| Preface | p. xiii |
| Introduction | p. 1 |
| What this book is about | p. 1 |
| Definition of a continuum | p. 5 |
| Governing equations | p. 7 |
| Vectors and tensors | p. 10 |
| Solving the equations | p. 11 |
| The art of modeling | p. 12 |
| Review of elementary mechanics | p. 14 |
| Introduction | p. 14 |
| Newton's laws | p. 15 |
| Vectors, coordinates, and components | p. 17 |
| Position and velocity vectors | p. 20 |
| Cylindrical and spherical coordinates; left- and right-handed Cartesian axes | p. 22 |
| Vector statistics | p. 24 |
| Example of the use of coordinates | p. 25 |
| Numerical solution of the equations of motion | p. 29 |
| Work, energy, and power | p. 31 |
| Application to meteorite impact | p. 36 |
| Application to fluid drag and lift | p. 37 |
| Stream power | p. 40 |
| The equations of motion including drag | p. 41 |
| Rotation using the vector product | p. 45 |
| The vector product (cross-product) | p. 47 |
| Rotation of vectors about an axis | p. 48 |
| Moments and torque | p. 52 |
| Angular momentum and moment of intertia | p. 53 |
| Centrifugal and tidal forces | p. 54 |
| Coriolis forces | p. 56 |
| Review problems | p. 59 |
| Suggested reading | p. 66 |
| Dimensional analysis and the theory of models | p. 69 |
| Introduction | p. 69 |
| Dimensions and dimensional homogeneity | p. 70 |
| Dimensionless products and the pi theorem | p. 72 |
| Scale models | p. 83 |
| More on modeling | p. 86 |
| Uses of dimensional analysis | p. 89 |
| Review problems | p. 91 |
| Suggested reading | p. 98 |
| Stress | p. 100 |
| Introduction | p. 100 |
| Friction | p. 102 |
| Rock falls and avalanches | p. 106 |
| Strength | p. 109 |
| Experimental results for rock friction | p. 116 |
| Definition of stress | p. 117 |
| Notation and sign convention | p. 118 |
| Symmetry of stress components | p. 120 |
| Equilibrium of a small prism | p. 122 |
| The stress ellipsoid | p. 124 |
| The Mohr circle of stress | p. 126 |
| Failure: the Navier-Coulomb criterion | p. 128 |
| Friction and faulting in the earth's crust | p. 131 |
| Stress fields and trajectories | p. 133 |
| State of stress beneath a level ground surface | p. 134 |
| Sliding on slopes | p. 136 |
| Tensor components of stress | p. 142 |
| Why stress is a tensor | p. 152 |
| Review problems | p. 153 |
| Suggested reading | p. 160 |
| Pressure, buoyancy, and consolidation | p. 162 |
| Concept of pressure in a fluid | p. 162 |
| Pressure in a solid (geostatic pressure) | p. 164 |
| Buoyancy | p. 165 |
| Is buoyancy a surface or a body force? | p. 167 |
| Isostasy | p. 170 |
| Rise and intrusion of magma in the crust | p. 172 |
| Forces on settling grains | p. 175 |
| Buoyancy in debris flows | p. 177 |
| Effective and neutral stress | p. 178 |
| Consolidation | p. 180 |
| Geopressured zones | p. 183 |
| Effect of neutral stresses on shear strength | p. 185 |
| Review problems | p. 186 |
| Suggested reading | p. 192 |
| Flow through porous media | p. 193 |
| Darcy's law | p. 193 |
| Hydraulic head | p. 195 |
| Hydraulic conductivity | p. 198 |
| Nature of permeability: relation to porosity, tortuosity, and specific surface area | p. 201 |
| Gradient and curl and their application to Darcy's law and other diffusion equations | p. 203 |
| Divergence and the conservation of mass | p. 207 |
| Flow to a well | p. 209 |
| Flow nets | p. 211 |
| Numerical solution of the Laplace equation | p. 214 |
| Dispersion by flow | p. 215 |
| Refraction of groundwater flow | p. 217 |
| The water table: flow near a topographic surface | p. 220 |
| Fluids of different densities: the freshwater lens | p. 221 |
| Effect of groundwater on sliding on an infinite slope | p. 222 |
| Theory of consolidation | p. 224 |
| Review problems | p. 228 |
| Suggested reading | p. 233 |
| Strain | p. 234 |
| Definitions | p. 234 |
| Measures of strain | p. 236 |
| Plane strain | p. 238 |
| Approach through Taylor's theorem | p. 244 |
| Generalization to three dimensions | p. 247 |
| Measurement of strain | p. 248 |
| Strain ellipse, Mohr circle of strain | p. 248 |
| Review problems | p. 251 |
| Suggested reading | p. 254 |
| Elasticity | p. 255 |
| Constitutive equations | p. 255 |
| Hooke's law | p. 256 |
| Generalized Hooke's law | p. 258 |
| Rigidity modulus | p. 261 |
| Bulk modulus | p. 262 |
| Lame's constants | p. 263 |
| Measurement of stress in rocks | p. 265 |
| Hydraulic fracturing of petroleum reservoir rocks | p. 267 |
| State of stress in the crust of the earth | p. 270 |
| Flexure of plates | p. 271 |
| Equations of motion: Navier's equation | p. 280 |
| Application to seismic waves | p. 284 |
| Review problems | p. 289 |
| Suggested reading | p. 295 |
| Viscous fluids | p. 296 |
| Constitutive equations | p. 296 |
| Equation of motion | p. 301 |
| Kinematics of flow and material acceleration | p. 304 |
| Navier-Stokes equation | p. 307 |
| Inviscid flows: the Euler and Bernoulli equations | p. 312 |
| Irrotational flows | p. 315 |
| Boundary layers | p. 317 |
| Steady, uniform viscous flow between parallel plates | p. 320 |
| Flow through a tube | p. 324 |
| Geological applications | p. 324 |
| Viscous flow past a sphere or cylinder | p. 331 |
| Review problems | p. 333 |
| Suggested reading | p. 335 |
| Flow of natural materials | p. 337 |
| Introduction | p. 337 |
| Mechanical models of natural materials | p. 338 |
| Flow of materials down slopes | p. 344 |
| Ice | p. 348 |
| Debris | p. 353 |
| Lava | p. 356 |
| Rock rheology and sedimentary basins | p. 357 |
| Review problems | p. 360 |
| Suggested reading | p. 363 |
| Turbulence | p. 365 |
| Description of turbulence | p. 365 |
| Origin of turbulence | p. 371 |
| Boundary layers and flow separation | p. 373 |
| Reynolds stresses | p. 378 |
| Diffusion | p. 382 |
| Velocity distribution in a turbulent boundary layer | p. 387 |
| Review problems | p. 391 |
| Suggested reading | p. 393 |
| Thermal convection | p. 395 |
| Introduction | p. 395 |
| Conduction | p. 396 |
| Thermal instability | p. 398 |
| Geometry of convection | p. 400 |
| Equations of motion | p. 403 |
| Lorenz equations | p. 404 |
| Numerical simulation of convection | p. 407 |
| Review problems | p. 407 |
| Suggested reading | p. 408 |
| List of symbols and vector notation | p. 410 |
| Properties of common fluids and rocks | p. 416 |
| Sets of linear equations | p. 422 |
| Partial derivatives and differential equations | p. 430 |
| References | p. 438 |
| Index of names | p. 451 |
| Subject index | p. 455 |
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