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Lecture 9

LECTURE 9 TOPICS

I. Vectors

Definition
Addition of Vectors
Scalar Multiplication of Vectors
Inner/Dot Product
Cross Product
Scalar Triple Product
Vector Triple Product

II. Indicial Notation

Indicial Operators
Vector Operation

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LECTURE 9 TOPICS

III. Rotational Transformation and Tensor

Definition Direction Cosines

Rotational Transformation
Tensor
Stress Tensor

Lecture 9-1

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Vectors

Vector - in a three dimensional Euclidean space, is
defined as a directed line segment with a given
magnitude and a given direction. (e.g. force, velocity,
acceleration)

Consider:
z

rz k

r = rx i + ry j + rz k
r
ry j

rx i

where, rx, ry, rz are scalar components

of r along x, y, z respectively.

i , j , k are unit basis vectors

Vectors

Addition of Vectors

PARALLELOGRAM LAW

r
r
a + b

r
a

r
b

Properties:

r
a

r
a = axi + a y j + az k
r
b = bxi + by j + bz k

r r r r
1) a + b = b + a

r
b

r r
a + b = (ax + bx ) i + (a y + by ) j
+ (a + b )k
z

 commutative

r r r r r r
2) a + b + c = a + b + c

 associative

r r r
3) a + 0 = a

 zero vector

r
r r
4) a + ( a ) = 0

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Vectors

Scalar Multiplication of Vectors
r
Given: a = a xi + a y j + a z k
= scalar quantity

, = constants
r
r
a = a
( + )ar = ar + ar
r
r r
r
a + b = a + b
r
r
a = a

Properties:

1)

r
a

r
a

2)

r
r
b = (a ) = ( ax )i + ( a y ) j
+ ( a ) k

3)
4)

r
b = bxi + by j + bz k

 the result is a vector

Vectors

Inner/Dot Product
r
a

Given two vectors:

r
a = a x i + a y j + a z k

r
b = bxi + by j + bz k

r r
a b = a b cos
r
b

Where: a =

)(

The above two equations can be used

simultaneously in getting the angle
between the two given vectors.

r r
r
a a magnitude of a
2

a = a x + a y + az

r r
r
b = b b magnitude of b

r r
a b = axi + a y j + az k bxi + by j + bz k
r r
a b = a xbx + a yby + az bz
Note:

 the result is a scalar

b = bx + by + bz

r r
angle between a & b

i i = 1 1 cos (0) = 1
j j = k k = 1

i j = j k = k i = 0 because i j k

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Vectors

Inner/Dot Product
Example 1:

Properties:

r r r r
1) a b = b a
r
r
r r
2) a b = a b
r r
= (a ) b
r r r r r r r
3) a b + c = a b + a c
r r
r r
4) a a > 0, except if a = 0

( ) (

r
a = i + 2 j + k
r
b = i + xj + yk

r r
a b = (1)(1) + (2 )( x ) + (1)( y )
r r
a b = 1 + 2x + y
Example 2:

r
a = 2i + 0 j + 0k
r
b = 0i + 10 j + 0k

r r
a b = (2 )(0 ) + (0 )(10) + (0 )(0 )
r r
r r
a b = 0 bec. a b

Vectors

Cross Product - given 2 vectors, the result is a vector orthogonal

r r r
a b = c
r r r
c = a b
r
b
r
a

r
c

r r r
c =b a

to the given vectors

r
r r
Note : c to both a & b
Therefore,

r r r r
c a = ac =0
r r r r
c b = b c = 0

r r r
c = a b = a b sin
r

 magnitude of vector c

 Numerically equal to the

area of the parallelogram
created by vectors a and b.

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Vectors
r r
a b = (a y b z a z b y ) i + (a z b x a x b z ) j + (a x b y a y b x )k

Cross Product

This can be remembered

conveniently as the determinant:

Considering unit basis

r
vectors, i i = j j = k k = 0

i
k

j i = k

i j = k
j k = i

k j = i
i k = j

k i = j

Properties:

r r
r r
1) a b = b a
r r r r r r
2) a b c a b c
r r r
r r
r r
3) a b + c = a b + (a c )

) (

i
r r
a b = ax

j
ay

k
az

bx

by

bz

r
r
b = 0i + 3 j + 0k

Example 3: a = 2i + 0 j + 0k

r r r
c = a b = 0i + 0 j + (2 3)k
r
c = 6k

Vectors

Scalar Triple Product

(ar b ) cr

---> Scalar quantity equal to the volume of the

parallelepiped formed w/ a, b and c as 3 edges.

r
r c
v
r
b

ax
r r r
a b c = bx

ay

az

by

bz

cx

cy

cz

(
r
a

r r r
v = a b

(ar b ) cr = a b c

+ a y bz c x + a z bx c y
a z b y c x a x bz c y a y bx c z
x

Magnitude of v = area of the

parallelogram formed by a and b

r r
Direction of v = a & b

Note:

(ar b ) cr = (b cr ) ar = (cr ar ) b
a

Convenient way of remembering:

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Vectors

Vector Triple Product

(ar b ) cr = (ar cr )b (b cr )ar

r r r
r r r r r r
a (b c ) = (a c )b (a b )c

---> the result is a vector w/c

is a scalar multiple of the
vectors in the parenthesis

Note: The vector product is not associative.

(ar b ) cr = cr (ar b ) = cr (br ar )

r

Proof:

r r r
= (c a )b
r r r
= (a c )b

(crr b )ar
(b cr )ar

Lecture 9-2

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Indicial Notation

Consider the vector as shown

x3

r
a

r
a

e3
y

e1

x2

e2

x1

r
a = a x i + a y j + a z k

r
a = a1 e1 + a2 e2 + a3 e3

The Coordinate Axes

Basis Vectors

x x1
y x2
z x3

i e1
j e2
k e3

Indicial Notation

index either a subscript or superscript which
represents a component of the given quantity. It is
normally denoted by lower case letters i, j, k, l = 1, 2, 3.

For example:
The coordinate axes x1 , x2 , x3 can be represented by xi
2. Similarly e1 , e2 , e3 can be represented by e j
1.

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Indicial Notation

Rules of Interpretation
1. A repeated index / subscript indicates summation
unless otherwise specified.
aii = a11 + a22 + a33

Also known as a dummy index because aii = a jj = akk

Also, any vector say

r
a = a1 e1 + a2 e2 + a3 e3

r
a = ai ei

Simplified
expression for
vector a

2. An index or indices preceded by a comma denote

differentiation.
f
f
f
f
f i ,i = i = 1 + 2 + 3
x1 x2 x3
xi

Indicial Notation

Indicial Operators:
1. Kronecker Delta
1 ,
ij =
0 ,

i= j
i j

Example: a) a pq pq = ?
a pq pq = a1111 + a1212 + a1313
+ a21 21 + a22 22 + a23 23
+ a31 31 + a32 32 + a33 33
= a11 + a22 + a33 = a pp
a pq pq = a pp = aqq

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Indicial Notation

Indicial Operators:
1. Kronecker Delta
1 ,
ij =
0 ,

i= j
i j

Example: b) a pq qs = ?
a pq qs = a p11s + a p 2 2 s + a p 3 3 s (for q = 1, 2, 3)
a p111 a p 2 21 a p 3 31
+
+
+
a p112 a p 2 22 a p 3 32 = a p1 + a p 2 + a p 3
+
+
+
= a ps
a p113 a p 2 23 a p 3 33
(for s = 1, 2, 3)

Indicial Notation

Indicial Operators:
1. Kronecker Delta
1 ,
ij =
0 ,

i= j
i j

Example: b) a pq qs = a ps
The expanded form of above is
a pq qs = a ps = a11 + a12 + a13
+ a21 + a22 + a23
+ a31 + a32 + a33

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Indicial Notation

Indicial Operators:
2. Permutation Symbol
ijk

1 ,

= 1 ,
0 ,

[i, j, k ] is even
[i, j, k ] is odd
[i, j, k ] if any index is repeated

Note: When the number of inversions is even then ijk

is even.
1 2 3
= 2 3 1 Requires 2
e.g. EVEN
2 1 3
permutations
1 2 3
2 3 1
Requires 2
1 2 3=
3 1 2
3 1 2
permutations
3 2 1

Indicial Notation

Indicial Operators:
2. Permutation Symbol
ijk

1 ,

= 1 ,
0 ,

[i, j, k ] is even
[i, j, k ] is odd
[i, j, k ] if any index is repeated

Note: When the number of inversions is odd then ijk

is odd.
1 2 3= 2 1 3
e.g. ODD
All requires 1
2 1 3
1 2 3= 3 2 1
permutation
3 2 1
1 3 2
1 2 3=1 3 2

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Indicial Notation

Indicial Operators:
2. Permutation Symbol
Note: A convenient way of remembering is by using
the circle below.
1
3

Clockwise Rotation (CW) is even.

2

Counter Clockwise Rotation (CCW) is

odd.
EVEN (CW)
1 2 3
2 3 1
3 1 2

ODD (CCW)
2 1 3
3 2 1
1 3 2

Indicial Notation

Indicial Operators:
2. Permutation Symbol
Example 1:

EVEN (CW)
1 2 3
2 3 1
3 1 2

ODD (CCW)
2 1 3
3 2 1
1 3 2

a) 123 = 231 = 312 = 1

b) 213 = 321 = 132 = 1
c) 113 = 322 = 111 = 313 = 211 = 133 = 0

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Indicial Notation

Indicial Operators:
2. Permutation Symbol

ODD (CCW)
EVEN (CW)
1 2 3
2 1 3
2 3 1
3 2 1
Example 2:
3 1 2
1 3 2
r r r
Prove that A B = C is equal to any of the ff:
Ciei = ijk A j Bk ei or
Ck ek = ijk A i B j ek or
C je j = ijk A k Bi e j

Indicial Notation

Indicial Operators:
2. Permutation Symbol
Example 2:
Consider
Ciei = ijk A j Bk ei

EVEN (CW)
1 2 3
2 3 1
3 1 2

ODD (CCW)
2 1 3
3 2 1
1 3 2

When i = 1, j = 1, 2, 3, k = 1, 2, 3
C1e1 = 111 A1 B1 e1 + 112 A1 B 2 e1 + 113 A1 B3 e1
+ 121 A 2 B1 e1 + 122 A 2 B 2 e1 + 123 A 2 B3 e1
+ 131 A 3 B1 e1 + 132 A 3 B 2 e1 + 133 A 3 B3 e1
C1e1 = 123 A 2 B3 e1 + 132 A 3 B 2 e1
= (1) A 2 B3 e1 + ( 1) A 3 B 2 e1 = (A 2 B3 A 3 B 2 ) e1

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Indicial Notation

Indicial Operators:
2. Permutation Symbol
Example 2:
Consider
Ciei = ijk A j Bk ei

EVEN (CW)
1 2 3
2 3 1
3 1 2

ODD (CCW)
2 1 3
3 2 1
1 3 2
Other terms not
shown since ijk = 0
due to repetition of
values of subscripts

When i = 2, j = 1, 2, 3, k = 1, 2, 3
C 2e 2 = 231 A 3 B1 e 2 + 213 A1 B3 e 2
= (1) A 3 B1 e 2 + ( 1) A1 B3 e 2 = (A 3 B1 A1 B3 ) e 2
When i = 3, j = 1, 2, 3, k = 1, 2, 3
C3e3 = 312 A1 B 2 e3 + 321 A 2 B1 e3
= (1) A1 B 2 e3 + ( 1) A 2 B1 e3 = (A1 B 2 A 2 B1 ) e3

Indicial Notation

Indicial Operators:
2. Permutation Symbol
Example 2:
So,
r r r
A B = C = Ciei = C1e1 + C 2e 2 + C3e3
= (A 2 B3 A 3 B 2 ) e1 + (A 3 B1 A1 B3 ) e 2
+ (A1 B 2 A 2 B1 ) e3
e1

e 2

e3

= A1

A2

A3

B1

B2

B3

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Indicial Notation

Indicial Operators:
2. Permutation Symbol
Example 2:
Therefore,
r r
A B = ijk A j Bk ei
= ijk ei A j Bk

Indicial Notation

- Identity
ijk ist = js kt jt ks
This identity relating the permutation symbol to the Kronecker delta
is useful for proving many vector identities. Later, this will be used in
proving Triple Vector Product identity.

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Indicial Notation
VECTOR OPERATION

1. Addition

2. Scalar Multiplication

3. Dot Product

4. Cross Product

FORMULA

r r
A + B = A1 + B1 e1 + A 2 + B 2 e 2 + A 3 + B3 e3
= A i + Bi ei
r
kA = kA 1 e1 + kA 2 e 2 + kA 3 e3
= kA i ei

(
(

)
)

r r
A B = A1 B1 + A 2 B 2 + A 3 B3
= A i Bi
r r
A B = (A 2 B 3 A 3 B 2 ) e1 + (A 3 B1 A1 B3 ) e 2
+ (A1 B 2 A 2 B1 ) e 3
= ijk ei A j Bk

Indicial Notation
VECTOR OPERATION

FORMULA

5. Triple Scalar Product

r r r
A B C = ijk A j Bk Ci

6. Triple Vector Product

(Ar Br ) C =

ris

ijk er A j Bk Cs

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Indicial Notation

A. Proof of Dot Product

r r
Prove that A B = A i Bi
r r
A B = (A i ei ) (B j e j ) = A i B j (ei e j )

but ei e j = ij
If i = j, the two unit basis vectors are parallel and
their dot product is equal to 1. Similarly,
= 1 when i = j.
If i j, the two unit basis vectors are perpendicular
and their dot product is equal to zero.
Similarly, = 0 when i j.

r r
A B = (A i ei ) B j e j = A i B j ij
r r
A B = A i Bi

( )

Indicial Notation

B. Proof of Triple Scalar Product
r

r r

Prove that A B C = ijk A j Bk Ci

r

Proof: A B = ijk ei A j Bk = D = Di ei
r r r r r
A B C = D C = (Di ei ) (C j e j ) = Di C j (ei e j )
= Di C j (ij ) = DiCi
But from above Di = ijk A jBk
r r r
A B C = (ijk A jBk ) Ci
r r r
A B C = ijk A j Bk Ci
Similarly:

r r r
A B C = ijk A i B jCk

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Indicial Notation

C. Proof of Triple Vector Product

r r r
Prove that A B C = ris ijk er A j Bk Cs

Proof: A B = ijk ei A j Bk = D = Di ei
r r r r r
A B C = DC
r r
But Di = ijk A jBk
D C = riserDiCs
= riser (ijk A j Bk ) Cs = risijk er A j Bk Cs
= isr ijk er A j Bk Cs
Using the - identity
r r
D C = (sjrk sk rj ) A jBk Cser
= ( sjrk A jBk Cs sk rj A jBk Cs ) er

Indicial Notation

C. Proof of Triple Vector Product

r r r
Prove that A B C = ris ijk er A j Bk Cs
r r
D C = ( sjrk A jBk Cs sk rj A jBk Cs ) er
Proof:

= sj A jCs (rkBk ) er ( skBk Cs ) rj A j er

When s = j:

(sjA jCs )= A sCs

When k = r: (rkBk ) = Br
When k = s: (skBk Cs ) = B sCs
When j = r: (rj A j ) = A r
r r
D C = (A sCs )(Br ) er (B sCs )(A r ) er

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Indicial Notation

C. Proof of Triple Vector Product

r r r
Prove that A B C = ris ijk er A j Bk Cs
r r
Proof:
D C = (A sCs )(Br ) er (B sCs )(A r ) er
r r r r r r
= A C B BC A
r r r
Which is exactly A B C

) ( )
( )

Lecture 9-3

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Rotational Transformation

Consider the vector as shown
x3

x2

x3

r
A

e2

e3

e3
x2

e1

e1

e2

x1
x1

r
A = A1 e1 + A2 e2 + A3 e3

r
A = A1 e1 + A2 e2 + A3 e3
(Vector A with respect to
original unrotated axes)

(Vector A with respect to the

rotated axes)

Rotational Transformation

Consider the vector as shown
x3

e2

e3

e3
e1

x2

x3

r
A
x2

e1

e2

x1
x1

r
A = A1 e1 + A2 e2 + A3 e3

r
A = A1 e1 + A2 e2 + A3 e3
OBJECTIVE: Derive the formula for

Ai

in terms of

Ai

and vice versa.

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x3

Rotational Transformation

e3

Definition:

x1

lij = ei ej
= the component of basis vector
= direction cosines

r r
A B = A B cos

NOTE:

r
r
A &B

If

are unit vectors then

e1

x2

x3

r
A

2
e

3
e

x2

e2

1
e

x1

ei

in the

xj direction

r r
A B = cos

where is the angle between unit vectors A and B

e1 e1 = l11
e2 e1 = l21
e3 e1 = l31

EXAMPLES:
9 Direction
Cosines

e1 e2 = l12
e2 e2 = l22

e1 e3 = l13
e2 e3 = l23
e3 e3 = l33

e3 e2 = l32

x3

Rotational Transformation

e3

Definition:

x1

lij = ei ej
= the component of basis vector
= direction cosines
x3

ILLUSTRATION:
Consider

e1
x1

x2

x2

e2

1
e

x1

ei

in the

xj direction
x2

l13
e2

e3

e3

2
e

3
e
e2

x3

r
A

l13

e1

x2

x3

r
A

e1

e1

l13 = e1 e3
x1

Component of

e1 in the x3 direction

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x3

Rotational Transformation

The original basis unit vectors wrt
rotated xi axes

e1 = l11 e1 + l12 e2 + l13 e3 = l1i ei

e2 = l21 e1 + l22 e2 + l23 e3 = l2i ei
e3 = l31 e1 + l32 e2 + l33 e3 = l3i ei

r

Such that, A = A1 e1 + A2 e2 + A3 e3

e3

x1

e1

x2

x3

r
A

2
e

3
e

x2

e2

1
e

x1

e j = l ji ei
or

ei = lij ej
Vector A in Original Axes

r
A = A1 (l11 e1 + l12 e2 + l13 e3 ) + A2 (l21 e1 + l22 e2 + l23 e3 )
+ A3 (l31 e1 + l32 e2 + l33 e3 )

x3

Rotational Transformation

e3

e1

x2

x3

r
A

2
e

3
e
e2

x2

x1

Rearranging,
r
A = A1 (l11 e1 + l12 e2 + l13 e3 ) + A2 (l21 e1 + l22 e2 + l23 e3 )
+ A3 (l31 e1 + l32 e2 + l33 e3 )
r
A = ( A1l11 + A2l21 + A3l31 ) e1 + ( A1l12 + A2l22 + A3l32 ) e2
+ ( A1l13 + A2l23 + A3l33 ) e3

1
e

x1

Therefore, A = A1 e1 + A2 e2 + A3 e3
A1 = A1l11 + A2l21 + A3l31
A2 = A1l12 + A2l22 + A3l32

A3 = A1l13 + A2l23 + A3l33

Vector A in Rotated Axes

Aj = Ai li j
original / unprimed
axes

new / primed
axes

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Rotational Transformation

Example:

l22 = cos

l11 = cos
x2

x2

r
A

l12 = cos(90 + ) = sin

l21 = cos(90 ) = sin

x1

l33 = cos 0 = 1
l13 = l31 = l23 = l32 = cos 90 = 0

x1

cos
lij = sin
0

x3 , x3

Aj = Ai li j

0
0
1

sin
cos
0

A1 = A1 cos + A2 sin
original / unprimed
axes

A2 = A1 sin + A2 cos

new / primed
axes

A3 = A3

x3

Rotational Transformation

From rotated to unrotated
coordinate axes

e3

x1

e1

x2

x3

r
A

3
e
e2

x2

2
e

1
e

x1

e1 = (e1 e1 ) e1 + (e1 e2 ) e2 + (e1 e3 ) e3 = li1 ei

Therefore, ej = lij ei

r
A = Aj ej = Aj lij ei

Ai = Aj lij

Comparing

Ai = A j l ji
Ai = Aj lij

or
or

Aj = Ai lij
A j = Ai l ji

[ ]

l ji = lij

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x3

Rotational Transformation

e3

From previous slides,

[ ]

l ji = lij

r
A

x1

e1

x2

x3

2
e

3
e

x2

e2

1
e

x1

cos
lij = sin
0

sin
cos
0

0
0
1

Therefore,
cos
l ji = sin
0

sin
cos
0

0
0
1

A1 = A1 cos A2 sin
A2 = A1 sin + A2 cos

and

A3 = A3

x3

Rotational Transformation

e3

Also, solving for the inverse of lij

cos
lij = sin
0

Therefore,

sin
cos
0

0
0
1

(lij )

r
A

x1

e1

cos
= sin
0

x2

x3
3
e

e2

x2

2
e

e1

x1

sin
cos
0

0
0
1

(lij ) 1= (lij ) T = l ji

Definition: Orthogonal matrix a matrix that

satisfies the condition

(ij ) T = (ij ) 1

Therefore, lij is orthogonal!

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Rotational Transformation

For an orthogonal matrix,

(ij ) T = (ij ) 1

ij ( ij ) T = ij ( ij ) 1= ij

Therefore,

lij lkj = ik

Proof: If i = k = 1,

l11l11 + l12l12 + l13l13 = 11

(cos )(cos ) + ( sin )( sin ) + (0 )(0 ) = 1

cos 2 + sin 2 = 1

Checks!

Rotational Transformation

Proof: If i = 1, k = 2,

l11l21 + l12 l22 + l13l23 = 12

(sin )(cos ) + ( sin )(cos ) + (0 )(0 ) = 0

0 =0

Checks!

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Rotational Transformation

(Prelude to Definition of a Tensor)

r
A = Aj ej
r
A = lij Ai ej = lij ( ik Ak ) ej = lij (ei ek )Ak ej
= lij ei ej Ak ek
Clearly, below is not a vector
r
because it has 9 components &
~
L
A
2 basis vectors per component.

Consider,

~
L = lij ei ej

This is known as a TENSOR.

~
L = l11 e1 e1 + l12 e1 e2 + l13 e1 e3
+ l21 e2 e1 + l22 e2 e2 + l23 e2 e3
+ l31 e3 e1 + l32 e3 e2 + l33 e3 e3

TENSOR

Definition:

~
A = Aijk ... pqr ei e j ek ... e p eq er
Order of the Tensor

Second Order
Tensor

Dyadic

First Order
Tensor

Vector

Zero Order
Tensor

Scalar

9 Components
e.g. stress, strain

3 Components
e.g. velocity, acceleration

1 Component
e.g. temperature

Therefore, the number of components = 3n, where n order of the tensor

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STRESS TENSOR

Stress tensor is a second order tensor and therefore
consists of 9 components
In matrix form

x xy xz

yx
y
yz

zx zy z

or

xx xy xz

yx
yy
yz

zx zy zz

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