Electromagnetics

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

Electromagnetics; William Hayt& John Buck, 7th & 8th editions; 2012
Preliminary material
(mathematical
requirements)
Vector Analysis
Vector algebra:
Vector Calculus:
Addition; Subtraction;
Multiplication
Differentiation; Integration
Vector: A quantity with both magnitude and direction. (Force F 10N to the
east).
Scalar:A quantity that does not posses direction, Real or complex. (Temperature
T 20o .
Vector addition:
1) Parallelogram:
A
A B
2) Head to Tail:
A B
B
Chapter One
Dr. Naser Abu-Zaid; Lecture notes on Electromagnetic Theory(1); Ref:Engineering

Vector Subtraction:
A
B
A B
A
B
B
Multiplication by scalar: B k A
2A
B 0.5A
B 3A
0.5A
A
3A
Commulative law: A B B A
Associative law: A B C A B C
Equal vectors: A B if A B 0 (Both have same length and direction)
Add or subtract vector fields which are defined at the same point.
If non vector fields are considered then vectors are added or subtracted
which are not defined at same point (By shifting them)
Chapter One
B 2A

THE RECTANGULAR COORDINATE SYSTEM
x , y , z are coordinate
Right Handed System
variables (axis) which are

mutually perpendicular.
z
Out of page
z
z 3
P 1,2,3
A point is located by its x , y

and z coordinates, or as the
intersection of three constant
surfaces (planes in this case)
y 2
x 1
Chapter One

z
z 3
P 1,2,3
surface
(plane)
x 1
Surface
(plane)
y 2
Three mutually perpendicular surfaces intersect at a common point
Chapter One
surface
(plane)

Increasing each coordinate variable by a differential amount dx , dy ,

and dz , one obtains a parallelepiped.
z
P' x dx , y dy , z dz
P x , y , z
dz
dy
dx
Differential volume: dv dxdydz
Chapter One

Differential Surfaces: Six planes with dierential areas ds dxdy ; ds dzdy ;
ds dxdz
dx 2 dy 2 dz 2
Differential length: from P to P dl
VECTOR COMPONENTS AND UNIT VECTORS

A general vector r may be written as the sum of three vectors;
z
Projection of
r into z-axis
z 3
C
Projection of
r into x-axis
P 1,2,3
r
B
y 2
x 1
Projection of
r into y-axis
r A BC
A , B , and C arevector componentswith constant directions.
Unit vectorsa x , a y , and a z directed along x, y, and z respectively with unity
Chapter One
length and no dimensions.

a x
a z
a y
a z
a z
a y
a x
a y
a x
a y
a x
So, the vector r A B C may be written in terms of unit vectors as:
r A B C Aax B ay C az
vector components
scalar components

A , B, C
A , B ,C
Where:
A is the directed length or signed magnitude of A .
B is the directed length or signed magnitude of B .
C is the directed length or signed magnitude of C .

As a simple exercise, let rp (Position vector) point from origin (0,0,0) to P(1,2,3),
then
rP 1ax 2ay 3az
rP are:
rPx A 1 ; rPy B 2 ; rPz C 3 .

Vector components of
rP are:
Chapter One
Scalar components of

rPx A 1ax ; rPy B 2ay ; rPz C 3az .

If Q(2,-2,1) then
rQ 2ax 2ay az
And the vector directed from P to Q,
rPQ rQ rP (displacement vector)
which is given by
rPQ 2 1ax 2 2ay 1 3az ax 4ay 2az

z
rPO
rQ
rP
rP
The vector
rP is termed position vector which is directed from the origin toward
Chapter One
the point in quesion.

Other types of vectors (vector fields such as Force vector) are denoted:
F F x ax F y ay F z az
Where
Fx , Fy , F z
are scalar components, and
F x ax , F y ay , F z az
are the
vector components.
The magnitude of a vector
B B x ax B y ay B z az is;
B B
A unit vector in the direction of
B x 2 B y 2 B z 2
B is;
B
B B x ax B y ay B z az
aB
B
B x 2 B y 2 B z 2
Let
aB
B B x ax B y ay B z az and A Ax ax Ay ay Az az , then
A B Ax B x ax Ay B y ay Az B z az
A B Ax B x ax Ay B y ay Az B z az
Ex:Specify the unit vector extending from the origin toward the point G(2,-2,-1).
Ex: Given M(-1,2,1), N(3,-3,0) and P(-2,-3,-4) Find:
(a) R MN
(b) R MN R MP
(d) aMP
(e) 2rP 3rN
Chapter One
(c) rM

THE VECTOR FIELD AND SCALAR FIELD
Vector Field: vector function of a position vector r . It has a magnitude and

direction at each point in space.
v r v x r a x v y r ay v z r az
v x x , y , z a x v y x , y , z ay v z x , y , z az
Chapter One
Velocity or air flow in a pipe
10

Scalar field: A scalar function of a position vector r . Temperature is an

example T r T x , y , z which has a scalar value at each point in space.
T1
Ex:A vector field is expressed as

S
125
1 y 2 z 1
2
x 1a
y 2ay z 1az
(a) Is this a scalar or vector field?

(b) Evaluate S @ P 2,4 ,3 .
(c) Determine a unit vector that gives the direction of S @ P 2,4 ,3 .
Chapter One
(d) Specify the surface f x , y , z on which S 1 .
11

THE DOT PRODUCT
A B A B cos AB
Which results in a scalar value, and AB is the smaller angle between A and B .
Projection of B into A
B cos AB
AB
B
Projection of A into B
A cos AB
A B B A
since
A B cos AB B A cos AB
ax ax ax ax cos 0 111 1
ay ay ay ay cos 0 111 1
az az az az cos 0 111 1
ax az ax az cos 90o 110 0 az ax

ay az ay az cos 90o 110 0 az ay
Chapter One
ax ay ax ay cos 90o 110 0 ay ax
12

Let B B x ax B y ay B z az and A Ax ax Ay ay Az az , then

A B Ax B x Ay B y Az B z
2
A A Ax2 Ay2 Az2 A A 2 A A A
The scalar component of B in the direction of an arbitrary unit vector

a is given by B a
B
B a B a cos
B cos
Scalar Projection of B into a
B cos B a
The vector component of B in the direction of an arbitrary unit vector
Chapter One
a is given by B a a .
13

Vector Projection of B into a
B a a
Distributive property: A B C A B A C
Ex: Given E y ax 2.5x ay 3az and Q(4,5,2) Find:
(a) E @ Q.
(b) The scalar component of E @ Q in the direction of
an
1
2ax ay 2az .
3
(c) The vector component of E @ Q in the direction of
1
2ax ay 2az .
3
(d) The angle Ea between ErQ and an .
Chapter One
an
14

THE CROSS PRODUCT
A B A B sin AB a n results in a vector

A B A B sin AB
Direction of A B a n
an is a unit vector normal to the plane containing A and B . Since
there are two possible an' s , we use the Right Hand Rule (RHR) to
determine the direction of A B .
Cross product clearly results in a vector, and AB is the smaller angle
between A and B .
B sin AB
which is the height
A B
Of the parallelogram
an
AB
A
A B sin AB
Is the area of the
parallelogram
Properties:
A B B A
A B C A B A C
Chapter One
A B B A
15

A B C A B C
ax ax ax ax sin 0an 0
ay ay ay ay sin 0an 0
az az az az sin 0an 0
RHR
Out of page
ax ay ax ay sin 90o an 111an az
ax az ax az sin 90o an 111an ay
ay ax ay ax sin 90o an 111an az

ay az ay az sin 90o an 111an ax
az ax az ax sin 90o an 111an ay
az ay az ay sin 90o an 111an ax

Let B B x ax B y ay B z az and A Ax ax Ay ay Az az , then
a x a y a z
A B A B sin AB an Ax Ay Az
Bx By Bz
Chapter One
Ay B z Az B y a x Ax B z Az B x a y Ax B y Ay B x a z
16

CIRCULAR CYLINDRICAL COORDINATES
, , z are coordinate variables
which are mutually

perpendicular.
Remember polar coordinates

(The 2D version)
P ( x , y ) or
P( ,)
x cos
y sin
is measured from x-axis
toward y-axis.
Including the z-coordinate, we obtain the cylindrical coordinates (3D

version)
A point is
located by its
, and z
coordinates.
Or as the
intersection of
three mutually
orthogonal
surfaces.
P ( x 1, y 2 , z 3) or
P ( 5 , 63.4 o , z 3)
z 3
x 1
y 2
Chapter One
17

z z1
surface
(plane)
P 1 , 1 , z 1
a z
z1
Surface
(plane)
1
surface
(cylinder)
Chapter One
1) Infinitely long cylinder of radius 1 .

2) Semi-infinite plane of constant angle 1 .
3) Infinite plane of constant elevation z z 1 .
18

The three unit vectors a z , a , and a are in the direction of increasing

variables and are perpendicular to the surface at which the
coordinate variable is constant.
y
a
a z
x
Chapter One
19

Note that in Cartesian coordinates, unit vectors are not functions of

coordinate variables. But in cylindrical coordinates a , and a are
functions of .
a 2
a1
a 1
a x
a y
a x
The cylindrical coordinate system is Right Handed: a a az .
Chapter One
a 2
y
a y
20

Increasing each coordinate variable by a differential amount d , d ,

and dz , one obtains:
dd area
d arc length
Note that and z are lengths, but is an angle which requires a

metric coefficient to convert it to length.
metric
coefficient
Chapter One
arc length
21

ds ddz
ds ddz
dz
ds dd
Differential volume: dv dddz
Chapter One
Differential Surfaces: Six planes with dierential areas shown in the

figure above. (Try it!)
22

Transformations between Cylindrical and Cartesian Coordinates
From cylindrical to cart:

x cos
z z1
y sin
z z
From cart. To cyl.:
x x1
y y1 y
x2 y2
y
tan
x
Chapter One
z z
23

Consider a vector in rectangular coordinates;
E E x ax E yay E zaz
Wishing to write E in cylindrical coordinates:
E E a E a E zaz
From the dot product:
E E a
E E a
E z E az
E E x ax E yay E zaz a
E x ax a E y ay a E zaz a

E E x ax E yay E zaz a
E x ax a E y ay a E zaz a

E z E x ax E yay E zaz az
E x ax az E y ay az E zaz az

Chapter One
24

900
a
a y
a x
x
a z
Clearly:
ax a ax a cos cos
ay a ay a cos 90o sin

ax a ax a cos 90o sin
ay a ay a cos cos
az a az a cos 90o 0
az a az a cos 90o 0
So:
E E x cos E y sin
Or in matrix form
E cos sin E x

E sin cos E y
Chapter One
E E x sin E y cos
25

And, the inverse relation is:
E x cos sin E

E y sin cos E
Chapter One
Note that the story is not finished here, after transforming the
components; you should also transform the coordinate variables.
26

THE SPHERICAL COORDINATE SYSTEM
r , , are
coordinate
variables.
P x 1, y 2 , z 3or
P r 14 , 35.69o , 63.4 o
z 3
is
measured
from x-axis
toward y-axis,
and is
measured
from the zaxis toward
the xy plane.
x 1
y 2
Chapter One
A genral point is loacated by its coordinate variables r , , , or as the

intersection of three mutually perpendicular surfaces.
27

z
1
P 1 , 1 , z 1
surface
(cone)
r r1
a r
surface
(sphere)
1
Surface
(plane)
increasing variables and are perpendicular to the surface at which

the coordinate variable is constant.
Chapter One
1) Sphere of radius r r1 , centered at the origin.

2) Semi-infinite plane of constant angle 1 with its axis aligned
with z-axis.
3) Right angular cone with its apex centered at the origin, and it
axis aligned with z-axis, and a cone angle 1 .
The three unit vectors ar , a , and a are in the direction of
28

P r1 , 1 , 1
a r
a
Chapter One
r1
29

a r
xy plane
a z
Note that in spherical coordinates, unit vectors are functions of

coordinate variables. a , a and ar are functions of and .
y
a 2
a r1
a 1
xy plane
a z
Chapter One
a r 2
30

y
a 2
a 2
a1
a 1
a y
a x
a y
a x
The sphyrical coordinate system is Right Handed:
a r a a .
Chapter One
Increasing each coordinate variable by a differential amount dr , d ,

and d , one obtains:
31

Note that r is length, but and are angles which requires a metric
coefficient to convert them to lengths.
arc length
r
metric
coefficient
arc length rsin

metric
coefficient
Differential volume: dv r 2 sin dr d d

Differential Surfaces: Six surfaces with differential areas shown in the
figure. (Try itttttttttttt!)
Transformations between Spherical and Cylindrical Coordinates

z
From spherical to cart:

x r sin cos
z z1
y r sin sin
z r cos
From cart. To spherical:

r x2 y2 z 2 ; (
y
x
x x1
r1
y y1 y
)
x
Chapter One
tan 1
32

Consider a vector in rectangular coordinates;
E Ex a x E ya y Ez a z
Wishing to write E in spherical coordinates:
E Er a r E a E a
From the dot product:
Er E a r
E E a
E E a
Er Ex a x E y a y Ez a z a r
E x a x a r E y a y a r E z a z a r
?
?
?
E Ex a x E ya y Eza z a
Ex a x a E y a y a Ez a z a
?
?
?
E Ex a x E y a y Ez a z a
Chapter One
E x a x a E y a y a E z a z a

?
?
?
33

a z
a r
90 0
a
xy plane
From figure
a z a r a z a r cos cos
a a r a a r cos 90o sin
a z a a z a cos 90o sin

And the rest is left to you as an exercise!
So:
Er Ex sin cos E y sin sin Ez cos
Chapter One
Note that, after transforming the components; you should also

transform the coordinate variables.
34
Chapter One

35

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Dr.

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

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

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

THE RECTANGULAR COORDINATE SYSTEM

Right Handed System

variables (axis) which are

A point is located by its x , y

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

Three mutually perpendicular surfaces intersect at a common point

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

Increasing each coordinate variable by a differential amount dx , dy ,

Differential volume: dv dxdydz

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

Differential Surfaces: Six planes with dierential areas ds dxdy ; ds dzdy ;

Differential length: from P to P dl

VECTOR COMPONENTS AND UNIT VECTORS

Unit vectorsa x , a y , and a z directed along x, y, and z respectively with unity

length and no dimensions.

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

So, the vector r A B C may be written in terms of unit vectors as:

C is the directed length or signed magnitude of C .

rP 1ax 2ay 3az

rPx A 1 ; rPy B 2 ; rPz C 3 .

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

rPx A 1ax ; rPy B 2ay ; rPz C 3az .

rPQ rQ rP (displacement vector)

rPQ 2 1ax 2 2ay 1 3az ax 4ay 2az

rP is termed position vector which is directed from the origin toward

the point in quesion.

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

are scalar components, and

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

THE VECTOR FIELD AND SCALAR FIELD

Vector Field: vector function of a position vector r . It has a magnitude and

Velocity or air flow in a pipe

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

Scalar field: A scalar function of a position vector r . Temperature is an

Ex:A vector field is expressed as

(a) Is this a scalar or vector field?

(d) Specify the surface f x , y , z on which S 1 .

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

THE DOT PRODUCT

ax az ax az cos 90o 110 0 az ax

ax ay ax ay cos 90o 110 0 ay ax

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

Let B B x ax B y ay B z az and A Ax ax Ay ay Az az , then

A A Ax2 Ay2 Az2 A A 2 A A A

The scalar component of B in the direction of an arbitrary unit vector

Scalar Projection of B into a

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

Vector Projection of B into a

(c) The vector component of E @ Q in the direction of

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

THE CROSS PRODUCT

A B A B sin AB a n results in a vector

an is a unit vector normal to the plane containing A and B . Since

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

ax ay ax ay sin 90o an 111an az

ax az ax az sin 90o an 111an ay

ay ax ay ax sin 90o an 111an az

az ay az ay sin 90o an 111an ax

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