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according approximation arbitrary axis basic invariants boundary conditions cartesian coordinate cartesian coordinate system Chapter coefficients constant constitutive equation continuum continuum mechanics coordinate system corresponding covariant cross section curves dashpot defined deformation rate denoted depends deviatoric differential equation displacements dissipation function dissipation surfaces dissipative forces dissipative stress elastic element entropy production fluid follows Fourier's law free energy fundamental law given gradient heat flow hence Hooke's law incompressible independent integral internal energy internal forces internal parameters isotropic liquid material derivative mechanics metric tensor model of Fig motion Newtonian nonlinear obtain orthogonality condition plane plastic potential power of dissipation pressure Problem rate of entropy reduces referred represents respect restrict ourselves scalar shear stress Show simple shear strain tensor stress tensor symmetry temperature theorem theory thermal equation thermodynamics variables vector velocity field viscoelastic viscosity yield condition yield limit yield locus yield surface zero