Elastic Waves in Solids

Elastic waves in solids Crash Course
Gautier Lefebvre
Université de Technologie de Compiègne
Roberval laboratory
Outline of the Lecture
I. Elastic Wave Propagation in Free Space
1. 3D Elasticity
2. Longitudinal and Transverse Waves
II.Reflection and transmission through interfaces

1. Boundary Conditions
2. Free Surface Reflection
3. Solid-Fluid Interface
III.Guided Waves
1. Surface Waves
2. Lamb Waves
Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 2

Elastic Waves in Solids: 1D Solid
σ ( x) σ ( x+dx) 1D medium along x, independent of y or z.
x x+dx
A
∂2 u Young’s modulus
dm 2 =σ ( x+dx) A−σ ( x) A dm= ρ A dx
∂t
∂2 u σ (x+dx )−σ ( x)
ρ A 2= A= ∂ σ A σ =E ε Hooke’s Law
∂t dx ∂x
∂2 u ∂ σ ∂(E ε ) ∂u
ρ 2= = =E ∂ ( ) ∂2 u E ∂2 u
=ρ
∂t ∂x ∂x ∂x ∂x 2 2
∂t ∂x

3D solid medium
⃗u (⃗x ) : displacement from equilibrium at position x. ⃗x =( x 1 , x 2 , x 3 )
⃗u (⃗x , t )=(u1 (⃗x , t ) ,u 2 (⃗x , t ), u3 (⃗x , t ))
∂ui
ui ( ⃗x +d ⃗x )=ui ( ⃗x )+ dx j
∂ xj
No deformation if the gradient of displacement is zero.
∂ ui 1 ∂u ∂u 1 ∂ u ∂u
dui ( ⃗x +d ⃗x )= dx j = ( i + j )dx j + ( i − j )dx j
∂ xj 2 ∂ x j ∂ xi 2 ∂ x j ∂ xi
Symmetric Antisymmetric
1 ∂ ui ∂ u j 1 ∂ ui ∂u j Describe a rotation movement

ε
Strain tensor ij = ( + ) ω ij = ( − )
2 ∂ x j ∂ xi 2 ∂ x j ∂ xi → no vibrations

Stress Tensor
⃗ n σ dS
dF=⃗
σ 22
x2
⃗
n σ 23
⃗
dF σ 21
σ 12
dS σ 32
σ 11
σ 33 σ 13
σ 31 x1
σ 11 σ 12 σ 13
(
σ = σ 21 σ 22 σ 23
σ 31 σ 32 σ 33 ) x3

Elastic wave equation
⃗ n σ dS
dF=⃗ The total stress force acting on the body of
volume V is:
⃗
n
∬S ⃗n σ dS=∭V div σ dV
⃗
dF
Gauss theorem
dS Balance of forces:
S ∂2 ⃗
u
V
∭V ρ 2 dV =∭V div σ dV +∭V ⃗f dV
∂t
with f is the density of external forces
∂2 ⃗u ∂ 2 ui
∂ σ ij
ρ 2 =div σ + ⃗f ρ 2= +f i
∂t ∂t ∂xj
Symmetry of the stress tensor
When there is no density of moment, we can show that the stress
tensor is symmetric:
σ ij =σ ji i , j=1,2,3
Only 6 independent components:

●
3 Normal stresses σ 11 , σ 22 , σ 33
●
3 Tangential stresses σ 12=σ 21 , σ 13=σ 31 , σ 23=σ 32

Linear Elasticity
Assuming a linear link between stress tensor and deformation
σ ij =c ijkl ε kl
cijkl : Elasticity tensor, fourth-rank (3 4 = 81 terms)
From the definition, we have the same symmetries as σ ij and
ε kl : cijkl =c jikl =c ijlk
By considering a reversible transformation, we can also show:
cijkl =c klij
81 terms → 21 terms
1
σ ij=c ijkl ε kl = cijkl
2
∂ uk ∂ ul
+
∂ xl ∂ xk (
=c ijkl
∂ uk
∂ xl )
Elasticity Notations
Voigt notation using the fundamental symmetries
of σ and ε :
{ }( {) }
c11 c 12 c13 c14 c 15 c 16
σ 11 Isotropic: 2 coefficients
ε 11
●
c 21 c 22 c 23 c24 c 25 c 26
σ 22 ε 22
σ 33 c 31 c 32 c 33 c34 c 35 c 36 ε 33
= ●
Axi-symetrical: 5 coefficients
σ 23 c 41 c 42 c 43 c 44 c 45 c 46 ε 23
σ 31 ε 31 (Glass wool)
σ 12 c 51 c 52 c53 c54 c 55 c 56 ε 12 ●
Orthotropic: 9 coefficients
c 61 c 62 c 63 c64 c 65 c 66 (Wood)
Most general notation, for any kind of material

Isotropic Medium
For an isotropic medium, the elasticity tensor can be written as:
c ijkl = λ δ ij δ kl + μ (δ ik δ jl + δ il δ jk )
Related to compression
Related to shear
with the Lamé coefficients λ and μ
σ ij =c ijkl ε kl = λ δ ij δ kl ε kl + μ (δ ik δ jl + δ il δ jk )ε kl
σ ij = λ ε kk +2 μ ε ij or σ = λ Id Tr ε +2 μ ε
In terms of u, we can write:
⃗ σ =( λ + μ ) grad
div ⃗ (div ⃗u )+ μ Δ ⃗u

Hooke’s Law
{} ( ){ }
1 −ν −ν 0 0 0
ε 11 σ 11
ε 22 −ν 1 −ν 0 0 0 σ 22
1 −ν −ν 1 0 0 0 Suitable for isotropic
ε 33 = σ 33
ε 23 E 0 0 0 1+ν 0 0 σ 23 materials (2 parameters only)
ε 31 0 0 0 0 1+ν 0 σ 31
ε 12 σ 12
0 0 0 0 0 1+ν
Possibility to link the different notations, e.g.:

νE E Conversion formula
λ= =c 11−2 c 44 , μ= =c 44
(1−2 ν )(1+ν ) 2(1+ν )

Uncoupling of the Wave Equation
Wave equation:
∂2 ⃗u ⃗
ρ 2 =div σ + ⃗f
∂t
2
∂ ⃗u ⃗ (div ⃗u )+ μ Δ
⃗ ⃗u + ⃗f
ρ 2 =( λ + μ ) grad
∂t
Laplacian can be written as: Δ ⃗

⃗ ⃗u = grad(div ⃗A )− rot
⃗ ( rot
⃗ A⃗)
2
∂ ⃗u ⃗ ⃗ ⃗u )+ ⃗f
⃗ ( rot
ρ 2 =( λ +2 μ ) grad(div ⃗u )− μ rot
∂t

Helmholtz Decomposition
We write the displacement field as the sum of two terms:
u⃗L=grad⃗ ϕ
⃗u =u⃗L + u⃗T
⃗ ψ
u⃗T = rot ⃗
ϕ ⃗ a vector potential.
is a scalar potential, ψ
⃗ u⃗L =⃗0 ,
rot div u⃗T =0
Thus, we can separate the two components:
{ √
∂2 u⃗L ⃗ λ +2 μ
−c L grad(div u⃗L )=0 , c L= ρ
∂t2
2
∂ u⃗L μ
∂t
2
+c rot2
⃗ ( rot
T
⃗ u⃗T )=0 , √
cT = ρ

Helmholtz Decomposition
We obtain d’Alembert equation for displacements and potential:
{
∂2 u⃗L 2
∂ϕ
⃗ u⃗L =⃗0 ,
−c L Δ −c L Δ ϕ=0
2 2
∂t ∂t
2
∂ u⃗T ∂ ψ⃗
2
⃗ u⃗T =⃗0 ,
−c 2T Δ −c 2
⃗⃗ ⃗
T Δψ =0
2 2
∂t ∂t
We replaced 3 unknown displacement components by 4 potential
components (1 for scalar, 3 for vectorial). A gauge equation might
be needed:
⃗ =0
div ψ

Examples of Material Properties
Material ρ (g/cm 3 ) λ (GPa) μ (GPa) c L (mm/µs) c T (mm/µs)

Steel 7.5-9 95-140 75-90 5.2-6.5 2.9-3.5
Aluminium 2.7 58 26 6.3 3.1
Concrete 1.3-2.5 5-14 8-21 2.9-6.5 1.8-4
Diamond 3.5 340 510 19.7 12.1
Epoxy 1.1-1.4 1.4-3.6 0.7-1.9 1.4-2.6 0.7-1.3
Plexiglass 1.2 3.4-7.8 0.8-1.2 2-2.9 0.8-1
Lead 11.5 39 6.3 2.1 0.75
PVC 1.1-1.5 1.7-5.7 0.7-1.5 1.4-2.8 0.7-1.2
Titanium 4.5 77 43 6 3
Glass 2.4-2.8 14-25 20-38 4.4-6.5 2.7-4

Plane wave solutions
As for acoustic waves, plane wave are solutions for infinite space:
( ⃗k ⃗x −ω t )
⃗
⃗u (⃗x ,t )= A P e
A ⃗ a polarisation vector depending on

is the amplitude, P ⃗n as ⃗k =k ⃗n .
For longitudinal waves: ⃗ u⃗L =⃗0 ⇒ ⃗n ∧ P⃗L=⃗0

rot
For transverse waves: div u⃗T =0 ⇒ ⃗n . P⃗T =0

Animations
Example: ⃗n =e⃗1 ⇒ P⃗L= e⃗1 , P⃗T =e⃗2 and P⃗T = e⃗3

1 2

Transverse Waves
https://www.acs.psu.edu/drussell/demos.html
Longitudinal Waves

Longitudinal Waves

1. 3D Elasticity

III.Guided Waves
1. Surface Waves
2. Lamb Waves

Boundary Conditions
Let’s consider a surface S between two solids, normal ⃗n. The 2 S
continuity conditions for any points in S write: ⃗
n
{
1
σ 1 (⃗x ,t )⃗n =σ 2 (⃗x , t )⃗n
u⃗1 (⃗x , t )=u⃗2 (⃗x ,t )
If the medium 2 is a perfect fluid, the stress tensor is: σ 2=−P 2 Id
{ σ 1 (⃗x ,t )⃗n =−P 2 (⃗x , t )⃗n

u⃗1 (⃗x , t ).⃗n =u⃗2 (⃗x , t ).⃗n
No shear stress in a fluid, and only normal displacement
continuity.
Free-surface reflection
Reflection on a free space: σ ( ⃗x ,t ). e⃗3 =⃗0
x 2 Free surface
x1
(k n⃗ ⃗x −ω t )
Incident plane wave: ⃗
u⃗I (⃗x , t )= A I P I e I
θI θT
() ( )
P1 sin θ I θL
⃗ = P , with n⃗I = 0 , and k I =ω / c I
P Solid ρ , c L , c T
2
P3 cos θ I x3
For each point in S, Snell-Descartes Law

sin θ I sin θ L sin θ T
k⃗I .⃗x = k⃗L .⃗x = k⃗T . ⃗x , then = =
cI cL cT

Reflected waves:
x2 x1
u⃗R ( x 1 , x 3 , t )=u⃗L ( x 1 , x 3 ,t )+ u⃗T ( x 1 , x 3 , t )+ u⃗T (x 1 , x 3 ,t )
1 2
{
θI θT
( k⃗l . ⃗x −ω t) θL
u⃗L (⃗x ,t )= A L P⃗L e
⃗ ( k⃗ . ⃗x −ω t ) Solid ρ , c L , c T
u⃗T (⃗x , t )= A T PT e T
1 1 1 x3
( k⃗ . ⃗x − ω t )
⃗
u⃗T (⃗x ,t )= A T P T e T
2 2 2
Using:
k⃗L ∧ P⃗L =⃗0
( ) ( ) ()
P SV SH
k1cL cT k 3 T 0
k⃗T . P⃗T =0 P⃗L = ω 0 , P⃗T = ω 0 , P⃗T = 1 1 2
−k 3 L −k 1 0

x2 x1 x 2 x1 x x1
2
P
P P SH SH
θL θL θT θT θT θT
SV
θT SV θL SV
x3 x3 x3

Incident Longitudinal Wave
Using the free surface boundary condition σ ( ⃗x ,t ). e⃗3 =⃗0 ,
we can obtain the reflection coefficients: x2 x1
( )
2
cT 2
sin 2 θ L sin 2 θ T −cos 2 θ T P P
AL cL θL θL
r L L= = ,
( )
AI cT 2
2
θT SV
sin 2 θ L sin 2 θ T +cos 2 θ T Solid ρ , c L , c T
cL x3
AT
r LT = =
2
cT
cL( )
sin 2θ L cos 2 θ T
cT
, with sin θ T = sin θ L
( )
2
AI cT 2
cL
sin 2 θ L sin 2θ T +cos 2θ T
cL
Incident Longitudinal Wave
●
The amplitude is maximal for
normal incidence or grazing
incidence (no reflected shear
wave).
●
The conversion to shear waves
can be perfect for specific angles
cL
as r L L=0 , if >0.565
cT

Incident Transverse Vertical Wave
cL
sin θ L = sin θ T x1
cT x2
P
As shear waves are usually slower than compressive
θT θT
waves, θ L >θ T . SV
θL SV
A critical incident angle is reached as θ L=90 ° ,
x3
c
θ =arcsin
T
cT
cL ( )
Then reflected compressive waves becomes
evanescent.

Solid-Liquid, Liquid-Solid interfaces
Liquid ρ , c
θ sin θ sin θ L sin θ T
= = θ θ
P c cL cT P
Liquid ρ , c P
x2 x1 x1
P
x2
P
θT θT θT
SV
θL SV θL SV
x 3 Solid ρ , c L , c T x 3 Solid ρ , c L , c T

1. 3D Elasticity

III.Guided Waves
1. Surface Waves
2. Lamb Waves

Guided Waves
Specific shapes are waveguides, based on

the coupling between propagation Free surface
properties and boundary conditions
Two free surfaces guide the wave through

successive reflections
Free surface
One free surface is already a waveguide !

Rayleigh Waves
2 Semi-infinite solid
∂ ⃗u ⃗ (div ⃗u )+ μ Δ
⃗ ⃗u x
ρ 2 =( λ + μ ) grad y
∂t
⃗ ϕ L + rot
⃗u =grad ⃗ ψ⃗
{
∂ ϕ L ∂ψ z ∂ψ y ∂ ϕ L ∂ ψ y
ux = + − = − z
∂x ∂ y ∂z ∂x ∂z
∂ ϕ L ∂ ψ x ∂ ψ z ∂ψ x ∂ψ z
u y= + − = − Polarization in (x, z) plane ⇒ u y =0
∂ y ∂z ∂x ∂z ∂x We can choose
∂ ϕ L ∂ ψ y ∂ψ x ∂ ϕ L ∂ψ y
uz= + − = + Ψ⃗ =ϕ T e⃗y
∂z ∂x ∂y ∂z ∂x

Rayleigh Waves
1 ∂ϕ
2 ∂2 ϕ M ∂ 2 ϕ M 1 ∂2 ϕ M
Δ ϕ − 2 2 =0 → 2
+ 2
− 2 2
=0 with L=M , T
c ∂t ∂x ∂z cM ∂ t
We look for solutions in the form: i(k x−ω t )

ϕ M ( x , z , t )=f M (z)e
Propagative harmonic waves toward x.
∂2 f M ω 2
2
+( 2 −k ) f M ( z)=0 with L=M , T
∂ z2 cM

Rayleigh Waves
√ √
2
c 2
with α M = k 2− ω2 =k 1− 2
−α M z αM z
f M ( z)= A M e +B M e
cM cM
B M must be zero to avoid divergence.
−α M z
We can write: ϕ M ( x , z , t )= A M e e i(k x−ω t )
[( ) ( ) ]
ik αT
−α z α
ei (k x−ω t )
z
⃗u ( x , z ,t )= 0 ALe + 0 AT e L T
−α L ik

Rayleigh Waves
Boundary conditions: σ ( ⃗x ,t ). e⃗z =⃗0 ,
{
Elasticity law gives:
σ xz = μ
∂x ∂z(
∂ u z ∂ ux
+ ) y invariance and no
σ yz = μ (
∂ uz ∂ u y
+
∂ y ∂z ) displacement in y direction
cancel this term
∂ ux ∂ uz
σ zz= λ +( λ +2 μ )
∂x ∂z

Rayleigh Waves
Injecting the waveform:
{
−α L z −α L z
σ xx ( x , z ,t )= μ [−2 i k α L A L e −(k +α ) A T e ] ei(k x−ω t )2 2
T
σ zz ( x , z ,t )= μ [(k 2 +α T2 ) α L A L e−α z −2 i k A T α T e−α z ]ei (k x−ω t )

L L
{ 2 i k α L A L +(k 2 +α 2T ) A T =0
At z=0,
(k 2 +α 2T )α L A L −2 i k α T A T =0
Solving the system provides the dispersion equation:
(k 2 +α T2 )2−4 k 2 α L α T =0

Rayleigh Waves
In terms of wave velocity:
( ) √( )( )
2 2 2 2
c c c
2− 2 −4 1− 2 1− 2 =0
cT cL cT
Only one solution cR , depending on c L and c T ,

independent of the frequency
√
Approximate solution: cR 1.44 λ +0.88 μ
=
cT 1.58 λ +1.16 μ

Rayleigh Waves
{
−α L z −α T z
U x ( x , z , t )=−(k e −√α L α T e ) A L sin (k x−ω t )
α L −α
U z ( x , z ,t )= −α L e ( −α L z
+k α e
T√ T z
) A cos(k x−ω t )
L
●
Evanescent part in z direction
●
Phase quadrature between x and z: elliptic polarization
●
Possible sign changes

Rayleigh Waves
{
−α L z −α T z
U x ( x , z , t )=−(k e −√α L α T e ) A L sin (k x−ω t )
α L −α
U z ( x , z ,t )= −α L e ( −α L z
+k α e
T√ T z
) A cos(k x−ω t )
L

Scholte and Stoneley Waves
Vacuum
Solid
Liquid Solid
Solid
Solid Useful in geophysics
Flores-Mendez et al. Journ. Appl. Math 2011

Leaky Waves
Surface guided wave, decreasing with z and x

SH Guided Waves
Cut-off at low frequency for m > 0

From Noé Jiménez website
https://nojigon.webs.upv.es/
Lamb Waves
Plate Polarization in (x, z) plane ⇒ u y =0
We use Ψ⃗ =ϕ T e⃗y
y
{
h x ∂ϕ L ∂ϕ T
ux= −
∂x ∂z
∂ϕ L ∂ϕ T
uz= +
z ∂z ∂x
{ {
Looking for propagative form in x:
∂2 ϕ L 2 2 ω 2
2 2 2
+ p ϕ L=0 p = 2 −k =k L−k
{
i (k x−ω t )
ϕ L (x , z , t )=f L ( z)e , then ∂z 2
cL
i(k x−ω t ) 2
ϕ T ( x , z , t )=f T (z)e ∂ ϕT ω
2
2
2 2 2
2
+q2 ϕ T =0 q = 2 −k =k T −k
∂z cT
Lamb Waves
{
∂ϕ L ∂ϕ T ∂ϕ T
Deriving the displacement ux= − =i k ϕ L −
∂x ∂z ∂z
from the potentials: ∂ϕ L ∂ϕ T ∂ϕ L
uz= + = +i k ϕ T
∂z ∂x ∂z
We only need these two components of the stress to express boundary conditions:
{ ( ) ( ∂ϕ L
)
∂ uz ∂ ux 2 2
σ xz = μ + = μ (q −k ) ϕ T +2i k
∂x ∂z ∂z
∂ϕ T
( )
∂ ux ∂ uz 2 2
σ zz = λ −( λ +2 μ ) = μ (k −q ) ϕ L +2 i k
∂x ∂z ∂z

Lamb Waves
Boundary conditions:
{ σ xz (z=±h /2)=0
σ zz ( z=±h/2)=0
Can be verified only if the two potentials have different parities:
f L (z)=B cos( p z +α ) and f T ( z)= A sin (q z+ α ) with α =0 or π /2

Symmetrical Anti-symmetrical
{
modes modes
∂ϕ L ∂ϕ T i(k x−ω t )
ux= − =( i k B cos( p z+α )−q A cos(qz+ α )) e
∂x ∂z
∂ϕ L ∂ϕ T
uz= + =( p B sin ( p z+α )+i k A sin (qz +α )) e i (k x−ω t )
∂z ∂x

Lamb Waves
{
Boundary conditions:
∂ϕ L
( 2 2
σ xz = μ (q −k ) ϕ T +2i k )
{ σ xz (z=±h /2)=0
σ zz ( z=±h/2)=0
( 2 2
σ zz= μ (k −q ) ϕ L +2 i k
∂z
∂ϕ T
)
∂z
{ (q 2−k 2 ) A sin (q h/2+α )−2 i k B p sin ( p h/2+α )=0

2 2
(k −q ) B cos( p h/2+α )+2 i k A q cos(q h /2+α )=0
Solving the system gives the dispersion relation of both modes:
4
cT (
ω 4 =4 k 2 q 2 1− p tan( p h/2+ α )
q tan(q h/2+α ) ) with α =0 or π /2

Lamb Waves
Symmetrical modes Anti-symmetrical modes

Lamb Waves
●
No crossings for each type
of mode
●
Cut-off frequency for all but
the first modes A0 and S0
f h( MHz . mm)
●
Growing with k most of the
time
kh
Bibliography
●
Daniel Royer, & Eugène Dieulesaint, Ondes élastiques dans les
solides, Tome 1, Propagation libre et guidée.pdf.
●
Notes from Master SPI, Tony Valier-Brasier, Sorbonne Université,
available online
●
Daniel Royer, Tony Valier-Brasier, Elastic Waves in Solids 1:
Propagation
●
Géradin, M. et Rixen, D. J. (2014). Mechanical vibrations : theory
and application to structural dynamics. John Wiley & Sons.

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Elastic waves in solids Crash Course

II.Reflection and transmission through interfaces

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 2

σ ( x) σ ( x+dx) 1D medium along x, independent of y or z.

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 3

⃗u (⃗x , t )=(u1 (⃗x , t ) ,u 2 (⃗x , t ), u3 (⃗x , t ))

1 ∂ ui ∂ u j 1 ∂ ui ∂u j Describe a rotation movement

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 4

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 5

Only 6 independent components:

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 7

Most general notation, for any kind of material

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 9

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 10

Possibility to link the different notations, e.g.:

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 11

Laplacian can be written as: Δ ⃗

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 12

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 13

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 14

Material ρ (g/cm 3 ) λ (GPa) μ (GPa) c L (mm/µs) c T (mm/µs)

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 15

A ⃗ a polarisation vector depending on

For longitudinal waves: ⃗ u⃗L =⃗0 ⇒ ⃗n ∧ P⃗L=⃗0

For transverse waves: div u⃗T =0 ⇒ ⃗n . P⃗T =0

Example: ⃗n =e⃗1 ⇒ P⃗L= e⃗1 , P⃗T =e⃗2 and P⃗T = e⃗3

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 16

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 18

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 19

II.Reflection and transmission through interfaces

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 20

If the medium 2 is a perfect fluid, the stress tensor is: σ 2=−P 2 Id

{ σ 1 (⃗x ,t )⃗n =−P 2 (⃗x , t )⃗n

For each point in S, Snell-Descartes Law

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 22

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 23

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 24

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 26

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 27

Gautier Lefebvre, METAVISION Training School, 13-17 November 2023 28

II.Reflection and transmission through interfaces

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Specific shapes are waveguides, based on

Two free surfaces guide the wave through

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We look for solutions in the form: i(k x−ω t )

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B M must be zero to avoid divergence.

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σ zz ( x , z ,t )= μ [(k 2 +α T2 ) α L A L e−α z −2 i k A T α T e−α z ]ei (k x−ω t )

Solving the system provides the dispersion equation:

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Only one solution cR , depending on c L and c T ,

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Flores-Mendez et al. Journ. Appl. Math 2011