CHAPTER 1

REVIEW OF VECTOR CALCULUS

Content outline
 Vector Algebra
 Coordinate Systems and Transformation
 Vector Calculus
 Differential Length, Area And Volume in three coordinates
 Line, surface & volume integrals
 Del operator  differentiation operator
 Gradient of a scalar Field 1st degree differentiation
 Divergence of a vector Field & divergence Theorem
 Curl of a vector Field & Stokes’s Theorem cross product
 Laplacian of a scalar & vector Fields 2nd degree differentiation

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Scalar Field
 has only magnitude.

 Eg: mass, distance, electric potential (V)

Vector Field
 has both magnitude and direction.

 Eg: velocity, force, and electric field intensity.

 magnitude of a vector A is a scalar written as or |A|.

 and the unit vector along A is given by

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1.3 VECTOR MULTIPLICATION
 Scalar (or dot) product: A • B
 Vector (or cros) product: A X B

 Scalar triple product: A • (B X C)

 Vector triple product: A X (B X C)

(1). Scalar (Dot) Product (SP)

 The dot product of two vectors A & B is given by

A.B=ABcosѲAB=AxBx+ AyBy+AzBz
 A and B are said to be orthogonal (or perpendicular)
with each other if A•B = 0.

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Application of dot product;
 To find angle b/n two vectors

 To find the projection of one vector along another.eg the

component of vector B along vector A is given by

 As special case, if we have two unit vectors the

projection of one on the other is simply cosine of the angle b/n
them. i.e

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VECTOR MULTIPLICATION….,
,

(2). Cross Product(CP) >> gives Area

The cross product of two vectors A & B is given by

where is a unit vector normal to the plane containing A

and B.

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VECTOR MULTIPLICATION….
(3). Scalar Triple Product(STP) >>> gives volume
The scalar triple product of three vectors A, B & C is defined as

(4). Vector Triple Product (VTP) > used in vector Laplacian

For vectors A, B & C, we define the vector triple product as
follows by using the "bac-cab" rule.

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 COMPONENTS OF A VECTOR; VECTOR PROJECTION
( USED IN PART2 &3)

Given a vector A,
 The scalar component AB of A along vector B is

 The vector component of A along B is the scalar component

multiplied by a unit vector along B; that is,

 vector A can be resolved into two orthogonal components; one

component parallel to B, another perpendicular to B

Figure 1.2 Components of A along B: 7

(a) Scalar component , (b) Vector component .
EXAMPLES

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Alternatively, from the vector equation of the straight line

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CO-ORDINATE SYSTEMS AND TRANSFORMATION
Three best-known coordinate systems are Cartesian,
circular cylindrical and spherical.
(i). Cartesian Co-ordinate System (2cs)
 A point P in Cartesian Co-ordinate System (2CS) can be
represented as (x, y, z)
 The ranges of the coordinate variables x, y, and z are

 A vector A in 2CS can be written as

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(ii). Circular Cylindrical Co-ordinate System (3cs)
 A point P in 3CS is represented as shown in Figure
below. Where,
 ⍴ is the radius of the cylinder passing through P or the
radial distance from the z-axis:
 φ is called the azimuthal angle & is measured from the
x-axis in the xy-plane (CCW);
 and z is the same as in the Cartesian system.
 The ranges of the variables are given below

 A vector A in 3CS can be written as

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Figure : Point P and unit vectors (a) in the 3CS (b) in
spherical coordinate systems.

(a) (b)

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 The relationships between the variables (x, y, z) of the 2CS
and those of the 3CS (ρ,φ,z)

 This is called transforming a point transformation

 The relationships between the unit vectors are obtained
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geometrically
Figure: point transformation
(a) (x, y, z) and (ρ,φ,z) (b) (x, y, z) , (ρ,φ,z) and (г,Ѳ,φ)

(a) (b)

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Figure: vector transformation

(a)Cylindrical components of ax, (b) Cylindrical components of ay

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 In matrix form, the transformation of vector A from

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  An alternative way of obtaining the above equations is
using the dot product. For example:

For a matrix A, its inverse is given by

If matrix A has a unity determinant, its inverse is

simply its transpose. i.e

since All vector transformations in this chapter have 26

unity determinant , their inverse is simply their transpose

 SPHERICAL CO-ORDINATE SYSTEM (SCS)

 A point P in SCS can be represented as (r, Ѳ, Ф) as shown in

Figure
r (radius in 3D);
>>> distance from the origin to point P or
>>> the radius of a sphere centered at the origin and passing
through P;
Ѳ (called the colatitude)
>>> is the angle between the z-axis and the position vector of
P;
Ф (azimuthal angle )
>>>is measured from the x-axis (same as cylindrical).
 the ranges of the variables are 27
 the ranges of the variables are

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Or we can use cylindrical as a transition bridge b/n
spherical & rectangular
Exercise: Show how?
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Similarly, in the spherical system

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Or we can use cylindrical as a transition bridge b/n
spherical & rectangular
Exercise: Show how? 36
 Constant Co-ordinate Surfaces

Fig Constant x, y, and z surfaces

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Fig Constant r, Ѳ, Ф surfaces

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PRACTICE EXERCISES

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 VECTOR CALCULUS
DIFFERENTIAL LENGTH, AREA, AND VOLUME

A. Cartesian Coordinate System(2CS):

 Differential displacement is given by

dl = dx ax + dy ay + dz az =(dx, dy, dz )
 Differential normal area is given by cross product of two dl in 1-D i.e

 Differential volume is given by

dv= dx dy dz 44

it is STP of three dl in 1-D

B. Cylindrical Co-ordinate system(3CS):
 Differential displacement is given by

dl = d⍴ a⍴ + ⍴dФ aФ + dz az =(d⍴, ⍴dФ, dz )

 Differential normal area is given by (3 positive & 6 total
options)

 Differential volume is given by

dv= ⍴ d⍴ dФ dz
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C. Spherical Coordinates(SCS):
 Differential displacement is given by

dl = dr ar+r dѲ aѲ+r sinѲ dФ aФ =(dr, rdѲ, rsinѲ dФ

 Differential normal area is given by (3 positive & 6
total options)

 Differential volume is given by

dv= r2 sinѲ dr dѲ dФ 46
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 LINE, SURFACE & VOLUME INTEGRALS
(i). line integral
 is the tangential component of A along curve L.

 If the path of integration is a closed curve (as Fig a below),it

becomes a closed contour integral which is called the
circulation of A around L.
(ii). surface integral
 For a vector field A ,we define the surface integral or the flux of A through
S (see Figure (b)below) as

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Figure (a) Path of integration of vector field A
(b) The flux of a vector field A through surface S.
 For a closed surface (defining a volume), the surface integral
becomes s A.dS
which is referred to as the net outward flux of A from S.
(iii). volume integral  dv
v

NB: a closed path defines an open surface

whereas a closed surface defines a volume.

Figure: closed path defining

an open surface

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(1)DEL OPERATOR

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(2) GRADIENT OF A SCALAR(∇V)
 The gradient of a scalar field V is a vector that represents both the
magnitude and the direction of the maximum rate of increase of V.
It is first order partial differentiation (FOPD) for scalars

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 (3)DIVERGENCE OF A VECTOR & DIVERGENCE THEOREM(C

The divergence of A at a given point P (shown below) is

 The outward flux per unit volume as the volume shrinks about P.
 It is first order partial differentiation (FOPD) for vectors.
 measure of how much the field diverges or emanates from that point.
 it is positive at a source point in the field, and negative at a sink point, or
zero where there is neither sink nor source.

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The divergence of A
in the Cartesian, cylindrical & spherical coordinates

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 DIVERGENC THEOREM

States that total out ward flux of a vector field A through the
closed surface S is the same as the volume integral of the
divergence of A.

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Alternatively, since S is a closed surface, we can apply
the divergence theorem:

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 (4)CURL OF A VECTOR & STOKES'S THEOREM

curl of A
 is a rotational vector whose magnitude is the maximum
circulation of A per unit area as the area tends to zero.

where the area ΔS is bounded by the curve L and an is the

unit vector normal to the surface and is determined using the
right-hand rule.

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The physical significance of the curl of a vector field is
 it provides the maximum value of the circulation of the field
per unit area (or circulation density) and indicates the
direction along which this maximum value occurs.
a measure of the circulation or how much the field curls
around a point.
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(a) curl at P points out of the page; (b) curl at P is zero

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 Also, from the definition of the curl of A, we say the following
relationship which is called Stokes's theorem.

Stokes's theorem
 states that the circulation of a vector field A around a (closed)
path is equal to the surface integral of the curl of A over the
open surface S bounded by provided that A and are continuous
on S.
 Note that whereas the divergence theorem relates a surface
integral to a volume integral, Stokes's theorem relates a line
integral (circulation) to a surface integral.

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curl of A in the three coordinate systems

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(5)LAPLACIAN OF A SCALAR
 It is the divergence of the gradient of V.
 It is second order partial differential for scalars.

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EXAMPLE: FIND THE LAPLACIAN OF THE SCALAR FIELDS

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 CLASSIFICATION OF VECTOR FIELDS
A vector field is uniquely characterized by its divergence and curl.
 Neither the divergence nor curl of a vector field is sufficient to
completely describe the field.
All vector fields can be classified in terms of their vanishing or
nonvanishing divergence or curl as follows:

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Figure: Typical fields with vanishing and nonvanishing divergence or curl

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SOLENOIDAL (OR DIVERGENCELESS) FIELDS
 A vector field A is said to be solenoidal (or divergenceless) if
 Such a field has neither source nor sink of flux.
 Hence, flux lines of A entering any closed surface must also
leave it.
 Examples of solenoidal fields are incompressible fluids,
magnetic fields (chapter 5&6), and conduction current
density under steady state conditions, according to divergence
theorem which is restated below

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IRROTATIONAL (OR POTENTIAL) FIELDS

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Examples of irrotational fields include the electrostatic
field (chapter 2 ,3 &4) and the gravitational field.

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 For this reason, A may be called a potential field and V the
scalar potential of A.
 A vector A is uniquely prescribed within a region by its
divergence and its curl. If we let

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PRACTICE EXERCISES

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EXERCISES

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