LECTURE 3.

VECTOR-
TENSOR ANALYSIS PART 1

Transport Phenomena
CHEB417-01
2024 Spring Semester / MW 11:00 ~ 12:15
Outline
• Introduction

• Vector resolution, inner product, and outer product

• Vector-tensor analysis

• Vector and coordinate system

• The concept of tensor

• Transform rule for the components of vectors

Solution of flow problems

(1) The fundamental postulates

(2) Mathematical analysis

(3) Constitutive equations / Equation of State / Other experimental information

(4) Intuition
Introduction
• The flow problems which we intend to solve are often very complex

• Need for a tool that contain as much information as possible which

relate to the physical problem as closely as possible
→ Symbols
e.g.) Velocity (v) : a quantity having both magnitude and direction (a vector)

A symbol in boldface type: “vector” = Gibbs notation

𝐯𝐯

Streamline
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• Before moving on, let’s familiarize ourselves with vectors

 Vector resolution (벡터 분해)
• A vector can be resolved into two component vectors

Vector summation

a Vector resolution into

= b + x,y coordinate
component vector
c
b a
Summation between
coordinate components
c

• This is to do the vector

calculation easier and
more efficiently
• While this seems very obvious, it will become very powerful when dealing
with vectors in three dimension
mrw0119.tistory.com
Vector inner product (벡터 내적)
• Inner product is often called the scalar product or dot product, and
expressed in symbol as ∙ (dot)

• Two methods to calculate the inner product of two vectors a and b,

(1) To multiply each component value of the coordinate and adding them

4
a∙b
3
(4,3)
a = (𝑎𝑎𝑥𝑥 x 𝑏𝑏𝑥𝑥 ) + (𝑎𝑎𝑦𝑦 x 𝑏𝑏𝑦𝑦 )
2

1 = (4 x 6) + (3 x 0)
b (6,0)
0 1 2 3 4 5 6 7
= 24
 (2) To multiply to the magnitude of the vectors in which the direction match

a ∙ b = a b cos 𝜃𝜃 b cos 𝜃𝜃 2
a
1
b
a∙b=b∙a 0 1 2 3

commutative law (교환법칙)

a ∙ b = a b cos 90 = 0
• If vector a and b are unit vectors (magnitude is unity),

a ∙ b = a b cos 𝜃𝜃 = 1 x 1 x cos 𝜃𝜃 = cos 𝜃𝜃

mrw0119.tistory.com
• The scalar product (inner product) of an arbitrary vector and a unit vector
yields the projection of the vector on a line defined by the unit vector

Here, vector v may be represented in

terms of its three scalar components 𝑣𝑣𝑥𝑥 ,
𝑣𝑣𝑦𝑦 , 𝑣𝑣𝑧𝑧 and by the relationship,

(𝑣𝑣𝑥𝑥 , 𝑣𝑣𝑦𝑦 , 𝑣𝑣𝑧𝑧 ) 𝐯𝐯 = 𝐢𝐢𝑣𝑣𝑥𝑥 + 𝐣𝐣𝑣𝑣𝑦𝑦 + 𝐤𝐤𝑣𝑣𝑧𝑧

,where 𝐢𝐢, 𝐣𝐣, 𝐤𝐤 are the three unit base vectors

𝐯𝐯 � 𝐢𝐢 = 𝑣𝑣 cos 𝜃𝜃𝑣𝑣𝑣𝑣 = 𝑣𝑣𝑥𝑥

,where 𝜃𝜃𝑣𝑣𝑣𝑣 is the angle between the

vector 𝐯𝐯 and the 𝑥𝑥-axis.
Vector outer product (벡터 외적)
• Outer product is often called the cross product, and expressed in symbol
as × (cross)
• The major difference between inner product and outer product is that while
inner product can be used in both 2D and 3D, outer product only has physical
meaning in 3D.
• Inner product yields a scalar

• Outer product yields a vector that is perpendicular to both vectors

b
𝐚𝐚 × 𝐛𝐛 = 𝐜𝐜
b
a
𝐛𝐛 × 𝐚𝐚
a

Vector c is perpendicular Unlike inner product,

to both vector a and b commutative law (교환법칙)
does not hold for outer product
• The outer product a × b is defined as a vector c that is perpendicular
(orthogonal) to both a and b, with a direction given by the right-hand rule and
a magnitude equal to the area of the parallelogram (평행사변형) that the
vectors span.

𝐚𝐚 × 𝐛𝐛 = 𝐚𝐚 𝐛𝐛 sin 𝜃𝜃
• Outer product is often used to determine a vector that is orthogonal to vector a
and b.
• In other words, it is used to find the normal vector to the surface defined by
the two vector a and b
Vector-tensor analysis
• One of the major reasons why students consider fluid mechanics difficult

• Vector: an object that have both magnitude and the direction

e.g) velocity, force, electric field, magnetic field,…

• What is tensor?
 Vector and Coordinate system

• For the given vector v, let us imagine a situation in which you want to
explain what kind of vector v is to somebody.
→ Need to identify the given vector
Then, how?
→ Need a reference frame or coordinate system!

• By using the coordinate system, we can say that,

𝐯𝐯 = 1𝐞𝐞𝑥𝑥 + 1𝐞𝐞𝑦𝑦

,where 𝐞𝐞𝑥𝑥 𝐞𝐞𝑦𝑦 are unit base vectors and both the 𝐞𝐞𝑥𝑥 and 𝐞𝐞𝑦𝑦 components are 1.
• The idea of coordinate system was introduced by Des Cartes

• The rectangular coordinate system : a Cartesian coordinate

• However, the choice of the coordinate system is not unique

• Can use a rotated Cartesian coordinate system or an oblique coordinate system in which
𝐞𝐞� 𝑥𝑥 𝐞𝐞′𝑥𝑥 denote the unit vectors

• The vector 𝐯𝐯 itself does not change even though the components of the
vector depends on the choice of the coordinate system
• Unlike vectors, in some cases, an object may be associated with two or
more independent direction
e.g.) stress : the force per unit area of the surface to which the force is applied
→ Need to specify both 1) the direction of the force and 2) the direction of the surface

→ Need the concept of tensor

 The concept of tensor
• “The natural laws must be described by some entities that are independent
of the choice of the reference frames (or coordinates systems).”
• If they are dependent on the coordinate system, natural laws would be dependent to
person by person and it is not a law any more.

→ The reason why scientists formulated the concept of tensor

• Tensor: an entity whose properties are independent of the reference
frames (coordinate systems) used to describe the object
• Class of tensors
(1) Scalar: Objects not associated with any direction and is independent of the choice of the
reference frame
• Temperature, pressure, concentration, and etc.

• Sometimes scalars are called the zeroth order tensors (zero direction)

(2) Vector: Vector is independent of the choice of the reference frames and belongs to the
class of tensors
• Vectors are called the first order tensors (one direction)
 (3) 2nd order or higher order tensors: in usual terms, the second or higher order tensors are
simply called tensors
• The order of the tensor stands for the number of directions that must be specified
independently to describe the tensor
• Stress tensor, rate of strain tensor,…

→ In summary, we can say that, the governing equations for the natural laws should
be written in terms of tensors (including vectors and scalars).

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• They should be written in terms of tensors but how do you identify them?
• We need a reference frame in order to identify the vectors and tensors

• Vectors and tensors are identified by the components corresponding to each basis vectors
or tensors (from a reference frame)

• Vector can be identified by the three components, 𝐯𝐯 = 𝑣𝑣𝑥𝑥 𝐞𝐞𝑥𝑥 + 𝑣𝑣𝑦𝑦 𝐞𝐞𝑦𝑦 + 𝑣𝑣𝑧𝑧 𝐞𝐞𝑧𝑧
• Second order tensor can be identified by the nine components,

𝐓𝐓 = 𝑇𝑇𝑥𝑥𝑥𝑥 𝐞𝐞𝑥𝑥 𝐞𝐞𝑥𝑥 + 𝑇𝑇𝑥𝑥𝑥𝑥 𝐞𝐞𝑥𝑥 𝐞𝐞𝑦𝑦 + 𝑇𝑇𝑥𝑥𝑥𝑥 𝐞𝐞𝑥𝑥 𝐞𝐞𝑧𝑧

+ 𝑇𝑇𝑦𝑦𝑥𝑥 𝐞𝐞𝑦𝑦 𝐞𝐞𝑥𝑥 + 𝑇𝑇𝑦𝑦𝑦𝑦 𝐞𝐞𝑦𝑦 𝐞𝐞𝑦𝑦 + 𝑇𝑇𝑦𝑦𝑧𝑧 𝐞𝐞𝑦𝑦 𝐞𝐞𝑧𝑧

+ 𝑇𝑇𝑧𝑧𝑥𝑥 𝐞𝐞𝑧𝑧 𝐞𝐞𝑥𝑥 + 𝑇𝑇𝑧𝑧𝑦𝑦 𝐞𝐞𝑧𝑧 𝐞𝐞𝑦𝑦 + 𝑇𝑇𝑧𝑧𝑧𝑧 𝐞𝐞𝑧𝑧 𝐞𝐞𝑧𝑧

• Or some people use the component vectors and tensors such as,

𝑣𝑣𝑥𝑥 𝑇𝑇𝑥𝑥𝑥𝑥 𝑇𝑇𝑥𝑥𝑦𝑦 𝑇𝑇𝑥𝑥𝑧𝑧

𝑣𝑣 = 𝑣𝑣𝑦𝑦 𝑇𝑇 = 𝑇𝑇𝑦𝑦𝑦𝑦 𝑇𝑇𝑦𝑦𝑦𝑦 𝑇𝑇𝑦𝑦𝑦𝑦
𝑣𝑣𝑧𝑧 𝑇𝑇𝑧𝑧𝑧𝑧 𝑇𝑇𝑧𝑧𝑧𝑧 𝑇𝑇𝑧𝑧𝑧𝑧

→ The component vector 𝑣𝑣 and the component tensor 𝑇𝑇 are not the vector v or the tensor 𝐓𝐓
themselves
→ Convenient ways of representation for the components when a specific coordinate system
is used
 Transform Rule for the Components of Vectors
• As mentioned earlier, a vector or tensor can be identified by the
components when a specific coordinate system is used
• However, when a different coordinate system is employed to identify the same vector 𝐯𝐯,
the components are changed

2D

3D
• Let’s consider two distinct A- and B- Cartesian coordinate systems
employed to represent the same vector 𝐯𝐯.

𝐯𝐯 = 𝑣𝑣𝑥𝑥 𝐞𝐞𝑥𝑥 + 𝑣𝑣𝑦𝑦 𝐞𝐞𝑦𝑦 + 𝑣𝑣𝑧𝑧 𝐞𝐞𝑧𝑧 for A – coordinate system

𝐯𝐯 = 𝑣𝑣�𝑥𝑥 𝐞𝐞� 𝑥𝑥 + 𝑣𝑣�𝑦𝑦 𝐞𝐞� 𝑦𝑦 + 𝑣𝑣�𝑧𝑧 𝐞𝐞� 𝑧𝑧 for B – coordinate system

𝑣𝑣𝑥𝑥 𝑣𝑣�𝑥𝑥
𝑣𝑣 = 𝑣𝑣𝑦𝑦 and 𝑣𝑣� = 𝑣𝑣�𝑦𝑦
𝑣𝑣𝑧𝑧 𝑣𝑣�𝑧𝑧

→ The relationship between the components (for different coordinate

system) is called the transformation rule
• Let’s go over the relationship between unit base vectors in a Cartesian
coordinate system before deriving the transformation rule

A – coordinate system B – coordinate system

𝐞𝐞𝑥𝑥 � 𝐞𝐞𝑥𝑥 = 1 𝐞𝐞𝑥𝑥 � 𝐞𝐞𝑦𝑦 = 0 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞� 𝑥𝑥 = 1 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞� 𝑦𝑦 = 0

𝐞𝐞𝑦𝑦 � 𝐞𝐞𝑦𝑦 = 1 𝐞𝐞𝑥𝑥 � 𝐞𝐞𝑧𝑧 = 0 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞� 𝑦𝑦 = 1 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞� 𝑧𝑧 = 0
𝐞𝐞𝑧𝑧 � 𝐞𝐞𝑧𝑧 = 1 𝐞𝐞𝑦𝑦 � 𝐞𝐞𝑧𝑧 = 0 𝐞𝐞� 𝑧𝑧 � 𝐞𝐞� 𝑧𝑧 = 1 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞� 𝑧𝑧 = 0

• Therefore, we can get the component 𝑣𝑣𝑥𝑥 and 𝑣𝑣�𝑥𝑥 by,

𝑣𝑣𝑥𝑥 = 𝐞𝐞𝑥𝑥 � 𝐯𝐯 = 𝐞𝐞𝑥𝑥 � (𝑣𝑣𝑥𝑥 𝐞𝐞𝑥𝑥 + 𝑣𝑣𝑦𝑦 𝐞𝐞𝑦𝑦 + 𝑣𝑣𝑧𝑧 𝐞𝐞𝑧𝑧 ) 𝑣𝑣�𝑥𝑥 = 𝐞𝐞� 𝑥𝑥 � 𝐯𝐯 = 𝐞𝐞� 𝑥𝑥 � (𝑣𝑣�𝑥𝑥 𝐞𝐞� 𝑥𝑥 + 𝑣𝑣�𝑦𝑦 𝐞𝐞� 𝑦𝑦 + 𝑣𝑣�𝑧𝑧 𝐞𝐞� 𝑧𝑧 )

• Now let’s derive 𝑣𝑣�𝑥𝑥 in terms of the components in A-coordinate system (𝑣𝑣𝑥𝑥 ,
𝑣𝑣𝑦𝑦 , 𝑣𝑣𝑧𝑧 ) and the relationship between two coordinate system

𝑣𝑣�𝑥𝑥 = 𝐞𝐞� 𝑥𝑥 � 𝐯𝐯 = 𝐞𝐞� 𝑥𝑥 � (𝑣𝑣𝑥𝑥 𝐞𝐞𝑥𝑥 + 𝑣𝑣𝑦𝑦 𝐞𝐞𝑦𝑦 + 𝑣𝑣𝑧𝑧 𝐞𝐞𝑧𝑧 )

= 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞𝑥𝑥 𝑣𝑣𝑥𝑥 + 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞𝑦𝑦 𝑣𝑣𝑦𝑦 + 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞𝑧𝑧 𝑣𝑣𝑧𝑧

,where 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞𝑥𝑥 = cos 𝜃𝜃𝑥𝑥𝑥𝑥
� and cos 𝜃𝜃𝑥𝑥𝑥𝑥
� is the angle between the 𝑥𝑥-axis
� and the 𝑥𝑥-axis.
(or the unit vectors 𝐞𝐞� 𝑥𝑥 and 𝐞𝐞𝑥𝑥 )
• Similarly, we have

𝑣𝑣�𝑦𝑦 = 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞𝑥𝑥 𝑣𝑣𝑥𝑥 + 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞𝑦𝑦 𝑣𝑣𝑦𝑦 + 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞𝑧𝑧 𝑣𝑣𝑧𝑧

𝑣𝑣�𝑧𝑧 = 𝐞𝐞� 𝑧𝑧 � 𝐞𝐞𝑥𝑥 𝑣𝑣𝑥𝑥 + 𝐞𝐞� 𝑧𝑧 � 𝐞𝐞𝑦𝑦 𝑣𝑣𝑦𝑦 + 𝐞𝐞� 𝑧𝑧 � 𝐞𝐞𝑧𝑧 𝑣𝑣𝑧𝑧

• Or compactly,

𝑣𝑣�𝑥𝑥 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞𝑥𝑥 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞𝑦𝑦 𝐞𝐞� 𝑥𝑥 � 𝐞𝐞𝑧𝑧 𝑣𝑣𝑥𝑥

𝑣𝑣�𝑦𝑦 = 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞𝑥𝑥 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞𝑦𝑦 𝐞𝐞� 𝑦𝑦 � 𝐞𝐞𝑧𝑧 𝑣𝑣𝑦𝑦
𝑣𝑣�𝑧𝑧 𝐞𝐞� 𝑧𝑧 � 𝐞𝐞𝑥𝑥 𝐞𝐞� 𝑧𝑧 � 𝐞𝐞𝑦𝑦 𝐞𝐞� 𝑧𝑧 � 𝐞𝐞𝑧𝑧 𝑣𝑣𝑧𝑧 directional cosines

cos 𝜃𝜃𝑥𝑥𝑥𝑥
� cos 𝜃𝜃𝑥𝑥𝑦𝑦
� cos 𝜃𝜃𝑥𝑥𝑧𝑧
� 𝑣𝑣𝑥𝑥
= cos 𝜃𝜃𝑦𝑦𝑥𝑥
� cos 𝜃𝜃𝑦𝑦𝑦𝑦
� cos 𝜃𝜃𝑦𝑦𝑧𝑧
� 𝑣𝑣𝑦𝑦
cos 𝜃𝜃𝑧𝑧𝑥𝑥
� cos 𝜃𝜃𝑧𝑧𝑦𝑦
� cos 𝜃𝜃𝑧𝑧𝑧𝑧
�
𝑣𝑣𝑧𝑧

Transform matrix (𝐿𝐿)

𝑣𝑣� = 𝐿𝐿𝐿𝐿

• The significance of transform rule is that the relation is valid for any vector
• For example, consider a position vector 𝐱𝐱 (위치벡터), which is given as,

𝐱𝐱 = 𝑥𝑥𝐞𝐞𝑥𝑥 + 𝑦𝑦𝐞𝐞𝑦𝑦 + 𝑧𝑧𝐞𝐞𝑧𝑧 in A – coordinate system

= 𝑥𝑥� 𝐞𝐞� 𝑥𝑥 + 𝑦𝑦� 𝐞𝐞� 𝑦𝑦 + 𝑧𝑧̃ 𝐞𝐞� 𝑧𝑧 in B – coordinate system
Assuming that there exists a relationship,
1 3
𝑥𝑥� − 0 𝑥𝑥
2 2
𝑦𝑦� = 3 1 𝑦𝑦
𝑧𝑧̃ 0 𝑧𝑧
2 2
0 0 1
• Since the same transform matrix can be used for any other vectors, a force
vector 𝐟𝐟 that has components in A-coordinate system,
Thus, the components in B-coordinate system is,
1 3 1
𝑓𝑓̃𝑥𝑥 − 0 − 3
𝑓𝑓𝑥𝑥 1 2 2 1 2
𝑓𝑓 = 𝑓𝑓𝑦𝑦 = 2 𝑓𝑓̃ = 𝑓𝑓̃𝑦𝑦 = 3 1 2 = 3
0 3 +1
𝑓𝑓𝑧𝑧 3 𝑓𝑓̃𝑧𝑧 2 2 2
0 0 1 3
• Revisiting the physical meaning of transform rule

• Best examined in two-dimensional form

• A vector in two dimensions is shown below,

The scalar components are noted for both
the 𝑥𝑥, 𝑦𝑦-coordinate system (𝑣𝑣𝑥𝑥 , 𝑣𝑣𝑦𝑦 ), and
the rotated coordinates, 𝑥𝑥 ′ , 𝑦𝑦 ′ (𝑣𝑣𝑥𝑥′ , 𝑣𝑣𝑦𝑦′ ).

𝐯𝐯 𝐯𝐯 = 𝑣𝑣𝑥𝑥 𝐞𝐞𝑥𝑥 + 𝑣𝑣𝑦𝑦 𝐞𝐞𝑦𝑦

= 𝑣𝑣𝑥𝑥′ 𝐞𝐞′𝑥𝑥 + 𝑣𝑣𝑦𝑦′ 𝐞𝐞′𝑦𝑦

𝑣𝑣𝑥𝑥′ = 𝐞𝐞′𝑥𝑥 � 𝐯𝐯 = 𝐞𝐞′𝑥𝑥 � (𝑣𝑣𝑥𝑥 𝐞𝐞𝑥𝑥 + 𝑣𝑣𝑦𝑦 𝐞𝐞𝑦𝑦 )

= (𝐞𝐞′𝑥𝑥 � 𝐞𝐞𝑥𝑥 )𝑣𝑣𝑥𝑥 + (𝐞𝐞′𝑥𝑥 � 𝐞𝐞𝑦𝑦 )𝑣𝑣𝑦𝑦

= cos 𝜃𝜃𝑥𝑥𝑥𝑥 ′ 𝑣𝑣𝑥𝑥 + cos 𝜃𝜃𝑦𝑦𝑥𝑥 ′ 𝑣𝑣𝑦𝑦

𝜋𝜋
𝑣𝑣𝑥𝑥′ = 𝑣𝑣𝑥𝑥 cos 𝜃𝜃𝑥𝑥𝑥𝑥 ′ + 𝑣𝑣𝑦𝑦 cos 𝛼𝛼 α = − 𝜃𝜃𝑥𝑥𝑥𝑥 ′ = 𝜃𝜃𝑦𝑦𝑥𝑥 ′
2
Homework assignment 1
• Due Mar 11th before class (posted on PLMS after class)