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CHAPTER 3
a1 = Dv1 / Dt = ( ∂v1 / ∂t ) X = 0, a2 = a3 = 0 .
i − fixed
( )
For the material line BC , ( X1 , X 2 , X 3 ) = ( X1 ,1,0 ) ; at t = 1 , ( x1 , x2 , x3 ) = X1 , β X12 + 1,0
⎛ ∂x ⎞ ⎛ ∂v ⎞
(b) vi = ⎜ i ⎟ , ai = ⎜ i ⎟ → v1 = v3 = 0, v2 = 2β X12t ; a1 = a3 = 0, a2 = 2β X12
⎝ ∂t ⎠ X i −fixed ⎝ ∂t ⎠ X i −fixed
(c) Since x1 = X1 , in spatial descrip. v1 = v3 = 0, v2 = 2 β x12t ; a1 = a3 = 0, a2 = 2β x12
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(
For mat. line CD, ( X1 , X 2 , X 3 ) = (1, X 2 ,0 ) ; at t = 2 , ( x1 , x2 , x3 ) = 4β X 22 + 1, 2kX 2 + X 2 ,0 . )
The shape of the material square at t = 2 is shown in the figure.
x2
4
B’ C’
2k
C
B
A x1
D
b) vi = ⎛⎜ i ⎞⎟ ⎛ ∂v ⎞
∂x 2 2
, ai = ⎜ i ⎟ → , v1 = 2 β X 2 t , v2 = kX 2 , v3 = 0; a1 = 2 β X 2 , a2 = a3 = 0 .
⎝ ∂t ⎠ X − fixed
i
⎝ ∂t ⎠ X − fixed
i
A D’
x1
A’ D
(b) vi = ⎛⎜ i ⎞⎟ ⎛ ∂v ⎞
∂x
and ai = ⎜ i ⎟ → , v1 = k ( s + X 1 ) , v2 = 0, v3 = 0; a1 = a2 = a3 = 0 .
⎝ ∂t ⎠ X − fixed
i
⎝ ∂t ⎠ X − fixed
i
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Ans. With β = 1 and k = 1 , x1 = X 1 − 2 X 22t 2 , x2 = X 2 − X 3t , x3 = X 3
For the material line OA : ( X 1 , X 2 , X 3 ) = (0, X 2 , 0) : at t = 1 , x1 = −2 X 22 , x2 = X 2 , x3 = 0 . Thus,
the deformed shape of the material line at t = 1 is a parabola given in the figure shown.
x2
A’ A
x1
O
(a) t = 0 → ( x1 , x2 , x3 ) = ( X1 , X 2 , X 3 ) = (1,1,0) ,
t = 1 → ( x1 , x2 , x3 ) = ( X1 + X 22 , X 2 + X 2 , X 3 ) = (2, 2,0)
t = 2 → ( x1 , x2 , x3 ) = ( X1 + 4 X 22 , X 2 + 2 X 2 , X 3 ) = (5,3,0)
(b) x1 = X1 + X 22t 2 x2 = X 2 + X 2t , x3 = X 3 , at t = 2 → 1 = X1 + 4 X 22 , 3 = 3 X 2 , 2 = X 3
→ X1 = −3, X 2 = 1, X 3 = 2 .
(c) x1 = X1 + X 22t 2 x2 = X 2 + X 2t , x3 = X 3 → v1 = 2 X 22t , v2 = X 2 , v3 = 0 .
→ a1 = 2 X 22 , a2 = 0, a3 = 0 . For ( X1 , X 2 , X 3 ) = (1,3, 2 ) , → a1 = 2 ( 3) = 18, a2 = a3 = 0 at any
2
time.
(d) The initial position of this particle was obtained in (b), i.e., → X1 = −3, X 2 = 1, X 3 = 2 .
Thus, → a1 = 2 X 22 = 2(1) 2 = 2, a2 = 0, a3 = 0 .
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3.9 (a) Show that the velocity field vi = kxi / (1 + kt ) corresponds to the motion xi = X i (1 + kt )
and (b) find the acceleration of this motion in material description.
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Ans. (a) From xi = X i (1 + kt ) and X i = xi / (1 + kt ) → vi = kX i =kxi / (1 + kt ) .
(b) vi = kX i → ai = 0 , or
⎛ ∂v ⎞ ∂v k 2 xi kx j kδ ij k 2 xi kxi k
ai = ⎜ i ⎟ + vj i = − + = − + =0.
⎝ ∂t ⎠ xi − fixed ∂x j (1 + kt ) (
2 1 + kt )(1 + kt ) ( 1 + kt ) (1 + kt ) ( kt )
1 +
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3.10 Given the two dimensional velocity field: vx = −2 y, v y = 2 x . (a) Obtain the acceleration
field and (b) obtain the pathline equation.
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∂v ∂v ∂v
Ans. (a) ax = x + vx x + v y x = 0 + ( −2 y ) (0) + ( 2 x )( −2 ) = −4 x ,
∂t ∂x ∂y
∂v y ∂v y ∂v y
ay = + vx = 0 + ( −2 y ) (2) + ( 2 x )( 0 ) = −4 y , i.e., a = −4 xe x − 4 ye y
+ vy
∂t ∂x ∂y
dx dy dy x
(b) = −2 y and = 2x → = − → xdx + ydy = 0 , → x 2 + y 2 = constant=X 2 + Y 2 ,
dt dt dx y
dx dy d2x dy d 2x
Or, = −2 y and = 2x → = −2 = − 2 ( 2 x ) → + 4x = 0
dt dt dt dt dt
→ x = A sin 2t + B cos 2t and y = − A cos 2t + B sin 2t , where A = −Y , B = X .
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3.11 Given the two dimensional velocity field: vx = kx, v y = − ky . (a) Obtain the acceleration
field and (b) obtain the pathline equation.
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∂v ∂v ∂v
Ans. (a) ax = x + vx x + v y x = 0 + ( kx ) ( k ) + ( − ky )( 0 ) = k 2 x
∂t ∂x ∂y
Copyright 2010, Elsevier Inc
3-5
Lai et al, Introduction to Continuum Mechanics
∂v y ∂v y ∂v y
ay =
∂t
+ vx
∂x
+ vy
∂y
(
= 0 + ( kx ) (0) + ( − ky )( − k ) = k 2 y , That is, a = k 2 xe x + ye y )
x t
dx dx x
(b) = kx → ∫ = ∫ kdt → ln x − ln X = kt → ln = kt → x = Xe kt .
dt X
x 0 X
Similarly derivation gives → y = Ye− kt . Or, xy = XY where ( X , Y ) are material coordinates.
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3.12 Given the two dimensional velocity field: vx = k ( x 2 − y 2 ), v y = −2kxy . Obtain the
acceleration field.
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∂v
∂t
∂v
∂x
∂v
( )
Ans. ax = x + vx x + v y x = 0 + k x 2 − y 2 (2kx) + ( −2kxy )( −2ky ) = 2 xk 2 ( x 2 + y 2 ) .
∂y
∂v y ∂v y ∂v y
ay =
∂t
+ vx
∂x
+ vy
∂y
( )
= 0 + k x 2 − y 2 ( −2ky ) − 2kxy ( −2kx ) = 2 yk 2 ( x 2 + y 2 ) .
(
That is, a = 2k 2 x 2 + y 2 ) ( xe x + ye y )
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Dv ∂v
3.13 In a spatial description, the equation to evaluate the acceleration = + ( ∇v ) v is
Dt ∂t
nonlinear. That is, if we consider two velocity fields v A and v B , then a A + a B ≠ a A+B , where
a A and a B denote respectively the acceleration fields corresponding to the velocity fields
v A and v B each existing alone, a A+B denotes the acceleration field corresponding to the combined
velocity field v A +v B . Verify this inequality for the velocity fields:
v A = −2 x2e1 + 2 x1e2 , v B = 2 x2e1 − 2 x1e2
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Dv ∂v
Ans. From = + ( ∇v ) v
Dt ∂t
0 −2 ⎤ ⎡ −2x2 ⎤ ⎡ −4 x1 ⎤ ⎡ 0 ⎤ ⎡ 0 2 ⎤ ⎡ 2x2 ⎤ ⎡ −4 x1 ⎤
⎡a A ⎤ = ⎡⎢ ⎤⎥ + ⎡⎢
0
= , ⎡a B ⎤ = + =
⎣ ⎦ ⎣0 ⎦ ⎣ 2 0 ⎦⎥ ⎢ 2x1 ⎥ ⎢ −4 x2 ⎥ ⎣ ⎦ ⎣⎢ 0 ⎦⎥ ⎣⎢ −2 0 ⎦⎥ ⎢ −2x1 ⎥ ⎢ −4 x2 ⎥
⎣ ⎦ ⎣ ⎦ ⎣ ⎦ ⎣ ⎦
→ a A = −4 x1e1 − 4 x2e 2 , a B = −4 x1e1 − 4 x2e 2
→ a A + a B = −8 x1e1 − 8 x2e 2 .
On the other hand, v A +v B =0, so that a A+B = 0 . Thus, a A + a B ≠ a A+B
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Ans. (a) Since x1 = X1 and x3 = X 3 , therefore there is no motion of the particles in the
x1 and x3 directions. Every particle moves only up and down in the x2 direction.
When t = 1 / 2 → x2 = X 2 + sin π X1 , t = 1 → x2 = X 2 , t = 3 / 2 → x2 = X 2 − sin π X1
The deformed shapes of the material at three different times are shown in the figure.
y
t=1/2
t=0, t=1
(1,0)
x
t=3/2
3.16 Do the previous problem for the following velocity and temperature fields:
α ( − x2e1 + x1e2 )
v=
x12
+ x22
(
, Θ=k x12 + x22 )
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Ans. With x1 = r cos θ , x2 = r sin θ and x12 + x22 = r 2 , we have
α ( - x2e1 + x1e2 ) α r ( − sin θ e1 + cosθ e2 ) α
v= = = eθ and Θ=kr 2
+ x12 x22 r 2 r
Particles move in concentric circles with their speed inversely proportional to r . Isotherms are
circles.
α
(b) With vr = 0, vθ = , we have, from Eq.(3.4.12).
r
2
∂vr ∂v v ∂v v2 ⎛α ⎞ 1 α2 ∂vθ ∂v v ∂v vv
ar = + vr r + θ r − θ = − ⎜ ⎟ = − 3 , aθ = + vr θ + θ θ + r θ = 0
∂t ∂r r ∂θ r ⎝r⎠ r r ∂t ∂r r ∂θ r
i.e., a = −α 2 / r 3e r . At the point A, r = 2 , therefore, a = − 2α 2 / 4e r
DΘ ∂Θ ⎛α ⎞
= + v ⋅ ∇Θ = 0 + ⎜ eθ ⎟ ⋅ 2kre r = 0 .
Dt ∂t ⎝r ⎠
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(1) ( 2)
⎤ = − (1 + k ) + 1 →
2
⎛π ⎞ dx ⋅ dx 1 ⎛ dS1 ⎞⎛ dS2 ⎞ ⎡
cos ⎜ − γ ⎟ = = ⎜ ⎟⎜ ⎟ − (1 + k ) 2
+ 1
⎝2 ⎠ ds1ds2 ds1ds2 ⎝ 2 ⎠⎝ 2 ⎠ ⎣⎢ ⎦⎥ (1 + k )2 + 1
− (1 + k ) + 1
2
sin γ = .
(1 + k )2 + 1
ds1 ds2 5 3
(c) For k = 1 , = = , sin γ = − .
dS1 dS2 2 5
ds1 ds2 ⎛ 1 ⎞ ⎛ 1 ⎞
For k = 10−2 , = =⎜ ⎟ (1 + k )2 + 1 ≈ ⎜ ⎟ 2 + 2k = 1 + k = 1.01 = 1.005 .
dS1 dS2 ⎝ 2 ⎠ ⎝ 2⎠
− (1 + k ) + 1
2
−2k −k −0.01
sin γ = ≈ = = → γ = −0.0099 radian ( − sign indicates increase in
(1 + k ) 2
+1 2 + 2k 1 + k 1.01
angle).
⎡k 0 0⎤ ⎡ k 0 0⎤
(d) u = x − X = kX1e1 → u1 = kX1 , u2 = u3 = 0 , → [∇u ] = ⎢⎢ 0 0 0 ⎥ → [ E] = ⎢⎢ 0 0 0 ⎥⎥ ,
⎥
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 0 0 ⎥⎦
⎡ k 0 0 ⎤ ⎡1 ⎤ ⎡k ⎤
1 1 1
( e1 + e2 ) → E11 = [1 1 0] ⎢⎢ 0 0 0⎥⎥ ⎢⎢1 ⎥⎥ = [1 1 0] ⎢⎢ 0 ⎥⎥ = ,
' k
′
e1 =
2 2 2 2
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
ds − dS k ds k
′ =
E11 = → = 1 + = 1.005 , same as the result of part (c).
dS 2 dS 2
Also with
⎡ k 0 0 ⎤ ⎡ −1⎤ ⎡−k ⎤
1 1 1
( -e1 + e2 ) → E12′ = [1 1 0] ⎢ 0 0 0⎥ ⎢ 1 ⎥ = [1 1 0] ⎢⎢ 0 ⎥⎥ = − → 2 E12′ = −k
⎢ ⎥ ⎢ ⎥ k
e′2 =
2 2 2 2
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
Thus, the decrease in angle = −k , or the increase in angle is 0.01 ≈ 0.0099 .
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3.18 Consider the motion: x = X + AX , where A is a small constant tensor (i.e., whose
components are small in magnitude and independent of X i ). Show that the infinitesimal strain
tensor is given by E = ( A + A T ) / 2 .
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Ans. u = x − X = AX → ∇u = ∇ ( AX ) . Since A is a constant, therefore,
∇u = ∇ ( AX ) = A ( ∇X ) . Now, [∇X] = ⎡⎣∂X i / ∂X j ⎤⎦ = ⎡⎣δ ij ⎤⎦ = [ I ] → ∇u = A → E = ( A + A T ) / 2
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Ans. (a) u1 = x1 − X1 = kX 3 , u2 = x2 − X 2 = kX 2 , u3 = x3 − X 3 = 0
⎡0 0 k ⎤ ⎡ 0 0 k / 2⎤
⎢ ⎥
→ [ ∇u ] = ⎢ 0 k 0 ⎥ → [ E ] =
[ ∇u ] + [ ∇u ]
T
⎢
=⎢ 0 k 0 ⎥⎥
2
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ k / 2 0 0 ⎥⎦
⎡ 0 0 k / 2 ⎤ ⎡1 ⎤ −5
1 1 ⎢ ⎥ ⎢1 ⎥ = k = 10
(b) Let e1′ = ( 1 2 ) 11 1 1 11 [
e + e → E ′ = e′ ⋅ Ee ′ → E ′ = 1 1 0 ]⎢ 0 k 0 ⎥⎢ ⎥ 2
2 2 2
⎢⎣ k / 2 0 0 ⎥⎦ ⎢⎣0 ⎥⎦
_________________________________________________________________
E22 = 2k = 2 × 10−4 .
Decrease in angle between them is 2 E12 = k = 10−4 radian .
(b) For dX( ) = dX1e1 , dx( ) = dX( ) + ( ∇u ) dX( ) = dX1e1 + 5kdX1e1 = (1 + 5k ) dX1e1 ,
1 1 1 1
For dX( ) = dX e ,
2
2 2
k dX 2
(1 + 2 k) dX 2
dX 2 P’
u2=k
(1 + 5 k) dX1
P dX1
u1= 3k
_________________________________________________________________
( )
1/2
Using binomial theorem, 1 + 2k / 3 + k 2 / 3 = 1 + (1 / 2)(2k / 3) + ... ≈ 1 + k / 3
Thus, OA '− OA = 3(1 + k / 3) − 3 = 3k / 3 → (OA '− OA) / OA = k / 3 , same as that obtained in
part (a).
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3.22 With reference to a rectangular Cartesian coordinate system, the state of strain at a point is
⎡5 3 0 ⎤
given by the matrix [ E ] = ⎢⎢ 3 4 −1⎥⎥ × 10−4 . (a) What is the unit elongation in the direction of
⎢⎣ 0 −1 2 ⎥⎦
2e1 + 2e 2 + e3 ? (b) What is the change in angle between two perpendicular lines (in the
undeformed state) emanating from the point and in the directions of 2e1 + 2e2 + e3 and 3e1 − 6e3 ?
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Ans. Let e1′ = (2e1 + 2e2 + e3 ) / 3 , the unit elongation in this direction is:
⎡5 3 0 ⎤ ⎡ 2⎤
1 58
′ = e1′ ⋅ Ee1′ = [ 2 2 1] ⎢ 3 4 −1⎥ ⎢ 2 ⎥ × 10−4 = × 10−4 .
E11
9 ⎢ ⎥ ⎢ ⎥ 9
⎢⎣ 0 −1 2 ⎥⎦ ⎢⎣ 1 ⎥⎦
1
Let e′2 = ( 3e1 − 6e3 ) , then the decrease in angle between the two elements is:
45
⎡5 3 0 ⎤ ⎡ 3 ⎤
2 32
′ = 2e1′ ⋅ Ee′2 =
2 E12 [ 2 2 1] ⎢⎢3 4 −1⎥⎥ ⎢⎢ 0 ⎥⎥ × 10−4 = × 10−4 rad .
3 45 45
⎢⎣0 −1 2 ⎥⎦ ⎢⎣ −6 ⎥⎦
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3.23 For the strain tensor given in the previous problem, (a) find the unit elongation in the
direction of 3e1 − 4e2 and (b) find the change in angle between two elements in the dir. of
3e1 − 4e3 and 4e1 + 3e3 .
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1
Ans. (a) Let e1′ = ( 3e1 − 4e2 ) , the unit elongation in this direction is:
5
2 ⎡5 3 0 ⎤ ⎡ 3 ⎤
⎛1⎞ 37
′ = e1′ ⋅ Ee1′ = ⎜ ⎟ [3 −4 0] ⎢ 3 4 −1⎥ ⎢ −4 ⎥ × 10−4 =
E11 × 10−4 = 1.48 × 10−4
5
⎝ ⎠ ⎢ ⎥ ⎢ ⎥ 25
⎢⎣ 0 −1 2 ⎥⎦ ⎢⎣ 0 ⎥⎦
1 1
(b) Let e1'' = ( 3e1 − 4e3 ) and e''2 = ( 4e1 + 3e3 ) , then the decrease in angle between these two
5 5
elements is:
2 ⎡5 3 0 ⎤ ⎡ 4⎤
⎛ 1 ⎞ 72
= 2e1'' ⋅ Ee''2 = 2 ⎜ ⎟ [3 0 −4] ⎢⎢ 3 4 −1⎥⎥ ⎢⎢ 0 ⎥⎥ × 10−4 = × 10−4 = 2.88 × 10−4 rad .
'''
2 E12
⎝5⎠ 25
⎢⎣ 0 −1 2 ⎥⎦ ⎢⎣ 3 ⎥⎦
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3.24 (a) Determine the principal scalar invariants for the strain tensor given below at the left and
(b) show that the matrix given below at the right can not represent the same state of strain.
⎡5 3 0 ⎤ ⎡3 0 0⎤
[E] = ⎢3 4 −1⎥ × 10 , ⎢0 6 0 ⎥⎥ × 10−4
⎢ ⎥ −4 ⎢
⎢⎣ 0 −1 2 ⎥⎦ ⎢⎣ 0 0 2 ⎥⎦
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Ans. (a) I1 = ( 5 + 4 + 2 ) × 10−4 = 11 × 10−4 ,
5 3 4 −1 5 0
I2 = × 10−8 + × 10−8 + × 10−8 = 28 × 10−8
3 4 −1 2 0 2
5 3 0
I 3 = 3 4 −1 × 10−12 = 17 × 10−12
0 −1 2
⎡3 0 0⎤
(b) For ⎢⎢ 0 6 0 ⎥⎥ × 10−4 , I 3 = 36 × 10−12 , which is different from the I 3 in (a), therefore, the
⎢⎣ 0 0 2 ⎥⎦
two matrices can not represent the same tensor.
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3.25 Calculate the principal scalar invariants for the following two tensors. What can you say
about the results?
⎡0 τ 0⎤ ⎡ 0 −τ 0 ⎤
⎡ T(1) ⎤ = ⎢τ 0 0 ⎥ and ⎡ T( 2 ) ⎤ = ⎢ −τ 0 0 ⎥ .
⎢⎣ ⎥⎦ ⎢ ⎥ ⎢⎣ ⎥⎦ ⎢ ⎥
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 0 0 ⎥⎦
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⎡0 τ 0 ⎤
Ans. For ⎢ T ⎥ = ⎢τ 0 0 ⎥⎥ , I1 = 0, I 2 = −τ 2 , I 3 = 0 .
⎡ (1) ⎤ ⎢
⎣ ⎦
⎢⎣0 0 0 ⎥⎦
{ei }
⎡0 −τ 0⎤
2) ⎤ ⎢
⎡ (
For ⎢ T ⎥ = ⎢ −τ 0 0 ⎥⎥ I1 = 0, I 2 = −τ 2 , I 3 = 0
⎣ ⎦
⎢⎣ 0 0 0 ⎥⎦
{ei }
We see that these two tensors have the same principal scalar invariants. This result demonstrates
that two different tensors can have the same three principal scalar invariants and therefore the
same eigenvalues (in fact, λ1 = τ , λ2 = −τ , λ3 = 0 ). However, corresponding to the same
eigenvalue τ , the eigenvector for T( ) is (e + e ) / 2 , whereas the eigenvector for T( ) is
1 2
1 2
(e1 − e 2 ) / 2 . We see from this example that having the same principal scalar invariants is a
necessary but not sufficient condition for the two tensors to be the same.
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( )
3.26 For the displacement field: u1 = kX12 , u2 = kX 2 X 3 , u3 = k 2 X1 X 3 + X12 , k = 10−6 , find
the maximum unit elongation for an element that is initially at (1,0,0 ) .
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⎡ 2kX1 0 0 ⎤
⎢ ⎥
Ans. [∇u ] = ⎢ 0 kX 3 kX 2 ⎥ , thus, for ( X1 , X 2 , X 3 ) = (1,0,0 ) ,
⎢ k ( 2 X 3 + 2 X1 ) 0 2kX1 ⎥
⎣ ⎦
⎡ 2 k 0 0 ⎤ ⎡ 2 k 0 k ⎤
[∇u ] = ⎢ 0 0 0 ⎥ → [E] = ⎢ 0 0 0 ⎥⎥ , the characteristic equation for this tensor is:
⎢ ⎥ ⎢
⎢⎣ 2k 0 2k ⎥⎦ ⎢⎣ k 0 2k ⎥⎦
2k − λ 0 k
0 = 0 → ( −λ ) ⎡⎢( 2k − λ ) − k 2 ⎤⎥ = 0 → λ1 = 0, λ2 = 3k , λ3 = k .
2
0 0−λ
⎣ ⎦
k 0 2k − λ
3.29 For any motion, the mass of a particle (material volume) remains a constant (conservation of
mass principle). Consider the mass to be the product of its volume and its mass density and show
that (a) for infinitesimal deformation ρ (1 + Ekk ) = ρo where ρo denote the initial density and ρ ,
the current density. (b) Use the smallness of Ekk to show that the current density is given by
ρ = ρo (1 − Ekk ) .
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ρ dV dV + ΔdV ⎛ ΔdV ⎞
Ans. (a) ρo dVo = ρ dV → ρ o = =ρ o = ρ ⎜1 + ⎟,
dVo dVo ⎝ dVo ⎠
ΔdV
For small deformation, = Ekk → ρo = ρ (1 + Ekk ) .
dVo
−1
(b) From bionomial theorem, for small Ekk , (1+Ekk ) ≈ 1 − Ekk , thus,
−1
ρ = ρo (1 + Ekk ) = ρo (1 − Ekk ) .
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3.30 True or false: At any point in a body, there always exist two mutually perpendicular material
elements which do not suffer any change of angle in an arbitrary small deformation of the body.
Give reason(s).
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Ans. True. The strain tensor E is a real symmetric tensor, for which there always exists three
principal directions, with respect to which, the matrix of E is diagonal. That is, the non-diagonal
elements, which give one-half of the change of angle between the elements which were along the
principal directions, are zero.
_________________________________________________________________
( )
→ ( 3k − λ ) −2λ k + λ 2 = 0 → λ1 = 3k , λ2 = 0, λ3 = 2k .
Thus, the minimum unit elongation is 0 . Therefore, there does not exist any element at the point
which has a negative unit elongation (i.e., decreases in length).
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3.32 The unit elongation at a certain point on the surface of a body are measured experimentally
by means of strain gages that are arranged 45o apart (called the 45o strain rosette) in the direction
1
of e1 , ( e1 + e2 ) and e2 . If these unit elongation are designated by a, b, c respectively, what are
2
the strain components E11 , E22 and E12 ?
Copyright 2010, Elsevier Inc
3-15
Lai et al, Introduction to Continuum Mechanics
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Ans.
1
With e1′ = ( e1 + e2 ) , we have,
2
⎡ E11 E12 E13 ⎤ ⎡1 ⎤
1 1
′ = e1′ ⋅ Ee1′ = [1 1 0] ⎢ E21 E22 E23 ⎥ ⎢1 ⎥ = ( E11 + E12 + E21 + E22 ) , with E12 = E21 ,
E11
2 ⎢ ⎥ ⎢ ⎥ 2
⎢⎣ E31 E32 E33 ⎥⎦ ⎢⎣ 0 ⎥⎦
1
′ = ( E11 + 2 E12 + E22 ) → E12 = E11
( E + E22 )
′ − 11
E11 . Thus, the strain components are:
2 2
(a + c)
E11 = a, E22 = c, E12 = b − .
2
_________________________________________________________________
3.33 (a) Do the previous problem, if the measured strains are 200 × 10−6 , 50 × 10−6 and
100 × 10−6 in the direction e1 , e1′ and e 2 respectively. (b) Find the principal directions, assuming
E31 = E32 = E33 = 0 . (c) How will the result of part b be altered if E33 ≠ 0 .
-----------------------------------------------------------------------------------------
Ans. (a) With E11 = 200 × 10−6 , E11 ′ = 50 × 10−6 and E22 = 100 × 10−6 , we have, from the results
E11 + E22 ⎛ 200 + 100 ⎞ −6 −6
′ −
of the previous problem, E12 = E11 = ⎜ 50 − ⎟ × 10 = −100 × 10
2 ⎝ 2 ⎠
E11 − λ E12 0
(b) E12 E22 − λ 0 = 0 → λ ⎡ ( E11 − λ )( E22 − λ ) − E12
2 ⎤
=0
⎣ ⎦
0 0 −λ
⎣ (
→ λ ⎡ + λ 2 − λ ( E11 + E22 ) + E11E22 − E12
2 ⎤
⎦
=0, )
( E11 + E22 ) ± ( E11 − E22 )2 + 4 E122
λ1,2 = , λ3 = 0 ,
2
thus,
⎡
⎢ ( 200 + 100 ) ± ( 200 − 100 )2 + 4 ( −100 )2 ⎤⎥ −6 261.8 × 10−6
λ1,2 = × 10 = , λ3 = 0
⎢ 2 ⎥ 38.2 × 10−6
⎣⎢ ⎦⎥
The principal direction for λ3 is e3 . The principal directions corresponding to the other two
eigenvalues lie on the plane of e1 and e2 . Let
n = α1e1 + α 2e 2 ≡ cosθ e1 + sin θ e 2 , then ( E11 − λ )α1 + E12α 2 = 0 ,
α2 ( λ − E11 )
→ = tan θ = ,
α1 E12
λ1 − E11 261.8 − 200 61.8
For λ1 = 261.8 × 10−6 , tanθ = = = = −0.618 → θ = −31.7o ,
E12 −100 −100
Or, n = 0.851e1 − 0.525e 2
λ2 − E11 38.2 − 200
For λ2 = 38.2 × 10−6 , tanθ = = = 1.618 → θ = 58.3o
E12 −100
Or, n = 0.525e1 + 0.851e 2 .
(c) If E33 ≠ 0 , then the principal strain corresponding to the direction e3 is E33 instead of zero.
Nothing else changes.
_________________________________________________________________
3.35 The unit elongation at a certain point on the surface of a body are measured experimentally
by means of strain gages that are arranged 60o apart (called the 60o strain rosette) in the direction
1
(
of e1 , e1 + 3e 2 and
2
) 1
2
( )
−e1 + 3e2 . If these unit elongation are designated by a, b, c
respectively, what are the strain components E11 , E22 and E12 ?
-----------------------------------------------------------------------------------------
Ans.
1 1 E ' − E11
''
b−c
(i) & (ii), → E22 = ⎡ 2 E11' + 2 E11
'''
− E11 ⎤ = [ 2b + 2c − a ] , E12 = 11 = , E11 = a .
3 ⎣ ⎦ 3 3 3
_________________________________________________________________
3.36 If the 60o strain rosette measurements give a = 2 × 10−6 , b = 1 × 10−6 , c = 1.5 × 10−6 , obtain
E11 , E12 and E22 . Use the formulas obtained in the previous problem.
-----------------------------------------------------------------------------------------
Ans. Using the formulas drived in the previous problem, we have,
1 1
E22 = [ 2b + 2c − a ] = ⎡⎣( 2 )(1) + ( 2 )(1.5 ) − 2 ⎤⎦ × 10−6 = 1 × 10−6 ,
3 3
b−c 1
E12 = =− × 10−6 , E11 = 2 × 10−6 .
3 2 3
_________________________________________________________________
3.37 Repeat the previous problem for the case a = b= c = 2000 × 10−6 .
-----------------------------------------------------------------------------------------
1 1
Ans. E22 = [ 2b + 2c − a ] = ⎡⎣( 2 )( 2000 ) + ( 2 )( 2000 ) − 2000 ⎤⎦ × 10−6 = 2 × 10−3 ,
3 3
b−c
E12 = = 0 , E11 = 2 × 10−3
3
_______________________________________________________________________
3.38 For the velocity field: v = kx22e1 , (a) find the rate of deformation and spin tensors. (b) Find
the rate of extension of a material element dx = dsn where n = ( e1 + e2 ) / 2 at x = 5e1 + 3e 2 .
-----------------------------------------------------------------------------------------
Ans. v1 = kx22 , v2 = v3 = 0 ,
⎡ 0 2kx2 0⎤ ⎡ 0 kx2 0⎤ ⎡ 0 kx2 0⎤
→ [∇v ] = ⎢⎢ 0 0 ⎥ → [ D] = [∇v ] = ⎢⎢ kx2
⎥ 0 ⎥⎥ , [ W ] = [∇v ] = ⎢⎢ − kx2 0 ⎥⎥
S A
0 0 0
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 0 0 ⎥⎦
(b) At the position x = 5e1 + 3e 2 ,
⎡ 0 3k 0⎤ ⎡ 0 3k 0⎤
[ D] = ⎢⎢3k 0 0 ⎥⎥ , [ W ] = ⎢⎢ −3k 0 0 ⎥⎥
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 0 0 ⎥⎦
For the element dx = dsn with n = (e1 + e2 ) / 2 , the rate of extension is:
⎡ 0 3k 0 ⎤ ⎡1 ⎤
1
D( n )( n ) = n ⋅ Dn = [1 1 0] ⎢⎢3k 0 0 ⎥⎥ ⎢⎢1 ⎥⎥ = 3k .
2
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
_________________________________________________________________
⎛ t+k ⎞
3.39 For the velocity field: v = α ⎜ ⎟ e1 , find the rates of extension for the following material
⎝ 1 + x1 ⎠
1
1 1
2
( 2 )( 1
elements: dx( ) = ds e and dx( ) = ds / 2 e + e at the origin at time t = 1 .
2 )
-----------------------------------------------------------------------------------------
⎡ −α ( t + k ) / (1 + x )2 0 0 ⎤
1
⎛ t+k ⎞ ⎢ ⎥
Ans. v1 = α ⎜ ⎟ , v2 = v3 = 0 → [∇v ] = ⎢ 0 0 0 ⎥ = [ D] .
⎝ 1 + x1 ⎠ ⎢ 0 0 0 ⎥⎥
⎣⎢ ⎦
⎡ −α (1 + k ) 0 0 ⎤
⎢ ⎥
At t = 1 and at ( x1 , x2 , x3 ) = ( 0,0,0 ) , [ D] = ⎢ 0 0 0⎥ .
⎢ 0 0 0 ⎥⎦
⎣
(
Rate of extension for dx( ) = ds1e1 is D11 = −α (1 + k ) ; for dx( ) = ds2 / 2 ( e1 + e 2 ) , it is:
1 2
)
⎡ −α (1 + k ) 0 0 ⎤ ⎡1 ⎤
1 ⎢ ⎥ 1
= [1 1 0] ⎢
D11' 0 0 0 ⎥ ⎢⎢1 ⎥⎥ = − α (1 + k )
2 2
⎢ 0 0 0 ⎥⎦ ⎢⎣0 ⎥⎦
⎣
_________________________________________________________________
3.40 For the velocity field v = ( cos t )( sin π x1 ) e 2 (a) find the rate of deformation and spin tensors,
and (b) find the rate of extension at t = 0 for the following elements at the origin:
1 1
2
2 2
3
(
dx( ) = ds e , dx( ) = ds e and dx( ) = ds / 2 e + e .
1
3 )( 1 2 )
-----------------------------------------------------------------------------------------
Ans. (a) With v1 = 0, v2 = ( cos t )( sin π x1 ) , v3 = 0 ,
⎡ 0 0 0⎤ ⎡ 0 (π cos t cos π x1 ) / 2 0⎤
⎢ ⎥ ⎢ ⎥
[∇v ] = ⎢π cos t cos π x1 0 0⎥ → [ D] = ⎢(π cos t cos π x1 ) / 2 0 0⎥ ,
⎢⎣ 0 0 0 ⎥⎦ ⎢ 0 0 0 ⎥⎦
⎣
⎡ 0 − (π cos t cos π x1 ) / 2 0⎤
⎢ ⎥
[ W ] = ⎢(π cos t cos π x1 ) / 2 0 0⎥ .
⎢ 0 0 0 ⎥⎦
⎣
⎡ 0 π / 2 0⎤
(b) At t = 0 and ( x1 , x2 , x3 ) = ( 0,0,0 ) , [ D] = ⎢⎢π / 2 0 0 ⎥⎥ .
⎢⎣ 0 0 0 ⎥⎦
For dx( ) = ds1e1 , rate of extension is D11 =0, for dx( ) = ds2e 2 , D22 = 0 and
1 2
⎡ 0 π / 2 0 ⎤ ⎡1 ⎤
π
( 3)
( ) 1 ⎢
for dx = ds3 / 2 ( e1 + e 2 ) , D11 = [1 1 0] ⎢π / 2
'
2
0 0 ⎥⎥ ⎢⎢1 ⎥⎥ =
2
⎢⎣ 0 0 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
_________________________________________________________________
3.41 Show that the following velocity components correspond to a rigid body motion.
v1 = x2 − x3 , v2 = − x1 + x3 , v3 = x1 − x2
----------------------------------------------------------------------------------------
⎡ 0 1 −1⎤ ⎡0 0 0 ⎤
Ans. [∇v ] = ⎢ −1 0 1 ⎥ → [ D] = ⎢⎢ 0 0 0 ⎥⎥
⎢ ⎥
⎢⎣ 1 −1 0 ⎥⎦ ⎢⎣0 0 0 ⎥⎦
Therefore, the velocity field is a rigid body motion..
_________________________________________________________________
1
3.42 Given the velocity field v = e r , (a) find the rate of deformation tensor and the spin tensor
r
and (b) find the rate of extension of a radial material line element.
-----------------------------------------------------------------------------------------
1
Ans. With vr = , vθ = vz = 0 , we have, using Eq. (2.34.5)
r
⎡ ∂vr 1 ⎛ ∂vr ⎞ ∂vr ⎤ ⎡ 1 ⎤
⎢ ⎜ − vθ ⎟ ⎥ ⎢− 2 0 0⎥
⎢ ∂r r ⎝ ∂θ ⎠ ∂z ⎥ ⎢ r ⎥
⎢ ∂vθ 1 ⎛ ∂vθ ⎞ ∂vθ ⎥ ⎢ 1 ⎥= D , W = 0 .
[ ] ⎢
∇ v = ⎜ + vr⎟ =
⎥ ⎢ 0 0 ⎥ [ ] [ ] [ ]
⎢ ∂r r ⎝ ∂θ ⎠ ∂z ⎥ ⎢ 2
r
⎥
⎢ ∂v 1 ∂vz ∂vz ⎥ ⎢ 0 0 0⎥
⎢ z ⎥ ⎢ ⎥⎦
⎢⎣ ∂r r ∂θ ∂z ⎥⎦ ⎣
1
(b) The rate of extension for a radial element is Drr = −
.
r2
_________________________________________________________________
∂t ∂r r ⎝ ∂θ ⎠ r r⎝ r⎠
∂v ∂v v ⎛ ∂v ⎞
aθ = θ + vr θ + θ ⎜ θ + vr ⎟ = 0 . At r = 2 , ar = −(6) 2 / 2 = −18 , aθ = 0 .
∂t ∂r r ⎝ ∂θ ⎠
⎡ ∂vr 1 ⎛ ∂vr ⎞⎤ ⎡ vθ ⎤ ⎡ ⎛ 4 ⎞⎤
⎢ − vθ ⎟⎥ − 0 − ⎜ 2 + 2 ⎟⎥
r ⎝⎜ ∂θ ⎢
0
∂r ⎠⎥ ⎢ ⎥ ⎝ r ⎠⎥
(b) Eq. (2.34.5) → [∇v ] = ⎢ ⎥=⎢
r
=⎢ .
⎢ ∂vθ 1 ⎛ ∂vθ ⎞ ⎥ ⎢ ∂vθ ⎥ ⎢⎛ 4 ⎞ ⎥
+ vr ⎟ ⎥ ⎢ ⎥⎦ ⎢⎜⎝ 2 − r 2 ⎟⎠
⎢ 0 0 ⎥
⎣ ∂r r ⎜⎝ ∂θ ⎠ ⎦ ⎣ ∂r ⎣ ⎦
⎡
−4 / r 2 ⎤
0 ⎡ 0 −1⎤
[ D] = [∇v ]S = ⎢ ⎥ , at r = 2 , [ D] = ⎢ ⎥.
⎢⎣ −4 / r 2 0 ⎥⎦ ⎣ −1 0 ⎦
_________________________________________________________________
3.45 A motion is said to be irrotational if the spin tensor vanishes. Show that the following
velocity field is irrotational:
−x e + x e
v = 2 2 2 1 2 , r 2 = x12 + x22
r
-----------------------------------------------------------------------------------------
⎡ ∂v1 ∂v1 ⎤ ⎡ 2 x2 ∂r 1 2 x2 ∂r ⎤
⎢ ∂x − +
x2 x1 2 ∂x2 ⎥ ⎢ r 3 ∂x1 r2 ⎥
r 3 ∂x2 ⎥
Ans. v1 = − 2 , v2 = 2 , r = x1 + x2 , → [∇v ] = ⎢ ⎥=⎢
2 2 1
,
r r ⎢ ∂v2 ∂v2 ⎥ ⎢ 1 2 x1 ∂r 2 x ∂r ⎥
⎢ ⎥ ⎢ − − 31 ⎥
⎣ ∂x1 ∂x2 ⎦ ⎣ r 2 r 3 ∂x1 r ∂x2 ⎦
∂r ∂r x1 ∂r x
r 2 = x12 + x22 → 2r = 2 x1 → = , also, = 2,
∂x1 ∂x1 r ∂x2 r
⎡ 2 x1 x2 x22 − x12 ⎤
⎢ 4 ⎥
r4 ⎥
[∇v ] = ⎢⎢ 2 r 2 ⎥
= [∇v ] → [ W ] = 0.
S
x −x 2x x
⎢ 2 4 1 − 14 2 ⎥
⎣ r r ⎦
_________________________________________________________________
3.46 Let dx( ) = ds1n and dx( ) = ds2m be two material elements that emanate from a particle
1 2
P which at present has a rate of deformation D . (a) Consdier D / Dt (dx( ) ⋅ dx( ) ) to show that
( )
1 2
⎡ 1 D ( ds1 ) 1 D ( ds2 ) ⎤ Dθ
⎢ + ⎥ cosθ − sin θ = 2m ⋅ Dn
⎣ ds1 Dt ds2 Dt ⎦ Dt
where θ is the angle between m and n .
(b) Consider the case of dx( ) = dx( ) , what does the above formula reduce to?
1 2
π
, i.e., dx( ) and dx( ) are perpendicular to each other, where
1 2
(c) Consider the case where θ =
2
does the above formula reduces to?
-----------------------------------------------------------------------------------------
Ans.
⎛ (1) Ddx( 2 ) ⎞
D
Dt
(
(1)
dx ⋅ dx ( 2)
=⎜)⎛ D (1) ⎞
⎝ Dt
( 2)
dx ⎟ ⋅ dx + ⎜ dx ⋅
⎠ ⎜
⎝
Dt ⎟
⎟ = ( ∇v ) dx(1) ⋅ dx( 2 ) + dx(1) ⋅ ( ∇v ) dx( 2 )
⎠
1 T
) 2 1
( ) 2 1
{( T
) ( )}
= dx( ) ⋅ ∇v dx( ) + dx( ) ⋅ ∇v dx( ) = dx( ) ⋅ ∇v + ∇v dx( ) = 2dx( ) ⋅ Ddx( ) .
( 2 1 2
With dx( ) = ds1n and dx( ) = ds2m , the above formula give,
1 2
D D
( ds1ds2n ⋅ m ) = 2ds1ds2 ( n ⋅ Dm ) → ( ds1ds2 cosθ ) = 2ds1ds2 ( n ⋅ Dm ) . Thus,
Dt Dt
Dds1 Dds2 D cos θ
( ds2 cosθ ) + ( ds1 cosθ ) + ( ds1ds2 ) = 2ds1ds2 ( n ⋅ Dm ) ,
Dt Dt Dt
⎧⎪ 1 D ( ds1 ) 1 D ( ds2 ) ⎫⎪ Dθ
→⎨ + ⎬ cos θ − sin θ = 2 ( n ⋅ Dm ) = 2 ( m ⋅ Dn ) .
⎩⎪ 1
ds Dt ds2 Dt ⎭⎪ Dt
⎧⎪ 1 D ( ds ) ⎫⎪
(b) For, dx( ) = dx( ) = dsn the above formula → ⎨ ⎬ = ( n ⋅ Dn ) = D( n )( n ) , no sum on n .
1 2
⎩⎪ ds Dt ⎭⎪
(c) For dx( ) perpendicular to dx( ) , θ = 90o , we have,
1 2
Dθ
− = 2 ( n ⋅ Dm ) = 2 Dnm .
Dt
_________________________________________________________________
3.47 Let e1 , e2 ,e3 and D1 , D2 , D3 be the principal directions and corresponding principal values of
a rate of deformation tensor D . Further, let dx( ) = ds e , dx( ) = ds e and dx( ) = ds e be
1 2 3
1 1 2 2 3 3
1 2 3
{
three material elements. Consider the material derivative ( D / Dt ) dx( ) ⋅ dx( ) × dx( ) and show }
1 D ( dV )
that = D1 + D2 + D3 , where dV = ds1ds2 ds3 .
dV Dt
-----------------------------------------------------------------------------------------
Ans. Since the principal directions are (or can always be chosen to be) mutually perpendicular,
therefore, dx( ) ⋅ dx( ) × dx( ) = ds ds ds = dV .
1 2 3
1 2 3
D ( dV ) D ( ds1ds2 ds3 ) D ( ds1 ) D ( ds2 ) D ( ds3 )
→ = = ds2 ds3 + ds1ds3 , + ds1ds2
Dt Dt Dt Dt Dt
1 D ( dV ) 1 D ( ds1 )
1 D ( ds2 ) 1 D ( ds3 )
→ = + + = D11 + D22 + D33 .
dV Dt ds1 Dt ds2 Dt ds3 Dt
_________________________________________________________________
incompressible fluid, determine the value of k , such that the equation of mass conservation is
satisfied.
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Copyright 2010, Elsevier Inc
3-23
Lai et al, Introduction to Continuum Mechanics
3.52 Are the following two velocity fields isochoric (i.e., no change of volume)?
xe +x e −x e + x e
(i) v = 1 1 2 2 2 , r 2 = x12 + x22 and (ii) v = 2 1 2 1 2 , r 2 = x12 + x22
r r
-----------------------------------------------------------------------------------------
Ans. (i) With v1 = x1 / r 2 , v2 = x2 / r 2 , r 2 = x12 + x22 ,
∂v1 1 2 x1 ∂r 1 2 x2 ⎛ 2 2 2 ∂r ∂r ⎞
= 2− 3 = 2 − 41 . ⎜ r = x1 + x2 → 2r = 2 x1 , 2r = 2 x2 ⎟ .
∂x1 r r ∂x1 r r ⎝ ∂x1 ∂x2 ⎠
∂v2 1 2 x2 ∂r 1 2 x2 ∂v1 ∂v2 2 2 x2 2 x2 2 2
= 2− 3 = 2 − 42 , + = 2 − 41 − 42 = 2 − 2 = 0.
∂x2 r r ∂x2 r r ∂x1 ∂x2 r r r r r
∂v1 2 x2 ∂r 2 x2 x1⎛ 2 2 2 ∂r ⎞
= 3 = 4 ⎜ r = x1 + x2 → 2r = 2 x1 ⎟
∂x1 r ∂x1 r ⎝ ∂x1 ⎠
∂v2 2 x1 ∂r 2 x1 x2 ∂v1 ∂v2 2 x2 x1 2 x1 x2
=− 3 =− 4 , + = 4 − 4 = 0.
∂x2 r ∂x2 r ∂x1 ∂x2 r r
_________________________________________________________________
3.53 Given that an incompressible and inhomogeneous fluid has a density field given by ρ = kx2 .
From the consideration of the principle of conservation of mass, find the permissible form of
velocity field for a two dimensional flow ( v3 = 0 ) .
-----------------------------------------------------------------------------------------
Ans. Since the fluid is incompressible, therefore,
Dρ ∂ρ ∂ρ ∂ρ
=0→ + v1 + v2 = 0 → 0 + v1 ( 0 ) + v2 k = 0 → v2 = 0.
Dt ∂t ∂x1 ∂x2
The conservation of mass equation of an incompressible fluid in two dimensional flow is
∂v1 ∂v2 ∂v
+ = 0 → 1 = 0 → v1 = f ( x2 ) , v2 = 0.
∂x1 ∂x2 ∂x1
_________________________________________________________________
α x1
3.54 Consider the velocity field: v = e1 . From the consideration of the principle of
1 + kt
conservation of mass, (a) Find the density if it depends only on time t , i.e., ρ = ρ (t ) , with
ρ ( 0 ) = ρo . (b) Find the density if it depends only on x1 , i.e., ρ = ρˆ ( x1 ) , with ρˆ ( xo ) = ρ * .
-----------------------------------------------------------------------------------------
Ans.(a) Equation of conservation of mass is
∂ρ ∂ρ ∂ρ ∂ρ ⎛ ∂v ∂v ∂v ⎞ α x1
+ v1 + v2 + v3 + ρ ⎜ 1 + 2 + 3 ⎟ = 0 . With v1 = , v2 = v3 = 0 ,
∂t ∂x1 ∂x2 ∂x3 ⎝ ∂x1 ∂x2 ∂x3 ⎠ 1 + kt
ρ
dρ α dρ ρ α ρ
t
dt −α / k
→ +ρ =0→ ∫ = −α ∫ → ln = − ln (1 + kt ) → = (1 + kt ) .
dt 1 + kt ρ
ρ 0
1 + kt ρo k ρo
o
α x1
(b) with ρ = ρ ( x1 ) and v1 = , v2 = v3 = 0
1 + kt
∂ρ ∂ρ ∂ρ ∂ρ ⎛ ∂v ∂v ∂v ⎞ α x1 d ρ α
+ v1 + v2 + v3 + ρ⎜ 1 + 2 + 3 ⎟ =0→ +ρ =0
∂t ∂x1 ∂x2 ∂x3 ⎝ ∂x1 ∂x2 ∂x3 ⎠ 1 + kt dx1 1 + kt
ρ x
dρ dρ 1
dx ρ x x
→ x1 + ρ = 0, → ∫ = − ∫ 1 → ln = − ln 1 → ρ = ρ * o
dx1 ρ*
ρ x
x1 ρ* xo x1
o
3.55 Given the velocity field: v = α ( x1te1 + x2te 2 ) . From the consideration of the principle of
conservation of mass, determine how the fluid density varies with time, if in a spatial description,
it is a function of time only.
-----------------------------------------------------------------------------------------
Copyright 2010, Elsevier Inc
3-25
Lai et al, Introduction to Continuum Mechanics
_________________________________________________________________
1 ⎛ ∂ 2ui ∂ 2 uk ∂ 2 uk ∂ 2 um ⎞
⎜⎜ + − − ⎟=
2 ⎝ ∂X m ∂X k ∂X m ∂X i ∂X m ∂X i ∂X i ∂X k ⎟⎠
3.57 Check whether or not the following distribution of the state of strain satisfies the
compatibility conditions:
⎡ X1 + X 2 , X1 X2 ⎤
⎢ X 3 ⎥⎥ , k = 10−4
[ E] = k ⎢ X1 X2 + X3
⎢⎣ X 2 X3 X1 + X 3 ⎥⎦
-----------------------------------------------------------------------------------------
Ans. Yes. We note that the given Eij are linear in X1 , X 2 and X 3 and the terms in the
compatibility conditions all involve second derivatives with respect to X i , therefore these
conditions are obviously satisfied by the given strain components.
_________________________________________________________________
3.58 Check whether or not the following distribution of the state of strain satisfies the
compatibility conditions:
⎡ X12 X 22 + X 32 X1 X 3 ⎤
⎢ ⎥
[E] = k ⎢ X 22 + X 32 0 X1 ⎥ , k = 10−4
⎢ ⎥
⎢⎣ X1 X 3 X1 X 22 ⎥
⎦
-----------------------------------------------------------------------------------------
Ans.
3.60 Given the strain field: E12 = E21 = kX1 X 2 , k = 10−4 and all other Eij = 0 .
(a) Check the equations of compatibility for this strain field and (b) by attempting to integrate the
strain field, show that there does not exist a continuous displacement field for this strain field.
-----------------------------------------------------------------------------------------
∂ 2 E11 ∂ 2 E22 ∂ 2 E12
Ans. (a) + = 2 → 0 + 0 ≠ 2k . This compatibility condition is not satisfied.
∂X 22 ∂X12 ∂X1 X 2
∂u1 ∂u
(b) E11 = 0 → = 0 → u1 = u1 ( X 2 , X 3 ) . Also, E22 = 0 → 2 = 0 → u2 = u2 ( X1 , X 3 ) .
∂X1 ∂X 2
∂u1 ∂u2 ∂u ( X , X ) ∂u ( X , X )
Now, 2 E12 = + → 2kX1 X 2 = 1 2 3 + 2 1 3 = f ( X 2 , X 3 ) + g ( X1 , X 3 ) ,
∂X 2 ∂X1 ∂X 2 ∂X1
That is,
2kX1 X 2 = f ( X 2 , X 3 ) + g ( X1 , X 3 ) . Clearly, there is no way this equation can be satisfied,
because the right side can not have terms of the form of X1 X 2 .
_________________________________________________________________
∂2 f ( X 2 , X 3 ) ∂2 f ( X 2 , X 3 ) ∂2 f ( X 2 , X 3 )
= 0, = 0, = 0 . → f ( X 2 , X 3 ) is a linear function of
∂X 22 ∂X 32 ∂X 2 ∂X 3
X 2 and X 3 . We note also
∂ 2 E22 ∂ 2 E33 ν ⎛ ∂2 f ∂2 f ⎞ ∂ 2 E23
+ =− ⎜⎜ + ⎟ = 0 = 2 ,
∂X 32 ∂X 22 α ⎝ ∂X 32 ∂X 22 ⎠⎟ ∂X1 X 3
∂ 2 E22 ν ∂2 f ∂ ⎛ ∂E31 ∂E12 ∂E23 ⎞
=− =0= ⎜− + + ⎟,
∂X 3∂X1 α ∂X 3∂X1 ∂X 2 ⎝ ∂X 2 ∂X 3 ∂X1 ⎠
∂ 2 E33 ν ∂2 f ∂ ⎛ ∂E12 ∂E23 ∂E31 ⎞
=− =0= ⎜− + + ⎟.
∂X1∂X 2 α ∂X1∂X 2 ∂X 3 ⎝ ∂X 3 ∂X1 ∂X 2 ⎠
Thus, if f ( X 2 , X 3 ) is a linear function of X 2 and X 3 , then all compatibility equations are
satisfied.
_________________________________________________________________
3.62 In cylindrical coordinates ( r ,θ , z ) , consider a differential volume bounded by the three pairs
of faces: r = r and r = r + dr; θ =θ and θ =θ + dθ ; z = z and z = z + dz. The rate at which mass is
flowing into the volume across the face r = r is given by ρ vr ( rdθ )( dz ) and similar expressions
for the other faces. By demanding that the net rate of inflow of mass must be equal to the rate of
increase of mass inside the differential volume, obtain the equation of conservation of mass in
cylindrical coordinates. Check your answer with Eq. (3.15.7 ).
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Ans. Mass flux across the face r = r into the differential volume dV is ( ρ vr )( rdθ ) dz . That
across the face r = r + dr out of the volume is ( ρ vr )r = r + dr ( r + dr ) dθ dz . Thus ,
the net mass flux into dV through the pair of faces r = r and r = r + dr is
( ρ vr )r =r ( rdθ ) dz − ( ρ vr )r =r + dr ( r + dr ) dθ dz = ⎡⎣( ρ vr )r =r − ( ρ vr )r =r + dr ⎤⎦ rdθ dz
− ( ρ vr )r = r + dr drdθ dz .
⎡ ∂ ( ρ vr ) ⎤
Now, ⎡⎣( ρ vr )r = r − ( ρ vr )r = r + dr ⎤⎦ rdθ dz = − ⎢ ⎥ dr ( rdθ dz ) and
⎣ ∂r ⎦
− ( ρ vr )r = r + dr drdθ dz = − ⎡⎣( ρ vr ) + d ( ρ vr ) ⎤⎦ drdθ dz = − ( ρ vr ) drdθ dz , where we have dropped
the higher order term involving ⎡⎣ d ( ρ vr ) ⎤⎦ drdθ dz which approaches zero in the limit compared to
the terms involving only three differentials. Thus, the net mass flux into dV through the pair of
faces r = r and r = r + dr is
⎧ ⎛ ∂ρ vr ⎞ ⎫
⎨−r ⎜ ⎟ − ( ρ vr ) ⎬ drdθ dz . Similarly,
⎩ ⎝ ∂r ⎠ ⎭
the net mass flux into dV through the pair of faces θ = θ and θ = θ + dθ is
⎛ ∂ρ vθ ⎞
−⎜ ⎟ dθ ( drdz ) ,
⎝ ∂θ ⎠
and the net mass flux into dV through the pair of faces z = z and z = z + dz is
⎛ ∂ρ vz ⎞
−⎜ ⎟ dz ⎡⎣ dr ( rdθ ) ⎤⎦
⎝ ∂z ⎠
Thus, the total influx of mass through these three pairs of faces is:
⎪⎧⎛ ∂ρ vr ⎞ ( ρ vr ) 1 ⎛ ∂ρ vθ ⎞ ⎛ ∂ρ vz ⎞ ⎪⎫
− ⎨⎜ ⎟ + r + r ⎜ ∂θ ⎟ + ⎜ ∂z ⎟ ⎬ dr ( rdθ ) dz
⎩⎪⎝ ∂r ⎠ ⎝ ⎠ ⎝ ⎠ ⎭⎪
∂ ∂ρ
On the other hand, the rate of increase of mass inside dV is ( ρ rdθ drdz ) = rdθ drdz .
∂t ∂t
Therefore, the conservation of mass principle gives,
⎪⎧⎛ ∂ρ vr ⎞ ( ρ vr ) 1 ⎛ ∂ρ vθ ⎞ ⎛ ∂ρ vz ⎞ ⎪⎫ ∂ρ
− ⎨⎜ ⎟ + + ⎜ ⎟ +⎜ ⎟ ⎬ dr ( rdθ ) dz = rdθ drdz , That is:
⎩⎪⎝ ∂r ⎠ r r ⎝ ∂θ ⎠ ⎝ ∂z ⎠ ⎭⎪ ∂t
∂ρ ∂ρ vr ρ vr 1 ⎛ ∂ρ vθ ⎞ ⎛ ∂ρ vz ⎞
+ + + ⎜ ⎟ + ⎜ ∂z ⎟ = 0 , Or,
∂t ∂r r r ⎝ ∂θ ⎠ ⎝ ⎠
⎧ ∂ρ ∂ρ vθ ⎛ ∂ρ ⎞ ∂ρ ⎫ ⎛ ∂vr vr 1 ∂vθ ∂vz ⎞
⎨ + vr + ⎜ ⎟ + vz ⎬+ ρ⎜ + + + = 0 . This is the same as
⎩ ∂t ∂r r ⎝ ∂θ ⎠ ∂z ⎭ ⎝ ∂r r r ∂θ ∂z ⎟⎠
Eq.(3.15.7).
_________________________________________________________________
⎢⎣ 0 −2 0 ⎥⎦ ⎢⎣ 3 0 0 ⎥⎦ ⎢⎣ 0 −2 0 ⎥⎦ ⎢⎣ 0 0 9 ⎥⎦
⎡1 0 0 ⎤
[ U ] = [C] = ⎢⎢0 2 0⎥⎥ . (The only positive definite root).
1/2
⎢⎣0 0 3⎥⎦
⎡ 0 0 3⎤ ⎡0 −1 0 ⎤ ⎡9 0 0 ⎤
(c) [ B ] = [ F ][ F ] = ⎢⎢ −1 0 0 ⎥⎥ ⎢⎢0 0 −2 ⎥⎥ = ⎢⎢ 0 1 0 ⎥⎥ .
T
⎢⎣ 0 −2 0 ⎥⎦ ⎢⎣ 3 0 0 ⎥⎦ ⎢⎣ 0 0 4 ⎥⎦
⎡ 0 0 3⎤ ⎡1 0 0 ⎤ ⎡ 0 0 1⎤
= ⎢ −1 0 0 ⎥ ⎢ 0 1 / 2 0 ⎥⎥ = ⎢⎢ −1 0 0 ⎥⎥ .
⎢ ⎥ ⎢
−1
(d) [ R ] = [ F ][ U ]
⎢⎣ 0 −2 0 ⎥⎦ ⎢⎣0 0 1 / 3⎥⎦ ⎢⎣ 0 −1 0 ⎥⎦
⎡0 0 0 ⎤ ⎡0 0 0⎤ ⎡4 / 9 0 0 ⎤
1 1 1
(e) ⎡ E = [C - I ] = ⎢0 3 0 ⎥ = ⎢ 0 3 / 2 0 ⎥ , (f) ⎡e* ⎤ = ⎡I − B ⎤ = ⎢⎢ 0
*⎤ ⎢ ⎥ ⎢ ⎥ − 1
0 0 ⎥⎥ .
⎣ ⎦ 2 2 ⎣ ⎦ 2 ⎣ ⎦
⎢⎣0 0 8 ⎥⎦ ⎢⎣ 0 0 4 ⎥⎦ ⎢⎣ 0 0 3 / 8⎥⎦
ΔV
(g) = det B = ( 9 )(1)( 4 ) = 6 ,
ΔVo
⎡ 0 −6 0 ⎤
( ) 1⎢
n o , dAo = 1, det F = 6, [ F ] = ⎢ 0 0 −3⎥⎥ , no = e2 ,
T −1
(h) dA = dAo ( det F ) F −1
6
⎢⎣ 2 0 0 ⎥⎦
⎡ 0 0 2 ⎤ ⎡0 ⎤ ⎡ 0 ⎤
⎡
( ) ⎤ 1⎢
[ dA ] = dAo ⎢( det F ) F no ⎥ = (1)( 6 ) 6 ⎢ −6 0 0 ⎥⎥ ⎢⎢1 ⎥⎥ = ⎢⎢ 0 ⎥⎥ → dA = −3e3 .
T
−1
⎣ ⎦
⎢⎣ 0 −3 0 ⎥⎦ ⎢⎣0 ⎥⎦ ⎢⎣ −3⎥⎦
_________________________________________________________________
⎢⎣0 0 3⎥⎦
⎡0 2 0⎤ ⎡0 0 1 ⎤ ⎡ 4 0 0⎤
(c) [ B ] = [ F ][ F ] = ⎢⎢ 0 0 3⎥⎥ ⎢⎢ 2 0 0 ⎥⎥ = ⎢⎢ 0 9 0 ⎥⎥ .
T
⎢⎣1 0 0 ⎥⎦ ⎢⎣ 0 3 0 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦
⎡0 2 0 ⎤ ⎡1 0 0 ⎤ ⎡0 1 0⎤
(d) [ R ] = [ F ][ U ] = ⎢0 0 3⎥⎥ ⎢⎢0
−1 ⎢
1 / 2 0 ⎥⎥ = ⎢⎢ 0 0 1 ⎥⎥ .
⎢⎣1 0 0 ⎥⎦ ⎢⎣0 0 1 / 3⎥⎦ ⎢⎣1 0 0 ⎥⎦
⎡0 0 0⎤ ⎡0 0 0⎤ ⎡3 / 8 0 0⎤
1 1 1
(e) ⎡ E = [C − I ] = ⎢ 0 3 0 ⎥ = ⎢ 0 3 / 2 0 ⎥ , (f) ⎡e ⎤ = ⎡I − B ⎤ = ⎢ 0 4 / 9 0 ⎥⎥ .
*⎤ ⎢ ⎥ ⎢ ⎥ * − 1 ⎢
⎣ ⎦ 2 2 ⎣ ⎦ 2⎣ ⎦
⎢⎣ 0 0 8 ⎥⎦ ⎢⎣ 0 0 4 ⎥⎦ ⎢⎣ 0 0 0 ⎥⎦
ΔV
(g) = det B = ( 4 )( 9 )(1) = 6 .
ΔVo
⎡0 0 6⎤
( ) 1⎢
= ⎢ 3 0 0 ⎥⎥ , no = e 2
T −1
(h) dA = dAo ( det F ) F −1
n o , dAo = 1, det F = 6, [ F ]
6
⎢⎣ 0 2 0 ⎥⎦
⎡0 3 0 ⎤ ⎡ 0⎤ ⎡ 3⎤
( )
[ dA ] = dAo ⎡⎢( det F ) F −1
⎤ 1⎢
n o ⎥ = (1)( 6 ) ⎢ 0 0 2 ⎥⎥ ⎢⎢1 ⎥⎥ = ⎢⎢ 0 ⎥⎥ → dA = 3e1
T
⎣ ⎦ 6
⎢⎣ 6 0 0 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
_________________________________________________________________
⎢⎣0 0 3⎥⎦
⎡1 0 0 ⎤ ⎡1 0 0 ⎤ ⎡1 0 0 ⎤
(c) [ B ] = [ F ][ F ] = ⎢⎢ 0 0 3⎥⎥ ⎢⎢0 0 −2 ⎥⎥ = ⎢⎢0 9 0 ⎥⎥ .
T
⎢⎣ 0 −2 0 ⎥⎦ ⎢⎣0 3 0 ⎥⎦ ⎢⎣0 0 4 ⎥⎦
⎡1 0 0 ⎤ ⎡1 0 0 ⎤ ⎡1 0 0 ⎤
(d) [ R ] = [ F ][ U ] = ⎢ 0 0 3⎥⎥ ⎢⎢ 0
−1 ⎢
1 / 2 0 ⎥⎥ = ⎢⎢ 0 0 1 ⎥⎥ ,
⎢⎣ 0 −2 0 ⎥⎦ ⎢⎣ 0 0 1 / 3⎥⎦ ⎢⎣ 0 −1 0 ⎥⎦
⎡0 0 0⎤ ⎡0 0 0 ⎤
1 1
(e) ⎡ E = [C − I ] = ⎢ 0 3 / 2 0 ⎥ , (f) ⎡e* ⎤ = ⎡I − B ⎤ = ⎢ 0 4 / 9 0 ⎥⎥ .
*⎤ ⎢ ⎥ − 1 ⎢
⎣ ⎦ 2 ⎣ ⎦ 2⎣ ⎦
⎢⎣ 0 0 4 ⎥⎦ ⎢⎣ 0 0 3 / 8⎥⎦
ΔV
(g) = det B = (1)( 9 )( 4 ) = 6 .
ΔVo
⎡6 0 0 ⎤
( ) 1⎢
n o , dAo = 1, det F = 6, [ F ] = ⎢ 0 0 −3⎥⎥ , n o = e 2
T −1
(h) dA = dAo ( det F ) F −1
6
⎢⎣ 0 2 0 ⎥⎦
⎡6 0 0 ⎤ ⎡0 ⎤ ⎡ 0 ⎤
⎡
( ) ⎤ 1⎢
[ dA ] = dAo ⎢( det F ) F no ⎥ = (1)( 6 ) 6 ⎢0 0 2⎥⎥ ⎢⎢1 ⎥⎥ = ⎢⎢ 0 ⎥⎥ → dA = −3e3
T
−1
⎣ ⎦
⎢⎣ 0 −3 0 ⎥⎦ ⎢⎣0 ⎥⎦ ⎢⎣ −3⎥⎦
_________________________________________________________________
x1 = 2 X 2 , x2 = − X1 , x3 = 3 X 3
-----------------------------------------------------------------------------------------
⎡ 0 2 0⎤ ⎡ 0 −1 0 ⎤ ⎡ 0 2 0 ⎤ ⎡1 0 0 ⎤
Ans. (a) [ F ] = ⎢ −1 0 0 ⎥ . (b) [C] = [ F ] [ F ] = ⎢⎢ 2 0 0 ⎥⎥ ⎢⎢ −1 0 0 ⎥⎥ = ⎢⎢ 0 4 0 ⎥⎥ ,
⎢ ⎥ T
⎢⎣0 0 3⎥⎦
⎡0 2 0⎤ ⎡0 −1 0 ⎤ ⎡ 4 0 0 ⎤
(c) [ B ] = [ F ][ F ] = ⎢⎢ −1 0 0 ⎥⎥ ⎢⎢ 2 0 0 ⎥⎥ = ⎢⎢ 0 1 0 ⎥⎥ .
T
⎢⎣ 0 0 3⎥⎦ ⎢⎣ 0 0 3⎥⎦ ⎢⎣ 0 0 9 ⎥⎦
⎡0 2 0 ⎤ ⎡1 0 0 ⎤ ⎡ 0 1 0⎤
−1 ⎢
(d) [ R ] = [ F ][ U ] = ⎢ −1 0 0 ⎥⎥ ⎢⎢ 0 1 / 2 0 ⎥⎥ = ⎢⎢ −1 0 0 ⎥⎥ .
⎢⎣ 0 0 3⎥⎦ ⎢⎣ 0 0 1 / 3⎥⎦ ⎢⎣ 0 0 1 ⎥⎦
⎡0 0 0⎤ ⎡3 / 8 0 0 ⎤
1 1⎡
(e) E = [C − I ] = ⎢ 0 3 / 2 0 ⎥⎥ ,
⎡ *⎤ ⎢ ⎡ ⎤
(f) e = I − B
* −1 ⎤ ⎢
= 0 0 0 ⎥⎥
⎣ ⎦ 2 ⎣ ⎦ 2⎣ ⎦ ⎢
⎢⎣ 0 0 4 ⎥⎦ ⎢⎣ 0 0 4 / 9 ⎥⎦
ΔV
(g) = det B = ( 4 )(1)( 9 ) = 6 .
ΔVo
⎡ 0 −6 0 ⎤
( ) 1⎢
n o , dAo = 1, det F = 6, [ F ] = ⎢ 3 0 0 ⎥⎥ , n o = e 2
T −1
(h) dA = dAo ( det F ) F −1
6
⎢⎣ 0 0 2 ⎥⎦
⎡ 0 3 0 ⎤ ⎡ 0⎤ ⎡ 3⎤
1⎢
[dA] = dAo (det F)[F ] [n o ] = (1)(6) ⎢ −6 0 0 ⎥⎥ ⎢⎢1 ⎥⎥ = ⎢⎢ 0 ⎥⎥ → dA = 3e1
−1 T
6
⎢⎣ 0 0 2 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣0 ⎥⎦
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3.67 Given x1 = X1 + 3 X 2 , x2 = X 2 , x3 = X 3 .
Obtain (a) the deformation gradient F and the right Cauchy-Green tensor C , (b) The eigenvalues
and eigenvector of C , (c) the matrix of the stretch tensor U and U −1 with respect to the ei -basis
and (d) the rotation tensor R with respect to the ei -basis.
-----------------------------------------------------------------------------------------
⎡1 3 0 ⎤ ⎡1 0 0 ⎤ ⎡1 3 0 ⎤ ⎡1 3 0 ⎤
Ans. (a) [ F ] = ⎢ 0 1 0 ⎥ , [C] = [ F ] [ F ] = ⎢⎢ 3 1 0 ⎥⎥ ⎢⎢ 0 1 0 ⎥⎥ = ⎢⎢ 3 10 0 ⎥⎥ .
⎢ ⎥ T
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦
(b) the characteristic equation is
1− λ 3 0
3 10 − λ ( )
0 = 0 → (1 − λ ) λ 2 − 11λ + 1 = 0,
0 0 1− λ
11 ± 121 − 4
λ1,2 = → λ1 = 10.908326, λ2 =0.0916735, λ3 = 1
2
For λ1 = 10.908326 ,
(1 − λ1 )α1 + 3α 2 = 0 → α 2 = − (1 − λ1 )α1 / 3 = 3.302775α1 ,
1
n1 = ( e1 + 3.302775e2 ) = 0.289785e1 + 0.957093e2 .
3.450843
For λ2 = 0.0916735 ,
(1 − λ2 )α1 + 3α 2 = 0 → α 2 = − (1 − λ2 )α1 / 3 = −0.3027755α1 ,
1
n2 = ( e1 − 0.3027755e2 ) = 0.957093e1 − 0.289784e2 .
1.044832
For λ3 = 1, n3 = e3 ,
(c) The matrices with respect to the principal axes are as follows
⎡10.9083 0 0⎤ ⎡3.30277 0 0⎤
⎢ ⎥ ⎢ 0.302774 0 ⎥⎥ .
[C]ni = ⎢ 0 0.0916735 0 ⎥ → [ U ]n = ⎢ 0
i
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦
⎡0.302774 0 0⎤
−
⎡U ⎤ =
1 ⎢ 0 3.302772 0 ⎥⎥ .
⎣ ⎦ ni ⎢
⎢⎣ 0 0 1 ⎥⎦
The matrices with respect to the ei -basis are given by the formula [ U ]{e } = [Q ] [ U ]{n } [Q ] :
T
i i
⎡ 0.554704 0.832057 0 ⎤
= ⎢⎢ 0.832057 3.05087 0 ⎥⎥ .
⎢⎣ 0 0 1 ⎥⎦
⎡0.289785 0.957093 0 ⎤ ⎡ 0.302774 0 0 ⎤ ⎡ 0.289785 0.957093 0 ⎤
⎡ U −1 ⎤ = ⎢ 0.957093 −0.289785 0 ⎥ ⎢ 0 3.302772 0 ⎥⎥ ⎢⎢ 0.957093 −0.289785 0 ⎥⎥
⎣ ⎦ ei ⎢ ⎥⎢
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦
⎡ 3.050852 −0.832052 0 ⎤
= ⎢⎢ −0.832052 0.554701 0 ⎥⎥ .
⎢⎣ 0 0 1 ⎥⎦
3.68 Verify that with respect to rectangular Cartesian base vectors, the right stretch tensor U and
the rotation tensor R for the simple shear deformation , x1 = X1 + kX 2 , x2 = X 2 , x3 = X 3 ,
⎢
2
( 2
)
⎡ f 1 + k / 4 kf 1 + k / 4 0 ⎤
2
(2
) ⎥ ⎡1 k 0 ⎤
=⎢
⎢
0 ( ) ⎥
f 1 + k / 4 0 ⎥ = ⎢⎢0 1 0 ⎥⎥ = the given [ F ]
2 2
⎢ ⎥
⎢ 0 0 1 ⎥ ⎢⎣0 0 1 ⎥⎦
⎣ ⎦
Since the decomposition of F is unique, therefore, the given R and U are the rotation and the
stretch tensor respectively.
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3.69 Let dX( ) = dS1N( ) , dX( ) = dS2 N( ) be two material elements at a point P. Show that if θ
1 1 2 2
denotes the angle between their respective deformed elements dx( ) =ds m and dx( ) = ds n ,
1 2
1 2
( 2)
→ ds1ds2 cosθ = dS1dS2 N( ) ⋅ CN( ) = dS1dS2 ( Nα( )eα ) ⋅ C( N β e β ),
1 2 1
( 2)
Cαβ Nα( ) N β
1
dS1dS2 (1) ( 2 )
→ cosθ = Nα N β eα ⋅ Ce β = .
ds1ds2 λ1λ2
_________________________________________________________________
⎣⎢0 0 0.36 ⎦⎥
(a) Find the stretch for the material elements which were in the direction of e1 , e 2 ,and e3 . (b)
Find the stretch for the material element which was in the direction of e1 + e2 . (c) Find cosθ ,
where θ is the angle between dx( ) and dx( ) where dX( ) = dS e and dX( ) = dS e deform to
1 2 1 2
1 1 2 1
-----------------------------------------------------------------------------------------
Ans. (a) For the elements which were in e1 , e 2 ,and e3 direction, the stretches are
C11 , C22 , C33 , that is, 3, 2 and 0.6 respectively.
⎡9 0 0 ⎤ ⎡1 ⎤ ⎡9 ⎤
1 1 1 13
(b) Let e1' = ( e1 + e2 ) → C11 = [1 1 0] ⎢0 4 0 ⎥ ⎢1 ⎥ = [1 1 0] ⎢⎢ 4⎥⎥ = .
' ⎢ ⎥ ⎢ ⎥
2 2 2 2
⎢⎣0 0 0.36 ⎥⎦ ⎢⎣0 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎡ 1 1/ 2 0 ⎤⎡ 1 1/ 2 0 ⎤ ⎡1 1 0 ⎤
4⎢ ⎥⎢ ⎥ ⎢ ⎥
[ U ][ U ] = ⎢1 / 2 (3 / 2) 0 ⎥ ⎢1 / 2 (3 / 2) 0 ⎥ = ⎢ 1 2 0 ⎥ = [ C] .
5⎢
⎣ 0 0 5 / 2 ⎥⎦ ⎢⎣ 0 0 5 / 2 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦
(b) The stretch for the element which was in the direction e 2 is C22 = 2 .
(c) Let e1' = ( e1 + e2 ) / 2 ,
⎡1 1 0 ⎤ ⎡1 ⎤ ⎡ 2⎤
1 1 5
= [1 1 0] ⎢1 2 0 ⎥ ⎢1 ⎥ = [1 1 0] ⎢⎢ 3 ⎥⎥ = →
⎢ ⎥ ⎢ ⎥
' ds
C11 = 5/ 2 .
2 2 2 dS
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎛ ds ⎞⎛ ds ⎞
⎝ dS1 ⎠⎝ dS2 ⎠
( )
(d) ⎜ 1 ⎟⎜ 2 ⎟ cosθ = C12 → (1) 2 cosθ = 1 → cosθ =
1
2
→ θ = 45o .
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⎢⎣ 0 0 1 ⎥⎦ ⎣0 0 2 ⎥⎦
⎡ f kf / 2 0 ⎤ ⎡1 1 0 ⎤
⎢ ⎥ 1 ⎢ ⎥
[ R ] = ⎢ −kf / 2 f 0⎥ = ⎢ −1 1 0 ⎥.
2⎢
⎢⎣ 0 0 1 ⎥⎦ ⎣0 0 2 ⎥⎦
2 ⎡1 1 0 ⎤ ⎡1 1 0 ⎤ ⎡1 2 0 ⎤
⎛ 1 ⎞ ⎢ ⎥⎢ ⎥
[ U ][ U ] = ⎜ ⎟ ⎢1 3 0 ⎥ ⎢1 3 0 ⎥ = ⎢⎢ 2 5 0⎥⎥ = [C] .
⎝ 2⎠ ⎢
⎣0 0 2 ⎥⎦ ⎢⎣ 0 0 2 ⎥⎦ ⎢⎣ 0 0 1 ⎥⎦
(b) The stretch for the element which was in the direction e2 is C22 = 5 .
(c) Let e1′ = ( e1 + e2 ) / 2 ,
⎡ 1 2 0 ⎤ ⎡1 ⎤ ⎡ 3⎤
1 1
′ = [1 1 0] 2 5 0 1 = [1 1 0] ⎢7 ⎥ = 5 →
⎢ ⎥ ⎢ ⎥ ds
C11 ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ = 5 = 2.236 .
2 2 dS
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎛ ds ⎞⎛ ds ⎞
⎝ 1 ⎠⎝ 2 ⎠
dS dS
( )
(d) ⎜ 1 ⎟⎜ 2 ⎟ cosθ = C12 → (1) 5 cosθ = 2 → cos θ =
2
5
.
_________________________________________________________________
∂A jn
3.73 Show that for any tensor A ( X1 , X 2 , X 3 ) ,
∂
∂X m
det A = ( det A ) A −1 ( ) nj ∂X m
-----------------------------------------------------------------------------------------
Ans
∂A ∂Aij ∂Anj
Thus,
∂X m ji ∂X
( )
= det A A −1
m
jn ∂X
m
. ( )
= det A A −1
_________________________________________________________________
3.74 Show that if TU = 0 , where the eigenvalues of U are all positive (nonzero), then T = 0 .
-----------------------------------------------------------------------------------------
Ans. Using the eigenvectors of U as basis, we have,
⎡T11 T12 T13 ⎤ ⎡λ1 0 0 ⎤ ⎡ λ1T11 λ2T12 λ3T13 ⎤
[TU ] = [T][ U ] = ⎢⎢T21 T22 T23 ⎥⎥ ⎢⎢ 0 λ2 0 ⎥⎥ = ⎢⎢λ1T21 λ2T22 λ3T23 ⎥⎥
⎣⎢T31 T32 T33 ⎦⎥ ⎣⎢ 0 0 λ3 ⎦⎥ ⎣⎢ λ1T31 λ2T32 λ3T33 ⎦⎥
Thus, TU = 0 gives, all Tij = 0 , that is, T = 0 .
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2 2 2
⎛ r ∂θ ⎞ ⎛ r ∂θ ⎞ ⎛ r ∂θ ⎞
3.75 Derive Eq. (3.29.21), that is, Bθθ = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟
⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠
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Copyright 2010, Elsevier Inc
3-37
Lai et al, Introduction to Continuum Mechanics
⎛ ∂r ⎞⎛ ∂z ⎞ ⎛ ∂r ⎞⎛ ∂z ⎞ ⎛ ∂r ⎞⎛ ∂z ⎞
3.76 Derive Eq. (3.29.23), i.e., Brz = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟
⎝ ∂ro ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠⎝ ∂zo ⎠
-----------------------------------------------------------------------------------------
Ans. Brz = er ⋅ Bez = er ⋅ FF T ez , from Eq. (3.29.16), we have,
∂z o ∂z o ∂z o
FTez = er + eθ + e z , thus,
∂ro ro ∂θ o ∂zo
⎛ ∂z o ∂z o ∂z o ⎞ ∂z ∂z ∂z
Brz = er ⋅ F ⎜ er + eθ + ez , ⎟ = er ⋅ Feor + er ⋅ Feθo + er ⋅ Feoz .
∂
⎝ or r ∂θ
o o ∂z o ⎠ ∂ro r ∂θ
o o ∂ z o
∂r ∂r ∂r
From Eq. (3.29.9), er ⋅ Feor = , er ⋅ Feθo = , eθ ⋅ Feoz = , thus,
∂ro ro ∂θ o ∂zo
⎛ ∂r ⎞⎛ ∂z ⎞ ⎛ ∂r ⎞⎛ ∂z ⎞ ⎛ ∂r ⎞⎛ ∂z ⎞
Brz = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟.
⎝ ∂ro ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠⎝ ∂zo ⎠
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( ) ( ) (
→ dro = dr eor ⋅ F −1er + rdθ eor ⋅ F −1eθ + dz eor ⋅ F −1ez )
→
∂ro
∂r
∂r
∂θ
∂r
( ) ( )
dr + o dθ + o dz = dr eor ⋅ F −1er + rdθ eor ⋅ F −1eθ + dz eor ⋅ F −1ez
∂z
( )
−1 ∂ro ∂r ∂r
o
→ er ⋅ F er = , eor ⋅ F −1eθ = o , eor ⋅ F −1e z = o .
∂r r ∂θ ∂z
Similarly,
ro ∂θ o r ∂θ r ∂θ
eθo ⋅ F −1er = , eθo ⋅ F −1eθ = o o , eθo ⋅ F −1ez = o o .
∂r r ∂θ ∂z
∂z ∂z ∂z
eoz ⋅ F −1er = o , eoz ⋅ F −1eθ = o , eoz ⋅ F −1ez = o .
∂r r ∂θ ∂z
Thus,
∂r r ∂θ ∂z ∂r r ∂θ ∂z
F −1er = o eor + o o eθo + o eoz , F −1eθ = o eor + o o eθo + o eoz
∂r ∂r ∂r r ∂θ r ∂θ r ∂θ
∂r r ∂θ ∂z
F −1ez = o eor + o o eθo + o eoz .
∂z ∂z ∂z
Also, we have,
( ) ∂r ∂r
( )
T T
er ⋅ F −1 eor = eor ⋅ F −1er = o , eθ ⋅ F −1 eor = eor ⋅ F −1eθ = o ,
∂r r ∂θ
( ) ( )
∂
T r
ez ⋅ F −1 eor = eor ⋅ F −1 ez = o .
∂z
Thus,
r ∂θ r ∂θ r ∂θ
( ) ∂r ∂r ∂r
( )
T T
F −1 eor = o er + o eθ + o ez , F −1 eθo = o o er + o o eθ + o o ez
∂r r ∂θ ∂z ∂r r ∂θ ∂z
( ) ∂ ∂ ∂
T z z z
F −1 eoz = o er + o eθ + o ez .
∂r r ∂θ ∂z
The components of B −1 with respect to the basis at x are:
( ) ( ) (F e )
−1 T
Brr−1 = er ⋅ B −1er = er ⋅ FF T e r = e r ⋅ F −1 −1
r
2 2 2
ro ∂θ o ⎞ ⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
⎛ ∂r
( ) ( ) ∂zo
( )
T T T
= ⎜ o er ⋅ F −1 eor + er ⋅ F −1 eθo + e r ⋅ F −1 eoz ⎟ = ⎜ o ⎟ + ⎜ o o ⎟ + ⎜ o ⎟ .
⎝ ∂r ∂r ∂r ⎠ ⎝ ∂r ⎠ ⎝ ∂r ⎠ ⎝ ∂r ⎠
( ) ( ) (F e )
−1 T
−1
Bθθ = eθ ⋅ B −1eθ = eθ ⋅ FF T e θ = e θ ⋅ F −1 −1
θ
2 2 2
ro ∂θ o ⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
∂ro
( ) ( ) ∂zo
( )
T T T
= eθ ⋅ F −1 eor + eθ ⋅ F −1 eθo + e θ ⋅ F −1 eoz = ⎜ o ⎟ + ⎜ o o ⎟ + ⎜ o ⎟ .
r ∂θ r ∂θ r ∂θ ⎝ r ∂θ ⎠ ⎝ r ∂θ ⎠ ⎝ r ∂θ ⎠
2 2 2
−1 ⎛ ∂ro ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
Bzz =⎜ ⎟ +⎜ o o ⎟ +⎜ o ⎟ .
⎝ ∂z ⎠ ⎝ ∂z ⎠ ⎝ ∂z ⎠
( ) ( ) (F e )
−1 T
Br−θ1 = er ⋅ B −1eθ = er ⋅ FF T e θ = e r ⋅ F −1 −1
θ
ro ∂θ o ⎞ ⎛ ro ∂θ o ⎞⎛ ro ∂θ o
∂ro
( ) ( ) ∂zo
( ) ⎛ ∂ro ⎞⎛ ∂ro ⎞ ⎛ ∂zo ⎞⎛ ∂zo ⎞
T T T
= e r ⋅ F −1 eor + e r ⋅ F −1 eθo + e r ⋅ F −1 eoz = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟
r ∂θ r ∂θ r ∂θ ⎝ r ∂θ ⎠⎝ ∂r ⎠ ⎝ r ∂θ ⎠⎝ ∂r ⎠ ⎝ r ∂θ ⎠⎝ ∂z ⎠
( ) ( ) (F e )
−1 T
Brz−1 = er ⋅ B −1ez = er ⋅ FF T ez = er ⋅ F −1 −1
z
r ∂θ ⎞ ⎛ ro ∂θ o ⎞⎛ ro ∂θ o
∂ro
( ) e ⋅ ( F ) eθ +
∂z
e ⋅ (F )
⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ ∂zo ⎞⎛ ∂zo ⎞
T T T
= er ⋅ F −1 eor + o o r −1 o o
r
−1
eoz = ⎜ o ⎟⎜ o ⎟ + ⎜ ∂r ⎟⎜ ∂z ⎟ + ⎜ ∂r ⎟⎜ ∂z ⎟
∂z ∂z ∂z
⎝ ∂r ⎠⎝ ∂z ⎠ ⎝ ⎠⎝ ⎠ ⎝ ⎠⎝ ⎠
⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ ∂z ⎞
Bθ−z1 = ⎜ o ⎟⎜ o ⎟ + ⎜ o o ⎟⎜ o o ⎟ + ⎜ o ⎟⎜ o ⎟ .
⎝ r ∂θ ⎠⎝ ∂z ⎠ ⎝ r ∂θ ⎠⎝ ∂z ⎠ ⎝ r ∂θ ⎠⎝ ∂z ⎠
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2 2 2
⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
3.78 Derive Eq. (3.29.47), that is, Cθoθo = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟
⎝ ro ∂θ o ⎠ ⎝ ro ∂θ o ⎠ ⎝ ro ∂θ o ⎠
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∂r r ∂θ ∂z
Ans. Cθoθo = eθo ⋅ Ceθo = eθo ⋅ F T Feθo . Now, Feθo = er + eθ + e z [Eq.3.29.3] ,
ro ∂θ o ro ∂θ o ro ∂θ o
therefore,
⎛ ∂r r ∂θ ∂z ⎞ ∂r o T r ∂θ o T
Cθoθo = eθo ⋅ F T ⎜ er + eθ + ez ⎟ = eθ ⋅ F e r + eθ ⋅ F eθ
⎝ ro ∂θ o ro ∂θ o ro ∂θ o ⎠ ro ∂θ o ro ∂θ o
∂z o T
+ eθ ⋅ F e z . Now, from Eqs. (3.29.14) (3.29.15) and (3.29.16),
ro ∂θ o
∂r r ∂θ ∂z
eθo ⋅ F T er = , eθo ⋅ F T eθ = , eθo ⋅ F T ez = , thus.
ro ∂θ o ro ∂θ o ro ∂θ o
2 2 2
⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
Cθoθo = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟
⎝ ro ∂θ o ⎠ ⎝ ro ∂θ o ⎠ ⎝ ro ∂θ o ⎠
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⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ ∂z ⎞
3.79 Derive Eq. (3.29.49), Croθo = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟
⎝ ro ∂θ o ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ∂ro ⎠
------------------------------------------------------------------------------------------
∂r r ∂θ ∂z
Ans. Croθo = eor ⋅ Ceθo = eor ⋅ F T Feθo . Now, Feθo = er + eθ + e z [Eq.(3.29.3)] ,
ro ∂θ o ro ∂θ o ro ∂θ o
⎛ ∂r r ∂θ ∂z ⎞ ∂r o T r ∂θ o T
Croθo = eor ⋅ F T ⎜ er + eθ + ez ⎟ = er ⋅ F er + e r ⋅ F eθ
⎝ ro ∂θ o ro ∂θ o ro ∂θ o ⎠ ro ∂θ o ro ∂θ o
∂z o T
+ er ⋅ F ez . From Eqs. (3.29.14), (3.29.15) and (3.29.16)
ro ∂θ o
∂r o T r ∂θ o T ∂z
eor ⋅ F T er = , e r ⋅ F eθ = , er ⋅ F ez = ,
∂ro ∂ro ∂ro
⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ ∂z ⎞
Thus, Croθo = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟.
⎝ ro ∂θ o ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ∂ro ⎠
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( ) ( ) ∂r ∂r ∂r
−1 T
Cr−o1ro =eor ⋅ F T F eor =eor ⋅ F −1 F −1 eor = o eor ⋅ F −1er + o eor ⋅ F −1eθ + o eor ⋅ F −1ez
∂r r ∂θ ∂z
3.81 Derive components of B with respect to the basis {er ,eθ ,ez } at x for the pathline equations
given by r = r ( X , Y , Z , t ), θ = θ ( X , Y , Z , t ), z=z( X , Y , Z , t ) .
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Ans. From dx = drer + rdθ eθ + dzez and dX = dXeX + dYe Y + dZe Z and
r = r ( X , Y , Z , t ), θ = θ ( X , Y , Z , t ), z=z( X , Y , Z , t ) , we have,
dx = FdX → dx = dre r + rdθ eθ + dzez = dXFeX + dYFeY + dZFe Z
⎛ ∂r ∂r ∂r ⎞ ⎛ r ∂θ r ∂θ r ∂θ ⎞
→⎜ dX + dY + dZ ⎟ er + ⎜ dX + dY + dZ ⎟ eθ
⎝ ∂X ∂Y ∂Z ⎠ ⎝ ∂X ∂Y ∂Z ⎠
⎛ ∂z ∂z ∂z ⎞
+⎜ dX + dY + dZ ⎟ e z = dXFe X + dYFeY + dZFe Z
⎝ ∂ X ∂Y ∂ Z ⎠
∂r r ∂θ ∂z ∂r r ∂θ ∂z
→ Fe X = er + eθ + ez , FeY = er + eθ + ez ,
∂X ∂X ∂X ∂Y ∂Y ∂Y
∂r r ∂θ ∂z
Fe Z = er + eθ + e z , and
∂Z ∂Z ∂Z
∂r ∂r
e X ⋅ F T er = er ⋅ FeX = , eY ⋅ F T er = er ⋅ FeY = , etc.
∂X ∂Y
∂r ∂r ∂r r ∂θ r ∂θ r ∂θ
F T er = eX + eY + e Z , F T eθ = eX + eY + eZ ,
∂X ∂Y ∂Z ∂X ∂Y ∂Z
∂z ∂z ∂z
FTe z = eX + eY + eZ .
∂X ∂Y ∂Z
The components of B are:
2 2 2
∂r ∂r ∂r ⎛ ∂r ⎞ ⎛ ∂r ⎞ ⎛ ∂r ⎞
Brr = e r ⋅ FF T e r =e r ⋅ Fe X + e r ⋅ Fe Y + er ⋅ Fe Z = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ .
∂X ∂Y ∂Z ⎝ ∂X ⎠ ⎝ ∂Y ⎠ ⎝ ∂Z ⎠
r ∂θ r ∂θ r ∂θ
Brθ = e r ⋅ FF T eθ = er ⋅ FeX + er ⋅ FeY + er ⋅ Fe Z
∂X ∂Y ∂Z
⎛ ∂r ⎞⎛ r ∂θ ⎞ ⎛ ∂r ⎞⎛ r ∂θ ⎞ ⎛ ∂r ⎞⎛ r ∂θ ⎞
=⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟.
⎝ ∂X ⎠⎝ ∂X ⎠ ⎝ ∂Y ⎠⎝ ∂Y ⎠ ⎝ ∂Z ⎠⎝ ∂Z ⎠
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3.82 Derive the components of B −1 with respect to the basis {e r ,eθ ,e z } at x for the pathline
equations given by X = X (r ,θ , z , t ), Y = Y (r ,θ , z , t ), Z =Z (r ,θ , z , t ) .
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Ans. From dx = drer + rdθ eθ + dzez and dX = dXeX + dYe Y + dZe Z and
Copyright 2010, Elsevier Inc
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Lai et al, Introduction to Continuum Mechanics
X = X (r ,θ , z , t ), Y = Y (r ,θ , z , t ), Z =Z (r ,θ , z , t ) , we have,
dX = F −1dx → dXe X + dYeY + dZe Z = drF −1er + rdθ F −1eθ + dzF −1ez
⎛ ∂X ∂X ∂X ⎞ ⎛ ∂Y ∂Y ∂Y ⎞
→⎜ dr + dθ + dz ⎟ e X + ⎜ dr + dθ + dz ⎟ e Y
⎝ ∂r ∂θ ∂z ⎠ ⎝ ∂r ∂θ ∂z ⎠
⎛ ∂Z ∂Z ∂Z ⎞
+⎜ dr + dθ + dz ⎟ e Z = drF −1e r + rdθ F −1eθ + dzF −1ez .
⎝ ∂r ∂θ ∂ z ⎠
Thus,
∂X ∂Y ∂Z ∂X ∂Y ∂Z
F −1e r = eX + eY + e Z , F −1eθ = eX + eY + eZ
∂r ∂r ∂r r ∂θ r ∂θ r ∂θ
∂X ∂Y ∂Z
F −1e z = eX + eY + eZ .
∂z ∂z ∂z
and
( ) ∂X
( ) ∂Y
T T
e r ⋅ F −1 e X = eX ⋅ F −1er = , er ⋅ F −1 eY = eY ⋅ F −1er = ,
∂r ∂r
( ) ∂Z
T
e r ⋅ F −1 e Z = e Z ⋅ F −1er = , etc. that is,
∂r
( ) ∂X ∂X ∂X
( ) ∂Y ∂Y ∂Y
T T
F −1 e X = er + eθ + e z , F −1 e Y = er + eθ + ez
∂r r ∂θ ∂z ∂r r ∂θ ∂z
( ) ∂Z ∂Z ∂Z
T
F −1 e Z = er + eθ + ez .
∂r r ∂θ ∂z
Thus,
( ) ( ) ∂X
( ) ∂Y
( )
−1 T T T
Brr−1 = e r ⋅ FF T e r = e r ⋅ F −1 F −1e r = e r ⋅ F −1 eX + er ⋅ F −1 eY
∂r ∂r
2 2 2
∂Z
( ) ⎛ ∂X ⎞ ⎛ ∂Y ⎞ ⎛ ∂Z ⎞
T
+ e r ⋅ F −1 eZ = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ .
∂r ⎝ ∂r ⎠ ⎝ ∂r ⎠ ⎝ ∂r ⎠
( ) ∂X
( ) ∂Y
( )
T T T
Br−θ1 = e r ⋅ F −1 F −1eθ = e r ⋅ F −1 e X + e r ⋅ F −1 e Y
r ∂θ r ∂θ
e ⋅ (F )
∂Z −1
T ⎛ ∂X ⎞⎛ ∂ X ⎞ ⎛ ∂ Y ⎞⎛ Y ⎞ ⎛ ∂Z ⎞⎛ ∂Z
∂ ⎞
+ r eZ = ⎜ ⎟⎜ ⎟ +⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ .,
r ∂θ ⎝ ∂r ⎠⎝ r ∂θ ⎠ ⎝ ∂r ⎠⎝ r ∂θ ⎠ ⎝ ∂r ⎠⎝ r ∂θ ⎠
etc.
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3.83 Verify that (a) the components of B with respect to {e r ,eθ ,e z } can be obtained from ⎡ FF T ⎤
⎣ ⎦
o o o
{ }
and (b) the component of C , with respect to e r ,eθ , e z can be obtained from ⎡ F F ⎤ , where [ F ]
⎣
T
⎦
is the matrix of the two points deformation gradient tensor given in Eq. (3.29.12).
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Ans.
(a) Eq. (3.29.12) →
⎡ ∂r ∂r ∂r ⎤ ⎡ ∂r r ∂θ ∂z ⎤
⎢ ⎥⎢ ⎥
⎢ ∂ro ro ∂θ o ∂zo ⎥ ⎢ ∂ro ∂ro ∂ro ⎥
⎢ r ∂θ ⎥ ⎢ ∂r ∂z ⎥
⎡ FF T ⎤ = ⎢ r ∂θ r ∂θ
⎥⎢
r ∂θ
⎥ →
⎣ ⎦ ro ∂θ o ∂zo ⎥ ⎢ ro ∂θ o ro ∂θ o ro ∂θ o ⎥
⎢ ∂ro
⎢ ∂z ∂z ∂z ⎥ ⎢ ∂r r ∂θ ∂z ⎥
⎢ ⎥⎢ ⎥
⎢⎣ ∂ro ro ∂θ o ∂zo ⎥⎦ ⎢⎣ ∂zo ∂zo ∂zo ⎥⎦
2 2 2
⎛ ∂r ⎞ ⎛ ∂r ⎞ ⎛ ∂r ⎞ ∂r r ∂θ ∂r r ∂θ ∂r r ∂θ
Brr = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ , Brθ = + + etc.
⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠ ∂ro ∂ro ro ∂θ o ro ∂θ o ∂zo ∂zo
(b)
⎡ ∂r r ∂θ ∂z ⎤ ⎡ ∂r ∂r ∂r ⎤
⎢ ⎥⎢ ⎥
⎢ ∂ro ∂ro ∂ro ⎥ ⎢ ∂ro ro ∂θ o ∂zo ⎥
⎢ r ∂θ ∂z ⎥ ⎢ r ∂θ r ∂θ r ∂θ ⎥
⎡ F T F ⎤ = ⎢ ∂r ⎥⎢ ⎥→
⎣ ⎦
⎢ ro ∂θ o ro ∂θ o ro ∂θ o ⎥ ⎢ ∂ro ro ∂θ o ∂zo ⎥
⎢ ∂r r ∂θ ∂z ⎥ ⎢ ∂z ∂z ∂z ⎥
⎢ ⎥⎢ ⎥
⎣⎢ ∂zo ∂zo ∂zo ⎦⎥ ⎣⎢ ∂ro ro ∂θ o ∂zo ⎦⎥
2 2 2
⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞ ⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ ∂z ⎞
Cro ro = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ , Croθo = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟.
⎝ ∂ro ⎠ ⎝ ∂ro ⎠ ⎝ ∂ro ⎠ ⎝ ∂ro ⎠⎝ ro ∂θ o ⎠ ⎝ ∂ro ⎠⎝ ro ∂θ o ⎠ ⎝ ∂ro ⎠⎝ ro ∂θ o ⎠
_________________________________________________________________
3.84 Given r = ro , θ = θ o + kzo , z = zo . (a) Obtain the components of the Left Cauchy-Green
tensor B , with respect to the basis at the current configuration ( r ,θ , z ) . (b) Obtain the
components of the right Cauchy-Green tensor C with respect to the basis at the reference
configuration.
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Ans. (a), Using Eqs (3.29.19) to (3.29.24). we obtain
2 2 2
⎛ ∂r ⎞ ⎛ ∂r ⎞ ⎛ ∂r ⎞
Brr = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ =1,
⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠
2 2 2 2
⎛ r ∂θ ⎞ ⎛ r ∂θ ⎞ ⎛ r ∂θ ⎞ ⎛ r ⎞
⎟ = ⎜ ⎟ + ( kr ) = 1 + ( kr ) ,
2 2
Bθθ =⎜ ⎟ +⎜ ⎟ +⎜
⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠ ⎝ ro ⎠
2 2 2
⎛ ∂z ⎞ ⎛ ∂z ⎞ ⎛ ∂z ⎞
Bzz = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ = 1,
⎝ ∂ro ⎠ ⎝ ro ∂θo ⎠ ⎝ ∂zo ⎠
⎛ r ∂θ ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ ∂r ⎞
Brθ = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ = 0,
⎝ ∂ro ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠⎝ ∂zo ⎠
⎛ ∂r ⎞ ⎛ ∂z ⎞ ⎛ ∂r ⎞ ⎛ ∂z ⎞ ⎛ ∂r ⎞ ⎛ ∂z ⎞
Brz = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟=0,
∂ ∂ ∂θ ∂ θ
⎝ o ⎠⎝ o ⎠ ⎝ o o ⎠⎝ o o ⎠ ⎝ o ⎠⎝ o ⎠
r r r r ∂ z ∂z
⎛ ∂z ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ r ∂θ ⎞
Bzθ = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ = rk .
⎝ ∂ro ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠⎝ ∂zo ⎠
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.
⎡1 0 0⎤
⎢ ⎥
Thus, [ B ] = ⎢ 0 1 + ( rk ) rk ⎥ .
2
⎢0 rk 1 ⎥⎥
⎢⎣ ⎦
(b) Using Eqs.(3. 29.43) to (3. 29.51), we have,
2 2 2 2 2 2
⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞ ⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
Cro ro =⎜ ⎟ +⎜ ⎟ +⎜ ⎟ = 1, Cθoθo = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ = 1,
⎝ ∂ro ⎠ ⎝ ∂ro ⎠ ⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠ ⎝ ro ∂θ o ⎠ ⎝ ro ∂θ o ⎠
2 2 2
⎛ ∂r ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
⎟ = 1 + ( rk ) ,
2
Cz o z o = ⎜ ⎟ +⎜ ⎟ +⎜
⎝ ∂zo ⎠ ⎝ ∂z o ⎠ ⎝ ∂z o ⎠
⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ ∂z ⎞
Croθo = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ = 0,
⎝ ro ∂θ o ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ∂ro ⎠ ⎝ ro ∂θ o ⎠⎝ ∂ro ⎠
⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ ∂z ⎞
Cro zo = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ = 0,
⎝ ∂ro ⎠⎝ ∂zo ⎠ ⎝ ∂ro ⎠⎝ ∂zo ⎠ ⎝ ∂ro ⎠⎝ ∂zo ⎠
⎛ ∂r ⎞⎛ ∂r ⎞ ⎛ r ∂θ ⎞⎛ r ∂θ ⎞ ⎛ ∂z ⎞⎛ ∂z ⎞
C zo θ o = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ = rk .
⎝ ∂zo ⎠⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠⎝ ro ∂θ o ⎠ ⎝ ∂zo ⎠⎝ ro ∂θ o ⎠
⎡1 0 0 ⎤
⎢ ⎥
Thus, [C] = ⎢ 0 1 rk ⎥ .
⎢ 2⎥
⎣⎢ 0 rk 1 + ( rk ) ⎦⎥
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cuurent configuration and ( X , Y , Z ) are rectangular coordinates for the reference configuration.
(a) Obtain the components of [ B ] with respect to the basis at the current configuration and (b)
calculate the change of volume.
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Ans. (a) Using Eqs.(3.29.59) to (3.29.64), we have,
2 2 2 2 2 2 2 2
⎛ ∂r ⎞ ⎛ ∂r ⎞ ⎛ ∂r ⎞ ⎛ a ⎞ ⎛ r ∂θ ⎞ ⎛ r ∂θ ⎞ ⎛ r ∂θ ⎞ ⎛ r ⎞
Brr = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ = ⎜ ⎟ , Bθθ = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ =⎜ ⎟
⎝ ∂X ⎠ ⎝ ∂Y ⎠ ⎝ ∂Z ⎠ ⎝ r ⎠ ⎝ ∂X ⎠ ⎝ ∂Y ⎠ ⎝ ∂Z ⎠ ⎝ a ⎠
2 2 2
⎛ ∂z ⎞ ⎛ ∂z ⎞ ⎛ ∂z ⎞
Bzz = ⎜ ⎟ +⎜ ⎟ +⎜ ⎟ =1,
⎝ ∂X ⎠ ⎝ ∂Y ⎠ ⎝ ∂Z ⎠
⎛ ∂r ⎞⎛ r ∂θ ⎞ ⎛ ∂r ⎞⎛ r ∂θ ⎞ ⎛ ∂r ⎞⎛ r ∂θ ⎞
Brθ = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟=0,
⎝ ∂X ⎠⎝ ∂X ⎠ ⎝ ∂Y ⎠⎝ ∂Y ⎠ ⎝ ∂Z ⎠⎝ ∂Z ⎠
⎛ ∂r ⎞ ⎛ ∂z ⎞ ⎛ ∂r ⎞ ⎛ ∂z ⎞ ⎛ ∂r ⎞ ⎛ ∂z ⎞
Brz = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ = 0,
⎝ ∂X ⎠ ⎝ ∂X ⎠ ⎝ ∂Y ⎠ ⎝ ∂Y ⎠ ⎝ ∂Z ⎠ ⎝ ∂Z ⎠
⎛ r ∂θ ⎞ ⎛ ∂z ⎞ ⎛ r ∂θ ⎞⎛ ∂z ⎞ ⎛ r ∂θ ⎞ ⎛ ∂z ⎞
Bθ z = ⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟+⎜ ⎟⎜ ⎟ = 0.
⎝ ∂X ⎠ ⎝ ∂X ⎠ ⎝ ∂Y ⎠⎝ ∂Y ⎠ ⎝ ∂Z ⎠ ⎝ ∂Z ⎠
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⎡( a / r ) 2 0 0⎤
⎢ ⎥
Thus, [ B ] = ⎢ ( r / a ) 0⎥⎥ .
2
0
⎢
⎢ 0 0 1⎥
⎣ ⎦
(b) det B = 1 =1, thus, there is no change of volume.
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