MSE327

Transport Phenomena

9:05-9:55 MWF
Lee Hall, Room 111

Math review
2
Approximations of functions.
Taylor series
(1) f(x)=f(0)
f(x)
(2) f(x)=f(0)+f’(0)∙x
(3) f(x)=f(0)+f’(0)∙x+f’’(0)∙x2/2!

0 x
f(x)=f(0)+f’(0)∙x+f’’(0)∙x2/2!

,
Example

X=0.1
Regular
Expansions
 Matrix algebra
n x m matrix has n columns and m rows

Addition

Scalar multiplication

Transpose

Matrix determinant

minor cofactor

Cofactor aij is positive if the sum i+j is even and negative otherwise
 Matrix algebra
Inverse matrix

ONLY SQUARE MATRIX HAS INVERSE When square matrix has inverse?

Matrix multiplication

i=3, k=4, j=1,..4

http://mathworld.wolfram.com/, wikipedia.org
 Space
Coordinates of the point: x1, x2, x3
Cartesian coordinate system Geographical coordinate system

x2 Longitude
(a1,a2,a3)
x (Greenwich)
Latitude
(b1,b2,b3) (Equator)
O
x1 Height
x3 (Sea level)

Norm:
Position: x=(x1,x2,x3) <=> x’=(x’1,x’2,x’3)
Coordinate transformations: x’1=(x1,x2,x3) , …
http://english.sxu.edu/sites/wordpress/libraryblog/?attachment_id=749
 Vector Algebra
Linear operations:
a+b
scaling addition subtractions
a-b
a a
a s∙a
b b
O
O
s∙a=(sa1, sa2, sa3) a+b=(a1+b1, a2+b2, a3+b3) a – b=(a1 – b1, a2 – b2, a3 – b3)

Bilinear products:
dot product (scalar) cross product (vector) tensor product
a ∙ b=a1b1+ a2b2+ a3b3 a x b=
a ∙ b=|a|∙|b| cos θ (a2b3–a3b2, a3b1–a1b3, a1b2–a2b1,)
a a ┴ b, a x b |a x b|=|a|x|b|sinθ
θ a ∙ b=0
b a || b, a x b = 0
a b
θ

parallelogram
 Basis vectors
Set of normalized and mutually orthogonal vectors that represents each vector in a given
space:
|e1|= |e2|= |e3|=1 (normalized)
2
e1∙e2= e2∙e3= e3∙e1=0 (mutually orthogonal)
x2 x Any vector is a combination of the basis
e2 vectors :
e1 x=x1e1+ x2e2+ x3e3
e3 x1
O Vector coordinates:
1
x3 x1=e1∙x , x2=e2∙x , x3=e3∙x
3
Completeness of basis: x=e1(e1∙x )+ e2(e2∙x )+ e2(e2∙x )

I=e1e1+ e2e2+ e3e3=

UNIT MATRIX
 Simple coordinate transformations
Simple translation: x’=x – c translation
y’=y
z’=z

Simple rotation: x’=x ∙cosφ+y ∙sinφ

y’= – x ∙sinφ+y ∙cosφ
z’=z

Simple reflection x’=– x

(in -yz plane): y’=y rotation
z’=z

reflection
x’1 x’2
General Coordinate transformations
x’=x-c=x’1a1+ x’2a2+ x’3a3
a2
new system
a3 x’1= a1 ∙(x–c)
a1
c x’ x= x1e1+ x2e2+ x3e3
e2
x c= c1e1+ c2e2+ c3e3
e3
O e1 a1= a11e1+ a12e2+ a13e3
1
old system aij are the coordinates of new basis
vector

x’1= a1 ∙(x–c)=a11 (x1–c1)+ a12 (x2–c2)+ a13 (x3–c3)

x’2= a2 ∙(x–c) = a21 (x1–c1)+ a22 (x2–c2)+ a23 (x3–c3)
x’3= a3 ∙(x–c) = a31 (x1–c1)+ a32 (x2–c2)+ a33 (x3–c3)
Index form: Matrix form:

transformation matrix translation vector

 Index notations
x=(x1, x2, x3)=xi, where i=1, 2 , 3

Algebraic operations: s∙a=(sa1, sa2, sa3)= sai

a+b=(a1+b1, a2+b2, a3+b3)= ai+bi a – b=(a1 – b1, a2 – b2, a3 – b3)= ai – bi

Scalar product: a∙b=a1b1+a2b2+a3b3=

The Kronecker delta:

Function of two variables i and j:

Exp: , ,

The Levi - Civita symbol:

Even: permutation: 1
Odd : -1
a x b=(a2b3–a3b2, a3b1–a1b3, a1b2–a2b1)

Exp:
 Scalars, Vectors, Tensors
Geometric quantities may be classified according to their behavior under pure
rotations.
Scalar quantities: A single quantity S is called scalar if it is an invariant under rotation

S’=S

Exp: Distance, norm, vectors dot product, mass, charge, density etc.

Vector quantities: Any triplet of quantities which transforms under rotation

according to:
<=>

Tensor quantities: transforms under rotation according to

Tensor product
 Scalar fields. Gradient.
Mass, Charge, material constants: u = f(x,y,z)
Level surface is a surface where the function f(x,y,z) has a c
T2 constant value: f (x,y,z) = const
Gradient of the scalar field at particular point M, is a
vector defined as:
T1

Gradient points in the direction of increase of the scalar field u and magnitude of the
gradient vector is equal to this rate of increase.
Presence of the gradients causes flows. Flux – rate @ which a quantity is transferred
through unit area within unit time. Heat flux, the flux of the molecules, flux of
charges.

Fourier’s law First Fick’s law Ohm’s law Darcy’s law

(Heat flow) (Mass flow) (Electric flow) (Liquid flow through
porous media)
K – thermal conductivity, ρ - electrical conductivity, D – diffusion coeff., k –permeability, μ
– liquid viscosity
sink

source
 Nabla operator
Triplet of spatial derivatives:

Action on scalar field S(x):

(gradient of the scalar field)

Dot product with vector field V(x):

(Divergence of the vector field)

Cross- product with vector field V(x):

(curl or rot of the vector field)

Laplace operator:
 Useful relations

Scalar field, S Vector field, V

grad div rot

grad – grad div V –

div div grad S =ΔS – div rot V = 0

rot rot grad u=0 – rot rot V = grad div V – ΔV

 Curvilinear coordinate systems
Coordinate lines are curved.

HW: What is grad, div, rot, Δ , Area, Volume and length in curvilinear coordinates?
http://en.wikipedia.org/wiki/Del_in_cylindrical_and_spherical_coordinates
 Euler and Lagrange coordinates
Euler framework: t, x1, x2, x3
(Control volume is fixed in space)
Lagrange framework: t, x01, x02, x03

X=(x01, x02, x03)

x=(x1, x2, x3)

E L

Material derivative: