ME 6201

Homework #1 - Solution
Fall 2012

Assume Cartesian coordinates for all problems listed below.

1 4 1 7 0 2 1 2

1. Given A 1 3 8 , B 5 10 0 , c 0 , d 5
15
0 0 10 2 0 5 1

For indicated rank of all tensors represented by matrices above, write the following
expressions in indicial notation, expand in component form, and present results using
matrix notation, if appropriate.
a) d c

d i ei c j e j

di c j ei e j indicial

d1c1 d1c2 d1c3
d 2c1 d 2c2 d 2c3 component
d3c1 d3c2 d3c3
2 0 2
5 0 5 evaluated
15 0 15

b) d A c

di ei Ajk e j ek cl el

di Aik ck indicial
d1 A11c1 d1 A12 c2 d1 A13c3
d 2 A21c1 d 2 A22 c2 d 2 A23c3
d3 A31c1 d3 A32 c2 d3 A33c3 component
(2)(1)(1) (2)(4)(0) (2)(1)(1)
(5)(1)(1) (5)(3)(0) (5)(8)(1)
(15)(0)(1) (15)(0)(0) (15)(10)(1)
2 2 5 40 150
105 evaluated

ME 6201 HW #1 Solution Fall 2012

Page 1
 c) tr ( A B)

tr Aij ei e j Bkl ek el

tr Aij B jl ei el

Aij B ji indicial
A11 B11 A12 B21 A13 B31
A21 B12 A22 B22 A23 B32 component
A31 B13 A32 B23 A33 B33
(1)(7) (4)(5) (1)(2)
(1)(0) (3)(10) (8)(0)
(0)(2) (0)(0) (10)(5)
7 20 2 30 50
9 evaluated

d) A: B

Aij Bij indicial
A11 B11 A12 B12 A13 B13
A21 B21 A22 B22 A23 B23 component
A31 B31 A32 B32 A33 B33
(1)(7) (4)(0) (1)(2)
(1)(5) (3)(10) (8)(0)
(0)(2) (0)(0) (10)(5)
7 2 5 30 50
34 evaluated

e) Bc

Bij ei e j ck ek

Bij ck e jkl ei el indicial

If E B c , then

E11 B1 j ck e jk 1
B11c1e111 B11c2 e121 B11c3e131
B12 c1e211 B12 c2 e221 B12 c3e231
B13c1e311 B13c2 e321 B13c3e331
B12 c3 B13c2
Continuing this process leads to

ME 6201 HW #1 Solution Fall 2012

Page 2
 Bc

B12 c3 B13c2 B13c1 B11c3 B11c2 B12 c1
B22 c3 B23c2 B23c1 B 21c3 B21c2 B22 c1 component
B32 c3 B33c2 B33c1 B31c3 B31c2 B32 c1
0 9 0
10 5 10 evaluated
0 7 0

2. If A and B are 2nd rank tensors, u is a vector, and n is a unit vector, prove the

following using indicial notation.

a) u u n n n u n

RHS ui ei n j e j nk ek ni ei u j e j nk ek

ui ni nk ek ni ei u j nk e jkl el

ui ni nk ek ni u j nk e jkl eilm em

ui ni nk ek ni u j nk e jkl emil em

ui ni nk ek ni u j nk jm ki ji km em

ui ni nk ek ni um ni em ni ui nm em

ui ni nk ek ni uk ni ek ni ui nk ek

ni uk ni ek

n1n1 n2 n2 n3 n3 uk ek

Note that ni ni 1 for any unit vector. Therefore,
uk ek

resulting in
u u n n n u n

b) A : B tr A BT

LHS Aij Bij
RHS tr Aij ei e j Bkl el ek

tr Aij Bkj ei ek

Aij Bij
A : B tr A BT

ME 6201 HW #1 Solution Fall 2012

Page 3
 B A AT BT
T
c)

LHS Bij ei e j Akl ek el

Bij Ajl ei el

RHS Aij e j ei Bkl el ek
T

Aij Bki e j ek
T

Aij Bki ek e j

Ajl Bij ei el (i j , j l , k i )

Bij Ajl ei el
T
B A A BT
T

3. Consider the following symmetric second rank tensor:

0 10 5
A 10 30 20

5 20 0

a) The characteristic equation is

A I 0

0 10 5
10 30 20 0
5 20 0
Which results in the expression
3 30 2 525 1250 0
of the characteristic equation. Solving for the three roots yields
10, 20 525
10, 2.9129, 42.9129

To find the eigenvectors, v , plug each eigenvalue into A I v 0 and solve

for the eigenvectors that satisfy the three equations.

ME 6201 HW #1 Solution Fall 2012

Page 4
 10 :
10 10 5 v1 0
10 40 20 v 0
2
5 20 10 v3 0
20 20 10 v1 0 2 R1
5 20 10 v 0 1
2 2 R2

0 0 0 v3 0 R3 12 R2
20 20 10 v1 0
15 0 0 v 0 R2 R1
2
0 0 0 v3 0
The 3rd equation has 0 for all coefficients; thus no restrictions are placed
on the value of v . The 2nd equation requires that v1 0. The first

equation establishes a relation between v2 and v3 , namely v2 12 v3 . An
arbitrary selection of v3 1 causes v2 12 , resulting in v 0 12 1 .
T

Normalizing v by norm v gives the unit vector,

v 0 0.447 0.894 . Thus the paired eigenvalue and eigenvector
T

are:
10
0
v 0.447

0.894

2.9129 :
2.9129 10 5 v1 0
10 32.9129 20 v2 0

5 20 2.9129 v3 0
2.9129 10 5 v1 0 R1
0
1.4174 2.8348 v2 0 R2 2.912910
R1

0 2.8348 5.6692 v3 0 R3 2.9129
5
R1
2.9129 12.5 0 v1 0 R1 2.8348
5
R2
0 1 2 v2 0 R2 /1.4174

0 0 0 v3 0 R3 2 R2
Arbitrarily pick v3 1 , which results in v2 2 from the 2nd equation. The
1st equation is then used to solve v1 8.583 . After normalizing v by

dividing by the norm v , the paired eigenvalue and eigenvector are:

ME 6201 HW #1 Solution Fall 2012

Page 5
 2.9129
0.9678
v 0.2255

0.1128

42.9129 :
42.9129 10 5 v1 0
10 12.9129 20 v2 0

5 20 42.9129 v3 0
42.9129 10 5 v1 0
0 10.5826 21.1652 v2 0 R2 42.912910
R1

0 21.1652 42.3303 v3 0 R3 42.9129 5
R1
42.9129 12.5 0 v1 0
0 1 2 v2 0 R2 / 10.5826

0 0 0 v3 0 R3 2 R2
Arbitrarily pick v3 1 , which results in v2 2 from the 2nd equation. The
1st equation is then used to solve v1 0.5826 . After normalizing v by

dividing by the norm v , the paired eigenvalue and eigenvector are:

42.9129
0.2521
v 0.8655

0.4328

b) Determine the direction cosine matrix that represents a transformation to a set of

axes obtained by a 30 counterclockwise rotation about the y-axis ( x2 ), followed
by a 30 counterclockwise rotation about the new z-axis ( x3 ).

Q Q2 Q1 , where Q1 is the 30 CCW rotation about the y-axis and Q2 is the 30

CCW rotation about the new z-axis. The canonical form of the rotation matrixes
are used to define Q1 and Q2 , i.e.

cos(1 ) 0 sin(1 )
Q1 (1 ) 0 1 0 , where 1 30 and
sin(1 ) 0 cos(1 )
cos( 2 ) sin( 2 ) 0
Q2 ( 2 ) sin( 2 ) cos( 2 ) 0 , where 2 30 .
0 0 1

ME 6201 HW #1 Solution Fall 2012

Page 6
 Evaluating Q1 and Q2 gives

23 0 12 23 1
0

2

1 0 and Q2 (30 ) 12

Q1 (30 ) 0 2
3
0 , which then yields
1 0 1
2 0 23
0

23 12 0 3 0 1
2 2

Q Q2 Q1 2 2 0 0 1 0
1 3

1 3
0 0 1 2 0 2
34 1
43 0.7500 0.5000 0.4330
3
2

Q 4 2
3 1
4 0.4330 0.8660 0.2500
1 3 0.5000 0.8660

2 0 2
0

c) Find the components of tensor A in the new coordinate system defined by the

overall set of rotations described in part (b).

A Q A QT

34 1
43 0 10 5 34 3 1

2 4 2

43 23 4 10
1
30 20 12 2
3
0
1 3 5 20 0 43 3

1
2 0 2 4 2

3.0922 14.1955 13.3253
A 14.1955 22.5777 18.0801

13.3253 18.0801 4.3301

4. Write the following expressions in indicial notation and expand in component form ( is
a scalar and A is a 2nd rank symmetric tensor, and n is a unit vector).

a) 2 n

2 n n

,ii ,i ni ni ,i indicial
,11 ,22 ,33 ,1n1 ,2 n2 ,3n3 n1,1 n2,2 n3,3 component

ME 6201 HW #1 Solution Fall 2012

Page 7

b) ( A) n


ei Ajk e j ek nl el
x
i

A
jk eijm em ek nl el
x i

A jk
nk eijm em indicial
xi
For the component form, note that the permutation symbol equals 0 for many
choices of i and j . For example, the coefficients of e1 are

A1k A2 k A3k
nk e111 nk e121 nk e131
x1 x1 x1
A1k A2 k A3k
nk e211 nk e221 nk e231
x2 x2 x2
A1k A2 k A3k
nk e311 nk e321 nk e331
x3 x3 x3
A3 k A2 k
nk nk
x2 x3

Using this pattern, the coefficients are

A A A A A A
e1 31 n1 32 n2 33 n3 21 n1 22 n2 23 n3
x2 x2 x2 x3 x3 x3
A A A A A A
e2 11 n1 12 n2 13 n3 31 n1 32 n2 33 n3
x3 x3 x3 x1 x1 x1
A A A A A A
e3 21 n1 22 n2 23 n3 11 n1 12 n2 13 n3
x1 x1 x1 x2 x2 x2
which defines the expanded form.

ME 6201 HW #1 Solution Fall 2012

Page 8
 5. If is a scalar and v and w are vectors, prove the following identities using indicial

notation:

a) v w w v v w w v v w


LHS ei v j wk e jkl el
xi
(v j wk )
e jkl eilm em
xi
(v j wk )
e jkl emil em
xi
(v j wk )

xi
ji km em
jm ki

(vm wi ) (vi wm )
em em
xi xi
vm ,i wi em vm wi ,i em vi ,i wm em vi wm,i em

wi vi
RHS wi vm em vm em wm em vi wm em
xi xi xi xi
wi vm ,i em vm em wi ,i wm em vi ,i vi wm ,i em

vm ,i wi em vm wi ,i em vi ,i wm em vi wm ,i em

v w w v v w w v v w

b) w wi ,i


LHS wi ei e j
x
j

wi
xi
wi,i
w wi ,i

ME 6201 HW #1 Solution Fall 2012

Page 9
 1
c) v v v v v v
2
LHS vi ei j e j vk ek

vi i vk ek

vi vk ,i ek

RHS 12 i ei (v j v j ) vi ei vk , j e jkl el

12 ei (v j ,i v j v j v j ,i ) vi vk , j e jkl eilm em

v j ,i v j ei vi vk , j e jkl emil em

v j ,i v j ei vi vk , j jm ki ji km em

v j ,i v j ei vi vi ,m em vi vm ,i em

v j ,m v j em vi vi ,m em vi vm ,i em

vi vk ,i ek

1
v v v v v v
2

6. For the scalar-valued function A that depends continuously on spatial coordinates, prove
that

A 0

LHS i ei j e j A, k ek

i ei A,kj e jkl el

Note that A, kj e jkl el can be expanded by

A,kj e jkl el e1 A,32 A,23 e2 A,13 A,31 e3 A,21 A,12 .

For the smooth, continuous function A , the order of partial differentiation does
not matter. Thus, A, kj e jkl el 0 and LHS 0 .

A 0

ME 6201 HW #1 Solution Fall 2012

Page 10