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6.641 Electromagnetic Fields, Forces, and Motion, Spring 2005

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 6.641, Electromagnetic Fields, Forces, and Motion
Prof. Markus Zahn
Lecture 15: Force Densities, Stress Tensors, and Forces

I. Maxwell Stress Tensor

A. Notation

_ _ _
Fx = ∇ i τ x , τ x = Txx i x + Txy i y + Txz i z

_ _ _
Fy = ∇ i τ y , τ y = Tyx i x + Tyy i y + Tyz i z

_ _ _
Fz = ∇ i τ z , τ z = Tzx i x + Tzy i y + Tzz i z

⎡Txx TTxy xz
⎤
⎢ ⎥
Τ = ⎢ Tyx Tyy
T yz ⎥

⎢ ⎥

⎢⎣ Tzx Tzy Tzz ⎥⎦

fx = ∫ F dV = ∫ ∇ i τ
V
x
V
x
dV = ∫
S
τ x i n da = ∫
S
⎣⎡ Txx nx + Txy ny + Txznz ⎤⎦ da

τ x i n = Txx nx + Txy ny + Txznz = Txnnn

τ y i n = Tyx nx + Tyy n y + Tyznz = Ty nnn

τ z i n = Tzx nx + Tz y n y + Tzznz = Tznnn

fi = ∫ ∇ i τ dV = ∫
V
i
S
τ i i n dV = ∫ T n dS = ∫ F dV
S
ij j
V

∂ ∂ ∂
F i = ∇ i τi = Tix + Tiy + Tiz
∂x ∂y ∂z

∂
= Tij

∂x j

B. EQS Stress Tensor

1 ⎛1 ∂ε ⎞
F=ρE− E i E ∇ε + ∇ ⎜ E i E ρ⎟
f 2 ⎝ 2 ∂ρ ⎠

∂ε ⎞
=∇i ( εE ) E − 12 (E i E ) ∇ ε + ∇ ⎜⎝⎛ 12 E i E ∂ρ ρ⎟
⎠

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 1 of 17
 ∂ ( εE j ) 1 ∂ε ∂ ⎛1 ∂ε ⎞
Fi = Ei − EK EK + ⎜ E K EK ρ
⎟
∂x j 2 ∂x i ∂x i ⎝ 2 ∂ρ ⎠

∂Ei ∂E j
∇×E= 0 ⇒ =

∂x j ∂x i

∂ ∂Ei 1 ∂ε ∂ ⎛1 ∂ε ⎞
Fi =
∂x j
( εE E ) − εE
j i j − E K EK
∂x j 2 ∂x i
+ ⎜ EK EK
∂x i ⎝ 2
ρ⎟
∂ρ ⎠

∂ ∂E 1 ∂ε ∂ ⎛1 ∂ε ⎞
Fi =
∂x j
( ε EiE j ) − ε E j j − EK EK
∂x i 2 ∂x i
+ ⎜ EK EK
∂x i ⎝ 2
ρ⎟
∂ρ ⎠

∂ ⎛1 ⎞
ε ⎜ 2 E jE j ⎟
∂x i ⎝ ⎠

∂ ⎡1 1 ∂ε ⎤
Fi =
∂x j
( ε EiE j ) − ∂∂x ⎢ 2 ε EK EK − 2 ρ ∂ρ EK EK ⎥
i ⎣ ⎦

∂ ∂

= δij

∂x j ∂x i

⎧0 i≠ j
δij = ⎨ Kronecker Delta
⎩1 i= j

∂ ⎡ 1 ⎛ ∂ε ⎞ ⎤ ∂
Fi = ⎢ ε EiE j − δijEK EK ⎜ ε − ρ ⎟⎥ = Tij
∂x j ⎣ 2 ⎝ ∂ρ ⎠ ⎦ ∂x j

1 ⎛ ∂ε ⎞
Tij = ε EiE j − δijEK EK ⎜ε − ρ ⎟
2 ⎝ ∂ ρ⎠

C. MQS Stress Tensor

1 ⎛ 1 ∂µ ⎞
F = Jf × B − H i H ∇µ + ∇ ⎜ ρ H i H⎟
2 ⎝ 2 ∂ρ ⎠

⎛ 1 ∂µ ⎞

(
= ∇ × H × µH − ) ( ) 1
2
H i H ∇µ + ∇ ⎜ ρ
⎝ 2 ∂ρ
H i H⎟
⎠

( ∇ × H ) × H = (H i ∇ ) H − 12 ∇ (H i H )
1 ⎤ 1 ⎛ 1 ∂µ ⎞
⎡
⎣
( 2
) ⎦ 2 ⎝
(
F = µ ⎢ H i ∇ H − ∇ H i H ⎥ − H i H ∇µ + ∇ ⎜ ρ
2 ∂ρ
)
H i H⎟
⎠

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 2 of 17
 ⎡ ∂ 1 ∂ ⎤ 1 ∂µ ∂ ⎛ 1 ∂µ ⎞
Fi = µ ⎢H j Hi − (HK HK )⎥ − HK HK + ⎜ ρ HK HK ⎟
⎢⎣ ∂x j 2 ∂x i ⎥⎦ 2 ∂x i ∂x i ⎝ 2 ∂ρ ⎠

∂ ∂ µ ∂ 1 ∂µ ∂ ⎛ 1 ∂µ ⎞
=
∂x j
( µHiH j ) − Hi
∂x j
( µH j ) −
2 ∂x i
HK HK − HK HK
2 ∂x i
+ ⎜ ρ
∂x i ⎝ 2 ∂ρ
HK HK ⎟
⎠

∂ ⎛1 ⎞
∇ iB=0 − ⎜ 2 µHK HK ⎟
∂x i ⎝ ⎠

Fi =
∂
∂x j
( µHiH j ) − ∂x∂ ⎛⎜ 12 µHKHK − ρ ∂µ
∂ρ
⎞
HK HK ⎟
i ⎝ ⎠

∂ ⎡ 1 ⎛ ∂µ ⎞ ⎤ ∂
= ⎢ µHiH j − δijHK HK ⎜µ − ρ ⎟⎥ = Tij
∂x j ⎣ 2 ⎝ ∂ρ ⎠⎦ ∂x j

1 ⎛ ∂µ ⎞
Tij = µHiH j − δijHK HK ⎜ µ − ρ ⎟
2 ⎝ ∂ρ ⎠

II. Air-Gap Magnetic Machines

Courtesy of MIT Press. Used with permission.

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 3 of 17
 A. Generalized Description

2π k 2π k

fz = ∫T
S
zx n x dzdy = w ∫
0
µ 0H z H x
x=0
dz = w ∫
0
µ 0HrzHrx dz

force on a wavelength

a ( z, t ) = Re ⎡⎣ Ae − jkz ⎤⎦ , b ( z, t ) = Re ⎡⎣Be − jkz ⎤⎦

2π k
k 1 ⎡ AB * ⎤ = 1 Re ⎡ A * B ⎤
2π ∫ a ( z, t ) b ( z, t ) dz = 2 Re
0
⎢⎣ ⎥⎦ 2 ⎢⎣ ⎥⎦

2 πw µ 0
Re ⎡H z H x ⎤
r r *
fz =
k 2 ⎢
⎣ ⎥⎦

2 πw µ 0
Re ⎡− K r H x ⎤
r *
=
k2 ⎢⎣ ⎦⎥

⎡ 1 ⎤
⎡Bs ⎤ ⎢− coth kd sinh kd ⎥
⎡χ ⎤
⎢ x⎥=µ k ⎢ ⎥ ⎢ s⎥
0
⎢Br ⎥ ⎢− 1 ⎢χ ⎥
⎣ x⎦ ⎢⎣ sinh kd coth kd⎥⎥ ⎣ r⎦
⎦

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 4 of 17
 s
s1 s K
Ηz = + jk χ ⇒ χ = Hz =
jk jk
r
r Hz Kr
χ = =−
jk jk

r ⎡ − χs r ⎤

µ0 Hx = µ0k ⎢ + χ coth kd⎥

⎢⎣ sinh kd ⎥⎦

⎡ −Κ
s
Κ
r
⎤

= µ0k ⎢ − coth kd⎥

⎢⎣ jk sinh kd jk ⎥⎦

⎡ + jµ k ⎛ K* Κ s ⎞⎤
Re ⎡− K r Hx µ0 ⎤ = − Re ⎢
* r *
0 ⎜ r + K r K r coth kd ⎟⎥
⎢⎣ ⎥⎦ ⎢ k ⎜ sinh kd ⎟⎥
⎣ ⎝ ⎠⎦

= Re ⎡− µ0 jK r Κ s sinh kd⎤
* s

⎢⎣ ⎥⎦

πw µ0
Re ⎡ jK r Κ s ⎤ (force on each wavelength)
*
fz = −
k sinh kd ⎢⎣ ⎥⎦

B. Synchronous Interaction

Courtesy of MIT Press. Used with permission.

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 5 of 17
 Ks = K0s sin ⎣⎡ωs t − kz⎦⎤ = Re ⎡− jK0s e (
j ωs t-kz )
⎤
⎣ ⎦

Kr = Kr0 sin ⎡⎣ ωr t − k ( z' − δ ) ⎤

⎦; z' = z − Ut

= Kr0 sin ⎡⎣( ωr + kU) t − k ( z − δ ) ⎤⎦

= Re ⎡− jKr0 e (
j ωr +kU) t
e jkδ ⎤
⎣ ⎦

s
Κ = − jKso e jωs t

r
Κ = − jKro e jkδ e (
j ωr +kU) t

πw µ0
fz = −
k sinh kd ⎣ ( ) (
Re ⎡ j −jK0s e jωs t jKr0e-jkδ e ( r ) ⎤
-j ω +kU t
⎦ )

πw µ0
K0s Kr0Re ⎡ je-jkδ e ( s r ) ⎤

j ω - ω -kU t
=−
k sinh kd ⎣ ⎦

For time average force ⇒ ωs = ωr + k U (synchronous condition)

Usually ωr = 0 ⇒ ωs = k U

πw µ0
fz = − K0s Kr0 sin kδ
k sinh kd

Courtesy of MIT Press. Used with permission.

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 6 of 17
III. Electrostatic Machine

2π k 2π k
w2π 2πw
fz = ∫ Tzx dz = ∫ ε0EzEx
k 0 x=0 k 0 x=0

r
E z = jk V r

1 2πw
Re ⎡ε0 Ez E x ⎤
r* r
fz =
2 k ⎢
⎣ ⎥⎦

=
πw
k ⎢⎣ (
Re ⎡ε0 − jkVr E x ⎤
* r

⎥⎦ )
⎡ 1 ⎤ ⎡Vs ⎤
⎡Dsx ⎤ ⎢− coth kd sinh kd ⎥ ⎢ ⎥
⎢ ⎥ = ε0k ⎢ ⎥ ⎢ ⎥
⎢Drx ⎥ ⎢− 1
⎣ ⎦ ⎢⎣ sinh kd coth kd⎥⎥ ⎢V ⎥
⎦ ⎣ r⎦

r ⎡ −V s ⎤
ε0 Ex = ε0k ⎢ + V r coth kd⎥
⎢⎣ sinh kd ⎥⎦

⎡ ⎛ − Vs ⎞⎤
Re ⎡− jkε0 V r E x ⎤ = Re ⎢− jk 2 ε0 V r
* r *
⎜ + V r coth kd ⎟⎥
⎢⎣ ⎦⎥ ⎢⎣ ⎜ sinh kd ⎟⎥
⎝ ⎠⎦

= Re ⎡ +jk 2 ε0 V s V r sinh kd⎤

*

⎢⎣ ⎥⎦

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 7 of 17
 πw k 2 ε0
Re ⎡ jV s V r ⎤
*
fz =
k sinh kd ⎢
⎣ ⎥⎦

Vs = V0s cos ( ωs
t − kz )

Vr = −V0r
cos ( ωr t − k ( z' - δ ) )
; z' = z − Ut
r
V = − V0r e (
j ωr +kU) t
e jkδ

s
V = V0r e jωs t

πwkε0
Re ⎡ − j V0s V0r e-jkδ e ( s r ) ⎤

j ω - ω -kU t
fz =
sinh kd ⎣ ⎦

ωs = ωr + kU

πwkε0 s r
fz = − V0 V0 sin kδ
sinh kd

IV. Derivation of the Korteweg-Helmholtz Force Density for Incompressible Media from
the Quasistatic Poynting’s Theorem

A. Poynting’s Theorem

∂ B

∇ ×E = −
∂t

∂ D

∇ × H = Jf +
∂t

∇ i D = ρf

∇ iB = 0

( ) (
∇ i E × H =H
i ∇ × E − E i ∇ × H ) ( )

∂B ∂D

= −Hi − Ei − E i Jf
∂t ∂t

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 8 of 17
 B. Power In Quasistatic Electric Circuits

Far away from the circuit elements

∇ × E = 0 ⇒ E = −∇ Φ

∇ × H = Jf ⇒ ∇ i Jf = 0

(
Pin = − ∫ E × H i da
S
)

(
= + ∫ ∇ Φ × H i da
S
)

(
= ∫ ∇ i ∇ Φ × H dV
V
)
0
( )
∇ i ∇ Φ × H = H i ∇ × (∇ Φ ) − ∇ Φ i ∇ × H ( )
(
= −Jf i ∇ Φ = −∇ i Jf Φ )
6.641, Electromagnetic Fields, Forces, and Motion Lecture 15
Prof. Markus Zahn Page 9 of 17
 (
Pin = − ∫ ∇ i Jf Φ dV
V
)
= − ∫ Jf Φ i da
S

N
= −∑ Vk ∫J f i da
k=1 S

−Ik
N
= ∑ Vk Ik

k=1

C. Electroquasistatics (EQS)

Ohmic Media: Jf ' = σ E ' = Jf − ρf v ⇒ Jf = σ E + ρf v

D = ε ( x, y, z ) E

∂
∫ ∇ i (E × H) dV = ∫ E × H i da = −∑ V
V S k
k Ik = − ∫ E i
V
∂t
( ε ( x, y, z ) E) dV
− ∫ E i ( σ E + ρ v ) dV
f
V

ε ( x, y, z ) E ∂
i ( ε ( x, y, z ) E) dV + ∫ σ E dV + ∫ ρf E i v dV
2
∑V Ik = ∫
V ε ( x, y, z )
k
k ∂t V V

1 1 ∂ ⎡ 2
ε ( x, y, z ) E ⎤⎥ dV + ∫ σ E dV + ∫ ρf E i v dV
2 2
=∫
V 2 ε ( x, y, z ) ∂t ⎣
⎢ ⎦ V V

⎡ ε 2 x, y, z E 2 ⎤
1 ∂ ⎡ 2 2
⎤ ∂ ⎢ ( ) ⎥
∫V 2ε ( x, y, z ) ∂t ⎢⎣ε ( x, y, z ) E ⎥⎦ dV = ∫V ∂t ⎢ 2 ε ( x, y, z ) ⎥ dV
⎢⎣ ⎥⎦

2
ε2 ( x, y, z ) E ∂ ⎛ 1 ⎞
−∫ ⎜⎜ ⎟ dV
V
2 ∂t ⎝ ε ( x, y, z ) ⎟⎠

∂ ⎡1 2⎤ E
∂
=∫ ⎢ 2 ε ( x, y, z ) E ⎥ dV + ∫ ( ε ( x, y, z ) ) dV

V t
∂ ⎣ ⎦ V 2 ∂t

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 10 of 17
 d ∂α
Theorem: ∫
dt V
α dV = ∫
V
∂t
dV + ∫ ∇ i α v dV
V
( )
Conservation of mass: α = ρ mass density

d ∂ρ
∫
dt V
ρ dV = 0 = ∫
V
∂t
dV + ∫ ∇ i ρ v dV
V
( )
∂ρ ∂ρ
∂t
+ ∇i ρv =0=
∂t
( )
+ vi∇ ρ + ρ ∇iv = 0 ( ) ( )
dρ ∂ρ
Incompressible:
dt
=
∂t
+ vi∇ ρ = 0( ) ⇒ ∇iv =0

d ∂ε
dt ∫ ε dV = ∫ ∂t dV + ∫ ∇ i ( ε v ) dV = 0
V V V

0
∂ε ∂ε
∂t
( )
+ ∇i εv =
∂t
(
+ vi∇ ε + ε ∇iv = 0 )

∂ε
∂t
= − vi∇ ( )ε

1 ∂ ⎡ ∂ ⎡1 2⎤
E ⎤ dV = ∫ ⎢ ε ( x, y, z ) E ⎥ dV
2

∫ 2ε ( x, y, z ) ∂t ⎢⎣ε ( x, y, z )
2
⎥⎦ ∂t ⎣ 2 ⎦
V V

2
E
+ ∫
V
2
( −v i ∇ ) ε ( x, y, z ) dV

∂ ⎡1 2 ⎤ 2 ⎡ 1 2 ⎤
∑V
k
k Ik = ∫ ∂t ⎢⎣ 2 ε
( x, y, z ) E
V
⎥ dV +
⎦
∫σ E
V
dV + ∫ ⎢⎣ρ E − 2 E
V
f ∇ ε ⎥ i v dV
⎦

Energy Stored (WE) Rate Power Force Density

Dissipated PE

Work Rate = Mechanical Power

1 2
F = ρf E − E ∇ε (force per unit volume)
2
nt/m3

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 11 of 17
 f = ∫ F dV
V

force (nts)

D. Magnetoquasistatics

Jf ' = Jf , E ' = E + v × B ⇒ Jf ' = Jf = σ E ' = σ E + v × B

( )
B = µ ( x, y, z )
H

∂
∫ ∇ i (E × H) dV = ∫ E × H i da = −∑ V
V S k
k Ik = − ∫ H i
V ∂t
( )
µ ( x, y, z ) H dV

− ∫ ⎡⎣E '− v x B ⎤⎦ i Jf dV
V

Pdissipated = ∫ E ' i J'f dV = ∫ E ' i Jf dV

V V

( ) ( ) (
Jf i v × B = −Jf i B × v = − Jf × B i v
)
∂ ⎡ µ ( x, y, z ) H
∂
Hi µ ( x, y, z ) H⎤⎦ = ⎡µ ( x, y, z ) H⎤
∂t ⎣ µ ( x, y, z ) ∂t ⎣ ⎦

1 ∂ ⎡1 2 2 ⎤

= ⎢ µ ( x, y, z ) H ⎥
µ ( x, y, z ) ∂t ⎣ 2 ⎦

⎡1 2 2 ⎤

⎢ µ ( x, y, z ) H ⎥ 2 ∂ ⎡ ⎤
∂ 2 1 2 1
= ⎢ ⎥ − µ ( x, y, z ) H ⎢ ⎥
∂t ⎢ µ ( x, y, z ) ⎥ 2 ∂t ⎢⎣ µ ( x, y, z ) ⎥⎦
⎣⎢ ⎦⎥

1 µ ( x, y, z ) H ∂
2
∂ ⎡1 2⎤
= µ ( x, y, z ) H ⎥ + ⎣⎡µ ( x, y, z ) ⎦⎤
∂t ⎢⎣ 2 ⎦ 2 µ2 ( x, y, z ) ∂t

d ∂µ
dt ∫V
µ dV = 0 ⇒
∂t
+ vi∇ µ = 0( ) (∇ i v = 0)

∂ ⎡ ∂ ⎡1 2⎤ 1 2
Hi ⎣ µ ( x, y, z ) H⎤⎦ = ⎢ µ ( x, y, z ) H ⎥ − H ∇µ i v
∂t ∂t ⎣ 2 ⎦ 2

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 12 of 17
 ∂ ⎡1 2 ⎤
∑V
k
k Ik = ∫ ∂t ⎢⎣ 2 µ ( x, y, z ) H
V
⎥ dV + Pdissipated
⎦

Energy density WM

⎡ 1 2 ⎤
+ ∫ v i ⎢ Jf × B − H ∇ µ ⎥ dV
V ⎣ 2 ⎦
FM = force density

Mechanical Power

1 2 2
WM = ∫ 2 µ ( x, y, z ) H
V
dV , Pdissipated = ∫ E ' i Jf dV =∫ E ' i Jf ' dV =
V V
∫ σ E'
V
dV

Total Magnetic Energy

1 2
FM = Jf × B − H ∇µ force density
2

V. Compressible Media

A. Electroquasistatics (EQS)

Ohmic media: J' = σ E '

Polarization dependent on mass density ( ρ ) alone, electrically linear

D = ε ( ρ ) E

EQS Galilean Transformation: J = σ E + ρf v

∂ ⎡
∫ ∇ i (E × H) dV = ∫ E × H i da = −∑ V
V S k
k Ik = − ∫ E i
V ∂t ⎣
ε ( ρ ) E⎤⎦ dV

( )
− ∫ E i σ E + ρf v dV
V

∂ ⎡ ε (ρ) E ∂ 1 ∂ ⎡1 2
ε ( ρ ) E ⎤⎥
2
Ei ε ( ρ ) E⎤⎦ = i ⎡⎣ε ( ρ ) E⎤⎦ = ⎢
∂t ⎣ ε ( ρ ) ∂t ε ( ρ ) ∂t ⎣ 2 ⎦

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 13 of 17
 2
⎡ 1 ε2 ( ρ ) 2 ⎤ ε ( ρ ) E ∂ ⎛ 1 ⎞
2
∂
= ⎢ E ⎥− ⎜ ⎟
∂t ⎢⎣ 2 ε ( ρ ) ⎥⎦ 2 ∂t ⎜⎝ ε ( ρ ) ⎟⎠

∂ ∂ ⎡1 ε2 ( ρ ) E ⎛ +1 ∂ ε ( ρ ) ⎞
ε ( ρ ) E ⎤⎥ +
2
E i ⎡⎣ε ( ρ ) E⎤⎦ = ⎢
⎜ ⎟
∂t ∂t ⎣ 2 ⎦ 2 ⎜ ε2 ( ρ ) ∂t ⎟
⎝ ⎠

∂ ⎡1 1 2 ∂ ε (ρ)
ε ( ρ ) E ⎤⎥ + E
2
= ⎢
∂t ⎣ 2 ⎦ 2 ∂t

∂ ε (ρ) ∂ ε ( ρ ) ∂ρ ∂ρ
∂t
=
∂ρ ∂t
;
∂t
( )
+ ∇i ρv =0 (Conservation of mass)

∂ ε (ρ) ∂ ε (ρ)
∂t
=
∂ρ
( −∇ i (
ρ v ))
∂ ⎡1
2⎤ 1 2 ∂ε ( ρ )
− ∑ Vk Ik = − ∫
∂t ⎢ 2 ε ( ρ ) E ⎥ dV − ∫2 E ∂t
dV
k V ⎣ ⎦ V

2
− ∫ σ E dV − ∫ ρ f E i v dV
V V

1 ∂ ε (ρ ) 1 2 ∂ε
( )
2

∫2 E
V ∂t
dV = − ∫
V 2
E
∂ρ
∇ i ρ v dV

⎡1 ∂ ε 2 ⎤ ⎡1 2 ∂ ε ⎤
= −∫ ∇ i ⎢ E ρ v ⎥ dV + ∫ ρ v i ∇ ⎢ E dV
V ⎣ 2 ∂ρ ⎦ V ⎣2 ∂ρ ⎥⎦

1 ∂ε 2 ⎧ ⎡1 ∂ε 2⎤ 1 2 ∂ε ⎫
= −∫ ρ E v i n da + ∫ v i ⎨⎩∇ ⎢⎣ 2 ρ ∂ρ E ⎥− E ∇ρ ⎬ dV
S 2 ∂ρ V ⎦ 2 ∂ρ ⎭

∂ ⎡1 2 ⎤ 2
∑V
k
k Ik = ∫ ∂t ⎢⎣ 2 ε ( ρ ) E
V
⎥ dV + ∫ σ E dV
⎦ V

1 ∂ ε
2
−∫ ρ E v i n da
S 2 ∂ρ

⎡ 1
2 ⎡1 ∂ ε 2 ⎤ ⎤
+ ∫ v i ⎢ρf E − E ∇ε + ∇ ⎢ ρ E ⎥ ⎥ dV
V ⎣ 2 ⎣ 2 ∂ρ ⎦⎦

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 14 of 17
 where

∂ε
∇ρ = ∇ε electric energy
∂ρ

1 2 2
WE = ∫ 2 ε (ρ ) E
V
dV , Pdissipated = ∫ σ E dV
V
(power dissipated)

1 2 ⎡1 ∂ ε 2 ⎤
FE = ρf E − E ∇ε + ∇ ⎢ ρ E ⎥ force density
2 ⎣ 2 ∂ρ ⎦

1 ∂ε 2 2

∫ 2 ρ ∂ρ
S
E v i n da = 0 because as S → ∞ , E da → 0

∂WE
∑V k
k Ik =
∂t
+ Pdissipated + ∫ F E i v dV
V

Mechanical Power

B. Magnetoquasistatics (MQS)

MQS Galilean Transformation: Jf ' = Jf , E ' = E + v x B

B = µ (ρ) H

∂ ⎡
∫ ∇ i (E x H) dV = ∫ E x H i da = −∑ V
V S k
k Ik = − ∫ H i
V ∂t ⎣
µ ( ρ ) H⎤⎦ dV

− ∫ ⎡⎣E '− v × B ⎤⎦ i Jf dV
V

Pdissipated = ∫ E ' i Jf' dV =∫ E ' i Jf dV

V V

( ) (
Jf i v × B = −Jf i B × v = − Jf × B i v ) ( )
∂ ⎡ µ (ρ) H ∂
⎡ µ ( ρ ) H⎤ = 1 ∂ ⎡ 1 µ 2 ( ρ ) H ⎤
2
Hi µ ( ρ ) H ⎤= i ⎢ ⎥
∂t ⎣ ⎦ µ ( ρ ) ∂t ⎣ ⎦ µ ( ρ ) ∂t ⎣ 2 ⎦

∂ ⎡ 1 µ2 ( ρ ) 2 ⎤ 1 2 2 ∂ ⎡ 1 ⎤
= ⎢ H ⎥ − µ (ρ ) H ⎢ ⎥
∂t ⎣⎢ 2 µ ( ρ ) ⎥⎦ 2 ∂t ⎢⎣ µ ( ρ ) ⎥⎦

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 15 of 17
 1 µ (ρ ) 2 ∂ µ (ρ )
2
∂ ⎡1 2⎤
= ⎢2 µ ( ρ ) H +
⎥ 2 2 H
∂t ⎣ ⎦ µ (ρ ) ∂t

∂ ⎡1 2⎤ 1 2 ∂ µ (ρ)
=
∂t ⎢2 µ (ρ) H ⎥ + 2 H ∂t
⎣ ⎦

d ∂ µ (ρ )
µ ( ρ ) dV = 0 ⇒ + ∇ i ⎡⎣µ ( ρ ) v ⎤⎦ = 0
dt ∫V ∂t

∂ µ (ρ) ∂ µ ( ρ ) ∂ρ
∂t
=
∂ρ ∂t
;
∂ρ

∂t

+ ∇i ρv = 0 ( )
∂ µ (ρ) ∂ µ ( ρ )

∂t
=
∂ρ

( −∇ i (ρ v ))
∂ ⎡1 2⎤ 1
2 ∂µ ( ρ )
− ∑ Vk Ik = − ∫
∂t ⎢ 2 µ ( ρ ) H ⎥ dV − ∫2 H ∂t
dV − Pdiss
k V ⎣ ⎦ V

(
− ∫ Jf × B i v dV
V
)
1 ∂µ ( ρ ) 1 2 ∂µ
( )
2

∫2 H
V
∂t
dV = − ∫
V 2
H
∂ρ
∇ i ρ v dV

⎡ 1 ∂µ 2 ⎤ ⎡1 2 ∂µ ⎤
= −∫ ∇ i ⎢ H ρ v ⎥ dV + ∫ ρ v i ∇ ⎢ H dV
V ⎣ 2 ∂ρ ⎦ V ⎣2 ∂ρ ⎥⎦

1 ∂µ 2 ⎧ ⎡1 ∂µ 2 ⎤ 1 2 ∂µ ⎫
= −∫ ρ H v i n da + ∫ v i ⎨∇ ⎢ ρ H ⎥− H ∇ρ ⎬ dV
S 2 ∂ρ V ⎩ ⎣ 2 ∂ρ ⎦ 2 ∂ρ ⎭

∂ ⎡1 2 ⎤ 1 ∂µ 2
∑V
k
k Ik = ∫ ∂t ⎢⎣ 2 µ ( ρ ) H
V
⎥ dV + Pdiss −
⎦
∫ 2 ρ ∂ρ H
S
v i n da

⎡ 1 2 ⎛ 1 ∂µ 2 ⎞ ⎤
+ ∫ v i ⎢ Jf × B − H ∇µ + ∇ ⎜ ρ H ⎟ ⎥ dV
V ⎣ 2 ⎝ 2 ∂ρ ⎠⎦

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 16 of 17
 where

∂µ
∇ρ = ∇µ magnetic energy
∂ρ

1 2
WM = ∫ 2 µ (ρ ) H
V
dV, Pdissipated = ∫ E ' i Jf' dV =∫ E ' i Jf dV
V V
Power dissipated

1 2 ⎛ 1 ∂µ 2 ⎞
F M = Jf × B − H ∇µ + ∇ ⎜ ρ H ⎟ force density
2 ⎝ 2 ∂ρ ⎠

1 ∂µ 2 2

∫ 2 ρ ∂ρ H
S
v i n da = 0 because as S → ∞, H da → 0

∂WM
∑V
k
k Ik =
∂t
+ Pdissipated + ∫ F M i v dV
V

Mechanical Power

C. Conclusions

Force densities

1
2 ⎡ 1 ∂ε 2 ⎤
EQS: FE = ρ f E − E ∇ε + ∇ ⎢ ρ E ⎥
2 ⎣ 2 ∂ρ ⎦

1 2 ⎡ 1 ∂µ 2 ⎤
MQS: FM = Jf x B − H ∇µ + ∇ ⎢ ρ E ⎥
2 ⎣ 2 ∂ρ ⎦

6.641, Electromagnetic Fields, Forces, and Motion Lecture 15

Prof. Markus Zahn Page 17 of 17