Vector and Tensor

Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 1
MATH 332: Vector and Tensor Analysis

Vector Algebra
Scalar Product
A B = |B||A| cos
Commutativity
A B = B A
Magnitude
|A|
2
= A A
Vector Product
A B = n | A| | B| sin
Anti-commutativity
AB = BA
AA = 0
Scalar Triple Product
(AB) C
Cyclic symmetry
(AB) C = (BC) A = (CA) B
Vector Triple Product
A(BC) = B(A C) C(A B)
Kronecker Symbol
ik
=
i
k
=
k
i
=
_
1 if i = k
0 if i = k
Symmetry
jk
=
kj
Unity Matrix
I = (
ik
) =
_
_
1 0 0
0 1 0
0 0 1
_
_
Transformation of Rectangular Coordinates
x
i
=
i
k
x
k
+ x
(0) i
Summation from 1 to 3 is assumed over all
repeated indices
Vector Form
x
= (x
i
) =
_
_
x
1
x
2
x
3
_
_
, x = (x
i
) =
_
_
x
1
x
2
x
3
_
_
Transformation matrix
= (
i
k
) =
_
_
1

1
2

1
1

2
2

2
1

3
2

3
3
_
_
Matrix Form of the Transformation
x
= x + x
0
Orthonormal Basis i
k
, (k = 1, 2, 3)
i
k
i
j
=
kj
Orientation of Orthonormal Basis:
right-handed if ( i
1
i
2
) i
3
= +1
left-handed if ( i
1
i
2
) i
3
= 1
Transformation of Orthonormal Basis
i
j
=
j
k
i
k
, i
k
=
j
k
i
k
= cos( i
j
, i
k
)
Orthogonality condition
k
=
ij
,
k
j
=
ij
Matrix Form of Orthogonality Condition
T
= I
T means transposition of a matrix (replacement
of rows by columns)
Proper transformation (no change of orientation)
det(
j
k
) = 1
Improper transformation (changes orientation)
det(
j
k
) = 1
Cartesian Vectors
A = A
k
i
k
, A
k
= A i
k
Scalar Product in Cartesian Components
A B = A
i
B
i
|A|
2
= A
i
A
i
Vector Product
AB = det
_
_
i
1
i
2
i
3
A
1
A
2
A
3
B
1
B
2
B
3
_
_
(AB) C = det
_
_
A
1
A
2
A
3
B
1
B
2
B
3
C
1
C
2
C
3
_
_
Levi-Civita (Alternating) Symbol
ijk
=
_
_
+1 if (i, j, k) = (1, 2, 3),
(2, 3, 1), (3, 1, 2)
1 if (i, j, k) = (2, 1, 3),
(3, 2, 1), (1, 3, 2)
0 otherwise
ijk
=
ijk
Anti-symmetry
ijk
=
jik
=
ikj
=
kji
Cyclic symmetry
ijk
=
jki
=
kij
Orthonormal basis
i
j
i
k
=
jkl
i
l
( i
j
i
k
) i
l
=
jkl
Vector Product in Cartesian Components
(AB)
i
=
ijk
A
j
B
k
(AB) C =
ijk
A
i
B
j
C
k
Tensor Notation
ii
=
i
i
= 3
j
i
A
j
= A
i
ij
A
i
B
j
= A
i
B
i
= A B
ijj
=
jij
=
jji
= 0
ijk
ij
=
ijk
ik
=
ijk
jk
= 0
ijk
A
j
A
k
=
ijk
A
i
A
k
=
ijk
A
i
A
j
= 0
ijk
mnl
=
m
i

n
j

l
k
+
m
j

n
k
l
i
+
m
k

n
i

l
j
m
i

n
k
l
j
m
j

n
i

l
k
m
k

n
j

l
i
ijk
mnk
=
m
i

n
j

m
j

n
i
ijk
mjk
= 2
m
i
ijk
ijk
= 6
Cartesian Tensors
(tensors in rectangular coordinates)
Scalar: 0-tensor
Vector: 1-tensor A
i
2-tensor A
ik
n-tensor A
i
1
...i
n
Transformation Laws
=
A
i
=
i
k
A
k
A
ij
=
i
l
A
kl
A
i
1
...i
n
=
i
1
j
1

i
n
j
n
A
j
1
...j
n
Matrix Form of the Transformation Laws
Vector
A = (A
i
) =
_
_
A
1
A
2
A
3
_
_
A
= A
Matrix Form of a 2-tensor
A = (A
ik
) =
_
_
A
11
A
12
A
13
A
21
A
22
A
23
A
31
A
32
A
33
_
_
A
= A
T
Stress Tensor p
ik
Stress
p
i
= p
ik
n
k
n
i
unit normal
Moment of Inertia Tensor
I
ik
=
N
j=1
m
j
_
ik
x
(j)
l
x
(j)
l
x
(j)
i
x
(j)
k
_
Angular Momentum
L
i
= I
ik
k
angular velocity
Deformation Tensor
u
ik
=
1
2
_
u
i
x
k
+
u
k
x
i
+
u
l
x
i
u
l
x
k
_
u
i
displacement vector
Rate of Deformation Tensor
v
ik
=
1
2
_
v
i
x
k
+
v
k
x
i
_
v
i
velocity vector eld
Isotropic Tensors (built from
ik
only; no pre-
ferred directions)
Isotropic 2-tensor
A
ik
= p
ik
Isotropic 4-tensor
A
iklm
= p
ik
lm
+
il
km
+
im
kl
Tensor Algebra
Tensor Product
C
ik
= A
i
B
k
, C
ijkl
= A
ij
B
kl
Contraction
D
jkl
= C
iijkl
Trace
A = A
ii
Inner Product
C
i
= A
ik
B
k
, D
ij
= C
ijkl
B
kl
Symmetric Tensors
S
ij
= S
ji
(S
ik
) =
_
_
S
11
S
12
S
13
S
12
S
22
S
23
S
13
S
23
S
33
_
_
Anti-symmetric Tensors
A
ij
= A
ji
(A
ik
) =
_
_
0 A
12
A
13
A
12
0 A
23
A
13
A
23
0
_
_
Contraction of antisymmetric tensor
A
ii
= 0
Symmetrization
T
(ij)
=
1
2
(T
ik
+ T
ki
)
Antisymmetrization
T
[ij]
=
1
2
(T
ik
T
ki
)
Decomposition of 2-Tensor
T
ik
= T
(ik)
+ T
[ij]
Duality
(Equivalence of antisymmetric 2-tensor to an ax-
ial vector)
A
i
=
1
2
ijk
A
jk
, A
ij
=
ijk

A
k
A
1
= A
23
,

A
2
= A
31
,

A
3
= A
12
,
Principal Axes
Eigenvalues
(r)
(characteristic values) and
Eigenvectors n
(r)
(characteristic or principal di-
rections)
T
ik
n
(r)
k
=
(r)
n
(r)
i
| n
(r)
| = 1
Characteristic Equation
det(T
ik
ik
) = 0
det
_
_
T
11
T
12
T
13
T
21
T
22
T
23
T
31
T
32
T
33
_
_
= 0
3
I
1
2
+ I
2
I
3
= 0
Invariants of a 2-Tensor: I
k
I
1
= T
ii
= T
11
+ T
22
+ T
33
I
2
= det
_
T
22
T
23
T
32
T
33
_
+ det
_
T
11
T
12
T
21
T
22
_
+det
_
T
11
T
13
T
31
T
33
_
I
3
= det(T
ik
) = det
_
_
T
11
T
12
T
13
T
21
T
22
T
23
T
31
T
32
T
33
_
_
The eigenvalues
r
, (r = 1, 2, 3), of a symmetric
2-tensor are real
A symmetric 2-tensor has three orthogonal prin-
cipal axes n
(r)
, (r = 1, 2, 3)
n
(r)
n
(p)
=
rp
In the principal axes a symmetric 2-tensor T
ik
has
diagonal matrix
(T
ik
) =
_
_
1
0 0
0
2
0
0 0
3
_
_
Decomposition in terms of orthonormal eigenvec-
tors n
(r)
and eigenvalues
(r)
T
ik
=
3
r=1
(r)
n
(r)
i
n
(r)
k
Traceless Tensors (Deviators)
T
ik
= T
ik
1
3
ik
T
where T = T
jj
(trace)
T = T
ii
= 0
Decomposition
T
ik
= T
ik
+
1
3
ik
T
jj
Curvilinear Coordinates
q
i
= q
i
( r ), (i = 1, 2, 3)
Cartesian Coordinates
x
i
= x
i
(q)
Radius vector
r(q) = x
k
(q) i
k
= x
1
(q) i
1
+ x
2
(q) i
2
+ x
3
(q) i
3
Basis (tangent vectors to coordinate curves)
e
i
=
r
q
i
Transformation of basis
e
j
=
k
j
e
k
, e
k
=
j
k
e
k
j
=
i
j
,
i
k

k
j
=
i
j
Orientation:
right-handed if ( e
1
e
2
) e
3
> 0
and left-handed if ( e
1
e
2
) e
3
< 0
Reciprocal Basis
e
j
e
k
=
j
k
e
j
=
e
k
e
l
( e
1
e
2
) e
3
where (j, k, l) = (1, 2, 3), (2, 3, 1), (3, 1, 2)
Contravariant Components
A = A
i
e
i
, A
i
= A e
i
Covariant components
A = A
i
e
i
, A
i
= A e
i
Transformation of components
A
i
=
i
k
A
k
, A
i
=
k
i
A
k
Metric Tensor
g
ik
= e
i
e
k
=
r
q
i

r
q
k
, g
ik
= e
i
e
k
Symmetry
g
ik
= g
ki
, g
ik
= g
ki
g
ik
g
kn
=
n
i
Determinant of the Metric Tensor
G = det(g
ik
) , det(g
ik
) =
1
G
The matrix g
ik
is the inverse matrix of the matrix
g
ik
given by
g
ik
= (1)
ik
det M
ik
G
where M
ik
is a 2 2 matrix obtained from the
33 matrix g
ij
by removing the i-th row and the
k-th column
Relations between components
A
i
= g
ik
A
k
, A
i
= g
ik
A
k
Displacement
dr =
r
q
i
dq
i
Line Element (Arc Length)
ds
2
= d r d r =
r
q
i

r
q
k
dq
i
dq
k
ds
2
= g
ik
dq
i
dq
k
Volume Element
dV =
Gdq
1
dq
2
dq
3
, G = det(g
ik
)
Tensors in Curvilinear Coordinate System
Contravariant components A
ik
Covariant components A
ik
Mixed components A
i
k
, A
i
k
Relations
A
ik
= g
in
A
n
k
= g
kn
A
i
n
= g
in
g
km
A
nm
A
ik
= g
in
A
n
k
= g
kn
A
i
n
= g
in
g
km
A
nm
A
i
k
= g
in
A
nk
= g
kn
A
in
etc
Orthogonal Coordinate System
r
q
i

r
q
k
= 0, if i = k
Basis
e
i
e
k
= e
i
e
k
= 0 if i = k
| e
i
| = h
i
, | e
i
| =
1
h
i
Metric
g
ik
= 0, if i = k
g
ii
= h
2
i
(no summation!)
g
ik
= 0, if i = k
g
ii
=
1
h
2
i
(no summation!)
Metric Coecients
h
i
=
r
q
i

h
i
=
_
x
1
q
i
_
2
+
_
x
2
q
i
_
2
+
_
x
3
q
i
_
2
Relation between covariant and contravariant com-
ponents
A
i
= h
2
i
A
i
(no summation!)
Orthonormal Basis
e
i
= e
i
=
r
q
i
r
q
i
Line Element
ds
2
= h
2
1
(dq
1
)
2
+ h
2
2
(dq
2
)
2
+ h
2
3
(dq
3
)
2
Volume Element
dV = h
1
h
2
h
3
dq
1
dq
2
dq
3
Cartesian Coordinates
Line Element
ds
2
= (dx
1
)
2
+ (dx
2
)
2
+ (dx
3
)
2
Volume Element
dV = dx
1
dx
2
dx
3
Metric Coecients
h
1
= h
2
= h
3
= 1
Cylindrical Coordinates
0, 0 < 2, < z <
=
_
x
2
1
+ x
2
2
, tan =
x
2
x
1
, z = x
3
x
1
= cos , x
2
= sin , x
3
= z
Radius Vector
r = cos i
1
+ sin i
2
+ z i
3
Orthonormal basis
e
= cos i
1
+ sin i
2
e
= sin i
1
+ cos i
2
e
z
= i
3
Line Element
ds
2
= (d)
2
+
2
(d)
2
+ (dz)
2
Volume Element
dV = d ddz
Metric Coecients
h
= 1, h
= , h
z
= 1
Spherical Coordinates
r 0, 0 , 0 < 2
r =
_
x
2
1
+ x
2
2
+ x
2
3
, tan =
_
x
2
1
+ x
2
2
x
3
,
tan =
x
2
x
1
x
1
= r sin cos , x
2
= r sin sin ,
x
3
= r cos
Radius Vector
r = r sin cos i
1
+ r sin sin i
2
+ r cos i
3
Orthonormal Basis
e
r
= sin cos i
1
+ sin sin i
2
+ cos i
3
e
= cos cos i
1
+ cos sin i
2
sin i
3
e
= sin i
1
+ cos i
2
Line Element
ds
2
= (dr)
2
+ r
2
(d)
2
+ r
2
sin
2
(d)
2
Volume Element
dV = r
2
sin dr d d
Metric Coecients
h
r
= 1, h
= r, h
= r sin
Vector And Tensor Analysis
Functions of Single variable
Product Rules
d
dt
(A) =
d
dt
A +
d A
dt
d
dt
( B A) =
d B
dt
A + B
d A
dt
d
dt
( B A) =
d B
dt
A + B
d A
dt
Trajectory
r(t) = x
k
(t) i
k
, a t b
Velocity
v =
dr
dt
Unit Tangent Vector
u =
dr
ds
=
dr
dt
dr
dt
Speed
|v| =
dr
dt
=
ds
dt
Acceleration
a =
dv
dt
=
d
2
r
dt
2
Arc Length (Line Element)
ds = |v|dt
Fields in Cartesian Coordinates
Partial derivatives
i
=

x
i
Nabla (Del) Operator
= i
k

k
= i
1
1
+i
2
2
+i
3
3
Gradient
grad f = f = i
k
k
f
( gradf)
i
=
i
f
Directional Derivative
df
ds
=
dr
ds
gradf = u gradf
Flow Lines
d r
dt
= F
dx
1
F
1
=
dx
2
F
2
=
dx
3
F
3
Divergence
div F = F =
i
F
i
Curl
curl F =
i
1
i
2
i
3
1

2

3
F
1
F
2
F
3
(curl F)
i
=
ijk
j
F
k
curl F = F = i
l
ljk
j
F
k
Laplacian
= div grad =
2
=
=
i
i
=
2
1
+
2
2
+
2
3
Vector identities:
( F) = F +( F)
curl curl F = F + grad div F
= 0,
curl grad = 0
(F) = 0,
div curl = 0
(fg) = (f)g + f(g)
(fF) = (f) F + fF
(fF) = (f) F + f(F)
( F G) = G ( F) F ( G)
f() =
df
d
F() =
d F
d
F() =
d F
d
r = 3
r = 0
r = | r | =
_
x
2
1
+ x
2
2
+ x
2
3
r =
r
r
, |r| = 1
f(r) =
df
dr
r
r
F(r) =
r
r

d F
dr
F(r) =
r
r

d F
dr
(F )r = F
Fields in Orthogonal Coordinate Sys-
tem (in orthonormal basis e
i
)
Vector Components
F
i
= F e
i
gradf = e
1
1
h
1
q
1
f + e
2
1
h
2
q
2
f + e
3
1
h
3
q
3
f
div F =
1
h
1
h
2
h
3
_

q
1
(h
2
h
3
F
1
)
+

q
2
(h
3
h
1
F
2
) +

q
3
(h
1
h
2
F
3
)
_
curl F = e
1
1
h
2
h
3
_

q
2
(h
3
F
3
) [

q
3
(h
2
F
2
)
_
+e
2
1
h
3
h
1
_

q
3
(h
1
F
1
) [

q
1
(h
3
F
3
)
_
+e
3
1
h
1
h
2
_

q
1
(h
2
F
2
) [

q
2
(h
1
F
1
)
_
f =
1
h
1
h
2
h
3
_

q
1
_
h
2
h
3
h
1
q
1
f
_
+

q
1
_
h
2
h
3
h
1
q
1
f
_
+

q
1
_
h
2
h
3
h
1
q
1
f
_
_
Cylindrical Coordinates:
gradf = e
f +e
f +e
z
z
f
div F =
1
(F
) +
1
+
z
F
z
curl F =
1
e
z

z
F
F
z
f =
1
f) +
1
f +
2
z
f
Spherical Coordinates
gradf = e
r
r
f +e
1
r
f +e
1
r sin
f
div F =
1
r
2
r
(r
2
F
r
) +
1
r sin
(sin F
)
+
1
r sin
curl F =
1
r
2
sin
e
r
re
r sin e
F
r
rF
r sin F
f =
1
r
2
r
(r
2
r
f) +
1
r
2
sin
(sin
f)
+
1
r
2
sin
2
f
Integrals
Parametrization of a curve C
r = r (t), a t b
Line Integrals
_
C
F dr =
b
_
a
F(x(t))
dr
dt
dt
Circulation of vector eld along a closed contour
_
C
F dr
Parametrization of a surface S
r = r(u, v),
a u b, c v d
Unit Normal
n =

u
r
v
r
|
u
r
v
r|
For a surface given by
f( r ) = C
the Unit Normal is
n =
f
|f|
Surface Element
dS = ndS =
u
r
v
r dudv
d S = |
u
r
v
r| dudv
For a surface given by
z = f(x, y)
a x b, y
1
(x) y y
2
(x)
the Surface Element is
dS =
_
1 + (
x
f)
2
+ (
y
f)
2
dy dx
Surface Integral of a scalar eld
__
S
dS =
d
_
c
b
_
a
( r (u, v)) |
u
r
v
r| dudv
=
b
_
a
y
2
(x)
_
y
1
(x)
(x, y, z(x, y))
_
1 + (
x
f)
2
+ (
y
f)
2
dy dx
Flux of a Vector Field F through the surface S
__
S
F dS =
__
S
F n d S
Line Integral of a Gradient
Q
_
P
grad d r = (Q) (P)
Circulation of a Gradient along a closed contour
_
C
grad d r = 0
Gauss (Divergence) Theorem
___
D
div FdV =
__
D
F dS
D is a closed surface, which is the boundary of
the solid region D
Greens Theorem
__
S
(
1
F
2
2
F
1
)dx
1
dx
2
=
_
S
(F
1
dx
1
+ F
2
dx
2
)
S is a closed plane curve, which is the boundary
of the region S in the x
1
x
2
-plane
Stokes Theorem
__
S
curl F dS =
_
S
F d r
S is a closed space curve, which is the boundary
of the surface S
Flux of a curl through a closed surface S
__
S
curl F dS = 0
Tensor Fields
Flux of a Tensor Field
__
S
T
ik
n
k
dS,
__
S
T
ik
n
i
dS
Divergence of a Tensor (in Cartesian Coordi-
nates)
i
T
ik
,
k
T
ik
Directional Derivative (in Cartesian Coordi-
nates)
dT
ik
ds
=
dx
j
ds

j
T
ik
Analog of curl of an antisymmetric 2-tensor
3
ijk
i
A
jk
=
1
A
23
+
2
A
31
+
3
A
12
=
1

A
1
+
2

A
2
+
3

A
3
= div

A

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Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 1

MATH 332: Vector and Tensor Analysis

Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 7

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