Chapter(1(

(
Cartesian(Tensors(

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 1

Vectors(
Consider(a(23D(vector(in(the(X1(–(X2(system:(
! !
Base%vectors%e1 %and%e2
! ! ! ! ! !
X 2!
X2
V2
V =V ! V =V1e1 +V2e2 V = V1 ,#V2 ( )
w.r.t(a(new(system(X’ 1(–(X 2:(
’

θ ! !
V2! Base%vectors%e1! %and%e2!
! ! ! !
θ V1! V ! =V1!e1! +V2!e2! V ! = V1!,#V2! ( )
V1 Relationship(among(components:(
! X 1!
! e2
e2! ! ( )
V1! =V1 cos X 1 , X 1! +V2 cos X 2 , X 1! ( )
e1!
θ =V1 cosθ +V2 sinθ
X1
!
e1 ( )
V2! =V1 cos X 1 , X 2! +V2 cos X 2 , X 2! ( )
= −V1 sinθ +V2 cosθ

( )
cos X 1 , X 1! = cosθ ( ) (
cos X 2 , X 1! = cos π 2− θ = sinθ)
cos ( X 2
, X ! ) = cosθ
2
cos ( X , X ! ) = cos (π
1 2
2+ θ ) = −sinθ
Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 2
 Vectors
Direction)Cosines)of)Coordinate)Transformation

! ! V1! =V1 cosθ +V2 sinθ

X2 V =V !
X 2! V2 V2! = −V1 sinθ +V2 cosθ

θ (
Let$$aij = cos X i , X !j )
V2!
θ V1! ( )
a11 = cos X 1 , X 1! = cosθ
V1 a12 = cos ( X , X ! ) = cos (π 2+ θ ) = −sinθ
1 2
! X 1!
! e2
e2! a21 = cos ( X , X ! ) = cos (π 2− θ ) = sinθ
! 2 1
e1!
θ a22 = cos ( X , X ! ) = cosθ
2 2
! X1
e1
aij !are!called!"direction!cosines"
! #
In)terms)of)direction)cosines:) !a # = & cosθ −sinθ '
" ij $
" sinθ cosθ $
V1! = a11V1 + a21V2 V2! = a12V1 + a22V2

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 3

Vectors
For)a)37D)vector: For)a)27D)vector:
! ! ! !
X2
! !
V =V !
V =V1e1 +V2e2
!
(
V = V1 ,#V2 )
! ! !
X 2! V2 V ! =V1!e1! +V2!e2! (
V ! = V1!,#V2!)
V1! = a11V1 + a21V2
V2!
V1! V2! = a12V1 + a22V2
V1 ! !
! V! ! ! !
! e2 3 X 1! V =V1e1 +V2e2 +V3e3 (
V = V1 ,#V2 ,#V3 )
e2! ! V3 ! ! ! ! !
e1!
θ
V ! =V1!e1! +V2!e2! +V3!e3! (
V ! = V1!,#V2!,#V3! )
! ! X1
e3 e1 V1! = a11V1 + a21V2 + a31V3
!
e3! V2! = a12V1 + a22V2 + a32V3
X3
X 3! V3! = a13V1 + a23V2 + a33V3

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 4

 The)Summation)Convention
3
V1! = a11V1 + a21V2 + a31V3 ⇒ !!!!!V1" = ∑ai 1Vi
i =1
3 3
V2! = a12V1 + a22V2 + a32V3 ⇒ !!!!!V2" = ∑ai 2Vi ⇒ !!!!!V j" = ∑aijVi !,!!!j = 1,2,3
i =1 i =1
3
V3! = a13V1 + a23V2 + a33V3 ⇒ !!!!!V3" = ∑ai 3Vi
i =1

The)summation)convention:)
3
V j! = ∑aijVi #,###j = 1,2,3 can)be)simpli@ied)to V j! = aijVi !,!!!i , j = 1,2,3
i =1
if)the)following)convention)is)observed:
If#in#a#monomial#there#exists#a#repeated#index#(e.g.,#“i”#in#the#above#example),#
then#an#automatic#summation#over#the#range#of#that#index#is#required
3
V j! = aijVi !,!!!i , j = 1,2,3 V j! = a1 jV1 + a2 jV2 + a3 jV3 = ∑aijVi $,$$$j = 1,2,3
i =1
Index)“i”)repeats. Therefore,)sum)over)its)range

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 5

The)Summation)Convention
3
V j! = ∑aijVi #,###j = 1,2,3 ⇒ !!!!!V j" = aijVi !,!!!i , j = 1,2,3
i =1

"  An#index#in#a#monomial#is#either#repeated,#“i”,#or#non@repeated,#“j”
"  A#repeated#index#is#called#a#“dummy#index”
"  A#non@repeated#index#is#called#a#“free#index”
"  A#free#index#can#appear#only#once#in#a#monomial#and#MUST#also#
appear#once#and#only#once#in#each#of#all#the#other#monomials
"  A#dummy#index#can#be#represented#by#any#symbol,#so#long#as#the#
range#of#the#symbols#are#the#same
V j! = aijVi !,!!!i , j = 1,2,3 V j! = akjVk !,!!!k , j = 1,2,3 V j! = amjVm !,!!!m , j = 1,2,3

"  A#free#index#can#be#represented#by#any#symbol#having#the#same#range,#
so#long#as#the#same#symbol#is#used#in#all#monomials
V j! = aijVi !,!!!i , j = 1,2,3 Vn! = ainVi !,!!!i , n = 1,2,3 V p! = ampVm !,!!!m , p = 1,2,3

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 6

 The)Summation)Convention
"  An#index#can#only#appears#either#once#
V j! = aijVi !,!!!i , j = 1,2,3
(hence#a#free#index)#or#twice#(hence#a#
dummy#index)#in#a#monomial.##

"  A#dummy#index#(that#appears#twice)#in#a# V j! = aijVi ,"""i , j = 1,2,3

monomial#automatically#requires#a# 3

summation#over#its#range. ≡ """V j! = ∑aijVi ,"""j = 1,2,3

i =1

"  An#index#that#appears#more#than#twice#in#
Ajk = B ijkC i Di
a#monomial#is#not#allowed.

"  An#index#that#appears#only#once#in#one#
Ajk = B ijkC i D j + E jk
monomial#(hence#a#free#index)#must#also#
appear#just#once#in#each#and#every#other#
monomial#in#the#expression.

"  A#free#index#that#appears#in#only#some# Aij = B ijkC k + Dim

(not#all)#of#the#monomials#is#not#allowed.

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 7

Interpretation)of)the)Free)Indices
A)vector)in)a)37D)space)can)be)expressed)as)follows:)
! ! ! !
(
V =V1e1 +V2e2 +V3e3 = V1 ,%V2 ,%V3 =Vi ,%i = 1,2,3 )
The)free)index)“i”,)ranging)from)1)to)3,)indicates)that)Vi)has)three)
components)in)a)37D)space.

Direction)cosines,)aij,,#can)be)expressed)as)follows:

! a $ ! cos X , X '
( ) ( )
cos X 1 , X 2' ( $
cos X 1 , X 3' & )
# 11 a12 a13 & # 1 1
# &
aij = # a21 a22 a23
# & # (
& = cos X , X '
2 1 ) cos ( X , X ' )
2 2 (
cos X 2 , X 3' & )
# a31 a32 a33 # &
"
&
(
% #" cos X 3 , X 1' ) cos ( X , X ' )
3 2 (
cos X 3 , X 3' &
% )
aij#has)two)free)indices,#i#and#j,#each)ranges)from)1)to)3)in)a)37D)space.))
Hence#aij#has)32)=)9)components)in)a)37D)space.

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 8

 Interpretation)of)the)Free)Indices
Rlmn ,"""l , m , n = 1,2,3 Rlmn)has)3)free)indices,)hence)has)33)=)27)components
! AB A1B2 A1B3 $&
# 1 1
Ai B j = # A2B1 A2B2 A2B3 & AiBj)has)two)free)indices,)
# & hence)has)32)=)9)components
# A3B1 A3B2 A3B3 &
" %
" 3 3 3 %
$
$
∑C 1j
Dj 1 ∑C 1j
Dj 2 ∑C 1j
Dj 3 '
' CijDjk)has)two)free)
$
j =1 j =1 j =1
' indices,)i)and)k,)hence)
3 3 3 3
$
C ij D jk = ∑C ij D jk = $
' has)9)components.
∑C D
2j j 1 ∑C D
2j j 2 ∑C 2j
Dj 3 '
j =1 $ j =1 j =1 j =1 ' It)also)has)one)dummy)
$ 3 3 3 ' index,)j,)hence)each)
$ ∑C 3 j D j 1 ∑C 3 j D j 2 ∑C 3j
Dj 3 ' component)is)a)sum)of)
$# j =1 j =1 j =1 '&
three)terms.)
3

∑C 1j
D j 1 = C 11D11 +C 12D21 +C 13D31 ,%%etc .
j =1

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 9

The)Kronecker)Delta)δij
The)lengths)of)vectors)V)and)V’)are)given)by
! ! ! ! ! ! ! ! 2 2 2
V =V ⋅V = V ⋅V =V12 +V22 +V32 V ! =V ! ⋅V ! = V1! + V2! + V3! ( ) ( ) ( )
Recall&&V1! = a11V1 + a21V2 + a31V3 V2! = a12V1 + a22V2 + a32V3 V3! = a13V1 + a23V2 + a33V3
! !
The$length$of$a$vector$is$constant$$$ ⇒ $ V = V "
2 2 2
( ) ( ) ( )
V12 +V22 +V32 = V1! + V2! + V3!
=!
(
2
= a11 2
+ a12 2
+ a13 V12 + a21
2
) 2
+ a22 2
+ a23 (
V22 + a31
2 2
+ a32 2
+ a33 )
V32 ( )
( ) (
+2 a11a21 + a12a22 + a13a23 V1V2 +2 a21a31 + a22a32 + a23a33 V2V3 )
+2(a a + a32a12 + a33a13
31 11 )V V
3 1

2 2 2 2 2 2 2 2 2
Compare)coef@icients: a11 + a12 + a13 = 1 a21 + a22 + a23 = 1 a31 + a32 + a33 =1

a11a21 + a12a22 + a13a23 = 0 a21a31 + a22a32 + a23a33 = 0 a31a11 + a32a12 + a33a13 = 0

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 10

 The)Kronecker)Delta)δij
3 3 3

∑a a =1
1k 1k ∑a a =1
2k 2k ∑a a = 1 or a1k a1k = 1 a2k a2k = 1 a3k a3k = 1
3k 3k
k =1 k =1 k =1
3 3 3

∑a1k a2k = 0 ∑a2k a3k = 0 ∑a a = 0 or a1k a2k = 0 a2k a3k = 0 a3k a1k = 0
3k 1k
k =1 k =1 k =1

"$
1 if$i = j
aik a jk = # $$$$$$$i , j , k = 1,2,3
%$ 0 if$i ≠ j
"$
1 if$i = j ! 1 0 0 $
Introducing)“Kronecker)Delta”)δij: δij = #
$% 0 if$i ≠ j # &
δij = # 0 1 0 &
# 0 0 1 &
aik a jk = δij !!!!!!!i , j , k = 1,2,3 " %

2 2 2 2 2 2 2 2 2
Compare)coef@icients: a11 + a12 + a13 = 1 a21 + a22 + a23 = 1 a31 + a32 + a33 =1

a11a21 + a12a22 + a13a23 = 0 a21a31 + a22a32 + a23a33 = 0 a31a11 + a32a12 + a33a13 = 0

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 11

The)Kronecker)Delta)δij
Recall&&V j! = aijVi &,&&&i , j = 1,2,3 (Transformation)of)V)from)Xi)to)X’i)

Multiply)both)side)with)akj

( )
akjV j! = akj aijVi = δkiVi = δk 1V1 + δk 2V2 + δk 3V3 (a)

For$k = 1: $$$δk 1V1 + δk 2V2 + δk 3V3 = δ11V1 + δ12V2 + δ13V3 =V1

For$k = 2: $$$δk 1V1 + δk 2V2 + δk 3V3 = δ21V1 + δ22V2 + δ23V3 =V2 δkiVi =Vk (b)

For$k = 3: $$$δk 1V1 + δk 2V2 + δk 3V3 = δ31V1 + δ32V2 + δ33V3 =V3

When)δki)appears)in)a)monomial)and)one)of)the)two)indices)is)a)dummy)
index)(“i”),)then)δki)can)be)removed)from)the)expression)by)replacing)the)
dummy)index)(”i”))with)the)other)index)(“k”).

This)is)the)inverse)transformation)
(b ) → (a ) !! ⇒ a V ! =V
kj j k
or V j = a jiVi!
equation)for)V,)from)X’i)to)Xi.
Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 12
 The)Kronecker)Delta)δij
Recall V j = a jiVi!!!!(a) and V j! = aijVi !!!(b)

Change)(a))to Vi = aikVk! and)then)substitute)in)(a)

V j! = aijVi = aij aikVk!
If#j = k ,#V j! =Vk! #and#aij aik = 1
!aij aik = δ jk (Recall&&a ik
a jk = δij )
If#j ≠ k ,#V j" ≠Vk" #and#aij aik = 0

2D)example 2 "
a11a11 + a12a12 a11a21 + a12a22 %'
aik a jk = ∑aik a jk = $
! # $ a a +a a '
!a # = & cosθ −sinθ ' k =1 # 21 11 22 12 a21a21 + a22a22 &
" ij $
" sinθ cosθ $ " %
=$ cos2 θ +sin2 θ cosθ sinθ −sinθ cosθ '
$# sinθ cosθ −cosθ sinθ sin2 θ +cos2 θ '&
" %
= $ 1 0 ' = δij
# 0 1 &

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 13

Coordinate)Transformation
X2 Consider)a)position)vector)
X 2! ! ! ! ! !
P X = X 1e1 + X 2e2 + X 3e3 = X i ei
! ! ! !
X !j = aij X i = X 1!e1! + X 2!e2! + X 3!e3! = X i!ei!
! !
! X j = a ji X i! Dot$product$of$$X $$and$$e !j
X ! ! ! !
! X ⋅ e "j = X i ei ⋅ e "j
e2 X 1!
! ! ! ! !
e2! !
e1!
= X i"ei" ⋅ e "j (
X i ei = X i!ei! )
! !
θ
X1
= X i"δij (
ei! ⋅ e !j = δij )
! ! = X "j
e3 e1
! ! !
e3! Compare X !j = X i ei ⋅ e !j and X !j = aij X i
X3    
X 3! aij = ei ⋅ e!j Similarly a ji = ei! ⋅ e j

Direction)cosines)can)be)obtained)by)dot)products)of)base)vectors

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 14

 Coordinate)Transformation
The)necessary)and)suf@icient)conditions)to)insure)that)a)transformation)is)
reversible)and)has)a)one7to7one)correspondence)in)region)V)are
"  The)transformation)is)single7valued,)continuous,)and)possesses)
continuous)@irst)derivatives)in)region)V
"  The)Jacobian)determinant,)JJ,)of)the)direction)cosine)matrix)does)not)
vanish)at)any)point)in)region)V

a11 a12 a13

J = aij = a21 a22 a23 ≠ 0
a31 a32 a33

"  J#>#0#if#a#right@hand#(left@hand)#system#is#transformed#to#another#right@
hand#(left@hand)#system;#the#transformation#is#said#to#be#“proper.”##
"  J#<#0#if#a#right@hand#(left@hand)#system#is#transformed#to#a#left@hand#
(right@hand)#system;#the#transformation#is#said#to#be#“improper.”

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 15

Scalars,)Vectors,)Tensors
Let)Xi)and)X’i)be)two)set)of)Cartesian)coordinate)systems
! !
X !j = aij X i (
X j = a ji X i! aij = ei ⋅ e "j = cos X i , X "j )
A)physical)quantity)is)called)a)scalar,)a)vector,)or)a)tensor)depending)on)
how)many)components)that)the)quantity)has)and)how)the)components)are)
transformed)from)one)system)to)the)other

A)physical)quantity)is)called)a)scalar,)or)a)tensor)of)zero)order,)if
1.  It)has)one)component)in)Xi)system,)e.g.,)ϕ(Xi),)and)one)component)in)
X’i)system,)e.g.,)ϕ’(X’i)
2.  The)components)remain)unchanged)when)transformed)from)one)
system)to)the)other,)and)vice)versa.
( ) ( )
φ X i = φ ! X i!

Examples)of)scalars)include)temperatures,)energies,)speeds,)etc.

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 16

 Scalars,)Vectors,)Tensors
Let)Xi)and)X’i)be)two)set)of)Cartesian)coordinate)systems
! !
X !j = aij X i X j = a ji X i! aij = ei ⋅ e "j = cos X i , X "j ( )
A)physical)quantity)is)called)a)vector,)or)a)tensor)of)@irst)order,)if
1.  It)has)three)components)in)Xi)system,)e.g.,)ti,)and)three)components)in)
X’i)system,)e.g.,)t’i
2.  The)transformation)of)the)components)from)one)system)to)the)other)
is)given)by
t !j = aijt i !!!and!!!t j = a jit i!

t 1! = ai 1t i = a11t 1 + a21t 2 = t 1 cosθ +t 2 sinθ

2D)vector)transformation:
t 2! = ai 2t i = a12t 1 + a22t 2 = −t 1 sinθ +t 2 cosθ

Examples)of)1st)order)tensors,)or)vectors,)include)forces,)accelerations,)
velocities,)displacements,)etc.

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 17

Scalars,)Vectors,)Tensors
Let)Xi)and)X’i)be)two)set)of)Cartesian)coordinate)systems
! !
X !j = aij X i X j = a ji X i! aij = ei ⋅ e "j = cos X i , X "j ( )
A)physical)quantity)is)called)a)tensor)of)second)order,)if
1.  It)has)nine)components)in)Xi)system,)e.g.,)tij,)and)nine)components)in)
X’i)system,)e.g.,)t’ij
2.  The)transformation)of)the)components)from)one)system)to)the)other)
is)given)by
t ij! = ami anjt mn !!!and!!!t ij = aima jnt mn
!

Examples)of)2nd)order)tensor)include)stresses,)strains,)moments)of)inertia,)
etc.

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 18

 Scalars,)Vectors,)Tensors
Let)Xi)and)X’i)be)two)set)of)Cartesian)coordinate)systems
! !
X !j = aij X i X j = a ji X i! aij = ei ⋅ e "j = cos X i , X "j ( )
A)physical)quantity)is)called)a)tensor)of)nth)order,)if
1.  It)has)3n)components)in)Xi)system)and)3n)components)in)X’i)system
2.  The)transformation)of)the)components)from)one)system)to)the)other)
is)given)by

t p! p !p = aq p aq p !aq p t q q !q ###and###t p p !p = ap q ap q !ap q t q! q !q

1 2 n 1 1 2 2 n n 1 2 n 1 2 n 1 1 2 2 n n 1 2 n

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 19

Vector)Operations)Using)Tensor)Notation
! ! !
Let$$A ,$B $and$C $be$vectors$in$a$31D$space
! !
Dot)product A ⋅ B = A1B1 + A2B2 + A3B3 = Ai Ai
! ! ! ! ! !
( ) (
Cross)product C = A × B = A2B3 − A3B2 e1 + A3B1 − A1B3 e2 + A1B2 − A2B1 e3 ) ( )
C i = ε ijk Aj B k
εijk,)called)alternating#or#permutation#tensor)(3rd)order,)with)27)
components),)is)de@ined)as)follows:
"
( ) ( )(
$ +1"""if i , j , k "is" 1,2,3 ," 3,1,2 "or" 2,3,1) ( )
$
( ) ( )(
εijk = # −1"""if i , j , k "is" 1,3,2 ," 3,2,1 "or" 2,1,3
$
) ( )
$ ""0"""if"i = j "or"j = k "or"k = 1
%
For)i)=)1: ε 1 jk Aj B k = ε 111 A1B1 + ε 112 A1B2 + ε 113 A1B3 + ε 121 A2B1 + ε 122 A2B2 + ε 123 A2B3
( )
$$$$$$$$$$$$$$$$$ + ε 131 A3B1 + ε 132 A3B2 + ε 133 A3B3 = +1 A2B3 + −1 A3B2 ( )
For)i)=)2)and)3: ε 2 jk Aj B k = − A1B3 + A3B1 ε 3 jk Aj B k = A1B2 − A2B1

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 20

 Vector)Operations)Using)Tensor)Notation
! ! !
Let$$A ,$B $and$C $be$vectors$in$a$31D$space
Triple)scalar)product
! ! ! ! ! !
( ) ( )
A × B ⋅C = εijk Aj B k C i = εijk Aj B kC i = εijk Ai B jC k ! A ,"B ,"C #
" $
Triple)vector)product
! ! ! ! ! ! ! ! !
(
) ( ) ( )
A × B × C = A ⋅C B − A ⋅ B C
! ! ! ! ! !
( ) ( ) ( ) ( )
RHS = A ⋅C B − A ⋅ B C = AjC j B i − Ak B k C i = Aj B iC j − Ak B kC i
! ! !
LHS = A × (B ×C ) = ε A (ε B C ) = ε ε
ijk j klm l m kij klm
A j B lC m

εkij εklm Aj B lC m ? = ? Aj B iC j − Ak B kC i
! ! ! ! ! ! ! ! ! ! ! !
Quadruple)scalar)product ( A × B ) ⋅ (C × D ) = ( A ⋅C )(B ⋅ D ) − ( A ⋅ D )(B ⋅C )
! ! ! ! ! ! ! ! ! ! ! !
Quadruple)vector)product ( A × B ) × (C × D ) = "#A ,"B ,"D $%C − "#A ,"B ,"C $%D
Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 21

Partial)Derivatives)of)Tensors
Let)Xi)and)X’i)be)two)set)of)Cartesian)coordinates
X !j = aij X i X j = a ji X i!
∂X "j ∂X i ∂X j ∂X i"
= aij = aij δim = amj = a ji = a ji δim = a jm
∂X m ∂X m ∂X m" ∂X m"

Partial)differentiation)of)a)scalar)function: φ ! X i! = φ X i ( ) ( )
∂φ " ∂φ ∂φ ∂X i ∂φ ∂

= = = aij φ ,!i = aij φ ,i Denote& &&as&&
,i
∂X "j ∂X "j ∂X i ∂X "j ∂X i ∂X i

Partial)differentiation)of)a)1st)order)tensor)(vector)function: t i! = amit m

=
(
∂t i" ∂ amit m
= ami m
)
∂t ∂X n ∂t
= ami anj m t i!, j = ami anjt m ,n
∂X "j ∂X "j ∂X n ∂X "j ∂X n

Taking#partial#differentiation#of#a#tensor#
increases#the#order#of#the#tensor#by#one.

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 22

 More)Vector)Operations)Using)Tensor)Notation
Gradient)of)a)scalar)function
∂φ ! ∂φ ! ∂φ ! # ∂φ ∂φ ∂φ &
∇φ = e + e + e =% , , ( )
( = φ ,1 ,φ ,2 ,φ ,3 = φ ,i %%%%%(A%vector)
∂X 1 1 ∂X 2 2 ∂X 3 3 %$ ∂X 1 ∂X 2 ∂X 3 ('

Divergence)of)a)vector
! $ ∂ ! ∂ ! ∂ !' ! ! ! ∂V ∂V ∂V
∇⋅V = &&
% ∂X 1
e1 +
∂X 2
e2 + ( )
e3 )) ⋅ V1e1 +V2e2 +V3e3 = 1 + 2 + 3 =Vi ,i %%%%%(A%scalar)
∂X 3 ( ∂X 1 ∂X 2 ∂X 3

Curl)of)a)vector
! % ∂V ∂V ( ! % ∂V ∂V ( ! % ∂V ∂V ( ! ∂V
∇ ×V = '' 3 − 2 **e1 + '' 1 − 3 **e2 + '' 2 − 1 **e3 = εijk k = εijkVk , j %%%%%(A%vector)
& ∂X 2 ∂X 3 ) & ∂X 3 ∂X 1 ) & ∂X 1 ∂X 2 ) ∂X j

Laplace)(divergence)of)the)gradient))of)a)scalar
$ ∂ ! ∂ ! ∂ ! ' $ ∂φ ! ∂φ ! ∂φ ! '
∇2φ = ∇⋅ ∇φ = && e1 + e2 + e3 )) ⋅ && e1 + e2 + e3 ))
∂
% 1X ∂X 2
∂X 3 (% 1 ∂X ∂X 2
∂X 3 (
∂2φ ∂2φ ∂2φ
= + + = φ ,ii %%%%%(A%scalar)
∂X 12 ∂X 12 ∂X 12
Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 23

Tensor)Contraction)and)Quotient)Rule
Tensor)Contraction
"  Equating)two)free)indices)(and)making)them)a)dummy)index)
"  Yielding)a)tensor)two)orders)less)than)the)original)tensor
t ij! = ami anjt mn !!!(2nd !order) i = j !!! ⇒ t ii! = ami anit mn = δmnt mn = t mm !!!(zero!order)

Quotient)Rule
Let)Vi)be)a)@irst)order)tensor)and)Bij)a)second)order)tensor.))If)
B jk = AijkVi
is)true)in)any)coordinate)systems,)then)Aijk)is)a)third)order)tensor
B !jk = amj ank B mn V p = apqVq!
B !jk = amj ank B mn = amj ank ApmnV p = amj ank ApmnapqVq! = Aqjk
! Vq!
B jk = AijkVi B !jk = Aijk
! V i!

Aqjk
! = apq amj ank Apmn

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 24

 The)Theorem)of)Gauss)(The)Integral)Theorem)
Given)a)tensor)tijk…)de@ined)in)a)
region)V)bounded)by)a)surface)S,)the)
X2
S !
Theorem)of)Gauss)states)that n
t ijk!
∫V t ijk!,m dV = ∫ S nmt ijk! dS dS
dV
where)nm)is)the)unit)normal)on)the) V
exterior)of)S.
X1
Examples:)Divergence)Theorem
X3
Vector Tensor
! ! !
∫V ∇⋅t dV = ∫ S
n ⋅t dS ∫ t dV =
V i ,i
∫ S
nit i dS
!
∫V
∇φdV =
S
φ ∫
ndS ∫ V
φ ,i dV = ∫ S
φni dS
! ! !
∫V ∇ ×t dV = ∫ S n ×t dS ∫ V
εijkt k , j dV = ∫ ε n jt k dS
S ijk

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 25

Tensor)Algebra)and)Matrix)Algebra
n
Recall)matrix)algebra {C } = "#A$%{B } C i = ∑ Aij B J ,##i = 1,2,!, m
m×1 m×n n×1 j =1
m
!F # = !D #!E # Fik = ∑ Aij B jk ,##i = 1,2,!, l ;#k = 1,2,!, n
" $ " $" $
l ×n l ×m m×n j =1

Tensor)algebra:
T
! a #
% 11 a12 a13 &
t !j = aijt i {t !} = "#a$% {t }
!a # = % a &
" $ % 21 a22 a23 &
% a31 a32 a33 &
t j = a jit i! {t } = !"a#${t %}
" $
T
t ij! = ami anjt mn "t !$ = "a $ "t $"a $
# % # % # %# %
T
t ij = aima jnt mn
! !t # = !a #!t %#!a #
" $ " $" $" $

Theory of Elasticity (© T.-M. Tan, 4-Jan-15) Chapter 1 2-D Cartesian Tensors 26