Continuum mechanics/Reynolds transport theorem

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Reynolds transport theorem
Let $$\Omega(t)$$ be a region in Euclidean space with boundary $$\partial \Omega (t)$$. Let $$\mathbf{x}(t)$$ be the positions of points in the region and let $$\mathbf{v}(\mathbf{x},t)$$ be the velocity field in the region. Let $$\mathbf{n}(\mathbf{x},t)$$ be the outward unit normal to the boundary. Let $$\mathbf{f}(\mathbf{x},t)$$ be a vector field in the region (it may also be a scalar field). Show that

\cfrac{d}{dt}\left(\int_{\Omega(t)} \mathbf{f}~\text{dV}\right) = \int_{\Omega(t)} \frac{\partial \mathbf{f}}{\partial t}~\text{dV} + \int_{\partial \Omega(t)} (\mathbf{v}\cdot\mathbf{n})\mathbf{f}~\text{dA} ~. $$ This relation is also known as the  Reynold's Transport Theorem and is a generalization of the Leibniz rule. Content of example.
 * }

Proof:

Let $$\Omega_0$$ be reference configuration of the region $$\Omega(t)$$. Let the motion and the deformation gradient be given by

\mathbf{x} = \boldsymbol{\varphi}(\mathbf{X}, t)~; \qquad\implies\qquad \boldsymbol{F}(\mathbf{X},t) = \boldsymbol{\nabla}_{\circ} \boldsymbol{\varphi} ~. $$ Let $$J(\mathbf{X},t) = \det[\boldsymbol{F}(\mathbf{X},t)]$$. Then, integrals in the current and the reference configurations are related by

\int_{\Omega(t)} \mathbf{f}(\mathbf{x},t)~\text{dV} = \int_{\Omega_0} \mathbf{f}[\boldsymbol{\varphi}(\mathbf{X},t),t]~J(\mathbf{X},t)~\text{dV}_0 = \int_{\Omega_0} \hat{\mathbf{f}}(\mathbf{X},t)~J(\mathbf{X},t)~\text{dV}_0 ~. $$ The time derivative of an integral over a volume is defined as

\cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}(\mathbf{x},t)~\text{dV}\right) = \lim_{\Delta t \rightarrow 0} \cfrac{1}{\Delta t}    \left(\int_{\Omega(t + \Delta t)} \mathbf{f}(\mathbf{x},t+\Delta t)~\text{dV} -            \int_{\Omega(t)} \mathbf{f}(\mathbf{x},t)~\text{dV}\right) ~. $$ Converting into integrals over the reference configuration, we get

\cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}(\mathbf{x},t)~\text{dV}\right) = \lim_{\Delta t \rightarrow 0} \cfrac{1}{\Delta t}    \left(\int_{\Omega_0} \hat{\mathbf{f}}(\mathbf{X},t+\Delta t)~J(\mathbf{X},t+\Delta t)~\text{dV}_0 -            \int_{\Omega_0} \hat{\mathbf{f}}(\mathbf{X},t)~J(\mathbf{X},t)~\text{dV}_0\right) ~. $$ Since $$\Omega_0$$ is independent of time, we have

\begin{align} \cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}(\mathbf{x},t)~\text{dV}\right) & = \int_{\Omega_0} \left[\lim_{\Delta t \rightarrow 0} \cfrac{ \hat{\mathbf{f}}(\mathbf{X},t+\Delta t)~J(\mathbf{X},t+\Delta t) - \hat{\mathbf{f}}(\mathbf{X},t)~J(\mathbf{X},t)}{\Delta t} \right]~\text{dV}_0 \\ & = \int_{\Omega_0} \frac{\partial }{\partial t}[\hat{\mathbf{f}}(\mathbf{X},t)~J(\mathbf{X},t)]~\text{dV}_0 \\ & = \int_{\Omega_0} \left(         \frac{\partial }{\partial t}[\hat{\mathbf{f}}(\mathbf{X},t)]~J(\mathbf{X},t)+          \hat{\mathbf{f}}(\mathbf{X},t)~\frac{\partial }{\partial t}[J(\mathbf{X},t)]\right) ~\text{dV}_0 \end{align} $$ Now, the time derivative of $$\det\boldsymbol{F}$$ is given by (see Gurtin: 1981, p. 77)

\frac{\partial J(\mathbf{X},t)}{\partial t} = \frac{\partial }{\partial t}(\det\boldsymbol{F}) = (\det\boldsymbol{F})(\boldsymbol{\nabla} \cdot \mathbf{v}) = J(\mathbf{X},t)~\boldsymbol{\nabla} \cdot \mathbf{v}(\boldsymbol{\varphi}(\mathbf{X},t),t) = J(\mathbf{X},t)~\boldsymbol{\nabla} \cdot \mathbf{v}(\mathbf{x},t) ~. $$ Therefore,

\begin{align} \cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}(\mathbf{x},t)~\text{dV}\right) & = \int_{\Omega_0} \left(         \frac{\partial }{\partial t}[\hat{\mathbf{f}}(\mathbf{X},t)]~J(\mathbf{X},t)+          \hat{\mathbf{f}}(\mathbf{X},t)~J(\mathbf{X},t)~\boldsymbol{\nabla} \cdot \mathbf{v}(\mathbf{x},t)\right) ~\text{dV}_0 \\ & =     \int_{\Omega_0} \left(\frac{\partial }{\partial t}[\hat{\mathbf{f}}(\mathbf{X},t)]+         \hat{\mathbf{f}}(\mathbf{X},t)~\boldsymbol{\nabla} \cdot \mathbf{v}(\mathbf{x},t)\right)~J(\mathbf{X},t) ~\text{dV}_0  \\ & =     \int_{\Omega(t)} \left(\dot{\mathbf{f}}(\mathbf{x},t)+         \mathbf{f}(\mathbf{x},t)~\boldsymbol{\nabla} \cdot \mathbf{v}(\mathbf{x},t)\right)~\text{dV} \end{align} $$ where $$\dot{\mathbf{f}}$$ is the material time derivative of $$\mathbf{f}$$. Now, the material derivative is given by

\dot{\mathbf{f}}(\mathbf{x},t) = \frac{\partial \mathbf{f}(\mathbf{x},t)}{\partial t} + [\boldsymbol{\nabla} \mathbf{f}(\mathbf{x},t)]\cdot\mathbf{v}(\mathbf{x},t) ~. $$ Therefore,

\cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}(\mathbf{x},t)~\text{dV}\right) = \int_{\Omega(t)} \left(        \frac{\partial \mathbf{f}(\mathbf{x},t)}{\partial t} + [\boldsymbol{\nabla} \mathbf{f}(\mathbf{x},t)]\cdot\mathbf{v}(\mathbf{x},t) +         \mathbf{f}(\mathbf{x},t)~\boldsymbol{\nabla} \cdot \mathbf{v}(\mathbf{x},t)\right)~\text{dV} $$ or,

\cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}~\text{dV}\right) = \int_{\Omega(t)} \left(        \frac{\partial \mathbf{f}}{\partial t} + \boldsymbol{\nabla} \mathbf{f}\cdot\mathbf{v} +         \mathbf{f}~\boldsymbol{\nabla} \cdot \mathbf{v}\right)~\text{dV} ~. $$ Using the identity

\boldsymbol{\nabla} \cdot (\mathbf{v}\otimes\mathbf{w}) = \mathbf{v}(\boldsymbol{\nabla} \cdot \mathbf{w}) + \boldsymbol{\nabla}\mathbf{v}\cdot\mathbf{w} $$ we then have

\cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}~\text{dV}\right) = \int_{\Omega(t)} \left(\frac{\partial \mathbf{f}}{\partial t} + \boldsymbol{\nabla} \cdot (\mathbf{f}\otimes\mathbf{v})\right)~\text{dV} ~. $$ Using the divergence theorem and the identity $$(\mathbf{a}\otimes\mathbf{b})\cdot\mathbf{n} = (\mathbf{b}\cdot\mathbf{n})\mathbf{a}$$ we have

{ \cfrac{d}{dt}\left( \int_{\Omega(t)} \mathbf{f}~\text{dV}\right) = \int_{\Omega(t)}\frac{\partial \mathbf{f}}{\partial t}~\text{dV} + \int_{\partial \Omega(t)}(\mathbf{f}\otimes\mathbf{v})\cdot\mathbf{n}~\text{dA} = \int_{\Omega(t)}\frac{\partial \mathbf{f}}{\partial t}~\text{dV} + \int_{\partial \Omega(t)}(\mathbf{v}\cdot\mathbf{n})\mathbf{f}~\text{dA} ~. } $$

References


 * 1) M.E. Gurtin. An Introduction to Continuum Mechanics. Academic Press, New York, 1981.
 * 2) T. Belytschko, W. K. Liu, and B. Moran. Nonlinear Finite Elements for Continua and Structures. John Wiley and Sons, Ltd., New York, 2000.