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10MAT11 UNIT -4
VECTOR CALCULUS

Introduction: Vector is a quantity having both magnitude and direction. Eg: Force, Velocity. Scalar and Vector Function: Scalar point Function: If to every point (x,y,z) of a region R in space there corresponds ) then is called a scalar point function and we say that a scalar field a scalar ( is defined in R. Eg: 1. 2. Vector point Function: If to every point (x,y,z) of a region R in space there corresponds a vector ( ) then is called a vector point function and we say that a vector field is defined in R. Eg:1. 2. Vector function of single variable: Let the position vector of a point P(x,y,z) in space be If x,y,z are all functions of a single parameter t, then is said to be a vector function of t and also known as Vector point Function and denoted by ( ) Hence ( ) ( ) ( ) ( ) is called vector equation of the curve. Now,

( )

is a vector along the tangent to the curve at P. is the velocity of the particle at time t.

If t is the time variable then Also,

is the rate of change of velocity i.e., it gives acceleration.

Some observations: Operators: i) The vector differential operator ii) The Laplacian operator =

read as Nabla or Del is defined by

is defined by

Gradient, Divergence,Curl and Laplacian ) is continuously differentiable scalar function Gradient of a scalar field: If ( then the gradient of or grad is defined by i.e.,grad = =

Note: grad is a scalar quantity. Geometrical meaning of the gradient: ) is a scalar function then grad If ( ( ) . Angle between two surfaces:

is a vector normal to the surface

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Angle between two surfaces is defined to be equal to the angle between their normals. ) ) If ( and ( be the equations of the two surfaces then
| || |

where

is the angle between the normals. where

| |

Directional Derivative: If ( ) is a scalar function and is a given direction then is

called as the directional derivative of along . Theorem: The directional derivative of a scalar function along and its maximum value is | |.

at any point is maximum

Divergence of a vector field: If ( ) is a continuously differentiable vector function then divergence of or div is defined to be . i.e.,If =( ) ( where )= are all functions of x,y,z then div =

Note: div is a scalar quantity. Physical meaning of divergence: If ( ) represents any physical quantity, the divergence of gives the rate at which the physical quantity is originating at that point per unit volume. Curl of a vector field: If ( ) is a continuously differentiable vector function then curl of or curl is . defined to be i.e., If =| |=( where ) ( are all functions of x,y,z then curl = ) ( )

Note: Curl is a vector quantity. Physical meaning of curl: The curl f any vector point function will give the measure of the angular velocity at any point. ) continuously differentiable scalar function and ( Laplacian : If ( continuously differentiable vector function then Laplacian of = = =

) is a

Laplacian of =

Note: If is a scalar function, the equation = 0 is called Laplaces equation and a function which satisfies Laplaces equation is called harmonic function.

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Laplacian of a scalar function is a scalar quantity and Laplacian of a vector function is a vector quantity. Solenoidal and Irrotational vector fields: Definitions: A vector field is said to be solenoidal if div = 0 and irrotational if curl 0. Irrotational field is also called as conservative field or potential field. When is irrotational there always exists a scalar point function such that Then is called a scalar potential of . Vector Identities: or 1) div ( ) = (div ) + grad ( ) = ( ) be a vector point function of x,y,z and ) = ( ( ) = ( ( ) or be a vector point function of x,y,z and ) = ( ) =( ) ( ) ( ) be a scalar ) =( ) ( ) ) ( ) ( ) be a scalar Proof: Let point function of x,y,z. = ( Now div ( ) = = ( )

= .

i.e., div ( ) = Thus div ( ) = 2) curl ( ) = ( )

(div ) + grad (curl ) + grad ( )

Proof: Let point function of x,y,z. = ( Now curl( ) = ( )

= , = ,(

( )

)( )-

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| )

| (curl ) + grad

Thus curl ( ) =

3. curl (grad ) = 0 ( ) Proof: Let be a scalar point function of x,y,z. Then grad = = )=| | | | ) =0

Hence curl (grad ) =

= ,

( )

( )- = (

Thus curl (grad ) = 0 for any scalar function . 4. div (curl ) = 0 or ) = 0 Proof: Let ( Then curl = Now div (curl ) = On expanding we get, =| ( be a vector point function of x,y,z. | = ( ) = ( + ) ( ) ) = ( . )

Thus div (curl ) = 0, for any function . 5. div ( ) = curl curl or ( ) ( ) Proof: Let function of x,y,z. Then = | ) = ( ( and ) be two vector point

| = ( ) = ( )

) ( )

Now div (

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) = (

On expanding we get ( ( Rearranging the terms, = = ( = ( = ( ( ) ) ( | ) ) | ( ( ( ) ) ) | ( ) | ) ) ( )

) ( ) Thus div ( ) = curl curl or 6. curl (curl ) = grad (div ) ) ) ( ( Proof: Let curl = =| be a vector point function of x,y,z. | ( )

Now = , = ( (

) ) ) ( (

) )) we get ( (

| | ( ) ( ) ( )

| |

By rearranging we get,

Adding and subtracting ( = = ( ( ) ) )

) )

= grad (div )

Thus curl (curl ) = grad (div )

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Orthogonal Curvilinear Coordinates Definitions: Let the coordinates of any point P in space be (x,y,z) in the cartesian system. Suppose x,y,z are expressible interms of new coordinates ( ) then x,y,z are functions of Also are expressible interms of x,y,z and if the correspondence between (x,y,z) and ( ) is unique then the coordinates ( ) are known as curvilinear coordinates of the point P. The surfaces being constants are called coordinate surfaces and the intersection of each pair of these surfaces give rise to curves called coordinate curves. Orthogonal Curvilinear Coordinates: A system of curvilinear coordinates is said to be orthogonal if at each point the tangents to the coordinate curves are mutually perpendicular. Unit vectors, Scale factors and orthogonality condition: Suppose be the position vector of a point in space, we have = (

) then

are called the tangent vectors to the

coordinate curves and the unit tangent vectors in the same direction are | |

| | |

| |

| | |

The quantities

| are called scale factors.

For the orthogonality of the curvilinear coordinate system we must have Also , = Thus , form a right handed system of vectors. If is any vector in the orthogonal curvilinear coordinate system then where are scalar functions of Note: Other than rectangular Cartesian coordinates (x,y,z) we introduce two new sets of coordinates. i) Cylindrical polar coordinates ( )given by the transformation: ii) Spherical polar coordinates ( ) given by the transformation:

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Scale factors of the cylindrical and spherical system: Cylindrical system: We have ( ) ( ) and are related to the cartesian coordinates (x,y,z) by the transformations Thus becomes Then by definitions of scale factors, | | | | | |

| | | |=1

( |=* (

) )+

Thus for cylindrical system. Spherical system: We have ( ) ( ) and are related to the cartesian coordinates (x,y,z) by the transformations Thus becomes Then by definitions of scale factors | | = ( | | = ( =| | (

| ( | ( | ( )) ) ) ) )=1

| | |

Thus for spherical system. Note: will give us for cartesian system. Orthogonality of the cylindrical system: In cylindrical system .

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Let , be the basic unit vectors of this system. They are given by = = = =

| | | |

( ( ( )

) since ) since

| |

since

Now and Thus the cylindrical system is orthogonal. Orthogonality of the spherical system: In spherical system Let be the basic unit vectors of this system. Then they are given by = = = =

( ( )

) )

= Now, ( = Thus the spherical system is orthogonal.

Arc length and volume element in the orthogonal curvilinear coordinate system. If ( ) then arc length ds is given by And volume element dV is given by dV = i) In cylindrical system:

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( ) ( ) and then ii) In spherical system: ( ) ( ) and then

and

and

Expression for in orthogonal curvilinear coordinates: Consider scalar point function ( ) Then =

i) In cylindrical system: ( ) ( ) and

ii) In spherical system: ( ) ( ) and Expression for div in orthogonal curvilinear coordinates: Let = ( ) Then div = , ( ) ( ) ( )-

i) In cylindrical system: ( ) ( ) and ) ( , ( ii) In spherical system: ( ) ( ) and , (

)-

)-

Expression for curl in orthogonal curvilinear coordinates: Let curl = | |

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i) In cylindrical system: ( ) ( ) and and the basic unit vectors are denoted by | |

ii) In spherical system: ( ) ( ) and vectors are denoted by

and the basic unit | |

Expression for Laplacian of in orthogonal curvilinear coordinates: Consider scalar point function ( ) then Laplacian of = * ( ( ) ) ( ) ( )+

i) In cylindrical system: ( ) ( ) and

ii) In spherical system: ( ) ( ) and Thus