Third Edition

CHAPTER MECHANICS OF

7 MATERIALS
Ferdinand P. Beer
E. Russell Johnston, Jr.
John T. DeWolf

Lecture Notes:
Transformations of
Stress and Strain
J. Walt Oler
Texas Tech University

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Introduction
• The most general state of stress at a point may
be represented by 6 components,
 x , y , z normal stresses
 xy ,  yz ,  zx shearing stresses
(Note :  xy   yx ,  yz   zy ,  zx   xz )

• Same state of stress is represented by a

different set of components if axes are rotated.

• This chapter is concerned with how the

components of stress are transformed under a
rotation of the coordinate axes.

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Introduction
• Plane Stress - state of stress in which two faces of
the cubic element are free of stress. For the
illustrated example, the state of stress is defined by
 x ,  y ,  xy and  z   zx   zy  0.

• State of plane stress occurs in a thin plate subjected

to forces acting in the midplane of the plate.

• State of plane stress also occurs on the free surface

of a structural element or machine component, i.e.,
at any point of the surface not subjected to an
external force.

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Transformation of Plane Stress

• Consider the conditions for equilibrium of a
prismatic element with faces perpendicular to
the x, y, and x’ axes.
 Fx  0   xA   x A cos   cos    xy A cos  sin 
  y A sin  sin    xy A sin   cos 
 Fy   0   xy A   x A cos  sin    xy A cos   cos 
  y A sin   cos    xy A sin  sin 

• The equations may be rewritten to yield

x  y  x  y
 x   cos 2   xy sin 2
2 2
x  y  x  y
 y   cos 2   xy sin 2
2 2
 x  y
 xy   sin 2   xy cos 2
2

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Principal Stresses
• The previous equations are combined to
yield parametric equations for a circle,

 x   ave 2   x2y  R 2
where
2
 x  y  x  y 
 ave  R      xy
2
2  2 

• Principal stresses occur on the principal

planes of stress with zero shearing stresses.
2
 x  y  x  y 
 max, min       xy
2
2  2 
2 xy
tan 2 p 
 x  y
Note : defines two angles separated by 90o

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Maximum Shearing Stress

Maximum shearing stress occurs for  x   ave

2
 x  y 
 max  R      xy
2
 2 
 x  y
tan 2 s  
2 xy

Note : defines two angles separated by 90o and

offset from  p by 45o
 x  y
    ave 
2

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Example 7.01
SOLUTION:
• Find the element orientation for the principal
stresses from
2 xy
tan 2 p 
 x  y
• Determine the principal stresses from
2
x  y  x  y 
 max, min       xy
2
For the state of plane stress shown, 2  2 
determine (a) the principal planes, • Calculate the maximum shearing stress with
(b) the principal stresses, (c) the 2
maximum shearing stress and the  x  y 
 max      xy
2
corresponding normal stress.  2 
x  y
 
2

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Example 7.01
SOLUTION:
• Find the element orientation for the principal
stresses from
2 xy 2 40
tan 2 p    1.333
 x   y 50   10
2 p  53.1, 233.1
 p  26.6, 116.6
 x  50 MPa  xy  40 MPa
 y  10 MPa • Determine the principal stresses from
2
x  y  x  y 
 max, min       xy
2
2  2 
 20  302  402
 max  70 MPa
 min  30 MPa

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Example 7.01
• Calculate the maximum shearing stress with
2
 x  y 
 max      xy
2
 2 
 302  402
 max  50 MPa
 x  50 MPa  xy  40 MPa  s   p  45
 x  10 MPa  s  18.4, 71.6

• The corresponding normal stress is

x  y 50  10
    ave  
2 2
   20 MPa

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Mohr’s Circle for Plane Stress

• With the physical significance of Mohr’s circle
for plane stress established, it may be applied
with simple geometric considerations. Critical
values are estimated graphically or calculated.

• For a known state of plane stress  x , y , xy

plot the points X and Y and construct the
circle centered at C.
2
 x  y  x  y 
 ave  R      xy
2
2  2 

• The principal stresses are obtained at A and B.

 max, min   ave  R
2 xy
tan 2 p 
 x  y
The direction of rotation of Ox to Oa is
the same as CX to CA.
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Mohr’s Circle for Plane Stress

• With Mohr’s circle uniquely defined, the state
of stress at other axes orientations may be
depicted.

• For the state of stress at an angle  with

respect to the xy axes, construct a new
diameter X’Y’ at an angle 2 with respect to
XY.

• Normal and shear stresses are obtained

from the coordinates X’Y’.

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Mohr’s Circle for Plane Stress

• Mohr’s circle for centric axial loading:

P P
x  ,  y   xy  0  x   y   xy 
A 2A

• Mohr’s circle for torsional loading:

Tc Tc
 x   y  0  xy  x y   xy  0
J J

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Example 7.02

For the state of plane stress shown,

(a) construct Mohr’s circle, determine
(b) the principal planes, (c) the SOLUTION:
principal stresses, (d) the maximum • Construction of Mohr’s circle
shearing stress and the corresponding
 ave 
x  y

50   10  20 MPa
normal stress.
2 2
CF  50  20  30 MPa FX  40 MPa
R  CX  302  402  50 MPa
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Example 7.02
• Principal planes and stresses
 max  OA  OC  CA  20  50
 max  70 MPa
 min  OB  OC  BC  20  50
 min  30 MPa

FX 40
tan 2 p  
CP 30
2 p  53.1
 p  26.6

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Example 7.02

• Maximum shear stress

 s   p  45  max  R     ave

 s  71.6  max  50 MPa    20 MPa

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Sample Problem 7.2

For the state of stress shown,

determine (a) the principal planes
and the principal stresses, (b) the
stress components exerted on the
element obtained by rotating the SOLUTION:
given element counterclockwise • Construct Mohr’s circle
through 30 degrees.  x   y 100  60
 ave    80 MPa
2 2
R CF 2  FX 2  202  482  52 MPa
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Sample Problem 7.2

• Principal planes and stresses

XF 48  max  OA  OC  CA  max  OA  OC  BC
tan 2 p    2.4
CF 20  80  52  80  52
2 p  67.4
 max  132 MPa  min  28 MPa
 p  33.7 clockwise

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Sample Problem 7.2

  180  60  67.4  52.6

• Stress components after rotation by 30o
 x  OK  OC  KC  80  52 cos 52.6
Points X’ and Y’ on Mohr’s circle that  y  OL  OC  CL  80  52 cos 52.6
correspond to stress components on the
 xy  KX   52 sin 52.6
rotated element are obtained by rotating
XY counterclockwise through 2  60  x  48.4 MPa
 y  111.6 MPa
 xy  41.3 MPa

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General State of Stress

• Consider the general 3D state of stress at a point and
the transformation of stress from element rotation

• State of stress at Q defined by:  x , y , z , xy , yz , zx

• Consider tetrahedron with face perpendicular to the

line QN with direction cosines: x ,  y , z

• The requirement  Fn  0 leads to,

 n   x2x   y 2y   z 2z
 2 xy x y  2 yz  y z  2 zxz x

• Form of equation guarantees that an element

orientation can be found such that
 n   a2a   bb2   cc2
These are the principal axes and principal planes
and the normal stresses are the principal stresses.

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Application of Mohr’s Circle to the Three-

Dimensional Analysis of Stress

• Transformation of stress for an element • The three circles represent the

rotated around a principal axis may be normal and shearing stresses for
represented by Mohr’s circle. rotation around each principal axis.
• Points A, B, and C represent the • Radius of the largest circle yields the
principal stresses on the principal planes maximum shearing stress.
(shearing stress is zero) 1
 max   max   min
2
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Application of Mohr’s Circle to the Three-

Dimensional Analysis of Stress
• In the case of plane stress, the axis
perpendicular to the plane of stress is a
principal axis (shearing stress equal zero).
• If the points A and B (representing the
principal planes) are on opposite sides of
the origin, then
a) the corresponding principal stresses
are the maximum and minimum
normal stresses for the element
b) the maximum shearing stress for the
element is equal to the maximum “in-
plane” shearing stress
c) planes of maximum shearing stress
are at 45o to the principal planes.

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Application of Mohr’s Circle to the Three-

Dimensional Analysis of Stress
• If A and B are on the same side of the
origin (i.e., have the same sign), then

a) the circle defining max, min, and

max for the element is not the circle
corresponding to transformations within
the plane of stress

b) maximum shearing stress for the

element is equal to half of the
maximum stress

c) planes of maximum shearing stress are

at 45 degrees to the plane of stress

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Stresses in Thin-Walled Pressure Vessels

• Cylindrical vessel with principal stresses
1 = hoop stress
2 = longitudinal stress

• Hoop stress:
 Fz  0   12t x   p2r x 
pr
1 
t

• Longitudinal stress:
 
 Fx  0   2 2 rt   p  r
2

pr
2 
2t
 1  2 2

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Stresses in Thin-Walled Pressure Vessels

• Points A and B correspond to hoop stress, 1,
and longitudinal stress, 2

• Maximum in-plane shearing stress:

1 pr
 max( in  plane )   2 
2 4t

• Maximum out-of-plane shearing stress

corresponds to a 45o rotation of the plane
stress element around a longitudinal axis
pr
 max   2 
2t

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Stresses in Thin-Walled Pressure Vessels

• Spherical pressure vessel:

pr
1   2 
2t

• Mohr’s circle for in-plane

transformations reduces to a point
   1   2  constant
 max(in -plane)  0

• Maximum out-of-plane shearing

stress
pr
 max  12  1 
4t

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