Nonlinear Continuum Mechanics For Finite Elasticity Plasticity Multiplicative Decomposition With Subloading Surface Model 1St Edition Koichi Hashiguchi Full Chapter

Nonlinear Continuum Mechanics for
Finite Elasticity-Plasticity: Multiplicative

Decomposition with Subloading
Surface Model 1st Edition Koichi
Hashiguchi
Visit to download the full and correct content document:
https://ebookmass.com/product/nonlinear-continuum-mechanics-for-finite-elasticity-pl
asticity-multiplicative-decomposition-with-subloading-surface-model-1st-edition-koichi
-hashiguchi/
NONLINEAR CONTINUUM
MECHANICS FOR FINITE
ELASTICITY-PLASTICITY
NONLINEAR
CONTINUUM
MECHANICS FOR
FINITE ELASTICITY-
PLASTICITY
Multiplicative Decomposition With
Subloading Surface Model
KOICHI HASHIGUCHI
Technical Adviser, MSC Software Ltd.
(Emeritus Professor of Kyushu University),
Tokyo, Japan
Elsevier
Radarweg 29, PO Box 211, 1000 AE Amsterdam, Netherlands
The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom
50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States
Copyright © 2020 Elsevier Inc. All rights reserved.
No part of this publication may be reproduced or transmitted in any form or by any means,
electronic or mechanical, including photocopying, recording, or any information storage and
retrieval system, without permission in writing from the publisher. Details on how to seek
permission, urther information about the Publisher’s permissions policies and our arrangements
with organizations such as the Copyright Clearance Center and the Copyright Licensing Agency,
can be found at our website: www.elsevier.com/permissions.
This book and the individual contributions contained in it are protected under copyright
by the Publisher (other than as may be noted herein).
Notices
Knowledge and best practice in this field are constantly changing. As new research and experience
broaden our understanding, changes in research methods, professional practices, or medical
treatment may become necessary.
Practitioners and researchers must always rely on their own experience and knowledge in
evaluating and using any information, methods, compounds, or experiments described herein.
In using such information or methods they should be mindful of their own safety and the safety
of others, including parties for whom they have a professional responsibility.
To the fullest extent of the law, neither the Publisher nor the authors, contributors, or editors,
assume any liability for any injury and/or damage to persons or property as a matter of products
liability, negligence or otherwise, or from any use or operation of any methods, products,
instructions, or ideas contained in the material herein.
British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the British Library
Library of Congress Cataloging-in-Publication Data
A catalog record for this book is available from the Library of Congress
ISBN: 978-0-12-819428-7
For Information on all Elsevier publications
visit our website at https://www.elsevier.com/books-and-journals
Publisher: Matthew Deans

Acquisitions Editor: Dennis McGonagle
Editorial Project Manager: Joshua Mearns
Production Project Manager: Sojan P. Pazhayattil
Cover Designer: Greg Harris
Typeset by MPS Limited, Chennai, India
Contents
Preface xi
1. Mathematical fundamentals 1
1.1 Matrix algebra 1
1.1.1 Summation convention 1
1.1.2 Kronecker’s delta and alternating symbol 2
1.1.3 Matrix notation and determinant 2
1.2 Vector 6
1.2.1 Definition of vector 7
1.2.2 Operations of vector 7
1.3 Definition of tensor 15
1.4 Tensor operations 18
1.4.1 Properties of second-order tensor 18
1.4.2 Tensor components 19
1.4.3 Transposed tensor 20
1.4.4 Inverse tensor 21
1.4.5 Orthogonal tensor 22
1.4.6 Tensor decompositions 24
1.4.7 Axial vector 25
1.4.8 Determinant 27
1.4.9 Simultaneous equation for vector components 30
1.5 Representations of tensors 31
1.5.1 Notations in tensor operations 31
1.5.2 Operational tensors 32
1.5.3 Isotropic tensors 34
1.6 Eigenvalues and eigenvectors 35
1.6.1 Eigenvalues and eigenvectors of second-order tensor 35
1.6.2 Spectral representation and elementary tensor functions 37
1.6.3 Cayley Hamilton theorem 38
1.6.4 Scalar triple products with invariants 39
1.6.5 Second-order tensor functions 39
1.6.6 Positive-definite tensor and polar decomposition 40
1.6.7 Representation theorem of isotropic tensor-valued tensor function 42
1.7 Differential formulae 43
1.7.1 Partial derivatives of tensor functions 43
1.7.2 Time-derivatives in Lagrangian and Eulerian descriptions 48
1.7.3 Derivatives of tensor field 49
1.7.4 Gauss’ divergence theorem 51
1.7.5 Material-time derivative of volume integration 52
v
vi CONTENTS
1.8 Variations of geometrical elements 53

1.8.1 Deformation gradient and variations of line, surface and volume
elements 53
1.8.2 Velocity gradient and rates of line, surface and volume elements 56
2. Curvilinear coordinate system 61

2.1 Primary and reciprocal base vectors 61
2.2 Metric tensor and base vector algebra 65
2.3 Tensor representations 68
3. Tensor operations in convected coordinate system 77

3.1 Advantages of description in embedded coordinate system 77
3.2 Convected base vectors 79
3.3 Deformation gradient tensor 80
3.4 Pull-back and push-forward operations 83
3.5 Convected time-derivative 88
3.5.1 General convected derivative 89
3.5.2 Corotational rate 92
3.5.3 Objectivity of convected rate 95
4. Deformation/rotation (rate) tensors 101

4.1 Deformation tensors 101
4.2 Strain tensors 106
4.2.1 Green and Almansi strain tensors 106
4.2.2 General strain tensors 109
4.2.3 Logarithmic strain tensor 113
4.3 Volumetric and isochoric parts of deformation gradient tensor 114
4.4 Strain rate and spin tensors 117
4.4.1 Strain rate and spin tensors based on velocity gradient tensor 117
4.4.2 Strain rate tensor based on general strain tensor 120
5. Conservation laws and stress tensors 123

5.1 Conservation laws 123
5.1.1 Conservation law of physical quantity 123
5.1.2 Conservation law of mass 124
5.1.3 Conservation law of linear momentum 125
5.1.4 Conservation law of angular momentum 126
5.2 Cauchy stress tensor 127
5.2.1 Definition of Cauchy stress tensor 127
5.2.2 Symmetry of Cauchy stress tensor 130
5.3 Balance laws in current configuration 132
5.3.1 Translational equilibrium 133
5.3.2 Rotational equilibrium: symmetry of Cauchy stress tensor 133
5.3.3 Virtual work principle 134
CONTENTS vii
5.3.4 Conservation law of energy 135

5.4 Work-conjugacy 135
5.4.1 Kirchhoff stress tensor and work-conjugacy 136
5.4.2 Work-conjugate pairs 137
5.4.3 Physical meanings of stress tensors 138
5.4.4 Relations of stress tensors 141
5.4.5 Relations of stress tensors to traction vectors 142
5.5 Balance laws in reference configuration 145
5.5.1 Translational equilibrium 145
5.5.2 Virtual work principle 146
5.5.3 Conservation law of energy 146
5.6 Simple shear 147
6. Hyperelastic equations 151

6.1 Basic hyperelastic equations 151
6.2 Hyperelastic constitutive equations of metals 155
6.2.1 St. Venant Kirchhoff elasticity 155
6.2.2 Modified St. Venant Kirchhoff elasticity 156
6.2.3 Neo-Hookean elasticity 157
6.2.4 Modified neo-Hookean elasticity (1) 157
6.3 Hyperelastic equations of rubbers 159
6.4 Hyperelastic equations of soils 160
6.5 Hyperelasticity in infinitesimal strain 161
7. Development of elastoplastic and viscoplastic constitutive

equations 163
7.1 Basis of elastoplastic constitutive equations 163
7.1.1 Fundamental requirements for elastoplasticity 164
7.1.2 Requirements for elastoplastic constitutive equation 166
7.2 Historical development of elastoplastic constitutive equations 168
7.2.1 Infinitesimal hyperelastic-based plasticity 168
7.2.2 Hypoelastic-based plasticity 178
7.2.3 Multiplicative hyperelastic-based plasticity 181
7.3 Subloading surface model 182
7.4 Cyclic plasticity models 188
7.4.1 Cyclic kinematic hardening models with yield surface 188
7.4.2 Ad hoc Chaboche model and Ohno-Wang model excluding yield
surface 191
7.4.3 Extended subloading surface model 192
7.5 Formulation of (extended) subloading surface model 195
7.5.1 Normal-yield and subloading surfaces 195
7.5.2 Evolution rule of elastic-core 198
viii CONTENTS
7.5.3 Plastic strain rate 205

7.5.4 Strain rate versus stress rate relations 206
7.5.5 Calculation of normal-yield ratio 207
7.5.6 Improvement of inverse and reloading responses 208
7.5.7 Cyclic stagnation of isotropic hardening 209
7.6 Implicit time-integration: return-mapping 213
7.6.1 Return-mapping formulation 213
7.6.2 Loading criterion 221
7.6.3 Initial value of normal-yield ratio in plastic corrector step 224
7.6.4 Consistent tangent modulus tensor 227
7.7 Subloading-overstress model 229
7.7.1 Constitutive equation 230
7.7.2 Defects of past overstress model 238
7.7.3 On irrationality of creep model 240
7.7.4 Implicit stress integration 243
7.7.5 Temperature dependence of isotropic hardening function 249
7.8 Fundamental characteristics of subloading surface model 249
7.8.1 Distinguished abilities of subloading surface model 250
7.8.2 Bounding surface model with radial-mapping: Misuse of subloading
surface model 252
8. Multiplicative decomposition of deformation gradient tensor 255

8.1 Elastic-plastic decomposition of deformation measure 256
8.1.1 Necessity of multiplicative decomposition of deformation gradient
tensor 256
8.1.2 Isoclinic concept 259
8.1.3 Uniqueness of multiplicative decomposition 262
8.1.4 Embedded base vectors in intermediate configuration 263
8.2 Deformation tensors 264
8.2.1 Elastic and plastic right Cauchy-Green deformation tensor 264
8.2.2 Strain rate and spin tensors 265
8.3 On limitation of hypoelastic-based plasticity 269
8.4 Multiplicative decomposition for kinematic hardening 271
9. Subloading-multiplicative hyperelastic-based plastic and

viscoplastic constitutive equations 273
9.1 Stress measures 273
9.2 Hyperelastic constitutive equations 275
9.3 Conventional elastoplastic model 277
9.3.1 Flow rules for plastic strain rate and plastic spin 277
9.3.2 Confirmation for uniqueness of multiplicative decomposition 281
9.4 Continuity and smoothness conditions 283
9.5 Initial subloading surface model 284
9.6 Multiplicative extended subloading surface model 286
9.6.1 Multiplicative decomposition of plastic deformation gradient for
elastic-core 286
CONTENTS ix
9.6.2 Normal-yield, subloading and elastic-core surfaces 289

9.6.3 Plastic flow rules 291
9.7 Material functions of metals and soils 296
9.7.1 Metals 296
9.7.2 Soils 300
9.8 Calculation procedure 306
9.9 Implicit calculation by return-mapping 309
9.9.1 Return-mapping 309
9.9.3 Initial value of normal-yield ratio in plastic corrector step 314
9.10 Cyclic stagnation of isotropic hardening 317
9.11 Multiplicative subloading-overstress model 320
9.11.1 Constitutive equation 320
9.11.2 Calculation procedure 326
9.11.3 Implicit calculation by return-mapping 328
9.12 On multiplicative hyperelastic-based plastic equation in current
configuration 330
10. Subloading-friction model: finite sliding theory 335

10.1 History of friction models 335
10.2 Sliding displacement and contact traction vectors 336
10.3 Hyperelastic sliding displacement 339
10.4 Normal-sliding and subloading-sliding surfaces 340
10.5 Evolution rule of friction coefficient 341
10.6 Evolution rule of sliding normal-yield ratio 342
10.7 Plastic sliding velocity 344
10.8 Calculation procedure 348
10.9 Return-mapping 349
10.9.1 Return-mapping formulation 349
10.10 Subloading-overstress friction model 356
10.11 Implicit stress integration 362
10.12 On crucially important applications of subloading-friction model 363
10.12.1 Loosening of screw 363
10.12.2 Deterministic prediction of earthquake occurrence 364
11. Comments on formulations for irreversible mechanical

phenomena 365
11.1 Utilization of subloading surface model 365
11.1.1 Mechanical phenomena described by subloading surface model 365
11.1.2 Standard installation to commercial software 367
11.2 Disuses of rate-independent elastoplastic constitutive equations 368
11.3 Impertinence of formulation of plastic flow rule based on second law of
thermodynamics 369
x CONTENTS
Appendix 1: Proofs for formula of scalar triple products

with invariants 371
Appendix 2: Convective stress rate tensors 373
Appendix 3: Cauchy elastic and hypoelastic equations 377
Bibliography 379
Index 393
Preface
The elastoplasticity theory is now faced to the epoch-making devel-

opment that the exact description of the finite irreversible (plastic or vis-
coplastic) deformation/sliding behavior under the monotonic/cyclic
loading in the general rate of deformation/sliding from the static to the
impact loading is attained as the subloading multiplicative hyperelas-
tic based plasticity and viscoplasticity. This is the first book on this the-
ory, comprehensively describing the underlying concepts and the
formulations for the subloading surface model and for the multiplicative
decomposition of deformation gradient tensor into the elastic and the plastic
(or viscoplastic) parts and their combination.
The precise description of the plastic strain rate induced by the rate
of stress inside the yield surface is inevitable for the prediction of cyclic
loading behavior, which is crucial for the accurate mechanical design of
solids and structures in engineering. A lot of works have been executed
and various unconventional plastic constitutive (cyclic plasticity) models,
named by Drucker (1998), have been proposed aiming at describing the
plastic strain rate caused by the rate of stress inside the yield surface
after 1960s when the demands of mechanical designs of solids and
structures for the mechanical vibration and the seismic vibrations have
been highly raised responding to the high development of machine
industries and the frequent occurrences of earthquakes, e.g. Chile (1960)
and Niigata (Japan) (1964). Among various unconventional models the
multi surface model (Mroz, 1967; Iwan, 1967), the two surface model
(Dafalias and Popov, 1975; Krieg, 1975; Yoshida and Uemori, 2002), and
the superposed-kinematic hardening model (Chaboche et al., 1979;
Ohno and Wang, 1993) are well known. However, they assume a sur-
face enclosing a purely elastic domain and are based on the premise
that the plastic strain rate develops with the translation of the small
yield surface so that they are called the cyclic kinematic hardening model.
Therefore they possess various defects, for example, (1) the abrupt tran-
sition from the elastic to the plastic state violating the continuity and
the smoothness conditions (Hashiguchi, 1993a,b, 1997, 2000), (2) the
incorporation of the offset value of the plastic strain at yield, which is
accompanied with the unreality and the arbitrariness, (3) the incapabil-
ity of cyclic loading behavior for the stress amplitude less than the small
xi
xii Preface
surface enclosing an elastic domain, (4) the incapability of the nonpro-

portional loading behavior, (5) the incapability of extension to the rate-
dependency at high rate of deformation up to the impact loading behav-
ior, (6) the limitation to the description of deformation behavior in
metals, and (7) the necessity of the additional cumbersome operation to
pull back the stress to the yield surface or the small surface enclosing an
elastic domain. In particular, it is quite pitiful from the scientific point
of view that the superposed cyclic plasticity model, i.e. the Chaboche
model and the Ohno-Wang model are diffused widely, which are the
most primitive ad hoc cyclic plasticity models ignoring the historical
development of the plasticity but regressing to the easy going way by
the empirical method as will be explained in Section 7.4.
Now, it should be noted that the plastic strain rate is not induced
abruptly but develops gradually as the stress approaches the yield sur-
face. In fact, the mutual slips of material particles, for example, crystal
particles in metals and soil particles in sands and clays leading to the
plastic deformation is not induced simultaneously but induced gradu-
ally from parts in which mutual slips can be induced easily, exhibiting
the smooth transition from the elastic to the plastic transition. The sub-
loading surface model (Hashiguchi, 1978, 1980, 1989, 2017a; Hashiguchi
and Ueno, 1997) is free from the existence of the stress region enclosing
the purely elastic domain, while the existence has been postulated in
the other elastoplasticity models. The subloading surface, which passes
through the current stress and is similar to the yield surface, is assumed
inside the yield surface, and then it is postulated that the plastic strain
rate is not induced suddenly at the moment when the stress reaches the
yield surface but it develops as the stress approaches the yield surface,
that is, as the subloading surface expands. Therefore the smooth transi-
tion from the elastic to the plastic state, that is, the smooth elastic-plastic
transition leading to the continuous variation of the tangent stiffness
modulus tensor is described in this model. The subloading surface
model has been applied to the descriptions of the elastoplastic deforma-
tion behaviors of various solids, for example, metals, soils, concrete, etc.
Further, it has been extended to describe the viscoplastic deformation
by incorporating the concept of the overstress. The subloading surface
model would be regarded to be the governing law of the irreversible
mechanical phenomena of solids.
The subloading surface model has been incorporated into the com-
mercial software “Marc” in MSC Software Corporation as the standard
installation by the name “Hashiguchi model,” which can be used by all
Marc users (contractors) since October, 2017. Therefore it is explained in
the Marc user manual (MSC Software Corporation, 2017) in brief.
Further, the function for the automatic determination of material para-
meters was installed into the Marc as the standard function in June
Preface xiii
2019. Furthermore, the subloading-friction model will also be incorpo-

rated into the Marc as the standard installation until the end of 2020.
The mechanisms of the elastic deformation and the plastic deforma-
tion in the solids consisting of material particles are physically different
from each other such that the former is induced by the deformation of
material particles themselves (e.g., crystal particles in metals and soil
particles in sands and clays) but the latter is induced by the mutual
slips between the material particles. Further, note that all the deforma-
tion measures, for example, the infinitesimal and the finite-strain tensors
and the strain rate tensor (skew-symmetric part of velocity gradient ten-
sor) are defined by the deformation gradient tensor. Therefore the exact
description of finite elastoplastic deformation requires the exact decom-
position of the deformation gradient tensor into the elastic and the plas-
tic parts. Furthermore, note that the deformation gradient tensor is
defined by the ratio (note: not difference) of the current infinitesimal
line element vector to the initial one. Then, the multiplicative decompo-
sition of the deformation gradient tensor has been introduced for the
exact description of finite elastoplastic deformation by the leading scho-
lars (Kroner, 1960; Lee and Liu, 1967; Lee, 1969; Mandel, 1971, 1972,
1973a; Kratochvil, 1973). However, it now passed already more than a
half century after the proposition of the multiplicative decomposition of
deformation gradient tensor. In the meantime, unfortunately the
hypoelastic-based plasticity has been studied enthusiastically by numer-
ous workers represented by Rodney Hill and James R. Rice after the
proposition of the hypoelasticity by Truesdell (1955), which is not based
on the multiplicative decomposition so that it is limited to the infinitesi-
mal elastic deformation and accompanied with the cumbersome time-
integration procedure of the corotational rates of the stress and tensor-
valued internal variables. In addition, the concept of the multiplicative
decomposition has not been delineated properly even in the
notable books referring to this concept (cf. Lubliner, 1990; Simo, 1998;
Simo and Hughes, 1998; Lubarda, 2002; Haupt, 2002; Nemat-Nasser,
2004; Asaro and Lubarda, 2006; Bonet and Wood, 2008; de Sauza Neto
et al., 2008; Gurtin et al., 2010; Hashiguchi and Yamakawa, 2012;
Belytshko et al., 2014, etc.).
The multiplicative hyperelastic based plasticity has been studied
centrally by Simo and his colleagues (e.g., Simo, 1985, 1988a,b, 1992;
Simo and Ortiz, 1985) in the last century, in which the logarithmic strain
has been used mainly leading to the coaxiality of stress and strain rate
so that it has been limited to the isotropy. It has been developed actively
from the beginning of this century by Lion (2000), Menzel and
Steinmann (2003a,b), Wallin et al. (2003), Dettmer and Reese (2004),
Menzel et al. (2005), Wallin and Ristinmaa (2005), Gurtin and Anand
(2005), Sansour et al. (2006, 2007), Vladimirov et al. (2008, 2010),
xiv Preface
Henann and Anand (2009), Brepols et al. (2014), etc., in which constitu-
tive relations are formulated in the intermediate configuration imagined
fictitiously by the unloading to the stress-free state along the hyperelas-
tic relation, based on the isoclinic concept (Mandel, 1971). However, the
plastic flow rule with the generality unlimited to the elastic isotropy
remains unsolved and only the conventional plasticity model, named by
Drucker (1998), with the yield surface enclosing the elastic domain have
been incorporated so that only the monotonic loading behavior of elasti-
cally isotropic materials is concerned in them.
The subloading multiplicative hyperelastic based plastic model has
been formulated by the author recently (Hashiguchi, 2018c), which is
capable of describing the finite elastoplastic deformation/rotation rigor-
ously under the monotonic/cyclic loading process. Further, it has been
extended to the subloading-multiplicative hyperelastic-based viscoplas-
ticity recently, which is capable of describing the rate-dependent elasto-
plastic deformation behavior at the general rate from the static to the
impact loading. It is to be the best opportunity to review the multiplica-
tive hyperelastic based plasticity comprehensively and explain the
detailed formulation of the subloading multiplicative hyperelas-
tic based plastic model systematically. This is the first book on the sub-
loading multiplicative hyperelastic based plasticity and viscoplasticity
for the description of the general irreversible deformation/sliding
behavior.
The subloading surface model and the multiplicative hyperelas-
tic based plasticity are explained comprehensively providing the
detailed physical interpretations for all relevant concepts and the deriv-
ing processes of all equations. Further, the incorporation of the subload-
ing surface model to the multiplicative hyperelastic plastic relation is
described in detail. Further, it is extended to the description of the vis-
coplastic deformation by incorporating the concept of overstress, which
is capable of describing the general rate of deformation ranging from
the quasistatic to the impact loading behaviors (Hashiguchi, 2016a,
2017a). In addition, the exact hyperelastic based plastic and viscoplastic
constitutive equation of friction (Hashiguchi, 2018c) is formulated rigor-
ously, while the hypoelastic-based plastic constitutive equation of fric-
tion has been formulated formerly (Hashiguchi et al., 2005; Hashiguchi
and Ozaki, 2008; Hashiguchi, 2013a).
The aim of this book is to give a comprehensive explanation of the
finite elastoplasticity theory and viscoplasticity under the monotonic
and the cyclic loading processes. The incorporation of the Lagrangian
tensors is required originally in the formulation of finite elastoplasticity
and viscoplasticity, since the deformation of the material involved in
the reference configuration, which is invariant through the deformation,
is physically relevant. Therefore the necessity and the meanings of the
Preface xv
Lagrangian tensors and the transformations rules between the Eulerian

and the Lagrangian tensors, that is, the pull-back and push-forward
operations are explained concisely. Various Lagrangian stress tensors
are derived based on the requirement of the work-conjugacy from the
Cauchy stress tensor in the current configuration. To this end, the
descriptions of physical quantities and relations in the embedded (con-
vected) coordinate system, which turns into the curvilinear coordinate
system under the deformation of material, are required, since their
physical meanings can be captured clearly by observing them in the
coordinate system that not only moves but also deforms and rotates
with material itself. In other words, the essentials of continuum mechan-
ics cannot be captured without the incorporation of the general curvilin-
ear coordinate system, to which the embedded coordinate system
changes, although the explanation only in the rectangular coordinate
system is given in a lot of books entitled “continuum mechanics.”
The author expects that the readers of this book will capture the fun-
damentals in the finite-strain elastoplasticity theory and they will con-
tribute to the development of mechanical designs of machinery and
structures in the field of engineering practice by applying the theories
addressed in this book. A reader is apt to give up reading through a
book if one encounters a matter that is uneasy to understand by insuffi-
cient explanation. For this reason, the detailed explanations of physical
concepts in elastoplasticity are delineated, and the derivations/transfor-
mation processes of all equations are given with detailed proofs but
without abbreviation.
The author wishes to express cordial thanks to his colleagues at
Kyushu University, who have discussed and collaborated over several
decades: Prof. M. Ueno (currently Emeritus Professor at University of
the Ryukyus) in particular, and Dr. T. Okayasu (currently Associate
Professor at Kyushu University), Dr. S. Tsutsumi (currently Associate
Professor at Osaka University), Dr. T. Ozaki of Kyushu Electric Eng.
Consult. Inc., Dr. S. Ozaki (currently Associate Professor at Yokohama
National University), and Dr. T. Mase of Tokyo Electric Power Services
Co., Ltd. (currently Professor of Tezukayama Gakuin Univ.)
Furthermore, the author is thankful to Dr. K. Okamura, Dr. N.
Suzuki, and Dr. R. Higuchi, Nippon Steel & Sumitomo Metal
Corporation, Dr. M. Oka and Mr. T. Anjiki, Yanmar Co. Ltd., for the col-
laborations on constitutive relations of metals and the numerical calcu-
lations. In particular, the numerical calculations performed by Mr. T.
Anjiki was quite effective for the improvement of the subloading-
overstress model. The author is also grateful to Mr. T. Kato (President)
and Dr. M. Tateishi (Fellow), MSC Software, Ltd., Japan for the standard
implementation of the Hashiguchi (subloading surface) model to the
commercial FEM (Finite Element Method) software Marc.
xvi Preface
The heartfelt gratitude of the author is dedicated to Prof. Yuki

Yamakawa of Tohoku University, for various advices and close colla-
borations with detailed discussions on elastoplasticity theory, particu-
larly on the finite-strain theory and the numerical method. In addition,
the author acknowledges the great gratitude to Prof. Yamakawa for crit-
ical reading of the original manuscript and then suggesting various pre-
cious elaborations.
The author expresses his sincere gratitude to Prof. Genki Yagawa,
Emeritus Professor, The University of Tokyo, for encouraging always
the author with undeserved high appreciation of research contributions,
and thus the author was stimulated to the publication of this book.
The author is convinced that this book will contribute substantially to
the steady developments of solid mechanics and the manufacturing and
constructing industries through the readers. Finally, the author would
like to acknowledge the enthusiastic supports by the editor Mr. Dennis
Mcgonagle, the editorial project manager Mr. Joshua Mearns, and the
project manager: Mr. Sojan P. Pazhayattil, Elsevier, for the generous cor-
porations on the publication of this book.
Koichi Hashiguchi
June 2020
C H A P T E R
1
Mathematical fundamentals
The mathematical fundamentals are addressed in this chapter, which

are required to understand sufficiently the elastoplasticity theory
described in the subsequent chapters. First, the basics of vector and ten-
sor algebra are explained and then the differential formula and the var-
iations of the geometrical elements are described comprehensively.
Readers are tempted to skip to study these mathematical fundamentals
but they are explained concisely by showing the derivation processes
for almost all equations. Component descriptions of vectors and tensors
in this chapter are limited in the normalized rectangular coordinate system,
that is, rectangular coordinate system with unit base vectors, while the
terms orthogonal, orthonormal, and Cartesian are often used instead of
rectangular. However, these tensor relations hold even in the general
curvilinear coordinate system of the Euclidian space described in the
subsequent chapters.
1.1 Matrix algebra
The basic matrix algebra with some conventions and symbols appear-
ing in the continuum mechanics are described in this section.
1.1.1 Summation convention

The Cartesian summation convention is first introduced in which
repeated suffix in a term is summed over numbers that the suffix can
take, for example,
Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

DOI: https://doi.org/10.1016/B978-0-12-819428-7.00001-8 1 © 2020 Elsevier Inc. All rights reserved.
2 1. Mathematical fundamentals
8
>
> X 3
>
> u v 5 ur vr 5 u1 v1 1 u2 v2 1 u3 v3 ;
>
>
r r
>
> r51
>
< X3
Trr 5 Trr 5 T11 1 T22 1 T33 (1.1)
>
>
>
> r51
>
> X 3
>
>
> Tir vr 5
: Tir vr 5 Ti1 v1 1 Ti2 v2 1 Ti3 v3 ;
r51
A letter of the repeated suffix is arbitrary and thus it is called the

dummy index as known from
ur vr 5 us vs ; T rr 5 Tss ; Tir vr 5 Tis vs : (1.2)
This rule is also called Einstein’s summation convention. A repeated index

obeys this convention unless otherwise specified by the additional
remark “(no sum)” after an equation.
1.1.2 Kronecker’s delta and alternating symbol

The Kronecker’s delta δij ði; j 5 1; 2; 3Þ is defined as follows:

1: i 5 j
δij 5 (1.3)
0 : i 6¼ j
fulfilling
δir δrj 5 δij 5 δji ; δii 5 3 (1.4)
Further, the alternating (or permutation) symbol or Eddington’s epsilon

εijk is defined as follows:
8
< 1: even permutation of ijk from 123 ð123; 231; 312Þ
>
εijk 5 2 1: odd permutation of ijk from 123 ð213; 321; 132Þ (1.5)
>
:
0: others
fulfilling the following relation for the product.

εijk εijk 5 3! (1.6)
1.1.3 Matrix notation and determinant

Let the quantity T possessing nine (3 3 3) components Tij be
expressed in the arrangement

2 3
T11 T12 T13
T 5 ½Tij 5 4 T21 T22 T23 5 (1.7)
T31 T32 T33
which is called a matrix notation. The matrix I possessing the compo-

nents of the Kronecker’s delta is given by
2 3
1 0 0
I 5 ½δij 5 4 0 1 0 5 (1.8)
0 0 1
The quantity v possessing three (3 3 1) components is expressed as

2 3
v1
v 5 ½vi 5 4 v2 5 5 v1 v2 v2 (1.9)
v3
The multiplications of the quantity v and the matrix B by the matrix

A are denoted as Av and AB and defined as
ðAvÞi 5 Air vr 5 vr Air 5 ðvAT Þi (1.10)
ðABÞij 5 Air Brj 6¼ Bir Arj 5 ðBAÞij (1.11)
where ð ÞT stands for the transpose of the row and the column in the
matrix.
The quantity defined by the following equation is called the determi-
nant of T and is shown by the symbol det T, that is,

T11 T12 T13

detT 5 εijk T1i T2j T3k 5 εijk Ti1 Tj2 Tk3 5 T21 T22 T23 (1.12)
T31 T32 T33
with
detTT 5 detT; detðsTÞ 5 s3 detðTÞ (1.13)
Here, the number of permutations that the suffixes i, j, and k in εijk can
take is 3!. Therefore Eq. (1.12) can be written as
1
detT 5 εijk εpqr Tip Tjq Tkr (1.14)
3!
Eq. (1.14) is rewritten as
1 1 1
detT 5 Trs ðcof TÞrs ; detT 5 T: ðcof TÞ 5 trðTðcofTÞT Þ (1.15)
3 3 3

or
detT 5 T1s ðcofTÞ1s 5 T2s ðcofTÞ2s 5 T3s ðcofTÞ3s
(1.16)
5 Tr1 ðcofTÞr1 5 Tr1 ðcofTÞr1 5 Tr2 ðcofTÞr2 5 Tr3 ðcofTÞr3
where
1
ðcofTÞip εijk εpqr Tjq Tkr (1.17)
2!
noting

1 1 1 1
εijk εpqr Tip Tjq Tkr 5 Tip εijk εpqr Tjq Tkr 5 Tip ðcofTÞip
3! 3 2! 3
ðcofTÞij is called the cofactor for the i-column and the j-row. The cofactor
is obtained through multiplying the minor determinant lacking the
ith row and jth column components by the sign ð21Þi1j .
The following lemmas for the properties of the determinant hold.
Lemma 1.1: If the first and the second rows are same, that is, T2j 5 T1j
for instance, we have εijk T1i T1j T3k 5 εjik T1j T1i T3k 5 2 εijk T1i T1j T3k .
Therefore we have the lemma “the determinant having same lines or
rows is zero.” Therefore the following relation is obtained from
Eq. (1.16) that
Tis Δjs 5 Tri Δrj 5 δij detT (1.18)
Lemma 1.2: If the first and the second lines are exchanged, that is, 122
for instance, we have εijk T2i T1j T3k 5 εjik T1i T2j T3k 5 2 εijk T1i T2j T3k .
Therefore we have the lemma “the determinant changes only its sign by
exchanging lines (or rows).”
By multiplying εijk to both sides in Eq. (1.12), we have
εijk detT 5 εijk εpqr T1p T2q T3r 5 εpqr Tip Tjq Tkr (1.19)
The transformation from the second side to the third side in

Eq. (1.19) is resulted from the abovementioned Lemmas 1.1 and 1.2.
Here, note that the expression of the determinant in Eq. (1.14) is derived
also by multiplying εijk to both sides in Eq. (1.19) and noting Eq. (1.6).
The additive decomposition of the components T2j into T2j 5 A2j 1 B2j
leads to
εijk T1i ðA2j 1 B2j ÞT2k 5 εijk T1i A2j T2k 1 εijk T1i B2j T2k (1.20)

Therefore the value of determinant in which components in a line (or

row) are decomposed additively is the sum of the two determinants
made by exchanging the line (or row) of the original determinants into
the decomposed components.
The determinant of the multiplication of tensors is given from
Eqs. (1.12) and (1.19) as follows:
detðABÞ 5 εijk ðA1p Bpi ÞðA2q Bqj ÞðA3r Brk Þ 5 A1p A2q A3r εijk Bpi Bqj Brk
5 A1p A2q A3r εpqr detB
noting εijk Bpi Bqj Brk 5 εpqr detB due to Eq. (1.19), and thus one has the fol-
lowing product law of determinant.
detðABÞ 5 detAdetB (1.21)
The partial derivative of determinant is given from Eq. (1.14) as

1
@ εabc εpqr Tap Tbq Tcr
@detT 3!
5
@Tij @Tij
1
5 εabc εpqr ðδia δjp Tbq Tcr 1 Tap δib δjq Tcr 1 Tap Tbq δic δjr Þ
3!
1
5 εibc εjqr Tbq Tcr
2!
which leads to
@detT @detT
5 cofT ; 5 ðcofTÞij (1.22)
@T @Tij
The permutation symbol in the third order, that is, εijk appears often
hereinafter. It is related to Kronecker’s delta by the determinants as

δ1i δ1j δ1k δ1i δ2i δ3i

εijk 5 δ2i δ2j δ2k 5 δ1j δ2j δ3j (1.23)
δ3i δ3j δ3k δ1k δ2k δ3k
which can be proved as follows: Note that the second side in Eq. (1.23)
is expanded as

δ1i δ1j δ1k

εijk 5 δ2i δ2j δ2k 5 δ1i δ2j δ3k 1 δ1k δ2i δ3j 1 δ1j δ2k δ3i

δ3i δ3j δ3k
2 δ1k δ2j δ3i 2 δ1i δ2k δ3j 2 δ1j δ2i δ3k

Then, one has

ε123 5 δ11 δ22 δ33 1δ13 δ21 δ32 1δ12 δ23 δ31 2δ13 δ22 δ31 2δ11 δ23 δ32 2 δ12 δ21 δ33 5 1
ε213 5 δ12 δ21 δ33 1δ13 δ22 δ31 1δ11 δ23 δ32 2δ13 δ21 δ32 2δ12 δ23 δ31 2 δ11 δ22 δ33 52 1
for instance. The third side in Eq. (1.23) can be confirmed as well.
The following relations are obtained from Eqs. (1.23) and (1.21).
2 3 2 3
δ1i δ2i δ3i δ1p δ1q δ1r δ1i δ2i δ3i δ1p δ1q δ1r

6 7 6 7
εijk εpqr 5 δ1j δ2j δ3j δ2p δ2q δ2r 5 4 δ1j δ2j δ3j 5 4 δ2p δ2q δ2r 5

δ1k δ2k δ3k δ3p δ3q δ3r δ1k δ2k δ3k δ3p δ3q δ3r
(1.24)
δip δiq δir

5 δjp δjq δjr

δkp δkq δkr
from which we have

δip δiq δik

εijk εpqk 5 δjp δjq δjk

δkp δkq δkk
5 δip δjq δkk 1 δiq δjk δkp 1 δik δjp δkq 2 δik δjq δkp 2 δip δjk δkq 2 δiq δjp δkk
5 δip δjq 2 δiq δjp

δii δij δiq

εijp εijq 5 δji δjj δjq

δpi δpj δpq
5 δii δjj δpq 1 δij δjq δpi 1 δiq δji δpj 2 δii δjq δpj 2 δij δji δpq 2 δiq δjj δpi
5 9δpq 1 δiq δpi 1 δiq δip 2 3δpq 2 3δpq 2 3δpq 5 2δpq
εijk εijk 5 2δkk 5 6
Eventually, one obtains the following relations.

εijk εpqk 5 εkij εkpq 5 δip δjq 2 δiq δjp
(1.25)
εijp εijq 5 2δpq ; εijk εijk 5 6
The last equation is no more than Eq. (1.6).
1.2 Vector
The definitions and the operations of the vector will be delineated in

this section, which are required for the study of the continuum
mechanics.

1.2 Vector 7
1.2.1 Definition of vector

The quantity having only magnitude is defined as a scalar. On the
other hand, a quantity having direction and sense in addition to magni-
tude is defined as a vector. The following commutative, distributive, and
the associative laws hold for a vector.

a 1 b 5 b 1 a; ða 1 bÞ 1 c 5 a 1 ðb 1 cÞ
(1.26)
aðbvÞ 5 ðabÞv 5 bðavÞ; ða 1 bÞv 5 ðb 1 aÞv; aða 1 bÞ 5 aa 1 ab
where v designates a vector and a and b are arbitrary scalars.

The magnitude of vector is denoted by jjvjj. In particular, the vector
whose magnitude is zero is called the zero vector and is shown as 0. The
vector whose magnitude is unity, that is, jjvjj 5 1, is called the unit
vector.
1.2.2 Operations of vector

Basic operations of vectors are delineated in this section, which are
required for the formulations of ingredients in the continuum
mechanics.
1.2.2.1 Scalar product

Denoting the angle between the two vectors a; b by θ, the scalar or
inner product is defined as :a::b:cosθ where : : designates the magni-
tude (length or norm) and it is denoted by the symbol a b, that is,

a b :a::b:cosθ (1.27)
Consider the normalized orthogonal coordinate system, where the word

“normalized” means to adjust the magnitude to unity and the word
“orthogonal” means to adopt the mutually orthogonal base vectors. Let
it be denoted as fO 2 xi g, while the unit vectors are denoted by the triad
fei g. The scalar product between the base vectors is given from
Eqs. (1.3) and (1.27) as follows:

ei ej 5 δij (1.28)
Vector v is described in the linear associative form as follows:

v 5 vr er ð 5 v1 e1 1 v2 e2 1 v 3 e3 Þ (1.29)
where v1, v2, and v3 are the components of v. Denoting the angle of the
direction of vector v from the direction of the base vector ei by θi ,

cosθi 5 n ei is called the direction cosine by which the component of v is
given as


vi 5 v ei 5 :v:n ei 5 :v:cosθi (1.30)
The magnitude of vector v and its unit direction vector n are given
from Eq. (1.30), noting cos2 θ1 1 cos2 θ2 1 cos2 θ3 5 1 as follows:
pffiffiffiffiffiffiffiffi v vr
:v: vr vr ; n 5 er (1.31)
:v: :v:

Because of a b 5 ar er bs es 5 ar bs δrs , the scalar product is expressed
by using the components as

a b 5 ar br (1.32)
The magnitude of vector is also expressed by setting θ 5 0 in

Eq. (1.27) as follows:
pffiffiffiffiffiffiffiffiffiffi
:v: 5 v v (1.33)
The quantity obtained by the scalar product is a scalar and the fol-
lowing commutative, distributive, and associative laws hold.

a b5b a (1.34)

a ðb 1 cÞ 5 a b 1 a c (1.35)

sða bÞ 5 ðsa bÞ 5 a ðsbÞ 5 ða bÞs (1.36)
ðaa 1 bbÞ c 5 aa c 1 bb c (1.37)
for arbitrary scalars s, a, and b.
1.2.2.2 Vector product

The operation obtaining a vector having (1) magnitude identical to
the area of the parallelogram formed by the two vectors a and b, pro-
vided that they are translated to the common initial point, and (2) direc-
tion of the unit vector n which forms the right-hand bases a; b; n in this
order is defined as the vector (or cross) product and is denoted by the
symbol a 3 b as shown in Fig. 1.1. Therefore denoting the angle between
the two vectors a and b by θ when they are translated to the common
initial point, it holds that
a 3 b :a::b:sinθn ð:n: 5 1Þ (1.38)
Incidentally, the surface vector is defined by the vector product.

Then, it follows for the normalized orthonormal base vectors
Figure 1.1 that
ei 3 ej 5 εijk ek (1.39)

1.2 Vector 9
a × b = an
c v = (a × b) · c =[abc]
n
(|| n|| = 1)
b
a = || a × b|| =|| a || ||b|| sin θ
θ
a
FIGURE 1.1 Vector product (surface vector) and scalar triple product (volume) with
area.
and thus one has

a 3 b 5 ai ei 3 bj ej 5 εijk ai bj ek
(1.40)
5 ða2 b3 2 a3 b2 Þe1 1 ða3 b1 2 a1 b3 Þe2 1 ða1 b2 2 a2 b1 Þe3
which is expressed in the matrix form as follows:

e1 e2 e3

a 3 b 5 a1 a2 a3 (1.41)
b1 b2 b3
The following equations hold for the vector product.

a3a50 (1.42)
a3b52b3a (1.43)
a 3 ðb 1 cÞ 5 a 3 b 1 a 3 c (1.44)
sða 3 bÞ 5 ðsa 3 bÞ 5 a 3 ðsbÞ 5 ða 3 bÞs (1.45)
ðaa 1 bbÞ 3 c 5 aa 3 c 1 bb 3 c (1.46)
1.2.2.3 Scalar and vector triple products

The operation defined by the following equation for the three vectors
is called scalar triple product.
½abc ða 3 bÞ c (1.47)

which is rewritten as follows:

½abc 5 ða 3 bÞ c 5 εijr ai bj er ck ek 5 εijr ai bj ck δrk 5 εijk ai bj ck

a1 b1 c1 a1 a2 a3
(1.48)

5 a2 b2 c2 5 b1 b2 b3

a3 b3 c3 c1 c2 c3
fulfilling
½abc 5 ½bca 5 ½cab 5 2 ½bac 5 2 ½cba 5 2 ½acb (1.49)
Denoting the vectors a; b; c as v1 ; v2 ; v3 , it follows from Eq. (1.47) that

vi vj vk 5 εijk v1 v2 v3 (1.50)
noting the fact that the term in the right-hand side of this equation is 1
½v1 ; v2 ; v3 , 2½v1 ; v2 ; v3 , and 0 when indices i; j; k are even and odd per-
mutations and two of indices coincide with each other, respectively.
Here, note that the scalar triple product [v1 v2 v3] designates the volume
of the parallelopiped formed by the vectors v1, v2, v3 in this order.
Here, the following equations hold for the scalar triple product.
½ei ej ek 5 εijk (1.51)
½sa; b; c 5 ½a; sb; c 5 ½a; b; sc 5 s½abc (1.52)
½aa 1 bb; c; x 5 a½ucx 1 b½bcx (1.53)
The vector triple product is defined as follows:

a 3 ðb 3 cÞ 5 εijk εkpq aj bp cq ei (1.54)
noting
a 3 ðb 3 cÞ 5 aj ej 3 ðεkpq bp cq ek Þ 5 aj εkpq bp cq ej 3 ek 5 εkpq aj bp cq εkij ei
It follows from Eqs. (1.25) and (1.54) that

½a 3 ðb 3 cÞi 5 εkij εkpq aj bp cq 5 ðδip δjq 2 δiq δjp Þaj bp cq 5 bi ðaj cj Þ 2 ci ðaj bj Þ
Then, the following relations hold for the vector triple product.
a 3 ðb 3 cÞ
5 ða cÞb 2 ða bÞc
ða 3 bÞ 3 c
5 ða cÞb 2 ðb cÞa (1.55)

1.2 Vector 11
Permuting the letters and taking the summation in Eq. (1.55), it fol-
lows that
a 3 ðb 3 cÞ 1 b 3 ðc 3 aÞ 1 c 3 ða 3 bÞ 5 0 (1.56)
noting
a 3 ðb 3 cÞ 1 b 3 ðc 3 aÞ 1 c 3 ða 3 bÞ

5 ½ða cÞb 2 ða bÞc 1 ½ða bÞc 2 ða cÞb 1 ½ðc bÞa 2 ðc aÞb 5 0
One has

ða 3 bÞ ðc 3 dÞ 5 ða cÞðb dÞ 2 ðb cÞða dÞ (1.57)
noting

ða 3 bÞ ðc 3 dÞ 5 ½ða 3 bÞ c d 5 fða 3 bÞ 3 cg d 5 fða cÞb 2 ðb cÞag d
by virtue of Eq. (1.55),

Setting t 5 a 3 b in t 3 ðc 3 xÞ 5 ðt dÞc 2 ðt cÞd due to Eq. (1.55)1, one
has

ða 3 bÞ 3 ðc 3 dÞ 5 ½ða 3 bÞ dc 2 ½ða 3 bÞ cd 5 ½abdc 2 ½abcd (1.58)
It follows from Eq. (1.58) setting c-b and d-c for the particular
case that
ða 3 bÞ 3 ðb 3 cÞ 5 ½abcb 2 ½abbc 5 ½abcb (1.59)
which leads to

ða 3 bÞ 3 ðb 3 cÞ ðc 3 aÞ 5 ½abcb ðc 3 aÞ
so that
½a 3 b b 3 c c 3 a 5 ½abc2 (1.60)
Because of

ða 3 bÞ ½ðc 3 xÞ 3 ðy 3 zÞ 5 ða 3 bÞ ð½cxzy 2 ½cxyzÞ
5 ½aby½cxz 2 ½abz½cxy
due to Eq. (1.58), it follows that

½a 3 b; c 3 x; y 3 z 5 ½aby½zcx 2 ½abz½ycx (1.61)
1.2.2.4 Primary and reciprocal vectors

Arbitrary vector v is expressed by the linear combination of the inde-
pendent vectors a; b; c as follows:

v 5 va a 1 vb b 1 vc c (1.62)
where the coefficients va ; vb ; vc are given by operating the scalar pro-

ducts of a 3 b, b 3 c, and c 3 a to Eq. (1.62) as follows:
½abv 5 vc ½abc; ½bcv 5 va ½abc; ½cav 5 vb ½abc
that is,
½bcv ½cav ½abv
va 5 ; vb 5 ; vc 5 (1.63)
½abc ½abc ½abc
The vector v is rewritten by substituting Eq. (1.63) into Eq. (1.62) as

follows:
½bcv ½cav ½abv
v5 a1 b1 c (1.64)
½abc ½abc ½abc
Then, the components va ; vb ; vc in Eq. (1.63) are rewritten by

b3c c3a a3b
va 5
½abc

v 5 a v; vb 5
½abc

v 5 b v; vc 5
½abc

v 5 c v
(1.65)
where
b3c c3a a3b
a ; b ; c
½abc ½abc ½abc
(1.66)
b 3 c c 3 a a 3 b
a ; b ; c
½a b c ½a b c ½a b c
ða ; b ; c Þ are called the reciprocal vectors of the primary vectors ða; b; cÞ.
The lower part of Eq. (1.66) is verified as
ðc 3 aÞ 3 ða 3 bÞ ½abca a
b 3 c 5 5 5
½abc 2
½abc 2 ½abc
½a b c 5

ðb 3cÞ 3ðc3 aÞ ða 3bÞ ½bca½bca2½bcb½aca ½abc2
5 5 5
1
½abc3
½abc 3
½abc 3 ½abc
by using Eqs. (1.59) and (1.60), leading to the first equation for a, for
example. Here, the following relations hold.

a a 5 1; b b 5 1; c c 5 1

a b 5 a c 5 b c 5 b a 5 c a 5 c b 5 0 (1.67)

½abc½a b c 5 1

1.2 Vector 13
Further, it follows from Eqs. (1.56) and (1.66) that

a 3 a 1 b 3 b 1 c 3 c 5 0 (1.68)
Next, decompose the vector v into the surface vectors b 3 c, c 3 a,

and a 3 b, that is,
v 5 v a ðb 3 cÞ 1 v b ðc 3 aÞ 1 v c ða 3 bÞ (1.69)
where the coefficients v a ; v b ; v c are given by operating the scalar pro-

ducts of a; b; c as follows:

a v 5 v c ½abc;
b v 5 v a ½abc;
c v 5 v c ½abc
leading to
v a 5
a v ; v b 5

b v
; v c 5

c v
(1.70)
½abc ½abc ½abc
The substitution of Eq. (1.70) into Eq. (1.69) reads:
v5

a v
ðb 3 cÞ 1
b v
ðc 3 aÞ 1
c v
ða 3 bÞ
(1.71)
½abc ½abc ½abc
An arbitrary vector v is expressed from Eqs. (1.64) and (1.71) with


v 5 ða vÞa 1 ðb vÞb 1 ðc vÞc 5 ða vÞa 1 ðb vÞb 1 ðc vÞc (1.72)
where the third side is obtained from the second side by exchanging
a; b; c and ða ; b ; c Þ. Eq. (1.72) is rewritten as
v 5 gv (1.73)
where
g 5 aa 1 bb 1 cc 5 a a 1 b b 1 c c ð5 gT Þ (1.74)
g is regarded as the generalized identity tensor and will be called the met-
ric tensor in the general coordinate system in Section 2.2. In particular, g
is reduced in the normalized rectangular coordinate system as follows:
I 5 δij ei ej 5 ei ei ;
δij 5 ei ej (1.75)
which is called the identity tensor transforming the vector to itself.

Besides, the permutation tensor is defined by
ε 5 εijk ei ej ek ; εijk 5 ½ei ej ek (1.76)
noting Eq. (1.51). The following relation holds.

ε:ðuvÞ 5 u 3 v (1.77)
noting
ðεijk ei ej ek Þ:ður er vs es Þ 5 εijk ei ur vs δjr δks 5 εijk ei uj vk 5 uj ej 3 vk ek
1.2.2.5 Tensor product

Based on the vectors vð1Þ ; vð2Þ ; ?; vðmÞ , one can make the mth order
tensor as follows:
vð1Þ vð2Þ . . .vðmÞ 5 vð1Þ ð2Þ ðmÞ
p1 vp2 . . .vpm ep1 ep2 . . .epm (1.78)
For two vectors, one has the second-order tensor

ab 5 ai ei bj ej 5 ai bj ei ej (1.79)
which is expressed in the matrix form

2 3
a1 b1 a1 b2 a1 b3
½ab 5 4 a2 b1 a2 b2 a2 b3 5 (1.80)
a3 b1 a3 b2 a3 b3
As described above, one can make a tensor from vectors as shown

for the second-order tensor by ab, which is called the tensor (cross)
product or dyad, meaning “one set by two.” Particularly, it holds for
three arbitrary vectors
abc 5 aðb cÞ (1.81)
because of
ðai ei bj ej Þck ek 5 ai ei ðbj ck δjk Þ 5 ai ei ðbj cj Þ
Therefore abc is the vector possessing the direction of a, while

b is projected to the direction of c resulting in a scalar. Here, we
find
trðabÞ 5 b a (1.82)
ðabÞT 5 ba (1.83)
aðb 1 cÞ 5 ab 1 ac (1.84)
ðbc 2 cbÞa 5 a 3 ðb 3 cÞ 5 ða cÞb 2 ða bÞc (1.85)

8
>
>
>

xðabÞy 5 ða xÞðb yÞ
>
> ðabÞ:ðcdÞ 5 ðacÞðbdÞ
>
>
>
< ðxyÞ:ðabcdÞ 5 ða xÞðb yÞcd

(1.86)
> ðxyÞ:ðabcÞz 5 ða xÞðb yÞðc zÞ
>
>
>
>
>
>
>
:
ðabcdÞ:ðxyÞ 5 ðc xÞðd yÞab
ðwxÞ:ðabcdÞ:ðyzÞ 5 ða wÞðb xÞðc yÞðd zÞ
The vector product is represented in the direct notation of the alter-
nating tensor ε as follows:
a 3 b 5 ε:ðabÞ; ei 3 ej 5 ε:ðei ej Þ (1.87)
because of

a 3 b 5 εijk aj bk ei 5 εijk ei ar ðej er Þbs ðek es Þ 5 εijk ei ej ek :ðar er bs es Þ (1.88)
noting Eq. (1.40).
1.3 Definition of tensor
Let the set of nm functions in the coordinate system fO-xi g with the
origin O and the axes xi ði 5 1; 2; . . .; nÞ in the n-dimensional space be
designated by Tðp1 ; p2 ; . . .; pm Þ, where each of the indices p1 ; p2 ; . . .; pm
takes the number 1; 2; . . .; n. This set of functions is defined as the
mth-order tensor in the n-dimension, if the set of functions is observed
in the other coordinate system fO-xi g with the origin O and the axes xi
as follows:
@xp1 @xp2 @xpm
T ðp1 ; p2 ; . . .pm Þ 5 ? Tðq1 ; q2 ; . . .qm Þ (1.89)
@xq1 @xq2 @xqm
provided that only the directions of axes are different and the
relative motion between the axes does not exist. Here, we introduce the
notation
@xi
Qij 5 (1.90)
@xj
which fulfills
Qir Qjr 5 δij (1.91)

because of
@xi @xr
Qir Qjr 5
@xr @xj
Eq. (1.89) is written using Qij as follows:

T ðp1 ; p2 ; . . .pm Þ 5 Qp1 q1 Qp2 q2 . . .Qpm qm Tðq1 ; q2 ; . . .qm Þ (1.92)
Designating Tðp1 ; p2 ; . . .; pm Þ by the symbol Tp1 p2 ?pm , Eq. (1.89) is

expressed as
Tp1 p2 ...pm 5 Qp1 q1 Qp2 q2 . . .Qpm qm T q1 q2 ... qm (1.93)
Because of
Qp1 r1 Qp2 r2 ?Qpm rm T p1 p2 ?pm
5 Qp1 r1 Qp2 r2 ?Qpm rm Qp1 q1 Qp2 q2 ?Qpm qm T q1 q2 ?qm
5 ðQp1 r1 Qp1 q1 ÞðQp2 r2 Qp2 q2 Þ?ðQpm rm Qpm qm ÞTq1 q2 ?qm
5 δr1 q1 δr2 q2 ?δrm qm Tq1 q2 ?qm
with Eq. (1.91), the inverse relation of Eq. (1.93) is given by

Tr1 r2 ?rm 5 Qp1 r1 Qp2 r2 ?Qpm rm Tp1 p2 ?pm (1.94)
Indices put in a tensor take the dimension of the space in which the
tensor is based. The number of indices which is equal to the number of
operators Qij is called the order of tensor. For instance, the transforma-
tion rules of the first-order tensor, that is, vector vi and the second-order
tensor Tij are given by

vi 5 Qir vr ; vi 5 Qri vr
Tij 5 Qir Qjs Trs ð 5 Qir Trs Qjs Þ; T ij 5 Qri Qsj T rs ð 5 Qri Trs Qsj Þ (1.95)
Consequently, in order to prove that a certain quantity is a tensor,

one needs only to show that it obeys the tensor transformation rule
(1.93).
The coordinate transformation rule in the form of Eq. (1.93) or (1.94)
is called the objective transformation. Tensor obeying the objective trans-
formation rule even between the coordinate systems with the relative
rate of motion, that is, the relative parallel and rotational velocities, is
called an objective tensor. Vectors and tensors without the time dimen-
sion, for example, force, displacement, rotational angle, stress, and
strain are objective vector and tensors. On the other hand, time-rate
quantities, for example, rate of force, velocity, spin, and the material-
time derivatives of physical quantities, for example, stress are not

objective vectors and tensors usually; they are influenced by the relative
rate of motion between the coordinate systems, that is, the rigid-body
rotational rate of material. Constitutive equations of materials must be
formulated in terms of objective tensors, since material properties are
not influenced by the rigid-body rotation of material and therefore must
be described in the identical form independent of the coordinate
systems.
The following linearity is satisfied in tensors.
8
< Additivity: Tp1 p2 ?pm Ap1 p2 ?pl 1 Bp1 p2 ?pl
>
5 Tp1 p2 ?pm Ap1 p2 ?pl 1 T p1 p2 ?pm Bp1 p2 ?pl (1.96)
>
:
Homogeneity: Tp1 p2 ?pm sAp1 p2 ?pl 5 sT p1 p2 ?pm Ap1 p2 ?pl
where s is an arbitrary scalar variable. Therefore the tensor transforms

linearly a tensor to the other tensor and thus it is called also the linear
transformation. The operation to lower the order of tensor by multiplica-
tion of tensors is called the contraction.
Introducing the notation
(
Q1TU p p ...p Qp1 q1 Qp2 q2 . . .Qpm qm T q1 q2 ...qm
1 2 m
(1.97)
QT 1TU p p ...p Qq1 p1 Qq2 p2 . . .Qqm pm Tq1 q2 ...qm
1 2 m
for the component transformation of the general tensor, let Eqs. (1.93)
and (1.94) be represented formally by the symbolic (direct) notation for
convenience as follows:
T 5 Q1TU; T 5 QT 1T U (1.98)
In particular, Eq. (1.95) as the simple cases of Eq. (1.98) is denoted in

the direct notation as follows:
v 5 Qv; v 5 QT v
(1.99)
T 5 QTQT ; T 5 QT T Q
Here, it should be emphasized that the equations described in this

subsection do not express relations between different vectors or tensors
but they express the relations between components of a certain vector
or tensor described by the two different coordinate systems with the
bases, say fei g and fei g. Then, note that Eqs. (1.98) and (1.99) are the spe-
cious direct notations that imitate tensor relations between two different
vectors or tensors. The components observed by the base fei g and fei ðtÞg
are denoted by ð Þ and ð Þ , respectively, for the sake of brevity (it should
be emphasized that the equation, which involves the quantity denoted
by ð Þ , represents the relation between the components).

Denoting the unit base vectors e1 ; e2 ; . . .; em of the coordinate axes
x1 ; x2 ; . . .; xm ,
the quantity Qij in Eq. (1.90) is represented in terms of the
base vectors as follows:

Qij 5 ei ej (1.100)
noting
@xi
Qij 5
@xj
5 ei @x
@xj
es 5 ei
s @xs
@xj
es 5 ei δjs es
where the coordinate transformation operator Qij is interpreted as

Qij cosðangle between ei and ej Þ (1.101)
which fulfills Eq. (1.91), that is,

Qir Qjr 5 Qri Qrj 5 δij (1.102)
which can be also verified by

Qir Qjr 5 ðei er Þðej er Þ 5 ei ðej er Þer 5 δij
The transformation rule of the base vectors is given by

ei 5 Qri er ; ei 5 Qir er (1.103)
noting

ei 5 ðei er Þer ;
ei 5 ðei er Þer
The nth order tensor is described in terms of the components with

the base vectors as follows:
T 5 T 12...n e1 e2 . . .en 5 T12...n e1 e2 . . .en (1.104)
1.4 Tensor operations
Various tensors and their algebra are addressed in this section, which
are used often throughout this book.
1.4.1 Properties of second-order tensor

The general definition of tensor was given in Section 1.3. Here, based
on the definition, basic properties of second-order tensor are described
below.

Two tensors A and B are same when they yield same transformation
of an arbitrary vector v, that is,
A 5 B when Av 5 Bv (1.105)
The following equations hold by virtue of the linear transformation

in Eq. (1.96).
Tðaa 1 bbÞ 5 aðTaÞ 1 bðTbÞ (1.106)
A1B5B1A (1.107)
sðABÞ 5 ðsAÞB 5 AðsBÞ (1.108)
ðA 1 BÞv 5 Av 1 Bv (1.109)
ðABÞv 5 AðBvÞ (1.110)
AðB 1 CÞ 5 AB 1 AC; ðA 1 BÞC 5 AC 1 BC (1.111)
AðBCÞ 5 ðABÞC (1.112)
where a; b, and s are arbitrary scalar variables.

The following relations hold for the trace.
trðABÞ 5 trðBAÞ (1.113)
trðabÞ 5 a b (1.114)
trT T:I 5 Tij δij 5 Tii (1.115)
The magnitude of tensor is given by

pffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffi
:T: 5 Trs T rs 5 T:T (1.116)
The power of tensors is defined as follows:

zfflffl}|fflffl{ n
T0 5 I; Tn 5 T. . .T (1.117)
which obey the rules of exponentiation:

Tm Tn 5 Tm1n 5 Tn Tm ; ðaTÞn 5 an Tn ; ðTm Þn 5 Tmn (1.118)
for arbitrary integers m and n.

The zero tensor O possessing the zero component Oij 5 0 and thus it
transforms an arbitrary vector v to the zero vector 0, that is,
Ov 5 0 (1.119)
1.4.2 Tensor components

The component of vector is given in Eq. (1.30). The second-order ten-
sor in terms of the components and the base vectors is described from
T 5 Tij ei ej (1.120)
the components of which are given by

T ij 5 ei Tej (1.121)
by virtue of Eq. (1.86)1.

The component Ξijk of the third-order tensor
Ξ 5 Ξ ijk ei ej ek (1.122)
is given by
Ξ ijk 5 ðei ej Þ:Ξek (1.123)

The component Tijkl of the fourth-order tensor
T 5 Tijkl ei ej ek el (1.124)
is given by
Tijkl 5 ðei ej Þ:T:ðek el Þ (1.125)
1.4.3 Transposed tensor

The tensor TT satisfying the following equation for bay arbitrary vec-
tors a and b is defined as the transposed tensor of a tensor T.

a Tb 5 b TT a (1.126)
Noting

a ðuvÞb 5 b ðvuÞa
it follows from Eq. (1.126) that
ðuvÞT 5 vu (1.127)
Further, comparing the equation

ei ðTrs er es Þej 5 Tij 5 ej ðT rs es er Þei
with Eq. (1.126), one has

ðT rs er es ÞT 5 Trs es er 5 T sr er es (1.128)

that is,
ðTT Þij 5 ðTÞji (1.129)
If T satisfies the following equation, that is, if TT 5 T holds, T is

called the symmetric tensor.

a Tb 5 b Ta (1.130)
Therefore the components satisfy the following relation.

Tij 5 ei Tej 5 ej Tei 5 Tji (1.131)
Then, it follows that

T
TT 5 T ij ei ej 5 T ij ej ei 5 Tji ei ej (1.132)
The transposed tensor is given by simple exchange of suffices in compo-

nents in the Cartesian coordinate system. However, the transposed ten-
sor in the mix-variant expressions in the general coordinate system is
not given by the exchange of suffices in components but given by the
exchange of the base vectors as will be shown in Eq. (2.64).
The following equations hold for the transposed tensor.
ðTT ÞT 5 T (1.133)
jjTT jj 5 jjTjj (1.134)
ðA1BÞT 5 AT 1 BT (1.135)
ðABÞT 5 BT AT ðAjr Bri 5 Bri Ajr Þ (1.136)
Tv 5 vTT ðT ir vr 5 vr Tir Þ (1.137)

ðabÞT 5 ba (1.138)
trðABÞ 5 A:BT 5 AT :B (1.139)
trðABÞT 5 trðBT AT Þ (1.140)

Ta b 5 a TT b 5 a bT ððTri ai Þbr 5 ai ðTri br Þ 5 ai ðbr T ri ÞÞ (1.141)
(
Tab 5 aTT b ððT ir ar Þbi 5 ðar T ir Þbi Þ
(1.142)
aTb 5 abTT ðai ðTjr br Þ 5 ai ðbr T jr ÞÞ
1.4.4 Inverse tensor

The tensor T fulfilling detT 6¼ 0 is called the nonsingular tensor, for
which there exists the tensor, called the inverse tensor and designated by
T21 , satisfying the relation

TT21 5 T21 T 5 I; Tir Trj21 5 Tir21 Trj 5 δij (1.143)
where the components are denoted as Tij21 ðT21 Þij for brevity. Then,
there follows:
ðABÞ21 5 B21 A21 (1.144)
because of
ðABÞðB21 A21 Þ ð 5 ABB21 A21 5 AIA21 5 AA21 Þ 5 I
It follows also that

T2n ðT21 Þn 5 ðTn Þ21 (1.145)
and thus the rule of exponentiation extends to the negative power.
1.4.5 Orthogonal tensor

The orthogonal tensor, that is, coordinate transformation tensor is defined
as the tensor which keeps a scalar product of vectors to be constant and
thus it fulfills

ðQaÞ ðQbÞ 5 a b (1.146)
designating the orthogonal tensor by Q. By virtue of Eq. (1.141), the left-

hand side in Eq. (1.146) becomes

ðQaÞ ðQbÞ 5 a ðQT QbÞ (1.147)
Comparing Eq. (1.147) with Eq. (1.146), the orthogonal tensor must
fulfill
QQT 5 QT Q 5 I (1.148)
leading to
QT 5 Q21 (1.149)
The component description of Eq. (1.148) is given in Eq. (1.102).

The particular selection b 5 a 5 v in Eq. (1.146) gives
:Qv: 5 :v: (1.150)
Therefore the magnitude of vector does not change by the orthogonal

transformation. This fact along with Eq. (1.146) means that the
angle formed by vectors also does not change by the orthogonal
transformation.

The magnitude of the orthogonal tensor is given from Eq. (1.148) as

pffiffiffi
:Q: 5 3 (1.151)
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffi
noting :Q: 5 trðQQT Þ 5 trI.
While the scalar product of two vectors does not change by the
orthogonal transformation as described in Eq. (1.146), the trace of two
tensors also does not change by it, that is,
tr½ðQAQT ÞðQBQT Þ 5 trðABÞ (1.152)
While the magnitude of vector does not change by the orthogonal

transformation as described in Eq. (1.150), the magnitude of tensor also
does not change by the transformation, that is,
:jQTQT : 5 :T: (1.153)
noting Eqs. (1.113), (1.148), and

qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
tr ½QTQT ðQTQT ÞT 5 tr ðQTQT QTT QT Þ 5 tr ðTTT Þ
Then, the following tensor possessing the components Qij in

Eq. (1.100) satisfies Eq. (1.102) the direct notation of which is identical to
Eq. (1.148) and thus the orthogonal tensor is expressed with the compo-
nents and the base vectors as follows:
Q 5 Qij ei ej 5 Qij ei ej 5 ei ei (1.154)
noting

Qij ei ej 5 ei ðei ej Þej 5 ei ei 5 ðei er Þer ei 5 Qri er ei
QQT 5 ðei ei Þðej ej ÞT 5 ei ei ej ej 5 δij ei ej
by use of Eq. (1.103). Furthermore, because of

ei 5 er δir 5 er er ei ; ei 5 er δir 5 er er ei
one has the expressions:

ei 5 Qei ; ei 5 QT ei (1.155)
The equations on the coordinate transformation tensor Q are collec-

tively shown from Eqs. (1.100), (1.103), (1.154), and (1.155).

Qij 5 ei ej 5 cosðangle between ei and ej Þ
ei 5 QT ei 5 Qir er ; ei 5 Qei 5 Qri er ; (1.156)
Q 5 Qij ei ej 5 Qij ei ej 5 ei ei


The orthogonal tensor for the rotation by θ in the anticlockwise direc-

tion around the base vector e3 is represented as follows:
2 3 2 3
Q11 Q12 Q13 cosθ sinθ 0
Q 5 4 Q21 Q22 Q23 5 5 4 2 sinθ cosθ 0 5 (1.157)
Q31 Q32 Q33 0 0 1
that is,
Q 5 Q11 e1 e1 1 Q12 e1 e2 1 Q21 e2 e1 1 Q22 e2 e2 1 e3 e3
5 cosθe1 e1 1 sinθe1 e2 2 sinθe2 e1 1 cosθe2 e2 1 e3 e3 (1.158)
5 ðe1 e1 1 e2 e2 Þcosθ 1 ðe1 e2 2 e2 e1 Þsinθ 1 e3 e3
for which we can write

8 9 8 9 2 38 9 2 38 9
< e1 >
> = >< Q1r er >
= Q11 Q12 Q13 > < e1 >
= cosθ sinθ 0 >< e1 >
=
6 7 6 7
e2 5 Q2r er 5 4 Q21 Q22 Q23 5 e2 5 4 2sinθ cosθ 0 5 e2
: >
> ; >: >
; >
: ; > > >
: ;
e3 Q3r er Q31 Q32 Q33 e3 0 0 1 e3
(1.159)
Eq. (1.157) is referred to as the canonical expression for orthogonal tensor.
1.4.6 Tensor decompositions

Several types of decompositions of tensor are used often for conve-
nience as will be described below.
1.4.6.1 Symmetric and skew-symmetric tensors

The tensor T is additively decomposed into the symmetric tensor S
and the skew-(or anti-) symmetric tensor Ω as follows:
T5S1Ω (1.160)
where
1 1
S sym½T ðT 1 TT Þ; Ω ant½T ðT 2 TT Þ (1.161)
2 2
which satisfy
ST 5 S; ΩT 5 2 Ω (1.162)

a Sb 5 b Sa
a ðΩbÞ 5 2 b ðΩaÞ
(1.163)
noting Eq. (1.126). Eq. (1.160) is called the Cartesian decomposition. Here,
it follows that

SST 5 S2 (1.164)
trðSΩÞ 5 trðSΩ Þ 5 0 T
(1.165)
because of trðSΩÞ 5 trððSΩÞT Þ 5 trðΩT SÞ 5 2 trðΩSÞ 5 2 trðSΩÞ, noting

Eqs. (1.133) and (1.162). The skew-symmetric tensor fulfills
trΩ 5 0;
v ðΩvÞ 5 0 (1.166)
exploiting Eqs. (1.162)2 and (1.163).

By virtue of Eq. (1.165), it follows that
trðABÞ 5 trðsym½Asym½BÞ 1 trðant½Aant½BÞ (1.167)
1.4.6.2 Spherical and deviatoric tensors

Tensor T can be decomposed as follows:
T 5 Tm 1 T0 (1.168)
1 0 0 0
Tm T m I; Tm trT; T0 T 2 T m I ðT n 6¼ Tn : trT0 0:trT n 6¼ 0Þ
3
(1.169)
where Tm and T0 are called the spherical (or mean) part and the deviatoric
part, respectively, of the tensor T. The prime ð Þ0 is used for the deviato-
ric part throughout this book.
1.4.7 Axial vector

The antisymmetric tensor Ω is represented in the matrix form from
Eq. (1.162)2 as follows:
2 3
0 Ω12 Ω13
Ωij 5 4 0 Ω23 5 (1.170)
ant: 0
Thus the antisymmetric tensor possesses only three components, and

thus we can infer that it can be related to a vector uniquely. Then, we
examine this fact below.
The axial vector ω is defined as the vector that fulfills the following
equation for the skew-symmetric tensor Ω and an arbitrary vector a.
Ωa 5 ω 3 a (1.171)
Choosing a as the base vector ej and making the scalar product with
ei , we find


Ω ij 5 ei Ωej 5 ei ω 3 ej 5 ei ωr er 3 ej 5 ei ωr εrjk ek 5 ωr εrik δik 5 2 εijr ωr
(1.172)
that is,
Ω 12 5 2 ω3 ; Ω 23 5 2 ω1 ; Ω 13 5 ω2 (1.173)
Then, Ω is expressed as follows:

Ω 5 2 εω 5 2 εijk ωk ei ej (1.174)
that is,
2 3
0 2 ω3 ω2
Ω ij 5 4 0 2 ω1 5 (1.175)
ant: 0
The inverse relation of Eq. (1.174) is given by

1 1 1
ω 5 2 εΩ 5 2 Ω ij ei 3 ej 5 2 εirs Ω rs ei (1.176)
2 2 2
because of ωp ep 5 δpq ωq ep 5 εijp εijq ωq ep =2 5 2 εijp Ω ij ep =2 5 2 Ω ij ei 3 ej =2
by virtue of Eqs. (1.25), (1.39), and (1.172).
It follows from Eq. (1.174) that
Ω5I3ω5ω3I (1.177)
because of

ei ωk εikj ej 5 ei ei 3 ωk ek 5 ei ei 3 ω
2εijk ωk ei ej 5
2 ej 3 ek ωk ej 5 ek ωk 3 ej ej 5 ω 3 ej ej
noting Eq. (1.39).

It follows in view of (1.55)2 that

ðuv 2 vuÞa 5 ðv aÞu 2 ðu aÞv 5 ðv 3 uÞ 3 a (1.178)
Then, it is known by virtue of Eq. (1.171) that v 3 u is the axial vector

of the antisymmetric second-order tensor uv 2 vu.
Now consider the rotation of the Cartesian coordinate system. The
time differentiation of the base vector ei in Eq. (1.155)2 leads to
_ei 5 Q_ T ei 1 QT_ei 5 Q_ T Qei 1 QT_ei (1.179)
_
If we put ei 5 0 in Eq. (1.179), we have the variation of ei observed
from the coordinate system with the base fei g leads to
_ei 5 Ωei (1.180)

where
_T _
Ω Q Q 5 er er ; _ _
Ω ij 5 ðer ei Þðer ej Þ (1.181)
Ω designates the spin of the base vector ei observed from the coordinate
system with the base fei g, bearing in mind that only the direction is

changeable in the base vector because of the unit vector. ei can be _
rewritten as
_er 5 ω 3 er (1.182)
by virtue of the property in Eq. (1.171), where ω is the angular velocity

of ei , which is related to Ω in Eq. (1.176), where Ω rs is specified in
Eq. (1.181)2. It follows from Eqs. (1.176) and (1.181) with Eq. (1.157) for
the rotation around the axis e3 that
2 3 8 9
0 21 0 <0=
_ T
Ω 5 Q Q 5 4 ant: _ 1
0 0 5θ; ω 5 2 εrsi Ω rs 5 0
: ;
(1.183)
1
2
θ _
1.4.8 Determinant
The determinant is studied already in Section 1.1 but it will be stud-
ied in more detail in this subsection.
The determinant is defined in Eqs. (1.12)(1.14) already as follows:
8 9
T11 T12 T13 < εpqr T1p T2q T3r =
1
detT 5 jTij j 5 T21 T22 T23 5 or 5 εabc εpqr Tap Tbq Tcr
T31 T32 T33 : εpqr Tp1 Tq2 Tr3 ; 3!
(1.184)
Eq. (1.18) is expressed in the direct notation as follows:
ðdetTÞI 5 TðcofTÞT ; ðdetTÞδij 5 Tip ðcofTÞjp
from which the cofactor is given as follows:

1
cofT 5 ðdetTÞT2T ; ðcofTÞij 5 εipq εjrs Tpq Trs 5 ðdetTÞT21
ji (1.185)
2!
and then the inverse tensor is given as follows:
ðcofTÞT ðcofTÞji
T21 5 ; Tij21 5 (1.186)
detT detT

Eq. (1.186) is represented for the 2 3 2 and 3 3 3 matrices as follows:

21 T22 2T21 T11 T12
T 5 = ;
2T12 T11 T21 T22
2 3
T22 T33 2T23 T32 T32 T13 2T33 T12 T12 T23 2T13 T22 T11 T12 T13
21 6 7
T 5 4 T23 T31 2T21 T33 T33 T11 2T31 T13 T13 T21 2T11 T23 5= T21 T22 T23

T21 T32 2T22 T31 T31 T12 2T32 T11 T11 T22 2T12 T21 T31 T32 T33
(1.187)
The derivative shown in Eq. (1.22) is expressed using Eq. (1.185) as
@detT @detT
5 ðdetTÞT2T ; 5 ðdetTÞðT2T Þij (1.188)
@T @Tij
We obtain the following equations

(
detð2TÞ 5 2detT; detðsTÞ 5 s3 detT; detT 5 detTT
detðABÞ 5 detAdetB; detðTn Þ 5 ðdetTÞn ; detðexpTÞ 5 expðtrTÞ
(1.189)
detðabÞ 5 0 (1.190)
detðT21 Þ 5 ðdetTÞ21 (1.191)
by virtue of
8
>
> εijk ð2T1i Þð2T2j Þð2T3k Þ5 2εijk T1i T2j T3k
>
>
< εijk sT1i sT2j sT3k 5s εijk T1i T2j T3k
> 3
1 1 1
> det T5 εabc εpqr Tap Tbq Tcr 5 εpqr εabc Tpa Tqb Trc 5 εabc εpqr Tpa Tqb Trc
>
> 3! 3! 3!
>
>
: detðABÞ5ε ðA B ÞðA B ÞðA B Þ5ε A A A B B B 5A A A ε detB
pqr 1a ap 2b bq 3c cr pqr 1a 2b 3c ap bq cr 1a 2b 3c abc
(1.192)

expðT 11 Þ 0 0

detðexpTÞ5 0 expðT22 Þ 0 5expðT11 1T 22 1T 33 Þ (1.193)

0 0 expðT 33 Þ

detðabÞ5εijk ða1 bi Þða2 bj Þða3 bk Þ5a1 a2 a3 εijk bi bj bk 5ða1 a2 a3 Þðb3bÞ b (1.194)
detTdet½T21 5det½TT21 51 (1.195)
noting Eqs. (1.12), (1.14) and (1.21).
The following equations hold for the cofactor, noting Eq. (1.185)
together with Eq. (1.191).

8
> cofðsTÞ 5 s2 cofT
>
>
>
> ðcofTÞT 5 cofðTT Þ; ðcofTÞ21 5 cofðT21 Þ; ðcofTÞ2T 5 cofðT2T Þ
>
>
>
< cofðABÞ 5 cofðAÞcofðBÞ
(1.196)
>
> 1
>
> trðcofTÞ 5 ðtr2 T 2 trT2 Þ 5 II
>
> 2
>
>
:
detðcofTÞ 5 1
noting
1 1 1
trðcofTÞ 5 εabc εaqr Tbq Tcr 5 ðδbq δcr 2 δbr δcq ÞTbq T cr 5 ðTqq Trr 2 Trq T qp Þ
2 2 2
II is the second principal invariant as will be defined in Section 1.6.1.
The vector product in Eq. (1.38) and the scalar triple product in
Eq. (1.48) are described by the determinant as follows:

e1 e2 e3
a2 a3 a3 a1 a1 a2
a 3 b 5 e 1 e 1 e 5 a a2 a3 (1.197)
b2 b3 1 b3 b1 2 b1 b2 3 1
b1 b2 b3
sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi
a2 a3 2 a3 a1 2 a1 a2 2
jja 3 bjj 5 1
b3 b1 1 b1 b2
(1.198)
b2 b3

a1
a2
a3 a e1 a e2 a e3
½abc 5 b1 b2
b3 5 b e1 b e2 b e3 (1.199)
c1 c2
c 3 c e1 c e2 c e3

ða 3 bÞ ðc 3 dÞ 5
a c b c

a d b d (1.200)

a1

a2 a3 p1 q2 r3 ai pi ai qi ai ri a p a q a r
½abc½pqr5 b1
b2 b3 p1 q2 r3 5 bi pi bi qi bi ri 5 b p b q b r
c1 c2 c3 p1 q2 r3 ci pi ci qi ci ri c p c q c r
(1.201)
noting Eq. (1.189)4. The following equation is derived as the special case
of Eq. (1.201) for the three vectors v1 ; v2 ; v3 .

v1 v1 v1 v2 v1 v3

v2 5 v1 v2 v3 5
2
v2 v2 v2 v3
(1.202)
sym: v3 v3
where

v 5 v1 v2 v3 5 εijk ðv1 Þi ðv2 Þj ðv2 Þk ð 5 εijk ðv1 ei Þðv2 ej Þðv3 ek ÞÞ (1.203)

Another random document with
no related content on Scribd:
Adonc pria li roys à un mout vaillant chevalier et moult uset
d’armez, que on clammoit le Monne de Basèle, et à trois ou quatre
autres preus chevaliers ossi, que il se volsissent avanchier et
chevauchier si priès des Englès, qu’il pewissent conssiderer leur
couvenant. Chil vaillant chevalier le fissent vollentiers et se partirent
dou roy, qui tout bellement cevauchoit, mès s’arestoit en
souratendant leur revenue. Jà estoit il heure de nonne, et sollaux
commenchoit à tourner. Et avoit li roys englès fait sonner ses
trompettes, et chacuns dez siens estoit remis en se bataille desoubz
se bannierre, si comme ordonnés avoit estet en devant, car bien
sentoient que li Franchois les aprochoient. Et seoient touttes
mannierres de gens bien et faiticement les dos contre le solleil, et les
archiers mis contre les annemis. Enssi et en cel estat les trouvèrent
li dessus dit chevalier. Quant il eurent bien conssideré et ymaginé
leur couvenant que pour rapporter ent le certaineté, et bien s’en
perchurent li Englès, il s’en retournèrent arrière. Si encontrèrent en
leur chemin pluisseurs bannierrez des leurs à une lieuwe des
Englès, qui chevauçoient toudis avant et ne savoient où il alloient. Si
les fissent arester et attendre lez autres, puis s’en revinrent au roy et
à son consseil, et dissent qu’il avoient veut et comsideret les Englèz,
qui estoient à mains de deux lieuwez de là et avoient ordonnet trois
bataillez, et les atendoient bellement. Adonc estoit dalléz le roy
messires Jehans de Haynnau, qui le relation oy mout vollentiers,
pour tant que li bon chevalier en raportoient verité. Et li dissent cil qui
ce rapport faisoient, qu’il regardast quel cose il en volloit faire. Lors
pria li roys au Monne de Basèle qu’il en volsist dire son advis, pour
tant qu’il estoit durement vaillans chevaliers, et les avoit veu et
justement conssideré. Li Monnes s’escuza par pluisseurs foix, et
disoit que là avoit tant de noblez seigneurs et de bons chevaliers
que sus yaux ne s’en vorroit mies ensonniier. Non obstant ses
excusanches et son bel langage, il fu tant priiéz et cargiéz dou roy
qu’il en dist son advis en telle mannierre. Fos 93 vº et 94.
—Ms. de Rome: Ce samedi au matin, qant li rois de France ot oy
messe en l’abeie de Saint Pière, dedens Abeville, où il estoit logiés,
on fist sonner ses tronpètes, liquel cevauchièrent en toutes les rues
d’Abeville, pour resvillier gens d’armes, armer et traire sus les
camps. Au son des tro[n]pètes dou roi, se armèrent et apparillièrent
tous signeurs et toutes aultres gens; et tant en i avoit grant fuisson,
que il missent plus de demi jour à widier hors d’Abeville. Et devés
sçavoir que onques nobles gens, qui deuissent sentir et considerer
que c’est de tels coses, ne se ordonnèrent pis, ne issirent de bonne
ville ne ne missent sus les camps, que les François fissent. Li rois
issi de Abbeville, mesire Jehan de Hainnau et le signeur de
Montmorensi en sa compagnie, et se traist sus les camps. Li rois de
Boesme et mesires Carles, ses fils, issirent assés tos apriès li; et
tout issoient sans ordenance, ne point n’atendoient l’un l’autre. Qant
on ot un petit eslongiet Abbeville, il fu dit au roi: «Sire, ce seroit bon
que vous envoiissiés chevauceurs devant, pour aviser le couvenant
de vostres ennemis.» Li rois respondi et dist: «On i envoie!»
Donc furent esleu quatre chevaliers usés d’armes, les quels je
vous nonmerai: premiers le Monne de Basèle, le signeur de
Biaugeu, mesire Mille de Noiiers et mesire Loeis d’Espagne. Chil
quatre chevalier se departirent dou couvenant des François et
cevaucièrent sus les camps, et si avant aprocièrent les Englois que
les Englois euissent bien trait jusques à euls, se il vosissent, mais
nennil. Onques ne se desrieulèrent, mais se tinrent tout quoi et les
regardèrent en seant. Et qant li quatre chevaliers les orent avisés et
considerés, il se missent au retour. Et ensi que il retournoient, il
encontroient lors gens qui ceminoient, les auquns à cheval, les
aultres à piet et sans ordenance, de quoi il en fissent pluisseurs
arester et demorer tous qois sus les camps, car il lor disoient:
«Pourquoi allés vous avant, folle gent, sans les banières des
marescaus? Vous vos alés perdre: vechi les ennemis devant vous.»
Qant chil quatre chevalier furent venu deviers le roi, il s’arestèrent et
trouvèrent le roi sus les camps, le conte d’Alençon, le conte de
Flandres, le conte de Blois, le duc de Lorraine, mesire Jehan de
Hainnau, le signeur de Montmorensi et grant fuisson de nobles
signeurs autour de li, car tout s’arestoient, pour tant que il estoit
arestés. Qant li rois vei les chevaliers ens sa presence, il volt sçavoir
quel cose il avoient veu et trouvé, ce fu raison. Li chevalier
regardoient l’un l’autre, et ne voloit nuls parler premiers. Donc
regarda li rois sus le Monne de Basèle et li dist: «Monnes, parlés, je
vous voel oïr.» Fos 118 vº et 119.
P. 171, l. 30: le Monne de Basèle.—Mss. A 1 à 6: le Moyne de
Baselée. Fº 145 vº.—Mss. A 11 à 14, 18, 19: le Moynne de Baseles.
Fº 139.—Mss. A 20 à 22: le Moynne de Baselle. Fº 209 vº.—Mss. A
23 à 33: le Moyne de Bascle. Fº 164 vº.
P. 171, l. 31: Noiiers.—Mss. A 23 à 29: Nouyers. Fº 164 vº.
P. 172, l. 22: que on tenoit.—Ms. B 6: pour tant que il estoit le plus
rusés de guerre. Fº 322.
§ 276. P. 172, l. 28: Sire.—Ms. d’Amiens: «Sire, vostre conroy sont

diversement espars par ces camps: si sera durement tart ainschois
qu’il soient ordonné ne rassamblé, car nonne est jà passée. Si
consseilleroie que vous fesissiés chy endroit vostre host logier, et
demain matin, apriès messe, si ordonnissiéz vos batailles
meurement, et puis chevauchissiés par deviers vos ennemis,
rengiés sans desroy, el nom de Dieu et de saint Gorge, car je sui
certain que vostre annemy ne s’enfuiront mies, ains vous atenderont
seloncq che que j’ay veut.»
Chilx conssaulx pleut assés au roy de Franche, et l’ewist
vollentiers fait. Si fist envoiier partout as routtez des seigneurs et
priière qu’il fesissent retraire leurs bannierrez arrière, car li Englèz
estoient là devant rengiés; si volloit là endroit logier jusquez à
l’endemain. Bien fu sceu entre lez seigneurs li mandemens dou roy,
mès nulx d’iaux ne se volloit retourner, se chil ne se retournoient, qui
estoient premiers. Et chil qui estoient devant avanchiet, ne se
volloient retourner pour tant qu’il estoient si avant allet, se li autre ne
se retournoient premiers, car ce lor sambloit estre homtez, mais il se
tenoient quoys. Li autre, qui estoient derière, chevauchoient toudis
avant pour tant qu’il voloient y estre ossi avant que li autre ou plus.
Et tout ce estoit par orgoeil et par envie, si comme on puet bien
supposer, et dont touttes bonnez gens d’armes n’ont que faire, car
Dieux et fortune het ces deus visces. Or ne fu mies li conssaux dou
bon chevalier tenus, ne li coummandemens dou roy acomplis, dont
che fu follie, car oncques bien ne vint de desobeir à son souverain.
Tant avoit là de grans seigneurs, de baronnie et de chevalerie, que
merveillez seroit à recorder. Si regardèrent li ungs sus l’autre, si
comme pour leur honneur avanchier, car, enssi con dist, c’est une
bonne envie d’armes, mès que on le face raisonnablement. Fº 94.
—Ms. de Rome: Li Monnes enclina le roi et dist: «Sire, volontiers,
puis que vous le conmandés, et ce sera par l’amendement et
correction de mes signeurs et compagnons. Nous avons cevauchiet
si avant que nous avons veu et consideré le couvenant des Englois.
Il sont mis et ordonné en trois batailles, bien et faiticement, et ne font
nul samblant que il doient fuir, mais vous attenderont à ce qu’il
moustrent. Si conselle de ma partie, salve tousjours le millour
conseil, que vous faites toutes vos gens chi arester sus les camps,
et logier pour celle journée. Car, avant que li darrainnier puissent
estre là où li premier sont, et vos batailles ordonnées et mis en pas,
ensi que il apertient, il sera tart et hors d’eure pour courir sus et
combatre vos ennemis. Et seront vos gens tous las, et vous
trouverés vos ennemis frès et nouviaus, et tous avisés à savoir quel
cose il deveront faire. Et ce consel, je le donne et nul aultre; et qui
mieuls scet, se le die.» Donc regarda li rois sus son frère, le conte
d’Alençon, et sus messire Jehan de Hainnau, et dist: «Il nous
samble que chils chevaliers a bien parlé, et nous volons que sa
parole soit oïe et tenue.»—«Monsigneur, respondirent li doi desus
nonmé, il a parlé bien et sagement, ensi que il apertient, selonch
l’usage d’armes; si faites apriès son consel.» Donc s’arestèrent li
signeur tous sus l’opinion dou Monne de Basèle, qui fu uns moult
vaillans chevaliers et usés d’armes, et le plus proçain dou corps le
bon roi de Boesme. Et fu conmandé à deus marescaus de France
de faire ordenance sus ces paroles et tantos. Li doi marescal
obeirent, ce fu raison, et cevauchièrent li uns devant, et li aultres
derrière, en disant et conmandant as bannières: «Arestés, banières,
de par le roi, ou nom de Dieu et de monsigneur saint Denis.» Chil
qui estoient premiers, à ceste ordenance arestèrent, et li darrainnier,
point, mais cevauçoient tout dis avant et disoient que point il ne se
aresteroient, jusques à tant que il seroient ausi avant que li premier
estoient. Et qant li premier veoient que li darrainnier les aproçoient, il
cevauçoient avant et voloient moustrer: «Je sui premiers, et
premiers demorrai.»
Ensi par grant orguel et beubant fu demenée ceste cose, car
casquns voloit fourpasser son compagnon. Et ne pot estre creue ne
tenue la parole dou vaillant chevalier, de quoi il lor en mesvint si
grandement, com vous orés recorder assés briement. Ne ausi li rois
de France ne si marescal ne porent estre mestre de lors gens, car il i
avoit si grant multitude de peuple, et par especial de grans signeurs,
que casquns par envie voloit là moustrer sa poissance. Et trop grant
temps avoit que point il ne s’estoient veu en parti de bataille avoir, si
apparans conme ceste estoit, et cose si notable que la poissance
d’Engleterre et la poissance de France ensamble l’un contre l’autre;
car tout estoit là des deus roiaulmes, ou dedens Agillon et en
Gascongne avoecques le conte Derbi, ou devant Agillon au siège
avoecques le duch de Normendie. Si se voloient li un pour l’autre
avancier, et non estre nonmé à demorer derrière. Et cevauchièrent
en cel estat sans arroi et sans ordenance si avant que il aprochièrent
les ennemis, et que ils les veirent en lor presence. Or fu moult grans
blames pour les premiers, et mieuls lor vausist à estre aresté à
l’ordenance dou vaillant chevalier desus nonmé, que ce que il
fissent. Car si tretos que il veirent lors ennemis, il reculèrent tout à
un faix si desordonneement que chil qui derrière estoient et qui
venoient, s’en esbahirent. Et quidièrent li pluisseur que la bataille
fust conmenchie et li premier desconfi; et orent adonc bien espasce
de aler devant se il veurent, de quoi li auqun i alèrent. Et li aultre se
tinrent tout quoi et ne moustrèrent point adonc de haste, mais
laissièrent passer ceuls qui passer voloient, et disoient: «Nous
demorrons chi, atendans le roi et ses arrois, car il nous est dit de ses
marescaus ensi.» Là ot sus les camps si grant peuple de
conmunauté des chités et bonnes villes de France que tout estoit là
reversé, et les cemins tous couvers entre Abbeville et Crechi, et plus
de euls vingt mil de ces bons honmes, qant ils se veirent sus les
camps, traissent lors espées, et escriièrent: «A la mort, ces traitours
Englois! Jamais piés n’en retournera en Engleterre.» Fº 119.
P. 173, l. 19 à 22: en disant... saint Denis.—Mss. A 1 à 6, 11 à 14,
18, 19: en disant et commandant aux banières, de par le roy, ou nom
de monsigneur saint Denis, que chacun se tenist selon ce que
ordonné lui estoit. Fº 146.—Mss. A 20 à 22: en commandant aux
bannières, de par le roy, eulx arrester, en nom Dieu et saint Denis.
Fº 210.—Mss. A 23 à 33: en disant aux banières: «Arrestés,
banières, de par le roy, ou nom de Dieu et de saint Denis.» Fº 165.
P. 173, l. 28: ceste cose.—Ms. B 6: car il estoient sy grant peuple
au regart des Englès qu’il lez deuissent avoir tout devorez. Fº 323.
§ 277. P. 174, l. 22: Il n’est nulz.—Ms. de Rome: Vous devés

sçavoir, et c’est cose posible et legière assés à croire, que il n’est
honme, tant fust presens à celle journée, ne euist bon loisir de aviser
et imaginer toute la besongne ensi que elle ala, qui en sceuist ne
peuist recorder, de la partie des François, bien justement la verité. Et
ce que je en ai escript, je en fui enfourmés de vaillans honmes,
chevaliers d’Engleterre qui là furent, et liquel missent grande entente
à veoir le couvenant des François: ce furent depuis mesires Jehans
Candos et mesires Bietremieus de Brouhes, et de la partie des
François li sires de Montmorensi, et des chevaliers messire Jehan
de Hainnau; car chil doi hault baron estoient et furent ce jour au frain
dou roi Phelippe de France. Mais sitos que les chevaliers usés
d’armes, qui estoient de la partie des Englois, veirent le povre
couvenant des François, il dissent: «Ces gens sont nostre.» Et aussi
li sage chevalier de France et usé d’armes, parellement dissent:
«Nous sonmes en parti de tout perdre, car il n’i a point de bonne
ordenance en nous.»
Les Englois, qui ordonné estoient en trois batailles, et qui seoient
jus à terre tout bellement, sitos que il veirent les François aprochier,
ils se levèrent sus, moult ordonneement sans nul effroi, et se
rengièrent en lors batailles. Et se mist en grande ordenance ceste
dou prince, car elle pensoit bien à avoir le grignour faix de la
journée, et missent les archiers tout devant en fourme de une erce,
et les gens d’armes ou fons, et la bataille seconde sus une aultre
èle, pour reconforter la première, se besoings estoit, et le roi
d’Engleterre et sa bataille, encores plus en sus, liquel avoient pris la
mote d’un moulin à vent. Et là se tenoit li rois au plus hault, pour
veoir plus lonc et autours de li. Et pooit estre li rois adonc en l’eage
de trente sis ans, en la flour de sa jonèce, et conforté grandement en
ses besongnes. Fos 119 vº et 120.
P. 174, l. 28 et 30: voir Sup. var. (n. d. t.)
§ 278. P. 175, l. 14: Quant li rois.—Ms. d’Amiens: Ensi en

chevauchant toudis avant, li maistres des arbalestriers, qui
conduisoit les Geneuois, chevauça tant et se routte qu’il se
trouvèrent devant les Englèz. Lors s’arestèrent tout quoy et prissent
leurs arsbalestrez et leur artillerie, et s’appareillièrent pour
coummencher le bataille. Environ heure de vesprez, coummencha
ungs esclistrez et ung tonnoire très grans et une pleuve très grosse
avoecq un très grant vent; et l’avoient li Franchois ens ou viaire, et li
Englès au dos. Quant li maistres des arbalestriers eut ordonné et
aroutté les Geneuois pour traire, il coummenchièrent à huer et à
juper moult hault; et li Englès [demorèrent] tout koy et descliquièrent
aucuns kanons qu’il avoient en le bataille, pour esbahir les
Geneuois.
Apriès ce que li oraiges fu passés, li dit mestre des arbalestriers
fissent avanchir bidaus et Geneuois, et aller par devant lez bataillez
pour traire et pour bersser as Englès et yaux derompre, enssi que
coustumme est, et allèrent de si priès qu’il traissent assés li uns as
autrez. Et furent assés tost bidaus et Geneuois par lez archiers
desconfis et fuisson fuis en voies, se il pewissent; mais les bataillez
des grans seigneurs estoient si escaffées pour yaux avanchier et
combattre lors ennemis, qu’il n’atendirent ne ung, ne autre, ne
ordonnanche, ne aroy; ains coururent tous desordonnés et
entremeslés, tant quil encloïrent les Geneuois entre yaux et les
Englès, par quoy il ne peurent fuir, ains cheoient li cheval foible
parmy yaux, et li cheval fort cheoient parmy les foiblez qui cheu
estoient. Et chil qui derière estoient, n’y prendoient point garde pour
le priesse; si cheoient parmy chiaux qui ne se pooient relever. Et
d’autre part, li archier traioient si espessement et si ouniement à
chiaux qui estoient devant et d’encoste, que li cheval, qui sentoient
ces saiettez barbues, faisoient merveillez. Li ung ne volloient avant
aller, li autre salloient contremont, li pluisseur regettoient fort, li autre
se retournoient les culz pour les saiettez qu’il sentoient, par deviers
les ennemis, maugret leurs mestres, et chil qui sentoient le mort, se
laissoient cheoir. Et les gens d’armes englès, qui estoient rengiet à
piet[359], s’avanchoient et se freoient entre ces seigneurs et ces gens
qui ne se pooient aidier de leurs chevaux, ne d’iaux meismes, et
tenoient daghes, haces et cours espios de gue[r]re, durs et roys, et
ocioient gens à leur aise, sans contredit et à peu de fait et de
deffensce; car il ne se pooient aidier ne dessonniier li uns par l’autre,
ne oncquez on ne vit tel mesaventure, ne perdre tant de bonnes
gens à peu de fait.
En telle mannierre dura chilz grans mesciéz pour lez Franchois
jusques à le nuit, car li nuis les desparti. Et jà estoit vesprez, quant li
bataille coummencha; ne oncques li corps dou roy de Franche, ne
nulz de se bannierre ne peut che jour parvenir jusques à le bataille.
Ossi ne fissent nullez des commugnez des bonnes villez de
Franche, fors tant que li sires de Noiiers[360], ungs anchiens
chevaliers et durement preudons et vaillans, porta l’oriflambe, la
souverainne bannierre dou roy, si avant qu’il y demoura. Fº 94.
—Ms. de Rome: Qant li rois Phelippes de France vint auques
priès de la place où les Englois estoient aresté et ordonné et il les
vei, se li mua li sans, car moult les avoit encargiet en grant haine, et
perdi tous pourpos et arrois sus l’estat que li Monnes de Basèle avoit
dit et ordonné, et dist tout en hault: «Par m’ame et par mon corps, je
voi mes ennemis, mais je les voel aler combatre. Faites traire avant
ces Geneuois et conmenchier la bataille, ou nom de Dieu et de
monsigneur saint Denis.» Donc fu faite voie as arbalestriers, et
moustroient les auquns que point il n’i aloient de bonne volenté, car
jà il estoient tous las de venir à piet de Abbeville jusques à là, où il i
a siis lieues, et de porter lors arcs. Ces Geneuois pooient estre
environ quinse mille. Li mestres des arbalestriers des Geneuois dist
tout en hault: «On nous fait issir hors de l’ordenance des marescaus.
On nous avoit dit que nous reposerions meshui ichi, et entenderions
à mettre nostre artellerie à point; et on voelt, tous lassés que nous
sonmes, que nous alons tantos combatre!» Ces paroles furent ditets
et reprises au conte d’Alençon, qui durement en fu courouchiés, et
dist à ceuls qui estoient dalés li: «Regardés, on se doit bien cargier
de tèle ribaudaille! Il ne sont bon, fors à la table. On tue tout! Il nous
porteront plus d’empecement que de avancement.» Entrues que ces
paroles et detriances couroient, et que chil Geneuois se requelloient,
descendi dou chiel une plueve si grose et si espesse que mervelles
fu à considerer, et conmença à esclitrer et à tonner, et sambla
proprement que li mondes deuist finer. Avoecques tout ce, il vint une
vollée de corbaus, si grande et si espesse, en vollant pardesus les
deus hoos et en demenant très grant noise. Adonc dissent auquns
chevaliers, et de l’une part et de l’autre: «Il auera, avant que il soit
nuit, ichi très grande bataille et effusion de sanc et mortalité de
honmes, sur qui que li affaires tourne.»
Apriès toutes ces coses, li temps s’apaisa et li solaus conmença à
luire sus l’eure de basses vespres, biaus et clers. Li François
l’avoient en l’oel, et li Englois au dos. Qant chil Geneuois furent tout
requelliet et mis ensamble, et il deubrent aprocier les Englois, il
conmenchièrent tout de pluisseurs vois à juper si hault que ce fu
mervelles. Et fissent ceste ordenance pour les Englois esbahir, mais
les Englois n’en fissent compte, assés tos apriès la seconde fois en
tèle manière et la tierce ensi, et il l’ont de usage; et puis passèrent
avant et tendirent lors arbalestres, et conmenchièrent à traire. Et
qant chil archier d’Engleterre veirent ceste ordenance, il passèrent
un pas avant, et puis fissent voler ces saiètes, les quelles entrèrent
et descendirent si ouniement sus ces Geneuois que ce sambloit
nège. Li Geneuois, qui point n’avoient apris à trouver tels archiers
que chil d’Engleterre sont, qant il sentirent ces saiètes qui lor
perchièrent bras et poitrines, et lors ceoient sus lors visages et de
plus lonc que il ne pooient traire, se conmenchièrent à esbahir et
furent tantos desconfi. Et coppèrent li pluisseur les cordes de lors
arbalestres, et les aultres les ruèrent jus, et conmencièrent à tourner
les dos et moustrèrent samblant que il voloient fuir, mais il ne
peurent, car il furent enclos des gens d’armes. Et li rois de France et
son frère, le conte d’Alençon, qant il veirent le mauvais couvenant de
euls, dissent: «Tués la pietaille! Tués la pietaille! Il nous ensonnient
et tiennent le cemin sans raison.» Là veissiés gens d’armes
entouelliés entre euls ferir et fraper sus euls et ocire, et moult de
vaillans honmes, euls et lors cevaus, ceoir et tresbuchier parmi euls,
que on ne pooit aidier ne relever. Et toutdis traioient archier englois
esforciement ou mont, et ne perdoient nuls de lors trais, car il
enfieroient et enpalloient parmi les corps, ou parmi chevaus, ou
testes ou bras ou jambes de gens d’armes, par telle manière que on
estoit mehagniet trop durement ou bleciet ou mort, et si ne savoit on
d’où les saiètes venoient. Ensi se conmença la bataille, ce samedi, à
heure de basses viespres, tout oultre l’ordenance et la volenté des
vaillans honmes qui avoient consilliet que on se logast là ce samedi
devant les Englois, et que le dimence on aueroit avis conment on se
poroit ordonner. Fº 120.
P. 175, l. 22: quinze mil.—Ms. B 6: qui fasoient porter sur les cars
leurs arbalestres. Fº 324.
P. 176, l. 19 et 20: li Englès.—Ms. B 6: Les Englès avoient entre
eulx deulx des bonbardieaulx, et en firent deux ou trois descliquier
sur ces Geneuois, qui trop mal ordeneement se mirent quant il les
oïrent ruer. Fº 325.
P. 176, l. 31: cil d’Engleterre.—Ms. B 6: qui traissent deus ou trois

fois où il ne tiroient c’une fois. Fº 326.
P. 177, l. 12: raison.—Ms. B 6: Et ossy ly aucuns Geneuois, pour
eulx oster de che dangier, se mettoient vingt ou trente ensamble et
se deffendoient. Fº 326.
P. 177, l. 15: voir Sup. var. (n. d. t.)
§ 279. P. 177, l. 24: Li vaillans.—Ms. d’Amiens: Li bons roys de

Behaingne, qui tant fu larges et courtois, preux et vaillans, quant il
entendi que on se combatoit, apella le Monne de Basèle, qui estoit
dalléz lui et de ses chevaliers, et les bons chevaliers de son pays de
Behayngne et de Luxembourch, qui durement l’amoient, et leur pria
et enjoindi especialment que il le volsissent mener si avant qu’il
pewist ferir un cop d’espée. Si chevalier acomplir veurent son desir,
se requeillièrent tout enssamble et fissent chevauchier les
bannierrez leur seigneur le roy, et s’en vinrent de grant vollenté
assambler as Englès; et là eut fort hustin et dur, et reboutèrent
adonc le bataille dou prinche. Fº 94 vº.
—Ms. de Rome: Li vaillans et nobles rois de Boesme et contes de
Lucenbourc, sires de Ammeries et de Rainmes, qui se nonma
Jehans, et li auqun dient que il fu rebaptisiés à avoir nom Carles, et
qui fils fu à l’empereour Henri, entendi par ses gens que la bataille
estoit conmenchie: «Ha! dist li Monnes de Basèle, liquels estoit
dalés li et à son frain, on n’a point tenu ne creu mon ordenance. Si
sonmes sus un parti que de tout perdre.» Li gentils rois entendi la
parole dou chevalier; se li demanda: «Monnes, quel heure est il, et
conment sont nostre ennemi?»—«Sire, respondi li chevaliers, il est
tous bas vespres, et si avons le solel en l’oel. Et sont li nostre de
povre arroi, car il entrèrent ou tret des archiers et s’en vont perdre
sans raison, et, puis que la cose est conmencie, on n’i puet
remediier.» Adonc dist li gentils rois, qui tous aveugles estoit, au
Monne de Basèle et as ses aultres chevaliers: «Biau signeur, je vous
pri chierement, et par la foi que vous me devés, que vous me menés
si avant en la bataille que je puisse ferir un cop d’espée.» Et il
respondirent tout: «Monsigneur, volentiers.»
Là se aloiièrent tout li chevalier dou roi par les resnes de lors
cevaus ensamble, à la fin que il ne se peuissent departir l’un de
l’autre, ne perdre la veue de lor signour le roi, ne retourner l’un sans
l’autre. Et qant il se furent mis en celle ordenance, li Monnes de
Basèle, qui estoit li plus usés d’armes, et qui dou matin avoit
cevauchiet pour aviser le couvenant des ennemis, fist tourner les
banières dou roi sus costé, et regarda là où les gens d’armes englois
se tenoient, qui encores se tenoient en lors pas, ensi que ordonné
on les avoit. Les banières dou roi de Boesme, li rois et ses gens
tourniièrent tant que il vinrent là où les gens d’armes estoient, et
conmenchièrent la bataille à euls, et qant il i entrèrent, il estoit jà tart.
Là furent chil Behagnon et Alemant requelliet de la bataille dou
prince et des vaillans hommes qui là estoient. Là fu la bataille forte
et dure et bien poursievoite. Et ot li rois de Boesme son desirier
acompli, car on le mist tout devant; et se il euist esté congneus que
ce euist esté li rois de Boesme, on ne l’euist pas tretiiet jusques à
mort. Mais li vaillans homs fu là ocis, et tout chil qui avoecques le
gentil roi estoient, reservé deus equiers, Lambeqins dou Pé et
Pières d’Auvilers. La manière conment il se sauvèrent, je ne le sçai
pas, mais par euls fu sceu l’ordenance dou roi et des gens, et
conment il entrèrent dedens la bataille et asamblèrent à lors
ennemis.
Bien est verité que de si grans gens d’armes et de si noble
cevalerie et si grant fuisson que li rois de France avoit là, il en
issirent trop petit de grant fais d’armes, car la bataille conmença tart,
et si estoient li François trop fort lassé et travilliet. Toutesfois, ensi
que il venoient, li vaillant honme, pour lor honnour et pour euls
acquiter, cevauçoient toutdis avant, et ne savoient où il aloient, fors
morir. Considerés cel afaire et conment une dure fortune et perverse
tourna sus les François. Fos 120 vº et 121.
P. 178, l. 19: li Monnes de Basèle.—Mss. A 18, 19: le Moine de la

Basèle. Fº 151 vº.—Mss. A 20 à 22: le Moisne de Baselle. Fº 212 vº.
P. 178, l. 21: conté.—Mss. A 1 à 6, 11 à 14, 20 à 22: duchié.
Fº 147 vº.
P. 178, l. 21: Lussembourc.—Mss. A 18, 19: Lucebourc. Fº 151 vº.
P. 179, l. 5: Saint Pol.—Mss. A 15 à 17: Saint Poul. Fº 148.
P. 179, l. 6: de Namur.—Mss. A 15 à 17: Jehan de Namur. Fº 148.
P. 179, l. 7: Sanssoire.—Le nom de ce chevalier est omis dans les
mss. A 1 à 6, 11 à 14.
P. 179, l. 13: il s’en parti.—Ms. B 6: messire Charles de Behaigne,
qui jà s’apelloit roy d’Alemaigne, quoique l’empereur vesquit encore,
fist là voller l’aigle d’Alemaigne, car il s’en parti et pluiseurs des siens
qui le sievirent; et ne cessa de chevaucier, sy vint en la chité
d’Amiens. Fos 333 et 334.
P. 179, l. 17: voir Sup. var. (n. d. t.)
§ 280. P. 179, l. 24: Vous devez.—Ms. de Rome: Vous devés
sçavoir que li rois de France avoit grant angousse au coer, qant il
veoit ses gens ensi desconfire et fondre l’un sus l’autre par une
puignie de gens que li Englois estoient, et en demanda consel à
mesire Jehan de Hainnau qui dalés lui estoit. Li dis mesire Jehan
respondi et dist: «Monsigneur, je ne vous saueroie aultre cose
consillier: le millour pour vous est que vous vos retraiiés et tenés
arrière de la bataille. Il en est avenu par le desroi et le mauvaise
ordenance des vostres, ce que chils vaillans chevaliers li Monnes de
Basèle en dist et proposa ce matin. Vous perderés celle fois, et vous
gagnerés une aultre. Ensi vont les pareçons d’armes et les fortunes
en ce monde. Et encores est li perils trop grans pour vous, car il sera
tantos tart et fera brun de la nuit. Si vous poriés, qui estes rois de
France, aussi bien fourvoiier que avoiier, et mettre sus vostres
ennemis que entre vostres amis; et vous tous seuls ne poés pas
faire la besongne.»
Li rois de France, qui tous fremissoit d’aïr et de merancolie, ne
respondi point adonc, mais cevauça encores un petit plus avant. Et li
sambla que il se voloit adrecier deviers le conte d’Alençon, son frère,
dont il veoit les banières sus un petit tertre, liquels contes d’Alençon
estoit descendus et avoit là requelliet ses gens moult ordonneement;
et en cel estat, sans requler, il vint combatre les Englois, et aussi li
contes de Flandres en tèle manière. Vous devés sçavoir que li grant
signeur et moult de vaillans gens s’aquitèrent vaillanment et
moustrèrent tout estat et fait de proèce, et ne furent pas trouvet mort
à l’endemain en fuiant, mais l’espée en la main et le viaire viers lors
ennemis.
Che samedi au matin, avoit li rois de France donné à mesire
Jehan de Hainnau un noir coursier durement biel et grant. Et portoit
sus le dit coursier uns chevaliers de Hainnau, qui se nonmoit Tieris
de Senselles, la banière dou dit messire Jehan de Hainnau. Et avint
que li chevaus et le chevalier sus passa de force tout parmi les
conrois des Englois, ne onques la banière ne li vola hors des buhos
où li hanste estoit boutée. Qant li chevaliers se vei hors de la bataille
et sus les camps, il n’ot nul talent de retourner arrière, car riens n’i
euist fait, et si ne pooit sçavoir que son mestre estoit devenu. Si prist
le cemin pour venir viers Dourlens et viers Arras, et fu le dimence à
Cambrai et là aporta la banière.
Messires Jehans de Hainnau et mesires Carles de Montmorensi
estoient au frain dou roi de France et li plus proçain de li, et avoient
cause de li garder et consillier. Si le fissent partir et issir hors dou
peril, ensi que à force. Là avoit un chevalier de Hainnau, qui se
nonmoit sires Henris d’Usfalise, sires dou Petit Wargni, moult vaillant
et appert chevalier, et estoit retenus au capiel et au frain le signeur
de Montmorensi. Qant il vei que son signeur s’en retournoit, il n’ot
nulle volenté dou retourner, mais feri cheval des esporons et entra
dedens la bataille, et i fist d’armes ce que il peut[361], mais il i demora.
Dieus ait l’ame de li et de tous les aultres, car ce samedi il en i ot
mors grant fuisson. Fº 121.
P. 179, l. 26: fondre.—Mss. A 1 à 6, 11 à 14, 18 à 22: fouldroier.
Fº 148.
P. 180, l. 25: Thieri.—Mss. A 15 à 17: Henrry. Fº 148 vº.
P. 180, l. 26: Senselles.—Ms. A 7: Fenseilles. Fº 141 vº.—Mss. A
15 à 17: Sanselles. Fº 148 vº.—Mss. A 20 à 22: Seriseilles. Fº 213.
§ 281. P. 181, l. 15: Ceste bataille.—Ms. d’Amiens: Lors s’avala la

bataille dou comte de Norhantonne et de l’evesque de Durem; et
reconfortèrent celle dou prinche de Galles. Li comtez de Blois, li dus
de Lorainne et leurs gens se combatoient d’autre part mout
vassaument, et donnèrent à leur endroit les Englèz assés affaire. Et
fu tel fois que li bataille dou prinche de Gallez branla et eut moult
affaire. Et vinrent doy chevalier englès de le bataille dou prince
deviers le roy englès et li dissent: «Sire, il vous plaise à venir
comforter vostre fil, car il a durement affaire.» Adonc demanda li rois
s’il estoit auques blechiés ne navréz, et on li dist: «Oil, mès non trop
durement.» Donc respondi li roys et dist as chevalliers: «Retournés
deviers lui et ne m’en venés meshui querre jusquez à tant qu’il soit si
navrés qu’il ne se puist aidier: laissiés l’enfant gaegnier ses
esperons.» Adonc retournèrent li chevallier de le bataille dou roy et
revinrent deviers le prinche et se bataille. Fº 94 vº.
—Ms. de Rome: Ceste bataille, ce samedi, entre la Broie et Creci,
fu moult felenesse et très orible. Et i avinrent pluisseurs grans fais
d’armes, liquel ne vinrent pas tout à connissance; car, qant la bataille
conmença, il estoit jà moult tart. Et ce greva plus les François que
aultre cose, car pluisseurs gens d’armes, chevaliers et esquiers, sus
la nuit, perdirent lors signeurs et lors mestres. Si vaucroient par les
camps, et ne savoient où il aloient, et souvent il s’embatoient entre
les Englois, où il estoient mal logiet.
Vous devés sçavoir que, se les trois batailles dou roi d’Engleterre
se fuissent toutes misses ensamble et euissent poursievi les
François, tout i fuissent demoret ou mort ou pris, quoique il en i
demorast assés et trop. Mauvaisement on puet sçavoir conment chil
se conbatirent, qui là furent mort, tels que le conte Carle d’Alençon,
frère au roi de France, le conte Lois de Blois, lor neveu, le conte Lois
de Flandres, le duch de Lorrainne, le conte de Harcourt, frère à
mesire Godefroi de Harcourt, qui là estoit, le conte d’Aumale, le
grant prieus de France et pluisseurs aultres; mais on doit croire et
supposer que si grans signeurs que chil estoient, ne furent pas mort
ne ocis à petit de fait. Mais couvint que des grans fais d’armes par
euls et par lors gens i avenissent, liquel ne vinrent pas tout à la
congnisance de ceuls qui m’en enfourmèrent; mais en tels coses on
en puet mieuls sçavoir la verité par les victorieus que par les
desconfis, car il ont plus grant loisir et l’avis plus atempré, et plus
grant entente il i mettent au regarder que ne font li fuiant ou li cheu
ou chil qui tirent à euls sauver. Chil grant signeur de France desus
nonmé, liquel pour leur honnour et pour euls acquiter, qant il
entrèrent en la bataille, moult de vaillans hommes, chevaliers et
esquiers qui les servoient et qui offisce avoient, les uns de estre au
frain dou signeur, et les aultres à porter les banières ou à estre dalés
pour aidier à deffendre et à garder, ne puet estre que il ne fuissent
grant fuisson, et que la venue d’euls et la moustre ne fesist à cremir.
Et avint que chil qui avoient à garder le corps le prince de Galles,
qant il veirent si grant peuple venir à l’encontre d’euls, resongnièrent
le faix et orent consel de envoiier deviers le roi son père, ensi qu’il
fissent, qui estoit en sus de la bataille dou prinche et sus la mote
d’un moulin à vent. Et estoient chil de la bataille dou roi à costé par
derrière de une grose haie, et ne pooit on venir ne entrer sus euls
fors que par devant, à la fin que il vosist descendre et venist aidier
son fil, quoi que la seconde bataille et la première fuissent remisses
tout en une; et i envoiièrent, et i vint uns chevaliers de par le conte
de Warvich. On li fist voie, et parla au roi et dist: «Chiers sires, je sui
chi envoiiés de par ceuls qui ont le corps de vostre fil, le prince, en
garde, et vous segnefiient que il font doubte que la poissance des
François ne les esforce, car elle est trop grande.» Donc respondi li
rois: «Et mon fil, en quel estat est il?»—«En nom Dieu, sire, respondi
li chevaliers, il est encores fors et hetiés et en bon point.» Donc dist
li rois: «Or alés, alés et retournés deviers ceuls qui chi vous
envoient, et lor dites de par moi que il est heure que li enfes gagne
ses esporons, et ne me venés plus querre, tant que il ait poissance
de tenir en main glave ne espée; car se il plaist à Dieu et à
monsigneur saint Gorge, la journée sera pour li.» Li chevaliers
retourna sus ceste parole.
Or avoit li rois ensi parlé, je vous dirai pourquoi. De là où il estoit, il
pooit veoir en partie le couvenant des François, si ques ils et ses
gens l’avoient veu et veoient encores si très povre et mauvais que
pires ne pooit estre; car ensi que il venoient et entroient en la
bataille, il s’abandonnoient follement et se perdoient[362].... Fº 121 vº.
P. 181, l. 15: la Broie.—Mss. A 1 à 6, 18, 19: Broye. Fº 148 vº.—
Mss. A 20 à 22: Braye. Fº 152.
P. 181, l. 16: Creci.—Ms. A 7: Cresy. Fº 141 vº.
P. 181 l. 16 et 24: voir aussi Sup. var. (n. d. t.)
P. 181, l. 25: à raençon.—Ms. B 6: Et proprement le roy

d’Engleterre avoit ordonné que on n’entendesist à prendre
prisonniers; et n’en y eult mie, que che soir, que l’endemain, douze.
Fº 331.
P. 181, l. 25 et 26: car entre... de peuple.—Mss. A 20 à 22: Ainsy
l’avoit le roy Edouard ordonné dès le matin pour l’advertance de la
grant multitude des François. Fº 213 vº.
P. 182, l. 16: d’Arondiel.—Mss. A 18, 19: d’Aronde. Fº 152 vº.
§§ 282, 283, 284. P. 183, l. 23: On doit.—Ms. d’Amiens: A ceste
bataille, qui fu assés priès de Crechi, eut trop de contraires et de
inconveniens pour les Franchois. Premierement par orgoel il se
combatirent sans arroy, sans ordonnanche et oultre le vollenté dou
roy; car il ne peult oncquez parvenir jusques à le besoingne, ne
messires Jehans de Haynnau, qui estoit retenus pour son corps, ne
pluisseurs autres bons chevaliers. Et assamblèrent li Franchois as
Englès, li pluisseur qui n’avoient beu ne mengiet tout le jour, mais
estoient lasset et travilliet, dont il n’estoient mies plus fort, ne mieux
en leur alainne; et se combatoient le solleil en l’oeil, qui mout lez
grevoit, et avoecq tout ce, il estoit durement tart, car il fu tantost nuis.
Se ne savoient li pluisseur radrechier à leur bannière, ne à leurs
mestres, mès cil qui aventurer et combattre se volloient, tout enssi
qu’il venoient, se boutoient ens; et quant il estoient parvenu jusques
à la bataille, il trouvoient d’encontre ces archiers qui trop grant
encombrier leur faisoient. Enssi se parsevera ceste vesprée tant que
la nuis fu toutte obscurchie, et ne recongnissoient mies l’un l’autre.
Touttesfois, li Englès ne se mouvoient de leur place, ne dou lieu où il
estoient ordounné, ne nulx hommes d’armes de leur costet ne se
metoit devant leur tret, car il pewissent bien foliier. Li roys de France,
qui se tenoit enssus de le bataille, dallés lui monseigneur Jehan de
Haynnau et aucuns de son consseil, bons chevaliers et sceurs, qui
estoient garde de son corps, enqueroit souvent coumment li
besoingne se portoit. Se li fu dit environ soleil esconssant li
mesaventure et li pestilence qui estoit avenus sus ses gens; et se
n’y avoit point de remède de nul recouvrier. Quant li roys oy ces
nouvellez, si fu durement enflaméz d’ayr, et se feri son cheval des
esperons par deviers ses ennemis. Adonc le ratinrent chil qui dallés
lui estoient, messires Jehans de Haynnau, messires Carlez de
Montmorensi, li sires de Saint Digier, li sires de Saint Venant et
aucun bon chevalier qui ordonnet estoient pour son corps garder et li
conssillier, et qui ymaginèrent et considerèrent le peril, et dissent:
«Ha! chiers sirez et noblez roys, aiiés atemprance et mesure en
vous. Se aucune partie de vos gens se sont perdu par follie et par
leur outrage, ne vous voeilliés pour ce mettre en peril, ne le noble
couronne de France en tel meschief ne tel aventure; car encorres
estes vous puissans assés de rassambler otant de gens que vous
avés perdu et plus assés. Jà ne sera vos royaummes si desconfis, et
retournés meshui à la Broie qui est assés priès de chy: dedens
demain aurés vous autrez nouvelles et bon consseil, se Dieux
plaist.»
Li roys, qui moult estoit escaufféz d’aïr, tout en chevauchant,
considera lez parollez de sez bons chevaliers et leur consseil, et
plus celui de monseigneur Jehan de Haynnau que nulx des aultrez,
car il le sentoit si loyal et si adviset, que contre se deshonneur, il ne
l’ewist nullement fourconssilliet. D’autre part ossi, au voir dire, il veoit
bien qu’il estoit tart, et une puignie de gens qu’il avoit dallés lui,
pooient, sus une desconfiture, peu faire. Si se rafrenna et tourna son
cheval sus frain, et prist le chemin de la Broie et y vint gesir celle
nuit, et li chevalier dessus noummet, qui estoient dallés lui. Encorres
se combatoient et entoueilloient aucuns de chiaux qui estoient à le
bataille. Si s’en parti messires Carles de Behaingne, filx au bon roy
de Behaingne, qui s’appelloit et escripsoit roys d’Allemaingne; ossi
fissent pluisseurs seigneurs, car ce ewist esté pité se tout y fuissent
demouret. Si en demoura il assés, dont ce fu dammaiges, mès telz
bataillez et si grans desconfitures ne se font mies sans grant
occision de peuple. Li comtez Guillaume de Namur eut mort
desoubz lui son courssier, et fu en grant peril de son corps et à grant
meschief relevés; et y demora ung bon chevalier des siens que on
clammoit messires Loeys de Jupeleu. Si se sauva li dis comtes par
l’avis et l’effort de sez hommes qui le gouvrenoient, qui le missent
hors dou peril. On ne vous poet mies dire ne recorder de tous chiaux
qui là furent, quel aventure il eurent, ne coumment il se combatirent
chil qui y demorèrent, ne coumment cil s’en partirent, qui se
sauvèrent; car trop y fauroit de raisons et de parolez. Mès tant vous
di, que on oy oncques à parler de si grande desconfiture, ne tant
mors de grans seigneurs, ne de bonne chevalerie, qu’il eut là à si
peu de fait d’armes qu’il y eut fait, si comme cil le temoignent qui y
furent, tant d’un lés comme de l’autre, et par lesquelx li pure verité
en est escripte. Ceste bataille fu par un samedi, l’endemain dou jour
Saint Bietremieu, ou mois d’aoust, l’an de grace Nostre Seigneur mil
trois cens quarante six.
Quant la besoingne fu departie et la nuis fu venue toutte espesse,
li roys englès fist criier sus le hart que nulx ne se mesist à cachier
apriès les ennemis, et que nus ne despouillast les mors, ne les
remuast, jusquez à tant qu’il en aroit donnet congiet. A celle fin fist li
rois ce ban, que on les pewist mieux reconnoistre au matin, et
coummanda que chacuns allast à se loge reposer sans desarmer, et
pria que tout li comte, seigneur, baron et chevalier venissent souper
avoecq lui, et coummanda à ses marescaux que son host fust bien
gardés et escargaitiés toute celle nuit. Li coummandemens dou roy
fu fais de tout en tout; et vinrent soupper dalléz le roy, chil qui priiet
en estoient. Si poés bien croire qu’il furent en grant joie et en grant
repos de coer, pour la belle aventure qui avenue leur estoit. Fos 94 vº
et 95.
Page 184, l. 25: voir Sup. var. (n. d. t.)
P. 185, l. 6: garites.—Mss. A 1 à 6, 11 à 14, 18 à 22: creneaulx.

Fº 149 vº.
P. 185, l. 9: chastellain.—Mss. A 23 à 29: capitaine. Fº 168.
P. 185, l. 9 et 10: li infortunés.—Mss. A 30 à 33: le fortuné.
Fº 189 vº.
P. 185, l. 30: perseverèrent.—Les mss. A 1 à 6, 11 à 14, 18, 19,
ajoutent: après celle desconfiture. Fº 149 vº.
§ 285. P. 187, l. 20: Quant la nuis.—Ms. d’Amiens: Le diemenche

au matin fist grant brumme, si ques grant fuisson des Englès
yssirent des loges, aucun à cheval et aucun à piet, et allèrent, par le
congiet dou roy, aval les camps pour savoir se il porroient veoir
aucuns des Franchois qui se rassamblaissent par troppiaux ou
granment enssamble pour yaux rassaillir de nouviel. Si en trouvèrent
fuisson des commungnes dez bonnes villez qui avoient dormit en
boskès, en fossés et en hayes, par troppiaux; et demandoient li ungs
as autres de leur aventure et qu’il devenroient; car il ne savoient que
avenu leur estoit, ne que li roys ne leurs conduisières estoit
devenus. Quant il virent ces Englès venir viers yaux, il les atendirent
et penssèrent que ce fuissent de leurs gens. Et chil Englès se
ferirent entr’iaux, si comme li leux entre brebis, et les tuoient à
vollenté et sans deffensse. Une autre compaignie d’Englès allèrent
aventurer d’un autre costet. Si trouvèrent grans tropiaux de gens en
pluisseurs lieux, qui alloient aval lez camps pour savoir se il poroient
oyr nouvellez de lor seigneur; li autre queroient lors mestres, li
aultres leurs proismez, li autres lors compaignons, et chil Englès les
ocioient tout enssi qu’il les trouvoient ou encontroient. Fº 95.
. . . . . . . . . . . . . . . . . . . .
—Ms. de Rome: [Li rois acola le prince, et] li princes, li. Et là li dist
li rois: «Biaus fils, Dieus vous doinst bonne perseverance! Vous
estes mon hiretier, car vous vos estes wi vaillanment portés et
acquités.» Li princes, à ceste parole, s’enclina tout bas, et se
humelia en honnourant le roi son père, ce fu raison.
Vous devés sçavoir que grant joie de coer fu là entre les Englois,
qant il sentirent et congneurent de fait que la place lor estoit
demorée, et que la nuit avoit esté pour euls. Si tinrent ceste aventure
à belle, et en regratiièrent Dieu qui lor avoit envoiiet, et passèrent la
nuit jusques à l’endemain.
Qant ce vint le dimence au matin, il fist grant brume, et tèle que à
painnes pooient veoir lonch un arpent de terre. Adonc se departirent
de l’oost par l’ordenance dou roi et des marescaus, cinq cens
hommes d’armes et doi mille archiers, pour descouvrir et savoir se il
trouveroient ne veoiroient auquns François qui se vosissent
requellier. Che dimence au matin, estoient parti de la ville d’Abbeville
et de Saint Riqier en Pontieu les conmunautés de Roem, de
Biauvais et de Amiens, qui riens ne savoient de la desconfiture qui
estoit avenue le samedi. Et trouvèrent ces gens, à male estrine pour
euls, ces Englois qui cevauçoient. Si se boutèrent entre euls, et
quidièrent de premiers que ce fuissent de lors gens. Et lorsque les
Englois les avisèrent, il les courirent sus moult vistement, et furent
tantos ces François desconfis et mis en cace. Si en i ot mors sus les
camps, que par haies, que par buissons, ensi que il fuioient pour

Nonlinear Continuum Mechanics For Finite Elasticity Plasticity Multiplicative Decomposition With Subloading Surface Model 1St Edition Koichi Hashiguchi Full Chapter

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Nonlinear Continuum Mechanics For Finite Elasticity Plasticity Multiplicative Decomposition With Subloading Surface Model 1St Edition Koichi Hashiguchi Full Chapter

Uploaded by

Copyright:

Available Formats

Nonlinear Continuum Mechanics for

Finite Elasticity-Plasticity: Multiplicative

Publisher: Matthew Deans

1.8 Variations of geometrical elements 53

2. Curvilinear coordinate system 61

3. Tensor operations in convected coordinate system 77

4. Deformation/rotation (rate) tensors 101

5. Conservation laws and stress tensors 123

5.3.4 Conservation law of energy 135

6. Hyperelastic equations 151

7. Development of elastoplastic and viscoplastic constitutive

7.5.3 Plastic strain rate 205

8. Multiplicative decomposition of deformation gradient tensor 255

9. Subloading-multiplicative hyperelastic-based plastic and

9.6.2 Normal-yield, subloading and elastic-core surfaces 289

10. Subloading-friction model: finite sliding theory 335

11. Comments on formulations for irreversible mechanical

Appendix 1: Proofs for formula of scalar triple products

The elastoplasticity theory is now faced to the epoch-making devel-

surface enclosing an elastic domain, (4) the incapability of the nonpro-

2019. Furthermore, the subloading-friction model will also be incorpo-

Lagrangian tensors and the transformations rules between the Eulerian

The heartfelt gratitude of the author is dedicated to Prof. Yuki

The mathematical fundamentals are addressed in this chapter, which

1.1 Matrix algebra

1.1.1 Summation convention

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

A letter of the repeated suffix is arbitrary and thus it is called the

This rule is also called Einstein’s summation convention. A repeated index

1.1.2 Kronecker’s delta and alternating symbol

Further, the alternating (or permutation) symbol or Eddington’s epsilon

fulfilling the following relation for the product.

1.1.3 Matrix notation and determinant

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

which is called a matrix notation. The matrix I possessing the compo-

The quantity v possessing three (3 3 1) components is expressed as

The multiplications of the quantity v and the matrix B by the matrix

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

The transformation from the second side to the third side in

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

Therefore the value of determinant in which components in a line (or

The partial derivative of determinant is given from Eq. (1.14) as

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

Then, one has

from which we have

Eventually, one obtains the following relations.

The last equation is no more than Eq. (1.6).

The definitions and the operations of the vector will be delineated in

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

1.2.1 Definition of vector

where v designates a vector and a and b are arbitrary scalars.

1.2.2 Operations of vector

1.2.2.1 Scalar product

Consider the normalized orthogonal coordinate system, where the word

Vector v is described in the linear associative form as follows:

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

The magnitude of vector is also expressed by setting θ 5 0 in

for arbitrary scalars s, a, and b.

1.2.2.2 Vector product

a 3 b :a::b:sinθn ð:n: 5 1Þ (1.38)

Incidentally, the surface vector is defined by the vector product.

Nonlinear Continuum Mechanics for Finite Elasticity-Plasticity

and thus one has

where the coefficients v a ; v b ; v c are given by operating the scalar pro-

g 5 aa 1 bb 1 cc 5 a a 1 b b 1 c c ð5 gT Þ (1.74)

Therefore abc is the vector possessing the direction of a, while

T 5 Q1TU; T 5 QT 1T U (1.98)

T 5 Tij ei ej (1.120)