REVIEW OF ELECTROMAGNETICS

CHAPTER 0-1

ELECTROMAGNETIC FIELDS & WAVES

BEJ20303
 Chapter 0-1
Review of Vector Analysis
Cartesian Coordinates
>> Basic Concepts of Vector Algebra
 Scalars and Vectors
 Unit Vector
 Vector Addition and Subtraction
 Position and Distance Vectors
 Vector Multiplication
>> Differential Length, Area, and Volume
Cylindrical and Spherical Coordinate Systems
>> Cylindrical Coordinates
>> Spherical Coordinates
>> Transformation of Coordinate Systems
>> Differential Length, Area, and Volume

** This section is only a revision of your Mathematics subject.

** The knowledge is important to solve EMT problem.
 Cartesian Coordinates
 A coordinate system is used to uniquely specify the location
of a point in space or the direction of a vector quantity.
 Commonly used coordinate system is Cartesian coordinate
system.
 Other standard coordinate systems are Cylindrical and
Spherical coordinate systems z

Az
P
ẑ ŷ Ay
O y
x̂
Ax

x Cartesian coordinate system

 Scalars & Vectors

 A scalar is a quantity that has only magnitude.

 A vector is a quantity that has both magnitude and direction.

Quantity

Scalar Vector
Scalar Quantities Vectors Quantities
Power Force
Current Displacement
Distance Magnetic Field
Electric Potential Electric Field Intensity
 A scalar is represented simply by a letter such as A and B.
 A vector is written by a letter in boldface

type or a letter with
an arrow on top of it such as A or A .
 Unit Vector
 A unit vector â along A is defined as a vector whose
 magnitude is unity (|â| = 1) and
A z
 its direction along A is given by aˆ 
A
A  Aaˆ Az A
ẑ ŷ Ay
x̂ O y
â
A Ax
1
x
Vector A  Aaˆ has In Cartesian coordinates:
- a magnitude A = |A| & A vector A can be written as A  Ax xˆ  Ay yˆ  Az zˆ
• where unit vectorsxˆ, yˆ , zˆ are called the base
- unit vector aˆ  A . vectors
A Ax, Ay, and Az are the components of vector A
Vector = (Magnitude) × 2 x, y, andAz.ˆ ˆ
x x  Ay y  Az zˆ
along the 2directions
A  Ax  Ay  Az
2 of ˆ
a
(Direction) A
2
 A
2
 A
2
• |A| = & x y z
 Example 1

A vector A is given as A  2 xˆ  3 yˆ sketch A and determine its

magnitude and unit vector.

Graphical representation of vector A

is shown below:
A  Ax xˆ  Ay yˆ  Az zˆ
z A  2 xˆ  3 yˆ  0 zˆ
Ax  2, Ay  3 & Az  0
ẑ
ŷ 3 A | A |
2 2
Ax  Ay  Az
2
x̂ y
 2 2  32  0 2  13
2
x A 2 xˆ  3 yˆ
A aˆ  
A 13
 Example 2

A vector B is shown in Figure below. Find its magnitude and

unit vector.
z
4
3 B The magnitude of vector B is
2 2 2
B | B | Bx  B y  Bz
2

1
1 2 3 4 5
y  2 2  52  4 2
1
2  45
x
The components of vector B are The unit vecto r of vector B is
Bx  2, B y  5 & Bz  4 B
aˆ 
B
The vector B can be written as 2 xˆ  5 yˆ  4 zˆ

B  Bx xˆ  B y yˆ  Bz zˆ  2 xˆ  5 yˆ  4 zˆ 45
 Vector Addition and Subtraction

Graphically, vector addition and subtraction can be obtained

by using either head-to-tail rule or parallelogram rule.

A
B -B
A
D=A–B
B or
C=A+B D = A + (– B) A

In a cartesian coordinate system

C  A  B  ( Ax xˆ  Ay yˆ  Az zˆ )  ( Bx xˆ  B y yˆ  Bz zˆ )
 ( Ax  Bx ) xˆ  ( Ay  B y ) yˆ  ( Az  Bz ) zˆ
D  A  B  ( Ax xˆ  Ay yˆ  Az zˆ )  ( Bx xˆ  B y yˆ  Bz zˆ )
 ( Ax  Bx ) xˆ  ( Ay  B y ) yˆ  ( Az  Bz ) zˆ
 Position and Distance Vectors
z
• The position vector of point P is defined as P(xp,yp,zp)
the direct distance from the origin O to P
Rp
O y
R p  OP  x p xˆ  y p yˆ  z p zˆ
x
• The distance vector is the displacement from
one point to another
• The distance vector between points P and Q is P(xp,yp,zp)

Rp
R pq  PQ  R q  R p Rpq
R pq  ( xq  x p )xˆ  ( yq  y p )yˆ  ( z q  z p )zˆ O
Rq
Q(xq,yq,zq)
Distance, d pq  ( xq  x p ) 2  ( yq  y p ) 2  ( zq  z p ) 2
 Example 3

Two points P1 & P2 are respectively located at (-3,-2,-5) & (2,-4,3)

in a Cartesian coordinate system. Find the position vectors of the
points and determine the distance between them.

z
The position v ectors for points
-3
3
-2
P1 and P2 are given by
P2(2,-4,3) 2
1 -1 R P 1  OP 1  x1xˆ  y1yˆ  z1zˆ
y
-4 -3 -2 1 -1 1 2 3
-1  3xˆ  2 yˆ  5 zˆ
2 -2
3 P1(-3,-2,-5)
x
-3 R P 2  OP 2  x2 xˆ  y2 yˆ  z 2 zˆ
-4
-5  2xˆ  4 yˆ  3zˆ
 Example 3 (cont.)

Two points P1 & P2 are respectively located at (-3,-2,-5) & (2,-4,3)

in a Cartesian coordinate system. Find the position vectors of the
points and determine the distance between them.

z The distance vector from P1 to P2 is

3 -3 R12  P1 P2  R 2  R1
P2(2,-4,3) 2 -2
R2 1 -1  (2 x̂  4 ŷ  3ẑ)  (3x̂  2 ŷ  5ẑ)
y
-4 -3 -2 1 -1 1 2 3  (2  3) x̂  (4  2) ŷ  (3  5) ẑ
R12 -1 R1
2 -2  5x̂  2 ŷ  8ẑ
3 -3
x P1(-3,-2,5) The distance between P1 and P2 is
-4
-5
d | R12 | 52   22  82  93 unit
 Vector Multiplication
• Simple product: (vector) (scalar) = vector
B = kA = kAâ
The product is vector B whose the magnitude is kA & direction is the same as that of A.

• Dot product: (vector) • (vector) = scalar

A • B = AB cos θ
where A and B are the magnitudes of A and B and θ is the angle between A and B.

• Cross product: (vector) x (vector) = vector

A X B = AB sin θ n̂
where A and B are the magnitudes of A and B, θ is the angle between the two vectors
and the direction of n̂ is identified by using right hand rule
 Dot Product (or Scalar Product)

B
Definition: A • B = AB cos θ 0  

Since cos 90°=0, cos 0 = 1, and

θ
magnitude of unit vectors is 1.
A
Thus,
xˆ  xˆ  yˆ  yˆ  zˆ  zˆ  1 B cos θ
xˆ  yˆ  yˆ  zˆ  zˆ  xˆ  0
A
and
A  A  A2
The projection of
If A = (Ax,Ay,Az) and B = (Bx,By,Bz), then vector B along the
direction of vector A
A  B  ( Ax x̂  Ay ŷ  Az ẑ)  ( Bx x̂  B y ŷ  Bz ẑ)
A  B  Ax Bx  Ay B y  Az Bz
 Example 4

Find the dot product of vector A = (1,3,-2) and vector B = (-2,4,-1).

Then, calculate the smallest angle, θ between the vectors?

The dot product of A and B is

A · B = 1(-2) + 3(4) + (-2)(-1) = 12

 12  32  (2) 2 (2) 2  4 2  (1) 2 cos 

12 = A · B = |A||B| cos θ
 14 21 cos 

which implies θ = 45.6°

 Cross Product

Definition: A X B = AB sin θ n̂ 0  

where θ is the angle between A and B, and n̂ is a unit vector

normal to the plane containing A and B.
AXB
B

B sin θ
n̂ θ
A

Direction is determined
Magnitude is the area of the parallelogram
by using right hand
formed by vectors A and B.
rule
 Cross Product (cont.)
Since sin 90°=1, sin 0 = 0, and magnitude of unit vectors is 1.
Thus,
xˆ  xˆ  yˆ  yˆ  zˆ  zˆ  0
xˆ  yˆ  zˆ , yˆ  zˆ  xˆ , zˆ  xˆ  yˆ
and
AA  0

If A = (Ax,Ay,Az) and B = (Bx,By,Bz), then

A  B  ( Ax x̂  Ay ŷ  Az ẑ)  ( Bx x̂  B y ŷ  Bz ẑ)
A  B  x̂ ( A y Bz  Az B y )  ŷ( Ax Bz  Az Bx )  ẑ( Ax B y  Ay Bx )
x̂ ŷ ẑ
A  B  Ax Ay Az
Bx By Bz
 Example 5

Determine A x B if A  2xˆ  3yˆ  4zˆ and B   xˆ  yˆ  zˆ

The cross product of A and B is

xˆ yˆ zˆ
AB  2 3 4
1 1 1
 (3  4) x̂  (2  4) ŷ  (2  3)ẑ
 x̂  2 ŷ  ẑ
 Differential Length, Area & Volume
From the figure,
ds z
dy (1) Differential displacement is given by:
dz
ds y dl  dxx̂  dyŷ  dzẑ
z
dx
(2) Differential normal area is given by:
ds x
dl ds x  dydzxˆ
dz

dy
ds y  dxdzyˆ
y
dx ds z  dxdyzˆ
x
(3) Differential volume is given by:
dV  dxdydz
 Summary
Coordinate variables x, y, z
Vector representation, A Ax x̂  Ay ŷ  Az ẑ

z
Position vector, OP xx̂  yŷ  zẑ
for P (x,y,z)
Az
P Base vector properties xˆ  xˆ  yˆ  yˆ  zˆ  zˆ  1
ẑ
xˆ  yˆ  yˆ  zˆ  zˆ  xˆ  0
O
ŷ Ay y
xˆ y ˆ z ˆ
x̂
Ax
ˆ z
y ˆ x ˆ
zˆx ˆ y ˆ
x Dot product, A · B Ax Bx  Ay B y  Az Bz
Cross product, A x B xˆ yˆ zˆ
Ax Ay Az
Bx B y Bz
Cylindrical & Spherical Coordinate Systems

Introduction
Cylindrical Coordinate System
Spherical Coordinate System
Transformation of Coordinate Systems
Differential Length, Area, and Volume
 Introduction
• An orthogonal coordinate system is one in which the
coordinates are mutually perpendicular.
• Beside Cartesian coordinate system, Cylindrical and Spherical
coordinate systems are also the orthogonal coordinate systems.

Cylindrical Coordinate System Spherical Coordinate System

z z

R̂
z1
P P φ̂
θ1
R1 θ̂
O y
O ẑ y
ø1
ø1 r1 φ̂
x
x
r̂
 Cylindrical Coordinate System

z Coordinate variables r, ø, z
Vector representation, A Ar r̂  A φ̂  Az ẑ
z1 Magnitude of A, A=|A| 2
Ar  A  Az
2 2
P
r1r̂  z1ẑ
The position vector OP1 for P1(r1, ø1, z1)

O ẑ y Base vector properties rˆ  φˆ  φˆ  zˆ  zˆ  rˆ  0

ø1 r1 φ̂ rˆ  rˆ  φˆ  φˆ  zˆ  zˆ  1
rˆ  φˆ  zˆ , φ
ˆ  zˆ  rˆ ,
x
r̂
zˆ  rˆ  φ
ˆ
0  r  , r : radial distance Dot product, A·B Ar Br  A B  Az Bz
rˆ φˆ zˆ
0    2 ,  : azimuth angle Cross product, A x B
Ar A Az
  z   Br B Bz
 Spherical Coordinate System

z Coordinate variables R, θ, ø
Vector representation, A AR R̂  A θ̂  A φ̂
R̂
Magnitude of A, A 2
AR  A  A
2 2

P φ̂ R1R̂
θ1
R1
θ̂
Position vector OP1 for P1(R1, θ1, ø1)
O y
ø1 Rˆ  θˆ  θˆ  φˆ  φˆ  Rˆ  0
ˆ  θˆ  θˆ  φˆ  φˆ  1
ˆ R
R
Base vector properties ˆ  θˆ  φ
ˆ , θˆ  φ ˆ,
ˆ R
R
x ˆ  θˆ
ˆ R
φ
0  R  , R : radius Dot product, A·B AR BR  A B  A B
0     ,  : zenith angle Rˆ θˆ φˆ
Cross product, A x B AR A A
0    2
BR B B
 Cartesian  Cylindrical Transformations

z y
r̂ cos  cos 
ø φ̂ ø
P(x, y, z)
ŷ x̂ 1
z  φ̂ sin  sin 
y x̂ ø
ø x = r cos ø r̂
r x
x y = r sin ø

Coordinate Variables Unit Vectors Vector Components

r  x2  y2 rˆ  xˆ cos   yˆ sin  Ar  Ax cos   Ay sin 

Cartesian 
Cylindrical   tan 1 ( y / x ) φˆ   xˆ sin   yˆ cos  A   Ax sin   Ay cos 
z z zˆ  zˆ Az  Az
Cylindrical  x  r cos  xˆ  rˆ cos   φ
ˆ sin  Ax  Ar cos   A sin 
Cartesian y  r sin  yˆ  rˆ sin   φ
ˆ cos  Ay  Ar sin   A cos 

z  z zˆ  zˆ Az  Az
Cylindrical – from Sadiku
 Cartesian Spherical Transformations

Coordinate Variables Unit Vectors Vector Components

Rˆ x ˆ sin  cos  AR  Ax sin  cos 

2 2 2
Cartesian  R  x  y  z
Spherical y ˆ sin  sin   zˆ cos   Ay sin  sin   Az cos 
  tan 1 ( x 2  y 2 / z ) θˆ  xˆ cos  cos  A  Ax cos  cos 
1
  tan ( y / x) y ˆ cos  sin   zˆ sin   Ay cos  sin   Az sin 
ˆ  x
φ ˆ sin   y
ˆ cos  A   Ax sin   Ay cos 
ˆ R
x ˆ sin  cos   Ax  AR sin  cos 
Spherical  x  R sin  cos 
Cartesian ˆ cos  cos   φ
θ ˆ sin   A cos  cos   A sin 
y  R sin  sin  ˆ R
y ˆ sin  sin   Ay  AR sin  sin 

z  R cos  ˆ cos   A cos  sin   A cos 

ˆ cos  sin   φ
θ
ˆ R
z ˆ cos   θˆ sin  Az  AR cos   A sin 
 Cylindrical Spherical Transformations

Coordinate Variables Unit Vectors Vector Components

Rˆ  rˆ sin   zˆ cos  A  A sin   A cos 

Cylindrical  R  r2  z2 R r z
Spherical
  tan 1 (r / z ) θˆ  rˆ cos   zˆ sin  A  Ar cos   Az sin 
  φˆ φ ˆ A  A

Spherical 
r  R sin  ˆ sin   θˆ cos  Ar  AR sin   A cos 
rˆ  R
Cylindrical
  φˆ φˆ A  A
z  R cos  ˆ cos   θˆ sin  Az  AR cos   A sin 
zˆ  R
Cylindrical and Spherical
– from Sadiku
Differential Length, Area &Volume

(1) Differential displacement is given by

z
dl  r ˆ rd  z
ˆ dr  φ ˆ dz
dz
dr rdø (2) Differential normal area is given by
y ˆ rddz
ds r  r
ˆ drdz
ds   φ
x ˆ rdrd 
ds z  z

(3) Differential volume is given by

dV  rdrd dz
 Differential Length, Area & Volume

z (1) Differential displacement is given by

Rsinθdø
ˆ dR  θˆ Rd  φ
dl  R ˆ R sin d

dR (2) Differential normal area is given by

Rdθ

y ds R  Rˆ R 2 sin dd

ds  θ ˆ R sin dRd

ˆ RdRd
ds   φ

x (3) Differential volume is given by

dV  R 2 sin dRdd
 Example 6

Find the area of a cylindrical surface described by r = 5, 300 ≤ ϕ ≤ 600

and 0 ≤ z ≤ 3

z1 = 3
r=5

z0 = 0 y
ø1 = 300

ø0 = 300

x
 Example 6 (cont.)

Find the area of a cylindrical surface described by r = 5, 300 ≤ ϕ ≤ 600

and 0 ≤ z ≤ 3

ds r  rddz rˆ
z
dS  rddz
z2 2
z1 = 3
r=5  dS    rddz
z1 1
 
z2 3 2 /3 z 2 3
ddz  5  
 /3
S  r  /6 dz
 
z1  0 1 /6 z1  0

    z 2 3    3
z0 = 0
 5    dz  5  z 0
ø1 = 300
y  3 6  z1 0 3 6
ø0 = 300 5

x 2
 Example 7

A circular cylinder of r = 5 cm is concentric with the z axis and

extends between z = - 3 cm and z = 3 cm. Find the cylinder’s volume.

z1 = 3 r=5

z0 = -3
x
 Example 7 (cont.)

A circular cylinder of r = 5 cm is concentric with the z axis and

extends between z = - 3 cm and z = 3 cm. Find the cylinder’s volume.

z dV  rdrd dz
z2 2 r2

z1 = 3 r=5
 dV     rdrddz
z1 1 r1

z2 3 2 2 r2 5
V    rdrddz

z1  3 1 0 r1  0
5 5
y z2 3  2  2 r  2
 r  z 2  3 2
2
V     ddz    z1  3  0 dz
z1  3 1  0
 2 0  2 0
z0 = -3
x 5
 r  2 3  25 
2
V     0 z 3   2 6   150 cm 3
 2 0  2