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Mathematical Preliminaries
1) Indicial Notation
Range Convention: Unless otherwise specified, all subscripts have the range
1, 2, 3.
Thus, ai j stands for the 9 real numbers
a11 a12 a13
a21 a22 a23
a31 a32 a33
Such a rectangular array is called a matrix and is usually set off in brackets [ ],
The three elements a1 j constitute the first row, while ai 1 is the first column,
etc.
In general, a symbol a1 j ... k with N unspecified, distinct subscripts represents
3N real numbers. It should be clear that a j and ak represent the same three
numbers as ai .
multiplication);
ai denotes the 3 numbers a1 , a2 , a3 ( R)
multiplication; e.g.,
ai bi = ai + ( 1)bi .
Since we are dealing with real numbers, it is evident that the above
then
ai = bi
and
ai c j = bi c j
skewsymmetric symbol.
The symmetric and skew parts of aij are denoted by a( ij) and a[ij ] , respectively;
i.e.,
aij = a( ij) + a[ ij] ,
where
a( ij) =
1
2
( aij + aji ), a[ ij] = ( aij a ji ).
1
2
2) The Summation Convention
Unspecified subscripts which are not repeated are called free subscripts.
The process of setting two free subscripts in a monomial equal and summing
is called contraction. E.g., ai bj ci is obtained from ai bj ck by contracting on i and
k.
w.r.t. one subscript from each symbol is called inner multiplication. E.g.,
aijk brk is an inner product.
Clearly, we can contract in a given equation and preserve the equality. E.g.,
suppose
aij = bij
Then in particular a11 = b11, a22 = b22 , a33 = b33, and addition yields
Thus, 11 = 22 = 33 = 1,
12 = 13 = 21 = 23 = 31 = 32 = 0.
Theorem 3.1
(i ) ij = ji (Kronecker' s delta is symmetric)
(ii) ii =3
(iii) ii =1
Theorem 3.2
(
(i ) ija j = ai , ij ai = aj Kronecker's delta is often called the substitution operator )
(ii) ij ajk = aik
(iii) ij ija = aii
(iv) ij ij = 3.
Definition 3.2 If each element of the list i j k denotes one of the integers from
1 to 3 (inclusive) and if each of the integers from 1 to 3 appears once and only
once in the list, then the list i j k is called a permutation of the integers from 1
to 3.
Thus,
123 = 231 = 312 =1 ,
321 = 132 = 213 = 1 ,
112 = 131 = 222 = ... = 0.
Theorem 3.3 The alternating symbol is antisymmetric w.r.t. any two of its
indices; e.g.,
jik = ijk .
4) Determinants
[ ]
Definition 4.1 Given a square matrix aij , its determinant is the number
a11 a12 a13
[ ]
det aij = a21 a22 a23
a31 a32 a33
It should be clear that i and j on the l.h.s. of the definition of the determinant
Theorem 4.1
(i) If all the elements of a row (column) of aij are zero, then det aij =0. [ ] [ ]
(ii) If the corresponding elements of two rows (columns) of aij are equal, [ ]
then det aij =0.[ ]
[ ] [ ]
(iii) If bij is formed from aij by interchanging two rows (columns), then
det[b ] = det [a ] .
ij ij
(iv) If [ b ] is the same as [ a ] except that all the elements of a row (column) of
ij ij
two terms, then det[ a ] may be expressed as the sum of the determinants
ij
Theorem 4.2 Suppose that the elements aij are all differentiable functions of
Theorem 4.3
ijk apiaqj ark = det[ amn ] pqr
a a a = det[ amn ]
ijk ip jq kr pqr
Theorem 4.4
aip aiq air
ijk pqr det[amn ] = a jp a jq a jr
akp akq akr
Theorem 4.5
ip iq ir
(i ) ijk pqr = jp jq jr
kp kq kr
1
aij1 = a a
2det [ ars ] ipq jmn mp nq
[ ]
Theorem 5.4 Let det aij 0 . Then the linear equations
aij x j = bj
[ ]
Theorem 5.5 If det aij 0 , then the only solution of the homogeneous
equations
aij x j = 0
equations
aij x j = 0
have a nontrivial solution is that det aij = 0 . [ ]
6) Vectors
w.r.t. is at the tail of a and the point Q with the coordinates Qi w.r.t. is at
Next we recall some facts from Euclidean geometry. The magnitude or length
of a is the number
a = ai ai (all square roots positive)
Thus, the components of a vector determine its length and direction-and vice
versa.
Theorem 6.1 Two vectors a and b are equal (same magnitude and direction)
iff their components are equal, i.e. ai = bi .
> 0, or > 0.
Vectors add according to the parallelogram rule and as was the case with
such an important role that we must ask "What if we rhad used a different
Letting ij be the cosine of the angle between the i -axis and the j -axis,
we have
ei = e
ij j (7.1)
and
ei = e.
ji j (7.2)
Then
a = aiei (7.3)
and
a = aiei . (7.4)
Here, a = aiei = aiei and ij is the cosine of the angle between ei and e j .
We now see that to characterize a vector by its components w.r.t. some frame
The direction cosines ij must satisfy certain relationships since the vectors ei
are mutually orthogonal and of unit length as are ei . To find these, we let a
But
ai = a ,
ik k
and
( ji jk ik )ak = 0. (7.7)
Now (7.7) must hold vectors a . In particular, it must hold for the vector a
with components
a1 = 1, a2 = a3 = 0 w.r.t. X .
ji j1 = i1
ji jz = iz and ji j3 = i3 .
Thus
ji jk = ik
instead of ai .
ji jk = ij kj = ik .
orthogonal transformation.
aijT = a ji ,
orhtogonal matrix is defined by the property that its transpose is its inverse.
other.
8) Cartesian Tensors
mn
aij... (components in X )
is called a Cartesian tensor of order N if under every orthogonal
frame, we can find them in any other by the transformation rule (8.1). In the
indicial notation.
Definition 8.2 Let aij... k and bij... k be the components in X of two N th -order
Cartesian tensors.
(i) The two tensors are equal if their coponents agree in every frame; in
particular
aij... k = bij... k .
Theorem 8.2 If the components of a Cartesian tensor are all zero in one
Theorem 8.3 If the components of two tensors (of the same order) agree in
aij... m... n...k is symmetric (skew) w.r.t. m and n, then the components in any other
The "c tensor" is called the outer product of the "a tensor" and the "b tensor".
Theorem 8.7 Let aij... m... n...k be the components in X of a Cartesian tensor of
The "b tensor" is said to be formed from the "a tensor" by contraction.
If the operation of contraction is applied to the outer product of two tensors in
such a way that the repeated index belongs to each of the two factors, the
We have just seen, e.g., that if aij and bij are Cartesian tensor components,
then c = aij bij is a scalar. It is natural to ask: If c and bij are tensor components,
are the aij necessarily tensor components? Theorems that answer questions
of this sort are called quotient laws. The following two theorems are typical
quotient laws.
Theorem 8.8 Suppose that in each frame we have a set of 9 real numbers, e.g.,
aij in X .
for every choice of the vector b j , where the ci are also vector components.
Note that if we have a set of 3N real numbers associated with a single frame,
components in any other frame via the transformation rule (8.1). We now
construct tensors this way out of Kronecker's delta and the alternating
symbol.
We start with Kronecker's delta and take the components in X to be ij
(Definition 3.1). Then the components in any other frame X are defined by
ij = im jn mn
= im jm ( by Theorem 3.2)
= ij (by Theorem 7.2 )
Thus, we have
In genera, tensors whose components are the same in every frame are said to
be isotropic.
Turning now to the alternator, we take the components in X to be ijk
(Definition 3.5). Then the components in any other frame X are defined by
ijk = ip jq kr pqr
= det[ mn ] ijk (by Theorem 4.3)
=+ ijk or ijk (by a homework exercise)
alternating tensor.
9) Scalar, Vector, and Tensor Products of Vectors
Definition 9.1 Let a and b be vectors ( components ai and bi in X ). Then the
It follows immediately from Theorems 8.6 and 8.7 that a b is indeed a scalar
addition, i.e.,
a b = a b,
a (b + c) = a b + a c,
( a) b = (a b).
There is no question about the scalar product being associative since ( a b) c
a = a a
a b = a b cos
As correlaries, we have
ab = 0
iff a and b are orthogonal (i.e., the angle between them is ).
2
Definition 9.2 Let a and b be vectors ( components ai and bi in X ). Then the
are
ci = ab .
ijk j k
a b = ijk a j bk ei .
This equation together with (Hmk. 1, Prob. 7) gives rise to the familiar
mnemonic
e1 e2 e3
a b = a1 a2 a3
b1 b2 b3
The above theorem appears to indicate that the frame X used in the definition
of the cross product has some special significance. However, we shall soon
see that if X is right (left)-handed, then all frames that can be obtained fromX
by proper orthogonal transformations are also right (left)-handed. We have
agree to work with only right-handed frames. Then the ordered triple a ,b ,
a (b c ) .
right - or left-handed.
ei = ij ej
e1 (e2 e3 ) = det [ ].
ij
The volume of the parallelopiped determined by e1, e2, e3 is 1, and from the
discussion above e1 (e2 e3 ) =1 or 1 according as the ordered triple e1, e2, e3 is
a b = 0
iff a and b are collinear (i.e., a = kb for some nonzero scalar k).
Definition 9.3 Let a and b be vectors ( components ai and bi in X ). Then the
It follows immediately from Theorem 8.6 that the tensor product is indeed a
a b or ab .
The fact that a skew tensor has only 3 independent components suggests that
In fact,
1
wj = ijk Wjk
2
w is called the axial vector or dual vector corresponding to Wij . Conversely,
In fact,
Wiju j = ijk wk .
In view of (Hmk. 1, Prob. 1), we can say that the skew product of a and b is
twice the skew symmetric part of the tensor product a b . The skew product
a b,
which unfortunately is also occasionally used for the cross product.
a b = dual (a b),
aij nj = ani
i.e., if the vector aij nj ei is parallel to n . The number a is called the associated
in X ) iff
a11 0 0
[ ]
aij = 0 a22 a23 ,
0 a32 a33
and in this case a11 is the associated principal value. Similarly, for the other
base vectors.
are orthogonal.
Now suppose that the unit vector n is a principal direction of aij with
These equations are easier to study if we note that ni = n and write them in
ij j
the form
(a ij a ij )n j = 0.
[
det aij a ij ]= 0
Of course, any nontrivial solution can be normalized so that n n = 1.
Thus, we have
Theorem 10.3 Let n be a principal direction of aij (components in X) with
directions, and at most 3 distinct principal values. The principal values are
(aij a ij ) ek j = 0
subject to e k e k = 1. e k is not unique. Three possibilities arise.
unique except for sense. Hence, essentially only one principal frame.
Case 2 (Two Principal Values Equal) Suppose that a1 a2 = a3 and that
{
X = e1 ,e 2 ,e 3
}
is a corresponding principal frame. Then e1 is unique to within sense, and
every frame obtained by a rotation of X about e1 is also a principal frame
principal frame.
fundamental theorem of algebra. Since the coefficients are real, any complex
2
Again by Theorem 10.3, the corresponding principal directions n1, n2 ,n3 are
found by solving
(aij ak ij )(n ) k j = 0, subject to nk nk = 1.
Case 1 (a1 a2 a3 a1 ) By Theorem 10.2; n1, n2 , and n3 are mutually
}
perpendicular. Hence X = e1 ,e 2 ,e 3 defined by e i = ni is a principal frame.
(We can always choose the signs X is right-handed).
Now suppose that X = { e1 , e2 , e3} is any other principal frame. To show that X
is not essentially different from X , we note from Theorem 10.2 that
ek el = 0 for k l
Thus, e.g., e1 is perpendicular to both e 2 and e 3
e1 = e1 .
Similarly, e2 = e2 , e3 = e3 .
2
and a2 = a3 a22
= a33
, a23 = 0 and a22
= a33 = a2 = a3 .
Thus,
a1 0 0
[ ]
aij = 0 a2 0 ,
0 0 a3
the argument used in Case 1. However, there are no constraints on the choice
of e2 and e3 other than orthogonality and right-handedness.
X X e1 = n1 . Then
a 0 0
[ ]
aij = 0 a 0 X a principal frame.
0 0 a
Since
aij = a ij ,
aij nj = a ij nj = ani ;
i.e., every unit vector n defines a principal axis. Consequently, all frames are
We can express a( n) as
a( n) = N (n)n + s(n)
where
s(n ) n = 0 .
define
S (n) = s (n) ,
Now take X to be a principal frame for aij so that
a1 0 0
a = 0 a 0 ,
ij 2
0 0 a3
Consequently,
N 2 + S2 = a(n) = a1 2 n12 + a2 2 n2 2 + a3 2 n3 2 ,
N = a1 n1 2 + a2 n22 + a3 n3 2 , (10.3)
1 = n1 2 + n2 2 + n3 2
Equations (10.3) may be viewed as a set of 3 linear, algebraic equations for the
3 ni 2 . Since ni 2 0 , these equations place restrictions in N and S. In order to
investigate these, we assume that the principal values have been ordered:
a1 a2 a3
S 2 + N 3 1 3 , (10.4)
2 2
2
a1 + a2 a1 a2
2
S + N
2
.
2 2
Inequalities (10.4) are easily interpreted by letting N and S represent the
point (N,S) must lie in the cross-hatched region between the 3 semicircles as
S + N =
2
.
2 2
Thus, in Case 2, the point (N,S) must lie on the semicircle indicated below
We note that this semicircle is what results when the admissible region of
Case1 collapses in accordance with a3 = a2 . The inequalities (10.4) still hold in
Case 2.
Case 3 (All Three Principal Values Equal, a1 = a2 = a3) In this case, (10.3)
reduces to
N = a1 , S = 0 ;
i.e., the set of admissible (N,S) points is the single point ( a1,0 ) .
Of course, this agrees with the collapsing of the admissible region of Case 1 in
accordance with a1 = a2 = a3. The inequalities (10.4) obviously still hold in
Case 3.
min N (n) = a3 ,
n =1
a1 a3
max S(n) = .
n =1 2
To find the values of n at which these extrema occur, we merely substitute
the corresponding values of N and S into (10.3). E.g., to find the n at which
sizes of the principal values just as before. There will, of course, be some
nonuniqueness in Cases 2 and 3. In any case, the result is that max N occurs
at n1 = 1, n2 = n3 = 0 . Of course, the star refers to the fact that the components
are w.r.t. the principal frame X .
In the same way, we find that min N occurs at n1 = n2 = 0, n3 = 1 and that max
1 1
S occurs at n1 = , n2 = 0, n3 = .
2 2
These results are summed up in the following theorem. The geometrical
Mohr's circles.
Theorem 10.5 Let aij (components in X) be a symmetric Cartesian tensor. For
a( n) = N (n)n + s(n), n s( n) = 0 .
Set
S (n) = s (n) .
Order the principal values of aij according to
a1 a2 a3 .
Then
max N (n) = a1 ,
n =1
min N (n) = a3 ,
n =1
a1 a3
max S(n) = .
n =1 2
Moreover, the direction n at which max N (min N) occurs is a principal
direction of aij corresponding to the largest (smallest) principal value a1 (a3 ) ,
while the direction of max S bisects the directions of max N and min N.
coordinate frame.
Of course, given X, P is determined by its coordinates xi or its position vector
write
f ( P) = f ( x1 , x2 , x3 ) = f ( x i ) = f ( x )
as best suits the purpose at hand. Of course, the actual functions above can
not really be the same because their domains are different; however, their
For the remainder of this section, D will always denote some open subset of
f C M (D )
if f and all its partial derivatives up to and includin order M are continuous
D.
coordinates (w.r.t. some frame) of the points in D. The kind of analysis used
in proving the following theorem can be used to show that the choice of
kl ( x1, x 2 , x3 ) =
bij... k ( x1, x2 , x 3)
aij... (components in X )
xl
Then the b ' s are the components of a Cartesian tensor field of order N+1.
k ,m =
aij... aij ...k .
x m
smoothness, we define
gradient of : grad = = ,i i e
Laplacian of : = 2 = ,ii
Theorem 11.2 Let and be scalar fields and u and v be vector fields, all of
C 2 (D ) . Then
(i ) ( ) = ( ) + ( ) + 2 ,
(ii) = ,
(iii) = 0,
(iv ) u = 0,
( v) ( u) = u u.