On the rotated stress tensor and the material version of the Doyle- Ericksen formula (Q1060035)

In the context of classical continuum mechanics, using invariance of the balance of energy under superposed rigid body motions, \textit{A. E. Green} and \textit{R. S. Rivlin} [Z. Angew. Math. Mech. 15, 290-292 (1964; Zbl 0122.184)] derived the other balance laws. In the paper the authors go further by extending the balance of energy principle to a covariant theory which allow arbitrary spatial diffeomorphisms (not only spatial isometrics, as previously). In the extension the authors confine their interest to hyperelasticity and consequently they got the Doyle-Ericksen formula in the spatial, material and convected forms. The Doyle-Ericksen formula plays the same role in (the Lagrangean formulation of) elasticity as the Belinfante-Rosenfeld formula in classical relativistic theory, since in the spatial version of the former the Cauchy stress tensor is derived by varying the internal free energy with respect to the Riemannian metric on the ambient (physical) space. To make the classical hyperelasticity a fully covariant theory and the above derivation possible, the authors employ the language of differential geometry and the standard notation of analysis on manifolds. In this language the strain measures are defined together with the four stress tensors and corresponding elasticity tensors. Material and the rate forms of hyperelastic and thermoelastic (Duhamel-Neumann) constitutive equations are also presented and examined. The paper forms a basis for a couple of sections of the book: Mathematical Foundations of Elasticity (1983; Zbl 0545.73031) written by the second author and \textit{T. J. R. Hughes}.