Topic 2 Stresses in 3D Solids

MIET 1071 Solid Mechanics 3
Stresses in 3D Solids
Dr Hua Qian Ang (Vivian)
Senior Lecturer and Course Coordinator
huaqian.ang@rmit.edu.au
School of Engineering, STEM College, RMIT

Learning Outcomes
Matrix Transformation Law
Transform 3D stress tensor
Write the characteristic equation of a 3D stress tensor and determine:
Stress invariants and deviatoric invariants
Principal stresses
Absolute maximum shear stress

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Matrix Transformation Law
Physical elements are always three dimensional, it is desirable to consider three
planes and their associated stresses
Matrix Transformation Law is the preferred method for stress transformation of 3D

elements
l1 m1 n1 σxx σxy σxz l1 l2 l3
σ′ = I2 m2 n2 σyx σyy σyz m1 m2 m3
I3 m3 n3 σzx σzy σzz n1 n2 n3
σ′ = α T σ α
α is the transformation matrix. It is the function of the orientation of
the element at that point
T is the transpose of
α α matrix (a flipped version of α matrix)
σ′ is the new stress components σ is the original state of stress

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Matrix Transformation Law Derivation
Play video
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Transformation Matrix
l1 l2 l3
α = m1 m2 m3
n1 n2 n3
new axes
original axes
l1 = angle between x and x ′ x′ y′ z′
x Cos θ Cos θ Cos θ
l2 = angle between x and y ′
y Cos θ Cos θ Cos θ
l3 = angle between x and z ′ z Cos θ Cos θ Cos θ
Where θ is the magnitude of an angle
m1 = angle between y and x ′
between the 2 axes, angle direction
And so on… (clockwise or anticlockwise) is not
important
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Stresses in 3D Solids
Principal stresses
Failure analysis
of materials
Stress invariants
l1 m1 n1 σxx σxy σxz l1 l2 l3

σ′ = I2 m2 n2 σyx σyy σyz m1 m2 m3
I3 m3 n3 σzx σzy σzz n1 n2 n3
At every point in a stressed body, there are some important parameters:
Principal stresses. The corresponding normal stresses at an angle, θp at
which the shear stresses are 0.
Stress invariants. Quantities that are independent of the orientation of the
coordinate system. 8
Characteristic Equation Derivation
Play video
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Characteristic Equation
σ3 − I1 σ2 + I2 σ − I3 = 0 Stress invariants can be written
in terms of principal stresses:
Where:
I1 = σ1 + σ2 + σ3
I1 = σx + σy + σz
I2 = σ1 σ2 + σ2 σ3 + σ3 σ1
σx τxy σy τy𝑧 σx τxz
I2 = τ σy + τzy σz + τzx σz I3 = σ1 σ2 σ3
yx
I3 = σ
I1 , I2 and I3 are the same for different directions of coordinate systems at

different orientations at the same point. Therefore they are called the
stress invariants.
The characteristic equation has 3 real solution, and they are the 3 principal
stresses.
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Hydrostatic and Deviatoric Components
A stress tensor can be separated into two components
σxx σxy σxz σm 0 0 σxx − σm σxy σxz
σyx σyy σyz = 0 σm 0 + σyx σyy − σm σyz
σzx σzy σzz 0 0 σm σzx σzy σzz − σm
Total stress = Hydrostatic stress + Deviatoric stress
Non-rigid deformable body Dilation + Distortion
Hydrostatic stress is responsible for dilation, and it acts to change

the volume of the material only. Deviatoric stress is responsible for
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distortion, and it acts to change the shape only.
Hydrostatic Stress
σm 0 0
0 σm 0 1
Hydrostatic stress, σm = (σxx + σyy + σzz )
3
0 0 σm
Hydrostatic stress is the average stress of three

directions' stresses
Applications: Objects that are submerged or partially

submerged in a liquid will have hydrostatic stresses acting
on the surfaces in contact with the liquid
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Deviatoric Stress
σxx − σm σxy σxz

σyx σyy − σm σyz
σzx σzy σzz − σm
Applications:
Incompressible materials like glacier ice. These materials are
strong if loaded hydrostatically, but they fail when subjected to a
deviatoric load.
The cause of plastic deformation is the shearing of atomic
blocks on slip planes; therefore, deviatoric stress is the kind of
stress responsible for yielding.
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Deviatoric Invariants
σxx − σm = σ′x
σxx − σm σxy σxz
σyx σyy − σm σyz σyy − σm = σ′y
σ′ =
σzx σzy σzz − σm σzz − σm = σ′z
Shear stresses remain the
I1′ = σ′x + σ′y + σ′z same from original state of
stress
′
′
σ x τxy σ′y τyz σ′x τxz
I2 = ′ + ′ +
τyx σy τzy σz τzx σ′z σ′ = σ − σm
I3′ = σ′
Note that deviatoric first invariant is always 0, because hydrostatic

stress of a deviatoric stress tensor is zero!
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Absolute Maximum Shear Stress
σ1 −σ2
In-plane shear stress 1 =
2
σ2 −σ3
2
σ1 −σ3
2
Absolute maximum shear stress is the largest of these!
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References
Dieter, G.E. and Bacon, D., 1976. Mechanical metallurgy (Vol. 3). New York:
McGraw-hill.
Ugural, A.C. and Fenster, S.K., 2011. Advanced mechanics of materials and
applied elasticity. Pearson Education.
Homework
Attempt practice questions in lectorial worksheet
before attending lectorial !
Complete Topic 2 assignment questions !

16

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MIET 1071 Solid Mechanics 3

School of Engineering, STEM College, RMIT

Transform 3D stress tensor

Write the characteristic equation of a 3D stress tensor and determine:

Stress invariants and deviatoric invariants

Absolute maximum shear stress

Matrix Transformation Law is the preferred method for stress transformation of 3D

σ′ is the new stress components σ is the original state of stress

l1 m1 n1 σxx σxy σxz l1 l2 l3

I1 , I2 and I3 are the same for different directions of coordinate systems at

Total stress = Hydrostatic stress + Deviatoric stress

Non-rigid deformable body Dilation + Distortion

Hydrostatic stress is responsible for dilation, and it acts to change

Hydrostatic stress is the average stress of three

Applications: Objects that are submerged or partially

σxx − σm σxy σxz

Note that deviatoric first invariant is always 0, because hydrostatic

Absolute maximum shear stress is the largest of these!

Complete Topic 2 assignment questions !

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