Mathematics Review

1. Scalar a mathematical entity that has magnitude only

e.g.: temperature T speed v time t density

scalars may be constant or may be variable Laws of Algebra for Scalars:

yes commutative yes associative ab = ba a(bc) = (ab)c

yes distributive a(b+c) = ab+ac

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

2. Vector a mathematical entity that has magnitude and direction

e.g.: force on a surface f velocity v

vectors may be constant or may be variable Definitions

magnitude of a vector a scalar associated with a vector

v =v

f = f

unit vector a vector of unit length

v =v v

a unit vector in the direction of v

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

Laws of Algebra for Vectors:

1. Addition

a+b a b

2. Subtraction

a+(-b)

a b

Faith A. Morrison, Michigan Tech U.

Laws of Algebra for Vectors (continued): 3. Multiplication by scalar v yes commutative yes associative yes distributive

( v ) = ( )v = v
(v + w) = v + w

v = v

4. Multiplication of vector by vector 4a. scalar (dot) (inner) product

v w = vw cos
Note: we can find magnitude with dot product v v = vv cos 0 = v 2
v = v = vv

v w

Faith A. Morrison, Michigan Tech U.

Laws of Algebra for Vectors (continued): 4a. scalar (dot) (inner) product (cont) yes commutative NO associative yes distributive

v w = wv v w z
no such operation

z (v + w) = z v + z w

4b. vector (cross) (outer) product

v w = vw sin e
v

is a unit vector perpendicular to both v and w following the right-hand rule

Faith A. Morrison, Michigan Tech U.

Laws of Algebra for Vectors (continued): 4b. vector (cross) (outer) product (cont) NO commutative

v w w v

yes associative v w z = (v w) z = v (w z ) yes distributive

z (v + w) = (z v ) + (z w)

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

Coordinate Systems
Allow us to make actual calculations with vectors Rule: any three vectors that are non-zero and linearly independent (non-coplanar) may form a coordinate basis Three vectors are linearly dependent if , , and can be found such that:

a + b + c = 0 for , , 0
If , , and are found to be zero, the vectors are linearly independent.

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

How can we do actual calculations with vectors?

Rule: any vector may be expressed as the linear combination of three, non-zero, non-coplanar basis vectors coefficient of a in the e y direction any vector

ax x + a y e y + az e z = a y a = axe az xyz 1 + a2e 2 + a3e 3 = a1e j = a je

j =1 3

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

Trial calculation: dot product of two vectors

1 + a2e 2 + a3e 3 ) (b1e 1 + b2 e 2 + b3e 3 ) a b = (a1e 1 (b1e 1 + b2e 2 + b3e 3 ) + = a1e 2 (b1e 1 + b2 e 2 + b3e 3 ) + a2 e 3 (b1e 1 + b2e 2 + b3e 3 ) a3e

1 b1e 1 + a1e 1 b2e 2 + a1e 1 b3e 3 + = a1e 2 b1e 1 + a2e 2 b2 e 2 + a2 e 2 b3e 3 + a2 e 3 b1e 1 + a3e 3 b2e 2 + a3e 3 b3e 3 a3e
If we choose the basis to be orthonormal - mutually perpendicular and of unit length - then we can simplify.

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

If we choose the basis to be orthonormal - mutually perpendicular and of unit length, then we can simplify.

e 1 e 1 = 1 e 1 e 2 = 0 e 1 e 3 = 0

a b = a1e 1 b1e 1 + a1e 1 b2e 2 + a1e 1 b3e 3 + + + a2e b e a e b e a e 2 11 2 2 2 2 2 2 b3e 3 + a3e 3 b1e 1 + a3e 3 b2e 2 + a3e 3 b3e 3 = a1b1 + a2b2 + a3b3
We can generalize this operation with a technique called Einstein notation.

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

Einstein Notation
a system of notation for vectors and tensors that allows for the calculation of results in Cartesian coordinate systems.

a = a1e 1 + a2e 2 + a3e 3 = a je j = a je j = ame m

the initial choice of subscript letter is arbitrary the presence of a pair of like subscripts implies a missing summation sign
j =1 3

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

Einstein Notation (cont) The result of the dot products of basis vectors can be summarized by the Kronecker delta function

e 1 e 1 = 1 e 1 e 2 = 0 e 1 e 3 = 0

1 i = p e i e p = ip = 0 i p
Kronecker delta

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

Einstein Notation (cont) To carry out a dot product of two arbitrary vectors . . . Detailed Notation Einstein Notation

a b = (a1e 1 + a2e 2 + a3e 3) (b1e 1 + b2e 2 + b3e 3) = a1e 1 b1e 1 + a1e 1 b2e 2 + a1e 1 b3e 3 + a2e 2 b1e 1 + a2e 2 b2e 2 + a2e 2 b3e 3 + a3e 3 b1e 1 + a3e 3 b2e 2 + a3e 3 b3e 3 = a1b1 + a2b2 + a3b3

a b = a je j bme m = a j jmbm = a jbj

Faith A. Morrison, Michigan Tech U.