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ik ij = kj
Kronecker Symbol
Orientation of Orthonormal Basis:
1 if i = k right-handed if ( i 1 i 2 ) i 3 = +1
ik = ki = ik =
0 if i 6= k left-handed if ( i 1 i 2 ) i 3 = 1
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 2
i 0j = j 0 k i k , i k = j 0 k i 0j
+1 if (i, j, k) = (1, 2, 3),
(2, 3, 1), (3, 1, 2)
j 0 k = cos( i 0j , i k )
ijk = 1 if (i, j, k) = (2, 1, 3),
Orthogonality condition
(3, 2, 1), (1, 3, 2)
i0 k j 0 k = ij , k0 i k0 j = ij 0 otherwise
T = I Anti-symmetry
A0 = A
ijj = jij = jji = 0
Matrix Form of a 2-tensor
ijk ij = ijk ik = ijk jk = 0 A11 A12 A13
A = (Aik ) = A21 A22 A23
A31 A32 A33
ijk Aj Ak = ijk Ai Ak = ijk Ai Aj = 0
A0 = AT
ijk mnl = im jn kl + jm kn il + km in jl Stress Tensor pik
im kn jl jm in kl km jn il Stress
pi = pik nk
ijk mnk = im jn jm in
ni unit normal
Moment of Inertia Tensor
ijk mjk = 2im
N
X h i
(j) (j) (j) (j)
Iik = mj ik xl xl xi xk
ijk ijk = 6 j=1
Angular Momentum
Cartesian Tensors Li = Iik k
(tensors in rectangular coordinates)
k angular velocity
Scalar: 0-tensor Deformation Tensor
Vector: 1-tensor Ai
2-tensor Aik 1 ui uk ul ul
uik = + +
n-tensor Ai1 ...in 2 xk xi xi xk
Aiklm = pik lm + il km + im kl 1
T[ij] = (Tik Tki )
2
Decomposition of 2-Tensor
Tensor Algebra
Tik = T(ik) + T[ij]
Tensor Product
Duality
Cik = Ai Bk , Cijkl = Aij Bkl
(Equivalence of antisymmetric 2-tensor to an ax-
Contraction ial vector)
Djkl = Ciijkl
1
Trace Ai = ijk Ajk , Aij = ijk Ak
2
A = Aii
Inner Product A1 = A23 , A2 = A31 , A3 = A12 ,
Curvilinear Coordinates
T11 T13
+ det
T31 T33
T11 T12 T13
q i = q i ( r ), (i = 1, 2, 3)
I3 = det(Tik ) = det T21 T22 T23 Cartesian Coordinates
T31 T32 T33
xi = xi (q)
The eigenvalues r , (r = 1, 2, 3), of a symmetric
Radius vector
2-tensor are real
r(q) = xk (q) i k = x1 (q) i 1 + x2 (q) i 2 + x3 (q) i 3
A symmetric 2-tensor has three orthogonal prin-
cipal axes n(r) , (r = 1, 2, 3) Basis (tangent vectors to coordinate curves)
n (r) n (p) = rp r
ei =
q i
In the principal axes a symmetric 2-tensor Tik has Transformation of basis
diagonal matrix
0
e 0j = k j 0 e k , e k = j k e 0j
1 0 0
0 0
(Tik ) = 0 2 0 i k k j 0 = ji , i k0 k j = ji
0 0 3
Orientation:
Decomposition in terms of orthonormal eigenvec-
right-handed if ( e 1 e 2 ) e 3 > 0
tors n (r) and eigenvalues (r)
and left-handed if ( e 1 e 2 ) e 3 < 0
3
X (r) (r) Reciprocal Basis
Tik = (r) ni nk
r=1
e j e k = kj
T = T ii = 0 A = Ai e i , Ai = A e i
1 A = Ai e i , Ai = A e i
Tik = T ik + ik Tjj
3
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 6
det M ik r r
g ik = (1)ik = 0, if i 6= k
G q i q k
Basis
where M ik is a 2 2 matrix obtained from the
3 3 matrix gij by removing the i-th row and the e i e k = e i e k = 0 if i 6= k
k-th column
1
| e i | = hi , | e i| =
Relations between components hi
Metric
Ai = gik Ak , Ai = g ik Ak gik = 0, if i 6= k
gii = h2i (no summation!)
Displacement
g ik = 0, if i 6= k
r i 1
dr = dq g ii = 2 (no summation!)
q i hi
x1 = cos , x2 = sin , x3 = z
s 2 2 2
x1 x2 x3
hi = + + Radius Vector
q i q i q i
Relation between covariant and contravariant com- r = cos i 1 + sin i 2 + z i 3
ponents
Orthonormal basis
Ai = h2i Ai (no summation!)
e = cos i 1 + sin i 2
e = sin i 1 + cos i 2
Orthonormal Basis
ez = i3
r Line Element
q i
e i = e i =
ds2 = (d)2 + 2 (d)2 + (dz)2
r
q i
Volume Element
Line Element
dV = d d dz
2
ds = h21 1 2
(dq ) + h22 2 2
(dq ) + h23 3 2
(dq )
Metric Coefficients
Volume Element
h = 1, h = , hz = 1
dV = h1 h2 h3 dq 1 dq 2 dq 3
Spherical Coordinates
Cartesian Coordinates r 0, 0 , 0 < 2
Line Element
p
x21 + x22
q
ds2 = (dx1 )2 + (dx2 )2 + (dx3 )2 2 2
r = x1 + x2 + x3 , 2
tan = ,
x3
Volume Element x2
tan =
x1
dV = dx1 dx2 dx3 x1 = r sin cos , x2 = r sin sin ,
Metric Coefficients x3 = r cos
h1 = h2 = h3 = 1 Radius Vector
Volume Element dv d2 r
a= = 2
dt dt
dV = r2 sin dr d d
Arc Length (Line Element)
Metric Coefficients
ds = |v|dt
hr = 1, h = r, h = r sin
Curl r=0
i1 i2 i3 q
r = | r | = x21 + x22 + x23
curl F = 1 2 3
F1 F2 F3
r
r = , |r| = 1
(curl F)i = ijk j Fk r
curl F = F = il ljk j Fk df r
f (r) =
dr r
Laplacian r dF
F (r) =
r dr
= div grad = 2 = r dF
F (r) =
r dr
= i i = 12 + 22 + 32
(F )r = F
Vector identities:
Fields in Orthogonal Coordinate Sys-
( F ) = F + ( F ) tem (in orthonormal basis e i )
curl curl F = F + grad div F Vector Components
= 0,
Fi = F e i
curl grad = 0
( F) = 0,
1 1 1
div curl = 0 grad f = e 1 1
f + e2 2
f + e3 f
h1 q h2 q h3 q 3
(f g) = (f )g + f (g)
(f F) = (f ) F + f F (
1
(f F) = (f ) F + f ( F) div F = (h2 h3 F1 )
h1 h2 h3 q 1
( F G ) = G ( F ) F ( G ) )
+ 2 (h3 h1 F2 ) + 3 (h1 h2 F3 )
df q q
f () =
d
dF
F () =
d 1
curl F = e 1 (h3 F3 ) [ 3 (h2 F2 )
dF h2 h3 q 2 q
F () =
d
1
+e2 (h1 F1 ) [ 1 (h3 F3 )
r = 3 h3 h1 q 3 q
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 10
1
+e3 (h2 F2 ) [ 2 (h1 F1 )
h1 h2 q 1 q
1 1
f = 2
r (r2 r f ) + 2 (sin f )
( r r sin
1 h2 h3
f = f 1
h1 h2 h3 q 1 h1 q 1 + 2 f
r2 sin2
)
h2 h3 h2 h3
+ 1 f + 1 f
q h1 q 1 q h1 q 1
Integrals
Parametrization of a curve C
Cylindrical Coordinates:
r = r (t), atb
1
grad f = e f + e f + ez z f
Line Integrals
1 1 Z Zb
div F = (F ) + F + z Fz dr
F dr = F(x(t)) dt
dt
C a
e e ez Circulation of vector field along a closed contour
1
curl F = z I
F F Fz F dr
C
1 1
f = ( f ) + 2 2 f + z2 f
Parametrization of a surface S
r = r(u, v),
Spherical Coordinates
a u b, cvd
1 1
grad f = er r f + e f + e f Unit Normal
r r sin
u r v r
n=
1 1 |u r v r|
div F = 2
r (r2 Fr ) + (sin F )
r r sin For a surface given by
1
+ F
r sin f( r ) = C
e re r sin e
the Unit Normal is
1 r
curl F = 2 r f
r sin n=
Fr rF r sin F |f |
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 11
ZQ Tensor Fields
grad d r = (Q) (P )
Flux of a Tensor Field
P ZZ ZZ
Tik nk dS, Tik ni dS
S S
Ivan Avramidi, MATH 332: Vector and Tensor Analysis, Formulas 12
= 1 A1 + 2 A2 + 3 A3 = div A