Commission of the European Communities

nuclear science and technology

SECOND ORDER TENSOR INVARIANTS

IN CONTINUUM MECHANICS USING
THE LAGRANGIAN FORMULATIONS

Report
EUR 9165 EN
Blow-up from microfiche original

Commission of the European Communities

nuclear science and technology

SECOND ORDER TENSOR INVARIANTS

IN CONTINUUM MECHANICS USING
THE LAGRANGIAN FORMULATIONS
J.C. GROSSETIE
JOINT RESEARCH CENTRE
Ispra Establishment - Italy

Directorate-General for Science, Research and Development

Joint Research Centre

1984

EUR 9165 EN

Published by the
COMMISSION OF THE EUROPEAN COMMUNITIES
Directorate-General
Information Market and Innovation
Btiment Jean Monnet
LUXEMBOURG

LEGAL NOTICE
Neither the Commission of the European Communities nor any person acting on behalf
of the Commission is responsible for the use which might be made of the following
information

IECSC EEC EAEC, Brussels Luxembourg, 1984

III

Summary
The paper p r e s e n t s i r second o r d e r tensors
a simple account of invariant theory from the point
of view of its application to continuum mechanics.
It is demonstrated that working with the t e n s o r s
themselves instead of working with their components exclusively, leads not only to certain added
convenience in manipulation, but also to enhanced
understanding of the concepts of eigenvalues,
eigenvectors and invariants of second o r d e r t e n s o r s .
In addition, it is shown that in general curvilinear coordinate s y s t e m s (Lagrangian point of view
in continuum mechanics) the c l a s s i c a l computer
techniques can be applied provided the mixed tensor
components a r e used. In p a r t i c u l a r invariants,
eigenvalues and eigenvectors a r e explicit functions
of the deformation p r o c e s s that the curvilinear
coordinate system is undergoing.
Finally, a general n u m e r i c a l scheme is given
in o r d e r to be used and implemented in a computer
code.

CONTENTS

Page

1.

S c o p e of t h e s t u d y

2.

General comments

3.

Notations

4.

P r o p e r values or eigenvalues

5.

Invariants

6.

Spherical and deviatoric t e n s o r s

7.

E x p l i c i t d e p e n d e n c e of the i n v a r i a n t s on
the d e f o r m a t i o n p r o c e s s

8.

12
'^

A n a l y t i c a l s o l u t i o n s of t h e c h a r a c t e r i s t i c
equation

20

9.

Plow c h a r t of t h e b a s i c equations

23

10.

Conclusion

26

11.

References

26

1. Scope of the study

The non-linear formulations of the equation of motion for large
deformation response of solids a r e derived using or not the c l a s s i cal concepts of continuum mechanics. It is well known, one may
adopt at least one of the two main kinematic description methods,
namely the use of Lagrangian p a r a m e t e r s (also t e r m e d convected
or m a t e r i a l p a r a m e t e r s ) and the Euler v a r i a b l e s .
Using the Lagrangian p a r a m e t e r s all physical objects one is
concerned with a r e vectors and t e n s o r s in three dimensional
Euclidean space but expressed in t e r m s of general curvilinear
coordinate s y s t e m s (the natural vector base).
F o r the m o s t part the t e n s o r s considered a r e second o r d e r tens o r s which will usually be s y m m e t r i c . The theory of invariants
plays a central r o l e . The object of this paper is to present a very
simple account of invariant theory from the point of view of its application to modern theoretical and numerical continuum mechanics.
Index notation and summation convention a r e employed, unless
otherwise stated, indices of vector and t e n s o r components take the
values 1, 2 and 3.

2.

General comments
F o r analysis of continuum s t r e s s and s t r a i n distributions, a

constitutive equation for plasticity, viscoplasticity or endochronic

theory must fulfill the conditions under combined s t r e s s e s . However,
for a constitutive theory to r e p r e s e n t a m a t e r i a l adequately, c e r tain additional physical and mathematical r e q u i r e m e n t s must be s a tisfied. Among these r e q u i r e m e n t s , the following axioms a r e basic
in the formulation of the constitutive equations:

. a x i o m of c a u s a l i t y
. a x i o m of d e t e r m i n i s m
. a x i o m of e q u i p r e s e n c e
. a x i o m of o b j e c t i v i t y
. a x i o m of m a t e r i a l i n v a r i a n c e
. a x i o m of n e i g h b o u r h o o d
. a x i o m of m e m o r y
. a x i o m of a d m i s s i b i l i t y
In g e n e r a l , e a c h of the p r e v i o u s a x i o m s e x p r e s s e d in t h e f o r m
of t e n s o r f u n c t i o n s s h o u l d s a t i s f y c e r t a i n i n v a r i a n c e r e q u i r e m e n t s
u n d e r o r t h o g o n a l t r a n s f o r m a t i o n s of a g r o u p s p e c i f i e d by t h e m a t e rial symmetry.
T h u s , a c c o r d i n g t o t h i s s t a t e m e n t , t h e g e n e r a l and e x p l i c i t r e p r e s e n t a t i o n of a s c a l a r v a l u e d o r t e n s o r - v a l u e d function w h i c h i s
i n v a r i a n t u n d e r a t r a n s f o r m a t i o n g r o u p c a n be e x p r e s s e d in t e r m s
of c o m p l e t e a n d i r r e d u c i b l e s e t s of t h e s c a l a r i n v a r i a n t s f o r m e d by
the a r g u m e n t t e n s o r s . (For i n s t a n c e , the plastic potential, the
v i s c o p l a s t i c p o t e n t i a l a n d s o on . . . ) .

3.

Notations
Since the a r g u m e n t t e n s o r s a r e covariant or c o n t r a v a r i a n t

c o m p o n e n t s of t e n s o r s of r a n k t w o , only t h e a s s o c i a t e d i n v a r i a n t s
n e e d t o be d e t a i l e d . F o r i n s t a n c e , we m a i n l y d e a l w i t h :
the C a u c h y s t r e s s t e n s o r

or the A l m a n s i s t r a i n t e n s o r
A = ryCS.tXi1 GJ

whe re :
Gj(, t) is the natural v e c t o r base associated with the convected
Lagrangian p a r a m e t e r s %
- * .

G (,t) is the natural dual vector base of Gj

Having introduced the natural basis of the curvilinear s y s t e m ,
the element of a r c length ds will now be e x p r e s s e d in t e r m s of the
increment d of the curvilinear coordinates.
The position vector increment dM is given by:
dM = Gjd^
Hence the a r c length ds is e x p r e s s e d a s :
dse = dM2

or

ds2 = GijdfidJ

with
G

i Gj

The quantities G^ (symmetric in the indices i and j) a r e the

unit t e n s o r covariant components relative to the natural b a s i s .
The unit t e n s o r whose components G in any curvilinear s y s t e m
a r e the coefficients of the m e t r i c quadratic form is called the
m e t r i c t e n s o r of the space. Thus
G = GyG* G

This t e n s o r plays the c e n t r a l role in the theory of invariants.

In o r d e r to develop some g e n e r a l principles applicable to all
second o r d e r t e n s o r s in continuum mechanics the concepts of s t r e s s
and s t r a i n t e n s o r will be dropped. Here we consider an a r b i t r a r y
t e n s o r defined a s :
= T%t)Gi Gj

or

= TJfc OGi-GJ"

or
= TyC.tx;1 GJ

4.

P r o p e r values or eigenvalues
R e g a r d l e s s of the ate of the t e n s o r at a given point, it is

always possible to choose a special set of axes through the point

so that the nondiagonal components vanish when the t e n s o r is r e
f e r r e d to this s y s t e m of a x e s . These special axes a r e called p r i n
cipal axes of the t e n s o r at the given point.
Thus, on a plane perpendicular to a principal axis the dyadic
=

- *

product of the t e n s o r by some vector colinear to the principal

axis will give a v e c t o r which in t u r n is colinear to the principal
a x i s . The n o r m a l components of the t h r e e principal planes a r e
called the principal components (eigenvalues).
T h e r e f o r e , the principal directions and the principal compo
nents of a t e n s o r at any point a r e given by the following equation:

-7=

Xv

(D

Since the t e n s o r may be g i v e n under t h r e e different f o r m s

t h e r e w i l l be t h r e e different t y p e s of equations involving the c o m
ponents.

F i r s t form

TvjGj = Xvki

(2)

(T^j - Xv^j 0

(3)

or

thus we h a v e :
[T-XGlvj.Gi = 0

(4)

Such a s y s t e m of l i n e a r equations has solutions which a r e not a l l z e r o

if and only if the determinant of the c o e f f i c i e n t s i s equal to z e r o , i. e.
if
detCT XG) = 0

(5)

Second f o r m

TVGJ

= Xv^Gj

(6)

U s i n g the s a m e a l g e b r a i c manipulations, we a r r i v e at:

[T - XejlvJGi = 0

(7)

T h e r e f o r e we m u s t have:
det(T - X6J) = 0

(8)

Third form
:-+

TyvJG1 = XVJG1

(9)

T h u s we o b t a i n :
[Ty - XGijJvJG = 0

(10)

The n e c e s s a r y a n d sufficient c o n d i t i o n t o obtain non z e r o v a l u e s is

now:
det(Ty-XGy) = 0

(11)

It c a n e a s i l y be s h o w n t h a t the t h r e e e q u a t i o n s (4), (8) and (11) give

r i s e t o t h e s a m e s e t of e i g e n v a l u e s Xi,X 2 ,X 3 .
F o r g i v e n v a l u e s of the n i n e c o m p o n e n t s , E q s . (4), (8) o r ( l l )
a r e c u b i c e q u a t i o n s for the u n k n o w n m a g n i t u d e X. B e c a u s e the
t e n s o r s a r e often s y m m e t r i c a n d t h u s h a v e r e a l e l e m e n t s , in t h i s
l a t t e r c a s e t h e t h r e e r o o t s of the c u b i c e q u a t i o n s a r e a l l r e a l n u m b e r s .
Remark:

a s y m m e t r i c t e n s o r i s defined by r e l a t i o n s a b o u t the

c o v a r i a n t o r c o n t r a v a r i a n t c o m p o n e n t s , i. e. :
T ij =

T ji

or
=

In any c a s e , the mixed components m u s t not be involved.

5.

Invariants
The principal components (eigenvalues) a r e quantities, -whose

values do not depend on the coordinate system in which the compo

nents were initially given. They a r e therefore invariants of the
t e n s o r s t a t e , invariant with r e s p e c t to a r b i t r a r y rotation of the
coordinate axes to which the t e n s o r is r e f e r r e d .
When the determinant in the c h a r a c t e r i s t i c Eq. (4) or (8) or
(11) is expanded, the cubic equation takes the form
X 3 - ItXa + I 2 X - I 3 = 0

(12)

where the symbols I j , l?, 13 denote s c a l a r e x p r e s s i o n s .

Since the roots of the cubic equation do not depend on the choice of
coordinate a x e s , the coefficients of the cubic equation cannot depend
on the choice of axes either. Hence, the s c a l a r expressions I j , I2,
I3 a r e a l s o s c a l a r invariants.
L is called the first invariant of the t e n s o r T, it is a l s o called
the t r a c e of the associated m a t r i x , denoted t r ( T ) .
I2 is t e r m e d the second invariant and is often r e f e r r e d to a s
the quadratic invariant of the t e n s o r .
The third invariant 1-, is a homogeneous cubic expression in
the principal values.
Some authors define I2 a s the negative of the expression given
above and write the c h a r a c t e r i s t i c equation with a minus sign b e
fore the third t e r m . Thus instead of (12) we should have:
X3 -I*X 2 - * - I* = 0
Hence we have:

(13)

E q u i v a l e n c e of the t h r e e f o r m u l a t i o n s
To prove the equivalence between the three c h a r a c t e r i s t i c
e q u a t i o n s , t h e following r e l a t i o n s h a v e t o be u s e d :
= G J ^

(15)

(16)

and

= V?

T h u s , e q . (4) c a n be w r i t t e n a s :

detiG^TJ^ X^Gty = 0

or
det(G k J) detCT^ ^ ) = 0
kj

s i n c e det(G

(17)

) f/ 0 we o b t a i n

detCr^ = 0
w h i c h i s i d e n t i c a l t o e q . (8).
In a s i m i l a r m a n n e r , e q . (11) c a n be w r i t t e n a s :

d e l i c t XoJGip) = 0

(18)

s o we h a v e
detGy) d e t ( T P ?) = 0

(19)

and since
det(Gy) 0
we obtain
det(T? ?) = 0
Expanded forms of the invariants
In the previous section we found that the basic c h a r a c t e r i s t i c
equation is obtained by using the mixed components. In fact, the
c h a r a c t e r i s t i c eq. (8) i s the most convenient form to express the
t h r e e invariants I j , I2 and I3 v e r s u s the t e n s o r components.
By expanding the indiciai forms of
detCT !) = 0
J
J
the r e a d e r may verify that the invariants a r e equivalent to the ex
panded forms given in F i g . 1.
As far a s the mixed components a r e known then all the inva
r i a n t s can be calculated. However, the mixed components of a ten
sor a r e not always known, and we have seen that for constitutive
laws expressed with the Lagrangian p a r a m e t e r s the s t r e s s e s a r e
known via their contravariant components while the strains a r e
known via their covariant components.
Therefore,

if only the contravariant components a r e known,

the expanded forms of the invariants r e m a i n the same but the mixed
components have to be first evaluated through the following relations:
T = Gjjjfc

(20)

It can be easily understood that now an explicit dependence on the

10

detcr) = 0
J

Characteristic equation

ii = | + 2 + 3
1 2

1 3

I2 = (T t T 2 +7^3

2 3

3 2

1 3

1 2

+T2T3)-(T2T3 + T,Tl+TaT1)

I3 = det(TJ)
Expressions of the invariants versus the mixed components

I, = \ t + 2 + 3
12

Aj A 2 | 3 2 3

3 = 1 2 3
Expressions of the invariants versus the eigenvalues

Figure 1

11

. = 1 + 2 + 3
1

h = 4 [2 ( 1 ) 2 ( 2 ) 2 ( 3 ) 2 ] [ 3 2 ' 3 + *2]
i

or

2 3

3 1

2 1

2 = i [21 2 ( 1 2 ) 2 +(* 3 ) 2 + (2 3 ) 2 ]
*

3'

%' '

lJ

3 = det (TJ)

Alternative expressions of the invariants versus the mixed components

I, = ! + 2 + 3

I2 = [ 2 _( 2 + 2 + 2 ) ]
1

or

3 '

2 = [2i; ( 2 y + (, 3 + (2 3 y )]

3 2 3

Alternative expressions of the invariants versus the eigenvalues.

FIG. 1

12

m e t r i c t e n s o r (covariant components) has been introduced.

A typical situation is found when one has to deal with the
Cauchy s t r e s s t e n s o r a since only the contravariant components
a

a r e commonly used.
If only the covariant components a r e known, then before apply-

ing the expanded forms of the i n v a r i a n t s , the mixed components must

be first evaluated by using:
T = G^Tt

(21)

Once m o r e , an explicit dependence on the m e t r i c tensor (contrav a r i a n t components) has been introduced. A typical example is
given by the A l m a n s i s t r a i n t e n s o r A whose covariant components
a r e e^.

6.

Spherical and deviatoric t e n s o r s

The previous invariant e x p r e s s i o n s play a prominent role in

the constitutive equations of isotropic m a t e r i a l s and m o r e p r e c i s e l y

in the formulation of yield conditions under combined s t r e s s e s in
t h e o r i e s of plasticity and viscoplasticity of isotropic m a t e r i a l s .
Of c o u r s e any s c a l a r function of the three invariants is a l s o an
invariant. An a l t e r n a t i v e p r o c e d u r e permitting explicit solution of
the cubic c h a r a c t e r i s t i c equation is often used, but the solution is
e x p r e s s e d in t e r m s of the deviatoric t e n s o r components.
In fact, a l m o s t all t h e o r i e s of continuum plasticity and v i s c o plasticity postulate the use of the deviatoric s t r e s s t e n s o r . E x p e r i e n c e t e a c h e s that to a first approximate the behaviour of a metal
is unaffected by a moderate hydrostatic p r e s s u r e superposed on a
combined s t r e s s s t a t e . Thus, m e t a l plasticity and viscoplasticity
t h e o r i e s accordingly postulate:

13

Assumption 1 the nonlinear behaviour is independent of the

spherical part of the s t r e s s
Assumption 2 the material remains always isotropic
Assumptions 1 and 2 together imply that the specific scalar functions
must be a symmetric function of the deviatoric stress components
or of their associated invariants.
Furthermore, it can be shown that in three dimensional problems,
it will be usually easier to solve for the principal deviatoric c o m
ponents and then calculate the principal tensor components.
Deviatoric tensor associated to a tensor T_
The general definition is usually stated a s :
D=T^l!G

(22)

The expanded forms of this associated tensor are thus:

first

form
D= (T^IjGXVGj

(23)

therefore:
D = T'J^IxG

s e c ond

form

D = (-,
Hence:
D

= T i !

(24)

14

third

form
D = (TyIIjGy^G

(25)

Thus

Following the g e n e r a l definitions, the principal directions and com

ponents at a given point a r e obtained by solving:
D w = \

(26)

The a s s o c i a t e d t h r e e c h a r a c t e r i s t i c equations a r e t h e r e f o r e :
detD MG) = 0

(27)

detDy MGy) = 0

(28)

det(DMj) = 0

(29)

and

As usual, these equations give the same set of eigenvalues

In addition, by using (29) and (24) we have
detCriM + i l j t f ) = 0
J

(30)

Thus it may be easily verified that the following relations hold:

, =M, +4 Ii

2=2+,;

3=3+4

(31)

15

W h e n t h e d e t e r m i n a n t in t h e c h a r a c t e r i s t i c eq. (29) i s e x p a n d e d ,
t h e cubic e q u a t i o n t a k e s t h e f o r m :
3 +J2-J3

= 0

(32)

w h e r e J 2 and J_ a r e r e s p e c t i v e l y the s e c o n d a n d t h e t h i r d i n v a r i a n t
of the a s s o c i a t e d d e v i a t o r i c t e n s o r . It m u s t be e m p h a s i z e d t h a t
t h e c u b i c e q u a t i o n a b o v e , a n a l o g o u s t o e q . (12) l a c k s the q u a d r a t i c
term.
By e x p a n d i n g the i n d i c i a i f o r m s of (29) a n d (30), t h e r e a d e r
m a y v e r i f y t h a t the i n v a r i a n t s J 2 a n d J , a r e e q u i v a l e n t t o t h e f o r m s
g i v e n in F i g s . 2 and 3.
A s we a l r e a d y pointed out in t h e p r e v i o u s s e c t i o n , t h e m i x e d
c o m p o n e n t s a r e not a l w a y s u s e d , t h u s t o e v a l u a t e t h e i n v a r i a n t s J 2
a n d J 3 the m i x e d c o m p o n e n t s m u s t be f i r s t e v a l u a t e d t h r o u g h :
D = GjfcD 1"

(33)

D = G ^

(34)

or

T h e r e f o r e , w h e n t h e m i x e d c o m p o n e n t s a r e not u s e d , a n e x p l i c i t
d e p e n d e n c e on the m e t r i c t e n s o r i s i n v o l v e d .

7.

E x p l i c i t d e p e n d e n c e of the i n v a r i a n t s on t h e d e f o r m a t i o n p r o c e s s
In c o n t i n u u m m e c h a n i c s , t h e L a g r a n g i a n d e s c r i p t i o n r e f e r s t h e

m o t i o n t o a r e f e r e n c e c o n f i g u r a t i o n in w h i c h t h e p a r t i c u l e M o c c u
p i e s p o s i t i o n OM. In e l a s t i c i t y the r e f e r e n c e c o n f i g u r a t i o n i s u s u a l l y
chosen a s the initial u n s t r e s s e d s t a t e . However this r e f e r e n c e m a y

16

det (DJ ]) = O

or

det (Tj ( + 1 I, ) j) = O

Cubic characteristic equation for the associated deviatoric tensor

Ji = M i + M 2 + M 3 = 0

or

or

2 = M 1M 2 + M 1M 3 + M 2M 3

=-4(++)

J 22 = I22 \ I
3

or

J 2 = 1 ( ( 2 ) 2 + (, 3 ) 2 + ( 2 3 ) 2 )

or

J2 = - - i ( t i - 2 )

+ * i - M s ) 2 +(2 - M s ) 2 )

J 3 = 123

or

J 3 = I3 ^ I1I2 + 2 ( i ) 3

Expressions of the invariants of the associated deviatoric tensor

FIG. 2

17

Ji = D + D2 + D3 = O
h = (DD2. + DD3 + D 1 D 3 ) - (D2D2 + D3Dj + \])
or

J2 = - \ ((D)2 + ( D 5 ) 2 + (D 3 ) 2 )-(D 2 D 2 + \>\ + DDI)

or

J2 = -{ ((DJ-D,)2 + (D-D3)2 +(D-D33)2)- (D2D23 +D3D? -fD^D)

or

h = - i TJ-TJ )2 + (T-T, )2 + (T2-T3 f)- (T2T3 + T3T? + TJT? )

J3 = det(DJ)

Expressions of the invariants of the associated deviatoric tensor

Figure 3

18

be chosen a r b i t r a r i l y and needs not even be a configuration actually

a s s u m e d during a p a r t i c u l a r motion.
The evolution of an element of m a t t e r is defined by the d e formation equations
oM,t) = oMo) +u(,t)

(35)

Thus, at a given time the natural vector base is defined by

<36>

s-\i+!

Through the eq. (35) and (36) the expression of the covariant c o m ponents of the local m e t r i c t e n s o r may be expressed.
By taking the inner product we obtain
G

ij -

i Gj

= (G

ij

= G

Thus
3 u

3U

G
W P
o,i + i->-<
oj +4- H

or

o,ij^)

+ 2e

ij^' t >

(37)

where:
G - covariant components of the local m e t r i c t e n s o r in the r e ference configuration
e^i

covariant components
components of the Almansi s t r a i n t e n s o r and of
the G r e e n - L a g r a n g e s t r a i n t e n s o r

19

At this point, we have to r e c a l l that for the same convected

Lagrange p a r a m e t e r s %, the two s t r a i n t e n s o r s have the same
covariant components, i. e.
A = ej(,t) G1 - GJ

(38)

L = ey&tK^ . G^

(39)

and

F r o m (37) we see the appearance of the deformation p r o c e s s . This

may be written under the formal e x p r e s s i o n s :
Gy = G^fcey)

(40)

Once the covariant components a r e known, the contravariant components a r e obtained through the solutions of the c l a s s i c a l set of s y s t e m of algebraic equations:
GkG

kj = 6 j

(41)

Therefore, we a r r i v e at the same formal expressions

G = Gytf.ey)

(42)

Coming back to the definition of the mixed components of a t e n s o r of o r d e r two, the p r o c e s s of raising and lowering indices will
involve explicitly a l i n e a r transformation whose coefficients a r e
functions (linear and quadratic) of the covariant s t r a i n t e n s o r r e lated to the actual evolution of the continuum.
At a given time and point, the t e n s o r transformation formulas a r e
TJ = G ik (,e t ) T kj (,t)

(43)

20

and

TJ = Gji^ij) Tki(,t)

(44)

As a consequence, all the invariants that have been defined a r e

explicit functions of the deformation p r o c e s s .

8. Analytical solutions of the c h a r a c t e r i s t i c equation

As we have a l r e a d y seen, the solution of the cubic equation
3 - ^ 2 + 2 - I3 = 0

(12)

is obtained when the solutions of the associated deviatoric c h a r a c

t e r i s t i c equation a r e known
3 + 2 - J 3 = 0

(32)

The solutions of this equation a r e obtained through the Cardan m e

thod, when all roots a r e r e a l (Exp. s y m m e t r i c t e n s o r s ) .
The following Cardan method is valid provided the subsequent con
dition is verified:
4(J 2 ) 3 +27(J 3 ) 2 < 0

(45)

T h e r e f o r e the t h r e e roots of eq. (32) a r e all r e a l n u m b e r s . In this

l a t t e r c a s e , by using the relations given in Fig. 2, we have
J2 < 0

(46)

21

By substitution:

= 2 ( i Jj) 1 cosa

(47)

eq. (32) t r a n s f o r m s into

3

2( \ h )2 [4 cos3 a 3 cosa] = J 3

(48)

Thus we obtain:
3

2(4 J2) [cos3a] = J3

Let a t

(49)

be the angle satisfying

0 < 3tt! <

(50)

whose cosine is given by eq. (47). then

3! ;

3! + lit ;

and 3a t 2

all have the same cosine, given in t e r m s of the calculated invariants

of the deviator by the expression above, and this furnishes t h r e e
independent roots of eq. (32) and a s a consequence of eq. (12), namely:

ii

02=i+^f;

3=iy

D
(S

Thus:

{ = 2 ( J 2 ) 5 c o s a i

(52)

and hence
\ = +\1

(53)

22

The g e n e r a l Cardan method

Let us define
= u+

(54)

t h e n , by s u b s t i t u t i o n in (32) we o b t a i n
u 3 + vJ + (u+ v)(3uv+ J 2 ) - J 3 = 0

(55)

w h i c h g i v e s in t u r n t h e e q u i v a l e n t s y s t e m
u 3 + v 3 = J,
(56)
uv = - I J 2

o r

u3v3 =

3
-J2

F r o m (56) it c a n e a s i l y be d e d u c e d t h a t u^ and v^ a r e g i v e n by the

r o o t s of t h e s e c o n d o r d e r a l g e b r a i c e q u a t i o n
t2-J3t-^J

= 0

(57)

A s a c o n s e q u e n c e , t h e g e n e r a l s o l u t i o n s of (32) a r e g i v e n by:
= - |

M,=j0-i'i;

- -

where:

() i s one of t h e r o o t s of (57).

Therefore,
3

s i n c e J and JQ a r e r e a l n u m b e r s , we o b t a i n

- if

4J 2 + 27J 3 > 0

only one real root

-if

4J 2 + 27J 3 < 0

three real roots

- if

(58)

4J 2 + 27J 3 = 0

three real roots

23

9. Flow chart of the basic equations

Unless the system of equations, linear transformations and
evaluation of invariants are quite simple, we must employ nume
rical schemes to solve invariant and eigenvalue problems. A
numerical algorithm for solving this class of problems ia presented
in Figs. 4 and 5.
It must be pointed out that the known quantities are supposed
to be the following:
For a given "point" (I; = ) and at a given instant of time
geometrical variables
G

o,iJ<*>

u(,t)

ff,
tensor components
T'J(tt)

or

Tjj(,t)

For instance the Cauchy s t r e s s tensor components 1^ or ^ or

the Almansi strain tensor components . . o r e*K
In addition the step 1 and 2 are recalled for convenience since
these two steps are in fact performed through a numerical process
which is closely bound to the numerical solution of the continuum
equilibrium equations (for example: finite differences or finite
elements methods).

24

At a given time and point (element of matter)

Step 1

compute the displacement vector u.

Step 2

compute the "spatial" derivatives of the vector u versus the

convected Lagrange parameters 1.

Step 3

determine the covariant components of the strain tensor ey (eq.(37)).

Step 4

determine the covariant components of the metric tensor Gy (eq.(37)).

Step 5

solve the inverse equations for the controvariant components of the

metric tensor (eq.(41)).

Step 6

apply the linear transformation equations to obtain the mixed

tensor components T1. (eqs.(43) or (44)).
J

Step 7

compute the invariants I t , I 2 ,1 3 using the relations of Fig 1.

Step 8

compute the mixed components of the associated deviatoric tensor

D (eq.(24)).
J

Step 9

evaluate the invariant J2 and J 3 using the equations of Fig. 2 or 3.

Figure 4

25

If the eigenvalues are to be calculated, then:

step 10

solve the eq. (32) for the ; values. The standard technique being the
Cardan method which gives analytically the solutions versus J2 and J 3 .
(eqs. (47), (49), (50) and (51 ), or eq. (58)).

step 11

compute the eigenvalues ,2,

3 using the eqs. (31 ).

If the eigenvectors are to be known, then:

step 12

normalige the natural vector base G in order to obtain

"g. =
L_ expressed in orthogonal cartesian vector base.

libili
step 13

compute the covariant components v1 of the eigenvectors (see standard

reference text book). Eq. (8). Analytical expressions may be readily
obtained.

step 14

compute the associated norms of the eigenvectors and obtain the unit
eigenvectors u expressed in the natural base G
u = ^_. _
liv!!

step 15

then using the standard formulas of tensor calculus the covariant,

contravariant and mixed components can be obtained in any arbitrary
vector base. In particular all the physical components are then
available in any cartesian vector base.

Figure 5

26

10.

Conclusions
It has been d e m o n s t r a t e d that working with the t e n s o r s t h e m

selves instead of working with t h e i r components exclusively,

leads not only to c e r t a i n added convenience in manipulation, but
a l s o to enhanced understanding of the concepts of eigenvalues,
eigenvectors and invariants of second o r d e r t e n s o r s .
In addition, it has been shown that in general curvilinear
coordinate s y s t e m (Lagrangian point of view in continuum m e c h a
nics) the c l a s s i c a l computer techniques can be applied provided
the mixed t e n s o r components a r e used. In particular we pointed
out that i n v a r i a n t s , eigenvalues and eigenvectors a r e explicit
functions of the deformation p r o c e s s the curvilinear coordinate
s y s t e m is undergoing.
Finally, a g e n e r a l n u m e r i c a l scheme is given in o r d e r to be
used and implemented in a computer code.
11.
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.

References
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1950.
BAUSSET M. , D ynamiques P r i n c i p e s classiques et r e l a t i v i s
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ED ELEN D . G. . , Lagrangian mechanics of nonconservative
nonholonomic s y s t e m s , Noordoff, 1979
E R I N G E N A . C , Mechanics of continua, JohnWiley, 1967.
E R I N G E N A . C . , Continuum P h y s i c s , Vols. I, II, III, IV, Aca
demic P r e s s , 19711980.
GERMAIN P . , Cours de mcanique des milieux continus,
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GERMAIN P . , Cours de mcanique, Ecole polytechnique, P a r i s ,
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GONTIER G . , Mcanique des milieux dformables, D unod, 1969.
GOUYON R. , Calcul t e n s o r i e l , Vuiberg, 1963.
GREEN, ZERNA, Theoretical elasticity, Oxford University
P r e s s , 1968.
GROSSETIE J. C. , Expos s u r les equations i n c r m e n t a l e s
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M a r s , 1979.

27

12. GROSSETIE J. C. , Sminaire d'analyse non-linaire en m canique des milieux continus, P o i t i e r s , Mai, 1980.
13. MANDEL J. , Cours de mcanique des milieux continus,
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14. NOVOZHILOV V.V. , Theory of elasticity, Pergamon P r e s s ,
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P e r g a m o n P r e s s , 1962.

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