2-1 - Vectors and Tensors - Lesson2-1

Transformation
law for different bases
• When the basis vectors are constant, that is, with
fixed lengths (with the same units) and directions,
the basis is called Cartesian. The general Cartesian
system is oblique. When the basis vectors are unit
and orthogonal (orthonormal), the basis system is
called rectangular Cartesian or simply Cartesian. In
much of our study, we shall deal with Cartesian
bases.
• Orthonormal Cartesian basis
( , , ) or ( , , ).
1
• Position vector of an arbitrary point
2
• The length of a line element dr = dx is given by
+
• Consider the first coordinate basis
( , , )
And a second coordinate basis
( , , )
• Express the same vector in the unbarred coordinate
system without bars and in the barred coordinate
system with bars
3
• We have
Then
where the transformation rule between the barred
and unbarred components in the two coordinate
systems is
is the direction cosines of the barred coordinate
system with respect to the unbarred coordinate
system.
4
• The rectangular array of these components is
denoted by L and has the form
𝑙 𝑙 𝑙
𝐋 𝑙 𝑙 𝑙
𝑙 𝑙 𝑙
• This rectangular array L of scalars is called a
matrix, and the quantities are called the
elements of L.
5
EXAMPLE
• Let (i = 1, 2, 3) be a set of orthonormal base
vectors, and
• Define a new right‐handed coordinate basis by
1
𝒆 2𝒆 2𝒆 𝒆
3
1
𝒆2 𝒆 𝒆
2
1
𝒆 𝒆 𝒆 4𝒆
3 2
6
• Determine the direction cosines of the
transformation
𝑙 𝒆 ·𝒆 2/3
𝑙 𝒆 ·𝒆 2/3
𝑙 𝒆 ·𝒆 1/3
𝑙 𝒆 ·𝒆 1/ 2
𝑙 𝒆 ·𝒆 1/ 2
𝑙 𝒆 ·𝒆 0
𝑙 𝒆3 · 𝒆 1/3 2
𝑙 𝒆 ·𝒆 1/3 2
𝑙 𝒆 ·𝒆 4/3 2
7
• The rectangular array of these components is
denoted by L and has the form
1 2 2 2 2 2
𝐋 3 3 0
3 2
1 1 4
8
Theory of Matrices
• If a matrix has m rows and n columns, we will say
that it is an m by n (m × n) matrix, the number of
rows always being listed first. The element in the
ith row and jth column of a matrix A is generally
denoted by , and we will sometimes designate a
matrix by A = [A] = [ ]. A square matrix is one that
has the same number of rows as columns. An n × n
matrix is said to be of order n. The elements of a
square matrix for which the row number and the
column number are the same (i.e., for i = j) are
called diagonal elements or simply the diagonal.
9
• A square matrix is said to be a diagonal matrix if all
of the off‐diagonal elements are zero. An identity
matrix, denoted by I = [I], is a diagonal matrix
whose elements are all 1’s.
• The sum of the diagonal elements is called the
trace of the matrix.
10
Matrix addition and multiplication of a matrix by a
scalar
• The sum of two matrices of the same size is defined
to be a matrix of the same size obtained by simply
adding the corresponding elements. If A is an m × n
matrix and B is an m × n matrix, their sum is an m ×
n matrix C with
for all i and j.
11
• A constant multiple of a matrix is equal to the
matrix obtained by multiplying all of the elements
by the constant. That is, the multiple of a matrix A
by a scalar α is αA and is the matrix obtained by
multiplying each of its elements with α.
• Matrix addition has the following properties:
1. Addition is commutative: A + B = B + A.
2. Addition is associative: A + (B + C) = (A + B) + C.
3. There exists a unique matrix 0, such that A + 0 = 0
+ A = A. The matrix 0 is called zero matrix; all
elements of it are zeros.
4. For each matrix A, there exists a unique matrix −A
such that A + (−A) = 0.
12
5. Addition is distributive with respect to scalar
multiplication: α(A + B) = αA + αB.
6. Addition is distributive with respect to matrix
multiplication (note the order):
(A + B)C = AC + BC.
13
Matrix transpose and symmetric matrix
• If A is an m × n matrix, then the n × m matrix
obtained by interchanging its rows and columns is
called the transpose of A and is denoted by . For
example, consider
The transposes of A and B are
14
• The following basic properties of a transpose
should be noted:
1.
2.
• A square matrix A of real numbers is said to be
symmetric if (i.e. ). It is said to be
skew symmetric if (i.e. ).
• Note that the diagonal elements of a skew
symmetric matrix are always zero.
15
Matrix multiplication
• Consider a vector in a
Cartesian system. We can represent A as a product
of a row matrix with a column matrix
• Let x and y be the vectors
We define the product to be the scalar
16
• It results
• Let A = [ ] be m × n and B = [ ] be n × p
matrices. The product AB is defined to be the m × p
matrix C = [ ] with
17
1. For any real square matrix A, A is said to be normal
if = ; A is said to be orthogonal if =
.
2. If A is a square matrix, the powers of A are defined
by , and so on.
3. Matrix multiplication is associative: (AB)C = A(BC).
4. The product of any square matrix with the identity
matrix is the matrix itself.
5. The transpose of the product is .
18

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