Chapter Eleven Mechanics of Materials Strain Energy

Chapter Eleven

Strain Energy
11.1 Introduction
Strain energy is defined as the energy which is stored within a material when work
has been done on the material. Here it is assumed that the material remains elastic
whilst work is done on it so that all the energy is recoverable and no permanent
deformation occurs due to yielding of the material,

Strain energy U = work done

Thus for a gradually applied load, the work done in straining the material will be given
by the shaded area under the load-extension graph of Fig. 11.1.

1
U= Pδ
2

Fig. 11.1 Work done by a gradually applied load.

The strain energy per unit volume is often referred to as the resilience. The
unshaded area above the line OB of Fig. 11.1 is called the complementary energy, a
quantity that is utilized in some advanced energy methods of solution and is not
considered within the terms of reference for our study.

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Chapter Eleven Mechanics of Materials Strain Energy

11.2 Strain energy - tension or compression

(a) Neglecting the weight of the bar
Consider a small element of a bar, length ds, shown in Fig. 11.1. If a graph is
drawn of load against elastic extension the shaded area under the graph gives the work
done and hence the strain energy,
1
strain energy U = Pδ (E.1)
2
stress P ds
Now Young’s modulus E = = ×
strain A δ

Pds
∴ δ = (E.2)
AE
Now, substituting eqn. (E.2) in (E.1)
P 2 ds
∴ for the bar element U =
2 AE
𝐿
P 2 ds
∴ total strain energy for a bar of length L, U = ∫
2 AE
0

Thus, assuming that the area of the bar remains constant along the length,
P 2L
U = (11.1)
2 AE
Multiplying by A/A yields
P2 ALσ2 A L
U = =
2 A2 E 2E
σ2
U = × volume of bar (11.2)
2E
Where the stress σ = P/A,
The strain energy, or resilience, per unit volume of a bar subjected to direct load,
tensile or compressive
σ2
U = (11.3)
2E

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Chapter Eleven Mechanics of Materials Strain Energy

or, alternatively,

1 σ 1
= σ× = σ ϵ
2 E 2
1
resilience = stress × strain
2

(b) Including the weight of the bar

Consider a bar of length L mounted vertically, as shown in Fig. 11.2. At any

section AB the total load on the section will be the external load P together with the
weight of the bar material below AB.

Fig. 11.2 Direct load - tension or compression.

Assuming a uniform cross-section of area A with density ρ,
load on section AB = P ± ρg As

The positive sign being used when P is tensile, and the negative sign when P is
compressive. Thus, for a tensile force P the extension of the element ds is given by the
definition of Young's modulus E to be
σds
δ =
E
(P ± ρg As )
δ = ds
AE

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Chapter Eleven Mechanics of Materials Strain Energy

1
But work done = × load × extension
2
1 (P ± ρg As )
= (P ± ρg As ) ds
2 AE

𝑃2 P ρg (ρg)2 A 2
= ds + s ds + s ds
2AE E 2E

∴ total strain energy or work done

L L L
𝑃2 P ρg (ρg)2 A 2
=∫ ds + ∫ s ds + ∫ s ds
2AE E 2E
0 0 0

𝑷𝟐 L P ρg L2 (ρg)2 A L3
U = + + (11.4)
2AE 2E 6E

11.3 Strain energy – shear

Consider the elemental bar subjected to a shear load Q at one end causing
deformation through the angle γ (the shear strain) and a shear deflection δ, as shown in
Fig. 11.3.

Fig. 11.3 Shear Strain Energy.

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Chapter Eleven Mechanics of Materials Strain Energy

1 1
Strain energy U = work done = Q δ = Q γ ds (E.1)
2 2
shear stress τ Q
But modulus of rigidity G = = =
shear strain γ γA

Q
∴ γ = (E.2)
AG

Substitute eqn. (E.2) in (E.1), yields shear strain energy

1 Q
∴ = Q × × ds
2 AG

Q2
∴ shear strain energy = ds
2AG

∴ total strain energy resulting from shear

L
Q2 ds
= ∫
2AG
0

Q2 L
total strain energy U = (11.5)
2AG

Multiplying by A/A yields

Q2 A L
U =
2A2 G

Where the shear stress τ = (Q/A),

τ2 A L
=
2G

τ2
U = × volume of bar (11.6)
2G

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Chapter Eleven Mechanics of Materials Strain Energy

11.4 Strain energy – bending

Let the element is subjected to a constant bending moment M causing it to bend
into an arc of radius R and subtending an angle dθ at the center (Fig. 11.4). The beam
will also have moved through an angle dθ.

Fig. 11.4 Strain Energy in Bending.

1
Strain energy U = work done = × moment × angle turned through (in radians)
2
1
= M dθ (E.1)
2
M E
But ds = R dθ and =
I R
ds M
∴ dθ = = ds (E.2)
R EI
Substitute eqn. (E.2) in (E.1),
1 M M 2 ds
Strain energy = M × ds =
2 EI 2EI
Total strain energy resulting from bending,
L
M 2 ds
U = ∫ (11.7)
2EI
0

If the bending moment is constant, this reduces to

M 2L
U =
2EI

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Chapter Eleven Mechanics of Materials Strain Energy

11.5 Strain energy - torsion

Considered the element is subjected to a torque T as shown in Fig. 11.5, producing
an angle of twist dθ radians.

Fig. 11.5 Strain Energy in Torsion.

1
Strain energy U = work done = T dθ (E.1)
2

But, from the simple torsion theory,

T G dθ T ds
= and dθ = (E.2)
J ds GJ

Substitute eqn. (E.2) in (E.1),

𝐿
T 2 ds
U =∫
2G J
0

∴ total strain energy resulting from torsion,

T2 L
U = (11.8)
2G J

It should be noted that in the four types of loading case considered above the strain
energy expressions are all identical in form,

(applied load)2 × L
Strain energy U =
2 × product of two related constants

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Chapter Eleven Mechanics of Materials Strain Energy

11.6 Suddenly applied loads

If a load P is applied gradually to a bar to produce an extension δ the load-
extension graph will be as shown in Fig. 11.1 and repeated in Fig. 11.6, the work done
being given by,
1
U = Pδ
2

Fig. 11.6 Work done by a suddenly applied load.

If a load P' is suddenly applied to produce the same extension δ, the graph will
appear as a horizontal straight line with a work done or strain energy = P' δ.
The bar will be strained by an equal amount δ in both cases and the energy stored
must be equal, and equate the area of the rectangle with that of triangle yields;

1
𝑃′ δ = Pδ
2

1
𝑃′ = P
2

That means the suddenly applied load is half that of statically applied load to
produce the same amount of energy.
The rule states, “A load P which is suddenly applied will produce twice the
effect of the same load statically applied”.

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Chapter Eleven Mechanics of Materials Strain Energy

11.7 Impact loads - axial load application

Consider the vertically bar shown in Fig. 11.7 with a rigid collar is attached at the
end. The load W is free to slide vertically and is suspended by some means at a distance
h above the collar. When the load is dropped, it will produce a maximum instantaneous
extension δ of the bar, and will have done work (neglecting the mass of the bar and
collar).
Work done = force × distance = W (h + δ) (E.1)

Fig. 11.7 Impact load - axial application.

This work will be stored as strain energy and is given by eqn. (11.2):
σ2 AL
U = (E.2)
2E

where σ is the instantaneous stress set up.

Equating E.1 and E.2 yields,
σ2 A L
= W (h + δ) (11.9)
2E

If the extension δ is small compared with h it may be ignored and then, approximately,

2W Eh
σ2 =
AL

2W Eh
σ =√ (11.10)
AL

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Chapter Eleven Mechanics of Materials Strain Energy

If δ is not small compared with h it must be expressed in terms of σ, thus

stress σ L σL
E = = and δ =
strain δ E

Substituting in eqn. (11.9)

σ2 A L WσL
=Wh+
2E E

σ2 A L WL
−σ −Wh =0
2E E

2W 2W Eh
σ2− σ − =0
A AL

Solving by “the quadratic formula” and ignoring the negative sign,

1 2W 2W 2 2W Eh
σ = { √
+ ( ) +4 ( )}
2 A A AL

W W 2 2W Eh
σ = √
+ ( ) + (11.11)
A A AL

11.8 Castigliano’s first theorem assumption for deflection

If the total strain energy of a body or framework is expressed in terms of the
external loads and is partially differentiated with respect to one of the loads the result
is the deflection of the point of application of that load and in the direction of that load,
𝜕U
δ =
𝜕W
Consider the beam or structure shown in Fig. 11.8 with forces PA, PB, PC, etc.,
acting at points A, B, C, etc.
If a, b, c, etc., are the deflections in the direction of the loads then the total strain
energy of the system is equal to the work done.

1 1 1
U = PA a + PB b + PC c + …. (11.12)
2 2 2

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Chapter Eleven Mechanics of Materials Strain Energy

Fig. 11.8 any beam or structure subjected to a system of applied concentrated loads
PA, PB, PC . . . PN, etc.
The partial differential of the strain energy U with respect to PA gives the
deflection under and in the direction of PA.

𝜕U 𝜕U 𝜕U
= a Similarly = b and = c, etc.
𝜕PA 𝜕PB 𝜕PC

In most beam applications, the strain energy and hence the deflection resulting
from end loads and shear forces are taken to be negligible in comparison with the strain
energy resulting from bending (torsion not normally being present),

M2
∴ U =∫ ds (11.13)
2EI

𝜕U 𝜕U 𝜕M 2M 𝜕M
= × =∫ ds ×
𝜕P 𝜕M 𝜕P 2EI 𝜕P

𝝏U M 𝝏M
δ = =∫ ds (11.14)
𝝏P EI 𝝏P

11.13 Application of Castigliano’s theorem to angular movements

If the total strain energy expressed in terms of the external moments, were
partially differentiated with respect to one of the moments, the result is the angular
deflection (in radians) of the point of application of that moment and in its direction,

M 𝝏M
θ =∫ ds (11.15)
EI 𝝏Mi

where Mi is the imaginary or applied moment at the point where θ is required.

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Chapter Eleven Mechanics of Materials Strain Energy

Example 11.1
Determine the diameter of an aluminum shaft, which is designed to store the same
amount of strain energy per unit volume as a 50 mm diameter steel shaft of the same
length. Both shafts are subjected to equal compressive axial loads.
What will be the ratio of the stresses set up in the two shafts?
E steel = 200 GN/m2; E aluminum = 67 GN/m2.
Solution:
The strain energy per unit volume from eqn. (11.3)
σ2
Strain energy per unit volume =
2E
Since the strain energy/unit volume in the two shafts is equal,
σA2 σS2
=
2EA 2ES
σA2 EA 67 1
∴ = = = (approximately) (E.1)
σS2 ES 200 3
∴ 3σA2 = σS2 (E.2)
P
Now σ= where P is the applied load
area
2 2
PA PS
Therefore from (E.2) 3 (π 2 ) = (π 2 ) But PA = PS = P
4 DA 4 DS

∴ 3DS4 = DA4

∴ DA4 = 3 × (50)4

4
∴ DA = √1875 × 104 , DA = 65.8 mm

The stresses ratio set up in the two shafts from (E.2) is

3σA2 = σS2
σS
= √3
σA

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Chapter Eleven Mechanics of Materials Strain Energy

Example 11.2
Two shafts are of the same material, length and weight. One is solid and 100 mm
diameter, the other is hollow. If the hollow shaft is to store 25 % more energy than the
solid shaft when transmitting torque, what must be its internal and external diameters?
Assume the same maximum shear stress applies to both shafts.
Solution:
Let A be the solid shaft and B the hollow shaft. If they are the same weight and
the same material, their volume must be equal.
π 2 π
∴ DA × L = (DB2 − dB2 )L
4 4
2
∴ DA2 = DB2 − dB2 = (100 × 10−3 ) m2 = 0.01 m2
∴ DB2 − dB2 = 0.01 m2 (E.1)
Now for the same maximum shear stress
T r TD
τ= =
J 2J
TA D A TB D B
=
JA JB
TA DB JA
∴ = (E.2)
TB DA JB
But the strain energy of B = 1.25 × strain energy of A.
T2 L
∴ since U =
2G J

TB2 L TA2 L TA2 JA

= 1.25 or = (E.3)
2G JB 2G JA TB2 1.25 JB

Now substitute eqn. (E.2) in (E.3),

DB2 JB
=
DA2 1.25 JA
π 4 4
DB2 32
(DB − dB ) DB4 − dB4
= π =
DA2 1.25 32 DA4 1.25 DA4

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Chapter Eleven Mechanics of Materials Strain Energy

DB2 − dB2 = 0.01 , dB2 = DB2 − 0.01 , dB2 = DB2 − 10 × 10−3

DB4 − dB4
DB2 =
1.25 DA2
2
DB4 − (DB2 − 10 × 10−3 )
= 2
1.25 × (100 × 10−3 )

1.25 × 10−2 DB2 = DB4 − DB4 + 20 × 10−3 DB2 − 100 × 10−6

∴ 7.5 × 10−3 DB2 = 100 × 10−6

100 × 10−6
∴ DB2 = −3 = 13.3 × 10−3
7.5 × 10

DB = 115.47 mm

dB2 = DB2 − DA2 = (13.3 − 10) 10−3

∴ dB = 57.74 mm

The internal and external diameters of the hollow tube are 57.7 mm and 115.5 mm
respectively.

Example 11.3
Using Castigliano's first theorem, obtain the expressions for (a) the deflection
under a single concentrated load applied to a simply supported beam as shown in
Fig. 11.9, (b) the deflection at the center of a simply supported beam carrying a
uniformly distributed load.

Fig. 11.9

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Chapter Eleven Mechanics of Materials Strain Energy

Solution:
(a) For the beam shown in Fig. 11.9,
𝐴
𝑀 𝜕𝑀
𝛿=∫ 𝑑𝑠
𝐸𝐼 𝜕𝑊
𝐵
𝐶 𝐵
𝑀 𝜕𝑀 𝑀 𝜕𝑀
=∫ 𝑑𝑠 + ∫ 𝑑𝑠
𝐸𝐼 𝜕𝑊 𝐸𝐼 𝜕𝑊
𝐴 𝐶
𝑎 𝑏
1 𝑊𝑏𝑥1 𝑏𝑥1 1 𝑊𝑎𝑥2 𝑎𝑥2
= ∫ × × 𝑑𝑥1 + ∫ × × 𝑑𝑥2
𝐸𝐼 𝐿 𝐿 𝐸𝐼 𝐿 𝐿
0 0
𝑎 𝑏
𝑊𝑏 2 𝑊𝑎2
= 2 ∫ 𝑥1 𝑑𝑥1 + 2 ∫ 𝑥22 𝑑𝑥2
2
𝐿 𝐸𝐼 𝐿 𝐸𝐼
0 0

𝑊𝑏 2 𝑎3 𝑊𝑎2 𝑏 3 𝑊𝑎2 𝑏 2 𝑊𝑎2 𝑏 2

= + = ( )
𝑎+𝑏 =
3 𝐿2 𝐸𝐼 3 𝐿2 𝐸𝐼 3 𝐿2 𝐸𝐼 3𝐿𝐸𝐼

(b) For the u.d.1. beam shown in Fig. 11.10 an imaginary load P must be introduced at
mid-span; then the mid-span deflection will be
𝐿 𝐿/2
𝑀 𝜕𝑀 𝑀 𝜕𝑀
𝛿=∫ 𝑑𝑠 = 2 ∫ 𝑑𝑠
𝐸𝐼 𝜕𝑊 𝐸𝐼 𝜕𝑊
0 0

(𝑤𝐿 + 𝑃) 𝑤𝑥 2 𝜕𝑀 𝑥
𝑀𝑥𝑥 = 𝑥− 𝑎𝑛𝑑 =
2 2 𝜕𝑃 2
𝐿/2
2 (𝑤𝐿 + 𝑃) 𝑤𝑥 2 𝑥
𝛿= ∫ [ 𝑥− ] 𝑑𝑥
𝐸𝐼 2 2 2
0
𝐿/2
1 Fig. 11.10
𝛿= ∫ (𝑤𝐿𝑥 2 − 𝑤𝑥 3 ) 𝑑𝑥 since 𝑃 = 0
2𝐸𝐼
0
𝐿/2
𝑤 𝐿𝑥 3 𝑥 4
𝛿= [ − ]
2𝐸𝐼 3 4 0

𝑤𝐿4 1 1 𝑤𝐿4 8 − 3 𝟓𝑾𝑳𝟒

𝛿= [ − ]= [ ]=
2𝐸𝐼 24 64 2𝐸𝐼 192 𝟑𝟖𝟒𝑬𝑰

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Chapter Eleven Mechanics of Materials Strain Energy

Example 11.4
Derive the equation for the slope at the free end of a cantilever carrying a
uniformly distributed load over its full length.

Fig. 11.11
Solution:
Using Castigliano’s procedure, apply an imaginary moment Mi in a positive direction
at point B where the slope rotation is required.
BM at XX due to applied loading and imaginary couple

𝑤𝑥 2
𝑀 = 𝑀𝑖 −
2

𝜕𝑀
=1
𝜕𝑀𝑖

from Castigliano’s theorem

𝐿
𝑀 𝜕𝑀
𝜃=∫ 𝑑𝑥
𝐸𝐼 𝜕𝑀𝑖
0
𝐿
1 𝑤𝑥 2
= ∫ (𝑀𝑖 − ) (1)𝑑𝑥
𝐸𝐼 2
0

Which, with Mi = 0 in the absence of any applied moment at B, becomes

𝐿
−𝑤 2
𝒘𝑳𝟑
𝜃= ∫ 𝑥 𝑑𝑥 = 𝐫𝐚𝐝𝐢𝐚𝐧
2𝐸𝐼 𝟔𝑬𝑰
0

The negative sign indicates that rotation of the free end is in the opposite direction to
that taken for the imaginary moment, i.e. the beam will slope downwards at B as should
have been expected.

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Chapter Eleven Mechanics of Materials Strain Energy

Example 11.5
Determine, for the cranked member shown in Fig. 11.12:
(a) the magnitude of the force P necessary to produce a vertical movement of P of
25 mm.
(b) the angle, in degrees, by which the tip of the member diverges when the force P is
applied.
The member has a uniform width of 50 mm throughout. E = 200 GN/m2.

Solution: Fig. 11.12

(a)
Horizontal beam:
𝜕𝑀
𝑀 = 𝑃𝑥 , =𝑥
𝜕𝑃
𝐿
𝑀 𝜕𝑀
𝛿=∫ 𝑑𝑥
𝐸𝐼 𝜕𝑃
0

𝑏ℎ3 (0.05)(0.025)3
𝐼ℎ = = = 6.51 × 10−8 𝑚4
12 12
1 1
= −8 9
= 7.68 × 10−5
(𝐸𝐼)ℎ 6.51 × 10 × 200 × 10
0.5

𝛿ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 = 7.68 × 10−5 ∫ 𝑃𝑥 2 𝑑𝑥

0
0.5
𝑥3
−5 [ ]
𝛿ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 = 7.68 × 10 𝑃 = 3.2 × 10−6 𝑃
3 0

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Chapter Eleven Mechanics of Materials Strain Energy

Vertical beam:
𝜕𝑀
𝑀 = 0.5 𝑃 , = 0.5
𝜕𝑃

𝑏ℎ3 (0.05)(0.05)3
𝐼𝑣 = = = 5.208 × 10−7 𝑚4
12 12

1 1
= −7 9
= 9.6 × 10−6
(𝐸𝐼)𝑣 5.208 × 10 × 200 × 10
0.25

𝛿𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 = 9.6 × 10−6 ∫ 0.5 𝑃 (0.5) 𝑑𝑥

0

𝛿𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 = 9.6 × 10−6 [0.25 𝑃𝑥]0.25

0 = 0.6 × 10−6 𝑃

𝛿𝑡𝑜𝑡𝑎𝑙 = 𝛿ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 + 𝛿𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙

0.025 = 3.2 × 10−6 𝑃 + 0.6 × 10−6 𝑃

𝑃 = 6.579 𝑘𝑁

(b)
Horizontal beam:
𝐿
𝑀 𝜕𝑀
𝜃=∫ 𝑑𝑥
𝐸𝐼 𝜕𝑀𝑖
0

𝜕𝑀
𝑀 = 𝑃𝑥 + 𝑀𝑖 , =1
𝜕𝑀𝑖
0.5

𝜃ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 = 7.68 × 10−5 ∫ (𝑃𝑥 + 𝑀𝑖 )(1) 𝑑𝑥

0
0.5
−5
𝑃𝑥 2 0.52 𝑃
𝜃ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 = 7.68 × 10 [ + 𝑀𝑖 𝑥] = 7.68 × 10−5
2 0
2

Where 𝑀𝑖 = 0 and 𝑃 = 6.579 𝑘𝑁

𝜃ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 = 0.0632 𝑟𝑎𝑑

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Chapter Eleven Mechanics of Materials Strain Energy

Vertical beam:
𝜕𝑀
𝑀 = 0.5𝑃 + 𝑀𝑖 , =1
𝜕𝑀𝑖
0.25

𝜃𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 = 9.6 × 10−6 ∫ (0.5 𝑃 + 𝑀𝑖 )(1) 𝑑𝑥

0

𝜃𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 = 9.6 × 10−6 [0.5 𝑃𝑥 + 𝑀𝑖 𝑥]0.25

0 = 9.6 × 10−6 × (0.5)(0.25) 𝑃

Where 𝑀𝑖 = 0 and 𝑃 = 6.579 𝑘𝑁

𝜃𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 = 0.007895 𝑟𝑎𝑑

𝜃𝑡𝑜𝑡𝑎𝑙 = 𝜃ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 + 𝜃𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙

𝜃𝑡𝑜𝑡𝑎𝑙 = 0.0632 + 0.007895 = 0.0711 𝑟𝑎𝑑 = 4.1ᴼ

Dr. Qahtan A. Jawad Mechanical Engineering Department Page 118