orthogonal curvilinear coords

~NSORS )osition 1 r+r', (A.6-6) (A.6-7) (A.6-8) to func­ he usual st calcu­ :lrSe and ial prop­ ve obtain (A.6-9) (A.6-1O) (A.6-11) tion dyad lting each , the con­ ie integra­ Itegrals of (A.6-12) (A.6-13) e negative r is evalu-Orthogonal Curvilinear Coordinates 569 ated by converting its components (but not the unit dyads) to spherical coordinates, and integrating each over the two spherical angles (see Section A.7). The off-diagonal terms in Eq. (A.6-13) vanish, again due to the symmetry. A.7 ORTHOGONAL CURVILINEAR COORDINATES Enormous simplificatons are achieved in solving a partial differential equation if all boundaries in the problem correspond to coordinate surfaces, which are surfaces gener­ ated by holding one coordinate constant and varying the other two. Accordingly, many special coordinate systems have been devised to solve problems in particular geometries. The most useful of these systems are orthogonal; that is, at any point in space the vectors aligned with the three coordinate directions are mutually perpendicular. In gen­ eral, the variation of a single coordinate will generate a curve in space, rather than a straight line; hence the term curvilinear. In this section a general discussion of orthogo­ nal curvilinear systems is given first, and then the relationships for cylindrical and spher­ ical coordinates are derived as special cases. The presentation here closely follows that in Hildebrand (1976). Base Vectors Let (Ul, U2' U3) represent the three coordinates in a general, curvilinear system, and let ei be the unit vector that points in the direction of increasing ui• A curve produced by varying U;, with uj (j=1= i) held constant, will be referred to as a "u; curve." Although the base vectors are each of constant (unit) magnitude, the fact that a U; curve is not gener­ ally a straight line means that their direction is variable. In other words, ei must be regarded as a function of position, in general. This discussion is restricted to coordinate systems in which (el, e2, e3) is an orthonormal and right-handed set. At any point in space, such a set has the properties of the base vectors used in Section A.3, namely, e;·ej= Su' (A.7-1) e; X ej = 2:s;jkek' (A.7-2) k Recalling that the multiplication properties of vectors and tensors are derived from these relationships (and their extensions to unit dyads), we see that all of the relations in Section A.3 apply to orthogonal curvilinear systems in general, and not just to rectangu­ lar coordinates. It is with spatial derivatives that the variations in ei come into play, and the main task in this section is to show how the various differential operators differ from those given in Section AA for rectangular coordinates. In the process, we will obtain general expressions for differential elements of arc length, volume, and surface area. Arc Length The key to deriving expressions for curvilinear coordinates is to consider the arc length along a curve. In particular, let Si represent arc length along a u; curve. From Eq. (A.6­ 2), a vector that is tangent to a Ui curve and directed toward increasing Ui is given by 570 VECTORS AND TENSORS (A.7-3) where h; == ds/du; is called the scale factor. In general, u; will differ from s;, so that a; is nota unit tangent (i.e., a; =1= e; ). The relationship between a coordinate and the corres­ ponding arc length is embodied in the scale factor, which generally depends on position. For an arbitrary curve in space with arc length s, we find that _ dr _ " ar du; _ "h du;t---LJ---LJ ·e·- (A.7-4)ds ; au; ds ;" ds· The properties of the unit tangent imply that " (A.7-5) H=I=LJhf (dU)Z-' ; ds or, after rearranging, that I/Z ds = [2: h~(dUi] (A.7-6) I The fact that a space curve has an independent geometric significance indicates that the quantity in brackets must be 'invariant to the choice of coordinate system. Volume and Surface Area For a given coordinate system, the differential volume element dV corresponds to the volume of a parallelepiped with adjacent edges e;ds;. From Eq. (A.7-3) and the defini­ tion of hi' the edges can be represented also as a;du;. As noted in connection with Eq. (A.3-20), the volume is given by the scalar triple product, or (A.7-7) Expressions for differential surface elements are obtained in a similar manner, by using the geometric interpretation of the cross product. Thus, letting dS; refer to a surface on which the coordinate u; is held constant, we obtain dS, =laZ xa31duz dU3=hzh3 duz dU3' (A.7-8a) dSz=la3 xa11dU j dU3=h,h3 dU j dU3' (A.7-8b) dS3= la, X azl dU j duz =h1hz du[ duz. (A.7-8c) Gradient An expression for the gradient is obtained by examining the differential change in a scalar function associated with a differential change in position. Lettingf=f(uJ, uz, u3), we have af df= 2: -dU;. (A.7-9) ; au; From Eqs. (A.6-5) and (A.7-4), df can also be written as Orthogonal Curvilinear C< where the quantities A; see that A; = (l/h;) af/a~ This is the general expl linear coordinate syster Several identities other differential opera From this and identity Using Eqs. (A.7-2) ane Two analogous relatio these and identity (8) ( Divergence To evaluate the divergl in mind that the unit Table A-I, the diverge It is seen from Eq. (A zero. Using Eq. (A.7-: Treating the other con 571 Orthogonal Curvilinear CoordinatesS AND TENSORS (A.7-3) m s;, so that 3; 1 and the corres­ nds on position. (A.7-4) (A.7-5) (A.7-6) dicates that the esponds to the and the defini­ ection with Eq. (A.7-7) anner, by using to a surface on (A.7-8a) (A.7-8b) (A.7-8c) .al change in a =!(u j, Uz, u3), (A.7-9) d!=dr.Vf=(Lh;e i dU;)'(L Ajej) = Lh;A; dui , (A.7-1O) i j i where the quantities A; are to be determined. Comparing Eqs. (A.7-9) and (A.7-10), we see that A; =(1Ih;) af/au; and (A.7-11) This is the general expression for the gradient operator, valid for any orthogonal, curvi­ linear coordinate system. Several identities involving Ui, hi' and ei are useful in deriving expressions for the other differential operators. From Eq. (A.7-11) we obtain (A.7-12) From this and identity (7) of Table A-I, it follows that e·VXVu;=vxt.=O. (A.7-13) , Using Eqs. (A.7-2) and (A.7-12) we find, for example, that (A.7-14) Two analogous relations are obtained by cyclic permutation of the subscripts. From these and identity (8) of Table A-I it is found that (A.7-15) Divergence To evaluate the divergence of the vector v, we first consider just one component. Bearing in mind that the unit vectors are not necessarily constants, and using identity (2) of Table A-I, the divergence of vjej is expanded as V ·(vlej ) = V· [(hzh3Vj) (h:~J] = V(hzh3VI)' h:~3 +hzh3vj V· (h:~J (A.7-16) It is seen from Eq. (A.7-15) that the term on the far right of Eq. (A.7-16) is identically zero. Using Eq. (A.7-11) to evaluate the gradient in the remaining term, we find that (A.7-17) Treating the other components in a similar manner results in 572 VECTORS AND TENSORS Orthogonal Curvilinea TABLE A.2 Differential Operatio which is the general expression for the divergence. (1) Curl (2) The curl of v is evaluated in a similar manner. Expanding one component, we obtain (3) (A.7-18) (A.7-19) (4) (5)Again, the term on the far right vanishes [see Eq. (A.7-13)]. The remaining term is expanded further as (6) When all components are included, the curl is written most compactly as a determinant: (A.7-21) Laplacian The Laplacian for curvilinear coordinates is derived from Eq. (A.7-18) by setting v=V, or V; = (l/h) a/au;. The result is Material Derivative The material derivative is given by D =i+v.v=i+ L ~~. (A.7-23)Dtat at i h; au; This completes the general results for orthogonal curvilinear coordinates. The re­ mainder of this section is devoted to the three most useful special cases. Rectangular Coordinates In rectangular coordinates, which we have written as either (x, y, z) or (XI' X2' x3)' the position vector is given by Eq. (A.6-1). In this case it is readily shown from Eq. (A.7­ 3) that hx=hy=h z= I, and it is found that the general expressions for the differential operators reduce to the forms given in Section A.4. For convenient reference, the princi­ pal results are summarized in Table A-2. (7) (8) (9) (10) (11) (12) (13) a In these relalionships,[ is any Cylindrical Coordi Circular cylindrical co coordinates in Fig. A-: the position vector is ( Alternatively, the posit where er, the unit vec more convenient for d volves only constant b~ coordinates there is an 'lD TENSORS Orthogonal Curvilinear Coordinates 573 TABLE A·2 (A.7-I8) Differential Operations in Rectangular Coordinates a (I) V!=Y.. e +Y..e +Y..eilx x ily Y ilz' (2) ilv ilvy ilv,V·v=----2:+-+­ ilx ily ilz we obtain (3) Vx v =e:'-~:lex + [~; -~:' ley + [~~:-~~]ez (4) ill! ill! ill! (A.7-I9) V2!=-+-+­ilx 2 ilyl ilz l (5)ning tenn is (Vv) = ilvx xx ilx (6) ilv(Vv) =---1 xy ilx (7) ilv,(Vv)x,=­ (A.7-20) ilx (8) ilvx ( Vv)yx=­detenninant: ily (9) ilvy (Vv)yy= ily (A.7-2I) (10) ilv,(Vv)y,=­ily (11) (Vv) = ilvx zx ilz etting v= V, (12) ilv (Vv) =---1 ,y ilz )] (13) ilv,(Vv)zz=­ilz . a In these relationships,f is any differentiable scalar function and v is any differentiable vector function. (A.7-22) Cylindrical Coordinates Circular cylindrical coordinates, denoted as (r, (), z), are shown in relation to rectangular coordinates in Fig. A-3(a). Using (A.7-23) x = r cos (), y = r sin e, Z =Z , (A.7-24) the position vector is expressed as ates. The re- r = r cos ee+ r sin eey+zez. (A.7-25)x Alternatively, the position vector is given by (A.7-26)x2, x3)' the m Eq. (A.7­ where er, the unit vector in the radial direction, is given below. Equation (A.7-25) is differential more convenient for derivations involving differentiation or integration because it in­ " the princi­ volves only constant base vectors. Whichever expression is used, note that in cylindrical coordinates there is an irregularity in our notation, such that Irl = (r2 +Z2)J/2 *-r: 574 VECTORS AND TENSORS Orthogonal Curvilinear Coordin, z z () r r r I I y ././ Y (a) (b) Figure A-3. Cylindrical coordinates (a) and spherical coordinates (b). The ranges of the angles are: cylindri­ cal, O:s e:s27T; spherical, O:s e:s 7T and O:s c/>:S27T. To illustrate the derivation of scale factors and base vectors, consider the 0 quanti­ ties in cylindrical coordinates. From Eqs. (A.7-3) and (A.7-25) it is found that ar h . ao = oeo= -r sm Oex +r cos Oey, (A.7-27) (A.7-28) and eo= (l/ho) (ar/aO). Repeating the calculations for the rand z quantities, the scale factors and base vectors for cylindrical coordinates are found to be (A.7-29) er= cos Oex +sin Oey , (A.7-30a) eo= -sin Oe+cos Oe, (A.7-30b)x y (A.7-30c) The dependence of er and eo on 0 is shown in Eq. (A.6-30); the expression for er confirms the equivalence of Eqs. (A.7-25) and (A.7-26). Inverting the relationships in Eq. (A.7-30) to find expressions for the rectangular base vectors, we obtain ex=cos Oer-sin Oeo, ') (A.7-31a) ey= sin Oe+cos Oeo, (A.7-31b)r (A.7-31c) The differential volume and surface elements are evaluated using Eqs. (A.7-7) and (A.7-8) as dV=r dr dO dz, (A.7-32) dSr=r dO dz, dSo=dr dz, (A.7-33) A summary of differential operations in cylindrical coordinates is presented in Table A-3. Several quantities not shown, including V2v, V· T, and v· Vv, may be obtained from the tables in Chapter 5. TABLE A-3 Differential Operations in Cyli (1) (2) (3) VXv (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) aIn these relationships,Jis any differentia Spherical Coordinates Spherical coordinates, denotel nates in Fig. A-3(b). Note tha x= r sin 0 cc the position vector is expresst r= r sin 6 The position vector is also gil Either expression indicates th: Employing Eq. (A.7-35 the scale factors and base vec 575 l DTENSORS s are: cylindri­ e equanti­ at (A.7-27) (A.7-28) es, the scale (A.7-29) (A.7-30a) (A.7-30b) (A.7-3Oc) ession for er lationships in (A.7-31a) (A.7-31b) (A.7-31c) (A.7-7) and (A.7-32) (A.7-33) presented in ay be obtained Orthogonal Curvilinear Coordinates TABLE A-3 Differential Operations in Cylindrical CoordinatesO (I) Vj=g[e +~g[e +g[ear' rae 0 az' (2) I a I avo av,V,v=--;-{rv )+--+­rar ' r ae az (3) VXv= [~av,_ avo]e + [av, _aV']e +[~~rv )_! aV']er ae az ' az ar0 rar0 rae' (4) V2j=~ .£.(,2[\ +~ a2 j +a2 j rar ar) r2ae2 az2 (5) (Vv),,= av, ar (6) (Vv) 0= avo , ar (7) av,(Vv) ..,=­. ar (8) (Vv) =~ av,_~ 0,rae r (9) (Vv) _!avo+~ 00-r ae r (10) I av, (VV)IIz=-;: ao (II) (Vv) = av, zr az (12) (Vv) 0= avo , az (13) av, (Vv) .. =---" --az GIn these relationships.! is any differentiable scalar function and v is any differentiable vector function. Spherical Coordinates Spherical coordinates, denoted as (1; e, cf», are shown in relation to rectangular coordi­ nates in Fig. A-3(b). Note that O=se=S7T and O=Scf>=S27T. Using x = r sin ecos cf>, y= r sin esin cf>, z= r cos e (A.7-34) the position vector is expressed as r = r sin ecos cf>ex +r sin e sin cf>ey+r cos eez. (A.7-35) The position vector is also given by r= rer. (A.7-36) Either expression indicates that Jrl = 1; consistent with our usual notation. Employing Eq. (A.7-35) in the general relationships for curvilinear coordinates, the scale factors and base vectors for spherical coordinates are evaluated as I576 VECTORS AND TENSORS hr=l, he=r, he/>=rsin e, (A.7-37) er = sin e cos ¢ex+sin e sin ¢ey+cos eez' (A.7-38a) ee = cos e cos ¢ex+cos e sin ¢ey-sin eez, (A.7-38b) ee/> = -sin ¢ex+cos ¢eY' (A.7-38c) The dependence of the three base vectors on eand ¢ is shown in Eq. (A.7-38); the expression for er confirms the equivalence of Eqs. (A.7-35) and (A.7-36). The comple­ mentary expressions for the rectangular base vectors are ex =sin ecos ¢er +cos ecos ¢ee -sin ¢ee/>' (A.7-39a) ey= sin esin ¢er +cos esin ¢ee+cos ¢ee/>' (A.7-39b) ez=cos eer -sin eee' (A.7-39c) Finally, the differential volume and surface elements are evaluated as dV=r2 sin e dr de d¢ (A.7-40) dSr = r2 sin e de d¢, dSe = r sin e dr d¢, dSe/>=r dr de. (A.7-4l) A summary of differential operations in spherical coordinates is presented in Table A-4. As already mentioned, several other quantities, including "ij2v, V· T, and v· Vv, may be obtained from the tables in Chapter 5. Many other orthogonal coordinate systems have been developed. A compilation of scale factors, differential operators, and solutions Of Laplace's equation in 40 such sys­ tems is provided in Moon and Spencer (1961). A.8 SURFACE GEOMETRY In Section A.5 a number of integral transformations were presented involving vectors which are normal or tangent to a surface. The objective of this section is to show how those vectors are computed and how they are used to define such quantities as surface gradients. This completes the information needed to understand the integral forms of the various conservation equations. Much of the material in this section is adapted from Brand (1947). Normal and Tangent Vectors We begin by assuming that positions on an arbitrary surface are described by two coor­ dinates, u and v, which are not necessarily orthogonal. The position vector at the surface is denoted as rs(u, v). From Eq. (A.7-3), two vectors that are tangent to the surface are A= drs B= drs. (A.8-l)dU' dV Specifically, A is tangent to a "u curve" on the surface (i.e., a curve where v is held constant) and B is tangent to a "v curve." In general, these vectors are not orthogonal to one another and they are not of unit length. However, their cross product is orthogonal Surface Geometry TABLE A.4 Differential Operations if (I) (2) (3) Vxv=_I_ r sin 6 (4) (5) (6) (7) (8) (9) (10) (II) (12) (13) a In these relationships f is any differ< to both, and hence is norm by Depending on how U and and B (thereby changing tl closed surface. Suppose now that u z=F(x, y). In this case the The two tangent vectors are A DTENSORS Surface Geometry 57' (A.7-37) TABLE A-4 Differential Operations in Spherical Coordinates a (A.7-38a) (I) af 1 af I af(A.7-38b) Vf=-e +--e +---ear' r a13e r sin 13 a</J 1> (A.7-38c) (2) Ia 1a. 1 avV.v=--(?v )+---(ve sm 13)+--~ r2 ar ' r sin 13al3 r sin 13 al3 =J.. (A.7-38); the 5). The comple-(3) vxv=_I- [~(V sin 13)-ave]e + [_l_av, _l..'!..(rv )]e + [l..'!..(rv )_l aV']e r sin 13 al3 1> a</J r r sin 13 a</J r ar 1> e r ar e r al3 1> (4) 2 V2f=~..'!..(r2~+_I_~(sin 13~)+ __1_ a f r2 ar a~) r2 sin 13 al3 al3 r2 sin2 13 a</J2 (A.7-39a) (5) (Vv),,= aVr(A.7-39b) ar (A.7-39c) (6) (7) av",( Vv) =~ r1> ar(A.7-40) (8) (Vv) =lavr_~ r de. (A.7-4l) Or ral3 r (9)resented in Table " and v· Vv, may (10) 1~ (vv)01>=~ al3 A compilation of (11) (Vv) =_I_av,_~ 1>r r sin 13 a</J r 1 in 40 such sys­ (12) (Vv) =_I_avo_ vp cot 13 1>0 r sin 13 a</J r (13) (Vv) =_1_ ~+::L+ Vo cot 13 1>1> r sin 13 a</J r r involving vectors 11 is to show how mtities as surface >gral forms of the is adapted from ed by two coor­ tor at the surface D the surface are (A.8-l) where v is held ot orthogonal to uct is orthogonal GIn these relationships f is any differentiable scalar function and v is any differentiable vector function. to both, and hence is normal to the surface. It follows that a unit normal vector is given by AxB (A.8-2)n=!AXBI' Depending on how u and v are selected, it may be necessary to reverse the order of A and B (thereby changing the sign of n) to make the unit normal point outward from a closed surface. Suppose now that u =x, v =y, and the surface is represented as the function z = F(x, y). In this case the position vector at the surface is given by rs=xex+yey+F(x, y)ez · (A.8-3) The two tangent vectors are found to be ars aFA=-= (l)ex + (O)ey+-e ' (A.8-4)ax ax z 578 VECTORS AND TENSORS Surface Geometry iJr iJFB=-s=(O)e +(l)e +- (A8-5)ay x Yay' and the unit normal is computed as _ AXB _ -(aF/ax)ex-(aF/ay)ey+ez (A8-6) n -!A X BI-[(aF/ax)2 +(aF/ay)2 + 1] 1/2 • An alternate way to compute a unit normal is to represent the surface as G(x, y, z) =°and to use (Hildebrand, 1976, p. 294) VG (A8-7)n=IVGI' It is readily confirmed that if G(x, y. z) ==z-F(x, y), this fonnula yields the same result as in Eq. (A.8-6). As already mentioned, n may have to be replaced by -n to give the outward normal. Reciprocal Bases Until now we have employed base vectors, denoted as ei, which form orthonormal, right-handed sets. The special properties of such sets, as given by Eqs. (A.7-l) and (A.7­ 2), make them very convenient for the representation of other vectors. However, base vectors need not be orthononnal, or even orthogonal. Indeed, an arbitrary vector can be expressed in terms of any three vectors which are not coplanar or, equivalently, not linearly dependent (Brand, 1947). The volume of a parallelepiped which has the three vectors as adjacent edges will be nonzero only if the vectors are not coplanar; as dis­ cussed in Section A3, that volume is equal to the scalar triple product. Thus, any three vectors with a nonvanishing scalar triple product constitute a possible basis. In describ­ ing the local curvature of a surface and other surface-related quantities, it proves conve­ nient to employ two complementary sets of base vectors, neither of which is orthogonal. The special properties of these base vectors leads them to be termed reciprocal bases. Accordingly, a brief discussion of the properties of reciprocal bases is needed. One basis of interest is the set of vectors defined above, (A, B, n). Their scalar triple product is H=AXB·n. (A8-8) Because A and B are tangent to the surface and n is nonnal to it, they are obviously not coplanar; thus, H oF 0. Suppose now that (A, B, n) and a second set (a, b, c) are recipro­ cal bases. Then, by definiton, they satisfy a·A=I, a·B=O, a·n=O, b·A=O, b·B=l, b·n=O, (A.8-9) c·A=O, c·B=O, c·n= 1. Notice that each base vector is orthogonal to two members of the reciprocal set. It is straightforward to verify that these relationships will hold if BXn AxB b=nXA a=-­ c=--=n (A.8-1O)H . H' H' An orthononnal basis is its orthononnal basis we have 1 For a surface represen Surface Gradient The key to describing variati is the suiface gradient oper; for three-dimensional space. with arc length s. Evaluatil coordinates u and v. we obta t t=­ From Eqs. (A.8-14) and (Al Accordingly, the rate of chat ~L as By analogy with Eq. (A6-3) the surface gradient operator For a surface describe( where H is given by Eq. ( corresponding to a constant' tor reduces to V=s 579 • TENSORS (A.8-S) (A.8-6) 1S G(x, y, z) (A.8-7) same result l to give the llrthonormal, 1) and (A.7­ )wever, base rector can be valently, not has the three lanar; as dis­ us, any three s. In describ­ >roves conve­ is orthogonal. procal bases. ded. . Their scalar (A.8-8) bviously not e) are recipro­ (A.8-9) cal set. It is (A.8-1O) Surface Geometry An orthonormal basis is its own reciprocal; compare Eqs. (A.8-9) and (A.7-I). For an orthonormal basis we have H = 1. For a surface represented as z =F(x, y), it is found that \ (A.8-11) (A.8-12) aF aF (aF)2] e +-eH 2 axay ax Yay Z b=-1 { ---ex+ [1+ -aF} . (A.8-l3) Surface Gradient The key to describing variations of geometric quantities or field variables over a surface is the surface gradient operator, denoted as V; this operator is for surfaces what V iss for three-dimensional space. To derive an expression for Vwe consider a surface curve s with arc length s. Evaluating the unit tangent using Eq. (A.6-2) and employing the coordinates u and v, we obtain t= drs = ars du + ars dv =Adu +B dv. (A.8-I4)ds auds avds ds ds From Eqs. (A.8-I4) and (A.8-9) it is found that du dv (A.8-IS) a·t= ds' b·t= ds' Accordingly, the rate of change of a scalar function f along the curve is given by af = af du +af dv = t. (a af +b af) . (A.8-I6) as auds avds au av By analogy with Eq. (A.6-3), we define the quantity in parentheses as Vsf Accordingly, the surface gradient operator is a aVs=a -+b-. (A.8-I7)au av For a surface described by z= F(x, y), the result is V =_1 {[I + (aF)2] e _ aF aFe + aFe }~ s H2 ay x axayYax axZ +_1 {_aFaF e +[I+(aF)2]e +aFe }!-- (A.8-I8)H2 axayx ax Yay Zay where H is given by Eq. (A.8-11). As a simple example, consider a planar surface corresponding to a constant value of z. In this case H =1 and the surface gradient opera­ tor reduces to (z =F= constant), (A.8-I9) 580 ReferencesVECTORS AND TENSORS which is simply a two-dimensional form of V involving the surface coordinates x and y. As shown in Brand (1947, p. 209), the gradient and surface gradient operators are related by V=Vs+nn·V, (A.8-20) so that an alternative expressi~ for Vs is Vs=(o-nn)·V. (A.8-2l) Subtracting the term nn· V from V has the effect of removing from the operator any contributions which are not in the tangent plane. Mean Curvature The unit nonnal vector will be independent of position only for a planar surface. The rate of change of n along a surface is clearly related to the extent of surface curvature: The greater the curvature, the more rapid the variation in n. A measure of the local curvature of a surface that is useful in fluid mechanics is the mean curvature, 'J£, which is proportional to the surface divergence of n. Specifically, I'J£= --V ·n (A.8-22)2s . For a surface expressed as z=F(x, y), the mean curvature is given by 2 2 2 2'J£=_1{[I + (ilF)2]il F -2 ilFilF il F +[1 + (ilF)2]il F}. (A.8-23) H 3 ily ilx2 ilx ily ilxily ilx ill For a surface with z = F(x) only, this simplifies to 22'Je = [(ilF)2 +I]~ 3/2 il F. (A.8-24)ilx ilx2 Two important special cases are cylinders and spheres. For a cylinder of radius R, with the surface defined as z= F(x) = (R2 _X2)l/2, Eq. (A.8-24) gives ?}£= -~ (cylinder). (A.8-25)2R For a sphere with z=F(x, y)=(R2-x2-1)l/2, it is found from Eq. (A.8-23) that ?}£=-~ (sphere). (A.8-26)R Unlike most surfaces, the curvature of cylinders and spheres is uniform (i.e., indepen­ dent of position). For any piece of a surface described by z = F(x, y), it is found that 'J£<O when epoints away from the local center of curvature (as in these examples) z and 'J£>O when epoints toward the local center of curvature. For a general closed z surface, 'J£<O when the outward normal n points away from the local center of curva­ ture, and 'Je>0 when n points toward the local center of curvature. In other words, 'Je is negative or positive according to whether the surface is locally convex or concave, respectively. Integral Transformation One additional integral transforr and surface curvature. Setting v: As discussed in connection witl surface S and outwardly nonnal first noting that n XV = n XV s; t] tion of the left-hand side, it is f( or, using the symbol for mean c This result is used in Chapter 5 including the effects of surface Aris, R. Vectors, Tensors, and the 1 Cliffs, NJ, 1962 (reprinted b Bird, R. B., R. C. Armstrong, and edition. Wiley, New York, 1< Bird, R. B., W. E. Stewart, and E. Brand, L. Vector and Tensor Analy Hay, G. B. Vector and Tensor Anal Hildebrand, F. B. Advanced Calm Cliffs, NJ, 1976. Jeffreys, H. Cartesian Tensors. Cal Moon, P. and D. E. Spencer. Field Morse, P. M. and H. Feshbach. Me Prager, W. Introduction to Mechm New York, 1973). Wilson, E. B. Vector Analysis. Yall ReferencesDTE SORS 581 ites x and y. perators are (A.8-20) (A.8-21) Iperator any urface. The e curvature: [If the local e, 'Je, which (A. 8-22) (A.8-23) (A. 8-24) of radius R, (A.8-25) that (A.8-26) e., indepen­ found that examples) era! closed ,r of curva­ ords, 'Je is ~r concave, Integral Transformation One additional integral transformation is needed, which involves the surface gradient and surface curvature. Setting v =nj in Eg. (A.5-7) gives J(nxV)x(nj) dS= JtXnjde. (A.8-27) s c As discussed in connection with Fig. A-2, the unit vector m =tX n is tangent to the surface S and outwardly normal to the contour e. The left-hand side is rearranged by first noting that nXV =nXV; this is shown using Eg. (A.8-20). After further manipula­s tion of the left-hand side, it is found that J(Vs!-Vs·nnj) dS= Jmj de s c or, using the symbol for mean curvature, J(Vs!+2'Jenj) dS= Jmj de. s c (A.8-28) (A.8-29) This result is used in Chapter 5 in deriving the stress balance at a fluid-fluid interface, including the effects of surface tension. References Aris, R. Vectors, Tensors, and the Basic Equations of Fluid Mechanics. Prentice-Hall, Englewood Cliffs, NJ, 1962 (reprinted by Dover, New York, ]989). Bird, R. B., R. C. Armstrong, and O. Hassager. Dynamics of Polymeric Liquids, Vol. 1, second edition. Wiley, New York, 1987. Bird, R. B., W. E. Stewart, and E. N. Lightfoot. Transport Phenomena. Wiley, New York, 1960. Brand, L. Vector and Tensor Analysis. Wiley, New York, 1947. Hay, G. B. Vector and Tensor Analysis. Dover, New York, 1953. Hildebrand, F. B. Advanced Calculus for Applications, second edition. Prentice-Hall, Englewood Cliffs, NJ, 1976. Jeffreys, H. Cartesian Tensors. Cambridge University Press, Cambridge, 1963. Moon, P. and D. E. Spencer. Field Theory Handbook. Springer-Verlag, Berlin, 1961. Morse, P. M. and H. Feshbach. Methods of Theoretical Physics. McGraw-Hill, New York, 1953. Prager, W. Introduction to Mechanics of Continua. Ginn, New York, 1961 (reprinted by Dover, New York, 1973). Wilson, E. B. Vector Analysis. Yale University Press, New Haven, 1901.