Introduction to Mechanics of deformable

bodies
Analysis of flexible drives
Example
In a test on an engine, a braking force is
supplied through a lever arm EF to a steel
brake CBAD which is in contact with half the
circumference of a 600mm diameter
flywheel. The brake band is 1.6mm thick and
50mm wide and is lined with a relatively soft
material which has a kinetic coefficient of
friction of f = 0.4 with respect to the rotating
flywheel. The operator wishes to predict
how much elongation there will be in the
section AB of the brake band when the
braking force is such that there is a tension of
40kN in the section BC of the band.
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 Introduction to Mechanics of deformable
bodies
1. Force equilibrium
 
 Fr  N  T sin  (T  T )sin 0 --- 1
2 2

 
N  T  (T  T ) 0  N  T  --- 2
2 2

 
 F  (T  T ) cos  T cos  f N  0 --- 3
2 2

(T  T )  T  f N  0  T  f N --- 4

From 2 & 4
T dT
T  fT    f    fd --- 5
T T

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 Introduction to Mechanics of deformable
bodies
At  = 0; T = TAD and  = π; T = TBC
TBC 
dT

TAD T
 f  d
0
--- 6

TBC
 e f --- 7
TAD

where e is the base of natural logarithms. TAD can be calculated by

substituting TBC = 40kN and f = 0.4 in equation 7.
Suppose, if we assume T1 is tension in tight side; T2 is tension in slack side and  is
angle of contact in radians, then equation 7 can be written in the following form
T1
 e f --- 8
T2

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 Introduction to Mechanics of deformable
bodies
2. Force-deformation relation
Consider the deflection of an small element of length R and cross-section
area A
TR  TR d
   d  --- 9
AE AE

3. Geometric compatibility
Total elongation of the brake band from A to B, AB, is the sum of the
tangential elongations of small elements of length R .
   
TR d
 AB 


0
d   AE
 0
--- 10

TAD R  f  TAD R f 
 AB 
AE 0  e d  
AEf
(e  1) --- 11

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 Introduction to Mechanics of deformable
bodies
Problem
A hawser from a ship is wrapped four times around a rotating
capstan as shown in the figure. The dockworker pulls with a force of
200 N. What is the maximum force the man can exert on the boat if
the coefficient of friction between the capstan and hawser is 0.3?

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 Introduction to Mechanics of deformable
bodies
Problem
A brake is designed as shown. A 25 x 1.5 mm steel band restrains the
wheel from turning when a 225 N-m torque is applied. The friction
coefficient is 0.4. Find the tensions T1 and T2 that just keep the
wheel from rotating.

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 Introduction to Mechanics of deformable
bodies
Statically indeterminate situations
These are the situations in which deformations must be considered
to determine forces.
Example
Figure shows the pendulum of a clock which has
a12N weight suspended by three rods of 760mm
length. Two of the rods are made of brass and the
third of steel. We wish to know how much of the
12N suspended weight is carried by each rod.
Take ES = 200GPa and EB = 100 Gpa.

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 Introduction to Mechanics of deformable
bodies
Solution
1. Force equilibrium:
 Fy  12  FS  2 FB  0 --- 1

2. Geometric compatibility:
S  B --- 2

3. Force-deformation relation:
FS LS FB LB
S  and B  --- 3
AS ES AB EB

From equations 1 to 3
FS  2.55N and FB  4.72 N

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 Combining (2) and (3),
AS ES LB
FS  FB ----- (4)
AB EB LS
(1.3) 2 (200)760
FS  2
FB  0.541FB
(2.5) (100)760
Combining (1) and (4), we find
FS  2.55 N
FB  4.72 N

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 Introduction to Mechanics of deformable
bodies
Problem
A square reinforce-concrete pier
0.3  0.3m in cross section and
1.2m high is loaded as shown in
the figure. The concrete is
strengthened by the addition of
eight vertical 25  25mm square
steel reinforcing bars placed
symmetrically about the vertical
axis of the pier. Find the stress
(force per unit area) in the steel
and concrete and the deflection.
Take EC = 17GPa and ES = 200GPa.
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 Introduction to Mechanics of deformable
bodies
ELASTIC ENERGY; CASTIGLIANO'S THEOREM
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

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 Introduction to Mechanics of deformable
bodies
Strain Energy:
Consider the elastic, but not necessarily
linear, spring in Fig (a). Let the spring
undergo a gradual elongation process
during which the external force F
remains in equilibrium with the internal
tension. The potential or strain energy
U associated with an elongation  is
defined to be the work done by F in this
process

U   Fd 
0

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 Introduction to Mechanics of deformable
bodies
Complementary Energy:
When the point of application of a variable force F undergoes a
displacement , the complementary work is done on the system.
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
U    dF
*
complementary energy. 0

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 Introduction to Mechanics of deformable
bodies
Castigliano’s theorem:
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.
U *

P

 For nonlinear systems, U  U*

 For linear systems, U = U*
1 1 2 1 F2
 Strain Energy of linear spring is U  F   k 
2 2 2 k

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 Introduction to Mechanics of deformable
bodies
 This chapter, we will consider application of castigliano’s
theorem only for linear elastic systems.
 For linear system, complementary energy is equal to the strain
energy.
 Let us consider a system, consists of N elastic elements. External
force Pi acting at point Ai. We wish to know the deflection of any
point Ai.
n
1 Fi 2
Total strain energy of the system is U 
i 1 2 ki

where Fi is the internal force induced in elastic member and it

should be expressed in terms of Pi

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 Introduction to Mechanics of deformable
bodies
 Deformation (i), at point Ai in the direction of Pi is given by
U
i 
Pi
Important
 If, we may wish to know deflection (may be in horizontal or
vertical or in any other direction) at a point where external force
is zero .
 In such case a fictitious force Q is to be considered at that point.
 Express internal forces in terms of Q.
 Deflection at that point in the direction of Q is given by U/Q
and setting Q = 0.
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 Introduction to Mechanics of deformable
bodies
Example
Consider the system of two springs shown in Figure and determine
the deflections using Castigliano's theorem.

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 Introduction to Mechanics of deformable
bodies
Solution
From equilibrium requirements, the spring forces (F1 and F2) are
expressed as
F1 = P1 + P2 & F2 = P2
The total elastic energy is given by
( P1  P2 ) 2 P2 2
U  U1  U 2  
2k1 2k 2

The deflections (1 and 2) are

U P1  P2 U P1  P2 P2
1   and 2   
P1 k1 P2 k1 k2

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 Introduction to Mechanics of deformable
bodies

Example
Figure shows a triangular
frame supporting a load of
20kN. Using Castigliano's
theorem, determine vertical
and horizontal deflection of
point D.

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 Introduction to Mechanics of deformable
bodies
Solution
 Vertical force say P is acting at point D
(P = 20kN).
 Horizontal force is zero at point D.
 Lets consider a fictitious force Q acting at
point D in horizontal direction as shown in
figure.
 Express FBD and FCD in terms of P and Q.

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 Introduction to Mechanics of deformable
bodies
From FBD of joint D,
 FY  0  FBD sin 45  P  FBD  2 P

 FX  0  Q  FCD  FBD cos 45  FCD  Q  P

Total strain energy, U of the system is

Q  P 
2 2 2 2
FBD F 2P
U  U BD  U CD   CD  
2k BD 2kCD 2k BD 2kCD
where kBD and kCD are stiffness of bar BD and CD
ABD  E 491 205  103
k BD    23.72  10 3
N / mm
LBD 3 2 10 3

ACD  E 3200  205 103

kCD    218.67  10 3
N / mm
LCD 3 103

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 Introduction to Mechanics of deformable
bodies
Vertical deflection of point D,
U 4P 2  P  Q 
VD    Setting P = 20kN and Q = 0
P 2k BD 2kCD

4  20 103 2   20 103  0 
VD    1.77mm
2  23.73 10 3
2  218.66 10 3

horizontal deflection of point D,

2  Q  P  2   0  20 10 
3
U
 HD   0   0.091mm
Q 2kCD 2  218.66 10 3

-ve sign indicates that the horizontal deflection of point D is in

opposite to the direction of Q i.e. rod CD gets compressed.

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 Introduction to Mechanics of deformable
bodies

Problem
A very stiff horizontal member is supported
by two vertical steel rods of different cross
section area and length. If a vertical load of
120kN is applied to the horizontal beam at
point B, estimate the vertical deflection of
the point B.

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 For the truss shown in Fig, determine

(a) Forces (in kN) and their nature in each member of the truss. Tabulate the results

(b) Horizontal displacement in mm of point B using Castigliano’s Theorem.

Each steel (E = 200 GPa) member has a cross sectional area of 400 mm2.
Fig. Q.2

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