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(includingColumnandMatrixNotation)
2
1.1 Vector
A vector represents a physical quantity which is characterized by its direction and its magni-
tude. The length of the vector represents the magnitude, while its direction is denoted with
a unit vector along its axis, also called the working line. The zero vector is a special vector
having zero length.
a
a = ||a|| e
length : ||a||
direction vector : e ; ||e || = 1
zero vector : 0
unit vector : e ; ||e || = 1
a b
b
b
b = a
b c
a
c = a + b
b
a
a b ; a b
c
b
n
a
c
b
n
a
ab r
p
c3 e3
c2 e2
e1
c1
right-handed basis e1 e2 = e3 ; e2 e3 = e1 ; e3 e1 = e2
7
3
e1
a = a1e1 + a2e2 + a3e3 = aiei = aiei = a1 a2 a3 e2 = aT e = eT a
i=1 e3
a3
a
e3
e2 a2
e1
a1
1.1.9 Components
The components of a vector a with respect to an orthonormal basis can be determined directly.
All components, stored in column a, can then be calculated as the inner product of vector a
vectors.
and the column e containing the base
ai = a ei i = 1, 2, 3
a1 a e1 e1
a2 = a e2 = a e2 = a e
a3 a e3 e3
8
x3
e3
e2
e1
e3
x2
e2
e1
x1
x1 = r cos() ; x2 = r sin() ; x3 = z
2 2 x2
r = x1 + x2 ; = arctan ; z = x3
x1
The unit tangential vectors to the coordinate axes constitute an orthonormal vector base
{er , et , ez }. The derivatives of these base vectors can be calculated.
9
x3
z
ez
et
er
e3
e2 x2
e1
r
x1
er et
= sin()e1 + cos()e2 = et ; = cos()e1 sin()e2 = er
The unit tangential vectors to the coordinate axes constitute an orthonormal vector base
{er , et , e }. The derivatives of these base vectors can be calculated.
10
x3
er
et
e
e3 r
e2 x2
e1
x1
x2
et
er
e2 r
e1 x1
11
e3
x3 dx
e2
e1
e3 x
e2 x2
e1
x1
x3
z dx
ez
et
er
ez
e3 x
e2 x2
e1 er
r
x1
x = rer () + zez
x + dx = (r + dr)er ( + d) + (z + dz)ez
der
= (r + dr) er () + d + (z + dz)ez
d
= rer () + zez + ret ()d + drer () + et ()drd + dzez
x = rer (, )
x + dx = (r + dr)er ( + d, + d)
der der
= (r + dr) er (, ) + d + d
d d
= rer (, )+ = r cos()et ()d + re (, )d + drer (, )
13
f (x + dx)
df df
dx dx
f (x)
x x + dx
df = f (x + dx) f (x)
df d2 f
= f (x) + dx + 1
dx2 + .. f (x)
dx x 2 dx2 x
df
dx
dx x
Consider a scalar function f of two independent variables x and y. The variation of the func-
tion value between two neighboring points can be expressed with a Taylor series expansion.
If the variation is very small, this series can be linearized, which implies that only rst-order
derivatives of the function are taken into account.
14
f f
df = f (x + dx, y + dy) + dx + dy + .. f (x, y)
x (x,y) y (x,y)
f f
dx + dy
x (x,y) y (x,y)
A function of three independent variables x, y and z can be dierentiated likewise to give the
variation.
f f f
df dx + dy + dz+
x (x,y,z,) y (x,y,z,) z (x,y,z,)
a a a a a a
da = dx + dy + dz = (dx ex ) + (dx ey ) + (dx ez )
x y z x y z
a a a
= dx ex + ey + ez = dx (a)
x y z
gradient operator = ex + ey + ez = eT = T e
x y z
a a a a 1 a a
da = dr + d + dz = (dx er ) + ( dx et ) + (dx ez )
r
z r r z
a 1 a a
= dx er + et + ez = dx (a)
r r z
a
grad(a) = ; a
div(a) = ; a
rot(a) =
Cartesian components
The gradient of a vector a can be written in components w.r.t. the Cartesian vector basis
{ex , ey , ez }. The base vectors are independent of the coordinates, so only the components of
the vector need to be dierentiated. The divergence is the inner product of and a and thus
results in a scalar value. The curl results in a vector.
a=
ex + ey + ez (axex + ay ey + az ez )
x y z
= ex ax,xex + ex ay,xey + ex az,xez + ey ax,yex +
ey ay,y ey + ey az,y ez + ez ax,z ex + ez ay,z ey + ez az,zez
x
e x
= ex ey ez y ax ay az ey = eT aT e
ez
z
16
a =
ex + ey + ez (axex + ay ey + az ez )
x y z
ax ay az
= + + = tr a = tr
T a
x y z
a = ex + ey + ez (axex + ay ey + az ez ) =
x y z
Cylindrical components
The gradient of a vector a can be written in components w.r.t. the cylindrical vector basis
{er , et , ez }. The base vectors er and et depend on the coordinate , so they have to be
dierentiated together with the components of the vector. The result is a 33 matrix.
a = tr(aT ) + tr(h)
Laplace operator
The Laplace operator appears in many equations. It is the inner product of the gradient
operator with itself.
Laplace operator 2 =
2 2 2
Cartesian components 2 = + +
x2 y 2 z 2
17
2 1 1 2 2
cylindrical components 2 = 2
+ + 2 2+ 2
r r r r z
2 2
2 1 1 2 1
spherical components 2 = 2 + + 2
+ 2 2
2 tan()
r r r r cos() r r
matrix/column notation
A11 A12 A13 e1
A= e1 e2 e3 A21 A22 A23 e2 = eT A e
A31 A32 A33 e3
dyad : ab
null tensor : O O p = 0
unit tensor : I I p = p
conjugated : Ac Ac p = p A
A = e A eT AT = e Ac eT
1.5.3 Manipulations
We already saw that we can conjugate a second-order tensor, which is an obvious manipu-
lation, taking in mind its representation as the sum of dyads. This also leads automatically
to multiplication of a tensor with a scalar, summation and taking the inner product of two
tensors. The result of all these basic manipulations is a new second-order tensor.
When we take the double inner product of two second-order tensors, the result is a scalar
value, which is easily understood when both tensors are considered as the sum of dyads again.
19
scalar multiplication B = A
summation C =A+B
inner product C = AB
double inner product A : B = Ac : B c = scalar
NB : A B = B A
A2 = A A ; A3 = A A A ; etc.
properties
1. ||A|| 0
2. ||A|| = || ||A||
3. ||A B|| ||A|| ||B||
4. ||A + B|| ||A|| + ||B||
J1 (A) = tr(A)
1
= [c1 A (c2 c3 ) + cycl.]
c1 c2 c3
20
properties
1. J1 (A) = J1 (Ac )
2. J1 (I) = 3
3. J1 (A) = J1 (A)
4. J1 (A + B) = J1 (A) + J1 (B)
5. J1 (A B) = A : B J1 (A) = A : I
1. J2 (A) = J2 (Ac )
2. J2 (I) = 3
3. J2 (A) = 2 J2 (A)
J3 (A) = det(A)
1
= [(A c1 ) (A c2 ) (A c3 )]
c1 c2 c3
properties
1. J3 (A) = J3 (Ac )
2. J3 (I) = 1
3. J3 (A) = 3 J3 (A)
4. J3 (A B) = J3 (A)J3 (B)
21
A11 A12 A13
A A = A21 A22 A23
A31 A32 A33
A n = n with n = 0
From its denition we can derive an equation from which the eigenvalues and the eigenvectors
can be determined. The coecient tensor of this equation must be singular, as eigenvectors
are never the null vector. Demanding its determinant to be zero results in a third-order
equation, the characteristic equation, from which the eigenvalues can be solved.
22
A n = n A n n = 0 A n I n = 0
(A I) n = 0 with n = 0
A I singular det(A I) = 0
det(A I) = 0 characteristic equation
characteristic equation : 3 roots : 1 , 2 , 3
After determining the eigenvalues, the associated eigenvectors can be determined from the
original equation.
It can be shown that the three eigenvectors are orthonormal when all three eigenvalues have
dierent values. When two eigenvalues are equal, the two associated eigenvectors can be
chosen perpendicular to each other, being both already perpendicular to the third eigenvector.
With all eigenvalues equal, each set of three orthonormal vectors are principal directions. The
tensor is then called isotropic.
J2 (A) J1 (A) 1
J1 (A1 ) = ; J2 (A1 ) = ; J3 (A1 ) =
J3 (A) J3 (A) J3 (A)
inverse tensor A1 A1 A = I
deviatoric part of a tensor Ad = A 13 tr(A)I
symmetric tensor Ac = A
skew symmetric tensor Ac = A
positive denite tensor a A a > 0 a = 0
orthogonal tensor (A a) (A b) = a b a, b
adjugated tensor (A a) (A b) = Aa (a b) a, b
det(A) = 0 ! A1 | A1 A = I
property
(A B) a = b a = (A B)1 b
(A B) a = A (B a) = b
B a = A1 b a = B 1 A1 b
(A B)1 = B 1 A1
1
A1
ji = (1)i+j minor(Aij )
det(A)
Ad = A 13 tr(A)I ; 1
3 tr(A)I = Ah = hydrostatic or spherical part
properties
24
1. (A + B)d = Ad + B d
2. tr(Ad ) = 0
3. eigenvalues (i ) and eigenvectors (m
i)
det(Ad I) = 0
det(A { 13 tr(A)
+ }I) = 0 = 13 tr(A)
(Ad I) m
= 0
(A { 13 tr(A) + }I) m
= 0
(A I) m = 0 m
= n
Ac = A
properties
1. eigenvalues and eigenvectors are real
2. i dierent ni
3. i not dierent ni chosen
Ac = A
properties
1. A : B = tr(A B) = tr(Ac B c ) = Ac : B c
Ac = A A : B = A : B c
A:B=0
B c = B A : B = A : B
2. B = I tr(A) = A : I = 0
3. A
q = p q A q = q Ac q = q A q
qA
q=0 q p = 0 q p
!
such that A q = p = q
The components of the axial vector associated with the skew symmetric tensor A can be
expressed in the components of A. This involves the solution of a system of three equations.
A11 A12 A13 q1 A11 q1 + A12 q2 + A13 q3
q = eT A21 A22 A23 q2 = eT A21 q1 + A22 q2 + A23 q3
A
A31 A32 A33 q3 A31 q1 + A32 q2 + A33 q3
q = (1e1 + 2e2 + 3e3 ) (q1e1 + q2e2 + q3e3 )
= 1 q2 (e3 ) + 1 q3 ( e2 ) + 2 q1 ( e3 ) + 2 q3 (e1 )+
3 q1 (e2 ) + 3 q2 ( e1 )
2 q3 3 q2 0 3 2
= eT 3 q1 1 q3 A = 3 0 1
1 q2 2 q1 2 1 0
a A a > 0 a = 0
properties
properties
1. (A v ) (A v ) = v v ||A v || = ||v ||
2. a Ac A b = a b A Ac = I Ac = A1
3. det(A Ac ) = det(A)2 = det(I) = 1
det(A) = 1 A regular
We consider a rotation of the vector base {e1 , e2 , e3 } to {1 , 2 , 3 }, which is the result of three
subsequent rotations : 1) rotation about the 1-axis, 2) rotation about the new 2-axis and 3)
rotation about the new 3-axis.
For each individual rotation the rotation matrix can be determined.
2
1
(1)
1 = e1
1 0 0
(1)
2 = c(1)e2 + s(1)e3
Q1 = 0 c (1) s(1)
(1)
(1)
3 = s(1)e2 + c(1)e3 0 s c(1)
(2) (1) (1)
(2)
1 = c(2) 1 s(2) 3
c 0 s(2)
(2)
2 = 2
(1)
Q2 = 0 1 0
(2) (1)
3 = s(2) 1 + c(2) 3
(1) s(2) 0 c(2)
(3) (2) (2)
(3)
1 = c(3) 1 + s(3) 2
c s(3) 0
(3) 2)
2 = s(3) 1 + c(3) 2
(2)
Q3 = s (3) c(3) 0
(3) (2)
3 = 3 0 0 1
The total rotation matrix Q is the product of the individual rotation matrices.
(1)
= Q1 T e
= Q3 T Q2 T Q1 T e = QT e
(2) (1)
= Q2 T
e = Q
(3) (2)
=
= Q3 T
(2) (3)
c c c(2) s(3) s(2)
Q = c(1) s(3) + s(1) s(2) c(3) c(1) c(3) s(1) s(2) s(3) s(1) c(2)
s(1) s(3) c(1) s(2) c(3) s(1) c(3) + c(1) s(2) s(3) c(1) c(2)
A tensor A with matrix A w.r.t. {e1 , e2 , e3 } has a matrix A w.r.t. basis {1 , 2 , 3 }. The
matrix A can be calculated from A by multiplication with Q, the rotation matrix w.r.t.
{e1 , e2 , e3 }.
The column A with the 9 components of A can be transformed to A by multiplication
with the 9x9 transformation matrix T : A = T A. When A is symmetric, the transformation
matrix T is 6x6. Note that T is not therepresentation
of a tensor.
The matrix T is not orthogonal, but its inverse can be calculated easily by reversing the
rotation angles : T 1 = T (1 , 2 , 3 ).
28
A = eT A e = T A
A = eT A e T = QT A Q
A = T A
property Ac Aa = det(A)I
4
A:B=C
4
tensor = linear transformation A : (M + N ) = 4 A : M + 4 A : N
4
representation A = 1a1b1c1 d1 + 2a2b2c2 d2 + 3a3b3c3 d3 + ..
4
components A = eiej Aijklekel
4
fourth-order tensor : A = a b c d
4 c
total conjugate : A = d c b a
4 rc
right conjugate : A = a b d c
4 lc
left conjugate : A = b a c d
4 mc
middle conjugate : A = a c b d
symmetries
4 4
; B : 4A = Bc : 4A
lc
left A= A B
4 4 rc
right A= A ; 4A : B = 4A : Bc B
4 4 mc
middle A= A
4 4 c
total A= A ; B : 4A : C = C c : 4A : Bc B, C
4
I:B=B B
4
components I = e1e1e1e1 + e2e1e1e2 + e3e1e1e3 + e1e2e2e1 + . . .
= eiej ej ei = eiej il jkekel
4
4I not left- or right symmetric I : B = B = B c = 4 I : B c
B : 4 I = B = B c = B c : 4 I
4 s
( 4I + 4I ) =
1 rc 1
symmetric fourth-order tensor I = 2 2 eiej (il jk + ik jl )ek el
1.7.3 Products
Inner and double inner products of fourth-order tensors with fourth- and second-order tensors,
result in new fourth-order or second-order tensors. Calculating such products requires that
some rules have to be followed.
4
A B = 4C AijkmBml = Cijkl
4
A:B=C Aijkl Blk = Cij
4 4
A : B = B : A
4
A : 4B = 4C Aijmn Bnmkl = Cijkl
4 4 4 4
A : B = B : A
rules
30
4
A : (B C) = ( 4 A B) : C
s s
A B + B c Ac = 4 I : (A B) = ( 4 I A) : B
column notation
AT = A11 A22 A33 A12 A21 A23 A32 A31 A13
ATt = A11 A22 A33 A21 A12 A32 A23 A13 A31
conjugate tensor
A11 A21 A31
Ac Aji AT = A12 A22 A32 At
A13 A23 A33
C =A:B
= ei Aij ej : ek Bklel = Aij jk il Bkl = Aij Bji
= A11 B11 + A12 B21 + A13 B31 + A21 B12 + A22 B22 + A23 B32 +
A31 B13 + A32 B23 + A33 B33
= A11 A22 A33 A21 A12 A32 A23 A13 A31
T
B11 B22 B33 B12 B21 B23 B32 B31 B13
= ATt B = AT B t
idem
C = A : Bc C = ATt B t = AT B
C = Ac : B C = AT B = ATt B t
C = Ac : B c C = ATt B = AT B t
Matrix/column notation C = AB
The inner product of two second-order tensors A and B is a new second-order tensor C.
The components of this new tensor can be stored in a 33 matrix C, but of course also in a
column C .
A matrix representation will result when the components of A and B can be isolated.
We will store the components of B in a column B and the components of A in a matrix.
C = A B = ei Aikek el Blj ej = ei Aik kl Blj ej = ei Aik Bkj ej
A11 B11 + A12 B21 + A13 B31
A11 B12 + A12 B22 + A13 B32
A11 B13 + A12 B23 + A13 B33
A21 B11 + A22 B21 + A23 B31
C=
A21 B12 + A22 B22 + A23 B32
A21 B13 + A22 B23 + A23 B33
A31 B11 + A32 B21 + A33 B31
A31 B12 + A32 B22 + A33 B32
A31 B13 + A32 B23 + A33 B33
C11 A11 B11 + A12 B21 + A13 B31
C22 A21 B12 + A22 B22 + A23 B32
C33
A31 B13 + A32 B23 + A33 B33
C12
A11 B12 + A12 B22 + A13 B32
C= C21 = A21 B11 + A22 B21 + A23 B31
C23
A21 B13 + A22 B23 + A23 B33
C32 A31 B12 + A32 B22 + A33 B32
C31 A31 B11 + A32 B21 + A33 B31
C13 A11 B13 + A12 B23 + A13 B33
32
The column C can be written as the product of a matrix A and a column B which contain
the components matrix from
of the tensors A and B, respectively. To distinguish the new
the normal 33 matrix A, which contains also the components of A, we have introduced a
double underline.
The matrix A can of course be transposed, giving AT . We have to introduce, however,
three new manipulations concerning the matrix A. First it will be obvious that the individual
matrix components can be transposed : Aij Aji . When we do this the result is written as
: A t , just as was done with a column C .
Two manipulations concern the interchange of columns or rows and are denoted as ( ) c
and ( ) r . It can be easily seen that not each row and/or column is interchanged, but only :
(4 5), (6 7) and (8 9).
A11 0 0 0 A12 0 0 A13 0 B11
0 A22 0 A21 0 0 A23 0 0 B22
0 0 A33 0 0 A32 0 0 A31 B33
0 A12 0 A11 0 0 A13 0 0 B12
C=
A21 0 0 0 A22 0 0 A23 0
B21 = AB
0 0 A23 0 0 A22 0 0 A21 B23
0 A32 0 A31 0 0 A33 0 0 B32
A31 0 0 0 A32 0 0 A33 0 B31
0 0 A13 0 0 A12 0 0 A11 B13
idem
C = AB C = A B = A cBt ; C t = A r B = A rc B t
C = A Bc C = A Bt = A cB
C = Ac B C = A t B = A tc B t
C = Ac B c C = A t B t = A tc B
4
A = eiej Aijklekel
33
A1111 A1122 A1133 A1112 A1121 A1123 A1132 A1131 A1113
A2211 A2222 A2233 A2212 A2221 A2223 A2232 A2231 A2213
A3311 A3322 A3333 A3312 A3321 A3323 A3332 A3331 A3313
A1211 A1222 A1233 A1212 A1221 A1223 A1232 A1231 A1213
A=
A2111 A2122 A2133 A2112 A2121 A2123 A2132 A2131 A2113
A2311 A2322 A2333 A2312 A2321 A2323 A2332 A2331 A2313
A3211 A3222 A3233 A3212 A3221 A3223 A3232 A3231 A3213
A3111 A3122 A3133 A3112 A3121 A3123 A3132 A3131 A3113
A1311 A1322 A1333 A1312 A1321 A1323 A1332 A1331 A1313
conjugation
4 c
A AT
4 rc
A Ac
4 lc
A Ar
Matrix/column notation C = 4A : B
The double product of a fourth-order tensor 4 A and a second-order tensor B is a second-order
tensor, here denoted as C.
The components of C are stored in a column C , those of B in a column B . The
components of 4 A are stored in a 9 9 matrix.
Using index-notation we can easily derive relations between the fore-mentioned columns.
C = 4A : B
ei Cij ej = eiej Aijmnemen : ep Bpqeq
= eiej Aijmn np mq Bpq = eiej Aijmn Bnm
C = Ac B = A B t
idem
C = B : 4A
ei Cij ej = ep Bpqeq : emen Amnij eiej
= Bpq qm pn Amnij eiej = Bnm Amnij eiej
T T
C = B Ar = A B Tt
Matrix notation 4C = 4A B
The inner product of a fourth-order tensor 4 A and a second-order tensor B is a new fourth-
order tensor, here denoted as 4 C. The components of all these tensors can be stored in
matrices. For a three-dimensional physical problem, these would be of size 9 9. Here we
only consider the 5 5 matrices, which would result in case of a two-dimensional problem.
34
4
C = 4 A B = eiej Aijklek el ep Bpqeq
= eiej Aijklek lp Bpqeq = eiej Aijkl Blqekeq
= eiej Aijkp Bplek el
A111p Bp1 A112p Bp2 A113p Bp3 A111p Bp2 A112p Bp1
A221p Bp1 A222p Bp2 A223p Bp3 A221p Bp2 A222p Bp1
C=
A331p Bp1 A332p Bp2 A333p Bp3 A331p Bp2 A332p Bp1
A121p Bp1 A122p Bp2 A123p Bp3 A121p Bp2 A122p Bp1
A211p Bp1 A212p Bp2 A213p Bp3 A211p Bp2 A212p Bp1
A1111 A1122 A1133 A1112 A1121 B11 0 0 B12 0
A2211 A2222 A2233 A2212
A2221 0 B22 0 0 B21
=
A3311 A3322 A3333 A3312 A3321
0 0 B 33 0 0
A1211 A1222 A1233 A1212 A1221 B21 0 0 B22 0
A2111 A2122 A2133 A2112 A2121 0 B12 0 0 B11
= A B cr = A c B c C r = A r B r = A cr B
Matrix notation 4 C = B 4 A
The inner product of a second-order tensor and a fourth-order tensor can also be written as
the product of the appropriate matrices.
4
C = B 4 A = ei Bij ej epeq Apqrser es
= ei Bij jpeq Apqrser es = eieq Bij Ajqrser es
= eiej Bip Apjklek el
B1p Ap111 B1p Ap122 B1p Ap133 B1p Ap112 B1p Ap121
B2p Ap211 B2p Ap222 B2p Ap233 B2p Ap212 B2p Ap221
C=
B3p Ap311 B3p Ap322 B3p Ap333 B3p Ap312 B3p Ap321
B1p Ap211 B1p Ap222 B1p Ap233 B1p Ap212 B1p Ap221
B2p Ap111 B2p Ap122 B2p Ap133 B2p Ap112 B2p Ap121
B11 0 0 0 B12 A1111 A1122 A1133 A1112 A1121
0 B22 0 B21 0 A2211 A2222 A2233 A2212 A2221
=
0 0 B33 0 0
A3311 A3322 A3333 A3312 A3321
0 B12 0 B11 0 A1211 A1222 A1233 A1212 A1221
B21 0 0 0 B22 A2111 A2122 A2133 A2112 A2121
= B A = B c Ar C r = B r A c = B cr A cr
35
Matrix notation 4C = 4A : 4B
The double inner product of two fourth-order tensors, 4 A and 4 B, is again a fourth-order
tensor 4 C. Its matrix, C, can be derived as the product of the matrices A and B.
4
C = 4 A : 4 B = eiej Aijklekel : epeq Bpqrser es
= eiej Aijkl lp kq Bpqrser es = eiej Aijqp Bpqrser es
= eiej Aijqp Bpqklek el
A11qp Bpq11 A11qp Bpq22 A11qp Bpq33 A11qp Bpq12 A11qp Bpq21
A22qp Bpq11 A22qp Bpq22 A22qp Bpq33 A22qp Bpq12 A22qp Bpq21
C=
A33qp Bpq11 A33qp Bpq22 A33qp Bpq33 A33qp Bpq12 A33qp Bpq21
A12qp Bpq11 A12qp Bpq22 A12qp Bpq33 A12qp Bpq12 A12qp Bpq21
A21qp Bpq11 A21qp Bpq22 A21qp Bpq33 A21qp Bpq12 A21qp Bpq21
A1111 A1122 A1133 A1112 A1121 B1111 B1122 B1133 B1112 B1121
A2211 A2222 A2233 A2212 A2221 B2211 B2222 B2233 B2212 B2221
=
A3311 A3322 A3333 A3312 A3321 B3311 B3322 B3333
B3312 B3321
A1211 A1222 A1233 A1212 A1221 B2111 B2122 B2133 B2112 B2121
A2111 A2122 A2133 A2112 A2121 B1211 B1222 B1233 B1212 B1221
= AB r = Ac B
4
I = eiej il jkek el
I=
1 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0
11 11 12 12 13 13 12 11 11 12
0 0 1 0 0 0 0 0 0
21 21 22 22 23 23 22 21 21 22
0 0 0 0 1 0 0 0 0
31 31 32 32 33 33 32 31 31 32
= 0 0 0 1 0 0 0 0 0
11 21 12 22 13 23 12 21 11 22
0 0 0 0 0 0 1 0 0
21 11 22 12 23 13 22 11 21 12
0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 1 0
2 0 0 0 0
0 2 0 0 0
rc 0 0 2 0 0
4 s
I = 1 4
I + 4I Is = 1
I +Ic = 1
2 2 2 0 0 0 1 1
0 0 0 1 1
Matrix notation II
In some relations the dyadic product II of the second-order unit tensor with itself appears.
Its matrix representation can easily be written as the product of columns I and its transposed.
1 1 1 0 0 0 0 0 0
1 1 1 0 0 0 0 0 0
1 1 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
II =
0 0 0 0 0 0 0 0 0 = IIT
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
Matrix notation 4B = 4I A
The inner product of the fourth-order unit tensor 4I and a second-order tensor A, can be
elaborated using their matrices.
4
B = 4 I A = eiej il jkekel ep Apq eq = A 4 I
A11 11 A12 12 A13 13 A12 11 A11 12 .. A11 0 0 A12 0 ..
A21 21 A22 22 A23 23 A22 21 A21 22 .. 0 A22 0 0 A21 ..
A31 31 A32 32 A33 33 A32 31 A31 32 .. 0 0 A33 0 0 ..
B=
=
A11 21 A12 22 A13 23 A12 21 A11 22 .. 0 A12 0 0 A11 ..
A21 11 A22 12 A23 13 A22 11 A21 12 .. A21 0 0 A22 0 ..
.. .. .. .. .. .. .. .. .. .. .. ..
= Ac
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x x
A A ; A ; A
4A
A
4I I
Now some manipulations are introduced, which are easily done in Matlab.
mmAt = m2mm(mA)
mmAr = mmA([1 2 3 5 4 7 6 9 8],:)
mmAc = mmA(:,[1 2 3 5 4 7 6 9 8])
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c = A:B c = ATt B
C = AB C = AB
C = 4A :B C = ABt
C = B : 4A CT = B Tt A
4C = 4A B C = A B cr
4C = 4A : 4B C = ABr
4I I
II I IT
1.8.3 Gradients
Gradient operators are used to dierentiate w.r.t. coordinates and are as such associated with
the coordinate system. The base vectors unit tangent vectors to the coordinate axes in
the Cartesian system, {ex , ey , ez }, are independent of the coordinates {x, y, z}. Two base
vectors in the cylindrical coordinate system with coordinates {r, , z}, are a function of the
coordinate : {er (), et (), ez }. This dependency has ofcourse to be taken into account when
writing gradients of vectors and tensors in components w.r.t. the coordinate system, using
matrix/column notation. The gradient operators are written in column notation as follows :
Cartesian
T ex
= ex + ey + ez = et = T e = eT
x y z x y z
ez
cylindrical
er
= er + et 1 + ez =
1 et = T e = eT
r r z r r z
ez
ax,x ay,x az,x
a = eT aT e
= eT aT e = eT ax,y ay,y az,y e
ax,z ay,z az,z
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a = eT aT e = eT aT e + eT a
er,r et,r ez,r 0 0 0
e T = 1r er,t 1r et,t 1r ez,t = 1r et 1r er 0
er,z et,z ez,z 0 0 0
0
T 1 1
= e T
a e + et ar er at }
r r
0
0 0 0
T 1 1
= e T
a e + at ar 0 e
r r
0 0 0
= eT (aT )e + eT h e
a = tr(aT ) + tr(h)
1 1
iej = i2 1j et i2 2j er
r r
1 1 1 1
= ei (i2 1j et i2 2j er )Ajkek + ij (i Ajk )ek + ij Ajk (i2 1k et i2 2k er )
r r r r
1 1 1 1
= ei (i2 1j et i2 2j er )Ajkek + ij (i Ajk )ek + (i2 1k et i2 2k er )Ajk ij
r r r r
1 1 1 1
= et (1j et 2j er )Ajkek + (j Ajk )ek + (j2 1k et j2 2k er )Ajk
r r r r
1 1 1
= 1j Ajkek + (j Ajk )ek + (j2 1k et j2 2k er )Ajk
r r r
1 1
= A1kek + (j Ajk )ek + (A21et A22er )
r r
1 1 1 1 1
= ( A11 A22 )e1 + ( A12 + A21 )e2 + A13e3 + (j Ajk )ek
r r r r r
= gk ek + j Ajkek
= g T e + (T A)e
= (T A)e + gT e
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