Chapter 1. Tensor Algebra

Continuum Mechanics
Chapter 1
Introduction to Vectors and Tensors
C. Agelet de Saracibar
ETS Ingenieros de Caminos, Canales y Puertos, Universidad Politcnica de Catalua (UPC), Barcelona, Spain
International Center for Numerical Methods in Engineering (CIMNE), Barcelona, Spain
Introduction to Vectors and Tensors > Contents
Contents
Contents
1.
2.
3.
4.
5.
6.
Introduction
Algebra of vectors
Algebra of tensors
Higher order tensors
Differential operators
Integral theorems
October 20, 2012
Carlos Agelet de Saracibar
Introduction to Vectors and Tensors > Introduction
Introduction
Tensors
Continuum mechanics deals with physical properties of
materials, such as solids, liquids, gases or intermediate states,
which are independent of any particular coordinate system in
which they are observed.
Those physical properties are mathematically represented by
tensors.
Tensors are mathematical objects which have the required

property of being independent of any particular coordinate
system.
October 20, 2012
Introduction to Vectors and Tensors > Introduction
Introduction
Tensors
According to their tensorial order, tensors may be classified as:
Zero-order tensors: scalars, i.e. density, temperature, pressure
First-order tensors: vectors, i.e. velocity, acceleration, force
Second-order tensors, i.e. stress, strain
Third-order tensors, i.e. permutation
Fourth-order tensors, i.e. elastic constitutive tensor
First- and higher-order tensors may be expressed in terms of
their components in a given coordinate system.
October 20, 2012
Introduction to Vectors and Tensors > Algebra of Vectors
Algebra of Vectors
Scalar
A physical quantity, completely described by a single real
number, such as the temperature, density or pressure, is called a
scalar and is designated by , , .
A scalar may be viewed as a zero-order tensor.
Vector
A vector is a directed line element in space. A model for physical
quantities having both direction and length, such as velocity,
acceleration or force, is called a vector and is designated by
u, v, w.
A vector may be viewed as a first-order tensor.
October 20, 2012
Algebra of Vectors
Sum of Vectors
The sum of vectors yields a new vector, based on the parallelogram law of addition.
The sum of vectors has the following properties,
u v vu
u v w u v w
u0u
u u 0
where 0 denotes the unique zero vector with unspecified
direction and zero length.
October 20, 2012
Algebra of Vectors
Scalar Multiplication
Let u be a vector and be a scalar. The scalar multiplication u
gives a new vector with the same direction as u if 0 or with
the opposite direction to u if 0.
The scalar multiplication has the following properties,
u u
u u u
u v u v
October 20, 2012
Algebra of Vectors
Dot Product
The dot (or scalar or inner) product of two vectors u and v,
denoted by u v, is a scalar given by,
u v u v cos u, v , 0 u, v
where u is the norm (or length or magnitude) of the vector u,
which is a non-negative real number defined as,
u u u
12
and u, v is the angle between the non-zero vectors u and v

when their origins coincide.
October 20, 2012
Algebra of Vectors
Dot Product
The dot (or scalar or inner) product of vectors has the following
properties,
u v v u
u0 0
u v w u v u w
u u 0 u 0
u u 0 u 0
u v 0, u 0, v 0 u v
October 20, 2012
Algebra of Vectors
Unit Vectors
A vector e is called a unit vector if its norm (or lenght or
magnitude) is equal to 1,
e 1
Orthogonal Vectors
A non-zero vector u is said to be orthogonal (or perpendicular)
to a non-zero vector v if,
u v 0, u 0, v 0 u, v 2 u v
October 20, 2012
10
Algebra of Vectors
Projection
The projection of a vector u along the direction of a unit vector e
is defined as,
u e u cos u, e , 0 u, e
October 20, 2012
11
Algebra of Vectors
Cartesian Basis
Let us consider a three-dimensional Euclidean space with a fixed
set of three right-handed orthonormal basis vectors e1 , e 2 , e3 ,
denoted as Cartesian basis, satisfying the following properties,
x3 ,
e1 e 2 e1 e3 e 2 e3 0
e3
O
e1
e2
x2 ,
e1 e 2 e3 1
x1 ,
A fixed set of three unit vectors which are mutually orthogonal

form a so called orthonormal basis vectors, collectively denoted
as ei , and define an orthonormal system.
October 20, 2012
12
Algebra of Vectors
Cartesian Components
Any vector u in the three-dimensional Euclidean space is
represented uniquely by a linear combination of the basis
vectors e1 , e 2 , e3 , i.e.
u u1e1 u2e 2 u3e3

where the three real numbers u1 , u2 , u3 are the uniquely
determined Cartesian components of vector u along the given
directions e1 , e2 , e3, respectively.
Using matrix notation, the Cartesian components of the vector u
can be collected into a vector of components u 3 given by,
u u1
October 20, 2012
u2
u3
13
Algebra of Vectors
Index Notation
Using index notation the vector u can be written as,
u i 1 ui ei
3
or in short form, leaving out the summation symbol, simply as
u ui ei
where we have adopted the summation convention introduced
by Einstein.
The index that is summed over is said to be a dummy (or
summation) index. An index that is not summed over in a given
term is called a free (or live) index.
October 20, 2012
14
Algebra of Vectors
Kronecker Delta
The Kronecker delta ij is defined as,
1 if i j
ij
0 if i j
The Kronecker delta satisfies the following properties,
ii 3, ij jk ik , ij u j ui
Note that the Kronecker delta also serves as a replacement
operator.
October 20, 2012
15
Algebra of Vectors
Dot Product
The dot (or scalar or inner) product of two orthonormal basis
vectors ei and e j , denoted as ei e j , is a scalar quantity and can
be conveniently written in terms of the Kronecker delta as,
ei e j ij
October 20, 2012
16
Algebra of Vectors
Components of a Vector
Taking the basis ei , the projection of a vector u onto the basis
vector ei yields the i-th component of u ,
u ei u j e j ei u j ji ui
October 20, 2012
17
Algebra of Vectors
Dot Product
Taking the basis ei , the dot (or scalar or inner) product of two
vectors u and v, denoted as u v , is a scalar quantity and using
index notation can be written as,
u v ui ei v j e j ui v j ei e j ui v j ij ui vi
u1v1 u2 v2 u3v3
October 20, 2012
18
Algebra of Vectors
Euclidean Norm
Taking the basis ei , the Euclidean norm (or length or
magnitude) of a vector u, denoted as u , is a scalar quantity
and using index notation can be written as,
u u u
12
ui ei u j e j
12
u u u
2
1
October 20, 2012
2
2
ui u j ij
12
ui ui
12
2 12
3
19
Assignment 1.1
Assignment 1.1
Write in index form the following expressions,
v a b c
v a b c
v a b c d
v a b c c d
October 20, 2012
20
Assignment 1.1
Assignment 1.1
Write in index form the following expressions,
v a b c a j b j ci ei vi ei , vi a j b j ci
v a b c ai b j c j ei vi ei , vi ai b j c j
v a b c d ai bi c j d j , v ai bi c j d j
v a b c c d ai b j c j ck d k ei vi ei , vi ai b j c j ck d k
October 20, 2012
21
Algebra of Vectors
Cross Product
The cross (or vector) product of two vectors u and v , denoted
as u v, is another vector which is perpendicular to the plane
defined by the two vectors and its norm (or length) is given by
the area of the parallelogram spanned by the two vectors,
u v u v sin u, v e, 0 u, v
where e is a unit vector perpendicular to the plane defined by
the two vectors, u e 0, v e 0, in the direction given by the
right-hand rule,
.
October 20, 2012
22
Algebra of Vectors
Norm of the Cross Product of two Vectors
The norm (or magnitude or length) of the cross (or vector)
product of two vectors u and v, denoted as u v , measures
the area spanned by the two vectors and is given by,
u v u v sin u, v , 0 u, v
u v
v
u v
u
October 20, 2012
23
Algebra of Vectors
Permutation Symbol
The permutation (or alternating or Levi-Civita) symbol ijk is
defined as,
ijk
October 20, 2012
1 if
1 if
0 if
ijk 123, 231 or 312

ijk 213, 132 or 321
there is a repeated index
24
Algebra of Vectors
Permutation Symbol
The permutation (or alternating or Levi-Civita) symbol ijk may
be written in terms of the Kronecker delta and the following
expressions hold,
ijk
ip
i1 i 2 i 3
det j1 j 2 j 3 , ijk pqr det jp

kp
k 1 k 2 k 3
iq ir
jq jr
kq kr
ijp pqk ip jq iq jp , ijk pjk 2 ip , ijk ijk 2 ii 6
October 20, 2012
25
Algebra of Vectors
Cross Product
Taking the right-handed orthonormal basis ei , the cross (or
vector) product of two basis vectors ei and e j , denoted as ei e j ,
is defined as,
ei e j ijk e k
The cross (or vector) product of two right-handed orthonormal

basis vectors satisfies the following properties,
e1 e 2 e3 , e 2 e3 e1 , e3 e1 e 2 ,
e 2 e1 e3 , e3 e 2 e1 , e1 e3 e 2 ,
e1 e1 e 2 e 2 e3 e3 0.
October 20, 2012
26
Algebra of Vectors
Cross Product
Taking the basis ei , the cross (or vector) product of two
vectors u and v, denoted as u v , is another vector and can be
written in index form as,
u v ui ei v j e j ui v j ei e j ui v j ijk e k ijk ui v j e k
u2 v3 u3v2 e1 u3v1 u1v3 e2 u1v2 u2v1 e3
e1 e 2
det u1 u2
v1 v2
October 20, 2012
e3
u3
v3
27
Algebra of Vectors
Cross Product
The cross (or vector) product of vectors has the following
properties,
u v v u
u v 0, u 0, v 0 u || v
u v u v u v
uv w u v u w
October 20, 2012
28
Assignment 1.2
Assignment 1.2
Using the expression,
u v u
2
v sin 2 u, v , 0 u, v
2
obtain the following relationships between the permutation

symbol and the Kronecker delta,
ijp klp ik jl il jk , ipq jpq 2 ij , ijk ijk 2 ii 6
October 20, 2012
29
Algebra of Vectors
Box Product
The box (or triple scalar) product of the three right-handed
orthonormal basis vectors ei , e j , e k , denoted as ei e j e k , is a
scalar quantity and can be conveniently written in terms of the
permutation symbol as,
ei e j e k ei e j e k ijk
ikj ei e k e j ei e k e j
October 20, 2012
32
Algebra of Vectors
Box Product
Taking the orthonormal basis ei , the box (or triple scalar)
product of three vectors u, v, w , denoted as u v w , is a
scalar quantity and using index notation can be written as,
u v w ui ei v j e j wk e k ui v j wk ei e j e k
ijk ui v j wk
u1
det v1
w1
October 20, 2012
u2
v2
w2
u3
v3
w3
33
Algebra of Vectors
Box Product
The box (or triple scalar) product of three vectors u, v, w
represents the volume of the parallelepiped spanned by the
three vectors forming a right-handed triad,
V u v w
vw
u
V u v w
w
v
October 20, 2012
34
Algebra of Vectors
Box Product
The box (or triple scalar) product has the following properties,
u v w w u v v w u
u v w u w v
u u v v u v 0
October 20, 2012
35
Algebra of Vectors
Triple Vector Product
Taking the orthonormal basis ei , the triple vector product of
three vectors u, v, w , denoted as u v w , is a vector and
using index notation can be written as,
u v w ijk ui pqj v p wq e k kij pqj ui v p wq e k

kp iq kq ip ui v p wq ek
ui vk wi e k ui vi wk ek
u w v u v w
October 20, 2012
36
Algebra of Vectors
Taking the orthonomal basis ei , the triple vector product of
three vectors u, v, w , denoted as u v w , is a vector and
using index notation can be written as,
u v w ijk pqi u p vq w j ek jki pqi u p vq w j ek

jp kq jq kp u p vq w j ek
u j w j vk e k v j w j uk ek
u w v v w u
October 20, 2012
37
Algebra of Vectors
The triple vector product has the following properties,
u v w u w v u v w
u v w u w v v w u
u v w u v w
October 20, 2012
38
Introduction to Vectors and Tensors > Algebra of Tensors
Algebra of Tensors
Second-order Tensors
A second-order tensor A may be thought of as a linear operator
that acts on a vector u generating a vector v , defining a linear
transformation that assigns a vector v to a vector u,
v Au
The second-order unit tensor, denoted as 1 , satisfies the
following identity,
u 1u
October 20, 2012
39
Algebra of Tensors
As linear operators defining linear transformations, secondorder tensors have the following properties,
A u v Au Av
A u Au
A B u Au Bu
October 20, 2012
40
Algebra of Tensors
Tensor Product
The tensor product (or dyad) of two vectors u and v, denoted
as u v, is a second-order tensor which linearly transforms a
vector w into a vector with the direction of u following the rule,
u v w u v w v w u
A dyadic is a linear combination of dyads.
October 20, 2012
41
Algebra of Tensors
Tensor Product
The tensor product (or dyad) has the following linear properties,
u v w x u v w u v x
u v w u w v w
u v w v w u u v w
u v w x v w u x u x v w
A u v Au v
Generally, the tensor product (or dyad) is not commutative, i.e.
u v v u
u v w x w x u v
October 20, 2012
42
Algebra of Tensors
Tensor Product
The tensor product (or dyad) of two orthonormal basis vectors ei
and e j , denoted as ei e j , is a second-order tensor and can be
thought as a linear operator such that,
e e e
i
October 20, 2012
jk ei
43
Algebra of Tensors
Any second-order tensor A may be represented by a linear
combination of dyads formed by the Cartesian basis ei
A Aij ei e j
where the nine real numbers, represented by Aij , are the
uniquely determined Cartesian components of the tensor A
with respect to the dyads formed by the Cartesian basis ei ,
represented by ei e j , which constitute a basis second-order
tensor for A .
The second-order unit tensor may be written as,
1 ij ei e j ei ei
October 20, 2012
44
Algebra of Tensors
Cartesian Components
The ij-th Cartesian component of the second-order tensor A ,
denoted as Aij , can be written as,
ei Ae j ei Akl e k el e j ei Akl lj e k
ei Akj e k Akj ei e k Akj ik Aij
The ij-th Cartesian component of the second-order unit tensor 1
is the Kronecker delta,
ei 1e j ei e j ij
October 20, 2012
45
Algebra of Tensors
Matrix of Components
Using matrix notation, the Cartesian components of any secondorder tensor A may be collected into a 3 x 3 matrix of components, denoted by A , given by,
A11
A
A
21
A31
October 20, 2012
A12
A22
A32
A13
A23
A33
46
Algebra of Tensors
Using matrix notation, the Cartesian components of the secondorder unit tensor 1 may be collected into a 3 x 3 matrix of
components, denoted as 1, given by,
1 0 0
1 0 1 0
0 0 1
October 20, 2012
47
Algebra of Tensors
The tensor product (or dyad) of the vectors u and v, denoted as
u v , may be represented by a linear combination of dyads
formed by the Cartesian basis ei
u v ui v j ei e j
where the nine real numbers, represented by ui v j , are the
uniquely determined Cartesian components of the tensor u v
with respect to the dyads formed by the Cartesian basis ei ,
represented by ei e j .
October 20, 2012
48
Algebra of Tensors
Using matrix notation, the Cartesian components of any secondorder tensor u v may be collected into a 3 x 3 matrix of
components, denoted as u v , given by,
u1v1 u1v2
u v u2v1 u2v2
u3v1 u3v2
October 20, 2012
u1v3
u2 v3
u3v3
49
Algebra of Tensors
Using index notation, the linear transformation v Au can be
written as,
v Au Aij ei e j uk e k Aij uk ei e j e k Aij uk jk ei

Aij u j ei vi ei
yielding
v Au, vi Aij u j
October 20, 2012
50
Algebra of Tensors
Positive Semi-definite Second-order Tensor
A second-order tensor A is said to be a positive semi-definite
tensor if the following relation holds for any non-zero vector u 0
u Au 0 u 0
Positive Definite Second-order Tensor

A second-order tensor A is said to be a positive-definite tensor
if the following relation holds for any non-zero vector u 0
u Au 0 u 0
October 20, 2012
51
Algebra of Tensors
Transpose of a Second-order Tensor
The unique transpose of a second-order tensor A , denoted as AT ,
is governed by the identity,
v AT u u Av u, v
vi AijT u j vi A ji u j u j A ji vi
u j , vi
The Cartesian components of the transpose of a a second-order

tensor A satisfy,
AijT : AT ei AT e j e j Aei Aji

ij
Using index notation the transpose of A may be written as,
AT Aji ei e j
October 20, 2012
52
Algebra of Tensors
Transpose of a Second-order Tensor
The matrix of components of the transpose of a second-order
tensor A is equal to the transpose of the matrix of components
of A and takes the form,
A A
T
October 20, 2012
A11
A12
A13
A21
A22
A23
A31
A32
A33
53
Algebra of Tensors
Symmetric Second-order Tensor
A second-order tensor A is said to be symmetric if the following
relation holds,
A AT
Using index notation, the Cartesian components of a symmetric
second-order tensor A satisfy,
A Aij ei e j Aji ei e j AT ,
Aij Aji
Using matrix notation, the matrix of components of a symmetric

second-order tensor A satisfies,
A A
October 20, 2012
54
Algebra of Tensors
Dot Product
The dot product of two second-order tensors A and B, denoted
as AB , is a second-order tensor such that,
AB u A Bu
October 20, 2012
55
Algebra of Tensors
Dot Product
The components of the dot product AB along an orthonormal
basis ei read,
AB ij ei AB e j ei A Be j
ei A Bkj e k ei Ae k Bkj
Aik Bkj
October 20, 2012
56
Algebra of Tensors
Dot Product
The dot product of second-order tensors has the following
properties,
AB C A BC ABC
A 2 AA
AB BA
October 20, 2012
57
Algebra of Tensors
Trace
The trace of a dyad u v, denoted as tr u v , is a scalar
quantity given by,
tr u v u v ui vi
The trace of a second-order tensor A , denoted as tr A , is a scalar
quantity given by,
tr A tr Aij ei e j Aij tr ei e j
Aij ei e j Aij ij
Aii
A11 A22 A33 tr A

October 20, 2012
58
Algebra of Tensors
Trace
The trace of a second-order tensor has the following properties,
tr A tr AT
tr AB tr BA
tr A B tr A tr B
tr A tr A
October 20, 2012
60
Algebra of Tensors
Double Dot Product
The double dot product of two second-order tensors A and B ,
denoted as A : B , is defined as,
A : B tr AT B tr BT A
tr ABT tr BAT
B:A
or using index notation,
A : B Aij Bij Bij Aij B : A
October 20, 2012
61
Algebra of Tensors
Double Dot Product
The double dot product has the following properties,
A : 1 1 : A tr A
A:B B:A
A : BC BT A : C ACT : B
A : u v u Av u v : A
u v : w x u w v x
ei e j : ek el ei ek e j el ik jl
October 20, 2012
62
Algebra of Tensors
Euclidean Norm
The euclidean norm of a second-order tensor A is a nonnegative scalar quantity, denoted as A , given by,
A A : A
12
October 20, 2012
Aij Aij
12
63
Algebra of Tensors
Determinant
The determinant of a second-order tensor A is a scalar quantity,
denoted as det A , given by,
det A det A
A11
det A21
A31
A13
A22 A23
A32 A33
1
ijk A1i A2 j A3k ijk pqr Api Aqj Ark
6
October 20, 2012
A12
64
Algebra of Tensors
Determinant
The determinant of a second-order tensor has the following
properties,
det AT det A
det A 3 det A
det AB det A det B
October 20, 2012
65
Algebra of Tensors
Singular Tensors
A second-order tensor A is said to be singular if and only if its
determinant is equal to zero, i.e.
A is singular det A 0
October 20, 2012
66
Algebra of Tensors
Inverse of a Second-order Tensor
For a non-singular second-order tensor A , i.e. det A 0, there
exist a unique non-singular inverse second-order tensor,
denoted as A 1 , satisfying,
1
1
AA
u
A
A u 1u u u
yielding,
AA 1 A 1A 1,
October 20, 2012
Aik Akj1 Aik1 Akj ij
67
Algebra of Tensors
Inverse of a Second-order Tensor
The inverse second-order tensor satisfies the following
properties,
A
A
1 1
A
A
1 T
A T
A 1A 1
1
1 1
AB
B
A

1
A 2 A 1A 1
det A det A
1
October 20, 2012
68
Algebra of Tensors
Orthogonal Second Order Tensor
An orthogonal second-order tensor Q is a linear operator that
preserves the norms and the angles given by two vectors,
Qu u Q Qu
T
12
u u
12
Qu Qv u QT Qv u v
u, v
T
Qv Qu v Q Qu v u
and the following relations hold,
QT Q QQT 1, Q1 QT , det Q 1
October 20, 2012
69
Algebra of Tensors
Rotation Second Order Tensor
A rotation tensor R is a proper orthogonal second-order tensor,
i.e., is a linear operator that preserves the lengths (norms) and
the angles given by two vectors,
Ru u R Ru
T
12
u u
12
Ru Rv u R T Rv u v
u, v
T
Rv Ru v R Ru v u
and satisfies the following expressions,
R T R RRT 1, R 1 R T , det R 1
October 20, 2012
70
Algebra of Tensors
Symmetric/Skew-symmetric Additive Split
A second-order tensor A can be uniquely additively split into a
symmetric second-order tensor S and a skew-symmetric
second-order tensor W, such that,
A S W,
AA S
October 20, 2012
A A W
2
T
Aij Sij Wij

A
Aji S ji
Aji W ji
Sij
, Wij
ij
ij
71
Algebra of Tensors
Symmetric/Skew-symmetric Second-order Tensors
The matrices of components of a symmetric second-order
tensor S and a skew-symmetric second-order tensor W, are
given by,
S11
S S12
S13
October 20, 2012
S12
S 22
S 23
S13
S 23 ,
S33
W W12
W13
W12
0
W23
W13
W23
0
72
Algebra of Tensors
Skew-symmetric Second-order Tensor
A skew-symmetric second-order tensor W can be defined by
means of an axial (or dual) vector , such that,
Wu u u
W 2
and using index notation the following relations hold,
W Wij ei e j ijk k ei e j , Wij ijk k

1
k e k ijkWij ek ,
2
October 20, 2012
k ijkWij
2
73
Algebra of Tensors
Skew-symmetric Second-order Tensor
Using matrix notation and index notation the following relations
hold,
0
W
W
12
W13
1 ,
W12
0
W23
W13 0
W23 3
0 2
3
0
2
1
0
2 , 3 W23 , W13 , W12

T
W 2 W122 W132 W232 2 12 32 32 2

October 20, 2012
74
Algebra of Tensors
Spherical Second-order Tensor
A second-order tensor A is said to be spherical if the following
relations hold,
A 1,
tr A tr 1 3 ,
Aij ij
Aii ii 3
0 0
0 0
A
0 0
October 20, 2012
75
Algebra of Tensors
Deviatoric Second-order Tensor
A second-order tensor A is said to be deviatoric if the following
condition holds,
tr A 0,
October 20, 2012
Aii 0
76
Algebra of Tensors
Spherical/Deviatoric Additive Split
A second-order tensor A can be uniquely additively split into a
spherical second-order tensor A esf and a deviatoric secondorder tensor dev A, such that,
A A esf dev A,
A
esf
1
3
tr A 1,
dev A A
October 20, 2012
1
3
Aij Aijesf dev A ij

esf
ij
Akk ij
3
tr A 1, dev Aij Aij
1
3
Akk ij
77
Algebra of Tensors
Eigenvalues/Eigenvectors
Given a symmetric second-order tensor A , its eigenvalues
i and associated eigenvectors ni , which define an
orthonormal basis along the principal directions, satisfy the
following equation (Einstein notation does not applies here),
Ani i ni ,
A i 1 ni 0
In order to get a non-trivial solution, the tensor A i 1 has to

be singular, i.e., its determinant, defining the characteristic
polynomial, has to be equal to zero, yielding,
p i det A i 1 0
October 20, 2012
78
Algebra of Tensors
Given a symmetric second-order tensor A , its eigenvalues
i and associated eigenvectors n i , which define an
orthonormal basis along the principal directions, characterize
the physical nature of the tensor.
The eigenvalues do not depend on the particular orthonormal
basis chosen to define the components of the tensor and,
therefore, the solution of the characteristic polynomial do not
depends on the system of reference in which the components of
the tensor are given.
October 20, 2012
79
Algebra of Tensors
Characteristic Polynomial and Principal Invariants
The characteristic polynomial of a second-order tensor A takes
the form,
p i det A i 1 3 I1 2 I 2 I 3 0
where the coefficients of the polynomial are the principal scalar
invariants of the tensor (invariants in front of an arbitrary
rotation of the orthonormal basis) given by,
I1 A tr A 1 2 3
I2 A
1
2
2
2
tr
A
tr
A
12 23 31
I 3 A det A 12 3
October 20, 2012
80
Algebra of Tensors
Given a deviatoric part of a symmetric second-order tensor
dev A , its eigenvalues i and asociated eigenvectors ni ,
which define an orthonormal basis along the principal directions,
satisfy the following equation (Einstein notation does not applies
here),
dev Ani ini ,
dev A i1 ni 0
In order to get a non-trivial solution, the tensor dev A i1 has

to be singular, i.e., its determinant, defining the characteristic
polynomial, has to be equal to zero, yielding,
p i det dev A i1 0
October 20, 2012
81
Algebra of Tensors
Characteristic Polynomial and Principal Invariants
The characteristic polynomial of the deviatoric part of a secondorder tensor dev A takes the form,
p i det dev A i1 3 I1 2 I 2 I 3 0
where the coefficients of the polynomial are the pincipal scalar
invariants of the deviatoric part of the tensor (invariants in front
of an arbitrary rotation of the orthonormal basis) given by,
I1 dev A tr dev A 0
I 2 dev A tr dev A 2
1
11 22 33
I 3 dev A det dev A 123

October 20, 2012
82
Algebra of Tensors
The eigenvalues/eigenvectors problem for a symmetric secondorder tensor A and its the deviatoric part dev A satisfy the
following relations (Einstein notation does not applies here),
Ani i ni ,
dev Ani ini ,
Then,
A i 1 ni 0
dev A i1 ni 0
dev A i1 ni A i tr A 1 ni 0
3
yielding,
i i
October 20, 2012
1
3
tr A ,
ni ni
83
Algebra of Tensors
Spectral Decomposition
The spectral decomposition of the secod-order unit tensor takes
the form,
1 ij ei e j ei ei
For a second-order unit tensor, all three eigenvalues are equal to
one, 1 2 3 1, and any direction is a principal direction.
Then we may take any orthonormal basis as principal directions
and the spectral decomposition can be written,
1 i1,3 ni ni ni ni
October 20, 2012
84
Algebra of Tensors
Spectral Decomposition
The spectral decomposition of a symmetric second-order tensor A
takes the form (Einstein notation does not applies here),
A i 1,3 i ni ni
If there are two equal eigenvalues 1 2 , the spectral
decomposition takes the form,
A 1 n3 n 3 3n 3 n 3
If the three eigenvalues are equal 1 2 3 , the spectral
decomposition takes the form,
A 1 i 1,3 ni ni ni ni
October 20, 2012
85
Introduction to Vectors and Tensors > Higher-order Tensors
Third-order Tensors
Third-order Tensors
A third-order tensor, denoted as , may be written as a linear
combination of tensor products of three orthonormal basis
vectors, denoted as ei e j e k , such that,
i 1 j 1 k 1
3
e e j ek
ijk i
e e j ek
ijk i
A third-order tensor has 33 27 components.
October 20, 2012
86
Fourth-order Tensors
A fourth-order tensor, denoted as , may be written as a linear
combination of tensor products of four orthonormal basis
vectors, denoted as ei e j e k el , such that,
i 1 j 1 k 1 l 1
3
e e j e k el
ijkl i
e e j e k el
ijkl i
A fourth-order tensor has 34 81 components.
October 20, 2012
87
Double Dot Product with Second-order Tensors
The double dot product of a fourth-order tensor with a
second-order tensor A is another second-order tensor B given
by,
October 20, 2012
:A
ijkl
Akl ei e j Bij ei e j , Bij
ijkl
Akl
88
Transpose of a Fourth-order Tensor
The transpose of a fourth-order tensor is uniquely defined as
a fourth-order tensor T such that for arbitrary second-order
tensors A and B the following relationship holds,
A: :B B:
: A,
Aij
ijkl Bkl Bkl
T
klij
Aij ,
T
ijkl
The transpose of the transpose of a fourth-order tensor

the same fourth-order tensor ,
T T
October 20, 2012
klij
is
89
Tensor Product of two Second-order Tensors
The tensor product of two second-order tensors A and B is a
fourth order tensor given by,
A B Aij Bkl ei e j e k el
ijkl
e e j e k el ,
ijkl i
A B ijkl Aij Bkl
The transpose of the fourth-order tensor

T
A B B A Bij Akl ei e j e k el
T
T
ijkl
October 20, 2012
A B is given by,
e e j e k el ,
T
ijkl i
A B ijkl B A ijkl Bij Akl

T
90
Fourth-order Identity Tensors
Let us consider the following fourth-order identity tensors,
ik jl ei e j e k el
il jk ei e j e k el
1
2
October 20, 2012
1
2 ik jl il jk ei e j ek el
91
The fourth-order identity tensor
expressions,
satisfies the following
: A ik jl Akl ei e j Aij ei e j A,
A : Aij ik jl e k el Akl e k el A
is symmetric, satisfying,
A : : B A : B B : A B : : A

T
A: :B B: :A
October 20, 2012
92
expressions,
satisfies the following
: A il jk Akl ei e j Aji ei e j AT
A : Aij il jk Akl e k el Alk e k el AT
is symmetric, satisfying,
A : : B A : BT B : A T B : : A

T
A: :B B: :A
October 20, 2012
93
The fourth-order identity tensor satisfies the following
expressions,
: A 1 : A 1 A AT
2
2
1
1
A : A : A AT
2
2
The fourth-order identity tensor is symmetric, satisfying,
1
1
A : : B A : B B B : A AT B : : A
T
2
2
A : : B B : T : A
October 20, 2012
94
Fourth-order Deviatoric Projection Operator Tensor
The fourth-order deviatoric projection operator tensor
defined as,
1
dev
1 1,
3
dev ijkl
dev
is
ik jl ij kl
3
The deviatoric part of a second-order tensor A can be obtained

as,
1
1
dev A dev : A 1 1 : A A tr A 1,
3
3
dev A ij
October 20, 2012
dev ijkl
1
1
Akl ik jl ij kl Akl Aij Akk ij

3
3
95
Introduction to Vectors and Tensors > Differential Operators
Differential Operators
Nabla
The nabla vector differential operator, denoted as , is defined
as,
i 1,3
ei
xi
Using Einstein notation,
ei
xi
October 20, 2012
96
Laplacian
The laplacian scalar differential operator, denoted as , is
defined as,
2
2
xi
Hessian
The hessian symmetric second-order tensor differential
operator, denoted as , is defined as,
2

ei e j
xi x j
October 20, 2012
97
Divergence, Curl and Gradient
The divergence differential operator div () is defined as,
div
xi
The curl differential operator curl () is defined as,
curl ei
xi
The gradient differential operator grad () is defined as,
grad
October 20, 2012
xi
xi
i
98
Laplacian
The laplacian scalar differential operator can be expressed as the
div (grad ()) operator,
2
2 div grad
xi
Hessian
The hessian symmetric second order-tensor differential operator
can be expressed as the grad (grad ()) operator,

October 20, 2012
xi x j
e j grad grad
99
Gradient of a Scalar Field
grad
xi
xi
The gradient of a scalar field is a vector field defined as,
grad
ei ,i ei
xi
October 20, 2012
100
Laplacian of a Scalar Field
The laplacian differential operator
is defined as,
2
xi2
The laplacian of a scalar field is a scalar field defined as,
2
2 ,ii
xi
October 20, 2012
101
Hessian of a Scalar Field
The hessian differential operator
xi x j
is defined as,
ei e j
The hessian of a scalar field is a symmetric second-order tensor

field defined as,
2

ei e j ,ij ei e j
xi x j
October 20, 2012
102
Gradient of a Vector Field
grad
xi
xi
The gradient of a vector field is a second-order tensor field

defined as,
ui
u
grad u u
ej
ei e j ui , j ei e j
x j
x j
October 20, 2012
103
Curl of a Vector Field
curl ei
xi
The curl of a vector field is a vector field defined as,
uk
uk
u
curl u u e j
ej
e k ijk
ei ijk uk , j ei
x j
x j
x j
If the curl of a vector field is zero, the vector field is said to be
curl-free and there is a scalar field such that,
curl u 0 | u grad
October 20, 2012
104
Curl of the Gradient of a Scalar Field
The curl differential operator curl () and gradient differential
operator grad () are defined, respectively, as,
curl ei
xi
grad
xi
The gradient of a scalar field is a vector field defined as,
grad
ei ,i ei
xi
The curl of the gradient of a vector field is a null vector,
curl grad ijk,kj ei 0

October 20, 2012
105
Divergence of a Vector Field
div
xi
The divergence of a vector field is a scalar field defined as,
ui
ui
ui
u
div u u
e j
ei e j
ij
ui ,i
x j
x j
x j
xi
If the divergence of a vector field is zero, the vector field is said
to be solenoidal or div-free and there is a vector field such that,
div u 0 v | u curl v
October 20, 2012
106
Divergence of the Curl of a Vector Field
The divergence differential operator div () and curl differential
operator curl () are, respectively, defined as,
div
xi
e ,
i
curl ei
xi
The curl of a vector field is a vector field defined as,
uk
uk
u
curl u u e j
ej
e k ijk
ei ijk uk , j ei
x j
x j
x j
The divergence of a curl of a vector field is a null scalar,
div curl u u ijk uk , ji 0

October 20, 2012
107
Laplacian of a Vector Field
The laplacian differential operator
is defined as,
2
xi2
The laplacian of a vector field is a vector field defined as,
2ui
u u 2 ei ui , jj ei
x j
October 20, 2012
108
Divergence of a Second Order Tensor Field
div
xi
The divergence of a second-order tensor field is a vector field

defined as,
div A A
Aik
Aik
A
e j
ei e k e j
kj ei
x j
x j
x j
October 20, 2012
Aij
x j
ei Aij , j ei
109
Curl of a Second-order Tensor Field
curl ei
xi
The curl of a second-order tensor field is a second-order tensor

field defined as,
curl A A
Akj
A
el
el
ek e j
xl
xl
lki
October 20, 2012
Akj
xl
ei e j lki Akj ,l ei e j
110
Gradient of a Second-order Tensor Field
grad
xi
xi
The gradient of a second-order tensor field is a third-order

tensor field defined as,
grad A A
ek
xk
October 20, 2012
Aij
xk
ei e j e k Aij ,k ei e j e k
111
Assignments
Assignment 1.3
Establish the following identities involving a smooth scalar field

and a smooth vector field v,
October 20, 2012
(1)
div v div v v grad
(2)
grad v v grad grad v
112
Assignments
Assignment 1.3
Establish the following identities involving a smooth scalar field

and a smooth vector field v,
(1)
(1)
div v div v v grad
(2)
div v div v v grad

div v vi ,i vi ,i vi,i div v v grad
(2)
grad v v
ij
October 20, 2012
i ,j
vi, j vi , j v grad ij grad v ij

113
Assignments
Assignment 1.4 [Classwork]
Establish the following identities involving the smooth scalar
fields and , smooth vector fields u and v , and a smooth
second order tensor field A,
(1)
October 20, 2012
div A div A A grad
(2)
div AT v div A v A : grad v
(3)
div u v v curl u u curl v
(4)
div u v grad u v u div v
(5)
grad grad grad

114
Assignments
fields and , smooth vector fields u and v , and a smooth
second order tensor field A,
(1)
div A div A A grad
div A A
i
(2)
ij , j
Aij , j Aij, j div A i A grad i
div AT v div A v A : grad v

div AT v Aji v j Aji ,i v j Aji v j ,i div A v A : grad v
,i
October 20, 2012
115
Assignments
(3)
div u v v curl u u curl v
div u v ijk u j vk ijk u j ,i vk ijk u j vk ,i

,i
vk kij u j ,i u j jik vk ,i v curl u u curl v
div u v grad u v u div v
(4)
div u v u v
i
(5)
j ,j
ui , j v j ui v j , j grad u v i ui div v
grad grad grad
grad
i
October 20, 2012
,i
,i ,i grad i grad i
116
Assignments
Assignment 1.5 [Homework]
field , and smooth vector fields u and v ,
(1)
grad u v gradT u v gradT v u
(2)
curl v grad v curl v
(3) curl u v u div v v div u grad u v grad v u

(4) v grad div v curl curl v
(5) u v u v 2 grad u : grad v u v
October 20, 2012
117
Assignments
Assignment 1.5 [Homework]
field , and smooth vector fields u and v ,
(1)
grad u v gradT u v gradT v u
grad u v i u j v j u j ,i v j u j v j ,i
,i
grad u ji v j grad v ji u j
gradT u v j gradT v u j
ij
ij
gradT u v gradT v u
October 20, 2012
118
Assignments
(2)
curl v grad v curl v
curl v
ijk vk , j ijk, j vk ijk vk , j

grad v curl v i
(3) curl u v u div v v div u grad u v grad v u
curl u v
ijk u v k , j ijk klmul vm , j

ijk klmul , j vm ijk klmul vm , j
il jm im jl ul , j vm il jm im jl ul vm , j
ui , j v j u j , j vi ui v j , j u j vi , j
October 20, 2012
grad u v i vi div u ui div v grad v u i

119
Assignments
(4) v grad div v curl curl v
v i vi vi , jj , grad div v i v j , ji
curl curl v i ijk curl v k , j ijk klm vm,l , j ijk klm vm,lj
il jm im jl vm ,lj v j ,ij vi , jj v j , ji vi , jj
(5) u v u v 2 grad u : grad v u v
u v ui vi ui vi , jj ui , j vi ui vi , j
,j
,j
ui , jj vi 2ui , j vi , j ui vi , jj
u v 2 grad u : grad v u v
October 20, 2012
120
Assignments
Given the vector v v x x1 x2 x3e1 x1 x2e 2 x1e3 determine
div v, curl v, grad v, v.
October 20, 2012
121
Assignments
div v vi ,i x2 x3 x1
e1 e 2
curl v det 1 2
v1 v2
e3
3
v3
v3,2 v2,3 e1 v1,3 v3,1 e2 v2,1 v1,2 e3

x1 x2 1 e 2 x2 x1 x3 e3
October 20, 2012
122
Assignments
grad v vi , j ei e j
x2 x3
grad v x2
1
x1 x3
x1
0
x1 x2
0
0
v vi ei vi , jj ei 0
October 20, 2012
123
Introduction to Vectors and Tensors > Integral Theorems
Integral Theorems
Divergence Theorem
Given a vector field u in a volume V with closed boundary
surface V and outward unit normal to the boundary n, the
divergence (or Gauss) theorem reads,
u n dS u dV div u dV
V
Given a second-order tensor field A in a volume V with closed

boundary surface V and outward unit normal to the boundary n
the divergence (or Gauss) theorem reads,
October 20, 2012
A n dS A dV div A dV
V
124
Introduction to Vectors and Tensors > Integral Theorems
Integral Theorems
Curl Theorem
Given a vector field u in a surface S with closed boundary S
and outward unit normal to the surface n , the curl (or Stokes)
theorem reads,
u dr u n dS rot u n dS
S
where the curve of the line integral must have positive

orientation, such that dr points counter-clockwise when the unit
normal points to the viewer, following the right-hand rule.
October 20, 2012
125

Chapter 1. Tensor Algebra

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter 1. Tensor Algebra

Uploaded by

Copyright:

Available Formats

Continuum Mechanics

Introduction to Vectors and Tensors > Contents

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Introduction

Tensors are mathematical objects which have the required

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Introduction

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

and u, v is the angle between the non-zero vectors u and v

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

A fixed set of three unit vectors which are mutually orthogonal

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

u u1e1 u2e 2 u3e3

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

or in short form, leaving out the summation symbol, simply as

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors

October 20, 2012

Carlos Agelet de Saracibar

Introduction to Vectors and Tensors > Algebra of Vectors