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The document provides an introduction to continuum mechanics, focusing on the mechanics of deformable materials, including fluid and solid mechanics. It discusses key concepts such as reference configurations, deformations, tensors, time and space derivatives, and the invertibility of mappings. Additionally, it covers linear algebra principles relevant to the topic, including eigenvalues, characteristic equations, and the polar decomposition theorem.

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3 views

slide1-annotated

The document provides an introduction to continuum mechanics, focusing on the mechanics of deformable materials, including fluid and solid mechanics. It discusses key concepts such as reference configurations, deformations, tensors, time and space derivatives, and the invertibility of mappings. Additionally, it covers linear algebra principles relevant to the topic, including eigenvalues, characteristic equations, and the polar decomposition theorem.

Uploaded by

miru park
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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SMSTC Continuum Mechanics 1

Penny Davies

University of Strathclyde

[email protected]

SMSTC week 1
Introduction –1
Continuum mechanics is the study of the mechanics of deformable materials
disregarding the fine details of their microscopic structure.

(a) fluid dynamics: e.g.


Removable wall

Fluid A

Fluid B

What happens when the wall is removed?

Examples of fluids?

Penny Davies (Strathclyde) CM1 SMSTC week 1 1 / 21


Introduction –2

(b) solid mechanics: e.g.

circular steel wire, initial radius A and length L

M attach a weight of mass M and let it come to rest

What happens? What is the wire’s new length and radius? What if the wire were
made of rubber?

Examples of solids?

Penny Davies (Strathclyde) CM1 SMSTC week 1 2 / 21


Reference configuration: X 2 ⌦

Ω
P

• Body occupies ⌦ at time t = 0.


T
• Point P is labelled by its position X = (X1 , X2 , X3 ) = (X↵ ) in ⌦
• material (or reference, or Lagrangian) coordinate system.

• Convention: material coordinates are written in upper case and use Greek
indices

Penny Davies (Strathclyde) CM1 SMSTC week 1 3 / 21


Deformation: x(X , t)

x
Ω

X x(X,t)

x( Ω,t)

• A deformation (or motion) of the body is a smooth map


x : (X , t) 7! x(X , t)
• Body occupies x(⌦, t) at time t > 0
T
• Point originally at X is at x = (x1 , x2 , x3 ) = (xi ) at time t
• spatial (or current, or Eulerian) coordinate system

• Convention: current coordinates are written in lower case and use Latin
indices
Penny Davies (Strathclyde) CM1 SMSTC week 1 4 / 21
Summation convention
Repeated indices are summed over 1, 2, 3
• ai bi

• (A x)i

• (A B)ij

• ij ai

• ij ai bj

Penny Davies (Strathclyde) CM1 SMSTC week 1 5 / 21


Tensors

Alternator "ijk

• "213

• "231

Tensors
• A (second order) tensor is a linear transformation of R3 into itself

• We won’t distinguish between a tensor (a linear operator) and its matrix


representation

• E.g. tensor product: (a ⌦ b) x = (b · x) a — identify a ⌦ b with a b T

Penny Davies (Strathclyde) CM1 SMSTC week 1 6 / 21


Time derivatives –1
The derivative with respect to:
D .
t holding X fixed is denoted by or
Dt
@
t holding x fixed is denoted by
@t
.
velocity: v (X , t) = x (X , t)

D @ @ @
chain rule: =) = +v ·r= + vi
Dt @t @t @xi

Penny Davies (Strathclyde) CM1 SMSTC week 1 7 / 21


Time derivatives –2
Find the material and spatial descriptions of velocity for the deformation
⇣ 3
⌘T
x(X , t) = X1 e t + (e t 1) X2 , X2 e t , X3

Penny Davies (Strathclyde) CM1 SMSTC week 1 8 / 21


Space derivatives –1
The derivative with respect to:
X↵ holding t fixed is denoted by D↵ or ,↵
X holding t fixed is denoted by D

The deformation gradient F = Dx(X , t) is a 3 ⇥ 3 matrix with entries

@xi
Fi↵ = = D↵ xi (X , t) = xi,↵ (X , t) .
@X↵

• use upper case for di↵erential operators with respect to X , and lower case for
di↵erential operators with respect to x
• Example: div h

Div h

Penny Davies (Strathclyde) CM1 SMSTC week 1 9 / 21


Space derivatives –2
Find the deformation gradient F and Jacobian J for the deformation
⇣ 3
⌘T
x(X , t) = X1 e t + (e t 1) X2 , X2 e t , X3

Penny Davies (Strathclyde) CM1 SMSTC week 1 10 / 21


Invertibility –1
Require map X 7! x(X , t) to have an inverse x 7! X (x, t) for each t.
I.e. X = X (x(X , t), t), and di↵erentiate ↵ component wrt X :

Penny Davies (Strathclyde) CM1 SMSTC week 1 11 / 21


Invertibility –2
(Local) inverse function theorem
Let ⌦ be open and f : ⌦ ⇢ Rn ! Rn be C 1 , and suppose that det Df (X 0 ) 6= 0 for
some X 0 2 ⌦. Then there exists an open neighbourhood U0 ⇢ ⌦ of X 0 and an
open neighbourhood V0 of f (X 0 ) such that f |U0 is one–to–one and onto V0 , and
the inverse mapping is C 1 .

Penny Davies (Strathclyde) CM1 SMSTC week 1 12 / 21


Invertibility –3
Global inverse theorem
Let ⌦ ⇢ Rn be open, bounded and connected with sufficiently regular boundary
@⌦. Let f : ⌦ ! Rn be C 1 and satisfy det Df (X ) 6= 0 for all X 2 ⌦. Then f is a
one–to–one map in ⌦ if f |@⌦ is one-to-one.

Penny Davies (Strathclyde) CM1 SMSTC week 1 13 / 21


Invertibility –4
Example:
Suppose: ⌦ = X 2 R3 : 0  X3  1, 1  R  2, 0  ⇥  ↵ (using polar
coordinates: X = (R cos ⇥, R sin ⇥, X3 )T )
For which values of ↵ is the map x(X ) = (R cos 2⇥, R sin 2⇥, X3 )T globally
invertible?

Penny Davies (Strathclyde) CM1 SMSTC week 1 14 / 21


Linear Algebra –1
LA 1: The following are equivalent:
• A is not invertible;
• det A = 0;
• there exists x 2 Rn /{0} with A x = 0;
• = 0 is an eigenvalue of A.

Penny Davies (Strathclyde) CM1 SMSTC week 1 15 / 21


Linear Algebra –2
LA 3: If A is invertible, then AT A is a symmetric positive definite matrix.

LA 4: If A is symmetric, then all its eigenvalues are real, and eigenvectors


corresponding to distinct eigenvalues are orthogonal.

LA 5: If A is symmetric and positive definite, then all its eigenvalues are positive.

Penny Davies (Strathclyde) CM1 SMSTC week 1 16 / 21


Linear Algebra –3
LA 6: The eigenvalues of A satisfy the characteristic equation

det(A 1) = 0 .

When n = 3 the characteristic equation is


3 2
+ IA IIA + IIIA = 0

• IA = trA (= sum of the eigenvalues)


⇥ ⇤
• IIA = (trA)2 tr(A2 ) /2
• IIIA = det A (= product of the eigenvalues)
are the three principal invariants of A

Penny Davies (Strathclyde) CM1 SMSTC week 1 17 / 21


Linear Algebra –4
LA 7: (Cayley–Hamilton Theorem)
Every matrix satisfies its characteristic equation. E.g. if n = 3, then
A3 + IA A2 IIA A + IIIA 1 = 0 .
If A is invertible, then a corollorary is
1
A = A2 IA A + IIA 1 /IIIA .

Penny Davies (Strathclyde) CM1 SMSTC week 1 18 / 21


Linear Algebra –5
LA 8: If A is symmetric and Q is the orthogonal matrix whose columns are unit
eigenvectors of A, then Q T A Q is the diagonal matrix ⇤ whose diagonal entries
are the eigenvalues of A. That is, A = Q ⇤ Q T .

LA 9: (Square root theorem) If A is symmetric and positive definite, then there is


a unique symmetric positive definite U such that U 2 = A.

Penny Davies (Strathclyde) CM1 SMSTC week 1 19 / 21


Polar decomposition theorem

Assume det F > 0. Then

F =RU =V R, where

• U and V are symmetric positive definite

• R is a rotation

• the principal stretches are the singular values of F (i.e. the eigenvalues of U
or V )

• C = U 2 = F T F : right Cauchy-Green strain tensor

• B = V 2 = FF T : left Cauchy-Green strain tensor

Penny Davies (Strathclyde) CM1 SMSTC week 1 20 / 21


Example: simple shear
Deformation x(X ) = (X1 + X2 , X2 , X3 )T of ⌦ = (0, 1)3

Penny Davies (Strathclyde) CM1 SMSTC week 1 21 / 21

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