Solutions Manual: Prepared by

Published by
Cambridge University Press, 2010 for
Prepared by
J. N. Reddy
SOLUTIONS MANUAL
SOLUTIONS MANUAL
for
PRINCIPLES OF CONTINUUM MECHANICS
A Study of Conservation Principles with Applications
by
J. N. REDDY
Department of Mechanical Engineering
Texas A & M University
College Station, Texas 77843-3123
Published by
Cambridge University Press, 2010
PROPRIETARY AND CONFIDENTIAL

This Manual is the proprietary property of J. N. Reddy and protected by
copyright and other state and federal laws. This Manual is being provided only
to authorized professors and instructors for use in preparing for the classes
using the affiliated textbook. No other use or distribution of this Manual
is permitted. This Manual may not be sold and may not be distributed to
or used by any student or other third party. No part of this Manual may
be reproduced, displayed or distributed in any form or by any means,
electronic or otherwise, without the prior written permission of J. N.
Reddy.
PREFACE
This solution manual is prepared to aid the instructor in discussing the solutions to
assigned problems from Chapters 2 through 7 from the book, Principles of Continuum
Mechanics: A Study of Conservation Principles with Applications by J. N. Reddy,
published by Cambridge University Press, New York, 2010.
The instructor should make an effort to review the problems before assigning
them. This allows the instructor to make comments and suggestions on the approach
to be taken and nature of the answers expected. The instructor may wish to generate
additional problems from those given in this book, especially when taught time and
again from the same book.
The author appreciates receiving comments on the book and a list of errors found
in the book as well as in this solutions manual.
J. N. Reddy
College Station
The value the world sets upon motives is often grossly unjust and inaccurate.
Consider, for example, two of them: mere insatiable curiosity and the desire to do
good. The latter is put high above the former, and yet it is the former that moves one
of the most useful men the human race has yet produced: the scientific investigator.
What actually urges him on is not some brummagem idea of Service, but a boundless,
almost pathological thirst to penetrate the unknown, to uncover the secret, to find
out what has not been found out before. His prototype is not the liberator releasing
slaves, the good Samaritan lifting up the fallen, but a dog sniffing tremendously at
an infinite series of rat-holes.
Henry Louis Mencken, (1880-1956) b. Baltimore, MD reprinted in A Mencken
Crestomathy, Vintage Books, New York, 1982, p. 12; first printed in the Smart Set,
Aug. 1919, pp 60-61.
SOLUTIONS MANUAL 1
Chapter 2
VECTORS AND TENSORS
2.1 Find the equation of a line (or a set of lines) passing through the terminal point of a vector A
and in the direction of vector B.
Solution: Let C be a vector along the line passing through the terminal point of vector A and
parallel to vector B. The projection of vector A along vector B is
B
A · êB , êB = .
|B|
The vector along this projection is given by
Ap ≡ (A · êB ) êB .
Then A − Ap is perpendicular to B and hence to C. Therefore,
C · [A − (A · êB ) êB ] = 0
(or any multiple of it) is the equation of the required line.
2.2 Find the equation of a plane connecting the terminal points of vectors A, B, and C. Assume
that all three vectors are referred to a common origin.
Solution: The vector connecting the terminal points of vectors A and B is A − B. Similarly,
the vector connecting the terminal points of B and C is B − C. Finally, the vector connecting
the terminal points of A and C is A − C. The three vectors A − B, B − C, and A − C all lie
in the plane connecting the terminal points of the three vectors A, B, and C. Then a necessary
and sufficient condition for the three vectors to be coplanar is that
(A − B) × (B − C) · (A − C) = 0,
which provides an equation for the required plane.
PROPRIETARY MATERIAL. °
c J. N. Reddy. All rights reserved.
2 J. N. REDDY: PRINCIPLES OF CONTINUUM MECHANICS
2.3 In a rectangular Cartesian coordinate system, find the length and direction cosines of a vector
A that extends from the point (1, −1, 3) to the midpoint of the line segment from the origin
to the point (6, −6, 4).
Solution: The vector A is given by

1¡ ¢ ¡ ¢ ¡ ¢
A= 6ê1 − 6ê2 + 4ê3 − ê1 − ê2 + 3ê3 = 2ê1 − 2ê2 − ê3 .
2
The length of the vector is |A| = 3. The direction cosines of the vector A are
2 2 1
`11 = , `12 = − , `13 = − .
3 3 3
2.4 The vectors A and B are defined as follows:

A = 3î − 4k̂, B = 2î − 2ĵ + k̂,
where (î, ĵ, k̂) is an orthonormal basis. Find

(a) the orthogonal projection of A in the direction of B.
(b) the angle between the positive directions of the vectors.
Solution: (a) The projection of vector A in the direction of vector B is

¡ ¢
Ap = A · îB îB ,
where the unit vector îB in the direction of vector B is
B 1¡ ¢
îB = = 2î − 2ĵ + k̂ .
|B| 3
Thus, we have
¡ ¢ 2¡ ¢
Ap = A · îB îB = 2î − 2ĵ + k̂ .
9
(b) The angle between vectors A and B is given by
µ ¶ µ ¶
A·B 2
θ = cos−1 = cos−1 = 82.34◦ .
|A||B| 5×3
2.5 In Example 2.3.3, take n = 3î − 2k̂ and v = 5î + 2ĵ to determine the quantities required in
(1)—(4) of the example.
Solution: (1) The velocity vector perpendicular to the plane is

¡ ¢ 1 ¡ ¢ 15 ¡ ¢ 15 ¡ ¢
vn = v · n̂ = 5î + 2ĵ · √ 3î − 2k̂ = √ , vn = v · n̂ n̂ = 3î − 2k̂ .
13 13 13
(2) The angle between the velocity vector v and its normal component vn is
µ ¶ µ r ¶
−1 v · vn −1 225 13
θ = cos = cos = 75.08◦ .
|v||vn | 13 × 15 29
(3) The tangential velocity vector is

1¡ ¢
vt = v − vn = 20î + 26ĵ + 30k̂ .
13
(4) The mass flow rate is
Qm = ρvn A = 103 × 4.16 × 0.15 = 624.04 (kg/s).
SOLUTIONS MANUAL 3
2.6 In Example 2.3.3, take n = −î + 2k̂ and v = 2î − 3k̂ to determine the quantities required in
(1)—(4) of the example.
Solution: (1) The velocity vector perpendicular to the plane is

¡ ¢ 1 ¡ ¢ 8 ¡ ¢ 8¡ ¢
vn = v · n̂ = 2î − 3k̂ · √ −î + 2k̂ = − √ , vn = v · n̂ n̂ = î − 2k̂ .
5 5 5
(2) The angle between the velocity vector v and its normal component vn is
µ ¶ µ r ¶
−1 v · vn −1 8 5
θ = cos = cos − = 166◦ .
|v||vn | 5 13
(3) The tangential velocity vector is
1¡ ¢
vt = v − vn = 2î + k̂ .
5
(4) The mass flow rate is
Qm = ρvn A = 103 × (−3.5777) × 0.15 = −536.656 (kg/s).
2.7 Determine whether the following set of vectors is linearly independent:
A = 2ê1 − ê2 + ê3 , B = −ê2 − ê3 , C = −ê1 + ê2 .
Here êi are orthonormal unit base vectors in <3 .
Solution: Set the linear combination of the vectors to zero
αA + βB + γC = 0
which gives (if a vector is zero then all its components are zero)
2α − γ = 0, −α − β + γ = 0, α − β = 0,
whose solution is γ = 2α = 2β. Therefore the linear relation is not trivial. The vectors are
linearly dependent. In fact, we can write vector C as
1
C = − (A + B) .
2
Note that the vectors
A = 2ê1 − ê2 + ê3 , B̂ = ê2 − ê3 , C = −ê1 + ê2
are linearly independent.
2.8 Using the index notation prove the identities

(a) (A × B) · (B × C) × (C × A) = (A · (B × C))2 .
(b) (A × B) × (C × D) = [A · (C × D)]B − [B · (C × D]A.
Solution: (a) We have (A × B) · (B × C) × (C × A)

= (eijk Ai Bj êk ) · [(erst Br Cs êt ) × (emnp Cm An êp )]
= eijk erst emnp Ai Bj Br Cs Cm An etpq δkq
= (δit δjp − δip δjt ) erst emnp Ai Bj Br Cs Cm An
= (ersi emnj − ersj emni ) Ai Bj Br Cs Cm An
= (B × C · A) (C × A · B) − (B × C · B) (C × A · A)
= (B × C · A) (C × A · B) = (B × C · A)2
Note that B × C · A = A × B · C.
(b) We have
(A × B) × (C × D) = (eijk Ai Bj êk ) × (emnp Cm Dn êp )
= eijk ekpq emnp Ai Bj Cm Dn êq
= emnp (δip δjq − δiq δjp ) Ai Bj Cm Dn êq
= emni Ai Bj Cm Dn êj − emnj Ai Bj Cm Dn êi
= (C × D · A) B − (C × D · B) A.
2.9 Given the following matrix components

( ) " # " #
2 −1 0 5 8 −1 6
A= −1 , S= 3 7 4 , T= 5 4 9 ,
4 9 8 6 −7 8 −2
determine
(a) tr (S) (b) S:S (c) S : ST
(d) A·S (e) S·A (f) S·T·A
Solution: The expressions in (a)-(c) are scalars, whereas those in (d)-(f) are components of a
vector.
(a) tr(S) = Sii = S11 + S22 + S33 = −1 + 7 + 6 = 12.
2 + S 2 + S 2 + 2 (S S + S S + S S )
(b) S : S = Sij Sji = S11 22 33 12 21 13 31 23 32
= (−1)2 + (7)2 + (6)2 + 2[(0)(3) + (5)(9) + (4)(8)] = 240.

(c) S : ST = Sij Sij = S11
2 + S2 + S2 + S2 + S2 + S2 S2 + S2 + S2
12 13 21 22 23 31 32 33
= (−1)2 + (0)2 + (5)2 + (3)2 + (7)2 + (4)2 + (9)2 + (8)2 + (6)2 = 281.
(d) Elements of the row matrix R ≡ A · S, where

j = 1 : R1 = Si1 Ai = S11 A1 + S21 A2 + S31 A3 = (−1)(2) + (3)(−1) + (9)(4) = 31.
j = 2 : R2 = Si2 Ai = S12 A1 + S22 A2 + S32 A3 = (0)(2) + (7)(−1) + (8)(4) = 25.
j = 3 : R3 = Si3 Ai = S13 A1 + S23 A2 + S33 A3 = (5)(2) + (4)(−1) + (6)(4) = 30.
SOLUTIONS MANUAL 5
(e) Elements of a column vector C = S · A, where
j = 1 : C1 = Si1 Ai = S11 A1 + S12 A2 + S13 A3 = (−1)(2) + (0)(−1) + (5)(4) = 18.

j = 2 : C2 = Si2 Ai = S21 A1 + S22 A2 + S23 A3 = (3)(2) + (7)(−1) + (4)(4) = 15.
j = 3 : C3 = Si3 Ai = S31 A1 + S32 A2 + S33 A3 = (9)(2) + (8)(−1) + (6)(4) = 34.
(f) The required result is a column vector, B ≡ S · T · A or Bi = Sij Tjk Ak :

" #" #( ) " #( ) ( )
−1 0 5 8 −1 6 2 −43 41 −16 2 −191
B= 3 7 4 5 4 9 −1 = 31 57 73 −1 = 297 .
9 8 6 −7 8 −2 4 70 71 114 4 525
2.10 Consider two rectangular Cartesian coordinate systems that are translated and rotated with
respect to each other. The transformation between the two coordinate systems is given by
x̄ = c + Lx,
where c is a constant vector and L = [ìj ] is the matrix of direction cosines
î · êj .
ìj ≡ ē
Deduce that the following orthogonality conditions hold:
L · LT = I.
That is, L is an orthogonal matrix.
Solution: We have
î = ìj êj ,
ē ˆm .
ên = `mn ē
Then
ˆj = `ji `jp êp .
êi = `ji ē
Taking dot product with êk on both sides, we obtain
δik = `ji `jp δpk = `ji `jk , δij = `ki `kj (renamed j as k and k as j), I = L · LT .
2.11 Determine the transformation matrix relating the orthonormal basis vectors (ê1 , ê2 , ê3 ) and
(ê01 , ê02 , ê03 ), when ê0i are given by
(a) ê01 is along the vector ê1 − ê2 +ê3 and ê02 is perpendicular to the plane 2x1 +3x2 +x3 − 5 =
0.
(b) ê01 is along√the line segment connecting point (1, −1, 3) to (2, −2, 4) and ê03 = (−ê1 +
ê2 + 2ê3 )/ 6.
Solution: (a) Let êi be the unit base vectors in the current orthogonal system, and ê0i be the
unit base vectors in the new coordinate system. The vector ê01 has the same direction as the
vector ê1 − ê2 + ê3 but its magnitude must be unity
ê1 − ê2 + ê3 1

ê01 = = √ (ê1 − ê2 + ê3 ).
|ê1 − ê2 + ê3 | 3
The vector ê02 is along the normal to the plane 2x1 + 3x2 + x3 − 5 = 0. Hence, ê02 = n̂, the unit
normal to the plane, which is given by
∇(2x1 + 3x2 + x3 − 5) 2ê1 + 3ê2 + ê3

ê02 = = p
|∇(2x1 + 3x2 + x3 − 5)| (2)2 + (3)2 + (1)2
1
= √ (2ê1 + 3ê2 + ê3 ).
14
The third basis vector in an orthonormal system is related to the other two vectors by
¯ ¯
¯ ê1 ê2 ê3 ¯
¯ 1 ¯
ê3 = ê1 × ê2 = ¯¯ √3
0 0 0 − √1 √1 ¯
3 3 ¯
¯ √2 √3 √1 ¯
14 14 14
1 3 1 2 3 2
= ê1 (− √ − √ ) − ê2 ( √ − √ ) + ê3 ( √ + √ )
42 42 42 42 42 42
1
= √ (−4ê1 + ê2 + 5ê3 ).
42
Thus, the two coordinate systems are related by (note the matrix of direction cosines)
( ) ⎡ 1
√ −1
√ √1
⎤( )
ê01 3 3 3 ê1
ê02 =⎣ √2
14
√3
14
√1
14
⎦ ê2 .
ê03 −4
√ √1 √5 ê3
42 42 42
(b) We have
vector connecting point (1, −1, 3) to point(2, −2, 4)

ê01 =
vector magnitude
(2ê1 − 2ê2 + 4ê3 ) − (ê1 − ê2 + 3ê3 ) 1
= = √ (ê1 − ê2 + ê3 )
magnitude 3
0 1
ê3 = √ (−ê1 + ê2 + 2ê3 ) (given)
6
¯ ¯
¯ ê1 ê2 ê3 ¯
¯ 1 1 2 ¯
ê02 = ê03 × ê01 = ¯¯ √6 √6 √6 ¯¯
−
¯ √1 −1
√ √1 ¯
3 3
³ ´ ³3 ´ ³ ´
1 2 −1 2 1 1
= ê1 √ + √ − ê2 √ −√ + ê3 √ − √
18 18 18 18 18 18
1
= √ (ê1 + ê3 ) .
2
Transformation matrix relating (ê01 , ê02 , ê03 ) to (ê1 , ê2 , ê3 ) is given by
⎡ √1
⎤
− √1 1
√
3 3 3
A= ⎣ √1 √1 0 ⎦ (aij = ê0i · êj )
2 2
− √1 √1 2
√
6 6 6

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PROPRIETARY AND CONFIDENTIAL

The vector along this projection is given by

Then A − Ap is perpendicular to B and hence to C. Therefore,

(or any multiple of it) is the equation of the required line.

which provides an equation for the required plane.

Solution: The vector A is given by

2.4 The vectors A and B are defined as follows:

where (î, ĵ, k̂) is an orthonormal basis. Find

Solution: (a) The projection of vector A in the direction of vector B is

Solution: (1) The velocity vector perpendicular to the plane is

(3) The tangential velocity vector is

Solution: (1) The velocity vector perpendicular to the plane is

(3) The tangential velocity vector is

(4) The mass flow rate is

Qm = ρvn A = 103 × (−3.5777) × 0.15 = −536.656 (kg/s).

2.7 Determine whether the following set of vectors is linearly independent:

A = 2ê1 − ê2 + ê3 , B = −ê2 − ê3 , C = −ê1 + ê2 .

Here êi are orthonormal unit base vectors in <3 .

Solution: Set the linear combination of the vectors to zero

Note that the vectors

A = 2ê1 − ê2 + ê3 , B̂ = ê2 − ê3 , C = −ê1 + ê2

are linearly independent.

2.8 Using the index notation prove the identities

Solution: (a) We have (A × B) · (B × C) × (C × A)

2.9 Given the following matrix components

= (−1)2 + (7)2 + (6)2 + 2[(0)(3) + (5)(9) + (4)(8)] = 240.

(d) Elements of the row matrix R ≡ A · S, where

(e) Elements of a column vector C = S · A, where

j = 1 : C1 = Si1 Ai = S11 A1 + S12 A2 + S13 A3 = (−1)(2) + (0)(−1) + (5)(4) = 18.

(f) The required result is a column vector, B ≡ S · T · A or Bi = Sij Tjk Ak :

where c is a constant vector and L = [`ij ] is the matrix of direction cosines

Deduce that the following orthogonality conditions hold:

That is, L is an orthogonal matrix.

ê1 − ê2 + ê3 1

∇(2x1 + 3x2 + x3 − 5) 2ê1 + 3ê2 + ê3

vector connecting point (1, −1, 3) to point(2, −2, 4)

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