Transport Phenomena I

Lecture 2
Math Preliminaries (Contd)

Transport Phenomena Lecture 2

1/Lec2-22

Last Class & Todays Agenda

Last Class -- Mathematical Preliminaries:
Vectors and Scalars
Index notation
Dot products
Operators

Bird (Appendix A, from page 807)

Today:

Deen (Appendix, from page 551) (optional)

Vectors cross product

Tensors

Transport Phenomena Lecture 2

2/Lec2-22

Vectors
Vector (cross) Products ^ , :

a b = a b sin ( ab ) e k = c
The result will be a vector with magnitude c

Direction of c:
c
b
a

ab b a
a b = b a

Transport Phenomena Lecture 2

3/Lec2-22

Vectors
e1 e2 = e3

e3
e2

e1 e3 = e2
e1 e1 = 0

e1

Lets define the permutation symbol (ijk)

ei e j = ijk e k
Properties of ijk:
ijk

0 if index repeated

= 1 if {i, j , k } have even permutation of {1,2,3}

1 if {i, j , k } have odd permutation of {1,2,3}

Transport Phenomena Lecture 2

4/Lec2-22

Vectors
Even permutation - exchanging 1, 2, 3 even times

{1, 2, 3} {2,1, 3} {3,1, 2}

odd (1)

1
-1

+1

e1 e 2 =

even (2)

12 k

=
121

e1 e 2 = e3
Transport Phenomena Lecture 2

5/Lec2-22

ek
e1 +

122

e2 +

123

e3

Vectors
Example:
Find a b
a = ai ei
b = bj e j

a b = ( ai ei ) b j e j

a b = ai b j ijk ek
Expanding in terms of k

a b = ai b j ij1 e1 + ij 2 e2 + ij 3 e3

expanding the first term

( a2b3231 + a3b2321 ) e1
Transport Phenomena Lecture 2

6/Lec2-22

Vectors
The final result will be:
a b = ( 231a2b3 + 321a3b2 ) e1
+ ( 132 a1b3 + 312 a3b1 ) e2
+ ( 123a1b2 + 213a2b1 ) e3
a b = ( a2b3 a3b2 ) e1 + ( a3b1 a1b3 ) e2 + ( a1b2 a2b1 ) e3

Transport Phenomena Lecture 2

7/Lec2-22

Vectors
Cross products expressed in terms of the Determinant:

e1 e2

a b = det a1 a2
b b
1 2

e3

a3
b3

= e1 ( a2b3 a3b2 ) + e2 ( a3b1 a1b3 ) + e3 ( a1b2 a2b1 )

Transport Phenomena Lecture 2

8/Lec2-22

Vectors
Example 1:

abc = ?

a b c = ( ai ei ) b j e j ck e k

Dot or cross product first?

= ai b j ijm em ck ek = ai b j ijk ck
mk

a b c = ijk ai b j ck
c1 c2

= det a1 a2
b b
1 2

c3
a1 a2

a3 = det b1 b2
c c
b3
1 2

Transport Phenomena Lecture 2

9/Lec2-22

a3

b3
c3

How many
exchanges?

In class exercise
V a = ?
Do cross product

= Vi

ijm em ak ek
x j

= Vi
ijm mk ak
x j
Thus,

= ijkVi

ak
x j

V a = Vi
ijk ak
x j
Transport Phenomena Lecture 2

10/Lec2-22

Tensors
Tensors (dyad):
Written as two vectors side by side: a b
Mathematical entity, difficult to represent graphically
a b = aiei bjej = aibj eiej
= a1b1 e1e1 + a1b2 e1e2 + a1b3 e1e3 +

Components of tensor a b given by aibj

Can also write as Aij = aibj
Example, shear stress: yx
Transport Phenomena Lecture 2

11/Lec2-22

component of tensor

Tensors
Tensors (dyad):
a b = ai ei b j e j = ai b j ei e j
Let A = a b = ai b j ei e j = Aij ei e j
This indicates that there are 9
components

The 9 components can be represented by a 3x3 matrix

A11 A12 A13

A 21 A 22 A 23
A A A
31 32 33
Transport Phenomena Lecture 2

12/Lec2-22

Tensors
Tensors :
a b = ai ei b j e j = ai b j ei e j
The order is important, so that

a bb a
ai b j ei e j bi a j ei e j

a1b1 e1 e1 + a1b2 e1 e2 + .......

b1a1 e1 e1 + b1a2 e1 e2 + ..........

a1b2 b1a2
Transport Phenomena Lecture 2

13/Lec2-22

Tensors
Dot products of a Vector and a Tensor:
a A = ai ei A jk e j ek = ai ij A jk ek = ai Aik e k
Nesting convention
dot closest/adjacent vectors

= ai Ai1 e1 + ai Ai 2 e 2 + ai Ai 3 e3

a1 A11 e1 + a2 A21 e1 + a3 A31 e1

Transport Phenomena Lecture 2

14/Lec2-22

Tensors
Can do same thing using matrix algebra:
a A = ai ei A jk e j ek = ai ij A jk ek = ai Aik ek
Lets call c = a A = c1 e1 + c2 e2 + c3 e3

c = ( c1 c2

c3 ) = ( a1 a2

A11

a3 ) A21
A
31

c1 = a1 A11 e1 + a2 A21 e1 + a3 A31 e1

Transport Phenomena Lecture 2

15/Lec2-22

A12
A22
A32

A13

A23
A33

Tensors
Dot Products of Tensors:
A B = Aij ei e j Bkl ek el = Aij B jl ei el
jk

Double Dot Products:

:
A B = Aij ei e j : Bkl ek el = Aij Bkl jk il = Aij B ji
jk
il

Transport Phenomena Lecture 2

16/Lec2-22

Tensors

ei
xi

V j ei e j
V =
xi
V j

V V = Vk ek
V j ei e j = Vi
ej
xi
xi
ki

Example:
Is this equality true? a b = a b + ( a ) b
Transport Phenomena Lecture 2

17/Lec2-22

Tensors
LHS:

ai

bk
ei
a j e j bk ek =
ai bk ) ek = ek bk
+ ai
(

xi

x
xi
i
i

ij

RHS:

a j e j ei
bk ek + ei
a j e j bk ek
xi
xi

ai

= ai
bk e k +
bk e k
xi
xi
Transport Phenomena Lecture 2

18/Lec2-22

Tensors
Properties of Tensors:
Let A = Aij ei e j
T

1) A = A ji ei e j

2) If A = AT This is a symmetric tensor

3) If A = AT This is a skew symmetric tensor
Any tensor can be written as the sum of a symmetric and a
skew symmetric tensor
Transport Phenomena Lecture 2

19/Lec2-22

Tensors

Example:

) (

1
1
T
T
A = A+ A + A A
2
2

1 0 2

Let Aij = 3 0 4
5 1 3

, then Aij T

1 3 5

= 0 0 1
2 4 3

2 3 7
0 3 3
1
1

Aij = 3 0 5 + 3 0 3
2
2

7
5
6
3

3
0

Transport Phenomena Lecture 2

20/Lec2-22

Tensors
Properties of Tensors:
4) Trace of a Tensor:
tr A = Aii This is the sum of the diagonal elements
The trace of a tensor does not depend on the
coordinate system
The trace of a tensor is the 1st invariant of a Tensor

Example:
1 0 2

Let Aij = 3 0 4 , then tr Aij = 1 + 0 + 3 = 4

5 1 3

Transport Phenomena Lecture 2

21/Lec2-22

Operational Order !
Operation

Order

Vector
Tensor
Scalar
Dot Product

1
2
0
-2

Double Dot Product

-4

Cross Product

-1

Examples:
A. A
Order = 2+2-2=2 (Tensor)
A:A
Order = 2+2-4=0 (scalar)

V. A
Order = 1+2-2=1 (Vector)
VW
Order = 1+1=2 (Tensor)
= Vi Wj ei ej

Transport Phenomena Lecture 2

22/Lec2-22