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C2-3 - Basics of Vector Analysis
C2-3 - Basics of Vector Analysis
C2-3 - Basics of Vector Analysis
1*
Labels of the subjects and equation are continued from the 1st course C1_Basics of vectors
2
From eq. (2.5.1) or (2.5.2) one obtains that the elements of [Q] are the direction
cosines
qmi e m ei . (2.5.6)
Let the vector u be expressed in the two orthogonal systems of coordinates with a
common origin by the relation,
u um e m uiei . (2.5.7)
The scalar product of eq. (2.5.7) with e j yields
um e m ej um qmj uiei ej ui ij uj , (2.5.8)
qmj
that is
ui qmi um . (2.5.9)
Similarly, one obtains
3
The scalar product of two vectors is invariant under the change of basis. This emerges as a
direct result from the definition of scalar product of two vectors.
e 1 ,e 2 ,e 3 (2.6.2)
the orthonormal set of unit vectors associated to it. The curvilinear coordinates are obtained as
directions of displacement of a point by keeping two of its coordinates constant and varying
the remained, see Fig. 5.
z e3
e2
i3 r e1
i1 i2 y
Exercise 2.6.2
It is instructive to present another method for obtaining the expression of Del operator
as follows [1]. The gradient of scalar function is written by using chain rule,
f f u f f
f ik ik l i k k ul ul ,
xk ul xk ul ul
Find the Lamé's coefficients by this way and compare expressions with those obtained
from eq. (2.6.6). Prove the equivalence.
Similarly are calculated the other two terms of eq. (2.6.11), and consequently, we can write
1 h2 h3 f1 h1h3 f 2 h1h2 f 3
f . (2.6.15)
h1h2 h3 u1 u2 u3
Laplace operator
According to definition (2.4.1) and eq. (2.6.17) the Laplace operator can be written as
1 h2 h3 f 1 h1h3 f 2 h1h2 f 3
f
h1h2 h3 u1 u2 u3
(2.6.23)
1 h2 h3 f h1h3 f h1h2 f
.
h1h2 h3 u1 h1 u1 u2 h2 u2 u3 h3 u3
7
P1 The gradient of a scalar field at a point r0 is the vector that has direction of the fastest
increase of the field and magnitude equal to the derivative of the field at r0 (see Appendix 2).
P2 The gradient of a scalar field at the position vector r0 is the vector perpendicular on
f (r0 )
the surface f (r ) constant, f (r0 ) n , where n is the normal vector to the surface
n
f (r0 )
f (r ) constant , oriented in the direction of increasing value of the constant, and is
n
the derivative in direction n (see Appendix 2).
For a more intuitive picture, the function f ( x, y ) cos 3 x cos 3 y and its gradient is
shown in Fig. 6a, b. In the horizontal plane (x, y) the arrows show the direction and magnitude
of the gradient. In Fig. 6c, f (r ) x 2 y 2 z 2 constant and its gradient is represented.
Arrows point in direction of the gradient and their length is proportional to the magnitude of
the gradient in the figures.
a) b)
c)
Fig. 6 a) f ( x, y ) cos 3 x cos 3 y and b) f ( x, y ) ; c) f (r ) x 2 y 2 z 2 and f (r ) .
8
Exercise 2.6.4
Consider the scalar field f(r)=1/r, where r=|r|. Calculate derivative of f(r) in point
A(-1,0,0) in direction AB where point B is of coordinates (1,2,1). Use definition (B.2)
from Appendix 2.
ii) f can be found as representing the change in f per unit length in a region of
space. Then, if f 0 there is no source or sink (ending point) for the vector field f, and if
f 0 there is.
iii)
Curl of the vector field f1 ( x, y , z ) y / x 2 y 2 , x / x 2 y 2 , 0 is zero
on domain D, which is R3 excepting the z-axis. Then f1 (r ) is irrotational on D. On the other
hand, circulation of f1 (r ) on the unit circle with center in origin of the (x, y) -plane is equal to
2π (see Exercise 2.6.1.2). By decomposing circulation on the unit circle as circulation on the
paths ABC and CDA,
f1 dl f1 dl f1 dl f1 dl f1 dl 2 ,
C ABC CDA ABC ADC
and conservative.
y y
3 3
2 2
1 1
0 x 0 x
1 1
2 2
3 3
3 2 1 0 1 2 3 3 2 1 0 1 2 3
a) b)
Fig. 7 The vector field in (x, y) plane for: a) f1 ( x, y , z ) y / x 2 y 2 , x / x 2 y 2 , 0
which is not a conservative field; b) f 2 ( x, y , z ) x / x 2 y 2 , y / x 2 y 2 , 0 which is a
conservative field.
y
r x 2 y 2 , arctan . (2.6.1.2)
x
y
eϴ
e2=j er
r
P
ϴ
O e1=i x
In Cartesian coordinates, r xi yj . From eq. (2.6.6) the Lamé's coefficients are hr 1 and
h r , and we have
r r
cos i sin j , r sin i r cos j . (2.6.1.3)
r
Then, from eq. (2.6.5), the corresponding unit vectors are
1 r 1 r
er cos i sin j , e sin i cos j , (2.6.1.4)
hr r h u
which are represented in Fig. 8. Eqs. (2.6.1.4) can also be easily obtained by geometrical
considerations. The relation with the Cartesian unit vectors is
er i cos sin i
[Q]T (2.6.1.5)
e j sin cos j
or
i e cos sin e r
[Q] r . (2.6.1.6)
j e sin cos e
Exercise 2.6.1.1
Find the matrix [Q] by using definition (1.5.6) of the matrix elements.
Then,
r r cos cose r sin e r sin sin e r cose re r (2.6.1.7)
i j
which is in conformity with the geometrical picture of in-plane polar coordinate definition
introduced at the beginning of this sub-section. In the in-plane polar coordinate the vector
field f(r)=(fx, fy) is transformed according to eq. (1.5.12) by,
f r cos sin f x
.
f
sin cos f y
1 f 2 f 1 2 f
f .
r r r 2 r 2 2
Exercise 2.6.1.3
Find the line fields of the vector field f (r ) y / x 2 y 2 , x / x 2 y 2 . Show that:
i) f (r ) transforms in the in-plane polar coordinates to f (r ) 0, 1 / r ;
ii) circulation on the unit circle in the (x, y)-plane of f (r ) is equal to 2π.
z er
eφ
θ
r eθ y
x φ
The space is covered by r ∈ [0, ∞), θ ∈ [0, π], φ ∈ [0, 2π). In Cartesian coordinates,
r xi yj zk . From eq. (2.6.6) the Lamé's coefficients are hr 1 and h r , h r sin
and
r r
sin cos i sin sin j cos k , r (cos cos i cos sin j sin k ) ,
r
r
r sin ( sin i cos j) . (2.6.2.3)
Then, from eq. (2.6.5), the corresponding unit vectors are
1 r
er sin cos i sin sin j cos k ,
hr r
1 r
e cos cos i cos sin j sin k ,
h u
1 r
e sin i cos j . (2.6.2.4)
h u
Eqs. (2.6.2.4) can also be easily obtained from geometrical considerations by projecting the
spherical unit vectors in the Cartesian coordinates. The transformation matrix [Q]T (see eq.
(1.5.1)) is obtained from eq. (2.6.2.4):
e r sin cos sin sin cos i i
e cos cos cos sin sin j Q j .
T
Exercise 2.6.2.1
Find the matrix [Q] by using definition (1.5.6) of the matrix elements.
f 1 f 1 f
f e r e e . (2.6.2.6)
r r r sin
The divergence of a vector field f is calculated with eq. (2.6.15)
f 1 f 1 f 2 f r f
f r cot (2.6.2.7)
r r r sin 2 r
The curl of a vector field is calculated with eq. (2.6.22)
e r re r sin e
1
f 2 . (2.6.2.8)
r sin r
f r rf r sin f
The Laplacian of a scalar field f is calculated with eq. (2.6.23)
1 2 f 1 f 1 2 f
f r sin (2.6.2.9)
r 2 r r r 2 sin r 2 sin 2 2
Eqs. (2.6.2.7, 8, 9) can also be obtained directly starting from definition (1.3.2.1). The partial
derivatives of the unit vectors can be calculated with eqs. (2.6.11, 12) or from eqs. (2.6.2.4)
by considering the Cartesian unit vectors constant.
ez
eθ
er
y
r
x θ
The space is covered by r ∈ [0, ∞), θ ∈ [0, π], z ∈ [-∞, ∞), In Cartesian coordinates,
r xi yj zk . From eq. (2.6.6) Lamé's coefficients are hr 1 and h r , hz 1 and
r r r
cos i sin j , r ( sin i cos j) , k ez . (2.6.3.3)
r z
Then, from eq. (2.6.5), the corresponding unit vectors are
1 r 1 r
er cos i sin j , e r ( sin i cos j) ,
hr r h u
1 r
ez k. (2.6.3.4)
hz uz
Eqs. (2.6.3.4) can also be easily obtained from geometrical considerations by projecting the
cylindrical unit vectors in Cartesian coordinates. With eq. (2.6.9) and Lamé's coefficients, Del
operator is
1
e r e ez . (2.6.3.5)
r r z
Then, the gradient of a scalar field f is expressed as follows:
f 1 f f
f e r e ez . (2.6.3.6)
r r z
The divergence of a vector field f is calculated with eq. (2.6.15)
f 1 f f z f r
f r (2.6.3.7)
r r z r
The curl of a vector field is calculated with eq. (2.6.22)
e r re e z
1
f . (2.6.3.8)
r r z
f r rf f z
The Laplacian of a scalar field f is calculated with eq. (2.6.23)
2 f 1 f 1 2 f 2 f
f 2 (2.6.3.9)
r r r r 2 2 z 2
Eqs. (2.6.3.7, 8, 9) can also be obtained directly starting from definition (1.3.2.1).
References
[1] H. Cohen, Mathematics for Scientists and engineers, Prentince-Hall, 1992.
[2] L.E. Malvern, Introduction to the Mechanics of a Continuous Medium, Prentice-Hall
1969.
Further reading
1. E. Soos, C. Teodosiu, Calcul tensorial cu aplicatii in mecanica solidelor, Ed. Stiintifica si
Enciclopedica, 1983.
2. K-.T. Tang, Mathematical Methods for Engineers and Scientists 2: Vector Analysis,
Ordinary Differential Equations and Laplace Transforms, Springer, 2007.
3. P.P. Teodorescu, Mechanical Systems, Classical Models Vol. I, Particle Mechanics,
Springer, 2007.
4. G. Strang, Linear Algebra and Its Applications, International Thomson Publishing, 4th
edition.
5. https:// www.math.ucdavis.edu/~saito/courses/21C.w11/polar-lap.pdf
6.https://web.williams.edu/Mathematics/sjmiller/public_html/BrownClasses/52/683L/LinAlg
ReviewAndSpectral.pdf