Analytical model for predicting residual stresses in abrasive waterjet peening

•Theoretical model is proposed for predicting compressive residual stress in abrasive waterjet peening.•Abrasive sizes, spatial position, and velocity distribution in waterjet beam are considered in prediction model.•Material work hardening is considered in multiple abrasive overlapping impacts.•Abrasive distribution on the workpiece depends on the number of peening, traverse speed, and jet centre distance.•Distribution of compressive residual stress is predicted based on abrasive waterjet peening surface topography.