Continuous systems

M. Siddikov

May 8, 2018
Outline
Elements of theory of continuous media
F Membranes (2D systems)
Announcements
Exam #2: next Friday (11.05.2018)
• Topics correspond to Homework #3 (1D wave equation, physical
applications)
No classes for the next two weeks:
• May 14-18: I will participate in “Light Cone 2018” conference in USA
(approved by administration)
• May 21-26: You have vacations according to “Calendario academico”

(I will be available by email/in my office E-425 if You need to discuss

something)
Deformation tensor Waves in 1D string
  Border conditions affect dynamics
1 ∂ui ∂ui ∂uj ∂uj a) longitudinal deformation
uik = + +
2 ∂xk ∂xk ∂xi ∂xk

Small deformations: |∂k ui |  1

Lagrangian of (isotropic) elastic body

b) transverse (flexural) deformation

ρ (~x ) u̇i2
Z   
λ 2 2
L= dV − uii + µ uik
2 2

1
U= σik uik c) torsional deformation
2
Border condition

σik nk |border = 0

affects dynamics of the waves.

 Assume that h (thickness) is a small pa-
rameter
Transverse deformations
Two types of deformations, longitudinal
and transverse
Longitudinal deformations

uz = ζ (x, y ) 6= 0
σiz = 0
No visible deformation in transverse
plane,

ux ≈ ux (x, y ) , uy ≈ uy (x, y )

Note that we cannot assume uz = 0

(stretching membrane decreases its thick-
ness!)
•uz ∼ O(h), but uzz ∼ O h0 = O (1)


 Let’s assume that h is the thickness of
the membrane, and (x, y ) are coordinates ⇒ uxz = uyz = 0,
in the plane
 
Assume that the external potential 4µ
σzz = K+ uzz
which creates longitudinal forces 3
 
Z 2µ
~ (x, y ) = dz ~f|| (x, y , z) ≈ ~f|| (x, y , 0) h
P + K− (uxx + uyy ) =
3
E
= [(1 − σ)uzz +
(1 + σ)(1 − 2σ)
Surface condition
+σ (uxx + uyy )] = 0
(valid everywhere if membrane is thin)
σ
σiz ≡ 0, i = x, y , z uzz = − (uxx + uyy ) .
1−σ
Definitions of Young modulus and Poisson
Lame-Hooke equations ratio we’ve seen earlier:

δik
σik = Kull δik + 2µ uik − ull
   
1 1 1 σ 1 1
3 := + , := − −
E 9K 3µ E 9K 6µ
σii = 3KUii ,
  9K µ 1 3K − 2µ
1 1 1 E = , σ=
uik = δik σll + σik − δik σll 3K + µ 2 3K + µ
9K 2µ 3
E E
K = , µ=
3(1 − 2σ) 2(1 + σ)
 Let’s assume that h is the thickness of
the membrane, and (x, y ) are coordinates ⇒ uxz = uyz = 0,
in the plane
 
Assume that the external longitudinal 4µ
σzz = K+ uzz
force per unit of area 3
 
Z 2µ
~ (x, y ) = dz ~f|| (x, y , z) ≈ ~f|| (x, y , 0) h
P + K− (uxx + uyy ) =
3
E
= [(1 − σ)uzz +
(1 + σ)(1 − 2σ)
Surface condition
+σ (uxx + uyy )] = 0
(valid everywhere if membrane is thin)
σ
σiz ≡ 0, i = x, y , z uzz = − (uxx + uyy ) .
1−σ
Definitions of Young modulus and Poisson
Lame-Hooke equations ratio we’ve seen earlier:

δik
σik = Kull δik + 2µ uik − ull
   
1 1 1 σ 1 1
3 := + , := − −
E 9K 3µ E 9K 6µ
σii = 3KUii ,
  9K µ 1 3K − 2µ
1 1 1 E = , σ=
uik = δik σll + σik − δik σll 3K + µ 2 3K + µ
9K 2µ 3
E E
K = , µ=
3(1 − 2σ) 2(1 + σ)
 Equations of motion:
Lame-Hooke equations ∂σik Pi
δik
 = fi = −
σik = Kull δik + 2µ uik − ull ∂x k h
3 Eh

1−σ 2 1+σ

2
∂x ux + ∂y ux + ∂x ∂y uy = −Px
1 − σ2 2 2
σii = 3KUii ,
 
1 1 1
uik = δik σll + σik − δik σll Eh

2 1−σ 2 1+σ

9K 2µ 3 ∂y uy + ∂x uy + ∂x ∂y ux = −Py
1 − σ2 2 2

⇒ uxz = uyz = 0, ⇓

σ (2D)Equations of motion
uzz = − (uxx + uyy ) ,
1−σ in ”vector” notations
1 − 2σ 1−σ
ull = (uxx + uyy ) ∇ (∇ · ~u ) − ∇ × (∇ × ~u )
1−σ 2
E 1+σ 1−σ
σxx = (uxx + σuyy ) = ∇ (∇ · ~u ) + ∆~u =
1 − σ2 2 2
~ 1 − σ 2 /Eh


= −P
E
σyy = (uyy + σuxx )
1 − σ2
E ∇ × (∇ × u) = ∇ (∇ · u) − ∆u
σxy = uxy
1+σ
Lame-Hooke equations  Determine the deformation of the plane
δik membrane standing vertically in the
σik = Kull δik + 2µ uik − ull
3 gravitational field
σii = 3KUii ,
 
1 1 1 Determine the deformation of the circular
uik = δik σll + σik − δik σll
9K 2µ 3 membrane of radius R rotating with
constant angular velocity Ω around its
center of mass
(2D)Equations of motion
in ”vector” notations
1−σ
∇ (∇ · ~u ) − ∇ × (∇ × ~u )
2
1+σ 1−σ
= ∇ (∇ · ~u ) + ∆~u =
2 2
2
~ 1 − σ /Eh


= −P
Lame-Hooke equations  Determine the deformation of the circular
δik membrane of radius R rotating with
σik = Kull δik + 2µ uik − ull
3 constant angular velocity Ω around its
σii = 3KUii , center of mass
 
1 1 1 Due to axial symmetry of the problem look
uik = δik σll + σik − δik σll
9K 2µ 3 for solutions in the form

~u = u(r ) ~er
(2D)Equations of motion
in ”vector” notations u0
 
u
∆~u = u 00 + − 2 ~er
1−σ r r
∇ (∇ · ~u ) − ∇ × (∇ × ~u )  0

2 ∂ u
1+σ 1−σ ∇ (∇ · ~u ) = u0 + ~er = ∆~u
= ∇ (∇ · ~u ) + ∆~u = ∂r r
2 2
~ 1 − σ 2 /Eh
= −P

Centrifugal force per unit of area:
~ = ρΩ2 r h ~er
P

ρΩ2 1 − σ 2


u0
 
00 u
u + − 2 =
r r E
How can we solve this equation ?
Lame-Hooke equations  Determine the deformation of the circular
δik membrane of radius R rotating with
σik = Kull δik + 2µ uik − ull
3 constant angular velocity Ω around its
σii = 3KUii , center of mass
 
1 1 1 Due to axial symmetry of the problem look
uik = δik σll + σik − δik σll
9K 2µ 3 for solutions in the form

~u = u(r ) ~er
(2D)Equations of motion
in ”vector” notations u0
 
u
∆~u = u 00 + − 2 ~er
1−σ r r
∇ (∇ · ~u ) − ∇ × (∇ × ~u )  0

2 ∂ u
1+σ 1−σ ∇ (∇ · ~u ) = u0 + ~er = ∆~u
= ∇ (∇ · ~u ) + ∆~u = ∂r r
2 2
~ 1 − σ 2 /Eh
= −P

Centrifugal force per unit of area:
~ = ρΩ2 r h ~er
P

ρΩ2 r 1 − σ 2


u0
 

∂ 1 ∂ (ru(r ))

00 u
= u + − 2 =−
∂r r ∂r r r E
2 2 2 2



ρΩ 1 − σ c2 ρΩ 1 − σ 3 + σ 2
u(r ) = − r 3 +c1 r + σrr (R) = 0 ⇒ c1 = R
8E r 8E 1+σ
Lame-Hooke equations  Determine the deformation of the circular
δik membrane of radius R rotating with
σik = Kull δik + 2µ uik − ull
3 constant angular velocity Ω around its
σii = 3KUii , center of mass
 
1 1 1 Due to axial symmetry of the problem look
uik = δik σll + σik − δik σll
9K 2µ 3 for solutions in the form

~u = u(r ) ~er
(2D)Equations of motion
in ”vector” notations u0
 
u
∆~u = u 00 + − 2 ~er
1−σ r r
∇ (∇ · ~u ) − ∇ × (∇ × ~u )  0

2 ∂ u
1+σ 1−σ ∇ (∇ · ~u ) = u0 + ~er = ∆~u
= ∇ (∇ · ~u ) + ∆~u = ∂r r
2 2
~ 1 − σ 2 /Eh
= −P

Centrifugal force per unit of area:
~ = ρΩ2 r h ~er
P

ρΩ2 r 1 − σ 2


u0
 

∂ 1 ∂ (ru(r ))

00 u
= u + − 2 =−
∂r r ∂r r r E
2 2 2 2



ρΩ 1 − σ c2 ρΩ 1 − σ 3 + σ 2
u(r ) = − r 3 +c1 r + σrr (R) = 0 ⇒ c1 = R
8E r 8E 1+σ
Lame-Hooke equations  Determine the speed of propagation of
δik
σik = Kull δik + 2µ uik − ull plane waves in the membrane
3
σii = 3KUii ,
 
1 1 1
uik = δik σll + σik − δik σll
9K 2µ 3

(2D)Equations of motion
in ”vector” notations
1−σ
∇ (∇ · ~u ) − ∇ × (∇ × ~u )
2
1+σ 1−σ
= ∇ (∇ · ~u ) + ∆~u =
2 2
2
~ 1 − σ /Eh


= −P
Lame-Hooke equations  Determine the speed of propagation of
δik plane waves in the membrane
σik = Kull δik + 2µ uik − ull
3
σii = 3KUii , 
1 1

1
 Eh 1+σ
uik = δik σll + σik − δik σll ⇒ ρh ü⊥ − ∇ (∇ · ~u )
9K 2µ 3 1 − σ2 2

1−σ
+ ∆~u = 0
2
(2D)Equations of motion
in ”vector” notations ~u = ~u|| + ~u⊥
1−σ Transverse (w.r.t direction of propagation)
∇ (∇ · ~u ) − ∇ × (∇ × ~u )
2 waves:
1+σ 1−σ
= ∇ (∇ · ~u ) + ∆~u = s
2 2 2E
∇ · u ⊥ = 0 ⇒ c⊥ =
~ 1 − σ 2 /Eh


= −P ρ (1 + σ)

Longitudinal waves:
s
E
∇ × ~u|| = 0 ⇒ c|| =
ρ (1 − σ 2 )
Transverse deformations Lame-Hooke equations 
δik
σik = Kull δik + 2µ uik − ull
3
σii = 3KUii ,
 
1 1 1
uik = δik σll + σik − δik σll
9K 2µ 3

ux ≈ uy ≈ O(h), uz ≈ ζ (x, y ) Solution of σiz = 0

σiz = 0 uxz = uyz = 0

∂z ux = −∂x ζ, ∂z uy = −∂y ζ
ux = −z ∂x ζ, uy = −z ∂y ζ
∂2ζ ∂2ζ
uxx = −z , u yy = −z
∂x 2 ∂y 2
∂2ζ
uxy = −z
∂x ∂y
Note that we should be carefull, some
components ui ∼ O(h) might give σ
O h0 -contribution to uij

σzz = 0 ⇒ uzz = − (uxx + uyy ) .
1−σ
Lame-Hooke equations 1 − 2σ
 ull = (uxx + uyy )
δik 1−σ
σik = Kull δik + 2µ uik − ull
3 E
σxx = (uxx + σuyy )
σii = 3KUii , 1 − σ2
 
1 1 1 E
uik = δik σll + σik − δik σll σyy = (uyy + σuxx )
9K 2µ 3 1 − σ2
E
σxy = uxy
Solution of σiz = 0 1+σ
uxz = uyz = 0 Potential energy density:
1
∂z ux = −∂x ζ, ∂z uy = −∂y ζ U (~x ) = σik uik
2
ux = −z ∂x ζ, uy = −z ∂y ζ 1
= (σxx uxx + σyy uyy + 2σxy uxy )
∂2ζ ∂2ζ 2
uxx = −z , u yy = −z z 2E

1
2
∂x 2 ∂y 2 = ∂x2 ζ + ∂y2 ζ
1 + σ 2(1 − σ)
∂2ζ
uxy = −z + (∂x ∂y ζ)2 − ∂x2 ζ ∂y2 ζ = z 2 (x)



∂x ∂y

σ
σzz = 0 ⇒ uzz = − (uxx + uyy ) .
1−σ
Lame-Hooke equations  Equation of motion for membrane:
δik
σik = Kull δik + 2µ uik − ull ρh ζ̈ − D∆2 ζ = 0−Pz
3
Eh3
σii = 3KUii , D=
  12 (1 − σ 2 )
1 1 1
uik = δik σll + σik − δik σll D is called a flexural rigidity,
9K 2µ 3
Pz -external normal force per unit area
4th order spacial derivative, at the
Solution of σiz = 0 border (B) need to specify function and
ux = −z ∂x ζ, uy = −z ∂y ζ uz = ζ(x, y ) its derivative

∂ζ 
≡ nB · ∇ζ|B ,
Lagrangian ∂n B

h3 where ~nB is normal to membrane border

Z  
L= dS hρζ̇ 2 −  (~x ) contour
3

E 1
2 ~
Plane wave solutions:sζ = ζ0 e i ωt−k·~x
(x) = ∂x2 ζ + ∂y2 ζ
1+σ 2(1 − σ)
D
+ (∂x ∂y ζ)2 − ∂x2 ζ ∂y2 ζ


 ω(k) = ~k 2
ρh

-dispersion, velocity depends on ω

Lame-Hooke equations  Equation of motion for membrane:
δik
σik = Kull δik + 2µ uik − ull ρh ζ̈ − D∆2 ζ = 0−Pz
3
Eh3
σii = 3KUii , D=
  12 (1 − σ 2 )
1 1 1
uik = δik σll + σik − δik σll D is called a flexural rigidity,
9K 2µ 3
Pz -external normal force per unit area

Solution of σiz = 0
Evaluate the deformation of thin
ux = −z ∂x ζ, uy = −z ∂y ζ uz = ζ(x, y )
horizontal circular membrane of radius R
in the gravitational field. The borders of
Lagrangian
the membrane are clamped.
h3
Z  
L= dS hρζ̇ 2 −  (~x )
3

E 1
2
(x) = ∂x2 ζ + ∂y2 ζ
1+σ 2(1 − σ)
+ (∂x ∂y ζ)2 − ∂x2 ζ ∂y2 ζ



Solution of σiz = 0 External tension σij

ux = −z ∂x ζ, uy = −z ∂y ζ uz = ζ(x, y ) Assume that external stretching force is

applied at the borders of a rectangular
membrane.
Lagrangian
h3
Z  
L= dS hρζ̇ 2 −  (~x )
3

E 1
2
(x) = ∂x2 ζ + ∂y2 ζ
1+σ 2(1 − σ)
+ (∂x ∂y ζ)2 − ∂x2 ζ ∂y2 ζ



Demonstrate that if the deformation of
the membrane is ζ(x, y ), then the energy
of membrane is given by
Equation of motion for membrane:
Z
Σij
ρh ζ̈ − D∆2 ζ = 0−Pz UΣ = dV ∂i ζ∂j ζ
2
Eh3
D= where Σij is the surface tension (=force
12 (1 − σ 2 )
per unit of length). Demonstrate that in
D is called a flexural rigidity, presence of constant stretching force the
Pz -external normal force per unit area speed of plane waves does not depend on
frequency ω.