Abstract
Constitutive equations have to be formulated in an identical form independent of coordinate systems by which they are described so as to be independent of the superposition of rigid body rotation. This fact is attained by describing rate variables in terms of rate tensors with objectivity in constitutive equations in rate form. Besides, a plastic strain rate is derived by substituting the plastic flow rule into the consistency condition given as the material-time derivative of yield condition. In this note a general corotational rate tensor in arbitrary order is first shown and it is verified that rate variables in the material-time derivative of yield function involving arbitrary tensors can be replaced to the corotational rate tensors.
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