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Contents
1 Introductory remarks. 2 1. Transformation of force; energy- and momentum theorem. 3 2. Transformation of momentum, energy and stresses. 4 3. Absolute and relative (elastic) stresses. 5 4. The surface theorem. 6 5. Completely static system.
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Introductory remarks.
In the classic theory of elasticity, the stresses form a tensor of symmetric , i.e. the quantities
between which the three relations hold, are calculated (when the axis-cross is rotated) in the same way, as the squares ( etc.) and the products ( etc.) are calculated from the coordinates. At first, the property of symmetry vanishes in relativity theory. Thus we arrive at the concept of the unsymmetrical tensor, for which, at a rotation expressed by the scheme
By that, one confirms that one can form a vector product reads:
[11]
from
, whose definition
as components of a symbolic vector, whose vector product with components are to be formed according to the scheme
; its
of two vectors
and
We call a valid space-time-system according to the relativity principle; several of that kind are distinguished by us by appended indices . The passage from to (Lorentz transformation) is represented by us in accordance with MINKOWSKI[12] as an imaginary rotation of the four-dimensional axis-cross scheme: , where ; that is, by the
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Furthermore it is known,[13] that the concepts of vector and tensor can be transferred into a four-dimensional form. A four-vector the six-vector is not needed in the following has the direction sense of a directed distance; i.e. its four components are transformed with a Lorentz transformation like the corresponding coordinates. By a world tensor, however, we understand the totality of 16 components , which are transformed as the squares and products of . Between them, there are always six symmetry relations . Analogous to the fact that (with respect to tensor in three dimensions) the divergence becomes a space vector, here the divergence is a four-vector with components
We assume, that in any field of physics there is one of those world tensors, whose components have the corresponding meaning, as the components of the mentioned electrodynamic tensor; i.e., that for example also in dynamics, the energy density is defined by , the momentum density and the energy current according to (1a) by etc., while is related to the elastic stresses. That we assume tensor as being symmetric, can appear to be arbitrary at this place; because also the divergence of an unsymmetrical world tensor would be a four-vector. Yet exactly this part of the assumption can be explained later (see 4.). The most important physical consequence from the symmetry relations
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is the law of inertia of energy, which we find from (1a) immediately in its most general form[16] (3a) In order to interpret the four-force, it is to be noticed, that in pure electromagnetic processes, no ponderomotive force arises, since otherwise processes of different kind must necessarily arise in consequence of this. Thus also the four-force is given by
Equation (2) then says, that the electromagnetic stress force and the electromagnetic inertial force are in equilibrium. Also with respect to purely dynamic processes, we will have to set the dynamic four-force equal to zero. Because also NEWTON's dynamics maybe in the clearest way in the principle of DALEMBERT says that the inertial force resisting the increase of mechanical momentum, exactly compensates the force exerted by the elastic stresses other forces don't exist at all in pure dynamics. In this way, one has as the fundamental equation of dynamics which is invariant against Lorentz transformation and encloses the momentum and energy theorem, the relation (4) where the components of have the given physical meaning.
If dynamic, electrodynamic or other processes are interacting, then (as it can be easily seen) the relation (5) is taking the place of (4). The summation is to be carried out over all four-forces, i.e. the dynamic, electrodynamic ones etc., in other words over all world tensors.
If one transforms the components of as etc., then one finds, by introducing and (3a)), instead of them the following formulas
and
(6)
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and
by
at the
The most important question now is, which energy forms we want to combine for the formation of density . The answer [17] is: All of those who show no current (and thus also no momentum) in a valid system (the rest system ). To those belong: heat[18], chemical energy, elastic energy, inner energy of atoms, and maybe also new and unknown energy forms. Electromagnetic energy has to be excluded in general, since it can also flow in the rest system . If this doesn't occur in a special case, then one can include it in as well; tensor then encloses also MAXWELL's stresses besides the elastic ones, and vector also the electromagnetic momentum besides the mechanical momentum. If we now put the rest system instead of system way: , then formulas (6) become simplified due to in the following
(7)
Here, is replaced by , since denotes the velocity of the body in system in a vectorial way as follows:
and
(8)
so that one obtains the formulas under (7) again. Equations (8) contain in the most general way, the derivation of energy and momentum from velocity and the inner state of the body specified by and . Especially it must be emphasized, that the second summand in the equation for represents a vector perpendicular to ; namely its scalar product with is zero. Thus the momentum density is composed of a component parallel to and proportional to , and a component perpendicular to to , then and proportional to , thus parallel to . . The latter vanishes only then, when velocity ; then we choose one of them as -axis, and if lies in one of the axis-directions of the ellipsoid of the rest-stresses is parallel
of a body, in which the velocity is spatially constant, then we find for its energy
the relations
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(8a)
There,
like
is a symmetrical tensor.
When a body is accelerated in a adiabatic-isopiestic way (i.e. with constant and ), namely in longitudinal direction, then by (8a) the momentum increase is generally not at all in the common direction of velocity and acceleration. Its transverse component is rather equal to
and not at all vanishes in the limiting case at all generally valid in this limiting case.
This (at first maybe strange) behavior becomes easily understandable in the sense of the inertia of energy (3a). The first summand in equation (8) for , , represents the convection current of energy, the other ones the energy current also known in the classical theory of elasticity in the motion of stressed bodies. That the latter by no means must have the direction of velocity, but can also be perpendicular to it, shows in a very illustrative way the example of a rotating and torqued drive shaft, in which the energy transfer happens in a direction parallel to the rotation axis. The equations become essentially simplified, when the stresses according to (8) (9) is spatially constant, then PLANCK's equations[19] follow from (8a): form a pressure which is equal in all directions. Then
If besides , also
(10)
etc., or written in a vectorial way (see the "Introductory remarks") (11a) If we now introduce the unsymmetrical tensor (12) then one finds from (11) and (11a) (13)
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By this equation, tensor proves to be the tensor of elastic stresses. Because if one integrates (13) over a finite body, it follows for its momentum change (13a) ( (14) The momentum increase of the body is on the left-hand side of (13a), thus the surface integral on the right-hand side is the force exerted upon it by the stresses, i.e. is the force acting upon . From (12) and the transformation formulas for and given in (7), one easily finds the following for : is the surface element, its normal), where the components of vector have to be formed according to the scheme
(15)
According to (15), exactly the same relations hold for . The relative pressure (equal at all sides)
is thus an invariant of the Lorentz transformation (P LANCK). That the relative stresses must be denoted as elastic stresses, not the absolute stresses , is also demonstrated in the transformation formulas (15) and (7). Namely, are only connected (except with ) with the rest stresses , while are also connected with . Thus the latter change their value and meaning, when one for example would separate the heat from , as it would become necessary under consideration of thermal conduction, while this is not the case with respect to the first ones.
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however, if we calculate here the derivative with respect to time, then it is to be considered, that not only , but also changes in quantity and location, thus vector as well. If we assume momentum as being constant, then this derivative is evidently equal to
since
. In general, however,
enters as a summand. With respect to a moving bodies, it is consequently according to (13) (18) The first part of the space integral on the right-hand side can only be transformed by partial integration, and one finds in this way:
it is
If one substitutes this value, then it follows from (18) (19) The surface integral on the right-hand side is the torque exerted by the surrounding upon the body, because is the force acting upon . If we conversely calculate the torque exerted by the body upon its surrounding, then we also find , but now the normal has the opposite direction than before, consequently as well as is
oppositely equal to the previous values. If no other torque is acting upon the surrounding as the calculated one, then for the change of its angular momentum the relation holds
thus (20) The surface theorem thus also holds in the theory of relativity. This can of course also be concluded from (17). If we apply equation (19) upon an infinitesimal material parallelepiped, where we locate the coordinate axes parallel to its edges, then the previous theory concludes as follows: is parallel to , thus and according to (18)
Since we are allowed to displace the origin of limiting passage of higher order. Torque Consequently, it must be follows according to (18)
, then
in the .
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, thus
in agreement with (12). The stress tensor a torque to maintain its velocity.
In the rest system , tensor must be symmetric due to the surface theorem; at the same time, the momentum density and the energy current is zero in . Consequently, in (see. (1a)) the symmetry equations hold
With respect to processes not entirely dynamic, in which equation (5) replaces equation (4)
which is the equation containing the momentum theorem. If we then define the total angular momentum
From that, as above, the theorem of conservation of angular momentum follows. The summations are to be extended over all forms of momentum (mechanical, electromagnetic, etc.) and over all angular momentums. The surface theorem thus obtains a meaning, which surpasses that of dynamics, and which is valid for the whole of physics.
(20b)
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Now we choose a plane as cross-section. Then it follows, by applying the vector equation (20b) upon the coordinate directions, and by expressing the components of by etc. according to (17a):
If we multiply
Six additional equation are obtained by us, when we choose can be summarized in the tensor equation (21) For a completely static system, equation (8a) thus pass into: (22)
or
i.e., a completely static system behaves (when in uniform motion) as a mass point of rest mass
The same, however, also holds for quasi-stationary (adiabatic isopiestic) acceleration; because they are denoted as quasiis not noticeably changed. However this system may be formed, its longitudinal stationary, when the inner state mass is always
One such system is for example formed by the electron with its field; however it may be formed, in quasi-stationary motion it must satisfy the dynamics of the mass point, so that from attempts of this kind one cannot draw conclusions about its form, its charge distribution, and also not as to whether it has another momentum besides its electromagnetic momentum. In this way, EINSTEIN actually answered EHRENFEST's question correctly. That BORN felt compelled to assume spherical symmetry, lies in the fact that he didn't consider the mechanical momentum of the electron, which can only be assumed as zero at certain assumptions concerning the form and charge distribution, for example when one assumes spherical symmetry; but not generally. Because in the electron, there are stresses of other kinds[22] (which can provisionally be denoted as elastic ones) besides the electromagnetic ones, and these will in general supply a transverse component to the mechanical momentum according to (8a), which cannot be made to zero (unlike the longitudinal component) by a suitable choice of . In the case of spherical symmetry, the transverse component of course vanishes. A complete static system is also the condenser of the TROUTON-NOBLE experiment with its field. The total system requires (at uniform velocity) a torque as little as a mass point. The torque, exerted by the electromagnetic forces upon the condenser itself, it exactly that one, which is required by this elastically stressed body according to 4. Neither the electromagnetic momentum of the field, nor the mechanical momentum of the body, have in this case the direction of velocity, but the total momentum consisting of both of them has surely that direction, as it follows from (22). (Received April 30, 1911)
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A. EINSTEIN, Ann. d. Phys. 17. p. 891. 1905. M. Planck, Verh. d. Deutsch. Physik. Ges. 4. p. 136. 1906. M. P LANCK, Berliner Ber. 1907. p. 542; Ann. d. Phys. 26. p. 1. 1908. P. EHRENFEST, Ann. d. Phys. 23. p. 204. 1907 A. EINSTEIN, Ann. d. Phys. 23. p. 206. 1907 M. BORN, Ann. d. Phys. 30. p. 1. 1909 FR. T. TROUTON a. H. R. NOBLE, Proc. Roy. Soc. 72. p. 132. 1903. H. A. LORENTZ, Proc. Amsterdam 1904. p. 805. See for example G. HAMEL, Mathem. Ann. 66. . 350. 1908. The same consideration can be found in a somewhat different form in my treatise "The Principle of Relativity", Braunschweig 1911, to be published soon. W. VOIGT, Gttinger Nachr. 1904. p. 495. H. MINKOWSKI, Gttinger Nachr. 1908. p. 1 A. SOMMERFELD, Ann. d. Phys. 32. p. 749; 33. p. 649. 1910. M. ABRAHAM, Rendiconti del Circolo Matematica di Palermo 30. p. 1910. In electrodynamics of ponderable bodies, it is
where
16. M. P LANCK, Physik. Zeitschr. 9. p. 828. 1908; Verh. d. Deutsch. Physik. Ges. 6. p. 728. 1908. 17. It is only presupposed here, that the immediate surrounding of the considered material point rests in . Only later when the integration takes place, which leads to formulas (8a) and (10), the whole body must be considered as at rest in 18. We always think of uniformly tempered bodies, consequently we neglect thermal conduction. 19. M. P LANCK, Ann. d. Phys. 26. p. 1. 1908, equations (43) a. (46). 20. Instead of this condition, one can assume without essential change, that the surrounding shall exert an equal pressure from all sides. Then equations (10) take the place of (22), while (21) had to be changed into
21. One even could assume electrostatic-magnetostatic fields, although is different from zero in this case. This would have the success, that in (7) and (8) certain summands proportional to would occur. However, they would vanish again in the integration over the body, since
22. H. POINCAR, Rendiconti del circolo matematico di Palermo 21. p. 125. 1906. Retrieved from "http://en.wikisource.org/w/index.php?title=On_the_Dynamics_of_the_Theory_of_Relativity&oldid=3512569"
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