MATHEMATICAL TRIPOS Part IB ELECTROMAGNETISM Corrections and comments by email to ajm@damtp.cam.ac.uk VECTOR CALCULUS REVISION 1.

Vector Algebra in R3 Sux notation. Use of ij and ijk . (ai represents a, etc.) kk = 3

A. J. Macfarlane Lent 2004

ij aj = ai ,
Copyright 2004 University of Cambridge. Not to be quoted or reproduced without permission.

ijk pqk = ip jq iq jp ,

ijk pjk = 2ip

a b = ai ij bj = aj bj , 2. Vector Calculus in R3

(a b)k = kpq ap bq

=i where x = r1 , e1 = i, etc.

+j +k = x y z

ei
i=1

, ri

Let r or ri denote the position vector, and r = |r|. Then = r/r denes a unit vector in r the direction of r. We note a key result (1), and some consequences (for r = 0) i rj = ij ri , r 1 r ri 1 r 2 ri , r3 (1)

i r =

or r = ; r

(2a)

2 ri rj

3ri rj r2 ij , r5

1 r

=0

(2b)

Let a(r), b(r) and (r) denote vector, vector and scalar elds. Then ()k = k , a = j aj , ( a)k = kpq ap bq (3)

Sometimes one writes grad = , div a = a, and curl a = a. 3. Vector Calculus identities in R3 (a) = a + a (4)

(a) = a a 1

(5)

 ab = b a a b

(6)

There are similar but more complicated identities for (ab) and for (a b). The simple examples of these which crop up, often when one of the vector elds involved is actually constant, are best handled by direct sux notation methods. 2 = k k (7)

= 0,
Copyright 2004 University of Cambridge. Not to be quoted or reproduced without permission.

( a) = () a = 0

(8)

(a) = ( a) 2 a

(9)

A warning (that may not be needed in the context of the present course). In Cartesian coordinates we have (2 a)j = 2 aj using 2 = k k . But the same does not hold in other coordinate systems because the unit vectors in the explicit expression for a in terms of the corresponding unit vectors as basis, are coordinate dependent. For all coordinate systems other than Cartesians, one uses (9) in the form 2 a = ( a) ( a). Each step on the right-hand side here is well-dened in any system of curvilinear coordinates. See Sec. 5 below. 4. Integral Theorems Divergence Theorem in R3 F(r) is a vector eld dened in V R3 ; V has surface S = V , and dS denotes a surface element parallel to the outward unit normal n. (n2 = 1.) FdV =
V S

F dS =
S

n FdS

(10)

Stokess Theorem in R3 S is an open orientable surface (no Mbius bands), bounded by a closed curve C = S, o and lies entirely within a simply connected volume within which F(r) is dened and dierentiable. C is traversed in an anticlockwise direction with respect to the unit normal n, to S. n F dS =
S C

F dr

(11)

Corollaries to these two theorems arise in various ways, e.g. by writing F = c where c is an arbitrary constant vector, or F = c a(r). 5. Expressions for , A, A, and 2 in curvilinear coordinates Cylindrical polars 2

Coordinates (s, , z) :

x = r cos ,

y = r sin ,

z = z. (12)

1 , , s s z

A=

1 A Az 1 (sAs ) + + s s s z

(13)

A =

1 Az A As Az 1 1 As , , (sA ) s z z s s s s 2 = 1 s s s s + 1 2 2 + s2 2 z 2

(14)

(15)

Copyright 2004 University of Cambridge. Not to be quoted or reproduced without permission.

Let es , e , and ez be the unit vectors respectively in the direction of increase of s (at constant , z), (at constant z, s), and z (at constant s, ). Then these are a right handed orthonormal triad. Also = es 1 + e + ez . s s z (16)

The unit vectors of cylindrical polars are related to the Cartesian unit vectors i, j, and k, via es = cos i + sin j, Spherical polars Coordinates (r, , ) : = x = r sin cos , 1 1 , , r r rsin y = r sin sin , = er z = r cos . (18) e = sin i + cos j, ez = k. (17)

1 1 + e + e r r rsin

A= 1 rsin

1 1 A 1 2 (r Ar ) + (sinA ) + r2 r rsin rsin A (sinA ) , 1 r 1 Ar (rA ) , sin r Ar 1 (rA ) r r + 2 1 r2 sin2 2

(19)

A =

(20)

2 =

1 r2 r
V V

r2

1 r2 sin

sin

(21)

6. Integration over all space V Cartesians:

V

d =

dx dy dz.
0

Cylindrical polars : Spherical polars :

d =

s ds

2 0

dz. d, and (22)

d =

2 r dr 0 0

sin d
0

2 0

d f (r) = 4
V

f (r)r2 dr.

Revision examples These questions cover mainly straightforward material from the IA Vector Calculus course. Some of the questions contain reslts that will be used in the lecture course. The examples are not intended to occupy supervision time. 1. Show that a(bc) + b(ca) + c(ab) = 0. 2. Let a be a constant vector. Use sux notation methods to check these identities. (r a) = a, (a )r = a

Copyright 2004 University of Cambridge. Not to be quoted or reproduced without permission.

(a F) = a F (a )F,

and

hence (a r) = 2a

(r a) 1 )= |r a| |r a|3 3ri rj r2 ij 1 = r r5

i j 3. In the notation of (17), show that

es = e ,

e = es .

4. Show (using an arbitrary constant vector a for (ii)) that: (i)

S

rn r.dS =

(n + 3)rn dV ,

(ii)

rn dS =

nrn2 rdV

5. Let S1 be a closed surface entirely contained within a closed surface S2 . Let V be the volume bounded by S1 and S2 . If a = 0 throughout V , show that S1 dS a = S2 dS a. 6. Let a be an arbitrary constant vector. Use Stokess theorem and the fourth result from 2 to show that 1 dS, r dr = a a 2
C=S S

so that the area of plane C, with n the unit normal to the plane, is given by Sn =
1 2 C=S

r dr.

7. If B = (0, 0, B) in cartesians with B constant, verify that the following possible vector potentials yield B = A: (i) in cartesians, A = (0, xB, 0) (ii) in cylindrical polars, A = (0, 1 B s, 0) 2 (iii) in spherical polars, A = (0, 0, 1 B rsin) 2 [ For (iii), from a decent diagram of spherical polars, nd k = er cos e sin . ] 8. For = Ez = Er cos calculate E = in Cartesian and spherical polar coordinates, to which applies the hint to 7. 4