![Page 1: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/1.jpg)
Mechanics of Earthquakes and Faulting
www.geosc.psu.edu/Courses/Geosc508
Lecture 6, 17 Sep. 2019
• Basic observations of: time-dependent static friction• Velocity-dependent sliding friction
• Discuss: Rabinowicz, 1951 & 1956• Read Chapter 2 of Scholz (and look ahead at other chapters)
![Page 2: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/2.jpg)
Amonton’s Laws (1699) (Both apply to base friction, µo)
1st: Friction force independent of the size of surface contact dimension A
Fn
Fs
Contact area A
2nd: Friction force is proportional to normal load
σ
τ
![Page 3: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/3.jpg)
Base-level friction coefficient in terms of contact mechanicsand hardness
![Page 4: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/4.jpg)
![Page 5: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/5.jpg)
Adhesive Theory of Friction (Bowden and Tabor)• Real contact area << nominal area• Contact junctions at inelastic (plastic) yield strength• Contacts grow with “age”• Add: Rabinowicz’s observations of static/dynamic
friction• “Static” friction is higher than “Dynamic” friction
because contacts are older (larger)• -> implies that contact size decreases as velocity
increases
![Page 6: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/6.jpg)
Time dependent yield strength:
Dieterich and Kilgore [1994]
Time dependent growth of contact (acyrlicplastic)- true static contact
µ =τσ n
=Sσ y
σ y =σ o + f t( )
µ =τσ n
=Sσ y
Modified from Beeler, 2003
![Page 7: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/7.jpg)
Time dependence of “static” frictionAging of frictional contacts
C. A. Coulomb (1736-1806)
![Page 8: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/8.jpg)
Time dependence of “static” frictionAging of frictional contacts
C. A. Coulomb (1736-1806)
![Page 9: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/9.jpg)
Time dependence of friction in rocks;; Macroscopic frictional aging
Marone, Nature, 1998
Fault surface
Load point
![Page 10: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/10.jpg)
Friction: 2nd order variations, slick-slip and stability of sliding
Slip
µs
µdL
Slip Weakening Friction Law
(v)µd≠
(for L > x > 0)
(for x > L)
Critical friction distance represents slip necessary to erase existing contactAdhesive Theory of Friction
For a surface with a distribution of contact junction sizes, L, will be proportional to the average contact dimension.
Critical friction distance scales with surface roughness
![Page 11: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/11.jpg)
Adhesive asperity contacts
Bowden & Tabor, 1950Rabinowicz, 1951
A model for Rate/State Friction and the critical slip distance, Dc
Log time
Ar
Log V
Ar
• “Static” friction is higher than “Dynamic” friction because contacts are older (larger)
• contact size decreases as veloctiy increases
![Page 12: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/12.jpg)
Adhesive asperity contacts
Log time
Ar
Log V
Ar
Slip
sk
Ar
But what about a single contact? It can grow with time, but what makes it smaller? (only slip?)
Rabinowicz, 1951
![Page 13: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/13.jpg)
External factors, such as humidity, also may play a part. Squeaks in an automobile are apt to be silenced on a wet day-and, perversely, almost invariably when the car is taken to a garage to have the squeaks located and removed. Demonstrations of stick-slip during public lectures are likewise hazardous undertakings.
E. Rabinowicz, Sci. Amer., 109, May 1956.
![Page 14: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/14.jpg)
Duality of time and displacement dependence of friction.
“Static” and “dynamic” friction are just special cases of a more general behavior called “rate and state friction”
Time (state) dependence of friction: Healing
Velocity (rate) dependence of friction.
![Page 15: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/15.jpg)
Friction: 2nd order variations, slick-slip and stability of sliding
Rabinowicz 1951, 1956,. 1958Static vs. dynamic friction & state dependence
Slip
µs
µdsd
Static-Dynamic Friction with critical slip
Rabinowicz recognized that finite slip was necessary to achieve fully dynamic slip
Classical view
sd is the critical slip distance
Rabinowicz experiments showed state, memory effects and that µdvaried with slip velocity.
![Page 16: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/16.jpg)
Friction: 2nd order variations, slick-slip and stability of sliding
Slip
µs
µdL
Slip Weakening Friction Law
(v)µd≠
Rabinowicz’s work solved a major problem with friction theory: he introduced a way to deal with the singularity in going from µs to µd
(for L > x > 0)
(for x > L)
Palmer and Rice, 1973; Ide, 1972; Rice, 1980
For solid surfaces in contact (without wear materials), the slip distance L represents the slip necessary to break down adhesive contact junctions formed during ‘static’ contact.
The slip weakening distance is also known as the critical slip or the breakdown slip
This slip distance helps with the stress singularity at propagating crack tips, because the stress concentration is smeared out over the region with slip < L.
![Page 17: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/17.jpg)
time dependent closure (westerly granite)- approximately static contact
after Dieterich [1972]
Other measures of changes in ‘static’ friction, contact area, or strength
‘hold’ test
Modified from Beeler, 2003
![Page 18: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/18.jpg)
‘hold’ test
Rate dependence of contact shear strength
µ =τσ n
=Sσ y
S = So + g V( )Rate dependent
response
Modified from Beeler, 2003
![Page 19: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/19.jpg)
compaction/dilatancy associated with changes in sliding velocity
after Marone and Kilgore [1993]
σ y = σo + f age( )
Net change indilatant volume
Modified from Beeler, 2003
![Page 20: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/20.jpg)
Summary of friction observations:0. Friction is to first order a constant1. Time dependent increase in contact area (strengthening)2. Slip dependent decrease in contact area (weakening); equivalently increase in dilatancy3. Slip rate dependent increase in shear resistance (non-linear viscous)
µ =Sσ y
=So + g V( )σo + f age( )
Modified classic theory of friction:
µ =So + g V( )
σ o + f age( )σ o − f age( )σ o − f age( )
#
$ % %
&
' ( (
Discard products of second order terms:
µ =Soσ o
+g V( )σo
−So f age( )σo
2
[e.g., Dieterich, 1978, 1979]
Modified from Beeler, 2003
![Page 21: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/21.jpg)
µ = µ0 + a lnVV0
+ b lnV0θDc
dθdt
= 1−θVDc
dθdt
=∂θ∂t
#
$ %
&
' ( d
+∂θ∂d#
$ %
&
' ( tV ∂θ
∂t#
$ %
&
' ( d
= 1 ∂θ∂d#
$ %
&
' ( t
= −θDc
1st order term second order terms
0. 3. 1. & 2.
time dependence slip dependence
Rate and state equations:
Dieterich [1979]Rice [1983]Ruina [1983]
θ is contact age
µ =Soσ o
+g V( )σo
−So f age( )σo
2Summary of friction observations:0. Friction is to first order a constant1. Time dependent increase in contact area (strengthening)2. Slip dependent decrease in contact area (weakening); equivalently increase in dilatancy3. Slip rate dependent increase in shear resistance (non-linear viscous)
Modified from Beeler, 2003
![Page 22: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/22.jpg)
Brittle Friction Mechanics, Stick-slip
• Stick-slip (unstable) versus stable shear
N
K Fsf
xx´1-D fault zone analog, Stiffness K
N
Rupturearea, A
Slipcontours, u
W
L
Why is this a reasonable approach?How do we get at stiffness?
Δσ = 7π 16
G Δur
ΔσΔu
= 7π 16
GrK =
![Page 23: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/23.jpg)
Earth, S. Marshak, W.W. Norton
Reid’s Hypothesis of Elastic Rebound
Elastic strain accumulates during the interseismic period and is released during an earthquake. The elastic strain causes the earthquake –in the sense that the elastic energy stored around the fault drives earthquake rupture.There are three basic stages in Reid’s hypothesis.
1) Stress accumulation (e.g., due to plate tectonic motion --but what about intra-plate earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength3) Failure, seismic energy release (elastic waves), and fault rupture propagation
Reid, H.F., The mechanics of the earthquake, v. 2 of The California earthquake of April 18, 1906. Report of the State Earthquake Investigation Commission, Carnegie Institution of Washington Publication 87, 1910.
![Page 24: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/24.jpg)
Stage 1Stage 2
Reid’s Hypothesis of Elastic Rebound
![Page 25: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/25.jpg)
Stage 1Stage 2
![Page 26: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/26.jpg)
Brittle Friction Mechanics, Stick-slip
• Stick-slip (unstable) versus stable shear
N
K Fsf
xx´1-D fault zone analog, Stiffness K
N
Rupturearea, A
Slipcontours, u
W
L
Why is this a reasonable approach?How do we get at stiffness?
Relation between stress and slip on a dislocation of radius r. Therefore, the local stiffness around the slip patch is:
That is, stiffness decreases as the patch enlarges.
![Page 27: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/27.jpg)
N
K Fsf
xx´1-D fault zone analog, Stiffness K
Frictional stability is determined by the combination of
1) fault zone frictional properties and
2) elastic properties of the surrounding material
T
Th
B
C
Forc
e
Displacement
Slope = -K
Slip
Ν µs
x´x
f
N
Rupturearea, A
Slipcontours, u
W
L
Brittle Friction Mechanics, Stick-slip
• Stick-slip (unstable) versus stable shear
![Page 28: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/28.jpg)
N
K Fsf
xx´
T
Th
B
C
Forc
e
Displacement
Slope = -K
Slip
Ν µs
x´x
f
Brittle Friction Mechanics, Stick-slip
• Stick-slip (unstable) versus stable shear
Slip
µs
µdsd
Static-Dynamic Friction
Stick-slip dynamics
![Page 29: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/29.jpg)
NK Fs
f
xx´
Brittle Friction Mechanics, Stick-slip
• Stick-slip (unstable) versus stable shear
slip duration = rise time
Stick-slip dynamics
Slip
µs
µd
sd
Static-Dynamic Friction
![Page 30: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/30.jpg)
NK Fs
f
xx´
T
Th
B
C
Forc
e
Displacement
Slope = -K
Slip
Ν µs
x´x
f
slip duration = rise time
total slip, particle velocity, and accel. all depend on friction drop (stress drop)
Brittle Friction Mechanics, Stick-slip
• Stick-slip (unstable) versus stable shear
![Page 31: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/31.jpg)
Laboratory Studies
Slip
µs
µdL
Slip Weakening Friction Law
(v)µd≠
NK Fs
f
xx´
T
Th
B
C
Forc
e
Displacement
Slope = -K
Slip
Ν µs
x´x
f
Quasistatic Stability Criterion
K< Kc; Unstable, stick-slip
K > Kc; Stable sliding
Plausible Mechanisms for Instability
![Page 32: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/32.jpg)
Laboratory Studies
Slip
µs
µdL
Slip Weakening Friction Law
(v)µd≠
NK Fs
f
xx´But, there’s a
problem…….
![Page 33: Mechanics of Earthquakes and Faulting · 2019-09-17 · earthquakes?) 2) Stress reaches or exceeds the (frictional) failure strength 3) Failure, seismic energy release (elastic waves),](https://reader034.vdocument.in/reader034/viewer/2022042312/5edb11ad09ac2c67fa68c24f/html5/thumbnails/33.jpg)
Duality of time and displacement dependence of friction.
“Static” and “dynamic” friction are just special cases of a more general behavior called “rate and state friction”
Stick-slip stress-drop amplitude varies with loading rate.
Mair, Frye and Marone, JGR 2002