1. Vectors and Tensors (see Appendix A) 1.1 Notations Scalar (0" rank tensor): f 3 Vector (1* rank tensor): a= Dae, =a, isl Tensor (2™ rank tensor): B= 3 3 ia a Bee, = B, Gibbs notation (LHS): a vector or tensor is represented by a boldface symbol Cartesian tensor notation (RHS): it is based on the components; 1, 2 and 3 represent x, y and z, respectively. Einstein notation: the summation and unit vectors are omitted.Here e, is the unit vector in the ith direction Like scalars, vectors and tensors are quantities independent of the coordinate system chosen, although the components do depend on it. 1.2 Magnitude The magnitude of a vector is its length: a=|al-(a? +a} +43)!” The magnitude of a tensor is defined as B fed 1 ‘ . B2 1/2 =GX Dd Bi) 1 j=l 3 1.2 Addition and subtraction atb=3 (a,th)e,=a,+h, 3. 3. ALtB=)) DY) (A+B, ee, = A+B, ja ialYe 1.3. Products a.Dot (scalar) product 3 a-b=)> ab =ab,=b-a i=l The result is a scalar equal to the magnitude of a times the projection of b along a, namely, @xbxcos@ with 0 being the angle between a and b. a where the Kronecker delta 5; =1 for 1=J » and 5, =0 otherwise.Note that in the Einstein notation, a repeated index means a sum, and the number of non-repeated indices represents the rank of the resulting quantity. A unit tensor is I=ee, +¢,e, +e,e, =65, Here 6 is the Einstein notion for a unit tensor. Don’t get confused with the scalar Kronecker delta. A unit tensor is isotropic, ie., it has no characteristic directions. The dot product of a vector and a unit tensor is the vector itself: a-I=a6,=a,=a b.Cross product axb=} x > e, a,b je, =€,4,b, =-bxa ik E, where ©ik is called the permutation symbol or permutation tensor:Ey = Er51 = Es = 1 E13. = E31 = E13 =—1 and zero otherwise. The result is a vector perpendicular to both a and b. Its direction can be determined by the right hand rule, and its magnitude equals @ x bxsiné, axb b a Note that £=€; (Hinstein notation) is the alternating unit tensor (a third rank tensor), which has the following useful identity = 6 5m — 5 in On EE; ilm c. Dyadic product ab = ; abee,=a,b,#ba estas ae isl j=5 1A. Differentiation a.Gradient 3 a yews x i=l The gradient of a scalar is a vector, and the gradient of a vector is a tensor. The gradient has something to do with variation of a quantity, which can be a scalar, vector, tensor, etc.. b. Divergence The divergence has something to do with quantity conservation.The curl of fluid velocity represents fluid rotation or vorticity. d.Laplacian e.Material Derivative D_@a a a = +v-V=— ty, Dt at or Oy, where v is the fluid velocity. It represents the time rate of change of a quantity when the observer moves with the fluid. The second term corresponds to the change due to the motion of the observer. 6 1.3 Integral transformations a. Divergence theorem a Jar Wiy,.dV = Jn.W pd where S is a surface that completely encloses the volume V, and n; is the unit outward normal (length equal to unity).b. Leibniz formulas for differentiating integrals Leibniz rule: Ba) is ‘B(t) of dB dA Jf Gudde= J Seder F1BO.N- TSAO d dt i AG) 2 ry Att rat) Bet) BC brat) y Generalization for the case of a volume integral: - d a 7 < JBuav=f 5 Ba + fav BydS fave t vay s(t) where S(t) is the surface enclosing V(t), and v is the velocity of the surface, depending on position and time.1p. Position vectors To describe the position of a point in space, one has to first specify the location of origin, and the position vector is the vector from the origin pointing towards this point. Therefore, a position vector depends on the location of the selected origin, but is invariant of coordinate systems. A position vector is expressed as a ds S: a curve t: unit vector tangent to the curve of og. aaa a df =dr-VfTaylor series expansion fersr)= fay He Nf + per: VV te. were) =u(e) +a Ser VVut... Differential identities tb %, tomy ieee w=) x a 85 =6,= i xt 3 3 ox ox, V-r= ie .e =F =§ =3 r x x x; fia Ox eete 3 2 x vxr=> > fae = £6, =0 a ot i i Integral identities Integrals over the surface of a sphere of radius a Jras =0 4 frras = 4% I8 14. Real tensors and pseudo tensors Real tensor: a tensor is defined using the right-hand rule an even number of times, e.g., force, velocity, electric field, and position. Pseudo tensor: a tensor is defined using the right-hand rule an odd number of times, e.g., vorticity, torque, and magnetic field. In a tensorial equation, either both sides must be real or both sides must be pseudo. Besides, both sides are of equal rank.