ME332 Tensors & It's Algebra PDF

ME 332/ EME331 MATHEMATICAL LEARNING AID
Prof. Nadeem Hasan and Dr. Syed Fahad Anwer

August 4, 2017
Algebra and Calculus of Scalar, Vector and Tensor Functions

• Scalars, Vectors and Tensors
A scalar is a quantity characterized by a magnitude only e.g. density, temperature, mass, pressure,
volume etc. in fluids, any quantity/property in general is a function of location and time. Thus a scalar
property in a fluid would behave as a scalar function.
!
S = S (! r , t)
A vector is a quantity characterized by a magnitude and direction e.g. velocity, displacement,
acceleration, force etc. In fluids a vector property would behave as a
! ! !
V = V ( r , t)
A vector can always be expressed in terms of its components along the coordinate directions.
! P
A = Ai êi or simply
!
A = Ai êi (1)
Summation over repeted index i is implied.
Where êi : unit vectors along the ith coordinate direction.

A tensor of second rank is a quantity characterized by a magnitude and two directions e.g. stress,
strain rate, mass moment of inertia of a rigid body etc. Again for fluids, the tensor property would
behave as
T = T (!
r , t) (2)
In terms of components along the coordinate directions at any point
XX
T = T êi êj (3)
i j
or Simply
T = Tij êi êj
êi êj are known as Unit Dyads.
• Algebra of Vectors and Tensors

– Inner product (dot product) of a vector
1
!
A = Ai êi ;
!
B = Bj êj
!!
A. B = Ai Bj (êi .êj )
êi êj = ij
Where, ij = 1, . . . if . . . i = j and ij = 0, . . . if . . . i 6= j
!!
A. B = Ai Bj ij = Ai B i (4)
– Inner product (dot product) of a vector with a tensor of rank 2

!
A = Ak êk , T = Tij êi êj
!
A .T = Ak Tij (êk êi ) êj
!
T . A = Ak Tij (êj êk ) êi
! !
⇤ in general A .T 6= T . A , the equality exists only if Tij = Tji i.e. Tensor is symmetric
– Outer or Cross product of two vectors
For an orthogonal set of unit vectors such that êi ⇥ êj = êk , for cyclic i, j, k using either LH
or RH rule
! !
A ⇥ B = eijk Aj Bk êj
where êijk is the alternating symbol defined as
=0 if any two of (i, j, k) are same
êijk =1 if (i, j, k) is a cyclic permutation
= 1 otherwise
Therefore an outer or cross product of two vectors is a vector defined as,
! ! !
C = A⇥B
C i = Aj B k Ak Bj , i 6= j 6= k and (i, j, k)must be a cyclic combination.
– Dyadic product
A dyadic product of two vectors is a tensor of rank two defined as,
!!
A B = Ai Bj êi êj
– Tensor Contractions or dot products
A dot product or Contraction of two second rank tensors P and Q is a second rank tensor
defined as
P .Q = Pij Qij (êj .êr ) êi ês
for Orthogonal unit vectors,
P .Q = Pij Qrs ( jr ) êi ês
A double dot product or double contraction of two second rank tensors is a scalar defined as,
P : Q = Pij Qrs (êj .êr ) êi ês
For orthogonal unit vectors,
2
P : Q = Pij Qrs jt is = Pij Qji
• Calculus of scalar, vector and tensor functions

– Gradient
For a scalar function (! r , t) the gradient represents the information regarding the instan-
taneous spatial rate of change along the coordinate directions. The gradient is conveniently
defined through the del operator given as,
@
r ⌘ êi @s i
, where si are related to the generalized coordinates xi as dsi = hi dxi
Physically dsi represents the components along the coordinate direction of the diﬀerential
!
line element dl = dsi êi
r ⌘ êi hi @@xi ,
The gradient of a scalor function is defined as,
r ⌘ êi hi@@xi ,
The gradient of a scalor is a vector.
The most important use of gradient of a scalar function is in finding the instantaneous spatial
rate of change of f along a specified direction characterized by a unit vector m̂ as,
@
@m = r .m̂
The other important use is in finding the direction of the local normal to a given surface.
A surface in 3D/2D can be expressed as a scalar function relation (! r ) = constant. The
direction of local normal to the surface is given by the vector rf and therefore the local unit
normal is given as,
r
n̂ = |r |
– Divergence, Curl and Gradient of a vector

⇤ The divergence operation is defined as,
⇣ ⌘
!
r. A ⌘ êi hi @@xi .Aj êj
⇣ ⌘
! @(Aj êj )
r. A = êi . hi @xi or
⇣ ⌘
! @Aj @ ê
r. A = hi @xi (êi .êj ) + Aj êi . hi @xj i or
@ ê
For Orthogonal Coordinate system hi = 1.0, @xjj =0
! @A
r. A = @xij
⇤ The curl operation is defined as,
⇣ ⌘
!
r ⇥ A ⌘ êj hj @@xj ⇥ Ak êk or
⇣ ⌘
! @(Ak êk )
r ⇥ A = êj ⇥ hj @xj or
⇣ ⌘
! @Aj @ êk
r⇥ A = hj @xj (êj ⇥ êk ) + Ak êj ⇥ hj @xj or
For Orthogonal Coordinate system,

⇣ ⌘ ⇣ ⌘
!
r ⇥ A = êijk h@A k
j @xj
êi + Ak êj ⇥ @ êk
hj @xj or
For Cartesian Coordinate system,

⇣ ⌘
! @Ak @Aj
r⇥ A = @xj @xk êi
3
Gradient of a vector is defined as
⇣ ⌘
!
r A ⌘ êi hi @@xi Aj êj or
⇣ h i h i⌘
! @A @ ê
r A ⌘ êi hi @xj i êj + êi Aj hi @xj i or
⇣h i h i⌘
! @Aj @ êj
rA ⌘ hi @xi êi êj + êi Aj hi @xi = gij êi êj
– Another gradient operator that is useful in decomposing the above into symmetric and anti-
symmetric components is defined as,
!T
r A = gji êi êj
– For Cartesian coordinates, the two gradients are given as,

! @A @Aj
r A = @xij êi êj = gij êi êj ) gij = @xi ,
!T @Ai @Ai
rA = @xj êi êj = gji êi êj ) gji = @xj ,
• Divergence of a Tensor of rank 2

– The divergence of a second rank tensor can be defined as,
⇣ ⌘
r.T = êi hi @@xi . (Tjk êj êk ) or
⇣ ⌘ ⇣ ⌘
@Tjk @ ê
r.T = hi @xi (êi .êj ) êk + Tjk êi . hi @xj i eˆk + Tjk (êi .êj ) h@i @x
êk
i
– For orthogonal systems,

⇣ ⌘ ⇣ ⌘
@Tjk @ ê
r.T = hi @xi êk + Tjk êi . hi @xj i eˆk + Tik h@i @x
êk
i
– For Catrtesian systems,

⇣ ⌘
@Tik
r.T = @xi êk
– The divergence of the dot product of a ranke 2 tensor with a vector can be expressed as,
⇣ ⌘
!
r.T . A = êi hi @@xi . [Tjk Ar êj (êk êr )] or
⇣ ⌘ ⇣ ⌘ ⇣ ⌘
! @Tjk @(Ar (êk .êr )) @ ê
r.T . A = Ar (êk .êr ) hi @xi (êi .êj ) + Tjk hi @xi (êi .êj ) + Tjk Ar (êk .êr ) êi . hi @xj i
– For orthagonal systems,

⇣ ⌘ ⇣ ⌘ ⇣ ⌘
! @Tik @Ak @ ê
r.T . A = Ak hi @xi + Tik hi @xi + Tjk Ak êi . hi @xj i
– For Catresian systems,

⇣ ⌘ ⇣ ⌘
! @Tik @Ak
r.T . A = Ak hi @xi + Tik hi @xi
4
Important Identities and Theorems from Calculus
Notation
! !
r = Del operator, A = Any Vector field (e.g velocity, vorticity and grad (pressure) etc)
, = Any scalar fields (e.g. density, pressure and temperature)
• Gradient,Divergence and Curl
Cartesian Cylindrical - Polar
!
r î @@x + ĵ @@y + k̂ @@z êr @@r + ê✓ 1r @@✓ + êz @@z
!! @Ax @A @(rAr ) 1 @A✓
r. A + @yy + @A z
+ @Az
r @✓ + @z
⇣ ⌘ @x @z ⇣ ⌘ @r
! ! @Az @Ay @Ax @Az @Ay @Ax @Az @A✓ @Ar @Az @rA✓ @Ar
r⇥A î @y @z + ĵ @z @x + k̂ @x @y êr r@✓ @z + ê✓ @z @r + êz r@r r@✓
• Laplacian operator: r2
@2 @2 @2
1. Cartesian: r2 = @x2 + @y 2 + @z 2
@2 1 @2 @2
2. Cylindrical - polar: r2 = @r 2 + 1 @
r @r + r 2 @✓ 2 + @z 2
• Spatial derivatives of Unit vectors

The unit vectors in a coordinate frame may change their direction with the change in spatial coordinates.
Following will be helpful in that
@ @ @
@r (êr ) = 0; @✓ (êr ) = ê✓ ; @z (êr ) = 0;
@ @ @
@r (ê✓ ) = 0; @✓ (ê✓ ) = êr ; @z (ê✓ ) = 0;
@ @ @
@r (êz ) = 0; @✓ (êz ) = 0; @z (êz ) = 0;
• Useful Identities on operators

r⇥r = 0
r.(r ⇥ A) = 0
r( )= r + r
~
r.( A) = r.A ~ + (r ) .A~
~ = r⇥A
r ⇥ ( A) ~ + (r ) ⇥ A~
⇣ ⌘ ⇣ ⌘ ⇣ ⌘ ⇣ ⌘
~ B)
r(A. ~ = A.r
~ ~ + B.r
B ~ ~+B
A ~ ⇥ r⇥A
~ +A~⇥ r⇥B
~
~ ⇥ B) = B.r
r.(A. ~ ⇥A ~ A.r~ ⇥B ~
⇣ ⌘ ⇣ ⌘ ⇣ ⌘ ⇣ ⌘
! ! ! ! ! ! ! ! ! !
r ⇥ ( A ⇥ B ) = A r. B + B .r A B r. A A .r B
⇣ ⌘
! ! !
r ⇥ (r ⇥ A ) = r r. A r2 A
• Important Theorems on line, surface and volume integrals

– Theorems relating integrals in a region R (Volume) to integrals on the boundary S of the
region (closed Closed Surface)
⇤ Gauss’s theorem:
0 1 0 1
!
@ A . A n̂dS= !
r@ . A A d8
‚ ˝
S R
! !
A⇥ ⇥A
⇤ Green’s theorem:
5
@
· First Form: r2 + r .r
˝ ‚
R
d8= S @n dS
⇣ ⌘
@ @
· Second Form: r2 r2
˝ ‚
R
d8= S @n @n dS
!
– Theorems relating circulations of a vector field A around a closed circuit “C” to the flux of
!
curl ( A ) through an arbitrary open surface “S” bounded by the closed circuit “C”.
¸ ! ˜ ⇣ !
⌘
C
A .dS = S r ⇥ A .n̂dS

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ME 332/ EME331 MATHEMATICAL LEARNING AID

Prof. Nadeem Hasan and Dr. Syed Fahad Anwer

Algebra and Calculus of Scalar, Vector and Tensor Functions

Summation over repeted index i is implied.

Where êi : unit vectors along the ith coordinate direction.

T = Tij êi êj

êi êj are known as Unit Dyads.

• Algebra of Vectors and Tensors

– Inner product (dot product) of a vector with a tensor of rank 2

• Calculus of scalar, vector and tensor functions

– Divergence, Curl and Gradient of a vector

For Orthogonal Coordinate system,

For Cartesian Coordinate system,

– For Cartesian coordinates, the two gradients are given as,

• Divergence of a Tensor of rank 2

– For orthogonal systems,

– For Catrtesian systems,

– For orthagonal systems,

– For Catresian systems,

• Spatial derivatives of Unit vectors

• Useful Identities on operators

• Important Theorems on line, surface and volume integrals

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