6

Vector Function of Three

Variables: Volumes

Given the extent of the needs of the engineer to access localized frames that have been
adapted to the problems he/she must address, and after seeing the vector functions of
one and two variables, i.e. the curves and surfaces they represent, as well as the
localized frames that can be associated with them, we cannot overlook the
representation of volumes and the vector functions of three variables and the types of
frames associated with these, which are also of interest to the mechanic.

6.1. Vector functions of three variables

JJG JJG JJG JG
In the frame O λ xλ yλ z λ , the vector function f ( q1 , q2 , q3 ) of
the three real parameters q1, q2 and q3 is represented by the position
vector:
JJJJJG JG
O λ M = f ( q1 , q2 , q3 ) .

6.1.1. Coordinate surfaces

If we consider a parameter, for example q1, at a given value, when

the other two parameters q2 and q3 vary, the point M describes the

Movement Equations 2: Mathematical and Methodological Supplements, First Edition.

Michel Borel and Georges Vénizélos.
© ISTE Ltd 2017. Published by ISTE Ltd and John Wiley & Sons, Inc.
136 Movement Equations 2

JG JG
∂(λ ) f ∂(λ ) f
coordinate surface Σ(q1). The vector ∧ is orthogonal in
∂q2 ∂q3
M to this surface Σ ( q1 ) .

6.1.2. Coordinate curves

When setting the value of two parameters, q1 and q2 for example,

and the third being varied, q3, the point M describes a coordinated
JG
∂( λ ) f
curve C ( q1 , q2 ) . The vector is tangent at M to this curve.
∂q3

The three parameters q1, q2 and q3 are called curvilinear

coordinates.

6.1.3. Orthogonal curvilinear coordinates

6.1.3.1. Definition
The curvilinear coordinates q1, q2 and q3 are orthogonal when the
derivative vectors that define the tangents at the same point at M to
the three coordinate curves C ( q2 , q3 ) , C ( q3 , q1 ) and C ( q1 , q2 ) ,
JG JG JG
∂( λ ) f ∂ ( λ ) f (λ )
specifically , and ∂ f , are orthogonally in pairs, that is
∂q1 ∂q 2 ∂q3
to say:
JG JG
∂( λ ) f ∂( λ ) f
⋅ =0 ∀i and j ≠ i .
∂qi ∂q j

6.1.3.2. Local orthonormal basis associated

If these three vector tangents are effectively orthogonal, we choose
for the parameters the numerical sequence 1, 2 and 3, so that:
JG JG JG
⎛ ∂( λ ) f ∂( λ ) f ∂( λ ) f ⎞
⎜ ∂q , ∂q , ∂q ⎟ > 0 ,
⎝ 1 2 3 ⎠
 Vector Function of Three Variables: Volumes 137

and then write,

JG
∂( λ ) f
JG ∂qi
for i = 1,2,3, ei = JG ,
∂( λ ) f
∂qi
JG JJG JG
to thereby define a direct orthonormal basis ( e ) = ( e1 e2 e3 ) whose
position relative to the reference basis ( λ ) depends on the three
variables q1, q2 and q3.

6.2. Volume element

6.2.1. Definition
JG
The differential of the function f, expressed with Einstein’s
notation, is:
JG
JJG ∂ ( λ ) f
df = dqi ( i = 1,2,3 ) .
∂qi

The vectors:
JG JG JG
∂( λ ) f ∂( λ ) f ∂( λ ) f
dq1 , dq2 , dq3 ,
∂q1 ∂q2 ∂q3

are, respectively, tangential to the curve coordinates C ( q2 , q3 ) ,

C ( q3 , q1 ) and C ( q1 , q2 ); they constitute the three edges from the
same point M of a parallelepiped whose volume is considered as the
elementary volume dν ( M ) in the vicinity of this point.
JG JG JG
⎛ ∂( λ ) f ∂( λ ) f ∂( λ ) f ⎞
dν ( M ) = ⎜ dq1 , dq2 , dq3 ⎟ .
⎝ ∂q1 ∂q2 ∂q3 ⎠
13
38 Movement Equations 2

Figu
ure 6.1. Volum
me element in the
t vicinity of the point M

If the ordeer 1, 2 and 3 of the paarameters is chosen wisely, the

mixed producct of the threee vectors arre positive. We then define the
m
voolume elemennt associatedd with the viccinity of M as: a
JG JG JGG
⎛ ∂( λ ) f ∂( λ ) f ∂( λ ) f ⎞
dμ ( M ) = ⎜ , , dq dq dq .
⎝ ∂q1 ∂q2 ∂q3 ⎟⎠ 1 2 3

6..2.2. Applic
cations to traditional
t coordinate
e systems

6..2.2.1. Carte
esian coord
dinates
To ensuree the conssistency of notation, we will cconsider
JG JJG JJG
λ = O λ x1 x2 x3 as the reference frame.
f

JG
JJJJJG JG JG ∂ ( λ ) f JG
O λ M = f ( x1 , x2 , x3 ) = xi xi fro
om which = xi .
∂xi

The volumee element in the

t vicinity of point M cann thus be writtten as:
JG JJG JJG
( )
dμ ( M) = x1 , x2 , x3 dx1 dx2 dxx3 = dx1 dx2 dx3 .
 Vector Function of Three Variables: Volumes 139

6.2.2.2. Cylindrical–polar coordinates

In this coordinate system, we use to illustrate the statement a
reference frame of the form:
JJG JJG JJG G JJG JJG
O λ xλ y λ z λ with u ( α ) = cos α xλ + sin α yλ ,
JJJJJG G JJG JG
O λ M = ru ( α ) + z zλ = f ( r , α , z ) ,
JG JG JG
∂( λ ) f G ∂( λ ) f G π ⎞ , ∂ f = JJ
(λ) G
⇒ = u (α ), = ru ⎛⎜ α + ⎟ z λ .
∂r ∂α ⎝ 2 ⎠ ∂z
The volume element is thus written as:
G G π JJG
d μ ( M ) = ⎛⎜ u ( α ) , ru ⎛⎜ α + ⎞⎟ , zλ ⎞⎟ dr dα dz = r dr dα dz .
⎝ ⎝ 2⎠ ⎠

6.2.2.3. Spherical coordinates

JJG JJG JJG
In the frame O λ xλ yλ z λ , the point M is considered such that:
JJJJG G G JJG JG
OM = Rk ( α , β ) = R ⎡⎣ cos β u ( α ) + sin β zλ ⎤⎦ = f ( R , α , β ) ,
JG JG JG
∂( λ ) f G ∂( λ ) f G⎛ π ⎞ ∂( λ ) f JJG G π
⇒ = k, = R cos β u ⎜ α + ⎟ , = RK = Rk ⎛⎜ α , β + ⎞⎟ .
∂R ∂α ⎝ 2⎠ ∂β ⎝ 2⎠

The volume element is written as:

G G π JJG
d μ ( M ) = ⎛⎜ k , R cos β u ⎛⎜ α + ⎞⎟ , RK ⎞⎟ = R2 cos β dRdα d β .
⎝ ⎝ 2⎠ ⎠

6.3. Rotation rate of the local basis

The general expression of the rotation rate of the basis ( e )

relative to ( λ ) is of the form:

JJG 3 JJG
ωeλ = ∑ iδ ( λ, e ) qi′ ,
i =1
140 Movement Equations 2

where the partial rotation rates are:

JJG JG JJG JG
δ ( λ , e ) = iδ1 e1 + iδ 2 e2 + iδ3 e3 ,
i

satisfying the following derivative relations:

JG JG JG
⎧ ∂ ( λ ) e1 ∂ ( e ) e1 ∂ ( λ ) e1 JJ G JG JJG JG
⎪ ∂q − = = i
δ ( λ , e ) ∧ e1 = iδ 3 e2 − iδ 2 e3
∂qi ∂qi
⎪ i
JJG JJG JJG
⎪⎪ ∂ ( λ ) e2 ∂ ( e ) e2 ∂ ( λ ) e2 JJ G JJG JG JG
⎨ − = = iδ ( λ , e ) ∧ e2 = − iδ 3 e1 + iδ1 e3
⎪ ∂qiJG ∂qi
JG
∂qi
JG
⎪ ∂( λ ) e ∂( e ) e ∂ ( λ ) e3 JJ G JG JG JJG
⎪ 3
− 3
= = iδ ( λ , e ) ∧ e3 = iδ 2 e1 − iδ1 e2
⎪⎩ ∂qi ∂qi ∂qi
JG JJG JG
since the three unit vectors e1 , e2 and e3 , forming the reference basis,
are considered fixed in this basis, so:
JJG
∂( e ) e j G
= 0, ∀i, j = 1, 2,3 .
∂qi

We then obtain, knowing that the basis ( e ) is orthonormal:

JJG JG
⎧i JG ∂ ( λ ) e2 JJG ∂ ( λ ) e3
⎪ δ1 = e3 ⋅ ∂q = − e2 ⋅ ∂q
⎪ i
JG
i
JG
⎪⎪ i JG ∂ ( λ ) e3 JG ∂ ( λ ) e1
⎨ δ 2 = e1 ⋅ = − e3 ⋅ .
⎪ ∂qi ∂qi
JG JJG
⎪ JJG ∂( λ ) e1 JG ∂( λ ) e2
⎪ δ 3 = e2 ⋅
i
= − e1 ⋅
⎪⎩ ∂qi ∂qi

JJG
6.3.1. Calculation of the partial rotation rate δ( λ,e )
1

To facilitate writing, we note:

JG 2 JG 2 JG 2
⎛ ∂( λ ) f ⎞ ⎛ ∂( λ ) f ⎞ ⎛ ∂( λ ) f ⎞
h1 = ⎜ ⎟ ; h2 = ⎜ ∂q ⎟ ; h3 = ⎜ ∂q ⎟ .
⎝ ∂q1 ⎠ ⎝ 2 ⎠ ⎝ 3 ⎠
 Vector Function of Three Variables: Volumes 141

One first observes that, for the three index values, the scalar
product:
JG JG
∂ ( λ ) f ∂( λ ) f
⋅ = 0 , for i ≠ j ,
∂qi ∂q j

and its partial derivative with respect to qk , for k ≠ i, j , we obtain the

three relations:
JG JG JG JG
⎧ ∂( λ ) f ∂( λ ) f ∂( λ ) f ∂( λ ) f
2 2

⎪ ∂q ∂q ⋅ ∂q + ∂q ⋅ ∂q ∂q = 0
⎪ 3 JG1 2
JG
1
JG
3 2
JG
⎪⎪ ∂ ( λ ) 2 f ∂ ( λ ) f ∂ ( λ ) f ∂ ( λ ) 2 f
⎨ ⋅ + ⋅ = 0,
⎪ ∂q1∂qJG2 ∂q3JG ∂q2 ∂q1∂q3
JG JG
⎪ ∂( λ ) 2 f ∂( λ ) f ∂( λ ) f ∂( λ ) 2 f
⎪ ⋅ + ⋅ =0
⎪⎩ ∂q2 ∂q3 ∂q1 ∂q3 ∂q1∂q2

which give a linear system of three equations with three unknowns,

whose main determinant is not null, and which only acknowledges as
a result the trivial solution:
JG 2
JG JG 2
JG JG 2
JG
∂( λ ) f ∂( λ ) f ∂( λ ) f ∂( λ ) f ∂( λ ) f ∂( λ ) f
⋅ = ⋅ = ⋅ = 0.
∂q1 ∂q2 ∂q3 ∂q2 ∂q3 ∂q1 ∂q3 ∂q1∂q2
JJG
The three components of the partial rotation rate
1
δ ( λ,e ) thus
have the expression:
JJG JG JG
JG ∂ ( λ ) e2 1 ∂ ( λ ) f ∂ ( λ ) ⎛ 1 ∂ ( λ ) f ⎞
– 1δ1 = e3 ⋅ = ⋅ ,
∂q1 h3 ∂q3 ∂q1 ⎜⎝ h2 ∂q2 ⎟⎠
JG JG JG JG
1 ⎡ 1 ⎛ ∂( λ ) f ∂( λ ) f ⎞ ∂( λ ) ⎛ 1 ⎞⎛ ∂ f ⋅ ∂ f ⎞ ⎤ = 0
2
(λ) (λ)
⇒ 1
δ1 = ⎢ ⎜ ⋅ +
h3 ⎣ h2 ⎝ ∂q3 ∂q1∂q2 ⎟⎠ ∂q1 ⎜⎝ h2 ⎟⎜ ∂q ∂q2 ⎟⎠ ⎥⎦
.
⎠⎝ 3
142 Movement Equations 2

JG JG JG JG JG
JG ∂( λ ) e3 1 ∂( λ ) f ∂( λ ) ⎛ 1 ∂( λ ) f ⎞ 2
1 ∂( λ ) f ∂( λ ) f
– δ 2 = e1 ⋅
1
= ⋅ = ⋅
h1 ∂q1 ∂q1 ⎜⎝ h3 ∂q3 ⎟⎠ h1h3 ∂q1 ∂q1∂q3
.
∂q1
JG 2
⎛ ∂( λ ) f ⎞
⎟ = h1
2
Consider the partial derivative of the expression ⎜
⎝ ∂ q 1 ⎠

with respect to q 3 :
JG 2 JG JG
∂( λ ) ⎛ ∂( λ ) f ⎞ ∂( λ ) f ⎛ ∂( λ ) f ⎞
2
∂h
⎜ ⎟ =2 ⋅⎜ ⎟ = 2h1 1 ,
∂q3 ⎝ ∂q1 ⎠ ∂q1 ⎝ ∂q1∂q3 ⎠ ∂q3

JG 2
1 ∂ ⎛⎜ ⎛ ∂ ( λ ) f ⎞ ⎞
⎟.
⇒ 1
δ2 = JG 2 ⎜ ⎟
⎛ ∂ ( λ ) f ⎞ ∂q3 ⎜⎝ ⎝ ∂q1 ⎠ ⎟
⎠
⎜ ∂q ⎟
⎝ 3 ⎠

JJG JG JG JG JG
JG ∂ ( λ ) e2 1 ∂( λ ) f ∂( λ ) ⎛ 1 ∂( λ ) f ⎞
2
1 ∂( λ ) f ∂( λ ) f
– δ 3 = − e1 ⋅
1
=− ⋅ ⎟ = − h h ∂q ⋅ ∂q ∂q ,
∂q1 h1 ∂q1 ∂q1 ⎜⎝ h2 ∂q2 ⎠ 1 2 1 1 2

JG 2
JG
∂( λ ) f ∂( λ ) f ∂h
with ⋅ = h1 1 ,
∂q1 ∂q1∂q2 ∂q2

JG 2
1 ∂ ⎜⎛ ⎛ ∂ ( λ ) f ⎞ ⎞
⎟.
⇒ 1
δ3 = − JG 2 ⎜ ⎟
⎛ ∂ ( λ ) f ⎞ ∂q2 ⎝⎜ ⎝ ∂q1 ⎠ ⎟
⎠
⎜ ∂q ⎟
⎝ 2 ⎠

The partial rotation rate is given by the relation:

JG 2 ⎛ ⎛ ∂ ( λ ) JGf ⎞ 2
∂ ⎛⎜ ⎛ ∂ ( λ ) f ⎞ ⎞ ∂ ⎞
⎟ ⎜ ⎜ ⎟
JJG ∂q3 ⎜ ⎜⎝ ∂q1 ⎟⎠ ⎟ JJG ∂q2 ⎜ ⎝ ∂q1 ⎠
⎟
⎟ JG
1
δ ( λ, e ) = ⎝ JG ⎠e − ⎝ JG ⎠e .
2 3
∂( λ ) f ∂( λ ) f
∂q3 ∂q2
 Vector Function of Three Variables: Volumes 143

6.3.2. Calculation of the rotation rate

Similarly, it is determined that:

JG 2 ⎛ ⎛ ∂ ( λ ) JGf ⎞ 2
∂ ⎜⎛ ⎛ ∂ ( λ ) f ⎞ ⎞
⎟ ∂ ⎜ ⎜
⎞
⎟
JJG ∂q3 ⎜ ⎜⎝ ∂q2 ⎟⎠ ⎟ JG ∂q1 ⎜ ⎝ ∂q2 ⎠
⎟
⎟ JG
2
δ ( λ, e ) = − ⎝ JG ⎠e + ⎝ JG ⎠e ,
1 3
∂( λ ) f ∂( λ ) f
∂q3 ∂q1

JG 2 ⎛ ⎛ ∂ ( λ ) JGf ⎞ 2
∂ ⎛⎜ ⎛ ∂ ( λ ) f ⎞ ⎞
⎟ ∂ ⎜ ⎜
⎞
⎟
JJG ∂q2 ⎜ ⎜⎝ ∂q3 ⎟⎠ ⎟ JG ∂q1 ⎜ ⎝ ∂q3 ⎠
⎟
⎟ JJG
3
δ ( λ, e ) = ⎝ JG ⎠e − ⎝ JG ⎠e ,
1 2
∂( λ ) f ∂( λ ) f
∂q2 ∂q1

or, in a more generic form, using the three index permutation symbols
of order 3 (see Volume 1, Chapter 1 [BOR 16])
JG 2
∂ ⎛⎜ ⎛ ∂ ( λ ) f ⎞ ⎞
⎟
JJG ∂qk ⎜ ⎜⎝ ∂qi ⎟⎠ ⎟ JJG
δ ( λ , e ) = ∑ ε ijk
i ⎝ JG ⎠e .
j
j ,k ∂( λ ) f
∂qk

In the case where the three variables q are functions of the same
parameter p, we can write:
JG 2
∂ ⎜⎛ ⎛ ∂ ( λ ) f ⎞ ⎞
⎟
JJG 3 JJG ∂qk ⎜ ⎝⎜ ∂qi ⎠⎟ ⎟ dq JJG
dqi ⎝ ⎠ ie .
δ ( λ , e ) = ∑ iδ ( λ , e )
dp i∑
p
= ε ijk JG
i =1 , j ,k ∂( λ ) f dp j
∂qk
144 Movement Equations 2

and in the case where the parameter p is the time t, we obtain the
rotation rate of the basis ( e ) in relation to the basis ( λ ) :

JG 2
∂ ⎜⎛ ⎛ ∂ ( λ ) f ⎞ ⎞
⎟
JJG ∂qk ⎜ ⎜⎝ ∂qi ⎟⎠ ⎟ JJG
⎝ ⎠ q′ e .
ωeλ = ∑ε
i , j ,k
ijk JG
∂( λ ) f
i j

∂qk