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1 Differentiation of vector
In Cartesian coordinates
a
(
u
u
)
a
( u)
a ( u) a x ( u)i a y ( u) j a z ( u)k
da ( u)
a ( u u ) a ( u )
lim
u 0
du
u
a
(u)
da x ( u) da y ( u) da z ( u)
i
j
k
du
du
du
In physics :
r ( t ) x( t )i y( t ) j z ( t )k
dr dx dy dz
v (t )
i
j k v x i v y j v z k
dt dt
dt
dt
dv ( t ) dv x dv y dv z d 2 x d 2 y d 2 z
a(t )
i
j
k 2 i 2 j 2 k
dt
dt
dt
dt
dt
dt
dt
Note : in Cartesian coordinates, i , j , k are fixed, in general the basis vector
may be differenti able.
Vector Calculus
For two-dimensional plane polar coordinates
(1) i and j are constant in magnitude and direction
(2) e and e have constant magnitudes but their
direction changes as and .
..
..
e ( 2 ) e ( 2 )
e
i
de
d
d
e cos i sin j
sin
i cos
j e
dt
dt
dt
de
d
d
e sin i cos j
cos
i sin
j e
dt
dt
dt
de
d
v ( t ) r ( t )
e
e e
dt
dt
d
a ( t ) v ( t ) ( e e )
dt
Vector Calculus
Differentiation of composite vector expressions
d
da d
(1) (a )
a
du
du du
d
d
b
da
(2) ( a b ) a
b
du
du du
d
db da
(3) ( a b ) a
b
du
du du
dL d
dr
(r mv )
mv r (mv )
dt dt
dt
dt
v mv r F r F T
da ( s ) da ds
* if a vector a a ( s ) and s s( u)
du
ds du
d
d
a
d
a
* if a a a 2 is a constant
(a a ) 2a
0a
du
du
du
Vector Calculus
2 Integration of vector
d
A
( u)
a ( u)
a ( u)du A( u) b b is a constant vector
du
u2
a (u)du A(u2 ) A(u1 )
u1
d 2r
GMm
dr
Ex : Newton' s law of gravitation m 2 2 r , show that r
dt
r
dt
is a constant of the motion.
GM
d 2r
r 2 2 r r 0
dt
r
d dr
d 2 r dr dr
(r ) r 2
0
dt
dt
dt
dt dt
dr
r
c is a constant vector
dt
dA 1 dr | c |
the change in area is dA | r dr | / 2 its changing rate
| r |
dt 2
dt
2
Vector Calculus
3 Space curves
r ( u) x ( u)i y( u) j z ( u)k
dr ( u) dxi dyj dzk (ds ) 2 dr dr (dx ) 2 ( dy ) 2 (dz ) 2
ds 2 dr dr
ds
dr dr
( )
du
du du
du
du du
u2 dr dr
The arc length is s
du
u1
du du
Ex: A curve lying in the xy-plane is given by y=y(x), z=0. Evaluate the arc
length along the curve between x=a and x=b.
d
r
dy
Set u x r ( u) ui y( u) j
i
j
du
du
b
dr dr
dy 2
dy
1 ( ) s 1 ( ) 2 dx for u x
a
du du
du
dx
Vector Calculus
dr
dr
If u is the arc length (s) along the curve,
t is a unit tangent
ds
vector to C at a given point.
C
dt d 2 r
z
with respect to s | || 2 |
ds ds
The radius of curvature 1 /
b
dt
dt
| t | 1 t 0 , t
ds
ds
r
(u)
dt
n n is the principal normal vector
ds
x
b t n binormal vector
t , n and b form a right - handed retangular cordinate system.
r (u)
dr
t
ds
n
t
Vector Calculus
db
db
(2) | b | 1 b
0b
ds
ds
db
d
d
b
d
t
d
b
d
b
for b t 0 0 (b t )
t b
t b n
t t
ds
ds
ds ds
ds
ds
db
d
b
perpendicular to b and t
n
ds
ds
db
db
n n
the torsion of a curve
ds
ds
1
the radius of the torsion
(3) n b t
dn db dt
t b n t b n b t
ds ds
ds
Frenet-Serret
formula:
dt
n
ds
dn
b t
ds
db
n
ds
Vector Calculus
Ex : Show that the acceleration of a travelling along a trajectory
dv v 2
r ( t ) is given by a ( t )
t n
dt
dr dr ds ds
v (t )
t vt
dt ds dt dt
dv d
dv
dt
a(t )
(vt )
t v
dt dt
dt
dt
dt ds dt
v
dv v 2
vn n a ( t )
t n
dt dt ds
dt
dv
t : tangential acceleration
dt
v2
n : centripetal acceleration
dv
t
dt
v2
n
Vector Calculus
dr dr du
For a curve r ( u), u is some parameter v
dt du dt
d dr du dr d u
d dr du du dr d 2 u
dv d dr du
a
(
) [ ( )]
[ ( ) ]
dt dt du dt
dt du dt du dt 2
du du dt dt du dt 2
d 2 r du 2 dr d 2 u
2( )
du dt
du dt 2
n
a
a u1 a u2
a un
a u j
......
v i u1 v i u2 v i
un v i
j 1 u j v i
da a n a u j
dv v j 1 u j v
(3) The differenti al of a vector dependent variables u1 , u2 ,...un
n
a
a
a
a
da
du1
du2 .....
dun
du j
u1
u2
un
j 1 u j
Vector Calculus
5 Surface
In Cartesian coordinate the surface equation is :
(1) r ( u, v ) x ( u, v )i y( u, v ) j z ( u, v )k
(2) z f ( x , y )
(3) g ( x , y , z ) 0
(4) z f ( x , y ) r ( u, v ) ui vj f ( u, v )k
u f ( ) and v g( ) r ( ) r ( u( ), v ( ))
dr r du r dv
d u d v d
u c1 and v c2 are called coordinate curves.
r
(a)
is the tangent vector of curve u c1
v
r
(b)
is the tangent vector of curve v c2
u
Vector Calculus
r
r
If
and
are linearly independent, we can use the two vectors
u
v
to define the tangent plane T at the point P.
r r
For a point P on the smooth surface S, a normal vector is n
u v
r
r
dr
du
dv
u
v
The element of area at P is an infitesima l parallelogram
r
r
r r
dS |
du dv ||
| dudv | n | dudv
u
v
u v
Total area
r r
A dS |
| dudv | n | dudv
R u
R
v
Vector Calculus
Ex: Find the element of area on the surface of a sphere of radius a,
and hence calculate the total surface area of the sphere.
r
a cos cos i a cos sin j a sin k
r
a sin sin i a sin cos j
j
i
r r
Normal vector n
k
a sin
0
2
2
| n | a sin dS a sin dd A a 2 sin dd 4a 2
0
Vector Calculus
7 Vector operator
Gradient of a scalar field
del i
j
k
x
y
z
in Cartesian coordinate
For a scalar field ( x , y , z ) grad i
j
k
x
y
z
dr ( i
j
k
) ( i dx jdy kdz )
x
y
z
dx
dy
dz d
x
y
z
d dr
If r r ( u), u is a parameter
du
du
If u s , the arc length along the curve
d dr
t t is the unit tangent vector
ds
ds
Vector Calculus
The changing rate of with respect to the
d
d
a | | cos | |
| |
ds
ds
d
|| a ( 0) ( )max | |
ds
a
1
d
1
10
(1) a
( i 2 j 3k )
a
( 4 6)
|a |
ds
14
14
14
Vector Calculus
The rate of change of a vector (or scalar) field with distance in the
direction of a could be found by the scalar differenti al operator
a a x
ay
az
x
y
z
Ex : the change in electric field from r to r dr dE (dr ) E
d
0 and
ds
dx dy dz
dx dy dz
( i
j
k
) (i
j k )
x ds y ds z ds
x
y
z
ds
ds
ds
dr
t 0 t
ds
t is a tangent vector to this surface at some point
n is a normal vector to the surface ( x , y , z ) c at every points.
n
If ( x , y , z ) c (constant)
d
ds
(1)
(2)
(3)
Vector Calculus
Ex: Find the expression for the equations of the tangent plane and the line normal
to the surface ( x , y , z ) c at the point P with the coordinates x0 , y0 , z0 . Use the
results to find the equations of the tangent plane and the line normal to the
surface of the sphere x 2 y 2 z 2 a 2 at the point (0,0, a ) .
(1) Point P at r x0 i y0 j z0 k
Normal vector | x0 , y0 , z0 n0
z
The tangent surface ( r r0 ) n0 0
za
n 0
(2) If r is on the straight line passing through P along
(0,0, a )
n0 ( r r0 ) n0 0
(3) For the surface x 2 y 2 z 2 a 2
x
2 xi 2 yj 2 zk 2ak (at (0,0, a ))
The tangent plane is ( r r0 ) 2ak 0 2a ( z a ) 0 z a
(4) The line normal the sphere at (0,0, a)
( r r ) 2ak 0 ( xi yj ( z a )k ) 2ak 0
0
Vector Calculus
Divergence of a vector field
a y a z
a
div a a x
x
y
z
If a 0 Solenoidal
2
2
2
2 2 2
x
y
z
2 the Laplacian of
2
Vector Calculus
Curl of a vector
a a y a x a x a y a x
curl a a ( z
)i (
)j(
)k
y
z
z
x
x
y
i
x
ax
y
ay
z
az
If a 0 Irrotational
Ex : a x 2 y 2 z 2 i y 2 z 2 j x 2 z 2 k
i
a
x
x2 y2z2
y
y2z2
i (0 2 zy 2 ) j ( 2 xz 2 2 zx 2 y 2 ) k (0 2 yx 2 z 2 )
z
x2z2
- 2[ y 2 zi ( xz 2 x 2 y 2 z ) j x 2 yz 2 k ]
Vector Calculus
Ex : If r is the position vector and k , then v r .
v (k ) ( xi yj zk ) xj yi
j
i
v
x
y
y x
2k 2
z
0
Vector Calculus
Useful formulas:
(1) ( )
(2) (a b ) a b
(3) (a b ) a b
(4) ( )
(5) (a b ) a ( b ) b ( a ) (a )b (b )a
(6) (a ) a a
(7) (a b ) b ( a ) a ( b )
(8) (a ) a a
(9) (a b ) a ( b ) b ( a ) (b )a (a )b
Vector Calculus
8 Vector operator formula
Ex : Show that (a ) a a
i a j ijk
i, j
i, j
ijk ( ) i a j
i, j
( a ) k ( a ) k
r xi yj zk is a position vector | r | r ( x 2 y 2 z 2 )1 / 2
d
(1) ( r )
r
dr
d r d r d r
( r )
i
j
k
i
j
k
x
y
z
dr x
dr y
dr z
d ( xi yj zk ) d
r
dr
r
dr
Vector Calculus
(2) [ ( r )r ] r r
(
x y z d
d ( r )
) r
r 3 ( r ) r
x y z
dr
dr
z
(3) r
(
) (
) (
)
x x 2 y 2 z 2
y x 2 y 2 z 2
x2 y2 z2
1 x2
2
2
2 1 / 2
for the 1st term :
[ x( x y z ) ] 3 another terms are similar
x
r r
3 x2 y2 z2 3 1 2
r
r
r3
r r r
d
d
d
2 d ( r ) d 2 ( r )
2
(4) ( r ) ( ( r )) ( r )
( r ) ( ) r
dr
dr
dr
r dr
dr 2
d
d x d y d z
for the 2nd term : ( ) r
( ) ( ) ( )
dr
x dr r y dr r z dr r
d 2 r x d 2 r y d 2 r z
( 2
) ( 2
) ( 2
)
dr x r
dr y r
dr z r
d 2 x 2 y 2 z 2
d 2
2(
) 2
2
dr
r
dr
Vector Calculus
(5) [ ( r )r ] r r 0
i
(a) r
x
x
i
(b) r
x
x
y
y
j
y
y
z y
z x
y x
i ( ) j ( ) k ( ) 0
z
y z
x z
x y
z
k
i (z
y ) j ( z
x ) k ( y
x )
z
y
z
x
z
x
y
z
d r x d y d z d
x dr x r dr
y r dr
z r dr
y d
z d
x d
z d
x d
y d
r i ( z
y
) j ( z
x
) k ( y
x
)0
r dr
r dr
r dr
r dr
r dr
r dr
for
r
(6) r i
j r k r i x j y k z 1 ( xi yj zk ) r
y
z
r
r
r r
Vector Calculus
(7) r 3
1
r
(8) ( ) 2
r
r
r
1
1
(9) ( 2 ) ( ) 2 ( ) 4 ( r )
r
r
r
( r ) is Dirac delta function
( x x0 ) 0 for x x0
f ( x ) ( x x0 )dx f ( x0 ) if x0 [a , b]
0
if x0 [a , b]
Vector Calculus
Combinations of grad, div, and curl
(1) ( ) 0
j
i
k
( ) / x
/ y
/ z
/ x / y / z
2
2
2
2
2
2
i(
) j(
) k(
)0
yz zy
z x x z
xy yx
(2) ( a ) 0
/ x / y / z
( a ) / x / y / z 0
ax
ay
az
(3) a a ( ) 0 a is irrotational
(4) b a b ( a ) 0 b is solenoidal
Vector Calculus
2 2 2
2
(5) ( ) 2 2 2
x
y
z
a x a y a z
(6) ( a ) ( i
j
k )(
)
x
y
z x
y
z
2
2
2
2
2
2
2
2
2
az
a
y
y
y
z
z
x
x
x
(
i ( 2
) j (
)
x
xy xz
yx y 2 yz
zx zy z 2
(7) ( a ) ( a ) 2 a
2
2
2
a ( 2 2 2 )(a x i a y j a z k )
x
y
z
2
Note : In Cartesian coordinates, the unit vector are constant, so the operator 2
does not act on them.
In cylindrical and spherical coordinates, the unit vectors are not constant
, so 2 can act on them.
(8) ( ) ( ) ( ) 0
Vector Calculus
9 Cylindrical and spherical polar coordinates
A. Cylindrical polar coordinates
x cos y sin z z
0 2
z
e
cos i sin j
e cos i sin j
e
sin i cos j e sin i cos j
ez
k
e z k
z
r
r
r
dr
d
d
dz
de de dze z de de dze z
Vector Calculus
Position from ( , , z ) to ( d , d , z dz )
The change of the distance along
(1) e is d (2) e is d (3) e z is dz
Scale factors are h 1, h , and hz 1
along directions e , e , and e z , respectively.
ds (ds ) 2 (dr dr )1 / 2 [(d ) 2 2 ( d ) 2 (dz ) 2 ]1 / 2
The area in x - y plane is dA dd
The volume element is
dV | de ( de dze z ) | dddz
(1)
e
e
e z
z
1
1 a a z
(2) a
( a )
Vector Calculus
e
1
(3) a
a
e z
z
az
1 2 2
(4)
(
) 2
2
2
z
2
j sin e cose k e
y sin
zz
Vector Calculus
B. Spherical polar coordinates
x r sin cos y r sin sin z r cos
r0
0
0 2
er
sin cos i sin sin j cos k
r
e
r cos cos i r cos sin j sin k
e
r sin sin i r sin cos j
| er | 1 | e | r | e | r sin
e e / | e | sin i cos j
Vector Calculus
Displacement :
r
r
r
dr
dr
d
d
r
drer de de
drer rde r sin de
Magnitude of displacement :
ds (ds ) 2 dr dr
(dr ) 2 r 2 (d ) 2 r 2 sin 2 (d ) 2
The area element on the surface of a sphere with a radius a
dA | a sin de ade | a 2 sin dd
The volume element :
dV | dre r ( rde r sin de ) | r 2 sin drdd
Vector Calculus
1
1
(1)
e r
e
e
r
r
r sin
1 2
1
1 a
(2) a 2
(r ar )
(sin a )
r r
r sin
r sin
e r
1
(3) a 2
r sin r
ar
ra
r sin a
1 2
1
1
2
(4) 2
(r
) 2
(sin
) 2 2
r r
r
r sin
r sin 2
2
Vector Calculus
10 General curvilinear coordinate
x x( u1 , u2 , u3 )
y y( u1 , u2 , u3 )
z z( u1 , u2 , u3 )
u1 u1 ( x , y , z )
u2 u2 ( x , y , z )
u3 u3 ( x , y , z )
e1
a vector tangent to u1 - curve at P
u1
e2
a vector tangent to u2 - curve at P
u2
e3
a vector tangent to u3 - curve at P
u3
| e1 | h1 | e2 | h2 | e3 | h3
1 r
1 r
1 r
Unit vectors : e1
e2
e3
h1 u1
h2 u2
h3 u3
r
r
r
Scale factors : h1 |
| h2 |
| h3 |
|
u1
u2
u3
Vector Calculus
The distance element of changing dui is hi du1
Cylindrical coordinate : h 1 h hz 1
Spherical coordinate : hr 1 h r
r
r
r
dr
du1
du2
du3
u1
u2
u3
h r sin
(
)dui dui ei hi dui e i for i 1,2,3
ui
Vector Calculus
Another useful three unit vectors :
u
1 1 normal to the surface u1 c1
| u1 |
u2
2
normal to the surface u2 c2
| u2 |
u
3 3 normal to the surface u3 c3
| u3 |
i ui
r
r
r
1
2
3
1u1 2u2 3u3
u1
u2
u3
Vector Calculus
r
ei j
u j
ui
(
x y z u j u j u j
i
j
k) (
i
j
k)
ui
ui
ui
x
y
z
x u j y u j z u j u j
ui x ui y ui z
ui
ei j 1 if i j
0 otherwise
Vector Calculus
Gradient
du1
du2
du3
u1
u2
u3
dr ( h1du1i h2du2 j h3du3 k )
1
1
1
e1
e2
e3
h1 u1
h2 u2
h3 u3
d
Divergence
a
[
( h2 h3a1 )
( h3 h1a 2 )
( h1h2a 3 )]
h1h2 h3 u1
u2
u3
Proof:
e1 e2 e3 h2u2 h3u3
Vector Calculus
e 2 e3
e1
(a1h2 h3 )
h1h2 h3 u1
(a2e2 )
( h3 h1a2 ) and (a 3e3 )
( h1h2a 3 )
h1h2 h3 u2
h1h2 h3 u3
Laplacian
1
1
1
a
e1
e2
e3
h1 u1
h2 u2
h3 u3
1
h2 h3
h3 h1
h1h2
2
a
[
(
)
(
)
(
)]
h1h2 h3 u1 h1 u1
u2 h2 u2
u3 h3 u3
Vector Calculus
Curl
h1e1
1
h2e2
u2
h2a2
h3e3
u3
h3a 3
(a1e1 ) (a1h1u1 ) (a1h1 ) u1 a1h1 u1
e
(a1h1 ) 1
h1
1
1
1
e
(a1h1 )e1
(a1h1 )e2
(a1h1 )e3 ] 1
h1 u1
h2 u2
h3 u3
h1
e
e
2
(a1h1 ) 3
(a1h1 )
h3 h1 u3
h1h2 u2