Consider once more the two neighboring particles which were at

positions
P and Q in the undeformed configuration, and are now at positions p and
q, respectively, in the deformed configuration (see Figure 4.2). In
general, an
arbitrary displacement will include both deformation (strain) and rigid
body
displacements. To separate these we consider the differential
displacement
vector du. Assuming conditions on the displacement field that guarantee
the
existence of a derivative, the displacement differential dui is written
dui = (4.7-26)
where the derivative is evaluated at P as indicated by the notation. From
this we may define the unit relative displacement of the particle at Q
with
respect to the one at P by the equation
(4.7-27)
where Nj is the unit vector in the direction from P toward Q. By
decomposing
the displacement gradient in Eq 4.7-26 into its symmetric and skew-
symmetric
parts we obtain
dui =
= (ij + ij)dXj (4.7-28)
in which ij is recognized as the infinitesimal strain tensor, and ij is
called
the infinitesimal rotation tensor.
If ij happens to be identically zero, there is no strain, and the
displacement
is a rigid body displacement. For this case we define the rotation vector
(4.7-29)
which may be readily inverted since to yield
(4.7-30)
Therefore, Eq 4.7-28 with ij 0 becomes
dui = kjikdXj = ikjkdXj or du = _ dX (4.7-31)


u
X
i dX
jP
j




du
dX
u
X
dX
dX
u
X
iiN
j
ji
j
j 



1
2
1
2








u
X
u
X
u
X
u
X
i dX
j
j
i
i
j
j
i
j