The frictionless rolling contact of a rigid circular cylinder on a semi-infinite granular material

The resulting flow and deformation of a semi-infinite granular material under a rolling, smooth rigid circular cylinder is investigated using a perturbation method. Based on the double-shearing theory of granular flow, complete stress and velocity fields, resistance to rolling and the permanent displacement of surface particles are determined to first order; when the internal friction angle is zero, the solutions reduce to those obtained in the corresponding analysis for Tresca or von-Mises materials. The solution scheme and the double-shearing model for granular flow both find their origins in the work of A.J.M. Spencer.