Continuum Mech Problems

BMEGEMMMW03 / Continuum Mechanics / Exercises
Continuum Mechanics
EXAMPLES
by Dr. Attila KOSSA
http://www.mm.bme.hu/kossa
Budapest University of Technology and Economics
Department of Applied Mechanics
DRAFT version under continuous preparation
Any kind of comments are welcome at
kossa@mm.bme.hu
Version (year-month-day):
2014 - 09 - 10
11 : 40
EXERCISE 1
The following two vectors are given:
a = 7e1 + 2e2 5e3 ,
b = 3e1 + 6e2 + 4e3 ,
7
3
[a] = 2 ,
[b] = 6 .
5
4
(1)
(2)
Compute the following quantities: a b, a b, kak ,

a), (the angle between a and b), a b.
ea (unit vector in the direction of
SOLUTION
a b = 7 (3) + 2 6 + (5) 4 = 29,

e1 e2 e3

a b = 7 2 5
3 6 4
= +e1 (2 4 (5) 6) e2 (7 4 (5) (3)) + e3 (7 6 2 (3))
= 38e1 13e2 + 48e3 ,
q
kak = a a = 72 + 22 + (5)2 = 78 8.83176,

q
kbk = b b = (3)2 + 62 + 42 = 61 7.81025,
0.792594
a
7
2
5
ea =
= e1 + e2 e3 ,
[ea ] 0.226455 ,
kak
78
78
78
0.566139
(3)
(4)
(5)
(6)
(7)
(8)
(9)
a b = kak kbk cos

29
ab
= 2.00471rad = 114.861,
= arccos
= arccos
kak kbk
78 61
(10)
(11)
a b = a1 b1 e1 e1 + a1 b2 e1 e2 + a1 b3 e1 e3
+a2 b1 e2 e1 + a2 b2 e2 e2 + a2 b3 e2 e3
+a3 b1 e3 e1 + a3 b2 e3 e2 + a3 b3 e3 e3 ,
(12)
where
1 0 0
0 0 0
[e1 e1 ] =
0 0 0
0 0 0
1 0 0
[e2 e1 ] =
0 0 0
0 0 0
[e3 e1 ] = 0 0 0
1 0 0
0 1 0
[e1 e2 ] = 0 0 0
0 0 0
0 0 0
[e2 e2 ] = 0 1 0
0 0 0
0 0 0
[e3 e2 ] = 0 0 0
0 1 0
2
0 0 1
[e1 e3 ] = 0 0 0
0 0 0
0 0 0
[e2 e3 ] = 0 0 1
0 0 0
0 0 0
[e3 e3 ] = 0 0 0
0 0 1
, (13)
, (14)
, (15)
21 42
28
[a b] = 6 12
8 .
15 30 20
(16)
EXERCISE 2
The following two tensors are given:
7 9 8
2 6 5
[A] = 3 2 5 ,
[B] = 6 1 2 .
5 1 6
5
2 9
(17)
Compute the following quantities:

(a) A : B; (b) det (A B); (c) B 1 ; (d) kAk; (e) IB , IIB , IIIB ; (f) symmetric and skewsymmetric parts of A; (g) eigenvalues and eigenvectors of B; (h) spectral representation of B.
SOLUTION
(a)
A : B = A11 B11 + A12 B12 + A13 B13 + A21 B21 + A22 B22 + A23 B23
+A31 B31 + A32 B32 + A33 B33 ,
A : B = 7 2 + (9) (6) + 8 5 + 3 (6) + (2) (1) + 5 2
+5 5 + 1 2 + 6 9,
A : B = 183 ,
(18)
(19)
(20)
or using the identity
108
17
89

A : B = tr AT B = tr A B T = tr 43 6 56
34 19 81
= 108 + (6) + 81 = 183.
(21)
(b)

108 17 89

det [A B] = 43 6 56
34 19 81
= 108 [(6) (81) (56) (19)] (17) [(43) (81) (56) (34)]
+ (89) [(43) (19) (6) (34)] ,
(22)
(23)
det [A B] = 34710 .
(24)
adj [B]
,
det [B]
(25)
(c)
B 1 =

where
and

1 2

2 9

6 5

[adj [B]] =
2 9

6 5

1 2

1 2

2 9

6 2

=

5
9

6 1

5
2

2 6 5

det [B] = 6 1 2 = 445.
5
2 9
6
5
2 5
5 9
2
6
2
9

5
2

6 5
2 9
2 5
5 9
2 6
5 2

6 1

5

2

2 6

5 2
2 6

6 1

6 5

1 2

2 5

6
2

2 6

6 1
(26)
13
64
7
= 64 7 34 (27)
7 34 38
(28)
Therefore
1
B
=
13 64 7
0.0292135 0.14382 0.0157303
1
64 7 34 0.14382 0.0157303 0.0764045 .
(445)
7 34 38
0.0157303 0.0764045 0.0853933
(d)
kAk =
(e)
A:A=
q
q

tr A AT = tr AT A 17.1464282.
IB = trB = 2 1 + 9 = 10,
(f)
(30)
65 4
43

1 2
1
IIB =
IB tr B 2 = 102 tr 4 41 14 = 58,
2
2
43 14 110

2 6 5

IIIB = det [B] = 6 1 2 = 445.
5
2 9
Asymm =
Askew =

1
A + AT ,
2
1
AA
2

T
(29)
7 3 6.5
[Asymm ] = 3 2 3 ,
6.5 3
6
0
6 1.5
0
2 .
[Askew ] = 6
1.5 2 0
5
(31)
(32)
(33)

(g) The Cardanos solution for the eigenvalues of real symmetric 33 matrix B can be determined with the following algorithm:
q
1
274
P =
5.5176,
(34)
(IB2 3IIB ) =
3
3
1
4795
2 3
IB IB IIB + IIIB =
177.593,
(35)
D =
27
3
27

1
2
D
1
+ IB ,
+ (i 1)
arccos
i = 1...3.
(36)
i = 2P cos
3
3
2P
3
3
1 = 11.7075,
2 = 7.0778,
3 = 5.3703.
(37)
Eigenvector corresponding to 1 is calculated by

[B 1 ] n1 = 0,
n1 = n11 e1 + n12 e2 + n13 e3 ,
kn1 k = 1,

9.7075
6
5
n
11
0
6
12.7075
2
n
12 = 0 ,
5
2
2.7075
n
13
0
(38)
9.7075
n11 6
n12 + 5
n13 = 0,
6
n11 12.7075
n12 + 2
n13 = 0,
5
n11 + 2
n12 2.7075
n13 = 0.
(40)
(41)
(42)
(39)
Let n
13 = 1, then
9.7075
n11 6
n12 = 5,
6
n11 12.7075
n12 = 2,
5
n11 + 2
n12 = 2.7075.
(43)
(44)
(45)
From the first equation we can write

n
12 =
5 9.7075
n
11 .
6
6
(46)
Substituting into the second equation we have

5 9.7075
n
11 = 2
6
n11 12.7075
6
6
(47)
from which
n
11 = 0.5900,
n
12 = 0.1212.
(48)
Normalized eigenvector:
n1 =
1
n
=q
1k
kn
[n1 ]T =
1
2
(0.5900) + (0.1212) +

0.5054 0.1038 0.8566 .
11
(0.5900e1 0.1212e2 + 1e3 ) ,
(49)
(50)

n2 can be calculated similarly to n1 , whereas n3 have to be determined with n3 = n1 n2 in
order to have right-handed coordinate system of n1 , n2 , n3 . Finally we have

[n2 ]T = 0.6331 0.7192 0.2863 ,
[n3 ]T = 0.5864 0.6870 0.4292 . (51)
(h)
B = 1 n1 n1 + 2 n2 n2 + 3 n3 n3 ,
(52)
where
0.255408 0.0524574 0.432924

[n1 n1 ] = 0.0524574 0.010774 0.0889167 ,
0.432924 0.0889167 0.733818
0.400774
0.455296 0.181273
0.517235 0.205933 ,
[n2 n2 ] = 0.455296
0.181273 0.205933 0.0819908
0.343818 0.402839 0.251651

0.29485 .
[n3 n3 ] = 0.402839 0.471991
0.251651 0.29485
0.184191
(53)
(54)
(55)
EXERCISE 3
Let C be a symmetric 3x3 tensor of the second rank:
33 17 10
[C] = 17 22 5
10
5 38
(56)
with eigenvalues and eigenvectors
0.755983
[n1 ] = 0.382872 ,
0.530942
1 = 48.6329
2 = 37.9255 ,
2 = 6.44156
Calculate the tensor U =
0.278709
[n2 ] = 0.545642 ,
0.790314
0.592293
[n3 ] = 0.745442 .
0.305786
(57)
C.
SOLUTION
First, it must to note that

33
17
10
!!!!!!
C 6=
17 22 5
10
5
38
(58)
The tensor C in the basis of its unit eigenvectors is given by
1 0 0
h i
= [Q]T [C] [Q] = 0 2 0 ,
C
0 0 3
(59)
where Q is defined by
[Q] =
[n1 ] [n2 ] [n3 ]
Q is an orthogonal tensor, i.e.

QQT = ,
0.755983 0.278709 0.592293

= 0.382872 0.545642 0.745442 .
0.530942
0.790314
0.305786
Q1 = QT .
(60)
(61)
The tensor U in the basis of unit eigenvectors of C (where C is diagonal) is computed by

1 0
0
6.97373
0
0
h i hp i
= 0
=
.
0
6.15837
0
2 0 =
C
(62)
U
0
0
2.53802
0
0
3
U in the original basis is calculated with
5.3543
h i
[Q]T = 1.83446
[U ] = [Q] U
0.982972
Verification:
the formula
1.83446 0.982972
4.26613 0.659494 .
0.659494 6.0497
33 17 10
[U ] [U ] = 17 22 5 [C] .
10
5 38
(63)
(64)
EXERCISE 4
Let be the symmetric tensor
50 30 40
[] = 30 100 20 .
40 20 10
(65)
Determine its spherical and deviatoric parts, respectively.
SOLUTION
Spherical part is
p=
1
(tr) ,
3
1 0 0
20 0
0
1
[p] = (60) 0 1 0 = 0 20 0 ,
3
0 0 1
0
0 20
(66)
while the deviatoric part is computed by
s = p,
50 30 40
20 0
0
70 30 40
[s] = 30 100 20 0 20 0 = 30 80 20 .
40 20 10
0
0 20
40 20
10
(67)
(68)
EXERCISE 5
Let a new right-handed Cartesian coordinate system (CS) be given by the set of basis vectors
1 = cos e1 + sin e2 ,
e
2 = sin e1 + cos e2 .
e
(69)
(70)
(a) Find e3 in terms of the old set of basis vectors.

(b) Find the othogonal matrix [Q] and express the new coordinates in terms of the old one if
= 30 .
(c) Express vector r = 5e1 e2 + 2e3 in the new CS.
SOLUTION
(a) Since the CS is right-handed, it follows

e1
e
e
2
3

3 = e
1 e
2,
3 = cos sin 0 = e3
e
e
sin cos 0
(71)
(b)
0
cos
sin
0
2

2
3
e1 ] [
e2 ] [
e3 ] = sin cos 0 = 1
[Q] = [
0 .
2
2
0
0
1
0
0 1
(72)
(c)

0
5
[
r ] = [Q]T [r] =
0 1 =
2
0
0 1
r = 3.83
e1 3.366
e2 + 2
e3 .
3
2
21
1
2
3
2
10
5 31
2
5 31
2
3.830
3.366 ,
2
(73)
(74)
EXERCISE 6
Simplify the expression a (b c) utilizing the rules of the Einsteins summation notation.
SOLUTION
The expression above can be written as
(ai ei ) ((bj ej ) (ck ek )) = ai bj ck ei (ej ek ) = ai bj ck jkm ei em = ai bj ck jkm imp ep . (75)
Thus the pth component (a (b c))p reads as
(a (b c))p = ai bj ck jkmimp = ai bj ck jkm pim ,
(76)
where the identity jkmimp = jkm pim was employed.

Now we can use the identity jkm pim = jp ki ji kp , which yields
(a (b c))p = ai bj ck (jp ki ji kp )
= ai bp ci ai bi cp
= (ai ci ) bp (ai bi ) cp .
(77)
(78)
Thus, it follows that

a (b c) = (a c) b (a b) c.
(79)
11
EXERCISE 7
Suppose that the scalar field
=
x1 + 4x2 x23
(80)
describes a physical quantity. Compute the gradient of the above scalar field at point P(4,1,-3).
SOLUTION
ea =
e1 +
e2 +
e3 ,
xa
x1
x2
x3
1
x1

2 x1
[grad] =
,
=
x2 4x23

8x2 x3
x3

1
1
4
2 4
[gradP ] =
2
4 (3) = 36
24
8 (1) (3)
grad = =
12
(81)
(82)
(83)
EXERCISE 8
Determine the gradient of the scalar field
= x21 x2 7x3 x1
(84)
at point P(1, 2, 1) along the direction defined by the unit vector

1
n = (2e1 + 3e2 e3 ) .
14
(85)
SOLUTION
The gradient of the scalar field at point P is determined by
x1
11
2x1 x2 7x3

,
[gradP ] = 1 .
x21
[grad] =
=
x2
7x1
7

(86)
x3
Thus, the directional derivative along n is given by
1
26
(gradP ) n = (11e1 + 1e2 + 7e3 ) (2e1 + 3e2 e3 ) = 6.9488.
14
14
13
(87)
EXERCISE 9
Let the vector field u in the rectangular Cartesian CS be the following
u1
1 + x1
u = (1 + x1 ) e1 + x1 x2 e2 + (x3 x1 ) e3 ,
[u] = u2 = x1 x2
u3
x3 x1
(88)
Compute the gradient of the above vector field.

SOLUTION
gradu = u = (ua ea )
eb
xb
ua
ea eb = ua,b ea eb ,
xb
u1
u1
u1
e1 e1 +
e1 e2 +
e1 e3
x1
x2
x3
u2
u2
u2
+
e2 e1 +
e2 e2 +
e2 e3
x1
x2
x3
u3
u3
u3
e3 e1 +
e3 e2 +
e3 e3 ,
+
x1
x2
x3
u1 u1 u1
x1 x2 x3
1 0 0
u u u
2
2
2
[gradu] =
= x2 x1 0 .
x1 x2 x3
1 0 1
u3 u3 u3
x1 x2 x3
gradu =
14
(89)
(90)
(91)
(92)
(93)
EXERCISE 10
Determine the divergence of the following vector field at point P(1,2,3):
v = x1 x2 x3 (x3 e1 + x2 e2 + x1 e3 ) .
(94)
SOLUTION
va
va
v1
v2
v3
va
ea eb =
ab =
= va,a =
+
+
,
xb
xb
xa
x1 x2 x3

divv = x2 x23 + (2x1 x2 x3 ) + x21 x2 = x2 (x1 + x3 )2 ,
divv = v =
divv P = 2 (1 + 3)2 = 32.
15
(95)
(96)
(97)
EXERCISE 11
Calculate the divergence of the tensor field
2
x1 x2
2
5
[A] = 7 4x2 x3
3
x2
1
x1 x3
(98)
from the left at point P(2,3,4).

SOLUTION
Aab
Aab
A
ec =
ea (eb ec ) =
bc ea = Aab,c bc ea = Aab,b ea .
xc
xc
xc
A11 A12 A13

x1 + x2 + x3
2x1 1 + 0
2x1 1
A
A22 A23
21
0 + 4x3 = 4x3
[divA] =
+
+
=
x1
x2
x3
0 + 0 + x1
x1
A31 A32 A33
+
+
x1
x2
x3
[divAP ] = 16 .
2
divA = A =
16
(99)
(100)
(101)
EXERCISE 12
Determine the curl of the following vector
xyz
[v] = y 2 + xz .
xy
(102)
SOLUTION
curlv = v = ea
v
vb
vb
=
ea eb =
abc ec = vb,a abc ec .
xa
xa
xa
x 1
[v] = xy 1 .
z xz
(103)
(104)
17
EXERCISE 13
Calculate the curl of
xy y
[A] = 1 z
0 y
the following tensor
z2
0
y
(105)
SOLUTION
curlA = A = ea
Abc
Abc
A
=
ea (eb ec ) =
abd ed ec
xa
xa
xa
= Abc,a abd ed ec
Ab1,a ab1 Ab2,a ab1 Ab3,a ab1

[curlA] = Ab1,a ab2 Ab2,a ab2 Ab3,a ab2
Ab1,a ab3 Ab2,a ab3 Ab3,a ab3
A31,2 A21,3 A32,2 A22,3 A33,2 A23,3

[curlA] = A11,3 A31,1 A12,3 A32,1 A13,3 A33,1
A21,1 A11,2 A22,1 A12,2 A23,1 A13,2
00 11 10
[curlA] = 0 0 0 0 2z 0
0x 01 00
0
0 1
0 2z
[curlA] = 0
x 1 0
18
(106)
(107)
(108)
(109)
(110)
(111)
EXERCISE 14
Suppose that the motion of a continuous body is given by
(X, t) = X1 + tX2 e1 + X2 t2 X1 e2 + X3 e3 .
| {z }
|{z}
| {z }
x1
x2
x3
(112)
The motion is illustrated in Figure 1:
Figure 1: Illustration of the motion in terms of the parameter t

Determine the inverse of the mapping.
SOLUTION
The motion is described by linear combinations. Thus it can be written as
x1
X1 + tX2
1 t 0
X1
X1
x2 = X2 t2 X1 = t2 1 0 X2 = [M ] X2 .
x3
X3
0 0 1
X3
X3
(113)
The inverse motion is derived by solving the following system of equations:

x1 = X1 + tX2 ,
x2 = X2 t2 X1 ,
x3 = X3 .
(114)
(115)
(116)
The inverse motion has the form

1 (x, t) =

1
1
2
(x
tx
)
e
+
t
x
+
x
e2 + x3 e3 .
1
2
1
1
2
1 + t3
1 + t3
19
EXERCISE 15
Suppose that the deformation of a continuous body is given by

1
1
(X) = (3 2X1 X2 ) e1 + 2 + X1 X2 e2 + (X3 ) e3 .
2
2
(117)
Determine the matrix representation of the deformation gradient and its inverse.
SOLUTION
The definition for the deformation gradient is

F = Grad (X) = X =
Ea
Xa

Ea ,
= (x1 e1 + x2 e2 + x3 e3 )
Xa
[F ] =
x1
X1
x2
X1
x3
X1
x1
X2
x2
X2
x3
X2
x1
X3
x2
X3
x3
X3

2 1 0

= 0.5 0.5 0 .
0
0
1
(118)
(119)
(120)
The inverse deformation gradient can be obtained from the inverse motion. The inverse mapping
for this case is

2
4
11 1
1 1
1
x1 x2 E 2 + (x3 ) E 3 .
(121)
(x) = x1 + x2 E 1 +
3 3
3
3
3
3
The inverse deformation gardient is computed by

1
1
1
1
F
= grad (x) = =
ea
xa

ea ,
= (X1 E 1 + X2 E 2 + X3 E 3 )
xa
X1 X1 X1
x1 x2 x3
1/3 2/3 0
1
X2 X2 X2
F
=
= 1/3 4/3 0 .
x1 x2 x3
0
0
1
X3 X3 X3
x1
x2
x3
20
(122)
(123)
(124)
EXERCISE 16
Let the deformation described by the following mapping:
(X) = (1 + X1 + X2 ) e1 + (X2 2X1 ) e2 + (X3 ) e3 .
Calculate the stretch in the reference configuration in the direction

2
1
1 ,
[N 1 ] =
5 0
and the stretch in the spatial configuration in the direction

2
1
1 .
[n2 ] =
5 0
SOLUTION
The deformation gradient and its inverse are the following
1 1 0
1
1
0
1 1
[F ] = 2 1 0 ,
F
= 2 1 0 .
3
0 0 1
0 0 3
The stretches are calculated by the formulas
r
q
2
1.89737,
N1 = N 1 F T F N 1 = 3
5
r
1
5
n 2 = p
=3
1.31559.
26
n2 F T F 1 n2
The meaning of the streches is illustrated in Figure 2:
21
(125)
(126)
(127)
(128)
(129)
(130)
Figure 2: Meaning of the stretch measures

22
EXERCISE 17
Let a 2D motion given by

(X) = (X1 X2 ) e1 + X1 + X22 e2 .
(131)
Determine the region, where the material points cannot correspond to a real physical deformation.
SOLUTION
The deformation of a point can be admissible if J > 0. The deformation gradient for this
non-homogenous deformation is

X2 X1
,
J = det F = 2X22 X1 .
(132)
[F ] =
1 2X2
The non-admissible region is plotted in Figure 3, where the deformation of a square with
dimension of 2x2 is also illustrated.
Figure 3:
23
EXERCISE 18
Suppose thet the motion of a continuous body is given by

1
2
(X) = X1 (X2 X1 ) e1 + X2 + (X1 + X2 ) e2 + (X3 ) e3 .
3
3
(133)
Determine the following deformation and strain measures, respectively: left and right CaucyGreen deformation tensors; Piola deformation tensor; Cauchy deformation tensor; GreenLagrange strain tensor; Almansi-Euler strain tensor.
SOLUTION
The deformation gardient and its inverse are
4 1 0
7.5
1.5
0
1
1
1
3 6 0 .
F
=
[F ] = 2 5 0 ,
3
11
0 0 3
0
0 11
(134)
Right Cauchy-Green deformation tensor:

C = FTF,
C = CIJ E I E J
20
6
0
2.222
0.667
0

1
[C] = F T F = 6 26 0 0.667 2.889 0 .
9
0 0 9
0
0
1
(135)
B = C 1 = F 1 F T ,
B = BIJ E I E J

0.483 0.112 0
117 27 0
1
1
27 90
0 0.112 0.372 0 .
[B] = C
=
242
0
0
1
0
0 242
(137)
(138)
b = FFT,
b = bij ei ej
17 3 0
1.889 0.333 0

1
[b] = F F T = 3 29 0 0.333 3.222 0 .
9
0 0 9
0
0
1
(139)
c = b1 = F T F 1 ,
c = cij ei ej
261 27 0
0.539 0.056 0
1
1
27 153 0 0.056 0.316 0 .
=
[c] = b
484
0
0 484
0
0
1
(141)
(136)
Piola deformation tensor:
Left Cauchy-Green deformation tensor:
(140)
Cauchy deformation tensor
(142)
Green-Lagrange strain
E=
1
(C I) = EIJ E I E J
2
(143)
24

11 6 0
0.611 0.333 0
1
1
6 17 0 0.333 0.944 0 .
(C I) =
[E] =
2
18
0 0 0
0
0
0

(144)
Almansi-Euler strain
1
(i c) = eij ei ej
2

223 27 0
0.231 0.028 0
1
1
27 331 0 0.028 0.342 0 .
[e] =
(i c) =
2
968
0
0 0
0
0
0
e=
25
(145)
(146)
EXERCISE 19
Let the non-homogeneous 2D deformation of a square with dimension 1 1 be given by the
following mapping:

2
3 1
3
3
+ X1 +
X1 + X2 ,
(147)
x1 =
2
2 5
2
3
3
x2 =
+ X2 X12 .
(148)
2
2
The deformation is illustrated in Figure 4.
Figure 4: Illustration of the deformation

Determine the eigenvalues and eigenvectors of the left Cauchy-Green deformation tensor at
material point P0 (0.8, 0.2).
SOLUTION
After the deformation, the material point at P0 has the following spatial coordinates:

2
3
3 1
3
x1 =
+ 0.8 +
0.8 + 0.2 = 2.6174,
2
2 5
2
3
3
+ 0.2 0.82 = 0.74.
x2 =
2
2
(149)
The deformation gradient
x1 x1
X1 X2
[F ] = x
x2
2
X1 X2
(151)
is
(1 + 0.12X1 + 0.9X2 ) (0.9X1 + 6.75X2 )

3X1
1
Its value corresponding to the material point P0 is

1.276 2.07
.
[F ] =
2.4
1
26
(150)
(152)

The matrix representation of the left Cauchy-Green deformation tensor is

5.91308 0.9924
T
.
[b] = F F =
0.9924
6.76
(153)
Calculating its eigenvalues:
(5.91308 ) (6.76 ) (0.9924)2 = 0,
(154)
1 = 7.4155,
(155)
2 = 5.2575.
Eigenvectors:
[b 1 i] [n1 ] = [0]
[b 2 i] [n2 ] = [0]
[n1 ] =
0.55115
0.8344
(156)
[n2 ] =
0.8344
0.55115
(157)
The eigenvectors are illustrated in Figure 5.
Figure 5: Eigenvectors of the the left Cauchy-Green deformation tensor at material point P
27
EXERCISE 20
Consider a deformation (X) defined in components by
x1 = X12 ,
x2 = X32 ,
x3 = X2 X3 .
(158)
Determine the area change and volume change corresponding to material point P0 (2, 3, 1).
Compute the ratio da/dA at this point for infinitesimal surface area with initial normal vector
E 3.
SOLUTION
x1 x1
X1 X2
x
x2
2
[F ] =
X1 X2
x3 x3
X1 X2
Its determinant is
is computed as
x1
X3
2X1 0
0
x2
0
0 2X3 .
=
X3
0 X3 X2
x3
X3
J = detF = 4X1 X32 .
(159)
(160)
The inverse deformation gradient has the form
1
0
0
2X1
1
1
X2
2
F
= 0
.
2X3 X3
1
0
0
2X3
(161)
The area change at point P0 is determined according to the Nansons formula:

da = (detF ) F T dA,
1
0
0
2X1
1
X2
2
[da] = 4X1 X32 0
[dA] ,
2X3 2X3
1
0
0
X3
2
2X3
0
0
2X1 X2 2X1 X3 [dA] ,
[da] = 0
0
4X1 X3
0
2 0 0
[daP ] = 0 12 4 [dA] .
0
8 0
(162)
(163)
(164)
(165)
The ratio da/dA is given by
da
= J N BN ,
dA
(166)
28

where N = E 3 and the Piola deformation tensor is given by
1
0
0
4X12
1
X2
X22
B = F 1 F T ,
[B] = 0
+ 2 2
4
4X3
X3
4X3
1
X2
0
2
4X3
4X32
(167)
Thus it follows that
da
= J N BN = 4X1 X32
dA
1
2X3
= 2X1 X3 = 4.
(168)
The volume change at P is

dvP
= detF P = JP = 8.
dVP
(169)
29
EXERCISE 21
Consider the homogeneous deformation
x1 = X1 + tX2 ,
x2 = X2 tX2 ,
x3 = X3 .
(170)
Determine the angle of shear for the unit vector pair defined in the reference configuration by

1
0
0
NI =
,
N II = 1 .
(171)
0
0
SOLUTION
The deformation gradient is
1
t
0
[F ] = 0 1 t 0 .
0
0
1
Its inverse transpose is
1
T t
F
=
t1
0
(172)
0
0
1
0 .
t1
0
1
(173)
The determinant of the deformation gradient is

J = detF = 1 t.
(174)
Thus, t < 1 has to be satisfied.

The right CauchyGreen deformation tensor is given by
1
t
0

[C] = F T F = t (1 t)2 + t2 0 .
0
0
1
The GreenLagrange strain tensor is computed as
t
0
0

2
1
.
t
(C I) =
[E] =
t
(t
1)
0
2
2
0
0
0
The Cauchy deformation tensor is
1
1 T 1
[c] = b
= F F
= t
t1
0
t
0
t1
t +1
.
2 0
(t 1)
0
1
30
(175)
(176)
(177)

The EulerAlmansi strain tensor is given by
t
0
0

2 2t
1
t
t
[e] =
(i c) =
.
0
2
2 2t (t 1)2
0
0
0
Stretch ratios along NI and NII are

p
NI =
N I C N I = 1,
q
p
NII =
N II C N II = (1 t)2 + t2 .
(178)
(179)
(180)
Unit vectors in the spatial configuration directed along material line element dX I = dS0I N I
and dX II = dS0II N II , respecively are

t
1
1
1
1
1 t .
nI =
(181)
F NI = 0 ,
F N II = q
nII =
NI
NII
2
2
t + (1 t)
0
0
The angle of shear can be computed with the following formulae:
sin = sin

N I CN II
2N I EN II
t
= cos =
=
= 2nI enII = q
. (182)
2
NI N I I
NI N I I
2
2
t + (1 t)
Note that in this example the initial angle is 0 =
31
.
2
EXERCISE 22
Let a homogenous deformation be given by the following mapping:
x1 = X1 + tX2 ,
x2 = X2 2tX1 ,
x3 = X3 .
(183)
Determine the change of the angle defined by the material line elements dX I and dX II for
t = 1. The direction of these material elements are given by the following unit vectors

1
1
1
(184)
NI = 0 ,
N II = 1 .
2
0
0
Determine the values of parameter t > 0, for which the angle between dxI and dxII is the
maximum.
SOLUTION
1 t 0
[F ] = 2t 1 0 .
0 0 1
(185)
The right CauchyGreen deformation tensor is
2
1
+
4t
t
0

1 + t2 0 .
[C] = F T F = t
0
0
1
(186)
Stretch ratios:
N I C N I = 1 + 4t2 ,
r
p
5t2
N II C N II = 1 t +
=
.
2
NI =
NII
(187)
(188)
The angle change is defined by 0 , where

cos0 = N I N II
0 =
= 45
4
(189)
and
cos =
1 + t (4t 1)
N I CN II
p
=
.
NI NI I
1 + 4t2 2 t (2 5t)
(190)
For t = 1, its value is

cos|t=1 =
4
5
36.87.
(191)
Consequently
0 =
4
8.13.
4 5
(192)
32

The evolution of cos and are illustrated in Figure 6.
Figure 6: The evolution of cos and

The maximum angle is calculated according to
d
(t) = 0
dt
2
3
2
= 0
2
4t + 1 5t 2t + 2

1
6 2 0.2247.
t =
2
33
(193)
(194)
(195)
EXERCISE 23
Consider a brick element with initial dimensions 2 3 1. Let the deformed body be given by
the following mapping:
x1 = X1 + X1 X2 ,
x2 = X2 X1 ,
x3 = X3 .
(196)
The deformed configuration in the {x1, x2} plane is illustrated in Figure 7.

Determine the change of the angle defined by the material line elements dX I and dX II at
point P0 (2, 3, 1), where
1
0
NI = 0 ,
N II = 1 .
(197)
0
0
Figure 7: Illustration of the deformed configuration in the {x1, x2} plane
SOLUTION
1 + X2 X1 0
1 0 .
[F ] = 1
0
0 1
(198)
The right CauchyGreen deformation tensor is
2
1
+
(1
+
X
)
X
(1
+
X
)
1
0
2
1
2

[C] = F T F = X1 (1 + X2 ) 1
1 + X12
0 .
0
0
1
34
(199)

Stretch ratios:
NI
NII
q
p
=
N I C N I = 1 + (1 + X2 )2 ,
q
p
N II C N II = 1 + X12 .
=
(200)
(201)
Since 0 = /2, the angle of shear is defined by

sin = sin

N I CN II
X1 (1 + X2 ) 1
= cos =
=q
.
p
2
N I NI I
2
2
1 + (1 + X2 ) 1 + X1
(202)
At point P0 (2, 3, 1):
7
cos|P0 =
85
40.6 .
(203)
Consequently the angle change is

0 = 90 40.6 = 49.4 .
35
EXERCISE 24
A non-homogeneous deformation is given by the mapping
x1 = X2 ,
x2 = X2 X3 ,
x3 = X3 X1 .
(204)
Determine the isochoric and volumetric parts of the deformation gradient at material point
P0 (2, 8, 4).
SOLUTION
The deformation gradient has the form
0 1 0
[F ] = 0 X3 X2 .
1 0
1
(205)
The volume change is
J = detF = X2 .
(206)
The isochoric and volumetric parts of F are defined by

1
F iso = J 3 F ,
0
0 1 0
1
0 X3 X2 = 0
[F iso ] =
3
X2 1 0
1
3 1X
(207)
3 1X
2
X3
3
X2
0
p
3
X22 ,
1
3
X2
1
3
F vol = J I,
[F vol ] =
At P0 (2, 8, 4):
p
3
1 0 0
X2 0 1 0 =
0 0 1
0
0.5 0
2
4 ,
[F iso ] = 0
0.5
0
0.5
X2 0
0
3
0
X2 0 .
3
0
0
X2
2 0 0
[F vol ] = 0 2 0 .
0 0 2
36
(208)
(209)
(210)
(211)
EXERCISE 25
Let the deformation gradient be the following:
1 1.5 0
[F ] = 0 1 0 .
0 0 1
(212)
Determine: U , R, V using the polar decomposition theorem.
SOLUTION
The right Cauchy-Green deformation tensor:
1
1.5
0

[C] = F T F = 1.5 3.25 0 .
0
0 1
(213)
Its eigenvalues are
det (C ) = 0
1 = 4, 2 = 1, 3 = 0.25.
Principal stretches are
1 = 1 = 2, 2 = 2 = 1 3 = 3 = 0.5.
(214)
(215)
Unit eigenvectors of C (and U ) are

(C i ) N i = 0
0.4472
[N 1 ] = 0.8944 ,
0
Basis tensors are
(216)
0
[N 2 ] = 0
1
0.8944
[N 3 ] = 0.4472 .
0
0.2 0.4 0
[M 1 ] = [N 1 N 1 ] = 0.4 0.8 0 ,
0
0 0
0 0 0
[M 2 ] = [N 2 N 2 ] = 0 0 0 ,
0 0 1
0.8 0.4 0
[M 3 ] = [N 3 N 3 ] = 0.4 0.2 0 .
0
0
0
(217)
(218)
(219)
(220)
These basis tensors can be calculated in different way, using the following formulas:
Ma =
1
(C b ) (C c ) ,
(a b ) (a c )
1
(C 2 ) (C 3 )
(1 2 ) (1 3 )
1
(C 1) (C 0.25)
=
(4 1) (4 0.25)
M1 =
37
(221)
(222)
(223)

1
(C 3 ) (C 1 )
(2 3 ) (2 1 )
1
=
(C 0.25) (C 4)
(1 0.25) (1 4)
(224)
M2 =
(225)
1
(C 1 ) (C 2 )
(3 1 ) (3 2 )
1
=
(C 4) (C 1)
(0.25 4) (0.25 1)
(226)
M3 =
(227)
The right Cauchy stretch tensor is
U = 1 M 1 + 2 M 2 + 3 M 3 ,
0.8 0.6 0
[U ] = 0.6 1.7 0 ,
0
0 1
1.7 0.6 0
1
U
= 0.6 0.8 0 .
0
0
1
(228)
(229)
(230)
The rotation tensor is

R = F U 1 ,
0.8 0.6 0
[R] = 0.6 0.8 0 ,
0
0 1
det R = 1,
R1 = RT .
(231)
Computing the left stretch tensor:

F = V R V = F R1 ,
1.7 0.6 0
[V ] = 0.6 0.8 0 .
0
0 1
(232)
Calculating V in a different way:
0.8944
0
0.4472
[n1 ] = [RN 1 ] = 0.4472 , [n2 ] = [RN 2 ] = 0 , [n3 ] = [RN 3 ] = 0.8944 . (233)
0
1
0
0.8 0.4 0
[m1 ] = [n1 n1 ] = 0.4 0.2 0 ,
0
0 0
0 0 0
[m2 ] = [n2 n2 ] = 0 0 0 ,
0 0 1
0.2 0.4 0
[m3 ] = [n3 n3 ] = 0.4 0.8 0 .
0
0
0
1.7 0.6 0
V = 1 m1 + 2 m2 + 3 m3 ,
[V ] = 0.6 0.8 0 .
0
0 1
38
(234)
(235)
(236)
(237)

Calculating V in a different way:
V = RU RT ,
1.7
0.6
0

[R] [U ] RT = 0.6 0.8 0 .
0
0 1
39
(238)
EXERCISE 26
Let the deformation be given with the following mapping:
x1 = X1 + X2 ,
x2 = X1 + X2 ,
x3 = X3 .
(239)
Determine: U , R, V using the polar decomposition theorem.

SOLUTION
Deformation gradient:
0
[F ] = 0 ,
0 0
J = 2.
(240)
Right Cauchy-Green deformation tensor:
22 0
0
T
[C] = F F = 0 2 2 0 .
0
0 2
(241)
Eigensystem of C:
1 = 22 , 1 = 2 2 , 3 = 2 ,
1 = 1 = 2,
2 =
2 =

1
0
0
[N 1 ] = 0 , [N 2 ] = 1 , [N 3 ] = 0 . (242)
0
0
1
3 =
3 = .
(243)
The right Cauchy-Green deformation tensor:

U = 1 N 1 N 1 + 2 N 2 N 2 + 3 N 3 N 3 ,
Rotation tensor:
0
1
[R] = [F ] U
= 0
0 0
2
0
0
Left stretch tensor:
0
1
2
0
[U ] =
0
1 1 0
1
0
= 1 1 0 .
2
2
0 0
1
+ +
0
T
1
[V ] = [R] [U ] R = + + 0 .
2
0
0
2
40
2 0
0
0
2 0 .
0
0
(244)
(245)
(246)
EXERCISE 27
Compute the Hencky
1 1
[F ] = 2 1
0 0
strain tensor in the reference configuration for the deformation
0
0 .
1
SOLUTION
The right Cauchy-Green deformation tensor is
5 1 0
T
[C] = F F = 1 2 0 .
0
0 1
(247)
(248)
Eigenvalues of C are
det (C ) = 0
1 =

1
7 + 13 ,
2
2 =

1
7 13 ,
2
3 = 1.

1
1
1 = 1 =
1 + 13 ,
2 = 2 = 1 13
3 = 3 = 1.
2
2
Unit eigenvectors of C (and U ) are
3 + 13
3
1

p
0
r 2 2 13
r 26 + 6 13
1
3
[N 1 ] =
2
, [N 2 ] =
[N 3 ] = 0 .
1
2 2 13
13 + 3 13
0
0
(249)
(250)
(251)
The right stretch tensor is
U = 1 N 1 N 1 + 2 N 2 N 2 + 3 N 3 N 3 ,
8
1
2.2188 0.2774 0
13
13

5
[U ] = 1
0.2774 1.3868 0 .
0
0
1
13
13
0
0
1
(252)
(253)
The Hencky strain tensor in the reference configuration (after simplification) is

ln U = (ln 1 ) N 1 N 1 + (ln 2 ) N 2 N 2 + (ln 3 ) N 3 N 3 .

ArcTanh 2513
2ArcCoth 13
ln 3
+
0
2
13
13

[ln U ] =
5
ArcTanh
13
ln 3
2 13
2ArcCoth
+
0
2
13
13
0
0
0
0.7863 0.1580 0
0.1580 0.3123 0 .
0
0
1
41
(254)
(255)
(256)
EXERCISE 28
Compute the generalized material strain measures for the homogenous deformation
1 1 0
[F ] = 2 1 0 .
0 0 1
SOLUTION
The right Cauchy-Green deformation tensor is
5
1
0

[C] = F T F = 1 2 0 .
0
0 1
(257)
(258)
Eigenvalues of C are
det (C ) = 0,

1
1
7 + 13 5.3028, 2 =
7 13 1.6972, 3 = 1.
1 =
2
2
2 = 2 1.3028
3 = 3 = 1.
1 = 1 2.3028,
Eigenvectors of C are
0.9571
[N 1 ] 0.2898 ,
0
0.2898
[N 2 ] 0.9571
0
Generalized material strain measures:

3
X
1 n
E (n) =
( 1) N N .
n
=1
0
[N 3 ] = 0 .
1
(260)
(261)
(262)
0.3889 0.0556 0
E (2) = 0.0556 0.2222 0 ,
E (2)
0
0
0

3
0.5378
0.0925
0
h
i
X
1
E (1) =
1
N N ,
E (1) = 0.0925 0.2604 0 ,
=1
0
0
0
3
0.7863 0.1580 0
i
h
X
(0)
(0)
= 0.1580 0.3123 0 ,
E =
(ln ) N N ,
E
=1
0
0
0
3
1.2189 0.2774 0
h
i
X
E (1) =
( 1) N N ,
E (1) = 0.2774 0.3868 0 ,
=1
0
0
0
3
2
0.5 0
i
h
X

1 2
(2)
(2)
= 0.5 0.5 0 .
1 N N ,
E
E =
2
=1
0
0
0

3
X
1
1
1 2 N N ,
=
2
=1
(259)
42
(263)
(264)
(265)
(266)
(267)
EXERCISE 29
Let a two-dimensional displacement be given in the reference configuration as
U1 = 2X2 ,
U2 = 2X1 ,

2X2
[U ] =
2X1
(268)
Determine the coordinates of the displacement of the material point P0 (1, 1) in the current
(spatial or deformed) configuration.
SOLUTION
The deformation mapping is
x1 = X1 + U1 = X1 2X2 ,
x2 = X2 + U2 = X2 + 2X1 .
(269)
The inverse deformation mapping is

X1 =
1
(x1 + 2x2 ) ,
5
X2 =
1
(x2 2x1 ) .
5
(270)
The coordinates of the displacement field in the spatial configuration are

1
(4x1 2x2 ) ,
5

1 4x1 2x2
[u] =
.
5 4x2 + 2x1
u1 = x1 X1 =
u2 = x2 X2 =
The displacement vector U at point P0 (1, 1) is

2
.
[U ]P =
2
1
(4x2 + 2x1 ) ,
5
(271)
(272)
The displacement vector u at point P (1, 3) (which is the same material point as P0 (1, 1) in
the reference configuration) is

1 4 (1) 2 (3)
1 10
2
[u]P =
=
=
.
(273)
10
2
5 4 (3) + 2 (1)
5
The motion is illustrated in Figure 8.
43
Figure 8:
44
EXERCISE 30
A certain motion of a continuum body in the reference configuration is given by the displacement
field
U1 = k (X1 + X3 ) ,
U2 = k (X2 X1 ) ,
U3 = 0.
(274)
Determine the coordinates of the displacement field in the spatial (deformed) configuration.
SOLUTION
The motion is computed as
x1 = X1 + k (X1 + X3 ) ,
x2 = X2 + k (X2 X1 ) ,
x3 = X3 .
(275)
Its inverse is
1
(x1 kx3 ) ,
1+k

1
2
=
2 kx1 + (1 + k) x2 k x3 ,
(1 + k)
= x3 .
X1 =
(276)
X2
(277)
X3
(278)
The coordinates of the displacement field in the spatial configuration are

k
(x1 + x3 ) ,
1+k
k
((1 + k) x2 x1 + kx3 ) ,
= x2 X2 =
(1 + k)2
= 0.
u1 = x1 X1 =
(279)
u2
(280)
u3
45
(281)
EXERCISE 31
Determine the Euler and Lagrange velocity and acceleration field, respectively, for the 2D
deformation
x1 = X1 + (sin t) X2 ,
x2 = X2 + tX2 .
(282)
Compute the velocity and acceleration of material point P0 (1, 1) at instant time t = 1.
SOLUTION
The material velocity field is computed by

(X, t)
V (X, t) =

t
X fixed
(X1 + (sin t) X2 )

X
cos
t
2
t
.
[V (X, t)] =
=
(X2 + tX2 )
X2
t
The material acceleration field is

2 (X, t)
V (X, t)
A (X, t) =
=

t2
t
X fixed
X fixed
(X2 cos t)

X2 sin t
t
.
[A (X, t)] =
=
(X2 )
0
t
(283)
(284)
(285)
(286)

X1 = x1
x2 sin t
,
1+t
X2 =
x2
1+t
(287)
The Euler velocity field is

v (x, t) = V 1 (x, t) , t
x2
cos t
.
[v (x, t)] = 1 + xt 2
1+t
(288)
The spatial acceleration field is determined by

a (x, t) = A 1 (x, t) , t
[a (x, t)] =
"
#
x2
sin t
.
1+t
0
The velocity and acceleration vector of material point P0 (1, 1) at t = 1 are

0.5403
1 cos 1
,
[V (X P0 , 1)] =
1
1

0.8415
1 sin 1
.
[A (X P0 , 1)] =
0
0
46
(289)
(290)
(291)

These vector components can be determined using the spatial description. For this reason first
we need the spatial coordinates of materialpoint P0 at t = 1.

1 + (sin 1) 1
1 + sin 1
1.8415
[xP ] =
=
,
(292)
1+11
2
2
2

0.5403
1 + 1 cos 1
[v (xP , 1)] =
,
2
1
1+1
#
"

2
0.8415
sin 1
[a (xP , 1)] =
1+1
0
0
47
(293)
(294)
EXERCISE 32
Compute the Euler and Lagrange velocity and acceleration field, respectively, for the 2D deformation
x1 = X1 ln (2 + t) ,
x2 = X2 e2t .
(295)
Compute the velocity and acceleration of material point P0 (100, 2) at instant time t = 1.
SOLUTION
The material velocity field is computed by

(X, t)
V (X, t) =
,

t
X fixed

(X1 ln (2 + t))
X1

t
[V (X, t)] =
=
2 + t .
(X2 et )
2X2 e2t
t
The material acceleration field is

V (X, t)
2 (X, t)
,
=
A (X, t) =

t2
t
X fixed
X fixed

X1
X1
2+t

[A (X, t)] =
= (2 + t)2 .
t
2t
(2X2 e )
4X2 e2t
t
x1
X1 =
,
X2 = x2 e2t
ln (2 + t)
(296)
(297)
(298)
(299)
(300)

v (x, t) = V 1 (x, t) , t ,
[v (x, t)] =
"
#
x1
(2 + t) ln (2 + t) .
2x2
(301)
The spatial acceleration field is determined by

a (x, t) = A 1 (x, t) , t ,
x1
[a (x, t)] = (2 + t)2 ln (2 + t) .
4x2
The velocity and acceleration vector of material point P0 (100, 2) at t = 1 are

" 100 #

33.333
,
[V (X P0 , 1)] =
2+1
29.556
2 2e21

100
11.111
2
.
[A (X P0 , 1)] = (2 + 1)
59.112
21
4 2e
48
(302)
(303)
(304)

These vector components can be determined using the spatial description. For this reason first
we need the spatial coordinates of materialpoint P0 at t = 1.

109.861
100 ln (2 + 1)
,
(305)
[xP ] =
14.778
2e21

109.861
33.333
[v (xP , 1)] = (2 + 1) ln (2 + 1)
,
29.556
2 14.778

109.861
11.111
2
[a (xP , 1)] = (2 + 1) ln (2 + 1)
.
59.112
4 14.778
49
(306)
(307)
EXERCISE 33
Suppose that the motion of a continuous medium is given by the 1D mapping
x = (1 + t) X
(308)
and the temperature distribution along X in the reference description is described by

(X, t) = Xt2
(309)
Compute the material time derivative of the temperature field (x, t) written in the spatial
configuration.
SOLUTION
The inverse motion is
X=
x
1+t
(310)
The temperature field (x, t) written in the spatial configuration is

(x, t) =
xt2
1+t
(311)
The velocity field in the material description is

V (X, t) = X
(312)
The Euler velocity filed is

v (x, t) = V 1 (x, t) , t =
x
1+t
(313)
The material time derivative of (x, t) is calculated by

(x, t)
(2 + t) xt
x
2xt
d (x, t)
t2
=
+ grad (x, t) v (x, t) =
=
+
2
dt
t
1+t 1+t
1+t
(1 + t)
50
(314)
EXERCISE 34
Consider the following 2D mapping
x1 = tX1 ,
x2 = X2 + (1 + t) X1 .
(315)
Let the distribution of a physical quantity in the reference configuration is given by

Q (X, t) = X2 t.
(316)
Denote q (x, t) the distribution of this field written in the spatial configuration. Detrmine the
material time derivative of q (x, t).
SOLUTION
X1 =
x1
,
t
X2 = x2
(1 + t)
x1 .
t
(317)
(tX1 )

X
1
t
[V (X, t)] = (X + (1
+ t) X1 ) = X1 .
2
t
The field under consideration in the current configuration is computed as

q (x, t) = Q 1 (x, t) , t = x2 t (1 + t) x1 .
Therefore, the velocity field in the spatial description is
x
1

1
v (x, t) = V (x, t) , t ,
[v (x, t)] = xt1 .
t
The gradient of q with respect to the current coordinates is

1 t
.
[gradq (x, t)] =
t
(318)
(319)
(320)
(321)
The material time derivative of q is

x

q
1
+ gradq v = (x2 x1 ) + (1 + t) + x1 ,
q =
t
t
(322)
q = x2
(323)
Q
= X2 .
Q =
t
(324)
t+1
x1 .
t
The material time derivative of Q has the simple form
51
EXERCISE 35
Let the deformation be given by
x1 = X1 + t,
x2 = X2 tX1 ,
x3 = X3 .
Compute the material time derivative of spatial vector field
x2 t2
[k] = x1 t .
0
(325)
(326)
SOLUTION
X2 = x2 + x1 t t2 ,
X1 = x1 t,
X3 = x3 .
The material velocity field is
1
[V ] = X1 .
0
(327)
(328)
1
[v] = t x1 .
0
(329)
The material time derivative of f is computed by

dk (x, t)
k (x, t)
=
+ gradk v,
dt
t
(330)
where
[gradk] =
k1
x1
k2
x1
k3
x1
Therefore

k1
x2
k2
x2
k3
x2
k1
x3
k2
x3
k3
x3

0 t2 0

= t 0 0 .
0 0 0
2x2 t
0 t2 0
1
t x1 t2 + 2x2 t
dk (x, t)
.
t + x1
= x1 + t 0 0 t x1 =
dt
0
0 0 0
0
0

52
(331)
(332)
EXERCISE 36
Let the deformation be given by
x1 = (1 + t) X1 ,
x2 = X2 tX3 ,
x3 = X3 .
(333)
Compute the material time derivative of spatial vector field
x1 + x2 t
[f ] = x2 x3 .
x1
SOLUTION
x1
,
X1 =
(1 + t)
X2 = x2 + tx3 ,
(334)
X3 = x3 .
(335)
The material velocity field is
X1
[V ] = X3 .
0
(336)

x1
(1 + t)
[v] = x .
3
0
(337)
The material time derivative of f is computed by

df (x, t)
f (x, t)
=
+ gradf v,
dt
t
(338)
where
[gradf ] =
f1
x1
f2
x1
f3
x1
f1
x2
f2
x2
f3
x2
f1
x3
f2
x3
f3
x3
Therefore

1 t 0

= 0 x3 x2 .
1 0 0

x2
1 t
df (x, t)
= 0 + 0 x3
dt
0
1 0
x
1
x1
+ x2 tx3
0
(1 + t)
(1
+
t)

x2 x =
x23
3
x1
0
0
(1 + t)
53
(339)
(340)
EXERCISE 37
The Lagrangian velocity field is given by
V (X, t) = X2 E 2 + 2tX1 E 2 .
(341)
Determine the motion, inverse motion, Eulerian velocity field and the Eulerian acceleration
field.
SOLUTION
The Lagrangian displacement field is obtained by
U (X, t) =
Zt

V X, t dt = tX2 E 2 + t2 X1 E 2 .
(342)
Thus, the motion is computed as
X1 tX2
[ (X, t)] = X2 + t2 X1 .
X3
(X, t) = X + U (X, t) ,
The deformation
[F ] = t2
0
gradient and the volume change are
t 0
1 0 ,
J = 1 + t3 .
0 1
(343)
(344)

X1 =
x1 + tx2
,
1 + t3
X2 =
x2 t2 x1
,
1 + t3
X3 = x3 .
(345)
Therefore, the Eulerian velocity field is given by

v (x, t) = V 1 (x, t) , t ,
The Lagrangian acceleration field is
A (X, t) =
[v (x, t)] =
V (X, t)
= 2X1 E 2 .
t
t2 x1 x2
1 + t3
x1 + tx2
2t
1 + t3
0
(346)
(347)
The Eulerian acceleration field by definition is

x1 + tx2
a (x, t) = A 1 (x, t) , t = 2
e2 .
1 + t3
54
(348)
EXERCISE 38
The spatial displacement field for a 2D motion is given by
u1 = tx1 ,
u2 = tx1 (1 + t) .
(349)
Determine the Eulerian velocity field.

SOLUTION
The Eulerian velocity field is the material time derivative of the spatial displacement field.
Thus we can write that
v = u =
u
+ gradu v.
t
(350)
Using matrix notation:

v1
u1 /t
u1 /x1 u1 /x2
v1
=
+
.
v2
u2 /t
u2 /x1 u2 /x2
v2
(351)
Therefore, with regard to the unknown components v1 and v2 , the above expression forms a
system of linear equations:

v1
x1
t
0
v1
=
+
.
(352)
v2
x1 (1 + 2t)
(t + t2 ) 0
v2
v1 = x1 tv1 ,

v2 = x1 (1 + 2t) t + t2 v1 .
(353)
(354)
The solutions are

v1 =
x1
,
1+t
v2 = (1 + t) x1 .
(355)
Remark: from (350), one can obtain the solution for v as

v = (I gradu)1
u
.
t
(356)
Thus
[v] =
1+t 0
t + t2 1
1
[v] =
"
#
#
"
x1
1
x1
0
=
.
1+t
1+t
x
(1
+
2t)
1
(1
+
t)
x
t 1
1
x1
x1 (1 + 2t)
(357)
55
(358)
EXERCISE 39
Suppose that the motion of a continuous body is described by
x1 = (1 + t) X1 ,
x2 = X2 + tX3 ,
x3 = X3 .
(359)
Compute the quantities l, d and w respectively.

SOLUTION
X1 =
x1
,
1+t
X2 = x2 tx3
X3 = x3
(360)
(361)
X1
[V (X, t)] = X3 .
0

(X, t)
V (X, t) =

t
X fixed
x1
1+t
[v (x, t)] = x3 .
0

v (x, t) = V 1 (x, t) , t
The velocity gradient is
l = gradv,
[l] =
v1
x1
v2
x1
v3
x1
v1
x2
v2
x2
v3
x2
v1
x3
v2
x3
v3
x3
0 0
1+t
= 0
.
0
1
0
0 0
The rate of deformation and the vorticity tensors are
1
0 0
1+t

1
1
T
,
[d] =
l+l ,
d =
0
0
2
2
1
0
0
2
0 0 0
1

1
w =
l lT ,
[w] = 0 0 2 .
2
1
0
0
2
56
(362)
(363)
(364)
(365)
EXERCISE 40
The Euler velocity field is given by its coordinates as
v1 = 3t2 ,
v2 = x1 + tx2 ,
v3 = tx3 .
(366)
Determine the Euler acceleration field.

SOLUTION
The Euler acceleration field is computed as
a = v =
v
v
+ gradv v =
+ l v,
t
t
(367)
where
0 0 0
[l] = 1 t 0 ,
0 0 t
Therefore:
6t
v
= x2 .
t
x3

6t
0 0 0
3t2
6t
a = x2 + 1 t 0 x1 + tx2 = x2 + 3t2 + t (x1 + tx2 ) .
x3
0 0 t
tx3
x3 + t2 x3
57
(368)
(369)
EXERCISE 41
Let a homogenous deformation be given by
x1 = (1 + t) X1 ,
x2 = X2 + tX1 ,
x3 = X3 .
(370)
Compute the material time derivatives of stretch ratio along material direction given by the
unit vector

1
1
2 .
(371)
[N ] =
5 0
SOLUTION
1+t 0 0
1 0 .
[F ] = t
0
0 1
(372)
Right Cauchy-Green deformation tensor

2
t + (1 + t)2 t
T
[C] = F F =
t
1
0
0
is
0
0 .
1
(373)
The stretch ratio is calculated by

r
5 + 2t (3 + t)
n N = N CN =
5
(374)
The direction of material line element having oriantation N is the reference configuration
is
1+t
1
1
2+t
(375)
F N,
[n] = p
n=
n
5 + 2t (3 + t)
0
X1 =
x1
,
1+t
X2 = x2
tx1
,
1+t
X3 = x3
(376)
Velocity field:
X1
[V (X, t)] = X1 ,
0
x1
1 x+ t
1
[v (x, t)] =
1+t
0
58
(377)

Velocity gradient:
v1
x1
v
2
[l] =
x1
v3
x1
v1
x2
v2
x2
v3
x2
v1
x3
v2
x3
v3
x3
Rate of deformation:
[d] =
1
1
[l] + lT =
2
2
1+t 0 0
1
=
0 0

1+t
0
0 0
1
1+t
1
2 (1 + t)
0
1
0
2 (1 + t)
0
0
(378)
(379)
Material time derivatives of stretch ratio:
3 + 2t
.
n = n (ndn) = p
5 5 + 2t (3 + t)
59
(380)
EXERCISE 42
A certain motion is described with the following equations:
x1 = 2X1 + tX2 ,
x2 = X2 X1 ,
x3 = 3tX3 .
(381)
Determine J.
SOLUTION
The material time derivative of J is computed as
J = Jtrd = Jtrl.
(382)
The deformation gardient and the volume change:
2 t 0
[F ] = 1 1 0 ,
J = detF = 3t2 + 6t.
0 0 3t
(383)
The inverse motion:

X1 =
x1 tx2
,
2+t
X2 =
x1 + 2x2
,
2+t
X3 =
The Lagrange and the Euler velocity fields, respectively:

x + 2x
1
2
X2
2+t
.
[V ] = 0 ,
[v] =
0
x
3
3X3
t
The velocity gradient:
1
2
2+t 2+t
[l] = 0
0
0
0
Therefore:
0 ,
1
t
trl =
1
1
+
.
t 2+t

1
1
J = Jtrl = 3t + 6t
= 6 (1 + t) .
+
t 2+t
2
60
x3
.
3t
(384)
(385)
(386)
(387)
EXERCISE 43
Prove that the rate of deformation tensor of the motion
x1 = (t) X1 ,
x2 = (t) X2 ,
x3 = (t) X3
(388)
has the form

d=
(389)
SOLUTION
X1 =
x1
,
(t)
X2 =
x2
,
(t)
X3 =
x3
(t)
(390)
The velocity field is
X
1
2 ,
[V (X, t)] = X
X
3
Velocity gradient:
v1
x1
v
2
[l] =
x1
v3
x1
v1
x2
v2
x2
v3
x2
v1
x3
v2
x3
v3
x3
[v (x, t)] =
0
0
Its symmetric part is the rate of deformation:
0 0

1
T
[d] =
l+l ,
d=
0
0
.

0 0
61
x1
x2
x3
(391)
(392)
(393)
EXERCISE 44
A 2D motion of a continuum medium is given by

(X, t) = X1 t2 e1 + eX2 t e2 .
(394)
Determine the material time derivative of the left CauchyGreen deformation tensor.
SOLUTION
Using the rule l = F F 1 we can write

b = F F T = F F T + F F T = lF F T + F F T lT = lb + blT .

x1
x2
X1 = 2 ,
X2 = ln .
t
t
(395)
(396)
The Lagrangean and Eulerian velocity field, respectively:
2x1

2tX1
,
[v] = xt2 .
[V ] =
eX2
t
The velocity gradient:
2
0
[l] = t 1 .
0
t
(397)
(398)
The deformation gradient and the left CauchyGreen deformation tensor:

4
2
t 0
t
0
.
,
[b] =
[F ] =
0 x22
0 eX2 t
Substituting (398) and (399) into (395) we have
h i
4t3 0
b =
2x22 .
0
t
(399)
(400)
This result can be obtained by taking the material time derivative of b such as
b
+ gradb v,
b =
t
(401)
where the third-order tensor gradb is filled out of 0 elements, except the 222 element which is
b22
(gradb)222 =
= 2x2 . Therefore
x2

3
3

h i 3
4t
0
4t
0
4t 0
(402)
b =
+
2x22 .
2x22 =
0 0
0
0
t
t
62
EXERCISE
45 The Eulerian velocity field is defined by the equations,
v1 = tx1 sinx3 ,
v2 = 4tx2 cosx3 ,
v3 = 0.
(403)
At point P (2, 1, 0), at time t = 1, determine d, w, the stretch rate per unit length in the
1
direction [n] = [1, 1, 1] andthe maximum stretch rate per unit length and the direction in
3
which it occurs, respectively.
SOLUTION
The velocity gradient and its values at point P :
tsinx3
0
tx1 cosx3
4tcosx3 4tx2 sinx3 ,
[l] = 0
at point P :
0
0
0
The rate of deformation and the vorticity tensor,
0
0 0 1
[w] = 0
[d] = 0 4 0 ,
1
1 0 0
respectively:
0 1
0 0 .
0 0
0 0 2
[l] = 0 4 0 .
0 0 0
(404)
(405)
The stretch rate per unit length in the direction n:

n = n (ndn)
n
2
= ndn = .
n
3
(406)
n
is the largest eigenvalue of d. The direction in which it occurs is
n
the corresponding eigenvector. The eigenvalues and eigenvectors of d are
The maximum values of
1 = 4,
n1 = e2 ,
2 = 1,
3 = 1,
1
n2 = (e1 + e3 ) ,
2
1
n3 = (e1 + e3 ) .
2
63
EXERCISE 46
Prove that the velocity field
3x3 6x2
[v] = 6x1 2x3
2x2 3x1
(407)
corresponds to a rigid body rotation. Determine the direction of the axis of spin.
SOLUTION
The spatial velocity gradient:
0 6 3
[l] = 6
0 2 .
3 2
0
(408)
Since it is a skew-symmetric tensor, it follows that w = l and d = 0. The axis of spin:

w32
2
[] = w13 = 3 .
w21
6
64
(409)
EXERCISE 47
A steady spatial velocity field is given by
2x2
[v] = 2x22 .
x1 x2 x3
(410)
1
Determine the rate of extension at P (2, 2, 2) in the direction n = (e1 + e2 ).
2
SOLUTION
The velocity gradient and its values at point P :
0
2
0
4x2
0 ,
[l] = 0
at point P :
x2 x3 x1 x3 x1 x2
The rate of deformation:

d=

1
l + lT ,
2
n
= ndn = 5.
n
0 1 2
[d] = 1 8 2 .
2 2 4
0 2 0
[l] = 0 8 0 .
4 4 4
(411)
(412)
(413)
65
EXERCISE 48
Let the components of the stress tensor at a certain point be given in matrix form by
200 300 100

0
0 .
[] = 300
100 0
100
(414)
Determine the components of the Cauchy traction vector tn and the length of the vector
along the normal to the plane that passes through this point and that is parallel to the plane
(x1 , x2 , x3 ) x1 3x2 + 2x3 = 1. Calculate |tn | and the angle between tn and the normal of
the plane.
SOLUTION
The eigen normal vector of the plane is computed as
n=
grad
=
,
|grad|
||
(415)
where
[] =
x1
x2
x3
Therefore
1

= 3 ,
2
|| =
14.
1
1
[n] = 3 .
14
2
(416)
(417)
The Cauchy traction vector by definition is computed by
900
240.535
1
tn = n,
[tn ] = 300 80.1784 .
14
100
26.7261
(418)
The length of the traction vector and its normal component are the following
|tn | = tn tn = 65000 254.951,

800
114.2857.
7
The length of the component parallel to the plane is
q
50
n = |tn |2 n2 =
1018 227.901.
7
n = tn n =
(419)
(420)
The angle between tn and the normal of the plane is calculated by

tn n = |tn | |n| cos = |tn | cos
n
tn n
= arccos
= 2.03562 = 116.632 .
= arccos
|tn |
|tn |
66
(421)
(422)
EXERCISE 49
Let a non-homogenous stress field be given by the components of the Cauchy stress tensor:
2x2 x3 4x22
0
0
2x1 .
[] = 4x22
(423)
0
2x1
0
Determine the traction vector corresponding to the plane (x1 , x2 , x3 ) x21 + x22 + x3 = 1.5 at
point P(0.5, 1.5, 1).
SOLUTION
The components of the
3 9
9
0
[] =
0 1
stress tensor at point P are
0
1 .
0
(424)
The unit normal vector of the plane at point P is computed as

n=
grad
=
,
|grad|
||
(425)
where
[] =
x1
x2
x3
Therefore
2x1

= 2x2 ,
1
1
[]P = 3 .
1
1
1
[n] = 3 .
11 1
(426)
(427)
The Cauchy traction vector at this point is
24
7.23
1
tn = n,
[tn ] = 8 2.41 .
11 3
0.90
67
(428)
EXERCISE 50
Let the components of the stress tensor at a certain point be given in matrix form by
4 3 0
[] = 3 4 0 .
0 0 9
(429)
Compute the spherical and deviatoric components of the stress tensor. Determine the principal
stresses. Compute the components of the stress tensor in the Cartesian coordinate system given
by the basis vectors
1
e
2 = (3e1 + e2 ) ,
10
e1 = e3 ,
1
e3 = (e1 + 3e2 ) .
10
SOLUTION
The spherical (or hydrostatic) component is computed by
1
p = (tr) = 3,
3
while the deviatoric part is determined as
4 3 0
3 0 0
1 3 0
s = p,
[s] = 3 4 0 0 3 0 = 3 7 0 .
0 0 9
0 0 3
0 0 6
(430)
(431)
(432)
One of the principal stresses is 9 because the traction vector on the plane with normal vector
e3 is normal to the plane. The two remaining principal stresses are obtained by solving the
following quadratic equation

4 3
1 0
det
= 0,
(433)
3 4
0 1
2 25 = 0.
(434)
Therefore the principal stresses are

1 = 9,
2 = 5,
3 = 5.
In order to obtain the components of

orthogonal transformation matrix as
0
1
0
[Q] = [
e1 , e2 , e3 ] =
10 10
(435)
in the new coordinate system, first we consruct the
3 1
1 3 .
0 0
The components of the stress tensor in the new coordinate system is calculated by
0
3
1
4
3
0
10
0
0

1
[
] = QT [] [Q] =
3 1 0 3 4 0 0 1 3 ,
10
0 0 9
10 0 0
1 3 0

0 3 1
9 0 0
0
0 9 10
1
[
] =
15 5
0 0 1 3 = 0 5 0 .
10
0 0 5
10 0 0
5 15
0
Therefore e1 , e2 and e3 are the unit eigenvectors of .
68
(436)
(437)
(438)
EXERCISE 51
Let a homogenouos deformation be given by
x1 = X2 ,
x2 = 2X1 ,
x3 = 2X3 .
(439)
Determine the first and the second Piola-Kirchhoff stress tensors, respectively if the Cauchy
stress is
0 10 0
[] = 10 20 0 .
(440)
0 0 10
Determine the first Piola-Kirchhoff traction vector for the plane which has the normal vector

1
[n] = 0
(441)
0
in the current configuration.
SOLUTION
The deformation
0
[F ] = 2
0
Its inverse is
gradient is
1 0
0 0 ,
0 2
J = det F = 4.
0
0.5
0
1
0 .
F
= 1 0
0
0 0.5
(442)
(443)
The first and the second Piola-Kirchhoff tensors are

P = JF T ,
S = JF 1 F T
20 0
0
20 20 0
0 .
[P ] = 40 40 0 ,
[S] = 20 0
0
0 20
0
0 10
(444)
da = JF T dA0
(446)
(445)
The normal vector of the plane in the reference configuration is obtained by
dan = JdA0 F T N
1
dA0 N = da F T n
J
(447)
T
where
0
1 T
F n = 0.25
J
0
1
F n
N = J1 T ,
F n
(448)
0
N = 1 .
0
69
(449)

Therefore
T N = P N,
0
[T N ] = 40 .
0
(450)
The Cauchy traction vector is

tn = n,
0
[tn ] = 10 .
0
(451)
70
EXERCISE 52
Let the components of the first Piola-Kirchhoff tensor be given by
20 0 0
[P ] = 120 80 40 .
0
20 0
(452)
The inverse motion is known as

X1 = x1 3x3 ,
X2 =
1
x2 ,
k
X3 = x3 .
(453)
Determine the value of parameter k if the first scalar invariant of the Cauchy stress tensor is
70. Compute the components of the Cauchy stress tensor.
SOLUTION
The motion is
x1 = X1 + 3X3 ,
The deformation
1
[F ] = 0
0
x2 = kX2 ,
x3 = X3 .
(454)
gradient has the form
0 3
k 0 ,
J = det F = k.
0 1
(455)
The Cauchy stress tensor by definition is
20/k 0
0
1
0
80 40/k .
= PFT,
[] =
J
0
20
0
(456)
Its first scalar invariant is

I = tr = 80
20
k
k=
20
80 I
(457)
If I = 70 then
k=
20
= 2.
80 70
(458)
The Cauchy stress tensor in this case is
10 0 0
[] = 0 80 20 .
0 20 0
(459)
71
EXERCISE 53
Prove that the JaumannZaremba rate of the Cauchy stress is an objective Eulerian secondorder tensor field.
SOLUTION
The Jaumann-Zaremba rate of the Cauchy stress tensor is defined as
JZ = w + w.
(460)
The JZ-rate of is objective if the following condition is satisfied:

JZ = Q
JZ QT .
(461)
Expanding the left-hand side yields:
+
w,
JZ =
w
(462)
where

T
T,
QQT = QQ
+ QQ
T + Q Q
T + QwQT .
= QQ
w
(463)
(464)
Thus
T
JZ = QQ
+ QQ
T + Q Q

T + QwQT
T + QwQT QQT + QQT QQ
QQ
T
= QQ
+ QQ
T + Q Q
T + QQT QwQT .
T QQT QwQT QQT + QQT QQ
QQ
(465)
(466)
(467)
(468)
Using the identity QQT = I, we can simplify the result above as

T
JZ = QQ
+ QQ
T + Q Q
T
T + QwQT
QQ
QwQT + QQT QQ
T QwQT + QQT QQ
T + QwQT .
= QQ
T + Q Q
(469)
(470)
(471)

T
T = is a skew-symmetric tensor, it follows that T = . Thus, QQ
T
Since QQ
=
T = QQ
T . Using this relation in the fourth term yields
QQ
T QwQT QQT QQ
T + QwQT
JZ = QQ
T + Q Q
T QwQT Q Q
T + QwQT
= QQ
T + Q Q
= QQ
T QwQT + QwQT
(472)
(473)
(474)
Therefore
JZ = Q ( w + w) QT .
(475)
Thus, (461) is satisfied.

72
EXERCISE 54
Prove that the GreenNaghdi rate of the Cauchy stress is an objective Eulerian second-order
tensor field.
SOLUTION
The GreenNaghdi rate of the Cauchy stress tensor is defined as

T + RR
T .
GN = RR
The GN-rate of is objective if the following condition is satisfied:

GN = Q
GN QT .
Expanding the left-hand side yields:

R
T
R
T ,
+
R
GN =
R
(476)
(477)
(478)
where

T
T,
= QQT = QQ
+ QQ
T + QQ
= QR,
R
= QR
+ QR.
(479)
(480)
(481)
Thus
T
GN = QQ
+ QQ
T + Q Q

+ QR
(QR)T QQT
QR

T
+QQ QR + QR (QR)T
T
= QQ
+ QQ
T + Q Q

T
T QT QQT
QRR
QT + QRR

T
T QT
+QQT QRR
QT + QRR
T
= QQ
+ QQ
T + Q Q

T QQT + QRR
T QT QQT
QQ

T + QQT QRR
T QT
+ QQT QQ
T
= QQ
+ QQ
T + Q Q

T
T
T
T
T
T
T
QQ + QRR Q + QQ QQ + QRR Q
(482)
(483)
(484)
(485)
(486)
(487)
(488)
(489)
(490)
(491)
(492)
T QRR
T QT + QQT QQ
T + Q RR
T QT .
= QQ
T + QQ
(493)

T
T = is a skew-symmetric tensor, it follows that T = . Thus, QQ
T
Since QQ
=
T = QQ
T . Using this relation in the fourth term yields
QQ
T QRR
T QT QQT QQ
T + QRR
T QT
GN = QQ
T + QQ
T QRR
T QT Q Q
T + QRR
T QT
= QQ
T + QQ
T QT + Q RR
T QT .
= QQ
T QRR
73
(494)
(495)
(496)

Therefore

GN
T
T
= Q RR + RR
QT .
Thus, (477) is satisfied.
74
(497)
EXERCISE 55
Let the deformation of a material point is described by the mapping
x1 = X1 + tX2 ,
x2 = tX2 ,
x3 = X3 .
(498)
The Cauchy stress at this point is
10 0 10
[] = 0 30 0 .
10 0
0
(499)
SOLUTION
We can write the stress power as

T T
P : F = tr P T F = tr P T F T F T F = tr F 1 P
F F
,

= tr S F T F
.
P : F = tr S T F T F
(500)
Prove the identity P : F = S : C.

2
(501)
= FT F + F T F , we can write
Since S is symmetric and C
1

P : F = S : F T F = S : C.
2
The deformation gradient, its inverse and its determinant:
1 1 0
1 t 0
1
1
[F ] = 0 t 0 ,
= 0
F
0 ,
t
0 0 1
0 0 1
J = detF = t.
The right CaucyGreen deformation tensor and its material time derivative:

1
t
0
1
1
0
h
i

= C = 1 4t 0 .
[C] = F T F = t 2t2 0 ,
C
t
0 0 1
0 0 0
(502)
(503)
The inverse motion:

X1 = x1 x2 ,
X2 =
x2
,
t
The Lagrangean and Eulerian velocity
X2
[v] =
[V ] = X2 ,
X3 = x3 .
fields are
x
(504)
xt2
.
t
0
75
(505)

The spatial velocity gradient and the material time derivative of the deformation gradient
(which is the material velocity gradient):
0 1 0
0 t 0
h i
[l] = 0 1 0 ,
F = [lF ] = 0 1 0 .
(506)
t
0 0 0
0 0 0
The first and the second PiolaKirchoff stress tensors are
10t 0 10t

0 ,
[P ] = JF T = 30t 30
10t 0
0
40t 30 10t

30
[S] = F 1 P = 30
0 .
t
10t 0
0
(507)
(508)
Therefore we can compute

P : F = 30,
1
= 30.
S : C
2
(509)
(510)
76
EXERCISE 56
Let the Caucy stress distribution in a bricket domain with dimension
x1 = 0 . . . 2,
x2 = 0 . . . 3,
x3 = 0 . . . 4
(511)
be given as
5x21
4
3x2
x1 x2 x3
x3 .
[] = 4
3x2
x3
0
(512)
Prove the Gauss divergence theorem.
SOLUTION
The Gauss divergence theorem for this problem is written as
Z
Z
nda = divdv
(a)
(513)
(v)
tda =
(a)
divdv
(v)
where n is the outward unit normal field acting along the surface (a), while da and dv are
infinitesimal surface and volume elements at x, respectively, whereas t is the surface Cauchy
traction vector at x.
The whole surface is composed of six surfaces with domains and unit normals
a1 : = {x2 = 0 . . . 3; x3 = 0 . . . 4} ,
a1 : = {x1 = 0 . . . 2; x3 = 0 . . . 4} ,
a3 : = {x1 = 0 . . . 2; x2 = 0 . . . 3}
(514)
(515)
(516)
a4 = a1
a5 = a2
(517)
n1 = e1
n2 = e 2
a6 = a3
n3 = e3
n4 = e1
n5 = e2
n6 = e3
(518)
The surface traction vectors corresponding to the surfaces of the bricket domain are
20
4
t1 = (n1 ) |x1 =2
[t1 ] = 4 ;
t2 = (n2 ) |x2 =3
[t2 ] = 3x1 x3
3x2
x3
t3 = (n3 ) |x3 =4
t5 = (n5 ) |x2 =0
3x2
[t3 ] = 4 ;
0
4
[t5 ] = 0 ;
x3
t4 = (n4 ) |x1 =0
t6 = (n6 ) |x3 =0
77
0
[t4 ] = 4
3x2
3x2
[t2 ] = 0
0

With this in hand, we can compute the left-hand side in (513):
Z
Z4 Z3
nda =
t1 dx2 dx3 +
0 0
(a)
t2 dx1 dx3 +
0 0
Z4 Z3
t4 dx2 dx3 +
0 0
Z4 Z2
Z4 Z2
Z3 Z2
t3 dx1 dx2
0 0
t5 dx1 dx3 +
0 0
Z3 Z2
t6 dx1 dx2
0 0
240
32
27
0
32
27
nda = 48 + 48 + 24 + 48 + 0 + 0
54
16
0
54
16
0
(a)
Z
(519)
nda = 240e1 + 72e2 .
(520)
(a)
In order to calculate the right-hand side in (513), first the divergence of the Cauchy stress need
to be computed:
[div] =
ab
ab
ec =
ea (eb ec ) =
bc ea = ab,c bc ea = ac,c ea
xc
xc
xc
11 12 13
+
+
x1
x2
x3
10x1
21 22 23
+
+
= 1 + x1 x3 .
x1
x2
x3
0
31 32 33
+
+
x1
x2
x3
Z4 Z3 Z2
div = =
(521)
The right-hand side in (513):

divdv =
(v)
(522)
0 0 0
(v)
divdx1 dx2 dx3
divdv =
Z4 Z3
0 0
Z4
20
60
240
2 + 2x3 dx2 dx3 = 6 + 6x3 dx3 = 72
0
0
0
0
divdv = 240e1 + 72e2 .
(523)
(v)
78
EXERCISE 57
Let a vector field be given as u = x1 x2 (e1 + e2 + e3 ). Prove the Stokes theorem for the
rectangular plane surface defined as
a := {x1 = 0 . . . 2; x2 = 0 . . . 1}
(524)
SOLUTION
The Stokes theorem:
I
Z
uds = (curlu) nda.
c
(525)
(a)
The closed curve c is consist of four line elements:

c1 : = {x1 = 0 . . . 2}
c3 : = {x1 = 0 . . . 2}
c2 := {x2 = 0 . . . 1}
c4 := {x2 = 0 . . . 1}
with infinitesimal tangent vectors:

ds1 = dx1 e1
ds2 = dx2 e2
ds3 = dx1 e1
ds4 = dx2 e2 .
The left-hand side of (525) is computed with the following four integral
Z2
uds =
Z2
uds = 0 + 1 2 + 0
uds =
(uds1 )|x2 =0 +
Z1
(uds2 )|x1 =2 +
(0) dx1 +
Z1
(uds3 )|x2 =1 +
(2x2 ) dx2 +
Z2
Z2
(x1 ) dx1 +
Z1
(uds4 )|x1 =0
Z1
(0) dx2
uds = 1
(526)
In order to calculate the right-hand side in (525) first we need to compute the curl of the vector
field:
curlu = u = ea
ub
ub
u
=
ea eb =
abc ec = ub,a abc ec .
xa
xa
xa
u3 u2
x2 x1
x1
u
u3
1
x2 .
[curlu] =
=
x3 x1
x2 x1
u2 u1
x1 x2
The right-hand side in (525):
Z
Z
(curlu) nda = (x2 x1 ) da
(a)
(a)
79
(527)

since the normal of the surface is n = e3 . Therefore
Z
(curlu) nda =
(a)
(a)
Z1 Z2
0 0
(x2 x1 ) dx1 dx2 =
Z1
(curlu) nda = 1 .
(2x2 2) dx2 = 1,
(528)
(529)
80
EXERCISE 58
Consider the motion

t
X1 ,
x1 = 1 +
k

t
x2 = 2 1 +
X2 ,
k

t
x3 = 3 1 +
X3
k
(530)
where k is a constant. From the conservation of mass and the initial condition (t = 0) = 0 ,
determine as a function of 0 , t, and k.
SOLUTION

1
t
0
[F ] = 1 +
k
0
is
0 0
2 0 ,
0 3
J = detF = 6
(k + t)3
.
k3
(531)
Since0 = J it follows that

=
0
0 k 3
=
J
6 (k + t)3
(532)
81
EXERCISE
59 Consider the motion of a body described by the mapping
x1 = X1 ,
x2 =
X2
,
1 tX2
x3 = X3 .
(533)
Determine the material density as a function of position vector x and time t without using F .
SOLUTION
The inverse mapping:
X1 = x1 ,
X2 =
x2
,
1 + tx2
X3 = x3 .
The velocity field is

V (X, t) =
X22
E 2,
(1 tX2 )2
v (x, t) = x22 e2 .
(534)
From the continuity equation we can write

+ divv = 0
d
= divv = 2x2
dt
1
X2
dt
d = 2x2 dt = 2
1 tX2
1
d = 2
ln
= ln (1 tX2 )2
0
Zt
X2
dt,
1 tX2
(536)
ln ln0 = 2ln (1 tX2 ) 2ln1
(535)
(X, t) = 0 (1 tX2 )2
(537)
(538)
Using the inverse mapping we have

(x, t) =
0
(1 + tx2 )2
(539)
82
EXERCISE 60
The Eulerian velocity field of a plane motion is given by the components
v1 = (x1 x2 ) t,
v2 = x1 x2 ,
v3 = 0,
where is a positive constant. Assume that the spatial mass density does not depend on
the current coordinates, so that grad = 0. Express so that the continuity mass equation is
satisfied.
SOLUTION
The continuity mass equation is the spatial description can be written as
+ trl =
+ grad v + trl = 0.
t
(540)
In this example grad = 0, therefore equation (540) reduces to
+ trl = 0.
t
(541)
The spatial velocity gradient and its trace:
t t 0
[l] = 1 0 ,
trl = (1 t) .
0
0 0
(542)
Integration (541) yields

Z
1
d =
Zt
(t) = 0 e
(1 t) dt,

2
t t2

t2
ln = t
0
2
(543)
(544)
83
EXERCISE 61
The velocity field of an incompressible flow be given as
v=
x2
x1
e
+
e2
1
r2
r2
(545)
where r 2 = x21 + x22 . Does this velocity field satisfy the continuity equation?
SOLUTION
The continuity equation for incompressible material reduces to
+ divv = 0
= constant
divv = 0.

v1
2x21
2x22
1
v2
1
[divv] =
+
= 0.
+
=
x1 x2
x21 + x22 (x21 + x22 )2
x21 + x22 (x21 + x22 )2
84
(546)
(547)
EXERCISE 62
A dynamical process is given by the deformation mapping and the Cauchy stress respectively
as
x1 = et X1 et X2 ,
x2 = et X1 + et X2 ,
2
x1 x1 x3 0
0 .
[] = x1 x3 x2
0
0
x33
x3 = X3 ,
(548)
(549)
Determine the body force vector q so that Cauchys first equation of motion is satisfied.
SOLUTION
The Cauchys first equation of motion:
div + q = a
q = a div.
(550)
In order to calculate q, we need to compute , a and div.

1
1
X1 = et (x2 + x1 ) ,
X2 = et (x2 x1 ) ,
X3 = x3 .
2
2
The deformation gradient:
t
e et 0
1
[F ] = et et 0
J =2
= 0 .
2
0
0
1
The Lagrangean velocity and acceleration fields:
t
e X1 + et X2
[V (X, t)] = et X1 et X2
0
The Eulerian acceleration field:
x1
[a (x, t)] = x2 .
0
The deivergence of the Cauchy stress:
11 12 13
x1 + x2 + x3

22 23
21
[div] =
+
+
x1
x2
x3
31 32 33
+
+
x1
x2
x3
Therefore the body force:
x1
2x1
1
[q] = 0 x2 1 + x3
2
0
3x23
et X1 et X2
[A (X, t)] = et X1 + et X2 .
0
(551)
(552)
(553)

2x1

= 1 + x3 .
3x23
(554)
(555)
85

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BMEGEMMMW03 / Continuum Mechanics / Exercises

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BMEGEMMMW03 / Continuum Mechanics / Exercises

Compute the following quantities: a b, a b, kak ,

ea (unit vector in the direction of

kak = a a = 72 + 22 + (5)2 = 78 8.83176,

kbk = b b = (3)2 + 62 + 42 = 61 7.81025,

a b = kak kbk cos

BMEGEMMMW03 / Continuum Mechanics / Exercises

BMEGEMMMW03 / Continuum Mechanics / Exercises

Compute the following quantities:

or using the identity

BMEGEMMMW03 / Continuum Mechanics / Exercises

BMEGEMMMW03 / Continuum Mechanics / Exercises

Eigenvector corresponding to 1 is calculated by

From the first equation we can write

Substituting into the second equation we have

(0.5900e1 0.1212e2 + 1e3 ) ,

BMEGEMMMW03 / Continuum Mechanics / Exercises

0.255408 0.0524574 0.432924

0.343818 0.402839 0.251651

BMEGEMMMW03 / Continuum Mechanics / Exercises

with eigenvalues and eigenvectors

Calculate the tensor U =

The tensor C in the basis of its unit eigenvectors is given by

[n1 ] [n2 ] [n3 ]

Q is an orthogonal tensor, i.e.

0.755983 0.278709 0.592293

The tensor U in the basis of unit eigenvectors of C (where C is diagonal) is computed by

U in the original basis is calculated with

BMEGEMMMW03 / Continuum Mechanics / Exercises

Determine its spherical and deviatoric parts, respectively.

while the deviatoric part is computed by

BMEGEMMMW03 / Continuum Mechanics / Exercises

(a) Find e3 in terms of the old set of basis vectors.

BMEGEMMMW03 / Continuum Mechanics / Exercises

where the identity jkmimp = jkm pim was employed.

Thus, it follows that

BMEGEMMMW03 / Continuum Mechanics / Exercises

BMEGEMMMW03 / Continuum Mechanics / Exercises

at point P(1, 2, 1) along the direction defined by the unit vector

Thus, the directional derivative along n is given by

BMEGEMMMW03 / Continuum Mechanics / Exercises

Compute the gradient of the above vector field.

BMEGEMMMW03 / Continuum Mechanics / Exercises

divv P = 2 (1 + 3)2 = 32.

BMEGEMMMW03 / Continuum Mechanics / Exercises

from the left at point P(2,3,4).

A11 A12 A13

BMEGEMMMW03 / Continuum Mechanics / Exercises

BMEGEMMMW03 / Continuum Mechanics / Exercises

the following tensor

Ab1,a ab1 Ab2,a ab1 Ab3,a ab1

A31,2 A21,3 A32,2 A22,3 A33,2 A23,3

BMEGEMMMW03 / Continuum Mechanics / Exercises

The motion is illustrated in Figure 1:

Figure 1: Illustration of the motion in terms of the parameter t

The inverse motion is derived by solving the following system of equations:

The inverse motion has the form

BMEGEMMMW03 / Continuum Mechanics / Exercises

BMEGEMMMW03 / Continuum Mechanics / Exercises

and the stretch in the spatial configuration in the direction

The meaning of the streches is illustrated in Figure 2:

BMEGEMMMW03 / Continuum Mechanics / Exercises