Math Prelims

Mathematical Prerequisites
Shyam Sunder
Assistant Professor
Mechanical Engineering
BITS Pilani
August 24, 2021
Shyam Sunder Assistant Professor Mechanical Engineering
Mathematical Prerequisites 1 / 24
Table of contents
1 Motivation for the revision
2 Einstein summation convention
3 Kronecker Delta Function
4 Permutation or Levi-Civita Symbol
5 Indicial Notation Manipulations
6 Tensor Product or Outer product of two vectors
7 Gradient, Divergence and Curl

Motivation for the revision
We will encounter the equations governing the mass, momentum and
energy conservation for fluid flows
These equations are the so called Navier-Stokes equations in integral
and differential form:
∂ ~
R R
I
∂t ρdV + S n~ · ρUdS =0
RV
I ∂ ~ ~ UdS
~
R R R R
∂t V
ρ UdV + S
~
n · ρU = − S
P n̂dS
2 + S
n̂ · τ dS
+ V
ρ~g dV
2
I ∂ ρ U2 + gz + U dV + S n̂ · ρU ~ U + gz + U dS =
R R
∂t V 2
n̂ · k∇T dS + V ρQ̇ dV + S n̂ · τ · U dS + V ρ~b · U
~ ~ dV
R R R R
S
∂ρ ~
∂t + ∇ · (ρU) = 0
I
~
∂ρU
∇ · ρU~U ~ = −∇p + ∇ · τ + ρ~g
∂t +
I
U2
∂
+ ∇ · ρU~ U 2 + gz + U =
∂t ρ 2 + gz + U
I
2
∇ · k∇T + ρQ̇ + ∇ · (τ · U) ~ + ρ~b · U~
We need to understand few basic concepts in order to understand the
derivation of these equations and their physical meaning

Einstein summation convention
Consider the following sum: S = a1 x1 + a2 x2 + a3 x3 . . . + a10 x10

10
P
We can write it as: S = ai xi
i=1
10
P
This is also valid: S = aj xj
j=1
10
P
The following is also fine: S = ak xk
k=1
Let us assume that whenever an index is repeated once, that is,
appears two times, it indicates a summation
Such an index is called dummy index
Under this assumption, the explicit use of summation sign is not
required
We can simplify the above sum as S = ai xi = aj xj = ak xk

An index should not be repeated more than once under the

summation sign
Σai bi ci cannot be written as ai bi ci and must explicitly retain the
summation sign
In a 3D world, the summation runs over 3 dimensions:
ai xi = a1 x1 + a2 x2 + a3 x3
Summation convention can be written for double or triple sums also
3 P
P 3
That is, S = aij xi xj ≡ aij xi xj having 9 terms on the RHS
i=1 j=1
3 P
P 3 P
3
Similarly, S = aijk xi xj xk ≡ aijk xi xj xk has 27 terms
i=1 j=1 k=1

Free index
Consider the system of equations

0
I x1 = a11 x1 + a12 x2 + a13 x3
0
I x2 = a21 x1 + a22 x2 + a23 x3
0
I x3 = a31 x1 + a32 x2 + a33 x3
Using summation convention we have:
0
I x1 = a1j xj
0
I x2 = a2j xj
0
I x3 = a3j xj
0
We can finally write the system as xi = aij xj with i = 1, 2, 3
i in the above equation is called free index

Free index
Other Examples include

I ai = ~a.eî
I ai = bi + ci
I ai + bi cj dj = fi
With two or three free indices

I Tij = Aim Ajm
I Sijk = Bin Cjn dk
The following equations are invalid

I ai = bj
I ai + bk = Tjm

Kronecker Delta Function
Let us introduce the Kronecker delta function δij
(
1 if i = j,
δij =
0 if i 6= j
Notice that δ11 = δ22 = δ33 = 1
and δ12 = δ23 = ..... = 0
Using summation convention δii = δ11 + δ22 + δ33 = 3
Substitution property of Kronecker Delta
I δim am = ai
I δ1m Tmj = δ11 T1j + δ12 T2j + δ13 T3j = T1j
I δim Tmj = Tij
I δim δmj = δij
I eî · eˆj = δij
I ai eî · bj eˆj = ai bj δij = ai bi

Permutation or Levi-Civita Symbol

1 if i, j, k form an even permutation

ijk = −1 if i, j, k form an odd permutation

0 else

Therefore, we have
I 123 = 231 = 312 = 1
I 132 = 321 = 213 = −1
I 221 = 133 . . . = 0

Permutation or Levi-Civita Symbol
For a right-handed coordinate

system
I ê1 × ê2 = ê3
I ê2 × ê3 = ê1
I ê3 × ê1 = ê2
We can write these as: êi × êj = ijk êk
The vector cross product can be written as:

u~ × ~v = ui êi × vj êj = ui vj êi × êj = ui vj ijk êk
− δ Identities
I miq jkq = δmj δik − δmk δij
I jkq mkq = 2δjm
I jkq jkq = 6

Indicial Notation Manipulations
Substitution
I Let ai = uim bm and bi = vim cm
I Suppose we want to write a in terms of u, v and c
I To put bi in the first equation, we have to change it to bm
I But m is already present. Since it is a dummy index, we have
bm = vmn cn
I ⇒ ai = uim bm = uim vmn cn
I This represents 3 equations having 9 terms on the right side
Multiplication
I Let p = am bm and q = cm dm
I pq = am bm cn dn (A dummy index can not appear more than two times)
Factoring
I Tij nj − λni = 0
I Since ni = δij nj
I ∴ (Tij − λδij )nj = 0
Indicial Notation Manipulations
Contraction process
I Tij contraction ⇒ Tii = T11 + T22 + T33
I If Tij = λ∆δij + 2µEij ⇒ Tii = 3λ∆ + 2µEii
Vector Triple Scalar Product
I [~ ~ ] = u~ · (~v × w
u , ~v , w ~)
= ui êi · (vj êj × wk êk )
= ui vj wk êi · (êj × êk )
= ui vj wk êi · jkl êl
= ui vj wk jkl δil
= ijk ui vj wk
Vector Triple Cross Product
I u~ × ~v × w
~ = ui êi × (vj êj × wk êk )
= ui vj wk êi × jkl êl
= ui vj wk jkl ilm êm
= ui vj wk jkl mil êm
= ui vj wk (δjm δki − δkm δji ) êm
= (ui wi vm − uj vj wm )êm
u·w
= (~ ~ )~v − (~u · ~v )~
w
Tensor Product or Outer product of two vectors
Nonion form
u~~v = ui êi vj êj = ui vj êi êj
= u1 v1 ê1 ê1 + u1 v2 ê1 ê2 + u1 v3 ê1 ê3 +
u2 v1 ê2 ê1 + u2 v2 ê2 ê2 + u2 v3 ê2 ê3 +
u3 v1 ê3 ê1 + u3 v2 ê3 ê2 + u3 v3 ê3 ê3
The nine term sum is called a nonion form of a dyad
Matrix  Form   
u1 v1 u1 v2 u1 v3 u1
u ~v ] = u2 v1 u2 v2 u2 v3  ≡ u2  v1 v2 v3
[~
u3 v1 u3 v2 u3 v3 u3
A sum of dyads is called a dyadic
T = u~1 ~v1 + u~2 ~v2 + u~3 ~v3 + . . .

Tensor Product or Outer Product of two vectors
An alternate form of dyad product or tensor product

~a ⊗ ~b = ai êi ⊗ bj êj = ai bj e~i ⊗ e~j
Now how does this ~a ⊗ ~b maps or transforms a vector?
(~a ⊗ ~b)~
u = ~a(~b · u~)
 
a1
= a2  b1 u1 b2 u2 b3 u3
a3
  
a1 b1 a1 b2 a1 b3 u1
= a2 b1 a2 b2 a2 b3  u2 
a3 b1 a3 b2 a3 b3 u3
Compare ~a ⊗ ~b with the nonion form ~a~b. Both are equivalent

Tensor Product or Outer Product of two vectors
   
a1 u1
Therefore, we have: (~a ⊗ ~b)~
u = a2  b1 b2 b3 u2 
a3 u3
 
a1
Thus the tensor product of two vectors is: ~a ⊗ ~b = a2  b1 b2 b3

a3
Tensor product is also called outer product
A second order tensor T can be represented by the outer product of
two vectors, i.e., T = ~a ⊗ ~b

Properties of vector-tensor dot product
Let T be a second order tensor and ~v be a vector

T · ~v = Tij êi êj · vk êk
= Tij vk êi δjk
= Tij vj êi
~v · T = vi êi · Tjk êj êk
= vi Tjk δij êk
= vi Tik êk
Therefore, the dot product between a second order tensor and a
vector results in a vector

Properties of vector-dyad products
u~ · ~v w
~ = ui êi · (vj êj wk êk )
= ui vj δij wk êk
= ui vi wk êk
u · ~v )~
= (~ w
u~~v · w
~ = (ui êi vj êj ) · wk êk
= ui êi vj wk δjk
= ui êi vj wj
= u~(~v · w ~)
u~ × ~v w
~ = (ui êi × vj êj )wk êk
= (ui vj ijm êm )wk êk
= ui vj wk ijm êm êk
u~~v × w
~ = ui êi (vj êj × wk êk )
= ui êi (vj wk jkm êm )
= ui vj wk jkm êi êm
Gradient, Divergence and Curl of Tensors
A Tensor field assigns a tensor T (~x , t) to every location ~x and at

every instant of time t where ~x ranges over a finite region of space
and t varies over some time interval
∂
Partial differentiation w.r.t. to time will be denoted by ∂t
∂
1st partial differentiation w.r.t. coordinate xq will be denoted by ∂xq
∂2
Similarly, 2nd partial derivative is ∂xq ∂xm
For notational compactness these derivatives are represented by a

subscript comma
∂φ ∂vi ∂ 2 vn
∂xi = φ,i ∂xj = vi,j ∂xp ∂xq = vn,pq

∂xi
Remember that: ∂xj = δij
(
∂xi 1 if i = j
That is: ∂xj =
0 else
Nabla operator: ∇ = ê1 ∂x∂ 1 + ê2 ∂x∂ 2 + ê3 ∂x∂ 3 = êi ∂x

∂
i
∂φ
Gradient of a scalar: ∇φ = êi ∂xi
= êi φ,i
Gradient of a vector:
−→ ∂ ∂v
I Forward: ∇~v = grad ~v = êi ∂x i
(vj êj ) = ∂xji êi êj
= vj,i êi êj ≡ a 2nd order tensor
←− ∂vi
I Backward: ∇~v = gradT ~v = ∂x j
êi êj
= vi,j êi êj ≡ a 2nd order tensor

 
∂v1 ∂v2 ∂v3
−→  ∂x
∂v
1 ∂x1
∂v2
∂x1
∂v3 
Forward velocity gradient: [∇~v ] =  ∂x21 ∂x2 ∂x2 
∂v1 ∂v2 ∂v3
∂x3 ∂x3 ∂x3
 
∂v1 ∂v1 ∂v1
←−  ∂x
∂v
1 ∂x2
∂v2
∂x3
∂v2 
Backward velocity gradient: [∇~v ] =  ∂x12 ∂x2 ∂x3 
∂v3 ∂v3 ∂v3
∂x1 ∂x2 ∂x3
∂
Divergence of a vector: ∇ · ~v = div ~v = êi ∂x i
· vj êj
I But êi · êj = δij
∂vj ∂vj ∂v1 ∂v2 ∂v3
Therefore: ∇ · ~v = ∂xi δij = ∂xj = ∂x1 + ∂x2 + ∂x3
The divergence of vector quantity is a scalar quantity
We used the substitution property of δij in the above equation

∂ ∂vj
Curl of a vector: ∇ × ~v = curl ~v = êi ∂x i
×vj êj = ∂xi êi × êj
∂vj
= ∂xi ijk eˆk = ijk vj,i eˆk
Note: The terms on the Right Hand Side above involves summation
on i, j and k indices, i.e. a total of 27 terms most of which are 0
because of the property of ijk
∂v
The non-zero terms can be evaluated as follows: ∇ × ~v = ijk ∂xji eˆk
∂v ∂v ∂v
First summation on i = 1jk ∂x1j eˆk +2jk ∂x2j eˆk +3jk ∂x3j ek
Now summation on j
I First term = 11k ∂v ∂v2 ∂v3
∂x1 eˆk +12k ∂x1 eˆk +13k ∂x1 ek
1
I ∂v1
Second term = 21k ∂x2 eˆk +22k ∂x2 eˆk +23k ∂v
∂v2
∂x2 ek
3
∂v1 ∂v2 ∂v3

I Third term = 11k ∂x3 eˆk +12k ∂x3 eˆk +13k ∂x3 ek

Now we could perform summation over k, but to save effort we use

the property of ijk
Therefore:
I First term = 123 ∂v ∂v3
∂x1 eˆ3 +132 ∂x1 ê2
2
I 2nd term = 213 ∂v ∂v3

∂x2 eˆ3 +231 ∂x2 ê1
1
I Third term = 312 ∂v ∂v2

∂x3 eˆ2 +321 ∂x3 ê1
1
Substituting the appropriate values of the terms, we get:

I ∇ × ~v = ∂v ∂v3 ∂v1 ∂v3 ∂v1 ∂v2
∂x1 eˆ3 − ∂x1 eˆ2 − ∂x2 eˆ3 + ∂x2 eˆ1 + ∂x3 eˆ2 − ∂x3 eˆ1
2
= ( ∂v 3 ∂v2
− ∂x )eˆ1 + ( ∂v ∂v3 ∂v2 ∂v1
∂x3 − ∂x1 )eˆ2 + ( ∂x1 − ∂x2 )eˆ3
1
∂x2 3
ê1 ê2 ê3
∂() ∂() ∂()
= ∂x ∂x2 ∂x3
v1 v v
1 2 3
That is, we recover the usual definition of the curl of a vector

Divergence of 2nd order tensor
∂
∇ · T = div T = êi ∂x i
· τjk êj êk
∂τjk ∂τjk
= ∂xi (êi · êj )êk = ∂xi δij êk
Now, using the substitution property we get
∂τjk ∂τik
∇·T= ∂xj êk or ∂xi êk
i.e. ∇ · T = τjk,j êk or τik,i êk
We observe that the divergence of a second order tensor is a vector

Thank You


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Mathematical Prerequisites

1 Motivation for the revision

2 Einstein summation convention

3 Kronecker Delta Function

4 Permutation or Levi-Civita Symbol

5 Indicial Notation Manipulations

6 Tensor Product or Outer product of two vectors

7 Gradient, Divergence and Curl

Shyam Sunder Assistant Professor Mechanical Engineering

Shyam Sunder Assistant Professor Mechanical Engineering

Consider the following sum: S = a1 x1 + a2 x2 + a3 x3 . . . + a10 x10

Shyam Sunder Assistant Professor Mechanical Engineering

An index should not be repeated more than once under the

Shyam Sunder Assistant Professor Mechanical Engineering

Consider the system of equations

Shyam Sunder Assistant Professor Mechanical Engineering

Other Examples include

With two or three free indices

The following equations are invalid

Shyam Sunder Assistant Professor Mechanical Engineering

Shyam Sunder Assistant Professor Mechanical Engineering

Shyam Sunder Assistant Professor Mechanical Engineering

For a right-handed coordinate

The vector cross product can be written as:

Shyam Sunder Assistant Professor Mechanical Engineering

Shyam Sunder Assistant Professor Mechanical Engineering

An alternate form of dyad product or tensor product

Shyam Sunder Assistant Professor Mechanical Engineering

Shyam Sunder Assistant Professor Mechanical Engineering

Let T be a second order tensor and ~v be a vector

Shyam Sunder Assistant Professor Mechanical Engineering

A Tensor field assigns a tensor T (~x , t) to every location ~x and at

For notational compactness these derivatives are represented by a

Shyam Sunder Assistant Professor Mechanical Engineering

Nabla operator: ∇ = ê1 ∂x∂ 1 + ê2 ∂x∂ 2 + ê3 ∂x∂ 3 = êi ∂x

Shyam Sunder Assistant Professor Mechanical Engineering

The divergence of vector quantity is a scalar quantity

We used the substitution property of δij in the above equation

Shyam Sunder Assistant Professor Mechanical Engineering

∂v1 ∂v2 ∂v3

Shyam Sunder Assistant Professor Mechanical Engineering

Now we could perform summation over k, but to save effort we use

I 2nd term = 213 ∂v ∂v3

I Third term = 312 ∂v ∂v2

Substituting the appropriate values of the  terms, we get:

Shyam Sunder Assistant Professor Mechanical Engineering

Shyam Sunder Assistant Professor Mechanical Engineering

Shyam Sunder Assistant Professor Mechanical Engineering

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I 2nd term = 213 ∂v ∂v3

I Third term = 312 ∂v ∂v2

Substituting the appropriate values of the terms, we get: