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Lecture 2: Review of Vector Calculus

Instructor:
Dr. Gleb V. Tcheslavski
Contact: gleb@ee.lamar.edu
Office Hours: Room 2030
Class web site:
www.ee.lamar.edu/gleb/em/In
dex.htm

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Vector norm

Forann-dimensionalvector x  [ x1 x2 ... xn ]
1/ p
 p
thevectornorm: x p  x p
   xi  ; p  1, 2,... (2.2.1)
 i 
Specialcase : x   max xi (2.2.2)
i

Mostcommonlyused L2  norm : x 2  x  x12  x2 2  ...xn 2 (2.2.3)

Example: v = (1, 2, 3) Properties:

Name Symbol value
1. x  0whenx  0; x  0iff x  0 (2.2.4)
L – norm
1
|v|1 6
2. kx  k x scalark (2.2.5)
L – norm
2
|v|2 14  3.74
1/2

3. x  y  x  y (2.2.6)
L3 – norm |v|3 62/3 3.3
L4 – norm |v|4 21/471/2 3.15
Norm(x,p)
L – norm

|v| 3
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Vector sum

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Scalar (dot) product

Definitions:

AB  AB cos  (2.4.1)

AB  A B cos  (2.4.2)

AB  Ax Bx  Ay By  Az Bz
(2.4.3)

Property: AB  B A (2.4.4)

Scalar projection:
AB
projB A   A cos  (2.4.5)
B
 A  2u x ;B  u x  2u y
 (2.4.6)
 AB  2
dot(A,B)
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Vector (cross) product

Definitions:

A  B  AB sin  u A B (2.5.1)

Properties: A B  B  A (2.5.2)

A  B  0 A || B (2.5.3)

In the Cartesian coordinate system:

ux uy uz
A  B  Ax Ay Az  (2.5.4)

Bx By Bz
( Ay Bz  Az By )u x  ( Az Bx  Ax Bz )u y  ( Ax By  Ay Bx )u z
 A  2u x  u y ;B  ux  2u y
  A  Cand B  C (2.5.5)
cross(A,B) C  A  B  3u z
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Triple products

1. Scalar triple product:

A B  C   B  C  A   C  A  B  (2.6.1)

2. Vector triple product:

A   B  C   B  AC   C  AB  (2.6.2)

Note: (2.6.1) represents a circular permutation of vectors.

Q: A result of a dot product is a scalar, a result of a vector product is a

vector.
What is about triple products?
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Vector fields

A vector field is a map f that assigns

each vector x a vector function f(x).

A vector field is a construction, which

associates a vector to every point in
a (locally) Euclidean space.

A vector field is uniquely specified by

giving its divergence and curl within a
region and its normal component over
the boundary.

From Wolfram MathWorld

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Coordinate systems

• In a 3D space, a coordinate system can be specified by the

intersection of 3 surfaces.
• An orthogonal coordinate system is defined when these three
surfaces are mutually orthogonal at a point.

The cross-product of two unit

vectors defines a unit surface,
whose unit vector is the third unit
vector.

A general orthogonal coordinate

system: the unit vectors are
mutually orthogonal

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Most commonly used coordinate

systems

(a) – Cartesian; (b) – Cylindrical; (c) – Spherical.

In Cartesian CS, directions of unit vectors are independent of their positions;

In Cylindrical and Spherical systems, directions of unit vectors depend on positions.

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Coordinate systems: Cartesian

An intersection of 3 planes:
x = const; y = const; z = const

Properties:
u x u x  u y u y  u z u z  1; (2.10.1)
u x u y  u x u z  u y u z  0. (2.10.2)
ux  u y  uz 

u y  uz  ux  (2.10.3)

uz  ux  u y 

An arbitrary vector:
A  Axu x  Ay u y  Az u z (2.10.4)

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Coordinate systems: Cartesian

A differential line element:

dl = ux dx + uy dy + uz dz (2.11.1)

Three of six differential surface

elements:
dsx = ux dydz
(2.11.2)
dsy = uy dxdz
dsz = uz dxdy

The differential volume element (2.11.3)

dv = dxdydz

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Coordinate systems: Cylindrical

(polar)

An intersection of a Diff. length: dl  d  u   d u  dzu z (2.12.1)

cylinder and 2 planes
Diff. area: ds   d dzu  d  dzu   d  d u z (2.12.2)

Diff. volume: dv   d  d dz (2.12.3)

An arbitrary vector: A  A u   A u  Az u z (2.12.4)

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Coordinate systems: Spherical

An intersection of a sphere of radius r, a plane that makes an angle  to the x

axis, and a cone that makes an angle  to the z axis.

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Coordinate systems: Spherical

Properties: ur  u  u 

u  u  ur  (2.14.1)

u  ur  u 

Diff. length: dl  drur  rd u  rsin  d u (2.14.2)

Diff. area: ds  r 2 sin  d d ur  rsin  drd u  rdrd u (2.14.3)

Diff. volume: dv  r sin  drd d

2
(2.14.4)

An arbitrary vector: A  Ar ur  A u  A u (2.14.4)

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System conversions

1. Cartesian to Cylindrical:
 y
  x 2  y 2 ;  tan 1   ;z  z (2.15.1)
x
2. Cartesian to Spherical:
 x 2
 y 2 
 y
r  x 2  y 2  z 2 ;  tan 1   ;  tan 1   (2.15.2)
 z  x
 
3. Cylindrical to Cartesian:
x   cos  ; y   sin  ; z  z (2.15.3)

4. Spherical to Cartesian:
x  rsin  cos  ; y  rsin  sin  ;z  rcos  (2.15.4)

cart2pol, cart2sph, pol2cart, sph2cart

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Integral relations for vectors

b
1. Line integrals:  F dlor F dl
a

Example: calculate the work required to move a cart along the path from A to B if
the force field is F = 3xyux + 4xuy
B B
W  F dl   (3 xyu x  4 xu y )(dxu x  dyu y ) 
A A
B

 (3xydx  4 xdy)
A

forthecircle :x 2  y 2  42
0 4
W   3 x 16  x 2 dx   4 16  y 2 dy  64  16
4 0

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Integral relations for vectors (cont)

2. Surface integrals:  F dsor F ds

s
F – a vector field

At the particular location of the loop, the component of A

that is tangent to the loop does not pass through the
loop. The scalar product A • ds eliminates its contribution.

There are six differential surface vectors ds

associated with the cube.

Here, the vectors in the z-plane:

ds = dx dy uz and ds = dx dy (-uz)
are opposite to each other.

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Integral relations for vectors (cont 2)

Example: Assuming that a vector field A = A0/r2 ur

exists in a region surrounding the origin,
find the value of the closed-surface integral.

We need to use the differential surface area

(in spherical coordinates) with the unit vector
ur since a vector field has a component in this
direction only. From (2.14.4):

2 
 A0  2
 Ads   0 0  r 2 ur  r sin  d dur   4 A0

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Integral relations for vectors (cont 3)

3. Volume integrals:   dv
v
v
v – a scalar quantity

Example: Find a volume of a cylinder of radius a and height L

L 2 a
v  dv 
v
  
z 0 0 0
 d  d dz   a 2 L

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Differential relations for vectors

 1 a 1 a 
1. Gradient of a scalar function: grad  a   a   u1 ,..., un  (2.20.1)
 h1 x1 hn xn 
Gradient of a scalar field is a vector field which points in the direction of the
greatest rate of increase of the scalar field, and whose magnitude is the
greatest rate of change.
Two equipotential surfaces with potentials V
and V+V. Select 3 points such that distances
between them P1P2  P1P3, i.e. n  l.
V V Assume that separation
 
n l between surfaces is small:
V dV
V  un  un
n dn
Projection of the gradient in the ul direction:
V dV dV dn dV dV
ul  ul   cos   un ul  V ul
l dl dn dl dn dn
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Differential relations for vectors (cont)

Gradient in different coordinate systems:

 a a a 
1.Cartesian :a   u x , u y , uz  (2.21.1)
 x y z 
 a 1 a a 
2.Cylindrical :a   u , u , uz  (2.21.2)
    z 
 a 1 a 1 a  (2.21.3)
3.Spherical :a   ur , u , u 
 r r  rsin   

Example: a ( x, y, z )  2 x  3 y 2  sin( z );

 a a a 
a   u x , u y , u z    2ux , yu y , cos( z )uz 
 x y z 

gradient
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Differential relations for vectors (cont 2)

2. Divergence of a vector field: div  A     lim


 Ads
(2.22.1)
v 0 v
Divergence is an operator that measures the magnitude of a vector field's
source or sink at a given point.

In different coordinate systems:

Ax Ay Az

1.Cartesian : A    (2.22.2)
x y z
1  (  A ) 1 A Az
2.Cylindrical : A    (2.22.3)
    z
1  (r 2 Ar ) 1  ( A sin  ) 1 A
3.Spherical : A  2   (2.22.3)
r r rsin   rsin  

divergence
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Differential relations for vectors (cont 3)

Example:  A( x, y, z )  2 xu x  3 y 2u y  sin( z )u z ;

Ax Ay Az
 A     2  6 y  cos( z )
x y z

Some “divergence rules”: a  0; (2.23.1)

( A1  A2 )   A1   A2 ; (2.23.2)

cA  c A (2.23.3)

Divergence (Gauss’s)
theorem:
 Ads    A dv
v
(2.23.4)

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Differential relations for vectors (cont 4)

Example: evaluate both sides of Gauss’s theorem

for a vector field: A = x ux within the unit cube

Ax Ay A
  1;  0; z  0.
x y z

Thevolumeintegralis:
1/2 1/2 1/2
   Adv     dxdydz  1
v x 1/2 y 1/2 z 1/2

Theclosed-surfaceintegralis:
1/2 1/ 2 1/ 2 1/2
 Ads     x|
y 1/2 z 1/2
x 1/2  u x dzdyu x )    x|
y 1/ 2 z 1/2
x 1/2  u x  dzdyu x )  1

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Differential relations for vectors (cont 5)

Assume we insert small paddle wheels in a flowing river.

The flow is higher close to the center and slower at the edges.
Therefore, a wheel close to the center (of a river) will not rotate since velocity of
water is the same on both sides of the wheel.
Wheels close to the edges will rotate due to difference in velocities.
The curl operation determines the direction and the magnitude of rotation.
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Differential relations for vectors (cont 6)

un  Adl
3. Curl of a vector field: curl( A)  A lim (2.26.1)
s  0 s
Curl is a vector field with magnitude equal to the maximum "circulation" at each
point and oriented perpendicularly to this plane of circulation for each point. More
precisely, the magnitude of curl is the limiting value of circulation per unit area.
In different coordinate systems:
ux uy uz
    Az Ay   Ax Az   Ay Ax  (2.26.2)
1.Cartesian :  A    u 
 x   u 
 y    uz
x y z  y z   z x   x y 
Ax Ay Az

 1 Az A   A Az   1    A  1 A 

2.Cylindrical :  A     u     u     uz (2.26.3)
   z   z        
 1   (sin  A ) A    1  1 Ar  (r A )    1   (r A ) Ar  
3.Spherical :  A     u 
 r      u       u
 rsin        r  sin   r    r  r   
curl (2.26.3)

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Differential relations for vectors (cont 7)

Stokes’ theorem:  Adl     Ads s

(2.27.1)

The surface integral of the curl of a vector field over a surface S equals to the
line integral of the vector field over its boundary.
Example: For a v. field A = -xy ux – 2x uy, verify Stokes’ thm. over
from(2.26.2)  A  (2  x )u z
3 9 y2 3 9  y2

   Ads   
s y 0 x 0
  Adxdyu z   
y 0 x 0
(2  x )u z dxdyu z

3
 9  y2   
  2 9 y 
2
dy  9 1  
y 0 
2   2
3 0 0 0

 Adl    x 0 y 0
Adxu x   Adl   
arc x  0 y 3
Adyu y    xyu
arc
x  2 xu y   dxu x  dyu y  dzu z 

 
0 3
 arc     3   0    1  
2 2
( xy dx 2 x dy ) x 9 x dx 2 9 y dy 9
 2
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Repeated vector operations

  A  0 (2.28.1)

  a  0 (2.28.2)

a   2 a (2.28.3)

    A  ( A)   2 A (2.28.4)

 2a  2a  2a
 a 2  2  2
2
Cartesian (2.28.5)
The Laplacian operator:

x y z
 a 
  
1    1  2 a  2 a
  2 2 2 Cylindrical (2.28.6)
    z
 a   a 
  r2    sin  
1  r  1    1 2a
 2  2  2 2 Spherical (2.28.7)
r r r sin   r sin   2
ELEN 3371 Electromagnetics Fall 2007
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Phasors
A phasor is a constant complex number representing the complex j
amplitude (magnitude and phase) of a sinusoidal function of time. V (  )  V0 e
(2.29.1)
forv(t )  V0 cos(t   )  Re V (  )e jt  (2.29.2)

dv  1 
  Re  jV (  )e jt  ; vdt '  Re  V (  )e jt  (2.29.3)
dt  j 
Note: Phasor notation implies that signals have the same frequency.
Therefore, phasors are used for linear systems…
Example: Express the loop eqn for a circuit in phasors if v(t) = V0 cos(t)
di 1
vL  Ri   idt ' i (t )  I 0 cos(t   )
dt C
 1 
V0 cos(t )  I 0   L sin(t   )  R cos(t   )  sin(t   ) 
 C 
v(t )  V0 cos(t )  Re V0e j e jt   Re V (  )e jt 
  1 
V ( )  R  j L   I (  )
  C  
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Conclusions

Questions?

Ready for your first homework??

ELEN 3371 Electromagnetics Fall 2007