Hamel' s Theorem

A. W. MARRIS
Table of Contents Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. Basic Description of the Vector Field . . . . . . . . . . . . . . . . . . . . . . 2. Background Material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. Preliminary Lemmas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4. An Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . 5. The Proof that E----0 . . . . . . . . . . . . . . . . . . . . . . . . 6. The Final Proof . . . . . . . . . . . . . . . . . . . . . . . . . Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . References . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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85 86 90 94 97 98 103 105 105

Introduction

In this paper I present a proof of the following theorem. I-Iamel's Theorem. Let v = v (x ~) s (x~), a = 1, 2, 3, be a steady vector f i e M in three-dimensional space, such that v is both lamel[ar and solenoidal, and the magnitude v ( x ~) o f v maintains a constant value along a vector-line; then the vector f i e M o f v must either consist o f parallel straight lines or circular helices mounted on concentric circular cylinders. In 1937 HAr,IEL published a memoir (1937 [1]) which essentially explained how he had achieved a proof of the theorem, rather than presenting an explicitly demonstrated proof. Although the result has been applied, and often quoted, there appears to be no explicit proof in the literature. The analogue of this theorem for plane vector fields is well known. In this case the only possible configurations are concentric circles or parallel straight lines. As HOWARD (1953 [1]) points out, it is remarkable that the result for three dimensions is almost as simple as that for two dimensions. If HAMEL'S theorem is true, then other results follow. Thus PRIM (1952 [1]) proved that a steady, solenoidal, complex-lamellar, circulation-preserving motion for which the velocity magnitude is constant on a stream-line, would have the same stream-line pattern as the vector field described in the statement of HAMEL'S theorem. Recently MARRIS SHIAU (1973 [1]) attempted to prove the theorem directly from t h e equations of the intrinsic representation of the vector field. That work involved an intricate analysis which led finally to the isolation of three high order polynomial integrals among four of the vector field parameters.
7 Arch. Rational Mech. Anal., Vol. 51

86

A.W. MARRIS:

In the present paper it is shown that one of these integrals can be obtained somewhat more simply, in a m a n n e r which exhibits its nature as the p r o d u c t of two factors. By considering the alternatives represented by the vanishing of these factors, I a m able to give a proof of Hamel's theorem. To effect an e c o n o m y of space I shall call directly u p o n results proved in the paper of MARRIS & SHIAU. Since I shall make frequent reference to this paper, I shall refer to it simply as MS.

1. Basic Description of the Vector Field

It is required to prove that the vector field
v=v(x~)s(x~),

(1.1)

defined by the three conditions* div r = s. grad v + v div s = 0, s. g r a d v = ~vs = 0 , curl r = grad v s + v curl s = 0,

(1.2) (1.3) (1.4)

must consist of circular helices m o u n t e d o n concentric circular cylinders, or parallel straight lines. In these relations s is the unit vector tangent to the vectorlines of v. It follows f r o m (1.2), (1.3), and (1.4) that divs=0 and
v = v s = grad cp;

(1.5) (1.6) (1.7)

thus s = - - grad ~o 1) and s. curl s = O. (1.8)

The vector-lines of s are orthogonal to a one-parameter family of surfaces ~p(x0 = constant. Equation (1.5) shows that the first curvature of these surfaces vanishes; accordingly they are minimal surfaces. By (1.2) and (1.6) they are also solutions of Laplace's equation, div grad ~o= 0. * Conditions of smoothness sufficient to accommodate all the operations are assumed at the outset. I use the notation t~/~s, ~/~n, t~[~b to denote the components s. grad, n" grad, b. grad. I avoid the usual derivative symbol, since these components are anholonomic.

Hamel's Theorem

87

When the curvature x of the vector-lines of s does not vanish in a neighbourhood*, the principal normal to the vector-line of s is defined by s. grad s = - ~ - = x n. The unit bi-normal is then determined by b =s
x

fs

(1.9)

n,

(1.10)

and the torsion is defined by the Serret-Frenet formulae fib

fS = - - ' r n ,

fin
fs

= -rsWzb.

(1.11)

F r o m (1.8), (1.9), and the identity s. grad s = curl s x s one has c u r l s = xb, so that (1.12) (1.13)

curlv=curlvs=-~-b n+ xv---~-~ b,
and it follows from (1.4) that fv fib = 0 , 6 logv=x. fin

(1.14) (1.15)

One sees from (1.3), (1.10), and (1.14) that the principal normal n is also normal to the one-parameter family of surfaces v(x~)=constant, containing the vectorlines of s and b. One writes n = ~ grad v, (1.16) and notes that n. curl n = 0. (1.17) Since the principal normal to the vector-line of s is also normal to the surface v(x~)=constant, the s-lines are geodesics on the surface v(x~)=constant. The surfaces v(x~)=constant and the minimal surfaces ~p(x')=constant intersect orthogonally along the vector-lines of b. The vector-lines of b, being orthogonal to geodesics, are parallel curves on the surfaces v (x ~) = constant. F r o m the orthogonality of the basis s, n, b one obtains the following representations, where the simplifications afforded by (1.5), (1.8) and (1.17) are intro* If the curvature vanishes in a neighbourhood, it is easily demonstrated that the vector field consists of parallel straight lines. Refer to MS, Lemma 2.1. Accordingly I discount this case.
7*

88
duced*:

A. W. MARIUS:

grads= +snx
-nnO-nbz

(1.18)

-bnx+bbO,
grad n = - s s x + s b z

n b div b +bs~ + b b ( x +divn),

+ nsO-

(1.19)

gradb=

-snz + nsz + nn div b - b s O - b n ( r +div n).

(1.20)

The parameters occurring in (I.18), (1.19), and (1.20) have the following geometrical significances. The quantity 0 is the geodesic curvature of the b-lines on the surface v (x ~) = constant, and the n o r m a l curvatures of the n-lines and the b-lines on the minimal surfaces ~p(x~)=constant are + 0 and - 0 respectively. The geodesic curvatures of the n-lines and the b-lines on the minimal surface tp (x ~) = constant are respectively div b and x + div n. F r o m (1.18), (1.19), and (1.20), one verifies that curl s = ~cb, curl n = - (div b) s - 0 b, (1.12) (1.21) (1.22)

curl b = ( x +div n) s - O n - 2z b.
The identity curl grad F = 0, applied to the tensor point function F, yields the c o m m u t a t i o n formulae
f2 F

fbfn t~2F 6sfb

--=-alvn---4-tx+,~ivn~ -" - " g- " i -n ~" 6nfb 02 F fF

-6 b - f s = - 0 f---if,
- -

f2 F

6F 6b'

(1.23)

(1.24)

62 F
fnfs

6sfn

52F =~c f F _ o 6F ~ff--2~

6s

fF . 6b

(1.25)

Taking F to be the function log v, f r o m (1.14), (1.15), and (1.23) one obtains 6---/~-= - x div b, and f r o m (1.14), (1.15), and (1.25),
t~/g 31s

(1.26)

6---T=Ox.

(1.27)

* The reader will note that I have simplified the notation in relation to that of MS. Thus I write x, r, 0 and ~2=02d1-~ 2, respectively. instead of x s, r 0bs and T~--O~,s+Z2s, z_ 2

Hamel's Theorem From 0.26), (1.27), and (1.21), one deduces

89

Lemma 1.1. The vectors curt n and grad x, if non-vanishing, must be perpendicular, curl n. grad x =0. (1.28)

Applying (1.23), (1.24), (1.25) to the base vectors s, n, and b in turn, one obtains the nine basic compatibility conditions g0 f s + 02 - x ( r + div n) - ~2 = 0, f'c f s - x div b + 2 0 T =0, fls fib 4-x div b = 0 , g0 fz f n F-~-~-+ 2T div b + 20(x + div n)=O, fT fin gO fib + 2 z ( x + d i v n ) - 2 O d i v b = O ,
f/r

(1.29)

(1.30)

(1.26) (1.31)

(1.32) (1.33) (1.34)

f---n-+ x div n - 2 (02 + z2) = 0, fb fz fib 6 div b + ~ fib Fdivb+Odivb=O,

f 6s ( x + d i v n ) - O ( 2 x + d i v n ) = O ,

(1.35) (1.36)

( r + div n) + (div b) 2 + (/r + div n) 2 - z 2 - 02 = 0.

The relations (1.29) and (1.36) are Gauss equations for the surfaces v(x~)=con stant and q~(x~)=constant, respectively. Relations (1.31) and (1.32) are the Mainardi-Codazzi equations for the minimal surfaces q~(x ~) = constant. Equation (1.36) shows that the Gaussian curvature of the minimal surface q~(x~) =constant is G, = - ( 0 2 +z2). (1.37) For a minimal surface the two asymptotic lines through a point are orthogonal; their torsions are + u where ~-2 = 02 -{-'~2. (1.38) One may also note that the angle ~ between the direction n and an asymptotic direction on the minimal surface is given by 0 tan2~ = - - .
T

(1.39)

90

A.W. MARRIS:
2. Background Material

The following Lemma was proved in Chapter 2 of MS.

Lemma 2.1. Hamel's theorem follows if any one of the parameters r, O, z or div b

vanishes. When x vanishes, the vector field consists of parallel straight lines. When z vanishes, the vector field consists of parallel straight lines or concentric circles. It follows from Lemma 2.1 that if there exist a vector field defined by the conditions of Hamel's theorem which is not rectilinear or circular helical, then for this vector field none of/s 0, 9 or div b is zero. My analysis will be based on the premise that such an exceptional vector field exists. It is thus assumed, in all the analysis to follow, that each of these parameters is different from zero. In the end, this premise will lead to a contradiction. I quote two results given by HAMEL, which in effect represented the terminal point of his analysis in terms of the vector field geometry. They are proved in Chapter 1 of MS. Lemma 2.2. The quantity
2

~.2 ~__~__ = 02 .[_ Z2 ff /s 4

maintains a constant value on the vector-line of s. Thus 6 6s ~-2+ =0. (2.1)

Lemma 2.3. The following relation holds among the parameters of the vector field."

4 0 z 2-O/s 5/s + 4 div n ) - 4 z /s div b=O, where

~2 = 02"[-'~2.

(2.2) (1.38)

I now prove the following result. Lemma 2.4. The following relation holds: curl n. grad 0 = 0 . I write (2.2) in the form 4 0 z 2-O/s163163 + div n ) - 4 z /s div b=O. (2.2a) (2.3)

I take the directional derivative of (2.2a) with respect to s and substitute the expressions 6~ 2 /s 6/s 6---s -= 2 6s (2.1a) and 6/s =0/s (1.27) 6s

Hamel's Theorem The parameter z 2, where it occurs in the term 4--~s of (2.2). One thus obtains, for non-vanishing 0, zxdivb0606s

91

gO ~2, is

eliminated by means

02x(2x+divn)-Ox ~-~--s (x+divn)

(2.4)

- (-~s +O*) x div b-'cX-~s div b=O.

Substituting the expressions 6--Tdiv b = - 6 b - 0 div b,

60

(1.34) (1.35)

6s (tc+divn)=-~-ff-O(2x +divn)
into the relation (2.4), for non-vanishing 0, z, x, one obtains

6~

div b tz--~-s-s-O-~-f J +o (z-~-ff-O ~b ) =O

or

30

6z\

60

(2.5)
(2.6)

div b --~--6 6s ( O ) + 0 6-~b- ( O ) =0" It follows from (1.21) and (2.6) that curl n. grad O = 0 ,

(2.3)

so that the lemma is established. Since 0 must be non-vanishing, it follows immediately from (1.27) that grad x is non-vanishing. It will be shown below (Lemma 3.1) that grad O/z must be non-vanishing. In this case it follows from (1.17) and Lemmas 1.1 and 2.4 that the vectors n, grad x and grad O/z must be coplanar, since each is perpendicular to curl n. One has Lemma 2.5.

The vectors n, grad ~: and grad O/z are coplanar:

n. grad x x grad O = 0.
T

(2.7)

It is shown in MS, Chapter 3, that the basic vector field equations of Chapter 1 may be solved explicitly for 60/6n and 60/6b. Occurring in this analysis is the factor = _ _ U div b + z ~2+ where
~2 = 02 "~-.2.

(2.8)

(1.38)

92

A . W . MARRIS:

An intricate analysis given in Chapter 2 of MS establishes Lemma 2.6. When D vanishes, Hamel's theorem holds. It follows that in seeking the exception to Hamel's theorem one must consider D as well as /s 0, z and div b to be non-vanishing. Under this condition, the following expressions for 60/6n and 60/6b are derived in MS (MS, equations (3.25) and (3.26)):
30 _ I r - 2 2
" g ~

6n

D [~(dlvb)
- - 2 ~ "2

+-~-(dlvb)
divb

"~K

(4)

~-2 -[- "C2 - -

4 ,o(
K

(2.9)
~- 2 ..[_ ,

30 6b

1 [~-2z/s 2 /s ( /s =_b_L~(div/,)3__~_ ~-4_ 4 0 ~2_ divb+

K

z2/s 4
~- 2 ..[_

(divb)2 (2.10)
.

These relations may be set in an alternative and more convenient form as follows. Let /s div b x = ~ , (2.11) so that
D=~2xq-,c ~2- k
/s

,
/ /s \2

(2.12)

and let

) ,

(2.13)

~
~-2 '

where

t,~ --i~)'

(2.15)

the form (2.14) being obtained from (2.13) by eliminating x in favour of D by means of (2.12). By division one writes the expressions (2.9) and (2.10) in the alternative forms
30 _ 0 6n /s x2_2zx_2

~-2_

+---D-- '

(2.16)

60 6b

1
--

/s

TX

- - 2,~2 +

--__

(2.17)

Hamel's Theorem
(2.11), I now obtain, from the basic relations (1.29) to (1.33), the following:

93

Using Hamel's relation (2.2) to suppress div n in favour of div b, and using

60_ fs

zx + 2zz_

K2 4 ' 4 ' by (2.12),

(2.18a) (2.18b) (2.19a)

= - ~2 D - ~ 3~2+ & - - = x div b -20~ = O(x-2z), 6s 0 [D--z (

-

fn

fb

~----~div b -

~-2_

by (1.38), (2.11), and (2.17), az_ fib fO gin x 20 [~-2_ x2 ] x \ 4 ] (2.21) , by (2.16), (2.22)

=---

x(x-2z)+

anfiX= z x + ~ 2 + 5 xz"

f 0 In the subsequent analysis I shall require expressions for -~- (-)--) and 6-6-~-( O ) . f 0 The expression --~b- (-~-) follows immediately from 6b-~s( O ) by virtue of equation (2.6). One has -~s \ ~ ! fs
=-~2x+z

~s 2~ 2 , by (2.18a) and (2.19a), (2.23a) by (2.12). (2.23b)

Again

= - D + 3 z ~ 2,

(o) =~ 6n
0 g
0 [- ~-2

an
E2~2+--7 - x , 1 (2~.2 by (2.16) and (2.20), 2 (2.24a)

=~L-D--E--~ -~-

+4-)(7-2 +-~--))]'
by (2.12),

X2 ( D _ T

(2.24b)

94

A.W. MARRIS:

In the final stage of the analysis I shall call upon one further relation derived in MS (equation 3.23). I quote it here for reference: /divb 4 z 0 2 \ 30 --~-6 div b = ~-----ff- + "~-~-x ) 3n 3n 20 (~-2_2z2) 30 ~-2tc 3b div b (2.25)

0 (div b) ---ff ~-2_ 4z2___4_ 4~0 [~-4_(2z2+/s 2 x2

3. Preliminary Lemmas

The first lemma to be proved in this chapter enables one to discount the possibility of any of the vectors grad x, grad z, grad 0 and grad 0/z being null vectors.
Lemma 3.1.

Hamet's theoremfollows if any one of the following conditions hold:

1) grad x = 0 , 2) grad z=0, 3) grad 0 = 0 , 4) grad 0/~=0. By Lemma 2.1, Hamel's theorem holds if any one of x, 0, 9 or div b vanishes. I postulate that none of these parameters vanishes and obtain a contradiction in each case. 1) If grad x = 0 , then 3x/3s=O, so that by (1.27) either x or 0 is zero. 2) If grad z = 0 , then 3z/3s=O, so that by (2.19a)*

x=2z.
Since 3z/3b=O, it follows from (2.21) and (3.1) that

(3.1)

~=0.

(3.2)

Substituting (3.1) and (3.2) into (2.20) and setting 3z/3n=O, one obtains, by

ci.38),
2(02+~2)+x2=0, so that 0, z and x must each be zero. 3) If grad 0 = 0 , then 30/3s=0, so by (2.18a)
K2

(3.3)

~x=2~2---4-" Since 30/3b=0, it follows from (2.17) and (3.4) that

(3.4)

E=o.
Since 30/3n=0, one has from (2.16) and (3.2)
/s

(3.2)

X2 -- 2T X-- 2 (Z-2---~----) = 0.

(3.5)

9 For clarity of exposition, I refrain from repeatedly remarking upon the cancellation of the parameters 0, r, x and div b, postulated to be non-vanishing.

Hamel's Theorem Substituting for x from (3.4) in (3.5), one obtains 1r 16 2.C2~-2=0"

95

(3.6)

Taking the directional derivative of (3.6) with respect to s, using (1.27), (2.1), and (2.19 a), one obtains
/s

--~--- 4"CT-2(X -- 2 T) d-'~2 tr = 0, or, by (3.4) and (3.7), 4 ~-~2/s "~-"C2/r = 0' showing that 0, z, and x must each be zero. 4) If grad 0-=~ 0, then 6-~ ( O ) = 0 , so by (2.23b) D = 3 z ~ 2. Since -~=0, it follows from (2.24b) that
2 N2

(3.7)

(3.8)

(3.9)

Using the form (2.14) for E in terms of D and substituting for D from (3.9) in (3.10) and reducing, using (2.15), one obtains 0 z x4 2 T6 -~-8 z2 T-4-~-T-4/r + - - - ~ = 0, (3.11)

showing that 0, z and x must each be zero. In each case the postulate that none of 0, ~, x and div b vanishes is contradicted. This completes the proof of Lemma 3.1. The next lemmas to be established bear upon the geometrical significance of the quantity E introduced by equations (2.13) and (2.14). One has
6x 60 n " grad x x grad O= 6 b 6 s 6K 60 6s 6b . 60 ~ 601

= -x
03E
-

div/~--~-s + o - ~ - ],

by (1.26) and (1.27)

(3.12)

D '

by (2.11), (2.17) and (2.18a).

By a similar calculation for n 9 grad x x grad z, or by remembering that n. grad x x grad O "C = 0, (2.7)

96

A . W . MARRIS"

one has 02 ,cE n. grad x grad T = D To summarize, one states Lemma 3.2. The following results hoM." 03E n. grad x x grad 0 = - - D ' n. grad x x grad z = 02zE D (3.12) (3.13) (3.13)

The following lemma relates the directional derivative of x along the vector line of s to the scalar n . grad x x grad 0, or equally, to the ratio E/D. It will facilitate subsequent calculations. Lemma 3.3. The following relationship holds: 6x 1 OE 6s - 0~ n. grad x x grad 0 = D " By (2.1 l) 6x 1 [ 6x 6 60] 6 s = - ~ O-6-S-s div b + OK --~ div b - K div b -ffs ' (3.14)

= --0-~ [0-~+div b-3~-s J'

,

60

60"1

by (1.27) and (1.34), by (1.26) and (1.27),

---~ ~
1

~s

6s

~-~'

=--0~ n. grad ~ x grad O. The second part of the statement (3.14) follows from (3.12). I have noted that 6 6s I shall also need expressions for 6 6n ~-2+ =0. (2.1)

?z+

and

~-2+

. Writing

=20~-~n+Z~-~n-~ 2 6 n '

and substituting for 60/6n, 6 z/6n and 6x16n from (2.16), (2.20) and (2.22), and using (2.13), one obtains 6 [-2 x2 \ 2E 7
9

Hamel's Theorem Writing

97

(X2)

I~0

aT\

K7 aX
2 ab

ab a
tr ) = a ( ~-2+~_ 20~2E xD

and substituting for a O/a b, a z/a b and a x/6 b f r o m (2.17), (2.21) and (1,26), respectively, and using (2.11), one obtains

ab
~,

(3.16)

I n o w prove the following main l e m m a : L e m m a 3.4. I

ne quantity -----if-- maintains a constant value along vector-linesof s: as

=0. (3.17)

Oz2E

F r o m (3.16), one has

asab

z2+T

. . . .

2 aK as(-~)
as

20~'E ( ~ ) o--as a
+0 [ ~ l
-0 ~-2+ by (1.27), by (3.16), (3.18)

m
By (2.1)

2 a tr as

a2

so that by (3.18), (3.19), and the c o m m u t a t i o n formula (1.24), it follows that ~s - =0, (3.17)

so that the l e m m a is established. One sees f r o m (3.14) that (3.17) is equivalent t o *

as \

as ]=~

(3.18)

4. An Integral
Writing (3.15) in the f o r m 6 ~-2+ 2D 7 +~x 2

an

~-2+

'

(4.1)

* It follows from (1.38), (3.12) and (3.13) that (3.17) may be written in the alternative form

6s6 ( n'grad~cxgradYz)O

- =0.

By (1.39) this condition is the statement that the ratio (n-grad x grad ~,)/sin 2~ remains constant along the vector-line of s. I have not been able to utilize this geometrical result directly.

98

A . W . MARRIS:

one has, by (1.27), (2.1), and (3.17),

&s6n

~-2+

__

&s ~

+~Ox ~-2+

(4.2)

From the commutation formula (1.25), with (2.1), (3.15), (3.16), and (4.2), one obtains, since 0 and u are non-vanishing, [& [ Since
D = ~ 2 Xd_T ~-2 _~_

D ~

1 (D_2zu

]=0. J

(4.3)

(2.12)

and, by (1.27) and (2.1),

~2 0/s

&~= - T '
and since

(4.4)

fx

6s = D '

OE

(3.14)

it is a straightforward calculation, by use of (2.1), (2.14) and (2.19b), to express &D/&sin terms of D. One obtains 6D _(2 -~) z [5~'+-~-~-) ] D - f } (4.5)

where f is given by (2.15). Computing (6/6s)(D/Ou by means of (1.27), (2.18b), (4.4), and (4.5), simplifying the term in brackets in (4.3), and cancelling the non-vanishing factor 1/02u one reduces (4.3) to the form

EF =0,
where E is given by (2.14) and

(4.6)

F=zD2_I_

_3T2~-2d_____~) D_O2T 3~4+

~2_

'

(4.7)

wherefis given by (2.15), and by Lemma 2.6, D cannot vanish. If one expresses the relationship (4.6) in terms of x by means of (2.12) and (2.13) and multiplies it out, one will obtain the polynomial integral called B in MS. It is now apparent that if there is an exception to Hamel's theorem, it must be a vector field for which either E = 0 or F = 0. In the next chapter I shall show that the postulate that E does not vanish leads to a contradiction. Once it is established that E must vanish, the consequent simplification of the equations allows the final proof to be carried out reasonably easily.
5. The Proof that E--0

Pursuing a possible exception to Hamel's theorem, one sees that for such a vector field, by Lemmas 2.1 and 2.6, none of/s 0, z, x or D can be zero. I now

Hamers Theorem

99

prove that, for the exceptional vector field, E must necessarily be zero. Two further lemmas are required for this proof. I first establish Lemma 5.1.

When E is non-vanishing, there exists a functional relationshipamong the three variablesO, z, and re,
,1(0, ~, ~:)=0.
Since E is not zero, it follows from (4.6) that F=0 and also 6F 6-~-=0. In order to compute (5.3t (5.2)

(5.1)

6F/6s, I first write O~2E D '

by (2.14). (5.4)

g=O ( - D + 2 z ~ 2 + -~) =
It then follows from (3.17) that 6g =0.

6s

(5.5)

Eliminating the term in condition (5.2) in the form

lID from

(4.7) by means of (5.4), one may write the

"r(D2-2z~2 D)+ ( - z 4+-~2~-) D-O2"c [ (~2-i- K-~-4 ) 2- ~-~-8 ] -Oz2 g=O.

(5.6)

I now take the directional derivative of (5.6) along the s-line. The expressions (1.27), (2.1), (2.18b), (2.19b), (4.4), (4.5) and (5.5) are then substituted for
(~ K

6s' 6s

(~

~ 2..[_

' 6s 3s

6s'

respectively. Finally I replace g by the expression simplification I obtain the condition

6s O(-D+2zYz+(f]D)).
3s'

On

D3_ [4 2+7/s
k '-~j k

9 2X
0 2/s 1 (5.7)

From (4.7) and (5.2), one has

, D 2 d - ( - 3. " r 2 ~ 2 - I - ~ ) D - O022 T. 2.

[3~-4H__~_(~-2 -

_ ~ ) l. . --tt ,~2-2 f ,~ "r -~-----O.

(5.8)

The required functional relationship (5.1) is the eliminant of D between (5.7) and (5.8). One must verify that this eliminant does not vanish identically.

100

A . W . MARRIS:

If one multiplies (5.8) by u x2[4 and adds the result to (5.7), one obtains a cubic in D. If this cubic is subtracted from the result of multiplying (5.8) by D/z, one obtains the quadratic in D, 51 D2 +ill D +),1 =0, where
0 2/s -i

(5.9)

51----~2+2Z 2,
and

fll = -- 2 Z [3 ~'2 (~'2 -I- Z2) ------~---- l

(5.10)

)'1 -'~"

2..{
/s

~-4(2 ~-2 ~/s _1_02 2~2/s

2 ~2 -2 X +7 z +-T

( 2)2 "l}
/s +-T

"

Again on multiplying (5.8) by (D/c)(~2+ 2 z2), and (5.9) by D and subtracting, one obtains a second quadratic in D,

~2 D2-I- f12 D--}-)'2 --=-O,

where

(5.11)

52=--- ~- 3Z'gZ2+ f12= [ - - ~ " 1 and

)' 2 = --~---2-(~,'2 q- 2 Z 2)f.

(Z2.31-~2)/s2 '
(~-4_~ /s ~'2 4

4z1~

X4)]
]-6 (5.12)

5Z2 ~:-6+02('C2q'-2"r z)

The eliminant of D between the quadratics (5.9) and (5.11) is

()'1 52 --)'2 0~1)2-- (ill)'2 --f12 ~)1)(51 f12 --0~2 ill) =0.

(5.13)

Substituting the expressions (5.10), and (5.12) into (5.I3) and remembering that

~2 =0231_q~2, we obtain the required functional relationship among 0, z, and /s

The term of lowest order in/s is

64~'3~ (~-2-k 2Z2 ) /s

which is non-vanishing. The relation (5.13) is not an identity, but a true functional relationship. This establishes Lemma 5.1. According to Lemma 3.1, the vectors grad ~c and grad 0/z are non-vanishing. I now prove Lemma 5.2. Provided E is non-vanishing, the vectors grad/s and grad O/z cannot

be parallel
If the vectors grad/s and grad 0/z are parallel, then grad/s x grad O = 0 , (5.14)

Hamel's Theorem and therefore* b. grad x x grad O = 0

or

101

6r ( O 6n )66 s

6n6r= 60 "(O) 6s

(5.15)

Substituting the expressions (1.27), (2.22), (2.23b) and (2.24b) for

respectively, into (5.15) and reducing, one obtains

T D2-~(-- 3T2 q-K2)~2D-- T [ [ 3(02q-K2)~-4- 16 J

02 r 4 ]

02 ~ - 2 f ----0.

(5.16)

Since E does not vanish, F m u s t be zero, so that (5.8) must hold. Subtracting (5.8) and (5.16) and remembering that u 02+ z2, one obtains
(T- 2 de" "C2) O -- "~T 2 (5 T 2 -[- "~2) ----0.

(5.17)

Multiplying (5.16) by (~2 + z2) D and (5.17) by z D 2 and subtracting, one obtains the quadratic in D ~3 0 2 -I-f13 D+~3 =0, (5.18) where
~a =
2

0 2 T 2 At-(~2 dt- T2)/r

f13.~- -- f(T 2"[-'C2) [3(O2"~"K2)'~2--1-~2 J

and

--

0 2 4-~

(5.19)

~3 ~- --02(T 2-}-T2)f"
One first eliminates D 2 between (5.17) and (5.18) by multiplying (5.17) by ~3D and (5.18) by u z2 and subtracting. D is then eliminated between the resulting equation and (5.17). One finally obtains the condition

(y+~)z3+(14y2+9y+~)z2-(20y2-7y+~)z-2(y+88
where
~2 172

(5.20) (5.21)

y = x---2, and

z = _-=T=Cos22~
T

0 tan 2 ~ =--. "C From (5.20) and (5.21) 2, cos 2 ~ = tp (y),

(1.39)

* It follows from (1.26), (1.27) and (2.6) that the condition (5.15) implies s- grad xx grad (0/r)= 0. By Lemma 2.5, n. grad x x grad (0/r)=0. Thus (5.15) is both necessary and sufficient for the parallelism of grad ~cand grad (0/r).
8 Arch. Rational Mech. Anal., Vol. 51

102 and therefore

-

A.W. MARnZS:

2 sin 2 ~ grad ~ = - sin 2 ~ cos 2 2 ~ grad 0 ,

T

by (1.39), (5.22) by (5.21) 1.

= q~'(y) grad y, . . . . x4

#(y)

[x2gradz2-~2gradK2],

It follows from Lemma 2.1 that neither sin 2 ~ ( = (0~)) nor cos 2 ~ ( = (zf~)) can be zero. Also, by Lemma 3.1, grad (0/T) must be non-vanishing. Thus ~' (y) cannot be zero. From (5.22) - s i n 2 ~ cos2 2~ grad x x grad O = ~ By (5.14) and (5.23), since tp'(y) is not zero, grad r x grad ~2= 0, so that n. grad x x grad ~2= 0. However, by (1.38), (3.12) and (3.13), one has n. grad x x grad ~-2= 2 0 z ~-2E D (5.26) (5.25) (5.24) grad x x grad ~ -2. (5.23)

Since 0 and u 02+ ~2 are each non-vanishing, it follows from (5.25) and (5.26) that E must vanish. The postulate that grad x and grad (O[z) are parallel implies that E vanishes. Accordingly, if E does not vanish, then vectors cannot be parallel. This proves Lemma 5.2. I am now in a position to prove the following main result. Lemma 5.3. The parameter E must be zero. I prove this lemma by postulating that E is not zero and showing that this premise leads to a contradiction. By Lemma 5.1 when E is not zero there exists a functional relationship

7(0, z, x)=0.
It follows that grad 0. grad x x grad z = 0.

(5.1)
(5.27)

By Lemma 3.1, grad ~, grad z, grad 0 and grad (0/r) are each non-vanishing. Since E is not zero, it follows from Lemma 3.2, equation (3.13), that the vector grad x x grad ~ is not zero. The vector grad x x grad z is perpendicular to each of the vectors grad 0, grad r and grad x. Since grad x and grad z are not parallel, they define a plane p perpendicular to grad tc x grad z. The vector grad 0 lies in the plane p. Since grad (0/z) lies in the plane of grad 0 and grad z, it must also lie in the plane p.

Hamel's Theorem

103

By Lemma 5.2, since E is non-vanishing, the vectors grad (0/x) and grad r cannot be parallel. Accordingly, since curl n is perpendicular to both grad r and grad (0/x) (Lemmas 1.1 and 2.4), the vector curl n must be perpendicular to the plane p. But curl n is perpendicular to n (equation 1.17). Therefore n must lie in the plane p. Thus n, grad ~, and T are coplanar, so that n- grad ,: x grad 9 = O. But one also has
02r

(5.28) D (3.13)

n. grad r x grad x =

Since 0 and x are non-zero, it follows that E must be zero. This proves Lemma 5.3.
6. The Final Proof

In the analysis up to this point, I have presumed that there exists an exception to Hamel's theorem. I have required that a vector field v exists, such that v is both lamellar and solenoidal and the magnitude of v is constant along the vectorline, which is neither a rectilinear field nor one consisting of circular helices. It follows from Lemmas 2.1, 2.6 and 5.3 that for this exceptional field none of the parameters r, 0, ~, x or D is zero, but the parameter E must be zero. I shall now prove that this situation is impossible, and therefore the exceptional vector field cannot exist. By (2.13) the condition E=O means that

~2X2~- ~

2 ~'2"3L

=0.

(6.1)

The relations (2.16), (2.17), (2.20), and (2.21) now take on the simpler forms
6n ,c L \ 4 ] ]

(6.2) (6.3)

60 _ x 6b ~

~x_2x2 +

6n
--

=-/r
-

x ~x+202+ 0 r

-2~

~-2_

(6.4)

6~ 6b

x(x-2~).

(6.5)

I shall need to take directional derivatives of equation (6.1) with respect to n. I collect the formulae required for this purpose. From (1.38), one has 6~2 =2T ~---~+ 2 0 60 6n 6n
-

~-~ 3~2+

by (6.2) and (6.4).

8*

104 Again by (3.15)

A.W. MAgms:

6n ~ + - 4 - ) = 2 x7

I{-2+

(6.7)

a relationship which also follows from (6.6) and

6x -2 5 2 6n =TX+T + ~ - X .

(2.22)

In order to calculate 6x/fn, I first need an expression for (6/6n) div b. From (2.25) 6 . . 1 [ 4"r02\ 60 20 ,-z ~ 2. 60 zO x2 0

+--~

N2

On substituting the expressions (6.2) and (6.3) for 6016n and 60]5b in (6.8) and reducing, one obtains

6?1
From (2.11), one has

6x

6 ( ~ )
=

x 60 + x 6,c
0 fin

,c 6

.
(6.10)

6-n= fin

-ff-nn+O-6-n -(dlvb)"

On substituting the expressions (2.22), (6.2) and (6.9) for 6~:/6n, 60/6n and (6/6n) div b into (6.10) and reducing, one obtains 6

6in

~cx x=--

2"

(6.11)

Taking the directional derivative of (6.1) with respect to n, one has -~--~-~ x2+ 2 ~ 2 x + -~--t 2 6n I - ~ x 6---n(6.12)

-4 ~-2+_.~__ ~- ~-2+._~_. =0.

Substituting into (6.12) the expressions (2.22), (6.4), (6.6), (6.7), and (6.11) for 6 n' 6 n ' 6 n ' 6n ~ - 4 - ) ' and -~-n' simplifying, and noting that ~c and x x - ~ - 9 ~:2 =0.

must be non-vanishing, one obtains (6.13)

Hamel's Theorem Multiplying (6.1) by { and (6.13) by x and adding, one obtains 3 2 ~-2+ x2_7 ~-2+ --0,

105

or, since u and ~ are non-vanishing,

x2-

(6.14)

Taking the directional derivative of (6.14) with respect to n and using (6.7) and (6.11), one obtains, for non-vanishing r, x2-1~ By (6.14), and (6.15), (2) (~2+--~) =0. (6.15)

~,2 ..~_ ~ = 02 _[.,t.2+ - ~ /~2 -=0,

showing that 0, ~ and !c must each be zero.

(6.16)

It follows f r o m L e m m a 2.1 that the exceptional vector field c a n n o t exist. This proves Hamel's theorem.

Acknowledgments. Through the autumn of 1972, Dr. ERICKSEIqhas checked not only my detailed calculations behind the steps of this paper, but also the calculations associated with the relevant parts of MS. The latter involves Lemmas 2.1, 2.2, 2.3, 2.6 and the isolation of the expressions (2.9), (2.10) and (2.25). I express the deepest appreciation to Dr. ERICKSEI~for this effort on my behalf. For a long time the way was unclear. I express my sincere appreciation to Dr. C.-C. WANG for his wise and patient counsel during this difficult time of exploration and trial and error. I acknowledge with gratitude the work of Dr. J.-F. SmAu in checking the calculations of this paper. I thank Mr. MOHANASWANIfor checking not only calculations appearing here but also those associated with analyses that eventually proved fruitless. I extend my thanks to Dr. S. L. PASSMANfor his many discussions. I express my appreciation to the National Science Foundation whose grant partially supported this research. References
1937 [1] HA~L, G., Potentialstr6mungen mit konstanter Geschwindigkeit. Sitzgsber. preuss. Akad. Wiss., phys.-math. Yd. 5-20. 1952 [1l PRIM,R. C., Steady rotational flow of ideal gases. J. Rational Mech. Anal. 1, 425-497. 1953 [1] HOWARD,L.N., Constant Speed Flows. Doctoral dissertation. MS in the Princeton University Library. 1973 [ll MARmS,A.W., & J.-F. SnIAU, Hamel's theorem: the three polynomial integrals. Rendiconti del Circolo Matematico di Palermo. In press. Georgia Institute of Technology Atlanta

(Received February 9, 1973)