S SRT: 2.1 Inner Product or Dot Product of Two Vectors

1.
Scalars, Vectors and Tensors
A scalar is a quantity characterized by a magnitude only e.g. density, temperature, mass,

pressure, volume etc. in fluids, any quantity/property in general is a function of location
and time. Thus a scalar property in a fluid would behave as a scalar function.
r
S = S (r , t ) M.1
A vector is a quantity characterized by a magnitude and direction e.g. velocity,
displacement, acceleration, force etc. In fluids a vector property would behave as a
  
V = V( r , t ) M.2
A vector can always be expressed in terms of its components along the coordinate
directions.

A = ∑ A i ê i
or simply

A = A i ê i (summation over repeated index i is implied) M.3
∧
th
Where ei : unit vector along the i coordinate direction.
A tensor of second rank is a quantity characterized by a magnitude and two directions e.g.
stress, strain rate, mass moment of inertia of a rigid body etc.
Again for fluids, the tensor property would behave as
r
T = T (r , t ) M.4
In terms of components along the coordinate directions at any point
T = ∑∑ Tij ê i ê j
i j
or simply
T = Tij ê i ê j
M.5
ê i ê j
The unit vector pairs are known as unit dyads.
2. Algebra of Vectors and Tensors
2.1 Inner product or dot product of two vectors


A = A i ê i

B = B j ê j
 
A ⋅ B = A i B j (ê i ⋅ ê j )
For orthogonal unit vectors

(ê i ⋅ ê j ) = δ ij
δ ij = 1, i = j
δ ij = 0, i ≠ j
where
 
A ⋅ B = A i B j δ ij = A i B i
M.6
2.2 Inner product (dot product) of a vector with a tensor of rank 2


A = A k ê k , T = Tij ê i ê j

A ⋅ T = A k Tij (ê k ⋅ ê i )ê j = A k Tij δ ki ê j = A i Tij ê j
M.7
The inner product of a vector with a second rank tensor is a vector

T ⋅ A = Tij A j ê i
 
In general A ⋅ T ≠ T ⋅ A
T = Tji
The equality exists only if ij i.e. tensor is symmetric
2.3 Outer or Cross product of two vectors

∧ ∧ ∧
For an orthogonal set of unit vectors such that ei × e j = ek for cyclic i, j , k using
either LH or RH rule
 
A × B = e ijk A j B k ê i
M.8
e
where ijk is the alternating symbol defined as
eijk =
0 if any two of ( i, j, k ) are same
= +1 if { i, j , k } is a cyclic permutation of {1, 2, 3}
= -1 otherwise
Therefore an outer or cross product of two vectors is a vector defined as,
  
C = A×B
Ci = A j Bk − Ak B j i ≠ j ≠ k
, and ( i, j, k ) must be a cyclic combination M.9
2.4 Dyadic product
A dyadic product of two vectors is a tensor of rank two defined as,


AB = A i B j ê i ê j
M.10
2.5 Tensor Contractions or dot products

A dot product or Contraction of two second rank tensors P and Q is a second
rank tensor defined as,
P ⋅ Q = Pij Q rs (ê j ⋅ ê r )ê i ê s

M.11
For Orthogonal unit vectors,

P ⋅ Q = Pij Q rs δ jr ê i ê s = Pij Q js ê i ê s
M.12
A double dot product or double contraction of two second rank tensors is a scalar
defined as,
P Q = PijQ rs (ê j ⋅ ê r )(ê i ⋅ ê s )

M.13
For orthogonal unit vectors,
P Q = Pij Q rs δ jr δ is = Pij Q ji
M.14
3. Calculus of scalar, vector and tensor functions
3.1 Gradient r
For a scalar function φ ( r , t ) the gradient represents the information regarding the
instantaneous spatial rate of change along the coordinate directions. The gradient is
conveniently defined through the del operator given as,
∂
∇ ≡ ê i
∂ si , M.15
where si are related to the generalized coordinates xi as
dsi = hi dxi .
Physically dsi represents the components along the coordinate direction of the
differential line element dl i.e. dl = ds i ê i
∂
∇ ≡ ê i
hi∂ xi M.16
The gradient of a scalar function ϕ is defined as,
∂φ
∇φ ≡ ê i
hi∂ xi M.17
The gradient of a scalar is a vector.
The most important use of gradient of a scalar function is in finding the

instantaneous spatial rate of change of ϕ along a specified direction characterized by
∧
a unit vector m as,
∂φ
= ∇φ ⋅ m̂
∂m M.18
The other important use is in finding the direction of the local normal to a given
surface. A surface in 3D/2D can be expressed as a scalar function relation
r
φ ( r ) = Const.
Ex. x + y + z = 1.0
2 2 2
spherical surface
The direction of local normal to the surface is given by the vector ∇φ and therefore
the local unit normal is given as,
∇φ
n̂ =
∇φ
M.19
3.2 Divergence, Curl and Gradient of a vector
The divergence operation is defined as,

  ∂ 
∇ ⋅ A =  ê i  ⋅ ( A j ê j )
 h i ∂x i  or,
  ∂ ( A j j 
ê )
∇ ⋅ A = ê i ⋅  
 h i ∂x i  or,
 1 ∂A j
∇⋅A = ( ê i ⋅ ê j ) + A j  ê i ⋅ ∂ ê j 

h i ∂x i  h i ∂x i  M.20
For Orthogonal coordinate systems,
 1 ∂A i  ∂ ê j 
∇⋅A = + A j  ê i ⋅ 
h i ∂x i  h i ∂x i  M.21
∧
∂ej
hi = 1.0, =0
For Cartesian coordinates ∂xi
 ∂A i
∇⋅A =
∂x i
The curl operation is defined as,
  ∂ 
∇ × A =  ê j × ( A k ê k )
 h ∂x 
 j j  or,
  ∂ ( A k ê k ) 
∇ × A = ê j ×  
 h ∂x 
 j j  or,
 1 ∂A k  
∇×A = ( ê j × ê k ) + A k  ê j × ∂ ê k 
h j ∂x j  h j ∂x j 
. M.22
For orthogonal coordinate systems,
  1 ∂A k   
∇ × A = e ijk   ê i + A k  ê j × ∂ ê k 
 h ∂x   h j ∂x j 
 j j   M.23
For Cartesian coordinates,
  ∂A ∂A j 
∇×A =  k −  ê i
 ∂x ∂x 
 j k 
Gradient of a vector is defined as,
  ∂ 
∇A =  ê i ( A j ê j )
 h i ∂x i  or,
  ∂A j ∂ê j 
∇A = ê i  ê j + A j 
 h i ∂x i h i ∂x i 
or,
 ∂A j ∂ê j
∇A = ê i ê j + A j ê i
h i ∂x i h i ∂x i . M.24
For Cartesian Coordinates,
 ∂A j
∇A = ê i ê j
∂x i M.25
3.3 Divergence of a Tensor of rank 2
The divergence of a second rank tensor can be defined as,
 ∂ 
∇ ⋅ T =  ê i  ⋅ ( T jk ê j ê k )
 h i ∂x i  or,
∂ Tjk ∂ ê j ∂ ê k
∇⋅T = (ê i ⋅ ê j )ê k + Tjk (ê i ⋅ ) + Tjk (ê i ⋅ ê j )
h i ∂x i h i ∂x i h i ∂x i M.26
For orthogonal systems,
∂ Tik ∂ ê j ∂ ê k
∇⋅T = ê k + Tjk (ê i ⋅ ) + Tik
For Cartesian system,
∂ Tik
∇⋅T = ê k
∂x i M.28
The divergence of the dot product of a rank 2 tensor with a vector can be expressed
as,
  ∂ 
∇ ⋅ T ⋅ A =  ê i  ⋅ ( T jk A k ê j )
 h i ∂x i  or,
 ∂ (T jk A k ) ∂ ê j
∇⋅T⋅A = (ê i ⋅ ê j ) + T jk A k (ê i ⋅ )
h i ∂x i h i ∂x i or,
 ∂ (T jk ) ∂ (A k ) ∂ ê j
∇ ⋅ T ⋅ A = Ak (ê i ⋅ ê j ) + Tjk (ê i ⋅ ê j ) + T jk A k (ê i ⋅ )
For orthogonal systems,
 ∂ (Tik ) ∂ Ak ∂ ê j
∇ ⋅ T ⋅ A = Ak + Tik + T jk A k (ê i ⋅ )
For Cartesian systems,
 ∂ (Tik ) ∂ Ak
∇ ⋅ T ⋅ A = Ak + Tik
∂x i ∂x i M.31

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1.

Scalars, Vectors and Tensors

A scalar is a quantity characterized by a magnitude only e.g. density, temperature, mass,

2.1 Inner product or dot product of two vectors

For orthogonal unit vectors

2.2 Inner product (dot product) of a vector with a tensor of rank 2

2.3 Outer or Cross product of two vectors

2.4 Dyadic product

A dyadic product of two vectors is a tensor of rank two defined as,

2.5 Tensor Contractions or dot products

P ⋅ Q = Pij Q rs (ê j ⋅ ê r )ê i ê s

For Orthogonal unit vectors,

P Q = PijQ rs (ê j ⋅ ê r )(ê i ⋅ ê s )

For orthogonal unit vectors,

3. Calculus of scalar, vector and tensor functions

The most important use of gradient of a scalar function is in finding the

3.2 Divergence, Curl and Gradient of a vector

The divergence operation is defined as,

The curl operation is defined as,

For orthogonal coordinate systems,

For Cartesian coordinates,

Gradient of a vector is defined as,

3.3 Divergence of a Tensor of rank 2

The divergence of a second rank tensor can be defined as,

For orthogonal systems,

For Cartesian system,

For orthogonal systems,

For Cartesian systems,

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