Continuum mechanics

II. Kinematics in curvilinear coordinates

Ales Janka
oce Math 0.107
ales.janka@unifr.ch
http://perso.unifr.ch/ales.janka/mechanics
December 22, 2010, Universite de Fribourg
Ales Janka II. Kinematics in curvilinear coordinates
1. Strain in cartesian coordinates (recapitulation)
Green strain tensor: Lagrange formulation

ij
=
1
2
_
u
i
x
j
+
u
j
x
i
+
u
k
x
i
u
k
x
j
_
Cauchy strain tensor: linearized strain for small deformations
e
ij
=
1
2
_
u
i
x
j
+
u
j
x
i
_
Almansi strain tensor: Euler formulation
E
ij
=
1
2
_
u
i
y
j
+
u
j
y
i

u
k
y
i
u
k
y
j
_
Ales Janka II. Kinematics in curvilinear coordinates
1. Strain in curvilinear coordinates
Green strain tensor: Lagrange formulation

ij
=
1
2
_

j
u
i
+
i
u
j
+
i
u
k

j
u
k
_
Cauchy strain tensor: linearized strain for small deformations
e
ij
=
1
2
(
j
u
i
+
i
u
j
)
Ales Janka II. Kinematics in curvilinear coordinates
2. Example of using curvilinear coordinates
A rotational cylinder is being deformed into a rotational
hyperboloid. Calculate the Cauchy strain tensor.
Its advantageous to use the cylindrical coordinates:
x =
_
_

1
cos
2

1
sin
2

3
_
_
y(x) =
_
_
_
_

1
_
cos
2

3
Z
sin
2
_

1
_
sin
2
+

3
Z
cos
2
_

3
_
_
_
_
Ales Janka II. Kinematics in curvilinear coordinates
2. Example of using curvilinear coordinates
Advantages of using curvilinear coordinates:
Simpler analytical formulae for particular deformation modes
and particular geometries
Better intuitive understanding of deformation modes
Particularly useful for shells and membranes or anisotropic
materials
Remember the inated baloon demonstration?

r
r
p
0
r
t
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Cauchy strain in curvilinear coordinates:
e
ij
=
1
2
(
i
u
j
+
j
u
i
)
Covariant derivative:

j
u
i
=
u
i

ij
u

Cylindrical coordinates:
x(
1
,
2
,
3
) =
_
_

1
cos
2

1
sin
2

3
_
_
, [g
ij
] =
_
_
1 0 0
0
_

1
_
2
0
0 0 1
_
_
Christoel symbols of 2nd kind: for cylindrical coordinates

1
22
=
1
,
2
12
=
2
21
=
1

1
,

ij
= 0 otherwise.
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
e
11
=
1
u
1
=
u
1

1
e
12
=
1
2
(
1
u
2
+
2
u
1
) =
1
2

u
2

1

2
21
u
2
+
u
1

2

2
12
u
2

=
1
2

u
2

1
+
u
1

2

2

1
u
2

e
13
=
1
2
(
1
u
3
+
3
u
1
) =
1
2

u
3

1
+
u
1

e
22
=
2
u
2
=
u
2

2

1
22
u
1
=
u
2

2
+
1
u
1
e
23
=
1
2
(
2
u
3
+
3
u
2
) =
1
2

u
3

2
+
u
2

e
33
=
3
u
3
=
u
3

3
Note that physical units of e
ij
are quite inhomogeneous here!
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Non-homogeneity of physical units for e
ij
and u
i
Units of cylindrical coordinates:
1
in [m],
2
in [rad],
3
in [m].
Covariant basis: g
i
=
x

i
:
g
1
=
_
_
cos
2
sin
2
0
_
_
. .
in [1]
, g
2
=
_
_

1
sin
2

1
cos
2
0
_
_
. .
in [m]
, g
3
=
_
_
0
0
1
_
_
. .
in [1]
Contravariant basis:
g
1
= g
1
. .
in [1]
, g
2
=
_
_
_
_

1
sin
2
1

1
cos
2
0
_
_
_
_
. .
in [1/m]
, g
3
= g
3
. .
in [1]
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Non-homogeneity of physical units for e
ij
and u
i
Units for u
i
and u
i
: displacement u = u
i
g
i
= u
i
g
i
should be in [m]:
coordinate its unit coordinate its unit
u
1
[m] u
1
[m]
u
2
[1] u
2
[m
2
]
u
3
[m] u
3
[m]
Hence, units for e
ij
:
coordinate its unit coordinate its unit
e
11
[1] e
22
[m
2
]
e
12
[m] e
23
[m]
e
13
[1] e
33
[1]
Correction of unit inhomogeneity:
introduction of physical components e
(ij )
and u
(i )
by:
e
ij
=

g
ii
g
jj
e
(ij )
and u
i
=

g
ii
u
(i )
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Transforming covariant components to physical components
For cylindrical coordinates:
e
11
= e
(11)
e
21
=
1
e
(21)
e
31
= e
(31)
e
12
=
1
e
(12)
e
22
= (
1
)
2
e
(22)
e
32
=
1
e
(32)
e
13
= e
(13)
e
23
=
1
e
(23)
e
33
= e
(33)
u
1
= u
(1)

u
1

j
=
u
(1)

j
u
2
=
1
u
(2)

u
2

1
= u
(2)
+
1
u
(2)

1
,
u
2

2
=
1
u
(2)

2
u
2

3
=
1
u
(2)

3
u
3
= u
(3)

u
3

j
=
u
(3)

j
Physical components in cylindrical coordinates usually written
u
(1)
= u
r
, u
(2)
= u

, u
(3)
= u
z
e
(11)
= e
rr
, e
(12)
= e
r
, e
(23)
= e
z
. . .
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Transforming covariant components to physical components
e
rr
=
u
r
r
e
r
=
1
2

r
+
1
r
u
r

e
rz
=
1
2

u
z
r
+
u
r
z

=
1
r
u

+
u
r
r
e
z
=
1
2

1
r
u
z

+
u

e
zz
=
u
z
z
Ales Janka II. Kinematics in curvilinear coordinates
4. Back to cylinder hyperboloid
A rotational cylinder is being deformed into a rotational
hyperboloid. Calculate the Cauchy strain tensor.
Use the cylindrical coordinates:
u = yx =
_
_
_
_

1
_
cos
2

3
Z
sin
2
_

1
_
sin
2
+

3
Z
cos
2
_

3
_
_
_
_

_
_

1
cos
2

1
sin
2

3
_
_
=
_
_
_

1

3
Z
sin
2

1

3
Z
cos
2
0
_
_
_
Ales Janka II. Kinematics in curvilinear coordinates
4. Back to cylinder hyperboloid
u =
_
_
_

1

3
Z
sin
2

1

3
Z
cos
2
0
_
_
_
= 0
_
_
cos
2
sin
2
0
_
_
. .
g
1
+(
1
)
2

3
Z
_
_
_

1
sin
2
1

1
cos
2
0
_
_
_
. .
g
2
+0
_
_
0
0
1
_
_
. .
g
3
Hence
u
1
= u
3
= 0 , u
2
= (
1
)
2

3
Z
and u
(2)
= u

=
1

3
Z
Resulting Cauchy strain:
e
rr
= e
r
= e
rz
= e

= e
zz
= 0 and e
z
=
r
2 Z
ie. pure shear (ie. distortion of angles) in the (, z) tangent-plane.
Ales Janka II. Kinematics in curvilinear coordinates
5. Yet another cylinder hyperboloid example
But dierent from the previous one!
A rotational cylinder is being deformed into a rotational
hyperboloid in the following way (in cylindrical coordinates):
x =
_
_

1
cos
2

1
sin
2

3
_
_
y(x) =
_
_
_
_
_
_

1
_
1 +
_

3
Z
_
2
cos
2

1
_
1 +
_

3
Z
_
2
sin
2

3
_
_
_
_
_
_
The resulting shape is the same, but the deformation tensor
is dierent! Why?
Ales Janka II. Kinematics in curvilinear coordinates