Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 1

MATH 332: Vector and Tensor Analysis

Vector Algebra Symmetry

δjk = δkj
Scalar Product
Unity Matrix
A · B = |B||A| cos θ  
1 0 0
Commutativity I = (δik ) =  0 1 0 
0 0 1
A·B=B·A

Magnitude Transformation of Rectangular Coordinates

2
|A| = A · A
x0i = αi0 k xk + x(0) i
Vector Product
Summation from 1 to 3 is assumed over all
A × B = n | A | | B | sin θ
repeated indices
Anti-commutativity
Vector Form
A × B = −B × A
x01
   
x1
A×A=0 x0 = (x0i ) =  x02  , x = (xi ) =  x2 
x03 x3
Scalar Triple Product Transformation matrix
(A × B) · C
 
α10 1 α10 2 α10 3
α = (αi0 k ) =  α20 1 α20 2 α20 3 
Cyclic symmetry
α30 1 α30 2 α30 3
(A × B) · C = (B × C) · A = (C × A) · B
Matrix Form of the Transformation

Vector Triple Product x0 = αx + x0

A × (B × C) = B(A · C) − C(A · B) Orthonormal Basis i k , (k = 1, 2, 3)

ik · ij = δkj
Kronecker Symbol
 Orientation of Orthonormal Basis:
1 if i = k right-handed if ( i 1 × i 2 ) · i 3 = +1
δik = δki = δik =
0 if i 6= k left-handed if ( i 1 × i 2 ) · i 3 = −1
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 2

Transformation of Orthonormal Basis Levi-Civita (Alternating) Symbol

i 0j = αj 0 k i k , i k = αj 0 k i 0j


 +1 if (i, j, k) = (1, 2, 3),
 (2, 3, 1), (3, 1, 2)
αj 0 k = cos( i 0j , i k )



εijk = −1 if (i, j, k) = (2, 1, 3),
Orthogonality condition 

 (3, 2, 1), (1, 3, 2)



αi0 k αj 0 k = δij , αk0 i αk0 j = δij 0 otherwise

Matrix Form of Orthogonality Condition εijk = εijk

ααT = I Anti-symmetry

T means transposition of a matrix (replacement εijk = −εjik = −εikj = −εkji

of rows by columns)
Cyclic symmetry
Proper transformation (no change of orientation)
εijk = εjki = εkij
det(αj 0 k ) = 1
Orthonormal basis
Improper transformation (changes orientation)
i j × i k = εjkl i l
det(αj 0 k ) = −1
( i j × i k ) · i l = εjkl
Cartesian Vectors Vector Product in Cartesian Components
A = Ak i k , Ak = A · i k
(A × B)i = εijk Aj Bk
Scalar Product in Cartesian Components
Scalar Triple Product
A · B = Ai Bi
(A × B) · C = εijk Ai Bj Ck
|A|2 = Ai Ai
Vector Product

i1 i2 i3
 Tensor Notation
A × B = det  A1 A2 A3 
B1 B2 B3
δii = δii = 3
Scalar Triple Product
  δij Aj = Ai
A1 A2 A3
(A × B) · C = det B1 B2 B3 

C1 C2 C3 δ ij Ai Bj = Ai Bi = A · B
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 3

A0 = αA
εijj = εjij = εjji = 0
Matrix Form of a 2-tensor
 
εijk δij = εijk δik = εijk δjk = 0 A11 A12 A13
A = (Aik ) =  A21 A22 A23 
A31 A32 A33
εijk Aj Ak = εijk Ai Ak = εijk Ai Aj = 0
A0 = αAαT
εijk εmnl = δim δjn δkl + δjm δkn δil + δkm δin δjl Stress Tensor pik
− δim δkn δjl − δjm δin δkl − δkm δjn δil Stress
pi = pik nk
εijk εmnk = δim δjn − δjm δin
ni unit normal
Moment of Inertia Tensor
εijk εmjk = 2δim
N
X h i
(j) (j) (j) (j)
Iik = mj δik xl xl − xi xk
εijk εijk = 6 j=1

Angular Momentum
Cartesian Tensors Li = Iik ωk
(tensors in rectangular coordinates)
ωk angular velocity
Scalar: 0-tensor ϕ Deformation Tensor
Vector: 1-tensor Ai  
2-tensor Aik 1 ∂ui ∂uk ∂ul ∂ul
uik = + +
n-tensor Ai1 ...in 2 ∂xk ∂xi ∂xi ∂xk

Transformation Laws ui displacement vector

ϕ0 = ϕ Rate of Deformation Tensor

 
1 ∂vi ∂vk
A0i = αi0 k Ak vik = +
2 ∂xk ∂xi
A0ij = αi0 k αj 0 l Akl
vi velocity vector field
A0i1 ...in = αi01 j1 · · · αi0n jn Aj1 ...jn
Isotropic Tensors (built from δik only; no pre-
Matrix Form of the Transformation Laws ferred directions)
Vector   Isotropic 2-tensor
A1
A = (Ai ) =  A2  Aik = pδik
A3
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 4

Isotropic 4-tensor Antisymmetrization

Aiklm = pδik δlm + ρδil δkm + λδim δkl 1

T[ij] = (Tik − Tki )
2

Decomposition of 2-Tensor
Tensor Algebra
Tik = T(ik) + T[ij]
Tensor Product
Duality
Cik = Ai Bk , Cijkl = Aij Bkl
(Equivalence of antisymmetric 2-tensor to an ax-
Contraction ial vector)
Djkl = Ciijkl
1
Trace Ãi = εijk Ajk , Aij = εijk Ãk
2
A = Aii
Inner Product Ã1 = A23 , Ã2 = A31 , Ã3 = A12 ,

Ci = Aik Bk , Dij = Cijkl Bkl

Principal Axes
Symmetric Tensors
Eigenvalues λ(r) (characteristic values) and
Sij = Sji Eigenvectors n (r) (characteristic or principal di-
  rections)
S11 S12 S13 (r)
Tik nk = λ(r) ni
(r)
(Sik ) =  S12 S22 S23 
S13 S23 S33 | n (r) | = 1
Anti-symmetric Tensors Characteristic Equation

Aij = −Aji det(Tik − λδik ) = 0

 
0 A12 A13
 
T11 − λ T12 T13
(Aik ) =  −A12 0 A23  det  T21 T22 − λ T23  = 0
−A13 −A23 0 T31 T32 T33 − λ
Contraction of antisymmetric tensor λ3 − I1 λ2 + I2 λ − I3 = 0
Aii = 0 Invariants of a 2-Tensor: Ik

Symmetrization I1 = Tii = T11 + T22 + T33

   
1 T22 T23 T11 T12
I2 = det + det
T(ij) = (Tik + Tki ) T32 T33 T21 T22
2
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 5

Curvilinear Coordinates
 
T11 T13
+ det
T31 T33

T11 T12 T13
 q i = q i ( r ), (i = 1, 2, 3)
I3 = det(Tik ) = det  T21 T22 T23  Cartesian Coordinates
T31 T32 T33
xi = xi (q)
The eigenvalues λr , (r = 1, 2, 3), of a symmetric
Radius vector
2-tensor are real
r(q) = xk (q) i k = x1 (q) i 1 + x2 (q) i 2 + x3 (q) i 3
A symmetric 2-tensor has three orthogonal prin-
cipal axes n(r) , (r = 1, 2, 3) Basis (tangent vectors to coordinate curves)
n (r) · n (p) = δrp ∂r
ei =
∂q i
In the principal axes a symmetric 2-tensor Tik has Transformation of basis
diagonal matrix
0
  e 0j = αk j 0 e k , e k = αj k e 0j
λ1 0 0
0 0
(Tik ) =  0 λ2 0  αi k αk j 0 = δji , αi k0 αk j = δji
0 0 λ3
Orientation:
Decomposition in terms of orthonormal eigenvec-
right-handed if ( e 1 × e 2 ) · e 3 > 0
tors n (r) and eigenvalues λ(r)
and left-handed if ( e 1 × e 2 ) · e 3 < 0
3
X (r) (r) Reciprocal Basis
Tik = λ(r) ni nk
r=1
e j · e k = δkj

Traceless Tensors (Deviators) ek × el

ej =
( e 1 × e 2) · e 3
1
T ik = Tik − δik T where (j, k, l) = (1, 2, 3), (2, 3, 1), (3, 1, 2)
3
where T = Tjj (trace) Contravariant Components

T = T ii = 0 A = Ai e i , Ai = A · e i

Decomposition Covariant components

1 A = Ai e i , Ai = A · e i
Tik = T ik + δik Tjj
3
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 6

Transformation of components ds2 = gik dq i dq k

0
A0i = αi k Ak , A0i = αk i0 Ak Volume Element
√
dV = G dq 1 dq 2 dq 3 , G = det(gik )
Metric Tensor

∂r ∂r Tensors in Curvilinear Coordinate System

gik = e i · e k = · , g ik = e i · e k
∂q i ∂q k
Contravariant components Aik
Symmetry Covariant components Aik
Mixed components Ai k , Ai k
gik = gki , g ik = g ki Relations

gik g kn = δin Aik = gin An k = gkn Ai n = gin gkm Anm

Determinant of the Metric Tensor Aik = g in An k = g kn Ai n = g in g km Anm

1 Ai k = g in Ank = gkn Ain
G = det(gik ) , det(g ik ) =
G
etc
ik
The matrix g is the inverse matrix of the matrix
gik given by Orthogonal Coordinate System

det M ik ∂r ∂r
g ik = (−1)ik · = 0, if i 6= k
G ∂q i ∂q k
Basis
where M ik is a 2 × 2 matrix obtained from the
3 × 3 matrix gij by removing the i-th row and the e i · e k = e i · e k = 0 if i 6= k
k-th column
1
| e i | = hi , | e i| =
Relations between components hi
Metric
Ai = gik Ak , Ai = g ik Ak gik = 0, if i 6= k
gii = h2i (no summation!)
Displacement
g ik = 0, if i 6= k
∂r i 1
dr = dq g ii = 2 (no summation!)
∂q i hi

Line Element (Arc Length) Metric Coefficients

 
 ∂r 
∂r ∂r i k hi =  i 
ds2 = d r · d r = · dq dq ∂q
∂q i ∂q k
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 7

x1 = ρ cos ϕ, x2 = ρ sin ϕ, x3 = z
s 2  2  2
∂x1 ∂x2 ∂x3
hi = + + Radius Vector
∂q i ∂q i ∂q i
Relation between covariant and contravariant com- r = ρ cos ϕ i 1 + ρ sin ϕ i 2 + z i 3
ponents
Orthonormal basis
Ai = h2i Ai (no summation!)
e ρ = cos ϕ i 1 + sin ϕ i 2

e ϕ = − sin ϕ i 1 + cos ϕ i 2
Orthonormal Basis
ez = i3
∂r Line Element
∂q i 
e i = e i = 
ds2 = (dρ)2 + ρ2 (dϕ)2 + (dz)2
 ∂r 

 ∂q i 
Volume Element
Line Element
dV = ρ dρ dϕ dz
2
ds = h21 1 2
(dq ) + h22 2 2
(dq ) + h23 3 2
(dq )
Metric Coefficients
Volume Element
hρ = 1, hϕ = ρ, hz = 1
dV = h1 h2 h3 dq 1 dq 2 dq 3
Spherical Coordinates
Cartesian Coordinates r ≥ 0, 0 ≤ θ ≤ π, 0 ≤ ϕ < 2π
Line Element
p
x21 + x22
q
ds2 = (dx1 )2 + (dx2 )2 + (dx3 )2 2 2
r = x1 + x2 + x3 , 2
tan θ = ,
x3
Volume Element x2
tan ϕ =
x1
dV = dx1 dx2 dx3 x1 = r sin θ cos ϕ, x2 = r sin θ sin ϕ,
Metric Coefficients x3 = r cos θ

h1 = h2 = h3 = 1 Radius Vector

r = r sin θ cos ϕ i 1 + r sin θ sin ϕ i 2 + r cos θ i 3

Cylindrical Coordinates
Orthonormal Basis
ρ ≥ 0, 0 ≤ ϕ < 2π, −∞ < z < ∞
e r = sin θ cos ϕ i 1 + sin θ sin ϕ i 2 + cos θ i 3
x2
q
ρ = x21 + x22 , tan ϕ = , z = x3 e θ = cos θ cos ϕ i 1 + cos θ sin ϕ i 2 − sin θ i 3
x1
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 8

e ϕ = − sin ϕ i 1 + cos ϕ i 2 Speed  

 dr  ds
Line Element |v| =   =
dt dt
ds2 = (dr)2 + r2 (dθ)2 + r2 sin2 θ(dϕ)2 Acceleration

Volume Element dv d2 r
a= = 2
dt dt
dV = r2 sin θ dr dθ dϕ
Arc Length (Line Element)
Metric Coefficients
ds = |v|dt
hr = 1, hθ = r, hϕ = r sin θ

Fields in Cartesian Coordinates

Vector And Tensor Analysis Partial derivatives
∂
∂i =
∂xi
Functions of Single variable
Nabla (Del) Operator
Product Rules
∇ = ik ∂k = i1 ∂1 + i2 ∂2 + i3 ∂3
d dϕ dA
(ϕ A ) = A +ϕ
dt dt dt Gradient
d dB dA
(B · A) = ·A+B· grad f = ∇f = ik ∂k f
dt dt dt
d dB dA ( grad f )i = ∂i f
(B × A) = ×A+B×
dt dt dt
Directional Derivative
Trajectory df dr
= · gradf = u · gradf
r(t) = xk (t) ik , a≤t≤b ds ds

Velocity Flow Lines

dr dr
v= =βF
dt dt
Unit Tangent Vector dx1 dx2 dx3
= =
dr F1 F2 F3
dr
u = =  dt  Divergence
ds  dr 
 dt  div F = ∇ · F = ∂i Fi
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 9

Curl   ∇×r=0
 i1 i2 i3  q
r = | r | = x21 + x22 + x23
 
curl F =  ∂1 ∂2 ∂3 
 F1 F2 F3 
r
∇r = , |∇r| = 1
(curl F)i = εijk ∂j Fk r
curl F = ∇ × F = il εljk ∂j Fk df r
∇f (r) =
dr r
Laplacian r dF
∇ · F (r) = ·
r dr
∆ = div grad = ∇2 = ∇ · ∇ r dF
∇ × F (r) = ×
r dr
∆ = ∂i ∂i = ∂12 + ∂22 + ∂32
(F · ∇)r = F

Vector identities:
Fields in Orthogonal Coordinate Sys-
∇ × (∇ × F ) = −∆ F + ∇(∇ · F ) tem (in orthonormal basis e i )
curl curl F = −∆ F + grad div F Vector Components
∇ × ∇ϕ = 0,
Fi = F · e i
curl grad = 0
∇ · (∇ × F) = 0,
1 ∂ 1 ∂ 1 ∂
div curl = 0 grad f = e 1 1
f + e2 2
f + e3 f
h1 ∂q h2 ∂q h3 ∂q 3
∇(f g) = (∇f )g + f (∇g)
∇(f F) = (∇f ) · F + f ∇F (
1 ∂
∇ × (f F) = (∇f ) × F + f (∇ × F) div F = (h2 h3 F1 )
h1 h2 h3 ∂q 1
∇( F × G ) = G · (∇ × F ) − F · (∇ × G ) )
∂ ∂
+ 2 (h3 h1 F2 ) + 3 (h1 h2 F3 )
df ∂q ∂q
∇f (ϕ) = ∇ϕ
dϕ
dF
∇ · F (ϕ) = ∇ϕ ·  
dϕ 1 ∂ ∂
curl F = e 1 (h3 F3 ) − [ 3 (h2 F2 )
dF h2 h3 ∂q 2 ∂q
∇ × F (ϕ) = ∇ϕ ×
dϕ  
1 ∂ ∂
+e2 (h1 F1 ) − [ 1 (h3 F3 )
∇r = 3 h3 h1 ∂q 3 ∂q
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 10

 
1 ∂ ∂
+e3 (h2 F2 ) − [ 2 (h1 F1 )
h1 h2 ∂q 1 ∂q
1 1
∆f = 2
∂r (r2 ∂r f ) + 2 ∂θ (sin θ∂θ f )
(   r r sin θ
1 ∂ h2 h3 ∂
∆f = f 1
h1 h2 h3 ∂q 1 h1 ∂q 1 + ∂2 f
r2 sin2 θ ϕ
   )
∂ h2 h3 ∂ ∂ h2 h3 ∂
+ 1 f + 1 f
∂q h1 ∂q 1 ∂q h1 ∂q 1
Integrals
Parametrization of a curve C
Cylindrical Coordinates:
r = r (t), a≤t≤b
1
grad f = eρ ∂ρ f + eϕ ∂ϕ f + ez ∂z f
ρ Line Integrals

1 1 Z Zb
div F = ∂ρ (ρFρ ) + ∂ϕ Fϕ + ∂z Fz dr
ρ ρ F · dr = F(x(t)) · dt
dt
C a
 
 eρ ρeϕ ez  Circulation of vector field along a closed contour
1 
curl F =  ∂ρ ∂ϕ ∂z  I
ρ
Fρ ρFϕ Fz  F · dr
C
1 1
∆f = ∂ρ (ρ ∂ρ f ) + 2 ∂ϕ2 f + ∂z2 f
ρ ρ
Parametrization of a surface S

r = r(u, v),
Spherical Coordinates
a ≤ u ≤ b, c≤v≤d
1 1
grad f = er ∂r f + eθ ∂θ f + eϕ ∂ϕ f Unit Normal
r r sin θ
∂u r × ∂v r
n=
1 1 |∂u r × ∂v r|
div F = 2
∂r (r2 Fr ) + ∂θ (sin θ Fθ )
r r sin θ For a surface given by
1
+ ∂ϕ Fϕ
r sin θ f( r ) = C

 e reθ r sin θ eϕ
 the Unit Normal is
1  r


curl F = 2 ∂r ∂θ ∂ϕ  ∇f
r sin θ   n=
Fr rFθ r sin θFϕ  |∇f |
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 11

Surface Element Circulation of a Gradient along a closed contour

I
dS = n dS = ∂u r × ∂v r du dv
grad ϕ · d r = 0
C
d S = |∂u r × ∂v r| du dv
For a surface given by
Gauss (Divergence) Theorem
z = f (x, y) ZZZ ZZ
div F dV = F · dS
a ≤ x ≤ b, y1 (x) ≤ y ≤ y2 (x) D ∂D

the Surface Element is

∂D is a closed surface, which is the boundary of
q the solid region D
dS = 1 + (∂x f )2 + (∂y f )2 dy dx
Green’s Theorem
ZZ I
Surface Integral of a scalar field (∂1 F2 − ∂2 F1 )dx1 dx2 = (F1 dx1 + F2 dx2 )
S ∂S
ZZ Zd Zb
ϕ dS = ϕ( r (u, v)) |∂u r × ∂v r| du dv ∂S is a closed plane curve, which is the boundary
S c a of the region S in the x1 x2 -plane

Zb yZ2 (x) Stokes’ Theorem

= ϕ(x, y, z(x, y)) ZZ I
a y1 (x) curl F · dS = F · dr
q S ∂S
1 + (∂x f )2 + (∂y f )2 dy dx
∂S is a closed space curve, which is the boundary
of the surface S
Flux of a Vector Field F through the surface S
ZZ ZZ Flux of a curl through a closed surface S
F · dS = F · n dS ZZ
S S curl F · dS = 0
S

Line Integral of a Gradient

ZQ Tensor Fields
grad ϕ · d r = ϕ(Q) − ϕ(P )
Flux of a Tensor Field
P ZZ ZZ
Tik nk dS, Tik ni dS
S S
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 12

Divergence of a Tensor (in Cartesian Coordi-

nates)
∂i Tik , ∂k Tik
Directional Derivative (in Cartesian Coordi-
nates)
dTik dxj
= ∂j Tik
ds ds

Analog of curl of an antisymmetric 2-tensor

3εijk ∂i Ajk = ∂1 A23 + ∂2 A31 + ∂3 A12

= ∂1 Ã1 + ∂2 Ã2 + ∂3 Ã3 = div Ã