Review of vector and tensor

mathematics
CHEE 3363
Spring 2013
Handout 02
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CHEE 3363 Handout 02
Learning objectives for lecture
1. Draw the unit vectors in each of the three coordinate systems.
2. Explain the geometric meaning of the dot and cross products.
3. Calculate the components of a vector in each coordinate
system.
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CHEE 3363 Handout 02
Fields of scalars, vectors, tensors
We define continuum quantities as continuous fields over
variables:
- Scalars:
Properties (number of components):
Examples:
- Vectors:
Properties (number of components):
Examples:
- Tensors:
Properties (number of components):
Examples:
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CHEE 3363 Handout 02
CHEE 3363 Handout 02
General representation of a vector
i
1
i
2
i
3
x
2
x
3
x
1
a
Given: a basis set of vectors (x
1
, x
2
, x
3
)
Construct: normalized basis vectors (i
1
, i
2
, i
3
)

Write: components vector a along (i

1
, i
2
, i
3
):
Write: vector a as a sum over the basis vectors:
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CHEE 3363 Handout 02
Rectangular coordinate system
i
j
k
Normalized basis vectors:
Time-varying velocity field:
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Coordinates of generalized vector:
CHEE 3363 Handout 02
Cylindrical coordinate system I
e
r
e

k
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Basis vectors in terms
of rectangular basis:
CHEE 3363 Handout 02
Normalized basis vectors:
Cylindrical coordinate system II
e
r
e

k
7
Coordinates of generalized vector:
Time-varying velocity feld:
CHEE 3363 Handout 02
Spherical coordinate system I
e
r
e

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CHEE 3363 Handout 02
Basis vectors in terms
of rectangular basis:
Normalized basis vectors:
Spherical coordinate system II
e
r
e

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CHEE 3363 Handout 02
Coordinates of generalized vector:
Time-varying velocity feld:
Important vector operations: dot product
Definition of the dot product:
a
b

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Geometric meaning of the dot product:
Components of a b:
CHEE 3363 Handout 02
Kronecker delta
Defnition of the Kronecker delta:
Use of the Kronecker delta to express orthonormality of basis vectors:
CHEE 3363 Handout 02
Using the dot product I
(a) Determining relationships between vector components in
different coordinate systems:
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CHEE 3363 Handout 02
Using the dot product II
(b) Determining unit normals to surfaces:

x
y



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CHEE 3363 Handout 02
Using the dot product III
(c) Calculating flux through surface of area A:
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CHEE 3363 Handout 02
Important vector operations: cross product
Definition of the cross product:
a
b

e
List two important quantities in fluid mechanics that are defined in
terms of the cross product:
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Geometric meaning of the cross product:
CHEE 3363 Handout 02
Vector calculus operations I
(a) The gradient operator is defned as:
(rectangular)
(cylindrical)
(spherical)
(b) The gradient of a scalar function is:
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CHEE 3363 Handout 02
Vector calculus operations II
(d) The defnition of the divergence of a vector is:
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CHEE 3363 Handout 02
(c) The gradient of a vector is defned as:
Vector calculus operations III
(e) The definition of the divergence of a tensor is:
(f) All of these expressions will be used later in the course in the Euler
equation of motion:
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CHEE 3363 Handout 02
v v =?
Exercise in vector calculus
Write out the one term in the Euler equation not explicitly written out yet:
Answer:
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CHEE 3363 Handout 02
a = 3i + 7j b = 3j 6k
Example problem: finding unit normals I
(a) Find: the unit normal e to the plane defined by the vectors
and
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CHEE 3363 Handout 02
a = 3i + 7j b = 3j 6k
Example problem: finding unit normals II
(b) Find: the angle between a and b
and
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CHEE 3363 Handout 02
Example problem: projection vector
(c) Find the projection vector P of the projection of c = i + j + k on the
plane formed by a and b
e
a
b
c
c e
P
Exercise: crank out the numbers
For general a and b:
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CHEE 3363 Handout 02
v
r
= V

1
a
2
r
2

cos
v

= V

1 +
a
2
r
2

sin
Example: changing coordinate systems I
(d) The velocity profile for the flow of a low viscosity fluid around a
cylinder away from the cylinders surface can be approximated by
Find v
x
= v
x
(x, y) and v
y
= v
y
(x, y) for this flow.
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CHEE 3363 Handout 02
v
r
= V

1
a
2
r
2

cos
v

= V

1 +
a
2
r
2

sin
Example: changing coordinate systems II
(d) The velocity profile for the flow of a low viscosity fluid around a
cylinder away from the cylinders surface can be approximated by
Find v
x
= v
x
(x, y) and v
y
= v
y
(x, y) for this flow.
Exercise: repeat procedure to find v
y
= v
y
(x, y).
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CHEE 3363 Handout 02