Lecture 01: Mathematical

Preliminaries of Theory of Elasticity

Jayadeep U. B.
Dept. of Mechanical Engg., NIT Calicut.
 Introduction
Theory of Elasticity (TOE) is the study of objects undergoing elastic
deformations in order to determine the stresses, strains and deformations
in an arbitrary body undergoing elastic deformations under the action
specified forces (surface tractions and body forces) and specified
boundary conditions (displacement or velocity constraints).
In an elastic deformation, there is a unique relationship between stress
and strain, i.e., given the state of stress or strain, the other quantity can
be uniquely determined.
It is obvious that the object will return to the original shape
(configuration) on unloading completely.
TOE involves the study of the precise definitions and equations
necessary for the complete formulation of a given problem, and
potential solution strategies.
In this lecture we start with the discussion on some of the mathematical
preliminaries necessary for a study of TOE.
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 Scalar, Vector and Tensor Variables
A variable like temperature or density, which is fully specified by a
single number (usually called the magnitude) is known as a scalar.
A scalar variable is independent of the coordinate system used.
Variables like velocity or force, which require additional information
(like direction) are called vectors.
Though vectors are also independent of the coordinate system, their
components are specific to the coordinate system used.
In the component form, a vector requires two components to be
specified in 2D and three components in 3D.
They must obey the rules of vector algebra, specifically, the
parallelogram law of vector addition can be used as a check.
Mathematicians completely avoid the concept of magnitude and
direction, and define a vector as an element of the vector space.
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 Scalar, Vector and Tensor Variables contd.
Tensors second order tensors, to be precise are quantities like stress
and strain which require one more level of information.
In the specific case of a stress tensor, the plane on which the component
acts also must be specified.
For the precise definition of a tensor, we use either the transformation
laws (next lecture) or their action on vectors (refer to any Continuum
Mechanics books like that by Prof. Jog).
With respect to a coordinate system, such quantities are written as
matrices, and hence they are also called as matrix variables.
However, like the scalars and vectors, tensors also have an existence
independent of the coordinate system.
Tensor formalism: Scalars are zeroth order tensors, vectors are first order
tensors, matrix variables are second order tensors. Tensors of even
higher order exist (refer books on Continuum Mechanics).

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 Concept of a field
In TOE, we deal with continuous systems the hypothetical
continuum.
Hence, the variables can change continuously with the spatial
coordinates as well as time.
Such quantities, which are expressed as functions of position, and
possibly of time, are called as fields.
In TOE, the fields can either be scalar fields like temperature or
density, vector fields like displacement, velocity or body force, or
higher order tensor fields of like stresses, strains or the
constitutive tensor.
This continuous variation allows the use of tools of differential
calculus, like the use of differentiation for getting the strains from
displacement fields.
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 Notational Conventions in TOE
Matrix Notation (Conventional):
Scalars are written as numbers, vectors as 1D arrays (column
vectors), and tensors as matrices.
Depends on a coordinate system (x-y-z for example).
Writing out the equations in full is equivalent to this notation.
We usually need it for solving any particular problem.
What to do for higher order (three or more) tensors?
Index Notation (Indicial Notation):
A general (or arbitrary) component is used to represent the variable.
Hence, this notation also depends on a coordinate system.
Number or indices (subscripts) tells the order of the tensor.
Additional rules and techniques are required to be learned, but leads
to very handy equations and other expressions.
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 Notational Conventions in TOE contd.
Can be used very conveniently for tensors of any order.
However, gives the wrong notion of coordinate system dependence
of variables, and can become cumbersome in complicated
derivations, especially of large deformation problems in Continuum
Mechanics.
Absolute, Direct or Symbolic Notation:
Scalar, vector or tensor quantities expressed as variables of the
respective kind.
Independent of coordinate systems, and hence physically realistic.
Very powerful for advanced analysis in Continuum Mechanics, but
requires a lot of groundwork in tensor algebra and calculus.
We will adopt Index Notation in general, and Matrix Notation
(usually in the expanded form) for solving particular problems.
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 Index Notation: The Coordinate System
Conventional Coordinate Coordinate Systems for use
Systems with Index Notation
Coordinate axes: x, y, z (Cartesian) Coordinate axes: x1, x2, x3
Unit vectors: i, j, k Unit vectors: e1, e2, e3
Components of u: ux, uy, uz Components of u: u1, u2, u3
Why this change?
Convenient for summation with the help of subscripts.
Easily extendable to spaces of any dimension (for mathematicians!).
A general coordinate direction or a component is given by using a
variable subscript, which is not strictly possible with the conventional
coordinate system.
Please notice carefully the difference between i and ei. First one is
a unit vector along a prescribed direction, while the second one is a
general unit vector giving any of the coordinate directions.
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 Index Notation
Index notation is a shorthand scheme of representing whole elements
by a single symbol with subscripts: e.g.: ai for a1 a2 a3
This symbol actually represents a general component of the
corresponding tensor (of any order) in the given coordinate system.
Hence, the number of subscripts (indices) corresponds to the order of
the tensor: no subscripts for zeroth order tensor (scalar), one subscript
for first order tensors (vector), two subscripts for second order tensors
and so on.
Range of an index is decided by the problem dimensionality: e.g.:1 & 2
for 2D and 1,2 & 3 for 3D.
Operations are performed using the components.
Each component of tensors of any order is a scalar, and hence the order
in which the symbols appear does not matter. Extreme care is required
while writing the indices.
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 Summation Convention
Introduced by Albert Einstein, hence called as Einsteins Summation
Convention also.
At the basic level, it amounts to nothing more than dropping the
summation symbol (probably, just being lazy!).
It is assumed that any index repeating twice, within a term, implies
summation over the range of its values (based on dimensions).
Summation is not implied if indices repeat in different terms or when
the repeated indices are constants (numbers).
Such indices over which summation is to be carried out are called
dummy indices, while others are called free indices.
Free indices should match in all terms; dummy indices can be arbitrary.
No index should appear more than twice in a term, without specific
statements like no summation over i or an equivalent notation.
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 Summation Convention: Examples
1. Vector Sum: ci = ai + bi = bi + ai
2. Dot product of two vectors: a b = ai bi = bi ai = a1b1 + a2b2 + a3b3
A11 A12 A13 b1

3. Matrix multiplying a vector: ( Ab )i = Aij b j = A21 A22 A23 b2
A31 A32 A33 b3
4. Premultiplying a Matrix with a vector: ( A) = bi Aij = Aij bi
b T
j

A11 A12 A13

= b1 b2 b3 A21 A22 A23
A31 A32 A33
Identify the free and dummy indices in each case.
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 Kronecker Delta
Kronecker delta is a very useful symbol in index notation:
1, if i = j
ij =
0, if i j
Few properties of Kronecker delta: 1. ij = ji
2. ii = 3 (assuming 3D)
3. ij a j = ai , ij ai = a j
Because of the third property (observe the summation convention
in action) Kronecker delta is also called a replacement operator.
Krocecker delta gives the components of an identity matrix.
Simplify: 1. ijij 2.ij jk 3. ij aij 4. ij (1 3) kkij

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 References
Sadd, M.H., Elasticity: Theory, Applications and Numerics,
Academic Press.
Chandrasekhariah, D.S. and Debnath, L., Continuum Mechanics,
Academic Press.

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