Cracks in complex bodies: covariance of tip balances

In complex bodies, actions due to substructural changes alter (in some cases drastically) the force driving the tip of macroscopic cracks in quasi-static and dynamic growth, and must be represented directly. Here it is proven that tip balances of standard and substructural interactions are covariant. In fact, the former balance follows from the Lagrangian density’s requirement of invariance with respect to the action of the group of diffeomorphisms of the ambient space to itself, the latter balance accrues from an analogous invariance with respect to the action of a Lie group over the manifold of substructural shapes. The evolution equation of the crack tip can be obtained by exploiting invariance with respect to relabeling the material elements in the reference place. The analysis is developed by first focusing on general complex bodies that admit metastable states with substructural dissipation of viscous-like type inside each material element. Then we account for gradient dissipative effects that induce nonconservative stresses; the covariance of tip balances in simple bodies follows as a corollary. When body actions and boundary data of Dirichlet type are absent, the standard variational description of quasi-static crack growth is simply extended to the case of complex materials.