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1 1
Useful Identity aij (aij a ji ) (aij a ji ) a( ij) a[ij]
2 2
1 1
a( ij ) ( aij a ji ) . . . symmetric a[ij ] ( aij a ji ) . . . antisymmetric
2 2
Example 1-1: Index Notation Examples
1 2 0 2
The matrix aij and vector bi are specified by
aij 0 4 3 , bi 4
2 1 2 0
Determine the following quantities: aii , aij aij , aij a jk , aij b j , aij bi b j , bi bi , bi b j , a(ij ) , a[ij ]
Indicate whether they are a scalar, vector or matrix.
1 1 0 3
ai 4 , aij 0 2 2
x3
2 3 2 4
x 3
Determine the components of each tensor in a new coordinate system
found through a rotation of 60o (/6 radians) about the x3-axis.
Choose a counterclockwise rotation when viewing down the negative
x3-axis, see Figure 1-2.
x 2
The original and primed coordinate systems are shown in Figure 1-2.
The solution starts by determining the rotation matrix for this case
x2
o
cos 60 cos 30 cos 90 1 / 2 3 / 2 0 60
Qij cos 150 cos 60 cos 90 3 / 2 1 / 2 0 x 1
cos 90 cos 90 cos 0 0 0 1 x1
The transformation for the vector quantity follows from equation (1.5.1)2
1/ 2 3 / 2 0 1 1 / 2 2 3
ai Qij a j 3 / 2 1 / 2 0 4 2 3 / 2
0 0 1 2 2
and the second order tensor (matrix) transforms according to (1.5.1)3
T
1/ 2 3 / 2 0 1 0 3 1 / 2 3 / 2 0 7/4 3/4 3/ 2 3
aij Qip Q jq a pq 3 / 2 1 / 2 0 0 2 2 3 / 2 1 / 2 0 3 / 4 5/ 4 1 3 3 / 2
0 0 1 3 2 4 0 0 1 3 / 2 3 1 3 3 / 2 4
Principal Values and Directions for
Symmetric Second Order Tensors
The direction determined by unit vector n is said to be a principal direction or
eigenvector of the symmetric second order tensor aij if there exists a parameter
(principal value or eigenvalue) such that
aij n j ni ( aij ij )n j 0
which is a homogeneous system of three linear algebraic equations in the
unknowns n1, n2, n3. The system possesses nontrivial solution if and only if
determinant of coefficient matrix vanishes
x3
1 0 0
a11 a13
aij 0 2 0
a12
aij a21 a22 a23
0 0 3
a31 a32 a33
x2
n(3) n(2)
x2
n(1)
x1
x1
5 1
In similar fashion the other two principal directions are found to be n( 2 ) e1 n( 3) ( e 2 2e 3 )
5
It is easily verified that these directions are mutually orthogonal.
Note for this case, the transformation matrix Qij defined by (1.4.1) becomes
0 2 / 5 1 / 5 5 0 0
Qij 1 0 0 aij 0 2 0
0 1 / 5 2 / 5 0 0 5
Vector, Matrix and Tensor Algebra
Scalar or Dot Product a b a1b1 a2 b2 a3b3 ai bi
e1 e 2 e3
Vector or Cross Product a b a1 a2 a3 ijk a j bk ei
b1 b2 b3
Comma notation for partial differentiation a,i a , ai , j ai , aij,k aij ,
xi x j xk
u ui , j 0 3 z 3 y 4
y x 0 2 y
e1 e2 e3 0
u / x / y / z ( x 3 y )e1 ye 2 x
-2
2x 3 yz xy
-4
-6
-8
-10
-10 -5 0 5 10
Vector/Tensor Integral Calculus
Divergence Theorem S
u n dS u dV
V S
aij... k nk dS aij... k ,k dV
V
Stokes Theorem u dr
C S
( u) n dS C
aij... k dxt rstaij... k ,s nr dS
S
g f g f
S x y dxdy C ( fdx gdy) S x dxdy C gnx ds , S y dxdy C fny ds
z ê z êr
ê ê
ê
e3 êr e3 R
x2 e1 x2
e1 e2 e2
x1 r x1
ê3 1 f 1 f 1 f 1 f
f eˆ1 eˆ 2 eˆ3 eˆ i
h1 1
h2 2
h3 3
hi i
ê2 i
ê1 1 h1h2 h3
e3 u
i
u i
1 h1h2 h3 i hi
x2 1 h1h2 h3
e1 e2 2
i 2
i
h1h2 h3 i i
( h )
ijk
x1 u (u k hk )eˆi
i j k h j hk j
( x , x , x ) , x x ( , , )
m m 1 2 3 m m 1 2 3
eˆ i u j eˆ j
u eˆ j u j i
i
(ds) 2 (h1d1 ) 2 (h2 d 2 ) 2 (h3 d3 ) 2 i j hi
eˆ eˆ u eˆ j
2 u i
i
k j eˆ j u j
k
i hi j k h k k
Example 1-5: Polar Coordinates
From relations (1.9.5) or simply using the geometry shown in Figure x2
where u ur eˆ r ueˆ θ , eˆ z eˆ r eˆ θ