AMCS 334 - Problem set #1

Amjad Alshaarawi February 19, 2014

1
Let

Problem 1.1
ijk

Part (c)
ijm klm = ik jl il jk ; and deduce that ilm klm = 2ij and ijk ijk

be the permutation tensor. Show that:

= 6.

Part (a)
If
ijk Tij

= 0, then Tij = Tji ;

Solutions
As given by the hint, lets consider: 1. i = j : ijm = = = = = =0 = jl = = = jk = il

Solution
Given that:
ijk Tij

klm

iim klm

= 0,
kqp : kqp (0)

(1.1)

lets multiply Eq. (1.1) by (

2. i = k : ijm 3. i = l : ijm 4. j = k : ijm 5. j = l : ijm

klm

ijm ilm

= 0,

(1.2)

using the identity that will be proven in Part (c), Eq. (1.2) becomes: (
qpk ijk )Tij

klm

ijm kim

jim kim

= (qi pj qj pi )Tij = 0,

(1.3)

klm

ijm jlm

ijm ljm

this expression reduces to: qi pj Tij qj pi Tij = 0, Tqp Tpq = 0, Tqp = Tpq Hence the symmetry is proven. (1.4) (1.5)

klm

ijm kjm

= ik

6. k = l : ijm

klm

=0

The above scenarios reduces to following: From senarios (2) and (5), we conclude that: if i = k and j = l ijm klm = 1 From senarios (3) and (4), we conclude that: if i = l and j = k ijm klm = 1 Otherwise:
ijm klm

Part (b)
ij
ijk

= 0;

Solution
ij Hence proven. 1
ijk

=0

iik

=0

This reduces to the following:

= ik jl il jk

Mathematical Fluid Dynamics, AMCS 334

Problem set #1

In the case of
ilm jlm

ilm jlm ,

this reduces to:

= ij ll il lj = 3ij ij = 2ij
ijk ijk ,

but i and j are dummy indices and can be switched as: T : S = Tij Sji , (2.4) comparing Eq. (2.1) and Eq. (2.4) we get: T : S = T : S T : S = 0 Hence proven.

In the case of
ijk ijk

this reduces to:

= ii jj ij ij = (3)(3) ii = 9 3 = 6

Problem 1.2

Let capital letters denote second order tensors and lowercase letters vectors.

Part (c)
If T s , T a are symmetric and skew parts of T , show that a T a a = 0 and a T a = a T s a, for any a ;

Part (a)
Write out these products in index notation: B A, A B , AT B , A B T , A a, a A, and A : B

Solution
a T a a = (ai ei ) (Tjn an ej ) = aj Tjn an , (2.5)
a

Solution
B A = Bin Anj A B = Ain Bnj AT B = Ani Bnj A B T = Ain Bjn A a = Aij aj a A = aj Aji A : B = Aij Bji

but, if you the transpose of T is rst taken, Eq. (2.5) becomes: a (T a )T a = (ai ei ) (Tnj an ej ) = aj Tnj an = an Tnj aj , (2.6)

this indices in Eq. (2.6) are dummy and can be switched. From Eq. (2.5) and (2.6) it can be concluded that: a T a a = a T a a a T a a = 0 (2.7)

Part (b)
Show that if T is symmetric and S skew, then T : S=0;

For the second part, given that T = T s + T a and from the linearity of tensors: a T a = a ((T s + T a )a) = a (T s a + T a a) , (2.8) from the linearity of dot product this simplies to:

Solution
T : S = Tij Sji , but Tij is symmetric: T : S = Tji Sji , (2.2) (2.1)

a T a = a T s a + a T a a, but from the results in Eq. (2.7): a T a = a T sa

(2.9)

also, S is skew. Thus Eq. (2.2) can be written as: T : S = Tji Sij , Amjad Alshaarawi

Part (d)

(2.3) show that: (u v )(w x) = (v w)(u x) ; 2

Mathematical Fluid Dynamics, AMCS 334

Problem set #1

Solution
(u v )(w x) = = = = = = (ui ei vj ej )(wk ek xl el ) (ui vj ei ej )(wk xl ek el ) ui vj wk xl (ej ek )ei el ui vj wk xl jk ei el (vj wj )ui xl ei el (v w)(u x)

Problem 1.4

The divergence of a tensor eld T is dened by its action on an arbitrary vector a: div (T ) a = div T T a Tr(T T a), Verify that in polar coordinates, the -component of the vector div (T ) is given by: (div (T )) = Tr 1 T Tr + Tr + + , r r r

Problem 1.3

Solution
Let be dened as: = r r = r , 1 r
1 r

The components of an arbitrary vector a and an arbitrary second-order tensor T are related by the quantity Rijk so that ai = Rijk Tjk in any Cartesian basis. Prove that Rijk are components of a third order tensor.

Lets start by the given denition of the divergence of a tensor:

Solution
Dene an orthogonal tensor Q as follows: am = Qmi ai ai = Qim am , Tij = Qmi Qnj Tmn Tmn = Qim Qjn Tij ,

div (T ) a

= = = =

div T T a Tr(T T a) T T a Tr(T T a) i (Tij )T aj Tr((Tkl )T l am ) i (Tji aj ) Tr(Tlk l am ), (4.1)

= i (Tji aj ) Tr(Tlk l am ) Sijk = Qmi Qnj Qrk Smnr Smnr = Qim Qjn Qkr Sijk , where i {r, }. If we take a to be [01]T , the expression should simplify to (div (T )) : where the tensor Q transforms the ei basis into the 0 ei basis. (div (T )) = div (T ) 1 The given expression then becomes: = Qim am = Rijk (Qnj Qrk Tnr ) ,
1 T multiplying by Q im = Qim = Qmi :

= where,

i (Ti ) Tr(Tlk l am ) 1 1 T (rTr ) + Tr(Tlk Clm ) r r r C = a = 0 1/r 0 0 ,

am = (Qmi Qnj Qrk Rijk ) Tnr hence from the denition of Q, Rijk is conserved under the transformation Qmi Qnj Qrk Rijk such that: Qmi Qnj Qrk Rijk = Rmnk , and is a tensor. Amjad Alshaarawi 3

this makes Tr(Tlk l am ) as follows: Tr Trr Tr Tr Tr T Tr /r T /r 0 1/r 0 0 0 0 = = Tr , r (4.2)

Mathematical Fluid Dynamics, AMCS 334

Problem set #1

pluging the results from Eq. (4.2) back in the expression of (div (T )) : (div (T )) = = Tr Tr 1 T Tr + + + r r r r Tr 1 T Tr+Tr + + r r r

u(x, t) with x(0) = X . At any given time, one can also dene a streamline as a line that is everywhere tangent to the velocity eld at that time. If one parameterizes the streamline by s, then its equation is given by dx/ds = u(x, t) where t is considered as a xed parameter.

Problem 1.5

Part (a)

Find streamlines and particle paths for u = (u0 , kt). A tensor is called isotropic if its components do not Describe them geometrically. change under the rotation of a coordinate frame. One obvious example is given by the identity tensor, ij . Solution Prove that ijk is also isotropic. Also argue that the fourth order tensor Tijpq = aij pq + bip jq + ciq jp , At some time t, the slope of the slope of the velocity where a, b, c are scalars, is isotropic. It can be proven vector is given by: that the only (up to scalar factors) isotropic tensors ux kt dx of order 2, 3, and 4 are ij , ijk , and Tijpq (skip the = = , dy u u y 0 proof).

Solution
The components of a vector a become ai after applying a transformation by some rotation : ai = Qij aj , for the tensor
ijk ijk : mnk

thus the streamlines are the family of parallel lines given by: dy kt kt = y= x+c dx u0 u0

(5.1) where c is a free parameter here. A particle will follow the path given by (x(t), y (t)) such that:
ijk

= Qmi Qnj Qlk

= det (Q)

ijk

hence proven. For the fourth-order tensor: Tklmn = Qki Qlj Qmp Qnq Tijpq = Qki Qlj Qmp Qnq (aij pq + bip jq + ciq jp ) = aQki Qli Qmp Qnp + bQki Qlj Qmi Qnj +cQki Qlj Qmj Qni = akl mn + bkm ln + ckn lm = Tklmn hence isotropy is proven.

dx = u0 x = Xx + u0 t dt

(6.1)

dy k = kt y = Xy + t2 (6.2) dt 2 Geometrically, the velocity eld forms straight lines, that initially point in xdirection. As time progresses, the velocity direction moves up (or down if k < 0) at rate k . From Eq. (6.1) and Eq. (6.2), the path of a particle falls on the curve: y = Xy + k 2 x Xx u0

Problem 1.6

Part (b)
Analyze the particle paths for: u = y/r2 , (x cos(t))/r2 , 4

Given a velocity eld, u(x, t), one can dene the particle path as the solution of the system, dx/dt = Amjad Alshaarawi

Mathematical Fluid Dynamics, AMCS 334

Problem set #1

4 3 2 1 0 1 2 3 4 5 0 x 5

0 x

Figure 1: Path of the particles for

= 0.

Figure 2: Path of the particles for = 1.5 and = 2.

where r2 = x2 + y 2 and , are parameters. Condy cos(t) x = , (6.7) sider rst the case of = 0 and sketch the paths dt r2 indicating the direction of ow. Then take = 1.5, = 2 and plot the particle paths by solving for them the resulting particle path is shown in Fig. 2. The path looks similar to that for = 0, but with sinsoidal numerically. perturbation in the vertical direction.

Solution
For dx y = 2 , dt r x dy = 2 , dt r but given the denition of r: dr dt dr dt 2r = 2x =0 = 0:

7
(6.3)

Problem 1.7

Let u = (x, y ) be a steady velocity eld. Find the Lagrangian coordinates of a particle initially at x = (6.4) (x0, y 0). Sketch the particle paths.

The xcoordinate of the lagrangian particle is given (6.5) by: dx = x x = x0 et meaning that particles will move in circles centered dt at the origin. Given the signs of dx/dt and dy/dt in and the y coordinate is given by: Eq. (6.3) and (6.4), the rotation is clockwise as shown in Fig. 1. dy = y y = y 0 e t For = 1.5 and = 2: dt y dx = 2 , (6.6) The path of particles is shown in Fig. 3. dt r Amjad Alshaarawi 5

dx dy xy xy + 2y = 2 2 2 2 = 0, dt dt r r

Solution

Mathematical Fluid Dynamics, AMCS 334

Problem set #1

0.3 0.2 0.1 0 0.1 0.2 y

1.5 1 0.5 0 x 0.5 1 1.5 2

Assuming that f is smooth: dI dt = = f + (f u) dV, t S f dV + (f u) dV, t S S

Lets denote f /t by ft . Using the divergence theorem, the expression becomes: dI = dt d dt ft ndA +
S S

(f u) n dA, (u n)f dA
S

f n dA =
S S

ft ndA +

Figure 3: Path of the particles.

Problem 1.8

Let S be the surface of a deformable body in 3 , f (x, t) a scalar function, and n the outward normal to S . Prove that d f n dA = ft n dA + (u n)f dA, dt S S S where u is the velocity of the surface S .

Solution
Let I be dened as follows: I=
S

f n dA.

Using the the divergence theorem, I becomes: f n dA =

f dV,

Taking the time derivative and using the Reynold Transport Theorem gives: dI dt = =
S

d dt

f dV
S

=
S

D (f ) + f ( u) dV Dt (f ) + (f u) dV, t 6

Amjad Alshaarawi