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The transport identity and the material derivative along label worldlines for the adopted continuum model

Physical scope

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 ACω (The Axiom of Countable Choice (ACω)), as used by the transport theorem cited below. Let (B,O,I) be body data of Continuum body data, the fixed inertial frame and the dimensions of the fields, let χ be a motion of the model on I with spatial velocity u and material acceleration a=Dtu (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 J0⊆I be an open interval with J0‾⊆I, put Σ:={(t,x):t∈J0‾, x∈χt(B‾)}, and let f:U→R be of class C1 on an open set U⊆R×R3 containing Σ (Ck Euclidean maps and diffeomorphisms). Then:

(i) Transport identity. The function F(t):=∫χt(B)f(t,x) dx is defined and differentiable on J0, and for every t∈J0

F′(t)=∫χt(B)(∂tf+div⁡(fu))(t,x) dx.

The identity holds componentwise for a C1 vector field f.

(ii) Material derivative along worldlines. If f is the spatial description of a material field Fm(t,X):=f(t,χ(t,X)), then for every X∈B the function t↦Fm(t,X) is differentiable on J0 and

ddtFm(t,X)=Dtf(t,χ(t,X))=(∂tf+∇f⋅u)(t,χ(t,X)),

with Dt and the gradient of Euclidean spatial calculus: gradient, divergence and material derivative. Writing div⁡(fu)=∇f⋅u+fdiv⁡u, the integrand of (i) is Dtf+fdiv⁡u at the corresponding current point.

The statement is conditional on the kinematic model and on the compact containment J0‾⊆I; it asserts no conservation law, no equation of motion and no empirical value.

Facts & Assumptions

Given: ACω; body data (B,O,I); the motion χ with spatial velocity u; the interval J0; the C1 field f on a neighbourhood of the swept region.

[F1]

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): χ is a motion of the material region B on I in the sense of that definition, so each χt is an injective C1 map with invertible derivative and the Jacobian J=det⁡DXχt is positive on I×B; the spatial velocity u satisfies u(t,χ(t,X))=∂tχ(t,X) and u is C1 on its open domain.

[F2]

Transport theorem (The transport theorem for a C2 family of diffeomorphisms: ddt∫ψt(B)f=∫ψt(B)(∂tf+div⁡(fw))): under ACω, for the motion χ, the compactly contained interval J0 and a C1 function on a neighbourhood of the swept region, t↦∫χt(B)f(t,x) dx is differentiable on J0 with derivative ∫χt(B)(∂tf+div⁡(fu)) dx, and the same formula holds componentwise for vector fields.

[F3]

Spatial calculus (Euclidean spatial calculus: gradient, divergence and material derivative): div⁡(fu)=∇f⋅u+fdiv⁡u for the scalar f and the field u, and the material derivative is defined by Dtf=∂tf+∇f⋅u.

[F5]

The Axiom of Countable Choice (The Axiom of Countable Choice (ACω)): the explicit choice assumption under which [F2] is stated.

Proof

technique · direct; instantiate the transport theorem at the model's motion and read the along-worldline derivative through the chain rule and the definition of the material derivative
1.1givenF1F2F5

Part (i): by [F1] the map χ is a motion of the material region B on I in the sense of Continuum motions, spatial velocity, material acceleration and swept regions, and by hypothesis f is C1 on a neighbourhood of the swept region Σ with J0‾⊆I. Under the declared axiom [F5], the transport theorem [F2] therefore applies and gives F′(t)=∫χt(B)(∂tf+div⁡(fu))(t,x) dx for every t∈J0, with the vector case following componentwise.

1.2givenF1F4construct

Part (ii), derivative along a label: fix X∈B. By [F1] the curve t↦χ(t,X) is of class C2 on I and f is C1 on a neighbourhood of the swept region, so the composition t↦Fm(t,X)=f(t,χ(t,X)) is differentiable on J0 with, by the chain rule [F4], ddtFm(t,X)=∂tf(t,χ(t,X))+∇f(t,χ(t,X))⋅∂tχ(t,X).

2.1step 1.2F1F3algebra

Since ∂tχ(t,X)=u(t,χ(t,X)) by [F1], the right-hand side of step 1.2 is ∂tf+∇f⋅u evaluated at (t,χ(t,X)), which is Dtf(t,χ(t,X)) by the definition in [F3]. This is the identity of part (ii).

3.1step 1.1step 2.1F3algebra∎

Integrand splitting: by [F3], ∂tf+div⁡(fu)=∂tf+∇f⋅u+fdiv⁡u=Dtf+fdiv⁡u, 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

  • Hypotheses are used exactly. Positive Jacobian and C2 regularity of the motion are used to instantiate the transport theorem and the chain rule; at each time in J0, a compact inner time cylinder supplies the bounded parameter derivative used by the cited theorem; the whole J0 need not be bounded. Fields that are merely integrable, motions that fail injectivity somewhere, and time intervals whose closure meets the boundary of I are outside this statement.

  • Reading of the two terms. At a fixed spatial point ∂tf is the local rate of change of the field; u⋅∇f is the transport of the field by the material velocity. Both have dimension [f]τ−1 (Dimensions and SI unit conventions of the non-relativistic classical mechanics framework), so the display is dimensionally consistent, and the singular term fdiv⁡u records the change of volume of a material element along the motion.

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