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Basic Multivector Calculus
Basic Multivector Calculus
I e1 e2 ... en .
a , b , c An G 1 ( I ) and scalars , , , ;
a (b c ) (ab )c , a (b c ) (a b ) c ,
commutativity
a a , a b b a ,
(1)
(2)
distributivity
a (b c ) ab ac , (b c )a b a c a ,
linearity
(a b ) a b (a b ) ,
(3)
(4)
2
a 2 aa a a a .
(5)
a b by
ab a b a b ,
a ( A B) aA aB .
(6)
with
(19)
(13)
1
a b ( ab b a ) b a ab a b ab , (7)
Ar Bs Ar Bs
(13)
1
a b ( ab b a ) b a ab a b ab (8)
2
Ar Bs Ar Bs
(9)
a (b c ) a b a c .
a
a , with a 2 aa 1 , a a a .
a
(11)
(12)
k vector
(25)
( Bs Ct ) Bs Ct .
(26)
pseudo
scalar
Ak .
A k A
(14)
(15)
1
(aAr (1) r Ar a ),
2
1
a Ar aAr r 1 (aAr (1) r Ar a )
2
r 1
(27)
, a a , (a b ) b a a b , (28)
a Ar aAr
~ n
A (1) k ( k 1) / 2 A k .
k 1
A A
(24)
Ar ( Bs Ct ) Ar Bs Ar Ct ,
grade k selector):
bivector
(23)
vector
(22)
(Ar ) Bs Ar (Bs ) ( Ar Bs ) Ar Bs
scalar
rs
1 1 a
a
a
a 2 2 .
a a
a
a
(21)
Ar Ar Ar for scalar .
(10)
(20)
Ar Bs 0 for r 0 or s 0 ,
The inner and the outer product are both linear and distributive
a (b c ) a b a c ,
for r , s 0 ,
rs
(16)
~
2
A
A
A A
aA a A a A .
(18)
This extends to the distributive multiplication with arbitrary
multivectors A, B
scalar product
2
0
n
~
A A r ,
(29)
r 1
(17)
~
A
A
, with A A AA
1.
(30)
I a 0 or Ia I a .
An G 1 ( I ) is
(31)
n
PI (a ) P(a ) a k ak a ak a k a , (32)
k 1
where
k 1
1 if j k
. (33)
a k a j kj Kronecker delta
0 if j k
A general convention is that inner products a b and
a (b c ) b (c a ) c (a b ) 0. (44)
The commutator product of multivectors A,B is
1
A B ( AB BA).
2
ab , e.g.
a b c de (a b )(c d )e .
(34)
sm
(35)
PA ( B 0 ) B 0 , PA ( B n ) B n AA1 ,
(36)
exceptions
for
scalars
degree dependent
(45)
( a b ) A ab A A ab ab A A ab .(46) The
commutator product is to be distinguished from the cross
product, which is strictly limited to the three-dimensional
Euclidean case with unit pseudoscalar I 3 :
PA ( B) ( B A) A A ( A B( s ) ),
general
the
(a b ) (c d ) a (b (c d ))
(42)
(a d )(b c ) (a c )(b d ),
( a b ) 2 ( a b ) ( a b ) ( a b ) 2 a 2b 2
2
(b a ) (a b ) a b ,
(43)
and
pseudoscalars
a P(b ) P (a ) P(b ) P(a ) b .
(37)
( a B ) A ( a B ) A a ( BA) if a A 0 . (38)
Reordering rules for products of homogeneous multivector
are
Ar Bs (1) r ( s r ) Bs Ar for r s ,
(39)
Ar Bs (1) rs Bs Ar .
(40)
a (b c ) ( a b )c ( a c )b a b c a c b , (41)
a b (b a ) I 3 (a b ) I 3 .
(47)
a x a .
A independent of x :
a A 0 .
ax
a x a x .
x
unit pseudoscalar. a An .
x
x unit vector in the direction of x (11).
x
dF ( x a )
dF ( x a ) dF ( x )
a F
lim
0
d
Nomenclature: derivative of F in the direction
a ,
a a x x
x x a
a x
x
x
(a b ) F a F b F , a , b An
Proposition 3
For scalar
a ( F G ) a F a G
F F (x ) , G G (x ) multivector-valued functions of a
(a ) k
F ( x a ) exp(a ) F ( x )
F ( x ).
k!
k 0
each
y in a neighborhood of x .
a ( FG ) (a F )G F (a G )
FG FG F G .
a F
F (a , x ) Fa ( x ) a F ( x ) .
F F .)
F F (a ) Fa a F .
([1], p. 107 uses
Proposition 14 (linearity)
a is therefore said to be a scalar differential operator.
F (a b ) F (a ) F (b )
scalar: F (a ) F (a )
dF
a F (a )
d
x , then, for
differential of F.
a F
( a ) F (a F )
F G F G.
For
r x x0 sufficiently small:
Proposition 23
F ( x ) F ( x0 ) F ( x x0 ) F ( x ) F ( x0 ) .
Proposition 16 (chain rule)
dF
x (t ) d x (t ) F ( x ) x x (t )
dt
dt
Definition 17 (vector derivative)
Differentiation of F by its argument
x : x F ( x ) F ,
An G 1 ( I ) , I
r
a r a a r ,
r
Proposition 24
Proposition 25
(31)
I x 0 ,
k 1
ak x the scalar differential properties.
Definition 19 (gradient)
Proposition 27
1
For b independent of x A3 G ( I 3 ) :
a ( x b ) a b .
Proposition 21
a x A
A independent of x .
Proposition 22
Proposition 28
1
1 1
a a .
r
r r
Proposition 29
1
a r
a 2 2 3 .
r
r
2
2
1 2 1 3(a r) r a
(a ) 2
Proposition 30
.
2
r
r4
Proposition 31
2
r a
a ( r a )
.
r
r a r a
.
a r a
r
(31)
I x I x
( 32 ) n
x PI ( x ) a k ak x ,
rr a
a r
.
r
r aa r
a (r a )
.
r
r
where r .
r
Proposition 26
(ii) that a x with a An is a x F as in Def. 1.
r x x :
A r,
a [ x ( x b )] a ( x b ) x (a b )
3
2
1 3 1 4(a r) 4 r a a r
(a ) 2
.
6
r
r5
ar
a log r 2 .
Proposition 32
r
Proposition 33
a r 2 k 2ka r r 2 ( k 1) .
Proposition 34
a r 2 k 1 r 2 k (a 2ka rr).
1
)
xa
1
1 1 1 1 1 1
a a a ... .
xa x x x x x x
Proposition 36 (Legendre Polynomials)
The Legendre Polynomials Pn are defined by:
1
Pn ( xa ) Pn ( xa )
2 n 1 .
x a n 0 x n 1
n0 x
F ( x , a ) G ( f ( x ), f ( x , a )) (explicit)
Definition 41 (second differential)
Fab ( x ) b a F ( x ) .
P0 ( xa ) 1
P1 ( xa ) x a
1
P2 ( xa ) 3( x a ) 2 a 2 x 2
2
Fab Fba .
differential arguments a , b .
1
P3 ( xa ) 5( x a )3 3a 2 x 2 x a
2
3
( x a )3 x a ( x a ) 2
2
n n
Pn ( xa ) x Pn ( xa ) x a Pn ( xa ).
Definition 37 (redefinition of differential, over-dots)
(7) 1
F (a ) a F aF aF ,
2
where the over-dots indicate, that only F is to be differentiated
and not a .
Proposition 38 For a An G ( I ) , P PI :
1
a x a P ( x ) P (a ) x , P (a ) An .
Proposition 39
F (a ) F ( P(a )) P(a ) F .
F (a ) 0 , if P(a ) 0 .
Proposition 40 (differential of composite functions)
For
1
( x a )2 ( x a )2
Suppressing x : Fab b a F .
F ( x ) G ( f ( x )) and
f : x An G 1 ( I ) f ( x ) An G 1 ( I )
a F f (a ) G
F (a ) G ( f (a )) (Def. 13)
E. Hitzer, Basic Multivector Calculus, Proceedings of FAN 2008, Hiroshima, Japan, 23+24 October 2008.