Uniaxial and biaxial soft deformations of nematic elastomers

We give a geometric interpretation of the soft elastic deformation modes of nematic elastomers, with explicit examples, for both uniaxial and biaxial nematic order. We show the importance of body rotations in this nonclassical elasticity and how the invariance under rotations of the reference and target states gives soft elasticity (the Golubovic and Lubensky theorem). The role of rotations makes the polar decomposition theorem vital for decomposing general deformations into body rotations and symmetric strains. The role of the square roots of tensors and that of finding explicit forms for soft deformations (the approach of Olmsted) are discussed in this context.