Chapter I

Elements of tensor calculus

Lectures 1 and 2
I-2
Elements of tensor calculus
Transformation of coordinates

' , ' , '

, ,
z y x
z y x
) , cos(
'
x y c
xy
=
z
z
zz
y
z
zy
x
z
zx
z
y
yz
y
y
yy
x
y
yx
z
x
xz
y
x
xy
x
x
xx
e e c
e e c
e e c
e e c
e e c
e e c
e e c
e e c
e e c
'
'
'
'
'
'
'
'
'
=
=
=
=
=
=
=
=
=
z c y c x c z
z c y c x c y
z c y c x c x
zz yz xz
zy yy xy
zx yx xx
+ + =
+ + =
+ + =
'
'
'
' ' '
' ' '
' ' '
z c y c x c z
z c y c x c y
z c y c x c x
zz zy zx
yz yy yx
xz xy xx
+ + =
+ + =
+ + =
I-3
Elements of tensor calculus
0
0
0
1
1
1
2 2 2
2 2 2
2 2 2
= + +
= + +
= + +
= + +
= + +
= + +
zz yz zy yy zx yx
zz xz zy xy zx xx
yz xz yy xy yx xx
zz zy zx
yz yy yx
xz xy xx
c c c c c c
c c c c c c
c c c c c c
c c c
c c c
c c c
Transformation of coordinates
0
0
0
1
1
1
2 2 2
2 2 2
2 2 2
= + +
= + +
= + +
= + +
= + +
= + +
zz zy yz yy xz xy
zz zx yz yx xz xx
zy zx yy yx xy xx
zz yz xz
zy yy xy
zx yx xx
c c c c c c
c c c c c c
c c c c c c
c c c
c c c
c c c
I-4
Elements of tensor calculus
Transformation of coordinates
Einstein notation or
Einstein summation convention:









Kronecker delta
j
i
ij
' e e c =
'
'
j ij i
j ji i
x c x
x c x
=
=
ik kj ij
c c o =

=
=
=
j i if 0
j i if 1
ij
o
ik jk ji
c c o =
P

3 2 1
3 2 1
,x' ,x' x'
,x ,x x
I-5
Elements of tensor calculus
Symbols in Einstein notation

Kronecker delta:

Permutation symbol:

=
=
=
j i if 0
j i if 1
ij
o
0 ...
1
1
1,2,3 of n permutatio odd an is k j, i, if 1
1,2,3 of n permutatio even an is k j, i, if 1
equal are indexes any 2 if 0
113 112 111
321 132 213
231 312 123
= = = =
= = =
= = =

+ =
e e e
e e e
e e e
e
ijk
subscripts are equal
I-6
Elements of tensor calculus
Useful formulae

3 by 3 matrix:

determinant:

adjoint matrix:


identity:
(
(
(

=
33 32 31
23 22 21
13 12 11
A A A
A A A
A A A
A
k j i ijk
A A A e A
3 2 1
det =
( )
qt ps jst ipq ij
A A e e B
A A A B
2
1
det adj
T
=
= =

ks jt kt js ist ijk
e e o o o o =
I-7
Elements of tensor calculus
Scalar

a scalar s is a single component mathematical
entity that remains unchanged after changing
the coordinate system

examples:
mass, volume, temperature, energy, ...
I-8
Elements of tensor calculus
Vector
a vector V is a 3 components mathematical entity
that varies according to:


after the following change of coordinate system:


a vector V is a mathematical entity that associates a
scalar V
v
to any direction v in space by means of a
linear and homogeneous function of the projections v
j

of this direction:


examples: force, velocity, acceleration, heat flux
j ij i
V c V ' =
j ij
i
e c e ' =
j j
V V V v v
v
= =
I-9
Elements of tensor calculus
2
nd
order tensor
a 2
nd
order tensor T is a 3
2
components mathematical
entity that varies according to:

after the following change of coordinate system:

a 2
nd
order tensor T is a mathematical entity that
associates a vector T
v
to any direction v in space by
means of a linear and homogeneous function of the
projections v
j
of this direction:

special case:
kl jl ik ij
T' c c T =
ij jl ik kl
T c c T' =
j ij
i
e c e ' =
j
j
T T v
v
=
k
jk j
k
jk
j
j
j
e T T e T T
T T X
v
v
v
v
= =

I-10
Elements of tensor calculus
n-order tensor
a n-order tensor T is a 3
n
components mathematical
entity that varies according to:

after the following change of coordinate system:

a n-order tensor T is a mathematical entity that
associates a (n-1) order tensor T
v
to any direction
v in space by means of a linear and homogeneous
function of the projections v
j
of this direction.


... ...
...
pqr kr jq ip ijk
T' c c c T =
... ...
...
ijk kr jq ip pqr
T c c c T' =
j ij
i
e c e ' =
I-11
Elements of tensor calculus
Properties of tensors:
equality:



addition:


Multiplication by a scalar:
... ... ijk ijk
B A B A = =
... ... ... ijk ijk ijk
B A C B A C + = + =
... ... ijk ijk
sB A B s A = =
I-12
Elements of tensor calculus
Properties of tensors:
multiplication of tensors:



contraction:
giving the same value to 2 subscripts of a n-
order tensor A produces a (n-2) order tensor
B called contraction of the initial tensor A with
respect to these two subscripts
k ij ijk
B A C B A C = =
( )
l i l i l i ijjl il
A A A A B
33 22 11
+ + = =
I-13
Elements of tensor calculus
Properties of tensors:
Tensor equations :
in (x
1
, x
2
, x
3
) system of coordinates




transformation of coordinates

in (x
1
, x
2
, x
3
) system of coordinates
0 0
...
... ... ...
... ...
= =
= =
= =
ijk
ijk ijk ijk
ijk ijk
T T
B A T B A T
B A B A
... ...
... '
ijk kr jq ip pqr
T c c c T =
... ...
... ... ...
' '
0 ' ' '
ijk ijk
ijk ijk ijk
B A
B A T
=
= =
I-14
Elements of tensor calculus
Identification of a tensor:
1. use one of the two definitions
2. when a quantity is obtained by addition,
multiplication or contraction of tensors, this
quantity is also a tensor
3. quotient rule:
If A
ij
B
ij
= s is a scalar for any tensor B
or if A
ij
U
j
= V
i
is a vector for any vector U
or if A
ij
B
jk
= C
ik
is a 2
nd
-order tensor for any
tensor B
then A
ij
is a 2
nd
-order tensor.

If A
ijk...
U
i
V
j
W
k
... = s is a scalar for any vectors
U, V, W,... then A
ijk...
is a tensor.
I-15
Elements of tensor calculus
Field of tensors


partial derivatives


Taylors series
( ) ( ) x T T x x x T T
ijk ijk
= =
3 2 1 ... ...
, ,
( ) ... ...
p
p
x
c
c
c
( ) ... ...
2
pq
q p
x x
c
c c
c
( ) ( ) ( ) ( )
( )( ) ( ) ... x T x x x x
x T x x x T x T
ijk... pq q q p p
ijk... p p p ijk... ijk...
+ c +
c + =
0
0 0
0
0
0
2
1
I-16
Elements of tensor calculus
Field of tensors

derivation operator


double derivation operator


Laplacian operator
(nabla) V c
i
V V c
ij
( ) ( ) ( )
2
3
2
2
2
2
2
1
2
2
x x x
ii
c
c
+
c
c
+
c
c
= c = V
I-17
Study of vectors
Addition

Dot product


Modulus


Divergence
i i i
B A C B A C + = + =
3 3 2 2
B A B A B A B A s B A s
i i i i
+ + = = =
( ) ( ) ( )
2
3
2
2
2
1
V V V V V V V V V
i i
+ + = = =
3
3
2
2
1
1
div div
x
V
x
V
x
V
V V V V
i i
c
c
+
c
c
+
c
c
= c = V =
I-18
Study of vectors
Cross product





Curl





k j ijk i
V e C
V V V
x x x
e e e
V V curl C c =
c
c
c
c
c
c
= . V = =
3 2 1
3 2 1
3 2 1
k j ijk i
B A e C
B B B
A A A
e e e
B A C
=
= . =
3 2 1
3 2 1
3 2 1
AB C sin =
I-19
Study of vectors
Scalar triple product





Vector triple product





( ) ( ) ( )
3 2 1
3 2 1
3 2 1
C C C
B B B
A A A
C B A e s
B A C A C B C B A s
k j i ijk
= =
. = . = . =
( ) ( ) ( )
( ) ( ) C B A C B A
C B A B C A C B A e e D
C B A B C A C B A D
i s s i t t t s j kst ijk i
. . = . .
= =
= . . =
I-20
Study of vectors
Gradient of a scalar field




Laplacian of a scalar field






3
3
2
2
1
1
grad
e
x

e
x

e
x

G G
i i
c
c
+
c
c
+
c
c
= V
c = V = =
2
3
2
2
2
2
2
1
2
2
2 2
x

ii
c
c
+
c
c
+
c
c
= V
c = V V V = V
I-21
Study of vectors
Some useful formulae
( )
( )
( )


i i i
c + c = c
V + V = V
+ =

grad grad grad
( )
( )
( ) V V V
V V V
V V V
i i i i i i
c + c = c
V + V = V
+ =

grad div div
( )
( ) ( ) x
e

k j ijk

= c c
= V . V
=
0
0
0 grad curl
( )
( )
( ) x V
V e
V
V
k j ijk i

= c c
= . V V
=
0
0
0 curl div
I-22
Study of 2
nd
order tensors
Analogy with matrices
(
(
(

=
33 32 31
23 22 21
13 12 11
T T T
T T T
T T T
T T
ij
(
(
(

=
=
=
1 0 0
0 1 0
0 0 1
if 0
if 1
I
j i
j i
ij
o
I-23
Study of 2
nd
order tensors
Transpose of a 2
nd
order tensor
(
(
(

=
(
(
(

=
= =
33 23 13
32 22 12
31 21 11
33 32 31
23 22 21
13 12 11
A A A
A A A
A A A
A
A A A
A A A
A A A
A
A B A B
T
ji ij
T
| |
3 2 1
3
2
1
V V V V
V
V
V
V
T
=
(
(
(

=
I-24
Study of 2
nd
order tensors
Symmetric tensor


Antisymmetric tensor



Trace and mean value of a tensor

ji ij
T
A A A A = =
0
33 22 11
= = =
= =
A A A
A A A A
ij ji
T
( )
33 22 11
33 22 11
3
1
3
1
tr
3
1
tr
A A A A A A
A A A A A
ii m
ii
+ + = = =
+ + = =
I-25
Study of 2
nd
order tensors
Deviatoric part of a tensor
(
(
(

=
(
(
(

=
= =
m
m
m
ij m ij ij m
A A A A
A A A A
A A A A
A
A A A
A A A
A A A
A
A A A I A A A
33 32 31
23 22 21
13 12 11
33 32 31
23 22 21
13 12 11

o
I-26
Study of 2
nd
order tensors
Matrix product



if U and V are vectors and A a 2
nd
order tensor then

W = A U is a vector where W
i
= A
ij
U
j


s = U
T
V is a scalar equal to s = U
i
V
i
= U.V

C = U V
T
is a 2
nd
order tensor where C
ij
= U
i
V
j


This product is equivalent to
kj ik ij
B A C B A C = =
V U C =
I-27
Study of 2
nd
order tensors
Transformation of coordinates
I c c c c
e c e
e c e
c c c
c c c
c c c
c
T T
j
ji i
j ij
i
= =

=
=
(
(
(

=
'
'
with
33 32 31
23 22 21
13 12 11
V c V V c V
V c V V c V
T
i ij j
j ij i
= =
= =
' '
' '
c T c T T c c T
c T c T T c c T
T
ij jl ik kl
T
kl jl ik ij
= =
= =
' '
' '
I-28
Study of 2
nd
order tensors
Spectral decomposition of a 2
nd
order tensor


v is a principal direction (eigenvector)
is a principal value (eigenvalue)
i j ij
A A v v v v = =
( ) ( )
( ) 0 0 det
0 0
33 32 31
23 22 21
13 12 11
=
(
(
(

=
= =

v o v
A A A
A A A
A A A
I A
A I A
j ij ij
I-29
Study of 2
nd
order tensors
Characteristic polynomial (or characteristic function)









3 real roots
1
,
2
,
3


3 eigen vectors v
(1)
, v
(2)
, v
(3)
0
2 3
= +
A A A
III II I
( )
k j i ijk A
ji ij jj ii A
A
A A A e A III
A A A A
A A
A A
A A
A A
A A
A A
II
A A A A I
3 2 1
22 21
12 11
33 31
13 11
33 32
23 22
33 22 11
det
2
1
tr
= =
= + + =
= + + =
I-30
Study of 2
nd
order tensors
v
(1)
, v
(2)
, v
(3)
are orthogonal
principal axes:






invariants

( )
(
(
(

= =
(
(
(

=
=
3
2
1
) 3 (
3
) 2 (
3
) 1 (
3
) 3 (
2
) 2 (
2
) 1 (
2
) 3 (
1
) 2 (
1
) 1 (
1
) (
0 0
0 0
0 0

v v v
v v v
v v v
v v
d A d A d
e
T d
j
i
j
i
3 2 1
3 1 3 2 2 1
3 2 1



=
+ + =
+ + =
A
A
A
III
II
I
I-31
Study of 2
nd
order tensors
Cayley-Hamiltons theorem




Spectral form of tensor A
0
0
2 3
2 3
= +
= +
A A A
A A A
III A II A I A
III II I
( ) ( ) ( ) ( ) ( ) ( ) 3 3
3
2 2
2
1 1
1
v v v v v v + + = A
I-32
Study of 2
nd
order tensors
Eigen values of the deviatoric part
of a symmetric tensor A

eigenvalues:
1
,
2
,
3

eigenvectors: v
(1)
, v
(2)
, v
(3)

( )
( ) | |
m m m
j ij m ij
ij m ij ij
j ij ij
A A A
A A
A A A
A
= = =
=
)
`

+ =
=
3 3 2 2 1 1

;

0

v o
o
v o
I-33
Study of 2
nd
order tensors
Geometric representation of a symmetric tensor A





Cross of principal values


I-34
Study of 2
nd
order tensors
Functions of a
symmetric tensor A
) (

i
i
M A =
) (
) sin( sin
i
i
M A =
) (
) ln( ln
i
i
M A =
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( )
( ) ( )
( )
( ) ( )
( )
( ) ( )
( )
( ) ( )
( )
( ) ( )
( )
( ) ( ) 3 3
3
2 2
2
1 1
1
3 3
3
2 2
2
1 1
1
3 3
3
2 2
2
1 1
1
2 2
3
3
ln ln ln ln
sin sin sin sin
...
2
1
ln ... 1
2
1
1 ln
...
6
1
sin ...
6
1
sin
v v v v v v
v v v v v v
v v v v v v
+ + =
+ + =
+ + =
+ = + =
+ = + =
A
A
A
I A I A A a a a
A A A a a a
sum) (no
) ( ) ( ) ( i i i
M =
I-35
Integration by parts
} } }
c = c
v
ijk q lmn
a
lmn ijk q
v
lmn q ijk
dv F G da G F n dv G F
... ... ... ... ... ...
} }
= c
a
lmn q
v
lmn q
da G n dv G
... ...
I-36
Integration by parts
} }
} }
} }
} }
} }
} }
. =
= c
=
= c
=
= c
a v
a
k j ijk
v
k j ijk
a v
a
i i
v
i i
a v
a
i
v
i
da U n dv U
da U n e dv U e
da U n dv U
da U n dv U
da n dv
da n dv
rot

div

grad

I-37
Integration by parts
} } }
c = c
=
a
ijk q lmn lmn ijk q
a
lmn q ijk
da F G ds G F n dv G F
... ... ... ... ... ...
3 2 1
C
C C C C
I-38
Cylindrical coordinates
z x
r x
r x
=
=
=
3
2
1
sin
cos
3
2 1
2 1
cos sin
sin cos
e e
e e e
e e e
z
r
=
+ =
+ =
u
I-39
Spherical coordinates
r x
r x
r x
cos
cos sin
sin sin
3
2
1
=
=
=
3 2 1
2 1
3 2 1
sin cos cos sin cos
sin cos
cos cos sin sin sin
e e e e
e e e
e e e e
z
r
+ =
=
+ + =
u
I-40
Curvilinear coordinates
( )
( )
( )
( ) | o
| o
| o
| o
, ,
, ,
, ,
, ,
3 3
2 2
1 1
i i
x x
x x
x x
x x
=
=
=
=
i
i
i
i
i
i
e c e
e c e
e c e

|
|
o
o
=
=
=
(
(
(

=
| o
| o
| o
3 3 3
2 2 2
1 1 1
c c c
c c c
c c c
c
o
o
o
o
o
g
g
e
e
x
g
j
j
1
=
c
c
=
I-41
Curvilinear coordinates
vector:
Cartesian coordinates V = V
i
e
i
curvilinear coordinates V = V

tensor:
Cartesian coordinates T
ijk...
curvilinear coordinates T
q,...



i i
i i
V c V
V c V


=
=
... ...
... ...
...
...
ijk k j i
k j i ijk
T c c c T
T c c c T
q q
q q
=
=
I-42
Differential operators

q
e c c e
i i
c = c

e c e
e c e
i
i
i
i


=
=

)
`

=
c = c

q
e c e
e c e
i
i
i
i


I-43
Differential operators
0 0
0 0
0 0
= c = c = c
= c = c = c
= c = c = c
z
z
z z

z
r

z
r

r
r
z
r

r
r
e e e e
e e e e
e e e e
Cylindrical coordinates
I-44
Differential operators
r

r
r
r
e e
e
e e
e e
e e e
e e
e
e
e
= c
= c
= c
= c
= c
= c
= c
= c
= c
0
cos
cos sin
sin
0
0
0
Spherical coordinates
I-45
Differential operators
( ) ( ) ( )
i i
dx dx dx dx dx ds = + + =
2
3
2
2
2
1
2
q q
q
q
q

q
d d g g d d g g ds e g g
d d x x dx dx ds d x dx
i i
i
i
i i i i i i



2
2
= = =
c c = = c =
( ) ( ) ( )
2 2 2
2
| o
| o
d g d g d g ds + + =
| o
| o
d g dx d g dx d g dx = = =
3 2 1
I-46
Differential operators
3
3
2
2
1
1
3 2 1
e
x

e
x

e
x

d g dx d g dx d g dx

c
c
+
c
c
+
c
c
= V
= = =

|
|
o
o
| o
e

g
e

g
e

c
c
+
c
c
+
c
c
= V
1 1 1





cylindrical coordinates: g
r
=1 ; g
u
=r ; g
z
=1



spherical coordinates: g
r
=1 ; g

=r sin ; g
u
=r
z r
e
z

r
e

c
c
+
c
c
+
c
c
= V
u
u o
1
r
e

r
e

r
e
r

c
c
+
c
c
+
c
c
= V
1
sin
1

I-47
2D problems
latin indices: i = 1,2
greek indices: = o,|
cylindrical coordinates polar coodinates r,u
Lams ellipsoid ellipse
cross of principal values 2 branches
( )
( )
2
12
2
22 11 22 11
2
2
12
2
22 11 22 11
1
22 11
12
0
22 21
12 11
2 2
2 2
2
2 tan
T
T T T T
T
T
T T T T
T
T T
T
T T
T T
T
+
|
.
|

\
|

+
=
+
|
.
|

\
|

+
+
=

=
(

= o
Chapter I
Elements of tensor calculus

End
I-49
Study of 2
nd
order tensors
Geometrical representation of a symmetric tensor A

Considering A in its principal axes v
(1)
, v
(2)
, v
(3)

( ) ( ) ( ) 1
; ;
2
3
2
2
2
1
3 3 3 2 2 2 1 1 1
) 3 (
3 3
) 2 (
2 2
) 1 (
1 1
) (
) 3 (
3
) 2 (
2
) 1 (
1
= + +
= = =
+ + =
= =
+ + =

A A A
A
A A A

k
jk j j
j

v v v
v
v v v
1
2
3
1
2
2
1
2
1
1
=
|
|
.
|

\
|
+
|
|
.
|

\
|
+
|
|
.
|

\
|


A A A
I-50
Study of 2
nd
order tensors
Geometric representation of a symmetric tensor A


Lams ellipsoid








Cross of principal values