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Continuum Mechanics II. Kinematics in Curvilinear Coordinates

This document discusses kinematics in curvilinear coordinates. It begins by reviewing strain measures like the Green strain tensor, Cauchy strain tensor, and Almansi strain tensor in Cartesian coordinates. It then defines these strain tensors using covariant derivatives in curvilinear coordinates. As an example, it derives the components of the Cauchy strain tensor for the deformation of a cylinder into a rotational hyperboloid using cylindrical coordinates. It shows that this deformation results in pure shear strain in the tangent plane of the angular and axial coordinates. Finally, it mentions another example of deforming a cylinder into a hyperboloid with different kinematics.

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Ascanio Barbosa
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171 views

Continuum Mechanics II. Kinematics in Curvilinear Coordinates

This document discusses kinematics in curvilinear coordinates. It begins by reviewing strain measures like the Green strain tensor, Cauchy strain tensor, and Almansi strain tensor in Cartesian coordinates. It then defines these strain tensors using covariant derivatives in curvilinear coordinates. As an example, it derives the components of the Cauchy strain tensor for the deformation of a cylinder into a rotational hyperboloid using cylindrical coordinates. It shows that this deformation results in pure shear strain in the tangent plane of the angular and axial coordinates. Finally, it mentions another example of deforming a cylinder into a hyperboloid with different kinematics.

Uploaded by

Ascanio Barbosa
Copyright
© Attribution Non-Commercial (BY-NC)
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
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Continuum mechanics

II. Kinematics in curvilinear coordinates


Ales Janka
oce Math 0.107
[email protected]
http://perso.unifr.ch/ales.janka/mechanics
December 22, 2010, Universite de Fribourg
Ales Janka II. Kinematics in curvilinear coordinates
1. Strain in cartesian coordinates (recapitulation)
Green strain tensor: Lagrange formulation

ij
=
1
2
_
u
i
x
j
+
u
j
x
i
+
u
k
x
i
u
k
x
j
_
Cauchy strain tensor: linearized strain for small deformations
e
ij
=
1
2
_
u
i
x
j
+
u
j
x
i
_
Almansi strain tensor: Euler formulation
E
ij
=
1
2
_
u
i
y
j
+
u
j
y
i

u
k
y
i
u
k
y
j
_
Ales Janka II. Kinematics in curvilinear coordinates
1. Strain in curvilinear coordinates
Green strain tensor: Lagrange formulation

ij
=
1
2
_

j
u
i
+
i
u
j
+
i
u
k

j
u
k
_
Cauchy strain tensor: linearized strain for small deformations
e
ij
=
1
2
(
j
u
i
+
i
u
j
)
Ales Janka II. Kinematics in curvilinear coordinates
2. Example of using curvilinear coordinates
A rotational cylinder is being deformed into a rotational
hyperboloid. Calculate the Cauchy strain tensor.
Its advantageous to use the cylindrical coordinates:
x =
_
_

1
cos
2

1
sin
2

3
_
_
y(x) =
_
_
_
_

1
_
cos
2


3
Z
sin
2
_

1
_
sin
2
+

3
Z
cos
2
_

3
_
_
_
_
Ales Janka II. Kinematics in curvilinear coordinates
2. Example of using curvilinear coordinates
Advantages of using curvilinear coordinates:
Simpler analytical formulae for particular deformation modes
and particular geometries
Better intuitive understanding of deformation modes
Particularly useful for shells and membranes or anisotropic
materials
Remember the inated baloon demonstration?

r
r
p
0
r
t
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Cauchy strain in curvilinear coordinates:
e
ij
=
1
2
(
i
u
j
+
j
u
i
)
Covariant derivative:

j
u
i
=
u
i

ij
u

Cylindrical coordinates:
x(
1
,
2
,
3
) =
_
_

1
cos
2

1
sin
2

3
_
_
, [g
ij
] =
_
_
1 0 0
0
_

1
_
2
0
0 0 1
_
_
Christoel symbols of 2nd kind: for cylindrical coordinates

1
22
=
1
,
2
12
=
2
21
=
1

1
,

ij
= 0 otherwise.
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
e
11
=
1
u
1
=
u
1

1
e
12
=
1
2
(
1
u
2
+
2
u
1
) =
1
2

u
2

1

2
21
u
2
+
u
1

2

2
12
u
2

=
1
2

u
2

1
+
u
1

2

2

1
u
2

e
13
=
1
2
(
1
u
3
+
3
u
1
) =
1
2

u
3

1
+
u
1

e
22
=
2
u
2
=
u
2

2

1
22
u
1
=
u
2

2
+
1
u
1
e
23
=
1
2
(
2
u
3
+
3
u
2
) =
1
2

u
3

2
+
u
2

e
33
=
3
u
3
=
u
3

3
Note that physical units of e
ij
are quite inhomogeneous here!
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Non-homogeneity of physical units for e
ij
and u
i
Units of cylindrical coordinates:
1
in [m],
2
in [rad],
3
in [m].
Covariant basis: g
i
=
x

i
:
g
1
=
_
_
cos
2
sin
2
0
_
_
. .
in [1]
, g
2
=
_
_

1
sin
2

1
cos
2
0
_
_
. .
in [m]
, g
3
=
_
_
0
0
1
_
_
. .
in [1]
Contravariant basis:
g
1
= g
1
. .
in [1]
, g
2
=
_
_
_
_

1
sin
2
1

1
cos
2
0
_
_
_
_
. .
in [1/m]
, g
3
= g
3
. .
in [1]
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Non-homogeneity of physical units for e
ij
and u
i
Units for u
i
and u
i
: displacement u = u
i
g
i
= u
i
g
i
should be in [m]:
coordinate its unit coordinate its unit
u
1
[m] u
1
[m]
u
2
[1] u
2
[m
2
]
u
3
[m] u
3
[m]
Hence, units for e
ij
:
coordinate its unit coordinate its unit
e
11
[1] e
22
[m
2
]
e
12
[m] e
23
[m]
e
13
[1] e
33
[1]
Correction of unit inhomogeneity:
introduction of physical components e
(ij )
and u
(i )
by:
e
ij
=

g
ii
g
jj
e
(ij )
and u
i
=

g
ii
u
(i )
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Transforming covariant components to physical components
For cylindrical coordinates:
e
11
= e
(11)
e
21
=
1
e
(21)
e
31
= e
(31)
e
12
=
1
e
(12)
e
22
= (
1
)
2
e
(22)
e
32
=
1
e
(32)
e
13
= e
(13)
e
23
=
1
e
(23)
e
33
= e
(33)
u
1
= u
(1)

u
1

j
=
u
(1)

j
u
2
=
1
u
(2)

u
2

1
= u
(2)
+
1
u
(2)

1
,
u
2

2
=
1
u
(2)

2
u
2

3
=
1
u
(2)

3
u
3
= u
(3)

u
3

j
=
u
(3)

j
Physical components in cylindrical coordinates usually written
u
(1)
= u
r
, u
(2)
= u

, u
(3)
= u
z
e
(11)
= e
rr
, e
(12)
= e
r
, e
(23)
= e
z
. . .
Ales Janka II. Kinematics in curvilinear coordinates
3. Cauchy strain in cylindrical coordinates
Transforming covariant components to physical components
e
rr
=
u
r
r
e
r
=
1
2

r
+
1
r
u
r

e
rz
=
1
2

u
z
r
+
u
r
z

=
1
r
u

+
u
r
r
e
z
=
1
2

1
r
u
z

+
u

e
zz
=
u
z
z
Ales Janka II. Kinematics in curvilinear coordinates
4. Back to cylinder hyperboloid
A rotational cylinder is being deformed into a rotational
hyperboloid. Calculate the Cauchy strain tensor.
Use the cylindrical coordinates:
u = yx =
_
_
_
_

1
_
cos
2


3
Z
sin
2
_

1
_
sin
2
+

3
Z
cos
2
_

3
_
_
_
_

_
_

1
cos
2

1
sin
2

3
_
_
=
_
_
_

1

3
Z
sin
2

1

3
Z
cos
2
0
_
_
_
Ales Janka II. Kinematics in curvilinear coordinates
4. Back to cylinder hyperboloid
u =
_
_
_

1

3
Z
sin
2

1

3
Z
cos
2
0
_
_
_
= 0
_
_
cos
2
sin
2
0
_
_
. .
g
1
+(
1
)
2

3
Z
_
_
_

1
sin
2
1

1
cos
2
0
_
_
_
. .
g
2
+0
_
_
0
0
1
_
_
. .
g
3
Hence
u
1
= u
3
= 0 , u
2
= (
1
)
2

3
Z
and u
(2)
= u

=
1

3
Z
Resulting Cauchy strain:
e
rr
= e
r
= e
rz
= e

= e
zz
= 0 and e
z
=
r
2 Z
ie. pure shear (ie. distortion of angles) in the (, z) tangent-plane.
Ales Janka II. Kinematics in curvilinear coordinates
5. Yet another cylinder hyperboloid example
But dierent from the previous one!
A rotational cylinder is being deformed into a rotational
hyperboloid in the following way (in cylindrical coordinates):
x =
_
_

1
cos
2

1
sin
2

3
_
_
y(x) =
_
_
_
_
_
_

1
_
1 +
_

3
Z
_
2
cos
2

1
_
1 +
_

3
Z
_
2
sin
2

3
_
_
_
_
_
_
The resulting shape is the same, but the deformation tensor
is dierent! Why?
Ales Janka II. Kinematics in curvilinear coordinates

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