Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 1

MATH 332: Vector and Tensor Analysis

Vector Algebra Symmetry

jk = kj
Scalar Product
Unity Matrix

m
A B = |B||A| cos
1 0 0

co
Commutativity I = (ik ) = 0 1 0
0 0 1
AB=BA

e.
Magnitude Transformation of Rectangular Coordinates
2
|A| = A A re x0i = i0 k xk + x(0) i
ef
Vector Product
Summation from 1 to 3 is assumed over all
A B = n | A | | B | sin
in

repeated indices
Anti-commutativity
nl

Vector Form
A B = B A
x01

x1
llo

AA=0 x0 = (x0i ) = x02 , x = (xi ) = x2

x03 x3
.a

Scalar Triple Product Transformation matrix

w

(A B) C

10 1 10 2 10 3
= (i0 k ) = 20 1 20 2 20 3
w

Cyclic symmetry
30 1 30 2 30 3
w

(A B) C = (B C) A = (C A) B
Matrix Form of the Transformation

Vector Triple Product x0 = x + x0

A (B C) = B(A C) C(A B) Orthonormal Basis i k , (k = 1, 2, 3)

ik ij = kj
Kronecker Symbol
 Orientation of Orthonormal Basis:
1 if i = k right-handed if ( i 1 i 2 ) i 3 = +1
ik = ki = ik =
0 if i 6= k left-handed if ( i 1 i 2 ) i 3 = 1
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 2

Transformation of Orthonormal Basis Levi-Civita (Alternating) Symbol

i 0j = j 0 k i k , i k = j 0 k i 0j


+1 if (i, j, k) = (1, 2, 3),
(2, 3, 1), (3, 1, 2)
j 0 k = cos( i 0j , i k )



ijk = 1 if (i, j, k) = (2, 1, 3),
Orthogonality condition

(3, 2, 1), (1, 3, 2)



i0 k j 0 k = ij , k0 i k0 j = ij 0 otherwise

m
Matrix Form of Orthogonality Condition ijk = ijk

T = I Anti-symmetry

co
T means transposition of a matrix (replacement ijk = jik = ikj = kji

e.
of rows by columns)
Cyclic symmetry
Proper transformation (no change of orientation) re ijk = jki = kij
det(j 0 k ) = 1
ef
Orthonormal basis
Improper transformation (changes orientation)
in

i j i k = jkl i l
det(j 0 k ) = 1
nl

( i j i k ) i l = jkl
Cartesian Vectors
llo

Vector Product in Cartesian Components

A = Ak i k , Ak = A i k
(A B)i = ijk Aj Bk
.a

Scalar Product in Cartesian Components

Scalar Triple Product
w

A B = Ai Bi
(A B) C = ijk Ai Bj Ck
w

|A|2 = Ai Ai
w

Vector Product

i1 i2 i3
Tensor Notation
A B = det A1 A2 A3
B1 B2 B3
ii = ii = 3
Scalar Triple Product
ij Aj = Ai
A1 A2 A3
(A B) C = det B1 B2 B3

C1 C2 C3 ij Ai Bj = Ai Bi = A B
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 3

A0 = A
ijj = jij = jji = 0
Matrix Form of a 2-tensor

ijk ij = ijk ik = ijk jk = 0 A11 A12 A13
A = (Aik ) = A21 A22 A23
A31 A32 A33
ijk Aj Ak = ijk Ai Ak = ijk Ai Aj = 0
A0 = AT

m
ijk mnl = im jn kl + jm kn il + km in jl Stress Tensor pik
im kn jl jm in kl km jn il Stress

co
pi = pik nk
ijk mnk = im jn jm in
ni unit normal

e.
Moment of Inertia Tensor
ijk mjk = 2im
re N
X h i
(j) (j) (j) (j)
Iik = mj ik xl xl xi xk
ijk ijk = 6 j=1
ef
Angular Momentum
in

Cartesian Tensors Li = Iik k

(tensors in rectangular coordinates)
nl

k angular velocity
Scalar: 0-tensor Deformation Tensor
llo

Vector: 1-tensor Ai  
2-tensor Aik 1 ui uk ul ul
uik = + +
.a

n-tensor Ai1 ...in 2 xk xi xi xk

ui displacement vector
w

Transformation Laws

0 = Rate of Deformation Tensor

w

 
1 vi vk
w

A0i = i0 k Ak vik = +
2 xk xi
A0ij = i0 k j 0 l Akl
vi velocity vector field
A0i1 ...in = i01 j1 i0n jn Aj1 ...jn
Isotropic Tensors (built from ik only; no pre-
Matrix Form of the Transformation Laws ferred directions)
Vector Isotropic 2-tensor
A1
A = (Ai ) = A2 Aik = pik
A3
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 4

Isotropic 4-tensor Antisymmetrization

Aiklm = pik lm + il km + im kl 1
T[ij] = (Tik Tki )
2

Decomposition of 2-Tensor
Tensor Algebra
Tik = T(ik) + T[ij]
Tensor Product

m
Duality
Cik = Ai Bk , Cijkl = Aij Bkl
(Equivalence of antisymmetric 2-tensor to an ax-

co
Contraction ial vector)
Djkl = Ciijkl
1

e.
Trace Ai = ijk Ajk , Aij = ijk Ak
2
A = Aii re
Inner Product A1 = A23 , A2 = A31 , A3 = A12 ,
ef
Ci = Aik Bk , Dij = Cijkl Bkl
Principal Axes
in

Symmetric Tensors
Eigenvalues (r) (characteristic values) and
nl

Sij = Sji Eigenvectors n (r) (characteristic or principal di-

rections)
llo

S11 S12 S13 (r)
Tik nk = (r) ni
(r)
(Sik ) = S12 S22 S23
S13 S23 S33 | n (r) | = 1
.a

Anti-symmetric Tensors Characteristic Equation

w

Aij = Aji det(Tik ik ) = 0

w

0 A12 A13

T11 T12 T13
w

(Aik ) = A12 0 A23 det T21 T22 T23 = 0

A13 A23 0 T31 T32 T33
Contraction of antisymmetric tensor 3 I1 2 + I2 I3 = 0
Aii = 0 Invariants of a 2-Tensor: Ik

Symmetrization I1 = Tii = T11 + T22 + T33

   
1 T22 T23 T11 T12
I2 = det + det
T(ij) = (Tik + Tki ) T32 T33 T21 T22
2
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 5

Curvilinear Coordinates
 
T11 T13
+ det
T31 T33

T11 T12 T13
q i = q i ( r ), (i = 1, 2, 3)
I3 = det(Tik ) = det T21 T22 T23 Cartesian Coordinates
T31 T32 T33
xi = xi (q)
The eigenvalues r , (r = 1, 2, 3), of a symmetric
Radius vector
2-tensor are real

m
r(q) = xk (q) i k = x1 (q) i 1 + x2 (q) i 2 + x3 (q) i 3
A symmetric 2-tensor has three orthogonal prin-

co
cipal axes n(r) , (r = 1, 2, 3) Basis (tangent vectors to coordinate curves)
n (r) n (p) = rp

e.
r
ei =
q i
re
In the principal axes a symmetric 2-tensor Tik has Transformation of basis
diagonal matrix
ef
0
e 0j = k j 0 e k , e k = j k e 0j
1 0 0
in

0 0
(Tik ) = 0 2 0 i k k j 0 = ji , i k0 k j = ji
0 0 3
nl

Orientation:
Decomposition in terms of orthonormal eigenvec-
right-handed if ( e 1 e 2 ) e 3 > 0
llo

tors n (r) and eigenvalues (r)

and left-handed if ( e 1 e 2 ) e 3 < 0
3
.a

X (r) (r) Reciprocal Basis

Tik = (r) ni nk
r=1
w

e j e k = kj
w

Traceless Tensors (Deviators) ek el

ej =
( e 1 e 2) e 3
w

1
T ik = Tik ik T where (j, k, l) = (1, 2, 3), (2, 3, 1), (3, 1, 2)
3
where T = Tjj (trace) Contravariant Components

T = T ii = 0 A = Ai e i , Ai = A e i

Decomposition Covariant components

1 A = Ai e i , Ai = A e i
Tik = T ik + ik Tjj
3
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 6

Transformation of components ds2 = gik dq i dq k

0
A0i = i k Ak , A0i = k i0 Ak Volume Element

dV = G dq 1 dq 2 dq 3 , G = det(gik )
Metric Tensor

r r Tensors in Curvilinear Coordinate System

gik = e i e k = , g ik = e i e k

m
q i q k
Contravariant components Aik
Covariant components Aik

co
Symmetry
Mixed components Ai k , Ai k
gik = gki , g ik = g ki Relations

e.
gik g kn = in Aik = gin An k = gkn Ai n = gin gkm Anm

Determinant of the Metric Tensor

re Aik = g in An k = g kn Ai n = g in g km Anm
1
ef
G = det(gik ) , det(g ik ) = Ai k = g in Ank = gkn Ain
G
etc
in

ik
The matrix g is the inverse matrix of the matrix
gik given by Orthogonal Coordinate System
nl

det M ik r r
g ik = (1)ik = 0, if i 6= k
llo

G q i q k
Basis
where M ik is a 2 2 matrix obtained from the
.a

3 3 matrix gij by removing the i-th row and the e i e k = e i e k = 0 if i 6= k

k-th column
w

1
| e i | = hi , | e i| =
Relations between components hi
w

Metric
Ai = gik Ak , Ai = g ik Ak
w

gik = 0, if i 6= k
gii = h2i (no summation!)
Displacement
g ik = 0, if i 6= k
r i 1
dr = dq g ii = 2 (no summation!)
q i hi

Line Element (Arc Length) Metric Coefficients

 
 r 
r r i k hi =  i 
ds2 = d r d r = dq dq q
q i q k
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 7

x1 = cos , x2 = sin , x3 = z
s 2  2  2
x1 x2 x3
hi = + + Radius Vector
q i q i q i
Relation between covariant and contravariant com- r = cos i 1 + sin i 2 + z i 3
ponents
Orthonormal basis
Ai = h2i Ai (no summation!)
e = cos i 1 + sin i 2

m
e = sin i 1 + cos i 2
Orthonormal Basis
ez = i3

co
r Line Element
q i 
e i = e i = 

e.
ds2 = (d)2 + 2 (d)2 + (dz)2
 r 

 q i 

Line Element
re
Volume Element

dV = d d dz
ef
2
ds = h21 1 2
(dq ) + h22 2 2
(dq ) + h23 3 2
(dq )
Metric Coefficients
in

Volume Element
h = 1, h = , hz = 1
nl

dV = h1 h2 h3 dq 1 dq 2 dq 3
Spherical Coordinates
llo

Cartesian Coordinates r 0, 0 , 0 < 2

Line Element
.a

p
x21 + x22
q
ds2 = (dx1 )2 + (dx2 )2 + (dx3 )2 2 2
r = x1 + x2 + x3 , 2
tan = ,
w

x3
Volume Element x2
tan =
w

x1
dV = dx1 dx2 dx3 x1 = r sin cos , x2 = r sin sin ,
w

Metric Coefficients x3 = r cos

h1 = h2 = h3 = 1 Radius Vector

r = r sin cos i 1 + r sin sin i 2 + r cos i 3

Cylindrical Coordinates
Orthonormal Basis
0, 0 < 2, < z <
e r = sin cos i 1 + sin sin i 2 + cos i 3
x2
q
= x21 + x22 , tan = , z = x3 e = cos cos i 1 + cos sin i 2 sin i 3
x1
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 8

e = sin i 1 + cos i 2 Speed  

 dr  ds
Line Element |v| =   =
dt dt
ds2 = (dr)2 + r2 (d)2 + r2 sin2 (d)2 Acceleration

Volume Element dv d2 r
a= = 2
dt dt
dV = r2 sin dr d d
Arc Length (Line Element)

m
Metric Coefficients
ds = |v|dt

co
hr = 1, h = r, h = r sin

e.
Fields in Cartesian Coordinates
Vector And Tensor Analysis Partial derivatives
re
i =
ef
xi
Functions of Single variable
Nabla (Del) Operator
in

Product Rules
= ik k = i1 1 + i2 2 + i3 3
nl

d d dA
( A ) = A +
dt dt dt Gradient
llo

d dB dA
(B A) = A+B grad f = f = ik k f
dt dt dt
.a

d dB dA ( grad f )i = i f
(B A) = A+B
dt dt dt
w

Directional Derivative
w

Trajectory df dr
= gradf = u gradf
ds ds
w

r(t) = xk (t) ik , atb

Velocity Flow Lines

dr dr
v= =F
dt dt
Unit Tangent Vector dx1 dx2 dx3
= =
dr F1 F2 F3
dr
u = =  dt  Divergence
ds  dr 
 dt  div F = F = i Fi
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 9

Curl   r=0
 i1 i2 i3  q
r = | r | = x21 + x22 + x23
 
curl F =  1 2 3 
 F1 F2 F3 
r
r = , |r| = 1
(curl F)i = ijk j Fk r
curl F = F = il ljk j Fk df r
f (r) =
dr r

m
Laplacian r dF
F (r) =
r dr

co
= div grad = 2 = r dF
F (r) =
r dr
= i i = 12 + 22 + 32

e.
(F )r = F

Vector identities:
re
Fields in Orthogonal Coordinate Sys-
ef
( F ) = F + ( F ) tem (in orthonormal basis e i )
in

curl curl F = F + grad div F Vector Components

= 0,
nl

Fi = F e i
curl grad = 0
llo

( F) = 0,
1 1 1
div curl = 0 grad f = e 1 f + e2 f + e3 f
.a

h1 q 1 h2 q 2 h3 q 3
(f g) = (f )g + f (g)
w

(f F) = (f ) F + f F (
1
w

(f F) = (f ) F + f ( F) div F = (h2 h3 F1 )
h1 h2 h3 q 1
( F G ) = G ( F ) F ( G )
w

)

+ 2 (h3 h1 F2 ) + 3 (h1 h2 F3 )
df q q
f () =
d
dF
F () =  
d 1
curl F = e 1 (h3 F3 ) [ 3 (h2 F2 )
dF h2 h3 q 2 q
F () =
d  
1
+e2 (h1 F1 ) [ 1 (h3 F3 )
r = 3 h3 h1 q 3 q
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 10

 
1
+e3 (h2 F2 ) [ 2 (h1 F1 )
h1 h2 q 1 q
1 1
f = 2
r (r2 r f ) + 2 (sin f )
(   r r sin
1 h2 h3
f = f 1
h1 h2 h3 q 1 h1 q 1 + 2 f
r2 sin2
   )
h2 h3 h2 h3
+ 1 f + 1 f
q h1 q 1 q h1 q 1
Integrals

m
Parametrization of a curve C

co
Cylindrical Coordinates:
r = r (t), atb
1

e.
grad f = e f + e f + ez z f
Line Integrals

1 1
div F = (F ) + F + z Fz
re Z Zb
dr
F dr = F(x(t)) dt
ef
dt
C a
in

 
 e e ez  Circulation of vector field along a closed contour
1 
curl F =  z  I

nl

F F Fz  F dr
C
llo

1 1
f = ( f ) + 2 2 f + z2 f

Parametrization of a surface S
.a

r = r(u, v),
Spherical Coordinates
w

a u b, cvd
w

1 1
grad f = er r f + e f + e f Unit Normal
r r sin
w

u r v r
n=
1 1 |u r v r|
div F = 2
r (r2 Fr ) + (sin F )
r r sin For a surface given by
1
+ F
r sin f( r ) = C

 e re r sin e
 the Unit Normal is
1  r


curl F = 2 r  f
r sin   n=
Fr rF r sin F  |f |
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 11

Surface Element Circulation of a Gradient along a closed contour

I
dS = n dS = u r v r du dv
grad d r = 0
C
d S = |u r v r| du dv
For a surface given by
Gauss (Divergence) Theorem
z = f (x, y) ZZZ ZZ

m
div F dV = F dS
a x b, y1 (x) y y2 (x) D D

co
the Surface Element is
D is a closed surface, which is the boundary of
q the solid region D

e.
dS = 1 + (x f )2 + (y f )2 dy dx
Greens Theorem

Surface Integral of a scalar field

re
ZZ I
(1 F2 2 F1 )dx1 dx2 = (F1 dx1 + F2 dx2 )
ef
S S
ZZ Zd Zb
dS = ( r (u, v)) |u r v r| du dv S is a closed plane curve, which is the boundary
in

S c a of the region S in the x1 x2 -plane

nl

Zb yZ2 (x) Stokes Theorem

llo

= (x, y, z(x, y)) ZZ I

a y1 (x) curl F dS = F dr
S S
.a

q
1 + (x f )2 + (y f )2 dy dx
S is a closed space curve, which is the boundary
w

of the surface S
Flux of a Vector Field F through the surface S
w

ZZ ZZ Flux of a curl through a closed surface S

F dS = F n dS
w

ZZ
S S curl F dS = 0
S

Line Integral of a Gradient

ZQ Tensor Fields
grad d r = (Q) (P )
Flux of a Tensor Field
P ZZ ZZ
Tik nk dS, Tik ni dS
S S
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 12

Divergence of a Tensor (in Cartesian Coordi-

nates)
i Tik , k Tik
Directional Derivative (in Cartesian Coordi-
nates)
dTik dxj
= j Tik
ds ds

m
Analog of curl of an antisymmetric 2-tensor

co
3ijk i Ajk = 1 A23 + 2 A31 + 3 A12

= 1 A1 + 2 A2 + 3 A3 = div A

e.
re
ef
in
nl
llo
.a
w
w
w