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Transport Phenomena I: Math Preliminaries (Cont'd)

1) The lecture discusses vectors, including cross products and using the permutation symbol to define cross products. It also introduces tensors as mathematical entities represented by two vectors written side by side. 2) Tensors can be represented by their components in a matrix. Dot and double dot products can be used to take products of vectors and tensors. 3) Several properties of tensors are covered, including that tensors are not commutative, their representation as symmetric or skew-symmetric, and that the trace of a tensor is the sum of its diagonal elements.

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Ayman Al Kafrawy
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42 views22 pages

Transport Phenomena I: Math Preliminaries (Cont'd)

1) The lecture discusses vectors, including cross products and using the permutation symbol to define cross products. It also introduces tensors as mathematical entities represented by two vectors written side by side. 2) Tensors can be represented by their components in a matrix. Dot and double dot products can be used to take products of vectors and tensors. 3) Several properties of tensors are covered, including that tensors are not commutative, their representation as symmetric or skew-symmetric, and that the trace of a tensor is the sum of its diagonal elements.

Uploaded by

Ayman Al Kafrawy
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
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Transport Phenomena I

Lecture 2
Math Preliminaries (Contd)

Transport Phenomena Lecture 2

1/Lec2-22

Last Class & Todays Agenda


Last Class -- Mathematical Preliminaries:
Vectors and Scalars
Index notation
Dot products
Operators

Bird (Appendix A, from page 807)


Today:

Deen (Appendix, from page 551) (optional)

Vectors cross product


Tensors

Transport Phenomena Lecture 2

2/Lec2-22

Vectors
Vector (cross) Products ^ , :

a b = a b sin ( ab ) e k = c
The result will be a vector with magnitude c

Direction of c:
c
b
a

ab b a
a b = b a

Transport Phenomena Lecture 2

3/Lec2-22

Vectors
e1 e2 = e3

e3
e2

e1 e3 = e2
e1 e1 = 0

e1

Lets define the permutation symbol (ijk)

ei e j = ijk e k
Properties of ijk:
ijk

0 if index repeated

= 1 if {i, j , k } have even permutation of {1,2,3}

1 if {i, j , k } have odd permutation of {1,2,3}

Transport Phenomena Lecture 2

4/Lec2-22

Vectors
Even permutation - exchanging 1, 2, 3 even times

{1, 2, 3} {2,1, 3} {3,1, 2}


odd (1)

1
-1

+1

e1 e 2 =

even (2)

12 k

=
121

e1 e 2 = e3
Transport Phenomena Lecture 2

5/Lec2-22

ek
e1 +

122

e2 +

123

e3

Vectors
Example:
Find a b
a = ai ei
b = bj e j

a b = ( ai ei ) b j e j

a b = ai b j ijk ek
Expanding in terms of k

a b = ai b j ij1 e1 + ij 2 e2 + ij 3 e3

expanding the first term

( a2b3231 + a3b2321 ) e1
Transport Phenomena Lecture 2

6/Lec2-22

Vectors
The final result will be:
a b = ( 231a2b3 + 321a3b2 ) e1
+ ( 132 a1b3 + 312 a3b1 ) e2
+ ( 123a1b2 + 213a2b1 ) e3
a b = ( a2b3 a3b2 ) e1 + ( a3b1 a1b3 ) e2 + ( a1b2 a2b1 ) e3

Transport Phenomena Lecture 2

7/Lec2-22

Vectors
Cross products expressed in terms of the Determinant:

e1 e2

a b = det a1 a2
b b
1 2

e3

a3
b3

= e1 ( a2b3 a3b2 ) + e2 ( a3b1 a1b3 ) + e3 ( a1b2 a2b1 )

Transport Phenomena Lecture 2

8/Lec2-22

Vectors
Example 1:

abc = ?

a b c = ( ai ei ) b j e j ck e k

Dot or cross product first?

= ai b j ijm em ck ek = ai b j ijk ck
mk

a b c = ijk ai b j ck
c1 c2

= det a1 a2
b b
1 2

c3
a1 a2

a3 = det b1 b2
c c
b3
1 2

Transport Phenomena Lecture 2

9/Lec2-22

a3

b3
c3

How many
exchanges?

In class exercise
V a = ?
Do cross product

= Vi

ijm em ak ek
x j

= Vi
ijm mk ak
x j
Thus,

= ijkVi

ak
x j

V a = Vi
ijk ak
x j
Transport Phenomena Lecture 2

10/Lec2-22

Tensors
Tensors (dyad):
Written as two vectors side by side: a b
Mathematical entity, difficult to represent graphically
a b = aiei bjej = aibj eiej
= a1b1 e1e1 + a1b2 e1e2 + a1b3 e1e3 +

Components of tensor a b given by aibj


Can also write as Aij = aibj
Example, shear stress: yx
Transport Phenomena Lecture 2

11/Lec2-22

component of tensor

Tensors
Tensors (dyad):
a b = ai ei b j e j = ai b j ei e j
Let A = a b = ai b j ei e j = Aij ei e j
This indicates that there are 9
components

The 9 components can be represented by a 3x3 matrix

A11 A12 A13

A 21 A 22 A 23
A A A
31 32 33
Transport Phenomena Lecture 2

12/Lec2-22

Tensors
Tensors :
a b = ai ei b j e j = ai b j ei e j
The order is important, so that

a bb a
ai b j ei e j bi a j ei e j

a1b1 e1 e1 + a1b2 e1 e2 + .......


b1a1 e1 e1 + b1a2 e1 e2 + ..........

a1b2 b1a2
Transport Phenomena Lecture 2

13/Lec2-22

Tensors
Dot products of a Vector and a Tensor:
a A = ai ei A jk e j ek = ai ij A jk ek = ai Aik e k
Nesting convention
dot closest/adjacent vectors

= ai Ai1 e1 + ai Ai 2 e 2 + ai Ai 3 e3

a1 A11 e1 + a2 A21 e1 + a3 A31 e1


Transport Phenomena Lecture 2

14/Lec2-22

Tensors
Can do same thing using matrix algebra:
a A = ai ei A jk e j ek = ai ij A jk ek = ai Aik ek
Lets call c = a A = c1 e1 + c2 e2 + c3 e3

c = ( c1 c2

c3 ) = ( a1 a2

A11

a3 ) A21
A
31

c1 = a1 A11 e1 + a2 A21 e1 + a3 A31 e1


Transport Phenomena Lecture 2

15/Lec2-22

A12
A22
A32

A13

A23
A33

Tensors
Dot Products of Tensors:
A B = Aij ei e j Bkl ek el = Aij B jl ei el
jk

Double Dot Products:


:
A B = Aij ei e j : Bkl ek el = Aij Bkl jk il = Aij B ji
jk
il

Transport Phenomena Lecture 2

16/Lec2-22

Tensors

ei
xi

V j ei e j
V =
xi
V j

V V = Vk ek
V j ei e j = Vi
ej
xi
xi
ki

Example:
Is this equality true? a b = a b + ( a ) b
Transport Phenomena Lecture 2

17/Lec2-22

Tensors
LHS:

ai

bk
ei
a j e j bk ek =
ai bk ) ek = ek bk
+ ai
(

xi

x
xi
i
i

ij

RHS:

a j e j ei
bk ek + ei
a j e j bk ek
xi
xi

ai

= ai
bk e k +
bk e k
xi
xi
Transport Phenomena Lecture 2

18/Lec2-22

Tensors
Properties of Tensors:
Let A = Aij ei e j
T

1) A = A ji ei e j

2) If A = AT This is a symmetric tensor


3) If A = AT This is a skew symmetric tensor
Any tensor can be written as the sum of a symmetric and a
skew symmetric tensor
Transport Phenomena Lecture 2

19/Lec2-22

Tensors

Example:

) (

1
1
T
T
A = A+ A + A A
2
2

1 0 2

Let Aij = 3 0 4
5 1 3

, then Aij T

1 3 5

= 0 0 1
2 4 3

2 3 7
0 3 3
1
1

Aij = 3 0 5 + 3 0 3
2
2

7
5
6
3

3
0

Transport Phenomena Lecture 2

20/Lec2-22

Tensors
Properties of Tensors:
4) Trace of a Tensor:
tr A = Aii This is the sum of the diagonal elements
The trace of a tensor does not depend on the
coordinate system
The trace of a tensor is the 1st invariant of a Tensor

Example:
1 0 2

Let Aij = 3 0 4 , then tr Aij = 1 + 0 + 3 = 4


5 1 3

Transport Phenomena Lecture 2

21/Lec2-22

Operational Order !
Operation

Order

Vector
Tensor
Scalar
Dot Product

1
2
0
-2

Double Dot Product

-4

Cross Product

-1

Examples:
A. A
Order = 2+2-2=2 (Tensor)
A:A
Order = 2+2-4=0 (scalar)

V. A
Order = 1+2-2=1 (Vector)
VW
Order = 1+1=2 (Tensor)
= Vi Wj ei ej

Transport Phenomena Lecture 2

22/Lec2-22

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