Fluid Mechanics, SG2214, HT2013

September 4, 2013

Exercise 1: Tensors and Invariants

Tensor/Index Notation
Scalar (0th order tensor), usually we consider scalar fields function of space and time
p = p(x, y, z, t)
Vector (1st order tensor), defined by direction and magnitude

u
(
u)i = ui If u
= v then u2 = v
w
Matrix (2nd order tensor)
(A)ij = Aij

a11
If A = a21
a31

a13
a23 then A23 = a23
a33

a12
a22
a32

Kronecker delta (2nd order tensor)


1 if i = j
ij = (I)ij =
0 if i 6= j
To indicate operation among tensor we will use Einstein summation convention (summation over repeated
indices)
ui ui =

3
X

ui ui

i is called dummy index (as opposed to free index) and can be renamed

i=1

Example: Kinetic energy per unit volume

1
u|2
2 |

= 12 (u2 + v 2 + w2 ) = 12 ui ui

Matrix/Tensor operations
(
a b) = a1 b1 + a2 b2 + a3 b3 = ai bi = ij ai bj = aj bj
(
a b)ij = (
a b)ij = ai bj
(Ab)i = Aij bj

(scalar, inner product)

(diadic, tensor product)

(matrix-vector multiplication, inner product)

(AB)ij = (A B)ij = Aik Bkj

(matrix multiplication, inner product)

(AB)ijkl = (A B)ijkl = Aij Bkl

(A : B) = Aij Bij

(diadic, tensor product)

(double contraction)

tr(A) = A11 + A22 + A33 = Aii

(trace)

(A)ij = Aij (AT )ij = Aji

(transpose)

Permutation symbol

1 if ijk in cyclic order. ijk = 123, 231 or 312

0 if any two indices are equal
ijk =

1 if ijk in anticyclic order. ijk = 321, 213 or 132

Vector (Cross) product

 e1 e2 e3

a
b =  a1 a2 a3
 b1 b2 b3




 = e1 (a2 b3 a3 b2 ) e2 (a1 b3 a3 b1 ) + e3 (a1 b2 a2 b1 ) = ijk ei aj bk



(
a b)i = ijk aj bk
ijk ilm = jl km jm kl
ijk ijm = {l = j} = 3km jm kj = 3km mk = 2km
ijk ijk = {m = k} = 2 3 = 6
Example: Rewrite without the cross product:
= (
i = ijk aj bk ilm cl dm = ijk ilm aj bk cl dm =
(
a b) (
c d)
a b)i (
c d)
(
b c)
(jl km jm kl ) aj bk cl dm = aj cj bk dk aj dj bk ck = (
a c)(b d)
a d)(

Tensor Invariants
bij , b2ij = bik bkj 6= (bij )2 , b3ij = bik bkl blj 6= (bij )3
Any scalar obtained from a tensor (e.g. bii , b2ii , . . . ) is invariant, i.e. independent of the coordinate system.
The principal invariants are defined by (i are the eigenvalues of B)
I1 = bii = tr(B) = 1 + 2 + 3
n
o


2
I2 = 21 (bii )2 b2ii = 12 [tr(B)] tr(B2 ) = 1 2 + 2 3 + 1 3
I3 = 61 (bii )3 12 bii b2jj + 13 b3ii = det(B) = 1 2 3

Decomposition of Tensors
Tij = TijS + TijA symmetric and anti-symmetric parts


S
symmetric
TijS = 21 Tij + Tji = Tji
TijA =

1
2



A
Tij Tji = Tji

anti-symmetric

The symmetric part of the tensor can be divided further into a trace-less and an isotropic part:
T S = T + T
ij

ij

Tij =

TijS

ij

1
3 Tkk ij

Tij = 13 Tkk ij

trace-less

isotropic

This gives:

Tij = TijS + TijA = Tij + Tij + TijA

ui
(deformation-rate tensor). The anti-symmetric part
xj
describes rotation, the isotropic part describes the volume change and the trace-less part describes the deformation of a fluid element.
In the Navier-Stokes equations we have the tensor

Operators
(p)i =

p
xi

(gradient, increase of tensor order)

p = p = 2 p =
u
=

ui
xi

( A)j =

(Laplace operator)

(divergence, decrease of tensor order)

Aij
xi

(divergence of a tensor)

(
u)ij = ( u
)ij =
( u
)i = ijk

2
p
xi xi

uj
xi

uk
xj

(gradient of a vector)

(curl)

Gauss theorem (general)

Gauss theorem (divergence theorem):
Z
I
F n
dS =
F dV
V

or with index notation,

I
Z
Fi
Fi ni dS =
dV
S
V xi
In general we can write,
I
Z

Tijk dV
Tijk nl dS =
x
l
S
V
Example: Put Tijk nl = Tij ul nl
I
Z

(ul Tij ) dV
Tij ul nl dS =
x
l
S
V
or,
I
Z


T(
un
) dS =
( u
)T + (
u )T dV
S

Identities
Derive the identity
= (G
)F + ( G)
F ( F )G
(F )G

(F G)

(F G)
= ijk
klm Fl Gm = ijk klm
Fl Gm = kij klm
Fl Gm =
i
xj
xj
xj
3

(il jm im jl )
Gj

Fi
Gj
Fj
Gi
Fl Gm =
Fi Gj
Fj Gi =
Gj +
Fi
Gi +
Fj =
xj
xj
xj
xj
xj
xj
xj

Fi
Gj
Fj
Gi
)F + ( G)
F ( F )G
(F )G]
i
+
Fi
Gi Fj
= [(G
xj
xj
xj
xj

Show that
( F ) = 0

( F ) =
ijk
Fk = ijk
Fk
xi
xj
xi xj
Remember that ijk = jik and that
ijk

Fk =
Fk and thus all terms will cancel.
xi xj
xj xi

Fk = 0
xi xj

Similarly, show that

(f ) = 0
(f ) = ijk

2
f = 0 according to the same argument as above.
xj xk