Continuum mechanics

I. Kinematics in cartesian coordinates

Ales Janka
office Math 0.107
ales.janka@unifr.ch
http://perso.unifr.ch/ales.janka/mechanics

September 22, 2010, Universite de Fribourg

Ales Janka

I. Kinematics

Kinematics: description of position and deformation

initial configuration x = x i ei
x i . . . material coordinates

Initial config.

deformed config. y = y i ei
y i . . . spatial coordinates

dx x+dx

u+du

dy

displacement u = y x

Two possibilities:

Lagrange description:
u(x) = y(x) x
e1

Ales Janka

y
Deformed config.

e3

Euler description:
u(y) = y x(y)

y+dy

e2

I. Kinematics

Material vs. spatial coordinates: deformation of a 1D rod

Let y 1 = y 1 (x 1 , t) = [(x 1 )2 1] t + x 1 .
p

1
1
1
1
1
Inversely, x = x (y , t) = 2t
1 + 4t(2t + y ) 1

Ales Janka

I. Kinematics

1. Lagrange description

x = x i ei and y = y i ei .

Initial config.

Choice: y = y(x)

g3 = e3

Deformation gradient:
Fji (x)

e2 =g2

g1 = e1

y i
i
=
=
y
,j
x j

^
g3

dx

dy
^
g1

dx = dx i ei

y i j
dy =
=
dx ei
x j
j
dy = dx j Fji (x) gi = dx j g

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e1

y(x) ^
g2
Deformed config.

e3

dy i ei

y(x+dx)

e2

I. Kinematics

1. Lagrange description: how to measure deformation?

The edge dx in initial configuration is deformed to dy
Convenient measure of deformation:
i )(dx j g
j )(dx i gi )(dx j gj ) = dx i dx j (
dy2dx2 = (dx i g
gij gij )
i g
j
gij = g

where gij = gi gj
and
are metric tensors (matrices)
Green strain tensor:
ij (x) =

1
(
gij gij )
2


1 k
`
ij (x) =
F (x) Fj (x) gk` gij
2 i

Ales Janka

I. Kinematics

1. Lagrange descript.: Green strain tensor in displacement

Initial config.

u(x) = y(x) x

dx

u = u i gi
dy = dx + du
u i j
du =
dx gi
j
x


x+dx

u(x+dx)
u(x)

u(x)
x

e1

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y(x)
Deformed config.

e3

dy = dx i + u,ji dx j gi

y(x+dx)
dy du

e2

I. Kinematics

1. Lagrange descript.: Green strain tensor in displacement




(dy)2 = dx i + u,ji dx j
dx k + u,`k dx ` gik
(dy)2 (dx)2 = u,ji dx j dx k gik + u,`k dx ` dx i gik + u,ji u,`k dx j dx ` gik
2

(dy) (dx) = ui,j + uj,i +

uk,i u,jk

dx i dx j

Green strain tensor in displacements:


1
k
ij =
ui,j + uj,i + uk,i u,j
2
Green strain tensor in displacements in cartesian coordinates:
1
ij =
2

uj
ui
uk uk
+
+
xj
xi
xi xj

Ales Janka

I. Kinematics

1. Lagrange description: example 1 rigid body motion

Initial config.

u
x
e2
e3

a
y

Deformed config.

e1

cos sin 0
x1
a1
y1
y2 = sin cos 0 x2 + a2
a3
y3
0
0
1
x3

Ales Janka

I. Kinematics

1. Lagrange description: example 1 rigid body motion

Initial config.

u
x
e2

a
y

Deformed config.

e1

e3

a1
cos 1 sin 0
x1
u1
u2 = sin
cos 1 0 x2 + a2
x3
a3
u3
0
0
0
1
2

11 =

u1,1 + u1,1 +

3
X

!
uk,1 uk,1

k=1

(cos 1)2 + sin2

= cos 1 +
=0
2
Ales Janka

I. Kinematics

1. Lagrange description: example 1 rigid body motion

Initial config.

u
x
e2
e3

a
y

Deformed config.

e1

cos 1 sin 0
x1
a1
u1
u2 = sin
cos 1 0 x2 + a2
a3
u3
0
0
0
x3

12 =
=

1
2

u1,2 + u2,1 +

3
X

!
uk,1 uk,2

k=1

sin + sin sin (cos 1) + sin (cos 1)

+
=0
2
2
Ales Janka

I. Kinematics

1. Lagrange description: example 2

1
0
1
2
5

Initial configuration is bent into the deformed configuration

Principal strain of Green strain tensor (Lagrange formulation)?

Ales Janka

I. Kinematics

1. Lagrange description: example 2

1
0
1
2
5

1
0
1
2

Wrong - this is Almansi strain (Euler formulation)!

Ales Janka

I. Kinematics

1. Lagrange description: example 2

1
0
1
2
5

1
0
1
2

This is the correct Green strain (Lagrange formulation)

Ales Janka

I. Kinematics

1. Lagrange description: example 2

1
0
1
2
5

1
0
1
2

This is the correct Green strain (Lagrange formulation)

Ales Janka

I. Kinematics

2. Euler description
x = x i ei and y = y i ei .

Initial config.

Choice: x = x(y)

g3

Deformation gradient inverse:

i

F1 j =
dy = dy i ei
dx =

dx i e

x i
y j

~
g1

dx x(y+dy)

x (y)

y+dy

g3 = e3

dy

g2

= x,ji

y
g1 = e1

x (y)

e1

Deformed config.

e3

x i j
=
dy ei
y j

e2 =g2

e2

j
dx = dx j F1 j gi = dx j g

Ales Janka

I. Kinematics

2. Euler description: Almansi strain tensor

the deformed edge dy corresponds to the undeformed dx
Difference of their (lengths)2 :
i )(dy j g
j ) = dy i dy j (gij gij )
dy2dx2 = (dy i gi )(dy j gj )(dy i g
where gij = gi gj
and
are metric tensors (matrices)

i g
j
gij = g

Almansi strain tensor:

Eij (y) =

1
(gij gij )
2


1
1 k
1 `
Eij (y) =
gij F i F j gk`
2

Ales Janka

I. Kinematics

2. Euler description: Almansi strain tensor in displacement

Initial config.

u(y) = y x(y)

dx

u = u i gi

x (y+dy)

u(y+dy)

y+dy

u(y)

x (y)

dy

u(y)

dx = dy du
u i j
du =
dy gi
y j


dx = dy i u,ji dy j gi

du

dx
y

x (y)
y

e3

e1

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Deformed config.

e2

I. Kinematics

2. Euler description: Almansi strain tensor in displacement




(dx)2 = dy i u,ji dy j
dy k u,`k dy ` gik
(dy)2 (dx)2 = u,ji dy j dy k gik + u,`k dy ` dy i gik u,ji u,`k dy j dy ` gik
2

(dy) (dx) = ui,j + uj,i

uk,i u,jk

dy i dy j

Almansi strain tensor in displacements:


1
k
Eij =
ui,j + uj,i uk,i u,j
2
Almansi strain tensor in displacements in cartesian coordinates:
1
Eij =
2

uj
uk uk
ui
+

yj
yi
yi yj

Ales Janka

I. Kinematics

3. Green and Almansi strain tensors: mutual relation

Green strain tensor:

1
1 k `
ij (x) = (
gij gij ) =
F F gk` gij
2
2 i j


uj
uk uk
1 ui
+
+
ij =
2 xj
xi
xi xj
Almansi strain tensor

1
1
1 k
1 `
Eij (y) = (gij gij ) =
gij F i F j gk`
2
2


uj
uk uk
1 ui
Eij =
+

2 yj
yi
yi yj

Ales Janka

I. Kinematics

3. Green and Almansi strain tensors: mutual relation

Relation between Fji =

Fji

j
F1 k

y i
x j

and F1 k =

x j
:
y k

3
X
y i x j
y i
i
=
=
=

k
x j y k
y k
j=1

by chain rule for the derivatives.

Hence:

k` = Fki Eij F`j

Ales Janka

I. Kinematics

3. Green and Almansi strain tensors: matrix form

Deformation gradient matrix:

1
1
1
y
1
x

y 2
F=
x 1
y 3
x 1

y
x 2

y 2
x 2
y 3
x 2

y
x 3
y 2

x 3
y 3
x 3

Fji

and

i
F1 j

Green and Almansi matrix for cartesian coords (gi = ei , gij = ij ):


1 T
[ij ] =
F FI
2

and


1
T 1
[Eij ] =
IF F
2

and

[Eij ] = FT [ij ] F1

Mutual relations:
[ij ] = FT [Eij ] F

Ales Janka

I. Kinematics

3. Green and Almansi strain tensors: small deformations

If ui,j  1 then uk,i uk,j is negligible:
1
ij =
2

u i
u j
u k u k
+ i +
x j
x
x i x j

u i
u j
+ i
x j
x


= eij

We can replace Green strain ij by the Cauchy strain eij

Advantage: Cauchy strain eij (u) is linear in u
Eij

=
=





u j
u k u k
1 u i
u j
1 u i
+ i

+ i
2 y j
y
y i y j
2 y j
y




1 u i x k
u j x k
1 u i
u j
+ k

+ i = eij
2 x k y j
2 x j
x
y y i

because x k = y k u k and ui,k uk,` is negligible.

NB: Green and Almansi simplify to the same Cauchy strain!
Ales Janka

I. Kinematics

4. Physical meaning of Cauchy strain in cartesian coords

dy

dx
x

e2
y

Initial config.

Deformed config.

x
e3

e1

Special choices of the deformation mode:

Let dx = dx 1 e1 and dy = dy 1 e1 . Then:
dy2 dx2 = (dy 1 )2 (dx 1 )2 = 2 e11 (dx 1 )2
Hence (for small deformations dx 1 + dy 1 2 dx 1 ):
e11

(dy 1 )2 (dx 1 )2
(dy 1 dx 1 )(dy 1 + dx 1 )
dy 1
=
=
1 1
2 (dx 1 )2
2 (dx 1 )2
dx

Meaning of ekk : relative elongation along ek

Ales Janka

I. Kinematics

4. Physical meaning of Cauchy strain in cartesian coords

dx2
x
Initial config.

dy2
dx1

e2

y
e3

dy1

Deformed config.

e1

Special choices of the deformation mode:

Let dx = dx1 + dx2 and dy = dy1 + dy2 , dxk = dx k ek :
dy2 dx2 = (dy1 )2 +2 dy1 dy2 +(dy2 )2 (dx1 )2 2 dx1 dx2(dx2 )2


1 2
1
2
2 2
= 2 e11 (dx ) + 2 e12 dx dx + e22 (dx )
Hence (for small deformations ekk  1 and is small):
dy 1 dy 2

e12 =

(1 + e11 ) (1 + e22 )
2 dx 1 dx 2
2

(1 + e11 + e22 + e11 e22 )

2
2
Meaning of e12 : half of shear angle in the plane (0, e1 , e2 )
Ales Janka

I. Kinematics

4. Physical meaning of Cauchy strain in cartesian coords

dx2

dy2

dx1

Initial config.

e2

y
e3

dy1

Deformed config.

e1

Special choices of the deformation mode:

Let dx = dx1 + dx2 and dy = dy1 + dy2 , dxk = dx k ek :
dy1 dy2 = 2 e12 dx 1 dx 2
= |dy1 | |dy2 | cos(/2 ) dy 1 dy 2 sin dy 1 dy 2
Hence (for small deformations ekk  1 and is small):

dy 1 dy 2
e12 =

(1 + e11 ) (1 + e22 )
2 dx 1 dx 2
2

(1 + e11 + e22 + e11 e22 )

2
2
Meaning of e12 : half of shear angle in the plane (0, e1 , e2 )
Ales Janka

I. Kinematics

4. Physical meaning of Cauchy strain in cartesian coords

dx2

dy2
dx1

dx3
Initial config.

dy3

e2

y
e3

dy1

Deformed config.

e1

) deformation (small deformations):

Volume before (dV ) and after (dV
dV = dx 1 dx 2 dx 3

dy 1 dy 2 dy 3
dV

Relative change of volume (for small deformations ekk  1):

dV
dV
dV

dV
dy 1 dy 2 dy 3
=
1 1 2 3 1
dV
dx dx dx
= (1 + e11 )(1 + e22 )(1 + e33 ) 1 e11 + e22 + e33

Meaning of trace of eij : relative change of volume

Ales Janka

I. Kinematics

5. How to transform areas dS0 dS?

Nansons relation:
we know how to transform vectors:
dy i =

y i
x j

dV0
dx

dx j

Initial config.

dS0

dS
dy
dV

e3
we know how to transform volumes:
y (x)
 i
y
e2
Deformed config.
e1
dV = JdV0
with J = det
x j
Idea: complete areas to volumes (for any dx, ie. any dy):

x j i
dSi dy = dV = J dV0 = J dS0j dx = J dS0j
dy
y i
i

Ales Janka

I. Kinematics