Derivation of the Navier–Stokes equations equation), three important concepts may be concisely written: conservation of mass, conservation of momentum, and conservation of energy. Validity is retained if formula_5 is a vector, in which case the vector-vector product in the second term will be a dyad. A general momentum equation is obtained when the conservation relation is applied to momentum. If the intensive property formula_5; considered is the mass flux (also "momentum density"), i.e. the product of mass density and flow velocity formula_17, by substitution in the general continuum equation: where formula_19 is a dyad, a special case of tensor product, which results in a second
Angular velocity arbitrary vector, from nondegeneracy of scalar product follows For angular velocity tensor maps positions to velocities, it is a vector field. In particular, this vector field is a Killing vector field belonging to an element of the Lie algebra so(3) of the 3-dimensional rotation group SO(3). This element of so(3) can also be regarded as the angular velocity vector. The same equations for the angular speed can be obtained reasoning over a rotating rigid body. Here is not assumed that the rigid body rotates around the origin. Instead, it can be supposed rotating around an arbitrary point that is moving