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τ = shear stress, and For vessels with end caps, the axial stress is:
38
MECHANICS OF MATERIALS (continued)
When the thickness of the cylinder wall is about one-tenth The circle drawn with the center on the normal stress
or less, of inside radius, the cylinder can be considered as (horizontal) axis with center, C, and radius, R, where
thin-walled. In which case, the internal pressure is resisted
by the hoop stress and the axial stress.
2
Pr Pr σx + σ y ⎛ σx − σ y ⎞
σt = i and σa = i C= , R = ⎜⎜ ⎟ + τ 2xy
⎟
t 2t 2 ⎝ 2 ⎠
where t = wall thickness. The two nonzero principal stresses are then:
STRESS AND STRAIN σa = C + R
♦
Principal Stresses σb = C − R τin = R
(σy, τxy)
For the special case of a two-dimensional stress state, the
equations for principal stress reduce to
2
σx + σ y ⎛ σx − σ y ⎞
σ a ,σ b = ± ⎜⎜ ⎟ + τ 2xy
⎟
2 ⎝ 2 ⎠
σc = 0
(σx, τxy)
The two nonzero values calculated from this equation are
temporarily labeled σa and σb and the third value σc is
always zero in this case. Depending on their values, the
three roots are then labeled according to the convention:
algebraically largest = σ1, algebraically smallest = σ3, other The maximum inplane shear stress is τin = R. However, the
= σ2. A typical 2D stress element is shown below with all maximum shear stress considering three dimensions is
indicated components shown in their positive sense. always
σ1 − σ 3
♦ τ max = .
2
To construct a Mohr's circle, the following sign conventions
are used. Hooke's Law
Three-dimensional case:
εx = (1/E)[σx – v(σy + σz)] γxy = τxy /G
εy = (1/E)[σy – v(σz + σx)] γyz = τyz /G
εz = (1/E)[σz – v(σx + σy)] γzx = τzx /G
Plane stress case (σz = 0):
⎡ ⎤
εx = (1/E)(σx – vσy) ⎧σ x ⎫ ⎢1 v 0 ⎥ ⎧ε x ⎫
εy = (1/E)(σy – vσx) ⎪ ⎪ E ⎢v 1 0 ⎥ ⎪ε ⎪
⎨σ y ⎬ = 2 ⎢ ⎥⎨ y ⎬
εz = – (1/E)(vσx + vσy) ⎪τ ⎪ 1 − v ⎢0 0 1 − v ⎥ ⎪⎩γ xy ⎪⎭
⎩ xy ⎭
Mohr's Circle – Stress, 2D ⎣⎢ 2 ⎦⎥
To construct a Mohr's circle, the following sign conventions Uniaxial case (σy = σz = 0): σx = Eεx or σ = Eε, where
are used. εx, εy, εz = normal strain,
1. Tensile normal stress components are plotted on the σx, σy, σz = normal stress,
horizontal axis and are considered positive. γxy, γyz, γzx = shear strain,
Compressive normal stress components are negative.
τxy, τyz, τzx = shear stress,
2. For constructing Mohr's circle only, shearing stresses
are plotted above the normal stress axis when the pair of E = modulus of elasticity,
shearing stresses, acting on opposite and parallel faces G = shear modulus, and
of an element, forms a clockwise couple. Shearing v = Poisson's ratio.
stresses are plotted below the normal axis when the
shear stresses form a counterclockwise couple.
♦ Crandall, S.H. & N.C. Dahl, An Introduction to The Mechanics of Solids, McGraw-Hill Book Co.,
Inc., 1959.
39
MECHANICS OF MATERIALS (continued)
Coulomb-Mohr Theory where σ A and σ B are the two nonzero principal stresses and
The Coulomb-Mohr theory is based upon the results of σ x , σ y , and τ xy are the stresses in orthogonal directions.
tensile and compression tests. On the σ, τ coordinate system,
one circle is plotted for Sut and one for Suc . As shown in the VARIABLE LOADING FAILURE THEORIES
figure, lines are then drawn tangent to these circles. The
Modified Goodman Theory: The modified Goodman
Coulomb-Mohr theory then states that fracture will occur for
criterion states that a fatigue failure will occur whenever
any stress situation that produces a circle that is either
tangent to or crosses the envelope defined by the lines σa σm σ max
+ ≥1 or ≥ 1, σm ≥ 0 ,
tangent to the Sut and Suc circles. S e S ut Sy
τ
where
Se = fatigue strength,
Sut = ultimate strength,
σ1 Sut σ Sy = yield strength,
-Suc σ3
σa = alternating stress, and
σm = mean stress.
σmax = σm + σa
Soderberg Theory: The Soderberg theory states that a
If σ 1 ≥ σ2 ≥ σ3 and σ3 < 0, then the theory predicts that fatigue failure will occur whenever
yielding will occur whenever σa σm
σ1 σ3 + ≥1, σm ≥ 0
− ≥1 Se S y
Sut Suc
40
MECHANICS OF MATERIALS (continued)
Endurance Limit Modifying Factors: Endurance limit φ = total angle (radians) of twist,
modifying factors are used to account for the differences T = torque, and
between the endurance limit as determined from a rotating
L = length of shaft.
beam test, S e′ , and that which would result in the real part, Se.
T/φ gives the twisting moment per radian of twist. This is
Se = ka kb kc kd ke Se′ called the torsional stiffness and is often denoted by the
where symbol k or c.
b For Hollow, Thin-Walled Shafts
Surface Factor, ka = aSut
T
Surface Factor a Exponent τ= , where
2 Am t
Finish kpsi MPa b
Ground 1.34 1.58 –0.085 t = thickness of shaft wall and
Machined or 2.70 4.51 –0.265 Am = the total mean area enclosed by the shaft measured
CD to the midpoint of the wall.
Hot rolled 14.4 57.7 –0.718 BEAMS
As forged 39.9 272.0 –0.995 Shearing Force and Bending Moment Sign
Size Factor, kb: Conventions
For bending and torsion: 1. The bending moment is positive if it produces bending
of the beam concave upward (compression in top fibers
d ≤ 8 mm; kb = 1 and tension in bottom fibers).
−0.097
8 mm ≤ d ≤ 250 mm; kb = 1.189d eff 2. The shearing force is positive if the right portion of the
d > 250 mm; 0.6 ≤ kb ≤ 0.75 beam tends to shear downward with respect to the left.
For axial loading: kb = 1 ♦
Load Factor, kc:
kc = 0.923 axial loading, Sut ≤ 1,520 MPa
kc = 1 axial loading, Sut > 1,520 MPa
kc = 1 bending
Temperature Factor, kd:
for T ≤ 450°C, kd = 1
Miscellaneous Effects Factor, ke: Used to account for strength The relationship between the load (q), shear (V), and
reduction effects such as corrosion, plating, and residual moment (M) equations are:
stresses. In the absence of known effects, use ke = 1.
dV(x)
q ( x) = −
TORSION dx
Torsion stress in circular solid or thick-walled (t > 0.1 r) dM(x)
shafts: V =
dx
Tr
τ=
⎣ q ( x) ⎤⎦ dx
J x
V2 − V1 = ∫ x 2 ⎡−
1
where J = polar moment of inertia (see table at end of
M 2 − M1 = ∫ x 2 V ( x) dx
x
DYNAMICS section). 1
τφz = G γφz = Gr (dφ/dz) ♦ Timoshenko, S. and Gleason H. MacCullough, Elements of Strengths of Materials, K. Van Nostrand
Co./Wadsworth Publishing Co., 1949.
2
T = G (dφ/dz) ∫A r dA = GJ(dφ/dz)
T TL
φ = ∫ oL dz = , where
GJ GJ
41
MECHANICS OF MATERIALS (continued)
Wood (Fir)
Aluminum
d4y
Cast Iron
EI = dV(x)/dx = −q Material
dx 4
Units
Steel
42
Beam Deflection Formulas – Special Cases
(δ is positive downward)
y P
Pa 2
a b δmax δ= (3x − a ), for x > a Pa 2 Pa 2
6 EI δ max = (3L − a ) φ max =
x Px 2 6 EI 2 EI
δ= (− x + 3a ), for x ≤ a
L φmax 6 EI
y w
δmax
x
δ=
wo x 2 2
24 EI
(
x + 6 L2 − 4 Lx ) δ max =
wo L4
8EI
φ max =
wo L3
6 EI
L φmax
y
δmax M o x2 M o L2 MoL
δ= δ max = φ max =
x 2 EI 2 EI EI
M
L φmax
( )
43
P 32
y Pab(2 L − a )
a b δ=
Pb
6 LEI
⎡L
⎢ b (x − a ) − x + L − b
3 3 2 2
( )x⎤⎥ , for x > a δ max =
Pb L2 − b 2
φ1 =
⎣ ⎦ 9 3LEI 6 LEI
x Pab(2 L − b )
L δ=
Pb
6 LEI
[− x + (L
3 2 2
)]
− b x , for x ≤ a at x =
L2 − b 2 φ2 =
6 LEI
R1 = Pb/L R2 = Pa/L 3
y wo L3
w φ1 = φ 2 =
24 EI
x δ=
wo x 3
(
L − 2 Lx 2 + x 3 ) δ max =
5wo L4