13
The Variation
In this section is reviewed the concept of the variation, introduced in Part I, §5.5.
The variation is defined as follows: consider a function u(x) , with u* (x) a second function
which is at most infinitesimally different from u(x) at every point x, Fig. 2.13.1
δu(x)
u * (x)
du
u(x) dx
Then define
The operator δ is called the variation symbol and δ u is called the variation of u(x) .
d du
(1) δu =δ (2.13.2)
dx dx
Proof:
du ⎛ du ⎞ * du du * du d (u * −u) d
δ =⎜ ⎟ − = − = = (δ u(x) )
dx ⎝ dx ⎠ dx dx dx dx dx
x2 x2
Proof:
x2 x2 x2 x2 x2
Variation of a Function
The directional derivative in this context is also denoted by δA(u, δu ) and is called the
variation of A:
The variation of A is thus the directional derivative of A in the direction of the variation δu .
For example, consider the scalar function φ = P : E , where P and E are second order tensors.
Then
∂φ
δφ = ⋅ δu
∂u
(2.13.8)
∂δφ ⎛ ∂φ ⎞ ⎛ ∂ 2φ ⎞ ∂ 2φ
δ 2φ = ⋅ δu = ⎜ δ ⎟ ⋅ δu = ⎜⎜ δu ⎟⎟ ⋅ δu = δu δu
∂u ⎝ ∂u ⎠ ⎝ ∂u∂u ⎠ ∂u∂u
In what follows is discussed the change (variation) in functions A(u) when the displacement
(or velocity) fields undergo a variation. These ideas are useful in formulating variational
prionciples of mechanics (see, for example, §3.8).
Shown in Fig. 2.13.2 is the current configuration frozen at some instant in time. The
displacement field is then allowed to undergo a variation δu . This change to the
displacement field evidently changes kinematic tensors, and these changes are now
investigated. Note that this variation to the displacement induces a variation to x, δx , but X
remains unchanged, δX = 0 .
reference
configuration current
configuration
u(x)
X δu
x
F(u ) + εGrad(δu )
d
= (2.13.9)
dε ε =0
= Grad(δu )
Noting the first commutative property of the variation, 2.13.2, this can also be expressed as
Here are some other examples, involving the inverse deformation gradient, the Green-
Lagrange strain, the inverse right Cauchy-Green strain and the spatial line element:
{▲Problem 1-3}
δF −1 = −F −1gradδu
δE = F T δεF (2.13.11)
δC −1
= −2F εF −1 −T
One also has, using the chain rule for the directional derivative, Eqn. 1.15.28, the directional
derivative for the determinant, Eqn. 1.15.32, the trace relation 1.10.10e, Eqn. 2.2.8b,
The Lie-variation is defined for spatial vectors and tensors as a variation holding the
deformed basis constant. For example, analogous to 2.12.33a,
δ Lb a = δaij g i ⊗ g j (2.13.13)
The object is first pulled-back, the variation is then taken and finally a push-forward is
carried out. For example, analogous to 2.12.40,
For example, consider the Lie-variation of the Euler-Almansi strain e. First, from 2.12.24,
( )
χ −*1 (e )b = E . Then 2.13.11b gives ∂ u χ −*1 (e )b [δu ] = δE = F T δεF . From 2.12.9a,
( ( ) )
δ L e(u, δu ) = χ * ∂ u χ −*1 (e )b [δu ] = χ * (F T δεF ) = δε
b b
(2.13.15)
The directional derivative ∂ u A[Δu] in this context is also denoted by ΔA(u, Δu ) . The
linearization of A with respect to u is defined to be
Using exactly the same method of calculation as was used for the variations above, the
linearization of F and E, for example, are
where Δε = 1
2
((gradΔu )T
)
+ (gradΔu ) is the linearised small strain tensor ε .
∂δφ ∂ 2φ
Δδφ = ⋅ Δu = Δu δu (2.13.21)
∂u ∂u∂u
Consider now the virtual Green-Lagrange strain, 2.13.11b, δE = F T δεF . To carry out the
linearization of δE , it is convenient to first write it in the form
δE = F T δεF
[
= 12 F T (gradδu ) + gradδu F
T
] (2.13.22)
= 1
2
[(Gradδu) F + F Gradδu]
T T
Then
Recall that the variation δu is independent of u; this equation is being linearised with respect
to u, and δu is unaffected by the linearization (see Fig. 2.13.3 below). However, the motion,
and in particular F, are affected by the increment in u. Thus {▲Problem 4}
(
ΔδE = sym (GradΔu ) Gradδu
T
) (2.13.24)
δu
u δu
Δu
reference current
configuration configuration
As with the variational operator, one can define the linearization of a spatial tensor as
involving a pull back, followed by the directional derivative, and finally the push forward
operation. Thus
( (
Δa(u, Δu ) ≡ χ * ∂ u χ *−1 (a ) [Δu] ) ) (2.13.25)
2.13.3 Problems
= sym[(gradΔu ) ⋅ gradδu ]
T