ME 6201

Homework #3 - Solution
Fall 2012

1. In terms of the Lagrangian coordinates, the motion is given as

x1* 1 0 sin(k1t ) x1
*
x2 [ F ][ x ] 1 k2t 0 x2 .
x3* 0 0 1 x3

The inverse relation may be found by inverting the three relations given above. Specifically,
the 3rd equation listed above determines the relation
x3 x3* ,
which can be substituted into the first equation to yield
x1* x1 sin(k1t ) x3* .
Solving for x1 results in
x1 x1* sin(k1t ) x3* ,
which is then substituted into the second equation to yield
x2* (1) x1* sin( k1t ) x3* k2tx2 .
Finally, solving for x2 in the last equation, i.e.
sin( k t )
x2 k1t x1* k1t x2* k t1 x3*
2 2 2
completes the x x( x* ) relation expressed as

1 0 sin(k1t ) x*
1
x
x 1 1 sin( k1t ) *
1

2 k2t k2t k2t x2

x3 x*
0 0 1 3

a) Express the velocity field in terms of both material and spatial coordinates.

Velocity in terms of spatial coordinate system:

x1*
t k1 cos(k1t ) x3
x* x2*
V t k2 x2
t
x3* 0
t

Velocity in terms of material coordinate system:

The velocity field in terms of spatial coordinates is found by substituting the
expression for the spatial coordinates ( x1* , x2* , x3* ) in terms of the material
coordinates ( x1 , x2 , x3 ) , i.e.

ME 6201 HW #3 Solution Fall 2012

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 V1 1
V x( x* , t ), t k1 cos(k1t ) x3*
k cos( k t ) x ( x *
)

1 1 3
V V x( x* , t ), t *
2 2 k x
2 2 ( x

) k2 1 x1* 1 x2* sin( k1t ) x3*
k2t k2t k2t


V3 V x( x* , t ), t
3 0 0

k1 cos(k1t ) x3*
V1
V 1 x* 1 x* sin( k1t ) x*
2 t 1 t 2 t 3

V3 0

b) Express the acceleration field in terms of both material and spatial coordinates.

Acceleration in terms of spatial coordinate system:

V ( x, t )
The acceleration field a is given in material coordinates as a .
t
Substituting the velocity field from answer (1a) yields
a1 1t k1 sin(k1t ) x3
V ( x ,t ) 2

a V2 ( x ,t )
2 t 0
a3 V3 ( x ,t ) 0

t

Acceleration in terms of material coordinate system:

The acceleration field a in spatial coordinates is found by substituting the

relation x x( x* ) into the acceleration in terms of spatial coordinates, i.e.
2
a1 k1 sin(k1t ) x3 ( x ) k1 sin(k1t ) x3
* 2 *

a2 0 0
a3 0
0

Alternatively, the acceleration field may be found by taking material time

derivative of the velocity field in terms of spatial coordinates, i.e.,
Dv* v* v*
am m m vk* m
Dt t xk
V1 V1 V1
V3 Vx31
a1 t V1 x1 V2 x2

a V2 V V2 V V2
V V2

2 t 1 x1 2 x2 3 x3

a3 3 V 3 V
V3 V3
3 x3
V V
t 1 x1 2 x2 V
, which in this case involves more steps.

ME 6201 HW #3 Solution Fall 2012

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 D
c) If x1* x2* x3* find the material time derivative in terms of spatial coordinates.
Dt
D
V1 * V2 * V3 *
Dt t x1 x2 x3

0 k1 cos(k1t ) x3* x2* t1 x1* 1t x2* t 1 x3*
sin( k t )
x 0 x
*
1 *
3

D sin( k t )
k1 cos(k1t ) x2* x3* 1t ( x1* )2 1t x1* x2* t 1 x1* x3*
Dt

2. The rate of deformation tensor D is defined as D 12 L LT , where L is the velocity

Vi
gradient defined by L V x* ei e j . The vorticity, or spin, tensor is defined by
x j
W

1
2 L L .
T
V1 cx1* x3* , V2 cx1* x3* , and V3 k x1*

Rate of deformation tensor:

cx3* 0 cx1* cx3* cx3* k

L cx3* 0 cx1* and LT 0 0 0

k 0 0 cx1* cx1* 0

2cx3* cx3* k cx1*
1
D x1* , x2* , x3* cx3* 0 cx1*
2
k cx1* cx1* 0

6c 3c k 2c
1
D 2,1,3 3c 0 2c
2
k 2c 2c 0

Vorticity tensor:
0 cx3* k cx1*
1
W x1* , x2* , x3* cx3* 0 cx1*
2
k cx1* cx1* 0

0 3c k 2c
1
W 2,1,3 3c 0 2c
2
k 2c 2c 0

ME 6201 HW #3 Solution Fall 2012

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3. Before calculating the velocity field in terms of spatial coordinates, the velocity field must be
found in terms of the material coordinates. The velocity field V in terms of the materials

coordinates may be found by two methods. In the first method, find the equation of motions
x
in terms of material coordinates ( x1 , x2 , x3 ) . The velocity field is then defined by V . In
t
* * *
the second method, the velocity field V in terms of spatial coordinates ( x1 , x2 , x3 ) is found

by taking the material time derivative of the displacement field u , i.e.,

Du um um
V Vi . V in terms of material coordinates is then found by substituting
Dt x xi
material coordinates in place of spatial coordinates.

The solution below uses the first method. The motion equations in terms of spatial
coordinates:
x1 1 ke 0 x1*
t
0
x 0 1 ke t
t
*
2 x2
x3 t 0 1 x3*

a) Find the velocity field in terms of spatial coordinates by inverting the motion equations.
The 1st equation inverts to
x1* 11ket x1 ,
which can be substituted into the 3rd equation, i.e.
x3 t 11ket x1 x3*
x3* 1ke
t x x .
t 1 3
nd
Finally, the 2 equation is used to determine

x2 (1 ket ) x2* t 1ke
t x x
t 1 3
x2* (1tket )2 x1 11ket x2 1tket x3 .
2

The complete relation is

1 0 x
x1* 1 ket 0
1
* t2 t x
x 1
2 (1 ket )2 1 ket 1 ket 2
x3* t

1 ket 0 1 x3

The velocity tensor V in terms of spatial coordinates is then calculated as

x1* ket 0 0
t (1 ket )2
x1
x* x2* 2t 2tket 2t 2ket ket 1ke tke x
t t
V t
t (1 ke )
t 3 (1 ke )
t 2 (1 ket )2 2
x3
* x
1ket tket 3
(1 ket )2
t 0 0

ME 6201 HW #3 Solution Fall 2012

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 The velocity tensor in terms of material coordinates is found by substituting
x x ( x* ) .

x1* ke
t
0 0
t (1 ket )2 1 ket 0 0 x1*
x* 1ket tket 0
V t2 2t 2tke t 23t ke
x* t 2 t ket 1 ket t x2*
t (1 ke ) (1 ket )2 (1 ket )2
x3
* t 0 1 x3*
1ke tke
t t
t (1 ket )2 0 0

ket
1 ket 0 0 *
x1
t tket t 2ket t *
V ke
(1 ket )
1
1 ket 2
x
(1 ket )2 x*
1ke t tke 3
t t
0 0
(1 ke )1

b) Find the velocity gradient tensor ( L) , the rate of deformation tensor ( D) , and the spin

tensor (W ).

V
L V x* i ei e j
x j
ket
1 ket 0 0
1
L t tke tt 2ke ket
t 2 t

(1 ke ) (1 ket ) 1 ket

1ke t tke
t t
0 0
(1 ke )1

D

1
2 L L
T

2ket t tket t 2ket 1ket tket

1 ket (1 ket )2 (1 ket )1
1
D t tke tt 2ke 2 ket 1
t 2 t
(1 ket ) 1 ket
2 (1 ke )
1ke t tke 1
t t
0
(1 ke )1 1 ket

ME 6201 HW #3 Solution Fall 2012

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 W

1
2 L L
T

0 t tket t 2ket 1 ket tket

(1 ket )2 (1 ket )1
1
W t tke tt 2ke 1
t 2 t
0 1 ket
2 (1 ke )
1ke t tke
t t 1 0
(1 ke ) 1 1 ket

c) Determine the logarithmic strain rate in the direction (1,1,0) in the current configuration.
The logarithmic strain rate in the direction d 1e1 1e2 0e3 in the current configuration

is found by
D ln( )
nT D n ,
Dt
where n is the unit normal in the direction of interest. The unit normal is

d 1
nT 1 1 0 .
d 2

Therefore,
2 ket t tket t 2ket 1ket tket
1 ket
(1 ket )2 (1 ket )1 1
D ln( ) 1 1 t tket t 2ket 1 1
1 1 0 (1ket )2 2 ke 1
t
(1 ket ) 1 ket
Dt 2 2 2
0
1ke t tke 1
t t
0
(1 ke ) 1 1 ket

1
1 2 ket t tket t 2ket t tket t 2ket 1 ke tke 1 1
t t )2 (1 ket )
2 ket t t

4 1 ke (1 ke t )2 (1 ke (1 ket )1 1 ket
0

1 2ket t tket t 2ket t tket t 2ket
4 1 ke
t
(1 ket )2
(1ket )2 (12kekett)
D ln( ) ket k 2 e2t 12 t 12 tket 12 t 2 ket

Dt (1 ket ) 2

d) Show that F is equal to L F

1 0 0
1ket
t2 1 t
F
(1ket )2 1ket 1ket
t t 0 1
1ke

ME 6201 HW #3 Solution Fall 2012

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 ket
(1 ket ) 2
0 0

DF 2t 2tket 2t 2 ket ket 1 ket tket
LHS F
Dt (1 ket )3 (1 ket ) 2 (1 ket ) 2
1 ket tket
0 0
(1 ket ) 2
ket 1 0 0
1ket 0 0 1ket
t tket t 2ket ket 1 t 2 1 t
RHS L F
(1ke ) t 2 (1 ke )
t 1 ket
(1ke ) 1ke 1ket
t 2 t

1ke t tke
t t
0 0 t 0 1
(1 ke )1 1ket
ke t

(1 ke ) t 2
0 0

2t 2tket 2t 2 ket ke t
1 ke tke
t t

(1 ke ) t 3
(1 ke )t 2
(1 ket ) 2
1 ket tket
0 0
(1 ket ) 2

Therefore, F L F

4. Consider the polar decomposition given by F R U . If the principal stretch ratios are

1 12 , 2 1, and 3 2 and the corresponding unit vectors in the principal stretch
directions in the reference configuration are n1 (0,1, 0), n2 ( 21 , 0, 1
), and n3 ( 12 , 0, 1
),
2
2

find the right stretch tensor.

Recall that U *T U * * where U * is the principal stretch tensor and * is the direction

cosine matrix between the reference original coordinate system and the principal coordinate
system

0 1 1
12 0 0 0 1 0

2 2

U 1 0 0 0 1 0 21 0 1

2

0
1 1
2
0 0 2 1 0 1


2 2 2

0 1 2
0 1 0

2 2

12 0 0 21 0 1
2

0 1 2 1 1

2 2 2 0 2

ME 6201 HW #3 Solution Fall 2012

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 32 0 12
U 0 12 0

12 0 23

5. Consider the polar decomposition F R U , with the deformation gradient given by

1 0 0

[ F ] 0 1 3

0 2 1

a) Find the rotation tensor R .

Start by determining the right Cauchy-Green tensor C F T F

1 0 0 1 0 0

C 0 1 2 0 1 3

0 3 1 0 2 1
1 0 0
0 5 1
0 1 10

Solve the eigenvalue problem

C I 0

1 0 0
0 5 1
0 1 10
5 6 2 10 1
50 5 60 6 2 10 2 3 1
3 16 2 64 49
( 1)( 2 15 49) 0
1, 15
2 12 29
1, 4.8074, 10.1926

The eigenvectors v are determined by substituting the calculated eigenvalues into

(C I )v 0 .

ME 6201 HW #3 Solution Fall 2012

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 1 1 :
0 0 0 v1 0
0 4 1 v 0
2
0 1 9 v3 0
The only combination of v2 and v3 that satisfies the 2nd and 3rd equation are
v2 0 and v3 0 . The choice of v1 is arbitrary because the 1st equation is always
satisfied. Here, v1 is arbitrarily set to 1 in order to make the norm(v) 1 . The

resulting eigenvalue and eigenvector pair is
1 1 v1 {1 0 0}

2 4.8074 :
3.8074 0 0 v1 0
0 0.1926 1 v2 0

0 1 5.1926 v3 0
1 0 0 v1 0 1
3.8074 R1
0 0.1926 1 v 0
2
0 0 v3 0 R3 0.1926
1
0 R2
From the 1st equation, v1 must be 0. By arbitrarily assigning v3 1 , the 2nd
equation requires that v2 5.1926 . The eigenvector v 0 5.1926 1 is

v
normalized by norm v , i.e. v 0 0.9820 0.1891 . The resulting
v

eigenvalue and eigenvector pair is
2 4.8074 v2 0 0.9820 0.1891

3 10.1926 :
9.1926 0 0 v1 0
0 5.1926 1 v2 0

0 1 0.1926 v3 0
1 0 0 v1 0 1
9.1926 R1
0 5.1926 1 v 0
2
0 0 0 v3 0 R3 5.1926 1
R2
The 1st equation requires that v3 0 . An arbitrary selection of v3 1 requires that
v2 0.1926 due to the 2nd equation. Normalizing the eigenvector results in the
eigenvalue and eigenvector pair
3 10.1926 v3 0 0.1891 0.9820

ME 6201 HW #3 Solution Fall 2012

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 Recall that C 2 U * in the principal frame.

1 0 0

U* 0 4.8074 0

0 0 10.1926
1
0 0
1
* 1 1
U 0 0
4.8074

1
0 0
10.1926

For an arbitrary frame,

U 1 *T U * *
1

1
0 0
1 0 0 1 1 0 0

0 0.9820 0.1891 0 0 0 0.9820 0.1891
1 1
U

0.1891 0.9820 0 0.1891 0.9820
4.8074
0
1
0 0
10.1926

1 0 0
U 1
0 0.4510 0.0265

0 0.0265 0.3183

R F U 1

1 0 0 1 0 0

R 0 1 3 0 0.4510 0.0265

0 2 1 0 0.0265 0.3183

1 0 0

R 0 0.3714 0.9285

0 0.9285 0.3714

ME 6201 HW #3 Solution Fall 2012

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 b) Find the left stretch tensor V .

We have the relations F R U V R V F R 1 F RT

1 0 0 1 0 0

V 0 1 3 0 0.3714 0.9285

0 2 1 0 0.9285 0.3714

1 0 0

V 0 3.1568 0.1857

0 0.1857 2.2283

ME 6201 HW #3 Solution Fall 2012

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