Vector Calculus and Index Notation ‘Mathematics is the language we use to quantify physical ideas. The development of mathematics and the development of science have taken place simultaneously and with 4 great deal of interaction. In some instances scientific needs have inspired mathematical progress; in others, originally abstract mathematical results have found later applications to science. Nevertheless, the best pedagogical viewpoint is to separate the subjects and distinguish clearly between physical and mathematical assumptions. ‘The purpose of this chapter is to introduce vector and tensor calculus. There are two ways in which we can approach the subject. One approach uses symbolic or Gibbs's notation, and the other uses index or Cartesian notation. When Gibbs's notation is em- ployed, we are essentially looking at vector calculus as a separate mathematical subject. Scalars, vectors, and tensors are viewed as different types of things. That is, a vector is a single entity with special mathematical properties. The plus sign between two vectors has a different meaning than a plus sign between two scalars. We must make new defi- nitions for vector and tensor addition, multiplication, integration, and so on. To study Vector calculus in the Gibbs notation requires us to define many new operations and investigate which are allowed and which are disallowed ‘There is a certain economy of effort in using Gibbs's notation, and many experienced workers prefer to use it. These workers, of course, know what is legal and what is illegal. Another advantage of the notation is a philosophical one. The symbols make no specific reference to a coordinate system. Gibbs's notation is sufficient for an abstract result, but for detailed problems we must write out a component equation in order to find a specific result. ‘The other approach to vector analysis uses index notation. This notation always deals with scalar variables. Whenever we write an equation we use the scalar component of a vector or the scalar component of a tensor. In this way we don't have to worry about legal and illegal operations. All our previous knowledge of algebra and calculus is im- mediately applicable. It is true that we will need a few new symbols and rules, but they will be essentially shorthand conventions. Index notation is frequently thought of as being restricted to a Cartesian coordinate system. This interpretation is the most straightforward, but index notation is not restricted to Cartesian systems. One can use index notation for ‘any orthogonal coordinate system. (Another type of index notation with subscripts and superscripts applies to nonorthogonal systems as well.) Since most vector calculus results 272% Vector Calas ad nde Notation se tabulated in the common coordinate 'B) and can use them without delving Workers in fid mechanics mast, "ystems, we can usually ind them see Appendix into ther derivation, 34 INDEX NOTATION RULES ‘The measurement or description of ceain types of physical ques, uch as position, velocity or tes, requires that coordinate sytem be intdoced. The vale o he = ection velocity’ depends on how we set up the x would be improper. a it would produce an expression writ te / subscripts in single term. Thre of more Sobcips of the same leer a ‘ot allowed in index notation expression 32. DEFINITION OF VECTORS AND TENSORS ‘Tee postion vector isthe archetype of a vetr It has a magite an a dreton hat _may be measured with respect wo chosen cowie sytem. An atemaive desertion ofthe postion vector isto give its thee component. Thay, vector is something tat ‘as tite scalar compooents. This i, ofcourse, a incomplete description. Not vey set of tree scalars isa vector. The essential ex propery ofa vectors found if we rotate the coordinate axes used to measure the componente. A materiel dfniion of & stor as follows: Tre salar quantities v (1 = 1,2 3) ae the scala eorsponents of "vector vif Wey Wansform according to sein ez under a rotation of coordinate axes, A special symbol fora vector in symbolic ot Gibbe's notation is require. Boece type, an aro, an underline, or an overbar ae comtion means of denoting vec. The ‘symbol v, wed in our notation des not, steely peaking, epeset the vector itself, bat only a typical scalar component of the vecoe This i iportant to remember whee ‘questions arse about proper mathematical operations. Most ofthe time, howeree, we Stall not all “a typical salar component of the vector" bt simply ref fa "i ‘vecorv sub." This terminology is mathematically imprecise baton the other hand is brit and suggestive A tensor is defined by a generalization of the vector definition above. A (rank 2) teasris defined as collection of nine scalar components that change unde a ftation ‘of axes according tothe formula Tj = aveaiTe 022) ‘A double sum onthe dummy indexes & and € is indistedon he right hand side, while the fee ideas and j imply nie equations ofthis type asthe indexes range ster the talus 1, 2. and 3 independently, Symbolic notation requires a spel symbol fo separate {exon fom vectors and scalars, The notation isnot ufo: We chowe tue boldface sans serif ype (1). By flowing he pate essing 32.1 and 3.22 on can fio tenes ‘of rank 3 and higher. * oe 43 SPECIAL 33 Special Syabols and Isotropic Teasers 31 crude this ston, 206 that the mee wlan fo Eg, 32.1 found by srpanging te ole ofthe primed and unprimed corse. Is i 623) ialently. ae a= G0} con) equation 3.24 is obtained by changing ints: ant gynnots AND ISOTROPIC TENSORS Se i any yl oa ease pc te 0 I A Toes ener a a a a tah oe ees i ato Sine ae cornea on, nines i sa Spresion sonal, : = Pre esi hehe nc alan tensor. This tensor is defined tobe 1,0, or ~1, acoeting 10 { 1 it gee 123,231, 00312 = ‘Tis tensor is isotropic : x acre Dia — ee € appearance of ¢ in an index station ea anged according 10 he ny etn of B28 ene rc rie et Ba ee os ese a changeit 8 Incerchanging two adjacent ine ono carota Ss athe ti at tw sty fm Be ss oe a eaten = Gn te four 8 vas with 8 4335 isto waite down 3 rte te re ited 1 te sk {s vali. An easy way to remember E6 ‘minas sign between them. The two fe Fg te sae TT: Position in each 8, keeping the at