Nonlinear Solid Mechanics A Continuum Approach for Engineering Gerhard A. Holzapfel Teen Universi Gras, rie JOHN WILEY & SONS, LTD Chicheser = Weinheim = New York + Brbbene = Singipoe + Toniocoi mg em NevSncr Po tga ce cota seagate Won ne rn sng manel snt epi yeee ‘SSIES Attipoe tage ot See Zea Govign Dept sahasi ac bdo mar tne mee Seeley tro ee F ieee see ot rei, en ig a 2 Re, SoA i in esha in iy Seon 2 Nee Rn sh ver Cig Pb Dae Asa cba aaa me Ba Ln soso TLE) 64M 198 ‘edad Gt Btn yn ne penn, We nc, uh anton eee Contents rte Ackwonedgemens 1 Introduction to Vectors and Tensors Alpes of Veto 12 Alps of eos 13 Hipbconde Tamas UA Eigumaaes Figen of ess 1S Trtformatin Laws as ern Components 16 Genera Bases 1S, est Ten anton 1S Grins an Rell Operation 19 opal Theorms 2 Kinematis 22 Daplcement, Velo Aceon Pie 23. Mati Spt! Deas 2A Defmaon Gren 25° Senin Tense 25. Rosa, Seh Tens 27 Rater Defrnation Tess 2B Lie Tine Deaves &® Beseeeeen o Banszees3 The Concept of Stress a 33 rel Ses Ves Examplesof St of Ses Aentive Ste Tenses 4 Balance Principles a Comterain oF Ma Real Tanga Tass mest Bane Principles lance of Mestnical Enetey dace of Ener fn Contin Thrace Envoy oulty Pepe Msi Bane Pile 5 Some Aspects of Objectivity Chang of Obs an Objve Tenor Fae ‘Soperinposed igi boy Motions Ove es Ivars of Ei ser Repose (6 Hyperelastc Materials a Cone Remts on Cosine gu api Hype Mati lacompresibe Hype Maal ‘Trane opie Meals 109 1 1 i 131 a 1s um 19 179 22 2S os Compote Meal with Too Faris of Fos Conattive Mol wih ta Visine {610 Vico Merit are Sins 4611 Hypecatic Masi with opi Damape 7 Thermodynamics of Materials n 19 Piya! Pets Theres of Macescopie Networks Thermcyinic Pls ateinaty thera Keo laity Teor Epi late Maes ‘Thermal Exes of Onde’ Mater Mos Simple Teton of Erp Elst Merle Thermlyeanic wih eral sles 8 Variational Principles 33 Vira Dispacmen, Vries Pipe of Vinal Wek ‘Prnpe of tansy Fotea Enersy Linearation of he ripe of Val Work “worl Virion Piles “Te el Wao Pipes aea8 a8 SeGeeee am sesega aPreface My di in wring thi extant show th fenton dey of on ‘als mechs ab emdeanis rma nsnering compton on ok ‘ens My primary nal wnt ely oof «men istry ext aig the coin peach to be ed ith meres eye ly lo ‘rs reerence took tt inept rne of hen eeopn i te el. ‘amo stint apd iit te edo ny iain ine ad tk i 68 ‘pean joey ne wonder wold of noice esha, which seer t= ‘olga supine ge rey of robs ng i pratleogheig Lier hories of soll ean e Bgly desloge and in asicy stat cenpltin. Met poesia ate wer, highly nai The ronan asthe if proving inst in tac concep of sald echoes ‘dh parca france fo the ono reine, Onc aii wih ein ens ‘he rede wil bene to seca in ena aspects fe sab mate Il he ‘cd for fons ecook ened pm fo eae who wit oa Seestand tbe conesponieace Daten nota contin mei, wale ‘tite moses vrata pritils wees peeuise fr ie omen formas ‘Ofcourse, ose oak can coverslip of hea ld of ld mh, so tha any topics ae or iced ete at al. The seen theese or Inco is aera stony by caren cares, nde inthe re a te uta’ prc inert in epee a sence Hee, a pact selection nd ye was chosen in rer to Mitre of the more ning tes in sd echnieThpe hats, ih feos suet be ond tbe sweep My oki itenton woo psa on ntedtin fhe abet materia a ail senda ans Cy 8 posi. bps at hetero Insihs or endeseding of the erin win wee ste a papers sno nthe ih an strightorwad pti eshte wad ou tes ‘ews gues, wich ey import ering, They re dei inorderset tion nd entre le 0th er Nes Tata pasa egies! ext The prac ed in hf et ‘Sper we te ae me teh be capes ne ope, ‘Stoic ing pened ing gents nd meen oe presi np. "ott unrundng fe set mae gue rote leer age bev er Fs est een eg De et aed ‘Sabu an wih ee ear nin syle he he bet mater ‘imac, Heeee rte a foal ea ot tft deen tre ed x ton ch pois ead ith ne Sih Term) peda ae wie sen eine wee son und inden dela ote rope oe ects wo ae en xp te may emis ae iced ‘scp cnr ean tere isede fe een 8 “lmnop th sonal eave Chr us ‘Ser dumunay poets vic eed fr tard esr mites {Rrtmel ina sgn pera whe ey 0 many pln ot {Toe repenty ncgesng en py ‘ine pine clon af ps 2st ea sa fr Be es ono te mons te rt of con The nim apc terse sng nn nine ‘apanp er) an Er’ tl 2p Int jena we eto port sme ep a ‘harps slice eae Tepe a pluck peut or fac iis una the cmp fe Lt ie dae a o- nad The toma ose ae of per. Cae eae ‘PServer nd ‘Scone sees tno aed dt eran dae In hp tere eon ome ie conf eo pose ot as ‘Sune eel Bed on conn eran Be no nally ups pve and he roel uct fl pipe sui Tart aes Gp pcp Cope inp anes ef oe {fon uch pr mci par ain cotinm mean. Accson of vcatstever anspor id pss flowed a Seeapoct Sfoseve aes rd rn etc meal po onc 6 noe cee ut he kl rosin accion aie conse soson or be scion fe mn and Seromasonral tear of si. Ts two capers hw the eset es Fin iT weno ose wh vo pa expres ani 3 ‘in meen es lesan eae yeas a ‘Somali eer ots Sew ann xcs ied SShinptreero lanes aie an enue om forte wis ite ern poses, "The blk of Che is concerned wid ie aniiy sd Gite vacotticiy nce dscusion of ope. noel ad eompresble yptelatie mi tes and povesconsttve neler taevenely top nd compote wa tetanic re efor gener of plein Ie pis! eget. ‘An aprochonleic tril wi tral vibe ve slong wih st re tap tiyperltc serie tat ioe elton andr erep ees nd ‘oop damage estan eto raise in psn of Caper 0 ‘erosion 1th hemody of materi. This caters Sed nt te oan of cna temas et ao sete ps ‘iil hemody tar wi asta! approach by senmaiing porn pyc! apes ofthe thrmptie baie of moar networks or eam aor sll polenta enily ona eto Sone ed on tas wih a yt phesoeolgl presage emosltihy trol else mel sds in more el and Ws on 8 pee ‘ample which comme wi ea etcling of ber band. Type "teseankl epling flere te, ‘Cher 8 deg i cove the etal sts of he mat ipo aria: {al rp cre ey ulin oem epproinon welsh Use Re cent mete Aloogh Be ler eat raed nth et pod ta his cap wil be anatve woe who apc th st om te nputtioeal sel sows the lain aceon te eg and wen farms of In omy ue tens presents sil pape of viel Week nt ‘pul and mterldenerpion ant ner! Frm. Tate el ar oa pips wes dss. Te pset ext nds wre convert onk ‘Thee ae mumeros worked examples sn he leat ext. These hve he ga of eaiing and mppemenng he abet mater. In many aes ye ‘rihormar, bt rove a sien pr of eet The symbol is sed ode ‘The (mst) 20 exerees provided ne designed to supplement he xan 0 co {sie eeepc nee Mot then verve pape o sang the render ort iy ad ifr and develop pats lia Inmany ces the slain of see exacis regen nl uy ed erin A resombenmber of eves. Numerous references spleen mse oe supped and scusedtvieyugh tok However kf hs itis pose ge com see topeny ae, Some eles ed ee eg ctr oes ses Pte mlb one of cure at ine tnt he Usreny tng Grr dann. T= mechs ol era fs wet tol bone cnn od sis, ites eos ong meats nd somal Rl mechan, Tbk ‘Phaysauenct ope sens aon nd pots bough testa oma bef ses sons! dence Atough he ed URE en ht seconds pepe fr seca, ‘eet the reer ns oes bcm in deny sone 2 ‘Semon Ten hat Chen 2 an pts fe renga saa oun orn tin messing to ces ‘force Ao ems oro ope cue fhe ol canis it Shes an Cuper sea tne que cure terme oe (ukctaJon Caper Cher ts eacoue tat ves det titer vetoed enero Clg ey {Che oan pec nwo pcp, a om as one eet Tite at he poet exo, provg ay apa nis Ing cnc nut eves bay. OF wre ee Be ‘heap del wa apf ore acct eats sng Sir ope hh ot wl elppngerso tes alee Madani an eis away bea he il ene footing bes Comet tics vw wecone and gel apecae ele it si ch conn ms oe get te ‘ste ot pment emote igh he oe homer taane mats nd etl pine. A sucess aero a ‘cower wo nee tty ees en ios a, Austia ‘Geta Hola ‘nes 999 Acknowledgements Wea as poeta student Steed Ui word wih he ie hon Sing, Prfenor of Mecha nglasing whom ewe ny Oops tak: He ‘tilt, inesced ae ose ny sy and wring rece eh Het, ‘ey an deietono seni excl povided ngs ring experience forme. am patie inde o ay: Od, Presa of Mattie U ‘eno lgox. who penta toi ding te nie mana and cy Ing cetain nein Hs atm experisenthe fe mne wering wit rinsing plein. His dtl sci ecm digs or improve any ers ae cna ote bck Here met my olbras whose ne eneoungene sd sip dng the te of he repeat fhe an Sept | patel acaowldge. ltl, tpn and Bll comet oF Dr Orion A. See Bae a Suekgroun a pyc and an, we tel fp. He ke me rhe ext thea is sharp in Alo, Cron TGawer, who background ncn engicring, as sped mer of stable improvements te muons of tee Hl proforma css ‘evened om gains ey wi ating As, Ela erp mine atic, nero pol hank far er genera aister She pve uh ll ‘hie oa the prpuaon fh ent an ere many gener improving ‘Speci ne are oro Mae! Sule fr bpd dace eo Mar 6. Palio pos in pearing he ius. um att cach of tee in ‘le wiht wb cones be ook won mt hr ken hip "sat tan he Deparment of Civil ngitering, Gna Univesity Th on fr ovina non a Wich hpoet call be complet My ea ‘ide goer to Ger Ber, Profer of iil Exnsine,forhs open spp. "ao wih atnowedge he Asin Sdeace out, wc ha end sy cee spends hehe acl pp of ve ras ve he et igh yer“Te esjoynet eprint textbook would noth Be he ae with emer sept of mencou feds. My Gs lng oll the Iertd my aber nen appeared foray evenings and ween madera 1 Introduction to Vectors and Tensors ‘The aim fs chap is to pesen he een lesa Adal ess oe sec thas ter acl Permancoy te in oir contin meas ‘Sore eas my petro pas det Chapter etn the eset prt foe May fe stemensar ge without pron Fors ere deed expoion se hese by Hatos (998, TaUESDeRL and NOL [1982] rex by CuaDwcx 176), CURT 98a SnOONDS [1884], DANIELSON [97] ad ‘Ocoes {1987 mong my ter Fefenceso8 Yet ad ese. T ell he leans of ocr gst se fr eta, tbo ty SHANG [3H ns eat we ns owes Gr eer fr clr, ones li fa Lita leer for vectors, specs ol ace Latin eters for ede ene PE ‘ee tel face alg tes fr hiner omar a speed Lin ees fo outer enor oe cap, Oo (ah) ABE OE ANG... Catentertenon) — ABE... Grtorsrtnar $y ARC... (thorer nar) Ferequtions echt ab a2) weap tt (12 rst = ‘hea the sans of fr ed elas ince previo. hist case we rfl to bv lan in pacar oder, eflsing the cmc sep ces To Sng the oan gan LA Algebra of Vectors ‘A phys ums, comply des bya ingle eal mame, sich a omen ‘nn dey rma al alr sgt dye, A elo desiby Yo (in ter tent gue eit bye OF ‘ecto een n pes model fr psi une vig bth ‘een an eg orca Ylsty on eta, Tw vss at have these diecton ad gh sa aD eal “The sum of esos ie veto, eo te paraldogram Io sion The allowing proper (inte eer iree) ay atenw 0 atiw =o 06 ol. wise @ dense vig re vector with mee retin and 0 Tava vcr and bere member asc Then sear mipiaton to proces nw veo wih he sedition a wif > Oe with he oppose rasiontouite< ahr pope (oye = ot) an orm ow f0 ap a(e-+y)=n4.o¥ as Dot product, The dt or scalar rier produto ws, dnt yw: ( (ens Ivins) , OMe) se 1) ‘wher 9) the angle sen wo mauso vs and ¥ when ris Cine Ts ont sie scrips wee aay woo, 12) (ar im) = aaa) tam) a9) wero - fo mt wuso - ae) “Te quant (rf) od the gt (or mr or agate) fa or which va gt real ier i tiny he que ot of Wa btw 20, ewe aus, LL Alpen ects 3 A voc ele suit et ie) = 1. A osteo ido Be orthogonal or perpen nonzero vetr weve0 wih dayne 8) restore withensleng is ee luli) a Pager 11 json of gata Index notation, Sr las een preset io symbionts tate) oat erly eens ol ce tars repent ey seins ‘deo Wo mailto of the estons ed i eomtna ean tile he refered repsetion nist Homever rca cpt shai, hs ese ee Yoel) sie at Adon yt guia more iin soe uti do car ot marae persons mong gerd ess me ely se peas} ses hap weer In ode fo pest enor (or campoaet expression laine oa ght ended (or deca) sl athonrmal mem we nice id st of he bal eet ¢ samainesiuoluel elle = (Caren) ba a rerie “Those eter of wit gh whch re mul ctogeal fam ll ona alse‘Thon any wor win the the-dinensonal Busan ace pei ‘gusty by er comblowon fhe ive e 8 eo a9) eet eles et wy eine Cartan rc ng compenentsf vector won the pien dnetions ney reset ee pe 13). Toecompanctz ae €, a (10,0) (0,1,0) (0.0.1) reopen gee 12 Wor ih it Cocoon sig inex (or serio sf) otto, ratio (1.19) can be wen as 10 = Seon ina aia ray ingot sation yet rly we, Gumoneri= L233» a2) he we bie apse summation commento, iene by Ei. The umm tion coneatn sy tat never nine opted aly oe) ithe sem, then. smmion verte rang of index imp eles teri nda "We consider ly the th dnenson!Eucleon apace, which we earcaze by rman of Ltn aes rng oer 23. We dente he sis wets BS {ets clletnely. Smet thse he esse) wl td forse self as vectors ad ey «fer an ese element. The nde hal snd ve ade dummy (oe Suamatin) nde, sie spc by ny et nyt does olf! he al of he am A fate isnotsonned erin gent cad fe (re inex Now hat inthe same eatin an aden ler amy ee. This, elton (1.18) an Be La Apel Vecoe 5 wef ae aan ow ine ich etns the Kronecker deta. The wet ropes fm Shah an rl Noth iy ako srves 0 rpaceent perm: fo example hen on becomes an j when the compenes a mid by 6 ‘The proton over = wot bas ees el te eampe- seo The. ae (1.20) and properties (13) (1-20}2nd (12) weave wee) 6) aay “aking te bs (gan eg(1.15, 1.20, (1.21) sn (22, ecomponet xs slo fr he at pre 10 gs we us Fane Ft aay ‘which icommnly ne niin fhe dopo. Th, we ay sive he produto usd iota of hag btween wand. nan aap manne he opment exes fore se of he eng of wie isi =aeded 2s) Noth ines (12) a 25) ine ion ing smi nr 1.218 symbol oan i indie yon ‘ross prodeet. The ers or et prot of wan, dente by > Gh lice ow.) pce ow et, The crs pode so omen. ‘dened wave 128) axy and ne nay dependent. (127) (ou) ¥ =a fom) =alen) 028) (re) ayes) FEN) 129) wc (v tm) = (Oxy ew) uv raw 430)sin (.27 bod ww adv su De nose eT, wey hat et ss parallel etre (12) ee ht (ne) aay ‘The maga oft xs pot dete 0 be uxvi= sity) Gols oa et # 0th Asal #0 be pase sem-dtte tenor Ife tog cndion AW Os all nae es ion Ais sd tae pave die nce, Teor Ail eat se nite iy Av = 0 and wept deft fv -AY 4128 Meee the set [reigenectos of some enee A a mualyorthogonal other) ast [f) (be poo os stereos. Petal scalar variant Forth ste (165) 0b soon, othe tems ofthe tm mes Yan. Tus, aia os da) = Ate A= Ba se) ‘ree woo en in tay wen Mone hd= hed « a1 ci te hrc ol linn fo A. tine wich Seeman ree Vee Ha) 2,3 ee ole pip arian oA. seo bt i pic cst et vey Hd) =Aymeh= ioe» or 1A) = Ay ~ Ay) = 3 [ed — (= ee Rata» arn 1 adage = th = os ay NAeh, HA=Ih, AA Gat) ete icp sain mecha ‘Arepated apn tesa (L168) ys A = AP = 1.2.8 ‘eran postin mepera Using i linn sd (169) mpd by, we the wll noun Cyl Hamton equation NAIA +hA- 11-0. une esas avery score) ens A ais is own carci equi, Spectral deompostion fa temo Any snr tor A may beret by leelgewalas = 1,2.3 at he erent iene of A formingtonal {Using te nites by analogy with (U5). 1 = RO, slats (58), (165) an (188) We sa a exgesson wich sknown sh ‘esr desomposton (or pectalrepresettan oA. [Adj om = DAKO ans) “Te compete lyf tue A elie t a xs of principal esos sow with (39 by replacing Wh he dee oneal ass ects Wi (165) and (120 weotin Ay =) = = Ay 1.2.:ansammiion) - (176) ich prods lagna mats nce fon D&O amy ook " rte ago emanate sigelis ofA Tis est muy Be obi ‘ioc om th seta ecarpoiion (1175). Fo pi of eal oot bey = 2s A (8) Sgemecte hy seid with pwede et (1.175) a An Agoa Hal moa) * cs 2), wih oe ine rl, a, «ne ee, dot roto es node a (128) an (1126) (18) ie eleneco fyi pedir W ple spared y he msl hog "Ted cn wo disingis aey oeql ots (hy = y= y= 3). aaa, cu) wherever distin pip dino seer set fal rthogrl basis es ipl es xsnesses 1. Shaw tthe ucts in (170.172) ened en pliant of esr Auer othognlransfermato of eects, 14. ie gro Te ” 2 Leta A be gen by Axoll-a90)4A40e+e0%) 5 ee 9 ae al 6a ogo wi et (Stow tate egal, = aa $s (F4e) (Dae he nie id iets = 1,2, wh in a ep 2.0m [ saeslH- wal] 3. Let pmsyromeie tesa A Be sen yh fens rose 6, ith he opr ee, = 0. Deomie the tls nd eigen of eo A. 4 Let be avn seconde or Show th the ints i devi racing 1163 Bolt, Haan = det{ lew) = siden? 5, Vee the lions (1190}41.12), (1.180) a (159) (0 SOW Ei Han, ag ay beers inter of Hut iy Haw = Ha = 3 3 His cots ‘ins To ese (1.181) spy he Caley Hatonouton a ei (G8 Tang BOA Hi 0A Hla = 81.5. Transformation Laws for Basis Vectors and Com- ponents Consider to uly ogo a ects ch tre common oii “Tay corespnd shew and an (igi) Cats cori st which sre toa tobe righunded userid by the wo sl} and (ef bass ‘est estes Hence, the ae cording Sse my be bsnl from te ‘nal one youn fhe bs ects, te! arin ee ewe), We nd om (1.10) ht te conn of ee ane been ed epee by oan) ~ 4. Noe he rt inde yes he “compen ‘wert te end ndex ol for ne" comport ae 17 Rottnest Beam 1s wort t memo hat et and ewer tees fel arian por cane of bss hy ae to pend fay coordinate tem wee, he epee comput do depend apo he coor ss n- ‘iced which bir. Te capone cane the ngs by 2 ron (Gnd efit he is vst, bt independent an asain the ‘Sorter of alin ee 2, "Ne cow st ape tanformatin law ones compensa of Ye and ‘ono ude age oF be. Fling te considera above weve 20%, ens, an oo » where @ deo a hog mor ep 16, wth compones Qh ee ‘hms in cio tos. Te components deve reat of Be We of si 15 raimao Lavsfor Basse Cmpeente » ctr lie ahr opr rates eas ests i il (Qos ct, Uso (139). (L53 (E21) and 61), a at A= On, ed OH = BS, css) his tbe anopue oe, (53), By camprng I tos tne we mayest he bg cnion of the coer by @"Q-~ OQ" = Exalted mex on QyQe= Qu 5a JOFQ|=lQN0""=m . case ‘hee 0) cons tection fhe omponcas Qi thon mate ‘Shichi eters he tafrmaton marie Notes (Q|"~ 0" compte ‘wih Gerson 19) Inoderto mini te it hadeons of he tse ers ‘seh aid only tions ofthese ir comet |= ‘ecto transformation law. cir any wear wed sang the mo ses (and (a) ofa yc oie fa cuss) azeg (oh «1186 We se tat be ein bence he vets & an ska by ihe sosines Qi Combining (1-188) wl (182) and wing (1183) abd (180, me then he ecto tnedratin tft Caresinsompanen of h vetaw = Onu-e) =O, (A= (OM) Las (eien xe ia bot ine and ri statin. na aap ane wid ht lat 88) =r) “These ation deine thereon Hews he components of «ver _socno wih be (ld bai el he component of same er teria ‘haraoer ne Bas). 1s imporant emphasis heen fl = ("2 = [Qe ror neal 0 & = Qw and w= Qi respecte In (187) a (168 nd [ole coin mies characteriing components fhe ane venta a ferent ‘urate, whreas band wi diferente. ‘Teasoraltastrmation lav. To dein te anfrmaton a forthe Cie san orponens of any ecoi-deeser , we ese capac ln hewos (6 an (of er Le Ay=tea a) Ayrechy iin 290) Connie 19) wit (1.182, and xing (1.13) an (190, the teeta vl Cresa opens Ay andy reli yond sora tran formation a Aig =A = (n8) AQ) WI=(0Pal@) .—cuasny “nsfomaion (= 0A] elt he ate aces an (A), which ane thecompont then A nan aaloous mer, nd Ay=QuQine oF IAI =IQIAHOF 9) In ion vo vows considrons, he suns (= (OTA) nd (A) {OAL te om be esr epations A= Q°AQ and A = QAO". relieve (ier or naely And A Fy. the component Aye 08 SO oe i ine jy 50 tanto aie = Di ate Qsie Arie a9) “Tis tersral storaton ow rates he ie component, los th isons 858) 3nd Ayalon the diene) ote se tens of Ttropl emo, A ser A td wo be htop its cmpueats te Sime ui ayron of bs vectors The euenee Isdeice ce ui9iies My =GeQnidin of (AL=IOF IAN} 90 clan well 0 oor i esr al ees empl ot hat [EXAMPLE 16 Shot he itn, a ve in (165), nan savoir Soon, In acon with nition (1.191), we ea show tae congoens he nitive a any core sytem. Noel ng (1.61) 18) 15. Tramirmaton Las or Rae Vitra Cpe a ota ay which means tte compocents dont cage up ton fli of y= Quan = Quis By» cu95) By mlipying both sides of = 6 wi cla we can that ve le abi of ran tito, Conse ty pb etrn hn of Anat ee (Ay =aby = Ay 196 iran ioc tem, wt a tes aa "The pratt emar (114) a topic os of dr de wth apc ‘orton of cout ees oper eons norton). Wik rere ‘Ban eer athe ements Tein be shown at he ohne oi tems, Tate nor 1 1 wih components (19 Ty = Sy abo sep eso. Themes peel ti ation +aqt cas) where, 7 me scare Te ponent re expres sri 0 defo to (:162)05 (aM H+ B+ y= aft Sad ab 1 Let ow hth Catenin coon syste he esa by hee {ofa vests wih nsforton wt = ~se, + aR, y= 6 “The erin ofthe ew cote tem cic wih ld rin. (6) Fi & nse the of, ass veces (6) Fins ohognal mati an expres he ew obtain as (o) Expt vce = ey ~ ey + ate fhe ew et (6) oF Considine (1.18) a (1.150 0 tt5 Assume hat Aa topic esr of afer forearm ak Show ht te devitoripa oA isaluays the eto er rer 0, delat) = 1185) (te general eons win ees a wt bere However, prior ‘els maybe gies tion mer fore ter) 1.6 General Bases ‘The are me general way fo oda te tno vos en. Ae ol tery ames the existence of vcr spc nds Sale al pe ‘They. vcr ad ter of er ited hth aa near fcson,rpecively Waa ha der femewer we ms distinguish bermen te lr prot wich ony dete Detven cea ost sce and betwee mens of isd ad thine pdt For «alle expan te underneath tere rere oe, BOWEN and Wave 197] a OODEN (197, Seton 13, Hone. pe we prs ntti sfc eee wok with ues whch mame hee Etec esr oes td wh ees one vst Space wih ul 0 ha he scr rt ened i he nner rower “Ts fr we hve werk with Caen ters wich ere log a o¥erxnrmal si vets. Howe, er qunii in Be proj oo ne evel bss, The im of ts seins plese th fen aes td ‘sth projets ote ih seeentinesd ection General bss vector. We now tea vas ad esr log Oe et Atiizn of bss ets. The lenses yy oe as cle oa ants veo They resume oe ot ae nd on pull hy ed sees be oto ea aro wt th, Te ena sven ae sty ideendetrquting «By #0 he vero: dt le ina plate We aon ice the s-e relptal (o al) as f [)- he ad set gan (tt fora more ener hey whch sane else of ec pce md dl he pesca dl ass ae in leet pe), The ‘lena go th rsp ie clad enteanariant has ets oF "epoca Basis veers sd ave pert rar tu sunrise aes (a) ae i) ta codon mass 9 16 Camera aes x» ered ee) Krnecer dla, Asin eon (1215 = 1 fo = and Bavtori es ily, (199) enn tt each er of tsi rthognl te 190 ‘ecto fhe te ss wht nist ile Fr exp he ovarian ese wectr ge crhgoel theta ovat ts eto andy ited ieigwe 18 en 15 Gown! Ms a). Sogn as em Forrtaouet ewe inrodoe he wea dts be 200) ofthe ques an, Sie, oe (1.1 the do pede commutative we ay wig! = anda =a The ques fan wih te snes epee gees fe eng of the noone fi ecto: fer expe ni = In? The ques 9 nd by wt direst indies esr he otf he lenge of the sited ‘Sec and the ene of the pe @ acter the ass vesios f xMpE, elise) Ts tela" cating) Bis 200) (6) = 1,2: 90 summation dtemine the seams chara he sale ti) of give i, Hence, gay arcs fee a he eee e ys mane iam“ 1 nection Neos and Teer Sebtion. Wetentatney wite oan m5) ee ae now guts, Taking he do pros (1208) with? and ng Featon (19, we oie woe “Tie means th! ely multi with tr 1) = othr ml Plo ito, ee, we my wee, whch te aalopne of (20D ‘Thepofissmiesopopery (L202). ea oN 208) ‘kiagih dro wih a sing (202) we odin = au Fal sng (1100) and placing tesco by, we ve De spe openy vay 8 25) wich nas ht he ati ith comnts tine of te mae ‘itbcomponet a [Hens we wie og] =U" oreiy [EES)-[R Ee] om ora al Lam a gM ‘Tedisinson beeen suet an sper ese obi bases ‘aimparunto notte (lene, whieh tami one ue ina (1.199) cust ters subssp oF asp on uth ses of an eqn Inthe loving we wl sometines we the om inde’ t eo er seit rupert. Oly te bts atnearal ay we wig = an hen 0 ‘sion tetncen sper ané ower ner neseay. For sate we ee lk {ates ssp, previo secon whe we eda Caen as Caran and contrarian components fx vector: Any vet may be repel nil by near combina eeu 0 oan basi seston, Wee wa =e, 20 ‘her a he ori component of wit eps hcg ai ‘eile ie he eonanariant components wi reset 0 the gee ti (a) sty in it yn wh hosp bs is eid wit he al ‘Sk tthe vor as heart compan acon component 19 Well al vce wih ovr comporcts evar year 8 vecor By aalogy whe (.22) he Kronecker dea asthe wef eee oye inhi indo on wire. Nt sumntion an ony ke aceon {uum ema nds fee inex sa saben ti ce ie pei {chaning (1207- Hee, eh cova nd convin componen fay vetr wre he poem of wont bes a} ad (a. pete “ing th a det (1207), wh nd he dt pee of 1.207 wth ‘bby sa of rope (1.13) (198), (1.208) an (1.208), tue ‘sone wegen endi=y, 1.209 wef ety ate which su be omar wit (1.28) for he cae fs Cares ai "Te coat component any vectoru may aso Be expressed In rms of iscovain compo ad vie vena Tus ing he dt prec = {ogy with and gy reece on alse es wh dtniton (200) coe (2103801209), Le aw 11210) wma 5 er ich see proprio analogous those gen in (2). Nae atthe sew ee amp med depend on the iil ome. A inline (.21 1, te ‘fan quantities or can ed el operate seo lowe nde ‘nvr congosents. This poco ang ern nes on sly be {polis ens components ee Exe So 39. Considers and which ay epson hy (207), Thi dt route prt aad mn! 5 ua st et fo ote vstor wit ta Covavian, coneavarant and mixed components of tenst: Silly othe vey coe ter ay Berend with expec osha bsgof temer procs ofthe andthe! Tas, A=aYgeR= Alon Anon =Alt'os,, (124) whee 4 and Ay ee conrarant and eeverant components, wires 4th mined camponens he ene A The tn on fea ie es ofthe mised components ints he order of czaece a the ines. Th "te Bt a “cma” and the sen evar I the long el el tense wt coat respi contained component vara reteyentranriant mised) tnsr he eens bene se ‘emilogis ae dcssedia ordeal by OcDe 1987 Seton | 3, Nat tate mies omponens ad. of nr A el ator (pe eer Ais syamete (39 = A and Ay = tendo components fora Caran cond ere mor we ave no fost of corn rea tenofovir, coat ad mad component ny tu However so moth apne ae pet Moron egesions suchas dolh=de, vp = a ais) sec amlogoast (tt "Nowe with le (153) ae pope (185) (1.215 the pjeton a A ao he pel ss (ad elo aes Aiea Ay =e AB, 1216) AyeRea ABA cary ‘The fours of srponens allow isa aloo antl ven in Esa ple 0np. I “The esr etn or Cason compen iota previ seins may be ater arb eumpnent aly eine Kronecker lh "be mec fle nd sng the eet psf nies ia pret wy tess A ad B eefenedo seer bas the te properie (AB), = AaB = APB. fer ANB AB = AB, = A 219) ial = (489 220) A= Am Af egy = gy omy ab AL ay at at ag waa san | a) a 1g fear) ae ay az | am ab a at ap ap ap 16 Gort ae a = wd fal veto show ae EXAMPLE LS Using he fc hat the forse of ques wat. BM, Sa. 2H dfn ie (200 a 119) reel he componente eon tenor ei te epson ' ith popes an = ge me coeets 2H -at'ox=508 =H 08, az) Soon, —Recl he frm 1.207) (1.211 wean w= WR, = Hens elt (120 fori empanets ad ropes (15) 16 ao we dog im geome xs) 4.0, tei tensor represntion (1.220, aed = (ae ‘etd sth sit oni cnn a ith ext tb nam aml nancy sing from w= vg me may sein epson (1.226, ane six cover component py ~ (Dy th pes ote sic boss (a Since matrices ang are mpc of wea el ‘be Balan tr temor. norris he ecomponet frm we apy w= tou = fg, Then, whe {1.210 a 159, we sin w= o-2e = leon 226 ete Keoesr dh ~ (0 eens mid eomponets of be metic {coor Sine Taymor we conte hat = hm ‘A geneaton bien tomers ihr sk gene enor fd having ies if ny epee he om agosto og, 02 sr cnly coma amponens 4% ar oat componens reid, Nowa ane ere hae mine component a as ed secon for exe, 2 iy AA, Oo OR, OFM OOH OR, On OB, 122 ee‘na ied tof rtonormal bss vee te campos hen 1227) (1.228) couse (cma athe frm (1105) xeesses 1 Lethe omnes da et be gies by nee, wedyiven nan, ware (ej = 1,2 sat of etonoral ass vets Compe contort basi ets an =o! +. Dew peed Inet geome ston Cons te set fev bs ests wl EP [3 elf]. [3] wl Fil he ef hss vectors ich fa pose ser uss. Compe te coat dean components of vo jong iin th Pit ia esd. becoaint a vests wih ae a we[]. w[!] : Conte te = # y= 4 +m tg ecard TadesSst oe (te entavarincomponet of ¥ adhere of, ad (tte amar acai composi ony Let be secon-oereor ad comsr he satan ‘tases veaor vin ach ore, BY wig (2207 ‘tote ntamaion maybe ren by 210, 00 = Aaya Pe lye = Alay 16 ert aes » 5. Theconuace corn an nine mms kok tem A, speed by (1.26), ele eh ee (6) Take 21) an mati boty ess eters an) Using the ale (53) an proper (1205 oe (125), st ha ans tecwse varios components fA hen by Ay = neta = get = 90, ce) AP p= PAS = AY Abate =a? Ayah ga™ Noth the fest of mining ees component bythe set of ges (or) a smming on eine 10 oe (lover in neo te aed tema bones The pean of ‘aig sd lowering cs ave the sane mening a (.21), (2) Conmier the secod-der tose Anson tteoe-a06 Henge +86 -2008, den ee 406 698 wh, 4 for a tna as, Consie a (ew bas ned by tc oar bass eta BG, meets, Reetete From es (.26) and (1.217 dese he contain, cova and ied Comore fA nih espero the sre a (ga Seip {eCheck he sly plying ean 1.29. 6 Lata otogns temsarQ be repeal by O=onew Cin, (a) Use te Meni (181 tse tt OT = Gia! 8 = Gla oa al ‘tow ht he gory conn ry be wcen at Gs=4, wuatal=n (0) Show at ude the vnsoration& = Qk 8 = OR enone fhe Bhasin icin ohn« 1 teat eters nd Tees 1.7 Scalar, Vector, Tensor Functions _Atemar anton econ whos arguments a eo mortem isle a ‘howe aes reson vcore tors Te fons (8), (Ban AB) ae ‘eanpe of ald sealarvae, wera ad teased ter fn ‘one fon et aisle B, eps Toa alos mae (a), 0), ‘Aaa elo fonctions of ae west ale wih he ale clr, eae ster pete Nex, we come salar fotos one lr rable sch sti a re it U8 = 0G) a= af) = ail and A = AU) = Ay iDe Se, besa “ale. erated ncn serch ast) feos ‘some oe el. The omponen (2) a (ane sume 1 bee aed vat Farts of anyon cereal ete int err of an A ih ep 1 eo chang) deo by df and A= UA, ven by the ft deriva of tr sine simone Since dl /dt =a. we we Boos Ae lyeinoe, (230) “The first derive of the scar feton simply = 0) I gnea he Gri wal A or ay sid) dee by wf snd (A/O, fea sored sn emorsaled fen whone campos ae ‘leer and ae /4 especie. The wth dave of sigs {ete Now tym A econ iy then te erates te By sping i reso toe, we oben te enti: eyo ate TV=wovswoy SEW Ast Ra wA 1236) eran eter th ora cover uso wich he de operations op Pie EXAMPLE Raa aa Sun, String fom A“'A =I we in yee of he cain re hat ATA ATA O. Flyby mule elon with A” ome ita ile we hein de ded (1277). Gradient of sealraln ensoe funtion, We comer x nna nd Soot scald ener fneton@[8) af ne second ber esr vaae A. “hao cach A, H(A) ress nase “Tein si approx the online fan © A yates ton. Fs ve ale’ expansion fo aA ye sing ropen (198), oe 2Bianeel(2Y a) rhe ets the eal ferent. Te ela Is hats by (2), Were oe} dees he Landa ode symbols asl era hat als 0 220 sean dA > Oak xan) Ha) Lg Va 2) “Ta tem (A) /24 (or rd) dents he radon or drat fn on bat A chrceriing a senor oor Tn oder mak he dean ‘ay th fer vane te ded frontend Ine erie by 3 oepeing ine, orexale pa (4) ‘Note ta he ir variton fs elope nthe sae way as tlle fal In Chap te congo Ueno een more dtl. EXAMPLE 110 {ft condor tensor sve establish he ipo 2h gana aan