APL 701 Continuum Mechanics

Department of Applied Mechanics

Indian Institute of Technology Delhi

Arjun Sharma

Problem Set 1 (solutions)

(2) Consider an orthogonal coordinate system given by unit vectors, b e1 = (1, 0, 0), b e2 = (0, 1, 0) and b
e3 = (0, 0,√1).
The orthgonal√system b e1 , b
e2 , b
e3 is rotated to another orthogonal system, e 0 , e0 , e0 . Here, b
e0 = (1, −1, 1)/ 3,
√ b 1 2 3
b b 1
e02 = (1, 2, 1)/ 6 and b
b e03 = (−1, 0, 1)/ 2. Determine the transformation matrix M such that b e0i = Mij b
ej .
Solution: Let b e0i = Mij b
ej . The components of the transformation matrix M are given by, Mij = b e0i · b
ej .
0 1 0 −1 0 1
Thus, M11 = be1 · be1 = √3 , M12 = be1 · b e1 · b
e2 = √3 , M13 = b e3 = √3 . Other components of M are similarily
obtained as,


√1 −1
√ √1

3 √3 3
√2
 √1 √1 
M=

 6 3 6
−1 √1
√
2
0 2

(3) (a) Show that for an orthogonal matrix U , |det(U )| = 1.

(b) Show that for an orthogonal matrix U , kU xk = kxk for a general non-zero vector x.
Solution:
(a) For an orthogonal matrix U , U T U = U U T = I. Since det(U ) = det(U T ), taking the determinant on
both sides, det(U )2 = 1 or |det(U )| = 1.
(b) For a non-zero vector x and orthogonal matrix U , kU xk2 = (U x)T (U x) = xT U T U x = xT x = kxk2 .
Thus, kU xk = kxk.

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