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Field Theory

B O T HIDÉ

Υ

U PSILON B OOKS

E LECTROMAGNETIC F IELD T HEORY

Electromagnetic

Field Theory

B O T HIDÉ

and

Department of Astronomy and Space Physics

Uppsala University, Sweden

and

School of Mathematics and Systems Engineering

Växjö University, Sweden

Υ

U PSILON B OOKS · C OMMUNA AB · U PPSALA · S WEDEN

Also available

E LECTROMAGNETIC F IELD T HEORY

E XERCISES

by

Tobia Carozzi, Anders Eriksson, Bengt Lundborg,

Bo Thidé and Mattias Waldenvik

Freely downloadable from

www.plasma.uu.se/CED

This book was typeset in LATEX 2ε (based on TEX 3.14159 and Web2C 7.4.2) on an

HP Visualize 9000⁄360 workstation running HP-UX 11.11.

Copyright
1997,

c 1998, 1999, 2000, 2001, 2002, 2003 and 2004 by

Bo Thidé

Uppsala, Sweden

All rights reserved.

ISBN X-XXX-XXXXX-X

Downloaded from http://www.plasma.uu.se/CED/Book Version released 19th June 2004 at 21:47.

Preface

The current book is an outgrowth of the lecture notes that I prepared for the four-credit

course Electrodynamics that was introduced in the Uppsala University curriculum in

1992, to become the five-credit course Classical Electrodynamics in 1997. To some

extent, parts of these notes were based on lecture notes prepared, in Swedish, by

B ENGT L UNDBORG who created, developed and taught the earlier, two-credit course

Electromagnetic Radiation at our faculty.

Intended primarily as a textbook for physics students at the advanced undergradu-

ate or beginning graduate level, it is hoped that the present book may be useful for

research workers too. It provides a thorough treatment of the theory of electrodynam-

ics, mainly from a classical field theoretical point of view, and includes such things

as formal electrostatics and magnetostatics and their unification into electrodynam-

ics, the electromagnetic potentials, gauge transformations, covariant formulation of

classical electrodynamics, force, momentum and energy of the electromagnetic field,

radiation and scattering phenomena, electromagnetic waves and their propagation in

vacuum and in media, and covariant Lagrangian/Hamiltonian field theoretical meth-

ods for electromagnetic fields, particles and interactions. The aim has been to write

a book that can serve both as an advanced text in Classical Electrodynamics and as a

preparation for studies in Quantum Electrodynamics and related subjects.

In an attempt to encourage participation by other scientists and students in the

authoring of this book, and to ensure its quality and scope to make it useful in higher

university education anywhere in the world, it was produced within a World-Wide

Web (WWW) project. This turned out to be a rather successful move. By making an

electronic version of the book freely down-loadable on the net, comments have been

only received from fellow Internet physicists around the world and from WWW ‘hit’

statistics it seems that the book serves as a frequently used Internet resource. This

way it is hoped that it will be particularly useful for students and researchers working

under financial or other circumstances that make it difficult to procure a printed copy

of the book.

Thanks are due not only to Bengt Lundborg for providing the inspiration to write

this book, but also to professor C HRISTER WAHLBERG and professor G ÖRAN FÄLDT,

Uppsala University, and professor YAKOV I STOMIN, Lebedev Institute, Moscow, for

interesting discussions on electrodynamics and relativity in general and on this book in

particular. Comments from former graduate students M ATTIAS WALDENVIK, T OBIA

C AROZZI and ROGER K ARLSSON as well as A NDERS E RIKSSON, all at the Swedish

Institute of Space Physics in Uppsala and who all have participated in the teaching,

vii

P REFACE

on the material covered in the course and in this book are gratefully acknowledged.

Thanks are also due to my long-term space physics colleague H ELMUT KOPKA of

the Max-Planck-Institut für Aeronomie, Lindau, Germany, who not only taught me

about the practical aspects of the of high-power radio wave transmitters and trans-

mission lines, but also about the more delicate aspects of typesetting a book in TEX

and LATEX. I am particularly indebted to Academician professor V ITALIY L AZAREV-

ICH G INZBURG , 2003 Nobel Laureate in Physics, for his many fascinating and very

elucidating lectures, comments and historical footnotes on electromagnetic radiation

while cruising on the Volga river at our joint Russian-Swedish summer schools during

the 1990s and for numerous private discussions.

Finally, I would like to thank all students and Internet users who have downloaded

and commented on the book during its life on the World-Wide Web.

Uppsala, Sweden B O T HIDÉ

January, 2004

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Contents

Preface vii

Contents ix

1 Classical Electrodynamics 1

1.1 Electrostatics 2

1.1.1 Coulomb’s law 2

1.1.2 The electrostatic field 3

1.2 Magnetostatics 6

1.2.1 Ampère’s law 6

1.2.2 The magnetostatic field 7

1.3 Electrodynamics 9

1.3.1 Equation of continuity for electric charge 9

1.3.2 Maxwell’s displacement current 10

1.3.3 Electromotive force 10

1.3.4 Faraday’s law of induction 11

1.3.5 Maxwell’s microscopic equations 14

1.3.6 Maxwell’s macroscopic equations 14

1.4 Electromagnetic duality 15

1.5 Bibliography 22

2 Electromagnetic Waves 25

2.1 The wave equations 26

2.1.1 The wave equation for E 26

2.1.2 The wave equation for B 26

2.1.3 The time-independent wave equation for E 27

2.2 Plane waves 30

2.2.1 Telegrapher’s equation 31

2.2.2 Waves in conductive media 32

2.3 Observables and averages 33

ix

C ONTENTS

2.4 Bibliography 34

3 Electromagnetic Potentials 35

3.1 The electrostatic scalar potential 35

3.2 The magnetostatic vector potential 36

3.3 The electrodynamic potentials 36

3.3.1 Lorenz-Lorentz gauge 38

3.3.2 Coulomb gauge 42

3.3.3 Gauge transformations 42

3.4 Bibliography 45

4 Relativistic Electrodynamics 47

4.1 The special theory of relativity 47

4.1.1 The Lorentz transformation 48

4.1.2 Lorentz space 49

4.1.3 Minkowski space 54

4.2 Covariant classical mechanics 57

4.3 Covariant classical electrodynamics 58

4.3.1 The four-potential 58

4.3.2 The Liénard-Wiechert potentials 59

4.3.3 The electromagnetic field tensor 61

4.4 Bibliography 64

5.1 Charged particles in an electromagnetic field 67

5.1.1 Covariant equations of motion 67

5.2 Covariant field theory 73

5.2.1 Lagrange-Hamilton formalism for fields and interactions 73

5.3 Bibliography 81

6.1 Electric polarisation and displacement 83

6.1.1 Electric multipole moments 83

6.2 Magnetisation and the magnetising field 86

6.3 Energy and momentum 88

6.3.1 The energy theorem in Maxwell’s theory 88

6.3.2 The momentum theorem in Maxwell’s theory 89

6.4 Bibliography 91

7.1 The magnetic field 95

7.2 The electric field 96

7.3 The radiation fields 99

7.4 Radiated energy 101

7.4.1 Monochromatic signals 101

7.4.2 Finite bandwidth signals 102

7.5 Bibliography 103

8.1 Radiation from extended sources 105

8.1.1 Radiation from a one-dimensional current distribution 106

8.1.2 Radiation from a two-dimensional current distribution 108

8.2 Multipole radiation 112

8.2.1 The Hertz potential 112

8.2.2 Electric dipole radiation 115

8.2.3 Magnetic dipole radiation 117

8.2.4 Electric quadrupole radiation 118

8.3 Radiation from a localised charge in arbitrary motion 119

8.3.1 The Liénard-Wiechert potentials 120

8.3.2 Radiation from an accelerated point charge 122

8.3.3 Bremsstrahlung 133

8.3.4 Cyclotron and synchrotron radiation 138

8.3.5 Radiation from charges moving in matter 145

8.4 Bibliography 152

F Formulae 155

F.1 The electromagnetic field 155

F.1.1 Maxwell’s equations 155

F.1.2 Fields and potentials 155

F.1.3 Force and energy 156

F.2 Electromagnetic radiation 156

F.2.1 Relationship between the field vectors in a plane wave 156

F.2.2 The far fields from an extended source distribution 156

F.2.3 The far fields from an electric dipole 156

F.2.4 The far fields from a magnetic dipole 157

F.2.5 The far fields from an electric quadrupole 157

F.2.6 The fields from a point charge in arbitrary motion 157

F.3 Special relativity 157

F.3.1 Metric tensor 157

F.3.2 Covariant and contravariant four-vectors 157

F.3.3 Lorentz transformation of a four-vector 158

F.3.4 Invariant line element 158

F.3.5 Four-velocity 158

F.3.6 Four-momentum 158

F.3.7 Four-current density 158

C ONTENTS

F.3.9 Field tensor 158

F.4 Vector relations 159

F.4.1 Spherical polar coordinates 159

F.4.2 Vector formulae 160

F.5 Bibliography 161

M.1 Scalars, vectors and tensors 163

M.1.1 Vectors 163

M.1.2 Fields 165

M.1.3 Vector algebra 171

M.1.4 Vector analysis 174

M.2 Analytical mechanics 180

M.2.1 Lagrange’s equations 180

M.2.2 Hamilton’s equations 180

M.3 Bibliography 181

Index 183

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List of Figures

1.2 Coulomb interaction for a distribution of electric charges 5

1.3 Ampère interaction 7

1.4 Moving loop in a varying B field 12

4.2 Rotation in a 2D Euclidean space 55

4.3 Minkowski diagram 56

8.2 Electric dipole geometry 107

8.3 Loop antenna 109

8.4 Multipole radiation geometry 113

8.5 Electric dipole geometry 116

8.6 Radiation from a moving charge in vacuum 120

8.7 An accelerated charge in vacuum 122

8.8 Angular distribution of radiation during bremsstrahlung 134

8.9 Location of radiation during bremsstrahlung 135

8.10 Radiation from a charge in circular motion 139

8.11 Synchrotron radiation lobe width 141

8.12 The perpendicular field of a moving charge 144

8.13 Electron-electron scattering 146

8.14 Vavilov-Čerenkov cone 150

xiii

To the memory of professor

L EV M IKHAILOVICH E RUKHIMOV (1936–1997)

dear friend, great physicist, poet

and a truly remarkable man.

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CHAPTER 1

Classical Electrodynamics

Classical electrodynamics deals with electric and magnetic fields and interactions

caused by macroscopic distributions of electric charges and currents. This means

that the concepts of localised electric charges and currents assume the validity of

certain mathematical limiting processes in which it is considered possible for the

charge and current distributions to be localised in infinitesimally small volumes of

space. Clearly, this is in contradiction to electromagnetism on a truly microscopic

scale, where charges and currents have to be treated as spatially extended objects and

quantum corrections must be included. However, the limiting processes used will

yield results which are correct on small as well as large macroscopic scales.

It took the genius of JAMES C LERK M AXWELL to unify electricity and magnet-

ism into a super-theory, electromagnetism or classical electrodynamics (CED), and to

realise that optics is a subfield of this super-theory. Early in the 20th century, No-

bel laureate H ENDRIK A NTOON L ORENTZ took the electrodynamics theory further to

the microscopic scale and also laid the foundation for the special theory of relativ-

ity, formulated by Nobel laureate A LBERT E INSTEIN in 1905. In the 1930s PAUL

A. M. D IRAC expanded electrodynamics to a more symmetric form, including mag-

netic as well as electric charges. With his relativistic quantum mechanics, he also

paved the way for the development of quantum electrodynamics (QED) for which

R ICHARD P. F EYNMAN, J ULIAN S CHWINGER, and S IN -I TIRO T OMONAGA in 1965 re-

ceived their Nobel prizes. Around the same time, physicists such as Nobel laureates

S HELDON G LASHOW, A BDUS S ALAM, and S TEVEN W EINBERG managed to unify

electrodynamics with the weak interaction theory to yet another super-theory, elec-

troweak theory. The modern theory of strong interactions, quantum chromodynamics

(QCD), is influenced by QED.

In this chapter we start with the force interactions in classical electrostatics and

classical magnetostatics and introduce the static electric and magnetic fields and find

1

1. C LASSICAL E LECTRODYNAMICS

two uncoupled systems of equations for them. Then we see how the conservation

of electric charge and its relation to electric current leads to the dynamic connection

between electricity and magnetism and how the two can be unified into one ‘super-

theory’, classical electrodynamics, described by one system of coupled dynamic field

equations—the Maxwell equations.

At the end of the chapter we study Dirac’s symmetrised form of Maxwell’s equa-

tions by introducing (hypothetical) magnetic charges and magnetic currents into the

theory. While not identified unambiguously in experiments yet, magnetic charges and

currents make the theory much more appealing for instance by allowing for duality

transformations in a most natural way.

1.1 Electrostatics

The theory which describes physical phenomena related to the interaction between

stationary electric charges or charge distributions in space with stationary boundaries

is called electrostatics. For a long time electrostatics, under the name electricity,

was considered an independent physical theory of its own, alongside other physical

theories such as magnetism, mechanics, optics and thermodynamics. 1

It has been found experimentally that in classical electrostatics the interaction between

stationary, electrically charged bodies can be described in terms of a mechanical force.

Let us consider the simple case described by Figure 1.1 on page 3. Let F denote the

force acting on a electrically charged particle with charge q located at x, due to the

presence of a charge q0 located at x0 . According to Coulomb’s law this force is, in

vacuum, given by the expression

qq0 x − x0 qq0 1 qq0 0 1

F(x) = =− ∇ = ∇ (1.1)

4πε0 |x − x0 |3 4πε0 |x − x0 | 4πε0 |x − x0 |

where in the last step Formula (F.71) on page 161 was used. In SI units, which we

shall use throughout, the force F is measured in Newton (N), the electric charges q

and q0 in Coulomb (C) [= Ampère-seconds (As)], and the length |x − x0 | in metres

(m). The constant ε0 = 107 /(4πc2 ) ≈ 8.8542 × 10−12 Farad per metre (F/m) is the

1 The physicist and philosopher Pierre Duhem (1861–1916) once wrote:

‘The whole theory of electrostatics constitutes a group of abstract ideas and general propos-

itions, formulated in the clear and concise language of geometry and algebra, and connected

with one another by the rules of strict logic. This whole fully satisfies the reason of a French

physicist and his taste for clarity, simplicity and order. . . .’

Electrostatics

x − x0

x

q0

x0

O

F IGURE 1.1: Coulomb’s law describes how a static electric charge q, located at

a point x relative to the origin O, experiences an electrostatic force from a static

electric charge q0 located at x0 .

vacuum permittivity and c ≈ 2.9979 × 108 m/s is the speed of light in vacuum. In CGS

units ε0 = 1/(4π) and the force is measured in dyne, electric charge in statcoulomb,

and length in centimetres (cm).

Instead of describing the electrostatic interaction in terms of a ‘force action at a dis-

tance’, it turns out that it is for most purposes more useful to introduce the concept of

a field and to describe the electrostatic interaction in terms of a static vectorial electric

field Estat defined by the limiting process

def F

Estat ≡ lim (1.2)

q→0 q

where F is the electrostatic force, as defined in Equation (1.1) on the preceding page,

from a net electric charge q0 on the test particle with a small electric net electric charge

q. Since the purpose of the limiting process is to assure that the test charge q does not

distort the field set up by q0 , the expression for Estat does not depend explicitly on q

but only on the charge q0 and the relative radius vector x − x0 . This means that we can

say that any net electric charge produces an electric field in the space that surrounds

it, regardless of the existence of a second charge anywhere in this space. 2

2 In the preface to the first edition of the first volume of his book A Treatise on Electricity and Magnet-

ism, first published in 1873, James Clerk Maxwell describes this in the following, almost poetic, manner

[9]:

‘For instance, Faraday, in his mind’s eye, saw lines of force traversing all space where the

mathematicians saw centres of force attracting at a distance: Faraday saw a medium where

they saw nothing but distance: Faraday sought the seat of the phenomena in real actions

1. C LASSICAL E LECTRODYNAMICS

Using (1.1) and Equation (1.2) on the preceding page, and Formula (F.70) on

page 160, we find that the electrostatic field Estat at the field point x (also known as

the observation point), due to a field-producing electric charge q 0 at the source point

x0 , is given by

stat q0 x − x 0 q0 1 q0 0 1

E (x) = =− ∇ = ∇ (1.3)

4πε0 |x − x0 |3 4πε0 |x − x0 | 4πε0 |x − x0 |

the points x0i , i = 1, 2, 3, . . . , respectively, in an otherwise empty space, the assumption

of linearity of vacuum3 allows us to superimpose their individual electrostatic fields

into a total electrostatic field

1 x − x0i

Estat (x) = ∑ q0i 3 (1.4)

4πε0 i x − x0

i

If the discrete electric charges are small and numerous enough, we introduce the

electric charge density ρ, measured in C/m3 in SI units, located at x0 within a volume

V 0 of limited extent and replace summation with integration over this volume. This

allows us to describe the total field as

Z 0 Z

stat 1 3 0 0 x−x 1 3 0 0 1

E (x) = d x ρ(x ) =− d x ρ(x )∇

4πε0 V 0 |x − x0 |3 4πε0 V 0 |x − x0 |

Z 0

(1.5)

1 ρ(x )

=− ∇ d3x0

4πε0 V0 |x − x0 |

where we used Formula (F.70) on page 160 and the fact that ρ(x0 ) does not depend on

the unprimed (field point) coordinates on which ∇ operates.

We emphasise that under the assumption of linear superposition, Equation (1.5)

above is valid for an arbitrary distribution of electric charges, including discrete

charges, in which case ρ is expressed in terms of Dirac delta distributions:

i

as illustrated in Figure 1.2 on the facing page. Inserting this expression into expres-

sion (1.5) above we recover expression (1.4).

Taking the divergence of the general Estat expression for an arbitrary electric

charge distribution, Equation (1.5) above, and using the representation of the Dirac

going on in the medium, they were satisfied that they had found it in a power of action at a

distance impressed on the electric fluids.’

3 In fact, vacuum exhibits a quantum mechanical nonlinearity due to vacuum polarisation effects mani-

festing themselves in the momentary creation and annihilation of electron-positron pairs, but classically

this nonlinearity is negligible.

Electrostatics

x − x0i

x

q0i

V0

x0i

O

F IGURE 1.2: Coulomb’s law for a distribution of individual charges x0i localised

within a volume V 0 of limited extent.

Z

1 x − x0

∇ · Estat (x) = ∇ · d3x0 ρ(x0 )

4πε0 V 0 |x − x0 |3

Z

1 1

=− d3x0 ρ(x0 )∇ · ∇

4πε0 V 0 |x − x0 |

Z (1.7)

1 1

=− d3x0 ρ(x0 ) ∇2

4πε0 V 0 |x − x0 |

Z

1 ρ(x)

= d3x0 ρ(x0 ) δ(x − x0 ) =

ε0 V 0 ε0

Since, according to Formula (F.62) on page 160, ∇ × [∇α(x)] ≡ 0 for any 3D R3

scalar field α(x), we immediately find that in electrostatics

Z 0

stat 1 3 0 ρ(x )

∇×E (x) = − ∇× ∇ dx =0 (1.8)

4πε0 V0 |x − x0 |

To summarise, electrostatics can be described in terms of two vector partial differ-

ential equations

ρ(x)

∇ · Estat (x) = (1.9a)

ε0

∇ × Estat (x) = 0 (1.9b)

1. C LASSICAL E LECTRODYNAMICS

1.2 Magnetostatics

While electrostatics deals with static electric charges, magnetostatics deals with sta-

tionary electric currents, i.e., electric charges moving with constant speeds, and the

interaction between these currents. Here we shall discuss this theory in some detail.

Experiments on the interaction between two small loops of electric current have shown

that they interact via a mechanical force, much the same way that electric charges

interact. In Figure 1.3 on the facing page, let F denote such a force acting on a small

loop C, with tangential line element dl, located at x and carrying a current I in the

direction of dl, due to the presence of a small loop C 0 , with tangential line element dl0 ,

located at x0 and carrying a current I 0 in the direction of dl0 . According to Ampère’s

law this force is, in vacuum, given by the expression

I I

µ0 II 0 (x − x0 )

F(x) = dl × dl0 ×

4π C C0 |x − x0 |3

0 I I (1.10)

µ0 II 0 1

=− dl × dl × ∇

4π C C0 |x − x0 |

In SI units, µ0 = 4π × 10−7 ≈ 1.2566 × 10−6 H/m is the vacuum permeability. From

the definition of ε0 and µ0 (in SI units) we observe that

107 1

ε 0 µ0 = 2

(F/m) × 4π × 10−7 (H/m) = 2 (s2 /m2 ) (1.11)

4πc c

which is a most useful relation.

At first glance, Equation (1.10) above may appear unsymmetric in terms of the

loops and therefore to be a force law which is in contradiction with Newton’s third

law. However, by applying the vector triple product ‘bac-cab’ Formula (F.51) on

page 160, we can rewrite (1.10) as

I I

µ0 II 0 0 1

F(x) = − dl dl · ∇

4π C 0 C |x − x0 |

0 I I 0 (1.12)

µ0 II x−x 0

− dl ·dl

4π C C 0 |x − x0 |3

Since the integrand in the first integral is an exact differential, this integral vanishes

and we can rewrite the force expression, Equation (1.10) above, in the following sym-

metric way

I I

µ0 II 0 x − x0

F(x) = − dl · dl0 (1.13)

4π C C0 |x − x0 |3

which clearly exhibits the expected symmetry in terms of loops C and C 0 .

Magnetostatics

C dl

x − x0 dl0

x

C0

J0

0

x

O

F IGURE 1.3: Ampère’s law describes how a small loop C, carrying a static

electric current I through its tangential line element dl located at x, experiences

a magnetostatic force from a small loop C 0 , carrying a static electric current I 0

through the tangential line element dl0 located at x0 . The loops can have arbitrary

shapes as long as they are simple and closed.

In analogy with the electrostatic case, we may attribute the magnetostatic interaction

to a static vectorial magnetic field Bstat . It turns out that the elemental Bstat can be

defined as

def µ0 I 0 0 x − x0

dBstat (x) ≡ dl × (1.14)

4π |x − x0 |3

which expresses the small element dBstat (x) of the static magnetic field set up at the

field point x by a small line element dl0 of stationary current I 0 at the source point

x0 . The SI unit for the magnetic field, sometimes called the magnetic flux density or

magnetic induction, is Tesla (T).

If we generalise expression (1.14) to an integrated steady state electric current

density j(x), measured in A/m2 in SI units, we obtain Biot-Savart’s law:

Z Z

µ0 x − x0 µ0 1

Bstat (x) = d3x0 j(x0 ) × = − d 3 0

x j(x 0

) × ∇

4π V 0 |x − x0 |3 4π V 0 |x − x0 |

Z

µ0 j(x0 )

= ∇ × d3x0

4π V0 |x − x0 |

(1.15)

where we used Formula (F.70) on page 160, Formula (F.57) on page 160, and the

fact that j(x0 ) does not depend on the unprimed coordinates on which ∇ operates.

Comparing Equation (1.5) on page 4 with Equation (1.15), we see that there exists a

1. C LASSICAL E LECTRODYNAMICS

close analogy between the expressions for Estat and Bstat but that they differ in their

vectorial characteristics. With this definition of Bstat , Equation (1.10) on page 6 may

we written

I

F(x) = I dl × Bstat (x) (1.16)

C

In order to assess the properties of Bstat , we determine its divergence and curl.

Taking the divergence of both sides of Equation (1.15) on the preceding page and

utilising Formula (F.63) on page 160, we obtain

Z

µ0 j(x0 )

∇ · Bstat (x) = ∇ · ∇ × d3x0 =0 (1.17)

4π V0 |x − x0 |

since, according to Formula (F.63) on page 160, ∇ · (∇ × a) vanishes for any vector

field a(x).

Applying the operator ‘bac-cab’ rule, Formula (F.64) on page 160, the curl of

Equation (1.15) on the preceding page can be written

Z 0

stat µ0 3 0 j(x )

∇ × B (x) = ∇× ∇× dx =

4π V0 |x − x0 |

Z Z

µ0 3 0 0 2 1 µ0 3 0 0 0 0 1

=− d x j(x ) ∇ + d x [j(x ) · ∇ ] ∇

4π V 0 |x − x0 | 4π V 0 |x − x0 |

(1.18)

In the first of the two integrals on the right hand side, we use the representation of the

Dirac delta function given in Formula (F.73) on page 161, and integrate the second

one by parts, by utilising Formula (F.56) on page 160 as follows:

Z

3 0 0 0 10

d x [j(x ) · ∇ ]∇

V0 |x − x0 |

Z Z

3 0 0 0 ∂ 1 3 0

0 0

0 1

= x̂k d x ∇ · j(x ) − d x ∇ · j(x ) ∇

V0 ∂x0k |x − x0 | V0 |x − x0 |

Z Z

∂ 1 1

= x̂k dS · j(x0 ) 0 − d3x0 ∇0 · j(x0 ) ∇0

S ∂xk |x − x0 | V0 |x − x0 |

(1.19)

Then we note that the first integral in the result, obtained by applying Gauss’s theorem,

vanishes when integrated over a large sphere far away from the localised source j(x 0 ),

and that the second integral vanishes because ∇ · j = 0 for stationary currents (no

charge accumulation in space). The net result is simply

Z

∇ × Bstat (x) = µ0 d3x0 j(x0 )δ(x − x0 ) = µ0 j(x) (1.20)

V0

Electrodynamics

1.3 Electrodynamics

As we saw in the previous sections, the laws of electrostatics and magnetostatics can

be summarised in two pairs of time-independent, uncoupled vector partial differential

equations, namely the equations of classical electrostatics

ρ(x)

∇ · Estat (x) = (1.21a)

ε0

∇ × Estat (x) = 0 (1.21b)

stat

∇×B (x) = µ0 j(x) (1.22b)

Since there is nothing a priori which connects Estat directly with Bstat , we must con-

sider classical electrostatics and classical magnetostatics as two independent theories.

However, when we include time-dependence, these theories are unified into one

theory, classical electrodynamics. This unification of the theories of electricity and

magnetism is motivated by two empirically established facts:

electric charge. This fact manifests itself in the equation of continuity and, as a

consequence, in Maxwell’s displacement current.

2. A change in the magnetic flux through a loop will induce an EMF electric field

in the loop. This is the celebrated Faraday’s law of induction.

Let j(t, x) denote the time-dependent electric current density. In the simplest case

it can be defined as j = vρ where v is the velocity of the electric charge dens-

ity ρ. In general, j has to be defined in statistical mechanical terms as j(t, x) =

R

∑α qα d3v v fα (t, x, v) where fα (t, x, v) is the (normalised) distribution function for

particle species α with electric charge qα .

The electric charge conservation law can be formulated in the equation of con-

tinuity

∂ρ(t, x)

+ ∇ · j(t, x) = 0 (1.23)

∂t

which states that the time rate of change of electric charge ρ(t, x) is balanced by a

divergence in the electric current density j(t, x).

1. C LASSICAL E LECTRODYNAMICS

We recall from the derivation of Equation (1.20) on page 8 that there we used the fact

that in magnetostatics ∇ · j(x) = 0. In the case of non-stationary sources and fields,

we must, in accordance with the continuity Equation (1.23) on the preceding page, set

∇ · j(t, x) = −∂ρ(t, x)/∂t. Doing so, and formally repeating the steps in the derivation

of Equation (1.20) on page 8, we would obtain the formal result

Z Z

3 0 0 0 µ0 ∂ 3 0 0 0 1

∇ × B(t, x) = µ0 d x j(t, x )δ(x − x ) + d x ρ(t, x )∇

V0 4π ∂t V 0 |x − x0 |

∂

= µ0 j(t, x) + µ0 ε0 E(t, x)

∂t

(1.24)

where, in the last step, we have assumed that a generalisation of Equation (1.5) on

page 4 to time-varying fields allows us to make the identification4

Z Z

1 ∂ 3 0 0 0 1 ∂ 1 3 0 0 1

d x ρ(t, x )∇ = − d x ρ(t, x )∇

4πε0 ∂t V 0 |x − x0 | ∂t 4πε0 V 0 |x − x0 |

Z 0

∂ 1 ρ(t, x ) ∂

= − ∇ d3x0 0

= E(t, x)

∂t 4πε0 V 0 |x − x | ∂t

(1.25)

∂

∇ × B(t, x) = µ0 j(t, x) + ε0 E(t, x) (1.26)

∂t

where the last term ∂ε0 E(t, x)/∂t is the famous displacement current. This term was

introduced, in a stroke of genius, by Maxwell[8] in order to make the right hand side

of this equation divergence free when j(t, x) is assumed to represent the density of the

total electric current, which can be split up in ‘ordinary’ conduction currents, polar-

isation currents and magnetisation currents. The displacement current is an extra term

which behaves like a current density flowing in vacuum. As we shall see later, its

existence has far-reaching physical consequences as it predicts the existence of elec-

tromagnetic radiation that can carry energy and momentum over very long distances,

even in vacuum.

If an electric field E(t, x) is applied to a conducting medium, a current density j(t, x)

will be produced in this medium. There exist also hydrodynamical and chemical

processes which can create currents. Under certain physical conditions, and for certain

4 Later, we will need to consider this generalisation and formal identification further.

Electrodynamics

materials, one can sometimes assume a linear relationship between the electric current

density j and E, called Ohm’s law:

where σ is the electric conductivity (S/m). In the most general cases, for instance in

an anisotropic conductor, σ is a tensor.

We can view Ohm’s law, Equation (1.27) above, as the first term in a Taylor ex-

pansion of the law j[E(t, x)]. This general law incorporates non-linear effects such as

frequency mixing. Examples of media which are highly non-linear are semiconduct-

ors and plasma. We draw the attention to the fact that even in cases when the linear

relation between E and j is a good approximation, we still have to use Ohm’s law with

care. The conductivity σ is, in general, time-dependent (temporal dispersive media)

but then it is often the case that Equation (1.27) is valid for each individual Fourier

component of the field.

If the current is caused by an applied electric field E(t, x), this electric field will

exert work on the charges in the medium and, unless the medium is super-conducting,

there will be some energy loss. The rate at which this energy is expended is j · E

per unit volume. If E is irrotational (conservative), j will decay away with time.

Stationary currents therefore require that an electric field which corresponds to an

electromotive force (EMF) is present. In the presence of such a field EEMF , Ohm’s

law, Equation (1.27) above, takes the form

I

E= dl · (Estat + EEMF ) (1.29)

C

In Subsection 1.1.2 we derived the differential equations for the electrostatic field. In

particular, on page 5 we derived Equation (1.8) which states that ∇ × Estat (x) = 0 and

thus that Estat is a conservative field (it can be expressed as a gradient of a scalar field).

This implies that the closed line integral of Estat in Equation (1.29) above vanishes and

that this equation becomes

I

E= dl · EEMF (1.30)

C

duced in a closed circuit C if the magnetic flux through this circuit varies with time.

1. C LASSICAL E LECTRODYNAMICS

dS

v

B(x)

dl

B(x)

magnetic field B(x) will sense a varying magnetic flux during the motion.

I

d

E(t, x) = dl · E(t, x) = − Φm (t, x)

C dt

Z Z (1.31)

d ∂

=− dS · B(t, x) = − dS · B(t, x)

dt S S ∂t

where Φm is the magnetic flux and S is the surface encircled by C which can be in-

terpreted as a generic stationary ‘loop’ and not necessarily as a conducting circuit.

Application of Stokes’ theorem on this integral equation, transforms it into the differ-

ential equation

∂

∇ × E(t, x) = − B(t, x) (1.32)

∂t

which is valid for arbitrary variations in the fields and constitutes the Maxwell equa-

tion which explicitly connects electricity with magnetism.

Any change of the magnetic flux Φm will induce an EMF. Let us therefore consider

the case, illustrated if Figure 1.4, that the ‘loop’ is moved in such a way that it links

Electrodynamics

a magnetic field which varies during the movement. The convective derivative is

evaluated according to the well-known operator formula

d ∂

= +v·∇ (1.33)

dt ∂t

which follows immediately from the rules of differentiation of an arbitrary differen-

tiable function f (t, x(t)). Applying this rule to Faraday’s law, Equation (1.31) on the

preceding page, we obtain

Z Z Z

d ∂B

E(t, x) = − dS · B = − dS · − dS · (v · ∇)B (1.34)

dt S S ∂t S

on page 8 holds also for time-varying fields:

∇ · B(t, x) = 0 (1.35)

(it is one of Maxwell’s equations) so that, according to Formula (F.59) on page 160,

∇ × (B × v) = (v · ∇)B (1.36)

I Z

d

E(t, x) = dl · EEMF = − dS · B

C dt S

Z Z (1.37)

∂B

=− dS · − dS · ∇ × (B × v)

S ∂t S

I Z I

∂B

E(t, x) = dl · EEMF = − dS · − dl · (B × v) (1.38)

C S ∂t C

I Z

∂B

dl · (EEMF − v × B) = − dS · (1.39)

C S ∂t

where EEMF is the field which is induced in the ‘loop’, i.e., in the moving system. The

use of Stokes’ theorem ‘backwards’ on Equation (1.39) above yields

∂B

∇ × (EEMF − v × B) = − (1.40)

∂t

In the fixed system, an observer measures the electric field

E = EEMF − v × B (1.41)

1. C LASSICAL E LECTRODYNAMICS

EEMF = E + v × B (1.43)

Hence, we can conclude that for a stationary observer, the Maxwell equation

∂B

∇×E=− (1.44)

∂t

is indeed valid even if the ‘loop’ is moving.

We are now able to collect the results from the above considerations and formulate the

equations of classical electrodynamics valid for arbitrary variations in time and space

of the coupled electric and magnetic fields E(t, x) and B(t, x). The equations are

ρ

∇·E= (1.45a)

ε0

∂B

∇×E=− (1.45b)

∂t

∇·B=0 (1.45c)

∂E

∇ × B = ε 0 µ0 + µ0 j(t, x) (1.45d)

∂t

In these equations ρ(t, x) represents the total, possibly both time and space depend-

ent, electric charge, i.e., free as well as induced (polarisation) charges, and j(t, x)

represents the total, possibly both time and space dependent, electric current, i.e.,

conduction currents (motion of free charges) as well as all atomistic (polarisation,

magnetisation) currents. As they stand, the equations therefore incorporate the clas-

sical interaction between all electric charges and currents in the system and are called

Maxwell’s microscopic equations. Another name often used for them is the Maxwell-

Lorentz equations. Together with the appropriate constitutive relations, which relate

ρ and j to the fields, and the initial and boundary conditions pertinent to the physical

situation at hand, they form a system of well-posed partial differential equations which

completely determine E and B.

The microscopic field equations (1.45) provide a correct classical picture for arbitrary

field and source distributions, including both microscopic and macroscopic scales.

Electromagnetic duality

derived fields which represent the electric and magnetic fields in which, in an average

sense, the material properties of the substances are already included. These fields are

the electric displacement D and the magnetising field H. In the most general case,

these derived fields are complicated nonlocal, nonlinear functionals of the primary

fields E and B:

D = D[t, x; E, B] (1.46a)

H = H[t, x; E, B] (1.46b)

Under certain conditions, for instance for very low field strengths, we may assume

that the response of a substance to the fields is linear so that

D = εE (1.47)

−1

H=µ B (1.48)

i.e., that the derived fields are linearly proportional to the primary fields and that the

electric displacement (magnetising field) is only dependent on the electric (magnetic)

field.

The field equations expressed in terms of the derived field quantities D and H are

∇ · D = ρ(t, x) (1.49a)

∂B

∇×E=− (1.49b)

∂t

∇·B=0 (1.49c)

∂D

∇×H= + j(t, x) (1.49d)

∂t

and are called Maxwell’s macroscopic equations. We will study them in more detail

in Chapter 6.

If we look more closely at the microscopic Maxwell equations (1.45), we see that

they exhibit a certain, albeit not a complete, symmetry. Let us follow Dirac and make

the ad hoc assumption that there exist magnetic monopoles represented by a magnetic

charge density, which we denote by ρm = ρm (t, x), and a magnetic current density,

which we denote by jm = jm (t, x). With these new quantities included in the theory,

and with the electric charge density denoted ρe and the electric current density denoted

je , the Maxwell equations will be symmetrised into the following four coupled, vector,

1. C LASSICAL E LECTRODYNAMICS

ρe

∇·E= (1.50a)

ε0

∂B

∇×E=− − µ 0 jm (1.50b)

∂t

∇ · B = µ 0 ρm (1.50c)

∂E

∇ × B = ε 0 µ0 + µ 0 je (1.50d)

∂t

We shall call these equations Dirac’s symmetrised Maxwell equations or the electro-

magnetodynamic equations.

Taking the divergence of (1.50b), we find that

∂

∇ · (∇ × E) = − (∇ · B) − µ0 ∇ · jm ≡ 0 (1.51)

∂t

where we used the fact that, according to Formula (F.63) on page 160, the divergence

of a curl always vanishes. Using (1.50c) to rewrite this relation, we obtain the equation

of continuity for magnetic monopoles

∂ρm

+ ∇ · jm = 0 (1.52)

∂t

which has the same form as that for the electric monopoles (electric charges) and

currents, Equation (1.23) on page 9.

We notice that the new Equations (1.50) exhibit the following symmetry (recall

that ε0 µ0 = 1/c2 ):

E → cB (1.53a)

cB → −E (1.53b)

e m

cρ → ρ (1.53c)

m e

ρ → −cρ (1.53d)

e m

cj → j (1.53e)

m e

j → −cj (1.53f)

the Hodge star operator)

?

E = E cos θ + cB sin θ (1.54a)

?

c B = −E sin θ + cB cos θ (1.54b)

? e e m

c ρ = cρ cos θ + ρ sin θ (1.54c)

? m e m

ρ = −cρ sin θ + ρ cos θ (1.54d)

? e e m

c j = cj cos θ + j sin θ (1.54e)

? m e m

j = −cj sin θ + j cos θ (1.54f)

Electromagnetic duality

which leaves the symmetrised Maxwell equations, and hence the physics they describe

(often referred to as electromagnetodynamics), invariant. Since E and j e are (true or

polar) vectors, B a pseudovector (axial vector), ρe a (true) scalar, then ρm and θ, which

behaves as a mixing angle in a two-dimensional ‘charge space’, must be pseudoscalars

and jm a pseudovector.

Postulate 1.1 (Indestructibility of magnetic charge). Magnetic charge exists and is indes-

tructible in the same way that electric charge exists and is indestructible. In other words we

postulate that there exists an equation of continuity for magnetic charges:

∂ρm (t, x)

+ ∇ · jm (t, x) = 0

∂t

Use this postulate and Dirac’s symmetrised form of Maxwell’s equations to derive

Faraday’s law.

The assumption of the existence of magnetic charges suggests a Coulomb-like law for mag-

netic fields:

Z Z

µ0 x − x0 µ0 1

Bstat (x) = d3x0 ρm (x0 ) = − d 3 0 m 0

x ρ (x )∇

4π V 0 |x − x0 |3 4π V 0 |x − x0 |

Z m 0

(1.55)

µ0 ρ (x )

= − ∇ d3x0

4π V0 |x − x0 |

[cf. Equation (1.5) on page 4 for Estat ] and, if magnetic currents exist, a Biot-Savart-like law for

electric fields [cf. Equation (1.15) on page 7 for Bstat ]:

Z Z

stat µ0 3 0 m 0 x − x0 µ0 3 0 m 0 1

E (x) = − d x j (x ) × = d x j (x ) × ∇

4π V 0 |x − x0 |3 4π V 0 |x − x0 |

Z m 0

(1.56)

µ0 j (x )

= − ∇ × d3x0

4π V0 |x − x0 |

Taking the curl of the latter and using the operator ‘bac-cab’ rule, Formula (F.59) on page 160,

we find that

Z

µ0 jm (x0 )

∇ × Estat (x) = − ∇ × ∇ × d3x0 =

4π V0 |x − x0 |

Z Z (1.57)

µ0 1 µ0 1

=− d3x0 jm (x0 )∇2 + d 3 0

x [j m 0

(x ) · ∇ 0

]∇ 0

4π V 0 |x − x0 | 4π V 0 |x − x0 |

Comparing with Equation (1.18) on page 8 for Estat and the evaluation of the integrals there, we

obtain

Z

∇ × Estat (x) = −µ0 d3x0 jm (x0 ) δ(x − x0 ) = −µ0 jm (x) (1.58)

V0

We assume that Formula (1.56) above is valid also for time-varying magnetic currents.

Then, with the use of the representation of the Dirac delta function, Equation (F.73) on page 161,

the equation of continuity for magnetic charge, Equation (1.52) on the preceding page, and

the assumption of the generalisation of Equation (1.55) to time-dependent magnetic charge

1. C LASSICAL E LECTRODYNAMICS

Z Z

µ0 ∂ 1

∇ × E(t, x) = −µ0 d3x0 jm (t, x0 )δ(x − x0 ) − d3x0 ρm (t, x0 )∇0

V0 4π ∂t V0 |x − x0 |

∂

= −µ0 jm (t, x) − B(t, x)

∂t

(1.59)

[cf. Equation (1.24) on page 10] which we recognise as Equation (1.50b) on page 16. A

transformation of this electromagnetodynamic result by rotating into the ‘electric realm’ of

charge space, thereby letting jm tend to zero, yields the electrodynamic Equation (1.50b) on

page 16, i.e., the Faraday law in the ordinary Maxwell equations. This process also provides

an alternative interpretation of the term ∂B/∂t as a magnetic displacement current, dual to the

electric displacement current [cf. Equation (1.26) on page 10].

able to replace Faraday’s experimental results on electromotive forces and induction in loops as

a foundation for the Maxwell equations by a more appealing one.

C E ND OF EXAMPLE 1.1

symmetrised Maxwell equations), Equations (1.50) on page 16, are invariant under the duality

transformation (1.54).

ρe

∇ · ?E = ∇ · (E cos θ + cB sin θ) = cos θ + cµ0 ρm sin θ

ε0

? e (1.60)

1 1 ρ

= ρe cos θ + ρm sin θ =

ε0 c ε0

∂?B ∂ 1

∇ × ?E + = ∇ × (E cos θ + cB sin θ) + − E sin θ + B cos θ

∂t ∂t c

∂B 1 ∂E

= −µ0 jm cos θ − cos θ + cµ0 je sin θ + sin θ

∂t c ∂t (1.61)

1 ∂E ∂B

− sin θ + cos θ = −µ0 jm cos θ + cµ0 je sin θ

c ∂t ∂t

= −µ0 (−cje sin θ + jm cos θ) = −µ0 ?jm

1 ρe

∇ · ?B = ∇ · (− E sin θ + B cos θ) = − sin θ + µ0 ρm cos θ

c cε0 (1.62)

= µ0 (−cρe sin θ + ρm cos θ) = µ0 ?ρm

Electromagnetic duality

1 ∂? E 1 1 ∂

∇ × ?B − = ∇ × (− E sin θ + B cos θ) − 2 (E cos θ + cB sin θ)

c2 ∂t c c ∂t

1 1 ∂B 1 ∂E

= µ0 jm sin θ + cos θ + µ0 je cos θ + 2 cos θ

c c ∂t c ∂t

(1.63)

1 ∂E 1 ∂B

− 2 cos θ − sin θ

c ∂t c ∂t

1 m

= µ0 j sin θ + je cos θ = µ0 ?je

c

QED

C E ND OF EXAMPLE 1.2

BD IRAC ’ S SYMMETRISED M AXWELL EQUATIONS FOR A FIXED MIXING ANGLE E XAMPLE 1.3

Show that for a fixed mixing angle θ such that

m e

j = cj tan θ (1.64b)

Explicit application of the fixed mixing angle conditions on the duality transformation

(1.54) on page 16 yields

? e 1 1

ρ = ρe cos θ + ρm sin θ = ρe cos θ + cρe tan θ sin θ

c c (1.65a)

1 e 2 e 2 1 e

= (ρ cos θ + ρ sin θ) = ρ

cos θ cos θ

? m

ρ = −cρe sin θ + cρe tan θ cos θ = −cρe sin θ + cρe sin θ = 0 (1.65b)

? e 1 1 e

j = je cos θ + je tan θ sin θ = (je cos2 θ + je sin2 θ) = j (1.65c)

cos θ cos θ

? m

j = −cje sin θ + cje tan θ cos θ = −cje sin θ + cje sin θ = 0 (1.65d)

Hence, a fixed mixing angle, or, equivalently, a fixed ratio between the electric and magnetic

charges/currents, ‘hides’ the magnetic monopole influence (ρ m and jm ) on the dynamic equa-

tions.

We notice that the inverse of the transformation given by Equation (1.54) on page 16 yields

Furthermore, from the expressions for the transformed charges and currents above, we find that

? e

ρ 1 ρe

∇ · ?E = = (1.68)

ε0 cos θ ε0

and

1. C LASSICAL E LECTRODYNAMICS

∇ · ?B = µ 0 ?ρ m = 0 (1.69)

so that

1 ρe ρe

∇·E= cos θ − 0 = (1.70)

cos θ ε0 ε0

and so on for the other equations. QED

C E ND OF EXAMPLE 1.3

transformation means that the amount of magnetic monopole density ρ m is irrelevant

for the physics as long as the ratio ρm /ρe = tan θ is kept constant. So whether we

assume that the particles are only electrically charged or have also a magnetic charge

with a given, fixed ratio between the two types of charges is a matter of convention,

as long as we assume that this fraction is the same for all particles. Such particles are

referred to as dyons [14]. By varying the mixing angle θ we can change the fraction of

magnetic monopoles at will without changing the laws of electrodynamics. For θ = 0

we recover the usual Maxwell electrodynamics as we know it.5

The complex field six-vector

is conserved. I.e.,

E 2 − c2 B2 = Const (1.73a)

E · B = Const (1.73b)

2. The inner product of G with the complex conjugate of itself

‘. . . there are strong theoretical reasons to believe that magnetic charge exists in nature,

and may have played an important role in the development of the universe. Searches for

magnetic charge continue at the present time, emphasizing that electromagnetism is very

far from being a closed object’.

Electromagnetic duality

3. As with any vector, the cross product of G with itself vanishes:

G × G = (E + icB) × (E + icB)

= E × E − c2 B × B + ic(E × B) + ic(B × E) (1.75)

= 0 + 0 + ic(E × B) − ic(E × B) = 0

G × G∗ = (E + icB) × (E − icB)

= E × E + c2 B × B − ic(E × B) + ic(B × E) (1.76)

= 0 + 0 − ic(E × B) − ic(E × B) = −2ic(E × B)

C E ND OF EXAMPLE 1.4

Expressed in the complex field vector, introduced in Example 1.4 on the facing page, the

duality transformation Equations (1.54) on page 16 become

?

G = ?E + ic?B = E cos θ + cB sin θ − iE sin θ + icB cos θ

(1.77)

= E(cos θ − i sin θ) + icB(cos θ − i sin θ) = e−iθ (E + icB) = e−iθ G

2

?

G · ?G∗ = ?G = e−iθ G · eiθ G∗ = |G|2 (1.78)

while

?

G · ?G = e−2iθ G · G (1.79)

Furthermore, assuming that θ = θ(t, x), we see that the spatial and temporal differentiation

of ?G leads to

∂?G

∂t ? G ≡ = −i(∂t θ)e−iθ G + e−iθ ∂t G (1.80a)

∂t

∂ · ?G ≡ ∇ · ?G = −ie−iθ ∇θ · G + e−iθ ∇ · G (1.80b)

? ? −iθ −iθ

∂ × G ≡ ∇ × G = −ie ∇θ × G + e ∇ × G (1.80c)

and ∇ × ?G transform as ?G itself only if θ is space-independent.

C E ND OF EXAMPLE 1.5

1. C LASSICAL E LECTRODYNAMICS

1.5 Bibliography

[1] T. W. BARRETT AND D. M. G RIMES, Advanced Electromagnetism. Foundations, Theory

and Applications, World Scientific Publishing Co., Singapore, 1995, ISBN 981-02-2095-

2.

New York, NY, 1982, ISBN 0-486-64290-9.

1996, ISBN 0-387-94799-X.

[4] E. H ALLÉN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962.

[5] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,

New York, NY . . . , 1999, ISBN 0-471-30932-X.

[6] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth revised Eng-

lish ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd., Oxford . . . , 1975,

ISBN 0-08-025072-6.

[7] F. E. L OW, Classical Field Theory, John Wiley & Sons, Inc., New York, NY . . . , 1997,

ISBN 0-471-59551-9.

[8] J. C. M AXWELL, A dynamical theory of the electromagnetic field, Royal Society Trans-

actions, 155 (1864).

[9] J. C. M AXWELL, A Treatise on Electricity and Magnetism, third ed., vol. 1, Dover Pub-

lications, Inc., New York, NY, 1954, ISBN 0-486-60636-8.

[10] J. C. M AXWELL, A Treatise on Electricity and Magnetism, third ed., vol. 2, Dover Pub-

lications, Inc., New York, NY, 1954, ISBN 0-486-60637-8.

dia, Cambridge University Press, Cambridge . . . , 1991, ISBN 0-521-41025-8.

[12] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-

6.

[13] F. ROHRLICH, Classical Charged Particles, Perseus Books Publishing, L.L.C., Reading,

MA . . . , 1990, ISBN 0-201-48300-9.

[14] J. S CHWINGER, A magnetic model of matter, Science, 165 (1969), pp. 757–761.

dynamics, Perseus Books, Reading, MA, 1998, ISBN 0-7382-0056-5.

York, NY and London, 1953, ISBN 07-062150-0.

Bibliography

[17] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc., New

York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-57269-1.

Downloaded from http://www.plasma.uu.se/CED/Book Version released 19th June 2004 at 21:47.

CHAPTER 2

Electromagnetic Waves

deriving a set of equations which are alternatives to the Maxwell equations. It turns

out that these alternative equations are wave equations, indicating that electromagnetic

waves are natural and common manifestations of electrodynamics.

Maxwell’s microscopic equations [cf. Equations (1.45) on page 14] are

ρ(t, x)

∇·E= (Coulomb’s/Gauss’s law) (2.1a)

ε0

∂B

∇×E=− (Faraday’s law) (2.1b)

∂t

∇·B=0 (No free magnetic charges) (2.1c)

∂E

∇ × B = ε 0 µ0 + µ0 j(t, x) (Ampère’s/Maxwell’s law) (2.1d)

∂t

these equations are well suited for calculating the electric and magnetic fields E and

B from given, prescribed charge distributions ρ(t, x) and current distributions j(t, x) of

arbitrary time- and space-dependent form.

However, as is well known from the theory of differential equations, these four

first order, coupled partial differential vector equations can be rewritten as two un-

coupled, second order partial equations, one for E and one for B. We shall derive

these second order equations which, as we shall see are wave equations, and then

discuss the implications of them. We shall also show how the B wave field can be

easily calculated from the solution of the E wave equation.

25

2. E LECTROMAGNETIC WAVES

We restrict ourselves to derive the wave equations for the electric field vector E and the

magnetic field vector B in a volume with no net charge, ρ = 0, and no electromotive

force EEMF = 0.

In order to derive the wave equation for E we take the curl of (2.1b) and using (2.1d),

to obtain

∂ ∂ ∂

∇ × (∇ × E) = − (∇ × B) = −µ0 j + ε0 E (2.2)

∂t ∂t ∂t

According to the operator triple product ‘bac-cab’ rule Equation (F.64) on page 160

∇ × (∇ × E) = ∇(∇ · E) − ∇2 E (2.3)

∇·E=0 (2.4)

and since EEMF = 0, Ohm’s law, Equation (1.28) on page 11, yields

j = σE (2.5)

∂ ∂

∇2 E − µ 0 σE + ε0 E = 0 (2.6)

∂t ∂t

∂E 1 ∂2 E

∇2 E − µ 0 σ − 2 2 =0 (2.7)

∂t c ∂t

which is the homogeneous wave equation for E.

The wave equation for B is derived in much the same way as the wave equation for E.

Take the curl of (2.1d) and use Ohm’s law j = σE to obtain

∂ ∂

∇ × (∇ × B) = µ0 ∇ × j + ε0 µ0 (∇ × E) = µ0 σ∇ × E + ε0 µ0 (∇ × E) (2.8)

∂t ∂t

The wave equations

which, with the use of Equation (F.64) on page 160 and Equation (2.1c) on page 25

can be rewritten

∂B ∂2

∇(∇ · B) − ∇2 B = −µ0 σ − ε 0 µ0 2 B (2.9)

∂t ∂t

Using the fact that, according to (2.1c), ∇ · B = 0 for any medium and rearranging, we

can rewrite this equation as

∂B 1 ∂2 B

∇2 B − µ 0 σ − 2 2 =0 (2.10)

∂t c ∂t

This is the wave equation for the magnetic field. We notice that it is of exactly the

same form as the wave equation for the electric field, Equation (2.7) on the facing

page.

We now look for a solution to any of the wave equations in the form of a time-

harmonic wave. As is clear from the above, it suffices to consider only the E field,

since the results for the B field follow trivially. We therefore make the following

Fourier component Ansatz

E = E0 (x)e−iωt (2.11)

and insert this into Equation (2.7) on the preceding page. This yields

∂ 1 ∂2

∇2 E0 (x)e−iωt − µ0 σ E0 (x)e−iωt − 2 2 E0 (x)e−iωt

∂t c ∂t

1

= ∇2 E − µ0 σ(−iω)E0 (x)e−iωt − 2 (−iω)2 E0 (x)e−iωt

c

1 (2.12)

= ∇2 E − µ0 σ(−iω)E − 2 (−iω)2 E =

c

ω2 σ

= ∇2 E + 2 1 + i E=0

c ε0 ω

this equation as

ω2 i

∇2 E + 2 1 + E=0 (2.13)

c τω

ω2

∇2 E + E=0 (2.14)

c2

2. E LECTROMAGNETIC WAVES

ing waves. In the short τ limit we have instead

∇2 E + iωµ0 σE = 0 (2.15)

For most metals τ ∼ 10−14 s, which means that the diffusion picture is good for

all frequencies lower than optical frequencies. Hence, in metallic conductors, the

propagation term ∂2 E/c2 ∂t2 is negligible even for VHF, UHF, and SHF signals. Al-

ternatively, we may say that the displacement current ε0 ∂E/∂t is negligible relative to

the conduction current j = σE.

If we introduce the vacuum wave number

ω

k= (2.16)

c

√

we can write, using the fact that c = 1/ ε0 µ0 according to Equation (1.11) on page 6,

r

1 σ σ 1 σ µ0 σ

= = = = R0 (2.17)

τω ε0 ω ε0 ck k ε0 k

where in the last step we introduced the characteristic impedance for vacuum

r

µ0

R0 = ≈ 376.7 Ω (2.18)

ε0

Derive the wave equation for the E field described by the electromagnetodynamic equations

(Dirac’s symmetrised Maxwell equations) [cf. Equations (1.50) on page 16]

ρe

∇·E= (2.19a)

ε0

∂B

∇×E=− − µ 0 jm (2.19b)

∂t

∇ · B = µ 0 ρm (2.19c)

∂E

∇ × B = ε 0 µ0 + µ 0 je (2.19d)

∂t

under the assumption of vanishing net electric and magnetic charge densities and in the absence

of electromotive and magnetomotive forces. Interpret this equation physically.

Taking the curl of (2.19b) and using (2.19d), and assuming, for symmetry reasons, that

there exists a linear relation between the magnetic current density j m and the magnetic field B

(the analogue of Ohm’s law for electric currents, je = σe E)

jm = σ m B (2.20)

The wave equations

∂ ∂ 1 ∂E

∇ × (∇ × E) = −µ0 ∇ × jm − (∇ × B) = −µ0 σm ∇ × B − µ0 j e +

∂t ∂t c2 ∂t

(2.21)

1 ∂E ∂E 1 ∂2 E

= −µ0 σm µ0 σe E + 2 − µ0 σe − 2

c ∂t ∂t c ∂t2

Using the vector operator identity ∇ × (∇ × E) = ∇(∇ · E) − ∇2 E, and the fact that ∇ · E = 0

for a vanishing net electric charge, we can rewrite the wave equation as

2 e σm ∂E 1 ∂2 E

∇ E − µ0 σ + 2 − 2 2 − µ20 σm σe E = 0 (2.22)

c ∂t c ∂t

Compared to the ordinary electrodynamic wave equation for E, Equation (2.7) on page 26,

we see that we pick up extra terms. In order to understand what these extra terms mean physic-

ally, we analyse the time-independent wave equation for a single Fourier component. Then our

wave equation becomes

σm ω2

∇2 E + iωµ0 σe + 2 E + 2 E − µ20 σm σe E

c c

2

(2.23)

ω 1 µ 0 σe + σm /c2

= ∇2 E + 2 1 − 2 σm σe + i E=0

c ω ε0 ε0 ω

Realising that, according to Formula (2.18) on the preceding page, µ0 /ε0 is the square of the

vacuum radiation resistance R0 , and rearranging a bit, we obtain the time-independent wave

equation in Dirac’s symmetrised electrodynamics

2

2

e m 2

ω R σ + σ /c

∇2 E + 2 1 − 02 σm σe 1 + i

R2

E = 0 (2.24)

c ω ε ω 1 − 0 σm σe

0 ω2

From this equation we conclude that the existence of magnetic charges (magnetic monopoles),

and non-vanishing electric and magnetic conductivities would lead to a shift in the effective

wave number of the wave. Furthermore, even if the electric conductivity σ e vanishes, the

imaginary term does not necessarily vanish and the wave might therefore experience damping

(or growth) according as σm is positive (or negative). This would happen in a hypotethetical

medium which is a perfect insulator for electric currents but which can carry magnetic currents.

√

Finally, we note that in the particular case that ω = R0 σm σe , the wave equation becomes

a (time-independent) diffusion equation

σm

∇2 E + iωµ0 σe + 2 E = 0 (2.25)

c

C E ND OF EXAMPLE 2.1

2. E LECTROMAGNETIC WAVES

Consider now the case where all fields depend only on the distance ζ to a given plane

with unit normal n̂. Then the del operator becomes

∂

∇ = n̂ (2.26)

∂ζ

and Maxwell’s equations attain the form

∂E

n̂ · =0 (2.27a)

∂ζ

∂E ∂B

n̂ × =− (2.27b)

∂ζ ∂t

∂B

n̂ · =0 (2.27c)

∂ζ

∂B ∂E ∂E

n̂ × = µ0 j(t, x) + ε0 µ0 = µ0 σE + ε0 µ0 (2.27d)

∂ζ ∂t ∂t

Scalar multiplying (2.27d) by n̂, we find that

∂B ∂

0 = n̂ · n̂ × = n̂ · µ0 σ + ε0 µ0 E (2.28)

∂ζ ∂t

which simplifies to the first-order ordinary differential equation for the normal com-

ponent E n of the electric field

dE n σ

+ En = 0 (2.29)

dt ε0

with the solution

This, together with (2.27a), shows that the longitudinal component of E, i.e., the com-

ponent which is perpendicular to the plane surface is independent of ζ and has a time

dependence which exhibits an exponential decay, with a decrement given by the re-

laxation time τ in the medium.

Scalar multiplying (2.27b) by n̂, we similarly find that

∂E ∂B

0 = n̂ · n̂ × = − n̂ · (2.31)

∂ζ ∂t

or

∂B

n̂ · =0 (2.32)

∂t

From this, and (2.27c), we conclude that the only longitudinal component of B must

be constant in both time and space. In other words, the only non-static solution must

consist of transverse components.

Plane waves

In analogy with Equation (2.7) on page 26, we can easily derive the equation

∂2 E ∂E 1 ∂2 E

2

− µ0 σ − 2 2 =0 (2.33)

∂ζ ∂t c ∂t

This equation, which describes the propagation of plane waves in a conducting me-

dium, is called the telegrapher’s equation. If the medium is an insulator so that σ = 0,

then the equation takes the form of the one-dimensional wave equation

∂2 E 1 ∂2 E

− =0 (2.34)

∂ζ 2 c2 ∂t2

As is well known, each component of this equation has a solution which can be written

This general solution represents perturbations which propagate along ζ, where the f

perturbation propagates in the positive ζ direction and the g perturbation propagates

in the negative ζ direction.

If we assume that our electromagnetic fields E and B are time-harmonic, i.e., that

they can each be represented by a Fourier component proportional to exp{−iωt}, the

solution of Equation (2.34) becomes

ω ω

k = k n̂ = n̂ = k̂ (2.37)

c c

this solution can be written as

E = E0 ei(k·x−ωt) (2.38)

Let us consider the lower sign in front of kζ in the exponent in (2.36). This cor-

responds to a wave which propagates in the direction of increasing ζ. Inserting this

solution into Equation (2.27b) on the preceding page, gives

∂E

n̂ × = iωB = ik n̂ × E (2.39)

∂ζ

or, solving for B,

k 1 1 √

B= n̂ × E = k × E = k̂ × E = ε0 µ0 n̂ × E (2.40)

ω ω c

Hence, to each transverse component of E, there exists an associated magnetic field

given by Equation (2.40). If E and/or B has a direction in space which is constant in

time, we have a plane polarised wave (or linearly polarised wave).

2. E LECTROMAGNETIC WAVES

Assuming that our medium has a finite conductivity σ, and making the time-harmonic

wave Ansatz in Equation (2.33) on the previous page, we find that the time-independent

telegrapher’s equation can be written

∂2 E 2 ∂2 E

+ ε 0 µ 0 ω E + iµ 0 σωE = + K2E = 0 (2.41)

∂ζ 2 ∂ζ 2

where

2 2 σ ω2 σ 2 σ

K = ε 0 µ0 ω 1+i = 2 1+i =k 1+i (2.42)

ε0 ω c ε0 ω ε0 ω

where, in the last step, Equation (2.16) on page 28 was used to introduce the wave

number k. Taking the square root of this expression, we obtain

r

σ

K =k 1+i = α + iβ (2.43)

ε0 ω

σ

k2 1 + i = (α2 − β2 ) + 2iαβ (2.44)

ε0 ω

or

β 2 = α2 − k 2 (2.45)

2

k σ

αβ = (2.46)

2ε0 ω

Squaring the latter and combining with the former, one obtains the second order al-

gebraic equation (in α2 )

k 4 σ2

α2 (α2 − k2 ) = (2.47)

4ε20 ω2

vr

u 2

u

u 1+ σ +1

t ε0 ω

α=k (2.48a)

2

vr

u 2

u

u 1+ σ −1

t ε0 ω

β=k (2.48b)

2

Observables and averages

tion (2.41) on the preceding page, can be written

With the aid of Equation (2.40) on page 31 we can calculate the associated magnetic

field, and find that it is given by

1 1 1

B= K k̂ × E = ( k̂ × E)(α + iβ) = ( k̂ × E) |A| eiγ (2.50)

ω ω ω

where we have, in the last step, rewritten α+iβ in the amplitude-phase form |A| exp{iγ}.

From the above, we immediately see that E, and consequently also B, is damped, and

that E and B in the wave are out of phase.

In the limit ε0 ω σ, we can approximate K as follows:

1 1 r

σ 2 σ ε0 ω 2 σ

K =k 1+i =k i 1−i ≈ k(1 + i)

ε0 ω ε0 ω σ 2ε0 ω

r r (2.51)

√ σ µ0 σω

= ε0 µ0 ω(1 + i) = (1 + i)

2ε0 ω 2

In this limit we dind that when the wave impinges perpendicularly upon the medium,

the fields are given, inside the medium, by

r r

0 µ0 σω µ0 σω

E = E0 exp − ζ exp i ζ − ωt (2.52a)

2 2

r

µ0 σ

B0 = (1 + i) ( n̂ × E0 ) (2.52b)

2ω

Hence, both fields fall off by a factor 1/e at a distance

s

2

δ= (2.53)

µ0 σω

In the above we have used complex notation quite extensively. This is for mathemat-

ical convenience only. For instance, in this notation differentiations are almost trivial

to perform. However, every physical measurable quantity is always real valued. I.e.,

‘Ephysical = Re {Emathematical }’. It is particularly important to remember this when one

works with products of physical quantities. For instance, if we have two physical

2. E LECTROMAGNETIC WAVES

vectors F and G which both are time-harmonic, i.e., can be represented by Fourier

components proportional to exp{−iωt}, then we must make the following interpreta-

tion

F(t, x) · G(t, x) = Re {F} · Re {G} = Re F0 (x) e−iωt · Re G0 (x) e−iωt (2.54)

Furthermore, letting ∗ denote complex conjugate, we can express the real part of the

complex vector F as

1

Re {F} = Re F0 (x) e−iωt = [F0 (x) e−iωt + F∗0 (x) eiωt ] (2.55)

2

and similarly for G. Hence, the physically acceptable interpretation of the scalar

product of two complex vectors, representing physical observables, is

F(t, x) · G(t, x) = Re F0 (x) e−iωt · Re G0 (x) e−iωt

1 1

= [F0 (x) e−iωt + F∗0 (x) eiωt ] · [G0 (x) e−iωt + G∗0 (x) eiωt ]

2 2

1

= F0 · G0 + F0 · G0 + F0 · G0 e−2iωt + F∗0 · G∗0 e2iωt

∗ ∗

4

1

= Re F0 · G∗0 + F0 · G0 e−2iωt

2

1

= Re F0 e−iωt · G∗0 eiωt + F0 · G0 e−2iωt

2

1

= Re F(t, x) · G∗ (t, x) + F0 · G0 e−2iωt

2

(2.56)

If so, we see that the average of the product of the two physical quantities represented

by F and G can be expressed as

1 1

hF · Gi ≡ hRe {F} · Re {G}i = Re {F · G∗ } = Re {F∗ · G} (2.57)

2 2

since the temporal average of the oscillating function exp{−2iωt} vanishes.

2.4 Bibliography

[1] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,

New York, NY . . . , 1999, ISBN 0-471-30932-X.

[2] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6.

Downloaded from http://www.plasma.uu.se/CED/Book Version released 19th June 2004 at 21:47.

CHAPTER 3

Electromagnetic Potentials

Instead of expressing the laws of electrodynamics in terms of electric and magnetic

fields, it turns out that it is often more convenient to express the theory in terms of

potentials. This is particularly true for problems related to radiation. In this chapter

we will introduce and study the properties of such potentials and shall find that they

exhibit some remarkable properties which elucidate the fundamental apects of elec-

tromagnetism and lead naturally to the special theory of relativity.

As we saw in Equation (1.8) on page 5, the electrostatic field Estat (x) is irrotational.

Hence, it may be expressed in terms of the gradient of a scalar field. If we denote this

scalar field by −φstat (x), we get

Taking the divergence of this and using Equation (1.7) on page 5, we obtain Poisson’s

equation

ρ(x)

∇2 φstat (x) = −∇ · Estat (x) = − (3.2)

ε0

A comparison with the definition of Estat , namely Equation (1.5) on page 4, shows that

this equation has the solution

Z

1 ρ(x0 ) 3 0

φstat (x) = dx +α (3.3)

4πε0 V0 |x − x0 |

35

3. E LECTROMAGNETIC P OTENTIALS

where the integration is taken over all source points x0 at which the charge density

ρ(x0 ) is non-zero and α is an arbitrary quantity which has a vanishing gradient. An

example of such a quantity is a scalar constant. The scalar function φ stat (x) in Equa-

tion (3.3) on the preceding page is called the electrostatic scalar potential.

Consider the equations of magnetostatics (1.22) on page 9. From Equation (F.63)

on page 160 we know that any 3D vector a has the property that ∇ · (∇ × a) ≡ 0

and in the derivation of Equation (1.17) on page 8 in magnetostatics we found that

∇ · Bstat (x) = 0. We therefore realise that we can always write

We saw above that the electrostatic potential (as any scalar potential) is not unique:

we may, without changing the physics, add to it a quantity whose spatial gradient

vanishes. A similar arbitrariness is true also for the magnetostatic vector potential.

In the magnetostatic case, we may start from Biot-Savart’s law as expressed by

Equation (1.15) on page 7. Identifying this expression with Equation (3.4) allows us

to define the static vector potential as

Z

stat µ0 j(x0 ) 3 0

A (x) = d x + a(x) (3.5)

4π V0 |x − x0 |

where a(x) is an arbitrary vector field whose curl vanishes. From Equation (F.62) on

page 160 we know that such a vector can always be written as the gradient of a scalar

field.

Let us now generalise the static analysis above to the electrodynamic case, i.e., the

case with temporal and spatial dependent sources ρ(t, x) and j(t, x), and corresponding

fields E(t, x) and B(t, x), as described by Maxwell’s equations (1.45) on page 14. In

other words, let us study the electrodynamic potentials φ(t, x) and A(t, x).

From Equation (1.45c) on page 14 we note that also in electrodynamics the homo-

geneous equation ∇ · B(t, x) = 0 remains valid. Because of this divergence-free nature

of the time- and space-dependent magnetic field, we can express it as the curl of an

electromagnetic vector potential:

The electrodynamic potentials

Inserting this expression into the other homogeneous Maxwell equation (1.32) on page

12, we obtain

∂ ∂

∇ × E(t, x) = − [∇ × A(t, x)] = −∇ × A(t, x) (3.7)

∂t ∂t

or, rearranging the terms,

∂

∇ × E(t, x) + A(t, x) = 0 (3.8)

∂t

As before we utilise the vanishing curl of a vector expression to write this vec-

tor expression as the gradient of a scalar function. If, in analogy with the electro-

static case, we introduce the electromagnetic scalar potential function −φ(t, x), Equa-

tion (3.8) becomes equivalent to

∂

E(t, x) + A(t, x) = −∇φ(t, x) (3.9)

∂t

This means that in electrodynamics, E(t, x) can be calculated from the formula

∂

E(t, x) = −∇φ(t, x) − A(t, x) (3.10)

∂t

and B(t, x) from Equation (3.6) on the preceding page. Hence, it is a matter of taste

whether we want to express the laws of electrodynamics in terms of the potentials

φ(t, x) and A(t, x), or in terms of the fields E(t, x) and B(t, x). However, there exists

an important difference between the two approaches: in classical electrodynamics the

only directly observable quantities are the fields themselves (and quantities derived

from them) and not the potentials. On the other hand, the treatment becomes signific-

antly simpler if we use the potentials in our calculations and then, at the final stage,

use Equation (3.6) on the facing page and Equation (3.10) above to calculate the fields

or physical quantities expressed in the fields.

Inserting (3.10) and (3.6) on the facing page into Maxwell’s equations (1.45) on

page 14 we obtain, after some simple algebra and the use of Equation (1.11) on page 6,

the general inhomogeneous wave equations

ρ(t, x) ∂

∇2 φ = − − (∇ · A) (3.11a)

ε0 ∂t

2

1 ∂A 1 ∂φ

∇2 A − 2 2 − ∇(∇ · A) = −µ0 j(t, x) + 2 ∇ (3.11b)

c ∂t c ∂t

which can be rewritten in the following, more symmetric, form

1 ∂2 φ 2 ρ(t, x) ∂ 1 ∂φ

− ∇ φ = + ∇ · A + (3.12a)

c2 ∂t2 ε0 ∂t c2 ∂t

1 ∂2 A 2 1 ∂φ

− ∇ A = µ 0 j(t, x) − ∇ ∇ · A + (3.12b)

c2 ∂t2 c2 ∂t

3. E LECTROMAGNETIC P OTENTIALS

These two second order, coupled, partial differential equations, representing in all four

scalar equations (one for φ and one each for the three components A i , i = 1, 2, 3 of A)

are completely equivalent to the formulation of electrodynamics in terms of Max-

well’s equations, which represent eight scalar first-order, coupled, partial differential

equations.

As they stand, Equations (3.11) on the preceding page and Equations (3.12) on the

previous page look complicated and may seem to be of limited use. However, if we

write Equation (3.6) on page 36 in the form ∇ × A(t, x) = B(t, x) we can consider this

as a specification of ∇ × A. But we know from Helmholtz’ theorem that in order to

determine the (spatial) behaviour of A completely, we must also specify ∇ · A. Since

this divergence does not enter the derivation above, we are free to choose ∇ · A in

whatever way we like and still obtain the same physical results!

If we choose ∇ · A to fulfil the so called Lorenz-Lorentz gauge condition 1

1 ∂φ

∇·A+ =0 (3.13)

c2 ∂t

the coupled inhomegeneous wave Equation (3.12) on page 37 simplify into the fol-

lowing set of uncoupled inhomogeneous wave equations:

def1 ∂2 1 ∂2 φ ρ(t, x)

2 φ ≡ 2 2

− ∇ 2

φ = 2 2 − ∇2 φ = (3.14a)

c ∂t c ∂t ε0

2

2

def 1 ∂ 1 ∂A

2 A ≡ − ∇2 A = 2 2 − ∇2 A = µ0 j(t, x) (3.14b)

c2 ∂t2 c ∂t

where 2 is the d’Alembert operator discussed in Example 13.5 on page 175. Each

of these four scalar equations is an inhomogeneous wave equation of the following

generic form:

where Ψ is a shorthand for either φ or one of the components Ai of the vector potential

A, and f is the pertinent generic source component, ρ(t, x)/ε 0 or µ0 ji (t, x), respect-

ively.

1 In fact, the Dutch physicist Hendrik Antoon Lorentz, who in 1903 demonstrated the covariance of

Maxwell’s equations, was not the original discoverer of this condition. It had been discovered by the Danish

physicist Ludvig V. Lorenz already in 1867 [5]. In the literature, this fact has sometimes been overlooked

and the condition was earlier referred to as the Lorentz gauge condition.

The electrodynamic potentials

We assume that our sources are well-behaved enough in time t so that the Fourier

transform pair for the generic source function

Z ∞

def

F −1 [ fω (x)] ≡ f (t, x) = dω fω (x) e−iωt (3.16a)

−∞

Z ∞

def 1

F [ f (t, x)] ≡ fω (x) = dt f (t, x) eiωt (3.16b)

2π −∞

exists, and that the same is true for the generic potential component:

Z ∞

Ψ(t, x) = dω Ψω (x) e−iωt (3.17a)

−∞

Z ∞

1

Ψω (x) = dt Ψ(t, x) eiωt (3.17b)

2π −∞

Inserting the Fourier representations (3.16a) and (3.17a) into Equation (3.15) on the

facing page, and using the vacuum dispersion relation for electromagnetic waves

ω = ck (3.18)

the generic 3D inhomogeneous wave equation, Equation (3.15) on the preceding page,

turns into

inhomogeneous Helmholtz equation.

As postulated by Huygen’s principle, each point on a wave front acts as a point

source for spherical waves which form a new wave from a superposition of the indi-

vidual waves from each of the point sources on the old wave front. The solution of

(3.19) can therefore be expressed as a superposition of solutions of an equation where

the source term has been replaced by a point source:

and the solution of Equation (3.19) which corresponds to the frequency ω is given by

the superposition

Z

Ψω (x) = d3x0 fω (x0 )G(x, x0 ) (3.21)

V0

In Equation (3.20) above, the Dirac generalised function δ(x − x0 ), which repres-

ents the point source, depends only on x − x0 and there is no angular dependence

in the equation. Hence, the solution can only be dependent on r = |x − x0 | and not

on the direction of x − x0 . If we interpret r as the radial coordinate in a spherically

3. E LECTROMAGNETIC P OTENTIALS

polar coordinate system, and recall the expression for the Laplace operator in such a

coordinate system, Equation (3.20) on the preceding page becomes

d2

(rG) + k2 (rG) = −rδ(r) (3.22)

dr2

Away from r = |x − x0 | = 0, i.e., away from the source point x0 , this equation takes the

form

d2

(rG) + k2 (rG) = 0 (3.23)

dr2

with the well-known general solution

0 0

−ikr

+e

ikr

−e eik|x−x |

+ −e

−ik|x−x |

G=C +C ≡C + C (3.24)

r r |x − x0 | |x − x0 |

In order to evaluate the constants C ± , we insert the general solution, Equation (3.24)

above, into Equation (3.20) on the preceding page and integrate over a small volume

around r = |x − x0 | = 0. Since

1 1

G(x − x0 ) ∼ C + + C− , x − x 0 → 0 (3.25)

|x − x0 | |x − x0 |

The volume integrated Equation (3.20) on the previous page can under this assumption

be approximated by

+ −

Z 3 0 1 2 2 + −

Z 3 0 1

C +C dx ∇ 0

+ k C + C dx

V 0 |x − x | V 0 |x − x0 |

Z (3.26)

= − d3x0 δ(x − x0 )

V0

In virtue of the fact that the volume element d3x0 in spherical polar coordinates is

proportional to |x − x0 |2 , the second integral vanishes when |x − x0 | → 0. Furthermore,

from Equation (F.73) on page 161, we find that the integrand in the first integral can

be written as −4πδ(|x − x0 |) and, hence, that

1

C+ + C− = (3.27)

4π

Insertion of the general solution Equation (3.24) into Equation (3.21) on the pre-

vious page gives

Z 0 Z 0

3 0 eik|x−x |

0 e−ik|x−x |

Ψω (x) = C +

d x fω (x ) + C− 3 0

d x fω (x )0

(3.28)

V0 |x − x0 | V0 |x − x0 |

The electrodynamic potentials

The inverse Fourier transform of this back to the t domain is obtained by inserting the

above expression for Ψω (x) into Equation (3.17a) on page 39:

h 0

i

Z Z ∞ |

exp −iω t − k|x−x ω

Ψ(t, x) = C + d3x0 dω fω (x0 )

V0 −∞ |x − x0 |

h 0

i (3.29)

Z Z ∞ |

exp −iω t + k|x−x ω

+ C − d3x0 dω fω (x0 )

V0 −∞ |x − x0 |

0 0

If we introduce the retarded time tret and the advanced time tadv in the following way

[using the fact that in vacuum k/ω = 1/c, according to Equation (3.18) on page 39]:

k |x − x0 | |x − x0 |

0

tret 0

= tret (t, x − x0 ) = t − =t− (3.30a)

ω c

0 0

0 k |x − x0 | |x − x0 |

tadv = tadv (t, x − x ) = t + =t+ (3.30b)

ω c

and use Equation (3.16a) on page 39, we obtain

Z Z 0

0

f (tret , x0 ) f (tadv , x0 )

Ψ(t, x) = C + d3x0 + C− d3x0 (3.31)

V0 |x − x0 | V0 |x − x0 |

This is a solution to the generic inhomogeneous wave equation for the potential com-

ponents Equation (3.15) on page 38. We note that the solution at time t at the field

point x is dependent on the behaviour at other times t 0 of the source at x0 and that

both retarded and advanced t 0 are mathematically acceptable solutions. However, if

we assume that causality requires that the potential at (t, x) is set up by the source at

0

an earlier time, i.e., at (tret , x0 ), we must in Equation (3.31) set C − = 0 and therefore,

according to Equation (3.27) on the preceding page, C + = 1/(4π).2

From the above discussion on the solution of the inhomogeneous wave equations in

the Lorenz-Lorentz gauge we conclude that, under the assumption of causality, the

electrodynamic potentials in vacuum can be written

Z 0

1 ρ(tret , x0 )

φ(t, x) = d3x0 (3.32a)

4πε0 V 0 |x − x0 |

Z

µ0 j(t , x0 )

0

A(t, x) = d3x0 ret 0 (3.32b)

4π V 0 |x − x |

Since these retarded potentials were obtained as solutions to the Lorenz-Lorentz equa-

tions (3.14) on page 38 they are valid in the Lorenz-Lorentz gauge but may be gauge

transformed according to the scheme described in subsection 3.3.3 on the next page.

As they stand, we shall use them frequently in the following.

2 In fact, inspired by a discussion by Paul A. M. Dirac, John A. Wheeler and Richard P. Feynman

derived in 1945 a fully self-consistent electrodynamics using both the retarded and the advanced potentials

[7]; see also [3].

3. E LECTROMAGNETIC P OTENTIALS

In Coulomb gauge, often employed in quantum electrodynamics, one chooses ∇ · A =

0 so that Equations (3.11) on page 37 or Equations (3.12) on page 37 become

ρ(t, x)

∇2 φ = − (3.33)

ε0

1 ∂2 A 1 ∂φ

∇2 A − = −µ0 j(t, x) + 2 ∇ (3.34)

c2 ∂t2 c ∂t

The first of these two is the time-dependent Poisson’s equation which, in analogy with

Equation (3.3) on page 35, has the solution

Z

1 ρ(t, x0 )

φ(t, x) = d3x0 +α (3.35)

4πε0 V0 |x − x0 |

where α has vanishing gradient. We note that in the scalar potential expression the

charge density source is evaluated at time t. The retardation (and advancement) effects

occur only in the vector potential, which is the solution of the inhomogeneous wave

equation

Z

1 ∂2 A µ0 ∂ ρ(t, x0 )

∇2 A − = −µ0 j + ∇ d3x0 (3.36)

c2 ∂t2 4π ∂t V0 |x − x0 |

We saw in Section 3.1 on page 35 and in Section 3.2 on page 36 that in electrostatics

and magnetostatics we have a certain mathematical degree of freedom, up to terms of

vanishing gradients and curls, to pick suitable forms for the potentials and still get the

same physical result. In fact, the way the electromagnetic scalar potential φ(t, x) and

the vector potential A(t, x) are related to the physically observables gives leeway for

similar ‘manipulation’ of them also in electrodynamics. If we transform φ(t, x) and

A(t, x) simultaneously into new ones φ0 (t, x) and A0 (t, x) according to the mapping

scheme

∂Γ(t, x)

φ(t, x) 7→ φ0 (t, x) = φ(t, x) + (3.37a)

∂t

A(t, x) 7→ A0 (t, x) = A(t, x) − ∇Γ(t, x) (3.37b)

The electrodynamic potentials

where Γ(t, x) is an arbitrary, differentiable scalar function called the gauge function,

and insert the transformed potentials into Equation (3.10) on page 37 for the electric

field and into Equation (3.6) on page 36 for the magnetic field, we obtain the trans-

formed fields

E0 = −∇φ0 − = −∇φ − − + = −∇φ − (3.38a)

∂t ∂t ∂t ∂t ∂t

0 0

B = ∇ × A = ∇ × A − ∇ × (∇Γ) = ∇ × A (3.38b)

where, once again Equation (F.62) on page 160 was used. We see that the fields are

unaffected by the gauge transformation (3.37). A transformation of the potentials φ

and A which leaves the fields, and hence Maxwell’s equations, invariant is called a

gauge transformation. A physical law which does not change under a gauge trans-

formation is said to be gauge invariant. By definition, the fields themselves are, of

course, gauge invariant.

The potentials φ(t, x) and A(t, x) calculated from (3.11a) on page 37, with an ar-

bitrary choice of ∇ · A, can be further gauge transformed according to (3.37) on the

preceding page. If, in particular, we choose ∇ · A according to the Lorenz-Lorentz

condition, Equation (3.13) on page 38, and apply the gauge transformation (3.37) on

the resulting Lorenz-Lorentz potential equations (3.14) on page 38, these equations

will be transformed into

1 ∂2 φ 2 ∂ 1 ∂2 Γ 2 ρ(t, x)

2 2

−∇ φ+ 2 2

−∇ Γ = (3.39a)

c ∂t ∂t c ∂t ε0

1 ∂2 A 2 1 ∂2 Γ 2

− ∇ A − ∇ − ∇ Γ = µ0 j(t, x) (3.39b)

c2 ∂t2 c2 ∂t2

We notice that if we require that the gauge function Γ(t, x) itself be restricted to fulfil

the wave equation

1 ∂2 Γ

− ∇2 Γ = 0 (3.40)

c2 ∂t2

these transformed Lorenz-Lorentz equations will keep their original form. The set of

potentials which have been gauge transformed according to Equation (3.37) on the

facing page with a gauge function Γ(t, x) restricted to fulfil Equation (3.40) above,

or, in other words, those gauge transformed potentials for which the Lorenz-Lorentz

equations (3.14) are invariant, comprises the Lorenz-Lorentz gauge.

The process of choosing a particular gauge condition is referred to as gauge fixing.

3. E LECTROMAGNETIC P OTENTIALS

ρe

∇·E= (3.41a)

ε0

∂B

∇ × E = −µ0 jm − (3.41b)

∂t

∇ · B = µ 0 ρm (3.41c)

∂E

∇ × B = µ 0 j e + ε 0 µ0 (3.41d)

∂t

In this theory, one derives the inhomogeneous wave equations for the usual ‘electric’ scalar

and vector potentials (φe , Ae ) and their ‘magnetic’ counterparts (φm , Am ) by assuming that the

potentials are related to the fields in the following symmetrised form:

∂ e

E = −∇φe (t, x) − A (t, x) − ∇ × Am (3.42a)

∂t

1 1 ∂

B = − 2 ∇φm (t, x) − 2 Am (t, x) + ∇ × Ae (3.42b)

c c ∂t

In the absence of magnetic charges, or, equivalenty for φm ≡ 0 and Am ≡ 0, these formulae

reduce to the usual Maxwell theory Formula (3.10) on page 37 and Formula (3.6) on page 36,

respectively, as they should.

Inserting the symmetrised expressions (3.42) above into Equations (3.41), one obtains [cf.,

Equations (3.11a) on page 37]

∂ ρe (t, x)

∇2 φ e + (∇ · Ae ) = − (3.43a)

∂t ε0

2 m ∂ m ρm (t, x)

∇ φ + (∇ · A ) = − (3.43b)

∂t ε0

1 ∂2 A e 1 ∂φe

−∇ A +∇ ∇·A + 2

2 e e

= µ0 je (t, x) (3.43c)

c2 ∂t2 c ∂t

1 ∂2 A m 2 m m 1 ∂φm

− ∇ A + ∇ ∇ · A + = µ0 jm (t, x) (3.43d)

c2 ∂t2 c2 ∂t

By choosing the conditions on the vector potentials according to the Lorenz-Lorentz prescripton

[cf., Equation (3.13) on page 38]

1 ∂ e

∇ · Ae + φ =0 (3.44)

c2 ∂t

1 ∂

∇ · A m + 2 φm = 0 (3.45)

c ∂t

these coupled wave equations simplify to

1 ∂2 φ e ρe (t, x)

− ∇ 2 φe = (3.46a)

c2 ∂t2 ε0

1 ∂2 A e

− ∇ 2 Ae = µ0 je (t, x) (3.46b)

c2 ∂t2

1 ∂2 φ m ρm (t, x)

− ∇ 2 φm = (3.46c)

c2 ∂t2 ε0

1 ∂2 A m

− ∇ 2 Am = µ0 jm (t, x) (3.46d)

c2 ∂t2

Bibliography

exhibiting once again, the striking properties of Dirac’s symmetrised Maxwell theory.

C E ND OF EXAMPLE 3.1

3.4 Bibliography

[1] L. D. FADEEV AND A. A. S LAVNOV, Gauge Fields: Introduction to Quantum Theory,

No. 50 in Frontiers in Physics: A Lecture Note and Reprint Series. Benjamin/Cummings

Publishing Company, Inc., Reading, MA . . . , 1980, ISBN 0-8053-9016-2.

[2] M. G UIDRY, Gauge Field Theories: An Introduction with Applications, John Wiley

& Sons, Inc., New York, NY . . . , 1991, ISBN 0-471-63117-5.

Electrodynamics, World Scientific Publishing Co. Pte. Ltd, Singapore, New Jersey, London

and Hong Kong, 1996, ISBN 9810-02-2573-3(pbk).

[4] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,

New York, NY . . . , 1999, ISBN 0-471-30932-X.

[6] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6.

[7] J. A. W HEELER AND R. P. F EYNMAN, Interaction with the absorber as a mechanism for

radiation, Reviews of Modern Physics, 17 (1945), pp. 157–.

Downloaded from http://www.plasma.uu.se/CED/Book Version released 19th June 2004 at 21:47.

CHAPTER 4

Relativistic Electrodynamics

most natural way, to the introduction of a characteristic, finite speed of propagation

√

in vacuum that equals the speed of light c = 1/ ε0 µ0 and which can be considered

as a constant of nature. To take this finite speed of propagation of information into

account, and to ensure that our laws of physics be independent of any specific co-

ordinate frame, requires a treatment of electrodynamics in a relativistically covariant

(coordinate independent) form. This is the object of this chapter.

An inertial system, or inertial reference frame, is a system of reference, or rigid co-

ordinate system, in which the law of inertia (Galileo’s law, Newton’s first law) holds.

In other words, an inertial system is a system in which free bodies move uniformly

and do not experience any acceleration. The special theory of relativity 1 describes

1 The Special Theory of Relativity, by the American physicist and philosopher David Bohm, opens with

‘The theory of relativity is not merely a scientific development of great importance in its own

right. It is even more significant as the first stage of a radical change in our basic concepts,

which began in physics, and which is spreading into other fields of science, and indeed,

even into a great deal of thinking outside of science. For as is well known, the modern trend

is away from the notion of sure ‘absolute’ truth, (i.e., one which holds independently of all

conditions, contexts, degrees, and types of approximation etc..) and toward the idea that a

given concept has significance only in relation to suitable broader forms of reference, within

which that concept can be given its full meaning.’

47

4. R ELATIVISTIC E LECTRODYNAMICS

vt

y y0

0

Σ Σ v

P(t, x, y, z)

P(t0 , x0 , y0 , z0 )

O x O0 x0

z z0

F IGURE 4.1: Two inertial systems Σ and Σ0 in relative motion with velocity v

along the x = x0 axis. At time t = t0 = 0 the origin O0 of Σ0 coincided with the

origin O of Σ. At time t, the inertial system Σ0 has been translated a distance vt

along the x axis in Σ. An event represented by P(t, x, y, z) in Σ is represented by

P(t0 , x0 , y0 , z0 ) in Σ0 .

how physical processes are interrelated when observed in different inertial systems in

uniform, rectilinear motion relative to each other and is based on two postulates:

Postulate 4.1 (Relativity principle; Poincaré, 1905). All laws of physics (except the

laws of gravitation) are independent of the uniform translational motion of the system

on which they operate.

Postulate 4.2 (Einstein, 1905). The velocity of light in empty space is independent of

the motion of the source that emits the light.

A consequence of the first postulate is that all geometrical objects (vectors, tensors)

in an equation describing a physical process must transform in a covariant manner,

i.e., in the same way.

Let us consider two three-dimensional inertial systems Σ and Σ0 in vacuum which are

in rectilinear motion relative to each other in such a way that Σ0 moves with constant

velocity v along the x axis of the Σ system. The times and the spatial coordinates as

measured in the two systems are t and (x, y, z), and t 0 and (x0 , y0 , z0 ), respectively. At

time t = t0 = 0 the origins O and O0 and the x and x0 axes of the two inertial systems

coincide and at a later time t they have the relative location as depicted in Figure 4.1,

referred to as the standard configuration.

The special theory of relativity

v

β= (4.1)

c

1

γ= p (4.2)

1 − β2

where v = |v|. In the following, we shall make frequent use of these shorthand nota-

tions.

As shown by Einstein, the two postulates of special relativity require that the spa-

tial coordinates and times as measured by an observer in Σ and Σ0 , respectively, are

connected by the following transformation:

0

x = γ(x − vt) (4.3b)

0

y =y (4.3c)

0

z =z (4.3d)

Taking the difference between the square of (4.3a) and the square of (4.3b) we find

that

c2 t02 − x02 = γ2 c2 t2 − 2xcβt + x2 β2 − x2 + 2xvt − v2 t2

1 2 2 v2 2 v2

= c t 1 − − x 1 −

v2 c2 c2 (4.4)

1− 2

c

= c2 t 2 − x2

From Equations (4.3) we see that the y and z coordinates are unaffected by the trans-

lational motion of the inertial system Σ0 along the x axis of system Σ. Using this fact,

we find that we can generalise the result in Equation (4.4) above to

which means that if a light wave is transmitted from the coinciding origins O and O 0

at time t = t0 = 0 it will arrive at an observer at (x, y, z) at time t in Σ and an observer

at (x0 , y0 , z0 ) at time t0 in Σ0 in such a way that both observers conclude that the speed

(spatial distance divided by time) of light in vacuum is c. Hence, the speed of light

in Σ and Σ0 is the same. A linear coordinate transformation which has this property is

called a (homogeneous) Lorentz transformation.

Let us introduce an ordered quadruple of real numbers, enumerated with the help of

upper indices µ = 0, 1, 2, 3, where the zeroth component is ct (c is the speed of light

4. R ELATIVISTIC E LECTRODYNAMICS

and t is time), and the remaining components are the components of the ordinary R 3

radius vector x defined in Equation (M.1) on page 164:

We want to interpret this quadruple xµ as (the component form of) a radius four-vector

in a real, linear, four-dimensional vector space.2 We require that this four-dimensional

space be a Riemannian space, i.e., a metric space where a ‘distance’ and a scalar

product are defined. In this space we therefore define a metric tensor, also known as

the fundamental tensor, which we denote by gµν .

The radius four-vector xµ = (x0 , x1 , x2 , x3 ) = (ct, x), as defined in Equation (4.6)

above, is, by definition, the prototype of a contravariant vector (or, more accurately,

a vector in contravariant component form). To every such vector there exists a dual

vector. The vector dual to xµ is the covariant vector xµ , obtained as

xµ = gµν xν (4.7)

where the upper index µ in xµ is summed over and is therefore a dummy index and

may be replaced by another dummy index ν This summation process is an example of

index contraction and is often referred to as index lowering.

The scalar product of xµ with itself in a Riemannian space is defined as

gµν xν xµ = xµ xµ (4.8)

To describe the physical property of Lorentz transformation invariance, described

by Equation (4.5) on the preceding page, in mathematical language it is convienient to

to perceive it as the manifestation of the conservation of the norm in a 4D Riemannian

space. Then the explicit expression for the scalar product of xµ with itself in this space

must be

xµ xµ = c 2 t 2 − x 2 − y 2 − z2 (4.9)

2 The British mathematician and philosopher Alfred North Whitehead writes in his book The Concept

of Nature [13]:

‘I regret that it has been necessary for me in this lecture to administer a large dose of four-

dimensional geometry. I do not apologise, because I am really not responsible for the fact

that nature in its most fundamental aspect is four-dimensional. Things are what they are. . . .’

The special theory of relativity

We notice that our space will have an indefinite norm which means that we deal with

a non-Euclidean space. We call the four-dimensional space (or space-time) with this

property Lorentz space and denote it L4 . A corresponding real, linear 4D space with

a positive definite norm which is conserved during ordinary rotations is a Euclidean

vector space. We denote such a space R4 .

Metric tensor

By choosing the metric tensor in L4 as

if µ = ν = 0

1

gµν = −1 if µ = ν = i = j = 1, 2, 3 (4.10)

0 if µ , ν

1 0 0 0

0 −1 0 0

(gµν ) =

0 0

(4.11)

−1 0

0 0 0 −1

i.e., a matrix with a main diagonal that has the sign sequence, or signature, {+, −, −, −},

the index lowering operation in our chosen flat 4D space becomes nearly trivial:

0 0

x0 1 0 0 0 x x

x1 0 −1 0 0 x1 −x1

= = (4.13)

x 2 0 0 −1 0 x2 −x2

x3 0 0 0 −1 x3 −x3

Hence, if the metric tensor is defined according to expression (4.10) above the cov-

ariant radius four-vector xµ is obtained from the contravariant radius four-vector xµ

simply by changing the sign of the last three components. These components are re-

ferred to as the space components; the zeroth component is referred to as the time

component.

As we see, for this particular choice of metric, the scalar product of x µ with itself

becomes

tion (4.9) on the facing page. Without changing the physics, one can alternatively

4. R ELATIVISTIC E LECTRODYNAMICS

choose a signature {−, +, +, +}. The latter has the advantage that the transition from

3D to 4D becomes smooth, while it will introduce some annoying minus signs in the

theory. In current physics literature, the signature {+, −, −, −} seems to be the most

commonly used one.

The L4 metric tensor Equation (4.10) on the previous page has a number of inter-

esting properties: firstly, we see that this tensor has a trace Tr gµν = −2 whereas in

R4 , as in any vector space with definite norm, the trace equals the space dimension-

ality. Secondly, we find, after trivial algebra, that the following relations between the

contravariant, covariant and mixed forms of the metric tensor hold:

µν

g = gµν (4.15b)

κµ

gνκ g = gµν = δµν (4.15c)

νκ

g gκµ = gνµ = δνµ (4.15d)

Here we have introduced the 4D version of the Kronecker delta δ µν , a mixed four-tensor

of rank 2 which fulfils

(

µ ν 1 if µ = ν

δν = δ µ = (4.16)

0 if µ , ν

The differential distance ds between the two points xµ and xµ + dxµ in L4 can be

calculated from the Riemannian metric, given by the quadratic differential form

ds2 = gµν dxν dxµ = dxµ dxµ = (dx0 )2 − (dx1 )2 − (dx2 )2 − (dx3 )2 (4.17)

where the metric tensor is as in Equation (4.10) on the preceding page. As we see,

this form is indefinite as expected for a non-Euclidean space. The square root of this

expression is the invariant line element

v "

u

u 2 2 2 3 2 #

t 1 dx 1 dx dx

ds = c dt 1 − 2 + +

c dt dt dt

r r

1 2 v2 (4.18)

= c dt 1 − 2 (v x ) + (vy ) + (vz ) = c dt 1 − 2

2 2

c c

p dt

= c dt 1 − β = c = c dτ

2

γ

where we introduced

dτ = dt/γ (4.19)

The special theory of relativity

Since dτ measures the time when no spatial changes are present, it is called the proper

time.

Expressing the property of the Lorentz transformation described by Equations (4.5)

on page 49 in terms of the differential interval ds and comparing with Equation (4.17)

on the facing page, we find that

is invariant during a Lorentz transformation. Conversely, we may say that every co-

ordinate transformation which preserves this differential interval is a Lorentz trans-

formation.

If in some inertial system

is a light-like interval; we may also say that in this case we are on the light cone. A

vector which has a light-like interval is called a null vector. The time-like, space-like

or light-like aspects of an interval ds are invariant under a Lorentz transformation. I.e.,

it is not possible to change a time-like interval into a space-like one or vice versa via

a Lorentz transformation.

Four-vector fields

Any quantity which relative to any coordinate system has a quadruple of real num-

bers and transforms in the same way as the radius four-vector xµ does, is called a

four-vector. In analogy with the notation for the radius four-vector we introduce the

notation aµ = (a0 , a) for a general contravariant four-vector field in L4 and find that

the ‘lowering of index’ rule, Formula (4.7) on page 50, for such an arbitrary four-

vector yields the dual covariant four-vector field

The scalar product between this four-vector field and another one b µ (xκ ) is

which is a scalar field, i.e., an invariant scalar quantity α(xκ ) which depends on time

and space, as described by xκ = (ct, x, y, z).

4. R ELATIVISTIC E LECTRODYNAMICS

Introducing the transformation matrix

γ −βγ 0 0

−βγ γ 0 0

Λµν = 0

(4.26)

0 1 0

0 0 0 1

the linear Lorentz transformation (4.3) on page 49, i.e., the coordinate transformation

xµ → x0µ = x0µ (x0 , x1 , x2 , x3 ), from one inertial system Σ to another inertial system Σ0

in the standard configuration, can be written

It is easy to show, by means of direct algebra, that two successive Lorentz transform-

ations of the type in Equation (4.27) above, and defined by the speed parameters β1

and β2 , respectively, correspond to a single transformation with speed parameter

β1 + β 2

β= (4.28)

1 + β 1 β2

This means that the nonempty set of Lorentz transformations constitutes a closed al-

gebraic structure with a binary operation which is associative. Furthermore, one can

show that this set possesses at least one identity element and at least one inverse ele-

ment. In other words, this set of Lorentz transformations constitutes a mathematical

group. However tempting, we shall not make any further use of group theory.

Specifying a point xµ = (x0 , x1 , x2 , x3 ) in 4D space-time is a way of saying that ‘some-

thing takes place at a certain time t = x0 /c and at a certain place (x, y, z) = (x1 , x2 , x3 )’.

Such a point is therefore called an event. The trajectory for an event as a function of

time and space is called a world line. For instance, the world line for a light ray which

propagates in vacuum is the trajectory x0 = x1 .

Introducing

1 1

X =x (4.29b)

2 2

X =x (4.29c)

3 3

X =x (4.29d)

dS = ids (4.29e)

The special theory of relativity

X0

00

X

θ

x01

θ

x1

where a Lorentz transformation from (x1 , X 0 = ict) to (x01 , X 00 = ict0 ) corresponds

to an ordinary rotation through an angle θ. This rotation leaves the Euclidean

2 2

distance x1 + X 0 = x2 − c2 t2 invariant.

√

where i = −1, we see that Equation (4.17) on page 52 transforms into

i.e., into a 4D differential form which is positive definite just as is ordinary 3D Eu-

clidean space R3 . We shall call the 4D Euclidean space constructed in this way the

Minkowski space M4 .3

As before, it suffices to consider the simplified case where the relative motion

between Σ and Σ0 is along the x axes. Then

in all Euclidean spaces, every interval is invariant under a rotation of the X 0 x1 plane

through an angle θ into X 00 x01 :

01 1 0

x = x cos θ + X sin θ (4.32b)

If we introduce the angle ϕ = −iθ, often called the rapidity or the Lorentz boost

parameter, and transform back to the original space and time variables by using Equa-

tion (4.29) on the facing page backwards, we obtain

0

x = x cosh ϕ − ct sinh ϕ (4.33b)

3 The fact that our Riemannian space can be transformed in this way into an Euclidean one means that

4. R ELATIVISTIC E LECTRODYNAMICS

Σ w

0

x = ct

x00 x0 = x 1

P0

x01

ϕ ct

0

O=O

P x1 = x

(4.33) from the unprimed system to the primed system. Here w denotes the world

line for an event and the line x0 = x1 ⇔ x = ct the world line for a light ray

in vacuum. Note that the event P is simultaneous with all points on the x1 axis

(t = 0), including the origin O. The event P0 , which is simultaneous with all

points on the x0 axis, including O0 = O, to an observer at rest in the primed

system, is not simultaneous with O in the unprimed system but occurs there at

time |P − P0 | /c.

sinh ϕ = γβ (4.34a)

cosh ϕ = γ (4.34b)

tanh ϕ = β (4.34c)

in the 4D Euclidean space M4 . Such a rotation in M4 corresponds to a coordinate

change in L4 as depicted in Figure 4.3. Equation (4.28) on page 54 for successive

Lorentz transformation then corresponds to the tanh addition formula

tanh ϕ1 + tanh ϕ2

tanh(ϕ1 + ϕ2 ) = (4.35)

1 + tanh ϕ1 tanh ϕ2

The use of ict and M4 , which leads to the interpretation of the Lorentz transform-

ation as an ‘ordinary’ rotation, may, at best, be illustrative, but is not very physical.

Besides, if we leave the flat L4 space and enter the curved space of general relativity,

the ‘ict’ trick will turn out to be an impasse. Let us therefore immediately return to L 4

where all components are real valued.

Covariant classical mechanics

The invariance of the differential ‘distance’ ds in L4 , and the associated differential

proper time dτ [see Equation (4.18) on page 52] allows us to define the four-velocity

µ

dx c v

uµ = = γ(c, v) = q , q = (u0 , u) (4.36)

dτ 1− v2

1− v2

c2 c2

which, when multiplied with the scalar invariant m0 yields the four-momentum

µ

dx m0 c m0 v

pµ = m0 = m0 γ(c, v) = q , q = (p0 , p) (4.37)

dτ 1− v2

1− v2

c2 c2

p = mv (4.38)

where

m0

m = γm0 = q (4.39)

v2

1− c2

We can interpret this such that the Lorentz covariance implies that the mass-like term

in the ordinary 3D linear momentum is not invariant. A better way to look at this is that

p = mv = γm0 v is the covariantly correct expression for the kinetic three-momentum.

Multiplying the zeroth (time) component of the four-momentum p µ with the scalar

invariant c, we obtain

m0 c2

cp0 = γm0 c2 = q = mc2 (4.40)

v2

1 − c2

Since this component has the dimension of energy and is the result of a covariant

description of the motion of a particle with its kinetic momentum described by the

spatial components of the four-momentum, Equation (4.37) above, we interpret cp0

as the total energy E. Hence,

= (E, −cp) · (E, cp) = E 2 − c2 p2

(4.42)

(m0 c2 )2 v2

= 2 1 − 2 = (m0 c2 )2

1 − cv2 c

4. R ELATIVISTIC E LECTRODYNAMICS

Since this is an invariant, this equation holds in any inertial frame, particularly in the

frame where p = 0 and there we have

E = m 0 c2 (4.43)

Let us consired a charge density which in its rest inertial system is denoted by ρ 0 . The

four-vector (in contravariant component form)

dxµ

jµ = ρ 0 = ρ0 uµ = ρ0 γ(c, v) = (ρc, ρv) (4.44)

dτ

where we introduced

ρ = γρ0 (4.45)

The contravariant form of the four-del operator ∂µ = ∂/∂xµ is defined in Equa-

tion (M.71) on page 175 and its covariant counterpart ∂µ = ∂/∂xµ in Equation (M.72)

on page 175, respectively. As is shown in Example 13.5 on page 175, the d’Alembert

operator is the scalar product of the four-del with itself:

1 ∂2

2 = ∂ µ ∂µ = ∂ µ ∂µ = − ∇2 (4.46)

c2 ∂t2

Since it has the characteristics of a four-scalar, the d’Alembert operator is invariant

and, hence, the homogeneous wave equation 2 f (t, x) = 0 is Lorentz covariant.

If we introduce the four-potential

µ φ

A = ,A (4.47)

c

where φ is the scalar potential and A the vector potential, defined in Section 3.3 on

page 36, we can write the uncoupled inhomogeneous wave equations, Equations (3.14)

on page 38, in the following compact (and covariant) way:

2 A µ = µ 0 jµ (4.48)

Covariant classical electrodynamics

With the help of the above, we can formulate our electrodynamic equations covari-

antly. For instance, the covariant form of the equation of continuity, Equation (1.23)

on page 9 is

∂ µ jµ = 0 (4.49)

and the Lorenz-Lorentz gauge condition, Equation (3.13) on page 38, can be written

∂ µ Aµ = 0 (4.50)

If only one dimension Lorentz contracts (for instance, due to relative motion along

the x direction), a 3D spatial volume element transforms according to

r

1 p v2

3

dV = d x = dV0 = dV0 1 − β2 = dV0 1 − 2 (4.52)

γ c

where dV0 denotes the volume element as measured in the rest system, then from

Equation (4.45) on the facing page we see that

i.e., the charge in a given volume is conserved. We can therefore conclude that the

elementary charge is a universal constant.

Let us now solve the the inhomogeneous wave equations (3.14) on page 38 in vacuum

for the case of a well-localised charge q0 at a source point defined by the radius four-

vector x0µ = (x00 = ct0 , x01 , x02 , x03 ). The field point (observation point) is denoted by

the radius four-vector xµ = (x0 = ct, x1 , x2 , x3 ).

In the rest system we know that the solution is simply

0

µ φ q 1

(A )0 = ,A = ,0 (4.54)

c v=0 4πε0 c |x − x0 |0

where |x − x0 |0 is the usual distance from the source point to the field point, evaluated

in the rest system (signified by the index ‘0’).

Let us introduce the relative radius four-vector between the source point and the

field point:

4. R ELATIVISTIC E LECTRODYNAMICS

2

Rµ Rµ = (c(t − t0 ), x − x0 ) · (c(t − t0 ), −(x − x0 )) = c2 (t − t0 )2 − x − x0 (4.56)

We know that in vacuum the signal (field) from the charge q0 at x0µ propagates to

xµ with the speed of light c so that

x − x0 = c(t − t0 ) (4.57)

Rµ Rµ = 0 (4.58)

Rµ = ( x − x 0 , x − x 0 ) (4.59)

Now we want to find the correspondence to the rest system solution, Equation (4.54)

on the preceding page, in an arbitrary inertial system. We note from Equation (4.36)

on page 57 that in the rest system

c v

(uµ )0 = q , q = (c, 0) (4.60)

v2 v2

1 − c2 1 − c2

v=0

and

(Rµ )0 = (x − x0 , x − x0 )0 = (x − x0 0 , (x − x0 )0 ) (4.61)

any inertial system and it will have the same value in all other inertial systems. If we

evaluate it in the rest system the result is:

uµ Rµ = uµ Rµ 0 = (uµ )0 (Rµ )0

(4.62)

= (c, 0) · (x − x0 , −(x − x0 )0 ) = c x − x0

0 0

q0 uµ

Aµ = (4.63)

4πε0 cuν Rν

subject to the condition Rµ Rµ = 0 has the proper transformation properties (proper

tensor form) and reduces, in the rest system, to the solution Equation (4.54) on the

preceding page. It is therefore the correct solution, valid in any inertial system.

According to Equation (4.36) on page 57 and Equation (4.59)

uν Rν = γ(c, v) · x − x0 , −(x − x0 ) = γ c x − x0 − v · (x − x0 ) (4.64)

Covariant classical electrodynamics

def v

β = β v̂ ≡ (4.65)

c

and introducing

def v · (x − x0 )

s ≡ x − x 0 − ≡ x − x0 − β · (x − x0 ) (4.66)

c

we can write

uν Rν = γcs (4.67)

and

uµ 1 v

= , (4.68)

cuν Rν cs c2 s

from which we see that the solution (4.63) can be written

µ κ q0 1 v φ

A (x ) = , = ,A (4.69)

4πε0 cs c2 s c

where in the last step the definition of the four-potential, Equation (4.47) on page 58,

was used. Writing the solution in the ordinary 3D-way, we conclude that for a very

localised charge volume, moving relative an observer with a velocity v, the scalar and

vector potentials are given by the expressions

q0 1 q0 1

φ(t, x) = = (4.70a)

4πε0 s 4πε0 |x − x0 | − β · (x − x0 )

q0 v q0 v

A(t, x) = = (4.70b)

2 2 0

4πε0 c s 4πε0 c |x − x | − β · (x − x0 )

These potentials are called the Liénard-Wiechert potentials.

Consider a vectorial (cross) product c between two ordinary vectors a and b:

(4.71)

ck = ai b j − a j bi = ci j = −c ji , i, j , k (4.72)

tensor of rank two.

4. R ELATIVISTIC E LECTRODYNAMICS

The same is true for the curl operator ∇×. For instance, the Maxwell equation

∂B

∇×E=− (4.73)

∂t

can in this tensor notation be written

∂E j ∂E i ∂Bi j

− j =− (4.74)

∂xi ∂x ∂t

We know from Chapter 3 that the fields can be derived from the electromagnetic

potentials in the following way:

B=∇×A (4.75a)

∂A

E = −∇φ − (4.75b)

∂t

In component form, this can be written

∂A j ∂Ai

Bi j = − j = ∂ i A j − ∂ j Ai (4.76a)

∂xi ∂x

∂φ ∂Ai

Ei = − i − = −∂i φ − ∂t Ai (4.76b)

∂x ∂t

From this, we notice the clear difference between the axial vector (pseudovector) B

and the polar vector (‘ordinary vector’) E.

Our goal is to express the electric and magnetic fields in a tensor form where the

components are functions of the covariant form of the four-potential, Equation (4.47)

on page 58:

φ

Aµ = ,A (4.77)

c

Inspection of (4.77) and Equation (4.76) makes it natural to define the four-tensor

∂Aν ∂Aµ

F µν = − = ∂ µ Aν − ∂ ν Aµ (4.78)

∂xµ ∂xν

This anti-symmetric (skew-symmetric), four-tensor of rank 2 is called the electromag-

netic field tensor. In matrix representation, the contravariant field tensor can be writ-

ten

0 −E x /c −E y /c −E z /c

E x /c 0 −Bz By

(F µν ) =

E y /c

(4.79)

Bz 0 −B x

E z /c −By Bx 0

The covariant field tensor is obtained from the contravariant field tensor in the usual

manner by index lowering:

Covariant classical electrodynamics

In matrix representation

0 E x /c E y /c E z /c

−E x /c 0 −Bz By

F µν =

−E y /c

(4.81)

Bz 0 −B x

−E z /c −By Bx 0

It is perhaps interesting to note that the field tensor is a sort of four-dimensional curl

of the four-potential vector Aµ .

That the two Maxwell source equations can be written

∂ν F νµ = µ0 jµ (4.82)

using the matrix representation Formula (4.79) on the preceding page for the covariant

component form of the electromagnetic field tensor F µν , to obtain

∂F 00 ∂F 10 ∂F 20 ∂F 30 1 ∂E x ∂E y ∂E z

+ + + =0+ + +

∂x0 ∂x1 ∂x2 ∂x3 c ∂x ∂y ∂z

(4.83)

1 0

= ∇ · E = µ0 j = µ0 cρ

c

or, equivalently,

ρ

∇ · E = µ 0 c2 ρ = (4.84)

ε0

which is the Maxwell source equation for the electric field, Equation (1.45a) on page 14.

For µ = 1, Equation (4.83) above yields

∂F 01 ∂F 11 ∂F 21 ∂F 31 1 ∂E x ∂Bz ∂By

+ + + =− 2 +0− + = µ0 j1 = µ0 ρv x

∂x0 ∂x1 ∂x2 ∂x3 c ∂t ∂y ∂z

(4.85)

∂By ∂Bz ∂E x

− − ε 0 µ0 = µ0 j x (4.86)

∂z ∂y ∂t

and similarly for µ = 2, 3. In summary, in three-vector form, we can write the result

as

∂E

∇ × B − ε 0 µ0 = µ0 j(t, x) (4.87)

∂t

which is the Maxwell source equation for the magnetic field, Equation (1.45d) on

page 14.

4. R ELATIVISTIC E LECTRODYNAMICS

∂B

∇×E=− (4.88)

∂t

∇·B=0 (4.89)

∂κ F µν + ∂µ F νκ + ∂ν F κµ = 0 (4.90)

Hence, Equation (4.82) on the previous page and Equation (4.90) constitute Maxwell’s

equations in four-dimensional formalism.

4.4 Bibliography

[1] J. A HARONI, The Special Theory of Relativity, second, revised ed., Dover Publica-

tions, Inc., New York, 1985, ISBN 0-486-64870-2.

[2] A. O. BARUT, Electrodynamics and Classical Theory of Fields and Particles, Dover Pub-

lications, Inc., New York, NY, 1980, ISBN 0-486-64038-8.

New York, NY, 1982, ISBN 0-486-64290-9.

[4] D. B OHM, The Special Theory of Relativity, Routledge, New York, NY, 1996, ISBN 0-

415-14809-X.

New York and London, 1970, ISBN 0-12-295250-2.

[6] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth revised Eng-

lish ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd., Oxford . . . , 1975,

ISBN 0-08-025072-6.

[7] F. E. L OW, Classical Field Theory, John Wiley & Sons, Inc., New York, NY . . . , 1997,

ISBN 0-471-59551-9.

[8] H. M UIRHEAD, The Special Theory of Relativity, The Macmillan Press Ltd., London,

Beccles and Colchester, 1973, ISBN 333-12845-1.

[9] C. M ØLLER, The Theory of Relativity, second ed., Oxford University Press, Glasgow . . . ,

1972.

[10] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-

6.

Bibliography

pany, Inc., Reading, MA . . . , 1967, ISBN 0-201-06710-2.

[12] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and London,

1965, ISBN 05-001331-9.

1920, ISBN 0-521-09245-0.

Downloaded from http://www.plasma.uu.se/CED/Book Version released 19th June 2004 at 21:47.

CHAPTER 5

In previous chapters, we calculated the electromagnetic fields and potentials from ar-

bitrary, but prescribed distributions of charges and currents. In this chapter we study

the general problem of interaction between electric and magnetic fields and electric-

ally charged particles. The analysis is based on Lagrangian and Hamiltonian methods,

is fully covariant, and yields results which are relativistically correct.

We first establish a relativistically correct theory describing the motion of charged

particles in prescribed electric and magnetic fields. From these equations we may

then calculate the charged particle dynamics in the most general case.

We will show that for our problem we can derive the correct equations of motion

by using in four-dimensional L4 a function with similiar properties as a Lagrange

function in 3D and then apply a variational principle. We will also show that we can

find a Hamiltonian-type function in 4D and solve the corresponding Hamilton-type

equations to obtain the correct covariant formulation of classical electrodynamics.

67

5. E LECTROMAGNETIC F IELDS AND PARTICLES

Lagrange formalism

Let us now introduce a generalised action

Z

S4 = L4 (xµ , uµ ) dτ (5.1)

where dτ is the proper time defined via Equation (4.18) on page 52, and L4 acts as a

kind of generalisation to the common 3D Lagrangian so that the variational principle

Z τ1

δS 4 = δ L4 (xµ , uµ ) dτ = 0 (5.2)

τ0

does not contain higher than the second power of the four-velocity u µ in order that the

equations of motion be linear.

According to Formula (M.98) on page 180 the ordinary 3D Lagrangian is the

difference between the kinetic and potential energies. A free particle has only kinetic

energy. If the particle mass is m0 then in 3D the kinetic energy is m0 v2 /2. This

suggests that in 4D the Lagrangian for a free particle should be

1

Lfree

4 = m0 uµ uµ (5.3)

2

For an interaction with the electromagnetic field we can introduce the interaction with

the help of the four-potential given by Equation (4.77) on page 62 in the following

way

1

L4 = m0 uµ uµ + quµ Aµ (xν ) (5.4)

2

We call this the four-Lagrangian and shall now show how this function, together with

the variation principle, Formula (5.2), yields covariant results which are physically

correct.

The variation principle (5.2) with the 4D Lagrangian (5.4) inserted, leads to

Z τ1 m

0 µ

δS 4 = δ u uµ + quµ Aµ dτ

τ0 2

Z τ1

m0 ∂(uµ uµ ) µ µ µ ∂Aµ ν

= δu + q Aµ δu + u δx dτ (5.5)

τ0 2 ∂uµ ∂xν

Z τ1

= m0 uµ δuµ + q Aµ δuµ + uµ ∂ν Aµ δxν dτ = 0

τ0

dx µ

uµ = (5.6)

dτ

Charged particles in an electromagnetic field

which means that we can write the variation of uµ as a total derivative with respect to

τ:

µ

µ dx d

δu = δ = (δxµ ) (5.7)

dτ dτ

Inserting this into the first two terms in the last integral in Equation (5.5) on the facing

page, we obtain

Z τ1

d d

δS 4 = m0 uµ (δxµ ) + qAµ (δxµ ) + quµ ∂ν Aµ δxν dτ (5.8)

τ0 dτ dτ

Partial integration in the two first terms in the right hand member of (5.8) gives

Z τ1

duµ µ dAµ µ µ ν

δS 4 = −m0 δx − q δx + qu ∂ν Aµ δx dτ (5.9)

τ0 dτ dτ

where the integrated parts do not contribute since the variations at the endpoints van-

ish. A change of irrelevant summation index from µ to ν in the first two terms of

the right hand member of (5.9) yields, after moving the ensuing common factor δxν

outside the partenthesis, the following expression:

Z τ1

duν dAν

δS 4 = −m0 −q + qu ∂ν Aµ δxν dτ

µ

(5.10)

τ0 dτ dτ

Applying well-known rules of differentiation and the expression (4.36) for the

four-velocity, we can express dAν /dτ as follows:

dAν ∂Aν dxµ

= µ = ∂ µ Aν u µ (5.11)

dτ ∂x dτ

By inserting this expression (5.11) into the second term in right-hand member of Equa-

tion (5.10) above, and noting the common factor quµ of the resulting term and the last

term, we obtain the final variational principle expression

Z τ1

duν

δS 4 = −m0 + qu ∂ν Aµ − ∂µ Aν δxν dτ

µ

(5.12)

τ0 dτ

ν

and δx is

Since, according to the variational principle, this expression shall vanish

arbitrary between the fixed end points τ0 and τ1 , the expression inside in the in-

tegrand in the right hand member of Equation (5.12) must vanish. In other words, we

have found an equation of motion for a charged particle in a prescribed electromag-

netic field:

duν

m0 = quµ ∂ν Aµ − ∂µ Aν (5.13)

dτ

With the help of Equation (4.78) on page 62 we can express this equation in terms of

the electromagnetic field tensor in the following way:

duν

m0 = quµ F νµ (5.14)

dτ

5. E LECTROMAGNETIC F IELDS AND PARTICLES

field. It is often referred to as the Minkowski equation. As the reader can easily

verify, the spatial part of this 4-vector equation is the covariant (relativistically correct)

expression for the Newton-Lorentz force equation.

Hamiltonian formalism

The usual Hamilton equations for a 3D space are given by Equation (M.103) on

page 180 in Appendix M. These six first-order partial differential equations are

∂H dqi

= (5.15a)

∂pi dt

∂H dpi

=− (5.15b)

∂qi dt

coordinate and pi is its canonically conjugate momentum.

We seek a similar set of equations in 4D space. To this end we introduce a canon-

ically conjugate four-momentum pµ in an analogous way as the ordinary 3D conjugate

momentum:

∂L4

pµ = (5.16)

∂uµ

and utilise the four-velocity uµ , as given by Equation (4.36) on page 57, to define the

four-Hamiltonian

H 4 = p µ u µ − L4 (5.17)

With the help of these, the radius four-vector xµ , considered as the generalised four-

coordinate, and the invariant line element ds, defined in Equation (4.18) on page 52,

we introduce the following eight partial differential equations:

∂H4 dxµ

= (5.18a)

∂pµ dτ

∂H4 dpµ

µ

=− (5.18b)

∂x dτ

which form the four-dimensional Hamilton equations.

Our strategy now is to use Equation (5.16) above and Equations (5.18) to derive

an explicit algebraic expression for the canonically conjugate momentum four-vector.

According to Equation (4.41) on page 57, c times a four-momentum has a zeroth

(time) component which we can identify with the total energy. Hence we require

that the component p0 of the conjugate four-momentum vector defined according to

Equation (5.16) be identical to the ordinary 3D Hamiltonian H divided by c and hence

Charged particles in an electromagnetic field

that this cp0 solves the Hamilton equations, Equations (5.15) on the preceding page.

This later consistency check is left as an exercise to the reader.

Using the definition of H4 , Equation (5.17) on the facing page, and the expression

for L4 , Equation (5.4) on page 68, we obtain

1

H4 = pµ uµ − L4 = pµ uµ − m0 uµ uµ − quµ Aµ (xν ) (5.19)

2

Furthermore, from the definition (5.16) of the canonically conjugate four-momentum

pµ , we see that

∂L4 ∂ 1

pµ = = m0 uµ uµ + quµ Aµ (xν ) = m0 uµ + qAµ (5.20)

∂uµ ∂uµ 2

Inserting this into (5.19), we obtain

1 1

H4 = m0 uµ uµ + qAµ uµ − m0 uµ uµ − quµ Aµ (xν ) = m0 uµ uµ (5.21)

2 2

Since the four-velocity scalar-multiplied by itself is uµ uµ = c2 , we clearly see from

Equation (5.21) that H4 is indeed a scalar invariant, whose value is simply

m0 c2

H4 = (5.22)

2

However, at the same time (5.20) provides the algebraic relationship

1

uµ = (pµ − qAµ ) (5.23)

m0

and if this is used in (5.21) to eliminate uµ , one gets

m0 1 µ µ 1

H4 = (p − qA ) pµ − qAµ

2 m0 m0

1

= (pµ − qAµ ) pµ − qAµ (5.24)

2m0

1

= pµ pµ − 2qAµ pµ + q2 Aµ Aµ

2m0

That this four-Hamiltonian yields the correct covariant equation of motion can be

seen by inserting it into the four-dimensional Hamilton’s equations (5.18) and using

the relation (5.23):

∂H4 q ∂Aν

µ

= − (pν − qAν ) µ

∂x m0 ∂x

q ν ∂Aν

= − m0 u

m0 ∂xµ (5.25)

∂Aν

= −quν µ

∂x

dpµ duµ ∂Aµ

=− = −m0 − q ν uν

dτ dτ ∂x

5. E LECTROMAGNETIC F IELDS AND PARTICLES

where in the last step Equation (5.20) on the previous page was used. Rearranging

terms, and using Equation (4.79) on page 62, we obtain

duµ

m0 = quν ∂µ Aν − ∂ν Aµ = quν F µν (5.26)

dτ

which is identical to the covariant equation of motion Equation (5.14) on page 69. We

can then safely conclude that the Hamiltonian in question is correct.

Recalling expression (4.47) on page 58 and representing the canonically conjugate

four-momentum as pµ = (p0 , p), we obtain the following scalar products:

1

Aµ pµ = φp0 − (p · A) (5.27b)

c

1

Aµ Aµ = 2 φ2 − (A)2 (5.27c)

c

Inserting these explicit expressions into Equation (5.24) on the previous page, and

using the fact that for H4 is equal to the scalar value m0 c2 /2, as derived in Equa-

tion (5.22) on the preceding page, we obtain the equation

m0 c2 1 0 2 2 2 0 q2 2 2 2

= (p ) − (p) − qφp + 2q(p · A) + 2 φ − q (A) (5.28)

2 2m0 c c

2q 0 2 q2

(p0 )2 − φp − (p) − 2qp · A + q2 (A)2 + 2 φ2 − m20 c2 = 0 (5.29)

c | {z } c

(p−qA)2

q

q

p0 = φ ± (p − qA)2 + m20 c2 (5.30)

c

Since the zeroth component (time component) p0 of a four-momentum vector pµ mul-

tiplied by c represents the energy [cf. Equation (4.41) on page 57], the positive solu-

tion in Equation (5.30) must be identified with the ordinary Hamilton function H

divided by c. Consequently,

q

H ≡ cp0 = qφ + c (p − qA)2 + m20 c2 (5.31)

is the ordinary 3D Hamilton function for a charged particle moving in scalar and

vector potentials associated with prescribed electric and magnetic fields.

The ordinary Lagrange and Hamilton functions L and H are related to each other

by the 3D transformation [cf. the 4D transformation (5.17) between L4 and H4 ]

L=p·v−H (5.32)

Covariant field theory

Using the explicit expressions (Equation (5.31) on the preceding page) and (Equa-

tion (5.32) on the facing page), we obtain the explicit expression for the ordinary 3D

Lagrange function

q

L = p · v − qφ − c (p − qA)2 + m20 c2 (5.33)

m0 v

p − qA = q = mv (5.34)

2

1 − cv2

where the quantity mv is the usual kinetic momentum, we can rewrite this expression

for the ordinary Lagrangian as follows:

q

L = qA · v + mv2 − qφ − c m2 v2 + m20 c2

r (5.35)

2 2 2 v2

= mv − q(φ − A · v) − mc = −qφ + qA · v − m0 c 1− 2

c

What we have obtained is the relativstically correct (covariant) expression for the

Lagrangian describing the motion of a charged particle in scalar and vector potentials

associated with prescribed electric and magnetic fields.

So far, we have considered two classes of problems. Either we have calculated the

fields from given, prescribed distributions of charges and currents, or we have derived

the equations of motion for charged particles in given, prescribed fields. Let us now

put the fields and the particles on an equal footing and present a theoretical description

which treats the fields, the particles, and their interactions in a unified way. This

involves transition to a field picture with an infinite number of degrees of freedom.

We shall first consider a simple mechanical problem whose solution is well known.

Then, drawing inferences from this model problem, we apply a similar view on the

electromagnetic problem.

tions

Consider the situation, illustrated in Figure 5.1 on the next page, with N identical mass

points, each with mass m and connected to its neighbour along a one-dimensional

straight line, which we choose to be the x axis, by identical ideal springs with spring

5. E LECTROMAGNETIC F IELDS AND PARTICLES

ηi−1 ηi ηi+1

m m m m m

k k k k

a a a a x

points m, connected to their neighbours with identical, ideal springs with spring

constants k. The equilibrium distance between the neighbouring mass points is

a and ηi−1 (t), ηi (t), ηi+1 (t) are the instantaneous deviations, along the x axis, of

positions of the (i − 1)th, ith, and (i + 1)th mass point, respectively.

constants k. At equilibrium the mass points are at rest, distributed evenly with a dis-

tance a to their two nearest neighbours. After perturbation, the motion of mass point i

will be a one-dimensional oscillatory motion along x̂. Let us denote the deviation for

mass point i from its equilibrium position by ηi (t) x̂.

The solution to this mechanical problem can be obtained if we can find a Lag-

rangian (Lagrange function) L which satisfies the variational equation

Z

δ L(ηi , η̇i , t) dt = 0 (5.36)

denotes the kinetic energy and V the potential energy of a classical mechanical system

with conservative forces. In our case the Lagrangian is

1 N 2

2∑

L= mη̇i − k(ηi+1 − ηi )2 (5.37)

i=1

Let us write the Lagrangian, as given by Equation (5.37), in the following way:

N

L = ∑ aLi (5.38)

i=1

Here,

η − η 2

1 m 2 i+1 i

Li = η̇ − ka (5.39)

2 a i a

is the so called linear Lagrange density. If we now let N → ∞ and, at the same time,

Covariant field theory

let the springs become infinitesimally short according to the following scheme:

a → dx (5.40a)

m dm

→ =µ linear mass density (5.40b)

a dx

ka → Y Young’s modulus (5.40c)

ηi+1 − ηi ∂η

→ (5.40d)

a ∂x

we obtain

Z

L= L dx (5.41)

where

" 2 #

2

∂η ∂η 1 ∂η ∂η

L η, , , t = µ −Y (5.42)

∂t ∂x 2 ∂t ∂x

Notice how we made a transition from a discrete description, in which the mass points

were identified by a discrete integer variable i = 1, 2, . . . , N, to a continuous descrip-

tion, where the infinitesimal mass points were instead identified by a continuous real

parameter x, namely their position along x̂.

A consequence of this transition is that the number of degrees of freedom for the

system went from the finite number N to infinity! Another consequence is that L has

now become dependent also on the partial derivative with respect to x of the ‘field

coordinate’ η. But, as we shall see, the transition is well worth the price because it

allows us to treat all fields, be it classical scalar or vectorial fields, or wave functions,

spinors and other fields that appear in quantum physics, on an equal footing.

Under the assumption of time independence and fixed endpoints, the variation

principle (5.36) on the preceding page yields:

Z

δ L dt

ZZ

∂η ∂η

=δ L η, ,

dx dt

∂t ∂x

(5.43)

ZZ

= ∂L δη + ∂L

δ

∂η ∂L

+ δ

∂η

dx dt

∂η ∂η

∂ ∂t ∂t ∂η

∂ ∂x ∂x

=0

The last integral can be integrated by parts. This results in the expression

ZZ

∂L ∂ ∂L ∂ ∂L

− − δη dx dt = 0 (5.44)

∂η ∂t ∂ ∂η ∂x ∂ ∂η

∂t ∂x

5. E LECTROMAGNETIC F IELDS AND PARTICLES

where the variation is arbitrary (and the endpoints fixed). This means that the integ-

rand itself must vanish. If we introduce the functional derivative

δL ∂L ∂ ∂L

= − (5.45)

δη ∂η ∂x ∂ ∂η

∂x

δL ∂ ∂L

− =0 (5.46)

δη ∂t ∂ ∂η

∂t

Inserting the linear mass point chain Lagrangian density, Equation (5.42) on the

preceding page, into Equation (5.46) above, we obtain the equation of motion for our

one-dimensional linear mechanical structure. It is:

∂2 ∂2 µ ∂2 ∂2

µ 2η−Y 2η = − η=0 (5.47)

∂t ∂x Y ∂t2 ∂x2

i.e., the one-dimensional wave equation for compression waves which propagate with

√

phase speed vφ = Y/µ along the linear structure.

A generalisation of the above 1D results to a three-dimensional continuum is

straightforward. For this 3D case we get the variational principle

Z ZZ

δ L dt = δ L d3x dt

Z

∂η

= δ L η, µ d4x

∂x

(5.48)

ZZ

∂L ∂ ∂L

= − µ δη d4x

∂η ∂x ∂ ∂ηµ ∂x

=0

where the variation δη is arbitrary and the endpoints are fixed. This means that the

integrand itself must vanish:

∂L ∂ ∂L

− µ =0 (5.49)

∂η ∂x ∂ ∂ηµ ∂x

Introducing the three-dimensional functional derivative

δL ∂L ∂ ∂L

= − i (5.50)

δη ∂η ∂x ∂ ∂ηi ∂x

Covariant field theory

δL ∂ ∂L

− = 0 (5.51)

δη ∂t ∂ ∂η

∂t

introduce the canonically conjugate momentum density

∂L

π(xµ ) = π(t, x) = (5.52)

∂η

∂ ∂t

∂η ∂η ∂η ∂η

H π, η, i ; t = π − L η, , i (5.53)

∂x ∂t ∂t ∂x

If, as usual, we differentiate this expression and identify terms, we obtain the following

Hamilton density equations

∂H ∂η

= (5.54a)

∂π ∂t

δH ∂π

=− (5.54b)

δη ∂t

The Hamilton density functions are in many ways similar to the ordinary Hamilton

functions and lead to similar results.

Above, when we described the mechanical field, we used a scalar field η(t, x). If

we want to describe the electromagnetic field in terms of a Lagrange density L and

Euler-Lagrange equations, it comes natural to express L in terms of the four-potential

Aµ (xκ ).

The entire system of particles and fields consists of a mechanical part, a field part

and an interaction part. We therefore assume that the total Lagrange density L tot for

this system can be expressed as

where the mechanical part has to do with the particle motion (kinetic energy). It is

given by L4 /V where L4 is given by Equation (5.3) on page 68 and V is the volume.

Expressed in the rest mass density %0 , the mechanical Lagrange density can be written

1

L mech = %0 uµ uµ (5.56)

2

5. E LECTROMAGNETIC F IELDS AND PARTICLES

The L inter part describes the interaction between the charged particles and the

external electromagnetic field. A convenient expression for this interaction Lagrange

density is

L inter = jµ Aµ (5.57)

For the field part L field we choose the difference between magnetic and electric

energy density (in analogy with the difference between kinetic and potential energy in

a mechanical field). Using the field tensor, we express this field Lagrange density as

1 µν

L field = F F µν (5.58)

4µ0

1 1 µν

L tot = % 0 u µ u µ + j µ Aµ + F F µν (5.59)

2 4µ0

1 µν 1 B2

F Fµν = − ε0 E 2 (5.60)

4µ0 2 µ0

i.e., the difference between the magnetic and electric field energy densities.

0 −E x /c −Ey /c −Ez /c

E /c 0 −Bz By

x

(F µν ) = (5.61)

Ey /c Bz 0 −B x

Ez /c −By Bx 0

0 E x /c Ey /c Ez /c

−E x /c 0 −Bz By

Fµν = (5.62)

−Ey /c Bz 0 −B x

−Ez /c −By Bx 0

where µ denotes the row number and ν the column number. Then, Einstein summation and

Covariant field theory

F µν Fµν = F 00 F00 + F 01 F01 + F 02 F02 + F 03 F03

+ F 10 F10 + F 11 F11 + F 12 F12 + F 13 F13

+ F 20 F20 + F 21 F21 + F 22 F22 + F 23 F23

+ F 30 F30 + F 31 F31 + F 32 F32 + F 33 F33

= 0 − E 2x /c2 − Ey2 /c2 − Ez2 /c2

(5.63)

− E 2x /c2 + 0 + B2z + B2y

− Ey2 /c2 + B2z + 0 + B2x

− Ez2 /c2 + B2y + B2x + 0

= −2E 2x /c2 − 2Ey2 /c2 − 2Ez2 /c2 + 2B2x + 2B2y + 2B2z

= −2E 2 /c2 + 2B2 = 2(B2 − E 2 /c2 )

or

1 µν 1 B2 1 2 1 B2

F Fµν = − E = − ε0 E 2 (5.64)

4µ0 2 µ0 c 2 µ0 2 µ0

where, in the last step, the identity ε0 µ0 = 1/c2 was used. QED

C E ND OF EXAMPLE 5.1

tot

Using L in the 3D Euler-Lagrange equations, Equation (5.49) on page 76 (with

η replaced by Aν ), we can derive the dynamics for the whole system. For instance, the

electromagnetic part of the Lagrangian density

1 µν

L EM = L inter + L field = jν Aν + F F µν (5.65)

4µ0

inserted into the Euler-Lagrange equations, expression (5.49) on page 76, yields two

of Maxwell’s equations. To see this, we note from Equation (5.65) above and the

results in Example 5.1 that

∂L EM

= jν (5.66)

∂Aν

Furthermore,

∂L EM 1 ∂ κλ

∂µ = ∂µ F F κλ

∂(∂µ Aν ) 4µ0 ∂(∂µ Aν )

1 ∂ κ λ λ κ

= ∂µ (∂ A − ∂ A )(∂κ Aλ − ∂λ Aκ )

4µ0 ∂(∂µ Aν )

1 ∂

= ∂µ ∂ κ Aλ ∂ κ Aλ − ∂ κ Aλ ∂ λ Aκ (5.67)

4µ0 ∂(∂µ Aν )

− ∂ λ Aκ ∂ κ Aλ + ∂ λ Aκ ∂ λ Aκ

1 ∂

= ∂µ ∂ κ Aλ ∂ κ Aλ − ∂ κ Aλ ∂ λ Aκ

2µ0 ∂(∂µ Aν )

5. E LECTROMAGNETIC F IELDS AND PARTICLES

But

∂ ∂ ∂

∂ κ Aλ ∂ κ Aλ = ∂ κ Aλ ∂ κ Aλ + ∂ κ Aλ ∂ κ Aλ

∂(∂µ Aν ) ∂(∂µ Aν ) ∂(∂µ Aν )

∂ ∂

= ∂ κ Aλ ∂ κ Aλ + ∂ κ Aλ gκα ∂α gλβ Aβ

∂(∂µ Aν ) ∂(∂µ Aν )

∂ ∂ (5.68)

= ∂ κ Aλ ∂κ Aλ + gκα gλβ ∂κ Aλ ∂ α Aβ

∂(∂µ Aν ) ∂(∂µ Aν )

∂ ∂

= ∂ κ Aλ ∂ κ Aλ + ∂ α Aβ ∂ α Aβ

∂(∂µ Aν ) ∂(∂µ Aν )

= 2∂µ Aν

Similarly,

∂

∂κ Aλ ∂λ Aκ = 2∂ν Aµ (5.69)

∂(∂µ Aν )

so that

∂L EM 1 1

∂µ = ∂µ (∂µ Aν − ∂ν Aµ ) = ∂µ F µν (5.70)

∂(∂µ Aν ) µ0 µ0

This means that the Euler-Lagrange equations, expression (5.49) on page 76, for

the Lagrangian density L EM and with Aν as the field quantity become

∂L EM ∂L EM 1

− ∂µ = jν − ∂µ F µν = 0 (5.71)

∂Aν ∂(∂µ Aν ) µ0

or

∂µ F µν = µ0 jν (5.72)

which, according to Equation (4.82) on page 63, is the covariant version of Maxwell’s

source equations.

Other fields

In general, the dynamic equations for most any fields, and not only electromagnetic

ones, can be derived from a Lagrangian density together with a variational principle

(the Euler-Lagrange equations). Both linear and non-linear fields are studied with this

technique. As a simple example, consider a real, scalar field η which has the following

Lagrange density:

1

L = ∂µ η∂µ η − m2 η2 (5.73)

2

Bibliography

Insertion into the 1D Euler-Lagrange equation, Equation (5.46) on page 76, yields the

dynamic equation

(2 − m2 )η = 0 (5.74)

e−m|x|

η = ei(k·x−ωt) (5.75)

|x|

which describes the Yukawa meson field for a scalar meson with mass m. With

1 ∂η

π= (5.76)

c2 ∂t

we obtain the Hamilton density

1 2 2

H = c π + (∇η)2 + m2 η2 (5.77)

2

which is positive definite.

Another Lagrangian density which has attracted quite some interest is the Proca

Lagrangian

1 µν

L EM = L inter + L field = jν Aν + F F µν + m2 Aµ Aµ (5.78)

4µ0

which leads to the dynamic equation

∂µ F µν − m2 Aν = µ0 jν (5.79)

This equation describes an electromagnetic field with a mass, or, in other words,

massive photons. If massive photons would exist, large-scale magnetic fields, includ-

ing those of the earth and galactic spiral arms, would be significantly modified to yield

measurable discrepances from their usual form. Space experiments of this kind on-

board satellites have led to stringent upper bounds on the photon mass. If the photon

really has a mass, it will have an impact on electrodynamics as well as on cosmology

and astrophysics.

5.3 Bibliography

[1] A. O. BARUT, Electrodynamics and Classical Theory of Fields and Particles, Dover Pub-

lications, Inc., New York, NY, 1980, ISBN 0-486-64038-8.

ics, Revised third ed., Gordon and Breach Science Publishers, New York, London, Paris,

Montreux, Tokyo and Melbourne, 1989, ISBN 2-88124-719-9.

5. E LECTROMAGNETIC F IELDS AND PARTICLES

pany, Inc., Reading, MA . . . , 1981, ISBN 0-201-02918-9.

New York and London, 1970, ISBN 0-12-295250-2.

[5] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth revised Eng-

lish ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd., Oxford . . . , 1975,

ISBN 0-08-025072-6.

[6] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6.

pany, Inc., Reading, MA . . . , 1967, ISBN 0-201-06710-2.

[8] D. E. S OPER, Classical Field Theory, John Wiley & Sons, Inc., New York, London, Sydney

and Toronto, 1976, ISBN 0-471-81368-0.

Downloaded from http://www.plasma.uu.se/CED/Book Version released 19th June 2004 at 21:47.

CHAPTER 6

The microscopic Maxwell equations (1.45) derived in Chapter 1 are valid on all scales

where a classical description is good. However, when macroscopic matter is present,

it is sometimes convenient to use the corresponding macroscopic Maxwell equations

(in a statistical sense) in which auxiliary, derived fields are introduced in order to

incorporate effects of macroscopic matter when this is immersed fully or partially in

an electromagnetic field.

In certain cases, for instance in engneering applications, it may be convenient to sep-

arate the influence of an external electric field on free charges on the one hand and on

neutral matter in bulk on the other. This view, which, as we shall see, has certain lim-

itations, leads to the introduction of (di)electric polarisation and magnetisation which,

in turn, justifies the introduction of two help quantities, the electric displacement vec-

tor D and the magnetising field H.

The electrostatic properties of a spatial volume containing electric charges and located

near a point x0 can be characterized in terms of the total charge or electric monopole

moment

Z

q= d3x0 ρ(x0 ) (6.1)

V0

83

6. E LECTROMAGNETIC F IELDS AND M ATTER

where the ρ is the charge density introduced in Equation (1.7) on page 5, the electric

dipole moment vector

Z

p(x0 ) = d3x0 (x0 − x0 ) ρ(x0 ) (6.2)

V0

Z

Q(x0 ) = d3x0 (x0 − x0 )(x0 − x0 ) ρ(x0 ) (6.3)

V0

In particular, the electrostatic potential Equation (3.3) on page 35 from a charge

distribution located near x0 can be Taylor expanded in the following way:

1 q 1 (x − x0 )i

φstat (x) = + pi

4πε0 |x − x0 | |x − x0 |2 |x − x0 |

(6.4)

1 3 (x − x0 )i (x − x0 ) j 1

+ Qi j − δi j + . . .

|x − x0 |3 2 |x − x0 | |x − x0 | 2

where Einstein’s summation convention over i and j is implied. As can be seen from

this expression, only the first few terms are important if the field point (observation

point) is far away from x0 .

For a normal medium, the major contributions to the electrostatic interactions

come from the net charge and the lowest order electric multipole moments induced

by the polarisation due to an applied electric field. Particularly important is the dipole

moment. Let P denote the electric dipole moment density (electric dipole moment per

unit volume; unit: C/m2 ), also known as the electric polarisation, in some medium. In

analogy with the second term in the expansion Equation (6.4) above, the electric po-

tential from this volume distribution P(x0 ) of electric dipole moments p at the source

point x0 can be written

Z Z

1 x − x0 1 1

φp (x) = d3x0 P(x0 ) · = − d 3 0

x P(x 0

) · ∇

4πε0 V 0 |x − x0 |3 4πε0 V 0 |x − x0 |

Z

1 1

= d3x0 P(x0 ) · ∇0

4πε0 V 0 |x − x0 |

(6.5)

Using the expression Equation (M.85) on page 177 and applying the divergence the-

orem, we can rewrite this expression for the potential as follows:

Z Z 0

1 P(x0 ) 3 0 ∇ · P(x )

0

φp (x) = d3x0 ∇0 · − d x

4πε0 V 0 |x − x0 | V0 |x − x0 |

I Z 0 (6.6)

1 P(x0 ) · n̂ 3 0 ∇ · P(x )

0

= d2x0 − d x

4πε0 S 0 |x − x0 | V0 |x − x0 |

Electric polarisation and displacement

where the first term, which describes the effects of the induced, non-cancelling dipole

moment on the surface of the volume, can be neglected, unless there is a discontinuity

in P · n̂ at the surface. Doing so, we find that the contribution from the electric dipole

moments to the potential is given by

Z

1 −∇0 · P(x0 )

φp = d3x0 (6.7)

4πε0 V0 |x − x0 |

Comparing this expression with expression Equation (3.3) on page 35 for the elec-

trostatic potential from a static charge distribution ρ, we see that −∇ · P(x) has the

characteristics of a charge density and that, to the lowest order, the effective charge

density becomes ρ(x) − ∇ · P(x), in which the second term is a polarisation term.

The version of Equation (1.7) on page 5 where free, ‘true’ charges and bound,

polarisation charges are separated thus becomes

ρtrue (x) − ∇ · P(x)

∇·E= (6.8)

ε0

Rewriting this equation, and at the same time introducing the electric displacement

vector (C/m2 )

D = ε0 E + P (6.9)

we obtain

where ρtrue is the ‘true’ charge density in the medium. This is one of Maxwell’s

equations and is valid also for time varying fields. By introducing the notation ρ pol =

−∇ · P for the ‘polarised’ charge density in the medium, and ρtotal = ρtrue + ρpol

for the ‘total’ charge density, we can write down the following alternative version

of Maxwell’s equation (6.22a) on page 87

ρtotal (x)

∇·E= (6.11)

ε0

Often, for low enough field strengths |E|, the linear and isotropic relationship

between P and E

P = ε0 χE (6.12)

dependent. For electromagnetically anisotropic media such as a magnetised plasma or

a birefringent crystal, the susceptibility is a tensor. In general, the relationship is not of

a simple linear form as in Equation (6.12) above but non-linear terms are important. In

such a situation the principle of superposition is no longer valid and non-linear effects

such as frequency conversion and mixing can be expected.

6. E LECTROMAGNETIC F IELDS AND M ATTER

Inserting the approximation (6.12) into Equation (6.9) on the preceding page, we

can write the latter

D = εE (6.13)

where, approximately,

ε = ε0 (1 + χ) (6.14)

An analysis of the properties of stationary magnetic media and the associated currents

shows that three such types of currents exist:

1. In analogy with ‘true’ charges for the electric case, we may have ‘true’ currents

jtrue , i.e., a physical transport of true charges.

associated with the changes of the polarisation with time. Such currents, in-

duced by an external field, are called polarisation currents and are identified

with ∂P/∂t.

3. There may also be intrinsic currents of a microscopic, often atomic, nature that

are inaccessible to direct observation, but which may produce net effects at

discontinuities and boundaries. These magnetisation currents are denoted j M .

the magnetic case to the electric monopole moment (6.1). The lowest order magnetic

moment, corresponding to the electric dipole moment (6.2), is the magnetic dipole

moment

Z

1

m= d3x0 (x0 − x0 ) × j(x0 ) (6.15)

2 V0

volume in terms of the magnetisation, or magnetic dipole moment per unit volume,

M. Via the definition of the vector potential one can show that the magnetisation

current and the magnetisation is simply related:

jM = ∇ × M (6.16)

the sum of the three currents enumerated above:

∂P

jtotal = jtrue + +∇×M (6.17)

∂t

Magnetisation and the magnetising field

true ∂P

∇ × B = µ0 j + +∇×M (INCORRECT)

∂t

Moving the term ∇ × M to the left hand side and introducing the magnetising field

(magnetic field intensity, Ampère-turn density) as

B

H= −M (6.18)

µ0

and using the definition for D, Equation (6.9) on page 85, we can write this incorrect

equation in the following form

∂P ∂D ∂E

∇ × H = jtrue + = jtrue + − ε0 (6.19)

∂t ∂t ∂t

As we see, in this simplistic view, we would pick up a term which makes the equation

inconsistent; the divergence of the left hand side vanishes while the divergence of the

right hand side does not. Maxwell realised this and to overcome this inconsistency he

was forced to add his famous displacement current term which precisely compensates

for the last term in the right hand side. In Chapter 1, we discussed an alternative way,

based on the postulate of conservation of electric charge, to introduce the displacement

current.

We may, in analogy with the electric case, introduce a magnetic susceptibility for

the medium. Denoting it χm , we can write

B

H= (6.20)

µ

where, approximately,

µ = µ0 (1 + χm ) (6.21)

are

∇ · D = ρ(t, x) (6.22a)

∇·B=0 (6.22b)

∂B

∇×E=− (6.22c)

∂t

∂

∇ × H = j(t, x) + D (6.22d)

∂t

and are called Maxwell’s macroscopic equations. These equations are convenient to

use in certain simple cases. Together with the boundary conditions and the constitutive

relations, they describe uniquely (but only approximately!) the properties of the elec-

tric and magnetic fields in matter.

6. E LECTROMAGNETIC F IELDS AND M ATTER

We shall use Maxwell’s macroscopic equations in the following considerations on the

energy and momentum of the electromagnetic field and its interaction with matter.

Scalar multiplying (6.22c) by H, (6.22d) by E and subtracting, we obtain

H · (∇ × E) − E · (∇ × H) = ∇ · (E × H)

∂B ∂D 1∂ (6.23)

= −H · −E·j−E· =− (H · B + E · D) − j · E

∂t ∂t 2 ∂t

Integration over the entire volume V and using Gauss’s theorem (the divergence the-

orem), we obtain

Z Z I

∂ 1

− d3x0 (H · B + E · D) = d3x0 j · E + d2x0 (E × H) · n̂ (6.24)

∂t V0 2 V0 S0

force field, we make the linear approximation Equation (1.28) on page 11:

Z Z Z

j2

d3x0 j · E = d3x0 − d3x0 j · EEMF (6.26)

V0 V0 σ V0

Z Z Z I

j2 ∂ 1

d3x0 j · EEMF = d3x0 + d3x0 (E · D + H · B) + d2x0 (E × H) · n̂

V0 V0 σ ∂t V 0 2 0

| {z } | {z } | {z } |S {z }

Applied electric power Joule heat Field energy Radiated power

(6.27)

which is the energy theorem in Maxwell’s theory also known as Poynting’s theorem.

It is convenient to introduce the following quantities:

Z

1

Ue = d3x0 E · D (6.28)

2 V0

Z

1

Um = d3x0 H · B (6.29)

2 V0

S=E×H (6.30)

where Ue is the electric field energy, U m is the magnetic field energy, both measured

in J, and S is the Poynting vector (power flux), measured in W/m2 .

Energy and momentum

Let us now investigate the momentum balance (force actions) in the case that a field

interacts with matter in a non-relativistic way. For this purpose we consider the force

density given by the Lorentz force per unit volume ρE + j × B. Using Maxwell’s

equations (6.22) and symmetrising, we obtain

∂D

ρE + j × B = (∇ · D)E + ∇ × H − ×B

∂t

∂D

= E(∇ · D) + (∇ × H) × B − ×B

∂t

= E(∇ · D) − B × (∇ × H)

∂ ∂B

− (D × B) + D ×

∂t ∂t (6.31)

= E(∇ · D) − B × (∇ × H)

∂

− (D × B) − D × (∇ × E) + H(∇ · B})

| {z

∂t

=0

∂

− (D × B)

∂t

One verifies easily that the ith vector components of the two terms in square brack-

ets in the right hand member of (6.31) can be expressed as

1 ∂D ∂E ∂ 1

[E(∇ · D) − D × (∇ × E)]i = E· −D· + E i D j − E · D δi j

2 ∂xi ∂xi ∂x j 2

(6.32)

and

1 ∂B ∂H ∂ 1

[H(∇ · B) − B × (∇ × H)]i = H· −B· + Hi B j − B · H δ i j

2 ∂xi ∂xi ∂x j 2

(6.33)

respectively.

Using these two expressions in the ith component of Equation (6.31) and re-

shuffling terms, we get

1 ∂D ∂E ∂B ∂H ∂

(ρE + j × B)i − E· −D· + H· −B· + (D × B)i

2 ∂xi ∂xi ∂xi ∂xi ∂t

∂ 1 1

= E i D j − E · D δ i j + Hi B j − H · B δ i j

∂x j 2 2

(6.34)

6. E LECTROMAGNETIC F IELDS AND M ATTER

Introducing the electric volume force Fev via its ith component

1 ∂D ∂E ∂B ∂H

(Fev )i = (ρE + j × B)i − E· −D· + H· −B·

2 ∂xi ∂xi ∂xi ∂xi

(6.35)

1 1

T i j = E i D j − E · D δ i j + Hi B j − H · B δ i j (6.36)

2 2

we finally obtain the force equation

∂ ∂T i j

Fev + (D × B) = = (∇ · T)i (6.37)

∂t i ∂x j

If we introduce the relative electric permittivity κ and the relative magnetic per-

meability κm as

D = κε0 E = εE (6.38)

B = κm µ0 H = µH (6.39)

∂T i j κκm ∂S

= Fev + 2 (6.40)

∂x j c ∂t i

where S is the Poynting vector defined in Equation (6.28) on page 88. Integration over

the entire volume V yields

Z Z I

d κκm

d3x0 Fev + d3x0 2 S = d2x0 T n̂ (6.41)

V0 dt V 0 c S0

| {z } | {z } | {z }

Force on the matter Field momentum Maxwell stress

which expresses the balance between the force on the matter, the rate of change of the

electromagnetic field momentum and the Maxwell stress. This equation is called the

momentum theorem in Maxwell’s theory.

In vacuum (6.41) becomes

Z Z I

1 d

d3x0 ρ(E + v × B) + d3x0 S = d2x0 T n̂ (6.42)

V0 c2 dt V0 S0

or

I

d mech d field

p + p = d2x0 T n̂ (6.43)

dt dt S0

Bibliography

6.4 Bibliography

[1] E. H ALLÉN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962.

[2] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,

New York, NY . . . , 1999, ISBN 0-471-30932-X.

[3] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6.

York, NY and London, 1953, ISBN 07-062150-0.

Downloaded from http://www.plasma.uu.se/CED/Book Version released 19th June 2004 at 21:47.

CHAPTER 7

Arbitrary Source Distributions

While, in principle, the electric and magnetic fields can be calculated from the Max-

well equations in Chapter 1, or even from the wave equations in Chapter 2, it is often

physically more lucid to calculate them from the electromagnetic potentials derived

in Chapter 3. In this chapter we will derive the electric and magnetic fields from the

potentials.

We recall that in order to find the solution (3.31) for the generic inhomogeneous

wave equation (3.15) on page 38 we presupposed the existence of a Fourier transform

pair (3.16a) on page 39 for the generic source term

Z ∞

f (t, x) = dω fω (x) e−iωt (7.1a)

−∞

Z ∞

1

fω (x) = dt f (t, x) eiωt (7.1b)

2π −∞

That such transform pairs exist is true for most physical variables which are neither

strictly monotonically increasing nor strictly monotonically decreasing with time. For

charge and current densities varying in time we can therefore, without loss of gener-

ality, work with individual Fourier components ρω (x) and jω (x), respectively. Strictly

speaking, the existence of a single Fourier component assumes a monochromatic

source (i.e., a source containing only one single frequency component), which in turn

requires that the electric and magnetic fields exist for infinitely long times. However,

by taking the proper limits, we may still use this approach even for sources and fields

of finite duration.

This is the method we shall utilise in this chapter in order to derive the electric and

magnetic fields in vacuum from arbitrary given charge densities ρ(t, x) and current

93

7. E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

Z ∞

ρ(t, x) = dω ρω (x) e−iωt (7.2a)

−∞

Z ∞

1

ρω (x) = dt ρ(t, x) eiωt (7.2b)

2π −∞

and

Z ∞

j(t, x) = dω jω (x) e−iωt (7.3a)

−∞

Z ∞

1

jω (x) = dt j(t, x) eiωt (7.3b)

2π −∞

under the assumption that only retarded potentials produce physically acceptable solu-

tions.

The temporal Fourier transform pair for the retarded scalar potential can then be

written

Z ∞

φ(t, x) = dω φω (x) e−iωt (7.4a)

−∞

Z Z 0

1 ∞ 1 eik|x−x |

φω (x) = dt φ(t, x) eiωt = d3x0 ρω (x0 ) (7.4b)

2π −∞ 4πε0 V0 |x − x0 |

where in the last step, we made use of the explicit expression for the temporal Fourier

transform of the generic potential component Ψω (x), Equation (3.28) on page 40.

Similarly, the following Fourier transform pair for the vector potential must exist:

Z ∞

A(t, x) = dω Aω (x) e−iωt (7.5a)

−∞

Z Z 0

1 ∞ µ0 eik|x−x |

Aω (x) = dt A(t, x) eiωt = d3x0 jω (x0 ) (7.5b)

2π −∞ 4π V0 |x − x0 |

Clearly, we must require that

in order that all physical quantities be real. Similar transform pairs and requirements

of real-valuedness exist for the fields themselves.

In the limit that the sources can be considered monochromatic containing only one

single frequency ω0 , we have the much simpler expressions

−iω0 t

j(t, x) = j0 (x)e (7.7b)

−iω0 t

φ(t, x) = φ0 (x)e (7.7c)

−iω0 t

A(t, x) = A0 (x)e (7.7d)

The magnetic field

where again the real-valuedness of all these quantities is implied. As discussed above,

we can safely assume that all formulae derived for a general temporal Fourier rep-

resentation of the source (general distribution of frequencies in the source) are valid

for these simple limiting cases. We note that in this context, we can make the formal

identification ρω = ρ0 δ(ω − ω0 ), jω = j0 δ(ω − ω0 ) etc., and that we therefore, without

any loss of stringence, let ρ0 mean the same as the Fourier amplitude ρω and so on.

Let us now compute the magnetic field from the vector potential, defined by Equa-

tion (7.5a) and Equation (7.5b) on the preceding page, and Formula (3.6) on page 36:

The calculations are much simplified if we work in ω space and, at the final stage,

inverse Fourier transform back to ordinary t space. We are working in the Lorentz

gauge and note that in ω space the Lorentz condition, Equation (3.13) on page 38,

takes the form

k

∇ · A ω − i φω = 0 (7.9)

c

which provides a relation between (the Fourier transforms of) the vector and scalar

potentials.

Using the Fourier transformed version of Equation (7.8) and Equation (7.5b) on

the preceding page, we obtain

Z 0

µ0 eik|x−x |

Bω (x) = ∇ × Aω (x) = ∇× d3x0 jω (x0 ) (7.10)

4π V0 |x − x0 |

Utilising Formula (F.57) on page 160 and recalling that jω (x0 ) does not depend on x,

we can rewrite this as

Z ik|x−x0 |

µ0 e

Bω (x) = − d3x0 jω (x0 ) × ∇

4π V 0 |x − x0 |

Z

µ0 x − x0 0

=− d3x0 jω (x0 ) × − eik|x−x |

4π V 0 |x − x0 |3

Z

3 0 0 x − x0 ik|x−x0 | 1

+ d x jω (x ) × ik e (7.11)

V0 |x − x0 | |x − x0 |

Z 0

µ0 jω (x0 )eik|x−x | × (x − x0 )

= d3x0

4π V 0 |x − x0 |3

Z 0

(−ik)jω (x0 )eik|x−x | × (x − x0 )

+ d3x0

V0 |x − x0 |2

7. E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

From this expression for the magnetic field in the frequency (ω) domain, we ob-

tain the total magnetic field in the temporal (t) domain by taking the inverse Fourier

transform (using the identity −ik = −iω/c):

Z ∞

B(t, x) = dω Bω (x) e−iωt

−∞

Z R ∞ 0 i(k|x−x0 |−ωt)

µ0 3 0 −∞ dω jω (x )e × (x − x0 )

= dx

4π V0 |x − x0 |3

Z R ∞ 0 i(k|x−x0 |−ωt)

1 3 0 −∞ dω (−iω)jω (x )e × (x − x0 )

+ dx

c V0 |x − x0 |2

Z 0 Z

µ0 j(tret , x0 ) × (x − x0 ) µ0 0

j̇(tret , x0 ) × (x − x0 )

= d3x0 + d3x0

4π V0 |x − x0 |3 4πc V0 |x − x0 |2

| {z } | {z }

Induction field Radiation field

(7.12)

where

0 def ∂j

j̇(tret , x0 ) ≡ (7.13)

∂t 0

t=tret

The first term, the induction field, dominates near the current source but falls off rap-

idly with distance from it, is the electrodynamic version of the Biot-Savart law in

electrostatics, Formula (1.15) on page 7. The second term, the radiation field or the

far field, dominates at large distances and represents energy that is transported out to

infinity. Note how the spatial derivatives (∇) gave rise to a time derivative (˙)!

In order to calculate the electric field, we use the temporally Fourier transformed

version of Formula (3.10) on page 37, inserting Equations (7.4b) and (7.5b) as the

explicit expressions for the Fourier transforms of φ and A:

Eω (x) = −∇φω (x) + iωAω (x)

Z 0 Z 0

1 eik|x−x | iµ0 ω eik|x−x |

=− ∇ d3x0 ρω (x0 ) 0

+ d3x0 jω (x0 )

4πε0 V0 |x − x | 4π V 0 |x − x0 |

Z 0

1 ρω (x0 )eik|x−x | (x − x0 ) (7.14)

= d3x0

4πε0 V 0 |x − x0 |3

Z 0

3 0 ρω (x0 )(x − x0 ) jω (x0 ) eik|x−x |

− ik d x −

V0 |x − x0 | c |x − x0 |

Using the Fourier transform of the continuity Equation (1.23) on page 9

∇0 · jω (x0 ) − iωρω (x0 ) = 0 (7.15)

The electric field

i

ρω (x0 ) = − ∇0 · jω (x0 ) (7.16)

ω

Doing so in the last term of Equation (7.14) on the facing page, and also using the fact

that k = ω/c, we can rewrite this Equation as

Z 0

1 ρω (x0 )eik|x−x | (x − x0 )

Eω (x) = d3x0

4πε0 V0 |x − x0 |3

Z ik|x−x0 |

1 3 0 [∇0 · jω (x0 )](x − x0 ) 0 e (7.17)

− dx − ikjω (x )

c V0 |x − x0 | |x − x0 |

| {z }

Iω

The last vector-valued integral can be further rewritten in the following way:

Z ik|x−x0 |

3 0[∇0 · jω (x0 )](x − x0 ) 0 e

Iω = dx 0

− ikjω (x )

V 0 |x − x | |x − x0 |

Z 0 (7.18)

∂ jωm xl − x0l eik|x−x |

= d3x0 − ik j ωl (x 0

) x̂ l

V0 ∂x0m |x − x0 | |x − x0 |

But, since

∂ xl − x0l ik|x−x0 | ∂ jωmxl − x0l ik|x−x0 |

jωm e = e

∂x0m |x − x0 |2 ∂x0m|x − x0 |2

(7.19)

∂ xl − x0l ik|x−x0 |

+ jωm 0 e

∂xm |x − x0 |2

we can rewrite Iω as

Z 0

∂3 0 xl − x0l ik|x−x0 | eik|x−x |

Iω = − d x jωm 0 x̂l e + ikjω

V0 ∂xm |x − x0 |2 |x − x0 |

Z 0

(7.20)

∂ xl − x l 0

+ d3x0 0 jωm 0 2

x̂l eik|x−x |

V 0 ∂xm |x − x |

limited and tends to zero at large distances. Further evaluation of the derivative in the

first term makes it possible to write

Z

0

eik|x−x |

3 0 2 0

0 ik|x−x0 |

Iω = − d x −jω 0 2 + 0 4 jω · (x − x ) (x − x )e

V 0 |x − x | |x − x |

Z ! (7.21)

j · (x − x 0

) (x − x 0

) ik|x−x0 |

ω 0 e

− ik d3x0 − eik|x−x | + jω

V0 |x − x0 |3 |x − x0 |

7. E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

Using the triple product ‘bac-cab’ Formula (F.51) on page 160 backwards, and in-

serting the resulting expression for Iω into Equation (7.17) on the preceding page, we

arrive at the following final expression for the Fourier transform of the total E field:

Z 0 Z 0

1 eik|x−x | iµ0 ω eik|x−x |

Eω (x) = − ∇ d3x0 ρω (x0 ) + 3 0 0

d x jω (x )

4πε0 V0 |x − x0 | 4π V0 |x − x0 |

Z 0 ik|x−x |0

0

1 ρω (x )e (x − x )

= d3x0

4πε0 V 0 |x − x0 |3

Z 0

1 [jω (x0 )eik|x−x | · (x − x0 )](x − x0 )

+ d3x0 (7.22)

c V0 |x − x0 |4

Z 0 ik|x−x0 |

1 [jω (x )e × (x − x0 )] × (x − x0 )

+ d3x0

c V0 |x − x0 |4

Z 0 ik|x−x0 |

ik [jω (x )e × (x − x0 )] × (x − x0 )

− d3x0

c V0 |x − x0 |3

Taking the inverse Fourier transform of Equation (7.22) above, once again using

the vacuum relation ω = kc, we find, at last, the expression in time domain for the

total electric field:

Z ∞

E(t, x) = dω Eω (x) e−iωt

−∞

Z 0

1 ρ(tret , x0 )(x − x0 )

= d3x0

4πε0 V0 |x − x0 |3

| {z }

Retarded Coulomb field

Z

1 0 0

[j(tret , x ) · (x − x0 )](x − x0 )

+ d3x0

4πε0 c V0 |x − x0 |4

| {z } (7.23)

Intermediate field

Z 0 0 0 0

1 3 0 [j(tret , x ) × (x − x )] × (x − x )

+ dx

4πε0 c V0 |x − x0 |4

| {z }

Intermediate field

Z 0

1 [j̇(tret , x0 ) × (x − x0 )] × (x − x0 )

+ d3x0

4πε0 c2 V0 |x − x0 |3

| {z }

Radiation field

Here, the first term represents the retarded Coulomb field and the last term represents

the radiation field which carries energy over very large distances. The other two terms

represent an intermediate field which contributes only in the near zone and must be

taken into account there.

With this we have achieved our goal of finding closed-form analytic expressions

for the electric and magnetic fields when the sources of the fields are completely ar-

bitrary, prescribed distributions of charges and currents. The only assumption made

is that the advanced potentials have been discarded; recall the discussion following

Equation (3.31) on page 41 in Chapter 3.

The radiation fields

In this section we study electromagnetic radiation, i.e., the part of the electric and mag-

netic fields, calculated above, which are capable of carrying energy and momentum

over large distances. We shall therefore make the assumption that the observer is loc-

ated in the far zone, i.e., very far away from the source region(s). The fields which are

dominating in this zone are by definition the radiation fields.

From Equation (7.12) on page 96 and Equation (7.23) on the facing page, which

give the total electric and magnetic fields, we obtain

Z Z 0

∞ µ0 j̇(tret , x0 ) × (x − x0 )

Brad (t, x) = dω Brad ω (x) e−iωt = d3x0 (7.24a)

−∞ 4πc V0 |x − x0 |2

Z ∞

Erad (t, x) = dω Erad ω (x) e−iωt

−∞

Z 0 (7.24b)

1 [j̇(tret , x0 ) × (x − x0 )] × (x − x0 )

= d3x0

4πε0 c2 V0 |x − x0 |3

where

0 def ∂j

j̇(tret , x0 ) ≡ (7.25)

∂t 0

t=tret

Instead of studying the fields in the time domain, we can often make a spectrum

analysis into the frequency domain and study each Fourier component separately. A

superposition of all these components and a transformation back to the time domain

will then yield the complete solution.

The Fourier representation of the radiation fields Equation (7.24a) above and Equa-

tion (7.24b) were included in Equation (7.11) on page 95 and Equation (7.22) on the

facing page, respectively and are explicitly given by

Z

1 ∞

Brad

ω (x) = dt Brad (t, x) eiωt

2π −∞

Z

kµ0 jω (x0 ) × (x − x0 ) ik|x−x0 |

= −i d3x0 e (7.26a)

4π V 0 |x − x0 |2

Z

µ0 jω (x0 ) × k ik|x−x0 |

= −i d3x0 e

4π V 0 |x − x0 |

Z ∞

1

Erad

ω (x) = dt Erad (t, x) eiωt

2π −∞

Z

k [jω (x0 ) × (x − x0 )] × (x − x0 ) ik|x−x0 |

= −i d3x0 e (7.26b)

4πε0 c V 0 |x − x0 |3

Z

1 [jω (x0 ) × k] × (x − x0 ) ik|x−x0 |

= −i d3x0 e

4πε0 c V 0 |x − x0 |2

7. E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

dS = n̂d2x

x − x0

k̂ x − x0 x0

x0 − x 0

x x0

V0

O

F IGURE 7.1: Relation between the surface normal and the k vector for radi-

ation generated at source points x0 near the point x0 in the source volume V. At

distances much larger than the extent of V, the unit vector n̂, normal to the sur-

face S which has its centre at x0 , and the unit vector k̂ of the radiation k vector

from x0 are nearly coincident.

If the source is located inside a volume V near x0 and has such a limited spatial

extent that max |x0 − x0 | |x − x0 |, and the integration surface S , centred on x0 , has

a large enough radius |x − x0 | max |x0 − x0 |, we see from Figure 7.1 that we can

approximate

k x − x0 ≡ k · (x − x0 ) ≡ k · (x − x0 ) − k · (x0 − x0 )

(7.27)

≈ k |x − x0 | − k · (x0 − x0 )

Recalling from Formula (F.45) and Formula (F.46) on page 159 that

dS = |x − x0 |2 dΩ = |x − x0 |2 sin θ dθ dϕ

and noting from Figure 7.1 that k̂ and n̂ are nearly parallel, we see that we can ap-

proximate.

k̂ · dS k̂ · n̂

2 = dS ≈ dΩ (7.28)

|x − x0 | |x − x0 |2

Within approximation (7.27) the expressions (7.26a) and (7.26b) for the radiation

100 Version released 19th June 2004 at 21:47. Downloaded from http://www.plasma.uu.se/CED/Book

Radiated energy

Z

µ0 jω (x0 ) × k −ik·(x0 −x0 )

Brad

ω (x) ≈ −i eik|x−x0 | d3x0 e

4π V0 |x − x0 |

Z (7.29a)

µ0 eik|x−x0 | 0

≈ −i d3x0 [jω (x0 ) × k] e−ik·(x −x0 )

4π |x − x0 | V 0

Z 0 0

1 ik|x−x0 | 3 0 [jω (x ) × k] × (x − x ) −ik·(x0 −x0 )

Erad

ω (x) ≈ −i e d x e

4πε0 c V0 |x − x0 |2

Z (7.29b)

1 eik|x−x0 | (x − x0 ) 0

≈i × d3x0 [jω (x0 ) × k] e−ik·(x −x0 )

4πε0 c |x − x0 | |x − x0 | V0

I.e., if max |x0 − x0 | |x − x0 |, then the fields can be approximated as spherical waves

multiplied by dimensional and angular factors, with integrals over points in the source

volume only.

Let us consider the energy that is carried in the radiation fields Brad , Equation (7.26a),

and Erad , Equation (7.26b) on page 99. We have to treat signals with limited lifetime

and hence finite frequency bandwidth differently from monochromatic signals.

If the source is strictly monochromatic, we can obtain the temporal average of the

radiated power P directly, simply by averaging over one period so that

1 1

hSi = hE × Hi = Re {E × B∗ } = Re Eω e−iωt × (Bω e−iωt )∗

2µ0 2µ0

(7.30)

1 1

= Re Eω × B∗ω e−iωt eiωt = Re Eω × B∗ω

2µ0 2µ0

√

Using the far-field approximations (7.29a) and (7.29b) and the fact that 1/c = ε0 µ0

√

and R0 = µ0 /ε0 according to the definition (2.18) on page 28, we obtain

Z 2

1 1

−ik·(x0 −x0 ) x − x0

hSi = R d 3 0

x (j × k)e (7.31)

32π 2 0

|x − x0 | 2 V0

ω |x − x0 |

Z 2

dP 1

−ik·(x0 −x0 )

= R

0 d 3 0

x (j × k)e (7.32)

dΩ 32π 2

V0

ω

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7. E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

A signal with finite pulse width in time (t) domain has a certain spread in frequency

(ω) domain. To calculate the total radiated energy we need to integrate over the whole

bandwidth. The total energy transmitted through a unit area is the time integral of the

Poynting vector:

Z ∞ Z ∞

dt S(t) = dt (E × H)

−∞

Z−∞

∞ Z ∞ Z ∞ (7.33)

0

= dω dω0 dt (Eω × Hω0 ) e−i(ω+ω )t

−∞ −∞ −∞

If we carry out the temporal integration first and use the fact that

Z ∞ 0

dt e−i(ω+ω )t = 2πδ(ω + ω0 ) (7.34)

−∞

Z ∞ Z ∞

dt S(t) = 2π dω (Eω × H−ω )

−∞

−∞

Z ∞ Z 0

= 2π (Eω × H−ω ) dω + (Eω × H−ω ) dω

0 −∞

Z ∞ Z −∞

= 2π (Eω × H−ω ) dω − (Eω × H−ω ) dω

0 0

Z ∞ Z ∞ (7.35)

= 2π (Eω × H−ω ) dω + (E−ω × Hω ) dω

0 0

Z

2π ∞

= (Eω × B−ω + E−ω × Bω ) dω

µ0 0

Z

2π ∞

= (Eω × B∗ω + E∗ω × Bω ) dω

µ0 0

where the last step follows from physical requirement of real-valuedness of E ω and

Bω . We insert the Fourier transforms of the field components which dominate at large

distances, i.e., the radiation fields (7.26a) and (7.26b). The result, after integration

over the area S of a large sphere which encloses the source, is

r I Z Z 2

1 µ0 ∞ jω × k ik|x−x0 |

U= d2x n̂ · dω d3x0 e k̂ (7.36)

4π ε0 S 0 V0 |x − x0 |

Inserting the approximations (7.27) and (7.28) into Equation (7.36) and also intro-

ducing

Z ∞

U= Uω dω (7.37)

0

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Bibliography

and recalling the definition (2.18) on page 28 for the vacuum resistance R0 we obtain

Z 2

dUω 1 0

dω ≈ R0 d3x0 (jω × k)e−ik·(x −x0 ) dω (7.38)

dΩ 4π V0

which, at large distances, is a good approximation to the energy that is radiated per unit

solid angle dΩ in a frequency band dω. It is important to notice that Formula (7.38)

includes only source coordinates. This means that the amount of energy that is being

radiated is independent on the distance to the source (as long as it is large).

7.5 Bibliography

[1] F. H OYLE , S IR AND J. V. NARLIKAR, Lectures on Cosmology and Action at a Distance

Electrodynamics, World Scientific Publishing Co. Pte. Ltd, Singapore, New Jersey, London

and Hong Kong, 1996, ISBN 9810-02-2573-3(pbk).

[2] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,

New York, NY . . . , 1999, ISBN 0-471-30932-X.

[3] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth revised Eng-

lish ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd., Oxford . . . , 1975,

ISBN 0-08-025072-6.

[4] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6.

York, NY and London, 1953, ISBN 07-062150-0.

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CHAPTER 8

Radiating Systems

In Chapter 3 we were able to derive general expressions for the scalar and vector

potentials from which we then, in Chapter 7, calculated the total electric and magnetic

fields from arbitrary distributions of charge and current sources. The only limitation

in the calculation of the fields was that the advanced potentials were discarded.

Thus, one can, at least in principle, calculate the radiated fields, Poynting flux and

energy for an arbitrary current density Fourier component and then add these Fourier

components together to construct the complete electromagnetic field at any time at

any point in space. However, in practice, it is often difficult to evaluate the source

integrals unless the current has a simple distribution in space. In the general case, one

has to resort to approximations. We shall consider both these situations.

Certain radiation systems have a geometry which is one-dimensional, symmetric or in

any other way simple enough that a direct calculation of the radiated fields and energy

is possible. This is for instance the case when the current flows in one direction in

space only and is limited in extent. An example of this is a linear antenna.

105

8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

sin[k(L/2 − x03 )]

j(t0 , x0 )

− L2 L

2

F IGURE 8.1: A linear antenna used for transmission. The current in the feeder

and the antenna wire is set up by the EMF of the generator (the transmitter).

At the ends of the wire, the current is reflected back with a 180◦ phase shift to

produce a antenna current in the form of a standing wave.

tion

Let us apply Equation (7.32) on page 101 to calculate the power from a linear, trans-

mitting antenna, fed across a small gap at its centre with a monochromatic source.

The antenna is a straight, thin conductor of length L which carries a one-dimensional

time-varying current so that it produces electromagnetic radiation.

We assume that the conductor resistance and the energy loss due to the electro-

magnetic radiation are negligible. The charges in this thin wire are set in motion due

to the EMF of the generator (transmitter) to produce an antenna current which is the

source of the EM radiation. Since we can assume that the antenna wire is infinitely

thin, the current must vanish at the end points −L/2 and L/2. Furthermore, for a

monochromatic signal, the current is sinusoidal and is reflected at the ends of the an-

tenna wire and undergoes there a phase shift of π radians. The combined effect of this

is that the antenna current forms a standing wave as indicated in Figure 8.1

For a Fourier component ω0 the standing wave current density can be written as

j(t0 , x0 ) = j0 (x0 ) exp{−iω0 t0 } [cf. Equations (7.7) on page 94] where

0 sin[k(L/2 − x03 )]

j0 (x ) = I0 δ(x01 )δ(x02 ) x̂3 (8.1)

sin(kL/2)

In order to evaluate Formula (7.32) on page 101 with the explicit monochromatic

current (8.1) inserted, we use a spherical polar coordinate system as in Figure 8.2 to

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Radiation from extended sources

r̂

x3 = z ϕ̂

x

L

2

θ̂

θ

k̂

jω (x0 )

x2

x1

− L2

F IGURE 8.2: We choose a spherical polar coordinate system (r = |x| , θ, ϕ) and

orient it so that the linear antenna axis (and thus the antenna current density j ω )

is along the polar axis with the feed point at the origin.

Z 2

d3x0 j0 × k e−ik·(x0 −x0 )

V0

Z 2

L/2 sin[k(L/2 − x0 )]

3 −ikx03 cos θ ikx0 cos θ 0

= I0 k sin θe e dx3

−L/2 sin(kL/2)

Z 2

2 2

2 k sin θ ikx0 cos θ 2

L/2

0 0 0

= I0 2 e 2 sin[k(L/2 − x3 )] cos(kx3 cos θ) dx3

sin (kL/2) 0

2

2 cos[(kL/2) cos θ] − cos(kL/2)

= 4I0

sin θ sin(kL/2)

(8.2)

Inserting this expression and dΩ = 2π sin θ dθ into Formula (7.32) on page 101 and

integrating over θ, we find that the total radiated power from the antenna is

Z 2

1 π cos[(kL/2) cos θ] − cos(kL/2)

P(L) = R0 I02 sin θ dθ (8.3)

4π 0 sin θ sin(kL/2)

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

2

π L

lim P(L) = R0 I02 (8.4)

kL→0 12 λ

where λ is the vacuum wavelength.

The quantity

2 2

rad P(L) P(L) π L L

R (L) = 2 = 1 2 = R0 ≈ 197 Ω (8.5)

Ieff I

2 0

6 λ λ

is called the radiation resistance. For the technologically important case of a half-

wave antenna, i.e., for L = λ/2 or kL = π, Formula (8.3) on the preceding page

reduces to

Z π

2 1 cos2 π2 cos θ

P(λ/2) = R0 I0 dθ (8.6)

4π 0 sin θ

The integral in (8.6) can always be evaluated numerically. But, it can in fact also

be evaluated analytically as follows:

Z π Z 1

cos2 π2 cos θ cos2 π2 u

dθ = [cos θ → u] = du =

0 sin θ −1 1 − u2

π 1 + cos(πu)

cos2 u =

2 2

Z

1 1 1 + cos(πu)

= du

2 −1 (1 + u)(1 − u)

Z Z

1 1 1 + cos(πu) 1 1 1 + cos(πu) (8.7)

= du + du

4 −1 (1 + u) 4 −1 (1 − u)

Z h

1 1 1 + cos(πu) vi

= du = 1 + u →

2 −1 (1 + u) π

Z 2π

1 1 − cos v 1

= dv = [γ + ln 2π − Ci(2π)]

2 0 v 2

≈ 1.22

where in the last step the Euler-Mascheroni constant γ = 0.5772 . . . and the cosine

integral Ci(x) were introduced. Inserting this into the expression Equation (8.6) above

we obtain the value Rrad (λ/2) ≈ 73 Ω.

tion

As an example of a two-dimensional current distribution we consider a circular loop

antenna and calculate the radiated fields from such an antenna. We choose the Cartesian

coordinate system x1 x2 x3 with its origin at the centre of the loop as in Figure 8.3

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Radiation from extended sources

r̂

x3 = z = z 0 ϕ̂

x

θ̂

θ

k̂

x2

ẑ0

jω (x0 ) ϕ

x0

x1 ϕ̂0

ϕ0

ρ̂0

F IGURE 8.3: For the loop antenna the spherical coordinate system (r, θ, ϕ) de-

scribes the field point x (the radiation field) and the cylindrical coordinate system

(ρ0 , ϕ0 , z0 ) describes the source point x0 (the antenna current).

According to Equation (7.29a) on page 101 the Fourier component of the radiation

part of the magnetic field generated by an extended, monochromatic current source is

Z

−iµ0 eik|x| 0

Brad

ω = d3x0 e−ik·x jω × k (8.8)

4π |x| V0

In our case the generator produces a single frequency ω and we feed the antenna

across a small gap where the loop crosses the positive x1 axis. The circumference

of the loop is chosen to be exactly one wavelength λ = 2πc/ω. This means that the

antenna current oscillates in the form of a sinusoidal standing current wave around the

circular loop with a Fourier amplitude

For the spherical coordinate system of the field point, we recall from subsection F.4.1 on

page 159 that the following relations between the base vectors hold:

θ̂ = cos θ cos ϕ x̂1 + cos θ sin ϕ x̂2 − sin θ x̂3

ϕ̂ = − sin ϕ x̂1 + cos ϕ x̂2

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

and

x̂1 = sin θ cos ϕr̂ + cos θ cos ϕθ̂ − sin ϕϕ̂

x̂2 = sin θ sin ϕr̂ + cos θ sin ϕθ̂ + cos ϕϕ̂

x̂3 = cos θr̂ − sin θθ̂

With the use of the above transformations and trigonometric identities, we obtain for

the cylindrical coordinate system which describes the source:

ρ̂0 = cos ϕ0 x̂1 + sin ϕ0 x̂2

(8.10)

= sin θ cos(ϕ0 − ϕ)r̂ + cos θ cos(ϕ0 − ϕ)θ̂ + sin(ϕ0 − ϕ)ϕ̂

ϕ̂0 = − sin ϕ0 x̂1 + cos ϕ0 x̂2

(8.11)

= − sin θ sin(ϕ0 − ϕ)r̂ − cos θ sin(ϕ0 − ϕ)θ̂ + cos(ϕ0 − ϕ)ϕ̂

ẑ0 = x̂3 = cos θr̂ − sin θθ̂ (8.12)

0 0

This choice of coordinate systems means that k = kr̂ and x = aρ̂ so that

k · x0 = ka sin θ cos(ϕ0 − ϕ) (8.13)

and

ϕ̂0 × k = k[cos(ϕ0 − ϕ)θ̂ + cos θ sin(ϕ0 − ϕ)ϕ̂] (8.14)

With these expressions inserted and d3x0 = ρ0 dρ0 dϕ0 dz0 , the source integral be-

comes

Z Z 2π

0 0

d3x0 e−ik·x jω × k = a dϕ0 e−ika sin θ cos(ϕ −ϕ) I0 cos ϕ0 ϕ̂ × k

V0 0

Z 2π 0

= I0 ak e−ika sin θ cos(ϕ −ϕ) cos(ϕ0 − ϕ) cos ϕ0 dϕ0 θ̂ (8.15)

0

Z 2π 0

+ I0 ak cos θ e−ika sin θ cos(ϕ −ϕ) sin(ϕ0 − ϕ) cos ϕ0 dϕ0 ϕ̂

0

Utilising the periodicity of the integrands over the integration interval [0, 2π], in-

troducing the auxiliary integration variable ϕ00 = ϕ0 − ϕ, and utilising standard trigo-

nometric identities, the first integral in the RHS of (8.15) can be rewritten

Z 2π 00

e−ika sin θ cos ϕ cos ϕ00 cos(ϕ00 + ϕ) dϕ00

0

Z 2π 00

= cos ϕ e−ika sin θ cos ϕ cos2 ϕ00 dϕ00 + a vanishing integral

0

Z 2π

00 1 1

= cos ϕ e−ika sin θ cos ϕ + cos 2ϕ00 dϕ00 (8.16)

0 2 2

Z 2π

1 00

= cos ϕ e−ika sin θ cos ϕ dϕ00

2 0

Z 2π

1 00

+ cos ϕ e−ika sin θ cos ϕ cos 2ϕ00 dϕ00

2 0

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Radiation from extended sources

Z 2π 00

e−ika sin θ cos ϕ sin ϕ00 cos(ϕ00 + ϕ) dϕ00

0

2π Z

1 00

= sin ϕ e−ika sin θ cos ϕ dϕ00 (8.17)

2 0

Z 2π

1 00

− sin ϕ e−ika sin θ cos ϕ cos 2ϕ00 dϕ00

2 0

Jn (−ξ) = (−1)n Jn (ξ)

Z Z

i−n π i−n 2π (8.18)

Jn (−ξ) = e−iξ cos ϕ cos nϕ dϕ = e−iξ cos ϕ cos nϕ dϕ

π 0 2π 0

Z 2π 00

e−ika sin θ cos ϕ dϕ00 = 2πJ0 (ka sin θ)

0

Z 2π

(8.19)

00

e−ika sin θ cos ϕ cos 2ϕ00 dϕ00 = −2πJ2 (ka sin θ)

0

Z

0

d3x0 e−ik·x jω × k = Iθ θ̂ + Iϕ ϕ̂

V0

= I0 akπ cos ϕ [J0 (ka sin θ) − J2 (ka sin θ)] θ̂ (8.20)

so that, in spherical coordinates where |x| = r,

−iµ0 eikr

Brad

ω (x) = Iθ θ̂ + Iϕ ϕ̂ (8.21)

4πr

To obtain the desired physical magnetic field in the radiation (far) zone we must

Fourier transform back to t space and take the real part and evaluate it at the retarded

time:

0

rad −iµ0 e(ikr−ωt )

B (t, x) = Re Iθ θ̂ + Iϕ ϕ̂

4πr

µ0

= sin(kr − ωt0 ) Iθ θ̂ + Iϕ ϕ̂

4πr

I0 akµ0

= sin(kr − ωt0 ) cos ϕ [J0 (ka sin θ) − J2 (ka sin θ)] θ̂

4r

+ cos θ sin ϕ [J0 (ka sin θ) + J2 (ka sin θ)] ϕ̂

(8.22)

From this expression for the radiated B field, we can obtain the radiated E field with

the help of Maxwell’s equations.

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

In the general case, and when we are interested in evaluating the radiation far from

the source volume, we can introduce an approximation which leads to a multipole

expansion where individual terms can be evaluated analytically. We shall use Hertz’

method to obtain this expansion.

Let us consider the equation of continuity, which, according to expression (1.23) on

page 9, can be written

∂ρ(t, x)

+ ∇ · j(t, x) = 0 (8.23)

∂t

In Section 6.1.1 we introduced the electric polarisation P such that ∇ · P = −ρpol , the

polarisation charge density. If we introduce a vector field π(t, x) such that

∇ · π = −ρtrue (8.24a)

∂π

= jtrue (8.24b)

∂t

and compare with Equation (8.23), we see that π(t, x) satisfies this equation of con-

tinuity. Furthermore, if we compare with the electric polarisation [cf. Equation (6.9)

on page 85], we see that the quantity π is related to the ‘true’ charges in the same way

as P is related to polarised charge, namely as a dipole moment density. The quantity

π is referred to as the polarisation vector since, formally, it treats also the ‘true’ (free)

charges as polarisation charges so that

ρtrue + ρpol −∇ · π − ∇ · P

∇· E = = (8.25)

ε0 ε0

We introduce a further potential Πe with the following property

∇ · Πe = −φ (8.26a)

e

1 ∂Π

=A (8.26b)

c2 ∂t

where φ and A are the electromagnetic scalar and vector potentials, respectively. As

we see, Πe acts as a ‘super-potential’ in the sense that it is a potential from which

we can obtain other potentials. It is called the Hertz’ vector or polarisation poten-

tial. Requiring that the scalar and vector potentials φ and A, respectively, fulfil their

inhomogeneous wave equations, one finds, using (8.24) and (8.26), that Hertz’ vector

must satisfy the inhomogeneous wave equation

1 ∂2 e π

2 Πe = Π − ∇2 Π e = (8.27)

c2 ∂t2 ε0

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Multipole radiation

x − x0

x − x0 x0 x0 − x 0

Θ

x x0

V0

O

F IGURE 8.4: Geometry of a typical multipole radiation problem where the field

point x is located some distance away from the finite source volume V 0 centred

around x0 . If k |x0 − x0 | 1 k |x − x0 |, then the radiation at x is well approx-

imated by a few terms in the multipole expansion.

This equation is of the same type as Equation (3.15) on page 38, and has therefore

the retarded solution

Z 0

1 π(tret , x0 )

e

Π (t, x) = d3x0 (8.28)

4πε0 V0 |x − x0 |

Z 0

1 πω (x0 )eik|x−x |

Πeω (x) = d3x0 (8.29)

4πε0 V0 |x − x0 |

C = ∇ × Πe (8.30)

we see that we can calculate the magnetic and electric fields, respectively, as follows

1 ∂C

B= (8.31a)

c2 ∂t

E=∇×C (8.31b)

Clearly, the last equation is valid only outside the source volume, where ∇ · E = 0.

Since we are mainly interested in the fields in the far zone, a long distance from the

source region, this is no essential limitation.

Assume that the source region is a limited volume around some central point x 0

far away from the field (observation) point x illustrated in Figure 8.4. Under these

assumptions, we can expand the Hertz’ vector, expression (8.28), due to the presence

0

of non-vanishing π(tret , x0 ) in the vicinity of x0 , in a formal series. For this purpose we

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

0 0

eik|x−x | eik|(x−x0 )−(x −x0 )|

≡

|x − x | |(x − x0 ) − (x0 − x0 )|

0

∞ (8.32)

= ik ∑ (2n + 1)Pn (cos Θ) jn (k x0 − x0 )h(1)

n (k |x − x0 |)

n=0

0

eik|x−x |

is a Green function

|x − x0 |

Θ is the angle between x0 − x0 and x − x0

Pn (cos Θ) is the Legendre polynomial of order n

jn (k x0 − x0 ) is the spherical Bessel function of the first kind of order n

h(1)

n (k |x − x0 |) is the spherical Hankel function of the first kind of order n

n

∑ (−1)m Pmn (cos θ)P−m

0

0 im(ϕ−ϕ )

Pn (cos Θ) = n (cos θ )e (8.33)

m=−n

x 0 − x 0 = ( x 0 − x 0 , θ 0 , φ 0 ) (8.34a)

x − x0 = (|x − x0 | , θ, φ) (8.34b)

Inserting Equation (8.32), together with Formula (8.33) above, into Equation (8.29)

on the preceding page, we can in a formally exact way expand the Fourier component

of the Hertz’ vector as

∞ n

ik

Πeω =

4πε0 ∑ ∑ (2n + 1)(−1)m h(1) m

n (k |x − x0 |) Pn (cos θ) e

imϕ

Z 0 −imϕ0

× d x πω (x0 ) jn (k x0 − x0 ) P−m

3 0

n (cos θ ) e

V0

only dependent on the relative source vector x0 − x0 .

We are interested in the case where the field point is many wavelengths away from

the well-localised sources, i.e., when the following inequalities

k x0 − x0 1 k |x − x0 | (8.36)

n with the first term in its

asymptotic expansion:

eik|x−x0 |

h(1)

n (k |x − x0 |) ≈ (−i)

n+1

(8.37)

k |x − x0 |

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Multipole radiation

and replace jn with the first term in its power series expansion:

2n n! n

jn (k x0 − x0 ) ≈ k x0 − x 0 (8.38)

(2n + 1)!

Inserting these expansions into Equation (8.35) on the preceding page, we obtain the

multipole expansion of the Fourier component of the Hertz’ vector

∞

Πeω ≈ ∑ Πeω(n) (8.39a)

n=0

where

Z

1 eik|x−x0 | 2n n!

Πeω(n) = (−i)n d3x0 πω (x0 ) (k x0 − x0 )n Pn (cos Θ) (8.39b)

4πε0 |x − x0 | (2n)! V0

Πeω(n) terms are needed for an accurate result, the expansions of the spherical Hankel

and Bessel functions used above may not be consistent and must be replaced by more

accurate expressions. Taking the inverse Fourier transform of Π eω will yield the Hertz’

vector in time domain, which inserted into Equation (8.30) on page 113 will yield C.

The resulting expression can then in turn be inserted into Equation (8.31) on page 113

in order to obtain the radiation fields.

For a linear source distribution along the polar axis, Θ = θ in expression (8.39b),

and Pn (cos θ) gives the angular distribution of the radiation. In the general case, how-

ever, the angular distribution must be computed with the help of Formula (8.33) on

the preceding page. Let us now study the lowest order contributions to the expansion

of Hertz’ vector.

Choosing n = 0 in expression (8.39b), we obtain

Z

eik|x−x0 | 1 eik|x−x0 |

Πeω(0) = d3x0 πω (x0 ) = pω (8.40)

4πε0 |x − x0 | V0 4πε0 |x − x0 |

Since π represents a dipole moment density for the ‘true’ charges (in the same vein as

R

P does so for the polarised charges), pω = V 0 d3x0 πω (x0 ) is the Fourier component of

the electric dipole moment

Z Z

p(t, x0 ) = d3x0 π(t0 , x0 ) = d3x0 (x0 − x0 )ρ(t0 , x0 ) (8.41)

V0 V0

[cf. Equation (6.2) on page 84 which describes the static dipole moment]. If a spher-

ical coordinate system is chosen with its polar axis along pω as in Figure 8.5, the

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

k̂

x3

x Brad

Erad

θ

p r̂

x2

x1

F IGURE 8.5: If a spherical polar coordinate system (r, θ, ϕ) is chosen such that

the electric dipole moment p (and thus its Fourier transform pω ) is located at the

origin and directed along the polar axis, the calculations are simplified.

def 1 eik|x−x0 |

Πer ≡ Πeω(0) · r̂ = pω cos θ (8.42a)

4πε0 |x − x0 |

def 1 eik|x−x0 |

Πeθ ≡ Πeω(0) · θ̂ = − pω sin θ (8.42b)

4πε0 |x − x0 |

def

Πeϕ ≡ Πeω(0) · ϕ̂ = 0 (8.42c)

Evaluating Formula (8.30) on page 113 for the help vector C, with the spherically

polar components (8.42) of Πeω(0) inserted, we obtain

ik|x−x0 |

(0) 1 1 e

Cω = Cω,ϕ ϕ̂ = − ik pω sin θ ϕ̂ (8.43)

4πε0 |x − x0 | |x − x0 |

Applying this to Equation (8.31) on page 113, we obtain directly the Fourier compon-

ents of the fields

ik|x−x0 |

ωµ0 1 e

Bω = −i − ik pω sin θ ϕ̂ (8.44a)

4π |x − x0 | |x − x0 |

1 1 ik x − x0

Eω = 2 − cos θ

4πε0 |x − x0 | 2 |x − x0 | |x − x0 |

ik|x−x0 | (8.44b)

1 ik 2 e

+ − − k sin θ θ̂ p ω

|x − x0 |2 |x − x0 | |x − x0 |

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Multipole radiation

Keeping only those parts of the fields which dominate at large distances (the radi-

ation fields) and recalling that the wave vector k = k(x − x0 )/ |x − x0 | where k = ω/c,

we can now write down the Fourier components of the radiation parts of the magnetic

and electric fields from the dipole:

ωµ0 eik|x−x0 | ωµ0 eik|x−x0 |

Brad

ω =− pω k sin θ ϕ̂ = − (pω × k) (8.45a)

4π |x − x0 | 4π |x − x0 |

1 eik|x−x0 | 1 eik|x−x0 |

Erad

ω =− pω k2 sin θ θ̂ = − [(pω × k) × k] (8.45b)

4πε0 |x − x0 | 4πε0 |x − x0 |

These fields constitute the electric dipole radiation, also known as E1 radiation.

The next term in the expression (8.39b) on page 115 for the expansion of the Fourier

transform of the Hertz’ vector is for n = 1:

Z

eik|x−x0 |

Πeω(1) = −i d3x0 k x0 − x0 πω (x0 ) cos Θ

4πε0 |x − x0 | V 0

Z (8.46)

1 eik|x−x0 |

= −ik d3x0 [(x − x0 ) · (x0 − x0 )] πω (x0 )

4πε0 |x − x0 |2 V 0

Here, the term [(x − x0 ) · (x0 − x0 )] πω (x0 ) can be rewritten

and introducing

ηi = xi − x0,i (8.48a)

η0i = x0i − x0,i (8.48b)

the jth component of the integrand in Πeω (1) can be broken up into

1

{[(x − x0 ) · (x0 − x0 )] πω (x0 )} j = ηi πω, j η0i + πω,i η0j

2 (8.49)

1

+ ηi πω, j η0i − πω,i η0j

2

i.e., as the sum of two parts, the first being symmetric and the second antisymmetric

in the indices i, j. We note that the antisymmetric part can be written as

1 1

ηi πω, j η0i − πω,i η0j = [πω, j (ηi η0i ) − η0j (ηi πω,i )]

2 2

1

= [πω (η · η0 ) − η0 (η · πω )] j (8.50)

2

1

= (x − x0 ) × [πω × (x0 − x0 )] j

2

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

The utilisation of Equations (8.24) on page 112, and the fact that we are consider-

ing a single Fourier component,

allow us to express πω in jω as

jω

πω = i (8.52)

ω

Hence, we can write the antisymmetric part of the integral in Formula (8.46) on the

previous page as

Z

1

(x − x0 ) × d3x0 πω (x0 ) × (x0 − x0 )

2 V0

Z

1

= i (x − x0 ) × d3x0 jω (x0 ) × (x0 − x0 ) (8.53)

2ω V0

1

= −i (x − x0 ) × mω

ω

where we introduced the Fourier transform of the magnetic dipole moment

Z

1

mω = d3x0 (x0 − x0 ) × jω (x0 ) (8.54)

2 V0

The final result is that the antisymmetric, magnetic dipole, part of Π eω(1) can be

written

(1) k eik|x−x0 |

Πe,antisym

ω =− (x − x0 ) × mω (8.55)

4πε0 ω |x − x0 |2

In analogy with the electric dipole case, we insert this expression into Equation (8.30)

on page 113 to evaluate C, with which Equations (8.31) on page 113 then gives the B

and E fields. Discarding, as before, all terms belonging to the near fields and transition

fields and keeping only the terms that dominate at large distances, we obtain

µ0 eik|x−x0 |

Brad

ω (x) = − (mω × k) × k (8.56a)

4π |x − x0 |

k eik|x−x0 |

Erad

ω (x) = mω × k (8.56b)

4πε0 c |x − x0 |

which are the fields of the magnetic dipole radiation (M1 radiation).

(1)

The symmetric part Πe,sym

ω of the n = 1 contribution in the Equation (8.39b) on

page 115 for the expansion of the Hertz’ vector can be expressed in terms of the

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Radiation from a localised charge in arbitrary motion

page 84:

Z

Q(t, x0 ) = d3x0 (x0 − x0 )(x0 − x0 )ρ(t, x0 ) (8.57)

V0

Again we use this expression in Equation (8.30) on page 113 to calculate the fields

via Equations (8.31) on page 113. Tedious, but fairly straightforward algebra (which

we will not present here), yields the resulting fields. The radiation components of the

fields in the far field zone (wave zone) are given by

iµ0 ω eik|x−x0 |

Brad

ω (x) = (k · Qω ) × k (8.58a)

8π |x − x0 |

i eik|x−x0 |

Erad

ω (x) = [(k · Qω ) × k] × k (8.58b)

8πε0 |x − x0 |

This type of radiation is called electric quadrupole radiation or E2 radiation.

motion

The derivation of the radiation fields for the case of the source moving relative to the

observer is considerably more complicated than the stationary cases studied above. In

order to handle this non-stationary situation, we use the retarded potentials (3.32) on

page 41 in Chapter 3

Z 0

1 ρ(tret , x0 )

φ(t, x) = d3x0 (8.59a)

4πε0 V 0 |x − x0 |

Z

µ0 j(t , x0 )

0

A(t, x) = d3x0 ret 0 (8.59b)

4π V 0 |x − x |

and consider a source region with such a limited spatial extent that the charges and

currents are well localised. Specifically, we consider a charge q0 , for instance an

electron, which, classically, can be thought of as a localised, unstructured and rigid

‘charge distribution’ with a small, finite radius. The part of this ‘charge distribution’

dq0 which we are considering is located in dV 0 = d3x0 in the sphere in Figure 8.6 on

the next page. Since we assume that the electron (or any other other similar electric

charge) moves with a velocity v whose direction is arbitrary and whose magnitude can

be almost comparable to the speed of light, we cannot say that the charge and current

R 0

R

to be used in (8.59) is V ρ(tret , x0 ) d3x0 and V vρ(tret

0

, x0 ) d3x0 , respectively, because

in the finite time interval during which the observed signal is generated, part of the

charge distribution will ‘leak’ out of the volume element d3x0 .

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

0

dr0

x(t)

x − x0 v(t

)

dS

0

dV 0

0 0 0

x (t ) q

F IGURE 8.6: Signals which are observed at the field point x at time t were

generated at source points x0 (t0 ) on a sphere, centred on x and expanding, as time

increases, with the velocity c outward from the centre. The source charge element

moves with an arbitrary velocity v and gives rise to a source ‘leakage’ out of the

source volume dV 0 = d3x0 .

The charge distribution in Figure 8.6 on page 120 which contributes to the field at x(t)

is located at x0 (t0 ) on a sphere with radius r = |x − x0 | = c(t − t0 ). The radius interval of

this sphere from which radiation is received at the field point x during the time interval

(t0 , t0 + dt0 ) is (r0 , r0 + dr0 ) and the net amount of charge in this radial interval is

(x − x0 ) · v 0 0

dq0 = ρ(tret

0

, x0 ) dS 0 dr0 − ρ(tret

0

, x0 ) dS dt (8.60)

|x − x0 |

where the last term represents the amount of ‘source leakage’ due to the fact that

the charge distribution moves with velocity v(t 0 ) = dx/dt0 . Since dt0 = dr0 /c and

dS 0 dr0 = d3x0 we can rewrite the expression for the net charge as

(x − x0 ) · v 3 0

dq0 = ρ(tret

0

, x0 ) d3x0 − ρ(tret

0

, x0 ) dx

c |x − x0 |

(8.61)

0 (x − x0 ) · v

= ρ(tret , x0 ) 1 − d3x0

c |x − x0 |

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Radiation from a localised charge in arbitrary motion

or

0 dq0

ρ(tret , x0 ) d3x0 = (x−x0 )·v (8.62)

1− c|x−x0 |

0

ρ(tret , x0 ) 3 0 dq0

d x = 0 (8.63)

|x − x0 | |x − x0 | − (x−xc )·v

This is the expression to be used in the Formulae (8.59) on page 119 for the retarded

potentials. The result is (recall that j = ρv)

Z

1 dq0

φ(t, x) = 0 (8.64a)

|x − − (x−xc )·v

4πε0 x0 |

Z

µ0 v dq0

A(t, x) = 0 (8.64b)

4π |x − x0 | − (x−xc )·v

For a sufficiently small and well localised charge distribution we can, assuming that

the integrands do not change sign in the integration volume, use the mean value the-

R

orem and the fact that V dq0 = q0 to evaluate these expressions to become

q0 1 q0 1

φ(t, x) = 0 = (8.65a)

4πε0 |x − x0 | − (x−xc )·v 4πε0 s

0

q v q0 v v

A(t, x) = (x−x 0 )·v = = φ(t, x) (8.65b)

4πε0 c |x − x0 | − c

2 4πε0 c2 s c2

where

(x − x0 (t0 )) · v(t0 )

s = s(t0 , x) = x − x0 (t0 ) − (8.66a)

c

x − x0 (t0 ) v(t0 )

= x − x0 (t0 ) 1 − · (8.66b)

|x − x0 (t0 )| c

0 0 0

x − x (t ) v(t )

= (x − x0 (t0 )) · − (8.66c)

|x − x0 (t0 )| c

is the retarded relative distance. The potentials (8.65) are precisely the Liénard-

Wiechert potentials which we derived in Section 4.3.2 on page 59 by using a covariant

formalism.

It is important to realise that in the complicated derivation presented here, the ob-

server is in a coordinate system which has an ‘absolute’ meaning and the velocity v is

that of the particle, whereas in the covariant derivation two frames of equal standing

were moving relative to each other with v. Expressed in the four-potential, Equa-

tion (4.47) on page 58, the Liénard-Wiechert potentials become

q0 1 v φ

Aµ (xκ ) = , 2 = ,A (8.67)

4πε0 cs c s c

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

|x − x0 |

q0 v x0 (t) v(t0 )

c

x0 (t0 ) θ0 θ0

x − x0

x − x0

x(t)

F IGURE 8.7: Signals which are observed at the field point x at time t were

generated at the source point x0 (t0 ). After time t0 the particle, which moves with

nonuniform velocity, has followed a yet unknown trajectory. Extrapolating tan-

gentially the trajectory from x0 (t0 ), based on the velocity v(t 0 ), defines the virtual

simultaneous coordinate x0 (t).

localised charge emits electromagnetic radiation, and we shall now study such emis-

sion problems. The electric and magnetic fields are calculated from the potentials in

the usual way:

∂A(t, x)

E(t, x) = −∇φ(t, x) − (8.68b)

∂t

Consider a localised charge q0 and assume that its trajectory is known experimentally

as a function of retarded time

x0 = x0 (t0 ) (8.69)

(in the interest of simplifying our notation, we drop the subscript ‘ret’ on t 0 from now

on). This means that we know the trajectory of the charge q0 , i.e., x0 , for all times

up to the time t0 at which a signal was emitted in order to precisely arrive at the field

point x at time t. Because of the finite speed of propagation of the fields, the trajectory

at times later than t0 is not (yet) known.

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Radiation from a localised charge in arbitrary motion

dx0

v(t0 ) = (8.70a)

dt0

dv d2 x0

a(t0 ) = v̇(t0 ) = = 02 (8.70b)

dt0 dt

As for the charge coordinate x0 itself, we have in general no knowledge of the velocity

and acceleration at times later than t 0 , in particular not at the time of observation t. If

we choose the field point x as fixed, application of (8.70) to the relative vector x − x0

yields

d

(x − x0 (t0 )) = −v(t0 ) (8.71a)

dt0

d2

(x − x0 (t0 )) = −v̇(t0 ) (8.71b)

dt0 2

The retarded time t0 can, at least in principle, be calculated from the implicit relation

|x − x0 (t0 )|

t0 = t0 (t, x) = t − (8.72)

c

and we shall see later how this relation can be taken into account in the calculations.

According to Formulae (8.68) on the preceding page the electric and magnetic

fields are determined via differentiation of the retarded potentials at the observation

time t and at the observation point x. In these formulae the unprimed ∇, i.e., the

spatial derivative differentiation operator ∇ = x̂i ∂/∂xi means that we differentiate with

respect to the coordinates x = (x1 , x2 , x3 ) while keeping t fixed, and the unprimed time

derivative operator ∂/∂t means that we differentiate with respect to t while keeping x

fixed. But the Liénard-Wiechert potentials φ and A, Equations (8.65) on page 121, are

expressed in the charge velocity v(t 0 ) given by Equation (8.70a) above and the retarded

relative distance s(t0 , x) given by Equation (8.66) on page 121. This means that the

expressions for the potentials φ and A contain terms which are expressed explicitly

in t0 , which in turn is expressed implicitly in t via Equation (8.72) above. Despite

this complication it is possible, as we shall see below, to determine the electric and

magnetic fields and associated quantities at the time of observation t. To this end, we

need to investigate carefully the action of differentiation on the potentials.

We introduce the convention that a differential operator embraced by parentheses with

an index x or t means that the operator in question is applied at constant x and t,

respectively. With this convention, we find that

0

∂

x − x0 (t0 ) = x − x · ∂

(x − x0 ) · v(t0 )

0 0 0

x − x0 (t0 ) = − (8.73)

∂t x |x − x | ∂t x |x − x0 |

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

page we find that

0

∂t ∂ |x − x0 (t0 (t, x))|

=1−

∂t x ∂t c

x 0

∂ |x − x0 | ∂t

=1− (8.74)

∂t0 x c ∂t x

(x − x0 ) · v(t0 ) ∂t0

=1+

c |x − x0 | ∂t x

This is an algebraic equation in (∂t 0 /∂t)x which we can solve to obtain

0

∂t |x − x0 | |x − x0 |

= 0 0 0

= (8.75)

∂t x |x − x | − (x − x ) · v(t )/c s

where s = s(t0 , x) is the retarded relative distance given by Equation (8.66) on page 121.

Making use of Equation (8.75), we obtain the following useful operator identity

0

∂ ∂t ∂ |x − x0 | ∂

= = (8.76)

∂t x ∂t x ∂t0 x s ∂t0 x

Likewise, by applying (∇)t to Equation (8.72) on the previous page we obtain

|x − x0 (t0 (t, x))| x − x0

(∇)t t0 = −(∇)t =− · (∇)t (x − x0 )

c c |x − x0 |

(8.77)

x − x0 (x − x0 ) · v(t0 )

=− + (∇)t t0

c |x − x0 | c |x − x0 |

This is an algebraic equation in (∇)t t0 with the solution

x − x0

(∇)t t0 = − (8.78)

cs

which gives the following operator relation when (∇)t is acting on an arbitrary function

of t0 and x:

∂ x − x0 ∂

(∇)t = (∇)t t0 + (∇) t 0 = − + (∇)t0 (8.79)

∂t0 x cs ∂t0 x

With the help of the rules (8.79) and (8.76) we are now able to replace t by t 0 in the

operations which we need to perform. We find, for instance, that

1 q0

∇φ ≡ (∇φ)t = ∇

4πε0 s

0

(8.80a)

q x − x0 v(t0 ) x − x0 ∂s

=− − −

4πε0 s2 |x − x0 | c cs ∂t0 x

∂A ∂A ∂ µ0 q0 v(t0 )

≡ =

∂t ∂t x ∂t 4π s x

0

(8.80b)

=

q x − x sv̇(t ) − x − x0 v(t0 ) ∂s

0 0

4πε0 c2 s3 ∂t0 x

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Radiation from a localised charge in arbitrary motion

Utilising these relations in the calculation of the E field from the Liénard-Wiechert

potentials, Equations (8.65) on page 121, we obtain

∂

E(t, x) = −∇φ(t, x) − A(t, x)

∂t

q0 (x − x0 (t0 )) − |x − x0 (t0 )| v(t0 )/c

=

4πε0 s2 (t0 , x) |x − x0 (t0 )|

(x − x (t )) − |x − x0 (t0 )| v(t0 )/c ∂s(t0 , x)

0 0

|x − x0 (t0 )| v̇(t0 )

− −

cs(t0 , x) ∂t0 x c2

(8.81)

Starting from expression (8.66a) on page 121 for the retarded relative distance s(t 0 , x),

we see that we can evaluate (∂s/∂t 0 )x in the following way

∂s ∂ (x − x0 ) · v(t0 )

= 0

x−x −

∂t0 x ∂t0 x c

!

∂ 1 ∂ x − x0 (t0 )

0 0 0 0 0 ∂v(t0 )

= 0 x − x (t ) − · v(t ) + (x − x (t )) ·

∂t c ∂t0 ∂t0

(x − x0 ) · v(t0 ) v2 (t0 ) (x − x0 ) · v̇(t0 )

=− + −

|x − x0 | c c

(8.82)

where Equation (8.73) on page 123 and Equations (8.70) on page 123, respectively,

were used. Hence, the electric field generated by an arbitrarily moving charged

particle at x0 (t0 ) is given by the expression

q0 0 0 |x − x0 (t0 )| v(t0 ) v2 (t0 )

E(t, x) = (x − x (t )) − 1 −

4πε0 s3 (t0 , x) c c2

| {z }

Coulomb field when v → 0

0

q x − x0 (t0 ) |x − x0 (t0 )| v(t0 )

+ 3 0

× (x − x0 (t0 )) − × v̇(t0 )

4πε0 s (t , x) c2 c

| {z }

Radiation (acceleration) field

(8.83)

The first part of the field, the velocity field, tends to the ordinary Coulomb field when

v → 0 and does not contribute to the radiation. The second part of the field, the

acceleration field, is radiated into the far zone and is therefore also called the radiation

field.

From Figure 8.7 on page 122 we see that the position the charged particle would

have had if at t0 all external forces would have been switched off so that the trajectory

from then on would have been a straight line in the direction of the tangent at x 0 (t0 ) is

x0 (t), the virtual simultaneous coordinate. During the arbitrary motion, we interpret

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

x−x0 as the coordinate of the field point x relative to the virtual simultaneous coordin-

ate x0 (t). Since the time it takes for a signal to propagate (in the assumed vacuum)

from x0 (t0 ) to x is |x − x0 | /c, this relative vector is given by

|x − x0 (t0 )| v(t0 )

x − x0 (t) = x − x0 (t0 ) − (8.84)

c

This allows us to rewrite Equation (8.83) on the previous page in the following way

q0 v2 0 (x − x0 ) × v̇

E(t, x) = (x − x0 ) 1 − 2 + (x − x ) × (8.85)

4πε0 s3 c c2

x − x0 ∂

B(t, x) = ∇ × A(t, x) ≡ (∇)t × A = (∇)t0 × A − × A

cs ∂t0 x

(8.86)

q0 x − x0 x − x0 ∂A

=− × v − ×

4πε0 c2 s2 |x − x0 | c |x − x0 | ∂t x

where we made use of Equation (8.65) on page 121 and Formula (8.76) on page 124.

But, according to (8.80a),

x − x0 q0 x − x0

× (∇) t φ = ×v (8.87)

c |x − x0 | 4πε0 c2 s2 |x − x0 |

so that

x − x0 ∂A

B(t, x) = 0

× −(∇φ)t −

c |x − x | ∂t x

(8.88)

x − x0

= × E(t, x)

c |x − x0 |

The radiation part of the electric field is obtained from the acceleration field in

Formula (8.83) on the preceding page as

|x−x0 |→∞

0

q 0 0 |x − x0 | v

= (x − x ) × (x − x ) − × v̇ (8.89)

4πε0 c2 s3 c

q0

= (x − x0 ) × [(x − x0 ) × v̇]

4πε0 c2 s3

where in the last step we again used Formula (8.84) above. Using this formula and

Formula (8.88), the radiation part of the magnetic field can be written

x − x0

Brad (t, x) = × Erad (t, x) (8.90)

c |x − x0 |

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Radiation from a localised charge in arbitrary motion

An alternative to the differential operator transformation technique just described is to

try to express all quantities in the potentials directly in t and x. An example of such

a quantity is the retarded relative distance s(t 0 , x). According to Equation (8.66) on

page 121, the square of this retarded relative distance can be written

0 0 0

2

2 0

0 0 2

0 0 (x − x (t )) · v(t ) (x − x0 (t0 )) · v(t0 )

s (t , x) = x − x (t ) − 2 x − x (t ) +

c c

(8.91)

2 2

(x − x0 ) · v (x − x0 ) × v

+

c c

|x − x0 |2 v2 2 0 |x − x0 |2 v2 (8.92)

= cos θ + sin2 θ0

c2 c2

|x − x0 |2 v2 2 0 2 0 |x − x0 |2 v2

= (cos θ + sin θ ) =

c2 c2

we find that

2 2

(x − x0 ) · v |x − x0 |2 v2 (x − x0 ) × v

= − (8.93)

c c2 c

Furthermore, from Equation (8.84) on the facing page, we obtain the following iden-

tity:

which, when inserted into Equation (8.93) above, yields the relation

2 2

(x − x0 ) · v |x − x0 |2 v2 (x − x0 ) × v

= − (8.95)

c c2 c

Inserting the above into expression (8.91) for s2 , this expression becomes

2

2 (x − x0 ) · v |x − x0 |2 v2 (x − x0 ) × v

s 2 = x − x 0 − 2 x − x 0 + −

c c2 c

0

2 2

|x − x | v (x − x0 ) × v

= (x − x0 ) − −

c c

2 (8.96)

2 (x − x0 ) × v

= (x − x0 ) −

c

2

(x − x0 (t)) × v(t0 )

≡ |x − x0 (t)|2 −

c

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

What we have just demonstrated is that if the particle velocity at time t can be

calculated or projected from its value at the retarded time t 0 , the retarded distance

s in the Liénard-Wiechert potentials (8.65) can be expressed in terms of the virtual

simultaneous coordinate x0 (t), viz., the point at which the particle will have arrived

at time t, i.e., when we obtain the first knowledge of its existence at the source point

x0 at the retarded time t0 , and in the field coordinate x = x(t), where we make our

observations. We have, in other words, shown that all quantities in the definition

of s, and hence s itself, can, when the motion of the charge is somehow known, be

expressed in terms of the time t alone. I.e., in this special case we are able to express

the retarded relative distance as s = s(t, x) and we do not have to involve the retarded

time t0 or any transformed differential operators in our calculations.

Taking the square root of both sides of Equation (8.96) on the preceding page, we

obtain the following alternative final expressions for the retarded relative distance s in

terms of the charge’s virtual simultaneous coordinate x0 (t):

s 2

(x − x0 ) × v

s(t, x) = |x − x0 |2 − (8.97a)

c

r

v2

= |x − x0 | 1 − 2 sin2 θ0 (8.97b)

c

s 2

2 v2 (x − x0 ) · v

= |x − x0 | 1 − 2 + (8.97c)

c c

Using Equation (8.97c) above and standard vector analytic formulae, we obtain

" 2 #

2 2 v2 (x − x0 ) · v

∇s = ∇ |x − x0 | 1 − 2 +

c c

v2 vv (8.98)

= 2 (x − x0 ) 1 − 2 + 2 · (x − x0 )

c c

h v v i

= 2 (x − x0 ) + × × (x − x0 )

c c

which we shall use in the following example of a uniformly, unaccelerated motion of

the charge.

In the special case of uniform motion, the localised charge moves in a field-free, isolated

space and we know that it will not be affected by any external forces. It will therefore move uni-

formly in a straight line with the constant velocity v. This gives us the possibility to extrapolate

its position at the observation time, x0 (t), from its position at the retarded time, x0 (t0 ). Since

the particle is not accelerated, v̇ ≡ 0, the virtual simultaneous coordinate x0 will be identical to

the actual simultaneous coordinate of the particle at time t, i.e., x0 (t) = x0 (t). As depicted in

Figure 8.7 on page 122, the angle between x − x0 and v is θ0 while then angle between x − x0

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Radiation from a localised charge in arbitrary motion

and v is θ0 .

We note that in the case of uniform velocity v, time and space derivatives are closely related

in the following way when they operate on functions of x(t) [cf. Equation (1.33) on page 13]:

∂

→ −v · ∇ (8.99)

∂t

Hence, the E and B fields can be obtained from Formulae (8.68) on page 122, with the potentials

given by Equations (8.65) on page 121 as follows:

∂A 1 ∂vφ v ∂φ

E = −∇φ − = −∇φ − 2 = −∇φ − 2

∂t c ∂t c ∂t

v v vv

= −∇φ + · ∇φ = − 1 − 2 · ∇φ (8.100a)

vv c c c

= − 1 · ∇φ

c2 v v v

B = ∇ × A = ∇ × 2 φ = ∇φ × 2 = − 2 × ∇φ

c c c

v h v v i v vv

= 2 × · ∇φ − ∇φ = 2 × 2 − 1 · ∇φ (8.100b)

c c c c c

v

= 2 ×E

c

Here 1 = x̂i x̂i is the unit dyad and we used the fact that v × v ≡ 0. What remains is just to

express ∇φ in quantities evaluated at t and x.

From Equation (8.65a) on page 121 and Equation (8.98) on the preceding page we find that

q0 1 q0

∇φ = ∇ =− ∇s2

4πε0 s 8πε0 s3

(8.101)

q0 h v v i

=− (x − x 0 ) + × × (x − x 0 )

4πε0 s3 c c

When this expression for ∇φ is inserted into Equation (8.100a), the following result

vv q0 vv

E(t, x) = 2

− 1 · ∇φ = − 3 2

− 1 · ∇s2

c 8πε0 s c

q0 v v

= 3

(x − x0 ) + × × (x − x0 )

4πε0 s c c

v v vv h v v i

− · (x − x0 ) − 2 · × × (x − x0 )

c c c c c

(8.102)

q0 v v v2

= (x − x 0 ) + · (x − x 0 ) − (x − x 0 )

4πε0 s3 c c c2

v v

− · (x − x0 )

c c

q0 v2

= (x − x 0 ) 1 −

4πε0 s3 c2

follows. Of course, the same result also follows from Equation (8.85) on page 126 with v̇ ≡ 0

inserted.

From Equation (8.102) we conclude that E is directed along the vector from the simultan-

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

eous coordinate x0 (t) to the field (observation) coordinate x(t). In a similar way, the magnetic

field can be calculated and one finds that

µ0 q 0 v2 1

B(t, x) = 1− 2 v × (x − x0 ) = v×E (8.103)

4πs3 c c2

From these explicit formulae for the E and B fields we can discern the following cases:

3. v → c ⇒ E becomes dependent on θ0

C E ND OF EXAMPLE 8.1

Let us consider in more detail the treatment of the radiation from a uniformly moving rigid

charge distribution.

If we return to the original definition of the potentials and the inhomogeneous wave equa-

tion, Formula (3.15) on page 38, for a generic potential component Ψ(t, x) and a generic source

component f (t, x),

1 ∂2

2 Ψ(t, x) = − ∇ 2

Ψ(t, x) = f (t, x) (8.104)

c2 ∂t2

we find that under the assumption that v = v x̂1 , this equation can be written

v2 ∂2 Ψ ∂2 Ψ ∂2 Ψ

1− + 2 + 2 = − f (x) (8.105)

c2 ∂x21 ∂x2 ∂x3

x1

ξ1 = √ (8.106a)

1 − v2 /c2

ξ2 = x 2 (8.106b)

ξ3 = x 3 (8.106c)

def

and introducing the vectorial nabla operator in ξ space, ∇ξ ≡ (∂/∂ξ1 , ∂/∂ξ2 , ∂/∂ξ3 ), the time-

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Radiation from a localised charge in arbitrary motion

p

∇ξ2 Ψ(ξ) = − f ( 1 − v2 /c2 ξ1 , ξ2 , ξ3 ) ≡ − f (ξ) (8.107)

in this space. This equation has the well-known Coulomb potential solution

Z

1 f (ξ0 ) 3 0

Ψ(ξ) = dξ (8.108)

4π V |ξ − ξ0 |

After inverse transformation back to the original coordinates, this becomes

Z

1 f (x0 ) 3 0

Ψ(x) = dx (8.109)

4π V s

where, in the denominator,

21

0 2 v2 0 2 0 2

s = (x1 − x1 ) + 1 − 2 [(x2 − x2 ) + (x3 − x3 ) ] (8.110)

c

Applying this to the explicit scalar and vector potential components, realising that for a rigid

charge distribution ρ moving with velocity v the current is given by j = ρv, we obtain

Z

1 ρ(x0 ) 3 0

φ(t, x) = dx (8.111a)

4πε0 V s

Z

1 vρ(x0 ) 3 0 v

A(t, x) = 2

d x = 2 φ(t, x) (8.111b)

4πε0 c V s c

R

For a localised charge where ρ d3x0 = q0 , these expressions reduce to

q0

φ(t, x) = (8.112a)

4πε0 s

q0 v

A(t, x) = (8.112b)

4πε0 c2 s

which we recognise as the Liénard-Wiechert potentials; cf. Equations (8.65) on page 121. We

notice, however, that the derivation here, based on a mathematical technique which in fact is a

Lorentz transformation, is of more general validity than the one leading to Equations (8.65) on

page 121.

Let us now consider the action of the fields produced from a moving, rigid charge distri-

bution represented by q0 moving with velocity v, on a charged particle q, also moving with

velocity v. This force is given by the Lorentz force

F = q(E + v × B) (8.113)

With the help of Equation (8.103) on the facing page and Equations (8.111) above, and the

fact that ∂t = −v · ∇ [cf. Formula (8.99) on page 129], we can rewrite expression (8.113) above

as

h v i h v v v v i

F=q E+v× 2 ×E =q · ∇φ − ∇φ − × × ∇φ (8.114)

c c c c c

Applying the ‘bac-cab’ rule, Formula (F.51) on page 160, on the last term yields

v v v v v2

× × ∇φ = · ∇φ − ∇φ (8.115)

c c c c c2

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

F = −q∇ψ (8.116)

where

v2

ψ= 1− φ (8.117)

c2

The scalar function ψ is called the convection potential or the Heaviside potential. When the

rigid charge distribution is well localised so that we can use the potentials (8.112) the convection

potential becomes

v2 q0

ψ= 1− 2 (8.118)

c 4πε0 s

The convection potential from a point charge is constant on flattened ellipsoids of revolution,

defined through Equation (8.110) on the previous page as

2

x1 − x01

√ + (x2 − x02 )2 + (x3 − x03 )2

1 − v2 /c2 (8.119)

= γ2 (x1 − x01 )2 + (x2 − x02 )2 + (x3 − x03 )2 = Const

These Heaviside ellipsoids are equipotential surfaces, and since the force is proportional to the

gradient of ψ, which means that it is perpendicular to the ellipsoid surface, the force between

two charges is in general not directed along the line which connects the charges. A consequence

of this is that a system consisting of two co-moving charges connected with a rigid bar, will

experience a torque. This is the idea behind the Trouton-Noble experiment, aimed at measuring

the absolute speed of the earth or the galaxy. The negative outcome of this experiment is

explained by the special theory of relativity which postulates that mechanical laws follow the

same rules as electromagnetic laws, so that a compensating torque appears due to mechanical

stresses within the charge-bar system.

C E ND OF EXAMPLE 8.2

If the charge moves at such low speeds that v/c 1, Formula (8.66) on page 121

simplifies to

(x − x0 ) · v

s = x − x 0 − ≈ x − x 0 , vc (8.120)

c

and Formula (8.84) on page 126

|x − x0 | v

x − x0 = (x − x0 ) − ≈ x − x0 , vc (8.121)

c

so that the radiation field Equation (8.89) on page 126 can be approximated by

q0

Erad (t, x) = (x − x0 ) × [(x − x0 ) × v̇], vc (8.122)

4πε0 c2 |x − x0 |3

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Radiation from a localised charge in arbitrary motion

from which we obtain, with the use of Formula (8.88) on page 126, the magnetic field

q0

Brad (t, x) = [v̇ × (x − x0 )], vc (8.123)

4πε0 c3|x − x0 |2

It is interesting to note the close correspondence which exists between the nonre-

lativistic fields (8.122) and (8.123) and the electric dipole field Equations (8.45) on

page 117 if we introduce

p = q0 x0 (t0 ) (8.124)

q0 v̇ = p̈ → −ω2 pω (8.125a)

0

x − x = x − x0 (8.125b)

The power flux in the far zone is described by the Poynting vector as a function

of Erad and Brad . We use the close correspondence with the dipole case to find that it

becomes

µ0 q0 2 (v̇)2 2 x − x0

S= 0 2 sin θ |x − x0 | (8.126)

16π c |x − x |

2

where θ is the angle between v̇ and x − x0 . The total radiated power (integrated over a

closed spherical surface) becomes

µ0 q0 2 (v̇)2 q0 2 v̇2

P= = (8.127)

6πc 6πε0 c3

which is the Larmor formula for radiated power from an accelerated charge. Note that

here we are treating a charge with v c but otherwise totally unspecified motion while

we compare with formulae derived for a stationary oscillating dipole. The electric

and magnetic fields, Equation (8.122) on the preceding page and Equation (8.123),

respectively, and the expressions for the Poynting flux and power derived from them,

are here instantaneous values, dependent on the instantaneous position of the charge

at x0 (t0 ). The angular distribution is that which is ‘frozen’ to the point from which the

energy is radiated.

8.3.3 Bremsstrahlung

An important special case of radiation is when the velocity v and the acceleration v̇ are

collinear (parallel or anti-parallel) so that v × v̇ = 0. This condition (for an arbitrary

magnitude of v) inserted into expression (8.89) on page 126 for the radiation field,

yields

q0

Erad (t, x) = (x − x0 ) × [(x − x0 ) × v̇], v k v̇ (8.128)

4πε0 c2 s3

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

v = 0.5c

v = 0.25c

v=0

v

F IGURE 8.8: Polar diagram of the energy loss angular distribution factor

sin2 θ/(1 − v cos θ/c)5 during bremsstrahlung for particle speeds v = 0, v = 0.25c,

and v = 0.5c.

from which we obtain, with the use of Formula (8.88) on page 126, the magnetic field

q0 |x − x0 |

Brad (t, x) = [v̇ × (x − x0 )], v k v̇ (8.129)

4πε0 c3 s3

The difference between this case and the previous case of v c is that the approximate

expression (8.120) on page 132 for s is no longer valid; we must instead use the correct

expression (8.66) on page 121. The angular distribution of the power flux (Poynting

vector) therefore becomes

µ0 q0 2 v̇2 sin2 θ x − x0

S= (8.130)

16π c |x − x | 1 − v cos θ |x − x0 |

2 0 2 6

c

It is interesting to note that the magnitudes of the electric and magnetic fields are the

same whether v and v̇ are parallel or anti-parallel.

We must be careful when we compute the energy (S integrated over time). The

Poynting vector is related to the time t when it is measured and to a fixed surface in

space. The radiated power into a solid angle element dΩ, measured relative to the

particle’s retarded position, is given by the formula

dΩ = S · (x − x0 ) x − x0 dΩ = dΩ (8.131)

dt 16π2 c 1 − v cos θ 6

c

On the other hand, the radiation loss due to radiation from the charge at retarded time

t0 :

dU rad dU rad ∂t

dΩ = dΩ (8.132)

dt0 dt ∂t0 x

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Radiation from a localised charge in arbitrary motion

dS

dr

x dΩ

0 x − x0 + c dt0

θ q 2

0

x02 vdt x01

F IGURE 8.9: Location of radiation between two spheres as the charge moves

with velocity v from x01 to x02 during the time interval (t 0 , t0 + dt0 ). The observation

point (field point) is at the fixed location x.

dU rad dU rad s

0

dΩ = dΩ = S · (x − x0 )s dΩ (8.133)

dt dt |x − x0 |

Inserting Equation (8.130) on the facing page for S into (8.133), we obtain the

explicit expression for the energy loss due to radiation evaluated at the retarded time

dU rad (θ) µ0 q0 2 v̇2 sin2 θ

dΩ = dΩ (8.134)

dt0 16π2 c 1 − v cos θ 5

c

The angular factors of this expression, for three different particle speeds, are plotted

in Figure 8.8 on the preceding page.

Comparing expression (8.131) on the facing page with expression (8.134) above,

we see that they differ by a factor 1 − v cos θ/c which comes from the extra factor

s/ |x − x0 | introduced in (8.133). Let us explain this in geometrical terms.

During the interval (t0 , t0 + dt0 ) and within the solid angle element dΩ the particle

radiates an energy [dU rad (θ)/dt0 ] dt0 dΩ. As shown in 8.9 this energy is at time t located

between two spheres, one outer with its origin at x01 (t0 ) and radius c(t − t0 ), and one

inner with its origin at x02 (t0 +dt0 ) = x01 (t0 )+v dt0 and radius c[t−(t0 +dt0 )] = c(t−t0 −dt0 ).

From Figure 8.9 we see that the volume element subtending the solid angle ele-

ment

dS

dΩ = (8.135)

x − x0 2

2

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

is

2

d3x = dS dr = x − x02 dΩ dr (8.136)

Here, dr denotes the differential distance between the two spheres and can be evalu-

ated in the following way

x − x02

dr = x − x02 + c dt0 − x − x02 − · v dt0

x − x02

| {z }

v cos θ (8.137)

!

0

x − x2 cs

= c − · v dt0 = dt0

x − x2 0 x − x02

where Formula (8.66) on page 121 was used in the last step. Hence, the volume

element under consideration is

s

d3x = dS dr = dS cdt0 (8.138)

x − x0 2

We see that the energy which is radiated per unit solid angle during the time interval

(t0 , t0 + dt0 ) is located in a volume element whose size is θ dependent. This explains

the difference between expression (8.131) on page 134 and expression (8.134) on the

preceding page.

Let the radiated energy, integrated over Ω, be denoted Ũ rad . After tedious, but

relatively straightforward integration of Formula (8.134) on the previous page, one

obtains

−3

dŨ rad µ0 q0 2 v̇2 1 2 q0 2 v̇2 v2

= 3 = 1− 2 (8.139)

dt0 6πc 2 3 4πε0 c3 c

1 − cv2

If we know v(t0 ), we can integrate this expression over t 0 and obtain the total energy

radiated during the acceleration or deceleration of the particle. This way we obtain a

classical picture of bremsstrahlung (braking radiation, free-free radiation). Often, an

atomistic treatment is required for obtaining an acceptable result.

E XAMPLE 8.3 BB REMSSTRAHLUNG FOR LOW SPEEDS AND SHORT ACCELERATION TIMES

Calculate the bremsstrahlung when a charged particle, moving at a non-relativistic speed,

is accelerated or decelerated during an infinitely short time interval.

We approximate the velocity change at time t 0 = t0 by a delta function:

Z ∞

∆v(t0 ) = v̇ dt0 (8.141)

−∞

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Radiation from a localised charge in arbitrary motion

s ≈ |x − x0 | (8.142)

and, according to Formula (8.84) on page 126,

x − x0 ≈ x − x0 (8.143)

expression (8.88) on page 126 we conclude that E ⊥ B and that it suffices

to consider E ≡ Erad . According to the ‘bremsstrahlung expression’ for Erad , Equation (8.128)

on page 133,

q0 sin θ

E= ∆v δ(t0 − t0 ) (8.144)

4πε0 c2 |x − x0 |

In this simple case B ≡ Brad is given by

E

B= (8.145)

c

Fourier transforming expression (8.144) for E is trivial, yielding

q0 sin θ

Eω = 0

∆v eiωt0 (8.146)

8π2 ε 0 c |x − x |

2

We note that the magnitude of this Fourier component is independent of ω. This is a con-

sequence of the infinitely short ‘impulsive step’ δ(t 0 − t0 ) in the time domain which produces an

infinite spectrum in the frequency domain.

The total radiation energy is given by the expression

Z Z ∞Z

dŨ rad 0 B

Ũ rad = dt = E × · dS dt0

dt0 −∞ S µ0

Z Z ∞ Z Z ∞

1 1

= EB dt0 d2x0 = E 2 dt0 d2x0 (8.147)

µ0 S −∞ µ0 c S −∞

Z Z ∞

= ε0 c E 2 dt0 d2x0

S −∞

According to Parseval’s identity [cf. Equation (7.35) on page 102] the following equality

holds:

Z ∞ Z ∞

E 2 dt0 = 4π |Eω |2 dω (8.148)

−∞ 0

which means that the radiated energy in the frequency interval (ω, ω + dω) is

Z

Ũωrad dω = 4πε0 c |Eω |2 d2x dω (8.149)

S

Z

q02 (∆v)2 sin2 θ 2

Ũωrad dω = d x dω

16π3 ε0 c3 S |x − x0 |2

02 2π 2 Z

π Z

q (∆v)

= dϕ sin2 θ sin θ dθ dω (8.150)

16π ε0 c 0

3 3

0

2

q02 ∆v dω

=

3πε0 c c 2π

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

We see that the energy spectrum Ũωrad is independent of frequency ω. This means that if we

would integrate it over all frequencies ω ∈ [0, ∞), a divergent integral would result.

In reality, all spectra have finite widths, with an upper cutoff limit set by the quantum

condition

1

~ωmax = m(∆v)2 (8.151)

2

which expresses that the highest possible frequency ωmax in the spectrum is that for which all

kinetic energy difference has gone into one single field quantum (photon) with energy ~ω max .

If we adopt the picture that the total energy is quantised in terms of Nω photons radiated during

the process, we find that

Ũωrad dω

= dNω (8.152)

~ω

or, for an electron where q0 = − |e|, where e is the elementary charge,

2 2

e2 2 ∆v dω 1 2 ∆v dω

dNω = ≈ (8.153)

4πε0 ~c 3π c ω 137 3π c ω

where we used the value of the fine structure constant α = e2 /(4πε0 ~c) ≈ 1/137.

Even if the number of photons becomes infinite when ω → 0, these photons have negligible

energies so that the total radiated energy is still finite.

C E ND OF EXAMPLE 8.3

Formula (8.88) and Formula (8.89) on page 126 for the magnetic field and the radi-

ation part of the electric field are general, valid for any kind of motion of the localised

charge. A very important special case is circular motion, i.e., the case v ⊥ v̇.

With the charged particle orbiting in the x1 x2 plane as in Figure 8.10 on the facing

page, an orbit radius a, and an angular frequency ω0 , we obtain

ϕ(t0 ) = ω0 t0 (8.154a)

0 0 0 0

x (t ) = a[ x̂1 cos ϕ(t ) + x̂2 sin ϕ(t )] (8.154b)

0 0 0 0 0

v(t ) = ẋ (t ) = aω0 [− x̂1 sin ϕ(t ) + x̂2 cos ϕ(t )] (8.154c)

v = |v| = aω0 (8.154d)

0 0 0 0 0

v̇(t ) = ẍ (t ) = −aω20 [ x̂1 cos ϕ(t ) + x̂2 sin ϕ(t )] (8.154e)

v̇ = |v̇| = aω20 (8.154f)

Because of the rotational symmetry we can, without loss of generality, rotate our

coordinate system around the x3 axis so the relative vector x − x0 from the source

point to an arbitrary field point always lies in the x2 x3 plane, i.e.,

x − x0 = x − x0 ( x̂2 sin α + x̂3 cos α) (8.155)

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Radiation from a localised charge in arbitrary motion

x2

(t, x) x − x0

x

v

q0 0 0

θ (t , x )

a

v̇

α ϕ(t0 )

0 x1

x3

F IGURE 8.10: Coordinate system for the radiation from a charged particle at

x0 (t0 ) in circular motion with velocity v(t 0 ) along the tangent and constant accel-

eration v̇(t0 ) toward the origin. The x1 x2 axes are chosen so that the relative field

point vector x − x0 makes an angle α with the x3 axis which is normal to the plane

of the orbital motion. The radius of the orbit is a.

where α is the angle between x − x0 and the normal to the plane of the particle orbit

(see Figure 8.10). From the above expressions we obtain

(x − x0 ) · v = x − x0 v sin α cos ϕ (8.156a)

(x − x0 ) · v̇ = − x − x0 v̇ sin α sin ϕ = x − x0 v̇ cos θ (8.156b)

where in the last step we simply used the definition of a scalar product and the fact

that the angle between v̇ and x − x0 is θ.

The power flux is given by the Poynting vector, which, with the help of For-

mula (8.88) on page 126, can be written

1 1 x − x0

S= (E × B) = |E|2 (8.157)

µ0 cµ0 |x − x0 |

dU rad (α, ϕ) |x − x0 | s 2

= |E| (8.158)

dt0 cµ0

where the retarded distance s is given by expression (8.66) on page 121. With the

radiation part of the electric field, expression (8.89) on page 126, inserted, and using

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

(8.156a) and (8.156b) on the previous page, one finds, after some algebra, that

v

2 v2

rad

dU (α, ϕ) µ0 q v̇ 0 2 2 1 − c sin α cos ϕ − 1 − c 2 sin2 α sin2 ϕ

= 5 (8.159)

dt0 16π2 c 1 − v sin α cos ϕ

c

The angles θ and ϕ vary in time during the rotation, so that θ refers to a moving

coordinate system. But we can parametrise the solid angle dΩ in the angle ϕ and the

(fixed) angle α so that dΩ = sin α dα dϕ. Integration of Equation (8.159) over this dΩ

gives, after some cumbersome algebra, the angular integrated expression

= 2 (8.160)

dt0 6πc v2

1− c2

Cyclotron radiation

For a non-relativistic speed v c, Equation (8.159) reduces to

= (1 − sin2 α sin2 ϕ) (8.161)

dt0 16π2 c

But, according to Equation (8.156b) on the previous page

where θ is defined in Figure 8.10 on the preceding page. This means that we can write

= (1 − cos θ) = sin2 θ (8.163)

dt0 16π2 c 16π2 c

Consequently, a fixed observer near the orbit plane will observe cyclotron radi-

ation twice per revolution in the form of two equally broad pulses of radiation with

alternating polarisation.

Synchrotron radiation

When the particle is relativistic, v . c, the denominator in Equation (8.159) above

becomes very small if sin α cos ϕ ≈ 1, which defines the forward direction of the

particle motion (α ≈ π/2, ϕ ≈ 0). Equation (8.159) then becomes

= (8.164)

dt0 16π2 c 1 − v 3

c

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Radiation from a localised charge in arbitrary motion

x2

(t, x)

x − x0

∆θ

v

q0 0 0

a ∆θ (t , x )

v̇

ϕ(t0 )

0 x1

x3

F IGURE 8.11: When the observation point is in the plane of the particle orbit,

i.e., α = π/2 the lobe width is given by ∆θ.

which means that an observer near the orbit plane sees a very strong pulse followed,

half an orbit period later, by a much weaker pulse.

The two cases represented by Equation (8.163) on the preceding page and Equa-

tion (8.164) on the facing page are very important results since they can be used to

determine the characteristics of the particle motion both in particle accelerators and in

astrophysical objects where a direct measurement of particle velocities are impossible.

In the orbit plane (α = π/2), Equation (8.159) on the preceding page gives

v

2 v2

2

dU rad (π/2, ϕ) µ0 q0 2 v̇2 1 − c cos ϕ − 1 − c2 sin ϕ

= 5 (8.165)

dt0 16π2 c 1 − v cos ϕ c

v

cos ϕ0 = (8.166a)

cr

v2

sin ϕ0 = 1− (8.166b)

c2

Hence, the angle ϕ0 is a measure of the synchrotron radiation lobe width ∆θ; see

Figure 8.11. For ultra-relativistic particles, defined by

r

1 v2

γ= q 1, 1 − 2 1, (8.167)

1− v

2 c

c2

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

r

v2 1

ϕ0 ≈ sin ϕ0 = 1− 2

= (8.168)

c γ

Hence, synchrotron radiation from ultra-relativistic charges is characterized by a

radiation lobe width which is approximately

1

∆θ ≈ (8.169)

γ

This angular interval is swept by the charge during the time interval

∆θ

∆t0 = (8.170)

ω0

during which the particle moves a length interval

∆θ

∆l = v∆t0 = v (8.171)

ω0

in the direction toward the observer who therefore measures a pulse width of length

∆l v∆t0 v 0 v ∆θ v 1

∆t = ∆t0 − = ∆t0 − = 1− ∆t = 1 − ≈ 1−

c c c c ω0 c γω0

v

v

1− c 1+ c 1 v 2

1 1 1

= v ≈ 1− 2 = 3

1+ γω 0 c 2γω 0 2γ ω0

c | {z }

| {z }

1/γ2

≈2

(8.172)

relativistic synchrotron case one can therefore expect frequency components up to

1

ωmax ≈ = 2γ3 ω0 (8.173)

∆t

A spectral analysis of the radiation pulse will therefore exhibit a (broadened) line

spectrum of Fourier components nω0 from n = 1 up to n ≈ 2γ3 .

When many charged particles, N say, contribute to the radiation, we can have

three different situations depending on the relative phases of the radiation fields from

the individual particles:

1. All N radiating particles are spatially much closer to each other than a typical

wavelength. Then the relative phase differences of the individual electric and

magnetic fields radiated are negligible and the total radiated fields from all in-

dividual particles will add up to become N times that from one particle. This

means that the power radiated from the N particles will be N 2 higher than for a

single charged particle. This is called coherent radiation.

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Radiation from a localised charge in arbitrary motion

2. The charged particles are perfectly evenly distributed in the orbit. In this case

the phases of the radiation fields cause a complete cancellation of the fields

themselves. No radiation escapes.

3. The charged particles are somewhat unevenly distributed in the orbit. This hap-

pens for an open ring current, carried initially by evenly distributed charged

particles, which is subject to thermal fluctuations. From statistical mechanics

we know that this happens for √ all open systems and that the particle densities

√

exhibit fluctuations of order N. This means that out of the N particles, N

will exhibit deviation from perfect randomness—and thereby perfect radiation

field

√ cancellation—and give rise to net radiation fields which are proportional

to N. As a result, the radiated power will be proportional to N, and we speak

about incoherent radiation. Examples of this can be found both in earthly labor-

atories and under cosmic conditions.

We recall that the general expression for the radiation E field from a moving charge

concentration is given by expression (8.89) on page 126. This expression in Equa-

tion (8.158) on page 139 yields the general formula

2

dU rad (θ, ϕ) µ0 q0 2 |x − x0 | 0 0 |x − x0 | v

= (x − x ) × (x − x ) − × v̇

dt0 16π2 cs5 c

(8.174)

Integration over the solid angle Ω gives the totally radiated power as

2

dŨ rad µ0 q0 2 v̇2 1 − cv2 sin2 ψ

= 3 (8.175)

dt0 6πc 2

1 − cv2

If v is collinear with v̇, then sin ψ = 0, we get bremsstrahlung. For v ⊥ v̇, sin ψ =

1, which corresponds to cyclotron radiation or synchrotron radiation.

Virtual photons

Let us consider a charge q0 moving with constant, high velocity v(t 0 ) along the x1

axis. According to Formula (8.102) on page 129 and Figure 8.12 on the following

page, the perpendicular component along the x3 axis of the electric field from this

moving charge is

q0 v2

E⊥ = E3 = 1 − (x − x0 ) · x̂3 (8.176)

4πε0 s3 c2

(8.177)

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

vt

q0

v = v x̂1

b θ0

|x − x0 |

E ⊥ x̂3

F IGURE 8.12: The perpendicular field of a charge q0 moving with velocity v =

v x̂ is E ⊥ ẑ.

Utilising expression (8.97a) on page 128 and simple geometrical relations, we can

rewrite this as

q0 b

E⊥ = (8.178)

4πε0 γ2 (vt)2 + b2 /γ2 3/2

This represents a contracted field, approaching the field of a plane wave. The passage

of this field ‘pulse’ corresponds to a frequency distribution of the field energy. Fourier

transforming, we obtain

Z

1 ∞ iωt q0 bω bω

E ω,⊥ = (t)

dt E ⊥ e = 2 K1 (8.179)

2π −∞ 4π ε0 bv vγ vγ

Here, K1 is the Kelvin function (Bessel function of the second kind with imaginary

argument) which behaves in such a way for small and large arguments that

q0

E ω,⊥ ∼ , bω vγ (8.180a)

4π2 ε0 bv

E ω,⊥ ∼ 0, bω vγ (8.180b)

Due to the equipartition of the field energy into the electric and magnetic fields,

the total field energy can be written

Z Z bmaxZ ∞

Ũ = ε0 E ⊥2 d3x = ε0 E ⊥2 vdt 2πb db (8.181)

V bmin −∞

where the volume integration is over the plane perpendicular to v. With the use of

Parseval’s identity for Fourier transforms, Formula (7.35) on page 102, we can rewrite

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Radiation from a localised charge in arbitrary motion

this as

Z ∞ Z bmaxZ ∞

Ũ = Ũω dω = 4πε0 v E ω,⊥ 2 dω 2πb db

0 bmin 0

02 Z ∞Z vγ/ω

(8.182)

q db

≈ dω

2π2 ε0 v 0 bmin b

from which we conclude that

q02 vγ

Ũω ≈ 2 ln (8.183)

2π ε0 v bmin ω

As in the case of bremsstrahlung, it is intriguing to quantise the energy into

photons [cf. Equation (8.152) on page 138]. Then we find that

2α cγ dω

Nω dω ≈ ln (8.184)

π bmin ω ω

Let us consider the interaction of two (classical) electrons, 1 and 2. The result of

this interaction is that they change their linear momenta from p1 to p01 and 0

p2 to p2 ,

0

respectively. Heisenberg’s uncertainty principle gives bmin ∼ ~/ p1 − p1 so that the

number of photons exchanged in the process is of the order

2α cγ dω

Nω dω ≈ ln p1 − p01 (8.185)

π ~ω ω

Since this change in momentum corresponds to a change in energy ~ω = E 1 − E 10 and

E 1 = m0 γc2 , we see that

!

2α E 1 cp1 − cp01 dω

Nω dω ≈ ln (8.186)

π m0 c2 E 1 − E 10 ω

electron interaction process. In quantum theory, including only the lowest order con-

tributions, this process is known as Møller scattering. A diagrammatic representation

of (a semi-classical approximation of) this process is given in Figure 8.13 on the fol-

lowing page.

When electromagnetic radiation is propagating through matter, new phenomena may

appear which are (at least classically) not present in vacuum. As mentioned earlier,

one can under certain simplifying assumptions include, to some extent, the influence

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

p2 p02

p1 p01

F IGURE 8.13: Diagrammatic representation of the semi-classical electron-

electron interaction (Møller scattering).

from matter on the electromagnetic fields by introducing new, derived field quantities

D and H according to

D = ε(t, x)E = κε0 E (8.187)

B = µ(t, x)H = κm µ0 H (8.188)

Expressed in terms of these derived field quantities, the Maxwell equations, often

called macroscopic Maxwell equations, take the form

∇ · D = ρ(t, x) (8.189a)

∂B

∇×E=− (8.189b)

∂t

∇·B=0 (8.189c)

∂D

∇×H= + j(t, x) (8.189d)

∂t

Assuming for simplicity that the electric permittivity ε and the magnetic permeab-

ility µ, and hence the relative permittivity κ and the relative permeability κ m all have

fixed values, independent on time and space, for each type of material we consider,

we can derive the general telegrapher’s equation [cf. Equation (2.33) on page 31]

∂2 E ∂E ∂2 E

− σµ − εµ =0 (8.190)

∂ζ 2 ∂t ∂t2

describing (1D) wave propagation in a material medium.

In Chapter 2 we concluded that the existence of a finite conductivity, manifesting

itself in a collisional interaction between the charge carriers, causes the waves to

decay exponentially with time and space. Let us therefore assume that in our medium

σ = 0 so that the wave equation simplifies to

∂2 E ∂2 E

− εµ =0 (8.191)

∂ζ 2 ∂t2

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Radiation from a localised charge in arbitrary motion

1 1 c

vϕ = √ = √ = √ (8.192)

εµ κε0 κm µ0 κκm

√

where, according to Equation (1.11) on page 6, c = 1/ ε0 µ0 is the speed of light,

i.e., the phase speed of electromagnetic waves in vacuum, then the general solution to

each component of Equation (8.191) on the preceding page

c √ √ def

= κκm = c εµ ≡ n (8.194)

vϕ

is called the refractive index of the medium. In general n is a function of both time and

space as are the quantities ε, µ, κ, and κm themselves. If, in addition, the medium is

anisotropic or birefringent, all these quantities are rank-two tensor fields. Under our

simplifying assumptions, in each medium we consider n = Const for each frequency

component of the fields.

Associated with the phase speed of a medium for a wave of a given frequency ω

we have a wave vector, defined as

def ω vϕ

k ≡ k k̂ = kv̂ϕ = (8.195)

vϕ vϕ

As in the vacuum case discussed in Chapter 2, assuming that E is time-harmonic, i.e.,

can be represented by a Fourier component proportional to exp{−iωt}, the solution of

Equation (8.191) can be written

E = E0 ei(k·x−ωt) (8.196)

where now k is the wave vector in the medium given by Equation (8.195). With these

definitions, the vacuum formula for the associated magnetic field, Equation (2.40) on

page 31,

√ 1 1

B= εµ k̂ × E = k̂ × E = k × E (8.197)

vϕ ω

is valid also in a material medium (assuming, as mentioned, that n has a fixed constant

scalar value). A consequence of a κ , 1 is that the electric field will, in general, have

a longitudinal component.

It is important to notice that depending on the electric and magnetic properties of

a medium, and, hence, on the value of the refractive index n, the phase speed in the

medium can be smaller or larger than the speed of light:

c ω

vϕ = = (8.198)

n k

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

where, in the last step, we used Equation (8.195) on the preceding page.

If the medium has a refractive index which, as is usually the case, dependent on

frequency ω, we say that the medium is dispersive. Because in this case also k(ω) and

ω(k), so that the group velocity

∂ω

vg = (8.199)

∂k

has a unique value for each frequency component, and is different from v ϕ . Except in

regions of anomalous dispersion, vϕ is always smaller than c. In a gas of free charges,

such as a plasma, the refractive index is given by the expression

ω2p

n2 (ω) = 1 − (8.200)

ω2

where

Nσ q2σ

ω2p = ∑ (8.201)

σ ε0 mσ

is the square of the plasma frequency ωp . Here mσ and Nσ denote the mass and number

density, respectively, of charged particle species σ. In an inhomogeneous plasma,

Nσ = Nσ (x) so that the refractive index and also the phase and group velocities are

space dependent. As can be easily seen, for each given frequency, the phase and group

velocities in a plasma are different from each other. If the frequency ω is such that

it coincides with ωp at some point in the medium, then at that point vϕ → ∞ while

vg → 0 and the wave Fourier component at ω is reflected there.

Vavilov-Čerenkov radiation

As we saw in Subsection 8.1, a charge in uniform, rectilinear motion in vacuum does

not give rise to any radiation; see in particular Equation (8.100a) on page 129. Let us

now consider a charge in uniform, rectilinear motion in a medium with electric prop-

erties which are different from those of a (classical) vacuum. Specifically, consider a

medium where

µ = µ0 (8.202b)

c 1

vϕ = = √ <c (8.203)

n εµ0

Hence, in this particular medium, the speed of propagation of (the phase planes of)

electromagnetic waves is less than the speed of light in vacuum, which we know is an

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Radiation from a localised charge in arbitrary motion

absolute limit for the motion of anything, including particles. A medium of this kind

has the interesting property that particles, entering into the medium at high speeds

|v|, which, of course, are below the phase speed in vacuum, can experience that the

particle speeds are higher than the phase speed in the medium. This is the basis for

the Vavilov-Čerenkov radiation that we shall now study.

If we recall the general derivation, in the vacuum case, of the retarded (and ad-

vanced) potentials in Chapter 3 and the Liénard-Wiechert potentials, Equations (8.65)

on page 121, we realise that we obtain the latter in the medium by a simple formal

replacement c → c/n in the expression (8.66) on page 121 for s. Hence, the Liénard-

Wiechert potentials in a medium characterized by a refractive index n, are

1 q0 1 q0

φ(t, x) = 0 = (8.204a)

4πε0 |x − x0 | − n (x−xc )·v 4πε0 s

1 q0 v 1 q0 v

A(t, x) = 0 = (8.204b)

4πε0 c2 |x − x0 | − n (x−xc )·v 4πε0 c2 s

where now

(x − x0 ) · v

s = x − x0 − n (8.205)

c

The need for the absolute value of the expression for s is obvious in the case when

v/c ≥ 1/n because then the second term can be larger than the first term; if v/c 1/n

we recover the well-known vacuum case but with modified phase speed. We also

note that the retarded and advanced times in the medium are [cf. Equation (3.30) on

page 41]

k |x − x0 | |x − x0 | n

0

tret 0

= tret (t, x − x0 ) = t − =t− (8.206a)

ω c

0

k |x − x | |x − x0 | n

0

tadv 0

= tadv (t, x − x0 ) = t + =t+ (8.206b)

ω c

so that the usual time interval t − t 0 between the time measured at the point of obser-

vation and the retarded time in a medium becomes

|x − x0 | n

t − t0 = (8.207)

c

For v/c ≥ 1/n, the retarded distance s, and therefore the denominators in Equa-

tions (8.204) above vanish when

v nv

n(x − x0 ) · = x − x0 cos θc = x − x0 (8.208)

c c

or, equivalently, when

c

cos θc = (8.209)

nv

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

x(t)

θc αc q0 v

x0 (t0 )

F IGURE 8.14: Instantaneous picture of the expanding field spheres from a point

charge moving with constant speed v/c > 1/n in a medium where n > 1. This

generates a Vavilov-Čerenkov shock wave in the form of a cone.

In the direction defined by this angle θc , the potentials become singular. During the

time interval t − t0 given by expression (8.207) on the preceding page, the field exists

within a sphere of radius |x − x0 | around the particle while the particle moves a distance

l = v(t − t0 ) (8.210)

In the direction θc where the potentials are singular, all field spheres are tangent to

a straight cone with its apex at the instantaneous position of the particle and with the

apex half angle αc defined according to

c

sin αc = cos θc = (8.211)

nv

This cone of potential singularities and field sphere circumferences propagates with

speed c/n in the form of a shock front, called Vavilov-Čerenkov radiation.1 The

Vavilov-Čerenkov cone is similar in nature to the Mach cone in acoustics.

1 The first systematic exploration of this radiation was made by P. A. Čerenkov in 1934, who was then

a post-graduate student in S. I. Vavilov’s research group at the Lebedev Institute in Moscow. Vavilov wrote

a manuscript with the experimental findings, put Čerenkov as the author, and submitted it to Nature. In

the manuscript, Vavilov explained the results in terms of radioactive particles creating Compton electrons

which gave rise to the radiation (which was the correct interpretation), but the paper was rejected. The

paper was then sent to Physical Review and was, after some controversy with the American editors who

claimed the results to be wrong, eventually published in 1937. In the same year, I. E. Tamm and I. M. Frank

published the theory for the effect (‘the singing electron’). In fact, predictions of a similar effect had been

made as early as 1888 by Heaviside, and by Sommerfeld in his 1904 paper ‘Radiating body moving with

velocity of light’. On May 8, 1937, Sommerfeld sent a letter to Tamm via Austria, saying that he was

surprised that his old 1904 ideas were now becoming interesting. Tamm, Frank and Čerenkov received

the Nobel Prize in 1958 ‘for the discovery and the interpretation of the Čerenkov effect’ [V. L. Ginzburg,

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Radiation from a localised charge in arbitrary motion

In order to make some quantitative estimates of this radiation, we note that we can

describe the motion of each charged particle q0 as a current density:

j = q0 v δ(x0 − vt0 ) = q0 v δ(x0 − vt0 )δ(y0 )δ(z0 ) x̂1 (8.212)

which has the trivial Fourier transform

q0 iωx0 /v 0

jω = e δ(y )δ(z0 ) x̂1 (8.213)

2π

This Fourier component can be used in the formulae derived for a linear current in

Subsection 8.1.1 if only we make the replacements

ε0 → ε = n 2 ε0 (8.214a)

nω

k→ (8.214b)

c

In this manner, using jω from Equation (8.213) above, the resulting Fourier transforms

of the Vavilov-Čerenkov magnetic and electric radiation fields can be calculated from

the expressions (7.11) on page 95) and (7.22) on page 98, respectively.

The total energy content is then obtained from Equation (7.35) on page 102 (in-

tegrated over a closed sphere at large distances). For a Fourier component one obtains

[cf. Equation (7.38) on page 103]

Z 2

1

−ik·x0 3 0

Uωrad dΩ ≈ (j ω × k)e d x dΩ

4πε0 nc V

Z 0 2 (8.215)

q0 2 nω2 ∞ ωx 0

0 2

= exp i − kx cos θ dx sin θ dΩ

16π3 ε0 c3 −∞ v

where θ is the angle between the direction of motion, x̂ 01 , and the direction to the

observer, k̂. The integral in (8.215) is singular of a ‘Dirac delta type’. If we limit the

spatial extent of the motion of the particle to the closed interval [−X, X] on the x 0 axis

we can evaluate the integral to obtain

rad q0 2 nω2 sin2 θ sin2 1 − nvc cos θ Xω

v

Uω dΩ = 2 dΩ (8.216)

4π3 ε0 c3 1 − nv cos θ ω c v

which has a maximum in the direction θc as expected. The magnitude of this max-

imum grows and its width narrows as X → ∞. The integration of (8.216) over Ω

therefore picks up the main contributions from θ ≈ θc . Consequently, we can set

sin2 θ ≈ sin2 θc and the result of the integration is

Z π Z 1

Ũωrad = 2π Uωrad (θ) sin θ dθ = dcos θ = −ξc = 2π Uωrad (ξ) dξ

0 −1

Z Xω (8.217)

q0 2 nω2 sin2 θc 1 sin2 1 + nvξc v

≈ ω 2 dξ

2π2 ε0 c3 −1 1 + nvξ

c v

private communication].

The first observation of this type of radiation was reported by Marie Curie in 1910, but she never pursued

the exploration of it [8].

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8. E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

The integrand in (8.217) is strongly peaked near ξ = −c/(nv), or, equivalently, near

cos θc = c/(nv). This means that the integrand function is practically zero outside

the integration interval ξ ∈ [−1, 1]. Consequently, one may extend the ξ integration

interval to (−∞, ∞) without introducing too much an error. Via yet another variable

substitution we can therefore approximate

Z 1 Xω Z

2 sin2 1 + nvξc v c2 cX ∞ sin2 x

sin θc ω 2 dξ ≈ 1 − 2 2 dx

−1 1 + nvξ nv ωn −∞ x2

c v (8.218)

cXπ c2

= 1− 2 2

ωn n v

leading to the final approximate result for the total energy loss in the frequency interval

(ω, ω + dω)

q0 2 X c2

Ũωrad dω = 1 − ω dω (8.219)

2πε0 c2 n 2 v2

ising this, we find that the radiation energy per frequency unit and per unit length

is

Ũωrad dω q0 2 ω c2

= 1 − dω (8.220)

2X 4πε0 c2 n2 (ω)v2

This result was derived under the assumption that v/c > 1/n(ω), i.e., under the con-

dition that the expression inside the parentheses in the right hand side is positive. For

all media it is true that n(ω) → 1 when ω → ∞, so there exist always a highest

frequency for which we can obtain Vavilov-Čerenkov radiation from a fast charge in

a medium. Our derivation above for a fixed value of n is valid for each individual

Fourier component.

8.4 Bibliography

[1] H. A LFVÉN AND N. H ERLOFSON, Cosmic radiation and radio stars, Physical Review, 78

(1950), p. 616.

New York, NY, 1982, ISBN 0-486-64290-9.

tion, Interference and Diffraction of Light, sixth ed., Pergamon Press, Oxford,. . . , 1980,

ISBN 0-08-026481-6.

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Bibliography

ics, Revised third ed., Gordon and Breach Science Publishers, New York, London, Paris,

Montreux, Tokyo and Melbourne, 1989, ISBN 2-88124-719-9.

[5] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,

New York, NY . . . , 1999, ISBN 0-471-30932-X.

[6] J. B. M ARION AND M. A. H EALD, Classical Electromagnetic Radiation, second ed., Aca-

demic Press, Inc. (London) Ltd., Orlando, . . . , 1980, ISBN 0-12-472257-1.

[7] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-

6.

dynamics, Perseus Books, Reading, MA, 1998, ISBN 0-7382-0056-5.

York, NY and London, 1953, ISBN 07-062150-0.

[10] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc., New

York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-57269-1.

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APPENDIX F

Formulae

F.1.1 Maxwell’s equations

∇·D=ρ (F.1)

∇·B=0 (F.2)

∂

∇×E=− B (F.3)

∂t

∂

∇×H=j+ D (F.4)

∂t

Constitutive relations

D = εE (F.5)

B

H= (F.6)

µ

j = σE (F.7)

P = ε0 χE (F.8)

Vector and scalar potentials

B=∇×A (F.9)

155

F. F ORMULAE

∂

E = −∇φ − A (F.10)

∂t

1 ∂

∇·A+ φ=0 (F.11)

c2 ∂t

Poynting’s vector

S=E×H (F.12)

1

T i j = E i D j + Hi B j − δi j (E k Dk + Hk Bk ) (F.13)

2

F.2.1 Relationship between the field vectors in a plane wave

k̂ × E

B= (F.14)

c

Z

−iµ0 eik|x| 0

Brad

ω (x) = d3 x0 e−ik·x jω × k (F.15)

4π |x| V 0

Z

i eik|x| 0

Erad

ω (x) = x̂ × d3 x0 e−ik·x jω × k (F.16)

4πε0 c |x| V 0

ωµ0 eik|x|

Brad

ω (x) = − pω × k (F.17)

4π |x|

1 eik|x|

Erad

ω (x) = − (pω × k) × k (F.18)

4πε0 |x|

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Special relativity

µ0 eik|x|

Brad

ω (x) = − (mω × k) × k (F.19)

4π |x|

k eik|x|

Erad

ω (x) = mω × k (F.20)

4πε0 c |x|

iµ0 ω eik|x|

Brad

ω (x) = (k · Qω ) × k (F.21)

8π |x|

i eik|x|

Erad

ω (x) = [(k · Qω ) × k] × k (F.22)

8πε0 |x|

q v2 0 (x − x0 ) × v̇

E(t, x) = (x − x 0 ) 1 − + (x − x ) × (F.23)

4πε0 s3 c2 c2

E(t, x)

B(t, x) = (x − x0 ) × (F.24)

c|x − x0 |

v

s = x − x0 − (x − x0 ) · (F.25)

c

v

x − x0 = (x − x0 ) − |x − x0 | (F.26)

0 c

∂t |x − x0 |

= (F.27)

∂t x s

F.3.1 Metric tensor

1 0 0 0

0 −1 0 0

gµν =

0 0

(F.28)

−1 0

0 0 0 −1

vµ = gµν vν (F.29)

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F. F ORMULAE

x0µ = Λµν xν (F.30)

γ −γβ 0 0

−γβ γ 0 0

Λν =

µ

0

(F.31)

0 1 0

0 0 0 1

1

γ= p (F.32)

1 − β2

v

β= (F.33)

c

dt

ds = c = c dτ (F.34)

γ

F.3.5 Four-velocity

dx µ

uµ = = γ(c, v) (F.35)

dτ

F.3.6 Four-momentum

E

pµ = m0 uµ = ,p (F.36)

c

jµ = ρ 0 u µ (F.37)

F.3.8 Four-potential

µ φ

A = ,A (F.38)

c

0 −E x /c −E y /c −E z /c

E x /c 0 −Bz By

F µν = ∂ µ Aν − ∂ ν Aµ =

E y /c

(F.39)

Bz 0 −B x

E z /c −By Bx 0

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Vector relations

Let x be the radius vector (coordinate vector) from the origin to the point (x 1 , x2 , x3 ) ≡

(x, y, z) and let |x| denote the magnitude (‘length’) of x. Let further α(x), β(x), . . . be

arbitrary scalar fields and a(x), b(x), c(x), d(x), . . . arbitrary vector fields.

The differential vector operator ∇ is in Cartesian coordinates given by

3

∂ def ∂ def

∇ ≡ ∑ x̂i ≡ x̂i ≡ ∂ (F.40)

i=1 ∂xi ∂xi

where x̂i , i = 1, 2, 3 is the ith unit vector and x̂1 ≡ x̂, x̂2 ≡ ŷ, and x̂3 ≡ ẑ. In component

(tensor) notation ∇ can be written

∂ ∂ ∂ ∂ ∂ ∂

∇i = ∂ i = , , = , , (F.41)

∂x1 ∂x2 ∂x3 ∂x ∂y ∂z

Base vectors

θ̂ = cos θ cos ϕ x̂1 + cos θ sin ϕ x̂2 − sin θ x̂3 (F.42b)

ϕ̂ = − sin ϕ x̂1 + cos ϕ x̂2 (F.42c)

x̂1 = sin θ cos ϕr̂ + cos θ cos ϕθ̂ − sin ϕϕ̂ (F.43a)

x̂2 = sin θ sin ϕr̂ + cos θ sin ϕθ̂ + cos ϕϕ̂ (F.43b)

x̂3 = cos θr̂ − sin θθ̂ (F.43c)

dx x̂ = dl = dr r̂ + r dθ θ̂ + r sin θ dϕ ϕ̂ (F.44)

dΩ = sin θ dθ dϕ (F.45)

d2x n̂ = dS = dS r̂ = r 2 dΩ r̂ (F.46)

Volume element

d3x = dV = drdS = r 2 dr dΩ (F.47)

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F. F ORMULAE

General vector algebraic identities

a · b = b · a = δi j ai b j = ab cos θ (F.48)

a × b = −b × a = i jk a j bk x̂i (F.49)

a · (b × c) = (a × b) · c (F.50)

a × (b × c) = b(a · c) − c(a · b) (F.51)

a × (b × c) + b × (c × a) + c × (a × b) = 0 (F.52)

(a × b) · (c × d) = a · [b × (c × d)] = (a · c)(b · d) − (a · d)(b · c) (F.53)

(a × b) × (c × d) = (a × b · d)c − (a × b · c)d (F.54)

∇ · (αa) = a · ∇α + α∇ · a (F.56)

∇ × (αa) = α∇ × a − a × ∇α (F.57)

∇ · (a × b) = b · (∇ × a) − a · (∇ × b) (F.58)

∇ × (a × b) = a(∇ · b) − b(∇ · a) + (b · ∇)a − (a · ∇)b (F.59)

∇(a · b) = a × (∇ × b) + b × (∇ × a) + (b · ∇)a + (a · ∇)b (F.60)

2

∇ · ∇α = ∇ α (F.61)

∇ × ∇α = 0 (F.62)

∇ · (∇ × a) = 0 (F.63)

2

∇ × (∇ × a) = ∇(∇ · a) − ∇ a (F.64)

Special identities

In the following x = xi x̂i and x0 = x0i x̂i are radius vectors, k an arbitrary constant

vector, a = a(x) an arbitrary vector field, ∇ ≡ ∂x∂ i x̂i , and ∇0 ≡ ∂x∂ 0 x̂i .

i

∇·x=3 (F.65)

∇×x=0 (F.66)

∇(k · x) = k (F.67)

x

∇|x| = (F.68)

|x|

x − x0

∇ |x − x0 | = 0

= −∇0 |x − x0 | (F.69)

|x − x |

1 x

∇ =− 3 (F.70)

|x| |x|

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Bibliography

1 x − x0 0 1

∇ = − = −∇ (F.71)

|x − x0 | |x − x0 |3 |x − x0 |

x 1

∇· = −∇2 = 4πδ(x) (F.72)

|x| 3 |x|

x − x0 1

∇· = −∇ 2

= 4πδ(x − x0 ) (F.73)

|x − x0 |3 |x − x0 |

k 1 k·x

∇ =k· ∇ =− 3 (F.74)

|x| |x| |x|

x k·x

∇× k× = −∇ if |x| , 0 (F.75)

|x|3 |x|3

k 1

∇2 = k∇2 = −4πkδ(x) (F.76)

|x| |x|

∇ × (k × a) = k(∇ · a) + k × (∇ × a) − ∇(k · a) (F.77)

Integral relations

Let V(S ) be the volume bounded by the closed surface S (V). Denote the 3-dimensional

volume element by d3x(≡ dV) and the surface element, directed along the outward

pointing surface normal unit vector n̂, by dS(≡ d2x n̂). Then

Z I

(∇ · a) d3x = dS · a (F.78)

ZV I S

V S

Z I

(∇ × a) d3x = dS × a (F.80)

V S

If S (C) is an open surface bounded by the contour C(S ), whose line element is dl,

then

I Z

α dl = dS × ∇α (F.81)

IC ZS

a · dl = dS · (∇ × a) (F.82)

C S

F.5 Bibliography

[1] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth, interna-

tional ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-059816-7.

Book Company, Inc., New York, NY . . . , 1953, ISBN 07-043316-8.

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F. F ORMULAE

[3] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed.,

Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6.

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APPENDIX M

Mathematical Methods

Every physical observable can be described by a geometric object. We will de-

scribe the observables in classical electrodynamics mathematically in terms of scalars,

pseudoscalars, vectors, pseudovectors, tensors or pseudotensors and will not exploit

differential forms to any significant degree.

A scalar describes a scalar quantity which may or may not be constant in time

and/or space. A vector describes some kind of physical motion due to vection and a

tensor describes the motion or deformation due to some form of tension. However,

generalisations to more abstract notions of these quantities are commonplace. The

difference between a scalar, vector and tensor and a pseudoscalar, pseudovector and

a pseudotensor is that the latter behave differently under such coordinate transforma-

tions which cannot be reduced to pure rotations.

Throughout we adopt the convention that Latin indices i, j, k, l, . . . run over the

range 1, 2, 3 to denote vector or tensor components in the real Euclidean three-

dimensional (3D) configuration space R3 , and Greek indices µ, ν, κ, λ, . . . , which are

used in four-dimensional (4D) space, run over the range 0, 1, 2, 3.

M.1.1 Vectors

Radius vector

A vector can be represented mathematically in a number of different ways. One suit-

able representation is in terms of an ordered N-tuple, or row vector, of the coordinates

xN where N is the dimensionality of the space under consideration. The most basic

163

M. M ATHEMATICAL M ETHODS

vector is the radius vector which is the vector from the origin to the point of in-

terest. Its N-tuple representation simply enumerates the coordinates which describe

this point. In this sense, the radius vector from the origin to a point is synonymous

with the coordinates of the point itself.

In the 3D Euclidean space R3 , we have N = 3 and the radius vector can be rep-

resented by the triplet (x1 , x2 , x3 ) of coordinates xi , i = 1, 2, 3. The coordinates xi are

scalar quantities which describe the position along the unit base vectors x̂ i which span

R3 . Therefore a representation of the radius vector in R3 is

3

x = ∑ xi x̂i ≡ xi x̂i

def

(M.1)

i=1

where we have introduced Einstein’s summation convention (EΣ) which states that a

repeated index in a term implies summation over the range of the index in question.

Whenever possible and convenient we shall in the following always assume EΣ and

suppress explicit summation in our formulae. Typographically, we represent a vector

in 3D Euclidean space R3 by a boldface letter or symbol in a Roman font.

Alternatively, we may describe the radius vector in component notation as follows:

def

xi ≡ (x1 , x2 , x3 ) ≡ (x, y, z) (M.2)

the radius vector either in its contravariant component form

def

xµ ≡ (x0 , x1 , x2 , x3 ) (M.3)

def

xµ ≡ (x0 , x1 , x2 , x3 ) (M.4)

The relation between the covariant and contravariant forms is determined by the met-

ric tensor (also known as the fundamental tensor) whose actual form is dictated by the

properties of the vector space in question. The dual representation of vectors in con-

travariant and covariant forms is most convenient when we work in a non-Euclidean

vector space with an indefinite metric. An example is Lorentz space L 4 which is a 4D

Riemannian space utilised to formulate the special theory of relativity.

We note that for a change of coordinates xµ → x0µ = x0µ (x0 , x1 , x2 , x3 ), due to a

transformation from a system Σ to another system Σ0 , the differential radius vector dxµ

transforms as

∂x0µ ν

dx0µ = dx (M.5)

∂xν

which follows trivially from the rules of differentiation of x0µ considered as functions

of four variables xν .

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Scalars, vectors and tensors

M.1.2 Fields

A field is a physical entity which depends on one or more continuous parameters. Such

a parameter can be viewed as a ‘continuous index’ which enumerates the ‘coordinates’

of the field. In particular, in a field which depends on the usual radius vector x of R 3 ,

each point in this space can be considered as one degree of freedom so that a field is a

representation of a physical entity which has an infinite number of degrees of freedom.

Scalar fields

We denote an arbitrary scalar field in R3 by

def

α(x) = α(x1 , x2 , x3 ) ≡ α(xi ) (M.6)

This field describes how the scalar quantity α varies continuously in 3D R 3 space.

In 4D, a four-scalar field is denoted

def

α(x0 , x1 , x2 , x3 ) ≡ α(xµ ) (M.7)

which indicates that the four-scalar α depends on all four coordinates spanning this

space. Since a four-scalar has the same value at a given point regardless of coordinate

system, it is also called an invariant.

Analogous to the transformation rule, Equation (M.5) on the facing page, for the

differential dxµ , the transformation rule for the differential operator ∂/∂xµ under a

transformation xµ → x0µ becomes

∂ ∂xν ∂

0µ

= 0µ ν (M.8)

∂x ∂x ∂x

which, again, follows trivially from the rules of differentiation.

Vector fields

We can represent an arbitrary vector field a(x) in R3 as follows:

resented as

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M. M ATHEMATICAL M ETHODS

where xν is the radius four-vector. Again, the relation between aµ and aµ is determined

by the metric of the physical 4D system under consideration.

Whether an arbitrary N-tuple fulfils the requirement of being an (N-dimensional)

contravariant vector or not, depends on its transformation properties during a change

of coordinates. For instance, in 4D an assemblage yµ = (y0 , y1 , y2 , y3 ) constitutes a

contravariant four-vector (or the contravariant components of a four-vector) if and

only if, during a transformation from a system Σ with coordinates x µ to a system Σ0

with coordinates x0µ , it transforms to the new system according to the rule

∂x0µ ν

y0µ = y (M.13)

∂xν

i.e., in the same way as the differential coordinate element dxµ transforms according

to Equation (M.5) on page 164.

The analogous requirement for a covariant four-vector is that it transforms, during

the change from Σ to Σ0 , according to the rule

∂xν

y0µ = yν (M.14)

∂x0µ

i.e., in the same way as the differential operator ∂/∂xµ transforms according to Equa-

tion (M.8) on the preceding page.

Tensor fields

We denote an arbitrary tensor field in R3 by A(x). This tensor field can be represented

in a number of ways, for instance in the following matrix form:

A11 (x) A12 (x) A13 (x)

def

Ai j (xk )

≡ A21 (x) A22 (x) A23 (x) (M.15)

A31 (x) A32 (x) A33 (x)

Strictly speaking, the tensor field described here is a tensor of rank two.

A particularly simple rank-two tensor in R3 is the 3D Kronecker delta symbol δi j ,

with the following properties:

(

0 if i , j

δi j = (M.16)

1 if i = j

1 0 0

(δi j ) = 0 1 0 (M.17)

0 0 1

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Scalars, vectors and tensors

Another common and useful tensor is the fully antisymmetric tensor of rank 3,

also known as the Levi-Civita tensor

1 if i, j, k is an even permutation of 1,2,3

i jk = 0 if at least two of i, j, k are equal (M.18)

−1 if i, j, k is an odd permutation of 1,2,3

i jk ilm = δ jl δkm − δ jm δkl (M.19)

In fact, tensors may have any rank n. In this picture a scalar is considered to

be a tensor of rank n = 0 and a vector a tensor of rank n = 1. Consequently, the

notation where a vector (tensor) is represented in its component form is called the

tensor notation. A tensor of rank n = 2 may be represented by a two-dimensional

array or matrix whereas higher rank tensors are best represented in their component

forms (tensor notation).

Consider a tetrahedron-like volume element V of a solid, fluid, or gaseous body, whose

atomistic structure is irrelevant for the present analysis; figure M.1 on the next page indicates

how this volume may look like. Let dS = d2x n̂ be the directed surface element of this volume

element and let the vector T n̂ d2x be the force that matter, lying on the side of d2x toward which

the unit normal vector n̂ points, acts on matter which lies on the opposite side of d 2x. This force

concept is meaningful only if the forces are short-range enough that they can be assumed to act

only in the surface proper. According to Newton’s third law, this surface force fulfils

T− n̂ = −T n̂ (M.20)

Using (M.20) and Newton’s second law, we find that the matter of mass m, which at a given

instant is located in V obeys the equation of motion

T n̂ d2x − cos θ1 T x̂1 d2x − cos θ2 T x̂2 d2x − cos θ3 T x̂3 d2x + Fext = ma (M.21)

where Fext is the external force and a is the acceleration of the volume element. In other words

m Fext

T n̂ = n1 T x̂1 + n2 T x̂2 + n3 T x̂3 + 2 a − (M.22)

dx m

Since both a and Fext /m remain finite whereas m/d2x → 0 as V → 0, one finds that in this limit

3

T n̂ = ∑ ni T x̂i ≡ ni T x̂i (M.23)

i=1

From the above derivation it is clear that Equation (M.23) is valid not only in equilibrium but

also when the matter in V is in motion.

Introducing the notation

T i j = T x̂i j (M.24)

for the jth component of the vector T x̂i , we can write Equation (M.23) above in component

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M. M ATHEMATICAL M ETHODS

x3

n̂

d2x

x2

x1

form as follows

3

T n̂ j = (T n̂) j = ∑ ni T i j ≡ ni T i j (M.25)

i=1

Using Equation (M.25), we find that the component of the vector T n̂ in the direction of an

arbitrary unit vector m̂ is

T n̂m̂ = T n̂ · m̂

!

3 3 3 (M.26)

= ∑ T n̂ j m j = ∑ ∑ ni T i j m j ≡ ni T i j m j = n̂ · T · m̂

j=1 j=1 i=1

Hence, the jth component of the vector T x̂i , here denoted T i j , can be interpreted as the i jth

component of a tensor T. Note that T n̂m̂ is independent of the particular coordinate system used

in the derivation.

We shall now show how one can use the momentum law (force equation) to derive the

equation of motion for an arbitrary element of mass in the body. To this end we consider a

part V of the body. If the external force density (force per unit volume) is denoted by f and the

velocity for a mass element dm is denoted by v, we obtain

Z Z Z

d

v dm = f d3x + T n̂ d2x (M.27)

dt V V S

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Scalars, vectors and tensors

Z Z Z Z Z

d

v j dm = f j d3x + T n̂ j d2x = f j d3x + ni T i j d2x (M.28)

V dt V S V S

where, in the last step, Equation (M.25) on the preceding page was used. Setting dm = ρ d3x

and using the divergence theorem on the last term, we can rewrite the result as

Z Z Z

d ∂T i j 3

ρ v j d3x = f j d3x + dx (M.29)

V dt V V ∂xi

Since this formula is valid for any arbitrary volume, we must require that

d ∂T i j

ρ vj − fj − =0 (M.30)

dt ∂xi

or, equivalently

∂v j ∂T i j

ρ + ρv · ∇v j − f j − =0 (M.31)

∂t ∂xi

Note that ∂v j /∂t is the rate of change with time of the velocity component v j at a fixed point

x = (x1 , x1 , x3 ).

C E ND OF EXAMPLE 13.1

...µk ν

n (x ).

portant four-tensor of rank 2. In covariant component form we shall denote it g µν . This

metric tensor determines the relation between an arbitrary contravariant four-vector a µ

and its covariant counterpart aµ according to the following rule:

def

aµ (xκ ) ≡ gµν aν (xκ ) (M.32)

This rule is often called lowering of index. The raising of index analogue of the index

lowering rule is:

def

aµ (xκ ) ≡ gµν aν (xκ ) (M.33)

More generally, the following lowering and raising rules hold for arbitrary rank n

mixed tensor fields:

gµk νk Aννk+1

1 ν2 ...νk−1 νk κ ν1 ν2 ...νk−1 κ

νk+2 ...νn (x ) = Aµk νk+1 ...νn (x ) (M.34)

2 ...νk−1 κ ν1 ν2 ...νk−1 µk κ

...νn (x ) = Aνk+1 νk+2 ...νn (x ) (M.35)

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M. M ATHEMATICAL M ETHODS

Successive lowering and raising of more than one index is achieved by a repeated

application of this rule. For example, a dual application of the lowering operation on

a rank 2 tensor in contravariant form yields

i.e., the same rank 2 tensor in covariant form. This operation is also known as a tensor

contraction.

The 4D Lorentz space L4 has a simple metric which can be described either by the metric

tensor

if µ = ν = 0

1

gµν = −1 if µ = ν = i = j = 1, 2, 3 (M.37)

0 if µ , ν

1 0 0 0

0 −1 0 0

(gµν ) = (M.38)

0 0 −1 0

0 0 0 −1

i.e., a matrix with a main diagonal that has the sign sequence, or signature, {+, −, −, −} or

−1 if µ = ν = 0

gµν = 1 if µ = ν = i = j = 1, 2, 3 (M.39)

0 if µ , ν

−1 0 0 0

0 1 0 0

(gµν ) = (M.40)

0 0 1 0

0 0 0 1

be written:

def

aν ≡ (a0 , a1 , a2 , a3 ) = (a0 , a) (M.41)

According to the index lowering rule, Equation (M.32) on the preceding page, we obtain the

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Scalars, vectors and tensors

def

aµ ≡ (a0 , a1 , a2 , a3 ) = gµν aν (M.42)

µ=0: a 0 = 1 · a 0 + 0 · a 1 + 0 · a 2 + 0 · a 3 = a0 (M.43)

0 1 2 3 1

µ=1: a1 = 0 · a − 1 · a + 0 · a + 0 · a = −a (M.44)

0 1 2 3 2

µ=2: a2 = 0 · a + 0 · a − 1 · a + 0 · a = −a (M.45)

µ=3: a3 = 0 · a0 + 0 · a1 + 0 · a2 + 1 · a3 = −a3 (M.46)

or

(M.48)

xµ = (x0 , x1 , x2 , x3 ) = (x0 , −x1 , −x2 , −x3 ) = (x0 , −x)

where x0 = ct.

Analogously, using the {−, +, +, +} metric we obtain

C E ND OF EXAMPLE 13.2

Scalar product

The scalar product (dot product, inner product) of two arbitrary 3D vectors a and b

in ordinary R3 space is the scalar number

where we used the fact that the scalar product x̂i · x̂ j is a representation of the Kronecker

delta δi j defined in Equation (M.16) on page 166. In Russian literature, the 3D scalar

product is often denoted (ab). The scalar product of a in R3 with itself is

def

a · a ≡ (a)2 = |a|2 = (ai )2 = a2 (M.51)

a · b = ab cos θ (M.52)

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M. M ATHEMATICAL M ETHODS

in the following way

aµ bµ = gνµ aν bµ = aν bν = gµν aµ bν (M.53)

where we made use of the index lowering and raising rules (M.32) and (M.33). The

result is a four-scalar, i.e., an invariant which is independent of in which 4D coordinate

system it is measured.

The quadratic differential form

ds2 = gµν dxν dxµ = dxµ dxµ (M.54)

i.e., the scalar product of the differential radius four-vector with itself, is an invariant

called the metric. It is also the square of the line element ds which is the distance

between neighbouring points with coordinates xµ and xµ + dxµ .

A 3D complex vector A is a vector in C3 (or, if we like, in R6 ), expressed in terms of two

real vectors aR and aI in R3 in the following way

def def

A ≡ aR + iaI = aR âR + iaI âI ≡ A Â ∈ C3 (M.55)

The inner product of A with itself may be defined as

def def

A2 ≡ A · A = a2R − a2I + 2iaR · aI ≡ A2 ∈ C (M.56)

from which we find that

q

A = a2R − a2I + 2iaR · aI ∈ C (M.57)

Using this in Equation (M.55), we see that we can interpret this so that the complex unit vector

is

A aR aI

Â = = p 2 âR + i p 2 âI

A aR − aI + 2iaR · aI

2

aR − aI + 2iaR · aI

2

p p (M.58)

aR a2R − a2I − 2iaR · aI aI a2R − a2I − 2iaR · aI

= â R + i â I ∈ C 3

a2R + a2I a2R + a2I

On the other hand, the definition of the scalar product in terms of the inner product of complex

vector with its own complex conjugate yields

def

|A|2 ≡ A · A∗ = a2R + a2I = |A|2 (M.59)

with the help of which we can define the unit vector as

A aR aI

Â = = p 2 âR + i p 2 âI

|A| aR + a2I aR + a2I

p p (M.60)

aR a2R + a2I aI a2R + a2I

= 2 2

âR + i âI ∈ C3

aR + a I a2R + a2I

C E ND OF EXAMPLE 13.3

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Scalars, vectors and tensors

In L the metric tensor attains a simple form [see Example 13.2 on page 170] and, hence,

4

the scalar product in Equation (M.53) on the facing page can be evaluated almost trivially. For

the {+, −, −, −} signature it becomes

The important scalar product of the L4 radius four-vector with itself becomes

(M.62)

= (ct)2 − (x1 )2 − (x2 )2 − (x3 )2 = s2

which is the indefinite, real norm of L4 . The L4 metric is the quadratic differential form

C E ND OF EXAMPLE 13.4

Dyadic product

The dyadic product field A(x) ≡ a(x)b(x) with two juxtaposed vector fields a(x) and

b(x) is the outer product of a and b. Operating on this dyad from the right and from

the left with an inner product of an vector c one obtains

def def

A · c ≡ ab · c ≡ a(b · c) (M.64a)

def def

c · A ≡ c · ab ≡ (c · a)b (M.64b)

product is often called tensor product and is frequently denoted a ⊗ b.

In matrix notation the outer product of a and b is written

a1 b1 a1 b2 a1 b3 x̂1

ab = x̂1 x̂2 x̂3 a1 b2 a2 b2 a2 b3 x̂2 (M.65)

a1 b3 a3 b2 a3 b3 x̂3

which means that we can represent the tensor A(x) in matrix form as

a1 b1

a1 b2 a1 b3

Ai j (xk ) = a1 b2 a2 b2 a2 b3 (M.66)

a1 b3 a3 b2 a3 b3

which we identify with expression (M.15) on page 166, viz. a tensor in matrix nota-

tion.

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M. M ATHEMATICAL M ETHODS

Vector product

The vector product or cross product of two arbitrary 3D vectors a and b in ordinary

R3 space is the vector

c = a × b = i jk a j bk x̂i (M.67)

Here i jk is the Levi-Civita tensor defined in Equation (M.18) on page 167. Sometimes

the 3D vector product of a and b is denoted a ∧ b or, particularly in the Russian

literature, [ab]. Alternatively,

a × b = ab sin θ ê (M.68)

where θ is the angle between a and b and ê is a unit vector perpendicular to the plane

spanned by a and b.

A spatial reversal of the coordinate system (x01 , x02 , x03 ) = (−x1 , −x2 , −x3 ) changes

sign of the components of the vectors a and b so that in the new coordinate system

a0 = −a and b0 = −b, which is to say that the direction of an ordinary vector is not

dependent on the choice of directions of the coordinate axes. On the other hand, as

is seen from Equation (M.67) above, the cross product vector c does not change sign.

Therefore a (or b) is an example of a ‘true’ vector, or polar vector, whereas c is an

example of an axial vector, or pseudovector.

A prototype for a pseudovector is the angular momentum vector L = r × p and

hence the attribute ‘axial’. Pseudovectors transform as ordinary vectors under trans-

lations and proper rotations, but reverse their sign relative to ordinary vectors for any

coordinate change involving reflection. Tensors (of any rank) which transform ana-

logously to pseudovectors are called pseudotensors. Scalars are tensors of rank zero,

and zero-rank pseudotensors are therefore also called pseudoscalars, an example be-

ing the pseudoscalar x̂i · ( x̂ j × x̂k ). This triple product is a representation of the i jk

component of the Levi-Civita tensor i jk which is a rank three pseudotensor.

The del operator

In R3 the del operator is a differential vector operator, denoted in Gibbs’ notation by

∇ and defined as

def ∂ def

∇ ≡ x̂i ≡ ∂ (M.69)

∂xi

where x̂i is the ith unit vector in a Cartesian coordinate system. Since the operator

in itself has vectorial properties, we denote it with a boldface nabla. In ‘component’

notation we can write

∂ ∂ ∂

∂i = , , (M.70)

∂x1 ∂x2 ∂x3

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Scalars, vectors and tensors

defined by

µ ∂ ∂ ∂ ∂

∂ = , , , (M.71)

∂x0 ∂x1 ∂x2 ∂x3

∂ ∂ ∂ ∂

∂µ = , , , (M.72)

∂x0 ∂x1 ∂x2 ∂x3

We can use this four-del operator to express the transformation properties (M.13)

and (M.14) on page 166 as

y0µ = ∂ν x0µ yν (M.73)

and

y0µ = ∂0µ xν yν (M.74)

respectively.

1 ∂ 1 ∂

∂µ = , −∂ = , −∇ (M.75)

c ∂t c ∂t

1 ∂ 1 ∂

∂µ = ,∂ = ,∇ (M.76)

c ∂t c ∂t

1 ∂2

∂µ ∂µ = − ∇2 = 2 (M.77)

c2 ∂t2

which is the d’Alembert operator, sometimes denoted , and sometimes defined with an op-

posite sign convention.

C E ND OF EXAMPLE 13.5

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M. M ATHEMATICAL M ETHODS

With the help of the del operator we can define the gradient, divergence and curl

of a tensor (in the generalised sense).

The gradient

The gradient of an R3 scalar field α(x), denoted ∇α(x), is an R3 vector field a(x):

From this we see that the boldface notation for the nabla and del operators is very

handy as it elucidates the 3D vectorial property of the gradient.

In 4D, the four-gradient is a covariant vector, formed as a derivative of a four-

scalar field α(xµ ), with the following component form:

∂α(xν )

∂µ α(xν ) = (M.79)

∂xµ

Very often electrodynamic quantities are dependent on the relative distance in R 3 between

two vectors x and x0 , i.e., on |x − x0 |. In analogy with Equation (M.69) on page 174, we can

define the primed del operator in the following way:

∂

∇0 = x̂i = ∂0 (M.80)

∂x0i

Using this, the unprimed version, Equation (M.69) on page 174, and elementary rules of differ-

entiation, we obtain the following two very useful results:

∂|x − x0 | x − x0 ∂|x − x0 |

∇ (|x − x0 |) = x̂i = = − x̂ i

∂xi |x − x0 | ∂x0i (M.81)

= −∇0 (|x − x0 |)

and

1 x − x0 1

∇ =− = −∇0 (M.82)

|x − x0 | |x − x0 |3 |x − x0 |

C E ND OF EXAMPLE 13.6

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Scalars, vectors and tensors

The divergence

We define the 3D divergence of a vector field in R3 as

∂ai (x)

∇ · a(x) = ∂ · x̂ j a j (x) = δi j ∂i a j (x) = ∂i ai (x) = = α(x) (M.83)

∂xi

which, as indicated by the notation α(x), is a scalar field in R3 . We may think of the

divergence as a scalar product between a vectorial operator and a vector. As is the

case for any scalar product, the result of a divergence operation is a scalar. Again we

see that the boldface notation for the 3D del operator is very convenient.

The four-divergence of a four-vector aµ is the following four-scalar:

∂aµ (xν )

∂µ aµ (xν ) = ∂µ aµ (xν ) = (M.84)

∂xµ

0 a(x0 ) ∇0 · a(x0 ) 1

∇ · = + a(x0 ) · ∇0 (M.85)

|x − x0 | |x − x0 | |x − x0 |

which demonstrates how the primed divergence, defined in terms of the primed del operator in

Equation (M.80) on the preceding page, works.

C E ND OF EXAMPLE 13.7

The Laplacian

The 3D Laplace operator or Laplacian can be described as the divergence of the

gradient operator:

3

∂ ∂ ∂2 ∂2

∇2 = ∆ = ∇ · ∇ = x̂i · x̂ j = δi j ∂i ∂ j = ∂2i = 2 ≡ ∑ 2 (M.86)

∂xi ∂x j ∂xi i=1 ∂xi

The symbol ∇2 is sometimes read del squared. If, for a scalar field α(x), ∇2 α < 0 at

some point in 3D space, it is a sign of concentration of α at that point.

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M. M ATHEMATICAL M ETHODS

A very useful formula in 3D R3 is

1 1

∇·∇ =∇ 2

= −4πδ(x − x0 ) (M.87)

|x − x0 | |x − x0 |

where δ(x − x0 ) is the 3D Dirac delta ‘function’.

C E ND OF EXAMPLE 13.8

The curl

In R3 the curl of a vector field a(x), denoted ∇ × a(x), is another R3 vector field b(x)

which can be defined in the following way:

∂ak (x)

∇ × a(x) = i jk x̂i ∂ j ak (x) = i jk x̂i = b(x) (M.88)

∂x j

where use was made of the Levi-Civita tensor, introduced in Equation (M.18) on

page 167.

The covariant 4D generalisation of the curl of a four-vector field aµ (xν ) is the

antisymmetric four-tensor field

Using the definition of the R3 curl, Equation (M.88) above, and the gradient, Equa-

tion (M.78) on page 176, we see that

∂ ∂

i jk x̂i ∂ j ∂k α(x) = i jk α(x) x̂i

∂x j ∂xk

∂2 ∂2

= − α(x) x̂1

∂x2 ∂x3 ∂x3 ∂x2

∂2 ∂2 (M.91)

+ − α(x) x̂2

∂x3 ∂x1 ∂x1 ∂x3

∂2 ∂2

+ − α(x) x̂3

∂x1 ∂x2 ∂x2 ∂x1

≡0

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Scalars, vectors and tensors

∇ × [∇α(x)] ≡ 0 (M.92)

C E ND OF EXAMPLE 13.9

With the use of the definitions of the divergence (M.83) and the curl, Equation (M.88) on

the preceding page, we find that

Using the definition for the Levi-Civita symbol, defined by Equation (M.18) on page 167, we

find that, due to the assumed well-behavedness of a(x),

∂ ∂

∂i i jk ∂ j ak (x) = i jk ak

∂xi ∂x j

∂2 ∂2

= − a1 (x)

∂x2 ∂x3 ∂x3 ∂x2

∂2 ∂2 (M.95)

+ − a2 (x)

∂x3 ∂x1 ∂x1 ∂x3

∂2 ∂2

+ − a3 (x)

∂x1 ∂x2 ∂x2 ∂x1

≡0

i.e., that

∇ · [∇ × a(x)] ≡ 0 (M.96)

C E ND OF EXAMPLE 13.10

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M. M ATHEMATICAL M ETHODS

Numerous vector algebra and vector analysis formulae are given in Chapter F.

Those which are not found there can often be easily derived by using the component

forms of the vectors and tensors, together with the Kronecker and Levi-Civita tensors

and their generalisations to higher ranks. A short but very useful reference in this

respect is the article by A. Evett [3].

M.2.1 Lagrange’s equations

As is well known from elementary analytical mechanics, the Lagrange function or

Lagrangian L is given by

dqi

L(qi , q̇i , t) = L qi , ,t = T −V (M.98)

dt

where qi is the generalised coordinate, T the kinetic energy and V the potential energy

of a mechanical system, The Lagrangian satisfies the Lagrange equations

d ∂L ∂L

− =0 (M.99)

dt ∂q̇i ∂qi

pi according to

∂L

pi = (M.100)

∂q̇i

and note from Equation (M.99) above that

∂L

= ṗi (M.101)

∂qi

From L, the Hamiltonian (Hamilton function) H can be defined via the Legendre trans-

formation

After differentiating the left and right hand sides of this definition and setting them

equal we obtain

∂H ∂H ∂H ∂L ∂L ∂L

dpi + dqi + dt = q̇i dpi + pi dq̇i − dqi − dq̇i − dt (M.103)

∂pi ∂qi ∂t ∂qi ∂q̇i ∂t

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Bibliography

According to the definition of pi , Equation (M.100) on the facing page, the second

and fourth terms on the right hand side cancel. Furthermore, noting that according

to Equation (M.101) on the preceding page the third term on the right hand side of

Equation (M.103) on the facing page is equal to − ṗi dqi and identifying terms, we

obtain the Hamilton equations:

∂H dqi

= q̇i = (M.104a)

∂pi dt

∂H dpi

= − ṗi = − (M.104b)

∂qi dt

M.3 Bibliography

[1] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth, interna-

tional ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-059816-7.

[2] R. A. D EAN, Elements of Abstract Algebra, John Wiley & Sons, Inc., New York, NY . . . ,

1967, ISBN 0-471-20452-8.

Journal of Physics, 34 (1965), pp. 503–507.

Book Company, Inc., New York, NY . . . , 1953, ISBN 07-043316-8.

[5] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and London, 1965,

ISBN 05-001331-9.

1997, ISBN 0-387-94843-0.

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Index

acceleration field, 125 contravariant vector, 50

advanced time, 41 convection potential, 132

Ampère’s law, 6 convective derivative, 13

Ampère-turn density, 87 cosine integral, 108

anisotropic, 147 Coulomb gauge, 42

anomalous dispersion, 148 Coulomb’s law, 2

antisymmetric tensor, 61 covariant, 48

associated Legendre polynomial, 114 covariant component form, 164

associative, 54 covariant field tensor, 62

axial gauge, 42 covariant four-tensor field, 169

axial vector, 62, 174 covariant four-vector, 166

covariant four-vector field, 53

Bessel functions, 111 covariant vector, 50

Biot-Savart’s law, 7 cross product, 174

birefringent, 147 curl, 178

braking radiation, 136 cutoff, 138

bremsstrahlung, 136, 143 cyclotron radiation, 140, 143

canonically conjugate four-momentum, 70 d’Alembert operator, 38, 58, 175

canonically conjugate momentum, 70, 180 del operator, 174

canonically conjugate momentum density, 77 del squared, 177

characteristic impedance, 28 differential distance, 52

classical electrodynamics, 1, 9 differential vector operator, 174

closed algebraic structure, 54 Dirac delta, 178

coherent radiation, 142 Dirac’s symmetrised Maxwell equations, 16

collisional interaction, 146 dispersive, 148

complex field six-vector, 20 displacement current, 10

complex notation, 33 divergence, 177

complex vector, 172 dot product, 171

component notation, 164 dual vector, 50

concentration, 177 duality transformation, 16

conservative field, 11 dummy index, 50

conservative forces, 74 dyadic product, 173

constitutive relations, 14 dyons, 20

contravariant component form, 50, 164

contravariant field tensor, 62 E1 radiation, 117

contravariant four-tensor field, 169 E2 radiation, 119

contravariant four-vector, 166 Einstein’s summation convention, 164

contravariant four-vector field, 53 electric charge conservation law, 9

183

I NDEX

electric conductivity, 11 Faraday’s law, 12

electric current density, 7 field, 165

electric dipole moment, 115 field Lagrange density, 78

electric dipole moment vector, 84 field point, 4

electric dipole radiation, 117 field quantum, 138

electric displacement, 15 fine structure constant, 138, 145

electric displacement current, 18 four-current, 58

electric displacement vector, 83, 85 four-del operator, 175

electric field, 3 four-dimensional Hamilton equations, 70

electric field energy, 88 four-dimensional vector space, 50

electric monopole moment, 83 four-divergence, 177

electric permittivity, 146 four-gradient, 176

electric polarisation, 84 four-Hamiltonian, 70

electric quadrupole moment tensor, 84 four-Lagrangian, 68

electric quadrupole radiation, 119 four-momentum, 57

electric quadrupole tensor, 119 four-potential, 58

electric susceptibility, 85 four-scalar, 165

electric volume force, 90 four-tensor fields, 169

electricity, 2 four-vector, 53, 165

electrodynamic potentials, 36 four-velocity, 57

electromagnetic field tensor, 62 Fourier component, 27

electromagnetic scalar potential, 37 Fourier transform, 39

electromagnetic vector potential, 36 free-free radiation, 136

electromagnetism, 1 functional derivative, 76

electromagnetodynamic equations, 16 fundamental tensor, 50, 164, 169

electromagnetodynamics, 17

electromotive force (EMF), 11 Galileo’s law, 47

electrostatic scalar potential, 36 gauge fixing, 43

electrostatics, 2 gauge function, 43

electroweak theory, 1 gauge invariant, 43

energy theorem in Maxwell’s theory, 88 gauge transformation, 43

equation of continuity, 9, 59 Gauss’s law of electrostatics, 5

equation of continuity for magnetic monopoles, general inhomogeneous wave equations, 37

16 generalised coordinate, 70, 180

equations of classical electrostatics, 9 generalised four-coordinate, 70

equations of classical magnetostatics, 9 Gibbs’ notation, 174

Euclidean space, 55 gradient, 176

Euclidean vector space, 51 Green function, 39, 114

Euler-Lagrange equation, 76 group theory, 54

Euler-Lagrange equations, 76 group velocity, 148

Euler-Mascheroni constant, 108

event, 54 Hamilton density, 77

Hamilton density equations, 77

far field, 96 Hamilton equations, 70, 181

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Hamilton function, 180 law of inertia, 47

Hamilton gauge, 42 Legendre polynomial, 114

Hamiltonian, 180 Legendre transformation, 180

Heaviside potential, 132 Levi-Civita tensor, 167

Helmholtz’ theorem, 38 Liénard-Wiechert potentials, 61, 121, 131

help vector, 113 light cone, 53

Hertz’ method, 112 light-like interval, 53

Hertz’ vector, 112 line element, 172

Hodge star operator, 16 linear mass density, 75

homogeneous wave equation, 26 linearly polarised wave, 31

Huygen’s principle, 39 longitudinal component, 30

Lorentz boost parameter, 55

identity element, 54 Lorentz force, 14, 89, 131

in a medium, 149 Lorentz gauge condition, 38

incoherent radiation, 143 Lorentz space, 51, 164

indefinite norm, 51 Lorentz transformation, 49, 131

index contraction, 50 Lorenz-Lorentz gauge, 43

index lowering, 50 Lorenz-Lorentz gauge condition, 38, 59

induction field, 96 lowering of index, 169

inertial reference frame, 47

inertial system, 47

M1 radiation, 118

inhomogeneous Helmholtz equation, 39

Møller scattering, 145

inhomogeneous time-independent wave equa-

Mach cone, 150

tion, 39

macroscopic Maxwell equations, 146

inhomogeneous wave equation, 38

magnetic charge density, 15

inner product, 171

magnetic current density, 15

instantaneous, 133

magnetic dipole moment, 86, 118

interaction Lagrange density, 78

magnetic dipole radiation, 118

intermediate field, 98

magnetic displacement current, 18

invariant, 165

magnetic field, 7

invariant line element, 52

magnetic field energy, 88

inverse element, 54

magnetic field intensity, 87

irrotational, 5, 178

magnetic flux, 12

Kelvin function, 144 magnetic flux density, 7

kinetic energy, 74, 180 magnetic induction, 7

kinetic momentum, 73 magnetic monopoles, 15

Kronecker delta, 166 magnetic permeability, 146

magnetic susceptibility, 87

Lagrange density, 74 magnetisation, 86

Lagrange equations, 180 magnetisation currents, 86

Lagrange function, 74, 180 magnetising field, 15, 83, 87

Lagrangian, 74, 180 magnetostatic vector potential, 36

Laplace operator, 177 magnetostatics, 6

Laplacian, 177 massive photons, 81

Larmor formula for radiated power, 133 mathematical group, 54

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I NDEX

Maxwell stress tensor, 90 power flux, 88

Maxwell’s macroscopic equations, 15, 87 Poynting vector, 88

Maxwell’s microscopic equations, 14 Poynting’s theorem, 88

Maxwell-Lorentz equations, 14 Proca Lagrangian, 81

mechanical Lagrange density, 77 propagator, 39

metric, 164, 172 proper time, 53

metric tensor, 50, 164, 169 pseudo-Riemannian space, 55

Minkowski equation, 70 pseudoscalar, 163

Minkowski space, 55 pseudoscalars, 174

mixed four-tensor field, 169 pseudotensor, 163

mixing angle, 17 pseudotensors, 174

momentum theorem in Maxwell’s theory, 90 pseudovector, 61, 163, 174

monochromatic, 93

multipole expansion, 112, 115 quadratic differential form, 52, 172

quantum chromodynamics, 1

near zone, 98 quantum electrodynamics, 1, 42

Newton’s first law, 47 quantum mechanical nonlinearity, 4

Newton-Lorentz force equation, 70

non-Euclidean space, 51 radiation field, 96, 98, 125

non-linear effects, 11 radiation fields, 99

norm, 50, 173 radiation resistance, 108

null vector, 53 radius four-vector, 50

radius vector, 164

observation point, 4 raising of index, 169

Ohm’s law, 11 rank, 166

one-dimensional wave equation, 31 rapidity, 55

outer product, 173 refractive index, 147

relative electric permittivity, 90

Parseval’s identity, 102, 137, 144 relative magnetic permeability, 90

phase velocity, 147 relative permeability, 146

photon, 138 relative permittivity, 146

physical measurable, 33 Relativity principle, 48

plane polarised wave, 31 relaxation time, 27

plasma, 148 rest mass density, 77

plasma frequency, 148 retarded Coulomb field, 98

Poisson equation, 131 retarded potentials, 41

Poisson’s equation, 35 retarded relative distance, 121

polar vector, 62, 174 retarded time, 41

polarisation charges, 85 Riemannian metric, 52

polarisation currents, 86 Riemannian space, 50, 164

polarisation potential, 112 row vector, 163

polarisation vector, 112

positive definite, 55 scalar, 163, 177

positive definite norm, 51 scalar field, 53, 165

potential energy, 74, 180 scalar product, 171

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shock front, 150 vector product, 174

signature, 51, 170 velocity field, 125

simultaneous coordinate, 128 virtual simultaneous coordinate, 122, 125

skew-symmetric, 62

skin depth, 33 wave equations, 25

source point, 4 wave vector, 31, 147

space components, 51 world line, 54

space-like interval, 53

space-time, 51 Young’s modulus, 75

special theory of relativity, 47 Yukawa meson field, 81

spherical Bessel function of the first kind, 114

spherical Hankel function of the first kind, 114

spherical waves, 101

standard configuration, 48

standing wave, 106

super-potential, 112

synchrotron radiation, 140, 143

synchrotron radiation lobe width, 141

temporal dispersive media, 11

temporal gauge, 42

tensor, 163

tensor contraction, 170

tensor field, 166

tensor notation, 167

tensor product, 173

three-dimensional functional derivative, 76

time component, 51

time-dependent Poisson’s equation, 42

time-harmonic wave, 27

time-independent diffusion equation, 28

time-independent telegrapher’s equation, 32

time-independent wave equation, 28

time-like interval, 53

total charge, 83

transverse components, 30

vacuum permeability, 6

vacuum permittivity, 3

vacuum polarisation effects, 4

vacuum wave number, 28

Vavilov-Čerenkov radiation, 149, 150

vector, 163

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