Continuum Mechanics Chapter on Infinitesimal Strains

Continuum Mechanics
Chapter 4
Kinematics: Infinitesimal Strains
C. Agelet de Saracibar
ETS Ingenieros de Caminos, Canales y Puertos, Universidad Politcnica de Catalua (UPC), Barcelona, Spain
International Center for Numerical Methods in Engineering (CIMNE), Barcelona, Spain
Infinitesimal Strains > Hypothesis
Infinitesimal Strains
Chapter 4 Infinitesimal Strains
1. Hypothesis
2. Displacement gradient tensor
3. Infinitesimal strain tensor
4. Variation of volume
5. Polar decomposition
6. Stretches
7. Variation of angles
8. Matrix notation
9. Compatibility equations
October 2, 2013 Carlos Agelet de Saracibar 2

Infinitesimal Strains
Reference or Material Configuration Current or Spatial Configuration
Reference Configuration Current Configuration
time t = 0 time t
t=0 t
Q FF
dX P
dx
P
dS ds Q
0 t
X x
Inverse Deformation Map X 3 , x3
Deformation Map
X = 1 ( x,t ) e 3 x = ( X,t )
Inverse Tangent Deformation Map e 2 X 2 , x2 Tangent Deformation Map
e1
dX = F 1
( x, t ) dx X 1 , x1 dx = F ( X, t ) dX

Hypothesis
H1. Small Displacements
We assume that the displacements are small, such that,
We do not make any difference between spatial configura-
tion and material configuration,
t 0
We do not make any difference between spatial points and
material points, or spatial coordinates and material
coordinates,
x = ( X, t ) X, [ x ] [ X]

Hypothesis
We do not make any difference between spatial description
and material description,
= ( x, t ) = ( ( X, t ) , t ) = ( X, t ) ( X, t )
= ( X, t ) = ( 1 ( x, t ) , t ) = ( x, t ) ( x, t )
We do not make any difference between spatial differential
operators and material differential operators,
, 2 2 ,
grad [] GRAD [] , div [] DIV [] , curl [] CURL []
Hypothesis
We do not make any difference between spatial time
derivative and material time derivative,
( x, t ) ( X, t ) d
= =
t t t dt
d ( X, t ) ( x, t )
= =
dt t t t

Hypothesis
H2. Small Displacements Gradient
We assume that the displacements gradient are small, such
that,
The components of the displacement gradient satisfy,
U a ( X, t )
J aA = 1
X A
We consider a linear theory, i.e. any non-linear function of the
displacements gradient is linearized,
f ( J ) = f ( J ) J=0 + J f ( J ) J=0 : J + 0 ( J 2 )
f ( J ) J=0 + J f ( J ) J=0 : J

Infinitesimal Strains > Displacement Gradient Tensor
Displacement Gradient Tensor

Displacements Gradient Tensor
As we do not make any difference between material and spatial
descriptions and we do not make any difference between
material and spatial gradient, then there is no difference
between the material and spatial displacement gradient,
yielding a single displacement gradient tensor such that,
J := U ( X, t ) = GRAD U ( X, t )

j := u ( x, t ) = grad u ( x, t )
j J

u ( x, t ) U ( X, t )

grad u ( x, t ) GRAD U ( X, t )
Infinitesimal Strains > Infinitesimal Strain Tensor
Infinitesimal Strain Tensor

The Green-Lagrange strain tensor is a non-linear function of the
material displacement gradient tensor,
1 T 1 1
2 2
T
(
E := ( F F 1) = (1 + J ) (1 + J ) 1 = ( J + JT + JT J )
2
)
The linearization of the Green-Lagrange strain tensor yields,
1 1
E := ( J + J + J J ) ( J + JT ) :=
T T
2 2
The infinitesimal strain tensor, denoted as , may be defined as
the linearized Green-Lagrange strain tensor, yielding,
1 1
:= ( J + J ) , ab := ( ua ,b + ub,a )
T
2 2
Infinitesimal Strains > Infinitesimal Strain Tensor

The Almansi strain tensor is a non-linear function of the spatial
displacement gradient tensor,
1 1 1
2
T 1
2
(
e := (1 F F ) = 1 (1 j) (1 j) = ( j + jT jT j)
T
2
)
The infinitesimal strain tensor, denoted as , may be defined as
the linearized Almansi strain tensor, and taking into account that
we do not make any difference between material and spatial
displacement gradient, yields,
1 1 1
:= ( j + j ) ( J + J ) , ab := ( ua ,b + ub,a )
T T
2 2 2

Infinitesimal Strains > Variation of Volume
Variation of Volume
Variation of Volume
The relation between the differential of volume at the spatial
and material configurations is given by,
dv = J dV
where the Jacobian is a non-linear function of the components
of the displacement gradient tensor given by,
1 + u1,1 u1,2 u1,3

J = det F = det (1 + J ) = det u2,1 1 + u2,2 u2,3
u3,1 u3,2 1 + u3,3

Infinitesimal Strains > Variation of Volume
Variation of Volume
Variation of Volume
The linearization of the Jacobian yields,
J 1 + u1,1 + u2,2 + u3,3 = 1 + div u = 1 + tr
Then, within an infinitesimal strains framework, the relation
between the spatial and material differential of volume takes the
form,
dv (1 + div u ) dV = (1 + tr ) dV
Note that now, within the infinitesimal strains framework, the
incompressibility condition reads,
J = 1 div u = tr = 0
Infinitesimal Strains > Polar Decomposition
Polar Decomposition
Polar Decomposition
The polar decomposition of the deformation gradient tensor F ,
reads,
F = RU = vR, FaA = RaBU BA = vab RbA
where U is the right (or material) stretch tensor, v is the left (or
spatial) stretch tensor and R is the rotation tensor, such that,
12
U = (F F) T
= C1 2 , U = UT , x Ux > 0 x 0, det U = J
T 12
v = ( FF ) = b1 2 , v = vT , x vx > 0 x 0, det v = J
R = FU 1 = v 1F, R 1 = RT , det R = 1

Polar Decomposition
Linearized Right Stretch Tensor
The right stretch tensor is a non-linear function of the material
displacement gradient tensor given by,
12 12 12
= (F F) = ( 1 + J ) ( 1 + J ) = (1 + J + J + J J )
12 T T T T
U=C

The linearization of the right Cauchy-Green tensor and the right
stretch tensor yields,
T
C = F F = (1 + J ) (1 + J ) = 1 + J + JT + JT J
T
1 + J + JT = 1 + 2
T 12 1
U=C 12
(1 + J + J ) 1 + ( J + JT ) = 1 +
2
Polar Decomposition
Linearized Inverse Right Stretch Tensor
The linearization of the inverse right Cauchy-Green tensor and
the right stretch tensor yields,
T 1
C (1 + J + J
1
) 1 ( J + JT ) = 1 2
1 2 1
U =C1 1 2
(1 + J + J T
) 1 ( J + JT ) = 1
2

Polar Decomposition
Linearized Inverse Left Stretch Tensor
The inverse left stretch tensor is a non-linear function of the
spatial displacement gradient tensor given by,
12
1 1 2 12
= (F F ) = ( 1 j) ( 1 j) = ( 1 j j + j j)
1 1 2 T T T T
v =b

The linearization of the inverse left Cauchy-Green tensor and
inverse left stretch tensor yields,
T
b = F F = (1 j) (1 j) = 1 j jT + jT j
1 T 1
1 j jT 1 2
T 12 1
v =b 1 1 2
(1 j j ) 1 ( j + jT ) 1
2
Polar Decomposition
Linearized Left Stretch Tensor
The linearization of the left Cauchy-Green tensor and left stretch
tensor yields,
1
b (1 j j T
) 1 + ( j + jT ) 1 + 2
1 2 1
v=b 12
(1 j j T
) 1 + ( j + jT ) 1 +
2

Polar Decomposition
Linearized Rotation Tensor
The rotation tensor may be written as a non-linear function of
the material displacement gradient tensor given by,
1 2
R = FU = FC 1 1 2
= F (F F) T 1 2
( T
= (1 + J ) (1 + J ) (1 + J ) )
The linearization of the inverse rotation tensor yields,
1 T 1
R = FU (1 + J ) 1 ( J + J ) 1 + ( J JT ) := 1 +
1
2 2
where the skew-symmetric infinitesimal rotation tensor has
been defined as,
1
:= ( J JT )
2
Polar Decomposition
Geometrical interpretation of an infinitesimal rotation
dX dX
dX
R dX (1 + ) dX

Polar Decomposition
The skew-symmetric infinitesimal rotation tensor satisfies the
following expressions,
= T , ab = Tab = ba
We may introduce an axial (or dual) infinitesimal rotation vector

such that,
dX = dX dX, ab dX b = abcb dX c
1 1 1 uc 1
= curl u = u, a = abc = abc uc ,b
2 2 2 X b 2

Polar Decomposition
The matrix of components of the skew-symmetric infinitesimal
rotation tensor and the vector of components of the axial (or
dual) infinitesimal rotation vector satisfy,
0 12 13 0 3 2
23 = 3 1
[ ] 12
= 0 0
13 23 0 2 1 0
1 23
[ ] = 2 = 13
3 12
Polar Decomposition
Linearized Polar Decomposition
The linearized, right and left, polar decomposition takes the
form,
F = RU (1 + )(1 + ) 1 + +
F = vR (1 + )(1 + ) 1 + +
yielding,
dx = FdX (1 + + ) dX
The linearized, either right or left, polar decomposition may be
interpreted as the sum of an infinitesimal deformation (charate-
rized by the infinitesimal strain tensor) and an infinitesimal
rotation (charaterized by the infinitesimal rotation tensor)

Polar Decomposition
Linearized Polar Decomposition
Geometrical interpretation of the linearized polar decomposition
dX dX
dX
dX
dx = FdX (1 + + ) dX

Strains > Linearized Tensors
Linearized Tensors
Material Time Derivative
Infinitesimal Strain
Giving the spatial description of an arbitrary property,andtheRotation
material time derivativeTensors
of the property can be written as,
1 1 1 1
E e := ( J + J ) ( j + j ) , := ( J J ) ( j jT )
T T T
2 2 2 2
Linearized Cauchy-Green and Stretch Tensors
C b 1 + 2, U v 1 +
C1 b 1 1 2, U 1 v 1 1
R 1+
Infinitesimal Strains > Stretches
Stretches
Linearized Stretch
The stretch at a material point along a direction given by the unit
vector T reads,
ds
= = 1+ 2 T E T
dS
Using a linear Taylor series expansion, i.e.,
( x ) = 1 + 2x ( 0) + ( 0) x = 1 + x
The linearized stretch takes the form,
= 1+ 2 T E T 1+ T E T 1+ T T

Stretches
Linearized Stretch
The stretch at a spatial point along a direction given by the unit
vector t reads,
ds 1
= =
dS 1 2 t e t
Using a linear Taylor series expansion, i.e.,
1
( x) = ( 0) + ( 0) x = 1 + x
1 2x
The linearized stretch takes the form,
1
= 1+ t e t 1+ T T
1 2 t e t

Stretches
Stretches along the Cartesian Axes
Taking unit vectors along the Cartesian axes,
T T T
[Tx ] = [1, 0, 0] , Ty = [0, 1, 0] , [Tz ] = [0, 0, 1]
The stretches along the Cartesian axes take the form,

x 1 + Tx Tx = 1 + xx , xx x 1 = x
y 1 + Ty Ty = 1 + yy , yy y 1 = y
z 1 + Tz Tz = 1 + zz , zz z 1 = z

Infinitesimal Strains > Variation of Angles
Variation of Angles
Linearized Variation of Angles
The angle formed by two material segments along unit vectors
given by T(1) and T(2) in the material configuration, in the
spatial configuration is given by,
T(1) (1 + 2E ) T(2)
cos =
1 + 2 T(1) ET(1) 1 + 2 T(2) ET(2)
The linearized expression of the angle takes the form,
cos T(1) (1 + 2E ) T(2) cos + 2 T(1) T(2)
cos = cos ( + ) = cos cos sin sin cos sin
2 T(1) T(2)

sin
Variation of Angles
Linearized Variation of Angles
The angle formed by two spatial segments along unit vectors
(1) (2)
given by t and t in the spatial configuration, in the
material configuration is given by,
t (1) (1 2e ) t (2)
cos =
1 2 t (1) e t (1) 1 2 t (2) e t (2)
The linearized expression for the angle takes the form,
cos t (1) (1 2e ) t (2) cos 2 t (1) t (2)
cos = cos ( + ) = cos cos sin sin cos sin
2 t (1) t (2) 2 T(1) T(2)

sin sin
Variation of Angles
Linearized Variation of Cartesian Angles
Taking unit vectors along the Cartesian axes,
T T T
[Tx ] = [1, 0, 0] , Ty = [ 0, 1, 0] , [Tz ] = [0, 0, 1]
The increment of angles between segments oriented along the
Cartesian axes take the form,
2 Tx Ty 1
xy = 2 xy , xy xy
sin xy 2
2 Tx Tz 1
xz = 2 xz , xz xz
sin xz 2
2 Ty Tz 1
yz = 2 yz , yz yz
sin yz 2
Infinitesimal Strains > Matrix Notation
Matrix Notation
Tensorial and Engineering Matrix Notation
Using tensorial notation, the matrix of components of the sym-
metric infinitesimal strain tensor takes the form,
xx xy xz 11 12 13

[ ] xy yy yz 12 22 23
= =
xz yz zz 13 23 33

Using engineering notation, the matrix of components of the
symmetric infinitesimal strain tensor takes the form,
x 1
2
xy 1
2
xz
1
[ ] = 2 xy y 1
2
yz
1 xz 1
z
2 2 yz
Infinitesimal Strains > Matrix Notation
Matrix Notation
Tensorial and Engineering Matrix Notation
Using tensorial notation, the associated vector of components of
the symmetric infinitesimal strain tensor takes the form,
T
[ ] = xx , yy , zz , 2 xy , 2 xz , 2 yz
T
= [11 , 22 , 33 , 212 , 213 , 2 23 ]
Using engineering notation, the vector of components of the
symmetric infinitesimal strain tensor takes the form,
T
[ ] = x , y , z , xy , xz , yz

Infinitesimal Strains > Material Time Derivatives
Material Time Derivatives

Material Time Derivative of the Infinitesimal Strain
Within the infinitesimal strains framework, the deformation rate
tensor, the material time derivative of the Green-Lagrange strain
tensor and the material time derivative of the Almansi strain
tensor are approximated by the time derivative of the infinitesi-
mal strain tensor, yielding
e
dE

Infinitesimal Strains > Assignments
Assignment 4.1
Assignment 4.1
The solid of the figure is subjected to a uniform strain state
through a uniaxial traction/compression test, such that,
ux (0, y, z ) = 0, ux ( L, y, z ) = y, z
u y ( x, y, z ) = uz ( x, y, z ) = 0 x, y, z
1) Obtain the motion equations and z
displacement field, indicating the

range of values for L.
2) Plot the x-component of the
O
Green-Lagrange, Almansi and x
infinitesimal strain tensors vs the

L
normalized displacement L. y

Assignment 4.1
Assignment 4.1
through a uniaxial traction/compression test, such that,
ux (0, y, z ) = 0, ux ( L, y, z ) = y, z
u y ( x, y, z ) = uz ( x, y, z ) = 0 x, y, z
As the strain state is uniform the deformation gradient and the

displacement gradient are uniform and the displacement field is
linear,
F(X, t ) = F(t ) = 1 + J(t ) t, X
dU = J(t )dX U = J(t ) X + C(t )

Assignment 4.1
The displacement vector field is linear and its components are
given by,
U X = J 11X + J 12Y + J 13Z + C 1
UY = J 21X + J 22Y + J 23Z + C 2
U Z = J 31X + J 32Y + J 33Z + C 3
Imposing the boundary conditions, the integration constants
read,
J 11 = L , J 12 = J 13 = C 1 = 0
J 21 = J 22 = J 23 = C 2 = 0
J 31 = J 32 = J 33 = C 3 = 0
Assignment 4.1
The components of the displacement vector field are given by,
T

[u] = X 0 0
L
The components of the motion equation are given by,
T

[ x ] = 1 + X Y Z
L

Assignment 4.1
The components of the deformation gradient are given by,
1 + L 0 0
0
[ ]
F = 1 0
0 0 1
The Jacobian has to be positive at any time, yielding the

following range of admissible values,

det F = 1 + > 0 > L 1 < <
L L

Assignment 4.1
The components of the Green-Lagrange, Almansi and infinitesi-
mal strain tensors are given by,

L 1 + 2 L 0 0 L 1 + 2 L 0 0
1
[ E] = 0 0 0 , [e] = 2
0 0 0
1 +
0 0 0 0 0 0
L

L 0 0
[ ] = 0 0 0
0 0 0
Assignment 4.1
The x-components of the Green-Lagrange, Almansi and infinite-
simal strain tensors satisfy,
1
lim Exx = lim 1 + =
L 1 L 1 L
2L 2

1 +
L 2L
lim exx = lim 2
=
L 1 L 1
1 +

L

lim xx = lim = 1
L 1 L 1 L

Assignment 4.1

lim Exx = lim 1+ =
L L L
2L

1 + 1
lim exx = lim
L 2L
2
=
L L
1 + 2

L

lim xx = lim =
L L L

Assignment 4.1
dExx
lim = lim 1 + = 0
L 1 d ( L ) L 1
L
dexx 1
lim = lim =
L 1 d ( L ) 3
L1
1 +

L
d xx
lim =1
L 1 d ( L )

Assignment 4.1
dExx
lim = lim 1 + =
L d ( L ) L
L
dexx 1
lim = lim =0
L d ( L ) 3
L
1 +

L
d xx
lim =1
L d ( L )

Assignment 4.1
E x , ex , x
Ex x
12 ex
1
Ex
x 1 2 L
ex

Assignment 4.2
Assignment 4.2 [Classwork]
such that: (1) Point A does not moves, point B remains on the x-
axis and point E remains on z-axis; (2) The volume remains
constant; (3) The angle xy remains constant; (4) The angle yz
increases in r radians; (5) The length of the segment AF becomes
1+p times the initial one; (6) The length of the segment AC
becomes 1-q times the initial one. z
E F
Obtain the infinitesimal strain tensor, the

infinitesimal rotation tensor and the a
displacements in terms of p, q and r. A

yz
D y
xy
B C
a
a
October 2, 2013 Carlos Agelet de Saracibar x 45
Assignment 4.2
Assignment 4.2 [Classwork]
As the strain state is uniform the deformation gradient and the
displacement gradient are uniform and the displacement field is
linear,
F(X, t ) = F(t ) = 1 + J(t ) t, X
dU = J(t )dX U = J(t ) X + C(t )
The components of the linear displacement field take the form,

U X = J 11X + J 12Y + J 13Z + C 1
UY = J 21X + J 22Y + J 23Z + C 2
U Z = J 31X + J 32Y + J 33Z + C 3
Assignment 4.2
Condition 1. Point A does not moves, point B remains on the x-
axis and point E remains on the z-axis.
UA = J(t ) XA + C(t ) = 0 C(t ) = 0

UB = J(t ) XB J 21 (t ) = J 31 (t ) = 0
UE = J(t ) XE J 13 (t ) = J 23 (t ) = 0
J J 0 J J 2 0
11 12 11 12
J(t ) = 0 J 0 , (t ) = J 2 J J 2
22 12 22 32

0 J 32 J 33 0 J 32 2 J 33

Assignment 4.2
Condition 2. The volume remains constant.
As the strain is uniform, if the volume remains constant, the
medium is incompressible yielding,
tr (t ) = J 11 (t ) + J 22 (t ) + J 33 (t ) = 0
Condition 3. The angle xy remains constant.

xy = 0 xy = J12 2 = 0 J12 = 0
Condition 4. The angle yz increases in r radians.

yz = r yz = J 32 2 = r 2 J 32 = r

Assignment 4.2
Then the gradient of displacements and the infinitesimal strain
tensor take the form,
J
11 0 0
J(t ) = 0 J 0

22

0 r J 11 J 22

J 0 0
11
(t ) = 0 J r 2
22

0 r 2 J 11 J 22

Assignment 4.2
Condition 5. The length of the segment AF becomes 1+p times
the initial one.
As the strain is uniform, the stretch along a fixed direction will be
also uniform yielding,
AF (t ) = 1 + TAF (t )TAF = 1 + p
J 0 0 0
11
1 1
0 1 1 J 12 2 J 22 r 2 1 = (r + J 11 ) = p
2 2
0 r 2 J 11 J 22 1

J 11 = r 2p
Assignment 4.2
r 2p 0 0

J(t ) = 0 J 22 0

0 r r + 2p J 22

r 2p 0 0

(t ) = 0 J r 2
22

0 r 2 r + 2p J 22


Assignment 4.2
Condition 6. The length of the segment AC becomes 1-q times
the initial one.
As the strain is uniform, the stretch along a fixed direction will be
also uniform yielding,
AC (t ) = 1 + TAC (t )TAC = 1 q
r 2p 0 0 1

1 0 1 = q
1 1 0 J r 2
2
22

0 r 2 r + 2 p J 0
22
1
2
(r 2p + J 22 ) = q J 22 = r + 2p 2q
Assignment 4.2
r 2p 0 0

J(t ) = 0 r + 2 p 2q 0

0 r 2q
r 2p 0 0

(t ) = 0 r + 2 p 2q r 2

0 r 2 2q


Assignment 4.2
The infinitesimal rotation tensor takes the form,
0 0 0

1
(t ) = J(t ) JT (t ) = 0
2 0 r 2

0 r 2 0
The displacement vector field takes the form,

r 2p 0 0 X

U(t ) = 0 r + 2 p 2q 0 Y

0 r 2q Z

Infinitesimal Strains > Compatibility Equations
Compatibility Equations
Given an arbitrary smooth displacement vector field u (with the
required continuity degree), it is always possible to get the
associated symmetrical infinitesimal strain tensor defined as,
1 1
2
( T
2
)
:= u + ( u ) , ab = ( ua ,b + ub,a )
The opposite statement is not true.

Given an arbitrary symmetrical infinitesimal strain tensor , i.e.
given six arbitrary functions as the matrix components of a
symmetric second-order tensor, it is not always possible to get
the associated displacement vector field such that,
1 1
2
( T
2
)
:= u + ( u ) , ab = ( ua ,b + ub,a )
This gives a system of 6 PDE with 3 unknowns and, hence, the

system may not be integrable and may not have a solution.
In order to get an integrable system of PDE and guarantee the
existence of the displacement vector field, the infinitesimal strain
tensor has to satisfy the compatibility equations.
The compatibility equations for the infinitesimal strain tensor
may be written as,
T T
S := ( ) T
= ( ) = 0
S := e f ( cde bd ,ceb ee ), f = fba cde bd ,cf ea ee
def 2 yy 2 zz 2 yz 2 zz yz xz xy
def
S xx = + 2 =0 S xy = + + =0
z 2
y 2
yz xy z x y z
def
2 zz 2 xx 2 xz def 2 yy yz xz xy
S yy = 2
+ 2
2 = 0 S xz = + + =0
x z xz xz y x y z
2 2
def 2
xx
yy xy def 2
xx yz xz xy
S zz = + 2 = 0 S yz = + + + =0
y 2 x 2 xy yz x x y z

The compatibility tensor S satisfies the following equation,
(
div S = S := ( )
T
)=0
S xx S xy S xz
+ + =0
x y z
S xy S yy S yz
+ + =0
x y z
S S yz S zz
xz
+ + =0
x y z

Continuum Mechanics Chapter on Infinitesimal Strains

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Continuum Mechanics

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October 2, 2013 Carlos Agelet de Saracibar 6

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Displacement Gradient Tensor

Infinitesimal Strain Tensor

Infinitesimal Strain Tensor

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We may introduce an axial (or dual) infinitesimal rotation vector

October 2, 2013 Carlos Agelet de Saracibar 20

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October 2, 2013 Carlos Agelet de Saracibar 23

Linearized Cauchy-Green and Stretch Tensors

Linearized Rotation Tensor

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The stretches along the Cartesian axes take the form,

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Material Time Derivatives

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infinitesimal strain tensors vs the

October 2, 2013 Carlos Agelet de Saracibar 34

As the strain state is uniform the deformation gradient and the

October 2, 2013 Carlos Agelet de Saracibar 35

October 2, 2013 Carlos Agelet de Saracibar 37

The Jacobian has to be positive at any time, yielding the

October 2, 2013 Carlos Agelet de Saracibar 38

October 2, 2013 Carlos Agelet de Saracibar 40

October 2, 2013 Carlos Agelet de Saracibar 41

October 2, 2013 Carlos Agelet de Saracibar 42

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October 2, 2013 Carlos Agelet de Saracibar 44

Obtain the infinitesimal strain tensor, the

displacements in terms of p, q and r. A

The components of the linear displacement field take the form,

UA = J(t ) XA + C(t ) = 0 C(t ) = 0

Condition 3. The angle xy remains constant.

Condition 4. The angle yz increases in r radians.

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The displacement vector field takes the form,

The opposite statement is not true.

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This gives a system of 6 PDE with 3 unknowns and, hence, the

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