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y
y +
x
y
z
yz + b = 0
z =
b = 0
xz
z
E y
+ z
+
+
3,33
(
y +
= 1
x
z
y
3
z
r
r r
x +
z =
10 5
t (n ) = + b = 0
n
3,33
z )=
E z
( +
2 xa 4ax 2
2
31
2 x1 a 4ax 2
rn
x
=
,31
10
x
t () x 0
x +
8
4ax 2 5 2ax1 = +n xy + xz +y = 1 = 0
z )=
b =
10 5
4ax 2 2ax1x 0
2
y =
x
y 2 2 z
G xy =
,31
4
) 16 x a = 0
+
2, 2 2
8 (2 x1 a )(2ax1
2 xy 1
16 0
10 5
xy y (2 x1 ayz= )(2ax1 )a5 x 2 a 5 =4ax 2 ,348
x xy
y =
b = 0 2 x1 10
10 6
=0
2
2
+
+
+
+
+G2 y
4,1
(2 x1 a ) = (4ax 2 ) (
24ax 2 2ax1
y
( ax
x = 34
2 a
y x1x z ) =xy 4= 02 )x1
x
8
x
5
dx1 t
0
1
xx a
1 = 2y 1= 14ax 2
2 2
xy y
E x 0 6
a
2
x1 a = xz + b = (2 x11 a= xd)(2 41ax 2 ) 16 x 2 a = 0
4ax 2 + yz 2 x a z + = 4ax0 x = 2 1t ax
+
+
G y 2
1
x
z
2 x1 a
2 x ) 4ax 2
x
(2 x2 a 1 a = (4ax 2 )n 1
2
x2 1
=0
z =
E y
dt
E X 1x = t
dx2
t
3,3
0
ln x14ax 2 2ax1 33
= dt y = 1 =2 xa 4ax 2 x1 = X xz + yz +
1
z = 1
r (n )
1
x =
+t
= 4ax 2
10 52 2 t = n Xx2 x1 a
y +
1 exp t y
2
2
X
2 =x2 x1 a + 4axz = x
z ))(2ax
E z 1(2 x1 a 1 x ) 16 x 2 a = 0
0 2t + 3
=
2
E lyn 2
dt
x3 = X
3,33
1 a X e
2,2 x1= 1 xp 4ax 2
( l
= 1
t
318 )
(2 x a )2 = (4ax 22
3
3
=
x +
=0
z
X 2 x=+n 2t +
2t + 1
r
1
3 ln x1
4ax 20 5 2ax1
3 l n 10 5
t(
2y
G xy =
z )=
E z
==n4
3
r 2
2
,2t4+ 2 ( = )(x a 4 )r
3 8 2 x a 2ax = 16 x 2 a 2 = 0
r r
,31
1
l1 =
31 n
x
10 2 521
+ xb = 1
1 + 4 ax
2
y = 0
x +
8
2 2 x1 a
2
0 6 3 2
10 5
x
2
y =
G xy = x1
G y =
(2 x1 a ) = (4ax 2 )
4
0 dx
x2 = X
2,5
t
2
1
r r ,348
xy = 1
2
1 + 5
= d
= 2 x ta+ 14ax 2
10 6
x
0 b = 0
t
X1 x1
x x1 a = 4ax 2 xy 1 3 1
2
G xy = x1
y =
xz
2 x1 a
0
ln 1
0 x2
x
xy xz d W. V. Chaves 4a
0
+ b + x4ax
+
+ 2 = 2 x1 a 0 2+ Eduardo =t
=t
x1
x = x
+ bx 0
+
y = 1
4ax 2 2ax1
z
y
dx2
X1
t
x
2 x1 a
zX x = dt
x G xy
x1 = X
=
dt
1
1
x (
xy r y 1 exp t
y =
yz
x2
X2
0
0 yz
2 x1 4 )( 2
+ r +
+ b = xy + y + x2 b = xy 2 xz ln 1 =4 a ax 2 2a
0 2t + 3
y
ln x2 + b = y
x1 0 x z
y
x z x =
a = =
x
4
x =
3
dty
z ax 2 (2 x1 1 )
X 2 = ln 2 +
2ax1 (2 x a
E x
t 3 yz
x x
X2
ln
xz +x 3z + b xxza yz 4axz2 xy 2t y yz x (2 x1 a
+
2 1
+
z
y = 1
= 0 + + x = =00z + 0 3 + (2 x+a )(21 a 1 )4
l 2
+ b =
y + y = 1
1 n 2 xax =
x
y y z
b y =0
r1 rx
+
X
z
y
x z
E y
b = 2 = 2 z
X 2 2 = ln 2t 2+
=3 x xy xz+= = 0x4ax 2X y 2ax1 3x
y
E
3
xz
(
) 24ax 2
= (x a )
2
2 x=a 1 4ax(
t+
,33+ (+ r + b x = ,0 3 (
1
2
1
E 3 x x a 3 2ax1 16 x a 2 = 2 x1 a
2
3 y z n
z
+
x = 0 z = 1x
10 5 x + t ( ) = n 3 2 1 )( r (n1 )xz + 2 yz + 0 z + b = 0
1 5
)
2ax1
4ax 2
0
z
z )=
E z
=
ax
) =1
2
E 2 xy y yzyz = (2 x1 a y + )2 t (4ax)2n y z x1 a 2 x= 4 2 4a
z
z = 2 x
,
1a
=
+ Eb 2=
xy 2 x a )(2ax + ) 16 x 2 a 2 310 + +
1 1
y
=
= (x = 1
x 1 x
1 x 8 10y5 + x ,xy 08 xz
y = 2
(1 +5 b = 0 3,333 1 = 2 x1a 4ax2 4ax 2 2ax
x x= 1 y 31
y
1
z z
+
+ x0 +
r
G E ) =
x
y =
(2 xxya = 2,x 2 (4ax 2 )2 = 4, y =
G 3x
1
t (n ) = n
x 4 y 2za z =x4ax 2 10=5
)=
5
2 x1 a + 4ax 2 (2 x1 a )(2a
xz
48 2,5 yz + z E+ b34=
2
xy =
1
10 5 xy+ = 1 = + 1 ,z z
80
y = 1
y
x
a 4 6
x +
G 2E1 a 1 = 4ax 2 z =
+
yx = x
0
(2 x1 a )2 =
y
10 5
0 y x t x =G1 =y3,=10 +x14ax 2
2 x 23 a
d (
x xy = y
x z y =
x3
G
xy =
1 = 1
1
3 dx t r
4,3
z
=xxy+= 1E
)
x
dt x 10 1x= =d t1(n= n2,5 1
4
5y
X1 x1
2 x1 a = 4
G yE =
2xx a1 axxz + yz + 0 5z + b = 8 10 6
x
t4
z)x
X1
0 y =G1 =y = ln 1
0
0 z 2
1 y 2 x a 0 2 ax
z
G x 4 =2 0 x1
x
lx1 y
n=
=t
2,0 1 x2 + 1
0
dxx +t E 3 8X 4ax 2 z 2ax1 y x 0 dX =zt
xy = 1
t = x t
11 5= 2= 2ax
2
y
1
x
0
r r
x 1 xp t
348 l n
t
xy = 1
0 2 = n ln 1
0
2 z) 21t + 0 1
x3 = X 10 5 E z
3 r=X2 1 = ),3 2 = 2 d
3
X1 = t
x = 1
= 0 (2 x1 a 2t1+ (4ax2 Xt ln
G y = x1 xy = 1
)3
) d
+ b 23
x +
8 ln 2 = 2 t
0 dx
x1 = X E
2t + 3
t
120 x5 3 = 2 x1 a 4ax 2
ln
x
e
X
2= 1
1
y =
1 xxp t x1
2 1 x a 4ax
=2
=0
=
= G y =
1
x1 2 a = = 2
3
dt
2,5 2a4, 4 4axx ax 2 = 2tx+a +1 4ax= 2 ln2 x x + xy y = xz1 + = y +
x1 3
4 = 0 2 3 x2
X1 x1
G xy =
2
+
b
x
1
E 0
8 3 X 3 2 2 = 2 x1 a + 2 ax22 = ln
4X X +
ln10x1 5
0 x2 xy = 01
X
10 6
t 1 x x 2t 1 2 = 2 y2 tx+ x
E
y
z
=+
3 2
3 ln = 31 1
y
dx2 G xy = x Xxy= t
t
1
1
xy E = 3 ( x +
1
x
x1 a 4ax 2
zy
x =0
x yz E
=
dt 0 dx1 + t + xz + b1x = X
b y0
xx
1
r r + 1 +E + y = x
X 2 y 2=
z
1 ex p t 1
x = y
x =
2
x1 a + 4ax 2
y
t
+ b = 0 x y = y z x z z 1 + (
G 0 2yt + 3 Xx1 ln dx2
1
x =
x
E =
x
z =
x3 = X
0 x2 xy 0 y = yz ln 1
x
E x
y = y1 E x + 3
0
z
+b =
x + X 2 + ln 2t +X y = t
d x t y
z xz + yzG+ x(+ zb = 0 y ,
x = 1
= 1
31 lny =
1
x z
z
y +
y1
2=
x y xy = z =x2,+ x +
dt
3 x1 r= Xr e t z
5 z ) =
x2
E x
X2
E
E y+ b = 0 xp
x
1
1
=
x2
( = X 2 3,33 y = z xy1 = 10 5 2,3
x
G
=
xz 0+2t +yz + + nz =20 1
3
lb z =
y = 1
2
= x r x( x1
y + x3 = X
x +
t + xy 31 10 G5 = xy 1=xn ) + 2,5
3x
y
z
1
y
=
t 0 E x x= t 10 5
= dn
3
X 2 E l n 2t +
z =
y 1
E y
z )=
xy = xy =
G 1
z 3
3,33
(
r
G
ln 3 2,3
4
r= 1
25 xy1X= x x1= ,34
x , y = 1 01
d
3
b = 0
z
xy
1
xy = 1
r (n )
x +
d0x1 t yt8+
10 5
x xy xz = 18 G = y 1= 0 10 5
+
y
t = n
b G= 2 =1x0 5 2 E x2 y
x
x
z )=
= d
y = +
E z
G x = + x + +xy + xz +xb0 x= X 2 x1
y 0 G
=0 t +
2
y
x(
t
dx X1 t1
x
2
,31
x ,5 x y y zxy4=341 x
z = x11 = 0 2 =
0
z, 8
3 d y1 t x
+
xdt
= 1
x +
xy = 1
8
10 5
2
10 5
xy
1
X
2
y =
E = xt
x
+ b = 0 6
G xy = 1 xy y + y yz yzG yxy 0= X1 x1 2z d d0 22t +t 3 z
x
4
Gxy xy = xz,
1
0 + +
2 5
=
0
+
,34
x =
x dx1 yt x z + b y = 0xy x2= 1 x30 = X x x + lnd
+ 1b x = 0
+
1
1 x
X2
8
x
x
2 X
xz
3 2
0 5
dx2 t
10 6 E = y = 1
z
y
= dy
0 yt +
G =xy = x t =
t
G xy = x1
xz x
Ex x G xy = X1 1 yz x
d
1
235 X 3
0
y 0 yz dx t
,
0 x2 +xz + +yz +z + z b zb1 y 0=2 1 2
ln = 0 x X x
y =
y +
1 b =0
5
2t + 3 10
x y z + z == t
y = 1
+
+ = y
0
y + d
y
z X1 x =
ln
z =
x2 x t
x y
E y
dt
x z x1
X1
3G Xxy =
z3 =
E y (
x x1 X
y =
dt
,33x , =
3
3233
0 1 = dx1 expt t
(
0
0 x
lnzx1= 1
3 3
X
+
1
)]
ij =
X 0
0
2X
0
X 0
l2 3
2X
0
0
2 3
X 2
l
3
0
X 2 X 2
l2
X 2
2
l
0
l2
ij =
3
X
2
2X
X l
0
0
l 2 3
X
2X
2X
l 2 3
2 3
0
ij = 0
X 2
3
X 2
l2
0
3
X 0
X
2X
2X
0
l2 3
l 2 3
0
X 2
3
X 2
l2
3
X l
2X
0
ij =
l 2 3
X 0
2X
0
l2 3
X 2
3
X 2
2
l
3
2
X l
2X
l 2 3
)]
[ [
[ [
( (
)] )]
)]
=
0
ij
() ( )
)]
)]
) ( )[
[(
[(
[
(
) ( )[
[
[ (
[
[ ( )]
( )]
[
]
(
[)]
(
[
(
)]
=
0
ij
0
ij =
00
0
ij =
X
2X
0 0
X 20 3
l2 X
0
0
l 3 22 3
X 2
l 2
0
X 2 23
3
X l X 2
l2
3
2lX32
X2
l
2X
l 2 3
ij
X 0
2X
2 3
0
l ij =
0
X 2 0
3 0
X0
2
X 0
ij 2
X3
l =
2X
00 X 0l 2 2 X3
2 3
l
X 2 Xl 2
2 X
0
0
X 2
X3 2
X 2
ll 22 2 33
X 2
2
3
X 2l
0
3
3
X 2l 2
X l
l2
2X
3
2X
l 2 3
X ll 2 3
2X
l 2 3
2
2
=
0
X 2
3
2
X l
2X
l 2 3
l
X 2
3
l2
] ) ( )
)]
)]
=
0
) ( )
([ )
(( )
)] [
)] [
(
] [
] [
(
)]
(
)]
)] [
]
(
(
)]
)]
[
]
(
[
)]
)]
[
]
(
( )
( )
( )
)]
( )
X 0
2X
l2 3
X 2
3
X 2
l2
3
2
X l
2X
l 2 3
CONTINUUM MECHANICS
(
[
)]
ij
ij
BY MEANS OF
=
0
X 0
2X
2 3
l
0
X 2
3
X 2
l2
3
2
X l
2X
l 2 3
X l
2X
)]
SOLVING PROBLEMS
X
2
)]
)]
2
l
X 2
3
l2
)]
Nomenclature
III
IV
Presentacin
s
anic
mec
h
dif
fu
sio
Flu
x
Flu
ids
n-
Soil
Co
nv
ec
tio
nsfer
eat tra
H
Presentation
ics
ul
ra
yd
H
Structure
ms
ea
B
Plate
s
lid
So
IBVP and Numerical Treatment
Constitutive equations
Tensors
VI
Abbreviations
Abbreviations
IBVP
BVP
FEM
BEM
FDM
Latin
i.e.
et al.
e.g.
etc.
Q.E.D.
v., vs.
viz.
id est
et alii
exempli gratia
et cetera
Quod Erat Demonstrandum
versus
vidilicet
that is
and the others
for example
and so on
which had to be demonstrated
versus
namely
+
2
Tr ()
() T
() 1
() T
() sym
() skew
() sph
() dev
[[]]
det()
D
&
Dt
cof ()
Adj()
Tr ()
:
2
grad()
div ()
I , II , III
r
1
I
I sym I
Macaulay bracket
Euclidian norm of
trace of ()
transpose of ()
inverse of ()
inverse of the transpose of ()
symmetric part of ()
antisymmetric (skew-symmetric) part of ()
spherical part of ()
deviatoric part of ()
module of
jump of
scalar product
determinant of ()
material time derivative of ()
cofactor of ;
adjugate of ()
trace of ()
double scalar product (or double contraction or double dot product)
Scalar differential operator
tensorial product
gradient of
divergence of
vector product (or cross product)
First, second and third principal invariants of the tensor
Vector
Unity vector
Second-order unit tensor
fourth-order unit tensor
symmetric fourth-order unit tensor
SI-Units
SI-Units
J = Nm - Joules
J
W watt
s
length
m - metro
mass
kg - kilogram
power
time
temperature
s - second
K - Kelvin
m
s
m
s2
permeability
m2
dynamic viscosity
Pa s
energy
J = Nm - Joules
energy flux
force
N - Newton
thermal conductivity
pressure, stress
Pa
velocity
acceleration
Prefix
pico
nano
micro
mili
centi
deci
N
- Pascal
m2
Symbol
10 n
10 12
10 6
m
c
d
kg
m2s
J
m2s
W
mK
kg
m3
mass flux
10 9
10 3
10 2
10
mass density
Prefix
kilo
Mega
Giga
Tera
Symbol
10 n
10 3
M
G
10 6
1012
10 9
Nomenclature
Nomenclature
r r
r r
A( X , t ) a ( X , t )
r r
a ( x, t )
B0
B
B
r r
b( x , t )
m
s2
Transformation matrix
Acceleration (current configuration)
m
s2
N
m3
Ce
Elasticity tensor
Elasticity matrix (Voigt notation)
Inelasticity tensor
Cauchy deformation tensor
Calor especfico a volumen constante
Calor especfico a presin constante
Cohesion
cc
solute concentration
DV
Dilation
m
m
D
r
dA
r
da
dV
Rate-of-Deformation tensor
Area element vector in the reference configuration
Area element vector in the current configuration
Volume element
m2
m2
[C ]
in
C
c
Cv
Cp
J
sK
J
kg s K
Pa
Pa
Pa
Pa
mol
m3
m3
Nomenclature
ei
, , k
i j
G
H
shear modulus
Biot strain tensor
Total entropy
r
HO
Angular momentum
Jacobian determinant
r
J ( X , t)
r
j ( x, t )
r
J
diffusion tensor
Kinetic energy
r
L
Linear momentum
m
M
mass
Mandel stress tensor
outward unit normal to the boundary (current
configuration)
outward unit normal to the boundary (reference
configuration)
r
p
P
p
r r
q( x , t )
Q
Q
r
r ( x, t )
Orthogonal tensor
Thermal work
radiant heat constant, or heat source (per unit mass)
XI
m
m
m
m
Pa
m
m
Pa
J
K
kgm 2
= Js
s
m3
m3
m
m
m
m
mol
m2s
J
W
=
mK smK
J
kg m
s
m
sm
kg
Pa
N
m3
Pa
Pa
J
m2s
J
J
kg s
XII
R
S
Entropy flux
T
r (n ) r
t ( x , t , n)
r (N)
t0
r
T ( x, t )
t
t0 t = 0
&
U
r r
u( x , t )
r r
u( X , t )
r
U( X , t )
r
V ( x, t )
Pa
J
kg s m 2
Pa
Pa
Pa
Temperature
Time
Initial time
K
s
s
J
=W
s
J
kg
r r
r r
V ( X , t) v ( X , t)
r r
v ( x, t )
w int
r
X
r
x
Stress power
ij
1 , 2 , 3
Kronecker delta
Principal strains (infinitesimal strain)
Unit Extension
ijk
m
s
m
s
m rad
=
ms
s
J
=W
s
m
m
1
K
specific entropy
bulk modulus
m
m
m
m
m
m
J
kg K
Pa
Nomenclature
thermal diffusivity
Stretch
Lam constants
Poissons ratio
0 (X )
r
( x, t )
r
N
r
S
( ) = e
Vorticity vector
m2
s
m
m
Pa
kg
m3
kg
m3
kg
m3
kg
m3
Pa
Pa
dilatancy
XIII
m
1 , 2 , 3
r
oct
r
oct
max
Pa
Pa
Pa
Pa
Pa
Pa
J
kg
J
m3
J
m3
rad
s
XIV
1 Tensors
Problem 1.1
r
Let a and b be arbitrary vectors. Prove that the following relationship is true:
r r r r
r r
r r r r
(a b) (a b) = (a a)(b b) (a b)
Solution:
r r r r
(a b) (a b)
2
r r 2
r r
= a b = a b sin
r 2 r 2
r 2 r 2
r 2 r
= a b sin 2 = a b 1 cos 2 = a b
2
r 2 r 2
r r
r 2 r 2 r r 2
= a b a b cos = a b a b
r r r r
r r 2
= (a a) b b a b
( ) ( )
r r
( )
r r
r
a
r 2
b cos 2
r
a
r
r r
+ 2 a b cos + b
r
r r
a+b
)(
r r r r
= a+b a+b
r r r r r r r r
= aa + ab + b a + b b
r r r r
r r r 2 r r r 2
Taking into account that a a = a , b b = b and a b = b a (commutative), we can
2
conclude that:
r r
a+b
r r r r r r r r
= aa + ab + b a + b b
r
= a
r r r
+ 2a b + b
r
= a
r
r r
+ 2 a b cos + b
r
b
r
a
r
r r
2 a b cos + b
r
a
r
r r
+ 2 a b cos + b
r r
a+b
r r
r
= a
r r r
+ 2a b + b
r
= a
r
a
r
r r
+2a b + b
r
r
= a + b
= 0
2
r
b
r
a
r
r r
r
a+b = a + b
Then, for any value of 0 < 180 the outcome a + b will be less than a + b . Then,
r
r r
r
a + b a + b holds:
r
b
r
r
r r
r
c = a+b a + b
r r r
c = a+b
r
b
r
a
r
b<a+c
c<a+b
Draft
1 TENSORS
Problem 1.3
1
2
()
( 1 + 2 ) = ( 1 ) + ( 2 )
( 2 )
( 1 )
1 + 2
1
2
(1 + 2 ) = (1 ) + ( 2 ) has not been satisfied:
The function () = E 2 does not show a linear transformation because the condition
1
2
1
1
2
2
= ( 1 ) + ( 2 ) + E 1 2 ( 1 ) + ( 2 )
2
2
(1 + 2 ) = E [1 + 2 ]2 = E 1 + 21 2 + 2 = E1 +
2
1 2 1
E 2 + E 2 1 2
2
2
()
(1 + 2 )
(1 ) + ( 2 )
( 2 )
(1 )
1
1 + 2
Problem 1.4
Consider the points: A(1,3,1) , B (2,1,1) , C (0,1,3) and D(1,2,4 ) , defined in the Cartesian
coordinate system.
Draft
1) Find the parallelogram area defined by AB and AC ; 2) Find the volume of the
) (
)
r
b = AC = OC OA = (0 + 1 + 3k ) (1 + 3 + 1k ) = 1 2 + 2k
i j
i
j
i
j
a = AB = OB OA = 2 1 + 1k 1 + 3 + 1k = 1 4 + 0k
i j
i
j
i
j
i
r r
ab= 1
4 0 = ( 8) 2 + ( 6 ) k
i
j
1 2
Then, the parallelogram area can be obtained by using the following definition:
r r
A = a b = (8) 2 + (2) 2 + ( 6) 2 = 104
) (
c = AD = OD OA = 1 + 2 + 4k 1 + 3 + 1k = 0 1 + 3k
i
j
i
j
i j
r r r
r r r
V (a, b, c ) = c a b
i j
= 0 1 + 3k
) ( 8i 2j 6k )
= 0 + 2 18 = 16
) (
BC = OC OB = 0 + 1 + 3k 2 1 + 1k = 2 + 2 + 2k
i j
i j
i
j
proj BC AB =
BC AB
BC 4
123
4 BC
BC
BC
( 2i + 2j + 2k ) (1i 4j + 0k ) ( 2i + 2j + 2k )
+ 2 + 2k ) ( 2 + 2 + 2k )
( 2i j
i
j
( 2 8 + 0 ) ( 2 + 2 + 2k ) = 5 5 5 k
i
j
i
j
(4 + 4 + 4 )
3
3
3
Problem 1.5
Rewrite the following equations using indicial notation:
1) a1 x1 x 3 + a 2 x 2 x 3 + a 3 x 3 x 3
Solution:
a i xi x 3
(i = 1,2,3)
2) x1 x1 + x2 x2
Draft
1 TENSORS
Solution:
xi x i
(i = 1,2)
3) a 21 x + a 22 y + a 23 z = b y
a 31 x + a 32 y + a 33 z = b z
Solution:
a11 x1 + a12 x 2 + a13 x 3 = b1
a 21 x1 + a 22 x 2 + a 23 x 3 = b2
a x + a x + a x = b
32 2
33 3
3
31 1
a1 j x j = b1
a 2 j x j = b2
a 3 j x j = b3
dummy
index j
free
index i
a ij x j = bi
As we can appreciate in this problem, the use of the indicial notation means that the equation
becomes very concise. In many cases, if algebraic operation do not use indicial or tensorial
notation they become almost impossible to deal with due to the large number of terms
involved.
Problem 1.6
Show that:
a) 3 p v p = v3 ;
b) 3i A ji = A j 3 ;
c) ij ijk ;
d) i 2 j 3 Aij .
Solution:
The Kronecker delta components are:
11
ij = 21
31
12 13 1 0 0
22 23 = 0 1 0
32 33 0 0 1
(1.1)
(1.2)
b) The expression 3i A ji has one free index ( j ), then the result is a vector:
3i A ji = 31 A j1 + 32 A j 2 + 33 A j 3 = A j 3
(1.3)
c) The expression ij ijk has one free index ( k ), then the result is a vector:
ij ijk = 1 j 1 jk
123
+ 2 j 2 jk + 3 j 3 jk
123
4 4
123
1111k
21 21k
12 12 k
+
+ 22 22 k
13 13k
+
+ 23 23k
Draft
+ 31 31k
+
+ 32 32 k
(1.4)
+
+ 33 33k
thus ij ijk = 0 k is the null vector. Note that ij ijk = iik = 11k + 22 k + 33k = 0 k .
d)
i 2 j 3 Aij = A23
(1.5)
Problem 1.7
Expand the equation: Aij x i x j
(i, j = 1,2,3)
Solution: The indices i, j are dummy indices, and indicate index summation and there is no
free index in the expression Aij x i x j , therefore the result is a scalar. So, we expand first the
dummy index i and later the index j to obtain:
expanding j
expanding
Aij x i x j i A1 j x1 x j + A2 j x 2 x j + A3 j x 3 x j
1 2 3 1 24 1 24
4 4
4 3 4 3
A11 x1 x1 A21 x 2 x1 A31 x 3 x1
+
+
+
A12 x1 x 2
A22 x 2 x 2
A32 x 3 x 2
A13 x1 x 3
A23 x 2 x 3
A33 x 3 x 3
Problem 1.8
Obtain the numerical value of:
1) ii jj
Solution:
ii jj = ( 11 + 22 + 33 )( 11 + 22 + 33 ) = 3 3 = 9
2) 1 1
Solution:
1 1 = 1 1 = 11 = 1
Problem 1.9
a) Prove the following is true ijk pjk = 2 ip , ijk ijk = 6 and ijk a j a k = 0 i . b) Obtain the
numerical value of ijk 2 j 3k 1i .
Solution: a) Using the equation ijk pqk = ip jq iq jp , and by substituting q for j , we
obtain:
ijk pjk = ip jj ij jp = ip 3 ip = 2 ip
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1 TENSORS
ijk a j a k = ijk (a a ) jk = 0 i
r r
= (a a ) i = 0 i
b) ijk 2 j 3k 1i = 123 = 1
Problem 1.10
Get the value of the following expressions:
a) ijk i1 j 2 3k
b) ijk pqk = ip jq iq jp for the following cases:
b.1) i = 1, j = q = 2, p = 3
b.2) i = q = 1, j = p = 2
c) ( ijk A jp c p A kq c q + i1 )( ist A sa c a A tb c b + i1 )
where ijk is the permutation symbol and ij is the Kronecker delta.
Solution:
a) ijk i1 j 2 3k = 123 = 1
b.1)
b.2)
ijk = 1
ijk = 1
= 0 0 + 0 0 + 1 (1) = 1
c) Note that the result of A jp c p = b j is a vector, and also note that the following is true
r
( ijk A jp c p A kq c q + i1 )( ist A sa c a A tb c b + i1 ) = i1 i1 = 11 = 1
Problem 1.11
Write in indicial notation: a) the modulus of the vector a ; b) cos , where is the angle
r
r
between the vectors a and b .
Solution:
r
a
r r
= a a = a i e i a j e j = a i a j ij = a i a i = a j a j
r
thus, it is also true that b = b i b i .
2
Draft
r
a = ai ai
r r
r r
a b = a i e i b j e j = a i b j ij = a i b i = a j b j
Taking into account that the index can not appear more than twice in a term of the
expression, we can express cos as follows:
r r
a jb j
ab
cos = r r =
ai ai b k b k
a b
Problem 1.12
(r r ) (r r )
r r
r r
(a b) (c d) = a b e ) ( c d e ) = a b c d e e
Rewrite the expression a b c d without using the vector product symbol.
j
nlm
ijk
nlm
nlm
ijk a j b k e i
ijk
and
by
applying
the
equation
ijk ilm a j b k c l d m = ( jl km jm kl ) a j b k c l d m = a l b m c l d m a m b l c l d m
r r
(r r )
r r r r
r r r r
r r r r
(a b) (c d) = (a c ) (b d) (a d)(b c )
( ) ( )( )
r r r r
r r r r
r
= (a a ) b b a b b a = a
r
b
( )
r r
ab
b) ijk (a k b 3 i1 j 2 + a j b 2 i1 k 3 + a i b1 j 2 k 3 ) = a b ;
c) Aij A ji is an invariant.
Solution:
a) ijk a i a j b k = ij1 a i a j b1 + ij 2 a i a j b 2 + ij 3 a i a j b 3 . The term ij1 a i a j b1 can be evaluated as
follows:
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1 TENSORS
r r
12 k a k b 3 + 1 j 3 a j b 2 + i 23 a i b1 = a 3b 3 + a 2 b 2 + a1b1 = a i b i = a b
Problem 1.14
(r r ) (r r ) r [r
] r [r
Prove that a b c d = c d (a b) d c (a b)
] [
rr r r
rr r r
c d ( a b ) d c ( a b ) = c d a b d c a b
p
i
ijk j k
p
i
ijk j k
[ (
ijk a j b k c p d i ijk a j b k c i d p
)]
)]
ijk a j b k (c p d i c i d p )
[ (
ijk a j b k
)c
m dn
pm
ni im np )
and by applying the equation pm ni im np = pil mnl , the above equation can be rewritten
as follows:
( ijk a j b k ) c m d n ( pil mnl )
(r r )
(r r )
[(r r ) (r r )]
Problem 1.15
r
components
v i = a i + b i + c i 0 i
ijk v i b j c k
pqr a p b q c r
; =
ijk a i v j c k
pqr a p b q c r
; =
ijk a i b j v k
pqr a p b q c r
b) Given three linearly independent vectors, show that: when interchanging two rows or two
r r r
columns the sign of the determinant a (b c ) changes.
Draft
10
=0
r r r
v (b c )
= r r r
a (b c )
c2
c3
a1
b1
a2
b2
a3
b3
c2
v1
v2
c3
b1
b2
c1
c2
v3
b3
c3
a1
a2
b1
b2
c1
c2
a3
v3
b3
c1
v2
b2
b3
c3
ijk v i b j c k
pqr a p b q c r
v 1 a1
v i = v 2 = a 2
v a
3 3
c 1 a1
c 2 = a 2
c 3 a 3
b1
b2
b3
b1
b2
b3
c 1 z1
c 2 z 2 = B ij z j
c 3 z 3
b1
b2
c1
c2
ijk v i b j c k
v3
=z1 =
=
a1
pqr a p b q c r
b3
c3
a2
b1
b2
c1
c2
a3
b3
c3
a1
a2
b1
b2
v1
v2
ijk a i b j v k
a3 b 3
=z 3 =
=
a1 b 1
pqr a p b q c r
v3
a2
b2
c1
c2
a3
b3
a1
a2
v1
v2
c1
c2
av c
a
; =z 2 = ijk i j k = 3
=
a1
B
pqr a p b q c r
v3
c3
a2
b1
b2
c1
c2
a3
b3
c3
B (1)
B (2)
B
B (3)
c3
where B (i ) is the determinant of the resulting matrix by replacing the column (i) of the
r
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1 TENSORS
Given v i = B ij z j
B (i )
zi =
11
Cramers rule
NOTE 2: Although we have demonstrated for 3 3 matrix, this procedure is also valid for
matrices of n-dimensions, which is known, in the literature, as Cramers Rule.
NOTE 3: The solution ( z i ) is possible if B 0 .
NOTE 4: If v i = 0 i we have B ij z j = 0 i and B (i ) = 0 i , with that according to Cramers rule
we have:
z i B = B (i ) = 0 i
Note that the non-trivial solution z i 0 i is only possible if and only if B = 0 , (see Problem
1.50).
r
r r r
Thus:
a1
ijk a i b j c k = b 1
a2
b2
a3
b3
c1
c2
c3
a1
r r r
= ikj a i b j c k = [a, c , b]
r r r
= jki a i b j c k = [b, c , a]
a2
a3
= c1
b1
r r r
ijk a i b j c k = [a, b, c ]
c2
b2
c 3 = ikj a i b j c k
b3
b1
=
b2
b3
c1
a1
c2
a2
c 3 = jki a i b j c k
a3
Problem 1.16
Show that
( ) (
r r
r
r r r r r r r r r r r
a (b c ) = (a c ) b a b c = b c c b a
r r
r
r r
r r r
a (b a) = [(a a)1 a a] b
r
r r
r r
Solution: Taking into account that (d) i = b c i = ijk b j c k and that a d q = qjk b j c k , we
obtain:
Draft
12
r r r
[a (b c )]
= rsi a s ( ijk b j c k )
= rsi ijk a s b j c k = rsi jki a s b j c k
= ( rj sk rk sj ) a s b j c k
= rj sk a s b j c k rk sj a s b j c k
= ak br c k a jb j c r
r r
r r
= b r (a c ) c r a b
r r r rr r
= b(a c ) c a b r
= (b r c s b s c r )a s
r r r r r
= b c c b a r
[(
( )
( )]
= asb r c s asb s c r
) ]
( ) (
r r r
r r r r r r r r r r r
a b c = (a c ) b a b c = b c c b a
r r
In the particular case when a = c we obtain:
r r r
a b a r = (a k a k )b r (a j b j )a r = (a j a j )b p rp (a j b p jp )a r
[ (
)]
= (a j a j ) rp (a j jp )a r b p = (a j a j ) rp a p a r b p
r r
r r r
= [(a a)1 a a] b r
Problem 1.17
Show the Jacobi identity:
r r r r
r r r r r r
a b c + b (c a) + c a b = 0
r
(r r )
r r r
(r r ) r
r
r r
b (c a) =
r r r
c ab =
r r
r r
(r r ) (r r )
(a c )b (a b )c
r r r
r r r
r r r+ r r r r
r r r r
r r r r r
a b c + b (c a) + c a b = b a c b c a = 0
r r r+ r r r
c b a (c a) b
1.1.2
) ( ) ( )
( )
Problem 1.18
Define the order of the tensors represented by their Cartesian components: v i , ijk , Fijj , ij ,
C ijkl , ij . Determine the number of components in tensor C .
Solution: The order of the tensor is given by the number of free indices, so it follows that:
r r
Draft
1 TENSORS
13
Fourth-order tensor: C
The number of tensor components is given by the maximum index range value, i.e.
i, j , k , l = 1,2,3 , to the power of the number of free indices which is equal to 4 in the case of
C ijkl . Thus, the number of independent components in C is given by:
3 4 = (i = 3) ( j = 3) (k = 3) (l = 3) = 81
(r r ) r (r r ) r
(r r ) (r r ) (r r ) r
Show that a) a b c = b c a ; b) a b c d = b c a d
Solution:
r r r
(a b) c = (a e
i
b je j ) ck ek
= a i e i b j c k jk
a)
= (b k c k )a i e i
r r r
r r
r
= (b c )a (b c ) a
r r r r
b) The expression a b c d , which is a second-order tensor, can be expressed in indicial
notation as follows:
)(
r r r r
r r r r
[(a b) (c d)] = (a b) (c d)
ij
ik
kj
= (a i b k ) c k d j = a i b k c k d j
= b k c k ai d j
r r r
= (b k c k )(a i d j ) = (b c )(a d) ij
123
scalar
Problem 1.20
Expand and simplify the expression A ij xi x j when a) A ij = A ji ; b) A ij = A ji .
Solution:
By expanding A ij xi x j we obtain:
A ij xi x j = A 1 j x1 x j + A 2 j x 2 x j + A 3 j x3 x j =
= A 11 x1 x1 + A 21 x 2 x 1 + A 31 x3 x 1 +
A 12 x1 x 2 + A 22 x 2 x 2 + A 32 x 3 x 2 +
(1.6)
A 13 x1 x 3 + A 23 x 2 x 3 + A 33 x3 x 3
a) If A ij = A ji (symmetry) we have
A ij xi x j = A 11 x12 + 2 A 12 x1 x 2 +2 A 13 x1 x 3 +
2
2
A 22 x 2 + 2 A 23 x 2 x 3 + A 33 x3
(1.7)
b) If A ij = A ji (antisymmetry) we have
A ij xi x j = 0
(1.8)
as expected, since:
Castilla-La Mancha University
Ciudad Real - Spain
Draft
14
r
r
r r
A ij xi x j = x A x = A : ( x x )
(1.9)
r r
That is, if A is an antisymmetric and ( x x ) is a symmetric tensor, the double scalar
Problem 1.21
Let and T be second-order tensors, whose Cartesian components are:
5 2 4
ij = 1 2 1
4 3 6
3 1 2
Tij = 4 2 1
1 3 8
(1.10)
Obtain T : .
Solution:
T : = Tij ij
Tij ij =
(1.11)
T1 1 j + T2 j 2 j + T3 j 3 j
1j 3
2
123
12
3
T1111
+
T12 12
+
T13 13
T21 21
+
T31 31
+
T22 22
T32 32
+
T23 23
+
T33 33
(1.12)
thus,
Tij ij = 5 3 + 2 1 + 4 2 + (1) 4 + 2 2 + 1 1 + 4 1 + 3 3 + 6 8 = 87
(1.13)
Problem 1.22
Given the B tensor components:
3 2 4
B ij = 1 5 3
5 7 9
(1.14)
Obtain:
a) C ij = B ik B kj ; b) D ij = B ik B jk ; c) E ij = B ki B kj ; d) C ii , D ii , E ii
Solution:
C = B B
3 2 4 3 2 4 31 44 54
C ij = B ik B kj = 1 5 3 1 5 3 = 23 48 46
5 7 9 5 7 9 67 108 122
Draft
(1.15)
1 TENSORS
15
T
D = B BT
3 2 4 3 2 4
29 25 65
1 5 3 1 5 3 = 25 35 67
=
5 7 9 5 7 9
65 67 155
D ij = B ik B jk
3 2 4 3 2 4 35 46 60
E ij = B ki B kj = 1 5 3 1 5 3 = 46 78 86
5 7 9 5 7 9 60 86 106
(1.16)
E = BT B
(1.17)
Then:
C ii = C 11 + C 22 + C 33 = 31 + 48 + 122 = 201
D ii = D11 + D 22 + D 33 = 29 + 35 + 155 = 219
(1.18)
3 0 3
Obtain: a) B kk
b) B ij B ij
c) B jk B kj
Solution:
a) B kk = B 11 + B 22 + B 33 = 1 + 1 + 3 = 5
b) B ij B ij = B 1 j B 1 j
1 3
2
+ B 2 jB 2 j + B 3 jB 3 j
123
123
B 11B 11
+
B 21B 21
+
+ B 31B 31
+
B 12B 12
+ B 22B 22
+ B 32B 32
+
B 13B 13
+
+ B 23B 23
+
+ B 33B 33
c) B jk B kj = B 1k B k1 + B 2k B k 2 + B 3k B k 3
12
3
123
B 11B 11
+
B 12B 21
+
B 13B 31
+ B 22B 22
+
+ B 23B 32
B 21B 12
+
123
B 31B 13
+
+ B 32B 23
+
+ B 33B 33
Draft
16
Problem 1.24
The D tensor is given by the algebraic operation D = A : B . Obtain the D components for
the following cases:
a)
b)
when
2 3 2
Aij = 4 1 1
1 1 5
when
7 13 14
Aik B kj = 11 18 11
16 27 31
2 3 1
Bij = 1 2 1
1 2 5
Aik B jk
13 9 17
= 15 9 13
18 12 32
Solution:
a) A : B = 2 2 + 3 3 + 2 1 + 4 1 + 1 2 + 1 1 + 1 1 + 1 2 + 5 5 = 50
b) Taking into account that Tr ( A B T ) = Tr ( AT B) = A : B and Aik B jk = A B T , we can
conclude that A : B = Tr ( A B T ) = 13 + 9 + 32 = 54
Problem 1.25
Let us consider the following second-order tensor T = Tr ( E )1 + ( F : E ) E which in indicial
notation is Tij = E kk ij + ( Fkp E kp ) E ij . If the components of E and F are given by:
2 1 4
E ij = 1 5 0
2 0 1
4 3 1
Fij = 2 0 3
2 0 0
a) Obtain the T tensor components. b) Are T and E coaxial tensors? Prove it.
Solution:
Next, we obtain the following scalars:
Tr ( E ) = 2 + 5 + 1 = 8
F : E = 2 4 + 1 3 + 4 1 + 1 2 + 5 0 + 0 3 + 2 2 + 0 0 + 1 0 = 21
Then
1 0 0
2 1 4 50 21 84
0 1 0 + 211 5 0 = 21 113 0
Tij = 8
0 0 1
2 0 1 42 0 29
Two tensors are coaxial when they have the same eigenvectors or when the relationship
T E = E T holds:
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1 TENSORS
50
Tik E kj = 21
42
2
E ik Tkj = 1
17
21 84 2 1 4 289
113 0 1 5 0 = 155
0 29 2 0 1 142
1 4 50 21 84 289
5 0 21 113 0 = 155
0 1 42 0 29 142
155 284
586 84
42 197
155 284
586 84
42 197
I = 11 = I ijkl e i e j e k e l
where
I ijkl = ik jl
(1.19)
I = 11 = I ijkl e i e j e k e l
where
I ijkl = il jk
(1.20)
I ijkl = ij kl
(1.21)
I = 1 1 = I ijkl e i e j e k e l
where
Solution:
(I : I ) ijkl = I ijpq I pqkl = ip jq pk ql = ik jl = I ijkl
( I : I ) ijkl = I ijpq I pqkl = iq jp pl qk = ik jl = I ijkl
I : I = (1 1) : (1 1) = 3(1 1) = 3I
I : I = (11) : (11) = 11 = I
I : I = (11) : (11) = 11 = I
I : I = (11) : (1 1) = 1 1 = I
I : I = (11) : (1 1) = 1 1 = I
1
1
I + I = 11 + 11 , we conclude that:
2
2
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18
I sym : I sym
(
[(
[
(
)(
) (
)
(1 1) : I sym = I : I sym
(
(
) ( )
) ( )
1
1
1
I + I : I = I : I + I : I = I + I = I =1 1
2
2
2
1
1
1
= I : I + I = I :I + I : I = I + I = I =1 1
2
2
2
I sym : (1 1) = I sym : I =
1.1.3
)
) (
]
1
11 + 11 : 11 + 11
4
1
= 11 : 11 + 11 : 11 + 11 : 11 + (11 : 11)
4
1
= 11 + 11 + 11 + 11
4
1
= 11 + 11
2
= I sym
=
Tensor Transpose
Problem 1.27
Let A , B and C be arbitrary second-order tensors. Show that:
A : (B C ) = B T A : C = A C T : B
A : (B C ) = A ij e i e j : B lk e l e k C pq e p e q
= A ij B lk C pq e i e j : kp e l e q
= A ij B lk C pq kp il jq = A ij B ik C kj
Note that, when we are dealing with indicial notation the position of the terms does not
matter, i.e.:
A ij B ik C kj = B ik A ij C kj = A ij C kj B ik
We can now observe that the algebraic operation B ik A ij is equivalent to the components of
the second-order tensor (B T A ) kj , thus,
B ik A ij C kj = (B T A ) kj C kj = B T A : C .
Let u , v be vectors and A be a second-order tensor. Show that the following relationship
holds:
r
r r
r
u AT v = v A u
Solution:
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1 TENSORS
19
r
r
u AT v
u i e i A jl e l e j v k e k
u i A jl il v k jk
u l A jl v j
1.1.4
r
r
= v A u
= v k e k A jl e j e l u i e i
= v k kj A jl u i il
= v j A jl u l
Problem 1.29
Show that : W = 0 is always true when is a symmetric second-order tensor and W is an
antisymmetric second-order tensor.
Solution:
Thus,
ij Wij = 1 j W1 j + 2 j W2 j + 3 j W3 j
123
123
4 4
123
4 4
11W11
21W21
31W31
+
+
+
12 W12
22 W22
32 W32
+
+
+
13W13
23W23
33W33
Taking into account the characteristics of a symmetric and an antisymmetric tensor, i.e.
12 = 21 , 31 = 13 , 32 = 23 , and W11 = W22 = W33 = 0 , W21 = W12 , W31 = W13 ,
W32 = W23 , the equation above becomes:
:W =0
Problem 1.30
r
(r
r
r r
r
M Q M = M Q sym M
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20
NOTE: We can make the geometric interpretation of M Q skew M = 0 as follows. Note that
r
r r
the algebraic operation Q skew M = q (M) is a vector, thus M Q skew M = M q (M) = 0 , which
r
implies that M and q (M) are orthogonal vectors. With that we conclude that: the projection of
r
r r r
q (M ) M = 0
r
r r
q (M) = Q skew M
r
M
r
M
b)
A :B
=0
c)
ijk T jk = ij1 T j1 + ij 2 T j 2 + ij 3 T j 3 = 0 i
= i11 T11 + i 21 T21 + i 31 T31 + i12 T12 + i 22 T22 + i 32 T32 + i13 T13 + i 23 T23 + i 33 T33
= i 21 T21 + i 31 T31 + i12 T12 + i 32 T32 + i13 T13 + i 23 T23 = 0 i
i=2
i=3
with that we demonstrate that if ijk T jk = 0 i holds, this implies that T is symmetric, i.e.
T = TT .
Problem 1.31
Given a second-order tensor A in which the components of the symmetric part is known in
the Cartesian system:
sym
A ij
4 2 0
= 2 1 0
0 0 3
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1 TENSORS
21
Solution:
4 2 0 1
A N = N A sym N = N A sym N = [1 0 0] 2 1 0 0 = 4
N
i ij
i
0 0 3 0
Problem 1.32
Let W be an antisymmetric tensor. a) Show that W W is a symmetric second-order tensor.
b) Show also that (W T W W) : 1 = 0 .
Solution:
a) If we show that (W W ) skew = 0 holds, then we prove that W W is symmetric.
] [
1
1
(W W) (W W ) T = (W W) W T W T
2
2
1
= [(W W ) W W ]
2
=0
(W W ) skew =
W13 W23
0 W13 W23
0
2
2
W12 W13
W12 W23
W13 W23
2
2
= W13 W23
W12 W23
W12 W13
2
2
W12 W23
W12 W13
W13 W23
Let B be a second-order tensor such that B pq = pqs a s with a i = ijk B jk . Prove that B is an
antisymmetric tensor.
Solution:
1
1
1
B pq = pqs a s = pqs sjk B jk = pqs sjk B jk = pqs jks B jk
2
2
2
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22
B pq =
Alternative solution:
Taking into account that B qp = qps a s and pqs = qps , we can conclude that:
B pq = pqs a s = qps a s = B qp
B = B T (antisymmetric)
Problem 1.34
Show that the tensor A skew A sym + A sym A skew is an antisymmetric tensor.
Solution:
Denoting by B = A skew A sym + A sym A skew , and by taking into account that A skew = (A skew ) T ,
A sym = (A sym ) T , we can conclude that:
B = A skew A sym + A sym A skew
= A skew A sym A sym ( A skew ) T
= A skew A sym ( A skew A sym ) T
= 2( A skew A sym ) skew
Problem 1.35
n T = n i e i Tkl (e k e l )
= n i Tkl ik e l
and
= n k Tkl e l
T n = Tlk (e l e k ) n i e i
= n i Tlk ki e l
= n k Tlk e l
= (n1 Tl1 + n 2 Tl 2 + n 3 Tl 3 )e l
Obtain the axial vector w associated with the antisymmetric tensor ( x a ) skew .
Castilla-La Mancha University
Ciudad Real - Spain
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1 TENSORS
23
antisymmetric tensor:
r r
r r
1 r r r r
1 r r
( x a ) skew = ( x a ) ( x a ) T = [ x a a x ]
2
2
r r
r r r
and by replacing it with ( x a ) skew z = w z , we obtain:
r r r r r
r r
1 r r r r r r r
[ x a a x ] z = w z [ x a a x ] z = 2w z
2
r r r r r r
r r
By using the equation [x a a x ] z = z ( x a ) , (see Problem 1.16), the above
equation becomes:
r r r r r r
r r
r r
r r
r
[ x a a x ] z = z ( x a ) = (a x ) z = 2 w z
Problem 1.37
Let us consider two symmetric tensors W (1) and W ( 2) , and their axial vectors represented
r
r
respectively by w (1) and w ( 2) . Show that:
r
r
r
r
W (1) W ( 2 ) = ( w ( 2 ) w (1) ) ( w (1) w ( 2) )1
r
r
Tr W (1) W ( 2 ) = 2( w (1) w ( 2 ) )
(
)(
)(
)
(
(
(
a i (Wij1) W (1) )a k = a j ( ijk ipq wk1) w (p2 ) )a q = a j ( jp kq jq kp ) wk1) w (p2) a q
jk
[
[w
(
(
= a j jp kq wk1) w (p2 ) jq kp wk1) w (p2) a q
=aj
(1) ( 2 )
q wj
(
(
jq wk1) wk2) a q
r
] a
r
r r r
r
r
r
a W (1) W ( 2 ) a = a ( w ( 2 ) w (1) ) ( w (1) w ( 2 ) )1
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24
Tr W (1) W ( 2)
[
[
r
r
r
r
= Tr ( w ( 2) w (1) ) ( w (1) w ( 2 ) )1
r
r
r
r
= Tr ( w ( 2) w (1) ) Tr ( w (1) w ( 2 ) )1
r
r
r
r
= ( w ( 2 ) w (1) ) ( w (1) w ( 2) ) 1[1]
Tr3
2
=3
r
r
= 2( w (1) w ( 2) )
Alternative solution
In this alternative solution we use the tensor components in which it fulfills:
(
Wij1)
(1
= W12 )
W (1)
12
(
Wij 2 )
(
= W122 )
W ( 2 )
12
(1
W13) 0
(
(1
W23) = w31)
(
0 w21)
(1
W12)
0
(1
W12)
(
W122 )
0
(
W122 )
(
w21)
w1(1)
0
(
w31)
0
w1(1)
(
W132 ) 0
(
(2
W23 ) = w32 )
(
0 w22)
(
w22 )
w1( 2 )
0
(
w32 )
0
w1( 2 )
[W
(1)
W ( 2) ]ij
(
(
Wik1) Wkj2 )
(
(
= Wik1) Wkj2 )
0
(
= w31)
w (1)
2
(
w21) 0
(
w1(1) w32 )
(
0 w22)
(
w31)
0
w1(1)
(
(
(
(
w31) w32 ) w21) w22 )
(
(
w11) w22)
=
(
w32 ) w1(1)
w1( 2 )
(
w21) w1( 2 )
(
w22 )
w1( 2 )
0
(
w32 )
0
(
(
w31) w1 2 )
(
(
w32 ) w31) w1(1) w1( 2 )
(
(
w32 ) w21)
(
(
w22) w31)
(
(
(
w21) w22) w1 2 ) w1(1)
In the term (11) we sum and subtract the term w1( 2) w1(1) , in the term (22) we sum and subtract
(
(
(
(
the term w22) w21) and in the term (33) we add and subtract the term w32) w31) , so,
(
(
Wik1) Wkj2 )
w1( 2) w1(1)
(
= w22) w1(1)
w ( 2) w (1)
3 1
(
w1( 2) w21)
(
(
w22) w21)
(
(
w32) w21)
(
(
(
(
w1(1) w1( 2 ) w21) w22) w31) w32)
0
+
(
w1( 2 ) w31)
(
(
w22 ) w31) +
(
(
w32 ) w31)
w1(1) w1( 2 )
(
(
w21) w22 )
(
(
w31) w32 )
(
w1(1) w1 2 )
(
(
w21) w22 )
(1) ( 2 )
w3 w3
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1 TENSORS
1.1.5
25
Problem 1.38
r r
Show that Tr (a b) = a b .
Solution:
r r
Tr (a b) = Tr (a i e i ) (b j e j )
= a i b j Tr e i e j
= a i b j (e i e j ) = a i b j ij
= aibi
r r
= ab
Problem 1.39
1
2
[Tr( E )]2
2
and
P = 4 2 E : E + (3 + 4)[Tr ( E )]
1
1
1
1
W = Tij E ij = E kk ij + 2E ij E ij = E kk ij E ij + 2E ij E ij = E kk E ii + 2E ij E ij
2
2
2
2
)(
P = Tij Tij = E kk ij + 2E ij E qq ij + 2E ij
[Tr( E )]2 .
2
= E kk ij E qq ij + E kk ij 2E ij + 2E ij E qq ij + 2E ij 2E ij
= 2 E kk ii E qq + 2E kk E ii + 2E ii E qq + 4 2 E ij E ij
= 32 E kk E qq + 4E kk E ii + 4 2 E ij E ij
= (3 + 4 )E kk E qq + 4 2 E ij E ij
Then
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26
1
1
1
W = T : E = (Tr ( E )1 + 2E ) : E = (Tr ( E )1 : E + 2E : E )
2
2
2
1
= (Tr ( E ) Tr ( E ) + 2E : E )
2
2
= [Tr ( E )] + E : E
2
P = T : T = (Tr ( E )1 + 2E ) : (Tr ( E )1 + 2E )
=3
= Tr ( E )
= Tr ( E )
= 3 [Tr ( E )] + 4[Tr ( E )] + 4 E : E
2
= (3 + 4 )[Tr ( E )] + 4 2 E : E
2
Problem 1.40
Let ij be the second-order tensor components which is a function of ij , ij = ij ( ij ) , and
is given by:
Tensorial
ij = kk ij + 2 ij
= Tr ( )1 + 2
where and are scalars. Starting by the above equation, obtain an expression for ij in
function of ij , i.e. ij = ij ( ij ) . Express the result in indicial and tensorial notation.
Solution:
Indicial notation
Tensorial notation
ij = kk ij + 2 ij
= Tr ( )1 + 2
2 ij = ij kk ij
2 = Tr ( )1
ij =
1
ij
kk ij
2
2
Tr ( )1
2
2
Next, we need to obtain the following trace kk , to do this we obtain the trace of ij :
Indicial notation
(i = j )
ij = kk ij + 2 ij
Tensorial notation
ii = kk ii + 2 ii = kk 3 + 2 kk
: 1 = Tr ( )1 : 1 + 2 : 1
kk = (3 + 2 ) kk
kk =
Tr ( ) = Tr ( )3 + 2Tr ( )
1
kk
(3 + 2)
Tr ( ) =
1
Tr ( )
(3 + 2 )
Then
Indicial notation
ij =
=
Tensorial notation
ij
kk ij
2
2
Tr ( )1
2
2
1
1
ij
kk ij
2
2 (3 + 2)
Tr ( )1
2
2(3 + 2)
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1 TENSORS
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Problem 1.41
Let T be a second-order tensor. Show that:
(T ) = (T )
m T
T m
and
( )
Tr T T
( )
= Tr T m .
Solution:
(T )
( )
For the second demonstration we can use the trace property Tr (T ) = Tr (T ) , thus:
Tr (T ) = Tr (T ) = Tr (T )
m T
= (T T L T ) = T T T T L T T = T T
T
T m
m T
Problem 1.42
Show that T : 1 = Tr (T ) , where T is an arbitrary second-order tensor.
Solution:
T : 1 = Tij e i e j : kl e k e l
= Tij kl ik jl
= Tij ij = Tii = T jj
= Tr ( T )
Problem 1.43
Show that if and D are second-order tensors, the following relationship is valid:
D = Tr ( D )
kl
= ( D) kl lk = ( D) kk = ( D) ll
= Tr ( D)
Problem 1.44
Show that:
det (S ) S =
1
rjk tpq S rt S jp S kq
6
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(1.22)
28
Solution:
det (S ) = ijk S 1i S 2 j S 3k
(1.23)
(1.24)
(1.25)
1 24
4 3
6
det (S ) =
1
pqr ijk S pi S qj S rk
6
(1.26)
Problem 1.45
Show that A tpq = rjk A rt A jp A kq .
Solution:
We start with the following definition:
A = rjk A r1 A j 2 A k 3
(1.27)
and also taking into account that the term rjk tpq can be replaced by:
rjk tpq
rt
= jt
kt
rp
jp
kp
rq
jq
kq
(1.28)
= rt jp kq + rp jq kt + rq jt kp rq jp kt jq kp rt kq jt rp
= A t1 A p 2 A q 3 + A p1 A q 2 A t 3 + A q1 A t 2 A p 3 A q1 A p 2 A t 3 A t1 A q 2 A p 3 A p1 A t 2 A q 3
= A t1 1 jk A pj A qk + A t 2 2 jk A pj A qk + A t 3 3 jk A pj A qk
= rjk A rt A jp A kq = rjk A tr A pj A qk
Problem 1.46
1
6
(1.29)
1
rjk tpq A rt A jp A kq
6
Problem 1.47
Show the following property:
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1 TENSORS
29
r r r
r r r
r r r
r r r
(B a) (b c) (B b) (a c) + (B c ) (a b) = Tr (B) a (b c)
(1.30)
Solution:
Expressing in Voigt notation the left side of the above equation we obtain:
r
= (1 jk B 11 + 2 jk B 21 + 3 jk B 31 )(a1b j c k b1a j c k + c 1 a j b k ) +
+ (1 jk B 12 + 2 jk B 22 + 3 jk B 32 )(a 2 b j c k b 2 a j c k + c 2 a j b k ) +
(1.31)
+ (1 jk B 13 + 2 jk B 23 + 3 jk B 33 )(a 3b j c k b 3 a j c k + c 3 a j b k )
Note that:
a1 a 2
1 jk (a1b j c k b1a j c k + c 1a j b k ) = b1 b 2
c1
c2
a3
b 3 = ijk a i b j c k
c3
r r r
B 11 ijk a i b j c k + B 22 ijk a i b j c k + B 33 ijk a i b j c k = (B 11 + B 22 + B 33 ) ijk a i b j c k = Tr (B) a (b c )
Q.E.D.
Note also that:
r r r
r r r
r r r
r r r
(B T a) (b c ) (B T b) (a c ) + (B T c ) (a b) = Tr (B) a (b c )
r
r r r r
r r r
r
r r r
(B a) (b c ) + a ((B b) c) + a (b (B c )) = Tr (B) a (b c )
r r
r r r
r
r r
r
r r r
[(B a), b, c ] + [a, (B b), c ] + [a, b, (B c )] = I B [a, b, c ]
(1.32)
Problem 1.48
Show the following property:
r
r
r
r r r
( A a) ( A b) ( A c ) = det ( A ) a (b c )
r
(1.33)
r
where A is a non-singular second order tensor, and a , b and c are linearly independent
vectors.
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Ciudad Real - Spain
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30
Solution:
A non-singular tensor det( A ) A 0
r r r
r r r
a , b , c linearly independent vectors a b c 0 .
(r r )
We express the scalar triple product in indicial notation, i.e. a b c = ijk a i b j c k , and by
multiply both sides of this equation by the determinant of A we obtain:
r r r
a b c A = ijk a i b j c k A
r r r
a b c A = ijk a i b j c k A
= pqr A pi A qj A rk a i b j c k
= pqr ( A pi a i )( A qj b j )( A rk c k )
r
r
r
= ( A a) ( A b) ( A c )
Problem 1.49
r
r r
r r
det 1 + a b = 3 + 2 a b
(1.34)
r r
det 1 + a b = ijk ( i1 + a i b1 ) j 2 + a j b 2 ( k 3 + a k b 3 )
(1.35)
r r
det 1 + a b = ijk 3 i1 j 2 k 3 + 2 a k b 3 i1 j 2 + 2 a j b 2 i1 k 3 + 2 a i b 1 j 2 k 3 +
+ a j b 2 a k b 3 i1 + 2 a i a k b 1b 3 j 2 + 2 a i a j b 1b 2 k 3 + 3 a i a j a k b 1b 2 b 3
2
r r
2 (12 k a k b 3 + 1 j 3 a j b 2 + i 23 a i b1 ) = 2 (a 3 b 3 + a 2 b 2 + a1b1 ) = 2 (a k b k ) = 2 (a b)
Notice that, there was no need to expand the terms ijk a i a k b1b 3 j 2 , ijk a i a j b1b 2 k 3 , and
ijk a i a j a k b1b 2 b 3
to
realize
that
these
terms
equal
zero,
since
r
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1 TENSORS
31
r r
r r
det 1 + a b = 3 + 2 a b
r r
r r
det 1 + a b = 1 + a b
r r
Then, it is simple to prove that det a b = 0 , since
r r r
r r
det a b = 3 ijk a i a j a k b1b 2 b 3 = 3b1b 2 b 3 [a (a a)] = 0
det I sym + A B = 3 + 2 A : B
(1.36)
where I sym is the symmetric fourth-order unit tensor, A and B are second-order tensors.
Note that det ( I sym ) = (1) 3 + (1) 2 (0)(0 : 0 ) = 1 and det (1 1) = (0) 3 + (0) 2 (1)(1 : 1) = 0 .
Problem 1.50
r
Let A be an arbitrary second-order tensor. Show that there is a nonzero vector n 0 so that
r r
A n = 0 if and only if det ( A ) = 0 , Chadwick (1976).
r
r r r
r r r
r
r
r
f g h A = ( A f ) ( A g) ( A h)
r
r
r
( A f ) ( A g) ( A h) = 0
r
r
r
Thus, we can conclude that the vectors ( A f ) , ( A g) , ( A h) , are linearly dependent. This
(r
( A f ) + ( A g) + ( A h) = 0 A f + g + h = 0 A n = 0
r
r r r
Now we choose two vectors k , m , which are linearly independent to n . Once more, we
apply definition:
r r r
r
r
r
k (m n) A = ( A k ) [( A m) ( A n)]
r r r
r r r
r r
Considering that A n = 0 , and k (m n) 0 owing to the fact that k , m , n are linearly
r r r
k (m n) A = 0
14 4
2 3
A =0
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32
Problem 1.51
Let F be an arbitrary second-order tensor. Show that the resulting tensors C = F T F and
b = F F T are symmetric tensors and semi-positive definite tensors. Also check in what condition are
C and b positive definite tensors.
Solution: Symmetry:
C T = (F T F )T = F T (F T )T = F T F = C
b T = (F F T ) T = (F T )T F T = F F T = b
x (F T F ) x = F x F x
= (F x ) (F x )
= F x
x (F F T ) x = x F F T x
T
= (F x) (F T x)
2
T
= F x 0
Or in indicial notation:
x i C ij x j
= x i ( Fki Fkj ) x j
= ( Fki x i )( Fkj x j )
= Fki x i
= x i ( Fik F jk ) x j
= ( Fik x i )( F jk x j )
x i bij x j
= Fik x i
Thus, we proved that C = F T F and b = F F T are semi-positive definite tensors. Note that
r
r
2
x C x = F x
equals zero, when x 0 , if F x = 0 . Furthermore, by definition
r
r
F x = 0 with x 0 if and only if det ( F ) = 0 , (see Problem 1.50). Then, the tensors
Problem 1.52
r
Let dX (1) , dX ( 2) , dX (3) , dx (1) , dx ( 2) , dx (3) be vectors, and they are related to each other as
r
r
r
r
r
r
follows dx (1) = F dX (1) , dx ( 2) = F dX ( 2) , dx (3) = F dX (3) , where F is a non-singular
r
r
r
second-order tensor and F 1 . a.1) Considering dV = dx (1) (dx ( 2) dx (3) ) 0 and
r
r
r
dV0 = dX (1) (dX ( 2 ) dX (3) ) 0 , obtain a relationship between the scalars dV and dV0 in
r
r
r
r
terms of F . a.2) Obtain the relationship between c = dX ( 2) dX (3) 0 and
r
r
r
r
c * = dx ( 2 ) dx ( 3 ) 0 .
Solution
a.1) Taking into account the problem statement it fulfills that:
r
r
r
r
r
r
dV = dx (1) (dx ( 2 ) dx (3) ) = ( F dX (1) ) ( F dX ( 2 ) ) ( F dX (3) )
r
(r r )
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1 TENSORS
33
r
r r r
r
r
a b c A = ( A a) ( A b) ( A c )
r
r
r
r
r
r
dX (1) dX ( 2 ) dX (3) F = ( F dX (1) ) ( F dX ( 2 ) ) ( F dX (3) )
r
r
r
r
r
r
dV = dx (1) (dx ( 2 ) dx (3) ) = ( F dX (1) ) ( F dX ( 2 ) ) ( F dX (3) )
r
r
r
= F dX (1) (dX ( 2) dX (3) )
thus
dV = F dV0
[
[
]
]
])
]
[
r
r
r
r
d x ( 2 ) d x ( 3 ) = F F T d X ( 2 ) d X ( 3 )
r
r
r
r
( F dX ( 2 ) ) ( F dX (3) ) = F F T dX ( 2 ) dX (3)
The tensor F F T is known as the cofactor of F , i.e. cof ( F ) = F F T with this we define
the inverse of a tensor:
cof ( F ) = F F T
F 1 =
T T
= [cof ( F )]
F F 1 = [cof ( F )]
r
r
dx (1) = F dX (1)
F
r
dX ( 3 )
r
dX ( 2 )
r
r
c* F c
r
r
c * = [cof ( F )] c
r
r
r
c * = dx ( 2 ) dx ( 3 )
r
r
dx (3) = F dX (3)
dV = F dV0
r
r
r
dV0 = dX (1) (dX ( 2 ) dX (3) ) 0
1
[cof (F )]T = 1 [adj( F )]
F
F
r
dX (1)
r
r
r
c = dX ( 2) dX (3)
[F F ]
Draft
r
r
dx ( 2 ) = F dX ( 2 )
r
dV = dx (1)
(dx ( 2) dx (3) ) 0
r
34
Problem 1.53
Let A and B be orthogonal tensors, show that the tensor C = A B is also an orthogonal
tensor.
Solution: By definition, a tensor is orthogonal if C 1 = C T holds:
C 1 = ( A B) 1 = B 1 A 1 = B T A T = ( A B) T = C T
Problem 1.54
Show that adj( A B) = adj(B) adj( A ) and cof( A B) = [cof( A )] [cof(B)] .
Solution:
Based on the definition of the inverse of a tensor we can say that:
B 1 A 1 =
[adj(B)] [adj(A )]
B
A B (A B ) = [adj(B)] [adj( A )] =
1
AB
[cof( A)]T
( [cof(A)] [cof(B)] )
(1.37)
where we have used the property A B = A B . Also taking into account the definition of
adjugate and cofactor we can conclude that:
adj( A B) = ([cof( A B)]) = ([cof( A )] [cof(B)])
T
(1.38)
Problem 1.55
Show that:
r
r
r r
( A a) ( A b) = [cof( A )] (a b)
(1.39)
Solution:
Starting from the equation A tpq = rjk A rt A jp A kq (see Problem 1.45), and by multiply both
sides by a t b p , we obtain:
A tpq a t b p = rjk A rt A jp A kq a t b p = rjk ( A rt a t )( A jp b p ) A kq
[cof ( A )] sq
A
Draft
1 TENSORS
1
A tpq a t b p A qs = A tpq a t b p
[cof ( A )] sq
A
35
r
r r
r
[cof( A )] (a b) = ( A a) ( A b )
Problem 1.56
Show that:
r
r
r
r r
r r r
r
r
r
r
a ( A b) ( A c ) + ( A a) b ( A c ) + ( A a) ( A b) c = Tr ([cof ( A )]) a (b c )
(1.40)
Solution:
r r
r
r
r
r
a [cof( A )] (b c ) = a ( A b) ( A c )
r
r
r r
r
r
r r
r
b [cof( A )] (a c ) = b [( A a) ( A c ) ] = ( A a) b ( A c )
r
r
r
r r
r
r
r
r
c [cof( A )] (a b) = c ( A a) ( A b) = ( A a) ( A b) c
r r
r
r
r r
r
r r
a [cof( A )] (b c ) b [cof( A )] (a c ) + c [cof( A )] (a b) =
r
r
r
r
r r
r
r
r
= a ( A b) ( A c ) + ( A a) b ( A c ) + ( A a) ( A b) c
r
r
r r
r r
r r
([cof( A )] a) (b c) ([cof( A )] b) (a c) + ([cof( A )] c ) (a b) = Tr ([cof( A )])[c (a b)]
r
r
r r
= II A [c (a b)]
r
r
r
r
r r
r
r
r
r r r
a ( A b) ( A c ) + ( A a) b ( A c ) + ( A a) ( A b) c = II A a (b c )
] [
] [
] (see Problem 1.47)
r
r
r
r r
r
r
r
r
r r r
a [( A b) ( A c )] + ( A a) [b ( A c )] + ( A a) [( A b) c ] = II [a (b c )]
r
r
r
r r r
( A a) [( A b) ( A c )] = III [a (b c )] (see Problem 1.48)
r
r r r r
r
r r
r
r r r
( A a) (b c) + a ( A b) c ) + a b ( A c ) = I A a (b c )
(1.41)
(1.42)
(1.43)
r r r
Draft
36
r
r
r
r
f = 1a + 2 b + 3 c
r
r
r
r
g = 1 a + 2 b + 3 c
r
r
r
r
h = 1a + 2 b + 3 c
And according to Cramers rule, (see Problem 1.15), the following relationships are true:
r r r
r r r
r r r
r r r
f (b c ) [ f , b, c ]
[a, f , c ]
[a, b, f ]
;
;
1 = r r r r r r
2 = r r r
3 = r r r
a (b c ) [a, b, c ]
[a, b, c ]
[a, b, c ]
r r r
r r r
r r r
[g, b, c ]
[a, g, c ]
[a, b, g]
;
;
1 = r r r
2 = r r r
3 = r r r
[a, b, c ]
[a, b, c ]
[a, b, c ]
r r r
r r
r
r r r
[h, b, c ]
[a, h, c ]
[a, b, h]
;
;
1 = r r r
2 = r r r
3 = r r r
[a, b, c ]
[a, b, c ]
[a, b, c ]
r r r
r r r
By performing the triple scalar product [ f (g h)] [f , g, h] , we can obtain:
r r r
[ f (g h)] =
1
1
2 3
r r r
2 3 [a, b, c ]
2 3
r r r
r r r
r r r
[ f , b, c ] [a, f , c ] [a, b, f ]
r r r
r r r r r r
r r r
r r r
1
= r r r [g, b, c ] [a, g, c ] [a, b, g] [a, b, c ] = P [a, b, c ]
r r r
r r r
[a, b, c ] r r r
[h, b, c ] [a, h, c ] [a, b, h]
r
r r
r r
r
For the case when f = A a , g = A b , h = A c , the principal invariants of P are:
r r
r
r r r
r
r r
1
I P = Tr ( P ) = r r r [ A a, b, c] + [a, A b, c] + [a, b, A c ] = I A
[a, b, c]
r r
r
r
r r r
r r
r
r r r
r r
r
r r
[a, A b, c ] [a, b, A b] [ A a, b, c ] [a, b, A a] [ A a, b, c ] [a, A a, c]
1
r
r r r
r r
II P = r r r
r r
r r
r +
r r r
r r
r +
r
2
[a, A c, c ] [a, b, A c ] [ A c, b, c] [a, b, A c ] [ A b, b, c ] [a, A b, c ]
([a, b, c ])
= II A
III P = III A = det (A )
1.1.6
Problem 1.57
Find a fourth-order tensor P so that P : A = A dev , where A is a second-order tensor.
Solution: Taking into account the additive decomposition into spherical and deviatoric parts,
we obtain:
A = A sph + A dev =
Tr ( A )
1 + A dev
3
A dev = A
Tr ( A )
1
3
Draft
1 TENSORS
37
I = 11 = ik jl e i e j e k e l = I ijkl e i e j e k e l
(1.44)
I = 11 = il jk e i e j e k e l = I ijkl e i e j e k e l
(1.45)
I = 1 1 = ij kl e i e j e k e l = I ijkl e i e j e k e l
(1.46)
)(
I : A = ik jl e i e j e k e l : A pq e p e q
= ik jl A pq kp lq e i e j
= ik jl A kl e i e j
= A ij e i e j
(1.47)
=A
)(
I : A = ij kl e i e j e k e l : A pq e p e q
= ij kl A pq kp lq e i e j
= ij kl A kl e i e j
= A kk ij e i e j
= Tr ( A )1
)
(1.48)
Referring to the definition of fourth-order unit tensors seen in (1.47), and (1.48), where the
relations I : A = Tr ( A )1 and I : A = A hold, we can now state:
A dev = A
Tr ( A )
1
1
1
1 = I : A I : A = I I : A = I 1 1 : A
3
3
3
3
1.1.7
Problem 1.58
Let T be a symmetric second-order tensor and I T , II T , III T be scalars, where:
I T = Tr ( T ) = Tii
II T =
1
2
I T Tr ( T 2 )
2
III T = det ( T )
Draft
38
Tr ( T 2 ) = Tr ( T T ) = T : T = Tij Tij
= ( a ik a jl Tkl )( a ip a jq T pq )
= a ik a ip a jl a jq Tkl T pq
1 31 3
2 2
kp
lq
= T pl T pl
= T : T = Tr ( T T ) = Tr ( T 2 )
c)
det ( T ) = det ( T ) = det (A T A T ) = det (A )det ( T )det (A T ) = det ( T )
1 23
4 4
1 24
4 3
=1
=1
Problem 1.59
Under the base transformation e i = a ij e j and by considering that the second-order tensor
components in this new base are given by:
Tij = a ik a jl Tkl
Show that:
Solution:
=j
= lp
c) det ( Tij ) = det(a ik a jl Tkl ) = det (a ik )det (a jl )det ( Tkl ) = det( Tkl )
1 24 1 24
4 3 4 3
=1
=1
we have just shown that Tkk = Tr (T ) , Tkl Tlk = Tr ( T T ) and det (T ) are invariants.
Problem 1.60
Show that the following relations are invariants:
2
2
C12 + C 2 + C 3
3
3
C13 + C 2 + C 3
4
4
C14 + C 2 + C 3
2
2
2
2
2
2
I C = (C1 + C 2 + C 3 ) = C12 + C 2 + C 3 + 2 C1 C 2 + C1 C 3 + C 2 C 3 C12 + C 2 + C 3 = I C 2 II C
1444 24444
4
3
2
II C
2
So, we have proved that C12 + C 2 + C 32 is an invariant. Similarly, we can obtain:
3
3
3
C13 + C 2 + C 3 = I C 3 II C I C + 3 III C
4
4
4
2
2
C14 + C 2 + C 3 = I C 4 II C I C + 4 III C I C + 2 II C
Draft
1 TENSORS
39
Problem 1.61
Obtain the components of T , given by the transformation:
T = A T AT
where the components of T and A are shown, respectively, as Tij and a ij . Afterwards, given
that a ij are the components of the transformation matrix, represent graphically the
components of the tensors T and T on both systems.
Solution: The expression T = A T A T in symbolic notation is given by:
Tab (e a e b ) = a rs (e r e s ) T pq (e p e q ) a kl (e l e k )
= a rs T pq a kl sp ql (e r e k )
= a rp T pq a kq (e r e k )
To obtain the components of T one only need make the double scalar product with the basis
Tab (e a e b ) : (e i e j ) = a rp T pq a kq (e r e k ) : (e i e j )
Tab ai bj = a rp T pq a kq ri kj
Tij = a ip T pq a jq
x3
T33
T23
x3
T13
T33
T31
T13
T23
T32
T12
T22
x2
T21
T22
T31
T11
T11
T32
T21
T12
x2
x1
x1
T = AT T A
Draft
40
Problem 1.62
Let T be a second-order tensor whose components in the Cartesian system (x1 , x 2 , x 3 ) are
given by:
3 1 0
= Tij = T = 1 3 0
0
0 1
(T )ij
Given that the transformation matrix between two systems, (x1 , x 2 , x 3 ) - (x1 , x 2 , x 3 ) , is:
0
2
A=
2
0
2
2
2
2
Obtain the tensor components Tij in the new coordinate system (x1 , x 2 , x 3 ) .
Solution: The transformation law for second-order tensor components is Tij = aik a jl Tkl .
[ ]
Tij = [a i k ] [Tk l ] a l j
Thus
T = A T AT
0
2
T =
2
0
2
2
2
2
1
0
3 1 0
0 1 3 0 0
0
0 1
1
0
2
2
2
2
0
2
2
2
0 0 4
Draft
1 TENSORS
41
Problem 1.63
Find the transformation matrix between the systems: x, y , z and x, y , z . These systems are
represented in Figure 1.2.
z = z
z = z
y = y
x
x
r
a
B 1
r
a
initial
space
A 1
C 1
CBA
C
r
a
final space
Draft
42
from x, y , z to x, y , z
cos sin 0
A = sin cos 0
0
0
1
with 0 360
x
from x, y , z to x, y , z
z = z
y = y
cos
B= 0
sin
0 sin
1
0
0 cos
with 0 180
y
z = z
from x, y , z to x, y , z
y
y = y
cos
C = sin
sin
cos
0
0
0
with 0 360
x
x
Draft
1 TENSORS
43
cos sin
sin sin
cos
The angles , , are known as Euler angles and were introduced by Leonhard Euler to
describe the orientation of a rigid body motion.
Problem 1.64
If a ij represent the components of the base transformation matrix, show that the following
equations are fulfilled:
2
2
2
a11 + a12 + a13 = 1
2
2
2
a 21 + a 22 + a 23 = 1
2
2
2
a 31 + a 32 + a 33 = 1
a 21 a31 + a 22 a 32 + a 23 a 33 = 0
a a + a a + a a = 0
12 32
13 33
11 31
or
2
2
2
a11 + a 21 + a 31 = 1
2
2
2
a12 + a 22 + a 32 = 1
2
2
2
a13 + a 23 + a 33 = 1
a11 a12 + a 21 a 22 + a 31 a 32 = 0
a12 a13 + a 22 a 23 + a 32 a 33 = 0
a a + a a + a a = 0
21 23
31 33
11 13
Solution:
We start from the principle that the basis transformation matrix is an orthogonal matrix, i.e.
a ik a jk = a ki a kj = ij . Then:
a ik a jk = a i1 a j1 + a i 2 a j 2 + a i 3 a j 3 = ij
(i = 1, j = 1)
(i = 2, j = 2)
(i = 3, j = 3)
(i = 1, j = 2)
(i = 2, j = 3)
(i = 1, j = 3)
2
2
2
a11 + a12 + a13 = 1
2
2
2
a 21 + a 22 + a 23 = 1
2
2
2
a31 + a 32 + a 33 = 1
Alternative solution:
T
AA = 1
a11
a
21
a 31
a12
a 22
a 32
a13 a11
a 23 a12
a 33 a13
a 21
a 22
a 23
a 31 1 0 0
a 32 = 0 1 0
a 33 0 0 1
Draft
a 21 a 31 + a 22 a 32 + a 23 a 33 = 0 1 0
2
2
2
0 0 1
a 31 + a 32 + a 33
44
1.1.8
Problem 1.65
Let Q be a proper orthogonal tensor, and E be an arbitrary second-order tensor. Show that
the eigenvalues of E do not change with the following orthogonal transformation:
E* = Q E QT
Solution:
(
)
= det (Q E Q 1)
= det (Q E Q Q 1 Q )
= det [Q (E 1 ) Q ]
= det (Q ) det (E 1 ) det (Q )
123
1 24
4 3
0 = det E * 1
T
T
= det (E 1 )
(
= det (Q
= det (Q
0 = det E * ij
ij
ik E kp Q jp
ij
ik E kp Q jp
Q ik Q jp kp
[ (
) ]
= det (Q )det (E ) det (Q )
= det (E )
= det Q ik E kp kp Q jp
ik
kp
kp
kp
jp
kp
Solution:
A 2 = A* A*
( A 2 ) ij = ( A * A * ) ij = A * A *
ik kj
= ( Q A Q T ) (Q A Q T )
= QA Q QA Q
123
T
= (Q ip A pr Q kr )(Q ks A st Q jt )
= Q ip A pr Q kr Q ks A st Q jt
123
=1
= rs
= Q A A QT
= Q ip A pr rs A st Q jt = Q ip A ps A st Q jt
= Q A 2 QT
= Q ip ( A A ) pt Q jt
= (Q A 2 Q T ) ij
Problem 1.67
Given the tensor components:
5 3 3
Tij = 2 6 3
2 2 4
Draft
1 TENSORS
45
Solution:
a) The principal invariants of T are:
I T = Tr ( T ) = 5 + 6 + 4 = 15
II T =
6 3
2 4
5 3
2 4
5 3
2 6
= 56
III T = det ( T ) = 60
3
3
=0
3 2 I T + II T III T = 0
thus:
3 152 + 56 60 = 0
2
Tij = 0
0
0
3 > 2
0
0
2 + 3 = 5
23 = 6
2
(5 3 ) 3 = 6 3 5 3 + 6 = 0
2 + 3 = 5
1
(3 ) = 3
(2)
3 = 2
Tij = 0 2 0
0 0 3
I T = Tr ( T ) = 10 + 2 + 3 = 15
Problem 1.68
Find the principal values and directions of the second-order tensor T , where the Cartesian
components of T are:
(T )ij
3 1 0
= Tij = T = 1 3 0
0
0 1
Draft
46
Solution: We need to find nontrivial solutions for (Tij ij ) n j = 0 i , which are constrained by
n j n j = 1 (unit vector). As we have seen, the nontrivial solution requires that:
Tij ij = 0
T12
T22
T13
T23
3 1
= 1 3
T31
T32
T33
0
0
=0
(1 ) (3 ) 2 1 = 0
3
7 + 14 8 = 0
T
1
Tii T jj Tij Tij = 22
T32
2
T23
T33
T11
T13
T31
T33
T11
T12
T21
T22
= 14
3 72 + 14 8 = 0
2 = 2;
3 = 4
II T = 1 2 + 2 3 + 3 1 = 1 2 + 2 4 + 4 1 = 14
III T = 1 2 3 = 8
Thus, we can see that the invariants are the same as those evaluated previously.
Principal directions:
3 1
1
1
3 1
0
0 n1 0
0 n 1 3 1 1
n = 1 3 1 0 n = 0
0 2
2
n 3 0
0 1 1 n 3 0
1 1
Draft
1 TENSORS
47
2n1 n 2 = 0
n1 = n 2 = 0
n1 + 2n 2 = 0
0n = 0
3
2
2
n i n i = n1 + n 2 + n 3 = 1
2
n i(1) = [0 0 1] .
NOTE: This solution could have been directly determined by the specific features of the T
matrix. As the terms T13 = T23 = T31 = T32 = 0 imply that T33 = 1 is already a principal value,
then, consequently, the original direction is a principal direction.
2 = 2
3 2
1
1
3 2
0
0 n1 0
n 1 3 2 1
n = 1 3 2
0 n 2 = 0
2
1 2 n 3 0
0
1 2 n 3 0
0
0
n1 n 2 = 0 n1 = n 2
n1 + n 2 = 0
n = 0
3
The first two equations are linearly dependent, after which we need an additional equation:
2
2
2
n i n i = n1 + n 2 + n 3 = 1 2n1 = 1 n1 =
2
1
2
Thus:
2 = 2
n i( 2 ) =
2
1
2
3 = 4
3 3
1
1
3 3
0
0 n 1 3 4 1
0 n1 0
n = 1 3 4
0 2
0 n 2 = 0
1 3 n 3 0
0
1 4 n 3 0
n1 n 2 = 0
n1 = n 2
n1 n 2 = 0
3n = 0
3
2
2
n i n i = n1 + n 2 + n 3 = 1 2n 2 = 1 n 2 =
2
2
1
2
Then:
3 = 4
n i(3) = m
1
2
1
2
Draft
48
1 = 1
n i(1)
= [0 0 1]
2 = 2
n i( 2)
1
2
1
2
3 = 4
n i(3)
= m
1
2
1
2
NOTE: The tensor components of this problem are the same as those used in Problem 1.62.
Additionally, we can verify that the eigenvectors make up the transformation matrix, A ,
between the original system, (x1 , x 2 , x 3 ) , and the principal space, (x1 , x 2 , x 3 ) , (see Problem
1.62).
Problem 1.69
Let Q be a proper orthogonal tensor a) show that Q has one real eigenvalue and equals to 1 .
b) Also show that Q can be represented by means of the angle as follows:
Q = p p + cos (q q + r r ) sin (q r r q)
where p , q , r , are unit vectors which form an orthonormal basis, where p is the direction
Solution:
a) Taking into account the definition of the orthogonal tensor we can conclude that:
QT Q = 1
QT Q QT = 1 QT
Q T (Q 1) = (Q T 1)
Q T (Q 1) = (Q 1) T
det Q T (Q 1) = det (Q 1) T
[ ]
= (1) 3 det (Q 1) T
= detQ =1
where
[ ]
det A T
we
have used
the
following
determinant
properties:
det[A ] = 3 det[A ] ,
= det[A ] , det[A B ] = det[A ]det[B ] . The unique scalar which satisfies the expression
Taking into account the definition of eigenvalue, det[(Q 1)] = 0 , we conclude that when
= 1 it fulfills that det[(Q 1)] = 0 , then = 1 is eigenvalue of Q . Hence, there is a direction
*
* *
(eigenvector) satisfying that Q e1 = e1 = e1 .
* 2 3
b) We consider that the vectors p e1 , q e * , r e * form an orthonormal basis.
Castilla-La Mancha University
Ciudad Real - Spain
Draft
1 TENSORS
e3
2
q e*
49
*
e1 p
* *
Q e1 = e1
e2
e1
3
r e*
* 2 3
The symbolic representation of the tensor in the basis e1 , e * , e * is given by:
Q = Q * e * e *j
ij i
* *
* *
* *
*
2
3
= Q11e1 e1 + Q12 e1 e * + Q13 e1 e * +
(1.49)
3
+ Q * e * e1 + Q * e * e * + Q * e * e * +
21 2
22 2
23 2
3
+ Q * e * e1 + Q * e * e * + Q * e * e *
31 3
32 3
33 3
*
Taking into account that e1 is eigenvector of Q associated with the eigenvalue = 1 , it holds
*
* *
that Q e1 = e1 = e1 . In addition, making the projection of Q , given by (1.49), according to
*
direction e1 , we obtain:
* *
Q e 1 = e1
* *
* *
* *
*
*
2
3
Q e1 = [ Q11e1 e1 + Q12 e1 e * + Q13 e1 e * +
3
+ Q * e * e1 + Q * e * e * + Q * e * e * +
21 2
22 2
23 2
3
+ Q * e * e1 + Q * e * e * + Q * e * e *
31 3
32 3
33 3
*
] e1
* *
= Q11e1 + Q * e * + Q * e *
21 2
31 3
*
with that we conclude that Q11 = 1 , Q * = 0 , Q * = 0 .
21
31
Remember that two coaxial tensors have the same principal directions (eigenvectors). A tensor
and its inverse are coaxial tensors, then if Q 1 = Q T , this implies that Q T and Q are coaxial
*
tensors, and e1 is also principal direction of Q T , then it fulfills that:
* *
Q T e1 = e1
* *
*
*
* 2
* 3
Q T e1 = [ Q11e1 e1 + Q * e1 e * + Q * e1 e * +
21
31
*
*
3
+ Q12 e * e1 + Q * e * e * + Q * e * e * +
2
22 2
32 2
*
*
3
+ Q13 e * e1 + Q * e * e * + Q * e * e *
3
23 3
33 3
*
] e1
* *
*
*
= Q11e1 + Q12 e * + Q13 e *
2
3
*
*
*
with that we conclude that Q11 = 1 , Q12 = 0 , Q13 = 0 . Then, the equation (1.49) becomes:
* *
3
Q = e1 e1 + Q * e * e * + Q * e * e * + Q * e * e * + Q * e * e *
22 2
23 2
32 3
33 3
(1.50)
i
In matrix form, the components of Q , in the basis e * , are given by:
Draft
50
*
x2
Q*
ij
1 0
= 0 Q *
22
0 Q *
32
Q*
22
*
Q11 = 1
0
Q*
23
Q*
33
Q*
32
Q*
23
*
x1
Q*
33
*
x3
= ij
[(Q )
[Q Q
* 2
22
*
*
22 23
1 0
0 Q *
22
0 Q *
23
0 1 0
Q * 0 Q *
32
22
Q * 0 Q *
33
32
0
] [Q Q
] [(Q )
+ (Q * ) 2
32
*
+ Q 32 Q *
33
*
*
22 23
* 2
33
0 1 0 0
Q * = 0 1 0
23
Q * 0 0 1
33
1 0 0
= 0 1 0
0 0 1
(1.51)
]
]
+ Q* Q*
32 33
+ (Q * ) 2
23
0 Q *
32
0
Q* = 1
23
Q*
33
Q* Q* Q* Q* = 1
22 33
23 32
(1.52)
Taking into account (1.51) and (1.52) we obtain the following set of equations:
(Q * ) 2 + (Q * ) 2 = 1
22
32
* *
*
*
Q 22 Q 23 + Q 32 Q 33 = 0
* 2
* 2
(Q 33 ) + (Q 23 ) = 1
* *
*
*
Q 22 Q 33 Q 23 Q 32 = 1
cos 2 + sin 2 = 1
whereupon we have demonstrated the existence of an angle that meets the above conditions:
Q*
ij
1 0
= 0 Q *
22
0 Q *
23
0 1
0
0
0 cos sin
*
Q 32 =
Q * 0 sin cos
33
(1.53)
Returning to the equation (1.50), and taking into account (1.53), we conclude that:
* *
2 2
2 3
3 2
3 3
Q = e1 e1 + (cos ) e * e * + ( sin )e * e * + (sin )e * e * + (cos ) e * e *
* *
2 2 3 3
2 3 3 2
= e1 e1 + cos e * e * + e * e * sin e * e * e * e *
* 2 3
Considering that p e1 , q e * , r e * , we show that:
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1 TENSORS
51
Q = p p + cos (q q + r r ) sin (q r r q)
0
0
cos
4244443
1444
sym
Q*
ij
0
0
0
0
=
sin
0
0 sin
0
4 244444
1444 4
3
skew
Q*
ij
[pp+cos (qq+rr )]ij
skew
0
0 0
0 0
=
0 0
d) We represent the vector x by means its components and the basis p , q , r , as follows:
r
x = pp + qq + rr .
r
Then, it fulfills that: x p = ( pp + qq + rr ) p = p
xq= q
x r = r
r
r
~ = Q x = p p + cos (q q + r r ) sin (q r r q)
x
] [ pp + qq + r r ]
*
e1 p
2
q e*
r
x
r
r
~ =Q x
x
3
r e*
Figure 1.3
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52
Problem 1.70
r
p
r
p
r
p
?
Taking into account that R 1 = R T (orthogonal tensor), we can guarantee that the inverse of
r
r
R exists, and considering that p = R p we obtain:
r
r
p = R p
r
r
R 1 p = R 1 R p
r
r r
R 1 p = 1 p = p
r
r
r
r
Substituting p = R 1 p into p = U p , we obtain:
r
r
r
r
p = U p
p = U p
r
r
r
r
R 1 p = U p
R 1 p = U p
r
r
r
r
U 1 R 1 p = U 1 U p
R R 1 p = R U p
r
r
r
r r
1 p = R U p
(R U) 1 p = 1 p = p
r
r
r
r
p = (R U) p
p = (R U) 1 p
(1.54)
Or in indicial notation:
p = U ij p j
i
p = U ij p j
i
R ij1p = U ij p j
j
R ij1p = U ij p j
j
R ki R ij1p = R ki U ij p j
j
(1.55)
kj p = R ki U ij p j
j
(R ki U ij ) p j = kj p j = p k
p k = (R ki U ij )p j
p k = (R ki U ij ) 1 p
j
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1 TENSORS
53
r
p
U 1
R 1 = R T
r
p
r
p
(R U)
(R U) 1 = U 1 R T
1.1.9
Problem 1.71
Let w be an antisymmetric second-order tensor and V be a positive definite symmetric
tensor whose spectral representation is given by:
V=
n(a) n(a)
a =1
w = w ab n (a ) n (b)
a ,b =1
a b
w V V w = w ab ( b a ) n ( a ) n (b)
a ,b =1
a b
Solution:
It is true that
a =1
a =1
w 1 = w n ( a ) n ( a) = w n (a ) n (a ) = (w n ( a) ) n ( a)
a =1
w (n
3
(b )
n(a) n(a)
a ,b =1
where we have applied the antisymmetric tensor property w n = w n , where w is the axial
vector associated with w . Expanding the above equation, we obtain:
+ w (n
+ w (n
(n
) n
(n
) n
n ( 2 ) n ( 2 ) + w2 n ( 2 ) n ( 2) n ( 2) + w3 n (3) n ( 2) n ( 2 ) +
(1)
) n
(1)
( 3)
( 3)
+ w2
( 2)
Draft
( 3)
( 3)
+ w3
( 3)
( 3)
( 3)
54
( )
(n ) n
( )
(n ) n
+ w1 n (3) n ( 2 ) w3 n (1) n ( 2 ) +
( 2)
w1
( 3)
+ w2
(1)
( 3)
w = w ab n (a ) n (b)
a ,b =1
a b
The terms
wV
3
3
(a)
(b )
w V = w ab n n b n (b) n (b)
b =1
a ,b =1
ab
b w ab n ( a ) n (b ) n (b ) n (b ) =
a ,b =1
a b
ab
n ( a ) n (b )
a ,b =1
ab
and
3
3
3
(a )
(a)
(a )
(b )
V w = a n n
w ab n n = a w ab n ( a) n (b)
a ,b =1
a =1
a ,b =1
ab
ab
Then,
3
3
(a)
(b )
(a)
(b )
w V V w = b w ab n n a w ab n n
a ,b =1
a ,b =1
ab
a b
ab ( b
a ) n ( a ) n (b )
a ,b =1
a b
w V 2 V 2 w = w ab (2b 2a ) n ( a ) n (b)
a ,b =1
a b
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1 TENSORS
55
Problem 1.72
Let C be a positive definite tensor, whose Cartesian components are given by:
2 0 1
C ij = 0 4 0
1 0 2
Obtain the following tensors: a) C 2 ; b) U = C . c) Check if the tensors C and U are coaxial.
Solution:
Note that the tensors C 2 and U = C are coaxial with the tensor C . By means of the
spectral representation of C :
C=
N
a
(a)
N(a )
a =1
where a are the eigenvalues of C , and N( a ) are the eigenvectors of C , we can obtain:
C2 =
2 (a)
aN
N( a)
U= C =
a =1
a N( a) N(a )
a =1
which is associated with the principal direction Ni( 2) = [0 1 0] . To calculate the remaining
eigenvalues is sufficient to solve the following characteristic determinant:
2
1
=0
1
2
( 2 ) 2 = 12
1 = 2 1 = 1
( 2 ) = 1
3 = 2 + 1 = 3
(
1 N11) 0
(1) =
2 1 N 3 0
(
1 1 N11) 0
(1) =
1 1
N 3 0
(
(
N11) = N 31)
with the restriction Ni(1) Ni(1) = 1 , thus
( (
(
N11) N11) + N (1) N (1) + N 31)N (1) = 1
2
2
3
(1) (1)
(1) (1)
N N + N N =1
1
1
(
N11) =
2
1
(
(
N 31) = N11) = m
2
(
N13) 0
( 3) =
2 3 N 3 0
(
1 1 N13) 0
(3) =
1 1
N 3 0
(
(
N13) = N 33)
with the restriction Ni(3) Ni(3) = 1 , thus
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56
( (
( (
N13)N13) + N (23) N (3) + N 33) N 33) = 1
2
N ( 3) N ( 3) + N ( 3) N ( 3) = 1
1
1
(
N13) =
2
1
(
(
N 33) = N13) =
2
Summarizing we have:
N i(1) =
N i( 2 ) = [0
N i(3) =
1 = 1
2 = 4
3 = 3
2
2
1 0]
1
1
0
2
2
0 m
Transformation
Matrix
A=
2
0
1
1
0
2
0
1
2
1 0 0
C ij = 0 4 0
0 0 3
1
2
= 0
C ij
U = C
ij
ij
0
16 0
0 9
1 0
= 0
4
0
0
0 1 0
0 = 0 2
3 0 0
0
0
Note that the tensor C is a positive definite tensor, so, its eigenvalues are positive. In the
original space we have the following components:
2
C ij =
1
2
0
1
2
1
0
2
1
0
1
0
2
1
1 0 0 2
0 16 0 0
0 0 9 1
0
1
0
2 5 0 4
0 = 0 16 0
1
4 0 5
(1.56)
Note that this result could have been obtained easily by means of the operation C 2 = C C ,
which in components becomes:
2
C ij
2 0 1 2 0 1 5 0 4
= C ik C kj = 0 4 0 0 4 0 = 0 16 0
1 0 2 1 0 2 4 0 5
U ij =
1
2
0
1
2
0
1
0
2
0
1
2
1 0
0 2
0 0
0
0
Draft
1
2
0
1
2
0
1
0
1 3 +1
0
2 2
2
0 = 0
1 3 1
0
2 2
3 1
2
0
3 + 1
2
1 TENSORS
57
c) The tensors C and U are coaxial, because the eigenvalues of U were obtained in the
principal space of C . We can also verify that C and U are coaxial by means of C U = U C ,
i.e.:
3 +1
0
2 0 1
2
C ik U kj = 0 4 0 0
2
3 1 0
1 0 2
3 1
3.098 0 2.098
2
0 = 0
8
0
3 + 1 2.098 0 3.098
3 1
2 0 1 3.098 0 2.098
2
0 0 4 0 = 0
8
0
3 + 1 1 0 2 2.098 0 3.098
3 +1
0
2
U ik C kj = 0
2
3 1 0
2
Problem 1.73
Let C be a symmetric second-order tensor and R a proper orthogonal tensor. The
components of these tensors, in the Cartesian system, are given by:
2 0 1
C ij = 0 4 0
1 0 2
R ij =
0
2
2
2
2
0
2
2
2
2
3280
0
3281
b)
I C = Tr (C ij ) = C ii = C11 + C 22 + C 33 = 8
II C =
4 0 2 1 2 0
1
C ii C jj C ij C ij =
+
+
= 19 ; III C = C = ijk C i1C j 2 C k 3 = 12
0 2 1 2 0 4
2
c) Taking into account the determinant property, the third principal invariant of b can be
expressed as follows:
C det (C ) = det (R T b R ) = det (R T )det (b)det (R ) = det (b) = III b = 12
1 24
4 3
123
= +1
Draft
= +1
58
Problem 1.74
Let S be a symmetric second-order tensor with det (S ) 0 . Considering that S has two
equal eigenvalues, i.e. S 2 = S 3 y S1 S 2 , show that S can be represented by:
where n (1) is the eigenvector of S associated with the eigenvalue S 1 , 1 is the second-order
unit tensor.
S n
a
(a)
a =1
= S 1n
(1)
(1)
+ S 2 (n
( 2)
( 2)
+n
( 3)
(1.57)
n )
( 3)
Remember that 1 is a spherical tensor, whereby any direction is a principal direction. Based
on this principle, we adopt the principal space of S to make the spectral representation of 1 ,
i.e.:
1=
(a)
a =1
(1.58)
0
0
0
32
0
0 2
1
00
33 0
0
22
0
1
0
0 I T + 0
0
2
3
0
2
0
0
1 0 0
0 0 0
0 1 0 III = 0 0 0
0 II T
T
0 0 1
0 0 0
3
(1.59)
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1 TENSORS
59
Note that in the principal space of T the following relationships are true:
1
Tij = 0
0
0
2
0
0
3
Tij = Tik Tkj = 0
0
0
2
0
pj
Tij = Tik Tkp T = 0
0
0 1
0 0
3 0
0
2
0
0
2
0
0 1
0 0
3 0
0 2
1
0 =0
3 0
0
2
0
0
22
0
0 1
0 0
3 0
0
2
3
3
1
=0
3 0
0
2
0
0
0
32
0
0
33
Tij = Fik Tkp F pj1 , where Fij is the transformation matrix from the original space ( Tij ) to the
2
principal space ( Tij ). Note also that the relationships Tij 2 = Fik Tkp F pj1 and Tij 3 = Fik Tkp F pj1
hold, (see Problem 1.66). With that we can conclude that the equation in (1.59) can be
rewritten as follows:
3
2
Fik Tkp F pj1 Fik Tkp F pj1 I T + Fik Tkp F pj1 II T III T Fik kp F pj1 = 0 ij
3
2
Fik Tkp Tkp I T + Tkp II T III T kp F pj1 = 0 ij
3
2
Fsi 1 Fik Tkp Tkp I T + Tkp II T III T kp F pj1 F jt = Fsi 1 0 ij F jt = 0 st
3
2
sk Tkp Tkp I T + Tkp II T III T kp pt = Fsi 1 0 ij F jt = 0 st
3
2
Tst Tst I T + Tst II T III T st = 0 st
T 3 T 2 I T + T II T III T 1 = 0
Problem 1.76
Based on the Cayley-Hamilton theorem, find the inverse of a tensor T in terms of tensor
power.
Solution:
Carrying out the dot product between the previous equation and the tensor T 1 , we obtain:
T 3 T 1 T 2 T 1 I T + T T 1 II T III T 1 T 1 = 0 T 1
T 2 TI T + 1 II T III T T 1 = 0
T 1 =
1
T 2 I T T + II T 1
III T
Draft
60
Problem 1.77
Check the Cayley-Hamilton theorem by using a second-order tensor whose Cartesian
components are given by:
5 0 0
T = 0 2 0
0 0 1
Solution:
The Cayley-Hamilton theorem states that:
T 3 T 2 I T + T II T III T 1 = 0
5 3
=0
0
0 125 0 0
0 = 0 8 0
1 0 0 1
0
23
0
; T
5 2
=0
0
0
22
0
0 25 0 0
0 = 0 4 0
1 0 0 1
0 0 1
0 0 1
0 0 1
0 0 1 0 0 0
Problem 1.78
Given the matrix P which is represented by its components Pij (i, j = 1,2,3,4) . a) Obtain the
inverse of P , b) the invariants, y c) the characteristic equation. Consider that:
1
2
P=
4
2 3 1
2 1 2
1 5 3
1 2 4
and
1
0
1=
0
0 0 0
1 0 0
0 1 0
0 0 1
Solution:
By applying the Cayley-Hamilton theorem we obtain:
P 4 + P 3 I1 + P 2 I 2 + P I 3 + I 41 = 0
(
P (P (P
P P 3 + P 2 I1 + P I 2 + 1 I 3 + I 41 = 0
2
+ P I1 + 1 I 2 + 1 I 3 + I 41 = 0
P P P P + 1 I 1 + 1 I 2 + 1 I 3 + I 41 = 0
144 44
2
3
C1
P P C1 + 1 I 2 + 1 I 3 + I 4 1 = 0
14 244
4
3
C2
P C2 + 1 I 3 + I 4 1 = 0
C3 + I 4 1 = 0
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1 TENSORS
61
C0 = P
(
= P (C
= P (C
)
+1 I )
+1 I )
C1 = P C0 + 1 I 1
C2
C3
Tr (C3 )
4
Tr (C2 )
3
I2 =
Tr (C1 )
2
I1 =
Tr (C0 )
1
Tr (C0 )
= (1 + 2 + 5 + 4) = 12
1
2 3 1 1
2 1 2 2
1 5 3 4
1 2 4 3
I2 =
2 3 1
1
0
2 1 2
12
0
1 5 3
1 2 4
0
In turn we get C2 = P C1 + 1 I 2
1
2
C2 =
4
I3 =
2 3 1 8
6
14 14
1
0
8 13
2 1 2
5
7
+ 21
0
1 5 3 13
6
16 3
11
1 2 4
2
4
21
0
0 0 0 37 22
15 17
7
2 5 5
1 0 0
=
0 1 0 10 12 14
2
14 11
0 0 1 9
5
Tr (C2 ) ( 37 2 14 + 5) ( 48)
=
=
= 16
3
3
3
In turn we get C3 = P C2 + 1 I 3
1
2
C3 =
4
I4 =
14 14
0 0 0 8
6
8 13
7
1 0 0
5
=
16 3
0 1 0 13
6
21
0 0 1 11
2
4
2 3 1 37 22
15 17
1
0
7
2 1 2
2 5 5
+ 16
0
1 5 3 10 12 14
2
1 2 4 9
5
14 11
0
0 0 0 32 0 0 0
1 0 0 0 32 0 0
=
0 1 0 0 0 32 0
0 0 1 0 0 0 32
Tr (C3 ) 4(32)
=
= 32 = det (P )
4
4
Draft
62
P 4 + P 3 I1 + P 2 I 2 + P I 3 + I 41 = 0
The characteristic equation coefficients could have been obtained by evaluate the determinant:
det ( P 1) P 1
P 1 P C2 + 1 I 3 + I 4 P 11 = 0
P 1 =
1
C2 + 1 I 3
I4
thus:
P 1
P 1 =
C2 + 1 I 3 + I 4 P 1 = 0
1
adj[P ]
det (P )
37 22
15 17
1
2 5 5
1 7
+ 16
=
0
2
(32) 10 12 14
9
14 11 5
0
adj[P ] = C2 + 1 I 3
0 0 0
15 17
21 22
7
1 0 0 1
14
5 5
=
0 1 0 32 10 12 2
2
0 0 1
14 11 21
9
NOTE 1: This procedure just performed, in the literature, is called Faddeev-Leverrier method.
Draft
1 TENSORS
63
NOTE 2: We can also obtain the characteristic coefficients by means of the following
procedure. Considering P 4 P 3 I 1 + P 2 I 2 P I 3 + I 4 1 = 0
The coefficient I 3 is obtained by the sum of the determinants of the resulting matrices by
eliminating 1 row and 1 column associated with the main diagonal, i.e.
1
2
I3 =
4
2 3 1 1 2
2 1 2 2 2
+
1 5 3 4 1
1 2 4 3 1
3 1 1 2
1 2 2 2
+
5 3 4 1
2 4 3 1
3 1 1 2
1 2 2 2
+
5 3 4 1
2 4 3 1
3 1
1 2
5 3
2 4
2 1 2 1 3 1 1 2 1 1 2 3
= 1 5 3 + 4 5 3 + 2 2 2 + 2 2 1 = 16
1 2 4 3 2 4 3 1 4 4 2 5
The coefficient I 2 is obtained by the sum of the determinants of the resulting matrices by
eliminating 2 rows and 2 columns associated with the main diagonal, i.e.
1
2
I2 =
4
2 3 1
2 1 2
+
1 5 3
1 2 4
1
2
2 3 1
2 1 2
+
1 5 3
1 2 4
1
2
+
4
2 3 1 1
2 1 2 2
+
1 5 3 4
1 2 4 3
2 3 1
2 1 2
+
1 5 3
1 2 4
1
2
+
4
2 3 1
2 1 2
1 5 3
1 2 4
1
2
2 3 1
2 1 2
+
1 5 3
1 2 4
5 3 2 2 2 1 1 1 1 3 1 2
=
= 21
+
+
+
+
+
2 4 1 4 1 5 3 4 4 5 2 2
The coefficient I 1 is obtained by the sum of the determinants of the resulting matrices by
eliminating 3 rows and 3 columns associated with the main diagonal, i.e.
1
2
I1 =
4
2 3 1 1 2
2 1 2 2 2
+
1 5 3 4 1
1 2 4 3 1
3 1 1
1 2 2
+
5 3 4
2 4 3
2 3 1 1 2
2 1 2 2 2
+
1 5 3 4 1
1 2 4 3 1
Draft
3 1
1 2
5 3
2 4
64
Problem 1.79
Let A be a second-order tensor, show that:
a) II A =
1
( I A ) 2 Tr ( A 2 )
2
b) det ( A ) =
1
[Tr (A )]3 + 2 Tr( A 3 ) 3Tr(A ) Tr(A 2 )
6
Solution:
III A A 1 : 1 = A 2 AI A + 1 II A : 1 = A 2 : 1 A : 1 I A + 1 : 1 II A
1
III A Tr ( A ) = Tr ( A ) Tr ( A ) I A + Tr (1) II A = Tr ( A 2 ) ( I A ) 2 + 3 II A
[cof ( A )]T
III A Tr ( A 1 ) = Tr ( III A A 1 ) = Tr III A
III A
1
( I A ) 2 Tr ( A 2 )
2
b) We start from the Cayley-Hamilton theorem, which states that any tensor satisfies its own
characteristic equation, i.e.:
A 3 A 2 I A + AII A III A 1 = 0
where I A = [Tr (A )] , II A =
1
[Tr( A )]2 Tr( A 2 ) , III
2
(1.60)
A . Applying the double scalar product between the second-order unit tensor ( 1 ) and the
[Tr(1)] = [Tr(0)]
1
[Tr(A )]2 Tr(A 2 ) III A 3 = 0
2
1
1
3
Tr ( A 3 ) Tr ( A 2 ) Tr ( A ) + [Tr ( A )] Tr ( A ) Tr ( A 2 ) III A 3 = 0
2
2
1
3
2 Tr ( A 3 ) 3 Tr ( A 2 ) Tr ( A ) + [Tr ( A )] III A 3 = 0
2
Tr ( A 3 ) Tr ( A 2 ) Tr ( A ) + Tr ( A )
= det ( A ) =
1
[Tr( A )]3 + 2 Tr(A 3 ) 3Tr( A 2 ) Tr(A )
6
or in indicial notation:
Draft
1 TENSORS
III
65
1
A ii A jj A kk + 2 A ij A jk A ki 3A ij A ji A kk
6
= det ( A ) =
NOTE: It is interesting to note that the principal invariants of A are formed by the three
fundamental invariants of a second-order tensor, namely Tr (A ) , Tr ( A 2 ) , Tr ( A 3 ) , i.e.:
I A = Tr ( A )
III
} {
1
1
2
2
I A Tr ( A 2 ) = [Tr ( A ) ] Tr ( A 2 )
2
2
1
3
= det ( A ) = [Tr ( A )] + 2 Tr ( A 3 ) 3 Tr ( A 2 ) Tr ( A )
6
II A =
Problem 1.80
Show that II T = III T Tr ( T 1 ) , where II T =
invariant of T , and III
1
[Tr( T )]2 Tr(T 2 )
2
Solution:
It was showed in Problem 1.76 that T 1 =
1
T 2 TI T + 1 II T , then, by applying the
III T
1
1
T 2 TI T + 1 II T : 1 =
T 2 : 1 T : 1 I T + 1 : 1 II T
III T
III T
Tr ( T 1 ) =
1
Tr ( T 2 ) Tr ( T ) I T + Tr (1) II T
III T
2
III T Tr ( T 1 ) = Tr ( T 2 ) I T + 3 II T
14243
= 2 II T
III T Tr ( T 1 ) = II T
Problem 1.81
Show that:
r r
1
(1 + c b) 1 = 1
(c b )
r r
( + c b)
where c and b are vectors, 1 is the second-order unit tensor, and and are scalars.
Solution:
r
1
T 2 TI T + 1 II T
III T
(1.61)
Next, we obtain T 2 :
Draft
66
r r
r r
T 2 = T T = (1 + c b) (1 + c b)
r r
r r
r r r r
= 2 1 1 + 1 (c b) + (c b) 1 + 2 (c b) (c b)
r r r r
r r r r
where it fulfills that (c b) (c b) = (c b)(c b) , (see Problem 1.19). Then, the above
r r
r r r r
T 2 = 2 1 + 2 (c b) + 2 (c b)(c b)
r r
r r r r
Tr ( T 2 ) = Tr 2 1 + 2 (c b) + 2 (c b)(c b)
r r
r r
r r
= 2 Tr (1) + 2Tr (c b) + 2 (c b) Tr (c b)
r r
r r r r
= 3 2 + 2 (c b) + 2 (c b)(c b)
r r
r r
= 3 2 + 2 (c b) + 2 (c b) 2
r r
r r
r r
I T = Tr (1 + c b) = Tr (1) + Tr (c b) = 3 + (c b)
r r
r r 2
r r
( I T ) 2 = 3 + (c b) = 9 2 + 6 (c b) + 2 (c b) 2
} {
r r
r r
r r
r r
1
1
2
I T Tr ( T 2 ) = 9 2 + 6 (c b) + 2 (c b) 2 3 2 + 2 (c b) + 2 (c b) 2
2
2
r r
2
= 3 + 2 (c b)
II T =
]}
r r
r r
III T = det (1 + c b) = 3 + 2 c b (see Problem 1.49)
(1.62)
r r
r r
r r
(c b) 1
(c b)
1 III T
=
1
= 1
r r
III T
III T
( 3 + 2 c b )
(1.63)
or:
r r
1
(1 + c b) 1 = 1
r r
r r (c b)
( + c b)
Draft
Tensorial notation
(1.64)
1 TENSORS
( ij + c i b j ) 1 =
[[1] + [{c}{b} ] ]
T
[ 1]
ij
67
(c b )
( + c k b k ) i j
{c}{b}T
T
( + {c} {b})
Indicial notation
(1.65)
Matrix notation
(1.66)
(1.67)
r r
r (c b )
r
( + c b )
r r
r r
2
r r ( + c b)1 (c b)
( 3 + 2 c b )
1
=
[adj( T )]
det ( T )
1
r r
r r
r r
adj(1 + c b) = ( 2 + c b)1 (c b)
I sym
( A B)
( + A : B )
where we now have that I sym is the symmetric fourth-order unit tensor, A and B are secondorder tensors, and and are scalars. With that it is easy to show that ( I sym ) 1 = I sym .
Problem 1.82
r
r r
r r (c b) , show that:
( + c b )
r
r
1
1
r
r ( A a) (b A )
1
( + b A a )
(1.68)
where a and b are vectors, A is a second-order tensor, with det ( A ) 0 ( A 1 ), and and
are scalars.
Solution:
r
r r
r r 1
r r
(A + a b) 1 = A (1 + A 1 a b) = (1 + A 1 a b) 1 A 1
Draft
68
Note that the result of the algebraic operation A 1 a is a vector in which we denote
r
r
c = A 1 a , with that we rewrite the above equation as follows:
r r
r r
r r
(A + a b) 1 = (1 + A 1 a b) 1 A 1 = (1 + c b) 1 A 1
1
r r
1
= 1
r r (c b) A
( + c b )
r r
1
1
= 1 A 1
r r (c b) A
( + c b)
r r
1
1
= A 1
r r c bA
( + c b )
r
1
1 r
1
= A 1
r r ( A a) (b A )
( + c b )
r
1
1 r
1
r
= A 1
r ( A a) (b A )
( + b A 1 a)
A ij1
( + b p A 1 a q )
pq
( A ik1 a k )(b s A 1 )
sj
r r
A 1 ( a b )
14243
Invalid Expression
the latter has no consistency, since we can not have a scalar product (contraction) with the
r r
scalar (a b) . We can check this fact by means of indicial notation
r r
r
then,
the
possible
c b = c i b i = ( A 1 a) i b i = A ik1 a k b i ,
r r
1
1
1
1
1
1
( A a) b = b i A ik a k = a k A ik b i = A ik b i a k = A ik a k b i = A ik a k b i .
1 24 1 24
4 3
4 3 1 24
4r3
1 24r
4 3
1 24
4 3
r
r
r
r
r
r
r r
bA 1a
aA T b
A 1:(ba)
A T :( ab )
expressions
are
A 1:( ab )T
For the particular case when = 1 , = 1 , we fall back on the Sherman-Morrison formula:
r
r
r r 1
( A 1 a) (b A 1 )
1
r
( A + a b) = A
r
1 + b A 1 a
Sherman-Morrison formula
(1.69)
(tensorial notation)
[[ A] + [{a}{b} ] ]
T
= [ A]
}{
[ A] 1 {a} {b}T [ A] 1
1 + {b}T [ A] 1 {a}
Sherman-Morrison formula
(1.70)
(matrix notation)
r r
r r
r r
det (A + a b) = det A (1 + A 1 a b) = det [A ]det (1 + A 1 a b)
r
r
= det [A ]( 3 + 2 b A 1 a)
Draft
1 TENSORS
69
r
r
r r
r
r
1
( A + a b) 1 =
A ( 2 + b A 1 a) A 1 A ( A 1 a) (b A 1 )
]}
with = det (A + a b) = A ( 3 + 2 b A 1 a) .
(1.71)
r
r
r r
r
r
adj(A + a b) = A ( 2 + b A 1 a) A 1 A ( A 1 a) (b A 1 )
]}
D 1
( + B : D 1 : A )
[(D
: A ) (B : D 1 )
(1.72)
where we now have that D is a fourth-order tensor, A and B are second-order tensors, and
and are scalars.
Note that:
(D + A B ) 1 =
{D (
+ B : D 1 : A )D 1 D (D 1 : A ) (B : D 1 )
]}
with = det (D + A B ) = D ( 3 + 2 B : D 1 : A ) .
(1.73)
adj(D + A B ) = D ( 2 + B : D 1 : A )D 1 D (D 1 : A ) (B : D 1 )
Problem 1.83
(1.74)
]}
(1.75)
r r
[r
r r
r r r
r r r r
1 + a b + c d = 3 + 2 (c d) + 2 (a b) + (a b)(c d) (a d)(b c )
(1.76)
r
Solution:
r
(1.77)
r
Draft
70
r r
1
(D ) 1 = (1 + a b) 1 = 1
r r
r r (a b)
( + a b )
r
r r
r
det (D + c d) = D (1 + d D 1 c )
r 1
r r
r r r
= 3 + 2 (a b ) (1 + d 1
r r (a b) c
( + a b )
r r r r
1 r
r r
r
= 3 + 2 (a b ) 1 + d 1 c
r r d (a b) c
( + a b )
r r
r r
1 r r
r r
= 3 + 2 (a b ) 1 + d c
r r (d a) (b c )
( + a b )
r r
r r r r
r r
= 3 + 2 (a b ) 1 + (c d)
r r (a d)(b c )
2 ( + a b )
r r
r r
r r
r r
r r r r
Note that (d a) (b c ) = (a2d) (b2c ) = (a d)(b c ) .
1 3 1 3
scalar
scalar
[
[
r r
r r
r r
r r r r
r r
r (a d)(b c )
det (D + c d) = 3 + 2 (a b) 1 + (c d) 3 + 2 (a b)
r
2
( + a b )
r
r
r r r
r
r
r
= 3 + 2 (a b) 1 + (c d) (a d)(b c )
r r
r r
r r r r
r r r r
= 3 + 2 (c d) + 2 (a b) + (a b)(c d) (a d)(b c )
Then:
r r r r
r r
r r
r r
r r
r r r r
det (1 + a b + c d) = 3 + 2 (c d) + 2 (a b ) + (a b )( c d) (a d)(b c )
[
[
r r r r
r r
r r
r r
r r
r r r r
det (1 + a b + c d) = 3 + 2 (c d) + 2 (a b) (a d)(b c ) (a b)(c d)
r r
r r
r r
r r
r r r r
r r r r
det (1 + a b + b a) = 3 + 2 (b a) + 2 (a b) (a a)(b b) (a b)(b a)
r r
r r r r
r r r r
= 3 + 2 ( + )(a b) (a a)(b b) (a b)(a b)
r r 2 r 2 r 2 r r 2
In Problem 1.1 we have shown that a b = a b a b holds, thus:
( )
r r
r r
r r
r r
det (1 + a b + b a) = 3 + 2 ( + )(a b) a b
]
]
Draft
1 TENSORS
Problem 1.84
r
71
r
r
(B q) (B q)
where B = B T and B 1 ,
r
r
q B q
show that:
D 1 = B 1 +
r r r
r
r
r
( p q + p B 1 p ) r r
[q q ] r 2 r q ( B 1 p)
r r 2
( p q)
( p q)
sym
(1.78)
b.2) If B is a positive definite tensor, obtain the conditions under which D is a non-singular
tensor.
Solution:
r
r
( A 1 a) (b A 1 )
r
r
( + b A 1 a)
(1.79)
r
r
( A 1 c ) (d A 1 )
r
r
(1 + d A 1 c )
(1.80)
r r
1
= (1 + a b) 1 = 1
(c b )
r r
( + c b)
(1.81)
(a b)
r r
( + a b )
Furthermore, we have
r r
r r
r r
r 1
r 1 r
(a b ) r 1 r
(a b)
(b c ) r
A c = 1
r r c = 1c
r r c = c
r r a
( + a b )
( + a b )
( + a b )
r r
r r
r r
r
r 1
r
(a b) 1 r
(a b)
( d a) r
1 r
1
dA = d 1
r r = d 1 d
r r b
r r = d
( + a b )
( + a b )
( + a b )
] [
r r r
r
r r
r r
r r
r
r r r
(1 + a b + c d) 1 = (1) 1 + ( 2 ) (a b) + ( 3) (1) c + ( 2 ) (b c )a (1) d + ( 2 ) (a d)b
(1.82)
where
(1) =
( 2) =
r r
( + a b )
Draft
72
( 3) =
r
r
(1 + d A 1 c )
r
r 1 r r
d A 1 c = (d c )
r r r r
r r (d a )(b c )
( + a b )
(B q) (B q)
( B 1 p) p ( B 1 B q ) ( B q )
p p
= B 1 + B 1 r r B 1
= B 1 +
r
r
r r
r
r
pq
q B q
pq
q Bq
r r
r
1 r
( B p) p q ( B q )
= B 1 +
r
r r
r
pq
q Bq
and by denoting by
r
r
a = ( B 1 p)
r r
b=p
r r
c =q
r
r
d = (B q)
= r r
pq
1
= r
r
q B q
we get
r r
r r
D = B 1 + a b + c d
= B C
D 1 = ( B C ) 1 = C 1 B 1
1
1
1
= r r r
r r =
r r = r r
1 r
r r
( + a b) (1 + a b) p q (1 + r 1 r ( B 1 p ) p ) ( p q + p B p )
pq
r
r 1 r r
d A 1 c = (d c )
r r r r
r r (a d )(b c )
( + a b )
r r
r
r r r
1
= (( B q ) q ) + r r r
(( B 1 p) ( B q ) )( p q )
1 r
( p q + p B p)
r
r r r
r
r ( p ( B T B ) q ) ( p q )
= q B q +
r r r
r
( p q + p B 1 p)
1
1
r
= r
r
r
r r r
1 r
r ( p ( B T B ) q ) ( p q )
1 r
(1 + d A c ) q B q
1 + r
q Bq +
r
r r r
r
q Bq
( p q + p B 1 p )
r r r
r
1
( p q + p B p)
= r
r r r
( p ( B T B ) q ) ( p q )
r r r
r
( p q + p B 1 p )
1
1
( 2 ) ( 3) = r r r 1 r r
r r r = r
r r r
T
T
( p q + p B p) ( p ( B B ) q ) ( p q ) ( p ( B B ) q ) ( p q )
( 3) =
Draft
1 TENSORS
r r
( 2 ) ( 3) (a d ) = r
( p (B
r
1
1 r
r r r (( B p) ( B q ))
B) q) ( p q )
r
r
1
1
T
r r r ( p (B B) q ) = r r
( p q)
B) q) ( p q )
= r
( p ( B T
r r
( 2 ) ( 3) (b c ) = r
( p (B
r r r r
73
r r
1
1
r r r ( p q) = r
r
T
B) q ) ( p q )
( p (B B) q )
( 2 ) ( 3) (b c )(a d ) = r
( p (B
r r r
1
1 r
r r r (( B p) ( B q ))( p q ) = 1
B) q ) ( p q )
[
[
] [
r r r
r
r r
r
r r r
C 1 = 1 + ( 2 ) (a b ) + ( 3) c + ( 2 ) (b c )a d + ( 2 ) (a d )b
r r r r
r r
r r
r r r r
C 1 = 1 + ( 2 ) a b + ( 3) c d + ( 3) ( 2 ) (a d ) c b + ( 3) ( 2 ) (b c ) a d + L
r r r r r r
2
L + ( 3) ( 2 ) (b c )(a d ) a b
r r r r r r
r r
r r r r
2
C 1 = 1 + ( 2 ) + ( 3) ( 2 ) (b c )(a d ) a b + ( 3) c d + ( 3) ( 2 ) (a d ) c b + L
r r r r
L + ( 3) ( 2 ) ( b c ) a d
}[
1
1
r r r r
r r r r
r r r r
r r
r r r r
C 1 = 1 + ( 3) c d + ( 3) ( 2 ) (a d ) c b + ( 3) ( 2 ) (b c ) a d
r r r r
r r
r r r r
C 1 = 1 + ( 3) c d + ( 3) ( 2 ) (a d ) c b + ( 3) ( 2 ) (b c ) a d
r r r
r
r
r
( p q + p B 1 p)
1 r r
=1 + r
r r r [q ( B q ) ] + r r [q p ] + L
T
( p q)
( p (B B) q ) ( p q )
r
1
1 r
L+ r
r ( B p) ( B q )
T
( p (B B) q )
r r r
r
r
r
1 r r
( p q + p B 1 p )
= 1 + r
r r r [q ( B q ) ] + r r [q p ] + L
T
( p q)
( p (B B) q ) ( p q )
[
[
= B 1
Note that:
r
r
r
r
r
{[q ( B q )] B } = [q ( B q )] B = [q ( B q ) ]B
r
r
= [q ( B B ) q ) ]
r
r
r
r
[( B p) ( B q )] B = ( B p) ( B B ) q
1
ij
ik
]
]
r 1
1
1 r
L+ r
r ( B p) ( B q ) B
T
( p (B B) q )
r r r
r
1
r
r
( p q + p B p)
1 r r
1
1
+ r
r r r [q ( B q )] B + r r [q p ] B + L
T
( p q)
( p (B B) q ) ( p q )
r
1
1 r
1
L+ r
r ( B p) ( B q ) B
T
( p (B B) q )
1
kj
1
kj
= q i ( B kp q p ) B kj1 = q i ( B kp B kj1 q p )
ij
Draft
74
r r r
r
( p q + p B 1 p ) r r
[q q ] + r 1
r r r r
r
( p q) ( p q)
( p q)
r r r
r
( p q + p B 1 p ) r r
[q q ] + r 1
+
r r r r
r
( p q) ( p q)
( p q)
r r r
r
( p q + p B 1 p ) r r
+
[q q ] r 2 r
r r 2
( p q)
( p q)
D 1 = B 1 +
= B 1
= B 1
r
r
[q ( p B )] + ( p1q ) [( B
r r
1
r
{[qr ( p B )] + [( B
1
r
[q ( B
p) q ]
r
p) q ]
r
p)]
r
sym
r r
r r
D = B 1 + a b + c d
( [
])
r r
r r
r r
r r
det (D) = det B 1 + a b + c d = det ( B )det 1 + a b + c d
Note that det ( B ) > 0 , since B is a positive definite tensor. Then, the condition under which
r r
r r
D is a non-singular tensor if det 1 + a b + c d
r r
r r
r r r r
r r r r
r r
det (1 + a b + c d ) = 3 + 2 (c d ) (a d )( b c ) (a b )(c d )
r r r
r r r
r
r
r r r r r r
r r
where = 1 , a b = ( B 1 p ) p = p B 1 p , a d = ( B 1 p ) ( B q ) = p q , b c = p q
r r r
r
r
r
r
r r
1 r
c d = q ( B q ) = q B q , (c d ) = r
r q B q = 1 ,
q B q
[r
r r r
r r r r
r r r r
r
r
1
1 r r
r ( p q )( p q ) ( p B p )( q B q )
pq q B q
1
(a d )( b c ) (a b )( c d ) = r r r
Thus:
r r
r r
r r r r
r
r
1
1 r r
det 1 + a b + c d = r r r
r ( p q )( p q ) ( p B p )(q B q ) 0
( p q )(q B q )
r r r
r
r r
r
r
Then, the conditions are: p 0 , q 0 , ( p q ) 0 , i.e. p and q can not be orthogonal
>0
Note that by the fact that B is positive definite tensor, the scalar (q B q ) > 0 is always
r r
r
r
positive for any vector q 0 . The same apply to ( p B 1 p ) > 0 , since, if the tensor is
positive definite so is its inverse. Note also that D is a positive definite tensor if
r r
r
r r
r
r r
( p q ) 2 > ( p B 1 p )(q B q ) and ( p q ) > 0 . These two conditions can be replaced by
r r
r
r r
r
( p q ) > ( p B 1 p )(q B q ) .
Problem 1.85
Let A = A () and be a second-order tensor and a scalar respectively, show that:
dA
dA
= A Tr
A 1
d
d
Draft
(1.83)
1 TENSORS
75
Solution:
In Problem 1.79 and in Problem 1.76, we have demonstrated, respectively, that:
III
= det ( A ) = A =
1
[Tr( A )]3 + 2 Tr(A 3 ) 3Tr( A 2 ) Tr(A )
6
(1.84)
III A A 1 = A 2 AI A + II A 1
where I A = Tr (A ) , II A =
(1.85)
1
[Tr ( A )]2 Tr ( A 2 ) .
2
d (A 2 )
d Tr ( A 2 )
dA
dA
= Tr
= 2 Tr A
= Tr 2A
d
d
d
d
d Tr ( A 3 )
dA
= 3Tr A 2
d
d
}
[
d ( III A ) 1 d
[Tr( A )]3 + 2 Tr(A 3 ) 3Tr( A 2 ) Tr(A )
=
d
6 d
d Tr ( A 3 )
d Tr ( A 2 )
d [Tr ( A )]
1
2 d [Tr ( A )]
Tr ( A ) 3 Tr ( A 2 )
= 3[Tr ( A )]
+2
3
dt
d
d
d
6
=
1
dA
dA
2 dA
dA
2
2
3[Tr ( A )] Tr + 6 Tr A
6 Tr A d Tr ( A ) 3Tr ( A ) Tr d
d
6
dA
1
dA
dA
2
2
= Tr A 2
Tr A d Tr ( A ) + 2 [Tr ( A )] Tr ( A ) Tr d
d
or
d ( III A )
dA
dA
dA
= Tr A 2
Tr A
I A + II A Tr
d
d
d
(1.86)
dA
, we can obtain:
d
dA
dA
dA
dA
dA
= A 2 AI A + II A 1
= A2
A
I A + II A
d
d
d
d
d
2 dA
A
I A + II A
Tr A 1
III A = Tr A
d
d
d
d
dA
dA
dA
= Tr A 2
Tr A
+ Tr
II A
d
d
(1.87)
A 1
= III A Tr A 1
= III A Tr
d
d
d
Draft
76
(1.88)
where ij are the second-order unit tensor components, and , , are scalar.
a) What kind of symmetry has the tensor C ? b) What conditions must be met to guarantee
the symmetry of C ?
Solution:
The tensor has major symmetry if C ijkl = C klij holds. Taking into account the equation in
(1.88), we conclude that the tensor has major symmetry since
C klij = kl ij + ki lj + kj li = C ijkl
We check now if the tensor has minor symmetry, e.g. C ijkl = C ijlk
C ijlk = ij lk + il jk + ik jl C ijkl
Then, the tensor C has minor symmetry if and only if = , with that we obtain:
C ijkl = ij kl + ( ik jl + il jk )
Note that ij kl has major and minor symmetry, while the tensors ik jl , il jk are not
sym
symmetric. Note also that ( ik jl + il jk ) = 2I ijkl .
Problem 1.87
Let C be a fourth-order tensor, whose components are given by:
C ijkl = ij kl + ( ik jl + il jk )
(1.89)
(1.90)
Draft
1 TENSORS
(
+ (a
77
C = a im a jn a kp a lq mn pq + mp nq + mq np
ijkl
= a im a jn a kp a lq mn pq
im a jn a kp a lq
)]
mp nq + a im a jn a kp a lq mq np )
= a in a jn a kq a lq + a ip a jq a kp a lq + a iq a jn a kn a lq
= ij kl + ik jl + il jk
(1.91)
= C ijkl
which proves that C is an isotropic tensor, i.e. the C -components do not change for any
transformation basis.
Problem 1.88
Let C be a symmetric isotropic fourth-order tensor which is represented by its components
as follows:
C ijkl = ij kl + ik jl + il jk
C = 1 1 + 2I
(indicial notation)
(tensorial notation)
where and are scalars, 1 is the second-order unit tensor, I is the symmetric fourthorder unit tensor, i.e. I I sym .
a) Given a symmetric second-order tensor , obtain which is given by the following
algebraic operation = C : . Express the result in indicial and tensorial notation.
b) Show that and have the same eigenvectors, i.e. the same principal directions.
c) If are the eigenvalues (principal values) of , obtain the eigenvalues of .
Solution:
a)
Tensorial notation:
Indicial notation
ij = C ijkl kl
= C :
)]
= ij kl kl + ik jl kl + il jk kl
= 1 1 : + 2I :
{
{
Tr ( )
= ij kl + ik jl + il jk kl
= (1 1 + 2I ) :
= ij kk + ij + ji
sym
( )
sym
= ij kk + 2 ij
= Tr ( )1 + 2
= ij kk + 2 ij
n = n
Draft
78
(Tr( )1 + 2 ) n = n
Tr ( )1 n + 2 n = n
2 n = n Tr ( )n
Tr ( )n + 2 n = n
2 n = ( Tr ( ) )n
Tr ( )
n
n =
= n
Note that the last equation is the definition of eigenvalue-eigenvector of . With that we
conclude that and have the same eigenvectors (they are coaxial). And the eigenvalues of
can be obtained as follows:
=
Tr ( )
2
(
(
(1
(
If we denote by 1) = 1 , 2) = 2 , (3) = 3 and ) = 1 , 2) = 2 , (3) = 3 . The explicit
form of the above relationship is given by:
1
0
0
2
0
1
where it is also true that 0
0
1
= 1 0
0
2
0
3
0
2
0
1 0 0
Tr ( ) 0 1 0
2
0 0 1
3
0
0
1 0 0
1
= Tr ( ) 0 1 0 + 2 0
0 0 1
0
3
0
2
0
0
0
2
0
0
0
Problem 1.89
a) Obtain the inverse of the fourth-order tensor C = 2I + 1 1 where I I sym is the
symmetric fourth-order unit tensor, 1 is the second-order unit tensor, and > 0 and are
scalars. b) Obtain the determinant of C . In addition, if we consider that =
E
,
(1 + )(1 2)
E
, find the possible values of E and that guarantee that the tensor C is positive
2(1 + )
definite. c) Obtain also the reciprocal of the expression = C : in function of > 0 , ,
where and are symmetric second-order tensors.
Solution:
a) We use the equation obtained in (1.72):
( D + A B ) 1 =
D 1
( + B : D
[(D
: A)
: A ) (B : D 1 )
Denoting by D = I , A = B = 1 , = 2 , = , we obtain:
C 1 = ( 2I + 1 1) 1 =
1 1
I
(I 1 : 1) (1 : I 1 )
1
2
2 ( 2 + 1 : I : 1)
Draft
1 TENSORS
sym
1 : I 1 : 1 = 1 : I : 1 = ij I ijkl kl
= ij
79
1
( ik jl + il jk ) kl
2
1
( ij ik jl kl + ij il jk kl )
2
1
= ( jj + jj ) = 3
2
=
Resulting that:
C 1 = ( 2I + 1 1) 1 =
1
I
(1 1)
2
2 ( 2 + 3 )
C : C 1 = ( 2I + 1 1) :
2 I 2 ( 2 + 3 ) (1 1)
2
2
2
C : C 1 = (
I:I
I : (1 1) +
(1 1) : I
(1 1) : (1 1)
2
2 ( 2 + 3 )
2
2 ( 2 + 3 )
2
3 2
C : C 1 = I +
2 ( 2 + 3 ) 2 2 ( 2 + 3 ) (1 1) = I
444444 24444444
1
4
3
=0
det I sym + A B = 3 + 2 A : B
The tensor C is definite positive if the eigenvalues are positive numbers, i.e.:
E
>0
2(1 + )
E
E
E
2 + 3 > 0 2
+3
=
>0
2(1 + )
(1 + )(1 2 ) (1 2)
>0=
E
E
=
>0
2(1 + ) 2 y1
2 + 3 =
E
E
=
>0
(1 2 ) y 2
E > 0
y1 > 0
E < 0
y < 0
1
E > 0
y 2 > 0
E < 0
y < 0
2
The above conditions must fulfill simultaneously. Then, by means of Figure 1.4 we can
conclude that E > 0 and 1 < < 0.5 .
Castilla-La Mancha University
Ciudad Real - Spain
Draft
80
y ()
y2 = (1 2 ) 0
y1 = (1 + ) 0
( y 2 > 0 E > 0)
E >0
( y 1 < 0 E < 0)
( y 1 > 0 E > 0)
( y 2 < 0 E < 0)
0 .5
Figure 1.4
c)
= C:
C 1 : = C 1 : C :
C 1 : = I sym : = sym =
= C 1 :
1
1
=
I
1 1 : =
I:
1 1:
2 ( 2 + 3 )
2
2 ( 2 + 3 )
2
1
=
Tr ( )1
2
2 ( 2 + 3 )
(see Figure 1.5). It is interesting to compare this last equation with Problem 1.40.
x3
13
33
23
x1
13
32
22
31
11
x3
21
12
33
= C:
23
32
22
31
x2
11
21
12
x2
x1
= C 1 :
C 1
Figure 1.5
Castilla-La Mancha University
Ciudad Real - Spain
Draft
1 TENSORS
81
Problem 1.90
Let Q e (N) be a second-order tensor, which is known as the elastic acoustic tensor, and is
defined as follows:
Q e (N) = N C e N
where N is the unit vector and C e is the isotropic symmetric fourth-order tensor and given
e
by C e = (1 1) + 2I , whose components are: C ijkl = ij kl + ( ik jl + il jk ) . Obtain
the components of the elastic acoustic tensor.
Solution:
Using symbolic notation we obtain:
( ) (C
Q e (N) = N C e N = N i e i
pqrs e p
eq er es
) (N e )
= N i C epqrs N j ip sj e q e r = N p C epqrs N s e q e r
Q e qr = N p C epqrs N s
= N p pq rs + ( pr qs + ps qr ) N s
= pq rs N p N s + (N p pr qs N s + N p ps qr N s )
= N q N r + (N r N q + N s qr N s )
Note that N is the unit vector, then N s N s = 1 holds. With that we obtain:
Q e qr = qr + ( + )N q N r
tensorial
Q e (N) = 1 + ( + )N N
Problem 1.91
Let Q be a symmetric second-order tensor and given by:
Q (N) = 1 + ( + )N N
a) Obtain the eigenvalues of Q (N) and determine the restrictions on and so that there is
E
E
, =
, determine the possible values of
(1 + )(1 2)
2(1 + )
Solution:
r
a) It was shown in Problem 1.49 that, given the vectors a and b it holds that:
r r
r r
det 1 + a b = 3 + 2 a b
Draft
82
(
(
)
)
det 1 + ( + )N N 1 = 0
det ( )1 + ( + )N N = 0
det ( )1 + ( + )N N = 0
( ) 3 + ( ) 2 ( + )N N = 0
{
=1
( ) [( ) + ( + )] = 0
2
( ) 2 [( + 2 ) ] = 0
solution
1 =
2
( ) = 0
2 =
[( + 2) ] = 0 = ( + 2)
3
0
Qij =
0 0 ( + 2)
+ 2 0
b) A tensor is definite positive if its eigenvalues are greater than zero, then:
E
= 2(1 + ) > 0
E
E
E (1 )
+ 2 =
+2
=
>0
(1 + )(1 2)
2(1 + ) (2 2 + 1)
1
(1 + ) 0
We check that
1
2
(2 + 1) 0 0.5
Draft
1 TENSORS
83
E > 0
E
y1 > 0
= 2 y > 0 E < 0
1
y < 0
y2 , y3 > 0
E > 0
y2 , y3 < 0
+ 2 = Ey 2 > 0
y3
y 2 > 0, y 3 < 0
3
2
] ; 1[
y ()
y 2 = (1 ) 0
= 1
E<0
E > 0
E < 0
E >0
y1 = (1 + ) 0
=1
E >0
= 0 .5
y 3 = ( 2 2 + 1) 0
c) The inverse of the Q (N) -components in the principal space of Q (N) are given by:
0
0
Qij =
0
0 0 ( + 2)
inversa
Qij1
=0
0
1
0
1
( + 2)
Q 1 =
1
( + 2)
2
, Q3 1 =
. Recall that a tensor
( + 2)
and its inverse share the same principal space, i.e. they are coaxial tensors. Moreover, we can
Draft
84
Q 1 =
1 ( a )
a N
N( a )
a =1
=
N (3) N(3) ) + Q3 1N (3) N (3)
= Q11 (1 N N) + Q3 1N N
Q11 (1
where we have considered that N(3) = N . It is interesting to see Problem 1.74. Then:
Q 1 = Q11 (1 N N) + Q3 1N N
=
=
(1 N N) +
NN
( + 2 )
NN+
NN
( + 2)
=
=
1
1
( + 2 ) N N
( + 2) N N
1
1
Qinv = N C 1 N
1
1 1 ( + )
ij kl Nl
(Qinv ) jk = N i C ijkl N l = N i
il jk
2 2 ik jl
2( 2 + 3 )
1 1
N i ij kl N l
(N i ik jl N l + N i il jk N l )
(Qinv ) jk =
2 2
2(2 + 3 )
(Qinv ) jk =
1
N jNk
(N k N j + N l N l jk )
4
2(2 + 3 )
1
jk +
4 2(2 + 3 ) N j N k
2 +
1
jk +
=
4(2 + 3 ) N j N k
(Qinv ) jk =
(Qinv ) jk
Thus:
Qinv =
2 +
1+
4(2 + 3 ) N N
Note that 0 and (2 + 3 ) 0 , and moreover, these conditions are the same as those to
guarantee that C 1 (see Problem 1.89).
Draft
1 TENSORS
85
If U has the eigenvalues a associated with the eigenvectors N( a ) , and V has the eigenvalues
a = a
Solution:
Based on the definition of eigenvalue and eigenvector of the tensor U :
U N( a) = a N( a)
U N(a ) = aN( a)
Q T V Q N(a ) = aN( a)
Q Q T V Q N ( a ) = a Q N( a )
123
1
we obtain
V Q N( a ) = a Q N ( a )
V n(a) = a n(a)
transformation n ( a ) = Q N ( a ) .
Draft
86
Let be a symmetric second-order tensor, and s dev be a deviatoric tensor. Prove that
s:
s
= s . Also show that and dev are coaxial tensors.
s=
I
1.
3
Afterwards we calculate:
I
1
3 [ ] 1 [I ]
s
=
=
1
3
ij
kl
1 [I ]
1
ij = ik jl kl ij
3 kl
3
Therefore
s ij
s ij
kl
1
1
1
= s ij ik jl kl ij = s ij ik jl s ij kl ij = s kl kl s ii
{
3
3
3
=0
= s kl
s:
s
=s
To show that two tensors are coaxial, we must prove that dev = dev :
dev = ( sph ) = sph =
I
1
3
I
I
1 = 1
3
3
I
= 1 = dev
3
Therefore, we have shown that and dev are coaxial tensors. In other words, they have the
same principal directions (eigenvectors).
Draft
1 TENSORS
87
( III b ) 2
J
=
b
b
1 III
1
1
1
b
= ( III b ) 2
= ( III b ) 2 III b b T
2
2
b
1
1
1
= ( III b ) 2 b 1 = J b 1
2
2
ln III b 2
[ln( J )]
1 III b 1 1
=
=
= b
b
b
2 III b b
2
13
11
22
{} = 33
2 12
2 23
2 13
b) Write the equation = C 1 : in Voigt notation, where the tensor C 1 (see Problem 1.88)
is given by.
C 1 =
1
I
1 1
2
2 ( 2 + 3 )
Solution:
We write the equation = (1 1 + 2I ) : in indicial notation:
)]
ij = ij kl + 2 ik jl + il jk kl = ij kl + ik jl + il jk kl
2
0 1 0 Voigt {} = 1
ij =
0
0 0 1
0
0
Draft
88
I ijkl
1
1
1
1
1
1
Voigt
= ij kl I = [1 1 1 0 0 0] =
0
0
0
0
0
0
[]
I ijkl
I1111
I
2211
I 3311
Voigt [I ] =
I1211
I 2311
I1311
1 1 0 0 0
1 1 0 0 0
1 1 0 0 0
T
= {}{}
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
1
ik jl + il jk in Voigt notation is:
2
I1122
I 2222
I1133
I 2233
I1112
I 2212
I1123
I 2223
I 3322
I1222
I 3333
I1233
I 3312
I1212
I 3323
I1223
I 2322
I1322
I 2333
I1333
I 2312
I1312
I 2323
I1323
I1113 1
I 2213 0
I 3313 0
=
I1213 0
I 2313 0
I1313 0
0 0 0 0 0
1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
2
0 0 0 1 0
2
0 0 0 0 1
2
1
[C ] =
0
0
1 1 0 0 0
1
0
1 1 0 0 0
0
1 1 0 0 0
+ 2
0 0 0 0 0
0
0
0 0 0 0 0
0 0 0 0 0
0
0 0 0 0 0 + 2
0 0 0
1 0 0 0 0
0 0 0
+ 2
0 1 0 0 0
+ 2 0 0 0
=
0 0 1 0 0 0
0
0
0 0
2
0 0 0 1 0 0
0
0
0 0
2
0 0 0 0 1 0
0
0
0 0
thus
= (1 1 + 2I ) :
Voigt
0 0 0 11
11 + 2
+ 2
0 0 0 22
22
33
+ 2 0 0 0 33
=
0 0 212
0
0
12 0
23 0
0
0
0 0 2 23
0
0
0 0 213
13 0
14444444444 244444444444
4
3
{ } = [C ]{ }
b)
= C 1 :
1
I
1 1 : =
I:
1 1:
=
2 ( 2 + 3 )
2
2 ( 2 + 3 )
2
Tr ( )1
=
2
2 ( 2 + 3 )
ij =
1
ij
kk ij
2
2 ( 2 + 3 )
Note that:
Draft
1 TENSORS
89
1
11
( 11 + 22 + 33 ) 11 =
( 2 + 3 ) 11 2 ( 2 + 3 ) ( 22 + 33 )
2
2 ( 2 + 3 )
1
=
22
( 11 + 22 + 33 ) 22 =
( 2 + 3 ) 22 2 ( 2 + 3 ) ( 11 + 33 )
2
2 ( 2 + 3 )
11 =
22
1
33
( 11 + 22 + 33 ) 33 =
( 2 + 3 ) 33 2 ( 2 + 3 ) (11 + 22 )
2
2 ( 2 + 3 )
1
1
1
=
12
( kk ) 12 =
2 12 = 12
{ 2 12
2
2 ( 2 + 3 )
=0
33 =
12
2 23 =
2 13 =
23
13
Restructuring the above in Voigt notation we obtain:
( 2 + 3 )
11
2 ( 2 + 3 )
22
33 2 ( 2 + 3 )
=
2 12
2 23
2 13
0
2 ( 2 + 3 )
+
( 2 + 3 )
2 ( 2 + 3 )
2 ( 2 + 3 )
2 ( 2 + 3 )
+
( 2 + 3 )
{ } = [C ] 1 { }
0
1
0 11
22
0
33
0 12
23
0 13
NOTE: We define T ( x , t ) as a field tensor, i.e. the value of T depends on position and time.
r
r
If the tensor is independent of any one direction at all points ( x ) , e.g. if T ( x , t ) is
independent of the x3 -direction, (see Figure 1.6), the problem becomes a two-dimensional
problem (plane state) so that the problem is greatly simplified.
Draft
90
2D
x2
T
Tij = 11
T12
x2
T12
T22
T22
T22
T12
T12
T12
T11
T11
T11
x1
T12
T22
x3
x1
a) Obtain T11 , T22 , T12 in the new reference system ( x1 x 2 ) defined in Figure 1.7.
b) Obtain the value of so that corresponds to the principal direction of T , and also find
an equation for the principal values of T .
c) Evaluate the values of Tij , (i, j = 1,2) , when T11 = 1 , T22 = 2 , T12 = 4 and = 45 . Also,
obtain the principal values and principal directions.
d) Draw a graph that shows the relationship between and components T11 , T22 and T12 ,
and in which the angle varies from 0 to 360 .
Hint: Use the Voigt Notation, and express the results in terms of 2 .
x2
a11
a ij = a 21
x1
x2
a12
a 22
0
0 cos sin 0
0 = sin cos 0
1 0
0
1
x1
T11
T
22
T
{T } = 33 ;
T12
T23
T13
Draft
T11
T
22
T
{T } = 33
T12
T23
T13
1 TENSORS
a11 2
2
a 21
2
[M] = a 31
a 21 a11
a a
31 21
a 31 a11
91
a12 2
a 22 2
a13 2
a 23 2
2a11 a12
2a 21 a 22
2a12 a13
2a 22 a 23
a 32 2
a 33 2
2a 31 a 32
2a 32 a 33
a 22 a12
a 32 a 22
a13 a 23
a 33 a 23
a 32 a12
a 33 a13
2a 31 a 33
(a13 a 21 + a11 a 23 )
(a 33 a 21 + a 31 a 23 )
(a 33 a11 + a 31 a13 )
2a11 a13
2a 21 a 23
For the particular case shown in Figure 1.7, the transformation matrix [M] , after eliminate the
role and column associated with the x3 -direction, becomes:
T11 a11
T = a 2
22 21
T12 a 21 a11
2
a12
a 22
a 22 a12
T11
2a 21 a 22
T22
a11 a 22 + a12 a 21 T12
2a11 a12
(1.92)
T = A T AT
x2
T22
x2
T22
T12
T11
T12
T11
T11
T11
T12
T12
x1
T22
x1
T22
x1
T = AT T A
a 31
a12
a 22
a 32
a 33 0
0
1
(1.93)
sin 2
2 cos sin T11
T11 cos
T =
2
2
cos
2 sin cos T22
22 sin
T12 sin cos cos sin cos 2 sin 2 T12
Draft
(1.94)
92
trigonometric identities,
2 cos sin = sin 2 ,
1 cos 2
1 + cos 2
cos 2 sin 2 = cos 2 , sin 2 =
, cos 2 =
, (1.94) becomes:
2
2
Making
use
of
the
following
1 + cos 2
T11
T = 1 cos 2
22
2
T12
sin 2
1 cos 2
sin 2
2
T11
1 + cos 2
sin 2 T22
2
T12
sin 2
cos 2
1 + cos 2
1 cos 2
T11 +
T22 + T12 sin 2
T11 =
2
2
1 cos 2
1 + cos 2
sin 2
sin 2
T12 =
T11 +
T22 + T12 cos 2
+
cos 2 + T12 sin 2
T11 =
2
2
T T22
T12 = 11
sin 2 + T12 cos 2
(1.95)
b) Recalling that the principal directions are characterized by the lack of any tangential
components, i.e. Tij = 0 if i j , in order to find the principal directions for the plane case, we
T12 = 11
sin 2 = T12 cos 2
sin 2 + T12 cos 2 = 0 11
2
2
2 T12
2 T12
sin 2
=
tg(2 ) =
cos 2 T11 T22
T11 T22
2 T12
T11 T22
1
2
= arctg
(1.96)
To find the principal values (eigenvalues) we must solve the following characteristic equation:
T11 T
T12
T12
=0
T22 T
2
T 2 T ( T11 + T22 ) + T11 T22 T12 = 0
Draft
1 TENSORS
T(1, 2 )
[ ( T11 + T22 )]
93
2(1)
T11 + T22
2
4(1) T11 T22 T12
2
4 T11 T22 T12
4
By rearranging the above equation we obtain the principal values for the two-dimensional case
as:
T(1, 2 ) =
T11 + T22
T T22
11
2
2
(1.97)
2
+ T12
c) We directly apply equation (1.95) to evaluate the values of the components Tij , (i, j = 1,2) ,
where T11 = 1 , T22 = 2 , T12 = 4 and = 45 , i.e.:
1 + 2 1 2
1 + 2 1 2
1 2
T12 =
sin 90 4 cos 90 = 0.5
2 T12
T11 T22
1
2
= arctg
2 (4)
=
1 2
( = 41.4375 )
T11 + T22
T T22
11
2
2
2
2
+ T12
T1 = 5.5311
T2 = 2.5311
different values of T11 , T22 , T12 , which are illustrated in the following graph:
Draft
94
x1
T1
= 41.437
T2
x1
Components
= 131.437
T22
T1 = 5.5311
T22
T12
T11
0
0
50
100
-2
-4
200
250
T2 = 2.5311
300
350
T11
x1
45
T12
150
= 86.437
-6
TS max = 4.0311
Problem 1.97
Obtain the principal values (eigenvalues) and the principal directions (eigenvectors) of the
symmetric part of T , whose components in the Cartesian system are given by:
5 1
Tij =
3 4
(i, j = 1,2)
Solution:
The symmetric part of the tensor is given by:
sym
Tij =
5 2
1
Tij + T ji =
2
2 4
=0
2 9 + 16 = 0
1 T1 = 6.5615
2 T2 = 2.4385
Draft
1 TENSORS
95
TSsym
sym
sym
(T11 , T12 )
TII = 2.4385
TI = 6.5615
sym
TN
For the plane case, the principal direction can be obtained by means of the equation:
tan(2) =
sym
2 T12
sym
T11
sym
T22
22
=4
54
= 37.982
Problem 1.98
Find the gradient of the function f ( x1 , x 2 ) = cos( x1 ) + exp x1x2 at the point ( x1 = 0, x 2 = 1) .
Solution: By definition, the gradient of a scalar function is given by:
r
x f =
where:
f
= sin( x1 ) + x 2 exp x1x2
x1
f
f
e1 +
e2
x1
x 2
f
= x1 exp x1x2
x 2
r
r
Problem 1.99
r
Let v and be, respectively, vector and scalar, and twice continuously differentiable. Using
indicial notation, show that:
r
r
r
a) x ( x v ) = 0
r
r
r
b) x ( x ) = x 2
r
r
r
c) x () = x + x
r
r
r
d) x (v ) = x v + x v
r
r
r
e) x ( A B) = x A : B + A ( x B)
Solution:
a) Considering that
r
r
r
x v = ijk v k , j e i
Draft
(1.98)
96
r
x () =
()
el
xl
(1.99)
then
r
r
r
r
x ( x v ) =
( ijk v k , j e i ) e l =
( ijk v k , j il )
xl
x l
=
( ljk v k , j )
xl
(1.100)
= ljk v k , jl
(1.101)
b)
r
r
x ( x ) =
=
=
( ,i e i ) e j =
( ,i ij )
x j
x j
, j
x j
x j
= , jj
x j
(1.102)
2
2
=
r
=x
x 2
j
c)
[ xr ()]i = () ,i = ,i + ,i
r
r
= [ x ]i + [ x ]i
(1.103)
r
d) The result of x (v ) is a scalar which can be expressed as follows:
r
r
x (v ) = (vi ) ,i
= ,i v i + v i , i
r
r
r
r
= x v + x v
r
e) Considering that ( A B) ij = A ik B kj , [ x ( A B)]i = ( A B) ij , j = ( A ik B kj ) , j , thus
r
r
( A ik B kj ) , j = A ik , j B kj + A ik B kj , j = [ x A : B ]i + [A ( x B)]i
Problem 1.100
r
r
r
r
Let a and b be vectors. Show that the following identity x (a + b) = x a + x b holds.
Solution:
r
Observing that a = a j e j , b = b k e k , x = e i
(a j e j + b k e k )
x i
ei
a j
x i
e j ei +
r r
r
, we can express x (a + b) as follows:
x i
r
r
b k
a
b
r
r
ek ei = i + i = x a + x b
x i
x i x i
r
r r
r
r
r
r
x (a + b) = (a i + b i ), i = a i , i +b i , i = x a + x b
Draft
1 TENSORS
Problem 1.101
97
r
Find the components of ( x a) b .
true:
a j
a j
r r (a j e j )
a j
r
e i (b k e k ) =
( x a) b =
x e j e i (b k e k ) = b k ik x e j = b k x e j
x i
k
i
i
bk
x k
a j
= b1
x1
+ b2
a j
x 2
+ b3
a j
x 3
Thus,
j =1
b1
a1
a
a
+ b2 1 + b3 1
x1
x 2
x 3
j = 2 b1
a 2
a
a
+ b2 2 + b3 2
x1
x 2
x 3
j = 3 b1
a 3
a
a
+ b 2 3 + b3 3
x1
x 2
x 3
Problem 1.102
Prove that the following relationship is valid:
r
q 1 r r
1 r
r
= x q 2 q xT
T T
T
r r
r
where q( x , t ) is an arbitrary vector field, and T ( x , t ) is a scalar field.
r
x
Solution:
r
q
1
1
qi qi
r
x =
T x T T = T q i ,i 2 q i T,i
T
,i
i
1 r r
1 r
r
= x q 2 q x T (scalar)
T
T
Problem 1.103
Show that:
r
r
r
r
a) rot (a) = x (a) = ( x a) + ( x a)
r r
r r
(1.104)
r
r
r
r
r
r
b) x (a b) = ( x b)a ( x a)b + ( x a) b ( x b) a
(1.105)
2
r
r
r
r
r
c) x ( x a) = x ( x a) x a
(1.106)
2
r
r
r
r
r
d) x ( x ) = x + ( x ) ( x )
(1.107)
Draft
98
Solution:
r
a) The result of the algebraic operation x (a) is a vector, whose components are given
by:
r
[
r
x
r
[
r
x
r
(a) i
= ijk (a k ) , j
= ijk ( , j a k + a k , j )
= ijk a k , j ijk , j a k
(1.108)
r
r
r
r
= ( x a) i ijk ( x ) j a k
r
r
r
r
r
= ( x a) i ( x a) i
r
r
r
r
r
r
r
r
r
with that we check the identity: rot (a) = x (a) = ( x a) + ( x a) .
r r
r r
The components of the vector product (a b) are given by (a b) k = kij a i b j . Then:
r r
(a b) l = lpk ( kij a i b j ) , p
(1.109)
= kij lpk (a i , p b j + a i b j , p )
b) Considering that kij = ijk , the result of ijk lpk = il jp ip jl and by substituting in the
above equation we obtain:
r
[
r
x
r r
(a b) l = kij lpk (a i , p b j + a i b j , p )
= ( il jp ip jl )(a i , p b j + a i b j , p )
(1.110)
= il jp a i , p b j ip jl a i , p b j + il jp a i b j , p ip jl a i b j , p
= al , p b p a p, p b l + al b p, p a p b l , p
Note
that
r r
r
( x b) a l = a p b l , p .
[(
r
x a)
b]l
r
[(
= al , p b p ,
r
x
a)b]l
r r
= a p, p b l ,
[(
r
x
b)a]l
r r
= al b p, p ,
r
r
c) The components of ( x a) are given by ( x a) i = ijk a k , j . Then:
123
ci
r
r
r
r
r
x ( x a) q = qli c i ,l
= qli ( ijk a k , j ) ,l
(1.111)
= qli ijk a k , jl
Considering that qli ijk = qli jki = qj lk qk lj , the above equation becomes:
r
[
r
x
r
r
r
( x a) q = qli ijk a k , jl
= ( qj lk qk lj )a k , jl
= qj lk a k , jl qk lj a k , jl
(1.112)
= a k ,kq a q ,ll
r
r
r
Note that [ x ( x a)]q = a k , kq and x 2 a q = a q ,ll .
d)
Draft
1 TENSORS
99
r
r
x ( x ) = ( ,i ) ,i
(1.113)
= ,ii + ,i ,i
r
r
r
= x + ( x ) ( x )
2
(1.114)
r
r
r
r
r
x ( x ) = x + ( x ) ( x )
2
(1.115)
r
r
r
r
r
x ( x x ) = x x
2
Problem 1.104
r
r
Let be a scalar field, and u be a vector field. a) Show that x ( x v ) = 0 and
r
r
r
r
x ( x ) = 0 .
r
r
r
r
r
r r
r rr r
r r
r
r
r
r
r
r
r
r
b) Show that x x v v = ( x v )( x v ) + x ( x v ) v ( x v ) ( x v ) ;
r
r
r
r
r
r
r
r
r
r
r
r
r
c) Referring = x v , show that x ( x 2 v ) = x 2 ( x v ) = x 2 .
[(
Solution:
r
Regarding that: x v = ijk v k , j e i
r
( x
v =
ijk v k , j e i e l = ijk
v k , j il = ijk
v k , j = ijk v k , ji
x l
x l
x i
r
The second derivative of v is symmetrical with ij , i.e. v k , ji = v k ,ij , while ijk is antisymmetric
r
x
( )
( )
r
r
r
r
x ( x ) = ijk , kj e i = 0 i e i = 0
r
b) Denoting by = x v we obtain:
[(
) ]
r
r
r r
r
r
x x v v
r
r r
r
= x ( v )
r
r r
r r
r r
r r
r r
r
r
r
r
r
x ( v ) = ( x v ) ( x )v + ( x ) v ( x v )
r
r
r
r
r
r
Note that x = x ( x v ) = 0 . Then, we can draw the conclusion that:
Draft
100
r
r r
r r
r r
r r
r
r
r
r
x ( v ) = ( x v ) + ( x ) v ( x v )
r
r
r rr r
r r
r
r
r
r
r
r
r
= ( x v )( x v ) + x ( x v ) v ( x v ) ( x v )
r
r
r
r
2r
r
r
r
r
r
x v = x ( x v ) x ( x v )
r
r
r
r
r
r
= x ( x v ) x
r
r
r
r
r
r
2r
r
r
r
r
r
r
r
x ( x v ) = x [ x ( x v )] x ( x )
144 2444
4r
3
=0
r
r
Referring once again to the equation in (1.106) to express the term x ( x ) :
r
r
r
r
r
r
r
2r
2r
2r
r
r
r
r
r
r
r
r
r
r
r
x ( x v ) = x ( x ) = x ( x ) + x = x x ( x v ) + x
14 244
4
3
=0
r
r
2
r ( r v )
= x
x
Problem 1.105
Show that:
r
r
r
r
a) x (a b) = ( x a) b + a ( x b) rot (a) b + a rot (b)
Solution:
r
(1.116)
r
The expression x (a b) is a scalar which can be expressed as follows:
r r
r
x (a b) = ( ijk a j b k ) ,i
= ijk a j ,i b k + ijk b k ,i a j
123
123
r
r
( a) k
( b ) j
r
r
r r r r
r
r
= ( x a) b + a ( x b)
Problem 1.106
r
r r
Let v be a vector field in function of x , i.e. v = v ( x ) , whose components are given by:
v1 = x1 5 x 2 + 2 x3
v 2 = 5 x1 + x 2 3 x3
v = 2 x + 3 x + x
1
2
3
3
r
r
r
a) Obtain the gradient of v ; b) Obtain x v : 1 ; c) Apply the additive decomposition of the
r
r
tensor x v into a symmetric and antisymmetric parts; d) Obtain the axial vector associated
r
r
with the antisymmetric tensor ( x v ) skew .
Draft
1 TENSORS
101
Solution: a)
v1
x1
vi v 2
r
r
components ( x v ) ij =
=
x j x1
v3
x1
r
r v
r
xv = r
x
v1
x 3 1 5 2
v 2
= 5
1 3
x 3
2 3
1
v 3
x 3
v1
x 2
v 2
x 2
v3
x 2
r
r
b) x v : 1 = Tr ( x v ) = 1 + 1 + 1 = 3
r
r
r
c) x v = ( x v ) sym + ( x v ) skew =
] [
r
r
r
r
1
1
r
r
r
r
( x v ) + ( x v ) T + ( x v ) ( x v ) T
2
2
144 2444
4
3 144 2444
4
3
r
r
=( x v ) sym
r
r
=( x v ) skew
r
r
Then, the components of ( x v ) sym and ( x v ) skew are given, respectively, by:
1 0 0
r sym 1 vi v j
r
( x v ) ij =
+
= 0 1 0
2 x j xi
0 0 1
v j
r skew 1 v
r
( x v ) ij = i
2 x j x i
0 5 2
0 3
= 5
2 3
d) Remember that
1 v
= 2
2 x1
1 v
3
2 x1
1 v1 v 3
2 x 3 x1
v 2 v 3
v1
r
1
r
(W ) ij ( x v ) skew ij viskew
0
,j
x 2
2 x3 x 2
1 v 3 v 2
v1
(1.117)
2 x
x3
2 x3
w3 w2
W12 W13 0
W12
W13 0
0
W
= W
= w
= 21
w1
W23
0
W23 3
0
0
12
W31 W32
0 W13 W23
w1
0 w2
0
r
where w1 , w2 , w3 are the components of the axial vector w associated with the
r
r
antisymmetric tensor W ( x v ) skew , then, to the proposed problem we have:
1 v1 v 2
2 x 2 x1
w1 = 3
w2 = 2
w = 5
3
w2 0 5 2
0
w1 = 5
0 3
w1
0 2 3
0
w3
1 r r
(a x ) is the
2
axial vector associated with the antisymmetric tensor ( x a ) skew . Then, the axial vector
associated with the antisymmetric tensor
r 1 rr r
w = x v .
2
Draft
r skew
r
r
r
r
( x v ) skew = (v ) ( x )
is the vector
102
e1
r 1
w=
2 x1
v1
=
e2
x 2
v2
e3
v
1 v
= 3 2
x
x3 2 2 x3
v3
v
v
v
v
e 1 3 1 e 2 + 2 1
x
1 x 2
1 x 3
e 3
Problem 1.107
r
r
r
r
Let l = x v be a second-order tensor. Considering that D = ( x v ) sym and W = ( x v ) skew ,
show that
r
r
r
r
W D + D W = 2(D W ) skew = ( x v x v ) skew = ( l l ) skew
Solution:
In Problem 1.34 we have shown that: given an arbitrary second-order tensor
l
skew
sym
+l
sym
skew
= 2( l
skew
it fulfills that
sym skew
Then, W D + D W = 2(D W ) skew holds. Taking into account the definition of symmetry and
Antisymmetry, i.e. D =
1
l +l
2
W D + D W = 2(D W) skew
skew
2
= (l + l T ) (l l T )
4
1
= l l + l l T l T l l T l T
2
skew
1
1
T
T
= 1444 l 444 + l l l
l l
2 l 3 2
2
[
[
=0
skew
l T ]
skew
skew
1
= l l (l l )T
2
skew
1
= 2( l l ) skew
2
r
r
r
r
= ( l l ) skew = ( x v x v ) skew
l T
l )T
l is symmetric, since:
= l l
l .
Problem 1.108
Consider the scalar J = F det(F ) and an arbitrary second-order tensor given by
l
r &
& dF
r
= x v = F F 1 , where F
dt
following is true:
r
d(J ) &
r
J = J ( x v )
dt
Draft
(1.118)
1 TENSORS
103
Solution:
dA
dA
= A Tr
A 1 holds, where A = A () is an
d
d
dF
dt
( )
dJ
dF
&
= F Tr
F 1 = J Tr F F 1 = J Tr l = J Tr l
dt
dt
sym
) = J Tr(
r
xv
r
r
) = J ( x v )
Problem 1.109
r
Let us consider a vector field represented by the unit vector field b( x ) , (see Figure 1.9).
r
r
r
Obtain the second-order projection tensor P such that p = P u holds, where u is an
r
r
arbitrary vector and p is orthogonal to the field defined by b( x ) .
r
b( x )
r
u
r
a
r
b( x )
And, by considering the vector summation we obtain u = a + p . In addition, the vector a can
r
r
r r
be obtained by means of the projection of u onto the direction b : a = a b = (u b) b . With
that we can obtain:
r r r
p=ua
r
r r
r
= u (u b) b = u (u b) b
r
r
= 1 u (b b) u
r
= 1 (b b) u
r
= P u
= u i (u k b k )b i
=u u b b
k
p i = ui ai
ik
= ( ik b k b i )u k
= Pik u k
Draft
104
The same result could have been obtained by means of vector product. We draw the proposed
problem from another perspective for better visualization:
r
ub
r
b( x )
r
u
r
b (u b)
r
Taking into account that a (b a) = [(a a)1 a a] b , (see Problem 1.16), we can obtain
r
b (u b) = (b b)1 b b
Problem 1.110
r r
r
r r
] u = [1 b b] u = p
r r
Solution:
r
r
1
1
1 r r r
1 r 2
r
x (v ) i = [ x (v v )]i = (v k v k ) ,i = (v k ,i v k + v k v k ,i ) = v k v k ,i = (v x v ) i .
2
2
2
2
r
r
At one point of the vector field v , we consider a plane normal to v and recalling that the
r
projection of a second-order tensor onto a direction ( v ) is a vector which does not necessary
r
r r
r
have the same direction as ( v ), with that we represent the following vectors x v v and
r
r
r
v xv :
Note that
r r
r
xv v
r
r
r
( x v )
r
v
r
r
r
v xv
r r
cv
r
r
r
r
c ( x v )
r
r r
r
r
c = v ( x v )
Draft
1 TENSORS
105
r r r r
r
r
r
xv v + c = v xv
r r
r
r r
r
r
c = v xv xv v
r r
r r
r
r
r
c = v xv v xv T
r r
r
r
r
r
r
r
r
c = v ( x v x v T ) = v 2( x v ) skew
r
r
If we consider that w is the axial vector associated with the antisymmetric tensor ( x v ) skew , it
r skew r r r
r
r skew r r
r
r
fulfills that: ( x v ) v = w v v ( x v )
= v w . In addition, the relationship
r
r
r
r
r
rot (v ) x v = 2 w holds. Then,
r
r r
r
r
r r
r
r
r
c = v 2( x v ) skew = v 2 w = v ( x v )
(1.119)
r r r r
r
r
r
( x v ) v + c = v ( x v )
r r r
r r
r
r
( x v ) v = v ( x v ) c
r
r r 1 r
r
r
r
r
( x v ) v = x (v 2 ) v ( x v )
2
r
r
r
r
r
r
It is interesting to note that: when ( x v ) is a symmetric tensor, i.e. ( x v ) = ( x v ) sym , the
r
r r
r
r r
r r r
r
r
r
r
r
following is fulfilled ( x v ) skew = 0 , c = 0 , ( x v ) = 0 , and ( x v ) v = v ( x v ) has the
r
same direction as v .
r r
r
r
r
r
r
r
r
r
r
When ( x v ) = ( x v ) skew we have that c = v 2( x v ) skew = 2v ( x v ) , (see equation (1.119)).
r
r
r
r r
r
r
r
r
r
With that, v x v = x v v holds, and the vector v is perpendicular to the vector ( x v ) ,
r r
r
xv v
r
v
r r
cv
r
r
r
r
c ( x v )
r
r
r
( x v )
r rr
v xv
r
r r
r
r
r
r
r
c = v ( x v ) = 2v ( x v )
Figure 1.10
Draft
106
Alternative solution:
r r
r
r
r
r
r
r
r
r
r
r
r
r
x v v = (( x v ) sym + ( x v ) skew ) v = ( x v ) sym v + ( x v ) skew v
r
r
r
r
r
r
r
r
r
r
r
r
= ( x v ) sym v + ( x v ) skew v + (( x v ) skew v ( x v ) skew v )
r
r
r
r
r
r
r
r
r
= (( x v ) sym v ( x v ) skew v ) + 2( x v ) skew v
r
r
r
r
r
r
r
1
r
r
r
r
r
= ( x v + ( x v ) T ) ( x v ( x v ) T ) v + 2( x v ) skew v
2
r
r
r
r
1
r
r
= (2( x v ) T ) v + 2( x v ) skew v
2
r
r
r
r
r
r
= v ( x v ) + 2( x v ) skew v
r
r
r
1 r
r
= x (v 2 ) v ( x v )
2
r
r skew T
r
r
r
r
r
r
r
r
r
r
r
r
Remember that ( x v ) = ( x v ) skew , thus 2( x v ) skew v = v 2( x v ) skew = v ( x v )
Problem 1.111
r r
r r r
r r r
du u( x + dx ) u( x )
r
r r
r
du = x u dx
x2
r
x
r
dx
r r
r
u( x + dx )
r
r
x + dx
x1
du i =
u i
dx j
x j
x3
u1
du1 x1
du = u 2
2 x
du 3 1
u 3
x1
u1
x 2
u 2
x 2
u 3
x 2
u1
x3 dx
1
u 2
dx 2
x3
dx3
u 3
x3
or:
Draft
1 TENSORS
107
u1
u
u
dx1 + 1 dx 2 + 1 dx3
du1 =
x1
x 2
x3
u 2
u
u
dx1 + 2 dx 2 + 2 dx3
du 2 =
x1
x 2
x3
u
u
u
du 3 = 3 dx1 + 3 dx 2 + 3 dx 3
x1
x 2
x3
with
du1 = u1 ( x1 + dx1 , x 2 + dx 2 , x3 + dx3 ) u1 ( x1 , x 2 , x3 )
du 2 = u 2 ( x1 + dx1 , x 2 + dx 2 , x3 + dx3 ) u 2 ( x1 , x 2 , x3 )
du = u ( x + dx , x + dx , x + dx ) u ( x , x , x )
3
1
1
2
2
3
3
3
1
2
3
3
As the field is independent of x3 , the displacement field in the differential area element is
defined as:
u1
u1
2
1
u 2
u 2
du = u ( x + dx , x + dx ) u ( x , x ) =
dx1 +
dx 2
2
1
1
2
2
2
1
2
2
x1
x 2
or:
u1
u1
u1 ( x1 + dx1 , x 2 + dx 2 ) = u1 ( x1 , x 2 ) + x dx1 + x dx 2
2
1
u ( x + dx , x + dx ) = u ( x , x ) + u 2 dx + u 2 dx
2
1
1
2
2
2
1
2
2 1
x1
x 2
Note that the above equation is equivalent to the Taylor series expansion taking into account
only up to linear terms. The representation of the displacement field in the differential area
element is shown in Figure 1.11.
Draft
108
u2 +
u 2
dx 2
x 2
u2 +
( x1 + dx1 , x 2 + dx 2 )
( x1 , x 2 + dx 2 )
u1 +
u
u 2
dx1 + 2 dx 2
x 2
x1
u1
dx 2
x 2
u1 +
r
du
dx 2
u
u1
dx1 + 1 dx 2
x 2
x1
u2 +
(u 2 )
( x1 + dx1 , x 2 )
( x1 , x 2 )
x2
u 2
dx1
x1
u1 +
(u1 )
u1
dx1
x1
dx1
x1
144444444444444444424444444444444444443
=
644444444444444444474444444444444444448
x 2 ,u 2
u2 +
u1
dx2
x2
u 2
dx2
x2
dx 2
O
u2
O
u1
u1 +
dx 2
A
O
dx1
u 2
dx1
x1
dx1
u1
dx1
x1
x1 ,u1
Draft
1 TENSORS
Problem 1.112
109
Given a second-order tensor field T ( x ) . Show that: if there is no source of the field T ( x ) it
r
r
fulfills that the divergence of T ( x ) is equal to zero, i.e. x T = 0 . For the demonstration,
consider the tensor field in a differential volume element dV = dx1 dx 2 dx 3 in the Cartesian
system.
Solution:
Let us set the tensor field T ( x ) in the differential volume element. For this purpose, we start
r
from the definition of the differential of T ( x ) which is defined by means of gradient as
follows:
r
r
r
dT T ( x + dx ) T ( x )
r
r
r
r
r
r
r
r
r
r
r
T ( x + dx ) T ( x ) = x T dx T ( x + dx ) = T ( x ) + x T dx
r T dx
dT = x
r
r
r
Tij ( x + dx ) = Tij ( x ) + Tij ,k dx k
r
= Tij ( x ) + Tij ,1 dx1 + Tij , 2 dx 2 + Tij ,3 dx3
Tij
Tij
r Tij
= Tij ( x ) +
dx1 +
dx 2 +
dx3
x1
x 2
x 3
r
r
The representation of the field components Tij ( x + dx ) can be appreciated in Figure 1.12.
r
Note that on the face normal to x1 + dx1 act the components Ti1 ( x ) +
Ti1
dx1 , since
x1
according our convention, the first index indicate the direction in which points out and the
second index indicates the normal plane.
r
Once established the field Tij ( x + dx ) in the differential volume element, we apply the total
r
r
balance of the field components Tij ( x + dx ) according to the directions x1 , x 2 , x3 .
r
T
T
T
T11 + 11 dx1 dx 2 dx3 + T13 + 13 dx 3 dx1 dx 2 + T12 + 12 dx 2 dx1 dx3 T11 dx 2 dx3
x1
x3
x 2
and
Draft
110
x3
Rear face
T11
T33 +
Rear face
T23 +
T13 +
T21
T33
dx3
x3
T13
dx3
x3
T23
dx3
x3
T32 +
T12
T22
T31 +
T31
dx1
x1
T32
T12 +
T21 +
T
T11 + 11 dx1
x1
T21
dx1
x1
T31
dx 3
T32
dx2
x2
T12
dx2
x2
T22 +
T22
dx2
x2
x2
dx1
T13
T23
x1
Rear face
T33
dx 2
x 2
x3
x1
T21 T22 T23
+
+
=0
x1
x 2
x3
x1
x 2
x3
T1 j , j = 0
T2 j , j = 0
T3 j , j = 0
Tij , j = 0 i
r
( x T ) i = 0 i
tensorial
r
r
x T =0
NOTE 1: If we have a tensor field, the order of the source is a minor order of the tensor, e.g.
the source of a vector field is represented by a scalar field.
NOTE 2: If the divergence of a tensor field is positive we have a source, on the contrary if
the divergence is negative we have a sink.
Draft
1 TENSORS
111
Problem 1.113
r
Show that if the magnitude of a vector, = (t ) , is constant with time, this implies that is
r
d
orthogonal to
for any time t .
dt
Solution:
r
r r
r
r
r
( ) = d ( ) = d () + d () = 2 d () = 0
r r
r
r
d
dt
dt
dt
dt
dt
r
r d
dt
r
x = constant
r
r dx
r
x
r dx
dt
v=
dt
r
x
Draft
112
Check the divergence theorem (Gauss theorem) for the vector field F whose Cartesian
2
components are given by Fi = xi + ( x3 x 3 ) i 3 . Consider the boundary defined by the
2
cylinder x12 + x 2 1 , 0 x3 1 .
Solution:
The divergence theorem states that:
r
r
r
x F dV = F ndS
x3
2
x12 + x 2 1
S (2)
n ( 2)
r
r
r
r =1
h =1
S (1)
n (1)
r
x
x2
n ( 3)
x1
S ( 3)
Figure 1.13
r
r
Calculation of x F dV :
V
r
2
r
x F = Fi ,i = x i + ( x 3 x3 ) i 3
,i
2
2
= xi ,i + ( x3 x3 ) ,i i 3 = ii + ( x3 x3 ) ,3
= 3 + ( 2 x3 1) = 2 x3 + 2
Thus
r
r
x F dV = (2 x3 + 2) dV =
x3 =1
x =(02 x
A
+ 2)dx3 dA = 3 dA = 3(r 2 ) = 3
2
where A is the area defined by the circle x12 + x 2 1 .
Calculation of
F ndS
Draft
1 TENSORS
113
We decompose the boundary in three areas, namely: S (1) , S ( 2) , S (3) , (see Figure 1.13), then
r
F ndS = F n
(1)
S ( 1)
F n
dS (1) +
( 2)
dS ( 2 ) +
S ( 2)
F n
( 3)
dS (3)
S ( 3)
r
2
2
2
The components of F are: F1 = x1 + ( x3 x3 ) 13 = x1 , F2 = x 2 , F3 = x3 + ( x3 x 3 ) 33 = x3 .
r
r
2
n (1) // r
n (1) =
x12
2
x2
( x1 e1 + x 2 e 2 ) ; n ( 2 ) = e 3 ; n (3) = e 3
F n
(1)
(x e
dS (1) =
S ( 1)
+ x 2 e 2 + x3 e 3 )
S ( 1)
2
x12 + x 2
x12
( 1)
2
x2
dS (1) =
1dS
1
x12
(1)
2
x2
( x1 e1 + x 2 e 2 )dS (1)
= 2rh = 2
(1 )
F n ( 2) dS ( 2 ) =
(x e
1
S (2)
+ x 2 e 2 + 1e 3 ) (e 3 )dS ( 2 ) =
S (2)
1dS
(2)
= r 2 =
S (2)
F n (3) dS (3) =
S (3)
(x e
1
+ x 2 e 2 + 0e 3 ) (e 3 )dS (3) =
S (3)
0dS
( 3)
=0
S (3)
F n (1) dS (1) +
S (1 )
F n ( 2 ) dS ( 2 ) +
S (2)
F n (3) dS (3) = 3
S ( 3)
Problem 1.115
Let be a domain bounded by as shown in Figure 1.14. Further consider that m is a
second-order tensor field and is a scalar field. Show that the following relationship holds:
[m :
r
r
x ( x )
[m
]d = [( xr ) m] nd [( xr m) xr ]d
ij , ij
] d = ( , m
i
Draft
ij )n j
[m
ij , j , i
] d
114
x2
x1
Figure 1.14
Solution: We could directly apply the definition of integration by parts to demonstrate the
above relationship. But, here we will start with the definition of the divergence theorem. That
r
is, given a tensor field v , it is true that:
r
x
d =
v n d v
indicial
j, j
d = v j n j d
Observing that the tensor v can be represented by the result of the algebraic operation
r
r
v = x m and the equivalent in indicial notation is v j = , i m ij , and by substituting it in
the above equation we obtain:
j, j
d = v j n j d
[,
[,
ij
[,
ij
m ij
,j
d = , i m ij n j d
m ij + , i m ij , j d = , i m ij n j d
m ij d = , i m ij n j d
[,
m ij , j d
[m :
r
r
x ( x )
]d = [( xr ) m] nd [ xr ( xr m)]d
NOTE: Consider now the domain defined by the volume V , which is bounded by the
r
surface S with the outward unit normal to the surface n . If N is a vector field and T is a
scalar field, it is also true that:
N T,
i
ij
dV = N i T , i n j dS N i , j T , i dV
r
r
r
r
r
r
r
r
N x ( x T )dV = ( x T N ) ndS x T x N dV
Draft
1 TENSORS
Problem 1.116
r
115
r
Let b be a vector field, which is defined as b = x v . Show that:
b n
i
d S = , i b i dV
r
Solution 1: The Cartesian components of b = x v are b i = ijk v k , j and by substituting them
in the above surface integral we obtain:
b n
i
dS = ijk v k , j n i dS
b n
i
dS = ijk v k , j n i dS
= ( ijk v k , j ), i dV
= ( ijk , i v k , j + ijk v k , ji ) dV
V
= (, i ijk v k , j + ijk v k , ji ) dV = , i b i dV
123
4 4
123
4 4
V
bi
Solution 2:
b n
i
dS = (b i ), i dV = (, i b i + b i , i ) dV
b n
i
dS = , i b i dV = , i ijk v k , j dV
Problem 1.117
Let V be a volume domain which is delimited by surface S . a) Show that:
r
( x n + n x) dS = 2V 1
S
r
x
ik , k
) x dV = ( n) x
S
dS dV
V
x j dV = ik n k x j dS ij dV
S
and
Draft
116
) dV = x ( n)
x (
r
x
dV = xi jk n k dS ji dV
jk , k
dS T dV
dS = ndS
x2
dS
B
r
x
x1
x3
Solution:
a) Considering only the first term of the integrand, we can obtain:
r
( x n) dS = ( x 1 n) dS = ( x 1) n dS
S
( x n) dS = ( x 1) n dS =
S
r
x
( x 1) dV
xn
i
dS = x i jk n k dS = ( jk x i ) ,k dV
= ( jk ,k xi + jk x i ,k ) dV
V
xn
i
dS = ji dV = ji dV = jiV
( x n) dS = V 1
V
T
= V1
Draft
1 TENSORS
117
( x n + n x) dS = 2V 1
S
x j ik ,k = ( x j ik ) ,k ij
r
r
r
r
( x ) x = x ( x )
r
x
r
x
) x dV = ( x ) n dS dV
S
ik , k
dV = x j ik n k dS ij dV
S
= ( ik n k ) x j dS ij dV
= ( n) x dS dV
dV = ( x j ik ) ,k dV ij dV
ik , k
r
) x dV = x ( x ) dV dV
where we have applied the divergence theorem to the first integral on the right side of
equation.
Taking into account that
r
r
[( xr ) x ]T = [ xr ( x ) ]T
r
r T
r
r
x ( x ) = [ x ( x )] T
In indicial notation
xi jk ,k = ( xi jk ) ,k ji
we can obtain:
r
x (
r
x
x (
r
) dV = [ x ( x )]T
dV T dV
r
x
) dV = ( x ) n dS T
S
dV
jk , k
jk , k
= x ( n) dS T dV
dV = ( xi jk ) , k dV ji dV
V
dV = ( xi jk )n k dS ji dV
S
= xi ( jk n k ) dS ji dV
S
Problem 1.118
Let be a scalar field which is given by:
Draft
118
GM
a
= r
where G and M are scalars and constants, and a is the magnitude of the vector a 0 . a)
r r
Obtain the gradient of . b) Obtain the gradient of for the particular case when a = x and
r
draw the field x in the Cartesian space.
Solution:
GM
,i = r
a
x ,i
( xr ),i
r
= GM 1 ( a ) ,i
r
a 2
,i
(1.120)
Note that:
1
1
r r 1
r
1 r r 2 r r
1 r r 2
2
( a ) ,i = ( a a ) = (a a ) ( a a ) ,i = ( a a ) ( a k a k ) ,i
2
,i 2
r r
1 r r
1
= (a a ) 2 ( a k ,i a k + a k a k ,i ) = (a a ) 2 ( a k ,i a k ) = r ( a k , i a k )
a
2
or in indicial notation:
r
r
1 r
r
r
x ( a ) = r (a x a )
a
(1.121)
r
( x ),i
r
1 1
GM
= GM r 2 r (a k ,i a k ) = r 3 (a k ,i a k )
a a
a
r
GM r
r
= r 3 (a x a ) i
a
(1.122)
r
r
a
Moreover, considering that the unit vector according to the direction a is given by a = r ,
a
we can obtain:
r
r
r
r
r
( x ),i = GM (a x a ) i = GM (a xr a ) i
r3
r2
a
r r
b) For the particular case when a = x we have:
(1.123)
r
r
1
1
1
2
2
( x ) ,i = r ( x k ,i x k ) = r ( ki x k ) = r ( xi ) where r = x = x12 + x 2 + x3
x
x
x
or in tensorial notation:
r
r
1 r
1 r
1 r
r
r
x ( x ) = r ( x x x ) = r ( x 1) = r ( x ) = x
x
x
x
whereupon
Draft
1 TENSORS
GM
,i = r
x
x i
( xr )i
r
119
= GM 1
r
x2
,i
r
r
( x ) = GM ( x )
i
,i
r3
(1.124)
or in tensorial notation:
GM
r
r
x = x r
x
GM r GM
=
r x= r 2 x
x3
x
(1.125)
r
r
Note that the vector field x is radial, i.e. it is normal to the spheres defined by x and
GM GM
= 2 r=
r r
r
(r )
r = (r )r
r =
r
(1.126)
x3
Spheres
r
x
x =1
r
x
r
b
x1
x2
r
x
r
x
Figure 1.15
GM
x
r
following property b = x , (see Figure 1.15), where G = 6.67384 10 11
m3
kg s 2
is the
gravitational constant, M is the total mass of the planet. We check the units:
[] = GM =
r
m 3 kg kg m m N m J
( Unit of energy per unit mass)
= 2
=
=
kg
kg
kg s 2 m
s kg
(specific energy)
r
Nm
[b]= [ ] = = mJkg = m kg = skgm = sm (Unitunit force per uniton) )
of
mass
r
x
kg
(
of accelerati
r
x
Draft
120
r
r
r
It is interesting to check that x b = x [ x ] = 0 , (see Problem 1.104).
b = x = r 2 x
x
where the total mass of Earth is M 5.98 10 24 kg and the approximate radius is
R 6.37 10 6 m , with that we obtain
r
GM
GM
b = r 2 x = 2 x 9.82 x
R
x
r
m
.
s2
Adopting that the system x has its origin at the center of mass of the body M , and invoking
r
r
the Newtons second law ( F = ma ), we can obtain the force that act in a body ( m ) due to the
r
r
gravitational field b = x :
r
r
r
GMm
F = ma = mb = r 2 x
x
(1.127)
r
x2
x1
r
x
r
F (Mm)
x3
r
x (M )
x2
r
F (mM )
r
x (m )
r
r r
x ( M ) + x = x ( m)
r r
r
x = x (m) x (M )
x1
x3
GMm
r ( m) r ( M )
x x
r
r
( x ( m) x ( M ) )
r
r
x ( m) x ( M )
Draft
(1.128)
1 TENSORS
121
where we use the nomenclature F (mM ) to indicate the force in m due to the influence of M .
Note also that in M we have the same force in direction and magnitude, but of opposite
r
sense to F (mM ) .
Problem 1.119
Consider that =
r
1
2
2
where r = x = x12 + x 2 + x3 :
r
a) Show that:
r r
2 2 2
r
r
x x ( x 0) 2 2 + 2 + 2 = 0 Laplace equation
(1.129)
x1
x 2
x3
r r
r
for r 0 . We use the nomenclature x ( x 0) to indicate that the origin is not included.
( ) ndS = 4
r
x
(1.130)
Solution:
It was obtained in Problem 1.118 that
GM
r
r
x = x r
x
GM r GM
=
r x= r 2 x
x3
x
(1.131)
Denoting by GM = 1 we obtain:
1 1 r 1
r
r
x = x r = r 3 x = r 2 x
x x
x
(1.132)
1 r
1
r
( x ) i = r 3 x = r 3 xi
x
x
i
(1.133)
or in indicial notation:
r
( x ) = ,ii
x
1
x i ,i
i
= r 3 = r 3 xi r 3
x
x
x
,i
,i
3 r
x i ,i
= r 3 x i r 4 ( x ) ,i
x
1
x
(1.134)
r
In Problem 1.118 it was shown that x ( x ) = r ( x ) , in addition, note that xi ,i = ii = 3 ,
Draft
122
r
x
r
( x ) =
3 r
3
x i r 4 ( x ) ,i
r3
x
3 x
3
= r 3 xi r 4 ri
x
x
x
3 xi xi
3
= r 3 + r 5
x
x
r 2
3x
3
= r 3 + r 5 =0
x
x
(1.135)
1
1
x ndS = r 2 x ndS = r 2
2
x S
x
S x
1
1
= 2 ( Area) = 2 (4r 2 ) = 4
r
r
( ) ndS = r
r
x
dS
(1.136)
Note that x n = 1 since for the sphere it holds that x // n .
[ ]dV = ( ) ndS
r
x
r
x
r
x
,ii dV
= ,i ni dS
(1.137)
r
r
We have demonstrated that x x ( x 0) = 0 , but that only apply to x 0 (the origin is
not included). That is, taking into account the result in (1.136), the result in (1.137) has
r r
consistency if at the point x = 0 there is a sink and equal to ( 4 ). With that, it is very
intuitive to conclude that any closed surface that does not contain the origin the following
r
holds x ndS = 0 .
Problem 1.120
a) Show that:
( ) ndS = 4GM (r )
S
(1.138)
GM
is the gravitational potential, and M (r ) is the total mass contained into
r
the sphere whose radius is r , and S -surface represents the sphere boundary.
where =
b) Consider a sphere of radius r = a which represents a planet. Obtain the total mass of the
planet in function of the mass density = (r ) .
c) Obtain the gravitational potential for r < a and r a . In this section, consider that the
mass density is constant in the planet = 0
Solution:
a) In Problem 1.119 we showed that:
Draft
1 TENSORS
123
( ) ndS = r ndS = 4
1
(1.139)
GM (r ) ndS = 4GM (r )
r
S
GM (r )
ndS = 4GM (r )
r
(1.140)
[] ndS = 4GM (r )
S
b)
Spherical planet
r=a
(r )
M = (r )dV
(1.141)
r =a
M = (r )dV =
V
(r )4r
dr
(1.142)
r =0
c) Remember that in Problem 1.118 (see equation (1.126)) we have obtained that
r
GM GM GM (r )
= b =
r = (r )r
= 2 r =
r =
r r
r
r r
(1.143)
Draft
124
[] ndS = 4GM (r )
S
b ndS = (r ) r n dS = (r ) dS = (r )(4r 2 ) = 4GM (r )
123
=1
(1.144)
(r )r = GM (r )
GM (r )
(r ) =
r2
2
where M (r ) = V 0 = 4 r 3 0 . Then:
3
GM (r ) 4G 0
r
=
3
r2
d(r ) 4G 0
r
=
dr
3
4G 0
rdr
d ( r ) =
3
(r ) =
(1.145)
d =
(1.146)
where we have denoted (1) ( r ) = (r ) for r < a . For values r a the gravitational potential is
given by
=
GM 4Ga 3 0
=
= (2)
r
3r
for
(1.147)
ra
where M is the total mass of the planet whose value is M = V 0 = 4 a 3 0 . Note that the
3
potential has to be continuous in r = a , (see Parker (2003)), thus:
(1) (r = a ) = ( 2) (r = a )
4Ga 3 0
2G 0 2
a +C =
3
3a
3
2Ga 0 2Ga 3 0 4 3 2GM 3 3MG
C =
=
=
=
a
a
a
34
4
2a
(1.148)
2G 0 2
2G 0 2 3MG MG 2 3MG MG r 2
3
r +C =
r
= 3r
= 2 2
2a
3
3
2a
2a
2
2a
2a
(1.149)
(r ) =
(r ) =
MG r 2
3
for
2
2
2
2a 2a
MG
for
ra
r
Draft
r<a
(1.150)
1 TENSORS
125
(r )
Planet surface
a
MG
a
inflection point
3MG
2a
Problem 1.121
a) Show that the orbit of a planet takes place on a plane. b) Prove the Keplers laws of
planetary motion:
b.1) First Law: The orbit of a planet is an ellipse, with the Sun at one of the foci of the ellipse;
b.2) Second Law: The vector position from the Sun to the planet describes one area at a
constant rate;
Draft
126
b.3) Third Law: If T (orbital period) represents the time required for the planet to perform a
full elliptical orbit, whose major axis of the ellipse is 2a , the relationship T 2 = a 3 holds,
where is a constant.
Reminder: Expressions related to the ellipse:
x2
r
x
f2
f1
x1
a 2 b2
a2
p
1 + e cos
0 < e < 1 , where a 2 =
p2
holds.
(1 e 2 ) 2
x2
x3
r r r
c = xv
r
dx r
=v
dt
r
x
Sun
r
r dx
v=
,
dt
r
a // x
r
r
r d 2 x dv
a= 2 =
dt
dt
r r
F // a
t=0
r
h
x1
Draft
1 TENSORS
127
a) To show that the orbit takes place on a plane, we must prove that the vector ( c ) normal to
r
r
the plane which is defined by the vectors x and v does not change with time, i.e. c is
constant.
We recall the equation (1.127) of Problem 1.121:
r
r
r
r
GMm
GM
F = ma = mb = r 2 x
; a= r 2 x
(1.151)
x
x
r r r
Next, we obtain the rate of change of c = x v :
r
r r d r r r r r r
dc d r r
d r
= ( x v ) = ( x ) v + x (v ) = v 2v + 1 a = 0
1 3 x2
3
r
r
dt dt
dt
dt
=0
=0
r r r
Thus we have shown that the vector c = x v does not change with time, which implies that
Since the planets orbit is performed on a plane, we take x1 x 2 as the plane of the orbit, then
r
the vector c has the same direction as x3 , (see Figure 1.18).
r
We express c in term of x :
r
r
d( x )
r dx d r
r dx
= ( x x) =
v=
x+ x
dt dt
dt
dt
and
r
d( x )
r r r
r
r dx
c = x v = ( x x)
x+ x
dt
dt
r d( x )
r 2
dx
= x
x2 x
13 + x x dt
r
dt
=0
r 2
dx
= x x
dt
GM
r r
r r GM r 2
dx
dx
dx
dx
a c = r 2 x x x
= GM x x
= GM ( x ) x ( x x )
x
dt
dt
dt
dt
dx
= GM
dt
r r r
r r r r r r
where we have used the property a b c = (a c )b (a b)c , (see Problem 1.16). Note
dx
dx
2
r r
dx d (GM x )
a c = GM
=
dt
dt
Since the vector c does not change with time, the following is true:
Draft
128
r r
r
r r dv r d ( v c )
c =
ac =
dt
dt
Thus
r r
d (v c ) d (GM x )
=
dt
dt
r
r r
v c = GM x + h
where h is constant vector of integration and is not dependent of time. Note that h is located
r r
on the plane x1 x 2 , since (v c ) and x are also on the plane x1 x 2 , (see Figure 1.8).
We calculate:
r
r
h x = h x cos = h cos
r
r r
r r r r r r
= c c = ( x v ) c = (v c ) x
r
r
r
r r
r
r
= GM x + h ( x x ) = x GM x x + x h x = x GM + x h cos
r
= x (GM + h cos )
2
= r (GM + h cos )
where we have considered that r = x . Then, we can obtain the following equation of the
ellipse:
c2
p
c
GM
r=
=
=
(GM + h cos ) (GM + h cos ) 1 + e cos
GM
2
c2
GM
and
e=
h
GM
(1.152)
S 0
r 1 r
r
dA = x ds
2
x2
S
A
r
x
x1
Draft
1 TENSORS
129
r
r
r
D (dA) 1 D( x ds )
=
=
2
Dt
Dt
r
r
1 D( x )
=
ds +
2 14 4
Dt2 3
r
=0
1
2
1
2
r
r
r 1 r D ( ds )
D( x )
ds + x
2
Dt
Dt
r r
xv
1r
c (constant)
2
NOTE: As a consequence of second law it follows that if the areas of two sectors are equal,
the time required to perform their paths are equal, that is, according to Figure 1.19 as the areas
of the sectors OCD and EFO are equal the times to perform C D and E F are equal.
As result, when the planet is closer to the Sun its velocity is greater than when it is far.
sector EFO
sector OCD
E
D
A
C
A=
D (dA)
1
1
dt =
c dt = cT
Dt
2
2
0
Taking into account the area enclosed by the ellipse: A = ab , we conclude that
1
cT = ab ,
2
thus:
T=
2ab
c
T2 =
4 2 a 2 b 2
c2
(1.153)
a 2 b2
a2
b2 = a 2 a 2e2
Draft
b 2 = a 2 (1 e 2 )
130
p2
p
a=
(1 e 2 )a = p into the above equation,
2 2
2
(1 e )
(1 e )
we can obtain:
b 2 = a 2 (1 e 2 )
b 2 = ap
p=
b2
a
4 2 a 2 b 2 4 2 a 2 ab 2 4 2 a 3 p 4 2 3
=
=
=
a = a3
GM
c2
c 2a
c2
(1.154)
p
1
=
, (see equation (1.152)).
2
GM
c
Draft
2 Continuum Kinematics
2.1 Solved Problems
2.1.1
Problem 2.1
A continuum is defined by a square with sides b , subjected to rigid body motion which is
defined by rotating the continuum counterclockwise by an angle of 30 to the origin. Find
the equations of motion. Also obtain the new position of particle D .
r
x2
30
b
A = A
x1
D
B
30
X 1 , x1
0
0
1
132
x1 cos 30 sin 30 0 X 1
x 2 = sin 30 cos 30 0 X 2
x 0
0
1 X 3
3
x 2 = sin 30 cos 30 0 b = b cos 30
x D 0
0
1 0
0
Problem 2.2
A continuum medium motion, in the material description, is given by:
x1 = exp t X 1 exp t X 2
t
t
x 2 = exp X 1 + exp X 2
x = X
3
3
(2.1)
V ( X , t) =
V2 = exp t X 1 exp t X 2
Dt
V = 0
3
(2.2)
Acceleration:
A1 = exp t X 1 exp t X 2
t
t
A2 = exp X 1 + exp X 2
A = 0
3
(2.3)
To find the velocity and acceleration components in the spatial description we substitute
the equations of motion:
Eulerian velocity (spatial description)
v1 = x2
v2 = x1
v = 0
3
(2.4)
a 2 = x 2 = v1
a = 0
3
Draft
(2.5)
2 CONTINUUM KINEMATICS
133
Problem 2.3
The velocity field of a fluid is given by:
r
v = x1e1 + x2 e 2 + x3 e 3
(2.6)
r
T ( x , t ) = 3 x 2 + x3 t
(2.7)
t
x j
t 1
Dt
2
3
(2.8)
DT
= x3 + (0 x1 + 3 x2 + tx3 )
Dt
= x3 + (3x2 + tx3 )
(2.9)
Problem 2.4
Given the following motion:
xi = X i + 0.2tX 2 1i
(2.10)
(2.11)
Then:
r
r 2
r r
T ( x ( X , t )) = 2 x1 ( X , t ) + x 2 ( X , t )
= 2( X 1 + 0.2tX 2 ) + ( X 2 )
r
= 2 X 1 + ( X 2 + 0.4t )X 2 = T ( X , t )
r
DT ( X , t ) & r
T ( X , t ) = 0 .4 X 2
Dt
Draft
134
&
T (( X 1 = 0; X 2 = 1; X 3 = 0), t ) = 0.4 X 2 = 0.4
Problem 2.5
r r
r r
Find the velocity field V ( X , t ) in the material description and the acceleration field A( X , t )
r r
of the particle at time t in function of the rate of change of displacement U ( X , t )
Solution:
r r
r
D r r
&
V ( X , t) =
U ( X , t) = U
Dt
r r
r
D r r
&
A( X , t ) =
V ( X , t) = V =
Dt
r
D2 r r
&&
= 2 U ( X , t) = U
Dt
r &&
& r
A =V = U
(2.12)
(2.13)
(2.14)
Problem 2.6
Consider the following equations of motion in the Lagrangian description:
r
2
x1 ( X , t ) = X 2 t 2 + X 1
x1 1 t
r
Matrix form
x 2 ( X , t ) = X 3 t + X 2 x 2 = 0 1
r
x 0 0
3
x3 ( X , t ) = X 3
0 X 1
t X 2
1 X 3
(2.15)
Is the motion above possible? If so, find the displacement, velocity and acceleration fields
in Lagrangian and Eulerian descriptions. Consider a particle P that at time t = 0 was at the
point defined by the triple equation X 1 = 2, X 2 = 1, X 3 = 3 . Find the velocity of P at time
t = 1s and t = 2 s .
Solution:
x1
X 2
x 2
X 2
x3
X 2
x1
X 3 1 t 2
xi
x 2
=0 1
J=
X j
X 3
0 0
x3
X 3
r
The displacement vector field is given by the definition u =
u 2
u 3
r
r
(Xr , t ) = x ( Xr, t ) X = [X t + X ] X
(X , t ) = x ( X , t ) X = [X t + X ] X
r
r
(X , t ) = x ( X , t ) X = [ X ] X = 0
1
0
t =1 0
1
r r
x X . Using the equations of
= X 2t 2
= X 3t
(2.16)
which are the components of the displacement vector in the Lagrangian description. Here,
velocity and acceleration can be evaluated as follows:
Draft
2 CONTINUUM KINEMATICS
( )
r
r
d u1 X , t
d
=
X 2t 2 = 2 X 2t
V1 v1 ( X , t ) =
dt
dt
r
r
du 2 X , t
d
= ( X 3t ) = X 3
V 2 v 2 ( X , t ) =
dt
dt
r
r
du 3 X , t
d
= (X 2t ) = 0
V3 v 3 ( X , t ) =
dt
dt
( )
135
r
dV
A1 a1 ( X , t ) = 1 = 2 X 2
dt
r
dV 2
=0
A2 a 2 ( X , t ) =
dt
r
dV
A3 a 3 ( X , t ) = 3 = 0
dt
( )
(2.17)
The inverse form of (2.15) provides us the inverse equations of motion (Eulerian
description):
X 1 1 t 2
1
X 2 = 0
X 0
0
3
r
t 3 x1 X 1 ( x , t ) = x1 t 2 x 2 + t 3 x 3
r
t x 2 X 2 ( x , t ) = x 2 tx 3
r
1 x3 X 3 ( x, t ) = x3
(2.18)
Then, the displacement, velocity and acceleration fields in Eulerian description can be
evaluated by substituting equation (2.18) into the equations (2.16) and (2.17), i.e.:
r
r
r
(Xr ( x, t ), t ) = X ( x, t )t = ( x tx )t = u ( x, t )
r
r
r
(X ( x, t ), t ) = X ( x , t )t = x t = u ( x , t )
r r
r
(X ( x , t ), t ) = u ( x , t ) = 0
r r
r
r
V (X ( x , t ), t ) = 2 X ( x , t )t = 2( x tx )t = v ( x , t )
r r
r
r
V (X ( x , t ), t ) = X ( x , t ) = x = v ( x , t )
r r
r
V (X ( x , t ), t ) = v ( x , t ) = 0
r r
r
r
A (X ( x , t ), t ) = 2 X ( x , t ) = 2( x tx ) = a ( x , t )
r r
A (X ( x , t ), t ) = a ( x , t ) = 0
r r
r
A (X ( x , t ), t ) = a ( x , t ) = 0
u1
u 2
u 3
(2.19)
(2.20)
(2.21)
Taking into account the Lagrangian description of velocity given in (2.17), the velocity of
particle P ( X 1 = 2, X 2 = 1, X 3 = 3 ) at time t = 1s is given by:
r
r
r
v1 ( X , t ) = 2 X 2 t = 2 m / s ; v 2 ( X , t ) = X 3 = 3m / s ; v 3 ( X , t ) = 0
We can also observe that at time t = 1s the particle P occupies the position:
x1 = X 2 t 2 + X 1 = 3 ;
x 2 = X 3t + X 2 = 4 ;
x3 = X 3 = 3
So, the velocity of the particle P can also be evaluated by (2.20) as:
r
v1 ( x , t ) = 2( x 2 tx 3 )t = 2( 4 + 1 3) 1 = 2m / s
r
v 2 ( x , t ) = x 3 = 3m / s
r
v ( x , t ) = 0
3
Note that, the velocities obtained via the Lagrangian or Eulerian description are the same,
since velocity is an intrinsic property of the particle.
We can also provide the velocity of the particle P at time t = 2 s :
( )
( )
( )
r
V1 v1 X , t = 2 X 2 t = 2 2 1 = 4 m / s
r
V 2 v 2 X , t = X 3 = 3m / s
r
V3 v 3 X , t = 0
Draft
136
x2 ( X , t ) = X 3t + X 2 = 7
r
x3 ( X , t ) = X 3 = 3
r r
As we can verify the Lagrangian description of motion x ( X , t ) describes the trajectory of
P.
Trajectory of particle P
r
viP ( x , t = 1s) = [2;3;0]
r
Vi P ( X P , t = 1s) = [2;3;0]
t0
X iP = [2;1;3]
t = 1s
r
Vi ( X P , t = 2s ) = [4;3;0]
xiP = [3;4;3]
P
xiP = [6;7;3]
t = 2s
r
viP ( x , t = 2s ) = [4;3;0]
NOTE: Note that, the Eulerian velocity can not be obtained by means of
r r
DX ( x , t ) r r r
= 0 v ( x , t ) . We can verify this by means of the proposed problem:
Dt
r
r
r
r
r
DX i ( x , t ) X i ( x , t ) X i ( x , t )
X i ( x , t )
X i ( x , t )
r
r
r
v1 ( x , t ) +
v 2 ( x, t ) +
v3 ( x , t )
=
+
Dt
t
x 2
x 3
x1
thus:
r
r
r
r
r
r
r
X 1 ( x , t )
X 1 ( x , t )
r
DX 1 ( x , t ) X 1 ( x , t ) X 1 ( x , t )
=
+
v1 ( x , t ) +
v 2 ( x, t ) +
v3 ( x , t )
t
x 2
x 3
Dt
x1
) [
= 2tx 2 + 3t 2 x3 + 1 2( x 2 tx 3 )t t 2 x3 + t 3 0 = 0
r
r
r
r
r
X 2 ( x, t )
X 2 ( x , t )
r
r
r
DX 2 ( x , t ) X 2 ( x, t ) X 2 ( x , t )
+
=
v 3 ( x, t )
v 2 ( x, t ) +
v1 ( x , t ) +
x3
x 2
t
Dt
x1
= ( x3 ) + [0 2( x 2 tx 3 )t + 1 x3 t 0] = 0
r
r
r
r
r
X 3 ( x , t )
X 3 ( x , t )
DX 3 ( x , t ) X 3 ( x , t ) X 3 ( x, t )
r
r
r
+
=
v3 ( x, t )
v 2 ( x, t ) +
v1 ( x , t ) +
x3
x 2
t
Dt
x1
= (0 ) + [0 2( x 2 tx 3 )t + 0 x3 + 1 0] = 0
r r r
Remind that u = x X , then:
Draft
2 CONTINUUM KINEMATICS
137
r r
r r
r r
r r
Dx ( X , t ) D r r
Du( X , t ) r r
&
=
u( X , t ) X ( x , t ) =
u( X , t )
v ( X , t) =
Dt
Dt
Dt
Problem 2.7
The velocity field of the continuum, in Eulerian description, is given by:
x1
1+ t
v1 =
; v2 =
2 x2
1+ t
; v3 =
3 x3
1+ t
(2.22)
r
dxi
dt
v1 =
1
dx1
x
dx
dt
= 1 1 =
dt 1 + t
x1 1 + t
1 + t dt Lnx
dx1 =
(2.23)
= Ln(1 + t ) + Ln(C1 )
(2.24)
x1 = C1 (1 + t )
dx 2 =
(2.25)
dx 2 2 x 2
dx
2dt
=
2 =
dt 1 + t
x2 1 + t
1 + t dt Lnx
(2.26)
= 2Ln(1 + t ) + LnC 2
x2 = C 2 (1 + t )
(2.27)
for t = 0 x 2 = X 2 C 2 = X 2
x2 = X 2 (1 + t ) 2
v3 =
1
dx3 =
dx3 3 x3
dx
3dt
=
3 =
dt 1 + t
x3 1 + t
1 + t dt Lnx
(2.29)
= 3Ln(1 + t ) + LnC 3
x3 = C3 (1 + t )
(2.28)
Draft
(2.30)
138
and t = 0 x3 = X 3 C 3 = X 3
x3 = X 3 (1 + t ) 3
(2.31)
x1 = X 1 (1 + t )
2
x2 = X 2 (1 + t )
3
x3 = X 3 (1 + t )
(2.32)
r r
(2.33)
vi
+ (v i , k )v k
t
v
a i = i + (vi ,1 v1 + vi , 2 v 2 + vi ,3 v3 )
t
(2.34)
ai =
thus,
1
x
+ 1
+ 0 + 0 = 0
(1 + t )
1 + t 1 + t
2x2
2x 2
2 x2
a2 =
+ 0 + 2
+ 0 =
2
2
1+ t 1+ t
(1 + t )
(1 + t )
a1 =
a3 =
x1
(2.35)
3x 3
6 x3
+ 0 + 0 + 3
=
1 + t 1 + t (1 + t ) 2
(1 + t )
3 x3
V2 = 2 X 2 (1 + t )
2
V3 = 3 X 3 (1 + t )
(2.36)
dV1
=0
dt
dV
a2 = 2 = 2 X 2
dt
dV
a3 = 3 = 6 X 3 (1 + t )
dt
(2.37)
thus,
a1 =
Problem 2.8
Consider the equations of motion:
Draft
2 CONTINUUM KINEMATICS
139
x1 = X 1
x2 = X 2 + AX 3
x = X + AX
3
2
3
(2.38)
where A is constant. Find the displacement vector components in the material and spatial
descriptions.
Solution:
Displacement vector:
r r r
u= xX
(2.39)
u1 = x1 X 1 = 0
u 2 = x 2 X 2 = X 2 + AX 3 X 2 = AX 3
u = x X = X + AX X = AX
3
3
3
2
3
2
3
(2.40)
0 X1
A X 2
A 1 X3
(2.41)
0
A = 1 A 2
A 1
(2.42)
0
1
0
1
the inverse:
1 A 2
1
0
1 A2
0
1 A
A 1
(2.43)
thus,
X1
X = 1
2 1 A2
X3
1 A 2
0
0
0 x1
1 A x 2
A 1 x3
0
(2.44)
X 1 = x1
( x 2 Ax3 )
X 2 =
1 A2
1
( x3 Ax 2 )
X 3 =
1 A2
(2.45)
Draft
140
u1 = x1 X 1 = 0
A( x3 Ax 2 )
1
( x 2 Ax3 ) =
u 2 = x 2 X 2 = x 2
2
1 A
1 A2
A( x 2 Ax3 )
1
( x3 Ax 2 ) =
u1 = x3 X 3 = x3
2
1 A
1 A2
(2.46)
Problem 2.9
Consider the equations of motion:
x1 = X 1
x2 = X 2 + X 3t
x = X + X t
3
3
3
(2.47)
Obtain the velocity of the particles that are passing at point (0,1,2) at time t1 = 0 s and
t2 = 1 s
Solution:
The velocity field is given by:
r r
r r
Dx ( X , t )
V ( X ,t) =
Dt
(2.48)
V1 = 0
V2 = X 3
V = X
3
3
(2.49)
in components:
V2 = 2
V = 2
3
(2.50)
x 2 = 1 = X 2 + X 3 ( X 1 = 0; X 2 = 0; X 3 = 1)
x3 = 2 = X 3 + X 3
(2.51)
V1 = 0
V2 = 1
V = 1
3
(2.52)
thus,
Draft
2 CONTINUUM KINEMATICS
141
Problem 2.10
ct
ct
+ X 2 cos
x1 = X 1 sin 2
2
2
2
X +X
X +X
2
2
1
1
ct
ct
x 2 = X 1 cos 2
X + X 2 + X 2 sin X 2 + X 2
2
2
1
1
x3 = X 3
(2.53)
where c is a constant.
Obtain the velocity components in spatial and material descriptions.
Solution:
The velocity components in the material (Lagrangian) description are:
r
V1 ( X , t ) =
ct
X 1 cos 2
2
2
X + X2
X1 + X 2
2
1
ct
X 2 sin
X2 +X2
2
1
r
V2 ( X , t ) =
ct
X 1 sin 2
2
2
X +X2
X1 + X 2
2
1
ct
+ X 2 cos
X2 +X2
2
1
r
V3 ( X , t ) = 0
(2.54)
Taking into account (2.53), we can note that the following relationship holds:
2
2
x12 + x2 = X 12 + X 2
(2.55)
c x2
x12
2
+ x2
(2.56)
c x1
x12
2
x2
+
r
v3 ( x , t ) = 0
r r r
The inverse equations of motion, X = X ( x , t ) , are:
ct
ct
sin 2
x + x 2 cos x 2 + x 2 0
1
2
2
1
X1
x1
ct
ct
X = cos
2 x 2 + x 2 sin x 2 + x 2 0 x 2
2
2
1
X3 1
x
0
0
1 3
(2.57)
Problem 2.11
The Eulerian velocity field components are:
Draft
142
v1 = x1
x2
v2 =
2t + 3
v3 = 0
(2.58)
Find the parametric equations of the trajectory of the particle which was at ( X 1 , X 2 , X 3 ) in
the reference configuration.
Solution:
To find the path line (trajectory) we must solve the system:
dx1
dt = x1
x
dx 2
= 2
2t + 3
dt
dx3
=0
dt
(2.59)
x1 (t = 0) = X 1
x2 (t = 0) = X 2
x (t = 0) = X
3
3
(2.60)
x1
X1
x2
X2
dx1
= dt
x1 0
x
Ln 1 = t
X
1
dx 2
dt
=
x2
2t + 3
0
x
Ln 2
X
2
x1 = X 1 exp t
( )
= Ln 2t + 3 Ln 3
x2 = X 2
2
t +1
3
(2.61)
x3 = X 3
; x2 = X 2
2
t + 1 ; x3 = X 3
3
(2.62)
Problem 2.12
Consider the following equations of motion:
x1 = X 1
x2 = 2 t X 3 + X 2
x = X
3
3
(2.63)
r
and a physical quantity represented by the scalar field q ( x , t ) in the Eulerian description:
r
q ( x , t ) = 2 x1 + x 2 x3 + 1
(2.64)
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2 CONTINUUM KINEMATICS
143
r r
(2.65)
r r
r r
Dx ( X , t )
V ( X , t) =
Dt
(2.66)
V1 = 0
V2 = 2 X 3
V = 0
3
(2.67)
Lagrangian description
x2 = 2 t X 3 + X 2
x = X
3
3
inverse
X 1 = x1
X 2 = x 2 2 t x3
X = x
3
3
v 2 = 2 x3
v = 0
3
(2.68)
c) The rate of change of the variable is obtain by applying the material time derivative
r
& D Q( X , t ) = 2 X
Q=
3
Dt
(2.69)
or
&
q=
r
r
q ( x , t )
r
+ xq v
123
4t4
(2.70)
= 0 ( steady )
&
q = 0 + q, i v i
q
q
q
=0+
v1 +
v2 +
v3 = [(2)(0) + (1)(2 x 3 ) + ( 1)(0)]
x 2
x 3
x1
= 2 x3
(2.71)
&
We could have obtained the same result by starting from Q = 2X 3 and substituting
X 3 = x3 , thus
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144
r r
r
&
&
q ( x , t ) = Q( X ( x , t ), t )
r
&
q ( x , t ) = 2 x3
(2.72)
r
d) Note that the physical quantity field is stationary, i.e. q = q ( x ) , then the local rate of
r
q ( x )
change is
= 0 at any spatial point.
t
Problem 2.13
Given the Lagrangian displacement field:
u1 = ktX 2
u2 = 0
u3 = 0
a) Find the rate of change of temperature for a particle that at time t = 1s is passing at point
(1,1,1) .
Solution:
r
r
r
r
& ( x , t ) = T + T x or T ( X , t ) = dT ( X , t )
&
We can apply the definition T
r
t
t x t
x1 = X 1 + ktX 2
u 2 = x2 X 2
x2 = X 2
u 3 = x3 X 3
x3 = X 3
r
r r
T ( x ( X , t ), t ) = ( x1 + x 2 ) t = (( X 1 + ktX 2 ) + ( X 2 ) ) t = X 1t + kX 2 t 2 + X 2 t = T ( X , t )
r
&
T ( X , t ) = X 1 + 2kX 2 t + X 2
If we want to find the rate of change of temperature of a particle which is passing through
the point x1 = 1, x 2 = 1, x3 = 1 at t = 1s , we have two possibilities, namely: 1) Finding the
position of said particle in the reference configuration and replacing in the above equation.
2) obtaining the expression of the rate of change of temperature in the spatial (Eulerian)
r r
description. To do this, we need the equations of motion X ( x , t ) :
x1 = X 1 + ktX 2
x2 = X 2
x = X
3
3
X 1 = x1 ktx 2
X 2 = x2
X = x
3
3
r r
&
& r
T ( X ( x , t ), t ) = X 1 + 2kX 2 t + X 2 = ( x1 ktx 2 ) + 2kt ( x 2 ) + ( x 2 ) = T ( x , t )
& r
by simplifying the above we obtain T ( x , t ) = x1 + ktx 2 + x 2 . Then:
&
T ( x1 = 1, x 2 = 1, x3 = 1, t = 1) = (1 k ) + 2k + 1 = k + 2
Alternative solution:
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2 CONTINUUM KINEMATICS
145
r
r
& ( x , t ) = T + T x
T
r
t x t
T x1 T x 2 T x3
= ( x1 + x 2 ) +
x t + x t + x t
2
3
1
Problem 2.14
Let us consider the following equations of motion:
x1 = X 1
x2 = X 2 + X 3
2
x3 = X 3 + 2 X 2
a)
(2.73)
Solution:
a) Obtaining the Jacobian determinant:
1 0 0
xi
t2
t
= 0 1 2 =1
J=F =
4
X j
t
0 2 1
(2.74)
t2
>0t <2 s
4
(2.75)
V = 0
1
D
t
X2 + X3 =
V2 =
2
Dt
D
t
V3 =
X3 + X2 =
2
Dt
X3
2
(2.76)
X2
2
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146
J
x1 1 0 0 X 1
X1
x = 0 1 t X inverse X = 1 0
2
2 2
2
J
t
0
x 3 0 2 1 X 3
X3
0
1
t
2
0 x1
t
2 x2
1 x3
(2.77)
By replacing X i into the Lagrangian velocity expression we obtain the velocity in the
spatial description:
t
x2
2 x tx
2
= 3 22
v1 = 0 ; v 2 =
2
t
4t
2
2
x3
t
x3
2 = 2 x 2 tx 3
; v3 =
t2
4 t2
2
2
x2
(2.78)
( x3 X 3 ) X 3 = ( x 2 X 2 ) X 2
Problem 2.15
x3 =
X2
X2
x2 2 + X 3
X3
X3
(2.79)
v =U
e1 + 2U 2 1 22 2 e 2 + Ve 3
2
( x12 + x 2 ) 2
( x1 + x 2 )
(2.80)
r
Show that x v = 0 and find the Eulerian acceleration field.
Solution:
v
r
v
v
r
x v = v i ,i = 1 + 2 + 3
x1 x 2 x3
= 2Ub 2
2
x1 ( x12 3 x 2 )
2
( x12 + x 2 ) 3
+ 2Ub 2
2
x1 ( x12 3 x 2 )
2
( x12 + x 2 ) 3
=0
The acceleration:
r
r v
r r
r
a=
+ xv v
t
r r
r
= xv v
2Ub
2
2
r
( x v ) ij = 2
x 2 (3 x12 x 2 ) x1 (3 x 2 x12 ) 0
2 3
( x1 + x 2 )
0
0
0
r r
r
The acceleration components are given by a i = ( x v ) ij (v ) j :
2
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2 CONTINUUM KINEMATICS
147
2 x1U 2 b 4
2
2 3
( x1 + x 2 )
a i = 2 x 2U 2 b 4
2
2 3
( x1 + x 2 )
Problem 2.16
r
Solution:
Remember that a Lagrangian variable ( X , t ) can be expressed in the Eulerian
(current) configuration by means of the equations of motion, i.e.:
r
r r
( X , t ) = ( X ( x , t ), t ) = ( x , t ) .
Then, from the scalar gradient definition we obtain:
r
r r
r
r
r
r
( X , t ) ( X ( x , t ), t ) x ( x , t )
r
r
X ( X , t ) =
r
=
r=
r
r F = x ( x, t ) F
x
x
X
X
r
r
r
r r
r
r
( x , t ) ( x ( X , t ), t ) X ( X , t )
r
r
x ( x, t ) =
r
r=
r
F 1 = X ( X , t ) F 1
r =
x
x
X
X
Problem 2.17
Given the following Eulerian velocity field components:
v1 = 0 ;
v2 = 0 ;
v3 = f ( x1 , x 2 ) x3
f (C , C
1
2 ) dt
Ln( x 3 ) = f (C1 , C 2 )t + k
x
= f ( X 1 , X 2 )t 3 = exp f ( X 1 , X 2 )t x3 = C 3 exp f ( X 1 , X 2 )t
C3
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148
at t = 0 x3 = X 3 x3 (t = 0) = C 3 = X 3
Summarizing:
x1 = X 1
x2 = X 2
(2.81)
x3 = X 3 exp
f ( X 1 , X 2 )t
with
1 0
Fij = 0 1
Fij =
0
0
xi
X j
= exp f ( X 1 , X 2 )t
? ? exp f ( X 1 , X 2 )t
The values marked by ( ? ) are not necessary to obtain the determinant, then:
=
0
F
f (X1, X 2 )
exp f ( X 1 , X 2 )t
D
for the property when said property is
Dt
Material description: ( X , t ) = X 1t 2 ;
r
Spatial description: ( x , t ) =
Solution:
x1t 2
.
(1 + t )
x1t 2
:
(1 + t )
r
r
r
r
r ( x , t ) ( x , t )
( x , t )
D
r v =
( x , t ) =
vi
+
+x
Dt
xi
t
t
r
r
r
r
( x , t )
( x , t )
( x , t ) ( x , t )
v3
v2 +
v1 +
+
=
x3
x 2
t
x1
r
2
x t ( x , t )
v1 + 0 + 0
= 1 +
(1 + t )
t
x1
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2 CONTINUUM KINEMATICS
149
We need to know the velocity component v1 . We start from the principle that a property is
intrinsic to the particle, then:
r
( X , t ) = X 1t 2
r r
x1t 2
r
( X ( x, t ), t ) = ( x , t ) =
(1 + t )
X1 =
x1
(1 + t )
r
D
X 1t 2 = 2 X 1t e 1
v( X , t) =
Dt
x
r
v ( x, t ) = 2 1 t e1
(1 + t )
2
2
2 x1t
xt t
X1
=
1 2 +
(1 + t ) (1 + t )
(1 + t )
2 x1t
x t2
=
1 2
(1 + t ) (1 + t )
2 x1t
=
(1 + t )
t2
x
+
2 1 t
(1 + t ) (1 + t )
r
r
D
&
( X , t ) ( X , t ) = 2 X 1t
Dt
x1
, i.e.:
(1 + t )
r
r
D
&
( X , t ) ( X , t ) = 2 X 1t
Dt
r r
r r
x
D
&
& r
( X ( x , t ), t ) ( X ( x , t ), t ) ( x , t ) = 2 1 t
Dt
(1 + t )
Problem 2.19
Consider the following equations of motion in the Lagrangian description:
x1 = X 1t 2 + 2 X 2 t + X 1
x1
Matrix
form
2
x 2 = 2 X 1t + X 2 t + X 2 x 2 =
x
x = 1 X t + X
3
3
3 2 3
t 2 + 1 2t
2
t +1
2t
0
0
0 X 1
0 X 2
1
t + 1 X 3
2
(2.82)
Find the components of the displacement vector in Lagrangian and Eulerian descriptions.
Solution:
r
2
u 2 = x 2 X 2 = 2 X 1t + X 2 t
1
u 3 = x 3 X 3 = 2 X 3 t
Draft
150
X1 = 3
3t 1 t t 2
x
0
1
2 x1t 2 x 2 (1 + t 2 )
0
x2 X 2 =
3t 3 1 t t 2
3t 3 1 t t 2 x 3
2 x3
1
(t + 2)
X 3 =
2
(t + 2)
(1 + t )
2t
X1
1
2
(1 + t 2 )
2t
X 2 = 3
2
X 3t 1 t t
3
0
0
We can also use the definition u = x X , but now we replace the material coordinate to
obtain the displacement vector components in the Eulerian description:
2tx 2 x1 (1 + t )
u1 = x1 X 1 = x1 3
3t 1 t t 2
2 x t 2 x 2 (1 + t 2 )
u 2 = x2 X 2 = x2 1 3
3t 1 t t 2
2 x3
u 3 = x 3 X 3 = x 3
(t + 2)
Problem 2.20
The following equations describe
the motion of a body (continuum
medium):
x1 = X 1 + 0.2 X 2 t
x2 = X 2
x = X
3
3
X 2 , x2
Reference configuration
B
1
O
D
X 1 , x1
X 3 , x3
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2 CONTINUUM KINEMATICS
151
X1 = 0
X 2 = 0
X = 0
3
x i ( X 1 = 0, X 2 = 0, X 3 = 0, t ) x 2 = 0
x = 0
3
Then, we conclude that the particle does not change its position during motion.
The particles occupying the line OA , in the initial configuration, have the reference
coordinate ( X 1 , X 2 = 0, X 3 = 0) . In spatial coordinates:
x1 = X 1 + 0.2 X 2 t = X 1
x2 = X 2 = 0
x = X = 0
3
3
That is, all particles belonging to line OA do not move during motion. Similarly, we can
verify that the line ( X 1 , X 2 = 0, X 3 = 1) in the reference configuration ( X 1 , X 2 = 0, X 3 = 1)
does not move:
x1 = X 1 + 0.2 0 2 = X 1
x2 = X 2 = 0
x = X = 0
3
3
x2 = X 2 = 1
x = X = 0
3
3
Then, all particles belonging to line CB will move 0.4 according to x1 -direction.
The particles belonging to line OC at t = 0 , will move to positions:
x1 = X 1 + 0.2 X 2 t = 0 + 0.2 2 X 2 = 0.4 X 2
x2 = X 2
x = X = 0
3
3
Following the same procedure for the remaining particles, we obtain the final configuration
of the body at time t = 2 s , (see Figure 2.2).
Draft
152
x2
0.4
0.4
C 1
C
E
Current configuration at
t = 2s
E 1
A=A
x1
G=G
x3
form
2
x 2 = t X 1 + X 2 x 2 =
x
x = X
3
3
3
1
2
t
0
0 X 1
0 X 2
1 X 3
t2
1
0
2
x2 = 2 + t
x = 1
3
The above equations represent the motion of the particle. To obtain the trajectory, we
eliminate the time of the equations of motion, i.e.:
x1 2 x 2 = 3
x3 = 1
which indicates that the particle moves in a straight line defined by ( x1 2 x 2 = 3) on the
plane x3 = 1 . The graphical representation follows
Draft
2 CONTINUUM KINEMATICS
153
Particle trajectory
X 3 , x3
( x1 2 x 2 = 3)
x3 = 1
X 2 , x2
X 1 , x1
2) The velocity and acceleration components of the particle P are given by:
V1 = 2tX 2
r
r r
Dx
components
V ( X , t) =
V 2 = 2tX 1
Dt
V = 0
3
A1 = 2 X 2
r
r r
Dv
components
A( X , t ) =
A2 = 2 X 1
Dt
A = 0
3
4
Then, to the particle originally located at the point X i = (16 ; 15 ;1) , at t = 0.5 s , we have:
15
4
4
V1 = 2 0.5 15 = 15 m / s
16
16
V 2 = 2 0.5 (15 ) = 15 m / s
V = 0
3
and
8
4
A1 = 2 15 = 15 m / s 2
2
16
32
A2 = 2 (15 ) = 15 m / s
A = 0
3
2
2
x2 = t X 1 + X 2 X 2 = x2 t X 1
x = X X = x
3
3
3
3
x t 2 x2
X1 = 1
1 t4
x t 2 x1
X 2 = 2
1 t4
X 3 = x3
4) The velocity and acceleration of the particle that at time ( t = 0.5 s ) is passing through the
point xi = (1,0,1) can be obtained by means of velocity and acceleration in Eulerian
description:
Velocity:
Draft
154
x t 2 x1
v1 = 2t 2
1 t4
V1 = 2tX 2
x t 2 x2
substituti ng
t = .5 s
V 2 = 2 X 1t v 2 = 2t 1
0
4
X1 , X 2
x (1, 01)
1 t
V = 0
3
v 3 = 0
v1 = 15 m / s
16
m/s
v 2 =
15
v 3 = 0
Acceleration:
x t 2 x1
a1 = 2 2
1 t4
A1 = 2 X 2
x t 2 x2
substituti ng
t = .5 s
A2 = 2 X 1 a 2 = 2 1
4
X1 , X 2
x (1, 01)
1 t
A = 0
3
a 3 = 0
2
a1 = 15 m / s
32
m / s2
a 2 =
15
a 3 = 0
We can obtain the initial position of the particle by using the inverse equations of motion
which was obtained in paragraph (3), x i (1,0,1) :
x t 2 x 2 1 (0.5 2 )(0) 16
=
=
X1 = 1
15
1 t4
1 ( 0 . 5) 4
x 2 t 2 x1 0 (0.5 2 )(1)
4
=
=
X 2 =
4
4
15
1 t
1 ( 0 . 5)
X = x = 1
3
3
We can verify that it is the same particle P referred to in paragraph 2. It is logical that we
have obtained the same velocity and acceleration using either the material or spatial
description, since the velocity and acceleration are intrinsic of the particle.
Problem 2.22
The acceleration vector field is described by:
r
r
r r
r r
D v v
r
a ( x , t) =
=
+ xv v
Dt t
r
r
r
v2
r v
r
r
v ( x v ) =
+x
2
t
r
r
v2
r v
r
v rot v =
+x
2
t
r r
+ rot v v
Solution:
To prove the above relationship one need only demonstrate that:
v2
r r
r
r
xv v = x
2
r
r
r
r
v ( x v )
Expressing the terms on the right of the equation in symbolic notation we obtain:
Draft
2 CONTINUUM KINEMATICS
v2
r
x
2
155
r
r
r
1
r
v ( x v ) = e i
v j v j (v i e i )
e r (v s e s )
2 x i
x r
Using the definition of the permutation symbol (see Chapter 1) we can express the vector
product as:
v2
r
x
2
r
r
v
r
1
r
v ( x v ) = e i
v j v j (v i e i ) rst s e t
2 x i
x r
v j
v s
1
ek
= e i 2v j
rst itk v i
2
x r
x i
where we have used the equation e i e t = itk e k . In Chapter 1 we also proved that
rst itk = rst kit = rk si ri sk , then:
v2
r
x
2
r
v j
r
r
r
v ( x v ) = v j
x i
v j
=vj
x i
v j
=vj
x i
v2
r
x
2
v s
ek
x r
v
v
e i rk si v i s ri sk v i s
x r
x r
v
v
e i v s s v i k e k
x
x i
k
e i ( rk si ri sk )v i
e k
r
v j
r
v
v
r
r
v ( x v ) = v j
e i v s s e k + vi k e k
x i
x k
x i
v j
v
v
e i v s s ik e i + v i k e k
= sj v s
x i
x k
x i
v
v
v
= v s s e i v s s e i + vi k e k
x i
x i
x i
r
v e
(v )
vi
= k k vi =
x i
x i
r r
r
= xv v
r r
Consider the equations of motion x ( X , t ) and the temperature field T ( x , t ) given by:
x1 = X 1 (1 + t )
x 2 = X 2 (1 + t )
x = X
3
3
r
2
T ( x ) = x12 + x 2
Find the rate of change of temperature for the particle P at time t = 1s given that particle
P was at point ( X 1 = 3, X 2 = 1, X 3 = 0) at time t = 0 .
Solution 1:
In this first solution we first obtain the material time derivative of the Lagrangian
r
temperature, so, we have to obtain the temperature in Lagrangian description T ( X , t )
(Lagrangian temperature):
Draft
156
r
2
T ( x ) = x12 + x 2
By substi tuting
the equations of motion
r
2
T ( X , t ) = X 12 (1 + t ) 2 + X 2 (1 + t ) 2
Solution 2:
In this alternative solution we directly use the definition of material time derivative of the
r
r
r
r
& ( x , t ) = DT = T ( x ) + T ( x ) v ( x , t ) .
Eulerian variable, i.e. T
k
t
Dt
x k
velocity
x 2 = X 2 (1 + t ) v 2 ( X , t ) = X 2
r
x = X
3
3
v 3 ( X , t ) = 0
X 1 = (1 + t )
x1 = X 1 (1 + t )
x2
3
3
X 3 = x3
V1 ( X ( x , t ), t ) = X 1 ( x , t ) = (1 + t ) = v1 ( x , t )
r r
x2
r
r
= v 2 ( x, t )
V 2 = ( X ( x , t ), t ) = X 2 ( x , t ) =
(1 + t )
r
V3 = v 3 ( x , t ) = 0
Afterwards, the material time derivative of the Eulerian temperature, T ( x , t ) , is given by:
r
DT ( x , t ) & r
T ( x, t ) =
Dt
r
T ( x )
t3
12
= 0 (Stationar y field)
x
x
& r
T ( x , t ) = 2 x1 1 + 2 x 2 2 + 0
1+ t
1+ t
T
T
T
+
v1 +
v2 +
v3
x 2
x 3
x1
2x 2 2x 2
2
2
& r
T ( x, t ) = 1 + 2 =
( x12 + x 2 )
1+ t 1+ t 1+ t
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2 CONTINUUM KINEMATICS
157
x1 = X 1 (1 + t ) = 3(1 + 1) = 6
x 2 = X 2 (1 + t ) = 1(1 + 1) = 2
x = X = 0
3
3
Then, by substituting the spatial coordinates in the expression of the material time
derivative of temperature we obtain:
2
2
2
& r
&
T ( x , t ) = T ( x1 = 6, x 2 = 2, x 3 = 0, t = 1) =
( x12 + x 2 ) =
(6 2 + 2 2 ) = 40
1+ t
1+1
& r
Alternatively, the expression T ( x , t ) could also have been obtained as:
r
2
&
T ( X , t ) = 2 X 12 (1 + t ) + 2 X 2 (1 + t )
2
2
r r
x
x
r 2
r 2
&
T ( X ( x , t ), t ) = 2[ X 1 ( x , t )] (1 + t ) + 2[X 2 ( x , t ) ] (1 + t ) = 2 1 (1 + t ) + 2 2 (1 + t )
(1 + t )
(1 + t )
2
2
& r
=
( x12 + x 2 ) = T ( x , t )
(1 + t )
Problem 2.24
Consider the motion:
x i = X i (1 + t )
t > 0
d
[X i (1 + t )] = X i
dt
(2.83)
To find the velocity in the spatial description we need to obtain the inverse equations of
motion and replace it into the equation (2.83):
xi
x i = X i (1 + t ) X i = (1 + t )
r
v = X ( x , t ) = x i
i
i
1+ t
Problem 2.25
Consider the temperature field T ( x ) in the spatial description and the equations of motion:
2
T = 2( x12 + x 2 )
i {1,2}
xi = X i (1 + t )
Find the rate of change of temperature at time t = 1s for one particle that was at position
(1,1) in the reference configuration.
r
NOTE: We can observe that the temperature field is a steady field, i.e. T = T ( x ) .
Draft
158
Solution 1:
In this first solution we obtain the equation for temperature in the material description:
r
2
T ( x ) = 2( x12 + x 2 )
r
T ( X , t ) = 2 X 2 (1 + t ) 2 + X 2 (1 + t ) 2
1
2
r
r
DT dT ( X , t )
2
&
T ( X , t) =
=
= 2 2 X 12 (1 + t ) + 2 X 2 (1 + t )
dt
Dt
Solution 2:
In this alternative solution we use directly the definition of the material time derivative of
Eulerian property:
r
T ( x ) = 2( x12 + x12 )
x i = (1 + t ) X i
r
r
r
& ( x , t ) = DT = T ( x ) + T ( x ) x k
T
Dt
t
x k t
r
r
T ( x )
Note that T ( x ) is not a function of time, so
=0:
t
i {1,2}
i {1,2}
T x1
T x 2
& r
T ( x, t ) = 0 +
+
x1 { x 2 {
t
t
V1 = X 1
V2 = X 2
x
x
& r
T ( x , t ) = 0 + 4 x1 1 + 4 x 2 2
1+ t
1+ t
2
2
4x
4x
& r
T ( x, t ) = 1 + 2
1+ t 1+ t
The particle that at reference configuration was at position (1,1) , at time t = 1s will be at
position xi = (1 + t ) X i = 2 X i , i.e. ( x1 = 2; x 2 = 2 ):
&
T ( x1 = 2; x 2 = 2; t = 1) =
4( 2) 2
1+1
4( 2) 2
1+1
= 16
Problem 2.26
Consider the equations of motion:
x1 = X 1 exp t + X 3 (exp t 1)
t
t
x 2 = X 2 + X 3 (exp exp )
x = X
3
3
Obtain the velocity and acceleration components in Lagrangian and Eulerian descriptions.
Solution:
Draft
2 CONTINUUM KINEMATICS
159
t
t
x 2 = X 2 + X 3 (exp exp )
x = X X = x
3
3
3
3
x1 X 1 exp t = x 3 (exp t 1)
x 2 X 2 = x 3 (exp t exp t )
x = X X = x
3
3
3
3
thus:
X 1 = x1 exp t exp t (exp t 1)
2t
t
X 2 = x 2 x 3 (exp 1)exp
X = x
3
3
(2.84)
or
x1
x2 =
x
3
exp t
0
0
X 1
X1
inverse
t
t
1 (exp exp ) X 2 X 2 =
X
X
0
1
3
3
0
(exp t 1)
exp t
0
0
exp t (exp t 1) x1
1 (exp 2t 1)exp t x 2
x
0
1
3
0
Dt
V = 0
3
(2.85)
DV i ( X , t )
Ai ( X , t ) =
A2 = X 3 (exp t exp t )
Dt
A = 0
3
(2.86)
To obtain the velocity and acceleration in the spatial description it is sufficient to replace
the values of X 1 , X 2 , X 3 , given by the equation (2.84), into the equations (2.85) and (2.86),
i.e.:
v1 = x1 + x 3
t
t
v 2 = x 3 (exp + exp )
v = 0
3
Velocity in the
spatial descriptio n
Problem 2.27
r
a1 = x1 + x 3
t
t
a 2 = x 3 (exp exp )
a = 0
3
Accelerati on in the
spatial descriptio n
r r
t
t
1
1
x 2 = 2 ( X 1 + X 2 )exp 2 ( X 1 X 2 )exp
x = X
3
3
0 t constant
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160
Dx1 ( X , t ) 1
1
= ( X 1 + X 2 )exp t ( X 1 X 2 )exp t
V1 =
Dt
2
2
Dx 2 ( X , t ) 1
1
= ( X 1 + X 2 )exp t + ( X 1 X 2 )exp t
V 2 =
Dt
2
2
V3 = 0
(2.87)
To express the velocity components in the spatial description we need the inverse
r r r
equations of motion, i.e. we need to find X = X ( x , t ) :
(exp t
x1
t
(exp
x2 =
x
3
+ exp t )
2
exp t )
2
0
0
X 1
0 X 2
1 X 3
(exp t exp t )
2
(exp t + exp t )
2
0
(exp 2t + 1)exp t
X1
1
inverse
X 2 = (exp 2t 1)exp t
X 2
0
3
(exp 2t 1)exp t
(exp 2t + 1)exp t
0
0 x1
0 x 2
2 x 3
Then, to obtain the Eulerian velocity we replace the above equations into (2.87), which the
result is:
v1 = x 2
v 2 = x1
v = 0
3
Problem 2.28
Given the motion:
x i = ( X 1 + ktX 2 ) i1 + X 2 i 2 + X 3 i 3
i {1,2,3}
Obtain the rate of change of T of a particle that in the current configuration is located at
point (1,1,1) .
Solution:
Considering the equations of motion:
x1 = X 1 + ktX 2
x2 = X 2
x = X
3
3
Draft
2 CONTINUUM KINEMATICS
161
we replace x i into the temperature field, with that we obtain the temperature field in the
material description:
r
r
T ( x ) = x1 + x 2 T ( X , t ) = X 1 + ktX 2 + X 2
Alternative solution:
The material time derivative for a property expressed in the spatial description is given by:
DT T T x k
&
T ( x1 , x 2 , x 3 , t ) =
=
+
Dt
t x k t
Considering T = x1 + x 2 , we obtain:
T T x1 T x 2 T x 3
&
+
+
+
T ( x1 , x 2 , x 3 , t ) =
t
x 2 { x 3 {
t
t
{ x1 t
{
=0
=0
=0
=0
&
T ( x1 , x 2 , x 3 , t ) = kX 2
inverse
X 2 = x 2
x2 = X 2
x = X
X = x
3
3
3
3
&
T ( x1 , x 2 , x 3 , t ) = kX 2 = kx 2
For one particle in the current configuration at the position (1,1,1) we have:
&
T ( x1 = 1, x 2 = 1, x 3 = 1, t ) = k
Problem 2.29
Given a steady velocity field: it asks readers to give their opinion on whether particle
velocities are constant or not. If not, in which situation is met. Justify the answer.
Solution:
A field ( x , t ) is said to be steady if the local rate of change does not vary over time, so:
r
( x , t )
=0
t
(2.88)
For example, let us consider a stationary (steady state) velocity field as shown in Figure 2.3.
Then, as we can verify, the field representation for any time, e.g. t1 and t 2 , does not
change. However, that does not mean that the velocities of the particles do not change
over time. In light of Figure 2.3, we can now focus our attention on the fixed spatial point
r
r
r
x * . At time t1 the particle Q is passing through point x * with velocity v * . Let us also
consider another particle P , which is passing through another point with velocity
r
r
r
v P (t1 ) v * . At time t 2 the particle P is now passing through the point x * . It follows that
r
if we are dealing with a steady state velocity field, then the velocity of particle P at x *
Draft
162
must be v * , i.e. v P (t 2 ) = v * . We can easily contrast this with the material time derivative of
velocity, which is always associated with the same particle, i.e.:
r r
r r
r r r
r r r
r r
Dv ( x , t ) r r
v ( x , t )
r
r
a ( x, t ) =
+ x v v ( x) = x v v ( x) = a ( x)
Dt
123
4t4
r
(2.89)
= 0 (Stationay )
The rate of change of velocity (acceleration) will be zero if the velocity field is stationary
r r
r
v ( x , t) r
r
= 0 and homogeneous ( x v = 0 ).
We can also verify that, although spatial velocity is independent of time, that does not
mean material velocity is also, since:
r r r r r
r r
v ( x ) = v ( x ( X , t )) = v ( X , t )
t1
(2.90)
r r
v ( x)
r r
r
r
v ( x * , t1 ) = v * = v Q
Particle - Q
Particle- P
r
r
v P v*
r
x*
t2
r r
v ( x)
r r
r
r
v ( x * , t2 ) = v * = v P
Particle - P
r
x*
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2 CONTINUUM KINEMATICS
2.1.2
Deformation/strain
Deformation
163
Tensors,
Homogeneous
Problem 2.30
A rod, which is considered as a one-dimensional solid, undergoes a uniform stretching and
is given by:
= exp at
where a = constant .
(2.91)
r r
= exp at
Figure 2.4.
Solution:
Using the approach in 1D we have:
=
ds dx
=
= exp at dx = exp at dX
dS dX
dx = exp
at
(2.92)
dX
(2.93)
x1 = exp at X 1 + C
(2.94)
x = exp 0 X 1 + C X = X + C C = 0
(2.95)
at t = 0 x = X , thus
x2 = X 2
x = X
3
3
(2.96)
at
v1 = dt = a X 1 exp = a x1
v 2 = 0
v = 0
3
Draft
(2.97)
164
a 0 0
D ij = 0 0 0
0 0 0
(2.98)
Problem 2.31
Consider the equations of motion:
x1 = X 1 + 2 X 3
x2 = X 2 2 X 3
x = X 2 X + 2 X
3
1
2
3
u 2 = x 2 X 2 = 2 X 3
u = x X = 2 X + 2 X
3
3
1
2
3
1 u i u j u k u k
+
+
2 X j X i X i X j
1 u i u j
+
2 X j X i
u
= i
X j
sym
1 u k u k
+
2 X i X j
1 u k u k
2 X i X j
X 1
u i u 2
=
X j X 1
u 3
X 1
u1
X 2
u 2
X 2
u 3
X 2
u1
X 3 0 0 2
u 2
= 0 0 2
X 3
u 3 2 2 0
X 3
Note that, in this case, the displacement gradient is an antisymmetric tensor. That is, the
symmetric part is the null tensor, and the remaining term is:
1 u u k
E ij = k
2 X i X j
0 0 2 T 0 0 2 2 2 0
1
= 0 0 2 0 0 2 = 2 2 0
2 2 0 2 2 0 0
0 4
Solution 2:
Draft
2 CONTINUUM KINEMATICS
165
1
1
C ij ij = Fki Fkj ij
2
2
where:
x1
X 1
x
x
Fij = i = 2
X j
X
1
x3
X 1
x1
X 2
x 2
X 2
x3
X 2
x1
X 3 1 0 2
x 2
= 0 1 2
X 3
x3 2 2 1
X 3
Thus
1 0 2 T 1 0 2 1 0 0 2 2 0
1
E ij = 0 1 2 0 1 2 0 1 0 = 2 2 0
2
2 2 1 2 2 1 0 0 1 0
0 4
Problem 2.32
Consider a homogeneous transformation defined by the following equations:
x1 = X 1 + 2 X 2 + X 3
x2 = 2 X 2
x = X + 2 X
1
3
3
(2.99)
Show that, for a homogeneous transformation, vectors that are parallel in the reference
configuration remain parallel after deformation.
For the demonstration consider two vectors defined by the vector position of two particles
A and B in the reference configuration:
r
X A = e1 + e 2
rB
X = 2e1 + 2e 2 + e 3
(2.100)
Solution:
The vector connecting the two particles in the reference configuration is given by:
r r r
V = B A = e1 + e 2 + e 3
(2.101)
X j
1 0 2
(2.102)
We can obtain the vector position of the particle in the current configuration by means of:
r
r
dx = F dX
Homogeneous transformation
r
r
x=FX
(2.103)
thus,
Draft
166
xiA
1 2 1 1 3
= 0 2 0 1 = 2
1 0 2 0 1
xiB
1 2 1 2 7
= 0 2 0 2 = 4
1 0 2 1 4
(2.104)
v = x B x A = 4e1 + 2e 2 + 3e 3
(2.105)
then any vector parallel to V , for example the vector 2e1 + 2e 2 + 2e 3 , after transformation
r
Problem 2.33
Consider a pure shear deformation represented by homogenous deformation:
r r
x = X + k t X 2e1
(2.106)
where e i is the Cartesian basis, and the components of the above equation are:
x1 = X 1 + k t X 2
x2 = X 2
x = X
3
3
(2.107)
Obtain the geometry in the current configuration of Figure 2.5 which is represented by a
rectangle in the reference configuration.
X2
B
X1
Figure 2.5
Solution:
The deformation gradient:
1 k t 0
xi
Fij =
= 0 1 0
X j
0 0 1
(2.108)
r
Draft
(2.109)
2 CONTINUUM KINEMATICS
167
x2 = X 2
x = 0
3
(2.110)
The particles which are on the line OA , coordinates ( X 1 ,0,0) , in the current configuration
assume the position:
x1 = X 1
x2 = 0
x = 0
3
(2.111)
then, the line OA does not change its position during motion, (see Figure 2.6).
x2
x1
Figure 2.6
Problem 2.34
Consider the equations of motion:
x1 = X 1 +
2
X2
2
x2 =
2
X1 + X 2
2
x3 = X 3
(2.112)
X3 = 0
Draft
168
xi = Fij X j
(2.113)
where
xi
Fij =
=
X j
2
2
1
2
2
0
1
0
0
1
(2.114)
x1
x =
2
x3
2
2
1
2
2
0
1
0
0
X1
0 X 2
X3
1
(2.115)
Hence, we are dealing with homogeneous deformation. The inverse of (2.115) is obtained
as follows:
X1 2
X = 2
2
X3 0
2
2
0
0 x1
0 x 2
1 x3
X 1 = 2 x1 2 x 2
X 2 = 2 x1 + 2 x 2
X = x
3
3
(2.116)
2
2
X 2 X1 =
X2
u1 = x1 X 1 = X 1 +
2
2
r r r
2
2
X1 + X 2 X 2 =
X1
u = x X u 2 = x 2 X 2 =
2
2
u 3 = x3 X 3 = 0
(2.117)
u1 = x1 X 1 = x1 2 x1 2 x 2 = x1 + 2 x 2
u 2 = x 2 X 2 = x 2 2 x1 + 2 x 2 = 2 x1 x 2
u 3 = x 3 X 3 = x3 x3 = 0
(2.118)
X3 = 0
(2.119)
(2 x
2 x2
) + (
2
2 x1 + 2 x 2
=2
(2.120)
Draft
2 CONTINUUM KINEMATICS
169
2
3x12 + 3 x 2 4 2 x1 x 2 = 1 (an ellipse equation)
(2.121)
Current configuration
1,5
1
0,5
Reference configuration
x2
0
-2
-1
-0,5
-1
-1,5
-2
x1
Figure 2.7
d) The right Cauchy-Green deformation tensor and the Green-Lagrange strain tensor are
given, respectively, by:
C = FT F
E=
1
(C 1)
2
(2.122)
C ij =
1
2
2
0
2
2
1
0
0
1
2
2
1
2
2
0
1
0
0 =
3
2
2
0
2
3
2
0
(2.123)
3
3
+ 2 ; C 2 = 2 ; C3 = 1
2
2
(2.124)
Draft
170
1
C ij ij
2
3
2
2
1
3
= 2
2
2
0
0
E ij =
0
1
1 0 0
1
0 0 1 0 = 2 2
4
0
0 0 1
1
2 2
1
0
0
0
(2.125)
4
2
2
2
2 =0
1
1+ 2 2
1 =
7
4
2
=0
2 16
1 2 2
2 =
4
(2.126)
1+ 2 2
4
; E2 =
1 2 2
4
(2.127)
; E3 = 0
Problem 2.35
Let us consider the following equations of motion:
x1 = X 1 +
1
X2
2
x2 =
;
r
1
X1 + X 2
2
x3 = X 3
(2.128)
X3 = 0
c) Obtain the components of the right Cauchy-Green deformation tensor and the GreenLagrange strain tensor;
d) Obtain the principal stretches.
Solution:
The deformation gradient is given by:
2 1 0
xi
1
Fij =
= 1 2 0
X j 2
0 0 2
J = F = 0.75
x i = Fij X j
So, we can verify that the proposed example is a case of homogeneous deformation in
r r
which c = 0 . The inverse form of the above equation is given by:
Draft
2 CONTINUUM KINEMATICS
X1
4 2 0 x1
X = 1 2 4 0 x
2 3
2
X3
0
0 3 x 3
171
4
2
X 1 = 3 x1 3 x 2
2
4
(2.129)
X 2 = x1 + x 2
3
3
X 3 = x3
r
r r
u = x X , after which the components of the
r
1
1
u1 ( X , t ) = x1 X 1 = X 1 + X 2 X 1 = X 2
2
2
r
1
1
u i = xi X i u 2 ( X , t ) = x 2 X 2 = X 1 + X 2 X 2 = X 1
2
2
r
u 3 ( X , t ) = x3 X 3 = 0
(2.130)
The components of the Eulerian displacement can be obtained by substituting the Eulerian
description of motion (2.129) into (2.130), the result of which is:
r r
r
1
u1 ( X ( x, t ), t ) = 2 X 2 ( x , t ) =
r r
r
1
u 2 ( X ( x , t ), t ) = X 1 ( x , t ) =
2
r r
r
u ( X ( x , t ), t ) = u ( x , t ) = 0
3
3
r
1 2
4
3 x1 + 3 x 2 = u1 ( x , t )
2
r
1 2
4
3 x1 + 3 x 2 = u 2 ( x , t )
2
(2.131)
2
The particles belonging to the circle X 12 + X 2 = 2 in the reference configuration will form
a new curve in the current configuration which is defined by:
2
X 12
2
X2
2
4
4
2
2
= 2 x1 x 2 + x1 + x 2 = 2 20 x12 32 x1 x 2 + 20 x 2 = 18
3
3
3
3
which is an ellipse equation (Figure 2.7 shows the material curve in different
configurations).
The components of C and E can be obtained by using the definitions C = F T F and
E=
1
(C 1) :
2
C ij = Fki Fkj
1
E ij = C ij ij
2
2 1 0 2 1 0 1.25 1 0
1
C ij = 1 2 0 1 2 0 = 1 1.25 0
4
0 0 2 0 0 2 0
0 1
1
E ij = 1 1.25 0 0 1 0 = 0.5 0.125 0
2
0
0
0
0 1 0 0 1 0
Draft
172
2
1
C ij = 0
0
0
2
3
0
22
0
C ij = 0
0
0
3
0
2
0
where i show the principal stretches. Therefore, to calculate these we need to obtain the
C eigenvalues:
1.25 C
1
C1 = 2.25
= 0 C 2 2.5C + 0.5625 = 0
1
1.25 C
C 2 = 0.25
2
1
C ij = 0
0
0
22
0
2.25
0
0
0.25 0
= 0
2 0
0
1
3
0
0
0
0
0
2
0
1.5 0 0
= 0 0.5 0
0 1
3 0
0
0
2.0
material curve
1.5
Reference Conf.
Current Conf.
1.0
0.5
x2
0.0
-2
-1
-0.5
-1.0
-1.5
-2.0
x1
[(detF ) F T ] = 0
r
(2.132)
r
r
Solution:
Draft
2 CONTINUUM KINEMATICS
173
1
ki N k dA
n da = J F
i
(2.133)
S0
f da =
f ,i dV =
f
dV
xi
Denoting by f = 1 , we obtain:
da = 0 i
Returning to equation (2.133), and applying the divergence theorem to the integral on the
right of the equation we obtain:
n da = 0 = J F
i
1
ki N k dA =
1
ki
k
dV0 =
V0
S0
(J F ),
r
X
V0
J Fki 1 dV0 = 0 i
X k
(2.134)
[(detF ) F T ] dV0 = 0
r
V0
Then, if the above volume integral is valid for the entire volume we can guarantee that is
also valid locally, i.e.:
[(detF ) F T ] = 0
r
r
X
Problem 2.37
r r
sym
(2.135)
r r
sym
&
r &
r&
Show that E = F T X u( X , t)
and b) D = x u( x , t) , where E is the GreenLagrange strain tensor and D is the rate-of-deformation tensor.
Solution:
) [
] [
& D E = D 1 F T F 1 = 1 F T F + F T F = 1 (F T F )T + (F T F ) = F T F
&
&
&
&
&
E
2
2
Dt
Dt 2
sym
Note that:
&
r r
D xi ( X , t )
&
&
= Dxi ( X , t ) = [u i ( X , t )] = u i ( X , t ) = r u( X , t )
&
Fij =
X
ij
Dt X j X j
Dt
X j
X j
& D E = FT F
&
E
Dt
sym
r r sym
r &
= F T X u( X , t )
b)
] [
r r sym
r T
r r
1 rr
1
T
sym
r
r
r&
l + ( l ) = x v + ( x v ) = ( x v ( x , t ))
= x u( x , t )
2
2
r r
r r
&
where we have considered v ( x , t ) = u( x , t ) .
D=l
sym
Draft
174
Problem 2.38
Consider the velocity field:
v1 = 5 x 2 + 2 x3
v 2 = 5 x1 3 x3
v = 2 x + 3 x
1
2
3
x1
r
vi ( x, t ) v 2
l ij =
=
x j
x
1
v3
x1
v1
x 2
v 2
x 2
v3
x 2
v1
x3 0 5 2
v 2
= 5
0 3
x3
2 3
0
v3
x3
(2.136)
v 2 = 3 x1 5 x3
v = 1x + 5 x
1
2
3
x1
r
vi ( x , t ) v 2
l ij =
=
x j
x
1
v3
x1
v1
x 2
v 2
x 2
v 3
x 2
(l ):
v1
x3 0 3 1
v 2
0 5 = l ijskew
= 3
x3
1 5
0
v3
x3
Taking into account that l can be decomposed into a symmetric ( l sym D ) and an
antisymmetric ( l skew W ) part, i.e. l = D + W , we can thus conclude that D = 0 , which is
a characteristic of rigid body motion.
Problem 2.40
The displacement field components are given by:
Draft
2 CONTINUUM KINEMATICS
175
u1 = 3 X 12 + X 2
2
u 2 = 2 X 2 + X 3
2
u 3 = 4 X 3 + X 1
Obtain the vector dx (current configuration) correspondent to the vector in the reference
r
configuration represented by dX at the point P(1,1,1) .
X 3 , x3
dX 1
dX k = dX 2
dX 3
r
dX
X 2 , x2
X 1 , x1
Solution:
u i
X j
1
1 + 6 X 1
0
Fij =
1 + 4X 2
1
0
1 + 8X 3
0
1
7 1 0
= 0 5 1
1 0 9
Problem 2.41
Consider a continuum in which the displacement field is described by the following
equations:
u1 = 2 X 12 + X 1 X 2
2
u 2 = X 2
u = 0
3
Draft
176
By definition, a material curve is always formed by the same particles. Let OP and OT be
material lines in the reference configuration, where O( X 1 = 0, X 2 = 0, X 3 = 0) ,
P ( X 1 = 1, X 2 = 1, X 3 = 0) and T ( X 1 = 1, X 2 = 0, X 3 = 0) . Find the material curves in the
current configuration. Also find the deformation gradient.
Solution:
a) The equations of motion can be obtained by means of the displacement field, i.e.:
u i = xi X i
x1 = X 1 + 2 X 12 + X 1 X 2
2
substituti x 2 = X 2 + X 2
ng
the values of u1 ,u 2 ,u 3
x = X
3
3
x1 = u1 + X 1
x2 = u 2 + X 2
x = u + X
3
3
3
Then, to obtain the material curve, one need only substitute the material coordinates with
the particles belonging to the line OP in the equations of motion, (see Figure 2.9). Notice
that the material curve OP in the current configuration is no longer a straight line, but the
line OT is still a straight line in the current configuration (see Figure 2.10).
The components of the deformation gradient can be obtained as follows:
F jk
x1
X 1
x
= 2
X
1
x 3
X 1
x1
X 2
x 2
X 2
x 3
X 2
x1
X 3 (1 + 4 X + X )
X1
1
2
x 2
=
0
1 + 2X 2
X 3
0
0
x 3
X 3
0
0
2.5
material curve
x2
1.5
1
0.5
Current Conf.
Reference Conf.
O0
0.5
1.5
2.5
3.5
4.5
x1
Draft
2 CONTINUUM KINEMATICS
177
Reference Conf.
x2
0.1
0.08
Reference Conf.
0.06
0.04
0.02
0
O0
0.5
1.5
2.5
3.5
x2
Current Conf.
0.1
0.08
0.06
0.04
0.02
0
Current Conf.
O0
0.5
1.5
2.5
3.5
x1
( )
x i
, the material time derivative of F det (F ) is given
X j
by:
D
[det ( F )] = D x i ( X , t ) cof Fij = D x i ( X , t ) cof Fij = D (v i )cof Fij
X j
X j
Dt
Dt
Dt
X j
r
and considering that v i ( x ( X , t ), t ) , we can state that:
( )
( )
( )
D
[det (F )] = vi x k cof Fij
Dt
x k X j
( )
By referring to the definition of the cofactor: [cof (Fij )]T = (Fij )1 det (Fij ) , we can also state
the following is valid:
D
[det (F )] = v i x k Fij
Dt
x k X j
( )
( )
det Fij =
v i
Fkj F ji
x k
( )
( )
det Fij =
v i
ki det Fij
x k
( )
v i
det Fij = Jv i ,i
x i
( )
Draft
178
Problem 2.43
r
Let dx be a differential line element in the current configuration. Find the material time
r
derivative of dx .
Solution:
r
r
r
r
D
D
D r D
( F dX ) =
( F ) dX + F
( dX ) = l 123
F dX
dx =
r
Dt 3
Dt
Dt
Dt
1 24
4
dx
r
0
r
r r
r
= l dx x v dx
x k
Dt i
Problem 2.44
Let us consider the equations of motion:
x1 = X 1 + 4 X 1 X 2
2
x2 = X 2 + X 2
2
x3 = X 3 + X 3
1
( F T F 1)
2
E ij =
1
( Fki Fkj ij )
2
(2.137)
X 1
x k x 2
Fkj =
=
X j X 1
x 3
X 1
x1
X 2
x 2
X 2
x 3
X 2
x1
X 3 (1 + 4 X )
4X1
2
x 2
0
1 + 2X 2
=
X 3
0
0
x 3
X 3
1+ 2X 3
And,
Fki Fkj
0
0 (1 + 4 X 2 )
4X1
(1 + 4 X 2 )
4X
=
1 + 2X 2
0
0
1+ 2X 2
1
0
0
1 + 2X 3
0
0
2
(1 + 4 X 2 )
(1 + 4 X 2 ) 4 X 1
0
2
2
0
= (1 + 4 X 2 ) 4 X 1 ( 4 X 1 ) + (1 + 2 X 2 )
0
0
(1 + 2 X 3 ) 2
0
0
1+ 2X 3
Draft
2 CONTINUUM KINEMATICS
179
(1 + 4 X 2 ) 2 1
(1 + 4 X 2 ) 4 X 1
0
1
2
2
0
E ij = (1 + 4 X 2 ) 4 X 1 ( 4 X 1 ) + (1 + 2 X 2 ) 1
2
2
0
0
(1 + 2 X 3 ) 1
Problem 2.45
Obtain the principal invariants of E in terms of the principal invariants of C and b .
Solution:
The principal invariants of E are given by:
I E = Tr ( E )
II E =
1 2
I E Tr ( E 2 )
2
III E = det ( E )
1
2
1 2
I E Tr ( E 2 )
2
where
2
2
IE
1 2
1
= (I C 3) = I C 6 I C + 9
4
2
) [ ( )
1
1
1
1
Tr ( E ) = Tr (C 1) = Tr (C 1) 2 = Tr C 2 2C + 1 = Tr C 2 2 Tr (C ) + Tr (1 )
4
4
4
2
1
= Tr C 2 2 I C + 3
4
2
[ ( )
]
The term Tr (C ) can be obtained as follows:
2
C C = C
C12
C ij2 = 0
0
0
2
C2
0
2
2
0 Tr C 2 = C12 + C 2 + C 3
2
C3
( )
2
2
2
I C = (C1 + C 2 + C 3 ) = C12 + C 2 + C 3 + 2 C1 C 2 + C1 C 3 + C 2 C 3
1444 24444
4
3
2
II C
2
2
2
C12 + C 2 + C 3 = I C 2 II C
Therefore we have:
Tr ( E 2 ) =
1 2
I C 2 II C 2 I C + 3
4
Draft
180
II E =
1 1 2
1 2
1
4 I C 6 I C + 9 4 I C 2 II C 2 I C + 3 = 4 ( 2 I C + II C + 3)
2
1
1
III E = det ( E ) = det (C 1) = det [(C 1)]
2
2
0
0
C3 1
Then:
III E =
1
( III C II C + I C 1)
8
In short we have:
1
(I C 3 )
2
1
II E = ( 2 I C + II C + 3)
4
1
III E = ( III C II C + I C 1)
8
I C = 2I E + 3
IE =
II C = 4 II E + 4 I E + 3
III C = 8 III E + 4 II E + 2 I E + 1
Problem 2.46
Let = (I C , II C , III C ) be a scalar-valued tensor function, where I C , II C , III C are the
principal invariants of the right Cauchy-Green deformation tensor C . Obtain the
derivative of with respect to C and with respect to b . Check whether the following
equation is valid F ,C F T = ,b b or not.
Solution:
Using the chain rule of derivative we obtain:
,C =
(I C , II C , III C ) I C
II C
III C
=
+
+
C
I C C II C C
III C C
(2.138)
,C =
,C
(I C 1 C ) + III C C 1
1+
I C
II C
III C
1
=
I + II I C 1 II C + III III C C
C
C
C
C
(2.139)
Draft
2 CONTINUUM KINEMATICS
181
1
,b =
I + II I b 1 II b + III III b b
b
b
b
b
(2.140)
We apply the dot product of the above equation with F on the left and with F T on the
right, i.e.:
T
T
1
T
F ,C F T =
I + II I C F 1 F II F C F + III III C F C F
C
C
C
C
(2.141)
And considering the following relationships:
F 1 F T = F F T = b
C = F T F F C F T = F F T F F T = b b = b2
1
F ,C F T =
I + II I C b II b + III III C b b
C
C
C
C
F , C F T =
I C 1
b+
III C b 1 b
+
III C
II C
I C II C
F , C F T =
I b 1
B+
III b b 1 b
+
III b
II b
I b II b
F ,C F T = , b b
Taking into account the equation (2.140) we can conclude that the equation ,b b = b ,b
is valid, indicating that the tensors ,b and b are coaxial.
Problem 2.47
Show that the Green-Lagrange strain tensor ( E ) and the right Cauchy-Green deformation
tensor ( C ) are coaxial tensors.
Solution:
Two tensors are coaxial if they have the same principal directions. Coaxiality can also be
demonstrated if the relation C E = E C holds.
Starting with the definition C = 1 + 2 E , we can conclude that:
C E = (1 + 2 E ) E = 1 E + 2 E E = E (1 + 2 E ) = E C
Draft
182
Problem 2.48
Obtain
the
&
E = F T D F
relationship
starting
from
the
definition
r
r
D
(ds ) 2 (dS ) 2 = dX 2 E dX . Get also the relationship between
(ds ) 2 and D .
Dt
Solution:
D
(ds ) 2 (dS ) 2
Dt
The term
r
D
D r
dX 2 E dX
(ds ) 2
=
Dt
Dt
r
r
r
r
r
r
D r r
&
&
&
[dx dx ] = 2dX E dX + 2dX E dX + 2dX E dX
=
{
{
Dt
=0
=0
r
r
r D r
&
= 2 dx
[dx ] = 2dX E dX
Dt
=
D r
[dx ] can be expressed as follows:
Dt
D r
Dt [dx ]
r
D
F dX
=
Dt r
&
= F dX
r
= l F dX
D
D x k
[dx k ] =
Dt X i
Dt
D x k
Indicial
=
Dt X i
v k
dX i
=
X i
dX i
D x k
dX i =
dX i
DX i t
r D r
[dx ]
= 2dx
r
r Dt
= 2dx l F dX
r
r
= 2 F dX l F dX
r
r
= 2dX F T l F dX
We can apply the additive decomposition of the spatial velocity gradient ( l ) into a
symmetric ( D ) and an antisymmetric ( W ) part:
r
r
&
2 dX E dX
r
r
= 2 dX F T l F dX
r
r
= 2dX F T (D + W ) F dX
r
r
r
r
= 2 dX F T D F dX + 2 dX F T W F dX
r
r
= 2 dX F T D F dX
r
r
r
r
r
r
Note that dX F T W F dX = dx W dx = W : (dx dx ) = 0 , since W is
r
r
antisymmetric tensor and (dx dx ) is a symmetric tensor. Then, we conclude that:
an
&
E = F T D F
D
(ds ) 2 and D as follows:
Dt
r
r
r
r
D
(ds ) 2 = 2dX F T D F dX = 2dx D dx
Dt
Draft
2 CONTINUUM KINEMATICS
183
Problem 2.49
&
&
&
Obtain the material time derivative of the Jacobian determinant ( J ) in terms of ( E ), ( C ),
&
( F ).
Solution:
&
We starting from the relationship J = J Tr (D ) , where D is the rate-of-deformation tensor
&
&
which is related to E by means of the relationship D = F T E F 1 , then:
) (
&
&
&
J = J Tr (D) = J Tr F T E F 1 = J F T E F 1 : 1
&
&
&
&
& J
J = J Fki 1 E kp F pj1 ij = J Fki 1 F pi1 E kp = J ( F 1 F T ) : E = J C 1 : E = C 1 : C
2
&
&
The J can still be expressed in terms of F . To this end let us consider the following
1 &
&
&
&
equation E kp = (Fsk Fsp + Fsk Fsp ) . Then, J can also be expressed by:
2
J &
&
1 &
&
&
&
J = J Fki 1 F pi1 E kp = J Fki 1 F pi1 Fsk Fsp + Fsk Fsp = Fki 1 F pi1 Fsk Fsp + Fki 1 F pi1 Fsk Fsp
2
2
J
J &
&
&
&
&
&
= si Fki 1 Fsk + si F pi1 Fsp = Fks1 Fsk + F ps1 Fsp = JFts1 Fst = JFst Fts1
2
2
&
&
= JF T : F = JF : F T
In short, there are various different ways to express the material time derivative of the
Jacobian determinant:
J 1 &
&
C :C
= J F : F T
2
J
&
&
&
= J Tr (C 1 E ) = Tr (C 1 C ) = J Tr ( F F 1 )
2
&
&
J = J Tr (D ) = J C 1 : E
u 2 = 0
u = 0
3
c) Find the current vectors related to the material vectors b = 0.01e 1 and c = 0.015 e 2 , said
vectors are at the point P (1,1,0) in the reference configuration;
r
Draft
184
Solution:
a) A motion is possible if the Jacobian determinant is positive. The deformation gradient is
given by:
1 0 0 0 0 .2 X 2
u i
= 0 1 0 + 0
0
Fij = ij +
X j
0 0 1 0
0
0 1 0 .2 X 2
0 = 0
1
0 0
0
0
0
0
0 1 0
0
1 0
0
1
b 0
0
1 0 0
3
c 1 1 0.2 1 0 0 0.003
c = 0
1
0 0.015 = 0.015
2
c 0
0
1 0 0
3
r
b
r
b
0.012
=1
0.01
r
c
r
c
0.003 2 + 0.015 2
= 1.0198 1.02
0.015
point P we obtain:
1
C ij ( X 1 = 1, X 2 = 1, X 3 = 0) = 0.2 X 2
0
0 .2
+ 1 0
0
1
0 .2 X 2
2
2
X2
0 .2 0
1
0.2 1.04 0
=
0
0 1
Draft
2 CONTINUUM KINEMATICS
0 . 2 0 1
1
0.2 1.04 0 0 = 1
= [1 0 0 ]
0
0
1 0
b = 1
0.2 0 0
1
0.2 1.04 0 1 = 1.04
= [0 1 0 ]
0
0
1 0
185
c = 1.0198
e) In the current configuration the angle between the vectors b and c can be obtained
according to the relation:
r r
b c
cos = r r
b c
cos =
0.003 + 0.015
0.00003
0.01 0.000234
= 0.196116135
= arccos(0.196116135) 78.69
In the reference configuration the angle between these two vectors is 90 , then angle
variation is:
= 90 78 .69 = 11 .3
Alternative solution: Given two directions in the reference configuration represented by their
unit vectors M and N , the angle formed by these unit vectors in the current configuration
(after motion) is given by:
cos =
M C N
M C N
=
MN
M C M N C N
Denoting by M = b and N = c it fulfills that:
0 .2 0 0
1
C c = [1 0 0] 0.2 1.04 0 1 = 0.2
0
0
1 0
Then,
cos =
0 .2
bC c
bC c
=
=
= 0.196116135
b c
C b c C c
1 1.04
Problem 2.51
Obtain an equation for mass density in terms of the third invariant of the right CauchyGreen deformation tensor, i.e. 0 = 0 ( III C ) .
Solution:
Starting by the definition:
0 ( X ) = ( x , t) J
and considering that the third invariant III C = det (C ) = det ( F T F ) = J 2 , we obtain
J = III C , then:
Castilla-La Mancha University
Ciudad Real - Spain
Draft
186
0 =
III C
(2.142)
Problem 2.52
At a certain moment, the displacement field of a continuous medium is:
u1 = (a1 1) X 1
u 2 = (a 2 1) X 2 + a1X 1
u 3 = (a 3 1) X 3
x1 = a1 X 1
u 2 = x 2 X 2 = (a 2 1) X 2 + a1X 1
u 3 = x 3 X 3 = (a 3 1) X 3
x 2 = a 2 X 2 + a1X 1
x3 = a3 X 3
x 2 = a 2 X 2 + a1X 1
x = a X
3 3
3
0
x1 a1
x 2 = a1 a 2
x 0
0
3
0 X 1
0 X 2 (homogeneous deformation
a3 X 3
By the fact that a segment parallel to the X 3 -axis, e.g. Mi = [0 0 1], does not stretch that
implies that the stretching according to this direction is unitary, i.e. M = 1 , thus
M = 1 + 2M E M = 1 + 2 E 33 = 1
E 33 = 0
1 T
F F 1 ) are given by:
2
0 1 0 0
0 0 1 0
0
a 3 0 0 1
2
2 2
a1 + a1 1 a1 a 2
0
1
2
0
=
a1 a 2
a2 1
2
2
0
0
a 3 1
a1
1
E ij = 0
2
0 a1
0
a a
0 1
2
0
a3 0
thus:
2
E 33 = a 3 1 = 0
a 3 = 1
Draft
2 CONTINUUM KINEMATICS
0
x1 a1
x 2 = a1 a 2
x 0
0
3
187
0 X 1
0 X 2
a3 X 3
n i(1)
0
a1
a a
= 1
2
0
0
0 1 a1
0 0 = a1
a 3 0 0
n i(3)
0
a1
a a
= 1
2
0
0
0 0 0
0 0 = 0
a 3 1 a 3
e1
r (1) r (3)
n n = a1
0
e2 e3
a1 0 = a1e1 a1 a 3 e 2 + 0e 3
0
a3
r
and its module does not change N (1) N (3) = n (1) n (3) = 1 :
r
r
2
2
n (1) n (3) = 1 = (a1 ) 2 + (a1 a 3 ) 2 a12 a 3 2 + a12 a 3 = 1
2
We have previously obtained that a 3 = 1 , with that we obtain:
2
2
a12 a 3 2 + a12 a 3 = 1
1
1
a1 =
2
(1 + )
(1 + 2 )
1
(1 + )
2
a 2 = (1 + 2 )
a3 = 1
Problem 2.53
Consider the solid shown in Figure 2.11 which is subjected to a homogenous deformation.
r r
X 1 , X 2 , X 3
u1 ( X 1 = 0, X 2 , X 3 , t ) = 0
u1 ( X 1 = L, X 2 , X 3 , t ) =
c) Justify the possible values (positive and negative) that can take .
d) Calculate the material and spatial strain tensors and the infinitesimal strain tensor.
Draft
188
x3
x1
x2
Figure 2.11
Solution:
where J is the material displacement gradient tensor. Note that the homogenous
deformation is not dependent on the vector position, with that we can obtain:
r r
r
r r
u( X , t )
J (t ) =
r
J (t ) dX = du( X , t )
X
r
where c (t ) is the constant of integration. Then:
r r
r r
u( X , t ) = J (t ) X + c (t )
r r
r r
u( X , t ) = J (t ) X + c (t )
In components:
u1 J 11 X 1 + J 12 X 2 + J 13 X 3 c1
u 2 = J 21 X 1 + J 22 X 2 + J 23 X 3 + c 2
u J X + J X + J X c
32 2
33 3
3 31 1
3
condition 1) u 2 ( X , t ) = u 3 ( X , t ) = 0
X 1 , X 2 , X 3 :
u1 J 11 X 1 + J 12 X 2 + J 13 X 3 c1
J 21 = 0; J 22 = 0; J 23 = 0, c 2 = 0
u 2 = 0 = J 21 X 1 + J 22 X 2 + J 23 X 3 + c 2
u = 0 J X + J X + J X c J 31 = 0; J 32 = 0; J 33 = 0, c3 = 0
32 2
33 3
3
31 1
3
condition 2) u1 ( X 1 = 0, X 2 , X 3 , t ) = 0 :
u1 = 0 J 11 X 1 + J 12 X 2 + J 13 X 3 c1
0
u2 =
+ 0 {J 12 = 0; J 13 = 0, c1 = 0
u
0
0
3
condition 3) u1 ( X 1 = L, X 2 , X 3 , t ) =
Draft
2 CONTINUUM KINEMATICS
189
u1 J 11 L 0
u 2 = 0 + 0 J 11 =
L
u = 0 0
3
L
J ij = 0
0 0
0 0
0 0
L X1
r r
r
r r
components
u( X , t ) = J (t ) X + c (t ) u i ( X , t ) = 0
0 0
1 0 F = 1 + > 0 > L
L
0 1
d)
The material strain tensor (the Green-Lagrange strain tensor):
E=
1 T
F F 1
2
1 2
+
2
L 2 L
0
E ij =
components
0 0
0 0
0 0
e=
1
1 F FT
2
components
1 2
1 0 0
+
2
L 2 L
eij =
2
0 0 0
1 + 0 0 0
L
ij = 0
Draft
0 0
0 0
0 0
190
Problem 2.54
The tetrahedron shown in Figure 2.12 undergoes homogeneous deformation ( F = const. )
with the following consequences:
1. The points O , A and B do not move;
2. The solid volume becomes " p" times the initial volume;
p
x3
C
x2
A
x1
Figure 2.12.
Solution:
a) The angle AOC = 90 becomes 45 , so we are not dealing with a small deformation,
since in the case of small deformation << 1 , and in this problem we have
<<
0.7854 ;
4
b) We have a case of homogeneous deformation. Then, the equations of motion are given
by:
r r
r
x = F (t ) X + c (t )
x1 F11
x 2 = F21
x F
3 31
F12
F22
F32
F13 X 1 c1
F23 X 2 + c 2
F33 X 3 c3
F12
F22
F32
F13 0 c1
F23 0 + c 2
F33 0 c3
c1 0
c 2 = 0
c 0
3
Draft
2 CONTINUUM KINEMATICS
a F11
0 = F21
0 F
31
F12
F22
F32
F13 a
F23 0
F33 0
191
a aF11
0 = aF21
0 aF
31
F11 = 1
F21 = 0
F = 0
31
F13 0
F23 a
F33 0
0 aF12
a = aF22
0 aF
32
F12 = 0
F22 = 1
F = 0
32
0 0 F33
F = F33 > 0
The volume of the solid becomes " p" times the initial volume. The relationship between the initial
(reference) volume and the current (final) volume is given by:
dV = F dV0
dV = F dV
where we have considered the homogeneous deformation case. With this, we conclude that
F33 = p
p
2
homogeneous deformation, a line in the reference configuration will remain a line in the
current configuration.
The point C ( X 1 = 0, X 2 = 0, X 3 = a ) moves to:
C
x1 1 0 F13 0
C
x 2 = 0 1 F23 0
x C 0 0 p a
3
C
x1 aF13
C
x 2 = aF23
x C ap
p
2
L AC , we obtain:
p
2
p
2
L AC
a 2
( F13 1) 2 + ( F23 ) 2 + ( p ) 2 = p
Castilla-La Mancha University
Ciudad Real - Spain
Draft
192
thus
( F13 1) 2 + ( F23 ) 2 + p 2 = p 2
( F13 1) 2 + ( F23 ) 2 = 0
F13 = 1
F23 = 0
0 0
1
0
dX i( 2 )
= [0 0 1]
dx1( 2) 1
( 2)
dxi( 2 ) = Fij dX (j 2 )
dx 2 = 0
dx ( 2) 0
3
r
r
dx (1) dx ( 2 )
cos( AOC ) = cos(45 ) = r (1) r ( 2 ) =
dx
dx
dx1(1) 1 0 1 1 1
(1)
dx 2 = 0 1 0 0 = 0
dx (1) 0 0 p 0 0
3
0 1 0 1
1 0 0 = 0
0 p 1 p
2
2
2
2
p = 1
As the Jacobian determinant must be greater than zero F = p > 0 , this implies that p = 1 :
1 0 1
Fij = 0 1 0
0 0 1
x 2 = 0 1 0 X 2 = X 2
x 0 0 1 X X
3
3
3
u1 X 1 + X 3 X 1 X 3
u 2 = X 2 X 2 = 0
u X
X 0
3
3
3
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2 CONTINUUM KINEMATICS
193
u1 x3
u 2 = 0
u 0
3
c)
x3
C
C
x1 aF13 a
C
x 2 = aF23 = 0
x C ap a
3
a
a
B = B
x2
A = A
x1
Problem 2.55
Consider the following equations of motion:
x1 = X 1
x 2 = X 2 X 3
x 3 = X 3 + X 2
a) Obtain the deformation gradient, the right Cauchy-Green deformation tensor, the left
Cauchy-Green deformation tensor, the Green-Lagrange strain tensor and the Almansi
strain tensor. Check whether this case represents a homogeneous deformation.
b) Obtain the right stretch tensor, the spin tensor of polar decomposition and the principal
space of the left Cauchy-Green deformation tensor of the polar decomposition.
c) Obtain the final length of an initial length element equal to 2 which is in the X 3 direction, and the angular distortion of an initial angle 30 which is in the plane X 1 X 2 .
d) Obtain the strain tensor by considering the small deformation regime.
Solution:
a) The deformation gradient ( F )
x1
X 1
xi x 2
Fij =
=
X j X 1
x3
X 1
x1
X 2
x 2
X 2
x3
X 2
Draft
x1
X 3 1 0
0
x 2
= 0 1
X 3
0 1
x3
X 3
194
0 1 0 1 0
0
1+ 2
0 1 0 1 0
0
1+ 2
1
2
0
1 0 0 1
1
1
1
1
eij = ( ij bij ) = 0 1 0 0
2
2
1+ 2
0 0 1
0
0
0
0
0
2
= 1 0
0
2 1 + 2
0
0
2
1 +
0
0
1+ 2
0
0 0
1 0
2
1
0
E ij = 0 1
1+ 2
2
0 1
0
0
0 1 0
0
0 0
0 1 = 1 0 2
0
2
0 0
2 0
1
1+ 2
0
0
b) According to the format of the Cartesian components of C , we can verify that the
original space is already the principal space of C , i.e. the principal directions are
Draft
2 CONTINUUM KINEMATICS
U ij = 0
0
inverse
0 U ij1
1 + 2
1+
0
195
= 0
0
1
1+ 2
0
2
1+
R ij = Fik U 1
kj
0 1
1 0
= 0 1 0
0 1
0
1
1+ 2
0
1
0
=
1+ 2
2
1+
1+ 2
0
0
1
1
Note that by means of the format of the Cartesian components of b indicate that the
principal directions are [1 0 0] , [0 1 0] , [0 0 1] , but this is not the principal
directions of b related to the polar decomposition. Not that there are two equal
eigenvalues related to the directions [0 1 0] , [0 0 1] , then any direction in the plane
x 2 x 3 is a principal direction.
X 2 , x2
X 3 , x3
i
n ( 2) = R N(2)
n i(3)
= R N ( 3)
1+ 2
=
0
1+ 2 0
1 + 2
=
0
1+ 2 0
Draft
0 0
1
1 =
1+ 2
1 0
0
1
0 0
1
0 =
1+ 2
1 1
0
1
0
1
0
196
i
R ij = n i(1)N (j1) + n i( 2) N (j2 ) + n (3) N (j3)
1
1
= 0[1 0 0] +
1+ 2
0
0
1 [0
1 0 0
0 0
1
0 0 0 +
0 1
=
2
1 + 0
0 0 0
1+ 2
1
=
0
1 + 2 0
1 0] +
1
1+ 2
0
1
0 +
1+ 2
0
0
0
0
[0 0 1]
0 0
0
0 1
1
1
r
dx
ds
,
= r =
dS
dX
and considering that the stretch is not dependent on line integral (homogeneous
deformation), it holds that:
L final = ds = M dS = M dS = M Linitial
Then:
2
L final = M dX 2 = 1 + 2 ( Linitial ) = 2 1 + 2
A
L final
A
Linitial = 2
X 1 , x1
x1A 1 0 0 X 1A
A
A
x 2 = 0 1 X 2
x3A 0 1 X 3A
1 0 0 0 0
= 0 1 0 = 2
0 1 2 2
X 2 , x2
Figure 2.14.
Draft
2 CONTINUUM KINEMATICS
197
Linitial = 2 2 + (2 ) 2 = 4(1 + 2 )
Linitial = 2 1 + 2
To obtain the angle in the current configuration formed by two unit vectors, we can use
the equation:
cos =
cos + 2 M E N
MN
(2.143)
where is the angle between the unit vectors M and N in the reference configuration,
and is the angle between the to new unit vectors in the current configuration.
r
Considering that the Green-Lagrange strain tensor is independent of X , we adopt two unit
2
0 0
0 cos 30
0 sin 30 = 0
2 0
The stretches:
2M
0
0 1
1
C M = [1 0 0] 0 1 + 2
=M
0 0 = 1
0
0
1 + 2 0
2N
M =1
0
0 cos 30
1
0 1 + 2
0 sin 30
= N C N = [cos 30 sin 30 0]
0
0
1+ 2 0
= cos 2 30 + (1 + 2 ) sin 2 30
= 1 + 2 sin 2 30
cos =
cos + 2 M E N
cos 30
=
MN
1 + 2 sin 2 30
As we are dealing with a homogeneous deformation, we adopt two lines in the reference
configuration and we obtain the angle formed by these lines in the current configuration.
For example, adopting the lines OB = [cos 30 0 0] and OC = [cos 30 sin 30 0]. And
according to the equations of motion, the point O does not move. Then, we obtain the
new position of the points B and C , (see Figure 2.15):
x1B 1 0
0 X 1B 1 0
0 cos 30 cos 30
B
X B = 0 1 0 = 0
x 2 = 0 1 2
x B 0 1 X B 0 1 0 0
3
3
Draft
198
C
x1 1 0
0 X 1C 1 0
0 cos 30 cos 30
C
X C = 0 1 sin 30 = sin 30
x 2 = 0 1 2
x C 0 1 X C 0 1 0 sin 30
3
3
X 3 , x3
sin 30
sin 30
X 2 , x2
cos 30
30
B = B
X 1 , x1
Figure 2.15.
Then the angle formed by the new unit vectors O B and O C is:
O B O C = O B O C cos
cos 2 30 = cos 2 30 cos 2 30 + sin 2 30 + 2 sin 2 30 cos
cos =
cos 30
1 + 2 sin 2 30
d)
0 0 0
ij = 0 0 0
0 0 0
Problem 2.56
A rigid body motion is characterized by the following equation:
r
r r
x = c(t ) + Q(t ) X
(2.144)
r
Find the velocity and the acceleration fields as a function of , where is the axial vector
&
associated with the antisymmetric tensor ( = Q Q T ).
Solution:
r
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2 CONTINUUM KINEMATICS
199
&
&
Let us consider that = Q Q T Q = Q . The above equation can also be expressed as:
r
r r
&
v = c + Q X
r r
r r
&
v = c + ( x c)
r r r
r
If is an antisymmetric tensor, it holds that a = a , where (angular velocity vector)
is the axial vector associated with the antisymmetric tensor . Then, the associated
(2.145)
Note that Q(t ) is only dependent on time, hence the axial vector (angular velocity)
r r
associated with is also time-dependent, i.e. = (t ) .
Then, its acceleration is given by:
r r r r && r
& x c
a = v = && = && + Q X
&& &
&
By referring to Q = Q + Q , the above equation can also be expressed as:
r
r r
&
&
a = && + ( Q + Q) X
c
r
r
r
&
= && + Q X + Q X
c &
r
r
r
= && + Q X + Q X
c &
r
r r
r r
= && + ( x c ) + ( x c )
c &
(2.146)
r r
&
where shows the angular acceleration.
r
For a rigid body motion where c = 0 , the velocity becomes v = x whose components
are vi = ipq p x q , and the rate-of-deformation tensor D becomes:
D ij =
=
1 vi v j
+
2 x j xi
1
ipq p qj
2
1 ( ipq p x q ) ( jpq p x q ) 1
x
x
=
= ipq p q + jpq p q
+
2
2
x j
xi
x j
xi
1
1
+ jpq p qi = ipj p + jpi p = ipj p ipj p = 0 ij
2
2
So, once again we have proved that D = 0 for a rigid body motion.
Problem 2.57
r
a.1) Obtain the velocity components in the spatial and material descriptions;
a.2) Obtain the acceleration in the spatial (Eulerian) description;
a.3) If 3 = 3rad / s obtain the vector position, velocity and acceleration at time t = 2.5s
of the particle that in the reference configuration was at (1,1,0) .
Draft
200
b) Taking into account Problem 1.116 where we have obtained the body force vector (per
r
GM
x
field. Now, if we consider the Earth as a sphere that rotates around its axis with angular
r
= 3e 3
r r
r = r e r = re r
3
r
r
e3
er
r
x
X 2 , x2
X 1 , x1
Figure 2.16.
r r
=0
= i 313 x1 + i 32 3 x 2 + i 33 3 x3 = i 31 3 x1 + i 32 3 x 2
{
=0
Then:
v1 = 132 3 x 2 = 3 x 2
v 2 = 2313 x1 = 3 x1
v = 0
3
r r
r r r
Note that the field v ( x , t ) is stationary, i.e. v = v ( x ) .
(2.147)
For a rigid body motion, the equations of motion are governed by:
r
r
x = Q(t ) X
where the orthogonal matrix components are given by the transformation matrix from the
r
r
system x to x , thus:
Draft
2 CONTINUUM KINEMATICS
201
x 2 = sin (t ) cos (t ) 0 X 2 = sin (t ) X 1 + cos (t ) X 2
x 0
0
1 X 3
X3
Considering that =
d(t )
and by integrating we obtain:
dt
d(t ) = dt
(t ) = t
x 2 = sin (t ) cos (t ) 0 X 2 = X 1 sin(t ) + X 2 cos(t )
x 0
X3
0
1 X 3
(2.148)
To obtain the expression of velocity in the material (Lagrangian) description, we replace the
equations of motion (2.148) into the equations (2.147):
r
v1 ( X , t ) = 3 ( X 1 sin(t ) + X 2 cos(t ))
r
v 2 ( X , t ) = 3 ( X 1 cos(t ) X 2 sin(t ))
r
v3 ( X , t ) = 0
(2.149)
a.2) The Eulerian acceleration can be obtained by means of the definition of material time
r r
derivative of v ( x , t ) , i.e.:
r r
r r
r r
r r r
r r
v ( x , t ) v ( x , t ) x ( X , t )
r
a ( x, t ) =
+
= x v v ( x, t )
r
x
t
123
4t4
r
0
r r
r
v ( x , t )
r
r = ( x v )ij
x ij
v1
x1
v
= 2
x
1
v 3
x1
v1
x 2
v 2
x 2
v 3
x 2
v1
x 3 0
v 2
= 3
x 3
v 3 0
x 3
3
0
0
0
0 (antisymmetric)
With that, we check that we are dealing with a rigid body motion. Then, the Eulerian
acceleration components are given by:
0
r
r r r
r v v ( x , t ) ] =
a i ( x , t ) = [ x
i
3
0
3
0
0
2
0 3 x 2 3 x1
2
0 3 x1 = 3 x 2
0 0 0
r r
2
2
x1 = r cos ,
x1 = r cos ,
e 1 = e r cos e sin ,
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202
r
2
2
a = 3 x1e 1 3 x 2 e 2
2
2
= 3 r (cos 2 + sin 2 )e r
2
= 3 re r
2r
= 3 r
Particle P at t = 2.5s
r r
v P ( x , t = 2 . 5)
1
r
x
r r
v ( X , t = 0)
Particle P
r
X
X 1 , x1
Trajectory of particle P
Figure 2.17.
r
v 2 ( x , t = 0) = 3 x1 = 3 X 1 = (3)(1) = 3
P
v3 = 0
2
3 X 1 9
r
2
a iP ( x , t = 0) = 3 X 2 = 9
0 0
At time t = 2.5s the position, velocity, and acceleration of the particle P are given by:
x1P X 1 cos(t ) X 2 sin(t ) cos(3 2.5) sin(3 2.5) 0.59136
P
0
X3
0
r
v1P ( x , t = 2.5) = 3 x 2 = (3)(0.59136) = 3.85391
P r
Draft
2 CONTINUUM KINEMATICS
203
2
3 x1 5.322
r
2
a iP ( x , t = 2.5) = 3 x 2 = 11.562
0
b) For a particle located on the surface of the Earth, due to rotation, this particle will feel as
if being projected outward according to r -direction, (see figure below). Keep in mind that
the real force is the Centripetal due to the centripetal acceleration. For convenience, we
adopt a fictitious force, centrifugal force, which would be the cause of this apparent
v
outward projection. Associated with this force we have the centrifugal acceleration ( a ctfu )
v
which is equal but opposite to the centripetal acceleration ( a ctpe ).
x3 , z
x3 , z
3
x3
r
b
v
a ctfu
x2 , y
x1 , x
Remember
v
a ctfu
r
+b =
we have
that
v
a ctfu
r
b =g,
given
v
+ 2 a ctfu
two
r
r
b cos + b
vectors
it
holds
that
v
v
2r
2
a ctpe = a ctfu = 3 r = 3 r . Also check that
r = R cos
and
v
a ctpe
r
r
v
2 a ctpe b cos + b
2
2
= ( 3 r ) 2 2( 3 r ) g cos + g 2
2
2
= ( 3 R cos ) 2 2( 3 R cos ) g cos + g 2
thus
2
4
g = g 2 2 g 3 R cos 2 + 3 R 2 cos 2
Draft
204
Pol
Note that at the poles ( = 90 ) we have g = g , and in the line of Ecuador it holds that
Ecu
2
4
2
2
g = g 2 2 g 3 R + 3 R 2 = ( g 3 R ) 2 = g 3 R .
Problem 2.58
Consider a rod subjected to successive displacements as shown in figure below
B0
L0
L0
L(1)
L( 2 )
L(f1)
L L( 2 )
L(1)
L
( 2)
Show that the engineering strain (Cauchy strain) is not additive to successive increments of
strain, i.e. (1) + ( 2) .
Solution:
The Cauchy strain was obtained as:
C =
L L L 0
=
= 1
L0
L0
Then, the total strain experienced by the body, i.e. from the B0 -configuration to the B configuration is:
C =
L( 2 ) L0 L( 2 )
=
1
L0
L0
L(1) L0 L(1)
=
1
L0
L0
L( 2 ) L(1) L( 2 )
= (1) 1
L(1)
L
thus
L(1)
L( 2)
L( 2 )
(1
(
C ) + C2 ) =
1 + (1) 1
L
L 1 = C
L
0
0
An essential requirement for any strain is to that it can be possible to characterize the real
displacement. In this case the final length is:
Draft
2 CONTINUUM KINEMATICS
205
L(1)
=
1dx = L(1) L0 = L(1)
L
0
0
(1)
( 2)
L + L = L
L1
L1
L( 2 )
( 2 ) dx = (1) 1 dx = L( 2 ) L(1) = L( 2 )
C
L
0
0
L0
L0
(1
C ) dx
L0
L
C dx =
1 dx = L L0 = L
0
0 0
We
could
E=E
(1)
+F
have
(1)T
obtained
the
L2 L2
0
2 L2
0
same
1 2
1
2
expression
by
using
(1)
(
E ( 2 ) G2) , F (1) (1) =
the
relationship
(1
E G , E (1) G ) ,
L(1)
. Then:
L0
E = E (1) + F (1)
E ( 2) F (1)
(
G = (1) + (1) G2 ) (1)
G
1 L(1)
=
2 L0
2
L(1)
1 +
L0
1 L( 2 )
2 L(1)
L( 2) 2 L2
2
2
0
L L0
=
=
2 L2
2 L2
0
0
2.1.3
2
L(1)
L0
Problem 2.59
Let us consider the Cartesian components of the deformation gradient:
5 3 3
Fij = 2 6 3
2 2 4
obtain the tensors U (right stretch tensor), V (left stretch tensor), and R (rotation tensor).
Solution:
Before obtaining the tensors U , V , R , we analyze the deformation gradient F .
The motion is possible if the determinant of F is greater than zero, det ( F ) = 60 > 0 . The
eigenvalues and eigenvectors of F are given by:
Draft
206
It is easy to check that the basis formed by these eigenvectors does not form an orthogonal
basis, i.e. mi(1) mi( 2) 0 , mi(1) mi(3) 0 , mi( 2) mi(3) 0 . We can also verify that if D is the matrix
containing the eigenvectors of F :
mi(1) 0.6396021491;
0.6396021491;
0.4264014327
( 2)
0 0 2
3 3 4
and
5 2 2
10 0 0
3 6 2 D 1 = 0 3 0
D
3 3 4
0 0 2
29 35 34
C11 = 9.274739
eigenvector
C 22 = 3.770098
eigenvector
C 33 = 102.955163
eigenvector
1
T
These eigenvectors constitute an orthogonal basis, so, it holds that AC = AC , and
det (AC ) = 1 (improper orthogonal tensor):
N (3) 0.518239
0.65470405
0.550264423
i
C11
0
A
0
T
C
C 22
0
0
33 31 29
33 31 29
C11
A = 31 49 35 = C ; A 31 49 35 A T = 0
0 C
ij
C
C
29 35 34
29 35 34
0
C 33
C 22
0
0
0
C 33
In the C principal space we obtain the components of the right stretch tensor, U , as:
1
U = Uij = 0
0
2
0
0 C11
= 0
0
3 0
C 22
0
0 3.0454455
0
0
0 =
0
1.9416741
0
C 33
0
0
10.1466824
Draft
2 CONTINUUM KINEMATICS
U 1 = Uij1
1
= 0
0
1
2
0
207
0
0
0
3.0454455
0
0
0 =
1.9416741
1
0
0
10.1466824
We can evaluate the components of the tensor U in the original space by means of the
transformation law:
4.66496626 2.25196988 2.48328843
A U AC = 2.25196988 6.00314487 2.80907159 = U ij
T
C
and
0.31528844 0.05134777 0.14302659
T
C
Then, the rotation tensor of the polar decomposition is given by the equation R = F U 1 ,
which is a proper orthogonal tensor, i.e. det (R ) = 1 .
R ij =
Fik U kj1
0.10094326 0.05592536
0.9933191
0.10658955 0.98826538 0.10940847
=
28 28 24
b11 = 9.274739
eigenvector
i
n (1) = [0.6212637156 0.7465251613 0.238183919]
b22 = 3.770098
eigenvector
b33 = 102.95516
eigenvector
i
n (3) = [ 0.611638389 0.6519860747 0.448121233]
Note that, the tensors b and C have the same eigenvalues but different eigenvectors. If
the eigenvectors of b constitute an orthogonal basis then it holds that Ab1 = AbT , and
det (Ab ) = 1 :
i
n (1) 0.6212637156 0.7465251613
0.238183919
( 2)
Ab = n i = 0.4898263742 0.1327190337 0.8616587383
b11
0
A
0
T
b
b22
0
0
43 37 28
43 37 28
b11
A = 37 49 28 = b ; A 37 49 28 A T = 0
0 b
b
ij
b
28 28 24
28 28 24
0
b33
Draft
b22
0
0
0
b33
208
Since C and b have the same eigenvalues, it follows that Uij = Vij , i.e. they have the same
components in their respectively principal space. Additionally, it holds that Uij1 = Vij 1 .
The components of the tensor V in the original space can be evaluated by:
5.3720129 2.76007379 2.41222612
A V Ab = A U Ab = 2.76007379 6.04463857 2.20098553 = Vij
T
b
T
b
and
0.28717424 0.07950684 0.14176921
A V Ab = A U Ab = 0.07950684 0.23396031 0.08848799 = Vij1
T
b
T
b
The polar decomposition rotation tensor obtained previously has to be the same as the one
obtained by R = V 1 F .
We could also have obtained the tensors U , V , R , by means of their spectral
representation. That is, if we know the principal stretches, i , and the eigenvectors of C
U ij = a N ( a ) N ( a ) = 1 N i(1)N (j1) + 2 N i( 2 ) N (j2 ) + 3 N i(3) N (j3)
ij
a =1
Vij = a n ( a ) n ( a ) = 1 n i(1) n (j1) + 2 n i( 2) n (j2) + 3 n i(3) n (j3)
ij
a =1
3 (a) (a )
R ij =
n N = n i(1) N (j1) + n i( 2 )N (j2 ) + n i(3) N (j3)
ij
a =1
i
i
Fij = a n ( a ) N( a ) = 1 n (1) N (j1) + 2 n ( 2 ) N (j2 ) + 3 n i(3) N (j3)
ij
a =1
F=
a R N( a ) N ( a ) =
a =1
n(a) n (a) R
a =1
= R a N ( a ) N( a ) = a n ( a ) n ( a ) R
a =1
a =1
= R U = V R
3
As we can verify, the representations of the tensors R and F are not the spectral
representations in the strict sense of the word, i.e., i are not eigenvalues of F , and
Problem 2.60
The deformation gradient at one point of the body is given by:
where e i
Draft
2 CONTINUUM KINEMATICS
209
Solution
The deformation gradient components can be represented as follows:
0 .2 0 .1 0
0
Fij = 0.3 0.4
0
0
0.1
bij = Fik F jk
0
0.2 0.1 0 0.2 0.1 0
0.05 0.02
0 .3 0 .4
0 .3 0 .4
= 0.02 0.25 0
0
0
=
0
0
0
0.1 0
0
0.1
0
0.01
(2.150)
0
0
0.1
0
0.2 0.1 0 0.13 0.1
= 0.1 0.17
0.3 0.4
0
0
0
0
0.1 0
0
0.01
C N = C ( a ) N( a )
(2.151)
C C1 = 0
where the index (a ) does not indicate summation. Note that we already know one
eigenvalue of C , i.e. C (3) = 0.01 , (see C -components in (2.151)). Then, the characteristic
determinant becomes:
0.13 C
0 .1
=0
0 .1
0.17 C
C ( 2 ) = 0.04802
Then:
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210
Cc (1) = 0.25198
C (3) = 0.01
N i(3)
0.633399
(1) = 0.77334
Ni
0
= 0
1
C ( 2 ) = 0.04802
0.77334
( 2 ) = 0.63399
Ni
b n = b( a ) n ( a )
b(3) = 0.01
0.098538
= 0.995133
0
= 0
1
n i(1)
n i(3)
b( 2 ) = 0.04802
i
n ( 2)
0.995133
= 0.098538
As expected, the tensors C and b have the same eigenvalues but different eigenvectors.
0
0
0.252
0
0.048 0
C ij =
0
0
0.01
0
0
0.252
0
0.048 0
bij =
0
0
0.01
In addition, the spectral representations of the tensors C and b are given respectively by:
C=
2a N ( a ) N ( a )
a =1
b=
n
2
a
(a)
n(a)
a =1
where a > 0 are the principal stretches. Considering that 2a = C a are the eigenvalues of
C and of b , the principal stretches are:
(1) = 0.25198 0.501976
c) To check if
F=
( 2 ) = 0.04802 0.219134
n
a
(a)
N(a )
a =1
ij
a =1
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2 CONTINUUM KINEMATICS
211
a =1
ij
0.06247 0.0762 0
0.76958 0.6309 0
0.0762 0.06247 0 + 0.219134 0.6309 0.76958 0 +
= 0.50197
0
0
0
0
0
0 0 0
+ 0.10 0 0
0 0 1
0.2 0.1 0
0 = Fij
= 0 .3 0 .4
0
0
0.1
Checking that F = a n ( a ) N ( a ) .
a =1
d)
R=
(a)
N( a)
components
a =1
0.832 0.554 0
(R )ij = 0.554 0.832 0
0
0
1
0
0
0 0
0
0 0 0 1 0
0
1
U=
a N ( a ) N( a )
components
0.333 0.139 0
(U)ij 0.139 0.388 0
0
0
0.1
components
0.222 0.028 0
(V )ij 0.028 0.5 0
0
0
0.1
a =1
V=
n
a
(a )
(a)
a =1
Problem 2.61
For a given motion (shear deformation):
x1 = X 1 + kX 2
x2 = X 2
x = X
3
3
k constant
Draft
212
Solution:
The deformation gradient components:
x1
X 1
xi x 2
Fij =
=
X j X 1
x3
X 1
x1
X 2
x 2
X 2
x3
X 2
x1
X 3 1 k 0
x 2
= 0 1 0
X 3
0 0 1
x3
X 3
0 0 1 0 0 1 0
0
0
0
bij = Fik F jk = 0 1 0 k 1 0 = k
0 0 1 0 0 1 0
1 0
0 1
1
(C 1) , whose components are:
2
0 1 0 0
0 k
0 1 0 = 1 k k 2
0
2
0 0 1
0 0
1
0
0
For simplicity, we will work on the x1 x 2 -plane, with that we represent the rotation
tensor components as follows:
cos sin c s
R ij =
=
sin cos s c
(i, j = 1,2)
k 1 + k 2 = s c
1 s c
k
(c 2 + c 2 k 2 + 2 sck + s 2 )
( sck 2 s 2 k + c 2 k )
=
2
2
2
(c 2 + s 2 k 2 2 sck + s 2 )
( sck s k + c k )
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2 CONTINUUM KINEMATICS
213
(c 2 + c 2 k 2 + 2 sck + s 2 ) = 1 (c 2 k 2 + 2 sck + 1) = 1
we obtain
k
c . Then, starting from the relation ( sck 2 s 2 k + c 2 k ) = k and by considering that
2
k
s=
c , we obtain:
2
s=
c=
1
k2
+1
4
s=
k2 + 4
k
2
k2
+1
4
k
k2 + 4
thus:
2
2
k +4
k
R ij =
2
k +4
0
k
2
k +4
2
k2 + 4
0
2
k +4
k
U ij = R ki Fkj =
2
k +4
0
Vij = Fik R jk
k
k2 + 4
2
k2 + 4
0
0
2
1 k 0 k + 4
k
0 0 1 0 =
2
0 0 1 k + 4
1
0
2
1 k 0 k + 4
k
= 0 1 0
2
0 0 1 k + 4
k
k +4
2+ k2
2
2+k
0
2
k +4
k
0 =
2
k +4
1
0
k
k2 + 4
2
k2 + 4
0
k2 + 4
0
k
k2 + 4
2
k2 + 4
0
Problem 2.62
A deformable parallelepiped of dimensions 2 2 1 is in the reference configuration as
indicates in Figure 2.18. This body is subjected to motion:
r r
x ( X , t ) = exp X 2t e1 + tX 12 e 2 + X 3 e 3
(2.152)
Draft
214
X3
X1
Figure 2.18.
Solution:
a) According to the equation (2.152), the vector position components are x1 = exp X 2t ,
x 2 = tX 12 , x3 = X 3 , then the deformation gradient ( F ) components are given by:
0
xi
Fij =
= 2tX 1
X j
0
0
1
t exp X 2t
0
0
t exp X 2t
C ij =
0 0
0 2tX 1
1 0
2tX 1
0
0
0 4t 2 X 12
0 = 0
1 0
t exp X 2t
0
0
0
2
t exp
0
2 X 2t
0
1
Note that this space is the principal space (principal directions) of C . Considering that i
are the principal stretches, the following relationship is fulfilled:
C = U2 =
2
a
N ( a ) N( a )
U=
a =1
N( a) N( a)
a =1
As we are working in the principal space of C , we can obtain the principal stretches as
follows:
1 = + 4t 2 X 12
2 = + t 2 exp 2 X 2t
3 = + 1
definition, thus:
1 = 2tX 1
2 = t exp X 2t
3 = 1
c)
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2 CONTINUUM KINEMATICS
2tX 1
U ij = 0
0
0
0
t exp
0
X 2t
1
2tX
1
0
=
U ij1
215
0
1
t exp X 2t
0
R ij = 2tX 1
0
t exp
0 2tX 1
0 0
1
0
X 2t
0
0
0
1
t exp X 2t
0
0
0 1 0
0 = 1 0 0
0 0 1
0 1 0 0 1 0 1 0 0
= 1 0 0 1 0 0 = 0 1 0
0 0 1 0 0 1 0 0 1
0
J = 2tX 1
0
0
0 = 2t 2 X 1exp X 2t
1
0
0
dV = JdV
V0
(2 X exp )dX
= 4(exp 1) 25.556
=
X2
3 dX 2 dX 1
X 1 = 0 X 2 = 0 X 3 =0
2
NOTE: We can not use the equation V = JV0 because we are not dealing with
homogeneous deformation case.
Problem 2.63
A body is subjected to motion:
x1 = X 1
x 2 = X 2 + kX 3
x3 = X 3 + kX 2
where k is a constant.
a) Obtain the deformation gradient ( F ); the right Cauchy-Green deformation tensor
( C ); the Green-Lagrange strain tensor ( E ).
Castilla-La Mancha University
Ciudad Real - Spain
Draft
216
b) Calculate the displacement field, the magnitude (dx) 2 of sides OA and OB , and
diagonal OC after deformation of figure below.
X3
dX 2
dX 3
O
X2
X1
C
23
B
B
x2
c.1) Obtain the stretches according to directions OC and BA ; c.2) Obtain the angle 23 in
the current configuration in function of k .
c.3) Apply the polar decomposition of the tensor F in order to obtain U and R .
Solution:
a) C = F T F . The deformation gradient components are:
1 0 0
xi
Fij =
= 0 1 k
X j
0 k 1
0
0
1 0 0 1 0 0 1
0 1 k 0 1 k = 0 1 + k 2
C ij = Fki Fkj =
2k
0 k 1 0 k 1 0
2k
1+ k2
1
(C 1) , whose components are:
2
1
0
0 1 0 0
0 0
1
0 1 0 = 1 0 k 2
2
2k
E ij = 0 1 + k
2
2
2
0 2 k
2k
1 + k 0 0 1
0
Castilla-La Mancha University
Ciudad Real - Spain
Draft
0
2k
k2
2 CONTINUUM KINEMATICS
217
u 2 = x 2 X 2 = kX 3
u 3 = x 3 X 3 = kX 2
r
r r
(dx )2 = dx dx
r
r
= F dX F dX
r
r
= dX F T F dX
r
r
= dX C dX
Explicitly:
(dx )
= [dX 1
0
0 dX 1
1
0 1 + k 2
dX 3 ]
2k dX 2
0
2k
1 + k 2 dX 3
dX 2
(dx )2 = (dX 2 ) 2 (1 + k 2 )
For the side OB we have [0 0 dX 3 ] , with that we obtain:
(dx )2 = (dX 3 ) 2 (1 + k 2 )
equation ( N )2 = N C N .
( )
OC
= 0
1
2
0
1
1
2
0 1 + k
2
0
2k
( )
BA
= 0
1
2
0
1
1
2
0 1 + k
2
0
2k
Draft
1
2
0
2k
1+ k2
1
2
1
, is:
2
1
= (1 + k ) 2
2
1
1
, with that we obtain:
2
0
0
1
2
2k
2 = (1 k )
1+ k 2 1
218
c.2) The variation of the angle. We can directly use the equation:
cos =
MC N
M C N
=
M N
M C M N C N
where the unit vector according to the OB -direction is Mi = [0 0 1], and according to the
( )
0
0 0
1
0 1 + k 2
2 k 0 = 1 + k 2
= [0 0 1]
0
2k
1 + k 2 1
( )
0
0 0
1
0 1 + k 2
= [0 1 0]
2 k 1 = 1 + k 2
0
2k
1 + k 2 0
OB
OA
0
0 0
1
C N = [0 0 1] 0 1 + k 2
Mi ij j
2k 1 = 2k
0
2k
1 + k 2 0
Then:
cos 23 =
2k
M C N
=
MN
1+ k2
a N(a ) N(a )
U= C =
a =1
a N( a ) N ( a )
a =1
( ) (
2(1 + k ) + (1 k )
2 2 1 + k 2 + 1 2k 2 + k 4 = 0
2
2 2
=0
3 = 1 + k 2 2k = (1 k ) 2
C ij =
0
0
1
2
(1 k ) 2
0
0
1
( 3)
, 3 N i = 0
2
1
2
1
. Then,
2
the transformation matrix between the original space and the principal space is:
Draft
2 CONTINUUM KINEMATICS
1
a ij = A = 0
0
1
2
1
2
219
0
1
2
1
0
0
0 1
0 = 0
(1 k ) 2
0 1
0
1
0 1+ k2
2
2k
1 0
0
1
2
1
2
0 1
2 k 0
1+ k 2
0
1
2
1
0
1
2
1
2
C ij =
0
0
(1 k ) 2
0
0
+ 1
0
+ (1 + k ) 2
U ij = 0
0
0
+ (1 k ) 2
0
0
0
0
1
0 (1 + k )
0
U ij =
0
0
(1 k )
U 1
ij
1
= 0
0
0
(1 k )
0
1
(1 + k )
0
1
U ij = 0
0
1
2
1
2
0
1
2
1
1
0
0
1
(1 + k )
0
0 1
0 0
1
0
(1 k )
0
1
2
1
2
0 1
1
= 0
2
1
0
2
0
1
(1 k 2 )
k
(1 k 2 )
0
k
(1 k 2 )
1
(1 k 2 )
Draft
220
1 0 0 1
R ij = 0 1 k 0
0 k 1
0
1
(1 k 2 )
k
(1 k 2 )
0 1 0 0
k
= 0 1 0
2
(1 k )
0 0 1
1
(1 k 2 )
Problem 2.64
Given the following motion:
x1 = 1 X 1
x 2 = 3 X 3
x = X
2 2
3
0
0
2
0 X 1
3 X 2
0 X 3
1
Fij = 0
0
3 (homogenous deformation)
0
0
2
b) Applying the Nansons formula and by considering the particular case (homogeneous
deformation):
r integrating r
r
r
da = JF T dA a final = JF T Ainitial
where
e1
r
Ainitial = 1
e2
0
e3
0 = e 3 ; Fij1 =
0
2 3
1
0
1 2 3
0
0
0
1 2
0 1
1 3 = 0
0
0
0
1
3
1
2
Draft
2 CONTINUUM KINEMATICS
a1
1
a 2 = 1 2 3 0
a
3
0
0
0
1
2
221
0
0 0
1
0 =
1 2
3
1 0
X 3 , x3
B (0,0, 2 )
r
a final = 1 2
C (1 ,0, 2 )
O (0,0,0)
B (0,1,0)
r
Ainitial = 1
C (1,1,0)
A(1,0,0)
X 2 , x2
A( 1 ,0,0)
X 1 , x1
where the points A(1,0,0) , B(0,1,0) and C (1,1,0) move according to the equations of
motion:
x1A 1
A
x2 = 0
x A 0
3
C
x1 1
C
x2 = 0
xC 0
3
c)
0
0
2
According
U= C = F
0 1 1
3 0 = 0
0 0 0
0
0
2
0
0
2
0 0 0
3 1 = 0
0 0 2
0 1 1
3 1 = 0
0 0 2
to
the
F and
polar
decomposition
V = b = F F
x1B 1
B
x2 = 0
x B 0
3
definition
F = R U = V R
where
we obtain:
Draft
222
1
C ij = 0
1
bij = 0
0
0
3
0
0
2
0 1
2 0
0 0
0 1
3 0
0 0
0 2 0
0
1
= 0 2 0
0 3
2
0 0 2
0
2
3
2
0
0 1 0
0
= 0 2 0
0
2
3
0 0 2
3 0
2
1
U ij = 0
1
Vij = 0
0
2
0
0
3
0
0
0
0
0
Note that the original space coincides with the principal space of C . Note also that C and
b have the same eigenvalues but different principal directions. To obtain the spin tensor of
the polar decomposition we apply R = F U 1 = V 1 F , thus:
1
R ij = 0
1
R ij = 0
0
0
2
0
1
3
0
0 1
3 0
0
1
0 0
1 0
2
0
1
2
0
0
0
2
0
1 0 0
0 = 0 0 1
0 1 0
1
3
0 1 0 0
3 = 0 0 1
0 0 1 0
Problem 2.65
Consider the equations of motion:
x1 = 3 X 1
x2 = 2 X 2
x3 = 3 X 3 X 2
Obtain the material ellipsoid associated with the material sphere defined in the reference
2
configuration by X 12 + X 2 + X 32 = 1 (see Figure 2.19). Check that the ellipsoid in the
principal space of the left stretch tensor V has the shape:
x1 2
2
1
x 22
22
x32
2
3
=1
Draft
2 CONTINUUM KINEMATICS
223
X 2 , x2
X 3 , x3
Material surface
(always constituted by the
same particles)
X 1 , x1
0
0
0
2
1
0 X 1
X1
inverse
0 X 2 X 2 =
X
X
3 3
3
3
3
0
1
2
3
6
0
0
0
x1
0 x2
3 x3
X1 =
X 2 =
X 3 =
3
x1
3
x2
2
3
3
x2 +
x3
6
3
2
3
3
3
x2
x + +
x +
x3 = 1
3 1
6 2
3
2
which is the equation of an ellipsoid. We now represent the ellipsoid equation in the
principal space of the left stretch tensor V . Recall that the tensor V and b are coaxial, i.e.
the have the same principal directions), and is also true that:
V = b = F FT
Draft
224
bij = 0
0
0 3 0
0 0
2
0 1
3
0
2
1
0
0
0
3
0
0 =
5
3
0 3
3
3
Note that we know already one eigenvalue b1 = 3 associated with the eigenvector
i
n (1) = [1 0 0] . Then, the other principal directions are in the plane x 2 x 3 , with that we
obtain
eigenvecto
b2 = 6 r n i( 2) = 0
2
2
eigenvecto
b3 = 2 r n i(3) = 0
2
2
thus:
1
3 0 0
Transforma
matrix
bij = 0 6 0 tion a ij = 0
0 0 2
1 = 3
0
Vij = 0
2 = 6
0
0
2
2
2
2
0
2
2
2
0
3 = 2
Then, applying the transformation law from x1 , x 2 , x3 -system to the x1 , x 2 , x3 -system we
obtain:
x1 1
x2 = 0
x
3
0
0
2
2
2
2
0
2
2
2
x1
x2
x
3
x1 = x1
2
2
x2 +
x3
x2 =
2
2
2
2
x2 +
x3
x3 =
2
2
with that, the equation of the ellipsoid in the principal space of V is represented by:
2
2
x12 + x 2 + x3 + x 2 x3 = 3
(x1 )
2
2
2
2
2 2
2
+
x2 +
x3 +
x2 +
x3 +
x2 +
x3
x2 +
x3 = 3
2
2
2
2
2
2
2
x1 2 x 22 x32
x 2
x2
x 2
x2 x2 x2
+
+
= 1 2 + 2 2 + 3 2 = 12 + 2 + 32 = 1
3
6
2
3
22
1
( 3)
( 6)
( 2)
Draft
2 CONTINUUM KINEMATICS
225
X 3 , x3
X 2 , x2
x3
3 = 2
2 = 6
1 = 3
x2
x1
X 1 , x1
x2
x1
x3
x2
X2
x2
x1
X1
x3
X3
x1
x3
Draft
226
2.1.4
Problem 2.66
Given the equations of motion
x1 = X 1 + 4 X 1 X 2 t
2
x2 = X 2 + X 2 t
2
x3 = X 3 + X 3 t
(2.153)
dx
2
V 2 = X 2
V ( X , t) =
dt
2
V3 = X 3
(2.154)
r
A1 = 0
r r
dV
A( X , t ) =
A2 = 0
dt
A = 0
3
(2.155)
u1 = x1 X 1 = X 1 + 4 X 1 X 2 X 1 = 4 X 1 X 2
2
2
u 2 = x2 X 2 = X 2 + X 2 X 2 = X 2
2
2
u3 = x3 X 3 = X 3 + X 3 X 3 = X 3
(2.156)
b) Acceleration:
c) Displacement field:
X 1
u i u 2
=
x j X 1
u 3
X 1
u1
X 2
u 2
X 2
u 3
X 2
1 u i u j
+
2 x j xi
u1
X 3 4 X
2
u 2
= 0
X 3
u 3 0
X 3
(2.157)
4X1
2X 2
0
0
0
2X 3
(2.158)
thus:
4 X 2
ij = 2 X 1
2 X1
2X 2
0
Draft
0
0
2X3
(2.159)
2 CONTINUUM KINEMATICS
227
Problem 2.67
Consider the infinitesimal strain tensor:
0
2
X3
2
l
X2X3
l2
0
0
X2X3
ij = 0
l2
X2
0 3
l2
(2.160)
0
0
ij = 0
0
2
2
0 2 X 2 X 3
2l
2l 2
2
2
X2 X3
(2.161)
ij =
1
ui, j + ui, j
2
; ij =
1
ui, j ui, j
2
(2.162)
thus:
0
ui, j
= 2 0
2l
2
3X 3
2X 2 X 3
0
2X 2 X 3
2
X2
2
X3
2
X2
(2.163)
u1
= 0 u1 = 0
x1
u 2
= 2 (2 X 2 X 3 )
x 2 2l
u 2 =
2l (2 X
2
2X3
)x 2 u 2 =
2l 2
u 3
= 2 (2 X 2 X 3 )
x3
2l
u 3 =
2l 2
(2 X 2 X 3 )x3 u 3 =
Draft
(2.164)
2l 2
2
X2 X3
+ C1 ( X 3 )
2
X3 X2
(2.165)
+ C2 ( X 2 )
(2.166)
228
To determine the constant C1 ( X 3 ) from the result (2.165) we take the derivative of u 3
with respect to X 3 :
u 2
= 2
X 3 2l
2 C1 ( X 3 )
C1 ( X 3 )
2
2
2
= 3 X 3
X 2 +
= 2 X 2 3X 3
X 3 2l
X 3
C1 ( X 3 ) =
(2.167)
3
X 3
= 2
X 2
2l
2 C 2 ( X 2 )
C 2 ( X 2 )
2
2
2
= X2
X 3 +
= 2 X2 + X3
X 2
X 2
2l
X3
C2 ( X 2 ) = 2
3
(2.168)
2l 2
[X
2
2 X3
3
X3
; u3 =
3
X2
2
X 3 X 2 +
3
2l 2
(2.169)
Problem 2.68
Show that, in the infinitesimal strain regime, the rate of change of the infinitesimal strain
&
tensor ( ) is equal to the rate-of-deformation tensor ( D ).
Solution:
Consider the relationship between the rate of change of he Green-Lagrange deformation
&
tensor ( E ) and the rate-of-deformation tensor ( D ):
&
E = F T D F
(2.170)
(2.171)
Problem 2.69
Given the equations of motion
x1 = X 1
2t
x 2 = X 2 + X 1 exp 1
3t
x3 = X 3 + X 1 exp 1
(
(
)
)
(2.172)
Obtain the rate-of-deformation ( D ) and compare with the rate of change of the
&
infinitesimal strain tensor ( ).
Solution:
By definition, the rate-of-deformation tensor ( D ) is the symmetric part of the spatial
velocity gradient, i.e.:
Draft
2 CONTINUUM KINEMATICS
229
1
(l + l T )
r
r
r
and ( x , t ) = sym u (u) sym
2
r
l = xv
D=
(2.173)
By definition, the infinitesimal strain tensor is equal to the symmetric part of the
displacement gradient:
r
& D
(2.174)
= (u) sym
Dt
r r r
The displacement field is given by u = x X . Considering the equations of motion, the
u1 = x1 X 1 = X 1 X 1 = 0
2t
2t
u 2 = x 2 X 2 = X 2 + X 1 exp 1 X 2 = X 1 exp 1
3t
3t
u 3 = x 3 X 3 = X 3 + X 1 exp 1 X 3 = X 1 exp 1
r
r Du
The velocity field is given by v =
. Then, the velocity field components, in material
Dt
(
(
)
)
(
(
)
)
coordinates, are:
V1 = 0
2t
V2 = X 1 (2exp )
3t
V3 = X 1 ( 3exp )
(2.175)
2t
x 2 = X 2 + X 1 (exp 1)
3t
x3 = X 3 + X 1 (exp 1)
inverse
X 1 = x1
2t
X 2 = x 2 x1 (exp 1)
3t
X 3 = x3 x1 (exp 1)
(2.176)
2t
v 2 = 2 x1 exp
3t
v3 = 3x1exp
(2.177)
vi
r
= 2exp 2t
( l ) ij = ( x v ) ij =
x j
3exp 3t
0 0
0 0
0 0
(2.178)
and
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230
0
1
1
2exp 2t
(D) ij = ( l ij + l ji ) =
2
2
3exp 3t
= exp 2t
3 exp 3t
2
exp 2t
0
0
Wij =
1
l ij l ji
2
0 0
0
+ 2exp 2t
0 0
0 0 3exp 3t
T
0 0
0 0
0 0
(2.179)
exp 3t
2
skew
components
= exp 2t
3 exp 3t
2
exp 2t
0
0
exp 3t
2
(2.180)
2t
u 2 = x1 (exp 1)
3t
u 3 = x1 (exp 1)
(2.181)
r
u i
2t
(u)ij = = exp 1
x j
exp 3t 1
(
(
)
)
0 0
0 0
0 0
(2.182)
(2.183)
= ( )ij + ( )ij
0
1
sym r
2t
u ij = exp 1
2
exp 3t 1
(
(
)
)
0 0
0
+ exp 2t 1
0 0
0 0 exp 3t 1
(
(
)
)
0 0
0 0
0 0
0
exp 2t 1 exp 3t 1
1
0
0
= exp 2t 1
= ij
2
3t
0
0
exp 1
(2.184)
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2 CONTINUUM KINEMATICS
( )ij
231
0
(exp 2t 1) (exp 3t 1)0
1
0
0
= (exp 2t 1)
(exp 3t 1)
0
0
(2.185)
exp 2t 1 exp 3t 1
0
D
D 1
( )ij = exp 2t 1
0
0
=
Dt
Dt 2
3t
exp 1
0
0
exp 2t exp 3t
0
0
0
= exp 2t
3 exp 3t
0
0
2
(2.186)
(2.187)
Problem 2.70
Consider a material body in a small deformation regime, which is subjected to the
following displacement field:
u1 = (2 x1 + 7 x 2 ) 10 3
; u 2 = (10 x 2 x1 ) 10 3
; u 3 = x3 10 3
(u)ij
u1
x1
u i u 2
=
=
x j x1
u 3
x1
u 1
x 2
u 2
x 2
u 3
x 2
u1
x 3 2
7
0
u 2
= 1 10 0 10 3
x 3
0
0
1
u 3
x 3
m
m
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232
ij =
skew r
u ij
u j
1 u
= i
2 x j x i
0 4 0
= 4 0 0 10 3
0 0 0
ij =
sym r
u ij
u j
1 u
= i +
x j xi
2
3 0
2
= 3 10 0 10 3
0
0 1
II =
1
[Tr()]2 Tr ( 2 ) ,
2
I = Tr ( ) = (2 10 + 1) 10 3 = 11 10 3
2
3
0 2
3
0 2
3
0
1
2
2
II = [Tr ( )] Tr ( ) = 3 10 0 + 3 10 0 + 3 10 0 10 6 = 1 10 6
2
0
0
1
0
0 1
0
0
1
III = det ( ) = 11 10 9
3 10 3
0
3
10 10 3
0
3 10
=0
3
0
0
1 10
3 + 11 10 3 2 + 11 10 6 11 10 9 = 0
c) To draw the Mohrs circle for strain, (see Appendix A), we need to evaluate the
eigenvalues of . But, if we take a look at the components of we can verify that = 1 is
=0
3
10 10 3
3 10
+ 12 10 + 11 10
1 = 1.0 10 3
=0
2 = 11.0 10 3
Then by restructuring the eigenvalues such that I > II > III , we obtain:
I = 1.0 10 3
II = 1.0 10 3
III = 11.0 10 3
I III
= 6 10 3
2
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2 CONTINUUM KINEMATICS
233
II = 1
III = 11
N (10 3 )
I = 1
0
4 0
Tr ( )
0 4 0 10 3
=
ij =
3
0
0 4
= ij
sph
ij
2
0
3 0 4 0
2 3 0
0 4 0 10 3 = 3 6 0 10 3
= 3 10 0
0
0 0 4
0 4
0
0 0
Problem 2.71
At one point, the displacement gradient is represented by its components as follows:
4 1 4
r
(u) ij = 1 4 2 10 3
4 0
6
(2.188)
Obtain:
a)
b) the components of the spherical and deviatoric parts of the infinitesimal strain tensor;
c)
Draft
234
r 1
r
r
= sym u = (u) + (u) T
2
(2.189)
Then:
4 1 4 4
1 4
8 0 0 4 0 0
1
+ 1 4 0 = 1 0 8 2 = 0 4 1
ij = 1 4 2
2
2
4 0
0 2 12 0 1 6
6 4 2 6
r
The infinitesimal spin tensor = skewu
4 1 4 4
1 4
0 2 8 0 1 4
1
1 4 0 = 1 2 0
2 = 1 0
1
ij = 1 4 2
2
2
8 2 0 4 1 0
4 0
6 4 2 6
[ 10 ]
3
[ 10 ]
3
b) The tensor can be additively decomposed into a spherical and deviatoric part:
(2.190)
= sph + dev
sph
Tr ( )
6
=
1 = 1 = 21
3
3
sph
ij
2 0 0
= 0 2 0
0 0 2
[ 10 ]
3
(2.191)
4 0 0 2 0 0 2 0 0
= 0 4 1 0 2 0 = 0 6 1
0 1 6 0 0 2 0 1 4
[ 10 ]
3
(2.192)
[ 10 ]
3
I = Tr ( ) = 6
I =
I
4 1 4 0 4 0
+
+
= 17
1 6 0 6 0 4
[ 10 ]
3 2
(2.193)
[ 10 ]
3 3
0 1 6
[ 10 ]
3
(2.194)
1
6
Draft
=0
(2.195)
2 CONTINUUM KINEMATICS
235
(4 )(6 ) 1 = 0
2 2 25 = 0
=
2 (2) 2 4 1 (25) 2 4 + 4 25
b b 2 4ac
=
=
= 1 26
2a
2 1
2
(2.196)
= 6.0990
1
2 = 4.099
thus:
1 = 4 10 3 ;
2 = 6.0990 10 3 ;
3 = 4.099 10 3
(2.197)
III = 4.099 10 3
(2.198)
Restructuring we obtain:
I = 6.0990 10 3 ;
II = 4 10 3 ;
Problem 2.72
Obtain the infinitesimal strain tensor and the infinitesimal spin tensor for the following
displacement field:
x12
u i = x1 x 2
0
Solution:
The infinitesimal strain tensor
In the small deformation regime, the strain tensor is given by:
L
L
E ij eij ij =
1 u i u j
+
2 x j
x i
x1
u j u 2
=
x k x1
u 3
x1
u1
x 2
u 2
x 2
u 3
x 2
u1
x 3 2 x
1
u 2
= x2
x 3
u 3 0
x 3
0
0
0
x1
0
L
eij
ij
u j
1 u
= i +
x i
2 x j
2 x
1 1
= x2
2
0
x1
0
0 2 x1
0 + 0
0 0
x2
x1
0
0 2 x1
0 = x 2
0 2
x2
2
x1
0
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236
ij
1 u i u j
2 x j
x i
2 x1
1
= x2
2
0
x1
0
0 2 x1
0 0
0 0
x2
x1
0
0
0
x
0 = 2
2
0 0
x2
2
0
0
Problem 2.73
Figure 2.22 shows the transformation experienced by the square ABCD of unit side.
X 2 , x2
x2
D
C
45
C
B
A = A
X 1 , x1
x1
x1
x1 cos sin 0 x1
= 45
x 2 = sin cos 0 x 2 x 2 =
x
x 0
0
1 x3
3
3
2
2
2
2
0
2
2
2
2
0
0
x1
0 x 2
1 x 3
(2.199)
Draft
2 CONTINUUM KINEMATICS
237
Considering the spatial and material coordinates are superimposed, the equations of
motion are defined by the inverse of the equation in (2.199):
x1
x 2 =
x
3
2
2
2
2
0
0
X 1
0 X 2
1 X 3
2
2
2
2
0
2
2
X1 +
X2
x1 =
2
2
2
2
x2 = 2 X 1 + 2 X 2
For example, the point C in the reference configuration has the material coordinates
X 1C = 1 ,
C
x2 =
C
X 2 =1.
After
the
motion
we
C
x1 =
have
2
2
(1) +
(1) = 2 ,
2
2
2
2
(1) = 0
(1) +
2
2
Displacement field:
u1 = x1 X 1 =
u 2 = x 2 X 2 =
2
2
2
X1
X 2 X1 = X1
1
2
2 X2
2
2
2
2
2
X1 +
X2 X2 =
X1 + X 2
1
2
2
2
2
X 1
u i u 2
=
X j X 1
u 3
X 1
u1
X 2
u 2
X 2
u 3
X 2
u1 2
1
X 3 2
u 2 2
=
X 3 2
u 3
X 3 0
ij = 0
0
1 0
2
0
0
2
2
r
r
1
(u) + (u)T , thus:
2
1 0 0 ij
2
0
0
Note that, for a rigid body motion the strain tensors must be equal to zero, i.e. = 0 (the
infinitesimal strain tensor), E = 0 (the Green-Lagrange strain tensor), e = 0 (the Almansi
strain tensor). Calculating the Green-Lagrange strain tensor components we have:
u j u k u k
1 u
+
E ij = i +
2 X j X i X i X j
Draft
0 0 0
= 0 0 0
0 0 0
238
Problem 2.74
A square of side b turns counterclockwise of 30 . After turning the square is deformed
such that the base maintains its initial length and the height is doubled (see Figure 2.23).
Calculate the deformation gradient, the right Cauchy-Green deformation tensor, and the
Green-Lagrange strain tensor.
Solution:
X 2 , x2
C
x2
D
D
2b
30
x1
B
30
A = A
X 1 , x1
X 2 , x2
D
2b
1 0 0
U ij = 0 2 0
0 0 1
B B
A = A
X 1 , x1
cos sin 0
R ij = sin cos 0
0
0
1
Draft
2 CONTINUUM KINEMATICS
239
0
0
1 0 0 1 0
0
1
0
0
1
D
x 2 = sin 30 2 cos 30 0 X 2 = sin 30 2 cos 30 0 b = 2b cos 30
x D 0
0
1 X 3D 0
0
1 0
0
0
0
1 0
0
1 0 0 1
1
2
1
E ij = 0 4 0 0 1 0 = 0 1.5 0
2
0 0 1 0 0 1 0 0 0
Note that the original space coincides with the principal space. We could also have
obtained the components of C and E by means of its spectral representations:
C=
2a N( a ) N ( a ) , E =
a =1
2 (
2
a
a =1
Draft
240
Draft
3 Stress
3.1 Solved Problems
3.1.1
Problem 3.1
Ignoring the curvature of the Earths surface, the gravitational field can be assumed to be
uniform as shown in Figure 3.1, where g is the acceleration caused by gravity (the gravity
of the Earth). Find the resultant force acting on the body B .
x3
x2
x1
Solution:
All bodies immersed in a force field are subjected to the body force b , and in the special
case presented in Figure 3.1 this is given by:
0
r
b i ( x, t ) = 0
g
m
s2
Hence, the total force acting on the body can be evaluated as follows:
242
Fi =
r
0
b i ( x , t ) d V =
g dV
[m3 ]
kg m } kg m
We can also verify the F unit: [F] = 3 2 dV = 2 = N ( Newton ) .
m s
s
V
Problem 3.2
The Cauchy stress tensor components at a
point P are given by:
8 4 1
ij = 4 3 0.5 Pa
1 0 .5 2
r
a) Calculate the traction vector ( t (n ) ) at P
x3
C (0,0,5)
B (0,2,0)
x1
x2
A(3,0,0)
BA = OA OB = 3e 1 2e 2 + 0e 3
BC = OC OB = 0e 1 2e 2 + 5e 3
Then, the normal vector associated with the plane ABC is obtained by means of the cross
e1
r
n = BC BA = 0
3
e2
e3
5 = 10e 1 + 15e 2 + 6e 3
0
r
Additionally, the unit vector codirectional with n is given by:
v
n 10
15
6
= v = e1 + e 2 + e 3
n
n 19
19
19
2
2
Draft
3 STRESS
t (n)
i
= ij n j
243
t1
8 4 1 10
t = 1 4 3 0.5 15 Pa
2 19
t 3
1 0 .5 2 6
t1
26
t = 1 8 Pa
2
19
t 3
29.5
b) The traction vector t (n) associated with the normal n can be broken down into a
r
r
normal ( N ) and a tangential ( S ) vector as shown in Figure 3.3. Then,
r
r
r
t (n ) = N + S
t (n) = N n + S s
or
r
x3
t (n) = n
r
r
r
t (n ) = N + S
r
N = N n
r
N
r
S
r
t ( n)
e3
e2
e1
= 2 + 2
N
S
x2
x1
N = t ( n ) n = ( n) n = n n = : (n n) = t i( n) ni = ( ij n j )ni = ni ij n j = ij (ni n j )
Thus:
N = t i ni
10
1
= 2 [26 8 29.5] 15 1.54 Pa
19
6
= 2 + 2
N
S
2 = t i( n ) t i( n ) 2
S
N
where
t i( n) t i( n)
26
1
= 2 [26 8 29.5] 8 4.46
19
29.5
Thus,
Draft
244
Problem 3.3
The stress state at a point in the continuum is represented by the components of the
Cauchy stress tensor as:
2 1 0
ij = 1 2 0 Pa
0 0 2
a) Obtain the components of in a new system x1 , x 2 , x3 , where the transformation
matrix is given by:
x3
3 0 4
1
a ij = A = 0 5 0
5
4 0 3
x2
x3
x1
where
e3
a11 = cos 1
e2
3
e
a12 = cos 1
a13 = cos 1
e1
1
e
e2
x2
M
x1
Matrix form
= A A T
Thus,
3 0 4 1 1 0 3 0 4 2 0 .6 0
1
= 2 0 5 0 2 2 0 0 5 0 = 0 .6 2 0 .8
ij
5
4 0 3 0 0 2 4 0 3 0 0 .8 2
Draft
3 STRESS
x3
245
x2
x3
x2
x1
x1
= A A T
x3
33
23
13
13
x3
33
23
23
13
22
12
x2
12
11
23
13
22
x
2
12
12
11
x1
x1
= A T A
Figure 3.4: Basis transformation.
b) The principal invariants of the Cauchy stress tensor can be calculated as follows:
I = Tr ( ) = ii = 11 + 22 + 33
] (
1
1
( Tr ) 2 Tr ( 2 ) = ii jj ij ij
2
2
2
2
= 11 22 + 11 33 + 33 22 12 13 2
23
II =
1
ii jj kk 3 ii jk jk + 2 ij jk ki
6
2
2
11 2 22 13 33 12
23
II =
2 0
0 2
2 0
0 2
2 1
1 2
= 11
III = 6
c) The principal stresses ( i ) and principal directions ( n( i ) ) are obtained by solving the
following set of equations:
Draft
246
1
0 n1 0
2
1
2
0 n 2 = 0
0
0
2 n 3 0
ij ij = 0
3 I 2 + II III = 0
However, if we look at the format of the Cauchy stress tensor components, we can notice
that we already have one solution as in the x3 -direction the tangential components are
equal to zero, then:
(
(
3 = 2 Principal n13) = n (3) = 0 , n 33) = 1
direction
2
= (2 ) 1 = 0
2
1 = 1
2 = 3
Then we can express the Cauchy stress tensor components in the principal space as:
1 0 0
= 0 3 0 Pa
ij
0 0 2
(1)
n (1) 0 n1 + n 2 = 0
0
0
2 1 3
(
(
with n 31) = 0 and by using the condition n11) + n (21) = 1 we obtain:
(
n11) = n (1) =
2
1
2
then n i(1) =
Since is a symmetric tensor, the principal space is formed by an orthogonal basis, so, it
is valid that:
n (1) n ( 2 ) = n ( 3)
n ( 2 ) n ( 3) = n (1)
n ( 3) n (1) = n ( 2)
Thus, the second principal direction can be obtained by the cross product between n ( 3)
e2
0
1
n ( 2 ) = n ( 3) n (1)
e1
= 0
1
e3
1
1
1 =
e1 +
e2
2
2
0
Draft
3 STRESS
247
(
1
0 n12 ) 0
2 3
( 2)
( 2)
n ( 2 ) = 0 n1 + n 2 = 0 n ( 2 ) = n ( 2 )
1
23
0 2 ( 2)
1
2
( 2)
(
n 32 ) 0 n1 n 2 = 0
0
0
2 3
(
(
With n 33) = 0 and using the condition n13) + n (23) = 1 we obtain:
(
n 12 ) = n ( 2 ) =
2
then n i( 2 ) =
1
2
0
0
1 = 1
0
2 = 3
0 =
0
3 = 2
0
2
1
2
1
1
0
2 1 0 2
1
0 1 2 0
2
0 0 2
1
0
2
1
2
0
II = 2
III = 1
Circle 2
Circle 3
1
( II + III ) = 1.5
2
1
(center )C 2 = ( I + III ) = 2.0
2
1
(center )C 3 = ( I + II ) = 2.5
2
(center )C1 =
;
;
;
1
( II III ) = 0.5
2
1
(radius ) R 2 = ( I III ) = 1.0
2
1
(radius ) R3 = ( I II ) = 0.5
2
(radius ) R1 =
Then, we can illustrate the Cauchy stress tensor at P by means of Mohrs circle in stress as
shown in Figure 3.5.
Draft
248
S
S max =
S max = 1
1
( I III ) = 1.0
2
R2
R1
C3
III = 1
C1
R3
II = 2
I = 3 = N max
Indicial notation
sph
dev
ij = ij + ij
= sph + dev
= m1 +
1
dev
= kk ij + ij
3
dev
= m ij + ij
dev
(3.1)
11 + 22 + 33 1 + 2 + 3 1
I
1
6
=
= kk = Tr ( ) = = = 2
3
3
3
3
3 3
2 0 0
= m ij = 2 ij = 0 2 0
0 0 2
11 12 13 m 0
= 12 22 23 0 m
13 23 33 0
0
1 (211 22 33 )
3
1
(2 22
=
12
3
13
0
0
12
11 33 )
23
23
11 22 )
13
1
3
(2 33
Thus,
dev
ij
1
0 0 1 0
2 2
1
=
22
0 = 1 0 0
0
0
2 2 0 0 0
Draft
3 STRESS
249
Now let us remember from Chapter 1 that and dev are coaxial tensors, i.e., they have
the same principal directions, so we can use this information to operate in the principal
space of to obtain the eigenvalues of dev = sph . With that we obtain:
dev
ij
1
=0
m
0
3 0
0
2
0
0
0 1 0 0
0 = 0 1 0
m 0 0 0
0
m
0
II dev = 1
III dev = 0
Traditionally, in engineering, the invariants of the deviatoric stress tensor are represented
by:
J1 = I dev = 0
J 2 = II
dev
J 3 = III dev
1 2
I 3 II
3
1
3
=
2 I 9 I II + 27 III
27
=
x3
33
23
13
13
23
12
22
12
x2
11
x
1
14444444 244444444
4
3
x3
x3
dev
33
23
13
m
13
x2
23
12
dev
22
12
dev
11
x1
x2
x1
sph
dev
Draft
250
f) The octahedral normal and tangential components, (see Appendix A in Chaves (2013)),
can be expressed as:
oct =
N
oct
S
oct
1
(1 + 2 + 3 ) = 1 ii = I = m
3
3
3
1
2
2
2 I 6 II =
=
J2 =
3
3
( ) + ( ) + ( )
dev 2
1
dev 2
2
dev 2
3
oct =
2
2
J2 =
3
3
Problem 3.4
At point P the Cauchy stress tensor components are:
1 2 3
ij = 2 4 6 MPa
3 6 1
Find:
(3.2)
a) the traction vector t related to the plane which is normal to the x1 -axis;
r
b) the traction vector t associated with the plane whose normal is (1,1,2) ;
r
t i(n)
1 2 3 1 1
= 2 4 6 0 = 2
3 6 1 0 3
(3.3)
1
ni =
6
2
(3.4)
thus,
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3 STRESS
t i(n)
251
1 2 3 1
5
1
1 = 1 10
=
2 4 6
6
6
3 6 1 2
1
(3.5)
c)
5
1 2 3 2
2
1
1
2 = 1 10
(n)
n i = 2 t i = 2 4 6
3
3
3
7
3 6 1 1
1
(3.6)
3
6
=0
(3.7)
we obtain:
1 = 10 ; 2 = 0 ; 3 = 4
(3.8)
(1)
2n1 6n 2 + 6n 3 = 0 n i = 6
3n + 6n 9n = 0
5
2
3
1
(3.9)
Similarly, we obtain:
n ( 2)
i
2
1
1 ; n ( 3) = 2
= i
0
3
(3.10)
3
n i(1)
1
= r
=
6
70
n (1)
5
n i( 2 )
2
n i( 2 )
1
1
= r
=
5
n ( 2)
0
n i(3)
1
n ( 3)
1
i
2
= r
=
14
n ( 3)
3
Problem 3.5
r
Show that S = t (n) (1 n n) , where t (n) is the traction vector resulting from
projecting the second-order tensor onto the n -direction, and S is the tangential stress
vector associated with the plane.
Solution 1:
r
r
r
S = t (n) t (n ) n n
r (n) r (n)
r
S = t t n n
r (n)
r
S = t (1 n n)
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252
Solution 2:
We can also solve the problem just using the components of the equation
r
r
S = t (n) [ : (n n)]n :
Si
= t i(n) (n k n l kl ) n i
(n)
(n)
= t i nink t k
(n)
k
= t k ik n i n k t (n)
= t (n) ( ik n i n k )
k
Problem 3.6
The stress state at one point P of the continuous medium is given schematically by:
x3
1
22
4
1
x2
x1
Obtain the value of the component 22 of the Cauchy stress tensor such that there is at
least one plane passing through P in which is free of stress;
Obtain the direction of the plane.
Solution:
r
We seek to find a plane whose direction is n such that t (n ) = 0 . We can relate the Cauchy
stress tensor to the traction vector by means of the equation:
t (n) = n
thus:
(
t1n ) 0 1
(n )
t 2 = 1 22
t (n ) 4 1
3
4 n1 0
1 n 2 = 0
0 n 3 0
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3 STRESS
253
n2 + 4n3 = 0 n3 = 4 n 2
n1 + 22n 2 + n3 = 0
1
4n1 + n2 = 0 n1 = n 2
4
1
1
n2 + 22n 2 n2 = 0
4
4
1
1
+ 22 n 2 = 0
4
4
r r
1
1
1
Then, for n 0 , we have: + 22 = 0 22 = .
1
1
n2 + n2 + n2 = 1
2
4
4
2
6
r
r
Thus, the direction of the normal to the plane, when it meets t (n ) = 0 :
n2 =
2 2
3
n1 = n3 =
1
2
4
ni =
6
1
3.1.2
The
Equilibrium
Equations.
Eigenvectors of the Stress Tensor
Eigenvalues
and
Problem 3.7
The stress field in the medium is represented by:
1
ij = 0
2 x2
0
1
4 x1
2 x2
4 x1
(3.11)
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254
Solution:
The equilibrium equations:
r r
r
x + b = 0
{
(3.12)
ij , j = 0 i
(3.13)
i1,1 + i 2, 2 + i 3,3 = 0 i
(3.14)
(3.15)
r
=0
expanding,
11
= 0; 12, 2 = 12 = 0; 13,3 = 13 = 0
x3
x1
x 2
23
21
22
=
= 0; 22, 2 =
= 0; 23,3 =
=0
x 2
x 2
x 3
= 31 = 0; 32, 2 = 32 = 0; 33,3 = 33 = 0
x3
x 2
x 3
11,1 =
21, 2
31,3
(3.16)
ni =
1
3
1
t (n) = n
(3.18)
1 0 4
ij ( x1 = 1, x 2 = 2, x3 = 3) = 0 1 4
4 4 1
(3.17)
(3.19)
thus,
1 0 4
1
0 1 4 1 1
=
3
4 4 1
1
5
1
5
=
3
9
t i(n)
(3.20)
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3 STRESS
255
1
r (n)
= 1 [5 5 9] 1 1 = 1 (5 + 5 + 9) = 19
N = t n
3
3 3
3
1
(3.21)
(3.22)
5
r (n ) r ( n )
1
t t =
[5 5 9] 5 1 = 131
3
3
3
9
(3.23)
thus
2
32
19 131
2
S = +
=
3
9
3
(3.24)
Problem 3.8
Given a body in equilibrium in which the Cauchy stress tensor field is represented by its
components:
3
2
11 = 6 x1 + x 2
2
; 12 = x 3
3
22 = 12 x1 + 60
3
3
33 = 18 x 2 + 6 x3
; 23 = x 2
; 31 = x12
Obtain the body force vector (per unit volume) at the point ( x1 = 2; x 2 = 4; x3 = 2 ).
Solution:
The equilibrium equations:
r r
r
x + b = 0
(3.25)
11 12 13
+
+
+ b1 = 0 b1 = 11 12 13
x 2
x3
x1
x 2
x3
x1
21 22 23
+
+
+ b 2 = 0 b 2 = 21 22 23
x 2
x3
x1
x 2
x3
x1
31 32 33
31 32 33
x + x + x + b 3 = 0 b 3 = x x x
2
3
1
2
3
1
(3.26)
b1 = 18 x12 0 0
b 2 = 0 0 0
b = 2 x 1 18 x 2
1
2
3
18 x12
0
b i =
2 x 1 18 x 2
1
2
(3.27)
77
Draft
(3.28)
256
Problem 3.9
The Cauchy stress tensor field is represented by its components as follows:
x12 x 2
2
ij = k (a 2 x 2 ) x1
1 3
( x 2 3a 2 x 2 )
0
3
2
0
2ax3
2
(a 2 x 2 ) x1
(3.29)
Obtain the body force field b (per unit mass) required for the stress field is in balance.
Solution:
11 12 13
+
+
+ b1 = 0 b1 = 2 x1 x 2 k + 2 x1 x 2 k = 0
x 2
x3
x1
k
21 22 23
2
2
+
+
+ b 2 = 0 b 2 = k (a 2 x 2 ) (3 x 2 3a 2 ) = 0
3
x 2
x 3
x1
31 32 33
x + x + x + b 3 = 0 b 3 = 4kax3
2
3
1
(3.30)
Then:
0
4kax3
0
bi =
1
Problem 3.10
(3.31)
Let us assume that the body force is b = ge 3 , where g is a constant and consider the
Cauchy stress tensor field components:
x2
ij = x3
x3
0
x2
0
x2
(3.32)
Find p such that satisfies the equilibrium equations. Consider that is a constant and that
the mass density field is homogeneous, i.e. it is independent of the vector position.
Solution:
The equilibrium equations:
r r
r
x + b = 0
11 12 13
+
+
+ b1 = 0
x 2
x 3
x1
21 22 23
+
+
+ b 2 = 0
x 2
x 3
x1
31 32 33
x + x + x + b 3 = 0
2
3
1
Castilla-La Mancha University
Ciudad Real - Spain
(3.33)
(3.34)
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3 STRESS
257
0 + 0 + 0 + b = 0 b = 0
1
1
0 + 0 + 0 + b 2 = 0 b 2 = 0
0 + 33 + b 3 = 0
x3
33 (p )
p
= b 3
=
=
x 3
x3
x3
(3.35)
g
p
=1 +
x3
dp = 1 +
dx
3
(3.36)
g
g
p = 1 +
x
x 3 p = 1 +
Verification:
g
+ 1 +
g = + + g g = 0
(3.37)
Problem 3.11
Show that for the following Cauchy stress field:
2
2
11 = x 2 + ( x12 x 2 ) ; 12 = 2x1 x 2
;
2
2
2
2
2
22 = x1 + ( x 2 x1 ) ; 33 = ( x1 + x 2 )
23 = 13 = 0
ij , j = 0 i
(i , j = 1,2,3)
i1,1 + i 2, 2 + i 3, 3 = 0 i
i = 1 11,1 + 12 , 2 + 13,3 = 0
i = 2 21,1 + 22 , 2 + 23, 3 = 0
i = 3 31,1 + 32 , 2 + 33,3 = 0
11 12 13
+
=0
+
x 2
x 3
x1
22 23
+
=0
21 +
x 3
x 2
x1
31 32 33
=0
+
+
x1
x 3
x 2
thus:
11,1 + 12 , 2 + 31,3 = 2 x1 2x1 = 0
12,1 + 22 , 2 + 23,3 = 2 x 2 + 2x 2 = 0
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258
Problem 3.12
Consider a body in equilibrium in which the Cauchy stress field is:
x1 + x 2
r
ij ( x ) = 12
0
12
x1 2 x 2
0
0
0
x2
ij , j = 0 i
(i , j = 1,2,3)
i1,1 + i 2, 2 + i 3, 3 = 0 i
thus
11 12 13
+
= 1 + 12 + 0 = 0
+
x 2
x 2
x 3
x1
21 22 23 12
2+0=0
=
+
+
x1
x 2
x 3
x1
31 32 33
=0+0+0=0
+
+
x1
x 3
x 2
Now considering that for the plane x1 = 1 , t (n) = (1 + x 2 )e1 + (5 x 2 )e 2 holds, we have:
12
1 + x 2
ij ( x1 = 1, x 2 ) = 12 1 2 x 2
0
0
(n)
12
1 + x 2
= ij ( x1 = 1, x 2 )n j = 12 1 2 x 2
0
0
0
0
x2
0 1 1 + x 2
0 0 = 5 x 2
x 2 0 0
(3.38)
t (n) = ij ( x1 = 1, x 2 ) n j
1 + x2
12 ( x1 = 1, x 2 ) 0 1
1 + x2
1 + x 2
0 = ( x = 1, x ) = 5 x
( x = 1, x )
12 1
1 2 x2
0 12 1
2
2
2
x 2 0
0
0
0
12
= 2x1
12 ( x1 , x 2 ) = 2 x1 + C ( x 2 )
Using the information given in (3.38) we can obtain the constant of integration:
12 ( x1 = 1, x 2 ) = 5 x 2 = 2 + C ( x 2 )
Castilla-La Mancha University
Ciudad Real - Spain
Draft
C ( x2 ) = 3 x2
By: Eduardo W. V. Chaves (2013)
3 STRESS
259
thus:
12 ( x1 , x 2 ) = 2 x1 x 2 + 3
Problem 3.13
Given a continuum where the stress state is known at one point and is represented by the
Cauchy stress tensor components:
1 1 0
ij = 1 1 0 Pa
0 0 2
(3.39)
To obtain the principal stresses i = i and principal directions n( i ) we must solve the
following system of equations:
1
1
1
1
0
0
0 n1 0
0 n 2 = 0
2 n 3 0
(3.40)
ij ij = 0
But if we look at the format of the matrix (3.39), we can note that we have one solution,
since the tangential components in the x3 -direction are zero, then:
direction
(
(
1 = 2 n11) = n (1) = 0 , n31) = 1
2
We can easily verify that the roots of the above equations are:
2 = 2 and 3 = 0
0 0 0
(
0
0
2 2 n 32 ) 0
Draft
(
n 12 ) + n ( 2 ) = 0
2
( 2)
( 2)
n1 n 2 = 0
260
(
(
Solving the system we obtain n 32) = 0 , n12) = n (22) and by using the restriction
2
(
(
n12 ) + n ( 2 ) = 1 we obtain: n12 ) = n ( 2 ) =
2
2
. n ( 2) =
( 3)
( 3)
n1 + n 2 = 0
(3)
2n 3 = 0
(
1
0 n13) 0
1 0
( 3)
1
1 0
0 n 2 = 0
(
0
0
2 0 n 33) 0
(
(
Solving the system we obtain n (33) = 0 , n13) = n (23) and using the restriction n13) + n (23) = 1 ,
(
we obtain: n13) =
1
1
1
, n (23) =
. n ( 3) =
2
2
2
1
2
0 .
As we have seen, the eigenvectors form a matrix transformation ( A ) between the two
systems, i.e. = A A T , thus:
0
0
1 = 2
0
0 =
2 = 2
0
0
3 = 0
1
2
1
2
1
2
1
Draft
0
1
1 1 0
1
0 1 1 0
2
0 0 2 1
0
1
2
1
3 STRESS
261
Problem 3.14
A prismatic dam is subjected to water pressure. The dam has thickness equal to b and
height equal to h , (see Figure 3.7). Obtain the restrictions of the Cauchy stress tensor
Cartesian components on the faces BC , OB and AC .
x2
a
a g (h x 2 )
h
x1
Figure 3.7
Solution:
The face BC has normal vector n i( BC ) = [0 1 0] . Considering that this face has no
traction vector, we conclude that:
t i( BC )
= 0 i = ij n j
11
21
31
12
22
32
13 0 12 0
23 1 = 22 = 0
33 0 32 0
The face OB has as normal vector n i( BC ) = [ 1 0 0] . Considering that in this face the
traction vector components are t i(OB ) = [ a g (h x 2 ) 0 0] , we conclude that:
t i(OB )
a g ( h x 2 )
= n
0
=
ij j
11
21
31
12
22
32
13 1 11 a g (h x 2 )
0
23 0 = 21 =
0
33 0 31
The face AC has normal vector n i( BC ) = [1 0 0] . Considering that in this face there is no
traction vector, we conclude that:
t i( AC )
= 0 i = ij n j
11
21
31
12
22
32
13 1 11 0
23 0 = 21 = 0
33 0 31 0
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262
3.1.3
Problem 3.15
Prove that the following relationship are valid:
P = J dev F T + J m F T
S = JF 1 dev F T + J m C 1
where P and S are the first and second Piola-Kirchhoff stress tensors, respectively, C is
the right Cauchy-Green deformation tensor, F is the deformation gradient, J is the
Jacobian determinant, and the scalar m is the mean normal Cauchy tress. Also prove that
the following relationships are true:
P : F = S : C = 3J m
Solution:
First of all we prove that P : F = S : C :
P:F
= Pij Fij
= ( Fik S kj ) Fij = S kj ( Fik Fij )
= S kj ( F T F ) kj = S kj (C ) kj
= S :C
S ij = JFik 1 kp F jp1
S = J F 1 F T
= JF 1 ( dev + m 1) F T
= JF 1 dev F T + JF 1 m 1 F T
= JF 1 dev F T + J m ( F T F ) 1
= JF 1 dev F T + J m C 1
Then by applying the double scalar product between S and C we can obtain:
S :C
= ( JF 1 dev F T + J m C 1 ) : C
= JF 1 dev F T : C + J m C 1 : C
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3 STRESS
263
JF 1 dev F T : C
= ( JF 1 dev F T ) : {
C
( JF 1 dev F T ) ij ( F T F ) ij
F T F
= J qp qk dev
pk
= J dev pk = J dev
pk
kk
= J dev4
123
4 :1
=0
Tr ( dev ) =0
Thus:
S : C = J m C 1 : C = J m Tr (C 1 C ) = J m Tr (1) = 3 J m
= ( J dev F T ) ij ( F ) ij
dev
dev
= J ik F jk1 Fij = J ik ik
= J dev4 = 0
123
4 :1
Tr ( dev )=0
Thus,
P : F = J m F T : F = J m Tr ( F T F T ) = J m Tr (1) = 3 J m
3.1.4
Problem 3.16
Obtain the maximum shear stress at a point in which the stress state is given by:
x2
30 MPa
20 MPa
x1
x3
Figure 3.8
Draft
264
Solution:
max (MPa)
20
30
N (MPa)
Figure 3.9
30 0
max =
(3.41)
= 15 MPa
Problem 3.17
Consider the stress state at a point represented by the infinitesimal element shown in
Figure 3.10.
a) Draw the Mohrs circle;
x2
20 MPa
5 MPa
x1
10 MPa
x3
Figure 3.10
Solution:
S
max = 15
N max = 10MPa
S max =
20
10
Draft
10 (20)
= 15MPa
2
N (MPa)
3 STRESS
265
Problem 3.18
Determine for which values of * are possible
the following stress state at the point P :
Case a) N = 4
=2
Case b) N = 4
=1
Case c) N = 7
=0
P
2
Figure 3.11
Solution
The pair ( N ; ) is feasible if it belongs to the gray zone of the Mohrs circle including the
circumferences, (see Figure 3.12).
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266
Case a)
Case b)
Case c)
1
6
Case a): In this case the pair ( N = 4; = 2) belongs to the circumference formed by the
principal stresses 2 and 6 , thus * can assume any value, (see Figure 3.14).
Case a)
2
1
(3.42)
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3 STRESS
267
Limit cases
( 4,1)
( 4,1)
1
* ( x ) 6
* ( 2)
* (1) 6
( *1) + 2)
(
2
(3.43)
y = 1; y C = 0; R =
( *1) 2)
(
2
( * 2)
( * + 2)
4 (1)
+ (1 0 )2 = (1)
2
2
(3.44)
*1) = 4.5
(
*2 )
(
, we have: x = 4; xC =
(6 + *2 ) )
(
2
; y = 1; y C = 0; R =
(6 *2 ) )
(
2
(6 *2 ) )
(6 + *2 ) )
(
(
4
+ (1 0)2 =
2
2
(3.45)
*2 ) = 3.5
(
thus:
(3.46)
3.5 * 4.5
Case c) In this case the only possible solution is that N is a principal stress, then
* = 7
Draft
(3.47)
268
* = 7
Problem 3.19
Obtain the maximum normal and tangential stress and draw the corresponding Mohrs
circle in stress for the following stress states:
a)
0
ij = 0
0 0 0
(3.48)
2 0 0
ij = 0
0
0
0
(3.49)
b)
Solution:
a) The principal values. If we check the format of the Cauchy stress tensor
components, we can observe that the value (3) = 0 is already an eigenvalue. Then,
to obtain the remaining eigenvalues, it is sufficient to solve:
= ( ) 2 2 = 0 = = 0
(3.50)
(1) = 0
( ) 2 2 = 0 2 2 + 2 2 = 0 (2 + ) = 0
( 2) = 2
(3.51)
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3 STRESS
269
N max = 2
max =
max =
Figure 3.17:
b)
Figure 3.18.
N max =
max =
(3.52)
(2) 3
=
2
2
Problem 3.20
Make the representation of the Mohrs circle for the following cases:
1) Unidimensional case (traction);
2)Unidimensional case (compression);
3) Bidimensional case (traction)
4) Triaxial case
Draft
270
x
I
I
0
0 0
0 0
0 0
2) Uniaxial compression
x
0
0
0
II
0
0
0
0
II
3) Biaxial case
II
I
II
I
0
0
II
0
0
0
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3 STRESS
271
4) Triaxial case
III
I
0
II
0
II
0
0
0
III
III
II
0 0 0
3.1.5
Problem 3.21
The Cauchy stress tensor components at point P are given by:
5 6 7
ij = 6 8 9 GPa
7 9 2
(3.53)
Obtain:
a) the mean stress;
b) The deviatoric and volumetric part of the tensor .
Solution:
The mean stress
m =
kk 5 + 8 + 2
=
=5
3
3
(3.54)
b)
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272
sph
ij
m
= 0
0
m
0
0 5 0 0
0 = 0 5 0
m 0 0 5
sph
dev
ij = ij + ij
dev
ij
dev
sph
ij = ij ij
(3.55)
0 6 7
= 6 3 9
7 9 3
Problem 3.22
Consider the Cauchy stress tensor components, in the Cartesian base (e1 , e 2 , e3 ) :
5 3 2
ij = 3 1 0
2 0 3
(3.56)
x' 2
x '3
x1
3
5
4
5
x2
3
5
x3
4
5
where the system x' is constituted by the basis (e'1 , e' 2 , e' 3 ) .
r
a) Obtain the traction vector t ( e'2 ) associated with the plane whose normal is e' 2 . Express
the result in the Cartesian system (e'1 , e' 2 , e' 3 ) according to the format:
r
3
t (e'2 ) = ( )e1 + ( )e 2 + ( )e
(3.57)
b) Obtain the spherical and deviatoric parts of the Cauchy stress tensor.
Solution:
a) As defined in the textbook (see Chaves (2013)), the first row of the transformation
matrix is formed by the direction cosines between the x'1 -axis with x1 , x2 and x3 , thus:
3 0 4
1
A = 0 5 0
5
4 0 3
(3.58)
and the transformation law for the second-order tensor components is:
' = A A T
Draft
(3.59)
3 STRESS
273
thus:
3
3
5 0 4 5 3 2 5
5
= 0 1 0 3 1 0 0
ij
4 0 3 2 0 3 4
5
5
5
t i( e' 2 )
9 9 2
1
1 0 = 9 5 12
5
2 12 31
0 3
5
0
9
1
= 5
5
12
(3.60)
(3.61)
r
9
12
t (e'2 ) = e1 + (1)e 2 + e
3
5
since:
11
21
31
( e' )
13 t 1 1
( e' )
= t 2 1
23
( e' )
t 3 1
33
12
22
32
t1
( e' 2 )
( e' 2 )
t2
( e' )
t3 2
t1
( e'3 )
( e' 3 )
t2
( e' )
t3 3
(3.62)
b)
sph
dev
ij = ij + ij
(3.63)
I
dev
ij + ij
3
I = 5 +1+ 3 = 9
(3.64)
3 0 0
= 0 3 0
0 0 3
(3.65)
sph
ij
dev
sph
ij = ij ij
3
2 2 3 2
5 3
3
1 3
0 = 3 2 0
=
2
0
3 3 2 0 0
(3.66)
Problem 3.23
The stress state in an continuous medium is given by the Cauchy stress tensor Cartesian
components:
0
ij = Cx 3
Cx 3
0
Cx1
0
Cx1
2
3
1
3
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274
Cx 3
0
Cx1
(3.67)
0
Cx1
(3.68)
i = 1 0 + 0 + 0 = 0
i1 i 2 i 3
=
=
+
+
i = 2 0 + 0 + 0 = 0
x j
x1
x 2
x3
i = 3 0 + 0 + 0 = 0
ij
(3.69)
(n)
t (n) = n ; t i = ij n j
0
ij ( x1 = 4; x 2 = 4; x3 = 7) = Cx3
Cx3
0
Cx1
0 0
Cx1 = 7C
0 0
(3.70)
7C
0
4C
0
4C
2
1
nj = 2
3
1
(3.71)
(3.72)
thus, we obtain:
0
r (n)
t i = ij n j = 7C
7C
0
4C
0 2
14C
1 2 = 1 18C
4C
3
3
8C
0 1
(3.73)
c)
0
0 7
7 0 4
ij = C
0 4 0
(3.74)
0 4 0 0 0
C
0
0 7
C 7 0 4 C 0
0 4 0
C
0
0 =0
(3.75)
Draft
3 STRESS
0
7
7 4 = C 3
C
0 4
3 + 16 + 49 = 0
0
7
7 4 = 0
0 4
2 + 65 = 0
275
(3.76)
(3.77)
= 65
C 65
III = C 65
I = C 65
Problem 3.24
The stress state at a point of the body is given by the Cauchy stress tensor components as
follows:
x3
t ( e 3 ) = 8e1
t ( e 2 ) = 6e1
e3
e1
e2
x2
t ( e 1 ) = 6 e 2 + 8e 3
x1
Figure 3.19:
a) Obtain the deviatoric part of the stress tensor;
b) Obtain the principal stresses ( I , II , III ) and the principal directions;
c) Draw the Mohrs circle in stress;
d) Obtain the maximum shear stress at the point;
Draft
276
e) Find the traction vector associated with the plane whose normal vector is
6
n = 0.75e1 + 0.25e 2
e3 ;
4
f) Obtain the normal and tangential stress vector associated with the plane described in
paragraph (e).
Solution:
According to Figure 3.19 we can obtain the Cauchy stress tensor components as follows:
0 6 8
ij = 6 0 0
8 0 0
a)
sph
dev
ij = ij + ij
sph
The spherical part is ij =
I
ij = 0 ij since I = 0 . Then, the deviatoric part is given by:
3
dev
ij
sph
ij
0 6 8
ij = 6 0 0
8 0 0
8
0 =0
3 + 100 = 0
2 + 100 = 0
eigenvector
2 = 10 n i( 2 ) = [ 0.707 0.424 0.566]
eigenvector
3 = 10 n (3) = [0.707 0.424 0.566]
i
I = 10 , II = 0 , III = 10
III = 10
II = 0
Draft
I = 10
3 STRESS
277
d) We can directly obtain the maximum shear stress by means of the Mohrs circle:
max =
I III
= 10
2
e) Considering t i (n) = ij n j , we can obtain the traction vector associated with the plane whose
6
t 2 = 6 0 0 0.25 4.5
t (n) 8 0 0
6
3
4
f)
r
t (n)
r
S
r
N
r
N
0.75
(n )
6
4
obtained as follows:
r
r
r
S = t (n) N
41.808713 = 6.465966
r
NOTE: We could also have used the equation S
r
module of S .
Draft
r r
r
= t (n) t (n) N
to obtain the
278
Problem 3.25
The Cauchy stress tensor field of a continuous medium is represented by:
3 x1
r
ij ( x ) = 21
31
2
5x2
3x 2
32
2 x3
0
a) Obtain the body force (per unit volume) to ensure the balance of the continuum.
b) For a particular point ( x1 = 1, x 2 = 1, x3 = 0 ):
b.1) Draw the Mohrs circle. Obtain the maximum normal and tangential stress
component.
b.2) Obtain the traction vector associated with the plane whose normal is
1
ni =
3
1
3
2
5x2
3x 2
2 x3
2 x3
0
+ 12, 2 + 13,3 = b1
3 + 10 x 2 + 0 = b1
r r components 11,1
r
x + b = 0 21,1 + 22, 2 + 23,3 = b1 0 + 3 + 2 = b 2
0 + 0 + 0 = b
(3.78)
0 0 0
where we can verify that 3 = 0 is one principal value. For the other eigenvalues, it is
sufficient to solve:
3
5
=0
5
3
(3 ) = (5) 2
3 = 5
1 = 8
2 = 2
Draft
3 STRESS
279
II = 0
III = 2
I = 8
By means of the Mohrs circle we can obtain the maximum shear stress max = 5 and the
maximum normal stress N max = I = 10 .
e) Considering that t i (n) = ij n j , we can obtain the traction vector associated with the plane
1
1
1
e1 +
e2 +
e3 :
3
3
3
t 1 (n)
3 5 0 1
8
(n) 1
1 = 1 8
5 3 0
t 2 =
3
3
t (n)
0 0 0 1
6
(n)
ni =
1
3
1
[8 8 0] 1 = 16
3
3
1
r r
r
= t (n) t (n) N
, where
8
r (n) r (n)
1 1
(n) (n)
[8 8 0] 8 = 128 . Then:
= t t = ti ti =
3
3 3
0
r
S
r r
r
= t (n) t (n) N
128 16
128
=
3 3
9
S =
128
3
Problem 3.26
The stress state at one point of the body is given by means of the spherical and deviatoric
part of the Cauchy stress tensor as follows:
sph
ij
1 0 0
= 0 1 0
0 0 1
dev
ij
0 6 8
= 6 0 0
8 0 0
Draft
280
Solution:
ij =
a)
sph
ij
dev
ij
1 0 0 0 6 8 1 6 8
= 0 1 0 + 6 0 0 = 6 1 0
0 0 1 8 0 0 8 0 1
dev
In Problem 3.24 we have obtained the principal values of ij whose values are the same
as for the proposed problem. As the tensor and its deviatoric part have the same principal
directions, i.e. they are coaxial, we can automatically obtain the principal stresses:
=
ij
sph
ij
dev
ij
0 9 0 0
1 0 0 10 0
0 1 0 + 0 0
=
0 = 0 1 0
0 0 1 0 0 10 0 0 11
The principal directions are the same as those provided in Problem 3.24.
d) Mohrs circle in stress
S
S
max = 10
+
dev = 0
II
dev = 10
III
dev = 10
I
dev
N
I = II = III = 1
Deviatoric part
Spherical part
144444444444444 2444444444444444
4
3
S
max = 10
III = 9
II = 1
Draft
I = 11
3 STRESS
281
Note that the spherical part contribution deviates (translate) the Mohrs circle of the
deviatoric part according the N -axis, and does not alter the value of the maximum shear
stress.
Problem 3.27
At one point P in the continuum medium, The Cauchy stress tensor is represented by
its Cartesian components as follows:
1 1 0
ij = 1 1 0 MPa ,
0 0 2
d)
i.) Find the traction vector associated with the plane whose normal vector is
r
n = 1.0e1 + 1.0e 2 + 0e 3 ;
ii.) Obtain the normal and tangential stress on the plane.
=
ij
sph
ij
2 0 0
1 0 0
1 0 0
0 2 0 4 0 1 0 = 2 0 1 0
=
3
3
0 0 0
0 0 1
0 0 2
Draft
282
max = 1
N
III = 1.333
I , II = 0.667
I = II = III = 1.333
Deviatoric part
Spherical part
144444444444444 2444444444444444
4
3
S
max = 1
III = 0
I , II = 2
d) The traction vector is obtained by t (n) = n , we need to normalize the normal vector
r
n
1
1
e1 +
e 2 + 0e 3 . Thus:
to the plane, i.e. n = r =
n
2
2
(
t 1n) 1 1 0
1
2
(n)
1 1 = 1 2
t 2 = 1 1 0
2
t ( n ) 0 0 2 2 0
0
3
Problem 3.28
The Cauchy stress tensor components at one point are:
0
0
29
0 26 6 Pa
ij =
0
6
9
Decompose the stress tensor in a spherical and a deviatoric part, and obtain the principal
stresses and principal directions of the deviatoric part.
Solution:
Consider the additive decomposition of the stress tensor into a spherical and deviatoric
part:
Castilla-La Mancha University
Ciudad Real - Spain
Draft
3 STRESS
283
dev
sph
ij = ij + ij
11 m
= 12
13
12
22 m
23
13
23
33
( 29 26 + 9)
1
ii =
=4
3
3
thus:
dev
ij
0
0 25
0
0
29 4
0
= 0 30 6 Pa
6
=
26 4
0
6
9 4 0
6
5
sph
ij
4 0 0
= 0 4 0 Pa
0 0 4
dev
ij
sph
ij
0
0 4 0 0 29
0
0
25
0 30 6 + 0 4 0 = 0 26 6 Pa
=
0
6
5 0 0 4 0
6
9
To obtain the eigenvalues we solve the characteristic determinant of the deviatoric part:
dev
ij ij = 0 3 J 2 J 3 = 0
By solving the above cubic equation we obtain the following principal values:
dev
1 = 25 Pa
dev
2 = 6 Pa
dev = 31Pa
3
Problem 3.29
Decompose the Cauchy stress tensor:
12
ij = 21
31
4
9
32
0
2 MPa
Draft
284
0
12 4
4 9 2 MPa
ij =
0 2 3
I 12 + 9 + 3 24
=
=
= 8.
3
3
3
8 0 0
= 0 8 0
0 0 8
dev
ij
= ij
sph
ij
0 8 0 0 4 4
0
12 4
0 8 0 = 4 1 2
4
=
9 2
0 2 3 0 0 8 0 2 5
II dev =
2 5
0 5
4 4
4 1
= 41 = J 2
) (
1
1 2
I 3 II = 24 2 3 151 = 41
3
3
Problem 3.30
The stress state at one point is represented by the Cauchy stress tensor components:
a b
ij = a c
b c
where a , b and c are constants and is the value of stress. Determine the constants a ,
b and c such that the traction vector is zero on the octahedral plane.
Solution:
1
3
[1
(
t 1n) a b
1
+ a + b 0 a + b = 1
(n)
1 1 = 1 a + + c = 0 a + c = 1
t 2 = a c
t (n) b c 3 1
b + c + 0 b + c = 1
1
1
1
, c=
, a= .
2
2
2
Problem 3.31
At one point P in the continuous medium the Cauchy stress tensor is represented by its
Cartesian components as follows:
Draft
3 STRESS
57
ij = 21
31
a)
b)
c)
d)
0
50
32
285
24
0 MPa ,
43
Solution:
Considering the symmetry of the Cauchy stress tensor we obtain:
57 0 24
ij = 0 50 0 MPa
24 0 43
Note that the stress 22 = 50 is already a principal stress and is associated with the principal
1 = 25
2 100 + 1875 = 0
3 = 75
3 = 75
max =
max = 25
III = 25
II = 50
Draft
75 25
= 25
2
I = 75 = N max
286
d) The Haigh-Westergaard space is formed by principal stress directions, then the traction
r
vector in this space is given by t (n) = n , whose normal vector to the octahedral plane is
1
given by n i =
1
:
3
t (n ) = n
(
t 1n)
(n)
t 2 =
t ( n )
3
components
75 0 0
1
75
0 50 0 1 1 = 1 50
3
3
0 0 25
1
25
8750
1
75 2 + 50 2 + 25 2 =
3
3
r
oct
r
t (n) = 54.00617
1
=
[75 50 25] 1 = 50
3 3
1
I
75 + 50 + 25
= m =
= 50
3
3
The tangential octahedral stress can be obtained by means of the Pythagorean theorem:
oct =
r
t (n )
oct
8750
50 2 = 20.4124
3
1
1
2
2 150 2 6 6875 = 20.41241
2 I 6 II =
3
3
50 0 0
Tr ( )
=
ij = m ij = 0 50 0
3
0 0 50
sph
ij
57 0 24 50 0 0 7 0 24
= 0 50 0 0 50 0 = 0 0 0
24 0 43 0 0 50 24 0 7
= ij
f) Considering that the tensor and its deviatoric part are coaxial tensors, we can use the
principal space to obtain the deviatoric part:
dev
ij
=
ij
sph
ij
0
75 0 0 50 0 0 25 0
0 50 0 0 50 0 = 0 0
=
0
0 0 25 0 0 50 0 0 25
Draft
3 STRESS
3.1.6
287
Problem 3.32
Consider the following stress state:
5
4
2
y
6
x
Figure 3.20:
Obtain the state of plane stress at the point ij .
Solution:
In the state of plane stress ij (i, j = 1,2) we need two planes to define the stress state at the
point:
x
ij =
xy
xy
y
(3.79)
x = 4
xy = 2
xy = 2
y
y = 6
x
Figure 3.21:
Castilla-La Mancha University
Ciudad Real - Spain
Draft
288
Then:
4 2
ij =
2 6
(3.80)
Problem 3.33
Consider a composite material, which is made up of matrix and fiber along direction of
45 such as shows in Figure 3.22. This composite material can break if the shear stress
along the fiber exceeds the value 3.8 10 6 Pa ( N / m 2 ) .
For the normal stress x = 2.8 10 6 Pa , obtain the maximum value of y for which the
material does not break.
y
45
45
x y
sin 2 + xy cos 2
2
2.8 10 6 y
=
sin( 90 ) = 3.8 10 6 Pa
2
y 4.8 10 6 Pa (compression)
Draft
3 STRESS
289
y
b
80 Pa
45
x
60
60 Pa
a
b
Figure 3.23: Stress state at one point, according to the planes a and b .
Solution:
To obtain the stress state at a point in the two dimensional case, we need to determine x ,
y , xy , as indicated in Figure 3.24.
xy
80 Pa
45
xy
xy
80 Pa
x
x
60
45
xy
60
xy
60 Pa
60 Pa
b
a)
b)
Draft
290
x ( ) N =
xy S ( ) =
x + y
2
x y
x y
2
cos 2 + xy sin 2
sin 2 xy cos 2
51.962 + y
2
51 .962 y
2
51 .962 y
2
cos( 90 ) + 30 sin( 90 ) = 80 Pa
sin( 90 ) 30 cos( 90 )
(1, 2 )
x + y
2
x y
+ 2
xy
51.962 + 48 .038
51.962 48.038
=
2
2
= 80.1Pa
+ 30 2 1
2 = 19.9 Pa
Draft
51.962
30
=0
30
48.038
3 STRESS
291
Problem 3.35
Given a stress state x = 1Pa , xy = 4 Pa and y = 2 Pa . Draw a graph of angle vs.
stresses ( x , y , xy ), where is the rotation angle of the coordinate system (see Figure
3.25).
y
y = 2 Pa
xy = 4 Pa
xy = 4 Pa
x
x = 1Pa
xy
y
x + y
xy =
y =
2
x y
2
x + y
2
x y
2
cos 2 + xy sin 2
sin 2 + xy cos 2
y x
2
cos 2 xy sin 2
We can calculate the angle corresponding to the principal direction by means of the
equation:
tan 2 =
2 xy
x y
2 ( 4 )
= 8 ( = 41.437 )
1 2
x + y
2
x y
+ 2
xy
1 = 5.5311P
2 = 2.5311Pa
Considering the transformation law, we can obtain the values of x , y , xy for different
values of . Making vary from 0 to 360 we can represent the stresses x , y , xy in
function of the angle, (see Figure 3.26). We can observe that when = 41 .437 we have a
principal direction, then the tangent stress is zero ( xy = 0 ) and the principal stresses are
I = 5.5311Pa and II = 2.5311Pa .
Draft
292
x
1
= 41.437
Stresses
= 131.437
1 = 5.5311
xy
x
0
0
50
100
-2
45
xy
-4
150
200
250
350
2 = 2.5311
300
= 86.437
-6
max = 4.0311
m11 = 11 x3 dx3
t
2
t
2
m12 = 12 x 3 dx3
t
2
t
2
m 22 = 22 x 3 dx3
t
2
Obtain the component transformation law of mij (i, j = 1,2) to a new system x1 x 2 x 3
Draft
3 STRESS
293
x3 = x3
x2
x3 =
t
2
x2
x3 =
t
2
x1
x1
Figure 3.27.
Solution:
Due to the symmetry of ij = ji , we can conclude that m12 = m21 . The transformation
0
0
1
cos sin
A=
sin cos
2D
m11
{m } = m22 =
m
12
t
2
11
22 x3 dx3 =
12
t
2
t
2
11
22 x3 dx3 =
12
t
2
t
2
t
2
11
[M] 22 x3dx3 = [M]
12
t
2
11
22 x3 dx3
12
t
2
m11
m11
{m } = m 22 = [M]m 22 = [M]{m}
m
m
12
12
(3.81)
where [M] is the transformation matrix for a second-order tensor when it is in the Voigt
notation, (see Problem 1.95), and is given by:
a11 2
[M] = a 21 2
a a
21 11
a12
a 22
a 22 a12
cos 2
sin 2
2 cos sin
2
2
2 sin cos
2a 21 a 22
cos
= sin
a11 a 22 + a12 a 21 sin cos cos sin cos 2 sin 2
2a11 a12
Draft
294
a11 2
[N ] = a 212
2a a
21 11
a12
a 22
2a 22 a12
cos 2
sin 2
cos sin
2
2
sin cos
a 21 a 22
cos
= sin
a11 a 22 + a12 a 21 2 sin cos 2 cos sin cos 2 sin 2
a11 a12
The same result (3.81) could have been obtained by consider mij as a second-order tensor
in two dimensional case (2D), and by means of the transformation law of a second-order
tensor we obtain:
mij = a ik a jl m kl
m
11
m12
(i, j = 1,2)
or
Draft
m = Am A T
(3.82)
4 The Fundamental
Equations of Continuum
Mechanics
4.1 Solved Problems
Problem 4.1
Prove that Reynolds transport theorem is valid in the following equation:
D
D
dV =
JdV 0
Dt V
Dt V
(4.1)
where V is the volume in the current configuration, V0 is the volume in the reference
configuration, J is the Jacobian determinant and is a scalar field that describes the
physical quantity of a particle per unit volume at time t .
Solution:
D
DJ
D
JdV0 = J
+
dV 0
Dt V
Dt
Dt
V0
0
r
D
r
= J
+ J x v dV 0
Dt
V0
(4.2)
r
D
r
=
+ x v dV
Dt
Problem 4.2
Show that
r
DPijL ( x , t )
r
D
PijL ( x , t ) dV =
dV
Dt V
Dt
V
(4.3)
296
where PijL ( x , t ) is a continuum property per unit mass, which can be a scalar, a vector or
higher order tensor.
Solution:
It was proven in the textbook, (see Chaves (2013)), that:
D
r
r
r v p
D
( x , t )dV = ( x , t ) + ( x , t )
dV
Dt V
x p
Dt
D
=
PijK + PijK
Dt
V
v p
D
v
D
+ PijK k dV
PijK + PijK
dV =
x p
x k
Dt
Dt
D
v k
Dt + x
k
14243
dV
=0
mass continuity equation
Problem 4.3
Prove that the following relationship is valid:
r
a=
r
r r
r
( v ) + x ( v v )
t
(4.4)
dV =
dV + (v n) dS
Dt V
t
V
S
r
and if we consider that = v we obtain:
r
r
r
r
( v )
D
v dV =
dV + v (v n) dS
Dt V
t
V
S
vi dV =
dV + v i (v k n k ) dS
v i dV =
dV + ( v i v k )n k dS
Dt V
t
Dt
t
13
2
V
S
V
V
S
= ai
dV =
( v i )
( v i )
dV + ( v i v k ) ,k dV =
+ ( v i v k ) ,k dV
t
t
V
V
Draft
r
r
r r
( v )
r
+ x ( v v ) dV
a dV =
t
V
V
297
r
r ( v )
r r
r
a=
+ x ( v v )
t
Problem 4.4
Let us consider the following velocity field:
vi =
xi
1+ t
for t 0
Dt
v k
=0
x k
Dt
v
d
= k
dt
x k
1 x i
3
=
= ii =
x i 1 + t x i 1 + t 1 + t
Thus,
d
3
=
dt
1+ t
3dt
1+ t
3dt
1+ t
ln = 3 ln(1 + t ) + C
+ ln 0 = ln
(1 + t ) 3
(1 + t )3
dx i
x
= i
dt 1 + t
dx i
dt
=
xi 1 + t
dx i
dt
=
xi
1+ t
lnx i = ln(1 + t ) + K i
(4.5)
Draft
K i = lnX i
By: Eduardo W. V. Chaves (2013)
298
ln( x i ) = ln[ X i (1 + t ) ]
(1 + t )
x2
X2
x1 x 2 x 3 = 0 X 1 X 2 X 3
x3
X3
Problem 4.5
Consider a continuous medium and one property ( x , t ) assigned by density, i.e. unit of
the property per unit volume. Obtain the rate of change of the property that is described
by a control volume in conjunction with a control surface.
Solution:
Remember that the rate of change of a property is always associated with the same
particles. By means of the material time derivative we can obtain the rate of change of a
property when this property is in Eulerian description. Then, the total rate of change of
r
( x , t ) in the volume V that is bounded by the surface S is given by:
r
r
r
D
D
D
D
( x , t )dV =
( x , t ) + ( x , t ) (dV )
( dV ) = dV
Dt V
Dt
Dt
Dt
V
V
r
r
r
D
r
( x , t ) + ( x , t ) x v dV
= dV
Dt
(4.6)
r
r
r
D
r
= ( x , t ) + ( x , t ) x v dV
Dt
r
D
( x , t ) :
Dt
r
r
r
r
D
D
r
( x , t )dV = ( x , t ) + ( x , t ) x v dV
Dt V
Dt
V
r
r
r
r
( x , t ) r r
r
= ( x, t ) +
r v ( x , t ) + ( x , t ) x v dV
x
t
V
r
r
r
r
( x , t ) r
r
= ( x , t ) dV +
r v + ( x , t ) x v dV
x
t
V
V
(4.7)
r
r
r
= ( x , t ) dV + [ x (v ) ]dV
t
V
V
We can apply the divergence theorem to the second integral on the right side of the
equation to obtain:
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299
flux of through
suface S
64 744
4
8
r
r
r
( x , t )
D
( x , t )dV =
dV + (v ) n dS
{
Dt V
4t4
V 123
S flux of
(4.8)
local
r
( x , t )
is local, the volume integral of the right side of the equation is a control
the term
t
r
volume and the integral surface is a control surface, since the variable (v ) is in Eulerian
r
description. The term (v ) represent the flux of the property .
r
D
( x, t )dV = 0 . And, note
Dt V
also that when the property is the mass density ( = ) the equation (4.7) becomes the mass
continuity equation.
r
r
r
r
D
D
r
( x , t )dV = ( x , t ) + ( x , t ) x v dV = 0
Dt
Dt V
(4.9)
r
r
r
= ( x , t ) + x (v ) dV = 0
t
If the above equation is valid for the entire volume then it is valid locally, so
r
r
r
D
r
( x , t ) + ( x , t ) x v = 0 Mass continuity equation
Dt
(4.10)
or
r
r
r
( x , t ) + x (v ) = 0
t
control volume
S
V
(4.11)
r
(v )
r
( x , t )
t
r
x
r
r
q n = [(v ) n] n
control surface
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300
material volume
control surface
control volume
t=0
v0
XP
X*
control surface
control volume
material volume
t1
r
v( x * , t1 )
xP
x*
material volume
control surface
control volume
t2
r
v( x * , t 2 )
xP
x*
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301
Problem 4.6
Find the equilibrium equations in engineering notation by means of the differential volume
element equilibrium ( dxdydz ). For this purpose consider that the Cauchy stress tensor field
in the differential volume element varies as indicated in Figure 4.3.
z
Rear face
z +
Rear face
z
dz
z
yz +
xz +
yz
xz
dz
z
xy
bx
xy +
x + x dx
x
yz
y
dz
dy
y +
xy +
xy
xz
dz
by
xz
dx
x
yz
yz +
bz
xz +
xy
xy
y
y
y
dy
dy
dx
dx
xz
yz
Rear face
dy
=0
xy
x
dx dydz x dydz + xy +
dy dxdz
x
y
b x dxdydz + x +
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302
b x dxdydz +
xy
x
dxdydz +
dxdydz + xz dxdydz = 0
x
y
z
b x +
x xy xz
+
+
=0
x
y
z
yz
dy dxdz y dxdz + yz +
dz dxdy
z
y
xy
yz dxdy + xy +
dx dydz xy dydz = 0
b y dxdydz + 22 +
xy
x
y
y
yz
x z
=0
Fz = 0 , is given by:
yz
xz dzdy + yz +
dy dxdz yz dxdz = 0
b z dxdydz + z +
xz yz z
+
+
=0
z
x
y
y
z
x
xy y yz
+
+
+ b y = 0
y
x z
x
z
xz + yz +
+ b z = 0
x
y
z
Problem 4.7
Let be the Cauchy stress tensor field, which is represented by its components in the
Cartesian basis as:
11 = x12 ;
2
22 = x 2 ;
12 = 21 = 2 x1 x 2 ;
2
33 = x12 + x 2
23 = 32 = 31 = 13 = 0
Considering that the body is in equilibrium, find the body forces acting on the continuum.
Draft
Solution:
303
r
By applying the equilibrium equations, x + b = 0 , we obtain:
ij , j + b i = 0 i
11 12 13
+
+
+ b 1 = 0
x 2
x 3
x1
21 22 23
+ b 2 = 0
+
+
x 2
x 3
x1
31 32 33
+ b 3 = 0
+
+
x1
x 3
x 2
2 x1 + 2 x1 + b 1 = 0
2 x 2 + 2 x 2 + b 2 = 0
b = 0
3
Thus, to satisfy the equilibrium equations the following condition must be met:
4 x1 = b 1 b 1 = 4 x1
4 x 2 = b 2 b 2 = 4 x 2
b 3 = 0
r
b = 4( x1 e 1 + x 2 e 2 )
Problem 4.8
The equations of motion of a body are given, in Lagrangian description, by:
x1 = X 1 + tX 3
x 2 = X 2 + tX 3
x = X t ( X + X )
3
1
2
3
where is a constant scalar. Find the mass density in the current configuration ( ) in
terms of the mass density of the reference configuration ( 0 ) , i.e. = ( 0 ) .
Solution:
We can apply the equation 0 = J , where J is the Jacobian determinant and is given by:
x i
J= F =
X j
Thus, we obtain =
0
J
x1
X 1
x 2
=
X 1
x 3
X 1
x1
X 2
x 2
X 2
x 3
X 2
x1
X 3
1
x 2
= 0
X 3
t
x 3
X 3
0
1
t
t
t = 1 + 2(t ) 2
1
0
1 + 2(t ) 2
Problem 4.9
Given the velocity field:
v1 = x1 x3
2
v2 = x2 t
v3 = x 2 x 3t
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304
x 2 x3
2
x2
x 2 x1
ij = x 2 x3
x2
0
x2
2
x3
where is a constant. Obtain the body force (per unit volume) to guarantee the principle
of conservation of the linear momentum.
Solution:
From the principle of conservation of linear momentum we obtain the equations of
motion:
r
r
r
&
r
x + b = v = a
r
r
r
b = a x
r r
r r
r v ( x , t ) v ( x , t ) r r
a=
+
r v ( x, t )
x
t
ai =
v i v i
+
vj
t
x j
where
0
v i 2
= x2
t
x 2 x3
x3
v i
= 0
x j
0
0
2x2 t
x3t
x1
0
x2t
Then
ai =
v i v i
+
vj
t
x j
0 x3
2
= x2 + 0
x 2 x3 0
0
2 x2t
x3t
2
x1 x1 x 3 0 x1 x 3 + x1 x 2 x 3 t
2
2
3
0 x2 t = x2 +
2x2t
2
2
x 2 t x 2 x3t x2 x3 x3 x 2 t 2 + x 2 x3t 2
x1 x 3 + x1 x 2 x 3 t
2
3
x2 + 2x2t
=
x x + x x 2t 2 + x 2 x t 2
3 2
2 3
2 3
x 2
x 3
x1
21 22 23
+
= (2 x2 )
+
x 2
x 3
x1
31 32 33
= ( 2 x 3 1)
+
+
x1
x 3
x 2
r
b = a x
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305
b i = a i ij , j
2
x1 x 3 + x1 x 2 x 3 t
x 2 x3
2
3
x2 + 2 x2 t
b i =
2 x2
2
2
x2 x3 + x3 x 2 t 2 + x 2 x3t 2
2 x3 1
Problem 4.10
Considering the principle of conservation of angular momentum, show that:
[r
( x (a b) (a b) x dV =
r r
[( x t
r
r
t * x dS
where
r r
r
r
r r
x - is the vector position; ( x , t ) is the mass density; a ( x , t ) is the acceleration; b( x , t ) is
r r
the body force (per unit mass); t * ( x , t ) is the prescribed traction vector (surface force) on
surface S .
Solution:
The principle of conservation of angular momentum states that:
r*
(x t
r
r
r
r
r
r
D
)dS + ( x b)dV =
( x v )dV = ( x a )dV
Dt V
V
V
Then, we apply the cross product of the above equation with an arbitrary vector z , which
r
is independent of x , and we obtain:
r
r
r
r
z ( x a )dV = z
r
r r
r
r
( x t * )dS + z ( x b)dV
r
r
r
z ( x a )dV =
r
r r
r
r
r
z ( x t * )dS + z ( x b)dV
r
r r r
r
r
r
r r
r r
r
r r r
( x a a x ) z dV = ( x t * t * x ) z dS + ( x b b x ) z dV
r
r r r r r
r r r r r
r r
r r
( x a a x ) z dV ( x b b x ) z dV = ( x t * t * x ) z dS
r
r
r r
r r
r r
r r
r r
x (a b) (a b) x z dV = ( x t * t * x ) z dS
r
r
r r r
r
r r
r r
r
r
x (a b) (a b) x dV z = ( x t * t * x ) dS z
V
[r
*
*
x (a b) (a b) x dV = ( x t t x) dS
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306
Problem 4.11
1) Considering the definition of the mean stress tensor ( ):
V = dV
V
and based on the principle that the continuum is in static equilibrium, show that:
=
1
2V
[r
x b + b x dV +
1
2V
r
r
r r
( x t * + t * x ) dS
2) Considering that the volume can be decomposed by V = V (1) V ( 2) , (see Figure 4.4).
The continuum is subjected to pressure p (1) on surface S (1) , and to pressure p ( 2) on
surface S ( 2) . Considering the continuum is free of body forces, show that:
=
(V
(1)
1
( p (1)V (1) p ( 2)V ( 2 ) )1
V ( 2) )
n (1)
S (1)
p (1)
V (1)
S (2)
V ( 2)
n (2)
p (2)
Figure 4.4
Solution:
r
Taking into account the equilibrium equations x + b = a = 0 (the principle of
conservation of linear momentum) for the entire continuum, it must fulfill that:
r
r
r
r
x x + b dV = 0
(4.12)
r
r
r
r
r
x x dV + x b dV = 0
In Chapter 1 (see Problem 1.115) we have shown that the following holds:
Castilla-La Mancha University
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Draft
r*
( ) x dV = ( n) x dS dV = t
x ( ) dV = x ( n) dS
r
x dS dV
(4.13)
r r
dV = x t * dS T dV
307
(4.14)
where we have considered the prescribed traction vector t * = n . By replacing (4.14) into
the equation (4.12), we obtain:
r
r
r
r
r
x x dV + x b dV = 0
r
r
r r
r
x t * dS T dV + x b dV = 0
(4.15)
r
r r
r
T dV = x t * dS + x b dV
r r
r
r
dV = t * x dS + b x dV
(4.16)
r
r r
r
Note that the tensors x t * and x b are not symmetric. This means that the equation
in (4.12) does not take in account the principle of conservation of angular momentum, i.e.
the symmetry of the Cauchy stress tensor. To guarantee the symmetry of we do:
r r
r
1 r r
r
r
+ T
1 r
dV = t * x dS + b x dV + x t * dS + x b dV
2
2 S
2 S
V
V
V
r r r r
1
1 r r* r* r
sym dV =
x b + b x dV +
x t + t x dS
2V
2S
V
(4.17)
1 r r
r
r
1 r
+ T
dV = t * x dS + b x dV + x t * dS + x b dV
2
2 S
2 S
V
V
V
r r r r
1
1 r r* r* r
x b + b x dV +
sym dV =
x t + t x dS
2V
2S
V
r r r r
1
1 r r* r* r
x b + b x dV +
V =
x t + t x dS
2V
2S
1
2V
[r
x b + b x dV +
1
2V
r r
[x t
(4.18)
r
r
+ t * x dS
In addition, if we consider that the body is free of body force, the above equation becomes:
=
1
2V
r r
[x t
r
r
+ t * x dS
(4.19)
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308
For the particular case shown in Figure 4.4 we have V = V (1) V ( 2) , S = S (1) + S ( 2) ,
r (1)
r ( 2)
2(V
(1)
r r
r
r
r
r r
r
1
x t * + t * x dS (1) + x t * + t * x dS ( 2 )
( 2)
V ) S (1 )
S ( 2)
r
r
1
(1) r
(1)
( 2) r
(2)
(1) (1)
( 2) ( 2 )
p x n + n x dS + p x n + n x dS
2(V (1) V ( 2 ) ) S (1)
S (2)
r
r
1
(1) r (1) (1) r
x n + n x dS (1) + p ( 2 ) x n ( 2 ) + n ( 2 ) x dS ( 2)
p
(1)
( 2)
2(V V )
S ( 1)
S ( 2)
( x n + n x) dS = 2V 1 ,
where n is the
outward unit normal to surface S (see Problem 1.115). For this example, n ( 2) is the
[x n
r
( 2)
+ n ( 2 ) x dS ( 2 ) = 2V ( 2 ) 1 ,
S (2)
r
r
1
(1) r (1) (1) r
x n + n x dS (1) + p ( 2 ) x n ( 2) + n ( 2 ) x dS ( 2 )
p
( 2)
2(V V )
S (1 )
S (2)
(1)
1
p (1) 2V (1) 1 p ( 2) 2V ( 2 ) 1
( 2)
2(V V )
1
p (1)V (1) p ( 2 )V ( 2 ) 1
= (1)
( 2)
(V V )
=
(1)
Problem 4.12
Given the velocity field:
v1 = ax1 bx 2
;
where a , b and c are constants.
v 2 = bx1 ax 2
2
v3 = c x12 + x 2
where:
r
r
x v = vi ,i = v1,1 + v 2, 2 + v3,3
=aa+0=0
r
The motion is isochoric (incompressible medium), since x v = 0
Draft
4.1.1
309
Flux Problems
Problem 4.13
1) Consider a continuum motion in which the stress power is equal to zero. Also, consider
r
r
that the heat flux is given by q = K (T ) x T , which is known as Fouriers law of thermal
conduction, where K (T ) is a second-order tensor called the thermal conductivity tensor (the
u (T )
, where c is the specific heat capacity at a
T
constant deformation (the thermal property of the material) and is expressed in units of
J
. Taking into account all previous considerations, find the
K
energy equation for this process. Then also provide the unit of K (T ) in the International
2) Consider the stress power is equal to zero, and that there is a continuous medium with
no internal heat source. Also consider that there is a heterogeneous material where
r
K = K ( x ) is an arbitrary second-order tensor (not necessarily symmetrical). a) Show that
the thermal conductivity tensor is semi-definite positive, b) Check in which scenario the
r
skew part of K ( x ) does not affect the outcome of the heat conduction problem. c) Taking
into account that the material is isotropic, in what format is K ?
Solution: For this problem we know that the stress power is equal to zero, : D = 0 . It then
follows that, the energy equation becomes:
&
u=
r
r
u T
r
r
= : D x q + r = x q + r
{
T t
=0
r
T
r
= x q + r
t
T
r
= x
t
r
[ K (T ) x T ] + r
or
r
r
x [K (T ) x T ] + r = c
T
t
The above equation is called the heat flux equation which is applied to the thermal
conduction problem.
& DT = T .
NOTE: If there is no mass transport it fulfills T
Dt
J
W r
T K
= 2 , x T r = , we
2
x m
m s m
can ensure that the units are consistent if the following is met:
r
[q]
[K ] [ xr T ]
W
W K
J
J
m 2 s = m 2 = s m K = m K m
W
J
=
.
smK mK
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310
NOTE: As we will see later, when the stress power is equal to zero, we can decouple the
thermal and mechanical problem. That is, we can study these problems separately.
2) a) We start from the heat conductivity inequality:
r
r
r
r
r
q x T = (K ( x ) x T ) x T 0
r
r
r
xT K ( x) xT 0
or
q i T,i = ( K ij T, j )T,i 0
T,i K ij T, j 0
r
r
r
r
r
x T K ( x ) x T = x T K sym + K skew
r
xT K
sym
r
r
xT + xT K
skew
r
xT
r
xT 0
r
r
r
r
x T K sym x T + K skew : ( x T x T ) 0
r
r
Notice that K skew : ( x T x T ) = 0 , since the double scalar product between an
r
r
antisymmetric tensor ( K skew ) and a symmetric one ( x T x T ) is equal to zero, then:
r
r
r
r
r
0 x T K ( x ) x T = x T K sym x T 0
r
That is, the above inequality is always true whether K ( x ) is symmetric or not.
b) For the proposed problem the only remaining governing equation is the energy
r
r
Du
r
r
&
equation:
u = : D x q + r = x q , where u is the specific internal
Dt
energy, : D is the stress power, and r is the internal heat source per unit volume. Then:
r
r
r
r
&
u = q i ,i = (K ij T, j ) ,i = K ij ,i T, j + K ij T, ji = ( x K T ) ( x T ) + K : x ( x T )
r
r
r
r
= ( x K T ) ( x T ) + K sym + K skew : x ( x T )
r
r
= ( x K ) ( x T ) + K
T
sym
r
r
r
r
: x ( x T ) + K skew : x ( x T )
r
r
r
r
= ( x K T ) ( x T ) + K sym : x ( x T )
r
r
where we have considered the symmetry of [ x ( x T )]ij = T,ij = T, ji . If the material is
Therefore, when the material is homogeneous, the antisymmetric part of K does not affect
the outcome.
c) The feature of isotropic materials is that their properties (at one material point) do not
change if the coordinate system is changed. It follows then that K must be an isotropic
tensor. An isotropic second-order tensor has the format of a spherical tensor, (see Chapter
1), then the tensor K must be of the type: K = K1 , where K is a scalar:
Draft
311
1 0 0
K ij = K 0 1 0
0 0 1
Problem 4.14
Consider a thermal conduction problem, (see Problem 4.13), in a wall with thickness equal
to h in which the temperature at the outer face ( x1 = 0 ) is equal to 38 C and the
temperature in the interior face ( x1 = h ) is equal to 21 C , (see Figure 4.5). Obtain the heat
flow for case defined by: stationary problem, the temperature field according to x 2 and x3 directions is homogeneous, there is no heat source, and the material is isotropic and
homogeneous.
x2
T ( A) = 38 C
Data:
h = 0.04m
T ( B ) = 21 C
K = 0.19
W
mK
(Interior)
(Exterior)
x1
r
q
h
Figure 4.5
Solution:
As we saw in Problem 4.13 the governing equation for this problem is the equation
T
T
. If we consider the stationary problem we have
= 0 . If
t
t
there is no heat source this implies that r = 0 . With these simplifications the governing
r
r
equation becomes x [K x T ] = 0 , in addition, if the material is homogenous, the tensor
r
r
r
r
r
with the thermal properties K do not vary with x , then x [K x T ] = K : x [ x T ] = 0 ,
r
r
x [K x T ] + r = c
equation we obtain:
K 11
2T
2T
2T
2T
2T
2T
+ K 12
+ K 13
+ K 21
+ K 22 2 + K 23
+
x 2 x1
x3 x1
x1x 2
x3 x 2
x12
x 2
+ K 31
2T
2T
2T
+ K 32
+ K 33 2 = 0
x1x3
x 2 x3
x3
(4.20)
If the temperature field according to x 2 and x3 -directions is homogenous, this implies that
the temperature gradient components according to these directions are equal to zero, i.e.
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Draft
312
T
T
=
= 0 . For an isotropic material, the thermal conductivity tensor components, (see
x 2 x3
0 0 K
2T
=0
x12
2T
=0
x12
K11
=K
2T
=0
x12
(4.21)
2T
= 0 we obtain:
x12
integrating
T
+ q1 = 0
x1
q1 = K
dT
dx1
which is the Fouriers law of thermal conduction. Note that for this case q1 is a constant, i.e. it is
independent of x1 . By integrating once more we obtain:
dT =
q1
dx1
K
T ( x1 ) =
q1
x1 + C
K
T ( x1 = h) = T ( B ) =
q1
x1 + T ( A) . In addition, for x1 = h we have
K
q1
h + T ( A)
K
q1 = K
(T ( B ) T ( A) )
h
In this case (unidimensional case), the temperature gradient is the slope of the line defined
by the temperature, which varies linearly in the wall, (see Figure 4.5).
By replacing the problem data (see Figure 4.5), we obtain the heat flux:
q1 = K
W
J
(T ( B ) T ( A) )
W (21 38)( K )
= 0.19
= 80.75 2 = 80.75 2
h
mK 0.04(m)
m
m s
Note that the temperature conversion form degrees Celsius to Kelvin is given by
K = C + 273.15 , then the temperature variation ( T ) either in degrees Celsius or in Kelvin
is the same. Note also that the heat flux flows from the higher temperature to the lower
temperature region.
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313
NOTE: Let us suppose now that we have two walls with different properties as shown in
Figure 4.6.
T ( A)
T (B )
T (C )
K (1)
x1
r
q
K ( 2)
h (2)
h (1)
Figure 4.6
Note that the equation q1 = K (1)
(T ( B ) T ( A) )
is still valid. This also applies to the material
h (1)
(T (C ) T ( B ) )
. To obtain the heat flux we apply the compatibility in
h (2)
temperature on the face B , i.e.:
2 : q1 = K ( 2)
(T ( B _ 1) T ( A) )
h (1)
(T (C ) T ( B _ 2 ) )
q1 = K ( 2)
h ( 2)
q1 = K (1)
q1 h (1)
T ( B _ 1) = T ( A)
T ( B _ 2) = T (C ) +
K (1)
q1 h ( 2)
K ( 2)
T ( B _ 1) = T ( B _ 2 )
T ( A)
q1 h (1)
K (1)
= T (C ) +
q1 h ( 2 )
K ( 2)
thus:
q1 =
(T (C ) T ( A) )
h (1) h ( 2 )
K (1) + K ( 2 )
Problem 4.15
Next, we assume that at a material point there are two types of material that are
represented by a physical quantity per unit volume in such a way that c = c f + c s , and the
r r
r
following holds v = v f + v s , (see Figure 4.7). Considering an isothermal process, an
incompressible medium, and that the property c s does not affect the velocity of the
material f and that the c f -field is homogeneous, and there is no source of the material
f . Show that:
r
c s
r
r
r
Q s x (v f c s ) + x (D x c s ) =
t
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Draft
Convection-diffusion
equation
(4.22)
314
r
where the flux of the property s is given by q ( D ) = D x c s .
Control volume
r
vf
cs
r
v
dV
r
vs
r
+x
t
(v )
Q=
r
r
(c f + c s )
+ r (c f + c s )(v f + v s )
x
t
(4.23)
with Q = Q s + Q f . Thus:
r
r
(c f + c s )
+ r (c f + c s )(v f + v s )
t
x
f
s
r
r
r
(c + c ) f r f
Qs + Q f =
+ r c v + c f v s + csv f + csv s
t
x
f
s
r
r
r
r
c
c
r
Qs + Q f =
+
+ x c f v f + c f v s + csv f + csv s
t
t
f
c
r c s
r
r
r
r
r
r
Qs + Q f =
+ x (c f v f ) +
+ x (c s v f ) + x c f v s + c s v s
t
t
Qs + Q f =
(4.24)
r
c f
r
+ x (c f v f ) = 0 and Q f = 0
t
hold, which is the continuity equation of the physical quantity c f with which the equation
r
r
r
c s
r
r
+ x (c s v f ) + x c f v s + c s v s
t
r
r
r
c s
r
r
r
+ x (c s v f ) + x ( c s v s ) + x (c f v s )
t
(4.25)
(4.26)
r
r
r
r
c s
r
r
r
r
(4.27)
+ x (c s v f ) + x ( c s v s ) + x c f v s + c f x v s
t
r
If the physical quantity c f does not change with x , then the gradient of c f becomes
r
r
x c f = 0 . In addition if we consider the medium ( s ) to be incompressible we obtain
r
r
x v s = 0 . These simplifications indicate that the material ( s ) does not affect the velocity
field of the material ( f ). So, if the amount of the material ( s ) is significant, this approach
Qs =
Draft
315
r
r
r
r
c s
c s
r
r
r
r
(4.28)
+ x (c s v f ) + x q ( D )
+ x (c s v f ) + x ( c s v s ) =
t
t
r
r
Notice that the term (c s v s ) q ( D ) represents the flux caused by the ( s )-material
r
r
concentration, the diffusive term. The term (c s v f ) q (C ) is related to mass transport, the
r
r
convective term. Considering that q ( D ) = D x c s the equation (4.28) becomes:
Qs =
r
r
c s
r
r
+ x (c s v f ) + x q ( D )
t
r
c s
r
r
r
Qs =
+ x (c s v f ) + x (D x c s )
t
r
c s
r
r
r
Q s x (c s v f ) + x (D x c s ) =
t
Qs =
(4.29)
c( x3 , t ) = C t exp
where C and
x3
x2
x1
a
h b a
M = c dV =
C t exp
( kx3t )
0 0 0
( kx3t )
C
= ab
exp
( kx3t )
dx3
C abC
C
= ab
exp ( kht ) + =
exp ( kht ) 1
k
k
k
To obtain the flux, we can apply the continuity equation of the concentration:
Q=
r
c s
r
+ x q
t
Draft
r
c s
r
x q = q i ,i =
t
(4.30)
316
where we have considered that there is no source of the sediment, i.e. Q = 0 . For this
problem, the flux is not dependent on x 2 and x1 . With this condition we have
q1,1 = q 2, 2 = 0 . Then:
q i ,i = q1,1 + q 2, 2 + q 3,3 =
q1 q 2 q 3
c s
=
+
+
t
x1 x 2 x3
(4.31)
q
c s
3 =
x3
t
where
c s
( kx3t )
( kx3t )
( kx3t )
C t exp
= C exp
C t k x 3 exp
and by replacing into the
=
t
t
dq 3
c s
( kx3t )
( kx3t )
=
= C exp
+ C t k x3 exp
t
dx3
dq 3 =
q3 =
[ C exp
( kx3t )
+ C t k x3 exp
( kx3t )
]dx
(4.32)
C k x3 t
C
C
( kx3t )
( kx3t )
( kx3t )
exp
exp
exp
+ K3
kt
kt
kt
q 3 = C x3 exp
( kx3t )
+ K3
{
=0
4.1.2
( kx3t )
e3 .
Problem 4.17
Find the linear and angular momentum for a solid subjected to rigid body motion.
x3
r
F(n )
r
F( 2 )
Rigid body
Bt
r
x
x3
x2
r
v
x1
r
F(1)
x2
x1
G - mass center
Figure 4.9
Solution:
According to Problem 2.56 in Chapter 2, we obtained the velocity for rigid body motion
as:
Castilla-La Mancha University
Ciudad Real - Spain
Draft
317
r r r
r r
&
v = c + ( x c)
where is the axial vector (angular velocity) associated with the antisymmetric tensor W
(the spin tensor).
Linear momentum:
r
r r
r
r
r r
r r
r r
&
&
L = v dV = c + ( x c ) dV = c dV + x dV c dV
r
r
r
r r
&
= c dV + x dV c dV
By definition
r
x k is the vector position of the center of mass G . The first moment of inertia is equal to
r r
r
zero if the Cartesian system originates at the center of mass, so, x dV = mx = 0 .
r
r r
r r
&
L = m c + ( x c)
r
= mv
(4.33)
&
where v = c + ( x c ) is the velocity of the center of mass.
Angular momentum:
r
r
r
H O = ( x v ) dV =
[x (c + ( x c) )]
r
&
dV
Thus
r
r r
r
r r
r
r r
&
H O = x c dV + x ( x ) dV x ( c ) dV
(4.34)
r
r
r r
r
r r
&
= x dV c + x ( x ) dV x dV ( c )
V
r r r
r r r
x ( x) dV = [( x x) ( x ) x ] dV ,
with
which we obtain:
[x
[
= [x
x k i x p p x i dV = x k x k p pi x p p x i dV = x k x k pi x p x i p dV
x k pi x p x i dV p = I O ip p
or in tensorial notation:
r
r r
x ( x ) dV = [( x x ) 1 ( x x )] dV = I O
Draft
318
r r
2
2
I O 11 = [( x1 x1 + x 2 x 2 + x 3 x 3 ) 11 x1 x1 ] dV = x 2 + x 3 dV
2
I O 22 = x12 + x 3 dV
2
I O 33 = x12 + x 2 dV
I O 12 = [( x1 x1 + x 2 x 2 + x 3 x 3 ) 12 x1 x 2 ] dV = [x1 x 2 ] dV = I O 12
I O 13 = [x1 x 3 ] dV = I O 13
I O 23 = [x 2 x 3 ] dV = I O 23
where I O 11 , I O 22 , I O 33 , are moments of inertia of the body relative to the reference point O ,
and I O 12 , I O 13 , I O 23 , are the products of inertia of the body relative to the reference point
O.
Returning to the equation in (4.34) we can state that:
r
r
r
r r
r
r r
&
H O = x dV c + x ( x ) dV x dV ( c )
V
r r
r
r r
r
r r
r r
r
&
&
= m x c + I O m x ( c ) = m x c ( c ) + I O
r r r
Then by adding and subtracting the term m x x in the above equation we obtain:
r r r r
r r r
r r
r
r
r
r r
r
&
&
H O = m x c c + I O = m x c + ( x c ) m x ( x ) + I O
r r
r r
r r r
r r
r r
r r
r
r
= m x v m (x x) 1 ( x x) + IO = m x v + m ( x x) (x x) 1 + IO
r r
r
= m x v + I
r r r
= m x v + HG
r r
r r
where I = I O + m ( x x ) ( x x ) 1 is the inertia pseudo-tensor, which is related to the
{[
reference system at the center of mass. By means of this equation we can calculate the
inertia tensor in any reference system if we know the inertia tensor at the center of mass:
2
I O ij = Iij m[x i x j ( x12 + x 2 + x 32 ) ij ] . Explicitly, these components can be expressed as:
2
I O 11 = I11 + m( x 2 + x32 ) ; I O 12 = I12 m( x1 x 2 )
I O 22 = I 22 + m( x12 + x32 ) ; I O 23 = I 23 m( x 2 x 3 ) Steiners theorem
2
I O 33 = I33 + m( x12 + x 2 ) ; I O 13 = I13 m( x1 x3 )
(4.35)
Note that, the above equations represent the parallel axis theorem (Steiners theorem) from
Classical Mechanics.
Draft
319
Problem 4.18
Obtain the principle of conservation of linear momentum and angular momentum for a
solid subjected to rigid body motion.
Solution: We can start from the definition of the principle of conservation of linear
momentum which states that:
r
r
&
F = Dt v dV = L
V
r
&
r
&
F = Dt v dV = L = m v = m a
V
Then we have:
r
F = m a
Now let us consider the principle of conservation of angular momentum which states:
r
r
r
r
D r
D
&
( x v )dV =
HO HO
Dt
Dt V
By which we obtain:
r
r
&
= HO
or
r
&
= HG
where the equation of angular momentum H O was obtained in Problem 4.17. The set of
equations
equivalent:
r
r
F=ma
and
r
&
= H G inform us that the following systems are
r
&
HG
r
F( 2 )
r
F(n )
G
=
r
F(1)
r
ma
G - center of mass
NOTE: If we are dealing with rigid body motion, the governing equations are:
r
F =ma
and
r
&
= HO
Draft
(4.36)
320
Problem 4.19
Consider the beam with the following load and boundary conditions:
P
L
2
HA
L
2
VA
VB
r
r r
F=ma =0
r
r
r
&
MA = HA =0
F
F
F
=0
=0
=0
M
M
M
F
F
=0
=0
=0
= H A + P cos = 0 H A = P cos
= V A + V B P sin = 0 V A = V B + P sin
= V B L P sin
L
P sin
= 0 VB =
2
2
P sin
. Note that we have 3 equations and
2
3 unknowns (isostatic system). If we have a system in which there are more unknown than
equations (hyperstatic system), this procedure is no longer valid since the reactions will
depend on the beam deformation and this depends on the beam stiffness.
Problem 4.20
Find the kinetic energy related to rigid body motion in terms of the inertia tensor, (see
Problem 4.17 and Problem 4.18).
r
&
Solution: The rigid body motion velocity can be expressed as v = c + ( x c ) . Then, the
kinetic energy becomes:
][
r r
1
1 r r
r r r r
r r
&
&
(v v )dV =
c + ( x c ) c + ( x c) dV
2V
2V
r
r r r
Using the following vector sum x = x + x , where x is the mass center vector position,
r
and x is the particle vector position with respect to the system that has its origin in the
K (t ) =
Draft
{[
][
{[(
321
]}
)
r r
r r
r r
r r r
r
1
&
&
c + (( x + x ) c) c + (( x + x ) c ) dV
2V
r r
r r
r r
r r
r r
r r
1
&
&
=
c + ( x c ) + ( x ) c + ( x c ) + ( x ) dV
2V
K (t ) =
] [(
]}
&
Note that v = c + ( x c) is the center of mass velocity, thus:
K (t ) =
{[
r
r r
1
v + ( x )
2V
r r
] [vr + ( x )]}dV
or:
r r
r r r
r r r
r r
r r
1
1
1
1
v v dV +
v ( x ) dV +
( x ) v dV + + ( x ) ( x ) dV
2V
2V
2V
2V
K (t ) =
r r
r r r
r r
r r
1
1
v v dV + v ( x ) dV +
( x ) ( x ) dV
2V
2V
V
r r
1 r
1
v v dV = v
2
2V
dV = 2 mv
r r
2) v ( x ) dV = v x dV = v ( m {) = 0
x
r
=0
Note that, the system x is located at the center of mass ( G ), hence the center of mass
r
vector position related to the system x is zero.
r
3) ( x ) ( x ) dV
V
[( x ) ( x )] dV =
ijk j x
k
ipq p x q dV = ( jp kq jq kp ) j x k p x q dV
V
= j ( jp kq x k x q jq kp x x ) p dV
k q
V
= j ( jp x x k x p x j ) p dV
k
V
= j ( jp x x x j x p ) dV p
k k
= j I jp p
[( x ) ( x )] dV = [( x x ) 1 ( x x )] dV
r
r
= I
where I is the inertia pseudo-tensor related to the system located at the center of mass,
(see Problem 4.17).
Draft
322
Then if we bear in mind all the above considerations, the kinetic energy equation for rigid
body motion becomes:
K (t ) =
r r
r r r
r r
r r
1
1
1
v v dV +
2v ( x ) dV +
( x ) ( x ) dV
2V
2V
2V
144424443
=0
1r
2
1
2
K(t ) = mv 2 + I
(4.37)
2
2
x + x 3 dV
2
V
Iij = [x1 x 2 ] dV
[x1 x 3 ] dV
V
[x1 x 2 ] dV
[x1 x 3 ] dV
I11
V
[x 2 x 3 ] dV = I12
V
I13
x1 2 + x 22 dV
[x + x ] dV
[x x ] dV
[
V
2 3
I12
I 22
I 23
I13
I 23
I 33
1
2
K(t ) = mv 2 + k Ikj j
1
1
= mv 2 + [1
2
2
=
I11
3 ] I12
I
13
I12
I 22
I 23
I13 1
I 23 2
I 33 3
1
1
2
2
mv 2 + I111 + I 22 2 + I 33 3 2 I12 1 2 2 I13 1 3 2 I 23 2 3
2
2
2
1
2
K(t ) = mv 2 +
1
2
2
I111 + I 22 2 + I 33 3 2 I12 1 2 2 I13 13 2 I 23 2 3
2
2
]
(4.38)
Problem 4.21
Consider the inertia pseudo-tensor, I O , with respect to the system x1 x 2 x3 , (see Figure
4.11). a) Make the physical interpretation of the inertia tensor. b) Given another
* * *
orthonormal system, represented by x1 x 2 x3 . Obtain the inertia tensor components in this
new system. c) Show that the inertia tensor is positive definite tensor. For a solid in
motion, find in which situation the term
DI O &
I O is equal to zero.
Dt
Draft
x3
323
*
x2
*
x3
*
x1
x2
x1
Figure 4.11
Solution:
The inertia pseudo-tensor depends on the coordinate system adopted, and by definition is
given by:
r r
r r
I O = [( x x ) 1 ( x x )] dV
I O ij = x k x k ij xi x j dV
on in components
2
2
x 2 + x 3 dV
V
I ij = [x1 x 2 ] dV
V
[x1 x 3 ] dV
V
[x1 x 2 ] dV
[x1 x 3 ] dV
V
[x 2 x 3 ] dV
2
x12 + x 2 dV
[x + x ]dV
[x x ] dV [
V
2
1
2
3
2 3
a) The inertia tensor give us the information as the solid mass is distributed under the
system adopted.
The term [x1 x 2 ] dV indicates as the mass is distributed along the plane x1 x 2 . Then, if
V
the material is homogeneous, i.e. the mass density field is independent of x , and x1 x 2 is
a plane of symmetry, i.e. the mass is distributed equally with respect to plane x1 x 2 , the
term
[x x ] dV
1 2
b) Let us assume that the given systems are related by the transformation law xi* = Aij x j ,
where Aij is the orthogonal matrix, then it follows that xi = A ji x * . Thus being able to
j
express I O ij as follows:
Draft
324
I O ij = x k x k ij x i x j dV
V
* *
*
= ( x k x k )Aip pq A jq Aip x * A jq x q dV
p
V
{[
]}
* *
*
= Aip ( x k x k ) pq x * x q A jq dV
p
V
* *
*
= Aip ( x k x k ) pq x * x q dV A jq
p
V
= Aip I * ij A jq
O
Abusing a bit of notation, we also use tensorial notation, but bear in mind that we are
working with tensor components, and we are not doing an orthogonal transformation.
r r
r r
I O = [( x x ) 1 ( x x )] dV
r r
r
r
= ( x * x * )A T 1 A (A T x * A T x * ) dV
V
r r
r
r
= ( x * x * )A T 1 A (A T x * x * A ) dV
V
= AT
V
{ [( x * x * )1 ( x * x * )]} A dV
r
r r
r
r
= A T ( x * x * )1 ( x * x * ) dV A
V
= A T I* A
O
I O = A T I* A
O
I O ij = Aip I * ij A jq
O
(4.39)
Then, it is valid I * = A I O A T , which are the new inertia tensor components in the
O
* * *
system x1 x 2 x3 . Note that the equation (4.39) is the same component transformation law
for a second-order tensor, where A is the transformation matrix from the x1 x 2 x3 -system
* * *
to x1 x 2 x3 -system.
c) For a positive definite tensor, by definition, its eigenvalues are greater then zero.
We will start from the kinetic energy obtained in Problem 4.20, i.e.:
1
2
K(t ) = mv 2 +
1
2
2
I111 + I 22 2 + I 33 3 2 I12 1 2 2 I13 13 2 I 23 2 3
2
2
The kinetic energy is a scalar and always a positive number, and only in two situations the
kinetic energy is zero, namely: when there is no mass or when the body is at rest. We adopt
a system such that the origin is at the center of mass and the axes adopted are axes of
symmetry (inertia principal system) and that the body is rotating around the origin (center
of mass). In this situation the kinetic energy becomes:
Draft
1
K(t ) = [1
2
325
0 1
I1 0
0 I
3 ]
0 2
2
0
0 I 3 3
1442443
4
4
Eigenvalues of the
Inertia tensor
1
2
2
I11 + I 2 2 + I 3 3 > 0
2
2
1
2
2
In addition, if we have a motion such that 2 = 3 = 0 , we have K(t ) = I11 , then, the
only way that the kinetic energy is always positive is when I1 > 0 holds. Similarly, we can
conclude that I 2 > 0 and I 3 > 0 . Hence, the inertia tensor is a positive definite tensor.
d) As the inertia pseudo-tensor is dependent on the adopted system, for the following
situations the inertia tensor to a solid in motion does not change with time:
1) If the adopted system is attached to the solid.
2) If the solid is rotating along a axe of symmetry, for example if a cylinder is rotating along
the prismatic axe, then during motion the mass distribution is not changing with respect to
the adopted system, (see Figure 4.12).
r
Figure 4.12
Problem 4.22
Consider a homogeneous cylinder of radius r and height h = 3r with total mass equal to
m , (see Figure 4.13). Find the inertia tensor in the system Ox1 x 2 x3 . The system Ox1 x 2 x3 is
2
given by the rotation of the system Ox1x x3 of 45 along the axis x1 . The systems
2
Gx1 x 2 x3 and Ox1x x3 have the same orientation.
Hint: For the reference system Gx1 x 2 x3 we know the inertia tensor components and are
given by:
I G ij
1
2
2
0
0
12 m(3r + h )
mr 2 2 0 0
1
0 2 0
2
2
=
m(3r + h )
=
0
0
12
2
0 0 1
1
m(3r 2 + h 2 )
0
0
12
Draft
326
x3
x3
x3
x1
x2
r
rG
h = 3r
x2
45
x2
x1, x1
Figure 4.13
Solution:
2
First of all we obtain the inertia tensor in the system Ox1x x3 by means of the Steiner
theorem, (see equation (4.35) in Problem 4.17). After that, we obtain the components due
to a rotation by means of the equation (4.39) in Problem 4.21.
; I12 m( x1 x 2 ) = I 12
O
; I 23 m( x 2 x3 ) = I 23
O
; I13 m( x1 x 3 ) = I 13
O
(4.40)
where ( x1 , x 2 , x 3 ) are the coordinates of the center of mass with respect to the system
r
3 3
2
Ox1x x3 . Then, we define the vector rG = x1 e1 + x 2 e 2 + x 3 e = 0e1 + re 2 + re . With
2
that we obtain:
3
17
2
I 11 = I11 + m( x 2 + x 32 ) = mr 2 + m r 2 + ( r ) 2 = mr 2
O
2
4
3
13
I 22 = I 22 + m( x12 + x 32 ) = mr 2 + m 0 2 + ( r ) 2 = mr 2
O
2
4
1
3
2
I 33 = I33 + m( x12 + x 2 ) = mr 2 + m 0 2 + r 2 = mr 2
O
2
2
I 12 = I12 m( x1 x 2 ) = 0
O
I 23 = I 23 m( x 2 x3 ) = 0
O
3
3
I 13 = I13 m( x1 x3 ) = m(r )( r ) = mr 2
O
2
2
2
Thus resulting in the following inertia tensor components for the Ox1x x3 -system:
Draft
327
0
34 0
mr 2
I O ij =
0 13 6
4
0 6 6
2
2
Considering the transformation matrix between the systems Ox1x x3 and Ox1 x x3 :
0
0
1
0 cos 45 sin 45
A =
0 sin 45 cos 45
I O ij = A I A = Aip I ij A jq
O
O
T
Problem 4.23
0
34 0
mr 2
0
7 7
=
8
0 7 31
x3
*
x2
*
x3
r
HO
*
x1
x3
G
r
x
O
x2
x1
x2
G - center of mass
x1
Figure 4.14
Solution:
Applying the material time derivative we obtain:
Draft
328
r r r
r
D r
D
&
m x v + HG
HO HO =
Dt
Dt
r r
D
D r
m x v +
HG
=
Dt
Dt
r
r
r Dv
r
Dx r
&
=m
v +m x
+ HG
Dt
Dt
r r
r r r
&
= m v 2v + m x a + H G
13
[ ]
r
=0
Then, we obtain:
r r r
r
D r
&
&
HO HO = m x a + HG
Dt
(4.41)
r
&
where a is the acceleration of the center of mass. Next, we discuss the term H G . We
2
adopt the mobile system x1 x x3 but with fixed orientation in space which is parallel to the
r
fixed system x1 x 2 x3 , (see Figure 4.14). By expressing the components of I and in the
2
system x1 x x3 , we obtain:
r
r
H G = I
r
r
D r
&
& r
&
H G H G = I + I
Dt
r
Note that, as the solid rotates with respect to the system x the inertia tensor changes,
r
since the mass distribution is changing with respect to the system x . Then, at each time
rate of change
step we have to calculate the inertia tensor. This procedure is very laborious. To solve this
r
problem, we adopt a new system x * , which has origin at the center of mass, (see Figure
4.14). By means of the component transformation law, the following is true:
r*
r
r
r*
H G = A H G
HG = A T HG
;
r
r
r
r
Components * = A ;
= A T *
*
T
*
;
I O = A T IO A
I O = A I O A
r
r
where A is the transformation matrix from the x -system to x * -system.
r
r*
r
r*
r*
r*
D r
D
&
&
&
A T HG = A T HG + A T HG
HG HG =
Dt
Dt
(4.42)
By analogy with the rate of change of the orthogonal tensor, (see Chapter of the textbook),
&
&
we can conclude that = A A T A T = A T T , where T is the antisymmetric
r
tensor and represents the rate of change of rotation of the system x * with respect to the
r
system x . Then, we can express (4.42) as follows:
r
r*
r*
&
&
H G = A T T H G + A T H G
(components)
r*
r*
&
= A T T H G + H G
(4.43)
r* r
r*
r
Resorting to the antisymmetric tensor property such that T H G = H G , where is
r r
the axial vector associated with the antisymmetric tensor T , i.e. = (t ) is the angular
r
velocity of the mobile system x * . Proving that (4.43) can still be written as follows:
Draft
r
r*
r*
&
&
H G = A T T H G + H G
(components)
r*
r*
r*
&
= A T H G + H G
329
(4.44)
where
r*
r*
D * r * DI * r *
&
HG =
I =
+ I * D
Dt
Dt
Dt
The term
1)
DI *
is equal to zero when one of the two possibilities holds:
Dt
r r
r
DI *
= 0 if the system x * is attached to the solid. In this case, the equation =
Dt
holds, i.e. the mobile system velocity is equal to the angular velocity of the solid.
2)
DI *
= 0 if the solid rotates around a prismatic axis, (see Figure 4.12 in Problem 4.21).
Dt
Draft
330
Draft
5 Introduction to
Constitutive Equations
and IBVP
5.1 Solved Problems
Problem 5.1
Describe the constitutive equation and the free variables for simple thermoelastic materials
when we are considering the Helmholtz free energy .
Solution:
The constitutive equations for a simple material are in function of the following free
variables:
Constitutive equation for energy = ( F , T )
( F , T )
F
( F , T )
Constitutive equation for entropy ( F , T ) =
T
r
r
r
Constitutive equation for heat conduction q 0 = q 0 ( F , T , X T )
r
The free variables are F -deformation gradient, T -temperature, X T -temperature
gradient. The constitutive equations can also be expressed as follows
= ( E , T )
( E , T )
S = 0
E
;
( E , T )
( E , T ) =
T
r
r
r
q0 = q0 ( E , T , X T )
= (F , T )
( F , T )
=
FT
F
( F , T )
(F , T ) =
T
r
1 r
r
q = J q 0 (F , T , X T ) F T
r
1
r
= J F q0 (F , T , X T )
Problem 5.2
Consider an elastic material in which the energy density (per unit volume) is known and is
given by:
332
( I E , II E ) =
1
2
( + 2 )I E 2 II E
2
II E = II E ( E ) =
1
( TrE ) 2 Tr ( E 2 )
2
I E
=1
E
II E
= Tr ( E )1 E T
E
Solution:
According to the problem, the energy is only a function of the Green-Lagrange strain
tensor. We know that the general expressions for the constitutive equations for a simple
thermoelastic material are:
= ( E , T )
( E , T )
S = 0
E
( E , T )
( E , T ) =
T
r
r
r
q0 = q0 ( E , T , X T )
Considering the expression of the given energy, we can conclude that the problem is
independent of temperature, since the energy expression is not a function of temperature.
Then, the remaining constitutive equation is the one related to stress, i.e.:
S = 0
( E ) ( I E , II E ) ( I E , II E ) I E ( I E , II E ) II E
=
=
+
E
E
I E
E
II E
E
= ( + 2 )I E (1) + ( 2 ) Tr ( E )1 E T
2
Problem 5.3
Consider the specific Gibbs free energy G(S , T ) = ( E , T )
S : E as constitutive
0
equation for energy for thermoelastic materials. Obtain the remaining constitutive
equations for thermoelastic materials, based on the principle that G(S, T ) does not depend
on the temperature gradient.
Solution:
Castilla-La Mancha University
Ciudad Real Spain
Draft
333
We start from the Clausius-Duhem inequality in terms of specific Helmholtz free energy in
the reference configuration:
1r
& &
&
r
S : E 0 + T q 0 X T 0
T
(5.1)
Taking into account the specific Gibbs free energy we obtain the rate of change:
1 &
1
&
&
&
G(S , T ) = ( E , T )
S:E
S:E
1 &
1
&
&
&
( E , T ) = G(S , T ) +
S:E +
S:E
and by replacing the above equation into the inequality (5.1) we obtain:
&
1 &
1
&
& & 1r
r
S : E 0 G(S, T ) +
S:E +
S : E + T q 0 X T 0
0
0
T
1r
&
&
&
r
0 G(S , T ) S : E 0 T q 0 X T 0
T
(5.2)
&
&
Note that S : E = E : S holds. The above inequality suggests that for a variation of Gibbs
free energy we must have the following relationships: Strain for variation of stress,
Entropy for a variation of temperature, and heat conduction in terms of temperature
gradient.
&
The term G(S, T ) can also be expressed as follows:
DG(S, T ) &
G(S, T ) & G(S, T ) &
T
G(S, T ) =
:S +
Dt
T
S
and by replacing the above equation into the equation in (5.2) we obtain:
1r
&
&
&
r
0 G(S, T ) E : S 0 T q 0 X T 0
T
G(S , T ) &
1r
G(S, T ) &
&
&
r
T E : S 0 T q 0 X T 0
0
:S 0
S
T
T
G(S, T )
&
G(S, T )
& 1 r
r
0
+ E :S 0
+ T q 0 X T 0
S
T
(5.3)
The above inequality must be satisfied for any admissible thermodynamic process. Let us
r
r
&
now consider the process such that T = 0 (isothermal process), and q 0 = 0 (adiabatic
process), then the above entropy inequality becomes:
G(S , T )
&
0
+ E:S 0
S
(5.4)
Note that the above inequality must also be met for any thermodynamic process. Then if in
the current process the condition in (5.4) is met, we can apply another process such that
&
&
S = S , in which the entropy inequality is violated. Thus, the only way in which the
inequality in (5.4) is satisfied is when:
G(S, T )
+ E =0
S
E = 0
G(S, T )
S
Then if we take into account the above equation into the inequality (5.3), we obtain:
Draft
334
G(S, T )
&
G(S , T )
& 1 r
r
0
+ E :S 0
+ T q 0 X T 0
S
T
(5.5)
G(S, T )
& 1 r
rT 0
0
+ T q 0 X
T
T
r
r
Now let us consider a process where X T = 0 (a uniform temperature field), then the
inequality becomes:
G(S, T )
&
0
+ T 0
T
&
&
Starting from this point, we could apply another process where T = T , in which the
entropy inequality is violated. Thus, the only way in which the above inequality is satisfied
is when:
G(S, T )
+=0
T
G(S, T )
T
(5.6)
r
r
X x
longer unknown.
Draft
335
(5.7)
r
r
&
r
x + b = v
(5.8)
= T
(5.9)
r
r
&
u = : D x q + r
&
( x , t ) +
(5.10)
1
1
1 r
r
&
: D u 2 q xT 0
T
T
T
(5.11)
r
r
&
+ b = v
&
r
&
0u( X , t ) = S : E X q0 + 0 r( X , t)
&
&
u = :
Du D
&
[ + T ] = :
=
Dt Dt
& &
&
= e = :
where e is the energy density (also known as strain energy density). Then if we bear in mind
the entropy inequality, we can observe that the proposed problem is characterized by a
process without any energy dissipation (an elastic process), i.e. all stored energy caused by
will recover when = 0 .
3) For this problem, the constitutive equations described in Problem 5.1 become:
= ( )
S =
( ) e ( )
=
= ( )
Energy ( ) and stress are only functions of strain. Then, if we calculate the rate of change
( ) &
&
of the Helmholtz free energy, i.e. () =
: , and by substituting it with the equation
& &
&
= = : , we obtain:
e
&
( ) & e ( ) &
&
: =
: = :
Draft
e ( )
336
Thus, we can conclude that the energy equation is a redundant one, i.e. if the stress is
known the energy can be evaluated and vice-versa. So, we can summarize the governing
equations for the problem proposed with:
The equations of motion:
r
r
r
&&
&
+ b = v = u (3 equations)
Kinematic equations:
(5.12)
(6 equations)
r
= sym u (6 equations)
The unknowns of the proposed problem are: (6), u (3) and (6), making a total of 15
unknowns and 15 equations, so the problem is well-posed. Then, to achieve the unique
solution of the set of partial differential equations given in (5.12) one must introduce the
initial and boundary conditions, hence defining the Initial Boundary Value Problem (IBVP) for
the linear elasticity problem. The initial and boundary conditions for this problem are:
The displacement boundary condition, on S u :
r r
r r
u( x , t ) =u* ( x , t )
r
r
ui ( x, t ) = u i * ( x, t )
(5.13)
r
jk n k = t j * ( x, t )
(5.14)
r
r
u i ( x , t = 0) = u 0 i ( x )
r
&
u 0 i ( x) = v0 i
(5.15)
( x , t ) n = t * ( x , n, t )
In the particular case when we have a static or quasi-static problem, the equations of
r r
motion become the equilibrium equations ( + b = 0 ), and the initial conditions
become redundant.
Su
dV
r r
t * ( x)
r r
b( x )
( )
Draft
337
( 0 )
2 e ( 0 )
: =
: = Ce :
where C e =
ij =
ij
kl
kl =
2 e ( 0 )
kl = C e kl
ijkl
ij kl
2 e ( )
is a symmetric fourth-order tensor which is known as the elasticity
Note that, the energy equation has to be quadratic with which we can guarantee that the
e ( )
relationship - is linear, since ( ) =
. We can also use series expansion to
represent the strain energy density as follows:
2 e ( 0 )
1 e
1 e ( 0 )
1
: ( 0 ) + ( 0 ) :
: ( 0 ) + L
( 0 ) +
0!
1!
2!
2 e ( 0 )
1
: ( 0 ) + L
= e + 0 : ( 0 ) + ( 0 ) :
0
2
2 e ( 0 )
1
1
: = : Ce :
= :
2
2
e ( ) =
2 e ( ) 2 e ( )
=
= C e (major symmetry)
klij
ij kl
kl ij
NOTE 3: To better illustration of the problem established here, let us consider a particular
case (a one-dimensional case) where the stress and strain components are given by:
0 0
ij = 0 0 0
0 0 0
0 0
e
ij = 0 0 0 11 = C111111 = E
0 0 0
In this case, the stress-strain linear relationship becomes = E (Hookes law) and the
1
2
1
2
Draft
338
e ()
Current state
()
1
2
e = E
Stored energy
1
e =
2
E
0 = 0
e =0
0
0 = 0
e ( kl ) = e ( kl )
( kl ) = ij ( kl )
ij
e
Then, taking into account that the relationship - is given by ij () = C ijkl kl (indicial
notation), we can conclude that:
( kl ) = ij ( kl )
ij
e
C e kl = C ijkl kl
ijkl
e
C e = C ijkl
ijkl
linear
( ) = C e :
isotropic
( ) = Tr ( )1 + 2
Elastic
It should be emphasized here that due to the fact that the C e -components are independent
of the coordinate system, the tensors and share the same principal space
(eigenvectors), (see Figure 5.3).
Draft
22
12
= C e kl
ij
ijkl
22
12
339
11
x1
= a ip a jq pq
ij
= a ip a jq pq
ij
11
22
22
e
ij = C ijkl kl
12
12
11
11
x1
22
11
= C e kl
ij
ijkl
22
Principal space
Isotropic material
11
e
C ijkl = C e = C e
ijkl
ijkl
e ( kl ) = e ( kl )
x1
e ( ) =
Note that if we are dealing with linear elastic material e ( ) = e ( ) holds, and
e ( )
.
=
Draft
340
1
Complementary strain energy density - e () = E 1
2
()
e ( ) = e ( )
Stored energy
1
Strain energy density - e () = E
2
0 = 0
0 = 0
()
e () e ()
0 = 0
0 = 0
where g( ) = 0 G( ) is the Gibbs free energy density (per unit volume) with reversed
sign, (see equations in (5.6) in Problem 5.2).
Problem 5.5
In tensile testing we evaluated the following points:
Point
1
2
3
4
5
( Pa ) (10 3 )
6.67
13.3
20
24
22
0.667
1.33
2
3
3 .6
Calculate Youngs modulus ( E ) and define the stress-strain curve limit points.
Solution: First, we verify that the first three points maintain the same proportionalities:
Draft
E=
341
(1) ( 2 ) ( 3)
20
= ( 2 ) = ( 3) =
= 10 000 Pa = 10 kPa
(1)
2 10 3
The stress-strain curve can be appreciated in Figure 5.5, in which we define the following
points: e - the proportionality point; Y - the yield point; u - the ultimate strength
point; and r - the rupture strength point.
(Pa ) 30
u
25
20
15
3; 24
3.6; 22
2; 20
1.33; 13.3
10
0.667; 6.67
0; 0
0
0 . 2%
0.5
1.5
2.5
3.5
(10 3 )
E
E
and =
. b) Expressing the strain tensor in
(1 + )(1 2 )
2(1 + )
[ ] {u } where
[ ]
matrix L(1) .
c) Write the equations of motion in Voigt notation.
Solution:
a.1) The strain energy density can be expressed as follows:
1
2
1
2
1
2
1
2
e ( ) = : C e : = : = : = ij ij
where we have used = C e : . Note that
Draft
342
ij ij = 1 j 1 j + 2 j 2 j + 3 j 3 j
1 3
2
123
1 3
2
3131
21 21
1111
+
+
+
3232
22 22
1212
+
+
+
3333
23 23
1313
thus
1
2
1
2
1
2
e ( ) = ij ij =
1
[11
2
22
33
12
23
11
22
33 1
13 ]
T
= { } { }
212 2
2 23
213
13
11
22
{ } = 33
212
2 23
213
0 0 0 11
11 + 2
+ 2
0 0 0 22
22
33
+ 2 0 0 0 33
= C e : Voigt
=
{ } = [C ] { }
0 0 212
0
0
12 0
23 0
0
0
0 0 2 23
0
0
0 0 213
13 0
(5.16)
More detail about this formulation is provided in Problem 1.94 in Chapter 1 where we
have also obtained
=
Tr ( )1
2
2 ( 2 + 3 )
and
Draft
( 2 + 3 )
11
2 ( 2 + 3 )
22
33 2 ( 2 + 3 )
=
2 12
2 23
0
2 13
2 ( 2 + 3 )
2 ( 2 + 3 )
+
2 ( 2 + 3 )
( 2 + 3 )
+
2 ( 2 + 3 )
( 2 + 3 )
0 11
22
0
33
0 12
23
0 13
343
0
1
{ } = [C ] 1 { }
(5.17)
E
E
E
+2
=
(1 )
(1 + )(1 2)
2(1 + ) (1 + )(1 2)
E
( )
=
(1 + )(1 2 )
(1 2 )
E
E
=
=
2(1 + ) (1 + )(1 2)
2
+ 2 =
(1 )
11
(1 )
(1 )
22
33
E
0
0
0
=
12 (1 + )(1 2)
0
23
0
0
13
0
0
0
0
0
(1 2)
2
0
0
0 11
0 22
0 33
2 12
0 2 23
(1 2) 2 13
2
0
(1 2 )
2
(5.18)
Note that
+=
E
E
E
+
=
(1 + )(1 2) 2(1 + ) 2(1 + )(1 2)
(2 + 3 ) =
E
E
E
E2
+3
2
=
2(1 + ) 2(1 + )
(1 + )(1 2 ) 2(1 + )(1 2)
+
E
2(1 + )(1 2) 1
=
=
E
(2 + 3 ) 2(1 + )(1 2)
E2
(1 + )(1 2 )
E
=
=
E
2 (2 + 3 ) (1 + )(1 2)
E2
1
2(1 + ) 1
= 2(1 + )
E
E
Draft
344
11
1
22
33 1
2 12 E 0
0
2 23
2 13
0
0
0
1
0
0
11
0
0
0 22
0
0
0 33
2(1 + )
0
0 12
0
2(1 + )
0 23
0
0
2(1 + ) 13
(5.19)
u1
x1
1 u1 u 2
+
ij =
2 x 2 x1
1 u
u
1 + 3
x
2 3 x1
1 u1 u 2
+
2 x 2 x1
u 2
x 2
1 u 2 u 3
+
2 x3 x 2
u1
x1
x1
u 2
0
11
x 2
22 u 3
0
33
x 3
{ } = = u u =
212 1 + 2
2 23 x 2 x1 x 2
u
u
2 13 2 + 3 0
x3 x 2
u1 u 3
x + x x
3
1
3
1 u1 u 3
+
2 x3 x1
1 u 2 u 3
+
2 x3 x 2
u 3
x 3
u1
x3
u 2
0 u
3
x 2
x1
x 2
0
x1
x3
0
{ } = [L(1) ]{u }
y
22 y w
0
{ } = 33 = z = u z v =
2 12 xy
+
2 23 yz y x y
v w
2 13 xz +
0
z y
u + w
z x z
0
y
u
0
z v { } = L(1) {u }
0 w
x
z y
0
x
r
r
r
&&
&
c) Let us consider the equations of motion + b = v = u (see equation (5.12)) in
&&
indicial notation ij , j + b i = u i and its explicit form:
Castilla-La Mancha University
Ciudad Real Spain
Draft
[ ]
345
&&
ij , j + b i = i1,1 + i 2, 2 + i 3,3 + b i = u i
&&
11,1 + 12, 2 + 13,3 + b1 = u1
&&
21,1 + 22, 2 + 23,3 + b 2 = u 2
&&
31,1 + 32, 2 + 33,3 + b 3 = u 3
11 12 13
+
+
+ b1 = &&1
u
x1
x 2
x3
21 22 23
&&
+
+
+ b 2 = u 2
x 3
x 2
x1
31 32 33
&&
+
+
+ b 3 = u 3
x1
x 2
x3
Then, if we consider the stress tensor in Voigt notation, the above equation becomes:
x1
0
x 2
x 3
x 2
x1
0
x3
x 2
&
[ ] { } + {b } = {u&}
L(1)
11
x 3 22 b u
&&1
1
33 + b = u
0 2 && 2
12 b 3 u 3
&&
23
x1
13
Problem 5.7
Consider an isotropic homogeneous linear elastic material described in Problem 5.4.
Obtain the governing equation so as to result in a system of three equations and three
unknowns, namely: u1 , u 2 , u 3 , (Displacement Formulation).
Solution:
As seen in Problem 5.4, the governing equations, for an isotropic homogeneous linear
elastic material in small deformation regime, are:
Tensorial notation
Indicial notation
The equations of motion:
r
r
r
&&
&
+ b = v = u (3 equations)
&&
ij , j + b i = u i (3 equations)
( ) = Tr ( )1 + 2 (6 equations)
(5.20)
r
= sym u (6 equations)
ij =
1 u i u j
+
2 x j x i
(6 equations)
Draft
346
ij = kk ij + 2 ij
ij , j = ( kk ij + 2 ij ) , j
ij , j = , j kk ij + kk , j ij + kk ij , j + 2 , j ij + 2 ij , j
{
{
{
=0 j
= 0i
(5.21)
=0 j
ij , j = kk , j ij + 2 ij , j
ij , j = kk ,i + 2 ij , j
If the mechanical properties and are constants throughout the material, i.e. if they do
r
= 0 j and , j
= 0 j . We
not vary with x (homogeneous material) we get , j
x j
x j
can also express the terms kk ,i and ij, j in terms of displacements. For this, we use the
kinematic equations:
ij =
1 u i u j
+
2 x j
xi
1
u i , j + u j ,i divergence ij , j = 1 u i , jj + u j ,ij
2
2
Note that
2ui
=
x j x j x j
u j ,ij
kk =
2u j
x j xi
u i
x j
r
r
r
u i , jj [ (u)]i 2 u (Laplacian of the vector u )
i
[ ]
2u j
x i x j
1 u k u k
+
2 x k
x k
x i
u j
x j
r
u j , ji [ ( u)]i
u k
gradient
=
x u k ,k kk ,i = u k ,ki = u j , ji
k
1
u i , jj + u j , ji = ( + )u j , ji + u i , jj
2
&&
By replacing the above equation into ij , j + b i = u i (equations of motion), we obtain:
ij , j + b i = && i
u
&&
( + )u j , ji + u i , jj + b i = u i
Naviers equations
(5.22)
NOTE 1: The above equations are known as the Naviers equations also known as NavierLam equations. The explicit form of the equation (5.22) is presented as follows:
&&
( + )u j , ji + u i , jj + b i = ( + )(u1,1i + u 2, 2i + u 3,3i ) + (u i ,11 + u i , 22 + u i ,33 ) + b i = u i
Draft
347
&&
( + )(u1,11 + u 2, 21 + u 3,31 ) + (u1,11 + u1, 22 + u1,33 ) + b1 = u1
&&
( + )(u1,12 + u 2, 22 + u 3,32 ) + (u 2,11 + u 2, 22 + u 2,33 ) + b 2 = u 2
&&
( + )(u1,13 + u 2, 23 + u 3,33 ) + (u 3,11 + u 3, 22 + u 3,33 ) + b 3 = u 3
or:
2u
2 u1 2 u1
u1 u 2 u 3
&&
+ b1 = u1
+ 21 +
+
+
+
( + )
2
2
x
x1 x1 x 2 x3
x 2
x3
2
2
2
u2 u2 u2
u1 u 2 u 3
&&
( + )
x + x + x + x 2 + x 2 + x 2 + b 2 = u 2
x 2 1
2
3
2
3
2
2
2
( + ) u1 + u 2 + u 3 + u 3 + u 3 + u 3 + b = u
&& 3
3
2
2
x 2
x 3 x1 x 2 x 3
x 2
x3
NOTE 2: We have proven in Problem 1.102 (Chapter 1) that the following is true:
r
r r
r
r
( a) = ( a) 2 a
indicial
ilq qjk a k , jl = a j , ji a i , jj
Then, we can obtain
r
r r
r
r
r
(u) 2 u = ( u) ( u)
indicial
u i , jj = u j , ji ilq qjk u k , jl
r
r
r r
r
r
r
&&
( + )[ ( u)] + ( u) ( u) + b = u
r
r
r r
r
r
&&
( + 2)[ ( u)] ( u) + b = u
u = u i e i = u1 e1 + u 2 e 2 + u 3 e 3
r r
r
r
u
u
u
u
u
u
( u) =
x 2
x 3
= (rot (u) )1
= (rot (u) )2
r
r
e 1 +
x
x1
3
= (rot (u) )3
r
r
e 2 +
e 3
x1
x 2
r
r
(rot (u) )3 (rot (u) )2 u 2 u1 u1 u 3
x x
x 2
x3
2 1 x 2 x3 x3 x1
r
r
(rot (u) )
r
r r
(rot (u) )3 u 3 u 2 u 2 u1
( u) i =
x1
x 3
x 3 x 2 x 3 x1 x1 x 2
r
r
(rot (u) )
(rot (u) )1
2
u1 u 3 u 3 u 2
x1 x3 x1 x 2 x 2 x3
x1
x 2
Draft
348
NOTE 3: If we are dealing with heterogeneous material, the equations in (5.21) become:
ij = kk ij + 2 ij
ij , j = ( kk ij + 2 ij ) , j
ij , j = ( kk ) , j ij + (2 ij ) , j = ( kk ) ,i + ( 2 ij ) , j
ij , j = (u k , k ) ,i + (u i , j + u j ,i ) , j
whereby
&&
ij , j + b i = u i
&&
(u k ,k ) ,i + (u i , j + u j ,i ) , j + b i = u i
(5.23)
Note that
r
r
u k , k = Tr (u) = ( u)
&
&
&
&
&
&
&
, and its components
u
u
u
u
Du i u i u i
&&
=
+
ui =
v j = i + i v1 + i v 2 + i v3
t
x j
t
x1
x 2
x3
Dt
&
&
&
&
u1 u1
u
u
+
v1 + 1 v 2 + 1 v3
x1
x 2
x3
t
u 2 u 2
&
&
&2
&
u
u 2
&&
+
v1 +
v2 +
v3
ui =
x1
x 2
x 3
t
u
&
&
&
&
u
u
u
3 + 3 v1 + 3 v 2 + 3 v3
t
x1
x 2
x3
(u i , j + u j ,i ) , j =
(u i , j + u j ,i )
x j
(u i ,1 + u1,i ) +
(u i , 2 + u 2,i ) +
(u i ,3 + u 3,i )
x1
x 2
x3
2(u1,1 ) +
(u1, 2 + u 2,1 ) +
(u1,3 + u 3,1 )
x 2
x3
x1
2(u 2, 2 ) +
(u i , j + u j ,i ) , j =
(u 2,1 + u1, 2 ) +
(u 2,3 + u 3, 2 )
x1
x 2
x3
2(u 3,3 )
(u 3,1 + u1,3 ) +
(u 3, 2 + u 2,3 ) +
x1
x 2
x3
r
&&
[( u)] + 2(u1,1 ) + (u1, 2 + u 2,1 ) + (u1,3 + u 3,1 ) + b1 = u1
x1
x1
x 2
x 3
&&
[( u)] + (u 2,1 + u1, 2 ) + 2(u 2,2 ) + (u 2,3 + u3, 2 ) + b 2 = u 2
x 2
x1
x 2
x3
r
&&
[( u)] + (u 3,1 + u1,3 ) + (u 3,2 + u 2,3 ) + 2(u3,3 ) + b 3 = u 3
x 31
x1
x 2
x 3
Draft
349
Problem 5.8
Consider the infinitesimal strain tensor . a) Show that:
r
r
( ) = 0
(5.24)
(5.25)
u
1
1
j
The infinitesimal strain tensor is given by ij =
+ i = (u + u i , j ) , and if we
xi x j 2 j ,i
2
ij ,k =
1
(u j ,ik + u i , jk )
2
1
2
= qjk ij ,kl =
1
u j ,ikl qjk
2
Note that u j ,ikl = u j ,kil = u j ,kli is symmetric in il and til = tli is antisymmetic in il . With
that, if we multiply both sides of the equation by til we obtain the equation in (5.24), i.e.:
1
2
Q.E.D.
Draft
350
1 jk 1il ij ,kl = 1 jk 3 j ,k 2 + 1 jk 2 j , k 3 = 123 32,32 132 33, 22 + 123 22,33 + 132 23, 23
= 32,32 + 33, 22 + 22,33 23, 23 = 33, 22 + 22,33 2 23, 23 = 0
=
2 33
2
x 2
2 22
2
x3
2 23
=0
x 2 x3
2 33
x12
2 11
2
x3
2 13
=0
x1x3
when q = 3, t = 3
2 11
2
x 2
2 22
x12
2 12
=0
2
x1 x 2
when q = 1, t = 2
1 jk 2il ij ,kl = 12,33 + 13, 23 + 32,31 33, 21 = 13, 23 + 23,13 33,12 12,33 = 0
=
2 33
2 23
2 13
2 12
+
x 2 x3 x1 x3 x1 x 2 x3 x3 x3
23 13 12
x + x x
2
3
1
2 33
x x = 0
1
2
when q = 2, t = 3
2 jk 3il ij ,kl = 11,32 + 13,12 + 21,31 23,11 = 13,12 + 12,13 23,11 11, 23 = 0
=
2 23
2 13
2 11
2 12
+
x1 x 2 x1 x3 x1x1 x 2 x 3 x1
13 12 23
x + x x
3
1
2
2 11
x x = 0
2
3
and when q = 1, t = 3
1 jk 3il ij ,kl = 12,32 13, 22 22,31 + 23, 21 = 12, 23 13, 22 22,13 + 23,12 = 0
=
2 23
2 13
2 22
2 12
=
+
x 2 x3 x 2 x 2 x1x 3 x1x 2 x 2
12 13 23
x x + x
2
1
3
2 22
x x = 0
1
3
Draft
2 33 2 22
2 23
+
2
=0
S11 =
2
2
x 2 x3
x 2
x3
2
2
2
S 22 = 33 + 11 2 13 = 0
2
x1 x3
x12
x3
2 11 2 22
2 12
S 33 =
+
2
=0
2
x1 x 2
x 2
x12
2
S = 23 + 13 12 33 = 0
12 x x
x 2
x3 x1x 2
3
1
23 13 12 2 11
=0
+
+
S 23 =
x1 x1
x 2
x 3 x 2 x3
2
S = 23 13 + 12 22 = 0
13 x 2 x1
x 2
x3 x1 x3
351
(5.26)
2
S11 x 2
3
S
2
22
2
S 33 x 2
=
S12 0
S 23
2
S13
x 2 x 3
2
2
x3
2
2
x 2
2
x12
0
2
x12
0
0
2
x1 x 2
2
x1x3
2
x1 x 2
2
1 2
2
x3
2
1
2
x1 x3
2
1
2
x 2 x3
x1x3 11 0
22 0
0
0
33 =
2
212 0
2
x 2 x 3 2 23 0
2 2 13 0
1
2
x1 x 2
2
1 2
2
x 2
2
x 2 x3
0
2
x1x3
2
1 2
2
x1
2
1
2
x1x 2
1
2
{S } = [L( 2) ] { } = {0}
(5.27)
NOTE 1: The equations in (5.26) are known as the compatibility equations. The
compatibility equations guarantee that the displacement field is unique and continuous. In
other words, the 6 components of the strain tensor are not independent and can not be
arbitrary.
2
6
7
2
5
8
4
7
Draft
3
6
9
352
NOTE 2: When using numerical method for obtaining the solution, e.g. finite element
method, the way to ensure the compatibility equations is by means of the continuity of the
displacement field. With regards the finite element method, when we assembly the
elements (tie nodes) we are ensuring that the compatibility equations are satisfied.
r
2 11
2
x 2
2 22
x12
2 12
2
=0
x1x 2
Compatibility
equations for 2D
(5.28)
since i 3 = 3i = 0 .
Problem 5.9
a) Show that the fundamental equations for an isotropic linear elastic material (see
equations in (5.20)), can be replaced by six equations and six unknowns ( ij ), (Stress
Formulation), i.e.:
ij ,kk +
2( + )
&&
kk ,ij
ll ,kk ij = 2 (u i ) , j
(2 + 3 )
( 2 + 3 )
sym
2 ( b i ) , j
sym
(5.29)
b) or by:
ij ,kk +
2( + )
&&
&&
kk ,ij =
(b k ) ,k (u k ) , k ij + 2 (u i ) , j
(2 + 3 )
( 2 + )
sym
2 ( b i ) , j
sym
(5.30)
E
E
and =
, express the equations (5.29) and
(1 + )(1 2 )
2(1 + )
(5.30) in function of ( E , ) .
r
Hint: The kinematic equations = sym u can be replaced by:
c) Considering that =
(5.31)
: = Ce
: C e : = I sym : = sym =
= Ce
1
1
Tr ( )1 indicial ij =
ij
ss ij .
2
2 (2 + 3 )
2
2(2 + 3 )
r
If we consider a homogeneous material, the mechanical properties do not vary with x , i.e.
= 0 i and ,i
= 0 i , then:
,i
x i
xi
2 ij
1
ij , kl =
2 ij 2(2 + 3 ) ss ij = 2 ij ,kl 2(2 + 3 ) ss , kl ij
x k xl
,kl
Castilla-La Mancha University
Ciudad Real Spain
Draft
(5.32)
353
(5.33)
1
1
ik ,kl
ss ,kl ik =
ik ,kl
ss ,il
2
2 (2 + 3 )
2
2(2 + 3 )
kl ,ik =
1
1
kl ,ik
ss ,ik kl =
lk ,ki
ss ,il
2
2 (2 + 3 )
2
2(2 + 3 )
il ,kk =
1
il ,kk
ss ,kk il
2
2(2 + 3 )
kk ,il =
1
1
3
kk ,il
ss ,il kk =
kk ,il
ss ,il
{ 2
2
2(2 + 3 )
2(2 + 3 )
=3
2
1
3
3
ss ,il
ss ,il =
2 2(2 + 3 ) ss ,il = 2(2 + 3 ) ss ,il
2
2 (2 + 3 )
2 ij
x k x l
ij ,kl =
1
ij ,kl
ss ,kl ij
2
2(2 + 3 )
2
1
2
ik ,kl
ss ,il + lk ,ki il , kk +
ss ,kk il
ss ,il = 0 il
2
(2 + 3 )
(2 + 3 )
(2 + 3 )
2
2
ik ,kl
(2 + 3 ) + (2 + 3 ) ss ,il + lk , ki il ,kk + (2 + 3 ) ss , kk il = 0 il
2( + )
ik ,kl
ss ,il + lk , ki il ,kk +
ss , kk il = 0 il
(2 + 3 )
(2 + 3 )
2( + )
ss ,il il ,kk +
ss ,kk il = ik , kl lk ,ki
(2 + 3 )
(2 + 3 )
(5.34)
&&
From the equations of motion ij , j + b i = u i we can obtain:
&&
ij , jk + (b i ) , k = (u i ) ,k
&&
ik ,kl = (b i ) ,l (u i ) ,l
&&
lk , ki + (b l ) ,i = (u l ) ,i
&&
lk ,ki = (b l ) ,i (u l ) ,i .
&&
&&
&&
And note that ik ,kl lk , ki = (b i ) ,l (u i ) ,l + (b l ) ,i (u l ) ,i = 2[(b i ) ,l ]sym 2[(u i ) ,l ]sym
2( + )
ss ,il il ,kk +
ss ,kk il = 2 (b i ) ,l
(2 + 3 )
(2 + 3 )
Draft
sym
&&
2 ( u i ) ,l
sym
354
2( + )
&&
kk ,ij
ll ,kk ij = 2 (u i ) , j
(2 + 3 )
(2 + 3 )
sym
2 (b i ) , j
sym
Q.E.D.
2( + )
&&
kk ,ij =
ll ,kk ij + 2 (u i ) , j
(2 + 3 )
(2 + 3 )
sym
2 ( b i ) , j
sym
(5.35)
Our goal now is to obtain an expression for ll, kk . If we multiply equation (5.31) by jk li
we obtain:
ij , kl jk li + kl ,ij jk li il , jk jk li jk ,il jk li = O ijkl jk li
ij , ji + ji ,ij ii , jj jj ,ii = 2 ij ,ij 2 ii , jj = 0
(5.36)
ij ,ij ii , jj = 0
If we use the inverse of the constitutive equation (see equation (5.32)), we can obtain:
ij ,ij =
ii , kk
1
1
ij ,ij
ss ,ij ij =
ij ,ij
ss ,ii
2
2(2 + 3 )
2
2(2 + 3 )
(5.37)
2
1
=
ii ,kk
ss ,kk ii =
2 (2 + 3 ) ii , kk
2
2(2 + 3 )
1
ij ,ij
ss ,ii
2(2 + 3 ) ii ,kk = 0
2
2 (2 + 3 )
ij ,ij
(2 + 3 ) + (2 + 3 ) ii ,kk = 0
(5.38)
2 +
ij ,ij =
(2 + 3 ) ii , kk
&&
Now, by means of the equations of motion ij , j + b i = u i we can obtain:
ij , ji + (b i ) ,i = (&& i ) ,i
u
&&
ij , ji = (u i ) ,i (b i ) ,i
2 +
&&
( u i ) , i ( b i ) , i =
(2 + 3 ) ii ,kk
ii ,kk = ll ,kk =
(5.39)
(2 + 3 )
(2 + 3 )
&&
&&
(u k ) ,k (b k ) ,k =
(b k ) ,k (u k ) , k
2 +
2 +
Draft
ij ,kk +
2( + )
&&
kk ,ij =
ll ,kk ij + 2 (u i ) , j
(2 + 3 )
(2 + 3 )
sym
2 ( b i ) , j
355
sym
ij , kk +
2( + )
(2 + 3 )
&&
kk ,ij =
(b k ) ,k (u k ) ,k ij + 2 (&& i ) , j
u
(2 + 3 )
(2 + 3 ) 2 +
ij , kk +
2( + )
&&
kk ,ij =
(b k ) , k (&& k ) , k ij + 2 (u i ) , j
u
(2 + 3 )
( 2 + )
sym
sym
2 (b i ) , j
2 (b i ) , j
sym
Q.E.D.
(5.40)
(5.41)
(2 + 3 )
(2 + 3 )
(1 2 )
E
=
E
(1 + )(1 2) (1 + )
(1 2)
(1 2)
E
=
E
2(1 + ) 2(1 + )
2( + )
(1 2)
1
=2
+2
=
(2 + 3 )
(1 + )
2(1 + ) (1 + )
(2 + ) = 2
E (1 )
E
E
+
=
2(1 + ) (1 + )(1 2) (1 + )(1 2)
(1 + )(1 2)
=
=
(2 + ) (1 + )(1 2)
E (1 )
(1 )
&&
kk ,ij
ll ,kk ij = 2 (u i ) , j
(1 + )
(1 + )
sym
2 ( b i ) , j
sym
&&
&&
kk ,ij =
(b k ) ,k (u k ) ,k ij + 2 (u i ) , j
(1 + )
(1 )
sym
2 (b i ) , j
sym
(5.42)
kk ,ij =
(b k ) , k ij 2 (b i ) , j
(1 + )
(1 )
sym
Michells equations
(5.43)
If the body forces do not vary with x , the Michells equations reduce to:
ij ,kk +
1
kk ,ij = 0 ij
(1 + )
Beltramis equations
(5.44)
Draft
sym
356
ll ,kk =
(2 + 3 )
(1 + )
(b k ) , k =
(b k ) ,k
2 +
(1 )
{ [Tr ( )]} =
r
(1 + )
(b)
(1 )
(5.45)
The above equation can also be obtained by means of equation (5.43) with ( i = j ), i.e.:
ii ,kk +
1
kk ,ii =
(b k ) , k ii 2 (b i ) ,i
{
(1 + )
(1 )
=3
1
ii ,kk =
1 +
(1 ) 2 (b k ) , k
(1 + )
( 2 + )
(2 + )
(1 + ) ii ,kk = (1 ) (b k ) ,k
ii ,kk =
(1 + )
(b k ) ,k
(1 )
]
(5.46)
(5.47)
with
11 =
2
2
x 2
22 =
2
x12
12 = 21 =
2
x1 x 2
(5.48)
Consider a linear elastic material, a static problem, and no body forces. Consider also that
the Cauchy stress tensor is only dependent of x1 and x 2 , i.e. = ( x1 , x 2 ) .
b) Show whether the equilibrium are satisfied.
Solution:
a) In Problem 5.9 (see equation (5.46)) we have shown that:
ii ,kk =
(1 + )
(b k ) , k = 0
(1 )
where we have considered that (b k ) ,k = 0 . For the proposed problem we have i, k = 1,2 ,
with which:
ii ,kk = 0
ii ,11 + ii , 22 = 0
11,11 + 22,11 + 11, 22 + 22, 22 = 0
2 11
x12
2 22
x12
2 11
2
x 2
2 22
2
x 2
=0
Draft
2 11
x12
2 22
x12
2 11
2
x 2
2 22
2
x 2
357
=0
2 2 2 2 2 2 2 2
+ 2
+ 2
+ 2
=0
2
2
x12 x 2
x1 x12 x 2 x 2
x 2 x12
4
4
4
+2 2 2 + 4 =0
x14
x1 x 2
x 2
Q.E.D.
i , j ,2)
(=1
i1,1 + i 2, 2 = 0 i
11 12
x + x = 0
1
2
21 22
+
=0
x1
x 2
21 22
+
=0
x1
x 2
2
2
3
3
=
=0
2
2
2
x 2 x1 x 2 x1 x 2 x1 x 2
x1 x 2
3
3
2
2
+ = + = 0
x x x
x 2 x12
x12 x 2 x 2 x12
1
1
2
With this, we show that the expressions of stresses given by (5.48) satisfy the equilibrium
equations.
Problem 5.11
Consider the governing equation for the elastic, linear problem. Obtain an equivalent
r
formulation such as the unknowns are displacement u and stress (Mixed Formulation).
Use Voigt notation.
Solution:
Taking into account the governing equations for the elastic, linear problem:
Tensorial notation
The equations of motion:
r
r
r
&&
&
+ b = v = u (3 equations)
The constitutive equations for stress:
Voigt notation
The equations of motion:
&
[L ] { } + {b } = {u&} (3 equations)
(1) T
{ } = [C ]{ } (6 equations)
( ) = C : (6 equations)
(5.49)
{ } = [L(1) ] {u } (6 equations)
r
= sym u (6 equations)
where the equations in Voigt notation were obtained in Problem 5.6, where
Draft
358
[L ]
(1) T
x1
= 0
x 2
x 2
x1
0
0
x3
x3
x 2
x 3
0
x1
To eliminate the strain from the equations, we replace the kinematic equation into the
constitutive equations for stress, thus:
{ } = [C ]{ }
{ } = [C ] [L(1) ]{u }
1
1
[C ] { } = [C ] 4 ] [L(1) ]{ }
1 2[3
u
4 C
=[1 ]
[ ]{u } = {0 }
[C ] { } L
(1)
[ ]
L(1) T { } + {b } = {u&}
&
1
(1)
u
[C ] { } L { } = {0 }
[ ]
(1)
L
[ ]
&
[L ] {u } = {b } + {u&}
(1) T
[C ]1 { }
{0 }
NOTE: The above formulation is known as Mixed Formulation. It is interesting to note that
in the formulations either in displacement or in stress, (see Problem 5.7 and Problem 5.9),
we have second derivative of the unknowns, meanwhile in the mixed formulation we deal
only with the first derivative of the unknowns, and moreover this formulation does not
deal with the derivative of the mechanical properties.
Draft
359
Problem 5.12
Let us consider two systems made up by the same linear elastic material but with different
load conditions as shown below:
r
System I
Surface force - t *
Su
r
u*
dV
r r
t * ( x)
r r
b( x )
Stress field -
Strain field -
System II
Su
r
u*
Displacement field - u
Surface force - t *
S
B
dV
r r
t * ( x)
r
b
Displacement field - u
: dV = : dV
Bettis theorem
(5.50)
Solution:
Taking into account the constitutive equation for stress, = C e : , in indicial notation:
e
ij = C ijkl kl
Major Simmetry
of C
e
ij ij = ij C ijkl kl = kl C e ij
klij
e
where we have applied the major symmetry of the elasticity tensor ( C ijkl = C e ). Since the
klij
both systems are made up by the same material the relationship = C e : holds. With that
the above equation becomes:
ij ij = ij C e kl = kl C e ij = kl kl
ijkl
klij
Tensorial notation
: = :
If now we integrate over the whole volume we get the Bettis theorem:
: dV = : dV
Draft
(5.51)
360
e
NOTE 1: The above equation is only valid if C ijkl = C e holds, i.e. if C e has major
klij
e
symmetry. In other words, the condition C ijkl = C e enforces the existence of the storedklij
energy function, such as:
2 e
2 e
=
= Ce
klij
ij kl kl ij
e
C ijkl =
NOTE 2: The Bettis theorem is the start point to obtain the formulation of the Boundary
Element Method.
NOTE 3: The Bettis theorem can also be expressed in another form which we show
below.
2 x j
1 u
Recall that ij = i +
ij =
u j 1
= (u i , j + u j ,i ) , which is also valid for the system II, i.e.
xi 2
1
( ui , j + u j ,i ) . Then:
2
ij ij dV
= ij ij dV
1
1
ij (u i , j + u j ,i )dV =
ij ( ui , j + u j ,i )dV
2V
2V
u
ij
i , j dV
(5.52)
= ij ui , j dV
ij u i , j = ( ij u i ), j ij , j u i
( ij ui ), j = ij , j ui + ij ui , j
ij ui , j = ( ij ui ), j ij , j ui
u
ij
= ij ui , j dV
i , j dV
( u ),
( u ),
ij
ij , j u i dV = ( ij ui ), j ij , j ui dV
ij
(5.53)
dV ij , j u i dV = ( ij ui ), j dV ij , j ui dV
Applying the divergence theorem to the first one integral on both sides of the equation, we
get:
u n dS
ij
ij , j u i dV
= ij ui n j dS ij , j ui dV
S
(5.54)
t i u i dS ij , j u i dV = t i ui dS ij , j ui dV
S
r
t
udS ( ) udV = t u dS ( ) u dV
V
Draft
(5.55)
361
r r
&&
= (b u )
r r
&&
= (b u)
r r r
r r
r r r
r r
&&
&&
t udS + (b u ) udV = t u dS + (b u) u dV
Bettis theorem
(5.56)
r r
t udS =
r r
t u dS =
r r
t * udS +
r r
t * u dS +
r r
t u* dS
Su
(5.57)
r r
t u * dS
Su
For the particular case when the system is in equilibrium and in the absence of body force,
the equation (5.56) becomes:
r r
r r
t udS = t u dS
(5.58)
(5.59)
Problem 5.13
Let us consider two systems as described in Figure 5.6. Show the Principal of Virtual Work:
r r r
r r
&&
t * u dS + (b u) u dV = : dV
V
1444442444443
Total external virtual work
V 4 4
1 2 3
(5.60)
Total internal
virtual work
with u = u* on S u .
Solution:
We can prove the Principle of Virtual Work by starting directly from the relationship:
ij ij dV
1
ij ( ui , j + u j ,i )dV = ij ui , j dV
2V
V
Note that ( ij ui ), j = ij , j ui + ij ui , j
ij ij dV
ij ui , j = ( ij ui ), j ij , j ui , thus:
= ij ui , j dV = ( ij ui ), j ij , j ui dV
V
ij ij dV = ( ij ui ), j dV ij , j ui dV
V
(5.61)
(5.62)
by applying the divergence theorem to the first volume integral on the right side of the
equation, we get:
Castilla- La Mancha University
Ciudad Real Spain
Draft
362
ij ij dV
= ( ij ui ), j dV ij , j ui dV = ij ui n j dS ij , j ui dV
(5.63)
= t * ui dS ij , j ui dV
i
S
where we have applied the definition n = t * . The above equation in tensorial notation
becomes:
r
r r
: dV = t * u dS ( ) u dV
&&
If we use the equations of motion we get + b = u
that the equation in (5.64) becomes:
(5.64)
r r
&&
= (b u) , with
r r r
r r
&&
t * u dS + (b u) u dV = : dV
14444 244444
4
3
Total external virtual work
V 4 4
1 2 3
Total internal
virtual work
which is known as the Principle of Virtual Work. Note that, for the demonstration, we
have not used the major symmetry of C e .
For the particular case when the system is in equilibrium and in the absence of body force,
the above equation becomes:
r r r
t * u ( x )dS = : dV
(5.65)
Voigt notation
r
r
F loc u loc = : dV
{F } {u }= { } { } dV
loc T
loc
(5.66)
where the direction of uiloc -component is the same as the Filoc -component direction,
where {F loc }= {F1 , F2 ,..., Fn }T , {u loc }= {U 1 , U 2 ,..., U n }T .
F2
F1
F3
u
u
,
REAL
VIRTUAL
Draft
363
& &
virtual fields u , , i.e.:
r r r
r r
&
&& &
&
t * u dS + (b u) u dV = : dV
V
1444442444443
V 4 4
1 2 3
(5.67)
Total internal
virtual work
r r
r
r
r
&&
t * u dS + (b u) u dV = : dV
144444 V 444444
4
2
3
Total external virtual work
V 4 4
1 2 3
(5.68)
Total internal
virtual work
NOTE 4: We can also define the Principle of complementary virtual work where the
fundamental unknowns are stresses (forces):
r r
r
&& r
r
t u* dSu + (b u ) udV =
r
Su
: dV
14444 244444
4
3
Total external complementary virtual work
Principle of Complementary
Virtual Work
V 4 4
1 2 3
Total internal
complementary virtual work
(5.69)
with n = t * on S .
Problem 5.14
Consider a sub-domain made up by a homogeneous, isotropic linear elastic material.
Consider also that at some points of the sub-domain boundary there are concentrated
r
r
forces {F (e ) }, and that the displacement field is approximated by {u( x )} = [N ( x )]{ ( e ) }
u
(e )
where { } are the displacements at the points where concentrated forces are applied.
u
Prove that the fundamental equations for a linear elastic problem can be replaced by:
{F }= [K ]{u }
(e)
(e )
(e)
[K ] = [B] [C ][B] dV
T
(e)
with
(5.70)
where [C ] is the elasticity tensor in Voigt notation, and obtain an expression for [B ( x )] .
Hint: Use the Principle of Virtual Work.
Solution:
We can start directly from the equation in (5.66), which is equivalent to:
r
r r
F u = : dV = : ( sym u ) dV
r r
r
u F = ( sym u ) : dV
(5.71)
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364
r r
r
u F = ( sym u ) : dV Voigt u (e )
{ } {F }= { } { } dV
(e)
(5.72)
Note that, the above equation is already considering the equilibrium equation (see equations
(5.64)-(5.66)). The constitutive equation in stress, in Voigt notation is given by
r
r
{ ( x )} = [C ]{ ( x )} , where the strain tensor field is given by the kinematic equations
r
r
( x ) = sym u . In Problem 5.6 we have obtained the symmetric part of the displacement
x1
x1
0
u 2
11
x 2
22 u 3
0
33
r
x3
{ ( x )} = = u u =
2 12 1 + 2
2 23 x 2 x1 x 2
u
u
2 13 2 + 3 0
x3 x 2
u1 u 3
x + x x
3
1
3
x 2
0
x1
x 3
0
u1
x3
u 2
0 u
3
x 2
x1
r
r
{ ( x )} = [L(1) ]{u( x )}
then
r
r
r
r
{ ( x )} = [L(1) ]{u( x )} = [L(1) ][N ( x )]{u (e) }= [B( x )] {u (e) }
where
r
r
[B( x )] = [L(1) ] [N ( x )]
(5.73)
r
r
r
{ ( x )} = [C ]{ ( x )} = [C ] [B ( x )] {u (e ) }
We can adopt the same displacement field approach to approximate the virtual
displacement field, with which we can obtain:
r
r
{u ( x )} = [N ( x )]{u (e ) }
r
r
{ ( x )} = [B( x )] {u (e) }
(e)
(e)
(e)
or:
r
r
{u } {F }= {u } [B( x)] [C ][B( x )]{u }dV
(e) T
(e ) T
(e)
(e)
(5.74)
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365
r
r
{u } {F }= {u } [B( x)] [C ][B( x)] dV {u }
(e) T
(e) T
(e)
(e)
r T
r
F ( e ) = [B ( x )] [C ][B ( x )] dV u ( e )
(e)
(e)
(5.75)
{ }
{ }
u
{F } = [K ]{ }
(e)
[ ]
NOTE: K (e ) is known as the stiffness matrix of the sub-domain (finite element), and the
r
r
r
matrix [N ( x )] from the relationship {u( x )} = [N ( x )]{ ( e ) } is known as the matrix shape
u
function. The shape functions are functions defined into the domain that allows us to
r
obtain the value of an unknown function {u( x )} at any point of the domain through the
nodal values of the function { (e ) }.
u
Problem 5.15
For a equilibrium system let us consider the total potential energy :
r r
r r
r
1
(u) =
: dV t * udS (b) udV
2
V
S
V
(5.76)
where
U int =
2 : dV =
( ) dV
(5.77)
r r
r r
U ext = t * udS + (b) udV
(5.78)
and
Also let us consider that the first variation of , denoted by , equals cero for a
r
stationary value of . Show that, if = 0 is equivalent to a stationary value , so (u)
assume a minimum value.
r r
NOTE: Consider that during the deformation process, the external actions ( t * , b ) do not
vary, and also consider a linear elastic material.
Solution:
The first variation ( ) can be obtained as follows:
1
r r
r r
=
: dV t * udS (b) udV
2
S
V
V
r r
r* r
1
= : dV t udS (b) udV
2
V
S
V
(5.79)
r
r
r
r
1
( : ) dV t * udS (b) udV
2
S
V
Note that:
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366
1
1
1
( : ) = ( : + : ) = (C e : ) : + :
2
2
2
1
1
1
= (C e : ) : + : = : C e : + : = [ : + : ]
2
2
2
= :
e ( ) =
] [
(5.80)
e
:
e
(see Problem 5.4). For small deformation regime we
r
r
r
e
: = : = : ( sym u) = : ( sym u) = : (u)
(5.81)
where we have used the property A sym : B = A sym : (B sym + B skew ) = A sym : B sym . Then, the
equation in (5.79) becomes:
r
r
r
r
1
( : ) dV t * udS (b) udV
2
V
S
V
r
r* r
r
= : dV t udS (b) udV
r
r
r
r
= e dV t * udS (b) udV
(5.82)
Note that
1
2 e ( )
e ( )
: + :
: + ...
2
(5.83)
2 e ( )
e ( )
(see Problem 5.4),
: = e (see equation (5.80)) and C e =
1
2 e ( )
e ( )
: + :
: + ...
2
1
e ( ) + e + : C e :
2
e ( + ) = e ( ) +
and by replace the above equation into the equation (5.82) we obtain:
Draft
367
r r
r
r
r
r
r
r
(u + u) = e ( + ) dV t * (u + u)dS (b) (u + u)dV
r r
r
r
r
r
1
: C e : dV t * (u + u)dS (b) (u + u)dV
2
V
V
V
S
V
r r
r* r
= e ( ) dV t udS (b) udV +
= e ( ) dV + e dV +
r
r
r
r
1
+ e dV t * udS (b) udV +
: C e : dV
2
V
S
V
V
Note that:
r r
r r
r
(u) = e ( ) dV t * udS (b) udV
and
r
r
r
r
= e dV t * udS (b) udV = 0
Thus:
r
r
r
1
(u + u) = (u) + +
: C e : dV
2
V
r
r
r
1
(u + u) (u) = +
: C e : dV
2
V
r
r
r
1
(u + u) (u) =
: C e : dV
2
V
where we have considered = 0 . Note that the term : C e : > 0 is always positive for
any valor of since C e is a positive definite tensor (see Chapter 1). Then, we guarantee
that:
r
r
r
r
r
r
1
= (u + u) (u) =
: C e : dV > 0
(u + u) > (u)
2
V
r
= 0
(u) is a minimum
So,
NOTE 1: For a system made up by a linear elastic material, the equilibrium point
corresponds to minimum value of . This is known as the principle of minimum potential
energy.
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368
NOTE 2: When the external action is characterized by concentrated forces and in the
absence of body forces, the equation (5.76) becomes:
{ } {u }
r
1
(u) = U int + U ext =
: dV F loc
2
V
loc
(5.84)
(u )
F
(u ( 2 ) )
(u )
=0
u
(u ( 3 ) )
u (2)
u ( 3)
NOTE 3: By means of equation (5.84), it is easy to show the Castiglianos Theorem Part I:
r
(u)
U int
U ext
U int
{ } {u }
=0
{ }
u
F loc
loc
{ } {u } {u } {u }
U
{F }=
{ }
u
where {F }= {F , F ,..., F } , {u }= {U , U ,..., U } . Note that the term U
function of { } .
u
u loc
loc
loc
loc
loc
int
loc
loc
loc
loc
int
must be in
loc
NOTE 4: For better illustration of the proposed problem, we will consider a rod of length
L and cross-sectional area A . Consider also that the stress and strain fields are
homogeneous and given by:
0 0
ij = 0 0 0
0 0 0
0 0
e
ij = 0 0 0 11 = C111111 = E
0 0 0
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369
F (1) ,u (1)
F ( 2) ,u ( 2 )
The goal now is to express the total potential energy in terms of u (1) , u ( 2) . Note that, due to
the concentrated forces we have:
(5.85)
For this case, (see NOTE 3 of Problem 5.4), the linear stress-strain relationship is given
1
2
1
2
2 : dV
1D
U int =
note that 11 =
1
1
1
dV =
E dV =
E 2 dV
2V
2V
2V
u1 u ( x)
=
= , thus
x1
x
U int =
1
1
u ( x)
E 2 dV =
E
dV
2V
2 V x
(5.86)
Our goal now is to express the displacement field in terms of their nodal values u (1) , u ( 2) .
To do this we use the approach adopted u ( x) = a1 + a2 x , where:
= a1 + a 2 L
u ( x = 0) = u (1) = a1
u ( x = L) = u ( 2)
u (1) 1 0 a1
( 2) =
u 1 L a 2
Next we evaluate the coefficients a1 and a 2 . To do this, we obtain the inverse of the
above relationship:
u (1) 1 0 a1
( 2) =
u 1 L a 2
a1 1 L 0 u (1)
=
(2)
a 2 L 1 1 u
inverse
a1 = u (1)
1 (2)
(1)
a 2 = u u
L
1 ( 2)
x
x
u u (1) x = 1 u (1) + u ( 2)
L
L
L
(1)
r
x x u
u ( x) = 1 ( 2 ) = [N ( x )] u ( e )
L L u
{ }
(5.87)
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370
U int =
1
2V
E 1 ( 2)
E
u ( x)
(1)
E
dV =
u u dV = 2
2VL
2L
( 2) 2
2
2u (1) u ( 2 ) + u (1) dV
2
2
2
E ( 2) 2
E
2u (1) u ( 2 ) + u (1) dV = 2 u ( 2) 2u (1) u ( 2 ) + u (1) V
u
2L
2L
V
(5.88)
2
2
EA ( 2 ) 2
EAL ( 2) 2
=
2u (1) u ( 2 ) + u (1) =
2u (1) u ( 2 ) + u (1)
u
2
2L
2L
Then, the total potential energy (see equation (5.84)) is given by equations (5.85) and (5.88),
i.e.:
r
2
EA ( 2 ) 2
(u) = U int U ext =
2u (1) u ( 2) + u (1) F (1) u (1) + F ( 2 ) u ( 2 ) = (u (1) , u ( 2) )
u
2L
u (1)
(1)
(2)
(u , u )
u ( 2 )
) = 0
) = 0
2
EA ( 2) 2
2u (1) u ( 2 ) + u (1) F (1) u (1) + F ( 2) u ( 2 )
u
(1)
u 2 L
EA
=
2u ( 2) + 2u (1) F (1) = 0
2L
EA (1)
u u ( 2 ) F (1) = 0
=
L
2
EA ( 2) 2
= ( 2)
2u (1) u ( 2 ) + u (1) F (1) u (1) + F ( 2 ) u ( 2 )
u
u 2 L
EA
2u ( 2 ) 2u (1) F ( 2 ) = 0
2L
EA ( 2 )
u u (1) F ( 2 ) = 0
=
L
=
= ( 2)
1 1 (2)
L
u F
[ ]{ } { }
] has no inverse, since det[K ] = 0 . To solve the problem we have to
K (e ) u ( e) = F ( e)
Note that K (e )
introduce the boundary conditions.
(e)
[ ]
Note that the matrix K (e ) of the above equation could have been obtained by means of
the equation (5.75) (see Problem 5.14), and for this particular case we have [C ] = E , then,
the equation (5.87) becomes:
r
r
[B( x )] = [L(1) ][N ( x )] =
x x 1 1
1 L L = L L
thus
Draft
1
r T
r
1 1 1
L 1 1
= [B ( x )] [C ][B ( x )] dV =
E dV = E 2
dV
1 L L
L 1 1
V
V
V
L
[K ]
(e )
371
E
L2
1 1
EA 1 1
E 1 1
1 1 dV = 2 1 1 V =
L 1 1
L
NOTE 5:
Principle of the Stationarity of Potential Energy
In this problem we have establish the principle of the stationarity of Potential Enegy, (see
equation in (5.76)):
r r
r r
r
(u) = e ( ) dV t * udS (b) udV
(5.89)
1
2
e () = e () tensorial e ( ) = : e ( ) = 0 G( ) = g( )
e ( ) = : g( )
(5.90)
e () - Strain energy
Draft
372
r r
r r
r
(u) = e ( ) dV t * udS (b) udV
(5.91)
r r
r r
r
HR (u, ) = : g( ) dV t * udS (b) udV
(5.92)
r
The functional (5.91) is stationary for variation of u vanishing on S u if and only if
satisfies the equilibrium equations. And it is stationary for variation of if and only if they
satisfy the constitutive equation (strain-stress).
r
r
r
r
r
r
r
u HR (u, ) = : (u) dV t * udS (b) udV = 0
r
= ij (u) i , j dV t * (u) i dS (b) i (u) i dV = 0
i
r
= ij , j + (b) i (u) i dV +
V
(5.93)
t * (u) i dS = 0
i
ij n j
r
g( )
: dV = 0
= ( sym u) :
(5.94)
r
g( )
: dV = 0
= ( sym u)
g( )
=0.
r r
r r
r
r
r
r
Su
(5.95)
and is stationary if and only if:
Draft
r
u HW (u, , ) = 0
r
r r
r
En S u
u = 0
373
Equilibrium equations
HW (u, , ) = 0
Kinematic Equations
r
Boundary condition on S u
HW (u, , ) = 0
That is:
r
r
u HW (u, , ) = 0
r
r
r
r
[ : ( u) (b) u] dV tr udS
r
r
r
r
r
r
(u, , ) = [( ) (u) (b) u] dV t udS
r
r
r
r
r
(u, , ) = [( ) (b)] (u) dV t udS
r
r
u HW (u, , ) =
sym
r
u HW
r
u HW
r
HW (u, , ) = 0
r
r
r
r
r
Su
r
r
HW (u, , ) = ( sym u) : dV
V
[n (u
r*
r
u) : dS = 0
r
Su
r
HW (u, , ) = 0
r
HW (u, , ) = e ( ) : ( ) dV = 0
e ( )
e ( )
r
HW (u, , ) =
: : ( ) dV =
: dV = 0
V
V
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374
Problem 5.16
Show that:
r r
r
r
r
r* r
r
&
&
&
&& r
r
( X , t ) u dS 0 + 0 b( X , t ) u( X , t ) u dV0 = P : X u dV0
V0
(5.96)
V0
where u is the virtual displacement field, and P is the first Piola-Kirchhoff stress tensor.
Reference
configuration
Current
configuration
S 0
V0
B0
r
r r
t * ( X , t) = t *
0
dV0
r r
u( X , t )
B
r r
u( x , t )
r r
r
0 b( X , t ) = 0 b 0
Solution:
r
r r
t * ( x, t )
dV
r r
b( x , t )
r r
Although the variables t * ( X , t ) and b( X , t ) are not intrinsic variables of the reference
r
r r
configuration like the variables 0 , S 0 , V0 , for simplicity, we denote t * ( X , t ) = t * and
0
r r
r
b( X , t ) = b 0 .
r
r
r
r
&
D
xi ( X , t )
xi ( X , t ) u i ( X , t ) &
&
Fij Fij =
=
=
= ui, J ( X , t )
Dt
t X j
X j 1 24
X j
4t 3
&
xi
r r
&
r r
&
& = l F = r u( X , t ) = u( X , t )
or F
r
X
X
r r
&
r &
and l = F F 1 = X u( X , t ) F 1
r r
r r
&
r &
r&
F 1 = F 1 l = F 1 X u( X , t ) F 1 = F 1 x u( x , t )
P : F dV = P
V0
&
&
&
(PiJ ui ) , J = PiJ , J ui + PiJ ui , J
iJ
r
&
&
FiJ dV0 = PiJ ui , J ( X , t ) dV0
V0
V0
&
&
&
PiJ ui , J = (PiJ ui ) , J PiJ , J ui
thus:
Draft
375
r
r
r
&
&
&
&
P : F dV0 = PiJ ui , J ( X , t ) dV0 = (PiJ ui ( X , t )) , J PiJ , J ui ( X , t ) dV0
V0
V0
&
V0
P : F dV = (P
iJ
V0
V0
&
P : F dV = P
iJ
V0
r
r
&
&
ui ( X , t )) , J dV0 PiJ , J ui ( X , t ) dV0
V0
r
r
&
&
ui ( X , t )n J dS 0 PiJ , J ui ( X , t ) dV0
S0
V0
where we have applied the divergence theorem. The above in tensorial notation becomes:
r
&
P : F dV = (P n) u ( X , t ) dS (
&
V0
S0
r
X
&
P) ui ( X , t ) dV0
V0
Remember that the equations of motion in the reference configuration are given by:
r
r
&& r
r
X P = 0 b 0 u( X , t )
r r
r
&
&
r
&
P : F dV = (P n) u ( X , t ) dS (
&
V0
S0
r
X
V0
&
P) ui ( X , t ) dV0
r
r r
r && r
r
r
r
&
&& r
&
r
P : X u ( X , t ) dV0 = t * u( X , t ) dS 0 + 0 b 0 u( X , t ) ui ( X , t ) dV0
0
V0
S0
V0
Reminder: Recall from Chapter 5 of the textbook that the stress power can be expressed
in different ways, namely:
1
1
&
&
&
&
&
S : C dV0 =
P : F dV
w int (t ) = P : F dV0 = S : E dV0 = P : F dV0 =
2V
J
V
V
V
V
&
P : F dV = : D dV = { : D dV0 = : D dV0
J
V
V0
V0
&
&
NOTE 1: Remember that neither P nor F are in any configuration, but the scalar P : F
is in the reference configuration.
NOTE 2: Taking into account the above. The total external virtual work can also be
expressed as follows:
sym
r r
r r
r r
&
&
&
&
r
r
r
: D dV = : x u ( x , t ) dV = : x u ( x , t ) dV = P : F dV0 = P : X u ( X , t ) dV0
V
V
V
V
V
r r sym
r&
= x u( x , t)
(see Problem 2.37). Note that, due to
sym
r r
r r
&
&
r
r
the symmetry of the relationship : x u ( x , t ) = : x u ( x , t ) holds.
sym
NOTE 3: From a Variational Principle point of view, (see Holzapfel (2000)), the equation
in (5.96) is also valid for a variation of the virtual field:
r r
r
r
r
r r
r
&& r
r
t * ( X , t ) u dS 0 + 0 b( X , t ) u( X , t ) u dV0 = P : X u dV0
V0
V0
Draft
(5.97)
376
Draft
7 Linear Elasticity
7.1 Solved Problems
Problem 7.1
The cylinder shown in Figure 7.1 is made up of a linear isotropic elastic material, and is
subjected to a strain state (in cylindrical coordinates) as follows:
err = e = a sin
a cos
2
e zz = ez = erz = 0
e r =
(7.1)
ez
er
x2
x1
Figure 7.1
Solution:
370
rz
r
z
a sin
rz
a cos
z =
2
zz 0
a cos
2
a sin
0
(7.2)
= Tr ( )1 + 2
(7.3)
Tr ( ) = 2a sin
(7.4)
thus,
a sin
1 0 0
a cos
= 2a sin 0 1 0 + 2
2
0 0 1
a cos
2
a sin
0
0
a cos
2a sin + 2a sin
0
(r,r, =
a cos
2a sin + 2a sin
0
0
2a sin
(7.5)
(7.6)
t (n ) = n
(7.7)
(
t 1n) 2a sin + 2a sin
(n)
a cos
t 2 =
t (n)
0
3
(7.8)
n = (1,0,0)
Problem 7.2
The parallelepiped of Figure 7.2 is deformed as indicate by the dashed lines. The
displacement components are given as follows:
u = C1 xyz
v = C 2 xyz
= C 3 xyz
(7.9)
a) Obtain the strain state at the point E , which the current reference of the point is
represented by E whose coordinates are E (1.503; 1.001; 1.997) ;
b) Obtain the normal strain at the point E in the direction of the line EA ;
c) Calculate the angular distortion at the point E that undergoes the angle formed by
the lines EA and EF .
d) Find the volume variation and the average volumetric deformation.
Draft
7 LINEAR ELASTICITY
371
z
F = F
G = G
D = D
2m
E
C = C
O = O
y
1 .5 m
A = A
B = B
1m
Figure 7.2
Solution:
a) The strain state in function of the displacements is given by:
ij =
1 u i u j
+
2 x j x i
(7.10)
x
1
ij = xy
2
1
2 xz
1
xy
2
y
1
yz
2
u
1
xz
x
2
1 v u
1
yz = +
2
2 x y
z 1 u
+
2 x z
1 v u
+
2 x y
v
y
1 v
+
2 y z
1 u
+
2 x z
1 v
+
2 y z
(7.11)
To determine the strain state at any point we need a priori to determine the displacement
field.
Calculation of the constants:
By substituting the values given for the point E (1.5; 1.0; 2.0) , we obtain:
u ( E ) = 1.503 1.5 = C1 (1.5)(1.0)(2.0) C1 = 0.001
0.001
3
= 1.997 2.0 = C 3 (1.5)(1.0)(2.0) C 3 = 0.001
where
u
(E)
we
have
used
the
displacement
= (1.503 1.5; 1.001 1.0; 1.997 2.0) .
of
(7.12)
the
point
Draft
372
Engineering notation
Scientific notation
u = 0.001 xyz
0.001
v=
xyz
3
w = 0.001 xyz
u1 = 0.001 X 1 X 2 X 3
0.001
X1X 2 X 3
3
u 3 = 0.001 X 1 X 2 X 3
u2 =
(7.13)
u
= 0.001 yz = 0.002 = 11
x
v 0.001
y =
=
xz = 0.001 = 22
3
y
w
z =
= 0.001xy = 0.0015 = 33
z
v u 0.001
0.011
xy =
x + y = 3 yz + 0.001xz = 3 = 2 12
x =
w u
xz =
+
= 0.001 yz + 0.001xy = 0.0005 = 2 13
x z
w v
0.001
yz =
y + z = 0.001xz + 3 xy = 0.0025 = 2 23
yz
1 yz
ij = 0.001
2 3 + xz
1
( xy yz )
2
1 yz
+ xz
2 3
xz
3
1 xy
xz
2 3
1
(xy yz )
1 xy
xz
2 3
xy
ij
x
1
= xy
2
1
2 xz
1
xy
2
y
1
yz
2
0.011
1
0.00025
xz 0.002
6
2
0.011
1
0.00125
yz =
0.001
6
2
(7.14)
M = M M
components
M = ij M i M j
(7.15)
By expanding the above equation and by considering the symmetry of the strain tensor we
obtain:
2
2
M = 11 M 12 + 22 M 2 + 33 M 3 + 2 12 M 1 M 2 + 2 13 M 1 M 3 + 2 23 M 2 M 3
(7.16)
in engineering notation:
2
2
M = x M 12 + y M 2 + z M 3 + xy M 1 M 2 + xz M 1 M 3 + yz M 2 M 3
(7.17)
The normal vector is given by the direction cosines of the direction of the line EA :
Draft
7 LINEAR ELASTICITY
M2 =
;
5
M1 = 0;
373
M3 =
5
(7.18)
1
4
2
+ (0.0015) + (0.0025)
5
5
5
3
= 2 10
M = 0.001
(7.19)
c) For small deformation, the distortion of the angle at the point E formed by the lines
EA and EF , with = 90 ), becomes:
MN =
1
1 2M N
MN =
2
2
sin
= M N
MN = ij M i N j (7.20)
components
More details of the above equation is provided in the textbook in Chapter 2 Continuum
kinematics (small deformation regime). Expanding the above expression and considering
the symmetry of the strain tensor we obtain:
MN = 11 M 1 N 1 + 22 M 2 N 2 + 33 M 3 N 3 + 12 M 1 N 2 + M 2 N 1 +
+ 13 M 1 N 3 + M 3 N 1 + 23 M 2 N 3 + M 3 N 2
(7.21)
or in engineering notation:
MN
2
= x M 1 N1 + y M 2 N 2 + z M 3 N 3 +
xy
2
(M
N 2 + M 2 N1 +
yz
+ xz M 1 N 3 + M 3 N 1 +
M 2 N3 + M 3 N2
2
2
(7.22)
where:
M i = 0
1
5
N i = [ 1 0 0]
(7.23)
thus:
MN
2
MN
2
1
0.011
+ ( 0.00025)( 1)
= 12 M 2 N 1 + 13 M 3 N 1 =
(1)
6
5
5
(7.24)
= 5.96284793998 10 4
2
MN = 1.1925696 10 3
Alternative Solution
We can construct an orthogonal basis associated with the unit vectors M and N by means
of the cross product P = M N . Then, we obtain the components of the unit vector P :
e1
P=MN = 0
1
e2
1
e3
2
5
0
5
0
2
1
e2
e3
5
5
Draft
Pi = 0
2
5
(7.25)
374
Then, the transformation matrix from the X 1 X 2 X 3 -system to the base constituted by the
M 1
A = a ij = N1
P
M2
N2
P
2
M3 0
N 3 = 1
P3 0
1
5
0
2
5
5
0
1
5
(7.26)
Applying the component transformation law for a second-order tensor components, i.e.
ij = a ik a jl kl or in matrix form = A A T :
0.011
0.00025
2 0.002
0
6
5 0.011
0
0.001
0.00125 1
1
0.00025 0.00125 0.0015 0
= 1
0
5
0
2
5
1
5
0
2
5
5
0
1
5
(7.27)
Thus:
MN =
2 10 3
= 5.96284794 10 4
ij
4
2.5 10
MN
2
5.96284794 10 4
2 10 3
1.75158658 10 3
3
1.75158658 10
1.5 10 3
2.5 10 4
(7.28)
NOTE: Note that this example is not a case of homogeneous deformation, i.e. a straight
edge in the reference configuration is no longer straight in the current configuration. To
obtain the deformed unit vector we must apply the linear transformation m = F M and
( dV )
where dV is the differential volume.
dV
(7.29)
2.0
+ y + z dV = 0.001
1.5
yz +
z = 0 y =0 x = 0
xz
xy dxdydz
3
(7.30)
thus:
Draft
7 LINEAR ELASTICITY
375
V = 1.125 10 3 m 3
(7.31)
Then:
V =
(dV )
1.125 10 3
=
= 0.375 10 3
dV
1 .5 1 .0 2 .0
(7.32)
Problem 7.3
The stress state at one point of a structure, which is made up of an isotropic linear elastic
material, is given by:
6 2 0
ij = 2 3 0 MPa
0 0 0
a) Obtain the engineering strain tensor components. Consider the Youngs modulus
( E = 207GPa ) and the shear modulus ( G = 80GPa ).
b) If a cube of side 5cm is subjected to this stress state. Obtain the volume variation.
Solution:
The strain components can be obtained by means of the equations:
)]
1
x y + z = 3.333 10 5
E
1
y =
y ( x + z ) = 2.318 10 5
E
1
z =
z x + y = 4.348 10 6
E
1
xy = xy = 2.5 10 5
G
1
xy = xy = 0
G
1
xy = xy = 0
G
x =
)]
(7.33)
E
2(1 + )
E
207
1 =
1 0.29375
2G
160
Thus:
0
33.24 12.5
12.5 23.01
0 10 6
ij =
0
0
4.257
Alternative solution:
1
(1 + )
I 1 1 , with
E
E
that we obtain
Draft
376
(1 + )
(1 + )
(1 + )
= Ce : =
I 1 1 : =
I : 1 1: =
Tr ( )1
E
E
E
E
E
E
In components:
11
(1 + )
ij =
12
E
13
12
22
13
1 0 0
Tr ( ) 0 1 0
23
E
0 0 1
23 33
0
6 2 0
1 0 0 33.24 12.5
4.2609 10 6 0 1 0 = 12.5 23.01
6
= 6.251 10 2 3 0
0 10 6
0 0 0
0 0 1 0
0
4.257
(1 + )
1
= 6.25 10 6
Tr ( ) = 4.25725 10 6 .
,
E
MPa E
In the small deformation regime the volumetric deformation (linear) is equal to the trace of
the strain tensor:
L
DV V = I = (33.24 23.01 4.257 ) 10 6 = 5.973 10 6
Problem 7.4
A parallelepiped of dimensions a = 3cm , b = 3cm , c = 4cm , is made up of an isotropic
homogeneous linear elastic material, which is accommodated in a cavity of the same shape
and dimensions, whose walls are made up of a very rigid material (undeformable).
Via a rigid plate (dimensions a b ) of negligible weight and negligible friction we apply a
perpendicular compression force equal to F = 200 N which compresses the elastic block.
If = 0.3 is the Poissons ratio and E = 2 10 4 N / cm 2 is the Youngs modulus, calculate:
a) The lateral force exerted by the wall of the cavity on the parallelepiped;
b) The height variation experienced by it, i.e. find c .
F
z
a
y
c
x
Figure 7.3
Draft
7 LINEAR ELASTICITY
377
Solution:
At any point of the elastic body the stress state is characterized only by normal components
x , y and z . The stress z is given by:
z =
200
200
200 N
=
=
ab
3 3
9 cm 2
(7.34)
Note that, because of the problem symmetry the stresses x and y are equal, then:
)]
1
x y + z = 0
E
x ( x + z ) = 0
x = y =
1
[ x ( x + z )] = 0
E
(7.35)
z
x =
(1 )
thus:
x =
z
0.3 200
200 N
=
=
(1 ) (1 0.3)
9
21 cm 2
(7.36)
The force exerted by the wall on the elastic body is given by:
200
3 4 = 114.28 N
21
200
3 4 = 114.28 N
Fx = x b c =
21
Fy = y a c =
(7.37)
)]
1
z x + y
E
1
= [ z 2 x ]
E
1 200
200
=
+ 2 0 .3
= 8.25 10 4
4
21
2 10 9
z =
(7.38)
(7.39)
Problem 7.5
Figure 7.4 (a) shows a support device for a machine. Said support apparatus is made up of
a neoprene block of dimensions ( 50 20cm ), and is characterized by the element ABCD of
Figure 7.4(b).
Draft
378
a)
b)
1 .1
D
A
1 .2
A
1
20
1 .1
50
Dimensions in centimeters - cm
Figure 7.4
Under the action of vertical and horizontal loads the neoprene deforms as shown in Figure
7.4 (b) (ABCD) in which the displacement field ( u, v) is represented as follows:
u = a1 x + b1 y + c1
v = a2 x + b2 y + c2
1
N / cm 2 .
0.0028
v = a 2 x + b2 y + c 2
(7.40)
(7.41)
thus
u = 0.002 x + 0.005 y + 1
Draft
(7.42)
7 LINEAR ELASTICITY
379
(7.43)
v = 0.05 y
(7.44)
u = 0.002 x + 0.005 y + 1
v = 0.05 y
(7.45)
Then:
a)
Strains
x =
u
= 0.002
x
y =
v
= 0.05
y
xy =
u v
+
= 0.005
y x
(7.46)
b)
G=
(7.47)
Stresses
E
E
=
1 = 0.4
2(1 + )
2G
E
(1 ) x + y
(1 + )(1 2v)
= 3571.4286 [(0.6) 0.002 0.4 0.05] = 67.1428
x =
E
(1 ) y + x
(1 + )(1 2v)
= 3571.4286 [(0.6) (0.05) + 0.4 0.002] = 104.2857
y =
(7.48)
xy = G xy
=
1
0.005 = 1.785714
0.0028
ij = 1 xy
2
1 xz
2
1
2
xy
y
1
2
yz
1
2
1
2
ETr ( )
E
ij , where:
ij +
(1 + )(1 2 )
(1 + )
xz 0.002
yz = 1 (0.005)
2
z
0
1
2
(0.005) 0
0.05 0
0
0
ETr ( )
N
E
N
,
= 68.571429
= 714.285714
2
(1 + )(1 2)
(1 + )
cm
cm 2
Draft
380
0.002
1 0 0
0 1 0 + 714.285714 1 (0.005)
ij = 68.571429
2
0 0 1
0
1
2
(0.005) 0
0.05 0
0
0
0
67.1428 1.785714
N
1.785714 104.2857
0
cm 2
0
0
68.571
c)
x + y
2
x y
+ 2
xy
(7.49)
2
67.1428 104.2857
67.1428 + 104.2857
2
+ 5.35714 =
2
2
= 171.4285 19.328675
(1,2) =
1 = 152.099824 N cm 2
2
2 = 190.757175 N cm
d)
(7.50)
(7.51)
(7.52)
(7.53)
L = AC AC = 0.177cm
(7.54)
L 0.177
=
= 0.0033
L0
53.852
(7.55)
Problem 7.6
Consider a bar of length L , which has a squared cross section of side a . The elastic
constants of the material is assumed to be known ( E and = 0.25 ).
a) In the case of Figure 7.5(a), calculate the stored energy (strain energy density) in the
bar during the deformation, and also obtain the total strain energy;
b) Determine the stored energy corresponds to the change of volume and to the
change of shape;
c) The same question as the paragraph (a), but considering the case of Figure 7.5(b).
Draft
7 LINEAR ELASTICITY
381
A -Area
P
P
a
a
M
a)
cross section
b)
Figure 7.5
Solution:
Considering a one dimensional case:
x = E x x =
x
E
x =
with
P
A
(7.56)
We know that the strain energy per unit volume is given by:
1
2
1
2
1
2
e = : unidimensional e = x x = x
x 1 P2
=
E 2 EA 2
(7.57)
P2
2 EA 2
(7.58)
P2L
U =
2 EA
The strain energy (per unit volume) can also be expressed as follows:
e =
1
1
2
I
II dev
6(3 + 2)
2
14 244 1 24
4
3
4 3
vol
(7.59)
shape
Considering:
x
ij = 0
0 0
P
0 0 I = x =
A
0 0
(7.60)
Calculation of II dev :
1
I2
2
II dev = (3 II I ) = = x
3
3
3
(7.61)
Then, the strain energy associated with the change of volume is:
e vol =
(1 2) 2 (1 2) 2
1
2
I =
I =
x
6(3 + 2 )
6E
6E
Draft
(7.62)
382
e vol =
(1 2 ) P 2
(per unit volume)
6E A 2
(7.63)
e shape =
1
1 2(1 + )
II dev =
II dev
E
2
2
(1 + ) x
=
E
3
(7.64)
shape
(1 + ) x
(1 + ) P 2
(per unit volume)
=
=
E
3
3E A 2
(7.65)
Checking:
(1 2) P 2 (1 + ) P 2
+
=
6E A 2
3E A 2
P2
[(1 2) + 2(1 + )] =
=
6 EA 2
P2
[1 2 + 2 + 2] =
=
6 EA 2
P2
=
= e
2
2 EA
e vol + e shape =
M y
I
I=
y =
a4
12
12 M y
a4
y = E y y =
y
E
e = y y =
2
2 a4
1 12 M y 12 M y
2 a4
Ea 4
72 M 2 y 2
Ea 8
e =
(7.66)
72 M 2 y 2
Ea 8
(7.67)
Problem 7.7
Under the approximation of small deformation theory, the displacement field is given by:
r
u = ( x1 x3 ) 2 10 3 e1 + ( x 2 + x3 ) 2 10 3 e 2 x1 x 2 10 3 e 3
Castilla-La Mancha University
Ciudad Real Spain
Draft
7 LINEAR ELASTICITY
383
a) Obtain the infinitesimal strain tensor, the infinitesimal spin tensor at the point
P (0,2,1) ;
Solution:
u1
x1
u i u 2
=
x j x1
u 3
x1
u1
x 2
u 2
x 2
u 3
x 2
u1
x3 2( x x )
0
2( x1 x3 )
1
3
u 2
0
2( x 2 + x 3 ) 2( x 2 + x3 ) 10 3
=
x3
x2
0
x1
u 3
x3
2( x1 x 3 ) 2 0 2
0
2( x1 x 3 )
=
0
2( x 2 + x3 ) 2( x 2 + x 3 ) = 0 2 2 10 3
x2
2 0 0
x1
0
u i
= ij + ij
x j
2 0 2
u j
= 0 2 1 10 3 ij = 1 u i
2 x j xi
2 1 0
0 0 0
(7.68)
= 0 0 1 10 3
0 1 0
Problem 7.8
Under the restriction of small deformation theory, the displacement field is given by:
r
2
u = a ( x12 5 x 2 ) e1 + (2 a x1 x 2 )e 2 (0) e 3
a) Obtain the linear strain tensor and the linear spin tensor;
b) Obtain the principal strains;
c) Given the shear modulus G , obtain the Youngs modulus E to guarantee the balance at
any point.
NOTE: The body forces are negligible.
Solution:
2
a) Considering that u1 = a ( x12 5 x 2 ) , u 2 = 2 a x1 x 2 , u 3 = 0 , the displacement gradient
components are given by:
2 x1 a
u i
= 2ax 2
x j
0
10ax 2
2ax1
0
0
0
Decomposing additively the displacement gradient in a symmetric part (the linear strain
tensor - ij ) and an antisymmetric part (the infinitesimal spin tensor- ij ) we obtain:
Draft
384
u i
= ij + ij
x j
where
u j
1 u
ij = i +
2 x j xi
2 x1 a
= 4ax 2
2x a
1 1
= 2ax 2
2
4ax 2
2ax1
0
10ax 2
2ax1
0
0 2 x1 a
0 + 10ax 2
0 0
2ax 2
2ax1
0
0
0
and
u j
1 u
ij = i
2 x j xi
2x a
1 1
= 2ax 2
2
10ax 2
2ax1
0
0 2 x1 a
0 10ax 2
0 0
2ax 2
2ax1
0
0 0
0 = 6ax 2
0 0
6ax 2
0
0
0
0
4ax 2
=0
2ax1
(
) (4ax )
(2 x a ) = (4ax )
2 x1 a
=0
1 = 2 x1 a 4ax 2
2 x1 a = 4ax 2
2 = 2 x1 a + 4ax 2
r r
Indicial
+ b = 0 ij , j = 0 i
{
r
=0
11 12 13
+
+
=0
x 2
x 3
x1
21 22 23
+
+
=0
x 2
x3
x1
31 32 33
+
+
=0
x1
x 2
x3
Draft
7 LINEAR ELASTICITY
385
11 12 13
=0
+
+
x3
x 2
x1
4a( + ) 8a = 0
+ = 2
= = G
G (3 + 2G )
, which was obtained by means of the relationships
+G
E
E
and = G =
. Then, we conclude that:
=
(1 + )(1 2)
2(1 + )
E=
G (3 + 2G ) G (3G + 2G )
= 2.5G
=
+G
G+G
Problem 7.9
Consider a soil made up of a linear elastic material. At a point in the soil the volumetric
deformation is V = 2 10 3 , the shear deformation is 12 = 3 10 3 and the normal
strain is 11 = 0 . The soil is subjected to a state of plane strain according to the plane
x1 x 2 .
a) Obtain the Cartesian components of the infinitesimal strain tensor. Obtain the
principal strains, and the directions where they occur.
1
4
b) Assuming that the elastic constants are E = 50MPa and = . Obtain stress tensor
components and the principal stresses. Obtain the maximum normal and shear
stresses.
c) Obtain the strain energy density (per unit volume).
NOTE: Remember the expression for the stress tensor:
= Tr ( )1 + 2
with =
E
E
, =
(1 + )(1 2)
2(1 + )
Solution:
a) The infinitesimal strain tensor components are given by:
ij = 3 10 3
3 10 3
22
0
0
0
L
The volumetric deformation DV V = I = 11 + 22 + 33 = 2 10 3 22 = 2 10 3 .
with that we obtain:
ij = 3
0
3 0
0
plane strain
2 0 10 3 ij =
3
0
0
3
3
10
2
Draft
386
0 3
=0
3 2
2 + 2 3 = 0
1 = 1
2 = 3
thus
1 = 1 10 3
2 = 3 10 3
b)
1 10 3
=
ij
0
0
3
3 10
y
1
xy
yy
(10 3 )
2
( N = 0; S = 3 )
2
I =1
III = 3
N 10 3
( N = 0; S = 2)
( N = 2; S = 3 )
3
1
2 = arctg( 3 )
Draft
= 30
7 LINEAR ELASTICITY
b) Applying ij = Tr ( ) ij + 2 ij , where =
=
387
E
= 20MPa ,
(1 + )(1 2)
E
= 20 MPa , Tr ( ) = 2 10 3 . Then:
2(1 + )
3 0
2 0 10 3
0
0
40
0
0
0
3 0
0
+ 40 3 2 0 10 3 MPa
0
=
40
1 24
4 3
0
=103 Pa
0
0
0
0
40
0
1 0 0
0 1 0 + 2 3
ij = Tr ( )
0
0 0 1
Thus:
40
0
40 3
0 kPa
ij = 40 3 120
0
0
40
As the material is isotropic, the stress and strain share the principal space. In addition, the
eigenvalues of and can be related to each other as follows.
By replacing the value of = Tr ( )1 + 2 into the definition of the eigenvalueeigenvector, we obtain:
n = n
(Tr ( )1 + 2 ) n = n
Tr ( )1 n + 2 n = n
Tr ( )n + 2 n = n
2 n = n Tr ( )n
2 n = ( Tr ( ) )n
Tr ( )
n
n =
= n
Then:
=
Tr ( )
2
= 2 + Tr ( )
(
(3) III = 2 3) + Tr ( ) = (40 10 6 ) (3 10 3 ) + (20 10 6 ) (2 10 3 ) = 160 10 3 Pa
Draft
388
40
0
0
0
0
0
1 0 0
+ 40 0 3 0 10 3 MPa = 0 160
= 0
40
0
0 kPa
ij
4 3
1 24
0
=103 Pa
0
0 0 0
40
40
0
0
160
40
N (kPa)
1
2
c) The strain energy density is e = : . We can use the principal space in order to
obtain the strain energy, i.e.:
1
0
0
0
0
= 0 160
0 10 3 Pa
3 0
40
0
0
2
0
0
1
0
0
2
0
0 1 0 0
0 = 0 3 0 10 3
3 0 0 0
m
m
1
1
(11 + 2 2 + 3 3 )
2
2
1
m
N m
J
= (0)(1) + (160 10 3 )(3 10 3 ) + ( 40 10 3 )(0) = 240 Pa = 240 2
= 240 3
2
m
m m
m
e = ij ij =
Problem 7.10
A solid is subjected to state of plane strain, and at one point the infinitesimal strain tensor
components are given by:
3 0
2
3 10 0 10 3
ij =
0
0
0
Consider that the material has an isotropic linear elastic behavior defined by the Youngs
modulus E = 10MPa and Poissons ratio = 0.25 .
a) Obtain the volumetric deformation and the deviatoric part of the strain tensor;
b) Obtain the principal strains and the principal directions;
c) Obtain the Cauchy stress tensor components;
d) Obtain the maximum and minimum normal stress;
e) It is known that the material fails when the tangential stress exceeds the value 40 kPa .
Check if the material fails.
Draft
7 LINEAR ELASTICITY
389
Solution:
a) Volumetric deformation ( V ):
V = I = Tr ( ) = ( 2 10) 10 3 = 12 10 3
Additive decomposition of the strain tensor = sph + dev , where the spherical part is
given by:
sph
ij
0
4 0
Tr ( )
0 4 0 10 3
=
ij =
3
0
0 4
= ij
sph
ij
2
3 0 4 0
0
2 3 0
0 4 0 10 3 = 3 6 0 10 3
= 3 10 0
0
0 0 4
0
0 0
0 4
3
=0
10
2 + 12 + 11 = 0
12 10
2
(1) = 1.0
( 2 ) = 11
2 = 11.0 10 3
(i, j = 1,2)
(
=
3
10 (1) n (1) 0 3n11) 9n (1) = 0
2
2
(
restriction n11) + n (21) = 1 , with that we obtain (3n (21) ) 2 + n (21) = 1 n (21) =
(
n11) =
1
10
, and
3
10
(
10 (11) n 2 0 3n1 + n ( 2 ) = 0 n ( 2) = 3n12 )
3
2
2
(
(
with the restriction n12) + n (22) = 1 , we obtain n12) =
1
10
, and n (22) =
3
10
We summarize as follows:
Draft
390
1 = 1 10 3
2 = 11 10 3
1 = 0
n i(1) =
10
principal
direction
principal
direction
principal direction
n i(3)
n i( 2 ) =
10
= [0 0 1]
1
10
3
10
where =
E
E
= 4MPa , = G =
= 4 MPa , Tr ( ) = 12 10 3 :
(1 + )(1 2 )
2(1 + )
3
0
2
1 0 0
0 1 0 + 2 (4) 3 10 0 10 3 MPa
ij = 4 (12)
0
0 0 1
0
0
24
0
64
24 128
0 kPa
=
0
0
48
As the material is isotropic, the principal directions of the stress and strain coincide. The
principal stresses can be obtained by working on the principal space
= Tr ( ) ij + 2 :
ij
ij
1 0 0
1 0 0
0 1 0 + 2 (4) 0 11 0 10 3 MPa
= 4 (12)
ij
0
0 0 1
0 0
0
0
56
0
=
136
0 kPa
0
48
0
S max = 44
II = 56
III = 136
I = 48
N (kPa)
Draft
7 LINEAR ELASTICITY
S max =
391
I III
(48) (136)
=
= 44kPa
2
2
0
0 29
0 29
10 6 +
26
29
10 6 +
26 6
6
10 6 = 763 10 6
1
3
( 29 26 + 9)
= 4 10 3 Pa
3
hyd
ij
dev
ij
sph
ij
4 0 0
= 0 4 0 kPa
0 0 4
6
0 30 6 0
26 4
6
=
94
0 = 6
5 0 kPa
0
0
29 4 0
0 25
The eigenvectors:
Draft
392
I = 29kPa
II = 10kPa
n i(1) = [0 0 1]
principal direction
principal direction
III = 27kPa
n i( 2 ) = [0.1644 0.98639 0]
i
n (3) = [0.98639 0.1644 0]
principal direction
S (kPa )
S max =
29 (27)
= 28
2
N (kPa)
III = 27
I = N max = 29
II = 10
ij = Tr ( ) ij + 2 ij
where
inverse
ij =
Tr ( ) ij +
ij
2(3 + 2)
2
= 5 10 9 ( Pa ) 1 , Tr ( ) = 1.2 10 4 ( Pa)
2 (3 + 2)
26 6 0
1 0 0
0 1 0 + 2.5 10 8 6
9 0 10 3
ij = (5 10 )(1.2 10 )
0
0 0 1
0 29
1 0 0
26 6 0
+ 2.5 10 5 6
5
9 0
= 6 10 0 1 0
0 0 1
0
0 29
0
7.1 1.5
1.5 1.65
0 10 4
=
0
0 6.65
As the material is isotropic, the stress and strain have the same principal directions. We
work on the principal space to obtain:
=
ij
Tr ( ) ij +
ij
2(3 + 2)
2
0 66.5 0
0
1 0 0
29 0
+ 2.5 10 5 0 10
= 0 19
= 6 10 0 1 0
0
0 10 5
0 0 1
0 0 27 0
0 73.5
Draft
7 LINEAR ELASTICITY
393
Problem 7.12
Show that the constitutive equations in stress, for an isotropic linear elastic material, can be
represented by the set of equations:
dev = 2 dev
Tr ( ) = 3Tr ( )
= [1 1 + 2I] :
= Tr ( )1 + 2
3
3
2
Tr ( )
1
= +
Tr ( )1 + 2 dev
3
3
dev +
dev
dev
dev
1
dev = +
Tr ( )1 + 2
3
3
(3 + 2 )Tr() 1
2
dev
dev = +
Tr ( )1 + 2
3
3
(3 + 2 )Tr() 1 + 2 dev
2
dev = +
Tr ( )1
3
44444424443 443
1
4
4
4
=0
(3 + 2 )Tr()
2
1=0
+
Tr ( )1
3
3
2
Tr ( )
+
1=0
Tr ( )1
3
3
Tr ( )1 = 3 +
Tr ( )1
3
Tr ( )1 = 3 Tr ( )1
or
Tr ( ) = 3 Tr ( )
Draft
394
33
23
13
13
23
12
12
ij = Tr ( ) ij + 2 ij
23
12
12
12
23
13
13
22
11
dev
22
dev
33
23
12
dev
dev
ij = 2 ij
13
23
dev
11
Tr ( ) ij = 3 Tr ( ) ij
33
23
13
13
22
11
13
dev
33
23
12
dev
22
12
dev
11
Alternative solution:
Starting from the constitutive equation in stress for an isotropic linear elastic material
= ( ) = Tr ( )1 + 2 , and by considering the linear regime the relationship
= ( ) = ( sph + dev ) = ( sph ) + ( dev ) holds, where:
( sph ) = Tr ( sph )1 + 2 sph
2
Tr ( )
Tr ( )
Tr ( )
sph = Tr
11 + 2
1 = Tr ( )1 + 2
1 = ( +
) Tr ( )1 = Tr ( )1
3
3
3
3
Tr ( )
1 = Tr ( )1
3
Tr ( )1 = 3 Tr ( )1
( dev ) = Tr ( dev )1 + 2 dev = 2 dev
1 24
4 3
=0
[ ]
= Tr[ ] holds.
Draft
7 LINEAR ELASTICITY
395
NOTE: Note that for an isotropic material if we have a purely spherical state of
compression:
p
0
p 0
0 p 0
ij =
0
0 p
p
p
Tr ( ) = 3 p
E
, we can conclude
3(1 2)
that: if > 0.5 this implies that < 0 and as consequence Tr ( ) > 0 , i.e. an expansion,
which has no physical meaning for a compression state in isotropic materials. With that we
conclude that < 0.5 .
Problem 7.13
A parallelepiped of dimensions a = 0.10m , b = 0.20m , c = 0.30m , (see Figure 7.6), which is
made up of an elastic material with Poissons ration = 0.3 and Youngs modulus
E = 2 10 6 N / m 2 . Said parallelepiped is introduced into a cavity of width b whose walls are
very rigid, so that two opposite faces of the parallelepiped are in contact with the cavity
walls.
Once the parallelepiped is this position the temperature is raised in T = 30 C .
1) Calculate the values of the principal stresses at the point of the parallelepiped.
2) Find the strain components.
Consider that the thermal expansion coefficient of the material is 1.25 10 5 C 1 .
Solution:
As the solid can deform freely according to the directions x and z , hence the normal
stresses are x = z = 0 . The solid is restricted to move according to the y -direction,
hence y = 0 :
y =
[ ]
1
1
y ( x + z ) + T = y + T = 0
E
E
y = ET
thus:
y = ET = 2 10 6 1.25 10 5 (30) = 750
N
m2
0
0
0
b)
x = z =
y
E
+ T = 4.875 10 4
Draft
396
0
4.875 0
0
0
0 10 4
ij =
0
0 4.875
Data:
a = 0.10m
b = 0.20m
c = 0.30m
E = 2 10 6 N / m 2
= 0 .3
T = 30 C
= 1.25 10 5 C 1
c
y
b
x
Figure 7.6
Problem 7.14
Consider a container with very rigid walls, and a squared cross section with dimensions
0.10 0.10m . In the interior of said container is placed a synthetic rubber block whose
dimensions are 0.10 0.10 0.5m , as shown in Figure 7.7(a). The rubber block fits
perfectly into the rigid container.
The elastic characteristics of the rubber are E = 2.94 10 6 N / m 2 and = 0.1 .
Above the rubber is poured 0.004m 3 of mercury, whose mass density is 13580kg / m 3 .
a) Obtain the height H that reach the mercury, (see Figure 7.7(b));
b) The stress state at a generic point of the rubber block.
Hypothesis: 1) the weight of the rubber is negligible. 2) Consider the acceleration of gravity
equal to g = 10m / s 2 . 3) Between the rubber block faces and the container walls there is no
friction.
Draft
7 LINEAR ELASTICITY
Rigid walls
397
Rigid walls
Mercury
Rubber
L0 = 0 . 5 m
y
a)
b)
Figure 7.7
Solution:
First we calculate the total force due to the weight of mercury on the rubber:
kg
kgm
m
F = Vg = 0.004(m 3 ) 13580 3 10 2 = 543.20 2 N
s
m
s
F
N
543.20
=
= 54.320 10 3 2
A
(0.1 0.1)
m
According to the directions x and y the rubber does not deform, hence x = y = 0
x = ( y + z )
y = ( x + z )
1
x ( y + z ) = 0
E
1
y = y ( x + z ) = 0
E
x =
y = ( x + z )
{[
y = ( y + z ) + z
y =
( 2 + )
z =
z = 6035.55 Pa = x
2
(1 )
(1 )
Draft
398
1
z ( x + y )
E
1
=
{ 54320 0.1[2(6035.55)]} = 0.0180656
2.94 10 6
z =
hmer =
0.004
= 0.4m
0.1 0.1
thus:
H = hmer + ( L0 L)
= 0.4 + (0.5 0.00903)
= 0.891m
Problem 7.15
By means of a material test in the laboratory, it was obtained the following relationships:
1
21
31
x = x +
E
E y + E z
1
2
3
32
1
12
y =
E x + E y + E z
2
1
3
1
13
23
z =
E x + E y + E z
1
2
3
(7.69)
C12
C22
C23
0
0
0
C13
C23
C33
0
0
0
0
0
0
0
C44
0
0
0
C55
0
0
0
0
0
C66
Orthotropic symmetry
9 independent constants
(7.70)
Draft
7 LINEAR ELASTICITY
1
xx E1
12
yy E
zz 1
= 13
2 xy
2 yz E1
0
2 xz
0
0
21
2
1
2
23
2
0
0
0
31
E 0
3
32
E 0
3
1
0
E
3
0
C44
0
0
0
0
399
0
0
0
0
C55
0
0
xx
0 yy
zz
0 xy
0 yz
0 xz
C66
(7.71)
E = E
2 1
31 13
E = E
3 1
32
E
3
23
=
E
2
21 =
E 2 12
2000 0.2
=
= 0.4
1000
E1
31 13
=
E3
E1
31 =
E 3 13 1500 0.3
=
= 0.45
1000
E1
32
= 23
E3
E2
32 =
E 3 23 1500 0.25
=
= 0.1875
2000
E2
Problem 7.16
Given an isotropic linear elastic material whose elastic properties are E = 71 GPa ,
G = 26.6 GPa , find the strain tensor components and the strain energy density at the point
in which the stress state, in Cartesian basis, is represented by:
20 4 5
ij = 4 0 10 MPa
5 10 15
E
2(1 + )
E
1 = 0.335
2G
1
[11 ( 22 + 33 )] = 1 9 [20 0.335 (0 + 15)]10 6 = 211 10 6
E
71 10
1
[ 22 (11 + 33 )] = 1 9 [0 0.335 (20 + 15)]10 6 = 165 10 6
E
71 10
1
1
= [ 33 ( 11 + 22 )] =
[15 0.335 (20 + 0 )]10 6 = 117 10 6
E
71 10 9
22 =
33
12 =
1+
1 + 0.335
12 =
( 4 10 6 ) = 75 10 6
9
E
71 10
Draft
400
1+
1 + 0.335
13 =
(5 10 6 ) = 94 10 6
9
E
71 10
1+
1 + 0.335
=
23 =
(10 10 6 ) = 188 10 6
E
71 10 9
13 =
23
thus:
211 75 94
ij = 75 165 188 10 6
94
188 117
Then, the strain energy density for an elastic material is obtained by the equation:
1
2
1
2
e = : Ce : = :
indicial
1
2
e = ij ij
Next, by considering the symmetry of the tensors and , the strain energy density can
be calculated as follows:
1
[11 11 + 22 22 + 33 33 + 2 12 12 + 2 23 23 + 2 13 13 ]
2
1
= [( 211)( 20 ) + ( 165 )(0) + (117 )(15) + 2( 75)( 4) + 2(188)(10 ) + 2(94)(5)] = 5637 .5 J / m 3
2
e =
We can also obtain the strain energy density by using the equation:
e =
1
2
I
6(3 + 2)
1
1
2
II dev =
I +
2
6(3 + 2)
1
J2
2
1
2
e = : = : [Tr ( )1 + 2 ] =
=
[Tr ( ) ]2
+ : =
[Tr ( ) ]2
Tr ( )
2
2
1
1:3 + :
Tr ( )
+ Tr ( T )
2
2
2
[Tr ( ) ]
[Tr ( )]2
=
+ Tr ( ) =
+ Tr ( 2 )
2
2
We can add and subtract the term [Tr ( )]2 without altering the above outcome:
e =
[Tr ( )]2
2
+ [Tr ( )] + Tr ( 2 ) [Tr ( )] =
2
1
( + 2 )[Tr ( )]2 [Tr ( )]2 Tr ( 2 )
2
Finally, if we consider that the principal invariants of the strain tensor are I = Tr ( ) ,
II =
1
[Tr ( )]2 Tr ( 2 ) , we can obtain:
2
Draft
7 LINEAR ELASTICITY
e =
401
1
( + 2 )I 2 2 II = e ( I , II )
2
Problem 7.18
The responses of a liner thermoelastic solid due to two actions are known, namely:
r
r
r ( II )
r (I )
r (I )
r ( II )
r
r
I (b ( I ) , t * on S ; u* ; on S u ; T ( I ) ) and II (b ( II ) , t * on S ; u* ; on S u ; T ( II ) ) .
Obtain the response of the system formed by I + II and justify.
Solution:
As we have a linear regime the following is satisfied:
r r
r
b = b ( I ) + b ( II )
T = T ( I ) + T ( II )
r
r ( I ) r ( II )
t* = t* + t*
r
r ( I ) r ( II )
u* = u* + u*
] [
r
r
r
r
r
r
r
r
r
r
x + b = x ( ( I ) + ( II ) ) + (b ( I ) + b ( II ) ) = x ( I ) + b ( I ) + x ( II ) + b ( II ) = 0
{[
{ [
] [
r
r
1 r r (I )
1 rr
r
r
x u + ( x u ( I ) ) T + x u ( II ) + ( x u ( II ) ) T
2
2
r ( II )
r (I )
r ( II ) T
r
r
r
+ xu
+ xu + xu
= ( I ) + ( II ) =
] [
]}
r
1
r
x u(I )
2
r
r
r
rT
T
1 r r
1 rr
r
r
= x u ( I ) + u ( II ) + x (u ( I ) + u ( II ) ) = x u + [ x u] =
2
2
] [
]} {
Then, we conclude that all the conditions are met. Then, we can apply the principle of
superposition to linear thermoelastic problem, as expected, since we are in the linear
regime.
Draft
402
Problem 7.19
Let us consider a length rod equal to L = 7.5m , whose diameter is equal to 0.1m , which is
made up of a material whose properties are: E = 2.0 10 11 Pa and = 20 10 6
Initially the rod has a temperature equal to 15 C which later rises to 50 C .
1
.
C
1) Considering that the rod can expand freely, calculate the total elongation of the rod, L ;
2) Now assume that the rod can not expand freely because concrete blocks have been
placed at its ends, (see Figure 7.8(b)). Find the stress in the rod.
Hint: Consider the problem in one dimension.
x
L = L(1) + L( 2 )
L(1)
T
L
L
L( 2)
b)
a)
Figure 7.8: Rod under thermal effect.
Solution: 1) To obtain the elongation, we pre-calculate the thermal strain according to the
rod axis direction ij = (T ) ij . Since this is a one-dimensional case, we need only
consider the normal strain component according to the x -direction, 11 = x , then:
11 = x = 20 10 6 (50 15) = 7 10 4
L = x dx = x L = 7 10 4 7.5 = 5.25 10 3 m
0
Note that in the case 2) there is no strain, since L = 0 . Moreover, it is the same as when
the initial length is equal to L + L in which we apply compression stress in order to
obtain a final length equal to L .
Problem 7.20
Consider an isotropic linear elastic material with the following thermo mechanical
properties E = 10 6 Pa (Youngs modulus), = 0.25 (Poissons ratio), = 20 10 6 C 1
(Thermal expansion coefficient).
Consider that that at one point of the solid the stress tensor components are given by:
Castilla-La Mancha University
Ciudad Real Spain
Draft
7 LINEAR ELASTICITY
403
12 0 4
ij = 0 0 0 Pa
4 0 6
a) Obtain the principal stresses and directions of the stress tensor; Obtain the maximum
shear stress.
b) Obtain the strain related to paragraph (a). And find the principal strains and directions.
c) Obtain the strain energy density.
d) If the solid undergoes a change in temperature T = 50 C , what is the final strain state
at this point?
e) We can say that we are dealing with a state of plane stress?
Solution:
We obtain the eigenvalues by solving the characteristic determinant. Note that we already
=0
2 18 + 56 = 0
18 324 224
2
1 = 14
3 = 4
14 0 0
' ij = 0 0 0 Pa
0 0 4
eigenvector
2 = 0
eigenvector
3 = 4
eigenvector
n i(1) =
0
5
n i( 2 ) = [0 1 0 ]
1
n i(3) =
5
1
= [0.8944 0 0.4472]
5
2
= [0.4472 0 0.8944 ]
5
Making the change of nomenclature such that I > II > III , we have I = 14 , II = 4 ,
III = 0 .
Draft
404
S (Pa )
S max = 7
N (Pa)
II = 4
III = 0
I = 14
I III
(14) (0)
=
= 7 Pa
2
2
inverse
ij =
Tr ( ) ij +
ij
2
2(3 + 2)
1
E
= 4 10 5 Pa ,
(1 + )(1 2 )
=G =
E
= 4 10 5 Pa ,
2(1 + )
Tr ( ) = 18 ,
= 2.5 10 7 Pa
2 (3 + 2)
0
4
12
1 0 0
+ 1.25 10 6 0 10 0
6
ij = 4.5 10 0 1 0
4
0 0 1
0
6
0
5
10.5
0
=
4.5 0 10 6
5
0
3
For an isotropic linear material the principal directions of the stress and strain match. The
1
ij
2(3 + 2)
2
in the principal space, i.e.:
1 0 0
14 0 0
+ 1.25 10 6 0 0 0 =
6
= 4.5 10 0 1 0
ij
0 0 1
0 0 4
1
2
0
0
13
0 4.5 0 10 6
0
0
0 .5
1
2
The strain energy density is given by e = : = ij ij . We can use the principal space
to obtain the energy, i.e.:
Castilla-La Mancha University
Ciudad Real Spain
Draft
7 LINEAR ELASTICITY
0
0
13
0 4.5 0 10 6
=
ij
0
0
0 .5
405
14 0 0
= 0 0 0
ij
0 0 4
1
1
J
= [ 11 11 + ] = 92 10 6 3
ij ij
33 33
2
2
m
we can obtain:
0
5
0
5
1 0 0 1010.5
10.5
10 6 + 20 10 6 (50) 0 1 0 = 0
0
995.5
0 10 6
=
4 .5 0
ij
0 0 1 5
5
0
3
0
1003
The principal directions of the infinitesimal strain tensor are the same as the stress tensor
principal directions.
e) We can not say that we are dealing with a state of plane stress, since we do not know
information about how stresses vary in the continuum, i.e. the stress field. Remember that
the state of plane stress is considered when the stress tensor field is independent of one
direction.
Problem 7.21
Let us consider a bar to which at one end we apply a force equal to 6000 N as shown in
Figure 7.9. Find x , y , z , and the length change of the bar. Let us consider that the bar is
made up of a material whose properties are: Youngs modulus: E = 10 7 Pa ; Poissons ratio:
= 0 .3 .
1m
100 m
1m
y, v
y =
x, u
z, w
6000
11
F = 6000 N
Figure 7.9
Castilla-La Mancha University
Ciudad Real - Spain
Draft
406
)]
(0.3)(6000 )
1
x y + z = y =
= 0.00018
E
E
10 7
y 6000
1
y = y ( x + z ) =
=
= 0.0006
E
E
10 7
x =
z =
)]
z x + y = y = 0.00018
E
E
x = 0.22 10 3
y = 0.05 10 3
y
x
strain gauge
45
45
Draft
7 LINEAR ELASTICITY
11 =
407
11 + 22 11 22
+
cos( 2) + 12 sin( 2)
2
2
The above equation was obtained by means of the transformation law, (see Chapter 1 of
the textbook), which in engineering notation becomes:
x =
x + y
x y
cos( 2) +
xy
sin( 2)
2
x x
cos( 2) = 0.16 10 3
sin( 2)
2
2
xy =
thus
0.33 0.08 0
ij = 0.08 0.05 0 10 3
0
0
0
E
(1 2 ) x + y = 12 .0462 Pa
(1 + )(1 2 )
E
(1 2 ) y + x = 3.5692 Pa
y =
(1 + )(1 2 )
E
E
xy =
xy = 1.7846 Pa ; z =
x + y = 4.684 Pa
2(1 + )
(1 + )(1 2 )
x =
x + y
=
+ 2 = 4.5988 Pa
xy
( 10 3 )
Then, by solving the above equation we can find the eigenvalues (principal strains) given
by:
1 = 0.346155 10 3
2 = 0.06615528 10 3
3
0
0
1
0
0
Draft
0
0 Pa
4.684
408
We now obtain the characteristic determinant and in turn the eigenvalues (principal
stresses) 1 = 12.40654 , 2 = 3.208843 . Additionally, the eigenvectors of the stress tensor
are:
1 0.9802
2 0.1979
3
0
0.1979
0.9802
0
0
0
As expected, the eigenvectors of stress and strain are the same; since we are working with
isotropic linear elastic material.
b) Alternative solution for the stress tensor components:
Knowing the strain tensor components:
0.33 0.08 0
ij = 0.08 0.05 0 10 3
0
0
0
12 22 23
0 0 1
13 23 33
0 0 1
0
0
0
0
12.0461 1.784615
1.784615 3.5692
0 Pa
=
0
0
4.6846
As the material is isotropic, the tensors and share the same principal directions, then
we can use the same equation ij = Tr ( ) ij + 2 ij on the principal space, i.e.:
1 0 0
1 0 0
0 1 0 + 2 0
0
= Tr ( )
2
ij
0 0 3
0 0 1
0
0
0.346155
1 0 0
0 1 0 + 2
0
0.0662 0 10 3
= Tr ( )
0 0 1
0
0
0
0
0
12.40752
0
3.20783
0 Pa
=
0
0
4.6846
Draft
7 LINEAR ELASTICITY
409
Problem 7.23
A strain gauge (or strain gage) is a device used to obtain the strain in only one direction.
Consider a strain rosette that contains three strain gauges arranged according to a equilateral
triangle, (see Figure 7.11), and records the strain values according to the directions x1 , x1
and x1 .
x2
x1
x1
30
60
30
60
60
x1
Figure 7.11
11 = 4 10 4
11 = 1 10 4
11 = 4 10 4
11 =
11 + 22 11 22
+
cos( 21 ) + 12 sin( 21 )
2
2
(7.72)
11 =
11 + 22 11 22
+
cos( 2 2 ) + 12 sin( 2 2 )
2
2
(7.73)
11 + 11 11 = 4.66667 10 4
3
2
Once the value 22 = 4.66667 10 4 is obtained, we can replace it into the equation (7.72)
and we obtain:
xy = 2 12 =
1
3
(411 11 3 22 ) = 3.46410 10 4
Draft
12 = 1.73205 10 4
410
11 + 22 11 22
+
cos( 2 3 ) + 12 sin( 2 3 ) = 0.33333 10 4
2
2
Checking that:
11 + 22 = 11 + 22 = 0.66667 10 4
v ( x, y ) = 4 y 2 x 2 + 2 xy + 5
x, u
This structure consists of a material with following elastic properties: E = 100 MPa ,
G = 35 .7 MPa , = 0.4 . Assuming that the structure is under a small deformation regimen:
a) Find the stress field, b) For the given displacement field, show whether the equilibrium
equations are satisfied or not.
Solution:
a) We can calculate the strain tensor components as:
x =
u
= 8 x + 2 y
x
y =
v
= 8 y + 2 x
y
xy =
u v
+
=0
y x
0
0
8 y + 2 x 0
0
0
b) For a dam, as we have seen, we can adopt the approximation of plane strain condition:
0 x
0 .6 0 .4 0 8 x + 2 y
1
E
1
0 y = 357 .1428 0.4 0.6 0 8 y + 2 x MPa
y = (1 + )(1 2 )
1
xy
0
xy
0 0.3
0
0
0
x
4 x 2 y
y = 357.1428 2 x 4 y MPa
xy
z =
E
x + y = 357 .1428 [( 8 x + 2 y ) + ( 8 y + 2 x )]
(1 + )(1 2 )
Draft
7 LINEAR ELASTICITY
411
y
z
x
xy y yz
+
+
+ b y = 0
y
z
x
yz z
xz +
+ b z = 0
+
z
y
x
4 + 0 + 0 + 0 0 (fails)
(fails)
0 4 + 0 + 0 0
z
0 + 0 +
+0=0
z
So, the given displacement field does not satisfy the equilibrium equations.
Problem 7.25
Let us consider a regular quadrangular prism whose material is characterized by
E = 27.44 10 5 N / cm 2 (Youngs modulus) and = 0.1 (Poissons ratio). The side length of
the square section is a = 20cm . In both bases of the prism are placed two plates perfectly
smooth and rigid, they are joined together by four cables of area section A1 = 1cm 2 and
Youngs modulus equals to E1 = 19.6 10 6 N / cm 2 . Initially the length of the prism is equal
to l = 1m , (see Figure 7.12).
On two opposite sides of the prism we apply a compressive pressure p = 7350 N / cm 2 .
1. Obtain the stress on the cable C ;
2. Obtain the principal stresses in the prism;
3. Obtain the volume variation experienced by the prism.
a) Reference configuration
b) current configuration
z
z
l = 1m
a
x
Figure 7.12
Draft
412
Solution:
Verify that the cable and the prism deform in the same way according to the z -direction,
thus:
P = C
z
z
C =
z
C
E1
0
0 0
0 p
P
ij =
0
0 0 4 C A1
a2
)]
1
1
z x + y =
E
E
4 c A1
+
a2
Applying that P = C :
z
z
P = C
z
z
1
E
4 c A1
+
a2
p = C
E1
E1 pa 2
( Ea 2 + 4 E1 A1 )
4 C A1
P
ij
4 4900 1
N
= 49 2
2
20
cm
0
0
0
N
0 7350
=
0
cm 2
0
0
49
x + y + z
E
(1 2 ) = 2.12857 10 3
Draft
7 LINEAR ELASTICITY
413
Problem 7.26
Two parallelepiped of the same material and the same shape a b c are placed on either
side of a rigid flat plate attached thereto by their sides a c . Both parallelepipeds, together
with the plate, are introduced into a cavity such as indicated in Figure 7.13. The walls of the
cavity are flat, rigid and perfectly smooth.
We apply the pressures (force per unit surface area) p1 and p 2 on the upper faces of the
prisms as indicated in Figure 7.13.
Consider the Youngs modulus E and the Poissons ratio .
a) Obtain the principal stresses in both prisms;
b) Obtain the block edge length variations.
z
plate
a
p1
p2
cavity
c
y
Figure 7.13
Solution:
Prism 1
(x1) = 0
(y1)
(z1) = p1
(x2 ) = 0
(y2)
(z2 ) = p 2
Prism 2
For compatibility of stress:
(y1) = (y2 ) = y
Draft
414
(y1) + (y2 ) = 0
(
[
] [
[ + p ] + [
)]
)]
1 (1)
1
y (x1) + (z1) + (y2 ) (x2 ) + (z2 ) = 0
E
E
(1)
(2)
y z + y z = 0
+ p2 = 0
thus
y =
( p1 + p 2 )
2
Prism 1:
(x1) = 0
(y1) =
( p1 + p 2 )
2
(z1) = p1
(x2 ) = 0
(y2) =
( p1 + p 2 )
2
(z2 ) = p 2
Prism 2:
)]
(y1)
)]
)]
(x2 ) =
)]
(y2 )
)]
)]
(z1)
1 (1)
[( p1 + p 2 ) + 2 p1 ]
x (y1) + (z1) =
E
2E
1
= (y1) (x1) + (z1) =
( p1 p 2 )
E
2E
1
1 2
= (z1) (x1) + (y1) =
( p1 + p 2 ) 2 p1
2E
E
Prism 2:
(z2 )
1 ( 2)
[( p1 + p 2 ) + 2 p 2 ]
x (y2 ) + (z2 ) =
E
2E
1
= (y2) (x2 ) + (z2 ) =
( p 2 p1 )
E
2E
1
1 2
= (z2) (x2 ) + (y2 ) =
( p1 + p 2 ) 2 p 2
2E
E
Prism 2
a
[( p1 + p 2 ) + 2 p 2 ]
2E
b
= (y2 ) b =
( p 2 p1 )
2E
c 2
= (z2 ) c =
( p1 + p 2 ) 2 p 2
2E
a (1) = (x1) a =
a ( 2 ) = (x2) a =
b (1)
b ( 2 )
c (1)
c ( 2 )
Draft
(7.74)
7 LINEAR ELASTICITY
415
Problem 7.27
A gravity dam of triangular cross section is made up of concrete with specific weight equal
to
5
, where is the specific weight of water. The shape and dimensions of the cross
2
section are indicated in Figure 7.14, and the stress field in the dam (state of plane strain) is
given by:
11 = x 2
( x1 3 x 2 )
2
= x1
22 =
12
1
4
O
= g
45
g -acceleration of gravity
- mass density
[ ] =
N
kg m
= 3
3
2
m
m s
x2
Figure 7.14
NOTE: Although in the literature is known as the specific weight, also known as the
unit weight, in reality is the module of the body force per unit volume, i.e.
[]
r
r
r
r
N
m
= p = b = g , where b is the body force per unit mass b =
= 2 . Remember that
kg s
in the International System of Units (SI) the term specific is related to per unit mass,
which is not the case of , the correct term would be the weight density, since the term
density is related to per unit volume.
Solution:
a) The stress and strain fields in the dam:
Draft
416
x 2
ij = x1
x1
0
( x1 3 x 2 ) 0
2
0
33
11
ij = 12
12
22
0
0
0
We obtain the surface force by means on the traction vector t (n) = n . For the side AB
t 1 ( AB ) x 2
( AB )
t 2
= x1
t ( AB )
3
0
x1
0 0 x1
( x1 3 x 2 ) 0 1 = ( x1 3 x 2 )
2
0
33 0
0
( AB )
3h
2
t1
t2
(according to x1 -direction)
( AB )
(according to x 2 -direction)
x1
O
45
2
B
(n )
x2
The term Tr ( ) can be obtained by means of the double scalar product between
= Tr ( )1 + 2 and the second-order unit tensor, thus:
Draft
7 LINEAR ELASTICITY
417
: 1 = Tr ( )1 : 1 + 2 : 1
+ 22 + 33
Tr ( )
= 11
3 + 2
3 + 2
3 + 2
3 + 2
33 =
(11 + 22 + 33 )
(11 + 22 )
3 + 2
33 1
3 + 2 = 3 + 2 (11 + 22 )
33 =
2( + )
(11 + 22 )
2
2( + )
2
8
.
2( + )
(
ijA)
x 2
= x1
x1
( x1 3 x 2 )
2
0
h
0
= 0
[x1 5 x 2 ] 0
8
0
0
3h
2
0
0 1 0
3
0 =0
2
5h
0
0
8
0 h
5
8
S max = 0.4375
1.5
0.625
N (h)
Draft
418
(
ijB )
x 2
= x1
x1
( x1 3 x 2 )
2
0
h
0
= h
[x1 5 x 2 ] 0
8
0
(h 3h)
2
0
1 1 0
0
= 1 1 0 h
1
0
0
[h 5h]
2
8
(1 ) 2 1 = 0
(1 ) 2 = 1
( 1 ) = 1
1 = 2
2 = 0
S ( h)
S max = 1
0.5
N (h)
c) We can obtain the expression of the strain field by starting from the equation:
= Tr ( )1 + 2 :
= Tr ( )1 + 2
2 = Tr ( )1
=
Tr ( )1
2
2
Tr ( )
, then:
3 + 2
1
1
Tr ( )1 =
Tr ( )1
2
2
2
2 (3 + 2 )
(1 + )
E
1
=
2(1 + )
2
E
(3 + 2)
1
1
=
+
(3 + 2) E ( + )
=
=
2 (3 + 2) 2 E ( + ) E
Then:
Draft
7 LINEAR ELASTICITY
419
Tr ( )1
2
2(3 + 2)
(1 + )
Tr ( )1
E
E
5
= ( x 2 ) + ( x1 3 x 2 ) + ( x1 5 x 2 ) = ( x1 5 x 2 )
2
8
8
1
4
x 2
5
ij =
x1
4E
0
5
5
ij
( x1 5 x 2 ) ij
4E
32 E
x1
( x1 3 x 2 )
2
0
1 0 0
5
( x1 5 x 2 ) 0 1 0
0
32 E
0 0 1
[x1 5 x 2 ]
1
x1
0
8 ( x1 3 x 2 )
5
1
=
x1
(3 x1 + 7 x 2 ) 0
4E
8
0
0
0
Problem 7.28
A metallic cube with sides a = 0.20m is immersed in the sea at a depth z = 400m .
Knowing the Youngs modulus of the metal E = 21 1010 Pa , and the Poissons ratio
= 0.3 , calculate the volume variation that is experienced by the cube. Consider the
acceleration of gravity equals to g = 10m / s 2 .
Hypothesis: Although the mass density varies with temperature, salinity, and pressure
(depth), consider that the mass density of seawater equal to = 1027 kg / m 3 .
Solution:
Because of the depth and cube dimensions we can take as a good approximation that the
whole cube is subjected to the same pressure, (see Figure 7.15).
Draft
420
h = 400m
Figure 7.15
F
, where A is the area and F can be obtained by
A
means of the Newtons second law F = ma = Vg (weight of water column). Then:
p=
Ahg
kg m
kg
m
F Vg
=
=
= gh = 1027 3 10 2 400m = 4.108 10 6 2 2 = 4.108 10 6 Pa
A
A
A
s
m s
m
0
0 p 0
0
4.108
As we have only normal stress components and the material is isotropic, only normal
strains appear:
z = y = x =
)]
1
1
x y + z =
[ 4.108 0.3 ( 4.108 4.108 )] 10 6
10
E
21 10
Thus
z = y = x = 7.82 10 6
In small deformation regime the linear volumetric deformation is equal to the trace of the
infinitesimal strain tensor:
V
L
= DV V = Tr ( )
V0
Draft
7 LINEAR ELASTICITY
421
The container is filled with oil, and by suitable mechanism, the fluid pressure is raised to
the value 15MPa . By operating the mechanical press, we apply a total axial force of
F = 2.35619 10 5 N (piston force+pressure) on the bases of the cylinder.
At a generic point of the body:
a) Obtain the stress tensor components;
b) Obtain the strain tensor components;
c) Obtain the displacement field components ( u , v , w ).
F
y
0.25m
Corte AA
F
0.1m
F
2.35619 10 5
=
= 30MPa
A
(0.05) 2
x = y = 15MPa
Thus:
0
15 0
0
ij =
15
0 MPa
0
0
30
b) For a isotropic linear elastic material, the normal stress only produce normal strain, then:
Draft
422
)]
x = E x y + z
y = y ( x + z )
E
z = E z x + y
)]
By substituting the values of the variables we obtain the following strain tensor
components:
0
2 0
0 2 0 10 4
ij =
0
0 8
u
x
y =
v
y
z =
w
z
Integrating and obtaining the constants of integration we finally obtain the displacement
field:
u = 2 10 4 x
v = 2 10 4 y
w = 8 10 4 z
Problem 7.30
A hexahedron with sides 0.1m is made up of a material whose mechanical properties are
represented by the Lam constants: = 8333.33MPa , = 12500 MPa .
A deformation is imposed to the material as shown in Figure 7.17, in which all faces
remains planar, the faces AEFB and DHGC become parallelogram and the remaining
faces continue squares:
a)
b)
c)
d)
e)
f)
g)
Draft
7 LINEAR ELASTICITY
423
tg( ) = 0.001
E
C = C
D = D
A = A
B = B
v
z
v( z ) = 0.001z
v( z ) = 0.001z
w = 0
x
1
ij = xy
2
1
2 xz
1
xy
2
y
1
yz
2
u
1
xz
x
2
1 v u
1
yz = +
2
2 x y
z 1 u
+
2 x z
1 v u
+
2 x y
v
y
1 v
+
2 y z
1 u
+
2 x z
1 v
+
2 y z
x
1
ij = xy
2
1
2 xz
1
xy
2
y
1
yz
2
v w
+
= 0.001
z y
1
xz
2
0
0
0
1
0
yz =
0
0.0005
0 0.0005
0
Draft
424
E
v( z )
0 0.0005
0 12.5 0
0
0.0005
=0
0.0005
2 = 0.0005 2
2 = +0.0005
= 0.0005
3 = 0.0005
Remember that in the small deformation regime, the stress and strain share the same
principal directions, then we work in the principal space to obtain the principal stresses by
using = Tr ( )1 + 2 , i.e.:
0
0
0
0
0 0
0 0.0005
MPa = 0 12.5
= 2 (12500)
0
0 MPa
ij
0
0 0
0
0.0005
12.5
g) To obtain the total force acting on one surface, we multiply the surface force by the area
of the corresponding face. The surface force is obtained by means of the traction vector
t (n) = n . For the face ABFE the unit vector is given by n i = [1,0,0] , thus:
t 1 ( ABFE ) 0 0
0 1 0
( ABFE )
= 0 0 12.5 0 = 0
t 2
t ( ABFE ) 0 12.5 0 0 0
3
For the face BCGF , the unit vector is given by n i = [0,1,0] , thus
t 1 ( BCGF ) 0 0
0 0 0
( BCGF )
= 0 0 12.5 1 = 0 MPa
t 2
t ( BCGF ) 0 12.5 0 0 12.5
Draft
7 LINEAR ELASTICITY
425
If we do the same procedure for the other faces we obtain the representation of the surface
forces on the faces as indicated in Figure 7.18:
z
C = C
D = D
A = A
B = B
N
cm 2
10
cm , AA = 2cm .
3
(Youngs modulus),
1
(thermal expansion coefficient).
C
a) Obtain the principal stresses; b) Obtain the traction vector on the plane . Is it on that
plane where the maximum shear acts? Justify your answer. c) Obtain the values of the
forces F1 and F2 to be applied to guarantee that in the solid there is no displacement
according to the directions x1 and x2 , when the prism is subjected to a temperature
variation of T = 20 C .
Draft
426
x2
A2
A1
F2
F1
F1
x1
60
F2
x3
Figure 7.19
a) The stress field
A1 = 8.0 , A2 = 4
10
3
F1
A
1
ij = 0
F2
A2
0
0
0
0
1.25
N
= 0
0
0.15 0
cm 2
0
0
0 0
whose values are the principal stresses, since there is no shear stresses.
b)
x2
r
t (n)
D
x1
60
x3
Draft
7 LINEAR ELASTICITY
427
r
3
given by:
t (n) = n
t i(n)
t i(n) = ij n j
0
0
1.25
= 0
0.15 0
0
0
0
2 1.0825
1
= 0.075
2
0
0
N = t (n) n = t i(n) n i
= [1.0825 0.075 0]
2
1
= 0 .9
2
0
= 2 + 2
N
S
S =
r
t (n)
2
N
where
r
t (n)
1.0825
r (n) r (n)
(n ) ( n )
= t t = t i t i = [1.0825 0.075 0] 0.075 = 1.1775
Thus:
S =
r
t (n)
III = 0.15
I = 1.25
Draft
N ( N / cm 2 )
428
We verify that for any point in the solid, the maximum tangential stress is on the plane
2
max =
2
; 0 and the maximum tangential stress is:
2
I III
= 0.7 > S
2
Tr ( )1 + T 1
E
E
1+
ij =
ij Tr ( ) ij + T ij
E
E
E
0 0 33
0
0
22
0
0
1 0 0
+ T Tr ( ) 0 1 0
0
0 0 1
0
1+
1+
11 = 0 = E 11 + T E Tr ( ) = E 11 + T E (11 + 22 )
= 0 = 1 + + T Tr ( ) = 1 + + T ( + )
22
22
11
22
22
E
E
E
E
ET
N
= 3.33333 2
(1 )
cm
F2 = 22 A2 = 44.44444 N
Draft
11 Introduction to Fluids
11.1 Solved Problems
Problem 11.1
Demonstrate whether the following statements are true or false:
a) If the velocity field is steady, then the acceleration field is also;
b) If the velocity field is homogeneous, the acceleration field is always equal to zero;
c) If the velocity field is steady and the medium is incompressible, the acceleration is always
zero.
Solution:
r r
v ( x , t) r
a) In a steady velocity field we have
= 0 whereby the acceleration field becomes:
t
r
v ( x , t )
&
a i = vi = i
+ vi ,k v k = v i ,k v k
1 24
4t 3
=0i
r r
r r v ( x )
r r r r
r r r r
&
r
r
a=v =
+ x v ( x) v ( x) = x v ( x) v ( x)
14 244
4
3
t
Independen t of time
r r
r r
r r
430
Problem 11.2
Consider
&
vi = b i p ,i + (* + * )v j , ji + * vi , jj
Navier-Stokes-Duhem
r
r
r
r equations of motion
&
r
r
r
r
v = b x p + (* + * ) x ( x v ) + * x 2 v
(11.1)
r
+ 2 x ( v ) skew
= 0 The equation of vorticity
x
t
r
r
r
r
r
r
where is vorticity vector and is given by rot (v ) x v .
(11.2)
Solution:
Taking into account the material time derivative of the Eulerian velocity we obtain:
r r
r r
r r
r r v ( x , t )
&=
r
+ x v ( x, t ) v ( x, t )
a=v
t
Dvi vi v i
v
&
vi
=
+
v j = i + vi , j v j
Dt
t x j
t
(11.3)
(11.4)
(11.5)
Taking into account (11.3) and (11.4), the equation in (11.1) becomes:
&
vi = b i p ,i + (* + * )v j , ji + * vi , jj
r
&
r
r
r
r
v = b x p + (* + * ) x ( x v ) + * x 2 v
r
r
r
v r r 1 r 2
2r
r
r
r
r
+ v + x (v ) = b x p + (* + * ) x ( x v ) + * x v
2
t
r
r 1
(* + * ) r r r * r 2 r r
v r r 1 r 2
r
+ v + x (v ) b + x p
x ( x v )
v =0
x
t
2
(11.6)
x
t
(11.7)
Draft
11 INTRODUCTION TO FLUIDS
[
[
431
r r
r r
r
r
r
r
r
r
r
r
r
r
x x (v 2 ) = 0 , x [ x p ] = 0 , x [ x ( x v )] = 0 ;
r
r
r
r r
r r
r
r r
r r
r
r
r
r
r
r
r
r
r
x ( x v ) v = ( x v )( x v ) + x ( x v ) v x v ( x v )
;
r
r r
r r
r r
r r
r
r
r
r
x [ v ] = ( x v ) + [ x ] v x v
[
]
r
r
r
r
r
r
r
2r
2
2 r
r
r
r
r
r
r
r
r
x x v = x x ( x v ) = x x v = x ;
r
r
r
v r r r
r
x =
x v =
;
t
t t
r
Considering that the field b is conservative, and considering that the curl of any
r r
r
r
conservative vector field is always zero we obtain x b = 0 .
2 r
r
r
r
r
+ ( x v ) + ( x ) v x v
x =0
(11.8)
v i , i j = (vi j ), i vi j , i
vi , j j = (v i j ), j v i j , j = (vi j ), j
(11.9)
[v ]
r
(11.10)
where we have applied the definition that the divergence of the curl of a vector is zero, i.e.
r
r
r
r
r
r
x = x ( x v ) = 0 . Taking into account (11.10), the equation (11.8) becomes:
r
r r
r r
r r * r 2 r r
r
r
r
+ ( x v ) + ( x ) v x v
=0
t
x
r
r r
r r
r r
* r 2 r r
r r
r
r
r
r
+ x [ v ] ( x ) v + ( x ) v x [v ]
=0
t
x
r
r r
* r 2 r r
r r
r
r
+ x [ v ] x [v ]
=0
t
x
r
r r r r
* r 2 r r
r
+ x [ v v ]
=0
x
t
r
r r
* r 2 r r
+ 2 x ( v ) skew
=0
x
t
(11.11)
With that we prove the equation of vorticity given by the equation in (11.2).
Draft
432
Problem 11.3
Let us consider a body immersed in a Newtonian fluid. Find the total traction force E
acting on the closed surface S which delimits the volume V . Consider that the bulk
viscosity coefficient to be zero.
r
t (n)
dE i = t i(n ) dS
E i = t (n ) dS = ij n j dS = ij , j dV
i
S
2
3
Next, by considering the stress constitutive equation for Newtonian fluids, we obtain:
ij = p ij + * ij D kk + 2 *D ij = p ij
D
2 *
ij D kk + 2 *D ij = p ij + 2 * D ij kk ij
3
3
4 244
1 4
3
dev
Dij
dev
ij = p ij + 2 *D ij
Then
dev
E i = ( p ij + 2 *D ij )n j dS
S
( p
ij
dev
+ 2 *D ij
,j
dV =
( p
,j
dev
dev
ij + 2 *D ij , j )dV = ( p ,i + 2 *D ij , j )dV
V
Draft
11 INTRODUCTION TO FLUIDS
r
E=
r
x
433
r
p + 2 * x (D dev ) dV
(11.12)
Problem 11.4
Let us consider a fluid at rest which has the mass density f . Prove Archimedes
Principle: Any body immersed in a fluid at rest experiences an upward buoyant force equal to the
weight of the volume fluid displaced by the body.
If mass density in the body is equal to s and the body force (per unit mass) is given by
b i = g i 3 , obtain the resultant force and acceleration acting on the body.
Solution:
r
r
In Problem 11.3 we showed that E = x p + 2 * x (D dev ) dV . If the fluid is at rest
D dev = 0 holds, and the thermodynamic pressure is equal to the hydrostatic pressure, i.e.
p = p 0 whereby we have:
r
E=
r
x
p 0 ]dV
(11.13)
r
E
p0
V -volume
r
Ws
x3
x2
x1
The weight of the fluid volume displaced by the body is given by:
r
W
r
= f bdV
(11.14)
Draft
434
r r
r
x + f b = 0
r
r
x = f b
ij , j + f b i = 0 i
ij , j = f b i
r
r
x ( p 0 1) = f b
r
r
x p0 = f b
(11.15)
( p 0 ij ), j = f b i
p 0,i = f b i
r
r
r
= f bdV = x p 0 dV = E
(11.16)
Ri = ( s f )b i dV = g ( s f ) i 3 dV =
0
V
V
g ( f s )dV
V
thereby verifying that: if the body has a mass density lower than fluid mass density, e.g. if
r r
the body is a gas, the body rises, i.e. f > s R > 0 , and if not the body falls. Moreover,
r
r
if we consider that R = m s a , where m s is the total mass of the submerged body, we can
obtain the acceleration of the body as:
a3 =
R3
ms
g ( f s )dV
=V
ms
=V
g ( f s )
ms
s
dV
s
g ( f s )
=
ms
dV
=
g ( f s )
Draft
11 INTRODUCTION TO FLUIDS
435
Problem 11.5
Prove that the Cauchy deviatoric stress tensor dev is equal to dev , where
ij = p ij + ij .
Solution
If we consider that kk = 3 p + kk we can obtain:
dev
ij = ij
kk
( 3 p + kk )
dev
ij = p ij + ij
ij = ij kk ij = ij
3
3
3
Problem 11.6
Obtain the one-dimensional mass continuity equation for a non-viscous incompressible
fluid flow through a pipeline. Then, consider the volume V between the two arbitrary
cross sections A and B .
n( B)
A
V
n ( A)
Solution:
D
&
=0.
Dt
r
r
&
Moreover, here we can consider the mass continuity equation + v k ,k = ( x v ) = 0 ,
r
r
where x v = 0 or v k , k = 0 holds. Then, by considering the entire volume we obtain:
r
x
v dV
=0
k , k dV
=0
(11.17)
v n dS = 0
k n k dS
=0
(11.18)
Thus:
r
n A dS +
SA
SA
and
v A = v A n A
n B dS = 0
SB
Draft
SB
v B = vBn B
436
v A n A n A dS + v B n B n B dS = 0
SA
SB
v AS A = vB S B
Problem 11.7
The velocity field of a gas in motion through a pipeline, whose prismatic axis is x 2 , is
defined by its components as follows:
v1 = 0 ;
v 2 = 0.02 x 2 + 0.05 ;
v3 = 0
kg
. Find at x 2 = 5m .
m3
Solution:
r r
Note that the velocity field is stationary, i.e. v = v ( x ) . From the mass continuity equation
we can obtain:
r
r
r
r
+ x ( v ) = 0 x ( v ) = 0
t
r
Then, we can conclude that v is constant along x 2 -direction, so:
(v 2 )
x2 = 0
= (v 2 )
x2 =5
(v 2 )
x2 = 0
= (v 2 )
x2 =5
( x 2 = 5) = 0.5
kg
m3
Alternative solution:
r
r
x ( v ) = 0
indicial
(vi ) ,i = ,i vi + vi ,i = 0
v1 v 2 v3
v
vi + i =
x v1 + x v 2 + x v3 + x + x + x
x i
xi 1
2
3
2
3
=0
Thus:
0.02
=
x
(0.02 x 2 + 0.05) 2
Draft
11 INTRODUCTION TO FLUIDS
437
C
Ln = Ln
(0.02 x 2 + 0.05)
C
=
(0.02 x 2 + 0.05)
The constant of integration can be obtained by applying the boundary condition, i.e. at
x 2 = 0 = 1.5 , with that we obtain C = 0.075 :
=
0.075
(0.02 x 2 + 0.05)
x2 =
5
kg
0.075
= 0.5 3
(0.02 5 + 0.05)
m
Problem 11.8
The Cauchy stress tensor components at one point of a Newtonian fluid, in which the bulk
viscosity coefficient is zero, are given by:
6 2 1
ij = 2 9 4 Pa
1 4 3
2 *
=0
3
ii = 3 p
p=
ii
( 6 9 3) = 6
=
3
3
Then:
ij = ij + p ij
2 1
6 2 1 6 0 0 0
2 9 4 + 0 6 0 = 2 3 4 Pa
=
1 4 3 0 0 6 1 4
3
Problem 11.9
Determine the conditions needed for mean normal pressure p =
to thermodynamic pressure p for a Newtonian fluid.
kk
= m to be equal
3
Solution:
It was deduced that:
Draft
438
dev
dev
ij = 2 *D ij
1
kk = p + k *D ii
3
kk
= p = p + *D kk
3
{
p
or
D ii = 0
Tr (D ) = 0
or
2
3
* = *
Problem 11.10
A baratropic perfect fluid has as equation of state = 0 +
p
, where k is constant. Obtain
k
the pressure field for a quasi-static regime (zero acceleration), under the action of the
gravitational field b i = [0 0 g ]T .
Solution:
The constitutive equation in stress of a perfect fluid:
= p1
indicial
&
ij , j + b i = vi = 0 i
{
= 0i
( p ij ), j + b i = 0 i
r r
r
x p + b = 0
p, j ij + b i = 0 i
tensorial
(11.19)
p , i + b i = 0 i
p
p
+ b 1 = 0
= 0 p = p ( x1 , x 2 , x3 )
(i = 1)
x1
x1
p
p
p, i +b i = 0 i (i = 2)
+ b 2 = 0
= 0 p = p ( x1 , x 2 , x3 )
x 2
x 2
dp ( x3 )
p
(i = 3) x + b 3 = 0 dx + g = 0
3
3
(11.20)
With that we can conclude that the pressure field is only a function of the coordinate x 3 ,
i.e. p = p( x3 ) .
By the fact we are dealing with a barotropic fluid, this implies that the mass density is only
a function of pressure = ( p ) . This relationship is precisely the equation of state of the
problem statement:
= ( p)
= 0 +
p
k
Then:
Draft
11 INTRODUCTION TO FLUIDS
439
dp( x3 )
+ g = 0
dx3
dp( x3 )
p
+ 0 + g = 0
dx3
k
dp( x3 ) g
+ p = 0 g
dx3
k
(11.21)
The solution of the above differential equation is the sum of a particular solution and a
homogeneous solution:
g
( x3 )
dp( x 3 ) g
Homogeneous solution:
+ p = 0 p = Cexp k
dx3
k
Particular solution: p = k 0
Thus:
p = Cexp
g
x )
k 3
k 0
Problem 11.11
A perfect gas is an ideal and incompressible fluid in which in the absence of heat sources
the pressure is proportional to (barotropic motion), where is a constant and > 1 .
Show that when r = 0 (no internal heat source), the specific internal energy for a ideal gas
is given by:
u=
1 p
+ constant
( 1)
Solution:
For the proposed problem, the energy equation becomes:
r
r
&
u = : D x q + r = : D
&
u :D = 0
For a perfect gas the stress tensor is a spherical tensor and is given by:
( p ) = p1
For a barotropic motion, the specific internal energy is a function of the mass density,
u = u ( ) , thus:
r
r
&
u + p x v = 0
r
u
r
&
+ p x v = 0
Draft
440
r
r
D
r
r
&
+ x v = 0 = x v , the energy
Dt
equation becomes:
r
u
r
&
+ p x v = 0
r
r
u
r
r
x v + p x v = 0
r
u
r
2
+ p x v = 0
1 3
u
+ p=0
p
u
= 2
u
+ p=0
u k
=
= k ( 2 )
2
Problem 11.12
k
+ constant
( 1)
1 p
+ constant
( 1)
A fluid moves with velocity v around a sphere of radius R , where the velocity
components in spherical coordinates ( r , , ) are given by:
R 3 3R
+ 1 cos()
v r = c 3
2r
2r
3
R
3R
1 sin()
v = c 3 +
4r
4r
v = 0
(11.22)
Note: Given a vector u , the divergence of this vector in spherical coordinates is:
u cot()
r
r u
1 u
1
2
r
div u x u = r +
+
+
u + u r
r r sin()
r
r
r
Solution:
r
To demonstrate that a motion is isochoric, we must prove that x v = 0
Draft
11 INTRODUCTION TO FLUIDS
441
3R 3 3R
v r
R 3 3R
= c 3
+ 1 cos() = c
2r 4 + 2r 2 + 1 cos()
2r
2r
r r
R 3 3R
v
R 3 3R
c 3 +
1 cos()
=
1 sin() = c 3 +
4r
4r
4r
4r
r
r
=0
3R
3R
1 R 3 3R
= c
+ 2 + 1 cos() + c 3 +
1 cos() +
2r 4
4r
r 4r
2r
2 R 3 3R
cos() 1 R 3 3R
1 sin() + c 3
+ 1 cos()
c 3 +
4r
2r
2r
sin() r
4r
r
r
r
x v = 0
( and 0
are constants )
p (1)
p( 2)
v (1)
v( 2)
S (1)
S (2)
Figure 11.1
p - pressure, v - velocity, S - cross section area.
Solution:
According to the principle of conservation of mass we have:
Castilla-La Mancha Unversity
Ciudad Real Spain
Draft
442
D
dV = 0
Dt V
Dt V
Dt
Dt
V
r r
D ( x, t )
r
dV + ( x , t ) x v ( x , t )dV
=
Dt
r r
D ( x, t )
r
=
+ ( x , t ) x v ( x , t ) dV
Dt
r r
r r
( x , t )
r
r
=
+ x ( x , t ) v ( x , t ) + ( x , t ) x v ( x , t ) dV
t
( x , t )
r
=
+x
t
V
(( x, t )v ( x, t )) dV
=
=
( x , t )
r
dV + x
t
V
( x , t )
dV +
t
r r
r r
[( x, t )v ( x, t )]dV
r r
[( x, t )v ( x, t )] ndS = 0
S
by denoting = ( x , t ) we obtain:
r
r r
( x , t )
D
( x , t )dV =
dV + [ ( x , t )v ( x , t )] ndS = 0
Dt V
t
V
S
(1) v (1) dS
S(1)
S(1)
( x , t )
= 0 , we obtain:
t
r r
r r
[ ( x )v ( x )] ndS + [ ( x )v ( x )] ndS = 0
( 2 ) v ( 2 ) dS
S( 2 )
=0
S( 2 )
Thus:
(1) v (1) S (1) = ( 2) v ( 2) S ( 2)
(11.23)
kg
.
m2s
p
= Ln
( x ) = 0 exp
exp =
Then:
Draft
11 INTRODUCTION TO FLUIDS
443
p ( 1)
exp
p ( 2 ) p (1 )
p( 2 ) p(1)
p( 2 ) p(1)
p( 2 )
v( 2 ) S ( 2 )
v(1) S (1)
v( 2 ) S ( 2 )
v(1) S (1)
= Ln
v( 2 ) S ( 2 )
v(1) S (1)
= Ln
v( 2 ) S ( 2 )
(11.24)
v(1) S (1)
p( 2 ) = p(1) + Ln
v( 2 ) S ( 2 )
NOTE: The volumetric flow rate, (also known as volume flow rate), often represented by
Q , is the specific total flow, i.e.:
Q=
r r
q dS
r r
v dS
=
= v dS
S
S
m3
s
(11.25)
r r
q dS kg m 3 2 m 3
We check the SI unit [Q ] =
. In this example, we have
m =
= 2
s
S m s kg
(1) Q(1) = ( 2) Q( 2)
Problem 11.14
Starting from the Navier-Stokes-Duhem equations of motion, obtain the Bernoullis
equation:
gh +
v2
= constant
2
Bernoullis equation
(11.26)
Hypothesis: incompressible and non-viscous fluid. Consider that the velocity field is steady
and irrotational.
Solution:
r
r
Considering an incompressible medium ( x v ) = 0 , and a non-viscous fluid (* = * = 0) ,
the Navier-Stokes-Duhem equations of motion become:
&
vi = b i p ,i + (* + * )v j , ji + * v i , jj
r
&
r
r
r
r
v = b x p + (* + * ) x ( x v ) + * x 2 v
r
r
&
r
v = b x p
Castilla-La Mancha Unversity
Ciudad Real Spain
Draft
(11.27)
444
&
r
Note that the v = b x p are the Euler equations of motion. The material time derivative
of the velocity, (see equation (11.5)), becomes:
r
r v r r 1 r 2
1 r
&=
+ v + x ( v ) = x (v 2 )
v
t
2
2
r
v r
= 0 , and irrotational
where we have considered that the steady velocity field
t
r
r
r
r r
r
x v = rot v = = 0 . With that the equation (11.27) can be rewritten as follows:
r
r
r
x (v 2 ) = b x p
r 1
r
1 r 2
r
x (v ) b + x p = 0
(11.28)
r
r
Considering that the body force (conservative field) can be represented by b = x ,
where is a potential, and also by considering that the mass density field is homogeneous
r
r
the relationship x = x p holds. Then, the equation in (11.28) becomes:
p v2
r
=0
x + +
2 i
v2
= constant
2
(11.29)
v2
= constant
2
v 2 p N m 3 Nm J m 2
=
=
=
, which is the unit of
= = 2
kg kg s 2
2 m kg
energy at A
energy at B
v2
2
v2
2
gh A
h
Draft
gh B
11 INTRODUCTION TO FLUIDS
445
Problem 11.15
Let us consider a perfect and incompressible fluid in steady regime that is flowing through
the channel as shown in Figure 11.2. Obtain the value of H .
Hypothesis: No energy loss is considered.
v (1) = 1m / s
h(1)
v( 2 ) = 2 m / s
h( 2)
Figure 11.2
Solution:
The mass continuity equation:
v (1) h(1) = v ( 2 ) h( 2)
h( 2 ) =
v (1)
v( 2)
h(1) =
1
h(1)
2
2g
v (22)
h( 2 ) + 0 +
2g
H = h( 2 ) h(1) +
v (22 ) v (21)
2g
H=
h(1)
2
3
2g
Problem 11.16
A large diameter circular tank is filled with water. The water pours through a small orifice
located at a height H below the water level of the reservoir, (see Figure 11.3). If the
volumetric flow rate is Q , obtain the orifice diameter D .
Hypothesis: Consider that H does not vary with time (steady state). Consider that in the
section BB , the flow pressure is equal to atmospheric pressure:
Draft
446
A
H
( p patm )
patm
Pressure
Pressure
Cross section BB
Cross section CC
Figure 11.3
Solution:
The water can be considered as an incompressible perfect fluid. Applying the Bernoullis
equation:
z+
p
v2
+
= const.
g 2 g
p atm
+0
g
v (2B )
p
0 + atm +
g
2g
H+
v ( B ) = 2 gH
Considering that the volumetric flow rate is given by Q = v ( B ) S ( B ) , we can conclude that:
Q = v ( B ) S ( B ) = 2 gH
D 2
4
Draft
D=
4Q
2 gH
11 INTRODUCTION TO FLUIDS
447
Problem 11.17
Consider a pipeline which has be introduced a pitot tube as shown in Figure 11.4. Obtain
the velocity at the point 1 in terms of h(1) and h( 2) . Consider that there is no energy loss in
the system.
Pitot tube
Pipeline
h( 2)
h(1)
v(1)
1
p(1)
v( 2) = 0
2
p( 2 )
p (1)
p (1)
v (21)
v (21)
2
= gh +
p( 2)
v (22 )
2
p ( 2)
2( p ( 2 ) p (1) )
v (1) =
The pressure values at the points 1 and 2 are given, respectively, by:
p (1) = gh(1)
p ( 2 ) = gh( 2 )
2( p ( 2) p (1) )
2(gh( 2 ) gh(1) )
Draft
= 2 g (h( 2 ) h(1) )
448
Problem 11.18
Consider an incompressible non-viscous fluid, which has a steady velocity field and
irrotational. Consider also that the velocity field is independent of x3 -direction. Obtain the
governing equations of the proposed problem in terms of the velocity potential and
streamlines .
Solution:
Velocity potential: In this example we can represent the velocity field by means of a potential
r
r
, i.e. v = x . With that we are considering that the velocity field is conservative, hence
r
r
the curl of the velocity field is zero, i.e. x v = rot v = = 0 . Remember that a field
whose curl is zero it does not necessarily imply that the field is conservative, but for a
conservative field the curl is always equals zero.
r
Note that the velocity has the same direction as x , i.e. it is normal to the isosurfaces
= const .
Streamline: Given a spatial velocity field at time t , we can define a streamline ( ) to the
curve in which the tangent at each point has the same direction as the velocity. In general,
the streamline and trajectory do not coincide, but in steady state motion they do. Two
streamlines can not intersect.
(5) = const.
Control volume
( 4) = const.
r r
v ( x)
Streamlines
( 2) = const.
r
x
(1) = const.
r
x
Based on the definition of differential d (the total derivative), and the definition of
r
r
r
gradient x we obtain the relationship d = x dx .
r
r
v = x
+ d
r
x
= const. d = 0
in the streamline
Draft
11 INTRODUCTION TO FLUIDS
449
r
r
Note that it holds that x x = 0 . The differential dx in the streamline, at a point, has
the same direction as the velocity at this point. Hence, the following is fulfilled:
r r r
dx v = 0
e1
r r
dx v = dx1
e2
dx 2
e3
r
dx3 = 0
v1
v2
v3
Components:
(v3 dx 2 v 2 dx3 ) 0
r r
(dx v ) i = (v 3 dx1 v1 dx3 ) = 0
(v 2 dx1 v1 dx 2 ) 0
For this example the velocity field is independent of x3 , i.e. the problem is state on the
plane x1 x 2 (2D-case). With that we can conclude that:
0
0
r r
= 0
( dx v ) i =
0
(v 2 dx1 v1 dx 2 ) 0
v 2 dx1 v1 dx 2 = 0
(11.30)
Given that in a streamline it holds that = const. d = 0 and also by applying the
r
r
definition d = x dx , we obtain:
r
r
d = x dx
d = ,i dxi = 0
indicial
d = ,1 dx1 + , 2 dx 2 + ,3 dx3 = 0
d =
dx1 +
dx 2 +
dx3 = 0
x1
x 2
x3
dx1 +
dx 2 = 0
x1
x 2
(11.31)
x 2
v2 =
x1
(11.32)
r
1) Starting from an incompressible fluid: ( x v ) = 0 we obtain:
v i ,i =
v1 v 2 v3
+
+
=0
x1 x 2 x3
2D
v1 v 2
+
=0
x1 x 2
r
Considering that v = x , we obtain:
Draft
450
v1 v 2
+
=0
x1 x 2
2 2
r
+ 2 =0
2 = 0
x
2
x1
x 2
r
r
r r r
r
2) Based on the fact that the fluid is irrotational x v rot v = = 0 we obtain:
e1 e 2
e3
r
r
r
r
r
= ijk v k , j e i = 0
rot (v ) = x v =
x1 x 2 x3
v1
v2
v3
v
v
v
v
v
v
= 3 2 e 1 + 1 3 e 2 + 2 1
x
x
1 x 2
2 x3
3 x1
(11.33)
(11.34)
r
e 3 = 0
Then:
v 3 v 2
x x
3
2
0
v1 v3
= 0
x3 x1 0
v
v
2 1
x1 x 2
x1 x 2
x1 x 2
2 2
=0
+
x 2
x1
r
2 = 0
x
Draft
r
2 = 0
x
(11.35)
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