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Equations of motion are derived for (visco)elastic, self-gravitating and variably rotating planets. The equations are written using a decomposition of the elastic motion that separates the body's elastic deformation from its net translational and rotational motion as far as possible. This separation is achieved by introducing degrees of freedom that represent the body's rigid motions; it is made precise by imposing constraints that are physically motivated and that should be practically useful. In essence, a Tisserand frame is introduced exactly into the equations of solid mechanics. The necessary concepts are first introduced in the context of a solid body, motivated by symmetries and conservation laws, and the corresponding equations of motion are derived. Next, it is shown how those ideas and equations of motion can readily be extended to describe a layered fluid–solid body. A possibly new conservation law concerning inviscid fluids is then stated. The equilibria and linearization of the fluid–solid equations of motion are discussed thereafter, along with new equations for use within normal-mode coupling calculations and other Galerkin methods. Finally, the extension of these ideas to the description of multiple, interacting fluid–solid planets is qualitatively discussed. [ABSTRACT FROM AUTHOR]

The dependence of the elastic tensor on the equilibrium stress is investigated theoretically. Using ideas from finite elasticity, it is first shown that both the equilibrium stress and elastic tensor are given uniquely in terms of the equilibrium deformation gradient relative to a fixed choice of reference body. Inversion of the relation between the deformation gradient and stress might, therefore, be expected to lead neatly to the desired expression for the elastic tensor. Unfortunately, the deformation gradient can only be recovered from the stress up to a choice of rotation matrix. Hence it is not possible in general to express the elastic tensor as a unique function of the equilibrium stress. By considering material symmetries, though, it is shown that the degree of non-uniqueness can sometimes be reduced, and in some cases even removed entirely. These results are illustrated through a range numerical calculations, and we also obtain linearized relations applicable to small perturbations in equilibrium stress. Finally, we make a comparison with previous studies before considering implications for geophysical forward- and inverse-modelling. [ABSTRACT FROM AUTHOR]

We present a numerically exact method for calculating the internal and external gravitational potential of aspherical and heterogeneous planets. Our approach is based on the transformation of Poisson's equation into an equivalent equation posed on a spherical computational domain. This new problem is solved in an efficient iterative manner based on a hybrid pseudospectral/spectral element discretization. The main advantage of our method is that its computational cost reflects the planet's geometric and structural complexity, being in many situations only marginally more expensive than boundary perturbation theory. Several numerical examples are presented to illustrate the method's efficacy and potential range of applications. [ABSTRACT FROM AUTHOR]