1 Grand mobility reduction :

The generalized equation of a rigid body in shear is given by

v − u∞ v − u∞
  tt
Ξtr Ξtd
    
f Ξ
τ  = Ξ ω − ω ∞  = Ξrt Ξrr Ξrd  ω − ω ∞  (1)
S −E∞ Ξdt Ξdr Ξdd −E∞

The above equation is re-written in index notation for clarity. (Ref. Page109 Kim and
Karrila)

vβ − u∞
  tt
Ξtr Ξtd
  
fα Ξαβ αβ αγ β
 τα  =  Ξrt
αβ Ξrr
αβ Ξrd
αγ
 ωβ − ω ∞  (2)
β
Sαδ Ξdt Ξdr Ξdd
−E ∞
αδβ αδβ αδγ γ

If the rigid body is composed of subunits of spheres, then the total force , torque and
stresslet of the body is given by

X
f= fi , (3)
i
X
τ = [τi + (xi − x) × fi ] (4)
i
" #
X 1n T
o 1
S= Si + fi ⊗ (xi − x) + [fi ⊗ (xi − x)] − I ⊗ [fi · (xi − x)] (5)
2 3
i

not sure of the dyad product for the last term in Eqs. (5)] . Harshe uses dyadic product. ?
The hydrodynamic interaction between two sub-units i and j of the object is given by
   tt tr td  
vj − u∞ (xj )

fij ξij ξij ξij
rt ξ rr ξ rd  
 τij  = ξij ij ij ωj − ω ∞  (6)
Sij dt dr dd −E ∞
ξij ξij ξij

where generalized particle velocities are related by

vi = v + ω × (xi − x) = v − x̃i × ω = v − (x̃i )ω, (7)

ωi = ω, (8)

where the subscript-less parameters relate to the reference point of the object, the sub-
scripted parameters to the reference points of the particles, and x̃i = xi − x.
The undisturbed velocity at particle ’i’ is given by

u∞ (xi ) = u∞ (x + x̃i ) (9)

∞ ∞
= u (x) + Γ x̃i (10)
∞ ∞ ∞
= u (x) + E x̃i + ω × x̃i (11)
∞ ∞ ∞
= u (x) + E x̃i + ω (x̃i ) (12)

The hydrodynamics force, torque and stresslet on a sub-unit ’i’ due to presence of rest of
the object surrounding it is given by

1
 Xh i
fi = tt
ξij [vj − u∞ (xj )] + ξij
tr
(ωj − ω ∞ ) − ξij
td
: E∞ (13)
j
Xh i
τi = rt
ξij [vj − u∞ (xj )] + ξij
rr
(ωj − ω ∞ ) − ξij
rd
: E∞ (14)
j
Xh i
Si = dt
ξij [vj − u∞ (xj )] + ξij
dr
(ωj − ω ∞ ) − ξij
dd
: E∞ (15)
j

not sure of the sign E∞ for the last term in Eq. (6)]
Substituting Eqs. (7),(8),(12) in Eqs. (13)-(15) we get
X X
tt
[v − (x̃j )ω − u∞ (x) − E∞ x̃j − ω ∞ (x̃j )]

f= fi = ξij
i ij
Xh i (16)
+ tr
ξij (ω − ω ∞ ) − ξij
td
: E∞
ij
X
tt
[v − u∞ (x) − (x̃j ) (ω − ω ∞ ) − E∞ x̃j ]

= ξij
ij
Xh i (17)
+ tr
ξij (ω − ω ∞ ) − ξij
td
: E∞
ij
   
X X
= tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
ij ij (18)
Xh i
tt ∞ td ∞
− ξij E x̃j + ξij :E
ij
   
X X
= tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
ij ij
  (19)
X
− tt
ξij td 
⊗ x̃j + ξij : E∞ (f romEq. (20))
ij

since
Xh i Xh i
tt ∞
ξij td
E x̃j + ξij : E∞ = tt
ξij,αγ ∞
Eγ td
x̃j, + ξij,αγ ∞
: Eγ
ij ij
Xh i
tt td ∞
= ξij,αγ x̃j, + ξij,αγ Eγ (20)
ij
Xh i
= tt
ξij td
⊗ x̃j + ξij : E∞
ij

2
 X X
τ = [τi + (xi − x) × fi ] = [τi + (x̃i )fi ] (21)
i i
Xh i
= rt
ξij [vj − u∞ (xj )] + ξij
rr
(ωj − ω ∞ ) − ξij
rd
: E∞
ij
    
 X X 
+ (x̃i )  tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
  (22)
ij ij
  
 X 
− (x̃i )  tt
ξij td 
⊗ x̃j + ξij : E∞
 
ij
Xh i
= rt
ξij [v − u∞ (x) − (x̃j ) (ω − ω ∞ ) − E∞ x̃j ] + ξij rr
(ωj − ω ∞ ) − ξij
rd
: E∞
ij
    
 X X 
+ (x̃i )  tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
 
ij ij
  
 X 
− (x̃i )  tt
ξij td 
⊗ x̃j + ξij : E∞
 
ij
(23)
 
X
rt tt 
(v − u∞ (x))


= ξij + (x̃i )ξij
ij
 
X (24)
+ rr
ξij rt
− ξij tr
(x̃j ) + (x̃i )ξij tt
− (x̃i )ξij (x̃j ) (ω − ω ∞ )
ij
Xh h i i
rt ∞
− ξij rd
E x̃j + ξij : E∞ + (x̃i ) ξij
tt td
⊗ x̃j + ξij : E∞
ij
 
X
rt tt 
(v − u∞ (x))


= ξij + (x̃i )ξij
ij
 
X
+ rr
ξij rt
− ξij tr
(x̃j ) + (x̃i )ξij tt
− (x̃i )ξij (x̃j ) (ω − ω ∞ ) (25)
ij
 
X h i
− rt
ξij rd
⊗ x̃j + ξij tt
+ (x̃i ) ξij td 
⊗ x̃j + ξij : E∞
ij

3
 " #
X 1n o 1
S= Si + fi ⊗ (xi − x) + [fi ⊗ (xi − x)]T − I ⊗ [fi · (xi − x)] (26)
2 3
i
X
= dt
ξij [vj − u∞ (xj )] + ξij
dr
(ωj − ω ∞ ) − ξij
dd
: E∞
ij
X 1 n o 1  (27)
+ fi ⊗ (x̃i ) + [fi ⊗ (x̃i )]T − I ⊗ [fi · (x̃i )]
2 3
ij
X
= dt
ξij [v − u∞ (x) − (x̃j ) (ω − ω ∞ ) − E∞ x̃j ] + ξij dr
(ωj − ω ∞ ) − ξij
dd
: E∞
ij
   
X1 X X
+  tt 
ξij [v − u∞ (x)] +  tr
ξij − ξijtt
(x̃j ) (ω − ω ∞ )
2
ij ij ij
  
X 
tt td  ∞
−  ξij ⊗ x̃j + ξij : E ⊗ (x̃i )

ij
   
X 1  X X
+  tt 
ξij [v − u∞ (x)] +  tr
ξij − ξijtt
(x̃j ) (ω − ω ∞ )
2 
ij ij ij
   T
X  
−  tt
ξij ⊗ x̃j + ξij td 
: E∞ ⊗ (x̃i )
 
ij
   
X1  X X
− I⊗  tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
3 
ij ij ij
   
X 
−  tt
ξij ⊗ x̃j + ξij td 
: E∞ · (x̃i )

ij
(28)
 
X 1 n tt T o 1
dt
· (x̃i )  (v − u∞ (x))
 tt  tt 
= ξij + ξij ⊗ (x̃i ) + ξij ⊗ (x̃i ) − I ⊗ ξij
2 3
ij

X
dr dt 1 n tr tt

 tr tt

T o
+ ξij − ξij (x̃j ) + ξij − ξij (x̃j ) ⊗ (x̃i ) + ξij − ξij (x̃j ) ⊗ (x̃i )
2
ij

1
− I ⊗ ξij − ξij (x̃j ) · (x̃i ) (ω − ω ∞ )
 tr tt


3

X h i 1   h  iT 
dt ∞
− ξij E x̃j + tt td tt
ξij ⊗ x̃j + ξij ⊗ x̃i + ξij ⊗ x̃j + ξij ⊗ x̃i td
: E∞
 2
ij

X 1 n  o 
− tt
ξij ⊗ x̃j + ξij td
· x̃i : E∞ + ξij dd
: E∞
3 
ij
(29)

4
  
X 1 n
T
o 1
dt
ξ tt ⊗ (x̃i ) + ξij tt tt
· (x̃i )  (v − u∞ (x))
   
= ξij + ⊗ (x̃i ) − I ⊗ ξij
2 ij 3
ij

X
dr dt 1 n tr tt

 tr tt

T o
+ ξij − ξij (x̃j ) + ξij − ξij (x̃j ) ⊗ (x̃i ) + ξij − ξij (x̃j ) ⊗ (x̃i )
2
ij

1
− I ⊗ ξij − ξij (x̃j ) · (x̃i ) (ω − ω ∞ )
 tr tt


3

 iT 
X
dd dt 1  tt td
 h
tt td

− ξij + ξij ⊗ x̃j + ξij ⊗ x̃j + ξij ⊗ x̃i + ξij ⊗ x̃j + ξij ⊗ x̃i
 2
ij

X 1 n  o
− tt
ξij ⊗ x̃j + ξij td
· x̃i : E∞
3 
ij
(30)

comparing Eq. (1) and gives

X
Ξtt = tt
ξij (31)
ij
X
Ξtr = tr tt

ξij − ξij (x̃j ) (32)
ij
Xh i
td tt td
Ξ = ξij ⊗ x̃j + ξij (33)
ij
X 
rt rt tt

Ξ = ‘ ξij + (x̃i )ξij (34)
ij
X
rr rr rt tr tt

Ξ = ξij − ξij (x̃j ) + (x̃i )ξij − (x̃i )ξij (x̃j ) (35)
ij
Xh h ii
Ξrd = rt
ξij rd
⊗ x̃j + ξij tt
+ (x̃i ) ξij td
⊗ x̃j + ξij (36)
ij
X 1 n tt T o 1

dt dt
 tt  tt 
Ξ = ξij + ξ ⊗ (x̃i ) + ξij ⊗ (x̃i ) − I ⊗ ξij · (x̃i ) (37)
2 ij 3
ij
X 1 n tr T o
dr dr dt tt

 tr tt


Ξ = ξij − ξij (x̃j ) + ξij − ξij (x̃j ) ⊗ (x̃i ) + ξij − ξij (x̃j ) ⊗ (x̃i )
2
ij

1  tr tt


− I ⊗ ξij − ξij (x̃j ) · (x̃i )
3
(38)
X 1
  h  iT 
dd dd dt tt td tt td
Ξ = ξij + ξij ⊗ x̃j + ξij ⊗ x̃j + ξij ⊗ x̃i + ξij ⊗ x̃j + ξij ⊗ x̃i
2
ij
1 n tt  o
td
− ξij ⊗ x̃j + ξij · x̃i
3
(39)

The inversion of grand resistance matrix is not needed since the required mobility
sub-matrices can be obtained via the mobility-resistance relations 5.18-5.21 from Kim and
Karrila book.

5
 The nine components of rate-of-strain matrix, E can be reduced to six components due
to symmetry. Further by assuming incompressibility the trace of E i.e Exx +Eyy +Ezz = 0.
Hence E have five independent components. There are many possible ways to decompose
E. Two popular choices for decomposition of E∞ are as follows.
I) Preferred by Bossis et al. J. Chem. Phys. 94(7),1,1991.
1 1
E∞ = (Exx − Ezz )E(1) + (Eyy − Ezz )E(2)
3 3 (40)
+ Exy E + Exz E + Eyz E(5)
(3) (4)

where (41)
   
2 0 0 −1 0 0
E(1) = 0
 −1 0  , E(2) =  0 2 0  (42)
0 0 −1 0 0 −1
     
0 1 0 0 0 1 0 0 0
E(3) = 1 0 0 , E(4) = 0 0 0 , E(5) = 0 0 1 (43)
0 0 0 1 0 0 0 1 0
(44)

II) Preferred by Microhydrodynamics, Kim and karilla , page 122.

1 1
E∞ = Ezz E(1) + (Exx − Eyy )E(2)
2 2 (45)
+ Exy E + Exz E(4) + Eyz E(5)
(3)

where (46)
   
−1 0 0 1 0 0
(1) (2)
E =  0 −1 0 , E = 0
  −1 0 (47)
0 0 2 0 0 0
     
0 1 0 0 0 1 0 0 0
E (3) = 1 0 0 , E (4) = 0 0 0 , E (5) = 0 0 1 (48)
0 0 0 1 0 0 0 1 0
(49)

Choice (II) has a nice property that scalar multiples of E(i) , i.e. ( 12 Ezz , 12 (Exx −Eyy ), Exy , Exz , Eyz )
are independent of each other. Also trace(E(i) ∗ E(j) ) = 0, i 6= j.

Choice(I) is the preferred because by choosing the scalar multiples ( 31 (Exx − Ezz ), 13 (Eyy −
Ezz ), Exy , Exz , Eyz ) we get the stresslet components Sxx , Syy , Sxy , Sxz , Syz on the right
hand side.
The advantage of representing E∞ in five independent components is that the right
hand component of Eq.1 namely v−u∞ , ω−ω ∞ , −E∞ can be represented as 11 component
vector with 3 components for linear velocities, 3 components for angular velocities and 5
components for rate-of-strain tensor. This in turn facilitates the grand resistance matrix,
Ξ to be compactly represented as a 11 x 11 two-dimensional matrix.

6
 Let the rank-2 tensors E∞ and S be represented by 5 components vector

Ẽ ∞ = (Exx

∞ ∞ ∞ ∞ ∞ ∞ ∞

− Ezz ), (Eyy − Ezz ), 2Exy , 2Exz , 2Eyz (50)
S̃ = hSxx , Syy , Sxy , Sxz , Syz i (51)

respectively. Now the 11x11 resistance is written as

   tt  
fα Ξαβ Ξtr td
αβ Ξ̃αβ vβ − u∞β
 τα  = Ξrt ∞
Ξrr rd  
αβ Ξ̃αβ  ωβ − ωβ  (52)

αβ
S̃α Ξ̃dt
αβ Ξ̃dr dd
αβ Ξ̃αβ −Ẽβ∞

where Ξ̃td , Ξ̃rd , Ξ̃dt , Ξ̃dr , Ξ̃dd are two dimensional matrices of dimension 3x5,3x5,5x3,5x3,5x5
respectively. And inversely
  tt tr td
 
vα − u∞ Mαβ Mαβ M̃αβ

α fβ
ωα − ωα∞  =  Mαβ rt Mαβ rr rd   τ 
M̃αβ  β (53)
−Ẽα∞ dt dr
M̃αβ M̃αβ M̃αβ dd S̃β

where

vα − u∞ td
α =M̃αβ S̃β (54)
 
 td Sxx
td ) (M td − M td ) (M td + M td ) (M td + M td ) (M td + M td )  S 

(M111 − M133 122 133 112 121 113 131 123 132  yy 
= . . . ... ... ... ...  Sxy 
 
... ... ... ... ... Sxz 
Syz
(55)

Due to symmetry of the 11x11 reduced grand mobility matrix

dt td T
M̃αβ =(M̃αβ ) (56)

hence
td − M td ) (M td + M td ) (M td + M td ) (M td + M td ) T
 td td )

(M111 − M133 (M122 133 112 121 113 131 123 132
dt
M̃αβ = . . . ... ... ... ... 
... ... ... ... ...
 td td ) td td td td 
(M111 − M133 (Ξ211 − M233 ) (M311 − M333 )
td td )
 td − M133
(M122 ... ... 
td )

= (M112 + M121
 ... ... 

(M td + M td ) ... ... 
113 131
(M123 td + M td ) ... ...
132
(57)

7
 Ẽα∞ =M̃αβ
dt
fβ
 td td )
(M111 − M133 (Ξtd td td td 
211 − M233 ) (M311 − M333 )  
(M122td − M td ) ... ...  fx
 td 133
td
 (58)
(M112 + M121 ) ... ...
=  fy 

(M td + M td ) ... ...  fz
113 131
td + M td )
(M123 ... ...
132
 ∞ ∞
(Exx − Ezz )

(Eyy ∞ − E ∞ )
zz 
∞

=
 2Exy 
 (59)
 ∞
2Exz 
∞
2Eyz
(60)

similarly for rotational or angular part we have

ωα − ωα∞ =M̃αβ
rd
S̃β (61)
 
Sxx
rd − M rd ) (M rd − M rd ) (M rd + M rd ) (M rd + M rd ) (M rd + M rd )  S 
 
(M111 133 122 133 112 121 113 131 123 132  yy 
= . . . ... ... ... ...  Sxy 
 
... ... ... ... ... Sxz 
Syz
(62)

and
Ẽα∞ =M̃αβ
dr
fβ
 rd rd )
(M111 − M133 (Ξtd rd rd rd 
211 − M233 ) (M311 − M333 )  
rd
(M122 − M133rd ) ... ...  fx
 rd rd
 (63)
(M112 + M121 ) ... ...
=  fy 

(M rd + M rd ) ... ...  fz
113 131
rd + M rd )
(M123 ... ...
132

and finally for the stresslet to rate-of-strain relation we have

Ẽα∞ =M̃αβ
dd
S̃β
dd dd dd dd dd
  
M̃11 M̃12 M̃13 M̃15 M̃15 Sxx
. . . ... ... ... ...  Syy 
  
dd − M dd dd dd dd + M dd dd + M dd dd dd
= M M 1222 − M1233 M1212 M1213  Sxy 
M1223 + M1232   
 1211 1233 1221 1231
. . . ... ... ... ...   Sxz 
... ... ... ... ... Syz
(64)

where
dd dd dd dd dd
M̃11 = [M1111 − M1133 − (M3311 − M3333 )] (65)
dd dd dd dd dd
M̃12 = [M1122 − M1133 − (M3322 − M3333 )] (66)
dd dd dd dd dd
M̃13 = [M1112 + M1121 − (M3312 + M3321 )] (67)
dd dd dd dd dd
M̃14 = [M1113 + M1131 − (M3313 + M3331 )] (68)
dd dd dd dd dd
M̃15 = [M1123 + M1132 − (M3323 + M3332 )] (69)

8
 dd , M̃ dd , M̃ dd , M̃ dd , M̃ dd as above.
similar for second i.e. M̃21 22 23 24 25

vx − u∞
   
fx x
f   vy − u∞ 
 y  y 
f   v − u∞ 
 z  z z 
∞
  ωx − ωx
τ   
 x  
tt
Ξαβ tr td
Ξαβ Ξ̃αγ  ωy − ωy ∞
 τy 
   

  rt rr rd ∞
 τz  =  Ξαβ Ξαβ Ξ̃αγ   ωz − ωz (70)
   

dt dr dd −(E ∞ − E ∞ )
Sxx 
  
Ξ̃αδβ Ξ̃αδβ Ξ̃ αδγ 
 xx zz 
Syy 
 
−(Eyy ∞ − E ∞ )
zz 

Sxy 
 
 −2Exy ∞ 

∞
   
Sxz   −2Exz 
Syz −2Eyz ∞

vx − u∞
   
x fx
 vy − u∞  f 
 y   y
 v − u∞  f 
 z z   z
 ω − ω∞ 
  τx 
 
 x x  
 ω − ω∞  tt
Mαβ tr td
Mαβ M̃αγ  τy 

 y y  
 ωz − ωz∞  =  Mαβ
  rt rr rd  
Mαβ M̃αγ   τz  (71)
 
∞ − E∞)
−(Exx dt dr dd Sxx 
   
zz  M̃αδβ M̃αδβ M̃αδγ
 ∞ − E ∞ )
−(Eyy

Syy 
 
zz

 ∞
−2Exy



Sxy 

∞
   
 −2Exz  Sxz 
∞
−2Eyz Syz

9
2 Reduction of resistance matrix for a rigid aggregate in
11x11 reduced matrix notation
  tt  
Ξαβ Ξtr td
αβ Ξ̃αβ vβ − u∞

fα β
∞
Ξrt
 τα  =  rr rd  
αβ Ξαβ Ξ̃αβ  ωβ − ωβ  (72)
S̃α Ξ̃dt dr dd
αβ Ξ̃αβ Ξ̃αβ −Ẽβ∞

  tt tr td

vj − u∞ (xj )

ξij ξij ξ̃ij

fij
 τij  =  rt ξ rr ξ̃ rd   ω − ω ∞  (73)
ξij ij ij  j
Sij dt dr dd
ξ̃ij ξ̃ij ξ̃ij −Ẽ∞

  tt  
tr
ξij,αβ ξij,αβ ξ˜ij,αβ
td
vj,β − u∞

fij,α j,β
∞
 τij,α  =  rt
ξij,αβ rr
ξij,αβ ξ˜ij,αβ
rd  ω
  j,β − ωj,β  (74)
S̃ij,α ξ˜ij,αβ
dt ξ˜ij,αβ
dr ξ˜ij,αβ
dd −Ẽβ∞

Xh i
fi = tt
ξij [vj − u∞ (xj )] + ξij
tr
(ωj − ω ∞ ) − ξ̃ij
td
· Ẽ∞ (75)
j
Xh i
τi = rt
ξij [vj − u∞ (xj )] + ξij
rr
(ωj − ω ∞ ) − ξ̃ij
rd
· Ẽ∞ (76)
j
Xh i
S̃i = dt
ξ̃ij [vj − u∞ (xj )] + ξ̃ij
dr
(ωj − ω ∞ ) − ξ̃ij
dd
· Ẽ∞ (77)
j
1 1
E∞ = (Exx − Ezz )E(1) + (Eyy − Ezz )E(2)
3 3 (78)
+ Exy E(3) + Exz E(4) + Eyz E(5)
∞ (γ)
Eαβ =Ẽγ∞ Eαβ (79)

(γ)
E∞ x̃j = Eαβ
∞
x̃j,β =Ẽγ∞ Eαβ x̃j,β (80)
˜ j,αβ Ẽ ∞
=∆ (81)
β

where the relative position vector x̃j ˜ j of dimension 3x5

has been replace by a matrix ∆
whose components are as follows
2
− 31 x̃x 1 1

3 x̃x 2 x̃y 2 x̃z 0
˜j = ∆ ˜ j,αβ = − x̃y 2 x̃y
1 1 1
∆ 2 x̃x 0 2 x̃z (82)

3 3
− 13 x̃z − 31 x̃z 0 1
2 x̃x
1
2 x̃y

since
∞ E∞ E∞
    ∞ ∞ x̃ ∞

Exx xy xz x̃j,x Exx x̃j,x + Exy j,y + Exz x̃j,z
E∞ x̃j = Eαβ
∞
x̃j,β ∞ E∞ E∞ 
= Eyx yy yz
∞ x̃
x̃j,y  = Eyx ∞ ∞
j,x + Eyy x̃j,y + Eyz x̃j,z 
∞ ∞ ∞
Ezx Ezy Ezz x̃j,z ∞ ∞ ∞
Ezx x̃j,x + Ezy x̃j,y + Ezz x̃j,z
(83)

10
and
∞ − E ∞ )
(Exx zz
∞ − E ∞ )
2
− 13 x̃x 21 x̃y 12 x̃z

(Eyy
3 x̃x 0 zz
˜ j Ẽ∞ = ˜ j,αβ Ẽ ∞ = − 1 x̃y 2 1 1 ∞
 
∆ ∆ β 3 3 x̃y 2 x̃x 0 2 x̃z

 2Exy 
 (84)
− 13 x̃z 1
− 3 x̃z 0 1 1 ∞
2 x̃x 2 x̃y 2E
 
xz
∞
2Eyz
 ∞ ∞ x̃ ∞

Exx x̃j,x + Exy j,y + Exz x̃j,z
∞ x̃ ∞ ∞
= Exy j,x + Eyy x̃j,y + Eyz x̃j,z  (85)
∞ ∞ ∞
Exz x̃j,x + Eyz x̃j,y + Ezz x̃j,z
Also in generalised form (based on the notation in Wotuer’s clsuterdyn 5.6.2 Matrix
basis )

S̃ρ = (ρ )αβ Sαβ (86)

Sαβ = (ρ )αβ S̃ρ (87)

and

Ẽρ∞ = (ρ )αβ Eαβ

∞
(88)
∞
Eαβ = (ρ )αβ Ẽρ∞ (89)

Hence

E∞ x̃j = Eαβ
∞
x̃j,β = (ρ )αβ Ẽρ∞ x̃j,β = ∆
˜ j,αρ Ẽρ∞ (90)

Thus
˜ j,αρ = (ρ ) x̃j,β
∆ (91)
αβ

X
tt
[v − (x̃j )ω − u∞ (x) − E∞ x̃j − ω ∞ (x̃j )]

f = fi = ξij
ij
Xh i (92)
+ tr
ξij (ω − ω ∞ ) − ξij
td
: E∞
ij
h i
∞ (τ )
tt
f = fi,α = ξij,αβ vcm,β − βγδ x̃j,γ ωδ − u∞ cm,β − Ẽτ E x̃
βγ j,γ −  ω ∞
x̃
βδγ δ j,γ
(93)
∞ ∞
+ ξij,αβ ωβ − ωβ − ξ˜ij,ατ Ẽτ
tr td

tt
vcm,β − u∞ tr ∞ tt
(βγδ x̃j,γ ωδ + βδγ x̃j,γ ωδ∞ )



= ξij,αβ cm,β + ξij,αβ ωβ − ωβ − ξij,αβ
(94)
tt
− ξij,αβ ∆˜ βτ Ẽτ∞ − ξ˜ij,ατ
td
Ẽτ∞
tt
vcm,β − u∞ tr ∞ tt
βγδ x̃j,γ (ωδ − ωδ∞ )



= ξij,αβ cm,β + ξij,αβ ωβ − ωβ − ξij,αβ
(95)
tt
− ξij,αβ ∆˜ βτ Ẽτ∞ − ξ˜ij,ατ
td
Ẽτ∞
tt
vcm,β − u∞ ∞

 tr tt

= ξij,αβ cm,β + ξij,αδ − ξij,αβ βγδ x̃j,γ (ωδ − ωδ )
h i
∞
(96)
tt
− ξij,αβ ˜ βτ + ξ˜td
∆ ij,ατ Ẽτ
   
X X
= tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
ij ij
  (97)
X
tt ˜ td  ∞
− ξij ∆j + ξ̃ij Ẽ
ij

11
since

βδγ = −βγδ (98)

or else
   
X X
= tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
ij ij
  (99)
X
− tt
ξij td 
⊗ x̃j + ξij : E∞
ij

τ = τi,α + αβγ x̃i,β fi,γ (100)

h i
rt
vβ − u∞ ∞ ˜ ∞ rr
ωj,β − ωβ∞ − ξ˜ij,αβ
rd
Ẽβ∞


= ξij,αβ β − βγδ x̃γ (ωδ − ωδ ) − ∆βτ Ẽτ + ξij,αβ
(vδ − u∞ ∞
 tt  tr tt

+ αβγ x̃i,γ ξij,βδ δ ) + ξij,βδ − ξij,βγ γδτ x̃j,τ (ωj,δ − ωδ )
h i
tt ˜ δτ + ξ˜td ∞
− αβγ x̃i,γ ξij,βδ ∆ ij,βτ Ẽτ
(101)
rt tt
(vδ − u∞
 
= ξij,αδ + αβγ x̃i,γ ξij,βδ δ )
γδτ x̃j,τ (ωj,δ − ωδ∞ )
 rr rt tr tt

+ ξij,αδ − ξij,αβ βγδ x̃i,γ + αβγ x̃i,γ ξij,βδ − αβγ x̃i,γ ξij,βγ
h i
− ξ˜ij,ατ
rd
+ ξ rt ∆ ˜ βτ + αβγ x̃i,γ ξ tt ∆
ij,αβ
˜ δτ + αβγ x̃i,γ ξ˜td
ij,βδ ij,βτ Ẽτ∞
(102)
 
X
rt tt 
(v − u∞ (x))


= ξij + (x̃i )ξij
ij
 
X
+ rr
ξij rt
− ξij tr
(x̃j ) + (x̃i )ξij tt
− (x̃i )ξij (x̃j ) (ω − ω ∞ ) (103)
ij
 
X h i
rd rt ˜ tt ˜ td  ∞
− ξ̃ij + ξij ∆j + (x̃i ) ξij ∆j + ξ̃ij Ẽ
ij

" #
X 1n o 1
S= Si + fi ⊗ (xi − x) + [fi ⊗ (xi − x)]T − I ⊗ [fi · (xi − x)] (104)
2 3
i
= Ξ (v − u∞ ) + Ξdr (ω − ω ∞ ) − Ξdd : E∞
dt
(105)

where Ξdt , Ξdr , Ξdd are obtained from Eq.31. Now using the transformations relations
Eq.86, we can rewrite Eq.105 as
h i
S̃ = (ρ ) S = (ρ ) Ξdt (v − u∞ ) + Ξdr (ω − ω ∞ ) − Ξdd : (ρ ) Ẽ∞ (106)
= (ρ ) Ξdt (v − u∞ ) + (ρ ) Ξdr (ω − ω ∞ ) − (ρ ) Ξdd : (ρ ) Ẽ∞ (107)
dt ∞ dr ∞ dd ∞
= Ξ̃ (v − u ) + Ξ̃ (ω − ω ) − Ξ̃ Ẽ (108)

12
 " #
X 1n o 1
S= Si + fi ⊗ (xi − x) + [fi ⊗ (xi − x)]T − I ⊗ [fi · (xi − x)] (109)
2 3
i
Xh i
S̃i = dt
ξ̃ij [vj − u∞ (xj )] + ξ̃ij
dr
(ωj − ω ∞ ) − ξ̃ij
dd
· Ẽ∞ (110)
j
   
X X
= tt 
ξij [v − u∞ (x)] +  tr
ξij tt
− ξij (x̃j ) (ω − ω ∞ )
ij ij
  (111)
X
tt ˜ td  ∞
− ξij ∆j + ξ̃ij Ẽ
ij

X
Ξtt = tt
ξij (112)
ij
X
tr tr tt

Ξ = ξij − ξij (x̃j ) (113)
ij
Xh i
td tt ˜ td
Ξ̃ = ξij ∆j + ξ̃ij (114)
ij
X 
rt rt tt

Ξ = ‘ ξij + (x̃i )ξij (115)
ij
X
Ξrr = rr rt tr tt

ξij − ξij (x̃j ) + (x̃i )ξij − (x̃i )ξij (x̃j ) (116)
ij
Xh h ii
rt ˜ tt ˜
Ξ̃rd = ξij rd
∆j + ξ̃ij + (x̃i ) ξij td
∆j + ξ̃ij (117)
ij

Ξ̃dt = (ρ ) Ξdt (118)

Ξ̃dr = (ρ ) Ξdr (119)
dd ρ dd
Ξ̃ = ( ) Ξ (ρ ) (120)

To calculate the total force, torque and stresslets acting on the rigid aggregate we need
all the particle specific properties like f , τ , S on once side and fluid specific properties like
v − u∞ , ω − ω ∞ , −E∞ on the other side (like Eq.131, known as resistance problem - Page
109 Kim and Karrila). However to do the dynamics of the rigid cluster in a n ambient
flow we need f , τ , −E∞ on once side and fluid specific properties like v − u∞ , ω − ω ∞ , S
on the other side (like Eq. 122, known as resistance problem - Page 115 Kim and Karrila).

v − u∞ v − u∞
  tt
Ξtr Ξtd
    
f Ξ
τ  = Ξ ω − ω ∞  = Ξrt Ξrr Ξrd  ω − ω ∞  (121)
S −E∞ Ξdt Ξdr Ξdd −E∞

and

v − u∞
  tt
µtr µtd
    
f µ f
ω − ω ∞  = M  τ  = µrt µrr µrd   τ  (122)
S −E∞ µdt µdr µdd −E∞

13
 Hence = Ξ 6= M −1 . However we can get the mobility matrices required for simulation
of a rigid aggregate by some matrix transformations.
Let the force and torque be represented by a 6x1 vector x and the linear and angular
velocities by v. Hence

      
x v A B v
=Ξ = (123)
S −E∞ C D −E∞
x = Av − BE∞ (124)
∞
S = Cv − DE (125)
−1 −1 ∞
v=A x+A BE (126)
Hence (127)
−1 −1 ∞ ∞
S = CA x + CA− DE BE (128)
= CA−1 x − −CA−1 B + D E∞


(129)
  −1
A−1 B
    
v x A v
=M = (130)
S −E∞ CA−1 D − CA−1 B −E∞

which is the same relations mentioned in Kim and Karrila Page 118.

3 simulation procedure
construct a 11Nx11N mobility matrix as follows

v − u∞
   
f
ω − ω ∞  = M11N ×11N τ  (131)
−Ẽ∞ S̃

choose the components of the M11N ×11N using the relations Eq.54, 57, 61,63 and 64
Then invert M11N ×11N into Ξ11N ×11N and considering following form of equation

v − u∞ v − u∞
  tt
ξ tr ξ̃ td
    
f ξ
τ  = Ξ11N ×11N ω − ω ∞  = ξ rt ξ rr ξ̃ rd  ω − ω ∞  (132)
S̃ −Ẽ∞ ξ̃ dt ξ̃ dr ξ̃ dd −Ẽ∞
v − u∞ Ξtt Ξtr Ξ̃td v − u∞
    
∞
= Ξ11×11 ω − ω  = Ξrt Ξrr Ξ̃rd  ω − ω ∞  (133)
−Ẽ∞ Ξ̃dt Ξ̃dr Ξ̃dd −Ẽ∞

reduce Ξ11N ×11N into Ξ11×11 using relations Eq. 112. And use of trick in relation 130 for
Ξ11×11 to obtain the necessary matrix M for dynamics of rigid aggregate.

v − u∞
  tt
µtr µtd
    
f µ f
ω − ω ∞  = M  τ  = µrt µrr µrd   τ  (134)
S̃ −Ẽ∞ µdt µdr µdd −Ẽ∞

14