Multipolar Continuum Mechanics

A. E. GREEN & R. S. RIVLIN

Abst ract
A g e n e r a l t h e o r y of mu l t i p o l a r d i s p l a c e me n t a n d v e l o c i t y f i el ds wi t h cor -
r e s p o n d i n g mu l t i p o l a r b o d y a n d s ur f a c e f or ces a n d mu l t i p o l a r s t r e s s e s i s de -
v e l o p e d us i ng a n e n e r g y pr i nc i pl e , a n e n t r o p y p r o d u c t i o n i n e q u a l i t y a n d i n-
v a r i a n c e c o n d i t i o n s u n d e r s u p e r p o s e d r i gi d b o d y mot i ons . Co n s t i t u t i v e e q u a t i o n s
f or t h e mu l t i p o l a r s t r es s es a r e di s c us s e d a n d e xpl i c i t r e s ul t s a r e gi ve n f or a n
e l a s t i c me d i u m. Wo r k i n a p r e v i o u s p a p e r b y t h e p r e s e n t a u t h o r s ( t 964) i s
s hown t o b e a s pe c i a l cas e of t h a t gi ve n her e.
Contents Page
1. I nt r oduc t i on . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 t 3
2. Monopol ar ki ne ma t i c s . . . . . . . . . . . . . . . . . . . . . . . . 114
3. Super pos ed r i gi d- body mot i ons . . . . . . . . . . . . . . . . . . . . t t 6
4. Mul t i pol ar ki nemat i cs . . . . . . . . . . . . . . . . . . . . . . . . 1 t 7
5. Mul t i pol ar body forces . . . . . . . . . . . . . . . . . . . . . . . . 120
6. Mul t i pol ar sur f ace forces a nd st r esses . . . . . . . . . . . . . . . . . t 21
7. Ki ne t i c ener gy . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
8. The ener gy e qua t i on a nd e n t r o p y pr oduc t i on i ne qua l i t y . . . . . . . . . t 23
9. En e r g y a nd e n t r o p y pr oduc t i on : a l t e r na t i ve f or m . . . . . . . . . . . . 126
t 0. El a s t i c i t y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i 28
t 1. El a s t i c i t y: a l t e r na t i ve f or m . . . . . . . . . . . . . . . . . . . . . . 13 t
t 2. Cons t i t ut i ve equat i ons . . . . . . . . . . . . . . . . . . . . . . . . t 33
13. Cons t i t ut i ve equat i ons : a l t e r na t i ve f or m . . . . . . . . . . . . . . . . 134
t 4. El a s t i c i t y: r el at i on t o pr evi ous t h e o r y . . . . . . . . . . . . . . . . . 136
t 5. I nf i ni t es i mal e l a s t i c i t y . . . . . . . . . . . . . . . . . . . . . . . . t 38
t 6. Equa t i ons of mot i on a nd va r i a t i ona l equat i ons . . . . . . . . . . . . . t41
t 7. Appe ndi x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . t 42
Ref er ences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
1. Int roduct i on
I n a p r e v i o u s p a p e r GREEN & RIVLIN ( t 964) h a v e d e v e l o p e d a g e n e r a l t h e o r y
of s i mpl e f or ce a n d s t r es s mu l t i p o l e s whi c h wer e d e f i n e d wi t h t h e he l p of v e l o c i t y
c o mp o n e n t s a n d t h e i r s p a t i a l d e r i v a t i v e s . I n t h a t p a p e r we i n d i c a t e d di r e c -
t i ons i n whi c h t h e t h e o r y c oul d be ge ne r a l i z e d. He r e we l a y t h e f o u n d a t i o n s
of a t h e o r y of c ons i de r a bl e g e n e r a l i t y whi c h i nc l ude s t h e wo r k of t h e p r e v i o u s
p a p e r as a s pe c i a l case.
The s t a r t i n g p o i n t of t h e p r e s e n t i n v e s t i g a t i o n r e s t s on s ome i de a s of TRuEs -
DELL & TOUPIN (1960, s e c t i ons t66, 205, 232). The s e a u t h o r s i n t r o d u c e d gen-
e r a l i z e d vel oci t i es , b o d y a n d s ur f a c e f or ces, a n d g e n e r a l i z e d s t r es s es . * T h e y
* Speci al t ype s of gener al i zed di s pl a c e me nt a nd vel oci t y fi el ds have been used
b y ERICKSEN ( t 960a, 1960b, t 960c, 1961).
t t 4 A. E. GREEN & R. S. RIVLIN:
post ul at ed equat i ons of mot i on in t er ms of generalized stresses and body forces,
and t hey post ul at ed surface conditions. TRUESDELL & TOOPIN alSO discussed
a general t ype of vi r t ual wor k t heor em and showed t hat i t was equi val ent t o
t hei r equat i ons of mot i on and surface conditions. I n t he present paper we use,
essentially, t he same defi ni t i ons of generalized body and surface forces and
stresses as t hose of TRUESDELL & TOUPIN, but a new condi t i on is i mposed on
our defi ni t i on of general i zed di spl acement and vel oci t y. We fi nd t ha t t he equa-
t i ons of mot i on and surface condi t i ons gi ven by TRUESDELL & TOUPIN are not
necessarily always satisfied. Sufficient condi t i ons under which t hese equat i ons
are val i d are discussed in sect i on 16. The same condi t i ons are t hen sufficient
for t he val i di t y of t he vi r t ual work equat i on.
Ki nemat i cs of or di nar y di spl acement and vel oci t y fields, now called mono-
pol ar ki nemat i cs, is bri efl y revi ewed in sections 2, 3. The t heor y of mul t i pol ar
di spl acement s and velocities is devel oped in sect i on 4. Multipolar body forces
are defi ned in sect i on 5, and mul t i pol ar surface forces and stresses in section 6.
Appr opr i at e expressions for ki net i c ener gy correspondi ng t o mul t i pol ar velocities
are gi ven in sect i on 7. The f undament al dynami cal t heor y of mul t i pol ar forces
and stresses is consi dered in sect i on 8 using onl y an ener gy equat i on, an ent r opy
pr oduct i on i nequal i t y, and i nvari ance condi t i ons under superposed rigid body
motions. An al t er nat i ve form for t hi s t heor y is gi ven in sect i on 9. A general
t heor y of el ast i ci t y for mul t i pol ar stresses and forces is devel oped in sect i on t 0,
wi t h an al t er nat i ve form in sect i on 1t .
Questions concerni ng const i t ut i ve equat i ons for mat eri al s which are not
elastic are consi dered in sections t 2, t 3. I n section t 4 we show t ha t t he elas-
t i ci t y t heor y gi ven previ ousl y (1964) is a special case of tile t heor y of el ast i ci t y
gi ven in section t 0. I n sect i on 15 we deri ve t he appr oxi mat e t heor y of infin-
i t esi mal el ast i ci t y appr opr i at e t o elastic mat eri al s act ed on by monopol ar and
di pol ar stresses. *
2. Monopol ar ki nemat i cs
We refer t he mot i on of t he cont i nuum t o a fi xed syst em of r ect angul ar
cart esi an axes. The position of a t ypi cal part i cl e of t he cont i nuum at t i me
is denot ed by x i(3) where
x~(~)=x~(X1, x~, x~, "0 ( - ~ 1 7 6 (2.t)
and X a is a reference position of t he particle. We also use t he not at i on
X i ~ - x ~ ( t ) . (2.2)
I f t hi s def or mat i on is t o be possible in a real mat er i al t hen
~, [ a x i ( ~ ) ]
d : ~ [ - ~ 7 - a ] > o . ( 2 . 3 )
* After completing t he present paper t he authors saw a report by R. D. MINDLIN
on "Microstructure in Linear El ast i ci t y" in which he develops a t heory which is
essentially t he same as t hat contained in w t 5 of our paper. MINDLIN has applied
his t heory to wave propagation and this application has not been studied here.
This paper has now been published in Arch. Rational Mech. Anal. 16, 5t - - 78 (t964).
Mu l t i p o l a r Co n t i n u u m Me c ha ni c s t I 5
F o r s o me p u r p o s e s i t i s c o n v e n i e n t t o e x p r e s s x i (3) i n t e r m s o f t h e c u r r e n t
p o s i t i o n o f t h e p a r t i c l e a t t i m e t s o t h a t
x ~ ( z ) = x i ( x l , x s , x 3, t, 3) (2.4)
a n d
[ a - , / ~ / 1
d e t [ ~ : - i ] > 0 . (2. 5)
D i s p l a c e me n t g r a d i e n t s t a k e n wi t h r e s p e c t t o t h e p o s i t i o n X a a r e d e n o t e d b y
~ x i ( r ) (/3 = t , 2 . . . . ) , (2. 6)
x i , a ~ a . . . . ap (T) = OXal OXa, . . . OXa~
a n d we u s e t h e n o t a t i o n
x ~ , a . . . . a p = x i , a . . . . a p ( t ) . ( 2 . 7 )
D i s p l a c e me n t g r a d i e n t s t a k e n wi t h r e s p e c t t o t h e c u r r e n t p o s i t i o n x i a t t i me t a r e
OOxi(r) (/5 = t , 2 . . . . ) . (2.8)
Xi , i, i , . . . 0 (~) - - ~x~ Ox~ . . . . ~xia
We o b s e r v e t h a t
x i , i, (t) = 0 i i , , (2.9)
x i , i . . . . i , ( t ) = 0 ( / ~ > t ) ,
a n d t h a t t h e g r a d i e n t s i n (2.7) a n d (2.8) a r e s y m m e t r i c wi t h r e s p e c t t o A1, A2,
. . . . A a a n d i 1, i 2 . . . . . ia r e s p e c t i v e l y .
T h e c o m p o n e n t s o f v e l o c i t y a t t h e p o i n t x i ( z ) a r e d e n o t e d b y v! x) ( 3 ) = v i ( r )
s o t h a t
v! 1) (~) = D x i ( r ) / D z , v! x) (t) = v i ( 0 = v i ,
wh e r e D [ D r d e n o t e s d i f f e r e n t i a t i o n wi t h r e s p e c t t o r h o l d i n g X a f i x e d i n ( 2A) ,
o r x i ( t ) a n d t f i x e d i n (2. 4). Mo r e g e n e r a l l y , n th v e l o c i t y c o m p o n e n t s m a y b e
d e f i n e d a s
v! ") ( r ) = D " x i ( z ) / D r " , v! '0 (t) = v! "), v! ~ (x) = x i ( r ) . ( 2. t 0)
F r o m (2.8) a n d ( 2A0) we h a v e
D" x~,il ... ip (3) ear!-) (T)
- = ~ ! " ) , . . . , , ( ~ ) , ( 2 . ~ t )
D T n 8xi l Ore, . . . Oxia
a n d we u s e t h e n o t a t i o n
v ! " ! l . . , , ( 0 = ~ ! " ! . . . . i , ( 2 . 1 2 )
f o r g r a d i e n t s of t h e n tu v e l o c i t y c o m p o n e n t s a t t i m e t wi t h r e s p e c t t o c o o r d i n a t e s
a t t i me t. Al s o
v (~ 9 (r)-----x/, i . . . . i , ( l ~) , v I~ - - - 0 ( f l > l ) ( 2A3)
I n v i e w o f (2.3) we m a y wr i t e x i , a (~) i n t h e p o l a r f o r m
Xi , a (3) = R i B (3) M B a ( ~) , ( 2A4)
wh e r e MB a ( r ) i s a p o s i t i v e d e f i n i t e s y m m e t r i c t e n s o r a n d R i B ( r ) i s a r o t a t i o n
t e n s o r , s o t h a t
R i B ( z ) R i a ( r ) = ~)A B, R i a (T) R i a ( z ) = ~)ii, d e t R i a (3) = t . ( 2. t 5)
t t 6 A . E . GREEN ~r R. S. RIVLIN:
Al s o
R i B = R i B ( t ) , M A B = M a B ( t ) . ( 2. t 6)
I n g e n e r a l , t h r o u g h o u t t h e p a p e r , l o we r c a s e L a t i n i n d i c e s i , i l . . . . a r e a s -
s o c i a t e d wi t h c o o r d i n a t e s x i ( 3 ) o r x i a n d t a k e t h e v a l u e s t , 2, 3; u p p e r c a s e
L a t i n i n d i c e s A, A1 . . . . a r e a s s o c i a t e d wi t h c o o r d i n a t e s X A a n d t a k e t h e v a l u e s
l , 2, 3. T h e u s u a l c a r t e s i a n s u m m a t i o n c o n v e n t i o n i s u s e d , a n d c o m m a s d e n o t e
p a r t i a l d i f f e r e n t i a t i o n .
3. S u p e r p o s e d r i g i d - b o d y m o t i o n s
We c o n s i d e r mo t i o n s of t h e c o n t i n u u m wh i c h d i f f e r f r o m t h o s e g i v e n b y
( 2. t ) o n l y b y s u p e r p o s e d r i g i d - b o d y mo t i o n s , a t d i f f e r e n t t i me s . T h u s
x * ( 3 * ) = c * ( 3 * ) + Q . ( 3 ) [ x j ( 3 ) - c ; ( ~ ) ] , ( 3 . 1 )
wh e r e c~(3), c*( z*) a r e v e c t o r f u n c t i o n s o f z a n d z * ( = r + a ) r e s p e c t i v e l y , a i s
a n a r b i t r a r y c o n s t a n t a n d Qi i ( 3) i s a p r o p e r o r t h o g o n a l t e n s o r wh i c h d e p e n d s
o n 3. I n s e c t i o n 2 v e c t o r s a n d t e n s o r s a r e d e f i n e d i n t e r m s o f t h e m o t i o n ( 2. t )
a n d we d e n o t e c o r r e s p o n d i n g q u a n t i t i e s d e f i n e d f r o m (3.1) b y t h e s a me l e t t e r
t o wh i c h we a d d a n a s t e r i s k . F r o m (3.1) we h a v e
v * ( 3 * ) = ~ * ( 3 " ) + Q , ( 3 ) [ v ; ( ~ ) - ~ j ( 3 ) ] + ~ % , ( 3 ) I x * ( 3 * ) - c * ( 3 " ) ] , ( 3 . 2 )
wh e r e a d o t d e n o t e s d i f f e r e n t i a t i o n wi t h r e s p e c t t o ~ o r ~* a n d
( i ~ i (~) = ~ % , (3) Q , j ( ~ ) , G j ( 3 ) = - Q i i ( 3 ) , (3.3)
( G = Q . ( t ) , G j - - G ; ( t ) .
Al s o
, ~, a . . . . a . t J - Q , ~ ( * ) x , , a . . . . A, ( 3 ) , (3.4)
a n d
~ x * ( , )
e,i*, . . . e ~ * - Q ~ (~) Q i , i , . . . Q i . j . x , , j . . . . i~ ( ~ ) , ( 3 . 5 )
f o r ~ - - - - 1 , 2 . . . . .
We s u m m a r i z e s o me r e s u l t s o b t a i n e d i n a p r e v i o u s p a p e r ( GREE~ & RI VLI N
1964) . I f
E a a . . . . A . ( 3 ) = X m , A ( ~ ) X m , A . . . . A ~ ( ' r ) ,
( 3 . 6 )
E . . . . . i . ( ~ ) = x ~ , i ( 3 ) x ~ , ~ . . . . ~ . ( 3 ) ,
f o r 0~ = 1, 2, . . . , t h e n
E * & . . . a . ( * * ) = E A A . . . . A, (Z), (3.7)
E * i . . . . i , ( * * ) = Q i i Q i , h . . . Q i , i , E i i . . . . i , ( 3 ) .
Al s o, i f
/*
ACU) _ ~ , { a~ vCV-#) yea). (3.8)
i i . . . . i~, - - z.~ I r } m,* m, ~ . . . i~,,
. e=l
f o r a = 2 , 3, . . . ; / , = 1 , 2 . . . . , t h e n
r~ ~ l . ) (3.9)
A * ( ~ ) " = Q i i Q i ~ j ~ ' d i o , i ~ , " i J . . . . j , , i i~ . . . , ~ . . . .
I n a d d i t i o n , i f
A i j - ~ ' v i , j + v j , i , r j - - v i , i , ( 3 . 1 0 )
Mu l t i p o l a r Co n t i n u u m Me c ha ni c s
t h e n 2 v i , i = A i i + c o i i , (3.1 l )
a n d
A * = Q ~ , , Q i , , A , , , , ~ , w * . = q i , , q i , ~ w , , , ~ + 2 0 i i . (3. 12)
4. Mu l t i p o l a r k i n e m a t i c s
T h e d i s p l a c e me n t f u n c t i o n x i (3) c a n b e r e g a r d e d e i t h e r a s a f u n c t i o n o f X a ,
a s i n ( 2. t ) o r a s a f u n c t i o n o f x i , t , ~ a s i n (2. 4). T h e f o r m (2.1) i s a p p r o p r i a t e
t o c o n t i n u a i n wh i c h a r e f e r e n c e p o s i t i o n i s r e q u i r e d a n d (2.4) i s c o n v e n i e n t
w h e n t h e r e i s n o p r e f e r r e d r e f e r e n c e s t a t e . We n o w d e f i n e a s i mp l e 2~- pol e
d i s p l a c e me n t f i e l d i n t wo f o r m s . * L e t
x~a . . . . a n ( ~ ) = x ~ . . . . . a n ( X , , X 2 , X 2 , 3 ) ( - - o o < ~ _ _ < t ) , ( 4 . t )
b e a t e n s o r f u n c t i o n u n d e r c h a n g e s o f r e c t a n g u l a r c a r t e s i a n a x e s f o r fl : t , 2 . . . . .
T h e s e t o f t e n s o r s ( 4. t ) i s a s e t o f k i n e ma t i c v a r i a b l e s wh i c h m a y b e c h a n g e d
i n d e p e n d e n t l y o f t h e m o t i o n ( 2 A ) , b u t wh e n t h e m o t i o n (2.1) i s c h a n g e d t h e s e
t e n s o r s wi l l , i n g e n e r a l , b e a l t e r e d . Wh e n t h e mo t i o n i s a l t e r e d f r o m ( 2. t ) t o
( 3. t ) we d e n o t e t h e c o r r e s p o n d i n g t e n s o r ( 4. t ) b y x*a . . . . an (3*). I f , i n a d d i t i o n
t o t h e a b o v e a s s u mp t i o n s a b o u t t h e t e n s o r ( 4A) ,
x ~a , . . . a n ( z * ) =Q , , , , ( r ) x , , a , . . . a n ( r ) ( f l - _ _ l ) , ( 4 . 2 )
t h e n we m a y s a y t h a t x l a . . . . an (3) i s a s i m p l e 2 &p o l e d i s p l a c e m e n t / i e l d . F o r
e x a mp l e , i f
x i a . . . . an ( 3 ) = x ~ , a , . . . a n ( ~ ) , ( 4 . 3 )
t h e n t h e t e n s o r (4.3) s a t i s f i e s t h e p o s t u l a t e d c o n d i t i o n s . R e t u r n i n g t o t h e g e n e r a l
t e n s o r (4.1) we u s e t h e n o t a t i o n
x ~a . . . . an = xi a, . . . nn ( t ) ( 4 . 4 )
a n d we o b s e r v e t h a t t h e t e n s o r i n ( 4. t ) d o e s n o t n e c e s s a r i l y h a v e s y m m e t r i e s
i n a n y o f i t s i ndi c e s .
Ag a i n l e t
x~i . . . . j n ( ~ ) = x ~ ; . . . . i n( x1, x~, x3, t, 3) ( - o o < , < t ) (4.5)
b e a t e n s o r f u n c t i o n f o r fl = t , 2 . . . . wh i c h i s s u c h t h a t
x~* i , . . . i , (3*) = Q,, ~ (3) QA i , - . . Qin in x,, ~,... 0 ( 3) . (4.6)
T h e n we s a y t h a t x i i . . . . in (3) i s a l s o a s i m p l e 2a- pol e d i s p l a c e m e n t / i e l d a n d we
u s e t h e n o t a t i o n
x i i . . . . ~'n = x i i . . . . ~'n (t ). (4.7)
An e x a m p l e o f s u c h a d i s p l a c e me n t f i e l d i s
x i i . . . . in ( 3) = x , , i . . . . in ( 3) . (4.8)
A 2a- pol e d i s p l a c e me n t f i e l d o f t h e t y p e (4.5) c a n b e o b t a i n e d f r o m t h e f i e l d
( 4. t ) i n m a n y d i f f e r e n t wa y s , a n d c o n v e r s e l y , a s i n d i c a t e d i n t h e a p p e n d i x .
* A pos s i bl e mo t i v a t i o n f or t h e de f i ni t i ons g i v e n h e r e is i n d i c a t e d i n t h e Ap p e n d i x .
Arch. Rational Mech. Anal., Vol. 17 9
t t 8 A. E. GREEN & 1~. S. RIVLIN:
On e s i mp l e m e t h o d o f r e l a t i n g t h e t wo f i e l ds i s b y t h e e q u a t i o n
%i . . . . ia (T) = x i l , B , . . . xi a, B a xi B . . . . Ba (T), (4.9)
b u t t h i s m a y n o t a l wa y s b e t h e r e l e v a n t r e l a t i o n t o us e . I n m o s t of t h i s p a p e r
we a s s u me t h a t (4.1) a n d (4.5) a r e i n d e p e n d e n t d e s c r i p t i o n s o f mu l t i p o l a r di s -
p l a c e me n t f i el ds .
We d e f i n e 2 a - p o l e v e l o c i t y f i e l d s f r o m t h e 2a- pol e d i s p l a c e me n t s ( 4. t ) o r (4.5)
b y t h e e q u a t i o n s
v i ~ . . . . ~ . ( ~ ) = ~ . . . . ~ . ( ~ ) , ( 4 . t o )
v i i . . . . i , ( T ) = ~ i . . . . j , ( ~ ) , ( 4 . 1 1 )
f o r fl = 1, 2 . . . . . wh e r e a d o t d e n o t e s m a t e r i a l t i me d i f f e r e n t i a t i o n wi t h r e s p e c t
t o z h o l d i n g X A f i x e d i n (4. 10) a n d t a n d x i f i x e d i n ( 4 . t l ) . We u s e t h e n o t a t i o n
v i B , . . . B , = V i B , . . . B e ( t ) ,
(4. 12)
v i i . . . . i a = v i i . . . . i ~ ( t ) ,
wh e r e we p u t T = t a f t e r d i f f e r e n t i a t i o n . I t f ol l ows f r o m (4.2) a n d (4.6) t h a t
v * ~ . . . . B e ( 3 * ) = Q ~ , ( , ) v , B . . . . ~ p ( 3 ) + $ 2 ~ , ( r x * , ~ l . . . B p ~{**~;, ( 4 . t 3 )
a n d
v * . , ~ , , . . . i ~ ( T * ) = Q , ~ , ( , ) Q i l i . . . Q i , o v , i . . . . ip(T) + ~ 2 ~ , ( ~ ) x*i . . . . i p ( z ) . (4. 14)
S i mi l a r l y , 2 ~ - p o l e n t h v e l o c i t y f i e l d s m a y b e d e f i n e d a s *
v ! % . . . ~ , ( ~ ) c.>
( 4A5)
(n} , ,
wh e r e (n) o v e r a s y m b o l d e n o t e s n th m a t e r i a l t i m e d i f f e r e n t i a t i o n wi t h r e s p e c t
t o , , a n d we u s e t h e n o t a t i o n
(n) _ _ (n)
V i ~ . . . B B - - V| ( t ) , (4. 16)
* I X . . 9 ] # - - ~ * ] 1 9 . . ] p i t * / 9
F o r c o n v e n i e n c e we c a l l 2a- pol e d i s p l a c e me n t a n d n th v e l o c i t y f i e l ds (n = t , 2 . . . . )
m u l t i p o l a r d i s p l a c e m e n t a n d n th v e l o c i t i e s . We d e f i n e g r a d i e n t s o f mu l t i p o l a r
d i s p l a c e me n t s b y t h e e q u a t i o n s
X i B . . . . B I I , A . . . . A f f l ( ~ * ) - - O X A I . . . ~ X a r ~ '
(4. 17)
Xi Bt . . . B#, A1 . . . A= ~ Xi B1 . . . B# , Ax . . . A= (t) ,
a n d
~ = x l i ~ . . . i s ( T )
x i i . . . . i " , i ' " ' i = ( z ' ) - - cqxi, . . . ~xi= '
( 4. t 8)
X i j . . . . Ja, i . . . . G = X i i . . . . Ja, i . . . . i,, (t ) ,
f o r f l = t , 2 . . . . ; ~ = 1 , 2 . . . . .
* *r c or r e s ponds t o a 2r - pol e d i s p l a c e me n t a n d n = 1 t o a 2r - pol e v e l o c i t y ;
i n t hi s l a t t e r cas e t h e s u p e r s c r i p t 0) i s o f t e n o mi t t e d .
Mu l t i p o l a r C o n t i n u u m Me c h a n i c s t t 9
T h e b e h a v i o u r o f t h e m u l t i p o l a r d i s p l a c e m e n t g r a d i e n t s ( 4 A7 ) a n d ( 4 . t 8 )
w h e n t h e m o t i o n i s c h a n g e d b y s u p e r p o s e d r i g i d - b o d y m o t i o n s c a n b e f o u n d
a t o n c e f r o m ( 4. 2) a n d (4. 6) 9 I f
EB1. . . Ba : Aa . . . . n , ( z ) = X,~,A (Z) XmB,...Ba,a . . . . a , ( Z ) , ( 4. 19)
E j . . . . i s : " . . . . i , ( ~) = x,~,~(3) x ~ j . . . . i s , i . . . . ~, ( *) , ( 4. 20)
t h e n
E BI...Bs : A A . . . . A ~ ( ~ * ) = E B , . . . B s : A A . . . . A ~ ( ' ~ ) , ( 4 . 2 1 )
a n d
E * . . . i s : i i . . . . r = Qi , , ~, " " Qisms Q ~ i Q i , ~ , . . . Q i , , E,~ . . . . . a : i . . . . . . . ( z ) , ( 4. 22)
w h e r e
E.* Ox*(z*) i ~ x * A . . . i s ( z * )
F r o m ( 4 . t 9 ) , ( 4. 20) a n d ( 3. 6) w e s e e t h a t
E : a A . . . . A , ( 3 ) = E a a . . . . a , ( Z ) , ( 4. 23)
E : i r 1 6 2 (1:) = E i r . . . . r
Mu l t i p o l a r n tb v e l o c i t i e s we r e d e f i n e d i n ( 4 . t 5 ) a n d f r o m t h e s e c o n d f o r m
w e d e f i n e m u l t i p o l a r n th v e l o c i t y g r a d i e n t s
( n) 9 T
v!~) ~' vo' ~. . . ~s ( ) ( 4. 24)
f o r f l - - - - t , 2 . . . . ; st = 1, 2 . . . . a n d w e u s e t h e n o t a t i o n
v!:~ . . . . v (~.1 9 9 . . . ~, ( t ) ,
~' ]1 . . . I S , $~1. . . $=- - ~' l l . . 9 ] S~ t l
( 4. 25)
v(Ol
, , . . . . ; ~, ~ . . . . ~ . ( ~ ) = * ~ i . . . . i s , ~ . . . . ~ ( ~ ) "
I f w e d i f f e r e n t i a t e b o t h s i d e s o f e q u a t i o n ( 4. 22) / , - t i m e s w i t h r e s p e c t t o T
a n d t h e n p u t 3 * = 3----t w e h a v e
B * (~) . . 9 O. B(~) .
f i . . . i s : , , . . . . . . = Q A ~ , " " Ois,~, Oi i Oil ~ . . . ~ , . ~. ~,,... ~p: 7, , . . . , . , ( 4. 26)
w h e r e
= ~ ~ v ( #- a, ( 4. 27)
m, $ r a i l . . . ] S, $1 . . . i ~"
I n p a r t i c u l a r w e s e e f r o m (3. 8) a n d ( 4. 27) t h a t
9 = A ( ~ - ) ( 4 . 2 8 )
F r o m ( 4. 27) w e h a v e
Ng, I . . . . . ,l~l . . ,,O,-al ,,(x~. ( 4. 29)
f o r / ~ = 1, 2 . . . . a n d g i v e n ~, fl, a n d h e n c e , b y r e p e a t e d a p p l i c a t i o n o f t h i s f o r m u l a ,
v(V.) . . . . . i s , i . . . . i~ = B ~ l . . i s : i i . . . . ~. + a p o l y n o m i a l
( 4. 30)
i n v (a). R(~) a n d
r # , ) , " ' A . . . i ~ : i i , . . . i ~ , X i i , . . . i a , i , . . . , ; ,
f o r 2 = ~ , 2 . . . . , # ; ~ = t , 2 . . . . , # - - t .
9*
t 20 A. E . GREEN & R. S. RIVLIN:
Agai n, if we di f f er ent i at e b o t h si des of (4.21) / z-t i mes wi t h r es pect t o z we
see t h a t
B~.~, ). Bp:a a .... a= (Z*) = B(~... Bp..a a .... a , (~) (4.3 t )
wher e
B(V)
= v~B r . . . . Ba,a . . . . a, (Z) (4.32) B t . . . B # : A A 1 . . . e , , . _
a n d
~n .... n~,~ .... a, ~ J ~ - R~ . . . ~ X~ , ' (4.33)
f or ;t = 0, t . . . . ; fl = t , 2 . . . . ; e = 1, 2 . . . . . Al so,
v(o) [-~
, , , B ~ . . . ~ , A . . . . a . ~ ~ -= X,,,~,...Ba,A .... a,, ( r ) , (4.34)
_ _ V ( ~ . ) tt~
5. Mul t i pol a r b o d y f or c e s
Mul t i pol ar b o d y f or ces of t he fi rst ki nd as s oci at ed wi t h ve l oc i t y c ompone nt s
v~ at t i me t a nd t hei r s pat i al der i vat i ves wer e def i ned pr e vi ous l y (GREEN &
RIVLIN t 964) . He r e we def i ne mul t i pol a r b o d y forces of t he ( f l + t ) th ki nd
as s oci at ed wi t h mul t i pol a r vel oci t i es a n d t hei r s pat i al der i vat i ves , e va l ua t e d
a t t i me t.
I f F~ i .... i~ is a t e ns or * a n d v i i .... j~ an a r b i t r a r y 20-pole ve l oc i t y at t i me t,
a nd if t he scal ar
F ~ ; . . . . j ~ v i i . . . . i ~ ( 5 . t )
is a r a t e of wor k per uni t mass, t he n t he t e ns or F~i .... ip is cal l ed a body [orce
2a-pole o/ the ( f l + t ) th k i n d , per u n i t mas s . The t ot a l r a t e of wo r k of a b o d y
f or ce 2a-pole of t he ( f l + t ) th ki nd, per uni t mass, di s t r i but e d t h r o u g h o u t a
vol ume V at t i me t, is
f qF~i .... j~ vi i . . . . ip d r , ( 5 . 2 )
v
wher e Q is dens i t y. Wh e n fl-----0 we r ecover t he r a t e of wor k of a cl assi cal b o d y
f or ce ve c t or F~ i n a ve c t or ve l oc i t y field. I f F~i . . . . ip.il i, is a t e ns or of or der
0~ + fl + 1 a nd v i i . . . . i~, ~ . . . . i= is an a r b i t r a r y 2tLpole "vel oci t y gr adi ent , a n d if,
F ~ j . . . . j p : ~ . . . . i , v ~ j . . . . i ~ , i . . . . i , ( 5 . 3 )
is a r a t e of wor k per uni t mass, t he n t he t ens or Fi i , . . , i p : i .... ~, is cal l ed a body
[orce 2~+#-pole o/ the ( f l + t ) th k i nd, per uni t mass. The t ot a l r a t e of wor k of
s uch a b o d y f or ce di s t r i but ed t h r o u g h o u t a vol ume V is
f q Fi i , . . . i ~: i . . . . ~ v i j . . . . i p, i . . . . i . d V . (5.4)
v
Wi t h o u t loss of ge ne r a l i t y t he t ens or Fi i .... i a: i . . . . i. ma y be t a k e n t o be c om-
pl et el y s y mme t r i c i n t he i ndi ces i t . . . . . i s. Wh e n f l = 0 we r ecover a b o d y
f or ce 2~-pole of t he f i r st ki nd, ** F/:~ .... i . .
* Owi ng t o t h e g r e a t e r ge ne r a l i t y of t h e p r e s e n t wo r k we h a v e n o t a l wa ys be e n
a bl e t o f ol l ow t h e n o t a t i o n whi c h we us ed p r e v i o u s l y (GREEN & RIVLn% 1964).
** Thi s wa s d e n o t e d b y / ~ . . . /~i i n t h e pr e vi ous p a p e r b u t t hi s n o t a t i o n is now
a ba ndone d.
Mul t i pol a r Co n t i n u u m Mechani cs t 2 t
The mul t i pol a r f or ces h a v e be e n def i ned wi t h t he hel p of v i i . . . . ]p,i . . . . i , whi ch
is r e ga r de d as a f unc t i on of x~ a n d t a nd so t he b o d y f or ces ma y al so be r e ga r de d
as f unct i ons of t hes e var i abl es, a n d di s t r i but e d t h r o u g h o u t a ma t e r i a l vol ume
V a t t i me t. Fo r s ome pur pos es i t is mor e c onve ni e nt t o def i ne mul t i pol a r b o d y
f or ces as s oci at ed wi t h a vol ume V b u t me a s ur e d as f unct i ons of X a a n d t,
wher e X a ar e coor di nat es of poi nt s i n a ma t e r i a l vol ume V o at t i me to, whi ch
c or r e s pond t o poi nt s of V. I f F ~ B , . . . B p : A . . . . A . is a t ens or f unc t i on of X a , t, of
or der 0 r a n d ViB . . . . Bp,a . . . . n, is an a r b i t r a r y 2~-pole ve l oc i t y gr adi ent ,
al so a f unc t i on of X a , t, a nd if
t ~B . . . . BO :a . . . . Aog Vi e . . . . ~, a . . . . A~ ( ~ ' 5 )
is a r a t e of wor k per uni t mass, t h e n t he t e ns or Fi B, . . . BB: A .... A. is a b o d y f or ce
2~+r of t he ( f l + t ) th ki nd, per uni t mass. The t ot a l r a t e of wor k of s uch
a b o d y f or ce mul t i pol e di s t r i but e d t h r o u g h o u t V is
f o0 F i B . . . . Bo : A . . . . A , V i B , . . . B ~ , A . . . . A , dVo, (5.6)
v.
wher e Qo is t he de ns i t y of t he vol ume V 0. The mul t i pol a r b o d y f or ce is c om-
pl et el y s y mme t r i c i n t he i ndi ces A 1 . . . . . A~.
Si nce t he mul t i pol a r ve l oc i t y gr adi ent s v i i . . . . i a, i . . . . i= can be r e ga r de d as a
speci al case of a 2~+~-pole ve l oc i t y i t fol l ows t h a t a b o d y f or ce 2~+a-pole of
t he ( f l + l ) th ki nd can be r e ga r de d as a speci al case of a b o d y f or ce 2~+a-pole
of t he ( ~ + f l + t ) th ki nd.
6. Mu l t i p o l a r s u r f a c e f or c e s a n d s t r es s es
Consi der a s ur f ace A whos e uni t nor ma l at t he poi nt x i at t i me t, i n a
speci f i ed di r ect i on, is n i. I f t i i .... j~..i .... iv is a t ens or f unc t i on of x i , t of or der
+ f l + t a n d if, f or all a r b i t r a r y 2~-pole ve l oc i t y gr adi ent s v i i . . . . i p, i . . . . i~, t he
s cal ar
tii, . . . i~:~, . . . iv vi i .... i~,i . . . . iv (6.1)
is a r a t e of wor k per uni t ar ea of A, t h e n t he t ens or t i i .... i a: i . . . . i, is cal l ed a
s u r [ a c e ]orce 2~+a-pol e o[ t he ( f l + t ) th k i n d , per uni t ar ea. Wi t h o u t l oss of gen-
e r a l i t y t he t ens or ma y be t a k e n t o be c ompl e t e l y s y mme t r i c i n t he i ndi ces
i l , . . . , i z. Wh e n r = 0 we h a v e a s ur f ace f or ce 2~-pole of t he f i r st k i n d * t i : i . . . . iv.
Wh e n ~ = 0 , ti i . . . . ia is cal l ed a s u r [ a c e [ or ce 2~- pol e o / t h e ( f l + 1) th k i n d , per uni t
ar ea, wi t h fl----0 cor r es pondi ng t o t he cl assi cal sur f ace f or ce ve c t or t i. The t ot a l
r a t e of wor k of t he s ur f ace f or ce 2~+a-pole of t he ( f l + t ) th ki nd, per uni t ar ea,
ove r t he sur f ace A, is
f t* i ,...i a..* ,...i vvl i .... i a,i .... i dA. ( 6 . 2 )
A
Th e t ens or t i i .... ia: i . . . . ~, at x i is as s oci at ed wi t h a s ur f ace whose uni t nor ma l
at t he poi nt is n~. Wh e n n k is a uni t nor ma l t o t he xa-pl ane t h r o u g h t he poi nt
we de not e t he c or r e s pondi ng t e ns or b y
ahi i . . . . i p: i . . . . i , . (6.3)
* De n o t e d pr e vi ous l y (GREEN & RIVLIN, t 964) b y t i , . . , i , i .
t 22 A. E. GREEN & R. S. RIVLIN:
The s e a r e t h e c o mp o n e n t s of a sur/ ace st ress t ensor 2~+~-pole o / t h e ( f l + t ) th k i n d
on a n e l e me n t of a r e a a t t h e p o i n t n o r ma l t o t h e xk- axi s. Th e r a t e of wo r k of
t hi s t e n s o r i s
ak i i . . . . i a: ~, . . i , v i i . . . . i a, i , . . . ~, (6.4)
p e r uni t a r e a of t h e s ur f a c e n o r ma l t o t h e xk-axi s. The f i r s t i n d e x k i s n o t
ne c e s s a r i l y a t e n s o r i n d e x u n d e r c h a n g e of axes , b u t i n d i c a t e s t h e s ur f a c e on
whi c h t h e s t r es s t e n s o r act s , t h e s ur f a c e b e i n g f i xed. Wh e n ~----fl----0 we r e c o v e r
t h e cl as s i cal s t r es s t e n s o r aki whi c h we s ha l l see l a t e r i s a t e n s o r wi t h r e s p e c t
t o b o t h i ndi ces .
Su p p o s e now t h a t t h e s ur f a c e A , c o n t a i n i n g a n a r b i t r a r y ma t e r i a l v o l u me
V a t t i me t, was a s ur f a c e A 0 a t t i me t o c o n t a i n i n g a c o r r e s p o n d i n g v o l u me V 0.
Th e c o o r d i n a t e s of c o r r e s p o n d i n g p o i n t s i n V o a n d V a r e X i a n d x i r e s p e c t i v e l y
a n d N K i s t h e u n i t o u t wa r d n o r ma l a t t h e s ur f a c e A 0. Le t PiBI...Bp:A . . . . a , be
a t e n s o r f unc t i on of X a , t, a s s o c i a t e d wi t h t h e s ur f a c e A b u t me a s u r e d p e r u n i t
a r e a of A o. I f , f or al l a r b i t r a r y 2~-pole v e l o c i t y g r a d i e n t s vi ~, . . . B~, a . . . . A, , t he
s c a l a r
P~ . . . B~ : A . . . . A, Vi B~. . . ~, A . . . . A, (6.5)
i s a r a t e of wo r k p e r u n i t a r e a of A o, t h e n t h e t e n s o r Pi e~. . . Bp:a . . . . A, i s c a l l e d
a s ur f a c e f or c e * 2~+P-pole of t h e ( f l + t ) th ki nd, p e r u n i t a r e a of A o. The t o t a l
r a t e of wo r k of t hi s s ur f a c e f or ce ove r A i s
f Pi B, . . . Bp: a . . . . A, Vi~I...Ba,A . . . . a, dAo" (6.6)
Ao
Th e s ur f a c e f or ce mu l t i p o l e Pi B, . . . Bp: a . . . . a , i s a s s o c i a t e d wi t h a s ur f a c e A
b u t me a s u r e d p e r u n i t a r e a of A o whos e uni t n o r ma l i s N a . Wh e n N K i s a u n i t
n o r ma l a t X a t o t h e XK- pl a ne t h r o u g h t hi s p o i n t we d e n o t e t h e c o r r e s p o n d i n g
s t r e s s mu l t i p o l e b y
~KiB1...Ba:A . . . . A," (6.7)
The s e a r e t h e c o mp o n e n t s of a s t r e s s t e n s o r 2~+~-pole of t h e ( f l + t ) th k i n d
a s s o c i a t e d wi t h a n e l e me n t of a r e a a t t h e p o i n t x i i n V, whi c h i n V o wa s pe r -
p e n d i c u l a r t o t h e XK- axi s, me a s u r e d p e r u n i t a r e a of t hi s s ur f a c e i n V 0. Th e
r a t e of wo r k of t hi s s t r es s t e n s o r i s
~i B1. . . Bp. . a . . . . A, VIB,...Bp,A . . . . A, (6.8)
p e r u n i t a r e a of s ur f a c e i n V o n o r ma l t o t h e XK- axi s. Th e f i r s t i n d e x K i s n o t
ne c e s s a r i l y a t e n s o r i n d e x u n d e r c h a n g e of axes , b u t i n d i c a t e s t h e s ur f a c e on
whi c h t h e s t r es s t e n s o r act s , t h e s ur f a c e be i ng f i xed. The cl as s i cal s t r es s t e n s o r
~Ki c or r e s ponds t o a - - ~ f l = 0 a n d we s ha l l see t h a t t hi s i s a t e n s o r wi t h r e s p e c t
t o b o t h i ndi ces .
A s ur f a c e 2~+P-pole of t h e ( f l + l ) th k i n d ma y be r e g a r d e d as a s pe c i a l case
of a s ur f a c e f or ce 2~+~-pole of t h e ( ~ + f l + t ) th ki nd.
* A si mpl e sur f ace force 2~-pole of t he f i r st ki nd is de not e d b y Pi : A . . . . A, i ns t ead
of PA . . . . n , i used pr evi ous l y (GREEN & I~IVLIN, 1964). Whe n ~ = 0 , PiB . . . . B a is cal l ed
a sur f ace force 2/~-pole of t he ( f l + l ) th ki nd, pe r uni t ar ea of A o.
Mu l t i p o l a r Co n t i n u u m Me c ha ni c s
t 23
7. K i n e t i c e n e r g y
Ki n e t i c e n e r g y p e r u n i t ma s s a t t i m e 3, c o r r e s p o n d i n g t o v e l o c i t y v i ( 3 ) i s
8 9 v i ( 3 ) v i ( 3 ) ( 7 . t )
a n d i t s ma t e r i a l r a t e o f c h a n g e i s
v i (3) v! *) (3). (7.2)
I n p a r t i c u l a r , i t s r a t e of c h a n g e a t t i me t, p e r u n i t ma s s , i s
vi v! ~). (7.3)
Wh e n we h a v e , i n a d d i t i o n , 2&pol e v e l o c i t y f i e l ds v i i . . . . i a( z) (/5----1 . . . . . v)
we p o s t u l a t e t h a t t h e c o r r e s p o n d i n g k i n e t i c e n e r g y , p e r u n i t ma s s , i s *
{ ~ Y, . . . . i . : i . . . . i , v i i . . . . , , ( 3 ) v i i . . . . i a ( z ) , (7.4)
cx, f l = l
wh e r e Yl . . . . i~:i . . . . i~, i n d e p e n d e n t of 3, i s a t e n s o r f u n c t i o n of x i a n d t, a n d we
c a n p u t
Y i . . . . r . . . . i ~ = Y i . . . . i ~ : i . . . . r (7.5)
w i t h o u t l os s o f g e n e r a l i t y . T h e r a t e o f c h a n g e of t h i s k i n e t i c e n e r g y a t t i me t,
p e r u n i t ma s s , i s f o u n d b y d i f f e r e n t i a t i n g (7.4) wi t h r e s p e c t t o 9 a n d t h e n
p u t t i n g ~ = t , t o g i v e
v
~ l y i , .(s) ,.
. . . i . : i . . . . J a " i i . . . . i . ~i . . . . i p" ( 7 . 6 )
S i mi l a r l y , wh e n t h e 2&pol e v e l o c i t y f i e l d i s ViB,...Ba(Z) ( f l - - - - t . . . . . V), t h e
c o r r e s p o n d i n g k i n e t i c e n e r g y , p e r u n i t ma s s , i s
{ ~ Ya . . . . A.:B1...Bp Via . . . . a . ( 3 ) V,~ . . . . ~ , ( 3 ) , ( 7. 7)
~ , / ~ = 1
wh e r e Ya . . . . a , : B, . . . ~p , i n d e p e n d e n t o f 3, i s a t e n s o r f u n c t i o n o f X a , a n d
YA . . . . A, : B~. . . Ba --~ YB . . . . Ba: A . . . . Ac*" (7.8)
T h e ma t e r i a l r a t e o f c h a n g e o f ( 7. 7) a t t i m e t i s
,(2) , ( 7 . 9 ) ~ ' Y A t . . . A . : B t . . B e Vi At . . . A~ Vi B~. . . Bp"
a , f l = l
8. T h e e n e r g y e q u a t i o n a n d e n t r o p y p r o d u c t i o n i n e q u a l i t y
We c o n s i d e r a n a r b i t r a r y ma t e r i a l v o l u me V o f t h e c o n t i n u u m b o u n d e d b y
a s u r f a c e A a t t i m e t. We a s s u m e * * t h a t b o d y f o r c e 2&pol e s of t h e ( / 5 + t ) th
k i n d Fi i . . . . i~ (fl----0, t . . . . . v), p e r u n i t ma s s , a c t t h r o u g h o u t V a n d t h a t s u r f a c e
f o r c e 2~- pol es of t h e ( f l + t ) th k i n d t i j . . . . j~ (fl----0, t . . . . . v), p e r u n i t a r e a , a c t
a c r o s s A. We a l s o a s s u me t h a t t h e r e i s a n i n t e r n a l e n e r g y f u n c t i o n U p e r u n i t
ma s s , a n e n t r o p y f u n c t i o n S, p e r u n i t ma s s , a h e a t s u p p l y f u n c t i o n r p e r u n i t
m a s s a n d u n i t t i me , a l o c a l t e m p e r a t u r e T, wh i c h i s a s s u me d t o b e a l wa y s
* See t h e Ap p e n d i x f or a mo t i v a t i o n f or t hi s def i ni t i on.
** T h e r e ma r k s a t t h e e nds of s e c t i ons 5, 6 i n d i c a t e t h a t t h e r e i s no e s s e nt i a l
l oss of g e n e r a l i t y i n r e s t r i c t i n g o u r di s cus s i on t o b o d y a n d s ur f a c e f or c e 2tLpoles of
t h e ( f l + t ) tu ki nd.
t 24 A. E. GREEN R. S. RIVI.IN:
posi t i ve, a heat fl ux h across A per uni t area, per uni t t i me, and a heat fl ux
Qi, where Qi is t he fl ux of heat across a pl ane at x i per pendi cul ar t o t he xi-axis,
per uni t area, per uni t t i me. All t hese funct i ons depend on x 1, x~, x~, t or,
al t er nat i vel y, on X 1, X 2, X~, t when a pr ef er r ed posi t i on for t he cont i nuum
exists.
We post ul at e an ener gy bal ance at t i me t in t he f or m
v - -
z [ " ]
+ t i v i + ~ t i i .... Jpvii .... ip d A - - f h d A ,
/~=1 A
where a dot denot es t he mat er i al t i me der i vat i ve and where
F , s . . . . ; = F , ; . . . . Y . y , . . . . . . . . ( 8 . 2 )
The second t e r m in (8.2) arises f r om t he cont r i but i on (7.6) t o t he ener gy equat i on
f r om t he ki net i c energy. We also post ul at e an ent r opy pr oduct i on i nequal i t y
f " r h
f f _>0
S d V - - Qy - d V + ~ d A _ (8.3)
V V A
We suppose t ha t t he cont i nuum has ar r i ved at t he gi ven s t at e at t i me t
t hr ough some pr escr i bed mot i on. We consi der a second mot i on whi ch differs
f r om t he gi ven mot i on onl y b y a constant super posed rigid body t r ansl at i onal
vel oci t y*, t he cont i nuum occupyi ng t he same posi t i on at t i me t. We assume
t ha t U, t i, F i, tii .... J~' ~ J .... ]a ( f l = l . . . . . v), h and r are unal t er ed b y such
super posed rigid body vel oci t y; and we obser ve f r om s ect i on4 t ha t vi i .... ip
(fl----l, 2 . . . . . v) and v!~ I ...ia ( f l =0, 1 . . . . . v) are also unal t er ed but t ha t v i is
changed t o v i +a o where a s is const ant . Thus equat i on (8.1) is also t r ue when
v i is repl aced b y v i + a i, all ot her t er ms bei ng unal t er ed, so t hat , b y sub-
t r act i on
[ f Q Fi dV + ! t i dA - - / p v ! " dV] a , = 0 (8.4)
for all ar bi t r ar y const ant a i. Since t he qua nt i t y in t he squar e br acket s in
(8.4) is i ndependent of a i i t follows t ha t
f q ~ dV + f ti dA = f q v!~ldV. (8.5)
V A V
I f t he component s of st ress across t he coor di nat e pl anes are ai i i t follows f r om
(8.5) t ha t
ai i , i + e F i = 0 v! 2), (8.6)
ti--~ ni ai i . ( 8 . 7 )
I n vi ew of (8.7), aii is a t ensor wi t h r espect t o bot h indices 1", i under changes
of r ect angul ar car t esi an axes, where t he st resses in each coor di nat e s ys t em are
associ at ed wi t h t he t hr ee coor di nat e pl anes in t ha t syst em.
* The i ndependent t he r modyna mi c vari abl e, whi ch can be t aken t o be S, is
unal t er ed.
Multipolar Continuum Mechanics t25
Wi t h the help of (8.6) and (8.7), equation (8A) becomes
v _
I ,
- ' l ' - J ~ ' i j . . . . jJ~ V i i . . . .
#a d A - - f h d A .
A#=I = A
We apply this equation to an arbi t rary tetrahedron bounded by coordinate
planes through the point x i and by a plane whose unit normal is nk, to obtain
the result
( t i s . . . . # ~ - - n ~ Ok i j . . . . #a ) V i i . . . . #a = h + n ~ Q i = O i ( 8 " 9 )
Then, using (8.9) in (8.8) and applying the resulting equation to an arbitrary
volume, gives
v
~=~ (8Ao)
v
+ ~' ~rkii . . . . ia Vi i . . . . ip,k ~ 0 .
From (4.27) we have
v i i . . . . #a= Bi , . . . i a : i - - vm, lXmi~ . . . i a' (8.1t)
v i i . . . . ia,k = B# . . . . i a : i ~ - - rm, ~x~# . . . . i a, k,
where
and with the help of (3.1]) equations (8.11) become
1
v i i . . . . i p = B i . . . . i a : i - - ~ ( A mi +C ~ Xmi . . . . ia, (8.t2)
v i i . . . . i a , k = B i . . . . i a:i k - - { ( A mi +~ xmi . . . . ip,k"
If we subst i t ut e the first of equations (8.t2) into equation (8.9), we see t hat
1 x , Y t XmS = 0 , ( 8 . 1 3 )
- ~ c ~ . . . . s . . . . . i ,
xt~j . . . . i a ( Bi . . . . i a : i - - ~ A mi m# . . . . #a) - ~ a
where
h = h --n~Q i, (8.14)
el i , . . , ia =t i i , . . . #a - - nk ok i h. . . i a"
Also, with the help of (8.t2) and (3.1t) equation (8.10) becomes
X #
e r - - Qi,~ - e ~ + ~ A ~ i ~ i m + ~ ' e ~ i . . . . ia B i . . . . i a: i +
a=x ( 8 . 1 5 )
v
j . t
+ ~ aki # . . . . #a B i . . . . i p:i k +~ mi a i m=O'
#=1
where
e i i . . . . # a =e Fi i . . . . ia +a k ~ i . . . . #a,k, (8A6)
and
P p
' - - ' p ~ x ( 8 . 1 7 )
r ~ ' ~ i i . . . . #pXm# . . . . ip ak i i . . . . i p x , n# . . . . ip, I,"
#=1
t 26 A. E. GREEN ~2; R. S. RIVLIN:
We now consi der a mot i on of t he cont i nuum whi ch is such t ha t t he velocities
differ f r om t hose of t he gi ven mot i on onl y b y a super posed uni f or m rigid body
angul ar vel oci t y, t he cont i nuum occupyi ng t he same posi t i on at t i me t, and we
assume t ha t h, Q i , t i i . . . . i ~, r , ( ] , a i , . , a ~ i . . . . j~ and a k i ] .... i~ are unal t er ed b y
such mot i ons. Equat i ons (8.t3) and (8A5) hol d for all vel oci t y and mul t i pol ar
vel oci t y fields, so t he equat i ons hol d when ~o m i is repl aced b y eo,~ i + 2Q**i wi t h
all ot her ki nemat i c quant i t i es unal t er ed, in vi ew of resul t s in sect i on 4, where
/2m~ is a const ant ar bi t r ar y skew s ymmet r i c t ensor. Hence
and t her ef or e
v -
Q r ~ i ~= l t i i . . . . ia xrn i . . . . ia = O ,
D,~i ~ , ~ = 0 .
t t
~i m~Gmi .
Equat i ons (8.t3) and (8.15) t hen reduce t o
(8.~8)
( 8 A 9 )
and
i ~i . . . . i a ( B i , ...7,:: i - - 8 9 ) - - h = O,
//=1
oOi,~-qU- * ' ~-
- - + ~ A , . i a i , , , + ~ a i i . . . . ia B i . . . . i a : i +
5 r
B=l
v
+ ~ ' a k i i . . . . ia B i . . . . i . . i k ~ - 0
r espect i vel y.
(8.20)
(8.2t)
9. Ene r gy and entropy production: alternative form
The wor k of t he previ ous sect i on is suffi ci ent l y general t o be appl i ed t o
a ny cont i nuum, whet her solid or fluid. When t he cont i nuum has a reference
confi gurat i on X a t hr ough whi ch i t passes at t i me t o i t is conveni ent t o have
an al t er nat i ve f or m of t he t heor y in whi ch mul t i pol az forces and st resses are
meas ur ed wi t h r espect t o t hi s confi gurat i on.
We consi der an ar bi t r ar y vol ume V at t i me t bounded b y a surface A and
we suppose t ha t V 0 is t he correspondi ng vol ume at t i me t o, bounded b y a surface
A o. Poi nt s of V 0 have coordi nat es X A . Recal l i ng t he defi ni t i ons in sect i ons 5- - 7,
t he ener gy equat i on (8.1) is repl aced b y
f 5or, v!2)dg + f 5o O d ~ = f 5o [r + ~ ~, + Y, ~. .... , . ~,, .... . . a g +
v, Vo v, ~ ~=t (9.1)
[ " 1
+ f p~v~+ ~. Pi8 .... B, v~B .... B, dAo -- f hodAo.
A o ~ I Ao
where h o is t he fl ux of heat across A, meas ur ed per uni t ar ea of A 0' and
v
~, ~=~, . , - F , Ya,...A.:~,....~ ~ . . . . . . ~ a . . . . a . . (9.2)
~x=l
Multipolar Cont i nuum Mechanics t27
The ent r opy pr oduct i on i nequal i t y (8.3) becomes
f s o ~ a V o - f ~ o ~ - a V o + f ~ a A o > : O . ( 9 . 3 )
Vo Vo Ao
I f we follow an ar gument similar t o t hat used at t he begi nni ng of section 8,
we ma y deduce t he classical equat i on of mot i on
f 5o F~d Vo + f p, dAo = f 5o v! 21 d V o. ( 9 . 4 )
Vo Ao Vo
Hence
~ i , ~ + 5o F ~ = qo v! ~), ( 9 . 5 )
P i = NK ZtKi, (9.6)
where N n is t he uni t out war d nor mal vect or t o t he surface A 0. I n view of (9.6),
Ztni is a t ensor wi t h respect t o bot h indices, under changes of r ect angul ar car-
t esi an axes, where t he stresses in each coordi nat e syst em are associated wi t h
t he t hr ee surfaces in t hat syst em in V which correspond t o coordi nat e pl anes
in V 0.
Using (9.5) and (9.6), equat i on (9.t) can be r educed t o
v _
v. (9.7)
+ / ~ p,~,...,p v,~,...,p aAo-- / hoaAo.
A0 fl=l Ao
We appl y t hi s equat i on t o a vol ume V whi ch in t he reference st at e V 0 was a
t et r ahedr on bounded by coordi nat e pl anes t hr ough t he poi nt X a and by a
pl ane whose uni t nor mal is NK, t o obt ai n t he resul t
Y . ( p ~ , . . . , , - - N ~ I ~ , , . . . ~ ) v , ~ l . . . , ~ - - h o + N ~ q , ~ = o . ( 9 . 8 )
8=1
Then, using (9.8) in (9.7) and appl yi ng t he equat i on t o an ar bi t r ar y vol ume,
gi ves
~ 0 ~ - q ~ , ~ - Qo/~ + ~ , v , , ~ + ~ (Qo ~,~,...,~ + ~ , , , . . . , , , ~ / v , , , . . . , , +
a=l (9.9)
v
"31- ~ ' ~ K i B I . . . B p V i B i . . . B B , K ~---- O,
where qK is t he fl ux of heat across surfaces in V whi ch were originally coordi nat e
planes perpendi cul ar t o t he XK-axes t hr ough t he poi nt X B, measur ed per uni t
area of t hese planes, per uni t time.
Fr om (4.32) and ( 3. t l ) we have
V i B t . . . B B = X A , i BB1...BI3 :A - - ~ ( A , , i + o ) , , i ) X , , B , . . . S a , (9.t0)
V i B , . . . B a , K : X A I B B 1 B a ' A K 1 . . . . . - - ~ ( A , , ~ + O ) , , i ) X , , B , . . . B a , K "
Wi t h t he hel p of (9.10) equat i ons (9.8) and (9.9) become
v
1
E ~ i B , . . . B a ( X A , I B B , . . . B # : A - - ~ A m i X m B t . . . B a ) h ~
8=1 (9A'I)
o ~ , , , ~ l ~ i B ~ . . . ~ ~ x , , , 8 , . . ~ = o ,
t28 A. E. GREEN & R. S. RIVLIN:
and
O0 r - - q K , K ~0 0 1 ' 1 ' - - + ~ A , ~ K , ~ x ~ K + + 9 2(Om~ir~KmXi,K
B v ...
~ - X A , ~ ' B I . . . B f l B t . . . B ~ I A ~ - X A , ~ I ~ K ' B I . . . B ~ B B I B B : A K = 0 ,
where
and
(9.t2)
v
"~iB,...B# = O0 ~ B , ...B# + ~r'K i B, . . . B#, K, (9.14)
f*~ h~ - - NK q~c' (9A5)
~ iBI...Bp ~ P iB1...B~ - - NK Y~K iBI...B~ "
We consider a mot i on of t he cont i nuum which is such t ha t t he velocities
differ from t hose of t he gi ven mot i on onl y by a superposed rigid body angul ar
vel oci t y, t he cont i nuum occupyi ng t he same position at t i me t, and we assume
t hat ho, qK, P~B,...~a, r, U, ~K~, ~iB,...Ba and ~K~B~...Ba are unal t er ed by such
mot i ons. Equat i ons ( 9. t t ) and (9A2) hol d for all vel oci t y and mul t i pol ar vel oci t y
fields, so t he equat i ons hol d when ~o~ i is repl aced by ~o m i + 2/2m i wi t h all ot her
ki nemat i c quant i t i es unal t er ed in view of results in sect i on 4, where Q,~i is a
const ant ar bi t r ar y skew-symmet ri c t ensor. Hence
v
t 2 ~ i ~ P~ , . . . ~ , x, ~, . . . ~, = o ,
~gm~ a ~ X i , ~ = 0 ,
and t herefore
Y. ( ~ , . . . ~ x ~ , . . . ~ - ~ , . . . , ~ x~, . . . ~ ) = o , ( 9 . t 6 )
/ / =1
t t
~K, ~Xi , K=~Ki X, ~, K. (9A7)
Equat i ons ( 9. i t ) and (9A2) t hen reduce t o
and
v X . . . 1
XPi B, . . . Ba ( a , i B B , Ba : a - - - ~ A, ~ i X, n B, . . . B, ) - - h o = 0 '
~o r - - qK, ~ - - Qo ~7 + ~ A ~ , ~ x i , n +
+ X a, i ~ (~i ~,...Bp BB,...B~: a + r~K~B,...~p B e,...8# :a K) = O.
(9.18)
(9.19)
10. El asti ci ty
We use t he work of section 9 and suppose t hat S, x i and XiB ,...8~ (fl = l , 2 . . . . . V)
are funct i ons of XA, t. Inspect i on of equat i ons (9.5), (9.6), (9.t8) and (9.t9)
suggests t ha t const i t ut i ve equat i ons are requi red for T , ho, qK, U, ~r'Ki, ~Ki B, . . . Bp,
~iB,...Sp and /5iB,...8 , ( f l = t , 2 . . . . . v). We define an elastic body as one for
Mul t i pol ar Cont i nuum Mechanics t 29
whi ch t he f ol l owi ng c ons t i t ut i ve e q u a t i o n s * hol d at each ma t e r i a l poi nt X a
a n d f or al l t i me t :
U = U ( S, xl ,a, X~B,...B~, X i B , . . . B , a ) , ( t 0 . 1 )
t
~Ki = ~K i ( S ' Xi, A' Xi B, . . . By' Xi Bt . . . B~, A)' ( t 0 . 2 )
~K i B,...Bp = Z~:iB,...B~ (S, x~,a, X~B,...B~, X i B , . . . B , a ) , ( t 0 . 3 )
~i ~, . . . 8# =~i B, . . . B# ( S, xi , a , X~B,...B~, xi ~, . . . 8, a) , (t 0. 4)
T = T ( S , xi , A , x~8,...B~, X~B,...B, A ) , (t 0. 5)
P i ~,...Bp = P~B,...8~ (S, xi , a, x~8,...B~, xi ~, . . . ~, A , N~:), ( 1 0 . 6 )
hO = ho ( S, xi , A, XiB,...B~,, XiBx...B~,,A, NK)' ( 1 0 . 7 )
qK~-WK( S, Xi, A, XiBt...B~, Xi B, . . . By, A' T A' T AAx' . . . . T AAt . . . A~) , ( 1 0 . 8 )
f or fl = 1, 2 . . . . . v; ~ = 1, 2 . . . . . # ; #=>v + 1, a n d all f unct i ons ar e a s s ume d t o
be s i ngl e- val ued a n d suf f i ci ent l y s moot h.
Fo r a gi ven de f or ma t i on a nd e n t r o p y t he 2~-pole vel oci t i es ViB,...Ba ma y be
chos en a r bi t r a r i l y a n d i n d e p e n d e n t l y of each ot he r so t ha t , f r om (9.8) or (9. t 8),
h o =O, p i Bt . . . Ba =O,
or
ho ---- ArK qK, (t0. 9)
PiB,...B# --~ NK ~KiB, . . . B# (fl = 1, 2 . . . . . V).
The s econd e qua t i on i n (t 0. 9) shows t h a t ZtKiB,...Bp t r a ns f or ms as a t e ns or wi t h
r es pect t o all i ndi ces, i ncl udi ng K, u n d e r changes of r e c t a ngul a r car t es i an axes,
wher e t he mul t i pol a r st resses i n each c oor di na t e s y s t e m ar e as s oci at ed wi t h
t he t hr ee sur f aces i n t h a t s ys t e m whi ch wer e c oor di na t e pl anes Xu = c o n s t a n t
bef or e def or mat i on. The f i r st e qua t i on i n (t 0. 9) shows t h a t qK t r a ns f or ms as
a vect or . Eq u a t i o n s (9. t3) a n d (9.14) t he n s how t h a t Z~m, ~i B~. . . ~ ar e t ens or s
wi t h r es pect t o all i ndi ces.
I f we use 00.9)1 i n (9.3) a nd a p p l y t he e qua t i on t o an a r b i t r a r y vol ume
we ha ve
qo S T - - Oo r + qK,K qK T, K > 0, (10. t 0)
T
wi t h t he us ual s moot hne s s as s umpt i ons , r ecal l i ng al so t h a t T > 0. I f we t h e n
s ubs t i t ut e f or r f r om (9.19) i nt o ( t 0. t 0) we obt a i n t he i ne qua l i t y
0 o ( T ~ _ ~) qK T, K 1 ,
T + 2 z c K m x i , K A ' i +
(1o.1t)
v
+ XA, ~ I ( ~ B , . . . B e B ~ , . . . ~ :a + ~ : i B , . . . ~ B~, . . . Ba :a K) >= O.
* The i ndependent vari abl es are all unchanged by superposed rigid body t r ans-
l at i ons at all times. The form of equat i on (9.9) suggests t ha t mul t i pol ar displace-
ment s and t hei r gradi ent s, as well as di spl acement gradi ent s, shoul d appear as in-
dependent variables. By a met hod similar t o t h a t used i n t hi s sect i on and in a
previ ous paper (GREEN & RIVLIN, t964) i t can be shown t h a t gradi ent s of mul t i -
pol ar di spl acement s of an or der hi gher t ha n t he fi rst cannot occur in t he const i t ut i ve
equat i ons ( t 0. t ) - - ( t 0. 6) .
t 30 A. E . GREEN & R. S. RI VLI N:
We assume t ha t t he i nt er nal ener gy f unct i on U is unal t er ed when t he con-
t i nuum undergoes a def or mat i on whi ch differs f r om t he gi ven def or mat i on onl y
b y super posed ri gi d body mot i ons at all t i mes. Thi s assumpt i on includes t hose
al r eady made about U. Wi t h t he hel p of sect i on 4 i t follows t ha t
U( S , Xi, A, XiB,...By , XiB, . . . By, A ) = U( S , Qi / X i , A , Qi i Xi B, . . . B~, Qi i Xi B, . . . Bv, a)
for all pr oper or t hogonal val ues of Qii. I t fol l ows* t ha t U mus t be expressi bl e
in t he di fferent funct i onal f or m
where
and
are defi ned in (4.19).
0 ou g ou x -
= ~ "3 t- ~ i , A X/ , BZt i j +
U= U(S, E:AB, EB,..B~,:A , EB,...B~,:A~: ) (t 0. t 2)
E: aB=EAB=EaB( t ) ,
00.t3)
EB,...8,:A,...Ac,=EB,...B,:A,...A,, (t) ,
Recal l i ng t he resul t s (4.3t) and (4.32), i t follows t ha t
r= 1 0 E B . . . . B~,:A BB' "' B~:A "j OE, B . . . . B~:AK
(10.t4)
where U is wr i t t en as a s ymmet r i c funct i on of EAB in t he indices A, B and
EAB is under st ood t o mean 89 +EBa ) in OU/OEAe. The i nequal i t y ( t 0. t t )
can now be wr i t t en in t he f or m
+ XA, i = ~ B , . . . B # - - O o X i , B OEe .... Bo:B . . . .
(1o.15)
a~_'l( 0u ' B
-~- X A , i Y~Ki Bt . . . Ba- - eoXi , B OEBx-~..-B#:BK- ) Bx. . . B#: AK- -
- - & OEm~ff.B#:A Be'"'~#:A-+ OEB,..B~:AX Be'"'B~:A~: > 0 .
#~v+l
For a gi ven s t at e of def or mat i on and e nt r opy t hi s i nequal i t y is t o be val i d for
all ar bi t r ar y val ues of S, Ami, BB1...B~:A, BB1...B~:AK ( f l = t , 2 . . . . . /~) whi ch
can be chosen i ndependent l y of each ot her. I t follows t ha t
OU OU
- - 0 , - - 0 ,
OEBI... BB:A OEB~ ... BB:AK
for f l = v + t , v + 2 . . . . . /, so t ha t U in (10.t2) reduces t o
U= U(S, Fan, EB, . . . Ba: A, E~,...B p :ate) (10.16)
* This is analogous t o a result obt ai ned by GREEN & RIVLm (1964) and may
be obtained by the methods of t hat paper.
Mul t i pol ar Cont i nuum Mechanics
t 3t
wi t h fl = t , 2 . . . . . v. I n addi t i on,
T - - ~U
a s ' ( t 0. t 7)
, ~ u ( t o . t 8 )
~Kra=2OoXm'A OEAK '
- - aU ( t 0. t 9)
~7~iBt...B# ~ 00 Xi , B ~EB1 . . . B~: B '
~U (t 0. 20)
Y~KiB~...Bp ~ Oo X i , B ~ EBx . . . B~ : BK ,
t he l ast t wo r esul t s hol di ng f or / 5 = 1, 2 . . . . . v. Al so
--q~T~>__0 (1o.2t)
a n d wi t h t he hel p of ( 10. 17) - - ( 10. 20) e qua t i on (9. t9) r educes t o
00 r - - qK, K - - 00 T S----- 0. (10.22)
Becaus e of (10.9)~ a nd (10. t 8) e qua t i ons (9.16) a n d (9. t7) ar e sat i sf i ed i dent i -
cal l y.
I f we i nt r oduc e t he He l mhol t z free e ne r gy f unct i on
A = U- - T S (10.23)
a n d expr ess A i n t he f or m
A = A ( T , E A B , EBI . . . Ba : A, EB~. . . Ba: . 4K) , (t 0. 24)
t he n
S - - 0.4
aT ' (t 0. 25)
, aA (t 0. 26)
7rKm = 200 X~'A 0EaK '
_ ~A (10.27)
7giB~...B# ~ OOXi , B ~EB~. . . Ba: B '
~A ( t o . 2 8 )
7gKIB~...B# ~ 00 Xi , B 8EBx... BB: BK "
Eq u a t i o n s (9.14) a n d (10.27), t oge t he r wi t h (9.5), f or m a basi c set of equa-
t i ons of mo t i o n f or t he st resses ~rri a nd mul t i pol a r st r esses ~rKiB~...B ~, t he con-
s t i t ut i ve e qua t i ons f or t hes e st r esses bei ng gi ven b y (10.26), (t 0. 28) wher e,
f r om (9. t 3)
v
~ra ~ = n ~ m + )Ca,~ Y ( ~ B , . . . B a X~B, . . . Ba + ~ m ~ , . . . B ~ x ~ , . . . a a , r ) . ( t 0 . 2 9 )
11. El a s t i c i t y : a l t e r n a t i v e f o r m
Bef or e cons i der i ng c ons t i t ut i ve e qua t i ons of a mor e gener al t ype , ba s e d on
t he wor k of s ect i on 8, we obt a i n r esul t s f or el as t i ci t y i n t he n o t a t i o n of s ect i on 8.
We s uppos e t h a t t he c o n t i n u u m is i n a r ef er ence s t at e X B at t i me t o a n d we
as s ume t h a t t he i nt er nal e ne r gy U at s ome t i me T (t o<=T<=t ) has t he f o r m*
U ( T ) = U E S , x ~ , a ( ~ ) , x ~ j , . , j ~ ( ~ ) , x ~ j , . , j ~ , k ( ~ ) , x i , a , x ~ j , . . j ~ ( t o ) , X ~ j , . . . j ~ , k ( t o ) ] ( 1 1 . t )
* Al t hough U(T) is expressed i n t er ms of t he vari abl es in (11.1) for conveni ence
i n t hi s sect i on i t mus t essent i al l y be such t h a t i t is a f unct i on of ki nemat i c vari abl es
at t i mes T and t o.
132 A.E. G R E E N & R. S. RIVLIN:
for f l = t , 2 . . . . . /~. We consider a mot i on (3.t) which differs from t he given
mot i on by superposed rigid body t ransl at i ons and rot at i on and we assume t hat
U is unal t ered by such rigid body motions. Then
u[s, xl,4 ( r ) , x , ~ j . . . . ; p ( 3 ) , X m j . . . . / p , k ( 3 ) , X ~ , 4 , X m / . . . . /~(tO), X , ~ i . . . . i p , k ( t o ) ]
= u[s, Q i j ( 3 ) x j , 4 ( 3 ) , Q m , ( r ) Q j , i , . . . Q j , ~ , x , ~ . . . . ~ ( 3 ) ,
Q m . ( * ) Q j , , , . ' - Q / , ~ , Q ~ , x . i . . . . i ~ , . ( 3 ) , Q . x , - 4 ,
Q j , i , - . - Q i , i ~ x m i . . . . 4 , ( t o ) , Q / , ~ , . . . Q j , ~ , <2~, x . ~ . . . . i , , , ( t o ) ] ,
for all proper ort hogonal values of Q i i ( 3 ) .
I t follows t hat
u(T}= u[s, ~ 4 B ( 3 } , f f B , . . . ~ , : 4 ( 3 } , ~ , . . . ~ , . . 4 ~ ( 3 ) , E 4 ~ ,
( t t . 2 )
E ~ . . . . B , : 4 ( t o } , ~ , . . . ~ , : 4 K ( t 0 } ] ,
where
/ T ~ , . . . ~ : 4 ( 3 ) = ~ . . . . . j , . . ~ ( 3 ) x i , 4 x / , ~ . . . x / , , B , , ( t t . 3 )
/~B,...~#:AK(3) =/ Ti .... i#:~,(~) Xi , 4 Xk, n Xi , , B ' . . . Xi #, B #. (t t . 4)
Using a dot t o denot e mat eri al t i me di fferent i at i on wi t h respect t o 3, and
recalling (4.27), we have
[ E B , . . . B # : A ( 3 ) ] , = , = B i . . . . i # : ~ x ~ , 4 x i , , B , " " X i # , B # ' ( 1 1 . 5 )
[ E B , . . . B # : a l C ( 3 ) ] , = t = B i . . . . i#:~, xi, 4 x , , g x i , , B , . . . x / a , B # , ( 1 1 . 6 )
a n d
~ U ~ + [ ~ U ] , = A i i x , , 4 Xi,B +
[O(,)],=t = ~ ~ E a B ( , )
+ 0EB .... B#:4(~) ]~=~ B i . . . . i #: i Xi ' a X i ~ ' ~ ' " " Xi a' B# + (t t . 7)
The devel opment of el ast i ci t y equat i ons from (8.20) and (8.21) is similar
t o t hat given in section 10, so we omi t t he details and we quot e t he final results.
Thus
h = n ~ ( ? ~ , ( 1 t . 8 )
tiJ .... i # = n * a * i i . . . . / # , ( 1 t . 9 )
T - - OU (l t A0)
~S '
[ ~ v ] , 0 1 . 1 t )
a i m = 2 e x , , 4 Xm,B [ OE4 B (*) Jr=t
~, i .... i # =~ x , , 4 xj , , B. . . x~. , , ~, [- o U 1 , = , (11.t2)
~ E ~ .... B#:a (*)
[ 0u
1
( ~ . ~ }
. . . . . . . .
Multipolar Continuum Mechanics t 33
where U is gi ven by (11.2) and fl in ( t l . 2) , (11.12), ( t t . t 3) t akes t he val ues
1, 2 . . . . . v. Also
- - Q, Ti >=0 (11.t4)
and
9 r - - Q i , ~ - - q T S = O . (11.t5)
The expressi on for U is symmet r i zed wi t h respect t o t he indices A, B in EaB( z )
and E A B ( * ) is under st ood t o mean 89 ) + E B A (, )] before (11.1t) is used,
and t hen t he s ymme t r y condi t i on (8.t9) is satisfied. I n view of ( t t . 9) t he con-
di t i on (8.t8) is satisfied i dent i cal l y.
12. Cons t i t ut i ve e q u a t i o n s *
For conveni ence we collect here all t he f undament al equat i ons of sect i on 8,
namel y (8.6), (8A6), (8.t7), (8.19), and (8.21), t oget her wi t h (8.7), (8.14), (8.18),
and (8.20), and t he ent r opy pr oduct i on i nequal i t y (8.3). Thus
~ , . ~ . j + q F ~ : q v! ~1, ( 1 2 . t )
a~J . . . . i ~ = q ~J . . . . i ~ +a~i J . . . . i p, * , (12.2)
v v
a i ' * = a mi = a i r ~ - - a ~ i . . . . iB X' nJ . . . . i~ - - akii . . . . i ~ xmJ . . . . j ~ , k , ( t 2 . 3 )
B=I
+ ~ a k i i . . . . ia Bj . . . . i a : i k : O,
B=I
and
, , - ~ n 4 a , i $ ,
7~=h-ni Qi,
~*~, . . . #a = ti i , . . . i a - - n~ ak i i , . . . i a,
E ( i , j . . . . i , x . j . . . . j , - t L j . . . . i x,j . . . . j , ) = 0 ,
B=I
(12.4)
(12.5)
(12.6)
(12.7)
( t 2 . 8 )
(12.9)
TdV + f TdA >=0. f e ~d V_ f e r h
V V A
1 t r ansf or ms as a t ensor of order I n equat i on (t2.8) B i . . . . i a : ~ - - ~ A m ~ x , ~ i . . . . ia
f l + l under changes of r ect angul ar cart esi an axes. We assume t hat iii .... ia
also t r ansf or ms as a t ensor of or der fl + t and t ha t h is a scalar, under change
of axes, so t ha t t he l eft hand side of equat i on (t2.8) is t hen a scalar. Since,
for a gi ven surface, tii .... ia is a t ensor and h a scalar, i t follows f r om (t2.6)
t ha t Q~ t r ansf or ms as a vect or and a k i i . . . . i~ as a t ensor under change of r ect an-
gul ar axes, where t he appr opr i at e quant i t i es in each syst em of axes refer t o t he
* See also section 16.
Arch. Rational Mech. Anal., Vol. 17 10
t 34 A. E. GREEN & R. S. RIVLIN:
coordi nat e surfaces in t hat syst em. Thus, if Qi is t he fl ux of heat across xi-planes
at x i , and Q* is t he fl ux across x*-pl anes at t he same poi nt , t hen
Ox*
Q* = ~ Q j , ( t 2 . t 0 )
t he t r ansf or mat i on from x* t o x~. bei ng ort hogonal . A similar resul t holds for
t he mul t i pol ar stress t ensor. I t follows from (12.2) and (t2.3) t hat ai i .... ia and
a ~ t r ansf or m as t ensors under changes of r ect angul ar cart esi an axes and t hat
t he l ef t - hand side of (12.4) is a scalar under such t ransformat i ons.
We now suppose t hat a]~, a k i i . . . . i a, a i i . . . . i a, t ~i . . . . i ~, h, Qi correspond t o
e.*.
a def or mat i on of t he cont i nuum gi ven by (2A), and t ha t a * , a * i i . . . . ]~, ,~ . . . . i p,
~* .... jp, h*, Q* correspond t o t he mot i on (3A), t he ent r opy S bei ng unal t ered.
I f t he superposed rigid body mot i ons for all t i me do not change t he val ues of
a i , . . . . . Qi , except for or i ent at i on at t i me t, t hen
a * i i . . . . ia = Qk, , , Qi , ~Qi , i ~. . . Qi , i pa. . . . . i .... ia. (12A2)
e * . . . . j~ = 9 , Qj , ~. - . 9 j ~ ~, e j ~ . . . . ~, , ( t 2 . 1 3 )
/.'* - - (t2A4) , . . . . ~ . p - Q , . Q j , ~ , . . . ( ? , . , ~ t ; ~ . . . . r
~ * = 7 , , 0 2 . 1 5 )
Q * = Q i i Q i . (t2A6)
I t follows from (12.3) and (4.6) t hat a/'m satisfies an equat i on of t he form ( i 2. t l ) .
Also, recalling (4.6) and (4.26) we see t ha t t he l eft -hand sides of equat i ons
(t2.4) and (12.8) are t hen unal t er ed by superposed rigid body mot i ons, if r
and U are unchanged by such mot i ons.
I n order t o make any f ur t her progress, const i t ut i ve equat i ons must be ob-
t ai ned for U, a s i , a ~ 1 . . . . ~ , a i i . . . . ~ , t i 1 . . . . ~ , h , and Qi which will r epr esent di fferent
mat er i al propert i es of t he cont i nuum, and t hese equat i ons can t hen be r educed
t o canoni cal forms wi t h t he hel p of t he i nvari ance conditions (t 2A1)--(12. 16).
Resul t s for an elastic mat eri al have al r eady been obt ai ned in sect i on t l , and,
in a di fferent not at i on, in section 10. Ot her aspect s of this probl em are dis-
cussed in section 16.
13. Const i t ut i ve e qua t i ons : al t er nat i ve f o r m
We first collect t oget her t he f undament al formul ae of sect i on 9, and i nt ro-
duce some f ur t her not at i on. Thus
~ : ~ , ~ + eo F ~ = ~oV! ~), ( t 3 . t )
~ i B . . . . B p = ~ 0 ~ B , . . . B , 6 " I - :7~K i B 1 . . . B , 8 , K ' (13.2)
~a ~ = xi,~, sa ~ , ~ = x~.~ s ~ , (t 3.3)
~ 7 ~ K i B , . . . B a : X ' i , A S K A B I . . . B B , ~ i B 1 . . . B I ~ : X i , A " S A B 1 . . . B I ~ , (t3.4)
v
s' ~a = s' aB = s , B - z~, , ~ y (~ , , ~, . . . ~, x,,,~, .,~,, + s~: , , ~, . . ~, x,,,,~...B ~,~: ) , (13.5)
Also, if
t hen
Multipolar Continuum Mechanics
qO ~ 1 '
- - 2 V ~ S K A X r a , A x ~ , KA, , i + Qo r - - q K , r
v
+ ~ ( s a B , . . . B e B B , . . . B e : a + S ~ a B , . . . B e B B , . . . B e . A ~ ) = 0 .
B=I
t35
( t 3 . 6 )
p~=x,,ar a, P i B,...Be=Xl ,araB,...Bp, piB,...Be=Xi,A~aB,...B,, ( 1 3 . 7 )
r A = N K SKa,
h o = ho - - N r qg , (13.8)
~ A B , . . . B e = J'A B , . . . B e - - N K S K A B 1 . . . B e '
~ , ~ A B , . . . B e ( X i , A X m B a . . . B e - - X m , A X i B , . . . B a ) .~---0, ( t 3 . 9 )
~=1
~. ~aB,...Be (BB,...Be:A - - ~ A mi x i , a X , n B , . . . B e ) - - h o =O, (t3A0)
and a=x
f o o g d r o - f Q o - d r o + f d A o > = o (1 3 .,t)
V, vo Ao
1
I n (t3A0), BB, . . . Be: A- - ~A, , i X~, aX, ~BI . . . Be t ransforms as a t ensor of order
fl + t under changes of rect angul ar cartesian axes and is also unal t ered by
superposed ri gi d-body mot i ons at all times. We assume t ha t raB,...Be is un-
al t ered by these rigid body mot i ons and t hat i t t ransforms as a t ensor of order
fl + t . We also assume t hat ho t ransforms as a scalar and is unal t ered by super-
posed rigid body motions. I t follows t hat t he l eft hand side of equat i on 03. t 0)
is a scalar which is unal t ered when rigid body motions are superposed on the
given motion. Since, for a given surface, rAB,...Be is a t ensor and h 0 a scalar, i t
follows from (13.8) and (13.4) t hat SKaB,...Be and ~ K i B , . . . B e t r ansf or m as tensors
under changes of rect angul ar axes, and t hat qr t ransforms as a vector, wi t h
respect t o all indices including K. Also, from (t3.2), (t3.3) and (13.5) we see
t ha t ~i B, . . . Be, ~a~, SAB,...Bp and s~K t ransform as tensors under changes of
rect angul ar axes and t hat t he left hand side of (13.6) is a scalar. Moreover,
BB,...Be'. A, BB,...Be: A K a n d X,~,A Xi,K A,~ i are unchanged when superposed rigid
mot i ons at all times are added t o t he given motion. We therefore assume t hat
SKAB,...Be, S--aB,...Be, S'Ba, qg, U, and r are unal t ered by such rigid body motions.
I t follows t hat sBa and t he left hand side of equat i on (t3.6) are also unal t ered.
Const i t ut i ve equat i ons must now be post ul at ed for s'~a, SAB,...Bp, SKABI...Be,
qK, U, raB,...Be and h0 which will represent different mat eri al properties of t he
cont i nuum and these equat i ons can t hen be reduced t o canonical form, wi t h
t he help of t he condi t i on t hat t hey are all unal t ered when rigid body motions
are superposed on t he given mot i on.
Results for el ast i ci t y have al ready been obt ai ned in section t0, but we add
here some ot her results derived from (10.8)--(10.20), and ( t 3 . 3 ) and (t3.4),
namel y
, , O U
SKa = SAK = 2~0 , (t3. t2)
~ E A K
~ u
S A B , . . . B a = eO O E B , . . . B a : A , (13.13)
~ u ( t 3 . t 4 )
S K A B , . . . B a = ~ 0 O E B . . . . B a : A K
! O*
t 36 A. E. GREEN & R. S. RIVLIN:
14. El as t i ci t y: r el at i on t o pr evi ous t he or y
I n a previ ous paper (GREEN& RIVLIN, t964) whi ch was concer ned wi t h t he
t heor y of si mpl e mul t i pol ar forces and st resses of t he fi rst kind, associ at ed wi t h
monopol ar di spl acement s and velocities, expl i ci t f or mul ae were obt ai ned for
el ast i ci t y. We now show t ha t t hese elastic equat i ons can be obt ai ned as a
special case of t he pr esent t heor y, and for t hi s pur pose we use t he f or m of t he
t heor y gi ven in sect i on 10.
The t ensors EB,...Ba: B and E B , . . . B a _ I : B B ~ ma y be expr essed in t he f or m
EB,...B~ :B = E(BI...B~):B + EB,...B~ :B, (14.1)
E B , . . . B # - - , :BBII = E( B, . . . B~ - - I ) : B( Bp ) ~ - E * ...BI3_a : B B # ,
for fl----2, 3 . . . . . v + t , where E ( B , . . . B # ) : B is t he par t of E B , . . . B a : 8 whi ch is com-
pl et el y s ummet r i c wi t h r espect t o B x . . . . . B~ and E(B1...BII_,):B(B#) is t he par t
of E B x . . . B a _ x : B B # whi ch is compl et el y s ymmet r i c wi t h respect t o t he same indices.
The t ensors E* . . . are t hen defi ned b y (t4.1). Wi t h a si mi l ar not at i on we also
have
~ i B , . . . B a = ~ i ( B , . . . B a ) ~ - ~ *
i B t " ' B a ' ( 1 4 . 2 )
:r~B~ i Bx. . . B~- - x = ~( B~) i ( B~. . . Bp_~) ~ - ~ B a i Bx . . . BB- - t ,
for f l =2 , 3 . . . . . v + l . Equat i ons (t0.19) and (t0.20) ma y now be wr i t t en in
t he al t er nat i ve forms
a u (14.3)
~ i ( B x . . . B # ) ~ - ~0 X i , B a E ( B . . . . B0) : B '
a u ( 1 4 . 4 )
Sg(BB)i(Bx...B#_~) ~--- ~0 X i , B OE( B~. . . Be--x): B (B#) '
~ * B , . . . B ~ = qo X i , s a U (14.S)
OE~ . . . . BB : B '
, 8 U
:TgBBiBt...BB__x = q O X i , B , , (t4.6)
OEBx . . . B~--I : BB~
for f l = 2 . . . . . v + t , and
OU
7giBx = ~0 X i , B OEBa: B ' ( t 4 . 7 )
, 8 U
~Ki = 2~o X i , A ~EAK 9
I n (t4.3) and (t4.5), 8 U / O E ( B , . . . B a ) : B denot es t he pa r t of O U / S E B , . . . B a : B whi ch
is compl et el y s ymmet r i c wi t h r espect t o B 1 . . . B a and 8 U / O E * . . . B a : B denot es
t he r emai ni ng par t . Si mi l ar not at i ons are used in (t4.4) and (t4.6).
Next we t ake special val ues
XiB,...B~ = Xi,B,...B~ (fl = t . . . . . v) (t4.8)
for t he mul t i pol ar di spl acement s. I t follows f r om (4.t9) and (t4.1) t ha t
E ( B x ' " B a ) : B = E B B ' ' " B ~ ' (14.9)
E ( B , . . . B a _ , ) : B (B~) = E B B , . . . B a ,
for f l = 2 . . . . . v in 04- 9h, f l = 2 . . . . . v + t in (t4.9)z, and
EB, :B = EBB, = E B , B , (14.t0)
Multipolar Continuum Mechanics t37
is defi ned in (3.6) and is compl et el y s ymmet r i c wi t h respect
(14.1t)
oU
8EBBx ... Bv+t
8U
aEBBt . . . BB
for fl=- 2 . . . . . v and
3u
~EBB~
___ ~u (14.13)
8E(B~ ... B~): B (B~+I) '
_ ~U + 8U (t 4. t 4)
OE(BI ... B~--I): B {Ba) OE(Bx ... Ba): B
0u 0u (14.15)
- - 8EBBI -~ 8EB~:B "
Fr om (14.4) and (14.t3) we have
0U
(14.t6)
Jg(B,,+t) i(B~...B,,) = ~0 Xi, B OEBBI. . . B,,+I "
Agai n, f r om (9.14), (t4.3), (t4.4), and (14.14), we obt ai n t he f or mul a
- 0U (14.17)
~(B$)i(BI...Bp_,) ~- :r~Ki(B,...B~),K -~ ~0 Fi(Bt...B~) = ~0 Xi , B OEBB . . . . B~
f o r / 5 = 2 , . . . , v. Next , f r om (9.t3), (9.14), and t he f or mul ae of t hi s sect i on, we
see t ha t
~gAi 2V ~rgKiA,K2V OO~A
- - v+l
OU oU (v>=1). (14.t8)
= 2q0Xi,B ~--~-AB + q0 s OEAB~,...Ba Xi ' B' "' Ba
fl=2
I n deri vi ng ( 14. t 6) - - ( t 4. t 8) we have assumed t ha t U t akes a defi ni t e val ue
when condi t i ons (14.9), (14.t0) and (14. t t ) appl y, and t ha t t he der i vat i ves
of U in (14. 16)--(t 4. 18) can be eval uat ed. For mul ae (14.5) and (14.6), however,
cont ai n der i vat i ves of U wi t h r espect t o t he t ensors EB,...Ba :B and EB,...Ba_~:BB ~
at t he zero val ues of t hese t ensors. I f U depends on elastic coefficients whi ch
* E* t end t o zero, in such a way t end t o i nfi ni t y whe n EBt...B#: B and B,...B#--I:BBB
t ha t U t ends t o t he val ue (t 4A2) but t he r i ght hand sides of (t4.5) and (t4.6)
t end t o ar bi t r ar y funct i ons, t hen t he val ues of * and ~*
~B~ iBm...Bp--t i Bx...BB are
undet er mi ned. Thi s si t uat i on is anal ogous t o t ha t whi ch arises when equat i ons
for i ncompressi bl e el ast i ci t y are der i ved f r om t hose for compressi bl e el ast i ci t y
by a l i mi t i ng process. Equat i ons (t 4. 16)--(14. 18) agree wi t h t hose obt ai ned
pr evi ousl y (t964) except for a change in not at i on. *
* The inertia t er ms were not included explicitly in the previous paper.
where EBB,...B~
t o B 1 . . . . . B~. Also
* =0, *
EB1. . . B a :B E Bt. . . Ba_ z :B Ba = O.
The f unct i on U in (10.t6) reduces t o
U( S , EAB , EB, . . . B a: A, EBt . . . B~:A K) = U( S , EAB, EAA .... A, , ) (say) ( t 4 . t 2 )
wher e/ 5 = t . . . . , v; g = 2 . . . . , v + 1, and 0 is expr essed as a s ymmet r i c funct i on
of EaB and of E A A . . . . A,, as far as t he indices A1, . . . , A are concerned. Fr om
(14.9) and (14.12) we see t ha t
t38 A. E. GREEN & R. S. RIVLIN:
15. I nf i ni t esi mal el ast i ci t y
El ast i ci t y t heor y appr opr i at e t o a cont i nuum in which t he di spl acement s
and mul t i pol ar di spl acement s are infinitesimal can be obt ai ned at once f r om
sect i on t 0. For si mpl i ci t y we rest ri ct our at t ent i on here t o t he t heor y in which
onl y di spl acement s and di pol ar displacements, and t hei r correspondi ng stresses,
are present . Then, using t he Hel mhol t z funct i on A,
A =A( T , EaB, EB:a, EB:AK), (15.t)
, 0 A ( t 5 . 2 )
~Km = 200Xm, A OEAK '
OA
~ i B ~ OoXi, A ~EB: A ' ( t 5 . 3 )
OA
9IKiB = O0 Xi , A OEB:AK ' (15. 4)
~ x ~ , ~ = z 4 ~ x ~ , ~ , (15.5)
x ~ ~ = ~ A ~ - x ~ , ~ ( ~ x ~ + x ~ x ~ B , ~ ) , ( 1 5 . 6 )
~ , = eo i f / , + ~g iB,X, (t 5.7)
: ~ i , , ~ + eo Fi = eo V! ~), ( t 5.8)
S ---- ~A
OT' - - qKT, K>=O' (15.9)
eo r -- qtc,g - - eo T S = 0, (15 A0)
and
#i =Ng uKi, ho=N2c qK, ( t 5At )
I n ( t 5 A ) ,
EA B = XI , A Xi,B,
EB:A=Xi,AXiB, (t 5. t 2)
EB: AK ~- Xi , A XiB, K"
Let Xi a denot e t he val ue of xi a in t he reference st at e X a and l et
EAB = EaB - - (~AB,
EB:A-'~EB,A - - XAB, (t 5.t3)
E B : A K =E B : A K - - X A B , K 9
We shall consider t hat A is a pol ynomi al in EaB, ~Ts.'a and ~Ts..A/~ and if t hese
l at t er quant i t i es are small enough we ma y appr oxi mat e A b y *
Oo A =C + x a BL B +f l Ba L : a - ~- ~) BAK~: AK- ~-
+ (15.14)
9 We assume here t hat t he t emperat ure T is constant. Alternatively, if we
replace A by t he internal energy U t hen t he ent ropy S is constant.
Mu l t i p o l a r C o n t i n u u m Me c h a n i c s t 39
where C and t he coefficients aAB . . . . , ~ABCDEF are const ant s if t he body is
i ni t i al l y homogeneous. We ma y omi t t he const ant C wi t hout loss of generality.
If, when t he body is in its reference st at e, n ~ , ~ B and nKiB vani sh and t he
body is in equilibrium under t he act i on of no body or surface forces, and no
mul t i pol ar body or surface forces, t hen 0~aB, flAB, 7BA~ in (t 5.t4) are zero and
A reduces t o
. . . . . (15.15)
"~- ~ABc DEA : B E c : D - ~ A B c D K E A :B EG: DK2V~ABGDEFEA :BC ED: EF,
where wi t hout loss of general i t y
ZA.C~ = ; t . a c ~ = aA. . C = ~C. . a ,
IAABCD.-'-=IABACD, VABCDK'--~VBACDK, ( 1 5 . 1 6 )
We now write
x~=X~ + e ui, (15.17)
Xi a ~ X~a + e Ui a,
in t he expressions (15.13), and neglect t erms of higher degree t han t he first
in e. We t hen obt ai n
F--~ A B = $ (C~ A, B "+ UB,A) -~- e A B,
E~ : a = ~ ( u a B + u ~ . ~ X , . ) = / B a , ( 1 5 . t 8 )
I f we i nt roduce (15A5) i nt o (i5.2)--(15.4) and use (15.t3), (15.t8) and ret ai n
onl y t erms of order e, we have*
~r'Kr~=Z(22KmCVeCZ)+IAKr~CD/CD+VKraCDL/CDL), (t5.19)
~iB =iAco~ieco + 2~B~Cn/CD + ~ISICDK/CDtC, (15.20)
~Ki B =VCDBi KeCD + rtCDBiK/CD + 2~BI KCDF/ CnF. ( 1 5 . 2 t )
Also, from (15.5) and (t5.6), we have, t o order s,
t r
~i m = 7rml , ( 1 5 . 2 2 )
~a ~----n]~ + ~r-a B X~B + ~rga BX, ~, u. (t 5.23)
I f t he cont i nuum in its undef or med st at e is isotropic wi t h a cent er of sym-
met r y (holohedral) t hen t he coefficients in (t 5.15) t ake t he special forms
42ABED -~- 2 0ABOc o 2VIA ((~A C(~B O 2V (~A D (~BC), (15.24)
IAaBCO = aX~a Bt~CD +I A1 ( ~a CtSBD + ~a 3fgBC), ( 1 5 . 2 5 )
2~ABCD=~I (~AB(~CD'~-~OA COBD-~ ~aOA DOBC, (t5.26)
* W e c a n a l s o p u t , = t n o w w i t h o u t l o s s o f g e n e r a l i t y . A m u s t b e w r i t t e n a s
a symmetric function of EAB before equation (15.2) is used.
t 40 A. E. GREEN & R. S. RIVLIN:
+ G(~A c ~s9 ~EF + ~D~ ~A E ~SC) +
+ ~ , ( ~ ~s~C9 + ~B9 ~Ce ~A ~) +
(15.27)
+ r ~cF ~e + ~ ~AC~Be~DF +
-~ r dA F (~BE OCD'
VA~CDK=rl~SCDK-=O, (15.28)
where t he coefficients 2, # . . . . . ~1 are const ant s when T is const ant . The ex-
pressions (t 5.19)--(t 5.21) t hen become
~Km~--2OKmecc'q- 2/ZeKm-~ 22IOKm/CC @ 2/Zl(/Km-~ /mK), (t5.29)
~ = 2~ dis e c c + 2/Zl ein + ~1 O~n/c c + ~e /~ i + ~ ~is, (15.30)
~ = ~ (~s//~ov + O~/~/~s) + r + ~sKlz~v3 +
+ G( ' ~Hwo + '~sK/.~v) + r +h~:s) +
(t5.3~)
+ ~8/BiK "q- r + r + r
We consider one simple application of these results. Suppose Xi s is con-
st ant and t hat we have a homogeneous deformat i on
ui=-biaXa, bA4-=biA, (t5.32)
wi t h const ant values of t he dipolar displacement uas. We suppose t hat t he
body is in equilibrium under the action of zero body and dipolar body forces.
Then
/SAK=O, 7"f' KiB=O, eA~=2ban, (t5.33)
and, from (15.7), we must t hen have
~ s = O. (15.34)
Equat i on (t 5.34) can t hen be satisfied if
21( ~+~) --2~1/zl OiSeDD (15.35)
(~ + ~.)/~s = ( ~ + ~ ) / s ~ : - 2~1 e~s - 3 ~1 + ~ + ~
provided
3 ~ : ~ + ~ + ~ + 0 , ~-1- ~3 4= 0. (t5.36)
Fr om (t5.32), (t5.35), and (t5.29) we see t hat n}~ are const ant s and, from
(t5-23)
~a m = ~ra,~ (t 5.37)
so t hat t he equations of equilibrium (t5.8) are satisfied.
Equat i on (15.35) gives t he dipolar displacements in t erms of t he homogene-
ous deformat i on coefficients bia. Such a deformat i on can be mai nt ai ned by
t he application of surface forces alone and no dipolar surface forces at t he
boundar y of t he body.
Multipolar Continuum Mechanics 14t
Since eiy,...y a
follows t hat
16. Equat i ons of mot i on and vari at i onal e quat i ons
TRUESDELL & TOUPIN (t960, sections t66, 205, 232) i nt r oduced t he idea of
a general i zed vel oci t y, whi ch in our t er mi nol ogy is called a mul t i pol ar vel oci t y
and corresponds t o (4.11), but t hey di d not i ncl ude t he rest ri ct i on (4.t4) which
describes t he behavi or of such a vel oci t y when ri gi d-body mot i ons are super-
posed on t he cont i nuum. They defi ned general i zed body and surface forces
and stresses, called here body and surface 2a-pole forces of t he ( f l + 1) th ki nd
and surface 2&pole stresses of t he (fl + t) th kind, and t hey post ul at ed equat i ons
of mot i on and an equi val ent var i at i onal equat i on. I n this sect i on we exami ne
t he rel at i on of t he ideas of TRUESDELL & TOUPIN t o t hose pr esent ed here and
for this purpose we use t he basic equat i ons of sections 8, 12.
The condi t i on (4.6) on mul t i pol ar di spl acement s, or t he equi val ent condi t i on
(4.14) on mul t i pol ar velocities, under superposed rigid body mot i ons implies,
in part i cul ar, t hat mul t i pol ar di spl acement s and velocities are unal t er ed by
superposed rigid body t ransl at i ons at any speed, and at any t i me. This con-
di t i on, t oget her wi t h t he ot her assumpt i ons made in sect i on 8, enabl ed us t o
obt ai n t he classical equat i ons of mot i on (8.5) from t he ener gy equat i on (8.t).
Wi t hout this condi t i on t he classical equat i ons (8.5) woul d not have t he same form.
Because mul t i pol ar di spl acement s and velocities are unal t er ed when t he con-
t i nuum receives superposed rigid body t ransl at i ons at any speeds, it is possible
for t he quant i t i es U, a~**, akij .... j~, ai j .... i~, and Qi t o depend expl i ci t l y on
t hese di spl acement s and velocities but not , of course, on t he or di nar y mono-
pol ar di spl acement and vel oci t y which are al t ered by rigid body t ransl at i ons
at vari ous speeds.
We now consider t he special si t uat i on in which U does not depend expl i ci t l y
on mul t i pol ar di spl acement s or velocities and a ~ , aki j .... ]~, aiy .... y~, Qi (and r)
do not depend expl i ci t l y on mul t i pol ar velocities. We consi der a second mot i on
of t he cont i nuum which is such t hat its position and t he mul t i pol ar displace-
ment s at t i me t are unal t ered, but i t now has mul t i pol ar velocities v i i . . . . Ja + v' i ] . . . . yp
(fl = t . . . . . v), where v~ ] .... ]a are const ant s (in space and time). The correspond-
ing ener gy equat i on will di ffer from (12.4) onl y by ar bi t r ar y const ant values
v~] .... Ya added t o B y .... ]a:i so t hat , by subt ract i on,
v t
a i y ~ . . . Ya v i i . . . . Ya ~ O.
8=1
is i ndependent of v~y .... ia which can be chosen arbi t rari l y, i t
or
a iil.., ia = 0
a k ~ ] . . . . Ja, ~ + ~ i . . . . /a = 0 '
( t 6 . t )
I f we recall (8.2), we see t hat ( t 6. t ) are t he equat i ons of mot i on post ul at ed by
TRUESDELL & TOtlPIN (t964, section 205). I t shoul d be emphasi zed t hat t hese
equat i ons are not always satisfied, and, in part i cul ar, are not necessarily satis-
fied for an elastic medi um, as is seen by ( t t . t 2) when U depends on mul t i pol ar
displacements.
t 42 A. E. GREEN & R. S. RI VLI N:
Again, if h and / / i .... ip do not depend expl i ci t l y on mul t i pol ar velocities,
we can show, from equat i on (t2.8), t hat
tii, . . . / p=0
or
tii . . . . ia = n~ akii .... ia" (16.2)
Equat i ons (t6.2) were post ul at ed by TROESDELL & TOUPIN (1964, section 205).
Fr om (12.8) i t t hen follows t hat h = 0 or
h - - - n i Q i . (16.3)
We have est abl i shed sufficient conditions under which t he equat i ons of
mot i on (t6A) and t he surface condi t i ons (t6.2), post ul at ed by TROESDELL &
TOUPIN are valid. Since t hese equat i ons are compl et el y equi val ent t o t he vari a-
t i onal equat i ons st udi ed by TRUESDELL & TOUPIN (1964, section 232), we have
also est abl i shed sufficient conditions under whi ch t he var i at i onal equat i ons hold.
I n general, however, t he var i at i onal equat i ons are i ncompl et e unless t hey in-
cl ude vari at i ons of t he i nt er nal ener gy and t he heat conduct i on vect or.
Thr oughout t hi s sect i on we have assumed t ha t t he mul t i pol ar di spl acement s
and velocities of all orders are i ndependent and we have not consi dered de-
generat e or special cases. For exampl e, if mul t i pol ar velocities have t he special
gradi ent f or m
v~i .... i ~=v~, i .... i~ (16.4)
t hen equat i on (t6.2) woul d still follow if we assume t ha t /~ and t"ii . . . . ip do not
depend expl i ci t l y on vel oci t y gradi ent s of all orders, as shown previ ousl y by
GREEN & RIVLIN (t964). Even if we assume t hat U does not depend expl i ci t l y
on di spl acement or vel oci t y gradi ent s and t ha t a~,,,, a k i i . . . . i p , e l i .... ip and Q~
do not depend expl i ci t l y on vel oci t y gradi ent s we do not obt ai n equat i ons (t6A).
17. Appendi x
We suppose t hat N part i cl es wi t h masses m IP} ( P = t , 2 . . . . . N) are si t uat ed
at t he poi nt s X ! P} at t i me t 0. At a subsequent t i me v (to_~ T<~t) we assume t hat
t he masses are at poi nt s x! P} (3) ( P = 1 . . . . . N) and we use t he not at i on
x (P) - - x (.v) (t) ( P ) ( v )
X~ =x~ (to) ( t7. 0
$ - - $ ,
The cent er of mass G of t he N part i cl es at t i me ~ is denot ed by xi ( z ) where
N N
M x i (3) - - Y. m IP) x! P) (z), M = Y, m IP) (t 7.2)
P = I P = I
and we wri t e
I f
t hen
x ~ = x ~ ( t ) , x ~ = x ~ ( t o ) . ( t 7 . 3 )
y ! P I ( 3 ) = . ! P ) ( 3 ) - . , ( ~ ) ,
Y ( P ) - - ~ f l v ) t t ~ - - X ( v ) X
i - - ] i k O ] - - ) - - i ,
(t7.4)
N
Z m ( P I y ! ~ l ( ~ ) = o ,
P=I
N
Y . m I ~ ) y ! ~ ) = 0 ,
P=I
N
( 1 7 . 5 )
Multipolax Cont i nuum Mechanics
t43
The mo t i o n of e a c h par t i cl e a n d t h e mo t i o n of G is gi ven b y
9 ! P ) ( ~ ) = ~ ! ~ ) ( % x ~ ) ) ,
x ~ ( ~ ) = x ~ ( ~ , X , ) ,
or b y
si nce
9 ! ~ > ( , ) = ~ ! ~ ) ( , , t , , ~ v ) ) ,
x i ( * ) = x i ( * , t , x , ) ,
(t 7. 6)
( 1 7 . 7 )
v! ~) (~) = ~!P)(r) = vi ( r ) + p!e)(T), (t 7.9)
wher e a d o t de not e s d e r i v a t i v e wi t h r e s pe c t t o r hol di ng X~ P) f i xed i n (t 7. 5)
or t a n d x~ P) f i xed i n (17.7), a n d v~(z) is t h e ve l oc i t y of G. We us e t h e n o t a t i o n
v ! ~ ) = v ! p ) ( t ) , v , = v , ( t ) . ( t 7 . t 0 )
I t fol l ows f r om (t 7. 2) t h a t
N
/ v i ( r ) = Y. m(V)v! P) (7:), ( t 7 . t t )
P=I
and, f r om (t 7. 5)
N N
Y. mW)~!P)(r) = 0 , Y. mW) ~ v ) = 0 . (t 7. 12)
P=l P=I
Suppos e e a c h ma s s is a c t e d on b y a f or ce Fi(v)(r) pe r uni t mass, wher e
F~c~) ( ~ ) = ~ , ( ~ ) [ % ~ ) ( ~ ) ] .
I n vi e w of ( t 7.4), (t 7.6) a n d 0 7 . 7 ) t hi s c a n b e e xpr e s s e d i n t h e a l t e r na t i ve f or ms
F/(v) (r) - - F~ w) (r, X, + y W)) (t 7. t 3)
or
Fi (P) (r) = F~ (P) (z, t, x, + y~P)). (17.14)
The r a t e of wo r k of t he s e f or ces is
N
W = Y. m w) F/(P) (r) v~ P) ( r ) . (t 7. t 5)
P=I
Ad o p t i n g t h e f or m (17A3), we def i ne a c ont i nuous f unc t i on of z a n d X , + Y , ,
F* ( z , X , + Y , ) s ay, wi t h c ont i nuous de r i va t i ve s u p t o or de r / , + t , s uc h t h a t
F~* ( , ) = ~ * ( , , X , ) , F~(~) ( , ) = ~ * ( , , X , + Y , ( v ) )
f or each va l ue of P . Then,
~ x l E * .. Fi ( P) ( v) =Fi *( r , X, ) + ~.f , , B, . . . Ba ( r , X, ) Y( f ) . Y( ~) +R, ,
( t 7. t 6)
The ve l oc i t y of t he mass m (P) a t t i me z is de f i ne d as
x l v ) - x W) / t X~V)),
0 7 . 8 )
x~= xi (t, X, ) .
t 4 4 A. E . GR E E N & R . S. R I VL I N:
where R i is a remai nder t er m and
~F~* (~)
~%,...,~ (w, x , ) - ~ x , ~ . . . ~ x ~ 9
Fr om (17.15) and 07-9) we have
N
W = i F i (w) v i (w) + Y~ m (v) Fi (P) (w) ~ ! v ) ( w ) ,
P = I
where
(17.t7)
07.~s)
N
MF/(w) = ~, m IPI Fi cvl (w). (17.19)
P = I
If we subst i t ut e (17.16) i nt o (17.18) and use 07. t 2) we see t hat
p
W =-- MF~(w) vi(w ) + M~, Fi*B,...n~ @, X,) ViB,...B~ (W), (t7.20)
8=1
if t he remai nder t er m can be neglected, where
N
M V , B , . . . B ~ ( W ) = ; ! ~ , m(P)~!P)(-C) Y(BP) ...YCB P). (17.2t)
" P = I
If we define xi B, . . . ~ (w) by
N
M X i B . . . . . 8 , (7:) = ~ _ ~ , m CP) y!V)(7:) Y~(BP)... Y(B P), (17.22)
r " P = I
t hen
vie,...Bp (W) = XiB,...B~ @)" (t 7-23)
We observe t hat XiB,...B~(W ) satisfies an equat i on of t he form (4.2), when
all t he particles receive an addi t i onal rigid body motion, for all times w. In
part i cul ar i t is unal t ered when all t he particles receive t he same addi t i onal
t ransl at i on or t ransl at i onal velocity. Regarded as a funct i on of w and Xr t he
expression XiB,...B~ (W) in (17.22) is a special case of t he mul t i pol ar displacement
defined in (4.1) and (4.2). The form (t7.22) is compl et el y symmet ri c in B 1 . . . . . B B .
We now define a cont i nuous funct i on of w and X, + Y,, x~(w, X, + Y,) say,
wi t h continuous derivatives up t o or der / z + t , such t hat
x* (w) = x* (w, X,) and X! P) ( T) = X~ (W, X r - ~ Y r (P ))
for all values of P. Then,
/*
: Y ! P ) ( w ) = y , _ x ~ F v * a , . . . A ~ , ( w , X , ) Y J P ) . . . Y ( a V , ' + R i , (17.24)
v , ( z ) = ~ ' ( w ) .
Wi t h t he help of (17.24) t he rat e of work (17.18) becomes
W---- MFi(w ) v i ( w ) + ~ , Fi : a, . . . a, (w) V~, A . . . . A . ( Z , X , ) (17.25)
if we neglect t he remai nder t erm, where
N
F i . A ' A . ( W ) = 1 N-~ m ( p ) E ( p ) ( . r ~ y ( f ) y j ~ ) . ( 1 7 . 2 6 )
. . . . ~ ! f'~----I * ~ i " ' "
Multipolar Continuum Mechanics
t45
The t ensors Fi: a .... a, ( z) are 2~-pole body force t ensors of t he first kind. Equa-
t i ons (t7.20) and (17.25) show t hat t he r at e of work of 2~-pole body forces
(~ = 1 . . . . . #) of t he first ki nd is equal t o t he r at e of work of monopol ar force
gradi ent s in mul t i pol ar vel oci t y fields.
Equat i ons (17.2t) for f l = t , 2 . . . . . #, t oget her wi t h t he first set of equa-
t i ons in (t 7. t2), may, for a gi ven val ue of i, be consi dered as ] (# + 1) (# + 2) (# + 3)
equat i ons for N velocities ~!PI (T) ( P = 1, 2 . . . . . N). I f
(# + t) (# + 2) (/~ + 3)>_--N (t7.27)
we can, in general, express ~!vl (~) as a l i near combi nat i on of mul t i pol ar velocities
V i B , . . . B a ( 7 : ) (/ 5=~, 2 . . . . . #). When ~ ( # + t ) ( / ~ + 2 ) ( # + 3 ) > N t her e will be rela-
t i ons bet ween t hese mul t i pol ar velocities. Thus
/J
N ! P ) ( T ) = E YA( P) . . A , V / A . . . . A , ( ~ ) , ( t 7 . 2 8 )
where YA CP). .A, is compl et el y symmet r i c in A 1 . . . . . A~ and depends on Y(B P) and m ( P ) .
Some of t hese coefficients ma y be t aken t o be zero when ~ (/~ + t ) (/~ + 2) (# + 3) > N.
The ki net i c ener gy T of t he N ma s s e s m (P) is gi ven by
N
2 T = ~ . m IPI v ! P) ( ~) v ! P) (7:)
P=l (17.29)
N
= M ~ , ( , ) ~ ( , ) + Z ~ ' ~ f ! ~ ( , ) f ! ' ~ ( , )
P = I
and, using (t7.28), this becomes
where
2 T ---- M v~ (~) v i(z) + ~. Ya .... a,:R,...Be vi a .... a, (Z) v i e , . . . 8 e ( ~)
r
( t 7 . 3 o )
where
and
W = M F i ( z ) v i ( z ) + M Y . F i * . . . . . i e ( z , x , ) v i i ..... je(z), (17.31)
8 = 1
N
F . * x , ) - - ~ a ~ * (3, x, )
,,J . . . . i e ( % 8 z i , . . . Oxj~ "
(17.32)
( t 7 . 3 3 )
N
Y~, a~ ~1 ~ e - - Y m~p~ Y Z ~ Y~P~
. . . . . . . . A= B x . . . B e
P = l
Y B l . . . B e : A x . . . A r
The coefficients in (17.30) are also compl et el y symmet r i c wi t h respect t o t he
indices A 1 . . . . . A~ and wi t h respect t o B 1 . . . . . B a. The expression (17.30) for
t he ki net i c ener gy is a special case of t he ki net i c ener gy gi ven by (7.1) and ( 7 . 7 ) .
St ar t i ng wi t h t he expressions (t7.15) for t he r at e of work we ma y devel op
similar resul t s using (17.14) and ( t 7 . 7 ) . For gi ven t, F* ma y now be r egar ded
as a funct i on of z and x, + y, . Thus
t 46 A. E. GREEN & R. S. RI VLI N:
Also, if
t hen
N
M x , i . . . . i , ( ~) = ~ ~=~ m (v) y ! V ) ( ~ ) y : V ) . . , y~), (t 7.34)
v . , . . . j ~ ( T ) = ~. .... j ~ ( r ) . 0 7 . 3 5 )
We see from (17.34) t hat x~j .... ip(x) satisfies equat i on (4.6) when all t he
particles receive an addi t i onal rigid body mot i on for all times r. I n particular,
i t is unal t ered when t he particles receive t he same addi t i onal t ransl at i on or
t ransl at i onal velocity. Regarded as a funct i on of v, t and x~, t he mul t i pol ar
displacement x O. .... ip (~) in (17.34) is a special case of a mul t i pol ar displacement
defined by (4.5) and (4.6).
We now regard t he funct i on xi*(~) as a funct i on of x, + y, . Then,
V. *. W-----MF~(r) vi(r) + E Fi : i .... i. ,,, .... i.(T, z,) (i7.36)
apart from a remai nder t erm, where
N
y ~ )
Fi : , .... ~--- od ~' mCP)Fi(v)(~) . . . y!V). 07.37)
P=I
Equat i ons (t7. 3t) and (17.36) show t hat t he rat e of work of 2~-body forces
( ~ = 1 . . . . . /~) of t he first ki nd is equal t o t he rat e of work of monopol ar force
gradients in mul t i pol ar vel oci t y fields.
Equat i ons (t7.32) for/3----t, 2 . . . . . /~, t oget her wi t h t he first set of equat i ons
in (t 7. t 2) may, for a given value of i, be considered as ~ (# + t ) (# + 2) (/~ -t- 3) equa-
tions for N velocities ))!P) (~) (P = t . . . . . N ) . I f condition (t7.27) is satisfied we
can, in general, solve for !v)(T) in t he form
Iz
:~!P)(~) = y , ~,lv) . v. . . tv~ (17.38)
J $l 9 9 9 $~ $ $1 9 9 9 Sm ~ / ,
where ~, Iv) 9 is completely symmet ri c in i 1, i ~ and depends on y!V), and
J $ 1 9 9 9 s m " ~ " '
m ( v) , and not on T. Some of these coefficients ma y be t aken to be zero when
~ ( # + t ) ( / ~+ 2)(/~ + 3 ) >N.
The kinetic energy of t he N masses can now be expressed as
2 T = M v i ( ~ ) vi ( 7: ) + ~ . . . . , . : i . . . . i , v , ' . . . . ' . ('r v i i . . . .
its ( ~) ,
(t7.39)
where
N
Y ' . . . . ' . : i . . . . i , = Y i . . . . i , : ' . . . . , . = Z re( P) ~, , "~iv)...," Y ~ ! . io (t 7.40)
P=I
and t he coefficients in (t7.39) are compl et el y symmet ri c wi t h respect t o i l . . . . . i~
and wi t h respect t o i l . . . . . /'~. The expression (t 7.39) for t he kinetic energy is
a special case of t he kinetic energy given in (7.t) and (7.4).
The mul t i pol ar displacements defined in (t7.22) and (17.34) can be rel at ed
t o each ot her when we know t he relation between t he vect or YB (P) and t he
Multipolar Continuum Mechanics 147
vect or y}P), for each P = t , 2 . . . . . N, and such a rel at i on will be i ndependent
of t he t i me ~. For exampl e, if
y}P) = ai B Y~P), (17.41)
t hen
x~j . . . . ip (~) = ai , B, " " a i p B, Xi B, . . . B, (V), (1 7.42)
where aiB depend onl y on t he i ni t i al and fi nal posi t i ons (at t i me t) of t he part i cl e
P and t he cent er of gr a vi t y G.
Ac k n o wl e d g e me n t . This work was carried out under Office of Naval Research,
U. S. Navy, Cont ract No. Nonr 562(10) wi t h Brown University.
References
ERICKSEN, J. L., Arch. Rat i onal Mech. Anal. 4, 231 (t960a).
ERICKSEN, J. L., Kolloid-Z. 173, t t 7 (t960b).
ERICKSEN, J. L., Trans. Soc. lZheology 4, 29 (t960c).
ERICKSEN, J. L., Trans. Soc. Rheology 8, 23 (t961).
GREEN, A. E., R. S. I~IVLIN, Arch. Rat i onal Mech. Anal. 16, 325 (t964).
TRUESDELL, C., & R. A. TOUPIN, The Classical Field Theories. Handbuch der Physik.
Berlin-G6ttingen-Heidelberg: Springer 1960.
( Re c e i v e d Ma r c h 18, 1 9 6 4 )
The Uni versi t y
Newcastle upon Tyne
and
Brown University
Providence