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"75
VECTOR ANALYSIS
the
approval of the
President
and Fellows
to
tion
be
issued
in
connection
with
the
a partial indicathe
the
character
studies
in which the
of
of
Bicentennial
Anniversary, as
This
series
of volumes
is
of
respectfully
tijc
dedicated
to
VECTOR ANALYSIS
A TEXT-BOOK FOR THE USE OF STUDENTS
OF MATHEMATICS AND PHYSICS
J.
WILLARD
GIBBS,
PH.D., LL.D.
BY
PH.D.
1901
Copyright, 1901,
BY YALE UNIVERSITY.
Published, December, 1901.
UNIVERSITY PRESS
AND SON
JOHN WILSON
CAMBRIDGE,
U.S.A.
the public.
YALE UNIVERSITY,
WILLARD
September, 1901.
G47442
BHGINKEKING LIBRARY
GIBBS.
GENERAL PREFACE
WHEN I undertook to adapt the lectures of Professor Gibbs
on VECTOR ANALYSIS for publication in the Yale Bicentennial Series, Professor Gibbs himself was already so fully
engaged upon his work to appear in the same series, Elementary
Principles in Statistical Mechanics, that it was understood no
material assistance in the composition of this book could be
expected from him. For this reason he wished me to feel
entirely free to use my own discretion alike in the selection
of the topics to be treated and in the mode of treatment.
It has been
my
only in so far as
was necessary
method
in
text-book form.
far the greater part of the material used in the following pages has been taken from the course of lectures on
Vector Analysis delivered annually at the University by
By
Professor Gibbs.
Some
use,
The
way
GENERAL PREFACE
to
cations
of the
for reference.
made
stood by and
knowledge
is
quite elementary. It can readily be underespecially suited for such readers as have a
GENERAL PREFACE
xi
III.
Chapters
of
vector function
is
To
mathemati-
of Matrices.
adversely,
little
attention
more so
for the
employed ques-
Analysis,
who must
first
learn
what the
facts are
and may
postpone until later the detailed consideration of the restrictions that are put upon those facts.
more than
On
hand there has been a growing tendency espedecade toward the adoption of some form of
Vector Analysis. The works of Heaviside and Foppl referred to before may be cited in evidence.
As yet however
no system of Vector Analysis which makes any claim to
the other
GENERAL PREFACE
x ii
The keynote,
be
its
tions:
What
symbolically in the way best suited to facile analytic manipulation ? The treatment of these questions in modern books
on physics has been too much confined to the addition and
subtraction of vectors.
Analysis, and all such algebras are of little value for investigating questions in mathematical physics. Whether this
assertion shall prove true or not, one
vectors are to mathematical physics
may
still
maintain that
geometry. As every geometer must be thoroughly conversant with the ideas of invariants, so every student of physics
should be able to think in terms of vectors. And there is
no way
in
which
he, especially at the beginning of his scican come to so true an appreciation of the
importance of vectors and of the ideas connected with them
as by working in Vector
Analysis and dealing directly with
entific studies,
GENERAL PREFACE
the vectors themselves.
success
of
Professor
To
xiii
Vorlesungen uber
Fb'ppl's
Technische
thanking
script.
The good
my
am
work.
H. Wilson,
ficient to
October, 1901.
TABLE OF CONTENTS
PAGE
vii
GENERAL PREFACE
ix
CHAPTER
1-3
4
5
6-7
8-10
11
SUBTRACTION
12
13-16
17
18-19
20-22
23-24
25
4
6
....
8
11
....
....
14
18
CHAPTER
12
21
...
27
39
46
51
52
II
29-30
31-33
34-35
36
55
58
60
63
67
CONTENTS
XVI
ARTS.
37-38
39-40
41-42
43-45
46-47
48-50
51
52
53
54
THE SCALAR
THE VECTOR
68
71
....
.
75
81
87
92
97
101
104
106
109
113
CHAPTER HI
THE DIFFERENTIAL CALCULUS OF VECTORS
DERIVATIVES AND DIFFERENTIALS OF VECTOR FUNCTIONS
WITH RESPECT TO A SCALAR VARIABLE
115
57 CURVATURE AND TORSION OF GAUCHE CURVES
120
58-59 KINEMATICS OF A PARTICLE. THE HODOGRAPH
125
60 THE INSTANTANEOUS AXIS OF ROTATION
131
61 INTEGRATION WITH APPLICATIONS TO KINEMATICS
133
62 SCALAR FUNCTIONS OF POSITION IN SPACE
136
63-67 THE YECTORJDIFFEUENTIATING OPERATOR
138
68 THE SCALAR OPERATOR A * 'v7
147
69 VECTOR FUNCTIONS OF POSITION IN SPACE
149
70 THE DIVERGENCE
AND THE CURL
150
X
71
INTERPRETATION OF THE DIVERGENCE S7
152
72 INTERPRETATION OF THE CURL
155
X
*
73
LAWS OF OPERATION OF V>
157'
X
74-76 THE PARTIAL APPLICATION OF V- EXPANSION OF A VECTOR FUNCTION ANALOGOUS TO TAYLOR'S THEOREM.
159
APPLICATION TO HYDROMECHANICS
77
THE DIFFERENTIATING OPERATORS OF THE SECOND ORDER 166
78 GEOMETRIC INTERPRETATION OF LAPLACE'S OPERATOR
As THE DISPERSION
170
V*
SUMMARY OF CHAPTER in
172
EXERCISES ON CHAPTER in
177
55-56
....
V
>
CONTENTS
xvii
CHAPTER IV
THE INTEGRAL CALCULUS OF VECTORS
PAGE
ARTS.
79-80
81
82
83
84
91
92
THE POTENTIAL
85
86-87
88
89
90
ENTIATING OPERATORS
"
POT "
MAXWELLIANS
193
197
200
205
211
215
222
230
234
240
96
187
A SOLUTION OF POISSON'S
95
184
228
is
EQUATION
SOLENOIDAL AND IRROTATIONAL PARTS OF A VECTOR
FUNCTION. CERTAIN OPERATORS AND THEIR INVERSE
MUTUAL POTENTIALS, NEWTONIANS, LAPLACIANS, AND
93-94
179
243
.
249
255
CHAPTER V
LINEAR VECTOR FUNCTIONS
97-98
99
100
....
101
102
103-104
105-107
108
...
...
260
264
266
269
271
276
282
288
XV111
CONTENTS
PAGE
ARTS.
109-110
111
112-114
115-116
117
118-119
120
121
122
RECIPROCAL DYADICS.
ANTI-SELF-CONJUGATE
DYADICS.
THE VECTOR
290
294
PROD-
....
.
297
302
306
310
313
315
319
321
329
CHAPTER VI
ROTATIONS AND STRAINS
123-124
125-126
127
128
129
130
131
132
332
334
339
CHAPTER
343
347
351
353
356
368
VII
MISCELLANEOUS APPLICATIONS
136-142
143-146
147-148
149-157
158-162
QUADRIC SURFACES
THE PROPAGATION OF LIGHT IN CRYSTALS
VARIABLE DYADICS
CURVATURE OF SURFACES
HARMONIC VIBRATIONS AND BIVECTORS
....
372
392
403
411
426
YECTOft ANALYSIS
VECTOR ANALYSIS
CHAPTER
two
in physics
very-
Consider, for
point, velocity,
and
Of
acceleration.
these quantities
ues which are wholly determined when the unit of the scale
On the other hand the remaining quantities are not
is fixed.
capable of such representation. Force to be sure is said to be
of so many pounds or grams weight; velocity, of so many
But in addition to this each
feet or centimeters per second.
-of
as
them adequately.
It
Definition
vector is a quantity
which
is
considered
Definition
VECTOR ANALYSIS
The positive and negative numbers of ordinary algebra are the
For this reason the ordinary algebra is called
typical scalars.
when
Consider
first
a point
(Fig. 1).
straight line
Let
and take a
PP. The
ment
it is
P'.
be displaced in a
new
position
P'.
represented by the
magnitude of the displaceis
of one,
body
rigid
without
equal to
in
the displacement
point
and
its
head or
is
designated by
metric quantity, a stroke,
origin
is
num-
As examples
3.]
sity,
of scalar quantities
tance, volume,
however,
is
own
distinguishing characteristics, as
dimensions in the sense well known to physicists may
distance 3, a time 3, a work 3, etc., are verybe cited.
The magnitude 3 is, however, a property common
different.
its
to
them
tities
all
pure number
the simplest.
is
Of
all scalar
It implies
quanti-
nothing but
it is
As examples
city,
and
two alone
vector.
,to
But
a rigid
body the
consideration
fice.
And
line in
which
it
acts
must be taken
into
in case
it is
than force.
The mathematical
vector,
by considering the
VECTOR ANALYSIS
For example
and
would
it
effects as unaltered
its
by
it
itself.
one
letter.
must be
scalars
scalar;
but
/,
the
When, however,
vectors.
as symbols
Hence
in this
is
and
its
Thus
scalar magnitude. 1
magnitude and
direction,
if
C may
may be
if
it
The use
possible to pass
of
from
directed
Definition
Two vectors
instances
it
would prove
is
just as undesirable as
it
is
In some
convenient in others.
It is
is
denoted by the
as origin
be drawn from any assigned point
until
PP'
to
itself
be
moved
parallel
segment
may
may
the point
P falls
A=
In this way
all
PP = OT= T.
vectors in space
be replaced by directed
may
Equal vectors
0.
are necessary.
with
its
their ter-
and B =
T.
Q~Q',
three scalars
by the three
scalars
r,
<, 9
the vector.
(r,
/,,
$, V)
(x
- x, y'
y,z'
z).
with the
three coordinates of
its
r~(x',
When two
by the
terminus
y', z').
Hence
VECTOR ANALYSIS
A vector A
Definition
magnitude A is
Such a vector
equal to
is
when
its
zero.
is
naught
A=
if
and
is
written
Thus
A = 0.
any considerations
by a
It consequently
point.
terminate direction
all.
If,
direction
which
finite vector,
what amounts
however,
vector of finite
or,
is
it
when
The
this direction
the product
is
zero.
5.]
by looking to physics (for in that science vectors conand by observing how such
what
is
the
sum
equivalent of
of A and B ?
That
and B taken together ?
is
to say,
what
is
the
Scalar Multiplication
Definition:
6.]
positive scalar
and
Thus
v
when
direction
its
vector
its
is left
said to be multiplied
is
magnitude
is
by a
unaltered.
is
if
East by North.
Or
if f
pan by a
ward.
A be
A is
is
is,
and
x (y A)
as in ordinary algebra
mediately obvious
(x y)
it
A=
y (x A)
and arithmetic.
when the
fact is
This statement
is
im-
Any
vector
vector a in
its
A unit vector is
A may
is
unity.
direction
by the
positive scalar
A,
its
magni-
tude.
A=A
= a A.
A by \/A
VECTOR ANALYSIS
The negative
Definition
7.]
For example
- A
if
but leaves
sign,
prefixed to a vector
its
magnitude unchanged.
be a displacement for two feet to the right,
A
A B but which is in
from A to B, will be
as
If
The
B to A
A.
may
Another
instead of
denote an "action,"
positive sign,
+ may
,
be prefixed to a vec-
The two
signs
and
when used
same laws
These are
symbolically
++=+
+ - = -; - + = -;
(ra
The
interpretation
is
= ra
A)
-- = +
A).
obvious.
The
8.]
may
be treated
be a point of space (Fig. 2). The translation S carries P into P' such that the
line
PP'
is
FIG.
2.
T
P".
If
is
now Q be any
QQ =
1
= T.
two
the
sides
Q'
and
and
parallel to S
P P'
parallel to
and
That
is
Q Q"
As Q
is
PP".
translations S
to a single translation
B,.
Moreover
S
if
The
= PP' and
stroke
strokes S
B,
is
= P' P",
called the
and T to which
it
then
resultant
is
E = PP".
or
sum
equivalent.
of the
two
sum
de-
This
is
the
R=
sum
or resultant of
T.
two translations
two vectors is
down.
Definition
The sum
or resultant of
two vectors
is
found
Theorem.
The order
affect the
in
sum.
T followed
into P".
VECTOR ANALYSIS
10
to
PP'.
Hence S
T fol-
lowed by S therefore
car-
ries
carries
P'".
This
may
into
The
P" through
final result is in
be designated symbolically
by writing
It is to
of the parallelogram
R=
two vectors be drawn from the same origin and a parallelogram be constructed upon them as sides, their sum will be that
If
but subtracted
if
sum
of several
sum
of
may
be found by adding
together the first two, to this sum the third, to this the fourth,
and so on until all the vectors have been combined into a sin-
11
gle one. The final result is the same as that obtained by placing
the origin of each succeeding vector upon the terminus of the
preceding one and then drawing at once the vector from
In case
the origin of the first to the terminus of the last.
these two points coincide the vectors form a closed polygon
and
that
their
if
strokes
sum
is
zero.
Each point
of space
is
brought back to
if
its
is nil.
starting point.
any number
In-
of forces
sequence.
cent vectors
This
may
is
of
no con-
may be shown by proving that any two adjabe interchanged without affecting the result.
To show
A+B+C+D+E=A+B+D+C+R
A = ~0~A, B = Zi?, C = ~BC, D = (TlT, E = WE.
Then
Ofi = A + B + C + D + E.
Let
is
a parallelogram and
E,
Definition:
added
vector
is
said to be subtracted
when
it
Symbolically,
A - B = A + (- B).
By
this
means subtraction
is
VECTOR ANALYSIS
12
no special consideration.
important
way
geometrically.
Let
There
A = OA, B = OB
Complete
(Fig. 4).
the parallelogram of which A and B
are the sides.
Then the diagonal
=C
is
the
sum A + B
of the
vectors.
agonal
OD = D will
be the
sum
of
But the
and
OD
is
parallel
equal
segment
Hence BA may be taken as the difference to the two
to EA.
This leads to the following rule The differvectors A and B.
ence of two vectors which are drawn from the same origin is
the vector drawn from the terminus of the vector to be subtracted to the terminus of the vector from which it is subThus the two diagonals of the parallelogram, which
tracted.
is constructed upon A and B as sides, give the sum and difference of A and B.
In the foregoing paragraphs addition, subtraction, and
12.]
scalar multiplication of vectors have been defined and interand the negative of
B.
To make
II
III a
III 6
III,
= (m ri) A,
=
A+ (B-f C),
(A + B) + C
A B = B + A,
(m, + n) A = m A + n A,
m (A + B) = m A + m B,
- (A + B) = - A - B.
(n A)
-I-
n (m A)
13
and commutation
of
It
I a is the so-called
law
of association
II
is
III a
be inserted at
may
is
cation.
IIIj
cation.
III C
The
is
The
clearly in mind.
in the statement
and
scalar multiplication
may
be
more
summed up
which
justifies
=, +, and
it is
results obtained
also this
by operat-
ing with those signs in the usual manner. One caution only
need be mentioned. Scalars and vectors are entirely different
sorts of quantity.
to each other
zero.
So long as this is borne in mind no difficulty need be anticipated from dealing with vectors much as if they were scalars.
Thus from equations in which the vectors enter linearly with
VECTOR ANALYSIS
14
unknown
coefficients
scalar
vectors
may
be eliminated or
instance
aA + &B +
then A, B,
C,
or
D may
cC
+ dD =
0,
three
=-
as
(a
A + bB+
C).
(M
And two
and
yield
A+4B=E
A+
=F
A=3E-4F
B
and
=3F-
2 E.
Components of Vectors
13.]
Definition
same plane.
Two
or
more vectors
to
which no
line
coplanar.
Any
when b and
If
then
OA =
to
line
OA
15
produced in
is
= x a.
(1)
x be a variable scalar parameter this equation may therefore be regarded as the (vector) equation of all points in the
If
OA.
line
upon
now B be
OAor that
Let
the line
Let
B = b. The
point upon
it.
vector b
OA
The
and
let
vector
to
0~R=
r
This equation
all
FlG 5
be any
a.
is
E is
or
may
CTB
+ B~R
=b+
a.
(2)
B is
surely
BE
consequently expressible as x
from
is
Draw through B
a.
is
parallel to a
and of which
one point.
Any
tively the
If
a typical form for any vector coplanar with a and b.
as
in
form
be
this
several vectors r v r 2 , r 3
expressed
may
is
VECTOR ANALYSIS
16
=x a+
r2 = z 2 a +
r = ^3 a +
rx
their
sum
r is
sum
b,
b,
2/3
then
+
This
yl
2/2
(2/i
y2
2/3
---) b
vectors.
each of
its
components must
be zero.
2/i
2/2
2/3
is
(3)
Any
and
The
c.
may
resolution
then be
accom-
plished by constructing
the parallelepiped (Fig.
agonal
p IG
is r.
di-
This par-
allelopiped may be
drawn easily by passing
parallelepiped.
That the
17
intersections of
length of
a, b,
and
c.
Hence
= #a +
2/b
zc
(4)
is
^ = x a + y b + z c,
r 2 = a a + y^ b + z 2
r 3 = # 3 a + yB b + * 3 c,
l
aj
Their
sum
c,
r is then
+
+ 2/2 + 2/3 +
+ (2J+Z2 + 23+
'
(.l/i
each of
its
*1
+ 2 + 2/3 +
+ *2 + 2 3 +
'
'
'
'
'
'
2/
)<>
three components
yi
=
= '
is
- 0.
is zero.
equivalent to
(5)
Should the vectors all be coplanar with a and b, all the components parallel to c vanish. In this case therefore the above
equations reduce to those given before.
If two equal vectors are expressed in terms of the
16.]
VECTOR ANALYSIS
18
Let
r',
Then
c.
two
as
= m a + n b.
r =rca + 2/b + 2c = (ic + m2)a+(2/ + 7i2)b,
c = (x' + m z') a + (y' + n z') b,
r' = x' a + y b +
=
m
r
r'
z)
[(x +
(#' + m 2')] a,
+ [(y + nz)-(y' + nz')'] b = 0.
c
Then
Hence
z'
in the directions
r'
o H
i"i
O"
*/
/*
L\ _.
T^
vfl
//t
v
*
/
y*
tX/
J^
^^
^ + n z = y' +
But
this
tively to
by no means
#', y', z'.
necessitates
/>ri
//(>
a?,
*y'
z'.
y, z to
In a similar manner
if
is
In
corresponding scalar coefficients are equal. But this is not necessarily true if the two vectors be collinear ; or the three vectors,
coplanar.
(Arts. 18
applications
et seq.).
i, j,
k.
In the foregoing paragraphs the method of expressin terms of three given non-coplanar ones has been
vectors
ing
The simplest set of three such vectors is the rectexplained.
17.]
19
-axis
lies upon
In one case (Fig. 8, first part) the
rotation
which
Y- plane on
that side of the
through a right
F-axis appears counterclockwise
angle from the X-axis to the
or positive according to the convention adopted in Trigonome-
types.
This relation
try.
may
the
X-
right,
state-
Left-handed
FIG.
common
if
Right-handed
is
Or
ment
X-
vertically, the
If the
8.
in mathematical physics
and engineering.
If
a right-handed screw be turned from the X-axis to the Faxis it will advance along the (positive) Z-axis. Such a sys-
tem
Z JT-plane
the
axis
is
on which rotation from the .Z-axis to the Xand the X-axis, upon that side of
counterclockwise
the X-, Y-, or Z-axis the positive half of that axis is meant.
YThe
0.
plane means the plane which contains the X- and Y-axis, f. e., the plane z
2
convenient right-handed system and one which is always available consists
1
By
of the
first
thumb,
first finger,
second finger be bent over toward the palm at right angles to first finger, a righthanded system is formed by the fingers taken in the order thumb, first finger,
second finger.
VECTOR ANALYSIS
20
the YZ-plaue on which rotation from the F-axis to the ZThus it appears that the relation
axis is counterclockwise.
same
cyclic order
screw
is
is
X YZX Y
it
advances
The
ative.
upon that
^"-axis
its
symmetrical so long
is
X YZX Y
as the
is
same
the third.
Hence
this
system
is
it
advances along
or clockwise. 1
One
mirror.
If the
is
the
image
X- and F-axes
the
of
of the
They
other
two
as
are sym-
seen in a
different systems be
little
if
Which
asmuch
of the
two systems be used, matters little. But ingeometry and mechanics differ
as the formulae of
1
left-handed system may be formed by the
one was formed by the right.
left
hand
just as
a right-handed
The
three letters
i,
j,
gular system.
In terms of these vectors, any vector
= x'\ +
The
21
y\
may
be expressed as
ak.
(6)
of the terminus of r
coordinates.
if its
The components
The
rotations about
about k from
By means
to
i,
from
z k.
j,
to k, about
from k to
i,
and
of these vectors
i,
j,
k such a correspondence
is
established between vector analysis and the analysis in Cartesian coordinates that it becomes possible to pass at will
There
is
nothing contradic-
still
intrinsic
Applications
*18.] Problems in plane geometry
easily
by vector methods.
the plane
solved
in
which
may
may
may frequently be
all
VECTOR ANALYSIS
22
the same as that of oblique Cartesian coordinates with different scales upon the two axes.
(Example?^} The
gram
O
to the
onal (Fig.
Let
line
which
joins
side
middle point of an opposite
ii
-t
9).
A BCD
BE
be the parallelogram,
the line joining the
of the side
vertex B to the middle point
^^J
Z^^-^/
AC
is
diagonal
A C.
A R is one third of
origin, A B and A D as the
To show
Choose A as
two fundamental vectors S and T.
Then
the sum of S and T. Let A~R = R. To show
'
AD, R
AC.
EB = A~R =
where x
is
is
(S
T).
AE + ER =| T + x (S - | T),
the ratio of
ER to EB
an unknown
E=y
(S
jl(
And
where y
scalar.
T),
to
AG
to be
shown equal
toj.
Hence
or
x (S
-i
T)
= y (S +
T)
Sl
Inasmuch as x
also
is
g-
23
-.
EB
the line
must be
trisected as
A C.
Let
and
Choose
it.
as origin,
vectors S
Let
T.
2TB
= R = mS+
wT.
(a)
n ).
(1
Next express
E = (m +
Hence (m
line
+ n) S
through
is
and T
S the
+n
(T
- S).
w) +
is
in terms of S
the fraction of
R parallel
(1
to
(1
TO)
+ (m +
n)
= 2,
proved.
intersect
of the given
parallelogram.
Let
A B CD
and Z^Vtwo
be a parallelogram,
lines
through
R parallel
?
N
a point within
respectively to
it,
KM
AB and
VECTOR ANALYSIS
24
AD,
the points K, Z,
M>
N lying
B C, CD respectively. To
LM
show
upon the
KEND
two parallelograms
on A C. Choose A as origin, A B and
mental vectors S and T. Let
of the
let
P be the
point of intersection of
KN=KR + RN = m S +
Then
Zlf =
m) S
(1
?i
and
A D as
and
sides
DA,AB,
KN and
LBMR
meet
KN with LM.
(1
- n)
T,
T,
P = w T + x [m S + (1 - n) T],
P = mS + y [(l-m)S + wT],
Hence
and
Equating
coefficients,
By
solution,
=
=
m+
n
n
m
m+
7i
m+
which shows that P
*
19.]
solved in
sions.
is
collinear with
A G.
terms of which
solution
is
all
25
expressions for the same vector are usually found. The cocorresponding terms are equated. In this way
efficients of the
unknown
scalars
may
method
in
Example 1
point within
Let
A B CD
be
a tetrahedron
it.
and
P and produce
B\
any
the lines
C', D'.
To
show
PA'
PB'
PC'
A~A'
~B'
~GG'
PD' _
~
"
'
LTD'
AD
as origin,
= AP=l"B + mC + D,
A' = A A' = k P = k (I B + m C +
P
The
A'
vector
B.
BA'
Hence
A'
Equating
it
= AA' = AB+
=B+
x l (C
coefficients
Jc
kl
-
*-
D).
BA'.
BC =
- B) +
m = xv
=
I
B and
C
coplanar with
may be expressed in terms of them,
is
Hence
and
A P be
?i
Also
as the
~
n
-i
- B).
+m + n
y l (D
~4
SI
(7
+m+
N.
n).
BD =
VECTOR ANALYSIS
26
A B' = # 2 C + yz D
In like manner
~AB'
and
Hence
= ~AB '+
y2
and
&'= B + k
(P
- B).
Hence
7/2
=&
&
l-l
&-:
PB'
and
n.
"2
In the same
way
may
be shown that
PC'
,PZ>'
it
+m+
n)
+l+
m+n = l.
V=OD.
Any
point
Any
point
P of A B may be
expressed as
= OP= OA + x TB = A + x
Q
If the points
are.collinear.
of
CD may likewise be
P and
That
lie
is
in the
same
(B
- A).
written
line
through
0,
P and
Before
it is
vectors
Let
27
J)
Then
Hence
0)].
I,
Hence
+m
1
Substituting in
P and Q
+m
_ A+ m B
+m
I
Either of these
and cutting
may be taken
as defining a line
drawn from
A B and
Example 1: To divide a
20.]
the terminus
ratio
in a given ratio
is,
P =~OP
divides
of
AB
as
'&.
which
in the
A^*^^ P
&/ Px^^Jv^
f^^^
FlQ 10
n.
P= OP=
That
AB
(Fig. 10).
To
line
Oil
-^ ~AB = &+ ^
m+
m+n
n A + m B
P =
m+n
n (B-A).
/7 ,
(<)
VECTOR ANALYSIS
28
The components
of
AP
to the segments
divided by the point P.
the line
AB
parallel to
and
PB
If it
AP PB
/
P divided
would be nega-
Example 2
To find the
of a triangle.
at random.
Let A BC be the given
Choose the origin
=
'=
and
~OC = C. Let A\ B\ 0'
OA
OB
Let
B,
A,
triangle.
be respectively the middle points of the sides opposite the
vertices
A, B,
medians and
G.
Let
M be
it.
Then
and
Assuming
that
may be
equated.
Hence
Hence
=y=
29
nA
+mB
m+
M=\(A + B+C).
and
This
by vector
methods. In fact any purely geometric relation between the
different parts of a figure must necessarily be independent
of the origin assumed for the analytic demonstration.
In
some
is
cases,
other cases the generality obtained by leaving the origin unspecialized and undetermined leads to a symmetry which
remember.
: The
necessary and sufficient condition that a
vector equation represent a relation independent of the origin
is that the sum of the scalar coefficients of the vectors on
Theorem
upon
is
sum
Or if
of the
equal to the
all
the
sum
be zero.
latter
form be
must
VECTOR ANALYSIS
30
'
to
by adding a constant vector
Change the origin from
=
E 00' to each of the vectors A, B, C, D ---- The equation
then becomes
+ E) + b (B + B) + c
= aA + 5B + cC + dD +
a (A
If this is to be
must vanish.
That
is
(C
...
+ E) +
d (D
+B
j,
+ R) -f
+c+d+
...).
Hence
two examples
cited
obvious.
m+
_*_.+
m+n m+
If
+ B +
M=|(A
i
*
21.]
The
_1
~
^
3
,
,1
7" *."
C),
First let
and
It is of course
vanish.
=
0.
coefficients a and I
would mean nothing. Sub-
the
A+
first.
= B.
if
the equation
subsists
in
31
A-B =
The sum
between them.
line. 1
A + &B + cC =
a + b + c = 0.
First let
and
-(& + c)A+&B + cC =
c (C-A) = &(A-B).
or
0,
which
line.
00
and
and
is
B.
Secondly
drawn from
line.
Then
the
vectors
A~B
are collinear.
= B - A and AC = C - A
r
Hence
the equation
(B
subsists.
The sum
- A) = x
(C
- A)
of the coefficients
is
the same.
in
an equation,
zero, subsist
in
is
one
by
VECTOR ANALYSIS
32
if
origin
aA + 6B + cC + dD =
a + b + c + d = Q.
First let
and
Let d be a non-vanishing
coefficient.
first.
(7,
AB
where
Z,
TO,
(B
- A) + m
- A) +
of
(C
is
B, C, D,
- A) = 0,
The sum
scalars.
of the coeffi-
zero.
n (D
be the
five
sum
Form
the
given
vectors.
differences
of these
may
k (E
- A) +
The sum
(E
- B) + m
(E
C)
+n
1
Vectors which have a common origin and terminate
"
by Hamilton termino-complanar.
1'
(E
exist
- D) ==
an
0.
is zero.
in
33
Example 1:
If a line
two and
triangle, the line which joins the opposite vertex to the intersection of the diagonals of the
ABC
ED
EB
rIG. 11.
Then
Clarendons as usual.
lel to
-D=n
E
The sum
holds true.
it
since
ED is by hypothesis
paral-
should be.
(C
- B)
is evidently zero as
that the equation
terms
so
the
Rearrange
of the coefficients
WC
=D
w B.
The
vector
the line
E C.
7iC
=D
wB =
a;A.
VECTOR ANALYSIS
34
By
nC = D -
Hence
n.
n~B
(1
- w) A.
E+
Subtract the
first
wB=D + wC= (1 + w) G.
n (B + C)
This
vector
cuts
BO
(1
n)
and AG.
(1
It
- n) A.
must therefore be a
that the
multiple of F and such a multiple
cients of the equations which connect B,
and F
Hence
sum
C,
of the coeffi-
and F or
G, A,
shall be zero.
n (B + C)
(1
n)
Hence
(1
=B+
A=
2 nJf.
C
>
SB
Example 2 :
To determine
from the
first.
plane.
Let the line be fixed by two points A and B upon it. Let
be any point of the line. Choose an arbitrary origin.
The vectors A, B, and P terminate in the same line. Hence
and
Therefore
+ p = 0.
aA + 6B
P=
a + 6
a
different
points
values.
35
are used
more generally
_ xA. + yE
x
The
vectors A, B,
C,
aA+
Therefore
a,
Z>,
c,
SB + cC
+ c+p = Q.
aA. + JB + cC
P=
a + b + c
a
and
As
Hence
The
Example 3 ;
line
which
it is
more
z.
joins
two diagonals
Let
of a quadrilateral.
CD
A B meet
and A D
in a fifth vertex E,
BC
meet
AC
BD
intersect in
To show
that
FG
G.
AB
intersects
AB
E' and
by E.
E"
in the
That
is
(A
to
same
and
in a point
and
CD
E' and
CD
in a point
1'
cross ratios
VECTOR ANALYSIS
36
Hence
plane.
and
aA + &B + cC + dD =
a-f-& + c + ^ = 0.
A + cC = (Z>B
a + c =
(b + d).
= A + cC 5B +
Divide
a + c
b + d
6B + cC
A + d"D
In like manner
F=
a + d
b + c
cG
(a + c)0
(a + d)?
Form:
(a + c)
(a + d)
(a + c)
(a +
= cC-dJ> =
or
c
A + JB
cC
c
+ dD =
+d
d)
E.
(&)
<2.
of division
is
'
By
plane.
These
37
all
number
of points.
Next draw
of points
all
pairs
and so
on.
aA + 6B + cC + dD =
a + b + c + d = Q
and
(c)
From
E
F
= A+
a
=o
cC
b"B
+_c_
these
it is
= dD
+
+d
"B + cG
b + c
by
tion the
sum
of
whose
coefficients is zero
may
be determined.
This would be
aA.
d'D
(a
b)'E+
By
(a
c)
= 0.
VECTOR ANALYSIS
38
aA
+ dD
+d
(a
a
1
- a A + (a
&)
6) E + (a +
2a + b + c
_ dD +
+ c) F
+c+d
(a
dD + (a +
a + b +
c)
6)E
d
The
As
said.
The
construction
remaining pairs.
ward with the points thus obtained.
is
The
analytic treatment
similar to that in the case of plane nets.
There are
five points.
be obtained.
aA + b"B
a + b
then
a
are
two
way.
of the points
cG
+ dD + E
+d+e
in the
same
loc. cit.
39
Centers of Gravity
*
1.
The
and divides
it
into
2.
is
and B.
given by
to
The
three points A, B,
masses a and
mass a
-f b
C may
= (a +
A + &B
a + b
6)
a
a
Hence
situated at the
2.
The
Then
a, o, c
+b+
= a A + &B +
a
cC
VECTOR ANALYSIS
40
c,
d,
. . .
The
A,
C, Z>, ...
JB,
may
result is
_ aA + &B + cC + ^D +
a + l + c + d+ ...
Theorem 1 :
The
lines
which
which
Let
A,B,C
Join A, B,
to
G and
The
GBC:GCA:GAB:ABC=a,:l:c:a + l +
last proportion between ABC and a + I + c
first three.
It
is,
c.
comes
however, useful in
the demonstration.
ABC ~ A A'
GBC
Hence
GA' _b +
=
~~
ABC
GBC
In a similar manner
and
AG
G A'
a
BCA a + J 4- c
GCA
b
CAB _
a + I +
=
GAB
~c
'
41
Let A, B,
To show
D'.
C\
',
that
BCDG:CDAG:DABG:ABCG:ABGD
=a
BCD A ~ A A'
BCDG ~G~A7
d a
:
AG
+c+
d.
G A'
+c+
"
~GA'
~GAJ
b
+c+
a
In like manner
and
CD A G _ a + b + c + d
"'
CDAB~
b
DABG _a
+b+
=
d
~
DABC
ABCG _ a+b+c+d
"'
'
and
A BCD'
~d~
24.]
By a suitable choice of the three masses, a, 6, c located at the vertices A, B, C, the center of gravity G may
be made to coincide with any given point
of the triangle.
fall at P, it is
proportional to the
PBC,
PC A,
and
set of masses a,
which
&,
&,
PAB
c
only
respectively.
may be
found, but
differ
VECTOR ANALYSIS
42
a, 5, c
points
may
therefore be looked
upon
as coordinates of the
ABC. To
there
To
of the triangle
ABC
of the plane
one
may
A
AB
ratio 1
That
2.
is
Any
any point
of the
plane
ABC.
Z>,
ABO
c of
may be
represented by a
which one
the point
lies outside of the triangle
as only the ratios of a, Z>, and c are imif
Inasmuch
two
of the quantities may always be taken positive.
portant
The idea of employing the masses situated at the vertices
as coordinates of the center of gravity is due to Mobius and
was published by him in his book entitled " Barycentrische
This
Calcul" in 1826.
point of
modern
may be
fairly
analytic geometry.
of negative masses which have
The conception
no existence
in nature
vertices
GAB
and the
of these areas
is
ABC,
the bases.
The
sign
Definition:
positive
when
ABC
positive or counterclockwise
a triangle
of
C follow
the vertices A, B,
direction
is
43
said to be
upon the
circle de-
If
P be
PA B + PB C + PGA = A B C
must
The same
hold.
will also
hold
if
be outside of the
triangle provided the signs of the areas be taken into conThe areas or three quantities proportional to
sideration.
points
outside
to
at
c,
by
To
of
be employed. Or
may be replaced by the four tetrahedra which
are proportional to them.
Then the idea of negative volumes takes the place of that of negative weights. As this
may
the masses
idea
it
is
here
Definition
to
may
:
be positive
VECTOR ANALYSIS
44
A plane
difficult to see
from
it
it is
ACBD=CBAD=BACD=DBCA
The
sible
sign of the tetrahedron for any given one of the postwenty-four arrangements of the letters may be obtained
D by
by reducing that arrangement to the order A B
means of a number of successive interchanges of two letters.
If the number of interchanges is even the
sign is the same
as that of
AB CD ;
if
Thus
odd, opposite.
is
ABCD
the
equation
ABCP-BCDP+ CDAP-DABP=ABCD
P
The equation may be put into a form more symmetriand more easily remembered by transposing all the terms
to one number.
Then
tion.
cal
BCDG:CDGA:DOAB:GABC:ABCD
=a
-f b
d.
45
If the point G- lies inside the tetrahedron a, 5, c, d represent quantities proportional to the masses which must be
located at the vertices A,B,C,D respectively if G is to be the
still
A B G is
_
Comparing
this
origin to
any
(page 35)
+ yB + aC
+y+
a?A
_ A+
a
6B + cC
b
it
more nor
less
equation
_xA. +
x
y'B
+ zG + w'D
+z+w
l'B
b
+ c C + d"D
+c+d
z, w are precisely
AB
It
it
may be
VECTOR ANALYSIS
46
that the origin
may
be
left
The
vector equations
xA + y B + zC
x
P=
and
xA + yB + z C + wD
x
+ z + w.
25.]
An
denote
to
PQR
Areas
plane
PQR
letters
At
and
when
is
MN
the
each
Cf
FIG.
14.
to that direction in
boundary
side of
PQR;
is
which
its
is
its
out-
negative relative to
negative relative to the
is
same area viewed from a point 0' upon the side of the plane
opposite to 0. A circle lying in the JTF-plane and described
in the positive trigonometric order appears positive from every
point on that side of the plane on which the positive Z-axis
lies,
all
upon which
lies.
For
47
view
must
be
boundary
kept
of description of the
clearly in mind.
Another method
If
area enclosed
hand
will lie
other.
To one
it
seems positive
which
is
and the
left
hand
That
other, negative.
of one
called
the positive
of the
to the
the side
upon
A plane
area
as possessing
more than
Theorem 1
magnitude
direction
is
is
MN
VECTOR ANALYSIS
48
sect in the line
and
MN
P'Q'R'S'
= PQRS coax.
FIG. 15.
Hence
parallel
two
rectangles, of
which the
and perpendicular to
I,
sides
are
respectively
the line of intersection of the
whose
From
to
projected into an
equal to the given area multiplied by the cosine
of the angle between the planes.
For any area
may be divided up into a large number of small rectangles by drawing a
this it follows that
area which
any area
is
is
series of lines in
/.
49
MN
is
The
relation
A'
=A
cos
ic,
26.]
said to be
Two
added.
A vector
ponents
area
is
obtainable
consequently the
by orthogonal
sum
of its three
projection
upon
comthree
sums compounded
oblique exists.
surface made up of several plane areas may be represented by the vector which is the sum of all the vectors
is
solid,
not into
it.
VECTOR ANALYSIS
50
Theorem 2
surface
a closed polyhedral
is zero.
This
fluid
may
assumed
cluded.
pressures.
surface
to be free
from
all
other.
these forces
and normal
must be zero,
to
it.
the
is
zero.
which the
1
Such a state of affairs is realized to all practical purposes in the case of a
polyhedron suspended in the atmosphere and consequently subjected to atmospheric pressure. The force of gravity acts but is counterbalanced by the tension
it
may
51
whose number
Hence the
were polyhedral.
approached by the vector which
represents that polyhedral surface of which the curved surface
is the limit when the number of faces becomes
indefinitely
may
That vector
is
the limit
if it
great.
SUMMARY OF CHAPTER
is zero.
multiply
its
unchanged.
To
tiply its
a vector reverse
tion,
algebra.
vector
may be
parallel to
The components
= xa, +
y'b
This resolution
zc.
(4)
non-coplanar vectors, are equal, and conversely if the components are equal the vectors are equal. The three unit
vectors
i, j,
method
in
In
which
VECTOR ANALYSIS
52
is
y\
zk.
(6)
The
Applications.
ratio
= xi +
m+
(7)
cients.
sum
exists
of the coefficients
is
coeffi-
masses
a,
Z>,
The center
situated
at
of
the
gravity of a number of
termini of the vectors
common
origin
is
.
-
vector
may
-\
----
If the area is
upon the
is
The
vector
zero.
EXEECISES ON CHAPTER I
1.
2.
triangle
and equal
to the
may
12.
The
six points in
53
common
Find the middle point of the line which joins the middle
Show that these two points are
points of two opposite sides.
the same and coincide with the center of gravity of a system
of equal masses placed at the vertices of the quadrilateral.
If two opposite sides of a quadrilateral in space be
6.
divided proportionally and if two quadrilaterals be formed by
joining the two points of division, then the centers of gravity
of these
two quadrilaterals
lie
on a
the vertices.
Can
The
meet in a
point.
8.
If the edges of a
any face
A complete quadrangle consists of the six straight lines which may be passed
through four points no three of which are collinear. The diagonals are the lines
which join the points of intersection of pairs of sides.
1
VECTOR ANALYSIS
54
point
and
is
10.
PE
E and
bisected
C,
L.
efficients in
each of which
is zero.
CHAPTER
DIRECT AND
II
Products of
Two
Vectors
THE
new
tween them.
is
read
dot
B and
therefore
may
If
definition
be the magnitude of
A-B = ^cos
and
(A,B).
It
its
is
also called
value
is
sca-
that of B, then
(1)
A B=B
A.
(2)
by
VECTOR ANALYSIS
56
If either vector
That
(x A)
=A
is
is
(x B)
= x (A
and B are
B).
A-A=^
if
Consequently
vector
is
2.
(3)
a null vector.
Conversely
if
AB
Hence
A B
cos (A, B)
vanishes, then
0.
which vanishes,
28.]
vectors
The
k
i, j,
is
or
A B=
are evidently
i.i
If
0.
= j.j = k-k = l,
(4)
product
a
= cos
(a, b).
57
For
it.
this reason
it
geometric definition of
follows
by the length
of either
From
upon
it.
by
itself is
The
scalar product of
two vectors
may be
examples
vector
The
whenever the
will appear
The following
a vector B upon a
of importance.
projection of
is
'
A A
where a
cited.
is
is
A=
AA
a cos (A, B)
= B cos
(A,
B)
If
a,
(5)
is itself
If
(A B) A = B cos (A, B) A.
be a constant force and B a displacement .the work done
by the force
is
B.
If
repre-
is
the
base and of
which B
For
is the directed slant height.
the volume (Fig. 16) is equal to the base
multiplied by the altitude h. This is
FlG
the projection of
B upon A
or
v = A h = A B cos
(A, B)
=A
B.
Hence
VECTOR ANALYSIS
58
The
29.]
That
law of multiplication.
(A
is
B)
=A
+B
C.
(6)
This
equal
its
direc-
to
tion.
(A
or
B)
(A
=A
c = A
(G c)
B)
c is the projection of
(A
B)
c,
that of
(A
is
+B
c.
B upon
that of
of the projections.
ft+---)
scalar product
nary algebra.
If
and
no peculiar
A and B
k
i, j,
A=A
2 j
k)
+ A Bz i k
k
j + A 2 #, j
2 j
^ 3 8 k.k.
2 k.j +
A B = A l B + 4, 2 + A 8 JSS
particular A and B are unit vectors, their
.
A ^A Z ^A 8
lines
l j
terms of the
i + A
+ A k,
z
= B i + #2 + Bz k,
If in
as
= A B^ i i + A
+ A2 B i + A2
+ ^ 3 k.j + ,4 3
By means
...
difficulties.
are expressed in
then
Hence
may
It has
two vectors
= A.P + A.a+...
+ B.P + B.Q +
The
By an immediate generalization
proved.
+ B+...)-(P +
sum
B. (Co)
c,
equal to the
is
A upon c B
A + B upon c. But
sum A + B
(tfc)
and JS^Szt
A and B
&
are
(7)
components
referred to X, Y, Z.
A =
1
^ = cos
Moreover
A z = cos (A,
= cos (B,
3
A B
is
59
A = cos (A,
^3 = cos (B <&)
F),
F),
"),
Hence
= cos
(A,
Z)
cos (B,
Z) +
+
A and B
In case
known
cos (A,
cos
F) cos
(A,)
(B,
F)
cos (B,^).
relation
= cos
(A,
Z)
cos (B,
Z) +
cos (A,
cos
F) cos
cos
A,
(B,
F)
B^
A and
line
If
30.]
the line B.
A and B
are
two
OB
side
C C
= (B - A)
C*
or
That
sum
of a triangle
is,
(B
OAB,
sides
and
the third
- A) = B
+ A A - 2 A B cos
= A* + *-2Acos
(AB).
two
(A, B) ,
is
equal to the
by twice
sides diminished
between them.
upon the
other, the
theorem
and D
or
=2
VECTOR ANALYSIS
60
That
is,
gram
is
sum of
the squares of the diagonals of a paralleloequal to twice the sum of the squares of two sides.
the
C-C-D.D = 4 A-B
C*-D* = AB cos (A, B).
or
That
is,
sides
is
it.
in terms of
i,
j,
k as
A = A i -f A 2 j + A B k,
A A = A 2 = A? + A* + A*.
l
then
But
if
vectors
(8)
a, b, c
A 2 = a? +
This formula
is
ft
2 a b cos
a,
b)
b c
cos
(b, c)
a cos
(c,
a)
distance squared
D2
is
(2/2
Definition:
the vector
is
61
angle from
The
A X B may
of
direction
which an
and B by the
sine of the
denned
as that in
to B.
also be
ordinary right-handed
it turns so as
screw advances as
AXB
by a
It is written
dot.
FIG. 18.
and read
B*
cross B.
For
= AxB
product. More frequently, however, it is called the vector product, owing to the fact that it is a vector quantity and in contrast with the direct or scalar product whose value is scalar.
The vector product is by definition
when
where
and
c is a
=A
B are the
X B
= A B sin
(A, B)
c,
(9)
AXB
skew product
reduces to the
x their product
is
(x A)
If
x B
=Ax
(zB)
= xC.
And
conversely
if
A X B is zero
A B sin
(A, B)
= 0.
VECTOR ANALYSIS
^62
Hence
or
or sin (A, B)
is
Thus
zero.
the condition
for
is A X B
parallelism of
As a corollary the vector product of any vector into
0.
of which vanishes
itself vanishes.
32.]
of
two vectors
and the
and B
of a parallel-
=A
x B
= A B sin
(A,
B)
of such
that
it
and
x B
might
couple
any
is
A x B
point of
any
point of
A.
is
its
appearance again in considering the velocities of the individual particles of a body which is rotating with an angular veIf B, be the
locity given in magnitude and direction by A.
63
of
and
from B
B, rotation
Hence A x B
to
A will
Hence
is
AxB = -BxA.
The factors in a
if the sign
of
the
vector product
product
can
be
(10)
interchanged if
and only
be reversed.
This
is
the
first
is
x)
if
sin (x
y),
cos (y
Again
y)
x)
= cos
y~).
A B C in the
area of a
A B C = -A
CB.
when
The
distributive
it is
necessary.
except
VECTOR ANALYSIS
64
that the
carefully maintained
be
when expanding.
and B be two
(A + B)
Then
in order.
Form
of
which
of
which C
the prism
and
The
FIG. 19.
will be the
is
prism are
A X
The
C,
(A
B)
C.
s
ii
prism
A x
B X
C,
(A X B) and
x~C
B).
Hence
(A
X C
B)
AxC + BxC
A x
or
The
(A x
a closed surface.
+B
+B x
\ (A X B)
(A + B) x C
= (A 4-
- (A
\
= 0,
B) x
X B)
C.
0,
(11)
with
relation
and
that plane.
Ax
is
B.
Hence by
(C
D)
(11)
+B x
(C
D)
(A
B)
(C
D).
may
be expanded.
65
AxC+AxD+BxC+BxD
= (A +
+ B) x D.
A^-D + BxD=(A + B)xD.
AxC + BxC (A + B)xC.
But by (11)
Hence
B) x C
(A
The
The
(A + B +
<J
x (P +
distributive
generalization
is
law holds
immediate.
= AxP + Axft+---
(11)'
+B xP+BXQ+
The
= k,
j x i
k x j = i,
ixk
xk
k x
i, j,
k are
0,
(12)
j.
is zero.
with the positive sign if the vectors follow in the cyclic order
k but with the negative sign if they do not.
If two vectors A and B are expressed in terms of i, j, k,
i j
vi4->4
-*X
1
7? iA
-i-'o
^.
,i
j4
T)
+ A3 B
Hence
A x B
1.
|^
i -4-
k x
-I
>4
v
/'X
+ A 3 BZ k x
= (^4 2 ^3
J!
-4-
K
'
j 4-
A 3 BJ) i +
+
factors
is
reversed.
Hence
jXj =
X j = 0.
>4
7?
*-'
-^*-1
I
>4
-4 3 J?3
is
kx
lr
k.
A ^3 ) J
BZ -A,B^*.
(A 3 B^
(A 1
v k
O i* -^ *^
O
??
MifliU
-*V*r*
-/
s
VECTOR ANALYSIS
66
This
may be
A x B
The
sum
or dif-
If
i,
and y the
cos x
cos y
cos (a, b)
a-b
Hence
cos (y
x)
b'
If
a-b'
Hence
cos (y
x)
x b
a x b
a
Hence
sin (y
If
Z,
x)
j,
= cos
+
+
sin y
= k sin
(sin y cos x
x)
sin ^ cos
sin
(sin y cos x
x).
{y
#),
=k
(y
sin y sin x.
sin y cos x
m\n
j,
= cos
sin (a, b)
sin (y
x),
sin y sin x.
cos y cos x
k
k
(y
sin x sin y.
cos y
b'
j,"
x
x
m, w and l\
sin
cos y cos
b'
sin
cos x cos y
k
k
Hence
+
+
a;
cos y.
sin (y
sin x cos
#)
?/).
sin x cos y.
JL,
two
F, Z, then
w'k,
a
a' = cos
(a, a')
+ m m' +
be found.
The
familiar formula
between a and
a'
may
a'
= sin
(a,
(7m'
-f
where
(a
sin
m' n)
(run'
I'm)
a')
(a
a')
= sin
(a,a')
= (mn'-m'n) +
z
n' I)
(nl'
k,
67
(a, a') e
(nl'-
n'
and a
f
.
= sin 2
2
Z)
(a, a').
+(lm'
I'
w)
2
.
(7
Two
Vectors
two.
Up
is
AB
The
(A-B)
C.
This in reality does not differ essentially from scalar multiplication (Art. 6).
The
Later (Chap. V.) the product BC, where no sign either dot or cross occurs,
But it will be seen there that (A.B) C and A(BC) are identical
and consequently no ambiguity can arise from the omission of the parenthesis.
i
will be defined.
VECTOR ANALYSIS
68
37.]
two
The second
vectors, of
triple
which one
product
is
is
A(BxC)or (AxB>C.
This sort of product has a scalar value and consequently
is
often called the scalar triple product. Its properties are perhaps most
deduced from
easily
its
commonest
from
same origin
the
Then BxC
B and C
allelogram of which
scalar
A-(BxC)
volume
BxC
is
This volume v
is
positive
B C-plane
two adjacent
(14)
of the parallelepiped of
and
BxC
lie
which
20).
The
sides.
(Fig.
side of the
sides.
are
is
if
A(BxC)
is
posi-
it
negative.
is
piped must
lie
triple
collinear
and
may
the cross in
a scalar
muted
~be
69
The dot
interchanged
may
be per-
= B.(CxA) = C.(AxB).
A-(BxC)
(15)
same
sign, because if
plane,
upon the
is
upon the
may
A B-plane.
The
C-
triple
product
= B-(CxA) = i-(AxB)
= (AxB>C = (BxC).A = (CxA)-B.
A-(BxC)
If
will be
however the
is
(15)'
changed the
A-(BxC)
This
may
= - A<CxB).
BxC
Hence
(16)
CxB.
permuting
of the
38.]
in
this
biguity ?
word
triple
is
product.
They
can.
A-BxC
can have only the one interpretation
A<BxC).
For the expression (AB)xC is meaningless. It is impossible to form the skew product of a scalar A-B and a vector
VECTOR ANALYSIS
70
Hence
C.
as there
is
parentheses.
symbol
[ABC]
any one of the six equal products.
to denote
[A B C]
then
(16)'
The
all
vectors.
Hence
[ijk]=-[ikj] =
if
l.
(17)
i, j,
as
A=A
+ A z j + A 3 k,
B = B i + 2 j + #, k,
C=C i+ <72 j + C3 k,
= A l z C3 + Bl C2 A 3 + C, A t Bz
- S C3 A 2 - 0, A s Br
A, Bz <72
l
[A B C]
then
This
tions
be obtained by actually performing the multiplicawhich are indicated in the triple product. The result
may
may be
A A A
--\ -^2 "*
[A B C]
(18)'
C1
1
This is the formula given in solid analytic geometry for the volume of a
tetrahedron one of whose vertices is at the origin. For a more general formula
see exercises.
more generally A,
non-coplanar vectors
vectors,
any three
which are not necessarily unit
a, b, c
A = &J
where a v
3 ;
2,
B=\a+
C =c a +
stants,
&2
c2
and
b v 62 , J3 ;
+ 3c
+ &3 c
+ c3 c
e?
x,
2,
then
[ABC]- (a
&2 c 3
ft,
c2
a2
[ABC]-
or
The
39.]
Cl
Co
[a
6 2 ) [a
c].
be]
(19)'
d.
J3
a3
Cj
of
71
is itself
is
a vector product.
Such
are
Ax (BxC),
plane of
to
of
B and
and
Hence
lie
in the
Ax(BxC)
where x and y are two
= x B + y C,
scalars.
vector
in
to (BxC).
C.
(AxB)xC
where
and
v are
two
= mA + wB
scalars.
From
in general
(AxB)xC
The parentheses
changed.
It
is
is
not equal to
therefore
essential
to
lie
Ax (BxC).
cannot be
VECTOR ANALYSIS
72
formed
first
This product
is
termed the
AXB
AXB
to
are
X
p
Let the
and per-
be found.
to
components of
parallel
(AXB)
21
perpendicular to the
Ax (AxB) lies in the plane of
is
and
B.
be
It is
furthermore
where
Now
but
if
c is
some
scalar constant.
Ax(AxB) =~A
- c B" = - c B
B sin
(A,B) b"
Hence
Hence
B"
= A = AA.
z
Ax (AxB)
7-7
(20)
AfA
The component
of
B perpendicular
to
and
to
B.
be
The
B'=?A
73
(21)
00
The vector triple product Ax (BxC) may be expressed
sum of two terms as
40.]
as the
AX (BXC) =
A.C
B-A-B
In the
when two
= A-B A - Ax(AxB)
Ax(AxB) = A.B A - A- A B
A- A
or
of the
(22)
(23)
This proves the formula in case two vectors are the same.
To prove it in general express A in terms of the three
non-coplanar vectors B,
C,
and BxC.
A = 6B+cC +
where
a,
Z>,
Ax(BxC)
By
(23)
of
(I)
Then
= SBx(BxC) +
+
(BxC),
cCx(BxC)
(II)
a (BxC)x(BxC).
any vector by
itself is zero.
Hence
(BxC)x(BxC) =
Ax(BxC) = JBx(BxC) + c Cx(BxC).
Bx(BxC) = B-C B - BB C
By
= b B-C + c CC + a (BxC>C.
(BxC)-B = and (BxC>C = 0.
AB = JBB + cC-B,
A-C = &B-C + cC-C.
A-C
Art. 37
Hence
(II)'
(II)"
VECTOR ANALYSIS
74
Ax(BxC)
The
= A-C
A.B
C.
(24)
It
form
of the
Since
it
is
Ax (BxC) = #B +
Ax(AxC)
by
product
triple
is zero.
is
Ax (BxC) was
2/C.
Hence
= zA-B + 2/A-C =
x : y = AC
A-B.
=
Ax (BxC). n (A-C B AB C),
A.[Ax(BxC)]
and
Hence
where n
is
Multiply by
a scalar constant.
remains to show n
1.
B.
Ax(BxC>B
The
It
.'
= n (A-C
B-B
- A-B
C-B).
cross.
Hence
B be
inverted.
=1
and
Ax(BxC)
= A-C
- A^B
C.
(24)
Ax(BxC),
As
Ax(CxB),
factors is
(BxC)xA.
two
(CxB)xA,
its
75
(AxB)xC
= - Cx(AxB) = - C.B A + CA
B.
(AxB)xC
= A-C
(24)
C-B A.
(24)'
vector triple
As
and
to
the
duct
ABxC.
To
is
(AxB).(CxD).
Let
this
vectors A, B, and
AxB.(CxD).
Interchange the dot and the cross.
VECTOR ANALYSIS
76
AxB.(CxD)=A-Bx(CxD)
= B-D C - B-C D.
- A-D
(AxB).(CxD) = A-C B-D
Bx(CxD)
Hence
This
may
(25)
(AxB)-(CxD)
If
B.C.
A-C
A-D
B-C
B-D
B and C
(25)'
the means
(scalar)
To
is itself
(AxB)x(CxD).
Let
CxD
= E.
(AxB)xE
Substituting the value of
(AxB)x(CxD)
Let F
= AxB.
= A.E
E back
- B.E A.
(A.CxD)B
(B-CxD)
By
A.
(26)
Fx(CxD) = FD C-F.C D
(AxB)x(CxD) = (AxBD)C - (AxBC)
all
D.
(26)'
[B C D]
A-
[C
D A] B + [D A
B] C
[A B C] D
= 0.
(27)
is
77
be written in the
[A B C D]
More examples
also
form
[B C D]
A+
[C
D] B
[A B D]
of reduction formulae, of
among
In view of these
chapter.
triple products of
C.
(27)'
becomes
of
crosses
may
one remains.
*
The
and
(25)
(26)
The great
circular arcs
VECTOR ANALYSIS
78
AB,
and
(7,
etc.,
The
C, etc.
AC
and
BD are
one
A D and
the
A B and CD are the diagonals.
- A.D B.C
(AxB).(CxD) = A.C B.D
=
=
AxB sin (A,B), CxD sin(C, D).
B C,
other.
(AxB). (CxD)
The
the
Let
it
be denoted
Then
x.
by
is
angles
= sin
circular arcs
A.C
Hence
sin
In words
The product
of the cosines of
cos
AD
cos
B C.
is
of the
sines
diagonals multiplied
cosine of the angle between them.
theorem
is
by the
This
credited to Gauss.
FIG. 23.
respectively.
let
p^ p b p c
,
(AxB).(CxA)
= sin
(AxB)
Then
(A, B)
c,
is
the
sin b cos x,
AxB
between
angle
J, c.
<z,
B-A
sin
(AxB). (CxA)
where x
to the sides
- B-C A- A.
(Cx A) = sin (C, A) = sin b.
= A-C
= sin
79
and
CxA.
This
is
angle 180
as
A,
Hence
(AxB)x(CxA)
AC BA
By
= cos b
cos
sin b sin
cos
The
last
letters or
= cos a
(CxA)x(BxC)
cases in
(AxB)x(AxC)
BxC, CxA,
AxB
(AxB)x(CxD)
a, b, c
A
B
cos
cos b
(BxC)x(AxB)
Next
sin
sin a cos
is
in the special
repeated.
= [A B C] A.
respectively.
Then
AxB = c sin
AxC = b sin b
cxb sin c sin b
A sin c sin b sin A
(AxB)x(AxC) =
[A B C] = (AxB).C = c.C sin c = cos (90
p sin c
=
[ABC] A sin c sin p
c,
e)
VECTOR ANALYSIS
80
By
common
sin
The
last
letters.
triangle
pe
= sin b sin A
= sin c sin B
= sin a sin C.
write
(AxB)x(AxC)
(BxC)x(BxA)
(CxA)x(CxB)
Hence
sin
= [ABC]A
= [BCA]B
= [C AB] C.
[A B C]
sin b sin A-
The
factor,
expressions
[B C A]
[C
A B].
are equal.
Equate
A = sin a sin B
sin c sin B = sin b sin C
sin a sin C *= sin c sin A
sin b sin
are obtained.
A _ sin B _ sin C
sin a
The
obtain.
is
zero
for the
all
triangle
equation
a
is
sin
this
almost
sin b
as vectors
From
line.
is
a closed polygon.
from a to
b,
from b to
c,
It
from
81
c to
angles ISO
-A,
- B,
180
- C.
180
=b+c
+ c) = bb +
a
a.a
If a,
= (b +
c).(b
&, c
= J 2 -f c 2
b = c -f a 2
2
2
2
c = a + 6
a2
2
The
last
a, b, c. this
2 b
(7.
to the first
letters.
is
-b
b sin
C=
b c sin
A = ^ c a sin B.
| a
c,
sin
a
is
A
cos 5
2
If
becomes
cos
2 a b cos
The
ec + 2 bc.
obtained.
Another formula
the product
(bxc)-(bxc)
2 Area (b
sin
A) =
2 Area
sin
(c
a2
The problem
1
sin
Let
a, b, c
b sin
G)
B sin G
of expressing
(cxa)(axb)
a sin B} (a
Solution of Equations
any vector
may
r in terms of
be solved as follows.
VECTOR ANALYSIS
82
where
a,
constants to be determined.
6,
bx
Multiply by
c.
//
r-bxc
= a abxc +
&
b-bxc
cc-bxc
[rbc]=a[abo].
or
X a and
= & [b c a]
= c [c a b]
[r a b]
[r c a]
Hence
c]
[r a]
,[r b] c.
b+
= -4.
a +
^-\
-^ a b
r^
J
[c
aj
[be
be]
[a
The denominators
equation
[a
c] r
are
all
Hence
equal.
- [b c r] a +
[c r a]
[r
rb
r
=r
gives the
this
a b]
r, a, b, c.
also be written
--
raxb
rcxa
[abc]
or
(28)
[abc]
bxc
[abc]
[a
cxa,b
+r
be]
axb
c.
[abc]
[abc]
_ __
bxc
axb
cxa
[a
[a b c]
be]
[a b c]
Definition
The system
b x
[abc]'
name and
of three vectors
cxa
axb
[abc]'
[abc]
notation.
83
a,
x b
product
a b
is
a, b, c
c,
by the scalar
a, b, c.
bxc
cxa
axb
[a b c]
[a b c]
>
[a be]
when
The system
of three vectors
will be denoted
by primes
bxc
'
[a
The expression
used,
it
a,
b, c
[a b
'
= axb
= r.a'a +
(29)
[a b c]
c]
will be
not coplanar.
reciprocal to system
= cxa
be]
is
are
b, c
a,
r.b'b
r.c'c.
form
(30)
Tl^e vector r
system
place
a', b',
it
is
and
a,
if a, b, c
are non-coplanar,
z.
or
Multiply successively by
c.
This gives
ra
rb
[a be]
= x [b c a],
rc
= z [a b c],
[a b c]
[a b c]
Hence
b,
^a,
[c
ab],
= raa' + rbb' +
ra
y = rb
z = rc
rc
c'.
(31)
VECTOR ANALYSIS
84
44.]
scalar product of
the given
corresponding vector of
the product of
system
is
unity;
= b'-b = c'.c = l
a'.b = a'.c = b'.a = b'-c = c'a = c'-b =
a'.a
That
is
(32)
0.
but
may
c'
in
Hence
Since
non-coplanar the corresponding coefficients on the two sides of each of these three equations must
b', c'
a',
are
be equal.
= a'.a
= b'a
l=b'-b
O^c'.a
= c'.b
From
the second
From
the third
This
proves
the
first
= a'.b
relations.
= a' c.
b'.c.
= c'c.
They may
also
be
proved
a'a =
,
bxc
a
b x
[abc]
a
'
bxc
b =
[abc
.
=-[be a]- = 1
[a
be]
[abc]
=0
[abc]
forth.
Conversely
and
= bxc.b =
[abc]
and so
a, b, c,
if
two
Aa = B'b = Cc = 1
A.a = A.c = Ba = B.C = C-a = (M> =
say A, B,
C,
By
is
85
a, b, c.
A=
C
A-a
a'
+ Ab
= Ca a' + Cb
+ Ac
b'
b'
C-c
c'
c'.
is
A=
a',
= b',
= c'.
Hence
Theorem
set of vectors
be the reciprocals of
a, b, c is
= b'.b = c'-c = l
= a'.c = b'.a = b'.c = c'.a = c'.b = 0.
a'.a
a'.b
that
(32)
As
be looked upon as the reciprocal of the system a', b', c' just
may be regarded as the reciprocal of
That
is
Theorem: If
then
a, b, c will
b'
"
to say,
a'
c'
c'
a'
[a'bV]'
"[a'b'c']'
b'
a, b, c,
(29)'
~[a'b'c']'
The demonstration
is
the.
straightfor-
ward, but rather long and tedious as it depends on complicated reduction formulae. The proof given above is as short
as could be desired.
The relations between a', b', c' and
c are
VECTOR ANALYSIS
86
45.]
Theorem
If a
'
That
reciprocals.
'
and
'
be reciprocal systems
and [a b c] are numerical
a, b, c
[a'bV]
is
[a'bV] [abc]=l
,
,,
b x
~L[abc]
=
[abc]
Hence
Hence
[a'bV]
By means
is
[abc]
[abc]J
(bxc) x (cxa)
[bxc cxa axb]
axbl
= (bxc)x(cxa>(axb).
But
(33;
ex
[abc]c.
caxb
[abc]
[abc]
[abc]
2
.
(33y
[abc]
[abc]
between
of this relation
and
[a b c]
it
(P.QxE)(A-BxC)
P.A
P.B
Q.A
E.A
Q.B
Q.C
E.B
E-C
P-C
(34)
But
To
= P.A
A'
E = E.A
A'
+ E.B
Then
crosses
FPQE1=
P.B B'
B'
p.c c
E.C
P.A
P.B
p.c
Q-A
Q.B
Q-C
E.A
E.B
E.C
[A'B'C'J
[ABC]
c'.
[A'B'C'].
be
[PftR] [ABC]
The system of
P.A
P.B
P.C
Q.A
S.A
Q.B
Q.C
B-B
R.C
i, j,
--- --
is its
own
87
reciprocal
system.
k ,_ixj_
J'
For this reason the primes i', j', k' are not needed to denote
a system of vectors reciprocal to i, j, k. The primes will
therefore be used in the future to denote another set of rect-
',
F', Z are used to denote a
angular axes i, j, k just as
set of axes different from JT, Z, Z.
TJie only systems of three vectors which are their own reciprocals
,
are
the right-handed
That
vectors.
is
Then by (32)
A.A
Hence the vectors
= B.B = c-c = i.
A.B
Hence
is
perpendicular to
B.A
Hence B
is
= A.C =
B and
o.
C.
= B-C = o.
perpendicular to
A and
C.
=C-B = O.
to A and B.
C.A
Hence C is perpendicular
Hence A, B, C must be a system
*
46.]
A scalar equation
like
i,
j,
k or
like
i,j,
k.
is
a a-bxr
&(cxd).(exr)
+ c fr
-f
= 0,
VECTOR ANALYSIS
88
where
are
a, b, c, d, e, f
known
vectors
and
a,
Z>,
c,
of the
Obviously any scalar equation
form
to
the
reduced
be
r
vector
an unknown
may
first
scalars.
r-A
where
complish
is
known
vector
d,
known
degree in
=a
and
a,
known
scalar.
To
ac-
as follows.
a axbr
{a
+ b (cxd)xe-r + c fr + d
+ b (cxd)xe + c f}r =
axb
d.
As
may
it
rA =
a.
scalar equation
The geometric
tion
r-A
=a
(36)
'A
is
origin.
interesting.
or
if
cos
(r,
r cos (r,A)
r be the magnitude of r
and
r cos
A)
= a,
=.
A
A
(r,
that of A.
The
expression
A)
89
always be constant and equal to a!A. Consequently the terof r must trace out a plane perpendicular to the vector
minus
equal to a/A from the origin. The projecof any radius vector drawn from the origin to a
at a distance
tion
upon
Theorem
scalar equation in
This gives
unknown
terminus of the
vector
if its
origin be fixed.
common
is
determined.
equations
is
The
point.
Hence one
vec-
extremely easy.
rA
=I
rC =
r-B
(37)
c,
it is
Hence
The
solution
is
= a A' +
6 B'
c C'.
therefore accomplished.
(38)
It is expressed in
if
Hence the
common
line.
Hence there
will be either
no solution
for r or
VECTOR ANALYSIS
90
From
rA = a
=b
rC = c
r.B
(39)
r.D=d
the vector r
may be
To accomplish
entirely eliminated.
this
a [BCD]
or
*
47.]
[CAD] +c [ABD]
&
A vector equation
=d
[ABC].
(40)
unknown
is
an equation
is
(AxB)x(Cxr)
where A,
and
r the
B, C, D, E,
unknown
+ F =0,
are
vector.
That
general sufficient
contained in it to the
The method
+ D ET + n
first
is
to say,
degree.
may
first
These
In the
A
where A,
a*r
+B
B, C, D, a, b, c are
b-r
C cr
known
= D,
vectors.
known non-coplanar
Thus
may
No
scalar coeffi-
be incorporated in
C'.
91
= D-A
br = D-B'
a.r
But
Hence
The
solution
is
coplanar and
which either
c'.
is
be discussed here.
A
That
is it
ar.
r,
D.
Exr,
contain terms
will
in an
vector multiplied by the scalar product of another known vecterms which are scalar multitor and the unknown vector
;
number.
to three in
multiplied into r
coplanar vectors.
may
Hence
a,
b,
c,
which are
may be
terms, as
A ar + B
The terms
of the types
b-r
C cr.
also be expressed
in this form.
Exr
Adding
to the
all
= wa'ar +
==
Exa' ar
n b'br
+n
c'cr
form
L ar +
M br + N cr = K.
VECTOR ANALYSIS
92
The
solution
is
= K.L' a' +
K-N'
c'.
K.M' b'
a,
unknown
b, c in terms of
c'.
which
Applications
Mechanics
48.]
effect.
If a
number
.same point
them.
of forces f v f 2 , f g ,
0, the
sum
the resultant R.
R=f +
fa
In the same
way
if f , f
x
added just as
if
2,
...
applied to the
sum
of these forces
R = f1 +
The
f,
f3
is still
fa
...
(41)
is
concerned
is
nitude
as defined above.
is
best looked
upon
as a vector quantity.
Its direction is
usually
Its
mag-
taken to
93
and the
point
line f
to pro-
in the positive
duce a tendency to rotation about the point
Another
method
direction.
of
defining the
trigonometric
is as follows
moment of a force f = P Q about the point
:
The moment
of the force f
= PQ
taken.
Mo
{t}
of forces f x , f 2 ,
= -Pi0i. ** = ?*Qi'~
- 2 (0 P! Q + OPZ
Mo {f n f a
}
If
the (vector)
*i
This
f
is
individual forces.
known
"
is
'
*2'
49.]
moment
..).
of the forces
'
If f
to
moment
dxf
d be the vector
line of action of
is
the
Mo
For
if
if e
Qz
W - dxf
= d/sin
(d,f)
(42)
e,
dxf
Now
sin (d,
f)
The magnitude
is
= d sin
(d,
f)/e.
dxf
to
f.
accordingly equal to this perpendicular distance multiplied by /, the magnitude of the force.
of
is
VECTOR ANALYSIS
94
The direction
the magnitude of the moment MO {f}.
moment.
Hence
the
of
direction
the
as
same
of dxf is the
This
is
is
the relation
proved.
Mo
The sum
= dxf.
{f}
moments about
of the
number
of a
of forces
moment
is equal to the
f r f 2,
acting at the same point
of the forces acting at that point.
of the resultant
to P.
Mo
Mo
Mo
{fJ
+ Ko
{f a }
---
{f !>
{f a |
= dxf
- dxf 2
l
= dxf +
dxf a
total
let
Then
of
...
H----
The
For
(43)
f x, f 2,
Mo-
Ro
considered as acting at 0.
{f !, f a
Let d 15 d 2
,} = Mo
{f p f jp
f
Let d/, d 2
j,
2
respectively.
from 0' to the same points in f v f 2
be the vector from
to 0'.
Then
',
d1
Mo
{f !, f 2
#!,
'
+M
f2,
\.
'
any point in
be the vectors drawn
Let c
respectively.
'
-\
But
is
the
(44)
to
= d + c,
d 2 = d 2 + c,
= d xf + d 2 xf +
}
= d/xf + d 2 'xf 2 +
= (d - c)xf + (d 2 - c)xf 2 +
= djXf i+daxf 2 + ---- cx(f + f 2 +
.
(Ho
'
c is the vector
moment about
to 0.
Hence
f,
Hence
{f 1? f a
95
'
15
In other words the product of the total moment, the resultant, and the cosine of the angle between them is invariant
for all points of space.
B-M
where 0' and
'{fi,f a
}=
Mo {fi,*2-"}
are
Me?
{fj, f a
But
moment
the
{fj
}=. Mo
ForE-Mo^f^fa,
the point
= Mo
of
is
is
about
A point
it
is
parallelism
0'
may
parallel
|f i
fa
{Ro}.
'
{R
}-
no matter what
The
of
variation in the
total
to the
The condition
resultant.
is
'
'
=0
RxM
+M
+R
Hence
proved.
perpendicular to
of application be.
relation
.
,
{f^f-j,
R.Mo' IRo}
and the
f2
= RxM
+RX M
{ lf f a
'
|B
for
VECTOR ANALYSIS
96
where
by
its
random. Replace
any point chosen at
write the f v f 2
to
omit
for
value and
brevity
braces
is
Then
{ }.
= ExM
ExM(y
The problem
is
Ex(cxE)
ExM
Now E
'{E O }
in the
R'B. c
0.
c.
+ Ec E =
0.
known.
known
is
=
ExM
Then E-c
dicular to E.
to
BB c
E-E
chosen equal to this vector the total moment about
at a vector distance from
the point
', which is
equal to c,
If c be
will be parallel to E.
the total
moment and
resultant itself
is
the resultant
constant
it is
The
total
about which
For
If c
about 0'
(Jf
is
is
moment
it is
'
is
moment
|fi,f a ,
}=M
parallel to E,
cxE
{f 1
,f a ,
- cxB.
Hence
where
it is
moment
possible to
moment
moment about any
obtained
may be summed up
as follows
97
point of
it is
The
of
it is
same and
the
This line
is
total
numerically
moment about
less
itself
is
all
points
This theorem
is
of forces acting
and
may
of
desired point
of space
about
is
on the body.
But
of
which
moment
in general the
plane of this couple will not be perpendicular to the resultant, nor will its moment be a minimum.
however may be
analysis.
The treatment
of his vectors
Cartesian coordinates.
Each
is
step
number
of
exercises
is
the chapter.
VECTOR ANALYSIS
98
the axis.
The
velocity
The
direction
of
the velocity
to the
axis
is
and to
perpendicular
the radius of the circle described
by the
point.
if
turned in
FIG. 25.
be
a,
The
body.
vector product
axr
= a r sin (a, r)
is
distance r sin
(a, r)
v
If the
a 2< a
*3a
case
of
a.
= axr.
That
is
(45)
the
rotations are
v.
velocities
due
to
the various
99
r x, r 2 , r g,
on the axis a 1} a 2 a 3
,
to the
the vectors r 1? r 2 , r 3 ,
Then
= r2 = r3 =
v3
=r
and
v
= vx +
v2
= a xr + a xr + a
= (a + a 2 + a +
2
is
velocities a 15 a 2 , a 3 ,
This theorem
the vector
if
3
.
xr
-)xr.
sum
is
sometimes known
This axis
axis
is
position.
fixed
is
is
The
therefore represented
by
= axr
(45)
where a
is
body.
=v +
axr.
(46)
VECTOR ANALYSIS
100
In case v
is
parallel to a, the
This is
along a simultaneously.
In case v is perpendicular to a, it
a.
screw advancing along
such that
is possible to find a point, given by the vector r,
its
velocity
is
That
zero.
is
axr
This
may
Multiply by xa.
be done as follows.
v xa
(axr)xa
ar a
be chosen perpendicular to
a.
aa
or
Let
aa r =
~
-
v xa.
Then ar
is
zero
and
v x a
v x a
a*a
The
point
r,
a,
thus determined, has the property that its velocbe drawn through this point parallel to
If a line
ity is zero.
about
this
new
In case v
is
is
body
axis.
it
may
= V*o
Vv o
'
4Vv o
i
"
point
'
4-
"
"
a.
+ axr
that
axr.
r'.
Then
=v +
'
axr'.
(46)'
body
any
101
(i, e. its
instant to instant.
The
52.]
of
principle
methods.
f x , f 2,
act
on a
forces is
...
D-fj, D.fa ,
The
total
work done
therefore
is
W = D.f
If the
the
D.f 2
W = D-f
D-f 2
zero.
.
= D(f +
f2
)= D.E = 0.
their resultant.
D.
The equation
D.R
holds for
all
=O
Hence
vectors D.
adxf
where d
is
a vector
components
f ', f
t,
To prove
f.
"
parallel
a-dxf
this
break up
f into
= a-dxf +
'
a-dxf ".
two
to
a.
VECTOR ANALYSIS
102
As
'
is
scalar
parallel to a the
adxf
On
done by
product [a d
']
vanishes.
= a.dxf ".
work done by
"
For
is
'
being parallel to
If h be the common
perpendicular to its line of action.
a
to
the
force t", the work
the
line
from
vector perpendicular
"
a for time
a
of
is
done by
t is
rotation
during
angular velocity
approximately
W=hf" at = *hxt"t.
The vector d drawn from any point of a to any point of f may
be broken up into three components of which one is h, another
In the scalar
is parallel to a, and the third is parallel to f ".
only that component of d which
"
perpendicular alike to a and f has any effect. Hence
triple
product [a d
f "]
W= ahxf"
= a.dxf f = adxf
is
t.
a to any points of f 1?
by the forces f v f 2 ,
2,
work done
will be
approximately
W= (a^xfj + a.d
xf 2
= a-CdjXfj + d 2 xf 2 +
= a.M {fj.fj,, }
+
..-)
)*
t
t.
If the
body be
work must be
in equilibrium this
Hence
a .M
|flf f2 ,
.} t
zero.
= 0.
zero.
As
may
must vanish.
Mo
{t v t v
.}
= 0.
moment
itself
103
The necessary
conditions that a rigid body be in equilibrium under the action of a system of forces is that the result-
point in
Conversely
and the
moment
D.R
and the
total
work done
is
= 0.
zero,
when
displacement of translation.
Let
MO
{fp
f 2,
Then
for
{fi? f 2 >
But by hypothesis
'I
is
= MO
f: , f 2 ,
also zero.
MO' (fp
Hence
aMo'
MO* {BO}.
Hence
f2
0.
{fp f a
=Q
where a
is
It has
must be
in equilibrium.
is
total
zero.
The theorem
is
VECTOR ANALYSIS
104
Applications
to
Geometry
They form
their
Hence
and
From
this
=
+
+ i'.k k = a +
= j'.i + j'.j + j'.k k = b, i +
1 k' = k'.i
+ k'-j j + k'.k k = Cj +
i'.i i
i'
i'.j j
j'
The
scalarsaj,
2,
a3
direction cosines of
That
bv
i'; j';
Z>
2,
2 j
J2 j
c2 j
+
+
+
53
k
k
(47')
c 3 k.
b 3 ; c r c2 , c 3 are
respectively the
i,
j, k.
is
= cos
= cos
&!
= cos
cj
ax
= cos
= cos
2
c = cos
2
a2
(i', i)
Z>
(j', i)
(k', i)
(i',
j)
(j',
j)
= cos
= cos
3
c = cos
3
3
Z>
(k', j)
(i',
k)
(j',
k)
(48)
(k', k).
== i.i'i'
i-j'j'
i.k'
k'=
and
i'
i'
i'
+ ^ j' + Cj k'
+ &a j' + c2 k'
+ 6, j' + c 3 k'
(47)"
j-j
)
C k.k
i'.j'
(50)
= =a
= 2
j.k =
i.j
and
+
+
&j 6 2 -f Cj c 2
&2 b s
(50)'
and
(51)
Cj
k'
= i'xj'= (a a
But
k'
&g
= Cj +
i
8 6j
Cg
ax
68 ) j
c 2 j 4- c 3 k.
Hence
(52)
Or
Co
2,
J p J2 , J3.
coefficients of a transformation
The
105
set of
",
worthy.
number
in vector multiplication.
a2
k.
(53)
VECTOR ANALYSIS
106
the
its
Hence
Its
it
must be the
magnitude
is
or
V bf + c^.
two planes.
scalar relations
The magnitude 1
af
is
k'-c
&1
j'
= a,j-a s
(53)
is
one of the nine lines of intersection of the two sets of mutually orthogonal planes.
The magnitude
of the vector
is
in
may
~C. Then
By
hypothesis
- B) =
B-(A - C) = 0.
C.(B-A) = 0,
A.(C
aQ d
Subtract;
Example 2:
To
drawn
Let
is
the vector
OB.
to
be the ra-
line.
parallel to A.
Ax(R-B) = 0.
This
Let
107
Then
vanishes.
^\
EC = c
in the
unknown
The point
vector B.
of intersection of a line
found at once.
The equations
are
Ax(B - B) =
B.C = c
AxB = AxB
(AxR)xC = (AxB)xC
A.C B - C.R A = (AxB)xC
A.C B - c A = (AxB)xC
(
(AxB)xC +
Hence
A
,
A.C
The
an
infinite
number
of solu-
tions.
to represent planes.
Heretofore vectors have been used to denote plane areas of
The direction of the vector was normal to
definite extent.
the plane and the magnitude was equal to the area to be represented. But it is possible to use vectors to denote not a
plane area but the entire plane itself, just as a vector represents
a point. The result is analogous to the plane coordinates of
analytic geometry.
a plane in space.
MN
Let
The
MN
VECTOR ANALYSIS
108
represents
it.
If r be
in
then
r.p
is
=l
For
= r cos
(r,
p) p.
Now PI
and p be expressed
If r
in terms of
i, j,
= ui + vj + wk
rp = xu + yv + zw = l.
p
Hence
The
The
relation
tion of duality.
between
and p
is
symmetrical.
It
is
a rela-
If in the equation
by
is
tors to denote
planes will scarcely
Chapter VII.
The use
of vec-
SUMMARY OF CHAPTER
The
two vectors
scalar products of
A.B
II
them.
is
= A B cos (A, B)
A.B = B.A
AA = ^ 2
(1)
(2)
(3)
The
product vanishes.
are
109
is
M=
= kk = 1
=j.k = k.i =
A.B = A B + A 2 B2 + A s B3
A-A = A 2 = A? + A* + A*.
i,
j,
j'j
i.j
The
(7)
B upon
a vector
is
(8)
is B',
equal in magnitude to
the product of their lengths multiplied by the sine of the anThe direction of the vector product is the
gle between them.
AxB = A B
is
sin (A,
B)
c.
(9)
VECTOR ANALYSIS
110
vanishes
is
The com-
AxB=-BxA
ixi
ixj
jxk
kxi
Bs -
AxB =
a)
(10)
= jxj = kxk =
= jxi = k
= kxj =
= ixk =
+ (^3 B - A
(12)
(13)
j
AxB =
The
to the
A,
(13)'
[A B
C] is equal
[AB C]
=-
(15)'
[ACB].
(16)'
may
be inter-
[ABC]
[ABC]
(18)'
[a
be]
(19)'
component of B perpendicular
to
A be
B",
>_
Ax (BxC) = A.C B -
(20)
AB C
(24)
subsists
111
(24)'
(25)
(26)
C,
is
[BCD]
A-[CDA]B+
[DAB]
C-
[ABC] D
= 0.
(27)
Application of formulae of vector analysis to obtain the formulae of Plane and Spherical Trigonometry.
The system
of vectors
a',
V,
c' is
bxc
a'= ,..-,
when
[a
be]
cxa
V = p-
a, b, c
r'
c'
= axb
[a b c]
[a
reciprocal in
(29)
c]
of vectors
and
(30)
(31)
= b'.b = c'c = 1
= b'.c = b'.a = c'-a = c'-b = 0.
a'.a
a'.b
a'.c
If a
a, b, c
then
a, b, c
will
VECTOR ANALYSIS
112
[PftR]
The system
system be
its
i, j,
own
[ABC]is
its
own
reciprocal
P.A
P.B
P.C
Q.A
E.A
a-B
R.B
R.C
reciprocal
a-c
and
must be a right
it
if
(34)
conversely a
or left
handed
mutually perpendicular unit vectors. Application of the theory of reciprocal systems to the solution of
system of three
scalar
vector.
The
first
degree in an
r-A
unknown
is
= a.
(36)
force
where v
=v +
(46)
the velocity of any point, v a translational velocity in the direction a, and a the vector angular velocity of rotation.
Further application of the methods to obtain the
is
by making use
of the principle of
systems
mutually orthogonal
Application to special problems in geometry including
the form under which
plane coordinates make their appearance in vector analysis and the method
by which planes (as
distinguished from finite plane areas) may be represented
axes.
by
vectors.
113
II
1.
Ax{Bx(CxD)}
2.
- [A B C]
= [ABE] [FCD] - [ABF]
= [CD A] [BEF] - [CDB]
BxC
3.
[AxB
4.
[PQR] (AxB)
CxA]
P.A
E F]
[C
[ABC]
[D
E F]
[E C D]
[AEFj.
2
.
P.B
Q-A
Q.B
R-A
R.B
5.
6.
[AxP
7.
Obtain formula
= 0.
by expanding
[(AxB)xP].[Cx(CtxR)]
in
two
different
results.
8.
a',
a system reciprocal to
Show
9.
tors
a',
b', c'.
and polar
geometrical formulae connected with polar triangles by interpreting vector formulae such as (3) in the above list.
10.
The perpendicular
meet in a
point.
to
VECTOR ANALYSIS
114
Show by
12.
ume
of a tetrahedron
is
1/3
13.
Making use
1
[a b c]
where
a, b, c
I
14.
which
= abc
show that
= cos
m = cos
(b, c),
(c, a),
= cos
and where
(a, b).
a, b, c.
Show
that the
volume of a tetrahedron
is
equal to one
two opposite edges by the perpendicudistance between them and the sine of the included angle.
16.
If a line is
CHAPTER
III
55.]
ment
denoted as usual
between
r'
and
r'
Ar
(1)
will be
by A r.
Ar = r'-r,
where
the incre-
and
Ar
is
If the variable r
be
direction.
If,
however,
two values
and
r',
are
and
t'
of
known.
To
it
(Fig. 26).
When
of
the radius vector of one point
the curve; r', of a neighboring point P'.
P' of the curve. The ratio
chord
Ar
Al
FIG. 26.
r will be the
VECTOR ANALYSIS
chord
in
the ratio 1
but magnified
t.
PP'
PP
ArAt
...
dT
will approach
dt
directed in that
a vector tangent to the curve at
sense in which the variable t increases along the curve.
which
If r
is
be expressed in terms of
i, j,
as
(>!
+ A rt ) i +
Ar
l i.
t?
+ A ra ) j +
+ A r3 ) k
(r 8
A r2$
An
4T A*
A J J ^ A.I
A*
A r,
A*
t.
V
*
'
and
components of
The same
r.
derivatives.
dn
d
~ d* r
__ __
k
dt*
.
t*
In a similar manner
if r
non-coplanar vectors
a, b, c
|_
d n r2
dt*
of the
is
_i
_
dt*
dt*
with re-
7r
d n r3
'
(2)'
'
~dr'
aa + 5b +
d^r_d^
"~
cc
<Z*J
dn c
c'
The
are
Let
= a cos +
t
b sin
t.
and
117
Then
b.
X = a cos
Y=b sin
t,
coincident with a
t,
the equation of an ellipse referred to a pair of conjugate diameters of lengths a and 5 respectively.
which
is
dr
a
Hence
= a cos
( t
CL t
The tangent
+ 90) +
t.
b sin
(t
90).
=
The second
+ b cos
+ 90).
for
a sin
derivative
is
(a cos
b sin
the negative of
t).
Hence
r.
_
~
is
Example
The
vector
Let
r will
=a
cosh
b sinh
t.
dr
=a
b cosh
= a cosh +
b sinh
sinh
t,
CL b
and
TT
Hence
is
dt 2
t.
VECTOR ANALYSIS
118
56
A combination
same
scalar variable
of vectors all of
may be
differentiated very
much
as in
ordinary calculus.
For
(a
A (a
b)
= (a + A a)
+ Ab) -
(b
Aa
Ab
A(a.b)A2
= a TT + ~T7
A
A
Hence in the limit when A = 0,
'
Aa-Ab
A~7
Ac
db
(ab) = a-r
/ d b\
<^
da.
,o,
f-
cZ
a\
(o)
.
//<x
<4 >
-(axb) = ax l77J+(T7) xb
d
dt
(abxc) = a.bx
v
'
fdv\
-\ +
a( ^-Ixc
(5)
[bx.].
The
may be demonstrated
(6)
exactly
of
differs in
analysis,
namely
The order
119
Hence
of the
two formulae
and
first is
evidently incorrect, but the second correct. In
other words, scalar differentiation must take place without
The
altering the order of the factors of a vector product.
the
factors
must be
differentiated in situ.
be expected.
In case the vectors depend upon more than one variable
the results are practically the same. In place of total derivatives
occur.
depend upon
#, y,
z.
The
scalar product
and
it
ab
will
CT)
The second
5x9y
VECTOR ANALYSIS
120
Often
it is
This
the differentials.
is
The
first differentials.
= da.b + a
= da. x b + a
d (a-b)
d (a X b)
and so
forth.
example.
The
As an
(3)'
x db,
(4)'
illustration
If r be a unit vector
is
db,
vari-
(d r)
= 2r
d r = 0.
(d r)
(d r)
Hence
of a unit vector
the vector.
= 0.
perpendicular to
This can be seen geometrically. If r traces a
is
where
The increment A
s is
chord of the
infinitesimal.
r is the
Hence dr/ds
as its limit
when A
becomes
is
Let
121
be the
unit tangent
=t
The curvature
(8)
At
is
As
The vector C
t
to
is
At
dt
d*r
As=0 As
ds
ds*
LIM
collinear with
inasmuch
for
At
as t is a unit vector
At
is
perpendicular
t.
The
vector
The
N = txC.
planeis
n
will be a unit
with C
=t
is,
Then
d n
FIG. 28.
s.
From
vectors
t, c,
n form an
i,
j,
k system of unit
122
VECTOR ANALYSIS
and
= cc = nn = l
tc = cn = nt = 0.
t.t
Differentiating the
first
t.dt
set
= cdc = nd!n = 0,
do
But d t
is
parallel to c
dn
Hence
The increment
n
is
of n
is
0.
to n.
= 0.
t = 0.
dt
of
+ dt'C = cdn +
perpendicular to
also perpendicular to n.
It
is
is
t.
therefore parallel to
parallel to
dn and
c.
hence
too.
The
tortuosity
is
ds (txc)
dr
d*r d
T~
ds z ds
The
first
term of
d fdr
d*r
x
(
ds*2
dsds
^c
1
.
(11)
= d z i/d s 2
T moreover has
Consequently the
when
the tortuosity
is
positive, that
is,
cT =
But
c.
dr d B r
x
ds ds 3
c is parallel to the
And
dz r d
^s
vector d r/d
ft ^
T=
ur
The
tortuosity
may
somewhat shorter
dt
n=
if
ct
^s
VCC
Hence
Hence
*?
(13)
tc = cn = nt = 0.
dtc = dc t
dc n =
dnc
dnt = dt*n.
Hence
Now
s2
= 0.
-^
r=-c.T = --as'^x-^
2
as ds* C
Hence
dt
Y/cC
2
-T-
dr
c
is
123
is
0.
parallel to c
hence perpendicular to
Hence dnt = 0.
Hence d n must be
parallel to
n.
Hence
But<Znis perpendicular to
c.
The
tortuosity
is
n.
the mag-
dn/ds
r=-
dn
.c
ds
= n. dc
ds
(14)
dp
T = txc-^>
as
(14)'
VECTOR ANALYSIS
124
>
dC
do
ds
dc
.
=t
c.c
x
dC
,-.
- -
ds
But
t
VC -C
r=
= 0.
dV /^
VC
^1
c.c
t
x C
s
'
^TC
dr
T=
(13)
ds z
In Cartesian coordinates this becomes
T=
dx
dy
dz
ds
ds
ds 2
ds 2
ds z
ds x
ds*
ds y
dB
ds
ds 9
(13)'
'
ds 2
Those who would pursue the study of twisted curves and
surfaces in space further from the standpoint of vectors will
find the book " Application de la Methode Vectorielle de Grass-
mann d
la
Geomttrie Infinitesimale"
1
Paris,
Cam?
et
by FEHB extremely
Naud, 1899.
helpful.
is
The
elegant.
The treatment
notation used
however
is
125
slightly different
The fundamental
EJ
ct
One used
-I
Clo
Jj
to either
Clo
~ [j
<* 1
L.
J.
<*
o
i
Q
O_|
/N^
CZl
Li
I
2]
$oi ^Qo_|
difficulty
with the
up
here.
* Kinematics
58.]
Let
The
This
is
LIM
* as
rArn
change of position.
increment A t.
r to the
di
A*-*.-nrTTL*jFr
( 15 )
if s
VECTOR ANALYSIS
126
introduced by Newton.
t.
dr
T=r= j*
dS
= s=-
The
is
acceleration
is
a vector quantity.
=v
rtR\
(16)
t.
(17)
Let
it
of velocity.
be denoted by A.
It
Then by
definition
LIM
Av
= d v =_
and
v
_dv_d(vt)
=
=
d7
~d~T
dv
=v
t.
dt
dv
i
'dt
di*
dz s
dt _dt d
dt
ds d
s
t
where C
'
The
A=st+
acceleration of a particle
C.
moving
%*
in a curve has there-
fore been
lel
curvature C, that
is,
That this
would be unimportant were
127
The
brings to light.
it
it
On
of the acceleration
the other
effect at all
rate
= # + yj + 2 k,
v = T = xi + j/j + zk,
r
V x* +
A=v=r=
A = v=s=
^t
change
is
y*
(16)'
+ ^j+sk,
x x + yy y + 2
(15)'
Jr
(18)'
z
apparent.
A=f
and
Just
when
\V*v\
T==g- -^-
this
From
on
s>
the rate of
became clearly
is
not.
as
an
VECTOR ANALYSIS
128
It is
at any instant.
magnitude and direction
one step further' and construct the hodopossible to proceed
This is done by laying off the
graph of the hodograph.
The
=
an assumed origin.
from
r
vector acceleration A
particle in
angular velocity
The
Let
velocity v
is
perpendicular to
r
The
vector v
r.
=v=a
r.
is
its
which
circle,
and
it
conse-
The
The
The hodograph
tude.
The
is
=a
acceleration
is
A = a v = a2
The
acceleration
A may
r.
r = A = axv = ax(axr) = ar
But
as a
is
Hence
The
=A=
acceleration
a circle
is
aa
is
aa
a2
r.
lies,
= 0.
r.
The hodograph of
vector.
The curve
the
the
is
any given
=v +
At
instant.
will be
g.
The path
straight line.
Example 3
The
is
hodograph.
in path at
129
well
is
known
is
hence a
to be a parabola.
acceleration
= A = f(r).
the accelerations
r.
That
is
approximately
A*
Multiply by rx.
=rx
Hence
But ^
r
r
x
x
- r ) = 0.
r = r x f
(r
when
Hence the
that
VECTOR ANALYSIS
130
it
Perhaps
would be well
this question.
go a
to
little
more carefully
into
particle in
its
is
is
|rx(r + Ar)=irxr + ^r
The
rate
of description
xAr=|rxAr.
of area
consequently
Lm
y r-
irx(r*-Ar)
A*
A*=02
Let
Lm
~A*=0
r <
Ar_i.
A t~*
and
P and P
is
is
the limit of
r
_ Af
r'
A*
Break up the vector
parallel
= Lz
'
into
Af
if
i?
approaches
Hence
(r
(r
-r)=rxi-
r'
= x A*
r'
(r
A*
^A A x
n.
131
Hence
rxf
xi =
But each
Ar
X
At
This
Hence the
is
rates
at all points.
60.]
fixed
is
But
= (d r
i) i
dr
But
Hence
j) j
c?
i,
j,
di+
yi
dj
+ (# j di +
+ (#kdi +
yj
rf
=j
irfj+j <! =
jdk + kdj =
k.di + idk =
Moreover
Hence
= (xi
(d r
()
(d r
d r k obtained from
+ 2i^k)i
+ z j d k) j
ykcj +
=k
or
k) k.
krfk)k.
= 0.
j(H =
or k.dj =
or i dk =
ii=jj = kk = l.
i^i = d = kc?k = 0.
irfj
j.tfk
'k
di.
VECTOR ANALYSIS
132
= (2
dk
(y k
+
This
dj
is
a vector product.
= (Wj i + idk j +
Let
a
dj
=k
-^
Then
(# j
d k)
k)x(>
dk
di=
d j)
k.
yj
z k).
+ l -d7 J+
'-dl
i) i
r.
axr
of rotation with
Two
Let
aj
due to
infinitesimal
rotations
= aj
dz r = aa
dj r
If r be displaced
T
If it
d1
Hence
+dr=r+
d1
ftl
If the infinitesimals
(d
t,
t.
it
a.
xidt.
becomes
+ % x [r + (& X r) d f\ d
+ a a x r d t + a 2 x (a x r)
=T+
then be displaced by a a ,
r
becomes
a, it
by
t.
t)
(d t)\
neglected,
= &1
a2
= dr =
If
( &1
a 2)
t,
a1
a a )xr.
133
This
It
is
a,
is
con-
=a
The
As
acceleration
r.
r=axr+axr=axr+ax
a and hence a x r
On
is
its
direction a
parallel to a
the other
hand
r.
ax
(axr).
dicular to
r.
Inasmuch
(a
r) is parallel to
r.
of the circle in
This
which
it
moves
is
a x (a
r).
at all.
On
It corresponds
is
axr.
This
depend in any way upon the angular velocity itself but only
upon its rate of change.
61.] The subject of integration of vector equations in which
the differentials depend upon scalar variables needs but a
word. It is precisely like integration in ordinary calculus.
If
then
d
r
r = d
= s + C,
s,
VECTOR ANALYSIS
134
where C
is
some constant
To accomplish
vector.
the integra-
tion in
just as
it is
Example
difficulty
projectile.
The equation
of motion
is
simply
r=
g,
is
a constant of integration.
It is
evidently the
= 0.
always ver-
= g + b,
where b
is
= 0.
is given by this
That this is so may be seen by
x and y and eliminating t.
expressing
it
in terms of
Example 2 : The rate of description of areas when a parmoves under a central acceleration is constant.
ticle
But
For
(r
x
x
is
= f(r).
parallel to the radius,
f)
Hence
r
0.
(r
(r
j)
C,
cl t
and
r).
r.
135
Example 3
:
Integrate the equation of motion for a particle
with
an
acceleration toward the centre and equal to
moving
Given
= --c
Then
3 r.
r3
Hence
0.
= C.
x C
-^2-
Differentiate.
7F
rx ( rxr )=
Then
=rf
c2
Each
r2
is
'
{r rr
-'"}.
r2
7F
121?
Hence
1
:
r.
a perfect differential.
= + e I,
r
Integrate.
Then
where
c2
e I is
by
x C
C
C*
x C
e r
e is its
But
its direction.
I.
rxr.CCC
VECTOR ANALYSIS
136
p=
Let
and cos u
p=
Then
Or
P
6
axis.
COS
the equation of the ellipse of which e is the eccentriI is drawn in the direction of the major
is
city.
(r, I).
r cos u.
f=
This
= cos
The vector
The length
of this axis is
drr
1
e
So
the time.
far
The Operator
A function V
(a?,
y, 2)
which takes on a
#, y, z
definite scalar
in space
Such a
ample,
and obtain
is
called a
is
(a?,
y, z)
=x 2 +
zz
= r2
This, too,
If a scalar function
is
is the all-important
a scalar function of position.
be set equal to a constant, the equa-
tion
r(x,y,z)=c.
(20)
function
V has the
same value
c.
In case
F be
the tempera-
In case
isothermal surface.
137
It is called
an
the potential
and
most important of
as it is perhaps the
owing
all
such functions
V (x, y,z}=c
V equal to
obtained by setting
a constant
is
frequently spoken
an equipotential surface even in the case where V has
no connection with the potential, but is any scalar function
of as
of positions in space.
The
rate at
that
tion
constant
is,
is
LIM
(a;
+ A a,
y, g)
- T (x, y, z)
"I
J*
This
is
axes
F,
Z are
respectively
9V
9 x
9V
9V_ '
9 y
'
Q z
The sum
3V .9V
- 9V
9x
Ku
9 z
9 y
to be
shown
VECTOR ANALYSIS
138
The
63.]
F is
of
vector
denoted
V F represents
For
V; and
VF.
The terms
V F.
It is
a vector
gradient and
customary to regard
VFfrom
slope of
is
now
in
a directed
this reason
VV
F, the primitive of
also used for
F are
a scalar function
Hamilton and
rate of increase
by VF.
Fof
position in space.
universal
1
seems, however, to be no universally recognized name for it,
although owing to the frequent occurrence of the symbol
some name
is a practical necessity.
It has been found by
that
the
del
is
so short and easy to
experience
monosyllable
occurs
pronounce that even in complicated formulae in which
VF
d
V = .9
+ --h
dx
.
3y
Some
its
Qz
its
likeness to an inverted
139
it
it
of the
of V.
is
+*
< 22 >'
By making
may
= V.
V'
The
shorter
method
of demonstration
is
to be given.
64. ]
V O,
y,z)=c
V (#, y, z) = c + A
and
c,
V=
Let
c.
dius
vector
drawn
to
this
origin.
Then any
the
point near by in
neighboring surface
=c+
may
be represented
The actual
the
is
first
increase of
d r.
Ffrom
FIG. 30.
VECTOR ANALYSIS
140
Vdr
as,
y, 2 in
the direction d
r.
dr.
The quotient
yd r
will therefore
equal in
be a
dr
maximum when d r
magnitude of
d n.
is
n and
parallel to
The expression
n
^
an
(23)
therefore a vector of
the axes X, Y, Z.
is
the increment of
second.
Then
let
This vector
Fin
is
entirely independent of
Let d
V F"be
defined again as
VV
From
this definition,
is certainly the vector which
the
direction
of
most rapid increase of
and the rate
gives
in that direction.
Moreover VFis independent of the axes.
It remains to
show that
first
To do
given.
this definition is
this multiply
by
d n
d r.
.rfr.
(25)
VF.
= dV dn = dV.
dr
9V
where
(d #)
(d y)
9V
-^-dy
ay
(d z) 2
9V
-~-dz,
az
= dr
dr
VF
(25)'
dn
dx+
dV=^dx
But
dx
141
d r.
dx,
dy,
bdz the
= 9V
dx
TT
VV.)dy =
dx
9V
r dy
-
(26)
9V
W*ls.dz = ^dz.
9z
If the factors
VF
VT
VF
9V_
9 x*
VF= (VF. i)
Hence by(26)
The second
9V
9V
3y*
9z'
+ (VF- j) j + (VF.
VF=i 9 x + j+k
9
y
and consequently
is
equivalent to
k.
(21)
first
it.
*65.]
definition of
9z
k)
11
d x
dy
VECTOR ANALYSIS
142
Moreover
it is
down
possible to lay
Definition:
In a similar manner
dy / dx.
VF
The
This definition
is
certainly the
The computation
frequently
V of
of the derivative
a function
carried
is
most
partial
differentiation.
Example 1 :
Let
V (x, y,z)r = V
.
dr
3r
.dr
i^-+J^
r +k^ax
&z
dy
Vr=:i
Vx* +
Vx* +
z2
y'*
z*
Vx* +
Hence
vr =
Vr =
and
y'*
zz
The
This
is
derivative of r
is
r.
143
_i
(x
x2
-f
y
v2
22
z 2 )'
<>2
Hence
V-=
r
5
2
(a;
of
r,
The proof
Example 4
'
= -Y3
-T
(r
is
r)
that
is
1*
= 711*
to the reader.
Let
F(#,
y, 2)
= log y x 2 -f
V may be
= log Vr
ia? + jy = r
F(#,y, 2)
and
V log V # + # =
/
written as
(k r)
k kr.
r
&
2
u
2
+ j y).
(i
v3
a;
Hence
is
r.
Vr = nr*
is left
2)
Example 3 :
derivative of 1/r
2 2) 1
i x - j y + 2 2^- (-
^_
The
-=2
V -r =
and
2
2/
k kr
.
^Krj*
k kr
(r-kk.r).(r-kk.r)'
VECTOR ANALYSIS
144
There
is
which
is
based
F = Vrr = r.
Example 1 : Let
YT
Vr
= -'
^7^=-^=
V rr r
Hence
Example 2 :
F= r
Let
where a
a,
a constant vector.
is
dF=rfr-a = <2r.VF.
VF=a.
Hence
Example 3:
Let
constant vectors.
F= (rxa)
F = rr ab >ra rb.
r<<
*T
ab - dr-a r-b - drb ra = r V F.
,
Ar.rtub*
d F = 2 drr
i-.*-
'
la
<f
Hence
= bx(rxa) +
Which
of these
two methods
x (rxb).
for
computing
shall
be
may
therefore be
Fcan
be
cannot be so
expressed easily in terms of r. But when
the
to.
former
be
resorted
method
has
to
expressed
The
pose
(#, y, 2)
y, 2 of
145
heated body.
de-
creases
jP,
increase of temperature.
f
where
body.
of heat f
is
= -k Vr,
Jc
is
The
Then
mass.
As
= VF.
V referred
a mass
W denoted
If
#,
it
/,
2,
might be well
to state
would be
In case
The
force
is
in
= - VF.
attraction
is
is
in
The
this.
VECTOR ANALYSIS
146
negative sign.
It is
*67.]
quantity provided
Consider for example the partial differentiators
quantity.
JL _?__?_.
9x* 9y* 9z
As
are precisely
laws
instead of differentiators
if
were given.
&,
For instance
99
-r
ao
9y9x
9x9y
= o a,
9/99\/99\9
=
;r-
;r- ;r~
9z\9y9zJ
and the
distributive
9/9
ir~ TT~
a (6 c)
= /(a w
6)c,
law
99 99
= --5zJ 9x9y 9x9z
----
9 \
-
9
9x\dy
\9x9yj9z
Of course such
formulae as
w
where u
is
^ = ai M
>
properties of differentiators.
A scalar
function u cannot be
is
to operate.
Sf\
V
as a vector.
4-
dz
dy
It is
course an operand
operations
instance
obtained by
f\
4-
9x
may be
147
are
is
V (u 0) = (V u) + u (V 0),
c V u = V (c M),
i)
if
#, y, z
A. Vis
=^
^ii;
A = Al i +
provided
-4 2
< 2T>
^a4-'
+ A 3 k.
^r=A -
e$
applied
is
a unit vector
a.
-+ a3
C/ vC
(28)
(29)
VECTOR ANALYSIS
148
where a v
2,
to the axes
is
X, Y, Z.
well-known
This
Consequently (a V)
derivative of
directional
F appears
as the
in the direction
a.
often written
It expresses the
3x
5s
a
z
3y
F in
a.
if
vector
V F.
(a.V)F=a.(VF).
For
may
(30)
be denoted simply by
a.VF
without parentheses and no ambiguity can result from the
omission. The two different forms (a V) Fand a (V F)
a.
On
the direction
any direction
VFin that
is
(V F) is the component of V F in
The directional derivative of F in
component of the derivative
Fdenote gravitational potential the
equal to the
direction.
theorem becomes
in
Hence
a.
theorem.
direction
The
If
149
A vector
69.]
&
which
5>M J
v:
*-
* ^i^r
"*?
a function
(x
v z\'
v ' yj
associates
x, y,
space a definite
z in
vector.
is
com-
ponents
(x, y, z)
Examples
F!
(x,
y,z)i+
(as,
y, z)
VF has
F2
(x, y, z) k.
numerous in physics.
At
occurred.
+ F3
each point of
vector value.
In mechan-
electricity,
vector functions
magnetic force,
of position in space.
The
tion
Let
= V
(x, y, z), i
and
a
(a.V)V
(
may
al
V=
04
(a-V)
a.V)V
+ F2
Then
and
scalar operator a
(a,
2 j
Qx
i
(a
F3
y,z)j+
a3
-9
3y
V)
(as,
y, z)
k.
l~
5
a 3T
o
F2 j +( a .V)F3
9V
(31)
VECTOR ANALYSIS
150
This
may be
Hence (a V)
function
is
in the direction
without parentheses.
when
appliod to
= a VV
ft-
dctiiu'd.
V) V
(a
It is possible to write
a.
VV can
(a.V)
70.]
V.
V V has
and
VxV =
differentiators
+j
and
+
x
500
-
=lx
That
< 32 >
xV
(33 )
V, del cross V.
cross.
is
+J x
+k
x.
definition of
AV
will
be given
in
Chapter
VTL
(33)'
Vv Vv Vz
PV_3F
= ^^
9x 9x
3V
_
3F,i
3F2
1i
3F3v
.
,
9x
9x
i
3F9
i
3F-2 V
9y
3y
3V
151
i
J -
(34)
9z
K*j-
3V_3Fj
Then
c) ZC
Q) tC
3V
Hence
v.v =
^ ^
+
+ ^^
Moreover
3V = i 3F23 k
-r.
3V = 3FJ _.
3s
3s
3s
Hence
\
This
may
3a;
3y J
Vx V =
9 y
3s
999
i
(33)'"
C*K
VECTOR ANALYSIS
152
be applied to
the
determinant.
expanding
to
It is to be understood that the operators are
Vv Vv Vz when
the functions
forward
standpoints objections may be brought
V
as a symbolic vector and introducing
against treating
and
scalar
vector
the
as
x V respectively
and
symbolic
These objections may be avoided by
into V.
of
products
and
definition that the symbols
simply laying down the
new
as
looked
be
operators
entirely
upon
x, which may
From some
shall be
quite distinct from V,
= ix
But
seems by
all
+k
+ jx
and
means advisable
9x
for
^
71.]
(33)'
remembering formulae
it
to regard
"
9z
Qy
x.
V V
and
x V have very
V is
it
immediate that
intrinsic properties of
From
this
V V and V x V represent
In order
to perceive these
properties it is convenient to attribute to the
function
some
definite physical
153
at each point of space the direction
This
may
v.V =
Then
is
dx
dz
9y
and
is
often written
VV=div V.
The reason
VV gives at each
term is that
volume per unit time
for this
at
which
point the
fluid is leaving
V O,
y, z)
=V
(x, y, z) i
V^
(x, y, z)
+ Vz (x, y
z) k.
perpendicular to the
axis.
The normal to the
face
whose x coordinate
mal
is,
is
the nor-
of the cube
is
i.
The
-i
d.y
flux
face
is
i
(x, y, z)
face,
31
x coordinate
through
dz.
to the oppo- z
The normal
site
dy
greater by the
therefore
is
it is
amount dx,
is
+ i and
the flux
VECTOR ANALYSIS
154
[3V
V(x,y,z)
= i V (x, y, z)
dy dz
#V dx
<y
The
faces
is
total
is
dy
"I
dx\ dydz
dz.
<X/
flux
simply
i
dx dy dz
dx
-^
ox
dx dy
dz.
The
total flux
3V
/.
i
Tdx
This
is
3V
o~
9y
is
3V
unit time.
The quotient
therefore
of this
dx d
dz
V.V=i.
3V
c/a;
3Vdy
3V =
dz
3F,
-i
ax
This
is
3F3
3F
+ __2^ + az-*.
ay
Because
V thus represents the diminution of density
or the rate at which matter is leaving a point per unit volume
per unit time, it is called the divergence. Maxwell employed
the term convergence to denote the rate at which fluid approaches a point per unit volume per unit time. This is the
negative of the divergence. In case the fluid is incompressible,
as much matter must leave the cube as enters it. The total
zero.
For
this reason
must
satisfy is
known
is
This equation
is
is
It is satisfied
155
often
by any
The
practically incompressible.
If
= V D = 0.
To
the operator
x Maxwell gave the
This nomenclature has become widely accepted.
72.]
fluid.
name
curl.
V x V = curl V.
The
As
of position in space.
the
is itself
name
a vector function
indicates, it is closely
Take
at a definite instant
At
Finally
it
may
axis through
it
becomes slightly
an angle dw.
That
jis_
is
in shape.
a whole about some
ellipsoidal
to say, it
may have an
An
angular velocity the magnitude of which is dw/dt.
infinitesimal sphere therefore may have any one of three
distinct types of
motion or
all of
them combined.
Firsjb,
ellipsoid.
VECTOR ANALYSIS
156
The
more
difficulties
=v +a x
curl v = Vxv = Vxv + Vx
a = a i + a2 j + 3 k
v
Let
product of
x (a x r) formally
V, a, and r. Then
V
is
x v
=V
x v
is
as if it
(axr).
+ (V
r) a
- (V
a constant vector.
v
As a
r.
expand
It
=_dx
^
a constant vector
dx
it
1-
9y
dy
\-
may be
a)
x v
triple
r.
vanishes.
dz_
= 6.
dz
=a
V.
f\
l^+ 2^+"3^
(r\
Hence
Vxv = 3a
= 2a.
157
V x v = curl v = 2
a =
gVxv = 2 curl v.
a,
=v +
(V x
v) x r
= Vo +
\ (curl
v)
r.
(34)
tion
V>V*>
V x,
have to be
Then
+ v) = Vu + Vv
(35)
=
V.u
V.v
+
V.(u + v)
(36)
=
Vxu
Vxv
+
Vx(u + v)
(37)
=
v
V
u
u
V
v
V (u v)
+
(38)
=
V.(wv) Vwv + wVv
(39)
B
Vx ( v) V * x .?'+ V X ?
(40)
=
v.
Vn + u Vv
V(uv)
(41)
+ v x (V x u) + n x (V x v) 1
(u
'
V(uxv)=v.Vxu u.Vxv
V
X (u x v)
A word
is
= v. Vu
vV-u
n.
Vv +
(42)
uV.v. 1
(43)
of such expressions as
Vwv,
The
By
book
That
V) v
'Vu X
Vw.v,
is
v.
V applies
is,
an(i
V v are
be interpreted as
VECTOR ANALYSIS
158
V u v (V u~) v
V u v = (V u) v
V u x v = ( V u) x v.
If
it,
to be applied to
is
thesis as
The
vectors
venient.
By means
of it the operators
V*
Ax
take the
form
To demonstrate
Vx
#, y, z.
wv
2.
Hence
Vx(wv
To demonstrate
(u
v)
=v Vu +
.
u.
Vv + v
x (V x u)
u x
(V x
v).
159
'
Pa
9 x)
Now
5u
v*
2v.^
2v ^
-*
or
Pu
v
= vx(Vxu) + 2v..-
In like manner
^n
^
Bx
x (V x u)
v Vu.
= ux (V xv) + uVv.
V(nv) =
Hence
+
The
=v
->
v x
(V x
+ u x (V x v).
u)
71]
The notation 1
V(n.v) u
(44)
product (u
That
is,
v),
is
to be regarded as constant.
the operation
the product (u
partially
the quantity
V to the
is
v).
of functions
which occur
after
it in
Let
= MJ +
i
w2j
+ w 3 k,
X (V X
u).
VECTOR ANALYSIS
160
=U
M.V
then
VI
+ u 2 v% + u s v 3
f\
and
(u
v)
0*i v i
+ u* v* +
But
and
<:t
Hence
V(u
= v Vw +
v)
and
Vw +
2
(44)'
-y
Hence
v2
Vv 1 + w a Vi? a + M 8 V l
V(u.v) v = Vw + v 2 Vw 2 + v 3 V^ 3
V (u v) = V (u v) n + V (u v) v
V(tt.) m =
But
(45)
d (u v)
d (u
or
= d (u
v) = u
v) n
dv
+ d (u v) T
+ d u v.
V (M +
V-
Vx
(u
(n
v)
v)
= V (u + v~) u + V (u +
= V. (u + v) u + V. (u +
+ v) = V
x (u + v) u
+Vx
(u
).
( 35 )'
v) y
(36)'
v) v
(37)'
161
V O v) = V (u v\ + V (u v).
(38)'
(39)'
V x (u v) = V x (u v) + V x (w v) v
V (u. v) = V (u. v) u + V (u. v) y
V (u x v) = V (u x v) + V (n x v) v
V x (u x v) = V x (u x v) u + V x (u x v) v
(40)'
tt
(41)'
'
(42)'
(43)'
This notation
scalar product
In almost
formally.
where
it
Take
Vx
(u
it
v) u
= (V
which occur in V.
may
v) u
is
Then
Expand V
(V
(u
v) u
term the
Hence
n.
Vv + uV
v.
V (u
v) u figures.
or
loss of
v,
in the last
or
u)
V x (u x v) u =
In like manner V x (n x v) v = v V u
Hence
Vx(uxv)=vVu v V u
75.]
was introduced.
entiations
factor u
and
other cases
all
simplicity.
is
uv
(46)
(46)'
(46)"
is
as follows.
Expand
the product
u x
(V x
11
v)
VECTOR ANALYSIS
162
formally as
if
V,
u,
v were
ux(Vxv) = uvV
Then
V v.
V = V (n v) n
- u V v.
v) = V (u v) u
u.v
u x
and
If
(V x
a,
V v = V (a
(46)
the formula
v) a
+ (V x
v) x a
(47)
v of a
expresses the fact that the directional derivative a
vector function v in the direction a is equal to the derivative
of the projection of the vector v in that direction plus the
and
v (x
dv
= v (x +
Let
But by
=v
= dv
dy,
d y,
z
v (,
+ d v z j + d V B k.
v2
dv
= V (d r
=dr Vv
.
y, z).
v3 k
dv = dr. (V v t i + Vt> 2 j +
dv
d z)
dz)
= drVv
dv z = dr Vfl 2
dv 3 = dr Vv 8
Hence
(46)"
dv 1
(25)'
Hence
d #, y
dx, y
dv
By
(a, y, z)
v) dr
Vv
k).
+ (V x
v) x d r.
(48)
if
y, z)
163
and v the
= v + V (d r
v) at
+ (V x
its
r is
the
dels,
v)
dr.
(49)
derivative of (r
is
V (r
For
v) v
VV
v
v)
when
if
9x
Vr = v
V 2*
v2 j
T~+
9
y
+
is
r)
equal to v.
v,
V dB 0~
^3 k
9z
= v,
= 0.
v) v = v.
V (d r
By
constant
999
V 1l TT-
V (r
In like manner
is
V (r v) v = v.
= v V r - (V
V
Hence
v) v
r,
an infinitesimal
still is
= v.
= v + V(dr.v) dr + (V x v) x rfr
V(dr-v) = V(rfr.v) d + V^r-vV
V (d r v) dr = V (d r v) v.
(47)
>
Hence
Substituting
(50)
VECTOR ANALYSIS
164
*
Consider a moving
76.]
Let v
fluid.
(#,
yt
z,
f)
time
t.
be the
Sur-
point
dr d
At each
=v +
V v.
dr
V v) 8
The
the distance
8t.
interval 8
1.
moved
To
is
the distance
(v
The
moved
= c2
commencement
d r'
it is
of the
necessary to
dr'
The
first
equation
= dr + dr Vv
c 2 = d i d r.
may
St,
Art. 47, page 90, and the solution substituted into the second.
The
result will
infinitesimal sphere
A
may
more
165
v
v
dr,
=v +
[V(dr.v) dr +|(Vxv)x dr]+|(Vx v)xdr.
The
first
is
|(Vxv)xdr = ^ curl v x
shows that the sphere
dr
is
instantaneous axis in the direction of curl v and with an angular velocity equal in magnitude to one half the magnitude of
curl
v.
or
V(dr.v)
rfr
-(Vx v) x dr
expresses the fact that the sphere is undergoing a deformation known as homogeneous strain by virtue of which it
becomes
ellipsoidal.
dx
For
this
term
V v + dy Vv
1
is
2 -f
equal to
dz
3,
if
may
Vv2 Vv3
,
are re-
VECTOR ANALYSIS
166
Then
to them.
spectively parallel
the
expression above
becomes simply
d x,
dy,
dz
will
The
is
therefore
In the time 8
it
the ellipsoid of
goes over into the totality of points upon
is
which the equation
~2
/2
now been
demonstrated.
V may be
in
Let
The
(x, y, z)
derivative
VV
and a divergence.
Therefore
V.VF,
VxVF
two derivatives
167
which may be
obtained from V.
V.VF=divVF
VxVF=curlVF.
The second expression V x V V vanishes identically.
the derivative of
any
V possesses no
V V in terms of
scalar function
be seen by expanding
x
the terms cancel out. Later (Art. 83)
may
it
will be
if
a vector function
(52)
That
curl.
i, j,
k.
is,
This
All
shown con-
W possesses ho curl,
V x W= curl W = then W = VF,
versely that
(51)
i. e. if
0,
is
The
i, j,
first
Symbolically,
The
V VF
expression
when expanded
in terms of
k becomes
operator
Laplace.
V V=
V V is
C/
C/
Cf
Laplace's Equation
=
c/
ic~
ci
y~
& z-
(53)
V.VF=0.
(53)'
V V
Let
flow f
is
VECTOR ANALYSIS
168
The
rate at
unit time
is
which heat
f.
is
The increment
of temperature is
=-.
p K
=-,v-vr.
pk
dt
This
is
ture.
Let
ponents.
The
(54)
a vector function
V V has a derivative
VV.V = VdivV.
The divergence
of V.
The
curl
(55)
V-VxV, VxVxV.
V V x V = div curl V
V x V x V = curl curl V.
and
and
Of
satisfies
these expressions
V VxV
vanishes identically.
(56)
(57)
That
is,
V V
it
will be
83)
vector function
if
the divergence of a
W vanishes identically,
V W = div W = then .W = V x V = curl V,
i. e. if
0,
is
the curl of
If the expression
169
Vx(VxV)=VVV-V.VV.
The terms
V VV
is
V be
meaningless until
it
transposed to
operates upon V.
VxVxV = VV.V-VVV,
curl curl V = VdivV
or
(58)
V V V.
(58)'
VVV = Oand
V=V
curl curl
curl curl
div V.
be zero,
V=
V VV.
vanish,
V div V = V V V.
To sum
up.
dels of the
V-VF, VxVF,
V-VV, VV-V, V-VxV,
Of
these,
two vanish
second order.
VxVxV.
identically.
VV=
0,
V V
x V
0.
operator
V V is equivalent to the
(58)
operator of Laplace.
VECTOR ANALYSIS
170
*
The geometric
78.]
interpretation of
V Vw is interesting.
That
is,
let
=x
= a.
Then
dja u
LiM
a==0
That
a*
expressions
Let
x
a;
Lai
_ LlM
a=0
_J
'-,
171
Add:
2
LDI r
a=OL
As V and V
this expression
then for
still
may
a different one,
these results
ii>\
-w= a =
Let n become
infinite
and
etc.
By
+ w2 +
at the
adding together
all
n terms
same time
from x
The
fraction
u 1 + u2 +
'
Qn
terms
6n
then approaches the average value of u upon the surface of a
Denote this
sphere of radius a surrounding the point x
.
by
u on the
limit approached
by the
ratio
The
VVw
VECTOR ANALYSIS
172
body)
is
77).
If
VVwis
constant.
flow
must remain
the
Evidently therefore
is
V V u = 0.
That
u be a
V V
Consequently V V u may
In case u
The
SUMMARY OF CHAPTER
If a vector r is a function of a scalar
r with respect to
is
a vector function
additions in
it
are
III
t
the derivative of
of r
is
is
d r2
d^r_d r
TT~~dl** ~Tr J +
l
d n rz
Tr
f
*
may
be
differentiated just as in
ordinary scalar analysis except that
the differentiations must be
performed in situ.
db
+ .._,
_(..),_.
d
da
d (a
or
b)
=da
(S)
db
b,
(3)'
forth.
The
173
(4)'
The
is
the unit tangent to the curves directed toward that part of the
s is
supposed to increase.
-*
<>
The
whose magnitude
is
dt
C
d*r
-d~s~d^'
The
arc
s.
-^
= ^r =
x
as
d s* v
ds\ds ^_i.
The magnitude
).
C/
(ii)
of the tortuosity is
,
cL
j-4
341
cL s
d s
70
/T
ff
(.to
7
/"/
(*
oC
(13)
VECTOR ANALYSIS
174
If r
v the velocity,
the time,
the acceleration,
'--*
< 15>
==*
< 16>
dv
d2
The
acceleration
path,
and
of
may
is
and depends upon the velocity of the particle and the curvature of the path.
A s t + v z C.
(19)
is
given accelerations.
The operator
applied to a scalar function of position in
space gives a vector whose direction is that of most rapid
increase of that function and whose
magnitude is equal to
the rate of that increase per unit
change of position in that
direction
< 22 >
i,
j,
k.
may be
(24)
VV.dr = dV.
or
It
175
(25)'
Computation of the derivative V V by two methods depending upon equations (21) and (25)'. Illustration of the occurrence of
may
V in mathematical physics.
differentiator.
9 / 5 y, 9[ dz obey
#,
If a
be a unit vector a
VV
is
in the direction a.
If
a.VF=(aV) F= a (VF).
V a vector function a V V is the directional
is
(30)
derivative
d x
=ix
+ J.
d X
+ *.
9 y
+ jx
(32)'
9 z
kx,
d
Z
(33)'
VECTOR ANALYSIS
176
Proof that
V V is
of V.
the divergence of
V x V, the curl
and
V V = div V,
V x V = curl V.
V (w 4- v) = V u + V0,
(35)
V (u + v) = V. u + V- v,
V x (u + v) = V x u + V x v,
v V u + w V v,
V (u
V (w v) = V w v + u V v,
Vx(wv) = Vwxv + wVxv,
(36)
(37)
(38)
v~)
(39)
(40)
- u.Vxv,
V- u-n -Vv + uV
V(uxv)=vVxn
Vx (u x v)=vVu
del,
V (u
v) n
in
(41)
(42)
v.
(43)
which the
dif-
is
constant.
nx (Vxv)=V(u
If a
-nVv.
(46)
The expansion
of a point
or
v) u
(a;,,,
Vv=V
(a
v) a
+ (V x
v)
a.
(47)
=v +V
v)
= |v + V(^r.v)+^(Vxv)
(d r
v) dr
+ (V x
rfr,
(49)
dt.
(50)
Application to hydrodynamics.
The dels of the second order are six in number.
VxVF=curlVF=0,
T 2 F"
V V
is
The
place's Equation.
operator
VV
V=
3 2 F"
l^
(51)
V^VF=0, V satisfies
If
Laplace's operator.
(52)
)2V
V.vrdivVF-f^+f^
may be
V div V,
(55)
(7,
interpretation of
La-
applied to a vector.
V V x V = div curl V =
V x V x V = curl curl V = VV.V-V.VV.
The geometric
177
V V as giving
(56)
(58)
the disper-
sion of a function.
Given a
particle
moving
in a plane curve.
Let the
plane be the ij-plane. Obtain the formulae for the components of the velocity parallel and perpendicular to the radius
vector r. These are
r-,
6 k
r,
makes with
i,
and k
(r_r0 2)-,
r
(r
0+
2r 0) k X-r
and
y.
12
VECTOR ANALYSIS
178
4.
where r
is
Show
By
is
V of a triple product
a function of
a =
where
7.
8.
d,
*e,
a;,
(r
f are
#, z in
case
r) r,
(r
for
computing
find
a)
e,
=r
t,
constant vectors.
Compute
V V Fwhen
Compute
equal to r and
z.
axes.
method given
the second
the derivative
in terms of #, y,
method suggested
the direct
form
VV
VV,
when
V is
Fis r 2
.
V,
and
r,
-,
or
r2
V x V x V when V
is
VF
and V V x
Expand V x
show that they vanish (Art. 77).
9.
10.
Show by expanding
in terms of
in terms of
i, j,
i, j,
k that
Vx VxV=VV.V-V. VV.
11.
Prove
and
(VxV)
W = Vx
(Vx W) w
k and
CHAPTER IV
THE INTEGRAL CALCULUS OF VECTORS
79.]
Let
space.
Let
C be any
(z, y, z)
sum
of the function
at
thus
The
in
limit of this
sum when
d r.
line integral of
dr.
If
and
dr=
fw
c
J
The
C
Jo
(1)
with
is
VECTOR ANALYSIS
180
C and
If
site directions.
the other by
(7,
/W 'dr =
JI o
-o
W*
dr.
If f
may
when
r
its
point of application
of the curve
C to
(7,
is
the
point r
its final
is
Cf.dr = Ff.
Jr
JO
Theorem
The
scalar function
line integral of
F(z,
y,
dr.
the derivative
z)
r to the point r is
equal to the difference
of the function
That
V"(#,
y, z) at
F(r)
r*
dV= F(r) -
F(r.)
y,
-V
yw
O-
V F= d V
F(a,y,)
The
of the
line integral
F(* ,y
,<).
derivative
(2)
V F of
taken around a
The
is
r
o
Theorem,
ifi^
- F(r ) = F(*
dr.
definition
is,
=
By
V V of
To show
r
= 0.
(3)
initial
F(r)
= F(r ).
Jo
if
Conversely
function
Hence
Hence by (2)
Theorem :
181
F (x, y, z)
of position in space.
Given
*/
= 0.
dr
W = V F.
To show
Let
The
line integral
f W-rfr
o
G from
to r is a closed curve.
to r
For
G.
r.
let
any two
G' from r
Hence by hypothesis
/F
v
G'
*J c'
-G'
Hence
iw*dr = fwdr.
c'
VECTOR ANALYSIS
182
is
dr
f.
a:,
y,
z.
= V O, y, 2).
But by
V V* d r = d V.
definition
Hence
The theorem
80.]
Let
is
therefore demonstrated.
a system of axes
k be chosen so that k
i, j,
the force
fdr =
its
Let
Then
point of application
r to the position r is
Jf r
w = - g (z
Hence
when
vertical.
is
gkdr =
z )
= g (ZQ
f g dz.
/ r
z).
Evidently
is
equal at each
F is one
to V any
if
force-function, another
by adding
arbitrary constant.
the
force-function
is
ample
V=w=g(z
Or more simply
The force is
V
f
-e).
z.
= VF= -
k.
V (x, y, z) exist, is
point of application
the force
w=
If this
f'di.
if
V= w +
In case there
is
work done by
closed circuit
friction
friction
is
closed
= VF==VM;
f = VV
conversely
its
is
integral vanishes
contour
And
183
const.
no force-function can
when a
work done
particle is
exist.
For the
moved around
in a
never zero.
upon
by a fixed mass
a unit mass is directed toward the fixed mass and is proportional to the inverse square of the distance between the
The
masses.
f
= - c Ms
r.
This
is
function V.
from a force-
of the attracting
w=
Jro
But
cM C
Jr
dr
M Tdr.
c -r-
rs
=r
r,
-cM
VECTOR ANALYSIS
184
By
chosen as
M v Mv
y __
are the distances of the attracted unit
where r v r 2 r 3
mass from the attracting masses
s
v z
,
M M M
that the
tion that
no loss of energy.
mechanical system for which a forcefunction exists is called a conservative system.
From the
is
Let
space.
Let
finitesimal
do not
collide.
W (x,
S
point
normal
tude
equal to the
is
magnitude
element.
185
d a.
Form
which
is
sum
the
the
sum
at
surface.
The
sum when
limit of this
""
of the integral
W= W
or
(d a
da,
i) i
scalar.
is
da
W over
written
is
//
The value
(vector) element of
the elements of sur-
is
z j
(d a
j)
z k,
(d a
k)
k,
= dy dz i + dzdx + dxdy k,
j
(5)
The
is
cus-
is.
integral
That
is
is,
which
taken over.
speak) the
Hence the
surface integrals
taken over the two sides will differ in sign. In case the
surface be looked
is
f-i
8
VECTOR ANALYSIS
186
volume per unit time was V f. The total amount of matwhich leaves a closed space bounded by a surface
per
ter
unit time
is
V*tdv.
Hence the very important
(6)
= fff
(7)
components
is
treated separately.
ff X dx d y =
This
is
known
as Gauss's Theorem.
(8)'
volume integral
is
equal to
187
If the surface
sphere or cube
CC f.d& = V.f dv
where d v
is
dv J J
This equation
may be taken
The divergence
f.
(9)
of a vector function f
equal to the
taken over a suris
limit approached
face
Hence
when
From
this definition
which
its limit.
That
is
axes
is
all
is
consequently
than from a practical standpoint.
Theorem
82.]
function
is
The
This definition
theoretical
W-rfa=
f/Vx
g
/ /
This
is
Cw-dr.
*J
(11)
On
account of
its
VECTOR ANALYSIS
188
First Proof
(Fig. 32).
Then by
at
(50), Chap. III., the value
W = \\ W
+ V (W
B r)
+ (V x W) x
8 r
is
where the symbol S r has been introduced for the sake of distinguishing it from d r which is to be used as the element of
integration.
The
integral of
W taken
FIG. 32.
Cw-di=l
t/A
fw
A
f (V x W) x Sr-dr.
A
*J
Thefirstterm
Cw
\ /
A
.dr
f dr
t/
vanishes by virtue of
(3) page 180.
Hence
l-
189
f
JA
Jfwdr=4
A
When d r
is
/VxW'Srxdr.
/ A
is
also
BT x di
vanishes because 8 r and d r are collinear.
when di
is
In like manner
When d r
is
1 at which
W= W
the
2$r x di
is
the
= d a,
/
I
W*dr = V
JA
d*
holds.
For convenience
S be
let
divided into
elementary triangles.
Perform the
integration
VECTOR ANALYSIS
190
2^x^
da
-8
is
W.
first
necessary to notice that all the sides of the elementary triangles except those which lie along the bounding
curve of the surface are traced twice in opposite directions.
member
Hence
it is
all
sum
arise
surface
Hence
in-
= 1 W.dT.
=/w
t/o
Second Proof
Let
C be any closed
S
C
itself.
FIG. 33.
contour
C".
c
J C'
/r
W
dr
Hence
dr=
The expression d
The value of the
c
Jc
(W cr)= J
and
dr
c
I oW
J
S r) is
dr.
= d S r.
/WdSr=/d(W8r)
(W
191
by
form a perfect
its
dW *ST.
differential.
//
Jc
and
But
dr
r
I
W*di= r SW dr
I
iw di=
d
C\
SWdr
I^W8r,
dW*Sil.
9W d
9W d
dx+
W = 9W
y +
dx
-=
-z
-=
ay
or
r,
W = 9W
dx
-=
dr
9W
-^
dy
dr
-^
<y
^
k d r,
z
^
9 W^
and
9 W^
2,
<y
VECTOR ANALYSIS
192
/r
i-Sr-W-dr=t \-^--dr
ax
J 3x
+
similar terms in y
and
z.
(3
i
W\
x d
dxJ
r)
= 3-= W
/C
or
In Fig. 33
3r
3x
and
similar terms in y
it
5r
-^
r.
Srxdr
W'di=J jix-^
+
dr
3x
is
C and
surface S.
Br X di
S
= d&,
Cw*dr= TV
Wda.
fW'di
will vary
at the point
IW-dr
Jo
to the value
it
193
This
sum
of the
be equal to the
variations 8
Or
Stokes's theorem that the surface integral of the curl
of a vector function is equal to the line integral of the func83.]
The converse
U is
is also true.
equal
If
to the line
integral
the curl
(12)
for
Form
x W.
W)da = f Wdr -
ff
or
of
The
f Wrfr = 0,
the integration
is
performed be
-V
W)
da
= 0.
factor vanishes.
Hence
U-Vx
The converse
W=
0.
U = V x W.
Hence
is
and
(U
this
TT
(U-Vx W)-da = 0.
S over which
first
in space, then
f C (TJ-Vx
As
all surfaces
That is
if
of the
surface and if
U is
W.
the surface
therefore demonstrated.
13
a,
the
VECTOR ANALYSIS
194
VxW
which
through
area d
P and
draw
in
it,
is
a.
Vx W-da =Jo
f Wdr.
When d a
between
maximum,
(13)
W the
value of the
to unity.
For
this
value of da,
r
Jo
Hence the
curl
VxW
of a vector function
W has
at each
is
may
be used to de-
the circuit.
change of
The
total
around the
circuit.
That
is
195
magnetic induction through the circuit is the surB taken over a surface
total
bounded by the
That
circuit.
is
/d
E.rfr
or
E*dr=
Jo
Hence by the converse
x E
C C
J J a B.rfa,
I
at
B d a.
JJ a
of Stokes's theorem
curl
B,
B.
The
electricity
total
flux
of
around the
around a circuit
circuit.
through the
That
That
circuit
= 4?r
IJ
is
the
bounded by the
is
rH.rfr
is
is
(NcZa.
VECTOR ANALYSIS
196
By
V
With a proper
H = 4 TT C.
The theorems
of Stokes
to
demon-
V V
.
W=
div curl
0,
VxVF=0,
W=
0.
curlVF=0.
JJJ
CCC V
Hence
Apply
this to
the sphere
point
is
Wtd * = f W-dr.
V x W d? = Cw*dr.
an infinitesimal sphere.
closed.
Hence
its
V.VxWdv=
The
surface bounding
it,
to zero.
fw.<fr = 0,
Jo
VV x W =
0.
theorem
to Stokes's
ffvxVF.
da=
3
JJ
to
Apply this
bounding
Hence the
The curve
line integral of
VF" vanishes.
V
As
fvF-dr.
J
the derivative
197
any d a,
it
follows that
Vx VF=0.
In
similar
demonstrated.
is
If the
everywhere
If the curl
is
84.]
U=
V x U of
By making
x W.
a vector function
the derivative of
between the
dels, viz.
U of a vector function
divergence
then U is the curl of some vector
zero,
W.
function
then
some
is
everywhere zero,
scalar function
F",
line, surface,
and volume
integrals,
and the
f VF.rfr = F(r)-F(r ),
(2)
''o
ffvxWrfa =
it is
transformation of integrals.
fw.rfr,
number
(11)
VECTOR ANALYSIS
198
"
"
in ordinary
those connected with
integration by parts
both
sides of the
are
obtained
calculus.
by integrating
They
formulse, page 161, for differentiating.
First
Jc
i?)
= u V v + v V u.
I
wVvdr= J c vVu'dr.
V(uv)'di = Jo
I
Hence
The
(u
J/ uVvdr=[uv'] r
[u
expression
v~\
lvVudi.
"
(14)
ro
f wV vdi =
J
Second
ff V
Vx
(wv)
C vV udr.
Jo
(14)'
= %Vxv + Vwxv.
(uv)d*= C C
wVxvcU+
C C Vwxvrfa.
Hence
f uvdr
rfvwxv^a=
a
JQ
J J
JfJ
uV xvda,
(15)
or
rfwVxvda=
Third
But
Hence
fwvc?r
fTVwxv.^a,
Vx(>Vfl)^ttVxVv + VwxVtf.
VxVv =
v x (u V v) = V u x V
v,
(15)'
199
(wvv)^a= cr^ux^v'dB..
Hence
V M x Vv
JI J s
da.= i
Jo
Fourth
liiv
(u v)
(uv)dv
uV v
=uV
dr =
v
+V
C vV u* dr,
Jo
u
rrruvvdv +
(16)
v.
r r
v^
<z
v.
Hence
u
III
V*vdv=[
uv da,
C i i ^U'vdv,
(17)
or
v^v dv=
In
f f \?
all
surface
u x v
wv^a
vVwxv
Fifth
Hence
rrTwVv^v,
= VXV^*v
da,
(17)'
Vwvxv.
C i C ^ u*\7 x
v dv.
(18)
like those
above can be
functions of position,
limit.
VECTOR ANALYSIS
200
= /J
IV(V*)rf
/V^*V^i?=/
(v
V w) ^ v
u^'Vvdv,
TV
V V w,
V V w d 0.
Hence
/V^Vv^v =
w V?> d a
= r A>vwda
By
I
V Vvd
r f fvv-vwdv.
(i9>
(wVVv v^7^u)dv=
P,
(20)
(u^7 v
V w)
cZ
a.
following
/
lV*V*<fr=i
=
where
The
vwVU'd*
uw^7V'da>
[w
u^7[w^7v\dv,
V w]
c?
v,
(21)
t0 is
any misunderstanding.
*
In the preceding articles the scalar and vector funcwhich have been subject to treatment have been sup-
85.]
tions
201
VK =
The
ar
x*
line integral
***
xdy
*
Form
(1,
circle lying
path
axis.
and the
The value
other, a semicircle
is
From
i r~"
I
d6
fj
ir.
'
VECTOR ANALYSIS
2Q2
It might
which
and that consequently the entire bottom of the work
This however is not so. The difficulty is
follows fell out.
F=tan
-i y
-
is
F= tan
f r instance,
the
=^
4
where k
is
If the
(4- 1, 0)
to
differed.
which
Inasmuch
as
the
origin
by an impassable
barrier.
Any
closed curve
C which
does
203
the origin.
It cannot be
It
must
C vanishes
tinuous
first
V is
V fails
barriers.
be marked as impassable
which contains within it no
partial derivatives
such point
C may be
irreducible
W
It
of any function
not
may or may
circuit
of
singular points
the two circuits are said to be reconcilable and the values of
VV
shrunk up
point of
it
may
be
to nothing
dered acyclic.
Such a region
is
realized in a
room
VECTOR ANALYSIS
204
in
is
A circuit which
irreducible.
It
passes
cannot be contracted to
It
-v
is
is cyclic.
"^^
FIG. 84.
is
to
draw a
circuit
which
shall
Owing
acyclic.
to the inser-
no longer possible
pass completely around the cyl-
it is
region
is acyclic.
may be
rendered acyclic by
The bounding
inserting a sufficient number of diaphragms.
surfaces of the new region consist of the bounding surfaces of
the given cyclic region and the two faces of each diaphragm.
In acyclic regions or regions rendered acyclic by the foregoing device all the results contained in Arts. 79 et seq.
hold true.
true.
To
unnecessary.
Indeed, even as
much
given them already may be superfluous. For they are questions which do not concern vector methods any more than the
corresponding Cartesian ones.
to the
205
The Potential
owing
operators V,
V,
occurrence and
consideration.
is
and owing
Suppose that
may
body
V is
constant.
V is
matter exists
tributions of matter
each point
The
be regarded as the
In a homogeneous
varies
it
vector
origin,
may
be used to designate
On Vi> *i)
be any other fixed point of space, represented by the vector
T1
Vv
origin.
y1
z1
Then
the vector
0&2>
=x
i?
a)
<
As
it
will be denoted
by
VECTOR ANALYSIS
206
The length
of r 12 is then r 12
and
will
be assumed to be
positive.
12
=Vr
r 12
ia
= V
O 2
The
xv
integration
y?fl
zi
tt*3
mains
,
j,^
FIG. 35.
fixed.
The
integral
/ has
a definite
is easy, if
the function
The element
of
3 19 ^1 J *
r dm
m
J r*
This
what
The
in
is
I may be looked
at
either
On
the other
hand the
integral
/ may
be
207
the function
vanishes identically at every point (# 2 , yv z 2 )
situated outside of the body and hence does not augment
the value of the integral at all.
It is found most convenient
to consider the limits as infinite
all space.
The
Pot
V= ill
JJJ
d&z
f la
^y*i
d%y
(22)
The potential,
is read "the potential of V"
a function not of the variables x v yv z 2 with
The symbol
Pot V,
is
y\) 2 i)
is
The function
enter in the expression for r 12
therefore have different sets of variables.
variables
and Pot
which
is
interpretation for
Whenever
of
it
V is
becomes
integral
is
V represents,
that
is
that
it
is
formed
and
VECTOR ANALYSIS
208
of opera-
Pursuant to
a,
\
Wfrf.
\*"S> yy *27
*,
may
be written down.
/W (Xn,
2/o,
Za)
dx% dyz dz v
(23)
tion in space.
If
W (z
2,
yv
is
2,
Pot
W=
PotX + j
Pot
The
sum
The
taken
over
for instance,
all
z 2)
Y+ k Pot Z.
is
(24)
7
components X, I Z.
",
k Z <> 2 yv
exists
a point
at
the integral
If,
space converges to a definite value.
were everywhere constant in space the in-
tegral
Evidently therefore
if
the potential
is
to exist
= r sin 6
r sin
z
dv
cos <,
sin
= r cos
= r 2 sin
rf
<f>,
0,
is
T*
aw0
209
d <.
=r
dV * =
fff
the
remains
d0
dfr (22)
d<j>.
function
verges as
For
dr
PotF= CCfVrsmO dr dO
or simply
If
fff
far as
the
let
= GO
= 00
me
8m0 dr d0
dr d0
r-R
=R
r
Hence the
triple integral
sphere of radius
tity) is less
= oo
than 4
as regions distant
(where
TT
taken over
is
all
space outside of a
VECTOR ANALYSIS
210
remain
If the function
weakly that the product
Vr
remains finite when r approaches zero, then the integral converges
as far as regions near to the origin are concerned. For let
Vr<K
r=R
r=R
III ^ r s n & dr
d<f>
<
=Q
Kd r
dd
d<j>.
r=0
r
=R
C C C Kdr dO
Hence the
triple integral
dd>
taken over
all
of radius
is less
If at any point (x 2 , y2 ,
i.
e.
the point
is
z 2 ) not coincident
z x ), the
becomes infinite so
(x v y x ,
function
weakly that the product of the value 0/V at a point near
(x 2 , y2
(x 2 , y2
z2)
z 2)
by the square
remains
of
the distance
are concerned.
The
near
of that point
approaches
to the
to
from
zero, then
point (x 2 , y 2 , z 2 )
before.
It is
They belong
211
functions and
88.]
The
may
be treated as above.
potential
is
The
is
first partial
therefore
The value
of this limit
may be determined by
a simple
Consider
device
(Fig. 36).
the potential at the point
T and the
point
P are
immaterial.
It is
which determines the value of the potenboth body and point be translated by the same
If
amount
changed from
to
where
A xz = A x r
VECTOR ANALYSIS
212
Hence
[Pot
Hence
[Pot
FO
H****.*.*-
[Pot
It will be
integration.
body
body
be denoted by
the distance
x l be denoted by M'.
The
regions
//*/* V
Av
* fr
_ err
wtffj
-4-
r
.
through
M and M'
and
let the
Then
LlM
<
(*(*(*( VT
l^
f*
f* T^V/n
y^v y
_ rrr
A f2 ,y2 ,z92 \;
+Ag
JJJfi
f*
II
-I-
Tja
Az =
Aa;2 =o(
213
ni
JJJ M
ru
a
la
or,
12
A
A
a;
CCC
LIM
A*=0t/
+Ag
rrr
LIM
XQjJJx
*> - ^c^a^ y^
>
when A
'
TO',
are taken gives incorrect results. This is a question of double limits and leads to
the mazes of modern mathematical rigor.
}
If the derivative of
Fis
bounding
V must
function
V is
supposed to be
finite
VECTOR ANALYSIS
214
Then
if it
111
LlM
5.//L
v^fl
*"a
#2'
~ay
=v
12
'
reduces to merely
(26)
the derivative
(27)
ables x v
V upon
yv
2j,
it
may
be written
Then
it
Vj
To demonstrate
Vr
may be
set of vari-
written
sc
to call atten-
v yv
PotF= Pot V2 F!
V may be expanded
.SPotF
*L J
L.
t
V
As
this identity
.3PotF
V.
zz of V.
(27)'
in terms of
i,
j,
by means
may
Then
be collected.
of (26)
The curl
function
215
VX
and
divergence
to the
and
W = Pot V x W,
curl Pot W = Pot curl W
Vj Pot W = Pot V W,
div Pot W = Pot div W.
Vj x Pot
or
and
or
VV Pot W = Pot V V W,
VxV x Pot W= Pot Vx VxW.
(30)
(31)
(32)
(33)
may
be
summed up
as follows
VECTOR ANALYSIS
216
essentially the
PPotF
otF
9 xl
sv
-M
CCC
= 111
J J J
r 12 *>x z
Lra
LIM
9
Let d a be a directed element of the surface
region M. The element of volume
therefore equal to
Hence
_L f f f
A* J J J
in the region
^('
the
r
m>
dv z
S bounding
12
= r r v<jx*
J J
The element
of
T 12
///
ill
rlenco
'
-7
A a;, J J J m
xz
TT'f'v
m is equal to
a.
&v
v ti
<*
is j
A Vn
r 12
Consequently
1
9V
-r
r lz dx^
r r
dvi+l
J J
a r 12
i.rfa.
(34)
is
217
The volume
with
integral is taken throughout the region
the understanding that the value of the derivative of
at
the surface
derivative
of
M.
when
the surface
is
S where V
becomes discontinuous.
The
surface integral
is
V to
upon
the potential
<
K.
d& <
r2
dO
-B,
a quan-
d<f>.
when
the region
M becomes
ap-
infinite.
rev wn
tn
remains
V is
finite as
M becomes
\s IP
infinite.
dv,
Consequently provided
V exists as
SPotF =
^
Pot
9V
Surround
VECTOR ANALYSIS
218
this point
surface of this
-- =
3PotF
~
9*i
By
sphere and
all
Let
JR.
the region
S denote
T not
the
included
Then
r r r 1 5F dv + C If
2
/ /
J Js
J J J*ru9xs
I
upon
-i.
r 12
Vr<K
f f
i.rfa
ff K dd
<
becomes smaller
J J JM
may
or
and smaller.
PF
r !2
5x Z
when
a limit
zero.
becomes smaller
PPotF
_
l-*f\+
^
dx
l
J.
5F
_
\Jv
dx%
product
If,
Fr
remains
however,
finite.
F remains
Fr
///.
as
becomes
infinitesimal.
219
Con-
5PotFPot5T
holds in the neighborhood of all isolated points at which
remains finite even though it be discontinuous.
<
VI*
where
near to
is
it.
K,
2)
from a point
r !2
PPotF
^
= Pot =5V
O #j
C'S'a
need not hold for any point (x^ yv z^) of the region.
z in such a manner that
if V becomes infinite at #
2 yv 2
But
VI
<K,
In
S bounding
the region
V remains
jP,
its
finite
limit
and
upon the
Within
this
surface
V is
finite
without,
surface integral
i
da
it is
zero.
The
VECTOR ANALYSIS
220
9V
PPotF =
Pot 5
jr
d xl
dx%
cannot hold.
may be
Similar reasoning
with respect to x v
partial derivatives
the results it is seen that in general
Vj
ff
PotF= Pot V2 F +
By combining
yv z r
J-
d&.
(35)
V be any function in
F exists. Surround
Let
Pot
which are surfaces of discontinuity of V. Let these surThen the formula (35) holds
faces also be denoted by 8.
where the surface integral is taken over all the surfaces
which have been designated by S.
If the integral taken
over
all
when
V PotF=PotV F
(27)'
This formula
V PotF=PotV
F.
a point (x 1? y x z x ) if
remains always
at a point (x^ y2 z 3 ) so that the
,
product
remains
discontinuity
and
finite,
and
if
possesses no surfaces of
as r becomes infinite.
Vr
remains finite
221
The
S of
to consider
one value
discontinuity
it is
V as
to the other.
conception of a surface of discontinuity. This device practically amounts to including the surface integral in the
symbol Pot V V.
In fact from the standpoint of pure mathematics it is
better to state that where there exist surfaces at which the
function
V becomes
VV
'
in addition to the
12
volume integral
VF
fff
In like manner Pot
W,
Pot
12
VX
W, New
V W and other
a surface of discontinuities.
precisely this
VECTOR ANALYSIS
222
The
irregularities
which may
arise are
inter-
The
first
may
also
"
V)
gotr
*- *2
In
like
manner
W
'
c>Potr
\jr
&X 1
= III
and
^
g
V Pot F=
But
1
If
i (a?
a
-ajj)
dv v
(38)'
12
+j
^^H-
(y a
-yj) + k
^ +k
- Zj ) = r 12
manner,
Hence
223
( 39)
In like manner
VxPotW= III
dv v
"^"3
V.PotW= JfJfJf ^f
r 12
and
(40)
dv *
(41 )
Each has
matical physics.
its
own
interpretation.
Conse-
may
exist even
when
the potential
is
divergent,
(42)
'
r 12
12
W (#
"
2>
'
AO
r 12
y 2> z 2 ) Cv
^ 30n
'
r 3 12
If
n Cv %n
m Cv *r/ m
m
dx z dy z dz z = Ma,x.Vf.
first is
written
(44)
then
V Pot F= New F
V X Pot W = Lap W
V Pot W = Max W.
The
New F and
(45)
VECTOR ANALYSIS
224
The
and magnetism. If
represent the current
C in space the Laplacian of C gives the magnetic force at the
point (x v y v zj due to the current. The third is written
in electricity
Max
used by Maxwell.
and magnetism.
It,
For instance
if
represent the intensity
the
Maxwellian
of
I gives the magnetic
I,
potential at the point (xv yv z-^) due to the magnetization.
To show that the Newtonian gives the force of attraction
of magnetization
y-K>
zz)'
The
force at (xv yv
z^)
due to
dm is equal to
d mn
12
in
magnitude and has the direction of the vector r12 from the
Hence the
force
is
12
where
V denotes the
density of matter.
integral
may
be expanded in terms of
i,
j,
225
k,
12
The
three components
may be
(42)'
It is in this
is
generally found in
books.
is
equal in magnitude to
The
element of current
The
dC 2
is
vector product of r 12
is
and dG z
The
12
15
force
is
therefore
VECTOR ANALYSIS
226
Integrating over
the point (x v y v
all space,
zj
is
.3
12
may be expanded
This integral
WO
'12
The
i,
j,
za)
2 , 2/ 2 ,
!>
k components
-Xfyv
of
(2/2
Lap
in terms of
+ J Y (x v
*a)
2/2
/i)
i, j,
k.
2/2'
Let
^2)
+ (a - *
W are respectively
(43)'
(200
k Lap
W=
Lap
(if
W=
Pot
9x l
To show
that
if
be writt
9z l
= 5PotF
-^
point (x v
9 Pot
may
dy l
^2, z 2 ), that
is, if
I be a vector
moment
whose magnitude
is
227
is
r la
The
potential
is
therefore
r 12
'
1
->?,,,
is
= Max
seen to be
I.
*>
12
This integral
may
z.
Let
JA +
If instead of
xv
oil
Vy
22
xv yv
z1
tne variables
(2/2
Max
^dv.
Max
W - f f f (X
~ y } Y+ fa ~ ''
(44)'
Maxwell
Electricity
II. p. 9.
VECTOR ANALYSIS
228
The Maxwellian
It
may
of a vector function
is
a scalar quantity.
Max
W=
-- + c>Potr
5- +
-
much used
(if it exists) as
---
(44)"
in ordinary treatises
as integrating operators
upon
potential
tonian
is
is,
to
The Laplacian
function.
and
is
If
9L]
exist
(29)
VVPotF=V.PotVF=Pot V.VF.
But by (45)
V Pot V = New F,
and
V.Pot VF=Max W.
Hence
V. V PotF = V NewF = Max VF
= Pot V.VF
By (27) and (29)
But by
(45)
and by
(45)
(46)
W = Max W,
V Pot V W = New V W.
V
Pot
W = V Max W = New V W
= Pot VV W
V x V x Pot W = V x Pot V x W
VV
Hence
By
(28)
But by (45)
and
Hence
By
(56),
229
(47)
= Pot V x V x W.
V x Pot W = Lap W,
V x Pot V x W = Lap V x W.
V x Pot W = V x Lap W = Lap V x W
= Pot V x V x W.
(48)
V V x Pot W = 0,
V Pot V x W =
V Lap W = Max V x W = 0.
(49)
Chap. III. V x V PotF= 0,
VxPotVF=0.
V x New V = Lap V V = 0.
(50)
Chap. III. V x V x W = VV- W- V- VW,
Chap.
or
Pot
III.
0.
Hence
And
by (52),
or
Hence
And by
Hence
or
(58),
V.VW = VV.W-VxVxW.
V V W = New V W - Lap V x W,
V V W = V Max W V x Lap W.
(51)
if
desired.
Thus
div
New V = Max
V F,
(46)'
(47)'
(48)'
(49)'
(50)'
(51)'
VECTOR ANALYSIS
230
Poisson's
Let
92.]
Equation
"be
the potential
PotF
has in general a
Then
definite value.
V.VPotF=-47rF,
c>
PotF
or
P2
dx{
This equation
PotF
02
dy-f
22
(52)
PotF
02 = -47rF.
9 9f
known
as Poisson's Equation.
has
been defined as the potential
integral which
The
is
Pot F= Vj
The
proof
is
is
as follows.
New F= Max V2 ^=
12
The
subscripts 1
clearly
= Vj NewF= C C
But
and
F V2
= - V2
Vj
C^7 l --
=V
1-
V F+ F V V
2
-V
1
or
Vt1
V2 F = T V
v2 K
'12
Integrate
V
22
i - V /F V
1
I-
231
12
V V
But
That
is
Hence
to say
satisfies
V V
x
Pot
= 0.
*H
Laplace's Equation.
F= T
T TVj -- V2
= f f F YI
J Jj
And by (8)
T< v 2
(53)
<*.
r 12
The
the
At
12
in-
VECTOR ANALYSIS
232
S must
Hence
the surface
must be allowed
As
to
approach zero as
'
its limit.
That
F"r 3
<
is
K, when r
Vr < K, when
is
is
large
small.
Introduce
(xv
and
Then
= -V
V,
r 12
r8
--.da =
Hence when
Hence the
sin0d0 d&.
jrr
da
r la
^ becomes
V,
its
limit.
= --r3 r 2 sin 6
r
becomes
Fsin0 de
d<f>.
dA.
over the
V be
Let
(#!,
yv
2X )
233
surface integral
is
practically constant
and equal to
its
value
(ajj,
y lt
!>
f fssin 6 de
- f /Vsi
sin Q
Hence
when
<
=4
TT.
zero as
its limit.
Hence
V- VPotF=-47rF.
and
In
like
manner
if
is
(52)
V V Pot W = - 4
TT
W.
(52)'
W into
The proof
ponents.
its
three com-
holds.
V VPot^r=-47r X,
V VPotF=-47r F,
V V Pot Z - 4 Z.
TT
Consequently
V- VPot(JTi+
Fj + ^k)
= -47r(Xi+
Fj
Let
VECTOR ANALYSIS
234
Theorem
IfVandW are
that their potentials exist in general, then for all points at which
and
satisfy
Poisson's Equation,
V. VPot F=-47rF,
V V Pot W = - 4 TT W.
The
points at
V and W become
which
(52)
(52)'
which are
to be
made
at
taken up here.
It
93.]
was seen
V- VPotF=V.NewF=Max VF.
V New V = - 4 V
MaxVF= 4?rF.
Hence
TT
or
In a similar manner
Hence
or
it
(53)
By
?r
W=
-r
4-7T
and
is
LapVxW
1
-r
4?r
W =2
Lap
New V
4?T
NewV.W.
(55)
2,
1
W = 4?r
Lap curl W
-.
W=
(54)'
W = Wj + W
Let
where
(54)
New
div
W.
(56)
(57)
235
W,
its
V.LapV
4?r
Furthermore
divergence.
W = -rV-VxLapW,.
4?r
Hence
V.W = divW =
x Wo
But
-r
4?r
(58)
V x New V
-r
VxV Max W
4-n-
Hence
2.
is zero.
= curl W 2 = 0.
(59)
and
of
W into
This division of
curl.
is
unique.
In case a vector function has no potential but both
and divergence possess potentials, the vector function
its
curl
may be
As
LapVxW-^-NewVW + W
W=
Let
(55)'
before
4?r
V
1
and
4-7T
Lap V x
V V
Vx
W=
V Pot V
W=
x Pot
4-7T
V x New V W = ^4?r V
The divergence
part of
W=
0.
VECTOR ANALYSIS
236
=
VxVxPotVxW
JLvxLapVxW
47T
47T
- VV Pot V x
T- V V
x W.
VV
Pot
4-7T
V X W = 4-7T V Pot V V X
W=
-:
Hence
4?r
Hence
47T
curl of
VPot
is
which
V x W = V X W.
into
0,
V V x W = 0.
for
The
Pot
4?r
4?r
is
7T
divided.
Lap
Hence
Moreover
V New VW = VW = VW
4"7T
which
part
VxW
4?r
first
is
New
W.
is divided.
Hence as the first part has no
the
third
can
have
none. Consequently the third
divergence
has
neither
curl nor divergence.
This proves the
part
8
statement.
into
237
divergence of which
vanishes at every point of space is said to be solenoidal.
vector function the curl of which vanishes at every point of
space is said to be irrotational.
94.]
Definition
In general a vector function is neither solenoidal nor irrotaBut it has been shown that any vector function which
possesses a potential may be divided in one and only one
tional.
W W
ls
of
which one
solenoidal
is
and
stated.
They have
all
That
4?r
Lap
Applied
tors
to
gives zero.
is
irrotational function
That
respect to
an
_ JL New V
New
either
(60)
of
these opera-
= 0.
irrotational function
= Wr
is
and
4-7T
4 7T
or curl
Lap
With
Wj = V x ?4?r Lap
Vx
an
Lap and
4?r
That
or
2,
the operators
div
is
=-V
~ New W
4:
7T
= W2
(62)
VECTOR ANALYSIS
238
With
respect to
V
and
V the operators
a scalar function
div and
or
- New,
4?T
also
Max and
~r
4-7T
That
is
=F
(63)
4-7T
-J-MaxVT=F.
and
4?r
Pot
awo*
Wj
tf^e
operators
or curl curl
4?r
That
Pot
4-7T
fF^A
x Wj
respect to
an
=V
is
Pot
That
- Pot
With
respect
VV W
.
to
Pot
7T
irrotational function
aw(i
4"7T
the operators
is
= - VV
Pot
= W2
Pot and
4?r
mwrse
operators.
That
(64)
VV
operators
are
Wi = W r
is
V V
(65)
the
_ -Pot V- VF=- V. V
4?r
and
Pot
V VW=-V V
respect to
PotF=F
Pot
4-7T
With
4?r
47T
a solenoidal function
239
Wj
W = W. (66)
the differentiating
V V
- V V Wj = V
and
are equivalent
With
respect to
an
Wr
irrotational function W
V
(67)
2 the differentiat-
V V
That
are equivalent.
VV
is
VVW
By
and
= VV
(68)
2.
47rF=- V.NewF
4 TT W = V x Lap W
V Max W
and
by means
4
TT
Pot
F= - Pot V
W = Pot V x Lap W
Pot W = Lap Lap W
47T Pot
TT
(69)
- Pot V Max W
New Max W.
(70)
New Max
4?r
is
an operator which
is
equivalent to Pot.
..
7T
Lap Lap
For solenoidal
vector
VECTOR ANALYSIS
240
For any
the
the potential
irrotational
of
potential of the solenoidal part.
*95.] There are a number of double
gives
part;
The
may
all space.
single value.
be considered for
The
functions by
vanishing identically outside of certain finite limits determine for all practical purposes the limits of integration in
case they are finite.
Given two
scalar functions
of position in space.
?7,
or potential product, as it may be called,
of the two functions is the sextuple integral
Pot
One
(71)
of the integrations
Pot
( U,
F)
may be performed
=fff PX*!,
(* 2 ,
yv
yi, *i)
*2)
Pot
Pot
Vd Vl
Udv2
(72)
W, W"
(71)'
This
is
ried out
One
integration
may
be car-
W"
or
'
Laplacian
Pot
"
dv i
of
product
of position in space
is
241
two
the sextuple
integral
Lap(W',W")
=ffffffw
'
(*i ?!
i)-^
w" (*
y* 2 2)
rfi ^^2(73)
One
integration
may
be performed.
=f f fw" (x v yv
Lap
,)
Wd
vz
(74)
=fffw
'
fa* y
^i)
LaP
"
of a scalar function
W of position in space
is
dv
F",
and a vector
(75)
By
(76)
and a
scalar function
of position in
space
is
the
integral
Max (W,F) =
(77)
16
VECTOR ANALYSIS
242
One
integration yields
Max(W, r)
=
(78)
By
Integrate
47r
+ f f fNewZ7 NewF
4-7T
Pot
(Z7,
v.
F) = T r fNewZ
-
The surface
ci
integral
is
f f Pot F New CT d a.
.
(79)
must
out-
vanish.
Hence
4
By
TT
Pot
U,
F)
47r
W". PotW
(79)'
243
But
[Lap
W" x
Pot
+ Lap W"
V Max W"
and
Hence
4
TT
Pot W'
Lap
W,
=V
W]
substituting:
W"
Pot
W = Lap W
+V
[Lap
-V-
Lap
W" X
[Max W"
Pot
Pot
W]
W].
Integrating:
TT
(80)
W"
R must
vanish
and then
4
TT
Lap W" d v
(80)'
theoretic nature
VECTOR ANALYSIS
244
and in some
The theorems
not.
mathematical work.
Theorem : If
V (x,
y, z)
VV
is
VF=0.
Given
F= const.
To show
By
xt
*u
**
V V* d r = Ffa
y, *)
- F fa,
yv
(2) page
*,)
Vi, *i
But
Hence
F(#,
Theorem
If
y, z)
(#, y, 2)
VV
'
in space
which possesses
the divergence of that derivative exists and is zero throughout any region of space, 1 finite or infinite but necessarily
if
continuous
and
at every point of
if
any
finite
volume or
of
it,
V F vanishes
portion of
then the derivative
any
finite
F re-
V VF"=
Given
VF=
and
F= const.
constant in S.
Fis certainly
S and in the
Suppose
were not constant.
The derivative V V upon
side of S has in the main the direction of the normal to
region T,
this
for a region T,
To show
Since
245
that,
the surface S.
VV
to $, it
must be nearly
of spherical surface
parallel to the
under consideration.
VF.
rfa
in the surface integral all have the same sign and cannot
cancel each other out. The surface integral of
over
VF
is
V F is zero.
integral of
But
S is
of the spherical
not zero.
f f VF.<a = f f fv VFd0 =
Hence
f fvF'da =
0.
0.
is not
appears that the supposition that
constant upon one side of S leads to results which contradict
It therefore
V VF=
VECTOR ANALYSIS
246
is
seen to be constant
VV
T of
and
is
zero,
and
a constant value
and V(x,
if
V VV
continuous
of that derivative
V possesses
when
y, z)
as a limit
VF vanishes.
The proof does not
eralized as follows
Tlieorem
differ essentially
If V(x, y, z) be
V V;
if
U (#, y, z)
be any other scalar function of position which is either positive or negative throughout and upon the boundaries of a
region T, finite or infinite, continuous or discontinuous;
the divergence
and
[
F] of the product of
exists
and
to
and
upon
is
all
if
VF
zero throughout
is
at infinity
function
UV
and
if
the boundaries of
and
at infinity
then the
is
equal to c.
Theorem : If
F (x,
y, z)
in space possessing in
general a derivative
T and
V F;
if
through-
V VF
the normal
at infinite distances in
1
The region
(if
V F vanishes
and
includes
its
boundaries.
V/ 9
247
r vanishes,
VF vanishes
the derivative
T V is
V-VF=Oand Ur 9V/9r =
z
As
for r 2 9V/9r
= 0.
corollaries of
statements
may
when they
stood
V U = V F,
If
then
and
differ
most by a
at
constant.
VV?7=V.VF
If
differs
If
V only by a
from
constant at most.
and
equal and
zero, then
if
(if
in all the
if
from
Fare equal
F only by a
and
"
the bounding
bounding surfaces
V U and V F are
normal components of
and
all
at infinite distances r z (9
27
U differs
U= V in
if
at infinity
7"
V V 7 = V V F and
and
if
VZ7 = VFin any finite
V U = V V at all points and V
and
surface $, then
portion of
U /9 r
V/9 r)
is
constant.
If
'
are
W"
in
T or
bounding
of the region T.
it;
then
W'
is
T or of
equal to
any
finite
W" at
surface
every point
VECTOR ANALYSIS
248
Since
W = V x W", V x (W - W") =
tor function
is
0.
vec-
VF=W'-
W".
Then V V V
owing to the equality of the divergences.
The theorem therefore becomes a corollary of a preceding one.
of a scalar function
Let
(page 197).
two vector functions of position which in general possess definite curls and divergences
2
if
region T, finite but not
throughout any aperiphractic
Theorem
If
are
W'
W"
are equal;
region T the tangential components W' and
then W' is equal to W" throughout the aperiphractic region T.
Theorem,: If W' and
are two vector functions of posi-
W"
tion in space
definite
curls
and
if
;
throughout any acyclic region T, finite but not
the curl of W' is equal to the curl
continuous,
necessarily
W" and the divergence of W' is equal to the divergence of
divergences
if in all the
bounding surfaces of the region T the
normal components of W' and W" are equal then the functions W' and W" are equal throughout the region acyclic T.
The proofs of these two theorems are carried out by means
W"; and
Theorem: If
that
V V
-
W'
and
V V W"
are
have in general
definite values
tinuous
and
if
W"
and at
is
W"
ponents of
tic.
The
region
may hare to be made acyclic by the insertion of diaphragms.
region which encloses within itself another region is said to be periphrac-
If
it
encloses no region
it is
aperiphractic.
249
SUMMARY OF CHAPTER IV
The
W along a curve C
is
defined as
C
J
The
w<Zr=f
[Widx + Wtdy + Wtdz].
/ C
V V of
(1)
a scalar function
line integral
is
zero
and con-
V.
= F(r)-F(r )
(2)
fvF.rfr
.rfr =
Jo
and
f W dr = 0,
if
Jo
Illustration of the
The
is
then
(3)
W = VF.
W over a surface
denned as
f f
d&= C C [W
Gauss's Theorem
tion taken over a
The
dy dz + W^dz dx +
dx
dy].
closed surface
ff
=
JV W dv C C W
da,
(7)
VECTOR ANALYSIS
250
'
'
* ~
dz
[X dy
'
3y
+ Y dz dx + Z dx
dy~],
(8)
^ be
X,
function
TJ
of a function
curl of
W.
ff V x
JJ a
and
if
da
JJ JJ
f Wrfr,
W-da=Jo
=J
dr, then
(11)
U = V X W.
(12)
a vector function
a scalar function
is
is zero.
x v
Vv
'
d&
dT
[u v"fr
-Tv^U'dr,
(14)
=fo uv ff*-Jj^VXYrfl,(M)
'
dr,
(16)
fw V
v dv
wv
d&
251
I^U'vdv,
(17)
(18)
Green's Theorem:
IV
Vv
dv
= If uVvd&
= CCv Vw da
C C C(uV'Vv
iu V
V v dv
f Cv V Vudv,
vV^Vw) dv=
MwVv
(19)
Vw)^a. (20)
Kelvin's generalization:
wVu*Vvdv=
uw*7vd&
= I fvw Vu*da,
Cv V
u* V[wVv]
[w VM] dv.
as the potential
is
c?v
(21)
defined
by the equation
Pot
Pot
V =f f f
J J J
W-
V(X* Vv
Zz)
a;2y2
dx z dy, dz v
(22)
VPotF=PotVF;
V x Pot W = Pot V x W,
V Pot W = Pot V W,
.
V V Pot V= Pot V
Vr,
(23)
(27)
(28)
(29)
(30)
VECTOR ANALYSIS
252
V V Pot W = Pot V V W,
VV Pot W = Pot
W,
V x V x Pot W = Pot V x V x W.
The
(31)
(32)
(33)
V are
commutative.
The
New F=
T
W=
<**2
VT
TIT
Lap
*2)
i/2'
dy, dz2
2x j
-a
known
^12
as the
(42)
^^2 * i r
/-Af>\
( 43 )
MaxW =
If the potential exists these integrals are related to it as fol-
lows:
V Pot F= New F,
V x Pot W = Lap W;
V Pot W = Max W.
The interpretation of the physical meaning
(45)
of the
Newtonian
(44)'
and
V New F= Max V F,
V Max W = New V W,
V x Lap W = Lap V x W,
(46)
(47)
(48)
Lap
W = Max V x W =
x New
0,
(49)
V = Lap V V- 0,
(50)
V V W = New V W Lap V x W
= V Max W V x Lap W.
The
potential
and
(51)
That
is
(52)
V V Pot F= - 4
(52)'
TT
W.
(53)
IT
Lap
-.
4-7T
Hence
divided
is
is,
V- VPotF = -47rF,
F=^V.NewF,
4
W=
253
into
New V W.
-.
(55)
7T
is
irrotational,
A list
vanish.
of theorems
function, and
Lap
New
47T
Lap
= Vx
= 0, V
=-V
LapWj =
4 7T
Then
Wr
(60)
New W2 = W2
(61)
(62)
VECTOR ANALYSIS
254
V.
-^NewF= V
(63)
Max
47T
--
Pot
47T
VF =
Wi = V x V
F.
x Pot Wj
_-Lp
t VV.W = - V.V--PotW = W
4-7T
4
2
(64)
(65)
7T
_i Pot V
4-Tr
4-7T
_ -Pot V V W = - V V 1
4?r
1
Pot
4?r
-V.VW = VxVxW
V V W = VV W
1
4
4
TT
Pot
TT
Pot
W = W.
(67)
(68)
V = - Max New V
W = Lap Lap W
(66)
(69)
New Max W.
(70)
may be formed. They are sextuple integrals. The integrations cannot all be performed immediately ; but the first three
may be. Formulae (71) to (80) inclusive deal with these integrals.
The chapter
of theorems of
a function-theoretic nature.
number
By means of
concerning functions
may
be
Among
tion.
the exercises
number 6
the text
is
255
EXEKCISES ON CHAPTER IV
I.
integral
/><"
is
Show
a vector quantity.
r
Jo
That
c c
/
is
that
c r
J tjs
i/ 5
closed curve
Show
further that
if
V is
constant
constant.
Hint
it
(with a dot)
reduce
2.
it
If
is
~JccW
a vector quantity. It
If c
of the function W.
is
X di
may
is
The
first
Max-
VECTOR ANALYSIS
256
and
=o
|J j s V
W d a - J j V (W
a)
is
=
Show
when
ff
-V
=
This
is
a vector quantity.
Show
of
that surface.
That
is
Hence conclude that the surface integral over a closed surif V be constant and
conversely if the surface
over
closed
surface
vanishes the function V must
integral
any
face vanishes
be constant.
4.
If
may
I da.
quantity.
Show
that the
skew
It
is
a vector
bounded by the
That
surface.
C C d&x
is
257
W=
x Wdv.
5.
integral of
-r
r 12
Then
New V
=fff ^i Pu ^(aj r y v
*,)
Lap
W =ViPu X W (x v y v
Max
W -Vtfu W
(x v
7/2,
d vv
a a)
a)
dv v
dv v
(81)
(82)
(83)
(84)
17
VECTOR ANALYSIS
258
exercise
By
It
<
if
F is
New V
when
small.
Hence
NewF=PotVF.
or
(85)
W = Pot V x W,
Max W = Pot V W.
Lap
By means
(86)
(87)
x Lap
W = Lap V x W,
W.
Then prove
/*
VxLapW=/
l.p la
t/ *J
t/
VV.W dv - /
VMaxW= f C
and
Hence
Hence
7.
/>
/"
An
x Lap
*
fp n
integral used
c/ t/
dv,v
rPi14 V
If
J J J
W V Max W = 4
by Helmholtz
o
s*
/j
VVW
W V Max W =
x Lap
s+
IT
is
Vdv a
-*
W.
VW
rf
(88)
*
-*
if
W be a vector function
z
Show
that
when
WdVr
if F"
(90)
diminishes so rapidly
K
r becomes indefinitely great.
V H ( F) = H (V F) = New (r F),
V # (W) = # (V W) = Max (r W),
V x # (W) = H (V x W) = Lap (r W),
2
VJ2" (
F)
H ( F) =JET
(W) = -
Pot Pot
F:
~ Pot
(91)
(92)
(93)
C 94 )
(95)
(96)
7T
Pot W.
VV.
8.
259
(97)
5"
(W).
(98)
is
unique.
10.
Treat, in a
manner analogous
to that
upon page
220,
CHAPTER V
LINEAR VECTOR FUNCTIONS
97.]
AFTER
down
The treatment
homogeneous substitutions.
new
ideas
The treatment
The
The
= cr
is
the
vector r'
(1)
r.
more general linear function
be
obtained
may
by considering the components of r individLet i, j, k be a system of axes. The components of
ually.
is
a linear function of
r are
i
r,
r,
r.
may be
Cji.r,
j.r,
components.
c3
r.
The
as the
(CiiTj+j
vector r'
is
(c 2
+k
j.r)
Such a
etry and
physics.
r.
r'
r).
Its
components
(2)
components of
each
for instance,
If,
and c v
strain
homogeneous
(c 8
261
c 2 , c 3,
axes, a point
r=ri#+J7/ + kz
becomes
r'
or
'
=ic
i c
-f j c 2
+j
<?
+k
c s 2,
c3
2 j
r.
magnetism, the
electric force
electric displacement
is
in a dielectric.
For
isotropic bodies
But
in case the
constants k v k v k 3
E
The
the
phenomena
different
Thus
= ik
by
is
of electricity,
isotropic bodies.
98.]
It
is
VECTOR ANALYSIS
262
Definition
vector r'
is
when
If
and
and
if
0,
(3)
then
etc.,
allel
(The constants a 15
have no connection with the components of a, b,
to i, j, k.)
Another definition however is found
a linear function of
r' is
r.
c par-
to be
when
of those
(4)
Theorem
it
sum
Jj,
If
the function of
r.
/(ar)
= a/(r).
(5)
And hence
/Oi*i + 2 r 2 + a 3 r 3 +
)
= i/(*i) + 2 /(r 2 )+ 8 /(r 8 ) +
The proof
obvious
is
of this theorem
trifle
long.
(5)'
It depends
less
/(2r)
In like manner
/ (nr~)
where n
is
any positive
= 2/(r).
= w/(r)
integer.
Let
263
Then by
the relation
and
Hence
That
is
is,
To show
/(0)=/(0 + 0)=-2/(0).
Hence
But
/(O)
0.
Hence
To
/(r)=-/(-r).
a, it
LIM
- x
x= a
'
_
~~
Hence
LlM
CC
_.
CL
(x
r)
= a f (r)
VECTOR ANALYSIS
264
Lm
i- fm
/>>
&
Hence
(ar)=ar.
^
*
tt
= a/(r)
/(ar)
mined when
its
/ (r)
is
entirely detera, b, c
are
known.
Let
l=/(a),
m=/(b),
*=/()
Since r
is
Hence
(r)
it
may be
expressed as
= x 1 + y m + z~ft
99.]
expressed as
r'
Cj
c2 j
c3
r.
may be
= (ic
In like manner
b3
jc 2
+ kc 3
k).r.
if a
be any given vectors, and b r b 2
p a 2 a3
another set equal in number, the expression
r'
is
= aj bj
a 2 b 2 -r
for
a3 b3
owing
to the distributive
(6)
(a x bj
aa b 2
a3 ba
)' r.
(6)'
265
No
(a 1 b 1
It should be regarded as
verts
the vector
r into
affords a convenient
aa ba
+ a,b a +
is
to be
(7)
...).
(6).
Definition
of
The antecedents
of a
becomes
=a
and
(6)'
may now
b1
aa ba
By
a8 b8
+...,
(7)'
definition
=&
bx
r.
r -f a 2
(8)
b2
a3 b 3
VECTOR ANALYSIS
266
The
multiplied into r by direct or scalar multiplication.
The direct
and r is important.
order of the factors
product of r into
r.
is
= r-(si
+ a2 b + a b +
)
= r.a b + r.a b 2 + ra b + ...
'
<P
l)
Definition
When
(9)
the dyadic
is
multiplied into r as
When
r,
is
said to be a prefactor to
0,
said to be a post/actor to r.
used either as a prefactor or as a postfactor
dyadic
r.
r is multiplied in
as
is
to
vector r determines
tions.
r.
= a b + a b + a b8 +
#- W = bj ^ + b 2 a 2 + b 3 a 3 +
<P
and
each of which
may be
changing the antecedents and consequents, are called conjuThe fact that one dyadic is the conjugate of
gate dyadics.
another is denoted by affixing a subscript C to either.
Thus
Theorem:
0=
r
100.]
Definition
Any two
That
is
r.
dyadics
(9)
and
are said to
be equal
when
or
when
or
when
r
B
= W r
=r W
r =s
W
r,
r,
and
(10)
r.
third relation
vectors
vector
scalar
and
like
and
is
equivalent to the
first.
267
For,
the
if
any
them must be equal. And conversely if the
r
product of any and every vector s into the vectors
into
&
must be equal. In
shown
that
the
third
relation is equivamay
the second.
Hence all three are equivalent.
manner
lent to
Theorem
be
it
completely determined
is
dyadic
when
the
values
*..,
</>.,
<z>.b,
where
If
may
be represented
known (page
Then
264).
i,
j,
k) are
Let
is
=a +
givenby
to be used as a postfactor
bj
and
to the dyadic
ck,
= ia + jb + kc,
to be used as a prefactor.
/ (r ) =
= r 0^
VECTOR ANALYSIS
268
The study
identical
is
when a
that scalar, or
a (a b)
distributed in
is
(a a) b
a (a b)
If
= a' a"
(a'
a) (a" b).
written
0a.
or
The dyadic a
V Theorem
utive.
(a 0)
The combination
That
= a($.r).
of vectors in a
dyad
distrib-
is
is
and
a (b
+ c) =
For
dyadics (10).
[(a
b) c]
= (a +
+ c)J
b) c
= ac
r -f
(a c
b c)
and
[a(b
Hence
it
follows that a
each of which
is
the
dyad which
sum
of a
consists of
number
two
of vectors,
factors,
may
be
maintained.
269
...
cl
+ cm + cn+
(11)'
...
law of products
This
is
justifi-
cation for writing a dyad with the antecedent and consequent in juxtaposition as is customary in the case of products
in ordinary algebra.
From
i, j,
ij,
ik,
ji>
jj,
jk,
ki,
kj,
pressed in terms of
i, j,
These are
(12)
kk.
simplified
may
be reduced to the
sum
which
is
above.
a 12
ij
13
ik
+
ki +
a 22
jj
23
ik
a n ii
+
+
This
is
a 31
j i
a 82 kj
(13)
a 33 kk.
Theorem
dyadics
a al
d>
and
be equal
is that,
when
two
expressed in nonion
VECTOR ANALYSIS
270
(?ads
be
equal.
If the coefficients be equal, then obviously
for
any value of
Conversely,
if
and
=s
Let
r.
and
Then
14)
i.
#.i
= i.
gr.i
k.
<P.i
= k.
^.i,
<Z>.j
=i
?F.
i-<Z>.k
= k.
r.j,
k.^.k^k.^k.
= i..k
But
are
+
+
21
a 31
+
8l+
bl
a 23
bm +
a 32
cm +
23
bn
(15)
a 33 en.
9^
1
As a
corollary of the theorem it is evident that the nine dyads (12) are inNone of them may be expressed linearly in terms of the others.
dependent.
271
a, b, c
and
1,
Theorem
m, n coincides with
Any
i, j,
may
dyadic
k.
be reduced to the
sum
of
coplanar.
Let
of
it
which
be required to express
a, b, c
(P
sum
as the
of three dyads
m, n be any other
then be expressed as in
Let
may
1,
Hence
= a (a u +
1
a la
m+
a ls n)
+ b (a 21 1 + 22 m + a 23 n)
+ c (a 31 1 + a 32 m + a 32 n),
= aA + bB +
or
cC.
(16)
be required to express
as the sum of
three dyads of which the three non-coplanar vectors 1, m, n are
the consequents
In like manner
if -it
= Ll +
= au a +
M = a l2 a +
a +
N=
L
where
18
Mm + Nn,
+
b +
a zl b
a Z2
23
a 31
(16)'
c,
32 c,
33 c.
The
these
a, b, c, have the same consequents A, B, C
however need not be non-coplanar. And two equal dyadics
which have the same three non-coplanar consequents 1, m, n,
have the same three antecedents.
cedents,
102.] Definition:
position of
or a cross
a and
b.
two vectors
is
a,
two vectors
VECTOR ANALYSIS
272
The reason
for the
term indeterminate
a x b have
products a b and
definite
meanings.
On
the product
ab
is
The two
One is a
is this.
the other
hand
it is
purely
symbolic and acquires a determinate physical meaning only
when used as an operator. The product a b does not obey
It does however obey the distributive
the commutative law.
is
associative.
the
are
a(ab)
it
(a"b),
and b when
may
Theorem
known when
the product
is
known. In
If the
the product of
Let
=a
a'
and
a'
and
aa
as
k,
b'.
b') is
equal to the
273
'*
Then
ab
=
+
a'V
and
Since
ab
= a'b'
&1
& 1 kj
ii
/&/
kj
a3 6
ij
a/Jg' ik
jj
a 2 & 3 jk
a 3 '6 2 kj
a 3 '6 3 kk.
Z>
2
'
a,'ft a
a s '& 1 ki
'
'
'
!':/!
i':
And
&i:&,:6 8
= &i'
al
b1
are collinear.
a'
W.
But
Hence
= a^ &/.
r.
proved.
ab
for all values of
is
= a'b'
Let r be perpendicular
to b.
Then b
This
is
true
Hence b and
b'
which shows that the products of the lengths are the same.
18
VECTOR ANALYSIS
274
b,
Only two
and
=j
=j
them are
different.
= kj=ki = ik = 0.
of
for
xj
xk
i,
k x j,
kx
k.
That
are
if
known when ab
ab
= a'b',
is
known.
= a'
b'
That
is
and a x b
= a'
b'.
(17)
ab
of
is
it.
fixed
is
scalar
known
275
as the scalar of
be ob-
may
tained by inserting a dot between the antecedent and consequent of each dyad in a dyadic. This scalar will be denoted
by a subscript $ attached
=a
=a
S
If
b1
bx
to 0.
+ a 2 b 2 + a 3 b 3 + ...
+ a2 b 2 + a3 b 3 +
.
known
. .
(18)
as the vector of
may
be
obtained by inserting a cross between the antecedent and consequent of each dyad in 0. This vector will be denoted by
attaching a subscript cross to 0.
X
=a
x bj + a 2 x b 2
x b3 +
a3
If
= a n + a Z2 + a^
- a is) + ( a i2 ~
* +
(si
(19)
i,
j,
k,
(20)
- ^32)
<Px =
23
= i. 0-i +j.0.j + k
S
<p x = (j
k -k
j) i + (k
3
Or
a 2i) k
0-k,
i - i
+ (i.0.j-J-0'i)k-
( 21 )
(20)'
k)
(21)'
If
From
this it
appears that
and 0*
3
S
and
and the
x.
are
functions of
(22)
is given.
uniquely determined when
They may sometimes
be obtained more conveniently from (20) and (21) than from
(18)
1
and
and
(19),
and sometimes
not.
from
liability to misinterpretation.
if it
were sufficiently
distinct
VECTOR ANALYSIS
276
Products of Dyadics
What
lying principle.
owing
law
the
distributive
obey
Definition:
dyad
is
The
is
and dyadics
is
dyadic in general
of multiplication.
written
,,
(a b)
and
is
by
into the
,.
(c d)
(ab).(cd)
ab
direct
dyad (b
aA
c)
= a(b.c)d = b-c
a4.
(23)
first
in the product
(c d)
The
and
<P.
+a
b2
+a
^=(01*1 +c 2
d2
^=(a
W=(^
^l
(cjdj
=a
+
+
+
1
The
b1
1
a 3 b a .c 1 d 1
parentheses
+a
+a
may
2
3
b3
c3
d3
+
+
+a b +a
+c 2 d +c
2
b3
d3
...)
)
a1 b1
b 2 .c 2 d 2
a 2 b 2 .c 3 d 3
b3
a3 b3
d 1 4-a 1 b 1 -c 2 d 2
a 2 b 2 .c 1 d 1
c2
d2
C3
d3
+ ...
c8 d3 +
(23)'
W=b
+
t>
b3
a x dj
cl
'
+b
+b
ax d2
c2
a2 d l
1>2' C 2
&2 d2
1>2
dx
b3
a3 d2
b3
Cj a 3
c2
c3
277
a 1 d3
'
C 3 *2
d3
c3 a3
d3
---
'
'
'
(23)"
The product
Theorem
regarded as
of two dyadics
The product
an operator
and
W of
to be
To show
or
?F).r
and
(a b
ab
(c d
Hence
The theorem
=
c
equiva-
r),
</>.(r.r).
d any dyad of
= b'c (a d
r) = a b c (d
(a b c d) r =
c d)
is
W when
W.
(<Z>.
W.
and
by the operator 0.
Q=
Let
a dyadic
used as a prefactor
W followed
W is
two dyadics
(24)
.
= (b c) (d r) a,
r) = (b c) (d r) a,
r)
ab
(c d
r).
is
to a point
$(*)
will be the
position
That is to say, W defines a transvector of a third point P".
formation of space such that the points
go over into the
a
P'.
defines
transformation
of
space such that the
points
Hence
points P' go over into the points P".
The single operation
into P".
carries
into P".
followed by
also carries
That
is
dis-
VECTOR ANALYSIS
278
&(
and
($'
Hence
= <P.
= &'
'}
<P)
+ 0+
'
(25)
(0+
<p>
+ 0" +...).
(+
'+
"+..)
may
That
tive,
^.^. Q=0
is
.^
(26)
The proof
$.?.&
(26 )'
theorem for
(ab.cd) ef
ab.(cd.ef)
The proof may
also be given
as operators
{(<?
V) . Q\
Let
= (0
.r = r'
r
{($)}.* = (&.
Let
by considering
.
W) (Q
).i'=<l>.
r).
(!').
= r",
\(0. W)*Q\ r = 0.i" = T'".
{(?.(?T. )} r =
[(?T. J2) r ].
.
r'
.
Again
Hence
{((^. ?F)
r.
j2|
<^>.
{#.
Consequently
(?F.
<#,
.r
and
279
(0. T).r
= &.(.T)=
0. W*r.
result.
(24)'
is
not associative.
(0.r).
Let a b be a dyad of
(a b
ab
r)
(r
c d)
and
<P.(r.
= b r (a c d) = (b
= ab d (r c) = b
Theorem: The
may
(27)
).
d a dyad of W.
c) d,
r) (a
(r
c)
ab (rcd).
(abr) cd
Hence
The
<P,
W*
be
summed up
direct product of
as follows
any number
of dyadics
end
is
not associative
may
made
may
be
VECTOR ANALYSIS
280
104.]
and
a vector r
respectively
dyad ab into
dyad ab are denned
Definition:
a vector r into a
of
of a
by the equations
= a(b
rx(ab) = (r x
(ab) x
r),
a)b.
=a
b1 X r
=r
a2 b2
x ajbj +
xr +
x a2 b2
a3 b3
either
end
is
r H
a s bg
...
But
associative.
(rx $)
but
not associative.
= r x (0-s) =r
(0 x s) = (r 0) x s = r
(0 x s) = (r x 0) x s = r
.(TX 0) * (?T.r)x
and
d>
x <Ps,
x
x
V.
That
is,
= rx(0?r) = rx <!>,
x 0).s
(r
r
?F
is
= s (r x $),
s = (0 x r)
s,
<P
(29)
s,
a,
281
s
meaningless.
appears that
x
and
(r
The parentheses
in
d>
(B
r)
(r
= (0
x W)
<P,
(31)
s),
r)
these expressions
cannot be omitted
$.(r X
(s
(0
s)
(<Z>.r)
&
r)
r)
x W#
of
(c d)
0),
(r
(r
s,
(31)'
).
=a
(b
In
by
side with
d would be
c) d.
b x
c,
Such
an expression
rst
is
called a triad
The theory
and a sum
(32)
is
polyadics.
VECTOR ANALYSIS
282
It
was shown
be reduced to a
sum
way when
In particular cases
the antecedents
it
may
= al + bm + cn.
If
1,
two
may
be expressed
as
= x m + y n.
Then
If a
be expressed as the
dyadic
sum
of three
terms
= al + bm +
d>
of
a, b, c
are
en
known
to be non-coplanar,
may
be reduced to the
could be reduced to a
sum
<P
of
two terms
= dp +
eq
were non-coplanar.
1,
m, n of
This supposition leads to a contradiction. For let 1', m', n'
be the system reciprocal to 1, m, n. That is,
,
_" mx n
[Imn]'
n x
~jTmn]'
_
=
[Tmn]
g
'
283
The
1,
<p.r
But
and
(al
1
m'
= x\' +
+
1'
bin
=m
= 1' m = m
ym'
en)
(x\*
m' = n
n'
= m'
zn,'
= (dp +
e q)
= d (p
= 0.
zc.
1'
By
But
zn').
n' = 1,
= n'
n =n
0r = xa + yb +
Hence
+ ym' +
r)
may
e (q
be
made
r).
e.
Hence
is
proved.
be expressed as the
= &l + bm +
of
a, b, c
are
sum
of three
en,
known
to be non-coplanar,
Let
W0 x
= dp
?F=al xp +
x p
= dO = 0,
bmxp + cnxp.
To prove
VECTOR ANALYSIS
284
From
where
=xa +
;
the
first
y b'
used as a
20',
r. ?r =iclxp
From
evident that
it is
a, b, c
gives
+ 2/inxp + 2nxp.
expression
r
0.
zlxp+ymxp + znxp
Hence
must be zero
Hence
y, 2.
lxp = 0,
1, m, and n are
been demonstrated.
Hence
x p
r,
that
= 0,
all parallel to
1,
is,
n x p
= 0.
m, n had been
known
to be non-
words antecedent and consequent throughout. There is a further theorem dealing with the case in which both antecedents
Then
and consequents of
are coplanar.
sum of two dyads.
is
reducible to
the
106.]
the
sum
Definition:
when
the dyadic
is
expressed as the
sum
of
285
said to be unilinear.
If a dyadic
may be
terms vanish the dyadic is said to
In this case the nine coefficients of the
dyadic as
dyadic
is
be zero.
its
and
=r
As
is
complete
reciprocal system
B
In like manner
t
take on
any
desired
m', n'.
1',
+ ym' +
a, b, c
= (xa. +
to
1,
(xl
0.
za')
= ica + yb +
20.
y\>'
zc')
= x\ + y m + zn.
complete dyadic
applied to a vector r cannot give zero
unless the vector r itself is zero.
is
If
planar
the vector s
may
take on
any value in
the
plane
of the antecedents and t any value in the plane of the consequents
but no values out of those planes.
The dyadic
when
of
used as a prefactor reduces every vector r in space to a vector
;
is
VECTOR ANALYSIS
286
<P
sequent of
The dyadic
<P
used as a
The dyadic
sequent of
used as a
postfactor reduces
any
In particular any vectors perpendicular to the anteare thus reduced to zero.
cedent of
of 0.
If
is
may
A planar dyadic
and
be.
A linear dyadic is
A zero dyadic is said
or complete nullity.
The
Theorem
direct product of
of a complete
is
Theorem
The product
of
is
planar
the plane of the consequent of the first dyadic
in the product is perpendicular to the plane of the antece-
except
when
and only in
to a linear dyadic
= &'b + ab
Let
Q=
The
and
The
vector
B'
s'
vector
r takes
W.
on
2,
all
J* (bj -oj)
=x
+
B'
this case.
+y
(bj
X 0>2
(bj
c )
:
ax
y (bj
'
C l)
a2
2^
c 2 )} a x
(b 2
{x (b 2
C 2) a t
'
Cl )
C)
a 2>
y (b,
c 2 )}:
s'
=x
=
y'
where
x'
and
a?
+ y'a a
c^ + # (bj
c ) + y (b a
JT'E!
(b x
(b 2
287
c 2 ),
c 2 ).
But by
(25),
Chap.
j.
vector bj
x b2
x b,)
a/
c,
II., this is
(b!
x.
The
b2
Cj
(c,
\
j.
Co)
&/
0.
sequents of
Their scalar product vanishes
;
that
pendicular.
Consequently
a
and
of
a 2 and
plane
x
may
is
hence
(P
The theorem
is
therefore proved.
Tlieorem
except
is linear.
planar dyadic
dyadic.
In
is
when
is
product
is
zero
and only
in this
case.
is
linear except
when
VECTOR ANALYSIS
288
dyadic
is
The
They
dyadics.
are
left to
the reader.
first
is
proofs are
two planar
The proof
of
the
if
or
if
then
is
an idemfactor.
When expressed
in nonion
r vanishes.
Hence
To prove
i, j,
Let
respectively.
= a n ii +
+
a 21 ji
ij
13
ik
22 jj
23
jk
a 12
ordinary algebra.
Ii = a n i+
I
If
au
In like manner
=1
may
it
vanish except a n ,
22 ,
21 j
and
21
31
k.
i,
= a 31 = 0.
be shown that
33
all
the coefficients
all of
= ii + jj +
289
kk.
Hence
(33)
is
That
that dyadic.
d>
For
(0.1)
is,
T = 0.(lT) =#T,
In like manner
Theorem:
If
it
may
a',
b', c'
& = d>.
and I
may
1
be.
= 0.
be shown that I
and
a, b, c
= 0.
(34)
are idemfactors.
and
II.,
is
an idemfactor
1,
if
definition.
the expression
= al +
bin
+ en
a, b, c.
19
VECTOR ANALYSIS
290
In the
dyadic.
first
By
hypothesis
Then
a;
a'
Let
c'.
+ yV +
c'.
= r.
= x\ + ym + zn = #a' + yV + zc
r
is,
corresponding coefficients
1
must be equal.
m = b',
a',
Hence the
z.
That
is,
c'.
Theorem
If
and
= !.
= I.
Let
To show
r(<P.
(0
all
=f
all
0)
values of
If the
r.
*0,
(?)
As
Hence by
desired values.
.
may
=r.I = r,
r(0. F)
= (r
?T)
must take on
=r
is
#.
complete r
definition
= I.
is
109.] Definition:
their product is
1
of
idemfactor.
is
reciprocals^
algebra
is
291
for reciprocals in
ordinary
to denote reciprocal
dyadics.
employed
That
=0-i =
Theorem:
is,
(35)
equal.
and
Let
0=
~i
and
hypothesis
= I.
= ~i.
0.0-^ = 1= W.
To show
0-i
0=
As
0-1
W,
~\
=0-1.0.
~\
0-1
I.0-i
Hence
~i.
0.0-i= 0.
0-1.0
The
By
= 1,
= 0-i = I. ~i =
0~i =
~\
~i.
is
If a complete dyadic
<P
its
reciprocal
For
(al
0~i
+ bm + cn)
Theorem
into
is
= al + bm + en,
= !'&' + m' b' + n'
(l'a'
+ n'V +
c'.
n'c')
(36)
=aa' + bV +
cc'.
two dyadics
1
and
An incomplete
dyadic has no
(finite) reciprocal.
and
VECTOR ANALYSIS
292
are equal.
If the
into
product of a dyadic
two vectors
That
is,
=
then r =
then r =
= 0*8,
& r=
x
x r=
O.
if
and
and
if
s,
if
This
then
(37)
s,
s.
s,
may be
Q,
i .
To
= r = &~
r = I x r = 0"
.
<P
=
s = I
s,
any vector,
Hence
t is
any
s.
Let
be
t-Ixr = tIxs,
t
As
vector, r
is
=
r = t x
I
equal to
is
t.
s.
s.
number
W W~
0-
ST)-i
Hence
(0
2T)
Hence
W and
5F"1
3F-i. 0-i,
~l
ST"1
0-i
(
(
293
0- 1 )
0"1 must
0-1
= I.
I.
be reciprocals.
That
sr-i. 0-i.
(0. ?T)-i=
of times,
The products
by
and so
powers of
in the
of a dyadic 0,
is,
02,
02
03^
forth.
(0)-i
= (0-i) =
is
0-.
the power of
(37)
The
single-valued.
square roots
infinite
They
But
in addition to these
= -ii +
form
kk.
I
it
VECTOR ANALYSIS
294
r'=
<P-r
formation
is
The idemfactor
is
= W
a reflection in thei-axis.
roots
roots
means
(9)
Theorem
dyadics
is
Theorem
to the
:
The conjugate of the sum or difference of two
equal to the sum or difference of the conjugates,
The conjugate
295
To show
(0.T)C =VC .0 C
8%.r = r-(0. W) = (r.Q).
(40)
(0.
Hence
(0
Theorem
power
)c
The conjugate
4>c>
of the
power
of a dyadic is the
(*%=
This
= Wc
V,
is
= **
(41)
may
be interpreted in either of
Theorem
The conjugate
The
expression
is
=(0
(0-% *<P C = (0
(0-i) c
For
The idemfactor
its
is
own
)-i
= 0^.
(42)
conjugate as
may
be seen from
=ii+
j j
kk
(0 c)-i.0 c =
4> c =
0~^
((P^"
=
((^c)(0-%
I.
Hence
Hence
~
The expression & c l may
of
If
it is
its
conjugate,
it is
said
VECTOR ANALYSIS
296
it is
jugate,
For se/-conjugate
said to be anti-self-conjugate.
dyadics.
r
r,
C.
Theorem
way
into
Any
0.
dyadic
two parts
may
r,
00.
which one
of
other anti-self-conjugate.
0=(0+0 C
For
But
(0 + 0c) c =
and
(0 -
C-)
+ (0-0 C\
=
- CC =
C=
C
C
-0.
0,
self-conjugate
Thus the
Let
(0 +
CC
(43)
<2>c)
= 0' +
*'
0".
in another
Suppose it were possible to decompose
into a self-conjugate and an anti-self-conjugate part.
way
Let
then
Where
Hence
(0'
if
(0'
- (0"
Hence
if
conjugate.
,12)
-Q)=
(0"
(0'
J2) c
= 0' c + Q c = 0' +
is self-con
jugate,
(0"
) is
)c
0" c
is
self-conjugate.
J2 e
= _ 0" -
anti-self-conjugate
J2
is
anti-self-
Any
gate
dyadic which
is
is
equal
Hence
297
is
its
unique.
Anti-self-conjugate Dyadics.
In case
112.]
is
0"
= al + bm +
Suppose
= &1
C
<?"
= 1(0-0^.
= al
+ bm
lar-f-bmr
But
mb +
la
lar =
al* r
cn
nc,
mbr + cnr
(a
bmr mbr
cn,
1)
ncr.
r,
(bxm)xr,
ncr =
0"
Hence
But by
cnr
(cxn)xr.
r =
^(axl + bxm + cxn)xr.
definition
<P x
0"
Hence
r
The
0"
= 0" c
results
Theorem
=:axl-|-bxm +
r
=-\
= - 0"
0* X
= \0 K
r,
cxii.
=- \ r
X.
follows.
anti-self-conjugate
VECTOR ANALYSIS
298
Theorem
Any
" = -3
(0-0*)
<2>xX
anti-self-conjugate dyadic
It
degree of nullity.
is
is
perpendicular to
<P X ",
the vector of 0.
which one
of
is
d>
or symbolically
Any
113.]
it
0'
<P
r,
X.
(45)
For
Hence
0'
must be
as a
dyadic.
antecedents and
consequents perpendicular to
c,
so that
be found as follows
(31)
(I
Hence
and
This
r =
=I
o)
may
( c
(I
o)
(c
I)
(I
c = r
I)
1}
.
c)
(I
be stated in words.
(I
r=
c)
{I
it
By
its
I,
(o
= (c x I) r.
r = (c x I)
= r (c X I).
c)
I)}
r,
(46)
299
multiplication with
used as prefactors
I
and
r.
follows
if c
r,
The dyadics
as postfactors.
I are anti-self-conjugate.
to
parallel to c
of r
which
is
perpen-
They
are reversed in
direction.
position.
The powers
(I
(I
c)
c)
(c
I)
4
(I x c)
(I
c)
I)
=-I
(c
(c
(c
x
5
I)
its
- c c),
(I
=-c X
4
- c c,
I) = I
x
=I
law as far as
=-
=c
or c
I,
(47)
I.
I obeys the
same
1 in algebra.
or
cxlisa
vectors perpendicular to
as an annihilator.
To
c.
For vectors
avoid this
effect
parallel to c it acts
VECTOR ANALYSIS
300
all
If
(48)
The dyadic
idemfactor.
imaginary V
plete
and
conjugate
two parts
consists of
;
If
114.]
and
i,
j,
of
which
c is anti-self-
I
I
may
c c, self -conjugate.
Ixi = ixl = kj
as
jk,
xj=j x I = ik-ki,
x k = k x I = j i i j,
(49)
= ii + jj + kk
and k successively.
i, j,
x, jx,
k x
respectively,
(IXk)=(kxI) = -(ii+jj),
The expression
j,
(I
k)
is
is
k,
but an
301
system,
aa'
bb'
Used
c.
as a postfactor it
in the plane of
direction
c'.
a'
and
b',
is
an idemfactor for
all vectors,
Used
as a postfactor it is
direction
and
b',
If a
c',
that
in the
=I
x I}r =
x b) x
(a
x b)
= b a - ab.
(50)
For
{(a
b)
(a
ab)r.
(a
= (b a a b)
- ab).
b) = r (b a
r
r,
(51)
VECTOR ANALYSIS
302
Reduction of Dyadics
Let
115.]
Then
vector.
Normal Form
to
r'= 0-r
a linear function of
is
r.
When
on
r takes
all
values consis-
its
surface
closed.
is
Theorem
to a
sum
It is fact
an
ellipsoid.
themselves and the consequents among themselves are mutuThis is called the normal form of 0.
ally perpendicular.
<P
To
= ai'i +
Jj'j
ck'k.
by
r'=0-r.
As
which makes
must be some
direction of r
maximum
This
may
be proved as follows
= *-L r'srUe-i.
Hence
rr=l= r'. (* c ~ 1 '* ~ l)'i' = r' V-r'.
By expressing V in nonion form, the equation r' V r' = is seen to be of the second
* = *>*
degree.
is
Hence
the ellipsoid.
r'
The
303
function.
as
of
upon the
value of
changes
r'
i,
= &i +
<P
show
It remains to
bj
ck.
a, b, c
as determined
= (ai +
dr' = (ai
r'
-f-
r'. dr'
When
r'
r is parallel to
If
dr
dr
further
r.
is
parallel to
i,
r is parallel to
'
r'
bj
dr
dr.
hence must be
a unit vector
is
Hence when
dr
is
always
r is parallel to i
perpendicular to
r'b
ck
r'
maximum and
Since r
perpendicular to k,
is
r' is
i,
perpendicular to dr'.
perpendicular to
bj
dr +
ai
+ck)r,
+ ck) .dr,
bj
j,
r'c
vanishes,
and
Hence when
vanishes.
if
r is
But when
perpendicular to both b and c.
r' is parallel to a.
Hence a is perpendicular
is
i,
and
c.
= (bj + ck)r,
dr' = (bj + ck) dr,
dr + r' c
'dr' = r'''b
r'
When
hence
is
j,
r' is
perpendicular to dr'.
maximum
Since r
is
dr.
in this plane
a unit vector
and
it is
VECTOR ANALYSIS
304
Hence when
and
perpendicular to dr.
is
perpendicular to
Hence
value
c is zero.
r'
But when
Consequently b
b.
It has therefore
c,
j,
and that b
is
antecedents of
denoted by
i',
is
a,
J, c
is
parallel
r is parallel to
perpendicular to
perpendicular to
j', k'.
Then
r'
j,
dr
takes the
perpendicular to b and
Consequently the three
is
c.
They may be
the dyadic
+6j'j
j,
to
c.
= ai'i
where
ck'k,
(52)
&=
(ai'i
&j'j
ck'k).
(53)
Hence
in
all
negative comes
and
= ai'i
The
zero.
is
305
-f Jj'j
(54)
a and
planar.
positive.
vectors
coefficients
By
and j
number
of
In
pendicular to k.
all
to the normal
form
may be accomplished
The three vectors
ways.
in a doubly infinite
number
of
space.
are the
same
i',
j',
k'
as in
maybe an
ellipsoid of revolution,
or finally a sphere.
Theorem :
Any
self-conjugate
the form
where
Let
a, &,
=
and
ii
dyadic
&jj
may
be expressed in
+ c kk
(55)
= ai'i +
fcj'j
6jj'
20
+ck'k,
ckk',
(52)
VECTOR ANALYSIS
306
4>.<P
<P
Since
<t>
-a 2 1
a2 I) would annihilate
were not parallel (<P 2
two vectors i and i' and hence every vector in their plane.
If
and
i'
2
a 2 I) would therefore possess two degrees of nullity
(0
and be linear. But it is apparent that if a, J, c are different
this dyadic is
not linear.
be parallel.
In like manner
k and
is
planar.
it
The dyadic
0=
where
It
aii
a, Z, c are positive or
Jjj
',
+ ckk
Double Multiplication^
117.]
Definition
The
two dyads
is
The product
is
ab:cd
= ac bd.
(56)
ab:cd
1
The
= cd:ab,
307
and the
product of two dyadics is obtained by multiplying the product out formally according to the distributive law into the
sum of a number of double dot products of dyads.
If
<P
and
=a
=a
=c
b 1 :c 1 d 1
b1
^.
a2 b2
a3 b 3
c2
d2
c 3 d3
...
+ ajb^Oadg +
a 1 b 1 :o 8 d s
a 2 b 2 :c 1 d 1
a 2 b 2 :c 2 d 2
a 2 b 2 :c 3 d 3
...
agbgZCjdj
a 3 b 3 :c 2 d 2
a 3 b 3 :c 3 d 3
...............
Definition:
The
two dyads
(56)'
(56)"
is
the
dyads
is
ab^cd^axc bxd.
(57)
VECTOR ANALYSIS
308
and the distributive law both with regard to the dyads and
with regard to the vectors of which the dyads are composed.
The double cross product of two dyadics is therefore defined
as the formal expansion
distributive
dyads.
a3 b3
of
two fundamental
to
is
309
dyads
equal
dyads are equal or
different.
ij:ki
= ik
= 0.
is
equal to zero
if
But
if
mental dyads
That
is
ij
=i
x k
triple
The expression
*
is
WiQ
cross
ab
(59)
That
is,
or
if
VECTOR ANALYSIS
310
the factors
Let
cross.
$<P
= &l + bm +
The products
equal in
en
The
in the
pairs.
<P*0
and
If a, b, c
1,
0*0=-__A
[a be]
The product
is
+b'm' +
a species of power of 0.
The
notation
Ixm).
(60)
be written
[Imn]
garded as a square of
to represent this
.(a'l'
v
may
others are
c'n'>
It
will be
(60)'
may be
re-
employed
stricken out.
0%
= 0*0
%- = (b x c mxn + cxa nxl + axb Ixm) (61)
3S
The
product of a dyadic
expressed as the
three dyads with itself twice repeated is
triple
(b
sum
of
0$0:0 = 3 0^:0
mxn + cxa nxl + axb Ixm)
:
(al
+ bm +
en).
tors
is
311
zero.
or
<P
<P*0:<Z>
The
3 [abc]
product of a dyadic by
triple
[Imn]
6 [abc] [Imn].
itself
twice repeated
is
0.
119.]
If
(62)
[abc] [Imn].
and
3,
the third of
Theorem
The second
the conjugate
is
The
is
equal
third of
<*><=
4>,
(63)
= (*<-),
and
third.
<*-'),
1
(<^- ) 3
Let
=
=
(*,)-'=*,-*
= al
>-i = V
+
a.'
= <V
m'b'+n'c'
pi
[abc]
(36)
VECTOR ANALYSIS
812
(0a )-i
+ mb +
nc)
+ mb + nc
;2
~[a'b'c'] [1'm'n']'
=1
(0,)' =
But
[a'Vc'] [abc]
Hence
and
(0"
[1'm'n']
1
).
[Imn]
= 1.
= ^-
[abc] [Imn]
(0-i) 3 =[a'b'c'] [1'm'n'].
Hence
Theorem: The second and third of a product are equal
respectively to the product of the seconds and the product of
the thirds.
(0-^2
=<V^2
(*.*),*.*,.
of
= al +
(0.?P) 2
m+
cn,
dxe,
1'
1'
=[abc] [Imn],
r3 =[l'm'n']
Hence
<P
Hence
(0
Theorem
[defj.
[a b c] [d e
r) 3
f].
rs
third of a
of a dyadic are
power
Theorem
The
W=0
(0") 2
(*")
= (*)*=*."
The second
313
n
2
of the idemfactor
is
and third of
is
the idemfactor.
unity.
=I
1 8 = 1.
I2
(67)
the product of
to
Z
<Z>
=b
[l
be non-coplanar.
(b
=0
and the
( 68 >
S I,
The antecedents
.4> C
the third
m n]
a, b, c
(b
x a b
of the dyadic
may
x b
c).
be assumed to
Then
X a b+
x b
c)
[abc]
[ab
c] (a'a
+Vb+
c'
c)
I.
Hence
120.]
sum
of
Let a dyadic
three dyads of
non-coplanar.
be given.
Let
it
be reduced to the
VECTOR ANALYSIS
314
= al +
=b
<P
m+
cn,
x m,
[abc] [Imn].
For
it
consequents of
the
a complete
are
dyadic
non-coplanar.
which occur in
cannot vanish.
must vanish.
But
is
planar.
<P
Hence
for a planar
cannot vanish.
Since
a,
vectors
linear.
But
and not
linear.
vanishes
that
is, 1,
m, n are colis
planar
1,
m,
n,
are collinear.
Hence
Z
may
is
315
The
complete nullity.
<P
3
= 0,
= 0,
3
</>
is
0,
2
complete.
is
0,
= 0,
2
<P
planar.
(69)
is linear.
0,
any anti-self-conjugate
For any such
Nonion Form.
If
121.]
Invariants of a Dyadic
Determinants}-
<P
= OII ii +
+
+
The conjugate
of
a 21
ij
12
ji+a 22 jj +
+ a 32 kj +
a 31 ki
i3
ik
23
jk
(13)
a 33 k k.
main
Thus
+
+
+
ki +
13
i
12 j
22 j j
2 3J
+
+
(70)
32 j k,
kk
33
The second of
term.
Let
it
33
kk = -
aai a 33
iJ
The extension
to
VECTOR ANALYSIS
316
in ij in
(
This
is
the
first
<P
is
a 3l a 23 ~~ a21 a 8s)iJ'
'11
23
"88
This minor
is
coefficient of
ij
the
first
first
minor
is
under consideration
is
even or odd.
The
co-
An =
*M
is
is
is
the cofactor of
*33
6
a21
With
12
aX 223
second of
<P
a-,.
32'
becomes
(71)
+ A sl
ki
= (a n i+a 21 +
j
^32 k j
may
a 31 k)i
^33 kk.
be obtained by writing
[Oil 1
21J
*81
j
This
is
k)
( a 2li
this reason
is
32
33
written
3
The
(72)
'22
(
is
22J
a 33 k)] [ijk]
'21
For
and
317
idea of the
determinant
(72)'
is
is
is
more natural.
The
most
0^0o=^
s l
may
be found
(68)
or
or
Hence 0~l
=n
(73)
31
VECTOR ANALYSIS
318
If the
If
determinant be denoted by
is
ki
6 31
& 32
kj
6 33
kk,
the product
a !3
a21 & 11
+
a 31
32
a 23
& 11
a 22
&21
& 32) J J
+ a 33 ^82) k J +
13
a 23
J 3l)
( a 21
+ a 32 J 21 +
a !2
ll
J 13
33 & 3l)
C a 31 & 12
J i
a 22
ki
a !3
23
a 21
J 23
(
& 12
tt
23
a 31 & 12
a 32 &28
33
a 83
a2
& 3s
a3
& 3s)
31
319
"12
22
31
'32
21
31
The
rule
33
+
+
+
"u
21
'23
+
+
+
a 12
a 22
a 32
may
#]
^22
31
+
+
+
13
23
& 31
a 33
^31
'13
a2
as
23
(76)
32
To
be stated in words.
is
the
sum
column
first
of the second.
If
<P
= al + bm + cn,
Then
= (02 ) 3 =
[b
cxa axb]
xc
Hence
Hence
-12
21
L
31
The determinant
the third order
122.]
is
22
32
is
13
an
a iz
23
a 21
*22
a<
33
a 31
a3
a 33
(7T)
dyadic
which
of the
If
that
is
form in
VECTOR ANALYSIS
320
(78)
'31
No
22
''32
the same.
in the
sum
The
scalar of
The
main diagonal.
of the first
is
sum
the
is
the
By
S,
ZS,
-xl\
(68)
possesses.
satisfies
(0
- xT) c =
-*
(0
(0-xl) s =
II
22
a;
Hence
as
may
- xl\
This equation
scalar x.
That
2S
x*
(0
dyadic
x I) 3
(0
is
(0
x I) c
23
It therefore holds,
if
xz
all
xs
values of the
a?,
the
is
8 0*
2S
& I
= 0.
Hence
(79)
321
matrices.
matrix of the
Tith
In
fact,
may
SUMMARY OF CHAPTER
A
when
vector r'
is
of the
two vectors
is
sum
the
f (ri
when
sum
of
r 2)
= f (ri ) + f (r 2
(4)
).
function of
dyadic determines a linear vector
vector
that
with
a vector by direct multiplication
capital.
= aj
r
=a
b1
!>!
a2 b 2
a2 b2
21
+
r
a3 b 3
CO
-f
a3 b3
(8)
VECTOR ANALYSIS
322
Two
upon
is,
all
when
r
= W
coplanar values of
or
g0r = s?
or
(10)
r,
coplanar values of
r
non-
r,
s.
Any
H---- )
= al + am + an +
+
bl
+ bm + bn +
cm + en +
f cl +
(11)'
ij,
ik,
ji,
Jj,
jk,
ki,
kj,
kk,
(12)
= a n ii + a 12 ij + a 13 ik,
= 2 i + 22 j j + 2 k
= a 31 ki+ 32 kj + a 33 kk.
as
i J
If
3 J
>
( 13 )
Any
dyadic
which the
323
is
unique.
as a
dyad
is
the most
five conditions
The
scalar
= a bj + a b 2 + a
<P X =
aj x b + a x b + a
0j = i.0.i + j.0.j +
=a
a
a
a
~^~
<>23
32 )
(i.
i
'
b3
(18)
x b3 +
(19)
k.0k
(20)
'
0.j-j 0.i)k
.
<>31
- a 13> +
J
(21)
Ol2
2l)
The direct product of two dyads is the dyad whose antecedent and consequent are respectively the antecedent of the
first dyad and the consequent of the second multiplied by
the scalar product of the consequent of the
the antecedent of the second.
(ab)
(cd)
(b.c)ay.
first
dyad and
(23)
The
VECTOR ANALYSIS
324
sum
0.V.T,
&.<P.,
Q.W.Q
s.tf.r.r,
(24X26)
may
by the equation
(ab) x
x (ab)
= a b x r,
= r x a b.
(28)
expressions
r
<P
4>.xr,
?F,
may be
<P
$ x
s,
s,
(29)
may
be
Moreover
s
(r
<P)
= (s
.
(r
r)
5T)
0,
(<P
d>
r)
r)
to zero
is
dyads of
that,
(r
s),
(31)'
that a dyadic
the
sum
may
dyad or
to a single
of
three
known
325
A complete
is
is
one
There
nullity.
annihilator.
when used
as a postfactor.
nullity.
linear
A zero dyadic
or complete nullity.
The products of a complete dyadic and a complete, planar,
or linear dyadic are respectively complete, planar, or linear.
The products of a planar dyadic with a planar or linear dyadic
are respectively planar or linear, except in certain cases where
between the consequents of the
relations of perpendicularity
more degree
is
The product
of
is zero.
dyadic which when applied to any vector in space reproduces that vector is called an idemfactor. All idemfactors
are equal
= ii +
I = aa' +
I
Or
The product
of
+ kk.
bb' + cc'.
(33)
jj
(34)
is
that dyadic.
VECTOR ANALYSIS
326
If the
is
are
factor the
is
called
dyadics
the reciprocal of the other.
complete dyadic may be
of
a
from
either
end
canceled
product of dyadics and vectors
as in ordinary algebra ; for the cancelation is equivalent to
They correspond
Incomplete
to zero in
(0.
The conjugate
gr)-i
of a dyadic
=
is
sr-i. 0-i.
(38)
(0.
)=
4> c .
(40)
= ^(0+
0c)
+ 2L (0-0c)-
(43)
]r.(0-0 )=-lrx0 x
ff
A dyadic of the
(44)
The dyadic
= (I x o)
4> = (I x
c)
I or I
c,
r == (o
where
c is
(c
I)
327
(46)
r,
I)
0.
a unit vector
a quadand an annihilator
is
Ixc
The dyadic
+ cc is a true
parallel to c.
for
all
versor
vectors.
The
of
these dyadics
powers
quadrantal
behave like the powers of the imaginary unit
1, as may
for vectors
i, j,
Applied to the
k
I
= kj
k, etc.
=1
(a x b) x I
(a
r
b)
x (ax
=ba
x (a x b)
(b a
is
a b)
-(49)
equivalent to
ab
(50)
b)=r (ba-ab).
(51)
of three
complete dyadic may be reduced to a sum
and the
themselves
dyads of which the antecedents among
a right-handed
consequents among themselves each form
vectors and of which the
rectangular system of three unit
all negative.
or
scalar coefficients are all positive
0=
This
is
(ai'i
&j'j
plete dyadic
may
(53)
ck'k).
An
incom-
is unique in case
case
In
they are not
the constants a, 6, c are different.
more than
different the reduction may be accomplished in
one way. Any self-conjugate dyadic may be reduced to
the normal form
& = aii + 6jj + ckk,
(55)
in
The reduction
a, &, c
VECTOR ANALYSIS
328
= a c b.d,
abcd = axc bxd.
ab
(56)
(57)
is
by
= al + bm + cn,
= 10x0 = bxc mxn+cxa nxl + axb Ixm.
2
itself
<P
(61)
is
and the
scalar
The second
The third of
= \0* 0: 0=[abc]
of the conjugate
the conjugate
is
is
[1m n].
(62)
(0.3r),=
(*
.JTa
).!->>,
(65)
the second
329
is
0^'0 C =03 I
(68)
The
=
3
is
0,
0,
= 0,
3
is
may
be
complete
0,
= 0,
2
equal
planar
(69)
is linear.
0,
The
by a dyadic 0.
s
This
is
cients
0q
= 0.
(79)
variants of 0.
EXERCISES ON CHAPTER
Show
1.
that the
two
definitions
Show
3.
Show
4.
from
5.
r,
that
if
and
0xr =
a x
xr
SF
for
&&
any value of
unless both
r different
and
Show
then
&) c
must equal
zero, then
linear
of
(0 X
Show
that
= 0.
if
for
W are
r.
VECTOR ANALYSIS
330
6.
Show
and
that
if
is
complete and
Definition
then
are equal.
Q=
if <P
Two
&=
that
are said to be
two dyadics that are commutative
if
Show
that
number
of
dyadics are homogehomologous.
any
neous to one another, any other dyadics which may be obtained
from them by addition, subtraction, and direct multiplication
is
to say,
l
l
or
0,
Justify the statement that if
which are equal, be called the quotient of
then
the
3F,
by
rules governing addition, subtraction, multiplication and
division of homologous dyadics are identical with the rules
gous.
it being
governing these operations in ordinary algebra
understood that incomplete dyadics are analogous to zero,
=cx
9.
Show
that (I
10.
Show
c)
abxc+bcxa+c
a, b, c
x b
(c
I)
<P
=c x
0.
be coplanar
[a b c] I
bxca+cxab+axbc=[abc]I.
and
11.
and
If a, b, c are
the law of sines for the triangle and to obtain the relation
with scalar coefficients which exists between three coplanar
vectors.
This
may
What
is
and
coefficients in the
c.
must
subsist
between the
if
What,
if
331
self -conjugate ?
13.
number
of
ways
in
to
its
normal form.
14.
be zero
self-conjugate dyadic
an
anti-
is
Show
that
if
<P C is
self-conjugate.
16.
Show how
to
make
<P X
Show
that
and
18.
4> $
z
(<P
Show
that
+ W\ =
if
Z
<P
=
2
4>*
Show
that
20.
Show
21.
Show
changed by
that
= 4>3 +
(0 + ) 3 = 3 +
e f) 3
of a self-
V + Wy
(0 +
to
<P
e
2
of a dyadic
<P
2
:
<P
<P
= 0.
f.
V+
Vz +
CHAPTER VI
ROTATIONS AND STRAINS
123.]
dyadics has
completeness which
is
and
to develop, as far as
may
and
strains
$ may
been mentioned.
knowledge
of the
Let now
origin.
r'
= 0-r.
This equation therefore may be regarded as defining a transformation of the points P of space situated at the terminus of
r into the point P', situated at the terminus of r'. The origin
remains fixed.
Points in the
becomes a point
finite
Any
r = b
r' =
4-
x a
b
-f
a.
same
333
straight lines
and
lines
line
a.
Homogeneous
known
as a linear
It is
it
is
The equa-
homogeneous transformation.
= an
y' =
z' = a si x + a^y +
Theorem
124.]
of the points of
<P ,
2
is
is
If the dyadic
space which
due
to a
homogeneous
strain,
the second of
which
33
<P,
$3
to unity.
Let
The
<p
vectors
1',
= al + bm +
en
into
and
a and b.
(ft,
i
Hence
due to
=b
if s
Hence
and m' are
a, b, c.
1', 1'
c, c
and
a,
this result is
Ixm.
replaces
s'
s.
VECTOR ANALYSIS
334
area
be
is
if it
denoting a plane
denoted a
upon
This
line.
acts
on
is
s'
as it
would
acts
s.
To show
The dyadic
from the
to d,
e,
f as consequents.
a, b, c
e f ] is
[a
c].
[d'e'f]
Hence
The
But
[a
be]
[def]
3>
volume [a b cj to [d e f] is as 3 is to unity.
d, e, f were any three vectors which determine a parallelepiped. Hence all volumes are changed by
ratio of the
the vectors
the action of
in the
same
ratio
and
this ratio is as
$3
is
to 1.
Versors
= i'i+j'j +
where
i', j',
k'
and
i, j,
are
k'k
Let
(1)
= a>i +
+ 2k
335
is
changed from
its
position relative to
change of shape
body
carries
suffers
effected.
is
i, j,
The
vectors
is
posi-
no change of shape
to a rotation.
which
i, j,
i,
that
suppose
is,
it
subjected
j,
form
=
Definition
A dyadic
i'
+ j' j + k' k.
which
i'i
is
+ j'j +
k'k
is
called a
versor.
and conversely
if
the conjugate
and
reciprocal of a
Let
<P
= i'i+j'j +
k'k,
0c = ii'+jj' +
0.
c = i'i' +
j'j'
0-*=
Hence the
second part
If
Hence
first
kk',
k'k'
0c.
is
proved.
let
= ai + b j + ck,
<P c = ia + j b + kc,
0-0 c
aa + bb + cc = I.
fl-^00
=I
To
prove the
VECTOR ANALYSIS
336
to a right-handed
Then
= i'i +
or
The
+ k'k,
j + k'k).
j' j
= -(i'i +
j'
is
evidently equal to
0.0 C = I,
Or inasmuch
if
0.
=I0I=1.
as the determinant of
C =I, it
is
(2)
0.0 C =I,
is
is
=I0I>0,
(2)'
a versor.
tion
=I
= -(i'i +
The transformation due
reflection in the origin.
to
is
j' j
=-1
(3)
k'k).
By
k'
still
i'
and
= i'i+j'j
or
(i'i'
j'
the
system
but the dyadic takes the form
i', j',
+ j'j'-k'k')
-k'k,
(i'i+j'
k'k).
337
a rotation due to
is
j'.
mation of space that each point goes over into a point symmetrically situated to it with respect to the plane of i' and j'.
Each
figure
Definition
is
:
by
The
is
0.0 C =I,
Or inasmuch
as if
<P C
(3)
= I,
I0I=-1.
= I,
\<
(3)'
0,
a perversor.
is
from geometrical considerations that the product of two versors is a versor of two perversors, a versor
It is evident
measured positive
if
the angle
in the positive
j'
k'
The dyadic
tion
i'
cos q
j
= i'i+j'j +
+k
sin q
sin q,
+k
cos
q.
is
22
this rota-
VECTOR ANALYSIS
338
<P
i i
cos q
(j j
jk
kj
i i
sin q (k
k).
(4)
+ kk = I-ii,
jj
Hence
k k)
=I
cos q (I
i.
i)
sin q I
i.
(5)
the dyadic
<P
To show
=aa +
that this
rotation apply
it
a a)
cos q (I
is
sin q I
a.
(6)
to a vector
a a is an idemfactor
perpendicular to a. The dyadic I
in
all
vectors
the
for
plane perpendicular to a; but an
The dyadic I x a
annihilator for all vectors parallel to a.
is
to a; but
r be parallel to a
<^r =
aar =
Hence
leaves unchanged
which
are parallel to
vectors)
d>
all
a.
= cos q r +
r.
sin q a
r.
Hence the vector r has been rotated in its plane through the
angle q. If r were any vector in space its component parallel
to a suffers no change ; but its component perpendicular to a
is rotated about a
through an angle of q degrees. The whole
vector
aa=
=a
2
ii
a2
aa
ij
k,
ik
+ 2a
+ az a
J*
ki
JJ+
a 3 a 2 kj
= ii+jj +
a = 0ii
3 ij
339
a 3 J*
2
kk,
kk,
ik,
3J +
JJ-iJk,
- 2 ki + ^kj + Okk.
Hence
= {a^ (1
cos j)
cos
> ii
+ {a 2 (1 cos q)
sin g-} i j
3
+ {a 1 a 3 (1 cos #) + 2 sin * k
+ {2 a (1 cos 2) + a 3 sing-} ji
+ (a22 (1 cos q) + cos q} j j
1
3.1
+ {#2 a s (1 ~ cos #) ~~ a si n ?} j k
+ {agffj (1 cos ^) a 2 sin q} ki
+ (a s a 2 (1 cos ^) + a sin q} kj
+ (a 32 (1 cos q) + cos q} k k.
i
-f-
(7)
127.]
+ cos q Q x j +
=
X
Qs = i
The
cos q
axis of rotation
k x k)
-f
2 sin q
sin q (k
i is
x k)
+ kk) + sin
a = 1 + 2 cos q.
(j
q (k
k),
<P X ,
VECTOR ANALYSIS
340
to be the negative of
But
<P X .
<P y
is
After
is
seen
reduction of
The tangent
<#.
sm
+ cos q
is
+ 0s
..
4> s,
Let
0.
ft
Q,
be a vector drawn
of $, deter-
version.
The vector
ft
completely.
ft
will
be
By
= aa +
Hence
if ft
a a)
sin q I
a.
There
cos q (I
'
sin
in terms
any vector in
space.
ft
c into c
ft
carries
ft
c.
It will be sufficient to
ft.
For
if c
result of
would be
(or any
that c
carried into
is
In the
c.
ft
Since
ft
and
c are
ft
first
place the
ftxc'ftxc
(1
c vanishes.
+
c
(1+
tan 2 i q)
Hence the
ft
(1
c)
ft
ftC.
tan
2
\ q}
tan 2
(1
q)
(1
(c
q)
2
is
In the
equal to
q.
ftxcftxc
+
(1
= COS
tan 2
\
q)
tan 2 i q)
40
+ ft x c)
tan 2 1
equality.
ftxc)_cc
'-
(c
by hypothesis perpendicular
ftxc).(c +
2
ftC
mag-
For
= CC + ft.ft CC
ftxc.ftxc =
cc +
The term
cc +
ftxc)
(c
c)
+ ftXCftXC
C'C
341
tan 1 q
2 c x
_
c
(1
= sin
(ft
tan
c)
I q)
q.
q.
Now
VECTOR ANALYSIS
342
c
and
(i
(c
x a),
ft
= (I I x ft)
c) = (I + I x ft)
+Qx
-1
(i
x a)- 1
(i
-ixft)=i+ixft.
(c
-a
(I
-I
Multiply by c
(i
+ ixft)(i-ix
a)-
c)
=c+
ft
c.
(I
of
ft
c.
ft)
(10)'
ft)-
(I
ft.
ft
into
+ ft-ft)c.
+ Ixft)(c
(I
=c+
ftxc)
x ft).(c-ft +
ftxc
c)=c +
ftxc
ft-ftc
ftx(ftxc)
(l
ftft)c.
dicular to
ft
ft
c into
the vector
(I
produces a rotation of
c, if c
+ Ixft) 2
1 + ft-ft
plane perpendicular
be applied to a vector x
however,
the result is not equal to # ft.
to
ft.
(I
it
If,
ft)
(I
1+ft-ft
ft)
be perpen-
xQ,
= x -(I +
ft
ft)
1+ft-ft
parallel to
-ft
ft
xQ,
1+ft.ft
The
merator.
versor
may
aa +
^=
1
(i
(i
Hence
x
x
ft)
ft)
(i
(i
substituting
x a)
ft)
may
Q,
may
ft,
(i
is
an annihilator
ixtt)*
ft-ft
2 1
(i
which
then be written
=i+
ft)
x
ft
ft
=i
(i
ft ft
ft). (i
- ft
ft
x Q)
i.
This
Q,
343
ft.ft
Let
-(11)
=
128. ]
form
= 2aa-I
(12)
=
or
it
may be
The dyadic
aa
cos q (I
a a)
sin
TT
in the general
a,
is
is
VECTOR ANALYSIS
344
product
=(2bb-I).(2aa-I)
is
is
certainly a versor;
Consider the
a versor.
common
perpendicular to a and
b.
changed.
The
a
leaves the
is
common
2 (b
2 b
a b
of the versor
is
is
a)
- 1 = cos
(b, a).
b.
J? x
of this versor.
Furthermore
Q = (2bb The
I)
(2
aa
- I).
(14)
345
and
Let a be a unit vector
pendicular to the axes of
and
axis
of
such
that the angle from
to
the
perpendicular
half
the
of
to
one
Let c be a unit
a to b is equal
0.
angle
.
?F.
But
(2
bb
I)
it
(2
= (2bb-I).(2aa-I)
- I)
c c
(2 b b
I)
(2 a a
- I).
is
- I) = 4 b b bb-4bb + I = I.
= (2 cc - I) .(2 aa - I).
- I)
(2 b b
Hence
The product
of
perpendicular to a
into
and
is
and
tangents of
is
is
equal to
c.
two versors of which the vector semiversion are respectively ft t and Q.J, the vector
Q3
of the product
q1 + a2
and
which
are
semi-tangent of version
Let
of
+Q xa
2
<P
15
i-ci^a,
- I)
d> = (2 bb
(2 aa
I)
V= (2 cc - I) (2 bb - I).
.
= (2cc-I)
(2aa-I).
*
ba
=4
2 aa
a
b b x
2 b b
a,
is
I,
VECTOR ANALYSIS
346
= 4(a.b) 2 -l,
F=4
=4c
?F X
?F
<P
-2bb -2cc +
b cb
=4
a ca
axb
HfillCfi
QJ
~^r -
(b
O A
y Hi
Q
Ho
Hence
Hence
c)
a)
I,
a,
1.
axe
bxc Q
(a
2 aa
fa b c] b
b)
D b
ft
But
~~
Q.
b,
2 cc
4 (c
0)^
=4c
$) x
(?F
I,
a -b b
[a be] r
ft 2
ft,
bxc
axb
ft 2
axe
a
Q,,
b b
c ft Q
~-
bb
a.e
a
b b>
_(axb)(bxc)_abb.c
a
Hence
b b
Q! x g 2
ft 2
b b
ft,
b b
347
finite rotations.
ftj
and
Q, 2
Q, 3
The
= Q,j +
Q, 2 .
infinitesimal rotations
vector addition.
The
angular velocities.
60.
Cyclics,
129.] If the
and
standpoints in Arts. 51
dyadic
be a versor
<P
it
may be
written in the
form (4)
i i
cos q
The
axis of rotation
axis
is q.
Let
(j j
sin q (k j
k).
Multiplying
is i
W be
W=ii +
k k)
cos q'
(j j
q'.
k k)
sin q' (k j
cos (2
?') (j j
k).
W= W
i i
+ kk)
kj-jk).
(16)
This
and
= ii +
cos
2q
= ii +
cos
nq
(j j
(jj
+ kk) +
+ kk) +
sin 2 q (kj
sin
nq
(kj
-jk),
j
k).
VECTOR ANALYSIS
348
On
kj-jk.
4>*
The product of
i i.
Hence
(i i
= ii +
The dyadic
The dyadic
of $!
cos n
</>
<?
raised to
or
(cos q
$!*
cos q &!
ii into either
Q n = ii +
equal jj
+ kk; and
equal
Then
<P
<P
sin q
w cos"" 1
is
$ 2)n
sin q
is
n
2)
sin ^ (Pj"- 1
*?
itself.
+
0^
<P
r
power gives the negative
on (Art. 114).
2
The dyadic
$2
multiplied by
is
equal to
Hence
n
= ii +
cos n q
- n(n~L)
0"
Equating
=i +
i
coefficients of
cos
nq
and
for <P n
cos
nq
= cos*
n cos n ~ 1 q sin
sm 2 $2 +
cos"- 2 q
2!
But
n (n
--
^-^-.
tf>
1)
-
AI
sin
71
in these
cos"" 2 q
<P
Z
<$
two expressions
sm 2
a, b, c
cc')
sin q
(cb'-bc')- (IT)
349
Let
r
r'
= cos p b +
= cos
This transformation
(j?
sin
q) b
sin (p
may be given
interpretation as follows.
c,
q)
c.
a definite geometrical
The vector
r,
when p
is
regarded
unit circle
f
That
is,
the ellipse
= cos p +
i
and the
sin q
j.
The
equal to
such that
is
<#
r,
f'
= cos (p + q) +
i
sin
(jp
r'
in the circle
+ q) j.
Thus
This statement
may
The vector
may
sector the
area of which
is to the
area of
VECTOR ANALYSIS
350
radius vector r
sector q from
it is
of the
be called an
similarity to
its
Such a displacement
the projection.
Definition
= a a' +
is
may
2-Tr.
of the form
dyadic
cos q (b
4- c c')
The
sin q (c
versor
is
c')
(17)
a special case of a
cyclic dyadic.
It is evident from geometric or analytic considerations that
the powers of a cyclic dyadic are formed, as the powers of a
versor were formed, by multiplying the scalar q by the power
to
a'
cos
If the scalar q is
to be raised.
is
nq
(b
V+
c c')
sin
(c b'
nq
an integral sub-multiple of 2
2?r
TT,
that
c').
is, if
= m,
9.
it is
namely, the
may then
power
and even
may
if
to such a
to raise
it
to
In like manner
factor
m, that
if
power
and 2 TT
possible
it
the idemfactor.
it is
that
little as
in
It is evident that
fixing
an
the ellipse.
4>
For any
for all vectors in the plane of b and c.
regarded as a scalar multiple of a radius vector of
it
where
The
Definition:
130.]
d? adic
= aii + Jjj+ kk
C
a,
&, c
351
is
(18)
The
a right tensor.
dyadic
right tensor may be factored into three factors
itself is called
0= (aii+jj
The order
in
kk>(-(ii
&j
transformation
(ii
and
p'
is
+ jj + ckk)
immaterial.
The
is
is
to the dyadic
may be regarded
or simultaneous elongation of the components of r parallel to i, j, and k respectively in the ratios
a to 1, b to 1, c to 1. If one or more of the constants a, &, c
as
the successive
is less
unity,
The
directions
k are
constants a,
The
i,
&, c
scalars a,
j,
elongation.
In Art. 115
it
0=
(ai'i
Jj'j
ck'k)'
VECTOR ANALYSIS
352
where
a,
Z>,
This expression
may
be
i/i/
(a
0=
or
The
& j'j'
(i'i
+j'j
+ k'k)
(i'i+j'j
(a ii
i'i+j'j
factor
k'k')
6jj
k'k),
+ ckk).
k'k
which
versor
is
be represented by
may
(19)
its
is
',
a versor.
k'.
This
vector semi-tangent of
version as
i/j
The other
v/
TT
+ J x ^ + k x k/
"l + i.i'+j.j' + k.k''
_i
*'
factor
i'i'
or
i i
6 j'j'
ck'k',
is
the second,
i, j,
k.
before
a perversion. Hence
Any dyadic is reducible to the product of a
versor and a right tensor taken in either order and a positive
space
that
Theorem
is,
accompanied by a pure strain either with or without perverThe rotation and strain may be performed in either
order.
In the two cases the rotation and the ratios of elongasion.
same
353
rotation, either
is
d>=
C
0.
tf
(ai'i
(aii'
a ai'i'
6 j'j
ck'k),
J jj'
ckk'),
+
+
&
= a*ii +
j'j'
2
Z>
jj
+
+
k'k',
accord-
(20)
kk.
The
131.]
right tensor
ckk,
is
=a
the dyadic
aa'
4- &
b'
c c c'
(21)
and
sarily a, b, c
Definition
dyadic that
may
is
(21)
called a tonic.
The
coplanar directions
into
its
a, b, c in space.
components parallel to
23
a, b, c
respectively these
VECTOR ANALYSIS
354
may be
tonic
stretches the
components parallel
factors
which each
of
to
a, b, c
The value
of a tonic
is
not altered
if
in place of a, b, c
one
way
if
the constants a,
Z>,
which
is
so expressible in only
If two of the
are different.
is
The product
same
is
of
two
tonics of
commutative and
is
a, b, c
are the
V=
&2
b'
c 2 c c'
ejCaCc'.
(22)
a
is
0.
The
a z a a'
a'
cos q (b
V+
c c')
= aaa' + KbV +
cc')
sin q (c b'
- b c')
(cb'-W),
(23)
355
which a
a, b, c
b ',
',
'
p and
scalar
and
=p
may
cos q
c=psinq.
That
(24)
p=+
is,
and
2=.
tan
(24)'
Then
(P
= a a a' + p cos
This
may
q (b
V+
The
sin q (c
b c').
(25)
+p
c c')
cos q (b b'
c c')
is
+p bb' +pcc')
+ sin q (c V b c')}.
(aa'
immaterial.
The
first is
a tonic
unchanged vectors
parallel to a
but stretches
to 1.
all
The
vectors in
third
is
TT.
is
may
be regarded
VECTOR ANALYSIS
356
Definition
<P
A dyadic which
= a a a' + p cos
V+
q (b
c c')
+p
sin q (c
b c'),
(25)
owing
is
cyclic dyadic
The product
vectors,
a', b',
a,
c' for
consequents
is
is
com-
mutative.
c')
b'
z (c
z)
132.]
to
(bb'
c')
b c')
c c')
Reduction of Dyadics
(c b'
(26)
)-
Canonical Forms
may be reduced
The dyadics for which
the reduction
is
impossible
may
tonic
The method
patent.
left
may
arise, is
If three directions a, b, c
may
however
is
must be a
is
of the dyadic 0.
by the application
If the direction a
is
unchanged, then
d>
or
(0
The dyadic
357
aI
is
=aa
al).a = 0.
a
(27)
it
reduces vectors
any case
if
the dyadic
0-al
it
possesses at least
<P
vanishes.
(0-aI) 8 =
Now
(page 331)
Hence
(4>
(3>
- al) 3 =
I,
)3
<P
<P
3
- a &2
0.
(28)
<P
2
a2
W+
:
12
d>
a3 1 8
= I and I3 = 1.
But
ffi
The value
of a
- a2
ffi
which
satisfies
a
is
zS -4>z
4>
= 0.
(29)
= aa
Let x replace
a.
The
VECTOR ANALYSIS
358
Any
that
That
(0-sI) 8 = 0.
is
(28)'
I is planar.
vector per-
in x
Theorem
xs
- x*
&Z3 -0 S
For
let
= a,
The dyadics
I,
<P
=c
&,
(29)'
in general be reduced
may
=0
bl,
cl
= 0,
(0-cI).c = 0.
$ a = a a,
0.b = Jb,
C = C C.
b
Then
If the roots a,
coplanar.
(30)
Z>,
For suppose
c
= ma +
Ttb
(30)'
a,
b, c
are non-
mca + n
0.a = a,
(P
a,
But
w (a
m (a
m=
Hence
and
Hence
Consequently
if
c)
= 0,
or a = c,
the vectors
a, b, c
?i
})
= 0.
<P.b=&b.
(&
c)
w (b
c)
= 0,
c) = 0.
or b
c.
a, b, c
ft
<P
359
if
reciprocal to
a a,
a, b, c
carries a, b, c into
b b, c c is the tonic
ccc.
Theorem :
If the cubic
xs
- x2
equation
tf>
<P
2S
may
<P
(29)'
in general be reduced to
real root.
<P
is
8
the root be a.
Determine a perpendicular
the consequents of
a I.
to the plane of
(0-aI).a = 0,
Determine
and
a' also
so that
l.
lengths of a and a' be so adjusted that a' a
This cannot be accomplished in the special case in which a
let the
VECTOR ANALYSIS
360
and
a' are
mutually perpendicular.
Hence (0
al)b
perpendicular to
0" 1
2
b, CP"
= 0.
perpendicular to
is
Hence
a'.
$2
In a similar manner
a'.
The
one plane.
- a I)
(<P
vectors
<P
0b
<0 3
b,
b,
is
and
The dyadic
changes a,
The
volume
of
spectively.
[<P
The
a a
vectors
<0
b,
tf>
b,
Inasmuch
as a
x (0-b)
and
<P
=p
~l
and
b3
b_ 1
=^ ^2
or
The
Then
b3
b1
+ b_
b2
b2
= 2?ib 2
= 2wb
b1
b.
(31)'
(31)"
b,
b,
etc.
etc.
Let
2 n br
(33)
= 0.
b.
let
$*
=^ 0~
b) x bj
bj^bj x
b)
(31)
(32)
=p~*
b2 x
b2
b].
b^
+
0bxb.
-b
(b 2
vectors b 2
4>
re-
= a-i08
*
Let also
(<P
in the
all lie
b)
b, <P
the parallelepiped
b]
b)
(<P
Z
a, <P
4>
= <P8 [a
a = a a.
b) = 3 a
But
Hence
b into
b,
b2
(34)
27ib 3
+ b_r=2wb_
etc.,
(35)
etc.
off
Since
361
is
bp b2
etc.,
b_2
b_j,
is,
etc.
since there
no
is
direction in
on
= cos
+ b = 2 cos
n
Then
b_j
Determine
(36)
q.
n must
q b.
= cos q b + sin q c.
sin q c.
b_j = cos q b
bj
Then
Let
W=
W
Then
Hence
cos q (bb'
(aaa'
(a aa'
The dyadic a
the vectors
a.a!
The dyadic
is
cc')
sin q (c
+p
+ .p
+p
+p
a,
=a
=p
b^ = b.
=
b =
b_j =p b = <P
&
"b
a,
b,
b_ r
pos-
and since
V - be').
3P
SF.b^bj,
= (a a a' + p
root
0,
(a a,*'
=1
a'
is
Let
are non-coplanar.
a, b, c
This
a, b, c.
and
W)
=a
a,
b_g respectively.
a
a'
+ p cos
+ p sin q
Hence
V + c c')
b c').
(c V
(b
reducible
The theorem
VECTOR ANALYSIS
362
134.]
In
impossible, as can be seen by looking over the proof.
if
n
in
the
constant
the
used
reduction to cyclothe first place
is
tonic form be
place
if
In the second
0-al
and the plane of the consequents are perpendicular the
and a' used in the reduction to cyclotonic form are
vectors a
perpendicular and it
a a' shall be unity.
If
is
1,
Let
b_i
Choose
Hence
bj
c^bj
=a
a a'
+p
bx
b.
= 2 b.
=b
=p G =p'b
a a a'
b_j
b_r
+p
J9
(b b'
(b
b'
c c')
c c')
to this dyadic
+p
-f-
c b'
C.
cb r
may be
(37)
seen best by
(a a a'
b'
c c')
{a a/
(a
a'
+ p (b b' +
+
bb'
c c')}
cc'
cb').
imaginary part of the two imaginary roots of the cyclotonic becoming zero or by
two of the roots of the tonic
approaching each other.
first
363
ratio a to
to 1.
The
(I
(I
+ c V)
c b')
(I
in
cb'.
x&
xb
+ c V)
form
= #a,
= x b + x c,
x c = x c.
tor c multiplied
plane of a and
cb'
is
general dyadic
cc')
+ oV
(37)
cc')-cV
(a aa'
+ bV +
cc')
{aa'
-p
(bV +
cc')}
(37)'
(I
cV).
VECTOR ANALYSIS
364
The
tion
b and
The
is
coefficient
B must vanish.
and
With
carried on as before.
new
This
case occurs.
Nothing new
Let
may be reduced
as follows to the
ab'
where
Square
V=a
arises.
But
be'
= b e' =
and b
W* = A D ki = ac'.
e'
= A D k,
B vanishes
form
Then
if
b'
= Ci+Di
AD
O =
b'
c',
= 1.
parallel to
i.
With
365
reduces to the
this choice of a, b, V,
c'
the dyadic
= al +
= aaa' + abb'+
or
ab'
ace'
reduced to
is
bc'
(38)
+ aV +
be'.
This
The
may be
first
represents
r'=
If r
is
what may be
IT +
ab'.r
parallel to a
it
is
r is parallel to b it is
which
is
if
bc'^r
+ ab'.r +
r.
magnitude
and
in
of the vector
r.
r is parallel to c it is
which in direction
is
= (I + ab' -f bc') #b =
a;c = (I + ab' + bc')#c =
.zb
Definition
dyadic which
= al +
is
bc'
left
in direction equal to a
tional to the
For
may
ab'
r.
#b + x&
xc
#b.
+ bc'
(38)
The complex
shearer as well as the simple shearer mentioned before are limiting cases of the cyclotonic and tonic
dyadics.
VECTOR ANALYSIS
366
03
0z
zs
0_
(39)
= 0.
(29)'
<P
z
a x
23 x
<P
&, c
(0-aI).(0-&I).(0-cI) =0.
If,
(40)
a I).
(0 -2^?
cos
<P+p*I) =0.
(41)
which
may
satisfy
of lowest degree
its characteristic
II.
III.
IV.
V.
VI.
VII.
equation.
The following
possibilities occur.
(<P-aI
(0- a I).(<P-& I) 2 = 0.
=0.
first
form
a tonic and
is
= aaa' +
Jbb'
= aaa' + p
cos q (bb'
= aaa' +
is
cc')
367
may
be reduced
ccc'.
a cyclotonic and
may
+p
be').
sin q
(cV
is
(bb'
cc')
may
be
be
cb'.
may
In the
fifth
= aaa' +
so expressed that
0=
al
&
(bb'
cc').
is
a complex shearer
ab'
is
= al + cb'=a(aa'
and may be
bc'.
-4-bb'
+cc') + cV.
al
a (a a'
bb'
cc').
kinds of dyadics
VECTOR ANALYSIS
368
Summary
of Chapter
VI
s'=02
r'=0r,
The necessary and
v'=0 a
s,
or that
d>
that
is
be reducible to
it
or that
v.
<P
(1)
(2)
by which each
figure is replaced
by one symmetrical
to
it is
that
= -(i'i +
<p.<p c = I,
<P
<P C = I,
or that
or that
is
k'k)
(1)'
= 1
3
<P < 0.
3
(3)
j' j
d>
called a versor
(1)', a perversor.
or
If
cos q (j
i i
+ kk) +
cos q (I
is
= aa +
The
i i)
- j k)
sin q (kj
sin q I
(4)
i.
(5)
cos q (I
a a)
sin q I
x a
(6)
<P V .
and
axis
if
369
the magnitude of
f his
is
= tan 2 ^2
ft. ft
In terms of
ft
the versor
(9)
be expressed in a number of
may
ways.
&=-ftft
ft-ft
ftft \
-
r-
cos a (I
or
sin q
<J-<v
(I
x a)
(I
-I
=
Va-a
ft)-
(10)
(10)'
(ioy
ftft
-.
1
ft-ft
=2
aa
form
(11)
a biquadrantal versor.
Any versor may be resolved into
the product of two biquadrantal versors and by means of
is
such
resolutions
another.
of version
The law
is
ft
ft
ft
ft
= aa' + cos
is
(bV +
simple rotation
an
cc')
It
sin q (cb'
be')
(17)
produces a generalization of
The
pro-
VECTOR ANALYSIS
370
angles q.
idemfactor.
cyclic dyadic
may
= aii +
where
+ ckk
(18)
a right tensor. It
a
the
principal axis i, j, k in the
stretching along
represents
1
are
a
to
c
to
which
called the principal ratios
to 1, b
ratio
1,
This transformation is a pure strain.
of elongation.
a, &, c are positive scalars is called
Any
dyadic
a right tensor,
(ai'i'
0=
or
may
and a positive
(i'i
Jj'j'
or.
negative sign.
k'k') (i'i
+ j'j + k'k).(aii+Jjj +
j'j
k'k)
ckk).
(19)
as a
or unaccompanied by a perversion.
The immediate
and the
(21)
and cyclotonic
cc')
or
<P
= aaa' + .p cos
where
Any
(21),
=+
# (bb'
*/ 52
C2
+ c(cb'-bc)
(23)
+ cc')+^sin # (eb'-bc')
and tan I
=-
p +
(25)
(24)'
and
therefore a cyclotonic.
The condition that a dyadic be a
tonic is that the cubic equation
(29)'
shall
real
371
roots.
reduction
when
=aaa' +p
and
is
a simple shearer, or
it
(bb'
is
a complex shearer.
cc')
cb'
(37)
= al +
and
In these
ab'
Dyadics
bc'
may
(38)
be classified accord-
=0
tonic
a I) (<P 2
2 p cos q <P + p 2 1) =
cyclotonic
2 =
a !)($
& I)
simple shearer
(<P
(0 al). (<P b I) =
special tonic
3
(0 a I) =
complex shearer
(0 a I) =
special simple shearer
a I) =
special tonic.
(<P
(<P
(0
aI).(<P
61).
(<Z>
cl)
CHAPTER
YII
MISCELLANEOUS APPLICATIONS
Quadric Surfaces
If
136.]
0.i =
const.
(1)
the form
r
or
The dyadic
= 1,
r = 0.
is
may
(2)
dyadic
is
as an exercise.
The
r.
By
r is
-1-
If
r .,.
a2
<>
bz
"
(3)
\.
/
2)
= ici + yj + zk,
r=
r
#2
_
7/2
|i
zz
(4)
=1
if
*=-y"
sign
For
be assumed to be self-conjugate.
ment
(1)'
negative
it is
is
a real ellipsoid.
if
If the
If
one
two are
QUADRIC SURFACES
373
equation
r.0.r =
Thus
the equation
r
= const.
The
quadric surface
may
form
in the
conjugate dyadic
This
is
surfaces
surface reduces to
= const.
x2
a2
zz
= const.
i i
is
j j
a2
kk
%c2
where
a, b, c, d, e
a) (b
(r
r,
c,
the
)r,
The
c,
first
first
two terms
and
order
scalar expression
which
But
and
r
(r
quadratic in
is
a) (b
=r I
=r
r)
r.
r,
ab
r.
VECTOR ANALYSIS
374
r.0.r + r.A +
where
a constant dyadic,
is
conjugate if desired.
To be rid of the linear term r
(r'
- t)
r'
Since
equal.
r'
(r'
- t) +
-t
now $
r'
is
+2
r'
(|
<P
r'
In case
is
A-
is
incomplete
is self -conjugate.
as the case
soluble for t
If
may
or
4>
t)
may
= l 0-
C'
= 0.
be chosen so that
1 -
A.
sible.
- t) A + C =
Hence
is
(r'
is
self-
a change of origin
+
-fr'.A-t.A+C'^O.
r'
^A=
of
make
A,
as
t.
r'
r'
If
a constant scalar.
by replacing r by
(7:=0,
r'
it is
lies
= const.
or in the line
be the equation
But unless
is
is still
is
pos-
impossible.
is
an interesting exercise.
The present
object
is
It will not
to develop so
much
be taken up
of the theory
QUADRIC SURFACES
375
dr
Since
is
= 1.
dr
self-conjugate these
= 0.
T=
dT'0
differentiation.
0.
(5)
r.
Hence
perpendicular to
normal to the surface at the extremity of the vector
The increment d r
this
is
normal be denoted by
and
N=
n
d>
n.
(6)
.
($
Let
r.
normal be
r)
r is
<P
r)
Hence
= r cos
r
p.p
p)
=p
LH = r
Or
as
p and
0.
2
.
p.
._Z_
p.p
= l.
r.0-r = r.H =
But
Hence inasmuch
(r,
l.
= N=
p.p
(7)
VECTOR ANALYSIS
376
On
page 108
it
was seen that the vector which has the direcand which is in magnitude equal
is
Hence
may be
= 1,
d>
is
H.^- -H = I.
I
~ ^ jj
^- U
*
Tf
kk
--
4.
"I
Let
N = ui +
and
where
= a?i +
w, v,
are
the
yj
(8)
vj +
kk.
zk,
k,
geometry.
/y
or
N. Q-i. N = a 2
u*
77
bz vz
wz =
l.
(10)
QUADRIC SURFACES
The
377
locus of the
It
is
to
parallel
r be
Let
=s+
x a.
Hence
= (s +
a)
(s
+ 0.s-j-2S.0.a +
#2
x a)
= 1.
a.0.a =
l.
s is
A
= 0.
perpendicular to
a.
The
If
with
is
s is
a,
= 0.
with a and
of the diametral
b.
Then
a
= 0,
c = 0,
a = 0.
(11)
VECTOR ANALYSIS
378
The
vectors
the dyadic
The
vectors
= <P
b'
a,
=a
= 1,
and
=c
ab/ = a0b = 0,
a'
The dyadic
may
= <P
c.
4>
= 1,
=b
a = 0.
a, b, c.
= 1,
c'
a'
=b
b'
=c
c'
= 0,
(12)
and
If for
c'
b,
For
0a,0*b,<P*eby
Let
<P.
a'
a, b, c
a, b, c,
be called a
invariants of 0.
may
0The determinant
pendent of the
= aa +
or third of
bb +
0~ l
form in which
is
is
-i=[abc]
cc.
QUADRIC SURFACES
But
0- 1
if
a 2 ii
2
Z>
jj
=a b c
= ale.
[a b c]
-i
Hence
^V"
3,
The sum
and
1
,
kk,
preting
379
possible to
it is
show that:
drawn to an
ellipsoid in a
is
constant
of the
ellipsoid.
The sum
of the squares of the reciprocals of the three perpendiculars dropped from the origin upon a system of three
conjugate tangent planes is constant and equal to the sum of
Let
a,
b, c
= i.
<p
0-i
+j
+j
0-i
j
.
+k
j
k,
0-1
k.
respectively parallel to
Hence
ffi
=b
.
i, j,
<P
But
k.
$
j
\- ,
b
.
=c
.
0-
j
-
= 1.
.
directions.
Hence
VECTOR ANALYSIS
380
The sum
perpendicular
in a similar manner: the
sum
diculars dropped from the origin upon three mutually perpendicular tangent planes is constant.
The equation
139.]
is
= 1.
(13)
For
+ sa
x + y
ys
O + y)
g.0.
If the terminus of
_J-
/v
i/
xy
O+
s lies
a _I_
>>
=1
.0.i +
2/)
X
,
O+
a.0.a = l.
2/)
two values
vanishes.
Hence
<P
=1
is
of
a.
Let a be replaced by
or
z a.
It is evidently immaterial
d>
QUADRIC SURFACES
When
381
0.
direction
a.
This
frequently taken as the definition of the diameIn case the vector a is a radius
tral plane conjugate with a.
vector of the surface the polar plane becomes identical with
statement
is
or
The equation
a.
N=1
The
which
polar plane
is
important.
may
P= r
and
the equation
If a quadric
(r
- C = 0,
1)
k (r
C)
curve.
In like manner
the equation
(r
if
1)
(r
0'
1)
other points.
is
factorable into
two
equations which are linear in r, and which consequently represent two planes, the curves of intersection of Q and Q'
become plane and lie into those two planes.
VECTOR ANALYSIS
382
For
of
let
any
a be the vector
drawn
to the point
A.
The equation
= 1.
= 1,
r = 1.
r
(r
Hence
By
d>
4>
(r
Jfe
(a
- I) 2 = 0.
If this passes
(a
- 1) +
is
- 1) +
- 1)
k (a
a
(a
ffi
1)
- I) 2 = 0.
- (a
r - I) 2 =
0.
to be a cone
140.]
Let
sible in the
It is expres-
form
=A
where A> B,
more let
ii
+ ^jj +
tfkk
A <B
- Bl =
((7-
J5)
<
kk - (B - Ay
ii.
Further-
QUADRIC SURFACES
VC B
Let
Then
Let
=c
and
= cc-aa=^
c
=p
(c
The dyadic
= a.
+ a)(c-a)+(c-a)(c+a)
and
= Bl +
Then
VB
383
|-(p q
j.
= q.
qp).
(14)
pq +
The reduction has assumed
are different
qp.
zero.
is
Br
Let
r
r
<P,
+
r
This
= 1 becomes
r = 1.
r
p q
= 1.
=n
p.
n q
By
substitution
0.
r (r
w)
and
difference
= 0.
intersect in
The
= n.
two plane
VECTOR ANALYSIS
384
Inasmuch
are circles.
In like manner
circles.
.Z?
p q
= 1.
ishes.
as
B r-r = l
and
is
of constant length.
The section is therefore a circular
The radius of the section is equal hi length to the
section.
mean
For convenience
stants
may
A, B,
let the
The
con-
reciprocal dyadic
0~l
quadric be an ellipsoid.
The
0-1
Let
Then
i i
k k
ti
0-1
= ff -
dd
Jo
= *\\
(f
d) (f
- d)
(.
+ (f-d)(f +
+
Let
Then
0-i
=u
and
=iI +
(u
d)j
- d = v.
v u).
(15)
QUADRIC SURFACES
385
The vectors u and v are connected intimately with the circular cylinders which envelop the ellipsoid
r
=1
or
-N N+N
For
If
N=
<P~l
N=
uv
1.
1.
now N
uv
N N=
.
That
is,
the vector
is
B.
of constant length.
But
the equation
the equation of a cylinder of which the elements and tangent planes are parallel to n. If then N BT is constant the
is
The
cylinder is a circular cylinder enveloping the ellipsoid.
radius of the cylinder is equal in length to the mean semi-axis
of the ellipsoid.
extremities of the
two
and
mean
q.
The
through the
There are also
circles pass
u and
v.
The
Two
These
direction
elements of
mean
axis
ellipsoid.
results
One
axis of this
ellipse
is
the
mean
axis of
the
The
other axis of the ellipse varies in length from the major to the
minor axis of the ellipsoid and hence at some stage must pass
At this stage of
through a length equal to the mean axis.
25
VECTOR ANALYSIS
386
is
circle.
is
perpendicular
mean
the
mean
axis.
At
this stage
The
is
Let
and
dr
dr
if
r is to be a
maximum
dr
Furthermore
= 0.
r = 0,
a = 0.
r = 0,
Differentiate
=1
or a
Conversely
if
dr may be chosen
Then
d>
r]
[a r
r]
= 0.
= 0,
perpendicular to their
0.
(16)
common
plane.
QUADRIC SURFACES
Hence
maximum
r is a
or a
mininum and
387
is
form
r
instead of
This
may
It is frequently
of an ellipsoid in the
be done
because
= 1,
r = 1.
r
(17)
if
i
kk
j j
-h
H-2
2
2
i
'
membered that
there
example,
i i
__
For
-Ha
'
meant by
been denoted by
is
for
_ kk
__
j *
j
*
i
root which
be regarded as
But it must be re-
are
and
W may
<P* is
The equation
of the ellipsoid
r
or
Let
(?T.r).
r'
may
= 1,
(?F.r) = l.
W
the sphere
is
r'
r'
= 1.
The equation of
VECTOR ANALYSIS
388
^'rit becomes
=b
2P 2
Wz
=b
a.
a
If for the
moment
a'
a'
5F2
denote respectively
r.c,
=c
c = c
=V
b' = V
=
=
b'
a'
c'
radii vectors
a,
b,
= 1,
a' = 0.
c'
c'
c'
c'
a', b',
l
are mutually orthogonal.
formed by the operator
They
form a right-handed or left-handed system of three mutually
Theorem
ellipsoid
Any
by means
ellipsoid
of a
may
homogeneous
strain.
and
By means
ellipsoid are
of the strain
= 1,
W r = 1.
r
0* the
r'T'
r'=0*T,
By means
of the strain
a unit sphere
= l.
V-*
0i
r.
(19)
QUADRIC SURFACES
389
without a perversion.
Any
by a
The
is
az
If r
2
b'
1 and r
c'
family,
i i
i i
nr
*
^tt
Hence
j *
*
j
L_
>
a2
j:
T2/
kk
j j
&
1 1 ~f"
0- - y-i=
Cb
k k
62
7i
72.
&
1 1
c2
"^~
n*&
(C
- n^ (ii + j j +
= (% - wi) T
(w a
---
71
K.
kk)
=1
r = 1
and
be confocal,
r
is
two quadrics
and
differ
by a
0-i
y-i
= a .i.
(21)
VECTOR ANALYSIS
390
If
and
Let
Then
the quadrics
1 .
r,
s'.
be written in terms of
may
and
= 1,
W r = 1.
= W
r and
s and r = W~
r
*'
= 0-
do so at right angles.
intersect, they
s'.
and
s'
as
= l,
?T-i.s' = l,
0- 1
.s
0-i
If the
is
yr-i
=xi
But
= 0= ~
-s
y-
-1
s'
s'
s'
s'
= 0.
y~ +
s =
l
1 .
s'
5P-1 .
I)
8,
s'= 1
-s
SF-1
s'.
In like manner
r
- CM
a?
Add
Hence
- (0- - I)
= W-*
= s 008
= s (0~
s
)
=
s
0,
a;
s'
s'
aj
JP"-
= 00s = 8
s
s =
1
s'
'
s'
a; s'.
1.
a;
s'.
s'
s'
s'
is
proved.
parameter n be allowed to vary from
oo to
+ oo
the
which one
and the
QUADRIC SURFACES
391
the family
It
may
For
let
any
ellipsoid be given
The neighboring
by the dyadic
dyadic
U
ndn
W=
and
,
*^
dn
bz
JF-i= 0-1
Inasmuch as
kk
JJ
*^
a?
dn
dn.
are
by the
8, p.
330)
V=* + Idn.
omitted,
and
By
(19)
d>
dn)
(0 +
dn)~*
(I
dn)
= 1.
0*
r,
4>
dn)-
(I
= 1,
(0 +
_i
* .
r,
= r - d-~n
r.
VECTOR ANALYSIS
392
The
<P
which
is
(P.
Hence the termini of f and
perpendicular to the ellipsoid
for
r are corresponding points,
they lie upon one of the lines
= _a = r
dn x
'-x- --^
- dn i.
.
Of
The
ratio of these
The axes
(7
-=!
x
is
Their ratio
a.
components
TL
--
2 a2
are
Va2
dn and
is
Va 2
dn
V& 2
,
In v
like manner
dn
s
2
-i
j
dn
by
2 a2
dn = y- j Vc 2
and
x
x
dn = z
-.
The
infinite isotropic
netic
1
To
medium which
is
transparent to electromag-
The
V.D = O
+ UD + vF-o,
Pot
393
(i)
ct t
where D
is
the electric displacement satisfying the hydro-dya constant of the dielectric meas0,
namic equation V D =
ured in electromagnetic
due
to the function V.
units,
and
VV
is
constant
(P.
is
then become
V-D=0.
VF=0,
Operate by
x.
d2
x Pot -n
Ct/
The
last
(2)
+47rVxVx0-D =
r
/
6
0.
(3)
the derivative
167).
also be written as
Pot
d2 D
-r-y
+47rVxVx0.D = 0.
VxVx=VV
But
Remembering
d D
that
D and
(3)'
V.
consequently
and
Ct v
V V
is
equal to
TT
the
Ct t
? = V.V<P.D-VV.0.D,
= 0.
(4)
Ct t
VECTOR ANALYSIS
394
Then
where
and
= A cos
That
the direction A.
vance
the
is,
in the direction
the quotient of
is
and n a constant
wave advances
n )
(m
scalar
n by m,
If this
The
value of
in those equations.
V V
D,
VV
and
D,
D may
be
m x.
The
and
variables y
no longer occur in D.
= A cos
= i 5D =
-=
VV
V
m2
m2 i
m A
V V
(m x
dX
V V
Hence
t)
A m
sin
(m x
cos
(m x
n f)
sin
Hence
cos
(m
m m
(mx
<P
nf).
t~)
VV.<P.D = -mm.<P.D.
Moreover
Hence
if
t*
n z D.
is
medium
w2 D
and
d2
= m m <P D m m
m A = 0.
.
<P
(5)
(6)
395
0.D.
Introduce
The vector s
is
the quotient of
velocity of the wave.
of
=-
s is
(5)'
by
This
n.
The
vector
The magnitude
the wave-slowness.
D=
This
may
D.
s s
also be written as
=-
(s
D)
=s
x (0
n
A = sx(0.A)xs =
It
is
ss
wave slowness
D) x
s.
),
88.0.
s
A.
(7)
depends not at
all
upon the phrase of the vibration but only upon its direction.
The motion of a wave not plane polarized may be discussed by
decomposing the wave into waves which are plane polarized.
Let a be a vector drawn in the direction A of the
144.]
displacement and
let
that
The equation
a
1.
(8)
= sx(0-a)xs =
s.s
0.a = ss.0a
a = 1.
(9)
(8)
=s
medium may be
a
=s
carried on.
s.
(10}
VECTOR ANALYSIS
396
equal in
is
drawn
radius vector
in the
to the
1 in that
direction.
axa = = ss
a x
= s.s(ax0a)'0a = axs.<Pa
But the
first
term contains
a x
The wave-slowness
[a
a]
0.
a.
Hence
(11)
direction a of displacement
a drawn to the
is
known.
advance of the wave compatible with the displacement is completely determined, the velocity of the advance is likewise
known.
in either direction
perpendicular to
there are
two
s.
Hence
for
minateness of
from the
ellipsoid a
=1
To these statements concerning the deterwhen a is given and of a when s is given just
is
If s is perpendicular to
When
slowness
397
a varies.
=s
-s
(I
a
or
The dyadic
&
ss
s s
<P)
<P
a
a
= 0.
(12)
vectors parallel to
The
a.
it
annihilates
This
gives immediately
s.s<P
(I
or
(tf-i-s.
This
is
= 0,
+ ss) 3 = 0.
ss.<P) 3
I
(13)
It is the locus of
s.
e f) 3
0^
f <P3 .
Hence
common
factor
self-conjugate.
s.
1.8
8-8
(0-
-&
si)-
S.
Hence
\-
Let
1-8.
-=
= 0.
= 0.
(14)
is
VECTOR ANALYSIS
398
i-.
?/
Let
Then
ic
yj
& 2/
and
\-c
= x2 +
z 2.
T
,
T
,
"
~~cf
(14)'
l-fl
The equation
directly
(0-1
The determinant
a2
By means
_8
obtained
ss) 3 :=0.
of this dyadic is
xz
x y
2
x y
may be
in Cartesian coordinates
from
is
Z>
of the relation s 2
= xz +
0.
(13)'
+
z 2 this
assumes the
forms
x2
a2
95
s'
ic
2
Z>
a*
y
*
2
c2 z
9 T
o'
_i
I
I
9
z
95
s'
==
**i
c^
This equation appears to be of the sixth degree. It is however of only the fourth. The terms of the sixth order cancel
out.
The
vector
Suppose that a
unit of time
it
will
magnitude
of
= ui +
s.
by the vector
vj
399
the end of a
s,
a distance
The plane
will
(page 108).
wls.
the plane at the expiration of the unit tune cuts off intercepts
upon the axes equal to the reciprocals of u, v, w. These
quantities are therefore the plane coordinates of the plane.
They
The equation
of the wave-
surface in plane coordinates u, v, w is identical with the equation for the locus of the terminus of the slowness vector B.
The equation
is
uz
v2
w^
^o^o^o =
P
9
a4
where
= u2 +
vz
~T""*>
o*
w*.
This
The
may
\/
72
(15)
surface
The
It is the
same as
VECTOR ANALYSIS
400
In a non-isotropic
equal to the velocity of the wave.
The ray does not travel perthis is no longer true.
that is, in the direction of the
wave-front
pendicular to the
wave's advance. And the velocity with which the ray travels
is
medium
ray travels along the radius vector drawn to the point of tangency of the wave-plane. The wave-planes envelop the
wave-surface; the termini of the rays are situated upon it.
Thus in the wave-surface the radius vector represents in magnitude and direction the velocity of a ray and the perpendicular
wave
magnitude and
instead of the wavein
In like manner
s.
if s'
and
v'
d v' = 0,
may be
v'
=1
s'
and
2a
=g
ds
<p
a_ s
da
v
d
v'
0,
= 1,
= 0,
dv
d>
da
</>
da..
= 0,
a,
ads +
s s
s'
as follows.
_ ss
a
(16)
and
a, s,
<P
Hence
to v.
s'
expressed in terms of
a
d&
d &' perpendicular
s'
and
or
But
ds
since v'
ds
a.
(s
0, v'
v'
= x (s
and
a)
= 0,
<P
401
= 0.
a have the same
direction.
v' = # (s
Hence
v'
=s
a)
.
a;
s.
a
(17)
v'
a),
CP
a
s
$as0a =
0.
v' is perpendicular to
a, that is, the
the
to
the
tangent plane
ray velocity
ellipsoid at the
extremity of the radius vector a drawn in the direction of the
displacement. Equation (17) shows that v' is coplanar with
lies in
a and
plane.
The
The
s.
vectors
In that plane
angle from
Making use
(16) (17),
it is
a,
s is
to v'
is
a,
s,
and
v'
therefore He in one
and
(0
a)
a be replaced
If
are reciprocal systems.
tions take on the symmetrical form
by
a,
v',
v'
a,
s,
X
a'
the equa-
=a a
a a' = 1,
s
v' = 1,
v'-v' = a'.a'
v'.a' =
a = s x a' x s
a' = v' x a x v'
s = a x v' x a
v' = a' x s x a'
-1
a
a = 1
a' = 1.
a'
s
a.
a.
(18)
Thus
VECTOR ANALYSIS
402
on the
ellipsoid
It
146.]
ellipsoid, the
other.
if s
was normal
to
one of the
cir-
same magnitude.
wave
primary
velocities
In like manner
[<P
The
optic axes.
velocities.
v'
v'
a]
[a' v'
0~l
a']
a
0.
which
The
first
v'
equation
[0
v' a] ==
drawn
in the ellipsoid
to
of the
of that cylinder.
direction
v'
sections
radii vectors
VARIABLE DYADICS
of the ellipsoid
which
lie in
403
may
of the ellipsoid
point there are an infinite number of tangent planes enveloping a cone. The wave-velocity may be equal in magnitude
and direction to the perpendicular drawn from the origin to
The
two
are
and are
called
If a ray
wave planes
Variable Dyadics.
147.]
The
differential
VECTOR ANALYSIS
404
Let
W be
Let
be
dr = dxi + dy j + dz
d
9W
W = d x 9W
+ a y ---h
^
v
ax
,
k,
9W
d z -7
Hence
W=dr
\i
9W
--dx
i-
spect of #,
and
9W
---h k 9W)
->
dz
dy
The antecedents
first partial
The expression
2/, z.
analogous to del
<y
is
derivatives of
found
in a
are
k,
i, j,
W with
re-
manner precisely
V W.
by
(1)
Then
<2W
This equation
is
= dr.VW.
(2)
function F.
dV=dr VF.
It
may be regarded
nonion form
as defining
VW.
expanded into
If
VW becomes
dx
Qx
Qx
9Y
3y
+
if
9Y
9Z
Toz-+kj^-+kk^
arz
dz
W
i
-,
VARIABLE DYADICS
405
and
The operators
x which were applied to a vector
function now become superfluous from a purely analytic
For they are nothing more nor less than the
standpoint.
V W.
scalar
W = (VW)^
curl W = V x W = (V W)
divW = V.
The
(4)
(5)
VW
dyadic
ator
V may be
of
If
function V,
=dT' VVT,
Qzy
Qzy
y
+ ij = ^- +
VVF= ii 32
^r
dx
d x*
where
ik 7:=-,
d x dz
dy
result of applying
v
^J
V twice
This dyadic
be a dyadic.
is zero its scalar
dy
fcj o
dz 3x
The
dy*
~f~
J J
dy 3x
n
dz
n
o
z*
'
is self -conjugate.
V V V is evidently
= 52 Y
V.V V= (VV V) a
V
*
'
+
-=-j
z
5x
92
Its vector
.-s-j
d 2
52
+ -^-Tz
VX VV
VECTOR ANALYSIS
406
If
V three
sum
9s
1 1 1
93
i j
r,
d x*
k*
T
etc.
^- ,
a x d y dz
is
a triadic.
be applied twice to a vector function, or once to a dyadic function of position in space, the result will be a triadic and hence
outside the limits set to the discussion here.
x and
The
to a dyadic
operators
to yield
90
90
- + kx-90
+
Vx0 = lx-5r
ax jx 3
dy
3
-,
and
Or
90
+
^3x
90
-r-
dy
(7)
90
.
-r-.
3z
(8)
V = ui + vj + wk,
If
where
n, v,
w are vector
Vx
=V
x u
<P
=V
if
Vxvj
+V
u
v
v
Vx
+V w
+k
wk,
(7)'
k.
(8)'
w,
9y
and
V.0 = ^ + ^
+ ^.
d
dx
dz
(8)"
IE DYADIC S
VECTOR ANALYSIS
408
The
bolically as a vector.
must be
to which
it is
x (vw)
(v
X w)
[V
(v
Hence
It
which the
implies
factor of a product
[V x (vw)] v + [V x (vw)]^
(v w)] v
Hence
[V
it
=V
w)] w
(v
x v w,
V w] v = v x V w.
Vx (vw) = Vxvw vxVw.
[V x
which
Thus
applied.
[V x
148.]
upon each
Again
differentiations
[v
[V
(v
x w)] v + [V
(v
x w)] w
=Vv
(v
x w)]^
x w,
v (w x v)] = V w x
V(vxw) = Vvxw v^xv.
x w)] v
was seen
and the
if
v.
denote a curve of
point
point is r the line integral of the derivative of a scalar function taken along the
curve is equal to the difference between the values of that
is r
initial
function at r and r
final
fZr.VF=F(r)-F(r ).
*> c
In like manner
and
idr.VW
Jc
id r
W (r
W(r)
VW =
),
0.
/o
It
may
fdr.VW
and
fvw
VW
dr
is a dyadic.
The
by no means the same thing.
vector d r cannot be placed arbitrarily upon either side of it.
are
VARIABLE DYADICS
Owing
409
dr
VW.
f f dax
VF=
t dr
Cfd&x VW=Cdi W
ffdaVxW =
if
d&
<P
idi'W
/
dr
0.
The
like
relations exist
surface integrals.
fffd, V.W
f f fdv V X
///
W=
Cda, X
*-//
f f f^V VX 0=:CCdSLX
$.
VECTOR ANALYSIS
410
The
are taken.
Numerous formulae
of integration
by parts
like those
upon
To
Pot
fff
'"
w <>"
fff
*
The
be denned.
'-///
New W =
Lap *
may
12
before.
may
sum
be given
is
W as
the
of its components,
Yj + Zk
and the dyadic
as expressed with the constant consequents
k and variable antecedents n, v, w, or vice versa,
i, j,
upon them
at all
was
The
object of en-
which occur when variable dyadics are considered. These extensions differ so slightly from the simple cases which have
411
may
how they
be treated.
There are two different methods of treating the curvature of surfaces. In one the surface is expressed in para149. ]
=fi <X
*0
or
y =/a O' *0
r
=f
(u,
=/8 ( w
>
v)
t>).
This
is
The
latter
method
z)
thus
0.
lies in
drawn
to the surface
dF=dr* VF=Q.
Hence the
surface.
derivative
V.Fis
Moreover, inasmuch
as
normal to the
This
is
VECTOR ANALYSIS
412
V F may be
upon
In
by
F (#, y, z) = const.
the normal
increases.
let
Then
(1)
the terminus of
r, s
(s-r).
and in
like
V^=0.
V^=0,
s = r + kV F
(s-r) X
or
where k
VF
dn. is
413
-/v
The dyadic
dicular to
nn
is
all
vectors perpen-
parallel
to
n.
Hence
dn
and
= d n,
V^.(I-nn)=0,
dn =
Hence
N d r VV F* (I
= di
dr
But
Hence
n n)
(I
tfi
nn).
(I
VV.F. (I-nn)-
dn = dr<-(I-nn)
Let
nn).
= (I-nn).'.-
Then
= dr
dn
0.
r.
The dyadic
N
Evidently (I
is
self-conjugate.
= (I - n n),
- n n) c =
is self-conjugate.
a vector parallel to
(I
Hence
For
VV F) c
- n n)
(I
C is equal to 0.
n, the dyadic
- n n)
produces
When applied
zero.
lie
to
It is there-
VVF
The
VECTOR ANALYSIS
414
It is possible
the surface.
form
=a
i'i'
to the
b j'j'
(5)
where
i'
dn = dr
The
vectors
and the
i', j'
151.]
The
conic r
is
=1
a and
is, if
the point
but
if
j'j').
is
variable.
is
that
scalars a, b vary
The dyadic
of the surface.
i'i'
(a
an
an hyperbola, that
ellipse,
convex at
is, if
a and b
imaginary, an
ellipse.
Two
directions
jugate directions. The directions on the surface which coincide with the directions of the principal axes i', j' of the
indicatrix are
known
the surface
is
is
an
ellipse
and the
form
a(i'i'+j'j')
(5)'
number
The
of ways.
directions.
415
directions
i'
Any
pair of
The
to
i'.
The
form
&=
(5)"
i'i'.
and other
omitted.
The
The
Through
VECTOR ANALYSIS
416
the surface
if
is
lines pass.
These
convex.
imaginary
they do not in general intersect at right
curve upon a
that as one advances
is
is parallel to
dn=
= (a
+I
dr = x
+ yj'.
& dr
i'i'
For
j'j')
dr
i'
It is frequently
The
dnxdr = Q.
Another method of statement
is
(6)
lie
in one plane
an element of a
the element d r
The
differential
dn dr]=0.
[n
(7)
= dr
dn dt = dr
is
For
dn
If then
dn
r is zero
asymptotic direction.
dr.
r is zero.
The statement
is
Hence d r
is
therefore proved.
an
It
417
The
differential equation of
an asymptotic
line is
dvdr = Q.
153.]
Let
(8)
But
n' coincides
unless the
n' to
is
ds
As
(Art. 57).
unit tangent
equal.
in the direction of
d n'.
dr _dn' dr
ds 2
ds
dn'
ds
By
hypothesis
= n' at P
and
dr
= n'
dr
d(ndr~)=dn'dr + n'd z r =
d (V d r) = d n' d r + n' d 2 r = 0.
(),
Hence
dn
Since n and
n'
dr
d2
= d n'
n'
d 2 r.
are equal at P,
dn dr =
Hence
dr
dn
- dr
dr
4>
dn'
dr
-^527
dr.
dr
<P
dr
rfr .rf r
0.;
is
VECTOR ANALYSIS
418
(J
=. n
d
dr
-f-
dr
dr
dr
Hence
C=
a cos 2
(i',
d r)
& cos 2
(j',
or
C=
a cos 2
(i',
dr)
J sin 2
(i',
d r),
df).
(10)
The
i'
to
j',
the curvature
of the
i',
to
when
it
The values
passes through the other principal direction j '.
of the curvature have algebraically a maximum and
njinimum
in the directions of the principal lines of curvature.
6
have unlike
signs, that
at P, there exist
two
directions for
The sum
the surface
is, if
is
If a
and
concavo-convex
of the curvatures in
is
one section
is
and
=a
cos 2
(i',
c?r)
5 sin 2
(i',
dr),
Cz =
Hence
a sin 2
C1
dr)
(i',
& cos 2
(i',
+C = a + b=0 s
dr).
(11)
show
2S
is
ature.
<P
xz
zs
4> s
=ab
x
+ &zs =
(12)
419
the quadratic equation which determines the principal curvatures a and b at any point of the surface.
By means of this
is
may
be found in terms
oiF(x,y,z).
VV^-2_
(nn
VV F
Hence
nn) 5
a
N
nn
(nn
VV^ ) 5 =
T
(nn
(nn
Hence
= V.V.P
^-
V..
-
n.
(13)
<P
The
vector expression
may
be obtained
as follows:
nn) 2
= nn.
Hence
VECTOR ANALYSIS
420
vector defined as n
i, j, k system.
Hence the condition
an
Hence
d (m
n)
x d n
becomes
= 0.
(15)
m d n=
= = m dn +
Hence
dm
= 0.
Moreover
dm
= 0.
Hence
x dm
= 0,
dm.
(16)
dmxdn = Q.
or
The increments
of
m and of n
(16)'
and of r are
is
all parallel in
case of
geodetic line
let
acting under
its
own
brium along the shortest curve which can be drawn upon the
surface between the two given points.
Inasmuch as the
string is at rest
surface
must
lie
reactions of the
Hence
The
vectors t and
dt
lie
is
normal
n.
Hence
deter-
perpendicular to the
and
and consequently
is
n X
or
The
= 0,
d t=
t = 0.
X d
421
(17)
[n d r d* r]
= 0.
(18)
The
surface
is
system of geodetics.
There may
or
that
t,
is,
m form
an
i, j,
k system
I
dt
Hence
= tt + nn + mm.
Since
t is
may
be
fixed origin is
sphere by the method of parallel normals.
of a
assumed, from which the unit normal n at the point
VECTOR ANALYSIS
422
given surface
upon
is laid off.
If the
of this
normal
lies
curve.
T of
the surface
may
mapped upon a region T' the sphere. The region T' upon
the sphere has been called the hodogram of the region T upon
be
the surface.
If
d r be an element
of arc
dn
is
dr.
be an element of area upon the surface, the corresponding element upon the sphere is da! where (Art. 124).
If da.
da!
=a
2
= ab
Hence
The
its
ratio of
hodogram
curvature at
i'
da!
(Pi* da..
i'i'
j'
= ab
J j'j'
i'xj'
nn
= ab
nn.
da..
(19)
P to
the area of
P or to
cipal curvatures at P.
It
is
total
integral.
(20)
and
C' near
together.
the curve of
variation
Cm>dt= Cs
d (m
B
d t.
dt+ Cm.Bdt
(m. dt~)= C Sm
St)
= dm*
St
+m
d Bt
Bt
+ C d (m
m^t=
The idemfactor
d t and
for t
423
is
Sm
dt
5t).
8 t) vanishes
dm
Sk
I^tt + nn
By
m dt= /(Smn
dm
dt
n8t).
and n
it is
seen that
Smn=:
dm n =
Hence
m Bn
Bt
8nt
m dn
dt
dn
Cm dt=
|(mxtSnxdn)=
t.
m dn tSn)
I
Bnx
dn.
VECTOR ANALYSIS
424
The
the
differential
8n x dn
hodogram upon
/
n x dn
da!
curve
C start at
a point
upon the
But
if
m dt=
dt
TT.
Hence
dt
H= 2
TT
or
?r
- Cm
H+ Cm
or
dt
dt,
(22)
= 2ir.
is
is
If the
closed curve
The
amount
is
425
sum
of the exterior
is less
than
If the surface is
negative.
The sum
than
TT.
Such a surface
There
is
is
is
is
in
an intermediate case in
lines
when
it is
so deformed that
Geodetics remain
The sum
of the angles of
amount
hodogram
of
of turning along
any
From
this it follows
VECTOR ANALYSIS
426
The
158.]
motion
Bivectors
differential
is
dt*
The
may be reduced by
a suitable
=A
sin
t.
D
Consider
=i A
=i A
sin
sin
cos
t.
m x.
This
is
of
which
is
#, y, z it
repre-
perpendicular to
=i A
the equation
cos
(m x
f)
(1)
If v
be the velocity;
length,
n
= -,
m
2?r
= 2 TT
m
the
427
wave
= -.
p
(2)
The displacement
A z cos(mx
D 2 =j
differs
nt)
= A cos
(m x
f)
the wave-front.
A still
by substituting m
r for
m x.
= A cos
Then
r
(m
(3)
t).
So much for
rectilinear
harmonic motion.
wr.
dt*
The general
integral
r
The
is
obtained as
= A cos n + B sin n
t
t.
discussion of waves
viously.
is
seen to be
VECTOR ANALYSIS
428
= A cos
dV =
7i
dt
(m
sin
(m
f)
t)
sin
(m
+B
sin
(m
(4)
t).
f)
(5)
and divided by
n.
D+V
The
A sin (m
t)
+B
its
sin
(m
form
is
t~)
}.
concerned,
harmonic motion. Indeed any undamped elliptic harmonic plane wave may be represented as above by the product of a bivector and an exponential factor.
The real part
of the product gives the displacement of any point and the
elliptic
displacement
The
real vectors
less to
biscalars.
429
The
bi-
of
may
Whenever
it
becomes
bivector
Greek or German
may
letters
may be
be expressed in terms of
called upon.
i, j,
k with com-
plex coefficients.
If
and
= Oi +
rl
=x
r2
= # 2 * + 2/2 J + *
2)
or
Two
= TJ + * r a
i -f
(Vi
yl
* y-i)
= #i + yj +
when
z^
2
>
+ Oi +
*a)
>
2k.
their real
and
their imaginary
is the
Two bivectors are parallel
parts are equal.
product of the other by a scalar (real or imaginary). If
a bivector is parallel to a real vector it is said to have a real
when one
direction.
In other cases
it
direction.
Let
Then
if
r
if
= TJ +
r =
s,
r||s
= s2 + i sa
r =
and r 2 = s 2
r = a;s = (x + i x^)
and
r2
B,
VECTOR ANALYSIS
430
r
(r x
(T!
= (r
r
r
rs
Two
B!
(r 2
(rj BJ
r 2 Ba)
s )
2
s ),
a
a)
r2
(TJ
+i
<>!
(T I
s2
r2
gj),
r2
and
when
The conjugate
The conjugate
itself.
and
Sj)
r 2 BJ).
is
- ra
BJ)
biscalars
is
of
any
Oi +
(TJ
Oi +
i r )
a
r2> ( r i
- i ra ) = TJ
<>!
i ra )
(r x
~*r)=
or cyclic factor as
= TJ +
ra
- i r ) = 2 i r2
rx
(ri ri
If the bivector r
i r
a
ra r2 )
rx ,
ri
-r
r2>-
it is
ra
is,
by an imagi-
where
the conjugate
i
2
= a + i J,
+ & 2 = 1,
sin q
multiplied by a
is
i J,
(7)
products
ri
'
ri
*2
are unaltered
Thus
r2>
*2
X *H
T l r2
r2 r l
T2 r2
r i'
= r/ +
'
'i'
i r
a
rz
'
'
'a'
(a
= TJ
5) (r x
rj
ra
by such a
if
r'
~T
i r a ),
ra , etc.
f2
factor.
160.]
431
Let
geometric results.
r/
i r
2
Then
'
r/
ra'
By
real
=r
cos 1
it
sin q) (TJ
r x cos q
duced in the
(cos q
is
b and
by
same as
cyclic dyadic
sin q (c
c c')
change pro-
of a bivector
precisely the
(8)
r i si*1 ?
used as a prefactor.
r2 ).
r2 sin #,
= a a' +
be')
c are
their plane.
'
ellipse.
They
TT.
Such a change of position has been called an
rotation
elliptic
through the sector q.
The ellipse of which T I and r2 are a pair of conjugate semi-
as q
is
to 2
diameters
is
called the
directional
ellipse
of the bivector
r.
When
is
a true ellipse.
The
If the real
and imagi-
Hence
multiplication of a
VECTOR ANALYSIS
432
bivector by
cyclic
factor retards
directional ellipse by
its
It is
To
in
it
= (cos q + i sin
q) (a
b) where a
If a
(cos 2 q
Form
(a
b)
i b).
= 0,
r
(cos 2 q
Let
and
With
sin 2 q) (a
= 0.
sin 2 q) (a
=a+
tan 2 q
b).
i b,
-.
(cos q
sin q)
r.
are equal in
is
The
indeterminate.
r vanish.
is
If
r
The condition
is
= x2 +
0,
is
is
a circle.
called a circu-
is
r circular.
0,
i
a circle
directional ellipse
2/j
+
+
which for
2k,
z2
= 0.
= 0,
The
a bivector vanish
The
is circular,
condition that
is
433
it
its
by
con-
jugate vanishes.
Ol +
r2>
'
then
0*1
TI
- * r2> = r
= r2
rl
'
and
conjugate and
161.]
their product
The condition
f2
>
becomes equal
it
becomes equal
two
that
'
= 0.
r2
to r
to
r.
bivectors be parallel
is
that
the product of the other by a scalar factor. Any biscalar factor may be expressed as the product of a cyclic
factor and a positive scalar, the modulus of the biscalar.
If
one
is
two bivectors
differ
directional ellipse
circular vector
be parallel.
The condition that two bivectors be perpendicular
r
is
or
Consider
coincide.
first
s2
=r
0,
s2
r2
BJ
= 0.
Let
r
The
r2
sx
TJ
scalars a
and
dicular to r2 , and
condition r
(T!
i r2 ),
=b
(s 1
i s ).
2
I are biscalars.
BI
s =
r2
may
then gives
s2
and
TJ
28
s2
+. r2
BJ
= 0.
VECTOR ANALYSIS
434
The
first
s2
hence
1
If both vectors
major axes of the ellipses are perpendicular.
have real directions the conditions degenerate into the per-
Let
and
s.
and
perpendicular to
s.
form a bivector
r'
which
is
the conditions
the plane of
Hence,
ellipse
s.
if
other projected upon the plane of that one are similar, have
the same angular direction, and have their major axes perpendicular.
162.]
D
where
A and m
= Ae, i(m
are bivectors
'
- n()
and n
'
(9)
is
a biscalar.
r is the
It is therefore to be con-
1 It should be noted
that the condition of perpendicularity of major axes is not
the same as the condition of perpendicularity of real parts and imaginary parts.
be considered as
is
real.
Let
is
435
also to
VECTOR ANALYSIS
430
The
If the
waves are
the resultant
is
A+
B)
(m
'
~"
By combining two
Ae- m*- r
e-
<n '
<mi
(e
The theory of
+ e -' mi-
bivectors
The
carried further.
and
= 2Acos
mt
(n^
the reader
how
nt)
r)
__
e~^' T e~ int
to the
when
ellipse
is
bivector
D may
waves of
elliptic
vectors
the
Theory
of Light a wonderfully
1
simple and elegant treatment.
"
1
Such use of bivectors is made by Professor Gibbs in his course of lectures on
The Electromagnetic Theory of Light," delivered biannually at Yale University.
Bivectors were not used in the second part of this chapter, hecause in the opinion
of the present author they possess no essential advantage over real vectors until
the
magnets and
crystals, total
and metallic
by
University of California
LII7
inr
9?
^**
OA
A
72
BKAKY6#.
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