrations (the later in particular) are very
16p2 unuˆ1 mˆ1
time consuming if they are carried out in a straightforward
where n is the external unit normal to the unit sphere, manner [22]. However, a procedure [18] which reduces the
km ˆ v /cm is the wave number associated to the cm phase computation time drastically is used in the present paper; in
velocity in direction n and the kernels Bm lk are given by
particular, the unit sphere surface integrals contained in
( ) Eqs. (8) and (9) are transformed into line integrals.
n l nk M k m Once the fundamental solution displacements and trac-
Bm
lk …n; v† ˆ C44 ;
…1 2 n23 † C c2m tions can be computed at any point x, the evaluation of the
  integrals over the BE are done using a Gauss quadrature as
m m 1 km in the isotropic case. The integral of the fundamental solu-
B13 …n; v† ˆ B13 …n; v† ˆ 2k5 n1 n3 C ;
C c2m 44 tion displacements when the collocation point belongs to the
  integration element is done in the same way as in the isotro-
K km pic case. i.e. by subdivision of the element into triangles (see
Bm
33 …n; v† ˆ C ;
C c2m 44 Ref. [23]). The integrals of the static part of the fundamental
( ! ) solution tractions over the elements, which contain the
nl nk k singularity 1/r 2 as r ! 0; are avoided by using the rigid
B3lk …n; v† ˆ 2 2 dlk 32 C44 ;
…1 2 n23 † c3 solid motion condition to compute the corresponding
terms of the H matrix.
B313 …n; v† ˆ B331 …n; v† ˆ B333 …n; v† ˆ 0; l; k; m ˆ 1; 2;
where the three phase velocities are 4. 3-D crack elements
2 0:5
c1 ˆ {0:5…B 2 …B 2 4A† †}; The use of the classical displacements integral equation
based BE for crack problems requires of domain subdivi-
c2 ˆ {0:5…B 1 …B2 2 4A†0:5 †};
sion. Consequently, there are elements, which are on the
crack surface and have one side along the crack front and
c3 ˆ {k1 …1 2 n23 † 1 n23 }0:5 ;
elements of the internal subdivision boundary also having
with one side along the crack front. According to linear elastic
fracture mechanics, displacements
p and
p stresses near the
A…n3 † ˆ k1 n43 1 k3 n23 …1 2 n23 † 1 k2 …1 2 n23 †2 ; front of a crack have an r and …1= r† variation, respec-
tively, when the distance to the front r tends to zero. This
B…n3 † ˆ …k1 1 1†n23 1 …k2 1 1†…1 2 n23 †; kind of behavior appears not only in isotropic but also in
transversely isotropic solids. To have an adequate represen-
C…cm ; n3 † ˆ …k1 1 1†n23 1 …k2 1 1†…1 2 n23 † 2 2c2m ; tation of these displacements and stresses, a special nine-
node quadratic BE was developed [7,8] to be used in combi-
M…cm ; n3 † ˆ k1 n23 1 …1 2 n23 † 2 c2m ; nation with standard nine-node or six-node elements.
The special elements are located along the crack front.
K…cm ; n3 † ˆ n23 1 k2 …1 2 n23 † 2 2c2m : The ones inside the crack surface (non-singular traction) are
 A. SaÂez, J. DomõÂnguez / Engineering Analysis with Boundary Elements 25 (2001) 203±210
Fig. 3. Nine node quarter-point quadratic element.
quarter-point elements and those extending inside the
material are singular quarter-point elements. Both types of
elements have been successfully used for static problems in
isotropic and transversely isotropic materials. The quarter-
point element (Fig. 3) is a quadrilateral and has its nine
nodes on a plane. Each one of the nodes 4, 8 and 9 is located
on a straight line and at a distance of one quarter between 3
and 5, 1 and 7, and 2 and 6, respectively. Sides 1, 8, 7 and 3,
4, 5 are perpendicular to the line 1, 2, 3, which follows the
crack front. The distance between 1 and 7 is the same as
between 3 and 5. When these conditions are satis®ed the
displacement representation over the element can be written
as
p
uk ˆ a1k 1 a2k r=L 1 a3k …r =L†; …10†
where r is the distance to the crack front, L the element
width, and amk are polynomial functions of the nodal values
Fig. 4. Mesh for one-eighth of a cylinder with central penny-shaped crack.
207
of uk and the element coordinate j 1 along the crack front.
The displacement variation in that quarter-point element is
able to reproduce the displacement behavior in the proxi-
mity of the front of a crack in a transversely
p isotropic mate-
rial, which have a variation of the type r:
The singular quarter-point elements have one side along
the crack front and are part of the boundary extending
p inside
the material. They are able to represent the 1= r behavior of
the stress near the crack front and have the same geometry
and displacement representation as the quarter-point
elements. In the traction representation,
p the standard shape
functions are divided by 1= r=L: Thus, the variation with the
distance r to the crack front becomes
p p
p k ˆ a1k …1= r=L† 1 a 2k 1 a3k … r=L†; …11†
j
where a m
k are polynomial functions of the nodal values pk of
the traction representation, and the element coordinate j 1.
For instance, along the line between nodes 1 and 7 (Fig. 3)
Eq. (11) gives the variation of pk with the distance r to the
crack front, with a k1 ˆ p1k ; a2k ˆ 2p7k 1 4p8k 2 3p1k and a 3k ˆ
2p7k 2 4p8k : Therefore, the nodal values p1k represent, except
for a constant, the SIF values at node 1. The same can be
said with respect to nodes 2 and 3.
The integration over the quarter-point BE of the funda-
mental solution tractions or displacements times the shape
functions, is done numerically [9]. The singularities
contained in the transversely isotropic materials fundamen-
tal solution are of the same type as those in the isotropic
fundamental solution and the singularity contained in the
near crack tractions representation is also the same.
Some authors [24] have shown certain concern about the
ability of quarter-point elements topsatisfy the geometrical
conditions required to present the r=L displacement beha-
vior and at same time be able to reproduce non-straight
crack front geometries. It is important to mention that
such dif®culty appears in eight-node quarter-point elements
208 A. SaÂez, J. DomõÂnguez / Engineering Analysis with Boundary Elements 25 (2001) 203±210

[25] but not in the present nine-node element where the

presence of node 9 at one p quarter
 of the distance between
nodes 2 and 6 enforces the r=L behavior along the element
mid-line. Once the BE system of equations is solved, the SIF
for any point of the crack front can be easily computed from
the displacement values over the quarter-point elements on
the crack surface or from the traction nodal values along the
crack front side of the singular elements [7,8].

5. Applications

The above-presented formulation is general and allows

for the solution of dynamic fracture mechanics problems in
transversely isotropic materials. The solution of this type of
problems has been restricted to a few simple geometries in
the past and the number of applications existing in the litera-
ture is very small. In the following, in order to validate the
present approach, two problems concerning a penny-shaped
crack in a transversely isotropic body are analyzed and the
results compared with those obtained by other authors. In
the ®rst example, the penny-shaped crack is in an in®nite
transversely isotropic domain with the material axis of
symmetry x3 perpendicular to the crack surfaces. The
Fig. 5. Normalized COD. Quasi-isotropic material. Longitudinal wave.
crack is under the effects of longitudinal plane waves travel-
ing along the x3 axis. The load is actually applied to the BE
model as a pressure on the crack surface equal and opposite 2. a graphite±epoxy composite with elastic properties:
to those that would be produced by the incident ®eld in the C11 ˆ 13.92 GPa, C12 ˆ 6.92 GPa, C13 ˆ 6.44 GPa,
uncraked medium; i.e. the problem is solved in terms of the C33 ˆ 160.7 GPa, C44 ˆ 7.07 GPa and density
scattered ®eld (total ®eld minus incident ®eld) which satis- r ˆ 1578 kg/m 3.
®es the radiation conditions. The geometry of the BE mesh
used to solve the problem is shown in Fig. 4. It consists of The results obtained for the quasi-isotropic material are
155 quadratic elements: the four innermost rows of elements presented in Fig. 5. It shows the amplitude of the crack
corresponding to the crack surface. Six elements on one side opening displacement (COD) for different positions along
of the crack front are quarter-point and six, on the other side, the radius normalized with respect to the displacement at the
singular quarter-point. Due to the radial symmetry of the central point for a uniform static load of the same amplitude.
problem it was decided to consider only one eighth of the Values of the displacement are shown for three different
domain; in such a case there are three plane boundaries values of the excitation wave number: k T ˆ v…r=C44 †1=2 :
extending to in®nity where symmetry boundary conditions The computed values are compared with those obtained
are prescribed. These planes are discretized up to a distance
from the crack center point equal to ten times the crack
radius leaving the domain open to avoid spurious re¯ections
on any arti®cial boundary. Additional elements at a distance
from the wave scatterer greater than that value have a negli-
gible effect on the solution. Large, enclosing elements are only
used for the auxiliar integration of the static fundamental solu-
tion, in order to avoid integrals of singular kernels by using the
static rigid body condition. It should be mentioned that the idea
of leaving the BE mesh open in problems which satisfy the
wave radiation condition have been successfully used since
1978 [26]. Several papers have shown its applicability for two-
and 3-D wave propagation problems of different nature [27].
Two different materials are considered:

1. a quasi-isotropic material with a Poisson's ratio y ˆ 0.25;

and Fig. 6. Normalized COD. Graphite±epoxy composite. Longitudinal wave.
 A. SaÂez, J. DomõÂnguez / Engineering Analysis with Boundary Elements 25 (2001) 203±210
Fig. 7. Normalized COD. Quasi-isotropic material. Torsional wave.
by Budreck and Achenbach [28] and with those obtained by
Mal [29]. The three sets of results are in good agreement.
Results for the graphite±epoxy composite and the inci-
dent longitudinal wave are presented in Fig. 6. The COD Ð
normalized again with respect to the static value at the crack
central point Ð are plotted versus the position along the
radius. The results are also in good agreement with those
obtained by Kundu and Bostrom [16] using a semi-analyti-
cal approach.
The second application refers to the same geometry and
material properties as the ®rst one but in this case the exci-
tation is a torsional wave traveling along the material axis of
symmetry. This problem, together with the previous one is
one of the few dynamic fracture mechanics problems in 3-D
transversely isotropic solids for which results exist in the
literature.
The amplitude of the tangential COD for the quasi-isotro-
pic material is shown in Fig. 7 for two different values of the
excitation wave number. The COD has been normalized as
suggested by Mal [29]; 0.5 being the maximum value of the
static COD. The BE results agree well with those presented
by Mal [29] for this problem.
Finally, Fig. 8 shows the COD for the graphite±epoxy
Fig. 8. Normalized COD. Graphite±epoxy composite. Torsional wave.
209
composite and the incident torsional wave. The BEM results
are compared with those obtained by Kundu [17] using a
semi-analytical approach. In this case, the COD has been
normalized by the crack radius a and multiplied by a factor
of 1000 as suggested by Kundu. The agreement between the
present BE results and those obtained by Kundu is very
good.
The BE results for different excitation frequencies shown
in the ®gures have been selected taking into account other
results existing in the literature. COD values for other
frequencies are obtained without dif®culty.
6. Conclusions
A BE formulation using quadratic isoparametric
elements, quarter-point elements and singular quarter-
point elements for dynamic 3-D crack problems in transver-
sely isotropic solids has been successfully implemented and
presented in this paper.
The approach is based on the displacement integral repre-
sentation and a fundamental solution obtained by Wang and
Achenbach [21]. The ef®cient use of this solution in a BE
code was made possible after some transformations.
Solutions to 3-D crack problems in transversely isotropic
bodies have been presented. The numerical solutions
computed in the present study were shown to be in very
good agreement with those existing in the literature.
The proposed approach is robust and easy to implement.
The computed results are very accurate even with a rela-
tively small number of elements representing the crack and
its proximity.
Only simple geometries have been presented due to the
fact that the number of existing results for this type of
problems for comparison purposes is very small. Neverthe-
less, the BE tool presented is general and can be used for any
geometry.
Acknowledgements
This work was supported by the Comision Interminister-
ial de Ciencia y TecnologõÂa of Spain (PB96-1380 and PB96-
1322-C03-01). The ®nancial support is gratefully
acknowledged.
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