Appendix_A.

fm Page 469 Friday, December 1, 2006 2:28 PM

APPENDIX A

Mathematical
Formulas
A.1

Vector Identities
A, B, and C are vectors and a and b are scalars.
(A  B) C  (B  C) A  (C  A) B

(A.1)

A  (B  C)  B(A C)  C(A B)

(A.2)

 (A  B)   A   B

(A.3)

 ( a  b )  a  b

(A.4)

  (A  B)    A    B

(A.5)

 ( aB )  B a  a B

(A.6)

 ( ab )  ab  ba

(A.7)

  ( aB )  a  B  a  B

(A.8)

 (A  B)  B   A  A   B

(A.9)

 ( A B )  ( A  )B  ( B  )A  A  (   B )  B  (   A )

(A.10)

  ( A  B )  A B  B A  ( B  ) A  ( A  )B

(A.11)

 a   a

(A.12)

A0

(A.13)

  a  0

(A.14)
2

    A  ( A)   A

(A.15)

469

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Mathematical Formulas

470

A.2

Vector Operations in the Three Coordinate

Systems
Cartesian
a
a
a
a  ------ u x  ------ u y  ------ u z
x
y
z

(A.16)

A
A
A
 A  ---------x  ---------y  ---------z
x
y
z

(A.17)

A
A
A
A
A
A
  A  ---------z  ---------y u x  ---------x  ---------z u y  ---------y  ---------x u z
y
z
x
z
x
y

(A.18)

2
 a  -------a-  -------a-  -------a2
2
2
x
y
z

(A.19)

a
1 a
a
a  ------ u   --- ------- u  ------ u z

 
z

(A.20)

A
1  (  A )
1  A
-  --- -----------  ---------z
 A  --- ----------------- 
 
z

(A.21)

Cylindrical

A
A
A
1  Az
1  (  A )  A 
-  --------- - u   ---------  ---------z u  --- ----------------  A  --- ----------  --------- u z (A.22)
 
z
 
z


a
  --------
2
2
1 
1 a
 a  --- ----------------------  ----2- --------2-  -------a2
 
 
z
2

(A.23)

Spherical
a
1 a
1 a
a  ------ u r  --- -------- u
 ------------- -------- u
r 

r sin

r

(A.24)

1  ( r Ar )
1  ( A
sin
)
1 A
-  ------------- --------------------------  ------------- -----------  A  ----2 -------------------r
r sin

r sin

r

(A.25)

1  ( sin
A )  A

  A  ------------- -------------------------  --------- u r

r sin



 ( r A )
1  ( r A
)  A r
1 1  Ar
-  ---------------- --- ---------- ---------- u  --- ----------------  --------- u (A.26)
r sin

r
r r


Appendix_A.fm Page 471 Friday, December 1, 2006 2:28 PM

A.3

Summary of the Transformations Between Coordinate Systems

471

2 a
a
 r --------
 sin
--------
2

r


2
1
 a1
1
----------------------------------------------------
 a  ----2 ------------------------  --------------2
2
2
2
r


r sin

r
r sin

A.3

(A.27)

Summary of the Transformations Between

Coordinate Systems
Cartesiancylindrical
x   cos

y   sin
zz

  x2  y2

 1 y

 tan --x

z  z

(A.28)

u

uz

ux

cos

sin

uy

sin

cos

uz

(A.29)

Cartesianspherical

x  r sin
cos

y  r sin
sin

z  r cos

2
2
2
r x y z

2
2

1 x  y

 tan ----------------------
z

 1 y
 tan --
x

ur

ux

sin
sin

cos
cos

sin

uy

sin
sin

cos
cos

cos

uz

cos

2sin

(A.30)

(A.31)

Appendix_A.fm Page 472 Friday, December 1, 2006 2:28 PM

Mathematical Formulas

472

Distance R  r 2  r 1 in the three coordinate systems

Cartesian
2

2 12

R  [ ( x2  x1 )  ( y2  y1 )  ( z2  z1 ) ]

(A.32)

Cylindrical
2

2 12

R  [  2   1  2  2  1 cos ( 2  1 )  ( z 2  z 1 ) ]

(A.33)

Spherical
12

2
2
R  {r 2  r 1  2r 2 r 1 [ cos
2 cos
1  sin
2 sin
1 cos ( 2  1 )]}

A.4

(A.34)

Integral Relations
Divergence theorem

 A dv  A ds

(A.35)

Stokess theorem




(A.36)

(A.37)

  A dv   A  ds

  A ds  A dl

a dv  ads

a  ds   a dl

(A.38)

(A.39)

Appendix_A.fm Page 473 Friday, December 1, 2006 2:28 PM

A.4

Integral Relations

473

Coordinate
system

Cartesian
(x, y, z)

Cylindrical
(, , z)

Spherical
(r,
, )

Unit vectors

ux uy uz

u u uz

ur u
u

Differential
length dl

dx ux
dy uy
dz uz

d u
 d u
dz uz

drur
r d
u

rsin
d u

Differential
surface
area ds

dy dz ux
dx dz uy
dx dy uz

 d dz u
d dz u
 d  d uz

r2 sin
d
d ur
rsin
dr d u

rdr d
u

Differential
volume dv

dx dy dz

 d d dz

r2 sin
dr d
d