Continuous systems

M. Siddikov

April 27, 2018

Outline

Discussion of homeworks and exams

Elements of theory of continuous media
F Deformations of 1D strings
F Analysis of 1D wave equation (advanced)
Equations of motion in 3D
Deformation tensor Equations of motion for ~u (x):

1

∂ui ∂ui ∂uj ∂uj
 ∂σik (ext)
uik = + + ρüi = + fi ,
2 ∂xk ∂xk ∂xi ∂xk ∂xk

Small deformations: |∂k ui |  1

Lame-Hooke equations

Lagrangian of (isotropic) elastic body ∂U

σik = = [λδij δkl + µ (δik δjl + δil δjk )] ujl
∂uik
ρ (~x ) u̇i2
Z     
λ 2 2 δik
L= dV − uii + µ uik = Kull δik + 2µ uik − ull
2 2 3
Z "  2
δik σii = 3KUii ,
= T − dV µ uik − ull
3 1 1

1

uik = δik σll + σik − δik σll
9K 2µ 3

K
+ uii2
2
2 Border conditions
K =λ+ µ
3

1 surface forces : σik nk = fi

U= σik uuk
2 fixed border : ui = 0
Elements of theory of continuous media
Deformation tensor In the absence of external forces the
  equation of motion (1) reduces to 3D wave
1 ∂ui ∂ui ∂uj ∂uj equations for the longitudinal and transverse
uik = + +
2 ∂xk ∂xk ∂xi ∂xk components

∂σik (ext) ~u = ~u|| + ~u⊥

ρüi = + fi , (1)
∂xk
rot ~u|| = div~u⊥ = 0
1 ¨
Lame-Hooke equations ~u|| − ∆~u|| = 0,
c||2
∂U 1 ¨
σik = = ~u − ∆~u⊥ = 0,
2 ⊥
∂uik c⊥
= [λδij δkl + µ (δik δjl + δil δjk )] ujl
 
δik
= Kull δik + 2µ uik − ull E (1 − σ) 3K + 4µ λ + 2µ
3 c||2 = = =
ρ(1 + σ)(1 − 2σ) 3ρ ρ
σii = 3KUii , E µ
2
  c⊥ = = .
1 1 1 2ρ(1 + σ) ρ
uik = δik σll + σik − δik σll
9K 2µ 3
We stop here with study of 3D deforma-
tions; for more information see
From 3D to 1D case
Fetter, Walecka, “Theoretical Mechan-
ics of Particles and Continua” Our purpose: relate parameters (λ, µ)
Landau, Lifshitz, “Theory of elasticity” of the medium with parameter ”σ” and
(Vol. 7) geometry we’ve seen earlier
Z "  2 #
1  2
˙ ∂~u
L= dx ρ ~u − σ
2 ∂x

and the 1D wave equation

"  2  2 #
1 ∂ ∂
− u = 0,
c2 ∂t ∂x
p
c1D = σ/ρ

Important notice: velocity “c1D ” does

not coincide with c|| , c⊥ which appear in
3D equation, border conditions affect dy-
namics!
We will analyze separately each type of
deformations
 We’ve seen that in case of free border Types of waves in 1D string
a) longitudinal deformation
σik nk |border = 0

Inside of a thin medium (rod, string) this

condition will fulfil (approximately) in the full
volume, not only at the border
⇒Border affects dynamics of deformations,
b) transverse (flexural) deformation
the velocity of propagations will change
The deformation vector ~u might be large
(though still we assume that
|uik | ∼ |∂i uk |  1)

c) torsional deformation
 We can see that:
velocity clongitudinal does not coin-
Longitudinal waves
cide with 3D velocities c|| , c⊥
Only σzz 6= 0, all others=0 due to σik nk = 0
Homogeneous deformation exercise:
E (1 − σ) 3K + 4µ
c||2 = = ,
σzz = E(Young) uzz = E(Young) ∂z uz ρ(1 + σ)(1 − 2σ) 3ρ
2 E µ
c⊥ = = .
9K µ 1 3K − 2µ 2ρ(1 + σ) ρ
E(Young) = , σPoisson =
3K + µ 2 3K + µ
velocity clongitudinal does not depend
⇒ ρüz − E(Young) ∂z2 uz = 0 on cross-section of the material, only
q on its elastic properties
⇒ clongitudinal = E(Young) /ρ
Deformation tensor Transverse waves
 
1 ∂ui ∂ui ∂uj ∂uj
uik = + +
2 ∂xk ∂xk ∂xi ∂xk
∂σik (ext)
ρüi = + fi ,
∂xk

Lame-Hooke equations
Change of length of the element of
∂U the rod:
σik =
∂uik
R +x x
= [λδij δkl + µ (δik δjl + δil δjk )] ujl dz 0 = dz ⇒ uzz =
  R R
δik
= Kull δik + 2µ uik − ull where R =radius of curvature; for
3
X 0 (Z )  1
σii = 3KUii ,

3/2
R −1 ≈ X 00 (Z )/ 1 + X 02 ≈ X 00 (Z ),
 
1 1 1
uik = δik σll + σik − δik σll
9K 2µ 3
σzz = Euzz = E x/R

uxx = uyy = −σuzz

(see Landau, Lifshitz for more details)

Transverse waves 1
z 2 + σ(x 2 − y 2 )


⇒ ux = −
2R
uy = −σxy /R, uz = zx/R

Free energy density:

1 1 Ex 2
ε = σik uik = σzz uzz =
2 2 2R 2

⇒ U = E(Young) ×
Change of length of the element of the rod: Z

2
Z
× dz X 00 (z) dS⊥ x 2
R +x x
dz 0 = dz ⇒ uzz =
| {z }
R R Ixx

where R =radius of curvature; for X 0 (Z )  1 Equations of motion:

ρS⊥ Ẍ − Ixx X (4) = 0

3
R −1 ≈ X 00 (Z )/ 1 + X 02 ≈ X 00 (Z ),
Solutions: ∼ e i ωt−ikz
σzz = Euzz = E x/R
ω = k 2 Ixx E(Young) /ρS⊥
uxx = uyy = −σuzz
Result depends on material, polariza-
(see Landau, Lifshitz for more details) tion and transverse shape via Ixx /S⊥
There is dispersion, c = dω/dk 6=
const!
 Lagrangian:

Transverse waves (external tension) Z  

L = S⊥ dZ ρ Ẋ 2 + Ẏ 2

T S⊥
Z 
2
2 
− dZ X 0 (Z ) + Y 0 (Z )
2
Let’s assume that there is a constant external
E(Young)
Z
tension σzz = T = F /S applied to both extremes − dZ Iij Xi00 Xj00
of the string. Demonstrate that the elongation of 2
the string is given by
Equations of motion:
Z q 
δ` = dZ 1 + (X 0 (Z ))2 + (Y 0 (Z ))2 − 1 ≈ ρẌ − T X 00 = 0
1
Z 
2
2 
≈ dZ X 0 (Z ) + Y 0 (Z ) ρŸ − T Y 00 = 0
2 p
⇒ ctr = T /ρ
so the energy of deformation
Velocity ctr depends only on tension
F T = F /S and density of material ρ, no
Z 
2
2 
U ∼ F × δ` = dz X 0 (Z ) + Y 0 (Z ) dependence on parameters (λ, µ)
2
T
Z 
2
2 
= dV X 0 (Z ) + Y 0 (Z )
2
Torsion Evaluate the components of tensor uik
and stress tensor σik . Demonstrate that
the border condition

σik nk |border = 0

might be satisfied by proper choice of

the function ψ

Degree of freedom: rotation angle φ(z, t)

First we comsider uniform deformation,
τ = ∂z φ = const  1.
Deformation vector in each cross-section
~u = φ~ × ~r :

ux = −τ zy , uy = τ zx

For longitudinal component we assume that it

is given by
uz = τ ψ (x, y )
where ψ(x, y ) is unknown function; for τ → 0
uz → 0
Torsion Evaluate the components of tensor uik
and stress tensor σik . Demonstrate that
the border condition

σik nk |border = 0

might be satisfied by proper choice of

the function ψ

uxx = uyy = uxy = uzz = 0

Degree of freedom: rotation angle φ(z, t)
τ τ
First we comsider uniform deformation, uxz = (∂x ψ − y ) , uyz = (∂y ψ + x)
τ = ∂z φ = const  1. 2 2
Deformation vector in each cross-section Tr (u) = 0 ⇒shear deformation, no
~u = φ~ × ~r : compression!

ux = −τ zy , uy = τ zx σxx = σyy = σxy = σzz = 0

For longitudinal component we assume that it σxz = 2µuxz , σyz = 2µuyz

is given by ∂k σik = 0
uz = τ ψ (x, y )
⇒ ∆ψ = 0
where ψ(x, y ) is unknown function; for τ → 0
uz → 0 ψ(x, y ) should be harmonic function
Torsion Assume that X~ (s) = {X (s), Y (s)} is a
Demonstrate that the border condition parametrization of border. Demonstrate
that the border condition (1) can be
σik nk |border = 0 (1) rewritten as

dY dX
might be satisfied by proper choice of the (∂x ψ − y ) − (∂y ψ + x) = 0, (2)
function ψ ds ds

uxx = uyy = uxy = uzz = 0

τ τ
uxz = (∂x ψ − y ) , uyz = (∂y ψ + x)
2 2
ux = −τ zy , uy = τ zx
uz = τ ψ (x, y )

uxx = uyy = uxy = uzz = 0

τ τ
uxz = (∂x ψ − y ) , uyz = (∂y ψ + x)
2 2
Tr (u) = 0 ⇒shear deformation
σxx = σyy = σxy = σzz = 0
σxz = 2µuxz , σyz = 2µuyz

∂k σik = 0 ⇒ ∆ψ = 0
 ~ (s) = {X (s), Y (s)} is a parametriza-
If X
tion of border, then (1) is equivalent to
Torsion dY dX
(∂x ψ − y ) − (∂y ψ + x) = 0, (2)
Demonstrate that the border condition ds ds

σik nk |border = 0 (1) Assume that function χ is defined as

might be satisfied by proper choice of the 1 1

function ψ (∂x ψ − y ) = ∂y χ, − (∂y ψ + x) = ∂x χ
2 2

uxx = uyy = uxy = uzz = 0 Demonstrate that the two equations are
τ τ compatible and χ must satisfy
uxz = (∂x ψ − y ) , uyz = (∂y ψ + x)
2 2
∆χ = −1
ux = −τ zy , uy = τ zx
uz = τ ψ (x, y ) with border conditions

uxx = uyy = uxy = uzz = 0 dχ dχ dX dχ dY

= + =0
τ τ ds dx ds dy ds
uxz = (∂x ψ − y ) , uyz = (∂y ψ + x)
2 2
(i.e. χ = const at the border)
Tr (u) = 0 ⇒shear deformation
σxx = σyy = σxy = σzz = 0
. If border is multiply con-
σxz = 2µuxz , σyz = 2µuyz nected, χ = Ci = const at
each border, but different Ci
∂k σik = 0 ⇒ ∆ψ = 0
do not coincide
Torsion
potential energy:
ux = −τ zy , uy = τ zx
uz = τ ψ (x, y ) 1
Z Z
U= dV σik uik = 2µ dV τ 2 (∇χ)2
uxx = uyy = uxy = uzz = 0 2
τ τ
uxz = (∂x ψ − y ) , uyz = (∂y ψ + x) Up to now we considered that torsion τ
2 2 is constant. We can generalize the result
Tr (u) = 0 ⇒shear deformation for the case when τ ≡ ∂z φ 6= const:
σxx = σyy = σxy = σzz = 0
C (∂z φ)2
Z Z
σxz = 2µuxz , σyz = 2µuyz U= dz , C := 4µ dS⊥ (∇χ)2
2

∂k σik = 0 ⇒ ∆ψ = 0 C is called torsional rigidity, depends on ge-

ometry of transverse cross-section and ma-
1 1 terial (shear modulus µ)
(∂x ψ − y ) = ∂y χ, − (∂y ψ + x) = ∂x χ
2 2
Lagrangian for torsional deformations:
∆χ = −1
Izz φ̇2 C (∂z φ)2
Z  
χ|border = const L = dz − ,
2 2
Z
2
Izz = dS⊥ ρr⊥
Torsion

ux = −τ zy , uy = τ zx

uz = τ ψ (x, y )

1 1
(∂x ψ − y ) = ∂y χ, − (∂y ψ + x) = ∂x χ
2 2

∆χ = −1, χ|border = const

One of the ends ot the the rod is fixed,
Z
C := 4µ dS⊥ (∇χ)2
whereas to the other end, the torque
~ collinear to the axis of symmetry of
K
Lagrangian for torsional deformations: the rod is applied. The length of the
rod is L. Evaluate the angle of
Izz φ̇2 C (∂z φ)2
Z  
L = dz − , rotation φ in different cross-sections.
2 2 For evaluation of the torsional rigidity
Z
2 C , assume that the transverse
Izz = dS⊥ ρr⊥
cross-section is a circle of radius R.
Torsion

ux = −τ zy , uy = τ zx

uz = τ ψ (x, y )

1 1
(∂x ψ − y ) = ∂y χ, − (∂y ψ + x) = ∂x χ
2 2

∆χ = −1, χ|border = const

Evaluate the speed of propagation of
Z
C := 4µ dS⊥ (∇χ)2
torsional waves in the infinite cylinder
of radius R. Compare with velocity of
Lagrangian for torsional deformations: propagation of 3D waves c|| , c⊥ .

Izz φ̇2 C (∂z φ)2

Z  
L = dz − ,
2 2
Z
2
Izz = dS⊥ ρr⊥