331-EM-Chap 1-1up

phys.
331 − Electrodynamics
phys.331 Vectors & Coordinate systems
ZERO tolerance
Part 2 − Electrodynamics for discrimination
He wāhi whakatoihara kore
https://equity.physics.auckland.ac.nz/
AIMS
Fundamental background behind electromagnetism
Very fundamental, abstract, and mathematical point of view
As much mathematics and geometry as physics
More applied aspects of electromagnetism like lasers and
nonlinear optics are covered in, e.g., phys.333 or phys.752
(also Stage III advisor)

Stéphane Coen
SCIENCE room 303.509, phone (09) 923 8841
DEPARTMENT OF PHYSICS
@ s.coen@auckland.ac.nz
phys.331 − Electrodynamics
ZERO tolerance
Part 2 − Electrodynamics for discrimination
He wāhi whakatoihara kore
https://equity.physics.auckland.ac.nz/
I Electrodynamics in 3D
Coordinate systems; Electrostatics; Vector calculus;
Poisson’s equation; Magnetostatics
II Electrodynamics in space-time
Special relativity; Space-time; Tensors;
Relativistic electrodynamics

Stéphane Coen
Part 2 − Electrodynamics
/download/eng/toutestrelatif.htm
savoir-sans-frontieres.com
feynmanlectures.caltech.edu
Stéphane Coen
phys.331 − Electrodynamics Vectors & Coordinate systems
Chapter 1
Vectors & Coordinate systems
1 Revisiting vectors
2 Basis vectors
3 Change of basis
4 Formal definition of vectors
5 The gradient
6 Dual basis
7 Cylindrical & Spherical coordinates
Stéphane Coen
1 Revisiting vectors Vectors & Coordinate systems
We describe our physical world with mathematics but our predictions must be independent of our
mathematical notations
Vectors are the tools to write equations in 3D independent of the system of coordinates
1st definition of a This definition is sufficient

Geometrical entity which has to define ADDITION of vectors and
a DIRECTION and a MAGNITUDE MULTIPLICATION BY A SCALAR
Note how all these concepts are based on geometry
When dealing with vectors, one often quickly writes them in terms of CARTESIAN COMPONENTS
It is very easy to fall into the TRAP of thinking that vectors
are defined in terms of their components
MISLEADING
Vectors are PRIMARILY geometrical objects
Their components are secondary
2 Basis vectors Vectors & Coordinate systems
In practice, to do actual calculations we need to associate “numbers” or components to vectors. To that end,
we define a set of BASIS VECTORS
Set of LINEARLY INDEPENDENT vectors which SPAN the space of ALL vectors
superscript index “3"
arbitrary vector not an exponent In 3D, we need 3 basis vectors:
Because the basis SPANS the space, exist

Because the basis vectors are LINEARLY INDEPENDENT,
TRULY an components of vector in the are unique
equal sign basis
Convenient but possibly MISLEADING notation:

If we choose a different basis, !
vector
THE COMPONENTS WILL BE DIFFERENT list of numbers
the basis is
(not a vector) not there,
the components do NOT define the vector
and it does
matter
NOT an equal sign
“is represented by the numbers in a certain basis”
2 Basis vectors Vectors & Coordinate systems
Often, one uses an ORTHONORMAL basis

Basis vectors are mutually orthogonal, e.g.
... and have unit length, DOT (or SCALAR) product
can also be defined completely geometrically
notation: or
In an ORTHONORMAL basis, the components Example: CARTESIAN coordinate system

can be found very easily
COLUMN matrix
with components
ROW matrix with w.r.t. that basis
basis vectors
This notation specifies BASIS & COMPONENTS and

enables SEPARATE manipulation of the two parts
3 Change of basis Vectors & Coordinate systems
Consider what happens to the

COMPONENTS of a vector when
describing it in two DIFFERENT
COORDINATES systems
HOW ARE THE BASIS VECTORS OF THE TWO SYSTEMS RELATED?
e.g. rotation with components of w.r.t.

common axis
or, in matrix form

The basis vectors are the same TRANSFORMATION matrix
ROW matrix of ROW matrix of (right multiplication)
at every point and aligned with NEW basis vectors OLD basis vectors
the corresponding axes.
THIS IS NOT OBVIOUS – it is not the case in,
e.g., cylindrical or spherical coordinates

a VECTOR expressed
in the TWO bases
describing it in two DIFFERENT
COORDINATES systems LINEARLY INDEPENDENT basis vectors
e.g. rotation with

common axis OLD basis
ORTHONORMAL basis TRANSFORMATION NEW
the transformation matrix components
is ORTHOGONAL
The components of a vector transform

as per the INVERSE of the transformation
of the basis vectors
CONTRAVARIANCE
Known result but GENERAL technique


describing it in two DIFFERENT INVARIANT
transforms transforms
COORDINATES systems ONE WAY THE OTHER WAY
e.g. rotation with

common axis
rotating rotating
THE AXES SPACE

EQUIVALENT
CONTRAVARIANCE

describing it in two DIFFERENT INVARIANT
transforms transforms
COORDINATES systems ONE WAY THE OTHER WAY
e.g. rotation with

common axis meet “METER” and “CENTIMETER” base vectors
1 2
100 200
base vector component
CONTRAVARIANCE 100 × SMALLER 100 × LARGER
A special vector: the POSITION vector Displacement vector from the origin to a point P
P COMPONENTS of the position vector to point P
COORDINATES
of point P
In CARTESIAN coordinates, the COMPONENTS

of the position vector are identical to the
COORDINATES of the associated point, but
this is NOT TRUE IN GENERAL
COORDINATES
≠
COMPONENTS
application to
the components
of the position
vector
4 Formal definition of vectors Vectors & Coordinate systems
Our first definition

New formal definition of a vector
Geometrical entity which has
a DIRECTION and a MAGNITUDE A vector is any set of three components
that TRANSFORMS in the same manner
AS A DISPLACEMENT when you change coordinates
In the context of linear algebra
The position vector is the MODEL for the behaviour
Set of numbers
of vectors
BROADER definiton
This definition can be extended to 4D space time in
A GEOMETRICAL vector is a vector in the sense special relativity, to more general objects (tensors),
of LINEAR ALGEBRA, but the converse is not true and to less or non trivial geometries
Example
Barrel of fruits with pears, it has COMPONENTS; Pears CANNOT become bananas by a change
components ADD; of spatial coordinates
apples, and bananas
but there is NO DIRECTION
... in contrast I can turn an component into an component
5 The gradient Vectors & Coordinate systems
The gradient is a generalization of the concept of derivative
Suppose a function whose values vary with position

? e.g. a temperature distribution in 3D space
DERIVATIVE – HOW FAST does the function VARY when moving to a nearby point?
? Surely, this DEPENDS ON DIRECTION,

? and the question could have an infinite number of answers
PARTIAL DERIVATIVE (Good news! We only need

THEOREM to know 3 derivatives)
NOT a vector, but
MIMICS the behaviour
of a normal vector EXPRESSING IT AS
in a lot of ways A DOT PRODUCT
TAKE THE VECTOR infinitesimal displacement

APPEARANCE OF X INTRODUCING THE GRADIENT of , VECTOR quantity, [direction of derivative]
SERIOUSLY OPERATOR generalization of derivative differential of position vector r
“change = slope × displacement”

The gradient is a VECTOR – what is its MAGNITUDE and DIRECTION?
? DOT product angle between and displacement
?
? maximum when
In that direction, we have
the gradient points in the
DIRECTION OF STEEPEST INCREASE
the magnitude of the gradient is

the SLOPE (standard derivative)
when
ALONG THE STEEPEST DIRECTION
the gradient is ORTHOGONAL TO
40
ISO-SURFACES (or contour lines)
30
20 of the function
10
What happened to
this wonderful idea? transforms
ONE WAY
transforms
THE OTHER WAY
? INVARIANT
The components of the gradient

transform LIKE the basis vectors
COVARIANCE
... but then basis

vectors (in the
gradient component
gradient definition) 100 × SMALLER
should be
contravariant??
1 2
“Here’s looking at Euclid”
100 200
displacement
Jean-Pierre Petit
base vector
component
100 × SMALLER
100 × LARGER
6 Dual basis Vectors & Coordinate systems
The same vector can be described in a BASIS and in its DUAL the bi-orthogonality makes it easy to
calculate the COMPONENTS
transforms transforms CONTRAVARIANT components

ONE WAY THE OTHER WAY
COVARIANT components
COVARIANT CONTRAVARIANT
LOWER INDEX UPPER INDEX
what is a parallel projection in one system
is a perpendicular projection in the other
SCALAR/DOT product
CONTRAVARIANT
↔ COVARIANT
where
matrix form METRIC
In CARTESIAN coordinates, and

7 Spherical & cylindrical coordinates Vectors & Coordinate systems
CARTESIAN coordinates are simple and natural

Basis vectors are the same at every point
René Descartes
(1596–1650) BUTnot all physical problems are naturally
1st to use algebra adapted to CARTESIAN coordinates
to do geometry
e.g. the electric field of a point

charge is radially outward
MESSY in cartesian coordinates
!
problems are EASIER to solve by choosing a coordinate system easy to overlook
that RESPECTS THE SYMMETRY OF THE PROBLEM, COORDINATES the difference in
and that ENABLES TO ELIMINATE VARIABLES ≠ cartesian coordinates
CRITICAL to remember
COMPONENTS it in other systems
7 Cylindrical coordinates Vectors & Coordinate systems
To describe vectors in CYLINDRICAL COMPONENTS we need

P to find out what are the BASIS VECTORS
P’ small distance away from P

COORDINATES P
of point P in a direction where only the
P coordinate varies
... in a direction we would like to think as
COORDINATES transformation laws
general route to calculate basis vectors

as derivatives of the coordinate transformations
ORTHONORMAL
radially outward from the z-axis
NORMALISATION
tangent to origin-centred
vertical circles in the x-y plane
and depend on
basis vectors are TANGENT to
the COORDINATE CURVES do not combine cylindrical components
of vectors attached to different points
beware of derivatives of vectors, as
COORDINATES transformation laws basis vectors depend on position
SCALING FACTORS
Transformation of the coordinates transformation laws are NONLINEAR

BASIS VECTORS
... yet the BASIS VECTORs and the COMPONENTS
always transform LINEARLY
... because VECTORS are constructed in a TANGENT SPACE
vector components transform by the LOCAL LINEAR
CYLINDRICAL COMPONENTS of a vector APPROXIMATION of the transformation
COORDINATES and COMPONENTS

are different things
X,Y,Z BASIS VECTORS ARE LINEARLY (really)
INDEPENDENT + INVERSION
COORDINATES transformation laws COMPONENTS transformation law

Position vector
COORDINATES
of point P
the cylindrical components of
the position vector are NOT
the coordinates
of point P like in the cartesian
system
COORDINATES transformation laws COMPONENTS transformation law

Infinitesimal displacement
Volume element
SCALING FACTORS
encode the conversion

between a change in COORDINATE
and a change in DISTANCE
6 Dual basis (a look back ...) Vectors & Coordinate systems
Another look at the METRIC How to calculate the ARC LENGTH of a curve embedded into a CURVED SURFACE?
curvilinear system of
coordinates of the surface
Displacement along the curve the metric relates

PARTIAL DERIVATIVE THEOREM
COORDINATES to
actual DISTANCES
Arc length
(or angles)
METRIC
7 Spherical coordinates Vectors & Coordinate systems
SCALING FACTORS
P COORDINATES
of point P radially outward from the origin
tangent to great circle
distance to
Position vector
tangent to parallel circle
the origin
inclination
angle
azymutal Infinitesimal displacement
angle
COORDINATES transformation laws
Volume element

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phys.

(also Stage III advisor)

(also Stage III advisor)

1st definition of a This definition is sufficient

Note how all these concepts are based on geometry

Because the basis SPANS the space, exist

Convenient but possibly MISLEADING notation:

Often, one uses an ORTHONORMAL basis

In an ORTHONORMAL basis, the components Example: CARTESIAN coordinate system

This notation speciﬁes BASIS & COMPONENTS and

Consider what happens to the

e.g. rotation with components of w.r.t.

or, in matrix form

Consider what happens to the

e.g. rotation with

The components of a vector transform

Known result but GENERAL technique

Consider what happens to the

e.g. rotation with

The components of a vector transform

Consider what happens to the

e.g. rotation with

P COMPONENTS of the position vector to point P

In CARTESIAN coordinates, the COMPONENTS

Our ﬁrst deﬁnition

The gradient is a generalization of the concept of derivative

Suppose a function whose values vary with position

? Surely, this DEPENDS ON DIRECTION,

PARTIAL DERIVATIVE (Good news! We only need

TAKE THE VECTOR inﬁnitesimal displacement

“change = slope × displacement”

The gradient is a VECTOR – what is its MAGNITUDE and DIRECTION?

? DOT product angle between and displacement

the magnitude of the gradient is

The components of the gradient

... but then basis

transforms transforms CONTRAVARIANT components

In CARTESIAN coordinates, and

CARTESIAN coordinates are simple and natural

e.g. the electric ﬁeld of a point

To describe vectors in CYLINDRICAL COMPONENTS we need

P’ small distance away from P

... in a direction we would like to think as

COORDINATES transformation laws

general route to calculate basis vectors

Transformation of the coordinates transformation laws are NONLINEAR

COORDINATES and COMPONENTS

COORDINATES transformation laws COMPONENTS transformation law

COORDINATES transformation laws COMPONENTS transformation law

encode the conversion

Displacement along the curve the metric relates

COORDINATES transformation laws

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