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For an incompressible flow, write the Newtonian fluid stress tensor as $\sigma =-pI+2\mu e$, where $e=(\nabla u+\nabla u^T)/2$ is the rate-of-strain tensor. The Stokes equation gives ${\partial }_j{\sigma }_{ij}=0$. Symmetry of the Cauchy stress tensor therefore givesIntegrating and applying the divergence theorem expresses the viscous dissipation as boundary power:At a moving rigid body, the surface velocity is $U+\Omega \times (x-x_c)$. Its boundary-power contribution is $U\cdot F+\Omega \cdot G$, with the force and torque evaluated using the fluid's outward normal vector. Both resultants vanish for a force-free, torque-free inclusion. Thus the new viscous dissipation comes entirely from the unchanged outer boundary velocity. Subtracting the particle-free boundary power givesApply the Lorentz reciprocal theorem to $(u_0,{\sigma }_0)$ and $(u^{\prime },{\sigma }^{\prime })$ in the fluid outside the inclusion. On the outer boundary $u^{\prime }=0$, soWriting $n_p=-n$ for the particle's outward normal vector gives the required extra dissipation due to a rigid inclusion:This subtraction already accounts for the fluid volume displaced by the inclusion; it is not just the integral of the disturbance's local viscous dissipation.

For the sphere, the ambient rate-of-strain tensor $E$ is symmetric and trace free. The sphere in a uniform straining Stokes flow has zero translational and rotational velocity: inversion symmetry eliminates its force, and symmetry of $E$ eliminates its torque. To derive the disturbance, put $r=|x|$, $Q=x\cdot Ex$ and seekThe incompressible flow condition and Stokes equation reduce toA decaying family satisfying these equations is $f=A{r}^{-5}$, $g=B{r}^{-5}-5A{r}^{-7}/2$, $j=2B{r}^{-5}$. The no-slip boundary condition requires $f(a)=-1$ and $g(a)=0$, so $A=-a^5$ and $B=-5a^3/2$. ConsequentlyThe total velocity is zero at $r=a$, and the disturbance decays as $r^{-2}$. The pressure constant has been set to zero. These boundary and far-field conditions, together with Uniqueness of Stokes flow, establish the solution. There is no rotational background in a pure strain flow.

On the sphere $u^{\prime }=-u_0=-aE{n}_p$. Contracting the supplied Newtonian fluid stress tensor with $n_p$ makes its two terms proportional to $(n_p\cdot E{n}_p)n_p$ cancel, leaving $\sigma n_p=5\mu E{n}_p$. Hence the extra dissipation due to a rigid inclusion isHere ${\int }_{S^2}{n}_j{n}_{k}d\Omega =4\pi {\delta }_{jk}/3$. Taking the large outer boundary limit only after using the fixed-boundary power identity avoids replacing that prescribed boundary by an uncontrolled boundary at infinity.

If $N_v$ denotes the number of spheres per unit volume, $N_v(4\pi a^3/3)=\varphi$. ThusAdd this to the particle-free viscous dissipation density $2\mu E:E$. Comparing with $2{\mu }_{\mathrm{eff}}E:E$ gives the Einstein viscosity formula for a dilute suspension:to first order in $\varphi$. The hydrodynamic interactions neglected here contribute beyond that dilute order.

For two Stokes flows $(u^{(1)},{\sigma }^{(1)})$ and $(u^{(2)},{\sigma }^{(2)})$ of the same dynamic viscosity in the same region, with no volume force, the Lorentz reciprocal theorem statesIndeed, the divergence of their cross-work difference isThe pressure terms vanish by incompressible flow, and the derivatives of the Cauchy stress tensors vanish by the Stokes equation. The divergence theorem proves the result.

Use the convention that $F,G$ are the force and torque exerted by the body on the fluid. By Linearity of Stokes flow, $(F,G)=\mathsf{R}(U,\Omega )$. Applying the Lorentz reciprocal theorem to two independent rigid motions gives $q_1^T\mathsf{R}{q}_2=q_2^T\mathsf{R}{q}_1$, so the hydrodynamic resistance matrix is a symmetric matrix. The boundary-power identity givesThis is strictly positive for nonzero rigid motion: equality would imply $e=0$, hence a rigid motion throughout the connected fluid, which must vanish since the fluid is at rest at infinity. The no-slip boundary condition would then force $q=0$. Therefore $\mathsf{R}$ is a positive-definite matrix. Reversing to the fluid-on-body force changes the sign of the force law, not the positive resistance coefficients.

For the two rods, take the torque about $O$ and use body axes. On the $x$-rod, $X=(s,0,0)$, $0\le s\le 2L$, and its slender-body force density isOn the $y$-rod it isIntegrate $f$ and $X\times f$ along both rods, using $\int ds=2L$, $\int sds=2L^2$ and $\int s^{2}ds=8L^3/3$. A convenient dimensionally uniform statement of the complete right-angle two-rod resistance matrix isIn physical coordinates this means translation–translation entries scale as $CL$, the two translation–rotation blocks as $C{L}^2$, and rotation–rotation entries as $C{L}^3$. The planar block has inverseThis verifies the printed hydrodynamic mobility matrix with its third velocity component $L{\Omega }_z$; the TeX aid's ${\Omega }_x$ is an OCR error.

Take laboratory vertical velocity positive upwards. The body axes are $e_1=(\cos \theta ,\sin \theta )$ and $e_2=(-\sin \theta ,\cos \theta )$. In quasistatic sedimentation the force and torque exerted on the fluid equal the gravitational resultants on the body:The out-of-plane block is unforced, so its positive hydrodynamic resistance matrix gives $U_z={\Omega }_x={\Omega }_y=0$. Substitution in the planar hydrodynamic mobility matrix givesandFor $0\le \lambda <1$, this ordinary differential equation has positive right side on $0\le \theta <\pi /4$, with a stable zero at $\pi /4$. Uniqueness prevents crossing that equilibrium in finite time. For $\lambda >1$ the initial angular velocity is negative, and the stable equilibrium reached from zero is $-3\pi /4$. The heavier-end body turns clockwise through $3\pi /4$; it does not settle at $\pi /4$. More explicitly, with $K=(1-\lambda )mg/(4C{L}^2)$,where the continuous branch has $\theta -\pi /4\in (-\pi ,0)$. At $\lambda =1$, $\theta$ remains zero.

Transforming the translational velocity back to laboratory axes givesFor $\lambda \ne 1$, eliminate time between $U_h$ and the angular velocity:At either limiting orientation $\sin \theta =\cos \theta$. Thus both cases have the same net horizontal displacement,For $\lambda <1$ the drift is monotonically rightwards. For $\lambda >1$ it first moves left, reaching $x_O-x_O(0)=(2L/3)(1-\sqrt{2})$ at $\theta =-\pi /4$, then reverses. The total horizontal path length in this second case is $(2L/3)(2\sqrt{2}-1)$, whereas its net displacement is $2L/3$ rightwards. At $\lambda =1$ it falls vertically without rotation or drift; taking the infinite-time limit before $\lambda \to 1$ is consequently singular.

For the requested sedimentation drift of a weighted two-rod body sketch, a full parametric trajectory follows by also integrating $U_v/\dot{\theta }$. Put $\psi =\theta -\pi /4$ and set the initial height to zero:It tends to $-\infty$ in either case while $x_O$ tends to $2L/3$. At $\lambda <1$ both rods end pointing upwards from $O$ symmetrically; at $\lambda >1$ they end pointing downwards symmetrically. The asymptotic downward speed is $(1+2\lambda )mg/(3CL)$.

Put $Q=F\cdot x$. Differentiate the given Stokeslet velocity:Symmetrizing and subtracting the pressure term cancels the diagonal terms, leaving the Cauchy stress tensorOn the radius-$R$ surface with outward sphere normal $n=x/R$, the force exerted by the exterior fluid on the sphere is the tractionUse $dS=R^{2}d\Omega$ and ${\int }_{S^2}{n}_i{n}_{j}d\Omega =(4\pi /3){\delta }_{ij}$ to findThe $R^2$ factors cancel, proving independence of radius. This calculation uses the printed far-field Stokeslet; higher multipoles of the exact sphere flow have zero net force through enclosing surfaces.