PC 2131
Electricity & Magnetism
Lec #2 Vector Calculus
Intro Recap : vector algebra, calculus Gradient, Divergence, Curl
Electrostatics in brief
We start with electrostatics; its theoretical ideas and mathematical techniques will be used again. Electrostatics: the charge must be at rest or changes slowly in time quasi-static.
r
O r
F is the force that charge feels due to charge .
Coulombs law
1 = 40 2
Force action at a distance
Force & Field
Action at a distance
Field
Field is the modern perspective of force
And Vector Calculus is the mother-language of fields
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Electric fields: why do we care?
= lim 0 = 1 40 2
It is very useful to find the force in two stages by introducing the concept of the electric field E. Although introduced in this way as a mathematical convenience, the electric field has important physical significance on its own, and is not merely a mathematical construct.
The electric field is a vector field and how to measure variation of field needs vector calculus
Recap: vector algebra
Normal vector Notations
vector unit vector scalar boldface hat plainface E, r , ,
Basic vector operations + +
+ = + ( + ) + = + ( + ) = + ()
Component form in Cartesian coordinates
Unit vectors in Cartesian coordinates
A vector A in term of basis vectors
Adding vectors
= + +
+ = + + + + + = ( + ) + ( + ) + ( + )
Multiplying with a scalar = ( ) + ( ) + ( )
Dot product
Geometrical Interpretation
Vector component
cos
parallel = perpendicular = 0 = , = 2 + = +
= = = 1
= = = 0 = + + + +
= + +
Using suffix notation =
3 =1
(Note: here i is not a unit vector; it 8 corresponds to x, y, z)
Cross product
Geometrical Interpretation
q
B
sin
= 0 = ( ) + = ( ) + ( )
Vector component
right-hand rule
= = = 0 = = , = = , = =
= =
try to complete this !
Using suffix notation ( ) = , where (ijk) is a cyclic permutation of (123)
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Vector Identities
=
=
= ( )( )
Levi-Civita Tensor
=
3 3
( ) =
=1 =1
Levi-Civita Antisymmetric Tensor = 0, unless i, j and k are all different 123 = 231 = 312 = 1 213 = 132 = 321 = 1
Using Einstein summation convention
(Any repeated suffix is summed from 1 to 3)
3 3
( ) =
=1 =1
( ) = =
I admire the elegance of your method of computation; it must be nice to ride through these fields upon the horse of true mathematics while the like of us have to make our way laboriously on foot. Albert Einstein
=
=1
= =
Try and compare with previous results
Exercise #1
Prove this identity Left side: = =
( ) =
Right side:
( ) =
And because
= = +
LHS=RHS
Exercise #2
Prove this identity Left side: = ( ) =
=
=
( ) =
Right side: =
Exercise #2
Prove this identity Left side: = ( ) =
=
=
( ) =
Identity of the Levi-Civita tensor: = = 1 0 if = if Kronecker delta tensor =
Right side: =
So LHS= = = =RHS
Recap: vector calculus
Variation of a scalar field:
Gradient
Variation of a vector field: (A vector field can have two different types of variation) Divergence
Curl
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Gradient
How a scalar field varies (we will use later e.g. for potential) A function with one variable () The derivative =
indicates how fast f varies by x
Proportionality factor/ gradient
Gradient
A function with three variable (, , )
The derivative indicates how fast the function varies which depends on the direction of movement =
In form of a dot product
+ +
+ +
+ +
The differential operator (vector) ( or del)
Vector Operator
+ +
Multiplying normal vectors:
Three ways the operator del can act: On a scalar function T: On a vector v via the dot product: (The gradient)
(The divergence)
On a vector v via the cross product: (The Curl)
The Divergence
Variation of a vector field along its direction
How much the vector v diverges from the point in question =
+ + + +
In Levi-Civita tensor: =
+ +
Examples:
In class problem #1
Consider the vector function = . Calculate the divergence and interpret the result geometrically.
Answers: Assuming > 0 The divergence at arbitrary point r :
F(r)
= =
The net flux of F at r The flow further away from origin is larger In the region < 0 the divergence is also positive (flux away from r)
The Curl
Variation of a vector field across its direction How much the vector v curls around the point in question = = + +
In Levi-Civita tensor: ( ) = = Examples:
In Class Problem #2
Consider the vector function = . Calculate the curl and interpret the result geometrically.
Answers: Assuming > 0 The curl at arbitrary point r :
G(r)
= =
Circulation of G around r
Additional exercises
Using Levi-Civita tensor, prove ! = 0
( ) =
= 0
( ) = =
2 2
= =
Recap: Curvilinear Coordinates
Cylindrical Coordinates
= cos = sin =
Unit vectors:
, ,
Infinitesimal displacement:
= + +
Volume element : =
Spherical Polar Coordinates
radial polar Infinitesimal displacement:
= sin
azhimutal
Volume element :
= sin cos = sin sin = cos
Unit vectors: , ,
= = 2 sin
Summary & Outlook
What we have learnt: Basic vector operations Dot and Cross products Vector identities and suffix notations Gradient, Divergence & Curl
What next: We will apply to electrostatics (Electric fields)