Notes
prepared by: (1) Senem Ayşe HASER
(2) İmren UYAR
COMPONENTS AND INDEX NOTATION
Range Convention
• Indicies in Latin alphabet: i, j,k… range varies from 1, 2, 3
• Indicies in Greek alphabet: , … range varies from 1, 2
Example:
1) x1=y1
xi=yi x2=y2
x3=y3 (3eqns)
2) A11=B11, A12=B12, A13=B13,
Aij =Bij A21=B21, A22=B22, A23=B23,
A31=B31, A32=B32, A33=B33 (9 eqns)
3) A111=B111, A112=B112, A113=B113
Aijk=Bijk
A211=B211, A212=B212, A213=B213
(27 eqns)
Summation Convention
1) A repeated index in a term implies summation over that index:
Example
i) xiyi = x1y1 + x2y2 + x3y3
(xαyα = x1y1 + x2y2)
ii) Aijxi =Ai1x1 Ai2xj +Ai3x3 i=1,2,3
iii) Aij Aij = A11B11 + A12B12 + A13B13
+A21B21 + A22B22 + A23B23
+A31B31 + A32B32 + A33B33
(Aij)2=(Aij)2
2) An index cannot appear more than twice in a term .
Non-example
xiyizi (WRONG!)
3) A repeated index is called “dummy” index. The letter does not matter provided that coice does not
violate other rules.
Example
Amm= Aii=Ajj
Aijxi = Aimxm Aiixi
WRONG!
4) An index which is not repeated is called “free” index.
Note: The free index must appear on both sides of an equality. (But not the summed ones)
Example
yi =Aijxj = Aimxm (i’s have to match , you can change dummy indicies.)
• xj vector
Force
[Fi] = = = Fi i=1, 2, 3 Fij =tensor=matrix
Example
A =b
A11x1+A12x2+A13x3 = b1 A1JXJ = b1
A21x1+A22x2+A23x3 = b2 A2JXJ = b2 Aijxj = bi
A31x1+A32x2+A33x3 = b23 A2JXJ = b3
5) The summation convention may be suspended by writing “No Sum” to the right of the equation.
Example
xi + yi zi = λi (no sum on i)
x1 + y1z1 = λ1
x2 + y2z2 = λ2
x3 + y3z3 = λ3
previous example
Aijxj = bi (no sum on j)
Indexed Variables in Equations
1) Any free index must agree in all terms.
Exception: constants
Examples:
o ui + vi = wi
o Aijxj = zi +Bkkupvpxi where i is a free index and j, p and k are dummy indices.
o Aijxj = 0
A A A x 0
A A A x = 0
A A A x 0
(1) A11x1 + A12x2 + A13x3 = 0 A1jxj = 0
(2) A21x1 + A22x2 + A23x3 = 0 A2jxj = 0
(3) A31x1 + A32x2 + A33x3 = 0 A3jxj = 0
Non-examples:
o u i = vj
o zi + Apjwr = 0
2) You can multiply both sides of an equation by an indexed variable provides you do not violate any
other rules.
Example:
xi + yi = zi
xi + yi = zi
xi + yi = zi
vj xi + vj y i = vj zi ( cannot multiply by vi)
Non-example:
xixi + yryr =zizi
yrxixi +yryryr =yrzizi
3) It is illegal to divide through by an indexed variable where index already appears in the equation.
Example:
xi xi =1 xi = 1/xi
Example:
Index notation is an extremely useful tool for performing vector algebra. In coordinate system,
instead of using the typical axis labels x, y and z, x1, x2 and x3 are used.
xi i= 1,2,3
The corresponding unit basis vectors are ê1, ê2 and ê3.
êi i= 1,2,3
= ê1 + ê2 + ê3
Kronecker Delta
1) Kronecker Delta is represented by 9 numbers defined by
1 if i j 1 0 0
δ δ 0 1 0
0 if i j
0 0 1
δ 1 δ 0 δ 0
δ 0 δ 1 δ 0
δ 0 δ 0 δ 1
2) δ δ δ δ 1 1 1 3
3) δ can be used to “sum on ” indices with a term it multiplies.
Example:
δ u u
δ u δ u δ u δ u
i=1 δ u δ u δ u u
i=2 δ u δ u δ u u
i=3 δ u δ u δ u u
4) In an orthonormal basis ê1, ê2 , ê3
êi . êj = δ
ê1 . ê1 = ê2 . ê2 = ê3 . ê3 = 1
ê1 . ê2 = ê2 . ê3 = ê1 . ê3 = 0
Permutation or Alternator Symbol
εijk is represented by 27 numbers defined by
• ijk = 1 if (ijk) is an even (cyclic) permutation of (123), i.e. 123= 231 = 312 = 1
• ijk = −1 if (ijk) is an odd (noncyclic) permutationof (123), i.e. 213 = 321= 132 = −1
• ijk = 0 if two or more subscripts are the same, i.e. 111 = 112 = 313 = 0 etc.
Properties
1) Switching any 2 indices changes the sign.
Examples
312 = - 321
ijk = - ikj
kji = - ijk
iij = 0
ijk ijk = 6
identities
=δ δ δ δ
= 2δ
= 2δ 6 k r
2)Cross product
3) Partial differentiation denoted by “comma”
Examples:
o f, f, u ,
o x, y, z
x1, x2, x3
Stress equation
σ τ τ
+ + + Bx = 0
σ σ σ
+ + + B1 =0
σ , + Bi =0
STRAIN
Deformation
Consider a body subjected to external loading that causes it to deform;
Displacement due to 1) Deformation (strain)
2) Rigid body motion (translation and rotation)
Displacement at any point within the body: u = u(x,y,z)
v = v(x,y,z)
w = w(x,y,z)
Assumption: 1) Small deformations (h.o.t. neglected)
2) The principle of superposition can be used.
Definition of Strain
Consider an axially loaded member
Normal strain, unit change in length, is defined
∆
ε lim∆
∆
If deformation is uniformly distributed over the original length,
δ
ε = =
L
2-D Plane Strain Case
Normal strain
ε ε ε ε
Shear strain
Small angles α tanα
Similarly, α tanα
Total angular change
Shear strain
3-D PLANE STRAIN
1
u u,
2 ,
i=j=1
i =1, j=2
Strain Tensor at a Point
The nine quantities , 1,2,3 form a symmetric matrix. They are called the components of
strain of the particle with respect to the system of axes x1, x2 and x3. The quantities , are
called the normal components of strain of the particle in the directions of the axes x1, x2 and x3,
respectively, while , are called shearing components of strain in the
directions of the axes x1, x2 and x1, x3 and x2, x3, respectively.
STRAIN TRANSFORMATION
′ ϵ ϵ 1
+ cos 2 sin 2 ( where 12 )
2 12
′
The normal stress 22 is determined by replacing /2.
′ 1 22 11 12
12 ′12 sin 2 cos 2
2 2 2
REFERENCES
1) Ugural and Fenster, Advanced Strength and Applied Elasticity, 4th Ed., Prentice Hall, PTR,
2003
2) Armenakas A.E., Advanced Mechanics of Materials and Applied Elasticity, 2006,
Taylor&Francis Group
3) Lecture notes
