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Vector Fields
Reading
Trim 14.1 −→ Vector Fields
Assignment
web page −→ assignment #9
T = f (x, y, z) y
However, suppose air is moving around in the room and at every point P , we can assign an air
~ (x, y, z), where
velocity vector, V
z
where the right side of the above equation consists of
x, y, z components at a point, with each component
being a function of (x, y, z). To describe V ~ in the
room, we need to keep track of the 3 scalar function,
u, v, w at each f (x, y, z). y
~ (x, y, z) is a vector function or a vector field.
V
x
1
Gradient, Divergence and Curl Operations
2D 3D
∂ ∂ ∂ ∂ ∂
∇ = î + ĵ ∇ = î + ĵ + k̂
∂x ∂y ∂x ∂y ∂z
The del operator operates on a scalar function, such as T = f (x, y, z) or on a vector function,
such as F~ = îP + ĵQ + k̂R (force) or V ~ = îu + ĵv + k̂w (velocity).
∂f ∂f
∇T = î + ĵ
∂x ∂y
∂f ∂f ∂f
∇T = î + ĵ + k̂
∂x ∂y ∂z
The physical meaning was given in Chapter 13. ∇T is a vector perpendicular to the T
contours that points “uphill” on the contour plot or level surface plot.
~
2. divergence: ∇ dotted with a vector function → ∇ · V
We can define the velocity in a 3D room as
~ = div V
DIVERGENCE of V ~ =∇·V
~
!
∂ ∂ ∂ ∂u ∂v ∂w
~ = î
∇·V + ĵ + k̂ · îu + ĵv + k̂w = + +
∂x ∂y ∂z ∂x ∂y ∂z
2
~ , produces a vector
3. curl: the vector product of the del operator and a vector, ∇ × V
~ = curl V
curl of V ~ =∇×V
~
!
∂ ∂ ∂
~
∇×V = î + ĵ + k̂ × îu + ĵv + k̂w
∂x ∂y ∂z
î ĵ k̂
∂ ∂ ∂
≡
∂x ∂y ∂z
u v w
∂w ∂v ∂u ∂w ∂v ∂u
= î − + ĵ − + k̂ −
∂y ∂z ∂z ∂x} ∂x ∂y
| {z } | {z | {z }
V1 V2 V3
= î V1 + ĵ V2 + k̂ V3
∂w ∂v ∂u ∂w ∂v ∂u
~ = î
curl V −
+ ĵ
−
+ k̂ −
∂y ∂z ∂z ∂x ∂x ∂y
| {z } | {z } | {z }
V1 V2 V3
!
∂v ∂u
~ = k̂
curl V −
∂x ∂y
4. Laplacian: (∇ · ∇) operation.
A primary example of the Laplacian operator is in determining the conduction of heat in a
solid. Given a 3D temperature field T (x, y, z), the Laplacian is
∂ 2T ∂ 2T ∂ 2T
+ + =0
∂x2 ∂y 2 ∂x2
3
2D example
Consider a 2D heat flow field, q
~(x, y).
Look at a small differential element, ∆x∆y. In steady state, heat flows in is equivalent to
heat flow out. Therefore
∇·q
~=0 (1)
But q
~ is related to temperature by Fourier’s law
~ = −k∇T
q (2)
∇ · (−k∇T ) = 0 → ∇2 T = 0
This is Laplace’s equation in 2D, which gives the steady state temperature field.
Example 4.1
Show for the 3D case f (x, y, z) that curl grad f = 0
∂f ∂f ∂f
∇f = î + ĵ + k̂
∂x ∂y ∂z
f (x, y, z) = x2 + y 2 + y sin x + z 2
4
Conservative Force Fields and the curl grad f = 0 identity
~ =0
∇×F (1)
∇ × (∇φ) = 0 (2)
Comparing (1) and (2) → for a Conservative Force Field, we can always find a scalar function
φ(x, y, z) such that
~ = ∇φ
F
~ = −∇u
F
~ is a conservative ⇐⇒
F net work when a particle moves through
force field ~ around a closed path in space is zero
F
⇐⇒ ~ = 0 irrotational
∇×F
5
Line Integrals of Scalar Functions
Reading
Trim 14.2 −→ Line Integrals
Assignment
web page −→ assignment #10
One place that line integrals often come up is in the computation of averages of a function.
2D Case
f 1Z L
f = f (x)dx
L x=0
x
2 L
2
3D Case
z
The temperature in a room is given by T =
f (x, y, z). A curve C in the room is given L
by x(t), y(t) and z(t). If we measure tem-
perature along curve C, what is the average t=
temperature T ? (S=L)
t=0
value of f along C (S=0)
zZ }| { arc length of C y
1 z}|{
T = f (x, y, z) dS
L| C
{z }
line integral along C
x
v
u !2 !2 !2
Z α u dx dy dz
f [x(t), y(t), z(t)] t
+ + dt
t=0 | {z } dt dt dt
f values along C | {z }
dS along C
6
Example 4.2
Given a 3D temperature field
find the average temperature, T along a line from (0, 0, 0) to (1, 1, 1).
C: y = g(x)
we can reduce
Z Z Z
f dS to fnc of x dx or fnc of y dy
C
Z
2. value of f dS depends on
C
(i) function f
(ii) curve C in space
(iii) direction of travel
Z B Z A
f dS = − f dS
A B
CCW
C CW C • evaluate once around the loop
CCW or CW
7
Example: 4.3a
Suppose the temperature near the floor of a room (say at z = 1) is described by
x2 + y 2
T = f (x, y) = 20 − where −5 ≤ x ≤ 5
3
−4 ≤ y ≤ 4
What is the average temperature along the straight line path from A(0, 0) to B(4, 3).
Example: 4.3b
What is the average room temperature along the walls of the room?
I
f (x, y)dS
C
T = I
dS
C
C2 x = 5 y=t −4 ≤ t ≤ 4
C3 y = 4 x = 5 − t 0 ≤ t ≤ 10
C4 x = −5 y = 8 − t 0 ≤ t ≤ 8
Example: 4.3c
What is the average temperature around a closed circular path → x2 + y 2 = 9?
I
f (x, y)dS
C
T = I where x(t) = 3 cos t
dS
C
y(t) = 3 sin t
for 0 ≤ t ≤ 2π.
8
Line Integrals of Vector Functions
Reading
Trim 14.3 −→ Line Integrals Involving Vector Functions
14.4 −→ Independence of Path
Assignment
web page −→ assignment #10
~ · d~
W =F
In component form:
d~
r = îdx + ĵdy + k̂dz
Z
W = P dx + Qdy + Rdz (2)
C
Use the equation of curve C (either in an explicit form, i.e. y = f (x) etc., or in a parametric
Z α Z β
form) to reduce (2) to g(t)dt or h(x)dx etc.
t=0 x=n
Example 4.4
Given a force field in 3D:
What is the work done by F ~ on a particle (i.e. energy added to the particle) if it moves in a
straight line from (0, 0, 0) to (1, 1, 1) through the force field.
9
Notes
Z
1. If we have an explicit equation for the curve, we can sometimes reduce to a form (fnc of x) dx
etc. There is no need for parametric equations.
Therefore for a conservative force field, the work is a function of the end points not the path.
This is the same for any C connecting the same 2 end points.
~ is conservative.
W is always the same number if F
10
Example: 4.5a
The gravitational force on a mass, m, due to mass, M , at the origin is
M m~
r ~
r
~ = −G
F = −K where K = GM m
3
|~
r| r |3
|~
z
curve C in the x=0 plane
m (xz plane) - circle, radius 8
From A(0, 0.1, 1.261) to center (0,8,0)
B(0, 16, 0)
A B y
M
x
Example: 4.5b
Find the work to move through the same field, but following a straight line path from
A(0, 0.1, 1.261) to B(0, 16, 0).
z
m curve C
A
B y
M
x
11
Conservative Force Fields
Reading
Trim 14.5 −→ Energy and Conservative Force Fields
Assignment
web page −→ assignment #10
~ , conservative?
Part a: Is the force field, F
~ = 0 (i.e. irrotational F
Check to see if ∇ × F ~ ?)
Part b: Compute the work done on an object if it goes around a CCW circular path of radius 1
for center point P (2, 0, 3) with form
~ = ∇φ
F
I I
W = ~ · d~
F r= ∇φ · d~
r
Part e:
~.
Find the work done if the object moves along C from A(0, 0, 0) to B(3, 4, −2) within F
12
Surface Integrals of Scalar Functions
Reading
Trim 14.7 −→ Surface Integrals
Assignment
web page −→ assignment #11
z
surface z=g(x,y)
surface area of z = g(x, y)
v
u !2 !2
surface area dS Z Z u ∂g ∂g
S= t
1+ + dxdy
Rxy ∂x ∂y
y
Now suppose the surface z = g(x, y) is
projection
within a 3D temperature field
x dA = dx dy
T = f (x, y, z)
What is the average temperature measured over the surface z = g(x, y)?
Add up T for each dS area element and divide by the total area of S to get the average.
Z Z
f (x, y, z)dS
S
T =
Area of S
The numerator is called the surface integral of f (x, y, z) over the surface S (i.e. z = g(x, y)).
To evaluate
v
u !2 !2
Z Z Z Z u ∂g ∂g
f dS = f [x, y, g(x, y)] t
1+ + dxdy
S Rxy | {z } ∂x ∂y
T values on the surf ace | {z }
dS area element
This becomes
Z Z
F (x, y)dxdy
Rxy
13
Notes
Example: 4.6
Suppose the temperature variation (same for all (x, y)) in the atmosphere near the ground
is
z2
T (z) = 40 −
5
where T is in ◦ C and z is in m. Look at a cylindrical building roof as follows:
z
10 m high
30 m long
x 10 m
14
Surface Integrals of Vector Functions
Reading
Trim 14.8 −→ Surface Integrals Involving Vector Fields
Assignment
web page −→ assignment #11
Given some surface z = g(x, y) within the flow → calculate the flow rate Q (m3 /s) crossing
the surface S, we can write G = z − g(x, y), where G is a constant since the surface is a level
surface or a contour.
surface z=g(x,y)
or
G(x,y,z) = z - g(x,y) = 0
dS at (x,y,z)
The basic idea is to consider the element dS of the surface at some arbitrary (x, y, z). Then
compute the unit normal vector to dS
∇G
n̂ = (±)
|∇G|
This will vary over S. The (±) will be controlled by the direction of the flow.
Add up over all dS elements to get the total flow across the surface
Z Z
Q= ~ · n̂ dS
V
S
15
~ over the surface S defined by
This is called the surface integral of the vector field V
z = g(x, y).
v
u !2 !2
Z Z u ∂g ∂g
Q= f (x, y) 1 +
t
+ dxdy
Rx,y ∂x ∂y
Example: 4.7
Given a velocity field in 3D space
dS
1 surface S
y
1
1
x
xy
16
Integral Theorems Involving Vector Functions
Line Integrals
z
Z Z
C ~ · d~
F r= P dx + Qdy + Rdz
C C
Surface Integrals
z
S
Z Z
~ · n̂ dS
V
S
There are three theorems which state identities involving these types of integrals.
17
1. Divergence Theorem
V field in 3D space
z
where
~
V = velocity field
V = volume
2. Stokes Theorem
Also called 1st vector from of Green’s z
closed curve C
theorem.
in 3D space
C
I Z Z
~ · d~
F r= ~ ) · n̂ dS
(∇ × F
C S
y
where the surface S is any surface in 3D with x
C as a boundary. F defined in 3D space
3. Greens Theorem
y
This is essentially a 2D statement of Stoke’s the- C
orem, where in 2D
~ = îP + ĵQ
F
!
∂Q ∂P
~ = k̂
∇×F −
∂x ∂y x
F defined in 2D space
!
I Z Z
∂Q ∂P
P dx + Qdy = − dxdy
C R ∂x ∂y
18
Divergence Theorem
Reading
Trim 14.9 −→ The Divergence Theorem
Assignment
web page −→ assignment #11
Trim in section 14.9 has a detailed proof of the Divergence Theorem. They try to interpret the
meaning of
I I Z Z Z
~ · n̂dS =
V ~ )dV
(∇ · V
S V
The left side of the equation is a surface integral of V over a closed surface, S in 3-D space with
n̂ being the outward normal to each dS.
~ · n̂dS gives the flow rate (m3 /s). When we add this up over the entire surface
We recall that V
(as in the LHS of the equation) we obtain the net flow rate crossing the closed surface.
i.e.
19
!
∂u ∂v
= (dV) +
∂x ∂y
~ )dV
= (∇ · V
~ )dV gives the net outflow minus inflow for a volume element dV.
Therefore the RHS (∇ · V
R R R
The integral V , adds up the differential flow for all volume elements, dV inside of surface S.
There is a cancellation of terms because the outflow from one ∆V becomes the inflow to the next
volume.
When we sum over all ∆V, we are left with the difference between the inflow and the outflow at
the boundaries of the volume.
I I Z Z Z
~ ·~
V ndS = ~ )dV
(∇ · V
S V
Example: 4.8
Given
verify the divergence theorem for a cube, where 0 ≤ x, y, z ≤ 1 i.e. show that
I I Z Z Z
~ · n̂dS =
V ~ )dV
(∇ · V
S V
where
S = cube surface (closed)
V = interior volume of the cube
20
Stoke’s Theorem
Reading
Trim 14.10 −→ Stoke’s Theorem
Assignment
web page −→ assignment #11
I Z Z
~ · d~
F r= ~ ) · n̂ dS
(∇ × F
C S
This has a similar meaning to Green’s theorem but now in 3D space instead of a plane.
z
Like Greens theorem, it works because of the interior cancellations of work, when we move around
a surface element dS inside C.
Note: the unit normal, n̂ for the LHS is based on a right hand rule as follows.
any surface S in 3D
^
n with C as the boundary
^
n dS
dS dS
C ^
n
if CW on C
if CCW on C
The work on all internal surfaces cancel, leaving only the surface work in the CCW direction.
21
Example: 4.9
~ = îx + ĵ2z + k̂y (a force field in 3D).
Given: F
x2 + y 2 = 4
z = 4−x−y
22
Green’s Theorem
Reading
Trim 14.6 −→ Green’s Theorem
Assignment
web page −→ assignment #10
y Q F
P
The theorem involves work done on an ob-
ject by a 2D force field. The 2D force field C
is given by
We will examine an object that moves once CCW around a loop in F ~ . The region inside the loop is
defined as R. The normal vector for the region R is k̂ (outwards) to the right for a CCW motion
of C. The theorem states
!
I Z Z
∂Q ∂P
P dx + Qdy = − dxdy
C R ∂x ∂y
I
~ · d~
The left hand side of the equation,
C
F r in 2D dr
~ on the object as it
is the work done by the field F
moves on C. This consists of force times distance F
for each d~
r added up over C.
y
Z Z
The right hand side of the equation, ~ )·
(∇× F ^
Q F
R k
y+ y out
k̂dxdy in 2D gives the direction of travel on C for P
y A
the work given by the LHS. Maps movement of an
element ∆x∆y as it moves around from A to A.
x
x x+ x
23
P at y+ y
A
P at y
I I
There are some cancellations (+) (-) for all interior ∆x, ∆y paths. Therefore when we do ,
R
we are left with the work terms on the boundaries of R.
!
I Z Z
∂Q ∂P
P dx + Qdy = − dxdy
C R ∂x ∂y
work when we sum of all work if
inside C
24
Example: 4.10
~ (x, y) = î(xy 3 ) + ĵ(x2 y) and a path C in the field:
Given a 2D force field, F
with
P = xy 3
Q = x2 y
25