lin pre. oes isa ins have tobe of plosion true in will re netics, el cells, zctrons. quitous vided a onto use of 5 Engi- mplete viding tosuc ver the- pes and ‘stems, R w. E Zme Appendix A Vector and Tensor Notation! gaa saa gaa saa sas sas SAT sas sag The physical quantities encountered in transport phenomena fall into three categories: seal ‘mentum, and force; and (second-order) tensors, such as the stress, momentum flux, and velocity gradient tensors. We distinguish among these quantities by the following, notation: In addition, boldface Greek symbols with one subscript (such as 6) are vectors. For vectors and tensors, several different kinds of multiplication are possible. Some of these require the use of special multiplication signs to be defined later: the single dot (©, the double dot (), and the cross (x). We enclose these special multiplications, or sums thereof, in different kinds of parentheses to indicate the type of result produced:= No special significance is attached to the kind of parentheses if the only operations en closed are addition and subtraction, or a multiplication in which », :, and do not ap. ear, Hence (vw) and (x:¥v) are scalars, [V x v] and [rv] are vectors, and (v Vz} and "This appendix is very similar to Appendix A of RB. Bird, R.C, Armstrong, and O. Hassager, Dynamics of Polymeric Liguis, Vo. 1, Fudd Mechanic, 2nd edition, Witey-Interacience, Nev York 1987), ‘Therein ofthe del operations for bipolar coordinates, ‘Vector operations from a geometrical viewpoint Vector operations in terms of components ‘Tensor operations in terms of components ‘Vector and tensor differential operations Vector and tensor integral theorems Vector and tensor algebra in curvilinear coordinates ferential operations in curvilinear coordinates Integral operations in curvilinear coordinates Further comments on vector-tensor notation such as temperature, pressure, volume, and time; vectors, such as velocity, mo- s = scalar (lightface Italie) v= vector (boldface Roman) ‘7 = second-order tensor (boldface Greek) (© = scalar U1 = vector } = second-order tensor a discussion of nonorthogonal ordinates is given. Also in Table A 7, theres a summary 807808 Appendix A Vector and Tensor Notation (o + + 2-4] are second-order tensors. On the other hand, v ~ w may be written as (© — w) lv ~ w] or fv ~ wi, since no dot or cross operations appear Similarly vw, (vw) [vw], and [vw are all equivalent. Actually, scalars canbe regarded as zero-order tensors and vector as firstorderten- sors. The multiplication signs may be interpreted thus SSS Multiplication Sign Order of Result None 2 x E-1 z-2 B-4 in which 5 represents the sum of the orders of the quantities being multiplied. For exam- ple, st is of the order 0 + 2 = 2, vwis of the order 1 + 1 = 2,8,8; is of the order I +1 = 2, [v x wlisof the order 1 + 1~1 = 1, (o:t)isof the order 2-+2 — 4 = 0, and fa) is of the order? +2~2= 2. The basic operations that can be performed on scalar quantities need not be elabo- rated on here. However, the laws for the algebra of scalars may be used to illustrate three terms that arise in the subsequent discussion of vector operations: 4 For the multiplication of two scalars, r and s, the order of multiplication is imma- terial so that the commutative law is valid: 3 = sr. b. For the successive multiplication of three scalars, g, r, and s, the order in which the multiplications are performed is immaterial, so that the associative law is valid: (qr)s = q\rs) ¢. For the multiplication of a scalar s by the sum of scalars p,q, and r, itis immater- ial whether the addition or multiplication is performed first, so that the distribu- five law is valid: stp + 9 + 1 sp + sq +r ‘These laws are not generally valid for the analogous vector and tensor operations de- scribed in the following paragraphs, §A.1_ VECTOR OPERATIONS FROM A GEOMETRICAL VIEWPOINT In elementary physics courses, one is introduced to vectors from a geometrical stand- point. In this section we extend this approach to include the operations of vector mult plication. In §A.2 we give a parallel analytic treatment. Definition of a Vector and Its Magnitude A vector v is defined as a quantity of a given magnitude and direction. The magnitude of the vector is designated by |v| or simply by the corresponding lightface symbol 2. Two vectors v and w are equal when their magnitudes are equal and when they point in the same direction; they do not have to be collinear or have the same point of origin. If vand w have the same magnitude but point in opposite directions, then v = —w. Addition and Subtraction of Vectors The addition of two vectors can be accomplished by the familiar parallelogram construc: tion, as indicated by Fig, A.1-1a. Vector addition obeys the following laws: Mult Scalzrritten as ow, (vw), der ten- 1415 “alisof 2 elabo. ilustrate n which law is mater distribu fons de- itude of v.Two atin the Ifvand onstrue: 1 Vector Operations from a Geometrical Viewpoint 809 Fig. A.1-. (@) Addition of vectors; » (6) subtraction of vectors Commutative: Wwewswey (arn) Associative Wiw+uavewtw (A1.2) Vector subtraction is performed by reversing the sign of one vector and adding; thus v— w= v+ (=w). The geometrical construction for this is shown in Fig, A.1-1b, Multiplication of a Vector by a Scalar When a vector is multiplied by a scalar the magnitude of the vector is altered but its di rection isnot. Te following laws are applicable Commutative: (a1) Associatioe war Distributive Gtrtwegqvinwtw (A15) Scalar Product (or Dot Product) of Two Vectors The scalar product of two vectors v and w is a scalar quantity defined by (0+ W) = 110 605 de (a6) in which #yq is the angle between the vectors v and w. The scalar product is then the ‘magnitude of w multiplied by the projection of v on w, or vice versa (Fig, A.1-2a), Note that the scalar product of a vector with itself is just the square of the magnitude of the vector (wow) = |v (AL-7) The rules governing scalar products are as follows: Commutative: (uv) = (ew) (ars) Not Associative: (u-ww # uvew) rs Distributive: (atv + w) = (ay) + (uw) ann The length of this vector equals Ivxcwi]" the aren ofthe parallelogram Fig, A.1-2, Products of wo vectors: (a) the scalar product; (b) the vec tor product