Lecture S

Mathematical Foundations of Electromagnetic Field Theory (MFEFT)
Dr.-Ing. Rene Marklein

marklein@uni-kassel.de
FG Electromagnetic Theory
FB 16 Electrical Engineering / Computer Science
University of Kassel
WS 2007/2008
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundations of EFT (MFEFT) WS 2007/2008 1 / 115
FB16-2508 Mathematical Foundations of Electromagnetic Field Theory
(MFEFT) - Lectures / Exercises
Lectures
Dr.-Ing. Rene Marklein
Tu 14.00-15.30, Room 2104/WA71, Start: 23.10.2007
Exercises
Prashanth Kumar Chinta, M.Sc.
Th 11.30-13.00, every 2nd week, Room 2104/WA71, Start: 01.11.2007
MFEFT - Outline
1
Introduction
2
Vector and Tensor Algebra
3
Vector and Tensor Analysis
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Lecture 1: Introduction; Vector- and Tensor Algebra; Position Vector and
Coordinate Systems
Introduction
MFEFT - Lecture 1
1
Introduction
2
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
Vectors: Scalar Product; Vector Product; Dyadic Product
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Introduction
Introduction
In the following lecture series we are going to discuss the mathematical basis of
electromagnetic elds and waves as solutions of the theory of James Clerk Maxwell.
We do not claim completeness!
We provide the essential results and facts without detailed proofs.
We try to provide a sketch of the derivations and explain, illustrate, and discuss the
mathematical relations.
We follow in principle the rst book chapter of the German manuscript by Karl-Jorg
Langenberg [2002]:
[Langenberg, 2002] K.-J. Langenberg: Theory of Electromagnetic Waves. Manuskript,
Universitat Kassel, Kassel, 2002 (in German).
You can get a copy of the CD with this Manuscript!
Contact: Dr.-Ing. Rene Marklein in his oce or wire e-mail: marklein@uni-kassel.de
Introduction
Introduction
Langenberg [2002]:
Introduction
Introduction
Langenberg [2002]:
Introduction
Introduction
Langenberg [2002]:
Introduction
Introduction
Langenberg [2002]:
Introduction
Introduction
Our idol is the mathematician Gustav Doetsch, who wrote books for engineers about the
Fourier and Laplace transform as well as the theory of distributions. We point out the book
chapter [Doetsch, 1967]:
[Doetsch, 1967] G. Doetsch: Funktionaltransformationen. In: R. Sauer, I. Szabo (Eds.):
Mathematische Hilfsmittel des Ingenieurs, Teil I . Springer-Verlag, Berlin, 1967.
We are going to follow the books:
Vector and Tensor Algebra by Hollis Chen [1983]:
[Chen, 1983] H.C. Chen: Theory of Electromagnetic Waves. McGraw-Hill, New York,
1983.
Functional Theory by Heinrich Behnke and Friedrich Sommer [Behnke & Sommer, 1965]:
[Behnke & Sommer, 1965] H. Behnke, F. Sommer: Theorie der analytischen
Funktionen einer komplexen Veranderlichen. Springer-Verlag, Berlin 1965.
Vector and Tensor Analysis by the 4th Volume of the Mathematics for Engineers by K. Burg,
H. Haf und F. Wille (BHW) Burg et al.[1990]:
[Burg et al., 1990] K. Burg, H. Haf, F. Wille: Hohere Mathematik f ur Ingenieure, Band
IV: Vektoranalysis und Funktionentheorie. B.G. Teubner, Stuttgart 1990.
The main features about Special Functions are derived from the Book Theory of Ordinary
Dierential Equations in the Complex Domain by Smirnow [1959]:
[Smirnow, 1959] W.I. Smirnow: Lehrgang der hoheren Mathematik, Teil III,2. VEB
Deutscher Verlag der Wissenschaften, Berlin 1959.
Introduction
Introduction
1983.
Introduction
Introduction
1983.
Introduction
Introduction
1983.
Introduction
Introduction
1983.
Introduction
Introduction
1983.
MFEFT - Lecture 1
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Electromagnetic Fields
Electromagnetic Fields; Vector Fields; Maxwells Equations
Electromagnetic Fields are Vector Fields, which are a function of Time t and the
three-dimensional Position Vector R; Maxwells Equations
E(R, t) =
B(R, t)
t
J
m
(R, t)
H(R, t) =
D(R, t)
t
+J
e
(R, t)
D(R, t) =
e
(R, t)
B(R, t) =
m
(R, t)
describing the Physics of their interaction through the change in Time and Space, this requires
Mathematical Tools to describe such changes of Vector Fields and their Algebraic Interrelation.
Electromagnetic Fields
Electromagnetic Fields; Vector Fields; Maxwells Equations
Electromagnetic Fields are Vector Fields, which are a function of Time t and the
three-dimensional Position Vector R; Maxwells Equations
E(R, t) =
B(R, t)
t
J
m
(R, t)
H(R, t) =
D(R, t)
t
+J
e
(R, t)
D(R, t) =
e
(R, t)
B(R, t) =
m
(R, t)
describing the Physics of their interaction through the change in Time and Space, this requires
Mathematical Tools to describe such changes of Vector Fields and their Algebraic Interrelation.
Literature
Further literature of the topic vector/tensor algebra and analysis
[Tai, 1992] C. T. Tai: Generalized Vector and Dyadic Analysis. IEEE Press, New York 1992
[Bourne & Kendall, 1988] D. E. Bourne, P. C. Kendall: Vektoranalysis. Teubner
Studienb ucher, B. G. Teubner, Stuttgart 1988
[Teichmann, 1963] H. Teichmann: Physikalische Anwendungen der Vektor- und
Tensorrechnung. Bibliographisches Institut, Mannheim 1963
[Fetzer, 1978] V. Fetzer: Mathematik f ur Elektrotechniker, Band 1. H uthig Verlag,
Heidelberg 1978
[Spiegel, 1977] M. S. Spiegel: Vektoranalysis. Schaums Outline, McGraw-Hill, Hamburg,
1977.
[Morse & Feshbach, 1953] P. M. Morse, H. Feshbach: Methods of Theoretical Physics, Part
I and Part II. McGraw-Hill, New York, 1953.
Vector and Tensor Algebra Position Vector and Coordinate Systems
MFEFT - Lecture 1
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Cartesian Coordinate System
Cartesian Coordinates; Unit Vectors, Magnitude of the Position Vector
x, y, z Coordinate Axes as per Heinrich Hertz
[Hertz, 1890] (see Fig. ):
Wir nehmen an, dass das benutzte
Coordinatensystem der x, y, z von solcher
Beschaenheit ist, dass, wenn die Richtung der
positiven x von uns aus nach vorn, die der positiven
z von uns aus nach oben geht, alsdann die y von
links nach rechts hin wachsen.
English translation: We assume that the used
coordinate system of x, y, z is in such a way, that, if
the direction of the positive x points from us to the
front, the positive z points from us upwards, and y
increases from left to right.
[Hertz, 1890] H. R. Hertz:

Uber die
Grundgleichungen der Elektrodynamik f ur
ruhende Korper. Nachrichten von der
Koniglichen Gesellschaft der Wissenschaften
und der Georg-August-Universitat zu
Gottingen, pp. 106-149; nachgedruckt in
Annalen der Physik, Vol. 40, pp. 577-624,
1890.
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................
O
x
y
z
Figure 1: Cartesian Coordinates of the
spatial point P and the related position
vector
Cartesian Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: x, y, z
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
in the limits < x < ,
< y < , < z <
Orthonormal Unit Vectors: e
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P,
the magnitude of the position vector is
|R| = R =
_
x
2
+ y
2
+ z
2
a
| | stands for the magnitude of the argument
b
stands for perpendicular
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................
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u
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................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Figure 2: Cartesian Coordinates of the spatial
point P and the related position vector
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
< y < , < z <
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
|R| = R =
_
x
2
+ y
2
+ z
2
a
b
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................
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u
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
< y < , < z <
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
|R| = R =
_
x
2
+ y
2
+ z
2
a
b
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................
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u
.................................................................................................................................. . . . . . . . . . . . . . . .
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............................................................. ................
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
< y < , < z <
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
|R| = R =
_
x
2
+ y
2
+ z
2
a
b
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
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................
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u
.................................................................................................................................. . . . . . . . . . . . . . . .
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................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Scalar and Vectorial (Vector)Components
Scalar (Vector)Components
The projections of the vector onto the orthonormal unit vectors e
x
, e
y
, e
z
yield the Scalar
(Vector)Components R
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
Vectorial (Vector)Components
If we multiply the scalar (vector)components with the relating unit vectors, we obtain the
Vectorial (Vector)Components R
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
x
, e
y
, e
z
yield the Scalar
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
x
, e
y
, e
z
yield the Scalar
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
x
, e
y
, e
z
yield the Scalar
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
Component Representation of the Position Vector in the Cartesian Coordinate System
Component Representation of the Position
Vector in the Cartesian Coordinate System
According to the rules of vector addition it
follows that the component representation
of the Position Vector R in the Cartesian
Coordinate System is
R = R
x
e
x
+ R
y
e
y
+ R
z
e
z
(7)
= xe
x
+ y e
y
+ z e
z
(8)
Cartesian Coordinates of the spatial point
P and the related position vector
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................................................................................................................................................................................... .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Component Representation of the Position Vector in the Cartesian Coordinate System
Component Representation of the Position
Vector in the Cartesian Coordinate System
Using the coordinates x
1
, x
2
, x
3
it follows
for the Position Vector R in the Cartesian
Coordinate System
R = xe
x
+ y e
y
+ z e
z
(9)
= x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
(10)
The advantage of this notation is that we
can write the position vector in form of a
sum:
R = x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
(11)
=
3
i=1
x
i
e
x
i
(12)
Cartesian Coordinates of the spatial Point P
and the related Position Vector R
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................................................................................................................................................................................... .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O
x = x
1
y = x
2
z = x
3
x = x
1
y = x
2
z = x
3
P(x, y, z)
= P(x
1
, x
2
, x
3
)
R
e
z
= e
x
3
e
x
= e
x
1
e
y
= e
x
2
The numbered form of Eq. (10) allows a short hand notation using Einsteins summation
convention:
R =
3
i=1
x
i
e
x
i
(13)
def
= x
i
e
x
i
, (14)
i. e., one can delete the sum sign and say:
If an index appears only on one side of an equation and more than two times, we have to build a
sum from 1 to 3.
convention:
R =
3
i=1
x
i
e
x
i
(13)
def
= x
i
e
x
i
, (14)
sum from 1 to 3.
convention:
R =
3
i=1
x
i
e
x
i
(13)
def
= x
i
e
x
i
, (14)
sum from 1 to 3.
Dierentiation of the Position Vector
Dierentiation of the x
i
th cartesian coordinate of the position vector with regard to the x
j
th
coordinate is
x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
It follows for the term x
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
i
j
th
coordinate is
x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
i
j
th
coordinate is
x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
i
j
th
coordinate is
x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
The right-hand side (RSH) of the last Eq. (18) is representing the properties of the Kronecker
Symbol (Kronecker Delta):
ij
=
_
0 for i = j
1 for i = j
(19)
It follows for the above mentioned dierentiation of the position vector with regard to the x
j
th
coordinate
x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
ij
=
_
0 for i = j
1 for i = j
(19)
j
th
coordinate
x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
ij
=
_
0 for i = j
1 for i = j
(19)
j
th
coordinate
x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
ij
=
_
0 for i = j
1 for i = j
(19)
j
th
coordinate
x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:
x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
ij
for i = j:
x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
ij
for i = j:
x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
ij
for i = j:
x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
ij
for i = j:
x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
ij
for i = j:
x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
ij
for i = j:
x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:
x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Keep in Mind!
x
j
j
:
x
j
R = e
x
j
. (29)
If x
j
j=1
= x
1
= x it follows:
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Keep in Mind!
x
j
j
:
x
j
R = e
x
j
. (29)
If x
j
j=1
= x
1
= x it follows:
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Keep in Mind!
x
j
j
:
x
j
R = e
x
j
. (29)
If x
j
j=1
= x
1
= x it follows:
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Keep in Mind!
x
j
j
:
x
j
R = e
x
j
. (29)
If x
j
j=1
= x
1
= x it follows:
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Keep in Mind!
x
j
j
:
x
j
R = e
x
j
. (29)
If x
j
j=1
= x
1
= x it follows:
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Keep in Mind!
x
j
j
:
x
j
R = e
x
j
. (29)
If x
j
j=1
= x
1
= x it follows:
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Keep in Mind!
x
j
j
:
x
j
R = e
x
j
. (29)
If x
j
j=1
= x
1
= x it follows:
vention:
x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Lecture 2: Position Vector and Coordinate Systems (cont.)
MFEFT - Lecture 2
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Position Unit Vector
The Unit Vector of the Position Vector R is

R (Unit Position Vector):
R =
R
R
(37)
=
xe
x
+ ye
y
+ ze
z
_
x
2
+ y
2
+ z
2
. (38)
If we build R/x
i
e
x
i
for i = 1, 2, 3, it follows with the summation convention the form
R
x
i
e
x
i
= R (39)
=

R (40)
with the so-called Del Operator
a
=

x
e
x
+

y
e
y
+

z
e
z
=
3
i=1
x
i
e
x
i
=

x
i
e
x
i
. (41)
a
Del Operator = Nabla Operator

R =
R
R
(37)
=
xe
x
+ ye
y
+ ze
z
_
x
2
+ y
2
+ z
2
. (38)
If we build R/x
i
e
x
i
R
x
i
e
x
i
= R (39)
=

R (40)
a
=

x
e
x
+

y
e
y
+

z
e
z
=
3
i=1
x
i
e
x
i
=

x
i
e
x
i
. (41)
a

R =
R
R
(37)
=
xe
x
+ ye
y
+ ze
z
_
x
2
+ y
2
+ z
2
. (38)
If we build R/x
i
e
x
i
R
x
i
e
x
i
= R (39)
=

R (40)
a
=

x
e
x
+

y
e
y
+

z
e
z
=
3
i=1
x
i
e
x
i
=

x
i
e
x
i
. (41)
a

R =
R
R
(37)
=
xe
x
+ ye
y
+ ze
z
_
x
2
+ y
2
+ z
2
. (38)
If we build R/x
i
e
x
i
R
x
i
e
x
i
= R (39)
=

R (40)
a
=

x
e
x
+

y
e
y
+

z
e
z
=
3
i=1
x
i
e
x
i
=

x
i
e
x
i
. (41)
a

R =
R
R
(37)
=
xe
x
+ ye
y
+ ze
z
_
x
2
+ y
2
+ z
2
. (38)
If we build R/x
i
e
x
i
R
x
i
e
x
i
= R (39)
=

R (40)
a
=

x
e
x
+

y
e
y
+

z
e
z
=
3
i=1
x
i
e
x
i
=

x
i
e
x
i
. (41)
a

R =
R
R
(37)
=
xe
x
+ ye
y
+ ze
z
_
x
2
+ y
2
+ z
2
. (38)
If we build R/x
i
e
x
i
R
x
i
e
x
i
= R (39)
=

R (40)
a
=

x
e
x
+

y
e
y
+

z
e
z
=
3
i=1
x
i
e
x
i
=

x
i
e
x
i
. (41)
a

R =
R
R
(37)
=
xe
x
+ ye
y
+ ze
z
_
x
2
+ y
2
+ z
2
. (38)
If we build R/x
i
e
x
i
R
x
i
e
x
i
= R (39)
=

R (40)
a
=

x
e
x
+

y
e
y
+

z
e
z
=
3
i=1
x
i
e
x
i
=

x
i
e
x
i
. (41)
a
Example: Proof of R =

R
Example (Proof of R =

R)
R
x
i
e
x
i
=
3
i=1
R
x
i
e
x
i
(42)
=
R
x
1
e
x
1
+
R
x
2
e
x
2
+
R
x
3
e
x
3
(43)
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
.
(44)
We nd by applying the chain rule
x
1
_
x
2
1
+ x
2
2
+ x
2
3
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
=
1
2
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
. .
Derivative of
outer function
2 x
1
..
Derivative of
inner function
(45)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
_ 1
2
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
. (46)

R

R)
R
x
i
e
x
i
=
3
i=1
R
x
i
e
x
i
(42)
=
R
x
1
e
x
1
+
R
x
2
e
x
2
+
R
x
3
e
x
3
(43)
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
.
(44)
x
1
_
x
2
1
+ x
2
2
+ x
2
3
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
=
1
2
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
. .
Derivative of
outer function
2 x
1
..
Derivative of
inner function
(45)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
_ 1
2
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
. (46)

R

R)
R
x
i
e
x
i
=
3
i=1
R
x
i
e
x
i
(42)
=
R
x
1
e
x
1
+
R
x
2
e
x
2
+
R
x
3
e
x
3
(43)
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
.
(44)
x
1
_
x
2
1
+ x
2
2
+ x
2
3
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
=
1
2
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
. .
Derivative of
outer function
2 x
1
..
Derivative of
inner function
(45)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
_ 1
2
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
. (46)

R

R)
R
x
i
e
x
i
=
3
i=1
R
x
i
e
x
i
(42)
=
R
x
1
e
x
1
+
R
x
2
e
x
2
+
R
x
3
e
x
3
(43)
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
.
(44)
x
1
_
x
2
1
+ x
2
2
+ x
2
3
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
=
1
2
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
. .
Derivative of
outer function
2 x
1
..
Derivative of
inner function
(45)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
_ 1
2
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
. (46)

R

R)
R
x
i
e
x
i
=
3
i=1
R
x
i
e
x
i
(42)
=
R
x
1
e
x
1
+
R
x
2
e
x
2
+
R
x
3
e
x
3
(43)
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
.
(44)
x
1
_
x
2
1
+ x
2
2
+ x
2
3
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
=
1
2
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
. .
Derivative of
outer function
2 x
1
..
Derivative of
inner function
(45)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
_ 1
2
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
. (46)

R

R)
R
x
i
e
x
i
=
3
i=1
R
x
i
e
x
i
(42)
=
R
x
1
e
x
1
+
R
x
2
e
x
2
+
R
x
3
e
x
3
(43)
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
.
(44)
x
1
_
x
2
1
+ x
2
2
+ x
2
3
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
=
1
2
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
. .
Derivative of
outer function
2 x
1
..
Derivative of
inner function
(45)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
_ 1
2
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
. (46)

R

R)
R
x
i
e
x
i
=
3
i=1
R
x
i
e
x
i
(42)
=
R
x
1
e
x
1
+
R
x
2
e
x
2
+
R
x
3
e
x
3
(43)
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
.
(44)
x
1
_
x
2
1
+ x
2
2
+ x
2
3
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
=
1
2
_
x
2
1
+ x
2
2
+ x
2
3
_
1
2
. .
Derivative of
outer function
2 x
1
..
Derivative of
inner function
(45)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
_ 1
2
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
. (46)

R

R)
Analog follows for the other two deriviatives
x
2
_
x
2
1
+ x
2
2
+ x
2
3
=
x
2
_
x
2
1
+ x
2
2
+ x
2
3
(47)
x
3
_
x
2
1
+ x
2
2
+ x
2
3
=
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(48)
or in general
x
i
_
x
2
1
+ x
2
2
+ x
2
3
=
x
i
_
x
2
1
+ x
2
2
+ x
2
3
i = 1, 2, 3 . (49)

R

R)
Analog follows for the other two deriviatives
x
2
_
x
2
1
+ x
2
2
+ x
2
3
=
x
2
_
x
2
1
+ x
2
2
+ x
2
3
(47)
x
3
_
x
2
1
+ x
2
2
+ x
2
3
=
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(48)
or in general
x
i
_
x
2
1
+ x
2
2
+ x
2
3
=
x
i
_
x
2
1
+ x
2
2
+ x
2
3
i = 1, 2, 3 . (49)

R

R)
We summarize:
R
x
i
e
x
i
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(50)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+
x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+
x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(51)
=
1
_
x
2
1
+ x
2
2
+ x
2
3
_
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
(52)
=
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(53)
=
R
R
(54)
=

R. (55)

R

R)
We summarize:
R
x
i
e
x
i
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(50)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+
x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+
x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(51)
=
1
_
x
2
1
+ x
2
2
+ x
2
3
_
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
(52)
=
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(53)
=
R
R
(54)
=

R. (55)

R

R)
We summarize:
R
x
i
e
x
i
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(50)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+
x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+
x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(51)
=
1
_
x
2
1
+ x
2
2
+ x
2
3
_
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
(52)
=
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(53)
=
R
R
(54)
=

R. (55)

R

R)
We summarize:
R
x
i
e
x
i
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(50)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+
x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+
x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(51)
=
1
_
x
2
1
+ x
2
2
+ x
2
3
_
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
(52)
=
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(53)
=
R
R
(54)
=

R. (55)

R

R)
We summarize:
R
x
i
e
x
i
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(50)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+
x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+
x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(51)
=
1
_
x
2
1
+ x
2
2
+ x
2
3
_
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
(52)
=
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(53)
=
R
R
(54)
=

R. (55)

R

R)
We summarize:
R
x
i
e
x
i
=

x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+

x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+

x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(50)
=
x
1
_
x
2
1
+ x
2
2
+ x
2
3
e
x
1
+
x
2
_
x
2
1
+ x
2
2
+ x
2
3
e
x
2
+
x
3
_
x
2
1
+ x
2
2
+ x
2
3
e
x
3
(51)
=
1
_
x
2
1
+ x
2
2
+ x
2
3
_
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
(52)
=
x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
_
x
2
1
+ x
2
2
+ x
2
3
(53)
=
R
R
(54)
=

R. (55)
Projection of the Position Vector in the Direction of the Axes of the Cartesian Coordinate System
Projection of the Position Vector in the Direction of
the Axes of the Cartesian Coordinate System
If we project the position vector in the direction of
the Axes of the Cartesian Coordinates System we
nd the components of R:
x = R e
x
(56)
y = R e
y
(57)
z = R e
z
, (58)
this means also
R = (R e
x
)e
x
+ (R e
y
)e
y
+ (R e
z
)e
z
(59)
Cartesian Coordinates of the spatial
point P and the related position
vector
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................................................................................................................................................................................... .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
(Circular)Cylinder Coordinate System
Coordinates; Unit Vectors, Magnitude of the Position Vector
Coordinates; Unit Vectors, Magnitude of
the Position Vector
Cylinder Coordinates: r, , z
in the limits 0 r < , 0 < 2,
< z < ; azimuth angle .
Orthonormal Unit Vectors:
e
r
(), e
(), e
z
with |e
r
| = |e
| = |e
z
| = 1
and e
r
e
e
z
origin O to the (observation) point P
is illustrating the position vector R of
P, the magnitude of the position
vector is |R| = R =
r
2
+ z
2
.
Cylinder coordinates of the spatial
vector
R
e
r
(j)
e (j)
j
e
z
y
r
z
z
j
x
O
P r, ,z ( ) j
the Position Vector
e
r
(), e
(), e
z
with |e
r
| = |e
| = |e
z
| = 1
and e
r
e
e
z
vector is |R| = R =
r
2
+ z
2
.
vector
R
e
r
(j)
e (j)
j
e
z
y
r
z
z
j
x
O
P r, ,z ( ) j
the Position Vector
e
r
(), e
(), e
z
with |e
r
| = |e
| = |e
z
| = 1
and e
r
e
e
z
vector is |R| = R =
r
2
+ z
2
.
vector
R
e
r
(j)
e (j)
j
e
z
y
r
z
z
j
x
O
P r, ,z ( ) j
Position Vector in Cartesian (Vector)Components and Cylinder Coordinates
Position Vector in Cartesian (Vector)Components
and Cylinder Coordinates
Relation between the Cartesian and Cylinder
Coordinate (Transformation of the Cartesian
and Cylinder Coordinate)
x = r cos (60)
y = r sin (61)
z = z (62)
Position Vector in Cartesian
(Vector)Components and Cylinder Coordinates
R = r cos e
x
+ r sin e
y
+ z e
z
(63)
vector
R
e
r
(j)
e (j)
j
e
z
y
r
z
z
j
x
O
P r, ,z ( ) j
Position Vector in Cartesian (Vector)Components and Cylinder Coordinates
Position Vector in Cartesian (Vector)Components
and Cylinder Coordinates
Relation between the Cartesian and Cylinder
Coordinate (Transformation of the Cartesian
and Cylinder Coordinate)
x = r cos (60)
y = r sin (61)
z = z (62)
Position Vector in Cartesian
(Vector)Components and Cylinder Coordinates
R = r cos e
x
+ r sin e
y
+ z e
z
(63)
vector
R
e
r
(j)
e (j)
j
e
z
y
r
z
z
j
x
O
P r, ,z ( ) j
Computation of the orthonormal Unit Vectors of the Cylinder Coordinate System
Dierentiating the Position Vector with regard to the Cylinder Coordinates; Unit Vectors
r
R =cos e
x
+ sin e
y
Unit Vector (64)
R =r sin e
x
+ r cos e
y
Is NOT Unit Vector (65)
z
R =e
z
Unit Vector (66)
e
r
=
r
R = cos e
x
+ sin e
y
(67)
e
=
1
h
R= sin e
x
+ cos e
y
(68)
e
z
=
z
R = e
z
(69)
with /
i
=
i
and the Metric Coecient of the Coordinate:
h
(70)
= r . (71)
Computation of the orthonormal Unit Vectors of the Cylinder Coordinate System
Dierentiating the Position Vector with regard to the Cylinder Coordinates; Unit Vectors
r
R =cos e
x
+ sin e
y
Unit Vector (64)
R =r sin e
x
+ r cos e
y
Is NOT Unit Vector (65)
z
R =e
z
Unit Vector (66)
e
r
=
r
R = cos e
x
+ sin e
y
(67)
e
=
1
h
R= sin e
x
+ cos e
y
(68)
e
z
=
z
R = e
z
(69)
with /
i
=
i
and the Metric Coecient of the Coordinate:
h
(70)
= r . (71)
Metric Coecients
Metric Coecients of the Cylinder Coordinate
System
Metric Coecient of the Coordinate: h
= r (72)
h
is called the metric coecient with the

dimension of a length (unit: meter)
h
ensures that a change of the position vector

in (azimuth angle) direction is dimensionless
The dierential change in direction d
multiplied with h
yields ds = r d an arc
length in meter, i. e., a change in length ds
along the coordinate.
The full set of metric coecients read
h
r
=1 (73)
h
=r (74)
h
z
=1 (75)
Denition of an arc length:
ds = r d
y
r
z
d d s=r j
x
O
Metric Coecients
System
= r (72)
h

h

multiplied with h
h
r
=1 (73)
h
=r (74)
h
z
=1 (75)
ds = r d
y
r
z
d d s=r j
x
O
Metric Coecients
System
= r (72)
h

h

multiplied with h
h
r
=1 (73)
h
=r (74)
h
z
=1 (75)
ds = r d
y
r
z
d d s=r j
x
O
Metric Coecients
System
= r (72)
h

h

multiplied with h
h
r
=1 (73)
h
=r (74)
h
z
=1 (75)
ds = r d
y
r
z
d d s=r j
x
O
Metric Coecients
System
= r (72)
h

h

multiplied with h
h
r
=1 (73)
h
=r (74)
h
z
=1 (75)
ds = r d
y
r
z
d d s=r j
x
O
Coordinates; Unit Vectors, Magnitude of the
Position Vector
According to the Eq. (59)
R = (R e
x
) e
x
+ (R e
y
) e
y
+ (R e
z
) e
z
the Cartesian Components are given by the
Projections of the Unit Vectors e
r
and e
onto e
x
and e
y
:
e
r
= (e
r
e
x
)
. .
= cos
e
x
+ (e
r
e
y
)
. .
= sin
e
y
(76)
e
= (e
e
x
)
. .
= sin
e
x
+ (e
e
y
)
. .
= cos
e
y
, (77)
i. e.:
e
r
= cos e
x
+ sin e
y
(78)
e
= sin e
x
+ cos e
y
(79)
Orthogonal Unit Vectors of the
Cylindrical Coordinate System
........................................................................ . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
........................................................................ . . . . . . . . . . . . . . . .
................
........................................................................ . . . . . . . . . . . . . . . .
................
........................................................................ . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
......................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................... . . . . . . . .........
. . . . . . . . . . . . . . . .
....................................................................................................................................................................................................................... . . . . . . . . . . . . . . .
................
.......................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
................................................................................................................. ............................................
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
............................................
..................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......... . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
......... . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . ................
...............
O y
x
e
y
e
x
e
e
y
e
r
e
x
Position Vector
R = (R e
x
) e
x
+ (R e
y
) e
y
+ (R e
z
) e
z
r
and e
onto e
x
and e
y
:
e
r
= (e
r
e
x
)
. .
= cos
e
x
+ (e
r
e
y
)
. .
= sin
e
y
(76)
e
= (e
e
x
)
. .
= sin
e
x
+ (e
e
y
)
. .
= cos
e
y
, (77)
i. e.:
e
r
= cos e
x
+ sin e
y
(78)
e
= sin e
x
+ cos e
y
(79)
........................................................................ . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
........................................................................ . . . . . . . . . . . . . . . .
................
........................................................................ . . . . . . . . . . . . . . . .
................
........................................................................ . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
......................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................... . . . . . . . .........
. . . . . . . . . . . . . . . .
....................................................................................................................................................................................................................... . . . . . . . . . . . . . . .
................
.......................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
................................................................................................................. ............................................
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
............................................
..................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......... . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
......... . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . ................
...............
O y
x
e
y
e
x
e
e
y
e
r
e
x
Position Vector
R = (R e
x
) e
x
+ (R e
y
) e
y
+ (R e
z
) e
z
r
and e
onto e
x
and e
y
:
e
r
= (e
r
e
x
)
. .
= cos
e
x
+ (e
r
e
y
)
. .
= sin
e
y
(76)
e
= (e
e
x
)
. .
= sin
e
x
+ (e
e
y
)
. .
= cos
e
y
, (77)
i. e.:
e
r
= cos e
x
+ sin e
y
(78)
e
= sin e
x
+ cos e
y
(79)
........................................................................ . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
........................................................................ . . . . . . . . . . . . . . . .
................
........................................................................ . . . . . . . . . . . . . . . .
................
........................................................................ . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
......................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................... . . . . . . . .........
. . . . . . . . . . . . . . . .
....................................................................................................................................................................................................................... . . . . . . . . . . . . . . .
................
.......................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
................................................................................................................. ............................................
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
............................................
..................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......... . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
......... . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . ................
...............
O y
x
e
y
e
x
e
e
y
e
r
e
x
This means
e
r
e
x
= cos (80)
e
r
e
y
= sin (81)
e
e
x
= sin (82)
e
e
y
= cos . (83)
It follows for the Mapping (e
r
, e
, e
z
) (e
x
, e
y
, e
z
):
e
x
= (e
x
e
r
)e
r
+ (e
x
e
)e
(84)
= cos e
r
sin e
(85)
e
y
= (e
y
e
r
)e
r
+ (e
y
e
)e
(86)
= sin e
r
+ cos e
(87)
e
z
= e
z
. (88)
Transformation Formulas in Matrix Form
Transformation Formulas in Matrix Form
e
r
= cos e
x
+ sin e
y
e
= sin e
x
+ cos e
y
e
z
= e
z
_
_
_
e
r
e
e
z
_
_
_
=
_
_
cos sin 0
sin cos 0
0 0 1
_
_
_
_
_
e
x
e
y
e
z
_
_
_
(89)
e
x
= cos e
r
sin e
e
y
= sin e
r
+ cos e
e
z
= e
z
_
_
_
e
x
e
y
e
z
_
_
_
=
_
_
cos sin 0
sin cos 0
0 0 1
_
_
_
_
_
e
r
e
e
z
_
_
_
(90)
Orthogonal Unit Vectors of the Cylindrical Coordinate System
We obtain according to Eq. (10)
R = xe
x
+ y e
y
+ z e
z
(91)
with Eq. (59)
R = (R e
x
)e
x
+ (R e
y
)e
y
+ (R e
z
)e
z
(92)
the following representation of the Position Vector in the Cylindrical Coordinate System
R = (R e
r
) e
r
+ (R e
) e
+ (R e
z
) e
z
(93)
= r e
r
()
. .
= r ()
+z e
z
(94)
= r () + z e
z
(95)
the dependence is hidden in the unit vector e
r
.
R = xe
x
+ y e
y
+ z e
z
(91)
with Eq. (59)
R = (R e
x
)e
x
+ (R e
y
)e
y
+ (R e
z
)e
z
(92)
R = (R e
r
) e
r
+ (R e
) e
+ (R e
z
) e
z
(93)
= r e
r
()
. .
= r ()
+z e
z
(94)
= r () + z e
z
(95)
r
.
R = xe
x
+ y e
y
+ z e
z
(91)
with Eq. (59)
R = (R e
x
)e
x
+ (R e
y
)e
y
+ (R e
z
)e
z
(92)
R = (R e
r
) e
r
+ (R e
) e
+ (R e
z
) e
z
(93)
= r e
r
()
. .
= r ()
+z e
z
(94)
= r () + z e
z
(95)
r
.
R = xe
x
+ y e
y
+ z e
z
(91)
with Eq. (59)
R = (R e
x
)e
x
+ (R e
y
)e
y
+ (R e
z
)e
z
(92)
R = (R e
r
) e
r
+ (R e
) e
+ (R e
z
) e
z
(93)
= r e
r
()
. .
= r ()
+z e
z
(94)
= r () + z e
z
(95)
r
.
Generalization of the Properties of the Cylindrical Coordinate System
Generalization of the Properties
Now we are trying to Generalize the Properties derived for the Cylindrical Coordinate System. In
order to do so, we have to nd appropriate formulas for the coordinate transformation.
Orthogonal Curvilinear Coordinates
We introduce a NEW Orthogonal Coordinate System with the Coordinates
1
,
2
,
3
, which are
related to the OLD (Cartesian) Coordinate System x, y, z via the Relations:
x = x(
1
,
2
,
3
)
y = y(
1
,
2
,
3
) (96)
z = z(
1
,
2
,
3
)
Position Vector as a function of the Coordinates
1
,
2
,
3
This means for the Position Vector
R = x(
1
,
2
,
3
) e
x
+ y(
1
,
2
,
3
) e
y
+ z(
1
,
2
,
3
) e
z
(97)
= R(
1
,
2
,
3
) (98)
1
,
2
,
3
, which are
x = x(
1
,
2
,
3
)
y = y(
1
,
2
,
3
) (96)
z = z(
1
,
2
,
3
)
1
,
2
,
3
R = x(
1
,
2
,
3
) e
x
+ y(
1
,
2
,
3
) e
y
+ z(
1
,
2
,
3
) e
z
(97)
= R(
1
,
2
,
3
) (98)
1
,
2
,
3
, which are
x = x(
1
,
2
,
3
)
y = y(
1
,
2
,
3
) (96)
z = z(
1
,
2
,
3
)
1
,
2
,
3
R = x(
1
,
2
,
3
) e
x
+ y(
1
,
2
,
3
) e
y
+ z(
1
,
2
,
3
) e
z
(97)
= R(
1
,
2
,
3
) (98)
Uniqueness of the Transformation Formulas
We claim Uniqueness of the Transformation Formulas (96) and Dissolvability for
i
, i = 1, 2, 3
as well as the so-called Jacobian Determinant J with continues rst-order derivatives exists
J =
(x, y, z)
(
1
,
2
,
3
)
=
x(
1
,
2
,
3
)
1
y(
1
,
2
,
3
)
1
z(
1
,
2
,
3
)
1
x(
1
,
2
,
3
)
2
y(
1
,
2
,
3
)
2
z(
1
,
2
,
3
)
2
x(
1
,
2
,
3
)
3
y(
1
,
2
,
3
)
3
z(
1
,
2
,
3
)
= 0 (99)
Additionally, at each Point in Space R
(0)
= R(
(0)
1
,
(0)
2
,
(0)
3
) the Tangential Vectors to the
Coordinate Lines dened by
R = R
_
1
,
(0)
2
,
(0)
3
_

1
= variable, and
(0)
2
,
(0)
3
= xed
R = R
_
(0)
1
,
2
,
(0)
3
_

2
= variable, and
(0)
1
,
(0)
3
= xed (100)
R = R
_
(0)
1
,
(0)
2
,
3
_

3
= variable, and
(0)
1
,
(0)
2
= xed
should be orthogonal to each other, this ensures an Orthogonal Coordinate System.
We claim Uniqueness of the Transformation Formulas (96) and Dissolvability for
i
, i = 1, 2, 3
as well as the so-called Jacobian Determinant J with continues rst-order derivatives exists
J =
(x, y, z)
(
1
,
2
,
3
)
=
x(
1
,
2
,
3
)
1
y(
1
,
2
,
3
)
1
z(
1
,
2
,
3
)
1
x(
1
,
2
,
3
)
2
y(
1
,
2
,
3
)
2
z(
1
,
2
,
3
)
2
x(
1
,
2
,
3
)
3
y(
1
,
2
,
3
)
3
z(
1
,
2
,
3
)
= 0 (99)
Additionally, at each Point in Space R
(0)
= R(
(0)
1
,
(0)
2
,
(0)
3
) the Tangential Vectors to the
Coordinate Lines dened by
R = R
_
1
,
(0)
2
,
(0)
3
_

1
= variable, and
(0)
2
,
(0)
3
= xed
R = R
_
(0)
1
,
2
,
(0)
3
_

2
= variable, and
(0)
1
,
(0)
3
= xed (100)
R = R
_
(0)
1
,
(0)
2
,
3
_

3
= variable, and
(0)
1
,
(0)
2
= xed
should be orthogonal to each other, this ensures an Orthogonal Coordinate System.
Position Vector; Change along the Coordinate Lines
With the Transformation Formulas (96)
x = x(
1
,
2
,
3
)
y = y(
1
,
2
,
3
)
z = z(
1
,
2
,
3
)
it follows for the Representation of the Position Vector Eq. (98)
R = x(
1
,
2
,
3
) e
x
+ y(
1
,
2
,
3
) e
y
+ z(
1
,
2
,
3
) e
z
(101)
= R(
1
,
2
,
3
) (102)
and their Change in the Direction of the Coordinate Lines
i
, i = 1, 2, 3:
R
i
=
x
i
e
x
+
y
i
e
y
+
z
i
e
z
(103)
These are the Tangential Vectors to the Coordinate Lines dened in Eq. (100)
x = x(
1
,
2
,
3
)
y = y(
1
,
2
,
3
)
z = z(
1
,
2
,
3
)
R = x(
1
,
2
,
3
) e
x
+ y(
1
,
2
,
3
) e
y
+ z(
1
,
2
,
3
) e
z
(101)
= R(
1
,
2
,
3
) (102)
i
, i = 1, 2, 3:
R
i
=
x
i
e
x
+
y
i
e
y
+
z
i
e
z
(103)
x = x(
1
,
2
,
3
)
y = y(
1
,
2
,
3
)
z = z(
1
,
2
,
3
)
R = x(
1
,
2
,
3
) e
x
+ y(
1
,
2
,
3
) e
y
+ z(
1
,
2
,
3
) e
z
(101)
= R(
1
,
2
,
3
) (102)
i
, i = 1, 2, 3:
R
i
=
x
i
e
x
+
y
i
e
y
+
z
i
e
z
(103)
Metric Coecients; Unit Vectors
The Magnitudes of these Tangential Vectors
|R/
i
|
dene the Metric Coecients in the General Case of Eq. (70):
h
i
=
i
=
_
x
i
_
2
+
_
y
i
_
2
+
_
z
i
_
2
(104)
Therefore we nd for the Unit Vectors of the NEW Coordinate System:
a
e
i
=
1
h
i
R
i
(105)
a
Note that in Eq. (105) according to the Summation Convention we DONT sum over i, because the Index i appears on both
sides of the equation.
|R/
i
|
h
i
=
i
=
_
x
i
_
2
+
_
y
i
_
2
+
_
z
i
_
2
(104)
a
e
i
=
1
h
i
R
i
(105)
a
|R/
i
|
h
i
=
i
=
_
x
i
_
2
+
_
y
i
_
2
+
_
z
i
_
2
(104)
a
e
i
=
1
h
i
R
i
(105)
a
|R/
i
|
h
i
=
i
=
_
x
i
_
2
+
_
y
i
_
2
+
_
z
i
_
2
(104)
a
e
i
=
1
h
i
R
i
(105)
a
Transformation Dyad
Using the Summation Convention we write R = R(
1
,
2
,
3
) in Eq. (98) in the form
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
Then we nd from Eq. (103):
R
i
=
x
j
i
e
x
j
( sum over j from 1 to 3) (107)
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
of the Transformation Dyad (= Tensor of 2nd Rank):
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
( sum over i, j from 1 to 3) (109)
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Transformation Dyad
1
,
2
,
3
R = x
j
(
1
,
2
,
3
) e
x
j
(106)
R
i
=
x
j
i
e
x
j
and from Eq. (105)
e
i
=
1
h
i
R
i
=
1
h
i
x
j
i
. .
=
ij
e
x
j
=
ij
e
x
j
with the elements
ij
=
ij
..
=
1
h
i
x
j
i
e
i
e
x
j
Lecture 3: Position Vector and Coordinate Systems (cont.); Vectors: Scalar
Product; Vector Product; Dyadic Product
MFEFT - Lecture 3
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
The explicit request of a NEW Orthonormal Coordinate System according to
e
i
e
k
=
ik
(110)
transfers this requirement into
ij
e
x
j

kl
e
x
l
=
ik
(111)
ij
kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to
ij
kj
=
ik
_
on the left-hand side
sum over j from 1 to 3
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
e
i
e
k
=
ik
(110)
ij
e
x
j

kl
e
x
l
=
ik
(111)
ij
kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to
ij
kj
=
ik
_
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
e
i
e
k
=
ik
(110)
ij
e
x
j

kl
e
x
l
=
ik
(111)
ij
kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to
ij
kj
=
ik
_
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
e
i
e
k
=
ik
(110)
ij
e
x
j

kl
e
x
l
=
ik
(111)
ij
kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to
ij
kj
=
ik
_
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
Orthonormal Relation; Transformation Dyad
The Orthonormal Relation (see Eq. (113))
e
x
j
e
x
l
=
jl
(115)
says, that the Transposed
T
of the Dyad
a)
is equal to the Inverse, i.e., the dot product

T
is equal to the unit dyadic I:

T
= I (116)
=
1
(117)
is an Orthogonal Dyad.
a)
Compared to with the elements
ij
has
T
the elements
ji
.
e
x
j
e
x
l
=
jl
(115)
T
of the Dyad
a)

T

T
= I (116)
=
1
(117)
a)
ij
has
T
the elements
ji
.
e
x
j
e
x
l
=
jl
(115)
T
of the Dyad
a)

T

T
= I (116)
=
1
(117)
a)
ij
has
T
the elements
ji
.
Via the computation of the products e
i
e
x
j
we can illustrate the meaning of
ij
; it follows
with the application of the orthonormal property of e
x
j

e
i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il
lj
(119)
=
ij
(120)
= cos (e
i
, e
x
j
) . (121)
i
e
x
j
ij
; it follows
x
j

e
i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il
lj
(119)
=
ij
(120)
= cos (e
i
, e
x
j
) . (121)
i
e
x
j
ij
; it follows
x
j

e
i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il
lj
(119)
=
ij
(120)
= cos (e
i
, e
x
j
) . (121)
i
e
x
j
ij
; it follows
x
j

e
i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il
lj
(119)
=
ij
(120)
= cos (e
i
, e
x
j
) . (121)
The
ij
are
ij
= cos (e
i
, e
x
j
) (122)
the so-called Direction Cosines of the NEW orthonormal tripod
a
vectors relative to the OLD
Cartesian Coordinate System. The
ij
are determine the Local Rotation of the NEW
orthonormal tripod at every point in space. If this rotation is independent of position, then the
coordinate transformation in Eq. (96) is a simple rotation of a cartesian coordinate system.
a
Tripod is a word generally used to refer to a three-legged object, generally one used as a platform of some sort, and comes
from the Greek tripous, meaning three feet.
Handedness of the Coordinate System
The Handedness of the NEW Coordinate System compared to the OLD one is given by the
Determinant of . With the properties det
_
I
_
= 1 and det
_
T
_
= det
_
_
it follows
det
_
(
T
)
_
= det
_
_
det
_
T
_
= 1 . (123)
and
(det
_
_
)
2
= 1 (124)
and
det
_
_
= 1 (125)
=
_
+1 the tripod e
1
, e
2
, e
3
is right-handed
1 the tripod e
1
, e
2
, e
3
is left-handed
(126)
_
I
_
= 1 and det
_
T
_
= det
_
_
it follows
det
_
(
T
)
_
= det
_
_
det
_
T
_
= 1 . (123)
and
(det
_
_
)
2
= 1 (124)
and
det
_
_
= 1 (125)
=
_
+1 the tripod e
1
, e
2
, e
3
is right-handed
1 the tripod e
1
, e
2
, e
3
is left-handed
(126)
_
I
_
= 1 and det
_
T
_
= det
_
_
it follows
det
_
(
T
)
_
= det
_
_
det
_
T
_
= 1 . (123)
and
(det
_
_
)
2
= 1 (124)
and
det
_
_
= 1 (125)
=
_
+1 the tripod e
1
, e
2
, e
3
is right-handed
1 the tripod e
1
, e
2
, e
3
is left-handed
(126)
_
I
_
= 1 and det
_
T
_
= det
_
_
it follows
det
_
(
T
)
_
= det
_
_
det
_
T
_
= 1 . (123)
and
(det
_
_
)
2
= 1 (124)
and
det
_
_
= 1 (125)
=
_
+1 the tripod e
1
, e
2
, e
3
is right-handed
1 the tripod e
1
, e
2
, e
3
is left-handed
(126)
If the OLD Coordinate System is not a Cartesian Coordinate System, but also Curvilinear
Orthogonal, than we have the Transformation
j

i
, and Eq. (109) reads for this general case:
ij
=
h
j
h
i
=
h
i
h
j
. (127)
If the OLD Coordinate System is not a Cartesian Coordinate System, but also Curvilinear
Orthogonal, than we have the Transformation
j

i
, and Eq. (109) reads for this general case:
ij
=
h
j
h
i
=
h
i
h
j
. (127)
Illustration of the Meaning of the Metric Coecients h
i
Illustration of the Meaning of the Metric
Coecients h
i
Like the
ij
we can illustrate the meaning of the
metric coecients h
i
. h
has been already

discussed. We dene a Line Element ds as the
magnitude of the dierential change dR of the
position vector, i. e., a change of R to R+dR
(see Fig. 3):
ds
2
= dR dR. (128)
In order the compute ds in the orthogonal
curvilinear coordinates we build the total dierential
of R with regard to the dependence of
1
,
2
,
3
dR =
R
1
d
1
+
R
2
d
2
+
R
3
d
3
(129)
.................................................................................................................................................................................................................................................................. . . . . . . . .. . .... .
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
................................................................................................................................................................................................................................................................................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
O
R
R+dR
dR, |dR| = ds
Figure 3: Denition of the Line Elements
i
i
We multiply and make use of the summation convention
ds
2
=
R
i
d
i

R
j
d
j
(130)
= d
i
h
i
e
i
e
j
. .
=
ij
h
j
d
j
(131)
= h
2
j
d
2
j
(132)
= h
2
1
d
2
1
+ h
2
2
d
2
2
+ h
2
3
d
2
3
. (133)
i
i
ds
2
=
R
i
d
i

R
j
d
j
(130)
= d
i
h
i
e
i
e
j
. .
=
ij
h
j
d
j
(131)
= h
2
j
d
2
j
(132)
= h
2
1
d
2
1
+ h
2
2
d
2
2
+ h
2
3
d
2
3
. (133)
i
i
ds
2
=
R
i
d
i

R
j
d
j
(130)
= d
i
h
i
e
i
e
j
. .
=
ij
h
j
d
j
(131)
= h
2
j
d
2
j
(132)
= h
2
1
d
2
1
+ h
2
2
d
2
2
+ h
2
3
d
2
3
. (133)
i
i
ds
2
=
R
i
d
i

R
j
d
j
(130)
= d
i
h
i
e
i
e
j
. .
=
ij
h
j
d
j
(131)
= h
2
j
d
2
j
(132)
= h
2
1
d
2
1
+ h
2
2
d
2
2
+ h
2
3
d
2
3
. (133)
i
i
Because of the invariance of the Scalar Line Element ds when the Coordinate System is
changing, we can use Eq. (133)
ds
2
= h
2
1
d
2
1
+ h
2
2
d
2
2
+ h
2
3
d
2
3
to interpret the Metric Coecients:
In the Cartesian Coordinate System ds read
ds
2
= dx
2
+ dy
2
+ dz
2
[m
2
] (134)
this means ds
2
is given by the Theorem of Pythagoras by adding the squares of the three
Metric Dierential Changes dx, dy, dz in the direction of the Coordinate Lines.
In an arbitrary Orthogonal Curvilinear Coordinate System the h
i
determine the Metric of
the Coordinate Lines (in meter).
The d
i
can represent as d in cylinder coordinates and d in spherical coordinates a
Change in Angle Direction.
i
i
ds
2
= h
2
1
d
2
1
+ h
2
2
d
2
2
+ h
2
3
d
2
3
ds
2
= dx
2
+ dy
2
+ dz
2
[m
2
] (134)
this means ds
2
i
The d
i
i
i
ds
2
= h
2
1
d
2
1
+ h
2
2
d
2
2
+ h
2
3
d
2
3
ds
2
= dx
2
+ dy
2
+ dz
2
[m
2
] (134)
this means ds
2
i
The d
i
i
Dierential Volume Element
This interpretation of the h
i
makes clear, that a Dierential Volume Element dV in Cartesian
Coordinate System
dV = dxdy dz (135)
can be generalized to a Dierential Volume Element of an arbitrary Curvilinear Coordinate
System
dV = h
1
d
1
h
2
d
2
h
3
d
3
(136)
= h
1
h
2
h
3
d
1
d
2
d
3
(137)
i
This interpretation of the h
i
makes clear, that a Dierential Volume Element dV in Cartesian
Coordinate System
dV = dxdy dz (135)
can be generalized to a Dierential Volume Element of an arbitrary Curvilinear Coordinate
System
dV = h
1
d
1
h
2
d
2
h
3
d
3
(136)
= h
1
h
2
h
3
d
1
d
2
d
3
(137)
Spherical Coordinates; Unit Vectors,
Cartesisan Coordinates: R, , in the
limits 0 R < , 0 ,
0 < 2
: polar angle; : azimuth angle
R
, e
, e
with |e
R
| = |e
| = |e
| = 1
a
and
e
R
e
b
illustrating the position vector R of P
|R| = R =
R
2
a
|| stands for the magnitude of the argument
b
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
Figure 4: Spherical Coordinates of the spatial
limits 0 R < , 0 ,
0 < 2
R
, e
, e
with |e
R
| = |e
| = |e
| = 1
a
and
e
R
e
b
|R| = R =
R
2
a
b
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
limits 0 R < , 0 ,
0 < 2
R
, e
, e
with |e
R
| = |e
| = |e
| = 1
a
and
e
R
e
b
|R| = R =
R
2
a
b
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
limits 0 R < , 0 ,
0 < 2
R
, e
, e
with |e
R
| = |e
| = |e
| = 1
a
and
e
R
e
b
|R| = R =
R
2
a
b
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
Coordinate Transformation Formulas
The Transformation Formulas are following from Fig. 4:
x = R sin cos (138)
y = R sin sin (139)
z = R cos (140)
Cartesian Position Vector as a Funtion of the Spherical Coordinates
The representation of the Position Vector in the Cartesian Coordinate System as a function of
the Spherical Coordinates is:
R = x
..
R sin cos
e
x
+ y
..
R sin sin
e
y
+ z
..
R cos
e
z
(141)
= R sin cos e
x
+ R sin sin e
y
+ R cos e
z
(142)
Metric Coeecients; Orthonormal Unit Vectors
Metric Coecients
The three Metric Coecients of the Spherical Coordinate System are
h
R
= 1 (143)
h
= R (144)
h
= R sin . (145)
Orthonormal Unit Vectors
The Orthonormal Unit Vectors of the Spherical Coordinate System in form of the Vector
Decomposition in the Cartesian Coordinate System as a function of the Spherical Coordinates read
e
R
(, ) = sin cos e
x
+ sin sin e
y
+ cos e
z
(146)
e
(, ) = cos cos e
x
+ cos sin e
y
sin e
z
(147)
e
() = sin e
x
+ cos e
y
. (148)
Metric Coeecients; Orthonormal Unit Vectors
Metric Coecients
The three Metric Coecients of the Spherical Coordinate System are
h
R
= 1 (143)
h
= R (144)
h
= R sin . (145)
Orthonormal Unit Vectors
The Orthonormal Unit Vectors of the Spherical Coordinate System in form of the Vector
Decomposition in the Cartesian Coordinate System as a function of the Spherical Coordinates read
e
R
(, ) = sin cos e
x
+ sin sin e
y
+ cos e
z
(146)
e
(, ) = cos cos e
x
+ cos sin e
y
sin e
z
(147)
e
() = sin e
x
+ cos e
y
. (148)
Position Vector in the Spherical Coordinate System
The Position Vector in the Spherical Coordinate System can be found via Coordinate
Transformation from the Cartesian Coordinate to the Spherical Coordinate System. The result is:
R = Re
R
(, ) . (149)
The position vector in the spherical coordinate system has only ONE vector component
Re
R
(, ) with the scalar vector component R. The dependencies of the angles and are
hidden in the unit vector e
R
(, ).
For Unit Position Vector it follows then
R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
R = Re
R
(, ) . (149)
Re
R
R
(, ).
R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
R = Re
R
(, ) . (149)
Re
R
R
(, ).
R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
R = Re
R
(, ) . (149)
Re
R
R
(, ).
R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
R = Re
R
(, ) . (149)
Re
R
R
(, ).
R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
Dupin Coorindates
Dupin Coorindates
The (Circular)Cylindrical and Spherical
Coodinate System are Special Cases of
the so-called general Dupin Coordinate
System [Tai, 1992], which are very
important in the Vector and Tensor
Analysis of Surfaces.
The Transition and Boundary
Conditions for electromagnetic elds
from Maxwells equations are typically
derived using Dupin Coordinates.
Dupin Coordinates are orthogonal
curvilinear coordinates
1
,
2
,
3
with
the unit vectors e
1
, e
2
, n, i. e. e
3
is
the unit normal vector n of the surface
given by e
1
and e
2
. The related
metric coecient h
3
is h
3
= 1. The
coordinate system is right handed, if
n = e
1
e
2
.
Figure 5: Dupin Coordinates of the surface =
2
plane with the unit normal vector
n = e
1
e
2
................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
.............................................................. ...............
. .. . . . . . . . . . . . . .
.............................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O
2
n
e
1
e
2
Dupin Coorindates
Dupin Coorindates
1
,
2
,
3
with
the unit vectors e
1
, e
2
, n, i. e. e
3
is
given by e
1
and e
2
. The related
metric coecient h
3
is h
3
= 1. The
n = e
1
e
2
.
2
n = e
1
e
2
................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
.............................................................. ...............
. .. . . . . . . . . . . . . .
.............................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O
2
n
e
1
e
2
Dupin Coorindates
Dupin Coorindates
1
,
2
,
3
with
the unit vectors e
1
, e
2
, n, i. e. e
3
is
given by e
1
and e
2
. The related
metric coecient h
3
is h
3
= 1. The
n = e
1
e
2
.
2
n = e
1
e
2
................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
.............................................................. ...............
. .. . . . . . . . . . . . . .
.............................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O
2
n
e
1
e
2
Vector and Tensor Algebra Vectors: Scalar Product; Vector Product; Dyadic Product
MFEFT - Lecture 3
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
The Scalar, Vector, and Dyadic Product
Scalar Product (Dot Product)
Example:
A B = C = Scalar! (151)
Vector Product (Cross Product)
Example:
AB = C = Vector! (152)
Dyadic Product
Example:
AB = D = Dyad! (153)
Example:
A B = C = Scalar! (151)
Example:
Dyadic Product
Example:
AB = D = Dyad! (153)
Example:
A B = C = Scalar! (151)
Example:
Dyadic Product
Example:
AB = D = Dyad! (153)
MFEFT - Lecture 3
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Scalar Product
Scalar Product
Fig. 8 shows a vector A, which is projected to a unit
vector e, the result is given by the Scalar Product
A e = A cos , (154)
where determines the enclosed angle between A
and e.
Replacing e by a vector B with the magnitude B
yields the general form of Eq. (154), the
Commutative scalar product A B (say: A dot B):
A B = B A (155)
= AB cos . (156)
Obviously is A B = 0, if A and B are
perpendicular, A B, to each other; this means
one can dene two orthogonal vectors by a
vanishing scalar product between both.
............................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
............
............
............
............
.........
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . .
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................................................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .. . .. .. .
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . ........................
.......................
A
e
A e
Figure 6: Illustration of the Scalar Product

Scalar Product
Scalar Product
A e = A cos , (154)
and e.
A B = B A (155)
= AB cos . (156)
............................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
............
............
............
............
.........
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
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. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . .
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................................................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .. . .. .. .
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . ........................
.......................
A
e
A e

Scalar Product
Scalar Product
A e = A cos , (154)
and e.
A B = B A (155)
= AB cos . (156)
............................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
............
............
............
............
.........
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . .
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................................................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .. . .. .. .
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . ........................
.......................
A
e
A e

Scalar Product
Scalar Product: Orthonormal Tripod
The orthonormal tripod of a the cartesian coordinate system is characterized by
e
x
i
e
x
j
=
ij
for i, j = 1, 2, 3 . (157)
Scalar Product: Scalar Vector Components
Further, we can use the scalar product to determine the scalar vector components of a vector A,
i. e. in the Cartesian Coordinate System we nd
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
We compute for the scalar product in components form of A and B
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
and nd by formal multiplication and the use of Eq. (157)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Scalar Product
e
x
i
e
x
j
=
ij
for i, j = 1, 2, 3 . (157)
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Scalar Product
e
x
i
e
x
j
=
ij
for i, j = 1, 2, 3 . (157)
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Scalar Product
e
x
i
e
x
j
=
ij
for i, j = 1, 2, 3 . (157)
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Scalar Product
Enclosed Angle between two General Vectors A and B
The Enclosed Angle between the vector A and B is if A = 0 and B = 0:
cos =
A B
AB
=
A
x
B
x
+ A
y
B
y
+ A
z
B
z
_
A
2
x
+ A
2
y
+ A
2
z
_
B
2
x
+ B
2
y
+ B
2
z
. (161)
Magnitude of a General Vector A
The Magnitude A of the Vector A is dened by the scalar product A A:
A =
_
A A =
_
A
2
x
+ A
2
y
+ A
2
z
; (162)
Unit Vector of a General Vector A
Then, the Unit Vector of the Vector A can be computed by
A =
A
_
A A
=
A
A
=
A
x
A
e
x
+
A
y
A
e
y
+
A
z
A
e
z
. (163)
Scalar Product
cos =
A B
AB
=
A
x
B
x
+ A
y
B
y
+ A
z
B
z
_
A
2
x
+ A
2
y
+ A
2
z
_
B
2
x
+ B
2
y
+ B
2
z
. (161)
A =
_
A A =
_
A
2
x
+ A
2
y
+ A
2
z
; (162)
A =
A
_
A A
=
A
A
=
A
x
A
e
x
+
A
y
A
e
y
+
A
z
A
e
z
. (163)
Scalar Product
cos =
A B
AB
=
A
x
B
x
+ A
y
B
y
+ A
z
B
z
_
A
2
x
+ A
2
y
+ A
2
z
_
B
2
x
+ B
2
y
+ B
2
z
. (161)
A =
_
A A =
_
A
2
x
+ A
2
y
+ A
2
z
; (162)
A =
A
_
A A
=
A
A
=
A
x
A
e
x
+
A
y
A
e
y
+
A
z
A
e
z
. (163)
Scalar Product
Scalar Product: More Short-Hand Notations
We are going to cite two other short-hand notation of the scalar product. With Eq. (158) in
numbered form we nd
A
x
i
= A e
x
i
for i = 1, 2, 3 (164)
and for B we obtain instead Eq. (159)
A B =
3
i=1
A
x
i
B
x
i
(165)
or applying the summation convention
A B = A
x
i
B
x
i
. (166)
Obviously, this proves that the scalar product is commutative, i.e.,
A B = B A. (167)
Scalar Product
numbered form we nd
A
x
i
= A e
x
i
for i = 1, 2, 3 (164)
A B =
3
i=1
A
x
i
B
x
i
(165)
A B = A
x
i
B
x
i
. (166)
A B = B A. (167)
Scalar Product
numbered form we nd
A
x
i
= A e
x
i
for i = 1, 2, 3 (164)
A B =
3
i=1
A
x
i
B
x
i
(165)
A B = A
x
i
B
x
i
. (166)
A B = B A. (167)
Scalar Product
numbered form we nd
A
x
i
= A e
x
i
for i = 1, 2, 3 (164)
A B =
3
i=1
A
x
i
B
x
i
(165)
A B = A
x
i
B
x
i
. (166)
A B = B A. (167)
Scalar Product
Scalar Product: Independence of the Coordinate System
In generalization of Eq. (164) we dene for the components of a vector in orthogonal curvilinear
coordinates by
a)
A
i
= A e
i
, (168)
and obtain by applying the summation convention
A = A
i
e
i
= A
i

ij
e
x
j
= A
x
j
e
x
j
(169)
with
A
x
j
=
ij
A
i
, (170)
by applying the transformation formulas in Eq. (108).
a)
At the point in space R(
1
,
2
,
3
) we project the general position dependent vector A(
1
,
2
,
3
) onto the position
dependent unit vectors e
i
(
1
,
2
,
3
).
Scalar Product
In generalization of Eq. (164) we dene for the components of a vector in orthogonal curvilinear
coordinates by
a)
A
i
= A e
i
, (168)
and obtain by applying the summation convention
A = A
i
e
i
= A
i

ij
e
x
j
= A
x
j
e
x
j
(169)
with
A
x
j
=
ij
A
i
, (170)
by applying the transformation formulas in Eq. (108).
a)
At the point in space R(
1
,
2
,
3
) we project the general position dependent vector A(
1
,
2
,
3
) onto the position
dependent unit vectors e
i
(
1
,
2
,
3
).
Scalar Product
On the other hand, by inserting the cartesian components form A = A
x
i
e
x
i
in
A
j
= A
..
=A
x
i
e
x
i
e
j
= A
x
i
e
x
i
e
j
= A
x
i
e
x
i
e
j
. .
=
ji
(171)
=
ji
A
x
i
. (172)
Number triples, which are transformed from the cartesian to an orthonormal curvilinear
coordinate system with Eq. (170) or Eq. (172) are in the mathematical sense (scalar) components
of vectors. Because of the inverse of is equal to the transpose, Eq. (172), A
j
=
ji
A
x
i
can
be derived from Eq. (170), A
x
j
=
ij
A
i
, via inversion and vice versa. The vector A as a
directed physical value is independent of the coordinate system (it is koordinatenfrei), simply the
mathematical representation is coordinate dependent.
The result of a Scalar Product of two Vectors is Independent of the Coordinate System:
A B = A
x
i
B
x
i
= A
i
B
i
. (173)
Scalar Product
x
i
e
x
i
in
A
j
= A
..
=A
x
i
e
x
i
e
j
= A
x
i
e
x
i
e
j
= A
x
i
e
x
i
e
j
. .
=
ji
(171)
=
ji
A
x
i
. (172)
j
=
ji
A
x
i
can
x
j
=
ij
A
i
A B = A
x
i
B
x
i
= A
i
B
i
. (173)
Scalar Product
x
i
e
x
i
in
A
j
= A
..
=A
x
i
e
x
i
e
j
= A
x
i
e
x
i
e
j
= A
x
i
e
x
i
e
j
. .
=
ji
(171)
=
ji
A
x
i
. (172)
j
=
ji
A
x
i
can
x
j
=
ij
A
i
A B = A
x
i
B
x
i
= A
i
B
i
. (173)
Scalar Product
Scalar Product: Distance between
Observation and Source Point
The distance between the observation point
R = xe
x
+ ye
y
+ ze
z
(174)
and the source point
R
= x
e
x
+ y
e
y
+ z
e
z
(175)
reads in the Cartesian Coordinate System:
|RR
|
=
_
(RR
) (RR
) (176)
=
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
.
(177)
............................................................................................................................................................................................................................................................................................................................................................................................................................................ ......................
. .. . .. . . . . . . . . . . . . . . . . .
............................................................................................................................................................................................................................................................................................................................................................................................................................................ . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
............... ............... ............... ............... ............... ............... ............... ............... ............... ............... ............... ...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
...............
........
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . .
...............
...............
...............
...............
...............
...............
...............
...............
...........
.....................
.
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.
.
.
O
x
y
z
z
z
x
x
y
y
R
R
RR
................................................................................................................................................................. . . . . . .. .. .. ...........
. . . . . . . . . . . . . . . . . . . . . . .
............................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . ..
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
Figure 7: Distance between Observation and
Source Point
Scalar Product
Scalar Product: Distance between Observation and Source Point
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
|RR
| =
_
(RR
) (RR
) . (178)
(RR
) (RR
) = R RR R
R+R
(179)
= R R2R R
+R
(180)
= (xe
x
+ ye
y
+ ze
z
) (xe
x
+ ye
y
+ ze
z
)
2(xe
x
+ ye
y
+ ze
z
) (x
e
x
+ y
e
y
+ z
e
z
)
+ (x
e
x
+ y
e
y
+ z
e
z
) (x
e
x
+ y
e
y
+ z
e
z
) (181)
= (x
2
+ y
2
+ z
2
) 2(xx
+ yy
+ zz
) + (x
2
+ y
2
+ z
2
) (182)
= (x
2
2xx
+ x
2
)
. .
=(xx
)
2
+(y
2
2yy
+ y
2
)
. .
=(yy
)
2
+(z
2
2zz
+ z
2
)
. .
=(zz
)
2
(183)
= (x x
)
2
+ (y y
)
2
+ (z z
)
2
. (184)
|RR
| =
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
. (185)
Scalar Product
The distance between the observation point R and the source point R
reads in the Cartesian,

Cylindrical, and Spherical Coordinate System:
|RR
| =
_
(RR
) (RR
) (186)
=
_
R
2
+ R
2
2R R
(187)
=
_
R
2
+ R
2
2RR
cos (188)
=
_
(x x
)
2
+ (y y
)
2
+ (z z
)
2
(189)
in the Cartesian Coordinate System (190)
=
_
r
2
+ r
2
2rr
cos(
) + (z z
)
2
(191)
in the Cylindrical Coordinate System (192)
=
_
R
2
+ R
2
2RR
[sin sin
cos(
) + cos cos
] (193)
in the Spherical Coordinate System. (194)
Covariant and Contravariant Coordinates
If we apply a coordinate transformation between two orthogonal curvilinear coordinates
j

i
,
the scalar vector components read with
ij
according to Eq. (127)
A
j
=
ij
A
i
(195)
A
j
=
ji
A
i
. (196)
This brings close the following denition of the so-called covariant
a
j
= h
j
A
j
(197)
and contravariant
a
j
=
A
j
h
j
(198)
vector components.
The formal transformation is given by the rules
a
j
= a
j
(199)
a
j
= a
i
(200)
a
j
= a
j
(201)
a
j
= a
i
. (202)
This kind of vectors are used in the relativistic four-vector representation of Maxwells equations
[Van Bladel, 1984].
A disadvantage could be that the dimension of the components is dierent from the dimension of
the vector A, only A is a (physical) vector [Morse & Feshbach, 1953].
Lecture 4: Vectors: Vector Product; Dyadic Product
MFEFT - Lecture 4
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
MFEFT - Lecture 4
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Vector Product
Vector Product
The denition of the vector product is
shown in Fig. 8. Two vectors A and B
span a parallelogram with the surface
F = AB sin . (203)
The vector C with the length equal to F is
normal ( perpendicular) to the surface F
and the orientation of C is given by the
right-hand rule
C = AB. (204)
Thats because the vector product is not
commutative
BA = AB. (205)
. .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .........................
........ ... . .. . .. . . . . . .
................................................................................................................................................................................................................................................................................................................................................. . . . . . . .. . . .. .. .. ......
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . .. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . ........................
.......................
............. ............. ............. ............. ............. ............. .............
............. ............. .............
............. ............. ............. ............. ............. ............. ............. ......... . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
A
B
C
F = |C|
Figure 8: Denition of the Vector Product
Vector Product
Vector Product between two Parallel or Antiparallel Vectors
It follows that two vectors are parallel or antiparallel, if the vector product is zero:
A B AB = 0.
Vector Product between the Unit Vectors of the Cartesian Coordinate System
For example, the vector product between the unit vectors of the Cartesian coordinate system is
e
x
e
x
= 0
e
y
e
y
= 0 (206)
e
z
e
z
= 0
and
e
x
e
y
= e
z
e
x
e
z
= e
y
(207)
e
y
e
z
= e
x
.
Vector Product
Vector Product between two Parallel or Antiparallel Vectors
It follows that two vectors are parallel or antiparallel, if the vector product is zero:
A B AB = 0.
Vector Product between the Unit Vectors of the Cartesian Coordinate System
For example, the vector product between the unit vectors of the Cartesian coordinate system is
e
x
e
x
= 0
e
y
e
y
= 0 (206)
e
z
e
z
= 0
and
e
x
e
y
= e
z
e
x
e
z
= e
y
(207)
e
y
e
z
= e
x
.
Vector Product between two Vectors: Components Form in Cartesian
Coordinates
In components representation of A and B it follows explicitly by using Eq. (207) and (206)
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (208)
= A
x
e
x
B
x
e
x
+ A
y
e
y
B
x
e
x
+ A
z
e
z
B
x
e
x
+ A
x
e
x
B
y
e
y
+ A
y
e
y
B
y
e
y
+ A
z
e
z
B
y
e
y
+ A
x
e
x
B
z
e
z
+ A
y
e
y
B
z
e
z
+ A
z
e
z
B
z
e
z
(209)
= A
x
B
x
e
x
e
x
. .
=0
+A
y
B
x
e
y
e
x
. .
=e
z
+A
z
B
x
e
z
e
x
. .
=e
y
+ A
x
B
y
e
x
e
y
. .
=e
z
+A
y
B
y
e
y
e
y
. .
=0
+A
z
B
y
e
z
e
y
. .
=e
x
+ A
x
B
z
e
x
e
z
. .
=e
y
+A
y
B
z
e
y
e
z
. .
=e
x
+A
z
B
z
e
z
e
z
. .
=0
(210)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (211)
Coordinates
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (208)
= A
x
e
x
B
x
e
x
+ A
y
e
y
B
x
e
x
+ A
z
e
z
B
x
e
x
+ A
x
e
x
B
y
e
y
+ A
y
e
y
B
y
e
y
+ A
z
e
z
B
y
e
y
+ A
x
e
x
B
z
e
z
+ A
y
e
y
B
z
e
z
+ A
z
e
z
B
z
e
z
(209)
= A
x
B
x
e
x
e
x
. .
=0
+A
y
B
x
e
y
e
x
. .
=e
z
+A
z
B
x
e
z
e
x
. .
=e
y
+ A
x
B
y
e
x
e
y
. .
=e
z
+A
y
B
y
e
y
e
y
. .
=0
+A
z
B
y
e
z
e
y
. .
=e
x
+ A
x
B
z
e
x
e
z
. .
=e
y
+A
y
B
z
e
y
e
z
. .
=e
x
+A
z
B
z
e
z
e
z
. .
=0
(210)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (211)
Coordinates
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (208)
= A
x
e
x
B
x
e
x
+ A
y
e
y
B
x
e
x
+ A
z
e
z
B
x
e
x
+ A
x
e
x
B
y
e
y
+ A
y
e
y
B
y
e
y
+ A
z
e
z
B
y
e
y
+ A
x
e
x
B
z
e
z
+ A
y
e
y
B
z
e
z
+ A
z
e
z
B
z
e
z
(209)
= A
x
B
x
e
x
e
x
. .
=0
+A
y
B
x
e
y
e
x
. .
=e
z
+A
z
B
x
e
z
e
x
. .
=e
y
+ A
x
B
y
e
x
e
y
. .
=e
z
+A
y
B
y
e
y
e
y
. .
=0
+A
z
B
y
e
z
e
y
. .
=e
x
+ A
x
B
z
e
x
e
z
. .
=e
y
+A
y
B
z
e
y
e
z
. .
=e
x
+A
z
B
z
e
z
e
z
. .
=0
(210)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (211)
Coordinates
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (208)
= A
x
e
x
B
x
e
x
+ A
y
e
y
B
x
e
x
+ A
z
e
z
B
x
e
x
+ A
x
e
x
B
y
e
y
+ A
y
e
y
B
y
e
y
+ A
z
e
z
B
y
e
y
+ A
x
e
x
B
z
e
z
+ A
y
e
y
B
z
e
z
+ A
z
e
z
B
z
e
z
(209)
= A
x
B
x
e
x
e
x
. .
=0
+A
y
B
x
e
y
e
x
. .
=e
z
+A
z
B
x
e
z
e
x
. .
=e
y
+ A
x
B
y
e
x
e
y
. .
=e
z
+A
y
B
y
e
y
e
y
. .
=0
+A
z
B
y
e
z
e
y
. .
=e
x
+ A
x
B
z
e
x
e
z
. .
=e
y
+A
y
B
z
e
y
e
z
. .
=e
x
+A
z
B
z
e
z
e
z
. .
=0
(210)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (211)
Sarrus Scheme
Sarrus Scheme
The last result is also obtained by applying the Sarrus Scheme introduced by the French
mathematician Pierre Frederic Sarrus (1798-1861):
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (212)
= det
_
_
_
_
_
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
_
_
_
_
_
=
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
. (213)
Computing the determinant of the 3 3 matrix gives:
C =
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
(214)
= e
x
A
y
B
z
+e
y
A
z
B
x
+e
z
A
x
B
y
B
x
A
y
e
z
B
y
A
z
e
x
B
z
A
x
e
y
(215)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (216)
Sarrus Scheme
Sarrus Scheme
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (212)
= det
_
_
_
_
_
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
_
_
_
_
_
=
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
. (213)
C =
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
(214)
= e
x
A
y
B
z
+e
y
A
z
B
x
+e
z
A
x
B
y
B
x
A
y
e
z
B
y
A
z
e
x
B
z
A
x
e
y
(215)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (216)
Sarrus Scheme
Sarrus Scheme
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (212)
= det
_
_
_
_
_
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
_
_
_
_
_
=
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
. (213)
C =
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
(214)
= e
x
A
y
B
z
+e
y
A
z
B
x
+e
z
A
x
B
y
B
x
A
y
e
z
B
y
A
z
e
x
B
z
A
x
e
y
(215)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (216)
Sarrus Scheme
Sarrus Scheme
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (212)
= det
_
_
_
_
_
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
_
_
_
_
_
=
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
. (213)
C =
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
(214)
= e
x
A
y
B
z
+e
y
A
z
B
x
+e
z
A
x
B
y
B
x
A
y
e
z
B
y
A
z
e
x
B
z
A
x
e
y
(215)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (216)
Sarrus Scheme
Sarrus Scheme
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (212)
= det
_
_
_
_
_
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
_
_
_
_
_
=
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
. (213)
C =
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
(214)
= e
x
A
y
B
z
+e
y
A
z
B
x
+e
z
A
x
B
y
B
x
A
y
e
z
B
y
A
z
e
x
B
z
A
x
e
y
(215)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (216)
Sarrus Scheme
Sarrus Scheme
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (212)
= det
_
_
_
_
_
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
_
_
_
_
_
=
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
. (213)
C =
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
(214)
= e
x
A
y
B
z
+e
y
A
z
B
x
+e
z
A
x
B
y
B
x
A
y
e
z
B
y
A
z
e
x
B
z
A
x
e
y
(215)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (216)
Levi-Cività Symbol
Levi-Cività Symbol
We can also make use of the so-called Levi-Cività Symbol
ijk
, i, j, k = 1, 2, 3 introduced by the
Italian mathematician T. LeviCività (1873-1941)
ijk
=
_
_
0 , if two subscripts are equal
1 , if ijk is a even permutation of 123
1 , if ijk is a odd permutation of 123 .
(217)
Then, the components of the result vector of the vector product of two vectors read
C
i
=
3
j=1
3
k=1
ijk
A
j
B
k
(218)
and by using the Einstein summation convention:
C
i
=
ijk
A
j
B
k
. (219)
Levi-Cività Symbol
Levi-Cività Symbol
ijk
ijk
=
_
_
(217)
C
i
=
3
j=1
3
k=1
ijk
A
j
B
k
(218)
C
i
=
ijk
A
j
B
k
. (219)
Levi-Cività Symbol
Levi-Cività Symbol
ijk
ijk
=
_
_
(217)
C
i
=
3
j=1
3
k=1
ijk
A
j
B
k
(218)
C
i
=
ijk
A
j
B
k
. (219)
Multiple Vector and Scalar Products
Vector Triple Product (VTB)
The vector triple product is dened as
A(BC) = B(A C) C(A B) (220)
Say: A cross B cross C = BAC minus CAB.
This is called the Vector Triple Product (VTP), because it involves three terms (vectors) and the
result is a vector. The right-hand side can be shown to be correct by direct evaluation of the
vector product. The VTO appears for example in the
Magnetostatic (MS) Case: in the derivation of the vectorial Poisson/Laplace equation for
the magnetic vector potential A(R):
B(R) = A(R) H(R) =
1
A(R) (221)
H(R) =
_
1
A(R)
_
=
1
A(R) = J
e
(R) . (222)
Electromagnetic (EM) Case: in the derivation of the vectorial wave equation for the electric
eld strength E(R, t):
E(R, t) =
0
t
J(R, t)
0
2
t
2
E(R, t) (223)
. . . (224)
A(BC) = B(A C) C(A B) (220)
B(R) = A(R) H(R) =
1
A(R) (221)
H(R) =
_
1
A(R)
_
=
1
A(R) = J
e
(R) . (222)
E(R, t) =
0
t
J(R, t)
0
2
t
2
E(R, t) (223)
. . . (224)
A(BC) = B(A C) C(A B) (220)
B(R) = A(R) H(R) =
1
A(R) (221)
H(R) =
_
1
A(R)
_
=
1
A(R) = J
e
(R) . (222)
E(R, t) =
0
t
J(R, t)
0
2
t
2
E(R, t) (223)
. . . (224)
A(BC) = B(A C) C(A B) (220)
B(R) = A(R) H(R) =
1
A(R) (221)
H(R) =
_
1
A(R)
_
=
1
A(R) = J
e
(R) . (222)
E(R, t) =
0
t
J(R, t)
0
2
t
2
E(R, t) (223)
. . . (224)
A(BC) = B(A C) C(A B) (220)
B(R) = A(R) H(R) =
1
A(R) (221)
H(R) =
_
1
A(R)
_
=
1
A(R) = J
e
(R) . (222)
E(R, t) =
0
t
J(R, t)
0
2
t
2
E(R, t) (223)
. . . (224)
Proof of the Identity A(BC) = B(A C) C(A B)
BC =
e
x
e
y
e
z
B
x
B
y
B
z
C
x
C
y
C
z
(225)
= (B
y
C
z
B
z
C
y
)e
x
+ (B
z
C
x
B
x
C
z
)e
y
+ (B
x
C
y
B
y
C
x
)e
z
. (226)
A(BC) =
e
x
e
y
e
z
A
x
A
y
A
z
(B
y
C
z
B
z
C
y
) (B
z
C
x
B
x
C
z
) (B
x
C
y
B
y
C
x
)
(227)
= (A
y
(B
x
C
y
B
y
C
x
) A
z
(B
z
C
x
B
x
C
z
))e
x
+ (A
z
(B
y
C
z
B
z
C
y
) A
x
(B
x
C
y
B
y
C
x
))e
y
+ (A
x
(B
z
C
x
B
x
C
z
) A
y
(B
y
C
z
B
z
C
y
))e
z
(228)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+ B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+ B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
. (229)
BC =
e
x
e
y
e
z
B
x
B
y
B
z
C
x
C
y
C
z
(225)
= (B
y
C
z
B
z
C
y
)e
x
+ (B
z
C
x
B
x
C
z
)e
y
+ (B
x
C
y
B
y
C
x
)e
z
. (226)
A(BC) =
e
x
e
y
e
z
A
x
A
y
A
z
(B
y
C
z
B
z
C
y
) (B
z
C
x
B
x
C
z
) (B
x
C
y
B
y
C
x
)
(227)
= (A
y
(B
x
C
y
B
y
C
x
) A
z
(B
z
C
x
B
x
C
z
))e
x
+ (A
z
(B
y
C
z
B
z
C
y
) A
x
(B
x
C
y
B
y
C
x
))e
y
+ (A
x
(B
z
C
x
B
x
C
z
) A
y
(B
y
C
z
B
z
C
y
))e
z
(228)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+ B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+ B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
. (229)
BC =
e
x
e
y
e
z
B
x
B
y
B
z
C
x
C
y
C
z
(225)
= (B
y
C
z
B
z
C
y
)e
x
+ (B
z
C
x
B
x
C
z
)e
y
+ (B
x
C
y
B
y
C
x
)e
z
. (226)
A(BC) =
e
x
e
y
e
z
A
x
A
y
A
z
(B
y
C
z
B
z
C
y
) (B
z
C
x
B
x
C
z
) (B
x
C
y
B
y
C
x
)
(227)
= (A
y
(B
x
C
y
B
y
C
x
) A
z
(B
z
C
x
B
x
C
z
))e
x
+ (A
z
(B
y
C
z
B
z
C
y
) A
x
(B
x
C
y
B
y
C
x
))e
y
+ (A
x
(B
z
C
x
B
x
C
z
) A
y
(B
y
C
z
B
z
C
y
))e
z
(228)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+ B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+ B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
. (229)
BC =
e
x
e
y
e
z
B
x
B
y
B
z
C
x
C
y
C
z
(225)
= (B
y
C
z
B
z
C
y
)e
x
+ (B
z
C
x
B
x
C
z
)e
y
+ (B
x
C
y
B
y
C
x
)e
z
. (226)
A(BC) =
e
x
e
y
e
z
A
x
A
y
A
z
(B
y
C
z
B
z
C
y
) (B
z
C
x
B
x
C
z
) (B
x
C
y
B
y
C
x
)
(227)
= (A
y
(B
x
C
y
B
y
C
x
) A
z
(B
z
C
x
B
x
C
z
))e
x
+ (A
z
(B
y
C
z
B
z
C
y
) A
x
(B
x
C
y
B
y
C
x
))e
y
+ (A
x
(B
z
C
x
B
x
C
z
) A
y
(B
y
C
z
B
z
C
y
))e
z
(228)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+ B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+ B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
. (229)
BC =
e
x
e
y
e
z
B
x
B
y
B
z
C
x
C
y
C
z
(225)
= (B
y
C
z
B
z
C
y
)e
x
+ (B
z
C
x
B
x
C
z
)e
y
+ (B
x
C
y
B
y
C
x
)e
z
. (226)
A(BC) =
e
x
e
y
e
z
A
x
A
y
A
z
(B
y
C
z
B
z
C
y
) (B
z
C
x
B
x
C
z
) (B
x
C
y
B
y
C
x
)
(227)
= (A
y
(B
x
C
y
B
y
C
x
) A
z
(B
z
C
x
B
x
C
z
))e
x
+ (A
z
(B
y
C
z
B
z
C
y
) A
x
(B
x
C
y
B
y
C
x
))e
y
+ (A
x
(B
z
C
x
B
x
C
z
) A
y
(B
y
C
z
B
z
C
y
))e
z
(228)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+ B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+ B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
. (229)
A(BC)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
(230)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) (A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) (A
z
B
z
+ A
x
B
x
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) (A
x
B
x
+ A
y
B
y
) C
z
e
z
(231)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) +B
x
e
x
A
x
C
x
(A
y
B
y
+ A
z
B
z
) C
x
e
x
B
x
e
x
A
x
C
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) +B
y
e
y
A
y
C
y
(A
z
B
z
+ A
x
B
x
) C
y
e
y
B
y
e
y
A
y
C
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) +B
z
e
z
A
z
C
z
(A
x
B
x
+ A
y
B
y
) C
z
e
z
B
z
e
z
A
z
C
z
(232)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
) (B
x
A
x
+ A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
) (A
x
B
x
+B
y
A
y
+ A
z
B
z
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
) (A
x
B
x
+ A
y
B
y
+B
z
A
z
) C
z
e
z
. (233)
A(BC)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
(230)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) (A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) (A
z
B
z
+ A
x
B
x
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) (A
x
B
x
+ A
y
B
y
) C
z
e
z
(231)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) +B
x
e
x
A
x
C
x
(A
y
B
y
+ A
z
B
z
) C
x
e
x
B
x
e
x
A
x
C
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) +B
y
e
y
A
y
C
y
(A
z
B
z
+ A
x
B
x
) C
y
e
y
B
y
e
y
A
y
C
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) +B
z
e
z
A
z
C
z
(A
x
B
x
+ A
y
B
y
) C
z
e
z
B
z
e
z
A
z
C
z
(232)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
) (B
x
A
x
+ A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
) (A
x
B
x
+B
y
A
y
+ A
z
B
z
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
) (A
x
B
x
+ A
y
B
y
+B
z
A
z
) C
z
e
z
. (233)
A(BC)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
(230)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) (A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) (A
z
B
z
+ A
x
B
x
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) (A
x
B
x
+ A
y
B
y
) C
z
e
z
(231)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) +B
x
e
x
A
x
C
x
(A
y
B
y
+ A
z
B
z
) C
x
e
x
B
x
e
x
A
x
C
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) +B
y
e
y
A
y
C
y
(A
z
B
z
+ A
x
B
x
) C
y
e
y
B
y
e
y
A
y
C
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) +B
z
e
z
A
z
C
z
(A
x
B
x
+ A
y
B
y
) C
z
e
z
B
z
e
z
A
z
C
z
(232)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
) (B
x
A
x
+ A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
) (A
x
B
x
+B
y
A
y
+ A
z
B
z
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
) (A
x
B
x
+ A
y
B
y
+B
z
A
z
) C
z
e
z
. (233)
A(BC)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
(230)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) (A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) (A
z
B
z
+ A
x
B
x
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) (A
x
B
x
+ A
y
B
y
) C
z
e
z
(231)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) +B
x
e
x
A
x
C
x
(A
y
B
y
+ A
z
B
z
) C
x
e
x
B
x
e
x
A
x
C
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) +B
y
e
y
A
y
C
y
(A
z
B
z
+ A
x
B
x
) C
y
e
y
B
y
e
y
A
y
C
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) +B
z
e
z
A
z
C
z
(A
x
B
x
+ A
y
B
y
) C
z
e
z
B
z
e
z
A
z
C
z
(232)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
) (B
x
A
x
+ A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
) (A
x
B
x
+B
y
A
y
+ A
z
B
z
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
) (A
x
B
x
+ A
y
B
y
+B
z
A
z
) C
z
e
z
. (233)
A(BC)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
)
. .
=A C
(B
x
A
x
+ A
y
B
y
+ A
z
B
z
)
. .
=A B
C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
)
. .
=A C
(A
x
B
x
+B
y
A
y
+ A
z
B
z
)
. .
=A B
C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
)
. .
=A C
(A
x
B
x
+ A
y
B
y
+B
z
A
z
)
. .
=A B
C
z
e
z
(234)
= B
x
e
x
(A C) + B
y
e
y
(A C) + B
z
e
z
(A C)
(A B) C
x
e
x
(A B) C
y
e
y
(A B) C
z
e
z
(235)
= B(A C) (A B) C. (236)
A(BC)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
)
. .
=A C
(B
x
A
x
+ A
y
B
y
+ A
z
B
z
)
. .
=A B
C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
)
. .
=A C
(A
x
B
x
+B
y
A
y
+ A
z
B
z
)
. .
=A B
C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
)
. .
=A C
(A
x
B
x
+ A
y
B
y
+B
z
A
z
)
. .
=A B
C
z
e
z
(234)
= B
x
e
x
(A C) + B
y
e
y
(A C) + B
z
e
z
(A C)
(A B) C
x
e
x
(A B) C
y
e
y
(A B) C
z
e
z
(235)
= B(A C) (A B) C. (236)
A(BC)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
)
. .
=A C
(B
x
A
x
+ A
y
B
y
+ A
z
B
z
)
. .
=A B
C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
)
. .
=A C
(A
x
B
x
+B
y
A
y
+ A
z
B
z
)
. .
=A B
C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
)
. .
=A C
(A
x
B
x
+ A
y
B
y
+B
z
A
z
)
. .
=A B
C
z
e
z
(234)
= B
x
e
x
(A C) + B
y
e
y
(A C) + B
z
e
z
(A C)
(A B) C
x
e
x
(A B) C
y
e
y
(A B) C
z
e
z
(235)
= B(A C) (A B) C. (236)
Scalar Triple Product (STP)
The Scalar Triple Product is dened by
A (BC) = [ABC] , (237)
which determines the volume of the parallelepiped represented by the vectors A, B, C. This
scalar value is a so-called Pseudo Scalar [Hafner, 1987], because the sign depends on the
handedness of the involved vector product.
Special Cases of the Scalar Triple Product (STP)
The resulting vector of two vectors is always perpendicular to both vectors, then
A (AB) = 0
B (AB) = 0 . (238)
Scalar Triple Product (STP)
The Scalar Triple Product is dened by
A (BC) = [ABC] , (237)
which determines the volume of the parallelepiped represented by the vectors A, B, C. This
scalar value is a so-called Pseudo Scalar [Hafner, 1987], because the sign depends on the
handedness of the involved vector product.
Special Cases of the Scalar Triple Product (STP)
The resulting vector of two vectors is always perpendicular to both vectors, then
A (AB) = 0
B (AB) = 0 . (238)
Dyadic Product
Denition of the Dyadic Product
The Dyadic Product (product without a dot or cross) of two vectors is dened by the formal
multiplication of the vectors in components form
AB = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) . (239)
The multiplication gives the dyadic products of the unit vectors:
AB = A
x
B
x
e
x
e
x
+ A
x
B
y
e
x
e
y
+ A
x
B
z
e
x
e
z
+A
y
B
x
e
y
e
x
+ A
y
B
y
e
y
e
y
+ A
y
B
z
e
y
e
z
+A
z
B
x
e
z
e
x
+ A
z
B
y
e
z
e
y
+ A
z
B
z
e
z
e
z
. (240)
The dyadic product is not commutative, this means
AB = BA
e
x
e
y
= e
y
e
x
e
x
e
z
= e
z
e
x
.
.
.
Dyadic Product
AB = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) . (239)
AB = A
x
B
x
e
x
e
x
+ A
x
B
y
e
x
e
y
+ A
x
B
z
e
x
e
z
+A
y
B
x
e
y
e
x
+ A
y
B
y
e
y
e
y
+ A
y
B
z
e
y
e
z
+A
z
B
x
e
z
e
x
+ A
z
B
y
e
z
e
y
+ A
z
B
z
e
z
e
z
. (240)
AB = BA
e
x
e
y
= e
y
e
x
e
x
e
z
= e
z
e
x
.
.
.
Dyadic Product
AB = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) . (239)
AB = A
x
B
x
e
x
e
x
+ A
x
B
y
e
x
e
y
+ A
x
B
z
e
x
e
z
+A
y
B
x
e
y
e
x
+ A
y
B
y
e
y
e
y
+ A
y
B
z
e
y
e
z
+A
z
B
x
e
z
e
x
+ A
z
B
y
e
z
e
y
+ A
z
B
z
e
z
e
z
. (240)
AB = BA
e
x
e
y
= e
y
e
x
e
x
e
z
= e
z
e
x
.
.
.
Dyadic Product
AB = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) . (239)
AB = A
x
B
x
e
x
e
x
+ A
x
B
y
e
x
e
y
+ A
x
B
z
e
x
e
z
+A
y
B
x
e
y
e
x
+ A
y
B
y
e
y
e
y
+ A
y
B
z
e
y
e
z
+A
z
B
x
e
z
e
x
+ A
z
B
y
e
z
e
y
+ A
z
B
z
e
z
e
z
. (240)
AB = BA
e
x
e
y
= e
y
e
x
e
x
e
z
= e
z
e
x
.
.
.
Dyadic Product
AB = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) . (239)
AB = A
x
B
x
e
x
e
x
+ A
x
B
y
e
x
e
y
+ A
x
B
z
e
x
e
z
+A
y
B
x
e
y
e
x
+ A
y
B
y
e
y
e
y
+ A
y
B
z
e
y
e
z
+A
z
B
x
e
z
e
x
+ A
z
B
y
e
z
e
y
+ A
z
B
z
e
z
e
z
. (240)
AB = BA
e
x
e
y
= e
y
e
x
e
x
e
z
= e
z
e
x
.
.
.
Dyadic Product
AB = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) . (239)
AB = A
x
B
x
e
x
e
x
+ A
x
B
y
e
x
e
y
+ A
x
B
z
e
x
e
z
+A
y
B
x
e
y
e
x
+ A
y
B
y
e
y
e
y
+ A
y
B
z
e
y
e
z
+A
z
B
x
e
z
e
x
+ A
z
B
y
e
z
e
y
+ A
z
B
z
e
z
e
z
. (240)
AB = BA
e
x
e
y
= e
y
e
x
e
x
e
z
= e
z
e
x
.
.
.
Dyadic Product
Dyadic Product in Matrix Form
We also can write the components form of the dyadic product in a 33 Matrix. The (cartesian)
components representation of a vector
A = A
x
e
x
+ A
y
e
y
+ A
z
e
z
(241)
can be written by keeping the unit vectors in mind in form of a row vector or a column vector
{A} = {A
x
A
y
A
z
} (row vector) (242)
{A} =
_
_
_
A
x
A
y
A
z
_
_
_
(column vector) . (243)
Then, it follows for the dyadic product of two vectors AB by keeping the unit vectors of the
xed coordinate system in mind
AB =
_
_
_
A
x
A
y
A
z
_
_
_
{B
x
B
y
B
z
} =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
. (244)
Obviously, the dyadic products e
x
i
e
x
j
, i, j = 1, 2, 3, in Eq. (240) determine the position of the
A
i
B
j
element in the matrix in Eq. (244).
Dyadic Product
A = A
x
e
x
+ A
y
e
y
+ A
z
e
z
(241)
{A} = {A
x
A
y
A
z
{A} =
_
_
_
A
x
A
y
A
z
_
_
_
AB =
_
_
_
A
x
A
y
A
z
_
_
_
{B
x
B
y
B
z
} =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
. (244)
x
i
e
x
j
A
i
B
j
Dyadic Product
A = A
x
e
x
+ A
y
e
y
+ A
z
e
z
(241)
{A} = {A
x
A
y
A
z
{A} =
_
_
_
A
x
A
y
A
z
_
_
_
AB =
_
_
_
A
x
A
y
A
z
_
_
_
{B
x
B
y
B
z
} =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
. (244)
x
i
e
x
j
A
i
B
j
Dyadic Product
A = A
x
e
x
+ A
y
e
y
+ A
z
e
z
(241)
{A} = {A
x
A
y
A
z
{A} =
_
_
_
A
x
A
y
A
z
_
_
_
AB =
_
_
_
A
x
A
y
A
z
_
_
_
{B
x
B
y
B
z
} =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
. (244)
x
i
e
x
j
A
i
B
j
Dyadic Product
A = A
x
e
x
+ A
y
e
y
+ A
z
e
z
(241)
{A} = {A
x
A
y
A
z
{A} =
_
_
_
A
x
A
y
A
z
_
_
_
AB =
_
_
_
A
x
A
y
A
z
_
_
_
{B
x
B
y
B
z
} =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
. (244)
x
i
e
x
j
A
i
B
j
Dyadic Product
A = A
x
e
x
+ A
y
e
y
+ A
z
e
z
(241)
{A} = {A
x
A
y
A
z
{A} =
_
_
_
A
x
A
y
A
z
_
_
_
AB =
_
_
_
A
x
A
y
A
z
_
_
_
{B
x
B
y
B
z
} =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
. (244)
x
i
e
x
j
A
i
B
j
Dyadic Product
The entry A
x
B
z
is positioned at the place e
x
e
z
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
and the entry A
z
B
x
is given by the position e
z
e
x
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
.
This proves that the dyadic product is not commutative
AB = BA. (245)
We summarize: In this sense, the dyad has nine components in comparison to the the three
components of a vector. In the discussed case AB, these nine components are determined by six
vector components.
Dyadic Product
The entry A
x
B
z
x
e
z
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
and the entry A
z
B
x
z
e
x
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
.
AB = BA. (245)
vector components.
Dyadic Product
The entry A
x
B
z
x
e
z
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
and the entry A
z
B
x
z
e
x
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
.
AB = BA. (245)
vector components.
Dyadic Product
The entry A
x
B
z
x
e
z
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
and the entry A
z
B
x
z
e
x
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
.
AB = BA. (245)
vector components.
Dyadic Product
Practical Meaning of the Dyadic Product
A practical meaning of the dyadic product, if according to a matrix-vector multiplication a
dot product (contraction) is a applied to a vector. We interpret the operation the linear
mapping
AB C =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
_
_
_
C
x
C
y
C
z
_
_
_
(246)
or
C AB = {C
x
C
y
C
z
}
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
(247)
in a meaningful way.
Dyadic Product
A practical meaning of the dyadic product, if according to a matrix-vector multiplication a
dot product (contraction) is a applied to a vector. We interpret the operation the linear
mapping
AB C =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
_
_
_
C
x
C
y
C
z
_
_
_
(246)
or
C AB = {C
x
C
y
C
z
}
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
(247)
in a meaningful way.
Dyadic Product
For example, we nd by computing the DyadVector Multiplication in Eq. (246) and
interpretation of the result according to Eq. (243)
AB C =
_
_
A
x
B
x
C
x
+ A
x
B
y
C
y
+ A
x
B
z
C
z
A
y
B
x
C
x
+ A
y
B
y
C
y
+ A
y
B
z
C
z
A
z
B
x
C
x
+ A
z
B
y
C
y
+ A
z
B
z
C
z
_
_
=
_
_
A
x
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
y
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
z
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
_
_
= (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
C
x
+ B
y
C
y
+ B
z
C
z
) (248)
and respectively by calculation of the Vector-Dyad Multiplication
C AB = (C
x
A
x
+ C
y
A
y
+ C
z
A
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) , (249)
which can be written in the coordinate-free form
AB C = A(B C) (250)
C AB = (C A)B. (251)
Dyadic Product
AB C =
_
_
A
x
B
x
C
x
+ A
x
B
y
C
y
+ A
x
B
z
C
z
A
y
B
x
C
x
+ A
y
B
y
C
y
+ A
y
B
z
C
z
A
z
B
x
C
x
+ A
z
B
y
C
y
+ A
z
B
z
C
z
_
_
=
_
_
A
x
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
y
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
z
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
_
_
= (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
C
x
+ B
y
C
y
+ B
z
C
z
) (248)
C AB = (C
x
A
x
+ C
y
A
y
+ C
z
A
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) , (249)
AB C = A(B C) (250)
C AB = (C A)B. (251)
Dyadic Product
AB C =
_
_
A
x
B
x
C
x
+ A
x
B
y
C
y
+ A
x
B
z
C
z
A
y
B
x
C
x
+ A
y
B
y
C
y
+ A
y
B
z
C
z
A
z
B
x
C
x
+ A
z
B
y
C
y
+ A
z
B
z
C
z
_
_
=
_
_
A
x
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
y
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
z
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
_
_
= (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
C
x
+ B
y
C
y
+ B
z
C
z
) (248)
C AB = (C
x
A
x
+ C
y
A
y
+ C
z
A
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) , (249)
AB C = A(B C) (250)
C AB = (C A)B. (251)
Dyadic Product
The result of the product of a dyad AB with a vector C
AB C = A(B C)
is again a vector, but in the direction of A, where the length is modied by the scalar
product B C
a)
.
Similarly, the dot product of a vector C with a dyad AB
C AB = (C A)B
is a vector in direciton of B, which is stretched/compressed by the scalar product C A.
The contraction of a dyad with a vector determines a rotation of C in A or of C in B, where
AB C = C AB. (252)
a)
Note that for all vectors C in a plane perpendicular to B is AB C = 0, i. e., the Cs are building the kernel of a
(nullspace) of the linear mapping AB C [Burg et al., 1990]; for all vectors in the kernel AB C = D it is impossible to solve
C in a unique way.
Dyadic Product
AB C = A(B C)
product B C
a)
.
C AB = (C A)B
AB C = C AB. (252)
a)
C in a unique way.
Dyadic Product
AB C = A(B C)
product B C
a)
.
C AB = (C A)B
AB C = C AB. (252)
a)
C in a unique way.
EM Application: Hertzian Dipole Radiation
The simplest antenna to radiate electromagnetic waves is a Hertzian Dipole. The vector of the
electric eld strength E of the radiated electromagnetic eld is a function of the observation
point R and has a dierent magnitude and direction at every point in space:
E(R, ) =
0

2
p
e
() G
(0)
(R, ) . (253)
The change in direction (rotation) and amplitude (stretching/compression) relative to the
arbitrary but constant directed dipole moment p
e
is given by a dyad, the so-called Dyadic
Greens Function:
G(R, ) =
_
I +
1
k
2
0
_
e
j k
0
R
4R
=
_
I

R

R+
j
k
0
R
(I 3
R

R)
1
k
2
0
R
2
(I 3
R

R)
_
e
j k
0
R
4R
for R = 0
def
= G
(0)
(R, ) for R = 0. (254)
The simplest antenna to radiate electromagnetic waves is a Hertzian Dipole. The vector of the
electric eld strength E of the radiated electromagnetic eld is a function of the observation
point R and has a dierent magnitude and direction at every point in space:
E(R, ) =
0

2
p
e
() G
(0)
(R, ) . (253)
The change in direction (rotation) and amplitude (stretching/compression) relative to the
arbitrary but constant directed dipole moment p
e
is given by a dyad, the so-called Dyadic
Greens Function:
G(R, ) =
_
I +
1
k
2
0
_
e
j k
0
R
4R
=
_
I

R

R+
j
k
0
R
(I 3
R

R)
1
k
2
0
R
2
(I 3
R

R)
_
e
j k
0
R
4R
for R = 0
def
= G
(0)
(R, ) for R = 0. (254)
Dyadic Product
The Cross Product between a Vector and a Dyad
We can generalize the results obtained for the scalar product to the vector product of a vector
and a dyad and vice versa:
ABC = A(BC) (255)
CAB = (CA)B, (256)
but note that the result is a dyad and these relations are not commutative.
Dyadic Product
Dyadic Product with Numbered Coordinates and Summation Convention
If we use the numbered Cartesian coordinates (240) we write:
AB =
3
i=1
3
j=1
A
x
i
B
x
j
e
x
i
e
x
j
(257)
and applying the summation convention we nd:
AB = A
x
i
B
x
j
e
x
i
e
x
j
, (258)
where we have to sum i, j from 1, 2, 3. Note that e
x
i
e
x
j
= e
x
j
e
x
i
for i = j. A dyad AB has
components with double indices
D
x
i
x
j
= A
x
i
B
x
j
; (259)
this results in the notation of a so-called 2nd rank tensor D:
D = AB = A
x
i
B
x
j
e
x
i
e
x
j
= D
x
i
x
j
e
x
i
e
x
j
. (260)
Lecture 5: Complex Vectors; Tensors
MFEFT - Lecture 5
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Complex Vectors
Denition of a Complex Vector
When we apply a Fourier Transformation with regard to time t the real valued electromagnetic
vector elds are changing to a complex valued frequency spectrum: We have to deal with
complex vectors and their algebraic relations. A and B are two real vectors, this means vectors
with real components; we dene then
C = A+ j B (261)
as a Complex Vector C with the (Cartesian) components
C
x
= A
x
+ j B
x
C
y
= A
y
+ j B
y
(262)
C
z
= A
z
+ j B
z
which are Complex Scalar Vector Components.
Complex Vectors
C = A+ j B (261)
C
x
= A
x
+ j B
x
C
y
= A
y
+ j B
y
(262)
C
z
= A
z
+ j B
z
Complex Vectors
C = A+ j B (261)
C
x
= A
x
+ j B
x
C
y
= A
y
+ j B
y
(262)
C
z
= A
z
+ j B
z
Complex Vectors
Denition of a Conjugate Complex Vector and the Hermite Scalar Product
With
C
= A j B (263)
we mean a Conjugate Complex Vector C
, and it is
C C = A
2
B
2
+ 2 j A B. (264)
With the Hermite Scalar Product
C C
= A
2
+ B
2
= |C
x
|
2
+|C
y
|
2
+|C
z
|
2
(265)
we dene the positive real! length of C:
|C| =
_
C C
. (266)
Complex Vectors
With
C
= A j B (263)
, and it is
C C = A
2
B
2
+ 2 j A B. (264)
C C
= A
2
+ B
2
= |C
x
|
2
+|C
y
|
2
+|C
z
|
2
(265)
|C| =
_
C C
. (266)
Complex Vectors
With
C
= A j B (263)
, and it is
C C = A
2
B
2
+ 2 j A B. (264)
C C
= A
2
+ B
2
= |C
x
|
2
+|C
y
|
2
+|C
z
|
2
(265)
|C| =
_
C C
. (266)
Complex Vectors
With
C
= A j B (263)
, and it is
C C = A
2
B
2
+ 2 j A B. (264)
C C
= A
2
+ B
2
= |C
x
|
2
+|C
y
|
2
+|C
z
|
2
(265)
|C| =
_
C C
. (266)
Complex Vectors
Denition of a Complex Vector Product
Further, it is
CC = 0 (267)
and
CC
= 2 j BA, (268)
i. e., the vector product CC
is equal zero, if A and B are parallel.

Complex Vectors
Further, it is
CC = 0 (267)
and
CC
= 2 j BA, (268)

Complex Vectors
Further, it is
CC = 0 (267)
and
CC
= 2 j BA, (268)

Vector and Tensor Algebra Tensors
Tensors
Denition of a Tensor of 2nd Rank: Dyad
Instead of the denition of D as a matrix scheme of double indices D
x
i
x
j
given by A
x
i
and B
x
j
according to Eq. (240), we introduce the generalized form
D =
_
_
D
xx
D
xy
D
xz
D
yx
D
yy
D
yz
D
zx
D
zy
D
zz
_
_
; (269)
as we can see the components D
xx
, D
xy
, D
xz
, . . ., also the D
x
i
x
j
, i, j = 1, 2, 3, are not
further reduceable (Cartesian) components of a tensor of second rank
D =
3
i=1
3
j=1
D
x
i
x
j
e
x
i
e
x
j
= D
x
i
x
j
e
x
i
e
x
j
. (270)
Tensors
x
i
x
j
given by A
x
i
and B
x
j
D =
_
_
D
xx
D
xy
D
xz
D
yx
D
yy
D
yz
D
zx
D
zy
D
zz
_
_
; (269)
xx
, D
xy
, D
xz
, . . ., also the D
x
i
x
j
, i, j = 1, 2, 3, are not
D =
3
i=1
3
j=1
D
x
i
x
j
e
x
i
e
x
j
= D
x
i
x
j
e
x
i
e
x
j
. (270)
Tensors
x
i
x
j
given by A
x
i
and B
x
j
D =
_
_
D
xx
D
xy
D
xz
D
yx
D
yy
D
yz
D
zx
D
zy
D
zz
_
_
; (269)
xx
, D
xy
, D
xz
, . . ., also the D
x
i
x
j
, i, j = 1, 2, 3, are not
D =
3
i=1
3
j=1
D
x
i
x
j
e
x
i
e
x
j
= D
x
i
x
j
e
x
i
e
x
j
. (270)
Tensors
Row and Column Vectors of a Tensor of 2nd Rank: Dyad
With the row vectors
D
x
i
= D
x
i
x
j
e
x
j
(271)
and column vectors
D
x
j
= D
x
i
x
j
e
x
i
(272)
we can write D as a sum over the following dyadic products
a
:
D = e
x
i
D
x
i
(273)
= D
x
j
e
x
j
. (274)
a
In the dyad AB is the ith row vector A
x
i
B and the j-th column vector B
x
j
A.
MFEFT - Outline
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Distributions
MFEFT - Outline
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Distributions
Distributions
Complex Analysis
MFEFT - Outline
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Complex Analysis
Complex Analysis
Special Functions
MFEFT - Outline
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Special Functions
Special Functions
Fourier Transform
MFEFT - Outline
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Fourier Transform
Fourier Transform
Laplace Transform
MFEFT - Outline
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
Laplace Transform
Laplace Transform
References
MFEFT - Outline
1
Introduction
2
Dupin Coordinates
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
9
References
References
References
References
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Uber die Grundgleichungen der Elektrodynamik f ur ruhende K orper.
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A. Ben-Menahem, S. J. Singh: Seismic Waves and Sources. Springer-Verlag, New York 1981
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A.T. de Hoop: Handbook of Radiation and Scattering of Waves. Academic Press, London
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J. Van Bladel: Electromagnetic Fields. Hemisphere Publishing Corporation, New York 1985
W.C. Chew: Waves and Fields in Inhomogeneous Media. Van Nostrand Reinhold, New York
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G.S. Greschner: Maxwellgleichungen, Band 1, 2 und 3. H uthig & Wepf, Basel 1981
A.N. Kolmogorov, S.V. Fomin: Measure, Lebesgue Integrals, and Hilbert Space. Academic
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R. Courant: Vorlesungen uber Dierential- und Integralrechnung. Springer-Verlag, Berlin
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S. Blume: Theorie elektromagnetischer Felder . H uthig, Heidelberg 1991
J.C. Maxwell: A Treatise on Electricity and Magnetism, Vol. I and Vol. II . Dover
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K. Janich: Analysis f ur Physiker und Ingenieure. Springer, Berlin 1995
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R.N. Bracewell: Schnelle Hartley-Transfromation. Oldenbourg, M unchen 1990
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R. Unbehauen: Systemtheorie. Oldenbourg, M unchen 1983
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Mathematical Foundations of Electromagnetic Field Theory (MFEFT)

Dr.-Ing. Rene Marklein

is called the metric coecient with the

ensures that a change of the position vector

is called the metric coecient with the

ensures that a change of the position vector

is called the metric coecient with the

ensures that a change of the position vector

is called the metric coecient with the

ensures that a change of the position vector

is called the metric coecient with the

ensures that a change of the position vector

has been already

Figure 6: Illustration of the Scalar Product

Figure 6: Illustration of the Scalar Product

Figure 6: Illustration of the Scalar Product

reads in the Cartesian,

is equal zero, if A and B are parallel.

is equal zero, if A and B are parallel.

is equal zero, if A and B are parallel.

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