VECTOR CALCULUS

August 3, 2009 – p.1/13

Operator formulae

August 3, 2009 – p.2/13

Operator formulae

Let φ and ψ be scalar fields,

August 3, 2009 – p.2/13

Operator formulae

Let φ and ψ be scalar fields,

a and b be vector fields.

August 3, 2009 – p.2/13

Operator formulae

Let φ and ψ be scalar fields,

a and b be vector fields.
We have the following set of formulaes that hold true.

August 3, 2009 – p.2/13

Operator identities

∇(φ + ψ) = ∇φ + ∇ψ
∇ · (a + b) = ∇ · a + ∇ · b
∇ × (a + b) = ∇ × a + ∇ × b
∇(φψ) = φ∇ψ + ψ∇φ
∇(a · b) = a × (∇ × b) + b × (∇ × a)
+(a · ∇)b + (b · ∇)a
∇ · (φa) = φ∇ · a + a · (∇φ)
∇ · (a × b) = b · (∇ × a) − a · (∇ × b)
∇ × (φa) = ∇φ × a + φ∇ × a
∇ × (a × b) = a(∇ · b) − b(∇ · a) + (b · ∇)a − (a · ∇)b
August 3, 2009 – p.3/13
Operator identities

∇(φ + ψ) = ∇φ + ∇ψ
∇ · (a + b) = ∇ · a + ∇ · b
∇ × (a + b) = ∇ × a + ∇ × b
∇(φψ) = φ∇ψ + ψ∇φ
∇(a · b) = a × (∇ × b) + b × (∇ × a)
+(a · ∇)b + (b · ∇)a
∇ · (φa) = φ∇ · a + a · (∇φ)
∇ · (a × b) = b · (∇ × a) − a · (∇ × b)
∇ × (φa) = ∇φ × a + φ∇ × a
∇ × (a × b) = a(∇ · b) − b(∇ · a) + (b · ∇)a − (a · ∇)b
August 3, 2009 – p.3/13
Combination of operators and operands

Let a be a vector function, φ a scalar function.

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ),

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a),

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a),

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

have no meaning.

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

have no meaning.
Valid combinations are,

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

have no meaning.
Valid combinations are,
∇ × (∇φ) = 0

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

have no meaning.
Valid combinations are,
∇ × (∇φ) = 0
a = ∇φ is an irrotational vector.

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

have no meaning.
Valid combinations are,
∇ × (∇φ) = 0
a = ∇φ is an irrotational vector.
We can add two vectors,

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

have no meaning.
Valid combinations are,
∇ × (∇φ) = 0
a = ∇φ is an irrotational vector.
We can add two vectors,
a + ∇ψ + c

August 3, 2009 – p.4/13

Combination of operators and operands

Let a be a vector function, φ a scalar function.

∇(∇φ), ∇ · (∇ · a), ∇ × (∇ · a), ∇(∇ × a)

have no meaning.
Valid combinations are,
∇ × (∇φ) = 0
a = ∇φ is an irrotational vector.
We can add two vectors,
a + ∇ψ + c ∇ × (a + ∇ψ + c) = 0

August 3, 2009 – p.4/13

Combination of operators . . .

August 3, 2009 – p.5/13

Combination of operators . . .

∇ · (∇ × a) = 0

August 3, 2009 – p.5/13

Combination of operators . . .

∇ · (∇ × a) = 0 =⇒ ∇ × a is called solenoidal.

August 3, 2009 – p.5/13

Combination of operators . . .

∇ · (∇ × a) = 0 =⇒ ∇ × a is called solenoidal.

We can add c so that ∇ · ((∇ × a) + c) = 0.

August 3, 2009 – p.5/13

Combination of operators . . .

∇ · (∇ × a) = 0 =⇒ ∇ × a is called solenoidal.

We can add c so that ∇ · ((∇ × a) + c) = 0.

2 2 2
2 ∂ φ ∂ φ ∂ φ
∇ · ∇φ = ∇ φ = 2
+ 2+ 2
∂x ∂y ∂z

August 3, 2009 – p.5/13

Combination of operators . . .

∇ · (∇ × a) = 0 =⇒ ∇ × a is called solenoidal.

We can add c so that ∇ · ((∇ × a) + c) = 0.

2 2 2
2 ∂ φ ∂ φ ∂ φ
∇ · ∇φ = ∇ φ = 2
+ 2+ 2
∂x ∂y ∂z

∇(∇ · a)

August 3, 2009 – p.5/13

Combination of operators . . .

∇ · (∇ × a) = 0 =⇒ ∇ × a is called solenoidal.

We can add c so that ∇ · ((∇ × a) + c) = 0.

2 2 2
2 ∂ φ ∂ φ ∂ φ
∇ · ∇φ = ∇ φ = 2
+ 2+ 2
∂x ∂y ∂z
 2 2 2

∂ ax ∂ ay ∂ az
∇(∇ · a) = 2
+ + î +
∂x ∂x∂y ∂x∂z
 2 2 2
  2 2 2

∂ ax ∂ ay ∂ az ∂ ax ∂ ay ∂ az
+ 2
+ ĵ + + + 2
k̂
∂y∂x ∂y ∂y∂z ∂z∂x ∂z∂y ∂z

August 3, 2009 – p.5/13

Combination of operators . . .

∇ · (∇ × a) = 0 =⇒ ∇ × a is called solenoidal.

We can add c so that ∇ · ((∇ × a) + c) = 0.

2 2 2
2 ∂ φ ∂ φ ∂ φ
∇ · ∇φ = ∇ φ = 2
+ 2+ 2
∂x ∂y ∂z
 2 2 2

∂ ax ∂ ay ∂ az
∇(∇ · a) = 2
+ + î +
∂x ∂x∂y ∂x∂z
 2 2 2
  2 2 2

∂ ax ∂ ay ∂ az ∂ ax ∂ ay ∂ az
+ 2
+ ĵ + + + 2
k̂
∂y∂x ∂y ∂y∂z ∂z∂x ∂z∂y ∂z
∇ × (∇ × a) = ∇(∇ · a) − ∇2 a

August 3, 2009 – p.5/13

Line Integrals

August 3, 2009 – p.6/13

Line Integrals

For a curve C between A and B,

August 3, 2009 – p.6/13

Line Integrals

For a curve C between A and B,

Z Z Z
φdr, a · dr, a × dr
C C C

August 3, 2009 – p.6/13

Line Integrals

For a curve C between A and B,

Z Z Z
φdr, a · dr, a × dr
C C C

Dividing C into N small line elements,

August 3, 2009 – p.6/13

Line Integrals

For a curve C between A and B,

Z Z Z
φdr, a · dr, a × dr
C C C

Dividing C into N small line elements,

∆rp ,p = 1, . . . , N

August 3, 2009 – p.6/13

Line Integrals

For a curve C between A and B,

Z Z Z
φdr, a · dr, a × dr
C C C

Dividing C into N small line elements,

∆rp ,p = 1, . . . , N
Z
a · dr
C

August 3, 2009 – p.6/13

Line Integrals

For a curve C between A and B,

Z Z Z
φdr, a · dr, a × dr
C C C

Dividing C into N small line elements,

∆rp ,p = 1, . . . , N
Z N
X
a · dr = limN →∞ a(xp , yp , zp ) · ∆rp
C p=1

August 3, 2009 – p.6/13

Line Integrals

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z
φdr
C

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C
Z Z
φîdx = î φdx

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C
Z Z
φîdx = î φdx

for cartesian coordinates. Not so for others.

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C
Z Z
φîdx = î φdx

for cartesian coordinates. Not so for others.

For the second type of integral,

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C
Z Z
φîdx = î φdx

for cartesian coordinates. Not so for others.

For the second type of integral,
Z
a · dr
C

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C
Z Z
φîdx = î φdx

for cartesian coordinates. Not so for others.

For the second type of integral,
Z Z Z Z
a · dr = ax dx + ay dy + az dz
C C C C

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C
Z Z
φîdx = î φdx

for cartesian coordinates. Not so for others.

For the second type of integral,
Z Z Z Z
a · dr = ax dx + ay dy + az dz
C C C C

August 3, 2009 – p.7/13

Line Integrals

In terms of cartesian coordinates,

Z Z Z Z
φdr = î φ(x, y, z)dx + ĵ φ(x, y, z)dy + k̂ φ(x, y, z)dz
C C C C
Z Z
φîdx = î φdx

for cartesian coordinates. Not so for others.

For the second type of integral,
Z Z Z Z
a · dr = ax dx + ay dy + az dz
C C C C

August 3, 2009 – p.7/13

Line Integrals

August 3, 2009 – p.8/13

Line Integrals

I
Find I = xdy, where C is the circle in the xy-plane defined by
C
x2 + y 2 = a ,z = 0.
2

August 3, 2009 – p.8/13

Line Integrals

I
Find I = xdy, where C is the circle in the xy-plane defined by
C
x2 + y 2 = a ,z = 0.
2

I
xdy
C

August 3, 2009 – p.8/13

Line Integrals

I
Find I = xdy, where C is the circle in the xy-plane defined by
C
x2 + y 2 = a ,z = 0.
2

I Z ap
xdy = a2 − y 2 dy
C −a

August 3, 2009 – p.8/13

Line Integrals

I
Find I = xdy, where C is the circle in the xy-plane defined by
C
x2 + y 2 = a ,z = 0.
2

I Z ap Z −a p
xdy = a2 − y 2 dy + (− a2 − y 2 )dy
C −a a

August 3, 2009 – p.8/13

Line Integrals

I
Find I = xdy, where C is the circle in the xy-plane defined by
C
x2 + y 2 = a ,z = 0.
2

I Z ap Z −a p
xdy = a2 − y 2 dy + (− a2 − y 2 )dy
C −a a

Z a p
=4 a2 − y 2 dy
0

August 3, 2009 – p.8/13

Line Integrals

I
Find I = xdy, where C is the circle in the xy-plane defined by
C
x2 + y 2 = a ,z = 0.
2

I Z ap Z −a p
xdy = a2 − y 2 dy + (− a2 − y 2 )dy
C −a a

Z a p
=4 a2 − y 2 dy
0

= πa2

August 3, 2009 – p.8/13

Line Integrals

August 3, 2009 – p.9/13

Line Integrals

In polar coordinates,

August 3, 2009 – p.9/13

Line Integrals

In polar coordinates,
we take x = a cos φ and y = a sin φ.

August 3, 2009 – p.9/13

Line Integrals

In polar coordinates,
we take x = a cos φ and y = a sin φ. dy = a cos φdφ

August 3, 2009 – p.9/13

Line Integrals

In polar coordinates,
we take x = a cos φ and y = a sin φ. dy = a cos φdφ
I
I= xdy
C

August 3, 2009 – p.9/13

Line Integrals

In polar coordinates,
we take x = a cos φ and y = a sin φ. dy = a cos φdφ
I Z 2π
I= xdy = a2 cos2 φdφ
C 0

August 3, 2009 – p.9/13

Line Integrals

In polar coordinates,
we take x = a cos φ and y = a sin φ. dy = a cos φdφ
I Z 2π
I= xdy = a2 cos2 φdφ
C 0

= πa2 .

August 3, 2009 – p.9/13

Line Integrals

In polar coordinates,
we take x = a cos φ and y = a sin φ. dy = a cos φdφ
I Z 2π
I= xdy = a2 cos2 φdφ
C 0

= πa2 .

August 3, 2009 – p.9/13

Line Integrals

Physical Examples:

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.
If dr is the infinitesimal displacement,

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.
If dr is the infinitesimal displacement, dW = F · dr.

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.
If dr is the infinitesimal displacement, dW = F · dr.

Total work done over the curve C,

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.
If dr is the infinitesimal displacement, dW = F · dr.

Total work done over the curve C,

Z
WC = F · dr
C

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.
If dr is the infinitesimal displacement, dW = F · dr.

Total work done over the curve C,

Z
WC = F · dr
C

In an electric field E

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.
If dr is the infinitesimal displacement, dW = F · dr.

Total work done over the curve C,

Z
WC = F · dr
C

In an electric field E
Electric potential energy gained by a charge q along a path C,

August 3, 2009 – p.10/13

Line Integrals

Physical Examples:
Work done by force F over a curve C.
If dr is the infinitesimal displacement, dW = F · dr.

Total work done over the curve C,

Z
WC = F · dr
C

In an electric field E
Electric potential energy gained by a charge q along a path C,
Z
−q E · dr
C

August 3, 2009 – p.10/13

Line Integrals

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:
I
B · dr = µ0 I.
C

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:
I
B · dr = µ0 I.
C

I-current enclosed by a path C in right-hand sense.

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:
I
B · dr = µ0 I.
C

I-current enclosed by a path C in right-hand sense.

B-associated magnetic field.

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:
I
B · dr = µ0 I.
C

I-current enclosed by a path C in right-hand sense.

B-associated magnetic field.
A loop C with current I in a magnetic field B,

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:
I
B · dr = µ0 I.
C

I-current enclosed by a path C in right-hand sense.

B-associated magnetic field.
A loop C with current I in a magnetic field B,
Force dF on small length dr of the wire,

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:
I
B · dr = µ0 I.
C

I-current enclosed by a path C in right-hand sense.

B-associated magnetic field.
A loop C with current I in a magnetic field B,
Force dF on small length dr of the wire, dF = Idr × B

August 3, 2009 – p.11/13

Line Integrals

Ampere’s law:
I
B · dr = µ0 I.
C

I-current enclosed by a path C in right-hand sense.

B-associated magnetic field.
A loop C with current I in a magnetic field B,
Force dF on small length dr of the wire, dF = Idr × B
I
Total force, F = I dr × B
C

August 3, 2009 – p.11/13

Line Integrals w.r.t scalars

August 3, 2009 – p.12/13

Line Integrals w.r.t scalars

dr
dr = du
du

August 3, 2009 – p.12/13

Line Integrals w.r.t scalars

dr
dr = du
du
Z
a · dr
C

August 3, 2009 – p.12/13

Line Integrals w.r.t scalars

dr
dr = du
du
Z Z
dr
a · dr = a · du
C C du

August 3, 2009 – p.12/13

Line Integrals w.r.t scalars

dr
dr = du
du
Z Z
dr
a · dr = a · du
C C du

Commonly occurring cases are w.r.t arc length s.

August 3, 2009 – p.12/13

Line Integrals w.r.t scalars

dr
dr = du
du
Z Z
dr
a · dr = a · du
C C du

Commonly occurring cases are w.r.t arc length s.

Z
φds,
C

August 3, 2009 – p.12/13

Line Integrals w.r.t scalars

dr
dr = du
du
Z Z
dr
a · dr = a · du
C C du

Commonly occurring cases are w.r.t arc length s.

Z Z
φds, ads,
C C

August 3, 2009 – p.12/13

Line Integrals w.r.t scalars

dr
dr = du
du
Z Z
dr
a · dr = a · du
C C du

Commonly occurring cases are w.r.t arc length s.

Z Z
φds, ads,
C C
r
dr dr
ds = · du
du du

August 3, 2009 – p.12/13

Line Integrals w.r.t a scalar

Example:

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.
r(φ) = a cos φî + a sin φĵ

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.
r(φ) = a cos φî + a sin φĵ
s
dr dr
ds = · dφ
dφ dφ

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.
r(φ) = a cos φî + a sin φĵ
s
dr dr
ds = · dφ = a(cos2 φ + sin2 φ)dφ
dφ dφ

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.
r(φ) = a cos φî + a sin φĵ
s
dr dr
ds = · dφ = a(cos2 φ + sin2 φ)dφ = adφ
dφ dφ

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.
r(φ) = a cos φî + a sin φĵ
s
dr dr
ds = · dφ = a(cos2 φ + sin2 φ)dφ = adφ
dφ dφ

Z
I= (x − y 2 )ds
C

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.
r(φ) = a cos φî + a sin φĵ
s
dr dr
ds = · dφ = a(cos2 φ + sin2 φ)dφ = adφ
dφ dφ

Z Z π
I= (x − y 2 )ds = a3 (1 − sin 2φ)dφ
C 0

August 3, 2009 – p.13/13

Line Integrals w.r.t a scalar
Z
Example: I = (x − y)2 ds, C a semicircle from A = (a, 0) to
C

B = (−a, 0),y ≥ 0.
r(φ) = a cos φî + a sin φĵ
s
dr dr
ds = · dφ = a(cos2 φ + sin2 φ)dφ = adφ
dφ dφ

Z Z π
I= (x − y 2 )ds = a3 (1 − sin 2φ)dφ = πa3
C 0

August 3, 2009 – p.13/13