TRANSPORT PHENOMENA

-VECTORS & TENSORS

 NEW CLASS SCHEDULE

110/12/07
 Monday and Wednesday at 2:00 pm

 Mandatory safety meeting for high-risk

employees
1:30 – 1:50 pm on Wed., Sept. 2
Madison 216 (Conference Room)
Dr. Misra’s postdocs

2
NEWTON’S

LAW OF VISCOSITY
Dv  
  -(  ) - p  g

110/12/07
Dt
(   v x )
 yx  -
y

3*3=9


Tensor 
3
 BSL App. A
OUTLINE
 Vector Operations in R.C.C.

110/12/07
(rectangular Cartesian coordinates)
 Del Operator

 Tensor Operations in R.C.C.

 Vector and Tensor Operations in Cylindrical Coordinates

 Vector and Tensor Operations in Spherical Coordinates

4
OUTLINE
 Vector Operations in R.C.C.

110/12/07
 Del Operator

 Tensor Operations in R.C.C.

 Vector and Tensor Operations in Cylindrical Coordinates

 Vector and Tensor Operations in Spherical Coordinates

5
 INDEX NOTATION
    3  
v  v11  v2 2  v3 3   vi i  vi i
i 1

In a product term, repeated index means summation.

Ex.
3
ai bi   ai bi  a1b1  a2b2  a3b3
i 1
3 3
aij bi c j   aij bi c j  a11b1c1  a12b1c2  a13b1c3  a21b2 c1  a22b2 c2
i 1 j 1

 a23b2 c3  a31b3c1  a32b3c2  a33b3c3

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 INDEX NOTATION – FREE
INDEX
Any values of 1, 2 and 3 may be taken!

a11 a12 a13

aij stand for any of a21 a22 a23
a31 a32 a33

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 VECTOR IN R.C.C. - ADDITION
    
v  vi i  v11  v2 2  v3 3
    
w  wi i  w11  w2 2  w3 3

1. Addition
    
v  w  vi i  wi i  (vi  wi ) i

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VECTOR IN R.C.C. -
MULTIPLICATION

110/12/07
2. Multiplication
2.1 Dot product
     
v  w  (vi i )  ( w j j )  vi w j ( i   j )

  i j   ij  1 if i  j
 i j   ij    
 i j   ij  0 if i  j
  
v  w  vi w j ij  vi wi  v1w1  v2 w2  v3 w3
    2 2 2
v  v  (vi i )  (v j j )  vi v j ij  vi vi  v1  v2  v3
9
 VECTOR IN R.C.C. 1
- MULTIPLICATION
3 2
2.2 Cross product Right-hand rule
     
v  w  v j j  wk  k  vi w j ( j   k )

    1  1  0  
2 2  0
 
3 3  0
 
i  j  ?
k  j  i          
    2   3  1  3   2  1 1   2   3
     
 j  j  0       3  1   2 1   3   2
 2 1 3

 Permutation or alternative unit tensor

     ijk  1 if ijk  123, 231, 312

 j   k   ijk  i 
 ijk  1 if ijk  132, 213, 321
   0 if any two of ijk are the same
 ijk
110/12/07 10
 BASIC RELATIONSHIP
  i  j ,  ij  1
 i   j   ij 
i  j ,  ij  0
Ex.
3
 ijk  mnk    ijk  mnk   ij1 mn1   ij 2 mn 2   ij 3 mn3   im jn   in jm
k 1
3 3
 ijk  hjk    ijk  hjk  2 ih
j 1 k 1

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 VECTOR IN R.C.C. 1
- MULTIPLICATION
3 2

110/12/07
      
eg. 1   2   i12 i   1121   212 2   312 3   3

  ijk   jki   kij


 ijk   jik   kji   ikj
       
v  w  v j j  wk  k   ijk v j wk  i   1 jk v j wk 1   2 jk v j wk  2   3 jk v j wk  3
  
 (v2 w3  v3 w2 )1  (v3 w1  v1w3 ) 2  (v1w2  v2 w1 ) 3
  
1  2 3
 
v  w  v1 v2 v3 12

w1 w2 w3
OUTLINE
 Vector Operations in R.C.C.

110/12/07
 Del Operator

 Tensor Operations in R.C.C.

 Reviews of Coordinates

 Vector and Tensor Operations in Cylindrical Coordinates

 Vector and Tensor Operations in Spherical Coordinates

13
 VECTOR IN R.C.C. - DIFFERENTIAL
3. Differential
 
3.1 Del operator    i
xi
 S S  S  S 
3.2 Gradient S   i  1  2  3
xi x1 x2 x3

 ( r  S )   r  S
rS  Sr  rS
      v j
3.3 Divergence   v  i  (v j  j )   i   j
xi xi

vi v1 v2 v3

   
xi x1 x2 x3

110/12/07 14
 VECTOR IN R.C.C. - DIFFERENTIAL
    
  (v  w)  (vi  wi )    v    w
xi

110/12/07
  vi S vi   S  
  ( Sv )  ( Svi )  S  vi S  vi i   j  S  v  v  S
xi xi xi xi x j
3.4 Curl
        vk   vk
v   j  ( vk  k )   j  ( vk  k )   j   k   ijk  i
 x j  x j x j x j
1 2 3
    v3 v2  v1 v3  v2 v1
  1 ( - )  2( - )  3 ( - )
x1 x2 x3 x2 x3 x3 x1 x1 x2
v1 v2 v3
       vk  wk       
  (v  w)   j  (vk  k  wk  k )   j  ( k  k )   j  vk  k   j  wk  k
x j x j x j x j x j
15
 
 v   w
 VECTOR IN R.C.C - DIFFERENTIAL
     vk  f 
  ( fv )   j  ( fvk  k )   j  ( f k  vk  k )
x j x j x j

110/12/07
   f    
 f [ j  vk  k ]   j  vk  k  f [  v ]  f  v
x j x j

3.4 Laplacian
2    
  S   2
S  2
S  2
S  2
S  2
S
 S    S   i
2
(  j )   ij   2  2  2
xi x j xi x j xi xi  x1  x2  x3

16
OUTLINES
 Vector Operations in R.C.C.

110/12/07
 Del Operator

 Tensor Operations in R.C.C.

 Vector and Tensor Operations in Cylindrical Coordinates

 Vector and Tensor Operations in Spherical Coordinates

17
 TENSORS

110/12/07
z  x  iy  z1  iz 2 Generalized as zm

A tensor of first rank since one suffix m is needed to specify it.

The notation of a tensor can be further generalized by using more than

one subscript, thus zmn is a tensor of second rank (i.e. m, n) .

The symbolism for the general tensor consists of a main symbol such
as z with any number of associated indices. Each index is allowed to
take any integer value up to the chosen dimensions of the system. The
number of indices associated with the tensor is the “rank” of the tensor. 18
SYSTEMS OF ZERO RANK Scalar

110/12/07
 It consists of one quantity independent of the number of
dimensions of the system.

 Examples:
energy, time, density, mass, specific heat, thermal
conductivity, etc.
scalar point: temperature, concentration and
pressure, which are all signed by a number which
may vary with position but not depend upon
direction.
19
 SYSTEMS OF FIRST RANK Vector

110/12/07
 It consists of as many elements as the number of
dimensions of the system. For practical purposes, this
number is three and the tensor has three elements are
normally called components.
 Vectors have both magnitude and direction.

 Examples:

force, velocity, momentum, angular velocity,

etc.

20
SYSTEMS OF SECOND RANK
Tensor
 It has a magnitude and two directions associated with it.
 In three dimensions, the stress tensor consists of nine
quantities which can be arranged in a matrix form:

 11  12  13 
   
 ij   21  22  23    ij i j
 31  32  33 

110/12/07 21
 TENSOR
 T 
 ij   ji i j transpose
 T 
For symmetric tensor,  ij   ij
 
Zero tensor,  ij  0
 1 0 0 
  
Unit tensor,    ij i j  0 1 0
0 0 1

It is not zero only when i = j

110/12/07 22
 OPERATION OF TENSOR- ADDITION
1. Addition
 
   ij i j
 
   ij i j
  
    ( ij   ij ) i j

110/12/07 23
OPERATION OF TENSOR-
MULTIPLICATION

110/12/07
2. Product
Sign Order

Dyadic (None) Σ

Cross
 Σ-1

Dot Σ-2
.
Double dot : Σ-4
24
OPERATION OF TENSOR-
MULTIPLICATION

110/12/07
2.1 Dyadic Product
   
v w  vi i w j j  vi w j i j Σ

      
v   vi i jk  j k  vi jk  i j k Σ

25
 OPERATION OF TENSOR-
MULTIPLICATION
2.2 Cross Product
      
v  w  v j j  wk  k  vi w j ( j   k )   ijk  i v j wk Σ-1

    
v    v j j  km k  m
   
 v j km ( j   k  m )   ijk v j km i m i = m
  ijk v j ki Σ-1
 (v2 31  v3 21 )  (v3 12  v1 32 )  (v1 23  v2 13 )

110/12/07 26
 OPERATION OF TENSOR-
MULTIPLICATION
2.3 Dot Product
   
v  w  vi i  w j j  vi wi Σ-2
     
  v   ij i j  vk  k   ij vk  i jk   ij v j i
  
 ( 11v1   12v2   13v3 )1  ( 21v1   22v2   23v3 ) 2  ( 31v1   32v2   33v3 ) 3
     
     ij i j   km k  m   ij jm i m
 11  12  13   11  12  13 
  21  22  23   21  22  23 
 31  32  33   31  32  33 
 11 11   12 21   13 31  11 12   12 22   13 32  11 13   12 23   13 33 
  21 11   22 21   23 31  21 12   22 22   23 32  21 13   22 23   23 33 
110/12/07   23   33 33 
 31 11   32 21   33 31  31 12   32 22   33 32  31 13   3227
 OPERATION OF TENSOR-
MULTIPLICATION
2.4 Double Dot Product
    
 :    ij i j :  km k  m   ij km jk  im   ij ji Σ-4
  11 11   12 21   13 31   21 12   22 22   23 32   31 13   32 23   33 33

   11 11   12 21   13 31  11 12   12 22   13 32  11 13   12 23   13 33 

    21 11   22 21   23 31  21 12   22 22   23 32  21 13   22 23   23 33 
 31 11   32 21   33 31  31 12   32 22   33 32  31 13   32 23   33 33 


Trace of tensor tr ( )   ii
   
Diagonal tr (   )   : 

110/12/07 28
OPERATION OF TENSOR-
DIFFERENTIAL
v  
3.1 Gradient v   i  (v j j )  j  i j
 

110/12/07
xi xi

3.2 Divergence
      jk     jk   ik 
    i  ( jk  j k )   i   j k   ij k  k
xi xi xi xi

3.3 Curl
      jk     jk  
    i  ( jk j k )   i   j k   lij  l k
xi xi xi

29
 HOMEWORK DUE MON., SEPT. 14
     
Prove (1)  : v    (  v )  v  (  ) symmetric
     
(2)   ( F  G )  (  F )  G  F  (  G )

(3)  ijk  mnk   im jn   in jm

(4)          
  (v  w)  w  v - v  w  (  w)v  (  v ) w
(5)   
  (  v )  (  v )    (v )
(6)   
 w  (  w)    (  w)
2

(7) 
  (  v )  0
(8)
  (f )  0

All homework are due in the beginning of the class.

110/12/07 30
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31
OUTLINE
 Vector Operations in R.C.C.

110/12/07
 Del Operator

 Tensor Operations in R.C.C.

 Vector and Tensor Operations in Cylindrical

Coordinates
 Vector and Tensor Operations in Spherical Coordinates

Midterm: Oct. 14, Wed.

Final: Dec. 8, Tue., 11:00 AM – 1:30 PM
32
OPERATIONS IN DIFFERENT
COORDINATE SYSTEMS

110/12/07
   
v  v a a w  w  
   β can be any
v  w  va w    va w coordinate system.
    
v  w  va w (     )   m va w  m

  
       

33
 COORDINATE SYSTEM
 Orthogonal
 Rectangular Cartesian Coordinate (R.C.C.)
   
v  v x x  v y y  v z z

 Cylindrical Coordinate
   
v  vr r  v   v z z

 Spherical Coordinate
   
v  vr  r  v    v  

 Non-orthogonal

110/12/07 34
 COORDINATE SYSTEM
 Orthogonal
 Rectangular Cartesian Coordinate (R.C.C.)
   
v  v x x  v y y  v z z

 Cylindrical Coordinate
   
v  vr r  v   v z z

 Spherical Coordinate
   
v  vr  r  v    v  

 Non-orthogonal

110/12/07 35
• Cylindrical Coordinates: T  r, , z 

x = r cos, y = r sin , z = z

110/12/07
• Spherical Coordinates: T  r ,  , 

x = r sincos, y = r sinsin , z = r cos

36
VECTORS & TENSORS IN CYLINDRICAL
SYSTEM

r  x2  y 2
y
  tan 1

     
( x ,  y ,  z ) ( r ,   ,  z )
       
 x  cos( ) r  sin( )  0 z  r  cos( ) x  sin( ) y  0 z
       
 y  sin( ) r  cos( )  0 z    sin( ) x  cos( ) y  0 z
       
 z  0 r  0  1 z  z  0 r  0  1 z

110/12/07 37
DEL OPERATOR – CYLINDRICAL
COORDINATES
 ( x, y , z )   ( r ,  , z )
           
  x y z     r fr    f  z fz
x y z r  z
  r    z
( ) y , z  ( ) , z ( ) yz  ( ) r , z ( ) yz  ( ) r , ( ) yz
x r x  x z x
  r    z
( ) x , z  ( ) , z ( ) xz  ( ) r , z ( ) xz  ( ) r , ( ) xz
y r y  y z y
  r    z
( ) y , x  ( ) , z ( ) yx  ( ) r , z ( ) yx  ( ) r , ( ) yx
z r z  z z z
r
r  x2  y2 ( ) yz  cos     - sin  
x  cos  
y x r  r  
  tan 1     sin 
x      cos  
 x  yz r  sin  
zz y r r 
r
( ) xz  sin   
y 
   cos 
z z
  
110/12/07  y  xz r 38
DEL OPERATOR - CYLINDRICAL
COORDINATES

     
  x y z
x y z
   sin      cos 
 ( r cos    sin  )(cos  )  ( r sin     cos )(sin   )
r r  r r 
 
z
x

cos 2   sin 2   1


     
  r  z
r r  z

110/12/07 39
DIVERGENCE IN CYLINDRICAL
COORDINATES

p. 831 Example A.7-1
         
  v  ( r    z )  ( r vr   v   z v z )
r r  z
    
( r ,   ,  z )  r  r 
 
    0
r 
 r  cos( ) x  sin( ) y  0 z  
 
  
    0  - r
   sin( ) x  cos( ) y  0 z r


  
       r    z
0   0
 z  0 r  0  1 z z z z z

Blackboard

1  1 v v z
 (rvr )  
r r r  z
110/12/07 40
 CURL IN CYLINDRICAL
COORDINATES

         
  v  ( r    z )  ( r vr   v   z v z )
r r  z
 
 r  r 
0  
r 
 
   
0  - r
r 
   
   r    z
0   0
z z z z

  1 v z v  vr v z  1  1 vr

  v  r (  )   (  ) z( (rv )  )
r  z z r r r r 

110/12/07 41
OUTLINES
 Vector Operations in R.C.C.

110/12/07
 Del Operator

 Tensor Operations in R.C.C.

 Vector and Tensor Operations in Cylindrical Coordinates

 Vector and Tensor Operations in Spherical Coordinates

42
VECTORS & TENSORS IN
SPHERICAL COORDINATES
x  r sin( ) cos( )
y  r sin( ) sin( )
z  r cos( )   
( r ,   ,  z )
   
 r  cos( ) x  sin( ) y  0 z
r  x2  y2  z2    
    sin( ) x  cos( ) y  0 z
   
 z  0 r  0  1 z
x2  y 2
  tan 1

z
y
  tan 1
x
  
( x ,  y ,  z )
   
 x  sin( ) cos( ) r  cos( ) cos( )  sin( ) 
   
 y  cos( ) cos( ) r  cos( ) sin( )  cos( ) 
   
 z   sin( ) r  cos( )  0 

110/12/07 43
NEWTON’S

LAW OF VISCOSITY
Dv  
  -(  ) - p  g

110/12/07
Dt
(   v x )
 yx  -
y

3*3=9


Tensor 
44
 DEL OPERATOR IN SPHERICAL
COORDINATES
 ( x, y , z )   ( r ,  ,  )
           
  x y z    r fr    f    f
x y z r  
  r    
( ) y , z  ( ) , ( ) yz  ( ) r , ( ) yz  ( ) r , ( ) yz
x r x  x  x

  r    
( ) x , z  ( ) , ( ) xz  ( ) r , ( ) xz  ( ) r , ( ) xz
y r y  y  y
  r    
( ) y , x  ( ) , ( ) yx  ( ) r , ( ) yx  ( ) r , ( ) yx
z r z  z  z

r  x2  y2  z 2
r r r
( ) yz  sin( ) cos( ) ( ) xz  sin ( )sin( ) ( ) xy  cos( )
x y
2 2
x y z
  tan 1
z    cos( )cos( )    cos( )sin( )    sin( )
        
y  x  yz r
 y  xz r  z  xz r
  tan 1
x

110/12/07 45
 DEL OPERATOR IN SPHERICAL
COORDINATES
   cos( )cos( )    sin( )  
 sin( )cos( )    -  
x r  r    r sin( )  
   cos( ) sin( )    cos( )  
 sin ( ) sin( )      
y r  r    r sin ( )  
   sin( )   
 cos( )     0
z r  r   

     
  x y z
x y z
    cos cos   sin  
 ( r sin  cos     cos cos     sin  )(sin  cos    )
r r  r sin  
    cos sin   cos  
 ( r sin  sin     cos sin     cos  )(sin  sin    )
r r  r sin  
   sin  
 ( r cos     sin  )(cos  )
r r 

     1 
  r   
r r  r sin  
110/12/07 46
 DEL OPERATORS
     
  x y z
x y z

     
  r  z
r r  z

     1 
  r   
r r  r sin  


 
p. 830  
General Orthogonal  h q

Coordinates
Scale Factor

110/12/07 47
 DIVERGENCE IN SPHERICAL
COORDINATES

      1    
  v  ( r    )  ( r vr   v   z v z )

110/12/07
r r  r sin  
 
 r  r 
0  
r 
 
  
0  - r
r 
   
  r    z
0   0
z z z z
   
   vr  v  v   vr  v    v  r    z
  v   r  ( r     )   ( r  vr      v (- r )     vr  v  vz )
r r r r      
 
  v    v 
   ( r r  vr  sin   v   cos      v  )
r sin    

1  2 1  1 v 48
 2 ( r vr )  (v sin  ) 
r r r sin   r sin  
 DIVERGENCE IN CURVILINEAR
SYSTEMS
   v v v v
  v  i  (v j  j )  i  1  2  3
xi xi x1 x2 x3
 
v   (v ) For R.C.C.
 q

 1  h1h2 h3
v   (
h1h2 h3  q h
v ) General form
1   
 [ (h2 h3v1 )  (h1h3v2 )  (h1h2 v3 )]
h1h2 h3 q1 q2 q3

x,y,z → h1=h2=h3=1 
     
r,θ,z → h1=1, h2=r, h3=1    r r  r    z z

r,θ,Φ → h1=1, h2=r, h3=r sinθ    r        1 
 
r r  r sin  
110/12/07 49
 CURL IN SPHERICAL
COORDINATES

      1    
  v  ( r    )  ( r vr   v   z v )
r r  r sin  
 
 r  r 
0  
r 
 
   
0  - r
r 
   
   r    z
0   0
z z z z

  1  1 v  1 vr 1   1  1 vr

 v  r ( (v sin )  )   (  (rv ))    ( (rv )  )
r sin  r sin  r sin  r r r r r 

110/12/07 50
 CURL IN CURVILINEAR
SYSTEMS
  
h11 h 2 2 h 3 3
 1   
v 
h1h2 h3 q1 q2 q3
h1v1 h 2 v2 h 2 v2

x,y,z → h1=h2=h3=1
r,θ,z → h1=1, h2=r, h3=1

r,θ,Φ → h1=1, h2=r, h3=r sinθ

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 THE OTHER OPERATIONS IN
CURVILINEAR SYSTEMS
1  h1h2 h3 S
2S   (
h1h2 h3  q h 2 q
)

110/12/07
2S 2S 2S
 2  2  2
x y z
1  S 1 2S 2S
 (r )  2 
r r r r  2 z 2
1  2 S 1  S 1 2S
 2 (r ) 2 (sin  ) 2 2
r r r r sin    r sin   2

   v   v y   v z   v x   v y   v z   v x   v y   vz
 v   x x x   x  y   x z   y x   y y   y z   z x   z y   z z
x x x y y y z z z
  vr   v   v z   1 vr v   1 v vr   1 v z   vr
  r r   r   r z    r (  )    (  )    z ( )   z r
r r r r  r r  r r  z
  v   v z
  z    z z
z z
  vr   v   v   1 vr v   1 v vr   1 v
  r r   r   r    r (  )    (  )    ( )
r r r r  r r  r r  52
  1 vr v   1 v v   1 v vr v
  r (  )     (  )   (   cot  )
r sin   r r sin   r r sin   r r
NEXT CLASS: WED., SEPT. 9

110/12/07
 Monday, Sept. 7 is Labor Day
 CH 2. Shell Momentum Balances
 Handout will be uploaded to Moodle by Friday evening

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