Fluid Mechanics AS102

Class Note No: 06

Wednesday, August 8, 2007

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

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

(1)

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

two important relations:

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


m
k l

:=

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

the christoffel symbols of the second kind

(2)

(3)

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

scalars:

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

(4)

m
g = ;m gm
u m

(5)

{=

m
g }
u m

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

(6)

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

vectors:
a = ak(u) gk = ak(u) gk

{= ak(u ) gk = ak(u ) gk }

(7)

 
am
m
+
ak
a =
g gm ,
:=
l
k
l
u
2nd o. mixed t. Understand the rule

(8)



am
k

ak
a = am;l g g , am;l :=
m l
u l
2nd o. covariant t. understand the rule

(9)

case 1:
am;l

am;l

case 2:
l

am;l = g mn an;l

(10)

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

useful formula:

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

div a := a = gk

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


2

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

(11)

2 := = gl

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

(12)

curl a := a = gk

ba = (bm gm )gk
= b k al

;k gl

(13)

a = bk k (al gl )
u k
u
(14)

Curvilinear Coordinate Systems & Tensor Analysis

Todays topic:
# differentiation of
the 2nd order tensors
# example to apply the learned ruels
equations of motion in curvilinear c. s.

Curvilinear Coordinate Systems & Tensor Analysis

2nd order tensors

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

A = gk k (Aij gi gj )
k
u
u
 ij

gj
A
ij gi
ij
= gk
g
g
+
A
g
+
A
g
i j
j
i
u k
u k
u k
  
 
 ij
m
m
ij
ij
k A
gm
gm gj + A gi
gi gj + A
= g
j k
i k
u k

 mn  
 
A
m
n
in
mj
gk gm gn
+
=
A +
A
i k
j k
u k

A = gk

= Amn;k gk gm gn
Amn;k

 
 
Amn
m
n
in
+
A +
:=
Amj
i k
j k
u k

third order tensor of mixed

(15)
(16)

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

find the pattern:
am;l

 
am
m
=
+
ak ,
l
k l
u

am;l



am
k

=
ak
m l
u l

am;l = g mn an;l
Amn;k

 
 
Amn
m
n
in
+
=
A +
Amj
k
i k
j k
u

(17)
(18)
(19)

(17) as the starting point, covariant / contravariant;

orders, number of free indexes;
positions of & correspondences between the indexes


 
Amn
j
m
i
m
Amj
(20)
An
+
A n;k =
n k
i k
u k

Curvilinear Coordinate Systems & Tensor Analysis

useful formula:
g ij ;m = gij;m = 0

(21)

to show the 1st:

1 g ij ;m a third order mixed tensor (the consequence of diff.)
2 in a rectangular c.s.
g ij ij ,
3
g ij ;m =

g ij ;m ij ;m =

ij
=0
xm

u i u j xr pq
=0
xp xq um ;r

X the characteristic of tensors: if a tensor is zero in one

specific coordinate system, it is zero in other coordinate
systems. (roughly speaking)

Curvilinear Coordinate Systems & Tensor Analysis

useful formula:
examples of product rules

(Aij bk );m = Aij ;m bk + Aij bk ;m

(Aij bj );m = Aij ;m bj + Aij bj;m

(22)

#


 ij
A
i
Alj
+
Aij ;m bk + Aij bk;m =
m l
u m

 
 


bk
j
l
Ail bk + Aij
bl
+

m l
m k
u m





j
i
lj
ij
=
Ail bk
A
b
+
(A
b
)
+
k
k
m l
m l
u m


l

Aij bl = (Aij bk );m

m k

Curvilinear Coordinate Systems & Tensor Analysis

useful formula:

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

 ij
gj
A
ij gi
ij
k
gi gj + A
gj + A gi k
g
u k
u k
u
 
  
 ij
A
m
m
ij
ij
k
gi gj + A
gm gj + A gi
gm
g
k
i k
j k
u
 mn 




A
m
n
in
mj
+
A +
A
gn
i m
j m
u m
Amn;m gn
(23)

A = gk
=
=
=
=

Curvilinear Coordinate Systems & Tensor Analysis

equations of motion
(conservations of mass & linear momentum):

t + v + v = 0,


v

t + vv f =

(24)
0

# to apply the equations, we need the corresponding

component forms !!
= (u m , t),

v = vi (u m , t) gi = v i (u m , t) gi ,

= ij (u m , t) gi gj ,

f = f i (u m , t) gi

gi independent of time t

(25)

Curvilinear Coordinate Systems & Tensor Analysis

equations of motion
(conservations of mass & linear momentum):
v = v k ;k ,

v
v i
=
gi ,
t
t
= ki;k gi

v = v k;k ,

vv = v k v i;k gi ,

(26)

v i
t

+ v k ;k + v k;k = 0,

+ v k v i;k ki;k f i = 0

(27)
(28)

Curvilinear Coordinate Systems & Tensor Analysis

equations of motion
(conservations of mass & linear momentum):
# another perspective to look at the issue
X we have the following component forms of the equations in
a rectangular coordinate system (from the conservations of
mass & linear momentum)

t

vi
t

+ vk ,k + vk,k = 0,

ki,k fi = 0
+ vk vi,k

(29)
(30)

X how to write the corresponding equations in a curvilinear

c.s. ?
(if needed in application, for the sake of convenience)

Curvilinear Coordinate Systems & Tensor Analysis

# another perspective to look at the issue

define

vi
i :=
ki,k fi
+ vk vi,k
a
t
 i

v
i
k i
a :=
+ v v ;k ki;k f i
t


in (xm )
in (u m )

show that such a defined ai is a 1st order contravariant

tensor
ai =

u i
m = 0,
a
xm

see equation (30)

v i
+ v k v i;k
t

ki;k f i = 0

(31)

Curvilinear Coordinate Systems & Tensor Analysis

equations of motion
(conservations of mass & linear momentum):
# example for
ij , ij
for a Newtonian fluid,
ki + (vk ,i + vi,k ),

ki = P

in (xm )

(32)

ki = Pg ki + (v k;l g li + v i;l g kl )

(33)



ki;k = P;k g ki + (v k;l );k g li + (v i;l );k g kl

(34)



 
i
i
m
m
(v ;l );k =
v ;l +
v ;l
v i;m
k
m k
l k
u
i

X further simplfication in an orthogonal c.s.

(35)

Curvilinear Coordinate Systems & Tensor Analysis

This Fridays tutorial time

11:00am 11:50am

... the equations of motion in a cylindrical c.s. ...

& the concept of physical components

Curvilinear Coordinate Systems & Tensor Analysis

derive the specific expressions for (find the rules for orthogonal
c. s. first)

the cylindrical c. s.

 

1
2
2
=
= ,
1 2
2 1
r

2 2

= r , other = 0

(36)

the spherical c. s.






1
1
1
2
2
= r ,
= r sin ,
= .. =
2 2
3 3
1 2
r




1
2
3
= sin cos,
= .. =
3 3
1 3
r


3
= .. = cot,
(37)
2 3