We study the wave equation in an acoustic, linear, isotropic, time-invariant, sourceless, constant-density medium. The familiar wave equation for pressure
is
(62)
where Einstein's summation convention is applied to lower-case subscripts; for 2D they are summed over 1 and 2. Temporal and spatial derivatives are denoted
and
respectively, where the subscripts denote time and spatial directions respectively. Under the constant-density assumption, the characteristic wave velocity
fully determines the medium.