EN221 Summary

1 Tensor Stu
Divergence : u = iui
R

u=
R

uTnda, T Tnda.
R

T = iTije j
R

T = u=
R

u = Jacobian (matrix divergence: columns stay separate) Box product : [a , b , c] = a (b c) Levi-Civita tensor :

u nda,
R

e j ek = ijkei. det(abc) = i jkaibjck

i, 1 j, 1 k, 1 (ijk ) an even permut. of (123), 1 ijk = det i, 2 j, 2 k, 2 = [ei , e j , ek] = 1 (ijk ) an odd permut. of (123), 0 if not. i, 3 j, 3 k, 3 ijkilm = jlkm jmkl , i jkijl = 2kl , ijkijk = 6

Principal Invariants : IA = 1 + 2 + 3 = ([Aa , b , c] + [a , Ab , c] + [a , b , Ac])/[a , b , c] = tr A, 1 IIA = 12 + 23 + 13 = ([Aa , Ab , c] + [Aa , b , Ac] + [a , Ab , Ac])/[a , b , c] = [tr2A tr A2], 2 IIIA = 123 = [Aa , Ab , Ac]/[a , b , c] = det A.

Adjugate/Cofactor of a Tensor : A(a b) = (Aa) (Ab) A = det A(A T ). t det A(t) = det A tr((tA)A 1) Tensor Product : TO FROM ei e j (u v )a (u v )(w x) (u v )A = = = = ei eT j u(v a) v w (u x) u (ATv )

Skewsymmetric matrices : Rotation around axis given by orthogonal matrix Q(t). x t( QTQ) = 0, =Q x QT , W = W T . Wx = x. W =Q

2 Kinematics
2.1 Static
Reference and deformed congurations . 1

Section 2

Deformation gradient : assumed regular. J = det F

0.

x(X ) = X + u(X ), F = X x(X ), 1 F = x j X E ei Isochoric : J = 1. Polar decomposition : Strain : E = E Stretch : (M ) = (M F TFM )1/2 = |UM |. Has local maxima and minima when M is an eigenvector of U . Transformation of area elements : nda = F N dA Deformation gradient in cylindrical coordinates : Given r = f (R, , Z ), z we have 1 F = Rx ER + x E + Zx EZ . R Also expressible as mixed tensor from E(R,,Z ) to E(r,,z): F =
r R r 1 R z R 1 r R r R 1 z R

F = R U, F TF = U 2, R = F U 1. F = V R. Is unique. R is rotation of principal axes. R average of all rotations. Principal axes of V are Rui. (V ) = (U ). R = vk uk. F = kvk uk.

Features:

Left/Right Cauchy-Green Deformation Tensor : F F T /F TF SPD. 1 T (F F Id) (Lagrangean: |dx |2 |dX |2 = 2dX E dX ), 2 1 = (Id F TF 1) (Eulerian: |dx |2 |dX |2 = 2dx E dx). 2

r z r 1 z z Z

Caveat for mixed tensors: tr(F ) but more complicated.

Fii. However det, V , U as usual. Also works for spherical basis,

Kinematics

2.1.1 Static Examples Pure shear : F = e1 e1 + 1e2 e2. Simple shear : F = Id + e1 e2. Pure bending : Tension and torsion : x (R Y )sin (x) y = R (R Y )cos (x) , z Z x y = z Turning a cylinder inside out .
X cos Z l X sin Z l

J = (R Y ) .

sin + Z

Y cos

Z l Z l

2.2 Dynamic
Steady motion : /t v (x , t) = 0. Material/Lagrangean POV : focus on particle, expressions in terms of X and t Solids. Spatial/Eulerian POV : focus on point in space, expressions in terms of x and t Fluids. Lines: Path line : Curve traced by a xed particle. Streamlines : Field lines of velocity in Eulerian POV.

Both coincide under steady motion. Material derivative : + x v , t w = + (x w )v , w t = T + (x T )v . T T = . Acceleration : a = v = L F (chain rule). Velocity gradient : L = x v F F requires a reference state, L does not. dX = L F dX = Ldx. Assume dx = m |dx |. =F dx Strain rate : |dx | = m Lm = m Dm |dx | = Lm m(m Lm) m

Stretch and Spin : L = D + W , D = DT , W = W T . D11: stretching rate of a line element along the 1-direction D12: (roughly) change in angle between the 1- and 2-direction. Principal axes pi of D are rigidly rotating about 1 = curl v 2

with Wpi = pi.

Vorticity : curl v = 2 angular velocity. (Letter here is also .)

Section 3

= J tr L = J div v . J Integrals over moving contours : v dx =

Ct CR

v (x , t) F dX (x , t) F + v (x , t) L F )dX (v
CR

d dt

v dx =
Ct

=
Ct

(x , t) + LTv (x , t)dx v

Integrals over moving surfaces : Similar, taking into account that F = J F T . d dt u nds =
St St

+ u tr(L) Lu) nds. (u

Integrals over moving volumes/Reynolds Transport Theorem : d dt (x)dv =

Rt Rt

+ tr(L)dv.

Observe that tr(L) = div v , which is zero in the incompressible case. Circulation : v dx =
Ct St

curl v ds = 1 2 v 2
Ct St

ds

LTv = 0
if circulation-preserving

d dt

v dx =
Ct

(x , t) + LTv (x , t)dx v (x , t)dx + v

Ct Ct

= =
Ct

1 2 v dx 2

a(x , t)dx curl a ds

St

= If a = , then the motion is circulation-preserving . If circulation-preserving, then

+ tr(L) L = 0. curl a = Then consider the product rule on d (J F 1 ) = dt to nd Cauchys vorticity formula : 1 = F ref. J Field lines of vorticity are vortex lines . If the motion is circulation-preserving, these are material curves. =0

3 Balance Laws and Field Equations

Conservation of Mass : Assumption: J = ref (referential).

Balance Laws and Field Equations

Therefore, J + J J + J div v + div v t + div( v ) Transport Theorem with density : d dt Linear Momentum : M = v dv =
Rt Rt

= = = =

0 0 0 0.

dv.

Stress vector : t(n) is force/unit area. Balance law : d dt v =

Rt Rt

= v
Rt

bdv +
Rt

t(n)da.

Stress tensor/Cauchys Theorem : Tn = t(n). Derivation: t( n) = t(n) by pillbox and balance law. Tetrahedron argument: n the general normal of the coordinate-system-boxed tetrahedron. Then other faces ai = ani, where a is the area of the complicated face. Volume h a/3. Apply 1/a balance law, let h 0. Assume continuity, derive linear dependence by assuming values are locally constant.

Updated balance law: a = b +

Rt Rt

Field equations :

= X s + ref b (referential) ref x a = x + b (spatial) Nominal Stress/Conjugate stress : s = J F 1 . ( Tnda = sTN dA can be directly veried.) Also called Piola-Kircho stress . sT is 2nd Piola-Kircho stress . Angular Momentum : H = x v Non-polar material : no contact torques. Balance law : d dt x v =
Rt ( ) Rt

= x v
Rt

(x b + c)dv +
Rt

x t(n)da

c is body torque. Equality ( ) follows because x-derivatives vanish once v is applied. Subsituting Cauchys Theorem into the balance law gives x (x + b) =
Rt Rt

(x b)dv +
Rt

x nda

x (x )
Rt Rt

x nda

View in component form, apply Gau, derive i jk ji = 0 = T . Field equations : sTF T = F s (referential) T = (spatial)

Section 3

Vector identities : 1 |A |2 + ( A) A 2 (A )A = ( A)A. (A )A = as (v 2) for irrotational ow. Use these identities to rewrite the v

Types of uid ow : Inviscid : = p Id div = p. Incompressible : = 0 or div v = 0. Steady : tv = 0. = v . Irrotational : = 0 or v = . Elastic : p( ) Ideal=incompressible : div v = 0, J = 1.

Rayleigh-Plesset equation : Begin with deformation of spherical shell (with extent!), assume J 1. Derive ODE. Conservative potentials : b = Elastic or ideal ow here is circulation preserving, i.e. a = something. Have 1 a = p ( ) + b 1 = p ( ) . Dene 1 p ( )d 0 ( ) = ( ) ( ) = Therefore a = (( ) + ). For ideal uid substitute p/ 0 for . Flow irrotational (i.e. v = ): t + v2 + ( ) + = 0 . 2

Bernoullis Theorem :

Proof: Just rewrite, obtaining v 2/2 from second term of material derivative. Flow steady: v2 + ( ) + 2 i.e. this quantity is constant along streamlines. = v (v 2) Proof: Exploit v v Flow both irrotational and steady: v2 + ( ) + = 0 . 2

= 0,

Balance Laws and Field Equations

Acoustic wave equation : Assume = 0 + , |v | 1, |v | 1. Start with t ( v ), use cons. of. momentum without second order term, cons. of mass as t + 0div(v ) = 0. tt = c22, with c = p .

in terms of c2. Mach number : assume steadiness b = 0, use v v 2 v 1 2 v ( v ) = v v c Supersonic nozzle m < 1, m > 1. Conservation of Energy : Balance law :

d dt

Kinetic energy K (t)

Proof: Multiply Equation of Motion by v , integrate by parts in the term. Field equation : 1 vv 2

? ?
1 2 v v dv =
Kinetic Energy

d K (Rt) = S (Rt) + P (Rt) dt

tr(D)dv +

Key words for more global energy conservation: internal energy U (Rt), heat supply per unit mass H (Rt), heat ux through material surface. d {K + U } = P (Rt) + H (Rt). dt Now, because there is a stress power loss above, there needs to be a gain here: d U (Rt) = S (Rt) + H (Rt). dt

??
Rt

Stress power S (Rt)

+ tr(D ) = x (v ) + b v .
Stress Power Rate-of-working

? ?
?
m

b v +

n v da

Rt

Rt

Power supplied P (Rt)

Jump conditions : For the balance law d dt =

Rt Rt

s +
Rt

f (n ),

we get Vn interface speed, V = Vn v n. quantity per unit mass s supply of per unit mass f(n) inux of per unit area so that for example

[ V + f(n)] = 0. Mass 1 0 0 Mom. v b t (n ) A.Mom. xv xb x t(n) Energy 1 + 2v v bv +r t (n ) v + h (n )

[ V ] = 0, [ Vv + t(n)] = 0. Or for material jumps: [t(n)] = 0.

Section 4

Derivation: Modication for moving boundary is

jump surface

[ ]Vn.

Then use pillbox that attens around surface. Free boundary: pressure must be continuous, because otherwise theres a nite force on something massless. Assume v = . Conservation of mass 2 = 0. Bernoullis equation t + v2 p + + = const 2 0

Examples:

Stokes waves :

BCs: z depthward, z = free surface z = 0 at bottom

d (z dt

) = 0 at z = t = t at z = 0 (!). t + g = 0 at z = 0.

pressure continuous at interface. Use Bernoullis equation to rewrite as condition

Surface tension : p1 p2 = curvature. Rayleigh-Taylor instability : Large density over small density. Kelvin-Helmholtz instability : Wave formation.

4 Constitutive Laws
Observer : A reference frame/coordinate system w.r.t. which vectors and tensors are seen. x = c(t) + Q(t)x so, for example, F = Q F , J = J , U = U , R = Q R. Objective elds : (x) = (x) u(x) = Qu(x) A(x) = Q A(x) QT Examples: D , regions, normals, QT , W . + Q v , L = Q L QT + Q Non-examples: v = c Constraint stress : Must be workless, i.e. tr(N D ) = 0 = tr(CC ) = 0, where C = F TF . Constraint given as (C ) = 0 = 2F TD F N = FCF T . C

Fluid : = g(L).

Constitutive Laws

Cannot support shear stress at equilibrium. If ideal , also cannot support shear stress when in motion. Objectivity : = g (L). = W to obtain that g(L) = g(D). Choose Q = Id, Q (D ) = I + D + D2, with , , functions of the invariants of D . Proof: Cayley-Hamilton. Incompressible uid : = p Id. Ideal uid : = p( )Id Newtonian uid : = p( )Id + 2 D Navier-Stokes equation : a = p + v + b plus conservation of mass. = t/ l . = v /v , p = p/( 0v 2), t Rescaling x = x/l, v Then kinematic viscosity is = / p. Reynolds number : Re = l v / . High: Dominated by inertial eects. Low: Dominated by viscous eects. No-slip BCs apply only for viscous uids. Wiggling plate : Watch for emergence of a boundary layer. Material Symmetry : P S , where S is the symmetry group of the material. = f (F ) = f (F P ) Isotropic Material : S = SO(3). Then choose P = RT = f (F ) = f (V ). Objectivity : = f (V ). Most general expression to satisfy this: (V ) = Id + V + V 2, with , , functions of the invariants. Lam constant/Youngs Modulus : Linearization! F = Id + u 1 T 1 E = F F Id u (u)T 2 2 V Id + E 1 R Id + u (u)T 2 Use these in = c0tr V Id + c1V + c3V 2 tr(E )Id + 2 E , where , are the Lam constants .

Most general such g:

Solid : = f (F )

10

Section 4

Strain energy per volume : W (F ) the usual way to specify constitutive relations for solids Then 1 W T 1 W = F = V J F J V

?
W R V

Invoke objectivity: W (F ) = W (U ) Invoke isotropy: W (F ) = W (V ) W depends only on invariants of V . W s principal axes line up with those of V , i.e. principal stresses 1 W (1, 2, 3) . = J 1 W (1, 2, 3) = p. J Specifying W in terms of B = F F T : = 2 IIIBWIIIB Id + (W IB + IBWIIB)B WIIBB 2 , J

principal stretches :

Incompressible:

where subscripts by IB , IIB , IIIB mean partial derivatives. Neo-Hookean material : W = unconstrained: incompressible: Solving a solids problem: Calculate F (Kinematics) Calculate B = F F T Calculate Apply conservation of momentum in deformed conguration. Solve for unknowns x, p, using BCs. 1 1 2 2 2 2 1 + 2 + 3 3 2ln(J ) + (J 1) , 2 2 i = (2 i 1) + J (J 1), i = 2 i p.