2 El Tensor de Tensión

CONTINUUM
MECHANICS
FOR ENGINEERS
14/02/2021 Dr. Luis Mosquera L. 1

Stress Principles
In continuum mechanics a body is considered stress

free if the only forces present are those inter-atomic
forces required to hold the body together.

The Stress tensor
Body and surface forces,mass density
Those forces acting on all volume elements, and are distributed

throughout the body, are known as body forces:
bi (force per unit mass)
pi (force per unit volume)
Those forces which act upon, and are distributed in some fashion
over a surface element of the body, regardless of whether that
element is part of the bounding surface, or an arbitrary element of
surface within the body, are called surface forces fi.

Density
∆𝑚
𝜌𝑎𝑣𝑒 =
∆𝑣
𝑑𝑚
𝜌=
𝑑𝑣
𝜌b = p
Of course, the density is, in general, a scalar function of position and time as
indicated by: 𝜌 = 𝜌 𝑥𝑖 , 𝑡 , and thus may vary from point to point within a
given body.

Cauchy Stress Principle
Consider a homogeneous, isotropic material body having a bounding surface
S, and a volume V, which is subjected to arbitrary surface forces fi and body
forces bi. Let P be an interior point and a plane surface 𝑆 ∗ passing through
point P (cutting plane).

The Cauchy stress principle asserts that in the limit as the area 𝑆 ∗ shrinks
to zero with P remaining an interior point, we obtain:
∆𝑓𝑖 𝑑𝑓𝑖 (𝑛 )
lim = = 𝑡𝑖
∆𝑆 ∗ →0 ∆𝑆 ∗ 𝑑𝑆 ∗
and
∆𝑀𝑖
lim =0
∆𝑆 ∗ →0 ∆𝑆 ∗
(𝑛)
The vector 𝑡𝑖 is called the stress vector, or sometimes the traction vector
For the infinity of cutting planes imaginable through point P, each identified
(𝑛)
by a specific 𝑛,
ෝ there is also an infinity of associated stress vector 𝑡𝑖 for a
(𝑛)
given loading of the body. The totality of pairs 𝑡𝑖 defines the state of stress
at that point.
We have made the assumption that in the limit at P, the moment vector
vanishes, and there is no remaining concentrated moment, or couple stress
as it is called.
By applying Newton’s law:
(𝑛 ) 𝑑
𝑡𝑖 𝑑𝑆 + 𝜌𝑏𝑖 𝑑𝑣 = 𝜌𝑣𝑖 𝑑𝑣
𝑆𝐼 𝑣𝐼 𝑑𝑡 𝑣𝐼
(𝑛 ) 𝑑
𝑆𝐼𝐼 𝑣𝐼𝐼 𝑑𝑡 𝑣𝐼𝐼
Where SI y SII are the bounding surfaces and VI and VII are the volumes of
portions I and II, respectively. Also, vi is the velocity field for the two portions.

The linear momentum principle may also be applied to the body as a whole,
so that:
(𝑛 ) 𝑑
𝑆 𝑣 𝑑𝑡 𝑣
Where, 𝑡𝑖
(𝑛 )
+ 𝑡𝑖
(−𝑛 )
𝑑𝑆 = 0
𝑆∗
(𝑛 ) (−𝑛 )
Which means that: 𝑡𝑖 = −𝑡𝑖

The Stress Tensor
The Cauchy stress principle associates with each direction 𝑛 at point P a stress
(𝑛)
vector 𝑡𝑖 :
These three stress vectors associated with the coordinate planes are expressed by:
(𝑒 𝑖 ) (𝑒 𝑖 )
𝑡 = 𝑡𝑗 𝑒𝑗

For deducir an expression for the coordinate components of the stress
vector at P associated with an arbitrarily oriented plane, we consider the
equilibrium of a small portion of the body:
𝑛 = 𝑛𝑖 𝑒𝑖
𝑛 is perpendicular to the base ABC

If the area of the base is assigned the value dS, the areas of the respective
faces will be the projected areas:
𝑒𝑖
𝑑𝑆𝑖 = 𝑑𝑆 cos⁡
(𝑛, 𝑒𝑖 )
𝑛
for BPC 𝑑𝑆1 = 𝑛1 𝑑𝑆
for CPA 𝑑𝑆2 = 𝑛2 𝑑𝑆
for APB 𝑑𝑆3 = 𝑛3 𝑑𝑆
Equilibrium requires the vector sum of all forces acting on the tetrahedron to
be zero, that is, for,
∗ (𝑛 ) (𝑒 1 ) (𝑒2 ) (𝑒3 )
𝑡𝑖 𝑑𝑆 − ∗𝑡𝑖 𝑑𝑆1 − ∗𝑡𝑖 𝑑𝑆2 − ∗𝑡𝑖 𝑑𝑆3 + 𝜌∗ 𝑏𝑖 𝑑𝑣 = 0
∗ (𝑛 ) ∗ 𝑒𝑗
𝑡𝑖 𝑑𝑆 − 𝑡𝑖 𝑛𝑗 𝑑𝑆 + 𝜌∗ 𝑏𝑖 𝑑𝑣 = 0
∗ (𝑛 ) ∗ 𝑒𝑗
𝑡𝑖 𝑑𝑆 − 𝑡𝑖 𝑛𝑗 𝑑𝑆 + 𝜌∗ 𝑏𝑖 𝑑𝑣 = 0
The volume of the tetrahedron is given by

1
𝑑𝑣 = 3 h dS
∗ (𝑛 ) ∗ 𝑒𝑗 1 ∗
Where, 𝑡𝑖 = 𝑡𝑖 𝑛𝑗 − 𝜌 𝑏𝑖 ℎ
3
Taking the limit as h → 0

(𝑛 ) 𝑒𝑗
𝑡𝑖 = 𝑡𝑖 𝑛𝑗

𝑒𝑗
defining 𝑡𝑗𝑖 ≡ 𝑡𝑖 , then,
(𝑛 )
𝑡𝑖 = 𝑡𝑗𝑖 𝑛𝑗 𝑜𝑟 𝑡 (𝑛 ) = 𝑛. 𝑇
Stress as a Tensor
𝑒𝑗
The quantities 𝑡𝑗𝑖 ≡ 𝑡𝑖
are the components of a second order tensor T know as the stress
tensor.
Since 𝑡 (𝑛) can be expressed in terms of its components in either coordinate system,
𝑡 (𝑛 ) = 𝑡𝑗𝑖 𝑛𝑗 𝑒𝑖 = 𝑡𝑗𝑖′ 𝑛𝑗′ 𝑒𝑖′

as, 𝑒𝑖′ = 𝑎𝑖𝑗 𝑒𝑗 , and, 𝑛𝑗′ = 𝑎𝑗 𝑠 𝑛𝑠
Then, 𝑡𝑠𝑟 − 𝑎𝑗𝑠 𝑎𝑖𝑟 𝑡𝑗𝑖′ 𝑛𝑠 𝑒𝑟 = 0
Because the vectors 𝑒𝑟 are linearly independent, we see that:
𝑡𝑠𝑟 = 𝑎𝑗𝑠 𝑎𝑖𝑟 𝑡𝑗𝑖′
That is the transformation equation for a second-order tensor
Also, we see that if know the stress vectors on the three coordinate planes
of any cartesian system at P, or equivalently, the nine stress tensor
components tji at that point, we can determine the stress vector for any
plane at that point.

𝑡 (𝑛 ) = 𝑛. 𝑇
In the matrix form:
𝑡11 𝑡12 𝑡13
(𝑛 ) (𝑛 ) (𝑛 )
𝑡1 𝑡2 𝑡3 = 𝑛1 𝑛2 𝑛3 𝑡21 𝑡22 𝑡23
𝑡31 𝑡32 𝑡33
The nine components of tij are often displayed by arrows on the coordinate
faces of a rectangular parallelpiped, as shown in the figure:

Example: Let the components of the stress tensor at P be given in matrix form by
21 −63 42
𝑡𝑖𝑗 = −63 0 84
42 84 −21
In units of mega-Pascals. Determine:
(a) The stress vector on the plane at P having the unit normal
1
𝑛= (2𝑒1 − 3𝑒2 + 6𝑒3 )
7
(b) The stress vector on a plane at P parallel to the plane ABC

shown in the sketch

Solution
(a)
(𝑛 ) (𝑛 ) (𝑛 ) 2 3 6 21 −63 42
𝑡1 𝑡2 𝑡3 = − −63 0 84 = 69 54 −42
7 7 7 42 84 −21
(b) The equation of the plane ABC is 2𝑥1 + 2𝑥2 + 𝑥3 =2, and the unit outward
1
normal to this plane is 𝑛= (2𝑒1 + 2𝑒2 + 𝑒3 ) so that,
3
(𝑛 ) (𝑛 ) (𝑛 ) 2 2 1 21 −63 42
𝑡1 𝑡2 𝑡3 = −63 0 84 = −14 −14 77
3 3 3 42 84 −21

Stress Tensor Symmetry
Consider a material body having a volume V and a bounding surface S. Let the
body be subjected to surface tractions 𝑡𝑖(𝑛 ) and body forces bi, as shown by
figure:
As before, we exclude concentrated body moments from consideration.

Equilibrium requires that
(𝑛 )
𝑡𝑖 𝑑𝑆 + 𝜌𝑏𝑖 𝑑𝑣 = 0
𝑆 𝑣
(𝑛 )
𝑡𝑖 𝑑𝑆 = 𝑡𝑗𝑖 𝑛𝑗 𝑑𝑆 = 𝑡𝑗𝑖 ,𝑗 𝑑𝑣
𝑆 𝑆 𝑣
So that
(𝑡𝑗𝑖 ,𝑗 + 𝜌𝑏𝑖 )𝑑𝑣 = 0

𝑣
This equation must be valid for an arbitrary volume V
→ 𝑡𝑗𝑖 ,𝑗 + 𝜌𝑏𝑖 = 0

In addition to the balance of forces, equilibrium requires that the summation
of moments with respect to an arbitrary point must also be zero. Therefore,
taking the origin of coordinates as the center for moments, express the
balance of moments for the body as a whole by
(𝑛 )
𝜀𝑖𝑗𝑘 𝑥𝑗 𝑡𝑖 𝑑𝑆 + 𝜀𝑖𝑗𝑘 𝑥𝑗 𝜌𝑏𝑖 𝑑𝑣 = 0
𝑆 𝑣
(𝑛 )
As before, using 𝑡𝑘 = 𝑡𝑞𝑘 𝑛𝑞 and Gauss’s divergence theorem, obtain
𝜀𝑖𝑗𝑘 𝑥𝑗 ,𝑞 𝑡𝑞𝑘 + 𝑥𝑗 (𝑡𝑞𝑘 ,𝑞 + 𝜌𝑏𝑘 ) 𝑑𝑣 = 0

𝑣
But,
𝑥𝑗 ,𝑞 = 𝛿𝑗𝑞 and 𝑡𝑘𝑞 ,𝑘 + 𝜌𝑏𝑘 = 0

Then,
𝜀𝑖𝑗𝑘 𝑡𝑗 𝑘 𝑑𝑣 = 0
𝑣
Again, since volume V is arbitrary,
𝜀𝑖𝑗𝑘 𝑡𝑗 𝑘 = 0
By a direct expansion of this equation, we obtain
𝑡𝑗 𝑘 = 𝑡𝑘𝑗

Stress transformation laws
𝑡𝑖𝑗′ = 𝑎𝑖𝑞 𝑡𝑞𝑚 𝑎𝑗𝑚 𝑜𝑟 𝑇 ′ = 𝐴𝑇𝐴𝑇

Example: Let the stress components (in Mpa) at point P with respect to axes P
X1X2X3 be expressed by the matrix
1 3 2
𝑡𝑖𝑗 = 3 1 0
2 0 −2
And let the primed axes 𝑃𝑥 ′ 𝑥 ′ 𝑥 ′ be obtained by a 45° counterclockwise

1 2 3
rotation about the x3 axis. Determine the stress components 𝑡𝑖𝑗′

solution
𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃 0
𝑎𝑖𝑗 = −𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 0
0 0 1
𝑇 ′ = 𝐴𝑇𝐴𝑇
4 0 2
𝑡𝑖𝑗′ = 0 −2 − 2
2 − 2 −2

Principal Stresses; Principal Stress Directions
For certain special directions at P, the stress vector does indeed act in the
direction of ni , thus, for such directions
(𝑛 )
𝑡𝑖 = 𝜎 𝑛𝑖
Directions designated by ni are called principal stress directions, and the

scalar σ is called a principal stress value of tij. Formulating the eigenvalue
problem for the stress tensor
𝑡𝑖𝑗 𝑛𝑗 − 𝜎𝛿𝑖𝑗 𝑛𝑗 = 0

For non-trivial solutions
𝑡𝑖𝑗 − 𝛿𝑖𝑗 𝜎 = 0
𝑥1 𝑥2 𝑥3
𝑥1∗ 𝑎11 = 𝑛1
(1)
𝑎12 = 𝑛2
(1) (1)
𝑎13 = 𝑛3
𝑥2∗ (2)
𝑎21 = 𝑛1
(2)
𝑎22 = 𝑛2
(2)
𝑎23 = 𝑛3
𝑥3∗ (3)
𝑎31 = 𝑛1
(3)
𝑎32 = 𝑛2
(3)
𝑎33 = 𝑛3
Example: The components of the stress tensor at P are given in MPa
with respect to axes P X1 X2 X3 by the matrix
57 0 24
𝑡𝑖𝑗 = 0 50 0
24 0 43
determine the principal stresses and the principal stress directions at P

Solution:
4Τ5 0 3Τ5
A= 0 1 0
−3Τ5 0 4Τ5
4Τ5 0 3Τ5 57 0 24 4Τ5 0 −3Τ5

𝑇′ = 0 1 0 . 0 50 0 . 0 1 0
−3Τ5 0 4Τ5 24 0 43 3Τ5 0 4Τ5
75 0 0
𝑇′ = 0 50 0
0 0 25

Maximum and Minimum Stress Values
(𝑛 )
The stress vector 𝑡𝑖 on an arbitrary plane at P may be resolved into a component
normal to the plane having a magnitude 𝜎𝑁 , along with a shear component which acts
in the plane and has a magnitude 𝜎𝑆
𝜎𝑁 is given by the dot product, 𝜎𝑁 = 𝑡 (𝑛 ) 𝑛𝑖

𝑖
As, (𝑛 )
𝑡𝑖 = 𝑡𝑖𝑗 𝑛𝑗
It follows that, 𝜎𝑁 = 𝑡𝑖𝑗 𝑛𝑖 𝑛𝑗 𝑜𝑟 𝜎𝑁 = 𝑡 (𝑛 ) . 𝑛
𝜎𝑆2 = 𝑡 (𝑛 ) . 𝑡 (𝑛 ) − 𝜎𝑁2

We may use the Lagrangian multiplier method to obtain extremal values of 𝜎𝑁
𝑓(𝑛𝑖 ) = 𝑡𝑖𝑗 𝑛𝑖 𝑛𝑗 − 𝜎(𝑛𝑖 𝑛𝑖 − 1)
The method requires that,
𝜕𝑓
= 𝑡𝑖𝑗 𝛿𝑖𝑘 𝑛𝑗 + 𝛿𝑗 𝑘 𝑛𝑖 − 𝜎(2𝑛𝑖 𝛿𝑖𝑘 ) = 0
𝜕𝑛𝑘
This equation reduces to

𝑡𝑖𝑗 − 𝜎𝛿𝑖𝑗 𝑛𝑗 = 0
Therefore , we conclude that the Lagrangian multiplier σ assumes the role of a

principal stress and, that the principal stresses include both the maximum and
minimum normal stress values.

Let the principal stresses be ordered in the sequence σI > σII > σIII so that
𝑡 (𝑛 ) = 𝑇. 𝑛 = 𝜎𝐼 𝑛1 𝑒1∗ + 𝜎𝐼𝐼 𝑛2 𝑒2∗ + 𝜎𝐼𝐼𝐼 𝑛3 𝑒3∗
𝜎𝑁 = 𝑡 (𝑛 ) . 𝑛 = 𝜎𝐼 𝑛12 + 𝜎𝐼𝐼 𝑛22 + 𝜎𝐼𝐼𝐼 𝑛32
𝜎𝑆2 = 𝑡 (𝑛 ) . 𝑡 (𝑛 ) − 𝜎𝑁2
𝜎𝑆2 = 𝜎𝐼2 𝑛12 + 𝜎𝐼𝐼2 𝑛22 +𝜎𝐼𝐼𝐼
2 2
𝑛3 − 𝜎𝐼 𝑛12 + 𝜎𝐼𝐼 𝑛22 + 𝜎𝐼𝐼𝐼 𝑛32 2
𝑛32 = 1 − 𝑛12 − 𝑛22

⇉
2
𝜎𝑆2 = (𝜎𝐼 − 𝜎𝐼𝐼𝐼 )𝑛12 + (𝜎𝐼𝐼2 − 𝜎𝐼𝐼𝐼
2 ) 2 2
𝑛2 + 𝜎𝐼𝐼𝐼 − (𝜎𝐼 − 𝜎𝐼𝐼𝐼 )𝑛12 + 𝜎𝐼𝐼 − 𝜎𝐼𝐼𝐼 𝑛22 + 𝜎𝐼𝐼𝐼
To obtain the extremal values of 𝜎𝑆2 , we must equate the derivatives of the right-hand
side of this equation with respect to both n1 and n2 to zero, and solve simultaneously.

Obtaining the extremal values:
1 1 1
𝑛1 = 0, 𝑛2 = ± , 𝑛3 = ± ; 𝜎𝑆 = 𝜎𝐼𝐼 − 𝜎𝐼𝐼𝐼
2 2 2
1 1 1
𝑛1 = ± , 𝑛2 = 0, 𝑛3 = ± ; 𝜎𝑆 = 𝜎𝐼𝐼𝐼 − 𝜎𝐼
2 2 2
1 1 1
𝑛1 = ± , 𝑛2 = ± , 𝑛3 = 0; 𝜎𝑆 = 𝜎𝐼 − 𝜎𝐼𝐼
2 2 2
It is clear that because 𝜎𝐼 > 𝜎𝐼𝐼 > 𝜎𝐼𝐼𝐼 , the largest shear stress value is
1
𝜎𝑆𝑚𝑎𝑥 = 𝜎𝐼𝐼𝐼 − 𝜎𝐼
2

Example: The state of stress at point P is given in MPa with respect to axes X1X2X3
by the matrix
25 0 0
𝑡𝑖𝑗 = 0 −30 −60
0 −60 5
(a) Determine the stress vector on the plane whose unit normal is
1
𝑛 = (2𝑒1 + 𝑒2 + 2𝑒3 )
3
(b) Determine the normal stress component 𝜎𝑁 and shear component 𝜎𝑆

on the same plane.

Solution:
2
3
(a) (𝑛)
𝑡1 25 0 0
(𝑛) 1 1 50
𝑡2 = 𝑡𝑖𝑗 𝑛𝑗 = 0 −30 −60 3 = −150
3
(𝑛)
𝑡3
0 −60 5 −50
2
3
2
3
2 1 2 25 0 0 1 150
(b) 𝜎𝑁 = 0 −30 −60 3 =− 𝑀𝑃𝑎
3 3 3 0 −60 9
5
2
3
𝜎𝑆2 = 𝑡 (𝑛 ) . 𝑡 (𝑛 ) − 𝜎𝑁2 = 2777 𝑀𝑃𝑎2

Mohr’s Circles for Stress
It provides a graphic means for the transformation of a second order tensor. In

three dimensions, the convenience and simplicity of Mohr’s circle to transform
stress components to an arbitrary reference frame vanishes.
Consider the state of stress at P

referenced to principal axes:
𝑡 (𝑛 ) = 𝑇. 𝑛 = 𝜎𝐼 𝑛1 𝑒1∗ + 𝜎𝐼𝐼 𝑛2 𝑒2∗ + 𝜎𝐼𝐼𝐼 𝑛3 𝑒3∗
𝜎𝑁 = 𝑡 (𝑛 ) . 𝑛 = 𝜎𝐼 𝑛12 + 𝜎𝐼𝐼 𝑛22 + 𝜎𝐼𝐼𝐼 𝑛32
𝜎𝑁2 + 𝜎𝑆2 = 𝜎𝐼2 𝑛12 + 𝜎𝐼𝐼2 𝑛22 + 𝜎𝐼𝐼𝐼

2 2
𝑛3
𝑛12 + 𝑛22 + 𝑛32 = 1

Solving these equations, we obtain
(𝜎𝑁 − 𝜎𝐼𝐼 )(𝜎𝑁 − 𝜎𝐼𝐼𝐼 ) + 𝜎𝑆2

𝑛12 =
(𝜎𝐼 − 𝜎𝐼𝐼 )(𝜎𝐼 − 𝜎𝐼𝐼𝐼 )
( )( ) 2
𝜎𝑁 − 𝜎𝐼𝐼𝐼 𝜎𝑁 − 𝜎𝐼 + 𝜎𝑆
𝑛22 =
(𝜎𝐼𝐼 − 𝜎𝐼𝐼𝐼 )(𝜎𝐼𝐼 − 𝜎𝐼 )
(𝜎𝑁 − 𝜎𝐼 )(𝜎𝑁 − 𝜎𝐼𝐼 ) + 𝜎𝑆2

𝑛32 =
(𝜎𝐼𝐼𝐼 − 𝜎𝐼 )(𝜎𝐼𝐼𝐼 − 𝜎𝐼𝐼 )
representing conjugate pairs of 𝜎𝑁 , 𝜎𝑆 values, which satisfy these equations, as a

point in the stress plane having 𝜎𝑁 as absicca and 𝜎𝑆 as ordinate.
Of the first equation, we note that
(𝜎𝑁 − 𝜎𝐼𝐼 )(𝜎𝑁 − 𝜎𝐼𝐼𝐼 ) + 𝜎𝑆2 ≥ 0

For the case where the equality sign holds, this equation may be rewritten , to read
2 2
1 1
𝜎𝑁 − (𝜎𝐼𝐼 + 𝜎𝐼𝐼𝐼 ) + 𝜎𝑆2 = (𝜎𝐼𝐼 − 𝜎𝐼𝐼𝐼 )
2 2
Which is the equation of the circle C1. The pairs of values 𝜎𝑁 and 𝜎𝑆 which satisfy
the inequality result in stress points having coordinates exterior to circle C1.
Following the same general procedure, we extract the equations of the circles C2
and C3 . The tree circles are called Mohr’s circles for stress.

All possible pairs values of 𝜎𝑁 and 𝜎𝑆 lie on these circles or between the areas
enclosed by them. In addition, it is clear from the Mohr’s circles diagram that the
maximum shear stress value at P is the radius of circle C2 .
In order to relate a typical stress point having coordinates 𝜎𝑁 and 𝜎𝑆 in

the stress plane:
Sobre BC, α=π/2
F n∗ = (cosα, cosβ, cosγ)

Example:
The state of stress at point P is given in Mpa with respect to axes Px1x2x3 by the
matrix
25 0 0
𝑡𝑖𝑗 = 0 −30 −60
0 −60 5
(a) Determine the stress vector on the plane whose unit normal is
1
𝑛= (2𝑒1 + 𝑒2 + 2𝑒3 )
3
(b) Determine the normal stress component 𝜎𝑁 and 𝑠ℎ𝑒𝑎𝑟 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡 𝜎𝑆 on the
same plane.
(c) Verify the results of part (b) by the Mohr’s circle construction

Solution
Verify that for the stress tensor tij given here the principal stress values are
σI = 50 Mpa, σII = 25 Mpa and σIII = -75 Mpa. Also, the transformation matrix from
axes Px1x2x3 to 𝑃𝑥1∗ 𝑥2∗ 𝑥3∗ is
0 −3/5 4/5
𝑎𝑖𝑗 = 1 0 0
0 4/5 3/5
So that the components of 𝑛 are given relative to the principal axes by
2
3
𝑛1∗ 0 −3/5 4/5 1/3
1
𝑛2∗ = 1 0 0 3 = 2/3
𝑛3∗ 0 4/5 3/5 2/3
2
3

Therefore, α= cos-1 (1/3); β = ϒ = cos-1 (2/3), from which we may measure the
coordinates of the stress point q and confirm the values 𝜎𝑁 = −16,7 and 𝜎𝑆 =
52,7 in Mpa.

Octahedral Shear Stress
Consider the plane at P whose unit normal makes equal angles with the
principal stress directions. That plane, called the octahedral plane, may be
pictured
as the triangular surface ABC of figure and imagined to be the face in the
first octant of a regular octahedron. The traction vector on this plane is

and its component in the direction of 𝑛 is
The square of the shear stress on the octahedral plane,known as the

octahedral shear stress, is
or

Plane Stress
When one, and only one principal stress is zero, we have a state of plane stress

If the principal stresses are not ordered and the direction of the zero principal stress
is arbitrarily chosen as x3 , the stress matrix takes the form
𝑡11 𝑡12 0
𝑡𝑖𝑗 = 𝑡12 𝑡22 0
0 0 0
Or, with respect to principal axes, the form

𝜎1 0 0
𝑡𝑖𝑗∗ = 0 𝜎2 0
0 0 0
The pictorial description of this plane

stress situation

This is sometimes represented by a single Mohr’s circle
The equation of the circle is
2 2
1 2
1 2
𝜎𝑁 − (𝑡11 + 𝑡22 ) + 𝜎𝑆 = (𝑡11 − 𝑡22 ) + 𝑡12
2 2

Points A y B on the circle represent the stress states for area elements having unit
normals 𝑒1 and 𝑒2 respectively. For an element of area having a unit normal in an
arbitrary direction at point P, we must include the two dashed circles shown

With respect to axes 𝑂𝑥1′ 𝑥2′ 𝑥3′ rotated by the angle θ about the x3 axis
𝑡11 + 𝑡22 𝑡11 − 𝑡22

′
𝑡11 = + 𝑐𝑜𝑠2𝜃 + 𝑡12 𝑠𝑖𝑛2𝜃
2 2
𝑡11 + 𝑡22 𝑡11 − 𝑡22
′
𝑡22 = − 𝑐𝑜𝑠2𝜃 − 𝑡12 𝑠𝑖𝑛2𝜃
2 2
𝑡11 − 𝑡22
′
𝑡12 =− 𝑠𝑖𝑛2𝜃 + 𝑡12 𝑐𝑜𝑠2𝜃
2
If the principal axes of stress are chosen for the primed directions
2
1 1
𝜎1 , 𝜎2 = (𝑡11 + 𝑡22 ) ± 𝜎𝑆2 = (𝑡 − 𝑡22 ) 2
+ 𝑡12
2 2 11
Example:
A specimen is loaded with equal tensile and shear stresses. This case of plane stress
may be represented by the matrix
𝜎0 𝜎0 0
𝑡𝑖𝑗 = 𝜎0 𝜎0 0
0 0 0
Where σ0 is a constant stress. Determine the principal values and plot the Mohr’s circles.

Solution
σ1 = 2σ0 , σ2 = σ3 = 0, so that, in principal axes form,
2𝜎0 0 0
𝑡𝑖𝑗∗ = 0 0 0
0 0 0

Desviator and spherical stress states
The arithmetic mean of the normal stresses,
1 1
𝜎𝑀 = (𝑡11 + 𝑡22 + 𝑡33 ) = 𝑡𝑖𝑖
3 3
Is referred to as the mean normal stress. The state of stress having all three principal
stresses equal is called a spherical state of stress
𝜎𝑀 0 0
𝑡𝑖𝑗 = 0 𝜎𝑀 0
0 0 𝜎𝑀
For which all directions are principal directions. The classical physical example is
the hydrostatic stress (-p0).

Every state of stress tij may be decomposed into a spherical portion and a portion Sij
known as the deviator stress
1
𝑡𝑖𝑗 = 𝑆𝑖𝑗 + 𝛿𝑖𝑗 𝜎𝑀 = 𝑆𝑖𝑗 + 𝛿𝑖𝑗 𝑡𝑘𝑘
3
We notice immediately that the first invariant of the deviator stress is
1
𝑆𝑖𝑖 = 𝑡𝑖𝑖 − 𝛿𝑖𝑖 𝑡𝑘𝑘 = 0
3
The characteristic equation for the deviator stress is
3
1
𝑆 − 𝑆𝑖𝑗 𝑆𝑗𝑖 − 𝜀𝑖𝑗𝑘 𝑆1𝑖 𝑆2𝑗 𝑆3𝑘 = 0
2
A principal direction of tij is also a principal direction of Sij . The principal values of Sij
𝑆𝑞 = 𝜎𝑞 − 𝜎𝑀
Example: Descompose the stress tensor T into its deviator and spherical portions and
determine the principal stress values of the deviator portion.
57 0 24
𝑡𝑖𝑗 = 0 50 0 MPa
24 0 43

Solution
1
𝜎𝑀 = (57 + 50 + 43) = 50 𝑀𝑃𝑎
3
Thus, decomposition leads to the matrix sum
57 0 24 7 0 24 50 0 0
0 50 0 = 0 0 0 + 0 50 0 𝑀𝑃𝑎
24 0 43 24 0 −7 0 0 50
Principal stress values of the deviator portion result from
7−𝑆 0 24
0 −𝑆 0 =0
24 0 −7 − 𝑆
Which yield SI = 25 Mpa, SII = 0 and SIII = -25 MPa

Problems
(10) The stress tensor at P relative to axes Px1x2x3 has components in MPa given by
the matrix representation
𝑡11 2 1
𝑡𝑖𝑗 = 2 0 2
1 2 0
Where t11 is unspecified. Determine a direction 𝑛 at P for which the plane

perpendicular to 𝑛 will be stress-free, that is, for which 𝑡 (𝑛 ) = 0 on that plane.
What is the required value of t11 for this condition?

(11) Show that the sum of squares of the magnitudes of the stress vectors on the
coordinate planes is independent of the orientation of the coordinate axes, that is,
show that the sum
𝑒 𝑒 𝑒 𝑒 𝑒 𝑒
𝑡𝑖 1 𝑡𝑖 1 + 𝑡𝑖 2 𝑡𝑖 2 + 𝑡𝑖 3 𝑡𝑖 3
Is an invariant

(12) With respect to axes Ox1x2x3 the stress state is given in terms of the
coordinates by the matrix
𝑥1 𝑥2 𝑥22 0
𝑡𝑖𝑗 = 𝑥22 𝑥2 𝑥3 𝑥32
0 𝑥32 𝑥3 𝑥1
Determine
(a) The body force components as functions of the coordinates if the equilibrium
equations are to be satisfied everywhere, and
(b) The stress vector at point P (1,2,3) on the plane whose outward unit normal
makes equal angles with the positive coordinate axes.

(13) The stress components in a circular cylinder of length L and radius r are given by
𝐴𝑥2 + 𝐵𝑥3 𝐶𝑥3 −𝐶𝑥2

𝑡𝑖𝑗 = 𝐶𝑥3 0 0
−𝐶2 0 0
(a) Verify that in the absence of body forces the equilibrium equations are satisfied
(b) Show that the stress vector vanishes at all points on the curved surface of the
cylinder

(14) Sketch the Mohr’s circles for the various stress states shown on the cube which
is oriented along the coordinate axes

2 El Tensor de Tensión

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CONTINUUM

14/02/2021 Dr. Luis Mosquera L. 1

In continuum mechanics a body is considered stress

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Those forces acting on all volume elements, and are distributed

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By applying Newton’s law:

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for CPA 𝑑𝑆2 = 𝑛2 𝑑𝑆

for APB 𝑑𝑆3 = 𝑛3 𝑑𝑆

The volume of the tetrahedron is given by

Taking the limit as h → 0

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𝑡 (𝑛 ) = 𝑡𝑗𝑖 𝑛𝑗 𝑒𝑖 = 𝑡𝑗𝑖′ 𝑛𝑗′ 𝑒𝑖′

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Then, 𝑡𝑠𝑟 − 𝑎𝑗𝑠 𝑎𝑖𝑟 𝑡𝑗𝑖′ 𝑛𝑠 𝑒𝑟 = 0

Because the vectors 𝑒𝑟 are linearly independent, we see that:

𝑡𝑠𝑟 = 𝑎𝑗𝑠 𝑎𝑖𝑟 𝑡𝑗𝑖′

That is the transformation equation for a second-order tensor

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In units of mega-Pascals. Determine:

(b) The stress vector on a plane at P parallel to the plane ABC

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As before, we exclude concentrated body moments from consideration.

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(𝑡𝑗𝑖 ,𝑗 + 𝜌𝑏𝑖 )𝑑𝑣 = 0

This equation must be valid for an arbitrary volume V

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𝜀𝑖𝑗𝑘 𝑥𝑗 ,𝑞 𝑡𝑞𝑘 + 𝑥𝑗 (𝑡𝑞𝑘 ,𝑞 + 𝜌𝑏𝑘 ) 𝑑𝑣 = 0

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Again, since volume V is arbitrary,

By a direct expansion of this equation, we obtain

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𝑡𝑖𝑗′ = 𝑎𝑖𝑞 𝑡𝑞𝑚 𝑎𝑗𝑚 𝑜𝑟 𝑇 ′ = 𝐴𝑇𝐴𝑇

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And let the primed axes 𝑃𝑥 ′ 𝑥 ′ 𝑥 ′ be obtained by a 45° counterclockwise

rotation about the x3 axis. Determine the stress components 𝑡𝑖𝑗′

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Directions designated by ni are called principal stress directions, and the

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4Τ5 0 3Τ5 57 0 24 4Τ5 0 −3Τ5

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𝜎𝑁 is given by the dot product, 𝜎𝑁 = 𝑡 (𝑛 ) 𝑛𝑖

It follows that, 𝜎𝑁 = 𝑡𝑖𝑗 𝑛𝑖 𝑛𝑗 𝑜𝑟 𝜎𝑁 = 𝑡 (𝑛 ) . 𝑛

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𝑓(𝑛𝑖 ) = 𝑡𝑖𝑗 𝑛𝑖 𝑛𝑗 − 𝜎(𝑛𝑖 𝑛𝑖 − 1)

The method requires that,

This equation reduces to

Therefore , we conclude that the Lagrangian multiplier σ assumes the role of a