Constitutive relations link deformation and stresses.

These relations must

be found in a two way manner. First evaluate relations that are in
accordance with thermodynamic considerations and in second with the
data evaluated from experiments.
First law of Thermodynamics
The first law of thermodynamics express the principle of conservation of
energy for a thermomechanical continuum that is a continuum in which
only the mechanical and thermal effects affects the behavior of the
continuum. In symbolic notation the first law of thermodynamics can be
written :
K U P Q + +
& &
(1)
where K is the kinetic energy, U is the internal energy , P is the mechanical
power input and Q is the rate of heat input.
The total kinetic energy for a body of mass density
0
( ) R and volume
0
V
in the reference configuration (t=0) which after deformation become
( , ) t r and V is given by
0
0 0 0 0
1 1
2 2
V V
K dV V

v v v v
(2)
where ( , ) t v v r is the velocity vector in deformed configuration and
0 0
( ) v v R is the velocity vector in the reference configuration.
The mass conservation state that dV const so
0 0 dV dV dV

+
G55H GH
&
(3) . If we differentiate the total kinetic energy according to time we
express the following :
(3)
1 1
2 2
V V
V
dV
K dV dV dV dV
dt
K dV

1
+ + +
1
]

v v v v v v v v v v
v v
G555555H
&
& & &
&
&

But from the local equation of motion
*
+ v a f & where a is the
acceleration and is the Cauchy stress tensor and
*

is the gradient
operator in the deformed body.
*
( + )dV
V
K

v f
&

(4).
Now the term ( )
*
v can be evaluated in the following way :
( ) ( )
( )
*
k ij i j ij,k ki j ij,i j k ij,i j
k
* *
k ij,i k j k ij,i kj j ij,i j ij j,i ij
,i
* * * *
ij i j k ij k i j ij k i jk
( ) (v ) ( )
x
v v v v v ( ) :
where ( ) ( v ) ( v ) ( v )
_

,


k
k k
v v e e e v e v e e e
e e v v
v e e e e e e e
( )
k ij j i ij j k ki ij j i
k
*
ij i j k m m ij m,k i k j m ij m,k ik jm
k
ij j,i
( v ) ( v ) ( v )
x
and : : v v ( )( ) v
x
v
_

,
_

e e
v e e e e e e e e
Moreover
*
: : ( ) : v D D where : 0 as is a symmetric
tensor and is an antisymmetric tensor and the double contraction is
zero.
Thus (4) becomes :
( )
*
V
K : v dV 1 +
]
v D f
&

(5)
U in (1) is the total internal energy which consists from the thermal energy
and the strain energy. It is
V
U udV
where u is the internal energy per unit mass.
V V
U udV u dV

G55H
&
& (6)
as from mass conservation dV const so
0

G55H
dV
.
P in (1) is the rate of work done on the body by applied loads, which
includes surface and body forces.
A V
P dA dV +

T v f v
(7)
Where A is the surface area of the deformed body , f(r,t) is the body force
per unit deformed volume and T is the true stress vector given by
T n where is the true or Cauchy stress tensor.
(7) becomes
A V
P dA dV +

n v f v
and according to divergence theorem
A V
dA dV

n a a
becomes finally
*
V
P ( ) dV 1 +
]
v f v
(8).
Finally Q in (1) is the heat that exchange the body with the environment
which is the heat flowing across the surface and the heat generated by
internal sources.
A V
Q dA hdV +

q n
(9)
where q is the heat flux that directed outward from surface A and h is the
rate of heat production per unit mass due to internal sources.
(9) with using the divergence theorem becomes
*
V
Q ( h )dV

q
(10).
With the combination of (1), (5),(6),(8) and (10) deduce the global and in
sequence the local form of the first law of thermodynamics.
( )
*
V
u : h dV 0 +

D q &
(11)
*
u : h 0 + D q & (12)
In (12) u &
is the rate of increase in internal energy of a volume element ,
: D is the stress power i.e. the rate of work done by the stresses on the
element, h is the rate of internal heat production and
*
q is the rate of
heat flow into the element.
In the following discussion important is the stress power.
2. Second law of thermomechanics
The second law of thermodynamics based on the concept of entropy which
is a measure of the disorder of a system from an increase in heat energy
or as the quantitative measure of microscopic randomness and disorder
over its permissible microstates (CALLEN ch 17) .
The entropy that holds a continuum body is
V
H dV
where is the specific entropy per unit volume
The change of the specific entropy between two thermodynamic states is
defined by
Q2
2 1
Q1
dQ
T

(2.1)
where Q is the heat input per unit mass and T is the absolute temperature.
A process is called reversible if the total entropy in a system is conserved
and irreversible if the systems entropy raise due to heat input from
phenomena like friction or viscosity. In (2.1) the equation holds for a
reversible process.
In a process for a continuum body the rate of entropy input in the body
consist of the value of entropy transferred across its boundary surface and
the entropy generated (or destroyed) inside that region
.
Finally deduce the global and local form of the Clausius-Duhem inequality.
*
V
h
dV 0
T T
1
_
+

1
, ]

q
&
*
h 1
0
T T
_
+

,
q
&
(2.10)
The term
*
T
_

,
q
can be evaluated as follow :
* ,i i ,i ,i
i i i ,i i 2 2
i
* *
i i 2 2
i i
T q T T
1
T x T T T T
1 1 T 1 1
T
T x T x T T
_ _
_ _

, ,
, ,
_ _



, ,
q
q q
e e e q e q
e q q e q q
(2.10) becomes
* *
2
h 1 1
T 0
T T T
+

q q &
. But the heat flux and the
temperature gradient have opposite signs as the heat flows from a
warmer part of a body to a cool part so the last term is always negative or
zero in the case where q=0.
So the second law of thermodynamics finally can be written in the form:
*
h 1
0
T T
+

q &
(2.11)
3. Fundamental constitutive principles
Following Taber[2004], Holzapfel,Ogden and Truesdell & Noll , there are
some fundamental principles that restrict the form of a constitutive
equation. The constitutive principles are:
1.Coordinate invariance. The coordinate system which used to describe
the motion of a body should not affect the constitutive equations.
2. Determinism. The values of the dependent constitutive variables at a
point in a point are determined by the histories of all points in the body.
[Taber 2004]
3.Local action. The values of the dependent constitutive variables at a
point p in a body are not affected significantly by the values of the
independent variables outside and arbitrarily small neighborhood of p.
4.Equipresence. An independent variable that appears in one constitutive
equation for a material must be present in all constitutive equation for the
material , unless its presence violates some other fundamental principle.
5.Material frame indifference (Material objectivity). Constitutive equations
must be form invariant under rigid motions of the spatial(observer)
reference frame.
6.Physical admissibility. Constitutive equations must be consistent with
the fundamental physical balance laws (mass, momentum,energy) and the
law of entropy (second law of thermodynamics)
7.Material symmetry. Constitutive equations must be form invariant under
certain rigid transformations of material frames , depending on the
symmetries inherent in the material.
The constitutive equation for a thermoelastic material can be written as :
( , , T, T) ( , , , ) R F R F . The Cauchy stress tensor is an objective
quantity .
The state of stress in a thermoelastic body depends only on the
instantaneous deformation and temperature fields.

In summary , the constitutive equations for a hyperelastic material can be

written :
1 T
T
T
J

F F
E
t F
E F
s
E