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Summary of Vector Calculus I

!·B
A ! = scalar = |A|
! |B|! cos ψ = Ai Bi (summation convention)
!×B
A ! = vector = #ijk !
ei Aj Bk (with #ijk the Levi-Civita Tensor)

Useful to Remember
A!×A !=0
A!×B ! = −B ! ×A !
A! · (A
! × B)
! =0
A! · (B
! × C)
! =B ! · (C
! × A)! =C ! · (A
! × B)
!
A! × (B! × C)
! = B(! A ! · C)
! − C(! A! · B)
!
(A! × B)
! · (C! × D)
! = (A ! · C)(
! B ! · D)
! − (A! · D)(
! B ! · C)
!

! =vector operator= ( ∂ ,
∇ ∂
, ∂
)
∂x ∂y ∂z

!
∇S = gradS = vector
! ·A
∇ ! = divA! = scalar
! ×A
∇ ! = curlA! = vector
Summary of Vector Calculus II
! = scalar operator = ∂ 22 + ∂ 22 + ∂ 22
! ·∇
Laplacian: ∇2 = ∇ ∂x ∂y ∂z

∇2 S ! · (∇S)
= ∇ ! = scalar
!
∇2 A ! · ∇)
= (∇ ! A
! = vector
! ∇
∇( ! · A)
! $= ∇2 A! = vector

! × (∇S)
∇ ! = 0 curl(gradS) = 0
! · (∇
∇ ! × A)
! = 0 ! =0
div(curl A)
! × (∇
∇ ! × A)
! ! ∇
= ∇( ! · A)
! − ∇2 A !

!
∇(ST ) = ! + T ∇S
S ∇T !
! · (S A)
∇ ! = S(∇! · A)
! +A ! · ∇S
!
! × (S A)
∇ ! = S(∇! × A)
! −A ! × ∇S!
! · (A
∇ ! × B)
! = ! · (∇
B ! × A)
! −A ! · (∇
! × B)
!
Integral Theorems I
Gradient Theorem: Let γ be a curve running from ! x0 to ! x1 , d!l is the
x) is a scalar field then:
directed element of length along γ , and φ(!

!1
x
" !1
x
"
! · d!l =
∇φ dφ = φ(!
x1 ) − φ(!
x0 )
x0
" x0
"

It follows that
"
! · d!l = 0
∇φ

Divergence Theorem (Gauss’ Theorem): Let V be a 3D volume


! x) be a vector field, then:
bounded by a 2D surface S , and let A(!
! !
! ·A
∇ ! d3 !x = ! · d2 S
A !
V S

Curl Theorem (Stokes’ Theorem): Let S be a 2D surface bounded by a


! x) be a vector field, then:
1D curve γ , and let A(!
! "
( ! × A)
∇ ! d2 S != A! · d!l
S γ
Integral Theorems II
NOTE: Since a conservative force F ! can always be written as the gradient of
a scalar field φ, we have from the gradient theorem that
"
! · d!l = 0
F
From the curl theorem we immediately see that

! ×F
∇ ! =0

We immediately infer that a conservative force is curl free, and that the
! · d!
amount of work done (dW = F r ) is independent of the path taken.

From the divergence theorem we infer that


! ! !
! ·A
φ∇ ! d3 !
x= ! · d2 S
φA !− ! · ∇φ
A ! d3 x
!
V S V

which is the three-dimensional analog of integration by parts


! dv
! !
u dx dx = d(uv) − v du
dx
dx
Curvi-Linear Coordinate Systems I
In addition to the Cartesian coordinate system (x, y, z), we will often work
with cylindrical (R, φ, z) or spherical (r, θ, φ) coordinate systems
Let (q1 , q2 , q3 ) denote the coordinates of a point in an arbitrary coordinate
system, defined by the metric tensor hij . The distance between (q1 , q2 , q3 )
and (q1 + dq1 , q2 + dq2 , q3 + dq3 ) is

ds2 = hij dqi dqj (summation convention)

We will only consider orthogonal systems for which hij = 0 if i $= j , so


that ds2 = h2
i dq 2
i with
∂"
x
hi ≡ hii = | ∂q i
|
The differential vector is
∂"
x ∂"
x ∂"
x
d!
x= ∂q1
dq1 + ∂q2
dq2 + ∂q3
dq3
The unit directional vectors are
∂"
x ∂"
x 1 ∂"x
ei =
! ∂qi
/| ∂qi
| = hi ∂qi
#
so that d!
x= hi dqi !
ei and d3 !
x = h1 h2 h3 dq1 dq2 dq3 .
i
Curvi-Linear Coordinate Systems II
The gradient:

! =
∇ψ 1 ∂ψ
!
e
hi ∂qi i

The divergence:
$ %
! ·A
∇ != 1 ∂
(h2 h3 A1 ) + ∂
(h3 h1 A2 ) + ∂
(h1 h2 A3 )
h1 h2 h3 ∂q1 ∂q2 ∂q3

The curl (only one component shown):


$ %
! × A)
(∇ ! 3= 1 ∂
(h2 A2 ) − ∂
(h1 A1 )
h1 h2 ∂q1 ∂q2

The Laplacian:
$ & ' & ' & '%
1 ∂ h2 h3 ∂ψ ∂ h3 h1 ∂ψ ∂ h1 h2 ∂ψ
∇ ψ=
2
h1 h2 h3 ∂q1 h1 ∂q1
+ ∂q2 h2 ∂q2
+ ∂q3 h3 ∂q3
Cylindrical Coordinates
For cylindrical coordinates (R, φ, z) we have that
x = R cos φ y = R sin φ z=z
The scale factors of the metric are:
hR = 1 hφ = R hz = 1

x = R!
and the position vector is ! eR + z!
ez
! = AR !
Let A eR + Aφ!
eφ + Az !
ez an arbitrary vector, then

AR = Ax cos φ − Ay sin φ
Aφ = −Ax sin φ + Ay cos φ
Az = Az

v = Ṙ!
Velocity: ! e˙ R + ż!
eR + R! ez = Ṙ!
eR + Rφ̇!
eφ + ż!
ez
Gradient & Laplacian:
! ·A
!= 1 ∂ 1 ∂Aφ ∂Az
∇ R ∂R
(RAR ) + R ∂φ
+ ∂z
& '
1 ∂ ∂ψ 1 ∂2ψ ∂2ψ
∇ ψ=
2
R ∂R
R ∂R + R2 ∂φ2
+ ∂z 2
Spherical Coordinates
For spherical coordinates (r, θ, φ) we have that
x = r sin θ cos φ y = r sin θ sin φ z = r cos θ
The scale factors of the metric are:
hr = 1 hθ = r hφ = r sin θ

x = r!
and the position vector is ! er
! = Ar !
Let A er + Aθ !
eθ + Aφ!
eφ an arbitrary vector, then

Ar = Ax sin θ cos φ + Ay sin θ sin φ + Az cos θ


Aθ = Ax cos θ cos φ + Ay cos θ sin φ − Az sin θ
Aφ = −Ax sin φ + Ay cos φ

v = ṙ!
Velocity: ! e˙ r = ṙ!
er + r ! er + r θ̇!
eθ + r sin θ φ̇!

Gradient & Laplacian:
! ·A
!= 1 ∂ 1 ∂ 1 ∂Aφ
∇ r 2 ∂r
(r 2 Ar ) + r sin θ ∂θ
(sin θAθ ) + r sin θ ∂φ
& ' & '
∂2ψ
∇ ψ=
2 1 ∂
r 2 ∂r
r 2 ∂ψ
∂r
+ 1 ∂
r 2 sin θ ∂θ
sin θ ∂φ
∂θ
+ 1
r 2 sin2 θ ∂ψ 2

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