Scribd
Upload
126 views12 pages

Me338 H01solution Donotshow

This document contains instructions for a homework assignment on tensor notation and finite rotations. It includes 5 sections: 1) Converting expressions between index notation and tensor notation. 2) Demonstrating that finite rigid body rotations are non-commutative by rotating a book in different orders. 3) Defining rotation matrices and showing they are proper orthogonal tensors. 4) Decomposing a second order tensor into its symmetric and skew-symmetric parts and finding related properties. 5) Taking the square root of a symmetric second order tensor by finding its eigenvalues and eigenvectors.

Uploaded by

Muhammad Irfan Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
126 views12 pages

Me338 H01solution Donotshow

This document contains instructions for a homework assignment on tensor notation and finite rotations. It includes 5 sections: 1) Converting expressions between index notation and tensor notation. 2) Demonstrating that finite rigid body rotations are non-commutative by rotating a book in different orders. 3) Defining rotation matrices and showing they are proper orthogonal tensors. 4) Decomposing a second order tensor into its symmetric and skew-symmetric parts and finding related properties. 5) Taking the square root of a symmetric second order tensor by finding its eigenvalues and eigenvectors.

Uploaded by

Muhammad Irfan Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 12

1 ME338A - Homework

due 04/17/08, 4pm


1.1 Index vs tensor notation
Write the following expressions
1.1

ti = Tji n j

1.2

e = Eii

1.3

W = 12 Sij Eij

1.4

ijdev = 2 dev
ij

1.5

ij
+ bi = xi
x j

in long form for each component with i, j = 1, 2, 3 and in


compact tensor notation, and try to find out what they mean.
1.2 Finite rotations
Finite rigid body rotations are not commutative.
2.1 Take a book, fix a frame of reference {e1, e2, e3 } along the
axes of the book. Rotate it first 900 about the e2 axis and
then 900 about the e3 axis. Illustrate your results by a
drawing or a photo. Then, reverse the order of rotations,
i.e., rotate about the e3 axis first and then about the e2
axis. Again, illustrate your results.
1

1 ME338A - Homework

The rotations about the e2 and e3 axis can be described by


the following rotation matrices.

0 0 1
0 1 0

Q2 = 0 1 0 and Q3 = 1 0 0

1 0 0
0 0 1

2.2 Show that Q2 and Q3 are proper orthogonal tensors with


Qt Q = I and det( Q) = +1.
2.3 Show that rigid body rotations are not commutative by
calculating Q = Q3 Q2 and Q = Q2 Q3.

1.3 Tensor algebra of second order tensors


Given the second order tensor A,

10 16 10

A = Aij ei e j
[ A]ij = 4 10
8

10 8
1
determine

1.1 its symmetric and skew symmetric part S = Asym and


W = Askw and show that S : W = 0
1.2 the axial vector w of its skew symmetric part W
1.3 the square S2 of its symmetric part S

1.4 the square root Sof its symmetric part S and control
your results with ( S)2 = S (hint: one of the eigenvalues of S is S1 = 1)
2

1 ME338A - Homework

index and tensor notation

1.1 Cauchy theorem, stress vector is stress tensor projected


with normal
ti = Tji n j
t1 = T11 n1 + T21 n2 + T31 n3
t2 = T12 n1 + T22 n2 + T32 n3
t3 = T13 n1 + T23 n2 + T33 n3
t = Tt n

1.2 volume / first invariant of second order tensor


e = Eii = E11 + E22 + E33
e = IE = tr( E) = E : I
1.3 work as scalar product of stress and strain
W = 12 Sij Eij
W = 12 [ S11 E11 + S12 E12 + S13 E13
S21 E21 + S22 E22 + S23 E23
S31 E31 + S32 E32 + S33 E33 ]
W = 12 S : E

1 ME338A - Homework

1.4 constitutive equation for shear stress, deviatoric stress


ijdev = 2 dev
ij
11 = 2 11

12 = 2 12

13 = 2 13

21 = 2 21

22 = 2 22

23 = 2 23

31 = 2 31

32 = 2 32

33 = 2 33

dev = 2 dev
1.5 force equilibrium, linear momentum equation, Cauchy
law of motion
ij
+ bi = xi
x j
11 12 13
+
+
+ b1 = x1
x1
x2
x3
21 22 23
+
+
+ b2 = x2
x1
x2
x3
31 32 33
+
+
+ b3 = x3
x1
x2
x3
div( ) + b = x

1 ME338A - Homework

rotation tensors Q

Qt2 Q2 = I

and

det( Q2 ) = +1

Qt3 Q3 = I

and

det( Q3 ) = +1

Q = ( Q3ij ei e j ) ( Q2kl ek el )

= Q3ij Q2kl ei e j ek el
= Q3ij Q2kl jk ei el

= Q3ij Q2jl ei el = [ Q]il ei el

0 0 1

[ Q2 ] jl = 0 1 0

1 0 0

0 1 0 0 1 0

[ Q3 ]ij = 1 0 0 0 01 = [ Q]il

0 0 1
1 0 0

0 1 0

[ Q3 ] jl = 1 0 0

0 0 1

0 0 1 0 0 1

[ Q2 ]ij = 0 1 0 1 0 0 = [ Q]il

1 0 0
0 1 0

1 ME338A - Homework

symmetric / skew symmetric decomposition of A

S=

1
[ A + At ]
2

W=

1
[ A At ]
2

with symmetric part S

S = Sij ei e j

10 6 0

[S]ij = 6 10 0

0 0 1

and skew symmetric part W

W = Wij ei e j

0 10 10

[W ]ij = 10 0 8

10 8 0

scalar product
S : W = S11 W11 + S12 W12 + S13 W13

= S21 W21 + S22 W22 + S23 W23


= S31 W31 + S32 W32 + S33 W33
S : W = 10 0 + 6 10 + 0 10 + 6 10 + 10 0

+ 0 8 + 0 10 + 0 8 + 1 0 = 60 60 = 0

axial vector w of skew symmetric tensor W

w=

1 3
e: W
2

w = [W32, W13, W21 ]t = [8, 10, 10]t


6

1 ME338A - Homework

square of symmetric tensor S

S2 = (Sij ei e j ) (Skl ek el )

= Sij Skl ei e j ek el
= Sij Skl jk ei el

= Sij S jl ei el = [S2 ]il ei el

10 6

[S] jl = 6 10

0 0

10 6 0 136 120

[S]ij = 6 10 0 120 136

0 0 1
0 0

0 = [S2 ]il

1 ME338A - Homework

square root of second order tensor S


invariants of second order tensor S

IS

= tr(S) = S : I
= S11 + S22 + S33

I IS

= 10 + 10 + 1 = 21
' 2
( 1'
(
1
2
2
2
= 2 tr (S) tr(S ) = 2 [S : I ] [S : I ]
'
(
= 12 IS2 [S2 ]11 [S2 ]22 [S2 ]33
=

1
2

[441 136 136 1] = 84

I I IS = det(S)

= S11 S22 S33 + S21 S32 S13 + S31 S12 S23


S11 S23 S32 S22 S31 S13 S33 S12 S21
= 100 + 0 + 0 0 0 36 = 64
characteristic polynom

eigenvalues / roots of characteristic polynom


3 IS 2 + I IS I I IS = 0
with invariants IS = 21, I IS = 84, I I IS = 64
3 21 2 + 84 64 = 0

1 ME338A - Homework

roots of characteristic polynom S

cubic equation, tested with first eigenvalue S1 = 1

(3 21 2 + 84 64 ) : ( 1) = 2 20 + 64
3

20 2 + 84
20 2 + 20

+ 64 64
+ 64 64

remaining quadratic equation, second and third eigenvalue


2 20 + 64 = ( 4)( 16)
eigenvalue representation of characteristic polynom
3 21 2 + 84 64 = ( 1)( 4)( 16) = 0
eigenvalues of second order tensor S
S1 = 1

S2 = 4

S3 = 16

eigenvectors of second order tensor S

eigenvector nS1 related to eigenvalue S1 = 1


[

S S1 I

=
] n
S1
nx


ny =


nz

choice of first component is arbitrary, e.g., nz = 1 to satisfy


line (3), from lines (1) and (2) only trivialolution n x = 0 and
9

1 ME338A - Homework

ny = 0, nomalization with ||[0, 0, 1]|| = 1 (here not needed),


thus
nS1 = [ 0, 0, +1 ]t

S1 = 1

eigenvector nS2 related to eigenvalue S2 = 4


[

S S2 I

0 3

=
] n
S2
nx


ny =


nz

choice of first component is arbitrary, e.g., n x = 1, from lines


(1) and (2) ny =1, from line (3) nz = 0, normalization with
||[1, 1, 0]|| = 2, thus
S2 = 4

1
nS2 = [ +1, 1, 0 ]t
2

eigenvector nS3 related to eigenvalue S3 = 16


=
] n
S3
6 10 0 n x


10 6
0 ny =


nz
0
0 15
[

S S3 I

choice of first component is arbitrary, e.g., n x = 1, from lines


(1) and (2) ny= 1, from line (3) nz = 0, normalization with
||[1, 1, 0]|| = 2, thus
S3 = 16

1
nS3 = [ +1, +1, 0 ]t
2
10

1 ME338A - Homework

spectral decomposition of second order tensor S

S = 3i=1 Ai n Ai n Ai

= S1 nS1 nS1 + S2 nS2 nS2 + S3 nS3 nS3


= 1 nS1 nS1 + 4 nS2 nS2 + 16 nS3 nS3

0 0 0

n1 n1 = 0 0 0

0 0 +1

1
1
+

2
2 0

n2 n2 = 12 + 12 0

0 0 0

1
1
+2 +2 0

n3 n3 = + 12 + 12 0

0 0 0

0 0 0

0 0 0

0 0 +1

+1 1 0

1 +1 0

0 0 0

+2 +2 0

+2 +2 0

0 0 0

3 1 0

1 3 0

0 0 1

[ S]ij

11

0 0 0

0 0 0

0 0 +1

+2 2 0

2 +2 0

0 0 0

+8 +8 0

+8 +8 0

0 0 0

10 6 0

6 10 0

0 0 1

[S]ij

1 ME338A - Homework

square root of second order tensor S

S = 3i=1 Ai n Ai n Ai

= S1 nS1 nS1 + S2 nS2 nS2 + S3 nS3 nS3

= 1 nS1 nS1 + 2 nS2 nS2 + 4 nS3 nS3

3 1 0

S = Sij ei e j
[ S]ij = 1 3 0

0 0 1

control

2
S = ( Sij ei e j ) ( Skl ek el )

3 1 0

[ S] jl = 1 3 0

0 0 1

3 1 0 10 6 0

[ S]ij = 1 3 0 6 10 0

0 0 1
0 0 1

12

= [S]il ei el

= [S]il

You might also like