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1 Vector and tensor calculus

1 Vector and tensor calculus


1.1 Summation convention
Evaluate explicitly (i, j, k, l, m, p, q {1, 2, 3})
1 a) K = 2 vk vk

b) ii c) ij ij d) ij ik jk

1.2 Summation convention


Simplify the following expressions (i, j, k, l, m, p, q {1, 2, 3}) a) ij jk b) ij Aik c)
1 2 2 (Bii )2 Bii

d) ijk kij e) ijk aj ak f) (Pijk + Pjki + Pkij ) xi xj xk g) ijk ipq h) i)


1 2 1 2

pqi ijk Bjk (ik jl + jk il ) Bkl

j) ijk ai bj lmk cl dm

1.3 Index notation


Evaluate the component f2 a) fi =ijk Tjk b) fi = ci,j bj cj,i bj c) fi = Bij qj

1.4 Index notation


Find the error(s) in the equations below and suggest appropriate corrections a) ij,j + Pj = 0i
i m i i ijk A k + Al 2 b) = lmn An l l m
j j

c) q l + lil q i q j = 0j

Exercise: Continuum Mechanics

1 Vector and tensor calculus

1.5 Symmetries
Give the number of independent, non-zero components for tensors satisfying the following relationships a) Dij = Dji b) Wij = Wji c) Cijkl = Cklij = Cjikl = Cijlk

1.6 Matrix notation


Given: A= Calculate: a) A x = y b) xT A = z T c) xT x d) A B = C e) AT B = C f) B A = D g) (A B )T h) AT B T Write all expressions in index notation. a11 a12 , a21 a22 B= b11 b12 , b21 b22 x= x1 x2

1.7 Coordinate transformation


Given: component matrix of a symmetric 2nd order tensor 3 1 0 A = 1 3 0, = 45 0 0 1 Sought: a) Rotation matrix Q for the rotation about the x3 -axis through an angle = Q A QT b) A c) A2 = A AT 2 = Q A2 QT d) A e) A Q = A A

f) B = QT

g) Test: B 2 = A = B T B
Exercise: Continuum Mechanics

1 Vector and tensor calculus

1.8 Tensor analysis


Evaluate the following operations in index notation: a) div A = A b) div grad = c) rot grad = d) div (rot v ) = v e) rot (rot v ) = v

1.9 Vector product


Every vector product can be expressed as a scalar product with an appropriate antisymmetric tensor . v =r =r ik = ki =ijk j = ikj j a) Write in matrix notation. b) Show that l =
1 2

lki ik holds.

1.10 Orthogonal tensors


A tensor Q is called orthogonal if QT Q = I holds. a) Determine Q1 . b) Write QT and Q1 in index notation. c) Show that (Q a) (Q b) = a b holds for all vectors a, b. d) The tensor R is given by R = (e1 e1 + e2 e2 ) cos + (e2 e1 e1 e2 ) sin + e3 e3 , with R. Determine the component matrix of R. e) Verify that R is orthogonal. f) Show that det(R) = 1. g) For = /2 and = /6, give a geometric interpretation of R by applying it to a number of vectors v of your choice.

Exercise: Continuum Mechanics

1 Vector and tensor calculus

1.11 Rotation of coordinate system


i ej . The distance Two cartesian coordinate systems are related by the rotation tensor Q = Qij e vector between two points AB = dxj ej is then transformed into i . i = Qij dxj e AB = d xi e The quadratic norm of the distance must be invariant with respect to the choice of the coordinate system (ds)2 = dxj dxj = d xi d xi . a) Prove from these assumptions that Q must be an orthogonal tensor. b) Show that det(Q) = 1 (use the relation Q QT = I ).

Exercise: Continuum Mechanics

1 Vector and tensor calculus

Solution
Exercise 1.1
1 2 2 + v2) a) K = 2 (v1 + v2 3

b) ii = 3 c) ij ij = 3 d) ij ik jk = 3 Exercise 1.2 a) ij jk = ik b) ij Aik = Ajk c)


1 2 2 =B B +B B +B B (Bii )2 Bii 11 22 11 33 22 33

d) ijk kij = 6 e) ijk aj ak = 0i with [0i ]T = 0 0 0 f) (Pijk + Pjki + Pkij )xi xj xk = 3Pijk xi xj xk g) ijk ipq = pj qk qj pk h) i)
1 2 1 2

pqi ijk Bjk = 1 2 (Bij Bji ) (ik jl + jk il ) Bkl = 1 2 (Bij + Bji )

j) ijk ai bj lmk cl dm = ai ci bj dj ai di bj cj Exercise 1.3 a) f2 = T13 + T31 b) f2 = (c2,1 c1,2 ) b1 + (c2,3 c3,2 ) b3 c) f2 = B2j qj = B21 q1 + B22 q2 + B23 q3 Exercise 1.5 a) 6 b) 3 c) 21

Exercise: Continuum Mechanics

1 Vector and tensor calculus

Exercise 1.6 a) y = a11 x1 + a12 x2 a21 x1 + a22 x2 Aij xj = yi xj Aji = zi xi xi Aij Bjk = Cik ik Aji Bjk = C Bij Ajk = Dik (Aij Bjk )T = Akj Bji
T AT ij Bjk = Aji Bkj

b) z T = a11 x1 + a21 x2 a12 x1 + a22 x2


2 c) xT x = x2 1 + x2

d) C =

a11 b11 + a12 b21 a11 b12 + a12 b22 a21 b11 + a22 b21 a21 b12 + a22 b22

= a11 b11 + a21 b21 a11 b12 + a21 b22 e) C a12 b11 + a22 b21 a12 b12 + a22 b22 f) D = a11 b11 + a21 b12 a12 b11 + a22 b12 a11 b21 + a21 b22 a12 b21 + a22 b22

g) (A B )T = C T h) AT B T = DT Exercise 1.7 2 2 0 a) Q = 1 2 0 2 2 0 0 2 2 0 0 = 0 4 0 b) A 0 0 1 10 6 0 c) A2 = 6 10 0 0 0 1 4 0 0 2 = 0 16 0 d) A 0 0 1 2 0 0 = 0 2 0 e) A 0 0 1 2 + 2 2 + 2 0 f) B = A = 1 2 + 2 0 2 2 + 2 0 0 2 Exercise 1.8 a) ei b)


xi xi Ajk ej ek

xj

Ajk ek = Ajk,j ek (x) ij =


2 xi

ei x ej (x) = j xj

xi xj

(x) = ,ii

c) ijk

ej

xk

= ei ijk ,jk = 0i (because ei ijk ,jk = ei ikj ,jk )

Exercise: Continuum Mechanics

1 Vector and tensor calculus

7
1 2

d) ei x ej jkl vl,k =jkl vl,kj =ljk vl,jk = i

(ljk vl,jk lkj vl,kj ) = 0

e)

vk xi xj

ljk mil em = (jm ki ji km ) vk,ji em = (vi,im vm,ii ) em

= v v = grad (div v ) v Exercise 1.9 0 3 2 0 1 a) [ ik ] = 3 2 1 0 b) lki ik =lki ijk j = 2 lj j = 2 j Exercise 1.10 a) Q1 = QT


1 i ej , Q1 = Q i ej b) QT = QT i ej = Qji e ij e ij e

c) QT Q = I Qij Qim = jm , Qij aj Qim bm = aj Qij Qim bm = aj jm bm = aj bj cos sin 0 d) [Rij ] = sin cos 0 0 0 1 e) R RT = I f) det(R) = cos2 + sin2 = 1 g) clockwise rotation of the coordinate system about the x3 -axis through an angle Exercise 1.11 a) (ds)2 = d xi d xi = Qkl dxl Qkm dxm = dxj dxj Qkl Qkm = lm , QT Q = I b) det(Q QT ) = det(I ) = 1 det(Q QT ) = det(Q) det(QT ) det(Q) = 1 1 for rotation for mirroring and det(Q) = det(QT ) (det(Q))2 = 1
!

Exercise: Continuum Mechanics

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