chapter_1

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1MathematicalPreliminaries

Similartootherfieldtheoriessuchasfluidmechanics,heatconduction,andelectromagnetics,

thestudyandapplicationofelasticitytheoryrequiresknowledgeofseveralareasofapplied

mathematics.Thetheoryisformulatedintermsofavarietyofvariablesincludingscalar,

vector,andtensorfields,andthiscallsfortheuseoftensornotationalongwithtensoralgebra

andcalculus.Throughtheuseofparticularprinciplesfromcontinuummechanics,thetheoryis

developedasasystemofpartialdifferentialfieldequationsthataretobesolvedinaregionof

spacecoincidingwiththebodyunderstudy.Solutiontechniquesusedonthesefieldequations

commonlyemployFouriermethods,variationaltechniques,integraltransforms,complex

variables,potentialtheory,finitedifferences,andfiniteandboundaryelements.Therefore,to

developproperformulationmethodsandsolutiontechniquesforelasticityproblems,itis

necessarytohaveanappropriatemathematicalbackground.Thepurposeofthisinitialchapter

istoprovideabackgroundprimarilyfortheformulationpartofourstudy.Additionalreviewof

othermathematicaltopicsrelatedtoproblemsolutiontechniqueisprovidedinlaterchapters

wheretheyaretobeapplied.

1.1Scalar,Vector,Matrix,andTensorDefinitions

Elasticitytheoryisformulatedintermsofmanydifferenttypesofvariablesthatareeither

specifiedorsoughtatspatialpointsinthebodyunderstudy.Someofthesevariablesarescalar

quantities,representingasinglemagnitudeateachpointinspace.Commonexamplesinclude

thematerialdensityrandmaterialmodulisuchasYoung’smodulusE,Poisson’sration,or

theshearmodulusm.Othervariablesofinterestarevectorquantitiesthatareexpressiblein

termsofcomponentsinatwo-orthree-dimensionalcoordinatesystem.Examplesofvector

variablesarethedisplacementandrotationofmaterialpointsintheelasticcontinuum.

Formulationswithinthetheoryalsorequiretheneedformatrixvariables,whichcommonly

requiremorethanthreecomponentstoquantify.Examplesofsuchvariablesincludestressand

strain.Asshowninsubsequentchapters,athree-dimensionalformulationrequiresnine

components(onlysixareindependent)toquantifythestressorstrainatapoint.Forthis

case,thevariableisnormallyexpressedinamatrixformatwiththreerowsandthreecolumns.

Tosummarizethisdiscussion,inathree-dimensionalCartesiancoordinatesystem,scalar,

vector,andmatrixvariablescanthusbewrittenasfollows:

3massdensityscalar¼r

displacementvector¼u¼ue

1þve

2þwe

3

stressmatrix¼[s]¼s

xt

xyt

xz

t

yxs

yt

yz

t

zxt

zys

z2

6

43

7

5

wheree

1,e

2,e

3aretheusualunitbasisvectorsinthecoordinatedirections.Thus,scalars,

vectors,andmatricesarespecifiedbyone,three,andninecomponents,respectively.

Theformulationofelasticityproblemsnotonlyinvolvesthesetypesofvariables,butalso

incorporatesadditionalquantitiesthatrequireevenmorecomponentstocharacterize.Because

ofthis,mostfieldtheoriessuchaselasticitymakeuseofatensorformalismusingindexnotation.

Thisenablesefficientrepresentationofallvariablesandgoverningequationsusinga

singlestandardizedscheme.Thetensorconceptisdefinedmorepreciselyinalatersection,

butfornowwecansimplysaythatscalars,vectors,matrices,andotherhigher-ordervariables

canallberepresentedbytensorsofvariousorders.Wenowproceedtoadiscussiononthe

notationalrulesoforderforthetensorformalism.Additionalinformationontensorsandindex

notationcanbefoundinmanytextssuchasGoodbody(1982)orChandrasekharaiahand

Debnath(1994).

1.2IndexNotation

Indexnotationisashorthandschemewherebyawholesetofnumbers(elementsorcompon-

ents)isrepresentedbyasinglesymbolwithsubscripts.Forexample,thethreenumbers

a

1,a

2,a

3aredenotedbythesymbola

i,whereindexiwillnormallyhavetherange1,2,3.

Inasimilarfashion,a

ijrepresentstheninenumbersa

11,a

12,a

13,a

21,a

22,a

23,a

31,a

32,a

33.

Althoughtheserepresentationscanbewritteninanymanner,itiscommontouseascheme

relatedtovectorandmatrixformatssuchthat

a

i¼a

1

a

2

a

32

43

5,a

ij¼a

11a

12a

13

a

21a

22a

23

a

31a

32a

332

43

5(1:2:1)

Inthematrixformat,a

1jrepresentsthefirstrow,whilea

i1indicatesthefirstcolumn.Other

columnsandrowsareindicatedinsimilarfashion,andthusthefirstindexrepresentstherow,

whilethesecondindexdenotesthecolumn.

Ingeneralasymbola

ij...kwithNdistinctindicesrepresents3Ndistinctnumbers.It

shouldbeapparentthata

ianda

jrepresentthesamethreenumbers,andlikewisea

ijand

a

mnsignifythesamematrix.Addition,subtraction,multiplication,andequalityofindex

symbolsaredefinedinthenormalfashion.Forexample,additionandsubtractionare

givenby

a

iÆb

i¼a

1Æb

1

a

2Æb

2

a

3Æb

32

43

5,a

ijÆb

ij¼a

11Æb

11a

12Æb

12a

13Æb

13

a

21Æb

21a

22Æb

22a

23Æb

23

a

31Æb

31a

32Æb

32a

33Æb

332

43

5(1:2:2)

andscalarmultiplicationisspecifiedas

4FOUNDATIONSANDELEMENTARYAPPLICATIONS