For an outgoing simple wave into water initially at rest at depth , the incoming Riemann invariant is . Thus and the outgoing characteristic speed is . A boundary characteristic emitted at time is . Its envelope satisfies and . At a zero-velocity onset with positive acceleration, the leading-edge intersection is the displayed distance. Later characteristic curves can form a shock earlier elsewhere in a sufficiently strong waveform.
In a right-going simple wave, the state emitted at boundary time travels along . The mapping from emission time to position first becomes singular when , giving the displayed shock time and position . A smooth increase of traction produces steepening only if it increases the propagation speed. This describes the first gradient singularity; continuation as a shock wave needs admissible jump conditions.
Use material coordinates and write the placement as . The strain energy density in the printed convention is per unit reference mass. It is convenient to use the conventional first Piola-Kirchhoff stress tensor , so
Assume the undeformed reference state is stress-free. With and infinitesimal strain tensor , material isotropy and material frame indifference give the quadratic expansion
Consequently the Lamé parameters from hyperelastic energy Hessian are
Indeed, differentiating the quadratic expression twice gives
the elastic stiffness tensor of linear elasticity. A prestressed reference state requires the corresponding initial-stress corrections; the displayed formula concerns the natural state.
For a plane elastic wave, , put and . Balance of momentum without body force becomes
This is a material-coordinate equation: the reference density cancels between inertia and nominal stress. If , the first-order system has characteristic speeds and right eigenvectors . Along a characteristic curve with , its differential compatibility relation is
This follows by multiplying the system by the left eigenvector . It does not assert the existence of globally integrable Riemann invariants for an arbitrary three-component constitutive law.
There is a necessary qualification to the finite-amplitude transverse request. Set and , so . The longitudinal momentum equation requires
Thus arbitrary nonuniform pure transverse profiles are possible only if the compatibility condition for pure nonlinear transverse waves holds:
The third component vanishes by the reflection symmetry implied by isotropy and objectivity. The shear equation then closes:
General compressible hyperelastic material assumptions alone do not imply the required compatibility. For a concrete counterexample, take the Saint Venant–Kirchhoff hyperelastic energy
For , this becomes
At , . A varying shear therefore produces a longitudinal force and cannot preserve . Infinitesimal transverse waves do exist, because this coupling is second order, but a general pure finite-amplitude transverse wave does not.
The compatible nonlinear shear energy class is nonempty and can be genuinely nonlinear. Define , , and, for , take
This is objective and isotropic. Near , , so it has the specified Lamé parameters. On the plane deformation above, and . Hence at , while
For positive , the relevant incremental plane moduli are positive. This supplies an explicit stable pure transverse family and, when , amplitude-dependent wave speed.
For any compatible family, let
The equations and give the Riemann invariants
Consider the initially undisturbed half-space . A right-going simple wave has the incoming invariant , so . Denote the prescribed boundary nominal stress by . The physical boundary traction, whose outward normal is , is . Invert the monotone law to obtain . The wave state emitted at boundary time is transported along
Ahead of the leading front the state is zero. Before characteristic crossing, these equations determine the unique emission time for each disturbed point. The displacement itself is also determined, rather than just its derivatives:
Differentiating the implicit emission relation verifies and , so this is the complete pre-shock simple wave solution.
Write . The boundary-generated characteristic curves lose invertibility when
Thus the characteristic crossing in a boundary-generated elastic simple wave criterion is
Here . A smoothly increasing boundary stress therefore steepens into a shock wave only when later states travel faster: . Increasing stress alone is insufficient. For the compatible example with and , , so a nonzero increasing ramp produces finite-time crossing. For all rays are parallel and no such shock forms. This criterion locates the first gradient singularity; subsequent discontinuous evolution additionally requires the jump conditions and an admissibility condition.
For a general vector simple wave, replace the pure-shear line by an integral curve
Substitution gives , with the same emission construction and crossing criterion. Boundary tractions must lie on this one-family curve. Generic finite-amplitude quasi-transverse waves may contain longitudinal displacement; arbitrary vector boundary forcing need not generate a single simple wave.
On a region with smooth positive area, set , . Substitution into the simple wave equation gives
Remove the last term by , and choose . Starting at a regular section , one convenient normalized area transformation of a nonlinear acoustic simple wave is
In the notation , set . The remaining equation is . With initial value at , the method of characteristics gives
The map from the initial label loses invertibility when . For smooth data with bounded derivative and , the first forward characteristic crossing is at ; if , no forward shock occurs.
For spherical spreading, write physical radius as and specify data at an emitting radius . Since ,
The shock distance for a spherical simple wave launched at finite radius is
If the axial distance is measured from the emitting surface, , then and
No finite shock distance exists in this model when .
The printed combination with general bounded data at is singular and does not define the intended outgoing spherical initial-value problem. Along a spherical characteristic, and , so is constant. A bounded trace at forces that constant to be zero for every characteristic curve emanating from the origin; arbitrary nonzero bounded cannot be launched there. For example, the ostensibly admissible data would demand both and a nonzero trace, a contradiction. The logarithmic transformed distance is also divergent at the origin. Thus an unqualified numerical shock formula from those literal data would be unjustified. The finite-radius formulas above give the physical interpretation once the launching radius, or the shifted area law, is supplied.
Before surface-wave breaking or reflected waves return, the shallow water equations are and . Set and . Their Riemann invariants are along . An outgoing simple wave entering resting water has , so the imposed boundary velocity gives
This formula requires and an appropriate inflow/outflow characteristic curve count. In particular ensures that only the outgoing family enters the domain throughout the cycle; stronger forcing can change the boundary problem.
A characteristic curve emitted at time carries constant and and follows
Increasing boundary velocity produces faster following characteristic curves, steepening the advancing side of a crest; decreasing boundary velocity spreads the curves and produces a rarefaction wave. A trough has reduced depth and smaller propagation speed. Once the compressive curves intersect, the single-valued simple wave must be replaced by an admissible hydraulic bore, with mass conservation and momentum conservation across it and loss of mechanical energy. In a very weak or dispersive wavetrain an undular bore can replace the ideal discontinuity.
For a bore of speed entering undisturbed depth , the Rankine-Hugoniot condition gives and . If is its depth just behind, elimination of the behind-bore velocity yields and . Thus the newly formed front travels faster than , carries a depth jump, and dissipates energy; the behind-bore state must satisfy these balances rather than continuing intersecting smooth curves. The final sketch is schematic and does not claim a solved post-breaking boundary-value problem.
There is a numerical defect in the printed leading-edge claim. The first leading edge is the curve . The envelope condition gives
At the leading edge,
This follows directly from the specified boundary acceleration and the exact Riemann invariant. The printed coefficient is incompatible with these data: at that distance the leading-edge characteristic curves have not yet intersected. For the first compression interval, , one has . Consequently , so the first envelope occurs at . This boundary-driven shallow-water wave steepening calculation also establishes that no later characteristic in the initial compression forms a bore earlier.
Figure 1.
Outgoing shallow-water characteristics and profiles before the leading-edge bore
. Details.
For a one-dimensional isentropic perfect gas, continuity and momentum are and , where and . Since , differentiation gives
Thus applying to cancels both terms:
The complementary invariant is transported along . In the right-running piston simple wave, those characteristics carry the undisturbed value zero, giving .
A right-running characteristic emitted by the piston at time has and speed , constant along that characteristic. It starts at , so
Neighboring characteristics first intersect when . This derivative is , so the envelope time is
For , it is smallest at . Consequently the first gradient catastrophe and ensuing shock form at
This uses the smooth isentropic simple-wave solution up to its first characteristic crossing, not beyond the newly formed shock.
For an isentropic perfect gas, and . The one-dimensional Euler equations give and , where . Since , these become
Adding the appropriate terms shows
These are the Riemann invariants. A simple wave is a solution in which one invariant is spatially and temporally constant, so all local state variables depend on the other one. For a right-moving wave connected to rest, the minus invariant is zero and . The plus characteristic then has speed , giving
For the supplied damped equation put . Along , , so an initial label gives
This solves the initial-value problem while the label map remains invertible. Its derivative is . Nonnegative slopes cannot cause crossing; for negative slopes, the condition keeps that derivative strictly positive. Hence the stated damping condition prevents shock formation at every finite time. Equality also avoids a finite-time crossing, although the derivative may tend to zero as time tends to infinity. The strict inequality in the question is sufficient rather than necessary.
Write , and . The isothermal equation of state replaces the adiabatic thermal equation by . Since the fields depend only on , the solenoidal constraint gives and the component of the ideal magnetohydrodynamic induction equation gives . Hence is constant in both space and time.
The continuity, two momentum and transverse induction equations are
Here is the transverse magnetic component and the constant is the longitudinal component. The longitudinal magnetic force is the gradient of transverse magnetic pressure; the transverse force is magnetic tension. In primitive variables the isothermal coplanar magnetohydrodynamic characteristic matrix is
The imposed components stay zero because their corresponding equations have zero right-hand sides under this reduction.
Let be a characteristic speed relative to the fluid and define the Alfvén velocity . To derive the characteristic polynomial, an eigenvector with components obeys
Eliminating and on a nondegenerate branch gives
Their consistency yields . Equivalently, direct expansion of gives the same polynomial without dividing by or a possibly vanishing field component:
Thus
The discriminant is , and both squared speeds are nonnegative. These are the fast magnetosonic wave and slow magnetosonic wave families, transported with the mean flow. The equations are hyperbolic; on a generic state the four distinct real eigenvalues give four characteristic directions. Special field alignments can make speeds coincide or the slow speed vanish. There is no separate entropy characteristic because the thermal model is isothermal, and the independent out-of-plane Alfvén wave polarization is excluded by .
To construct a simple wave in magnetohydrodynamics, take along a state-space curve whose tangent is a right eigenvector of one selected branch:
Substitution into the partial differential equations then gives the scalar transport equation
Such curves exist locally by integrating the eigenvector field away from degeneracies. For example, parameterizing by where its eigenvector density component is nonzero gives the explicit state-curve equations
with signed equal to one of the four relative wave speeds. These formulas are used only where their denominators are nonzero.
A particularly transparent nonlinear example is an isothermal perpendicular magnetosonic simple wave. Set the allowed constant , choose and keep constant. For the fast branch,
These relations satisfy the eigenvector equations and therefore all four original equations whenever
The amplitude-dependent characteristic speed has derivative
This already proves the existence of genuinely nonlinear waves in the stated system.
More generally, the method of characteristics applied to initial data gives
If the initial speed decreases towards increasing somewhere, the denominator reaches zero in finite time. When the negative minimum is attained, the first steepening time is
Faster trailing states catch slower leading states, giving shock formation by characteristic intersection. For the right-moving perpendicular fast example, a negative density gradient provides such a compression. Beyond a smooth simple wave is no longer sufficient and an appropriate shock solution is required. Rarefactive profiles instead spread. A linearly degenerate characteristic field has along its state curve and avoids this mechanism; the conclusion is that compressive nonlinear magnetosonic simple waves steepen, not that every possible MHD waveform must do so.
For smooth isentropic flow with , , the continuity and momentum equations give
where . Adding and subtracting these equations shows
These are the Riemann invariants on the two characteristic families.
Before any shock, the incoming characteristics originate in the initially uniform gas, so their invariant is zero. Thus throughout the disturbed simple wave. A characteristic leaving the piston at time has constant and speed . Therefore
This parametrization applies for in as long as the characteristics remain ordered. The gas for is still at rest. The values and give the piston and leading disturbance respectively.
Characteristic crossing first occurs when the derivative of the displayed with respect to vanishes. With this gives
For the printed , , so
Its minimum over occurs at and satisfies . Hence the first shock forms at
The characteristic formula is restricted to earlier times; crossing afterwards must be replaced by a shock satisfying the conservation laws.
Write and . In this geometry the Lorentz force density is purely longitudinal and equals . The ideal magnetohydrodynamic induction equation becomes . Together with the continuity equation and adiabatic pressure evolution, the four primitive-variable equations are
They have the required quasilinear form with
Here the notation in derivatives means , whereas denotes the longitudinal velocity. Spatial dependence is one-dimensional; time dependence is allowed in the wave problem.
Put , and assume and . Expansion of the characteristic polynomial gives
Two independent eigenvectors for can be chosen as and . For the two propagating branches, useful eigenvectors are
The repeated branch advects an entropy disturbance and a disturbance with unchanged total gas-plus-magnetic pressure. The branches are perpendicular fast magnetosonic waves, with speed relative to the fluid.
On a uniform background, a Fourier amplitude obeys . Thus the eigenvalues are the phase velocities for , and the four dispersion branches are twice and . The reduced geometry retains neither an independent transverse velocity nor an additional propagating Alfvén wave.
To construct each finite-amplitude simple wave in magnetohydrodynamics, trace a state-space curve with tangent , using as its parameter. Integrating the pressure and magnetic components gives
The constants and are the entropy and transverse magnetic flux freezing invariants along this state curve. Hence
Since , substituting this curve into the original system reduces it to . By the chain rule,
Thus the characteristic speed itself satisfies the Inviscid Burgers equation. For initial speed , its smooth solution is along , until the characteristic curves intersect. This derivation supplies genuine state curves for simple waves, not merely a linear dispersion relation.
Take the primitive state vector , with . In the absence of gravity, the ideal magnetohydrodynamic equations are first order: expanding the material derivatives, pressure gradient and Lorentz force makes every term linear in a spatial derivative of , with coefficients depending on . Dividing momentum balance by therefore gives a quasilinear partial differential equation system with eight-by-eight matrices. The solenoidal magnetic-field constraint is an additional constraint on initial data; the ideal magnetohydrodynamic induction equation preserves it because the divergence of a curl vanishes.
For a one-dimensional simple wave in magnetohydrodynamics, write with a nonzero state-space tangent. Substitution gives . A nonconstant profile requires the tangent to be a right eigenvector of :
The chain rule then gives the wave-speed equation:
This is the Inviscid Burgers equation, including the special case of constant . Its characteristic curves are , with . As long as the mapping remains invertible,
Thus a region with steepens: faster characteristics catch slower ones, and the first gradient catastrophe occurs at when the minimum is negative. A genuinely nonlinear compressive simple wave therefore forms a shock wave. Rarefactive profiles can spread instead; steepening is not inevitable for every initial profile.
To continue past this time, use weak solutions of the conservative mass, momentum, fluid total-energy equation and ideal magnetohydrodynamic induction equation. The Rankine-Hugoniot conditions fix the jumps and shock velocity, while physical entropy production selects admissible magnetohydrodynamic shocks. Diffusive shock wave layers are replaced by moving discontinuities, so their microscopic structure need not be explicitly resolved. In particular, the smooth adiabatic pressure equation must be replaced by total-energy conservation when imposing the ideal magnetohydrodynamic shock conditions.
For the Alfvén waves, impose the one-dimensional solenoidal magnetic-field constraint, so is constant and . Put and . The transverse components of the linearized ideal magnetohydrodynamic equations give
The longitudinal momentum equation additionally gives . The Alfvén eigenvectors have , hence their transverse polarization is perpendicular to . For , their speed and explicit right Alfvén characteristic eigenvectors are
For one may choose , up to a nonzero scalar factor. If , either transverse polarization is allowed and this characteristic speed is degenerate. These expressions describe the two propagating Alfvén branches for ; if , they coalesce with advected, nonpropagating transverse disturbances.
Integrating along an Alfvén simple wave leaves unchanged and gives and . Consequently the finite-amplitude nonlinear Alfvén wave relations are
The constant-magnitude condition is essential: otherwise a varying magnetic pressure would drive longitudinal compression. An arbitrary smooth phase profile gives an explicit family, and , with as above. Direct substitution in the transverse momentum and ideal magnetohydrodynamic induction equation gives and , confirming the solution without relying on the eigenvector argument. Longitudinal momentum holds because is constant. The speed is independent of amplitude along this family: these linearly degenerate characteristic fields translate without steepening.
For isentropic gas with , , the sound speed obeys . The one-dimensional mass and momentum equations are
Since , these imply
Adding and subtracting yields the Riemann invariants
A simple wave has one invariant constant throughout. For a right-moving wave into a resting state with sound speed , , so and the right characteristic speed is , .
For the damped scalar equation, characteristics from satisfy
Assume smooth bounded initial data with bounded derivative, and the stated maximal compressive slope exists. Then
For the damping threshold for a simple wave, if , put . For , a gradient blow-up first occurs at
For , stays uniformly positive. At it still satisfies for every finite time. At a point attaining the minimum slope, for all time, rather than blowing up. Hence the precise conclusion is no finite-time shock occurs when , not the printed strict “if and only if ”. Equality only makes the limiting characteristic map degenerate as . The profile directly verifies this endpoint distinction. If there is no compressive slope, take ; no finite-time shock occurs for positive damping. A nonattained maximal slope is interpreted with a supremum and the corresponding infimum of breakdown times. The gas interpretation also requires .
The undisturbed gas has , , and hence . The disturbance from the receding piston is a right-moving simple wave, so this invariant remains zero throughout it:
Let be the time at which the relevant characteristic leaves the piston. The boundary condition is there. Both and are constant along this characteristic, whose speed is
Hence is determined implicitly by the receding-piston rarefaction wave equation
Within , the solution is therefore
For , the gas remains undisturbed: and . The speed bound keeps and positive, and monotonic increase of makes this an expanding rarefaction wave rather than a characteristic-crossing compression.
The one-dimensional Isentropic Euler equations are
Define the Riemann invariants for one-dimensional isentropic flow
Combining the two equations directly gives
so is constant on the corresponding characteristic curve .
Initially both invariant disturbances are supported in . Once the two characteristic families have separated, the left-moving packet is a simple wave with at its equilibrium value, while the right-moving packet is a simple wave with at equilibrium. Between and outside them, both invariants retain their equilibrium values. The schematic spacetime diagram below uses the equilibrium slopes and shows separation after .