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Consider a motion χ. Since the mapping x = χ(X, t) is invertible in X for fixed t, it has an inverse X = χ−1(x, t), the reference map defined in (5.5) and (5.6). χ−1 associates with each time t and spatial point x in Bt, a material point X = χ−1(x, t) in B.
Using the reference map, we can describe the velocity as a function v(x, t) of the spatial point x and t:
The field v represents the spatial description of the velocity; v(x, t) is the velocity of the material point that at time t occupies the spatial point x.
More generally, let ϕ denote a scalar, vector, or tensor field defined on the body for all time. We generally consider ϕ to be a function ϕ(X, t) of the material point X and the time t; this is called the material description of ϕ. But, as with the velocity, we may also consider ϕ to be a function φ(x, t) of the spatial point x and t; this is called the spatial description and is related to the material description through
Similarly, a field φ(x, t) described spatially may be considered as a function ϕ(X, t) of the material point X and t; this is called the material description and is given by
• When there is no danger of confusion we use the same symbol for both the material and spatial descriptions.
This chapter discusses the classical theory of elastic solids, neglecting thermal effects. This theory is important not only in its own right but also because it represents a simple context in which to discuss the central steps in the construction of sound constitutive equations for solids.
The current entrenched, facile conception of force in terms of “pushes” and “pulls” has fostered a view of force as a “real quantity” rather than a mathematical concept. In the words of Pierce (1934, p. 262): [Force is] “the great conception which, developed in the early part of the seventeenth century from the rude idea of a cause, and constantly improved upon since, has shown us how to explain all the changes of motion which bodies experience, and how to think about physical phenomena; which has given birth to modern science; and which … has played a principal part in directing the course of modern thought … It is, therefore, worth some pains to comprehend it.”
Those who believe the notion of force is obvious should read the scientific literature of the period following Newton. Truesdell (1966) notes that “D'Alembert spoke of Newtonian forces as ‘obscure and metaphysical beings, capable of nothing but spreading darkness over a science clear by itself,’” while Jammer (1957, pp. 209, 215) paraphrases a remark of Maupertis, “we speak of forces only to conceal our ignorance,” and one of Carnot, “an obscure metaphysical notion, that of force.”
Within the framework of continuum mechanics, the basic balance laws for linear and angular momentum assert that, given any spatial region Pt convecting with the body,
(i) the net force on Pt is balanced by temporal changes in the linear momentum of Pt;
(ii) the net moment on Pt is balanced by temporal changes in the angular momentum of Pt.