Fluid Mechanics AS102

Class Note No: 05

Tuesday, August 7, 2007

Review: C. C. S. & Tensor Analysis - transformations

xi = xi (u j ), xi = xi (u j );
i (u j ), u i = u
i (u j )
ui = u

g1

x3
g3 g
3
P

(1)

g2

g1
r
u 3 u 1

g2
1
2 u

u 2

x2

u 3

x1
Figure: representing two curvilinear coordinate systems

Review: C. C. S. & Tensor Analysis - transformations

u k m
u m
k
g
,
g
=
g ,
m
u m
u k
u m u n
gkl =
gmn ,
u k u l
u k u l mn
g
g kl =
u m u n

gk =

# 2nd order covariant tensor & 2nd order contravariant

tensor
# understand the transformation rules

(2)

Review: C. C. S. & Tensor Analysis - transformations

0th order tensors (scalars):

i ) = (u
i ) = (u
i )
= (x

(3)

Review: C. C. S. & Tensor Analysis - transformations

1st order tensors (vectors):
a = ai ii = ai (u)gi = ai (u)gi
= ak (u )gk = ai (u )gi

(4)

# Here u represents u m and u represents u m

# the pairing in the summation for the representations in a
cuvilinear c. s.:
e.g. index k, one up & one down

u i
u i m
a
(u)
=
am
u m
xm
u m
xm
ai (u ) =
am (u) =
am
i
u
u i
ai (u) = g ij aj (u)
ai (u ) =

ai (u) = gij aj (u)

(5)

Review: C. C. S. & Tensor Analysis - transformations

1st order tensors (vectors):
# hints to derive the above transformations:
e.g. dot product both sides of ak (u )gk = ai (u)gi with
gm
e.g. dot product both sides of ak (u)gk = ai (u)gi with gm
# covariant tensor & contravariant tensor
# understand the transformation rules:
positions of & correspondences between the indexes
# HOMEWORK Assignment derive the relations in (5)

Review: C. C. S. & Tensor Analysis - transformations

other 2nd order tensors:
A = Aij ii ij = Aij (u) gi gj = Aij (u) gi gj = Aij gi gj
= Aij (u ) gi gj = Aij (u ) gi gj = Aij gi gj

(6)

# Here u represents u m and u represents u m

# the pairing in the summation for the representations in a
cuvilinear c. s.:
e.g. index i, one up & one down

u i u j mn
u i u j
A
(u)
=
Amn
u m u n
xm xn
xm xn
u m u n
Amn (u) =
Amn
Aij (u ) =
i
j
u u
u i u j
u i u n m
u i xn
Aij (u ) =
A
(u)
=
Amn
n
u m u j
xm u j
Aij (u) = g im g jn Amn (u), Aij (u) = gim gjn Amn (u)
Aij (u ) =

Aij (u) = g im Amj (u) = gjn Ain (u) ...

(7)

Review: C. C. S. & Tensor Analysis - transformations

other 2nd order tensors:
# hints to derive the above transformations:
e.g. dot product both sides of Aij (u )gi gj = aij (u)gi gj
with gm and gn consecutively, each operating on its
immediate neighboring base vector
e.g. dot product both sides of Aij (u)gi gj = Aij (u)gi gj with
gm and gn consecutively, each operating on its immediate
neighboring base vector
# covariant tensor & contravariant tensor
# understand the transformation rules:
positions of & correspondences between the indexes
# HOMEWORK Assignment derive the relations in (7)

Review: C. C. S. & Tensor Analysis - transformations

2nd order tensors:

#

working example 1
Aij (u ) =

u i u j mn
A (u)
u m u n

ux

u i u j
Amn
xm xn

(8)

from
A = Aij (u ) gi gj = Aij (u) gi gj
(use the hints mentioned above).

(9)

Review: C. C. S. & Tensor Analysis - transformations

2nd order tensors:

#

working example 2
Aij (u ) =

u i u n m
A (u)
u m u j n

ux

u i xn
Amn
xm u j

(10)

from
A = Aij (u ) gi gj = Aij (u) gi gj
(use the hints mentioned above).

(11)

Review: C. C. S. & Tensor Analysis - transformations

2nd order tensors:

#

working example 3
Aij (u) = g im g jn Amn (u)

(12)

A = Aij (u) gi gj = Aij (u) gi gj

(13)

from

(use the hints mentioned above).

Curvilinear Coordinate Systems & Tensor Analysis

Todays topic:
# tensor differentiations
# example: a = ai ii = ai (u) gi = ai (u) gi
X

in a rectangular c.s.

ai
a=
(ai ii ) =
ii = a i , j ii
xj
xj
xj

(14)

in a curvilinear c.s.

ai (u)

i
a=
gi
a (u) gi 6=
j
j
u
u
u j
Q?

a = a;ji (u) gi ?
u j

a;ji (u) = ?

form similar to the case of rectangular c.s. ai ,j in (14)

(YES !! below ...)

Curvilinear Coordinate Systems & Tensor Analysis

i (x) , xi = xi (u) ,
ui = u
r = xi ii = xi (u) ii =: r(u)
u3
g1

x3

i3
O

x1

i1

u1
r

g3
g2

u2
i2

x2

Figure: curvilinear coordinate system

(15)

Curvilinear Coordinate Systems & Tensor Analysis

scalars:

)}
= (x)
= (u)
{= (u
def

= ik

xk

c. r .

= ik

(16)

u m def m
=
g = ;m gm
u m xk
u m
m
u 2 u
g }
(17)
{ =
u m

u n
=
u m
u m u n
1st order covariant tensor ?

(18)

Curvilinear Coordinate Systems & Tensor Analysis

vectors:
a = ak(u) gk = ak(u) gk
{= ak(u ) gk = ak(u ) gk }
def

a = ik

def
a = gl
a=?
xk
u l

X
i ak(u)
h k
gk

a
=
gk + ak(u) l
a
(u)
g
=
k
l
l
l
u
u
u
u
X
i a (u)
h
gk

k
k
k
a
=
g
+
a
(u)
a
(u)
g
=
k
k
u l
u l
u l
u l
gk
=?
u l

gk
=?
u l

the key to the diff

(19)

(20)

Curvilinear Coordinate Systems & Tensor Analysis

one can check (defns + chain rules + tricks)

 
gk
m
=
gm
l
k
l
u
 
gk
k
=
gn
l
l
n
u


m
k l

:=

1 mn gnk
g
g
g (
+ nlk kln )
l
2
u
u
u

the christoffel symbols of the second kind

(21)

(22)

Curvilinear Coordinate Systems & Tensor Analysis

some hints to show (21):

#
2 xi
u m 2 xi
gk
=
i
=
gm
i
u l
u l u k
xi u l u k
#
u m
xi
= g mn n
xi
u

Curvilinear Coordinate Systems & Tensor Analysis

some hints to show (21):

#
u m 2 xi
xi 2 xi
= g mn n l k
l
k
xi u u
u u u





2 xi xi
xi xi
= g mn

u l u n u k
u l u n u k




xi 2 xi
xi xi

mn gnk
+

=g
u l
u n u l u k
u l u n u k




2 xi xi
glk
xi xi
mn gnk

=g

+
u l
u n u k u l u n
u k u l u n


2
xi xi
glk
gln
mn gnk
=g

u l
u n
u k
u n u k u l
...

Curvilinear Coordinate Systems & Tensor Analysis

some hints to show (21):

#
gk

g ki
gi
ki
=
(g
g
)
=
gi + g ki l
i
l
l
l
u
u
u
u
g kj
kj
kj gjl
g gjl = kl
gjl + g
=0
u n
u n
...

Curvilinear Coordinate Systems & Tensor Analysis

a = gl

a= ?
u l

case 1:

 k

k
l a
k gk
a = g
(a gk ) = g
gk + a
u l
u l
u l
 m
  
a
m
= gl
gm + a k
gm
l
k
l
u
 m   
a
m
=
+
ak gl gm = am;l gl gm
k l
u l
 
am
m
m
+
ak
a ;l :=
l
k
l
u
2nd o. mixed t. Understand the rule (23)
l

Curvilinear Coordinate Systems & Tensor Analysis

how to show that am;l is a 2nd o. mixed t.?

am;l gl gm = a = ii
am;l :=

am;l =

a
xi

uu

am;l gl gm

 
am
m
ak
+
k l
u l

u m u q p
a
u p u l q

(24)

Curvilinear Coordinate Systems & Tensor Analysis

a = gl

a= ?
u l

case 2:



gk
k
l ak k
a = g
(ak g ) = g
g + ak
u l
u l
u l
  

am m
k
gn
= gl
g ak
l n
u l


 
am
k

=
ak gl gm = am;l gl gm
m l
u l


am
k

ak
am;l :=
m l
u l
2nd o. covariant t. understand the rule(25)
l

Curvilinear Coordinate Systems & Tensor Analysis

how to show that am;l is a 2nd o. covariant t.?

am;l gl gm = a = ii
am;l

am;l =

a
xi

uu

am;l gl gm




am
k
:=

ak
m l
u l

u p u q
ap;q
u m u l

(26)

Curvilinear Coordinate Systems & Tensor Analysis

useful formula:

[al gl ] = gk k [al gl ]
u k
u
= gk al ;k gl = ak;k

div a := a = gk

(27)

[gm m ] = gl l [,m gm ]
l
u
u
u


2

k
= gl (,m );l gm = g lm ( l m
) (28)
m l u k
u u

2 := = gl

(al gl ) = gk k (al gl )
k
u
u
= gk (al;k gl ) = al;k gk gl

curl a := a = gk

(b)a = (bm gm )gk

= bk al ;k gl

(29)

a = bk k (al gl )
u k
u
(30)