CE 531 Lecture 1

1
 Goals
Goals: Construction and understanding of small deformation theory for solids and
structural mechanic elastic materials in an unifying manner to provide sufficient
background for students to study and conduction research in other material types
(e.g. Viscoelastic and plastic) covered in detail in the text book.

Students in this course usually come from different backgrounds:

Civil, mechanical, geoscience, physics, mathematics, etc.
Most have taken mechanics or strength of materials in sophomore year
and have applied them in junior and senior courses (e.g. beam theory,
engineering materials, soil mechanics, mechanical systems, etc.).

This course reviews and builds on UG mechanics of materials in a systematic manner to

provide an analytical mechanics background for up-coming analysis and design courses
and preparation for research in structural, mechanical, geotechnical engineering, etc.
2
 CE531 Structural Mechanic Topics
Math Preliminaries
Equilibriums (Stress / Forces)
Kinematics (Displacement / Deformation)
Boundary Value Problem
Constitutive Relations
Governing equations
Analytical solution for structural elements and systems

Examples of
constitutive
relations

3
 Chapter 1: Introduction to Cartesian Vectors and Tensors

Notations and review of vector analysis:

A scalar a is a number on the real axis ℜ (the real line).
Vectors: 𝒙𝒙 – position, 𝒖𝒖(𝒙𝒙) – displacement, 𝒗𝒗(𝒙𝒙) – velocity, 𝒂𝒂(𝒙𝒙) – acceleration, etc. can
be expressed in the following manner:
𝒗𝒗 = 𝑣𝑣𝑥𝑥 𝒊𝒊 + 𝑣𝑣𝑦𝑦 𝒋𝒋 + 𝑣𝑣𝑧𝑧 𝒌𝒌 (classical notation used in the text)
𝒗𝒗 = 𝑣𝑣1 𝒆𝒆𝟏𝟏 + 𝑣𝑣2 𝒆𝒆𝟐𝟐 + 𝑣𝑣3 𝒆𝒆𝟑𝟑 = ∑𝟑𝟑𝒊𝒊=𝟏𝟏 𝑣𝑣𝑖𝑖 𝒆𝒆𝒊𝒊 (indicial notation used
in modern texts)
𝒆𝒆𝒊𝒊 are basis vectors of the Cartesian coordinate system

𝒗𝒗 = 𝑣𝑣𝑖𝑖 𝒆𝒆𝒊𝒊 (Einstein’s notation – repeated indices imply

summation)

4
 Vector representations in 3-dimensional Cartesian coordinate system:

Vectors: 𝒗𝒗 – velocity, 𝒖𝒖 – displacement, etc. always have 3 components in this course.

Vector Field: 𝒗𝒗(𝒙𝒙) means the vector 𝒗𝒗 is a function of position 𝒙𝒙.

We are familiar with vector 𝒗𝒗 being expressed in matrix form as a (3x1) column vector:
𝑣𝑣𝑥𝑥 𝑣𝑣1
𝒗𝒗 = 𝑣𝑣𝑦𝑦 = 𝑣𝑣2
𝑣𝑣𝑧𝑧 𝑣𝑣3

We can also use the notation 𝑣𝑣𝑖𝑖 to represent 𝒗𝒗 in the following manner:
𝑣𝑣1
𝒗𝒗 𝑣𝑣𝑖𝑖 𝒆𝒆𝑖𝑖 𝑣𝑣𝑖𝑖 𝑣𝑣2
𝑣𝑣3
abstract coordinates specified simplified matrix representation
simple basis dependent basis assumed most familiar with since HS
5
Before present vectors, we actually should have presented scalars:

Scalars field: objects in this field are numbers, 𝛼𝛼, 𝛽𝛽, etc. on the real line ℜ

Vectors: 𝒗𝒗, 𝒖𝒖 are objects in the 3-dimensional space ℜ3 (i.e. has 3 components).

𝑣𝑣1 𝛼𝛼𝑣𝑣1
Vector multiplication with scalar: 𝛼𝛼𝒗𝒗 = 𝛼𝛼 𝑣𝑣2 = 𝛼𝛼𝑣𝑣2
𝑣𝑣3 𝛼𝛼𝑣𝑣3

𝑣𝑣1 𝑢𝑢1 𝛼𝛼𝑣𝑣1 𝛽𝛽𝛽𝛽1

Vector addition: 𝛼𝛼𝒗𝒗 + 𝛽𝛽𝒖𝒖 = 𝛼𝛼 𝑣𝑣2 + 𝛽𝛽 𝑢𝑢2 = 𝛼𝛼𝑣𝑣2 + 𝛽𝛽𝛽𝛽2
𝑣𝑣3 𝑢𝑢3 𝛼𝛼𝑣𝑣3 𝛽𝛽𝑣𝑣3
Note that: 𝛼𝛼𝒗𝒗 + 𝛽𝛽𝒖𝒖 = 𝛽𝛽𝒖𝒖 + 𝛼𝛼𝒗𝒗

6
 𝑣𝑣1
𝒗𝒗 = 𝑣𝑣2 = ∑3𝑖𝑖=1 𝑣𝑣𝑖𝑖 𝒆𝒆𝑖𝑖 = 𝑣𝑣𝑖𝑖 𝒆𝒆𝑖𝑖 (summation implies)
𝑣𝑣3

𝑣𝑣𝑖𝑖 (𝑖𝑖 = 1, 2, 3) indicial components

𝒆𝒆𝑖𝑖 (𝑖𝑖 = 1, 2, 3) orthogonal unit base vectors

Component extraction using dot product:

𝒗𝒗 · 𝒆𝒆2 = 𝑣𝑣1 𝒆𝒆1 + 𝑣𝑣2 𝒆𝒆2 + 𝑣𝑣3 𝒆𝒆3 · 𝒆𝒆2
= 𝑣𝑣1 𝒆𝒆1 · 𝒆𝒆2 0 + 𝑣𝑣2 𝒆𝒆2 · 𝒆𝒆2 1 + 𝑣𝑣3 𝒆𝒆2 · 𝒆𝒆2 0
= 𝑣𝑣2
7
Notation = indicial notation & Einstein’s notation

Some mathematical books write a vector as 𝑣𝑣𝑖𝑖 where 𝑖𝑖 = 1, 2, 3 assumed basis is known

Indicial notation rules:

1. There is an assumed summation on repeated indices

2. Indices range over {1, 2, 3} or {x, y, z}
3. Index can be any letter except x, y, z, μ, ν to avoid confusion with common concepts
4. Never use the same index more than twice 𝑎𝑎𝑖𝑖 𝑏𝑏𝑖𝑖 𝑐𝑐𝑖𝑖 ≠ ∑3𝑖𝑖=1 𝑎𝑎𝑖𝑖 𝑏𝑏𝑖𝑖 𝑐𝑐𝑖𝑖
5. A free index is one that is not summed upon
6. A dummy index is one that summed upon

8
Review of Vector Dot Product:
Definition of dot product

a·b = ||a|| ||b|| cosθab where ||a|| is the magnitude of vector, etc.

𝒆𝒆1 ·𝒆𝒆2 = ||𝒆𝒆1 || ||𝒆𝒆2 || cosθ12 = 1 · 1 · 0 = 0

1 if 𝑖𝑖 = 𝑗𝑗 1 0 0
Kronecker Delta δij = � 𝜹𝜹 = δij = 0 1 0
0 if 𝑖𝑖 ≠ 𝑗𝑗
0 0 1

a·b = 𝑎𝑎1 𝑏𝑏1 +𝑎𝑎2 𝑏𝑏2 +𝑎𝑎3 𝑏𝑏3 = ∑3𝑖𝑖=1 𝑎𝑎𝑖𝑖 𝑏𝑏𝑖𝑖 = 𝑎𝑎𝑖𝑖 𝑏𝑏𝑖𝑖 (summation implies)
= 𝑎𝑎𝑖𝑖 𝛿𝛿𝑖𝑖𝑖𝑖 𝑏𝑏𝑗𝑗 = 𝑎𝑎1 𝛿𝛿1𝑗𝑗 𝑏𝑏𝑗𝑗 + 𝑎𝑎2 𝛿𝛿2𝑗𝑗 𝑏𝑏𝑗𝑗 + 𝑎𝑎3 𝛿𝛿3𝑗𝑗 𝑏𝑏𝑗𝑗
= 𝑎𝑎1 𝛿𝛿11 𝑏𝑏1 + 𝑎𝑎1 𝛿𝛿12 𝑏𝑏2 + 𝑎𝑎1 𝛿𝛿13 𝑏𝑏3
+𝑎𝑎2 𝛿𝛿21 𝑏𝑏1 + 𝑎𝑎2 𝛿𝛿22 𝑏𝑏2 + 𝑎𝑎2 𝛿𝛿23 𝑏𝑏3
+𝑎𝑎3 𝛿𝛿31 𝑏𝑏1 + 𝑎𝑎3 𝛿𝛿32 𝑏𝑏2 + 𝑎𝑎3 𝛿𝛿33 𝑏𝑏3
9
 Introduction to Tensor Analysis:

Zeroth-order (or rank 0) tensors (numbers 𝛼𝛼, 𝛽𝛽, etc.) are scalars with no free indices

1st-order (or rank 1) tensors are 3x1 objects (column vectors with 3 components,
e.g. 𝒗𝒗 – velocity, 𝒖𝒖 – displacement, etc.) with 1 free index 𝑣𝑣𝑖𝑖

2nd-order (rank 2) tensors are 3x3 objects (which have 9 components),

e.g. 𝝈𝝈 – stress, 𝝐𝝐 – strain, Kronecker 𝜹𝜹 etc.) with 2 free indices 𝜎𝜎𝑖𝑖𝑖𝑖 ; 𝜖𝜖𝑖𝑖𝑖𝑖

3rd-order (rank 3) tensor are 3x3x3 objects (which have 27 components)

e.g. 𝑻𝑻 with 3 free indices 𝑇𝑇𝑖𝑖𝑖𝑖𝑖𝑖

4th-order (or rank 4) tensor are 3x3x3x3 objects (which have 81 components)
e.g. 𝑪𝑪 with 4 free indices 𝐶𝐶𝑖𝑖𝑖𝑖𝑖𝑖𝑙𝑙 (e.g. a constitutive relation tensor, see Chapter 5)

10
Tensors operations:
Addition- 𝑢𝑢𝑖𝑖 + 𝑣𝑣𝑖𝑖 = 𝑤𝑤𝑖𝑖 𝑆𝑆𝑖𝑖𝑖𝑖 + 𝐾𝐾𝑖𝑖𝑖𝑖 = 𝑃𝑃𝑖𝑖𝑖𝑖

Subtraction is same

Tensor product multiplication – (M+N) (M+N - 2) inner product

Contraction – (M-2)
Differentiation – (N+1)

Symmetry & Skew Symmetry

𝑇𝑇𝑖𝑖𝑖𝑖 = 𝑇𝑇𝑗𝑗𝑗𝑗 𝑢𝑢𝑖𝑖𝑖𝑖 = −𝑢𝑢𝑗𝑗𝑗𝑗

11
Permutation tensor:
+1 if 𝑖𝑖𝑖𝑖𝑖𝑖 = 123, 231, 312
𝑒𝑒𝑖𝑖𝑖𝑖𝑘𝑘 =�−1 if 𝑖𝑖𝑖𝑖𝑖𝑖 = 132, 321, 213
0 otherwise

e-δ Identity → 𝑒𝑒𝑖𝑖𝑖𝑖𝑖𝑖 𝑒𝑒𝑖𝑖𝑖𝑖𝑖𝑖 = δ𝑖𝑖𝑖𝑖 δ𝑘𝑘𝑘𝑘 − δ𝑗𝑗𝑗𝑗 δ𝑘𝑘𝑘𝑘

𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 (𝛷𝛷𝛷𝛷) = 𝛷𝛷 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝐴𝐴 + grad 𝛷𝛷 × 𝐴𝐴

Gaussian theorem, Stoke’s theorem –

∬𝑆𝑆 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐(𝑉𝑉) · 𝑑𝑑𝑑𝑑 = ∮ 𝑉𝑉 · 𝑑𝑑𝑑𝑑
Multiply connected or ∮ 𝑉𝑉 · 𝑑𝑑𝑑𝑑 − ∑𝑛𝑛α=1 ∮𝛾𝛾 𝑉𝑉 · 𝑑𝑑𝑑𝑑
𝛼𝛼

Chapter one review: see highlights on pg.32

12