Introduction to Electrodynamics David J. Griffiths Reed College Prent! ace Prentice Hall New Jersey 07458Litrary of Congress Cataloging in-Pblication Data Grihs, David J. (Davi Settey) Inuroduetion to electrodynamics David J. Grits — 3rd ed Pm. 1, Blectodynamicx I. Tie oces0 G74 1999 5376—de2t 98-5055, ce Executive Editor: Alison Reeves Production Editor: Kim Dellas Manufacturing Manager: Trudy Pisciom ‘Ant Director: Jayne Conte Cover Designer: Bruce Kenselaar Editorial Assistant: Gillian Keif Composition: Pre7EX, Inc Upper Saddle River, New Jersey 07458 All rights reserved. No part of this book may be repmduced, in any’ form or hy any mens, without permission in writing from the publisher, Reprinted with corrections September, 1999 Printed in the United States of America w9R765 ISBN 0O-13-80532b-x Prentice-Hall International (UK) Limited, London Prentice-Hall of Australia Poy. Limited, Sydney Prentice-Hall Canada Inc, Toronto Prentice-Hall Hispanoamericana, $.A., Mexico City Prentice Hall of India Private Limited, New Delhi Prentice-Hall of Japan, ine., Tokyo Prentice-Hall Asia Pte. Lid, Singapore Ediora Prentice-Hall do Brasil, Lda,, Rio de JaneiroContents Preface ix Advertisement xi 1 Veetor Analysis 1 LL Vector Algebra 1 Vector Algebra: Component Form 4 Triple Products 7 LL4 Position, Displacement, and Separation Vectors 8 1.1.5 How Vectors Transform 10 1.2 Differential Calculus ee 13 1.2.1 “Ordinary” Derivatives = 13 1.22 Gradient... . : sees 13 19.3 The Operator V 16 1.24 The Divergence Seececetetceterctr 17 1 TheCurl .. . eee . 19 1.2.6 Product Rules : 20 1.2.7 Second Derivatives . : 2 1.3 Integral Calculus 24 13.1 Line, Surface, and Volume Integrals : 24 1.3.2. The Fundamental Theorem of Calculus 28 13.3 The Fundamental Theorem for Gradients 29 1.3.4 The Fundamental Theorem for Divergences : 31 1.3.5 The Fundamental Theorem for Curls, 34 1.3.6 _ Integration by Parts 37 1.4 Curvilinear Coordinates 38 1.4.1 Spherical Polar Coordinates 38 1.4.2 Cylindrical Coordinates Besianinat 43 1.5 The Dirac Delta Function 45 15.1 The Divergence of F/r?. 45 15.2 The One-Dimensional Dirac Delta runcuon Sirs ceeao: itiCONTENTS 15.3 The Three-Dimensional Delta Function . . 50 1.6 The Theory of Vector Fields oe 32 1.6.1 The Helmholtz Theorem 52 ig 2entPonenibalsties estes ttrtianieies nica aeniao3 Electrostatics 58 2.1. The Electric Field ones pease 2.1.1 Introduction 58 2.1.2 Coulomb's Law 59 2.1.3 The Electric Field. . . a 60 2.1.4 Continuous Charge Distributions 61 2.2. Divergence and Curl of Electrostatic Fields 2. 65 2.2.1. Field Lines, Flux, and Gauss’s Law . see G5 2.2.2 “‘The Divergence of KE oy 2.2.3. Applications of Gauss’s Law 70 2.2.4 The Curl of E see ... 16 2.3 Electric Potential 7 2.3.1 Introduction to Potential sees 7 9.39 Comments on Potential 70 2.3.3. Poisson's Equation and Laplace's Equation 83 2.3.4 The Potential of a Localized Charge Distribution aries 2.3.5 Summary; Electrostatic Boundary Conditions . . . 87 2.4 Work and Energy in Electrostaties 90 2.4.1 The Work Done to Move a Charge : 90 2.4.2. ‘The Energy of a Point Charge Distribution . eoeeol 2.4.3. The Energy of a Continuous Charge Distribution 93 2.4.4 Comments on Electrostatic Energy. . : 95 25 Conductors oe tee eee 96 2.5.1 Basic Properties 96 2.5.2 Induced Charges 98 2.5.3 Surface Charge and the Force ona Conductor........... 102 2.5.4 Capacitors anne iseaesiaet lO Special Techniques 110 3.1 Laplace’s Equation... eis eretldo 3.1.1 Introduction... Sone - 10 3.1.2 Laplace's Equation in One Dimension . WI 3.1.3 Laplace’s Equation in Two Dimensions 112 3.1.4 Laplace’s Equation in Three Dimensions Se ataauet 3.1.5 Boundary Conditions and Uniqueness Theorems 116 3.1.6 Conductors and the Second Uniqueness Theorem. . vee UB 3.2 The Method of Images ane oe 121 3.2.1 The Classic Image Problem : 121 3.2.2 Induced Surface Charge 123CONTENTS 33 34 4d 42 43 4a 3.2.3 Force and Energy 3.24 Other Image Problems Separation of Variables 3.3.1 Cartesian Coordinates 3.3.2. Spherical Coordinates Multipole Expansion 3.4.1. Approximate Potentials at Large Di 3.4.2 ¢ Monopole and Dipole Terms ae 3.4.3 Origin of Coordinates in Multipole Expansions 3.4.4 The Electric Field of a Dipole. . . . Electric Fields in Matter Polarization... .. . 4.1.1 Dielectrics 4.1.2 Induced Dipoles 4.1.3 Alignment of Polar Molecules 4.1.4 Polarization . The Field of a Polarized Object. 4.2.1. Bound Charges. . eee 4.22 Physical Interpretation of Bound Charges - 4.2.3. The Field Inside a Dielectric ‘The Electric Displacement i: 4.3.1 Gauss's Law in the Presence of Dielectrics 43.2 A Deceptive Parallel. 43.3 Boundary Conditions... . Linear Dielectrics 44.1 Suscepiibility, Permitivity, Dielectric Constant 4.4.2 Boundary Value Problems with Linear Dielectrics 4.43 Energy in Dielecttic Systems 4.4.4 Forces on Dielectrics 5 Magnetostatics SA 52 The Lorentz Force Law 5.1.1 Magnetic Fields 1.2. Magnetic Forces 1.3. Currents ‘The Biot-Savart Law ee 5.2.1 Steady Currents 5.2.2. The Magnetic Field of a Steady Current The Divergence and Curl of B 5.3.1 Straight-Line Currents 5.3.2. The Divergence and Curl of B 5.3.3. Applications of Ampére’s Law . . 9.5.4 Comparison of Magnetostatics and Electrostaties 123, 124 127 127 137 146 146 149 151 153 160 160 160 160 163 166 166 166 170 17 175 175 178 178 179 179 186 191 193 202 202 202 204 208 215 215 215 221 221 222 225 2325.4 Magnetic Vector Potential 5.4.1 ‘The Vector Potential : : 5.4.2 Summary; Magnetostatic Boundary Conditions 5.4.3 Multipole Expansion of the Vector Potential Magnetic Fields in Matter 6.1 Magnetization oe 6.1.1 Diamagnets, Paramagnets, Ferromagnets 6.1.2 Torques and Forces on Magnetic Dipoles 6.1.3. Effect of a Magnetic Field on Atomic Orbits 6.1.4 Magnetization ..........0005 6.2. The Field of a Magnetized Object 62.1 Bound Currents ; 6.2.2 Physical Interpretation of Bound Currents 62.3. The Magnetic Field Inside Mater... . . 6.3. The Auxiliary Field H 6.3.1 Ampére’s law in Magnetized Materials 63.2 A Decepti 6.3.3 Boundary Conditions 64 Linear and Nonlinear Media eee 6.4.1 Magnetic Susceptibility and Permeability 6.4.2. Ferromagnetism Electrodynamics 7.1 Blectromotive Force 7.1.1 Obm’s Law 7.1.2. Electromotive Force 7.1.3. Motional emf . 7.2. Electromagnetic Induction». 2... . 7.2.1 Faraday's Law 7.2.2. The Induced Electric Field 7.2.3 Inductance : 7.2.4 Energy in Magnetic Fields 7.3. Maxwell's Equations 7.3.1 Electrodynamics Before Maxwell 7.3.2. How Maxwell Fixed Amptre's Law 7.3.3. Maxwell's Equations . 7.3.4 Magnetic Charge : 7.3.5 Maxwell's Equations in Matter 736 Parallel ans cetsse CONTENTS 234 234 240 242 255 255 255CONTENTS 10 Conservation Laws 8.1 Charge and Energy : 8.1.1 The Continuity Equation 8.1.2. Poynting’s Theorem 8.2 Momentum 8.2.1 Newton's Third Law in Electrodynamics Maxwell's Stress Tensor Conservation of Momentum Angular Momentum Electromagnetic Waves 9.1. Waves in One Dimension . 9.1.1 The Wave Equation 9.1.2 Sinusoidal Waves 9.1.3 Boundary Conditions: Reflection and “Transmission 9.14 Polarization . . 9.2 Electromagnetic Waves in Vacuum 9.2.1 ‘The Wave Equation forE and BB . 9.2.2 Monochromatic Plane Waves, 9.2.3 Energy and Momentum in Electromagnetic Waves 93° Blectromagnetic Waves in Matter 9.3.1 Propagation in Linear Media 9.3.2 Reflection and Transmission at Normal Incidence 9.3.3 Reflection and Transmission at Oblique Incidence 9.4 Absorption and Dispersion ee 9.4.1 Electromagnetic Waves in Conductors , . . . 9.4.2 Reflection at a Conducting Surface 9.4.3 The Frequency Dependence of Permittvity 9.5 Guided Waves . we 9.5.1 Wave Guides ae 9.5.2 ‘TE Waves ina Rectangular Wave Guide... 9.5.3 The Coaxial Transmission Line Potentials and Ficlds 10.1 The Potential Formulation 10.1.1 Scalar and Vector Potentials 10.1.2 Gauge Transformations 10.1.3 Coulomb Gauge and Lorentz" Gauge 10.2. Continuous Distributions 10.2.1 Retarded Potentials 10.2.2. Jefimenko’s Equations 10.3 Point Charges... . . cae 103.1 Lignard-Wiechert Potentials. . 10.3.2. The Fields of a Moving Point Charge 345 345 345 346 349) 349 351 355 358 364 364 364 367 370 313 375 315 376 380 382, 382 384 386 302 392 396 308 40s 405 408 4 416 416 46 419 421 422 422 427 429 429 435