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		<title>PHY454H1S Continuum Mechanics.  Lecture 5: Constitutive relationship.  Taught by Prof. K. Das.</title>
		<link>http://peeterjoot.wordpress.com/2012/01/28/phy454h1s-continuum-mechanics-lecture-5-constitutive-relationship-taught-by-prof-k-das/</link>
		<comments>http://peeterjoot.wordpress.com/2012/01/28/phy454h1s-continuum-mechanics-lecture-5-constitutive-relationship-taught-by-prof-k-das/#comments</comments>
		<pubDate>Sat, 28 Jan 2012 15:47:00 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[bulk modulus]]></category>
		<category><![CDATA[Cauchy tetrahedron]]></category>
		<category><![CDATA[isotropic deformation]]></category>
		<category><![CDATA[Lame parameters]]></category>
		<category><![CDATA[linear approximation]]></category>
		<category><![CDATA[modulus of rigidity]]></category>
		<category><![CDATA[PHY454H1S]]></category>
		<category><![CDATA[Poisson's ratio]]></category>
		<category><![CDATA[shear modulus]]></category>
		<category><![CDATA[strain tensor]]></category>
		<category><![CDATA[stress tensor]]></category>
		<category><![CDATA[tensor trace]]></category>
		<category><![CDATA[traction vector]]></category>
		<category><![CDATA[uniaxial stress]]></category>
		<category><![CDATA[Young's modulus]]></category>

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		<description><![CDATA[[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)] Disclaimer. Peeter&#8217;s lecture notes from class. May not be entirely coherent. Review: Cauchy Tetrahedron. Referring to figure (\ref{fig:continuumL5:continuumL5fig1}) \begin{figure}[htp] \centering \includegraphics[totalheight=0.2\textheight]{continuumL5fig1} \caption{Cauchy tetrahedron [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2475&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p><a href="http://sites.google.com/site/peeterjoot2/math2012/continuumL5.pdf">[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)]</a></p>
<h1>Disclaimer.</h1>
<p>Peeter&#8217;s lecture notes from class.  May not be entirely coherent.</p>
<h1>Review: Cauchy Tetrahedron.</h1>
<p>Referring to figure (\ref{fig:continuumL5:continuumL5fig1})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL5fig1}<br />
   \caption{Cauchy tetrahedron direction cosines.}<br />
\end{figure}</p>
<p>recall that we can decompose our force into components that refer to our direction cosines <img src='http://s0.wp.com/latex.php?latex=n_i+%3D+%5Ccos%5Cphi_i&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='n_i = &#92;cos&#92;phi_i' title='n_i = &#92;cos&#92;phi_i' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Df_1+%26%3D+%5Csigma_%7B11%7D+n_1+%2B+%5Csigma_%7B12%7D+n_2+%2B+%5Csigma_%7B13%7D+n_3+%5C%5C+f_2+%26%3D+%5Csigma_%7B21%7D+n_1+%2B+%5Csigma_%7B22%7D+n_2+%2B+%5Csigma_%7B23%7D+n_3+%5C%5C+f_3+%26%3D+%5Csigma_%7B31%7D+n_1+%2B+%5Csigma_%7B32%7D+n_2+%2B+%5Csigma_%7B33%7D+n_3%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.1%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}f_1 &amp;= &#92;sigma_{11} n_1 + &#92;sigma_{12} n_2 + &#92;sigma_{13} n_3 &#92;&#92; f_2 &amp;= &#92;sigma_{21} n_1 + &#92;sigma_{22} n_2 + &#92;sigma_{23} n_3 &#92;&#92; f_3 &amp;= &#92;sigma_{31} n_1 + &#92;sigma_{32} n_2 + &#92;sigma_{33} n_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.1)' title='&#92;begin{aligned}f_1 &amp;= &#92;sigma_{11} n_1 + &#92;sigma_{12} n_2 + &#92;sigma_{13} n_3 &#92;&#92; f_2 &amp;= &#92;sigma_{21} n_1 + &#92;sigma_{22} n_2 + &#92;sigma_{23} n_3 &#92;&#92; f_3 &amp;= &#92;sigma_{31} n_1 + &#92;sigma_{32} n_2 + &#92;sigma_{33} n_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.1)' class='latex' /></p>
<p>Or in tensor form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Df_i+%3D+%5Csigma_%7Bij%7D+n_j.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.4%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}f_i = &#92;sigma_{ij} n_j.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.4)' title='&#92;begin{aligned}f_i = &#92;sigma_{ij} n_j.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.4)' class='latex' /></p>
<p>We call this the traction vector and denote it in vector form as</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7BT%7D+%3D+%5Cboldsymbol%7B%5Csigma%7D+%5Ccdot+%5Chat%7B%5Cmathbf%7Bn%7D%7D%3D%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+%5Csigma_%7B12%7D+%26+%5Csigma_%7B13%7D+%5C%5C+%5Csigma_%7B21%7D+%26+%5Csigma_%7B22%7D+%26+%5Csigma_%7B23%7D+%5C%5C+%5Csigma_%7B31%7D+%26+%5Csigma_%7B32%7D+%26+%5Csigma_%7B33%7D%5Cend%7Bbmatrix%7D%5Cbegin%7Bbmatrix%7Dn_1+%5C%5C+n_2+%5C%5C+n_3%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.5%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{T} = &#92;boldsymbol{&#92;sigma} &#92;cdot &#92;hat{&#92;mathbf{n}}=&#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &amp; &#92;sigma_{13} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22} &amp; &#92;sigma_{23} &#92;&#92; &#92;sigma_{31} &amp; &#92;sigma_{32} &amp; &#92;sigma_{33}&#92;end{bmatrix}&#92;begin{bmatrix}n_1 &#92;&#92; n_2 &#92;&#92; n_3&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.5)' title='&#92;begin{aligned}&#92;mathbf{T} = &#92;boldsymbol{&#92;sigma} &#92;cdot &#92;hat{&#92;mathbf{n}}=&#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &amp; &#92;sigma_{13} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22} &amp; &#92;sigma_{23} &#92;&#92; &#92;sigma_{31} &amp; &#92;sigma_{32} &amp; &#92;sigma_{33}&#92;end{bmatrix}&#92;begin{bmatrix}n_1 &#92;&#92; n_2 &#92;&#92; n_3&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.5)' class='latex' /></p>
<h1>Constitutive relation.</h1>
<p>Reading: section 2, section 4 and section 5 from the text [1].</p>
<p>We can find the relationship between stress and strain, both analytically and experimentally, and call this the Constitutive relation.  We prefer to deal with ranges of distortion that are small enough that we can make a linear approximation for this relation.  In general such a linear relationship takes the form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bij%7D+%3D+c_%7Bijkl%7D+e_%7Bkl%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.6%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ij} = c_{ijkl} e_{kl}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.6)' title='&#92;begin{aligned}&#92;sigma_{ij} = c_{ijkl} e_{kl}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.6)' class='latex' /></p>
<p>Consider the number of components that we are talking about for various rank tensors</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Barray%7D%7Bl+l%7D%5Cmbox%7B&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{array}{l l}&#92;mbox{' title='&#92;begin{aligned}&#92;begin{array}{l l}&#92;mbox{' class='latex' />latex 0^\text{th}$ rank tensor} &amp; \mbox{<img src='http://s0.wp.com/latex.php?latex=3%5E0+%3D+1&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^0 = 1' title='3^0 = 1' class='latex' /> components} \\ \mbox{<img src='http://s0.wp.com/latex.php?latex=1%5E%5Ctext%7Bst%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='1^&#92;text{st}' title='1^&#92;text{st}' class='latex' /> rank tensor} &amp; \mbox{<img src='http://s0.wp.com/latex.php?latex=3%5E1+%3D+3&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^1 = 3' title='3^1 = 3' class='latex' /> components} \\ \mbox{<img src='http://s0.wp.com/latex.php?latex=2%5E%5Ctext%7Bnd%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='2^&#92;text{nd}' title='2^&#92;text{nd}' class='latex' /> rank tensor} &amp; \mbox{<img src='http://s0.wp.com/latex.php?latex=3%5E2+%3D+9&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^2 = 9' title='3^2 = 9' class='latex' /> components} \\ \mbox{<img src='http://s0.wp.com/latex.php?latex=3%5E%5Ctext%7Brd%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^&#92;text{rd}' title='3^&#92;text{rd}' class='latex' /> rank tensor} &amp; \mbox{<img src='http://s0.wp.com/latex.php?latex=3%5E3+%3D+81&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^3 = 81' title='3^3 = 81' class='latex' /> components}\end{array}\end{aligned} \hspace{\stretch{1}}(3.7)$</p>
<p>We have a lot of components, even for a linear relation between stress and strain.  For isotropic materials we model the constitutive relation instead as</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cboxed%7B%5Csigma_%7Bij%7D+%3D+%5Clambda+e_%7Bkk%7D+%5Cdelta_%7Bij%7D+%2B+2+%5Cmu+e_%7Bij%7D.%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.8%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;boxed{&#92;sigma_{ij} = &#92;lambda e_{kk} &#92;delta_{ij} + 2 &#92;mu e_{ij}.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.8)' title='&#92;begin{aligned}&#92;boxed{&#92;sigma_{ij} = &#92;lambda e_{kk} &#92;delta_{ij} + 2 &#92;mu e_{ij}.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.8)' class='latex' /></p>
<p>For such a modeling of the material the (measured) values <img src='http://s0.wp.com/latex.php?latex=%5Clambda&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;lambda' title='&#92;lambda' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Cmu&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mu' title='&#92;mu' class='latex' /> (shear modulus or modulus of rigidity) are called the Lam\&#8217;e parameters.</p>
<p>It will be useful to compute the trace of the stress tensor in the form of the constitutive relation for the isotropic model.  We find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bii%7D%26%3D+%5Clambda+e_%7Bkk%7D+%5Cdelta_%7Bii%7D+%2B+2+%5Cmu+e_%7Bii%7D+%5C%5C+%26%3D+3+%5Clambda+e_%7Bkk%7D+%2B+2+%5Cmu+e_%7Bjj%7D%2C%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ii}&amp;= &#92;lambda e_{kk} &#92;delta_{ii} + 2 &#92;mu e_{ii} &#92;&#92; &amp;= 3 &#92;lambda e_{kk} + 2 &#92;mu e_{jj},&#92;end{aligned} ' title='&#92;begin{aligned}&#92;sigma_{ii}&amp;= &#92;lambda e_{kk} &#92;delta_{ii} + 2 &#92;mu e_{ii} &#92;&#92; &amp;= 3 &#92;lambda e_{kk} + 2 &#92;mu e_{jj},&#92;end{aligned} ' class='latex' /></p>
<p>or</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bii%7D+%3D+%283+%5Clambda+%2B+2+%5Cmu%29+e_%7Bkk%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.9%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ii} = (3 &#92;lambda + 2 &#92;mu) e_{kk}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.9)' title='&#92;begin{aligned}&#92;sigma_{ii} = (3 &#92;lambda + 2 &#92;mu) e_{kk}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.9)' class='latex' /></p>
<p>We can now also invert this, to find the trace of the strain tensor in terms of the stress tensor</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7De_%7Bii%7D+%3D+%5Cfrac%7B%5Csigma_%7Bkk%7D%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.10%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}e_{ii} = &#92;frac{&#92;sigma_{kk}}{3 &#92;lambda + 2 &#92;mu}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.10)' title='&#92;begin{aligned}e_{ii} = &#92;frac{&#92;sigma_{kk}}{3 &#92;lambda + 2 &#92;mu}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.10)' class='latex' /></p>
<p>Substituting back into our original relationship 3.8, and find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bij%7D+%3D+%5Clambda+%5Cfrac%7B%5Csigma_%7Bkk%7D%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D+%5Cdelta_%7Bij%7D+%2B+2+%5Cmu+e_%7Bij%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.12%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ij} = &#92;lambda &#92;frac{&#92;sigma_{kk}}{3 &#92;lambda + 2 &#92;mu} &#92;delta_{ij} + 2 &#92;mu e_{ij},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.12)' title='&#92;begin{aligned}&#92;sigma_{ij} = &#92;lambda &#92;frac{&#92;sigma_{kk}}{3 &#92;lambda + 2 &#92;mu} &#92;delta_{ij} + 2 &#92;mu e_{ij},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.12)' class='latex' /></p>
<p>which finally provides an inverted expression with the strain tensor expressed in terms of the stress tensor</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cboxed%7B2+%5Cmu+e_%7Bij%7D+%3D%5Csigma_%7Bij%7D+-+%5Clambda+%5Cfrac%7B%5Csigma_%7Bkk%7D%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D+%5Cdelta_%7Bij%7D.%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.12%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;boxed{2 &#92;mu e_{ij} =&#92;sigma_{ij} - &#92;lambda &#92;frac{&#92;sigma_{kk}}{3 &#92;lambda + 2 &#92;mu} &#92;delta_{ij}.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.12)' title='&#92;begin{aligned}&#92;boxed{2 &#92;mu e_{ij} =&#92;sigma_{ij} - &#92;lambda &#92;frac{&#92;sigma_{kk}}{3 &#92;lambda + 2 &#92;mu} &#92;delta_{ij}.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.12)' class='latex' /></p>
<h2>Special cases.</h2>
<h3>Hydrostatic compression</h3>
<p>Hydrostatic compression is when we have no shear stress, only normal components of the stress matrix <img src='http://s0.wp.com/latex.php?latex=%5Csigma_%7Bij%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;sigma_{ij}' title='&#92;sigma_{ij}' class='latex' /> is nonzero.  Strictly speaking we define Hydrostatic compression as</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bij%7D+%3D+-p+%5Cdelta_%7Bij%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.13%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ij} = -p &#92;delta_{ij},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.13)' title='&#92;begin{aligned}&#92;sigma_{ij} = -p &#92;delta_{ij},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.13)' class='latex' /></p>
<p>i.e. not only diagonal, but with all the components of the stress tensor equal.</p>
<p>We can write the trace of the stress tensor as</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bii%7D+%3D+-+3+p+%3D+%283+%5Clambda+%2B+2+%5Cmu%29+e_%7Bkk%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.14%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ii} = - 3 p = (3 &#92;lambda + 2 &#92;mu) e_{kk}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.14)' title='&#92;begin{aligned}&#92;sigma_{ii} = - 3 p = (3 &#92;lambda + 2 &#92;mu) e_{kk}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.14)' class='latex' /></p>
<p>Now, from our discussion of the strain tensor <img src='http://s0.wp.com/latex.php?latex=e_%7Bij%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='e_{ij}' title='e_{ij}' class='latex' /> recall that we found in the limit</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DdV%27+%3D+%281+%2B+e_%7Bii%7D%29+dV%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.15%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dV&#039; = (1 + e_{ii}) dV,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.15)' title='&#92;begin{aligned}dV&#039; = (1 + e_{ii}) dV,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.15)' class='latex' /></p>
<p>allowing us to express the change in volume relative to the original volume in terms of the strain trace</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7De_%7Bii%7D+%3D+%5Cfrac%7BdV%27+-+dV%7D%7BdV%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.16%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}e_{ii} = &#92;frac{dV&#039; - dV}{dV}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.16)' title='&#92;begin{aligned}e_{ii} = &#92;frac{dV&#039; - dV}{dV}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.16)' class='latex' /></p>
<p>Writing that relative volume difference as <img src='http://s0.wp.com/latex.php?latex=%5CDelta+V%2FV&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;Delta V/V' title='&#92;Delta V/V' class='latex' /> we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D-+3+p+%3D+%283+%5Clambda+%2B+2+%5Cmu%29+%5Cfrac%7B%5CDelta+V%7D%7BV%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.17%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}- 3 p = (3 &#92;lambda + 2 &#92;mu) &#92;frac{&#92;Delta V}{V},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.17)' title='&#92;begin{aligned}- 3 p = (3 &#92;lambda + 2 &#92;mu) &#92;frac{&#92;Delta V}{V},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.17)' class='latex' /></p>
<p>or</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D-+%5Cfrac%7B+p+V%7D%7B%5CDelta+V%7D+%3D+%5Cleft%28+%5Clambda+%2B+%5Cfrac%7B2%7D%7B3%7D+%5Cmu+%5Cright%29+%3D+K%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.18%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}- &#92;frac{ p V}{&#92;Delta V} = &#92;left( &#92;lambda + &#92;frac{2}{3} &#92;mu &#92;right) = K,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.18)' title='&#92;begin{aligned}- &#92;frac{ p V}{&#92;Delta V} = &#92;left( &#92;lambda + &#92;frac{2}{3} &#92;mu &#92;right) = K,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.18)' class='latex' /></p>
<p>where <img src='http://s0.wp.com/latex.php?latex=K&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='K' title='K' class='latex' /> is called the Bulk modulus.</p>
<h3>Uniaxial stress</h3>
<p>Again illustrated in the plane as in figure (\ref{fig:continuumL5:continuumL5fig2})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL5fig2}<br />
   \caption{Uniaxial stress.}<br />
\end{figure}</p>
<p>Expanding out 3.12 we have for the <img src='http://s0.wp.com/latex.php?latex=1%2C1&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='1,1' title='1,1' class='latex' /> element of the strain tensor</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cboldsymbol%7B%5Csigma%7D+%3D%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+0+%26+0%5C%5C+0+%26+0+%26+0+%5C%5C+0+%26+0+%26+0%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.19%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;boldsymbol{&#92;sigma} =&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &amp; 0&#92;&#92; 0 &amp; 0 &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 0&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.19)' title='&#92;begin{aligned}&#92;boldsymbol{&#92;sigma} =&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &amp; 0&#92;&#92; 0 &amp; 0 &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 0&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.19)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+%5Cmu+e_%7B11%7D%26%3D+%5Csigma_%7B11%7D+-+%5Cfrac%7B%5Clambda+%28+%5Csigma_%7B11%7D+%2B+%5Cnot%7B%7B%5Csigma_%7B22%7D%7D%7D+%29+%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D+%5C%5C+%26%3D+%5Csigma_%7B11%7D+%5Cfrac%7B3+%5Clambda+%2B+2+%5Cmu+-+%5Clambda+%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D+%5C%5C+%26%3D+2+%5Csigma_%7B11%7D+%5Cfrac%7B%5Clambda+%2B+%5Cmu+%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 &#92;mu e_{11}&amp;= &#92;sigma_{11} - &#92;frac{&#92;lambda ( &#92;sigma_{11} + &#92;not{{&#92;sigma_{22}}} ) }{3 &#92;lambda + 2 &#92;mu} &#92;&#92; &amp;= &#92;sigma_{11} &#92;frac{3 &#92;lambda + 2 &#92;mu - &#92;lambda }{3 &#92;lambda + 2 &#92;mu} &#92;&#92; &amp;= 2 &#92;sigma_{11} &#92;frac{&#92;lambda + &#92;mu }{3 &#92;lambda + 2 &#92;mu}&#92;end{aligned} ' title='&#92;begin{aligned}2 &#92;mu e_{11}&amp;= &#92;sigma_{11} - &#92;frac{&#92;lambda ( &#92;sigma_{11} + &#92;not{{&#92;sigma_{22}}} ) }{3 &#92;lambda + 2 &#92;mu} &#92;&#92; &amp;= &#92;sigma_{11} &#92;frac{3 &#92;lambda + 2 &#92;mu - &#92;lambda }{3 &#92;lambda + 2 &#92;mu} &#92;&#92; &amp;= 2 &#92;sigma_{11} &#92;frac{&#92;lambda + &#92;mu }{3 &#92;lambda + 2 &#92;mu}&#92;end{aligned} ' class='latex' /></p>
<p>or</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cfrac%7B%5Csigma_%7B11%7D%7D%7Be_%7B11%7D%7D+%3D+%5Cfrac%7B%5Cmu%283+%5Clambda+%2B+2+%5Cmu%29%7D%7B%5Clambda+%2B+%5Cmu+%7D+%3D+E%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.20%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;frac{&#92;sigma_{11}}{e_{11}} = &#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } = E&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.20)' title='&#92;begin{aligned}&#92;frac{&#92;sigma_{11}}{e_{11}} = &#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } = E&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.20)' class='latex' /></p>
<p>where <img src='http://s0.wp.com/latex.php?latex=E&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='E' title='E' class='latex' /> is Young&#8217;s modulus.  Young&#8217;s modulus in the text (5.3) is given in terms of the bulk modulus <img src='http://s0.wp.com/latex.php?latex=K&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='K' title='K' class='latex' />.  Using <img src='http://s0.wp.com/latex.php?latex=%5Clambda+%3D+K+-+2%5Cmu%2F3&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;lambda = K - 2&#92;mu/3' title='&#92;lambda = K - 2&#92;mu/3' class='latex' /> we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DE+%26%3D%5Cfrac%7B%5Cmu%283+%5Clambda+%2B+2+%5Cmu%29%7D%7B%5Clambda+%2B+%5Cmu+%7D+%5C%5C+%26%3D%5Cfrac%7B%5Cmu%283+%28K+-+2%5Cmu%2F3%29%2B+2+%5Cmu%29%7D%7BK+-+2%5Cmu%2F3+%2B+%5Cmu+%7D+%5C%5C+%26%3D%5Cfrac%7B3+K+%5Cmu%7D%7B+K+%2B+%5Cmu%2F3+%7D+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}E &amp;=&#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } &#92;&#92; &amp;=&#92;frac{&#92;mu(3 (K - 2&#92;mu/3)+ 2 &#92;mu)}{K - 2&#92;mu/3 + &#92;mu } &#92;&#92; &amp;=&#92;frac{3 K &#92;mu}{ K + &#92;mu/3 } &#92;end{aligned} ' title='&#92;begin{aligned}E &amp;=&#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } &#92;&#92; &amp;=&#92;frac{&#92;mu(3 (K - 2&#92;mu/3)+ 2 &#92;mu)}{K - 2&#92;mu/3 + &#92;mu } &#92;&#92; &amp;=&#92;frac{3 K &#92;mu}{ K + &#92;mu/3 } &#92;end{aligned} ' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cboxed%7BE+%3D%5Cfrac%7B%5Cmu%283+%5Clambda+%2B+2+%5Cmu%29%7D%7B%5Clambda+%2B+%5Cmu+%7D+%3D%5Cfrac%7B9+K+%5Cmu%7D%7B+3+K+%2B+%5Cmu+%7D+%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.21%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;boxed{E =&#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } =&#92;frac{9 K &#92;mu}{ 3 K + &#92;mu } }&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.21)' title='&#92;begin{aligned}&#92;boxed{E =&#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } =&#92;frac{9 K &#92;mu}{ 3 K + &#92;mu } }&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.21)' class='latex' /></p>
<p>FIXME: figure (\ref{fig:continuumL5:continuumL5fig3}) reference?</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL5fig3}<br />
   \caption{stress associated with Young&#8217;s modulus}<br />
\end{figure}</p>
<p>We define Poisson&#8217;s ratio <img src='http://s0.wp.com/latex.php?latex=%5Cnu&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;nu' title='&#92;nu' class='latex' /> as the quantity</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cfrac%7Be_%7B22%7D%7D%7Be_%7B11%7D%7D+%3D+%5Cfrac%7Be_%7B33%7D%7D%7Be_%7B11%7D%7D+%3D+-+%5Cnu.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.22%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;frac{e_{22}}{e_{11}} = &#92;frac{e_{33}}{e_{11}} = - &#92;nu.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.22)' title='&#92;begin{aligned}&#92;frac{e_{22}}{e_{11}} = &#92;frac{e_{33}}{e_{11}} = - &#92;nu.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.22)' class='latex' /></p>
<p>Note that we are still talking about uniaxial stress here.  Referring back to 3.12 we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+%5Cmu+e_%7B2+2%7D%26%3D+%5Csigma_%7B2+2%7D+-+%5Clambda+%5Cfrac%7B%5Csigma_%7Bk+k%7D%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D+%5Cdelta_%7B2+2%7D+%5C%5C+%26%3D+%5Csigma_%7B2+2%7D+-+%5Clambda+%5Cfrac%7B%5Csigma_%7Bk+k%7D%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D+%5C%5C+%26%3D+-+%5Cfrac%7B%5Clambda+%5Csigma_%7B11%7D%7D%7B3+%5Clambda+%2B+2+%5Cmu%7D%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 &#92;mu e_{2 2}&amp;= &#92;sigma_{2 2} - &#92;lambda &#92;frac{&#92;sigma_{k k}}{3 &#92;lambda + 2 &#92;mu} &#92;delta_{2 2} &#92;&#92; &amp;= &#92;sigma_{2 2} - &#92;lambda &#92;frac{&#92;sigma_{k k}}{3 &#92;lambda + 2 &#92;mu} &#92;&#92; &amp;= - &#92;frac{&#92;lambda &#92;sigma_{11}}{3 &#92;lambda + 2 &#92;mu}&#92;end{aligned} ' title='&#92;begin{aligned}2 &#92;mu e_{2 2}&amp;= &#92;sigma_{2 2} - &#92;lambda &#92;frac{&#92;sigma_{k k}}{3 &#92;lambda + 2 &#92;mu} &#92;delta_{2 2} &#92;&#92; &amp;= &#92;sigma_{2 2} - &#92;lambda &#92;frac{&#92;sigma_{k k}}{3 &#92;lambda + 2 &#92;mu} &#92;&#92; &amp;= - &#92;frac{&#92;lambda &#92;sigma_{11}}{3 &#92;lambda + 2 &#92;mu}&#92;end{aligned} ' class='latex' /></p>
<p>Recall (3.20) that we had</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7B11%7D+%3D+%5Cfrac%7B%5Cmu+%283+%5Clambda+%2B+2+%5Cmu%29%7D%7B%5Clambda+%2B+%5Cmu%7D+e_%7B11%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.23%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{11} = &#92;frac{&#92;mu (3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu} e_{11}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.23)' title='&#92;begin{aligned}&#92;sigma_{11} = &#92;frac{&#92;mu (3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu} e_{11}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.23)' class='latex' /></p>
<p>Inserting this gives us</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+%5Cmu+e_%7B22%7D+%3D+-+%5Cfrac%7B%5Clambda%7D%7B%5Cnot%7B%7B3+%5Clambda+%2B+2+%5Cmu%7D%7D%7D+%5Cfrac%7B+%5Cmu+%28%5Cnot%7B%7B3+%5Clambda+%2B+2%5Cmu%7D%7D%29%7D%7B%5Clambda+%2B+%5Cmu%7D+e_%7B11%7D%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 &#92;mu e_{22} = - &#92;frac{&#92;lambda}{&#92;not{{3 &#92;lambda + 2 &#92;mu}}} &#92;frac{ &#92;mu (&#92;not{{3 &#92;lambda + 2&#92;mu}})}{&#92;lambda + &#92;mu} e_{11}&#92;end{aligned} ' title='&#92;begin{aligned}2 &#92;mu e_{22} = - &#92;frac{&#92;lambda}{&#92;not{{3 &#92;lambda + 2 &#92;mu}}} &#92;frac{ &#92;mu (&#92;not{{3 &#92;lambda + 2&#92;mu}})}{&#92;lambda + &#92;mu} e_{11}&#92;end{aligned} ' class='latex' /></p>
<p>so</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cboxed%7B%5Cnu+%3D+-%5Cfrac%7Be_%7B22%7D%7D%7Be_%7B11%7D%7D+%3D+%5Cfrac%7B%5Clambda%7D%7B2+%28%5Clambda+%2B+%5Cmu%29%7D.%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.24%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;boxed{&#92;nu = -&#92;frac{e_{22}}{e_{11}} = &#92;frac{&#92;lambda}{2 (&#92;lambda + &#92;mu)}.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.24)' title='&#92;begin{aligned}&#92;boxed{&#92;nu = -&#92;frac{e_{22}}{e_{11}} = &#92;frac{&#92;lambda}{2 (&#92;lambda + &#92;mu)}.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.24)' class='latex' /></p>
<p>We can also relate the Poisson&#8217;s ratio <img src='http://s0.wp.com/latex.php?latex=%5Cnu&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;nu' title='&#92;nu' class='latex' /> to the shear modulus <img src='http://s0.wp.com/latex.php?latex=%5Cmu&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mu' title='&#92;mu' class='latex' /> </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmu+%3D+%5Cfrac%7BE%7D%7B2%281+%2B+%5Cnu%29%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.25%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mu = &#92;frac{E}{2(1 + &#92;nu)}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.25)' title='&#92;begin{aligned}&#92;mu = &#92;frac{E}{2(1 + &#92;nu)}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.25)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Clambda+%3D+%5Cfrac%7BE+%5Cnu%7D%7B%281+-+2+%5Cnu%29%281+%2B+%5Cmu%29%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.26%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;lambda = &#92;frac{E &#92;nu}{(1 - 2 &#92;nu)(1 + &#92;mu)}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.26)' title='&#92;begin{aligned}&#92;lambda = &#92;frac{E &#92;nu}{(1 - 2 &#92;nu)(1 + &#92;mu)}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.26)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7De_%7B11%7D+%26%3D+%5Cfrac%7B1%7D%7B%7BE%7D%7D%5Cleft%28+%5Csigma_%7B11%7D+-+%5Cnu%28%5Csigma_%7B22%7D+%2B+%5Csigma_%7B33%7D%29+%5Cright%29+%5C%5C+e_%7B22%7D+%26%3D+%5Cfrac%7B1%7D%7B%7BE%7D%7D%5Cleft%28+%5Csigma_%7B22%7D+-+%5Cnu%28%5Csigma_%7B11%7D+%2B+%5Csigma_%7B33%7D%29+%5Cright%29+%5C%5C+e_%7B33%7D+%26%3D+%5Cfrac%7B1%7D%7B%7BE%7D%7D%5Cleft%28+%5Csigma_%7B33%7D+-+%5Cnu%28%5Csigma_%7B11%7D+%2B+%5Csigma_%7B22%7D%29+%5Cright%29%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.27%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}e_{11} &amp;= &#92;frac{1}{{E}}&#92;left( &#92;sigma_{11} - &#92;nu(&#92;sigma_{22} + &#92;sigma_{33}) &#92;right) &#92;&#92; e_{22} &amp;= &#92;frac{1}{{E}}&#92;left( &#92;sigma_{22} - &#92;nu(&#92;sigma_{11} + &#92;sigma_{33}) &#92;right) &#92;&#92; e_{33} &amp;= &#92;frac{1}{{E}}&#92;left( &#92;sigma_{33} - &#92;nu(&#92;sigma_{11} + &#92;sigma_{22}) &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.27)' title='&#92;begin{aligned}e_{11} &amp;= &#92;frac{1}{{E}}&#92;left( &#92;sigma_{11} - &#92;nu(&#92;sigma_{22} + &#92;sigma_{33}) &#92;right) &#92;&#92; e_{22} &amp;= &#92;frac{1}{{E}}&#92;left( &#92;sigma_{22} - &#92;nu(&#92;sigma_{11} + &#92;sigma_{33}) &#92;right) &#92;&#92; e_{33} &amp;= &#92;frac{1}{{E}}&#92;left( &#92;sigma_{33} - &#92;nu(&#92;sigma_{11} + &#92;sigma_{22}) &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.27)' class='latex' /></p>
<p>These ones are (5.14) in the text, and are easy enough to verify (not done here).</p>
<h3>Appendix.  Computing the relation between Poisson&#8217;s ratio and shear modulus.</h3>
<p>Young&#8217;s modulus is given in 3.21 (equation (43) in the Professor&#8217;s notes) as</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DE+%3D+%5Cfrac%7B%5Cmu%283+%5Clambda+%2B+2+%5Cmu%29%7D%7B%5Clambda+%2B+%5Cmu+%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.30%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}E = &#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu },&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.30)' title='&#92;begin{aligned}E = &#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu },&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.30)' class='latex' /></p>
<p>and for Poisson&#8217;s ratio 3.24 (equation (46) in the Professor&#8217;s notes) we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cnu+%3D+-%5Cfrac%7Be_%7B22%7D%7D%7Be_%7B11%7D%7D+%3D+%5Cfrac%7B%5Clambda%7D%7B2+%28%5Clambda+%2B+%5Cmu%29%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.31%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;nu = -&#92;frac{e_{22}}{e_{11}} = &#92;frac{&#92;lambda}{2 (&#92;lambda + &#92;mu)}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.31)' title='&#92;begin{aligned}&#92;nu = -&#92;frac{e_{22}}{e_{11}} = &#92;frac{&#92;lambda}{2 (&#92;lambda + &#92;mu)}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.31)' class='latex' /></p>
<p>Let&#8217;s derive the other stated relationships (equation (47) in the Professor&#8217;s notes).  I get</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+%28%5Clambda+%2B+%5Cmu%29+%5Cnu+%3D+%5Clambda+%5C%5C+%5Cimplies+%5C%5C+%5Clambda+%28+2+%5Cnu+-+1+%29+%3D+-+2%5Cmu%5Cnu%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 (&#92;lambda + &#92;mu) &#92;nu = &#92;lambda &#92;&#92; &#92;implies &#92;&#92; &#92;lambda ( 2 &#92;nu - 1 ) = - 2&#92;mu&#92;nu&#92;end{aligned} ' title='&#92;begin{aligned}2 (&#92;lambda + &#92;mu) &#92;nu = &#92;lambda &#92;&#92; &#92;implies &#92;&#92; &#92;lambda ( 2 &#92;nu - 1 ) = - 2&#92;mu&#92;nu&#92;end{aligned} ' class='latex' /></p>
<p>or</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Clambda+%3D+%5Cfrac%7B+2+%5Cmu+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;lambda = &#92;frac{ 2 &#92;mu &#92;nu} { 1 - 2 &#92;nu }&#92;end{aligned} ' title='&#92;begin{aligned}&#92;lambda = &#92;frac{ 2 &#92;mu &#92;nu} { 1 - 2 &#92;nu }&#92;end{aligned} ' class='latex' /></p>
<p>For substitution into the Young&#8217;s modulus equation calculate</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Clambda+%2B+%5Cmu+%26%3D+%5Cfrac%7B+2+%5Cmu+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D+%2B+%5Cmu+%5C%5C+%26%3D+%5Cmu+%5Cleft%28+%5Cfrac%7B+2+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D+%2B+1+%5Cright%29++%5C%5C+%26%3D+%5Cmu+%5Cfrac%7B+2+%5Cnu+%2B+1+-+2+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D++%5C%5C+%26%3D+%5Cfrac%7B+%5Cmu%7D+%7B+1+-+2+%5Cnu+%7D++%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;lambda + &#92;mu &amp;= &#92;frac{ 2 &#92;mu &#92;nu} { 1 - 2 &#92;nu } + &#92;mu &#92;&#92; &amp;= &#92;mu &#92;left( &#92;frac{ 2 &#92;nu} { 1 - 2 &#92;nu } + 1 &#92;right)  &#92;&#92; &amp;= &#92;mu &#92;frac{ 2 &#92;nu + 1 - 2 &#92;nu} { 1 - 2 &#92;nu }  &#92;&#92; &amp;= &#92;frac{ &#92;mu} { 1 - 2 &#92;nu }  &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}&#92;lambda + &#92;mu &amp;= &#92;frac{ 2 &#92;mu &#92;nu} { 1 - 2 &#92;nu } + &#92;mu &#92;&#92; &amp;= &#92;mu &#92;left( &#92;frac{ 2 &#92;nu} { 1 - 2 &#92;nu } + 1 &#92;right)  &#92;&#92; &amp;= &#92;mu &#92;frac{ 2 &#92;nu + 1 - 2 &#92;nu} { 1 - 2 &#92;nu }  &#92;&#92; &amp;= &#92;frac{ &#92;mu} { 1 - 2 &#92;nu }  &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>and </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D3+%5Clambda+%2B+2+%5Cmu+%26%3D+3+%5Cfrac%7B+%5Cmu%7D+%7B+1+-+2+%5Cnu+%7D+-+%5Cmu+%5C%5C+%26%3D+%5Cmu+%5Cfrac%7B+3+-+%281+-+2+%5Cnu%29%7D+%7B+1+-+2+%5Cnu+%7D+%5C%5C+%26%3D+%5Cmu+%5Cfrac%7B+2+%2B+2+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D+%5C%5C+%26%3D+2+%5Cmu+%5Cfrac%7B+1+%2B+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}3 &#92;lambda + 2 &#92;mu &amp;= 3 &#92;frac{ &#92;mu} { 1 - 2 &#92;nu } - &#92;mu &#92;&#92; &amp;= &#92;mu &#92;frac{ 3 - (1 - 2 &#92;nu)} { 1 - 2 &#92;nu } &#92;&#92; &amp;= &#92;mu &#92;frac{ 2 + 2 &#92;nu} { 1 - 2 &#92;nu } &#92;&#92; &amp;= 2 &#92;mu &#92;frac{ 1 + &#92;nu} { 1 - 2 &#92;nu } &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}3 &#92;lambda + 2 &#92;mu &amp;= 3 &#92;frac{ &#92;mu} { 1 - 2 &#92;nu } - &#92;mu &#92;&#92; &amp;= &#92;mu &#92;frac{ 3 - (1 - 2 &#92;nu)} { 1 - 2 &#92;nu } &#92;&#92; &amp;= &#92;mu &#92;frac{ 2 + 2 &#92;nu} { 1 - 2 &#92;nu } &#92;&#92; &amp;= 2 &#92;mu &#92;frac{ 1 + &#92;nu} { 1 - 2 &#92;nu } &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>Putting these together we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DE+%26%3D+%5Cfrac%7B%5Cmu%283+%5Clambda+%2B+2+%5Cmu%29%7D%7B%5Clambda+%2B+%5Cmu+%7D+%5C%5C+%26%3D+%5Cmu+2+%5Cmu+%5Cfrac%7B+1+%2B+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D+%5Cfrac%7B+1+-+2+%5Cnu%7D%7B%5Cmu%7D+%5C%5C+%26%3D+2+%5Cmu+%28+1+%2B+%5Cnu+%29+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}E &amp;= &#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } &#92;&#92; &amp;= &#92;mu 2 &#92;mu &#92;frac{ 1 + &#92;nu} { 1 - 2 &#92;nu } &#92;frac{ 1 - 2 &#92;nu}{&#92;mu} &#92;&#92; &amp;= 2 &#92;mu ( 1 + &#92;nu ) &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}E &amp;= &#92;frac{&#92;mu(3 &#92;lambda + 2 &#92;mu)}{&#92;lambda + &#92;mu } &#92;&#92; &amp;= &#92;mu 2 &#92;mu &#92;frac{ 1 + &#92;nu} { 1 - 2 &#92;nu } &#92;frac{ 1 - 2 &#92;nu}{&#92;mu} &#92;&#92; &amp;= 2 &#92;mu ( 1 + &#92;nu ) &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>Rearranging we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmu+%3D+%5Cfrac%7BE%7D%7B2+%281+%2B+%5Cnu%29%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.32%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mu = &#92;frac{E}{2 (1 + &#92;nu)}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.32)' title='&#92;begin{aligned}&#92;mu = &#92;frac{E}{2 (1 + &#92;nu)}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.32)' class='latex' /></p>
<p>This matches (5.9) in the text (where <img src='http://s0.wp.com/latex.php?latex=%5Csigma&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;sigma' title='&#92;sigma' class='latex' /> is used instead of <img src='http://s0.wp.com/latex.php?latex=%5Cnu&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;nu' title='&#92;nu' class='latex' />).</p>
<p>We also find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Clambda+%26%3D+%5Cfrac%7B+2+%5Cmu+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D+%5C%5C+%26%3D+%5Cfrac%7B+%5Cnu%7D+%7B+1+-+2+%5Cnu+%7D+%5Cfrac%7BE+%7D%7B1+%2B+%5Cnu%7D.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;lambda &amp;= &#92;frac{ 2 &#92;mu &#92;nu} { 1 - 2 &#92;nu } &#92;&#92; &amp;= &#92;frac{ &#92;nu} { 1 - 2 &#92;nu } &#92;frac{E }{1 + &#92;nu}.&#92;end{aligned} ' title='&#92;begin{aligned}&#92;lambda &amp;= &#92;frac{ 2 &#92;mu &#92;nu} { 1 - 2 &#92;nu } &#92;&#92; &amp;= &#92;frac{ &#92;nu} { 1 - 2 &#92;nu } &#92;frac{E }{1 + &#92;nu}.&#92;end{aligned} ' class='latex' /></p>
<h1>References</h1>
<p>[1] L.D. Landau, EM Lifshitz, JB Sykes, WH Reid, and E.H. Dill. Theory of elasticity: Vol. 7 of course of theoretical physics. 1960.</p>
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		<title>Infinitesimal rotations</title>
		<link>http://peeterjoot.wordpress.com/2012/01/27/infinitesimal-rotations/</link>
		<comments>http://peeterjoot.wordpress.com/2012/01/27/infinitesimal-rotations/#comments</comments>
		<pubDate>Fri, 27 Jan 2012 16:54:37 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[coordinates]]></category>
		<category><![CDATA[cross product]]></category>
		<category><![CDATA[geometric algebra]]></category>
		<category><![CDATA[infinitesimal rotation]]></category>
		<category><![CDATA[matrix algebra]]></category>
		<category><![CDATA[rotation]]></category>
		<category><![CDATA[rotation matrix]]></category>
		<category><![CDATA[unit normal]]></category>
		<category><![CDATA[vector multiplication]]></category>

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		<description><![CDATA[[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)] Motivation. In a classical mechanics lecture (which I audited) Prof. Poppitz made the claim that an infinitesimal rotation in direction of magnitude has [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2470&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p><a href="http://sites.google.com/site/peeterjoot2/math2012/infinitesimalRotation.pdf">[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)]</a></p>
<h1>Motivation.</h1>
<p>In a classical mechanics lecture (which I audited) Prof. Poppitz made the claim that an infinitesimal rotation in direction <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bn%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{n}}' title='&#92;hat{&#92;mathbf{n}}' class='latex' /> of magnitude <img src='http://s0.wp.com/latex.php?latex=%5Cdelta+%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;delta &#92;phi' title='&#92;delta &#92;phi' class='latex' /> has the form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%5Crightarrow+%5Cmathbf%7Bx%7D+%2B+%5Cdelta+%5Cboldsymbol%7B%5Cphi%7D+%5Ctimes+%5Cmathbf%7Bx%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.1%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} &#92;rightarrow &#92;mathbf{x} + &#92;delta &#92;boldsymbol{&#92;phi} &#92;times &#92;mathbf{x},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.1)' title='&#92;begin{aligned}&#92;mathbf{x} &#92;rightarrow &#92;mathbf{x} + &#92;delta &#92;boldsymbol{&#92;phi} &#92;times &#92;mathbf{x},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.1)' class='latex' /></p>
<p>where</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cdelta+%5Cboldsymbol%7B%5Cphi%7D+%3D+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Cdelta+%5Cphi.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.2%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;delta &#92;boldsymbol{&#92;phi} = &#92;hat{&#92;mathbf{n}} &#92;delta &#92;phi.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.2)' title='&#92;begin{aligned}&#92;delta &#92;boldsymbol{&#92;phi} = &#92;hat{&#92;mathbf{n}} &#92;delta &#92;phi.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.2)' class='latex' /></p>
<p>I believe he expressed things in terms of the differential displacement</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cdelta+%5Cmathbf%7Bx%7D+%3D+%5Cdelta+%5Cboldsymbol%7B%5Cphi%7D+%5Ctimes+%5Cmathbf%7Bx%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.3%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;delta &#92;mathbf{x} = &#92;delta &#92;boldsymbol{&#92;phi} &#92;times &#92;mathbf{x}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.3)' title='&#92;begin{aligned}&#92;delta &#92;mathbf{x} = &#92;delta &#92;boldsymbol{&#92;phi} &#92;times &#92;mathbf{x}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.3)' class='latex' /></p>
<p>This was verified for the special case <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bn%7D%7D+%3D+%5Chat%7B%5Cmathbf%7Bz%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{n}} = &#92;hat{&#92;mathbf{z}}' title='&#92;hat{&#92;mathbf{n}} = &#92;hat{&#92;mathbf{z}}' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Bx%7D+%3D+x+%5Chat%7B%5Cmathbf%7Bx%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{x} = x &#92;hat{&#92;mathbf{x}}' title='&#92;mathbf{x} = x &#92;hat{&#92;mathbf{x}}' class='latex' />.  Let&#8217;s derive this in the general case too.</p>
<h1>With geometric algebra.</h1>
<p>Let&#8217;s temporarily dispense with the normal notation and introduce two perpendicular unit vectors <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bu%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{u}}' title='&#92;hat{&#92;mathbf{u}}' class='latex' />, and <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bv%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{v}}' title='&#92;hat{&#92;mathbf{v}}' class='latex' /> in the plane of the rotation.  Relate these to the unit normal with</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Bn%7D%7D+%3D+%5Chat%7B%5Cmathbf%7Bu%7D%7D+%5Ctimes+%5Chat%7B%5Cmathbf%7Bv%7D%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.4%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{n}} = &#92;hat{&#92;mathbf{u}} &#92;times &#92;hat{&#92;mathbf{v}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.4)' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{n}} = &#92;hat{&#92;mathbf{u}} &#92;times &#92;hat{&#92;mathbf{v}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.4)' class='latex' /></p>
<p>A rotation through an angle <img src='http://s0.wp.com/latex.php?latex=%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;phi' title='&#92;phi' class='latex' /> (infinitesimal or otherwise) is then</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%5Crightarrow+e%5E%7B-%5Chat%7B%5Cmathbf%7Bu%7D%7D+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%5Cphi%2F2%7D+%5Cmathbf%7Bx%7D+e%5E%7B%5Chat%7B%5Cmathbf%7Bu%7D%7D+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%5Cphi%2F2%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.5%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} &#92;rightarrow e^{-&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;phi/2} &#92;mathbf{x} e^{&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;phi/2}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.5)' title='&#92;begin{aligned}&#92;mathbf{x} &#92;rightarrow e^{-&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;phi/2} &#92;mathbf{x} e^{&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;phi/2}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.5)' class='latex' /></p>
<p>Suppose that we decompose <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Bx%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{x}' title='&#92;mathbf{x}' class='latex' /> into components in the plane and in the direction of the normal <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bn%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{n}}' title='&#92;hat{&#92;mathbf{n}}' class='latex' />.  We have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%3D+x_u+%5Chat%7B%5Cmathbf%7Bu%7D%7D+%2B+x_v+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%2B+x_n+%5Chat%7B%5Cmathbf%7Bn%7D%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.6%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} = x_u &#92;hat{&#92;mathbf{u}} + x_v &#92;hat{&#92;mathbf{v}} + x_n &#92;hat{&#92;mathbf{n}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.6)' title='&#92;begin{aligned}&#92;mathbf{x} = x_u &#92;hat{&#92;mathbf{u}} + x_v &#92;hat{&#92;mathbf{v}} + x_n &#92;hat{&#92;mathbf{n}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.6)' class='latex' /></p>
<p>The exponentials commute with the <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bn%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{n}}' title='&#92;hat{&#92;mathbf{n}}' class='latex' /> vector, and anticommute otherwise, leaving us with</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%26%5Crightarrow+x_n+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%2B+%28x_u+%5Chat%7B%5Cmathbf%7Bu%7D%7D+%2B+x_v+%5Chat%7B%5Cmathbf%7Bv%7D%7D%29+e%5E%7B%5Chat%7B%5Cmathbf%7Bu%7D%7D+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%5Cphi%7D+%5C%5C+%26%3Dx_n+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%2B+%28x_u+%5Chat%7B%5Cmathbf%7Bu%7D%7D+%2B+x_v+%5Chat%7B%5Cmathbf%7Bv%7D%7D%29+%28%5Ccos%5Cphi+%2B+%5Chat%7B%5Cmathbf%7Bu%7D%7D+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%5Csin%5Cphi%29+%5C%5C+%26%3Dx_n+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%2B+%5Chat%7B%5Cmathbf%7Bu%7D%7D+%28x_u+%5Ccos%5Cphi+-+x_v+%5Csin%5Cphi%29+%2B%5Chat%7B%5Cmathbf%7Bv%7D%7D+%28x_v+%5Ccos%5Cphi+%2B+x_u+%5Csin%5Cphi%29.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} &amp;&#92;rightarrow x_n &#92;hat{&#92;mathbf{n}} + (x_u &#92;hat{&#92;mathbf{u}} + x_v &#92;hat{&#92;mathbf{v}}) e^{&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;phi} &#92;&#92; &amp;=x_n &#92;hat{&#92;mathbf{n}} + (x_u &#92;hat{&#92;mathbf{u}} + x_v &#92;hat{&#92;mathbf{v}}) (&#92;cos&#92;phi + &#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;sin&#92;phi) &#92;&#92; &amp;=x_n &#92;hat{&#92;mathbf{n}} + &#92;hat{&#92;mathbf{u}} (x_u &#92;cos&#92;phi - x_v &#92;sin&#92;phi) +&#92;hat{&#92;mathbf{v}} (x_v &#92;cos&#92;phi + x_u &#92;sin&#92;phi).&#92;end{aligned} ' title='&#92;begin{aligned}&#92;mathbf{x} &amp;&#92;rightarrow x_n &#92;hat{&#92;mathbf{n}} + (x_u &#92;hat{&#92;mathbf{u}} + x_v &#92;hat{&#92;mathbf{v}}) e^{&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;phi} &#92;&#92; &amp;=x_n &#92;hat{&#92;mathbf{n}} + (x_u &#92;hat{&#92;mathbf{u}} + x_v &#92;hat{&#92;mathbf{v}}) (&#92;cos&#92;phi + &#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} &#92;sin&#92;phi) &#92;&#92; &amp;=x_n &#92;hat{&#92;mathbf{n}} + &#92;hat{&#92;mathbf{u}} (x_u &#92;cos&#92;phi - x_v &#92;sin&#92;phi) +&#92;hat{&#92;mathbf{v}} (x_v &#92;cos&#92;phi + x_u &#92;sin&#92;phi).&#92;end{aligned} ' class='latex' /></p>
<p>In the last line we use <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bu%7D%7D%5E2+%3D+1&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{u}}^2 = 1' title='&#92;hat{&#92;mathbf{u}}^2 = 1' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bu%7D%7D+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%3D+-+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%5Chat%7B%5Cmathbf%7Bu%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} = - &#92;hat{&#92;mathbf{v}} &#92;hat{&#92;mathbf{u}}' title='&#92;hat{&#92;mathbf{u}} &#92;hat{&#92;mathbf{v}} = - &#92;hat{&#92;mathbf{v}} &#92;hat{&#92;mathbf{u}}' class='latex' />.  Making the angle infinitesimal <img src='http://s0.wp.com/latex.php?latex=%5Cphi+%5Crightarrow+%5Cdelta+%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;phi &#92;rightarrow &#92;delta &#92;phi' title='&#92;phi &#92;rightarrow &#92;delta &#92;phi' class='latex' /> we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%26%5Crightarrow+x_n+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%2B+%5Chat%7B%5Cmathbf%7Bu%7D%7D+%28x_u+-+x_v+%5Cdelta%5Cphi%29+%2B%5Chat%7B%5Cmathbf%7Bv%7D%7D+%28x_v+%2B+x_u+%5Cdelta%5Cphi%29++%5C%5C+%26%3D%5Cmathbf%7Bx%7D+%2B+%5Cdelta%5Cphi%28+x_u+%5Chat%7B%5Cmathbf%7Bv%7D%7D+-+x_v+%5Chat%7B%5Cmathbf%7Bu%7D%7D%29%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} &amp;&#92;rightarrow x_n &#92;hat{&#92;mathbf{n}} + &#92;hat{&#92;mathbf{u}} (x_u - x_v &#92;delta&#92;phi) +&#92;hat{&#92;mathbf{v}} (x_v + x_u &#92;delta&#92;phi)  &#92;&#92; &amp;=&#92;mathbf{x} + &#92;delta&#92;phi( x_u &#92;hat{&#92;mathbf{v}} - x_v &#92;hat{&#92;mathbf{u}})&#92;end{aligned} ' title='&#92;begin{aligned}&#92;mathbf{x} &amp;&#92;rightarrow x_n &#92;hat{&#92;mathbf{n}} + &#92;hat{&#92;mathbf{u}} (x_u - x_v &#92;delta&#92;phi) +&#92;hat{&#92;mathbf{v}} (x_v + x_u &#92;delta&#92;phi)  &#92;&#92; &amp;=&#92;mathbf{x} + &#92;delta&#92;phi( x_u &#92;hat{&#92;mathbf{v}} - x_v &#92;hat{&#92;mathbf{u}})&#92;end{aligned} ' class='latex' /></p>
<p>We have only to confirm that this matches the assumed cross product representation</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Ctimes+%5Cmathbf%7Bx%7D%26%3D%5Cbegin%7Bvmatrix%7D%5Chat%7B%5Cmathbf%7Bu%7D%7D+%26+%5Chat%7B%5Cmathbf%7Bv%7D%7D+%26+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5C%5C+0+%26+0+%26+1+%5C%5C+x_u+%26+x_v+%26+x_n%5Cend%7Bvmatrix%7D+%5C%5C+%26%3D-%5Chat%7B%5Cmathbf%7Bu%7D%7D+x_v+%2B+%5Chat%7B%5Cmathbf%7Bv%7D%7D+x_u%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{n}} &#92;times &#92;mathbf{x}&amp;=&#92;begin{vmatrix}&#92;hat{&#92;mathbf{u}} &amp; &#92;hat{&#92;mathbf{v}} &amp; &#92;hat{&#92;mathbf{n}} &#92;&#92; 0 &amp; 0 &amp; 1 &#92;&#92; x_u &amp; x_v &amp; x_n&#92;end{vmatrix} &#92;&#92; &amp;=-&#92;hat{&#92;mathbf{u}} x_v + &#92;hat{&#92;mathbf{v}} x_u&#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{n}} &#92;times &#92;mathbf{x}&amp;=&#92;begin{vmatrix}&#92;hat{&#92;mathbf{u}} &amp; &#92;hat{&#92;mathbf{v}} &amp; &#92;hat{&#92;mathbf{n}} &#92;&#92; 0 &amp; 0 &amp; 1 &#92;&#92; x_u &amp; x_v &amp; x_n&#92;end{vmatrix} &#92;&#92; &amp;=-&#92;hat{&#92;mathbf{u}} x_v + &#92;hat{&#92;mathbf{v}} x_u&#92;end{aligned} ' class='latex' /></p>
<p>Taking the two last computations we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cdelta+%5Cmathbf%7Bx%7D+%3D+%5Cdelta+%5Cphi+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Ctimes+%5Cmathbf%7Bx%7D+%3D+%5Cdelta+%5Cboldsymbol%7B%5Cphi%7D+%5Ctimes+%5Cmathbf%7Bx%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.7%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;delta &#92;mathbf{x} = &#92;delta &#92;phi &#92;hat{&#92;mathbf{n}} &#92;times &#92;mathbf{x} = &#92;delta &#92;boldsymbol{&#92;phi} &#92;times &#92;mathbf{x},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.7)' title='&#92;begin{aligned}&#92;delta &#92;mathbf{x} = &#92;delta &#92;phi &#92;hat{&#92;mathbf{n}} &#92;times &#92;mathbf{x} = &#92;delta &#92;boldsymbol{&#92;phi} &#92;times &#92;mathbf{x},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.7)' class='latex' /></p>
<p>as desired.</p>
<h1>Without geometric algebra.</h1>
<p>We&#8217;ve also done the setup above to verify this result without GA.  Here we wish to apply the rotation to the coordinate vector of <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Bx%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{x}' title='&#92;mathbf{x}' class='latex' /> in the <img src='http://s0.wp.com/latex.php?latex=%5C%7B%5Chat%7B%5Cmathbf%7Bu%7D%7D%2C+%5Chat%7B%5Cmathbf%7Bv%7D%7D%2C+%5Chat%7B%5Cmathbf%7Bn%7D%7D%5C%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;{&#92;hat{&#92;mathbf{u}}, &#92;hat{&#92;mathbf{v}}, &#92;hat{&#92;mathbf{n}}&#92;}' title='&#92;{&#92;hat{&#92;mathbf{u}}, &#92;hat{&#92;mathbf{v}}, &#92;hat{&#92;mathbf{n}}&#92;}' class='latex' /> basis which gives us</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7Dx_u+%5C%5C+x_v+%5C%5C+x_n+%5Cend%7Bbmatrix%7D%26%5Crightarrow+%5Cbegin%7Bbmatrix%7D%5Ccos%5Cdelta%5Cphi+%26+-%5Csin%5Cdelta%5Cphi+%26+0+%5C%5C+%5Csin%5Cdelta%5Cphi+%26+%5Ccos%5Cdelta%5Cphi+%26+0+%5C%5C+0+%26+0+%26+1%5Cend%7Bbmatrix%7D%5Cbegin%7Bbmatrix%7Dx_u+%5C%5C+x_v+%5C%5C+x_n+%5Cend%7Bbmatrix%7D+%5C%5C+%26%5Capprox%5Cbegin%7Bbmatrix%7D1+%26+-%5Cdelta%5Cphi+%26+0+%5C%5C+%5Cdelta%5Cphi+%26+1+%26+0+%5C%5C+0+%26+0+%26+1%5Cend%7Bbmatrix%7D%5Cbegin%7Bbmatrix%7Dx_u+%5C%5C+x_v+%5C%5C+x_n+%5Cend%7Bbmatrix%7D+%5C%5C+%26%3D%5Cbegin%7Bbmatrix%7Dx_u+%5C%5C+x_v+%5C%5C+x_n+%5Cend%7Bbmatrix%7D+%2B%5Cbegin%7Bbmatrix%7D0+%26+-%5Cdelta%5Cphi+%26+0+%5C%5C+%5Cdelta%5Cphi+%26+0+%26+0+%5C%5C+0+%26+0+%26+0%5Cend%7Bbmatrix%7D%5Cbegin%7Bbmatrix%7Dx_u+%5C%5C+x_v+%5C%5C+x_n+%5Cend%7Bbmatrix%7D+%5C%5C+%26%3D%5Cbegin%7Bbmatrix%7Dx_u+%5C%5C+x_v+%5C%5C+x_n+%5Cend%7Bbmatrix%7D+%2B%5Cdelta%5Cphi%5Cbegin%7Bbmatrix%7D-x_v+%5C%5C+x_u+%5C%5C+0%5Cend%7Bbmatrix%7D+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix}&amp;&#92;rightarrow &#92;begin{bmatrix}&#92;cos&#92;delta&#92;phi &amp; -&#92;sin&#92;delta&#92;phi &amp; 0 &#92;&#92; &#92;sin&#92;delta&#92;phi &amp; &#92;cos&#92;delta&#92;phi &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 1&#92;end{bmatrix}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} &#92;&#92; &amp;&#92;approx&#92;begin{bmatrix}1 &amp; -&#92;delta&#92;phi &amp; 0 &#92;&#92; &#92;delta&#92;phi &amp; 1 &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 1&#92;end{bmatrix}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} &#92;&#92; &amp;=&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} +&#92;begin{bmatrix}0 &amp; -&#92;delta&#92;phi &amp; 0 &#92;&#92; &#92;delta&#92;phi &amp; 0 &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 0&#92;end{bmatrix}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} &#92;&#92; &amp;=&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} +&#92;delta&#92;phi&#92;begin{bmatrix}-x_v &#92;&#92; x_u &#92;&#92; 0&#92;end{bmatrix} &#92;end{aligned} ' title='&#92;begin{aligned}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix}&amp;&#92;rightarrow &#92;begin{bmatrix}&#92;cos&#92;delta&#92;phi &amp; -&#92;sin&#92;delta&#92;phi &amp; 0 &#92;&#92; &#92;sin&#92;delta&#92;phi &amp; &#92;cos&#92;delta&#92;phi &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 1&#92;end{bmatrix}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} &#92;&#92; &amp;&#92;approx&#92;begin{bmatrix}1 &amp; -&#92;delta&#92;phi &amp; 0 &#92;&#92; &#92;delta&#92;phi &amp; 1 &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 1&#92;end{bmatrix}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} &#92;&#92; &amp;=&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} +&#92;begin{bmatrix}0 &amp; -&#92;delta&#92;phi &amp; 0 &#92;&#92; &#92;delta&#92;phi &amp; 0 &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 0&#92;end{bmatrix}&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} &#92;&#92; &amp;=&#92;begin{bmatrix}x_u &#92;&#92; x_v &#92;&#92; x_n &#92;end{bmatrix} +&#92;delta&#92;phi&#92;begin{bmatrix}-x_v &#92;&#92; x_u &#92;&#92; 0&#92;end{bmatrix} &#92;end{aligned} ' class='latex' /></p>
<p>But as we&#8217;ve shown, this last coordinate vector is just <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Ctimes+%5Cmathbf%7Bx%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{n}} &#92;times &#92;mathbf{x}' title='&#92;hat{&#92;mathbf{n}} &#92;times &#92;mathbf{x}' class='latex' />, and we get our desired result using plain old fashioned matrix algebra as well.</p>
<p>Really the only difference between this and what was done in class is that there&#8217;s no assumption here that <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Bx%7D+%3D+x+%5Chat%7B%5Cmathbf%7Bx%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{x} = x &#92;hat{&#92;mathbf{x}}' title='&#92;mathbf{x} = x &#92;hat{&#92;mathbf{x}}' class='latex' />.</p>
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		<title>no such thing as ia64 fetchadd1.acq?</title>
		<link>http://peeterjoot.wordpress.com/2012/01/26/no-such-thing-as-ia64-fetchadd1-acq/</link>
		<comments>http://peeterjoot.wordpress.com/2012/01/26/no-such-thing-as-ia64-fetchadd1-acq/#comments</comments>
		<pubDate>Thu, 26 Jan 2012 21:01:12 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[C/C++ development and debugging.]]></category>
		<category><![CDATA[atomic]]></category>
		<category><![CDATA[cmpxchg]]></category>
		<category><![CDATA[fetchadd]]></category>
		<category><![CDATA[ia64]]></category>

		<guid isPermaLink="false">http://peeterjoot.wordpress.com/?p=2467</guid>
		<description><![CDATA[Looking in the ia64 assembly reference, I see that we have only a fetchadd4 and fetchadd8 instruction, and unlike cmpxchg we don&#8217;t have 2 and 1 byte versions of this instruction. I&#8217;d be curious to know what the rationale for that choice was? It seems reasonable to me to be able to use an instruction [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2467&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>Looking in the <a href="http://www.intel.com/content/dam/doc/manual/itanium-architecture-vol-1-2-3-4-reference-set-manual.pdf">ia64 assembly reference</a>, I see that we have only a fetchadd4 and fetchadd8 instruction, and unlike cmpxchg we don&#8217;t have 2 and 1 byte versions of this instruction.</p>
<p>I&#8217;d be curious to know what the rationale for that choice was?  It seems reasonable to me to be able to use an instruction like this to do an atomic set bit or clear bit operation.</p>
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		<title>Proof that the conservation of energy is wrong. Not!</title>
		<link>http://peeterjoot.wordpress.com/2012/01/25/proof-that-the-conservation-of-energy-is-wrong-not/</link>
		<comments>http://peeterjoot.wordpress.com/2012/01/25/proof-that-the-conservation-of-energy-is-wrong-not/#comments</comments>
		<pubDate>Thu, 26 Jan 2012 02:04:59 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[conservation of energy]]></category>

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		<description><![CDATA[My dad asked me about a website that claims to have a proof that the conservation of energy is wrong. The author, as part of his argument asks &#8220;what exactly has the kinetic energy of the second rocket’s two burns been transformed into?&#8221; My response to my dad was: There&#8217;s lots of things that the [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2463&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>My dad asked me about a <a href="http://www.webspawner.com/users/energylaw/">website that claims to have a proof that the conservation of energy is wrong</a>. The author, as part of his argument asks</p>
<p>&#8220;what exactly has the kinetic energy of the second rocket’s two burns been transformed into?&#8221;</p>
<p>My response to my dad was:</p>
<p style="padding-left:30px;">There&#8217;s lots of things that the burns have been turned into. He demonstrates an impressive lack of understanding of not only physics, but chemistry. In the chemical reactions that expel the exhaust particles, there&#8217;s lots of heat and light produced, both of which carry out energy from the ship. The other thing that is glaringly obvious is that he doesn&#8217;t even consider the exhaust itself.</p>
<p style="padding-left:30px;">Rockets are a very primitive devices and they actually propel themselves by tossing bits of themselves out the back. You could do this if you could put yourself on a very frictionless surface, along with a very heavy mass. If you toss the mass in one direction, you&#8217;ll end up moving in the other direction because momentum of you plus the mass have to be conserved. Perhaps you could actually do this experiment. Get a big rock and a dolly and put the dolly on ice with you and the rock, and then toss the rock. You should move in the opposite direction. Rockets expel most of their mass doing this, with chemical reactions making that expelled mass move much faster so that they gain they momentum (in the opposite direction) of the exhaust they expel. It&#8217;s the rocket, plus its exhaust, plus all the light and heat changes that occur in the chemical reactions that have to be considered if you are looking at conservation of energy.</p>
<p>Basically, the guy who authored this page appears to be talking out of his ass.  I&#8217;d like to try the experiment that I outlined for my dad.  Since it is winter time, perhaps I could just put on my ice skates and find something big to throw in front of me.  I should move backwards a bit in response.</p>
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		<title>Mathematica now has a stackexchange site.</title>
		<link>http://peeterjoot.wordpress.com/2012/01/25/mathematica-now-has-a-stackexchange-site/</link>
		<comments>http://peeterjoot.wordpress.com/2012/01/25/mathematica-now-has-a-stackexchange-site/#comments</comments>
		<pubDate>Wed, 25 Jan 2012 22:03:53 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[Mathematica]]></category>
		<category><![CDATA[stackexchange]]></category>
		<category><![CDATA[stackoverflow]]></category>

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		<description><![CDATA[The mathematica stackexchange proposal went from it&#8217;s looking for committers phase, to closed beta, and now to public beta http://mathematica.stackexchange.com/ Whether or not it ends up as a permanent stackexchange site will depend on what sort of usage it gets, so if you are an active mathematica users, here&#8217;s a chance to build up a [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2460&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>The mathematica stackexchange proposal went from it&#8217;s <a href="http://wp.me/ppf39-D2">looking for committers phase</a>, to closed beta, and now to public beta</p>
<p><a href="http://mathematica.stackexchange.com/">http://mathematica.stackexchange.com/</a></p>
<p>Whether or not it ends up as a permanent stackexchange site will depend on what sort of usage it gets, so if you are an active mathematica users, here&#8217;s a chance to build up a useful community.</p>
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		<title>Strain tensor in spherical coordinates</title>
		<link>http://peeterjoot.wordpress.com/2012/01/23/strain-tensor-in-spherical-coordinates/</link>
		<comments>http://peeterjoot.wordpress.com/2012/01/23/strain-tensor-in-spherical-coordinates/#comments</comments>
		<pubDate>Mon, 23 Jan 2012 07:17:40 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[bivector]]></category>
		<category><![CDATA[differential]]></category>
		<category><![CDATA[geometric algebra]]></category>
		<category><![CDATA[Mathematica]]></category>
		<category><![CDATA[PHY454H1S]]></category>
		<category><![CDATA[rotation]]></category>
		<category><![CDATA[spherical coordinates]]></category>
		<category><![CDATA[strain tensor]]></category>
		<category><![CDATA[unit vector]]></category>

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		<description><![CDATA[[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)] Spherical tensor. To perform the derivation in spherical coordinates we have some setup to do first, since we need explicit representations of all [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2455&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p><a href="http://sites.google.com/site/peeterjoot2/math2012/continuumL2.pdf">[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)]</a></p>
<h2>Spherical tensor.</h2>
<p>To perform the derivation in spherical coordinates we have some setup to do first, since we need explicit representations of all three unit vectors.  The radial vector we can get easily by geometry and find the usual</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Br%7D%7D+%3D%5Cbegin%7Bbmatrix%7D%5Csin%5Ctheta+%5Ccos%5Cphi+%5C%5C+%5Csin%5Ctheta+%5Csin%5Cphi+%5C%5C+%5Ccos%5Ctheta%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.61%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} =&#92;begin{bmatrix}&#92;sin&#92;theta &#92;cos&#92;phi &#92;&#92; &#92;sin&#92;theta &#92;sin&#92;phi &#92;&#92; &#92;cos&#92;theta&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.61)' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} =&#92;begin{bmatrix}&#92;sin&#92;theta &#92;cos&#92;phi &#92;&#92; &#92;sin&#92;theta &#92;sin&#92;phi &#92;&#92; &#92;cos&#92;theta&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.61)' class='latex' /></p>
<p>We can get <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;phi}}' title='&#92;hat{&#92;boldsymbol{&#92;phi}}' class='latex' /> by geometrical intuition since it the plane unit vector at angle <img src='http://s0.wp.com/latex.php?latex=%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;phi' title='&#92;phi' class='latex' /> rotated by <img src='http://s0.wp.com/latex.php?latex=%5Cpi%2F2&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;pi/2' title='&#92;pi/2' class='latex' />.  That is</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%3D%5Cbegin%7Bbmatrix%7D-%5Csin%5Cphi+%5C%5C+%5Ccos%5Cphi+%5C%5C+0%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.62%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} =&#92;begin{bmatrix}-&#92;sin&#92;phi &#92;&#92; &#92;cos&#92;phi &#92;&#92; 0&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.62)' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} =&#92;begin{bmatrix}-&#92;sin&#92;phi &#92;&#92; &#92;cos&#92;phi &#92;&#92; 0&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.62)' class='latex' /></p>
<p>We can get <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;theta}}' title='&#92;hat{&#92;boldsymbol{&#92;theta}}' class='latex' /> by utilizing the right handedness of the coordinates since</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctimes+%5Chat%7B%5Cmathbf%7Br%7D%7D+%3D+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.63%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;times &#92;hat{&#92;mathbf{r}} = &#92;hat{&#92;boldsymbol{&#92;theta}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.63)' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;times &#92;hat{&#92;mathbf{r}} = &#92;hat{&#92;boldsymbol{&#92;theta}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.63)' class='latex' /></p>
<p>and find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%3D%5Cbegin%7Bbmatrix%7D%5Ccos%5Ctheta+%5Ccos%5Cphi+%5C%5C+%5Ccos%5Ctheta+%5Csin%5Cphi+%5C%5C+-%5Csin%5Ctheta%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.64%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}} =&#92;begin{bmatrix}&#92;cos&#92;theta &#92;cos&#92;phi &#92;&#92; &#92;cos&#92;theta &#92;sin&#92;phi &#92;&#92; -&#92;sin&#92;theta&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.64)' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}} =&#92;begin{bmatrix}&#92;cos&#92;theta &#92;cos&#92;phi &#92;&#92; &#92;cos&#92;theta &#92;sin&#92;phi &#92;&#92; -&#92;sin&#92;theta&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.64)' class='latex' /></p>
<p>That and <a href="https://github.com/peeterjoot/physicsplay/blob/master/notes/phy454/strainTensorSphericalColumnVectors.cdf">some Mathematica brute force can be used to calculate the differential strain element</a>, and we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%26d%5Cmathbf%7Bl%7D%27%5E2+-+d%5Cmathbf%7Bx%7D%5E2+%5C%5C+%26%3D2+%28dr%29%5E2+%5Cbiggl%28%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+r%7D%5Cbiggr%29+%5C%5C+%26+%2B+2+r%5E2+%28d%5Ctheta+%29%5E2+%5Cbiggl%28%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_r+%2B+%5Cfrac%7B1%7D%7B%7B2r%5E2%7D%7D%28u_r%5E2+%2B+u_%7B%5Ctheta+%7D%5E2%29+-+%5Cfrac%7B1%7D%7B%7Br%5E2%7D%7D+u_%7B%5Ctheta+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Ctheta+%7D%2B+%5Cleft%28%5Cfrac%7B1%7D%7B%7Br%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7Br%5E2%7D%7Du_r%5Cright%29+%5Cfrac%7B%5Cpartial+u_%7B%5Ctheta+%7D%7D%7B%5Cpartial+%5Ctheta+%7D%2B+%5Cfrac%7B1%7D%7B%7B2+r%5E2%7D%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Ctheta+%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Ctheta+%7D%5Cbiggr%29+%5C%5C+%26%2B+2+r%5E2+%5Csin%5E2%5Ctheta+%28d%5Cphi+%29%5E2+%5Cbiggl%28++%5Cfrac%7B1%7D%7B%7B2+r%5E2+%5Csin%5E2%5Ctheta%7D%7D+u_%5Cphi%5E2%2B+%5Cfrac%7B1%7D%7B%7B2+r%5E2+%7D%7D+u_%7B%5Ctheta+%7D%5E2+%5Ccot%5E2%5Ctheta%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_r%2B+%5Cfrac%7B1%7D%7B%7B2+r%5E2%7D%7D+u_r%5E2%2B+%5Cleft%28%5Cfrac%7B1%7D%7B%7Br%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7Br%5E2%7D%7Du_r%5Cright%29+u_%7B%5Ctheta+%7D+%5Ccot%5Ctheta++%5C%5C+%26%5Cqquad-+%5Cfrac%7B1%7D%7B%7Br%5E2+%5Csin%5Ctheta%7D%7D+u_%7B%5Cphi+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D-+%5Cfrac%7B1%7D%7B%7Br%5E2+%7D%7D+u_%7B%5Cphi+%7D+%5Cfrac%7B%5Ccos%5Ctheta%7D%7B%5Csin%5E2%5Ctheta%7D+%5Cfrac%7B%5Cpartial+u_%7B%5Ctheta+%7D%7D%7B%5Cpartial+%5Cphi+%7D%2B+%5Cfrac%7B1%7D%7B%7Br%5E2+%7D%7D+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+%5Cphi+%7D+%5Cleft%28u_%7B%5Ctheta+%7D+%5Cfrac%7B%5Ccos%5Ctheta%7D%7B%5Csin%5E2%5Ctheta%7D+%2B+%5Cleft%28r+%2B+u_r%5Cright%29+%5Cfrac%7B1%7D%7B%7B%5Csin%5Ctheta%7D%7D+%5Cright%29%2B+%5Cfrac%7B1%7D%7B%7B2+r%5E2+%5Csin%5E2%5Ctheta%7D%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Cphi+%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Cphi+%7D%5Cbiggr%29+%5C%5C+%26+%2B+2+dr+r+d%5Ctheta+%5Cbiggl%28-+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_%7B%5Ctheta+%7D%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Ctheta+%7D-+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_%7B%5Ctheta+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D%2B+%5Cfrac%7B%5Cpartial+u_%7B%5Ctheta+%7D%7D%7B%5Cpartial+r%7D+%5Cleft%281+%2B+%5Cfrac%7Bu_r%7D%7Br%7D+%5Cright%29%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Ctheta+%7D%5Cbiggr%29+%5C%5C+%26+%2B+2+r%5E2+%5Csin%5Ctheta+d%5Ctheta++d%5Cphi++%5Cbiggl%28%5Cfrac%7B1%7D%7B%7Br%5E2+%7D%7D+u_%7B%5Ctheta+%7D+u_%7B%5Cphi+%7D-+%5Cfrac%7B1%7D%7B%7Br%5E2+%5Csin%5Ctheta%7D%7D+u_%7B%5Ctheta+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D-+%5Cfrac%7B1%7D%7B%7Br%5E2+%7D%7D+u_%7B%5Cphi+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Ctheta+%7D-+%5Cfrac%7B1%7D%7B%7Br%5E2+%7D%7D+u_%7B%5Cphi+%7D+%5Ccot%5Ctheta+%5Cleft%28r+%2B+u_r+%2B+%5Cfrac%7B%5Cpartial+u_%7B%5Ctheta+%7D%7D%7B%5Cpartial+%5Ctheta+%7D%5Cright%29++%5C%5C+%26%5Cqquad%2B+%5Cfrac%7B1%7D%7B%7Br%5E2+%5Csin%5Ctheta%7D%7D+%5Cleft%28r+%2B+u_r+%5Cright%29+%5Cfrac%7B%5Cpartial+u_%7B%5Ctheta+%7D%7D%7B%5Cpartial+%5Cphi+%7D%2B+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+%5Ctheta+%7D+%5Cleft%28%5Cfrac%7Bu_%7B%5Ctheta+%7D%7D%7Br%5E2%7D+%5Ccot%5Ctheta+%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%2B+%5Cfrac%7Bu_r%7D%7Br%5E2%7D+%5Cright%29%2B+%5Cfrac%7B1%7D%7B%7Br%5E2+%5Csin%5Ctheta%7D%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Ctheta+%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Cphi+%7D%5Cbiggr%29+%5C%5C+%26+%2B+2+r+%5Csin%5Ctheta+d%5Cphi+dr+%5Cbiggl%28-+%5Cfrac%7B1%7D%7B%7Br+%7D%7D+u_%7B%5Cphi+%7D%2B+%5Cfrac%7B1%7D%7B%7Br+%5Csin%5Ctheta%7D%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D-+u_%7B%5Cphi+%7D+%5Cfrac%7B1%7D%7B%7Br+%7D%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D-+u_%7B%5Cphi+%7D+%5Ccot%5Ctheta+%5Cfrac%7B1%7D%7B%7Br+%7D%7D+%5Cfrac%7B%5Cpartial+u_%7B%5Ctheta+%7D%7D%7B%5Cpartial+r%7D%2B+%5Cfrac%7B1%7D%7B%7Br+%7D%7D+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+r%7D+%5Cleft%28+u_%7B%5Ctheta+%7D+%5Ccot%5Ctheta+%2B+r+%2B+u_r+%5Cright%29%2B+%5Cfrac%7B1%7D%7B%7Br+%5Csin%5Ctheta%7D%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+%5Cphi+%7D+%5Cfrac%7B%5Cpartial+u_m%7D%7B%5Cpartial+r%7D%5Cbiggr%29%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.65%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}&amp;d&#92;mathbf{l}&#039;^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;=2 (dr)^2 &#92;biggl(&#92;frac{&#92;partial u_r}{&#92;partial r}+ &#92;frac{1}{{2}}&#92;frac{&#92;partial u_m}{&#92;partial r} &#92;frac{&#92;partial u_m}{&#92;partial r}&#92;biggr) &#92;&#92; &amp; + 2 r^2 (d&#92;theta )^2 &#92;biggl(&#92;frac{1}{{r}} u_r + &#92;frac{1}{{2r^2}}(u_r^2 + u_{&#92;theta }^2) - &#92;frac{1}{{r^2}} u_{&#92;theta } &#92;frac{&#92;partial u_r}{&#92;partial &#92;theta }+ &#92;left(&#92;frac{1}{{r}} + &#92;frac{1}{{r^2}}u_r&#92;right) &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;theta }+ &#92;frac{1}{{2 r^2}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta } &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta }&#92;biggr) &#92;&#92; &amp;+ 2 r^2 &#92;sin^2&#92;theta (d&#92;phi )^2 &#92;biggl(  &#92;frac{1}{{2 r^2 &#92;sin^2&#92;theta}} u_&#92;phi^2+ &#92;frac{1}{{2 r^2 }} u_{&#92;theta }^2 &#92;cot^2&#92;theta+ &#92;frac{1}{{r}} u_r+ &#92;frac{1}{{2 r^2}} u_r^2+ &#92;left(&#92;frac{1}{{r}} + &#92;frac{1}{{r^2}}u_r&#92;right) u_{&#92;theta } &#92;cot&#92;theta  &#92;&#92; &amp;&#92;qquad- &#92;frac{1}{{r^2 &#92;sin&#92;theta}} u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }- &#92;frac{1}{{r^2 }} u_{&#92;phi } &#92;frac{&#92;cos&#92;theta}{&#92;sin^2&#92;theta} &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;phi }+ &#92;frac{1}{{r^2 }} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi } &#92;left(u_{&#92;theta } &#92;frac{&#92;cos&#92;theta}{&#92;sin^2&#92;theta} + &#92;left(r + u_r&#92;right) &#92;frac{1}{{&#92;sin&#92;theta}} &#92;right)+ &#92;frac{1}{{2 r^2 &#92;sin^2&#92;theta}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi } &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi }&#92;biggr) &#92;&#92; &amp; + 2 dr r d&#92;theta &#92;biggl(- &#92;frac{1}{{r}} u_{&#92;theta }+ &#92;frac{1}{{r}} &#92;frac{&#92;partial u_r}{&#92;partial &#92;theta }- &#92;frac{1}{{r}} u_{&#92;theta } &#92;frac{&#92;partial u_r}{&#92;partial r}+ &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial r} &#92;left(1 + &#92;frac{u_r}{r} &#92;right)+ &#92;frac{1}{{r}} &#92;frac{&#92;partial u_m}{&#92;partial r} &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta }&#92;biggr) &#92;&#92; &amp; + 2 r^2 &#92;sin&#92;theta d&#92;theta  d&#92;phi  &#92;biggl(&#92;frac{1}{{r^2 }} u_{&#92;theta } u_{&#92;phi }- &#92;frac{1}{{r^2 &#92;sin&#92;theta}} u_{&#92;theta } &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }- &#92;frac{1}{{r^2 }} u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial &#92;theta }- &#92;frac{1}{{r^2 }} u_{&#92;phi } &#92;cot&#92;theta &#92;left(r + u_r + &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;theta }&#92;right)  &#92;&#92; &amp;&#92;qquad+ &#92;frac{1}{{r^2 &#92;sin&#92;theta}} &#92;left(r + u_r &#92;right) &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;phi }+ &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;theta } &#92;left(&#92;frac{u_{&#92;theta }}{r^2} &#92;cot&#92;theta + &#92;frac{1}{{r}} + &#92;frac{u_r}{r^2} &#92;right)+ &#92;frac{1}{{r^2 &#92;sin&#92;theta}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta } &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi }&#92;biggr) &#92;&#92; &amp; + 2 r &#92;sin&#92;theta d&#92;phi dr &#92;biggl(- &#92;frac{1}{{r }} u_{&#92;phi }+ &#92;frac{1}{{r &#92;sin&#92;theta}} &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }- u_{&#92;phi } &#92;frac{1}{{r }} &#92;frac{&#92;partial u_r}{&#92;partial r}- u_{&#92;phi } &#92;cot&#92;theta &#92;frac{1}{{r }} &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial r}+ &#92;frac{1}{{r }} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r} &#92;left( u_{&#92;theta } &#92;cot&#92;theta + r + u_r &#92;right)+ &#92;frac{1}{{r &#92;sin&#92;theta}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi } &#92;frac{&#92;partial u_m}{&#92;partial r}&#92;biggr)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.65)' title='&#92;begin{aligned}&#92;begin{aligned}&amp;d&#92;mathbf{l}&#039;^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;=2 (dr)^2 &#92;biggl(&#92;frac{&#92;partial u_r}{&#92;partial r}+ &#92;frac{1}{{2}}&#92;frac{&#92;partial u_m}{&#92;partial r} &#92;frac{&#92;partial u_m}{&#92;partial r}&#92;biggr) &#92;&#92; &amp; + 2 r^2 (d&#92;theta )^2 &#92;biggl(&#92;frac{1}{{r}} u_r + &#92;frac{1}{{2r^2}}(u_r^2 + u_{&#92;theta }^2) - &#92;frac{1}{{r^2}} u_{&#92;theta } &#92;frac{&#92;partial u_r}{&#92;partial &#92;theta }+ &#92;left(&#92;frac{1}{{r}} + &#92;frac{1}{{r^2}}u_r&#92;right) &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;theta }+ &#92;frac{1}{{2 r^2}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta } &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta }&#92;biggr) &#92;&#92; &amp;+ 2 r^2 &#92;sin^2&#92;theta (d&#92;phi )^2 &#92;biggl(  &#92;frac{1}{{2 r^2 &#92;sin^2&#92;theta}} u_&#92;phi^2+ &#92;frac{1}{{2 r^2 }} u_{&#92;theta }^2 &#92;cot^2&#92;theta+ &#92;frac{1}{{r}} u_r+ &#92;frac{1}{{2 r^2}} u_r^2+ &#92;left(&#92;frac{1}{{r}} + &#92;frac{1}{{r^2}}u_r&#92;right) u_{&#92;theta } &#92;cot&#92;theta  &#92;&#92; &amp;&#92;qquad- &#92;frac{1}{{r^2 &#92;sin&#92;theta}} u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }- &#92;frac{1}{{r^2 }} u_{&#92;phi } &#92;frac{&#92;cos&#92;theta}{&#92;sin^2&#92;theta} &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;phi }+ &#92;frac{1}{{r^2 }} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi } &#92;left(u_{&#92;theta } &#92;frac{&#92;cos&#92;theta}{&#92;sin^2&#92;theta} + &#92;left(r + u_r&#92;right) &#92;frac{1}{{&#92;sin&#92;theta}} &#92;right)+ &#92;frac{1}{{2 r^2 &#92;sin^2&#92;theta}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi } &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi }&#92;biggr) &#92;&#92; &amp; + 2 dr r d&#92;theta &#92;biggl(- &#92;frac{1}{{r}} u_{&#92;theta }+ &#92;frac{1}{{r}} &#92;frac{&#92;partial u_r}{&#92;partial &#92;theta }- &#92;frac{1}{{r}} u_{&#92;theta } &#92;frac{&#92;partial u_r}{&#92;partial r}+ &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial r} &#92;left(1 + &#92;frac{u_r}{r} &#92;right)+ &#92;frac{1}{{r}} &#92;frac{&#92;partial u_m}{&#92;partial r} &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta }&#92;biggr) &#92;&#92; &amp; + 2 r^2 &#92;sin&#92;theta d&#92;theta  d&#92;phi  &#92;biggl(&#92;frac{1}{{r^2 }} u_{&#92;theta } u_{&#92;phi }- &#92;frac{1}{{r^2 &#92;sin&#92;theta}} u_{&#92;theta } &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }- &#92;frac{1}{{r^2 }} u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial &#92;theta }- &#92;frac{1}{{r^2 }} u_{&#92;phi } &#92;cot&#92;theta &#92;left(r + u_r + &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;theta }&#92;right)  &#92;&#92; &amp;&#92;qquad+ &#92;frac{1}{{r^2 &#92;sin&#92;theta}} &#92;left(r + u_r &#92;right) &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial &#92;phi }+ &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;theta } &#92;left(&#92;frac{u_{&#92;theta }}{r^2} &#92;cot&#92;theta + &#92;frac{1}{{r}} + &#92;frac{u_r}{r^2} &#92;right)+ &#92;frac{1}{{r^2 &#92;sin&#92;theta}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;theta } &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi }&#92;biggr) &#92;&#92; &amp; + 2 r &#92;sin&#92;theta d&#92;phi dr &#92;biggl(- &#92;frac{1}{{r }} u_{&#92;phi }+ &#92;frac{1}{{r &#92;sin&#92;theta}} &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }- u_{&#92;phi } &#92;frac{1}{{r }} &#92;frac{&#92;partial u_r}{&#92;partial r}- u_{&#92;phi } &#92;cot&#92;theta &#92;frac{1}{{r }} &#92;frac{&#92;partial u_{&#92;theta }}{&#92;partial r}+ &#92;frac{1}{{r }} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r} &#92;left( u_{&#92;theta } &#92;cot&#92;theta + r + u_r &#92;right)+ &#92;frac{1}{{r &#92;sin&#92;theta}} &#92;frac{&#92;partial u_m}{&#92;partial &#92;phi } &#92;frac{&#92;partial u_m}{&#92;partial r}&#92;biggr)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.65)' class='latex' /></p>
<h3>A manual derivation.</h3>
<p>Doing the calculation pretty much completely with Mathematica is rather unsatisfying.  To set up for it let&#8217;s first compute the unit vectors from scratch.  I&#8217;ll use geometric algebra to do this calculation.  Consider figure (\ref{fig:qmTwoExamReflection:continuumL2fig5})</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL2fig5}<br />
   \caption{Composite rotations for spherical polar unit vectors.}<br />
\end{figure}</p>
<p>We have two sets of rotations, the first is a rotation about the <img src='http://s0.wp.com/latex.php?latex=z&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='z' title='z' class='latex' /> axis by <img src='http://s0.wp.com/latex.php?latex=%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;phi' title='&#92;phi' class='latex' />.  Writing <img src='http://s0.wp.com/latex.php?latex=i+%3D+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_2&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='i = &#92;mathbf{e}_1 &#92;mathbf{e}_2' title='i = &#92;mathbf{e}_1 &#92;mathbf{e}_2' class='latex' /> for the unit bivector in the <img src='http://s0.wp.com/latex.php?latex=x%2Cy&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='x,y' title='x,y' class='latex' /> plane, we rotate</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Be%7D_1%27+%26%3D+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%3D+%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%2B+%5Cmathbf%7Be%7D_2+%5Csin%5Cphi+%5C%5C+%5Cmathbf%7Be%7D_2%27+%26%3D+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+%3D+%5Cmathbf%7Be%7D_2+%5Ccos%5Cphi+-+%5Cmathbf%7Be%7D_1+%5Csin%5Cphi+%5C%5C+%5Cmathbf%7Be%7D_3%27+%26%3D+%5Cmathbf%7Be%7D_3%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.66%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{e}_1&#039; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} = &#92;mathbf{e}_1 &#92;cos&#92;phi + &#92;mathbf{e}_2 &#92;sin&#92;phi &#92;&#92; &#92;mathbf{e}_2&#039; &amp;= &#92;mathbf{e}_2 e^{i&#92;phi} = &#92;mathbf{e}_2 &#92;cos&#92;phi - &#92;mathbf{e}_1 &#92;sin&#92;phi &#92;&#92; &#92;mathbf{e}_3&#039; &amp;= &#92;mathbf{e}_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.66)' title='&#92;begin{aligned}&#92;mathbf{e}_1&#039; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} = &#92;mathbf{e}_1 &#92;cos&#92;phi + &#92;mathbf{e}_2 &#92;sin&#92;phi &#92;&#92; &#92;mathbf{e}_2&#039; &amp;= &#92;mathbf{e}_2 e^{i&#92;phi} = &#92;mathbf{e}_2 &#92;cos&#92;phi - &#92;mathbf{e}_1 &#92;sin&#92;phi &#92;&#92; &#92;mathbf{e}_3&#039; &amp;= &#92;mathbf{e}_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.66)' class='latex' /></p>
<p>Now we rotate in the plane spanned by <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Be%7D_3&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{e}_3' title='&#92;mathbf{e}_3' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Be%7D_1%27&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{e}_1&#039;' title='&#92;mathbf{e}_1&#039;' class='latex' /> by <img src='http://s0.wp.com/latex.php?latex=%5Ctheta&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;theta' title='&#92;theta' class='latex' />.  With <img src='http://s0.wp.com/latex.php?latex=j+%3D+%5Cmathbf%7Be%7D_3+%5Cmathbf%7Be%7D_1%27&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='j = &#92;mathbf{e}_3 &#92;mathbf{e}_1&#039;' title='j = &#92;mathbf{e}_3 &#92;mathbf{e}_1&#039;' class='latex' />, our vectors in the plane rotate as</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Be%7D_1%27%27+%26%3D+%5Cmathbf%7Be%7D_1%27+e%5E%7Bj%5Cphi%7D+%3D+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+e%5E%7Bj%5Ctheta%7D++%5C%5C+%5Cmathbf%7Be%7D_3%27%27+%26%3D+%5Cmathbf%7Be%7D_3%27+e%5E%7Bj%5Ctheta%7D+%3D+%5Cmathbf%7Be%7D_3+e%5E%7Bj%5Ctheta%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.69%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{e}_1&#039;&#039; &amp;= &#92;mathbf{e}_1&#039; e^{j&#92;phi} = &#92;mathbf{e}_1 e^{i&#92;phi} e^{j&#92;theta}  &#92;&#92; &#92;mathbf{e}_3&#039;&#039; &amp;= &#92;mathbf{e}_3&#039; e^{j&#92;theta} = &#92;mathbf{e}_3 e^{j&#92;theta},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.69)' title='&#92;begin{aligned}&#92;mathbf{e}_1&#039;&#039; &amp;= &#92;mathbf{e}_1&#039; e^{j&#92;phi} = &#92;mathbf{e}_1 e^{i&#92;phi} e^{j&#92;theta}  &#92;&#92; &#92;mathbf{e}_3&#039;&#039; &amp;= &#92;mathbf{e}_3&#039; e^{j&#92;theta} = &#92;mathbf{e}_3 e^{j&#92;theta},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.69)' class='latex' /></p>
<p>(with <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Be%7D_2%27%27+%3D+%5Cmathbf%7Be%7D_2&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{e}_2&#039;&#039; = &#92;mathbf{e}_2' title='&#92;mathbf{e}_2&#039;&#039; = &#92;mathbf{e}_2' class='latex' /> since <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Be%7D_2+%5Ccdot+j+%3D+0&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{e}_2 &#92;cdot j = 0' title='&#92;mathbf{e}_2 &#92;cdot j = 0' class='latex' />).</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%3D+%5Cmathbf%7Be%7D_1%27%27%26%3D+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+e%5E%7Bj%5Ctheta%7D+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%28%5Ccos%5Ctheta+%2B+%5Cmathbf%7Be%7D_3+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta%29+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5Ccos%5Ctheta+-%5Cmathbf%7Be%7D_3+%5Csin%5Ctheta+%5C%5C+%26%3D+%28%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%2B+%5Cmathbf%7Be%7D_2+%5Csin%5Cphi%29+%5Ccos%5Ctheta+-%5Cmathbf%7Be%7D_3+%5Csin%5Ctheta+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}} = &#92;mathbf{e}_1&#039;&#039;&amp;= &#92;mathbf{e}_1 e^{i&#92;phi} e^{j&#92;theta} &#92;&#92; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} (&#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta) &#92;&#92; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta &#92;&#92; &amp;= (&#92;mathbf{e}_1 &#92;cos&#92;phi + &#92;mathbf{e}_2 &#92;sin&#92;phi) &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}} = &#92;mathbf{e}_1&#039;&#039;&amp;= &#92;mathbf{e}_1 e^{i&#92;phi} e^{j&#92;theta} &#92;&#92; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} (&#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta) &#92;&#92; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta &#92;&#92; &amp;= (&#92;mathbf{e}_1 &#92;cos&#92;phi + &#92;mathbf{e}_2 &#92;sin&#92;phi) &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Br%7D%7D+%3D+%5Cmathbf%7Be%7D_3%27%27%26%3D+%5Cmathbf%7Be%7D_3+e%5E%7Bj%5Ctheta%7D+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_3+%28%5Ccos%5Ctheta+%2B+%5Cmathbf%7Be%7D_3+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta%29+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_3+%5Ccos%5Ctheta+%2B+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_3+%5Ccos%5Ctheta+%2B+%28%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%2B+%5Cmathbf%7Be%7D_2+%5Csin%5Cphi%29+%5Csin%5Ctheta+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} = &#92;mathbf{e}_3&#039;&#039;&amp;= &#92;mathbf{e}_3 e^{j&#92;theta} &#92;&#92; &amp;= &#92;mathbf{e}_3 (&#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta) &#92;&#92; &amp;= &#92;mathbf{e}_3 &#92;cos&#92;theta + &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta &#92;&#92; &amp;= &#92;mathbf{e}_3 &#92;cos&#92;theta + (&#92;mathbf{e}_1 &#92;cos&#92;phi + &#92;mathbf{e}_2 &#92;sin&#92;phi) &#92;sin&#92;theta &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} = &#92;mathbf{e}_3&#039;&#039;&amp;= &#92;mathbf{e}_3 e^{j&#92;theta} &#92;&#92; &amp;= &#92;mathbf{e}_3 (&#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta) &#92;&#92; &amp;= &#92;mathbf{e}_3 &#92;cos&#92;theta + &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta &#92;&#92; &amp;= &#92;mathbf{e}_3 &#92;cos&#92;theta + (&#92;mathbf{e}_1 &#92;cos&#92;phi + &#92;mathbf{e}_2 &#92;sin&#92;phi) &#92;sin&#92;theta &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>Now, these are all the same relations that we could find with coordinate algebra</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Br%7D%7D+%26%3D+%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%5Csin%5Ctheta+%2B%5Cmathbf%7Be%7D_2+%5Csin%5Cphi+%5Csin%5Ctheta+%2B%5Cmathbf%7Be%7D_3+%5Ccos%5Ctheta++%5C%5C+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%26%3D+%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%5Ccos%5Ctheta+%2B%5Cmathbf%7Be%7D_2+%5Csin%5Cphi+%5Ccos%5Ctheta+-%5Cmathbf%7Be%7D_3+%5Csin%5Ctheta++%5C%5C+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%26%3D+-%5Cmathbf%7Be%7D_1+%5Csin%5Cphi+%2B+%5Cmathbf%7Be%7D_2+%5Ccos%5Cphi%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.71%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_1 &#92;cos&#92;phi &#92;sin&#92;theta +&#92;mathbf{e}_2 &#92;sin&#92;phi &#92;sin&#92;theta +&#92;mathbf{e}_3 &#92;cos&#92;theta  &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= &#92;mathbf{e}_1 &#92;cos&#92;phi &#92;cos&#92;theta +&#92;mathbf{e}_2 &#92;sin&#92;phi &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= -&#92;mathbf{e}_1 &#92;sin&#92;phi + &#92;mathbf{e}_2 &#92;cos&#92;phi&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.71)' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_1 &#92;cos&#92;phi &#92;sin&#92;theta +&#92;mathbf{e}_2 &#92;sin&#92;phi &#92;sin&#92;theta +&#92;mathbf{e}_3 &#92;cos&#92;theta  &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= &#92;mathbf{e}_1 &#92;cos&#92;phi &#92;cos&#92;theta +&#92;mathbf{e}_2 &#92;sin&#92;phi &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= -&#92;mathbf{e}_1 &#92;sin&#92;phi + &#92;mathbf{e}_2 &#92;cos&#92;phi&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.71)' class='latex' /></p>
<p>There&#8217;s nothing special in this approach if that is as far as we go, but we can put things in a nice tidy form for computation of the differentials of the unit vectors.  Introducing the unit pseudoscalar <img src='http://s0.wp.com/latex.php?latex=I+%3D+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_2+%5Cmathbf%7Be%7D_3&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='I = &#92;mathbf{e}_1 &#92;mathbf{e}_2 &#92;mathbf{e}_3' title='I = &#92;mathbf{e}_1 &#92;mathbf{e}_2 &#92;mathbf{e}_3' class='latex' /> we can write these in a compact exponential form.</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Br%7D%7D%26%3D+%28%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%2B%5Cmathbf%7Be%7D_2+%5Csin%5Cphi+%29+%5Csin%5Ctheta+%2B%5Cmathbf%7Be%7D_3+%5Ccos%5Ctheta++%5C%5C+%26%3D+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta+%2B%5Cmathbf%7Be%7D_3+%5Ccos%5Ctheta++%5C%5C+%26%3D+%5Cmathbf%7Be%7D_3+%28+%5Ccos%5Ctheta+%2B+%5Cmathbf%7Be%7D_3+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta+%29+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_3+%28+%5Ccos%5Ctheta+%2B+%5Cmathbf%7Be%7D_3+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_2+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta+%29+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_3+%28+%5Ccos%5Ctheta+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+%29+%5C%5C+%26%3D+%5Cmathbf%7Be%7D_3+e%5E%7B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta+%7D%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}}&amp;= (&#92;mathbf{e}_1 &#92;cos&#92;phi +&#92;mathbf{e}_2 &#92;sin&#92;phi ) &#92;sin&#92;theta +&#92;mathbf{e}_3 &#92;cos&#92;theta  &#92;&#92; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta +&#92;mathbf{e}_3 &#92;cos&#92;theta  &#92;&#92; &amp;= &#92;mathbf{e}_3 ( &#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;= &#92;mathbf{e}_3 ( &#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 &#92;mathbf{e}_2 &#92;mathbf{e}_2 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;= &#92;mathbf{e}_3 ( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta ) &#92;&#92; &amp;= &#92;mathbf{e}_3 e^{ I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta }&#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}}&amp;= (&#92;mathbf{e}_1 &#92;cos&#92;phi +&#92;mathbf{e}_2 &#92;sin&#92;phi ) &#92;sin&#92;theta +&#92;mathbf{e}_3 &#92;cos&#92;theta  &#92;&#92; &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta +&#92;mathbf{e}_3 &#92;cos&#92;theta  &#92;&#92; &amp;= &#92;mathbf{e}_3 ( &#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;= &#92;mathbf{e}_3 ( &#92;cos&#92;theta + &#92;mathbf{e}_3 &#92;mathbf{e}_1 &#92;mathbf{e}_2 &#92;mathbf{e}_2 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;= &#92;mathbf{e}_3 ( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta ) &#92;&#92; &amp;= &#92;mathbf{e}_3 e^{ I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta }&#92;end{aligned} ' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D%26%3D%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%5Ccos%5Ctheta+%2B%5Cmathbf%7Be%7D_2+%5Csin%5Cphi+%5Ccos%5Ctheta+-%5Cmathbf%7Be%7D_3+%5Csin%5Ctheta++%5C%5C+%26%3D%28%5Cmathbf%7Be%7D_1+%5Ccos%5Cphi+%2B%5Cmathbf%7Be%7D_2+%5Csin%5Cphi+%29+%5Ccos%5Ctheta+-%5Cmathbf%7Be%7D_3+%5Csin%5Ctheta++%5C%5C+%26%3D%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5Ccos%5Ctheta+-%5Cmathbf%7Be%7D_3+%5Csin%5Ctheta++%5C%5C+%26%3D%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%28+%5Ccos%5Ctheta+-+e%5E%7B-i%5Cphi%7D+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_3+%5Csin%5Ctheta+%29+%5C%5C+%26%3D%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%28+%5Ccos%5Ctheta+-+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_3+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta+%29+%5C%5C+%26%3D%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%28+%5Ccos%5Ctheta+-+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_3+%5Cmathbf%7Be%7D_2+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta+%29+%5C%5C+%26%3D%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%28+%5Ccos%5Ctheta+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+%29+%5C%5C+%26%3D%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_2+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+%28+%5Ccos%5Ctheta+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+%29+%5C%5C+%26%3Di+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}}&amp;=&#92;mathbf{e}_1 &#92;cos&#92;phi &#92;cos&#92;theta +&#92;mathbf{e}_2 &#92;sin&#92;phi &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &amp;=(&#92;mathbf{e}_1 &#92;cos&#92;phi +&#92;mathbf{e}_2 &#92;sin&#92;phi ) &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta - e^{-i&#92;phi} &#92;mathbf{e}_1 &#92;mathbf{e}_3 &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta - &#92;mathbf{e}_1 &#92;mathbf{e}_3 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta - &#92;mathbf{e}_1 &#92;mathbf{e}_3 &#92;mathbf{e}_2 &#92;mathbf{e}_2 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 &#92;mathbf{e}_2 &#92;mathbf{e}_2 e^{i&#92;phi} ( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta ) &#92;&#92; &amp;=i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta}.&#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}}&amp;=&#92;mathbf{e}_1 &#92;cos&#92;phi &#92;cos&#92;theta +&#92;mathbf{e}_2 &#92;sin&#92;phi &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &amp;=(&#92;mathbf{e}_1 &#92;cos&#92;phi +&#92;mathbf{e}_2 &#92;sin&#92;phi ) &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} &#92;cos&#92;theta -&#92;mathbf{e}_3 &#92;sin&#92;theta  &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta - e^{-i&#92;phi} &#92;mathbf{e}_1 &#92;mathbf{e}_3 &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta - &#92;mathbf{e}_1 &#92;mathbf{e}_3 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta - &#92;mathbf{e}_1 &#92;mathbf{e}_3 &#92;mathbf{e}_2 &#92;mathbf{e}_2 e^{i&#92;phi} &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 e^{i&#92;phi} ( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta ) &#92;&#92; &amp;=&#92;mathbf{e}_1 &#92;mathbf{e}_2 &#92;mathbf{e}_2 e^{i&#92;phi} ( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta ) &#92;&#92; &amp;=i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta}.&#92;end{aligned} ' class='latex' /></p>
<p>To summarize we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%26%3D+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+%5C%5C+%5Chat%7B%5Cmathbf%7Br%7D%7D+%26%3D+%5Cmathbf%7Be%7D_3+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%5C%5C+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%26%3D+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.74%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;mathbf{e}_2 e^{i&#92;phi} &#92;&#92; &#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.74)' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;mathbf{e}_2 e^{i&#92;phi} &#92;&#92; &#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.74)' class='latex' /></p>
<p>Taking differentials we find first</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%3D+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+i+d%5Cphi+%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+d%5Cphi%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;hat{&#92;boldsymbol{&#92;phi}} = &#92;mathbf{e}_2 e^{i&#92;phi} i d&#92;phi = &#92;hat{&#92;boldsymbol{&#92;phi}} i d&#92;phi&#92;end{aligned} ' title='&#92;begin{aligned}d&#92;hat{&#92;boldsymbol{&#92;phi}} = &#92;mathbf{e}_2 e^{i&#92;phi} i d&#92;phi = &#92;hat{&#92;boldsymbol{&#92;phi}} i d&#92;phi&#92;end{aligned} ' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D%26%3D+d+%5Cleft%28+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%5Cright%29+%5C%5C+%26%3D+i+d+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%2B+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+d+%5Cleft%28+%5Ccos%5Ctheta+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+%5Cright%29+%5C%5C+%26%3D+i+d+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D%2B+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+I+%28d+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D%29+%5Csin%5Ctheta%2B+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Ctheta+%5C%5C+%26%3D+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Cphi%2B+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+%5Csin%5Ctheta+d%5Cphi%2B+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Ctheta+%5C%5C+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Cphi-+I+%5Csin%5Ctheta+d%5Cphi-+%5Cmathbf%7Be%7D_3+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Ctheta+%5C%5C+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%28%5Ccos%5Ctheta+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta%29+d%5Cphi-+I+%5Csin%5Ctheta+d%5Cphi-+%5Cmathbf%7Be%7D_3+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Ctheta+%5C%5C+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ccos%5Ctheta+d%5Cphi+-+%5Chat%7B%5Cmathbf%7Br%7D%7D+d%5Ctheta%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;hat{&#92;boldsymbol{&#92;theta}}&amp;= d &#92;left( i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;right) &#92;&#92; &amp;= i d &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} + i &#92;hat{&#92;boldsymbol{&#92;phi}} d &#92;left( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta &#92;right) &#92;&#92; &amp;= i d &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta}+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I (d &#92;hat{&#92;boldsymbol{&#92;phi}}) &#92;sin&#92;theta+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= i &#92;hat{&#92;boldsymbol{&#92;phi}} i e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;phi+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I &#92;hat{&#92;boldsymbol{&#92;phi}} i &#92;sin&#92;theta d&#92;phi+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;phi- I &#92;sin&#92;theta d&#92;phi- &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} (&#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta) d&#92;phi- I &#92;sin&#92;theta d&#92;phi- &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta&#92;end{aligned} ' title='&#92;begin{aligned}d&#92;hat{&#92;boldsymbol{&#92;theta}}&amp;= d &#92;left( i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;right) &#92;&#92; &amp;= i d &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} + i &#92;hat{&#92;boldsymbol{&#92;phi}} d &#92;left( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta &#92;right) &#92;&#92; &amp;= i d &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta}+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I (d &#92;hat{&#92;boldsymbol{&#92;phi}}) &#92;sin&#92;theta+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= i &#92;hat{&#92;boldsymbol{&#92;phi}} i e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;phi+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I &#92;hat{&#92;boldsymbol{&#92;phi}} i &#92;sin&#92;theta d&#92;phi+ i &#92;hat{&#92;boldsymbol{&#92;phi}} I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;phi- I &#92;sin&#92;theta d&#92;phi- &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} (&#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta) d&#92;phi- I &#92;sin&#92;theta d&#92;phi- &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta&#92;end{aligned} ' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd+%5Chat%7B%5Cmathbf%7Br%7D%7D%26%3D%5Cmathbf%7Be%7D_3+d+%5Cleft%28+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%5Cright%29+%5C%5C+%26%3D%5Cmathbf%7Be%7D_3+d+%5Cleft%28+%5Ccos%5Ctheta+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+%5Cright%29+%5C%5C+%26%3D%5Cmathbf%7Be%7D_3+%5Cleft%28+I+%28d+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D%29+%5Csin%5Ctheta+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Ctheta+%5Cright%29+%5C%5C+%26%3D%5Cmathbf%7Be%7D_3+%5Cleft%28+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+%5Csin%5Ctheta+d%5Cphi+%2B+I+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Ctheta+%5Cright%29+%5C%5C+%26%3Di+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+%5Csin%5Ctheta+d%5Cphi+%2B+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+d%5Ctheta+%5C%5C+%26%3D%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+d%5Cphi+%2B+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+d%5Ctheta%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d &#92;hat{&#92;mathbf{r}}&amp;=&#92;mathbf{e}_3 d &#92;left( e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;right) &#92;&#92; &amp;=&#92;mathbf{e}_3 d &#92;left( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta &#92;right) &#92;&#92; &amp;=&#92;mathbf{e}_3 &#92;left( I (d &#92;hat{&#92;boldsymbol{&#92;phi}}) &#92;sin&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;right) &#92;&#92; &amp;=&#92;mathbf{e}_3 &#92;left( I &#92;hat{&#92;boldsymbol{&#92;phi}} i &#92;sin&#92;theta d&#92;phi + I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;right) &#92;&#92; &amp;=i &#92;hat{&#92;boldsymbol{&#92;phi}} i &#92;sin&#92;theta d&#92;phi + i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;=&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta&#92;end{aligned} ' title='&#92;begin{aligned}d &#92;hat{&#92;mathbf{r}}&amp;=&#92;mathbf{e}_3 d &#92;left( e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;right) &#92;&#92; &amp;=&#92;mathbf{e}_3 d &#92;left( &#92;cos&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta &#92;right) &#92;&#92; &amp;=&#92;mathbf{e}_3 &#92;left( I (d &#92;hat{&#92;boldsymbol{&#92;phi}}) &#92;sin&#92;theta + I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;right) &#92;&#92; &amp;=&#92;mathbf{e}_3 &#92;left( I &#92;hat{&#92;boldsymbol{&#92;phi}} i &#92;sin&#92;theta d&#92;phi + I &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;right) &#92;&#92; &amp;=i &#92;hat{&#92;boldsymbol{&#92;phi}} i &#92;sin&#92;theta d&#92;phi + i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} d&#92;theta &#92;&#92; &amp;=&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta&#92;end{aligned} ' class='latex' /></p>
<p>Summarizing these differentials we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Chat%7B%5Cmathbf%7Br%7D%7D+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+d%5Cphi+%2B+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+d%5Ctheta+%5C%5C+d%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ccos%5Ctheta+d%5Cphi+-+%5Chat%7B%5Cmathbf%7Br%7D%7D+d%5Ctheta+%5C%5C+d%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+d%5Cphi%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.77%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} i d&#92;phi&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.77)' title='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} i d&#92;phi&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.77)' class='latex' /></p>
<p>A final cleanup is required.  While <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;phi}} i' title='&#92;hat{&#92;boldsymbol{&#92;phi}} i' class='latex' /> is a vector and has a nicely compact form, we need to decompose this into components in the <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Br%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{r}}' title='&#92;hat{&#92;mathbf{r}}' class='latex' />, <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;theta}}' title='&#92;hat{&#92;boldsymbol{&#92;theta}}' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;phi}}' title='&#92;hat{&#92;boldsymbol{&#92;phi}}' class='latex' /> directions.  Taking scalar products we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ccdot+%28%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i%29+%3D+0%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cdot (&#92;hat{&#92;boldsymbol{&#92;phi}} i) = 0&#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cdot (&#92;hat{&#92;boldsymbol{&#92;phi}} i) = 0&#92;end{aligned} ' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Br%7D%7D+%5Ccdot+%28%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i%29%26%3D%5Cleft%5Clangle%7B%7B+%5Chat%7B%5Cmathbf%7Br%7D%7D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D%5Cleft%5Clangle%7B%7B+%5Cmathbf%7Be%7D_3+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+i%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D%5Cleft%5Clangle%7B%7B+%5Cmathbf%7Be%7D_3+%28%5Ccos%5Ctheta+%2B+I+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+%5Csin%5Ctheta%29+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+i%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D%5Cleft%5Clangle%7B%7B+I+%28%5Ccos%5Ctheta+e%5E%7B-i%5Cphi%7D+%2B+I+%5Cmathbf%7Be%7D_2+%5Csin%5Ctheta%29+%5Cmathbf%7Be%7D_2+%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D-%5Csin%5Ctheta%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} &#92;cdot (&#92;hat{&#92;boldsymbol{&#92;phi}} i)&amp;=&#92;left&#92;langle{{ &#92;hat{&#92;mathbf{r}} &#92;hat{&#92;boldsymbol{&#92;phi}} i}}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;mathbf{e}_2 e^{i&#92;phi} i}}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ &#92;mathbf{e}_3 (&#92;cos&#92;theta + I &#92;mathbf{e}_2 e^{i&#92;phi} &#92;sin&#92;theta) &#92;mathbf{e}_2 e^{i&#92;phi} i}}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ I (&#92;cos&#92;theta e^{-i&#92;phi} + I &#92;mathbf{e}_2 &#92;sin&#92;theta) &#92;mathbf{e}_2 }}&#92;right&#92;rangle &#92;&#92; &amp;=-&#92;sin&#92;theta&#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} &#92;cdot (&#92;hat{&#92;boldsymbol{&#92;phi}} i)&amp;=&#92;left&#92;langle{{ &#92;hat{&#92;mathbf{r}} &#92;hat{&#92;boldsymbol{&#92;phi}} i}}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ &#92;mathbf{e}_3 e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;mathbf{e}_2 e^{i&#92;phi} i}}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ &#92;mathbf{e}_3 (&#92;cos&#92;theta + I &#92;mathbf{e}_2 e^{i&#92;phi} &#92;sin&#92;theta) &#92;mathbf{e}_2 e^{i&#92;phi} i}}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ I (&#92;cos&#92;theta e^{-i&#92;phi} + I &#92;mathbf{e}_2 &#92;sin&#92;theta) &#92;mathbf{e}_2 }}&#92;right&#92;rangle &#92;&#92; &amp;=-&#92;sin&#92;theta&#92;end{aligned} ' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%5Ccdot+%28%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i%29%26%3D%5Cleft%5Clangle%7B%7B+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D%5Cleft%5Clangle%7B%7B+i+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+i+%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D-%5Cleft%5Clangle%7B%7B+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D-%5Cleft%5Clangle%7B%7B+e%5E%7BI%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ctheta%7D+%7D%7D%5Cright%5Crangle+%5C%5C+%26%3D-+%5Ccos%5Ctheta.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}} &#92;cdot (&#92;hat{&#92;boldsymbol{&#92;phi}} i)&amp;=&#92;left&#92;langle{{ &#92;hat{&#92;boldsymbol{&#92;theta}} &#92;hat{&#92;boldsymbol{&#92;phi}} i }}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;hat{&#92;boldsymbol{&#92;phi}} i }}&#92;right&#92;rangle &#92;&#92; &amp;=-&#92;left&#92;langle{{ &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;hat{&#92;boldsymbol{&#92;phi}} }}&#92;right&#92;rangle &#92;&#92; &amp;=-&#92;left&#92;langle{{ e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} }}&#92;right&#92;rangle &#92;&#92; &amp;=- &#92;cos&#92;theta.&#92;end{aligned} ' title='&#92;begin{aligned}&#92;hat{&#92;boldsymbol{&#92;theta}} &#92;cdot (&#92;hat{&#92;boldsymbol{&#92;phi}} i)&amp;=&#92;left&#92;langle{{ &#92;hat{&#92;boldsymbol{&#92;theta}} &#92;hat{&#92;boldsymbol{&#92;phi}} i }}&#92;right&#92;rangle &#92;&#92; &amp;=&#92;left&#92;langle{{ i &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;hat{&#92;boldsymbol{&#92;phi}} i }}&#92;right&#92;rangle &#92;&#92; &amp;=-&#92;left&#92;langle{{ &#92;hat{&#92;boldsymbol{&#92;phi}} e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} &#92;hat{&#92;boldsymbol{&#92;phi}} }}&#92;right&#92;rangle &#92;&#92; &amp;=-&#92;left&#92;langle{{ e^{I&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;theta} }}&#92;right&#92;rangle &#92;&#92; &amp;=- &#92;cos&#92;theta.&#92;end{aligned} ' class='latex' /></p>
<p>Summarizing once again, but this time in terms of <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Br%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{r}}' title='&#92;hat{&#92;mathbf{r}}' class='latex' />, <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;theta}}' title='&#92;hat{&#92;boldsymbol{&#92;theta}}' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;phi}}' title='&#92;hat{&#92;boldsymbol{&#92;phi}}' class='latex' /> we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Chat%7B%5Cmathbf%7Br%7D%7D+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+d%5Cphi+%2B+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+d%5Ctheta+%5C%5C+d%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ccos%5Ctheta+d%5Cphi+-+%5Chat%7B%5Cmathbf%7Br%7D%7D+d%5Ctheta+%5C%5C+d%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%26%3D+-%28%5Chat%7B%5Cmathbf%7Br%7D%7D+%5Csin%5Ctheta+%2B+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%5Ccos%5Ctheta%29+d%5Cphi%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.80%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= -(&#92;hat{&#92;mathbf{r}} &#92;sin&#92;theta + &#92;hat{&#92;boldsymbol{&#92;theta}} &#92;cos&#92;theta) d&#92;phi&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.80)' title='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;theta}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= -(&#92;hat{&#92;mathbf{r}} &#92;sin&#92;theta + &#92;hat{&#92;boldsymbol{&#92;theta}} &#92;cos&#92;theta) d&#92;phi&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.80)' class='latex' /></p>
<p>Now we are set to take differentials.  With</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%3D+r+%5Chat%7B%5Cmathbf%7Br%7D%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.83%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} = r &#92;hat{&#92;mathbf{r}},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.83)' title='&#92;begin{aligned}&#92;mathbf{x} = r &#92;hat{&#92;mathbf{r}},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.83)' class='latex' /></p>
<p>we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bx%7D+%3Ddr+%5Chat%7B%5Cmathbf%7Br%7D%7D%2B+r+d%5Chat%7B%5Cmathbf%7Br%7D%7D%3Ddr+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+r+%5Csin%5Ctheta+d%5Cphi+%2B+r+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+d%5Ctheta.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.84%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{x} =dr &#92;hat{&#92;mathbf{r}}+ r d&#92;hat{&#92;mathbf{r}}=dr &#92;hat{&#92;mathbf{r}} + &#92;hat{&#92;boldsymbol{&#92;phi}} r &#92;sin&#92;theta d&#92;phi + r &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.84)' title='&#92;begin{aligned}d&#92;mathbf{x} =dr &#92;hat{&#92;mathbf{r}}+ r d&#92;hat{&#92;mathbf{r}}=dr &#92;hat{&#92;mathbf{r}} + &#92;hat{&#92;boldsymbol{&#92;phi}} r &#92;sin&#92;theta d&#92;phi + r &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.84)' class='latex' /></p>
<p>Squaring this we get the usual spherical polar line scalar line element</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bx%7D%5E2+%3D+dr%5E2+%2B+r%5E2+%5Csin%5E2%5Ctheta+d%5Cphi%5E2+%2B+r%5E2+d%5Ctheta%5E2.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.85%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{x}^2 = dr^2 + r^2 &#92;sin^2&#92;theta d&#92;phi^2 + r^2 d&#92;theta^2.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.85)' title='&#92;begin{aligned}d&#92;mathbf{x}^2 = dr^2 + r^2 &#92;sin^2&#92;theta d&#92;phi^2 + r^2 d&#92;theta^2.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.85)' class='latex' /></p>
<p>With</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bu%7D+%3D+u_r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+u_%5Ctheta+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%2B+u_%5Cphi+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.86%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{u} = u_r &#92;hat{&#92;mathbf{r}} + u_&#92;theta &#92;hat{&#92;boldsymbol{&#92;theta}} + u_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.86)' title='&#92;begin{aligned}&#92;mathbf{u} = u_r &#92;hat{&#92;mathbf{r}} + u_&#92;theta &#92;hat{&#92;boldsymbol{&#92;theta}} + u_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.86)' class='latex' /></p>
<p>our differential is</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bu%7D%26%3Ddu_r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+du_%5Ctheta+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%2B+du_%5Cphi+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D%2B+u_r+d%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+u_%5Ctheta+d%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%2B+u_%5Cphi+d+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5C%5C+%26%3Ddu_r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+du_%5Ctheta+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%2B+du_%5Cphi+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D%2B+u_r+%5Cleft%28%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Csin%5Ctheta+d%5Cphi+%2B+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+d%5Ctheta+%5Cright%29%2B+u_%5Ctheta+%5Cleft%28+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ccos%5Ctheta+d%5Cphi+-+%5Chat%7B%5Cmathbf%7Br%7D%7D+d%5Ctheta+%5Cright%29-+u_%5Cphi+%28%5Chat%7B%5Cmathbf%7Br%7D%7D+%5Csin%5Ctheta+%2B+%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%5Ccos%5Ctheta%29+d%5Cphi%5C%5C+%26%3D%5Chat%7B%5Cmathbf%7Br%7D%7D+%5Cleft%28+du_r+-+u_%5Ctheta+d%5Ctheta+-+u_%5Cphi+%5Csin%5Ctheta+d%5Cphi+%5Cright%29+%5C%5C+%26%2B%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D+%5Cleft%28+du_%5Ctheta+%2B+u_r+d%5Ctheta+-+u_%5Cphi+%5Ccos%5Ctheta+d%5Cphi+%5Cright%29+%5C%5C+%26%2B%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Cleft%28+du_%5Cphi+%2B+u_r+%5Csin%5Ctheta+d%5Cphi+%2B+u_%5Ctheta+%5Ccos%5Ctheta+d%5Cphi+%5Cright%29.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{u}&amp;=du_r &#92;hat{&#92;mathbf{r}} + du_&#92;theta &#92;hat{&#92;boldsymbol{&#92;theta}} + du_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}}+ u_r d&#92;hat{&#92;mathbf{r}} + u_&#92;theta d&#92;hat{&#92;boldsymbol{&#92;theta}} + u_&#92;phi d &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;&#92; &amp;=du_r &#92;hat{&#92;mathbf{r}} + du_&#92;theta &#92;hat{&#92;boldsymbol{&#92;theta}} + du_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}}+ u_r &#92;left(&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta &#92;right)+ u_&#92;theta &#92;left( &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta &#92;right)- u_&#92;phi (&#92;hat{&#92;mathbf{r}} &#92;sin&#92;theta + &#92;hat{&#92;boldsymbol{&#92;theta}} &#92;cos&#92;theta) d&#92;phi&#92;&#92; &amp;=&#92;hat{&#92;mathbf{r}} &#92;left( du_r - u_&#92;theta d&#92;theta - u_&#92;phi &#92;sin&#92;theta d&#92;phi &#92;right) &#92;&#92; &amp;+&#92;hat{&#92;boldsymbol{&#92;theta}} &#92;left( du_&#92;theta + u_r d&#92;theta - u_&#92;phi &#92;cos&#92;theta d&#92;phi &#92;right) &#92;&#92; &amp;+&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;left( du_&#92;phi + u_r &#92;sin&#92;theta d&#92;phi + u_&#92;theta &#92;cos&#92;theta d&#92;phi &#92;right).&#92;end{aligned} ' title='&#92;begin{aligned}d&#92;mathbf{u}&amp;=du_r &#92;hat{&#92;mathbf{r}} + du_&#92;theta &#92;hat{&#92;boldsymbol{&#92;theta}} + du_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}}+ u_r d&#92;hat{&#92;mathbf{r}} + u_&#92;theta d&#92;hat{&#92;boldsymbol{&#92;theta}} + u_&#92;phi d &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;&#92; &amp;=du_r &#92;hat{&#92;mathbf{r}} + du_&#92;theta &#92;hat{&#92;boldsymbol{&#92;theta}} + du_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}}+ u_r &#92;left(&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;sin&#92;theta d&#92;phi + &#92;hat{&#92;boldsymbol{&#92;theta}} d&#92;theta &#92;right)+ u_&#92;theta &#92;left( &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cos&#92;theta d&#92;phi - &#92;hat{&#92;mathbf{r}} d&#92;theta &#92;right)- u_&#92;phi (&#92;hat{&#92;mathbf{r}} &#92;sin&#92;theta + &#92;hat{&#92;boldsymbol{&#92;theta}} &#92;cos&#92;theta) d&#92;phi&#92;&#92; &amp;=&#92;hat{&#92;mathbf{r}} &#92;left( du_r - u_&#92;theta d&#92;theta - u_&#92;phi &#92;sin&#92;theta d&#92;phi &#92;right) &#92;&#92; &amp;+&#92;hat{&#92;boldsymbol{&#92;theta}} &#92;left( du_&#92;theta + u_r d&#92;theta - u_&#92;phi &#92;cos&#92;theta d&#92;phi &#92;right) &#92;&#92; &amp;+&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;left( du_&#92;phi + u_r &#92;sin&#92;theta d&#92;phi + u_&#92;theta &#92;cos&#92;theta d&#92;phi &#92;right).&#92;end{aligned} ' class='latex' /></p>
<p>We can add <img src='http://s0.wp.com/latex.php?latex=d%5Cmathbf%7Bx%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='d&#92;mathbf{x}' title='d&#92;mathbf{x}' class='latex' /> to this and take differences</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2%26%3D%5Cleft%28+du_r+-+u_%5Ctheta+d%5Ctheta+-+u_%5Cphi+%5Csin%5Ctheta+d%5Cphi+%2B+dr+%5Cright%29%5E2+%5C%5C+%26%2B%5Cleft%28+du_%5Ctheta+%2B+u_r+d%5Ctheta+-+u_%5Cphi+%5Ccos%5Ctheta+d%5Cphi+%2B+r+d%5Ctheta+%5Cright%29%5E2+%5C%5C+%26%2B%5Cleft%28+du_%5Cphi+%2B+u_r+%5Csin%5Ctheta+d%5Cphi+%2B+u_%5Ctheta+%5Ccos%5Ctheta+d%5Cphi+%2B+r+%5Csin%5Ctheta+d%5Cphi+%5Cright%29%5E2%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.87%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2&amp;=&#92;left( du_r - u_&#92;theta d&#92;theta - u_&#92;phi &#92;sin&#92;theta d&#92;phi + dr &#92;right)^2 &#92;&#92; &amp;+&#92;left( du_&#92;theta + u_r d&#92;theta - u_&#92;phi &#92;cos&#92;theta d&#92;phi + r d&#92;theta &#92;right)^2 &#92;&#92; &amp;+&#92;left( du_&#92;phi + u_r &#92;sin&#92;theta d&#92;phi + u_&#92;theta &#92;cos&#92;theta d&#92;phi + r &#92;sin&#92;theta d&#92;phi &#92;right)^2&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.87)' title='&#92;begin{aligned}&#92;begin{aligned}(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2&amp;=&#92;left( du_r - u_&#92;theta d&#92;theta - u_&#92;phi &#92;sin&#92;theta d&#92;phi + dr &#92;right)^2 &#92;&#92; &amp;+&#92;left( du_&#92;theta + u_r d&#92;theta - u_&#92;phi &#92;cos&#92;theta d&#92;phi + r d&#92;theta &#92;right)^2 &#92;&#92; &amp;+&#92;left( du_&#92;phi + u_r &#92;sin&#92;theta d&#92;phi + u_&#92;theta &#92;cos&#92;theta d&#92;phi + r &#92;sin&#92;theta d&#92;phi &#92;right)^2&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.87)' class='latex' /></p>
<p>For each <img src='http://s0.wp.com/latex.php?latex=m+%3D+r%2C%5Ctheta%2C%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='m = r,&#92;theta,&#92;phi' title='m = r,&#92;theta,&#92;phi' class='latex' /> we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Ddu_m%3D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+dr+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Ctheta%7D%7D+d%5Ctheta+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+d%5Cphi%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.88%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}du_m=&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} dr +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;theta}} d&#92;theta +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} d&#92;phi,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.88)' title='&#92;begin{aligned}du_m=&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} dr +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;theta}} d&#92;theta +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} d&#92;phi,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.88)' class='latex' /></p>
<p>and plugging through that calculation is really all it takes to derive the textbook result.  To do this to first order in <img src='http://s0.wp.com/latex.php?latex=u_m&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='u_m' title='u_m' class='latex' />, we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cfrac%7B1%7D%7B%7B2%7D%7D+%5Cleft%28%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2%5Cright%29%26%3Ddu_r+dr-+u_%5Ctheta+d%5Ctheta+dr-+u_%5Cphi+%5Csin%5Ctheta+d%5Cphi+dr++%5C%5C+%26%2B+du_%5Ctheta+r+d%5Ctheta%2B+u_r+r+d%5Ctheta%5E2-+u_%5Cphi+r+%5Ccos%5Ctheta+d%5Cphi+d%5Ctheta+%5C%5C+%26%2B+r+%5Csin%5Ctheta+du_%5Cphi+d%5Cphi%2B+r+%5Csin%5E2%5Ctheta+u_r+d%5Cphi%5E2%2B+r+%5Csin%5Ctheta+%5Ccos%5Ctheta+u_%5Ctheta+d%5Cphi%5E2+%5C%5C+%26%3D%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D+dr+%2B+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Ctheta%7D%7D+d%5Ctheta+%2B+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+d%5Cphi+%5Cright%29dr-+u_%5Ctheta+d%5Ctheta+dr-+u_%5Cphi+%5Csin%5Ctheta+d%5Cphi+dr++%5C%5C+%26%2B%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_%5Ctheta%7D%7D%7B%5Cpartial+%7Br%7D%7D+dr+%2B+%5Cfrac%7B%5Cpartial+%7Bu_%5Ctheta%7D%7D%7B%5Cpartial+%7B%5Ctheta%7D%7D+d%5Ctheta+%2B+%5Cfrac%7B%5Cpartial+%7Bu_%5Ctheta%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+d%5Cphi+%5Cright%29+r+d%5Ctheta%2B+u_r+r+d%5Ctheta%5E2-+u_%5Cphi+r+%5Ccos%5Ctheta+d%5Cphi+d%5Ctheta+%5C%5C+%26%2B%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D+dr+%2B+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Ctheta%7D%7D+d%5Ctheta+%2B+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+d%5Cphi+%5Cright%29r+%5Csin%5Ctheta+d%5Cphi%2B+r+%5Csin%5E2%5Ctheta+u_r+d%5Cphi%5E2%2B+r+%5Csin%5Ctheta+%5Ccos%5Ctheta+u_%5Ctheta+d%5Cphi%5E2%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;frac{1}{{2}} &#92;left((d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2&#92;right)&amp;=du_r dr- u_&#92;theta d&#92;theta dr- u_&#92;phi &#92;sin&#92;theta d&#92;phi dr  &#92;&#92; &amp;+ du_&#92;theta r d&#92;theta+ u_r r d&#92;theta^2- u_&#92;phi r &#92;cos&#92;theta d&#92;phi d&#92;theta &#92;&#92; &amp;+ r &#92;sin&#92;theta du_&#92;phi d&#92;phi+ r &#92;sin^2&#92;theta u_r d&#92;phi^2+ r &#92;sin&#92;theta &#92;cos&#92;theta u_&#92;theta d&#92;phi^2 &#92;&#92; &amp;=&#92;left( &#92;frac{&#92;partial {u_r}}{&#92;partial {r}} dr + &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;theta}} d&#92;theta + &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} d&#92;phi &#92;right)dr- u_&#92;theta d&#92;theta dr- u_&#92;phi &#92;sin&#92;theta d&#92;phi dr  &#92;&#92; &amp;+&#92;left( &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {r}} dr + &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;theta}} d&#92;theta + &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;phi}} d&#92;phi &#92;right) r d&#92;theta+ u_r r d&#92;theta^2- u_&#92;phi r &#92;cos&#92;theta d&#92;phi d&#92;theta &#92;&#92; &amp;+&#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} dr + &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;theta}} d&#92;theta + &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} d&#92;phi &#92;right)r &#92;sin&#92;theta d&#92;phi+ r &#92;sin^2&#92;theta u_r d&#92;phi^2+ r &#92;sin&#92;theta &#92;cos&#92;theta u_&#92;theta d&#92;phi^2&#92;end{aligned} ' title='&#92;begin{aligned}&#92;frac{1}{{2}} &#92;left((d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2&#92;right)&amp;=du_r dr- u_&#92;theta d&#92;theta dr- u_&#92;phi &#92;sin&#92;theta d&#92;phi dr  &#92;&#92; &amp;+ du_&#92;theta r d&#92;theta+ u_r r d&#92;theta^2- u_&#92;phi r &#92;cos&#92;theta d&#92;phi d&#92;theta &#92;&#92; &amp;+ r &#92;sin&#92;theta du_&#92;phi d&#92;phi+ r &#92;sin^2&#92;theta u_r d&#92;phi^2+ r &#92;sin&#92;theta &#92;cos&#92;theta u_&#92;theta d&#92;phi^2 &#92;&#92; &amp;=&#92;left( &#92;frac{&#92;partial {u_r}}{&#92;partial {r}} dr + &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;theta}} d&#92;theta + &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} d&#92;phi &#92;right)dr- u_&#92;theta d&#92;theta dr- u_&#92;phi &#92;sin&#92;theta d&#92;phi dr  &#92;&#92; &amp;+&#92;left( &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {r}} dr + &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;theta}} d&#92;theta + &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;phi}} d&#92;phi &#92;right) r d&#92;theta+ u_r r d&#92;theta^2- u_&#92;phi r &#92;cos&#92;theta d&#92;phi d&#92;theta &#92;&#92; &amp;+&#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} dr + &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;theta}} d&#92;theta + &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} d&#92;phi &#92;right)r &#92;sin&#92;theta d&#92;phi+ r &#92;sin^2&#92;theta u_r d&#92;phi^2+ r &#92;sin&#92;theta &#92;cos&#92;theta u_&#92;theta d&#92;phi^2&#92;end{aligned} ' class='latex' /></p>
<p>Collecting terms we have the result of the text in the braces</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%5Cleft%28%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2%5Cright%29%26%3D2+dr%5E2+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D%5Cright%29+%5C%5C+%26%2B2+r%5E2+d%5Ctheta%5E2+%5Cleft%28%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_%5Ctheta%7D%7D%7B%5Cpartial+%7B%5Ctheta%7D%7D+%2B+u_r+%5Cfrac%7B1%7D%7B%7Br%7D%7D%5Cright%29+%5C%5C+%26%2B2+r%5E2+%5Csin%5E2%5Ctheta+d%5Cphi%5E2+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B1%7D%7B%7Br+%5Csin%5Ctheta%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_r+%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Ccot%5Ctheta+u_%5Ctheta%5Cright%29+%5C%5C+%26%2B2+dr+r+d%5Ctheta+%5Cleft%28%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Ctheta%7D%7D+-+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_%5Ctheta+%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Ctheta%7D%7D%7B%5Cpartial+%7Br%7D%7D%5Cright%29+%5C%5C+%26%2B2+r%5E2+%5Csin%5Ctheta+d%5Ctheta+d%5Cphi+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bu_%5Ctheta%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B1%7D%7B%7Br+%5Csin%5Ctheta%7D%7D+-+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_%5Cphi+%5Ccot%5Ctheta+%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Ctheta%7D%7D%5Cright%29+%5C%5C+%26%2B2+r+%5Csin%5Ctheta+d%5Cphi+dr+%5Cleft%28%5Cfrac%7B1%7D%7B%7Br+%5Csin%5Ctheta%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+-+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_%5Cphi+%2B+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D%5Cright%29%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.89%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}&#92;left((d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2&#92;right)&amp;=2 dr^2 &#92;left(&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}&#92;right) &#92;&#92; &amp;+2 r^2 d&#92;theta^2 &#92;left(&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;theta}} + u_r &#92;frac{1}{{r}}&#92;right) &#92;&#92; &amp;+2 r^2 &#92;sin^2&#92;theta d&#92;phi^2 &#92;left(&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} &#92;frac{1}{{r &#92;sin&#92;theta}} + &#92;frac{1}{{r}} u_r + &#92;frac{1}{{r}} &#92;cot&#92;theta u_&#92;theta&#92;right) &#92;&#92; &amp;+2 dr r d&#92;theta &#92;left(&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;theta}} - &#92;frac{1}{{r}} u_&#92;theta +&#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {r}}&#92;right) &#92;&#92; &amp;+2 r^2 &#92;sin&#92;theta d&#92;theta d&#92;phi &#92;left(&#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;phi}} &#92;frac{1}{{r &#92;sin&#92;theta}} - &#92;frac{1}{{r}} u_&#92;phi &#92;cot&#92;theta +&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;theta}}&#92;right) &#92;&#92; &amp;+2 r &#92;sin&#92;theta d&#92;phi dr &#92;left(&#92;frac{1}{{r &#92;sin&#92;theta}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} - &#92;frac{1}{{r}} u_&#92;phi + &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}&#92;right)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.89)' title='&#92;begin{aligned}&#92;begin{aligned}&#92;left((d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2&#92;right)&amp;=2 dr^2 &#92;left(&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}&#92;right) &#92;&#92; &amp;+2 r^2 d&#92;theta^2 &#92;left(&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;theta}} + u_r &#92;frac{1}{{r}}&#92;right) &#92;&#92; &amp;+2 r^2 &#92;sin^2&#92;theta d&#92;phi^2 &#92;left(&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} &#92;frac{1}{{r &#92;sin&#92;theta}} + &#92;frac{1}{{r}} u_r + &#92;frac{1}{{r}} &#92;cot&#92;theta u_&#92;theta&#92;right) &#92;&#92; &amp;+2 dr r d&#92;theta &#92;left(&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;theta}} - &#92;frac{1}{{r}} u_&#92;theta +&#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {r}}&#92;right) &#92;&#92; &amp;+2 r^2 &#92;sin&#92;theta d&#92;theta d&#92;phi &#92;left(&#92;frac{&#92;partial {u_&#92;theta}}{&#92;partial {&#92;phi}} &#92;frac{1}{{r &#92;sin&#92;theta}} - &#92;frac{1}{{r}} u_&#92;phi &#92;cot&#92;theta +&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;theta}}&#92;right) &#92;&#92; &amp;+2 r &#92;sin&#92;theta d&#92;phi dr &#92;left(&#92;frac{1}{{r &#92;sin&#92;theta}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} - &#92;frac{1}{{r}} u_&#92;phi + &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}&#92;right)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.89)' class='latex' /></p>
<p>It should be possible to do the calculation to second order too, but to include all the quadratic terms in <img src='http://s0.wp.com/latex.php?latex=u_m&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='u_m' title='u_m' class='latex' /> is again really messy.  <a href="https://github.com/peeterjoot/physicsplay/blob/master/notes/phy454/strainTensorSpherical.cdf">Trying that with mathematica gives the same results</a> as above using the strictly coordinate algebra approach.</p>
<h1>References</h1>
<p>[1] L.D. Landau, EM Lifshitz, JB Sykes, WH Reid, and E.H. Dill. Theory of elasticity: Vol. 7 of course of theoretical physics. 1960.</p>
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		<title>PHY454H1S Continuum Mechanics.  Lecture 4: Strain tensor components.  Taught by Prof. K. Das.</title>
		<link>http://peeterjoot.wordpress.com/2012/01/21/phy454h1s-continuum-mechanics-lecture-4-strain-tensor-components-taught-by-prof-k-das/</link>
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		<pubDate>Sat, 21 Jan 2012 06:07:48 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[biaxial stress]]></category>
		<category><![CDATA[Cauchy tetrahedron]]></category>
		<category><![CDATA[PHY454H1S]]></category>
		<category><![CDATA[stress tensor]]></category>
		<category><![CDATA[traction vector]]></category>
		<category><![CDATA[uniaxial stress]]></category>

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		<description><![CDATA[[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)] Disclaimer. Peeter&#8217;s lecture notes from class. May not be entirely coherent. Stress tensor. Reading: Portions of this lecture cover section 2 from the [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2449&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p><a href="http://sites.google.com/site/peeterjoot2/math2012/continuumL4.pdf">[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)]</a></p>
<h1>Disclaimer.</h1>
<p>Peeter&#8217;s lecture notes from class.  May not be entirely coherent.</p>
<h1>Stress tensor.</h1>
<p>Reading: Portions of this lecture cover section 2 from the text [1].</p>
<p>For the stress tensor</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bij%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.1%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ij},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.1)' title='&#92;begin{aligned}&#92;sigma_{ij},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.1)' class='latex' /></p>
<p>a second rank tensor, the first index <img src='http://s0.wp.com/latex.php?latex=i&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='i' title='i' class='latex' /> defines the direction of the force, and the second index <img src='http://s0.wp.com/latex.php?latex=j&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='j' title='j' class='latex' /> defines the surface.</p>
<p>Observe that the dimensions of <img src='http://s0.wp.com/latex.php?latex=%5Csigma_%7Bij%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;sigma_{ij}' title='&#92;sigma_{ij}' class='latex' /> is force per unit area, just like pressure.  We will in fact show that this tensor is akin to the pressure, and the diagonalized components of this tensor represent the pressure.</p>
<p>We&#8217;ve illustrated the stress tensor in a couple of 2D examples.  The first we call uniaxial stress, having just the <img src='http://s0.wp.com/latex.php?latex=1%2C1&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='1,1' title='1,1' class='latex' /> element of the matrix as illustrated in figure (\ref{fig:continuumL4:continuumL4fig1})</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL4fig1}<br />
   \caption{Uniaxial stress}<br />
\end{figure}</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma+%3D+%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+0+%5C%5C+0+%26+0%5Cend%7Bbmatrix%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.2%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma = &#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; 0&#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.2)' title='&#92;begin{aligned}&#92;sigma = &#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; 0&#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.2)' class='latex' /></p>
<p>A biaxial stress is illustrated in figure (\ref{fig:continuumL4:continuumL4fig2})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL4fig2}<br />
   \caption{Biaxial stress.}<br />
\end{figure}</p>
<p>where for <img src='http://s0.wp.com/latex.php?latex=%5Csigma_%7B11%7D+%5Cne+%5Csigma_%7B22%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;sigma_{11} &#92;ne &#92;sigma_{22}' title='&#92;sigma_{11} &#92;ne &#92;sigma_{22}' class='latex' /> our tensor takes the form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma+%3D+%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+0+%5C%5C+0+%26+%5Csigma_%7B22%7D%5Cend%7Bbmatrix%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.3%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma = &#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; &#92;sigma_{22}&#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.3)' title='&#92;begin{aligned}&#92;sigma = &#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; &#92;sigma_{22}&#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.3)' class='latex' /></p>
<p>In the general case we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma+%3D+%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+%5Csigma_%7B12%7D+%5C%5C+%5Csigma_%7B21%7D+%26+%5Csigma_%7B22%7D%5Cend%7Bbmatrix%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.4%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma = &#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22}&#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.4)' title='&#92;begin{aligned}&#92;sigma = &#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22}&#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.4)' class='latex' /></p>
<p>We can attempt to illustrate this, but it becomes much harder to visualize as shown in figure (\ref{fig:continuumL4:continuumL4fig3})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL4fig3}<br />
   \caption{General strain}<br />
\end{figure}</p>
<p>In equilibrium we must have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7B12%7D+%3D+%5Csigma_%7B21%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.5%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{12} = &#92;sigma_{21}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.5)' title='&#92;begin{aligned}&#92;sigma_{12} = &#92;sigma_{21}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.5)' class='latex' /></p>
<p>We can use similar arguments to show that the stress tensor is symmetric.</p>
<p>In 3D we have three components of the stress tensor acting on each surface, as illustrated in figure (\ref{fig:continuumL4:continuumL4fig5})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL4fig5}<br />
   \caption{Strain components on a 3D volume.}<br />
\end{figure}</p>
<p>We have three unique surface orientations and three components of the force for each of these, resulting in nine components, but these are not all independent.  For an object in equilibrium we must have <img src='http://s0.wp.com/latex.php?latex=%5Csigma_%7Bij%7D+%3D+%5Csigma_%7Bji%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;sigma_{ij} = &#92;sigma_{ji}' title='&#92;sigma_{ij} = &#92;sigma_{ji}' class='latex' /> (FIXME: justify?).  Explicitly, that is</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7B12%7D+%26%3D+%5Csigma_%7B21%7D+%5C%5C+%5Csigma_%7B23%7D+%26%3D+%5Csigma_%7B32%7D+%5C%5C+%5Csigma_%7B31%7D+%26%3D+%5Csigma_%7B13%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.6%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{12} &amp;= &#92;sigma_{21} &#92;&#92; &#92;sigma_{23} &amp;= &#92;sigma_{32} &#92;&#92; &#92;sigma_{31} &amp;= &#92;sigma_{13}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.6)' title='&#92;begin{aligned}&#92;sigma_{12} &amp;= &#92;sigma_{21} &#92;&#92; &#92;sigma_{23} &amp;= &#92;sigma_{32} &#92;&#92; &#92;sigma_{31} &amp;= &#92;sigma_{13}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.6)' class='latex' /></p>
<h2>Diagonalization</h2>
<p>We&#8217;ll look at the two dimensional case in some detail, as in figure (\ref{fig:continuumL4:continuumL4fig6})</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL4fig6}<br />
   \caption{Area element under strain with and without rotation.}<br />
\end{figure}</p>
<p>Under this coordinate transformation, a rotation, the diagonal stress tensor is taken to a non-diagonal form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+0+%5C%5C+0+%26+%5Csigma_%7B22%7D+%5Cend%7Bbmatrix%7D%5Cleftrightarrow%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D%27+%26+%5Csigma_%7B12%7D%27+%5C%5C+%5Csigma_%7B21%7D%27+%26+%5Csigma_%7B22%7D%27+%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.9%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; &#92;sigma_{22} &#92;end{bmatrix}&#92;leftrightarrow&#92;begin{bmatrix}&#92;sigma_{11}&#039; &amp; &#92;sigma_{12}&#039; &#92;&#92; &#92;sigma_{21}&#039; &amp; &#92;sigma_{22}&#039; &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.9)' title='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; &#92;sigma_{22} &#92;end{bmatrix}&#92;leftrightarrow&#92;begin{bmatrix}&#92;sigma_{11}&#039; &amp; &#92;sigma_{12}&#039; &#92;&#92; &#92;sigma_{21}&#039; &amp; &#92;sigma_{22}&#039; &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.9)' class='latex' /></p>
<h2>How do the stress tensor and the force relate</h2>
<p>We form a Cauchy tetrahedron as in figure (\ref{fig:continuumL4:continuumL4fig7})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL4fig7}<br />
   \caption{Cauchy tetrahedron}<br />
\end{figure}</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bf%7D+%3D+%5Cfrac%7B%5Ctext%7Bexternal+force%7D%7D%7B%5Ctext%7Bunit+area%7D%7D+%3D+f_j+%5Cmathbf%7Be%7D_j%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.10%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{f} = &#92;frac{&#92;text{external force}}{&#92;text{unit area}} = f_j &#92;mathbf{e}_j&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.10)' title='&#92;begin{aligned}&#92;mathbf{f} = &#92;frac{&#92;text{external force}}{&#92;text{unit area}} = f_j &#92;mathbf{e}_j&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.10)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Ctext%7Binternal+stress%7D+%3D+%5Ctext%7Bexternal+force%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.11%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;text{internal stress} = &#92;text{external force}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.11)' title='&#92;begin{aligned}&#92;text{internal stress} = &#92;text{external force}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.11)' class='latex' /></p>
<p>We write <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Bn%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{n}}' title='&#92;hat{&#92;mathbf{n}}' class='latex' /> in terms of the direction cosines</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Bn%7D%7D+%3D+n_1+%5Cmathbf%7Be%7D_1+%2B+n_2+%5Cmathbf%7Be%7D_2+%2B+n_3+%5Cmathbf%7Be%7D_3+%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.12%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{n}} = n_1 &#92;mathbf{e}_1 + n_2 &#92;mathbf{e}_2 + n_3 &#92;mathbf{e}_3 &#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.12)' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{n}} = n_1 &#92;mathbf{e}_1 + n_2 &#92;mathbf{e}_2 + n_3 &#92;mathbf{e}_3 &#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.12)' class='latex' /></p>
<p>Here </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dn_1+%26%3D+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Ccdot+%5Cmathbf%7Be%7D_1+%5C%5C+n_2+%26%3D+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Ccdot+%5Cmathbf%7Be%7D_2+%5C%5C+n_3+%26%3D+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Ccdot+%5Cmathbf%7Be%7D_3%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.13%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}n_1 &amp;= &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_1 &#92;&#92; n_2 &amp;= &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_2 &#92;&#92; n_3 &amp;= &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_3,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.13)' title='&#92;begin{aligned}n_1 &amp;= &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_1 &#92;&#92; n_2 &amp;= &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_2 &#92;&#92; n_3 &amp;= &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_3,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.13)' class='latex' /></p>
<p>or </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dn_j+%3D+%5Chat%7B%5Cmathbf%7Bn%7D%7D+%5Ccdot+%5Cmathbf%7Be%7D_j+%3D+%5Ccos%5Cphi_j%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.16%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}n_j = &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_j = &#92;cos&#92;phi_j&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.16)' title='&#92;begin{aligned}n_j = &#92;hat{&#92;mathbf{n}} &#92;cdot &#92;mathbf{e}_j = &#92;cos&#92;phi_j&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.16)' class='latex' /></p>
<p>Force balance on <img src='http://s0.wp.com/latex.php?latex=x_1&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='x_1' title='x_1' class='latex' /> direction, matching total external force in this direction to the total internal force (<img src='http://s0.wp.com/latex.php?latex=%5Csigma_%7Bij%7D%27s&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;sigma_{ij}&#039;s' title='&#92;sigma_{ij}&#039;s' class='latex' />) as follows</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7Df_1+%5Ctimes+%5Ctext%7Barea+ABC%7D+%26%3D+%5Csigma_%7B11%7D+%5Ctimes+%5Ctext%7Barea+BOC%7D+%5C%5C+%26%2B%5Csigma_%7B12%7D+%5Ctimes+%5Ctext%7Barea+AOC%7D+%5C%5C+%26%2B%5Csigma_%7B13%7D+%5Ctimes+%5Ctext%7Barea+AOB%7D%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.17%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}f_1 &#92;times &#92;text{area ABC} &amp;= &#92;sigma_{11} &#92;times &#92;text{area BOC} &#92;&#92; &amp;+&#92;sigma_{12} &#92;times &#92;text{area AOC} &#92;&#92; &amp;+&#92;sigma_{13} &#92;times &#92;text{area AOB}&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.17)' title='&#92;begin{aligned}&#92;begin{aligned}f_1 &#92;times &#92;text{area ABC} &amp;= &#92;sigma_{11} &#92;times &#92;text{area BOC} &#92;&#92; &amp;+&#92;sigma_{12} &#92;times &#92;text{area AOC} &#92;&#92; &amp;+&#92;sigma_{13} &#92;times &#92;text{area AOB}&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.17)' class='latex' /></p>
<p>Similarily</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7Df_2+%5Ctimes+%5Ctext%7Barea+ABC%7D+%26%3D+%5Csigma_%7B21%7D+%5Ctimes+%5Ctext%7Barea+BOC%7D+%5C%5C+%26%2B%5Csigma_%7B22%7D+%5Ctimes+%5Ctext%7Barea+AOC%7D+%5C%5C+%26%2B%5Csigma_%7B23%7D+%5Ctimes+%5Ctext%7Barea+AOB%7D%2C%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.18%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}f_2 &#92;times &#92;text{area ABC} &amp;= &#92;sigma_{21} &#92;times &#92;text{area BOC} &#92;&#92; &amp;+&#92;sigma_{22} &#92;times &#92;text{area AOC} &#92;&#92; &amp;+&#92;sigma_{23} &#92;times &#92;text{area AOB},&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.18)' title='&#92;begin{aligned}&#92;begin{aligned}f_2 &#92;times &#92;text{area ABC} &amp;= &#92;sigma_{21} &#92;times &#92;text{area BOC} &#92;&#92; &amp;+&#92;sigma_{22} &#92;times &#92;text{area AOC} &#92;&#92; &amp;+&#92;sigma_{23} &#92;times &#92;text{area AOB},&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.18)' class='latex' /></p>
<p>and</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7Df_3+%5Ctimes+%5Ctext%7Barea+ABC%7D+%26%3D+%5Csigma_%7B31%7D+%5Ctimes+%5Ctext%7Barea+BOC%7D+%5C%5C+%26%2B%5Csigma_%7B32%7D+%5Ctimes+%5Ctext%7Barea+AOC%7D+%5C%5C+%26%2B%5Csigma_%7B33%7D+%5Ctimes+%5Ctext%7Barea+AOB%7D%2C%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.19%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}f_3 &#92;times &#92;text{area ABC} &amp;= &#92;sigma_{31} &#92;times &#92;text{area BOC} &#92;&#92; &amp;+&#92;sigma_{32} &#92;times &#92;text{area AOC} &#92;&#92; &amp;+&#92;sigma_{33} &#92;times &#92;text{area AOB},&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.19)' title='&#92;begin{aligned}&#92;begin{aligned}f_3 &#92;times &#92;text{area ABC} &amp;= &#92;sigma_{31} &#92;times &#92;text{area BOC} &#92;&#92; &amp;+&#92;sigma_{32} &#92;times &#92;text{area AOC} &#92;&#92; &amp;+&#92;sigma_{33} &#92;times &#92;text{area AOB},&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.19)' class='latex' /></p>
<p>We can therefore write these force components like</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Df_1+%3D+%5Csigma_%7B11%7D+%5Cfrac%7BBOC%7D%7BABC%7D+%2B+%5Csigma_%7B12%7D+%5Cfrac%7BAOC%7D%7BABC%7D+%2B+%5Csigma_%7B13%7D+%5Cfrac%7BAOB%7D%7BABC%7D+%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.20%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}f_1 = &#92;sigma_{11} &#92;frac{BOC}{ABC} + &#92;sigma_{12} &#92;frac{AOC}{ABC} + &#92;sigma_{13} &#92;frac{AOB}{ABC} &#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.20)' title='&#92;begin{aligned}f_1 = &#92;sigma_{11} &#92;frac{BOC}{ABC} + &#92;sigma_{12} &#92;frac{AOC}{ABC} + &#92;sigma_{13} &#92;frac{AOB}{ABC} &#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.20)' class='latex' /></p>
<p>but these ratios are really just the projections of the areas as illustrated in figure (\ref{fig:continuumL4:continuumL4fig8})</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL4fig8}<br />
   \caption{Area projection.}<br />
\end{figure}</p>
<p>where an arbitrary surface with area <img src='http://s0.wp.com/latex.php?latex=%5CDelta+S&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;Delta S' title='&#92;Delta S' class='latex' /> can be decomposed into projections</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5CDelta+S+%5Ccos%5Cphi_j%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.21%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;Delta S &#92;cos&#92;phi_j,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.21)' title='&#92;begin{aligned}&#92;Delta S &#92;cos&#92;phi_j,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.21)' class='latex' /></p>
<p>utilizing the direction cosines.  We can therefore write</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Df_1+%26%3D+%5Csigma_%7B11%7D+n_1+%2B+%5Csigma_%7B12%7D+n_2+%2B+%5Csigma_%7B13%7D+n_3+%5C%5C+f_2+%26%3D+%5Csigma_%7B21%7D+n_1+%2B+%5Csigma_%7B22%7D+n_2+%2B+%5Csigma_%7B23%7D+n_3+%5C%5C+f_3+%26%3D+%5Csigma_%7B31%7D+n_1+%2B+%5Csigma_%7B32%7D+n_2+%2B+%5Csigma_%7B33%7D+n_3%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.22%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}f_1 &amp;= &#92;sigma_{11} n_1 + &#92;sigma_{12} n_2 + &#92;sigma_{13} n_3 &#92;&#92; f_2 &amp;= &#92;sigma_{21} n_1 + &#92;sigma_{22} n_2 + &#92;sigma_{23} n_3 &#92;&#92; f_3 &amp;= &#92;sigma_{31} n_1 + &#92;sigma_{32} n_2 + &#92;sigma_{33} n_3,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.22)' title='&#92;begin{aligned}f_1 &amp;= &#92;sigma_{11} n_1 + &#92;sigma_{12} n_2 + &#92;sigma_{13} n_3 &#92;&#92; f_2 &amp;= &#92;sigma_{21} n_1 + &#92;sigma_{22} n_2 + &#92;sigma_{23} n_3 &#92;&#92; f_3 &amp;= &#92;sigma_{31} n_1 + &#92;sigma_{32} n_2 + &#92;sigma_{33} n_3,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.22)' class='latex' /></p>
<p>or in matrix notation</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7Df_1++%5C%5C+f_2++%5C%5C+f_3+%5Cend%7Bbmatrix%7D%3D%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+%5Csigma_%7B12%7D+%26+%5Csigma_%7B13%7D+%5C%5C+%5Csigma_%7B21%7D+%26+%5Csigma_%7B22%7D+%26+%5Csigma_%7B23%7D+%5C%5C+%5Csigma_%7B31%7D+%26+%5Csigma_%7B32%7D+%26+%5Csigma_%7B33%7D+%5Cend%7Bbmatrix%7D%5Cbegin%7Bbmatrix%7Dn_1+%5C%5C+n_2+%5C%5C+n_3+%5C%5C+%5Cend%7Bbmatrix%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.25%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}f_1  &#92;&#92; f_2  &#92;&#92; f_3 &#92;end{bmatrix}=&#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &amp; &#92;sigma_{13} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22} &amp; &#92;sigma_{23} &#92;&#92; &#92;sigma_{31} &amp; &#92;sigma_{32} &amp; &#92;sigma_{33} &#92;end{bmatrix}&#92;begin{bmatrix}n_1 &#92;&#92; n_2 &#92;&#92; n_3 &#92;&#92; &#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.25)' title='&#92;begin{aligned}&#92;begin{bmatrix}f_1  &#92;&#92; f_2  &#92;&#92; f_3 &#92;end{bmatrix}=&#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &amp; &#92;sigma_{13} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22} &amp; &#92;sigma_{23} &#92;&#92; &#92;sigma_{31} &amp; &#92;sigma_{32} &amp; &#92;sigma_{33} &#92;end{bmatrix}&#92;begin{bmatrix}n_1 &#92;&#92; n_2 &#92;&#92; n_3 &#92;&#92; &#92;end{bmatrix}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.25)' class='latex' /></p>
<p>This is just </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cboxed%7Bf_i+%3D+%5Csigma_%7Bij%7D+n_j.%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.26%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;boxed{f_i = &#92;sigma_{ij} n_j.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.26)' title='&#92;begin{aligned}&#92;boxed{f_i = &#92;sigma_{ij} n_j.}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.26)' class='latex' /></p>
<p>This force with components <img src='http://s0.wp.com/latex.php?latex=f_i&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='f_i' title='f_i' class='latex' /> is also called the traction vector</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DT_i+%3D+%5Csigma_%7Bij%7D+n_j.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.27%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}T_i = &#92;sigma_{ij} n_j.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.27)' title='&#92;begin{aligned}T_i = &#92;sigma_{ij} n_j.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.27)' class='latex' /></p>
<h1>References</h1>
<p>[1] L.D. Landau, EM Lifshitz, JB Sykes, WH Reid, and E.H. Dill. Theory of elasticity: Vol. 7 of course of theoretical physics. <em>Physics Today</em>, 13:44, 1960.</p>
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		<title>PHY454H1S Continuum Mechanics.  Lecture 2.  Introduction and strain tensor.  Taught by Prof. K. Das.</title>
		<link>http://peeterjoot.wordpress.com/2012/01/21/phy454h1s-continuum-mechanics-lecture-2-introduction-and-strain-tensor-taught-by-prof-k-das/</link>
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		<pubDate>Sat, 21 Jan 2012 05:26:38 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[continuum mechanics]]></category>
		<category><![CDATA[cylindrical coordinates]]></category>
		<category><![CDATA[differential]]></category>
		<category><![CDATA[Mathematica]]></category>
		<category><![CDATA[PHY454H1S]]></category>
		<category><![CDATA[strain tensor]]></category>
		<category><![CDATA[stress]]></category>
		<category><![CDATA[volume elements]]></category>

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		<description><![CDATA[[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)] Disclaimer. Peeter&#8217;s lecture notes from class. May not be entirely coherent. Introduction. Mechanics could be defined as the study of effects of forces [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2444&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p><a href="http://sites.google.com/site/peeterjoot2/math2012/continuumL2.pdf">[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)]</a></p>
<h1>Disclaimer.</h1>
<p>Peeter&#8217;s lecture notes from class.  May not be entirely coherent.</p>
<h1>Introduction.</h1>
<p>Mechanics could be defined as the study of effects of forces and displacements on a physical body</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL2fig1}<br />
   \caption{Physical body.}<br />
\end{figure}</p>
<p>In continuum mechanics we have a physical body and we are interested in the internal motions in the object.  </p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL2fig2}<br />
   \caption{Control volume elements.}<br />
\end{figure}</p>
<p>For the first time considering mechanics we have to introduce the concepts of fields to make progress tackling these problems.</p>
<p>We will have use of the following types of fields</p>
<p>\begin{itemize}<br />
\item Scalar fields.  <img src='http://s0.wp.com/latex.php?latex=3%5E0&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^0' title='3^0' class='latex' /> components.  Examples: density, Temperature, &#8230;<br />
\item Vector fields.  <img src='http://s0.wp.com/latex.php?latex=3%5E1&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^1' title='3^1' class='latex' /> components.  Examples: Force, velocity.<br />
\item Tensor fields.  <img src='http://s0.wp.com/latex.php?latex=3%5E2&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3^2' title='3^2' class='latex' /> components.  Examples: stress, strain.<br />
\end{itemize}</p>
<p>We have to consider objects (a control volume) that is small enough that we can consider that we have a point in space limit for the quantities of density and velocity.  At the same time we cannot take this limiting process to the extreme, since if we use a control volume that is sufficiently small, quantum and inter-atomic effects would have to be considered.</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL2fig3}<br />
   \caption{Mass and volume ratios at different scales.}<br />
\end{figure}</p>
<h2>Stress and Strain definitions.</h2>
<p>\begin{definition}<br />
\emph{(Stress)}</p>
<p>Measure of the Internal force on the surfaces.<br />
\end{definition}</p>
<p>\begin{definition}<br />
\emph{(Strain)}</p>
<p>Measure of the deformation of the body.<br />
\end{definition}</p>
<h1>Strain Tensor.</h1>
<p>This follows [1] section 1 very closely.</p>
<p>Utilizing summation convention consider a set of small internal displacements <img src='http://s0.wp.com/latex.php?latex=u_1%2C+u_2%2C+u_3&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='u_1, u_2, u_3' title='u_1, u_2, u_3' class='latex' /> to the <img src='http://s0.wp.com/latex.php?latex=x%2C+y%2C+z&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='x, y, z' title='x, y, z' class='latex' /> coordinates so that the transformation <img src='http://s0.wp.com/latex.php?latex=x_i+%5Crightarrow+x_i%27&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='x_i &#92;rightarrow x_i&#039;' title='x_i &#92;rightarrow x_i&#039;' class='latex' /> is related by</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL2fig4}<br />
   \caption{Differential change to the object.}<br />
\end{figure}</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Du_i+%26%3D+x_i%27+-+x_i+%5C%5C+x_i%27+%26%3D+g%28x_i%29+%5C%5C+u_i+%26%3D+f%28x_i%29%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.1%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}u_i &amp;= x_i&#039; - x_i &#92;&#92; x_i&#039; &amp;= g(x_i) &#92;&#92; u_i &amp;= f(x_i)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.1)' title='&#92;begin{aligned}u_i &amp;= x_i&#039; - x_i &#92;&#92; x_i&#039; &amp;= g(x_i) &#92;&#92; u_i &amp;= f(x_i)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.1)' class='latex' /></p>
<p>(ie: <img src='http://s0.wp.com/latex.php?latex=x_i%27&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='x_i&#039;' title='x_i&#039;' class='latex' /> is a function of all the initial coordinates, as are the displacements <img src='http://s0.wp.com/latex.php?latex=u_i&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='u_i' title='u_i' class='latex' />).</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Ddx_i%27+%3D+dx_i+%2B+du_i%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.4%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dx_i&#039; = dx_i + du_i&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.4)' title='&#92;begin{aligned}dx_i&#039; = dx_i + du_i&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.4)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Ddl+%26%3D+%5Csqrt%7Bdx_k+dx_k%7D+%5C%5C+dl%27+%26%3D+%5Csqrt%7Bd%7Bx%27%7D_k+d%7Bx%27%7D_k%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.5%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dl &amp;= &#92;sqrt{dx_k dx_k} &#92;&#92; dl&#039; &amp;= &#92;sqrt{d{x&#039;}_k d{x&#039;}_k}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.5)' title='&#92;begin{aligned}dl &amp;= &#92;sqrt{dx_k dx_k} &#92;&#92; dl&#039; &amp;= &#92;sqrt{d{x&#039;}_k d{x&#039;}_k}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.5)' class='latex' /></p>
<p>or</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bdl%27%7D%5E2+%3D+%28dx_k+%2B+du_k%29%28dx_k+%2B+du_k%29%3D+dl%5E2+%2B+2+dx_k+du_k+%2B+du_k+du_k%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.7%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{dl&#039;}^2 = (dx_k + du_k)(dx_k + du_k)= dl^2 + 2 dx_k du_k + du_k du_k&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.7)' title='&#92;begin{aligned}{dl&#039;}^2 = (dx_k + du_k)(dx_k + du_k)= dl^2 + 2 dx_k du_k + du_k du_k&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.7)' class='latex' /></p>
<p>with </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Ddu_i+%3D+%5Cfrac%7B%5Cpartial+%7Bu_i%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+dx_k%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.8%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}du_i = &#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} dx_k&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.8)' title='&#92;begin{aligned}du_i = &#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} dx_k&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.8)' class='latex' /></p>
<p>we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Ddu_i%5E2+%3D+%5Cfrac%7B%5Cpartial+%7Bu_i%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+dx_k%5Cfrac%7B%5Cpartial+%7Bu_i%7D%7D%7B%5Cpartial+%7Bx_l%7D%7D+dx_l%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.9%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}du_i^2 = &#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} dx_k&#92;frac{&#92;partial {u_i}}{&#92;partial {x_l}} dx_l&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.9)' title='&#92;begin{aligned}du_i^2 = &#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} dx_k&#92;frac{&#92;partial {u_i}}{&#92;partial {x_l}} dx_l&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.9)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bdl%27%7D%5E2+%26%3D+dl%5E2+%2B+2+%5Cfrac%7B%5Cpartial+%7Bu_i%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+dx_k+dx_i+%2B+%5Cfrac%7B%5Cpartial+%7Bu_l%7D%7D%7B%5Cpartial+%7Bx_i%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_l%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+dx_i+dx_k+%5C%5C+%26%3D+dl%5E2+%2B+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bu_i%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_k%7D%7D%7B%5Cpartial+%7Bx_i%7D%7D+%5Cright%29dx_k+dx_i+%2B+%5Cfrac%7B%5Cpartial+%7Bu_l%7D%7D%7B%5Cpartial+%7Bx_i%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_l%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+dx_i+dx_k+%5C%5C+%26%3Ddl%5E2+%2B+2+e_%7Bik%7D+dx_i+dx_k%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{dl&#039;}^2 &amp;= dl^2 + 2 &#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} dx_k dx_i + &#92;frac{&#92;partial {u_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {u_l}}{&#92;partial {x_k}} dx_i dx_k &#92;&#92; &amp;= dl^2 + &#92;left(&#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} +&#92;frac{&#92;partial {u_k}}{&#92;partial {x_i}} &#92;right)dx_k dx_i + &#92;frac{&#92;partial {u_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {u_l}}{&#92;partial {x_k}} dx_i dx_k &#92;&#92; &amp;=dl^2 + 2 e_{ik} dx_i dx_k&#92;end{aligned} ' title='&#92;begin{aligned}{dl&#039;}^2 &amp;= dl^2 + 2 &#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} dx_k dx_i + &#92;frac{&#92;partial {u_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {u_l}}{&#92;partial {x_k}} dx_i dx_k &#92;&#92; &amp;= dl^2 + &#92;left(&#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} +&#92;frac{&#92;partial {u_k}}{&#92;partial {x_i}} &#92;right)dx_k dx_i + &#92;frac{&#92;partial {u_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {u_l}}{&#92;partial {x_k}} dx_i dx_k &#92;&#92; &amp;=dl^2 + 2 e_{ik} dx_i dx_k&#92;end{aligned} ' class='latex' /></p>
<p>We write</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bdl%27%7D%5E2+-+dl%5E2+%3D+2+e_%7Bik%7D+dx_i+dx_k%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.10%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{dl&#039;}^2 - dl^2 = 2 e_{ik} dx_i dx_k&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.10)' title='&#92;begin{aligned}{dl&#039;}^2 - dl^2 = 2 e_{ik} dx_i dx_k&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.10)' class='latex' /></p>
<p>where we define the \emph{strain tensor} as</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7De_%7Bik%7D+%3D+%5Cfrac%7B1%7D%7B%7B2%7D%7D+%5Cleft%28%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bu_i%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_k%7D%7D%7B%5Cpartial+%7Bx_i%7D%7D+%5Cright%29%2B+%5Cfrac%7B%5Cpartial+%7Bu_l%7D%7D%7B%5Cpartial+%7Bx_i%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_l%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+%5Cright%29%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.11%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}e_{ik} = &#92;frac{1}{{2}} &#92;left(&#92;left(&#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} +&#92;frac{&#92;partial {u_k}}{&#92;partial {x_i}} &#92;right)+ &#92;frac{&#92;partial {u_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {u_l}}{&#92;partial {x_k}} &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.11)' title='&#92;begin{aligned}e_{ik} = &#92;frac{1}{{2}} &#92;left(&#92;left(&#92;frac{&#92;partial {u_i}}{&#92;partial {x_k}} +&#92;frac{&#92;partial {u_k}}{&#92;partial {x_i}} &#92;right)+ &#92;frac{&#92;partial {u_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {u_l}}{&#92;partial {x_k}} &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.11)' class='latex' /></p>
<p>Here <img src='http://s0.wp.com/latex.php?latex=e_%7Bik%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='e_{ik}' title='e_{ik}' class='latex' /> is a <img src='http://s0.wp.com/latex.php?latex=3+%5Ctimes+3&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='3 &#92;times 3' title='3 &#92;times 3' class='latex' /> matrix in Cartesian coordinates</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7De_%7B11%7D+%26+e_%7B12%7D+%26+e_%7B13%7D+%5C%5C+e_%7B21%7D+%26+e_%7B22%7D+%26+e_%7B23%7D+%5C%5C+e_%7B31%7D+%26+e_%7B32%7D+%26+e_%7B33%7D+%5C%5C+%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.12%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}e_{11} &amp; e_{12} &amp; e_{13} &#92;&#92; e_{21} &amp; e_{22} &amp; e_{23} &#92;&#92; e_{31} &amp; e_{32} &amp; e_{33} &#92;&#92; &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.12)' title='&#92;begin{aligned}&#92;begin{bmatrix}e_{11} &amp; e_{12} &amp; e_{13} &#92;&#92; e_{21} &amp; e_{22} &amp; e_{23} &#92;&#92; e_{31} &amp; e_{32} &amp; e_{33} &#92;&#92; &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.12)' class='latex' /></p>
<p>We see from 3.11 that <img src='http://s0.wp.com/latex.php?latex=e_%7Bik%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='e_{ik}' title='e_{ik}' class='latex' /> is symmetric, so we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7De_%7B21%7D+%26%3D+e_%7B12%7D+%5C%5C+e_%7B31%7D+%26%3D+e_%7B13%7D+%5C%5C+e_%7B32%7D+%26%3D+e_%7B23%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.13%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}e_{21} &amp;= e_{12} &#92;&#92; e_{31} &amp;= e_{13} &#92;&#92; e_{32} &amp;= e_{23}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.13)' title='&#92;begin{aligned}e_{21} &amp;= e_{12} &#92;&#92; e_{31} &amp;= e_{13} &#92;&#92; e_{32} &amp;= e_{23}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.13)' class='latex' /></p>
<p>Because any real symmetric matrix can be diagonalized we can write in some coordinate system</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbar%7Be%7D_%7Bik%7D+%3D+%5Cbegin%7Bbmatrix%7D%5Cbar%7Be%7D_%7B11%7D+%26+0+%26+0+%5C%5C+0+%26+%5Cbar%7Be%7D_%7B22%7D+%26+0+%5C%5C+0+%26+0+%26+%5Cbar%7Be%7D_%7B33%7D+%5C%5C+%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.16%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;bar{e}_{ik} = &#92;begin{bmatrix}&#92;bar{e}_{11} &amp; 0 &amp; 0 &#92;&#92; 0 &amp; &#92;bar{e}_{22} &amp; 0 &#92;&#92; 0 &amp; 0 &amp; &#92;bar{e}_{33} &#92;&#92; &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.16)' title='&#92;begin{aligned}&#92;bar{e}_{ik} = &#92;begin{bmatrix}&#92;bar{e}_{11} &amp; 0 &amp; 0 &#92;&#92; 0 &amp; &#92;bar{e}_{22} &amp; 0 &#92;&#92; 0 &amp; 0 &amp; &#92;bar{e}_{33} &#92;&#92; &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.16)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bdx_1%27%7D%5E2+%26%3D+%281+%2B+2+%5Cbar%7Be%7D_%7B11%7D%29+dx_1%5E2+%5C%5C+%7Bdx_2%27%7D%5E2+%26%3D+%281+%2B+2+%5Cbar%7Be%7D_%7B22%7D%29+dx_2%5E2+%5C%5C+%7Bdx_3%27%7D%5E2+%26%3D+%281+%2B+2+%5Cbar%7Be%7D_%7B33%7D%29+dx_3%5E2%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.17%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{dx_1&#039;}^2 &amp;= (1 + 2 &#92;bar{e}_{11}) dx_1^2 &#92;&#92; {dx_2&#039;}^2 &amp;= (1 + 2 &#92;bar{e}_{22}) dx_2^2 &#92;&#92; {dx_3&#039;}^2 &amp;= (1 + 2 &#92;bar{e}_{33}) dx_3^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.17)' title='&#92;begin{aligned}{dx_1&#039;}^2 &amp;= (1 + 2 &#92;bar{e}_{11}) dx_1^2 &#92;&#92; {dx_2&#039;}^2 &amp;= (1 + 2 &#92;bar{e}_{22}) dx_2^2 &#92;&#92; {dx_3&#039;}^2 &amp;= (1 + 2 &#92;bar{e}_{33}) dx_3^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.17)' class='latex' /></p>
<p>If our changes are small enough we can also write approximately, taking the first order term in the square root evaluation</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Ddx_1%27+%26%5Capprox+%281+%2B+%5Cbar%7Be%7D_%7B11%7D%29+dx_1+%5C%5C+dx_2%27+%26%5Capprox+%281+%2B+%5Cbar%7Be%7D_%7B22%7D%29+dx_2+%5C%5C+dx_3%27+%26%5Capprox+%281+%2B+%5Cbar%7Be%7D_%7B33%7D%29+dx_3%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.20%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dx_1&#039; &amp;&#92;approx (1 + &#92;bar{e}_{11}) dx_1 &#92;&#92; dx_2&#039; &amp;&#92;approx (1 + &#92;bar{e}_{22}) dx_2 &#92;&#92; dx_3&#039; &amp;&#92;approx (1 + &#92;bar{e}_{33}) dx_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.20)' title='&#92;begin{aligned}dx_1&#039; &amp;&#92;approx (1 + &#92;bar{e}_{11}) dx_1 &#92;&#92; dx_2&#039; &amp;&#92;approx (1 + &#92;bar{e}_{22}) dx_2 &#92;&#92; dx_3&#039; &amp;&#92;approx (1 + &#92;bar{e}_{33}) dx_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.20)' class='latex' /></p>
<p>We are also free to define a volume element</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DdV%27+%3D+dx_1%27dx_2%27dx_3%27%5Capprox%281+%2B+e_%7B11%7D%29%281+%2B+e_%7B22%7D%29%281+%2B+e_%7B33%7D%29dx_1+dx_2+dx_3%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.23%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dV&#039; = dx_1&#039;dx_2&#039;dx_3&#039;&#92;approx(1 + e_{11})(1 + e_{22})(1 + e_{33})dx_1 dx_2 dx_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.23)' title='&#92;begin{aligned}dV&#039; = dx_1&#039;dx_2&#039;dx_3&#039;&#92;approx(1 + e_{11})(1 + e_{22})(1 + e_{33})dx_1 dx_2 dx_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.23)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DdV%27+%3D+%281+%2B+e_%7B11%7D+%2Be_%7B22%7D+%2Be_%7B33%7D+%29+dV%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.24%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dV&#039; = (1 + e_{11} +e_{22} +e_{33} ) dV&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.24)' title='&#92;begin{aligned}dV&#039; = (1 + e_{11} +e_{22} +e_{33} ) dV&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.24)' class='latex' /></p>
<p>So the change of volume is given by the trace</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DdV%27+%3D+%28+1+%2B+e_%7Bii%7D+%29%5E2+dV%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.25%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dV&#039; = ( 1 + e_{ii} )^2 dV&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.25)' title='&#92;begin{aligned}dV&#039; = ( 1 + e_{ii} )^2 dV&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.25)' class='latex' /></p>
<h2>Strain Tensor in cylindrical coordinates.</h2>
<p>At the end of the section in the text, the formulas for the spherical and cylindrical versions (to first order) of the strain tensor is given without derivation.  Let&#8217;s do that derivation for the cylindrical case, which is simpler.  It appears that use of explicit vector notation is helpful here, so we write</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%26%3D+r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+z+%5Chat%7B%5Cmathbf%7Bz%7D%7D+%5C%5C+%5Cmathbf%7Bu%7D+%26+u_r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+u_%5Cphi+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%2B+u_z+%5Chat%7B%5Cmathbf%7Bz%7D%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.26%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} &amp;= r &#92;hat{&#92;mathbf{r}} + z &#92;hat{&#92;mathbf{z}} &#92;&#92; &#92;mathbf{u} &amp; u_r &#92;hat{&#92;mathbf{r}} + u_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}} + u_z &#92;hat{&#92;mathbf{z}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.26)' title='&#92;begin{aligned}&#92;mathbf{x} &amp;= r &#92;hat{&#92;mathbf{r}} + z &#92;hat{&#92;mathbf{z}} &#92;&#92; &#92;mathbf{u} &amp; u_r &#92;hat{&#92;mathbf{r}} + u_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}} + u_z &#92;hat{&#92;mathbf{z}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.26)' class='latex' /></p>
<p>where</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Chat%7B%5Cmathbf%7Br%7D%7D+%26%3D+%5Cmathbf%7Be%7D_1+e%5E%7Bi%5Cphi%7D+%5C%5C+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%26%3D+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+%5C%5C+i+%26%3D+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_2%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.28%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;mathbf{e}_2 e^{i&#92;phi} &#92;&#92; i &amp;= &#92;mathbf{e}_1 &#92;mathbf{e}_2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.28)' title='&#92;begin{aligned}&#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_1 e^{i&#92;phi} &#92;&#92; &#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;mathbf{e}_2 e^{i&#92;phi} &#92;&#92; i &amp;= &#92;mathbf{e}_1 &#92;mathbf{e}_2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.28)' class='latex' /></p>
<p>Since <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cmathbf%7Br%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;mathbf{r}}' title='&#92;hat{&#92;mathbf{r}}' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;hat{&#92;boldsymbol{&#92;phi}}' title='&#92;hat{&#92;boldsymbol{&#92;phi}}' class='latex' /> are functions of position, we will need their differentials</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Chat%7B%5Cmathbf%7Br%7D%7D+%26%3D+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+d%5Cphi+%3D+%5Cmathbf%7Be%7D_2+e%5E%7Bi+%5Cphi%7D+d%5Cphi+%5C%5C+d%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%26%3D+%5Cmathbf%7Be%7D_2+%5Cmathbf%7Be%7D_1+%5Cmathbf%7Be%7D_2+e%5E%7Bi%5Cphi%7D+d%5Cphi+%3D+-%5Cmathbf%7Be%7D_2+e%5E%7Bi+%5Cphi%7D+d%5Cphi%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.31%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_1 &#92;mathbf{e}_1 &#92;mathbf{e}_2 e^{i&#92;phi} d&#92;phi = &#92;mathbf{e}_2 e^{i &#92;phi} d&#92;phi &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;mathbf{e}_2 &#92;mathbf{e}_1 &#92;mathbf{e}_2 e^{i&#92;phi} d&#92;phi = -&#92;mathbf{e}_2 e^{i &#92;phi} d&#92;phi,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.31)' title='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;mathbf{e}_1 &#92;mathbf{e}_1 &#92;mathbf{e}_2 e^{i&#92;phi} d&#92;phi = &#92;mathbf{e}_2 e^{i &#92;phi} d&#92;phi &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= &#92;mathbf{e}_2 &#92;mathbf{e}_1 &#92;mathbf{e}_2 e^{i&#92;phi} d&#92;phi = -&#92;mathbf{e}_2 e^{i &#92;phi} d&#92;phi,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.31)' class='latex' /></p>
<p>but these are just scaled basis vectors</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Chat%7B%5Cmathbf%7Br%7D%7D+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+d%5Cphi+%5C%5C+d%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%26%3D+-%5Chat%7B%5Cmathbf%7Br%7D%7D+d%5Cphi.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.33%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} d&#92;phi &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= -&#92;hat{&#92;mathbf{r}} d&#92;phi.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.33)' title='&#92;begin{aligned}d&#92;hat{&#92;mathbf{r}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} d&#92;phi &#92;&#92; d&#92;hat{&#92;boldsymbol{&#92;phi}} &amp;= -&#92;hat{&#92;mathbf{r}} d&#92;phi.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.33)' class='latex' /></p>
<p>So for our <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Bx%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{x}' title='&#92;mathbf{x}' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Bu%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{u}' title='&#92;mathbf{u}' class='latex' /> differentials we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bx%7D+%26%3D+dr+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+r+d%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+dz+%5Chat%7B%5Cmathbf%7Bz%7D%7D+%5C%5C+%26%3D+dr+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+r+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+d%5Cphi+%2B+dz+%5Chat%7B%5Cmathbf%7Bz%7D%7D%2C%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{x} &amp;= dr &#92;hat{&#92;mathbf{r}} + r d&#92;hat{&#92;mathbf{r}} + dz &#92;hat{&#92;mathbf{z}} &#92;&#92; &amp;= dr &#92;hat{&#92;mathbf{r}} + r &#92;hat{&#92;boldsymbol{&#92;phi}} d&#92;phi + dz &#92;hat{&#92;mathbf{z}},&#92;end{aligned} ' title='&#92;begin{aligned}d&#92;mathbf{x} &amp;= dr &#92;hat{&#92;mathbf{r}} + r d&#92;hat{&#92;mathbf{r}} + dz &#92;hat{&#92;mathbf{z}} &#92;&#92; &amp;= dr &#92;hat{&#92;mathbf{r}} + r &#92;hat{&#92;boldsymbol{&#92;phi}} d&#92;phi + dz &#92;hat{&#92;mathbf{z}},&#92;end{aligned} ' class='latex' /></p>
<p>and</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bu%7D+%26%3D+du_r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+du_%5Cphi+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%2B+du_z+%5Chat%7B%5Cmathbf%7Bz%7D%7D+%2B+u_r+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+d%5Cphi+-+u_%5Cphi+%5Chat%7B%5Cmathbf%7Br%7D%7D+d%5Cphi+%5C%5C+%26%3D+%5Chat%7B%5Cmathbf%7Br%7D%7D%28+du_r+-+u_%5Cphi+d%5Cphi+%29%2B+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%28+du_%5Cphi+%2B+u_r+d%5Cphi+%29%2B+%5Chat%7B%5Cmathbf%7Bz%7D%7D+%28+du_z+%29.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{u} &amp;= du_r &#92;hat{&#92;mathbf{r}} + du_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}} + du_z &#92;hat{&#92;mathbf{z}} + u_r &#92;hat{&#92;boldsymbol{&#92;phi}} d&#92;phi - u_&#92;phi &#92;hat{&#92;mathbf{r}} d&#92;phi &#92;&#92; &amp;= &#92;hat{&#92;mathbf{r}}( du_r - u_&#92;phi d&#92;phi )+ &#92;hat{&#92;boldsymbol{&#92;phi}} ( du_&#92;phi + u_r d&#92;phi )+ &#92;hat{&#92;mathbf{z}} ( du_z ).&#92;end{aligned} ' title='&#92;begin{aligned}d&#92;mathbf{u} &amp;= du_r &#92;hat{&#92;mathbf{r}} + du_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}} + du_z &#92;hat{&#92;mathbf{z}} + u_r &#92;hat{&#92;boldsymbol{&#92;phi}} d&#92;phi - u_&#92;phi &#92;hat{&#92;mathbf{r}} d&#92;phi &#92;&#92; &amp;= &#92;hat{&#92;mathbf{r}}( du_r - u_&#92;phi d&#92;phi )+ &#92;hat{&#92;boldsymbol{&#92;phi}} ( du_&#92;phi + u_r d&#92;phi )+ &#92;hat{&#92;mathbf{z}} ( du_z ).&#92;end{aligned} ' class='latex' /></p>
<p>Putting these together we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bl%7D%27+%26%3D+d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D+%5C%5C+%26%3D+%5Chat%7B%5Cmathbf%7Br%7D%7D%28+du_r+-+u_%5Cphi+d%5Cphi+%2B+dr+%29%2B+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%28+du_%5Cphi+%2B+u_r+d%5Cphi+%2B+r+d%5Cphi+%29%2B+%5Chat%7B%5Cmathbf%7Bz%7D%7D+%28+du_z+%2B+dz+%29.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{l}&#039; &amp;= d&#92;mathbf{u} + d&#92;mathbf{x} &#92;&#92; &amp;= &#92;hat{&#92;mathbf{r}}( du_r - u_&#92;phi d&#92;phi + dr )+ &#92;hat{&#92;boldsymbol{&#92;phi}} ( du_&#92;phi + u_r d&#92;phi + r d&#92;phi )+ &#92;hat{&#92;mathbf{z}} ( du_z + dz ).&#92;end{aligned} ' title='&#92;begin{aligned}d&#92;mathbf{l}&#039; &amp;= d&#92;mathbf{u} + d&#92;mathbf{x} &#92;&#92; &amp;= &#92;hat{&#92;mathbf{r}}( du_r - u_&#92;phi d&#92;phi + dr )+ &#92;hat{&#92;boldsymbol{&#92;phi}} ( du_&#92;phi + u_r d&#92;phi + r d&#92;phi )+ &#92;hat{&#92;mathbf{z}} ( du_z + dz ).&#92;end{aligned} ' class='latex' /></p>
<p>For the squared magnitude&#8217;s difference from <img src='http://s0.wp.com/latex.php?latex=d%5Cmathbf%7Bx%7D%5E2&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='d&#92;mathbf{x}^2' title='d&#92;mathbf{x}^2' class='latex' /> we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%28d%5Cmathbf%7Bl%7D%27%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2%26%3D+%28+du_r+-+u_%5Cphi+d%5Cphi+%2B+dr+%29%5E2%2B+%28+du_%5Cphi+%2B+u_r+d%5Cphi+%2B+r+d%5Cphi+%29%5E2%2B+%28+du_z+%2B+dz+%29%5E2-dr%5E2+-+r%5E2+d%5Cphi%5E2+-+dz%5E2+%5C%5C+%26%3D%28+du_r+-+u_%5Cphi+d%5Cphi+%29%5E2+%2B+2+dr+%28+du_r+-+u_%5Cphi+d%5Cphi+%29%2B+%28+du_%5Cphi+%2B+u_r+d%5Cphi+%29%5E2%2B+2+r+d%5Cphi+%28+du_%5Cphi+%2B+u_r+d%5Cphi+%29%2B+du_z%5E2+%2B+2+du_z+dz+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2&amp;= ( du_r - u_&#92;phi d&#92;phi + dr )^2+ ( du_&#92;phi + u_r d&#92;phi + r d&#92;phi )^2+ ( du_z + dz )^2-dr^2 - r^2 d&#92;phi^2 - dz^2 &#92;&#92; &amp;=( du_r - u_&#92;phi d&#92;phi )^2 + 2 dr ( du_r - u_&#92;phi d&#92;phi )+ ( du_&#92;phi + u_r d&#92;phi )^2+ 2 r d&#92;phi ( du_&#92;phi + u_r d&#92;phi )+ du_z^2 + 2 du_z dz &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2&amp;= ( du_r - u_&#92;phi d&#92;phi + dr )^2+ ( du_&#92;phi + u_r d&#92;phi + r d&#92;phi )^2+ ( du_z + dz )^2-dr^2 - r^2 d&#92;phi^2 - dz^2 &#92;&#92; &amp;=( du_r - u_&#92;phi d&#92;phi )^2 + 2 dr ( du_r - u_&#92;phi d&#92;phi )+ ( du_&#92;phi + u_r d&#92;phi )^2+ 2 r d&#92;phi ( du_&#92;phi + u_r d&#92;phi )+ du_z^2 + 2 du_z dz &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>Expanding this out, but dropping all the terms that are quadratic in the components of <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7Bu%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{u}' title='&#92;mathbf{u}' class='latex' /> or its differentials, we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%28d%5Cmathbf%7Bl%7D%27%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2%26%5Capprox++2+dr+%28+du_r+-+u_%5Cphi+d%5Cphi+%29%2B+2+r+d%5Cphi+%28+du_%5Cphi+%2B+u_r+d%5Cphi+%29%2B+2+du_z+dz+%5C%5C+%26%3D++2+dr+du_r+-+2+dr+u_%5Cphi+d%5Cphi+%2B+2+r+d%5Cphi+du_%5Cphi+%2B+2+r+d%5Cphi+u_r+d%5Cphi+%2B+2+du_z+dz+%5C%5C+%26%3D++2+dr+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D+dr%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+d%5Cphi%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Bz%7D%7D+dz%5Cright%29+%5C%5C+%26-+2+dr+d%5Cphi+u_%5Cphi++%5C%5C+%26%2B+2+r+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D+dr%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+d%5Cphi%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Bz%7D%7D+dz%5Cright%29+%5C%5C+%26%2B+2+r+d%5Cphi+d%5Cphi+u_r+%5C%5C+%26%2B+2+dz+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Br%7D%7D+dr%2B%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+d%5Cphi%2B%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Bz%7D%7D+dz%5Cright%29+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2&amp;&#92;approx  2 dr ( du_r - u_&#92;phi d&#92;phi )+ 2 r d&#92;phi ( du_&#92;phi + u_r d&#92;phi )+ 2 du_z dz &#92;&#92; &amp;=  2 dr du_r - 2 dr u_&#92;phi d&#92;phi + 2 r d&#92;phi du_&#92;phi + 2 r d&#92;phi u_r d&#92;phi + 2 du_z dz &#92;&#92; &amp;=  2 dr &#92;left( &#92;frac{&#92;partial {u_r}}{&#92;partial {r}} dr+&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} d&#92;phi+&#92;frac{&#92;partial {u_r}}{&#92;partial {z}} dz&#92;right) &#92;&#92; &amp;- 2 dr d&#92;phi u_&#92;phi  &#92;&#92; &amp;+ 2 r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} dr+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} d&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}} dz&#92;right) &#92;&#92; &amp;+ 2 r d&#92;phi d&#92;phi u_r &#92;&#92; &amp;+ 2 dz &#92;left( &#92;frac{&#92;partial {u_z}}{&#92;partial {r}} dr+&#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} d&#92;phi+&#92;frac{&#92;partial {u_z}}{&#92;partial {z}} dz&#92;right) &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2&amp;&#92;approx  2 dr ( du_r - u_&#92;phi d&#92;phi )+ 2 r d&#92;phi ( du_&#92;phi + u_r d&#92;phi )+ 2 du_z dz &#92;&#92; &amp;=  2 dr du_r - 2 dr u_&#92;phi d&#92;phi + 2 r d&#92;phi du_&#92;phi + 2 r d&#92;phi u_r d&#92;phi + 2 du_z dz &#92;&#92; &amp;=  2 dr &#92;left( &#92;frac{&#92;partial {u_r}}{&#92;partial {r}} dr+&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} d&#92;phi+&#92;frac{&#92;partial {u_r}}{&#92;partial {z}} dz&#92;right) &#92;&#92; &amp;- 2 dr d&#92;phi u_&#92;phi  &#92;&#92; &amp;+ 2 r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} dr+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} d&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}} dz&#92;right) &#92;&#92; &amp;+ 2 r d&#92;phi d&#92;phi u_r &#92;&#92; &amp;+ 2 dz &#92;left( &#92;frac{&#92;partial {u_z}}{&#92;partial {r}} dr+&#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} d&#92;phi+&#92;frac{&#92;partial {u_z}}{&#92;partial {z}} dz&#92;right) &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>Grouping all terms, with all the second order terms neglected, we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%28d%5Cmathbf%7Bl%7D%27%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2%26%3D2+dr+dr+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B+2+r%5E2+d%5Cphi+d%5Cphi+%5Cleft%28+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_r+%5Cright%29%2B+2+dz+dz+%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Bz%7D%7D++%5C%5C+%26%2B+2+dz+dr+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B+%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cright%29%2B+2+dr+r+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D+-+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_%5Cphi+%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cright%29%2B+2+dz+r+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cright%29.%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.35%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2&amp;=2 dr dr &#92;frac{&#92;partial {u_r}}{&#92;partial {r}} + 2 r^2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}} u_r &#92;right)+ 2 dz dz &#92;frac{&#92;partial {u_z}}{&#92;partial {z}}  &#92;&#92; &amp;+ 2 dz dr &#92;left( &#92;frac{&#92;partial {u_r}}{&#92;partial {z}} + &#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;right)+ 2 dr r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} - &#92;frac{1}{{r}} u_&#92;phi + &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} &#92;right)+ 2 dz r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}} +&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} &#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.35)' title='&#92;begin{aligned}&#92;begin{aligned}(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2&amp;=2 dr dr &#92;frac{&#92;partial {u_r}}{&#92;partial {r}} + 2 r^2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}} u_r &#92;right)+ 2 dz dz &#92;frac{&#92;partial {u_z}}{&#92;partial {z}}  &#92;&#92; &amp;+ 2 dz dr &#92;left( &#92;frac{&#92;partial {u_r}}{&#92;partial {z}} + &#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;right)+ 2 dr r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} - &#92;frac{1}{{r}} u_&#92;phi + &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} &#92;right)+ 2 dz r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}} +&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} &#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.35)' class='latex' /></p>
<p>From this we can read off the result quoted in the text</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+e_%7Brr%7D+%26%3D+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D++%5C%5C+2+e_%7B%5Cphi%5Cphi%7D+%26%3D+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_r++%5C%5C+2+e_%7Bzz%7D+%26%3D+%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Bz%7D%7D++%5C%5C+2+e_%7Bzr%7D+%26%3D+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B+%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5C%5C+2+e_%7Br%5Cphi%7D+%26%3D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D+-+%5Cfrac%7B1%7D%7B%7Br%7D%7D+u_%5Cphi+%2B+%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5C%5C+2+e_%7B%5Cphi+z%7D+%26%3D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.36%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 e_{rr} &amp;= &#92;frac{&#92;partial {u_r}}{&#92;partial {r}}  &#92;&#92; 2 e_{&#92;phi&#92;phi} &amp;= &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}} u_r  &#92;&#92; 2 e_{zz} &amp;= &#92;frac{&#92;partial {u_z}}{&#92;partial {z}}  &#92;&#92; 2 e_{zr} &amp;= &#92;frac{&#92;partial {u_r}}{&#92;partial {z}} + &#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;&#92; 2 e_{r&#92;phi} &amp;= &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} - &#92;frac{1}{{r}} u_&#92;phi + &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} &#92;&#92; 2 e_{&#92;phi z} &amp;= &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}} +&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.36)' title='&#92;begin{aligned}2 e_{rr} &amp;= &#92;frac{&#92;partial {u_r}}{&#92;partial {r}}  &#92;&#92; 2 e_{&#92;phi&#92;phi} &amp;= &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}} u_r  &#92;&#92; 2 e_{zz} &amp;= &#92;frac{&#92;partial {u_z}}{&#92;partial {z}}  &#92;&#92; 2 e_{zr} &amp;= &#92;frac{&#92;partial {u_r}}{&#92;partial {z}} + &#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;&#92; 2 e_{r&#92;phi} &amp;= &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}} - &#92;frac{1}{{r}} u_&#92;phi + &#92;frac{1}{{r}} &#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} &#92;&#92; 2 e_{&#92;phi z} &amp;= &#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}} +&#92;frac{1}{{r}} &#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.36)' class='latex' /></p>
<p>Observe that we have to introduce factors of <img src='http://s0.wp.com/latex.php?latex=r&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='r' title='r' class='latex' /> along with all the <img src='http://s0.wp.com/latex.php?latex=d%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='d&#92;phi' title='d&#92;phi' class='latex' />&#8216;s, when we factored out the tensor components.  That&#8217;s an important looking detail, which isn&#8217;t obvious unless one works through the derivation.</p>
<p>Note that in class we retained the second order terms.  That becomes a messier calculation and <a href="https://github.com/peeterjoot/physicsplay/blob/master/notes/phy454/strainTensorCylindrical.cdf">I&#8217;ve cheated using the symbolic capabilities of mathematica</a> to do it</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%26%28d%5Cmathbf%7Bl%7D%27%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2+%5C%5C+%26%3D+%28dr%29%5E2+%5Cleft%282+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D%5Cright%29%5E2%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+r%7D%5Cright%29%5E2%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+r%7D%5Cright%29%5E2%5Cright%29+%5C%5C+%26%2B%28d%5Cphi+%29%5E2+%5Cleft%282+r+u_r%2Bu_r%5E2%2Bu_%7B%5Cphi+%7D%5E2-2+u_%7B%5Cphi+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D%5Cright%29%5E2%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+%5Cphi+%7D%5Cright%29%5E2%2B2+r+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+%5Cphi+%7D%2B2+u_r+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+%5Cphi+%7D%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+%5Cphi+%7D%5Cright%29%5E2%5Cright%29+%5C%5C+%26%2B%28dz%29%5E2+%5Cleft%28%5Cleft%28%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+z%7D%5Cright%29%5E2%2B2+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+z%7D%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+z%7D%5Cright%29%5E2%2B%5Cleft%28%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+z%7D%5Cright%29%5E2%5Cright%29+%5C%5C+%26%2Bdr+d%5Cphi++%5Cleft%28-2+u_%7B%5Cphi+%7D-2+u_%7B%5Cphi+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D%2B2+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D%2B2+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D%2B2+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+%5Cphi+%7D%2B2+r+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+r%7D%2B2+u_r+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+r%7D%2B2+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+%5Cphi+%7D%5Cright%29+%5C%5C+%26%2Bdz+d%5Cphi++%5Cleft%28-2+u_%7B%5Cphi+%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+z%7D%2B2+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+z%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+%5Cphi+%7D%2B2+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+%5Cphi+%7D%2B2+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+z%7D+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+%5Cphi+%7D%2B2+r+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+z%7D%2B2+u_r+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+z%7D%2B2+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+z%7D+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+%5Cphi+%7D%5Cright%29+%5C%5C+%26%2Bdr+dz+%5Cleft%282+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+z%7D%2B2+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_r%7D%7B%5Cpartial+z%7D%2B2+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+r%7D%2B2+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_z%7D%7B%5Cpartial+z%7D%2B2+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+r%7D+%5Cfrac%7B%5Cpartial+u_%7B%5Cphi+%7D%7D%7B%5Cpartial+z%7D%5Cright%29.%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.42%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}&amp;(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;= (dr)^2 &#92;left(2 &#92;frac{&#92;partial u_r}{&#92;partial r}+&#92;left(&#92;frac{&#92;partial u_r}{&#92;partial r}&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_z}{&#92;partial r}&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r}&#92;right)^2&#92;right) &#92;&#92; &amp;+(d&#92;phi )^2 &#92;left(2 r u_r+u_r^2+u_{&#92;phi }^2-2 u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+&#92;left(&#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }&#92;right)^2+2 r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }+2 u_r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }+&#92;left(&#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }&#92;right)^2&#92;right) &#92;&#92; &amp;+(dz)^2 &#92;left(&#92;left(&#92;frac{&#92;partial u_r}{&#92;partial z}&#92;right)^2+2 &#92;frac{&#92;partial u_z}{&#92;partial z}+&#92;left(&#92;frac{&#92;partial u_z}{&#92;partial z}&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}&#92;right)^2&#92;right) &#92;&#92; &amp;+dr d&#92;phi  &#92;left(-2 u_{&#92;phi }-2 u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial r}+2 &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_r}{&#92;partial r} &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_z}{&#92;partial r} &#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }+2 r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r}+2 u_r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r}+2 &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }&#92;right) &#92;&#92; &amp;+dz d&#92;phi  &#92;left(-2 u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial z}+2 &#92;frac{&#92;partial u_r}{&#92;partial z} &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_z}{&#92;partial z} &#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }+2 r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}+2 u_r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}+2 &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }&#92;right) &#92;&#92; &amp;+dr dz &#92;left(2 &#92;frac{&#92;partial u_r}{&#92;partial z}+2 &#92;frac{&#92;partial u_r}{&#92;partial r} &#92;frac{&#92;partial u_r}{&#92;partial z}+2 &#92;frac{&#92;partial u_z}{&#92;partial r}+2 &#92;frac{&#92;partial u_z}{&#92;partial r} &#92;frac{&#92;partial u_z}{&#92;partial z}+2 &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}&#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.42)' title='&#92;begin{aligned}&#92;begin{aligned}&amp;(d&#92;mathbf{l}&#039;)^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;= (dr)^2 &#92;left(2 &#92;frac{&#92;partial u_r}{&#92;partial r}+&#92;left(&#92;frac{&#92;partial u_r}{&#92;partial r}&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_z}{&#92;partial r}&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r}&#92;right)^2&#92;right) &#92;&#92; &amp;+(d&#92;phi )^2 &#92;left(2 r u_r+u_r^2+u_{&#92;phi }^2-2 u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+&#92;left(&#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }&#92;right)^2+2 r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }+2 u_r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }+&#92;left(&#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }&#92;right)^2&#92;right) &#92;&#92; &amp;+(dz)^2 &#92;left(&#92;left(&#92;frac{&#92;partial u_r}{&#92;partial z}&#92;right)^2+2 &#92;frac{&#92;partial u_z}{&#92;partial z}+&#92;left(&#92;frac{&#92;partial u_z}{&#92;partial z}&#92;right)^2+&#92;left(&#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}&#92;right)^2&#92;right) &#92;&#92; &amp;+dr d&#92;phi  &#92;left(-2 u_{&#92;phi }-2 u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial r}+2 &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_r}{&#92;partial r} &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_z}{&#92;partial r} &#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }+2 r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r}+2 u_r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r}+2 &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }&#92;right) &#92;&#92; &amp;+dz d&#92;phi  &#92;left(-2 u_{&#92;phi } &#92;frac{&#92;partial u_r}{&#92;partial z}+2 &#92;frac{&#92;partial u_r}{&#92;partial z} &#92;frac{&#92;partial u_r}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }+2 &#92;frac{&#92;partial u_z}{&#92;partial z} &#92;frac{&#92;partial u_z}{&#92;partial &#92;phi }+2 r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}+2 u_r &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}+2 &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial &#92;phi }&#92;right) &#92;&#92; &amp;+dr dz &#92;left(2 &#92;frac{&#92;partial u_r}{&#92;partial z}+2 &#92;frac{&#92;partial u_r}{&#92;partial r} &#92;frac{&#92;partial u_r}{&#92;partial z}+2 &#92;frac{&#92;partial u_z}{&#92;partial r}+2 &#92;frac{&#92;partial u_z}{&#92;partial r} &#92;frac{&#92;partial u_z}{&#92;partial z}+2 &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial r} &#92;frac{&#92;partial u_{&#92;phi }}{&#92;partial z}&#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.42)' class='latex' /></p>
<p>As with the first order case, we can read off the tensor coordinates by inspection (once we factor out the various factors of <img src='http://s0.wp.com/latex.php?latex=2&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='2' title='2' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=r&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='r' title='r' class='latex' />).  The next logical step would be to do the spherical tensor calculation.  That would likely be particularily messy if we attempted it in the brute force fashion.  Let&#8217;s step back and look at the general case, before tackling there sphereical polar form explicitly.</p>
<h2>Strain Tensor for general coordinate representation.</h2>
<p>Now let&#8217;s dispense with the assumption that we have an orthonormal frame.  Given an arbitrary, not neccessarily orthonormal, position dependent frame <img src='http://s0.wp.com/latex.php?latex=%5C%7Be_%5Cmu%5C%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;{e_&#92;mu&#92;}' title='&#92;{e_&#92;mu&#92;}' class='latex' />, and its reciprocal frame <img src='http://s0.wp.com/latex.php?latex=%5C%7Be%5E%5Cmu%5C%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;{e^&#92;mu&#92;}' title='&#92;{e^&#92;mu&#92;}' class='latex' />, as defined by</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7De_%5Cmu+%5Ccdot+e%5E%5Cnu+%3D+%7B%5Cdelta_%5Cmu%7D%5E%5Cnu.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.43%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}e_&#92;mu &#92;cdot e^&#92;nu = {&#92;delta_&#92;mu}^&#92;nu.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.43)' title='&#92;begin{aligned}e_&#92;mu &#92;cdot e^&#92;nu = {&#92;delta_&#92;mu}^&#92;nu.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.43)' class='latex' /></p>
<p>Our coordinate representation, with summation and dimensionality implied, is</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%26%3D+x%5E%5Cmu+e_%5Cmu+%3D+x_%5Cnu+e%5E%5Cnu+%5C%5C+%5Cmathbf%7Bu%7D+%26%3D+u%5E%5Cmu+e_%5Cmu+%3D+u_%5Cnu+e%5E%5Cnu.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.44%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} &amp;= x^&#92;mu e_&#92;mu = x_&#92;nu e^&#92;nu &#92;&#92; &#92;mathbf{u} &amp;= u^&#92;mu e_&#92;mu = u_&#92;nu e^&#92;nu.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.44)' title='&#92;begin{aligned}&#92;mathbf{x} &amp;= x^&#92;mu e_&#92;mu = x_&#92;nu e^&#92;nu &#92;&#92; &#92;mathbf{u} &amp;= u^&#92;mu e_&#92;mu = u_&#92;nu e^&#92;nu.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.44)' class='latex' /></p>
<p>Our differentials are</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bx%7D+%26%3D+dx%5E%5Cmu+e_%5Cmu+%2B+x%5E%5Cmu+d+e_%5Cmu+%5C%5C+%26%3D+%5Csum_%5Calpha+d%5Calpha+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+e_%5Cmu%2Bx%5E%5Cmu%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29%2C%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.46%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}d&#92;mathbf{x} &amp;= dx^&#92;mu e_&#92;mu + x^&#92;mu d e_&#92;mu &#92;&#92; &amp;= &#92;sum_&#92;alpha d&#92;alpha &#92;left( &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} e_&#92;mu+x^&#92;mu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right),&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.46)' title='&#92;begin{aligned}&#92;begin{aligned}d&#92;mathbf{x} &amp;= dx^&#92;mu e_&#92;mu + x^&#92;mu d e_&#92;mu &#92;&#92; &amp;= &#92;sum_&#92;alpha d&#92;alpha &#92;left( &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} e_&#92;mu+x^&#92;mu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right),&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.46)' class='latex' /></p>
<p>and</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bu%7D+%26%3D+du%5E%5Cmu+e_%5Cmu+%2B+u%5E%5Cmu+d+e_%5Cmu+%5C%5C+%26%3D+%5Csum_%5Calpha+d%5Calpha+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+e_%5Cmu%2Bu%5E%5Cmu%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29.%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.47%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}d&#92;mathbf{u} &amp;= du^&#92;mu e_&#92;mu + u^&#92;mu d e_&#92;mu &#92;&#92; &amp;= &#92;sum_&#92;alpha d&#92;alpha &#92;left( &#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} e_&#92;mu+u^&#92;mu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.47)' title='&#92;begin{aligned}&#92;begin{aligned}d&#92;mathbf{u} &amp;= du^&#92;mu e_&#92;mu + u^&#92;mu d e_&#92;mu &#92;&#92; &amp;= &#92;sum_&#92;alpha d&#92;alpha &#92;left( &#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} e_&#92;mu+u^&#92;mu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.47)' class='latex' /></p>
<p>Summing these we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bu%7D+%3D+%5Csum_%5Calpha+d%5Calpha+%5Cleft%28+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29e_%5Cmu%2B%5Cleft%28x%5E%5Cmu%2Bu%5E%5Cmu%5Cright%29%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.48%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{u} + d&#92;mathbf{u} = &#92;sum_&#92;alpha d&#92;alpha &#92;left( &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)e_&#92;mu+&#92;left(x^&#92;mu+u^&#92;mu&#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right).&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.48)' title='&#92;begin{aligned}d&#92;mathbf{u} + d&#92;mathbf{u} = &#92;sum_&#92;alpha d&#92;alpha &#92;left( &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)e_&#92;mu+&#92;left(x^&#92;mu+u^&#92;mu&#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right).&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.48)' class='latex' /></p>
<p>Taking dot products to form the squares we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dd%5Cmathbf%7Bx%7D%5E2+%26%3D+%5Csum_%7B%5Calpha%2C+%5Cbeta%7D+d%5Calpha+d%5Cbeta+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+e_%5Cmu%2Bx%5E%5Cmu%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29%5Ccdot%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bx_%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+e%5E%5Cnu%2Bx_%5Cnu%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%5Cright%29+%5C%5C+%26%3D%5Csum_%7B%5Calpha%2C+%5Cbeta%7D+d%5Calpha+d%5Cbeta+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2Bx%5E%5Cmu+x_%5Cnu%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Ccdot%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B+2+%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+x_%5Cnu+e_%5Cmu+%5Ccdot%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%5Cright%29%2C%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}d&#92;mathbf{x}^2 &amp;= &#92;sum_{&#92;alpha, &#92;beta} d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} e_&#92;mu+x^&#92;mu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)&#92;cdot&#92;left( &#92;frac{&#92;partial {x_&#92;nu}}{&#92;partial {&#92;beta}} e^&#92;nu+x_&#92;nu&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} &#92;right) &#92;&#92; &amp;=&#92;sum_{&#92;alpha, &#92;beta} d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} +x^&#92;mu x_&#92;nu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} + 2 &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} x_&#92;nu e_&#92;mu &#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} &#92;right),&#92;end{aligned} ' title='&#92;begin{aligned}d&#92;mathbf{x}^2 &amp;= &#92;sum_{&#92;alpha, &#92;beta} d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} e_&#92;mu+x^&#92;mu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)&#92;cdot&#92;left( &#92;frac{&#92;partial {x_&#92;nu}}{&#92;partial {&#92;beta}} e^&#92;nu+x_&#92;nu&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} &#92;right) &#92;&#92; &amp;=&#92;sum_{&#92;alpha, &#92;beta} d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} +x^&#92;mu x_&#92;nu&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} + 2 &#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} x_&#92;nu e_&#92;mu &#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} &#92;right),&#92;end{aligned} ' class='latex' /></p>
<p>and</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%26%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+%5C%5C+%26%3D+%5Csum_%7B%5Calpha%2C+%5Cbeta%7Dd%5Calpha+d%5Cbeta+%5Cleft%28+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29e_%5Cmu%2B%5Cleft%28x%5E%5Cmu%2Bu%5E%5Cmu%5Cright%29%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29%5Ccdot%5Cleft%28+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%5Cright%29e%5E%5Cnu%2B%5Cleft%28x_%5Cnu%2Bu_%5Cnu%5Cright%29%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%5Cright%29+%5C%5C+%26%3D+%5Csum_%7B%5Calpha%2C+%5Cbeta%7Dd%5Calpha+d%5Cbeta+%5Cleft%28%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%5Cright%29%2B%5Cleft%28x%5E%5Cmu%2Bu%5E%5Cmu%5Cright%29%5Cleft%28x_%5Cnu%2Bu_%5Cnu%5Cright%29%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Ccdot%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B2%5Cleft%28x%5E%5Cmu%2Bu%5E%5Cmu%5Cright%29e%5E%5Cnu%5Ccdot%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%5Cright%29%5Cright%29.%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&amp;(d&#92;mathbf{u} + d&#92;mathbf{x})^2 &#92;&#92; &amp;= &#92;sum_{&#92;alpha, &#92;beta}d&#92;alpha d&#92;beta &#92;left( &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)e_&#92;mu+&#92;left(x^&#92;mu+u^&#92;mu&#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)&#92;cdot&#92;left( &#92;left(&#92;frac{&#92;partial {x_&#92;nu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u_&#92;nu}}{&#92;partial {&#92;beta}} &#92;right)e^&#92;nu+&#92;left(x_&#92;nu+u_&#92;nu&#92;right)&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} &#92;right) &#92;&#92; &amp;= &#92;sum_{&#92;alpha, &#92;beta}d&#92;alpha d&#92;beta &#92;left(&#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)&#92;left(&#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;beta}} &#92;right)+&#92;left(x^&#92;mu+u^&#92;mu&#92;right)&#92;left(x_&#92;nu+u_&#92;nu&#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} +2&#92;left(x^&#92;mu+u^&#92;mu&#92;right)e^&#92;nu&#92;cdot&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;left(&#92;frac{&#92;partial {x_&#92;nu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u_&#92;nu}}{&#92;partial {&#92;beta}} &#92;right)&#92;right).&#92;end{aligned} ' title='&#92;begin{aligned}&amp;(d&#92;mathbf{u} + d&#92;mathbf{x})^2 &#92;&#92; &amp;= &#92;sum_{&#92;alpha, &#92;beta}d&#92;alpha d&#92;beta &#92;left( &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)e_&#92;mu+&#92;left(x^&#92;mu+u^&#92;mu&#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)&#92;cdot&#92;left( &#92;left(&#92;frac{&#92;partial {x_&#92;nu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u_&#92;nu}}{&#92;partial {&#92;beta}} &#92;right)e^&#92;nu+&#92;left(x_&#92;nu+u_&#92;nu&#92;right)&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} &#92;right) &#92;&#92; &amp;= &#92;sum_{&#92;alpha, &#92;beta}d&#92;alpha d&#92;beta &#92;left(&#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;right)&#92;left(&#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;beta}} &#92;right)+&#92;left(x^&#92;mu+u^&#92;mu&#92;right)&#92;left(x_&#92;nu+u_&#92;nu&#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} +2&#92;left(x^&#92;mu+u^&#92;mu&#92;right)e^&#92;nu&#92;cdot&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}} &#92;left(&#92;frac{&#92;partial {x_&#92;nu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u_&#92;nu}}{&#92;partial {&#92;beta}} &#92;right)&#92;right).&#92;end{aligned} ' class='latex' /></p>
<p>Taking the difference we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%26%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2+%5C%5C+%26%3D%5Csum_%7B%5Calpha%2C+%5Cbeta%7Dd%5Calpha+d%5Cbeta+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B2%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B+%5Cleft%28u%5E%5Cmu+u_%5Cnu+%2Bx%5E%5Cmu+u_%5Cnu+%2Bu%5E%5Cmu+x_%5Cnu+%5Cright%29%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%5Ccdot%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B2+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7Du_%5Cnu%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%28x_%5Cnu%2Bu_%5Cnu%29%5Cright%29e_%5Cmu+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D%5Cright%29.%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.49%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}&amp;(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;=&#92;sum_{&#92;alpha, &#92;beta}d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;beta}} +2&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} + &#92;left(u^&#92;mu u_&#92;nu +x^&#92;mu u_&#92;nu +u^&#92;mu x_&#92;nu &#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} +2 &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}}&#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.49)' title='&#92;begin{aligned}&#92;begin{aligned}&amp;(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;=&#92;sum_{&#92;alpha, &#92;beta}d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;beta}} +2&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} + &#92;left(u^&#92;mu u_&#92;nu +x^&#92;mu u_&#92;nu +u^&#92;mu x_&#92;nu &#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} +2 &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}}&#92;right).&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.49)' class='latex' /></p>
<p>To evaluate this, it is useful, albeit messier, to group terms a bit</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%26%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2+%5C%5C+%26%3D%5Csum_%7B%5Calpha%7D2+d%5Calpha+d%5Calpha+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cleft%28u%5E%5Cmu+u_%5Cnu+%2Bx%5E%5Cmu+u_%5Cnu+%2Bu%5E%5Cmu+x_%5Cnu+%5Cright%29%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%5Ccdot%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7Du_%5Cnu%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%28x_%5Cnu%2Bu_%5Cnu%29%5Cright%29e_%5Cmu+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%5Cright%29+%5C%5C+%26%2B%5Csum_%7B%5Calpha+%3C+%5Cbeta%7D2+d%5Calpha+d%5Cbeta+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cleft%28u%5E%5Cmu+u_%5Cnu+%2Bx%5E%5Cmu+u_%5Cnu+%2Bu%5E%5Cmu+x_%5Cnu+%5Cright%29%5Cleft%28%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%5Ccdot%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Be_%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D%5Ccdot%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cright%29+%5Cright%29+%5C%5C+%26%2B%5Csum_%7B%5Calpha+%3C+%5Cbeta%7D2+d%5Calpha+d%5Cbeta+%5Cleft%28+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7Du_%5Cnu%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%28x_%5Cnu%2Bu_%5Cnu%29%5Cright%29e_%5Cmu+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D%2B%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7Du_%5Cnu%2B%5Cfrac%7B%5Cpartial+%7Bu%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Cbeta%7D%7D%28x_%5Cnu%2Bu_%5Cnu%29%5Cright%29e_%5Cmu+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be%5E%5Cnu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%5Cright%29%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.50%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}&amp;(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;=&#92;sum_{&#92;alpha}2 d&#92;alpha d&#92;alpha &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;alpha}} + &#92;frac{1}{{2}}&#92;left(u^&#92;mu u_&#92;nu +x^&#92;mu u_&#92;nu +u^&#92;mu x_&#92;nu &#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}} +&#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}}&#92;right) &#92;&#92; &amp;+&#92;sum_{&#92;alpha &lt; &#92;beta}2 d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;beta}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;alpha}} + &#92;frac{1}{{2}}&#92;left(u^&#92;mu u_&#92;nu +x^&#92;mu u_&#92;nu +u^&#92;mu x_&#92;nu &#92;right)&#92;left(&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;beta}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}} &#92;right) &#92;right) &#92;&#92; &amp;+&#92;sum_{&#92;alpha &lt; &#92;beta}2 d&#92;alpha d&#92;beta &#92;left( &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}}+&#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;beta}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;beta}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}}&#92;right)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.50)' title='&#92;begin{aligned}&#92;begin{aligned}&amp;(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 &#92;&#92; &amp;=&#92;sum_{&#92;alpha}2 d&#92;alpha d&#92;alpha &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;alpha}} + &#92;frac{1}{{2}}&#92;left(u^&#92;mu u_&#92;nu +x^&#92;mu u_&#92;nu +u^&#92;mu x_&#92;nu &#92;right)&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}} +&#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}}&#92;right) &#92;&#92; &amp;+&#92;sum_{&#92;alpha &lt; &#92;beta}2 d&#92;alpha d&#92;beta &#92;left( &#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_&#92;mu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;beta}} &#92;frac{&#92;partial {x_&#92;mu}}{&#92;partial {&#92;alpha}} + &#92;frac{1}{{2}}&#92;left(u^&#92;mu u_&#92;nu +x^&#92;mu u_&#92;nu +u^&#92;mu x_&#92;nu &#92;right)&#92;left(&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}} +&#92;frac{&#92;partial {e_&#92;mu}}{&#92;partial {&#92;beta}}&#92;cdot&#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}} &#92;right) &#92;right) &#92;&#92; &amp;+&#92;sum_{&#92;alpha &lt; &#92;beta}2 d&#92;alpha d&#92;beta &#92;left( &#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;alpha}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;beta}}+&#92;left(&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;beta}}u_&#92;nu+&#92;frac{&#92;partial {u^&#92;mu}}{&#92;partial {&#92;beta}}(x_&#92;nu+u_&#92;nu)&#92;right)e_&#92;mu &#92;cdot &#92;frac{&#92;partial {e^&#92;nu}}{&#92;partial {&#92;alpha}}&#92;right)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.50)' class='latex' /></p>
<p>Here <img src='http://s0.wp.com/latex.php?latex=%5Calpha+%3C+%5Cbeta&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;alpha &lt; &#92;beta' title='&#92;alpha &lt; &#92;beta' class='latex' /> is used to denote summation over the pairs <img src='http://s0.wp.com/latex.php?latex=%5Calpha+%5Cne+%5Cbeta&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;alpha &#92;ne &#92;beta' title='&#92;alpha &#92;ne &#92;beta' class='latex' /> just once, not neccessarily any numeric ordering.  For example with <img src='http://s0.wp.com/latex.php?latex=%5Calpha%2C+%5Cbeta+%5Cin+%5C%7Br%2C+%5Cphi%2C+z%5C%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;alpha, &#92;beta &#92;in &#92;{r, &#92;phi, z&#92;}' title='&#92;alpha, &#92;beta &#92;in &#92;{r, &#92;phi, z&#92;}' class='latex' />, this could be the set <img src='http://s0.wp.com/latex.php?latex=%5C%7B%5Calpha%2C+%5Cbeta%5C%7D+%5Cin+%5C%7Br+%5Cphi%2C+%5Cphi+z%2C+z+r%5C%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;{&#92;alpha, &#92;beta&#92;} &#92;in &#92;{r &#92;phi, &#92;phi z, z r&#92;}' title='&#92;{&#92;alpha, &#92;beta&#92;} &#92;in &#92;{r &#92;phi, &#92;phi z, z r&#92;}' class='latex' />.</p>
<h2>Cartesian tensor.</h2>
<p>In the Cartesian case all the partials of the unit vectors are zero, and we also have no need of upper or lower indexes.  We are left with just</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2+%3D%5Csum_%7Bi%2C+j%2C+k%7Ddx%5Eidx%5Ej%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu%5Ek%7D%7D%7B%5Cpartial+%7Bx%5Ei%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu%5Ek%7D%7D%7B%5Cpartial+%7Bx%5Ej%7D%7D+%2B2%5Cfrac%7B%5Cpartial+%7Bu%5Ek%7D%7D%7B%5Cpartial+%7Bx%5Ei%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx%5Ek%7D%7D%7B%5Cpartial+%7Bx%5Ej%7D%7D+%5Cright%29%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.51%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 =&#92;sum_{i, j, k}dx^idx^j&#92;left( &#92;frac{&#92;partial {u^k}}{&#92;partial {x^i}} &#92;frac{&#92;partial {u^k}}{&#92;partial {x^j}} +2&#92;frac{&#92;partial {u^k}}{&#92;partial {x^i}} &#92;frac{&#92;partial {x^k}}{&#92;partial {x^j}} &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.51)' title='&#92;begin{aligned}(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 =&#92;sum_{i, j, k}dx^idx^j&#92;left( &#92;frac{&#92;partial {u^k}}{&#92;partial {x^i}} &#92;frac{&#92;partial {u^k}}{&#92;partial {x^j}} +2&#92;frac{&#92;partial {u^k}}{&#92;partial {x^i}} &#92;frac{&#92;partial {x^k}}{&#92;partial {x^j}} &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.51)' class='latex' /></p>
<p>However, since we also have <img src='http://s0.wp.com/latex.php?latex=%7B%5Cpartial+%7Bx%5Ek%7D%7D%2F%7B%5Cpartial+%7Bx%5Ej%7D%7D+%3D+%5Cdelta_%7Bjk%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='{&#92;partial {x^k}}/{&#92;partial {x^j}} = &#92;delta_{jk}' title='{&#92;partial {x^k}}/{&#92;partial {x^j}} = &#92;delta_{jk}' class='latex' />, this is</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%28d%5Cmathbf%7Bu%7D+%2B+d%5Cmathbf%7Bx%7D%29%5E2+-+d%5Cmathbf%7Bx%7D%5E2+%3D%5Csum_%7Bi%2C+j%7D2dx%5Eidx%5Ej%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Csum_k%5Cfrac%7B%5Cpartial+%7Bu%5Ek%7D%7D%7B%5Cpartial+%7Bx%5Ei%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu%5Ek%7D%7D%7B%5Cpartial+%7Bx%5Ej%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu%5Ej%7D%7D%7B%5Cpartial+%7Bx%5Ei%7D%7D+%5Cright%29.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.52%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 =&#92;sum_{i, j}2dx^idx^j&#92;left( &#92;frac{1}{{2}}&#92;sum_k&#92;frac{&#92;partial {u^k}}{&#92;partial {x^i}} &#92;frac{&#92;partial {u^k}}{&#92;partial {x^j}} +&#92;frac{&#92;partial {u^j}}{&#92;partial {x^i}} &#92;right).&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.52)' title='&#92;begin{aligned}(d&#92;mathbf{u} + d&#92;mathbf{x})^2 - d&#92;mathbf{x}^2 =&#92;sum_{i, j}2dx^idx^j&#92;left( &#92;frac{1}{{2}}&#92;sum_k&#92;frac{&#92;partial {u^k}}{&#92;partial {x^i}} &#92;frac{&#92;partial {u^k}}{&#92;partial {x^j}} +&#92;frac{&#92;partial {u^j}}{&#92;partial {x^i}} &#92;right).&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.52)' class='latex' /></p>
<p>This essentially recovers the result 3.11 derived in class.</p>
<h2>Cylindrial tensor.</h2>
<p>Now lets do the cylindrical tensor again, but this time without resorting mathematica brute force.</p>
<p>First we recall that all our basis vector derivatives are zero except for the <img src='http://s0.wp.com/latex.php?latex=%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;phi' title='&#92;phi' class='latex' /> derivatives, and for those we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cfrac%7B%5Cpartial+%7B%5Chat%7B%5Cmathbf%7Br%7D%7D%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%26%3D+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5C%5C+%5Cfrac%7B%5Cpartial+%7B%5Chat%7B%5Cboldsymbol%7B%5Ctheta%7D%7D%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%26%3D+-%5Chat%7B%5Cmathbf%7Br%7D%7D.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.53%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;frac{&#92;partial {&#92;hat{&#92;mathbf{r}}}}{&#92;partial {&#92;phi}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;&#92; &#92;frac{&#92;partial {&#92;hat{&#92;boldsymbol{&#92;theta}}}}{&#92;partial {&#92;phi}} &amp;= -&#92;hat{&#92;mathbf{r}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.53)' title='&#92;begin{aligned}&#92;frac{&#92;partial {&#92;hat{&#92;mathbf{r}}}}{&#92;partial {&#92;phi}} &amp;= &#92;hat{&#92;boldsymbol{&#92;phi}} &#92;&#92; &#92;frac{&#92;partial {&#92;hat{&#92;boldsymbol{&#92;theta}}}}{&#92;partial {&#92;phi}} &amp;= -&#92;hat{&#92;mathbf{r}}.&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.53)' class='latex' /></p>
<p>If we write</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7Bx%7D+%3D+r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+z+%5Chat%7B%5Cmathbf%7Bz%7D%7D+%3D+x_r+%5Chat%7B%5Cmathbf%7Br%7D%7D+%2B+x_%5Cphi+%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%2B+x_z+%5Chat%7B%5Cmathbf%7Bz%7D%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.55%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{x} = r &#92;hat{&#92;mathbf{r}} + z &#92;hat{&#92;mathbf{z}} = x_r &#92;hat{&#92;mathbf{r}} + x_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}} + x_z &#92;hat{&#92;mathbf{z}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.55)' title='&#92;begin{aligned}&#92;mathbf{x} = r &#92;hat{&#92;mathbf{r}} + z &#92;hat{&#92;mathbf{z}} = x_r &#92;hat{&#92;mathbf{r}} + x_&#92;phi &#92;hat{&#92;boldsymbol{&#92;phi}} + x_z &#92;hat{&#92;mathbf{z}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.55)' class='latex' /></p>
<p>We have for all the <img src='http://s0.wp.com/latex.php?latex=x%5E%5Cmu&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='x^&#92;mu' title='x^&#92;mu' class='latex' /> partials</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cfrac%7B%5Cpartial+%7Bx%5E%5Cmu%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%3D+%5Cleft%5C%7B%5Cbegin%7Barray%7D%7Bl+l%7D1+%26+%5Cquad+%5Cmbox%7Bif+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} = &#92;left&#92;{&#92;begin{array}{l l}1 &amp; &#92;quad &#92;mbox{if ' title='&#92;begin{aligned}&#92;frac{&#92;partial {x^&#92;mu}}{&#92;partial {&#92;alpha}} = &#92;left&#92;{&#92;begin{array}{l l}1 &amp; &#92;quad &#92;mbox{if ' class='latex' />latex \alpha = x^\mu = r$ or <img src='http://s0.wp.com/latex.php?latex=%5Calpha+%3D+x%5E%5Cmu+%3D+z&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;alpha = x^&#92;mu = z' title='&#92;alpha = x^&#92;mu = z' class='latex' />} \\ 0 &amp; \quad \mbox{otherwise}\end{array}\right.\end{aligned} \hspace{\stretch{1}}(3.56)$</p>
<p>We are now set to evaluate the terms in the sum of 3.50 for the cylindrical coordinate system and shouldn&#8217;t need Mathematica to do it.  Let&#8217;s do this one at a time, starting with all the squared differential pairs.  Those are, for <img src='http://s0.wp.com/latex.php?latex=%5Calpha+%5Cin+%5C%7Br%2C+%5Cphi%2C+z%5C%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;alpha &#92;in &#92;{r, &#92;phi, z&#92;}' title='&#92;alpha &#92;in &#92;{r, &#92;phi, z&#92;}' class='latex' /> the value of</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+d%5Calpha+d%5Calpha+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cleft%28u_m+u_n+%2Bx_m+u_n+%2Bu_m+x_n+%5Cright%29%5Cfrac%7B%5Cpartial+%7Be_m%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%5Ccdot%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D+%2B%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7Du_n%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%28x_n%2Bu_n%29%5Cright%29e_m+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Calpha%7D%7D%5Cright%29%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.60%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 d&#92;alpha d&#92;alpha &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;alpha}} + &#92;frac{1}{{2}}&#92;left(u_m u_n +x_m u_n +u_m x_n &#92;right)&#92;frac{&#92;partial {e_m}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;alpha}} +&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;alpha}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;alpha}}&#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' title='&#92;begin{aligned}2 d&#92;alpha d&#92;alpha &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}} &#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;alpha}} + &#92;frac{1}{{2}}&#92;left(u_m u_n +x_m u_n +u_m x_n &#92;right)&#92;frac{&#92;partial {e_m}}{&#92;partial {&#92;alpha}}&#92;cdot&#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;alpha}} +&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;alpha}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;alpha}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;alpha}}&#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' class='latex' /></p>
<p>For both <img src='http://s0.wp.com/latex.php?latex=r&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='r' title='r' class='latex' /> and <img src='http://s0.wp.com/latex.php?latex=z&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='z' title='z' class='latex' /> all our unit vectors have zero derivatives so we are left respectively with</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+dr+dr+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cright%29%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.60%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 dr dr &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {r}} &#92;right),&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' title='&#92;begin{aligned}2 dr dr &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {r}} &#92;right),&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' class='latex' /></p>
<p>and</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+dz+dz+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cright%29.%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.60%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 dz dz &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {z}} &#92;right).&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' title='&#92;begin{aligned}2 dz dz &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {z}} &#92;right).&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' class='latex' /></p>
<p>For the <img src='http://s0.wp.com/latex.php?latex=%5Calpha+%3D+%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;alpha = &#92;phi' title='&#92;alpha = &#92;phi' class='latex' /> term we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%262+d%5Cphi+d%5Cphi+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Csum_%7Bm+%3D+r%2C+%5Cphi%7D%5Cleft%28u_m+u_m+%2B2+x_m+u_m+%5Cright%29%2B%5Csum_%7Bm+n+%5Cin+%5C%7Br+%5Cphi%2C+%5Cphi+r%5C%7D%7D%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7Du_n%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%28x_n%2Bu_n%29%5Cright%29e_m+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Cright%29+%5C%5C+%26%3D2+d%5Cphi+d%5Cphi+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D+%5Cleft%28+u_r%5E2+%2B+u_%5Cphi%5E2+%5Cright%29+%2B+r+u_r-%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7Du_%5Cphi%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%28r%2Bu_r%29%5Cright%29%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&amp;2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} + &#92;frac{1}{{2}}&#92;sum_{m = r, &#92;phi}&#92;left(u_m u_m +2 x_m u_m &#92;right)+&#92;sum_{m n &#92;in &#92;{r &#92;phi, &#92;phi r&#92;}}&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} + &#92;frac{1}{{2}} &#92;left( u_r^2 + u_&#92;phi^2 &#92;right) + r u_r-&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}}u_&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}}(r+u_r)&#92;right)&#92;end{aligned} ' title='&#92;begin{aligned}&amp;2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} + &#92;frac{1}{{2}}&#92;sum_{m = r, &#92;phi}&#92;left(u_m u_m +2 x_m u_m &#92;right)+&#92;sum_{m n &#92;in &#92;{r &#92;phi, &#92;phi r&#92;}}&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} + &#92;frac{1}{{2}} &#92;left( u_r^2 + u_&#92;phi^2 &#92;right) + r u_r-&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}}u_&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}}(r+u_r)&#92;right)&#92;end{aligned} ' class='latex' /></p>
<p>Now, on to the mixed terms.  The easiest is the <img src='http://s0.wp.com/latex.php?latex=dz+dr&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='dz dr' title='dz dr' class='latex' /> term, for which all the unit vector derivatives are zero, and we are left with just</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D2+dz+dr+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cright%29%3D2+dz+dr+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cright%29%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}2 dz dr &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {x_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {x_m}}{&#92;partial {z}} &#92;right)=2 dz dr &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;right)&#92;end{aligned} ' title='&#92;begin{aligned}2 dz dr &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {x_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {x_m}}{&#92;partial {z}} &#92;right)=2 dz dr &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;right)&#92;end{aligned} ' class='latex' /></p>
<p>Now we have the two messy mixed terms.  For the <img src='http://s0.wp.com/latex.php?latex=r&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='r' title='r' class='latex' />, <img src='http://s0.wp.com/latex.php?latex=%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;phi' title='&#92;phi' class='latex' /> term we get</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%262+dr+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%7D%7D%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cleft%28u_m+u_n+%2Bx_m+u_n+%2Bu_m+x_n+%5Cright%29%5Cleft%28%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Be_m%7D%7D%7B%5Cpartial+%7Br%7D%7D%7D%7D%5Ccdot%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Be_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Ccdot%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7Br%7D%7D+%7D%7D%5Cright%29+%5Cright%29+%5C%5C+%26%2B2+dr+d%5Cphi+%5Cleft%28+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7Br%7D%7Du_n%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D%28x_n%2Bu_n%29%5Cright%29e_m+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%2B%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7Du_n%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%28x_n%2Bu_n%29%5Cright%29e_m+%5Ccdot+%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7Br%7D%7D%7D%7D%5Cright%29+%5C%5C+%26%3D2+dr+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2Bu_n%5Chat%7B%5Cmathbf%7Br%7D%7D+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D%28x_n%2Bu_n%29e_m+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Cright%29+%5C%5C+%26%3D2+dr+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+-u_%5Cphi%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D%28x_n%2Bu_n%29%5Chat%7B%5Cmathbf%7Br%7D%7D+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D%28x_n%2Bu_n%29%5Chat%7B%5Cboldsymbol%7B%5Cphi%7D%7D+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Cright%29+%5C%5C+%26%3D2+dr+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+-u_%5Cphi-%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7Du_%5Cphi%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D%28r+%2Bu_r%29%5Cright%29+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&amp;2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;not{{&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}}}+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {x_m}}{&#92;partial {r}} + &#92;frac{1}{{2}}&#92;left(u_m u_n +x_m u_n +u_m x_n &#92;right)&#92;left(&#92;not{{&#92;frac{&#92;partial {e_m}}{&#92;partial {r}}}}&#92;cdot&#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {e_m}}{&#92;partial {&#92;phi}}&#92;cdot&#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {r}} }}&#92;right) &#92;right) &#92;&#92; &amp;+2 dr d&#92;phi &#92;left( &#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {r}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {r}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {r}}}}&#92;right) &#92;&#92; &amp;=2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} +u_n&#92;hat{&#92;mathbf{r}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;frac{&#92;partial {u_m}}{&#92;partial {r}}(x_n+u_n)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} -u_&#92;phi+&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}(x_n+u_n)&#92;hat{&#92;mathbf{r}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}(x_n+u_n)&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} -u_&#92;phi-&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}u_&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}(r +u_r)&#92;right) &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}&amp;2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;not{{&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}}}+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {x_m}}{&#92;partial {r}} + &#92;frac{1}{{2}}&#92;left(u_m u_n +x_m u_n +u_m x_n &#92;right)&#92;left(&#92;not{{&#92;frac{&#92;partial {e_m}}{&#92;partial {r}}}}&#92;cdot&#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {e_m}}{&#92;partial {&#92;phi}}&#92;cdot&#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {r}} }}&#92;right) &#92;right) &#92;&#92; &amp;+2 dr d&#92;phi &#92;left( &#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {r}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {r}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {r}}}}&#92;right) &#92;&#92; &amp;=2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} +u_n&#92;hat{&#92;mathbf{r}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;frac{&#92;partial {u_m}}{&#92;partial {r}}(x_n+u_n)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} -u_&#92;phi+&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}(x_n+u_n)&#92;hat{&#92;mathbf{r}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}(x_n+u_n)&#92;hat{&#92;boldsymbol{&#92;phi}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 dr d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} -u_&#92;phi-&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}u_&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}(r +u_r)&#92;right) &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>Finally for the <img src='http://s0.wp.com/latex.php?latex=z&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='z' title='z' class='latex' />, <img src='http://s0.wp.com/latex.php?latex=%5Cphi&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;phi' title='&#92;phi' class='latex' /> term we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%262+dz+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%7D%7D%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cleft%28u_m+u_n+%2Bx_m+u_n+%2Bu_m+x_n+%5Cright%29%5Cleft%28%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Be_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D%7D%7D%5Ccdot%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Be_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Ccdot%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%7D%7D%5Cright%29+%5Cright%29+%5C%5C+%26%2B2+d%5Cphi+dz+%5Cleft%28+%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7Bz%7D%7Du_n%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D%28x_n%2Bu_n%29%5Cright%29e_m+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%2B%5Cleft%28%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7Du_n%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%28x_n%2Bu_n%29%5Cright%29e_m+%5Ccdot+%5Cnot%7B%7B%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7Bz%7D%7D%7D%7D%5Cright%29+%5C%5C+%26%3D2+dz+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B%5Cpartial+%7Bx_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B%5Cnot%7B%7Bu_n%5Chat%7B%5Cmathbf%7Bz%7D%7D+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%7D%7D%2B%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D%28x_n%2Bu_n%29e_m+%5Ccdot+%5Cfrac%7B%5Cpartial+%7Be_n%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Cright%29+%5C%5C+%26%3D2+dz+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+-%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Bz%7D%7Du_%5Cphi%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Bz%7D%7D%28r%2Bu_r%29%5Cright%29+%5C%5C+%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&amp;2 dz d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;not{{&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}} }}+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {x_m}}{&#92;partial {z}} + &#92;frac{1}{{2}}&#92;left(u_m u_n +x_m u_n +u_m x_n &#92;right)&#92;left(&#92;not{{&#92;frac{&#92;partial {e_m}}{&#92;partial {z}}}}&#92;cdot&#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {e_m}}{&#92;partial {&#92;phi}}&#92;cdot&#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {z}} }}&#92;right) &#92;right) &#92;&#92; &amp;+2 d&#92;phi dz &#92;left( &#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {z}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {z}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {z}}}}&#92;right) &#92;&#92; &amp;=2 dz d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {x_m}}{&#92;partial {z}} +&#92;not{{u_n&#92;hat{&#92;mathbf{z}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}}}+&#92;frac{&#92;partial {u_m}}{&#92;partial {z}}(x_n+u_n)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 dz d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} -&#92;frac{&#92;partial {u_r}}{&#92;partial {z}}u_&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}}(r+u_r)&#92;right) &#92;&#92; &#92;end{aligned} ' title='&#92;begin{aligned}&amp;2 dz d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;not{{&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}} }}+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {x_m}}{&#92;partial {z}} + &#92;frac{1}{{2}}&#92;left(u_m u_n +x_m u_n +u_m x_n &#92;right)&#92;left(&#92;not{{&#92;frac{&#92;partial {e_m}}{&#92;partial {z}}}}&#92;cdot&#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {e_m}}{&#92;partial {&#92;phi}}&#92;cdot&#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {z}} }}&#92;right) &#92;right) &#92;&#92; &amp;+2 d&#92;phi dz &#92;left( &#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {z}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {z}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}+&#92;left(&#92;frac{&#92;partial {x_m}}{&#92;partial {&#92;phi}}u_n+&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}}(x_n+u_n)&#92;right)e_m &#92;cdot &#92;not{{&#92;frac{&#92;partial {e_n}}{&#92;partial {z}}}}&#92;right) &#92;&#92; &amp;=2 dz d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {x_m}}{&#92;partial {z}} +&#92;not{{u_n&#92;hat{&#92;mathbf{z}} &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}}}+&#92;frac{&#92;partial {u_m}}{&#92;partial {z}}(x_n+u_n)e_m &#92;cdot &#92;frac{&#92;partial {e_n}}{&#92;partial {&#92;phi}}&#92;right) &#92;&#92; &amp;=2 dz d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} -&#92;frac{&#92;partial {u_r}}{&#92;partial {z}}u_&#92;phi+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}}(r+u_r)&#92;right) &#92;&#92; &#92;end{aligned} ' class='latex' /></p>
<p>To summarize we have, including both first and second order terms,</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Baligned%7D%7Bd%5Cmathbf%7Bl%7D%27%7D%5E2+-+d%5Cmathbf%7Bx%7D%5E2%26%3D2+dr+dr+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cright%29+%5C%5C+%26%2B2+r%5E2+d%5Cphi+d%5Cphi+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2+r%5E2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B+%5Cfrac%7B1%7D%7B%7B2+r%5E2%7D%7D+%5Cleft%28+u_r%5E2+%2B+u_%5Cphi%5E2+%5Cright%29+%2B+%5Cfrac%7Bu_r%7D%7Br%7D-%5Cfrac%7B1%7D%7B%7Br%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Cfrac%7Bu_%5Cphi%7D%7Br%7D%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D%5Cleft%281%2B%5Cfrac%7Bu_r%7D%7Br%7D%5Cright%29%5Cright%29+%5C%5C+%26%2B2+dz+dz+%5Cleft%28+%5Cfrac%7B1%7D%7B%7B2%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cright%29+%5C%5C+%26%2B2+dr+r+d%5Cphi+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cfrac%7B1%7D%7B%7Br%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+-%5Cfrac%7Bu_%5Cphi%7D%7Br%7D-%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Br%7D%7D%5Cfrac%7Bu_%5Cphi%7D%7Br%7D%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Br%7D%7D%5Cleft%281+%2B%5Cfrac%7Bu_r%7D%7Br%7D%5Cright%29%5Cright%29+%5C%5C+%26%2B2+r+d%5Cphi+dz+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B1%7D%7B%7Br%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+%2B%5Cfrac%7B1%7D%7B%7Br%7D%7D%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7B%5Cphi%7D%7D+-%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Bz%7D%7D%5Cfrac%7Bu_%5Cphi%7D%7Br%7D%2B%5Cfrac%7B%5Cpartial+%7Bu_%5Cphi%7D%7D%7B%5Cpartial+%7Bz%7D%7D%5Cleft%281%2B%5Cfrac%7Bu_r%7D%7Br%7D%5Cright%29%5Cright%29+%5C%5C+%26%2B2+dz+dr+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%5Cfrac%7B%5Cpartial+%7Bu_m%7D%7D%7B%5Cpartial+%7Br%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_r%7D%7D%7B%5Cpartial+%7Bz%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Bu_z%7D%7D%7B%5Cpartial+%7Br%7D%7D+%5Cright%29%5Cend%7Baligned%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%283.60%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{aligned}{d&#92;mathbf{l}&#039;}^2 - d&#92;mathbf{x}^2&amp;=2 dr dr &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {r}} &#92;right) &#92;&#92; &amp;+2 r^2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{2 r^2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} + &#92;frac{1}{{2 r^2}} &#92;left( u_r^2 + u_&#92;phi^2 &#92;right) + &#92;frac{u_r}{r}-&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}}&#92;frac{u_&#92;phi}{r}+&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}}&#92;left(1+&#92;frac{u_r}{r}&#92;right)&#92;right) &#92;&#92; &amp;+2 dz dz &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {z}} &#92;right) &#92;&#92; &amp;+2 dr r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{1}{{r}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} -&#92;frac{u_&#92;phi}{r}-&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}&#92;frac{u_&#92;phi}{r}+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}&#92;left(1 +&#92;frac{u_r}{r}&#92;right)&#92;right) &#92;&#92; &amp;+2 r d&#92;phi dz &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{1}{{r}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} -&#92;frac{&#92;partial {u_r}}{&#92;partial {z}}&#92;frac{u_&#92;phi}{r}+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}}&#92;left(1+&#92;frac{u_r}{r}&#92;right)&#92;right) &#92;&#92; &amp;+2 dz dr &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;right)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' title='&#92;begin{aligned}&#92;begin{aligned}{d&#92;mathbf{l}&#039;}^2 - d&#92;mathbf{x}^2&amp;=2 dr dr &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {r}} &#92;right) &#92;&#92; &amp;+2 r^2 d&#92;phi d&#92;phi &#92;left( &#92;frac{1}{{2 r^2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} &#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} + &#92;frac{1}{{2 r^2}} &#92;left( u_r^2 + u_&#92;phi^2 &#92;right) + &#92;frac{u_r}{r}-&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}}&#92;frac{u_&#92;phi}{r}+&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {&#92;phi}}&#92;left(1+&#92;frac{u_r}{r}&#92;right)&#92;right) &#92;&#92; &amp;+2 dz dz &#92;left( &#92;frac{1}{{2}}&#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {z}} &#92;right) &#92;&#92; &amp;+2 dr r d&#92;phi &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} &#92;frac{1}{{r}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_r}}{&#92;partial {&#92;phi}} -&#92;frac{u_&#92;phi}{r}-&#92;frac{&#92;partial {u_r}}{&#92;partial {r}}&#92;frac{u_&#92;phi}{r}+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {r}}&#92;left(1 +&#92;frac{u_r}{r}&#92;right)&#92;right) &#92;&#92; &amp;+2 r d&#92;phi dz &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{1}{{r}}&#92;frac{&#92;partial {u_m}}{&#92;partial {&#92;phi}} +&#92;frac{1}{{r}}&#92;frac{&#92;partial {u_z}}{&#92;partial {&#92;phi}} -&#92;frac{&#92;partial {u_r}}{&#92;partial {z}}&#92;frac{u_&#92;phi}{r}+&#92;frac{&#92;partial {u_&#92;phi}}{&#92;partial {z}}&#92;left(1+&#92;frac{u_r}{r}&#92;right)&#92;right) &#92;&#92; &amp;+2 dz dr &#92;left( &#92;frac{&#92;partial {u_m}}{&#92;partial {z}} &#92;frac{&#92;partial {u_m}}{&#92;partial {r}} +&#92;frac{&#92;partial {u_r}}{&#92;partial {z}} +&#92;frac{&#92;partial {u_z}}{&#92;partial {r}} &#92;right)&#92;end{aligned}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(3.60)' class='latex' /></p>
<p>Factors of <img src='http://s0.wp.com/latex.php?latex=r&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='r' title='r' class='latex' /> have been pulled out so that the portions remaining in the braces are exactly the cylindrical tensor elements as given in the text (except also with the second order terms here).  Observe that the pre-calculation of the general formula has allowed an on paper expansion of the cylindrical tensor without too much pain, and this time without requiring Mathematica.</p>
<h2>Spherical tensor.</h2>
<p>FIXME: TODO.</p>
<h1>References</h1>
<p>[1] L.D. Landau, EM Lifshitz, JB Sykes, WH Reid, and E.H. Dill. Theory of elasticity: Vol. 7 of course of theoretical physics. <em>Physics Today</em>, 13:44, 1960.</p>
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		<title>PHY454H1S Continuum Mechanics.  Lecture 3.  Strain tensor review.  Stress tensor.  Taught by Prof. K. Das.</title>
		<link>http://peeterjoot.wordpress.com/2012/01/20/phy454h1s-continuum-mechanics-lecture-3-strain-tensor-review-stress-tensor-taught-by-prof-k-das/</link>
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		<pubDate>Fri, 20 Jan 2012 14:08:15 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[Math and Physics Learning.]]></category>
		<category><![CDATA[elasticity]]></category>
		<category><![CDATA[PHY454H1S]]></category>
		<category><![CDATA[strain tensor]]></category>
		<category><![CDATA[stress tensor]]></category>

		<guid isPermaLink="false">http://peeterjoot.wordpress.com/?p=2438</guid>
		<description><![CDATA[[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)] Disclaimer. Peeter&#8217;s lecture notes from class. May not be entirely coherent. Review. Strain. Strain is the measure of stretching. This is illustrated pictorially [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2438&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p><a href="http://sites.google.com/site/peeterjoot2/math2012/continuumL3.pdf">[Click here for a PDF of this post with nicer formatting and figures if the post had any (especially if my latex to wordpress script has left FORMULA DOES NOT PARSE errors.)]</a></p>
<h1>Disclaimer.</h1>
<p>Peeter&#8217;s lecture notes from class.  May not be entirely coherent.</p>
<h1>Review.  Strain.</h1>
<p>Strain is the measure of stretching.  This is illustrated pictorially in figure (\ref{fig:continuumL3:continuumL3fig1})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL3fig1}<br />
   \caption{Stretched line elements.}<br />
\end{figure}</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bds%27%7D%5E2+-+ds%5E2+%3D+2+e_%7Bik%7D+dx_i+dx_k%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.1%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{ds&#039;}^2 - ds^2 = 2 e_{ik} dx_i dx_k,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.1)' title='&#92;begin{aligned}{ds&#039;}^2 - ds^2 = 2 e_{ik} dx_i dx_k,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.1)' class='latex' /></p>
<p>where <img src='http://s0.wp.com/latex.php?latex=e_%7Bik%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='e_{ik}' title='e_{ik}' class='latex' /> is the strain tensor.  We found</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7De_%7Bik%7D+%3D+%5Cfrac%7B1%7D%7B%7B2%7D%7D+%5Cleft%28+%5Cfrac%7B%5Cpartial+%7Be_i%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Be_k%7D%7D%7B%5Cpartial+%7Bx_i%7D%7D+%2B%5Cfrac%7B%5Cpartial+%7Be_l%7D%7D%7B%5Cpartial+%7Bx_i%7D%7D+%5Cfrac%7B%5Cpartial+%7Be_l%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+%5Cright%29%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.2%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}e_{ik} = &#92;frac{1}{{2}} &#92;left( &#92;frac{&#92;partial {e_i}}{&#92;partial {x_k}} +&#92;frac{&#92;partial {e_k}}{&#92;partial {x_i}} +&#92;frac{&#92;partial {e_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {e_l}}{&#92;partial {x_k}} &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.2)' title='&#92;begin{aligned}e_{ik} = &#92;frac{1}{{2}} &#92;left( &#92;frac{&#92;partial {e_i}}{&#92;partial {x_k}} +&#92;frac{&#92;partial {e_k}}{&#92;partial {x_i}} +&#92;frac{&#92;partial {e_l}}{&#92;partial {x_i}} &#92;frac{&#92;partial {e_l}}{&#92;partial {x_k}} &#92;right)&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.2)' class='latex' /></p>
<p>Why do we have a factor two?  Observe that if the deformation is small we can write</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bds%27%7D%5E2+-+ds%5E2+%26%3D+%28ds%27+-+ds%29%28ds%27+%2B+ds%29+%5C%5C+%26%5Capprox+%28ds%27+-+ds%29+2+ds%5Cend%7Baligned%7D+&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{ds&#039;}^2 - ds^2 &amp;= (ds&#039; - ds)(ds&#039; + ds) &#92;&#92; &amp;&#92;approx (ds&#039; - ds) 2 ds&#92;end{aligned} ' title='&#92;begin{aligned}{ds&#039;}^2 - ds^2 &amp;= (ds&#039; - ds)(ds&#039; + ds) &#92;&#92; &amp;&#92;approx (ds&#039; - ds) 2 ds&#92;end{aligned} ' class='latex' /></p>
<p>so that we find </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cfrac%7B%7Bds%27%7D%5E2+-+ds%5E2+%7D%7Bds%5E2%7D%5Capprox%5Cfrac%7Bds%27+-+ds+%7D%7Bds%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.3%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;frac{{ds&#039;}^2 - ds^2 }{ds^2}&#92;approx&#92;frac{ds&#039; - ds }{ds}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.3)' title='&#92;begin{aligned}&#92;frac{{ds&#039;}^2 - ds^2 }{ds^2}&#92;approx&#92;frac{ds&#039; - ds }{ds}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.3)' class='latex' /></p>
<p>Suppose for example, that we have a diagonalized strain tensor, then we find</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bds%27%7D%5E2+-+ds%5E2+%3D+2+e_%7Bii%7D+%5Cleft%28%5Cfrac%7Bdx_i%7D%7Bds%7D%5Cright%29%5E2%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.4%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{ds&#039;}^2 - ds^2 = 2 e_{ii} &#92;left(&#92;frac{dx_i}{ds}&#92;right)^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.4)' title='&#92;begin{aligned}{ds&#039;}^2 - ds^2 = 2 e_{ii} &#92;left(&#92;frac{dx_i}{ds}&#92;right)^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.4)' class='latex' /></p>
<p>so that</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cfrac%7B%7Bds%27%7D%5E2+-+ds%5E2+%7D%7Bds%5E2%7D%3D+2+e_%7Bii%7D+dx_i%5E2%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.5%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;frac{{ds&#039;}^2 - ds^2 }{ds^2}= 2 e_{ii} dx_i^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.5)' title='&#92;begin{aligned}&#92;frac{{ds&#039;}^2 - ds^2 }{ds^2}= 2 e_{ii} dx_i^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.5)' class='latex' /></p>
<p>Observe that here again we see this factor of two.</p>
<p>If we have a diagonalized strain tensor, the tensor is of the form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7De_%7B11%7D+%26+0+%26+0+%5C%5C+0+%26+e_%7B22%7D+%26+0+%5C%5C+0+%26+0+%26+e_%7B33%7D+%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.6%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}e_{11} &amp; 0 &amp; 0 &#92;&#92; 0 &amp; e_{22} &amp; 0 &#92;&#92; 0 &amp; 0 &amp; e_{33} &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.6)' title='&#92;begin{aligned}&#92;begin{bmatrix}e_{11} &amp; 0 &amp; 0 &#92;&#92; 0 &amp; e_{22} &amp; 0 &#92;&#92; 0 &amp; 0 &amp; e_{33} &#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.6)' class='latex' /></p>
<p>we have</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bdx_i%27%7D%5E2+-+dx_i%5E2+%3D+2+e_%7Bii%7D+dx_i%5E2%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.7%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{dx_i&#039;}^2 - dx_i^2 = 2 e_{ii} dx_i^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.7)' title='&#92;begin{aligned}{dx_i&#039;}^2 - dx_i^2 = 2 e_{ii} dx_i^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.7)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%7Bds%27%7D%5E2+%3D+%281+%2B+2+e_%7B11%7D%29+dx_1%5E2%2B%281+%2B+2+e_%7B22%7D%29+dx_2%5E2%2B%281+%2B+2+e_%7B33%7D%29+dx_3%5E2%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.8%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}{ds&#039;}^2 = (1 + 2 e_{11}) dx_1^2+(1 + 2 e_{22}) dx_2^2+(1 + 2 e_{33}) dx_3^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.8)' title='&#92;begin{aligned}{ds&#039;}^2 = (1 + 2 e_{11}) dx_1^2+(1 + 2 e_{22}) dx_2^2+(1 + 2 e_{33}) dx_3^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.8)' class='latex' /></p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Dds%5E2+%3D+dx_1%5E2%2Bdx_2%5E2%2Bdx_3%5E2%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.9%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}ds^2 = dx_1^2+dx_2^2+dx_3^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.9)' title='&#92;begin{aligned}ds^2 = dx_1^2+dx_2^2+dx_3^2&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.9)' class='latex' /></p>
<p>so </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Ddx_1%27+%26%3D+%5Csqrt%7B1+%2B+2+e_%7B11%7D%7D+dx_1+%5Csim+%28+1+%2B+e_%7B11%7D%29+dx_1+%5C%5C+dx_2%27+%26%3D+%5Csqrt%7B1+%2B+2+e_%7B22%7D%7D+dx_2+%5Csim+%28+1+%2B+e_%7B22%7D%29+dx_2+%5C%5C+dx_3%27+%26%3D+%5Csqrt%7B1+%2B+2+e_%7B33%7D%7D+dx_3+%5Csim+%28+1+%2B+e_%7B33%7D%29+dx_3%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.10%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dx_1&#039; &amp;= &#92;sqrt{1 + 2 e_{11}} dx_1 &#92;sim ( 1 + e_{11}) dx_1 &#92;&#92; dx_2&#039; &amp;= &#92;sqrt{1 + 2 e_{22}} dx_2 &#92;sim ( 1 + e_{22}) dx_2 &#92;&#92; dx_3&#039; &amp;= &#92;sqrt{1 + 2 e_{33}} dx_3 &#92;sim ( 1 + e_{33}) dx_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.10)' title='&#92;begin{aligned}dx_1&#039; &amp;= &#92;sqrt{1 + 2 e_{11}} dx_1 &#92;sim ( 1 + e_{11}) dx_1 &#92;&#92; dx_2&#039; &amp;= &#92;sqrt{1 + 2 e_{22}} dx_2 &#92;sim ( 1 + e_{22}) dx_2 &#92;&#92; dx_3&#039; &amp;= &#92;sqrt{1 + 2 e_{33}} dx_3 &#92;sim ( 1 + e_{33}) dx_3&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.10)' class='latex' /></p>
<p>Observe that the change in the volume element becomes the trace</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7DdV%27+%3D+dx_1%27dx_2%27dx_3%27%3D+dV%281+%2B+e_%7Bii%7D%29%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%281.13%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}dV&#039; = dx_1&#039;dx_2&#039;dx_3&#039;= dV(1 + e_{ii})&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.13)' title='&#92;begin{aligned}dV&#039; = dx_1&#039;dx_2&#039;dx_3&#039;= dV(1 + e_{ii})&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(1.13)' class='latex' /></p>
<p>How do we use this?  Suppose that you are given a strain tensor.  This should allow you to compute the stretch in any given direction.</p>
<p>FIXME: find problem and try this.</p>
<h1>Stress tensor.</h1>
<p>Reading for this section is section 2 from the text associated with the prepared notes [1].</p>
<p>We&#8217;d like to consider a macroscopic model that contains the net effects of all the internal forces in the object as depicted in figure (\ref{fig:continuumL3:continuumL3fig2})</p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL3fig2}<br />
   \caption{Internal forces.}<br />
\end{figure}</p>
<p>We will consider a volume big enough that we won&#8217;t have to consider the individual atomic interactions, only the average effects of those interactions.  Will will look at the force per unit volume on a differential volume element</p>
<p>The total force on the body is </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Ciiint+%5Cmathbf%7BF%7D+dV%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.14%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;iiint &#92;mathbf{F} dV,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.14)' title='&#92;begin{aligned}&#92;iiint &#92;mathbf{F} dV,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.14)' class='latex' /></p>
<p>where <img src='http://s0.wp.com/latex.php?latex=%5Cmathbf%7BF%7D&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;mathbf{F}' title='&#92;mathbf{F}' class='latex' /> is the force per unit volume.  We will evaluate this by utilizing the divergence theorem.  Recall that this was</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Ciiint+%28%5Cboldsymbol%7B%5Cnabla%7D+%5Ccdot+%5Cmathbf%7BA%7D%29+dV%3D+%5Ciint+%5Cmathbf%7BA%7D+%5Ccdot+d%5Cmathbf%7Bs%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.15%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;iiint (&#92;boldsymbol{&#92;nabla} &#92;cdot &#92;mathbf{A}) dV= &#92;iint &#92;mathbf{A} &#92;cdot d&#92;mathbf{s}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.15)' title='&#92;begin{aligned}&#92;iiint (&#92;boldsymbol{&#92;nabla} &#92;cdot &#92;mathbf{A}) dV= &#92;iint &#92;mathbf{A} &#92;cdot d&#92;mathbf{s}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.15)' class='latex' /></p>
<p>We have a small problem, since we have a non-divergence expression of the force here, and it is not immediately obvious that we can apply the divergence theorem.  We can deal with this by assuming that we can find a vector valued tensor, so that if we take the divergence of this tensor, we end up with the force.  We introduce the quantity</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cmathbf%7BF%7D+%3D+%5Cfrac%7B%5Cpartial+%7B%5Csigma_%7Bik%7D%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.16%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;mathbf{F} = &#92;frac{&#92;partial {&#92;sigma_{ik}}}{&#92;partial {x_k}},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.16)' title='&#92;begin{aligned}&#92;mathbf{F} = &#92;frac{&#92;partial {&#92;sigma_{ik}}}{&#92;partial {x_k}},&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.16)' class='latex' /></p>
<p>and require this to be a vector.  We can then apply the divergence theorem</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Ciiint+%5Cmathbf%7BF%7D+dV+%3D+%5Ciiint+%5Cfrac%7B%5Cpartial+%7B%5Csigma_%7Bik%7D%7D%7D%7B%5Cpartial+%7Bx_k%7D%7D+d%5Cmathbf%7Bx%7D%5E3+%5Ciint+%5Csigma_%7Bik%7D+ds_k%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.17%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;iiint &#92;mathbf{F} dV = &#92;iiint &#92;frac{&#92;partial {&#92;sigma_{ik}}}{&#92;partial {x_k}} d&#92;mathbf{x}^3 &#92;iint &#92;sigma_{ik} ds_k,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.17)' title='&#92;begin{aligned}&#92;iiint &#92;mathbf{F} dV = &#92;iiint &#92;frac{&#92;partial {&#92;sigma_{ik}}}{&#92;partial {x_k}} d&#92;mathbf{x}^3 &#92;iint &#92;sigma_{ik} ds_k,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.17)' class='latex' /></p>
<p>where <img src='http://s0.wp.com/latex.php?latex=ds_k&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='ds_k' title='ds_k' class='latex' /> is a surface element.  We identify this tensor</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Csigma_%7Bik%7D+%3D+%5Cfrac%7B%5Ctext%7BForce%7D%7D%7B%5Ctext%7BUnit+Area%7D%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.18%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;sigma_{ik} = &#92;frac{&#92;text{Force}}{&#92;text{Unit Area}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.18)' title='&#92;begin{aligned}&#92;sigma_{ik} = &#92;frac{&#92;text{Force}}{&#92;text{Unit Area}}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.18)' class='latex' /></p>
<p>and </p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7Df_i+%3D+%5Csigma_%7Bik%7D+ds_k%2C%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.19%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}f_i = &#92;sigma_{ik} ds_k,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.19)' title='&#92;begin{aligned}f_i = &#92;sigma_{ik} ds_k,&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.19)' class='latex' /></p>
<p>as the force on the surface element <img src='http://s0.wp.com/latex.php?latex=ds_k&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='ds_k' title='ds_k' class='latex' />.  In two dimensions this is illustrated in the following figures (\ref{fig:continuumL3:continuumL3fig3})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL3fig3}<br />
   \caption{2D strain tensor.}<br />
\end{figure}</p>
<p>Observe that we use the index <img src='http://s0.wp.com/latex.php?latex=i&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='i' title='i' class='latex' /> above as the direction of the force, and index <img src='http://s0.wp.com/latex.php?latex=k&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='k' title='k' class='latex' /> as the direction normal to the surface.</p>
<p>Note that the strain tensor has the matrix form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+%5Csigma_%7B12%7D+%26+%5Csigma_%7B13%7D+%5C%5C+%5Csigma_%7B21%7D+%26+%5Csigma_%7B22%7D+%26+%5Csigma_%7B23%7D+%5C%5C+%5Csigma_%7B31%7D+%26+%5Csigma_%7B32%7D+%26+%5Csigma_%7B33%7D%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.20%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &amp; &#92;sigma_{13} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22} &amp; &#92;sigma_{23} &#92;&#92; &#92;sigma_{31} &amp; &#92;sigma_{32} &amp; &#92;sigma_{33}&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.20)' title='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; &#92;sigma_{12} &amp; &#92;sigma_{13} &#92;&#92; &#92;sigma_{21} &amp; &#92;sigma_{22} &amp; &#92;sigma_{23} &#92;&#92; &#92;sigma_{31} &amp; &#92;sigma_{32} &amp; &#92;sigma_{33}&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.20)' class='latex' /></p>
<p>We will show later that this tensor is in fact symmetric.</p>
<p>FIXME: given some 3D forces, compute the stress tensor that is associated with it.</p>
<h2>Examples of the stress tensor</h2>
<h3>Example 1.  stretch in two opposing directions.</h3>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL3fig4}<br />
   \caption{Opposing stresses in one direction.}<br />
\end{figure}</p>
<p>Here, as illustrated in figure (\ref{fig:continuumL3:continuumL3fig4}), the associated (2D) stress tensor takes the simple form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+0+%5C%5C+0+%26+0%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.21%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; 0&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.21)' title='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; 0&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.21)' class='latex' /></p>
<h3>Example 2.  stretch in a pair of mutually perpendicular directions</h3>
<p>For a pair of perpendicular forces applied in two dimensions, as illustrated in figure (\ref{fig:continuumL3:continuumL3fig5})<br />
\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL3fig5}<br />
   \caption{Mutually perpendicular forces}<br />
\end{figure}</p>
<p>our stress tensor now just takes the form</p>
<p align="center"><img src='http://s0.wp.com/latex.php?latex=%5Cbegin%7Baligned%7D%5Cbegin%7Bbmatrix%7D%5Csigma_%7B11%7D+%26+0+%5C%5C+0+%26+%5Csigma_%7B22%7D%5Cend%7Bbmatrix%7D%5Cend%7Baligned%7D+%5Chspace%7B%5Cstretch%7B1%7D%7D%282.22%29&amp;bg=fafcff&amp;fg=2a2a2a&amp;s=0' alt='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; &#92;sigma_{22}&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.22)' title='&#92;begin{aligned}&#92;begin{bmatrix}&#92;sigma_{11} &amp; 0 &#92;&#92; 0 &amp; &#92;sigma_{22}&#92;end{bmatrix}&#92;end{aligned} &#92;hspace{&#92;stretch{1}}(2.22)' class='latex' /></p>
<p>It&#8217;s easy to imagine now how to get some more general stress tensors, should we make a change of basis that rotates our frame.</p>
<h3>Example 3.  radial stretch</h3>
<p>Suppose we have a fire fighter&#8217;s safety net, used to catch somebody jumping from a burning building (do they ever do that outside of movies?), as in figure (\ref{fig:continuumL3:continuumL3fig6}).  Each of the firefighters contributes to the stretch.  </p>
<p>\begin{figure}[htp]<br />
   \centering<br />
   \includegraphics[totalheight=0.2\textheight]{continuumL3fig6}<br />
   \caption{Radial forces.}<br />
\end{figure}</p>
<p>FIXME: what form would the tensor take for this?  Would we have to use a radial form of the tensor?  What would that be?</p>
<h1>References</h1>
<p>[1] L.D. Landau, EM Lifshitz, JB Sykes, WH Reid, and E.H. Dill. Theory of elasticity: Vol. 7 of course of theoretical physics. <em>Physics Today</em>, 13:44, 1960.</p>
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		<title>A start at a rudimentary perl decompiler for linux amd64 objdump output.</title>
		<link>http://peeterjoot.wordpress.com/2012/01/12/a-start-at-a-rudimentary-perl-decompiler-for-linux-amd64-objdump-output/</link>
		<comments>http://peeterjoot.wordpress.com/2012/01/12/a-start-at-a-rudimentary-perl-decompiler-for-linux-amd64-objdump-output/#comments</comments>
		<pubDate>Thu, 12 Jan 2012 21:03:35 +0000</pubDate>
		<dc:creator>peeterjoot</dc:creator>
				<category><![CDATA[C/C++ development and debugging.]]></category>
		<category><![CDATA[amd64]]></category>
		<category><![CDATA[decompilers]]></category>
		<category><![CDATA[disassembly]]></category>
		<category><![CDATA[intel]]></category>
		<category><![CDATA[objdump]]></category>
		<category><![CDATA[object code]]></category>
		<category><![CDATA[reverse engineering]]></category>

		<guid isPermaLink="false">http://peeterjoot.wordpress.com/?p=2431</guid>
		<description><![CDATA[I&#8217;ve got two different versions of some code that appears to behave significantly differently under optimization (in complex performance scenerios where diagnosis, or even tracing is difficult). There are some minor differences in the source code, and I&#8217;m now left wondering whether the compiler is doing something unexpected for the two sets of code. I [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=peeterjoot.wordpress.com&amp;blog=6016055&amp;post=2431&amp;subd=peeterjoot&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>I&#8217;ve got two different versions of some code that appears to behave significantly differently under optimization (in complex performance scenerios where diagnosis, or even tracing is difficult).  There are some minor differences in the source code, and I&#8217;m now left wondering whether the compiler is doing something unexpected for the two sets of code.</p>
<p>I went looking for a decompiler for Linux amd64 code.  I remember once using IDA pro in an ethical hacking course I took, but that&#8217;s not available in IBM&#8217;s standard licensed software offerings I can ask for.  There&#8217;s a <a href="http://en.wikibooks.org/wiki/X86_Disassembly/Disassemblers_and_Decompilers">couple of free decompilers</a> that I found listed on wikipedia.  The only one that appeared to have any sort of amd64 support looked like it was <a href="http://www.backerstreet.com/rec/recdload.htm">backerstreet&#8217;s reverse engineering compiler</a>.  I happened to have a ubuntu VM around that I tried this on, but it crashed even on a 32-bit executable (tried command prompt: &#8216;open /bin/bash&#8217;), so I don&#8217;t really expect it to behave better on a cross target executable.</p>
<p>Since the code in question is not too big (~300 lines of disassembly), I was wondering if I could hack together something that at least removed all the addresses from the disassembly that weren&#8217;t jump targets.</p>
<p>Another thing that was required to make the disassembly sensible was the use of the linked output, nor just the .o files, as the objdump source.  Otherwise I end up with all the function calls left unresolved, like:</p>
<pre>
     272:       e8 00 00 00 00          callq  277
     277:       48 83 c4 20             add    $0x20,%rsp
</pre>
<p>So, from the shared lib, I ran &#8216;objdump -d &#8211;no-show-raw-insn&#8217; and filtered that with a simpler re-labler</p>
<p><pre class="brush: perl;">
#!/usr/bin/perl

my @lines = () ;
my %addressMap = () ;
my $lableCount = 0 ;

while (&lt;&gt;)
{
   chomp ;

   if ( /\tj\S+\s+(\S+)/ )
   {
      unless ( defined $addressMap{$1} )
      {
         $addressMap{$1} = &quot;L$lableCount&quot; ;

         $lableCount++ ;
      }
   }

   push( @lines, $_ ) ;
}

my @addrs = ( keys %addressMap ) ;

foreach my $line (@lines)
{
   foreach ( @addrs )
   {
      $line =~ s/\t(j\S+)  # example: &lt;tab&gt;je
                 \s+
                 $_
                 \s.*
                /printf(&quot;\t%-6s $addressMap{$_}&quot;, $1)/xe ;

      $line =~ s/^ $_:/ $addressMap{$_}:/ ;
   }

   $line =~ s/^ [0-9a-f]+:// ;

   print &quot;$line\n&quot; ;
}
</pre></p>
<p>So, now instead of a mess like:</p>
<pre>
 3639ff3:       test   %rbp,%rbp
 3639ff6:       mov    (%rax),%r14
 3639ff9:       je     363a02a
 3639ffb:       mov    0x788(%r14),%rbx
 363a002:       test   %rbx,%rbx
 363a005:       je     363a02c
 363a007:       mov    $0x1,%edi
</pre>
<p>I get something like:</p>
<pre>
   test   %rbp,%rbp
   mov    (%rax),%r14
   je     L21
   mov    0x788(%r14),%rbx
   test   %rbx,%rbx
   je     L31
   mov    $0x1,%edi
</pre>
<p>(with the lables in the jump targets also renamed, and retained).</p>
<p>The next logical step would be to implement a register renamer.  Since I&#8217;ve now got all the basic blocks identified, it should be possible to figure out any time a general purpose register is clobbered and give the register a new name at any clobber point.  For instance in the following BB these two pairs of rdx variables are logically different:</p>
<pre>
   mov    0x128(%rsp),%rdx
   inc    %rdx
   test   %rbx,%rbx
   je     L191
   mov    %rdx,0x128(%rsp)
   mov    0x78(%rbx),%rdi
   test   %rdi,%rdi
   je     L191
   mov    0xc88(%rdi),%rsi
   test   %rsi,%rsi
   je     L191
   decq   0xcb0(%rdi)
   mov    0x78(%rbx),%r8
   mov    0xcb0(%r8),%rdx
   test   %rdx,%rdx
</pre>
<p>The first rdx use above could be renamed without trouble since it is clobbered in the same BB, so you know that its use is purely local to that block.  However, to rename registers intelligently in general you&#8217;d also have to identify what register dependencies exist between the basic blocks.</p>
<p>Identifying the dependencies would be extra messy on amd64 since we have different aliases for the same registers too, depending on the size of the access to the register (ie: rdx, edx, dx, &#8230;)</p>
<p>In the end I&#8217;ve come to the conclusion that taking this any further would really be too much work.  Perhaps I can spot a difference just by inspection.  Without some preprocessing the assembly is fairly hard to read though.</p>
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