Cutting depth of pile materials subjected to the abrasive waterjet and its prediction model

•The abrasive waterjet is used in cutting the reinforced concrete retaining piles in shield tunnel excavation.•Cutting behaviours of both the rebar and concrete are studied.•Cutting depth model of reinforced concrete piles is governed by the cutting depth of the rebar.•Cutting depth model can predict the optimal cutting number while encountering reinforced concrete piles.