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Appendix A

Vector Calculus: a quick review


Selected Reading
H.M. Schey,. Div, Grad, Curl and all that: An informal Text on Vector Calculus, W.W. Norton and Co., (1973). (Good physical introduction to the subject) Mase, George. Theory and problems of Continuum Mechanics: Schaums outline Series. (Heavy on tensors but lots of worked problems) Marsden, J.E. and Tromba, A.J. . Vector Calculus. W.H. Freeman (or any standard text on Vector calculus)

In modeling we are generally concerned with how physical properties change in space and time. Therefore we need a general mathematical description of both the variables of interest and their spatial and temporal variations. Vector calculus provides just that framework.

A.1 Basic concepts


Fields A eld is a continuous function that returns a number (or sets of numbers) for every point in space and time (x, t). There are three basic avours of elds we will deal with scalar elds A scalar eld f (x, y, z, t) returns a single number for every point in space and time. Examples include temperature, salinity, porosity, density. . . . vector elds A vector eld F(x, y, z, t) returns a vector for every point in space and is readily visualized as a eld of arrows. Examples include velocity, elastic displacements, electric or magnetic elds. tensor elds A second rank tensor eld D(x, y, z, t) can be visualized as a eld of ellipsoids (3 orthogonal vectors for every point). Examples include stress, strain, strain-rate. 1

2 Notation There are many different notations for scalars, vectors and tensors (and theyre often mixed and matched); however, a few of the common ones are scalars scalars are usually shown in math italics e.g. f , g, t. . . vectors come in more avours. when typeset theyre usually bold-roman characters e.g. V, or the unit vectors i, j, k. When hand written they usually have a line underneath them. Vectors can also be written in component form as v = vx i + vy j + vz k or in index notation v = vi ei where ei is another representation of the unit vectors. tensors (actually second rank tensors) Typeset in sans-serif font D (or often just a bold ), handwritten with two underbars, or by component Dij . 2nd rank tensors are also conveniently represented by matrices. Denitions of basic operations vector dot product a b = ai bi = |a||b| cos (A.1.1)

is a scalar that records the amount of vector a that lies in the direction of vector b (and vice versa). is the smallest angle between the two vectors. vector cross product c = a b is a vector that is perpendicular to the plane spanned by vectors a and b. The direction that c points in is determined by the right hand rule. Note a b = b a. The cross product is most easily calculated as the determinant of the matrix i j k ax ay az bx by bz

c=

(A.1.2)

or c = (ay bz az by )i (ax bz az bx )j + (ax by ay bx )k or in index notation as ci = symbol.


ijk aj bk

(A.1.3)

where

ijk

is the horrid permutation

tensor vector dot product is a vector formed by matrix multiplication of a tensor and a vector c = D a. In the case of stress, the force acting on a plane with normal vector n is simply f = n. Each component of the vector is most easily calculated in index notation with ci = Dij aj with summation implied over repeated indices (i.e. c1 = D11 a1 + D12 a2 + D13 a3 and so on for i = 2, 3.

Vector calculus review

A.2 Partial derivatives and vector operators


Denitions Given a scalar function of one variable f (x), its derivative is dened as df f (x + x) f (x) = lim (A.2.1) dx x0 x (and is locally the slope of the function). Given a function of more than one variable, f (x, y, t), the partial derivative with respect to x is dened as f f (x + x, y, t) f (x, y, t) = lim x x0 x (A.2.2)

i.e. if we sliced the function with a plane lying along x, the partial derivative would be the slope of the function in the direction of x (See Figure A.1a) likewise y or t. In space in fact it is convenient to consider all of the spatial partial derivatives together in one handy package, the del operator ( ) a.k.a. the upside down triangle.. In Cartesian coordinates this operator is dened as =i +j +k x y z (A.2.3)

In combination with vector and scalar elds, the del operator gives us important information on how these elds vary in space. In particular, there are 3 important combinations the Gradient the gradient of a scalar function f (x) f =i f f f +j +k x y z (A.2.4)

is a vector eld where each vector points uphill in the direction of fastest increase of the function (See Figure A.2). the Divergence the divergence of a vector eld F= Fx Fy Fz + + x y z (A.2.5)

is a scalar eld that describes the strength of local sources and sinks. If F = 0 the eld has no sources or sinks and is said to be incompressible. the Laplacian the Laplacian of a scalar eld
2

f=

( f) =

2f 2f 2f + + x2 y 2 z 2

(A.2.6)

is a scalar eld that gives the local curvature (See Figure A.3). the Curl the curl of a vector eld F=( Fz Fy Fz Fx Fy Fx )i ( )j + ( )k y z x z x y (A.2.7)

is a vector eld that that describes the local rate of rotation or shear.

4 Other useful relationships Given the basic denitions, there are several identities and relationships that will be important for the derivation of conservation equations. Gauss divergence theorem Gausss theorem states that the ux out of a closed surface is equal to the sum of the divergence of that ux over the interior of that volume (it is actually closely related to the denition of the Divergence). Mathematically F dS =
S V

FdV

(A.2.8)

useful identities the rst homework will make you show that 1. 2. 3. 4. ( F) = 0 (i.e. if a vector eld can be written as V = it is automatically incompressible). ( f ) = 0 (a gradient eld is irrotational) V= ( V) )[
2V

g then

[(V

)V] = (V

V]

Figures A.1A.5 show some examples of scalar and vector elds and their derivatives.
-10.0

4.00 3.00 f 2.00 1.00 10.0


0.0
4.0 3.0 2.0 1.0

0.0 0.0 y

10.0 -10.0 -10.0


10.0 -10.0 0.0 x 10.0

Figure A.1: (a) Surface plot of the 2-D scalar function f (x, y) 5 exp (x2 /90 + y 2 /25) (b) contour plot of the same function.

Vector calculus review

-10.0

0.0

10.0 -10.0

0.0 x = 0.86

10.0

Figure A.2: Vector plot of

f (x, y) for the function f in Figure A.1.

-10.0

0.1

0.0
-0.2 0.0 0.1

-0.4 -0.3

10.0 -10.0

0.0 x

10.0

Figure A.3: contour plot of of the divergence of the vector eld in Figure A.2. Because
( f) =
2

f this plot is also a measure of the curvature of the function f .

0.0

0.0

0.30 -0.30

-0.60

-0.90 -1.80 -1.20

10.0 0.0 x 10.0

10.0 0.0 x 10.0

= 1.00

Figure A.4: (a) Vector plot of the 2-D corner ow velocity eld V(x, y) = 2/ tan1 (x/y) xy/(x2 + y 2 ) i y 2 /(x2 + y 2 )j (b) contour plot of log10 ( V k). The maximum rate of rotation is in the corner. There is no rotation directly on the x axis. This eld is incompressible however and V = 0
0.0

10.0 0.0 x 10.0

= 14.14

Figure A.5: Vector plot of pure-shear ow eld V(x, y) = xiyj. Although the ow lines
of this eld are supercially similar to those of Figure A.4, this ow is locally irrotational i.e. V = 0. This ow is also incompressible.