Documentos de Académico
Documentos de Profesional
Documentos de Cultura
Tutorials
5 tutorials (5 sheets), none marked as coursework
Assessment
Examination (3 hr, closed book)
Page 2
Syllabus
Introduction to Continuum Mechanics Deformation and Flow Kinetics of Deformation Fundamental Laws of Continuum Mechanics Constitutive Relationships Application of Fundamental Laws Introduction to the Finite Element Method
Page 3
Introduction
Continuum mechanics provides a general framework for the mathematical study of engineering problems
Starts from the fundamental physical laws (conservation of mass, energy, momentum, etc). These laws can, in principle, be applied to any material. Thus solid mechanics, heat transfer and fluid mechanics are special cases of continuum mechanics
Continuum mechanics dates back to the late 18th/early 19th centuryEuler, Cauchy, Navier etc. Some analytical solutions available:
Approximations/assumptions required to obtain the analytical solution Analytical solutions often impossiblecomplex three dimensional geometries, non-linear material laws, complex solid/liquid interactions Experiments too expensive or not possible
When solving engineering problems numerically, continuum mechanics provides a strong basis for the implementation of the fundamental laws within a computer program Computational continuum mechanics dates from 1950s, Argyris and Kelsey (Imperial, UK); Turner and Clough (Boeing, USA)
Page 4 Imperial College London
Page 5
!
Page 6 Imperial College London
Physical Laws
Conservation of mass, energy, momentum
Constitutive relations
Hookes Law, etc
Differential equations
Navier, Stokes
FEM, FV,
Page 7 Imperial College London
Background
Vectors Vector algebra
Dot, cross products, triple products
Vector calculus
Grad, div, curl Line, surface, volume integrals, jacobians Stokes theorem
Tensors.?
Page 8
Page 9
X3
In practice to define the position of a point or particle we need a coordinate system. It is often convenient to work with rectangular Cartesian coordinates Here we define orthogonal axes, X1, X2, X3, and the components of a vector are defined relative to these axes The position vector x can be defined by its three components (x1, x2, x3) relative to the Cartesian axes
Page 10
u = v ! u i = vi
We can represent the dot product of two vectors: u!v = u1v1+ u2v2+ u3v3
Page 11 Imperial College London
free index
3
!u v
i =1
i i
u ! v = ui vi
This is the summation convention (Einstein). Summation is always implied where any index (i above) is repeated in a term. This significantly simplifies our expressions Note that the index i above is now a dummy index, not a free index, we could equally write u!v = u v
m m
Page 12 Imperial College London
()
A scalar is a 0-rank tensor (it has no free indices) and a vector is a 1st rank tensor (it has one free index). Hence a 1st rank tensor acts on a vector to give a 0-rank tensor). This generalizes: We can (and do) have quantities that have two free indices. These act on two vectors (via the dot product) to give a scalar. Higher order tensors follow similarly.
Page 13 Imperial College London
ui v j ! ui vi
The RHS above is a scalar, the LHS is an example of a 2nd order (rank) Tensor. In 3D it has 9 coefficients, one for each pair (i,j). ! u1v1 u1v2 u1v3 $ # & U = U ij = ui v j = # u2 v1 u2 v2 u2 v3 & #u v u v u3v3 & " 3 1 % 3 2 The operation on the LHS is sometimes called the tensor or outer product of two vectors. (In contrast with the inner (dot) product of two vectors). As indicated above, we sometimes represent 2nd rank tensors in the form of matrices. This does NOT generalize to higher orders, however. Not all 2nd order tensors are the products of two vectors, this is just used as an example.
Page 14 Imperial College London
Note also that a 2nd rank tensor acting on just one vector may also be defined, eg: U x ! U ij xi or U x ! U ij x j
( )
( )
Note - these two expressions are generally not equal to each other. Thus the vector notation is ambiguous - the index notation is clear In the above the action of the 2nd rank tensor on the vector results in a 1st rank tensor. There is only one free index (j in the first expression, i in the second)
Page 15 Imperial College London
Examples
Page 16 Imperial College London
Examples
Page 17 Imperial College London
Represented as a matrix, it is the unit matrix and is often given the symbol I.
" 1 0 0% ! ij = $ 0 1 0' = I $ ' $ 0 0 1' # &
Some properties:
! kk = !11 + ! 22 + ! 33 = 3
A = AI = IA ! Aij = Aik " kj = " ik Akj
Page 18
{123} {123}
The - identity:
! ijk ! ipq = " jp" kq # " kp" jq
Page 19
For two vectors: For a vector and a tensor: For two tensors:
( a ! b )i = " ijk a j bk
( a ! A)ij = " ipq a p Aqj
Page 20
( )
B = AT Bij = A ji
Page 21
( )
jk
= " ik
( )
A!1
ij
det A ! 0
!1
(A ) = (A )
T
A!1 = AT
Page 22