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The transport identity and the material derivative along label worldlines for the adopted continuum model
Conditional on the adopted continuum kinematic model (smooth motion with positive Jacobian) and on the Axiom of Countable Choice used by the cited change-of-variables theorem: for a C^1 spatial field on a neighbourhood of the swept region of a body over a compactly contained time interval, the rate of change of the field's integral over the current image of the body equals the integral of the local time derivative plus the flux term div(fu); and along the worldline of a label the ordinary time derivative of the material field equals the material derivative D_tf = partial_t f + grad f . u. The theorem asserts no balance law and no empirical value.
Statement
Assume the Axiom of Countable Choice (The Axiom of Countable Choice ()), as used by the transport theorem cited below. Let be body data of Continuum body data, the fixed inertial frame and the dimensions of the fields, let be a motion of the model on with spatial velocity and material acceleration (Adopted continuum kinematic model: body data, smooth motions as families of label worldlines, the continuum idealization and frame covariance, Continuum motions, spatial velocity, material acceleration and swept regions). Let be an open interval with , put , and let be of class on an open set containing ( Euclidean maps and diffeomorphisms). Then:
(i) Transport identity. The function is defined and differentiable on , and for every
The identity holds componentwise for a vector field .
(ii) Material derivative along worldlines. If is the spatial description of a material field , then for every the function is differentiable on and
with and the gradient of Euclidean spatial calculus: gradient, divergence and material derivative. Writing , the integrand of (i) is at the corresponding current point.
The statement is conditional on the kinematic model and on the compact containment ; it asserts no conservation law, no equation of motion and no empirical value.
Facts & Assumptions
Given: ; body data ; the motion with spatial velocity ; the interval ; the field on a neighbourhood of the swept region.
The kinematic model and the motion (Adopted continuum kinematic model: body data, smooth motions as families of label worldlines, the continuum idealization and frame covariance, Continuum motions, spatial velocity, material acceleration and swept regions): is a motion of the material region on in the sense of that definition, so each is an injective map with invertible derivative and the Jacobian is positive on ; the spatial velocity satisfies and is on its open domain.
Transport theorem (The transport theorem for a family of diffeomorphisms: ): under , for the motion , the compactly contained interval and a function on a neighbourhood of the swept region, is differentiable on with derivative , and the same formula holds componentwise for vector fields.
Spatial calculus (Euclidean spatial calculus: gradient, divergence and material derivative): for the scalar and the field , and the material derivative is defined by .
Chain rule and algebra of derivatives (The chain rule for total derivatives: , Sums, scalar multiples, products and quotients: , , , and when ): composing the curve with the field gives a differentiable function of with the stated derivative, and the product rule gives the displayed splitting of .
The Axiom of Countable Choice (The Axiom of Countable Choice ()): the explicit choice assumption under which [F2] is stated.
Proof
Part (i): by [F1] the map is a motion of the material region on in the sense of Continuum motions, spatial velocity, material acceleration and swept regions, and by hypothesis is on a neighbourhood of the swept region with . Under the declared axiom [F5], the transport theorem [F2] therefore applies and gives for every , with the vector case following componentwise.
Part (ii), derivative along a label: fix . By [F1] the curve is of class on and is on a neighbourhood of the swept region, so the composition is differentiable on with, by the chain rule [F4], .
Since by [F1], the right-hand side of step 1.2 is evaluated at , which is by the definition in [F3]. This is the identity of part (ii).
Integrand splitting: by [F3], , so the transport integrand of part (i) is the material derivative plus the volumetric term; combining with steps 1.1, 1.2 and 2.1 gives both displays of the statement, and no conservation or dynamical conclusion is drawn.
Remarks
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Hypotheses are used exactly. Positive Jacobian and regularity of the motion are used to instantiate the transport theorem and the chain rule; at each time in , a compact inner time cylinder supplies the bounded parameter derivative used by the cited theorem; the whole need not be bounded. Fields that are merely integrable, motions that fail injectivity somewhere, and time intervals whose closure meets the boundary of are outside this statement.
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Reading of the two terms. At a fixed spatial point is the local rate of change of the field; is the transport of the field by the material velocity. Both have dimension (Dimensions and SI unit conventions of the non-relativistic classical mechanics framework), so the display is dimensionally consistent, and the singular term records the change of volume of a material element along the motion.
Depends on
Adopted continuum kinematic model: body data, smooth motions as families of label worldlines, the continuum idealization and frame covariance
Continuum body data, the fixed inertial frame and the dimensions of the fields
Continuum motions, spatial velocity, material acceleration and swept regions
Euclidean spatial calculus: gradient, divergence and material derivative
The transport theorem for a family of diffeomorphisms:
The Axiom of Countable Choice ()
The chain rule for total derivatives:
Sums, scalar multiples, products and quotients: , , , and when
Euclidean maps and diffeomorphisms
Intervals of : the nine order-convex forms, nondegeneracy, and length
Dependency tree · 2 levels
Sources
- R. Abeyaratne, Continuum Mechanics, Volume II of Lecture Notes on the Mechanics of Solids (MIT, 1988, revised 2020), Sections 3.7 (transport equations) and 1.4-1.6 (material and spatial descriptions, material derivative)
- W. Barsukow, Introduction to Conservation Laws: Theory and Numerics (lecture notes, TUM, Winter term 2021/22), Section 1.2.3, Theorem 1.1 (the transport theorem) and Section 1.1 (the advective derivative)