You are on page 1of 36

om

.c
ng
co
an
th
Chapter 1: Mathematical Preliminaries
ng
o
du
u
cu

TDT  University  -­‐  2015


CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

2  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

3  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

Elasticity theory is a mathematical model of material deformation. Using

om
principles of continuum mechanics, it is formulated in terms of many different

.c
types of field variables specified at spatial points in the body under study. Some
examples include:

ng
co
Scalars - Single magnitude
mass density ρ , temperature T, modulus of elasticity E, . . .

an
th
Vectors – Three components in three dimensions
ng
displacement vector u = ue1 + ve 2 + we3 e1 ,e 2 ,e3 are unit basis vectors
o
du

Matrices – Nine components in three dimensions


stress matrix
u

⎡σ x τ xy τ xz ⎤
cu

⎢ ⎥
σ = ⎢τ yx σ y τ yz ⎥
⎢τ τ σ ⎥
⎣ zx zy z ⎦
Other – Variables with more than nine components
4  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

5  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

With the wide variety of variables, elasticity formulation makes use of a tensor

om
formalism using index notation. This enables efficient representation of all
variables and governing equations using a single standardized method.

.c
Index notation is a shorthand scheme whereby a ⎡ a1 ⎤ ⎡ a11 a12 a13 ⎤

ng
whole set of numbers or components can be ai = ⎢ a2 ⎥ , aij = ⎢ a21 a22 a23 ⎥

co
⎢ ⎥ ⎢ ⎥
represented by a single symbol with subscripts ⎢⎣ a3 ⎥⎦ ⎢⎣ a31 a32 a33 ⎥⎦

an
In general a symbol aij…k with N distinct indices represents 3N distinct numbers

th
Addition, subtraction, multiplication and equality of index symbols are defined
ng
in the normal fashion; e.g.
o
du

⎡ a1 ± b1 ⎤ ⎡ a11 ± b11 a12 ± b12 a13 ± b13 ⎤


ai ± bi = ⎢⎢ a2 ± b2 ⎥⎥ , aij ± bij = ⎢⎢ a21 ± b21 a22 ± b22 a23 ± b23 ⎥⎥
u
cu

⎢⎣ a3 ± b3 ⎥⎦ ⎢⎣ a31 ± b31 a32 ± b32 a33 ± b33 ⎥⎦

⎡ λ a1 ⎤ ⎡ λ a11 λ a12 λ a13 ⎤ ⎡ a1b1 a1b2 a1b3 ⎤


λ ai = ⎢⎢λ a2 ⎥⎥ , λ aij = ⎢⎢λ a21 λ a22 λ a23 ⎥⎥ ai b j = ⎢⎢ a2b1 a2b2 a2b3 ⎥⎥
⎢⎣ λ a3 ⎥⎦ ⎢⎣ λ a31 λ a32 λ a33 ⎥⎦ ⎢⎣ a3b1 a3b2 a3b3 ⎥⎦ 6  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
Summation Convention - if a subscript appears twice in the same term,
then summation over that subscript from one to three is implied; for example

.c
3
aii = ∑ aii = a11 + a22 + a33

ng
i =1
3

co
aij b j = ∑ aij b j = ai1b1 + ai 2b2 + ai 3b3
j =1

an
A symbol ai ... j ... m ... n ... is said to be symmetric with respect to index pair mn if

th
ai ... j ... m ... n ... = a... n ... m ... j ...i
ng
A symbol ai ... j ... m ... n ... is said to be antisymmetric with respect to index pair mn if
o
ai ... j ... m ... n ... = − a... n ... m ... j ...i
du

If ai ... j ... m ... n ... is symmetric in mn while bp ... q ... m ... n ... is antisysmetric in mn, then
u

the product is zero a b =0


cu

i ... j ... m ... n ... p ... q ... m ... n ...

1 1
a
Useful Identity ij = ( aij + a ji ) + (aij − a ji ) = a(ij ) + a[ij ]
2 2
1 1
a(ij ) = (aij + a ji ) . . . symmetric a[ij ] = (aij − a ji ) . . . antisymmetric
2 2
7  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

Example 1-1: Index Notation Examples


⎡1 2 0 ⎤ ⎡2⎤

om
The matrix aij and vector bi are specified by
a = ⎢0 4 3⎥ , b = ⎢4⎥
Determine the following quantities: ij ⎢ ⎥ i ⎢ ⎥

.c
aii , aij aij , aij a jk , aijb j , aijbb
i j , bb
i i , bb
i j , a(ij ) , a[ij ] ⎢⎣ 2 1 2 ⎥⎦ ⎢⎣ 0 ⎥⎦

ng
Indicate whether they are a scalar, vector or matrix.

co
Following the standard definitions given in section 1.2,

an
aii = a11 + a22 + a33 = 7 (scalar)

th
aij aij = a11a11 + a12 a12 + a13 a13 + a21a21 + a22 a22 + a23 a23 + a31a31 + a32 a32 + a33 a33
ng
= 1 + 4 + 0 + 0 + 16 + 9 + 4 + 1 + 4 = 39 (scalar)
o
du

⎡ 1 2 0 ⎤ ⎡0 8 6 ⎤ ⎡0 0 0 ⎤ ⎡ 1 10 6 ⎤
aij a jk = ai 1a1k + ai 2 a2 k + ai 3 a3 k = ⎢0 0 0 ⎥ + ⎢0 16 12 ⎥ + ⎢6 3 6 ⎥ = ⎢6 19 18 ⎥ (matrix)
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
u
cu

⎢⎣ 2 4 0 ⎥⎦ ⎢⎣0 4 3 ⎥⎦ ⎢⎣ 4 2 4 ⎥⎦ ⎢⎣6 10 7 ⎥⎦
⎡ 2 ⎤ ⎡ 8 ⎤ ⎡0 ⎤ ⎡10 ⎤
aij b j = ai 1b1 + ai 2b2 + ai 3b3 = ⎢0 ⎥ + ⎢16 ⎥ + ⎢0 ⎥ = ⎢16 ⎥ (vector)
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣4 ⎥⎦ ⎢⎣ 4 ⎥⎦ ⎢⎣0 ⎥⎦ ⎢⎣ 8 ⎥⎦
aij bi b j = a11b1b1 + a12b1b2 + a13b1b3 + a21b2b1 +L = 84 (scalar) 8  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

Example 1-1: Index Notation Examples


⎡1 2 0 ⎤ ⎡2⎤

om
The matrix aij and vector bi are specified by
a = ⎢0 4 3⎥ , b = ⎢4⎥
Determine the following quantities: ij ⎢ ⎥ i ⎢ ⎥

.c
aii , aij aij , aij a jk , aijb j , aijbb
i j , bb
i i , bb
i j , a(ij ) , a[ij ]
⎢⎣ 2 1 2 ⎥⎦ ⎢⎣ 0 ⎥⎦

ng
Indicate whether they are a scalar, vector or matrix.

co
Following the standard definitions given in section 1.2,

an
bi bi = b1b1 + b2b2 + b3b3 = 4 + 16 + 0 = 20 (scalar)

th
⎡2⎤ ⎡4 8 0⎤
ng
bi b j = ⎢4 ⎥ [ 2 4 0 ] = ⎢8 16 0 ⎥ (matrix)
⎢ ⎥ ⎢ ⎥
o
⎢⎣0 ⎥⎦ ⎢⎣0 0 0 ⎥⎦
du

⎡1 2 0⎤ ⎡ 1 0 2 ⎤ ⎡1 1 1⎤
u

1 1 1
a( ij ) = ( aij + a ji ) = ⎢0 4 3 ⎥ + ⎢ 2 4 1 ⎥ = ⎢1 4 2 ⎥ (matrix)
cu

2 2⎢ ⎥ 2⎢ ⎥ ⎢ ⎥
⎢⎣ 2 1 2 ⎥⎦ ⎢⎣0 3 2 ⎥⎦ ⎢⎣1 2 2 ⎥⎦
⎡1 2 0 ⎤ ⎡1 0 2⎤ ⎡ 0 1 −1⎤
1 1 1
a[ ij ] = ( aij − a ji ) = ⎢⎢0 4 3 ⎥⎥ − ⎢⎢ 2 4 1 ⎥⎥ = ⎢⎢ −1 0 1 ⎥⎥ (matrix)
2 2 2
⎢⎣ 2 1 2 ⎥⎦ ⎢⎣0 3 2 ⎥⎦ ⎢⎣ 1 −1 0 ⎥⎦
9  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

10  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
Kronecker Delta Properties: δ ij = δ ji , δ ii = 3,

.c
⎡1 0 0 ⎤ δ ij a j = ai , δ ij ai = a j
⎧1 , if i = j (nosum) ⎢
= 0 1 0⎥

ng
δ ij = ⎨ ⎢ ⎥ δ ij a jk = aik , δ jk aik = aij
⎩ 0 , if i ≠ j

co
⎢⎣0 0 1 ⎥⎦ δ ij aij = aii , δ ijδ ij = 3

an
Alternating or Permutation Symbol
th
o ng
⎧+1 , if ijk is an even permutation of 1,2,3
du


ε ijk = ⎨ −1 , if ijk is an odd permutation of 1,2,3
u
cu

⎪ 0 , otherwise

ε123 = ε 231 = ε 312 = 1
ε 321 = ε132 = ε 213 = −1
ε112 = ε131 = ε 222 = ... = 0 11  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
⎧+1 , if ijk is an even permutation of 1,2,3
⎧1 , if i = j (nosum) ⎪
δ ij = ⎨ ε ijk = ⎨ −1 , if ijk is an odd permutation of 1,2,3

.c
⎩ 0 , if i ≠ j ⎪
⎩ 0 , otherwise

ng
co
an
Useful in evaluating determinants

th
and vector cross-products
a11 a12 a13
ng
det ⎡⎣ aij ⎤⎦ = aij = a21 a22 a23 = ε ijk a1i a2 j a3k = ε ijk ai1a j 2 ak 3
o
du

a31 a32 a33


u

If we use the property


cu

δ ip δ iq δ ir
1
ε ijk ε pqr = δ jp δ jq δ jr ⇒ det ⎡⎣ aij ⎤⎦ = ε ijk ε pqr aip a jq akr
6
δ kp δ kq δ kr 12  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

13  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

x3
We wish to express elasticity variables in

om
x’3 different coordinate systems. This requires
development of transformation rules for

.c
v
scalar, vector, matrix and higher order

ng
e’3 e3 x’2 variables – a concept connected with basic

co
e’2 definitions of tensor variables. The two
e1 e2
x2
Cartesian frames ( x1 , x2 , x3 ) and ( x1′, x2′ , x3′ )

an
e’1 differ only by orientation

th
x1
x’1
ng
Using Rotation Matrix Qij = cos( xi′, x j )
o
Fig  1.  Change  of  Cartersian  
e′1 = Q11e1 + Q12e 2 + Q13e3
du

coordinate  frames   e′i = Qij e j


e′2 = Q21e1 + Q22e 2 + Q23e3 (1.4.3)
u

ei = Q jie′j
cu

e′3 = Q31e1 + Q32e 2 + Q33e3 (1.4.4)

v = v1e1 + v2e 2 + v3e3 = viei


(1.4.5)
= v1′e1′ + v2′ e′2 + v3′e′3 = vi′e′i
14  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

x3
Substitute (1.4.4) into (1.4.5)1, gives

om
x’3
v = vi Q ji e'j

.c
v
And from (1.4.5)2, v = vi′e′i , we find

ng
e’3 e3 x’2 that
vi′ = Qij v j

co
e’2
(1.4.6)
x2
e1 e2
Similarly, we find

an
e’1
vi = Q ji v′j

th
x1
(1.4.7)
x’1
o ng
Fig  1.  Change  of  Cartersian  
du

coordinate  frames  
u

Relations (1.4.6) and (1.4.7) constitute the transformation laws for Cartesian
cu

vector components under a change of rectangular Cartesian coordinate frame.

15  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

16  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
Scalars, vectors, matrices, and higher order quantities can be represented by an

.c
index notational scheme, and thus all quantities may then be referred to as
tensors of different orders. The transformation properties of a vector can be

ng
used to establish the general transformation properties of these tensors.

co
Restricting the transformations to those only between Cartesian coordinate
systems, the general set of transformation relations for various orders are:

an
th
a′ = a , zeroorder (scalar)
ng
ai′ = Qip a p , first order (vector)
o
du

aij′ = QipQ jq a pq , second order (matrix)


u

′ = QipQ jqQkr a pqr , third order


aijk
cu

′ = QipQ jqQkr Qls a pqrs , fourth order


aijkl
M
′ ...m = QipQ jqQkr ⋅⋅⋅ Qmt a pqr ...t general order
aijk
17  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  
Example 1-2 Transformation Examples
The components of a first and second order tensor in a particular

om
coordinate frame are given by ⎡1⎤ ⎡1 0 3 ⎤ x3  
ai = ⎢4 ⎥ , aij = ⎢0 2 2 ⎥

.c
⎢ ⎥ ⎢ ⎥ x’3  

⎢⎣ 2 ⎥⎦ ⎢⎣3 2 4 ⎥⎦

ng
Determine the components of each tensor in a new coordinate

co
system found through a rotation of 60o (π/6 radians) about the x’2  

x3-axis. Choose a counterclockwise rotation when viewing

an
o x2  
down the negative x3-axis, see Figure 1-2. 60  

th
x’1  
ng
The original and primed coordinate systems are x1  
o
shown in Figure 1-2. The solution starts by Fig  2.  Coordinate  transforma=on  
du

determining the rotation matrix for this case


u

⎡ cos 60° cos 30° cos 90°⎤ ⎡ 1 / 2 3 / 2 0⎤


cu

⎢ ⎥ ⎢ ⎥
Qij = cos 150° cos 60° cos 90° = ⎢ − 3 / 2 1 / 2 0 ⎥
⎢ ⎥
⎢⎣ cos 90° cos 90° cos 0° ⎥⎦ ⎢ 0 0 1⎥
⎢⎣ ⎥⎦
The transformation for the vector quantity follows
from equation (1.5.1)2
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  
Example 1-2 Transformation Examples
The components of a first and second order tensor in a particular

om
coordinate frame are given by ⎡1⎤ ⎡1 0 3 ⎤ x3  
ai = ⎢4 ⎥ , aij = ⎢0 2 2 ⎥

.c
⎢ ⎥ ⎢ ⎥ x’3  

⎢⎣ 2 ⎥⎦ ⎢⎣3 2 4 ⎥⎦

ng
Determine the components of each tensor in a new coordinate

co
system found through a rotation of 60o (π/6 radians) about the x’2  

x3-axis. Choose a counterclockwise rotation when viewing

an
o x2  
down the negative x3-axis, see Figure 1-2. 60  

th
x’1  
ng
The transformation for the vector quantity follows x1  
from equation (1.5.1)2
o
Fig  2.  Coordinate  transforma=on  
du

⎡ 1/ 2 3 / 2 0 ⎤ ⎡ 1 ⎤ ⎡1 / 2 + 2 3 ⎤
⎢ ⎥ ⎢ ⎥
ai′ = Qij a j = ⎢ − 3 / 2 1 / 2 0 ⎥ ⎢4 ⎥ = ⎢ 2 − 3 / 2 ⎥
u

⎢ ⎥
⎢ 0 1 ⎥ ⎢⎣ 2 ⎥⎦ ⎢⎢
⎥ ⎥
cu

0 2
⎣⎢ ⎦ ⎣ ⎦⎥
and the second order tensor (matrix) transforms according to (1.5.1)3
T
⎡ 1/ 2 3 / 2 0 ⎤ ⎡1 0 3 ⎤ ⎡ 1 / 2 3 / 2 0⎤ ⎡ 7/4 3 /4 3/2+ 3 ⎤
⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥

aij = Qip Q jq a pq = ⎢ − 3 / 2 1 / 2 0 ⎥ 0 2 2 ⎢− 3 / 2 1 / 2 0⎥ = ⎢ 3 / 4 5/4 1 − 3 3 / 2⎥
⎢ ⎥
⎢ 0 0 1 ⎢⎣3 2 4 ⎥⎦ ⎢ 0
⎥ 0 1⎥ ⎢ ⎥
⎣⎢ ⎦⎥ ⎣⎢ ⎦⎥ ⎢⎣ 3 / 2 + 3 1 − 3 3 / 2 19  
4 ⎦⎥
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

20  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
The direction determined by unit vector n is said to be a principal direction or
eigenvector of the symmetric second order tensor aij if there exists a

.c
parameter λ (principal value or eigenvalue) such that

ng
aij n j = λ ni (a ij − λδ ij ) n j = 0

co
which is a homogeneous system of three linear algebraic equations in the

an
unknowns n1, n2, n3. The system possesses nontrivial solution if and only

th
if determinant of coefficient matrix vanishes
ng
det ⎡⎣ aij − λδij ⎤⎦ = −λ 3 + I a λ 2 − II a λ + III a = 0
o
du

scalars Ia, IIa and IIIa are called the fundamental invariants of the
tensor aij
u

I a = aii = a11 + a22 + a33


cu

1 a a12 a22 a23 a11 a13


II a = (aii a jj − aij aij ) = 11 + +
2 a21 a22 a32 a33 a31 a33
III a = det ⎡⎣ aij ⎤⎦
21  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

It is always possible to identify a right-handed Cartesian coordinate

om
system such that each axes lie along principal directions of any given
symmetric second order tensor. Such axes are called the principal axes of

.c
the tensor, and the basis vectors are the principal directions {n(1), n(2) , n(3)}

ng
 

co
x3

x¢3   ⎡λ1 0 0 ⎤
⎡ a11 a12 a13 ⎤

an
aij = ⎢ 0 λ 2 0 ⎥
aij = ⎢ a21 a22 a23 ⎥ ⎢ ⎥

th
⎢ ⎥ ⎢⎣ 0 0 λ 3 ⎥⎦
⎢⎣ a31 a32 a33 ⎥⎦
ng
x¢2  
n(3)   n(2)  
o
x2
du

n(1)  
u
cu

x1
x¢1  
Fig  3.  Original  given  axes   Fig  4.  Principle  axes  

22  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  
Example 1-3 Principal Value Problem

om
Determine the invariants, and principal
values and directions of ⎡2 0 0 ⎤

.c
aij = ⎢0 3 4 ⎥
⎢ ⎥
⎢⎣0 4 −3 ⎥⎦

ng
co
First determine the principal invariants

an
2 0 3 4 2 0
I a = aii = 2 + 3 − 3 = 2 , II a = + + = 6 − 25 − 6 = −25

th
0 3 4 −3
ng 0 −3
2 0 0
III a = 0 3 4 = 2(−9 − 16 ) = −50
o
du

0 4 −3
u

The characteristic equation then becomes


cu

det ⎡⎣ aij − λδij ⎤⎦ = −λ 3 + 2λ 2 + 25λ − 50 = 0 ⇒ ( λ − 2 ) ( λ 2 − 25 ) = 0


∴ λ 1 = 5 , λ 2 = 2 , λ 3 = −5

23  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  
Example 1-3 Principal Value Problem

om
Determine the invariants, and principal
values and directions of ⎡2 0 0 ⎤

.c
aij = ⎢0 3 4 ⎥
⎢ ⎥
⎢⎣0 4 −3 ⎥⎦

ng
−3n1(1) = 0

co
Thus  for  this  case  all  principal  values  are  dis=nct      
For  the  λ1  =  5  root,  equa=on  (1.6.1)  gives  the  system   −2n2(1) + 4n3(1) = 0

an
4n2(1) − 8n3(1) = 0

th
1
which  gives  a  normalized  solu=on     n = ± (2e 2 + e3 )
( 1)
ng
5
In  similar  fashion  the  other  two  principal  direc=ons  are  found  to  be    
o
du

1
n ( 2 ) = ± e1 , n ( 3 ) = ± (e 2 − 2e3 )
5
u

It  is  easily  verified  that  these  direc=ons  are  mutually  orthogonal.      


cu

Note  for  this  case,  the  transforma=on  matrix  Q        defined  by  (1.4.1)  becomes  
ij

⎡0 2 / 5 1/ 5 ⎤ ⎡5 0 0 ⎤
⎢ ⎥
Qij = ⎢ 1 0 0 ⎥ ⇒ aij′ = ⎢0 2 0 ⎥
⎢ ⎥
⎢0 1 / 5 ⎥
−2 / 5 ⎦ ⎢⎣0 0 −5 ⎥⎦ 24  

CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

25  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

Scalar or Dot Product a ⋅ b = a1b1 + a2b2 + a3b3 = aibi

om
Vector or Cross Product

.c
e1 e2 e3

ng
a1 a2 a3
a × b = a1 a2 a3 = εijk a j bk ei

co
a.b × c = b1 b2 b3 = εijk aib j ck
b1 b2 b3

an
c1 c2 c3

th
Common Matrix Products Aa = [ A ]{a} = Aij a j = a j Aij
ng
aT A = {a} [ A ] = ai Aij = Aij ai
T
Second Order
o

AB = [ A ][ B] = Aij B jk
du

Transformation Law
AB T = Aij Bkj aij′ = QipQ jq a pq
u
cu

A T B = Aji B jk ⇒ a′ = QaQ T
tr ( AB ) = Aij B ji
tr ( AB T ) = tr ( A T B ) = Aij Bij
CuuDuongThanCong.com
AijT = A ji ; tr A = Aii = A11 + A22 + A33
https://fb.com/tailieudientucntt
26  
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors


1.9 Orthogonal Curvilinear Coordinate Systems

27  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

a = a ( x1 , x2 , x3 ) = a ( xi ) = a ( x )

om
Field concept for tensor components
ai = ai ( x1 , x2 , x3 ) = ai ( xi ) = ai ( x )

.c
aij = aij ( x1 , x2 , x3 ) = aij ( xi ) = aij ( x )

ng
co
!
∂ ∂ ∂
Comma notation for partial differentiation a,i = a , ai , j = ai , aij ,k = aij , L

an
∂xi ∂x j ∂xk

th
If differentiation index is distinct, order of the tensor will be increased by
ng
one; e.g. derivative operation on a vector produces a second order tensor
o
or matrix
du

⎡ ∂a1 ∂a1 ∂a1 ⎤


u

⎢ ⎥
⎢ ∂x1 ∂x2 ∂x3 ⎥
cu

⎢ ∂a ∂a2 ∂a2 ⎥
ai , j = ⎢ 2 ⎥
⎢ ∂x1 ∂x2 ∂x3 ⎥
⎢ ∂a3 ∂a3 ∂a3 ⎥
⎢ ⎥
⎣ ∂x1 ∂x2 ∂x3 ⎦ 28  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

Directional Derivative of Scalar Field df = ∂ f dx + ∂ f dy + ∂ f dz = n ⋅∇f

om
ds ∂x ds ∂ y ds ∂z ds

.c
dx dy dz
n = unit normal vector in direction of s = e1 + e 2 + e 3
ds ds ds

ng
∂ ∂ ∂
∇ = vector differential operator = e1 + e 2 + e 3

co
∂x ∂y ∂z

an
∂f ∂f ∂f
∇f = grad f = gradient of scalar function f = e1 + e2 + e3

th
∂x ∂y ∂z
Common Differential Operations
o ng
Gradient of a Scalar ∇ϕ = ϕ ,i e i
du

Gradient of a Vector ∇u = ui, j e ie j


u
cu

Laplacian of a Scalar ∇ 2ϕ = ∇ ⋅∇ϕ = ϕ ,ii


Divergence of a Vector ∇ ⋅ u = ui,i
Curlof a Vector ∇ × u = ε ijk uk , j e i
Laplacian of a Vector ∇ 2 u = ui,kk e i 29  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  
Example 1-4: Scalar/Vector Field Example
Scalar and vector field functions are given by φ = x − y , u = 2xe1 + 3 yze 2 + xye 3
2 2

om
Calculate the following expressions, ∇φ, ∇ φ, ∇ ⋅ u, ∇u, ∇ × u
2

.c
Note vector field ∇φ is orthogonal to ϕ-contours,

ng
Using the basic relations
a result true in general for
Gradient Vector all scalar fields
Distribution

co
10

∇φ = 2xe1 − 2 ye 2

an
8

∇ 2φ = 2 − 2 = 0 - (satisfies Laplace equation)

th
6

∇ ⋅ u = 2 + 3z + 0 = 2 + 3z 4
ng
y
∇u = ui , j = ⎡ ⎤ 2
o
⎢ 2 0 0 ⎥
du

⎢ 0 3z 3 y ⎥
0
x
⎢ ⎥ -2
u

⎢⎣ y x 0 ⎥⎦
cu

-4
∇×u =
e1 e2 e3 -6

∂ / ∂x ∂ / ∂y ∂ / ∂z -8

2x 3 yz xy -10
-10 -5 0 5 10
= ( x − 3 y )e1 − ye 2 Fig  5.  Contours ϕ=constant and 30  
CuuDuongThanCong.com vector distributions of ∇φ
https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

Divergence Theorem

om
∫∫ u ⋅ n dS = ∫∫∫ ∇ ⋅ u dV ⇒ ∫∫ aij ...k nk dS = ∫∫∫ aij ...k ,k dV

.c
S V S V

ng
Stokes Theorem

co
∫ C
u ⋅ dr = ∫∫ (∇ × u) ⋅ n dS ⇒ ∫ aij ...dxt = ∫∫ ε rst aij ...k ,s nr dS
S C S

an
Green’s Theorem in the Plane

th
Apply Stoke theorem to a planar domain S with the vector field selected as u = f e1 + ge 2
o ng
du

⎛ ∂g ∂f ⎞ ∂g ∂f
∫∫ S ⎜⎝ ∂x ∂y ⎟⎠
− dxdy = ∫C ( fdx + gdy ) ⇒ ∫∫ S ∂x dxdy = ∫ C x ∫∫ S ∂y dxdy = ∫ C fny ds
gn ds ,
u
cu

Zero-Value Theorem

∫∫∫ V
fij ...k dV = 0 ⇒ fij ...k = 0 ∈ V
31  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
1.1 Common Variable Types in Elasticity  

.c
1.2 Index/Tensor Notation

ng
co
1.3 Kronecker Delta & Alternating Symbol

an
1.4 Coordinate Transformations

th
1.5 Cartesian Tensors General Transformation Laws
o ng
1.6 Principal Values and Directions for Symmetric Second Order Tensors
du

1.7 Vector, Matrix and Tensor Algebra


u
cu

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems


32  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  
 
 

x3   x3  

om
z   ê z ê r

.c
ê θ ê θ
φ  

ng
ê φ
e3 ê r e3 R  

co
x2   x2  

an
e1 e2 e1 e2
θ   θ  

th
x1   r   x1  
o ng
Fig  6.  Cylindrical Coordinate Fig  7.  Spherical Coordinate
du

System (r,θ,z) System (R,ϕ,θ)


u

x1 = R cos θ sin ϕ , x2 = R sin θ sin ϕ , x3 = R cos ϕ


cu

x1 = r cos θ , x2 = sin θ , x3 = z
x2 R = x12 + x22 + x32
r = x12 + x22 , θ = tan −1 , z = x3 x3
x1 ϕ = cos −1
x12 + x22 + x32
x
θ = tan −1 2 , 33  
CuuDuongThanCong.com
x1 https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

om
Common Differential Forms
x3  
ξ3  

.c
1 ∂ 1 ∂ 1 ∂ 1 ∂
ξ2   ∇ = eˆ 1 + eˆ 2 + eˆ 3 = ∑ eˆ i
ê3 h1 ∂ξ 1
h2 ∂ξ 2
h3 ∂ξ 3
hi ∂ξi

ng
i

ê2 1 ∂f 1 ∂f 1 ∂f 1 ∂f
∇f = eˆ 1 + ˆ
e + ˆ
e = ∑i i h ∂ξi
ˆ
e

co
2 3
ê1 h1 ∂ξ1 h2 ∂ξ 2 h3 ∂ξ3 i
e3
1 ∂ ⎛ h1h2 h3 ⎞

an
ξ1   ∇ ⋅u = ∑ i ⎜
h1h2 h3 i ∂ξ ⎝ hi
u< i > ⎟
x2   ⎠

th
e1 e2
  1 ∂ ⎛ h1h2 h3 ∂ϕ ⎞
∇ 2ϕ = ∑
ng
⎜ ⎟
h1h2 h3 i ∂ξi ⎝ (hi ) 2 ∂ξi ⎠
x1  
o
ε ∂
∇ × u = ∑∑ ∑ ijk
du

(u<k > hk )êi


Fig  8.  Curvilinear coordinates i j k h j hk ∂ξ
j
u

êi ⎛ ∂u< j > ∂ê j ⎞


∇u = ∑∑ ê + u
cu

⎜ j < j > ⎟
i j hi ⎝ ∂ξi ∂ξi ⎠
ξ = ξ ( x , x , x ) , x = x (ξ , ξ , ξ )
m m 1 2 3 m m 1 2 3
⎛ eˆ ∂ ⎞ ⎛ eˆ ⎡ ∂u< j > ∂ê j ⎤ ⎞
∇ 2u = ⎜ ∑ i i ⎟ ⋅ ⎜ ∑∑ k ê + u
⎢ ∂ξ k j < j > ∂ξ k ⎥ ⎟
(ds ) 2 = (h1d ξ1 ) 2 + (h2 d ξ 2 ) 2 + (h3 d ξ3 ) 2 ⎝ i hi ∂ξ ⎠ ⎝ j k hk ⎣ ⎦⎠

34  
CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn  

From relations (1.9.5) or simply using the geometry shown in Figure

om
ê r = cos θe1 + sin θe 2 ∂eˆ r ∂eˆ ∂eˆ ∂eˆ
⇒ = eˆ θ , θ = −eˆ r , r = θ = 0

.c
êθ = − sin θe1 + cos θe 2 ∂θ ∂θ ∂r ∂r
  x2  

ng
∂ 1 ∂
∇ = eˆ r + eˆ θ
∂r r ∂θ

co
∂ϕ 1 ∂ϕ ê θ
∇ϕ = eˆ r + eˆ θ

an
∂r r ∂θ êr

th
The basic vector 1 ∂ 1 ∂uθ e2 r  
∇ ⋅u = (rur ) +
differential r ∂r r ∂θ
ng
θ  
operations then 1 ∂ ⎛ ∂ϕ ⎞ 1 ∂ 2 ϕ e1
x1  
∇ ϕ=
2
⎜r ⎟+
o
follow to be r ∂r ⎝ ∂r ⎠ r 2 ∂θ2  
du

Fig  9.  Polar  coordinate system


⎛1 ∂ 1 ∂ur ⎞
∇ ×u = ⎜ (ruθ ) − ⎟ eˆ z
u

(ds ) 2 = (dr ) 2 + (rd θ) 2 ⇒ h1 = 1 , h2 = r


⎝ r ∂r r ∂θ ⎠
cu

∂u ∂u 1 ⎛ ∂u ⎞ 1 ⎛ ∂u ⎞
∇u = r eˆ r eˆ r + θ eˆ r eˆ θ + ⎜ r − uθ ⎟ eˆ θeˆ r + ⎜ θ − ur ⎟ eˆ θeˆ θ
∂r ∂r r ⎝ ∂θ ⎠ r ⎝ ∂θ ⎠
⎛ 2 ∂u u ⎞ ⎛ 2 ∂u u ⎞
∇ 2u = ⎜ ∇ 2ur − 2 θ − 2r ⎟ eˆ r + ⎜ ∇ 2uθ + 2 r − θ2 ⎟ eˆ θ
⎝ r ∂θ r ⎠ ⎝ r ∂θ r ⎠
35  
where u = ur eˆ r + uθeˆ θ , eˆ z = eˆ r × eˆ θ
CuuDuongThanCong.com https://fb.com/tailieudientucntt
om
.c
ng
co
an
th
o ng
du
u
cu

CuuDuongThanCong.com https://fb.com/tailieudientucntt

You might also like