NPTEL – Mechanical Engineering – Continuum Mechanics

Module-4: Balance Laws

Lecture-28: The Equations of Motion in
Lagrangian Description

It is convenient to work with Lagrangian description for solid mechanics as usually ref-
erence configuration is known. Therefore, we present the transformation of differential
form of linear momentum balance from spatial description to material description. The
new stress measure called first Piola-Kirchhoff stress is defined, in this lecture, which can
take care of transformation of Cauchy stress. To retain the symmetry, we define another
stress measure called second Piola-Kirchhoff stress which requires the concept of power
conjugate and it is discussed. We now start with transformation of linear momentum
balance from spatial description to material description.
The linear momentum balance and the first Piola-Kirchhoff stress tensor:
Let B0 be a reference configuration and B be a deformed configuration at an instant
of time t. Let x = χ(X, t) be a map from B0 to B. Let ρ(x, t), v(x, t), b(x, t) and
τ (x, t) be density, velocity, body force per unit mass and Cauchy stress fields over B,
respectively. Then recall from Lectures 26 and 27 that the equations of motion can be
written as
Dv
ρ = ∇x · τ + ρb ∀x ∈ B, (1)
Dt
and
τ = τT. (2)
In solid mechanics, the goal of the problem is to find the deformation of the body and
the state of stress under the action of applied forces. However, it can be noted that the
governing equations (Cauchy’s equations of motion) consists of the variable x which itself
is unknown. Thus, we transform the equations into the reference configuration B0 . It is
clear from above equations that the following terms need to be transformed in order to
achieve the target.

• Transformation of Cauchy stress τ .

• Transformation of spatial divergence of Cauchy stress (∇x · τ ).

• Transformation of traction vector t(x, t, n).

Dv
• Transformation of body force b(x, t) and acceleration .
Dt
• Transformation of density ρ.

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Let F be a deformation gradient. Then we define the first Piola-Kirchhoff stress tensor
T (X, t) as Piola transformation1 of Cauchy stress, i.e.,

T = Jτ F −T = τ cof F , (3)

where J is determinant of F .
Using Piola identity, i.e., ∇X · cof F = 0 (see Problem-1 in Lecture-19), we can show
that
∇X · T = J∇x · τ , ∀x = χ(X, t). (4)
The proof is presented in Problem-2 of Lecture-19.
Let Ω0 be a part of B0 and Ω be corresponding material volume in B. Let Γ0 and Γ
be boundaries of Ω0 and Ω, respectively. Let n0 and n be field of unit normals to Γ0 and
Γ, respectively. Then, using Eq. (4) and ∂Ω = J∂Ω0 , we get
Z Z
∇x · τ ∂Ω = ∇X · T ∂Ω0
Ω Ω0

Using divergence theorem, we get

Z Z
τ n ∂Γ = T n0 ∂Γ0 .
Γ Γ0

Since the traction field in spatial description is given by t = τ n, using first Piola-Kirchhoff
stress we can have traction vector in material description

t0 (X, t, n0 ) = T n0 . (5)

Therefore, it is easy to see from integral transformation (see Problem-3 of Lecture-19)

Z Z
t ∂Γ = t0 ∂Γ0 .
Γ Γ0

Let b0 (X, t) be a transformation of b(x, t) to the reference configuration, i.e.,

b(x, t) = b(χ(X, t), t) = b0 (X, t) (6)

The relation ρ0 (X) = Jρ(x, t), where ρ0 (X) is the density field of reference configuration
B0 , follow from conservation of mass (see Eq (2) in Lecture-24).

The acceleration description in reference configuration can be written as

Dv ∂ 2χ
= 2.
Dt ∂t
Multiplying with J on both sides of first Cauchy’s equation of motion (i.e., Eq. (1)) and
substituting above terms, we get
∂ 2χ
ρ0 = ∇X · T + ρ0 b0 . (7)
∂t2
The symmetry of Cauchy stress and Eq. (3) implies

T T = F −1 T F T . (8)
1
See the Piola transformation in Lecture-19

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Clearly, the first Piola-Kirchhoff stress is not a symmetric tensor. In summary, the dif-
ferential form of equations of motion in the reference configuration can be stated as

∂ 2χ
ρ = ∇X · T + ρ0 b0
∂t2
FTT = TFT
T n0 = t0 .

Now the goal is to find the stress measure in Lagrangian description such that it is
symmetric.
Mechanical energy balance and the second Piola-Kirchhoff stress tensor:
Let v̄ be a velocity of particle and f be a force exerted on the particle. Then, in classical
mechanics, the power expended on particle f · v̄ is balanced by the rate of change of kinetic
energy of particle. We can have the counterpart of this notion in continuum mechanics
and it can be obtained from the equations of motion.
Taking dot product with velocity field v on both sides of equation of motion, i.e., Eq.
(1), we get
Dv
ρv · = v · (∇x · τ ) + ρv · b.
Dt
Let L be a velocity gradient, i.e., L = ∇x v, and D be a rate of deformation i.e., D =
(∇x v + ∇x v T )/2. Then the above equation can be written as

D v·v
 
ρ = v · (∇x · τ ) + ρv · b
Dt 2
= ∇x · (τ T v) − τ : ∇x v + ρv · b
= ∇x · (τ T v) − τ : L + ρv · b
= ∇x · (τ T v) − τ : D + ρv · b (since τ is symmetric).

Let Ω be a material volume in B. Then taking the integration of above equation over Ω,
we get following mechanical energy balance
D v·v
Z   Z Z Z
T
ρ ∂Ω = ∇x · (τ v) ∂Ω − τ : D ∂Ω + ρv · b ∂Ω.
Ω Dt 2 Ω Ω Ω

Let Γ be a boundary of Ω and n be a unit normal field to Γ. Then using divergence

theorem to first term on right hand side of equation, we get
D v·v
Z   Z Z Z
T
ρ ∂Ω = (τ v) · n ∂Γ + ρv · b ∂Ω − τ : D ∂Ω
Ω Dt 2 ZΓ Z Ω Z Ω
= v · (τ n) ∂Γ + ρv · b ∂Ω − τ : D ∂Ω.
Γ Ω Ω

Using transport theorem-II and the relation t = τ n, we can obtain

d Z v·v
  Z Z Z
ρ ∂Ω + τ : D ∂Ω = v · t ∂Γ + ρv · b ∂Ω. (9)
dt Ω 2 Ω Γ Ω

v · t ∂Γ +
ρv · b ∂Ω represents the net power
R R
Clearly, right hand side of equation Γ Ω
d R v·v

expended by the external forces on the material volume Ω and the term ρ ∂Ω
dt Ω 2

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R
represents the rate of change of kinetic energy of material volume. The term Ω τ : D ∂Ω
is known as stress power or internal power.

Thus, the external power expended by the force field on material volume is balanced
by the sum of internal power and rate of change of kinetic energy.
R
Since Ω τ : D ∂Ω is stress power (internal power), the Cauchy stress τ is said to
be power conjugate to the rate of deformation tensor D. We now examine the power
conjugate to first Piola-Kirchhoff stress by transforming the stress power to material
description.
Let Ω0 be a volume in reference configuration corresponding to the material volume
Ω. Let T be first Piola-Kirchhoff stress. Let ρ0 be density of reference configuration. Let
b0 be body force per unit mass in material description in and t0 be first Piola-Kirchhoff
traction vector. Then using Eq. (9), we get
!
d Z 1 ∂χ ∂χ Z   Z
∂χ 0 Z
∂χ 0
ρ0 · ∂Ω0 + T F T : L ∂Ω0 = · t ∂Γ0 + ρ0 · b ∂Ω0 .
dt Ω0 2 ∂t ∂t Ω0 Γ0 ∂t Ω0 ∂t

The equation can be written as

!
d Z 1 ∂χ ∂χ Z Z
∂χ 0 Z
∂χ 0
ρ0 · ∂Ω0 + T : (LF ) ∂Ω0 = · t ∂Γ0 + ρ0 · b ∂Ω0 .
dt Ω0 2 ∂t ∂t Ω0 Γ0 ∂t Ω0 ∂t

DF
Substituting the relation, = LF , we obtain the following mechanical energy balance
Dt
in Lagrangian framework.
!
d Z 1 ∂χ ∂χ Z
DF Z
∂χ 0 Z
∂χ 0
ρ0 · ∂Ω0 + T : ∂Ω0 = · t ∂Γ0 + ρ0 · b ∂Ω0 . (10)
dt Ω0 2 ∂t ∂t Ω0 Dt Γ0 ∂t Ω0 ∂t

DF
The term T : represents the stress power per unit mass. Thus, the material time
Dt
DF
derivative of deformation gradient is power conjugate to the first Piola-Kirchhoff
Dt
stress.

We now want to find the stress measure that is power conjugate to the rate of Green
strain tensor. Let E be the Green strain tensor. Then
1
τ :D = τ : (L + LT )
2
1 DF −1 DF T
= τ :( F + F −T )
2 Dt Dt
1 DF DF T
= τ : F −T (F T + F )F −1
2 Dt Dt
1 −1 DF DF T
= (F τ F −T ) : (F T + F)
2 Dt Dt
1 −1 DC
= (F τ F −T ) : (Since the left Cauchy-Green strain C = F T F )
2 Dt
1 −1 −1 DC
= J (F T ) :
2 Dt 
DE 1

= J −1 (F −1 T ) : Since E = (C − I) .
Dt 2

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We now define the second Piola-Kirchhoff stress tensor S by

S = F −1 T . (11)

Substituting for first Piola-Kirchhoff stress in terms of Cauchy stress (i.e., Eq. (3)), we
get the following relation between second Piola-Kirchhoff stress and Cauchy stress.

S = JF −1 τ F −T . (12)

Upon substituting Eq. (11) in Eq. (10), we get the following mechanical energy balance
in terms of second Piola-Kirchhoff stress.
!
d Z 1 ∂χ ∂χ Z
DE Z
∂χ 0 Z
∂χ 0
ρ0 · ∂Ω0 + S: ∂Ω0 = · t ∂Γ0 + ρ0 · b ∂Ω0 .
dt Ω0 2 ∂t ∂t Ω0 Dt Γ0 ∂t Ω0 ∂t

Clearly, the second Piola-Kirchhoff stress tensor S is power conjugate to rate of Green
strain tensor. The second Piola-Kirchhoff stress tensor is symmetric stress measure in
material description unlike the first Piola-Kirchhoff stress tensor. The constitutive equa-
tions also take simple form due to symmetric nature of this stress measure. Thus, the
equations of motion in reference configuration using the second Piola-Kirchhoff stress can
be written as
∂ 2χ
ρ = ∇X · (F S) + ρ0 b0 , (13)
∂t2
S T = S, (14)
0 0
F Sn = t. (15)

Reference

1. C. S. Jog, Foundations and Applications of Mechanics: Continuum Mechanics,

Volume-I, 2007, Narosa Publishing House Pvt. Ltd., New Delhi.

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