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CONTINUUM
To Elizabeth
Date: 20:08:08.
Thanks to a friend who wants to be anonymous, because he has supplied me with important
books, and given me the term ”The spatial continuum”.
1
2 BJØRN URSIN KARLSEN
This condition is satisfied if the functions xi and X i are single valued and at least
once continuously differentiable with respect to their arguments. In addition the
Jacobian must be positive:
¯ ∂xi ¯
¯ ¯
J =¯ ¯ > 0.
∂X j
We now imbed a convective coordinate system into the spatial continuum, i.e.
the coordinate system undergo the same deformations as the spatial continuum
itself. In such a coordinate system any point will maintain the same coordinates,
Θi : (Θ1 , Θ2 , Θ3 ), within the course of the deformation. It follows that
(1.1) X i = X i (Θ1 , Θ2 , Θ3 ) → X = X(Θ1 , Θ2 , Θ3 ),
and
(1.2) xi = xi (Θ1 , Θ2 , Θ3 ) → x = x(Θ1 , Θ2 , Θ3 ).
The coordinate system will in general be curvilinear, but it will always be possible
to select it as Cartesian coordinates for example Θi = xi in B at a given time t,
which would make the corresponding coordinate lines in B0 curvilinear. I will keep
this possibility in mind for later use. For now we suppose the mapping of B0 into
B to be described by curvilinear coordinates Θi .
The line elements in the undeformed state can be derived from (1.1)
∂Θi ∂X i j
dΘi = dX j
, dX i
= dΘ ,
∂X j ∂Θj
and, similarly in the deformed state, from (1.2) at a fixed time t
∂Θi j ∂xi
dΘi = j
dx , dxi = dΘj .
∂x ∂Θj
From (1.1) we also derive the base vectors related to P0
∂X ∂X k
Gi = X,i = = ik ,
∂Θi ∂Θi
∂Θi k
Gi = i ,
∂X k
and accordingly from (1.2) the base vectors related to P
∂x ∂xk
gi = x,i = = ik ,
∂Θi ∂Θi
∂Θi k
gi =i ,
∂xk
The position of point P relative to P0 is called the displacement vector and
denoted u. We introduce for u two sets of components Ui and ui
u = u(Θi , t) = (x − X) = Ui Gi = ui gi .
defined with respect to the undeformed basis Gi and the deformed basis gi , respec-
tively.
The vectorial line elements dX and dx related respectively to the material and
spatial coordinates X and x are given by
∂X
dX = dΘi = Gi dΘi ,
∂Θi
3
∂x
dx = dΘi = gi dΘi .
∂Θi
The deformation gradient is defined by:
(1.3) F = gi ⊗ Gi ,
and accordingly the inverse tensors by
(1.4) F−1 = Gi ⊗ gi .
For later use we introduce the Lagrangian gradient of x referring to the unde-
formed state
∂x j ∂x ∂Θi j
(1.5) grad x = ⊗ i = ⊗ i = gi ⊗ Gi = F,
∂X j ∂Θi ∂X j
and similarly the spatial or Euler gradient
∂X j ∂X ∂Θi j
grad X = ⊗ i = ⊗ i = Gi ⊗ gi = F−1 .
∂xj ∂Θi ∂xj
Hence
(1.6) F = grad (X + u) = G + grad u.
Note that G = I, the identity tensor in the undeformed base.
By contracting (1.3) and (1.4) by Gi and gi respectively we acquire
(1.7) FGi = (gm ⊗ Gm )Gi = gm (Gm · Gi ) = gm δim = gi
(v − λi I)RNi = 0
5
we apply four mutually equal compressible forces on the four faces of the cube.
Hence J = λ1 · λ3 · λ3 = 1. My first assumption is that the force in the n1 -
direction is proportional to ln(λ1 ) keeping J constant like 1. Next let the force
in the n1 -direction be such that λ1 remains unchanged, i.e. λ1 = 1. The forces
in the remaining two directions are such that the volume of the cube is changed
to some arbitrary values, e.g. dV /dV0 = 1 · λ2 · λ3 = J. My next assumption is
that the forces acting on the faces orthogonal to those in the n1 -dirction needed to
keep λ1 unchanged is proportional to ln(J). Finally, if both the volume and the
stretch along one or more of the principal axes are changed, I will combine these two
assumptions and postulate that the stress-strain relation for the spatial continuum
is given by
where 2µ and β are constants1. Hence the Euler stress tensor is given by the fairly
simple relation
3
X ¡ ¢
(1.14) σ= 2µ ln λi · J β ni ⊗ ni .
i=1
1I have chosen to include the number 2 because then µ turns up to be identical with the Lamé
elastic constant.
7
Generally
3
X
ln I = ln ni ⊗ ni ,
i=1
The change of stress can be represented by the difference between these two stress
components and we finally arrive at
3
X
δσ = 2µ ln(δJ β · δλ1 n1 ⊗ n1 ),
i=1
or by changing the notation δσ, δJ and δλi into σ, J and λi respectively we get
3
X
(1.18) σ = 2µ ln(J β λ1 n1 ⊗ n1 ).
i=1
1.4. The strain-stress relation for small deformations. In this section I will
show that a small variation on top of a great compression of space obeys the same
law that we find in a classical continuum.
The spatial continuum is per definition isotropic, and a uniform compression of
space will not alter this property. It can be shown that in an isotropic continuum a
stress function σ(v) can be obtained simply by setting v = (FFT )1/2 , see [1, page
147]. By this relation and (1.6) the strain-stress relation (1.16) can be developed
into
where the second term on the right hand side is the Gateaux-derivative defined
by
d
∆σ(u, ∆u) = σ(u + ε∆u).
dε
Equation (1.19) can be developed into
∆λ1 ∆λ2 ∆λ3
Lσ(u, ∆u) = σ(u) + 2µβ( + + )I
λ1 λ2 λ3
1 h ( grad ∆u) ( grad ∆u)T i¯¯
+ 2µ + ¯ .
2 I + grad u I + ( grad u)T ε=0
By the identity (u = 0) ⇒ (λi = 1 ∧ grad u = 0) we have
We now introduce the linear tensor valued function at the point where u = 0
1¡ ¢
(1.21) ²= grad ∆u + ( grad ∆u)T
2
From (1.12) we have that
tr v = vii = λ1 + λ2 + λ3 ,
so
so
³ ∂v ´
tr (∆v) = tr ∆( grad u)
∂( grad u)
£ T ¤ £ ¤
= tr R grad (∆u) = tr grad (∆u)
£ ¡ ¢¤
(1.23) = tr sym grad (∆u) = tr ².
By (1.21), (1.22), and (1.23) Equation (1.20) finally takes the form
(1.24) σ = λ tr ² I + 2µ²,
where λ = 2µβ.
This is the same relation as we encounter in literature on the strain stress-relation
for small deformations in a homogeneous and isotropic elastic continuum, and it
follows that the elastic potential is given by
λ
W = (tr ²)2 + µ tr ²2 ,
2
see e.g. [1, page 167].
As shown in Equation (??), (??), and (??), the strain-stress relation (1.24) and
the Cauchy equation of motion ρü = div σ + b [1, page 126], where b is some
hypothetical force per unit volume and ρ is the the inertial density to be discussed
in the next section, can be developed into the Navier-Cauchy equation
(1.25) (λ + 2µ) grad div u − µ curl curl u + b = ρü,
and further into two wave equations
1 ∂ 2 (div u)
(1.26) ∇2 (div u) − = 0,
c12 ∂t2
1 ∂ 2 (curl u)
(1.27) ∇2 (curl u) − = 0,
c22 ∂t2
representing longitudinal waves moving with speed c1 and transversal waves moving
with speed c2 respectively. The velocities are
s
λ + 2µ
c1 = ,
ρ
r
µ
(1.28) c2 = .
ρ
The relation between c1 and c2 is
s
λ + 2µ p
(1.29) c1 /c = = 2(β + 1),
µ
and we notice that longitudinal waves are travelling with the double of the speed
of transversal waves if β should happen to be unity. Finally we notice that both µ
and λ are true universal constants according to the definitions in Equation (1.13)
and (1.24).
11
where
(1.37) α = 12 .
We notice that by this approach the wave speed of transversal waves varies as
a function of small displacements u independent of how much space initially is
compressed or inflated.
The spatial approach. Another possibility is that space in its undeformed
state has no inertia at all and only gets its inertia by the energy going into it by
being compressed or inflated. This is more in line with how earthly matter gets its
mass according to the famous equation e = mc2 where e is the energy dencity in
a body and c is the speed of light. The property m then becomes the definition of
mass. If this is how Nature works, the spatial mass density might be given by
ρs = e/κ 2 ,
where e is the deformation energy per unit volume going into space by compression
or inflation, and κ is a universal constant. This is a very interesting possibility
because it would mean that the speed of any elastic waves will approach infinity if
space is in a nearly undeformed state. In order to investigate this possibility, it will
be necessary to find the energy going into space by compression. For simplicity I
will consider a space where the constant β is set to unity.
By uniform compression of space, a little sphere with radius r0 will shrink to a
sphere with radius r. The force acting on a unit surface element of the sphere is
given by the Cauchy stress vector
t = σn
where n is the unit vector normal to the surface. Since the pressure is uniform in
all directions the Jacobian is given by
dV
J= = λ3 where λ = λ1 = λ2 = λ3 .
dV0
The Euler stress vector is normal to any surface we choose, e.g. on a surface
whose unit normal points in the n1 -direction
3
X
t1 = σn1 = 2µ ln λ4 (ni ⊗ ni )n1 = 2µ ln λ4 n1
i=1
Hence t is normal to the surface of the sphere and is pointing outwards by stretch.
The energy going into the sphere as potential energy is given by the surface of
13
the sphere times the Cauchy stress vector times the enlargement of the radius, so
according to (1.18) we acquire
dEr = 4πr2 (σn)ndr
= 8πµr2 ln(λ4 )dr
³r´
= 32πµr2 ln dr
r0
(1.38) = 32πµr2 (ln r − ln r0 ).
The whole energy going into the sphere if it is inflated or deflated from an unde-
formed state (or previous uniformly compressed or expanded state) with radius r0
to its final radius r is given by the definite integral
Z r
Er =32πµ (r2 ln r − r2 ln r0 )dr
r0
h r3 r3 r3 ir
=32πµ ln r − − ln r0
3 9 3 r0
h r3 r 3
r 3
r 3
=32πµ ln r − 0 ln r0 − + 0
3 3 9 9
r3 r03 i
− ln r0 + ln r0
3 3
3h
32πµr r 3i
= 3 ln r − 3 ln r0 + 1 − 03
9 r
8µ h ³ r ´3
0
³ r ´3 i
0
= Vr 1 − − ln
3 r r
Er 8µ £ −1 −1
(1.39) = J − 1 − ln J ],
Vr 3
where Vr is the volume of the deformed sphere. If we define the compression of
space as D = J −1 = dV0 /dV we finally get for the energy density of the compressed
space measured by Euler or spatial coordinates
8µ £ ¤
(1.40) es = (D − 1) − ln D .
3
If we chose to postulate that ρ is a function of the energy density of space, then it
is given by
8µ £ ¤
(1.41) ρs = (D − 1) − ln D .
3κ 2
By (1.41) and (1.28) the speed of transversal waves in a space with varying
compression is given by
³ ´1/2 £ ¤−1/2
(1.42) c2 (D) = κ 38 (D − 1) − ln D .
We notice that the wave-speed only is depending on the constant κ and the com-
pression of the spatial continuum.
Next let us consider small variations of the waves speed c in an area of space that
initially is compressed by a factor D0 . This can be achieved by the linearization of
c with respect to D which is defined by
14 BJØRN URSIN KARLSEN
¯
¯
L c2 (D, ∆D) = c(D) + ∆c(D, ∆D)¯ ,
c2 =c, D=D0
where the second term on the right-hand side is the Gateaux-derivative defined
by (1.31).
Thus we obtain from (1.42) by means of (1.31)
∆c2 (D, ∆D)
³ 3 ´ 12 d h i− 12
=κ (D + ε∆D − 1) − ln(D + ε∆D)
8 dε
c D−1 ∆D
=−
2 (D − 1) − ln D D
c³ ln D ´−1
(1.43) = 1− div (∆u).
2 D−1
Finally we acquire for variations of c2 as a function of small deformations u = ∆u
in a space that initially is compressed by a factor D corresponding to a wave speed
of c
c³ ln D ´−1
(1.44) c2 = c + 1− div u,
2 D−1
and the gradient of c is given by
(1.45) grad c2 = α c grad div u,
where
1³ ln D ´−1
(1.46) α= 1− ,
2 D−1
or by (1.40)
4(D − 1)µ
(1.47) α= .
3es
By the spatial approach the gradient of the wave speed is proportional to grad div u
as it was by the classical approach only differing from that by a somewhat smaller
constant depending on the initial compression of space.
References
1. Yavuz Başar and Dieter Weichert, Nonlinear continuum mechanics of solids, Springer, 1999.
E-mail address: ukarlsen@online.no