Cartesian Tensors

Reference: H. Jeffreys Cartesian Tensors

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1 Coordinates and Vectors z = x3 e3 y = x2 e2 e1 x = x1

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Coordinates xi x1 = x Unit vectors ei e1 = e x = i i = 1, 2, 3 e3 = ez = k

(2)

i = 1, 2, 3 x2 = y x3 = z
(1)

e2 = e y = j

General vector (formal definition to follow) denoted by components e.g. u = u i

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Notation The boldface notation for vectors is referred to as dyadic notation The subscript notation is tensor notation. Summation convention Einstein: repeated index means summation:
3

ui vi = u ii =

ui vi
i=1 3

(3)

u ii
i=1
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2 Orthogonal Transformations of Coordinates The behaviour of quantities under orthogonal transformations of the coordinate system is the basis of Cartesian tensors. We want to formulate equations in such a way that they are independent of the specific coordinate system.

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 x3

x3

x2

x2
x1

x1 General linear transformation

= a x xi ij j

a ij = Transformation Matrix
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Position vector Consider the position vector expressed in terms of coordinates and unit vectors in two related coordinate systems r = xi ei = xi ei
(4)

In view of the transformation from the unprimed to the primed system: r = a ij x j e i = x j ( a ij e i ) Therefore we can write: e j = a ij e i
(6) (5)

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so that we have the two companion transformations: x i = a ij x j Kronecker Delta ij = 1 if i = j = 0 otherwise In matrix form 1 0 0 ij = 0 1 0 0 0 1
Cartesian tensors

e i = a ji e j

(7)

(8)

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Substitution property ij T jk ... = T ik ...

(9)

In the summation over j the only term of the sum that makes any contribution is that for which j = i . 2.1 Orthogonal transformation So far, what we have described is valid for any linear transformation. Now impose the condition that both the original and the primed reference frames are orthonormal
e = e i e j = ij and e i j ij

(10)

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Use transformation of the unit vectors:

a e e i e j = a ki e k lj l e = a ki a lj e k l = a ki a lj kl

(11)

= a ki a kj NB the last operation is an example of the substitution property of the Kronecker Delta. Since e i e j = ij , then the orthonormal condition on a ij is a ki a kj = ij
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(12)

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In matrix notation: aT a = I aa T = I In tensor notation: ( aa T ) ij = a ik a jk = ij

(15) (13)

We also have as a consequence of the properties of matrices, that

(14)

Any of equations (12), (13), (14) or (15) defines an orthogonal transformation.

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2.2 Reverse transformations

= a x a x = a a x = x = x xi ij j ik i ik ij j kj j k x = a x x k = a ik x i i ji j i.e. the reverse transformation is simply determined by the transpose. Similarly, following from

e j = a ij e i we have
= a e ei ij j

(16)

(17)

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Transformations for both coordinates and basis vectors The complementary set of transformations is then x i = a ij x j e i = a ij e j
(18)

2.3 Interpretation of the matrix a ij Since

= a e ei ij j wrt the unit vectors in the then the a ij are the components of e i

original system.e.g. e 1 = a 11 e 1 + a 12 e 2 + a 13 e 3
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2.4 Example: 2D rotation y y e y ey x ex ex It is easiest here to determine the relationship between the unit basis vectors: e x = cos e x + sin e y e y = sin e x + cos e y x In matrix form: ex cos sin 0 e y = sin cos 0 e y (21) 0 0 1 e ez z
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(20)

ex

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Then the transformation equation for the coordinates is: x cos sin 0 x y = sin cos 0 y z 0 0 1 z 3 Scalars, Vectors & Tensors We define these objects by the way in which they transform with respect to orthogonal coordinate transformations. 3.1 Scalar (f): f ( x i ) = f ( xi )
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(22)

(23)

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Example of a scalar is f = r 2 = x i x i . Examples from fluid dynamics are the density and temperature. 3.2 Vector (u): Prototype vector: x i General transformation law:
= a x u = a u xi ij j i ij j

(24)

as the transformation law for a generic vector.

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3.3 Gradient operator Suppose that f is a scalar. The gradient of f is defined by f ( grad f ) i = ( f ) i = xi
(25)

Need to show this is a vector by its transformation properties. f x j f = x j x xi i Since,

x j = a kj x k

(26)

(27)

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then x j = a kj ki = a ij xi f f and = a ij x j xi Hence the gradient operator satisfies our definition of a vector. Scalar Product u v = ui vi = u1 v1 + u2 v2 + u3 v3 is the scalar product of the vectors u i and v i .
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(28)

(29)

Exercise: Show that u v is a scalar. 3.4 Tensor Prototype second rank tensor x i x j General definition by transformation of components:
= a a T T ij ik jl kl

(30)

Exercise: Show that u i v j is a second rank tensor if u i and v j are vectors.

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Exercise: u i, j = x j is a second rank tensor. (Introduces the comma notation for partial derivatives.) In dyadic form this is written as grad u or u . 3.5 Divergence Exercise: Show that the quantity v = div v = v i xi
(31)

u i

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is a scalar. 4 Products and Contractions of Tensors It is easy to form higher order tensors by multiplication of lower rank tensors, e.g. T ijk = T ij u k is a third rank tensor if T ij is a second rank tensor and u k is a vector (first rank tensor). It is straightforward to show that T ijk has the relevant transformation properties. Similarly, if T ijk is a third rank tensor, then T ijj is a vector. Again the relevant transformation properties are easy to prove.

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5 Differentiation following the motion This involves a common operator occurring in fluid dynamics. Suppose the coordinates of an element of fluid are given as a function of time by xi = xi ( t )
(32)

vi

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The velocities of elements of fluid at all spatial locations within a given region constitute a vector field, i.e. v i = v i ( x j, t ) If we follow the trajectory of an element of fluid, then on a particular trajectory x i = x i ( t ) . The acceleration of an element is then given by: v i v i v i dx j v i d = v i ( x j ( t ), t ) = + = + vj (33) fi = x j dt dt t x jdt t dv i Exercise: Show that f i is a vector.

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6 The permutation tensor ijk ijk = 0 if any of i, j, k are equal = 1 if i, j, k unequal and in cyclic order = 1 if i, j, k unequal and not in cyclic order e.g. 112 = 0 Is ijk a tensor? In order to show this we have to demonstrate that ijk , when defined the same way in each coordinate system has the correct transformation properties.
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(34)

123 = 1

321 = 1

(35)

Define
= ijk lmn a il a jm a kn = 123 a i 1 a j 2 a k 3 + 312 a i 3 a j 1 a k 2 + 231 a i 2 a j 3 a k 1

+ 213 a i 2 a j 1 a k 3 + 321 a i 3 a j 2 a k 1 + 132 a i 1 a j 3 a k 2 = ai 1 ( a j 2 ak 3 a j 3 ak 2 ) ai 2 ( a j 1 ak 3 a j 3 ak 1 ) + ai 3 ( a j 1 ak 2 a j 2 ak 1 ) ai 1 ai 2 ai 3 a j1 a j2 a j3 ak 1 ak 2 ak 3

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In view of the interpretation of the a ij , the rows of this determinant represent the components of the primed unit vectors in the unprimed system. Hence:
= e (e e ) ijk i j k This is zero if any 2 of i, j, k are equal, is +1 for a cyclic permutation of unequal indices and -1 for a non-cyclic permutation of . Thus unequal indices. This is just the definition of ijk ijk transforms as a tensor.

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6.1 Uses of the permutation tensor Cross product Define c i = ijk a j b k then c 1 = 123 a 2 b 3 + 132 a 3 b 2 = a 2 b 3 a 3 b 2 c 2 = 231 a 3 b 1 + 213 a 1 b 3 = a 3 b 1 a 1 b 3 c 3 = 312 a 1 b 2 + 321 a 2 b 1 = a 1 b 2 a 2 b 1 These are the components of c = a b .
(36)

(37)

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6.2 Triple Product In dyadic notation the triple product of three vectors is: t = u (v w) In tensor notation this is t = u i ijk v j w k = ijk u i v j w k 6.3 Curl ( curl u ) i = ijk x j u k
(40) (39) (38)

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e.g. + 132 = ( curl u ) 1 = 123 x2 x3 x2 x3 etc. u 3 u 2 u 3 u 2

(41)

6.4 The tensor iks mps Define T ikmp = iks mps Properties: If i = k or m = p then T ikmp = 0 .
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(42)

 If i = m we only get a contribution from the terms s i and k i, s . Consequently k = p . Thus iks = 1 and mps = iks = 1 and the product iks iks = ( 1 ) 2 = 1 . If i = p , similar argument tells us that we must have s i and k = m i . Hence, iks = 1 , mps = + 1 iks mps = 1 . So, i = m, k = p 1 unless i = k 0 i = p, k = m 1 unless i = k 0 These are the components of the tensor im kp ip km . iks mps = im kp ip km
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6.5 Application of iks mps [ curl ( u v ) ] i = ijk ( klm u l v m ) x j = ijk klm ( ul vm ) x j v m u l = ( il jm im jl ) vm + ul x j x j

(44)

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We then use the substitution property of ij to show that: [ curl ( u v ) ] i = u i u i xm vm vi v i u j x j + ui v m xm uj v i x j

(45)

= vj uj + ui vi x j x j x j x j = ( v u u v + u v v u )i The Laplacean
2 + + 2 = = --------------2 x2 x2 xi xi x1 2 3
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v j

u j

(46)

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7 Tensor Integrals 7.1 Greens Theorem In dyadic form: v ni V S

V

( v ) dV =

( v n ) dS

(47)

In tensor form:

xi

v i

dV =

v i n i dS = S

(48)

= Flux of v through S

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Extend this to tensors:

x j dV = T ij n j dS
S

T ij

(49)

= Flux of T ij through S

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7.2 Stokes Theorem In dyadic form: ti C S In tensor form:

S

( curl u ) n dS =

u t ds

(50)

ijk

u k x j

n i dS =

u i t i ds

(51)

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