Lagrangian fluid mechanics

arXiv:gr-qc/0205025v1 7 May 2002

S. Mano Bulgarian Academy of Sciences Institute for Nuclear Research and Nuclear Energy Department of Theoretical Physics Blvd. Tzarigradsko Chaussee 72 1784 - Soa, Bulgaria E-mail address: smanov@inrne.bas.bg Published in: Perspectives in Complex Analysis, Dierential Geometry and Mathematical Physics. World Scientic, Singapore, 2001, 190-200
Abstract The method of Lagrangians with covariant derivative (MLCD) is applied to a special type of Lagrangian density depending on scalar and vector elds as well as on their rst covariant derivatives. The corresponding Euler-Lagranges equations and energy-momentum tensors are found on the basis of the covariant Noethers identities.

Introduction

In the recent years it has been shown that every classical eld theory [1], [2] could be considered as a theory of a continuous media with its kinematic characteristics. On the other side, perfect uids are equivalent to elastic media when the later are homogeneous and isotropic [3]. The theory of uids is usually based on a state equation and on a variational principle [4], [5], [6] with a given Lagrangian density depending on the variables constructing the equation of state (rest mass density, entropy, enthalpy, temperature, pressure etc.) and the 4-velocity of the points in the uid. There are two canonical types of description of a uid: the Eulerian picture and the Lagrangian picture. In the Eulerian picture, a point of the uid and its velocity are identied with the state and the velocity of an observer moving with it. This means that every point in the uid has a velocity which coincides with the velocity of an observer moving with it. In the Lagrangian picture, the observer has dierent velocity from the velocity of a point of the uid observed by him. He observes the projections of the velocities of the points of the uids from its own frame of reference. This means that an observer does not move with the points of the uid but measures their velocities projecting them on its own velocity and standpoint. In other 1

words, the Eulerian picture is related to the description of a uid by an observer moving locally with its points, and the Lagrangian picture is related to the description of a uid by an observer not moving locally with its points. In the Eulerian picture the velocity of the points (the velocity of an observer) in a uid appears as a eld variable in the Lagrangian density describing the uid. In the Lagrangian picture the velocity of an observer could be considered as an element of the projection formalism [called (n + 1) 1 - formalism, dim M = n, where M is a dierential manifold with dimension n, considered as a model of the space (n = 3) or the space-time (n = 4)]. The Lagrangian invariant L by the use of which a Lagrangian density L is dened as L = dg L, where dg = det(gij ). 1 gij .(dxi dxj + dxj dxi ) is the metric tensor The tensor g = gij dxi .dxj = 2 eld in M determining the possibility for introducing the square of the line element ds2 = g (d, d) = gij dxi dxj with d = dxi i T (M ) := x Tx (M ) [Tx (M ) is the tangent space to the point x M , := means by denition, i, j, k, ... = 1, 2, ... n], interpreted as the innitesimal distance between two points: point x with co-ordinates xi and point x with co-ordinates xi + dxi . The dierentiable manifold M is considered here as a space with contravariant and covariant ane connections (whose components dier not only by sign) and metrics, i. e. M (Ln , g )-space [7], [8]. In (Ln , g )-spaces with n = 4 the Lagrangian invariant L could be interpreted as the pressure p in a material system. This interpretation is based on the fact that for n = 4, the invariant L has the same [force] dimension as the pressure p : [p] = [2-surface] = [L] of a physical system, described by its Lagrangian density L, i.e. L = dg p. It allows us to consider L as the pressure of a uid. On this basis, we could formulate the following hypothesis: Hypothesis. The pressure p of a dynamical system could be identied with the Lagrangian invariant L of this system, i. e. p := L(gij , gij ;k , gij ;k;l , V A B , V A B ;i , V A B ;i;j ) , (1)

where gij are the components of the metric tensor eld of the space (or spacetime), where the system exists and V A B are components of tensor elds describing the state of this system. gij ;k , gij ;k;l are the rst and second covariant derivative of the metric tensor g with respect to a covariant ane connection P and V A B ;i , V A B ;i;j are the rst and second covariant derivatives of the tensor elds V k l (M ) with respect to a contravariant ane connection and a covariant ane connection P . The hypothesis could be considered from two dierent points of view: 1. If the pressure in a dynamical system is given, i.e. if a state equation of the type p := p(gij , gij ;k , gij ;k;l , V A B , V A B ;i , V A B ;i;j ) is given, then p could be identied with the Lagrangian invariant L of the system. On this basis a Lagrangian theory of a system with a given pressure p could be worked out.

2. If a Lagrangian invariant L of a Lagrangian density L = given, i.e. if L := L(gij , gij ;k , gij ;k;l , V A B , V A B ;i , V A B ;i;j )

dg L is

is given, then L could be identied with the pressure p of the dynamical system. On these grounds a Lagrangian theory of uids could be worked out with a given pressure p. In this case L := p. Therefore, we can distinguish two cases: Case 1. L := p with given p C r (M ). Case 2. p := L with given L C r (M ). In the present paper we consider a Lagrangian uid mechanics by the use of the method of Lagrangians with covariant derivatives of the type (1). The Lagrangian invariant L := p (considered as the pressure p) could depend on the velocity vector eld u T (M ) of the points in the uid, on other vector elds T (M ) orthogonal (or not orthogonal) to u [g (u, ) = 0 or g (u, ) = 0], on scalar elds fN = fN (xk ) (N = 1, 2, ..., m R) describing the state of the uid as well as on the (rst) covariant derivatives of the vector elds u and . For a given in its explicit form Lagrangian density L and its Lagrangian invariant L respectively, we nd the covariant Euler-Lagranges equations and the corresponding energy-momentum tensors.

Lagrangian density and Lagrangian invariant

dg L with Lagrangian (2)

Let us consider a Lagrangian density of the type L = invariant L in the form:

L : = p := p0 + a0 e + b0 g (u ( u), u) + c0 g (u ( ), ) +f0 g (u ( ), u) + h0 g (u ( u), ) M0 m0 + k0 + 0 [g (u, u)]k [g (, )]m g (, ) +k1 r + p1 (fN , fN,i , ui ) .

The quantities p0 , a0 , b0 , c0 , f0 , h0 , 0 , k0 , m0 , M0 , and k1 are constants, k , m, r are real numbers, fN := fN (xk ) C r (M ) are real functions identied as thermodynamical and kinematical variables, N N. The function = (xk ) is an invariant function with respect to the co-ordinates in M . The vector eld u = ui i T (M ) is a contravariant non-isotropic (non-null) vector eld with g (u, u) := e := 0. The vector eld T (M ) is a contravariant vector eld with g (, ) := 0 in the cases when 0 = 0, m0 = 0, k0 = 0, M0 = 0, (xk ) = 0 and g (, ) = 0 or g (, ) = 0 if 0 = m0 = k0 = M0 = 0. The constants a0 , b0 , c0 , f0 , h0 , 0 , k0 , and k1 could also be considered as Lagrangian multipliers to the corresponding constraints of 1. kind: a0 : e=0 , 3 (3)

b0 c0 f0 h0 0 k0 k1

: g (u ( u), u) = 0 , : g (u ( ), ) = 0 , : g (u ( ), u) = 0 , : g (u ( u), ) = 0 , m0 : =0, g (, ) M0 =0, : [g (u, u)]k [g (, )]m : r = 0 = 0.

Depending on the considered case the corresponding constants could be chosen to be or not to be equal to zero.

2.1

Representation of the Lagrangian invariant L in a useful for variations form

For nding out the Euler-Lagranges equations one needs to represent the Lagrangian invariant L in a form, suitable for the application of the method of Lagrangians with covariant derivatives [9]. For this reason the pressure p = L could be written in the form p = p0 + p1 (fN , ufN ) + k1 r + f + (u) b , where f : = a0 e + b0 g (a, u) + c0 g (u , ) + f0 g (u , u) + h0 g (a, ) m0 M0 +0 + k0 , (5) k [g (u, u)] [g (, )]m g (, ) : = b0 e + c0 g (, ) + (f0 + h0 ) l , l := g (u, ) . : = u u = ui ;j uj = ai i , (4)

b a

In a co-ordinate basis f , b, a, and l have the form: f = gkl [a0 uk ul + b0 uk ;m um ul + c0 k ;m um l + f 0 k ;m u m u l + h0 u k ;m u m l ] m0 M0 +0 + k0 m n m , k ul ]k [g u [ g k l mn ] kl gkl b = gkl [b0 uk ul + c0 k l + (f0 + h0 ) uk l ] . (6)

Therefore, we can consider p, f , and b as functions of the eld variables fN , , u, , and g as well as of their corresponding rst covariant derivatives.

Euler-Lagranges equations for the variables on which the pressure p depends

We can apply now the method of Lagrangians with covariant derivatives to the explicit form of the pressure p and nd the Euler-Lagranges equations for the variables fN , , u, , and g . After long (but not so complicated computations) the Euler-Lagranges equations follow in the form: 1. Euler-Lagranges equations for the thermodynamical functions fN : p1 p1 p1 ( );i + qi =0, fN fN,i fN,i where qi Tki k = = 1 kl l k gl g gkl;i + gk ;i , 2 k l gl Tki l , Tki l = l ik ki , Tki k (8)
k k k gl ;i = li + Pli .

(7)

2. Euler-Lagranges equation for the function : ub = k1 r r1 + f + (q u) b , where ub = uk b,k , q = qi ui ,

k u = ui ;i = ui ;k gi

(9) . (10)

3. Euler-Lagranges equations for the contravariant vector eld u: (h0 f0 ) i ;k uk = g ij [b (log ),j + +{2 (a0 k0 k 1 p1 ] uj [g (u, u)]k+1 M0 ) [g (, )]m (11) u )g , . (12)
m ji

+b0 [q u + u(log )]} ui +{h0 (q u) + f0 [u(log )]} i +gkl [(b0 u + h0 ) (u +(c0 + f0 u )

ij m l l k ;j k l l k ;j

k gj ;m

g ]

ji

g gjk;m u (b0 u + h0 k ) where gjk;m := f n j f l k gnl;m , (f0 h0 ) ai u(log ) = ui (log ),i

4. Euler-Lagranges equations for the contravariant vector eld : = [f0 (q u) + h0 u(log )] ui +{c0 [q u + u(log )] M0 m0 + 2 k0 m (0 )} i [g (u, u)]k [g (, )]m+1 [g (, )]3/2 g ij gjk;m um (c0 k + f0 uk )
l k m l g ij gj ;m u gkl (c0 + f0 u )

(13) .

5. Euler-Lagranges equations for the covariant metric tensor g : g ij 2 M0 = {[b0 (u) + (a0 k0 k )] ui uj k +1 p [g (u, u)] [g (, )]m m0 0 M0 )] i j +[c0 (u) ( + k0 m 2 [g (, )]3/2 [g (u, u)]k [g (, )]m+1 1 + [b0 (ai uj + aj bi ) + h0 (ai j + aj i ) (14) 2 +c0 ( i ;m j + j ;m i ) um + f0 ( i ;m uj + j ;m ui ) um ] 1 + (u) (f0 + h0 ) (ui j + uj i )} 2 2 1 1 = [A ui uj + B i j + C ij + (u) Dij , p 2 2 M0 ) [g (, )]m

where A = b0 (u) + (a0 k0 k B C ij Dij = c0 (u) ( [g (u, u)]k+1 , ,

m0 M0 0 ) + k0 m k 3 / 2 2 [g (, )] [g (u, u)] [g (, )]m+1

= b0 (ai uj + aj bi ) + h0 (ai j + aj i ) (15) +c0 ( i ;m j + j ;m i ) um + f0 ( i ;m uj + j ;m ui ) um , = (f0 + h0 ) (ui j + uj i ) .

The Euler-Lagranges equations for the dierent variables are worth to be investigated in details in general as well as for every special case with a subset of constant dierent from zero.

3.1

Conditions for the pressure p which follow from the Euler-Lagranges equations for the covariant metric eld g

The Euler-Lagranges equations (ELEs) for the metric eld g lay down conditions to the form of the pressure p and its dependence on the other variables. The Euler-Lagranges equations for g could be written in the general form as 1 p + g ij = 0 . gij 2 (16)

After contracting with gij and summarizing over i and j we obtain the condition p n 2 p gij + p = 0 gij . (17) p= gij 2 n gij On the other side, if we contract the ELEs for p with j = gjm m or with uj = gjn un we obtain the following relations respectively:
i (Ai k gk ) k = 0 , i k (Ai k gk ) u = 0

(18)

where

2 p Ai k = gjm f m k fl i p glj

(19)

i f m k are components of the contraction tensor Sn [1] and f m k fm i = gk . Since 2 p i gjk = gk , (20) p gij i it follows that Ai k = gk and therefore, the relations for i and ui are identically fullled. The only condition remaining for p follows in the form

p =

2 {p0 + p1 + k1 r (21) n+2 3 m0 M0 ]} . + [ 0 + (k + m + 1) k0 k [g (, )]m 2 [ g ( u, u )] g (, )

In the special case, when n = 4, we have p = 1 (p0 + p1 + k1 r ) 3 m0 M0 1 1 ] (22) . + (k + m + 1) k0 + [ 0 k [g (, )]m 2 3 [ g ( u, u )] g (, )

By the use of the method of Lagrangians with covariant derivatives we can also nd the corresponding energy-momentum tensors.

Energy-momentum tensors for a uid with pressure p

The energy-momentum tensors for the given Lagrangian density L could be found by the use of the method of Lagrangians with covariant derivatives on the basis of the covariant Noethers identities [9] F i + i j ;j i j s Ti j 0 rst Noethers identity, j Qi second Noethers identity. (23)

One has to distinguish three types of energy-momentum tensors: (a) generalized canonical energy-momentum tensor i j ; (b) symmetric energy-momentum tensor of Belinfante s Ti j , and (c) variational energy-momentum tensor of EulerLagrange Qi j . All three energy-momentum tensors obey the second Noethers identity. After long computations we can nd the energy-momentum tensors.

4.1

Generalized canonical energy-momentum tensor

p1 fN,i + b ,i uj fN,j 7

The generalized energy-momentum tensor i j could be obtained in the form i j =

+ gln [(b0 un + h0 n ) ul ;i uj + (c0 n + f0 un ) l ;i uj ] +gik {(f0 h0 ) ( + ) uj uk (f0 h0 ) (u + u) j uk + (h0 f0 ) [( j ak + bj uk ) (uj dk + uk dj )] + (gln;m + grn
r gl ;m )

(24)
m lm

[(b0 u + h0 ) (g u u g

jl

u uk )

1 + (c0 n + f0 un ) [g kl (uj m um j ) 2 j +g jl (uk m + um k ) g lm (uj k + uk j )]]} p.gi where ak bj = = u k ;l u l , j ;m u m , u = um ;m , dk = uk ;l l , = l ;l ,

= ,j j , (25)

f k = k ;m m .

4.2

Symmetric energy-momentum tensor of Belinfante

The symmetric energy-momentum tensor of Belinfante s Ti j could be obtained in the form

s Ti j

= gik {[b0 (u + u) + (f0 h0 ) ( + )] uj uk +c0 (u + u) j k + h0 (u + u) (uj k + uk j ) + [b0 (uj ak + uk aj ) + c0 ( j bk + k bj ) +f0 (uj dk + uk dj ) + h0 ( j ak + k aj ) +h0 (uj bk + uk bj ) h0 (uj dk + uk dj )] + (gln;m + gnr
jl k m r gl ;m ) j

(26) u u
j m

[(b0 u + h0 ) (g
k

kl

+g u u g u u ) 1 + (c0 n + f0 un ) [g kl (uj m + um j ) 2 j +g jl (uk m + um k ) g lm (uj k + uk j )]]} p gi

ml

4.3

Variational energy-momentum tensor of Euler-Lagrange

The variational energy-momentum tensor of Euler-Lagrange Qi j could be obtained in the form Qi j = p1 j u + b ,i uj ui + gln [(b0 un + h0 n ) ul ;i uj + (c0 n + f0 un ) l ;i uj ] gik {b0 (u + u) uj uk + c0 (u + u) j k +f0 (u + u) j uk + h0 (u + u) uj k + [b0 (aj uk + ak uj ) + c0 (bj k + bk j ) +f0 (bj uk + ak j ) + h0 (aj k + bk uj )] (27)

n r n kl j m + (gln;m + grn gl ;m ) [(b0 u + h0 ) g u u

+(c0 n + f0 un ) g kl um j ]}

From the explicit form of the energy-momentum tensors and the second Noethers identity the relation p1 j p1 u = fN,i ui fN,j follows. . (28)

Special cases

The general form of the Lagrangian density L could be specialized for dierent from zero constants p0 , a0 , b0 , c0 , f0 , h0 , 0 , k0 , m0 , M0 , and k1 . If only p0 , a0 and h0 are dierent from zero constants, then the corresponding EulerLagranges equations and energy-momentum tensors describe a uid with points moving on auto-parallel lines [10]. All more general cases are also worth to be investigated. This will be the task of another paper.

Conclusion

In the present paper Lagrangian theory for uids over (Ln , g )-spaces is worked out on the basis of the method of Lagrangians with covariant derivatives. A concrete Lagrangian density is proposed. The Euler-Lagranges equations and the energy-momentum tensors are found. They could be used for considering the motion of uids and their kinematic characteristics. It is shown that the description of uids on the basis of the identication of their pressure with a Lagrangian invariant could simplify many problems in the uids mechanics. On the other side, every classical eld theory over spaces with ane connections and metrics could be considered as a concrete Lagrangian theory of a uid with given pressure.

References
[1] S. Mano, Invariant projections of energy-momentum tensors for eld theories in spaces with ane connection and metric. J. Math. Phys. 32 (1991) 3, 728-734. [2] S. Mano, R. Lazov, Invariant projections and covariant divergency of the energy-momentum tensors. In Aspects of Complex Analysis, Dierential Geometry and Mathematical Physics. Eds. S. Dimiev, K. Sekigava, (World Scientic, Singapore 1999), pp. 289-314 [Extended version: E-print (1999) gr-qc/99 07 085].

[3] J. D. Brown, D. Marolf, Relativistic material reference system. Phys. Rev. D 53 (1996) 4, 1835-1844. [4] A. H. Taub, General relativistic variational principle for perfect uids. Phys. Rev. 94 (1954) 6, 1468-1470. [5] B. F. Schutz Jr., Perfect uids in General Relativity: Velocity potentials and a variational principle. Phys. Rev. D 2 (1970) 12, 2762-2773. [6] B. F. Schutz, R. Sorkin, Variational aspect of relativistic eld theories, with application of perfect uids. Ann. of Phys. 107 (1977) 1-2, 1-43. [7] S. Mano, Spaces with contravariant and covariant ane connections and metrics. Physics of elementary particles and atomic nucleus (Physics of Particles and Nuclei) [Russian Edition: 30 (1999) 5, 1211-1269], [English Edition: 30 (1999) 5, 527-549]. [8] , Lagrangian theory of tensor elds over spaces with contravariant and covariant ane connections and metrics and its applications to Einsteins theory of gravitation in V 4 -spaces. Acta Appl. Math. 55 (1999) 1, 51-125. , Lagrangian formalism for tensor elds. In Topics in Complex Analysis, Dierential Geometry and Mathematical Physics. eds. Dimiev St., Sekigawa K. (World Sci. Publ., Singapore, 1997), pp. 177-218 , Auto-parallel equation as Euler-Lagranges equation over spaces with ane connections and metrics. Gen. Rel. and Grav. 32 (2000) 8, 1559-1582.

[9]

[10]

10