C Basic equations
In this appendix, we provide the equations for the balance laws, their description in general curvilinear coordinates, and their description in rectangular, cylindrical, and spherical coordinate systems. In each case, we look at the descriptions in the differential forms, both in the current and reference configurations. The usually used cylindrical and spherical coordinates are not curvilinear systems, but they are related to companion curvilinear systems, which are described in each case. The notation used for rectangular, cylindrical, and spherical coordinate systems is shown in Figure C.1.