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.
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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

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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
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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