CE 204: Solid Mechanics: Homework I: Instructor: Dr. Narayan Sundaram August 21, 2019

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CE 204: Solid Mechanics: Homework I

Instructor: Dr. Narayan Sundaram

August 21, 2019

I strongly encourage you to solve all of the following problems. It is imperative if you
want to understand the course material and do well in your exams.
In the following, a, b, c, u, v denote vectors in the standard three-dimensional real vector
space V, and S, T, W denote second-order tensors in V ⊗ V.

1. A new coordinate system x′ , y ′ , z ′ with basis vectors {ê′1 , ê′2 , ê′3 } is obtained by rotating
the y−z plane of a standard right-handed Cartesian x, y, z coordinate system 60 degrees
about the x-axis. The direction of rotation is counterclockwise when seen from a point
on the positive x-axis.

(a) Write down the new basis vectors {ê′1 , ê′2 , ê′3 } in terms of the standard basis
{ê1 , ê2 , ê3 }
(b) Calculate the change of basis matrix [β], and its inverse
(c) What are the new components of a vector that has untransformed components
(1, −3, 1/2)?
(d) What are the untransformed components of a vector whose new components are
(−1, 2, 3/2)?
(e) Now consider a third coordinate system x′′ , y ′′ , z ′′ with basis vectors {ê′′1 , ê′′2 , ê′′3 },
which is obtained by rotating the x − y plane of the standard x, y, z coordinate
system 30 degrees about the z-axis. The direction of rotation is counterclockwise
when seen from a point on the positive z-axis.
Find the change of basis matrix [β ∗ ] from the x′′ , y ′′ , z ′′ system to the x′ , y ′ , z ′
system. How would you verify your answer?
(f) Make a labeled sketch of these three coordinate systems.

2. Using components in a Cartesian basis, verify that (a ⊗ b)c = (b ⋅ c)a. Similarly, show
that the composition of linear maps (a ⊗ b)(u ⊗ v) = (b ⋅ u)a ⊗ v.
Hint: Use the matrix forms of these operations.

1
′ = β β T , write down the transformation law expressing the unprimed
3. Given Trs rp sq pq

components Trs in terms of Tpq


′ . Write both sets of transformations in matrix form.

4. Use the change of basis in Q1(b) and the matrix form of the transformation in Q3 to
find the transformed matrix of components of a tensor T whose components in the
original basis are
⎡−1 3 2 ⎤
⎢ ⎥
⎢ ⎥
⎢−2 4 1 ⎥
⎢ ⎥
⎢ ⎥
⎢ 0 2 −1⎥
⎣ ⎦

5. Show that the determinant of a tensor defined using the matrix of components of T,
i.e. det([Tij ]) is invariant under a change of basis.

6. Prove that the determinant of the transformation matrix [β] is ±1.

7. Write down expressions for the double dot products S ∶ T and S  T without using
indices. Under what conditions are these products equal to each other?

8. If S is a symmetric tensor, and T is a skew-symmetric tensor, then prove S ∶ T = 0

9. What is the determinant of an orthogonal tensor Q?

10. Evaluate the expression qpr rqp , where pqr is the Levi-Civita symbol

11. The ‘vector cross’ is a unary operator that acts on a vector w and produces a linear
map W with the special property that Wu = (w×)u = w × u for any vector u, where
the × on the right hand side is the ordinary vector cross-product. Find an expression
for the components of the tensor W.
Su ⋅ (Sv × Sw)
12. The determinant of a linear map is defined by det S = for any three
u ⋅ (v × w)
linearly independent vectors {u, v, w}. Find an expression for the determinant in terms
of Cartesian components of the linear map.

13. Prove that the eigenvalues of a symmetric tensor S are real.


Hint: Use the fact that u ⋅ Sv = v ⋅ Su for a symmetric tensor.

14. Prove that the eigenvectors of a symmetric tensor associated with distinct eigenvalues
are orthogonal.

15. Show that the scalar triple product [uvw] defined as u⋅(v×w) is invariant under cyclic
permutations that preserve the ordering i.e. that [uvw] = [vwu] = [wuv] and flips
sign for cyclic permutations that do not preserve the ordering, i.e. [uvw] = −[vuw].

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