Chapter III

Kinematic of Continuum Mechanics

Objectives of the course

- Knowing and distinction between material (Lagrangian) configuration (description) and
spatial (Eulerean) configuration.

- Formulation of deformation tensors

- Principle strain and principle directions of strain tensor.

- Compatibility equations of deformations.

III.1 Introduction

- The motion of a material body (continuum); starting from an initial state t  0  t0 , will
have different configurations over time.

- We will study the kinematics or the description of motion, also called Kinematics, thus
establishing the equations of motion that allow us to characterize how the continuum
evolves and how continuum properties, e.g. displacement, velocity, acceleration, mass
density, temperature, etc., change over time. To do this, we will consider the initial
configuration, also known as the reference or undeformed configuration, characterized
0
by material body B at time t  0 , and we will also consider the generic configuration
t
B at time t called the current configuration or actual or deformed configuration.

°B : Initial
configuration f
t
B : Curent B : Final
configuration configuration
P
P’’
P’
  
x3 X t
x x

O x2

x1
 - The kinematics (description of the movement) of the material medium leads to
establishing the motion equations which leads to characterize the evolution of the
continuous medium and its properties, such as the fields: displacement, speed,
accelerations, density, temperature, etc. ... with their changes in time and position.

- The distance between two material points in a medium does not vary with time in the
mechanics of non-deformable bodies. On the contrary, in mechanics of continuous media,
this distance evolves over time.

- The study of the kinematics of the continuous medium makes it possible to introduce or
formulate mathematical tools to describe the kinematics of material particles
independently of the forces which generate it (the kinematics).

- For a general description of the deformation field, we study the variation of lengths, the
variation of angles and the variations of surfaces and volumes.

Example:

initially the horizontal and vertical lines are orthogonal, they become distorted.

- This distortion is variable

- It is due to the variation of horizontal lines and the inclination of vertical lines.
- It results in a variation of angle.

III.2 Types de motion

Motion of a continuous medium, also denoted by deformation, is characterized by the

following types: Rigid Body Motion: Characterized by maintaining the original shape of the body
after motion, it is characterized by preserving the distance between particles. The rigid body
motion can be classified by: translation and/or rotation. Motion with Deformation:
Characterized by changes of distance between particles. In general, motion is characterized by
deformation and rigid body motion simultaneously.

III.2.1 Rigid body motion

In rigid body motion the distances between particles remain unchanged. Then we can establish an
equation that governs this motion. To do this let us consider a Cartesian system OX 1 X 2 X 3
which is attached to the body, so, the position vector of any particle with respect to this system
remains unchanged during motion. We can also adopt a second Cartesian system Ox1 x2 x3 , which is
  
represented by the orthonormal basis (e1 , e 2 , e3 ) .
X3
x2
x2
P’ 
 QX  ' ' '
X3 x (t ) (e1 , e 2 , e 3 ) X2
O’
P 
 c(t )
X x1
X1
O   X2 Current configuration at
(e1 , e 2 , e 3 )
the time t

Initial
X1 configuration

We can write that

  
OP '(t )  OP (t )  PP '
  
x (t )  c (t )  Q X
In indicial notation, the precedent equation can be written as
   
xi ei  ck e k  X j e 'j

Multiplying this equation by e l
     
xi ei .el  ck e k .el  X j e 'j .el
 
xi  il  ck  kl  X j a jl a jl  e 'j .el
with that is the transformation rotating the
 
ei e 'j
reference from to .

xl  cl  a jl X j a jl
such as is an orthogonal tensor.

Or, xi  ci  Qij X j

III.2.2 Deformation of bodies

In this concept, the continuum is defined by a set of particles arranged in an area without

discontinuities. Thus, there is a bijective transformation of material particles between initial

configuration and current one. So, the motion is characterized by a bijective function T ensuring
1
an inverse function T .

T
V P'
P  
 0  w
V0
X 3 , x3 v 
T 1
Initial
configuration at
Current configuration at
O    the time t
(e1 , e 2 , e 3 ) X 2 , x2

X 1 , x1
  
We define the material point P’, the deformation of the vector w , the area  and the volume V.

III.3 Descriptions of continuum motion

- In this course, we define two configurations of body deformations, namely: the

reference configuration (the initial configuration) or (the Lagrangian configuration). That

is the configuration corresponding to the initial state t  0  t0 . It is characterized by

its undeformable configuration.

- The current configuration (spatial configuration) or (Eulerian configuration) which

corresponds to the configuration at an actual time, t .

- In this case, the position vector of a material point on the body is defined by the

position vector X ( X 1 , X 2 , X 3 , t0 ) in the initial configuration at t0 and by the position

vector x( x1 , x2 , x3 , t ) in the subsequent configuration at the time t.

Referred to rectangular Cartesian coordinates, the position vector of the current

configuration of the material point is described by the components of the position vector.

xi  xi ( X 1 , X 2 , X 3 , t )

This material point is expressed using also the position vector in the initial configuration

X i  xi ( X 1 , X 2 , X 3 , t0 )

Spatial configuration can be served to define the motion of a continuum called the path line
of a material particle in the continuum.
Initial
configuration Curent
P configuration

Q
 
x3 X x

O x2

x1
 Really, the continuum is constituted of N materiel particles that involve N path lines. The
corresponding equations can be deduced from the relationship.
 
xi  xi ( X , t ), i  1, 2,..., N
Initial
configuration
Path lines
P
Q
R P’
Q’
R’
Curent
configuration

O x2

x1

Example: the temperature field is given by the expression in spatial coordinates.

   (x1  2 x 2  x 3 )  is a constant.
For a material transformation defined by
x1  k X 1  X 2 , x2  X 1  k X 2 x3  X 3 , k is a constant.
Give the material description of the temperature field and draw the temperature variation
diagram.
III.4 Material derivative

The rate change of tensorial quantity denoted by (.) to the time of a material particle is known
d
as material derivative, denoted . In this case, there are:
dt

1- The tensorial quantity is expressed in material coordinates by

d (.)  (.)

dt t

2- The tensorial quantity is in function of spatial coordinates.

d (.)  (.)  (.) x1  (.) x2  (.) x3

   
dt t x1 t x2 t x3 t

Or,

d (.)  (.)  (.)  (.)  (.)

  v1  v2  v3
dt t x1 x2 x3

In indicial notation, the previous relationship becomes

d (.) (.) (.)

  vj
dt t x j

And in tensorial notation, it becomes

d (.)  (.)
  v.(.)
dt t

III.5 Velocity and acceleration of material particle

The velocity of a material particle is defined by the rate of change of the position vector as

 dx
v
dt

In the same manner, the acceleration of a particle is the rate of change of velocity. To obtain

the expression of the acceleration, it’s necessary to substitute the tensorial quantity (.) in the

previous relations.

- Lagrangian description

dv v
a 
dt t

- Eulerian description

dvi vi v v v
ai    v1 i  v2 i  v3 i
dt t X 1 X 2 X 3

Or

vi v
ai   vj i
t X j

v
a  v . v
t

III.6 Displacement field


The displacement vector, u of a material particle is the difference between the

position vector in the current configuration, x , and the position vector in the reference

configuration, X.
Initial
configuration Curent
 configuration
P u
 Q
X 
X 3 , x3 x

O X 2 , x2

X 1 , x1
  
x  X u
  
Or u  X  x

In tensorial form, ui  xi  X i

III.7 Lagrangian and Eulerian descriptions

Continuum properties: mass density, temperature, velocity, acceleration, etc., are

intrinsic in particles (material points), and such properties may change over time. As

mentioned before, continuum motion is characterized by the bijective function T , and

1
the inverse function T . This ensures that we can correlate continuum properties

between the current and reference configurations. In other words, the study of motion can

be carried out either in the current or reference configuration.

III.7.1 Lagrangian description

The motion of the particle, in this case, can be described in terms of material coordinates X i

and time t .
 
x  x( X , t )

Or, xi  xi ( X 1 , X 2 , X 3 , t )  xi ( X , t )

The precedent equations are called the Lagrangian or Material Description of the motion.

The above parametric equation gives the current position x at time t , of a material particle

that occupied the position X at time t0 .
III.7.2 Eulerian description
 
The motion of particle can also be described in terms of spatial coordinates x and time t.
 
X  X ( x, t )

Or, X i  X i ( x1 , x2 , x3 , t )  X i ( x, t )

The above equation shows the original position X at time t0 of a particle which at the

present time, t, has the eulerian coordinates ( x1 , x2 , x3 , t ) .

The necessary and sufficient condition for there to be an inverse is:

x1 x1 x1

X 1 X 2 X 3
xi x2 x2 x2
J  0
X j X 1 X 2 X 3
x3 x3 x3
X 1 X 2 X 3

where J is called the Jacobian determinant, also known as the volume ration.

III.8 Deformation gradient (Transformation)

- In the previous section we studied the description of a particle in motion but in this

section we analyze how distances between particles change during motion after which we

define some deformation and strain tensors.

- In finite element analysis, the deformation gradient is a very interesting quantity

involved in many equations of the material transformations before and after
deformations. The second order deformation gradient tensor, denoted F , enables the
relative spatial positions of two neighboring particles Q1 and Q2 after deformation to be
described in terms of their relative material position before deformation that are P1 and
P2, respectively.
 
F (X, t )
Initial configuration

 P2
dX Q2
X 3 , x3
P1

dx
Q1

X Curent configuration

O
X 2 , x2

X 1 , x1

x  F ( X , t) X

With xi  xi ( X , t )  xi ( X 1 , X 2 , X 3 , t )

The material definition is defined by

  x 

dx  F ( X , t )dX  i dX
X j

 x1 x1 x1 

 
 X 1 X 2 X 3 
x  x x2 x2 
F ( X , t)  i   2 
X j  X 1 X 2 X 3 
 x x3 x3 
 3
 X 1 X 2 X 3 
is the Lagragian deformation gradient.
  
F ( X , t ) is called the deformation gradient or the transformation gradient. F ( X , t ) is a two-
 
order tensor and is a linear transformation which relates dX (undeformed configuration) to dx

(deformed configuration).

The inverse transformation can be evaluated by

 1
 X 
dX  F ( x, t )dx  i dx
x j

 X 1 X 1 X 1 
 
 x1 x2 x3 
1 X  X X 2 X 2 
F (x, t )  i   2 
x j  x1 x2 x3 
Or,
 X X 3 X 3 
 3
 x1 x2 x3 
is the special deformation gradient.

III.10 Strain tensor

The displacement vector describes the motion of the material particle from the initial position
to its current position. Geometrically, from the following figure, we can write


F (X, t )
Initial configuration
  
 P2 u ( X  dX , t )
X 3 , x3 dX   Q2
P1 u( X , t ) 
dx
Q1

X Curent configuration

O
X 2 , x2

X 1 , x1
    
x  X  u( X , t )
      
x  dx  X  dX  u ( X  dX , t )

We subtract the two relationships

      
dx  dX  u ( X  dX , t )  u ( X , t )

It’s possible to deduce

        
u ( X  dX , t )  u ( X , t )  (. u ) dX  u dX
   
Thus, dx  dX  u dX  (1  u ) dX

 u1 u1 u1 

 
 X 1 X 2 X 3 
 u u2 u2 
With
 u   2 
 X 1 X 2 X 3 
 u u3 u3 
 3
 X 1 X 2 X 3 
 
We have dx  F dX

F  1  u
Then, (the deformation gradient)

The scalar product of vectors is

     t 
dx.dx  F dX .F dX  dX ( F .F )dX
 t
Be C  F .F is the deformation tensor or Green-Cauchy tensor.
   
dx.dx  dX CdX
 
If C  1 then dx  dX , that is corresponds to the rigid body motion.

On the other hand,

t
C  (1  u )t .(1  u )  (1  u ).(1  u )
t t
C  1  u  u  u .u

1 t t
L  (u  u  u .u )
We pose: 2 is the Lagrangian strain tensor.

C  1  2L
Then,

t
u .u *
The presence of the term influence of the result of the deformation tensor .

The linear part called the linear strain tensor or the strain tensor of small strains,
1
  L e  (u t  u ) L
2 , that is the linear part of the Lagrangian tensor .

In indicial notation,
1 ui u
 ij  (  j)
2 X j X i
In matrix form, the linear tensor of deformation become
  u1 1 u1 u2 1 u1 u3 
 (  ) (  )
  X 1 2 X 2 X 1 2 X 3 X 1 
 1 u u u2 1 u2 u3 
    ( 1  2 ) (  )
 2 X 2 X 1 X 2 2 X 3 X 2 
 1 u 
 ( 1  u3 ) 1 ( u2  u3 ) u3 
 2 X 3 X 1 2 X 3 X 2 X 3 

 11 12 13 

     22  23 

 Sym  33 


Properties

1- The deformation tensor is linear and symmetric.


2- The tensor, , presents information of deformation field of material particle at each time

and each position.

 0
3- If , the continuum media undergoes the rigid body motion.

Example : the material transformation is given by Lagrange coordinates:

x1  X 1 x2  X 2  kX 3 x3  X 3  kX 2

 *
Calculate: , , the Green-Cauchy tensor and deduce the deformation nature.
III.11 Physical interpretation of strain tensor

III.11.1 Diagonal components of strain tensor

 
Consider the material vectordX  dL from the initial configuration where dL is its length
 
and  is the unit vector. Due to the motion of the continuum, the vector dX undergoes

corresponding to the motion and takes place as dx in the current configuration.

T 
  dX
dX  
dX dx

The strain tensor can be written as

11 12 13 

    21  22  23 
 31  32  33 
 
   
dx.dx  dX CdX
Let 
    dX
dx.dx  dX ( I  2 L) dX
Or

   
Consider dX  dX 

         

dx.dx  dX  ( I  2 L) dX   dX 2  I  2dX 2  L
 
dx 2  dX 2  2dX 2 ( L )
  
(dx  dX )( dx  dX )  2dX 2 ( L )

Using the small strain hypothesis ( dx  dX ) and L ,

 
2dX ( dx  dX )  2dX 2 ( )

dx  dX  
 
dX ,
 
  
 
This relationship gives the length variation of vector dX according to the unit vector  .

Particularly,
    
-   e1 :  11  e1 .  e1 is the strain for an element in e1 direction.
    
-   e 2 :  22  e 2 .  e 2 is the strain for an element in e2 direction.
    
-   e3 :  22  e3 .  e3 is the strain for an element in e3 direction.

The strain 11 ,  22 and  33 are called normal strains.

III.11.2 Off diagonal components of strain tensor

 (1)   (2) 
Consider two- perpendicular vector dX  dL1 m and dX  dL2 n in the reference
 (1) (2)  (1)
configuration. Due to the motion of the continuum, associate vectors dx and dx with ( dx ,
 (2)
dx )   .
 
dl1 dl2 .cos   2dL1 dL2 ( n m)
  (2)  (2)
dX T 2
dx

 (1) 
dX 1
 (1)
dx

We put

  1   2
 (1) (2)  (1)
The angle between dx and dx is  ,  measures the decrease in angle between dX and
 (2)
dX , denoted the shear strain due to the deformation, since


cos   cos(   )  sin 
2

For small strains considered in the analysis, we can write

sin   

dl1
1
dL1

dl2
1
dL2

The relationship leads to

 
  2(n m)

or


 mn 
2
   
This relation can be applied for) the base vectors ( e1 , e 2 , e3 ). Thus,

 12  
- 12  is the distortion of the angle between two vectors initially in e1 and e 2 .
2

 13  
- 13  is the distortion of the angle between two vectors initially in e1 and e3 .
2

 23  
-  23  is the distortion of the angle between two vectors initially in e 2 and e3 .
2

The corresponding strain tensor becomes

 1 1 
 11 2
 12  13
2 
 
1 
     22  23
2 
 Sym  33 

 

III.11.3 Principle strains and principle directions of the strain tensor

The Lagrangian and Eulerian linear strain tensors are symmetric second–order Cartesian

tensors. There exist, in general, three different normal strains according to three directions  1 ,
 
2 and  3 . The novel tensor of strains is a diagonal matrix.

 1 0 0
P 
  0 2 0
0 0  3   
 1 2 3
 The principal strains are solutions of the equation defined by  I  0 ,  are the proper

values of the strain tensor  . This equation can be written as

11   12  13
 21  22    23  0
 31  32  33  

The cubic equation obtained from the determinant computing is

 3  (11   22   33 ) 2  [(11 22  122 )  ( 22 33   232 )  (11 33  132 )] 

[11 ( 22 33   232 )  12 ( 21 33   31 23 )  13 ( 21 32   31 22 )]  0

This equation can be re-written as

 3  I1  2  I 2   I 3  0

Where

I1  11   22   33  tr ( )
1 2
I2  (11 22  122 )  ( 22 33   232 )  (11 33  132 )  tr 2 ( p )  tr ( p )
2  
I3  11 ( 2233   232 )  12 ( 21 33   31 23 )  13 ( 21 32   31 22 )   p

With I1 , I 2 and I 3 are called the invariants of the strain tensor.

The solution of the cubic equation offered three values of  , which are the principal strain or
the proper values of the strain tensor  . The principal tensor of strain is then

 1 0 0
P 
  0 2 0
0 0 3   
 1 2 3
 Depending on the obtained principal strain values, we can distinguish:

 1  2  3 , any direction of the space around the point considered is a principal direction
and the dilatations are identical according these directions.

 Any plane characterized by a principal strain, this plane is called principal.

 If two principal strains are equal, the third principal strain is associated to the third principal
plan, which is perpendicular to the first principal planes.

 The three principal values are different then the three principal directions are also different
and orthogonal between them due to the symmetry of the tensor of the deformations.

In this concept, the principal directions or the proper vectors show the orientations of the
principal strains. These principal directions can be obtained by using the resolution of the vector
equation
 
(  k I ) k  0

where  k is the unit vector of the k principal direction having  k as the principal strain.

In general, the solution isn’t unique needing the following conditions to precise the unit
vectors of the principal directions.


- The norm of each unit vector is unitary, ek  1 for k  1, 2,3 .

P
- Conventional ranking is always taken as 1   2P   3P .
     
- 
 1 , 2 , 3  form an orthogonal base ( 1   2   3  1 ) .

III.11.4 Graphical representation of strain state

III.11.4.1 Plane strain state

 If one of principal strains at a point in continuum is null, the plane strain state is said at this

point. For example, if e 3 is the direction of the zero principal strain, a plane strain state parallel
 
to the ( e1 , e 2 ) plane exists and corresponding strain tensor is

 11 12 0 
 
  (ij )    21  22 0 
 0 0 0
 

When plane directions are principal, the strain tensor becomes

 1 0 0 
P 
P 
  ( )   0  2 0 
ij
 0 0 0
 

A graphical representation of the strain state at a point is provided by Mohr’s circle of


strains. The strain vector relative to a plane characterized by a unit vector  (cos  ,sin  )T is
defined by

 11 12 0  cos   11 cos   12 sin  

     
       21  22 0  sin     21 cos    22 sin  
 0
 0 0  0  0
 



The normal strain to the plane can be computed by

 11   22 11   22
 nn   .   cos 2  12 sin 2
2 2

In the same manner, the shearing strain is

   
22 11
 nt   . t  sin 2  12 cos 2
2
 Using equations giving the normal strain and the shearing one, it’s possible to define the
following relationship.

11   22 11   22
( nn  )2   nt2  ( )2  122
2 2

11   22
Thus, the previous equation is a circle of centre ( ,0) and a rayon
2
1 
R (11   22 ) 2  4122 in (  ,t ) space.
2
 nt

2 p
O N c 2 M  nn

B S
Q

Hypothesis of the Mohr’s method

- The plane characterized by normal strain,  nn , and shear strain,  nt , is represented by a point
(  nn ,  nt ) on the Mohr’s circle.

- To compute normal and shear strains of a plane inclined with an angle  , it suffuses to rotate
according to the clockwise with an angle ( 2 ).

Then, the point A(  11 ,  21 ) (assuming that  21  0 ) and the point B(  22 , 12 ) are localized
on the Mohr’s circle (Figure 3.7). The point S defines the strain state for the same plane having
an angle  computed from the point A. On the Mohr’s circle, it must be ( 2 ).
 Any index (’) and (’’) indicate the production of the point on the normal strain axis and on
shear strain axis, respectively. Then, the strain state of the plane (  ) is

OS '  OC  CS '  nt

The expression can be expressed in strain terms as P

A
11   22
 nn ( )   R cos(2  2 p )
2 2 p
O N c 2 M  nn
Substituting angles  and  p in the equation, we obtain
B S
Q
11   22 11   22
 nn ( )   cos 2  12 sin 2
2 2

The normal strain expression  nn ( ) is the same given by the analytical method.

The same manner can be applied to evaluate the shear strain for the plane (  ).

OS ''  S ' S

This expression gives the shear strain expression.

 nt ( )   R sin(2  2 p )

Or,

11   22 12
 nt ( )   R( sin 2  cos 2 )
2R R

Finally, the shear strain is

 22  11
 nt ( )  sin 2  12 cos 2
2
 Also, the shearing strain expression obtained by the graphical method is identical to the
analytical method.

The principal normal strains can be easily developed using the Mohr’s approach.

OM  OC  CM  nt
11   22 11   22 1 P
1P   nn ( p )  R  (11   22 )2  4122
2 2 2 A

ON  OC  CN 2 p
O N c 2 M
     1
2P  nn ( p  )  11 22  R  11 22  (11  22 )2  4122 B S
2 2 2 2
Q

Both planes defined by ( P ) and ( P  ) are characterized by a null shear strain.
2

Maximum and minimum strains are observed on P and Q points.

 nt
OP ''  CP
P
3 1
 nt   nt ( p  )R (11   22 )2  4122
4 2 A

2 p
OQ ''  CQ O N c M  nn
2

 1 B S
 nt   nt ( p  )   R   (11   22 )2  4122
4 2 Q

3 
Both planes defined by ( p  ) and ( P  ) are submitted to the same normal strain
4 4
11   22
that’s equal to .
2
 Finally, the Mohr’s representation is a graphic tool allowing largely the calculation of strains
at any point of the continuum, the principal strains, the principal directions and the plans
subjected to extreme shear strains as well as their directions.

III.11.4.2 Tridimensionnel strain state

The above approach applied to analyze the bi-dimensional strain state will be used to compute
the strain tensor at any point in the continuum and the extreme shear strains and their
directions from the principal strain tensor. We assume that principal strains are computed using
the solution of the cubic equation [3.60].

Then, the strain vector at any a plane defined by the unit vector  (l , m, n) is

P
 P 0 0  l  1 l 
    1    
 ( )      0  2P 0  m    2P m 
 0
 0  3P  n   3P n 
 

The normal strain for the plane is

  
 nn   ( ).  1Pl ²   2P m²   3P n²

The total shearing strain to the plane can be evaluated by

  2
 nt   ( )   nn2

Since,

l ²  m²  n²  1

The solution of three equations leads to express the unit vector components.

 nn2   nt2   nn ( 2P   3P )   2P 3P

l² 
( 2P  1P )( 3P  1P )
  nn2   nt2   nn ( 3P  1P )   3P1P
m² 
( 3P   2P )(1P   2P )

 nn2   nt2   nn (1P   2P )  1P 2P

n² 
(1P   3P )( 2P   3P )

The previous equations can be written as

 2P   3P  2P   3P
( nn  )2   nt2  ( )2
2 2

1P   3P 1P   3P
( nn  )2   nt2  ( )2
2 2

1P   2P 1P   2P
( nn  )2   nt2  ( )2
2 2

Then, the Mohr’s circle can be constructed as shown below:

The strain state for any rotation will be represented by a point either on one of the three
circles, or in the shaded area between the inner and outer circles.
III.12 Cubic dilation (volume change)

The first scalar invariant of the infinitesimal strain tensor has a specific geometric meaning.
In this case, consider a rectangular parallelepiped whose their sides have elongated from the
initial configuration dL1, dL2 and dL3 to dL1 (1  1P ) , dL2 (1   2P ) and dL3 (1   3P ) in the current
configuration.

The volume of the parallelepiped in the initial state is

dV  dL1 .dL2 .dL3

The volume of the parallelepiped in the current state becomes

dV '  dL1 (1  1P ).dL2 (1   2P ).dL3 (1   3P )

The change in the volume of the parallelepiped is

(dV )  dV ' d V  dL1 .dL2 .dL3[1P   2P   3P 

1P 2P  1P 3P   2P 3P  1P 2P 3P ]
P
We neglect the higher order terms of  i , and for small strain theory, the cubic dilatation,
and denoted e, defined as the relative change in volume per unit original volume of the
parallelepiped by

(dV )
e  (1P   2P   3P )  I1
dV

More, the cubic dilatation can be expressed by

 ui
e   ii   divu
X i

In displacement terms, the cubic dilatation is

u1 u2 u3

e  
X 1 X 2 X 3

III.13 Change of bodies due to deformation

III.13.1 Change of area due to deformation

 (1)   (2) 
Consider two material elements: dX  dX (1) e1 and dX  dX (2) e2 in the initial
configuration. The corresponding area formed by these vectors is a rectangular area, denoted
d0 , that:

Final
Initial configuration
configuration
t=t0

  (1)  (2)   

d 0  dX  dX  d 0 e3  d 0 e3


Where e 3 is the normal to the area.
 (1)  (2)
At t, the material elements dX and dX becomes after deformation as:
 (1)  (1) 
dx   dX  dX (1) e1
 (2)  (2) 
dx   dX  dX (2)  e 2
The deformed area d  associated area of d0 is
  (1)  (2)    
d   T dX T dX  dX (1) .dX (2) T e1 T e 2  d  0 T e1 T e 2
   
Then, the unit vector  of the deformed area d is normal to T e1 and T e2 , is
 
d   d 

The unit vector of the deformed surface can be obtained as

 d 0  
 (T e1 T e2 )
d
Since,
     
T e1 .(T e1 T e 2 )  T e 2 .(T e1 T e 2 )  0

Then
   
T e1 .  T e 2 .  0

Thus
 T  T
e1 .T   e2 .T 

T
  
That’s T  is perpendicular to e1 and e 2 .

The mathematical substitution allows writing

  d    d 0
0
T e3 .  T e3 .(T e1 T e2 )  T
d d

Or
   d
0
e3 .T  T
d

The Jacobian J  T , the last relationship can be written as

 d 0 1

 J (T )T e3
d

Thus, the area of the deformed state can be evaluated by

1

d   d 0 J (T )T e3


In the general case, when  is the unit vector of the initial surface, the area of the
deformed surface is then
1

d   d  0 J (T )T 

III.13.2 Change of volume due to deformation

     
Consider three material elements that dX 1  dS1 e1 , dX 2  dS2 e2 and dX 3  dS3 e3 the volume
  
formed by the vectors dX 1 , dX 2 and dX 3 at the reference time t0 .

dV0  dS1 dS2 dS3

   
At time t, the vectors dX 1 , dX 2 and dX 3 deform into :
     
dx1  T dX 1 dx 2  T dX 2 dx3  T dX 3
The corresponding volume is then
     
dV  dx1 .(dx 2  dx 3 )  T dX 1 .(T dX 2  T dX 3 )

  
dV  dS1 dS2 dS3 T e1 .(T e 2  T e3 )

dV  dV0 T
t t
We have C  F F and B  F F

2
Then, C  B  T

dV  dV0 C  dV0 B

Particularly for an incompressible material, dV  dV0 and C  B  T  1

III.14 Infinitesimal rotations tensor

The deformation of any vector subjected to a material transformation can be written with
  
dx  dX  u dX

Since

1 1 ui u
  (u  uT ) or  ij  (  j)
2 2 X j X i

1 1 ui u
  (u  uT ) ij  (  j)
2 2 X j X i
or
 The deformation tensor has already been established and the rotation tensor can be
developed as

 1 u1 u2 1 u1 u3 

 0 (  ) (  )
 2 X 2 X 1 2 X 3 X 1 
 1 u2 u3 
  (ij )   0 (  )
 2 X 3 X 2 
 Ansym 0 
 
 
 

Then, the displacement gradient can be deduced by summing previous relations.

u    

We substitute this relation into the expression given the deformed vector
   
dx  dX   dX   dX

The last expression can be decomposed en three different material transformation;


(1) a translation of rigid motion, dX ,

(2) a rotation,  dX , that is the antisymmetric part of u ,

(3) a deformation,  dX , that is the symmetric part of u .
III.15 Compatibility conditions for infinitesimal strain components

Normal strains are given by

u1 u2 u3

11  ,  22   33 
X 1 X 2 X 3

In the same, shearing strains are respectively

1 u1 u2 1 u1 u3 1 u2 u3

12  (  ) 13  (  )  23  (  )
2 X 2 X 1 2 X 3 X 1 2 X 3 X 2

 211  2 22  212
 2
X 22 X 12 X 1 X 2

 211  2 33  213
  2
X 32 X 12 X 1 X 3

 2 22  2 33  2 23
  2
X 32 X 22 X 2 X 3
  211    
 ( 23  31  12 )
X 2 X 3 X 1 X 1 X 2 X 3

 2 22    
 ( 31  12  23 )
X 3 X 1 X 2 X 2 X 3 X 1

 2 33    
 ( 12  23  31 )
X 1 X 2 X 3 X 3 X 1 X 2

Demonstration

u1 u2
11  ,  22 
X 1 X 2

 211  3u1  2 22  3u 2
 and 
X 22 X 1 X 22 X 12 X 12 X 2

 211  2  u1   2 22  2  u2 

     
We have
X 22 X 1 X 2  X 2  and X 12 X 1 X 2  X 1 

We compute then

 211  2 22  2  u1 u2   212

      2
X 22 X 12 X 1 X 2  X 2 X 1  X 1 X 2