Hydrodynamic resistance matrix

At fixed orientation, linearity of Stokes flow relates a rigid body's translational velocity $\mathbf{U}$ to the hydrodynamic force $\mathbf{F}$ byThe Lorentz reciprocal theorem makes $\mathbf{R}$ symmetric, and positive viscous dissipation makes it positive definite.

With a consistent force convention, the mobility matrix maps applied generalized forces to rigid-body velocities; it is the inverse of the hydrodynamic resistance matrix. For a sphere with force on the fluid $\mathbf{F}$, its isolated mobility is $1/(6\pi \mu a)$. Coupling between bodies represents hydrodynamic interactions.

Here $\mathbf{F},\mathbf{G}$ are forces and torques exerted by the body on the fluid, or the external force and torque needed to maintain its motion. The Lorentz reciprocal theorem for Stokes flow makes the six-dimensional hydrodynamic resistance matrix symmetric. The power identity $\mathbf{F}\cdot \mathbf{U}+\mathbf{G}\cdot \mathbf{\Omega }=2\mu \int e:edV$ makes it a positive-definite matrix for a body moving in otherwise stationary unbounded fluid.