1

Chapter 1: INTRODUCTION

HW 1 Solution

1
1.1 Newtons second law can be expressed as
F = ma

(1)

where F is the net force acting on the body, m mass of the body, and a the acceleration
of the body in the direction of the net force. Use Eq. (1) to determine the governing
equation of a free-falling body. Consider only the forces due to gravity and the air
resistance, which is assumed to be proportional to the square of the velocity of the
falling body.
Solution: From the free-body-diagram shown in Fig.P1.1 it follows that
m

dv
= Fg
dt

Fd ,

Fg = mg,

Fd = cv 2

where v is the downward velocity (m/s) of the body, Fg is the downward force (N or
kg m/s2 ) due to gravity, Fd is the upward drag force, m is the mass (kg) of the body,
g the acceleration (m/s2 ) due to gravity, and c is the proportionality constant (drag
coefficient, kg/s). The equation of motion is
dv
+ v 2 = g,
dt

c
m

cv2

Fd

v
Fg

mg

Fig. P1.1

1.2 Consider steady-state heat transfer through a cylindrical bar of nonuniform cross section. The bar is subject to a known temperature T0 ( C) at the left end and exposed,
both on the surface and at the right end, to a medium (such as cooling fluid or air)
at temperature T1 . Assume that temperature is uniform at any section of the bar,
T = T (x), and neglect thermal expansion of the bar (that is, assume rigid). Use the
principle of conservation of energy (which requires that the rate of change (increase)
of internal energy is equal to the sum of heat gained by conduction, convection, and
internal heat generation) to a typical element of the bar (see Fig. P1.2) to derive the
governing equations of the problem.
Solution: If q denotes the heat flux (heat flow per unit area, W/m2 ), then [Aq]x is
the net heat flow into the volume element at x, [Aq]x+ x is the net heat flow out
of the volume element at x + x. If h denotes the film conductance [W/(m2 C)],
P x(T1 T ) is the heat flow through the surface of the rod into the body, where T1
is the temperature of the surrounding medium and P is the perimeter (m). Suppose
that there is a heat source within the rod generating energy at a rate of g (W/m3 ).
Then the energy balance gives
[Aq]x

[Aq]x+

or, dividing throughout by

[Aq]x+

+ P

x(T1

T ) + gA

x=0

x,
x

[Aq]x

+ P (T1

T ) + Ag = 0

(1)

heat flow in,

(Aq)x

heat flow out,

(Aq)x+x
x

Fig. P1.2

1.3 The EulerBernoulli hypothesis concerning the kinematics of bending deformation of

a beam assumes that straight lines perpendicular to the beam axis before deformation
remain (1) straight, (2) perpendicular to the tangent line to the beam axis, and (3)
inextensible during deformation. These assumptions lead to the following displacement
field:
dv
u1 (x, y) = y , u2 = v(x), u3 = 0,
(1)
dx
where (u1 , u2 , u3 ) are the displacements of a point (x, y, z) along the x, y, and z coordinates, respectively, and v is the vertical displacement of the beam at point (x, 0, 0).
Suppose that the beam is subjected to a distributed transverse load q(x). Determine
the governing equation by summing the forces and moments on an element of the beam
(see Fig. P1.3). Note that the sign conventions for the moment and shear force are
based on the definitions
Z
Z
V =
M=
y xx dA,
xy dA,
A

and may not agree with the sign conventions used in some mechanics of materials books.
Solution: Summation of the forces in the transverse direction on the element of the
beam gives
(V + V ) V + q(x) x = 0.
Dividing throughout with

x and taking the limit

x ! 0 gives

dV
+ q = 0.
dx
Taking the moment of forces about the right end of the element, we obtain
X
Mz = 0 :
V x M + (M + M ) + q x x = 0,
where is a number 0 1. Again, dividing throughout with
limit x ! 0 gives
dM
V = 0.
dx

(2)

x and taking the

(3)

Figure P1.3
3

CHAPTER 1: INTRODUCTION

y, v

q(x)
y

Beam
cross section

q(x)

q(x)

xy + d xy

x
M

dx
M=

xx
M + dM
V + dV

ys

xx

xy

dA, V =

xx + d xx

dx
xy

dA

Fig. P1.3

Note that V and M denote the shear force and bending moment on the entire cross
section, and they have the meaning
Z
dM
M (x) =
.
xx y dA, V (x) =
dx
A
Here A denotes the area of cross section. The stress resultants (V, M ) can be related to
the deflection v. Using the linear elastic constitutive relation for an isotropic material

d2 v
y 2 .
xx = E"xx = E
dx
Substituting into the definition of M , we obtain

Z
Z
d2 v
M (x) =
y 2 y dA =
xx y dA = E
dx
A
A

EI

d2 v
,
dx2

where I is the moment of inertia about the axis of bending (z axis). Then

d
d2 v
V =
EI 2 .
dx
dx

(4)

(5)

Equations (2)-(5) can be combined to obtain the following fourth-order equation for v:

d2
d2 v
EI
= q(x).
(6)
dx2
dx2

1.4 A cylindrical storage tank of diameter D contains a liquid column height h(x, t). Liquid
is supplied to the tank at a rate of q (m3 /day) and drained at a rate of q (m3 /day).
i
0
Assume that the fluid is incompressible (that is, constant mass density ) and use the
principle of conservation of mass to obtain a dierential equation governing h(x, t).

Solution:

The conservation of mass requires

time rate of change in mass = mass inflow - mass outflow.

determine if the following set of vectors is linearly independent:

r1 = A 3B + 2C, r2 = 2A 5B + 3C, r3 = A 5B + 4C.
2.11 Determine whether the following set of vectors is linearly independent:
2 + e
3 ,
A = 2
e1 e

3 ,
B =
e2 e

2 .
C =
e1 + e

i are orthonormal unit base vectors in .

Here e
3
constitute an orthonormal basis. In terms of this basis, define a
2.12 Let the vectors (i, j, k)
cogredient basis by
3

CHAPTER
2: VECTORS AND TENSORS
,
10
e1 = i j , e2 = i + 2 j 2 k

11

MANUAL
e3 = 2 i + j + SOLUTIONS
k.

Determine
Finally,
(a) the dual or0 reciprocal (contragredient) basis1 (e21 , e32 , e3 ) in terms of the orthonormal
(a) the dual or
(contragredient)
e1 e3 )
e1 (
e2 basis
e3 )
e2(e , e , e ) in terms of the orthonormal basis
3 =
j, e
reciprocal
basis
k)
, e3 (
(i,

(i, j, k)
,
3
2
3
1+
= (or
2i1norms)
+ i2 + i|e
+|, |e2 2|,i1|e+
i1 and2i|e
(b) the magnitudes
and
31
23+|,i3
3 |,i2|e
1 |, |e
2 |,
5 2 |, |e3 |, |e |, |e2 |, and |e |, and
(b) the magnitudes (or norms) |e1 |, |e

(c) the cogredient components

A
3
1 , A2 , and A3 of a vector A if its contragredient components

(c) the cogredient=components

A
i12 + A
2i12, +
5,i3and
, A3 of a vector A if its contragredient components
1
32
are given by A 10
= 1, A2 = 2, A3 = 3.
1, A = 2, A = 3.
are given by A1 =

and

e03
1 process,
2.13 Using
the GramSchmidt
orthonormalization
construct
the orthonormal sets
Solution:
(a) Note that e

3 = 0 = p
i1 + 2 i2 + 5 i3 .
|e3 |of vectors:
associated with the following sets
30
e2 e3 = 4 i 5 j 3k,
e3 e1 = i j k,
[e1 e2 e3 ] = 1.
e1 e2 = 2 i 2 j k,
(a) e1 = i1 + i3 ,
e2 = i1 + 2i2 + 2i3 , e3 = 2i1 i2 + i3 .
2.14 Prove the following vector identity using index notation:
Then

= 2i1 + i21AND
,
eTENSORS
e3 = 2i1 3+ i2 + i3 .
(b) 2:e1VECTORS
2 = i1 2i2 +2i3 ,
CHAPTER
11
C)e==(A
i C)B
j k,
(A

e = 4 i A 5j (B3
k,
e =B)C.
2 i 2 j k.
Here (i1 , i2 , i3 ) denotes an orthonormal Cartesian basis.
(b) The magnitudes of the base vectors are
Finally,
Solution: We begin with the left side of the equality and arrive at the right side:
p
pe0 = e
(
e1 e3 )
e1 p(
e e )
e2 p
3
3 , |e(
6,2C |e)31=
|=
5B 2C, e|e2 |e= e
|e
| = 23 , |e32 | =
3| =

p3 , |e | = 3.
A1 (B C) =
Ai e
e
B
A
i
j
i
j
` ejk`
k
k
jk`
pi`
3
1
i2 +
1 2i2 + i3
= =
2i1( + i2 + i3 + )A
2i1B+C
p =2 AiiB
j Ai Bi Ck e
k
jp
i j ke
j Ci e
kp
1
2 ki
3ji 5

(c) We have A = A e13 + A e2 + A e3 = e1 + 2e2 + 3e3 . We obtain

=
(A

C)B
(A

B)C.

=
i1 + 2 i2 + 5 i3 ,
A1 =10
(e1 + 2e2 + 3e3 ) e1 = 2 2 3 3 3 = 13
and
0 3e
2.15 Prove the following
vector
using
A2 =
(e1 +identity
2e2e+
eindex
3notation:
+ 2 9 +3 2 = 21
3) 1
2=
i1 + 2i2 + 5i3 .
PROBLEMS
75
3 = 30 = p
e
2|e
A3 = (A
(e1 +B)
2e
3e
30
e3 =
+ 2=
|A|
2 +2 3|B|
26. = 19.
2++
3 ) B)
3 |(A
(A 3 B)

Index Notation

2.14 Prove the following vector identity using index notation:

PROBLEMS
Solution: We begin with

75
2.14
vector identity
using index process,
notation:construct the orthonormal sets
2.13 Prove
Using the
thefollowing
GramSchmidt
orthonormalization
A

(B

C)
=
(A

C)B
(A

B)C.
the
setse
of) vectors:
Index associated
Notation
p(A
(A B) with
(A
B)following
= (A
(A(A
emnpe
) B)C.
j eijk
mB
k =
A iB(B
C)
nC)B

(a)
e
=
i
+
i
,
e
=
i
+
2
i
+
2
i
,
e
=
2
+ i3jn
.
= Ai2identity
Bj A1m Bnusing
e2ijk emnk
A3i Bj Aim1 Bni(2 im
1 following
1
3 vector
3 = notation:
jm )
2.14
Prove
the
index
Solution:
We
begin
with the
left side
of the
equality
and arrive at
the in
right
side:
2.15
Prove
the
following
vector
identity
using
index
notation:
PROBLEMS
i1j Bj2i2 A
i1 + i2 +
(A 2A)(B
B)i3 . (A B)(A B),75
(b) e1 = 2i1 + i2 , = Aei2A=i B
+iB
i3i, Aj Bje=
3 =
2
2 e 2e
C)
)C)B

eB)C.
(B
A (B C) (A
=AA
e
B(A
=
ie
i
jC
i B(A
j C|A|
` ejk`
k
k
jk`|B|
pi`.p

B)
+(
(A
=B)
(A
A
B)
=
Indexfrom
Notation
where
(i1 , i2the
, i3 )desired
is a anidentity
orthonormal
Cartesian basis.
which
follows.
p = Ai Bj Ci e
j Ai Bi Ck e
k
= ( identity
jp ki
ji kp )Ai Bj Ck e
2.15
Prove
the following
using
index
notation:
2.16 Prove
Use index
notation vector
and the
e- identity
to rewrite
the vector expression as a sum (or
2.14
the following
identity
using
index
notation:
Solution:
(a) Set vector
=
(A

C)B
(A

B)C.
vector expression as a sum
(or
two vector
2.16 dierence)
Use index of
notation
and expressions:
the e- identity
rewrite
1 B) the
e1B)to (A
(A B)2 +

=i |A|2 |B|2 .
1(A
= p
=
3 B)C.
5 dierence) of two vectorAexpressions:
(Be
C)|e=| (A
C)Bi1+(A
1 A) 2
(
notation:
B,
2.15 Use
Prove
the notation
following and
vector
using
index
2.16
index
theidentity
e- identity
to
rewrite
the vector expression as a sum (or
2 is
Then the
e
constructed
as identity
follows: using
(r
A) notation:
B
2.15 Prove
following
vector
index
2
2
2
dierence)
of two
vector
where A and
B are
vector
functions.
! B)
" (A B) = |A|
(Aexpressions:
B)
+ (A
|B|
.

3
xy
2
2 12
0 and B are vector functions.
where
A

i2 + ipoint,
2.17 Simplify
(A2i
, iwhere
i1=+
|xi|A|
and. yi1is+a4fixed
and
+
B)
=
|B|
e2the
= evector
(
e1expression
(A
e2 )
e 1B)
= i
2
=
2
1 +
2 +
3(A B)
3 y|
3 .
( A) 2B,
2

x
is
the
position
vector
of
a
point
in
a
3D
space.
Express
the
final
result
in
terms
of

Solution:
We
begin
withthe e- identity
Solution:
We
have and

0
2.16 where
Use
index
notation
to
rewrite
the
vector
expression
as
a
sum
(or
e2!
1
only. A and B are vector e
i1 + 4i2 + i3 .
functions.
= "p
2 = @A
dierence)
of(A
twovector
expressions:
0 xy
among
(A
B)
B)
=prove
(A
e
k(A
Bpne
epmnp
e
) y|vectors
|e
|kj)e
i Bthe
m
p|x
ijk
3
2
2.18 Simplify
Using
index
notation,
following
identities
A,a B,
C, point,
and D:
2.17
the (r
vector
expression
2e
,
where
and y is
fixed
and

A)

B
=
"jijk

(B
) =
@xi
= of
AiaBjpoint
Am Bin
emnk
=
A
Bj Am Bnthe
( imfinal
)
xSimilarly,
is the position vector
a 3D
space.
result
in
terms
of

n e(
iExpress
jn
in
jm
ijk
A)

B,
2
(a) e0(A

e(B
C)
(C
. j
j A) = (A (B C)) @A
e3B)
eB
)
e1@A
(
e2pAe
eqB
)
e=
1B
3kpq
3=
2 ip

3 ==
"
"
B
(
)
B
e
only.
jq
iq
jp
p
q
ijk
Ai=
A(
A
B
(A

A)(B

B)
(A

B)(A

B),
i
j j
i j j
i [A (C
i
i"
D)]B
A andnotation,
B are(A
vector
(b)

B) functions.
(Cfollowing
D)@x
[B (C@x

3=
5
2.18 where
Using index
prove
identities
A,D]A.
B, C, and D:
i@A
i3 + among
i1 vectors
i1 ithe
i3! xy
=
2
+
+
+and
4i2 y+isi3a fixed point, and
@A
2
1
j
j
2.17 Simplify
the the
vector
expression

,
where

=
|x

y|
from which
desired
identity
follows.

=
B
B
B

rA
rA

B.
18

ie
j2
je
i =
2.19 Prove that (a) (A B)
# 2.

@xi C) (C#@x
iA) = (A (B C))
of
x is the position vector1 of a (B
point
in a 3D#
space.
Express the# final
result in terms
=
2i1 + i2 2i3 . # A D A E A F #
#
#
2.16 6
Use index notation
the
eidentity
to
rewrite
the
vector
expression
as
a
sum (or
only.
(b) (Aand
9B)

(C

D)
=
[A

(C

D)]B

[B

(C

D]A.
[ABC][DEF]
= #B D B E B F # ,
#y| andA,
dierence)
ofnotation,
two vector
expressions:
and index
2.18
prove
the r
following
vectors
and point,
D:
2.17 Using
Simplify
the
vector
expression
0 x y #identities
, where
|x F
y B,
is aC,fixed
C
D C among
E= C
e3
1#
2.19 Prove that
#

e
=
=
2
i
+
i
2
i
.
and from
x is the
position that
vector of
in# a
3D
3 a point
1 space.
2 final result in terms
and
there
A)
D
A2(A
E#Express
A3 F # the
A)

B
(a) show
(A B) (B C)
(C

=
|e03 |(r
3# ##A
# (B #C)) .
of only.
DisB it
E #B F ## ,
[ABC][DEF] = ## #Bir
# . [B# (C D]A.
(Avector
B)
(Ceijk
D)
(Cjs
D)]B
erst==[A
(b) SetA and(b)
where
B are
functions.
# ##Cjr
D
C jt
E #C
F

Solution: We have
#
e1 # 1
kr ks
kt
i1+
p

e
=
2
i
1 =
2
2.19 and
Prove
that

#
#
from
there
show
that
Solution:
We
have @ n
# 5
# o #
x the
y following
AF#
2.20 Establish
identities
: |e1 | ##y#A
A itE##1/2
ir D
j
r
=e
(x y)[(x
#
i
i )(x
i is yi )]
@A
#
2 is constructed
Then e
as
follows:
j
@x
#
#
B

D
B

E
B F ## ,#
#
#
#
j [ABC][DEF]
=

e
=
e
k ##(Bjr
p )js
(r A)
B = "ijk#ijk rst
e
pe
#
n
o jt ## .
i1
i2
i3
# ## ip iq ir ##
#
@x
#
i
#
#
C

D
C

E
C

F
1/2

1
kr
ks
kt
j#ej1
=e
ej [(x
y#i i.)(x2ii +
yi)] (b)
i@A
#.
(a)
p ## jp
e2pqr
j3
e02 =eeijk
)
e1i=
0 )eijke
==
2 =(
1 e
2 j2
2 j i3
1 jq
j 2i2jr+# i3 .
#1 @A
from there
show## that

q#
=
"
"
B
)
B
#
#
#
#
2.20 and
Establish
the following
identities
:
pe
q = ( ip jq
iq 6
jp
pe
ijk
kpq

k1 k2 k3
kp@xkq kr
@xi # ir is it #
i
#
#
#
#
#
#
# j (d)
# .emnk =# im jn
# jm .
(c) eijk eijk# = 6. @Ae#j e =@A
eijk
in

2.18 Using index notation prove the following identities among vectors A, B, C, and D:
(a)
(b)

(A B) (B C) (C A) = (A (B C))2 .
(A B) (C D) = [A (C D)]B

[B (C D]A.

Solution: (a) We have (A B) (B C) (C A)

k ) [(erst Br Cs e
t ) (emnp Cm An e
p )]
= (eijk Ai Bj e
= eijk erst emnp Ai Bj Br Cs Cm An etpq
=(

it jp

= (ersi emnj

kq

ip jt ) erst emnp Ai Bj Br Cs Cm An

ersj emni ) Ai Bj Br Cs Cm An

= (B C A) (C A B)

(B C B) (C A A)

= (B C A) (C A B) = (B C A)2
Note that B C A = A B C.

77

PROBLEMS
(b) We have

(b) (F
)=
(A
B)0. (C D) = (e

k )
ijk Ai Bj e

(c) (F G) = 0.

p )
(emnp Cm Dn e

q
= eijk ekpq emnp Ai Bj Cm Dn e
(d) (F A) = A F + F = A.
q
emnp ( ip jq
iq jp ) Ai Bj Cm Dn e

(e) (F A) = F A A=emni
FA. i Bj Cm Dn e
j

i
emnj Ai Bj Cm Dn e
(f) (A B) = A B + B =
A
+
A

B)
+
B

A).
(C D A) B (C D B) A.

7 (g)

(A B) = A B B A.

2.19 Let
Prove
2.32
A that
and B be vector functions of position vector x with continuous first and second
AD A
E A Fx with continuous first and
derivatives, and let F and G be scalar functions
of position
B

D
B

E
[ABC][DEF]
=
second derivatives. Use index notation to show that: B F ,
CD CE CF
(a) (A B) = B A A B + A B B A.
and from there show that
(b) ( A) A = A A A A. ir is it
erst+=G jr2 F .js jt .
G
(c) 2 (F G) = F 2 G + 2Feijk
kr

(d) 2 (F x) = 2F + x 2 F .

ks

kt

1
two
(A properties
A) A of
determinants:
A.
(e) A A
= the
Solution:
Recall
(1) det ([S][T ]) = det [S] det [T ]
2
T
and
det [S]
det
[S]. Therefore,
we have
(f)(2)
(A
x) ==A
+ A
x.
2
32 2
3
(g) 2 (A x) = 2
A1 AA
A3x DA.
2 +
1 E1 F1
[ABC][DEF]
= 4 B 1 B 2 B 3 5 4 D 2 E2 F2 5
2.33 Show
that
C1 (R
C2 Cn3x) =D
3 F
3 n2 xx,
R3n IE+
nR
R2 = x x
A1 D1 +and
A2 D
A3spherical
D3 A1 E1coordinate
+ A 2 E2 + A
2 +
3 E 3 A 1 F1 + A 2 F 2 + A 3 F3
using (a) index notation
(b)
the
system.
B
D
+
B
D
+
B
D
B
E
+
B
E
+
B
=
1
1
2
2
3
3
1
1
2
2
3 E3 B 1 F1 + B 2 F2 + B 3 F3
2.34 Show that
n2
2
C1 D1+2 (R
C2nD
+
C
D
C
E
+
C
E
+
C
2
3
3
1
1
2
2
3
x) = n(n + 3)R
x, R = xE 3x C1 F1 + C2 F2 + C3 F3

A D Aand
E (b)
A the
F spherical coordinate system.
using (a) index notation,
BD
B of
Ea B
F .surface is zero, that is,
2.35 Show that the =
vector
area
closed
CD CE CF !

(1)

when
n
ds = we
0. take A = D = e
1 , B = E = e
2 , and
The second identity follows from Eq. (1)
s
3 .
C=F=e
2.36 Show that the volume of the region enclosed by a boundary surface is
!
!
ds = 13
ds.
(r2 ) n
rn
volume = 16

2.37 Let (r) be a scalar field. Show that

"
!

ds.
2 dx =

n
2.38 In the divergence theorem (2.4.34), set A = and A = successively and
obtain the integral forms
" #
!
$

(a)
ds,

2 + dx =
n

&
" #
! %
$

2 2 dx =
(b)

ds,
n
n

&
%
!
" #
$

ds,
(2 ) 2
4 2 2 dx =
(c)
n
n

where denotes a (2D or 3D) region with bounding surface . The first two identities
are sometimes called Greens first and second theorems.

19

CHAPTER 2: VECTORS AND TENSORS

Solution:
(a) Using the index notation, we write
@
i
r (r A) = e
@xi
= ejk`

i`

@Ak
`
ejk`
e
@xj

@ 2 Ak
@ 2 Ak
= eijk
= 0,
@xi @xj
@xi @xj

because of the symmetry of Ak,ij in i and j.

(b) We have
i
curl(gradF ) = e

@
@F
@2F
j
k
e
= eijk e
= 0,
@xi
@xj
@xi @xj

where the last result is arrived by virtue of the symmetry of (@ 2 F/@xi @xj ) = (@ 2 F/@xj @xi ).
(c) Because
obtain

@2F
@xi @xj

is symmetric in i and j and

is symmetric in i and k, we

@F
@G
j
k
e
e
@xj
@xk
2

@ F @G
@F @ 2 G
` )
= ejk` (
ei e
+
@xi @xj @xk
@xj @xi @xk
2

@ F @G
@F @ 2 G
= eijk
+
= 0.
@xi @xj @xk
@xj @xi @xk

r (rF rG) =

@2G
@xi @xk

i
e

@
@xi

(d) Because F = F (x) and A=A(x), we have

@
@Aj
@F
i
r (F A) = e
(
ej Aj F ) = ij
F + Aj
@xi
@xi
@xi
@Ai
@F
=
F + Ai
= r AF + A rF.
@xi
@xi
(e) Because F = F (x) and A=A(x), we have

@
@Aj
@F
i
k
r (F A) = e
(
ej Aj F ) = eijk e
F + Aj
@xi
@xi
@xi
@Aj
@F
k
k Aj
= eijk e
F ejik e
= F r A A rF.
@xi
@xi
(f) Because A = A(x) and B = B(x), we have
@
(Aj Bj )
@xi

@Aj
@Bj
i
=e
Bj + Aj
= rA B + rB A.
@xi
@xi

i
r(A B) = e

(1)

Next consider

@Bk
@Bk
p
q eqip ejkp Ai
A curl B = (
ei Ai ) ejkp e
=e
@xj
@xj
@Bk
@Bi
@Bk
q ( qj ik
j Ai
k Ai
=e
=e
e
qk ij )Ai
@xj
@xj
@xi
= rB A A rB.

(2)

Therefore,
A (r B) + B (r A) = rB A

A rB + rA B

B rA

xx, R = x x
(R x) = R I + nR
Using the Divergence Theorem in Eq. (2.4.46), we can write
using (a) index notationIand (b) the Z
spherical coordinate system.
2.34 Show that
ds =
rn
r r dx = ii V = 3V.
PROBLEMS
2 (Rn x) = n(n+ 3)Rn2 x, R2 = x x

79

2.49
For
arbitrary
second-order
tensor
S show that
S in
the cylindrical
coordinate
usingan(a)
index
and (b)
the spherical
coordinate
system.
gives
the notation,
required
result.
20which
SOLUTIONS
MANUAL
is given
by
2.35 system
Show that
the vector
area of a closed surface is zero, that is,
!
"
!
2.37 Let (r) be a scalar field. Show
Srr that
1 Sr
Szr
1
r+ B rA) .
S=
+
+
+
(S

S
)
e

=
rA

B
+
rB

A
(A

rB
rr

n
ds
=
0.
Iz
r Z r
r
@
2 s
!
"
r
dx =identity
ds.
1
S
Sz
1boundary surface is
S
Fromthat
Eqs.the
(1)volume
and (2)ofthe
required
vector
r

@n+a follows.
2.36 Show
enclosed
by

+
+
(Sr + Sr ) e
+ the region
r
z
r!
!r
"
! B =1 B(x), we
(g) Because A = A(x) and
2 have
1 S
S
Srz
ds
ds. write
(r
) Eq.
n
= 131 rwe
n
volume
= Theorem
zz(2.4.46),
z in
Solution: Using the Divergence
6

can
e
+
+
+
S
+
.
rz

@A z
r
r
z
r
@
@Bk
j
Z =e
i
` ) = eijkI @ Bk + Aj
r (A B)
(ejk`IAj Bk e
@xi coordinate
2.37 For
Let (r)
be a scalar
field.rShow
that
i =
rthat
r@x
dx
n
dS= S@x
ds. cylindrical
2.50
an arbitrary
second-order
tensor
S show
ini the
@n
" B curlB !A.
= curlA
system is given by

ds.
2 dx =$
$
#
#
n
8
r

S
S
1
S
1
S
zr
r
z
2.38
the
theorem
(2.4.45),
set
A
A continuous
=
and
rvector
xand
e
be

Sz= vector
r successively
+first and second
+r
e

S=
2.32 In
Let
A divergence
and
Be
functions
of
position
with
re
r (2.4.34),
z set
r A = andzA =
r successively and
2.38 obtain
In
the the
divergence
integral
forms
derivatives,
and lettheorem
F
and
G
be
scalar
functions
of
position
x
with
continuous
first
#
#
$ and
$
obtain
integral
1 Srz iSz I
1
1 Sz
S
1
Z forms
h
secondthe
derivatives.
Show
that:
z e
z

@r e
e
Sz
+
+e

+ Szr +
r= ! ds,r
z
r
(a) " # rr2 + rr r $dx
2
$
$
#
#
@n
(a) r (A
B
rA
A
rB
+=Ar B ds,
Br A.
=
(a) B)
+

dx

n
Szr
Sz
ZSrr
I1S
zz

h
r e
+ie
+
2
(b) (r (b)
A)eerA "=z
rA
A. z= !r %@ z@ &ds,
r rA
#Ar
r2 $dx

#
2
2
$
#
$
@n
@n
2 dx = 2
(c) r2 (F (b)
G) =ZF hr
Gr+ 2rF
+ G rI F
1 SrrrGi1
Szz
1. n n ds,
S
Srz

e
z e
"r
z
Sr +! %Sr@ + 2e
+
e
4
2
2+
2 @ &
r
r
# r
(d) r2 (F (c)
x) = 2rF
+4 x r2rr
F 2.r 2 $rdx = r @n
ds,
$(r 2 ) rz
2 @n
#

1
(c)
1 dx = 1 Srn ( ) n ds,
1S
(e) A rA e
=
r
+ SA
.
r SrrA.

ze
2 A A

where denotes a (2D
or 3D)rregion with
bounding
r
r
r surface . The first two identities
(f)
r(A

x)
=
A
+
rA

x.
where

denotes
a
(2D
or
3D)
region
with
bounding
surface
. The first two identities
are sometimes called Greens first and second theorems.
2.51 For
an arbitrary
second-order
tensor
that
S in the spherical coordinate system
2
2 S show
are(g)
sometimes
called
Greens
first
and
second
theorems.

r (A x) = 2r A + x r A.
is
byThe
integral
relations
(a) The
identity
is obtained
2.39 Solution:
Letgiven
V and
S be
smooth
vectorare
andobvious.
second-order
tensor
fields
defined inbysubstitutand on
&
ing
Aclosed
= % S
rboundary
for A1 into
Eq.and
(2.4.45)
S
(the
of and
)
n
bewe
the
unit
S
1B(x),
1 outward normal to . Establish the
RR
R
R
(a) SBecause
A =+A(x)
B =let
have
R
+
+
[2S

S
+
S
cot
]
e

=
RR

R
Z
I
I
identity
R
R !
R sin " R
@
%
&

T =
r ( rV @) d
=
n

(
r
)d
d
.
(A
1n
dsjS
=k
i S
1p)(S V) dx. @n
rS
R
(A 1B)S
=e
B
ejkpe

+
+
+
[(S
+

S
)
cot

+
S
+
2S
]
e
@x

R
R
i

R
R
R sin R
@Aj 2.17(d) @B
% of the equality, as per Problem
& ,
The left side
with
k A replaced there with r
q S Bk 1+ Aj
1 S=ejkp eqip1e
SR
is equal +
to
@xi + [(S
@x+i S ) cot + 2SR + SR ] e
.
+
+
R

R
R

R
sin

Z
Z
Z
@Aj
@Bk
= (r
( jq coordinate
eqr ) d
B=
ji kq
jr r + r2
k +A
r (u
rin) the
d =
kir +
r)
d.
2.52 Show that
spherical
system
by
@xisi given
@xi

u@Aj
u@Bi
uR
@Ai
@Bk
R e
R e
R e
R=+e
i + Aj e
e
e
e
u =
j
k
B
Bk + Ai
R
R
R
@x
@x
@x
@xi subtracting
i
i
i
(b) This identity follows
directly
and and
#
$ from (a) by#interchanging
$
u
u
u
1
1
1
CHAPTER
2:
VECTORS
AND
TENSORS
31
R

=
B

rA
+
Ar

B
Br

A
A

rB.
the resulting identity
from
theuonee
e
ine
e
(a).
+

+ uR e
e
+
R +
R

R
R
$
# r2 .
$
!# (b) by replacing
(c) This identity follows
with
1 from
u
uR

(b) Because

given

expres+= A(x), we
sin

e
+
cos

e
e
e
u

u
R e

Collecting
theAcoefficients
of have
e
,
e
e
,
e
e
and
so
on,
we
obtain
the

R R
R R
R sin

or you can solve by using indicial notation after the substitution like we did in class when I
sion for the gradient of a vector
in
spherical coordinate
system.
"
$
#
@Athe
j
k (Ap e
p )
(r A) A = eu
e
ijk
showed the conversion from surface integral to volume integral for example
.
e
+ iuR sin + u cos e
+
@x
2.53 9
Prove the following identities
when A@A
and
B are vectors and S, R,
T are second@Aand
j
j
qare
q are second= eijk
ekpqA and
ApBe
= (vectors
Ap e
ip jq
iq jp )
order tensors:
2.53 Prove
the following identities
when
and
S,
R,
and
T
@xi
@xi
order tensors:
@Aj T
(a) tr(AB) = A B. = @Aj Ai(b)
j tr(S A)j =
i tr
e
e
=S.
A rA rA A.
@xi (b) tr(S
@xi T
(a)
tr(AB)
=
A

B.
(c) tr(R S) = R S.
(d) tr(RT)=
S)tr=S.R : S.
(c) tr(R
tr(R S)
S) =
= tr(S
R S.
(d)
tr(RT S S)
==
Rtr(T
: S. R S) = tr(S T R).
(e)
R).
(f) tr(R
T)
(c) Because r2 = r r, we have
(e) tr(R S) = tr(S R).
(f) tr(R S T) = tr(T R S) = tr(S T R).

@definition
@F of trace of@Ga dyad, we have tr(AB) = AB : I =
Solution:
(a)G)By
the
j
j
r2 (F
=e
e
G + Fe
i
@xj
@xj
i
Eigenvalue
Problems
Ai Bj ij =
Ai Bi = A@x
B.
T 2

T
@ S
Fji ij = S
@F
@F @G
@2G
(b)
We
have
tr(S
)
=
S
:
I
=
=@G
tr S.
2.54 Show that the characteristic
equation
i e
j
j second-order
=e
G +foriia symmetric
+e
+ F tensor can be
@x @x
@xj @x
@x @xj
@xj @xi
(c) We have
ij i = Rik Ski = iR S.
expressed
as tr(R S) = (R S)i : Ij = Rik Skj
2 T
2
3
2
T
@G==
@ :G
(d) We have tr(R S) = @(RF
S)+: I1=
R IS +
Rki
S.
@F
0,Ski = R
i e
j
i ijI3 +
=e
G + 2
ej ki 2kj
e
Fe
i ej
@xR
j ij =
i ik Ski = Ski@x
j @x
(e) We have tr(R S) = @x
(Ri @x
S)j : I = Rik@x
Skj
Rik
=i tr(S R).
@ 2 F= (RST) : I = Rik Skm@T2mj
G ij = Rik Skm Tmi = Tmi Rik Skm =
(f) We have tr(RST)
=
G + 2rF rG + F
@xi @xwe
tr(T R S). Similarly,
S
T)
i can show that tr(R@x
i @x
i = tr(S T R).

2.54 Show that the characteristic equation for a symmetric second-order tensor
expressed as
3
I1 2 + I2
I3 = 0,
where
I1 =
I =

kk ,

(2

I2 =

1
(
2

ii jj

ij

ji ),

) = det (

).

can be

80

32

VECTORS AND TENSORS

where

SOLUTIONS MANUAL
1
(ii jj ij ji ),
2
I3 = 16 (2ij jk ki 3ij ji kk + ii jj kk ) = det (ij ).
10 the eigenvalues
2.55 Find
and eigenvectors of the following matrices:
2.55 Find the eigenvalues and
matrices:
p
2 eigenvectors
3 of the following
2
3
4 0
3 0

4
p2
3
0
4
4
0
2

4
0 05
(a) 4 4
(b)
3
4 05

(a) 4
(b)
0
00 30 .
0
04 40 .
0
0
3
0
0
4
2
3
2
3
0
0
1 1
1
2
4 12 1
0 115
(c) 4 01 30 105
(d)
1
(c) 00 13 1
(d)
3
1
10 21 .
0 1
3
1
1 2

I1 = kk , I2 =

3
2
2.56 Solution:
Find the (a)
eigenvalues
and eigenvectors
of the
The characteristic
polynomial
is following
+ I1 matrices:
I2 + I3 = 0, which can be
expressed as

3 5 8
1 1
0
3
2
2
(a)
+
7 +54 1 480
=. 0 ! [(b) + 4 1
+ 16]( 2 1
3)=. 0.
8 0 2
0 1
2
Clearly, 1 = 3 is an eigenvalue
ofthe matrix. The remaining
two eigenvalues are

2
3 2 0
obtained from
+ 4 +116 =2 0.0Thus, we have
2 0 p0 .
(c) 1 1 p1 .
(d)
+ 15) = 6.4721,
3 = 2(1
1 = 3.0,
2 = 02(1
2
1 0 25) = 2.4721.

components
Ai associated
with 1with
= 3 the
are matrix
calculated from
2.57 The
Findeigenvector
the eigenvalues
and eigenvectors
associated
8
9
8
9
2
3

4 3
4
02 <2A110= < 0 =
4 4
0 [S]3 = 0 2 511A2 8 =
0 ,
.
:
; : ;
0
0
3 10
3
0
3
8A5

2 2 = 0 and n 4A1
3Ais2 any
= 0,square
or A1 matrix,
= A2 =we
0. define
Hence,the
A3polynomial
= 1 and
+ + an x , and [A]
2.58 which
If p(x)gives
= a0A+1 a1 x4A
(1) = (0, 0, 1).
the
eigenvector
is A
in [A]
by
p
The eigenvector components
with
= 22(1
from
p(A) = associated
a0 [I] + a1 [A]
+ a22[A]
+ + +5)anare
[A]ncalculated
.
8
9 8 9
2
3
If
4
4
0 % < A1& = < 0 =
2
4
51 1
4 0
0
A2 , = 0 ,
[A]
=
2
1: 1 ; : ;
0
0
3
A3
0
2
and p(x) = 1 2x + x2 , compute p(A).
which gives
2.59 CayleyHamilton Theorem Consider a square matrix [S] of order n. Denote by p() the
p
determinant
of 2|[S][I]|
[that is, p() p(S I)], called
the characteristic polynomial.
2+
5
(2) = ( 0.8507, 0.5257, 0).
A1 the
= CayleyHamilton
A2 = 1.618A
A
! p()
A
2,
3 = 0,that
Then
Theorem
states
= 0 (i.e., every matrix satisfies
4
its own characteristic equation). Here p() is as defined in Problem 2.58. Use matrix
Similarly,
we obtain
computation
to verify the CayleyHamilton theorem for each of the following matrices:
p

2+2 5
%
&
1
2(3) 1
A1 =
A2 = 1.618A
A3 = 0, ! A
= (0.5257,
0.8507, 0).
2,
1
1
4
1 0.
(a)
.
(b) 0
2
1
1 2 1
3
(b) The characteristic polynomial is
+ I1 2 I2 + I3 = 0, which can be expressed
2.60 asConsider the matrix in Example 2.5.3:
3
2
+ 10 2 29 + 20 = 0 !
5](
4) = 0.
2 1[ 0 + 6

The eigenvalues are ( 2 = 4 is obvious)

[S] = 11= 41, 1 2 . = 4,
3 = 5. The eigenvectors
0 1 2
are
(1) = (0.866, 0.5, 0); A
(2) = (0.0, 0.0, 1.0);
A
Verify the CayleyHamilton theorempand use it to compute the inverse of [S].
(3) = 1 (1,
A
3, 0) = (0.5, 0.866, 0).
2

3
(c) The characteristic polynomial is
+ I1 2
as
3
+ 7 2 14 + 8 = 0 ! [

The eigenvalues are

= 4,

= 2,

I2 + I3 = 0, which can be expressed

2

+6

8](

1) = 0.

= 1. The eigenvectors are

(1) = p1 (0, 1, 1), A

(2) = p1 (0, 1, 1), A
(3) = (1, 0, 0).
A
2
2

33

CHAPTER 2: VECTORS AND TENSORS

3
(d) The characteristic polynomial is
+ I1 2 I2 + I3 = 0, which can be expressed
as
3
+4 2
6=0 ! [ 2+5
6]( + 1) = 0.
The eigenvalues are 1 = 3,
=
2,
=
1.
The
eigenvectors
are
2
3
(1) = p1 (1, 0, 1), A
(2) = p1 ( 1, 1, 1), A
(3) = p1 ( 1, 2, 1).
A
2
3
6
Note that the eigenvectors are orthogonal to each other.

2.56 Find the eigenvalues and eigenvectors of the following matrices:

2
3
2
3
3 5 8
1
1
0
4 1
2
15
(a) 4 5 1 0 5
(b)
8 0 2
0
1
2
2
3
2
3
1
2 0
3 2 0
42 0 05
1 15
(c) 4 1
(d)
0
2 1
1 0 2
Solution:
(a) The characteristic polynomial is
as
3
+6
The eigenvalues are 1 = 11.8242
associated with i are

+ I1

I2 + I3 = 0, which can be expressed

+ 78
108 = 0.
2 = 1.2848,
3 =

(1) = (0.7300, 0.3372, 0.5945);

A

7.1090. The eigenvector

(2) = (0.4799, 0.8424, 0.5368);

A

(3) = ( 0.6817, 0.4204, 0.5987).

A

(b) Form the deviatoric form of the matrix

2
3 2 2
1 53
1
0
3
0
5
1 2 3
1 5=4 1
[ ]=4
0
1 2 53
0

3
1 0
15
1 13

1
3

and compute its invariants

"
#
2 2 2
1
2
1
1
14
0
I2 =
+
+
+2+2 =
,
2
3
3
3
6
#

" 2

2
1
1
7
I30 =
1 + ( 1)
=
.
3
3
3
27
The eigenvalues are
1

= 3.24698,

= 1.55496,

= 0.19806.

The eigenvectors are

(1) = (0.328, 0.737, 0.591),
A

(2) = (0.591, 0.328, 0.737),

A
(3) = (0.737, 0.591, 0.328).
A

3
(c) The characteristic polynomial is (I1 = 1, I2 = 1, and I3 = 1)
+ 2+
1=
0, and the eigenvalues are 1 = 1,
2 = 1,
3 = 1. The eigenvectors are (not
(1) = (1, 1, 1); A
(2) = (1, 0, 1); A
(3) = ( 1, 0, 1).
normalized) A
3
(d) The characteristic polynomial is (I1 = 5, I2 = 2, and I3 = 8)
+5 2 2
8=
0, and the eigenvalues are 1 = 1,
2 = 2,
3 = 4. The eigenvectors are (not
(1) = ( 0.5, 1, 0.16667); A
(2) = (0, 0, 1); A
(3) = (1, 0.5, 0.5).
normalized) A