 Solution

A small displacement $\mathbf{u}$ in a homogeneous isotropic elastic solid obeys linear elasticity. With Lamé constants $\lambda ,\mu$ and mass density $\rho$, momentum balance givesA longitudinal plane wave has displacement parallel to its propagation direction and changes local volume. A transverse wave has perpendicular displacement and produces shear. Substitution givesAn ideal fluid has no static shear modulus and cannot support this bulk transverse elastic wave. A thin rod with free lateral surfaces instead supports an extensional long-wavelength mode with speed $\sqrt{E/\rho }$; its transverse contraction changes the effective stiffness, so it should not be identified with the unbounded-solid longitudinal mode.

Stress and displacement boundary conditions produce reflection, transmission, mode conversion and guided waves. Viscoelasticity and scattering can attenuate waves; finite geometry can make guided modes dispersive even when the bulk elastic constants are frequency independent. Wave speed depends on both material stiffness and the allowed deformation.