Analytical expressions for the two basic modes of surface displacement and overall deformation of a free-standing or elastically embedded sphere

Calculating by analytical theory the deformation of finite-sized elastic bodies in response to internally applied forces is a challenge. Here, we derive explicit analytical expressions for the amplitudes of modes of surface deformation of a homogeneous, isotropic, linearly elastic sphere. The modes under consideration correspond to overall changes in volume and to relative uniaxial elongation or contraction. Both situations of an elastic sphere embedded under no-slip conditions in a linearly elastic, homogeneous, isotropic, infinitely extended background medium and of a free-standing elastic sphere are considered. For example, our analytical expressions are important as a basis for computational material optimization in the context of spherical soft actuators.