3

x y z

F = F (r ) er

3.1

(Cartesian coordinates) (family of

planes) x = y =
z =

(curvilinear coordinates)



(r, , ) (r, , z )

(x, y, z ) (
(x1, x 2 , x 3 ) (x, y, z ) ) (q1, q2 , q 3 )

(q1, q 2 , q 3 ) (x , y, z )
x = x (q , q , q )
1 2
3

y = y(q1, q 2 , q 3 )

z = z (q , q , q )
1 2
3

(3.1)

92

3.1.1
(r, , )
x = x (r , , ) = r sin cos

y = y(r , , ) = r sin sin

z = z (r , , ) = r cos

r 0, 0

(3.2)

0 2

3.1.2
(r, , z )

x = x (r , , z ) = r cos

y = y(r , , z ) = r sin

z = z (r , , z ) = z

r 0, 0 2

(3.3)

q1, q2 , q 3
q = q (x , y, z )
1
1
q = q (x , y, z )
2
2
q = q (x , y, z )
3
3

x , y, z

(3.4)

e1 q1 = q1
e2 e3 e1, e2 , e3
e1 (e2 e 3 ) > 0

(3.5)

F = F1e1 + F2 e2 + F3 e3

(3.6)

e1, e2 , e3 i, j, k
e1, e2 , e3 e1, e2 , e3
q1, q 2 , q 3

3.1

93

3.1.3
(r, , )
e1 = er = sin cos i + sin sin j + cos k
e2 = e = cos cos i + cos sin j sin k

(3.7)

e3 = e = sin i + cos j

3.1.4
(r, , z )
e1 = er = sin i + cos j
e2 = e = cos i + sin j

(3.8)

e 3 = ez = k

(3.1)

dx = x dq + x dq + x dq
1
2
3

q 1
q 2
q 3

y
y
y

dq1 +
dq 2 +
dq 3
dy =

q 1
q 2
q 3

z
z
z

dz = q dq1 + q dq 2 + q dq 3
1
2
3

(3.9)

(ds ) = (dx ) + (dy ) + (dz )

(3.10)

dx, dy, dz (3.9)

3

(ds )2 = gijdqidq j
i =1 j =1

= g11 (dq1 )2 + g12dq1dq 2 + g13dq1dq 3

(3.11)

+g 21dq 2dq1 + g 22 (dq 2 ) + g 23dq 2dq 3

2

+g 31dq 3dq1 + g 32dq 3dq 2 + g 33 (dq 3 )

94

gij =
l =1

x l x l
x x 1 x 2 x 2 x 3 x 3
= 1
+
+
q i q j
q i q j
q i q j
q i q j

(3.12)

x1 = x, x 2 = y, x 3 = z gij
e1, e2 , e3
e1 e2 = e2 e 3 = e 3 e1 = 0

(3.13)

e1 e1 = e2 e2 = e 3 e 3 = 1

()
i j (3.11)

gij = 0

(ds )2 = g11 (dq1 )2 + g 22 (dq 2 )2 + g 33 (dq 3 )2

(3.14)

x
gii = l 0

l =1 q
3

gii = hi2

hi

(ds )2 = (h1dq1 )2 + (h2dq 2 )2 + (h3dq 3 )2

dsi

= hidqi

(3.15)

(ds )2 = (ds1 )2 + (ds2 )2 + (ds 3 )2

(3.16)

dqi qi
dsi = hidqi ei
3.1.5
(r, , ) (3.2)

dx = x dr + x d + x d = sin cos dr + r cos cos d r sin sin d

y
y
y

dr +
d +
d = sin sin dr + r cos sin d + r sin cos d
dy =

dz = z dr + z d + z d = cos dr r sin d

3.1

95

(ds )2 = (dx )2 + (dy )2 + (dz )2

= (dr )2 + r 2 (d )2 + r 2 sin2 (d )2

hr

= 1, h = r

h = r sin

3.1.6
(r, , z ) (3.3)
x
x
x

dx = r dr + d + z dz = cos dr r sin d

y
y
y

dr +
d +
dz = sin dr + r cos d
dy =

dz = z dr + z d + z dz = dz

(3.17)

(ds )2 = (dx )2 + (dy )2 + (dz )2

= (dr )2 + r 2 (d )2 + (dz )2

hr

= 1, h = r

hz

=1

A = A1e1 + A2 e2 + A3 e 3
B = B1e1 + B2 e2 + B3 e 3

(3.18)

A B = A1B1 + A2B2 + A3B3

e1

e2

e3

A B = A1

A2

A3

B1 B2

B3

(3.19)

96

3.1
1.

gij = 0 i j
(:
ds1, ds2 , ds3
(ds )2 gij )

2.

3.

u, v, z

i, j, k

u = xy

2
2
v = x y

z = z

3.1
3.2
3.3
3.4
3.5
3.6

3.2

u = v = z =

eu , ev ez
(u, v, z ) (v, u, z )
hu , hv hz
(ds )2 (du )2 , (dv )2 (dz )2

f e
e (f ) f
e f (q1, q2 , q 3 ) q1, q2 , q 3 e1, e2 , e3
dsi = hidqi
ei (f ) =

f
1 f
=
si
hi qi

f (q1, q 2 , q 3 ) =

1 f
1 f
1 f
e1 +
e2 +
e3
h1 q1
h2 q 2
h3 q 3

(3.20)

3.2

97

3.2.1
(r, , )
f =

f (r , , ) = r 2 sin

hr = 1, h = r , h = r sin

f
1 f
1 f
er +
e +
e
r
r
r sin

(3.21)

f = 2r sin er + r cos e

3.2.2
(r, , z )
f =

hr = 1, h = r , hz = 1

f
f
1 f
er +
e +
ez
r
z
r

f (r, , z ) = r 2 sin 2 + z 2

(3.22)

f = 2r sin 2 er + 2r cos 2 e + 2z ez

F d S = F dV
S

S V
V

1
V 0 V

F = lim

F d S
S

(3.23)

98

F(q1, q2 , q 3 ) = F1e1 + F2 e2 + F3 e3 q1, q2 , q 3

F1, F2 , F3 q1, q2 , q 3
z

ds1 = h1dq1

(q1, q2 , q 3 )
ds2 = h2dq2

ds 3 = h3dq 3
y

3.2.1


ds1ds2ds 3 = h1h2h2 dq1dq 2dq 3

e1

F1h2h3 + (F1h2h3 )dq1 dq 2dq 3 F1h2h3 dq 2dq 3 = (F1h2h3 )dq1dq 2dq 3

q1
q 1

F d S = q

(F1h2h3 ) +
1

(F2h3h1 ) +
(F3h1h2 ) dq1dq2dq 3
q 2
q 3

F =

1
h1h2h3

(F h h ) +
(F2h3h1 ) +
(F3h1h2 )
q 1 1 2 3
q 2
q 3

(3.24)

3.2

99

3.2.3
(r, , )
F =

1
r sin
2

1
= 2
r sin

hr = 1, h = r , h = r sin

(Fr r 2 sin ) +
Fr sin ) +
Fr )
(
(
r

(3.25)

F
2

sin
(r Fr ) + r (sin F ) + r

F(r , , ) = r er + r sin e

r 3

+r
sin
r sin2 )
(
2

r sin
r

1
3r 2 sin + 2r 2 sin cos
= 2

r sin
= 3 + 2 cos

F =

3.2.4
(r, , z )

hr = 1, h = r , hz = 1

1
(Fr r ) + +
(Fz r )

r r

z
1
1 F Fz
=
+
(Fr r ) +
r r
r
z

F =

F(r , , z ) = r 2 er + r 2 sin e + z 2 ez

(3.26)

1 r 3 1 2
z 2
+
(r sin ) +
r r
r
z
= 3r + r cos + 2z

F =

f (q1, q2 , q 3 )

2 f = f
1 f

1 f
1 f
=
e1 +
e2 +
e3
h1 q1
h2 q 2
h3 q 3
=

1
h1h2h3

h h f
h3h1 f
h1h2 f
2 3

+
+

q h q q h q q h q
1
1
1
2
2
2
3
3
3

(3.27)

100

F d r = ( F) d S
C

S 0 S 0
( F) n = lim
S 0

1
S

F dr

(3.28)

q1 =
C

n = e1

n = e1

ds 3 = h3dq 3

(q1, q2 , q 3 )

ds2 = h2dq2

3.2.2

ds2ds 3 = h2h3dq 2dq 3

(3.29)

3.2

101

+ F3h3 +
F3h3 )dq 2 dq 3 F2h2 +
F2h2 ) dq 3 dq 2 F3h3dq 3
(
(

q 2
q 3

F3h3 )
F2h2 ) dq 2dq 3
=
(
(
q 2

q 3

F d r = F h dq
2 2

1, 2, 3 4

e1

( F) e1 =

1
h2h3

F3h3 )
F2h2 )
(
(
q 2

q 3

F1h1 )
F3h3 )
(
(
q 3

q 1

( F) e 3 =
(F2h2 )
(F1h1 )
h1h2 q1
q 2

( F) e2 =

1
h3h1

h1e1
F =

h2 e2

h3 e 3

h1h2h3 q1 q 2 q 3
h1F1 h2F2 h3F3

(3.30)

102

3.2.5
(r, , )

F =

hr = 1, h = r , h = r sin
er

r e

r sin e

r 2 sin r
Fr

rF

r sin F

F(r , , ) = r er + r sin e

F =

(3.31)

er

r e

r sin e

r sin r

r 2 sin

1
2r sin r sin e

r sin
= 2 sin e
=

3.2.6
(r, , z )

hr = 1, h = r , hz = 1

F =

er

r e

ez

1
r r
Fr

rF

z
Fz

F(r , , z ) = r 2 er + r 2 sin e + z 2 ez
er
F =

1
r r
r2

(3.32)

r e

ez

3
r sin

z
z2

1 2
3r sin ez

r
= 3r sin ez
=

3.2

103

3.2
1.

1.1 e1 =

2.

1 (h2h3 )
h1h2h3 q1
e2 h1 e3 h1

h3 q 3 h2 q 2

1.2 e1 =

1
h1

=k

2.1
2.2

v = r v

3.

4.

f = f (r )

5.

f = f (r )

2 f =

6.

2 f = 0

1 d 2 df 1 d 2
d2f
2 df
r
=
rf
=
+
(
)

2
2
2

r dr
dr
r dr
dr
r dr

F F

6.1 F = (ln r ) ez
6.2 F = r 2 e
6.3 F = r er + z ez
6.4 F =
7.

kr
r3

F F
2 cos
sin
er + 3 e
3
r
r
cot
e
7.2 F =
r
sin
7.3 F =
e
r
kr
7.4 F = 3
r
7.1 F =

104

3.3

(scalars)


4C 1 g/cm 3 1000 kg/m 3
4C

1 N

(vectors)





F = (F1, F2 , F3 )

F (F1, F2 , F3 )




(base
vectors)

v
a, b, c
v = a + b + c

(3.33)

3.3

105

, , v a, b, c
v x, y, z
v = x + y + z

(3.34)

, , v x, y, z
, , , ,
x, y, z a, b, c
, , , ,


(Cartesian coordinate system)







F A T
F A
T=

F
A

(3.35)

T
T A F
F = AT

(3.36)

F A F A 3
A F T
9
T

106

(tensors)

(tensors of rank two)

3.3
x1x 2x 3 x1, x 2 , x 3 x 3
x1 x 1 x 2 x 2 x 3
x 3 x 3 x1x 2x 3
P (x1, x 2 , x 3 ) x1x 2x 3 (x1, x 2, x 3 ) x1x 2x 3
Q (y1, y2 , y3 ) x1x 2x 3 (y1, y2, y3 ) x1x 2x 3

x cos sin 0
1
x1

1. x 2 = sin cos 0 x 2


x 0
0
1 x 3
3

cos sin 0 x 1

x1

2. x 2 = sin cos 0 x 2


x 3 0
0
1 x 3

cos sin 0 cos sin 0
cos sin 0 cos sin 0

3. sin cos 0 sin cos 0 = I3 = sin cos 0 sin cos 0

0
0

0
0

0
1
0
1
0
1
0
1

4.

(x 1)

+ (x 2 ) + (x 3 ) = x 12 + x 22 + x 32

5. x 1y1 + x 2y2 + x 3y 3 = x 1y1 + x 2y2 + x 3y 3

6.

(x 1 y1)

+ (x 2 y2 ) + (x 3 y 3 ) = (x 1 y1 ) + (x 2 y2 ) + (x 3 y 3 )
2

3.4

3.4

107

x 3

x3

x 2
x2

x1

x 1

3.4.1 P
3.4.1 P P

x1x 2x 3
P (x1, x 2 , x 3 )
P = x 1x1 + x 2 x2 + x 3 x 3

x1, x2 , x 3

(3.37)

x1x 2x 3 x1x 2x 3
x1, x2 , x3 P (x1, x 2, x 3 )

P = x 1x1 + x 2x2 + x 3 x 3

(3.38)

P (3.37) (3.38)

P = x 1x1 + x 2 x2 + x 3 x 3 = x 1x1 + x 2x2 + x 3x 3

(3.39)

108

(x1, x 2, x 3 ) (x1, x 2 , x 3 )
x1
x1x 2x 2 1, 1, 1 x1 x1, x 2 , x 3

x1 = (cos 1 )x1 + (cos 1 )x2 + (cos 1 )x 3

x2

x 3

(3.40)

x2 = (cos 2 )x1 + (cos 2 )x2 + (cos 2 )x 3

(3.41)

x 3 = (cos 3 )x1 + (cos 3 )x2 + (cos 3 )x 3

aij
(3.40) (3.41)
x j = a1 j x1 + a2 j x2 + a 3 j x 3

xi = ai 1x1 + ai 2 x2 + ai 3x 3

xi

x j

j = 1, 2, 3

x1, x2 , x 3

i = 1, 2, 3

(3.42)

x 1x 2x 3

(3.43)

P = x 1 x1 + x 2 x 2 + x 3 x 3
= x 1 (a11x1 + a12 x2 + a13 x 3 ) + x 2 (a21x1 + a22 x2 + a23 x 3 ) + x 3 (a 31x1 + a 32 x2 + a 33 x 3 )
= (a11x 1 + a21x 2 + a 31x 3 ) x1 + (a12x 1 + a22x 2 + a 32x 3 ) x2 + (a13x 1 + a23x 2 + a 33x 3 ) x 3

P = x 1x1 + x 2x2 + x 3 x 3

x j = a1 j x 1 + a2 j x 2 + a 3 j x 3

j = 1, 2, 3

(3.44)

P = x 1x1 + x 2x2 + x 3 x 3
= x 1 (a11x1 + a21x2 + a 31x 33 ) + x 2 (a12 x1 + a22 x2 + a 32 x 3 ) + x 3 (a13 x1 + a23 x2 + a 33 x 33 )
= (a11x 1 + a12x 2 + a13x 3 ) x1 + (a21x 1 + a22x 2 + a23x 3 ) x2 + (a 31x 1 + a 32x 2 + a 33x 3 ) x 3

x i = ai 1x 1 + ai 2x 2 + ai 3x 3

i = 1, 2, 3

(3.45)

3.4

109

(3.44) (3.45) A
a

11 a12 a13
A = a21 a22 a23

a 31 a 32 a 33

(3.46)

x
1
x = x 2

x 3

x
1

x = x 2

x
3

(3.47)

(3.44) (3.45)
x = AT x

x = Ax

(3.48)

A (transformation matrix)

(3.48)
x = Ax = A (A T x) = (AAT ) x

(3.49)

AAT = I

(3.50)

x = A T x = A T (Ax ) = (A T A) x

(3.51)

AT A = I

(3.52)

AAT = A T A = I

(3.53)

A (orthogonal matrix)

110

3
(Kronecker delta)
1, m = n

mn =

0, m n

AA T = I

(3.54)

a a

ij kj

= ik

(3.55)

j =1

a a
ji

jk

AT A = I

= ik

(3.56)

j =1

aik x k
k =1

(summation

convention)

aik x k

aik x k

aima jn vij

k =1

im

a jn vij

i =1 j =1

(dummy index)

aik x k = aij x j = ail xl = ai 1x 1 + ai 2x 2 + ai 3x 3

(3.57)

aima jn vij = a pmaqn v pq = armasn vrs

(3.58)

(3.44) (3.45)
x j = aij x i

x i = aij x j

(3.59)

(3.55) (3.56)
aijakj = ik

a jia jk = ik

(3.60)

3.4

111

3.4.1
=
(vectors) (tensors of rank zero)

(3.59)
3.4.2
v

v1, v2 , v3

v1, v2, v3

v j = aij vi

aij
v (vectors) (tensors of rank one)
3.4.2

3.4.1
v k v
u = v u j = v j
v
= v j = aij vi
u
u j = v j = (aij vi ) = aij (vi ) = aij ui

3.4.2

112

3.4.2
u v

w=u+v

w j

u+v

= uj + vj

u v
u j = aij ui

v j = aij vi

w
w j = u j + v j = aij ui + aij vi = aij (ui + vi ) = aij wi

3.4.2

u+v

3.4.3
u v

u v = ui vi

u v
u j = aij ui

v j = aij vi

uv

u jv j = (aij ui )(akj vk ) = (aijakj ui vk ) = ik ui vk = ui vi

3.4.1

uv

(inversion of axes)

1 0
0

A = 0 1 0

0
1

det(A) = 1

det(A) = 1

(3.61)

3.4

113

3.4.3
v

v1, v2 , v3

v1, v2, v 3

v j = det(A) aij vi

aij
v (pseudovectors)


1 0
v
0 v1

0 1 0 v2 = v2

0
v2
0 1 v2

(3.62)

u v

w = uv

u = u

v = v

w = u v = (u) (v) = u v = w

(3.63)
(3.64)

3.4.2 (polar vectors)
(pseudoscalars)

= u (v w ) = (u) ((v) (w)) = (u (v w)) =

(3.65)

114

Levi-Civita
Levi-Civita

ijk

1,

= 1,

ijk 123
ijk 123
ijk

231 = 1, 321 = 1, 121 = 0

ijk

det(A) = ijka1ia 2 ja 3k

ijk

u v = ijk ui vi xk

xk

(3.66)

(3.67)

u (v w) = (u w)v (u v)w

(3.68)

ijk klm = il jm im jl

(3.69)

u (v w) = ijk ui (v w)j xk

= ijk ui (pqj v pwq )xk

= (kij jpq ) ui v pwq xk
= (kp iq kq ip ) ui v p wq xk
= uq vk wq xk u p v p wk xk
= (u w)v (u v)w

(3.70)

3.4

115

3.4
1.

f
f
f
dx 1 +
dx 2 + +
dx n
x 1
x 2
x n

1.1 df =
1.2

dx k
x dx
x dx
= k 1+ k 2 +
x 1 dt
x 2 dt
dt
2

x k dx n
x n dt
n

1.3 (x 1 ) + (x 2 ) + + (x n )

1.4

pq

x p xq

p =1 q =1

2.

2.1 pqTqrs

3.

2.2 pq rsaqmarnTmn

2.3 (pk ql + qk pl )Tklpq

3.1 ii = 3

3.2 ij jk = ik

3.3 ij ijk = 0

3.4 ipq jpq = 2ij

3.5 ijk ijk = 6

3.6 ijk v j vk = 0

4.

ijk klm = il jm im jl

5.

ijka piaqjark = det(A) pqr

6.

vi = a jiv j vi

7.

x1x 2x 3 45 x 3
u = (1, 2, 3) v = (1, 2,1)
7.1 u v x 1x 2x 3
7.2 u v x 1x 2x 3 x 1x 2x 3
7.3 u v x 1x 2x 3 x 1x 2x 3

8.

9.

10.

11.

12.

x j
x i

= aij

= aij v j

x i
= aij
x j
f

v
2 f

x 1x 2x 3

116

3.5

3.4.3

3.5.1
T Tij i = 1, 2, 3 j = 1, 2, 3
Tij
Tpq = aipa jqTij

aij (tensors of rank two)

Tpq = aipa jqTij Tpq = a piaqjTij
a piaqjTij = a piaqj (akialjTkl )

= (a piaki )(aqjalj )Tkl

= pk qlTkl
= Tpq

T T 9 Tij
i = 1, 2, 3 j = 1, 2, 3 T
T T T
12
13
11

T = T21 T22 T23

T31 T32 T33

(3.71)

T
T = AT TA

T = AT AT

(3.72)

Tij i = 1, 2, 3 j = 1, 2, 3 Tij
Tij T
Tij 3.5.1
ij Tij = uiv j ui v j

3.5

117

3.5.1

ij

pq = pq = aipa jq ij

3.5.1

ij

3.5.2 u v
Tij = uiv j Tij

Tij = uiv j = (ami um ) (anj vn ) = amianj (um vn ) = amiankTmn

3.5.1 Tij

3.5.3 T Tij
Tii
Tij
Tij = a piaqjTpq

j i
Tii = a piaqiTpq = pqTpq = Tpp

Tii Tii
Tii (trace) Tr(T) = Tii

3.5.4 T
3 1 2

T = 1 1 4

2 4 2

Tr(T) = Tii = 3 + 1 + 2 = 6

118

3.5
1.

x 1, x 3, x 2

x 1x 2x 3

1 3
3 1
, ),
(1, 0, 0), (0, , ), (0,
2 2
2 2

T
1.1 T

x 1x 2x 3

T11 = 1, T22 = 3, T33 = 1,

1
1
T12 = T21 = 1, T23 = T32 = , T13 = T31 =
2
2
1.2

x 1x 2x 3

T11 = 1, T22 = 3, T33 = 1,

2.
3.

4.

1
1
T12 = T21 = 1, T23 = T32 = , T13 = T31 =
2
2
aij

T n Tij
3.1 Tij = Tji T (symmetric tensors)
T
3.2 Tij = Tji T (anti-symmetric tensors)
T
T

1 1 0

T = 1 1 0

0 0 3

A T = ATT
4.2 A
4.3 T
(conjugate tensor) T T ij
T ijTjk = ik
4.1

5.

2 0 5

T T = 0 4 0

1 0 3

6. T T T = Tdev + Tm
Tdev = T 1 Tr (T) I deviatoric stress tensor
3
1
Tm = Tr (T) I mean stress tensor hydrostatic stress tensor
3

3.6

3.6

119

3.5.1 Tij = a piaqjTpq

3.6.1
T Tij n 1, 2 3
Tij n
Tpq

= aipa jq

antTij

aij n (tensors of rank n)

Tpq t = aipa jq antTij n Tij n = aipa jq antTpq t
Tij n 1, 2 3
3 Tij n
Tij n Tij n
3.6.1
n

3.6.1 u, v, w Tijk = uiv j wk

Tijk

Tijk = uiv jwk = (a pi u p )(aqj vq ) (ark wr ) = a piaqjark (u p vq wr ) = a piaqjarkTpqr

3.6.1 Tijk

3.6.2 Tijk
vi = Tikk
Tijk
Tijk = a piaqjarkTpqr

j k
vi = Tikk = a piaqkarkTpqr = a pi qrTpqr = a piTprr = a pi v p

vi

120

Tijk

3.6.2
T Tij

Tij n

vij

= det(A) a piaqj

atn v pq

aij
T (pseudotensors)
3.6.3

ijk

A
det(A) = ijkai 1a j 2ak 3

ijkaipa jqakr = det(A) pqr

AAT = I

(det(A))2 = 1
2

(det(A)) pqr = det(A)aipa jqakr ijk

= pqr
pqr

= det(A)aipa jqakr ijk

pqr

ijk

u v wk = ijk ui v j
uiv j = det(A) a pk (ijpui v j ) = det(A) a pk w p
wk = ijk

3.6

121

3.6.3
T n
1. T
T (symmetric tensor)
2. T
T (anti-symmetric tensor)
3.6.4

ijk

ijk

ijk = jik = kji = ikj

ijk = jki = kij

(isotropic tensors)



=

vi = aij v j = vi

Av = v

( A I) v = 0

v=0

122

3

ij = ij

ij

Tij

Tij = Tij

i, j = 1, 2, 3

x3

120

(1,1,1)
x2

x1

3.6.1 120 (1,1,1)

x2

120 (1,1,1) x1
x 2 x 3 x 3 x1
a13 = a21 = a 32 = 1

aij 0

x x 3 0 0 1 x 1

1
x = x = 1 0 0 x
2
2 1


x 3 x 2 0 1 0 x 3

Tij = a piaqjTpq

3.6

123

T11 = a p 1aq 1Tpq = a21a21T22 = T22

T12 = a p 1aq 2Tpq = a21a 32T23 = T23
T13 = a p 1aq 3Tpq = a21a13T21 = T21
T21 = a p 2aq 1Tpq = a 32a21T32 = T32
T22 = a p 2aq 2Tpq = a 32a 32T33 = T33
T23 = a p 2aq 3Tpq = a 32a13T31 = T31
T31 = a p 3aq 1Tpq = a13a21T12 = T12
T32 = a p 3aq 2Tpq = a13a 32T13 = T13
T33 = a p 3aq 3Tpq = a13a13T11 = T11

Tij = Tij
T11 = T22 = T33
T12 = T23 = T31 = T13 = T32 = T21

90
x 1

x3

x1

x2

x2

x x 2 0 1 0 x 1

1
x = x = 1 0 0 x
2
2 1

x 3 x 3 0 0 1 x 3

T12 = a p1aq 2Tpq

= a21a12T21 = T21

T21 = T12 T12 = T23 = T31 = T13 = T32 = T21 = 0

T11 =
Tij = ij

ijk

124

3.6
1.

x 1, x 3, x 2

x 1x 2x 3

1 1 1 1
2 1
1
1

3 , 3 , 3 , ( 6 , 6 , 6 ), ( 2 , 0, 2 ) ,

A, B, C

x 1x 2x 3

A = (1,1,1) , B = (1,1, 0), C = (1, 0,1)

A, B, C x1x 2x 3
1.2 S S ij = Ai B j
S x1x 2x 3 x1x 2x 3
1.3 T Tijk = Ai B jC k
T x1x 2x 3 x1x 2x 3
1.4 Ai B jC j AiB jC j
, S, T, W n
1.1

2.

2.1 ( + ) S = S + T
2.2 (S + T) = S + T
2.3 S + T = T + S
2.4 S + (T + W) = (S + T) + W
3.
4.
5.
6.
7.

T Tpqr p q

v = a jk v j vk 2 = (a jk + akj ) v j vk

Sij = Tij S = T Sij = Tij

Tpqrs


Ak =

1
ijk Bij
2

Bij = B ji

Bmn = mnk Ak

8.

9.

T Tijkl
Tijkl = Sijkl + Aijkl S ijkl
Aijkl
T n m T
Tijk = ijk
Tijkl = ij kl + ik jl + il jk
, ,

10.
11.
12.

3.7

3.7

125

3.7.1
T n Tij n
T Tij n
T n T n
Tij n = (a piaqj atnTpq n ) = a piaqj atn (Tpq n )
3.7.2
S T n Sij n Tij n
S + T Sij n + Tij n

1. S T n S + T n
W = S + T Wij n = Sij n + Tij n
Wij n = Sij n + Tij n = (a piaqj atn S pq n ) + (a piaqj atnTpq n )
= a piaqj atn (S pq n + Tpq n ) = a piaqj atnWpq n
2. S T n
S + T n
3.7.1 S T A

2 1 0

S = 1 1 2 , T =

0 2 3

3S 2T

1 0 1

0 2 3 , A =

1 3 1

0 0 1

0 1 0

1 0 0

0 0 1 4
3 2 2
0 11

3S 2T = AT (3S 2T) = 0 1 0 3 1 12 = 3 1 12

1 0 0 2 0
4

11
3
2

126

3.7.3 (Contraction)
T n
(contracted tensor)

1. T n

n 2
2. T T Tr(T) = Tii
3.7.2 T Tijkl
Tijkk

= a piaqjarkaskTpqrs = a piaqj rsTpqrs = a piaqjTpqrr
Tijkk

Tijkk

3.7.4 (Outer Product)

S m S pq t
T n Tij n
S pq tTij n S T
S m T n
S T m + n
3.7.3 S T
S T
Sij Tlmn S T

= arlasmatnTrst
S ij = a piaqj S pq Tlmn
Wijlmn

= SijTlmn

= S ijTlmn
= (a piaqj S pq ) (arlasmatnTrst ) = a piaqjarlasmatn (S pqTrst ) = a piaqjarlasmatnWpqrst
Wijlmn

S T

3.7

127

3.7.5 (Inner Product)

S m T n
S T S T

1. S m T n S T
m + n 2
2. A B Ai Bi

3.7.4 S T
SijTjmn
S T

S ij = a piaqj S pq

Wimn

= SijTjmn

= arlasmatnTrst
Tlmn

= SijTjmn
= (a piaqj S pq )(arjasmatnTrst )
Wimn
= a piaqjarjasmatn (S pqTrst ) = a pi qrasmatn (S pqTrst )
= a piasmatn (S pqTqst ) = a piasmatnWpst

SijTjmn

3.7.5 T v
T v
Si

= Tij v j

S i = Tijv j = (aipa jqTpq )(arj vr ) = aipa jqarj (Tpq vr ) = aip qr (Tpq vr ) = aip (Tpr vr ) = aip S p

Si

128

(Quotient Rule)

Tij i, j = 1, 2, 3 9 b
c b Tij
Tijbj = ci

(3.73)

Tij T
(3.73)
Tijbj = ci

(3.74)

b c
bj = amjbm

ci = anicn (3.75)

ci = anicn

ci = Tipbp

(3.73) (3.74)

Tijbj = anicn = aniTnpbp

bj = amjbm bp

= a pjbj

(3.75)

(3.76)

(3.76)
Tijbj = aniTnpa pjbj

(3.77)

(Tij ania pjTnp )bj = 0

(3.78)

b T
Tij = ania pjTnp

Tij T

(3.79)

3.7

129

3.7
1.

2.

x1x 2x 3 30 x 2 x1x 2x 3
A = (1,1,1) B = (1, 2,1)
S T Sij = Ai Bj Tij = Bi Aj
W Wijkl = SijTkl
1.1 2S 3T x 1x 2x 3

1.2 W2132 W2132

1.3 Wijkj Wijkj

x1x 2x 3 120 (1,1,1)
A = (1,1,1) T

x 1x 2x 3

1 2 1

T = 2 1 3

1 3 2

2.1

3.
4.
5.

6.

aij
2.2 T x 1x 2x 3
2.3 T
2.4 T A x 1x 2x 3
T ijk pqr Tijpq = ijk pqk
T T
Tij Ajk = Bik A B
T
S T n
S + T n
mi , i = 1, 2, , n

L = mi (ri vi )
i =1

ri vi
vi = ri

mi

6.1

L = mi ( ri ri ) ri (ri )
i =1

6.2

(moment of
inertia tensor) I
Lp = I pq q

I pq = mi pq ri ri (ri )p ( ri )q
i =1