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(Engineering Mechanics) University of Twente. 1 / 28

The document defines various mathematical concepts related to tensors, including: 1) Tensors are linear operators that can map vectors to other vectors or tensors. Common types include second and fourth order tensors. 2) Vector and tensor operations include multiplication by scalars, addition, inner/outer/cross products, and tensor products. 3) Tensors have components defined with respect to a basis, and can be represented by matrices. 4) Important tensor properties include invariants, eigenvalues/eigenvectors, symmetry, and inverse tensors.

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69 views

(Engineering Mechanics) University of Twente. 1 / 28

The document defines various mathematical concepts related to tensors, including: 1) Tensors are linear operators that can map vectors to other vectors or tensors. Common types include second and fourth order tensors. 2) Vector and tensor operations include multiplication by scalars, addition, inner/outer/cross products, and tensor products. 3) Tensors have components defined with respect to a basis, and can be represented by matrices. 4) Important tensor properties include invariants, eigenvalues/eigenvectors, symmetry, and inverse tensors.

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© © All Rights Reserved
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You are on page 1/ 29

Tensors

(Engineering Mechanics)

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Vector denition
A physical quantity with a magnitude (or length) and a direction.

Bold characters

a a = ||a||e

The length

The direction unit vector

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Vector denition
A physical quantity with a magnitude (or length) and a direction.

Bold characters

a a = ||a||e

The length

The direction unit vector

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Vector operations: Multiplication by a scalar

b = a

b b
Sum of two vectors

ab

c=a+b

b a

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Scalar product or Inner product: a b = ||a|| ||b|| cos()

b a
ab=ba a a = ||a||2 0 The vector product or cross product ab=c

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The vector product is not commutative: b a = a b The triple product of three vectors, scalar

a b c = ||a|| ||b|| sin()(n c) = ||a|| ||b|| sin()||c|| cos( )

c n b a

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dyad or tensor product of two vectors ab (also notes by a b) ab p = a(b p)

p
Linear operator:

ab

(b p)a

ab (p + q) = a(b p) + a(b q) Transposed dyad: (ab)T = ba = ab

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A basis {g1 , g2 , g3 } and an orthonormal basis {e1 , e2 , e3 }.

g3 g2 g1
{e1 , e2 , e3 } ij is the Kronecker delta.

e3 e2 e1
ei ej = ij = 0 if i = j 1 if i = j

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Components a

ai

of a vector a
3

= a1 e1 + a2 e2 + a3 e3 =
i=1

ai ei = ai ei ,
n i=1 ai bi

Einstein summation convention, ai bi = sum over the repeated index i.

a3 e3 e e1 2

a a2

a1
ai

are the components of the vector ai = a ei


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(projection)

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matrix notation

a (with tilde) ~ a1 a = a2 ~ a3

e1 e = e2 ~ e3

Thus we may write: a= or, equivalently: a= a1 a2 = eT a ~ ~ a3 e1 e2 = aT e ~ ~ e3

a1 a2 a3

e1 e2 e3

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The relations can now be written as:

ai = a ei a = a~ e ~

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A second order tensor is a linear operator mapping a vector onto another vector: Ap=q linear map: A (m + n) = A m + A n Special tensors: Op = 0 1p = p The unit tensor can be written as: 1 = e1 e1 + e2 e2 + e3 e3 = ij ei ej Note: in some chapters I instead of 1

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Tensor components A = A11 e1 e1 + A12 e1 e2 + A13 e1 e3 + A21 e2 e1 + A22 e2 e2 + A23 e2 e3 + A31 e3 e1 + A32 e3 e2 + A33 e3 e3 with summation convention: A = Aij ei ej The components are found by: Aij = ei A ej

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In addition the following operations apply: (ab) (cd) = a(b c)d = ab cd and (ab) : (cd) = (a c)(b d) = a cb d The trace of a dyadic product is the scalar product, denoted as tr(ab) = a b

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scalar product or double dot product A : B = tr(A BT ) Some properties are: A : 1 = tr(A) A : B = AT : BT

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Operations: multiply by a scalar, summed with another tensor, or multiplied by another tensor: (A) v = A (v), (A + B) v = A v + B v, (A B) v = A (B v) Note: AB=BA

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We can store the components Aij in a matrix A (Abar ), also A= A A11 A12 A13 = A21 A22 A23 A31 A32 A33 (e1 A e1 ) (e1 A e2 ) (e1 A e3 ) = (e2 A e1 ) (e2 A e2 ) (e2 A e3 ) (e3 A e1 ) (e3 A e2 ) (e3 A e3 ) e1 = e2 A e1 e2 e3 e3

=~ e A~ eT

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Using the matrix A we can write: A= e1 e2 e3 =~ eT A~ e

A11 A12 A13 e1 A21 A22 A23 e2 A31 A32 A33 e3

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Invariants rst invariant or trace I1 (A) = A11 + A22 + A33 = tr(A)

note: I1 (1) = 3 second invariant:


2 2 I2 (A) = 1 2 {tr (A) tr(A )}

third invariant or determinant of A, : I3 (A) = det(A)

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Eigenvalues and eigenvectors A n = n det(A 1) = 0 characteristic equation: 3 I1 (A)2 + I2 (A) I3 (A) = 0 with n=0 det( A 1) = 0

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Symmetric tensor:

AT = A , A=A1

Aij = Aji

= A (n1 n1 + n2 n2 + n3 n3 ) = 1 n1 n1 + 2 n2 n2 + 3 n3 n3 The matrix A of A with respect to this basis is a diagonal matrix: 1 0 0 A = 0 2 0 0 0 3

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Inverse tensor

A1 A = 1

A1 only exists if A is regular. The inverse of the product of two tensors : (A B)1 = B1 A1 Deviatoric part Adev = A 1 3 tr(A)1

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Orthogonal tensor (A a) (A b) = a b special case b = a (A a) (A a) = a a inverse is identical to transpose: AT = A1 Aa = a a, b

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Third order tensor, superscript 3


3

B = Bijk ei ej ek

transfers a vector to a second order tensor: A = 3B a or a second order tensor to a vector: c = 3B : A

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Fourth order tensor, superscript 4 operations: A = 4D : C


3 4

B = 4D a

E = 4D C

etc. fourth order identity tensor


4

I = Iijkl ei ej ek el

where Iijkl = ik jl The product of 4 I and 1 satises the condition


4

I 1 = 4I

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Spatial derivatives, da = dx1

gradient operator

a a a + dx2 + dx3 x1 x2 x3 a a a + (dx e2 ) + (dx e3 ) = (dx e1 ) x1 x2 x3 a a a = dx e1 + e2 + e3 x1 x2 x3 = dx (a)

The symbol is called the gradient operator: = e1 + e2 + e3 x1 x2 x3

=~ eT ~

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The gradient of a vector function a is obtained similarly: da = dx1 a a a + dx2 + dx3 x1 x2 x3 a a a + (dx e2 ) + (dx e3 ) = (dx e1 ) x1 x2 x3 a a a + e2 + e3 = dx e1 x1 x2 x3 = dx (a)

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an arrow can be put above the gradient operator in the direction of the target vector: a = a a = (a)T For the special case a = x we nd: x = 1

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Derivatives with respect to second order tensor ( ) ( ) = ei ej A Aij Derivative of a scalar (f ) f = ei ej A Aij ap (a) = ep ei ej A Aij Bpq (B) = ep eq ei ej A Aij Derivative of a product of second order tensors (A B) T A B = (4 I B ) : +A C C C
(Engineering Mechanics) UNIVERSITY OF TWENTE. 28 / 28

Derivative of a vector

Derivative of a second order tensor

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