iii

Some Useful Formulae

1. Mathematical background.

Orthogonal matrix [Q] : Qik Qjk = Qki Qkj = δij (1.1)

Tpqr...i...z δij = Tpqr...j...z (1.2)
1
det[A] = eijk A1i A2j A3k = eijk Ai1 Aj2 Ak3 = eijk epqr Aip Ajq Akr . (1.3)
6
epqr det [A] = eijk Aip Ajq Akr . (1.4)
epij epk` = δik δj` − δi` δjk . (1.5)
eijk = −ejik , eijk = −eikj (1.6)

u·v =v·u (1.7)

√
|u| = u · u (1.8)
u·v
cos θ = (1.9)
|u| |v|
|u| = 0 ⇔ u=o (1.10)
u × v = −v × u (1.11)
|u × v| = |u| |v| sin θ, (u × v) · u = (u × v) · v = 0 (1.12)
ei · ej = δij . (1.13)
ei × ej = eijk ek . (1.14)
v = vi ei , vi = v · ei (1.15)
u · v = ui vi . (1.16)
1/2
|u| = (u · u)1/2 = (uk uk ) . (1.17)
(u × v)i = eijk uj vk . (1.18)

I u = u, 0u = o for all vectors u (1.19)

T
Au · v = u · A v for all vectors u, v (1.20)
T T T
(AB) = B A (1.21)
Symmetric tensor A : A = AT (1.22)
iv

Skew-symmetric tensor A : A = −AT , (1.23)

Positive definite tensor A : Au · u > 0 for all vectors u 6= 0 (1.24)

Nonsingular tensor A : Au = o if and only if u = o (1.25)

Nonsingular tensor A : AA−1 = A−1 A = I (1.26)

(AB)−1 = B−1 A−1 (1.27)

Orthogonal tensor Q : QQT = QT Q = I (1.28)

Orthogonal tensor Q : |Qu| = |u| for all vectors u (1.29)

1 1
A = S + W, S = ST =
(A + AT ), W = −WT = (A − AT ) (1.30)
2 2
Nonsingular tensor F : F = RU = VR, R orthogonal, U, V symmetric positive definite (1.31)

(a ⊗ b)x = (x · b)a for all vectors x (1.32)

(a ⊗ b)T = b ⊗ a, (a ⊗ b)(c ⊗ d) = (b · c)(a ⊗ d). (1.33)

A(a ⊗ b) = (Aa) ⊗ b, (a ⊗ b)A = a ⊗ (AT b). (1.34)

e1 ⊗ e1 + e2 ⊗ e2 + e3 ⊗ e3 = I. (1.35)

Aej = Aij ei , Aij = (Aej ) · ei . (1.36)

A = Aij ei ⊗ ej . (1.37)

tr A = tr [A] = Aii , det A = det [A]. (1.38)

det(AB) = det A det B. (1.39)

det(αA) = α3 det A (1.40)

tr(AB) = tr(BA) (1.41)

(Fa × Fb) · Fc = detF (a × b) · c (1.42)

Fa × Fb = det F F−T (a × b) (1.43)

A · B = tr (ABT ) = Aij Bij . (1.44)

AB · C = B · AT C = A · CBT , (1.45)
1/2 1/2 1/2
= tr (AAT )

|A| = (A · A) = (Aij Aij ) , (1.46)

(a ⊗ b)ij = ai bj . (1.47)

(Aei ) ⊗ ei = A. (1.48)

tr (a ⊗ b) = a · b (1.49)

det(I + a ⊗ b) = 1 + a · b (1.50)
 v

a⊗b
(I + a ⊗ b)−1 = 1 − (provided a · b 6= −1) (1.51)
1+a·b
vi0 = Qij vj , {v 0 } = [Q]{v} where Qij = e0i · ej (1.52)

A0ij = Qip Qjq Apq , {A0 } = [Q][A][Q]T where Qij = e0i · ej (1.53)

det(A − µI) = −µ3 + I1 (A)µ2 − I2 (A)µ + I3 (A) (1.54)

where
1
I1 (A) = tr(A), I2 (A) = [(tr(A))2 − tr(A2 )], I3 (A) = det(A). (1.55)
2
Eigenvalues and eigenvectors
Aa = αa (1.56)

Symmetric tensor S : S = σ1 s1 ⊗ s1 + σ2 s2 ⊗ s2 + σ3 s3 ⊗ s3 (1.57)

dJ dF
= J F−T · , J(t) = det F(t) (1.58)
dt dt
∂J
= JF−T , J(F) = det F (1.59)
∂F
d −1 dF −1
(F ) = −F−1 F , F = F(t) (1.60)
dt dt

If W (C) is defined for all symmetric tensors C then

   
∂W 1 ∂W ∂W
= + (1.61)
∂C ij 2 ∂Cij ∂Cji

∂φ
∇φ i
= (grad φ)i = (1.62)
∂xi
φ(x + δx) = φ(x) + (∇φ) · δx + o(|δx|) as |δx| → 0. (1.63)

∂vi
∇v ij
= (grad v)ij = (1.64)
∂xj
v(x + δx) = v(x) + (∇v)δx + o(|δx|) as |δx| → 0. (1.65)
∂vi
div v = = tr (∇v) (1.66)
∂xi

∂vk
curl v i = eijk . (1.67)
∂xj

∂Tij
div T i = , (1.68)
∂xj
vi

∂Tjq
curl T ij = eipq . (1.69)
∂xp
Z Z
∂
Tjk...z ni dA = Tjk...z dV (1.70)
∂R R ∂x i

∂φ 1 ∂φ ∂φ
∇φ = eR + eΘ + eZ . (1.71)
∂R R ∂Θ ∂Z

∂uR ∂uΘ ∂uZ

∇u = (eR ⊗ eR ) + (eΘ ⊗ eR ) + (eZ ⊗ eR )+
∂R ∂R ∂R
   
1 ∂uR 1 ∂uΘ 1 ∂uZ
+ − uΘ (eR ⊗ eΘ ) + + uR (eΘ ⊗ eΘ ) + (eZ ⊗ eΘ ) + (1.72)
R ∂Θ R ∂Θ R ∂Θ
∂uR ∂uΘ ∂uZ
+ (eR ⊗ eZ ) + (eΘ ⊗ eZ ) + (eZ ⊗ eZ ).
∂Z ∂Z ∂Z
 vii

2. Kinematics

Deformation : y = y(x) = x + u(x) (2.1)

∂yi
F = ∇y Fij = (2.2)
∂xj
dy = Fdx, (2.3)

λ(mR ) = |FmR | (2.4)

dVy = J dVx , J = det F (2.5)

dAy n = dAx J F−T nR . (2.6)

p
F = R U, U = FT F, R = FU−1 . (2.7)
p
F = VR, V = FFT R = V−1 F. (2.8)

B = FFT = V2 , C = FT F = U 2 (2.9)
3
X 3
X
U= λi ri ⊗ ri , V= λi `i ⊗ `i ; (2.10)
i=1 i=1
3
X 3
X
F= λi `i ⊗ ri , R= `i ⊗ ri . (2.11)
i=1 i=1
3
X 3
X
C= λ2i (ri ⊗ ri ), B= λ2i (`i ⊗ `i ). (2.12)
i=1 i=1

1h
2 i
I1 (C) = tr C, I2 (C) = tr C − tr C2 , I3 (C) = det C, (2.13)
2
Ik (C) = Ik (QCQT ) (2.14)

I1 (C) = λ21 + λ22 + λ23 , I2 (C) = λ21 λ22 + λ22 λ23 + λ23 λ21 , I3 (C) = λ21 λ22 λ23 . (2.15)

E(U) = e(λ1 ) r1 ⊗ r1 + e(λ2 ) r2 ⊗ r2 + e(λ3 ) r3 ⊗ r3 . (2.16)

1
E(n) = Un − I


(2.17)
n
Biot strain tensor: E(1) = U − I (2.18)
1 2
Green-Saint Venant strain tensor: E(2) = (U − I) (2.19)
2
E(V) = e(λ1 ) `1 ⊗ `1 + e(λ2 ) `2 ⊗ `2 + e(λ3 ) `3 ⊗ `3 . (2.20)

  ∂
Div J F−T = o, −1


Piola identity: JFji =0 (2.21)
∂xj
  ∂
div J −1 FT = o, J −1 Fji = 0


Piola identity: (2.22)
∂yj
viii

∂r 1 ∂r ∂r
F = (er ⊗ eR ) + (er ⊗ eΘ ) + (er ⊗ eZ )+
∂R R ∂Θ ∂Z
∂θ r ∂θ ∂θ
+r (eθ ⊗ eR ) + (eθ ⊗ eΘ ) + r (eθ ⊗ eZ )+ (2.23)
∂R R ∂Θ ∂Z
∂z 1 ∂z ∂z
+ (ez ⊗ eR ) + (ez ⊗ eΘ ) + (ez ⊗ eZ ) .
∂R R ∂Θ ∂Z

B= Brr er ⊗ er + Bθθ eθ ⊗ eθ + Bzz ez ⊗ ez +

+Brθ (er ⊗ eθ + eθ ⊗ er ) + Brz (er ⊗ ez + ez ⊗ er ) + (2.24)

+Bθz (ez ⊗ eθ + eθ ⊗ ez ),

where
 2  2  2 
∂r 1 ∂r ∂r 
Brr = + 2 + , 

∂R R ∂Θ ∂Z 



" 2  2  2 # 
∂θ 1 ∂θ ∂θ


= r2

Bθθ + 2 + , 

∂R R ∂Θ ∂Z 



 2  2  2 
∂z 1 ∂z ∂z


Bzz = + 2 + ,



∂R R ∂Θ ∂Z 


∂r ∂θ 1 ∂r ∂θ ∂r ∂θ
 (2.25)
Brθ = Bθr = r + + , 

∂R ∂R R2 ∂Θ ∂Θ ∂Z ∂Z 



∂r ∂z 1 ∂r ∂z ∂r ∂z



Brz = Bzr = + + , 

∂R ∂R R2 ∂Θ ∂Θ ∂Z ∂Z 



 
∂θ ∂z 1 ∂z ∂θ ∂θ ∂z



Bθz = Bzθ = r + 2 + . 

∂R ∂R R ∂Θ ∂Θ ∂Z ∂Z 





∂r 1 ∂r 1 ∂r
F = (er ⊗ eR ) + (er ⊗ eΘ ) + (er ⊗ eΦ )+
∂R R ∂Θ R sin Θ ∂Φ
∂θ r ∂θ r ∂θ
+r (eθ ⊗ eR ) + (eθ ⊗ eΘ ) + (eθ ⊗ eΦ )+ (2.26)
∂R R ∂Θ R sin Θ ∂Φ
∂ϕ r sin θ ∂ϕ r sin θ ∂ϕ
+r sin θ (eϕ ⊗ eR ) + (eϕ ⊗ eΘ ) + (eϕ ⊗ eΦ ) .
∂R R ∂Θ R sin Θ ∂Φ

B= Brr er ⊗ er + Bϑϑ eϑ ⊗ eϑ + Bϕϕ eϕ ⊗ eϕ +

+Brϑ (er ⊗ eϑ + eϑ ⊗ er ) + Brϕ (er ⊗ eϕ + eϕ ⊗ er ) + (2.27)

+Bϑϕ (eϕ ⊗ eϑ + eϑ ⊗ eϕ ),
 ix

where  2  2  2 
∂r 1 ∂r 1 ∂r
Brr = + 2 + 2 2 ,



∂R R ∂Θ R sin Θ ∂Φ 


" 2  2  2 # 

∂ϑ 1 ∂ϑ 1 ∂ϑ


2
Bϑϑ =r + 2 + 2 2 ,



∂R R ∂Θ R sin Θ ∂Φ 



" 2  2  2 # 
∂ϕ 1 ∂ϕ 1 ∂ϕ


2 2 
Bϕϕ = r sin ϑ + 2 + 2 2 

∂R R ∂Θ R sin Θ ∂Φ



∂r ∂ϑ 1 ∂r ∂ϑ 1 ∂r ∂ϑ
 (2.28)
Brϑ = Bϑr = r + + , 
∂R ∂R R2 ∂Θ ∂Θ R2 sin2 Θ ∂Φ ∂Φ




  

∂r ∂ϕ 1 ∂r ∂ϕ 1 ∂r ∂ϕ 

Brϕ = Bϕr = r sin ϑ + + , 

∂R ∂R R2 ∂Θ ∂Θ R2 sin2 Θ ∂Φ ∂Φ




  
∂ϑ ∂ϕ 1 ∂ϕ ∂ϑ 1 ∂ϑ ∂ϕ 
= Bϕϑ = r2 sin ϑ

Bϑϕ + + . 

∂R ∂R R2 ∂Θ ∂Θ R2 sin2 Θ ∂Φ ∂Φ





x

3. Traction, stress, equilibrium.

t(n) = Tn (3.1)

Tij = ti (ej ) = Tej · ei , (3.2)

3
X
T = Tij ei ⊗ ej , T= τi ti ⊗ ti . (3.3)
i=1

Tnormal (n) = t(n) · n = Tn · n = Tij ni nj = τ1 n21 + τ2 n22 + τ3 n23 (3.4)

q q   2
2
Tshear (n) = |t|2 − Tnormal = t(n) · t(n) − t(n) · n . (3.5)
2
Tshear = |t(n)|2 − Tnormal
2
= τ12 n21 + τ22 n22 + τ32 n23 − (τ1 n21 + τ2 n22 + τ3 n23 )2 . (3.6)

∂Tij
div T + b = 0, div T i = (3.7)
∂yj
∂Tij
+ bi = 0 , (3.8)
∂yj
T = TT (3.9)

Pure shear stress: T = τ (m ⊗ n + n ⊗ m) (3.10)

Uniaxial stress: T=σ m⊗m (3.11)

s dAx = t dAy (3.12)

s = SnR (3.13)

SnR dAx = Tn dAy (3.14)

Piola stress tensor: S = JTF−T (3.15)

S = Sij ei ⊗ ej , Sij = si (ej ) (3.16)

∂Sij
Div S + bR = 0, Div S i = (3.17)
∂xj
∂Sij
+ bR
i = 0 , (3.18)
∂xj
SFT = FST (3.19)

Stress power density = S · Ḟ = J T · D (3.20)

∂vi
L = grad v, Lij = . (3.21)
∂yj
 
1 1 ∂vi ∂vj
grad v + (grad v)T ,


D= Dij = + (3.22)
2 2 ∂yj ∂yi
Ḟ = LF (3.23)
1
Biot stress tensor: S(1) = (SR + RT S) (3.24)
2
2nd Piola-Kirchhoff stress tensor: S(2) = JF−1 TF−T = F−1 S (3.25)
 xi

∂Trr 1 ∂Trθ ∂Trz Trr − Tθθ

+ + + + br = 0,
∂r r ∂θ ∂z r
∂Tθr 1 ∂Tθθ ∂Tθz Trθ + Tθr
+ + + + bθ = 0, (3.26)
∂r r ∂θ ∂z r
∂Tzr 1 ∂Tzθ ∂Tzz Tzr
+ + + + bz = 0,
∂r r ∂θ ∂z r

∂Trr 1 ∂Trφ 1 ∂Trθ 2Trr − Tφφ − Tθθ + Trφ cot φ

+ + + + br = 0,
∂r r ∂φ r sin φ ∂θ r
∂Trθ 1 ∂Tφθ 1 ∂Tθθ 3Trθ + 2Tθφ cot φ
+ + + + bθ = 0, (3.27)
∂r r ∂φ r sin φ ∂θ r
∂Trφ 1 ∂Tφφ 1 ∂Tφθ 3Trφ + (Tφφ − Tθθ ) cot φ
+ + + + bφ = 0.
∂r r ∂φ r sin φ ∂θ r
xii

4. Constitutive relation.

S · Ḟ = Ẇ (4.1)
∂W 1 ∂W T
S= , T = J−1 SFT = F . (4.2)
∂F J ∂F
W
c (F) = W
c (QF) (4.3)
c (F) = W (C)
W where C = FT F. (4.4)
∂W 2 ∂W T
S = 2F ,F F .T= (4.5)
∂CJ ∂C
G = {Q : QQT = I, det Q = 1, W
c (F) = W
c (FQ) for all nonsingular F}.

W c (FQ) for all Q ∈ G and all nonsingular F.

c (F) = W (4.6)

W (C) = W QCQT


for all Q ∈ G and all symmetric positive definite C. (4.7)
1
2
tr C − tr C2 ,

I1 (C) = tr C, I2 (C) = I3 (C) = det C (4.8)
2


W =Wf I1 (C), I2 (C), I3 (C) (4.9)
" # 
∂Wf 2 ∂W f ∂W
f 2 ∂W
f 2
T = 2J I + + I1 B − B ,



∂I3 J ∂I1 ∂I2 J ∂I2 

" # (4.10)
∂W
f −T ∂W
f ∂Wf ∂Wf 

S = 2I3 F + 2 + I1 F − 2 BF. 

∂I3 ∂I1 ∂I2 ∂I2


I1 = λ21 + λ22 + λ23 , I2 = λ21 λ22 + λ22 λ23 + λ23 λ21 , I3 = λ21 λ22 λ23 . (4.11)

W = W ∗ (λ1 , λ2 , λ3 ) (4.12)

W ∗ (λ1 , λ2 , λ3 ) = W ∗ (λ2 , λ1 , λ3 ) = W ∗ (λ1 , λ3 , λ2 ) = . . . . (4.13)

T = τ1 `1 ⊗ `1 + τ2 `2 ⊗ `2 + τ3 `3 ⊗ `3 (4.14)
λ1 ∂W ∗ λ2 ∂W ∗ λ3 ∂W ∗
τ1 = , τ2 = , τ3 = . (4.15)
λ1 λ2 λ3 ∂λ1 λ1 λ2 λ3 ∂λ2 λ1 λ2 λ3 ∂λ3
S = σ1 `1 ⊗ r1 + σ2 `2 ⊗ r2 + σ3 `3 ⊗ r3 (4.16)
∗ ∗ ∗
∂W ∂W ∂W
σ1 = , σ2 = , σ3 = . (4.17)
∂λ1 ∂λ2 ∂λ3
τi = λi σi /J (no sum on i) (4.18)
∂φ
· Ḟ = 0,
φ̇ = (4.19)
∂F
∂W ∂φ 1 ∂W T q ∂φ T
S= −q , T= F − F . (4.20)
∂F ∂F J ∂F J ∂F
∂W ∂W T
S= − qF−T , T= F − qI (4.21)
∂F ∂F
" #
∂W
f ∂Wf ∂W
f 2
T = −q I + 2 + I1 B − 2 B , (4.22)
∂I1 ∂I2 ∂I2
 xiii
" #
−T ∂W
f ∂W
f ∂W
f
S = −q F + 2 + I1 F − 2 BF. (4.23)
∂I1 ∂I2 ∂I2

W = W ∗ (λ1 , λ2 , λ3 ) (4.24)

W ∗ (λ1 , λ2 , λ3 ) = W ∗ (λ2 , λ1 , λ3 ) = W ∗ (λ1 , λ3 , λ2 ) = . . . . (4.25)

∗ ∗ ∗
∂W ∂W ∂W
τ1 = λ1 − q, τ2 = λ2 − q, τ3 = λ3 − q. (4.26)
∂λ1 ∂λ2 ∂λ3

∂W
f
W (C, M) = W
f (I1 , I2 , I3 , I4 , I5 ), Wi = , i = 1, 2, 3, 4, 5. (4.27)
∂Ii
I4 (C, M) = C · M, I5 (C, M) = C2 · M. M = mR ⊗ mR (4.28)
2 2
T = 2JW3 I + [W1 + I1 W2 ] B − W2 B2 +
J J
(4.29)
2 2 h i
+ W4 (FmR ⊗ FmR ) + W5 (FmR ⊗ BFmR ) + (BFmR ⊗ FmR ) ,
J J

∂W
f
W (C, M) = W
f (I1 , I2 , I3 , I4 , I5 , I6 , I7 , I8 ), Wi = , i = 1, 2, . . . 8. (4.30)
∂Ii
I6 = Cm0R · m0R I7 = C2 m0R · m0R , I8 = Cm0R · mR . (4.31)
T = −qI + 2W1 B + 2W2 (I1 B − B2 )+

+2W4 FmR ⊗ FmR + 2W6 Fm0R ⊗ Fm0R +

(4.32)
+2W5 (FmR ⊗ BFmR + BFmR ⊗ FmR ) + 2W7 (Fm0R ⊗ BFm0R + BFm0R ⊗ Fm0R )+

+W8 (FmR ⊗ Fm0R + Fm0R ⊗ FmR )

xiv
Contents

xv