Math 255

Winter 2012

Vector Calculations by the Levi-Civita Symbol

Einstein Summation

Let us consider vectors

a = ha1 , a2 , a3 i,

b = hb1 , b2 , b3 i,

c = hc1 , c2 , c3 i.

(1)

We use i, j, . . . to express components of a vector. For example, the dot

product of a and b is written as
a b = a1 b1 + a2 b2 + a3 b3 =

3
X

(a)i (b)i =

i=1

3
X

a i bi .

(2)

i=1

To simplify the calculation, we will omit the summation symbol.

a b = ai bi .

(3)

This convention is called the Einstein summation. We sum over whenever

repeated indices appear. For example,
aj aj = a1 a1 + a2 a2 + a3 a3 = |a|2 ,

ai aj = ai aj (not summation).

(4)

Kronecker Delta

The Kronecker delta is defined as

(
ij =

0,

i 6= j,

1,

i = j.

(5)

For example,
11 = 1,

12 = 0.

(6)

Levi-Civita Symbol

The Levi-Civita symbol is a totally antisymmetric tensor defined as

(i, j, k) = (1, 2, 3), (3, 1, 2), (2, 3, 1),

1,
(i, j, k) = (1, 3, 2), (3, 2, 1), (2, 1, 3),
ijk = 1,

0,
i = j, j = k, k = i.

(7)

For example,

123 = 1,

Cross Product

321 = 1,

112 = 0.

(8)

The ith component of a b is written as

(a b)i =

3
3 X
X

ijk aj bk = ijk aj bk .

(9)

j=1 k=1

For example,

(a b)1 = 1jk aj bk = 123 a2 b3 + 132 a3 b2 = a2 b3 a3 b2 .

(10)

Relation to Kronecker Delta

ijk ilm = jl km jm kl ,

ijk ijl = 2kl .

(11)

Vector Calculations

A property of the scalar triple product a (b c) = (a b) c is derived as

a (b c) = ai (b c)i = ai ijk bj ck = kij ai bj ck = (a b)k ck = (a b) c,
(12)
where we used ijk = kij . Finally, let us calculate the vector triple product
a (b c).
(a (b c))i = ijk aj (b c)k
= ijk aj klm bl cm
= kij klm aj bl cm
= (il jm im jl )aj bl cm
= a j bi c j a j bj c i
= (a c)bi (a b)ci

(13)

a (b c) = (a c)b (a b)c.

(14)

Therefore, we obtain