EM 1 Notes Chapter 1 Summer 15 6 2012 PDF

Dr.
Naser Abu-Zaid; Lecture notes on Electromagnetic Theory(1); Ref:Engineering

Electromagnetics; William Hayt& John Buck, 7th & 8th editions; 2012

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Preliminary material
(mathematical
requirements)

Vector: A quantity with both magnitude and direction. (Force N 10 = F to the
east).
Scalar:A quantity that does not posses direction, Real or complex. (Temperature
o
T 20 = .
Vector addition:
1) Parallelogram:

2) Head to Tail:

A
B
A
B
B A +
A
B
A
B
B A +
Vector Analysis
Vector algebra:
Addition; Subtraction;
Multiplication
Vector Calculus:
Differentiation; Integration
Dr. Naser Abu-Zaid; Lecture notes on Electromagnetic Theory(1); Ref:Engineering

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Vector Subtraction:

Multiplication by scalar: A B k =
A B 2 =

A B 5 0. =

A B 3 =

Commulative law: A B B A + = +
Associative law: ( ) ( ) C B A C B A + + = + +
Equal vectors: B A = if 0 B A = (Both have same length and direction)
Add or subtract vector fields which are defined at the same point.
If non vector fields are considered then vectors are added or subtracted
which are not defined at same point (By shifting them)

A
A 3
A 5 0.
A
A
A 2
A
B
A
B
B
A
B
B
B A

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THE RECTANGULAR COORDINATE SYSTEM

z , y , x are coordinate
variables (axis) which are
mutually perpendicular.

A point is located by its y , x
and z coordinates, or as the
intersection of three constant
surfaces (planes in this case)

x
y
z
( ) 3 2 1 , , P
1 = x
2 = y
3 = z
x
y
z
Right Handed System
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x
y
z
( ) 3 2 1 , , P
1 = x
Surface
(plane)
2 = y
surface
(plane)
3 = z
surface
(plane)
Three mutually perpendicular surfaces intersect at a common point

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Increasing each coordinate variable by a differential amount dx , dy ,
and dz , one obtains a parallelepiped.

Differential volume: dxdydz dv =
x
y
z
( ) z , y , x P
dz
dx
dy
( ) dz z , dy y , dx x ' P + + +

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Differential Surfaces: Six planes with dierential areas dxdy ds = ; dzdy ds = ;
dxdz ds =
Differential length: from P to P ( ) ( ) ( )
2 2 2
dz dy dx dl + + =

VECTOR COMPONENTS AND UNIT VECTORS

A general vector r may be written as the sum of three vectors;

, , B A and C arevector componentswith constant directions.
Unit vectors
x
a ,
y
a , and
z
a directed along x, y, and z respectively with unity
length and no dimensions.
x
y
z
( ) 3 2 1 , , P
1 = x
2 = y
3 = z
r
A
B
C
Projection of
r into x-axis
Projection of
r into z-axis
Projection of
r into y-axis
C B A r + + =

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So, the vector C B A r + + = may be written in terms of unit vectors as:
48 4 7 6 48 4 7 6
components scalar components vector
z y x
C , B , A , ,
C B A
C B A
a a a C B A r + + = + + =

Where:
A is the directed length or signed magnitude of A .
B is the directed length or signed magnitude of B.
C is the directed length or signed magnitude of C .
As a simple exercise, let
p
r (Position vector) point from origin (0,0,0) to P(1,2,3),
then
z y x P
a a a r 3 2 1 + + =

Scalar components of
P
r
are:
1 = = A r
Px
;
2 = = B r
Py
;
3 = = C r
Pz
.
Vector components of
P
r
are:
x
y
z
x
a

x
a

x
a

x
a

y
a
y
a
y
a
y
a
z
a
z
a
z
a

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x Px
a A r 1 = =
;
y Py
a B r 2 = =
;
z Pz
a C r 3 = =
.
If Q(2,-2,1) then
z y x Q
a a a r + = 2 2

And the vector directed from P to Q,
P Q PQ
r r r =

(displacement vector)
which is given by
( ) ( ) ( )
z y x z y x PQ
a a a a a a r 2 4 3 1 2 2 1 2 = + + =

The vector
P
r
is termed position vector which is directed from the origin toward
the point in quesion.

x
y
z
Q
r
P
r
PO
r
P
r

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Other types of vectors (vector fields such as Force vector) are denoted:
z z y y x x
F F F a a a F + + =

Where
, F , F
y x z
F
are scalar components, and
z z y y x x
F , F , F a a a
are the
vector components.
The magnitude of a vector
z z y y x x
B B B a a a B + + =
is;
( ) ( ) ( )
2 2 2
z y x
B B B B + + = = B

A unit vector in the direction of B is;
( ) ( ) ( )
2 2 2
z y x
z z y y x x
B
B B B
B B B
+ +
+ +
= =
a a a
B
B
a

Let
z z y y x x
B B B a a a B + + =
and
z z y y x x
A A A a a a A + + =
, then
( ) ( ) ( )
z z z y y y x x x
B A B A B A a a a B A + + + + + = +

( ) ( ) ( )
z z z y y y x x x
B A B A B A a a a B A + + =

Ex:Specify the unit vector extending from the origin toward the point G(2,-2,-1).
Ex: Given M(-1,2,1), N(3,-3,0) and P(-2,-3,-4) Find:
(a)
MN
R
(b)
MP MN
R R +
(c)
M
r
(d)
MP
a
(e)
N P
r r 3 2

B
B
a


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THE VECTOR FIELD AND SCALAR FIELD
Vector Field: vector function of a position vector r . It has a magnitude and
direction at each point in space.
( ) ( ) ( ) ( )
( ) ( ) ( )
z z y y x x
z z y y x x
z , y , x v z , y , x v z , y , x v
v v v
a a a
a r a r a r r v
+ + =
+ + =

Velocity or air flow in a pipe

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Scalar field: A scalar function of a position vector r . Temperature is an
example ( ) ( ) | | z , y , x T T = r which has a scalar value at each point in space.

Ex:A vector field is expressed as
( ) ( ) ( )
( ) ( ) ( ) | |
z y x
z y x
z y x
a a a S 1 2 1
1 2 1
125
2 2 2
+ + +
+ + +
=
(a) Is this a scalar or vector field?
(b) Evaluate S @ ( ) 3 4 2 , , P .
(c) Determine a unit vector that gives the direction of S @ ( ) 3 4 2 , , P .
(d) Specify the surface ( ) z , y , x f on which 1 = S .

1
T
2
T
3
T

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THE DOT PRODUCT
( )
AB
cos u B A B A = -
Which results in a scalar value, and
AB
u is the smaller angle between A and B.

A B B A - = - since ( ) ( )
AB AB
cos cos u u A B B A =
( ) ( )( )( ) 1 1 1 1 0 = = = - cos
x x x x
a a a a
( ) ( )( )( ) 1 1 1 1 0 = = = - cos
y y y y
a a a a
( ) ( )( )( ) 1 1 1 1 0 = = = - cos
z z z z
a a a a
( ) ( )( )( )
x y
o
y x y x
cos a a a a a a - = = = = - 0 0 1 1 90
( ) ( )( )( )
x z
o
z x z x
cos a a a a a a - = = = = - 0 0 1 1 90
( ) ( )( )( )
y z
o
z y z y
cos a a a a a a - = = = = - 0 0 1 1 90
A
B
Projection of A into B
( )
AB
cos u A =
Projection of B into A
( )
AB
cos u B =
AB
u

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Let
z z y y x x
B B B a a a B + + = and
z z y y x x
A A A a a a A + + = , then
z z y y x x
B A B A B A + + = - B A
A A A A A - = = = + + = - A A A A A
z y x
2
2
2 2 2

The scalar component of B in the direction of an arbitrary unit vector
|
a is given by
|
a B -

The vector component of B in the direction of an arbitrary unit vector
|
a is given by ( )
| |
a a B - .
B
Scalar Projection of B into
|
a
( ) u cos B =
|
a B - =
u
( )
( ) u
u
| |
cos
cos
B
a B a B
=
= -

|
a


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Distributive property: ( ) C A B A C B A - + - = + -
Ex: Given
z y x
x . y a a a E 3 5 2 + =
and Q(4,5,2) Find:
(a) E @ Q.
(b) The scalar component of E @ Q in the direction of
( )
z y x n
a a a a 2 2
3
1
+ =
.
(c) The vector component of E @ Q in the direction of
( )
z y x n
a a a a 2 2
3
1
+ =
.
(d) The angle
Ea
u between
( )
Q
r E
and
n
a
.

B
Vector Projection of B into
|
a
{ }
| |
a a B - =
u
|
a


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THE CROSS PRODUCT
( )
n AB
a B A B A sin u =
results in a vector
( )
AB
u sin B A B A =
n
of Direction a B A
n
a is a unit vector normal to the plane containing A and B. Since
there are two possible s '
n
a , we use the Right Hand Rule (RHR) to
determine the direction of B A .
Cross product clearly results in a vector, and
AB
u is the smaller angle
between A and B.

Properties:
A B B A =
( ) C A B A C B A + = +
A
B
( )
AB
sin u B
which is the height
Of the parallelogram
AB
u
B A
A B B A =
( )
AB
sin u B A
Is the area of the
parallelogram
n
a


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( ) ( ) C B A C B A =
( ) 0 0 = =
n x x x x
sin a a a a a

( ) 0 0 = =
n y y y y
sin a a a a a
( ) 0 0 = =
n z z z z
sin a a a a a
( ) ( )( )( )
z n n
o
y x y x
sin a a a a a a a = = = - 1 1 1 90
( ) ( )( )( )
y n n
o
z x z x
sin a a a a a a a = = = - 1 1 1 90
( ) ( )( )( )
z n n
o
x y x y
sin a a a a a a a = = = - 1 1 1 90
( ) ( )( )( )
x n n
o
z y z y
sin a a a a a a a = = = - 1 1 1 90
( ) ( )( )( )
y n n
o
x z x z
sin a a a a a a a = = = - 1 1 1 90
( ) ( )( )( )
x n n
o
y z y z
sin a a a a a a a = = = - 1 1 1 90
Let
z z y y x x
B B B a a a B + + = and
z z y y x x
A A A a a a A + + = , then
( )
( ) ( ) ( )
z x y y x y x z z x x y z z y
z y x
z y x
z y x
n AB
B A B A B A B A B A B A
B B B
A A A

sin
a a a
a a a
a B A B A
+ =
= = u

x
y
z
RHR
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CIRCULAR CYLINDRICAL COORDINATES
z , , are coordinate variables
which are mutually
perpendicular.
Remember polar coordinates
(The 2D version)
( ) cos x =
( ) sin y =
is measured from x-axis
toward y-axis.

Including the z-coordinate, we obtain the cylindrical coordinates (3D
version)

A point is
located by its
, and z
coordinates.
Or as the
intersection of
three mutually
orthogonal
surfaces.

x
y
z
1 = x
2 = y
3 = z
) z , . , ( P
or ) z , y , x ( P
o
3 4 63 5
3 2 1
= = =
= = =

x
y
z
x
y
) , ( P
or ) y , x ( P



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1) Infinitely long cylinder of radius
1
= .
2) Semi-infinite plane of constant angle
1
= .
3) Infinite plane of constant elevation
1
z z = .

x
y
z
( )
1 1 1
z , , P
1
=
Surface
(plane)
1
=
surface
(cylinder)
1
z z =
surface
(plane)
1
1

1
z
a
z
a

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The three unit vectors
z
a ,
a , and

a are in the direction of increasing
variables and are perpendicular to the surface at which the
coordinate variable is constant.

x
y
z
x
y
a

a
z
a

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Note that in Cartesian coordinates, unit vectors are not functions of
coordinate variables. But in cylindrical coordinates
a , and

a are
functions of .

The cylindrical coordinate system is Right Handed:
z
a a a =

.
x
y
z
1
1

2

2

x
a
y
a y
a
x
a
x
y
z
1
1

1
a
1
a
2

2

2
a
2
a

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Increasing each coordinate variable by a differential amount d , d ,
and dz , one obtains:

Note that and z are lengths, but is an angle which requires a
metric coefficient to convert it to length.
{
d
t coefficien
metric
length arc =

x
y
z

d
d
length arc d =
area d d =

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Differential volume: dz d d dv =
Differential Surfaces: Six planes with dierential areas shown in the
figure above. (Try it!)

x
y
z
d
d
dz
d
dz d ds =
dz d ds =
d d ds =

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Transformations between Cylindrical and Cartesian Coordinates

From cylindrical to cart:
( ) cos x =
( ) sin y =
z z =
From cart. To cyl.:
2 2
y x + =
|
.
|
\
|
=

x
y
tan
1

z z =

x
y
z
1
x x =
1
y y =
1
z z =
1

1


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Consider a vector in rectangular coordinates;
z z y y x x
E E E a a a E + + =

Wishing to write Ein cylindrical coordinates:
z z
E E E a a a E + + =

From the dot product:

a E E - =

a E E - =

z z
E a E- =

( )

a a a a E E E E
z z y y x x
- + + =

43 4 2 1 43 4 2 1 43 4 2 1
?
E
?
E
?
E
z z y y x x
a a a a a a - + - + - =

( )

a a a a E E E E
z z y y x x
- + + =

43 4 2 1 43 4 2 1 43 4 2 1
?
E
?
E
?
E
z z y y x x
a a a a a a - + - + - =

( )
z z z y y x x z
E E E E a a a a - + + =

43 4 2 1
43 4 2 1
43 4 2 1
?
E
?
E
?
E
z z z z y y z x x
a a a a a a - + - + - =


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Clearly:
( ) ( )

cos cos
x x
= = - a a a a

( ) ( )

sin cos
o
y y
= = - 90 a a a a

( ) ( )

sin cos
o
x x
= + = - 90 a a a a

( ) ( )

cos cos
y y
= = - a a a a

( ) 0 90 = = -
o
z z
cos

a a a a

( ) 0 90 = = -
o
z z
cos

a a a a

So:
( ) ( )
sin E cos E E
y x
+ =

( ) ( )
cos E sin E E
y x
+ =

Or in matrix form
( ) ( )
( ) ( )
(
=
(
y
x
E
E
cos sin
sin cos
E
E

x
y
z
x
y
a
z
a
x
a
y
a

0
90


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And, the inverse relation is:
( ) ( )
( ) ( )
(

=
(

E
E
cos sin
sin cos
E
E
y
x

Note that the story is not finished here, after transforming the
components; you should also transform the coordinate variables.


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THE SPHERICAL COORDINATE SYSTEM

u , , r are
coordinate
variables.
is
measured
from x-axis
toward y-axis,
and u is
measured
from the z-
axis toward
the xy plane.

A genral point is loacated by its coordinate variables u , , r , or as the
intersection of three mutually perpendicular surfaces.

x
y
z
1 = x
2 = y
3 = z
( )
( )
o o
. , . , r P
or z , y , x P
4 63 69 35 14
3 2 1
= = =
= = =
u

r

u

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1) Sphere of radius
1
r r = , centered at the origin.
2) Semi-infinite plane of constant angle
1
= with its axis aligned
with z-axis.
3) Right angular cone with its apex centered at the origin, and it
axis aligned with z-axis, and a cone angle
1
u u = .
The three unit vectors
r
a ,
u
a , and
a are in the direction of

increasing variables and are perpendicular to the surface at which
the coordinate variable is constant.

x
y
z
( )
1 1 1
z , , P
1
=
Surface
(plane)
1
r r =
surface
(sphere)
1
u u =
surface
(cone)
r
a
a
u
a

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x
y
z
( )
1 1 1
u , , r P
1
r
a

u
a
1
u
1
r
a

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Note that in spherical coordinates, unit vectors are functions of
coordinate variables.
a ,
u
a and
r
a are functions of and u .

x
y
z
x
y
a
z
a
plane xy
z

1
u
r
1
u
a
1
r
a
2
r
a
2
u
a
r
2
u
x
y
z
x
y
a
z
a
plane xy
z
z

u
r
u
a
r
a

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The sphyrical coordinate system is Right Handed:
u
a a a

=
r .
Increasing each coordinate variable by a differential amount dr , u d ,
and d , one obtains:

x
y
z
1
1

2

2

x
a
y
a y
a
x
a
x
y
z
1
1

1
a
1
a
2

2

2
a
2
a

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Note that r is length, but and are angles which requires a metric
coefficient to convert them to lengths.
{
u d r
t coefficien
metric
= length arc

u d r
t coefficien
metric
3 2 1
sin length arc =

Differential volume: u u d d dr r dv sin
2
=
Differential Surfaces: Six surfaces with differential areas shown in the
figure. (Try itttttttttttt!)

Transformations between Spherical and Cylindrical Coordinates
From spherical to cart:
( ) ( ) u cos sin r x =
( ) ( ) u sin sin r y =
( ) u cos r z =
From cart. To spherical:
2 2 2
z y x r + + = ; ( )

|
.
|
\
|
=

x
y
1
tan

x
y
z
1
x x =
1
y y =
1
z z =
1

1
u
1
1
r

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Consider a vector in rectangular coordinates;
z z y y x x
E E E a a a E + + =

Wishing to write Ein spherical coordinates:
u u
a a a E E E E
r r
+ + =

From the dot product:
r r
E a E - =

u u
a E - = E

a E - = E

( )
r z z y y x x r
E E E E a a a a - + + =

3 2 1
3 2 1
3 2 1
?

?

?

r z z r y y r x x
E E E a a a a a a - + - + - =

( )

a a a a - + + =
z z y y x x
E E E E

3 2 1 3 2 1 3 2 1
?

?

?

a a a a a a - + - + - =
z z y y x x
E E E

( )
u u
a a a a - + + =
z z y y x x
E E E E

3 2 1
3 2 1
3 2 1
?

?

?

u u u
a a a a a a - + - + - =
z z y y x x
E E E


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From figure
( ) ( ) u u cos cos = = -
r z r z
a a a a

( ) ( ) u u

sin 90 cos = = -
o
r r
a a a a

( ) ( ) u u
u u
sin 90 cos = + = -
o
z z
a a a a

And the rest is left to you as an exercise!
So:
( ) ( ) ( ) ( ) ( ) u u u cos sin sin cos sin
z y x r
E E E E + + =

Note that, after transforming the components; you should also
transform the coordinate variables.

plane xy
z

z
u
r
u
a
r
a
z
a
a
u
u
0
90
u

C
h
a
p
t
e
r

O
n
e

35

EM 1 Notes Chapter 1 Summer 15 6 2012 PDF

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Dr.

Naser Abu-Zaid; Lecture notes on Electromagnetic Theory(1); Ref:Engineering

Dr. Naser Abu-Zaid; Lecture notes on Electromagnetic Theory(1); Ref:Engineering

Dr. Naser Abu-Zaid; Lecture notes on Electromagnetic Theory(1); Ref:Engineering

Dr. Naser Abu-Zaid; Lecture notes on Electromagnetic Theory(1); Ref:Engineering

a are in the direction of

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