Contents

1. Introduction 1

1.1. Mathemtical theories and engineering science, 1. 1.8. Scalars, vectors,

andtensors, 3. 1.3. Pr&, 6.

2. Cartesian Vectors and Tensors: Their Algebra 8

8.11. De$ni&m oj a vector, 8. 8.18. Examples of vecturs, 10. 9.13.

Scalar multiplication, 11. 9.81. Addition of vectors -Coplanar vectors,
11. 8.88. Unilveckws, 13. 8.83. Abaaisojwn-coplanarplanarvcclors,13. 8.31.
Scalar product - Ollhogonality, 15. 8.38. Vector product, 16. 8.33. Ve-
Wyduelorigidbodyrotaliolr, 17. 6.34. Triplescalar product, 18. 8.36.
Triple vector product, 19. 6.36. Reciprocal base q t s t m a , 20. 8.41. Second
order imsors, 21. 8.42. Examples of s e d order tensors, 22. 8.U. Scalar
multiplication and a d d i i h , 23. 8 . 4 . Contraction and mulliplicalion, 23.
2.46. The vector of an antisymmetric imsor, 24. 6.6. Canonid jorm of a
symmetric lensor, 25. 9.61. Higher order tensors, 28. 8.68. The qtwtknl
rule, 29. 8.Y. Isolropictensors, 30. 8.81. Dyadicaanddhernolations, 34.
8.8% A&l vectors. 36.

3. Cartesian Vectors and Tenron: Their Calculus 38

3.1 1. Teneotjunctions of a time-like variable, 38. 3.18. C u m inspace, 39.

3.13. Line inlegala, 42. 3.14. Surjace inlegtals, 44. 3.16. Volume inle-
gala, 48. 3.16. Change of variubk wilh multiple inlegala, 50. 3.81.
Vector $a%,51. 3.89. The vector opctator 0 - Gradient oj a scalar, 51.
3.83. The divergence oj a vectorjtdd, 53. 3.84. The curl oj a vectorjkkl, 55.
3.31. &em's theorem and some of its variants, 68. 3.38. Sblcea' theorem, 61.
xi
Xii Contents

9.41. The classifiation and representation of v e c h fields, 63. 9.42. Irroh

lirmal vector fields, 65. 9.49. Solenoidal vector fie&, 67. 9.44. Helmholtz'
represenMion, 70. 9.45. Other representalions, 72.

4. The Kinematics of Fluid Motion 76

4.11. Particle pa&, 76. 4.1%. Slreamlines, 79. 4.19. SlreaMines, 81.
4.81. m i o n , 83. 4.22. Reynold's lranspmt theorem, a. 4.3. Conserva-
lion of mass and the equation of conlinuity, 87. 4.41. Deformation and rate
of slrain, 88. 4.42. Physical inlerprelalion of the deformation tensor, 89.
4.49. Principal axes of deformation, 92. 4.5. Vorticily, vortex lanes and
lubes, 95.

5. Stress in Fluids 99
6.11. Cauchy's stress principle and the conservation of momentum, 99. 5.12.
The stress lensor, 101. 6.19. The symmelry of the slress lensor, 102. 5.14.
Hydrostatic pressye, 105. 6.16. Prinn'pal azes of stress and the notion of
isolropy, 105. 5.21. The Stokaian fluid, 106. 5.22. Conslitulive eqm-
lions of the Stokesicrn &id, 107. 5.23. The Newtonian ~Iuid,110. 5.24.
InterprelaliO7,of the eonstants A and p, 111.

6. Equations of Motion and Energy in Cartesian Coordinates 113

6.11. Equations of motion of a Newtonian fluid, 113. 6.18. Boundary con-

dilions, 115. 6.13. The Reynolds number, 115. 6.14. Dissipalion of energy
by viscousforces, 117. 13.1.Equalions f o r a Stokeszan fluid, 119. 6.9. The
energy equalion, 120. 6.41. Rbumd ofthe devebpmenl of the equations, 123.
6.42. Special casea of lhe equalions, 124. 6.51. Bernoulli theorems, 131.
6.62. Some furlhm properlies of barolropicflow, 132.

7. Tensors 134

7.11. Coordinate syslems and mvenlims, 134. 7.16. Proper transforma-

tions, 136. 7.13. General plan of presenl~lion,139. 7.21. Conlravariant
vecturs, 140. 7.12. Covarianl veclors, 141. 7.29. The metric tensor, 142.
7.24. Absolute and relative lensor filds, 144. 7.26. Isotropic Wars, 146.
7.91. Tensor algebra, 146. 7.98. The quolienl rule, 148. 7.99 Lmagth of a
veetot and angle between vectors, 149. 7.94. Principal directions of a sym-
melric second order tensor, 151. 7.95. Cwarianl and contravariant base
veetots, 151. 7.41. Physical wmponmts of vectors in orthogonal coordinate
syslems, 153. 7.42. Physieal cinnponenls of vectars in Mnorlhogonal m d i -
nate systems, 155. 7 . 0 . Physical eomponenls of tensors, 156. 7.64. A n
Contents xiii

example, 157. 7.46. A n h o h n n i c componenla oj a lensor, 159. 7.51.

Differentids of tensors, 160. 7.68. Parallel veelot filda, 161. 7.63.
Chriatoffel symbols, 162. 7.64. Chrisbffel symboLp in orthogonal eoordimtea,
164. 7.66. Covarianldifferentiation,166. 7.66. TheLaplaeian,divergence,
and curl, 169. 7.67. Greens and Stokes theorems, 171. 7.6. Eucli&ean
and other spaces, 172.

8. Equations of Fluid Flow in Euclidean space 176

8.11. I n t r i k derivolives, 176. 8.19. The transport theorem and equation

oj continuity, 177. 8.13. The equations oj motwn, 178. 8.91. The N e w
lonian f l ~ i d ,180. 8.2%. The NaYier-Sloke~ eq~atipns,181. 8.31. Con-
vected coordinates, 183. 8.38. Cowedive differentiation, 185. 8.33. Strain
and rate ojstrain in umveeled eoordinalea, 187. 8.34. Constitutive equalbas,
188. 8.4. The general theory oj constilzctive equations, 190.

9. The Geometry of Surfaces in Space 193

9.11. Surjace coordinates, 193. 9.18. T r a n s j d i o n s oj surjace c m d i -

nates-surjace lensots, 194. 9.13. The metric tm.sor, 196. 9.14. Lmgth
and direction oj surjace vectors, 198. 9.21. Christoffel symbols, 199. 9.89.
Gwdesia, 201. 9.23. G ~ e o o r d i n a t a s 204.
, 9.24. ParaUelvectorsina
surjace, 206. 9.26. Covarianl surjace di&mntiatwn, 209. 9.96. The
G a u s h n m told curvature oj a surjace, 210. 9.31. The surjace in space,
212. 9.38. The jirst fundamental form oj the surjace, 213. 9.33. The
normal to the surface, 214. 9.34. Couariant differentinth oj hybrid t a s o r s ,
215. 9.36. The second jundamatal form oj the surjace, 216. 9.36. The third
jundamenlal form, 217. 9.37. The relation between the three jundamenhl
jonns-Gauss-C&zi equatirms, 218. 9.38. Curves in the surjace, 219.
9.41. Differential operators in a surjace, 222. 9.M. Greens and Stokes
theorems in a sutface, 223.

10. The Equations of Surface Flow 226

10.11. Velocity in a surjace, 227. 10.16. Operations with a time dependent

metric, 228. 10.61. Strain in the surjace, 230. 10.28. Strea in the surjace,
231. 10.23. Conslitutiue relations jor the surjace, 232. 10.81. Intrillsic
eqdions o j s u r j w motion, 233. 10.32. Intrinsic equationafor a Newlonicln
surjacefluid,234. 10.41. The continuity ojthe surjace and ils surraundings,
235. 1O.M. Conwtion between surface strain and the surroundings, 237.
10.43. Dynamicd umnedwn between the surjace and i(s surroundings, 238.
10.61 Sutface equalions as boundary wnditwns at an inteface, 241. 10.68.
The plane intezjace, 242. 10.63. The cylindricd inierjace, 243. 10.64.
The sphetieal inierjace, 243.
xiv Contents

1 1. Equations for Reacting Fluids 245

11.11. The CoIZBetvatiMI of ma&, 245. 11.18. Maas $ w s , 247. 11.13.

Sloichiometric and kinetie relations, 248. 11.8. The eorrpervation of momen-
tum, 249. 11.31. The coruetvation 01energy, 250. 113 9 . The diffusion of
heat and moue*, 251. 11.33. Tramport in binary mixtures, 252.

Appendix A. Risumi of Three-dimensional Coordinate Geometry and

Matrix Theory 254

A S . Cartesian wordinate systems, 254. A.8. The projection of me line on

another-Orthogonalily, 256. A.3. The line, plane, and surface, 257.
A.4. Row and column vectors -change of ofigin and scale, 258. A.6.
Matrices and quadria, 259. A.6. Matrices and rotalions of axes, 262.
A.7. The laws of m a t h algebra, 263. A.8. Determinants - the inverse of a
matrix, 265. A.9. Partitioned matrices - Laplacian expansion- product
of determanants, 268. A.10. Lalnzt rook and vectors of a symmetric matrix,
270. A.11. Canonical form of symmetric d t i e e s and quadrim, 271.
A.M. Slalionaty properties, 274.

Appendix B. Implicit Functions and Jacobians 276

Index 28 1