GIZVEC Vector Calculus 0 Background O.1 What should I revise? Lots of mathematics from the Gre modules ! *) GIACE: “Elementary analysis” section, includin Convergence. of tnaproper mitegrals GICAL: DIFFERENTIATION and INTEGRATION , Guncttons of two variables, partiat devwadives, polar cordinate > chain rule fee pavttal devriwotwes, MULTIPLE INTEGRALS, changin the order of inte groction , change } coordinates , Jacobians, applicokons to curves, areas and volumes of revolution GIILMA: Covtesian coordinates, vectors, scalar product and vector product, lines and planes @ Or equivalent, such as HGICLA 0.2 References to other sources Throughout the notes, there will be indicatkons of where +o look for further reading ona particular topic. Sometimes this will” involve a different perspective and different notation ! L=Dr Louke's notes (available free fom module web page) M= Dr Matthews’ book (Vector Calculus ) S = Prof Spiegel’s book (Vector Analysis )L44, Mi4-15 | Vectors and suffix notation s Chapters 4 &2 \-l Revision of vectors (and scalars) Vector a physical quantity with magnitude and dwection , eg. velocity, force , acceleroition Scalar @ physical quantity with magnitude only, €.g. temperatwe, pressure Vectors ore underlined or in bold type) to disRnguish them from scalars. A vector may be written in terms of its components tha Cartesian coordinate system, e.g. A We W, 21 + Ula +38, hees5 Ze" or . . . x Uae +rU2 J +u3k Je fatye on ~n ~ ~ = u . LA uw Cur, W2,U3) YES = ee Heve bj and k are the usual unit vectors . along the coordinate axes. The magnitde (or length) of this vector is w= |ul =. uz +U24u2 = (Uuz+uz +3 A unit vector is a vector that has magnitude = 1 The dot product or scalar product of the Vectors 3=(1,92,93) and b=(bi,b2,b3) is a 9b =a,10,+ a,b +05, = 1a\- (e\-cos® e | » Wis ai scalar.The cross product ar vector product of the Neckors a and b is another vector, with magnitude lalx\elxsin® and perpendicular +o both @ and b (in a right-handed sense x b The components of 9xb are “2% gwen by a axb = (a,b; -3b2) “ « {ago = 65>) + (axa “209 = xe 3 & Cthe determinant ) Q1 Az Os; ly bo, ‘ys ® Remember: a-b=ba but ax = -bxa Applications of the vector product include: writing the equation of a ine, solid-body rotation and the area of a parallelogram. Wy Area =|Qx2| : ~ 5 ~1.2 Suffix notion Li4,M Chapter 4, S Chapter 8 Suffix notaken (oc index notwton) is a convenient and power ful way te write and manipulate. equakens involving vectors and matrixes. 3 WB a= aertaerrajzes; =2 9281 B= UR Area Ases = KS GE 3 ond b= b,e: +bre. + be, = z bei 3 and ¢=C,e) +C2@. + C,e,> Lever S = 2 Bo oes then the vector equation, Qe bee amounts to saying thot OL = bie +c for i=1,2,3 Using suffix notaton, we would write a= b+ as OL bir cu (and ck is understood, but not explicitly stated, thar this equation holds for v=),2,3)! o's all there ‘ts to Ur: we simply omit quadity ing statements like “er U=1,2,3"" & The name of the su@ix is immaterial : in Suffix notation y= biti is enitirely equvolent to Amt lm*Gn, because ay sbitcy means the for t=12,3 Fame as for m=\,2,3 Am=bm* Con® Nole that the suffix on each term in on expression like a; = by +c; must be the same. this suffix is called a free “suffix and it repeserts the values 1,2,3. 1.2) The summakon convention A further, very usefid rule is the (Eimstein) Summaken convention, which sous thot whenever a suffix is repeated in an a product expression, those index Is Summed over The. repeated suffix is called a durnmy suttex and (to avoid ambiguity) must appear exactly twice tn each product, So, for example, recall that the scalar product is gwen by 3 a-b= Ob: + a,b, + ab, = ay; wax i= Using the summation cemention, we write this as a-b = ayy (the repeated suffix— here L— tells you +to Sum avec vu Grom \ +. 3). Examples Examples 3 © aie{ meons ZH Zi = OR +4, S, +A3€3 = g € So is Simply another way to write the vector3 3 © aibicjd) means abi Led i= =H =(g-b)(s'2) ® Nole that the ‘two dummy suffices must be distinct, . joycus dh meons 2; bycv= di for t=1,2,3 95 J - J (because i io a gree Suhhx, Le. is not cepeates), But the suffix 4 io repeated, so this means fey, the surermasn convertion) Eabj Cie da doc v=1,2,3 in “Spher ors (SB) ci= di for U=1,213 Finally, this tells us that (a-b)o=d 1.3. Kronecker delta. Using suffix notakon, the elements of the 3x3 Identity matrix 1 oo I; = (2 \ °) Oo\ be dencted by the Kronecker delta 2 t= ~ ou “\o if ua (6h =) e instance, Sut O and 833, = =\ _ is an example of a tensor; we Study tensors laterExamples © We know ther e@,-e:=1, 122-0, ete. \ . . an 1 \F i=J aA if ve) . co O Ff vty if j=2, Sum is a, i Sj= 8y if j=3, sum is 3 if Jalsum is a, 3 * O,Siy means 2 aS = a.85 +0382) +0583) = 95 ® Remember eye, = &, ond ap Si,=4). wb ws v > a Lelescoping” * The scalar product @-b can be writen in many Centrely equwvalent) wlays : R= (aigi)- (bj &5) =aidj we) = a4) Buy - ho ab = bj, Ou 1-4. Alternating tensor To apply suffix notion to vector products and also determinants), we moduce the alternating tensor (oc alternating symbol ar epsilon tensor) .. U iB any of ijk are equa ijk = \+4d iF (uy W)= C123) er (23,1) o¢ (31,29 AF (rh R= ,2,Der (1532) & (21,3)Note: the Atternatng tensor has three suffices. The akternading tensor is unchanged under cyclic permutation of its suffices: igh = Ejei = Eni The alternating tensor changes sign if any two suffices ave \nforchanged: > 3 8 Eijk =~ Bjik (ete) [ss by Si] The attemnatng tensor is zero if any two of us suffices are equal. Examples © The determinant of the 3x3 matrix M= (rai) ts deb M = fuik mMiiM2) Mak 3 3 3 = 22225 Femme, Ma, | el jt ke J * The vector product may be written os > axk= SiFijk Oj be ® The oRDER of a * . and b is IMPORTANT. = Sp&par Og be ~s Alternatively, we may say that the vth component of axb is 3 2° mre 7? (axe), = Fey) dkAs a check, lets examine the first component (01): eur expression above gwes Eijk Aide =—Emr Orb; + Syearey + Sqeby +Bigragbr + Srregby + £12392b3 + Spr 7 Enzdgbz + Eqs Ashby = EyogAabz + Sraragb2 = A263 —azby This 's indeed the first component of axk. ® Check tnat the second and third (i=2 and L=3) components are caccectly gen by Zyhajbk. 15 Relakion between Sij and Sijk A useful expression to_nate. wo Cijk Skim = Sir Sim ~ Sim 35 Nole tn e kh is summed aver on the left-hand side ° is gel and m are free suffices, each of which can take any of the values |,2,3, So this represents 81 equations ! © Proof: see Matthews Chapter 41-6 The scalar +yple product (sTP) The scatay triple product (STP) of three vectors a:-(bxc) BQxeE In fact we con omit the parentheses, because the vector product has to be perfarmed befere the scalar product for the expression to make sense So we may write a RXS In suffix notatton a (yxg)= a; (exe) = ALLL jROICR Coermember: a tiple sum, over uy and k is implied). Propectes of the STP * We may mievchange the scalar and vector pro ducts without a fecting the value of the STP: a (exg)= OLS ijk bjCk = EejeOvb5 Ce (rearranging terms) = Eniy Ay b,Ch (using Erg = Tae ) = Ch Eri Hb (rearranging tecms ) Ce (@* Bn = (QxBRCh =CAxk):S "* We may cyclical without” a ecttin 4 a-bxe = won pecmute the three vectors the value of the STP: O, San bjCk ($row above) ‘ “Sue : rearrange terms bj SjRi Ce % C pocnate indices) . a): bj (s* 25 = b- (cxa) © Exercise: show that this also equals ¢- i ii} axb uA * The STP of three vectors to the volume of the povaltelipiped formed by the three vectors. Volume =| Q: xe .