Vector Analysis
Vector Analysis
Vector Analysis
Lecture Notes
SMES1103 BEGINNING MATHEMATICAL METHODS
SIF1001 MATHEMATICAL METHODS I
VECTOR ANALYSIS
Textbook
Chapter 6, Mathematical methods in the physical sciences (3rd ed) by Mary L. Boas
Contents
• Introduction
• Applications of Vector Multiplication
• Triple products
o Triple vector product; Applications of the triple scalar product; Applications of the
triple vector product
• Fields
• Directional Derivative; Gradient
• Some other expression involving
• Line integrals
• Green’s Theorem in a plane
• Divergence and divergence theorem
• Curl and Stoke’s Theorem
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Introduction
• Dot product
A B AB cos Ax Bx Ay By AzBz
A B
• Cross product
i j k
A B Ax Ay Az , A B AB sin
Bx By Bz
Example 1.
(i) Work
W Fd cos F d
dW F dr v
(ii) Torque
r F r sin
(iii) Angular Velocity
r
v r
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Triple products
height A cos
Note: volume of unit cell for reciprocal vectors (solid state physics)
a2 a3 a3 a1 a2 a3
b1 2 , b2 2 , b3 2
a1 a2 a3 a1 a2 a3 a1 a2 a3
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= ( A C )B ( A B )C
B Bxi
C C x i Cy j
A Axi Ay j Azk
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Differentiation of vectors
• Differentiation of a vector
A Axi Ay j Azk
dA dAx dAy dA
i j z k
dt dt dt dt
Example 1.
r ix jy kz,
dr dx dy dz
v i j k ,
dt dt dt dt
2 2
dv d r d x d 2y d 2z
a 2 i 2 j 2 k 2
dt dt dt dt dt
• Differentiation of product
d da dA
(aA) Aa ,
dt dt dt
d dB dA
( A B) A B,
dt dt dt
d dB dA
( A B) A B (careful of order!)
dt dt dt
r 2 r r const .,
v 2 v v const .
Differentiating the above equations,
dr
2r 0 or r v 0,
dt
two vectors are perpendicular
dv
2v 0 or v a 0
dt
r v 0,
Differentiating this, r a v v 0
r a v 2
r a v2 r v 0 & v a 0,
v2
a
r
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e r i cos j sin
eθ i sin j cos
de r d d d
i sin j cos eθ ,
dt dt dt dt
de θ d d d
i cos j sin er .
dt dt dt dt
Example 3.
dA
A Ar e r A eθ , ?
dt
dA dAr der dA de θ
er Ar eθ A
dt dt dt dt dt
dA dAr d dA d
er e θ Ar eθ er A .
dt dt dt dt dt
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Fields
( x, y , z ) : scalar function
grad i j k ,
x y z
d
u (directional derivative for u: directional unit vector)
ds
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x 2 y xz at (1,2,-1)
direction A (2, 2,1)
A 1
u (2, 2,1)
A 3
i j k (2 xy z )i x 2 j xk,
x y z y
(1,2, 1) (3,1,1)
5
u
3
0, 0
s
lim 0 u
s 0 s
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Example 3. Given surface x3y2z=12. find the tangent plane and normal line at (1,-2,3)
Surface w
w x 3 y 2z
w i3 x 2 y 2 z j2 x 3 yz kx 3 y 2 36i 12 j 4k at (1,-2,3)
x 1 y 2 z 3
9 3 1
1
i j er eθ
x y r r
T 1 T T
T rˆ φˆ zˆ (cylindrical)
s r z
T 1 T ˆ 1 T
T rˆ θ φˆ (spherical)
r r r sin
i j k
x y z
(i j k ) i j k
x y z x y z
o divergence of V
V div V (
, , ) (Vx ,Vy ,Vz )
x y z
V V V
x y z
x y z
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o curl of V
V curlV ( , , ) (Vx ,Vy ,Vz )
x y z
i j k
x y z
Vx Vy Vz
o Laplacian
2 div grad
( , , )( , , )
x y z x y z
2 2 2
x 2 y 2 z 2
2 0 is Laplace'equation.
1 2
2 is the wave equation.
a2 t 2
1
2 2 is the diffusion equation or equation of heat conduction
a t
o others.
( V ) ( V ) ( )V
( V ) 2V
(V ) V ( V )
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Line integrals
F dr
dW F dr
dr idx jdy
F dr xydx y 2dy
W ( xydx y 2dy )
• Path 2 (parabola)
2
1 1
2 2
1 2
1 1
y x 2 , dy xdx W2 xydx y dy x x 2dx x 2
2
xdx
4 2 0 0
4 4 2 3
7
2
W4 xydx y 2dy 2t 2 t 2 4tdt 2t 2 2tdt
0
6
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xdy ydx
I
x2 y 2
x cos , dx sin d
y sin , dy cos d , x2 y 2 1
• path 2
I2 (0,1)
y x 1 (i) y 1 x
(ii)
(-1,0) (1,0)
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Conservative fields (F or V)
W W W
F W i j k
x y z
W W W
Fx , Fy , Fz
x y z
2W 2W
Using ,
x y y x
Fx 2W Fy Fy Fz Fx Fz
, and similarly , ,
y y x x z y z x
From this, F 0
If F W , F 0
Conversely, if F 0, we can find W for which F W .
• Potential
F : conservative field
F ,
( W ) : scalar potential
B
F ds
A
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• We want to find a relation between a double integral over the area A and a line integral
around the curve C (simple closed curves C)
o evaluate the double integral either with respect to x first or with respect to y
first
• points 1 & 2: upper part of C by y = yu(x) and lower part of C by y = yl(x)
• points 3 & 4: left part of C by x = xl(y) and right part of C by x = xr(y)
Area integral:
Q( x, y ) Q( x, y )
d b d
A x dxdy
y c x a
x
dxdy [Q(b, y ) Q(a, y )]dy
c
Line integral:
d c
Q
dxdy Qdy (1)
A
x C
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Similarly,
P ( x, y ) P ( x, y )
d b b
A y dxdy
y c x a
y
dxdy [P ( x, d ) P ( x, c )]dx
a
b a
P
dxdy Pdx (2)
A
y C
Adding equation (1) and (2) gives the Green’s theorem in the plane:
Q P
Pdx Qdy ( x y )dxdy ,
C A
The line integral is counterclockwise around the boundary of A (that is C). This relation is valid even
for an irregular shape!!
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Example 1. F =xy i-y2 j, find the work from (0,0) to (2,1) and back
dW F dr
dr idx jdy
F dr xydx y 2dy
W ( xydx y 2dy )
W2 W3 1
Path 2 (parabola)
1 2 1
y x , dy xdx
4 2
2
1 1
2 2
1 2 2
W2 xydx y 2dy x x dx x 2 xdx
0 0
4 4 2 3
(1)
1 1
y 0
(0 y 0 y 2dy )
3
(ii)
dy 0
(2)
(i)
1 5
dx 0
2
y 0
( x 1 dx 1 0) 2, W3
3
2
3
W xydx y dy ( y 2 )
2
( xy ) dxdy
A A
x y
1 2 y
xdxdy xdxdy 1
A y 0 x 0
Q P
note : Pdx Qdy ( x y )dxdy
C A
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Two useful way to apply Green’s theorem to the integration of vector functions
Q P Vx Vy
(1) div V (or V ), with Vz 0
x y x y
if r ix jy (z=0)
dr idx jdy (tangent)
nds idy jdx (outward normal), where ds dx 2 dy 2
dr nds 0
(1) and (2) into the Green’s theorem in plane gives the “divergence theorem”:
div Vdxdy
A
A
V nds divergence theorem in 2D
div Vdxdydz V nd
divergence theorem in 3D
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Q P Vy Vx
(3) (curl V ) k, with Vz 0
x y x y
(3) and (4) into the Green’s theorem in plane gives the “Stoke’s theorem”:
(curl V ) kdxdy V dr
A A
Stoke's theorem in 2D
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V div V ( , , ) (Vx ,Vy ,Vz )
x y z
V V V
x y z
x y z
• if V corresponds to the velocity of flow of gas, heat, particles etc, then V div V is the
amount of the substance flows out of a given volume.
V v : flow of water
vtA vt A cos
v cos V cos V n
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Consider an element of volume dx dy dz in the region through which the water is flowing,
V
[V x (at surface 2) V x (at surface 1)]dydz x dx dydz
x
In this way,
Vy
dy dzdx, along y-axis
y
Vz
z dz dxdy , along z-axis
Thus, the total net rate of loss of water from dxdydz (unit volume) is
V or div V => the rate of loss of water per unit volume (physical meaning of divergence)
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NOTE:
V or div V may be different from zero due to time variation of density or sources and
sinks. Let
= (source density) minus (sink density)
= net mass of fluid being created (or added via something like a minute sprinkler system)
per unit time per unit volume
= density of fluid = mass per unit volume
/t = time rate of increase of mass per unit volume
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By taking n to be the unit vector normal to d and pointing out of the surface (see
figure), the mass of fluid flowing out through d is
V nd
then, the total outflow from d becomes
V nd
Similarly, for volume element d = dxdydz, the outflow from d is
Vd
Then, the total outlflow from d becomes
Vd
surface of
V nd
d
Vd
volume surface
V nd divergence theorem
inclosing
The divergence theorem is also called the Gauss’s theorem (NOT Gauss’s law !),
and it is very important in electricity.
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Example:
surface of
V nd
volume of
Vd 3d 3 a 3 h
cylinder cylinder
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i j k
V curl V ( , , ) (Vx ,Vy ,Vz )
x y z x y z
Vx Vy Vz
The sum of the line integrals around the rectangular paths shown is equal to the line
integral around
around d
V dr (curl V ) kdxdy (curl V ) nd
d d
or
curve
V dr ( V ) nd
surface
bounding
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Example
Given V yi xj zk,
verify the Stoke's theorem
curve
V dr
surface
( V ) nd
bounding
surface
( V ) nd
Here,
V 2k
r r xi yj zk
n
|r | a a
and we have
xi yj zk z
V n 2k( ) 2
a a
Thus,
2 /2 a cos 2
( V ) nd
surface
0 0
2
a
a sin d d
( r a)
2 /2
2a 2 d sin cos d
0 0
1
2a 2 2 2 a 2
2
curve
V dr ?
bounding
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Diverging radial field V = r = (x,y). div V = .V = 3 > 0, but x V =0. Vector field spreads out or
“diverges”. Flux V nd through closed surface surrounding r = 0 obviously nonzero.
surface
inclosing
Constant vector field V = (1, 1). div V = .V = 0. No spreading. Net flux through any closed
surface is zero.
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Constant vector field V = (-y,x,0). div V = 0, but, x V = (0,0,2). Stoke’s theorem works?
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Problem
Given V yi xj zk,
verify the Stoke's theorem for the hemispherical surface
x 2 y 2 z 2 a 2 , z 0.
surface
( V ) nd
Here,
V 2k
r r xi yj zk
n
|r | a a
and we have
xi yj zk z
V n 2k( ) 2
a a
Thus,
2 /2 a cos 2
surface
( V ) nd
0 0
2
a
a sin d d
( r a)
2 /2
2a 2 d sin cos d
0 0
1
2a 2 2 2 a 2
2
We now evaluate the line integral around the perimeter curve of the surface, which is the circle
x 2 y 2 z 2 a2 in the xy-plane,
curve
V dr 4yi xj 2zk dxi dyj dzk
curve
bounding bounding
4 ydx xdy
curve
bounding
Using
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x r cos , dx r sin d
y r sin , dy r cos d
2
curve 0
bounding
2
a d 2 a .
2 2
Therefore,
curve
V dr ( V ) nd
surface
bounding
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