Continuum mechanics

I. Kinematics in cartesian coordinates

Ales Janka
oce Math 0.107
ales.janka@unifr.ch
http://perso.unifr.ch/ales.janka/mechanics
September 22, 2010, Universite de Fribourg
Ales Janka I. Kinematics
Kinematics: description of position and deformation
initial conguration x = x
i
e
i
x
i
. . . material coordinates
deformed cong. y = y
i
e
i
y
i
. . . spatial coordinates
displacement u = y x
Two possibilities:
Lagrange description:
u(x) = y(x) x
Euler description:
u(y) = y x(y)
e
3
e
2
e
1
x
y
dx
y
dy
x
u
u+du
x+dx
y+dy
Initial config.
Deformed config.
Ales Janka I. Kinematics
Material vs. spatial coordinates: deformation of a 1D rod
Let y
1
= y
1
(x
1
, t) = [(x
1
)
2
1] t + x
1
.
Inversely, x
1
= x
1
(y
1
, t) =
1
2t
_
_
1 + 4t(2t + y
1
) 1
_
Ales Janka I. Kinematics
1. Lagrange description
x = x
i
e
i
and y = y
i
e
i
.
Choice: y = y(x)
Deformation gradient:
F
i
j
(x) =
y
i
x
j
= y
i
,j
dx = dx
i
e
i
dy = dy
i
e
i
=
y
i
x
j
dx
j
e
i
dy = dx
j
F
i
j
(x) g
i
= dx
j
g
j
e
3
e
1
e
3
e
2
e
1
x
y
dx
y(x)
dy
y(x+dx)
g
2
g
3
e
2 g
1
^
g
2
^
g
1
^
g
3
=
=
=
Initial config.
Deformed config.
Ales Janka I. Kinematics
1. Lagrange description: how to measure deformation?
The edge dx in initial conguration is deformed to dy
Convenient measure of deformation:
dy
2
dx
2
= (dx
i
g
i
)(dx
j
g
j
)(dx
i
g
i
)(dx
j
g
j
) = dx
i
dx
j
( g
ij
g
ij
)
where g
ij
= g
i
g
j
and g
ij
= g
i
g
j
are metric tensors (matrices)
Green strain tensor:

ij
(x) =
1
2
( g
ij
g
ij
)

ij
(x) =
1
2
_
F
k
i
(x) F

j
(x) g
k
g
ij
_
Ales Janka I. Kinematics
1. Lagrange descript.: Green strain tensor in displacement
u(x) = y(x) x
u = u
i
g
i
dy = dx + du
du =
u
i
x
j
dx
j
g
i
dy =
_
dx
i
+ u
i
,j
dx
j
_
g
i
e
3
e
2
e
1
x
y
y(x)
y(x+dx)
dy
(x) u
(x) u
du
u(x+dx)
dx
x
x+dx
Initial config.
Deformed config.
Ales Janka I. Kinematics
1. Lagrange descript.: Green strain tensor in displacement
(dy)
2
=
_
dx
i
+ u
i
,j
dx
j
__
dx
k
+ u
k
,
dx

_
g
ik
(dy)
2
(dx)
2
= u
i
,j
dx
j
dx
k
g
ik
+ u
k
,
dx

dx
i
g
ik
+ u
i
,j
u
k
,
dx
j
dx

g
ik
(dy)
2
(dx)
2
=
_
u
i ,j
+ u
j ,i
+ u
k,i
u
k
,j
_
dx
i
dx
j
Green strain tensor in displacements:

ij
=
1
2
_
u
i ,j
+ u
j ,i
+ u
k,i
u
k
,j
_
Green strain tensor in displacements in cartesian coordinates:

ij
=
1
2
_
u
i
x
j
+
u
j
x
i
+
u
k
x
i
u
k
x
j
_
Ales Janka I. Kinematics
1. Lagrange description: example 1 rigid body motion
x
u
a
y
e
3
e
2
e
1
Deformed config.
Initial config.

_
_
y
1
y
2
y
3
_
_
=
_
_
cos sin 0
sin cos 0
0 0 1
_
_

_
_
x
1
x
2
x
3
_
_
+
_
_
a
1
a
2
a
3
_
_
Ales Janka I. Kinematics
1. Lagrange description: example 1 rigid body motion
x
u
a
y
e
3
e
2
e
1
Deformed config.
Initial config.

_
_
u
1
u
2
u
3
_
_
=
_
_
cos 1 sin 0
sin cos 1 0
0 0 0
_
_

_
_
x
1
x
2
x
3
_
_
+
_
_
a
1
a
2
a
3
_
_

11
=
1
2
_
u
1,1
+ u
1,1
+
3

k=1
u
k,1
u
k,1
_
= cos 1 +
(cos 1)
2
+ sin
2

2
= 0
Ales Janka I. Kinematics
1. Lagrange description: example 1 rigid body motion
x
u
a
y
e
3
e
2
e
1
Deformed config.
Initial config.

_
_
u
1
u
2
u
3
_
_
=
_
_
cos 1 sin 0
sin cos 1 0
0 0 0
_
_

_
_
x
1
x
2
x
3
_
_
+
_
_
a
1
a
2
a
3
_
_

12
=
1
2
_
u
1,2
+ u
2,1
+
3

k=1
u
k,1
u
k,2
_
=
sin + sin
2
+
sin (cos 1) + sin (cos 1)
2
= 0
Ales Janka I. Kinematics
1. Lagrange description: example 2
5 4 3 2 1 0 1 2 3 4 5
2
1
0
1
Initial conguration is bent into the deformed conguration
Principal strain of Green strain tensor (Lagrange formulation)?
Ales Janka I. Kinematics
1. Lagrange description: example 2
5 4 3 2 1 0 1 2 3 4 5
2
1
0
1
5 4 3 2 1 0 1 2 3 4 5
2
1
0
1
Wrong - this is Almansi strain (Euler formulation)!
Ales Janka I. Kinematics
1. Lagrange description: example 2
5 4 3 2 1 0 1 2 3 4 5
2
1
0
1
5 4 3 2 1 0 1 2 3 4 5
2
1
0
1
This is the correct Green strain (Lagrange formulation)
Ales Janka I. Kinematics
1. Lagrange description: example 2
5 4 3 2 1 0 1 2 3 4 5
2
1
0
1
5 4 3 2 1 0 1 2 3 4 5
2
1
0
1
This is the correct Green strain (Lagrange formulation)
Ales Janka I. Kinematics
2. Euler description
x = x
i
e
i
and y = y
i
e
i
.
Choice: x = x(y)
Deformation gradient inverse:
F
1
i
j
=
x
i
y
j
= x
i
,j
dy = dy
i
e
i
dx = dx
i
e
i
=
x
i
y
j
dy
j
e
i
dx = dx
j
F
1
i
j
g
i
= dx
j
g
j
e
3
e
2
e
1
x
y
dx
dy
(y)
y+dy
y
e
1
g
1
=
g
2
e
2
=
g
1
~
g
2
~
g
3
~
x(y+dy)
(y) x
e
3
g
3
=
Initial config.
Deformed config.
Ales Janka I. Kinematics
2. Euler description: Almansi strain tensor
the deformed edge dy corresponds to the undeformed dx
Dierence of their (lengths)
2
:
dy
2
dx
2
= (dy
i
g
i
)(dy
j
g
j
)(dy
i
g
i
)(dy
j
g
j
) = dy
i
dy
j
(g
ij
g
ij
)
where g
ij
= g
i
g
j
and g
ij
= g
i
g
j
are metric tensors (matrices)
Almansi strain tensor:
E
ij
(y) =
1
2
(g
ij
g
ij
)
E
ij
(y) =
1
2
_
g
ij
F
1
k
i
F
1

j
g
k
_
Ales Janka I. Kinematics
2. Euler description: Almansi strain tensor in displacement
u(y) = y x(y)
u = u
i
g
i
dx = dy du
du =
u
i
y
j
dy
j
g
i
dx =
_
dy
i
u
i
,j
dy
j
_
g
i
e
3
e
2
e
1
x
y
dy
(y) u
(y) u
du
u(y+dy)
dx
y
dx
(y)
y+dy
(y+dy) x
(y) x
Initial config.
Deformed config.
Ales Janka I. Kinematics
2. Euler description: Almansi strain tensor in displacement
(dx)
2
=
_
dy
i
u
i
,j
dy
j
__
dy
k
u
k
,
dy

_
g
ik
(dy)
2
(dx)
2
= u
i
,j
dy
j
dy
k
g
ik
+ u
k
,
dy

dy
i
g
ik
u
i
,j
u
k
,
dy
j
dy

g
ik
(dy)
2
(dx)
2
=
_
u
i ,j
+ u
j ,i
u
k,i
u
k
,j
_
dy
i
dy
j
Almansi strain tensor in displacements:
E
ij
=
1
2
_
u
i ,j
+ u
j ,i
u
k,i
u
k
,j
_
Almansi strain tensor in displacements in cartesian coordinates:
E
ij
=
1
2
_
u
i
y
j
+
u
j
y
i

u
k
y
i
u
k
y
j
_
Ales Janka I. Kinematics
3. Green and Almansi strain tensors: mutual relation
Green strain tensor:

ij
(x) =
1
2
( g
ij
g
ij
) =
1
2
_
F
k
i
F

j
g
k
g
ij
_

ij
=
1
2
_
u
i
x
j
+
u
j
x
i
+
u
k
x
i
u
k
x
j
_
Almansi strain tensor
E
ij
(y) =
1
2
(g
ij
g
ij
) =
1
2
_
g
ij
F
1
k
i
F
1

j
g
k
_
E
ij
=
1
2
_
u
i
y
j
+
u
j
y
i

u
k
y
i
u
k
y
j
_
Ales Janka I. Kinematics
3. Green and Almansi strain tensors: mutual relation
Relation between F
i
j
=
y
i
x
j
and F
1
j
k
=
x
j
y
k
:
F
i
j
F
1
j
k
=
3

j =1
y
i
x
j
x
j
y
k
=
y
i
y
k
=
i
k
by chain rule for the derivatives.
Hence:

k
= F
i
k
E
ij
F
j

Ales Janka I. Kinematics

3. Green and Almansi strain tensors: matrix form
Deformation gradient matrix:
F =
_
_
_
_
_
_
y
1
x
1
y
1
x
2
y
1
x
3
y
2
x
1
y
2
x
2
y
2
x
3
y
3
x
1
y
3
x
2
y
3
x
3
_
_
_
_
_
_
=
_
F
i
j

and F
1
=
_
F
1
i
j
_
Green and Almansi matrix for cartesian coords (g
i
= e
i
, g
ij
=
ij
):
[
ij
] =
1
2
_
F
T
F I
_
and [E
ij
] =
1
2
_
I F
T
F
1
_
Mutual relations:
[
ij
] = F
T
[E
ij
] F and [E
ij
] = F
T
[
ij
] F
1
Ales Janka I. Kinematics
3. Green and Almansi strain tensors: small deformations
If u
i ,j
1 then u
k,i
u
k,j
is negligible:

ij
=
1
2
_
u
i
x
j
+
u
j
x
i
+
u
k
x
i
u
k
x
j
_

1
2
_
u
i
x
j
+
u
j
x
i
_
= e
ij
We can replace Green strain
ij
by the Cauchy strain e
ij
Advantage: Cauchy strain e
ij
(u) is linear in u
E
ij
=
1
2
_
u
i
y
j
+
u
j
y
i

u
k
y
i
u
k
y
j
_

1
2
_
u
i
y
j
+
u
j
y
i
_
=
1
2
_
u
i
x
k
x
k
y
j
+
u
j
y
k
x
k
y
i
_

1
2
_
u
i
x
j
+
u
j
x
i
_
= e
ij
because x
k
= y
k
u
k
and u
i ,k
u
k,
is negligible.
NB: Green and Almansi simplify to the same Cauchy strain!
Ales Janka I. Kinematics
4. Physical meaning of Cauchy strain in cartesian coords
dx
dy
y x
e
1
e
2
e
3
x
y Initial config. Deformed config.
Special choices of the deformation mode:
Let dx = dx
1
e
1
and dy = dy
1
e
1
. Then:
dy
2
dx
2
= (dy
1
)
2
(dx
1
)
2
= 2 e
11
(dx
1
)
2
Hence (for small deformations dx
1
+ dy
1
2 dx
1
):
e
11
=
(dy
1
)
2
(dx
1
)
2
2 (dx
1
)
2
=
(dy
1
dx
1
)(dy
1
+ dx
1
)
2 (dx
1
)
2

dy
1
dx
1
1
Meaning of e
kk
: relative elongation along e
k
Ales Janka I. Kinematics
4. Physical meaning of Cauchy strain in cartesian coords
y x
e
1
e
2
e
3
y
x
dx
2
dx
1
dy
1
dy
2
Initial config. Deformed config.

Special choices of the deformation mode:

Let dx = dx
1
+ dx
2
and dy = dy
1
+ dy
2
, dx
k
= dx
k
e
k
:
dy
2
dx
2
= (dy
1
)
2
+2 dy
1
dy
2
+(dy
2
)
2
(dx
1
)
2
2 dx
1
dx
2
(dx
2
)
2
= 2
_
e
11
(dx
1
)
2
+ 2 e
12
dx
1
dx
2
+ e
22
(dx
2
)
2

Hence (for small deformations e

kk
1 and is small):
e
12
=

2
dy
1
dx
1
dy
2
dx
2


2
(1 + e
11
) (1 + e
22
)

2
(1 + e
11
+ e
22
+ e
11
e
22
)

2
Meaning of e
12
: half of shear angle in the plane (0, e
1
, e
2
)
Ales Janka I. Kinematics
4. Physical meaning of Cauchy strain in cartesian coords
y x
e
1
e
2
e
3
y
x
dx
2
dx
1
dy
1
dy
2
Initial config. Deformed config.

Special choices of the deformation mode:

Let dx = dx
1
+ dx
2
and dy = dy
1
+ dy
2
, dx
k
= dx
k
e
k
:
dy
1
dy
2
= 2 e
12
dx
1
dx
2
= |dy
1
| |dy
2
| cos(/2 ) dy
1
dy
2
sin dy
1
dy
2

Hence (for small deformations e
kk
1 and is small):
e
12
=

2
dy
1
dx
1
dy
2
dx
2


2
(1 + e
11
) (1 + e
22
)

2
(1 + e
11
+ e
22
+ e
11
e
22
)

2
Meaning of e
12
: half of shear angle in the plane (0, e
1
, e
2
)
Ales Janka I. Kinematics
4. Physical meaning of Cauchy strain in cartesian coords
e
1
e
2
e
3
y
x
dx
3
dy
3
dy
1
dy
2
dx
2
dx
1
Initial config. Deformed config.
Volume before (dV) and after (d

V) deformation (small deformations):

dV = dx
1
dx
2
dx
3
d

V dy
1
dy
2
dy
3
Relative change of volume (for small deformations e
kk
1):
d

V dV
dV
=
d

V
dV
1
dy
1
dx
1
dy
2
dx
2
dy
3
dx
3
1
= (1 + e
11
)(1 + e
22
)(1 + e
33
) 1 e
11
+ e
22
+ e
33
Meaning of trace of e
ij
: relative change of volume
Ales Janka I. Kinematics
5. How to transform areas dS
0
dS?
Nansons relation:
we know how to transform vectors:
dy
i
=
y
i
x
j
dx
j
we know how to transform volumes:
dV = JdV
0
with J = det
_
y
i
x
j
_
dx
e
2
(x) y
e
3
e
1
x
0
dV
dy
dS
dS
0
Initial config.
Deformed config.
dV
Idea: complete areas to volumes (for any dx, ie. any dy):
dS
i
dy
i
= dV = J dV
0
= J dS
0j
dx
j
= J dS
0j
x
j
y
i
dy
i
Ales Janka I. Kinematics