Vector Analysis 1

ELECTROMAGNETIC
UNIVERSITI MALAYSIA PERLIS
THEORY
CHAPTER 2 VECTOR ANALYSIS

Chapter Outline
Basic Laws of Vector Algebra
Dot Product and Cross Product

Orthogonal Coordinate Systems: Cartesian,
Cylindrical and Spherical Coordinate Systems
Transformations between Coordinate Systems
Gradient of a Scalar Field
Divergence of a Vector Field
Divergence Theorem
Curl of a Vector Field
Stokess Theorem
Laplacian Operator 2
Scalar
A scalar is a quantity that has only

magnitude
E.g. of Scalars:
Time, mass, distance, temperature,
electrical potential etc
3
Vector
A vector is a quantity that has both

magnitude and direction.
E.g. of Vectors:
Velocity, force, displacement, electric
field intensity etc.
4
Basic Laws of Vector Algebra
Cartesian coordinate systems
5
Vector in Cartesian Coordinates

A vector A in Cartesian Coordinates

maybe represented as
A Ax , Ay , Az

OR
A xAx yAy zAz
6
Vector in Cartesian Coordinates
Vector A has
magnitude A = |A| to
the direction of
propagation.
Vector A shown may

be represented as
A xAx yAy zAz
7
Component Vectors
The vector A has

three component
vectors, which are
Ax, Ay and Az.
8
Unit Vectors
A unit vector along vector A is;

A vector with magnitude = 1 (unity)
Directed along the coordinate axes in the
direction of increasing coordinate values
9
Unit Vectors
Vector A can be represented as
A xAx y Ay zAz
The magnitude of A is written as |A| and is

calculated by
A Ax Ay Az
2 2 2
10
Unit Vectors
Unit vector in the direction of vector A is

A A
aA
Ax Ay Az
2 2 2 A
11
Example 1: Unit Vector
Specify the unit vector extending from the

origin towards the point
G2,2,1
12
Solution to Example 1
Construct the vector extending from origin

to point G
G 2 x 2 y z

Find the magnitude of G
G 22
2 1 3
2 2
13
So, unit vector is

G 2 2 1
aG x y z
G 3 3 3
0.667 x 0.667 y 0.333z
14
Equality of vectors
A and B are equal when they have equal

magnitudes and identical unit vectors.
15
Vector Algebra
For addition and subtraction of A and B,

C A B x Ax Bx y Ay B y z Az Bz
D A B x A B y A
x x y By z A
z Bz
16
Example 2: Vector Algebra

If A 10x 4 y 6z

B 2 x y
Find:

(a) The component of A along y

(b) The magnitude of 3 A B

(c) A unit vector C along A 2 B
17

(a) The component of A along y is
Ay 4

(b) 3 A B 310,4,6 2,1,0
30,12,18 2,1,0
28,13,18
28x 13y 18z
18

Hence, the magnitude of 3 A B is:
3A B 28 2
13 18 35.74
2 2

(c) Let C A 2 B
10,4,6 4,2,0
14,2,6
14x 2 y 6z
19

So, the unit vector along Cis:

c
C

14,2,6
C 14 2 6
2 2 2
14 2 6
x y z
15.36 15.36 15.36
0.911x 0.130 y 0.391z
20
Position and Distance Vectors
A point P in Cartesian coordinate

maybe represented as P x, y , z

The position vector rP of point P is
the vector from origin O to point P

rP OP xa x ya y za z
21

rP 3a x 4a y 5a z
22
If we have two

position vectors, rP

and rQ , the third
vector or distance
vector can be defined

as rPQ :-
rPQ rQ rP
23
Example 3: Position Vectors
Points P and Q are located at 0,2,4

and 3,1,5 . Calculate:
(a) The position vector P
(b) The distance vector from P to Q
(c) The distance between P and Q

(d) A vector parallel to PQ with magnitude of 10
24

(a) rP 0a x 2a y 4a z 2a y 4a z

(b) rPQ rQ rP
3,1,5 0,2,4
3a x a y a z

(c) Since rPQ is a distance vector, the distance
between P and Q is the magnitude of this
distance vector.
25
Distance, d
d rPQ 32
1 1 3.317
2 2

(d) Let the required vector be A then

A Aa A

Where A 10 is the magnitude of A
26


Since A is parallel to PQ , it must have

the same unit vector as rPQ or rQP

rPQ 3,1,1
aA
rPQ 3.317

So, A 10
3, 1,1
3.317
27
Multiplication of Vectors

When two vectors A and B are multiplied,
the result is either a scalar or vector,
depending on how they are multiplied.
Two types of multiplication:

Scalar (or dot) product A B

Vector (or cross) product A B
28
Scalar or Dot Product

The dot product of two vectors, A and B is

defined as the product of the magnitude of A ,

the magnitude of B and the cosine of the
smaller angle between them.

A B A B cos AB
29
Dot Product in Cartesian
The dot product of two vectors of Cartesian

coordinate below yields the sum of nine
scalar terms, each involving the dot product
of two unit vectors.

A Axa x Aya y Az a z

B Bxa x Bya y Bza z
30
Since the angle between two unit vectors of

the Cartesian coordinate system is 90 0 , we
then have:
ax a y a y ax ax az az ax a y az az a y 0
And thus, only three terms remain, giving
finally:

A B Ax Bx Ay B y Az Bz
31

The two vectors, A and B are said to be

perpendicular or orthogonal (90) with
each other if;

AB 0
32
Laws of Dot Product
Dot product obeys the following:

Commutative Law AB BA

Distributive Law 2
A A A A
2

A B C A B A C

33
Properties of dot product
Properties of dot product of unit vectors:
ax ax a y a y az az 1
ax a y a y az az ax 0
34
Vector or Cross Product

The cross product of two vectors, A and B is a
vector, which is

equalto the product of the
magnitudes of A and B and the sine of smaller
angle between them

A B n A B sin AB
35

A B n A B sin AB
Direction of n is
normal (90) to the
plane containing A
and B
36
It is also along one

of the two possible
perpendiculars
which is in direction
of advance of right
hand screw.
37
Cross product in Cartesian
The cross product of two vectors of Cartesian

coordinate:

A Axa x Aya y Aza z

B Bxa x Bya y Bza z
yields the sum of nine simpler cross products,
each involving two unit vectors.
38
Cross product in Cartesian
By using the properties of cross product, it gives

A B Ay Bz Az By a x Az Bx Ax Bz a y Ax By Ay Bx a z
and be written in more easily remembered

form:
ax ay az

A B Ax Ay Az
Bx By Bz
39
Laws of Vector Product
Cross product obeys the following:

It is not commutative AB BA

It is not associative A B C A B C

It is distributive
A B C A B A C

40
Properties of Vector Product
Properties of cross product of unit vectors:
ax a y az , a y az ax , az ax a y
Or by using cyclic permutation:
41
Example 4:Dot & Cross Product
Determine the dot product and cross

product of the following vectors:

A 2a x 3a y 4a z

B a x 5a y 6a z
42
The dot product is:

A B Ax Bx Ay B y Az Bz
(2)( 1) (3)( 5) (4)(6)
41
43
The cross product is:

ax ay az ax a y az

A B Ax Ay Az 2 3 4
Bx By Bz 1 5 6
(3)(6) (4)( 5)a x
(2)(6) (4)( 1)a y
(2)( 5) (3)( 1)a z
2a x 8a y 7a z
44
Scalar & Vector Triple Product
A scalar triple product is

A B C B C A C A B
A vector triple product is
A B C BA C CA B
known as the bac-cab rule.
45
Example 5
Given A x y z 2 , B y z and C x 2 z 3.
Find (AB)C and compare it with A(BC).
46
x y z
A B 1 1 2 x 3 y z
0 1 1
x y z
A B C 3 1 1 x 3 y 7 z 2
2 0 3
A similar procedure gives

A B C x 2 y 4 z 47
Coordinate Systems
Cartesian coordinates ( x, y, z )
Circular Cylindrical coordinates ( , , z )
Spherical coordinates (r , , )
48
Cartesian coordinates
Consists of three mutually orthogonal axes

( x, y, z ) and a point in space is denoted
as P( x, y, z )
49
Cartesian Coordinates
Unit vector of a x , a y , a z in the direction of

increasing coordinate value.
50
Differential in
Length
dL dxa x dya y dza z
51
Differential Surface
52
dS x dydza x
dS y dxdza y
dS z dxdya z
53
Differential Volume
dV dxdydz z
x
54
Circular Cylindrical Coordinates
x 55
Form by three surfaces or planes:

Plane of z (constant value of z)
Cylinder centered on the z axis with a radius
of . Some books use the notation r .
Plane perpendicular to x-y plane and rotate
about the z axis by angle of
Unit vector of a , a , a z in the direction of
56
Differential in Length dL da da dza z
57
Increment in
length for
direction is:
d
d is not
increment in
length!
58
dS ddza
dS ddza
dS z dda z
59
Differential volume dV dddz
60
Example 6
A cylinder with radius of and length of L

Determine:
(i) The volume enclosed.
(ii) The surface area of that volume.
61
(i) For volume enclosed, we integrate;

V dV
v
2 z L

0
dddz
0 z 0

2

2
0 z L0 z
0
2
2
2 L
2
2 L 62
(ii) For surface area, we add the area of

each surfaces;
2 L 2 2
S ddz dd dd
0 z 0 0 0 0 0

sides bottom top

2
2

z 0 z 0
2 zL 2 2
0
0
2 0
2
2L 2 2
2L 2 2 63
Example 7
The surfaces 3, 5, 100 0

, 130 0
, z 3, z 4.5
define a closed surface. Find:
(a) The enclosed volume.

(b) The total area of the enclosing surface.
64
(a) The enclosed volume;
5 2.269 4.5
V

3

1.745
dddz
z 3
5
2 2.269
1.745 3 z
4.5
3
2
(8)(0.524) (1.5)
Must convert
into radians
6.288
65
(b) The total area of the enclosed surface:
2.269 5 4.5 2.269

Area 2
1.745
dd
3 z 3
3ddz
1.745
4.5 2.269 4.5 5

z 3
5ddz 2 ddz
1.745 z 3 3
20.7
66
67
Spherical Coordinates
Point P in spherical coordinate, P(r , , )
r distance from origin. Some books use the

notation R
angle between the z axis and the line from

origin to point P
angle between x axis and projection in z=0

plane
68
Unit vector of ar , a , a in the direction of

69
Differential in length dL dra r rda r sin da
70
71
dS r r sin dda r
2
dS r sin drda
dS rdrda
72
Differential Volume dV r 2 sin drdd
73
However, the increment of length is

different from the differential increment
previously, where:
dr distance between two radius

rd distance between two angles
r sin d distance between two radial
planes at angles
74
Example 8a
A sphere of radius 2 cm contains a volume charge

density v given by;
v 4 C/m 3
Find the total charge Q contained in the sphere.
75
Solution: Example 8a
Q v dv
v
2 2102
sin dRd d
2
4R

0 0 R 0
2102 2
4 dR sin d d
2
R
R 0 0 0
210-2
R3
4 cos 0 20
3 0
?? C 76
Example 8b
The spherical strip is a section of a sphere

of radius 3 cm. Find the area of the strip.
77
Solution : Example 8b
Use the elemental area with constant R,

that is dS R R R 2 sin dd . Solution:
60 2
SR
2
sin d d
30 0
9( cos )
60 2
30 0
18 (cos 30 cos 60)

20.7 cm 2
78
79
Summary
Cartesian to Cylindrical
Transformations
Relationships between (x, y, z) and (r, , z) are

shown.
r x cos y sin
x sin y cos
x r cos sin ,
y r sin cos
80
Cartesian to Spherical
Transformations
Relationships
between (x, y, z)
and (r, , ) are
shown in the
diagram.
81
Cartesian to Spherical
Transformations
Relationships between (x, y, z) and (r, , ) are

shown.
x sin cos y sin sin z cos
R
x cos cos y cos sin z sin

x sin y cos

sin cos cos cos sin ,
x R
sin sin cos sin cos ,
y R
cos sin
z R 82
Coordinate transformations
83
Example 9
Express vector A x x y y y x z z in
spherical coordinates.
Solution
Using the transformation relation,
AR Ax sin cos Ay sin sin Az cos
x y sin cos y x sin sin z cos
Using the expressions for x, y, and z,

AR R sin 2 cos 2 sin 2 R cos 2
R sin 2 R cos 2 R 84
Example 9: contd
Similarly, substituting the expression for x, y, z for;
A x y cos cos y x cos sin z sin

A x y sin y x cos
we get:
A 0
A R sin
Hence,
A RAR A A RR R sin
85
Transformations
Distance d between two points is

d R12 x2 x1 y2 y1 z2 z1
2 2 2

1
2
Converting to cylindrical equivalents

d r2 cos 2 r1 cos 1 r2 sin 2 r1 sin 1 z2 z1
2 2 2

1
2
r r 2r1r2 2 1 z2 z1 1
2 2 2 2
2 1
Converting to spherical equivalents

d R R 2R1R2 cos 2 cos1 sin 1 sin 2 cos2 1
1
2 2 2
2 1
86
Scalar & Vector Triple Product
A scalar triple product is

A B C B C A C A B
A vector triple product is
A B C BA C CA B
known as the bac-cab rule.
87
88

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Vector Analysis 1

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ELECTROMAGNETIC

UNIVERSITI MALAYSIA PERLIS

CHAPTER 2 VECTOR ANALYSIS

Dot Product and Cross Product

A scalar is a quantity that has only

A vector is a quantity that has both

Cartesian coordinate systems

A vector A in Cartesian Coordinates

Vector A shown may

The vector A has

A unit vector along vector A is;

Vector A can be represented as

The magnitude of A is written as |A| and is

Unit vector in the direction of vector A is

Specify the unit vector extending from the

Construct the vector extending from origin

So, unit vector is

A and B are equal when they have equal

For addition and subtraction of A and B,

Hence, the magnitude of 3 A B is:

A point P in Cartesian coordinate

Points P and Q are located at 0,2,4

Two types of multiplication:

The dot product of two vectors of Cartesian

Since the angle between two unit vectors of

The two vectors, A and B are said to be

Dot product obeys the following:

Properties of dot product of unit vectors:

It is also along one

The cross product of two vectors of Cartesian

By using the properties of cross product, it gives

and be written in more easily remembered

Cross product obeys the following:

Properties of cross product of unit vectors:

Or by using cyclic permutation:

Determine the dot product and cross

The dot product is:

The cross product is:

A scalar triple product is

A vector triple product is

known as the bac-cab rule.

Find (AB)C and compare it with A(BC).

A similar procedure gives

Circular Cylindrical coordinates ( , , z )

Consists of three mutually orthogonal axes

Unit vector of a x , a y , a z in the direction of

Form by three surfaces or planes:

Differential in Length dL da da dza z

Differential volume dV dddz

A cylinder with radius of and length of L

(i) The volume enclosed.

(ii) The surface area of that volume.

(i) For volume enclosed, we integrate;

(ii) For surface area, we add the area of

The surfaces 3, 5, 100 0

(a) The enclosed volume.

(a) The enclosed volume;

(b) The total area of the enclosed surface:

2.269 5 4.5 2.269

Point P in spherical coordinate, P(r , , )

r distance from origin. Some books use the

angle between the z axis and the line from

angle between x axis and projection in z=0

Unit vector of ar , a , a in the direction of