Chapter 3 Statically Determinate and Indeterminate Systems
3.1 Principles of Solid Mechanics
For a stable system, the following requirements must be met:
(1) Equilibrium of forces and moments, which directly relates to stresses.
(2) Compatibility of strains or displacements, which relates to deformation of geometry.
(3) Stress ~ strain relations of materials, which are linked by the physical properties of a
material.
3.2 Statically Determinate Systems
3.2.1 Definition of statically determinate systems
A statically determinate system is one that can be solved by force equilibrium only, that is, the
number of unknowns in the system, e.g., reactions and internal forces, equals the number of
equations available from force equilibrium.
Example 3-1
A stepped cylinder carries axial loads, as shown in the figure below. The diameters of bar B and
bar C are 25 mm and 50 mm, respectively. Find stresses in the two bars.
p = 5 MPa
60 mm
50 kN
B
Solution:
For bar B
f B = 50 kN
B =
fB
25
50 10 3
25
= 102 MPa (Tensile)
For bar C
fC + p
60
2
25
2
= 50 10 3
60
f C = 50 10 5
2
25
C =
fC
50
38320
50
= 38320 N
= 19.5 MPa (Tensile)
3.2.2 Typical thin-walled structures
(1) Thin-walled pressurized sphere
In this structure, stress can be assumed to be uniform through the wall thickness. Radial
stress r is assumed to be zero.
2R
t << R, typically t < 0.1 R
For force equilibrium, p R 2 = 2Rt ,
pR
then =
(Everywhere in the wall, in each direction)
2t
(2) Close-ended thin-walled pressurized cylinder
2R
t << R, typically t < 0.1 R
In this structure, hoop stress and axial stress l are assumed to be uniform through the wall
thickness. Radial stress r is assumed to be zero.
Consider force equilibrium in horizontal direction,
p R 2 = l 2Rt , l =
pR
(Longitudinal stress)
2t
Consider force equilibrium in vertical direction,
for the LHS of the equation, the force is area
times pressure. the area is a projected as a
rectangle because the horizontal components
cancel out
p 2 R l = 2 t l , =
= 2 l
for the RHS, it is multiplied by 2 because there are 2 hoop
stress components on either side. Unlike the longitudinal
stress which was over a full connected circle, here they
are not connected
pR
(Hoop stress or circumferential stress)
t
(3) Thin rotating ring
R
t
t << R, typically t < 0.1 R
Hoop stress is assumed to be uniform through the wall thickness and radial stress r is zero.
Consider force equilibrium of a differential element,
Fr
/2
Fr = 2 A sin
Cross-sectional area
The centrifugal force Fr is evaluated as
Fr = ( A R )R 2 ,
Since is small, sin
Material density
. Then = R 2 2
3.3 Statically Indeterminate Systems
A statically indeterminate system is one that cannot be solved by force equilibrium only, that is,
the number of unknowns in the system, e.g., reactions and internal forces, is greater than the
number of equations available from force equilibrium. In this case, deformation of geometry has
to be involved.
Example 3-2
A stepped bar is constrained between two walls with a total deformation , as shown below.
Determine the reaction force.
lb
la
R
Aa
Ab
Solution:
The internal forces of bar a and bar b are equal, that is,
fa = fb = R
= a + b
= a l a + b lb
= a l a + b lb
Ea
Eb
l f
l f
= a a + b b
E a Aa Eb Ab
=
la R
l R
+ b
E a Aa Eb Ab
=R
R=
la
l
+ b
E a Aa Eb Ab
E a Eb Aa Ab
l a Eb Ab + lb E a Aa
Example 3-3
A load P is applied on a rigid beam which is supported by two rods a and b, as shown in the
figure below. Find stresses in the rods.
C
l/2
P
l
Solution:
P 1.5l = f b l + f a 2l
Then 1.5 P = 2 f a + f b
fa and fb cannot be solved by force equilibrium only and deformation of the rods has to be
considered.
l
A
C
b
b = l and a = 2l , therefore a = 2 b
a = a and b = b
l
l
f
f
a = a and b = b
Aa
Ab
a = a E a and b = b Eb
Integrating the above relations, the following expression can be obtained.
fa
f
= 2 b , Aa and Ab are the cross-sectional areas of rod a and rod b, respectively.
Aa E a
Ab Eb
Thus 1.5 P = 4
Aa E a
+ 1 fb
Ab Eb
1.5 PAb Eb
3PAa E a
and f a =
4 Aa E a + Ab Eb
4 Aa E a + Ab Eb
f
3PE a
f
1.5 PEb
and b= b =
a= a =
Aa 4 Aa E a + Ab Eb
Ab 4 Aa E a + Ab Eb
fb =
Example 3-4
Cylinder a and rod b are made of different materials. They are fitted into rigid ends, as shown in
the figure below. When temperature changes by T, determine stresses in the cylinder and the
rod, respectively.
Cylinder a
Rod b
Solution:
The length changes of the cylinder and the rod will be different due to the different thermal
expansion of the materials. Thus one will be in tension and the other will be in compression.
Cylinder a
fa
fb
Rod b
fa
fa = fb
fa represents the total internal force in the cylinder and fb represents the total internal force in the
rod.
a Aa = b Ab
Since l a = lb and a = b , then a = b
a =
a
Ea
+ a T and b =
Therefore
a
Ea
+ a T =
Eb
Eb
+ b T
+ b T
a Aa
+ b T
Eb Ab
E a Eb Ab
a = ( b a )T
Eb Ab + E a Aa
E a Eb Aa
b = ( b a )T
Eb Ab + E a Aa
Ea
+ a T =
If a and b are negative, the cylinder expands more than the rod, then the former is in
compression and the latter in tension.
Example 3-5
A symmetrical frame consisting of three pin-connected steel bars (E = 200 GPa) is loaded by a
force P at the joint, see the figure below. The middle bar is 2 m long and its axial strain is
measured to be 0.008. The angle between the inclined bars and the horizontal is = 50.
Determine stress in the inclined bars.
Solution:
l
50
40
lB
2000
=
= 2610.8 mm
cos 40 cos 40
l ' = l B tan 40 = 2000 tan 40 = 1678.2 mm
lC =
l = l ' + (l B + 0.008l B ) = 1678.2 2 + (2000 + 0.008 2000 ) = 2623.1 mm
l = l lC = 2623.1 2610.8 = 12.3 mm
l
12.3
=
= 0.0047
=
lC 2610.8
2
= E = 0.0047 200 10 3 = 940 MPa
Example 3-6
A trimetallic bar is uniformly compressed by an axial force P = 2 kN applied through a rigid end
plate, as shown in the figure below. The bar consists of a circular steel core surrounded by a
brass tube and a copper tube. The steel core has diameter 10 mm, the brass tube has outer
diameter 12 mm, and the copper tube has outer diameter 15 mm, with the corresponding elastic
constant Es = 200 GPa, Eb = 100 GPa and Ec= 120 GPa. Calculate stresses in the steel, brass and
copper, respectively, due to the force P.
Solution:
P = f s + f b + f c , l s = lb = l c = l and s = b = c
fs
fb
f
l , b =
l and c = c l . Then
Es
As E s
Ab Eb
Ac E c
E A
E A
E A
E A
f b = f s b b and f c = f s c c , P = f s + f s b b + f s c c
E s As
E s As
E s As
E s As
s = s l =
10
As =
2
l=
= 78.5 mm2
2
Ab =
12
2
Ac =
15
2
2000 = f s 1 +
10
12
= 34.54 mm2
= 63.59 mm2
100 10 3 34.54 120 10 3 63.59
+
, f s = 1172 N
200 10 3 78.5
200 10 3 78.5
100 10 3 34.54
= 257.84 N
200 10 3 78.5
120 10 3 63.59
f c = 1172
= 569.6 N
200 10 3 78.5
f
1172
s = s =
= 14.93 MPa
As 78.5
f
257.84
= 7.46 MPa
b = b =
34.54
Ab
f
569.6
c = c =
= 8.96 MPa
Ac 63.59
f b = 1172
Example 3-7
A rigid triangular frame is pivoted at C and held by two identical horizontal wires at point A and
B, see the figure below. Each wire has axial rigidity EA = 120 klb and coefficient of thermal
expansion = 12.5 10 6 /F.
(1) If a vertical load P = 500 lb acts at point D, what are the tensile forces TA and TB in the wires
at A and B, respectively?
(2) If, while the load P is acting, both wires have their temperatures raised by 180F, what are
the forces TA and TB?
(3) What further increase in temperature will cause the wire at B to become slack?
10
Solution:
TA
Ry
TB
Rx
P
P 2b T A2b TB b = 0
2T A+TB = 2 P
A
B
b
, = 2 B
=
A 2b A
11
(1) A = A l =
A
E
l =
TAl
T l
, B = B l = B l = B
AE
E
AE
T A l 2TB l
, T A = 2TB
=
AE
AE
2
2
2(2TB ) + TB = 2 P , TB = P = 500 = 200 lb
5
5
T A = 2TB = 2 200 = 400 lb
Therefore
TAl
T l
+ T l and B = B + T l
AE
AE
TAl
2TB l
+ T l =
+ 2 T l
AE
AE
T A 2TB = E A T
2(2TB + E A T ) + TB = 2 P
2
2
TB = (P E A T ) = 500 120 10 3 12.5 10 6 180 = 92 lb
5
5
T A = 2TB + E A T = 2 92 + 120 10 3 12.5 10 6 180 = 454 lb
(2) A =
2
(P E A T ) = 0 , P = E A T .
5
500
P
Therefore T =
= 333.33 F
=
3
E A 120 10 12.5 10 6
(3) Set TB = 0 , then TB =
Further increase in temperature = 333.33F 180F = 153.33F
Example 3-8
The shaft assembly shown in the figure below consists of a steel rod A with Youngs modulus of
210 GPa, cross- sectional area of 150 mm2, and coefficient of thermal expansion of 6 10 6 /C, a
rigid bearing plate C that is securely fastened to bar A, and a bronze bar B with Youngs modulus
of 110 GPa, cross-sectional area of 250 mm2, and coefficient of thermal expansion of 9 10 6 /C,
A clearance of 0.5 mm exists between the bearing plate C and bar B before the assembly is
loaded.
(1) Determine the value of the applied force P to the bearing plate which just closes the gap
between the bearing plate C and bar B, and compute the stresses in bar A and bar B,
respectively.
(2) Under the applied load P, the assembly is heated from room temperature (20C) to 100C.
Determine the stresses in bar A and bar B, respectively.
12
Solution:
(1) A =
lA
0.5
= 6.25 10 4
800
A = A E A = 6.25 10 4 210 10 3 = 131.25 MPa
P = A AA = 131.25 150 = 19.688 10 3 N = 19.688 kN
B = 0
(2)
RA
P/2
P/2
RB
R B RA P = 0
f A= R A and f B= RB , thus f B f A = P
A =
A =
A
lA
EA
+ A T , B =
, B =
EB
+ B T ,
B
lB
13
Since A + B = 0 , A l A + B l B = 0
A
EA
+ A T l A +
B
EB
+ B T l B = 0
fB
fA
+ A T l A +
+ B T l B = 0
EB AB
E A AA
fA
fB
+ 9 10 6 80 200 = 0
+ 6 10 6 80 800 +
3
150 210 10
250 110 10 3
0.1268 f A + 0.0364 f B = 2640
Since f B f A = P = 19688 N, then
f A = 11785 N = 11.785 kN and f B = 31468 N = 31.468 kN
f
11785
= 78.53 MPa (Compressive stress)
A = A =
150
AA
f
31468
= 125.88 MPa (Compressive stress)
B = B =
250
AB
Example 3-9
A copper tube in the figure below is sealed by two rigid washers. After the nut is tightened by
1/8th of a turn of the thread, the components are in contact with each other. Find the stresses in
the bolt and in the copper tube. E s = 207 GPa and E c = 120 GPa.
200 mm
Copper tube Do = 25 mm
Di = 15 mm
180 mm
Pitch of thread 1 mm
Steel bolt 12 mm
Rigid washer
14
Solution:
Cylinder a
fc
fs
Rod b
fc
fc = fs
c Ac = s As
Assume that the deformation of copper tube is (compressive), and given that the axial
1
deformation of steel bolt is 1 = 0.125 mm (tensile), then the net increment in length of the
8
bolt is 0.125 .
s = s Es =
s Es
(0.125 ) 207 10 3
200
ls
E
c = c Ec = c c =
120 10 3
180
lc
(0.125 ) 207 10 3
200
12
2
180
120 10
3
25
2
15
, therefore
= 0.0448 mm
s =
(0.125 0.0448) 207 10 3 = 83
200
0.0448
120 10 3 = 30 MPa
c =
180
MPa
Example 3-10
In the figure below, a steel pipe (1) is attached to an aluminum pipe (2) at flange B. Both the
pipes are attached to rigid supports at A and C, respectively. Pipe (1) has a cross-sectional area of
A1 = 3600 mm2, an elastic modulus of E1 = 200 GPa, and an allowable normal stress of 160 MPa.
Pipe (2) has a cross-sectional area of A2 = 2000 mm2, an elastic modulus of E2 = 70 GPa, and an
allowable normal stress of 120 MPa. Determine the maximum load P that can be applied to
flange B without exceeding either allowable stress.
15
Solution:
P/2
f1
f2
P/2
f1 + f 2 P = 0
f1
f
and 2 = 2 = 2
E1
A1 E1
E 2 A2 E 2
fl
f l
1 = 1l1 = 1 1 and 2 = 2 l 2 = 2 2
A1 E1
A2 E 2
fl
f l
lAE
Since 1 + 2 = 0 , 1 1 + 2 2 = 0 , then f 2 = f1 1 2 2 .
A1 E1 A2 E 2
l 2 A1 E1
1 =
Therefore, f1 + f1
lAE
l1 A2 E 2
= P or f1 1 2 2 + 1 = P
l 2 A1 E1
l 2 A1 E1
f1 = 1 A1 and f 2 = 2 A2
Let 1 = 160 MPa,
lAE
l1 A2 E 2
1.8 10 3 2000 70 10 3
+ 1 = 7.2 10 5 N
+ 1 = 1 A1 1 2 2 + 1 = 160 3600
3
3
l 2 A1 E1
l 2 A1 E1
1.4 10 3600 200 10
= 720 kN
5
P 720 kN, in this case, f1 = 1 A1 = 160 3600 = 5.76 10 N = 576 kN,
f 2 = P f1 = 720 576 = 144 kN
f1
2 =
f 2 1.44 10 5
=
= 72 MPa < 120 MPa
A2
2000
f1 = f 2
l AE
l AE
l 2 A1 E1
, then f 2 2 1 1 + f 2 = P or f 2 2 1 1 + 1 = P
l1 A2 E 2
l1 A2 E 2
l1 A2 E 2
16
Let 2 = 120 MPa, then
l AE
l 2 A1 E1
1.4 10 3 3600 200 10 3
+ 1 = 1.2 10 6 N
+ 1 = 2 A2 2 1 1 + 1 = 120 2000
3
3
l1 A2 E 2
l1 A2 E 2
1.8 10 2000 70 10
= 1200 kN
5
P 1200 kN, in this case, f 2 = 2 A2 = 120 2000 = 2.4 10 N = 240 kN,
f2
f 1 = P f 2 = 1200 240 = 960 kN
1 =
f1 9.6 10 5
=
= 267 MPa > 160 MPa
A1
3600
Therefore, the maximum load P that can be applied to flange B without exceeding either
allowable stress is 720 kN.
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