CH.3.

COMPATIBILITY
EQUATIONS
Multimedia Course on Continuum Mechanics
 Overview

 Introduction Lecture 1

 Compatibility Conditions Lecture 2

 Compatibility Equations of a Potential Vector Field Lecture 3

 Compatibility Conditions for Infinitesimal Strains Lecture 4

 Integration of the Infinitesimal Strain Tensor Lecture 5

 Integration of the Deformation Rate Tensor Lecture 6

2
 3.1 Compatibility Conditions
Ch.3. Compatibility Equations

3
 Introduction
 Given a displacement field, the corresponding strain field is
found:
1  ∂U i ∂U j ∂U k ∂U k 
U ( X,t ) E=  + +  i, j ∈ {1, 2,3}
2 ∂X j ∂X i ∂X i ∂X j 

ij
 

1  ∂ui ∂u j 
u ( x,t ) ε ij = +  i, j ∈ {1, 2,3}
2  ∂x j ∂xi 
 

 Is the inverse possible?

ε ( x,t ) u ( x, t )

4
 Compatibility Conditions
 Given an (arbitrary) symmetric second order tensor field, ε ( x,t ),
a displacement field, u ( x, t ), fulfilling ∇ s u(x, t ) = ε ( x, t ) cannot
always be obtained:
1  ∂ui ∂u j  6 PDEs OVERDETERMINED
ε ij = +  i, j ∈ {1, 2,3} 3 unknowns SYSTEM
2 ∂x j ∂xi 

 

 For ε ( x,t ) to match a symmetric strain tensor:

 It must be integrable.
 There must exist a displacement field from which it comes from.
REMARK
Given u ( x, t ) , there will always exist an associated
COMPATIBILITY CONDITIONS strain tensor, ε ( x, t ) , obtainable through
must be satisfied differentiation, which will automatically satisfy the
compatibility conditions.
5
 Compatibility Conditions
 The compatibility conditions are the conditions a symmetric 2nd
order tensor must satisfy in order to be a strain tensor and, thus,
exist a displacement field which satisfies:
1  ∂ui ∂u j 
ε ij = +  i, j ∈ {1, 2,3}
2 ∂x j ∂xi 

 

 They guarantee the continuity of the continuous medium during the

deformation process.
E(X, t )

Incompatible
strain field

6
 3.2 Compatibility Equations of a
Potential Vector Field
Ch.3. Compatibility Equations

7
 Preliminary example: Potential Vector Field

 A vector field v ( x,t ) will be a potential vector field if there

exists a scalar function φ ( x,t ) (named potential function) such
that:
v ( x, t )= ∇φ ( x, t )
∂φ ( x, t )
vi ( x, t )
= i ∈ {1, 2,3}
∂xi

 Given a continuous scalar function φ ( x,t ) there will always exist a

potential vector field v ( x,t ) .
 Is the inverse true?
v ( x,t ) ∃ φ ( x,t ) such that ∇φ ( x, t ) =
v ( x, t )

8
 Potential Field
v ( x,t ) φ ( x,t ) such that ∇φ ( x, t ) =
v ( x, t )

 In component form,
∂φ ( x, t ) ∂φ ( x, t )
vi ( x, t ) = vi ( x, t ) − =
0 i ∈ {1, 2,3} 1 3unknown
eqns.
∂xi ∂xi

OVERDETERMINED
 Differentiating once these expressions with respect to x j : SYSTEM

∂vi ∂ φ ( x, t )
2

= i, j ∈ {1, 2,3} 9 eqns.

∂x j ∂x j ∂xi

9
 Schwartz Theorem
 The Schwartz Theorem about symmetry of second partial
derivatives guarantees that, given a continuous function
Φ ( x1 , x2 ,..., xn ) with continuous derivatives, the following holds
true:
∂Φ ∂Φ 2 2
= ∀i, j
∂xi ∂x j ∂x j ∂xi

10
 Compatibility Equations
 Considering the Schwartz Theorem,
∂v x ∂ 2φ ∂v x ∂ 2φ ∂v x ∂ 2φ
= = =
∂x ∂x 2
∂y ∂x∂y ∂z ∂x∂z
∂v y ∂ 2φ ∂v y ∂ 2φ ∂v y ∂ 2φ
= = =
∂x ∂y∂x ∂y ∂y 2 ∂z ∂y∂z
∂v z ∂ 2φ ∂v z ∂ 2φ ∂v z ∂ 2φ
= = =
∂x ∂z∂x ∂y ∂z∂y ∂z ∂z 2
 In this system of 9 equations, only 6 different 2nd derivatives of the
unknown φ ( x,t ) appear: ∂ 2 φ ∂ 2 φ ∂ 2 φ ∂ 2 φ ∂ 2 φ ∂ 2φ
, , , , and
∂x 2
∂y 2
∂z 2
∂x∂y ∂x∂z ∂y∂z
 They can be eliminated and the following identities are obtained:
∂v x ∂v y ∂v x ∂v z ∂v y ∂v z
= = =
∂y ∂x ∂z ∂x ∂z ∂y
11
 Compatibility Equations
 A scalar function φ ( x,t ) which satisfies ∇φ ( x, t ) =
v ( x, t ) will exist if
the vector field v ( x,t ) verifies:
∂v y ∂v x def
− ==
0 Sz
∂x ∂y eˆ1 eˆ 2 eˆ 3
Sx 
∂v x ∂v z def
  ∂ ∂ ∂
− ==
0 Sy where S ≡  S y  ≡ ≡ ∇×v
∂z ∂x  S  ∂x ∂y ∂z
∂v z ∂v y def  z v vy vz
− ==
0 Sx x
∂y ∂z
REMARK
A functional relation can be
INTEGRABILITY ∇ × v =0
(COMPATIBILITY)  established between these
EQUATIONS  ∂vi ∂v j three equations.
 ∂x − ∂x = 0 i, j ∈ {1, 2,3}
of a potential
vector field  j i ∇ ⋅ (∇ × v ) =
0

12
 3.3 Compatibility Conditions for
Infinitesimal Strains
Ch.3. Compatibility Equations

13
 Infinitesimal strains case
 The infinitesimal strain field can be written as:

 ∂u x 1  ∂u x ∂u y  1  ∂u x ∂u z  
  +   + 
 ∂x 2  ∂y ∂x  2  ∂z ∂x  
ε xx ε xy ε xz   
   ∂u y 
1 ∂u y ∂u z  
ε xy ε yy ε yz  =
ε  =  ×  +  
ε   ∂y 2  ∂z ∂y 
ε ε 
 xz yz zz 
 ∂u z 
 symmetrical × 
 ∂z 
 

6 PDEs
3 unknowns

14
 Infinitesimal strains case
 The infinitesimal strain field can be written as:

∂u 1  ∂u x ∂u y 
ε xx − x 0
= ε xy −  = +  0
∂x 2  ∂y ∂x 
∂u 1  ∂u ∂u 
ε yy − y 0
= ε xz −  =
x
+ z 0
∂y 2  ∂z ∂x 
∂u 1  ∂u y ∂u z 
ε zz − z 0
= ε yz −  = +  0
∂z 2  ∂z ∂y 

6 PDEs The system will have a solution only if certain

3 unknowns compatibility conditions are satisfied.

15
 Compatibility Conditions
 The compatibility conditions for the infinitesimal strain field are
obtained through double differentiation (single differentiation is
not enough).
 ∂u 
∂ 2  ε xx − x 
 ∂x 
= 6
∂ x , ∂y , ∂z , ∂xy, ∂xz , ∂yz
2 2 2
equations
  6x6=36
  equations
 1  ∂u y ∂u z  
∂  ε yz − 
2
+  
 
2  ∂z ∂y  
  =
6
∂ x 2 , ∂y 2 , ∂z 2 , ∂xy, ∂xz , ∂yz equations

16
 Compatibility Conditions
 The compatibility conditions for the infinitesimal strain field are
obtained through: ∂ 2ε xx ∂ 3ux ∂ 2ε yz 1  ∂ 3u y ∂ 3u z 
= =  + 
∂x 2 ∂x 3 ∂x 2 2  ∂z∂x 2 ∂y∂x 2  18 equations for
ε xy ,ε xz ,ε yz
∂ ε xx
2
∂ ux3
∂ ε yz 1  ∂ u y ∂ u z 
2 3 3
= =  + 
∂y 2 ∂x∂y 2 ∂y 2 2  ∂z∂y 2 ∂y 3 

∂ 2ε xx ∂ 3u x ∂ 2ε yz 1  ∂ 3u y ∂ 3u z 
= ... =  + 
∂z 2 ∂x∂z 2 ∂z 2 2  ∂z 3 ∂y∂z 2 
18 equations for
ε xx ,ε yy ,ε zz ∂ 2ε xx ∂ 3u x ∂ 2ε yz 1  ∂ 3u y ∂ 3u z 
= =  + 
∂x∂y ∂x 2 ∂y ∂x∂y 2  ∂z∂x∂y ∂y 2 ∂x 

∂ 2ε xx ∂ 3u x ∂ 2ε yz 1  ∂ 3u y ∂ 3u z 
= =  + 
∂x∂z ∂x 2 ∂z ∂x∂z 2  ∂z 2 ∂x ∂y∂x∂z 

∂ 2ε xx ∂ 3u x ∂ 2ε yz 1  ∂ 3u y ∂ 3u z 
= =  + 
∂y∂z ∂x∂y∂z ∂y∂z 2  ∂z 2∂y ∂y 2∂z 

17
 Compatibility Conditions
 All the third derivatives of u x , u y and u z appear in the
equations: 3
∂ ux
= 10 derivatives
∂x , ∂x y, ∂x z , ∂y , ∂y x, ∂y z , ∂z , ∂z x, ∂z y, ∂xyz
3 2 2 3 2 2 3 2 2

∂ 3u y
= 10 derivatives
∂x , ∂x y, ∂x z , ∂y , ∂y x, ∂y z , ∂z , ∂z x, ∂z y, ∂xyz
3 2 2 3 2 2 3 2 2

∂ 3u z
= 10 derivatives
∂x , ∂x y, ∂x z , ∂y , ∂y x, ∂y z , ∂z , ∂z x, ∂z y, ∂xyz
3 2 2 3 2 2 3 2 2

which constitute 30 of the unknowns in the system of 36 equations:

 ∂ 3u ∂ 2
ε ij 
fn  i
, =  0 n ∈ {1, 2,...,36}
 ∂x j ∂xk ∂xl ∂xk ∂xl 
 

18
30
 Compatibility Equations
∂ 3ui
 Eliminating the 30 unknowns , , 6 equations (involving
∂x j ∂xk ∂xl
only strain derivatives) are obtained:
 def ∂ 2ε yy ∂ 2ε ∂ 2
ε yz COMPATIBILITY
 S xx = + zz
−2 = 0 EQUATIONS
 ∂z 2
∂y 2
∂y∂z for the infinitesimal
 def
∂ ε zz ∂ ε xx
2 2
∂ 2ε xz strain tensor
 S yy = ∂x 2 + ∂z 2 − 2 ∂x∂z = 0
 def ∂ 2ε ∂ ε ∂ ε xy S = ∇ × (ε × ∇ ) = 0
2 2
 S zz = xx
+
yy
−2 =0
 ∂ y 2
∂ x 2
∂ x ∂ y
 def ∂ 2ε zz ∂  ∂ε yz ∂ε xz ∂ε xy 
 S xy = − + 
 ∂x
+ −  = 0
 ∂x ∂y ∂ z  ∂ y ∂z 
 def ∂ ε yy ∂  ∂ε yz ∂ε xz ∂ε xy 
2

 S xz = − + 

− +  = 0
 ∂ ∂
x z ∂  ∂
y x ∂ y ∂ z 
 def ∂ 2ε xx ∂  ∂ε yz ∂ε xz ∂ε xy 
 S yz = − + −

+ +  = 0
 ∂y∂z ∂x  ∂x ∂y ∂z 
19
 Compatibility Equations
 The six equations are not functionally independent. They satisfy
the equation,
∇ ⋅ S = ∇ ⋅ (∇ × (ε × ∇ )) = 0

 In indicial notation:

∂S xx ∂S xy ∂S xz
+ + =
0
∂x ∂y ∂z
∂S xy ∂S yy ∂S yz
+ + =
0
∂x ∂y ∂z
∂S xz ∂S yz ∂S zz
+ + =
0
∂x ∂y ∂z

20
 Compatibility Equations
 The compatibility equations can be expressed in terms of the
permutation operator, eijk .

= ε ij ,qr 0 m, l ∈ 1, 2,3

S ml emjqelir=

 Or, alternatively:

ε ij ,kl + ε kl ,ij − ε ik , jl −=
ε jl ,ik 0 i, j , k , l ∈ {1, 2,3}

REMARK
Any linear strain tensor (1st order polynomial) with respect to
the spatial variables will be compatible and, thus, integrable.

21
 3.4 Integration of the Infinitesimal
Strain Tensor
Ch.3. Compatibility Equations

22
 Preliminary Equations
 Rotation tensor Ω ( x,t ) :
 1
=Ω skew(u ⊗ = ∇) (u ⊗ ∇ − ∇ ⊗ u)
 2

= 1  ∂ui ∂u j 
Ω  −  i, j ∈ {1, 2,3}
 ij 2  ∂x j ∂xi 

 Rotation vector θ ( x,t ) :

θ1   −Ω 23   −Ω yz   0 −θ3 θ2 
 
θ = ∇ × u = θ 2  =  −Ω  =
[Ω(θ )] =  θ3 −θ1 
1
 31  −Ω
 zx  0
2
θ3   −Ω12     −θ 2 θ1 0 
 −Ω xy 

23
 Preliminary Equations
 Differentiating Ω ( x,t ) with respect to xk :

1  ∂ui ∂u j  ∂Ωij 1 ∂  ∂ui ∂u j 

=
Ωij  −  =  − 
2  ∂x j ∂xi  ∂xk 2 ∂xk ∂
 j
x ∂xi 


 Adding and subtracting the term 1 ∂ 2

uk :
2 ∂xi ∂x j
∂Ωij 1 ∂  ∂ui ∂u j  1 ∂ 2uk 1 ∂ 2uk
=  − + − =
∂xk 2 ∂xk  ∂x j ∂xi  2 ∂xi ∂x j 2 ∂xi ∂x j
∂ 1  ∂ui ∂uk  ∂ 1  ∂u j ∂uk  ∂ε ik ∂ε jk
=  + −  +  = −
∂x j 2  ∂xk ∂xi  ∂xi 2  ∂xk ∂x j  ∂x j ∂xi
= ε ik = ε jk
24
 Preliminary Equations
 Using the previous results, the derivative of θ ( x,t ) is obtained:
 ∂θ 2 ∂Ω zx ∂ε xx ∂ε xz
 ∂θ1 ∂Ω yz ∂ε xz ∂ε xy =
− =−
=
− =−  ∂x ∂x ∂z ∂x
 
 ∂x ∂x ∂ y ∂ z
 ∂θ 2 ∂Ω zx ∂ε xy ∂ε yz

 ∂θ1 ∂Ω yz ∂ε yz ∂ε yy ∇θ 2  =
− =−
∇θ1  =
− =−  ∂y ∂y ∂z ∂x
 ∂y ∂y ∂ y ∂ z
 ∂θ 2 ∂Ω zx ∂ε xz ∂ε zz
 ∂θ ∂Ω ∂ε zz ∂ ε  =
− =−
 1
=
− yz
=− zy
 ∂z ∂z ∂z ∂x

 ∂ z ∂ z ∂y ∂ z
 ∂θ3 ∂Ω xy ∂ε xy ∂ε xx
 = − =−
 ∂x ∂x ∂x ∂y
 ∂θ3 ∂Ω xy ∂ε yy ∂ε xy
∇θ 3  = − =−
 ∂y ∂y ∂x ∂y
 ∂θ ∂Ω xy ∂ε yz ∂ε xz
 3
= − =−
 ∂z ∂z ∂x ∂y
25
 Preliminary Equations
 Considering the displacement gradient tensor J ( x,t ) ,
∂u ( x, t )
J= = ε+Ω
∂x = ε ij
∂ui 1  ∂ui ∂u j  1  ∂ui ∂u j 
J= =  + +  − =  ε ij + Ωij i, j ∈ {1, 2,3}
∂x j 2  ∂x j ∂xi  2  ∂x j ∂xi 
ij

= Ωij
 Introducing the definition of θ ( x,t ) , the components of J ( x,t )
are rewritten:
= j 1= j 2= j 3
∂u x ∂u x ∂u x
i = 1: =ε xx =ε xy − θ3 =ε xz + θ 2
∂x ∂y ∂z
∂u y ∂u y ∂u y
i = 2: =ε xy + θ3 =ε yy =ε yz − θ1
∂x ∂y ∂z
∂u z ∂u z ∂u z
i = 3: =ε xz − θ 2 =ε yz + θ1 =ε zz
∂x ∂y ∂z
26
 Integration of the Strain Field
 The integration of the strain field ε ( x,t ) is performed in two
steps:
1. Integration of derivative of θ ( x,t ) using the1st order PDE system
derived for ∇θ1 , ∇θ 2 and ∇θ3 . The solution will be of the type:
θ=i θi ( x, y, z, t ) + ci ( t ) i ∈ {1, 2,3}
The integration constants ci ( t ) can be obtained knowing the value of
the rotation vector in some points of the medium (boundary conditions).

2. Known ε ( x,t ) and θ ( x,t ) , u is integrated using the 1st order PDE
REMARK system derived for u ⊗ ∇ . The solution will be:
If the compati- ui = ui ( x, y, z , t ) + ci′ ( t ) i ∈ {1, 2,3}
bility equations
The integration constants ci′ ( t ) can be obtained knowing the value of
are satisfied, the displacements in some point of space (boundary conditions)
these equations
will be integra-
ble. 27
 Integration of the Strain Field
 The integration constants that appear imply that an integrable
strain tensor ε ( x,t ) will determine the movement in any instant not
of
not
time except for a rotation c(t ) = θˆ (t ) and a translation c′(t ) = uˆ (t ) :

 ( x, t ) θ ( x, t ) + θ ( t )
θ=  ˆ
ε ( x, t ) 
( x, t ) u ( x, t ) + uˆ ( t )
u=
 A displacement field can be constructed from this uniform rotation
and translation: u∗ (= ˆ (θˆ(t )) ⋅ x + uˆ (t )
x, t ) Ω
u∗ ⊗ ∇ = Ω
ˆ
 S * ∗ ∗
 ∇ ( u =
) 1
2 (u ⊗ ∇ + (u ⊗ ∇ )T
)= 1
2 (Ω
ˆ +Ω
ˆ T )= 0

 This corresponds to a rigid solid movement.

28
 3.5 Integration of the Deformation
Rate Tensor
Ch.3. Compatibility Equations

29
 Compatibility Equations in a
Deformation Rate Field
 There is a correspondence between
u v
ε (u) d( v )
1  ∂ui ∂u j  1  ∂vi ∂v j 
=ε ij  +  =dij  + 
2  ∂x j ∂xi  2  ∂x j ∂xi 

1  ∂ui ∂u j  1  ∂vi ∂v j 
=
Ωij  −  =
w ij  − 
2  ∂x j ∂xi  2  ∂x j ∂xi 
1 1
=
θ ∇ ×u =
ω ∇×v
2 2

 The concept of compatibility conditions can be extended to

deformation rate tensor d ( v ) .

30
 Example
Obtain the velocity field corresponding to the deformation rate tensor:
 0 tety 0 
 
d ( x, t )  = tety 0 0 
 0 0 tetz 
 

such that In point (1, 1, 1) the following conditions is fulfilled:

 2e t   0 
   
v ( x, t )
1
=  et  ω ( x, t ) = ∇ × v=  0 
x=(1,1,1)  t  x=(1,1,1) 2 −tet 
e   

31
  0 tety 0 
 
Example - Solution d ( x, t )  = tety
 0

0
0
0
tetz




u
Consider the correspondence: v
ε(u) d( v )
1 1
=
θ ∇ ×u =
ω ∇×v
2 2
Take the expressions derived for ∇θ1 , ∇θ 2 and ∇θ3 substitute θ ( x,t ) with ω ( x,t )
and ε ( x,t ) with d ( x,t ) :
 ∂ω1 ∂d xz ∂d xy
 = − =0−0
 ∂x ∂y ∂z

 ∂ω1 ∂d yz ∂d yy
∇ω1  = − = 0−0 ω1 ( t ) =
C1 ( t )
 ∂y ∂y ∂z
 ∂ω ∂d ∂d zy
 1 =zz − =0−0
 ∂z
 ∂y ∂z

32
  0 tety 0 
 
Example - Solution d ( x, t )  = tety
 0

0
0
0
tetz




 ∂ω2 ∂d xx ∂d xz
 ∂x = ∂z
−
∂x
=0−0

 ∂ω2 ∂d xy ∂d yz
∇ω2  = − = 0−0 ω2 ( t ) =
C2 ( t )
 ∂y ∂z ∂x
 ∂ω2 ∂d xz ∂d zz
 = − =0−0
 ∂z ∂z ∂x
 ∂ω3 ∂d xy ∂d xx
 = − =0−0
 ∂x ∂x ∂y
 ∂ω3 ∂d yy ∂d xy
∇ω3  = − = 0 − t 2 ety ω3 ( y, t ) =
∫ −t 2 ty
e dy =
−te ty
+ C3 ( t )
 ∂y ∂x ∂y
 ∂ω ∂d yz ∂d
 3 = − xz = 0−0
 ∂z ∂x ∂y

33
 ω1 =C1 ( t )

Example - Solution ω2 =C2 ( t )

ω3 =−tety + C3 ( t )

For point (1, 1, 1) :

 0 
{ ( )} 2 ∇ × v=  0 
ω x, t =
1
−tet 
 
So,
ω1 = 0 = C1 ( t )
C1 ( t ) = 0
ω2 = 0 = C2 ( t ) C2 ( t ) = 0
 
ω3 =−tet = −tety + C3 ( t )  C3 ( t ) = 0
  x=(1,1,1)
Therefore, for any point,
 0 
{ω ( x, t )} =  0 
−tety 
 
34
  0   0 tety 0 
 
{ω ( x, t )} =  0  ; d ( x, t ) = tety 
Example - Solution −tety 
   0

0
0
0 
tetz 

Taking the expressions = j 1= j 2= j 3

∂v x ∂v x ∂v x
i = 1: = d xx = d xy − ω3 = d xz + ω2
∂x ∂y ∂z
∂v y ∂v y ∂v y
i = 2: = d xy + ω3 = d yy = d yz − ω1
∂x ∂y ∂z
∂v z ∂v z ∂v z
i = 3: = d xz − ω2 = d yz + ω1 = d zz
∂x ∂y ∂z
The components of the velocities can be obtained:
∂v x
= d= 0
∂x
xx

∂v x
= d xy − ω= tety − ( −tety=
) 2tety v x ( y=
,t) ∫ 2te =
ty
dy 2ety + C1′ ( t )
∂y
3

∂v x
= d xz + ω2 = 0 + 0
∂z

35
  0   0 tety 0 
 
{ω ( x, t )} =  0  ; d ( x, t ) = tety 
Example - Solution −tety 
   0

0
0
0 
tetz 

The components of the velocities can be obtained:

∂v y
= d xy + ω=
∂x
3 te ty
+ ( −te =
ty
) 0

∂v y
= d= 0 v y ( t ) = C2′ ( t )
∂y
yy

∂v y
= d yz − ω1 = 0 − 0
∂z

∂v z
= d xz − ω2 = 0 − 0
∂x
∂v z
= d yz + ω1 = 0 + 0 v z ( z , t=
) ∫ te tz
=
dz e tz
+ C3′ ( t )
∂y
∂v z
= d= tetz
∂z
zz

36
 v x 2ety + C1′ ( t )
=

Example - Solution v y = C2′ ( t )

v=
z etz + C3′ ( t )

For point (1, 1, 1) :  2e t 

 t 
{ v ( x, t )} e 
=
 et 
 

So,  
= et  2ety + C1′ ( t ) 
v x 2=
  x=(1,1,1) C1′ ( t ) = 0
v=y e=
t
C2′ ( t ) C2′ ( t ) = et
 tz  C3′ ( t ) = 0
v=
z e=t
 e + C3
′ ( t ) 
  x=(1,1,1)
Therefore, for any point, 2ety 
 t 
{ ( )}  e 
v x , t =
 etz 
 
37
Chapter 3
Compatibility Equations

rs
ee
s gin
3.1 Introduction

t d le En
Given a sufficiently regular displacement field U (X,t), it is always possible to

r
ba
ge ro or
eS m
find the corresponding strain field (for example, the Green-Lagrange strain field)

ci
f
by differentiating this strain field with respect to its coordinates (in this case, the

ra
C d P cs
material ones)1 ,
b
a
 
i
an an n

1 ∂Ui ∂U j ∂Uk ∂Uk not 1  

Ei j = + + = Ui, j +U j,i +Uk,i Uk, j
y ha

2 ∂ X j ∂ Xi ∂ Xi ∂ X j 2 (3.1)
le
i, j ∈ {1, 2, 3}.
liv or ec
M

.A

In the infinitesimal strain case, given a displacement field u (x,t), the strain
field
m

 
d

1 ∂ ui ∂ u j not 1
uu

εi j = + = (ui, j + u j,i ) i, j ∈ {1, 2, 3}

e

(3.2)
2 ∂ x j ∂ xi
X Th

2
er
tin

is obtained.
on

.O

The question can be formulated in reverse, that is, given a strain field ε (x,t),
is it possible to find a displacement field u (x,t) such that ε (x,t) is its infinites-
C

imal strain tensor? This is not always possible and the answer provides the so-
called compatibility equations.
Expression (3.2) constitutes a system of 6 (due to symmetry) partial differen-
tial equations (PDEs) with 3 unknowns: u1 (x,t), u2 (x,t), u3 (x,t). This system
is overdetermined because there exist more conditions than unknowns, and it
may not have a solution.
Therefore, for a second-order symmetric tensor ε (x,t) to correspond to a
strain tensor (and, thus, be integrable and there exist a displacement field from
which it comes) it is necessary that this tensor verifies certain conditions. These
conditions are denominated compatibility conditions or equations and guarantee
not
1 Here, the simplified notation ∂Ui /∂ X j = Ui, j is used.

109
110 C HAPTER 3. C OMPATIBILITY E QUATIONS

Figure 3.1: Non-compatible strain field.

rs
the continuity of the continuous medium during the deformation process (see

ee
Figure 3.1).

s gin
t d le En
Definition 3.1. The compatibility conditions are conditions that a
second-order tensor must satisfy in order to be a strain tensor and,

r
ba
ge ro or
therefore, for there to exist a displacement field from which it comes.

eS m
ci
f

ra
C d P cs
b
a
i
an an n
y ha

Remark 3.1. Note that, to define a strain tensor, the 6 components of

le
a symmetric tensor cannot be written arbitrarily. These must satisfy
liv or ec

the compatibility conditions.

M

.A
m

d
uu
e
X Th

Remark 3.2. Given a displacement field, one can always obtain,

er
tin

through differentiation, an associated strain field that automatically

satisfies the compatibility conditions. Therefore, in this case, there is
on

.O

no sense in verifying that the compatibility conditions are satisfied.

C

3.2 Preliminary Example: Compatibility Equations of a

Potential Vector Field
A given vector field v (x,t) is a potential field if there exists a scalar function
φ (x,t) (named potential function) such that its gradient is v (x,t),
⎧
⎪
⎨ v (x,t) = ∇φ (x,t) ,
∂ φ (x,t) (3.3)
⎪
⎩ vi (x,t) = i ∈ {1, 2, 3} .
∂ xi

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Preliminary Example: Compatibility Equations of a Potential Vector Field 111

Therefore, given a scalar (continuous) function φ (x,t), it is always possible to

define a potential vector field v (x,t) such that the scalar function is its potential,
as defined in (3.3).
Now, the reverse question is posed: given a vector field v (x,t), does there
exist a scalar function φ (x,t) such that ∇φ (x,t) = v (x,t)? This is written in
component form as
∂φ ∂φ
vx = =⇒ vx − =0,
∂x ∂x
∂φ ∂φ
vy = =⇒ vy − =0, (3.4)
∂y ∂y

rs
∂φ ∂φ
vz = =⇒ vz − =0,

ee
∂z ∂z

s gin
which corresponds to a system of PDEs with 3 equations and 1 unknown
(φ (x,t)), thus, the system is overdetermined and may not have a solution.

t d le En
Differentiating once (3.4) with respect to (x, y, z) yields

r
ba
∂ vx ∂ 2 φ ∂ vx ∂ 2φ ∂ vx ∂ 2φ

ge ro or
eS m
= 2 , = , = ,

ci
∂x ∂x ∂y ∂ x∂ y ∂z ∂ x∂ z
f

ra
C d P cs
∂ vy ∂ 2φ ∂ vy ∂ 2 φ ∂ vy ∂ 2φ
b
a
= , = 2 , = , (3.5)
i
∂x ∂ y∂ x ∂y ∂y ∂z ∂ y∂ z
an an n
y ha

∂ vz ∂ 2φ ∂ vz ∂ 2φ ∂ vz ∂ 2 φ
= , = , = 2 ,
le
liv or ec

∂x ∂ z∂ x ∂y ∂ z∂ y ∂z ∂z
M

.A

which represents a system of 9 equations. Considering the equality of mixed

partial derivatives, it is observed that 6 different functions (second derivatives)
m

of the unknown φ are involved in these 9 equations,

uu
e
X Th

∂ 2φ ∂ 2φ ∂ 2φ ∂ 2φ ∂ 2ϕ ∂ 2φ
er
tin

, , , , and . (3.6)
∂ x2 ∂ y2 ∂ z2 ∂ x∂ y ∂ x∂ z ∂ y∂ z
on

.O

So, they can be removed from the original system (3.5) and 3 relations, named
C

compatibility conditions, can be established between the first partial derivatives

©

of the components of v (x,t).

Hence, for there to exist a scalar function φ (x,t) such that ∇φ (x,t) = v (x,t),
the given vector field v (x,t) must satisfy the following compatibility conditions.
⎫  
∂ v y ∂ vx ⎪ ⎡ ⎤  ê ê ê 
= 0 = Sz ⎪
de f
− ⎪
⎪
∂x ∂y ⎪
⎪ Sx  1 2 3
⎬ ⎢ ⎥  
∂ vx ∂ vz de f not
⎢ ⎥  ∂ ∂ ∂  not not
− = 0 = Sy ⎪ where S ≡ ⎣ Sy ⎦ ≡   ≡ rot v = ∇ × v

∂z ∂x ⎪
⎪
⎪  ∂x ∂y ∂z 
∂ vz ∂ vy de f ⎪
⎪ Sz  
− = 0 = Sx ⎭  vx vy vz 
∂y ∂z
(3.7)

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
112 C HAPTER 3. C OMPATIBILITY E QUATIONS

In consequence, from (3.7), the compatibility equations can be written as

⎧
⎨∇×v = 0
Compatibility equations
of a potential vector field ⎩ ∂ vi − ∂ v j = 0
(3.8)
i, j ∈ {1, 2, 3}
∂ x j ∂ xi

Remark 3.3. The 3 compatibility equations (3.7) or (3.8) are not in-
dependent of one another and a functional relation can be established

rs
between them. Indeed, applying the condition that the divergence of

ee
the rotational of a vector field is null2 , ∇ · (∇ × v) = 0 .

s gin
t d le En

r
3.3 Compatibility Conditions for Infinitesimal Strains

ba
ge ro or
eS m
ci
f
Consider the infinitesimal strain field ε (x,t) with components

ra
C d P cs
 
b
a
1 ∂ ui ∂ u j not 1
i
an an n

εi j = + = (ui, j + u j,i ) i, j ∈ {1, 2, 3} , (3.9)

2 ∂ x j ∂ xi
y ha

2
le
liv or ec

which may be written in matrix form as

⎡    ⎤
M

.A

∂ u x 1 ∂ u x ∂ uy 1 ∂ ux ∂ uz
⎡ ⎤ ⎢ ∂x 2 ∂y + ∂x + ⎥
m

εxx εxy εxz ⎢ 2 ∂z ∂x ⎥

d

⎢  ⎥
⎢ ⎥ ⎢ 1 ∂ uy ∂ u z ⎥
uu

∂ uy
e

[εε ] = ⎣ εxy εyy εyz ⎦ = ⎢ × + ⎥.

⎢ ∂y ⎥
X Th

∂y 2 ∂z
er
tin

εxz εyz εzz ⎢ ⎥

⎣ ∂ uz ⎦
(symm) ×
on

.O

∂z
C

(3.10)
©

Due to the symmetry in (3.10), only 6 different equations are obtained,

 
∂ ux 1 ∂ ux ∂ uy
εxx − =0, εxy − + =0,
∂x 2 ∂y ∂x
 
∂ uy 1 ∂ ux ∂ uz
εyy − =0, εxz − + =0, (3.11)
∂y 2 ∂z ∂x
 
∂ uz 1 ∂ uy ∂ u z
εzz − =0, εyz − + =0.
∂z 2 ∂z ∂y
2 A theorem of differential geometry states that the divergence of the rotational of any field
is null, ∇ · [∇ × (•)] = 0.

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Compatibility Conditions for Infinitesimal Strains 113

Equation (3.11) is a system of 6 PDEs with 3 unknowns, which are the compo-
nents of the displacement vector u (x,t) ≡ [ux , uy , uz ]T . In general, this problem
not

will not have a solution unless certain compatibility conditions are satisfied. To
obtain these conditions, the equations in (3.11) are differentiated twice with re-
spect to their spatial coordinates,
 
∂ ux
∂ εxx −
2
∂x
= 6 equations
∂ x , ∂ y , ∂ z , ∂ xy, ∂ xz, ∂ yz
2 2 2
.. .. (3.12)
 .   .

rs
1 ∂ uy ∂ u z
∂ 2 εyz − +

ee
2 ∂z ∂y
= 6 equations ,

s gin
∂ x2 , ∂ y2 , ∂ z2 , ∂ xy, ∂ xz, ∂ yz

t d le En
providing a total of 36 equations,
 

r
ba
∂ 2 εxx ∂ 3 ux ∂ 2 εyz 1 ∂ 3 uy ∂ 3 uz

ge ro or
eS m
= = +

ci
∂ x2 ∂ x3 ∂ x2 2 ∂ z∂ x2 ∂ y∂ x2
f  

ra
C d P cs
∂ εxx
2 ∂ 3 ux ∂ 2 εyz 1 ∂ 3 uy ∂ 3 uz
b
a
= = +
i
∂ y2 ∂ x∂ y2 ∂ y2 2 ∂ z∂ y2 ∂ y3
an an n

 
y ha

∂ εxx
2 ∂ 3 ux ∂ εyz 1 ∂ uy
2 3
∂ 3 uz
= ··· = +
le
∂ z2 ∂ x∂ z2 ∂ z2 2 ∂ z3 ∂ y∂ z2
liv or ec

 
∂ 2 εxx ∂ 3 ux ∂ 2 εyz 1 ∂ 3 uy ∂ 3 uz
M

.A

= 2 = + 2 (3.13)
∂ x∂ y ∂ x ∂ y ∂ x∂ y 2 ∂ z∂ x∂ y ∂ y ∂ x
 
m

∂ 2 εxx ∂ 3 ux ∂ 2 εyz 1 ∂ 3 uy ∂ 3 uz
d

= 2 = +
uu

∂ x∂ z ∂ x ∂ z ∂ x∂ z 2 ∂ z2 ∂ x ∂ y∂ x∂ z
e

 
X Th

er

∂ 2 εxx ∂ 3 ux ∂ 2 εyz 1 ∂ 3 uy ∂ 3 uz
tin

= = +
∂ y∂ z ∂ x∂ y∂ z ∂ y∂ z 2 ∂ z2 ∂ y ∂ y2 ∂ z
  
on

  
.O

(18 eqns for εxx , εyy , εzz ) (18 eqns for εxy , εxz , εyz )
C

All the possible third derivatives of each component of the displacements ux , uy

and uz are involved in these 36 equations. Thus, there are 30 different derivatives,
∂ 3 ux
= 10 derivatives ,
∂ x3 , ∂ x2 y, ∂ x2 z, ∂ y3 , ∂ y2 x, ∂ y2 z, ∂ z3 , ∂ z2 x, ∂ z2 y, ∂ xyz
∂ 3 uy
= 10 derivatives ,
∂ x3 , ∂ x2 y, ∂ x2 z, ∂ y3 , ∂ y2 x, ∂ y2 z, ∂ z3 , ∂ z2 x, ∂ z2 y, ∂ xyz
∂ 3 uz
= 10 derivatives ,
∂ x3 , ∂ x2 y, ∂ x2 z, ∂ y3 , ∂ y2 x, ∂ y2 z, ∂ z3 , ∂ z2 x, ∂ z2 y, ∂ xyz
(3.14)

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
114 C HAPTER 3. C OMPATIBILITY E QUATIONS

which constitute the 30 unknowns in the system of 36 equations

 
∂ 3 ui ∂ 2 εi j
fn , n ∈ {1, 2 ... 36} (3.15)
∂ x j ∂ xk ∂ xl ∂ xk ∂ xl
  
30
defined in (3.13). Therefore, the 30 unknowns, which are the displacement
derivatives ∂ 3 ui /(∂ x j ∂ xk ∂ xl ), can be eliminated from this system and 6 equa-
tions are obtained. In these equations, the third derivatives mentioned above
do not appear, but there will be 21 second derivatives of the strain tensor

rs
∂ 2 εi j /(∂ xk ∂ xl ). After the corresponding algebraic operations, the resulting equa-

ee
tions are

s gin
⎧
⎪
⎪ de f ∂ εyy
2
∂ 2 εzz ∂ 2 εyz

t d le En
⎪
⎪ = + − =0
⎪
⎪ S xx 2
⎪
⎪ ∂ z2 ∂ y2 ∂ y∂ z

r
⎪
⎪

ba
ge ro or
⎪

eS m
⎪
⎪ de f ∂ εzz
2 ∂ 2 εxx ∂ 2 εxz
⎪

ci
⎪ S = + − 2 =0
⎪ yy
f

ra
⎪
⎪ ∂ x2 ∂ z2 ∂ x∂ z
C d P cs
⎪
⎪
b
a
⎪
⎪ ∂ 2 εyy ∂ 2 εxy
de f ∂ εxx
2
⎪
i
⎪
an an n

⎨ Szz = + − 2 =0
∂ y2 ∂ x2 ∂ x∂ y
y ha

Compatibility
equations ⎪   (3.16)
le
⎪
⎪ ∂ 2 εzz ∂ ∂ εyz ∂ εxz ∂ εxy
liv or ec

⎪
⎪ S
de f
= − + + − =0
⎪
⎪ xy
∂ x∂ y ∂ z ∂ x ∂y ∂z
M

⎪
.A

⎪
⎪  
⎪
⎪
⎪
⎪ de f ∂ εyy
2
∂ ∂ εyz ∂ εxz ∂ εxy
m

⎪
⎪ Sxz = − + − + =0
d

⎪
⎪ ∂ x∂ z ∂ y ∂ x ∂y ∂z
uu

⎪
⎪
e

⎪
⎪  
X Th

⎪ de f ∂ εxx
2 ∂ ∂ εyz ∂ εxz ∂ εxy
er

⎪
tin

⎩ Syz = − + − + + =0
∂ y∂ z ∂ x ∂x ∂y ∂z
on

.O

which constitute the compatibility equations for the infinitesimal strain tensor ε .
C

The compact expression corresponding to the 6 equations in (3.16) is


Compatibility equations
for the infinitesimal S = ∇ × (εε × ∇) = 0 (3.17)
strain tensor

Another way of expressing the compatibility conditions

 (3.16)
 is in terms of
the three-index operator named permutation operator ei jk . In this case, the
compatibility equations can be written as

Smn = em jq enir εi j,qr = 0 . (3.18)

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Compatibility Conditions for Infinitesimal Strains 115

Remark 3.4. The 6 equations (3.16) are not functionally independent

and, taking again into account the fact that the divergence of the rota-
tional of a field is intrinsically null, the following functional relations
can be established between them.
⎧
⎪
⎪ ∂ Sxx ∂ Sxy ∂ Sxz
⎪
⎪ + + =0
⎪
⎪ ∂x ∂y ∂z
⎪
⎪
⎨
∇ · S = ∇ · (∇ × (εε × ∇)) = 0 =⇒ ∂ Sxy ∂ Syy ∂ Syz
+ + =0

rs
⎪
⎪ ∂x ∂y ∂z
⎪
⎪

ee
⎪
⎪
⎪
⎪ ∂S ∂S ∂S
⎩ xz + yz + zz = 0

s gin
∂x ∂y ∂z

t d le En

r
ba
ge ro or
eS m
ci
f

ra
Remark 3.5. The three-index operator denominated permutation op-
C d P cs
b
a
erator is given by
i
an an n

⎧
y ha

⎪
⎪ 0 → if an index is repeated,
⎪
⎪ i = j or i = k or j = k
le
⎪
⎪
liv or ec

⎨
1 → positive (clockwise) direction of the indexes,
ei jk =
M

.A

⎪
⎪ i, j, k ∈ {123, 231, 312}
⎪
⎪
⎪ −1 → negative (counterclockwise) direction of the indexes,
m

⎪
⎩
d

i, j, k ∈ {132, 321, 213}

uu
e
X Th

er
tin

This definition is summarized in graphic form in Figure 3.2.

on

.O
C

Figure 3.2: Definition of the permutation operator, ei jk .

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
116 C HAPTER 3. C OMPATIBILITY E QUATIONS

Finally, another possible expression of the compatibility conditions is

εi j,kl + εkl,i j − εik, jl − ε jl,ik = 0 i, j, k, l ∈ {1, 2, 3} . (3.19)

Remark 3.6. Since the compatibility equations (3.16) only involve

the second spatial derivatives of the components of the strain ten-
sor ε (x,t), every strain tensor that is linear (first-order polynomial)
with respect to the spatial variables will be compatible and, there-
fore, integrable. As a particular case, every uniform strain tensor

rs
ε (t) is integrable.

ee
s gin
t d le En

r
3.4 Integration of the Infinitesimal Strain Field

ba
ge ro or
eS m
ci
3.4.1 Preliminary Equations
f

ra
C d P cs
b
Consider the rotation tensor Ω (x,t) for the infinitesimal strain case (see Chap-

a
i
an an n

ter 2 , Section 2.11.6),

y ha

⎧
⎪ 1
le
⎨ Ω = (u ⊗ ∇ − ∇ ⊗ u) ,
liv or ec

2   (3.20)
1 ∂ ui ∂ u j
M

.A

⎪
⎩ Ωi j = − i, j ∈ {1, 2, 3} .
2 ∂ x j ∂ xi
m

d
uu

and the infinitesimal rotation vector θ (x,t), associated with said rotation tensor,
e
X Th

defined as3
er
tin

⎡ ⎤ ⎡ ⎤ ⎡ ⎤
θ1 −Ω23 −Ωyz
on

.O

1 1 not ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
θ = rot u = ∇ × u ≡ ⎣ θ2 ⎦ = ⎣ −Ω31 ⎦ = ⎣ −Ωzx ⎦ . (3.21)
C

2 2
θ3 −Ω12 −Ωxy
©

Differentiating the infinitesimal rotation tensor in (3.20) with respect to a

coordinate xk yields
   
1 ∂ ui ∂ u j ∂ Ωi j 1 ∂ ∂ ui ∂ u j
Ωi j = − =⇒ = − . (3.22)
2 ∂ x j ∂ xi ∂ xk 2 ∂ xk ∂ x j ∂ xi

⎡ ⎤
0 Ω12 −Ω31
not ⎢ ⎥
3 The tensor Ω is skew-symmetric, i.e., Ω ≡ ⎣ −Ω12 0 Ω23 ⎦.
Ω31 −Ω23 0

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Integration of the Infinitesimal Strain Field 117

Adding and subtracting in (3.22) the term ∂ 2 uk /(2 ∂ xi ∂ x j ) and rearranging the
expression obtained results in
 
∂ Ωi j 1 ∂ ∂ ui ∂ u j 1 ∂ 2 uk 1 ∂ 2 uk
= − + − =
∂ xk 2 ∂ xk ∂ x j ∂ xi 2 ∂ xi ∂ x j 2 ∂ xi ∂ x j
   
∂ 1 ∂ ui ∂ uk ∂ 1 ∂ u j ∂ uk ∂ εik ∂ ε jk (3.23)
= + − + = − .
∂ x j 2 ∂ xk ∂ xi ∂ xi 2 ∂ xk ∂ x j ∂xj ∂ xi
     
εik ε jk

rs
This expression can now be used to calculate the Cartesian derivatives of the

ee
components of the infinitesimal rotation vector, θ (x,t), given in (3.21), as fol-

s gin
lows. ⎧
⎪
⎪ ∂ θ1 ∂ Ωyz ∂ εxz ∂ εxy

t d le En
⎪
⎪
⎪
⎪ =− = −
⎪
⎪ ∂x ∂x ∂y ∂z

r
⎪
⎨

ba
ge ro or
eS m
∇θ1 ∂ θ1 ∂ Ωyz ∂ εyz ∂ εyy

ci
=− = − (3.24)
⎪
⎪ f

ra
⎪ ∂y ∂y ∂y ∂z
C d P cs
⎪
⎪
b
a
⎪
⎪ ∂ θ1 ∂ Ωyz ∂ εzz ∂ εzy
⎪
i
⎪
an an n

⎩ =− = −
∂z ∂z ∂y ∂z
y ha

le
⎧
liv or ec

⎪
⎪ ∂ θ2 ∂ Ωzx ∂ εxx ∂ εxz
M

⎪
.A

⎪
⎪ =− = −
⎪
⎪ ∂x ∂x ∂z ∂x
⎪
⎨
m

∇θ2 ∂ θ2 ∂ Ωzx ∂ εxy ∂ εyz

uu

=− = − (3.25)
⎪
e

⎪ ∂y
⎪ ∂y ∂z ∂x
X Th

⎪
er

⎪
tin

⎪
⎪
⎪ ∂ θ2
⎩ ∂ Ωzx ∂ εxz ∂ εzz
=− = −
on

.O

∂z ∂z ∂z ∂x
⎧
C

⎪
©

⎪
⎪ ∂ θ3 ∂ Ωxy ∂ εxy ∂ εxx
⎪
⎪ =− = −
⎪
⎪ ∂x ∂x ∂x ∂y
⎪
⎪
⎨
∇θ3 ∂ θ3 ∂ Ωxy ∂ εyy ∂ εxy (3.26)
⎪ =− = −
⎪
⎪ ∂y ∂y ∂x ∂y
⎪
⎪
⎪
⎪ ∂ Ωxy ∂ εyz ∂ εxz
⎪ ∂ θ3
⎪
⎩ =− = −
∂z ∂z ∂x ∂y

Assume the value of the infinitesimal rotation vector θ (x,t) is known and,
through it by means of (3.21), the value of the infinitesimal rotation tensor

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
118 C HAPTER 3. C OMPATIBILITY E QUATIONS

Ω (x,t) is also known. Then, the displacement gradient tensor J (x,t) (see Chap-
ter 2, Section 2.11.6) becomes
⎧
⎪ ∂ u (x,t)
⎪
⎪ J= = ε +Ω
⎨ ∂x    
∂ ui 1 ∂ ui ∂ u j 1 ∂ ui ∂ u j
⎪ Ji j = = + + − = εi j + Ω i j
⎪
⎪ ∂xj 2 ∂ x j ∂ xi 2 ∂ x j ∂ xi
⎩       i, j ∈ {1, 2, 3} .
εi j Ωi j
(3.27)
Finally, writing in explicit form the different components in (3.27) and taking

rs
into account (3.21), the following is obtained4 .

ee
s gin
j=1 j=2 j=3
∂ ux ∂ ux ∂ ux
i=1: = εxx = εxy − θ3 = εxz + θ2

t d le En
∂x ∂y ∂z
∂ uy ∂ uy ∂ uy (3.28)

r
ba
i=2: = εxy + θ3 = εyy = εyz − θ1

ge ro or
eS m
∂x ∂y ∂z

ci
∂ uz ∂ uz f ∂ uz

ra
C d P cs
i=3: = εxz − θ2 = εyz + θ1 = εzz
b
a
∂x ∂y ∂z
i
an an n
y ha

le
liv or ec

3.4.2 Integration of the Strain Field

M

.A

Consider ε (x,t) is the infinitesimal strain field one wants to integrate. This op-
eration is performed in two steps:
m

1) Using (3.24) through (3.26), the infinitesimal rotation vector θ (x,t) is in-
uu
e

tegrated. The integration, with respect to space, of the infinitesimal rotation

X Th

er
tin

vector in (3.24) through (3.26) leads to a solution of the type

on

.O

θi = θ̃i (x, y, z,t) + ci (t) i ∈ {1, 2, 3} , (3.29)

C

where the integration constants ci (t), which, in general, may be a function

©

of time, can be determined if the value (or the evolution along time) of the
infinitesimal rotation vector at some point of the medium is known.
2) Once the infinitesimal strain tensor ε (x,t) and the infinitesimal rotation
vector θ (x,t) are known, the displacement field u (x,t) is integrated. The
system of first-order PDEs defined in (3.28) is used, resulting in

ui = ũi (x, y, z,t) + ci (t) i ∈ {1, 2, 3} . (3.30)

⎡ ⎤ ⎡ ⎤
0 Ω12 −Ω31 0 −θ3 θ2
According to (3.21), Ω ≡ ⎣ −Ω12 0 Ω23 ⎦ = ⎣ θ3 0 −θ1 ⎦.
4 not

Ω31 −Ω23 0 −θ2 θ1 0

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Integration of the Infinitesimal Strain Field 119

Again, the integration constants ci (t) that appear, which, in general, will be
a function of time, are determined when the value (or the evolution along
time) of the displacements at some point of space is known.

Remark 3.7. The integration processes in steps 1) and 2) involve in-

tegrating systems of first-order PDEs. If the compatibility equations
in (3.16) are satisfied, these systems will be integrable (without lead-
ing to contradictions in their integration process) and will finally al-
low obtaining the displacement field.

rs
ee
s gin
Remark 3.8. The presence of the integration constants in (3.29) and

t d le En
(3.30) shows that an integrable strain tensor, ε (x,t), determines the

r
not
motion of each instant of time except for a rotation c (t) = θ̂θ (t) and

ba
ge ro or
eS m
 not
a translation c (t) = û (t).

ci
 f

ra
θ (x,t) = θ̃θ (x,t) + θ̂θ (t)
C d P cs
ε (x,t)
b
a
u (x,t) = ũ (x,t) + û (t)
i
an an n
y ha

From these uniform rotation θ̂θ (t) and translation û (t) the displace-
le
liv or ec

ment field
M

u∗ (x,t) = Ω̂ u∗ ⊗ ∇ = Ω̂
.A

Ω (t) x + û (t) =⇒ Ω
m

can be defined, which corresponds to a rigid body motion5 . Indeed,

uu
e

the strain associated with this displacement is null,

X Th

er
tin

1 1 
ε ∗ (x,t) = ∇s u∗ = (u∗ ⊗ ∇ + ∇ ⊗ u∗ ) = Ω̂ Ω + 
ΩT = 0 ,
Ω̂
2 2
on

.O

Ω
−Ω̂
C

as corresponds to the concept of rigid body (without deformation).

©

Consequently, it is concluded that every compatible strain field de-

termines the displacements of the continuous medium except for a
rigid body motion, which must be determined by means of the ap-
propriate boundary conditions.

5 Ω (t) (antisymmetric) is defined based on the rotation vector

The rigid body rotation tensor Ω̂
⎡ ⎤ ⎡ ⎤
0 Ω̂12 −Ω̂31 0 −θ̂3 θ2
Ω ≡ ⎣ −Ω̂12 0 Ω̂23 ⎦ = ⎣ θ3 0 −θ1 ⎦ .
not
θ̂θ (t) as Ω̂
Ω̂31 −Ω̂23 0 −θ2 θ1 0

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
120 C HAPTER 3. C OMPATIBILITY E QUATIONS

Example 3.1 – A certain motion is defined by the infinitesimal strain tensor

⎡ ⎤
y 3 2
⎢ 8x − x z
2 2 ⎥
not ⎢ y ⎥
ε (x,t) ≡ ⎢ −
⎢ 2 x 0 ⎥.
⎥
⎣3 ⎦
2
x z 0 x 3
2
Obtain the corresponding displacement vector u (x,t) and the infinitesimal
rotation tensor Ω (x,t) taking into account that u (x,t)|x=[0,0,0]T ≡ [3t, 0, 0]T
not

rs
and Ω (x,t)|x=[0,0,0]T = 0.

ee
s gin
Solution

t d le En
Infinitesimal rotation vector

r
Posing the systems of equations defined in (3.24) through (3.26) results in

ba
ge ro or
eS m
ci
∂ θ1 ∂ θ1 ∂ θ1
f

ra
=0 ; =0 ; =0 ⇒ θ1 = C1 (t) ,
C d P cs
∂x ∂y ∂z
b
a
i
∂ θ2 ∂ θ2 ∂ θ2
an an n

3 3
= −3xz ; =0 ; = − x2 ⇒ θ2 = − x2 z +C2 (t) ,
y ha

∂x ∂y ∂z 2 2
le
∂ θ3 ∂ θ3 3 ∂ θ3
liv or ec

3
=0 ; = ; =0 ⇒ θ3 = y +C3 (t) .
∂x ∂y ∂z
M

2 2
.A

The integration constants Ci (t) are determined by imposing that

m

Ω (x,t)|x=(0,0,0)T = 0 (and, therefore, the infinitesimal rotation vector

uu
e

θ (x,t)|x=(0,0,0)T = 0), that is,

X Th

er
tin

 T
3 3
on

.O

not
C1 (t) = C2 (t) = C3 (t) = 0 =⇒ θ (x) ≡ 0 , − x2 z , y
2 2
C

and the infinitesimal rotation tensor is

⎡ ⎤
3 3 2
⎡ ⎤ ⎢ 0 − y − x z⎥
0 −θ3 θ2 ⎢ 2 2 ⎥
⎢ ⎥
not ⎢ ⎥ ⎢ ⎥
Ω (x) ≡ ⎣ θ3 0 −θ1 ⎦ = ⎢ 3 y 0 0 ⎥ .
⎢ 2 ⎥
−θ2 θ1 0 ⎢ ⎥
⎣3 ⎦
x2 z 0 0
2

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Compatibility Equations and Integration of the Strain Rate Field 121

Displacement vector
Posing, and integrating, the systems of equations in (3.28) produces

∂ u1 ∂ u1 ∂ u1
= 8x ; = −2y ; =0 ⇒ u1 = 4x2 − y2 +C1 (t) ,
∂x ∂y ∂z
∂ u2 ∂ u2 ∂ u2
=y ; =x ; =0 ⇒ u2 = xy +C2 (t) ,
∂x ∂y ∂z
∂ u3 ∂ u3 ∂ u3
= 3x2 z ; =0 ; = x3 ⇒ u3 = x3 z +C3 (t) .

rs
∂x ∂y ∂z

ee
and imposing that u (x,t)|x=(0,0,0)T ≡ [3t, 0, 0]T yields
not

s gin
not  T

t d le En
C1 (t) = 3t ; C2 (t) = C3 (t) = 0 =⇒ u (x) ≡ 4x2 − y2 + 3t , xy , x3 z .

r
ba
ge ro or
eS m
ci
f

ra
C d P cs
b
a
3.5 Compatibility Equations and Integration of the Strain
i
an an n

Rate Field
y ha

le
Given the definitions of the infinitesimal strain tensor ε , the infinitesimal rotation
liv or ec

tensor Ω and the infinitesimal rotation vector θ , there exists a clear correspon-
M

.A

dence between these magnitudes and a) the strain rate tensor d, b) the rotation
rate (or spin) tensor w and c) the spin vector ω given in Chapter 2. These corre-
m

spondences can be established in the following manner:

uu
e
X Th

er
tin

u v
on

.O

ε (u) d (v)
   
C

1 ∂ ui ∂ u j 1 ∂ vi ∂ v j
©

εi j = + di j = +
2 ∂ x j ∂ xi 2 ∂ x j ∂ xi
⇐⇒ (3.31)
   
1 ∂ ui ∂ u j 1 ∂ vi ∂ v j
Ωi j = − wi j = −
2 ∂ x j ∂ xi 2 ∂ x j ∂ xi
1 1
θ = ∇×u ω = ∇×v
2 2

Then, it is obvious that the concept of compatibility of a strain field ε in-

troduced in Section 3.1 can be extended, by virtue of the correspondence with
(3.31), to the compatibility of a strain rate field d (x,t).

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
122 C HAPTER 3. C OMPATIBILITY E QUATIONS

To integrate this field, the same procedure as that seen in Section 3.4.2 can be
used, replacing ε by d, u by v, Ω by w and θ by ω . Certainly, this integration
can only be performed if the compatibility equations in (3.16) are satisfied for
the components of d (x,t).

Remark 3.9. The resulting compatibility equations and the integra-

tion process of the strain rate vector d (x,t) are not, in this case,
restricted to the infinitesimal strain case.

rs
ee
s gin
t d le En

r
ba
ge ro or
eS m
ci
f

ra
C d P cs
b
a
i
an an n
y ha

le
liv or ec
M

.A
m

d
uu
e
X Th

er
tin
on

.O
C

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Problems and Exercises 123

P ROBLEMS

Problem 3.1 – Determine the spatial description of the velocity field that cor-
responds to the strain rate tensor
⎡ ⎤
tetx 0 0
not ⎢ ⎥

rs
d (x,t) ≡ ⎢ ⎣ 0 0 te y +1⎥ .
⎦

ee
0 te + 1
y 0

s gin
For x = 0, ω 0 ≡ [t − 1, 0, 0]T and v0 ≡ [t, 0, t]T f or ∀t is satisfied.
not not

t d le En

r
ba
ge ro or
eS m
ci
f

ra
Solution
C d P cs
b
a
The problem is solved by integrating the corresponding differential equations,
i
an an n

taking into account the existent parallelism between the variables:

y ha

⎫ ⎧
le
liv or ec

u⎪⎬ ⎪
⎨v
M

.A

ε ⇐⇒ d
⎪
⎭ ⎪
⎩
θ ω
m

d
uu
e

Angular velocity of the rotation vector

X Th

er
tin

∂ ω1 ∂ ω1 ∂ ω1
on

=0 ; = tey ; =0 ⇒ ω1 = C1 (t) + tey ,

.O

∂x ∂y ∂z
C

∂ ω2 ∂ ω2 ∂ ω2
©

=0 ; =0 ; =0 ⇒ ω2 = C2 (t) ,
∂x ∂y ∂z
∂ ω3 ∂ ω3 ∂ ω3
=0 ; =0 ; =0 ⇒ ω3 = C3 (t) .
∂x ∂y ∂z
The boundary conditions are imposed for x = 0,
⎡ ⎤ ⎡ ⎤ ⎧
t −1 t +C1 ⎨ C1 = −1
⎪
not ⎢ ⎥ ⎢ ⎥
ω 0 ≡ ⎣ 0 ⎦ = ⎣ C2 ⎦ =⇒ C2 = 0 ,
⎪
⎩
0 C3 C3 = 0

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
124 C HAPTER 3. C OMPATIBILITY E QUATIONS

and the final result is ⎡ ⎤

tey − 1
not ⎢ ⎥
ω (x,t) ≡ ⎣ 0 ⎦.
0
Velocity vector

∂ v1 ∂ v1 ∂ v1 
= tetx ; =0 ; =0 ⇒ v1 = C1 (t) + etx ,
∂x ∂y ∂z

rs
∂ v2 ∂ v2 ∂ v2 
=0 ; =0 ; =2 ⇒ v2 = C2 (t) + 2z ,

ee
∂x ∂y ∂z

s gin
∂ v3 ∂ v3 ∂ v3 
=0 ; = 2tey ; =0 ⇒ v3 = C3 (t) + 2tey .
∂x ∂y ∂z

t d le En
The boundary conditions are imposed for x = 0,

r
ba
ge ro or
⎡ ⎤ ⎡  ⎤ ⎧ 

eS m
ci
t 1 +C1 ⎨ C1 = t − 1
⎪
f

ra
not ⎢ ⎥ ⎢  ⎥ 
C d P cs
v0 ≡ ⎣ 0 ⎦ = ⎣ C2 ⎦ =⇒ C2 = 0 ,
b
a
⎪
⎩ 
i

2t +C3 C3 = −t
an an n

t
y ha

le
and the spatial description of the velocity field is
liv or ec

⎡ ⎤
M

.A

etx + t − 1
not ⎢ ⎥
m

v (x) ≡ ⎣ 2z ⎦ .
d
uu
e

2tey − t
X Th

er
tin
on

.O
C

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961
Problems and Exercises 125

E XERCISES

3.1 – Deduce the displacement field that corresponds to the infinitesimal strain
tensor ⎡ ⎤
0 tety 0
not ⎢ ty ⎥
ε (x,t) ≡ ⎢ ⎣ te 0 0 ⎥.
⎦
0 0 tetz

rs
ee
At point (1, 1, 1) , u ≡ [2et , et , et ]T and θ ≡ [0, 0, −tet ]T is verified.
not not

s gin
3.2 – Determine the spatial description of the velocity field that corresponds to

t d le En
the strain rate tensor
⎡ ⎤

r
ba
tetz

ge ro or
0 0

eS m
not ⎢ ⎥

ci
d (x,t) ≡ ⎢ ty
f ⎥.

ra
⎣ 0 te 0 ⎦
C d P cs
b
a
tetz 0 0
i
an an n
y ha

The following is known:

le
liv or ec


for z = 0 : vx = vz = 0 , ∀t , x, y
M

.A

for y = 1 : vy = 0 , ∀t , x, z
m

d
uu
e
X Th

er
tin
on

.O
C

X. Oliver and C. Agelet de Saracibar Continuum Mechanics for Engineers.Theory and Problems
doi:10.13140/RG.2.2.25821.20961