Vector Calculus

Engr 297C
Dr. Ray Kwok
reference: Advanced Calculus for Applications, F.B.Hildebrand (Prentice-Hall) Mathematical Methods for Physicists, G. Arfken (Academic Press)

Vector Calculus - Dr. Ray Kwok

Math Review
Dynamics - multiple vector products
e.g. tops

Tensor fields - nonlinear

e.g. rigid-body rotation: Li = Iijj plasma in B-field: Ji = ijEj (Hall effect) anisotropic material: Di = ijEj

OCC Orthogonal Curvilinear Coordinates

e.g. cylindrical, spherical

Vector Calculus - Dr. Ray Kwok

Scalar (Dot) Product

r 3 i Aie i A = i =1 A i e i e j = ij e
Kronecker Delta Function = 1 (if i = j) = 0 (if i j)
(orthogonal)

r r i B je j = ijA i B j A B = Aie r r A B = A i Bi

Vector Calculus - Dr. Ray Kwok

Permutation Symbol ijk

ijk
= 1 (if ijk are cyclic permutation of 123) = -1 (if ijk are non-cyclic permutation of 123; interchange a pair) = 0 (if i, j or k is a duplicated index)

e.g.

123 = 231 = 312 = 1 132 = 321 = 213 = -1 113 = 221 = 322 = 0 etc

Vector Calculus - Dr. Ray Kwok

Vector (Cross) Product

r r A B = A1 B1 1 e 2 e A2 B2 3 e i ijk A jBk A3 = e B3

( ith component)

r r (A B) i = ijk A jB k

e.g.

r r 3 (A B)1 = j,k =1 1 jk A jBk = 123A 2 B3 + 132 A 3 B2 = A 2 B3 A 3B2

Vector Calculus - Dr. Ray Kwok

Triple Product (1 of 2)
A1 r r r A B C = B1 C1 A2 B2 C2 A3 r r r r r r B3 = B C A = C A B (cyclic) C3 r r r r r r = A C B = C B A
(non-cyclic)

e.g.

r r r r r A B C = A i (B C)i = A i imn Bm C n

r r r r r = C n imn Bm A i = C n nmi Bm A i = C n (B A) n = C B A

Vector Calculus - Dr. Ray Kwok

Product of ijk

ijk imn = jm kn jn km
e.g.

(no sum)

123 133 = 23 33 23 33 = 0 123 132 = 23 32 22 33 = -1

i 23 i 33

=0 = 0 = 2312 22 13 = 1 = 2112 22 11

(sum too)

i 21 i 32

i 21 i12

Vector Calculus - Dr. Ray Kwok

Triple Vector Product

r r r r r A (B C) ijk A j (B C) k = ijk A j kmn Bm C n = kij kmn A jBm C n = (im jn in jm )A jBm C n r r r r = A jBi C j A m Bm Ci = (A C)Bi (A B)Ci r r r r r r (A C)B (A B)C
Note:
(for each component)

r r r (A B) C = ijk ( jmn A m B n )C k = jki jmn A m Bn C k = ( km in kn mi )A m Bn C k = A k Bi C k A i B n C n r r r r r r = ( A C) B ( B C) A r r r r r r A (B C) (A B) C

Vector Calculus - Dr. Ray Kwok

Multiple vector product

e.g.

r r r r ( A B) ( C D ) r r r r = ( A B) i ( C D ) i = ijk A jB k imn C m D n = ( jm kn jn mk ) A j B k C m D n = A jB k C jD k A n B k C k D n r r r r r r r r = ( A C)( B D) ( A D)( B C)

Tensor Algebra becomes a natural extension using this kind of notation !!! e.g. How to express the vector AmiBm ??

Vector Calculus - Dr. Ray Kwok

Del - operator
Gradient Divergence Curl Laplacian e.g.

i if f = e r A = iAi r i ijk jA k A = e 2 =
can operate on scalar or vector

r r r r (A B) = ijk j (A B) k = ijk j ( kmn A m B n ) = (im jn in jm )(Bn jA m + A m jBn ) = B n n A i + A i j B j B i m A m A j j B i r r r r r r r r = (B )A + A( B) B( A) (A )B

Vector Calculus - Dr. Ray Kwok

2 useful identities
r A = 0 f = 0
for any vector function A for any scalar function f

/ x1 / x 2 r A = / x1 / x 2 A1 A2 1 2 e e f = / x1 / x 2 f / x1 f / x 2
r in static fields B = 0 r E = 0

/ x 3 / x 3 = 0 A3

in our new language? (h.w.)

3 e 1 = f = / x 3 = 0 ijk j k 2 (ijk j k f + ijk k jf ) f / x 3 1

=

r r B = A r E = V

( ijk j k f ikj k jf ) = 0

Vector Calculus - Dr. Ray Kwok

OCC
Orthogonal

i e j = ij e

Curvilinear 3 surfaces intercept Cartesian, Cylindrical & Spherical coordinates: Transformation between coordinates Gradient, Divergence, Curl and Laplacian in each coordinate Line, Area & Volume integral in each coordinate

Vector Calculus - Dr. Ray Kwok

Transformation

Vector Calculus - Dr. Ray Kwok

Vector operations

Vector Calculus - Dr. Ray Kwok

Differential - Cartesian

Vector Calculus - Dr. Ray Kwok

Differential - Cylindrical

Vector Calculus - Dr. Ray Kwok

Differential - Spherical

Vector Calculus - Dr. Ray Kwok

Homework
With the new notations, show that:
1. 2. 3.
4.

r . A = 0

for any vector function A. . 2 (fg) = f 2 g + g 2 f + 2f g for any scalar function f & g.
r r r 2 . ( A) = ( A) A

for any vector function A. To prove the identity in problem # 1 is true in spherical coordinates by explicitly expanding the components using the tables in previous pages.

Vector Calculus - Dr. Ray Kwok

Group exercise
(1)

r r EH = ?

(2)

r r r r r r A B ( C D ) = C + D

What are & ??