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ijk
=
_
_
_
1 (i,j,k)=(123),(231),(312)
1 (i,j,k)=(132),(213),(321)
0 (all other combinations)
. (21)
Such that when the indices are in increasing order the value is postive 1, and when the indices are in decreasing order
the value is negative 1. Otherwise it is 0. This denition is motivated by the need for dening an easy way to write the
cross product. Observe the following relation for an orthonormal basis(right handed),
e
1
e
2
= e
3
=
123
e
3
e
2
e
3
= e
1
=
231
e
1
e
3
e
1
= e
2
=
312
e
2
e
1
e
3
= e
2
=
132
e
2
e
2
e
1
= e
3
=
213
e
3
e
3
e
2
= e
1
=
312
e
1
(22)
and,
e
1
e
1
= 0 =
11k
e
k
e
2
e
2
= 0 =
22k
e
k
e
3
e
3
= 0 =
33k
e
k
(23)
where the k here is arbitrary. If we write this in more compact notation we obtain,
e
i
e
j
=
ijk
e
k
. (24)
Given this notation, we can easily express the cross product between vectors a and b as,
a b = (a
i
e
i
) (b
j
e
j
)
= a
i
b
j
e
i
e
j
= a
i
b
j
ijk
e
k
(25)
Remarks:
The permutation has the properties that,
ijk
=
jki
=
kij
(26)
and,
ijk
=
jik
. (27)
There is exists the following relation between the permutation and the Kronecker delta,
1.
ijk
pqk
=
ip
jq
iq
jp
(28)
Here i, j, p, q are free indices and must match on both sides of the equation. k is a dummy index.
4
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
2.
ijk
pjk
= 2
ip
(29)
Here i, p are free indices and must match on both sides of the equation. j, k are dummy indices.
3.
ijk
ijk
= 6 (30)
5
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
3 Application of concepts or denitions
Problem:
What is the simplied index notation for,
c = a +b (31)
Solution:
Take an inner product of both sides with e
i
.
c e
i
= (a +b) e
i
c
i
= a
i
+ b
i
(32)
Problem:
What is the simplied index notation for,
C = A+B (33)
Solution:
Apply e
i
from the left, and apply e
j
from the right on both sides of the equation.
e
i
Ce
j
= e
i
(A+B) e
j
C
ij
= A
ij
+ B
ij
(34)
Problem:
What is the simplied index notation for,
v = Au (35)
Solution:
Apply e
i
from the left on both sides of the equation.
e
i
v = e
i
Au
= e
i
A(u
j
e
j
)
v
i
= e
i
Ae
j
u
j
= A
ij
u
j
(36)
Problem:
What is the simplied index notation for,
C = AB (37)
Solution:
6
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
C = AB
= A
pq
e
p
e
q
B
rs
e
r
e
s
= A
pq
B
rs
qr
e
p
e
s
= A
pr
B
rs
e
p
e
s
Apply e
i
from the left, and apply e
j
from the right on both sides of the equation.
e
i
Ce
j
= e
i
(A
pr
B
rs
e
p
e
s
) e
j
C
ij
= A
pr
B
rs
ip
sj
= A
ir
B
rj
(38)
Problem:
Show that,
v = Au (39)
can be represented in the orthonormal basis {e
i
} by the relationship,
[v]
e
= [A]
e
[u]
e
(40)
Solution:
From the previous exercise we see that with respect to the orthonormal basis {e
i
}, we have
v
i
= A
ij
u
j
(41)
between the components. If we write this in matrix notation we have,
_
_
v
1
v
2
v
3
_
_
e
=
_
_
A
11
A
12
A
13
A
21
A
22
A
23
A
31
A
32
A
33
_
_
e
_
_
u
1
u
2
u
3
_
_
e
(42)
[v]
e
= [A]
e
[u]
e
(43)
Problem:
Show that,
C = AB (44)
can be represented in the orthonormal basis {e
i
} by the relationship,
[C]
e
= [A]
e
[B]
e
(45)
Solution:
From the previous exercise we see that with respect to the orthonormal basis {e
i
}, we have
C
ij
= A
ik
B
kj
(46)
between the components. If we write this in matrix notation we have,
_
_
C
11
C
12
C
13
C
21
C
22
C
23
C
31
C
32
C
33
_
_
e
=
_
_
A
11
A
12
A
13
A
21
A
22
A
23
A
31
A
32
A
33
_
_
e
_
_
A
11
A
12
A
13
A
21
A
22
A
23
A
31
A
32
A
33
_
_
e
(47)
[C]
e
= [A]
e
[B]
e
(48)
7
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
Problem:
What is the simplied index notation for,
w = Au +v (49)
Solution:
Apply e
i
from the left on both sides of the equation.
e
i
w = e
i
(Au +v)
w
i
= e
i
Ae
j
u
j
+ v
i
. (50)
Here we have used the relationship shown previously in this handout.
Problem:
Conrm that,
a b = a
i
b
j
ijk
e
k
(51)
and the expression that you know,
a b =
_
_
a
1
a
2
a
3
_
_
_
_
b
1
b
2
b
3
_
_
(52)
=
_
_
a
2
b
3
a
3
b
2
a
3
b
1
a
1
b
3
a
1
b
2
a
2
b
1
_
_
(53)
are the same.
Problem:
Show that,
[a b c] = a
i
b
j
c
k
ijk
(54)
= det
_
_
_
_
a
1
b
1
c
1
a
2
b
2
c
2
a
3
b
3
c
3
_
_
_
_
(55)
8
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
4 Exercise
Problem:
Show that,
_
A
T
_
ij
= A
ji
(56)
Solution:
Apply e
i
from the left, and apply e
j
from the right.
e
i
A
T
e
j
= Ae
i
e
j
= e
j
Ae
i
= A
ji
(57)
Problem:
What is the simplied index notation for,
C = A
T
+B (58)
Solution:
Apply e
i
from the left, and apply e
j
from the right on both sides of the equation.
e
i
Ce
j
= e
i
_
A
T
+B
_
e
j
C
ij
=
_
A
T
_
ij
+ B
ij
= A
ji
+ B
ij
(59)
Problem:
Show that,
(a b) : (c d) = (a c) (b d) (60)
Solution:
(a b) : (c d) = tr
_
(a b)
T
(c d)
_
= tr ((b a) (c d))
= tr ((a c) (b d))
= tr ((a c) b d)
= (a c) tr (b d)
= (a c) (b d) (61)
Problem:
Show that,
(wz) : (a b c d) : (u v) = (a w)(b z)(c u)(d v) (62)
9
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
Solution:
Straightforward application of the denitions yield the following.
(wz) : (a b c d) : (u v) = (wz) : [(c d) : (u v)] (a b)
= [(c d) : (u v)] [(wz) : (a b)]
= (a w)(b z)(c u)(d v) (63)
10
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
5 Homework
5.1 Using the identity related with the permutation
Using the identity,
ijk
pqk
=
ip
jq
iq
jp
(64)
show the relationship,
(u v) w = (u w) v (v w) u . (65)
5.2 The physical interpretation of the determinant
The determinant of a tensor A is related to the change of volume. In class a denition of the determinant was given
as,
det (A) =
[Aa Ab Ac]
[a b c]
(66)
for arbitrary vectors a, b. This can be rewritten as,
[Aa Ab Ac] = det (A) [a b c] . (67)
Since the triple scalar product can be interpreted as the volume of the parallelpiped spanned by a, b, c, this rela-
tionship says that the volume of the parallelpiped spanned by the mapped vectors Aa, Ab, Ac is det (A) times this
value.
Given vectors,
a =
_
_
1
0
0
_
_
e
, b =
_
_
1
1
0
_
_
e
, c =
_
_
0
0
1
_
_
e
(68)
and tensor
A =
_
_
4 0 0
0 1 0
0 0 2
_
_
e
(69)
conrm that,
Volume of parallelpiped spanned by a,b,c = [a b c] (70)
Volume of parallelpiped spanned by Aa,Ab,Ac = [Aa Ab Ac] . (71)
Then compute det (A) and conrm that,
[Volume of parallelpiped spanned by Aa,Ab,Ac] = det (A) [Volume of parallelpiped spanned by a,b,c] (72)
11
ETH Zurich
Department of Mechanical and Process Engineering
Winter 06/07
Nonlinear Continuum Mechanics
Exercise 2
Institute for Mechanical Systems
Center of Mechanics
Prof. Dr. Sanjay Govindjee
5.3 4th-order tensors
1 1 = (
ij
e
i
e
j
) (
kl
e
k
e
l
) (73)
=
ij
kl
e
i
e
j
e
k
e
l
(74)
I =
ik
jl
e
i
e
j
e
k
e
l
(75)
I =
il
jk
e
i
e
j
e
k
e
l
(76)
I
symm
=
1
2
_
I + I
_
(77)
I
skew
=
1
2
_
I I
_
(78)
Show the following,
1 1 : A = tr (A) 1 (79)
I : A = A (80)
I : A = A
T
(81)
I
symm
: A = A
symm
(82)
I
skew
: A = A
skew
(83)
where A is an arbitrary 2nd-order tensor.
12