MATHEMATICAL PHYSICS EUGENE BUTKOV St. John’s University, New York tte: ‘or Shug. rt ADDISON-WESLEY PUBLISHING COMPANY Reasling, Massachusetts » Menlo Park, California - London » Sydnay - ManilaSS ¥ g g 2 8 = Dep Stupe® FIRST PRINTING 1973 A complete and unabridged reprint of the original American textbook, this World Student Series edition may be sold only in those countries to which it is con- signed by Addison-Wesley or its authorized trade distributors. It may not be re-exported from the country to which it has been consigned, and it may not be sold in the United States'of America or its possessions. Copyright © 1968 by Addison-Wesley Publishing Company, Inc. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, with- ‘out the prior written permission of the publisher. Original edition published in the United: ‘States of America. Published simultaneously in Canada. Philippines copyright 1968 Library of Congress Catalog Card Number: 68- (1391 | PREFACE During the past decade we have witnessed a remarkable increase iri the number of students secking higher education as well as the development of many new colleges and universities. The inevitable nonuniformity of conditions present in different institutions necessitates considerable variety in purpose, general approach, and the level of instruction in any given discipline. This has naturally contributed to the proliferation of texts on almost any topic, and the subject of mathematical pliysies is no exception. There is a number of texts in this field, and some of them are undoubtedly of outstanding quality. Nevertheless, many teachers often feel that none of the existing texts is properly suited, for one reason or another, for their particular courses. More important, students sometimes complain that they have difficulties studying the subject from texts of unquestionable m This is not as surprising as.it sounds: Some texts have an encyclopedic character, with the material arranged in a different order from the way it is usually taught; others become too much involved in complex mathematical analysis, preempting the available space from practical examples: still others cover a very wide variety of topics with utmost brevity, leaving the student to struggle with a number of difficult questions of theoretical nature. ‘True enough, a well-prepared and bright student should be able to find his way through most of such difficulties. A less-gifted student may, however, find it very difficult to grasp and absorb the multitude of new concepts strewn across an ad- vanced text. ‘Under these ciscumstances, it seems desirable to give more stress to the peda- gogical side ofa text to make it more readable to the student and more suitable for independent study. Hopefully, the present work represents a step in this direction. It has several features designed to conform to the path an average student may conceivably follow in acquiring the knowledge of the subject. First, the inductive approach is used in each chapter throughout the book. Fol- lowing the fundamentais of modern physics, the text is almost entirely devoted to linear problems, but the unifying concepts of linear space are fully developed rather Jate in the book after the student is exposed to a number of practical mathematical techniques. Also, almost every chapter starts with an example or discussion of elementary nature, with subject matter that is probably familiar to the reader. The introduction of new concepts is made against a familiar background and is later extended to more sophisticated situations. A typical example is Chapter °, where the basic aspects of partial differential equations are illustrated using the “elementary functions” exclusively. Another facet of this trend is the repeated use of the harmonic oscillator and the stretched string as physical models: no vvi PREFACE attempt is made to solve as many problems for the student as possible, but rather to show how various methods can be used to the same end within a familiar phys- ical context. In the process of learning, students inevitably pose a number of questions necessary to clarify the material under scrutiny, While most of these questions naturally belong to classroom discussion, it is certainly beneficial to attempt to anticipate some of them in a text. The Remarks and many footnotes are designed to contribute to this goal. The author hopes they answer some questions in the mind of the student as well as suggest some new ones, stimulating an interest in further inquiry. A number of cross-teferences serves a similar purpose, inviting the reader to make multiple use of various sections of the book. The absence of numbered formulas is intentional: if the student bothers to look into the indicated section or page, he should not simply check that the quoted formula “is indeed there,” but, rather, glance through the text and recall its origin and meaning. The question of mathematical rigor is quite important in the subject treated here, although it is sometimes controversial. It is the author's opinion that a theo- retical physicist should know where he stands, whether he is proving his own deduc- tions, quoting somebody else's proof, or just offering a reasonable conjecture. Consequently, he should be trained in this direction, and the texts should be written in this spirit. On the other hand, it would be unwise to overload every student with mathematics for two main reasons: first, because of the limitations of time in the classroom and the space in a text, and second, because physicists are apt to change their mathematical postulates as soon as experimental physics lends support to such suggestions. The reader can find examples of the latter philosophy in Chapters 4 and 6 of the text. Whether the author was able to follow these principles is left to the judgment of users of this book. Each chapter is supplied with its share of problems proportional to the time presumed to be allotted to its study. The student may find some of the problems rather difficult since they require more comprehension of the material rather than sheer technique. To balance this, a variety of hints and explanations are often supplied. Answers are not given because many problems contain the answer in their formulation ; the remaining ones may be used to test the ability of the student for independent work. The exercises within the text can be used as problems to test the students’ manipulative skills. For many of the methods of instruction of mathematical physics presented in this book, the author is indebted to his own teachers at the University of British Columbia and McGill University. The encouragement of his colleagues and students at St. John’s University and Hunter College of the City University of New York is greatly appreciated. Also, the author wishes to thank Mrs. Ludmilla Verenicin and Miss Anne Marie Nowom for their help in the preparation of the manuscript. Palo Alto, Calif. EB. August 1966 Chapter 1 1d 12 13 14 1s 16 17 18 19 Chapter 2 21 22 23 24 25 2.6 27 28 29 2.10 211 212° 2413 2.14 215 Chapter 3 3.1 32 33 34 35 36 CONTENTS Vectors, Matrices, and Coordinates Introduction . 1 Vectors in Cartesian Coordinate Systems. 1 Changes of Axes. Rotation Matrices toe eee 4 Repeated Rotations, Matrix Mulliplication. 2 2... kk 8 Skew Cartesian Systems. Matrices in General woe ee OH Scalarand Vector Fields © 2 2 2... ew. Vector Fieldsin Plane. 2 2 2 2 we wwe. Vector FieldsinSpace. 2 2 2 2 2. kk Curvilinear Coordinates 6 we Functions of a Complex Variable Complex Numbers... wee ee AF Basic Algebra and Geometry of Complex Numbers. soe ee AS ‘De Moivre Formuta and the Calculation of Roots. 2 2... 48 ‘Complex Functions. Euler's Formula. toe ee Applications of Euler's Formula... | Multivalued Functions and Riemann Surfaces see ee SB Analytic Functions, Cauchy Theorem. . re Other Integral Theorems. Cauchy Integral Formula |. 1 |. 62 Complex Sequencesand Series 2. 1 6 2 ww ee. 6 Taylor and Laurent Series... 6 ee Zeros and Singularities . cee ee ee B The Residue Theorem and its Applications woe ee ee ee 8B Conformal Mapping by Analytic Functions. 2 2 2... OT Complex Sphere and PointatInfinity 2 2. 2... . (102 Integral Representations. 2... wee 108 Linear Differential Equations of Second Order General Introduction. The Wronskian . soe ee ee IDB General Solution of The Homogeneous Equation . woes 25 ‘The Nonhomogencous Equation. Variation of Constants. ||. 126 Power Series Solutions... 2... we ee OB The Frobenius Method. 2... we ee we 10 Some other Methods of Solution. 2 2 2 | 2. ws. OT viivi Chapter 4 4l 42 43 44 45 46 AT 48 Chapter 5 SA 3.2 5.3 5.4 55 5.6 57 5.8 59 5.10 Chapter 6 6.1 6.2 6.3 64 6.5 66 67 68 69 6.10 Chapter 7 a 72 73 TA 4S 76 W CONTENTS: Fourier Series Trigonometric Series 6. se Definition of Fourier Series 2 5 2 1 ee ee Examples of Fourier Series. . Loe Parity Properties, Sine and Cosine Series ‘Complex Form of Fourier Series . Le Pointwise Convergence of Fourier Series... Convergence in the Mean. Applications of Fourier Series . The Laplace Transformation Operational Calculus Co The Laplace Integral... Soe Basic Properties of Laplace Transform... 5s The Inversion Problem. . tee The Rational Fraction Decomposition : The Convolution Theorem. . Ls Additional Properties of Laplace Transform toe Periodic Functions. Rectification. 2. 6 6 ee ee The Mellin Inversion Integral... 6 1 2 ee Applications of Laplace Transforms . ‘Concepts of the Theory of Distributions Strongly Peaked Functions and The Dirac Delta Function Delia Sequences... co ‘The 8-Calculus : Representations of Delta Functions Applications of The 8-Calculus Weak Convergence . te Correspondence of Funetions and Distributions. Properties of Distributions . . Sequences and Series.of Distributions 5. 5. _ Distributions in N dimensions . : Fourier Transferms Representations of aFunction . 2 6 6 + - Examples of Fourier Transformations : Properties of Fourier Transforms... . ~ Fourier Integral Theorem . Lo Fourier Transforms of Distributions . 6. - + Fourier Sine and Cosine Transforms . . : Applications of Fourier Transforms. ‘The Prineiple “of Causality - 154 155 157 161 165 167 168 172, n9 180 184 187 189 194 200 206 210 224 223 226 229 232 236 240 245 250 287 260 262 266 269 27h 273 276 Chapter 8 8.1 B2 83 84 85 8.6 87 88 89 Chapter 9 91 92 93 94 95 9.6 OT 98 99 9.10 OAT Chapter 10 10.t 10.2 103 104 10.5 10.6 10.7 10.8 10.9 ° Chapter 11 wd 1.2 u3 114 11.5 6 “7 Ha CONTENTS, Partial Differential Equations The Stretched String. Wave Equation The Method of Separation of Variables . Laplace and Poisson Equations The Diffusion Equation . Use of Fourier and Laplace Transforms » The Method of Eigenfunction Expansions and Finite Transforms Continuous Eigenvalue Spectrum . Vibrations of a Membrane. Degeneracy . Propagation of Sound. Helmbeltz Equation Special Functions Cylindrical and Sphericat Coordinates The Common Boundary-Valuc Problems The Sturm-Liouville Problem . Self-Adjoint Operators Legendre Polynomials. Fourier-Legendre Series Bessel Functions : Associated Legendre Functions and Spherical Harmonies - Sphericat Bessel Functions . Neumann Functions Modified Bessel Functions - Finite-Dimensional Linear Spaces ‘Oscillations of Systems with Two Degrees of Freedom ‘Normal Coordinates and Linear Transformations Vector Spaces, Bases, Coordinates Lincar Operators, Matrices, Inverses . Changes of Basis Inner Product. Orthogonality. Unitary Operators - ‘The Metric. Generalized Orthogonality Eigenvalue Problems. Diagonalization Simultaneous Diagonalization . . . Jnfinite-Dimensional Vector Spaces Spaces of Functions : The Postulates of Quantum Mechanics ‘The Harmonic Oscillator Matrix Representations of Linear Operators Algchraic Methods of Solution Bases with Generalized Orthogonality Stretched String with a Discrete Mass in the Applications of Figenfunctions, 287 294 295 297 299 304 308 33 39 332 34 337 340 442 350 355 372 381 388 304 408 ait 419 424 433 437 441 443 451 463 467 47 476 483 488 492 495x CONTENTS Chapter 12 12.1 12.2 12.3 124 12.5 126 12.7 12.8 12.9 Chapter 13 ABA 13.2 133 13.4 13.5 13.6 13.7 13.8 13.9 Chapter 14 14.1 14.2 14.3 144 14.5 46 14.7 14.8 14.9 14.10 Chapter 15 151 15.2 15.3 15.4 15.5 15.6 ‘Chapter 16 16.1 16.2, ‘Green’s Functions Introduction... Lk Green's Function for the Sturm-Liouville Operator |. Series Expansions for Gx}... eee Green’s Functions in Two Dimensions Green's Functions for Initial Conditions . Green's Functions with Reflection Properties Green’s Functions for Boundary Conditions The Green’s Function Method 2 2. 2. ee A Case of Continuous Specttum © 2 2. eee Yariational Methods The Brachistochrone Problem . eee The Euler-Lagrange Equation. . 2... Hamilton's Principle... woe Problems involving Sturm-Liouvi Operators ve The Rayleigh-Ritz Method woe ee Variational Problems with Constraints. . Yariational Formulation of Eigenvatue Problems Variational Problems in Many Dimensions . . Formulation of Eigenvalue Problems by The Ratio Method ‘Traveling Waves, Radiation, Scattering Motion of Infinite Stretched Suing. - 2 Propagation of Initial Conditions - : Semi-infnite String, Use of Symmetry Properties. Energy and Power Flow in a Stretched String Generation of Waves in a Stretched String Radiation of Sound from a Pulsating Sphere : The Retarded Potential =. - woe Traveling Waves in Nonhomogeneous Media Scattering Amplitudes and Phase Shifts Seattering in Three Dimensions. Partial Wave Analysis Perturbation Methods ‘Introduction The Born Approximation . Le Perturbation of Eigenvalue Problems... First-Order Rayleigh-Schridinger Theory The Second-Order Nondegenerate Theory... - ‘The Case of Degenerate Eigenvalues... . . Tensors Introduction . . Two-Dimensional Stresses . 503 508 514 520 523 527 53 536 543 553 554 560 362 565 567 573 S17 581 589 592, 595 599 603 61! 619 624 628 633 644 647 650 653 658 665 ert 672 16.3 16.4 16.5 16.6 16.7 16.8 16.9 16.10 1601 Cartesian Tensors Algebra of Cartesian Tensors. . Kronecker and Levi-Civita Tensors. Psendotensors Derivatives of Tensors. Strain Tensor and Hooke’s Law . Tensors in Skew Cartesian Frames. Covariant and Contravariant Representations . General Tensors . Algebra of General ‘Tensors. Relative Tensore . The Covariant Derivative . Calculus of General Tensors Index . CONTENTS. xi 676 681 684 687 696 700 705 7 ns Rn?CHAPTER 1 VECTORS, MATRICES, AND COORDINATES 1.1 INTRODUCTION To be able to follow this text without undue difficulties, the reader is expected to have adequate preparation in mathematics and physics. ‘This involves a good working knowledge of advanced calculus, a basic course in differential equations, and a basic course in undergraduate algebra. Rudimentary knowledge of complex numbers, matrices, and Fourier series is very desirable but not indispensable. As for the subjects in physics, the reader should have completed the standard undergraduate. training in mechanics, thermodynamics, electromagnetism, and atomic physics. Despite these prerequisites, a need is often recognized for reviewing some of the preparatory material at the beginning of a text. Let us follow this custom and devote some time to the subject of vector analysis which has a bearing, in more than one way, on the material developed in this text. Of course, such a review must be brief and we must omit all the details, in particular those involving mathematical proofs. The reader is referred to standard textbooks in advanced calculus and vector analysis* for a full discussion. On the other hand, we hope to draw attention to some interesting puints not always emphasized in commonly used texts. 1.2 VECFORS IN CARTESIAN COORDINATE SYSTEMS In many elementary textbooks a vector is defined as a quantity characterized by magnitude and direction. We shalt see in Chapter 10 that vectors are much more general than this, but it is fair to say that the concept of vectors was first intro- duced into mathematics (by physicists) to represent “quantities with direction,” eg., displacement, velocity, force, ete. Doubtless, they are the simplest and most familiar kinds of vectors. As we well know, quantities with direction can be graphically represented by arrows and are subject to two basic operations: a) multiplication by a scalar,t —_ 6) addition. These operations are illustrated in Fig. 1.1. * For example, A. E. Taylor, Advanced Catculus; T. M. Apostol, Mathematical Analysis; W. Kaplan, Adeanced Calculus. + Until we are ready to discuss complex vectors (Chapler 10) we shall assume that scalars are reat numbers. 12. VECTORS, MATRICES, AND COORDINATES 12 we a“ “Oe In many cases we can plot various vectors from a single point, the origin. Then each vector can be characterized by the coordinates of its “tip.” Various coordinate systems are possible but the cartesian coordinate systems are the most convenient. The reason is very simple and very deep: The cartesian coordinates of a point can serve as the components of the corresponding vector at the same time. ‘This is illustrated in Fig. 1.2, where orthogonal cartesian systems, in plane and in space, are selected. Note that the three-dimensional system is “right-handed” ;* in general, we shall use right-handed systems in this book. Figure 1.1 Figure 1.2 Wecan now associate with a vector u (in space) a set of three scalars (ts, ty, ts), such that Au will correspond to (Autz, My, du.) and u-+ ¥ will correspond to (tz + Os, thy + dy, 4s + 0,). Note that no such relations hold, in general, if a vector is characterized by other types of coordinates, e.g., spherical or cylindrical. In addition, orthogonal cartesian coordinates result in very simple formulas for other common quantities associated with vectors, such as : a) length (ihagnitude) of a vector: Yo] = = ud tay + ay, b) projections of a vector on coordinate axes:f u, = ucos(u,i), ty = ucos (a,j), v4 = wos (u, k), * Rotation of the x-axis by 90° to coincide with the y-axis appears counterclodkwise for all observers with z > 0. — + Standard notation is used: The symbols, j, k are unit vectors in x-, y-, and z-directions, respectively. The symbot (u, ) stands for the angle between the directions given by wand ¥, 12 VECTORS IN CARTESIAN COORDINATE SYSTEMS 3 ©) projection of a vector on an arbitrary direc- = tion defined by vector s (Fig. 1.3): OP = nu, = ucosy = u, cos (s, i) + u, cos (5, j} + 1, cos (s, &), ¢ scalar product (dot product) of two vectors: (uy) = wos (a, ¥) = wb. + wy + Udy ¢) vector product (cross product): . fu X ¥] = Gp, — 420y)h + Qeds — 0,)j + (iedy — yP.)K. Figure 1.3 The important distinctive [eature of the cross product is that fu X v] ¥ [v X uh, namely, it is not commutative; rather, it is anticommutative: fu X vy] = -[fy X a} Remark. Apart from its important physical applications, the cross product of two vectors leads us to the concept of “oriented area.” The magnitude of [u x ¥), namely uo sin (u, »)], is equal lo the area of the parallelogram formed by wand ¥. The direction of [u X ¥] can serve to distinguish the “positive side” of the parallelogram from its “negative side.” Figure 1.4 shows two views of the same parallelogram illustrating this idea,” [ux] Positive side Figure 1.4 Closely related to this property is the concept of a right-handed triple of vectors. ,Any three vectors a, v, and w, taken in this order, are said to form a right- handed (or positive) triple if the so-called triple product (lu X vw) is positive.* This happens if w is on the same side of the plane defined by the vectors u and ¥, as illustrated in Fig. 1.5. It is not hard to verify that ((w X ¥] > w) represents, in this case, the volume V of the paralfetepiped formed by the vectors u, ¥, and wy, * These vectors form a left-handed (negalive) triple if (u X ¥]- w< 0.4 VECTORS, MATRICES, AND COORDINATES 1.3 Exercise. Show that = {la x vw] under any circumstances. Show also that the sign of the triple product is unchanged under cyclic permutation of u, ¥, and w, that is, (la Xv] -#) = (lr X why) = tly x wd). Figure 1.5 1.3 CHANGES OF AXES, ROTATION MATRICES We have seen that a given vector wis associated with a set of three numbers, namely its components,* with respect to some orthogonal cartesian system. However, it is clear that if the system of axes is changed, the components change as well. Let us study these changes. Consider, for vectors in a plane, a change in the system of axes which is pro- duced by a rotation by the angle 0, as illustrated in Fig. 1.6. The old system is (x, y) and the new system is (x, y’). Since u = tf + uyj, the x’-component of u is the sum of projections of vectors u,i and uj on the x’-axis, and similarly for the y’-component.{ From the diagram we see that this yields Jub = ucos@ + tysin®, = —uz sind 1 uycos 8. It is insteuctive to note that the angle between the x’- and y-axes is (w/2 — 4) while the angle between the y’- and x-axes is (x/2 + 6). In view of sind = cos (5 - ) ~sin 8 = cos (3 + ): we see that all four coefficients in the above equations represent cosines of the angles between the respective axes, Let us now turn to the three-dimensional case. Figure 1.7 represents two orthogonal cartesian systems, both right-handed, centered at O. It is intuitively clear that the primed system can be obtained from the unprimed one by the mo- tion of a “ body about a fixed point.” In fact, it is shown in almost any text- book on mechanics} that such a motion can be reduced to a rotation about some axis (Euler’s theorem). and ; * Instead of “components,” the term “coordinates of a vector” is often used (see also. Section 10,3). + For example, Goldstein, Classical Mechanics, Section 4.6. 1.3 CHANGES OF AXES. ROTATION MATRICES 5. Write u= «b+ uj + uk, collect contributions to ut from the three vectors wei, uyj, and ak, and obtain ue = uz cos (i, i) + 4, cos (i,j) -F ui, cos (V’, k), where ’ is, of course, the unit vector in the x’-direction. Note that the cosines involved are the directional cosines of the x‘-direction with respect to the unprimed system or, for that matter, the dot products of i’ with i, j, and k. It is clear that similar formulas can be written for uf and wf. At this stage, however, it is very convenient to switch to a different notation: Instead of writing (tgs Myr He), let Us write (144, wz, us) and similarly (14, «4, u4) for (ud, wh, 04). More- over, denote by an the angle between the mth primed axis and the nth unprimed axis (Aree such angles are marked on Fig. 1.6) and by dan the corresponding cosine (that is, Gan = COSam»). This new notation permits us to write the transformation formulas in an easily memorized pattern: Hy = 443th + Ayala + aygtg, us dais + aa2tt, + aagts, U3 = a3 ty + agatte + aagtts, or, if desired, in the compact form the = DO date Un = 3,2,3). mot From this analysis we conclude that the new components (i, 1, 4) can be obtained from the old components (i), #2, wa) with the help of nite coefficients.6 VECTORS, MATRICES, AND COORDINATES. 13 These nine coefficients, arranged in the self-explanatory pattern below are said to form a matrix.* We shall denote matrices by capital letters. Columns Ist 2nd 3rd Ist 2nd )Rows 3rd Matrix 4 has three rows and three columns; the individual coefficients dmx are referred to as matrix elements, or entries. It is customary to use the first subscript (mm in our case) to label the row and the second one to label the column; thus the matrix element a, should be located at the intersection of the kth row with the ith column. The set of elements in a given row is very often called a row vector and the set of elements in a column, a column vector. This nomenclature is justified by the fact that any three numbers can be treated as components of some vector in space. However, at this stage it is worthwhile to make a digression and establish a geo- metric interpretation for the column vectors of 4. The reader should pay par- ticular attention to the argument because of its general significance. . Let us imagine a unit vector u. Suppose the unprimed system was oriented in such a way that u was along the x-axis. Then the components of ware (1, 0, 0) and u actually coincides with the vector i. If the coordinate system is now rotated, the new components of u are given by uy = ah + a0 + 4190 = aus, Wy = Gah + 920 + dog) = G21, Wh = ag! + 2320 + 49:0 = as. We see that the first column vector of matrix 4 is composed of the new components of vector u. In other words, we can say that the new coniponenis of i are (@11, 421) 254) and we can write i= ayy + agi’ + ak’. Similar statements telate § and k to the second and third column vectors of 4. Note that in this discussion the unit vectors i, j,k assume a role independent of their respective coordinate axes, The axes are rotated but the vectors i, ik stay in place and are then referred to the rotated system of axes. * More precisely, a3 3 matrix is formed. The reader cant easily construct-an analogous 2% 2 matrix to account for two-dimensional rotations. 13 CHANGES OF AXES. ROTATION MATRICES 7 Exercise. Establish the geometrical meaning of the row vectors of matrix 4 representing a rotation. The definitions introduced above allow the computation of (u4, u>, 43) from (2, ta, 3) by the following rule: To obtain uj, take the dot product of the kth row of matrix A with the vector u, as given by the triple (u,, 2, u3). Since in this process each row of the matrix is “dotted” with (ws, #2, 43), we may regard it as some kind of multiplication of a vector by a matrix. In fact, this operation is commonly known as vector-matrix multiplication and is visually exhibited as shown: um wh ip = ty us us Matrix A Column vector # Column vector u’ As we see, the old components are arranged in a column which we shall denote by u. This column vector is multiplied by the matrix A and this results in another column vector, denoted by u’. The multiplication means, of course: Form the dot product of the first row of A with u for the first component of u'; then form the dot product of the second row of A with u to get uh, and similarly for uy. The entire procedure is symbolically written as Awa. Remark, Note that the set (w), #2, #3), arranged in a column, has not been denoted simply by u but rather by 2 new symbol w.* The point is that in the context of our problem, both w and u represent the same vector u, but with respect to different systems of axes. We must think of u and u’ as two different representations of u, and the matrix A shows us how to switch from one representation to another, Before we discuss further topics involving matrices, let us record the fact that our matrix A is not just a collection of nine arbitrary scalars. Its matrix ele- ments are interdependent and possess the following properties. a) The columns of A are orthogonal to each other, namely, 1112 F a2idag + 51932 = 0, 442019 + ae2t23 + ay2435 = 0, 419411 + Aoadas + G3a9g1 = 0. This property follows from the fact that the colunins of A are representations (in the new system) of the vectors i, j, and k and these vectors are mutually orthogonal. * The symbol » should not be confused with {ul, the magnitude of vector u, which is also denoted by (p. 2).3 VECTORS, MATRICES, AND COORDINATES 14 b) The columns of 4 have unit magnitude, namely, 2 aah tah a aty + ay + a3. = 1, 2 ahs + ais + af = 1, 2 1 a gh = ats + ads + 33 = 1, because |, j, and k are unit vectors. ; , ; ¢) The rows of A are also mutually orthogonal and have unit magnitude. “This is verified by establishing the geometrical meaning of the row vectors of A* Matrices satisfying these three properties are called orthogonal. We may then conclude that the matrices representing rotations of orthogonal cartesian systems in space are orthogonal matrices. Remark. There are orthogonal matrices which do not represent rotations, Rotation matrices have an additional property: their determinant (i.e., the determinant of the equations on p. 5) is equal to 4-1. Otherwise, orthogonal matrices can have the deter- minant equal to —1. The point is that a rotation must yield a right-handed triple (i’, j’, \) of unit vectors since (i, j,k) is a right-handed triplet 1.4 REPEATED ROTATIONS. MATRIX MULTIPLICATION The matrix notation introduced in (he preceding sections is particularly usefut when we are faced with repeated changes of coordinate axes. In addition to the primed and unprimed systems related by a matrix A, let there be a third double- primed system of axes (x”, ”, 2”) and let it be related to the primed system by a matrix B: bit bso Ons B=| ba: boa boa bs: bse baa Evidently, the system (x”, y”, 2”) can be related directly to the system (2, y, 2) through some matrix C and our task is to evaluate the matrix elements Cua in terms of matrix elements dmx and bmn. We have ‘ wy = Bates + Byatls + Brats bast + Boats + bast, uf f Ug = baru + Batty + baat, and : wi = ayy + aipte F args, . uh = agit, + azatt2 + rats, 1 thy = Ggitty + @gatig + aatta, * Ht will be shown in Chapter 10 that any NX N matrix which satisfies (a) and.(b) must also satisfy (c). {See Problem 4 at the end of this chapter. 14 REPEATED ROTATIONS, MATRIX MULTIPLICATION 9 from which it follows that Wf = raga + Brsaey + 13051) + (bixtra + bracaa + Oractae ea + Grays + By2003 + Bisdas)us, uf = (boiai + baocar + basass\us + (erda2 + besten + Begtaa ye + (bar@ia + ba2Ge3 + Beadga)us, uf = Bsrayy + barge, + basazyyur + area + b3raeg + bagaga)te + (baits + Baodeg + b3g033)us- The maze of matrix elements above becomes quite manageable if we observe that every coefficient associated with u, is a dot product of some row of matrix B and some column of matrix 4. A closer look at these relationships leads us to the following statement: The element Cnn of masrix C is obtained by taking the dot product of the mth row of mairix B with the nth cohann of matrix A. Now, if we record our relationship. in the vector-matrix symbolic notation w= Au w= Bi, ow = Cu, then we are naturally led to the relation a! = Cu = B(Au). It seems reasonable now to define the product of two matrices, like B and A, to be equal to a third matrix, say C, so that the above relationship may also be writt * Tien as ul = Cu = (BANU. In this sense we write Cin Cig Cia bit Bia bag M1 M2 413 €21 Cea Coa | =| Bar baa bog || aor oz dos €31 Caz C33 531 baa b3a @31 432 433 , symbolically, or, symbolically, c-BA given that the matrix elements of C are defined by the rule quoted above. Having introduced the notion of matrix multiplication, we are naturally interested in determining whether it has the same properties as the multiplication of ordinary numbers (scalars). A simple check shows that the associative Jaw holds: If we multiply three matrices 4, 5, and C in that order, then this can be done in two ways: ABC = (ABC = A(BC) (where it is understood that the operation in parentheses is performed first). * The difference is, of course, that in B(An) the column vector u is first multiplied by A, producing another column vector which is, in turn, multiplied by 2. In (BA)u the matrices are being multiplied first, resulting in a new matrix which acts on a.10 VECTORS, MATRICES, AND COORDINATES 14 Exercise. Verify this statement. [Hint: If AB = D, then the elements of D are given by 3 dan =D, Omidine fm Develop the matrix elements of (AB)C and A(BC) in this fashion and verify that they are the same,] On the other hand, matrix multiplication is not commutative: AB ¥ BA, and, furthermore, there is no simple relation, in general, between AB and BA. This noncommutati feature precludes the possibility of defining “matrix division."* However, it is possible to talk about the inverse of a matrix and this concept arises naturally in our discussion of rotations. Indeed, if we rotate our orthogonal cartesian system of axes, the new coordinates of vector u are obtained from the vector-matrix equation Suppose now that we rotate the axes back to their original position. The new components of vector u are given by (t1, ue, ta) and the old ones are given by (a4, 2, 49); these components must be related by some matrix B: au Bu, Combining these relations we obtain u = B(Au) = (BA)u. Therefore, the matrix BA must transform the components (ty, #2, #3) into them- selves. It is easy to see that this task is accomplished by the sc-called unit matrix (“identity matrix”) 9 1 0 ~ it oo - oe Exercise. Show that if 2 = (BA)u is to hold for an arbitrary vector u, then BA must necessarily be of the above form. In other words, the identity matrix is unique. It is now customary to call B the inverse of matrix A and to denote it by symbol ‘An 50 that we have A714 = 7. Since we could have performed our rotations in reverse order, it is not hard to see that AB = J as well, that is, ATA =) AAT! and A = B-!. While two rotation matrices may not commute, a rotation matrix always commutes with its inverse.t * If we write 4/B = X the question would arise whether we imply A — BX or A = XB. + See Section 10.4 for a general statement to that effect. Ls SKEW CARTESIAN SYSTEMS. MATRICES IN GENERAL i Ke may now be of interest to relate the elements of matrix B to those of matrix A. To: obtain By» we should, in principle, solve the equations on p. 5 for 4, ta, us. However, in the case of rotations, we have a much simpler method at our disposal. Let us write the matrix equation BA = J in detail: by, bie Oia ay a12 a13 100 bo, bea b23 |-| a21 ae ae3 |=] 0 1 bs, baz baa 431 G32 Gag 001 To get the first row of 7 we must take the dot products of the first row vector of B with each of the column vectors of A. However, we know that the fatter are just the vectors I, j, k in new representation. We see that the first row vector of B is orthogonal to J and k and its dot product with i is unity. Consequently, it could be nothing else but the vector i (in new.representation, of course), and we conclude that by = 41, 45 = aay, and 513 = ag). Repeat this argument for the other rows of B and deduce that the rows of B are the columns of A and vice versa. This is also expressed by the formula Brn = Dem Any two matrices 4 and B satisfying these conditions are called fransposes of each other and are denoted by B — AT and A = B”, While it is not, in general, re that the inverse and transpose of a matrix are identical, this rule holds for rotation matrices and is very useful. 1.5 SKEW CARTESIAN SYSTEMS. MATRICES IN GENERAL If the coordinate axes in a cartesian system form angles other than 90°, we have a skew cartesian system. Figure 1.8 shows two such systems, one in plane and one in space, along with the decomposition of a vector into its respective components. Figure 1.8 x12 VECTORS, MATRICES, AND COORDINATES 15 Skew systems are specified by the angles between the axes (one in plane, three in space) which may vary between 0° and 180°, As before, i, j, and k will be used to denote unit vectors in the direction of axes. Note that we can still talk about right-handed systems in space, where the vectors i, j,k (in that order!) form a right-handed triple. The vectors are added and multiplied by scalars according to the same rules that were stated before. However, the length of'a vector is now given by 2 different formula. For instance, for a plane vector we have from Fig. 1.8(a), by the cosine theorem, ul? = a2 ud ~ Quen cos Ge — g) = ab + uy arty cos ob fof = Vu? + a2 + Qu.uy cos 4. In general, the dot product is no longer given by the sum of the products of com- ponents, but by a more complicated formula, As a matter of fact we shall even introduce a new name for it and call it the inner product of two vectors which is then defined by so that (ay) = [ul - {yj -cos (a, ¥). The reason is that we would like to retain the name dot product to mean the sum of the products of components of two vectors, regardless of whether the axes are orthogonal or skew.* ~The derivation of a formula for inner product in a skew system is greatly facilitated by its distributive property, namely, (a+) = @ + G@w). Indeed, from Fig. 1.9, no matter which coordinate system is used, we see that (w+ (v4 w)) = ll: [v + wl cos @ = Jul - CEN). : However, MN = MP +. PN; since MP is the projection of v on u, we have ful - (AP) = jul - [vf cos (u,v), and similarly for PN, establishing the result. Note that this argument is also valid for vectors in space. Now we can writet for two vectors in a plane u = ui + uj and v= vd +o is ay) i (uch gf) E(u) + (ud 228) + (ai Pad = thy + Udy COS + Uys COS. H + Uyry Note that this formula reduces to the usual dot product when ¢ = 90°. * With this distinction, the dot product becomes an algebraic concept (referring to the components) while inner product is a geometrical concept, independent of the coordinate system, ‘The two are identical provided the system is orthogonal. + Since (a-v) = (v-w), the second distributive law (Qu +) 0) = (i ¥) +) is trivial. 1S SKEW CARTESIAN SYSTEMS. MATRICES IN GENERAL 13 There is no difficulty now in establishing other formulas for skew systems, in plane or in space. We shall not go into these details but rather consider another important question: the transformation of coordinates from an orthogonal to a skew system of axes. Consider, for instance, Fig. 1.10; here a skew x’y’-system with unit vectors i’ and j’ is superimposed on an orthogonal xp-system with unit vectors i and j. .A given vector u can be represented either as u — u,i + n,j or as w= al + ay Figure 1.9 Figure 1.10 Aithough i = 1, the components uf and uw, are not equal; rather, we have w= O00 = 08 - OO = u — my tan. Also, ul, = OP’ = uy, sec ¥. We see that the new components (ui, #}) are lincarly related to the old components (tte, %,) and this relationship can be represented by means of vector-matrix multiplication: i 1 -tany Wy uy 0 secy | ty This can be written symbolically as ul = Au, where 1’ stands for the column vector (u,, uj), and w stands for the column vector (up, t,). The obvious difference from the previous cases is that the matrix 4 is no longer orthogonal. Its inverse A”? is readily calculated by solving for te, ty in terms of a, 14, and it reads va | siny 0 cosy Note that it is no longer the transpose of A.i4 VECTORS, MATRICES, AND COORDINATES 16 Itis still true that the columns of A are the old unit vectors in new representa- tion (Fig. 1.11), that is, i-i~1-%40-7, j= —tany-¥ + secy-j’. The rows of matrix 4 do not have a simple geometrical interpretation, but the columns of matrix 4—’ do have one.* From the above analysis we may conjecture that, in general, a change from cone set of unit vectors to another in a plane or in space involves. linear relationship between the old and new components of a vector, expressible by a vector-matrix multiplication uf = Au (A is a2 X 2 or a3 X 3 matrix). We shall consider this problem in detail in Chapter 10. For the time being we shall mention the fact that not every matrix A can represent such a relationship. Consider, for instance, the following hypothetical relation between the new and old coordinates of some vector u: ue = 4u,— Dy, uy, = Ute — tty If we attempt to solve these two equations for u, and «, we find that they have no solution if us and wy are arbitrary. We say that the matrix 4-2 2-1 Az does not possess an inverse; such matrices are called singular matrices. It is not difficult to see that in this example the pair ug, uw cannot possibly repre- sent an arbitrary vector in plane: Our equations imply «; = 2x, so that there is only one independent component instead of the two required for a plane. Figure 1.14 Remark. It is of interest to note that if x = 2), is actually satisfied, our system of equations has an infinity of solutions for uz and sy (since two equations reduce to a singte one), Furthermore, if an additional requirement u, = 2x, is imposed, the system has a unique solution (tt = 4853 uy = fu). All these features should be remembered since they are important in physical applications. 16 SCALAR AND VECTOR FIELDS So far we have been discussing constant vectors, but we can also contemplate vectors which depend on one or more variable parameters. The simplest example is, perhaps, a position vector which depends on time ¢. In a fixed cootdinate system, this is equivalent to saying that its components are functions of time * If A were orthogonal, the rows of A would be identical with columns of A~! (see pp. II and 440). 16 . SCALAR AND VECTOR FIELDS 15 and we write w= uf) = wi + (d+ ek, Such vectors can be differentiated with respect to the variable f according to the definition dun = fim H+ aut ao Om 410 ie With u(s) and uff + Ad) expressed in terms of their components, it is trivial to deduce that dts 5 dt 4m) = as +o +H ae so that the operation of differentiation of a vector is reduced to differentiation of its components. While vectors depending on time are widely used in mechanics of particles, we shall be more interested in another type of variable vectors: those depending ‘on space coordinates (x, y, z).* Such vectors are said to form vector fields and can be denoted as follows: - w= ux, pz) = x, », 2 Oe», DIT a(x, », 2k Common examples are electric and magnetic fields in space, velocity ficld of a fluid in motion, and others. The simplest kind of such a field is probably the so-called gradient fieldt which can be derived from a single scalar function ¢(x, y, 2), usually referred to as a scalar field. Familiar cases of scalar fields include the temperature distribution in a solid body, density of a nonhomogeneous medium, clectrostatic potential, etc. A scalar field gives rise to numerous other quantities through its various partial derivatives. In particular, Ict us concentrate our attention on a) the total differential = % Be gy 4 28 dp 3 ats dy +5 and b) the directional derivative de _ de dx , de dy , dy dz. ds ax ds ay ds ' az ds * These vectors may also depend on time, but we shall be mostly interested in instanta- neous relationships, where ¢ has some fixed value. t This is also called consercative field or potential field. 4 Rute of change of g per unit length in some particular direction characterized, ayy ty" the clement of arc ds of some curve, See, e.g., Apostol, p. 104.16 VECTORS, MATRICES, AND COORDINATES 16 The expressions on the right-hand side of the equations in (a} and (b) have the appearance of a dot product. It is convenient to define the gradient of a scalar field g(x, y, 2) by the vector a ey 9 grad p = Si i+2 sit ak Then we can write do = (gradg-ds) and fe. = (grad ¢* So), where ds = dxi+ dy} + dzk represents infinitesimal displacement in some direction and = it V4 Gu is the unit vector in the specified directian.* Since every differentiable scalar field generates a gradient field, it is natural to ask whether any given vector field u = u(x, y, z) may not be the gradient of some scalar y. The answer is negative and this becomes clear as we examine the basic properties of gradient fields. In this survey we shall need certain assumptions regarding the differentiability of various functions and anslytic properties of curves and surfaces involved in vector analysis. We shall mention these assump- tions as we need them. In many cases they can be relaxed and the results can be generalized, but we shall confine ourselves to the common situations encountered in physics. A curve in space is called smooth if it can be represented by z= x, y= 7 = 20, where x(#), p(4), and 2(4) have continuous derivatives with respect to the parameter 1 (for a curve in a planc, simply sct z = 0). Smooth curves possess tangents at all points and a (vector) line element ds can be defined at any point. The smooth- ness also guarantees the existence of line integrals. This last property is trivially extended to piecewise smooth curves; i.c., those consisting of a firite number of smooth parts. We shall assume that all curves considered by us are piecewise smooth. Regarding the differentiability of various functions, we must remember the following definitions and statements: the interior of a sphere of arbitrary radius € (usually thought to be small) centered at some point M(x, y, z) is called a neigh- borhoodt of this point (in a plane, replace “sphere” by “‘circle"). If a set of points ——_— { * Observe that dx/ds = cos (so, i), etc., are the directional cosines of the idirection defined by ds or by 59. ’ + We shall assume that all integrals are Riemann integrals which are adequate for our purposes. For example, see Apostot p. 276, 1A more precise term is an e-neighborhood. 16 SCALAR AND VECTOR FIELDS 17 is such that it contains some neighborhood of every one of its points, then it is called an open set. For instance, the interior of a cube is an open set; we can always draw a small sphere about each interior point which will lie entirely within the cube. However, the cube with boundary points included is no longer an open set. ‘The reason these concepts are needed is that partial derivatives of a function in space are defined by a limiting process that is ticd to a neighborhood. We must make sure a region is an open set before we can say that f(x, y, z) is differentiable in this region. In addition, we shall be mostly interested in connected open sets, or domains. These are open sets any two points of which can be connected by a polygon, i.e. a curve which is formed by a finite number of connected straight-line segments. From now on we shall] assume that all our piecewise smooth curves lie in domains where the functions under consideration (scalar fields and components of vector fields) possess continuous first-order partial derivatives. Let us now return to the properties of gradient fields. Suppose that = grad v(x, y, z) and consider the following integrat between points M(Xo, Yo 26) and N(x1, Ya, 21), taken along some curve C: Nv N [cot - J, Gee + a+ jee): Using the parameter # as the variable of integration, we have [vate = "(Be 4 0 4 8 Bam [dear = oe) ato, where fo and #, are the values of the parameter ¢ corresponding to points M and N, We see that the integral is sirnply the difference of values of g(x, y, z) at points Nand M and, therefore, is independent of the choice of curve C. Conversely, if the integral f (u- ds) is independent of path,* then keeping Mf fixed and treating NV as a variable point,| ' we can define a function bes 2) = POPP ae de) = FPP Gas de + ayy + ued). * From now on, we shall occasionally use the term “path" to indicate a piecewise smooth curve,18 VECTORS, MATRICES, AND COORDINATES 16 ” Path Cy Path Cy Path C, Path C) M @) {b) Figure 1.12 It is now simple to show that grad y = u. For instance, cepAzy.2) (x + 4x, 9, 2) — 0%, ¥ 2) = f ee _ pee ug dx Heese} and the statement uz = calculus. We have then established the following theorem: The necessary and sufficient condition that u = grad ¢ is the independence of path of the integral {(u- ds). An alternative way of stating this result follows from consideration of the integral § (us) over a simple closed path C, called the circulation of vector w around C. By simple closed path we mean a closed path which does not intersect itself.* The following theorem holds: The circulation of u vanishes for an arbitrary simpte closed path C (in a domain D) if and only if the integral [% (u- ds) is inde- pendent of path (in D). Indeed, let C (Fig. 1.12a) be a simple closed path. Choose two arbitrary points M and N on C and write dy/dz follows from the fundamental theorem of integral $8) = [pera fy ood [Poa - [fF was), Along Cr Monk Cy Along C2 If the integral fi (u - ds) is independent of path, the right-hand side vanishes and the cireulation is zero. Conversely, if two paths Cy and C2 connecting two points (Fig. 1.12b) do not intersect (in space), a simple closed path can be formed from them and the above equation holds. If the feft-hand side is zero, so is the right-hand side, yielding the independence of path. If C, and Cy intersect a finite number of times, the proof is obtained by splitting the closed path into a finite number of simple * This property permits us to assign the direction of integration around the curve, char- acterized by the vector ds, in a unique fashion. 16 SCALAR AND VECTOR FIELDS = 19. closed paths. {n the rather exceptional case when Cy and Cy cross each other an infinite number of times, a limiting process can be invoked reducing this case to the preceding one.* Remark, Within the context of the above discussion, it is emphasized that by (x, y, 2) we mean a well-defined single-valued functiont over the entire domain and nothing short of this requirement will suffice, In many treatmentst of the magnetostatic field H, ‘one introduces the so-called scalar magnetic potential X so that H = grad X and yet the circulation of H{ does not vanish over some contours. However, in all such cases it is impossible to define X uniquely over the entire contour (for those contours for which it is possible, the circulation of H does indeed vanish). It should now be clear that many vector fields do not fail into the category of gradient fields since it is easy to construct a vector u for which the integral J(u- ds) will actually depend on path. It is perhaps even easier to sketch some such fields, a task facilitated by the introduction of the concept of field lines. These field lines are curves with tangents directed along the vector field u at every point. For instance, Fig. 1.13 shows the velocity field (in the plane) of a fluid rotating around a circular obstacle. In this case the field lines are the tra- jectories along which the particles of fluid actually move. Figare 1.13 Figure 1.14 It is evident that the circulation of the velocity vector u around any one of the circles in Fig. 1.13 cannot be zero (the product u - ds has the same sign at each point of the circle). Consequently, the above field cannot be a gradient field. ‘The velocity fietd of a fluid is, perhaps, the best starting point for investigation of other types of vector fields because it naturally ieads us to another fundamental concept: the flux of a vector field. Consider the element dS of a surface S (Fig. 1.14). Fust as in the case of curves, we shall deal only with piecewise smooth surfaces, i.e., those consisting of * The details may be found in O. D. Kellogg, Foundations of Potential Theory. { A multivalued function is not one function, but a collection of several different functions. { For example, Reitz and Milford, Foundations of Electromagnetic Theory, Section 8.8.20 VECTORS, MATRICES, AND COORDINATES 17 a finite number of smooth portions, By a smooth surface we mean a surface | representable by | x= Y= VED 2= HD where p and g are independent parameters and the functions x, y, and z have con- tinuous first partials with respect to p and q in the domain under consideration. Smooth surfaces possess tangential planes at all points and can be oriented; that is, we can distinguish between the positive side and the negative side of the surface. We shalt also assume that our piecewise smooth surfaces are constructed in such a way that they are oriented.* It is customary to represent surface elements dS by vectors dS of magnitudes that are directed along the positive normal to the sur- face, as illustrated in Fig. 1.14. Suppose that the vector field u represents the velocity of a moving fluid. It can be seen that the inner product (u- dS} repre- sents the amount of fluid passing through dS pec unit time. Indeed, the particles of fluid crossing dS at time ¢ will occupy the face ABCD of the shown paraliclepiped at time ¢ + d¢ and all particles of fluid which have crossed dS between # and t+ dt will be located at #-+ dt inside the paratlelepiped. Consequently, the amount of fluid passing through dS in the interval dt is given by the volume of the parallelepiped, equal to dS + \ul -dicos @ = (u- dS) di. Divide by d# and obtain the desired statement. By analogy with these observations, we define, in general, the flux of a vector field u through a surface 5S by the surface integral & = fftu- as). In this formula, S can be either an open or a closed surface. A very familiar case of the latter is found in Gauss’ theorem in clcctrostatics. 1.7 VECTOR FIELDS IN PLANE According to the material of the preceding section, integrals representing circula- tion and flux are important in the study of vector fields. For vectors in a plane, the circulation integral has the formt 4, (u- ds) = f (uz dx + uy d,). Integrals of this type can be analyzed by means of Green's theorem: If C}s a (piece- wise smooth) simple closed curve in a simply connected domain D and if P0x y) * For details, consult, e.g., Kaplan, p. 260 et seq. . + Unless stated otherwise, it is conventional to take the direction of integration in suck integrals, Le., the orientation of ds, as counterclockwise. 17 VECTOR FIFLDS IN PLANE 21 Simply connected domain Doubly comected domain Figure Ls and Q(x, y) have continuous first partials in D, then feu oon [f (2-5) where § is the area bounded by C. ‘The importance of the requirement that C is a simple closed curve (see p. 18) lies in the fact that we can distinguish the interior of the curve from its exterior by the following rule: As we proceed along the curve in the direction of ds we designate the region appearing on our right as the exterior and that on our left as the interior. If the curve crosses itself such a formulation leads to contradiction as should be obvious by considering a curve in the shape of a “figure eight.” A domain in a plane is said to be simply connected if every simple closed curve in it has its interior inside the domain as well. Figuratively speaking, a domain is simply connected if it has no “holes” (Fig. 1.15). Without going into mathematical details we shall sketch a possible method of proving Green’s theorem which greatly facilitates its physical interpretations. First of all, note that P(x, y} and Q(x, y) can always be treated as the components u(x, y) and u(x, p) of some vector field, and we shall adopt, for convenience, this identification. Let us now divide the arca S into a network of meshes, as illustrated ‘in Fig. 1.16(a). Taking the integrals fa ds) around each mesh in Figure 1.1622. VECTORS, MATRICES, AND COORDINATES 7 counterclockwise direction we can easily deduce that -ds) = - ds), fa = f a) mneslies (The contribution from a common boundary between two meshes cancels out because of opposite orientations of vectors ds for each mesh; this leaves only the contributions from the pieces of C.) Furthermore, multiplying and dividing each term in the sum by the area AS of each mesh, we obtain Suppose now that the number of meshes is increased to infinity and that each mesh “shrinks to a point” so that AS» 0. If the fimit ds) fim —- aso 4S = fy) exists and is independent of the shape of AS,* then the sum reduces to an integral and we have §, (as) = ff tos nas. ‘S Therefore, it remains for us to evaluate the function f(x, y). A typical mesh is shown in Fig. 1.16(b); it need not be rectangular since the arguments presented below are valid for an arbitrary shape. If v, and u, have continuous partials, then we can write . Me ton we + (2) 0+ () 0-0 and - a & de + ), @- p+ @), o-» with the approximations being within the first order in [x — ¢| and ly — yf Here P(, n) is the fixed point to which AS ultimately shrinks and M(x, y) is an arbitrary point on the boundary of the mesh. Writing now f ids) = furde + §uydy, : . ' * Except that the largest diameter of AS must approach zero: the mesh should not become: infinitesimally thin while retaining finite length. + By the theorem on existence of total differential, guaranteed by the continuity of partial derivatives. i? VECTOR FIELDS IN PLANE 23 we see that the following six integrals will be needed: fas, fdr, gxdn fydx, fxd § yay. The first two are zero, the second two are +AS and —AS, respectively, and the {| Tast two are zero. Asa result, we have iM _ (Atty _ aus forma (—M) a8 tim FOS) _ My Otte Jovy) = Jie aS 7 Ox > oy Consequently, where the stipulation that the partials are to be calculated at P(é, 9) can be omitted since P is now an arbitrary point within C. We have then the result $ drt nay) = VG ay a as, which is simply Green’s theorem in our notation. With regard to a vector field u = uci + wi, the function f(x, y) is known as the cur? of u so that, by definition, m Fu ds) | curl uy = ay Ss We have then evaluated the expression for curl u in (orthogonal) cartesian co- ordinates in plane: Remark, Attention is drawn to the fact that, for a vector field iz a plane, curl u is essen- tially a scalar* and not a vector. The point is that by vectors we must mean quantities expressible as ai + 5j and cur! w is definitely not this type, whether or not we introduce the third axis. A vector field u which has zero cur] at some point is called an ivrotational field (at that point). If u is irrotational in a simply connected domain, then by Green's theorem, it is a conservative field (gradient field) in this domain, i. has zero circulation. Ihe converse has to be worded rather carefully: If u is a gradient field (namely, u = grad y), then it is irrotational provided ¢ has continuous sccond- order partial derivatives. * In a more elaborate nomenclature, curl o is called pseudoscalar due to ils peculiar property of changing sign if the x- and y-axes are interchanged, See Section 16.5.24 VECTORS, MATRICES, AND COORDINATES 17 Figure 1.17 Figure 1.18 Example. The magnetic induction field (B-field) due to an infinite current- carrying wire is known to be (outside the wire)* B= $25 (MKSA units) In the xy-plane (as shown in Fig. 1.17), = —Bsing= HM X= Me _y, B= —Bsin€ = — 7 = — Og eh auol x By = Boost = 5 ae ‘This ficld happens to be irrotational everywhere except at the origin. Therefore Fc (B+ ds) = Oif C does not encircle the but not otherwise, A function x(x, 3) may be found such that B = grad x in a simply connected domain D, but this can be done only if the domain does not contain the origi The B-field inside the wire is known to be = tol B= 3g REIS where Risthe radius of the wire. Here By = —(aol/2eR?)y and By = (stl/2eR?)x. ‘The field is not irrotational and cannot be represented as grad » anywhere. Let us now turn our attention to the concept of flux for vectors in plane. The obvious analog to the three-dimensional case is the integral a = f (uma) ds = f (us da) . ! ' taken over a curve C (not necessarily closed) with ny being the wi nornal to the curve and dn = mo ds. This is illustrated in Fig. £.18. - * go is the unit vector that is tangential to the circle drawn around the axis of the wire. 7 VECTOR FIELDS IN PLANE = 25 Exercise. Fora flow of fluid in a plane, relate the integral & above to the amount of fluid crossing the cutve C per unit time. Specify physical units of ali the quantities used. In many applications, the flux through a closed curve is involved. Evidently if ds = dxi + dy}, then* dn = dyi — dxj and $ (u-dn) = $, (tte dy ~ tty dx). Setting P ~ —uy, Q = uz, this integral can be transformed by means of Green’s theorem so that _ ff fare , au) fcean = [f (+B) ee provided, of course, that the partials are continuous everywhere inside C. This relationship is usually referred to as the divergence theorem (in a plane) and js written as §,. an) = f[divu-as, s&s au, | duty ox ty where is another function derivable from a vector field and is known as the divergence of u. While the above derivation is straightforward, it does not reveal the geometric (or physical) meaning of divu. It is instructive to invoke the technique used in Green's theorem: Dividing the area S into a network of meshes, we find that it is not hard to establish that because the vectors du at the common boundary of two adjacent meshes are op- positely directed. This observation permits us to define the divergence of u as flux out of an infinitesimal area (per unit area), namely, wey rm Fete), divu= Jim, “Ay Exercise. Derive the formula divu = du,/0x + au,/dy starting from the above defini- tion and using the arguments analogous to those for curlu. Spell out the conditions required in the derivalion. * It is a standard convention that for closed curves in a plane (and closed surfaces in space) the positive normal is the outward-pointing normal,26 VECTORS, MATRICES, AND COORDINATES 1B Remark. From our definitions of curl « and div u it is seen that both represent a new kind. of derivative, namely, a derivative with respect to infinitesimal area rather than infinitesi- mal displacement; — im FOS curly = im 25", jin FS It may be of interest to mention that the gradient of a scalar field y can be represented in a similar fashion; i.c., the following statement holds: _ Se-dn dy = tim £2°48, grate = io AS Another interesting observation is that curl u can be related to an integral involving da and div to an integral involving ds. Indeed, the identities {w+ da) = [u X ds], (a: ds) = Idn X ul, are not hard to verify provided we treat the cross product of two vectors in plane as a scalar, which is the logical thing to do.* Consequently, the fotlowing statements also hold: ida X vl ., _ £ lu X ds] = nan = lim LUXS, curl u im, aS divu iim, AS Yector fields which have zero divergence are called solenoidal fickis. They are very common in physics. For instance, the electrostatic field is solenoidal in the absence of charged matter ; the magnetic induction field is solenoidal everywhere. 1.8 VECTOR FIELDS IN SPACE We would now like to extend the analysis of the last section to vectors in space. We shall start with the flux of a vector field u through a closed surface S, becaise this integral is, perhaps, casiest to handle. Jt reads = foe) = ff ods. + uy 45, + us dS.), where dS,, dS,, and dS, are projections of vector dS on the coordinate axes. Integrals of this type can be handled by Gauss’ theorem: If S is a (piecewise smooth) closed orientable surface contained, along with its interior, in a domain D and if L(x, y, 2D, M(x, y, 2), and N(x, y, 2) have continuous first partials in D, then OL | aM , ON’ ff (LdS, + M dS, + NAS.) [If 4 an) ” t where V is the volume bounded by S. I cross product of two vectors in physics is the torque F = (r X F] which, for vectors in a plane, is completely described by magnitude and sign (clockwise or counter- clockwise). See the remark on p. 23 which may lead to a conjecture that the cross product ina plane is a pseudoscalar (and, indeed, it is). 18 VECTOR FIELDS IN SPACE 27 Figure 1.19 Gauss’ theorem can be restated in vector notation, by identifying L, M, and N with the components of a vector field u = ui + wyj -+ uk. The concept of divergence of u, is readily introduced so that Gauss’ theorem can be rewritten as fos) = [fforwar and is often referred to as the divergence theorem. The deduction of this theorem can be done again by a method analogous to that in the preceding section. In this casc we cut the volume V into small pieces, say, rectangular blocks, one of which is shown in Fig. 1.19. If we calculate the flux of u through each block and add all the results, we must obtain the flux through the outer boundary S; just as before, the flux of u through an interface between two blocks must appear in the sum twice, but with the opposite sign because of the changed direction of the ‘outward normal” (see the footnote on p. 25), Consequently, fhroe OG Mar ‘s at blocks introducing, for an obvious purpose, the volume AV of each block. We now define the divergence of u by means of divu= tim £024), A im av __ Gauss’ theorem can now be deduced by ironing out the mathematical de- tails and developing the formula for divu in cartesian coordinates. We shall28 VECTORS, MATRICES, AND COORDINATES 18 give a simplified version of this from the consideration of a rectangular block AV €Fig. 1.19). Tt is not hard to show that the flux of u through a rectangle such as ABCD, is given* within the first order in Ay and Az by Pancn & (us) Ay 2, where (us)p, is calculated at the center P of the rectangle. Indeed, for any point within ABCD we have tte & (ede + () 0 -»+(%),e-9 and the last two terms yield zero when integrated over the area ABCD. Consequently, the flux of u through the face A’B’C’ DD’ is to be determined by the value of u, at the center of this face and is given by [tee + (), | Ay Az. Similarly, the flux through the opposite face is - [ee - ae 43] ay dz. There is a minus sign in front because we now want the positive normal in the negative x-direction. Adding these two fluxes we obtain ou (2) sxarax ‘The fluxes through the other four faces are obtained in a similar way leading to ihe statement about the flux through a smaft parallelepiped AV: am (its 4 By 4, Ste gy = eed ‘The expréssion for divergence now readily follows and concludes our analysis. Let us now consider the question of circulation of a vector in space. Such an integral has the form $a ds) = fi (ued + tody + unde), ¢ ¢ and we shall assume that C is a (piecewise smooth) simple closed curve in space. It need not be a plane curve but we shall assume that it can be spanned by a (piece- wise smooth) orientable surface 5; that is, C can servé as the boundary for such a * Assuming a positive normal in the positive x-direction. 1s VECTOR FIELDS IN SPACE = 29° Figure 1.20 surface. This situation is iMustrated in 1.20(a). It is a standard convention to define the posi direction of circulation around a surface element dS so that it forms the “right-hand screw system” with the positive normal to the surface.* The positive direction of circulation around the boundary curve C is now chosen so that it coincides with such direction for the adjacent surface clement (Fig. 1.208). When all this is done, we can quote Stokes’ theorem: If 5 is a (piece- wise smooth) orientable surface spanning a (piecewise smooth) simple closed curve C, mutually oriented as described, then die, y, z)dx + M(x, y,z)dy + N(x, y. 2) dz] = aN _ aM ab aN ‘aM ab [NCE Bons E- Beets (HY) ara Provided L, M, and N have continuous partials in a domain containing S and C. , As before, we can treat L, M, and Nas the components of a vector field u. By the now familiar technique, we divide S into a network of (curved) meshe C . es, (Fig. 1.20b) and claim ‘ > dy = YF) foo 4s) = Ty 4S, an meshes where AS is the area of a given mesh. As before, we calculate in FANS) iy Fle Ax + My dy + dz) asao A Asoo As — ering a small mesh about a paint P(E, 9, $) we have, for each point Af(x, », z) on its boundary T (Fig. |.21a), (ode tide + (B2) 94 (4) 9-9 + B) @— 1, ae * A rule wel known from the study of magnetic fields.30 VECTORS, MATRICES, AND COORDINATES 1g (a) Case I (b) Case IT Figure 1.21 We shall need integrals like § dx, 4, x dx, f, yadx, $2 dx, and similar ones. ‘These integrals can be evaluated by projecting our mesh on the coordinate planes. Suppose that we want to obtain the integrals of the type #r/ (x, ») dx and $rI(% y) dy. Since the points M and M’ (sec Fig. 1.21) have the same x and y, these integrals reduce to $r-f(x, y)dx and $r f(x, y} dp except for the sign* which depends on the orientation of the mesh: f, Sls yy dx = £f fea ndx ete. r ° ‘The plus sign is for Case I (Fig. t-21a), where the point M’ describes I” in counter- clockwise direction, the minus sign is for Case 11 (Fig. 1.21b), with M’ going clockwise.f In particular, note that | pi dea xde= 0 pyar = £¢yar= FAS’, while where AS’ is the area bounded by I’, i.e., the area of the projection of the mesh * The symbol gr- by itself is meant to indicate counterclockwise integration’ (see the footnote on p. 20). + The motion of M’ cannot be chosen at will because it is determined by the motion of M in the positive direction of circulation around the mesh. 18 VECTOR FIELDS IN SPACE 31. on the xp-plane. Since the mesh is small, we have (Fig. 1.21) AS'S AScos(mg,k) in Case I, AS’ S¢ —AScos (nok) in Case If, (where no is the unit normal to AS). In either case, 4. ydx = —AScos (mp, k). Similarly, we can deduce ¢. x dy = +AScos (np, k) (this integral is also needed). Other integrals are evaluated in an analogous fashion. In particular, $y z dx and gy x dz require projection on the xz-plane, and so on. The net result of this calculation reads ‘Ou, ty . le le . fay aas[( - St) cos ts,1) + (ts: - ae) 0S (Ro, 5) ay ‘duly dt, | + ( -®. £08 (Mo, k) Introducing the cur! of a vector in space (which is now a vector, in distinction to the plane case) by means of the relation F(a: ds) dim, SAS = (curl ano), we have the result _ (ity aay ‘tl, ite ‘Atty dus cua = (55 — 3P it (HE ~S)y4 (4 - k, which also gives rise to the statement that circulation of u around an infinitesimal oriented atea described by dS is equal to (curlu:dS). Thus Stokes’ theorem can now be-written in the compact form:* f. (ude) = ff curl u- 3). & As in the case of vectors in a plane, the vector fields satisfying div u = 0 are called solenoidal and those satisfying curlu = 0 are called irrotational. The concept of irrotational field is closcly related to the concept of conservative field | (u = grad g) but these two fields should not be identified because of topological complications. In particular, if a field is irrotational in a domain D, if does not’ * The shape of the area clement is irrelevant; because of this we can identify dS, in dS = dS A + dSyj + dS.k with dy dz, etc.{ 32 VECTORS, MATRICES, AND COORDINATES 18 follow that its circulation about an arbitrary simple closed curve in Dis zero. The point is that we may not be able to invoke Stokes’ theorem because we may not be able to construct a suitable spanning surface S which would lie inside D. Example. Consider a tightly wound coil of current-carrying wire in the shape of a torus, The B-field inside the torus is irrotational; indeed, curl B satisfies the equation* oE . z curl B = pod + foto 3; (MKSA units) a and there is no current density J and no displace- x ment current in the interior of the torus; we assume a de-situation. However, the B-field at ae the center of each turn of the coil is known to be 4 B = po yielding a circulation along the central — Ax cirele C of the torus: ~—Yy ~ay ¢, (B- ds) = pagal - 2nR #4 0. Figure 122 It is easy to see that any surface spanning C must necessarily extend outside the torus and cut through the windings where curl B ¥ 0. Since the quantities divu and curiu in a plane have been defined as area derivatives (p. 26) and since div u in space has been defined as a volwne derivative (p. 27), it may be conjectured that curl u in space is also reducible to a volume derivative, This is in fact true and the formula reads fds Xu) lu = tm FES XY, curd a = tim v where the surface integral is over the boundary enclosing the volume AV. We shall sketch the proof of this relation by considering AV in the form of a rectangular parallelepiped as shown in Fig. 1.22. The contributions to #{[dS X u] from the top face involve only ui and #,j and yield, in the usual notation, [fos x aaray((u + a $),5- (4+ ¥),. Top face where P is the center of the parallelepiped. The bottom face will have dS with the direction reversed and aus a2 aity a2 || (dS X a] = ~axay {(u. eh ),3 Nats 7, A. "eo * One of Maxwell's equations; see, ¢.g., Reitz and Milford, pp. 296-297. 18 VECTOR FIELDS IN SPACE 33 Adding these, we obtain (@ ,_ fa | oz pi a ip | Ax Ay Az. Contributions from the other four faces are treated similarly, establishing the result, Remark, The gradient of a scalar field p can also be represented as a volume derivative, namely , dp = fim 7°. Bee ay AV We shall conclude this section by mentioning some quantities obtained from the repeated operations involving gradient, divergence, and curl. First of all observe the identity curl grad p = 0 scpresenting the statement that a conservative field is always irrotational (pro- vided, of course, that the second-order partials of g are conti uous, as mentioned on p. 23). The second operation of similar type yields the definition of the Laplace differential operaior V? ox simply the Laplacian,* V%o = div grad o, with the well-known expression in cartesian coordinates V%p = 28 4 Oe, ay, ax? * dy? T 922 Both of these operations have their counterparts for plane vectors. There are also two operations which are only possible for vectors in space: div curlu and curleurlu. Straightforward calculation in cartesian coordinates yields div curlu= 0. A more sophisticated argument of some interest is to take a closed surface Sin a domain D where curl u is defined (and its components have continuous partials). Split S into two parts, Sy and 52, by a curve C, as illustrated in Fig, 1.23. By Stokes’ theorem, f, 4s) = ff(curt a dS) = ~ ff cute Sz); cae Sy * The symbol V? is related to the so-called “nabla” or “del” operator a é a ie tay + Ray v capable of represer grad y = Ve, div ing gradient, divergence, and curl by means of the notations (¥-u), and curl w= [VX ul, which are sometimes quite handy.ct VECTORS, MATRICES, AND COORDINATES ed the minus sign arises from the “wrong” oricntation of Sz with respect to C. Consequently, (curl u- dS;) + ff (curl u- dS2} = gh (curl a- dS) = 0 {freer 1 [few 2 ff (corte for any closed surface in D. Applying the divergence theorem, we obtain, ff div curl u- dv = 0. v ‘Then, since this is true for an arbitrary volume V in D, it follows that div curl u = 0. Regarding the operation curl curl u, we can derive the following expression for the cartesian coordinates: curlcurlu = graddivu — ¥7u, where the symbol Vu stands for the operation Vue + V7u,j + V?usk. This formula, however, is nof valid for other coordinate systems* Exercise. Verily the above formula using the expressions for divergence, gradient, and curl in cartesian coordinates. 19 CURVILINEAR COORDINATES Sometimes it is more convenient to use coordinate systems other than cartesian. In general, a point in space can be described by three parameters which we will denote by i,m, 2. A well-known example is given by spherical coordinates 7,0, ¢, as shown in Fig. 1.24, along with the usual cartesian coordinates x, y, z * Of course, it is possible to define the operation V7u by (grad div u — curl cur! y) in any coordinate system, but this is not done since V7u does not reduce to the operation “div grad” applied to components of u. 19 CURVILINEAR COORDINATES 35 which are related to 7, 8, ¢ by x=rsin@cos¢, y=rsin@sing, 2 = rcosé. In general, x, y, z can be thought as being functions of /, m, a: x= xin), y= ymin z= hin). We shall assume that at least within some domain D in space, these functions have continuous derivatives and can also be solved for f, m,n: meurve I= Kx, y, 2), MO m = m(x,y,2), n atx, », 2). Observe that this implies that the Jacobian — OG yz) , 8G m,n) oO Figure 1.25 does not vanish.* Let us now choose a particular point M with cartesian coordi- niales (£, 1, {). it can also be denoted as M(h, #, »), in terms of the coordinates im,n. Hf we keep m = = const and a = v = const and change j, then we obtain a (smooth) curve passing through M which may be called the Fcurve. Similarly, we can define m-curve and n-curve. This is shown in Fig. 1.25. Further- more, we can introduce unit vectors Ip, mo, and mg along the tangents to these curves (pointed in the direction of increasing /,m, 1). This establishes a focaf system of axes. For convenience, the labels /, sm, 2 are chosen so that (Io, ma, Me) form a right-handed triple. Our local systems possess, in general, the following features which distinguish them from the system formed by cartesian unit vectors i, j, and k. 1, The axes may not be orthogonal; morcover, the angles between the axes may change from one point to another. 2. The orientation of Io, mo, ng (with respect to i, j,k) may change from one point to another, even if the angles between the axes remain the same, 3, The physical meaning of parameters J, , 2 may not be the length, and df, dm, dn need not be identical with the elements ds of arc in the respeclive directions. Let us investigate properties (1), (2), and (3). We can always think of point M as being defined by a position vector r = xi+ yi + zk. Treating x, y,z as * See, ¢.g., Kaplan, pp. 31 ef seq.36 © VECTORS, MATRICES, AND COORDINATES 19 functions of J, m,n we can write r= x(i, m, mi + yim, ni + 266m, nk. Changing r by dr amounts to changing x, y, z by dx, dy, dz which is, in turn, caused by changing f, m, 2 by dl, dm, dt, We have the following general relations: de = Fat am + % a, dy = Batt % dm + 2% cr, de = dt + Edm +S an. If we move along the /-curve, then dm = da = 0, and dr becomes* Cnn = ett dy tb de Dan = (Hi + Bi +%n) at This defines the derivative of r with respect to the parameter J: tL ar (twa 2, ay, | az. OF mn Oe I ye a a ait alt a By its very meaning, dr/él is a vector along the direction of Ip. Therefore, Io can be expressed as ar/al (ax/ani + (ay/aNi + (@2/aNk__ 'o= Jar/ail ~ /taxjan + Gy/aly? + (az/al The quantity # 3 ‘ax\? , fay az im (3) + E: May has a simple geometric interpretation: The length of elementary arc ds produced when only { changes is given by ds = |(dt)mal = he dl. In a similar fashion we deduce ™ = (8x/am)i + yam + @z/ammk (zy + (2) + (zy , i np = Oxon + Copia + G@z/enk, 4 8 (zy + (zy (2. * We use the notation familiar from thermodynamics: (dr),,. means such dr where m and 7 arc kept constant. 19 CURVILINEAR COORDINATES 37, Suppose now that the triple ly, tp, mo is an orthogonal triple. Then we must have the relations ax ax | ay ay a am * ai amt az az oom 0, ete. ‘These relations are satisfied for most coordinate systems employed in physics. In particular, this is true for spherical and cylindrical coordinate systems, as can be easily verified. This analysis clarifies feature (1) of local systems of axes. Regarding the orientation of local axes, note that it docs indeed vary from point to point for spherical and cytindrical coordinate systems. In fact, this is the characteristic Property of curvilinear coordinate systems, as opposed to cartesian ones. Feature (3) is also illustrated by spherical and cylindrical coordinates where some of the parameters /, m, + represent angles rather than lengths. As a general rule, the elementary displacement dr decomposed along the local system of axes will read or or or de = att ame + an = hpdl-3q + fm dm: img + hy dang. Let us assume that the local system is orthogonal;* then the element of arc is given by a simple formuta, ds = |e = Vib dP + We dm® + a, For instance, for spherical coordinates, 4, = 1, fy = r, hg = rsin 8, and ds = Vd +r? do? 4 sin? 8 de? We shall conclude our survey of curvilinear coordinates by the derivation of formulas for common differential operations in vector calculus. In order to express grad ¢ in terms of new axes and new variables, we could start with _ oe, 8, , a grade = Seid cit ak then use dp _ ay A, dp am, ay an ax = al ax am ax + an ax OS and also express i,j,k in terms of Ig, mo, Mo. A quicker way is to utilize the statement =do= a4 2% de (era o- de) = do = FF dl + SE dn + Son * The associated coordinates are then called orthogonal coordinates,38 VECTORS, MATRICES, AND COORDINATES 19 n teurve (8) (by Figure 1.26 and rewfite it in the form _ (Le 1 ae 1 ae tard g-dey = (1. 92) na + (fe 98) hte + (FS ac from which it follows immediately* that 1 ap L ag 1 ag grade = 5 alot i am + i, an” The calculation of divergence can be also carried out starting from the general definition , __ h(a: ds) fire = Se Without loss of generality, AV can be taken as a volume element with the sides along the f-, m-, and n-curves (Fig. 1.26a). In general, the flux through an ele- mentary area oriented in the Ip-direction is given by tiy- fin dit ty dr. As we subtract the fluxes through the arcas M'N’P’Q’ and MNPQ we must hot forget that not only 1, but also #,, and ,, are functions of im, and nt By an argument similar to that on pp. 27-28 (we give herea simplified version), we deduce that the net outward flux through these two faces is Z (iihighy) dldm dn. Adding the analogous contributions from the other four faces and dividing by the volume of our volume element (which is dy di h, dit hy dn}, we obtain immediately div u = a Er [Gj mtd Flint + 5 shire} 7 * Recall that at is arbitrary; therefore, by setting dat = dn = 0 we obtain (grad eh: = (W/f}Ge/AN), etc. We tacitly assume that the coordinates are orthogonal. + Invcartesian coordinates fr = fm = fin = 1. 19 CURVILINEAR COORDINATES 39. Example, In spherical coordinates we identify J, m,n with r, 8, 6, in that order. Then fy = h, = 1, fim = Ite = 1, hy = fig = rsin 6, and . lL fag aoe div = Saag | C7 sin om) + Zor sin ou) + z | : This may be simplified and, if desirable, ultimately reduced to . dup 2 1 aue , cote Lau, divu= =" +> -— —-- Ste. a tts ag tt caine ap The curl of u can be deduced from the circulation of u around the faces of the very same volume element. For instance, the face MNPQ yields (Fig. 1.26b) . x [ (u- d8) + J (0-8) = isn dadem — aha dadarg = 2 (Ula) dn dn, wis [cua which is combined to form — Calin EM) PQ + Unlin aMYaN i 2 ~ Zahn) din dry (curl w)s hn dt ha de = (2, (tuba) — Ztente}} din di. This determines the -component of cure, The complete formula reads curl w= pt {2, (inka) — 2 ohn lo | fa + pc ga etd — Seusta} my 1 fa a ] +i Beeat) ~ Zeta} no Finally, the expression for the Laplacian. V? is obtained by combining the formulas for gradient and divergence: 9 = diveradu =~! - {3 (tale 3 2 (lati Op) | 0 (hthn de), ° Brad w= Fag lat a at) + dm \ tm Om) + On\ hy On For instance, in the spherical system this reads (after trivial simplification) Lafza la vy - to (ee) y | 9 fi 9%) 4 eR 2¢r ar) + rane 38 8" G9) + He. 6 ag?40 VECTORS, MATRICES, AND COORDINATES BIBLIOGRAPHY Apostot, T. M., Mathematical Analysis, Reading, Mass.: Addison-Wesley Publishing Co., 1957. Gounsrein, H., Classical Mechanics, Reading, Mass.: Addison-Wesley Publishing Co., 1959. Kaptan, W., Advanced Calculus, Reading, Mass.; Addison-Wesley Publishing Co., 1957. Ketioas, 0. D., Foundation of Potential Theory, Berlin: Springer Verlag Obg., 1929. Tayvior, A. E., Advanced Calculus, Boston: Ginn & Company, 1955. Retz, J. R. and F. J. Mitronp, Foundations of Electromagnetic Theory, Reading, Mass.: ‘Addison-Wesley Publishing Co., 1960. PROBLEMS 1, Let two vectors in a plane, u; and ug, be defined by the polar coordinates. of their tips: @1, rx) and (82, 79). If us = ur + ue is defined by @a, r3), show how @3 and rs are related to 61, 89, r1, and r2. 2. A tiple vector product of three vectors is defined by the expression [u X [v x w]} Show that for any three vectors the following identity holds: [ue x Wx wh) + Ly x De x al] + LX fo X vd] = 0 Hint: Use the vector identity {a x [b X €]] = bla- 6) — ela -b). The above formula, known as the Jacobi identity, appears in a variety of contexts in physics and mathematics. Consider the following three vectors in space given by their coordinates 0G. -$D. WEED W-h-2D. a) Verify that these vectors are unit vectors, orthogonal to each other, and forma right-handed triple, if ordered as above. b) Construct the rotation matrix transforming the old components of a vector (namely those with respect to {, j, k) to the new ones (with respect to a, ¥, w). c) Evaluate, by vector-matrix multiplication, the new coordinates of the vectors a(0, 3, 2), b(—1, 4, —3), and e(2, —2, —2). Can you give a geometrical interpre- tation of the peculiar behavior of vector ¢? 4, 2) Show that the triple product (p. 3) of vectors w(es, #2, 43), vie1, 02,03), and w(ws, w2, ws) can be expressed by the determinant » = ((u X v]-). ~ PROBLEMS 4h b) Using this, prove that if a 3 x 3 matrix is orthogonal, then its determinant can have only two values, either +1 or —1. c) Consider the matrices 1 0 06 v32 $ 0 A= 9 1 Of, B= 4 S32 o |, 6 Oo -1 o 0 1 -1 0 6 wWiI/s -3VI0 4b CH) 0 -t oy, Bote VU? | oe 1 a 4 0 and indicate which ones represent rotations. Also, describe the geometrical meaning of others, 5. Compare, in general, the ith matrix element of AB with that of BA, for 3 X 3 matrices ane . Construct two noncommuting 3 X 3 matri f ice, i 4 and B. Con rices of your choice, i.e., such 6. According to the discussion on p. 4, the matrix cosé sin® —sin@ cosé represents a rotation of axes in plane. Show that sin 28 cos 26 cos 36 sin 30 a= Ad~ and AB = AAA = —sin 2@ cos 26 —sin38 cos 3¢ and give the geometrical interpretation of this result, Show that the matrix does nof represent a rotation of axes, Give a geometrical interpretation of matrix 2. {Hint: Draw the old and the new coordinate axes, as well as the straight line y = x tan (6/2).]42 ‘VECTORS, MATRICES, AND COORDINATES 8 Find the inverses of the following matrices by solving the equations AA, = 1 or otherwise: 2-10 4 a a AL= 1 a1], A= 0 -MVE t/v2 |, -3 04 23/3 -V1/6 —VI/6 er | bt -) -# 4 1 3 2 As=| -b $4], 4e= 1 ~1 o |, a 4% 2 ° 1 ‘Comment on the cases 42, Ag, and Aa. 9. Let (x', »") be the coordinates of a point in a skew y cartesian system in plane. Let the x‘- and »’-axes make angles o and @, respectively, with the x-axis (Fig. 1.27). Show that the equation of a circle with radius R and the center at the origin reads x? 4 yy? + 2x’y' cos (B — a) = R?. x 10, Show that the vector vy = 2i + j — 6k cannot be la expressed as a linear combination of the vectors mr =i+j+ 2, w= 3i-j, ws = %+k Figure 1.27 Show that the vector w = —2) — 3k can be expressed in this fashion, in more than one way, Give the algebraic explanation of these facts. Also give a geometrical interpretation. 11. Evaluate the following integrals around the circle x? + y? = 1; use Green’s theorem if it is convenient: a) $ (us), where w = (2y? — 3x*y)i + (4xy — 2°), b) $ (2x? — yA) dx + (7 + Yah ©) § (v-da), where ¥ = (x? + y?)i — 2xyi (div is defined on p. 24). 12, Let F(x, y) = x? — y?. Evaluate a) {BR (grad F ds) along the curve y = x3, » f or as around the circle x? + y? = 1. Here aF/an is the directional deriva- 2 five of F along the outer normal and ds = |ds|. 13. Show that the vector field u = yzi + zx} + xyk is both irrotational and solenoidal. Find » such that grad y = u. Can you find a vector field A such that curl A = u? 14, Prove the following identities for scalar fields f, y and vector fields u, v in space: a) grad (fe) = ferady + varads, ° ~ 7) curl (fu) = feurla + fared fX ul, ©) div fe Xv] = (- curla) — (a+ curly). PROBLEMS. 43 15. Using divergence and Stokes’ theorems, if it is convenient, catculate the following integrals. a) Ps (a- dS), where u = x35 + ¥'] + 2% and S$ is the sphere of radius R about the origin, : b) ffs (v- dS), where ¥ = x°L + y*j 4 25k and S is the sphere as in (a), ©) Hs (x dy dz + ydzdx + z dx dy), where S is the sphere as in (a), d) $e (w- as), where w= —3yi + 3xj + ke and Dis the circle x24 y? = 1 lying in the plane z = 2. 16. A fiat disk rotates about the axis normal to its plane and passing, through its center. Show that the velocity vector v of any point on the disk satisfies the equation curly = 2e, where w is the angular velocity vector. 17. Consider a conducting medium with variable charge density p(x, y, z) and variable current density J(x, y, 2). Let V be an arbitrary volume within the medium bounded by a (piecewise smooth) closed surface 5. Considering the total amount of charge inside V and the amount entecing it per unit time through the surface S, deduce that 4 fffoms, 2)d¥ = = $f to00.2.29-48) 7 5 With the help of the divergence theorem, deduce the so-called equation of continuity a ap divJ + un 0. 18. Using the techniques employed in Sections 1.7 and 1.8, outline the possible proofs of the following statements: Heas grad gy = tin Gina plane), grade = lim EP Gn space). 19. Evaluate the quantities 4. fe, As (see p. 36) for the cylindrical coordinate system. Using appropriate formulas from Section 1.9, write the expressions for gradient, divergence, curl, and the Laplacian in cylindrical coordinates.CHAPTER 2 FUNCTIONS OF A COMPLEX VARIABLE 2.4 COMPLEX NUMBERS In the course of study of roots of algebraic equations and in particular the cubic equation, it has been found convenient to introduce the concept of a number whose square is equal to —1. By a well-established tradition, this number is denoted by f, and we write i? = —I andi = ./—T. If we allow ito be multiplied by real numbers, we obtain the so-called imaginary numbers* of the form bi (where bis real). If the usual rules of multiplication are extended to imaginary numbers, then we must conclude that the products of imaginary numbers are real numbers; moreover, their squares are negative real numbers. For instance, GA-4) = BY -4? = (-12(-D = B, (~5i? = (— 5)??? = —25 If imaginary numbers are adjoined to real numbers, we have a system within which we can perform multiplication and division (except by zero, of course). We say that such a system is closed under multiplication and division. However, ‘our system is not closed under addition and subtraction.f To eliminate this de- ficiency, so-called complex numbers are introduced. These are numbers which are most often written in the form atbi (a, 6 = real numbers) and are assumed to obey appropriate algebraic rules. As will be shown below, the system of complex numbers is closed under addition, subtraction, multiplica- tion, and division plus the “extraction of roots” operation. In short, it has all the desirable algebraic characteristics and represents an extension of the real number system. The study of complex numbers is invaluable for every physicist because the description of physical laws is much more complicated without them. * Imaginary numbers are also called pure imaginary numbers to stress the distinction from the more general case of complex numbers. The name originated from the belief that imaginary numbers, as well as complex numbers, do not represent directly observable quantities in nature. While this point of view is now mostly abandoned, the original nomenclature still exists. +t The system is not closed under the operation of extraction of the square root either; for example, V4 is neither real nor (pure) imaginary. 44 2.2 BASIC ALGEBRA AND GEOMETRY OF COMPLEX NUMBERS 45 2.2 BASIC ALGEBRA AND GEOMETRY OF COMPLEX NUMBERS. complex numbers are written in the usual form @ + if (or a + 47) then the usual algcbraic operations with them are defined as follows. 1. Addition: (ay + iby) + (a2 + ibe) = (a1 + a2) + ib + 42). 2. Multiplication: (ay + iby)* @a + ibs) = (ras — babe) + ilaib2 + aah) The second rule is easy to follow if we recognize that the capressions a + ib are multiplied in the same manner as binomials, using the distributive and associative laws, and i? is replaced by —1. Complex numbers of the form a + (0 are tacitly identified with real numbers since they obey the same algebraic rules and are generally indistinguishable from cach other.* Complex numbers of the form 0 +- id are then (pure) imaginary numbers. It is customary to write simply a + 0 = a and 0 4- ib = ib. Sub- traction of complex numbers can be defined as inverse addition so that if (a1 + 161) — Ga + iby) = x+y, then ay + iby = (x + iy) + (a2 + tbe) from which it follows thatt x=a@,-a; and p= by — by An alicrnative is to form the negative of a complex number, (a + ib) = (— (a + 8) = (—1 + ONG + ib) = ~a — id, and reduce the subtraction to addition. The rule for division can be similarly deduced by inverting the multiplication. A shortcut method is given by the following technique: atib_at ibe—id_ (ac + bd) + ibe ~ ad) eHid ctide—id ~ c?4 a? act hd, .be— ad -atetispe (+4 # #0). It is readily seen that the divisor can be any complex number except zero (namely the number 0 + 0, which is unique and is written simply 0). "Ina more rigorous language, “the subset of complex numbers of the form a + i0 is isomorphic to the set of real numbers under the correspondence a + 10 [leal — leall. (The difference of two sides of a triangle is less than or equal to the third side.)\ 48 FUNCTIONS OF A COMPLEX VARIABLE 23 Remark, \ should be emphasized that inequalities can exist only among the moduli of complex numbers, not ameng the complex numbers themselves. A complex number cannot be greater or smailer than another complex number. Also, there are no positive ‘or negative complex numbers. 2.3 DE MOIVRE FORMULA AND THE CALCULATION OF ROOTS While addition and subtraction of complex numbers are most easily performed in their cartesian form z = x + iy, multiplication and division are easier in trigonometric form, If z, = r1{cos @, + # sin @)) and zg = ro(cos 62 + isin 62), then elementary calculation shows that 2122 = ryrafoos (@, + 92) + isin (1 + 62)] with the provision that if #, + 62 happens to be greater than 7, or less than or equal to —x, then the amount 2 should be added or subtracted to fulfill the condition — < (8; + 92) Sm. Remark. It should be emphasized that even though cos (@ + 2x) = cos@ and sin (0 ++ 2x) = sin 8, the value of @ is supposed to be uniquely specified. This will be- come evident when @ is subjected to certain operations, ¢.g., in the course of evaluation of roots. The convention —x < 6 < x is not the only one possible, but some convention must be adopted and ours is just as good as any other. Using the same trigonometric identities as in the above multiplication rule, we can also obtain the so-called De Moivre formula: (cos # + isin 6y" — cosn@ + isinn® (n= integer). ‘Thus we now have the general rule for calculating the nth power of a complex num- ber z. Ifz = r(cos # + isin), then z* = R(cos + ising), where R = r* and ¢ = nO + Ink with the integer & chosen in such a way that —x < ¢ <7. The rule for cafculating the ath root of a complex number can now be derived without much difficulty. If z = r(cos @ + isin 4), then the complex number : o.og et & g £ Im wo We cos + isin) is definitely the wth root of z because wR = z. However, this is not the only nth root of z; the numbers n= Wel oos 22 4 jin C22), a a where k = 1,2,3,..., (a — 0), are also ath tools of z because wz It is Figure 2.3 24 COMPLEX FUNCTIONS. EULER'S FORMULA 49. customary to call the number w» the principal root of z. The nth roots of a complex number zare always located at the vertices of a regular polygon of 1 sides inscribed in a circle of radius R = —,—__- Gx) = Re (de!) = Ref * This is rigorously proved in many textbooks on differential equations. However, no harm is done if we just conjecture such a solution. 25 APPLICATIONS OF EULER'S FORMULA 53 The final evaluation of this expression is straightforward; for instance, we may write (see p. 45) Fe (3 — &*) — Raw Het) FoF O12 — 0) aa] (op — 0)? + 4a7w? Now the rule Re (2:22) = Rez; Rez, — ImzsImzp yields Few! (3 — 0?) + Raw] Fwd — «?) Re| (3 ~ a)? + 4e2w? t= @- oy 4 oy + ante (wt ~ $) Faw Saat seer Oo Of course, this result can.be obtained without any recourse to complex numbers: The solution of the original (real) differential equation can be sought in the form x = acos wt 4+ bsin wi. Differentiate and substitute into the equation. On separation of the terms with cos wf and sin af, obtain the simultaneous algebraic equations aw — 0) + baw = Feos $1, 5a — w?) — aw = —F sin gi. The relevant determinants are wa? ow aqdetp on kw? |= (5h — w+ 4a, Feos¢t — 2aw Aa = det 22 | = Flw§ — w) cos gt + 2Face sin gi, —Fsing! wy — w3—@? Fos dt Ay = det ~ —Flw — w?) si b el 2a —F sin gt Fwy — «”) sin ot + 2Faw cos gt. The solution (a = A,/A, 5 = 4,/A) is easily reducible to that given before. The advantage of the complex method may be appreciated from the fact that the actual process of solving the equation is in this case very brief; the remainder of the catculation (separation of the real part) is a procedure common to all such problems and, therefore, can be reduecd to triviality.54 FUNCTIONS OF A COMPLEX VARIABLE 2.6 2.6 MULTIVALUED FUNCTIONS AND RIEMANN SURFACES Certain complex functions ate multivalued and they are usually considered as consisting of branches, each branch being a single-valued function of z. For instance, f(z) = ~/z can be split into two branches according to the usual formula for the roots (z = re): 1. Principal branch, — f(z) = v/r e'!™, 2. Second branch, — fr(z) = \/r ell 420121, Strictly speaking, f;(z) and f(z) are two separate functions but they arc intimately connected and for this reason they are treated together as two branches of a {(double-valued) function f(z) = /z. , Note that the principal branch docs not map the z-plane onto the entire w-plane, but rather onto the right half-plane (Re w > 0) to which the positive imaginary semiaxis is added. The negative imaginary semiaxis is not included. The second branch, which has no special name, maps the 2-plane onto the left half-plane (Re w < 0) plus the negative imaginary semiaxis. Except for z = 0, no other point on the w-plane (image plane) is duplicated by both mappings. Also observe another important feature of the two branches. Each branch taken separately is discontinuous on the negative real semiaxis. The meaning of this is as follows: The points me) and zg = ft 7#P, where 6 is a small positive number, are very close to each other. However, their images under the principal branch mapping, namely Silay) = e282) and © fu(za) = eT NE , are very far from cach other. On the other hand, note that the image of zz under the mapping f(z), namely, Foley) = e802, is very close to the point f;(z1). It appears that the continuity of mapping can be preserved if we switch branches as we cross the negative real semiaxis. To give this idea a more precise meaning we must define the concept of con- tinuous function of a complex variable. Let w = f(z) be defined in some neigh- borhood (see pp. 47 and 16) of point zo and let f(z) = wo. We say that /(2) is continuous at zo if* f(z) > wo whenever z— zo in the sense that given 6 > 0 {arbitrarily small), the inequality |/(@) ~ wol < 3 holds whenever [z — 20] < € holds, for sulficiently small «. It is readily shownt that if w ~ u(x, y) + folx, »), then the continuity of w implies the continuity of u(x, ») and u(x, y) and vice versa. * Also written as Ting fG@) = feo). { For example, see Kaplan, p. 495. 2.6 MULTIVALUED FUNCTIONS AND RIEMANN SURFACES 55 Riemann proposed an ingenious device to represent both branches by means of a single continuous mapping: Imagine two separate z-planes cut along the negative real semiaxis from “minus infinity" to zero, Imagine that the planes are superimposed on each other but retain their separate identity in the manner of two sheets of paper laid on top of each other. Now suppose that the second quadrant of the upper sheet is joined along the cut to the fourth quadrant of the lower sheet to form a continuous surface (Fig. 2.6). It is now possible to start a curve C in the third quadrant of the upper sheet, go around the origin, and cross the negative real semiaxis into the third quadrant of the lower shect in a con- finuous motion (remaining on the surface). The curve can be continued on the lower sheet around the origin into the second quadrant of the lower sheet. Two edges joined hereg Lower sheet Figure 2.6 Figure 2.7 Now imagine the second quadrant of the lower sheet joined to the third quadrant of the upper sheet along the same cut (independently of the first joint and actually disregarding its existence). The curve C can then be continued onto the upper sheet and may refurn to the starting point. This process of cutting and cross- Joining two planes leads to the formation of a Riemann surface which is thought of as a single continuous surface formed of two Riemann sheets (Fig. 2.7). An important remark is now in order: The line between the second quadrant of the upper shect and the third quadrant of the lower sheet is to be considered as distinct from the line between the second quadrant of the lower sheet and the third quadrant of the upper one. This is where the paper model fails us. According to this model the negative real semiaxis appears as the line where all four edges of our culs meet. However, the Ricmann surface has no such property; there are two real negative semiaxes on the Riemann surface just as there are two real posi- tive semiaxes. The mapping f(z) — 4/2 may help to visualize this: The principal branch maps the upper Riemann sheet (negative real semiaxis excluded) onto the region Re w > 0 of the w-plane. The line joining the second upper with the third lower quadrants is also mapped by the principal branch onto the positive imaginary semiaxis, The lower Riemann sheet (negative real scmiaxis excluded) is mapped by the second branch onto the region Re w <0, The line joining the second lower with the third upper quadrants is mapped (by the second branch) onto the negative imaginary semiaxis. In this fashion the entire Riemann surface56 FUNCTIONS OF A COMPLEX VARIABLE 2.6 is mapped one-to-one onto the w-plane (z = 0 is mapped onto w = 0; this particular correspondence, strictly speaking, belongs to neither branch since the polar angle @ is not defined for z = 0). The splitting of a multivalued function into branches is arbitrary to a great ‘extent, For instance, define the following two functions which also may be treated as branches of f(z) = V2: Wren for O<8<%, retltt2e2) for 7 0 <0. fretr2n2] for QOS e, ir eftti2) for —* <@<0. Note that branch A is continuous on the negative real semiaxis but is discontinuous on the positive real semiaxis (so is branch B). These two branches constitute, together, the double-valued function f(z) = »/z, and this representation is no better and no worse than the previous one. Also observe that the Riemann surface built up by these two branches is the same as the one described before. Ttis not difficult to see that the function f(z) = »/zcan be split in two branches in many other ways. In alt of them, however, there will be a branch line (or branch cut) extending from z = 0 to infinity. This line may be a curve. The Riemann surface can be obtained by joining two Riemann sheets across the cut, and this surface is unique, The point z = 0 where any branch line must start (or end) is called a branch point. The position of the branch point is determined by the nature of the multivalued function and is independent of the choice of branches. This technique can be extended to other multivalued functions. Some require more than two Riemann sheets (for instance f(z) = ¥/7 requires three}. Some require two Riemann sheets but two branch points* (f(@) = V@ — DEF D), etc, There are functions requiring an infinite number of Riemann sheets such as {@) = 2 with irrational @ and some of transcendental functions which we shalt briefly consider below. Using the definition of exponential Function, Branch Az fs(2) = { Branch B: f(z) = { e* = e*(cos y + isin y), we may define trigonometric and hyperbolic functions: cosz = ae" + et), sinz tanz = 202, cotz = COS Z , cosh z = 4(e" + e7*), sinh z ' sinh z tanh z = ag’ coth z * Jf the so-called point at infinity (Section 2.14) is taken into account, thei the mapping FQ) = -Vz also has two branch points, : 2.6 MULTIVALUED FUNCTIONS AND RIEMANN SURFACES 37 All these functions are periodic: sin 2 and cos z have a (pri tan 2 has a (primi : 3 itive) period 2x, e) period x, e*, sinh z, and cosh z have a (primitive) period iar formulas can be established, for instance, sin (@1 + z2) = sin z; cos zp + cos z) sin za, sin zy — sin zg = 2cos Also note that tities, tt ze 72. ete. 2 coshz = cos(iz) sinhz = ~/sin (iz). Ie is worthwhile to mention that |sin z] and {cos 2] are by no means bounded by unity, for instance, |sin 27 23. The logarithmic function is defined as the inverse of exponential function. Solving e” = z = re for w, we obtain the general solution w= logr+ i@+ nw (2 = integer), This function is multivalued: tts principal branch is usually denoted by w = | and is defined as y yes logz = logr +0 (-1 Arsinh z = Log (z + Vz? + 1), Arcosh z = Log(z + Vi — 1), if: f-—z Artaniz = $ Log27 58 FUNCTIONS OF A COMPLEX VARIABLE ‘Their principal branches are denoted by arc cos 2, etc.* The general power fimction 2” is defined by eee toet, For rational a(a-= p/g, where p,q are integers and q 0) this function coincides with -¥z* (q > 0) or with C972")? (q < 0) and has q branches. For irrational a the power function is infinitely multivalued. 2.1 ANALYTIC FUNCTIONS. CAUCHY THEOREM In this section we shall discuss the subject of calculus of functions ofa complex variable. The basic concept of the continuity of a complex function has alreat iy been presented, and it is not difficult to verify that the sum, product, and quotient {except for division by zero) of two continuous functions is continuous, A con- i function of a continuous function is also continuous.t . . wn Cte a piecewise smooth curve in a complex plane. If f(z) is continuous on C, then the complex integrat dz [fo can be defined and expressed in terms of real integrals by putting JO = ulx,y) + iolx,y) and dz = dx + idy; this yields : 4 [foe =f, (udx — ody) + if, (@ dx + dy), where the real integrals Jo (udx — vdy)and fc (dx + udy) are known to exist Curve C may be open or closed but the direction of integration rust spect hed in either case. The reversal of this direction results in the change of sign of the integral. Complex integrals are, therefore, reducible to curvilinear real integra and possess the following properties: [,Uer+ ae)ae = f fayde + f, a0 de, 0 [fade = k [fede (k= comples constant), Q) c ¢ 3) [ferenfi Moder f, fod ¢ where C is decomposed into two curves, C, and C2. The absolute value of an integral can be estimated by the formula | f rere] < ME. where M = max [/(z){ on C, and E is the length of C. a tos — enh . * Another widespread notation is are sin 2 = sin~! z, arsinh z = sinh~'z, and so on For example, Kaplan, p. 496. 1 In the sense of Riemann: see, €.2., Courant, Vol. 1, p. 133, and Kaplan, p. 259. 27 ANALYTIC FUNCTIONS. CAUCHY THEOREM 59 As our next concept we shall define the derivative of a complex function: Changing z into z + Az (with complex Az), we obtain JS{z + Az)and we can write* = Ff) = jim FEA 8) FO), As in the case of real functions, this limit may or may not exist. It may be empha. ~ sized that in the above formula Az may approach zero in an arbitrary fashion, that is, 2 + Az may approach z along any curve or by any sequence, This rather stringent requirement implies that f(z) must indeed be “well behaved” at point z in order to be differentiable. Function f(z) is said to be analytic (regular, or holomorphic) at point z if it possesses a derivative at z and at all points of some neighborhood of z (small but finite). This additional requirement results in many desirable Properties of analytic functions, such as the existence of derivatives of all orders. The theory of functions of a complex variable deals esscntially with analytic functions. Mere existence of a derivative at all points of a neighborhood may be shown to imply that the derivative is continuous.t Also, it is a simple matter to verify (by the same technique as for real variables) that the derivatives of complex functions obey the usual rules: Hort w= Ges Se, a Selon) = ws Bt Be, @) e - % $ where w= w(Q) and £ = ¢(2), B) Je = nz"! (n= integer), @ and so on. The differentials of complex functions are defined in the same way as for real functions: If w = f(z), then dw = f'(z) dz. If we set f(z) = w = ux, ») + iofx, 9), then the definition of the derivative can be rewritten as = Tim Ht Any + Ay) — uy p+ fo(x + ax, y + Ay) — oe yD), FO) = fie, ax 4 iAy Ay The limiting value on the right-hand side must be the same for the arbitrary ap- proach Az — 0. In particular, set Az = Ax (approach along the real axis); then voy 8, , 9D fO=R+ig * See p. 54 (including the footnote) for the definition of a limit. { See, ¢.g., Knopp, Theory of Functions, Vol. 1, p. 65,ct oO 60 FUNCTIONS OF A COMPLEX VARIABLE 27 Alternatively, set Az = i dy (approach atong the imaginary axis); then av au fO=H- hy It follows that for a differentiable function w = u + iv we must have du ay, du _ ax ay ay ax ‘These are the Cauchy-Riemann conditions; they follow directly from the definition of the derivative. If, further, f() is analytic, then /”(2) must be continuous which, in tarn,* implies that the partial derivatives of w and » are continuous. ‘The inverse theorem also holds: If u(x, y) and o(x, y) have continuous first | partial derivatives satisfying Cauchy-Riemann conditions in some neighborhood ! of z, then f(z) = 4 + iv is analytic at z. ; ; Integrals of analytic functions possess some very important properties. Per- haps the most fundamental one is expressed by the Cauchy theorem: Uf f(2) és analytic in a simply connected domain D, and C is a (piecewise smooth) simple closed curve in D, then $ fle) dz = 0. Proof. Write the integral as $ foe = 4, (udx — ody) + if ode 4 u dy). ici impli init i i fw and v and Green’s Analyticity of f(z) implies continuity of partial derivatives of 4 ¢ ree theorem (p. 20) is applicable. However, then the Cauchy-Riemann conditions imply a a ftetr— vay |f(-2 + dx dy = 0, e & ‘au av _ foods ua ff Se RU $ and the theorem follows. ‘There is a converse of the Cauchy theorem, known as the Morera theorem:t If f(z) is continuous ina domain D and if f(z) de = 0 for every simple closed path in D with its interior also in D, then f(@) is analytic in D. 7! Tris not difficult to see that the Cauchy theorem is true for muttiplyconnected domains provided the interior of the simple closed path C is aiso inside the domain * See, e.g., Kaplan, p. 510. + Knopp, Theory of Functions, Vol. 1, p. 66. 27 ANALYTIC FUNCTIONS. CAUCHY THEOREM 6 (ic., the path does not encircle a hole; see Fig. £.15). Similar extensions hold for related integral theorems that will be quoted later. The vanishing of a contour integral (an integral around a simple closed path) is closely related to the independence of path of an integral. In fact, the considera- tions of Section 1.6 can be applied easily to complex integrals, leading to the statement: If § f(z) dz = O.for every simple closed path, then the integral fi forar is independent of path (between zp and z). Suppose now that the point 29 is fixed. If the integral J%, f(2) dt is inde- pendent of path, then it must represent a function of z. This function is then a primitive function of f(z) (or an indefinite integral of /(2)) as follows from the fudamental theorem of integral calculus: If f(z) is analytic in a simply connected domain D, then the function Fa) =f" A) dr is also analytic in D and f(z) = (d/dz)F(2). Proof. Since 4(2) is analytic, the integral is independent of path and is therefore a function of z. In the expression oro) eu) FQ) = u+we=f (udx — ody) + if t=0.¥0) Kc 70,0) ede + udy), 0.40 both integrals are independent of path (by Green's theorem and the Cauchy- Riemann conditions). It also follows that* au au =u = ae Gym oY an ax ay so that 1 and o satisfy the Cauchy-Riemann conditions as well. Therefore F(z) is analytic, Moreover, dF _ au, av . ha tigg ttt h- fe), and the theorem follows. Any two primitive functions must differ by a (complex) constant: this foltows from the fact that f’(2) = Oimplies /(2) = const (integrate au/ax — 0,3u/dp = 0, elc,). * For example, Kaplan, p. 244.62 FUNCTIONS OF A COMPLEX VARIABLE 28 2.8 OTHER INTEGRAL THEOREMS. CAUCHY INTEGRAL FORMULA It should be emphasized that all conditions stated in the Cauchy theorem must be checked before applications, Consider, for instance, the integral i$ | a (a = const). 6 z—a Js this integral zero or not? Generally speaking, f(z) = I/@ — @) is an analytic function but it fails to be analytic at one (and only one) point, namely, z = a@. The function is not even defined at this point and thus cannot possess 4 derivative. ; . Let the curve C involved in the definition of J be a simple closed curve. Then, if the point z = a is outside the curve, the Cauchy theorem holds and I= 0. If it is inside, the Cauchy theorem cannot be applied. In fact, the integral is not equal to zero, as demonstrated by the following considerations: If C is a circle of radius R centered at z= a, then the integral is easily evaluated by sctting z=a-+ Re, In this case dz = iRe'* do and 1— [7 ido = 2ni. It is not difficult to show that the same result is true for any simple closed path Cy, which encircles point z — a. Suppose that C, is entirely inside the circle C (Fig. 2.8). Then a thin channel made up of curves By and Bz can be constructed to connect the interior of C, with the exterior of C and the Cauchy theorem can bbe applied to the shaded region; a domain D can be constructed so that the shaded region is within it. The integral over C, is clockwise. As the sides By and B» of the channel are allowed to approach each other, the integrals of {() = '/(z — @) along B, and By will {in the limit) cancel out, leaving us with the statement Im c f flrd +f, ards = 0. ~ Counterclackwine —— Clackosive, Reversing tHe direction of the second integration to counterclockwise, we obtain f, SQ) dz = $,.{@ ds - Re Figure 2.8 ‘with both directions counterclockwise). . 1 ‘ If Cis entirely within C1, the proof is similar. If C and C; intersect, the proof is even simpler. Exercise. Produce a proof of the discussed statement given that C and Cy intersect at two points. 28 OTHER THEOREMS. CAUCHY FORMULA 63 If the integral J is evaluated around a closed path which is not simple, its value is not necessarily 2x7, In cases of practical interest it will be equal to n2xi, where # is the number of times the path encircles the point z = a counterclockwise less the number of times it encircles the point z = a clockwise. OF course, it should be understood that the integral F f(2) dz may happen to be zero even if the Cauchy theorem does not apply. For instance, calculate the integral y= f era where 1 is a positive integer not equal to unity and the contour is a circle of radius R around z = a. Using z — a + Re®, obtain te ton + Je | IR’ gy = REM san” og, —" l-n = This result evidently holds for any closed path encircling z = a. In both of these examples, the possibility of the point z — a being exactly on the path of integration has been avoided, and for a good reason; stich integrals cannot actually be defined. Whenever this situation occurs in practical problems, the path must be deformed to avoid the troublesome point. How this is to be done depends on the nature of the problem.* Function /(z) in the Cauchy theorem must, of course, be single valued. It may be a particular branch of a multiple-valued function, but then care should be taken that this particular branch is analytic. Consider, for instance, the integral Fons VP along the unit circie about the origin. First of all, the branch of the (double-valued) function 4/2 must be specified. Suppose it is the principal branch. Then § vide ={" eligi 9 = — The Cauchy theorem is not applicable because f(z) is not analytic within the circle Jz] = 1. The points where it fails to be analytic are along the real axis from x= —1 to x = 0 where f(z) is not even continuous. Note also that although J(2) is continuous at z = 0, it is not analytic at that point either. Consider now the same integral ¢ Vide leq-2lmd * One such example is given in Section 12.9.64 FUNCTIONS OF A COMPLEX VARIABLE 2.8 taken around the point z = —2 (Fig. 2.9). If the principal branch is involved in the integration, the Cauchy theorem is not applicable. However, split /z into the following two branches (as on p. 56): Wz = V7 ello?) if 0<0 i is ic it ir ion i ied out in,a positive rovided {(z) is analytic in S and on B and the istegration is carried ti rr all parts of B. The proof is constructed without difficulty by using the technique of channels (p. 62). . In this (and other) integral theorems the analyticity of f(z) on a contour (as well as in its interior) is demanded. This is because the Cauchy theorem requires 2.8 OTHER THEOREMS. CAUCHY FORMULA = 65 the contour to be located within some simply connected domain D. Actually, this condition can be relaxed and the following boundary integral theorem holds: If f(2) is analylic in the interior S of a simple closed path C and f(z) is continuous on C,* then $¢ f(z) dz = 0. The proof is based on the construction of a contour C’ which is in S and arbitrarily close to C; the Cauchy theorem is valid for C’. The continuity of f(z) is then used to show that the integral over C’ must approach the integral over C as C’ approaches C. The Cauchy theorem can be used to deduce many other properties of integrals, the basic one being the Cauchy integral formula: If f(z) is analytic inside and on Cand if the point z = a is in the interior of C, then ¢ fae = 2rifla). Proof. Construct a circle C’ about z = a with an arbitrarily smali radius R such that the circle is within C (Fig. 2.11). The integral over C is evidently the same as the integral over C’ (use the channel technique). Rewrite this integral: fled: )- 1 f,QE ~~ OMe 4 sof Sow = § A= 29 tet parr by a previous result. The remajning integrat on the right-hand side must be inde- pendent of the radius R (because other terms are independent of R). It can also be estimated that SO) = SO) 4) co za <¢ WO= fol 4 eo |z—al < Moar = 20M, where Af = max |f(z) — £(@J on the circle C’, If R is chosen sufliciently small, then Mf can be made arbitrarily small [by continuity of f(z) at the point z = a}. Therefore the quantity £2) — fle) 4, lo Za can bé shown to be less than any positive number, no matter how smali. This is possible only if £2) = fa) 4, _ 4 ft , ez and the theorem follows. Figure 2.11 * To be precise, provided a point on C is approached from the interior,66 FUNCTIONS OF A COMPLEX VARIABLE 29 The Cauchy integral formuta reveals a remarkable property of analytic fune- tions: If the values of a function ace specified along a closed contour, then its value at an arbitrary point inside the contour is already predetermined. To emphasize this, replace a in the formula by z (variable) and denote the dummy variable by £: - 1 6 fa. SO= TGP Eo Jn this formula, the integral is a function of the (variable) parameter z and can be differentiated with respect to z. The following theorem (Leibritz rule) follows from the corresponding properties of real integrals:* a = § #2) 4 f nena = p Ne?) as (contour C.must be a simple closed curve in the usual sense, namely, it should not extend to infinity, otherwise the convergence questions must be considered). Application of the Leibnitz rule to the Cauchy integral theorem yields an inte- gral expression for the derivative: dQ _ ig Moa. dz ~ ti} (—zP Repetition of this process gives us the nth derivative #2) _ ag MO de” ni J ( — zy 2.9 COMPLEX SEQUENCES AND SERIES: No serious study of analytic functions is possible without their representation in the form of series, and we now turn our attention to consideration of this aspect of the theory. Our first task would be to consider complex sequences. ‘An infinite sequence of complex numbers {zn} = {21,Z2,-.-} is said to converge to the (complex) limit z, provided len — 2] <«€ for sufficiently large 7; € is, of course, an arbitrarily small positive number. Con- vergence of complex sequences is reducible to that of real sequences by the fol- lowing fundamental theorem: The sequence {24} converges to z= x + iy if and only if Re z, converges to x and Im 2, converges fo y. Proof. VC Re zp = X_—> x and Im zy = Yn? y, then | len — 21 = [Gn — 29+ Gn — PS Ven — A] + ln — Hl < (6/2) + €/2) ~ € * See Kaplan, p. 29. 29 COMPLEX SEQUENCES AND SERIES 67 for sufficiently large n. Conversely, if zu — 2] < ¢ then zy is within the circle of radius € about the point z. This implies In -al k for all n sufficiently large, and k > 1, then 32, diverges. Root test. HW Y|z,1 < k < 1 for all a sufficiently large, then 12, converges absolutely, and if [24] > k > 1 For all n sufficiently large, then iz, diverges. Proofs of these theorems are similar to those for real series; they are based on the inequalities for absolute values which are also true for complex numbers. Divergence of a series can often be quickly established by the mth term test: If z, fails to converge to zero then the series iz, diverges. If necessary, the question of convergence of a complex series can always be re- duced to that of two real series by the basic theorem: The series 2z, = (xn + i¥a) converges to 5S = P + iQ if and only if Dx, converges to P and Fy, converges to @. For instance, series which are convergent but not absolutely convergent can be treated in this fashion. Complex series can be added and subtracted provided they are convergent. They can be multiplied only if they are absolutely convergent, the product being also an absolutely convergent series; if the series are not absolutely convergent, then we are faced with the problem of arranging the product series. * For example, see Section 6.4. + See Knopp, Theory and Application of Infinite Series, Section 45. 29 COMPLEX SEQUENCES AND SERIES 69 _ Terms of a complex series may depend on a complex variable z. Most common series are power series, for instance, LCral+zt¢ 7424... nao In many cases such series will converge only if z is confined to a certain region. The above series converges absolutely, by ratio test, provided [z| < 1. This series diverges, by ratio test, if |z| > 1. The ratio test is inconclusive if [2] = 1, but then the nth-term test shows that the series diverges. It is seen that the above power series converges absolutely for all points inside a circle of radius R = 1 called the radius of convergence. _The concept of the radius of convergence can be applied to every power series, Indeed, if a power series is convergent on a circle of some radius 7, then it is absolutely convergent everywhere inside this circle* (by comparison test). The problem is then to find the upper bound of r which is the sought radius of convergence. Exercise, Show that the series 1 — 32 + 922 ~ 2725 + Bizt — +> has a radius of convergence equal to 4, while the series 14 24 22? + 303 4 alt 4 --- hasa radius of convergence equat to zero; the point z = 0 is the only value for which the series converges. If the upper bound described above docs not exist, then the series converges absolutely for all values of z and is said to have an infinite radius of convergence. For example, 2 2 zt (tet t tage Partial sums of a power series represent a sequence of polynomials in z. Sequences of other functions can also be considered. The sequence {fq(z)} of functions defined in a region R (z belongs to R) is said to converge to a fimit func- tion f(z) in R, provided dim £.@ > fle) for each z in R. For instance, the partial sums of the series sltzt2?+24-- mo * This statement is known as Abel’s theorem. See Kaplan, . 350.70 FUNCTIONS OF A COMPLEX VARIABLE 29 form a sequence of functions (polynomials) ook f= oH, io and this sequence converges to the function f(z) = I/(I — z) in the (open) tegion (z| <1 because fez) LV 2t %pe4o and yt lim -0 for |z| <1. nom L For this reason the function f(z) = 1/(1 — z) is said to be the sum of the above series (for |z| < 1 only!): Dt=da-z (a N, holds simultancously for alt z in R. In plain terms: Let us suppose we desire a certain accuracy € for our ap- proximation. For some particular z, the tenth function in the sequence may suffice (ten terms of a series, if we are talking about partial sums). But for another z, the tenth function may be inadequate because the speed of convergence is slower. In general, we may need to go farther and farther along the sequence as we proceed to points where the convergence gets increasingly worse. Uniform convergence sets the end to this process. The convergence can be no worse than a certain specified degree and the Nth term will guarantee a certain accuracy for the entire region. Example. The sequence of partial sums of the series ho ; is convergent for |z| <1 but it is not uniformly convergent; the convergence becomes increasingly worse as |zj— 1. However, in the region-|z{ < k where k <1, the convergence is uniform. It may be “bad” at z= k, but once ¥ is 2.40 ‘TAYLOR AND LAURENT SERIES = 71 found such that Nand z = k, then the same value of N will hold for all other 2 with kek The series of functions is called uniformly convergent (in a region R) if the sequence of its partial sums is uniformly convergent (in that region). Uniform convergence of series is most commonly established by the Weierstrass M-test: The series 3° f,(z) of functions is uniformly convergent ina region R if there exists a series of positive constants Af, such that If@| Bye which is convergent by ratio test. Then Lo Ma _1d Me wi Ir, foe iS fz 1 1 erat af, rox — a)" de. Replace or by — (1 + 1) (a must be negative) and rewrite the above as ig for. F e- ar ott rn aati Ty Fz Ini Sr, § — ay a) Finally, note that the integrals SO) a $, ote ( = 0,1,2,...) od Gna Oh? may be just as well evaluated over a common ci ic e as | itcle P, concent: i and lying within the annulus Ry < R < R2. mick wih Py and Py To prove the uniqueness, assume thal an expansion fa)= X eae — a)" exists and is valid in the annulus Ry < jz ~ a] < Re. Choose an arbitrary integer multiply both sides of this expression by (z — a)~*~, and integrate around a circle T about z = a, lying within the annulus. Then fod a § etn a All integrals on the right-hand side will vani i ish exee = whose value is 2ni. Therefore mt one for wiih = Ks and ¢ Fa) de = oayi, @— ae which conipletes the proof.76 FUNCTIONS OF A COMPLEX VARIABLE 2.10 The part of the Laurent series consisting of positive powers of @ — a) is called the regular part. It resembles the Taylor series but it should be emphasized that the nth coefficient cannot be associated, in general, with f(a) because the Jatter may not exist. In most applications, f(z) is not analytic at z = a. The other part, consisting of negative powers, is called the principal part. Either part (or both) may terminate or be identically zero, OF course, if the principal part is identically zero, then f(z) is analytic at z = a, and the Laurent series is identical with the Taylor series. Remark. The Laurent series is unique only for a specified annulus. In general, a fune- tion f(z) may possess two or more entirely different Laurent series aboul a given point, valid for different (nonoverlapping) regions. For instance, ate pipette Pte, o la}. Write 2.10 TAYLOR AND LAURENT SERIES 7 -LZOQ-EK a> nao Therefore This is the desired Laurent series. The function f(z) can be expanded by thi 1 i nna fe panded by this method about any point z = fa) = z~a@ GBH i @-b)"Foa@-H (4). Then, either Lae fay= -—~ yy OG RT « (z — | < [a ~ A), ¢ sy fay SE (le = Bf > [a ~ ap. Example 2. Rational fraction decomposition. 1 fa = + ie ai The roots of the denominator are a = /, b = 2 (si isti 0 a = i, b = 2 (simple and distinct). There- fore f(2) fails to be analytic only at z = f and z = 2 and should pone Taylor series about z = 0 valid for |z| < 1 ({i] = 1) and two Laurent series about z = 0 valid for 1 < [z| < 2and[z| > 2. To obtain these three series, we use the identities ana 2 -Q+izt%¥e—IE~D fe) 1 7 eT HETH Suppose that the Laurent series valid for 1 < El i i < 2 is desired. The function 1/@ ~ 2) should then be expanded in Taylor series about z= 0 (Example 1). This series is, in particular, valid for 1 < |2] <2. The function 1/(z — i) should be expanded in the Laurent scries about z = 0 valid for {z| > 1 (Example 1). This series is also vatid for I < Jz| < 2. If these two series are subtracted, we may obtain (multiplying by 1/Q — i) a series for f(z) valid . i is the desired Laurent series. OWE Kort M (any M) for |z ~ al < € (some ¢). 3. Neither of the two cases above; in plain terms, f(z) oscillates in a “‘wild”” manner. Examples of these three types of singularities (at z = 0) are Case 1, f(2) = sin z/z, Case 2, f(z) = sin 2, Case 3, f(z) = e’!*, The first case turns out to be trivial because then the | lim, ... f(z) must exist, and if the function f(z) is defined at z = a by f(a) = tim... f(2), then it must be regular at z = a as well. Remark. The formuta f(z) — sin z/z does not define, in a vigorous sense, the value of the function at z = 0, The extended formula sin z/z, z x 0, o-| L220, does define the function (2) at 2 = 0 (and elsewhere). To prove the above statement concerning Case 1, observe that f(z) is analytic in an annulus p < |z — a] < R within a neighborhood of z = a. By the Cauchy theorem, for any point z within this annulus (Fig. 2.14), we have noe Ad Oe, 1d Ma, I= iP, G a2 tidy poe r mide fz Oni We shall show that the second integral must be zero for b all p. If this is 80, then f(z) must approach the limit (P) tm = af OE. a) which will prove two things at once: (a) imag f(@) exists, (b) if f(a) is defined by this limit then the rede- fined function f(z) is analytic at z = a as well. Figuee 2.1480 FUNCTIONS OF A COMPLEX VARIABLE yall To achieve this result, write ¢ — z = (¢ — a) — (¢ — a) and observe that IG — a) -— @ - @ 2 |z- a - Ig - ol = [z - | ~p. Then, for a fixed z, =~ —P_. lz~al—p ‘The integral must be independent of p because of the analyticity of the integrand. Since it is less than an arbitrary positive number (for sufficiently small p) it must be equal to zero. The proof is now complete. Because of the described property, isolated singularities of the first type are called removable singularities. In practice, if a function is defined by a formula which fails for some isolated point z = a, then the formula is tacitly replaced by the corresponding limit. In this sense, the functions S@) = sinz/z, gz) = et, AG) = 1/2 — cotz are analytic at z = 0. The second type of isolated singularity, when [/(z)| + oo as z— a, is called a pole. Since the singularity is isolated, there must exist a Laurent series +0 f@)= Dade - ay valid for 0 < |z — al < R (for some R). If the principal part terminates, ie., if the Laurent series is of the form fe)= Dede — a), then f(z} has a pole of order m at z = a. Conversely, if f(z) has a pole at z = a, it must have the Laurent series (for 0 < |z ~ a] < R) of the above form as seen from the following argument: Consider the function g(z) = I/f@). Unless f(z) = 0 there must exist a neighborhood of z = a where f(z) has no zeros. In this neighborhood, g(z) is analytic and lg@+0 as za (because [f(2)] + :). Therefore g(z) has a zero at z = a. This zero niust be of some definite order m, namely, s)= De - a OS [r~ a eR) 21 ZEROS ANID SINGULARITIES BI Rewrite this as e(z) = (@ - a)" z HG — alk = @ — a)"¥(2), => where by = base and 6% = 0. Now 1 I 1 ee ee ee $= 757 GF Since y(z) is analytic at z = @ and does not vanish there, it follows that 1AM(2) must be analytic as well and possess a Taylor series at z = a. Then 2) = ——— FF cif — a). SQ) @- ao z i ) However, this is evidently a Laurent series with a terminating principal part so that the argument is complete. Example. The function f(z) = csez = I/sinz has the Laurent series valid for O< |e] 00; if it approaches zero along the imaginary axis, then | (2) remains constant but arg /(2) oscillates, and so on.82 FUNCTIONS OF A COMPLEX VARIABLE 21 In fact it is not difficult to show that even in an arbitrarily small neighborhood of an essential singularity, a function f(z) assumes values arbitrarily close to any desired complex number (Weierstrass-Casorati theorem). Also, an even more explicit statement can be proved, known as Picard’s theorem. In an arbitrarily small neighborhood of an_ essential singularity, a function f(z) assumes infinitely many times every complex value except, perhaps, one particular value. Remark. It should be emphasized that an infinite principal part in the Laurent series implies essential singularity only if the series is valid “up to the singular point”:* fQ) = zip *@—ap t e-H does net mean that f(z) has essential singularity ai z = L. The point is that the above series converges only if |z — t| > 1. It actually represents the Function l JO = 3IeFI in the annulus 1 < |z — 1] < R (for any R). This function evidently has a simple pole atz = 1. Apart from isolated singularities, complex functions can have other types of breakdown of analyticity. The most common case is that of a branch point. Con- sider, for instance, the function f(z) = /z. For every point except the origin it is possible to construct a ncighborhood and find a branch of vz that will be analytic in this neighborhood. This branch may not be the principal one or its complementary, called the second branch in Section 2.6; rather, it may be some- thing like branch A in the terminology on p. 56. For the origin, this is not possible because any neighborhood of z = 0 will contain a portion of the branch line (whatever it may be) where the selected branch js discontinuous. Similar state- ments can be made about other multivalued functions and their branches. It is evident that there can be no Taylor or Laurent series valid for the region O<,z | < & (for some X) about a branch point z = a, However, Laurent series valid for R, < |z — a] < Re are sometimes possible. Example veetwr-HIltb LAS 4... 22° 823 1625 128 27 ‘This series is valid for |z| > 1 and represents a branch of the function W/Z? — 1 which is analytic in this region. The branch line joins, in this case, two branch points z = +1and z= —1 and does not extend to infinity (Fig. 2.15). Replacing. + Namely, for all points in a neighborhood |z ~ al < eexceptz = a. 212 THE RESIDUE THEOREM AND ITS APPLICATIONS 83 2 by (z — 1), we obtain a Laurent series centered about the branch point z = 1. The Satter will converge for (z — I[ > 2. Another type of singular behavior of an analytic function occurs when it possesses an infinite number of isolated singularities converging to some limit point. Consider, for instance, 1 1 JO) = 8 = Sete) The denominator has simple zeros whenever Branch tine (1 = +1, 42,...). Figure 215 a The function f(z) has simple poles at these points and the sequence of these pales converges toward the origin. The origin cannot be called an isolated singularity because every neighborhood of it contains at feast one pole (actually an infinite number of them). 2.12 THE RESIDUE THEOREM AND ITS APPLICATIONS Let f(z) be analytic in some neighborhood of z = a except, perhaps, at z = a itself [in other words f(z) is either analytic at 2 = a or has an isolated singularity there]. Let C be a simple closed path lying in this neighborhood and surrounding z= a, Then the integral Res f(a) = ty f fle) dz is independent of the choice of C and is called the residue of function at the point z= a, Evidently, if f(z) is analytic at z = a (the point z = a is then called a regular point), the residue is zero. If z = a is an isolated singularity, then the residue may or may not be zero. Examples 1. f(@) = 1/2; the residue at z — 0 is equat to unity. 2. f(z) = 1/z?; the residue at z = 0 is equal to zero. According to the formula on p. 74, the residue is seen to be identical with the coefficient c_, in the Laurent series +o fz) = yore enlz — a)", which is valid for 0 < {z — a[ < R {for some R). The residues of a function at its isolated singularities find their application in the evaluation of integrals, complex or real. The basis for these applications is84 FUNCTIONS OF A COMPLEX VARIABLE 242 the residue theorem: If f(2) is analytic on and inside a closed contour C except for a finite number of isolated singularities af 2 = a, 43, ..., &q, which ate all located inside C, then ¢ fa) da = Ini y Res f(a). ¢ kel This theorem is proved by the technique of cutting the channels between the con- tour C and small circles Ci, Cy, . .. around each singularity (Fig. 2.16). Im De T) Re Figure 2.16 Figure 2.17 There is a variety of practical methods for quick evaluation of residues: FIRST METHOD. From the definition, Res fla) = Lf roe (using a suitably chosen contour C}. This method is rarely used, but may be valu- able if the primitive function of f(z) is known and has a branch point at z = a, Example. (@) = t/2, F(2) = Log 2. Any branch of Log z may be chosen, bul in order to preserve the relationship f@) = FG) = “oO, the closed contour must be disconnected and the appropriate limiling process must be applied. For instance (Fig. 2.17), A , 1g = tim f F tim {log (A) — log (B)} = 2xi. eR Sy oe Here the principal branch was used, which possesses a discontinuity 2ni on (he negative real semiaxis. 212 ‘THE RESIDUE THEOREM AND ITS APPLICATIONS — 85 SECOND METHOD. For a simple pole al z = a the following formula holds: Res f(a) = lim (z — a)ftz). The limit involved is often obtained by simple substitution or the use of well- known limiting values. Example.’ f(z) = tanz/z?. Then tanz 2 1 cos z Res f(0) = limz Pa) THIRD METHOD. For a pole of order m at z = a the following formula holds: 1 Res fla) = Gy lim | gran Le ~ )"fz)]f - hy lis (*2)]-tige - 5 FOURTH METHOD. A common case of a simple pole is when f(z) has the form Example. f(2) = e/2*. Then Res f(0) = ve), 4@) = ©’ where o(a) # 0 and ¥{z) has a simple zero at z = a. In this case gle) ¥@ Note that if z = ais a simple zero of yz), then ¥’(e) cannot vanish. Res f(a) = Example. f(z) ~ e?/sin 2. Then Res f(0) = —= = cos 21,20 FIFTH METHOD. Expand f(z) in the Laurent series and pick out the residue. This method is valuable if f(z) is a product of functions with known Laurent series. The series for f(z) is then obtained by multiplication. In practice, the coefficient c_, can be picked out by inspection. Example. f(z) = ett/(e + lz — 1". The residue at z = 1 is desired. In the first step, transfer the pole to the origin: z-l=0, rowth Then te te) a ft. f= otra86 FUNCTIONS OF A COMPLEX VARIABLE 212 In the second step, expand e and 1/(3 + w): 2 et ate wt get + (all w), | 1 1 1 ite-titac il | (ht <3). In the third step, evaluate (by inspection) the coefficient with w from the product of the above two series: ifou,® ot fl Sati 3 zy In the fourth step, evaluate the residuc: 2 t ‘ t t Res f) = € (ei pat Exercise, Prove the validity of the third method given above. |Hint: Represent f(z) as FQ) = eZ) — a)” and use the formula from p. 66.} The residue theorem can be applied to the evaluation of a wide variety of definite integrals, real or complex. Some of the most frequently used procedures are shown in the several examples which follow. Example 1. Consider the real integral 2 1 ! -f, lapse p Mal). This integral can be converted into a contour integral in complex plane by setting z= e*. Then dz i 1 w= cose = 3 (2+ 1) and ; 1. f a, ci(z — pl — pz) where Cis the unit circle in the z-plane. The integrand has two poles: at 2 = p and z = I/p. I [p] <4, the pole z = p is inside the contour, while the pole z ='L/pis outside, Only the residue at 2 = p is necded; it is equal to i . Vp therefore (pl < 1). 212 THE RESIDUE THEOREM AND ITS APPLICATIONS 87 If |p| > 1, the needed residue is at z = 1/p and it is equal to yielding (pl > 1) Note that both results can be combined into de f= #), Roy lsd while the integral is not defined for |p] = 1. . This method can be used for integrals of the type Jy" R(cos 6, sin 6) a9, where R(cos @, sin @) is a rational function of cos @ and sin 8. Example 2, Consider the real integral 0 +R _ de. f dx T ] mea A y E ee PO The integral [ty dx/(x? + a¥) can be treated as a portion of the complex integral Fc dz/(z? + a”) evaluated over the contour C shown in Fig. 2.18. Indeed (set z= xon the real axis): R ¢ a { Weds a cz tat Jip xe a2" Jog 2? + a? Let us estimate the integral over the semicircle Ce when R is very large: Write 1 1 1 Pepe 214 ate If |z] = R is very large, then ja?/27| = a/R? is small and {1 +- a?/z*| is almost cqual to unity (Fig. 2.19). To be precise, observe that |] + a?/z*| > } for Ten micircle Ce Figure 2.18 Figure 2.1988 FUNCTIONS OF A COMPLEX VARIABLE 242 R > ay/7, and consequently 1 sa ang a2). This implies weet < 4% (for R > av), Now, employ the estimate (p. 58) f a& Cp 2 + a?! 1 2 _ 2x SR tea a). Consequently, if we let R -> on, we have 4k a _, ax f _#, fata- Hin fog AT RT Jog at which reduces to te dx © ze f. ar (@ > 0). Exercise. Show that if a < 0, then ak © ; i» fae” a [Hins: No new calculations need be done, just some logical deductions.] The above procedure can be applied to integrals of the type pe [22a | —« Q(x) ; where P(x) and Q(x) are polynomials in x and (a) Q(x) should have no real zeros* * If Q(x) has real zeros, then the integral is not defined (see p. 63), unless particular modifications are made (¢.g., p. 111). 2.12 THE RESIDUE THEOREM AND ITS APPLICATIONS 89 and (b) the degree of Q(x) must exceed the degree of P(x) by at least 2 (otherwise the integral over the semicircle Cr may not tend to zero). For such integrals it is true that 4 PO) 4 4s f 0G)” = ai De Res, where ¥4. Res is the sum of the residucs of the integrand in the upper half-plane. ‘This statement is a special case of the following theorem: If f(z) is continuous for lz] > Ro (Some Ro) and [zf(z)| > 0 uniformly as |z| > «, then lim fle) de = 0. Rive Fela Proof a 2eR face Fa) dea] = inn FOSS may BAO Uniform convergence of |2f(2)} means that |zf(z)| R (that is, independently of the manner in which z approaches infinity). Then Haan deg P + 2) because (a) al zeros of Q must be within some fixed circle about the origin and (b) the condition |zf(z)] < € for |z| > k (for some k) can be satisfied. Remark. The method described above can be extended to certain integrals of the type [f feras, fs where f(x) is an even function of x. Example 3, Consider the real integral rf cos x dx (a> 0). ° xt at Note, first of all, that 4m rad fo cosxdx © 2 die x Fat The replacement of x by z will not help in this case because cos z is not “well behaved” in the upper half-plane; it is not bounded, However, the function e is bounded in the upper half-plane because e* = ee and |e'*] = I (all real 3)212 90 FUNCTIONS OF A COMPLEX VARIABLE while Je-¥ < 1 (all nonnegative y). For this reason, consider the complex integral eds +E ie dy et de fo. pn x2 + a2 © Soy z? + at evaluated over the contour shown in Fig. 2.20. Observe that edz (as in Example 2). Also, eo mia J = 2si Res f(ai) = 2xf if so that . te. ** cos x de if sin x dx (2 > 0) ae XP a? an X? + a? Since the right-hand side is real, it follows that +0 I= cosxdx Iw ia (a> 0). o @+a 2a Remark. The statement * sin x de <= Xf at immedi Ef syrmmetry. However, if it were n made immediately on the grounds al i \ vot anus, Se would have obtained the value of this integral as well from the imaginary part of 2x73 4. Res. Example 4, Consider the real integral * sin x 1 [fae | As before, observe that Since sin z is not “well behaved” on the upper half-plane, we shall try to evaluate the complex integral , ‘A new problem now arises: the integrand has a pole on the real axis. Note feat this pole is not caused by sin x but rather by cos x, which has been added to for the complex integral. THE RESIDUE THEOREM AND WTS APPLICATIONS — 91 LR +R Figure 2,20 Figure 2,21 To be able to apply the residue theorem we must avoid the pole at the origin in some fashion. Let us suppose we do this by means of a semicircle of a small sadius ri the upper half-plane, as shown in Fig. 2.21. Then we can write fg = fara The reason the chosen contour Cis helpful in the evalua 2s follows. Note that (by continuity of sin x/2) * sin x ~ sinx sin x * sin = 7s it — ji Sin x f- ete = tim a de + lim f a ak + lima a dx, 70 Jaw rao dor rad Jr tion of our real integral is Now, since evidently +r Ki i a tig [7 Gin ata it follows that don ar +0 [8% ae = tn [28S tn [Ey 0 Soe ro x ‘We can now see that the imaginary parts of the first and the third integrals on the right-hand side of the refation i ory, +R, ‘ fet eit ef te ef $S-[[arf carl tf Sa will give us the desired result in the limit where r+ 0 and R—» w, provided we manage to calculate the other three integrals in the formula. Let us estimate the integral over Cr. The method of Example 2 fails here; however, we can perform integration by parts:* + [ fae, Cyl I, * From the results of Section 2.7 it is trivial to verify that integration by parts applies to complex integrals as well as to real ones, +e92 FUNCTIONS OF A COMPLEX VARIABLE 242 If R— «, both terms on the right-hand side approach zero (cos R is bounded because R is real). Next, we evaluate the integral over C,: ee l+e*—-1 -[# e [Se- ye Get cy 2 Cr Fa Since e** is continuous al z = 0 and is cqual to unity there, it follows that le? -— Ip (in cither order), we obtain +m sin x + i 7 dx — wi. 0 if yn dx — wi sinx y _F. : raf M3ae =} ; is i thods. The pur- * , this integral can be evaluated by much more elementary me oe ‘of the above analysis is to illustrate the techniques of the residue calculus on a simple example rather than to obtain this particular result. . ‘Therefore* 242 THE RESIDUE THEOREM AND ITS APPLICATIONS — 93 Example §, We shall now evaluate the integral of Example 4 by a somewhat different method. We write ® i Lf si Lf si rf ae 1 f =sf Mea, o x 2s x 2 Zz Here we treat our integral as a complex integral over a path (real axis) which is open (50 far). Since sin z/z is continuous at z = 0, we may deform the contour as shown in Fig. 2.22 and claim that re tim | 382 0, | i Now set sinz = Ate —e The problem is to evaluate d= lim f “az and rao dor Z For J;, close the contour as usual (Fig. 2.23a), Show that the integral over Cr approaches zcro,,and deduce that iz f dz = 0. z For /,, close the contour through the /ower half-plane as shown in Fig. 2.23(b). Now {e7® is bounded in the lower half-plane and the integral over Cp approaches zero. Qn the other hand, note that (a) there is a contribution from the pole at the origin and (b) the clockwise integration introduces a change in the sign. When this is taken into account, we obtain I. po dz = —2ri Res (0) = —2ri, + Re ow «by Figure 2.234 FUNCTIONS OF A COMPLEX VARIABLE 2.12 Combining these results, we deduce that 40. [ BOF de LU b= LO =e in conformity with the previous result. Remark \_ The integral over the semicircle C, in Example 4 has been shown to yield the value —ai in the limit r+ 0. This is just one-half the value obtained by integration over the fult circle. One may prove a general theorem to this effect: Let f(z) be analytic at z = a, Consider the integral taken from 21 = @ + re to 22 = a+ rel along the circle fz ~ al = r (Fig. 2.24). Then Figure 2.24 where a = 02 — 05 + 2am (choose n so that |a| < 2). Exercise. Prove this theorem using a technique similar to thal in Example 4. Remark 2. The statement that the integral of e”/2 over Cr in Example 4 vanishes in the limit R —+ co is also a special case of a more general result, known as. Jordan’s lenama: If f(z) concerges uniformly to zera whenever 2 approaches infinity, then tim [ seye™ az = 0, nam JcR where d is any positive nunber and Cx is the upper half of the circte |z| = R. The term “uniform convergence” as z-* © means that |/(z)] < « whenever [2] > M (for some M) no mater what the phase of z is, Example 6, The integral reads + Oo dx f E cosh we (ew oo, which is what interests us, cosh x(R + ip) ~ e*®, The details are easily worked out: Show that [cash x(R + iy)| is greater than, say $e7®, for R— on. It follows that J, is bounded by, say 2e'*+”*, and this approaches zero since jal < 7. A similar argument holds for J. Collecting our results, we obtain cy pa inttathth= +e" 2xi 7 so that = 1 _ ent ~ GH 7 OT96 FUNCTIONS OF A COMPLEX VARIABLE 212 Example 7) This example deals with the extension of previous techniques to Zontours involving branch fines of multivalued functions, Consider the real integral oe ref Mae O 00. In the field of complex numbers the general power function z*—* implies (p. 58) ger) = per Whore tgila—DArgt 2- [zja—lgila—DO+ 2b) ‘The branch which reduces to the real function x*~! (for x > 0) is the principal branch, with k = 0. It is convenient to work with the branch for which 0 < Argz < 2s. This branch coincides with the principal branch for Im z > @ and with the branch k = I for fmz < 0, Then our real integral £ coincides* with the integral of this branch along the upper edge of the branch cut (see Fig. 2.26). Close the contour as shown in the figure. The integral over the lower edge of the branch cut is then 5 - f Thr # =~ lo I+x Therefore, 1 at i Yen — eenba BO de edz. dai Res (I= FeO fee They D2 Now, for [zh = R, 1 goa pert Lat we ROP 90 (as Rw) and for |z| = 7, a1 f 34 | wv Qar rt! = Axe? 0 (asr > 0). Cc; “ The residue at z = —1 ise"; therefore Ariel” 7 : yo Te 1 — efe-D2e sin ar * In the limit «+ 0,7 +0, and R—+ ©, of course. CONFORMAL MAPPING BY ANALYTIC FUNCTIONS 97 * tm + A ke Pole ae zai * Re Figure 2.26 Figwe 2.27 Remark. Itisalse possible to o; by setting x = —x' in to get mane! ° fe-} tae L iw [ |x| for x’ < 0, The contour is then chose in Fi in > £0 nas in Fig. 2.27, of the principal branch along the upper edge of the cut is now The iter : [ee ae ny perate with the standard principal branch x < Argz 0) onto the open region consisting of the w-plane with the real positive semiaxis removed. This is usually referred to as the “‘w-plane with a cut slong the positive real semiaxis.” Now consider a point 2 = Zo in the zplane and a smooth curve C passing through it. Let f(z) be analytic at z = zo and let f(z) map point z) onto Wo and the curve C onto curve I’ passing through it (Fig. 2.30). Also consider 2 point 2; on C, close to Zo, and its image w; on r. Denote 2 — 29 = Az, #1 — Wo = Aw. By definition of the derivative, AW ay im az 7 Sia). Therefore - lawl _ rey ime “Taal = Feo). Geometrically, the left-hand side can be interpreted as the magnification of an (infinitesimal) arc of curve C as the curve C is transformed into the curve I. This magnification is the same (or all curves passing through Zo. Now consider the angles 9 and $9 which the curves C and I make with the real axis. We have bp — Oo = lim [arg aw — arg 42] = him (se a) = arg f(z) = @ arn a9 Geometrically, this means that the curve C is rotated through an angle a when it is transformed into P. This angle of rotation is the same for all curvds passing through zo. Observe, however, that these two geometrical statements lose their meaning at the points Zo where f(zo} = 0. - The properties described above are usually referred to as the conformal mapping properties. Customarily the term “conformal mapping” is defined by: 2A3 ‘CONFORMAL MAPPING BY ANALYTIC FUNCTIONS i01 Im Im ¢ L h “ 2 > z-plane w-plane ¥y Re Re Figure 2.30 a) Invariance of angles: An an, f 5: gle at zo formed b; i {in magnitude and orientation). ° Y Imo covers retmsing unchanged b) reariane. of infinitesimal circles: An infinitesimal circle around z, retains its pe; it differs from a circle by higher order infinitesimals than its radius. Our analysis leads then to the following theorem: if a function f(z) is analytic at 29 and the derivative f(z) do is i Song F'(£o) does not vanish, then the mapping z—+ f(2) is con- Remarks 1, The statement f"(29) 9 0 is : guarantees the existence of the inverse mappi i * Az) and z= g(w), then g'(wo) = 1/f'(20) provided f’(z0) 4 0. ring Because . The mapping f(z) = z*, which reflects the z-plane in the real axis, preserves thi . e angles and maps circles into circles but it i i because a 1 7 i ane and mops ccs into cles bat ‘ sno considered conformal the orienta- In Cy ¥ CG y Ty? Re }______Mr ae Conformal mapping In }——______+Re TQ iy Figore 2.31 Mapping Az)==* T102 FUNCTIONS OF A COMPLEX VARIABLE 24 244 COMPLEX SPHERE AND POINT AT INFINITY Many concepts of the theory of complex variables are greatly simplified through the introduction of the so-called point at infinity. This is done with the help of the stereographic projection between the complex plane and the complex sphere which is defined as follows: Construct a sphere of radius R (for convenience, R may be taken as 4) such that the complex plane is tange to it at the origin, as shown in Fig, 2.32. The point P on the sphere opposite to the origin (called the north pole for convenience) is used as the “eye” of stereographic projection. Lines through P are drawn which inter- sect both the sphere and the plane per- mitting a mapping of point z on the plane senna ais onto the point ¢ on the sphere (Fig. 2.32). In this fashion the entire complex plane is mapped onto the complex sphere (or Riemann sphere). Curves and regions in the z-plane are mapped onto curves and regions on the -sphere. Note that the point P itself has no counterpart on the z-plane. Nevertheless, it has been found convenient to adjoin to the z-plane an extra point, known as the point at infinity, in such a way that a curve passing through P on the f-sphere is defined as approaching the point at in- Figure 2.32 finity in the z-plane. | ‘The concept of the point at infinily is very useful, particularly in the analysis of mappings. The following statements of properties can be verified without much difficulty. 1. Circles in plane are mapped onto circles on the sphere which do sof pass through P. / 2. Straight lines in plane are mapped onto circles on the sphere which do pass through P. 3. Maps of intersecting straight lines have two common points on the f-sphere, one of which is P. North pole ? Image of real axis The origin O 4. Maps of parallel straight lines have only the poirit P in common and they have acommon tangent at P. 5. The exterior of a circle |2| = R with R >> 1 is mapped onto the interior of « small spherical cap around point P. As R—> w the cap “shrinks to-P. These and similar properties give rise to a series of definitions applied to the so-called extended complex plane, i.¢., a complex plane to which the point at infinity is adjoined. 214 COMPLEX SPHERE AND POINT AT INFINITY 103 Examples a) The mapping w = I/z maps 29 = O onto Wo = « (point at infinity adjoined to w-plane} and vice versa, The rigorous meaning of this is, of course, that if a sequence of points in the z-plane converges to 2) = 0, then a correspond- ing sequence of points on the w-sphere converges to its north pole. b) The region.|z| > R is a neighborhood of the point at infinity. The importance of the complex sphere is greatly enhanced by the fact that if two curves intersect in the z-plane at an angle ¥, then their images on the sphere will intersect at the same angle, In fact, the stereographic projection is conformal. (The proof is not difficult, but will be omitted here.) This permits the definition of the angle at infinity which two curves make if they recede to infinity in the zplane. This angle is defined fo be the angle that their images on the sphere make at the point P. Now the following theorem can be stated. Theorem. The mupping w = 1/2 is conformal at the origin z = 0. Observe that the function f(z) = 1/z is not defined at z = 0 but the mapping w = 1/2 is defined (by the subterfuge of the sphere). The conformatity does not follow from the analyticity, but rather from the relationships on the complex sphere. Corollary. The mapping w = 1/z is conformal at infinity (despite the fact that f"(z) approaches zero as z recedes to infinity). The concept of the point at infinity is closely interwoven with the study of singularities of analytic functions. The very notion of analyticity can be extended to the point at infinity by the following device: A function f(z) is defined to be analytic at infinity if the function Bz) = f(l/2} is analytic at z = 0. Moreover, it is possible to introduce the concept of a pole at infinity, branch point at infinity, etc., through the corresponding behavior of g(z} at the origin, In this connection, the function {(z) = 2%, which has no zeros and no singularities in the entire complex plane, turns out to possess an essential singularity at infinity. Other functions which have no singularities (€.g., all polynomials in z) are also found to have a breakdown of analyticity at infinity. Exercise. Show that a polynomial P(z) of degree m has a pole of nth order at infinity, In fact, a survey of familiar functions reveals the fact that functions which are analytic at infinity possess at least one singularity elsewhere, i.e., for some finite value of z, The natural conjecture is that there may not be a “perfectly analytic” function. This problem has actually been resolved and is embodied in the Liouville theorem. The only function f(z) which is analytic in the entire com- plex plane and the point at infinity is the constant function f(z) = const.104 FUNCTIONS OF A COMPLEX VARIABLE 215 Jn conclusion, it may be mentioned that in some texts the term complex plane is tacitly assumed to mean the extended complex plane, with the point at infinity included. Certain theorems may then be mose conveniently stated. However, one should never forget that while there js a point at infinity, there is still no such thing, as a complex number “infinity,” in the sense that it should possess the algebraic properties shared by other complex numbers. 2.15 INTEGRAL REPRESENTATIONS It is a very common occurrence that certain functions are represented and even defined by integrals, with constant or variable limits. For instance, consider the real function, the derivative of which is equal to sin x/x, It is known that the indefinite integral of sin x/x is not expressible in terms of elementary functions* in finite form. Therefore, there is no other alternative but to define such functions by means of an integral and it is customary to write si =f SiN ag, a & where Si (x) is a new function, called the sine-integral. It is, of course, but one of many primitive functions of sin x/x (ie., the one which vanishes at the origin) the others being obtainable by adding an arbitrary constant to Si (x). If we want to extend the definition of Si (x) to complex variables, it can be done in a trivial way. We write be = fe Si (z) f e dg, where { is a complex variable and the integral is now a curvilinear integral in the complex {-plane over some path connecting the points { = 0 and ¢ =z. It does not matter which particular path is chosen since the function f(¢) = sin ¢/f is analytic for all (finite) valuest of ¢ and the integral is independent of path. A different situation is encountered in the so-called cosine integral, defined by +0 ! Ci (x) = -{ ebay This function is easily seen to be a primitive function of cos x/x. The choice of limits is conventional but the main feature is that the integral diverges at x = 0. While it is still possible to extend the definition to complex variables by writing 40 . Ci) = -{ seat, ‘ * That is, algebraic, exponential, trigonometric, and their inverse functions. } See the discussion on pp. 79-80, 2.15 INTEGRAL REPRESENTATIONS 105 the question arises as to the specification of the path of integration. Presumably, the upper limit implies an asymptotic approach to the real axis.* Three such paths are illustrated in Fig. 2.33. The integrals taken along Cy and Co are easily shown to be identical, but the integral along C3 will differ by 2xé times the residue of the integrand at ¢ = G. This means essentially that Ci (z) is a multivalued function, the integrals along different paths yielding diNferent branches. Two of these branches are characterized by the paths C, and C3 (or other paths equivalent to them). Other branches can be obtained by circling the origin m times before proceeding to “plus infinity.” Tn & Re Pole Figure 2.33 Remark, The above analysis reveals that Ci (x) for rea! negative x should be defined by one of the branches of complex function Ci (z) because the réal integral te cost [ 7% is divergent for x < 0 due to the behavior of the integrand at £ = 0. It has been found, however, that this divergent integral (like many similar others) can be given a definite meaning by the prescription . cos £ cos £ sin f = a+] va a} known as the Cauchy principal valve (or simply the principal value) and is often denoted by $0 cos fr eta. Because-of this result, it is customary to define Ci (x) for x < 0 by + cw -f Sia

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