Review of Vector Analysis

Review of
Vector Analysis
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Review of Vector Analysis

Vector analysis is a mathematical tool with which
electromagnetic (EM) concepts are most conveniently
expressed and best comprehended.
A quantity is called a scalar if it has only magnitude (e.g.,
mass, temperature, electric potential, population).
A quantity is called a vector if it has both magnitude and
direction (e.g., velocity, force, electric field intensity).
The magnitude of a vector A
is a scalar written as A or A
A
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A unit vector eA along A is defined as a vector whose

magnitude is unity (that is,1) and its direction is along A
eA
A
A
A
A
( eA 1)
Thus
A A eA
which completely specifies A in terms of A and its

direction eA
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A vector A in Cartesian (or rectangular) coordinates may

be represented as
(A x , A y , A z )
A x ex A y ey A z ez
or
where AX, Ay, and AZ are called the components of A in the

x, y, and z directions, respectively; e x , e y , and
vectors in the x, y and z directions, respectively.
are unit
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Suppose a certain
vector V is given by
V 2ex 3ey 4ez
The magnitude or
absolute value of
the vector V is
V 22 32 42 5.385
(from the Pythagorean theorem)
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The Radius Vector

A point P in Cartesian coordinates may be represented by
specifying (x, y, z). The radius vector (or position vector) of
point P is defined as the directed distance from the origin O
to P; that is,
r x ex y ey z ez
The unit vector in the direction of r is
er
x ex y ey z ez
x2 y2 z2
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Vector Algebra
Two vectors A and B can be added together to give
another vector C ; that is ,
C AB
Vectors are added by adding their individual components.
Thus, if A x ex A y ey A z ez and B B x ex B y ey Bz ez
C (A x B x )ex (A y B y )ey (A z Bz )ez
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Parallelogram
rule
Head to
tail rule
Vector subtraction is similarly carried out as
D A B A (B )
D (A x B x )ex (A y B y )ey (A z Bz )ez
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The three basic laws of algebra obeyed by any given vector

A, B, and C, are summarized as follows:
Law
Commutative
Addition
AB BA
Associative
A (B C ) (A B ) C
Distributive
k(A B ) kA k B
Multiplication
kA A k
k(lA) (kl)A
where k and l are scalars
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When two vectors A and B are multiplied, the result is

either a scalar or a vector depending on how they are
multiplied. There are two types of vector multiplication:
1. Scalar (or dot) product:
AB
2.Vector (or cross) product:
AB
The dot product of the two vectors A and B is defined

geometrically as the product of the magnitude of B and the
projection of A onto B (or vice versa):
A B AB cos AB
where AB is the smaller angle between A and B
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If
and
B (BX , B Y , BZ )
then
A B A XB X A YB Y A ZBZ
which is obtained by multiplying A and B component by
component
AB B A
A (B C ) A B A C
2
A A A A 2
eX ey ey ez eZ ex 0
A (A X , A Y , A Z , )
eX ex ey ey eZ ez 1
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The cross product of two vectors A and B is defined as
A B AB sin AB en
where en is a unit vector normal to the plane containing A
and B . The direction of en is determined using the righthand rule or the right-handed screw rule.
Direction of A B
and en using
(a) right-hand rule,
(b) right-handed
screw rule
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If
A (A X , A Y , A Z , ) and B (BX , B Y , BZ )
ex
A B Ax
Bx
ey
Ay
By
then
ez
Az
Bz
(A yBz A zB y )ex (A zBx A xBz )ey (A xBy A yBx )ez
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Note that the cross product has the following basic

properties:
(i) It is not commutative:
AB B A
It is anticommutative:
A B B A
(ii) It is not associative:
A (B C ) (A B ) C
(iii) It is distributive:
A (B C ) A B A C
(iv)
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AA 0
(sin 0)
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Also note that
ex ey ez
ey ez ex
ez ex ey
which are obtained in cyclic permutation and illustrated

below.
Cross product using cyclic permutation: (a) moving clockwise leads to positive results;
(b) moving counterclockwise leads to negative results
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Scalar and Vector Fields
A field can be defined as a function that specifies a particular

quantity everywhere in a region (e.g., temperature
distribution in a building), or as a spatial distribution of a
quantity, which may or may not be a function of time.
Scalar quantity scalar function of position scalar field
Vector quantity vector function of position vector field
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Line Integrals
A line integral of a vector field can be calculated whenever a
path has been specified through the field.
The line integral of the field V along the path P is defined as
P2
V dl V
P
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cos dl
P1
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Example.
The vector V is given by V Vo ex where V o
is a constant. Find the line integral

I
V dl
P
where the path P is the closed path below.
It is convenient to break the path P up into the four parts P 1,

P2, P3 , and P4.
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V Voex
For segment P1, dl dx ex

x xo
V dl
x 0
P1
Thus
xo
(Vo ex ) (dx ex ) Vo (ex ex )dx Vo (xo 0) Voxo

0
For segment P2,
dl dy e y
y yo
and
V dl (V e ) (dy e ) 0
o x
P2
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(since ex e y 0)
y 0
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For segment P3,
dl dxex (thedifferentiallengthdlpointstotheleft)
x xo
V dl (V e ) (dx e ) - V x
o
x 0
P3
V dl 0
P4
V x
o
P1
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P2
P3
0 Voxo 0 0 (conservat ive field)
P4
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Example.
Let the vector field V be given by V Vo ex.
Find the line integral of V over the semicircular path shown
below
Consider the contribution of
the path segment located at
the angle
dl dl cos ex
dl sin ey
Since 90
cos cos( 90) sin
sin sin( 90) cos
dl dl sin ex
dl cos ey
ad
{ (sin ex cosey )
dl
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180
(V e ) (sin e
o x
cos e y )ad
180
aVo [sin (ex ex ) cos (ex e y )]d

0
180
aVo sin d aVo (cos

0)
180
cos
0
2aVo
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Surface Integrals
Surface integration amounts to adding up normal
components of a vector field over a given surface S.
The flux of
a vector
field A
through
surface S
We break the surface S into small surface elements and

assign to each element a vector ds ds en
ds is equal to the area of the surface element
en is the unit vector normal (perpendicular) to the surface

element
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(If S is a closed surface, ds is by convention directed

outward)
Then we take the dot product of the vector field V at the
position of the surface element with vector ds . The result is
a differential scalar. The sum of these scalars over all the
surface elements is the surface integral.
V ds V
S
ds cos
V cos is the component of V in the direction of ds
(normal
to the surface). Therefore, the surface integral can be
viewed as the flow (or flux) of the vector field through the
surface S
(the net outward flux in the case of a closed surface).
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Example.
Let V be the radius vector
V x ex y ey z ez
The surface S is defined by
zc
d x d
d y d
The normal to the surface is directed in the +z direction

Find
V ds
S
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Surface S
V is not perpendicular to S, except at one point on the Z axis
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V ds V ds cos
S
x 2 y 2 c2
ds dxdy
cos
c
x 2 y 2 c2
V
cos

ds
x d y d
x d
c
2
2
2
V
ds
dydx c [d (d)]dx
S
2
2
2
x y c
x d y d
x d
2dc[d - (-d)] 4d2c
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Introduction to Differential Operators

An operator acts on a vector field at a point to produce
some function of the vector field. It is like a function of a
function.
If O is an operator acting on a function f(x) of the single
variable X , the result is written O[f(x)]; and means that
first f acts on X and then O acts on f.
Example.
f(x) = x2 and the operator O is (d/dx+2)
O[f(x)]=d/dx(x2 ) + 2(x2 ) = 2x +2(x2 ) = 2x(1+x)
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An operator acting on a vector field O[V(x, y, z)] can produce

either a scalar or a vector.
Example. O(A) A A (the length operator), V 3y ex z ey
Evaluate O(V) at the point x=1, y=2, z=-2
O(V)
V V 9y2 z2
40 6.32 scalar
Thus, O is a scalar operator acting on a vector field.

Example. O(A) A A A 2A , V 3y ex z ey ,
x=1, y=2, z=-2
O(V) (3y ex z ey ) 9y2 z2 6y ex 2z ey
(6 ex 2ey ) 40 12ex 4 ey
49.95 ex 16.65ey vector
Thus, O is a vector operator acting on a vector field.
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Vector fields are often specified in terms of their rectangular

components:
V(x, y, z) Vx (x, y, z)ex Vy (x, y, x)ey Vz (x, y, z)ez
where Vx , Vy , and Vz are three scalar features functions of
position. Operators can then be specified in terms of Vx ,
Vy , and Vz .
The divergence operator is defined as
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Vx
Vy
Vz
x
y
z
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Example V x2 ex y ey (2 x)ez
point x=1, y=-1, z=2.
Vx x2
Vx 2x
x
. Evaluate V at the
Vy y
Vz 2 x
Vy 1
Vz 0
y
z
V 2x 1 3
Clearly the divergence operator is a scalar operator.
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1.
2.
V - divergence, acts on a vector to produce a scalar
- gradient, acts on a scalar to produce a vector
3. V - curl, acts on a vector to produce a vector
4.
2V
-Laplacian, acts on a scalar to produce a scalar
Each of these will be defined in detail in the subsequent

sections.
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Coordinate Systems
In order to define the position of a point in space, an
appropriate coordinate system is needed. A considerable
amount of work and time may be saved by choosing a
coordinate system that best fits a given problem. A hard
problem in one coordinate system may turn out to be easy
in another system.
We will consider the Cartesian, the circular cylindrical, and
the spherical coordinate systems. All three are orthogonal
(the coordinates are mutually perpendicular).
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Cartesian coordinates (x,y,z)

The ranges of the coordinate variables are
x
y
z
A vector A in Cartesian coordinates can be written as
(A x , A y , A z )
or
A x ex A y ey A z ez
The intersection of three

orthogonal infinite places
(x=const, y= const, and z =
const)
defines point P.
Constant x, y and z surfaces
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dl dx ex dy ey dz ez
d dxdydz
Differential elements in the right handed Cartesian coordinate system
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dS dydz ax
dxdz ay
dxdy az
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Cylindrical Coordinates (, , z) .
- the radial distance from the z axis

0 2 - the azimuthal angle, measured from the xaxis in the xy plane
z - the same as in the Cartesian system.
A vector
in cylindrical coordinates can be written as
(A , A A z )
or
A e A e A z ez
2
A (A A A z )1 / 2
Cylindrical coordinates amount to a combination of

rectangular coordinates and polar coordinates.
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Relationship between (x,y,z) and (, , z)
Positions in the x-y plane are determined by the values of

and
y
x2 y2
tan1
zz
x
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Point P and unit vectors

in the cylindrical
coordinate system
e e ez
e ez e
ez e e
e e e e ez ez 1
e e e ez e e 0
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semi-infinite
plane with its
edge along
the z - axis
Constant , and z surfaces
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Metric coefficient
dl d ap da dz az
dv dddz
Differential elements in cylindrical coordinates
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dS ddza
ddza
dd az
Cylindrical
surface
( =const)
Planar surface
( = const)
Planar surface
( z =const)
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Spherical coordinates (r, , ) .
0r
014
2
43
Colatitude
( polarangle)
0 2
- the distance from the origin to the point P

- the angle between the z-axis and the radius
vector of P
- the same as the azimuthal angle in
cylindrical coordinates
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er e e
e e er
e er e
er er e e e e 1
Point P and unit vectors in spherical
coordinates
er e e e e er 0
A vector A in spherical coordinates may be

written as
(Ar , A A )
or
Ar er A e A e
2
A (Ar A A )1 / 2
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x y z
tan
x2 y2
z
tan1
tan-1
y
cos 1
x
x
x2 y2
z
cos1
z
r
x r sin cos
y r sin sin
z r cos
Relationships between space variables (x, y, z), (r, , ), and (, , z)
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Constant
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r, , and surfaces
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dl dr ar rda r sin d a
dv r 2 sin drdd
Differential elements in the spherical coordinate system
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dS r 2 sin d d ar
r sin dr d a
rdr d a
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POINTS TO REMEMBER
1.
2.
3.
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4.
5.
6.
7.
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