ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

1
1.1

Useful Denitions or Concepts

Extracting components from vectors or tensors
ui Aij = u ei = ei Aej (1) (2)

By taking the dot product of the vector or tensor with the basis of interest, the components can be extracted.

This allows the following representation in components. u = u i ei A = Aij ei ej (3) (4)

1.2

Tensor products
ab . (5)

The tensor product of two vectors a, b is dened as,

The dot product with vectors are dened by the following. It must be noted that taking the dot product in front of and behind the tensor are different. (a b) v = (b v) a w (a b) = (w a) b In the Holzapfel book, Eqn. (7) is presented as, w (a b) = (w a) b (8) (6) (7)

without the (). We present the version with the dot for consistency but one must remember that this a b is not a vector but a tensor and that it is not interchangable with v. w (a b) = (a b) w (9)

1.3

Proving two thing are equal

In showing that two vectors a, b are equal (a = b), this is equivalent to showing that the vector a b is equal to zero. This is equivalent to showing the following, v V , (a b) v = 0 (10)

In the same manner, to show that two tensors A, B are equal, v, w V , w (A B) v = 0 (11)

1.4

The trace operator and transpose

tr (a b) = ab (12)

The trace of the tensor product is dened as,

and the transpose of a tensor is dened as, v, w V , w AT v = Aw v (13)

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

2
2.1

Application of concepts or denitions

Show the component form of the dot product

Problem: Show that, uv Solution: Let u = ui ei and v = vj ej . By inserting these in the relation above we obtain, uv = (ui ei ) (vj ej ) = ui vj (ei ej ) = ui vj ij = ui vi . (15) = ui vi (14)

2.2

Further examples of tensor products

Problem: Prove the following relationship. (a b) (c d) Solution: Let v be an arbitrary vector. Apply this to the tensor as follows. (a b) (c d) v = (a b) (d v) c = (d v) (b c) a = (b c) (d v) a = (b c) (a d) v (17) = (b c) a d (16)

Since this relationship holds for any vector v, the two tensors are equal. Problem: Prove the relationship, (a b) Solution: Let v and w be arbitrary vectors. Apply this to the tensor as follows. w (a b) v
T T

(b a) .

(18)

= =

(a b) w v (b w) a v (19)

= w (a v) b = w (b a) v Since this relationship holds for any vectors v, w, the two tensors are equal. 2

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

Problem: Prove the following relationship. A (u v) Solution: Let v be an arbitrary vector. Apply this to the tensor as follows. A (a b) v = A (b v) a = (b v) Aa = (Aa b) v Since this relationship holds for any vector v, the two tensors are equal. (21) = (Au) v (20)

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

Exercises

Problem: Show that, v implies, vi Solution: Let u = ui ei , v = vj ej , and A = Aij ek el . Inserting this into the above expresion gives, vj ej = Akl ek el ui ei = Akl ui (ek el ) ei = Akl ui li ek = Aki ui ek . With this expression we take the inner product of both sides with basis vector ep , vj ej ep vj jp vp = Aki ui ek ep = Aki ui kp = Api ui . (25) (24) = Aij uj . (23) = Au (22)

Thus we have the desired result. Alternatively we could show the relation by the following process. Starting with the rst expression we take the inner product with the basis vector ep . ep v = ep Au = ep A (ui ei ) = ui ep Aei vp = ui Api (26)

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

Problem: Show that, (a b)ij Solution: To obtain the component expression we select basis vectors ei and ej and apply them to the tensor as follows. ei (a b) ej = ei (b ej ) a = b j ei a = ai bj Alternatively we can obtain the expression by the following. ab = (ai ei ) (bj ej ) (29) (28) = ai bj . (27)

= ai bj ei ej Since we know that, ab = (a b)ij ei ej

(30)

if we compare this with the expression above, we obtain the desired the result.

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

Problem: Prove the following relation. (AB) Solution: Let v and w be arbitrary vectors. Apply this to the tensor as follows. w (AB) v
T T

= BT A T

(31)

(AB) w v (32)

= Bw AT v = w BT A T v

Since this relationship holds for any vectors v, w, the two tensors are equal. Alternatively we can work with the components to see that the expressions are equal. Let A = Aij ei ej and B = Bkl ek el . Inserting this into the expression we have, (AB)
T

= =

(Aij ei ej Bkl ek el ) (Aij Bkl ei ej ek el )

T T

By using Eqn. (16). (AB)

T

= Aij Bkl (ei el jk ) = Aij Bkl jk (ei el )

T T

(33)

Using the relation shown in Eqn. (18), we have, (AB)

T

= Aij Bjl (el ei ) .

(34)

Next we evaluate the right hand side of the problem. BT A T = (Bkl ek el ) (Aij ei ej )
T T T T

= Bkl Aij (ek el ) (ei ej ) = Bkl Aij (el ek ) (ej ei ) Here we have again used Eqn. (18). Next we use Eqn. (16). BT A T = Bkl Aij kj el ei = Bjl Aij el ei Comparing Eqn. (33) and Eqn. (36) we obtain the desired result.

(35)

(36)

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

Problem: Show the relationship, A:B = tr AT B = Aij Bij Solution: A:B = tr AT B = tr (Aij ei ej ) Bkl ek ek = Aij Bkl tr (ej ei ek el ) = Aij Bkl tr (ik ej el ) = Aij Bkl ik ej el = Aij Bil jl = Aij Bij (38)
T

(37)

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

4
4.1

Homework
Show that the following relationships hold
tr (A) A : (u v) = 1:A BT A : C = ACT : B = u Av = (u v) : A (39) (40) (41)

A : BC =

Hint: Express the vectors and tensors in component form, i.e. a = ai ei and A = Aij ei ej and insert in the relations above. Use the denition of the double contraction :.

4.2

Projections operators

Given a direction e, an arbitrary vector a can be decomposed into the component parallel to e which we denote a and the component in the plane normal to e we denote as a . They are dened as, a a a Corresponding to these we dene projection tensors, Pe P e 4.2.1 . 4.2.2 Verify the following expressions. Pe Pe P e Pe P e Pe = Pe = P e = 0 (47) (48) (49) = ee = 1 Pe (45) (46) = a + a = (a e) e = aa (42) (43) (44)

Verify that Pe a = a , P e a = a , and a a = 0

4.3

Decomposition into symmetric and skew parts

1 1 A + AT + A AT 2 2 = Asymm + Askew =

Every tensor A can be decomposed into its symmetric and skew parts. They are dened as follows. A

(50)

where, Asymm Askew = = 1 A + AT 2 1 A AT 2 8 (51) (52)

ETH Zurich Department of Mechanical and Process Engineering Winter 06/07 Nonlinear Continuum Mechanics Exercise 1

Institute for Mechanical Systems Center of Mechanics

Prof. Dr. Sanjay Govindjee

skew parts. Recall that a symmetric tensor S has the property, ST and a skew tensor W has the property, WT 4.3.1 = W (54) = S (53)

Show that, Asymm is indeed symmetric and that Askew is indeed skew. In other words show, AT symm AT skew = Asymm = Askew (55) (56)

4.3.2

Then show that for a symmetric tensor S and skew symmetric tensor W, S:W = 0 (57)

Hint: Write out the expression in components and think about what structure the components of S and W have.