Continuous systems

M. Siddikov

May 4, 2018
Outline

Elements of theory of continuous media

F Analysis of 1D wave equation
F Energy-stress tensor
F Membranes (2D systems)
Deformation tensor Types of waves in 1D string
  a) longitudinal deformation
1 ∂ui ∂ui ∂uj ∂uj
uik = + +
2 ∂xk ∂xk ∂xi ∂xk

Small deformations: |∂k ui |  1

Lagrangian of (isotropic) elastic body b) transverse (flexural) deformation

ρ (~x ) u̇i2
Z   
λ 2 2
L= dV − uii + µ uik
2 2

1 c) torsional deformation
U= σik uik
2
Border condition

σik nk |border = 0

affects dynamics of the waves.

Longitudinal waves Transverse (flexural) waves

S⊥
Z  
L= dZ ρ Ẋ 2 + Ẏ 2
6 0, all others=0 due to σik nk = 0
Only σzz = 2
T S⊥
Z 
2
2 
dZ X 0 (Z ) + Y 0 (Z )
Z Z
1 1 −
L= dV ρu̇z2 − dV σzz uzz = 2
2 2 E(Young)
Z
− dZ Iij Xi00 Xj00
Z
1
dV ρu̇z2 − (∂z uz )2


= 2
2
Equations of motion:
Z
(4)
9K µ 1 3K − 2µ ρẌi −T Xi00 −EIij Xj = 0, Iij = dS⊥ xi xj
E(Young) = , σPoisson =
3K + µ 2 3K + µ
p
⇒ ctr ≈ T /ρ, T ≡ F /S
⇒ ρüz − E(Young) ∂z2 uz =0
q Velocity ctr depends only on tension T
⇒ clongitudinal = E(Young) /ρ and density of material ρ, no dependence
on parameters (λ, µ)
In the absense of external tension (T =
0), the frequency ω ∼ k 2 , there is disper-
 ∆χ = −1, χ|border = const
Torsion Z
C := 4µ dS⊥ (∇χ)2

Lagrangian for torsional

deformations:
Izz φ̇2 C (∂z φ)2
Z  
L = dz − ,
2 2
Z
2
Degree of freedom: rotation angle φ(z, t) Izz = dS⊥ ρr⊥
uniform deformation: τ = ∂z φ = const  1.

Equations of motion:
ux = −τ zy , uy = τ zx
Izz φ̈ − C ∂z2 φ = 0
uz = τ ψ (x, y ) Speed of rotational deformations:
p
crot = C /Izz
1 1
(∂x ψ − y ) = ∂y χ, − (∂y ψ + x) = ∂x χ
2 2
 Up to now we considered only spectrum of
eigenvalues and wave functions of free wave
equation. Now we will take into account vari-
ous physical constraints (concentrated masses,
joints, border conditions etc).

Evaluate the deformation of a thin metallic

horizontal rod in gravitational field. The
transverse cross-section of the rod is a
cylinder with radius R. Assume that the
deformation is small and both extremes are
fixed in the wall.
 Evaluate the deformation of a thin metallic (4)
ρẌi − T Xi00 − EIij Xj = ρgS⊥ ,
horizontal rod in gravitational field. The Z
transverse cross-section of the rod is a Iij = dS⊥ xi xj
cylinder with radius R. Assume that the
deformation is small and both extremes are Z R πR 4 S⊥ R 2
fixed in the wall.
Ixx = Iyy = π r 3 dr = =
0 4 4
X (0) = X (L) = 0, X 0 (0) = X 0 (L) = 0

g Z 2 (L − Z )2
⇒ X (Z ) =
6 E R2
S⊥
Z
If tension T is applied and the term with
 
L= dZ ρ Ẋ 2 + Ẏ 2
2 tension is dominant:
T S⊥
Z 
2
2 
− dZ X 0 (Z ) + Y 0 (Z ) X (0) = X (L) = 0
2
E(Young)
Z Z
− dZ Iij Xi00 Xj00 − ρgS⊥ dZ X (Z ) ρg Z (L − Z )
2 ⇒ Xtension (Z ) =
2T
 m

The pointlike mass m is attached at a

distance a from one of the extremes of the
string of length L whose both extremes are
fixed. The tension of the string is T . (1)
Evaluate the shape of the string in the
gravitational field. (2) Assume that in the
moment t = 0 the thread connecting mass m
is cut. Evaluate the string deformation
X (Z , t)
 For Z 6= a the force f (Z ) = 0, we get “normal”
equation, together with (2) get the result in
the form

ρg Z 2

A Z, Z <a
m X (Z ) = − +
2T B (L − Z ) , Z >a
The pointlike mass m is attached at a
distance a from one of the extremes of the The force f (Z ) exists only in point Z = a:
string of length L whose both extremes are
fixed. The tension of the string is T . (1)
 Z a+
0, 6 a
Z =
Evaluate the shape of the string in the f (Z ) = , dZ f (Z ) = mg
∞, Z =a a−
gravitational field.
R a+
For the sake of simplicity we will assume that Let’s take integral a− dZ of both parts of (1)
term with tension is dominant, and the term and take the limit  → 0:
∼ X (4) is negligible
−T X 0 (a + ) − X 0 (a − ) = m g + O ()
 

(4) -the derivative is discontinuous in the point

ρẌi − T Xi00 −EIij Xj = ρgS⊥ + f (Z ), (1)
Z = a. At the same time, the function is con-
tinuous,
Boundary conditions:
X (a + ) = X (a − )

X (0) = X (L) = 0 (2) Continuity in Z = a for solution (3) and dis-

continuity for its derivative:
L−a a
A = mg , B = mg
L L
 Profile at t = 0:

ρg Z 2

A Z, Z <a
X0 (Z ) = − +
2T B (L − Z ) , Z >a
m

The pointlike mass m is attached at a L−a a

distance a from one of the extremes of the A = mg , B = mg
L L
string of length L whose both extremes are
fixed. The tension of the string is T . (1) Eigenfuncitons form a complete set, use them
Evaluate the shape of the string in the as basis:
gravitational field.  
X  πnZ
X (Z ) = An e i ωn t + A∗n e −i ωn t sin
For the sake of simplicity we will assume that L
n
term with tension is dominant, and the term
∼ X (4) is negligible

X (Z , 0) = X0 (Z ) (4)
ρẌi − T Xi00 = 0, (1a) Ẋ (Z , 0) = 0 ⇒ An = A∗n

Boundary conditions: RL  
πnZ
Evaluate = 0 dZ sin L
Eq. (4):

X (0) = X (L) = 0 (2)

1
Z L 
πnZ

An = dZ sin X0 (Z )
L 0 L
 Two infinite coaxial circular cylinders of the
same radius R are connected at their border
as shown in the plot. The Young moduli of
cylinders are E1,2 , the densities of materials
are ρ1,2 respectively. A wave packet is
propagating from x = −∞ in the positive
direction of the axis x. Evaluate the
coeffcient of reflection and transmission.
 Continuity conditions:

uz (+) = uz (−)
σzz (+) = σzz (−)
Two infinite coaxial circular cylinders of the
same radius R are connected at their border
σzz = ∂z uz
as shown in the plot. The Young moduli of
cylinders are E1,2 , the densities of materials
are ρ1,2 respectively. A wave packet is ⇒1+a=b
propagating from z = −∞ in the positive k2 c1
direction of the axis x. Evaluate the 1 − a = n12 b, n12 = =
coeffcient of reflection and transmission. k1 c2
n−1 2
We look for solutions in the form a=− ,b=
n+1 n+1
+ a e −ik1 z z < 0
 ik1 z
e Reflection coefficient:
uz (z, t) = e −i ωt
be ik2 z ≥0  2
n−1
R = |a|2 =
n+1
s
ω Ei
k1,2 = ; ci = , i = 1, 2
c1,2 ρi Transmission coefficient:
k2 2 4n
T = |b| =
k1 (n + 1)2
Note that
R +T =1
Energy-stress tensor
In a previous problem we “guessed” that the Equations of motion:
energy flux is given by ~j = ρ~v , now we plan to    
demonstrate this explicitly. We will start from ∂L d ∂L d ∂L
− − =0
3D case and later restrict to the 1D case. ∂ui dt ∂ u̇i dxj ∂ui ,j
See Goldstein, Section 13  
∂L d ∂L
− α = 0,
Lagrangian of (isotropic) elastic body ∂ui dx ∂ui ,α

ρ (~x ) u̇i2
Z   
λ 2 2 Show that if lagrangian does not explicitly
L= dV − uii + µ uik
2 2 depend on coordinate, then the
Z
energy-stress tensor
= dV L
∂L
Tµν = uα,µ − δµν L
1 ∂uα,ν
U = σik uuk
2 is conserved, i.e. ∂ν Tµν = 0. Analyze the
Effective action physical meaning of the components of
tensor Tµν and the quantities
Z
S = dt L
Z
Pµ = dV Tµ0

Evaluate the components for the case of

plane waves in 3D body
Energy-stress tensor
In a previous problem we “guessed” that the
energy flux is given by ~j = ρ~v , now we plan to
demonstrate this explicitly. We will start from If lagrangian does not explicitly depend on
3D case and later restrict to the 1D case. coordinate, then the energy-stress tensor
See Goldstein, Section 13
∂L
Lagrangian of (isotropic) elastic body Tµν = uα,µ − δµν L
∂uα,ν
is conserved, i.e. ∂ν Tµν = 0.
ρ (~x ) u̇i2
Z   
λ 2 2
L= dV − uii + µ uik
2 2 Physical meaning of components:
Z
= dV L T00 -energy density/c
T0i -energy current density
−Ti0 -momentum density, ith component
1 Tij -3D stress tensor σij
U= σik uuk
2 Symmetry of tensor:
Effective action
Z Tij = Tji
S= dt L
Energy-stress tensor
If lagrangian does not explicitly depend on
coordinate, then the energy-stress tensor
∂L
∂µ j µ = 0, jµ =
∂L ∂α,µ
Tµν = uα,µ − δµν L
∂uα,ν
Lagrangian of (isotropic) elastic body
is conserved, i.e. ∂ν Tµν = 0.

ρ (~x ) u̇i2
Z   
λ 2 2
Noether theorem L= dV − uii + µ uik
2 2
If there is a continuous global Z
transformation of coordinates and fields = dV L

ui (x, t) → ui (x(α), t) , αi ∈ R

which does not change the action S, then

there is a conserving quantity which
corresponds to each independent
parameter αi
 m

The pointlike mass m is attached to the

center of the string of length L whose both
extremes are fixed. The tension of the string
is T . Neglecting the gravitational field,
evaluate the eigenfrequencies of the system.
 For x 6= a the force f (x) = 0, we get “normal”
equation, together with (2) get the result in
the form
m

A sin (kx) , x <a
The pointlike mass m is attached to the u (x) = e i ωt (3)
B sin [k (L − x)] , x >a
center of the string of length L whose both
extremes are fixed. The tension of the string R a+
is T . Neglecting the gravitational field, Let’s evaluate a− dx Eq. (1) for  → 0:
evaluate the eigenfrequencies of the system.
−T u 0 (a + ) − u 0 (a + ) = δf = m Z̈ ,
 

Zt) = u(a, t)
ρü(x, t) − T u 00 (x, t) = f (x, t), (1)
Z (t) = u(a, t)
T [AL kL cos (kL a) − AR kR cos (kR (a − L))] =
Boundary conditions:
= m ω 2 AL sin (kL a)

X (0) = X (L) = 0 (2)

Continuity: u(a + ) = u(a − ):
The force f (x) exists only in point x = a:
AL sin (kL a) =, AR sin (kR (a − L))

0, x=6 a
f (x) = ,
∞, x =a -homogeneous linear system with constant
coefficient, solutions exist only if det(...) =
Z a+ 0
dx f (x) = −m Z̈ (t)
a− mωc
⇒ cot (ka) − cot [k (L − a)] =
T