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The concept of a continuous medium allows for intuitive analysis of bulk matter by using differential equations that describe the behavior of such matter according to physical laws, such as mass conservation, momentum conservation, and energy conservation. Information about the specific material is expressed in constitutive relationships.
The first constitutive equation (constitutive law) was developed by Robert Hooke and is known as Hooke's law.It deals with the case of linear elastic materials.Following this discovery, this type of equation, often called a "stress-strain relation" in this example, but also called a "constitutive assumption" or an "equation of state" was commonly used.
The constitutive relation is expressed as a linear first-order differential equation: = + ˙ This model represents a solid undergoing reversible, viscoelastic strain. Upon application of a constant stress, the material deforms at a decreasing rate, asymptotically approaching the steady-state strain.
Expressed in terms of components with respect to a rectangular Cartesian coordinate system, the governing equations of linear elasticity are: [1]. Equation of motion: , + = where the (), subscript is a shorthand for () / and indicates /, = is the Cauchy stress tensor, is the body force density, is the mass density, and is the displacement.
The equations that govern the deformation of jointed rocks are the same as those used to describe the motion of a continuum: [13] ˙ + = ˙ = = ˙: + = where (,) is the mass density, ˙ is the material time derivative of , (,) = ˙ (,) is the particle velocity, is the particle displacement, ˙ is the material time derivative of , (,) is the Cauchy stress tensor, (,) is the body force density ...
For completion, one must make hypotheses on the forms of τ and p, that is, one needs a constitutive law for the stress tensor which can be obtained for specific fluid families and on the pressure. Some of these hypotheses lead to the Euler equations (fluid dynamics) , other ones lead to the Navier–Stokes equations.
Mass transfer in a system is governed by Fick's first law: 'Diffusion flux from higher concentration to lower concentration is proportional to the gradient of the concentration of the substance and the diffusivity of the substance in the medium.' Mass transfer can take place due to different driving forces. Some of them are: [12]
There are two main descriptions of motion: dynamics and kinematics.Dynamics is general, since the momenta, forces and energy of the particles are taken into account. In this instance, sometimes the term dynamics refers to the differential equations that the system satisfies (e.g., Newton's second law or Euler–Lagrange equations), and sometimes to the solutions to those equations.