Nonlinear Continuum Mechanics Nonlinear Continuum Mechanics: 2. Motion

International Center for Numerical Methods in Engineering
Barcelona, Spain, October 2007
Nonlinear Continuum Mechanics
2. Motion
P f C.
Prof. C A
Agelet
l d de Saracibar
S ib
21/10/2008 Prof. Dr. Ing. Carlos Agelet de Saracibar 1

Co e s
Contents
1. Continuum Body. Motion of Continuum Bodies. Material and Spatial
D
Descriptions
i i
2. Displacement, Velocity and Acceleration Fields
3 Material and Spatial Fields.
3. Fields Spatial Time Derivative.
Derivative Spatial Differential
Operators. Material Time Derivative. Material Differential Operators.
Assignment
4 Steady-state
4. St d t t M Motion.
ti U
Uniform
if M
Motion.
ti Potential
P t ti l Motion
M ti
5. Differential Equation of Motion. Example
6 Trajectories.
6. Trajectories Streamlines.
Streamlines Example.
Example Assignment
Assignment. Steady-State
Steady State
Streamlines. Example
7. Material and Spatial Surface. Material and Spatial Volume. Assignment

Continuum
Co uu Body
ody
Continuum Body
A continuum body is a macroscopic system given by an infinite number of
particles, defining for instance a solid, a liquid, a gas or an intermediate
state.
state
As a macroscopic system, the analysis of the continuum body will be
performed from a macroscopic point of view, without taking into account
the discontinuities arising at a microscopic level.
Therefore, we assume that there is no discontinuity between the particles
and that the mathematical functions describing the motion and properties
of the continuum body are continuous functions.
Absolute Frame of Reference

The absolute frame of reference is a rectangular right-handed coordinate
axes at fixed origin
g O,, with orthonormal basis e a

Motion
o o o of Co
Continuum
uu Bodies
od es
Reference Configuration
ϕ Current Configuration
t=0 t
X x
Ω0
κ0 κ Ω
P
X B x
X 3 , x3
ê 3
ê 2 X 2 , x2
X 1 , x1 eê1

Motion
o o o of Co
Continuum
uu Bodies
od es
Continuum Body in Motion
At each time t , a continuum body occupies a different region Ωt in the
space. Each particle of the body is located at a geometrical point having a
position in Ωt .
Configuration at time t
Configuration at time t denotes the region of the space Ωt occupied by the
body at time t.
Initial Configuration
Initial configuration denotes the configuration Ω0 at the initial time t = 0.

Motion
o o o of Co
Continuum
uu Bodies
od es
Reference or Material Configuration at time t0
Reference configuration at time t0 denotes the configuration Ω0 at a fixed
reference time t0 . Usually we will take the initial configuration as the
reference configuration.
configuration
We denote as material points, the position of the particles at the reference
configuration.
Current or Spatial Configuration

Current, spatial or deformed configuration denotes the configuration Ωt at
Current
the current time t .
We denote as spatial points, the position of the particles at the spatial
configuration.
fi ti

Motion
o o o of Co
Continuum
uu Bodies
od es
Position Vector at the Reference Configuration
The point X that identifies the position of a particle P at the reference
configuration Ω0 is denoted as X (referential position). If the basis is fixed,
the particle P can be univocally labeled by its referential position vector X.
Position Vector at the Spatial Configuration

t
The point x that identifies the position of a particle P at the current or
spatial configuration Ωt is denoted as x (current or spatial position). If the
basis is fixed
fixed, the particle P can be univocally labeled by its current or
spatial position vector x .

Motion
o o o of Co
Continuum
uu Bodies
od es
Material or Reference Coordinates
Material or reference coordinates are the components of the material or
referential position vector X, defining the position of a particle P at the
reference configuration Ω0, along the basis
X = X AE A , [ X ] = [ X1, X2, X3]

T
Spatial or Current Coordinates

Spatial or current coordinates are the components of the spatial or current
position vector x, defining the position of a particle P at the spatial or
current configuration Ωt , along the basis
x = xa e a , [ x ] = [ x1, x2 , x3 ]
T

Motion
o o o of Co
Continuum
uu Bodies
od es
Material Mapping
Let us consider a material map κ 0, defining a one-to-one correspondence
between a particle P ∈ B and the material position X ∈Ω0 of the particle
P at the reference configuration.
configuration
X = κ 0 (P ) , P = κ 0−1 ( X )
Spatial Mapping
Let us consider a spatial map κ , defining a one
one-to-one
to one correspondence
between a particle P ∈ B and the spatial position x ∈Ωt of the particle P
at the current or spatial configuration at time t .
x = κ (P, t ) , P = κ −1 ( x, t )

Motion
o o o of Co
Continuum
uu Bodies
od es
Motion Mapping
The motion map defines the current or spatial position of a particle P as a
function of its reference or material position. Substituting the inverse
material mapping into the spatial one,
one one gets,
gets
x = κ (P, t ) = κ (κ 0−1 ( X ) , t ) =: ϕ ( X, t )
Inverse Motion Mapping

The inverse motion map defines the reference or material position of a
particle P as a function of its current or spatial position. Substituting the
inverse spatial mapping into the material one, one gets,
X = κ 0 (P ) = κ 0 (κ −1 ( x, t ) ) =: ϕ −1 ( x, t )

Motion
o o o of Co
Continuum
uu Bodies
od es
t=0 t
X x
Ω0
κ0 κ Ω
P
X B x
Motion
x = κ (κ 0−1 ( X ) , t ) = ϕ ( X, t )
X 3 , x3
ê 3 xa = ϕ a ( X 1 , X 2 , X 3 , t )
Inverse Motion ê 2 X 2 , x2
X 1 , x1 eê1
X = κ 0 (κ −1 ( x, t ) ) = ϕ −1 ( x, t ) X A = ϕ A−1 ( x1 , x2 , x3 , t )
Motion
o o o of Co
Continuum
uu Bodies
od es
The Deformation Map
The deformation map defining the motion equation has to satisfy some
requirements in order to be able to physically represent a motion of a
continuum body
1. The deformation map has to have at least C1 continuity

2 The
2. Th deformation
d f ti map has
h tot satisfy
ti f the
th consistency
i t condition,
diti
X = κ (κ 0−1 ( X ) , 0 ) = ϕ ( X, 0 )
3. The inverse of the deformation map has to exist,
X = κ 0 (κ −1 ( x, t ) ) = ϕ −1 ( x, t )
4. The determinant of the Jacobian of the deformation map has to be
strictly positive
J ( X, t ) = det [ GRAD ϕ ( X, t )] > 0
Motion
o o o of Co
Continuum
uu Bodies
od es
ϕ
Reference Configuration Current Configuration
t=0 t
P’ dv
dV
P
ρ0 ρ
Ω0
Ω
X 3 , x3
X x
ê 3
ê 2 X 2 , x2
êˆ 1
X 1 , x1
Motion
o o o of Co
Continuum
uu Bodies
od es
The Deformation Map
It can be shown that the Jacobian of the deformation map can be written
as the ratio between the differential volume dv > 0 at the spatial (current)
configuration and the corresponding differential volume dV > 0 at the
reference configuration,
dv
d [ GRAD ϕ ( X, t )] =
J ( X, t ) = det >0
dV
It can be also shown
shown, using the mass conservation principle
principle, that the
Jacobian of the deformation map can be written as the ratio between the
density ρ0 > 0 at the reference configuration and the corresponding
densit ρ > 0 at the spatial ((current)
density ent) configuration,
onfig ation
ρ0
J ( X, t ) = det [ GRAD ϕ ( X, t )] = >0
ρ
Material,
a e a , Spatial
Spa a Descriptions
esc p o s
Material Description
Given an arbitrary property γ of a continuum body, of arbitrary tensorial
order, the material description of the property is a function of the material
position vector and the time,
time
γ = Γ ( X, t )
Spatial Description
Given an arbitrary property γ of a continuum body, of arbitrary tensorial
order the spatial description of the property is a function of the spatial
order,
position vector and the time,
γ = γ ( x, t )

Material,
a e a , Spatial
Spa a Descriptions
esc p o s
Material and Spatial Descriptions
Given the spatial descritption of an arbitrary property γ of a continuum
body, of arbitrary tensorial order, the material description of the property
can be obtained by means of the motion equation,
equation
γ = γ ( x, t ) = γ (ϕ ( X, t ) , t ) = Γ ( X, t )
Given the material descritption of an arbitrary property γ of a continuum
body, of arbitrary tensorial order, the spatial description of the property can
be obtained by means of the inverse motion equation,
equation
γ = Γ ( X, t ) = Γ (ϕ −1 ( x, t ) , t ) = γ ( x, t )

Displacement
sp ace e Vector
ec o Field
ed
t=0 t
u = U ( X , t ) = u ( x, t ) x
X
Ω0 Ω
X x
X 3 , x3
ê 3
ê 2 X 2 , x2
eê1
X 1 , x1

Displacement
sp ace e Vector
ec o Field
ed
Displacement Vector Field
The displacement vector field relates the positions of a particle at the
reference and current configurations.
The material description of the displacement vector field takes the form,
U ( X, t ) = ϕ ( X, t ) − X
The spatial description of the displacement vector field takes the form,
u ( x, t ) = x − ϕ −1 ( x, t )
Material and spatial descriptions are related through the motion and
inverse motion equations,
q ,
u ( x, t ) = u (ϕ ( X, t ) , t ) = U ( X, t )
U ( X, t ) = U (ϕ −1 ( x, t ) , t ) = u ( x, t )
Velocity
e oc y Vector
ec o Field
ed
Velocity Vector Field
The velocity vector field is defined as the first time derivative of the motion
equation.
The material description of the velocity vector field takes the form,
∂ϕ ( X,t )
V ( X,tt ) =
∂t
The spatial description of the velocity vector field can be obtained
substituting the inverse motion erquation into the material description of
the velocity field,
v ( x, t ) = V (ϕ −1 ( x, t ) , t )

Acceleration
cce e a o Vector
ec o Field
ed
Acceleration Vector Field
The acceleration vector field is defined as the second time derivative of the
motion equation.
The material description of the acceleration vector field takes the form,
∂ 2ϕ ( X,t )
A ( X,tt ) =
∂t 2
The spatial description of the acceleration vector field can be obtained
substituting the inverse motion equation into the material description of the
acceleration field,
a ( x, t ) = A (ϕ −1 ( x, t ) , t )

Material
a e a and
a d Spatial
Spa a Fields
e ds
Material Field F ( X,t )
( )
A material field F X,t has as independent variables the material
position X and the time t .
Spatial Field f ( x,t )

A spatial field f ( x,t ) has as independent variables the spatial position x
and the time t .
Given a spatial (material) field

field, its associated material (spatial) field can be
obtained by means of the motion (inverse motion) equation,
f ( x, t ) = f (ϕ ( X, t ) , t ) =F( X, t )
F( X, t ) =F(ϕ −1 ( x, t ) , t ) = f ( x, t )

Spatial
Spa a Time
e Derivative
e a e
Spatial Time Derivative of a Spatial Field f ( x,t )
( )
The local time derivative or spatial time derivative of a spatial field f x,t
( )
is defined as the derivative of f x,t with respect to time t holding x
fixed Then it is equal to the partial derivative of the spatial field with
fixed.
respect to time.
∂f ∂f ( x, t ) ∂f ( x, t )
:= =
∂t ∂t x ∂t
( )
The spatial time derivative of a spatial field f x,tt represents the rate at
which the spatial field changes with time, as seen by an observer currently
placed at the fixed spatial position x .

Spatial
Spa a Differential
e e a OpeOperators
a o s
Spatial Gradient of a Spatial Scalar Field f ( x,t )
( )
The spatial gradient of a spatial scalar field f x,t is a spatial vector field
defined as the derivative of the spatial scalar field with respect to the
spatial vector position x.
∂f ( x, t )
grad f ( x, t ) = ∇f ( x, t ) =
∂x
∂x
Spatial Gradient of a Spatial Vector Field v ( x,t )
The spatial gradient of a spatial vector field v ( x,t ) is a spatial second
order tensor field defined as,
∂va
grad v ( x, t ) = v ( x, t ) ⊗ ∇ = e a ⊗ e b = va ,be a ⊗ e b
∂xb

Spatial
Spa a Differential
e e a OpeOperators
a o s
Spatial Divergence of a Spatial Vector Field v ( x,t )
The spatial divergence of a spatial vector field v ( x,t ) is a spatial scalar
field defined as,
∂va ( x, t )
div v ( x, t ) = v ( x, t ) ⋅ ∇ = = va ,a ( x, t )
∂xa
Spatial Divergence of a Spatial Second Order Tensor
Field σ ( x,,t )
The spatial divergence of a spatial second order tensor field σ ( x,t ) is a
spatial vector field defined as,
∂σ ab ( x, t )
div σ ( x, t ) = σ ( x, t ) ⋅∇ = ea = σ ab,b ( x, t ) ea
∂xb

Spatial
Spa a Differential
e e a OpeOperators
a o s
Spatial Curl Operator of a Spatial Vector Field v ( x,t )
The spatial curl operator of a spatial vector field v ( x,t ) is a spatial vector
field defined as,
∂vc ( x, t )
curl v ( x, t ) = ∇ × v ( x, t ) = ε abc e a = ε abc vc ,b ( x, t ) e a
∂xb
Spatial Curl of a Spatial Second Order Tensor Field
σ ( x,t )
The spatial curl of a spatial second order tensor field σ ( x,t ) is a spatial
second order tensor field defined as,
∂σ cd ( x, t )
curl σ ( x, t ) = ∇ × σ ( x, t ) = ε abc ea ⊗ ed
∂xb
= ε abcσ cd ,b ( x, t ) e a ⊗ e d
Material
a e a Time
e Derivative
e a e
Material Time Derivative of a Material Field F ( X,t )
(
The material time derivative of a material field F X,t is defined as the )
( )
derivative of F X,t with respect to time t holding X fixed. Then, it is
equal to the partial derivative of the material field with respect to the time,
time
& dF ∂F ( X, t ) ∂F ( X, t )
F := := =
d
dt ∂t X
∂t
The material time derivative of a material field F X,,t represents the( )
rate at which the material field changes with time, as seen by an observer
following the path line of a particle X . It is equal to the directional
( )
derivative of F X,,t in the direction of the velocityy vector field V X,,t . ( )
dF ∂F ( X, t )
&
F := := = DVF ( X, t )
dt ∂t X

Material
a e a Time
e Derivative
e a e
Material Time Derivative of a Spatial Field f ( x,t )
( )
The material time derivative of a spatial field f x,t is defined as the
( )
derivative of f x,t with respect to time t holding X fixed.
d f d f ( x, t ) ∂f (ϕ ( X, t ) , t )
f& := := =
dt dt ∂t
X
Using the chain rule,
& df ∂f ( x, t ) ∂f ( x, t ) ∂ϕ ( X, t )
f := := + ⋅
dt ∂t x ∂x ∂t X

Material
a e a Time
e Derivative
e a e
Using the definition of the spatial velocity vector field,
∂ϕ ( X,,t )
v ( x, t ) = V ( X, t ) X =ϕ −1 ( x ,t ) =
∂t X =ϕ −1 ( x ,t )
and the definition of the spatial gradient field,

∂f ( x, t )
grad f ( x,t
,t) =
∂x
The material time derivative of the spatial velocity vector field f ( x,t )
t k th
takes the fform,
df ∂f ( x, t )
&
f := := + grad f ( x, t ) ⋅ v ( x, t )
dt ∂t
Material
a e a Time
e Derivative
e a e
( )
The material time derivative of a spatial field f x,t can be splitted into
the spatial (local) time derivative of the spatial field and the convective rate
of change of the spatial field
field, and takes the form,
form
df ∂f ( x, t )
&
f := := + grad f ( x, t ) ⋅ v ( x, t )
dt 1 ∂t 3
424 14442444 3
Convective rate of change
Spatial (local) time derivative
If the velocity field is zero, the convective rate of change of the spatial field
is zero, and the material time derivative of the spatial field is equal to its
spatial or local time derivative.

Material
a e a Time
e Derivative
e a e
Material Time Derivative of a Spatial Scalar Field f ( x,t )
The material time derivative of a spatial scalar field f ( x,t ) takes the form,
df ∂f ( x, t )
&
f := := + gradd f ( x, t ) ⋅ v ( x, t )
dt ∂t
df ∂f ( x, t ) ∂f ( x, t )
&
f := := + ⋅ va ( x, t )
dt ∂t ∂xa

Material
a e a Time
e Derivative
e a e
Material Time Derivative of a Spatial Vector Field u ( x,t )
The material time derivative of a spatial vector field u ( x,t ) takes the
form,
du ∂u ( x, t )
u& := := + grad u ( x, t ) v ( x, t )
dt ∂t
du ∂u ( x, t ) ∂u ( x, t )
u& := := + va ( x, t )
dt ∂t ∂xa
dua ∂ua ( x, t ) ∂ua ( x, t )

u&a := := + vb ( x, t )
dt ∂t ∂xb

Acceleration
cce e a o Vector
ec o Field
ed
The acceleration vector field can defined as the material time derivative of
the velocity vector field.
Using the material description of the velocity vector field V ( X,t ) , the
material acceleration vector field takes the form,
V ( X, t )
∂∂V
A ( X, t ) =
∂t
The spatial
Th ti l description
d i ti off th
the acceleration
l ti vectort field
fi ld can be
b obtained
bt i d
substituting the inverse motion equation into the material description of the
acceleration field,
a ( x, t ) = A (ϕ −1 ( x, t ) , t )

Acceleration
cce e a o Vector
ec o Field
ed
Using the spatial description of the velocity vector field v ( x,t ), the spatial
acceleration vector field takes the form,
dv ∂v ( x, t )
a ( x, t ) := := + grad v ( x, t ) v ( x, t )
dt ∂t
dva ∂va ( x, t )
aa ( x, t ) := := + grad va ( x, t ) v ( x, t )
dt ∂t
The above expression allows to compute the spatial acceleration vector
field using
g the spatial
p velocityy vector field,, avoiding
g the need to compute
p
the motion equation.
The spatial acceleration vector field can be additively splitted into the
spatial
ti l (local)
(l l) time
ti derivative
d i ti off the
th velocity
l it vectort field
fi ld and d the
th convective
ti
rate of change of the spatial velocity vector field.
1. Assignment
ss g e
Let us consider the spatial description of a velocity vector field given by,
vx = x − z , v y = z ( e t + e − t ) , vz = 0
Compute the acceleration at the spatial fixed point (1,1,1) at time tt=2.
2.

2. Assignment
ss g e
Let us consider the motion equations given in canonical form as,
x = Xet , y = Yet , z = Z + Xt
(1) Compute the acceleration at the fixed spatial point (1,1,1) ,
(2) Compute the acceleration of the material particle (1,1,1),
(3) Compute the variation of the velocity per unit of time at the fixed
spatiall point (1,1,1).
( )

Material
a e a Differential
e e a Operators
Ope a o s
Material Gradient of a Material Scalar Field F ( X, t )
(
The material gradient of a material scalar field F X,t is a material )
vector field defined as the derivative of the material scalar field with
respect to the material vector position
position,
∂F ( X, t )
GRAD F ( X, t ) = ∇F ( X, t ) = eA
∂X A
Material Gradient of a Material Vector Field V ( X, t )
The material gradient of a material vector field V ( X,t ) is a material
second order tensor field defined as,
∂VA
GRAD V ( X, t ) = V ( X, t ) ⊗ ∇ = e A ⊗ e B = VA, B e A ⊗ e B
∂X B

Material
a e a Differential
e e a Operators
Ope a o s
Material Divergence of a Material Vector Field V ( X, t )
The material divergence of a material vector field V ( X,t ) is a material
scalar field defined as,
∂VA ( X, t )
DIV V ( X, t ) = V ( X, t ) ⋅ ∇ = = V A, A ( X , t )
∂X A
Material Divergence of a Material Second Order Tensor
Field S ( X, t )
The material divergence of a material second order tensor field S ( X,t ) is
a material vector field defined as,
∂S AB ( X, t )
DIV S ( X, t ) = S ( X, t ) ⋅ ∇ = e A = S AB ,B ( X, t ) e A
∂X B

Material
a e a Differential
e e a Operators
Ope a o s
Material Curl Operator of a Material Vector Field V ( X, t )
The material curl operator of a material vector field V ( X, t ) is a material
vector field defined as,
∂VC ( X, t )
CURL V ( X, t ) = ∇ × V ( X, t ) = ε ABC e A = ε ABCVC ,B ( X, t ) e A
∂X B
Material Curl of a Material Second Order Tensor Field
S ( X,t )
The material curl of a material second order tensor field S ( X,t ) is a
material second order tensor field defined as,
∂SCD ( X, t )
CURL S ( X, t ) = ∇ × S ( X, t ) = ε ABC e A ⊗ eD
∂X B
= ε ABC SCD ,B ( X, t ) e A ⊗ e D
Steady-State
S eady S a e Property
ope y
Steady-State Property
A material property γ is said to has a steady-state if its spatial (local)
derivative is equal to zero, the spatial description of the property does not
depends of time
∂γ ∂γ ( x, t )
= = 0 ⇒ γ = γ (x)
∂t ∂t
If a material property is at a steady-state, it remains constant at a fixed
spatial point,
point but this does not imply that the property has to be constant
for a fixed material point.
dγ ∂γ ( x )
γ& = = + grad γ ( x ) ⋅ v ( x, t ) = grad γ ( x ) ⋅ v ( x, t )
dt 1 ∂
424t 3
144 42444 3
Convective derivative
L l derivative=0
Local d i i 0

Steady-State
S eady S a e Motion
o o
Steady-State Motion
A steady-state motion satisfies that the spatial (local) time derivative of the
spatial velocity vector field is equal to zero, i.e. the spatial velocity vector
field does not depends of time,
time
∂v ∂v ( x, t )
= = 0 ⇒ v = v (x)
∂t ∂t
The spatial acceleration vector field associated to a steady-state velocity
vector field does not have to be zero,
zero it is equal to the convective derivative
of the spatial velocity vector field, but the spatial acceleration vector field
has to be at a steady-state, i.e. the spatial acceleration vector field does
not depends
d d off the
h time,
i
dv ∂v ( x )
a ( x) = = + ( grad v ( x ) ) v ( x ) = ( grad v ( x ) ) v ( x )
dt ∂t
Uniform
U o Motion
o o
Uniform Motion
A uniform motion satisfies that the spatial gradient of the spatial velocity
vector field is equal to zero, i.e. the spatial velocity vector field does not
depends of the spatial position vector field
field,
grad v ( x, t ) = 0 ⇒ v = v ( t )
The spatial acceleration vector field associated to a uniform velocity vector
field does not have to be zero, it is equal to the spatial (local) time
derivative of the spatial velocity vector field,
field but the convective rate of
change of the spatial velocity vector field is zero and the spatial
acceleration vector field is uniform,
dv ∂v ( t ) ∂v ( t )
a (t ) = = + ( grad v ( t ) ) v ( t ) =
dt ∂t ∂t

Potential
o e a Motion
o o
Potential Motion
A potential motion satisfies that the curl operator of the spatial velocity
vector field is equal to zero, i.e. the spatial velocity vector field is equal to
the spatial gradient of a spatial scalar field denoted as velocity potential
potential,
curl v ( x, t ) = 0 ⇒ v = grad φ ( x, t )
The spatial acceleration vector field associated to a potential motion takes
the form,
d φ ( x, t )
dv ∂ grad
a ( x, t ) = = + grad ( grad φ ( x, t ) ) grad φ ( x, t )
dt ∂t
∂φ ( x, t )
+ grad ( grad φ ( x, t ) ) grad φ ( x, t )
dv
a ( x, t ) = = grad
dt ∂t

Differential
e e a Equation
qua o of
o Motion
o o
t=0 t
X
v = v ( x, t )
x
Ω0 Ω
Let us consider the reference (material) and current (spatial) configurations

of a continuum body. y Let us consider we know the spatial
p description
p of the
velocity vector field v x, t .( )
Now the goal is to set up the differential equation of motion in terms of the
spatial velocity vector field and to integrate them in order to get the motion
equation.

Differential
e e a Equation
qua o of
o Motion
o o
Differential Equation of Motion
A motion can be described by means of the spatial velocity vector field
through the differential equation of motion given by,
dx
= v ( x, t )
dt
The time integration of the differential equation of motion leads to a (non-
canonical) motion equation,
x = φ ( C, t )
where C is a vector of integration constants.

Differential
e e a Equation
qua o of
o Motion
o o
Differential Equation of Motion
Given the non-canonical form of the motion equation,
x = φ ( C, t )
the vector of integration constants C can be expressed in terms of the
material p
position vector X usingg the consistencyy condition,,
X = φ ( C,0) = φ0 ( C) , C = φ0−1 ( X )
( )
Substituting C = φ0−1 X into the non-canonical form of the motion
equation leads to the canonical form of the motion equation,
x = φ ( C, t ) = φ (φ0−1 ( X ) , t ) = ϕ ( X, t )
x = ϕ ( X,t )

1. Example
a pe
Let us consider the cartesian components of the spatial description of the
velocity
l i vector field,
fi ld
T
⎡ y ⎤
⎡⎣ v ( x, t ) ⎤⎦ = ⎢ y, , z⎥
⎣ 1+ t ⎦
Compute the motion equation.
The differential equation of motion takes the form,

dx
= v ( x, t )
dt
dx dy y dz
= y, = , =z
dt dt 1 + t dt

1. Example
a pe
Integrating the system of differential equations of motion leads to,
dy y dy dt y
= , = , log = log (1 + t ) , y = C2 (1 + t )
dt 1 + t y 1+ t C2
dx ⎛ t⎞
= y = C2 (1 + t ) , x = C1 + C2t ⎜ 1 + ⎟
dt ⎝ 2⎠
dz dz ⎛ z ⎞
= z, = dt , log ⎜ ⎟ = t , z = C3et
dt z ⎝ C3 ⎠

1. Example
a pe
Integration constants are determined in terms of material coordinates,
⎛ t⎞
x = C1 + C2t ⎜ 1 + ⎟ , X = x t =0 = C1 , C1 = X
⎝ 2⎠
y = C2 (1 + t ) , Y = y t =0 = C2 , C2 = Y
z = C3et , Z = z t =0 = C3 , C3 = Z
Then the cartesian components of the motion equation take the form,
T
⎡ ⎛ t⎞ t⎤
[ x] = ⎣⎡ϕ ( X, t )⎦⎤ = ⎢ X + Yt ⎜1 + ⎟ , Y (1 + t ) , Ze ⎥
⎣ ⎝ 2⎠ ⎦

Trajectories
ajec o es or
o Path
a Lines
es
The motion equation provides the sequence of spatial positions occupied
f any particle
for i l at any time,
i defining
d fi i a time-parametrized
i i d family
f il off curves
denoted as trajectories or path lines.
x = ϕ ( X, t )
t=0 t
x
X
x = ϕ ( X,t ) Ω
Ω0

S ea
Streamlines
es
The streamlines are a time-dependent family of spatial curves satisfying
that
h theh spatial
i l velocity
l i vector field
fi ld is
i tangential
i l to these
h curves at any
spatial point and any time.
Current Configuration
x = x (λ )
t
v = v ( x, t )
x
Let us consider the current spatial configuration at a fixed given time. Let
us consider
id a fixed
fi d spatial
i l position
i i x on this
hi spatial
i l configuration
fi i andd the
h
( )
spatial velocity vector v x, t at this spatial position and time. The velocity
vector has to be tangent to the streamline passing trough this fixed spatial
position at this time.

S ea
Streamlines
es
Differential Equation of Streamlines
Let us denote as λ the parameter describing the streamline passing
( )
through the spatial position x at time t . The velocity vector v x,t has
to be tangent to the streamline
streamline.
Then the tangent vector to the streamline (variation of the position vector
with respect to its parameter) has to have the same direction that the
( )
velocity vector v x,t . Choosing properly the parameter λ the differential
equation of the streamlines take the form,
dx
= v ( x, t )
dλ
I t
Integrating
ti with
ith respectt tto λ , th
the streamlines
t li equation
ti takes
t k th
the fform,
x = ψ ( C, λ , t )

2. Example
a pe
Let us consider the cartesian components of a spatial description of a
velocity
l i vector field,
fi ld
T
⎡ y ⎤
⎡⎣ v ( x, t ) ⎤⎦ = ⎢ y, , z⎥
⎣ 1+ t ⎦
Compute the streamlines equations.
The streamlines differential equation takes the form,

dx
= v ( x, t )
dλ
d
dx dy
d y dz
d
= y, = , =z
dλ dλ 1+ t dλ

2. Example
a pe
Integrating the system of differential equations with respect to λ leads to,
λ
dy y dy d λ y λ
= , = , log = , y = C2e1+t
dλ 1+ t y 1+ t C2 1 + t
λ λ
dx
= y = C2e1+t , x = C1 + C2 (1 + t ) e1+t
dλ
dz dz ⎛ z ⎞
= z, = d λ , log ⎜ ⎟ = λ , z = C3eλ
dλ z ⎝ C3 ⎠
Then the cartesian components of the streamlines equation take the form,
λ λ T
⎡ λ⎤
[ x] = ⎡⎣ψ ( C, λ , t )⎤⎦ = ⎢C1 + C2 (1 + t ) e , C2e , C3e ⎥
1+ t 1+ t
⎣ ⎦

3. Assignment
3 ss g e
Let us consider a motion with streamlines given by,
x = C1eλt , y = C2eλt , z = C3e2λt
where the streamline parameter λ is such that dx d λ = v .
Compute the canonical form of the motion equation, taking t=0 as
reference configuration.

Steady-State
S eady S a e Streamlines
S ea es
Streamlines for a Steady-State Motion
Let us consider a steady-state motion such that the spatial velocity vector
( )
field v x does not depends on the time t. Then the differential equation
of the streamlines reads
reads,
dx
= v (x)
dλ
Integrating with respect to λ , the streamlines equation takes the form,
x = ψ ( C, λ )
and the streamlines do not depend on the time, i.e. at any time we have
the
h same set off streamlines.
li

Steady-State
S eady S a e Streamlines
S ea es
Streamlines for a Steady-State Motion
For a steady-state motion the streamlines and the trajectories are the same
curves. Note that for a steady-state motion the differential equation of
motion is equal to the differential equation of the streamlines,
streamlines just
replacing the time by the parameter λ .
For a steady
steady-state
state motion the differential equation of motion reads,
reads
dx
= v ( x ) ⇒ x = φ ( C, t )
dt
For a steady-state motion the differential equation of the streamlines reads,
dx
= v ( x ) ⇒ x = φ ( C, λ )
dλ

3. Example
3 a pe
Let us consider a steady-state spatial description of the velocity vector field
given
i by,
b
⎡⎣ v ( x ) ⎤⎦ = [ y, y, z ]
T
Compute the streamlines and the motion equations.
The streamlines differential equation takes the form,

dx
= v (x)
dλ
dx dy dz
= y, = y, =z
dλ dλ dλ

3. Example
3 a pe
Integrating the system of differential equations with respect to λ leads to,
dy dy y
= y, = d λ , log = λ , y = C2eλ
dλ y C2
dx
= y = C2eλ , x = C1 + C2eλ
dλ
dz dz ⎛ z ⎞
= z, = d λ , log ⎜ ⎟ = λ , z = C3eλ
dλ z ⎝ C3 ⎠
Then the cartesian components of the streamlines equation take the form,
[ x] = ⎣⎡ψ ( C, λ )⎦⎤ = ⎡⎣C1 + C2e λ λ λ T

, C2 e , C3e ⎤⎦

3. Example
3 a pe
The differential motion equation takes the form,
dx
= v (x)
dt
dx dy dz
= y, = y, =z
dt dt dt
The differential motion equations are equal to the differential equations of
the streamlines, just replacing λ by t . Therefore, the non-canonical form of
directly, just replacing λ by t on the
the motion equations can be obtained directly
streamlines equations,
[ x] = ⎡⎣ψ ( C, t )⎤⎦ = ⎡⎣C1 + C2e , C2e , C3e ⎤⎦

t t t T

3. Example
3 a pe
Using the consistency condition taking t=0 as reference configuration,
X = ψ ( C, 0)
[ X] = ⎡⎣ψ ( C, 0 )⎤⎦ = [C1 + C2 , C2 , C3 ] =: [ X , Y , Z ]

T T
Inverting the equation,
[C] = [C1 , C2 , C3 ] = [ X − Y ,Y , Z ]
T T
And the canonical motion equation takes the form,
x = ψ ( C ( X ) , t ) = ϕ ( X, t )
[ x] = ⎡⎣ψ ( C ( X ) , t )⎤⎦ = ⎡⎣ X + Y ( e − 1) , Ye , Ze ⎤⎦
T
t t t

Material
a e a and
a d Spatial
Spa a Surfaces
Su aces
Material Surface
We denote as material surface a surface which occupies different spatial
positions at any time, but which always contains the same particles.
The material description of a material surface can be defined as,

Γ = {X F ( X ) = 0}
Note that, by definition of material surface, the material function defining
the material surface does not depends
p of time,, i.e. the material derivative
of the function defining the material surface has to be zero.

Material
a e a and
a d Spatial
Spa a Surfaces
Su aces
Material Surface
The spatial description of a material surface can be obtained by means of
the inverse motion equation,
F ( X ) = F (ϕ −1 ( x, t ) ) = f ( x, t )
Obviously, the spatial description of the function defining a material surface
Obviously
is time-dependent, but it has to verify that its material derivative has to be
zero.
The spatial description of a material surface can be defined as,
⎧ df ⎫
Γ = ⎨x f ( x, t ) = 0 and ( x, t ) = 0⎬
⎩ dt ⎭

Material
a e a and
a d Spatial
Spa a Surfaces
Su aces
Spatial Surface
We denote as spatial surface a surface which is fixed at the spatial
positions at any time. At any time, different material particles will be on the
spatial surface.
surface
The spatial description of a spatial surface can be defined as,
γ = {x f ( x ) = 0}
Note that, by definition of spatial surface, the spatial function defining the
materiall surface
f is time-independent,
d d i.e. the
h spatiall or local
l l derivative
d off
the function defining the spatial surface has to be zero.

Material
a e a and
a d Spatial
Spa a Volumes
o u es
Material Volume
We denote as material volume a volume which occupies different spatial
positions at any time, but which always contains the same particles.
The material description of a material volume can be defined as,

Γ = {X F ( X ) ≤ 0}
The boundary of a material volume is a material surface. Note that, by
definition of material volume,, the material function defining
g the material
volume does not depends of time, i.e. the material derivative of the
function defining the material volume has to be zero.

Material
a e a and
a d Spatial
Spa a Volumes
o u es
Material Volume
The spatial description of a material volume can be obtained by means of
the inverse motion equation,
F ( X ) = F (ϕ −1 ( x, t ) ) = f ( x, t )
Obviously, the spatial description of the function defining a material volume
Obviously
is time-dependent, but it has to verify that its material derivative has to be
zero.
The spatial description of a material volume can be defined as,
⎧ df ⎫
Γ = ⎨x f ( x, t ) ≤ 0 and ( x, t ) = 0⎬
⎩ dt ⎭

Material
a e a and
a d Spatial
Spa a Volumes
o u es
Spatial Volume
We denote as spatial volume a volume which is fixed at the spatial
positions at any time. At any time, different material particles will belong to
the spatial volume.
volume
The spatial description of a spatial volume can be defined as,
γ = {x f ( x ) ≤ 0}
Note that, by definition of spatial volume, the spatial function defining the
materiall volume
l is time-independent,
d d i.e. the
h spatiall or local
l l derivative
d off
the function defining the spatial volume has to be zero.

4. Assignment
ss g e
Let us consider the spatial velocity field given by,
z
vx = 2ax, v y = −by, vz = −
t +c
where a, b and c are constants.
(1) Compute the canonical form of the motion equation taking t=0 as
reference
efe ence configuration,
config ation
(2) Compute the streamline equations
(3) Determine all the possible values of the constants a,b and c, for which
the motion equation has physical sense for any time t>0
(4) Setting ρ0 = cte as the density at the reference configuration,
compute the density at any time t>0
(5) Compute the spatial equation of the material surface which at time
t=1 is a sphere of radius R and center in (0,0,0)

5. Assignment
5 ss g e
Let us consider the spatial description of a velocity field given by,
vx = 0, v y = 0, vz = f ( x, y ) z
And a material surface defined as,
g ( x, y, z; t ) = log ( xyz ) − ∂ x f ( x, y ) t = 0
Determine the expression
p of the unknown function f ( x, y ) and compute
p
the trajectories and streamlines.

Nonlinear Continuum Mechanics Nonlinear Continuum Mechanics: 2. Motion

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Nonlinear Continuum Mechanics Nonlinear Continuum Mechanics: 2. Motion

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International Center for Numerical Methods in Engineering

Barcelona, Spain, October 2007

Nonlinear Continuum Mechanics

21/10/2008 Prof. Dr. Ing. Carlos Agelet de Saracibar 1

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Absolute Frame of Reference

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Current or Spatial Configuration

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Position Vector at the Spatial Configuration

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X = X AE A , [ X ] = [ X1, X2, X3]

Spatial or Current Coordinates

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Inverse Motion Mapping

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1. The deformation map has to have at least C1 continuity

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Spatial Field f ( x,t )

Given a spatial (material) field

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and the definition of the spatial gradient field,

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dua ∂ua ( x, t ) ∂ua ( x, t )

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Let us consider the reference (material) and current (spatial) configurations

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The differential equation of motion takes the form,

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The streamlines differential equation takes the form,

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