Co-Hoc-Vat-Ran-Bien-Dang - T.-Nguyen-Thoi-,-T.-Vo-Duy - Chapter - 1 - New-Mathematical-Preliminaries - (Cuuduongthancong - Com)

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Chapter 1: Mathematical Preliminaries
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TDT University -‐ 2015

CuuDuongThanCong.com https://fb.com/tailieudientucntt
h"p://incos.tdt.edu.vn
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1.1 Common Variable Types in Elasticity
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1.2 Index/Tensor Notation
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1.3 Kronecker Delta & Alternating Symbol
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1.4 Coordinate Transformations
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1.5 Cartesian Tensors General Transformation Laws
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1.6 Principal Values and Directions for Symmetric Second Order Tensors
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1.7 Vector, Matrix and Tensor Algebra

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1.8 Calculus of Cartesian Tensors
1.9 Orthogonal Curvilinear Coordinate Systems
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Elasticity theory is a mathematical model of material deformation. Using
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principles of continuum mechanics, it is formulated in terms of many different
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types of field variables specified at spatial points in the body under study. Some
examples include:
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Scalars - Single magnitude
mass density ρ , temperature T, modulus of elasticity E, . . .
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Vectors – Three components in three dimensions
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displacement vector u = ue1 + ve 2 + we3 e1 ,e 2 ,e3 are unit basis vectors
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Matrices – Nine components in three dimensions

stress matrix
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⎡σ x τ xy τ xz ⎤
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⎢ ⎥
σ = ⎢τ yx σ y τ yz ⎥
⎢τ τ σ ⎥
⎣ zx zy z ⎦
Other – Variables with more than nine components
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With the wide variety of variables, elasticity formulation makes use of a tensor
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formalism using index notation. This enables efficient representation of all
variables and governing equations using a single standardized method.
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Index notation is a shorthand scheme whereby a ⎡ a1 ⎤ ⎡ a11 a12 a13 ⎤
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whole set of numbers or components can be ai = ⎢ a2 ⎥ , aij = ⎢ a21 a22 a23 ⎥
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⎢ ⎥ ⎢ ⎥
represented by a single symbol with subscripts ⎢⎣ a3 ⎥⎦ ⎢⎣ a31 a32 a33 ⎥⎦
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In general a symbol aij…k with N distinct indices represents 3N distinct numbers
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Addition, subtraction, multiplication and equality of index symbols are defined
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in the normal fashion; e.g.
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⎡ a1 ± b1 ⎤ ⎡ a11 ± b11 a12 ± b12 a13 ± b13 ⎤

ai ± bi = ⎢⎢ a2 ± b2 ⎥⎥ , aij ± bij = ⎢⎢ a21 ± b21 a22 ± b22 a23 ± b23 ⎥⎥
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⎢⎣ 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
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Summation Convention - if a subscript appears twice in the same term,
then summation over that subscript from one to three is implied; for example
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aii = ∑ aii = a11 + a22 + a33
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aij b j = ∑ aij b j = ai1b1 + ai 2b2 + ai 3b3
j =1
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A symbol ai ... j ... m ... n ... is said to be symmetric with respect to index pair mn if
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ai ... j ... m ... n ... = a... n ... m ... j ...i
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A symbol ai ... j ... m ... n ... is said to be antisymmetric with respect to index pair mn if
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ai ... j ... m ... n ... = − a... n ... m ... j ...i
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If ai ... j ... m ... n ... is symmetric in mn while bp ... q ... m ... n ... is antisysmetric in mn, then
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the product is zero a b =0

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i ... j ... m ... n ... p ... q ... m ... n ...
1 1
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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
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Example 1-1: Index Notation Examples

⎡1 2 0 ⎤ ⎡2⎤
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The matrix aij and vector bi are specified by
a = ⎢0 4 3⎥ , b = ⎢4⎥
Determine the following quantities: ij ⎢ ⎥ i ⎢ ⎥
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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 ⎥⎦
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Indicate whether they are a scalar, vector or matrix.
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Following the standard definitions given in section 1.2,
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aii = a11 + a22 + a33 = 7 (scalar)
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aij aij = a11a11 + a12 a12 + a13 a13 + a21a21 + a22 a22 + a23 a23 + a31a31 + a32 a32 + a33 a33
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= 1 + 4 + 0 + 0 + 16 + 9 + 4 + 1 + 4 = 39 (scalar)
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⎡ 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)
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
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⎢⎣ 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
Example 1-1: Index Notation Examples

⎡1 2 0 ⎤ ⎡2⎤
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The matrix aij and vector bi are specified by
a = ⎢0 4 3⎥ , b = ⎢4⎥
Determine the following quantities: ij ⎢ ⎥ i ⎢ ⎥
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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 ⎥⎦
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Indicate whether they are a scalar, vector or matrix.
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Following the standard definitions given in section 1.2,
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bi bi = b1b1 + b2b2 + b3b3 = 4 + 16 + 0 = 20 (scalar)
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⎡2⎤ ⎡4 8 0⎤
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bi b j = ⎢4 ⎥ [ 2 4 0 ] = ⎢8 16 0 ⎥ (matrix)
⎢ ⎥ ⎢ ⎥
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⎢⎣0 ⎥⎦ ⎢⎣0 0 0 ⎥⎦
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⎡1 2 0⎤ ⎡ 1 0 2 ⎤ ⎡1 1 1⎤
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1 1 1
a( ij ) = ( aij + a ji ) = ⎢0 4 3 ⎥ + ⎢ 2 4 1 ⎥ = ⎢1 4 2 ⎥ (matrix)
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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 ⎥⎦
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Kronecker Delta Properties: δ ij = δ ji , δ ii = 3,
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⎡1 0 0 ⎤ δ ij a j = ai , δ ij ai = a j
⎧1 , if i = j (nosum) ⎢
= 0 1 0⎥
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δ ij = ⎨ ⎢ ⎥ δ ij a jk = aik , δ jk aik = aij
⎩ 0 , if i ≠ j
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⎢⎣0 0 1 ⎥⎦ δ ij aij = aii , δ ijδ ij = 3
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Alternating or Permutation Symbol
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⎧+1 , if ijk is an even permutation of 1,2,3
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⎪
ε ijk = ⎨ −1 , if ijk is an odd permutation of 1,2,3
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⎪ 0 , otherwise
⎩
ε123 = ε 231 = ε 312 = 1
ε 321 = ε132 = ε 213 = −1
ε112 = ε131 = ε 222 = ... = 0 11
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⎧+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
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⎩ 0 , if i ≠ j ⎪
⎩ 0 , otherwise
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Useful in evaluating determinants
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and vector cross-products
a11 a12 a13
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det ⎡⎣ aij ⎤⎦ = aij = a21 a22 a23 = ε ijk a1i a2 j a3k = ε ijk ai1a j 2 ak 3
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a31 a32 a33

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If we use the property

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δ ip δ iq δ ir
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ε ijk ε pqr = δ jp δ jq δ jr ⇒ det ⎡⎣ aij ⎤⎦ = ε ijk ε pqr aip a jq akr
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δ kp δ kq δ kr 12
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x3
We wish to express elasticity variables in
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x’3 different coordinate systems. This requires
development of transformation rules for
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scalar, vector, matrix and higher order
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e’3 e3 x’2 variables – a concept connected with basic
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e’2 definitions of tensor variables. The two
e1 e2
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Cartesian frames ( x1 , x2 , x3 ) and ( x1′, x2′ , x3′ )
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e’1 differ only by orientation
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x1
x’1
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Using Rotation Matrix Qij = cos( xi′, x j )
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Fig 1. Change of Cartersian
e′1 = Q11e1 + Q12e 2 + Q13e3
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coordinate frames e′i = Qij e j

e′2 = Q21e1 + Q22e 2 + Q23e3 (1.4.3)
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ei = Q jie′j
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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
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x3
Substitute (1.4.4) into (1.4.5)1, gives
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x’3
v = vi Q ji e'j
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And from (1.4.5)2, v = vi′e′i , we find
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e’3 e3 x’2 that
vi′ = Qij v j
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e’2
(1.4.6)
x2
e1 e2
Similarly, we find
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e’1
vi = Q ji v′j
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x1
(1.4.7)
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Fig 1. Change of Cartersian
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coordinate frames
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Relations (1.4.6) and (1.4.7) constitute the transformation laws for Cartesian
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vector components under a change of rectangular Cartesian coordinate frame.
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Scalars, vectors, matrices, and higher order quantities can be represented by an
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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
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used to establish the general transformation properties of these tensors.
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Restricting the transformations to those only between Cartesian coordinate
systems, the general set of transformation relations for various orders are:
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a′ = a , zeroorder (scalar)
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ai′ = Qip a p , first order (vector)
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aij′ = QipQ jq a pq , second order (matrix)

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′ = QipQ jqQkr a pqr , third order

aijk
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′ = QipQ jqQkr Qls a pqrs , fourth order

aijkl
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′ ...m = QipQ jqQkr ⋅⋅⋅ Qmt a pqr ...t general order
aijk
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Example 1-2 Transformation Examples
The components of a first and second order tensor in a particular
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coordinate frame are given by ⎡1⎤ ⎡1 0 3 ⎤ x3
ai = ⎢4 ⎥ , aij = ⎢0 2 2 ⎥
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⎢ ⎥ ⎢ ⎥ x’3
⎢⎣ 2 ⎥⎦ ⎢⎣3 2 4 ⎥⎦
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Determine the components of each tensor in a new coordinate
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system found through a rotation of 60o (π/6 radians) about the x’2
x3-axis. Choose a counterclockwise rotation when viewing
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down the negative x3-axis, see Figure 1-2. 60
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x’1
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The original and primed coordinate systems are x1
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shown in Figure 1-2. The solution starts by Fig 2. Coordinate transforma=on
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determining the rotation matrix for this case

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

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⎢ ⎥ ⎢ ⎥
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
Example 1-2 Transformation Examples
The components of a first and second order tensor in a particular
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coordinate frame are given by ⎡1⎤ ⎡1 0 3 ⎤ x3
ai = ⎢4 ⎥ , aij = ⎢0 2 2 ⎥
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⎢ ⎥ ⎢ ⎥ x’3
⎢⎣ 2 ⎥⎦ ⎢⎣3 2 4 ⎥⎦
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Determine the components of each tensor in a new coordinate
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system found through a rotation of 60o (π/6 radians) about the x’2
x3-axis. Choose a counterclockwise rotation when viewing
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o x2
down the negative x3-axis, see Figure 1-2. 60
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x’1
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The transformation for the vector quantity follows x1
from equation (1.5.1)2
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Fig 2. Coordinate transforma=on
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⎡ 1/ 2 3 / 2 0 ⎤ ⎡ 1 ⎤ ⎡1 / 2 + 2 3 ⎤
⎢ ⎥ ⎢ ⎥
ai′ = Qij a j = ⎢ − 3 / 2 1 / 2 0 ⎥ ⎢4 ⎥ = ⎢ 2 − 3 / 2 ⎥
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⎢ ⎥
⎢ 0 1 ⎥ ⎢⎣ 2 ⎥⎦ ⎢⎢
⎥ ⎥
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0 2
⎣⎢ ⎦ ⎣ ⎦⎥
and the second order tensor (matrix) transforms according to (1.5.1)3
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⎡ 1/ 2 3 / 2 0 ⎤ ⎡1 0 3 ⎤ ⎡ 1 / 2 3 / 2 0⎤ ⎡ 7/4 3 /4 3/2+ 3 ⎤
⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥
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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 ⎦⎥
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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
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parameter λ (principal value or eigenvalue) such that
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aij n j = λ ni (a ij − λδ ij ) n j = 0
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which is a homogeneous system of three linear algebraic equations in the
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unknowns n1, n2, n3. The system possesses nontrivial solution if and only
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if determinant of coefficient matrix vanishes
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det ⎡⎣ aij − λδij ⎤⎦ = −λ 3 + I a λ 2 − II a λ + III a = 0
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scalars Ia, IIa and IIIa are called the fundamental invariants of the
tensor aij
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I a = aii = a11 + a22 + a33

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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 ⎤⎦
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It is always possible to identify a right-handed Cartesian coordinate
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system such that each axes lie along principal directions of any given
symmetric second order tensor. Such axes are called the principal axes of
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the tensor, and the basis vectors are the principal directions {n(1), n(2) , n(3)}
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x3
x¢3 ⎡λ1 0 0 ⎤
⎡ a11 a12 a13 ⎤
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aij = ⎢ 0 λ 2 0 ⎥
aij = ⎢ a21 a22 a23 ⎥ ⎢ ⎥
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⎢ ⎥ ⎢⎣ 0 0 λ 3 ⎥⎦
⎢⎣ a31 a32 a33 ⎥⎦
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x¢2
n(3) n(2)
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x2
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n(1)
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x1
x¢1
Fig 3. Original given axes Fig 4. Principle axes
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Example 1-3 Principal Value Problem
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Determine the invariants, and principal
values and directions of ⎡2 0 0 ⎤
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aij = ⎢0 3 4 ⎥
⎢ ⎥
⎢⎣0 4 −3 ⎥⎦
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First determine the principal invariants
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2 0 3 4 2 0
I a = aii = 2 + 3 − 3 = 2 , II a = + + = 6 − 25 − 6 = −25
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0 3 4 −3
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2 0 0
III a = 0 3 4 = 2(−9 − 16 ) = −50
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du
0 4 −3
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The characteristic equation then becomes

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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
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Example 1-3 Principal Value Problem
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Determine the invariants, and principal
values and directions of ⎡2 0 0 ⎤
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aij = ⎢0 3 4 ⎥
⎢ ⎥
⎢⎣0 4 −3 ⎥⎦
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−3n1(1) = 0
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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
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4n2(1) − 8n3(1) = 0
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which gives a normalized solu=on n = ± (2e 2 + e3 )
( 1)
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In similar fashion the other two principal direc=ons are found to be
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1
n ( 2 ) = ± e1 , n ( 3 ) = ± (e 2 − 2e3 )
5
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It is easily veriﬁed that these direc=ons are mutually orthogonal.

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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
⎣
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Scalar or Dot Product a ⋅ b = a1b1 + a2b2 + a3b3 = aibi
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Vector or Cross Product
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e1 e2 e3
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a1 a2 a3
a × b = a1 a2 a3 = εijk a j bk ei
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a.b × c = b1 b2 b3 = εijk aib j ck
b1 b2 b3
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c1 c2 c3
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Common Matrix Products Aa = [ A ]{a} = Aij a j = a j Aij
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aT A = {a} [ A ] = ai Aij = Aij ai
T
Second Order
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AB = [ A ][ B] = Aij B jk
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Transformation Law
AB T = Aij Bkj aij′ = QipQ jq a pq
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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
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a = a ( x1 , x2 , x3 ) = a ( xi ) = a ( x )
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Field concept for tensor components
ai = ai ( x1 , x2 , x3 ) = ai ( xi ) = ai ( x )
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aij = aij ( x1 , x2 , x3 ) = aij ( xi ) = aij ( x )
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∂ ∂ ∂
Comma notation for partial differentiation a,i = a , ai , j = ai , aij ,k = aij , L
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∂xi ∂x j ∂xk
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If differentiation index is distinct, order of the tensor will be increased by
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one; e.g. derivative operation on a vector produces a second order tensor
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or matrix
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⎡ ∂a1 ∂a1 ∂a1 ⎤

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⎢ ⎥
⎢ ∂x1 ∂x2 ∂x3 ⎥
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⎢ ∂a ∂a2 ∂a2 ⎥
ai , j = ⎢ 2 ⎥
⎢ ∂x1 ∂x2 ∂x3 ⎥
⎢ ∂a3 ∂a3 ∂a3 ⎥
⎢ ⎥
⎣ ∂x1 ∂x2 ∂x3 ⎦ 28
Directional Derivative of Scalar Field df = ∂ f dx + ∂ f dy + ∂ f dz = n ⋅∇f
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ds ∂x ds ∂ y ds ∂z ds
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dx dy dz
n = unit normal vector in direction of s = e1 + e 2 + e 3
ds ds ds
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∂ ∂ ∂
∇ = vector differential operator = e1 + e 2 + e 3
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∂x ∂y ∂z
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∂f ∂f ∂f
∇f = grad f = gradient of scalar function f = e1 + e2 + e3
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∂x ∂y ∂z
Common Differential Operations
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Gradient of a Scalar ∇ϕ = ϕ ,i e i
du
Gradient of a Vector ∇u = ui, j e ie j

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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
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
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Calculate the following expressions, ∇φ, ∇ φ, ∇ ⋅ u, ∇u, ∇ × u
2
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Note vector field ∇φ is orthogonal to ϕ-contours,
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Using the basic relations
a result true in general for
Gradient Vector all scalar fields
Distribution
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∇φ = 2xe1 − 2 ye 2
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∇ 2φ = 2 − 2 = 0 - (satisfies Laplace equation)
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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
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
om
.c
ng
co
an
th
o ng
du

u
cu

32

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
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
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
om
.c
ng
co
an
th
o ng
du
u
cu

Co-Hoc-Vat-Ran-Bien-Dang - T.-Nguyen-Thoi-,-T.-Vo-Duy - Chapter - 1 - New-Mathematical-Preliminaries - (Cuuduongthancong - Com)

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Co-Hoc-Vat-Ran-Bien-Dang - T.-Nguyen-Thoi-,-T.-Vo-Duy - Chapter - 1 - New-Mathematical-Preliminaries - (Cuuduongthancong - Com)

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TDT University -­‐ 2015

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

Elasticity theory is a mathematical model of material deformation. Using

Matrices – Nine components in three dimensions

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

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

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

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

the product is zero a b =0

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

Example 1-1: Index Notation Examples

Example 1-1: Index Notation Examples

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

a31 a32 a33

If we use the property

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

coordinate frames e′i = Qij e j

e′3 = Q31e1 + Q32e 2 + Q33e3 (1.4.4)

v = v1e1 + v2e 2 + v3e3 = viei

vector components under a change of rectangular Cartesian coordinate frame.

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

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

′ = QipQ jqQkr a pqr , third order

′ = QipQ jqQkr Qls a pqrs , fourth order

x3-axis. Choose a counterclockwise rotation when viewing

determining the rotation matrix for this case

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

x3-axis. Choose a counterclockwise rotation when viewing

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

I a = aii = a11 + a22 + a33

1 a a12 a22 a23 a11 a13

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

The characteristic equation then becomes

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

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

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

1.9 Orthogonal Curvilinear Coordinate Systems

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

1.7 Vector, Matrix and Tensor Algebra

1.8 Calculus of Cartesian Tensors

⎡ ∂a1 ∂a1 ∂a1 ⎤

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

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

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

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

TDT University -‐ 2015