2.

001 - MECHANICS AND MATERIALS I

Lecture #26
12/11/2006
Prof. Carol Livermore

Energy Methods

3 Basic Ingredients of Mechanics:

1. Equilibrium
2. Constitutive Relations
σ −  . . . Stress-Strain
F − δ Force-Deformation
3. Compatibility
Dealing with geometric considerations

Castigliano’s Theorem

Start with work:


W = F · ds

Conservative Forces:
EX: Gravity

1
 u = mgh ⇒ Potential Energy, Path Independent
  h
W = F · ds = mgdz = mgh
0
Note: Elastic systems are conservative.
Plastic deformation is not conservative.

EX: Springs

Energy = 1/2kδ 2
 δ  δ
1 2
W = P dδ = kδdδ = kδ
0 0 2

Stored Energy = Work Put In

U =W
What if the spring were stretched a little further?

2
 dU = P dδ
dU
P =
dδ

Complementary Energy (U ∗ )


∗
U = δdP

Note: U = U ∗ due to linearity

 U ∗ if this is non-linear
U=
What if the load were stretched a little further?

3
 dU ∗ = δdP
dU ∗
δ=
dP
Recall, for linear elastic material

dU
δ=
dP
Castigliano’s Theorem:
Express complementary energy in terms of the loads
Add up all the complementary energy stroed in all the pieces
Find displacement of given point from derivative of U ∗ with respect to P at
that point in that direction

Example: Linear Spring

 
P P2 k2 δ2 1
U∗ = δdP = dP = = = kδ 2
k 2k 2k 2
Example: Springs in series

F1 = F2 = P

 F12 F2 P2 P2
U= Ui = + 2 = +
i
2k1 2k2 2k1 2k2
Use Castigliano’s Theorem

U∗ P P
δ= = +
dP k1 k2

4
Find δ1 using Castigliano’s Theorem
Put a fictitous Pf to coinside with δ1


Fx = 0
−F1 + Pf + P = 0 ⇒ F1 = Pf + P
−F2 + P = 0 ⇒ F2 = P
F12 F2 (Pf + P )2 P2
U= + 2 = +
2k1 2k2 2k1 2k2
∂U Pf + P
δ1 = =
∂Pf k1
Recall Pf =0, so:

P
δ1 =
k1
dU Pf + P P
δ= = +
dP k1 k2
Pf = 0
So:

P P
δ= +
k1 k2
Note: This was done without doing compatibility explicitly.
Example Truss

5
  2
FAB F2
U= Ui = + BC
i
2kAB 2kBC
Equilibrium of B


Fx = 0
FAB − FBC sin θ = 0


Fy = 0
−P − FBC cos θ = 0
P = −FBC cos θ
−P
FBC =
cos θ
FAB = P tan θ

 2
(P tan θ)2 P 1
U= +
2kAB cos θ 2kBC

dU P tan2 θ P
−uB
y = = +
dP kAB cos2 θkBC
Strain Energy Density


W = F dδ

u= σd

This is useful in beam bending.

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Stored Energy in A Beaam (σxx , xx )

Total Energy Stored

  
U= dV σxx dxx
V 0
Recall:
For a beam:

σxx = Exx
For one material:
−M y
σxx =
I
Beam:

 
U = dV
σxx dxx
V  σxx
σxx dσxx
= dV
V 0 E
 2
σxx
= dV
V 2E
For one material:


M (x)2 2
U= y dV
V 2EI 2
So:

1
U= M (x)2 dx For special case of one material beam.
2EI a

7
Example:

M (x) = −P (L − x)
 L
1 P 2 L3
U= P 2 (L − x)2 dx =
2EI 0 6EI
dU P L3
δtip = =
dP 3EI