Lecture 2

Vector and Tensor Algebra

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Part A
Review of Algebra

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Scalars

Definition
Simple physical quantities which are completely described by a
single real number, e.g. temperature, density, energy. They are
unaffected by coordinate system rotations or translations
Notation: T , , E , k

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Vectors
Definition
Geometric entities endowed with both length and direction. They
are used to represent physical or mechanical quantities which have
both magnitude and direction, e.g. displacement, velocity, force
Notation:

r r r
U , v, F

r
r
r
r
a = a1e1 + a2 e2 + a3e3

x3

r 3 r
a = ai ei

a3

r
e3
r
e1
a1

i =1

r
a
r
e2

a2
x2

a1
r
a = a2
a3

x1
KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Algebra of Vectors

Dot product (scalar product)

r r r r
a b = a b cos = a1b1 + a2b2 + a3b3
0

r
a = a12 + a22 + a32

r
b = b12 + b22 + b32

Property:
r r r r
a b = b a

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Algebra of Vectors

Cross product (vector product)

r r r
a b = c
r r r
c = a b sin
0

r
a = a12 + a22 + a32
Property:

r r
r r
ab = b a

a2b3 a3b2
r
c = a3b1 a1b3
a1b2 a2b1
r
b = b12 + b22 + b32

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Algebra of Vectors

Cross product (vector product)

r r r
e
1 e2 e3
r r
a b = det a1 a2 a3
b1 b2 b3
r r
r
r
r
a b = (a2b3 a3b2 ) e1 + (a3b1 a1b3 ) e2 + (a1b2 a2b1 ) e3
Property:

r r
r r
ab = b a

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Algebra of Vectors

Cross product (vector product)

r r r
c = ab
r
b
r
a

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Example 1
Question
Find the scalar product of the following two vectors:
r
r
r r
r r
r
b = 3e1 2e2 + e3
a = e1 + 2e2
Determine also the angle between the two vectors

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Example 2
Question
r
Referring to Example 1, what is the angle between vector a with the
axis x1 , x2 and x3

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Example 3
Question
Find the vector product of the following two vectors:
r
r
r r r
r
r
a = 2e1 + e2 e3
b = 4e2 + 5e3

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Algebra of Vectors

Change of basis (coordinate system)

r
r
r
a = a1e1 + a2 e2

x2

a2

r
a

a1

KMEB 4349 Continuum Mechanics

x1

Dr. A. Andriyana

Algebra of Vectors

Change of basis (coordinate system)

r
r
r
r
r
a = a1e1 + a2 e2 = a1 e1 + a2 e2

x2
x2

a2

r
a

a2

a1
a1

KMEB 4349 Continuum Mechanics

x1

x1

Dr. A. Andriyana

Algebra of Vectors

Change of basis (coordinate system)

r
r
r
r
r
a = a1e1 + a2 e2 = a1 e1 + a2 e2

x2
x2

a1 = OB + CD
= a1 cos + a2 sin

a2

r
a

a2

x1

a1

a2 = AC AB
= a2 cos a1 sin

A
O

KMEB 4349 Continuum Mechanics

a1

x1

Dr. A. Andriyana

Algebra of Vectors

Change of basis (coordinate system)

r
r
r
r
r
a = a1e1 + a2 e2 = a1 e1 + a2 e2

x2
x2

a1 = OB + CD
= a1 cos + a2 sin

a2

r
a

a2

x1

a1

A
O

a1

Q Transformation matrix (tensor)

x1

a2 = AC AB
= a2 cos a1 sin

a1 cos
a = sin
2
0 0

sin
cos
0

Q
KMEB 4349 Continuum Mechanics

0 a1
0 a2
0 0

Dr. A. Andriyana

Algebra of Vectors

Change of basis (coordinate system)

r
T r

a =Q a

Q = transpose of Q
T

r r
r r
r r
cos(e1 , e1) cos(e1 , e2 ) cos(e1 , e3 )
r r
r r
r r
Q = cos(e2 , e1) cos(e2 , e2 ) cos(e2 , e3 )
r r
r r
r r
cos(e3 , e1) cos(e3 , e2 ) cos(e3 , e3 )

KMEB 4349 Continuum Mechanics

r r
ei e j
r r
Note: cos(ei , e j ) = r r
ei e j

Dr. A. Andriyana

Example 4
Question
Consider the first basis
1
r
e1 = 0
0

0
r
e2 = 1
0

0
r
e3 = 0
1

and the second basis

1
r
e1 = 1
0

1
r
e2 = 1
0

0
r
e3 = 0
1

r r
r
Find the components of a = e1 + 2e2
KMEB 4349 Continuum Mechanics

in the second basis

Dr. A. Andriyana

Tensors
Definition
Geometric entities introduced into physics to extend the notion of
scalars and vectors to higher orders, e.g. stress, strain, elasticity
tensors
Notation:

, , F A E

Second order tensor may be thoughtr of as a linear operator that acts

r
on a vector a generating a vector b

r
r
b = Aa

KMEB 4349 Continuum Mechanics

A11
A = A21
A31

A12
A22
A32

A13
A23
A33

Dr. A. Andriyana

Algebra of Tensors

Symmetric and anti-symmetric (skew) parts

Any second order tensor A can always be uniquely decomposed
into asymmetric and anti-symmetric parts

1
T
Asym = A + A
2

KMEB 4349 Continuum Mechanics

Askew

1
T
= A A
2

Dr. A. Andriyana

Algebra of Tensors

Trace and double contraction

A11
A = A21
A31

A12
A22
A32

A13
A23
A33

B11
B = B21
B31

B12
B22
B32

B13
B23
B33

tr A = A11 + A22 + A33

) (

) (

A : B = tr A B = tr B A = tr A B

KMEB 4349 Continuum Mechanics

) = tr (B A ) = B : A
T

Dr. A. Andriyana

Example 5
Question
Give the expression of the strain energy density W of an isotropic linear
elastic material if the strain energy density is defined by half of the
contraction between the stress and the strain tensors. Note that both
tensors are symmetric. What is the unit of W ?
11 12 13
= 12 22 23
13 23 33

W=

11 12 13
= 12 22 23
13 23 33

1
( : )
2

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Example 6
Question
The configurational stress tensor is a second order tensor which
represents the amount of directional energy changes associated with
microstructural rearrangement in a material under loading. In the case
of anisotropic materials, this tensor is generally non-symmetric.
Determine the symmetry and skew parts of the configurational stress if
its expression is as follow:
3 4 1
= 6
0 1 MJ/m 3
3 13 4

Give comments on the form of symmetric and skew parts of this tensor

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Algebra of Tensors

Change of basis (coordinate system)

A11
A = A21
A31

A12
A22
A32

A13
A11

= A21
A23

A33 er ,er ,er A31

1 2 3

A12

A22

A32

A13

A23

er ,er ,er
A33
1 2 3

T
A = Q A Q

r r
r r
r r
cos(e1 , e1) cos(e1 , e2 ) cos(e1 , e3 )
r r
r r
r r
Q = cos(e2 , e1) cos(e2 , e2 ) cos(e2 , e3 )
r r
r r
r r
cos(e3 , e1) cos(e3 , e2 ) cos(e3 , e3 )

KMEB 4349 Continuum Mechanics

r r
ei e j
r r
Note: cos(ei , e j ) = r r
ei e j

Dr. A. Andriyana

Review from Calculus

Gradient of a vector field
r
The gradient (derivative) of a smooth vector field a is defined to be a
second order tensor field A

r
r
r
r
a = a1 (x1 , x2 , x3 ) e1 + a2 ( x1 , x2 , x3 ) e2 + a3 (x1 , x2 , x3 ) e3
a1

x1
r
a
A = grad a = 2
x1
a
3
x1

KMEB 4349 Continuum Mechanics

a1
x2
a2
x2
a3
x2

a1

x3
a2
x3
a3
x3

Dr. A. Andriyana

Review from Calculus

Divergence of a tensor field

A11 (x1 , x2 , x3 ) A12 (x1 , x2 , x3 ) A13 ( x1 , x2 , x3 )
A = A21 ( x1 , x2 , x3 ) A22 (x1 , x2 , x3 ) A23 (x1 , x2 , x3 )
A31 (x1 , x2 , x3 ) A32 (x1 , x2 , x3 ) A33 ( x1 , x2 , x3 ) er1 ,er2 ,er3

r
b = div A

KMEB 4349 Continuum Mechanics

A11 A12 A13

+
+

x
x
x3

2
b1 1
b = A21 + A22 + A23
2 x
x3
x2
b3 1

A
A
A

31
32
33

+
+
x3
x2
x1

Dr. A. Andriyana

Example 7
Question
The displacement of a particle in the material under biaxial loading is
given by

r
r
r
r
u = k1 x1e1 + k 2 x2e2 + k3e3
Determine the displacement gradient of the particle

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Part B
Stress and Strain Tensors

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

Displacement-Strain Relation
For displacement field

u x (x, y, z )
r r
r
r
r
u = u ( x, y, z ) = u x ( x, y, z ) x + u y (x, y, z ) y + u z ( x, y, z ) z = u y (x, y, z )
u z ( x, y, z ) xr , yr , zr
Engineering strain tensor (small strain tensor)

u x

1 u u
= x + y
x
2 y
1 u x u z
+

2
z
x

KMEB 4349 Continuum Mechanics

1 u x u y

+
2 y
x
u y

y
1 u y u z

+
2 z
y

1 u x u z
+

2 z
x
1 u y u z

+
2 z
y

u z

z
xr , yr , zr

Dr. A. Andriyana

Principal Values Principal Directions

For a second order tensor A
Axx

A = Ayx
Azx

Axy
Ayy
Azy

Axz
I

Ayz
= 0
Azz r r v 0
x, y,z

3 mutually orthogonal
directions

KMEB 4349 Continuum Mechanics

II
0

0
0
III nr

I , II , III
r r
I , n II , n III

Principal values

Principal directions
(no shear component)

Dr. A. Andriyana

Principal Values Principal Directions

For a second order tensor A
Axx

A = Ayx
Azx

Axy
Ayy
Azy

Axz
I

Ayz
= 0
Azz r r v 0
x, y,z

II

3 mutually orthogonal
directions

r
r
An = n

det (A I ) =

0
0
III nr

I , II , III
r r
I , n II , n III

Principal values

Principal directions
(no shear component)

r r
(A - I ) n = 0

Axx

Axy

Axz

Ayx

Ayy

Ayz

Azx

Azy

Azz

KMEB 4349 Continuum Mechanics

=0

I , II , III
All real values for
a symmetric tensor
Dr. A. Andriyana

Example 8
Question
Construct the stress tensor at a point M located at surface of a circular
shaft used to transfer torque T from
a turbine to a generator. Use the
r r r
cylindrical coordinate system r , , z for this purpose.

KMEB 4349 Continuum Mechanics

Dr. A. Andriyana

General Remarks
Any elasticity (linear or non-linear) problem can be solved using the
following set of equations:
Equation

Displacement - strain

Equilibrium equation

1
T
H +H
2

r
div = 0

Number of
equations

Number of
unknowns

KMEB 4349 Continuum Mechanics

15

Dr. A. Andriyana

General Remarks
Any elasticity (linear or non-linear) problem can be solved using the
following set of equations:
Equation
Displacement Strain
Relation

Equilibrium
Equation

Constitutive
Equation

1
T
H +H
2

r
div = 0

= f ( )

Number of
Equations

Number of
Unknowns

No
additional
unknown

15
KMEB 4349 Continuum Mechanics

15
Dr. A. Andriyana

General Remarks
Any elasticity (linear or non-linear) problem can be solved using the
following set of equations:
Equation
Displacement Strain
Relation

Equilibrium
Equation

Constitutive
Equation

1
T
H +H
2

r
div = 0
E
E
=
+
(tr ) I
(1 + )(1 2 )
1+

Number of
Equations

Number of
Unknowns

No
additional
unknown

Isotropic linear elastic materials

15
KMEB 4349 Continuum Mechanics

15
Dr. A. Andriyana