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)