Small-slope elastohydrodynamic filament equation ($c_{\perp }{y}_t=-B{y}_{xxxx}$)

For a straight, unloaded inextensible filament with small transverse displacement, resistive-force theory gives viscous force density $-c_{\perp }{y}_t$. Variation of the bending energy gives $-B{y}_{xxxx}$, while the induced filament tension is higher order. Their instantaneous balance yields $c_{\perp }{y}_t=-B{y}_{xxxx}$. It is an overdamped fourth-order diffusion equation: short-wavelength bends relax much faster than long ones. Wiggins and Goldstein's flexive-propulsion paper develops the elastic-wave mechanism for low-Reynolds-number propulsion.

The anisotropic-drag contribution to axial force from a small-slope transverse motion is $F=(c_{\perp }-c_{\parallel })\int y_x{y}_{t}dx$. Using the small-slope elastohydrodynamic filament equation and integration by parts givesThus this propulsive contribution is determined by endpoint slope, bending moment, and shear. A separately imposed axial translation adds ordinary longitudinal drag. Exact second-order longitudinal motion required by inextensibility also contributes to instantaneous total drag, but its time-derivative contribution averages to zero over a deformation cycle.

In units of elastohydrodynamic penetration length and inverse forcing frequency, $y_t=-y_{xxxx}$. Prescribing $y(0,t)=y_0\cos t$, zero bending moment $y_{xx}(0,t)=0$, and decay at infinity givesThe two components have phase velocities $-1/S$ and $1/C$. Their unequal spatial attenuation produces a nonreciprocal shape cycle even though the endpoint actuation is reciprocal.