Lecture 03: Tensor Algebra and

Calculus
Jayadeep U. B.
Dept. of Mechanical Engg., NIT Calicut.
 Introduction
We need to perform various algebraic operations on tensors:
conventional algebraic rules apply to scalars, vector algebra should be
familiar to all but the rules are different from those of scalars, and we
can use rules of matrix algebra for second order tensors.
If we are required to work with higher order tensors, further
specialized rules are required.
These complexities call for generalized conventions for tensor algebra
applicable to tensors of any order.
However, the methods we develop here are not perfectly general;
specializations are required due to the differences in nature of the
variables involved.
Further, since these variables are field quantities, often changing with
time also, we need to develop the calculus of tensors.
This lecture is a listing of the major operations using tensors.
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 Algebra of Scalars and Vectors
Zeroth order tensors (scalars) obey the usual algebraic rules
(addition, subtraction etc.) applicable to numbers.
However, physical meaning of these operations must be ensured.
For example, it is meaningless to add temperature and density.
In case of vectors, addition and subtraction can be performed by
parallelogram law or vector polygon method.
Performing these operations using the components is usually more
convenient, hence the index notation becomes very useful.
Multiplication of a vector by a scalar also can be performed at the
component level. Example: Linear momentum, mv = mvi ei
There are three vector multiplication operations, while division by
a vector or any higher order tensor is not defined.
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 Vector Algebra
Inner product or Dot product: a b = ai bi
Results in a scalar.
Component of a vector along a direction is obtained using dot product.
Magnitude of a vector: u = u u = ui ui
Cross product: u v = ijk u j vk ei
where the Permutation Symbol (Alternating Tensor),
+1, if ijk is an even permutation of 1-2-3

ijk = 1, if ijk is an odd permutation of 1-2-3
0, otherwise (if any index repeats)

Results in a vector perpendicular to both the original vectors.

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 Vector Algebra contd.
Tensor Product or Outer Product or Dyadic Product:
u1 u1v1 u1v2 u1v3

u v = u2 v1 v2 v3 = u2 v1 u2 v2 u2 v3 = ui v j ei e j
u
3 u3v1 u3v2 u3v3
To be read as u tensor product v or u dyadic v.
Results in a second order tensor.
However, a general tensor cannot be expressed as a tensor product
between two vectors.
Helps to define a basis for second order tensors: A = Aij ei e j
H.W.: Express the scalar and vector triple products using index
notation.
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 Algebra of Second Order Tensors
Multiplication with vectors: Ab = [ A]{b} = Aij b j ei = b j Aij ei
b A = {b}
T T
[ A] = bi Aij e j = Aij bi e j
Addition and subtraction can be performed using components,
Operations involving second order tensors:
( AB )ik = Aij B jk = B jk Aij ( BA )ik
( B ) = Aji B jk
A T
ik

Trace of a tensor: tr ( A ) = Aii

tr ( AB ) = Aij B ji
Matrix Inner Product: A:B = tr ( AT B ) = tr ( B T A ) = Aij Bij

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 Calculus of Tensors
Since we are dealing with field variables, with possible temporal
variations also, differentiation and integration often lead to
quantities of physical importance.
In case of Cartesian tensors, differentiation or integration can be
performed at the component level.
This makes it very convenient to apply the index notation.
Partial derivatives with time can be indicated with a dot above:
u u
Scalars: = u , Vectors: = u = ui ei
t t
A
Tensors: = A = Aij ei e j
t
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 Calculus of Tensors contd.
Spatial derivatives makes use of the Comma convention.
a
Scalars: = a,i
xi
u
Vectors: = u j ,i e j and so on...
xi

Gradient operator: = e1 + e2 + e3
x1 x2 x3
Gradient of a scalar: = ,i ei
Use of gradient operator:
Gradient of a vector: u = ui , j ei e j
Laplacian of a scalar: 2 = ,ii
Divergence of a vector: u = ui ,i
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Curl of a vector: u = ijk uk , j ei
 Integral Theorems
Gauss Divergence Theorem:

For vectors: u n dS = u dV
S V

For tensors of any order: a

S
ijk nk dS = aijk , k dV
V

Stokes Theorem:
For vectors: u dr = ( u ) n dS
C S

For tensors of any order: a ijk dxt = rst aijk , s nr dS

C S

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 References
Sadd, M.H., Elasticity: Theory, Applications and Numerics,
Academic Press.
Chandrasekhariah, D.S. and Debnath, L., Continuum Mechanics,
Academic Press.

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