Lecture 2
Relation between alternating unit tensor and Kronecker delta
When two indices are common between the two alternating unit tensors
ijk ljk = ijk ljk = 2 il
k j
(2.1)
When one index is common between the two alternating unit tensors
e ijk e mnk = å e ijk e mnk = d imd jn - d ind jm
k
(2.2)
A three by three determinant may be written in terms of the ijk
a11 a12 a13 3 3 3
a21 a22 a23 = ijk a1i a2 j a3k
a a33
i j k
31 a32
(2.3)
Mathematical operations on vectors
Addition of two vectors
3
u + v = ui i + vi i = (ui + vi ) i
i =1
(2.4)
In the same way, subtraction of vectors is done as
3
u − v = ui i − vi i = (ui − vi ) i
i =1
(2.5)
Multiplication of two vectors
Any two vectors can be multiplied in three different ways: (a) dyadic product, (b) dot product,
and (c) cross product.
Dyadic Product of two vectors
The dyadic product is a mathematical operation on two vectors, which does not change the
order of the resultant quantity. Since the order of the two vectors is one each, the order of tensor
of the resultant is 2. Thus, the dyadic product of two vectors gives a second order tensor. To
mathematically denote the dyadic product, we simply write the two vectors next to each other
without any sign in between.
Example:
i
xi
( v j j )
(2.6)
Here, v = v j j is velocity, i.e. a vector quantity and i is the gradient operator, also a vector
xi
v j
quantity. Hence, the resultant i j (which physically represents the velocity gradient) is a
xi
second order tensor quantity.
Scalar product or dot product of two vectors
The dot product is a mathematical operation on two vectors, which reduces the order of tensor
of the resultant quantity by two. Hence, dot product of two vectors has zero order, i.e. it is a
scalar quantity. Mathematically, the dot product is defined as
v.w = vw cos(vw )
where v and w denote the respective magnitudes of the two vectors, and vw denotes the angle
formed between the two vectors.
Vector product or cross product of two vectors
The cross product is a mathematical operation on two vectors, which reduces the order of tensor
of the resultant quantity by one. Hence, cross product of two vectors has order unity, i.e. it is a
vector quantity. Mathematically, the cross product is defined as
v w = vi i w j j = vi w j i j = vw sin(vw )nvw
(2.7)
Figure 2.1: Cross product of vector v and w
Here, v and w denote the respective magnitudes of the two vectors, vw denotes the angle formed
between the two vectors, and nvw is a unit vector which is normal to v and w .
Vector operation in components
Dot product of two unit vectors
If 1 , 2 and 3 are the three unit vectors along the axes in a rectangular coordinate system,
then the dot product of these vectors has 9 possibilities
1. 2 , 1.3 , 2 .1 , 2 .3 , 3 .1 , 3 . 2 = 0
and 1.1 , 2 . 2 , 3 . 3 = 1
Hence, all the nine terms can be written in cosine form by using the Kronecker delta. If i and j
are the free indices, then
i . j = ij because if i = j then ij = 1 ;
i j then ij = 0
Cross product of two unit vectors
If 1 , 2 and 3 are the three unit vectors along the axes in a rectangular coordinate system,
then the cross product of these vectors has 9 possibilities
1 2 = 3 2 3 = 1 3 1 = 2
(2.8)
If we change the order, the sign will change
1 2 = – 3 2 3 = – 1 3 1 = – 2
(2.9)
Since the angle between two same unit vectors is zero, 1 1 = 2 2 = 3 3 = 0
Hence, all nine terms can be written in sine form by using alternating unit tensors.
i j = ijk k (9 equations)
Here, i and j are free indices and k is a dummy index.
Example:
3
1 2 = 12 k k = 12 k k = 1211 + 122 2 + 123 3 = 3 since, e123 = 1, e121 = 0, e122 = 0
k =1
1 1 = 11k k = 11k k = 0 + 0 + 0 = 0
(2.10)
It must be noted that the order of terms should not be changed as it might affect the final answer.
Example:
v w = vi i w j j
= vi w j ijk k = u = uk k where, uk = vi w j ijk
(2.11)
In the above equation, k is the free index, whereas i and j are the dummy indices.
If k = 1,
3 3
u1 = vi w j ij1 = vi w j ij1 = v2 w3 231 + v3 w2 321 = v2 w3 – v3w2 (all other terms are zero)
i j
Similarly, if k = 2,
u2 = vi w j ij 2 = – v1w3 + w1v3
i j
For k = 3,
u3 = vi w j ij 3 = w2v1 – v2 w1
i j
Hence,
v w = (v2 w3 – v3w2 )1 + (w1v3 – v1w3 ) 2 + (w2v1 – v2 w1 )3
(2.12)
