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dv
= sin ϕ (1.2)
ds
and the equilibrium condition
M = Pv (1.3)
Combining the above relations, we obtain the pair of first order non-
linear differential equations
λv = − dϕ , λ = P/EI
ds (1.4)
dv
= sin ϕ
ds
with associated boundary conditions
d2 ϕ
+ λ sin ϕ = 0, 0 < s < (1.6a)
ds2
ϕ (0) = ϕ () = 0 (1.6b)
1 dϕ
V = EI ds − P − cos ϕds (1.7)
2 0 ds 0
and that setting the first variation δV = V (ϕ)δϕ = 0 yields the differ-
ential equation (1.6a) with the natural boundary conditions (1.6b).
The linearized version of (1.6a,b) for small deflections v, and small
angles ϕ, is obtained by substituting ϕ for sin ϕ (a precise mathematical
justification for considering the linearized problems so generated will be
considered below); the linearized problem for v then becomes
The initial value problem (1.9) has one and only one solution and
this solution may be interpreted as representing the motion of a simple
pendulum, with x being the time and ϕ the angle between the pendulum
and the (downward) vertical position. In view of the initial conditions,
ϕ(s) will be periodic. If we multiply the equation in (1.9) by dϕ/ds,
then this equation becomes a first order equation which can be solved
(explicitly) by elliptic integrals, i.e.
√
ϕ(s) = 2 arc sin k sn( λs + K) (1.10)
with
α
k = sin( )
2
π2 (1.11)
dζ
K =
0 1 − k 2 sin2 ζ
and
u3 u5
sn u = u − (1 + k 2 ) + (1 + 14k 2 + k 4 ) (1.12)
3! 5!
7
u
−(1 + 135k 2 + 135k 4 + k 6 ) + · · ·
7!
nontrivial solutions
√ ϕ(s), with 0 < ϕ(0) < π, as there are integers n
such that (/2n) λ > π/2. Thus, we have for
0 ≤ λ ≤ π 2 /2 , only the trivial solution
π 2 /2 < λ ≤ 4π 2 /2 , one nontrivial solution
2 2 2
n π / < λ ≤ (n + 1)2 π 2 /2 , n nontrivial solutions
If we then also take into account other values of ϕ(0), and the possibility
of negative λ, we obtain Fig. 1.5, which depicts the maximum value of
ϕ(s) versus λ; the only (physically) significant portion of this figure is,
of course, the part drawn with solid (unbroken) curves, i.e., for λ > 0
and −π < ϕmax < π.
The broken curves for λ > 0 are those attributable to angles ϕ that are
determined only by modulo 2π, while the dotted curves for λ < 0 corre-
spond to having the free end of the rod at x = −. The deflection v(s) is
then obtained from the first equation in (1.4) and yields the bifurcation
diagram in Fig. 1.4, where it is known that the various branches do not
extend to infinity because vmax does not grow monotonically (at large
loads the buckled rod may form a knot so that the maximum deflection
can decrease, although the maximum slope must increase.)
We have presented a complete solution of the buckling problem for a
compressed thin rod which is based on classical analysis of an associ-
ated initial value problem for the boundary value problem (1.6a,b) first
treated by Euler in 1744. The equivalent problem for the deflection v(s)
is (1.4), (1.5) and the results of the analysis, based on a closed form
solution using elliptic integrals, seem to indicate a prominent position
for the linearized (eigenvalue) problem (1.8), or, equivalently, for the
linearization of (1.6a,b) namely,
G(λ, u) = 0 (1.15)
where λ is a real number, u is an element of a real Banach space B
with norm
·
, and G is a nonlinear mapping from R × B into B, R
being the real numbers. The restriction to real λ and a real Banach
space B is based on the needs in applications where only real branching
is of interest. Strictly speaking, a solution of (1.15) is an ordered pair
(λ, u) but we often refer to u itself as the solution (either for fixed λ, or
depending parametrically on λ); to study branching (or bifurcation) we
must have a simple, explicitly known solution u(λ) of (1.15). We may
make the assumption that
so that u(λ) = 0 is a solution of (1.15) for all λ and this solution is then
known as the basic solution (for the problem considered above, this solu-
tion corresponds to the compressed, unbuckled rod). The main problem
is to study branching from this basic solution (i.e., the unbuckled state)
although within the context of plate buckling we will also discuss, in §5,
branching from nontrivial solutions of (1.15), i.e., secondary buckling
of thin plates. Thus, the goal is to find solutions of (1.15) which are of
small norm (small “size” in the relevant Banach space B); this motivates
the following:
o
Definition. We say that λ = λ is a branch point of (1.15) (equivalently
a bifurcation point or, for the case in which (1.15) represents the equi-
librium problem for a structure, such as the compressed rod considered
Answers to questions 1-3, above, are the only ones which clearly fall
within the domain of bifurcation theory; problem 4 is related to stability
theory, while problem 5 requires, for an answer, techniques of global
analysis which fall outside the strict domain of branching theory.
Remarks: Quite often (such as will be the case for the buckling of thin
plates governed by the von Karman equations, or some modification
thereof) the functional equation G(λ, µ) = 0, in a Banach space B,
subject to the condition (1.16), will assume the particular form
Au − λu = 0, with A0 = 0 (1.17)
lim =0 (1.21)
v→0
v
d2 Ψ
LΨ = Gϕ (λ, ϕ0 )Ψ ≡ + λΨ cos ϕ0 (1.25)
ds2
so that, in particular, for the equilibrium solution (λ, ϕ0 = 0)
d2 Ψ
LΨ = Gϕ (λ, 0)Ψ ≡ + λΨ (1.26)
ds2
where, as Ψ ∈ B, Ψ must satisfy Ψ (0) = Ψ () = 0. But L is invertible
if and only if the only solution of LΨ = 0, for Ψ in B, is given by Ψ ≡ 0.
Thus, L is not invertible if there are values λ = λc such that LΨ = 0,
for Ψ ∈ B, has nontrivial solutions, i.e., if there exists λ = λc such that
2
d Ψ +λ Ψ=0
c
ds2 (1.27)
Ψ (0) = Ψ () = 0
has at least one nontrivial solution Ψ; such solutions (of 1.27) are, of
course, eigenfunctions, corresponding to the eigenvalue λ = λc , which
then becomes a candidate for being a branch (or bifurcation) point for
the boundary value problem (1.6a,b) associated with the compressed
(thin) rod. The eigenvalue problem (1.27) is the linearized problem
associated with (1.6a,b); in the parlance of buckling theory for elastic
structures, λ = λc , such that there exists a nontrivial solution Ψ = Ψc (s)
of (1.27), is a possible buckling “load” – actually the buckling load di-
vided by EI in this case – and the eigenfunction Ψc is the associated
buckling mode. In all cases of interest in classical buckling theory, the
linearization of an equilibrium equation (or set of equations), such as
(1.15), about an equilibrium solution (λ0 , u0 ), leads, in the manner de-
scribed above, to an eigenvalue-eigenfunction problem
for the buckling “loads” λc and the associated buckling modes vc ; this
will, of course, be the case for the von Karman equations which we derive
in §1.2.
In this section we will derive the classical von Karman equations which
govern the out-of-plane deflections of thin isotropic and orthotropic lin-
ear elastic plates as well as the linearized equations which mediate the
onset of buckling; the equations will be presented in both rectilinear
coordinates and in polar coordinates. We begin with a derivation, in
rectilinear coordinates, of the von Karman equations for linear elastic,
isotropic, (and then orthotropic), behavior.
(ii) Relate the strain tensor to the stress tensor by using the consti-
tutive law representing linear, isotropic elastic behavior.
(iii) Derive the equilibrium equations which relate the stress tensor
to the external loading.
We begin (see Fig. 1.7) by considering an infinitesimal volume element
dV = hdxdy of the shell. Let r be the position vector to a point P , in
the interior of the shell, which is located at a distance ζ from the middle
surface; then with ei , i = 1, 2, 3, the unit vectors along the coordinate
axes
r = x e1 +y e2 +(W + ζ) e3 (1.29)
The components of the strain tensor for this deformation of the shell are
then obtained by computing the difference of the squares of the lengths
of the differential line elements d r and d r̂ ; a length computation based
on (1.31) and (see Fig. 1.6) r = x e1 +y e2 +W e3 yields
1
|d r̂ |2 − |d r |2 = εxx dx2 + 2εxy dxdy + εyy dy 2 (1.32)
2
where
1 2 2 2
$xx = u,x + u,x + v,x + w,x + W,x w,x
2
−ζw,xx + · · ·
1
$yy = v,y + u,2y +v,2y +w,2y + W,y w,y (1.33)
2
−ζw,yy + · · ·
γxy ≡ 2$xy = u,y +v,x +u,x v,y +w,x w,y
+W,x w,y +W,y w,x −2ζw,xy + · · ·
and terms of at least third order have been neglected. If we now take
into consideration the fact that, for stability problems connected with
thin-walled structures, the displacement w, which is orthogonal to the
middle surface, is much larger than the displacements u, v in the middle
surface, then the terms quadratic in u and v, in (1.33), may be neglected
in comparison with those in w; we thus obtain the (approximate) kine-
matical relations
1
$xx = u,x + w,2x +W,x w,x −ζw,xx
2
1 2
$yy = v,y + w,y +W,y w,y −ζw,yy
2 (1.34)
γ = 2$ = u, +v, +w, w, +W, w,
xy xy y x x y x y
+W,y w,x −2ζw,xy
are the averaged stresses over the shell thickness h, which is assumed to
be small. The bending moment Mx is defined to be
h/2
Mx = σxx ξdξ (1.38)
−h/2
The next step consists of introducing the Airy stress function Φ(x, y),
which is defined so as to satisfy
for the two unknowns, the (extra) deflection w(x, y) and the Airy stress
function Φ(x, y), where ∆2 denotes the biharmonic operator in rectilin-
ear Cartesian coordinates, i.e.,
∂4w ∂4w ∂4w
∆2 w = + 2 + (1.48)
∂x4 ∂x2 ∂y 2 ∂y 4
To obtain a second partial differential equation for w(x, y) and Φ(x, y),
we make use of the identity
into which we substitute, from the constitutive relations (1.36), for the
displacement derivatives u,x , v,y , and u,y +v,x . One then makes use
of the definition of the Airy function Φ to replace the stress resultants
Nx , Ny , and Nxy ; there results the following equation
∆ Φ = Eh (w2 ,xy −w,xx w,yy )
2
(1.50)
+2W,xy w,xy −W,xx w,yy −W,yy w,xx
so that
then the system consisting of (1.47) and (1.50) can be written in the
more compact form
1 2 1
∆ Φ = − [w, w] − [W, w] (1.52b)
Eh 2
In particular, for the deflection of a thin plate, which in its undeflected
configuration occupies a domain in the x, y plane, so that W ≡ 0, (1.52a),
(1.52b) reduce to the von Karman plate equations for an isotropic linear
elastic material, namely,
Remarks: The curvatures of the plate in planes parallel to the (x, z) and
(y, z) planes, are usually denoted by κx and κy , respectively, while the
twisting curvature is denoted by κxy . Strictly speaking, the curvature
κx , e.g., is given by
∂2w
− 2
κx = ∂x (1.55)
2 32
∂w
1+
∂x
where the minus sign is introduced so that an increase in the bending
moment Mx results in an increase in κx . As w,2x is assumed to be small,
h3
Dij = cij (1.62)
12
are the associated rigidities (or stiffness ratios) of the orthotropic plate,
specifically,
are the bending rigidities about the x and y axes, respectively, while
G12 h3
D66 = (1.64)
12
is the twisting rigidity. The ratios D12 /D22 , D12 /D11 are often called
reduced Poisson’s ratios. For the thin orthotropic plate under consid-
eration, the strains $xx , $yy , and γxy , the averaged stresses (or stress
resultants) Nx , Ny , and Nxy , and the bending moments Mx , My , and
Mxy are still given by (1.35), (1.37), (1.38), and the relevant expressions
for My and Mxy , which are analogous to (1.38). Thus, with
σxx = c11 ($xx − β1 ∆H) + c12 ($yy − β2 ∆H)
σyy = c21 ($xx − β1 ∆H) + c22 ($yy − β2 ∆H)
σxy = c66 γxy
we have
1
σxx = c11 (u,x + w,2x −ζw,xx ) (1.65a)
2
1
+c12 (v,y + w,2y −ζw,yy )
2
−(c11 β1 ∆H + c12 β2 ∆H)
1
σyy = c21 (u,x + w,2x −ζw,xx ) (1.65b)
2
1
+c22 (v,y + w,2y −ζw,yy )
2
−(c21 β1 ∆H + c22 β2 ∆H)
and
1
τxy = c66 (u,y +v,x ) + w,x w,y −2ζw,xy (1.65c)
2
h/2
1 2
M = c ξ u, + w, − ξ 2
w, dξ
y 21 x
2 x
xx
−h/2
h/2
1
+c22 ξ v,y + w,2y − ξ 2 w,yy dξ (1.66b)
−h/2 2
h/2
−
ξ (c11 β1 ∆H + c22 β2 ∆H) dξ
−h/2
and
Mxy =
h/2
1 (1.66c)
c66 ξ [u,y +v,x ] + w,x w,y − 2ξ 2 w,xy dξ
−h/2 2
and
h2
ξ3
Mxy = −2c66 · w,xy
3 −h (1.67c)
2
= −2D66 w,xy
The corresponding modification of the first von Karman equation for the
deflection of a thin, linearly elastic, orthotropic plate, when there exists
an initial deflection z = w0 (x, y), is easily obtained from (1.45) and
(1.67a,b,c) by setting W = w0 and defining, as in (1.57), w̃ = w + w0 .
To obtain the appropriate modification of the second von Karman equa-
tion (1.53b) for the case of a linearly elastic, thin, orthotropic plate, we
where the outer integral is computed over the area A occupied by the
plate. In (1.70), or its equivalent for the case where the plate ex-
hibits isotropic response, we must first substitute from (1.35) in order
to express the integrand as a polynomial expression in the displacement
derivatives.
Remarks: In the case of very thin plates, which may have deflec-
tions many times their thickness, the resistance of the plate to bending
can, often, be neglected; this amounts, in the case of a plate exhibiting
isotropic response, to taking the stiffness K = 0, in which case the prob-
lem reduces to one of finding the deflection of a flexible membrane. The
equations which apply in this case were obtained by A. Föppl [69] and
∂ur 1 ∂w 2 ∂2w
err = + ( ) −ζ 2
∂r 2 ∂r ∂r
u 1 ∂u 1 ∂w 1 ∂w 1 ∂2w
eθθ =
r
+
θ
+ 2( )2 − ζ( + 2 2)
r r ∂θ 2r ∂θ r ∂r r ∂θ (1.71)
∂u u 1 ∂u 1 ∂w ∂w
erθ =
θ
−
θ
+ (
r
)+ ( )( )
∂r r r ∂θ r ∂r ∂θ
1 ∂2w
1 ∂w
−2ζ( − 2 )
r ∂r∂θ r ∂θ
With the components of the stress tensor σrr , σrθ , σθθ , σzz , σrz and
σθz as shown in Fig. 1.10, (σrθ = σθr ), (σrz = σzr ), and Fr , Fθ the com-
ponents of the applied body force in the radial and tangential directions,
σrr = σxx cos2 θ + σyy sin2 θ + 2σxy sin θ cos θ
σ = σxx sin2 θ + σyy cos2 θ − 2σxy sin θ cos θ (1.73)
θθ
σrθ = (σyy − σxx ) sin θ cos θ + σxy cos2 θ − sin2 θ
with analogous transformation formulae for σrz and σθz . If we set, for
the deflection w and the Airy stress function Φ, w̄ (r, θ) = w (r cos θ,
r sin θ), Φ̄ (r, θ) = Φ (r cos θ, r sin θ), and then drop the superimposed
bars in the polar coordinate system, it can be shown directly that the
stress resultants (or averaged stresses) Nr , Nθ , and Nrθ are given in
terms of Φ by
1 1
Nr = Φ,r + 2 Φ,θθ
r r
Nθ = Φ,rr (1.74)
Nrθ = 1 Φ,θ − 1 Φ,rθ
r2 r
2 1
∆2 w = w,rrrr + w,rrr − 2 w,rr
r r
2 1 2
+ w,rrθθ + 3 w,r − 3 w,rθθ (1.75a)
r2 r r
1 4
+ 4
w,θθθθ + 4 w,θθ
r r
and
1 1
[w, Φ] = w,rr Φ,r + 2 Φ,θθ
r r
1 1
+ · w,r + 2 w,θθ Φ,rr
r r
1 1 1 1
−2 w,rθ − 2 w,θ Φ,rθ − 2 Φ,θ
r r r r
1 1
[w, Φ] = Nr w,rr −2Nrθ w,θ − w,rθ
r2 r
1 1
+ Nθ · w,r + 2 w,θθ (1.75b)
r r
2 1 1
∆2 w = w,rrrr + w,rrr − 2 w,rr + 3 w,r (1.76)
r r r
and
1
[w, Φ] = Nr w,rr +Nθ w,r (1.77)
r
Thus, for the von Karman equations for a thin, linearly elastic, isotropic
plate, in polar coordinates, we have (with t ≡ 0):
1
2 1 2
Φ,rrrr + Φ,rrr − 2 Φ,rr + 2 Φ,rrθθ
Eh r r r
1 2 1 4
+ 3 Φ,r − 3 Φ,rθθ + 4 Φ,θθθθ + 4 Φ,θθ (1.79)
r r r r
2
1 1 1 1
= − w,rr w,r + 2 w,θθ − w,rθ − 2 w,θ
r r r r
Eh 0
Nr = err + νe0θθ
1−ν 2
2
Eh dur 1 dw ur (1.82a)
= + +ν
1 − ν 2 dr 2 dr r
and
Eh 0
Nθ = eθθ + νe0rr
1−ν 2
2
Eh ur dur ν dw (1.82b)
= +ν +
1 − ν2 r dr 2 dr
Remarks: In lieu of (1.78), a useful (equivalent) form for the first von
Karman equation (especially for our later discussion of the buckling of
annular plates) is
1 1
K∆ w = Nr w,rr −2Nrθ
2
w,θ − w,rθ (1.83)
r2 r
1 1
+Nθ w,r + 2 w,θθ
r r
If σrr , σrθ , and σθθ are independent of the variable z, in the plate, then
Nr , Nrθ , and Nθ in (1.83), as well as in all the other expressions prior
to (1.83), where these stress resultants appear, may be replaced, respec-
tively, by hσrr , hσrθ , and hσθθ .
Remarks: It is easily seen that, for the case of an axially symmetric
deformation of the plate, the relevant equations, i.e., (1.80), (1.81) may
be rewritten in the form
1 d d 1 d dw
K r r =
r dr dr r dr dr
(1.84)
1 dΦ d2 w 1 d2 Φ dw
+
r dr dr2 r dr2 dr
d2 w 1 dw
κr =
, κθ = , (1.86)
dr2 r dr
for the case of radially symmetric deformations of a plate, are the middle-
surface curvatures. If the plate is circular, with radius R, then the
strain-energy of bending for the isotropic, linearly elastic plate is
1
VB = K (κ2r + 2νκr κθ + κ2θ )dA
2
R A 2
(1.87a)
w,r 1
= πK w,rr +2νw,rr ·
2
+ w,r rdr
0 r r
W (u, w, P ) ≡ VB + VS + VL (1.89)
E r h3 E θ h3
Dr = , Dθ = (1.95)
12(1 − νr νθ ) 12(1 − νr νθ )
and
Grθ · h3
D̃rθ = (1.96)
12
while
Drθ = Dr νθ + 2D̃rθ (1.97)
Using the expressions for Mr , Mθ , Mrθ in (1.94), those for Nr , Nθ , and
Nrθ in (1.74), and a compatibility equation for the displacements in po-
lar coordinates, we find the following form of the von Karman equations
for a linearly elastic, thin plate exhibiting cylindrically orthotropic sym-
metry, (where we have once again introduced the Airy stress function
through the relations (1.74)):
1 1 2 1
+ Φ,θθθθ + Φ,rrr
Er r 4 Eθ r
1 2νr 1 1 1
− − 3
Φ,rθθ − Φ,rr
Grθ Er r Er r 2
1 − νr 1 1 1 1
+ 2 + Φ,θθ + Φ,r
Er Grθ r4 Er r 3
1 1
= −h w,rr w,r + 2 w,θθ
r r
2
1 1
− w,rθ − 2 w,θ
r r
Equations (1.98), (1.99) may also be obtained directly from many sources
in the literature, e.g., the paper by Uthgenannt and Brand [70].
Equations (1.98), (1.99), which govern the general deflections of a
cylindrically orthotropic, linearly elastic, thin plate reduce to those which
govern the deflections, in polar coordinates, of an isotropic plate, i.e.
(1.78), (1.79) when
Eh3
Dr = Dθ = Drθ = K ≡ (1.100a)
12(1 − ν 2 )
Er = Eθ = E, νr = νθ = ν (1.100b)
σrr Er 1 νθ err
= (1.104a)
σθθ 1 − νr νθ νθ β eθθ
and
err = exx cos2 θ + eyy sin2 θ + γxy cos θ sin θ
eθθ = exx sin2 θ + eyy cos2 θ − γxy cos θ sin θ (1.105)
γrθ = 2(eyy − exx ) cos θ sin θ + γxy (cos2 θ − sin2 θ)
1 1 1 1
(rMr ),rr + 2 Mθ,θθ − Mθ,r + Mrθ,rθ + Nr w,rr (1.106)
r r r r
w
1 1
+Nθ w,r + 2 w,θθ + 2Nrθ =0
r r r ,rθ
where the stress resultants Nr , Nθ , and Nrθ are, once again, given by
(1.74) in terms of the Airy function Φ(r, θ); we note that the sum of
the last three terms in (1.106) is (again) identical with the right-hand
side of (1.75b), i.e., with [w, Φ]. From the work in [71], we deduce the
following expressions for the bending moments (which may, of course,
be obtained by directly transforming the expressions in (1.67a), (1.67b)
and (1.67c) into polar coordinates):
1 1
Mθ = −D̃12 w,rr −D̃2 w,θθ + w,r
r2 r (1.107b)
1
−2D̃26 w ,rθ
r
1 1
Mrθ = −D̃16 w,rr −D̃26 w, θθ + w,r
r2 r
(1.107c)
1
−2D̃6 w ,rθ
r
where,
4 2 2 4
D̃1 = D1 cos θ + D3 cos θ sin θ + D2 sin θ
D̃2 = D1 sin4 θ + D3 cos2 θ sin2 θ + D2 cos4 θ
D̃12 = ν1 D2 + (D1 + D2 − 2D3 ) cos2 θ sin2 θ
(1.108)
D̃6 = D66 + (D1 + D2 − 2D3 ) cos2 θ sin2 θ
$
D̃16 = (D2 − D3 ) sin2 θ − (D1 − D3 ) cos2 θ cos θ sin θ
$
D̃26 = (D2 − D3 ) cos2 θ − (D1 − D3 ) sin2 θ cos θ sin θ
where the aij = aij (θ), in contrast to the case of a cylindrically or-
thotropic material, i.e. (1.91), in which the constitutive “coefficients”
are θ-independent. The strain components in (1.112) are given by the
relations (1.71) in terms of the displacements ur , uθ , and w, where
h h
− < ζ < ; if we think in terms of averaging the constitutive re-
2 2
lations (1.112) over the thickness of the plate we may, in essence, ignore
the expressions involving ζ in (1.71). For the in-plane stress distribution
(prebuckling), w = 0, in which case
r2
L(ur , uθ ) = − [w, w] (1.115)
2
where
2
1 1 1 1
[w, w] = 2 w,rr w,r + 2 w,θθ − w,rθ − 2 w,θ (1.116)
r r r r
The essential idea behind the derivation of the second of the von
Karman equations is to compute the polar coordinate form (1.112) of
the constitutive relations (1.111), substitute (1.112) into (1.115), and
then set
1 ∂Φ 1 ∂2Φ
σrr =
+ 2 2
r ∂r r ∂θ
2
∂ Φ
σθθ = (1.117)
∂r2
∂2 1
τrθ = − Φ
∂r∂θ r
in the resulting equation. We begin by recalling the transformation
(1.105) of the principal strains exx , eyy , and γxy to the polar coordinate
system and the analogous transformation of the principal stresses, i.e.,
2
2
σrr = σxx cos θ + σyy sin θ + 2σxy sin θ cos θ
σθθ = σxx sin2 θ + σyy cos2 θ − 2σxy sin θ cos θ (1.118)
σrθ = (σyy − σxx ) sin θ cos θ + σxy cos2 θ − sin2 θ
Using the transformation (1.105) of the principal strains, in conjunction
with the constitutive relations (1.111), we find that
1 ν12
err = cos2 θ − sin2 θ σxx
E E1
1
1 ν21
+ sin θ −
2 2
cos θ σyy (1.119)
E2 E2
sin 2θ
+ σxy
G12
By solving the relations in (1.118) for σxx , σyy , and σxy in terms of
σrr , σθθ , and σrθ and then substituting these results for σxx , σyy , and
σxy into (1.119), (1.120), and (1.121), and simplifying, we obtain (1.112)
with
cos2 θ̄ sin2 θ̄
a11 = (cos2 θ̄ − ν12 sin2 θ̄) + (sin2 θ̄ − ν21 cos2 θ̄)
E1 E2 (1.122a)
1
sin2 2θ̄
4G12
sin2 θ̄ cos2 θ̄
a12 = (cos2 θ̄ − ν12 sin2 θ̄) + (sin2 θ̄ − ν21 cos2 θ̄)
E1 E2
(1.122b)
1
− sin2 2θ̄
4G12
1 1
a13 = sin 2θ̄ (ν12 sin2 θ̄ − cos2 θ̄) + (sin2 θ̄ − ν21 cos2 θ̄)
E1 E2
(1.122c)
cos 2θ̄
+
2G12
cos2 θ̄ sin2 θ̄
a21 = (sin2 θ̄ − ν12 cos2 θ̄) + (cos2 θ̄ − ν21 sin2 θ̄)
E1 E2
(1.122d)
sin2 2θ̄
−
4G12
1 1
eθθ = a21 Φ,r + 2 Φ,rr + a22 Φ,rr
r r
(1.123b)
1
−a23 Φ
r ,rθ
∂ 2 err ∂2 ∂2
2
+ r 2 (reθθ ) − (rγrθ )
∂θ ∂r ∂r∂θ
2
∂err 1 1 1 1
−r = − w,rr w,r + 2 w,θθ − w,rθ − 2 w,θ
∂r r r r r
(1.124)
A comprehensive study of postbuckling for rectilinearly orthotropic
plates with circular geometries will not be attempted in the present
work; therefore, we will forgo carrying out the remainder of the deriva-
tion of the second of the von Karman equations for this situation leaving,
instead, the straightforward calculations as an exercise for the reader.
The initial buckling of rectilinearly orthotropic (circular) annular plates
will be treated in Chapter 4 and the in-plane displacement differential
equations associated with the buckling of rectilinearly orthotropic circu-
lar plates will be obtained in Chapter 3.
Along the edge of the plate, at r = a, we prescribe, in general, the
radial and tangential components pr (θ) and pθ (θ), respectively, of the
applied traction where
$ '
pr (θ) = h σxx cos2 θ + σyy sin θ cos θ + σxy sin 2θ 'r=a
(1.125)
pθ (θ) = h [(σyy − σxx ) sin θ cos θ − σxy cos 2θ]|r=a
i.e.
Ω = (x, y) |x2 + y 2 ≤ R2 (1.127a)
so that
∂Ω = (x, y)|x2 + y 2 = R2 (1.127b)
∂w
(i) ∂Ω is clamped: w = 0 and = 0, on ∂Ω (1.129a)
∂n
(iii) ∂Ω is Free: Mn = 0
∂Mtn (1.129c)
and Qn + = 0, on ∂Ω
∂s
where Mn is the bending moment on ∂Ω in the direction normal to
∂Ω, Mtn is the twisting moment on ∂Ω, with respect to the tangential
and normal directions on ∂Ω, and Qn is the shearing force associated
with the direction normal to ∂Ω. We now specify the conditions in
(1.129 a,b,c) for the cases of isotropic and orthotropic symmetry in both
rectilinear and circular geometries.
and
w,x (0, y) = 0, 0≤y≤b
w,x (a, y) = 0, 0≤y≤b
(1.130b)
w,y (x, 0) = 0, 0≤x≤a
w,y (x, b) = 0, 0≤x≤a
∂w(x, y)
where w,x (0, y) ≡ |x=0 , etc.
∂x
(ii) ∂Ω is Simply Supported
In this case, as a consequence of (1.129b), we have, first of all, the
conditions (1.130a), because w = 0 on ∂Ω. The condition Mn = 0
translates, in this case, into Mx = 0, for x = 0, x = a, 0 ≤ y ≤ b, and
My = 0 for y = 0, y = b, 0 ≤ x ≤ a, or, in view of the expressions for
the bending moments Mx , My in (1.39) and (1.41), respectively,
w,xx +νw,yy |x=0 = 0, 0 ≤ y ≤ b
w,xx +νw,yy |x=a = 0, 0 ≤ y ≤ b
(1.131)
w,yy +νw,xx |y=0 = 0, 0 ≤ x ≤ a
w,yy +νw,xx |y=b = 0, 0 ≤ x ≤ a
Thus, if all four edges of the plate were free, we would have
w,yyy +(2 − ν)w,xxy |y=0 = 0, 0 ≤ x ≤ a
w,yyy +(2 − ν)w,xxy |y=b = 0, 0 ≤ x ≤ a
(1.137)
w,xxx +(2 − ν)w,xyy |x=0 = 0, 0 ≤ y ≤ b
w,xxx +(2 − ν)w,xyy |x=0 = 0, 0 ≤ y ≤ b
Remarks: In any actual problem that one would want to consider
with respect to buckling or postbuckling of a (rectangular) thin, linearly
elastic, isotropic plate, there would usually be a mixing of the various
for 0 ≤ y ≤ b, and
w(x, 0) = w(x, b) = 0, 0 ≤ x ≤ a
w,yy +νw,xx |y=0 = 0, 0 ≤ x ≤ a (1.138b)
w,yy +νw,xx |y=b = 0, 0 ≤ x ≤ a
where
1 1
∆w = w,rr + w,r + 2 w,θθ (1.142)
r r
Remarks: As was the case for a rectangular plate, for a thin, linearly
elastic, isotropic, annular plate, one may mix and match the various
sets of boundary conditions delineated above, e.g., if the outer radius at
r = b is clamped, while the inner radius at r = a is free, the boundary
conditions would read as follows:
1−ν 1
(∆w) ,r + w,θ ,rθ = 0, 0 < θ ≤ 2π (1.143c)
r r r=a
and
so that, for 0 ≤ y ≤ b,
and
D11 w,xxx +(D12 + 4D66 )w,xyy |x=a = 0 (1.152)
∂w(r, θ)
w(b, θ) = 0, | r=b = 0, (1.154b)
∂r
for 0 < θ ≤ 2π.
1 1
D̃1 w,rr +D̃12 w,θθ + w,r
r2 r
(1.157a)
1
−2D̃16 w ,rθ =0
r r=a
1 1
D̃1 w,rr +D̃12 w,θθ + w,r
r2 r
(1.157b)
1
−2D̃16 w ,rθ =0
r r=b
y2
Φ̄0 (x, y) = −λh (1.160)
2
inasmuch as we do not care about linear and constant terms in Φ̄0 (be-
cause the expressions involving Φ in (1.53a,b) always appear as second
derivatives in the Airy function.) From (1.160) it is clear that we may
h
take, in accordance with (1.158), Φ0 (x, y) = − y 2 . From (1.160) and
2
(1.46) we see that, N̄x0 = −λh, N̄y0 = 0, N̄xy
0
= 0.
Returning to the general situation we make the following observations:
(i) In every case considered in section 1.2, with respect to the buck-
ling of a thin, linearly elastic plate, either for isotropic or orthotropic
response, and whether it be for the case of rectilinear or circular geom-
etry, the structure of the von Karman equations is as follows:
L1 w = [Φ, w] (1.161a)
1
L2 Φ = − [w, w] (1.161b)
2
1 1
[Φ, w] = Φ, w, + w,
rr
r
r
r2
θθ
1 1
+ Φ,r + 2 Φ,θθ w,rr
r r
1 1 1 1
−2 w,rθ − 2 w,θ Φ,rθ − 2 Φ,θ
r r r r
1 1
= w,rr Nr − 2 2
w,θ − 2 w,rθ Nrθ (1.163)
r r
1 1
+ w,r + 2 w,θθ Nθ
r r
1 1
[w, w] = −2 w,rr r w,r + r2 w,θθ
2
1 1
− w,rθ − 2 w,θ
r r
(ii) We set
L2 Φ0 = 0, in Ω, (1.164)
with some appropriate boundary conditions on ∂Ω. Then, (1.161a,b)
may be put in the form
L1 w − λ [Φ0 , w] = [ϕ, w]
(1.165)
L2 ϕ = [w, w]
Gu (λ, u0 )v = 0 (1.166)
has a nontrivial solution vc (a “buckling mode”) for some value of λ,
say, λc (a “buckling load”). For the general von Karman system given
by (1.165), which includes all the cases we have considered in section
1.2, the problem equivalent to (1.166) may be formulated as follows:
We take, for the “vector” u the pair (w, ϕ) and we write
u0 = (0, 0) (1.170)
i.e., by w = 0 and Φ = Φ0 = λΦ0 . Computing the Frechét derivative of
the mapping in (1.169), at (λ, u0 ) ≡ (λ, (0, 0)), and setting v = (ŵ, ϕ̂),
we find that
L1 ŵ − λ [Φ0 , ŵ]
Gu (λ, u0 )v = (1.171)
L2 ϕ̂
so that Gu (λ, u0 )v = 0 is equivalent to the system of equations
and
K∆2 w = λ%
[Φ0 , w] &
= λ Φ0 ,yy w,xx +Φ0,xx w,yy −2Φ0,xy w,xy
= −λhw,xx
so that the eigenvalue–eigenfunction problem we are interested in is
K∆2 w + λhw,xx = 0, in Ω
(1.174)
w = ∆w = 0, on ∂Ω
with Ω = {(x, y)|0 ≤ x ≤ a, 0 ≤ y ≤ b} . Other examples of linearized
problems governing the initial buckling of thin plates will be considered
as they arise in Chapters 2–5; in certain of these later examples, we
will want to modify the above discussion to account for the presence
of initial imperfections or for constitutive behavior which is other than
linear elastic; however, the same basic logic which took us, in this section,
from the full set of von Karman equations to the (linear) eigenvalue–
eigenfunction problem governing initial plate buckling, will still apply.
FIGURE 1.1
Thin rod in compression.