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Vectors Tensors 14 Tensor Calculus PDF
Vectors Tensors 14 Tensor Calculus PDF
14
The most basic type of calculus is that of tensor-valued functions of a scalar, for example
the time-dependent stress at a point, S S(t ) . If a tensor T depends on a scalar t, then
the derivative is defined in the usual way,
dT T(t t ) T(t )
lim t 0 ,
dt t
dT dTij
ei e j (1.14.1)
dt dt
The derivative is also a tensor and the usual rules of differentiation apply,
d
T B dT dB
dt dt dt
d
(t )T dT d T
dt dt dt
d
Ta T da dT a
dt dt dt
d
TB T dB dT B
dt dt dt
T
d T dT
T
dt dt
T
d
QQ T
dQ T
Q Q
dQ T dQ T
dQ
Q Q 0
dt dt dt dt dt
Q T Q Q
Q T Q
QT
T
(1.14.2)
Q T is a skew-symmetric tensor.
which shows that Q
a a
grada e j i ei e j Gradient of a Vector Field (1.14.3)
x j x j
In matrix notation,
ai
grada dx e i e j dxk e k
x j
ai
dx j e i (1.14.5)
x j
da
a(x dx) a(dx)
which is analogous to Eqn 1.6.10 for the gradient of a scalar field. As with the gradient
of a scalar field, if one writes dx as dx e , where e is a unit vector, then
da
grada e (1.14.6)
dx in e direction
Thus the gradient of a vector field a is a second-order tensor which transforms a unit
vector into a vector describing the gradient of a in that direction.
da a dx j a a
ds x j ds x j
τe j
x j
e j τ grada τ .
Although for a scalar field grad is equivalent to , note that the gradient defined in
1.14.3 is not the same as a . In fact,
a T grada (1.14.7)
since
a j
a ei a je j ei e j (1.14.8)
xi xi
dx dX u( X dX) u( X)
dX du( X)
dX gradu dX
initial q0
dX u ( X dX )
p0 qf
u ( X) dx
pf final
X
Thus the gradient of the displacement field u encompasses the mapping of (infinitesimal)
line elements in the undeformed body into line elements in the deformed body. For
example, suppose that u1 kX 22 , u 2 u 3 0 . Then
0 2kX 2 0
u i
gradu 0 0 0 2kX 2 e1 e 2
X j
0 0 0
The deformation of a box is as shown in Fig. 1.14.2. For example, the vector dX de 2
(defining the left-hand side of the box) maps onto dx 2k de1 e 2 .
X2
final
X1
Note that the map dX dx does not specify where in space the line element moves to.
It translates too according to x X u .
■
The divergence and curl of vectors have been defined in §1.6.6, §1.6.8. Now that the
gradient of a vector has been introduced, one can re-define the divergence of a vector
independent of any coordinate system: it is the scalar field given by the trace of the
gradient {▲Problem 4},
Similarly, the curl of a can be defined to be the vector field given by twice the axial
vector of the antisymmetric part of grad a .
A tensor-valued function of the position vector is called a tensor field, Tijk (x) .
The gradient of a second order tensor field T is defined in a manner analogous to that of
the gradient of a vector, Eqn. 1.14.2. It is the third-order tensor
T Tij
grad T ek ei e j e k Gradient of a Tensor Field (1.14.10)
x k x k
T jk
T ei T jk e j e k ei e j ek (1.14.11)
xi xi
Analogous to the definition 1.14.9, the divergence of a second order tensor T is defined to
be the vector
T (T jk e j e k )
div T grad T : I ei ei
xi xi
Divergence of a Tensor (1.14.12)
Tij
ei
x j
The divergence of a tensor can also be equivalently defined as that vector field which
satisfies the relation
divT v divT T v
for all constant vectors v.
T ji
T ei (T jk e j e k ) ei (1.14.13)
xi x j
so that
divT T T (1.14.14)
As with the gradient of a vector, both Tij / x j e i and T ji / x j e i are commonly used
as definitions of the divergence of a tensor. They are distinguished here by labelling the
former as divT (called here the divergence of T) and the latter as T . Note that the
operations divT and T are equivalent for the case of T symmetric.
Identities
Here are some important identities involving the gradient, divergence and curl
{▲Problem 5}:
Note also the following identities, which involve the Laplacian of both vectors and
scalars:
2 u v 2 u v 2gradu : gradv u 2 v
(1.14.17)
curl curl u graddiv u 2 u
T
1
gradu e r e e z u r e r u e u z e z
r r z
u 1 u r u u
r er er e r e r e r e z
r r r z (1.14.18)
u 1 u u r u
e e r e e e e z
r r r z
u 1 u z u
z ez er e z e z e z e z
r r z
Tijk
T
S
ijk nk dS
V
x k
dV (1.14.20)
Tij
Tn dS div T dV ,
S V
T n dS x
S
ij j
V j
dV (1.14.21)
TndS div ( T) dV
S V
u ndS grad u dV
S V
(1.14.22)
u TndS div (T
T
u) dV
S V
Vector Gradient
In that case, the tensor Dv x is called the derivative (or gradient) of v at x (and is given
the symbol vx ).
Using the chain rule as in §1.6.11, Eqn. 1.14.24 can be expressed in terms of the
Cartesian basis e i ,
vi v
vx w wk e i i e i e j wk e k (1.14.25)
x k x j
vi
vx ei e j (1.14.26)
x j
1.14.7 Problems
1. Consider the vector field v x12 e1 x32 e 2 x 22 e 3 . (a) find the matrix representation of
the gradient of v, (b) find the vector gradv v .
2. If u x1 x 2 x3e1 x1 x 2 e 2 x1e 3 , determine 2 u .
3. Suppose that the displacement field is given by u1 0, u 2 1, u 3 X 1 . By using
gradu , sketch a few (undeformed) line elements of material and their positions in the
deformed configuration.
4. Use the matrix form of gradu and u to show that the definitions
(i) div a tr (grada)
(ii) curla 2ω , where ω is the axial vector of the skew part of grada
agree with the definitions 1.6.17, 1.6.21 given for Cartesian coordinates.
5. Prove the following:
(i) gradv gradv v grad
gradu v gradu v gradv u
T T
(ii)
(iii) div u v grad u v (div v )u
(iv) curlu v udivv vdivu gradu v gradv u
(v) divA Agrad divA
(vi) divAv v divA T tr Agradv
(vii) divAB AdivB gradA : B
(viii) divAB divAB ABgrad
(ix) gradA gradA A grad
6. Derive Eqn. 1.14.19, the divergence of a tensor in cylindrical coordinates.
7. Deduce the Divergence Theorem identities in 1.14.22 [Hint: write them in index
notation.]