Harley Cohen Robert G. Muncaster The Theory of Pseudo-rigid Bodies With 12 Mlustrations & we Springer-Verlag New York Berlin Heidelberg London Paris Tokyoariey Coen Department of Cit Enioeing Winnie, Maitob, Cada RIT 2N2 Depacnent of Mathematics sive fis at Urbane Champs ‘bani 1801, USA Mai Sot Cin) ES Lay f Conran Data (che tae. “Their of cots odes Sent rs os 3 Pani Rg 2 osama Mc) Quiles oe rae wake 198 oy Sg Veg New Yr ne ‘unex Th won may note ane cp wo ps witout, ‘he un prt the pebltr (Spar Vere 1, Fth Ava. New York Dy Tot shy cap or i nope cto eso sly sae ‘aur sonra by ua dimar meted now tac ore erp be {Te ue ef pal dcp same tle amex ademas ths pbltion ree te omar ae a pec tal oe teh a 4 ot ch ‘nc a eco yt Trade Mat and Mean Mars Amey arg “ype by Aa Tre Typing Li Hang Kong. shy Ener rt hor si 97.908 Spring Ne Yok Ben Heder ISBN 50618 Spiny Vre Rein Hoy New Yor For Estelle and NancyPreface “This monograph concers the development, analysis, and application of the theory of pseudo-gid bodies It calls together our work on tht subject over the lat five years While some results have appeared de ‘where, mich of the work is new. Our objective in writing this mono raph has been to present a new theory ofthe deformation of bods, fone that has not only «frm theoretical bai, but also the simplicity to serve as an effective tool in practical problems. Consequently, the main body ofthe treatise is & mulated development of the theory, ‘Hom foundations co explicit solutions to inearzations to methods of approximation. The fact that this variely of asec, each examined $a considerable detail can be collected together i single, unified treat- ‘ment gives this theory an elegance that we fe sefs it apart from many others ‘While oer goal has always bsen to give complete tresiment of the theory as it RoW stands, the Work hete is not meant to be definitive ‘Theories are not ens that appear suddenly one day and thetefer stand as sien, Rather, they must mature and_grow with time and fesperenee: Our development ie more corey a beginning, tmpling ‘others to explore, appraise, and modiy it features 20 at 10 produce Something better. We hope thatthe foundations Ind hee ae slsety firm to endure; but we algo hope that in bot its simplicity ad its ch variety of applications, te theory will encourage oters fo sei in thet ‘own work ‘Without the conned interest and. encouragement of CuiroRD ‘TaurspeLt, a6 a teacher and as colleague, ths Work would aot have teen tempted. He has allowed us the freedom to colt topetber out rel in ths compat, concise, and complete presentation, and for thi tse owe a sincere debt, Several others, both friends and cole, have contributed through important discussions and extcsms of early das ‘ofthe monograph, and thee we alo ofr our thanks. They are Ts Hunter, CueSINe Man, Geatow MacStingi and Jon RE=D ‘We alo acknowledge the geaerous Wnancal support of the US.National Science Foundation and the Natural Sciences and Engineering Research Couns of Cans, Finally, our sincerest debe goes to Naxcy MUNCASTER for the com: postion of the manuscript. She typed the frst, ssond, thi, ad Foal dat, and we pratflyacknowldge her ski and inte patinoe Winsipes, Masitobs Harkey Cohen Urbana, Minos Robert G. Muncaster Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Contents, Prolegomena to the Thory (@ Hisoreal eset (i) Tomar the Raioa! Mochanics of aed id Bodies (iy Tora the Study of Cros theory Comparon Foundations of the Theory of Pseude-igd Boles (Event Works and Body Manis. (i) Kinenates (8) gets of Balance (For an Fors momnte (0) Rigby MechanseThe Pai falas of (0 Changes of Frame (9) Conse Relations ‘Conssteney with Other Continuum Theos () The General Notion of Consens. (a) Elasciy Theory. Subtiors ik ‘The Sobor of Preoornghd Matias fy) Symmetry. Unguenes. {8} Approsiation of be Couric Explicit Motions of Psedo-gid Bodies (@ Rigé Motions (i) Retodormations in Pore Sach Motions (s Shecing Motes {0} Pline Motions ‘Variational Formelasion of the Theory (@) Lageangin aod Hanitoian Formelsion: an " eres » oReferences Index () Symmetey and Conserved Quantities (i) ‘The Suit of Steady Motions: A Special Case {i lgorable Coordinate Renuths onthe Gene ‘Anal of Sate Aperoximations for Almostrigit Bodies {0 The Problem of Tanson to Rigiity (i) Dewaon ofthe Asymeode Espana (i) Proto he Sper Thete {is Spe Re or Asly Symes Bodie (6) Gyroscope Motions 1 1% ™ CHAPTER 1 Prolegomena to the Theory ‘The theory of pseudo-igd bodies foouses on the largescale motions of elormable bodies. IC provides a convenient framework, Hike classical Fiid-body mechanics, fr the analysis of gros changes in the postion fad orientation of « body. As such it represents generalization ofthat, lassal theory. AC the same ‘ime, the theory of pseudo-igd bodies ‘concerns deformation, treating changes in the shape of « body by use ‘of eeriin grose mesnures of strain. As such Wt represents a restction ‘or coarse version, of many theries now commonplace in continuum Imechanis. Between these Iwo extiemes, the modern and the asia he theory of pseudo-igid bodies takes a mide road, focusing on problems that exhibit high degree of interplay between deformation and reid body motion "Tit chapter gives an overview of the diferent perspectives of our rues. We begin with 1 dscasion of the place the theory cocupis 8 the historical development of continuum mechanics. In retrospect, his theory pull together and solidies «number of dees pt forward bythe pst mister ear that ave arisen in a mural progression of thought {bd whch, at last for psoudoipid bodies, we have been able 10 give & reste development. We look at there historical perspectives im Section Tih Nex we examine: te role tht the theory plays as a study in rational mechanics. This study, we fe, specimen for the student of the diferent ingredients that can, and perhaps shoud, be included in any study of a new theory. The dierent repr in this study form the ma body of the monograph, and they are summarized in Seton 1() I the course of our writing, a third theme has evolved, one that h een eated only difsely ia the Hterature despite its importance for future work in continuum mechanics This I the study of casetheory famparizon. In many ways, the theory of prewdorigtd bodies is one of ‘he simplest in hierarchy of theories, some of great age others now being developed, and sil others ony yt in the imagination. We present, here an analytical tecbnigue for the comparison of diferent thotes and then we IC to show how the theory of pseudovigd bodies ean be2 1, Prfeomen othe Theory appraised through comparisons both with simpler theories to which i ‘hould reduce by specialization ad with more complex theories for Ivhich it should serve as a specialization. This method of comparae Tive analysis encompassr new questions and new techniques that are ‘evelped herein sofisent detall that they speak (0 this hierarchy of theories, We highlight the diferent pars of the study of erosetheory ‘comparison in Seton 1). Thereafter, we move to the formal develop Isat ofthe theory of pacudo-igid bodies bepinning in Chapter 2. (@) Historical Perspectives Continuum mechanics draws a clea distinction between balance laws 35 Nalements of general principles and constitutive relations as definitions (of Mealzed material response. This dsinction can be traced back (0 Eutrn! who bad clar defiaitions ofthe rgd body and the perfect Tid [Newros was certainly aware of these two materials he aso had an Sppeeation of the vicous Tid, The defnion of an elie material fad to awit the development of new concepts and it remained fr Cnverer to ist formulate its near constitute relation. "The theory of lastcty and the mechanics of rig bodies exch fol lowed is own path of development, both feaching sophisicated level by the twentieth century. Intly, the vast majonty of work on ease Imsterinis was rested tothe iar theory. Not wail dhe male of the present century did nonlinear elasticity begin to peld to analysis and tact atentin, Similar suoceses Were seen for nonlinear viscous Mids ‘Thee suceeses brought about a resurgence of interest in the overall ‘ule of contnuem physics, and ratonal mechanics and enginering Scientists ook up the study with aew vigor. Specialized theories were {nied within one framework, and the separate satus of general ws fd constitutive relations was feared, At the stme time, rgd-body ‘mechani although a theory of special type of continuum, appeared Instead fo be abandoned to physics and applied mathematics for further stay. Eni investigations of clastic bodies were mainly concerned with the formulation of specal theories for thin and slender bodies. Rods, strings, Shells and memibrants-the base elements of structural enginering— provided the main impetus for research Initially, these suture! theories Theted the uniying framework thatthe general thre-dimensonal equ tions of classe near slarcity would eventually provide, thereafter {Tapco oie st tanner ihe ues ‘Sly a conte ns, weer the rae to Tus. (98, 0 Histral Pepactives 3 developed the tain of dering structural theories, by various slings land approximation, from the thre dimensional theory? ECoswnar and F Comsat [1909], in 4 monumental work, pro- vided the foundations for a new approach tothe mechanics of thin sod Slender bodies. Like the eater research, thst approach permitted the formolation of srvtural theories without recourse to an independent, thveedimensional theory. In contrast, however, the Cossenat brothers ‘worked within a sactired ftamework rather than by more of les fc theorizing. In the soqul, we shall rer 10 mechaslcal theories for specal bodies as derived ot diet, depending on whether ot not they are bined (rom a paren thtee-dimensionalthery ‘The Cossaars following an idea of Duss (1893) introduced the tracted contimaim. This is a css! continuum? with a set of gid Sectors called directors attached to each ofits points The asia coe Uinuum bad tadiuonallyseved as a mode for a body in mechanics. The Girected continuum generalized this idea, providing 2 model for what tre oil Hee an extended body. The extra Kinematic feedom associated With the directors could be aed to model aspects of material structure Jnazcestibe i terms of the classical body. Stings and membranes had stinactorily been modeled, respectively, by one- and two-dimensional ‘continua -curver and srfsee im space With the ealea siucure pro- ded by the drectors, rods and shes were modeled as directed curves ‘nd urluce: the dzectors captured variations in the crosesetion and thickness, respective The work of the Cossnars lay incomplete, unheralded, and with few exceptions unsaid. In 1988 it was tecalled, modemmized, and extended to continua with deformable decors in a major stdy by ERICKSON and ‘Taetanet2. Possibly more important, their work sncoduoed the com opto the dieeted continuum to researchers im mechanics The timing ‘ould not have been more propitious The aforementioned suscests in the analyst of aoainear teores of simple materials prompted those ‘ulvating stuctral theories 10 seek nonlinear rol for rods and ‘hell Thee inal approach, however, was hampered rather than sti Dlifed by past experience Teadidon guided them to seek theories tht tree derived from a nonlinear threedimensional theory. Unfortunately, ‘ometsc and Kinematic complexes surrounded this approach and led insted to a maze of iorurmounlable dificult. Success ulmately lay in {fnew diction the method of the CosseeaTs bas the concept of the dred continuum, "The frrmework set down by Enicesex and Tavespeut [1988] has Ty tw ne ne et mtn ob LE4 1. Proegomenn tthe Theory een used as the bass of « mumber of direct theories ComEN and Destva [1966} adopted it for ther analysis of hypersiasi. directed surfaces while ComEN [1966] used it for byperelaste dieced curves Nonlinear theories of rods and shells quickly followed. In essence, the ‘progam st forth by the CossnaTs has eon realized. The status of this ‘work to feceat mes, including extensive bibliographies, is described by ANIMAN [1972] for rods and Nano! [1972] for sels ‘Mt the same time, the treaeee of ANTMAN and NAGHDI attest to the face that derived theo ad not been abandoned. Indeed, now that direct theories provided a path through the maze, the question of erving stoctral theories could be attacked with renewed igor. Of Primary intrest was the elation Between the wo theories—the diet land he derived, Tauesbent [1959] rased this question in terms of the ‘compatibility of solusons to a given boundary-value problem. He called this the consistency problem, MUscasten [1984s using the concept of {e-course theory pars, defined the notion of consistency i terme of the ‘elation between solutions ofthe derived (caus) theory and thowe ofthe ‘aren inc) theory, Hie notion of consistency, although ess genera than ‘TeusspoL's, was phrased ina precise mathematical form ‘and edt equations though Which consistency could be addressed diel. "The Cosenats’ Hes. of 4 threr-dimensonal generalized continuum, ‘once intoded to continuum mechanics by ERiCkS ad TRUSSELL, fnve rise to a wealth of study. Further aspects of thre-limensonal gen~ fralzed continu, esedlly those rated with ste are dealt with in he ance by TeUrsoaax and ToUP [1960]. Other landmark papers are those of ToUPN [1964] and MINDLIN (1968), which developed theories of elastic dieted materials review ofthis early work may be found in ‘Taurspatt and Nou (1965), he some idea ofits expanding scope can be found in Krowtx (1968). A more rent guid to att im this area an be gleaned from the bibliography of the lecture notes edited by Brvans and Ht (1982) Pethaps one of the surprises ofthis new work was the appearance of oncrps not inherent in the classical theory. The additonal kinematic freedom associated with the directors provided « need for generalized stress, now flld equations, and corresponding new consitie rea- ‘ons. Some spect, suchas nonsymmetie sess and couple sess, could ‘be anticipate from the work on theories of rods and shells; others. such 5 mcrosress, higher-order sues, end mictoiera, were new. A cuteat ‘ersion ofthe equations of the three-dimensional directed continuum hat been provided by CaPaiz and Poovo-Gurpucts [1976] "A ‘recent innovation. is the zerodimenional body with drectors _Muscastin [19840] formulated the basic equations ofeach a body ak & and et 3 ter mimemionl vector space. Lat 7) be te tangent spa of at he ‘ot P. Dele 2 to be eof al smooth mapings pf into, wth ‘noting the dere map ofp. Then et 2 be test fall mappings © of ino the space of tat mappings frm sah tat for ea Pea he Sect ranormation (@%P,O(P) ls Smet P) > 7 tls way. We ain an wlmensionsl BO st each po of bch atthe a et of 3m e110) Ti scan of (8) a eto ee diced by Semres 98) Ine, ‘Smit Inds fry pine he asgnent ea ton 2. Ths te "ano ent (19) en cle he ar rd. Se cr sn anther penny Sint ns ey yin amr e's ee ‘ee tot fe Ga Und tk Mion, oe ear ees aed ere in ce of 19 say Sts et nd 9) ol teed ng ran ai 2 Foundations of the Theory of Prado Bodies ico, When n= thi a ro and f4=2 we obtain she. Moros, by ‘estretng stanton to specal ube 2, we can oa ods with id eos ‘Som saftey ftps 1h poeuorigid motion is smooth mapping t-210 ~ ane @en) an inerval oftime 7 © Fino the st of plaeemenls OF Tecan be represented by the equations = onfP)= P. PH Op(MV=OP,DY Ved. [Ac ech time ¢ the point P occupies the place fP,1) in &, which we interpret asthe curentIoetion of the center of mass. The transforma tion @(P.0) provides «representation of bow the mater surrounding P Jn deformed at time "Through (2110) we ave transersed the body pont P and its ncigh= boring matter into phystal space, Tt uefa at this sage 1 tran tho the two measures of ast. Generally, the total mass associated with the point gi?) number m For simplicity, we assign the tial tnass mf the bouy det to this point. Thus, we require that mom eu for every placement 2 tn particular, fa pseudo-rigid motion the mass ‘gots te constant m for al and 80 we explily roquie thatthe total, ‘mots of Body femains constant in time én =e eats oo e113) eu ere and henceforth we write min place of my "As preliminary 10 sina considerations for the Euler functional fet uh noe that esocised with any linear mapping @,P) from 2 10 7 there ie 8 dual mapping O](P) fom AY) to 1), Setting Ne O]Pm new, AA @lOVN, Nee vee may interpret was an image plane in the placement 2 corresponds To the plane Nor view Na the preimage plane associated with the ple win 2. Ta order to obtain a clear physical interpretation of the [age normal m, we reall the deflation of the dual mapping. For any linear mapping from 2 to 7, is dul aT is that linear transformation from 207) to 2(2) such tat for any Ve @ and any me (7) we hive Ie(AV) = (Ala Vn ew of (2.18 this implies tha NV =O] PIn- Y= eM. eu eLy FRomnh wee wo derbaey, but pmery Se this monopaph we He (0 Event Word and Body Manis » Since ¥ = @,)¥, we obtain Nvawe, e116 ‘Therefore, in moving fom the exended body 4, to physical space, me find that “astaness” trom plane, ax measured by the ction of linear funtonsly remain unckangot. The ceatal notion bere is the ivarianee cof “dntance” as summarized in 2.16) In carying the Euler functional M to physial space, we generalize the prcediag observation by viewing the values M(N, K) as fnvarint, ‘Thus for each placement 4 we inttoduce an Euler functional Ey on lyse space by requiring that MOV, K) = Fun 8) eu for every choice of the panes w and k in (9) related, respectively, to the plans N and K in 2(2) according to (2.114) This relation uniguly eines E,, Naturally, cach plane represented here by an clement of “(7's assumed to passthrough the center of mass of the body it the ‘agement J, namely, through pl?) ina pscado-igid motion, thie stme proces deiner an Euler funstional py for exch time 1 Henecorth, we drop the subscript 7() sod simply wile E(), While may depend expcly on t, we assume tha the Euler {Finctinal M on the extonded body, ie constant. Wwe alo ew the Planes N’and Kin) to be fue, then thie ages in 217), namely, m= OFP,IN, A= OTE OK, es) wil generally change in time. (The supersript —T denotes the dsl of the inverse map, of equivaley the inverse ofthe dual map) However, ‘ese changes will occur, according to (2117, such that Ele A) always asthe constant valve MN, K). Thus, ‘ feta) 0, e119) paralleling (21.13) fr the total mass ‘We can interpret (2.1.13) and (2.1.19) as coneeaion laws for the total ‘mass and the Euler functional. They aie divly out of ur deiitons ‘fm and E in physial space and our assumptions that mM, and tlemenis of (3) on the extended body , are constant. While thee fare many isleresting problems in mave-poit mechanic tht allow for ‘changes in the mass through time, such problems ae seldom considered in the mechanics of sid bodies and’ are even more rate in modern ‘continuum mechanics” coment st a oe eet oj a ty mtn Bons Peano eee1 2 Foundations of the Theory of Pudi Bods In the mechanics of vigil bodies, it & conventional 19 introduce an Baler tensor rather thin an Euler funcional Since & 8 a bilinear functional on -2(77 i canbe represnted inthe form Fla) = Bk, e120) and we call E:-2(0)-+¥" the Euler tensor ofthe motion. For theoretic velopment the Euler fonctionl plays principal roe, but as we Shall ave later, the Euler tensor makes an explicit appearance when We ‘onder specific appitons of the theory. For comparisons with esl {n'npa-bndy mechanic, itis useful (0 introduce the Inertia tenor in a ‘edo-rigid motion by Jae BIE 12 Naturally, by replacing £, £, and J here with Fy, By, and Ji, we may ‘etine an Euler ensor and an ner tensor Tor ay placement 2 ofthe body, (i) Kinematics 1m continuum mechanics some particular placement x = (py. ®,) i often ted as an absolute rekrence ative to which we may compare the placments of the body during is motion, We cal a reference place- Inent Becnse ofits special statu, we dente it by the subscript Rand ipvcrally we we this subwcrit to denote all quantities relative to such @ placement Let X= oulPh v=ary, Ved, where we recall that @4(P)eFnu(9, 7) Then X and V denote ine Uependent variables representing places and vectors, respectively, in the fetrenee placement. In view of 212}, we see that the motion of freudorigid body, generally piven by (LI, cam now be represented guia inthe form e20 oe 2 remOk Ver, where HO= Dx A= 80a" 223 Here and henoforth we suppress dependence on the single material point P. The vector isthe diplaement of the mass center of the body lative tothe ongin x and F isthe deformation of the body relative fom The pair (,F) i called the ransplacement relative to x, and i (8 Kinematir » proves 8 representation ofthe motion of w pseudo boy through {rte deerptom Note thant destin, Fn member tbe paral scr group 8) 08 Fors ip tvs, whose dtr ents aalgos to (21) mat be scons fom 9 7 reel Soto 33) rt at Fiat ee cba gay 80 ot. ‘elcy 3 and acelraton a ofthe center of mass of «pseu ‘Tigid body are represented by the usual time derivatives: pew yeh anh ey Velocities and acceleration of neighboring points are modced by succes sive derivatives of holding is preimage ¥ constant under tensplace- ment, These derivatives, expressed relative to il ae given by bake, Fah, a2 Late e269 isthe deforming tonsor. Thus, Land L +L arise naturally as represents ion ofthe velocity and acceleration associated withthe deformation F “The shew part of L, denoted by sk, i the spin tensor O of the poevdo tip mocion, while the symmetie part sym L isthe stretching tensor D. Thus, Lapse, ean we Dasym b= e+, Om kL=ML~ 1), cs) 11 Fs writen inte ts pols decomposition kU, a9 Where Ris orthogonal and U is posive-dfite and symmetric, then the ‘etching and spin tensors are given by the conventional expressions (el “TmussoeEt and Nowe [1965, Eq, 2416) D= ROU + UDR, BRE + SOU — 0-10) Re ‘The theory of pseudotigld hodies provides an important toot for stdyng the tterplay been effects ofonentaton, as character by AR. and efles of pute deformation, as represented by U. The tensor RR" hich is skew, is called the angular eelocty tensr JY of the motion, Nes associated asiah vector Is ealed the angular velocity vector Ih imtereting 10 note thatthe spin tensor O provide an alternative tothe e210)» 2. Foundation ofthe Theory of Parad Boies sas vey tensor for examining ef of rotation. Generally, we {n'a he ier move sme" appeatons. Whi he ei the angular velo ae general enint mesures of ain, fea motion th pure dlormation Ui trvily ad inthis ese {etd tom (2210) ta the spin abd te angular voc ae. ‘vith Ne lacemen we can sccte a Trent Ever onctional sand 2 roel Euler tor Ey esoring 10 the prescipons Guin ana G20) west MON, K) = Bgl) = NB, en) ee NWeepN, K-06 eam his ste planes Nand pass hough the emer of ma in TMs Dent Saw the cent flr fatal E as dled se rec aly prod-ngd mon i tale Ei of eae Pekar wih MON, Khe fi ha NBR = w Ek enn) by combining 2212) and (2118) and ng the defton (222) of he asa cling thatthe caren ples mand ave rte {9 SeorTedptatn and inthe rence placement APN, kK e219) Cr couse m an pss trogh the arent centr of mass 9, We 6 sow tht Bk = Fin gh TA = 0 PEEK, e215) and since and Kare arbitrary we obtain Bi) = FEE e216 ‘The conservation of the Euler foactional summarized i (2.19) was ‘aed’ on the assumption that on the body manifold 3, the Euler factional Mand the elements Nand K of (2) are independent of time Sins by mature the rbrenoe placement x is independent of t, tre coneude from (2211) thatthe eleenal Euler tensor By is aso CSostane Thus, 2216) shows that the tue dependence of Eon time ‘Snes through the deformation Fla esence, 2216) provides an integral Atason® ofthe conservation principle (219), or equivalently he “as wa a gl ina mai Convoy, eh enya eu 2114 Easy ea Seas tone ota aga of 216 e219 (i) Kinemati fl Eucan’s laws of balance, and the generalizations of thete on which we shall base the governing equations forthe theory of pcndo-rgd bodies, fssert that external effects se changes in measure of the motentu ‘f-a body. Our choices of these measures of momentum reflect our intuition about what eets cause 2 body to pert in its motion whet ‘extemal inucnots ate absent. Generally, we BM thi intuition eter by {stealing from simpler thoves or simpLiping from the more complex. ‘The motion of a muss point is characlerzed by 2 curve in spce-ime, and the momentum of this mass is a vector proportional o- both is ‘mass and its velocity, In the absence of exteaal free, increases in ‘mass result in deceass in velocity, exacly fo = proportion fo Keep the ‘momentum Ged. For sigid odie, whose motions so involve changes J ovienation we consider in addition the eects of the angular mo- ‘mentum ofa body Tn this case, te rate of spa combines with moments of neta in orde to old the angular momentum vestor fixed Fr a pscudo-igid body 3, we generalize these ideas by characterize ing momentum through two quantiena vector pe” called the tina ‘momentum and a fneat mapping by: 20°) —~¥" called the referential ‘manent of moment. Within the genera framework of dieted on tina, the Latter quantity might alo te called the yeneraied momentum ofthe body. For each plane Ne 2(97), we interpret (N) ae the net ‘momen, with respect to ditance om N in the reerence placement, ofthe linear momenta ofall point im the body. Since hy ina ‘mapping. we can tepresent itn the form (N= HN, e215) Where His called the rfretal moment of momentum tensor. AB We Shall sc lates, 1, contains the conventional efits of angular momentom ‘5 well as new fics that are patclar to peudo-ipd bodies. Tn the same way, a moment of momentum can be introduced in ‘conection with any’ placement of the body. In purtclar, if we work Felatve to the current placereat (in a pseudo-sd motion, we obtain the current moment of momentum ke2(¥)-» 7 the asocaied curren ‘moment of momentum tear Hs given by ‘a= e219) Wie can interrelate the moments of momentum for diferent placements by requiring that thi values be invariant. For example, the’ referential ad current values mus ily = cm) 2220) for all w and tlted through 22.14). By 2218) and (2219) we conc that WHE 221)2 2. Foundations ofthe Theory of Prado Bods [Exprione drawn from the study of mass points rigid bodies, and general tivee-dimensional continua sugaesis that p and My should be Etcmined by the motion of the body through measures of mas and Vcouty, Thos, constitutive elaons must be specified for cach giving thee values in terms of m Ey and the tansplacement (7, F) relative 10 the rlerence placement x For the linear momentum p we choose the andard for Irom rgid-body mechani pom e222) For the moment of momentum hy bowee.«cutsponding coe tess dear Since My pincaly captures the elects of the linear momentum ‘Sr poins surtounding the cenerof mass, and since mass and yeloity for Sich points ate characterized, rempetvely, by the Euler tensor Ey and the eae of change F of the deformation is reasonable to begin with @ [ener slation ofthe form Ih= Sy. Ba) 225 In order to simplify the response fonction $y, we adopt evo additional requirements rugasted by the physical setng irs, we note that, without further restctions on (2223) Sp will cfunge’ with our choice of the rerenes placement x. Thos, dierent ‘Slacumcots wil geoeraly see diffrent ways of calculating the moment [Er momentum tensor of the body. Te seems more reasonable, however, {0 sume thatthe calculation of the moment of momentum is not ‘Shoneted to any particular choice ofthe relerene placement. Thus, we ope the followin (Git) The response ficton Sy forthe moment f moment i invariant Ander changes of reference placement More precisely. let &=(. 4) be a second choice for the reference Dlaciment, with Euler tensor £,, moment of momentum tensor Hand ‘pone function Sy. IG denotes the deormation relative to & namely, Ge OU}; then the constitutive elation (2223) reative to becomes | = 846.55) 0225) (041 hen states tha oO e225 for al plaements& ‘its pecudorrigd body in particular reference placement has complctely symmetic diebution of mass 20 that Ey is proportional t ITiten iti reasonable to view all points i the body as independent ‘ham points with moment of momestum proportional to This mot (ates our second requirement (6) uations of Balance a (2) For all clare and al tensors K, SHR. ON = 2K 2229 Tt opts ply niu om for the repose acon ‘Tcorem. The ony faction Sy saiing bth (Ht) and (H2) is Sul F By) = Fl e227 ‘Thus, by 220, 2.223), (226, and 22.6, the constitutive relations for the rfrenal and cutent moment of momentum tensors ae y= PE, H=LE, 2228) Late, we shall see that the skew part of the tensor A proviées an act analogue of the conventional angular momentum tom rigid-body ‘oechanion ‘We conclude tis section withthe proof of 2227) Let P denote the formation ©,0;" from the placement x to the placement Since "905" and G= 0," we see that, F=oP. (2229) Moreover, 2.2.16) and 2.221, specialized now 10 the placment & eater than the current placement, give us B= PEPT Wea MyP e230) Placing these into (2224) and using (2228) and (222), we obtain 8016, PEP) = S416P, BP e23) Setting By = 1, we see from (H2) that S416. PPT) = 9467, 1" = GPP e232) Since this applies for all invertible tensors P, choose P to be the square oot of the posve-dfite abd symmetic tensor By. Then, replacing @ wth F, we obtain (2227), (Gi) Equations of Balance In egi-body mechanics, the dynamic rues that govern how « body ‘moves in phyical space express principles of balance tetwoes (2) changes J Kipematcal eure ofthe body and (2) external infuences that cause ‘motion These pisciples are the laws of balance of liar and angular ‘momentum due to BULEX. To these we may adjoin the (eldom stated) Principles of Balance of mass and the Euler functional, Cissy, exter