Review of Vector Analysis

Cartesian Coordinates
>> Basic Concepts of Vector Algebra
Scalars and Vectors
Unit Vector
Vector Addition and Subtraction
Position and Distance Vectors
Vector Multiplication
>> Differential Length, Area, and Volume
Cylindrical and Spherical Coordinate Systems
>> Cylindrical Coordinates
>> Spherical Coordinates
>> Transformation of Coordinate Systems
>> Differential Length, Area, and Volume

** This section is only a revision of your Mathematics subject.
** The knowledge is important to solve EMT problem.

Cartesian Coordinates
A coordinate system is used to uniquely specify the location
of a point in space or the direction of a vector quantity.
Commonly used coordinate system is Cartesian coordinate
system.
Other standard coordinate systems are Cylindrical and
Spherical coordinate systems
Cartesian coordinate system
x
z
y
x

y
z
A
y
O
P
A
x
A
z
Scalars & Vectors
A scalar is a quantity that has only magnitude.
A vector is a quantity that has both magnitude and direction.










A scalar is represented simply by a letter such as A and B.
A vector is written by a letter in boldface type or a letter with
an arrow on top of it such as A or .
Quantity
Scalar Vector
Scalar Quantities
Power
Current
Distance
Electric Potential

Vectors Quantities
Force
Displacement
Magnetic Field
Electric Field Intensity

A
Unit Vector
A unit vector along A is defined as a vector whose
magnitude is unity (|| = 1) and
its direction along A is given by
Vector has
- a magnitude A = |A| &

-unit vector .

Vector = (Magnitude) x
(Direction)
A
a
A
=
a A = A
a A

= A
A
a

1
A
a
A
=

x
z
y
x
y
z
A
x
A
z
A
y
O
A
In Cartesian coordinates:
A vector A can be written as
where unit vectors are called the base vectors
A
x
, A
y
, and A
z
are the components of vector A
along the directions of x, y, and z.
|A| = &

z , y , x
2 2 2
z y x
A A A A + + =
z A y A x A
z y x
+ + = A
2 2 2

z y x
z y x
A A A
z A y A x A
a
+ +
+ +
=
Example 1
A vector A is given as sketch A and determine its
magnitude and unit vector.
y x 3 2 + = A
x
z
y
x
y

z
2
3
A

Graphical representation of vector A
is shown below,




0 & 3 , 2
0 3 2

= = =
+ + =
+ + =
z y x
z y x
A A A
z y x
z A y A x A
A
A
13
3 2

13 0 3 2
| |
2 2 2
2 2 2
y x
A
a
A A A A
z y x
+
= =
= + + =
+ + = =
A

A
Example 2
A vector B is shown in Figure below. Find its magnitude and
unit vector.
z y x z B y B x B
B B B
z y x
z y x
4 5 2
as written be can vector The
4 & 5 , 2
are vector of components The
+ + = + + =
= = =
B
B
B
45
4 5 2

is vector of r unit vecto The

45
4 5 2
| |
is vector of magnitude The
2 2 2
2 2 2
z y x
B
a
B B B B
z y x
+ +
=
=
=
+ + =
+ + = =

B
B


B
B
x
z
y
1
1 2 3 4 5
B
2
4
3
2
1
Vector Addition and Subtraction
Graphically, vector addition and subtraction can be obtained
by using either head-to-tail rule or parallelogram rule.
A
B
A
B
C = A + B
A
-B
D = A B
or
D = A + ( B)
z B A y B A x B A
z B y B x B z A y A x A
z B A y B A x B A
z B y B x B z A y A x A
z z y y x x
z y x z y x
z z y y x x
z y x z y x
) ( ) ( ) (
) ( ) (
) ( ) ( ) (
) ( ) (
system coordinate cartesian a In
+ + =
+ + + + = =
+ + + + + =
+ + + + + = + =

B A D

B A C
Position and Distance Vectors
The position vector of point P is defined as
the direct distance from the origin O to P



The distance vector is the displacement from
one point to another
The distance vector between points P and Q is
z y x R
p p p p
z y x OP + + = =
p q pq
PQ R R R = =
Rp
O
P(xp,yp,zp)
x
y
z
O
Rq
Rpq
Rp
Q(xq,yq,zq)
P(xp,yp,zp)
Distance,
2 2 2
) ( ) ( ) (
p q p q p q pq
z z y y x x d + + =
z y x R ) ( ) ( ) (
p q p q p q pq
z z y y x x + + =
Example 3
Two points P1 & P2 are respectively located at (-3,-2,-5) & (2,-4,3)
in a Cartesian coordinate system. Find the position vectors of the
points and determine the distance between them.
z

3 y

4 x

2
z

5 y

2 x

3
z

by given are P and P

points for ectors position v The
2 2 2
2
2
1 1 1
1
1
2 1
+ =
+ + = =
=
+ + = =

R

R
z y x OP
z y x OP
x
z
y
-4 -3 -2 -1 1 2 3
-3
-2
-1
3
2
1

-1
-2
-3
-4
-5
1
2
3
P1(-3,-2,-5)
P2(2,-4,3)
Example 3 (cont.)
Two points P1 & P2 are respectively located at (-3,-2,-5) & (2,-4,3)
in a Cartesian coordinate system. Find the position vectors of the
points and determine the distance between them.
( ) ( ) ( ) unit 93 8 2 5 | | d
is P and P between distance The
z 8 y 2 x 5
z ) 5 3 ( y ) 2 4 ( x ) 3 2 (
) z 5 y 2 x 3 ( ) z 3 y 4 x 2 (
is P to P from vector distance The
2 2 2
12
2 1
1 2 2 1 12
2 1
= + + = =
+ =
+ + + + + =
+ =
= =
R



R R R P P
x
z
y
-4 -3 -2 -1 1 2 3
-3
-2
-1
3
2
1

-1
-2
-3
-4
-5
1
2
3
P1(-3,-2,5)
P2(2,-4,3)
R12 R1
R2
Vector Multiplication
Simple product: (vector) (scalar) = vector

B = kA = kA
The product is vector B whose the magnitude is kA & direction is the same as that of A.

Dot product: (vector) (vector) = scalar

A B = AB cos
where A and B are the magnitudes of A and B and is the angle between A and B.

Cross product: (vector) x (vector) = vector
A X B = AB sin
where A and B are the magnitudes of A and B, is the angle between the two vectors
and the direction of is identified by using right hand rule
n

If A = (Ax,Ay,Az) and B = (Bx,By,Bz), then

z z y y x x
z y x z y x
B A B A B A
B B B A A A
+ + =
+ + + + =
B A
B A ) z y x ( ) z y x (
Dot Product (or Scalar Product)
Since cos 90=0, cos 0 = 1, and
magnitude of unit vectors is 1.
Thus,


and

0

= = = x z z y y x
2
A = A A
1

= = = z z y y x x
Definition: A B = AB cos
t u s s 0
The projection of
vector B along the
direction of vector A
A
B
B cos

A
Example 4

The dot product of A and B is

A B = 1(-2) + 3(4) + (-2)(-1) = 12

12 = A B = |A||B| cos


which implies = 45.6
u
u
cos 21 14
cos ) 1 ( 4 ) 2 ( ) 2 ( 3 1
2 2 2 2 2 2
=
+ + + + =
Find the dot product of vector A = (1,3,-2) and vector B = (-2,4,-1).
Then, calculate the smallest angle, between the vectors?
Cross Product
where is the angle between A and B, and is a unit vector
normal to the plane containing A and B.
Definition: A X B = AB sin
t u s s 0
n

A
B
B sin

AXB
n

Magnitude is the area of the parallelogram

formed by vectors A and B.
Direction is determined
by using right hand rule
Cross Product (cont.)
Since sin 90=1, sin 0 = 0, and magnitude of unit vectors is 1.
Thus,


and

0

= = = z z y y x x
0 = A A
y x z x z y z y x

,

,

= = =
If A = (Ax,Ay,Az) and B = (Bx,By,Bz), then







z y x
z y x
x y y x x z z x y z z y
z y x z y x
B B B
A A A
B A B A B A B A B A B A
B B B A A A
z y x
B A
) ( z ) ( y ) ( x B A
) z y x ( ) z y x ( B A
=
+ =
+ + + + =
Example 5

The cross product of A and B is




Determine A x B if and z y x A

4

2 + + =
z y x B

=
1 1 1
4 3 2


=
z y x
B A
z

2 x

) 3 2 ( y

) 4 2 ( x

) 4 3 (
+ =
+ + + + =
Differential Length, Area &Volume
z

dz dy dx d + + = l
(1) Differential displacement is given by
From the figure,
(2) Differential normal area is given by
z s
y s
x s
z
y
x

dxdy d
dxdz d
dydz d
=
=
=
(3) Differential volume is given by
dxdydz dV =
x
z
y
dx
dz
dy
dl
dz
dy
dx
y
s d
x
ds
z
ds
Summary
x
z
y
x
y
z
Ax
Az
Ay
O
P
Cross product, A x B
Dot product, A B
Base vector properties
for P (x,y,z)
Position vector,
Vector representation, A
Coordinate variables
z y x
z y x
A A A + +
z y x z y x + +
OP
1 = = = z z y y x x
0 = = = x z z y y x
z y x =
z y x
z y x
B B B
A A A
z y x
z z y y x x
B A B A B A + +
x, y, z
x z y =
y x z =
Cylindrical & Spherical Coordinate
Systems
Introduction
Cylindrical Coordinate System
Spherical Coordinate System
Transformation of Coordinate Systems
Differential Length, Area, and Volume
Introduction
An orthogonal coordinate system is one in which the
coordinates are mutually perpendicular
Beside Cartesian coordinate system, Cylindrical and Spherical
coordinate systems are also the orthogonal coordinate
systems.
1
P
O
x
z
y
r1
z1
r

Cylindrical Coordinate System

z
y
x
O
P
1
1

Spherical Coordinate System

R1
Cylindrical Coordinate System
z

z r
A A A + +
|
Cross product, A x B
Dot product, A B
Base vector properties
for P1(r1, 1, z1)
The position vector
Vector representation, A
Magnitude of A, A=|A|
r, , z Coordinate variables
z r

1 1
z r +
1 = = = z z r r
0 = = = r z z r
r z
r z z r

, ,
=
= =
z z r r
B A B A B A + +
| |
z r
z r
B B B
A A A
|
|
z r
2 2 2
z r
A A A + +
|
1
OP
< <
< s
< s
z
r r
angle azimuth : , 2 0
distance radial : , 0
| t |
1
P
O
x
z
y
r1
z1
r

Spherical Coordinate System

Cross product, A x B
Dot product, A B
Base vector properties
for P1(R1, 1, 1)
Position vector
Vector representation, A
R, , Coordinate variables

| u
A A A
R
+ +
R

1
R
1

= = = R R
0

= = = R R
R
R R

,

=
= =
| | u u
B A B A B A
R R
+ +
| u
| u
B B B
A A A
R
R
R

2 2 2
| u
A A A
R
+ +
1
OP
Magnitude of A, A
t |
u t u
2 0
angle zenith : , 0
radius : , 0
< s
s s
< s R R
z

y
x
O
P
1
1

R1
Cartesian Cylindrical Transformations
Cartesian
Cylindrical
Cylindrical
Cartesian
Coordinate Variables Unit Vectors Vector Components
z z
x y
y x r
=
=
+ =

) / ( tan
1
2 2
|
z z
r y
r x
=
=
=
|
|
sin
cos
z z
y x
y x r

cos sin
sin cos
=
+ =
+ =
| |
| |
z z
r y
r x

cos sin
sin cos
=
+ =
=
| |
| |
z z
y x
y x r
A A
A A A
A A A
=
+ =
+ =
| |
| |
|
cos sin
sin cos
z z
r y
r x
A A
A A A
A A A
=
+ =
=
| |
| |
|
|
cos sin
sin cos
y = r sin

r
x
z
y
P(x, y, z)
x = r cos
z
r

x
y


x
y
| cos r
| sin
x
| cos
| sin
1

Cartesian Spherical Transformations
Cartesian
Spherical
Spherical
Cartesian
Coordinate Variables Unit Vectors Vector Components
) / ( tan
) / ( tan
1
2 2 1
2 2 2
x y
z y x
z y x R

=
+ =
+ + =
|
u
u
| u
| u
cos
sin sin
cos sin
R z
R y
R x
=
=
=
| |
u | u
| u
u | u
| u
cos sin
sin sin cos
cos cos

cos sin sin

cos sin

y x
z y
x
z y
x R
+ =
+
=
+ +
=
u u
| | u
| u
| | u
| u
sin

cos

cos sin cos

sin sin

sin cos cos

cos sin

R z

R y

R x
=
+
+ =

+ =
| |
u | u
| u
u | u
| u
|
u
cos sin
sin sin cos
cos cos
cos sin sin
cos sin
y x
z y
x
z y
x R
A A A
A A
A A
A A
A A
+ =
+
=
+ +
=
u u
| | u
| u
| | u
| u
u
| u
| u
sin cos
cos sin cos
sin sin
sin cos cos
cos sin
A A A
A A
A A
A A
A A
R z
R y
R x
=
+ +
=
+
=
Cylindrical Spherical Transformations
Cylindrical
Spherical
Spherical
Cylindrical
Coordinate Variables Unit Vectors Vector Components
| |
u
=
=
+ =

) / ( tan
1
2 2
z r
z r R
u
| |
u
cos
sin
R z
R r
=
=
=

z r
z r R

sin cos

cos sin

=
=
+ =
u u
u u
u u
u u
sin

cos

cos

sin

R z

R r
=
=
+ =
| |
u
u u
u u
A A
A A A
A A A
z r
z r R
=
=
+ =
sin cos
cos sin
u u
u u
u
| |
u
sin cos
cos sin
A A A
A A
A A A
R z
R r
=
=
+ =
Differential Length, Area &Volume
dz rd dr d z r l + + = |
(1) Differential displacement is given by
(2) Differential normal area is given by
|
|
|
rdrd d
drdz

d
dz rd

d
r
z s
s
r s
z
=
=
=
(3) Differential volume is given by
dz rdrd dV | =
x
z
y
dz
rd dr
Differential Length, Area & Volume
| u u d R Rd dR d sin

R l + + =
(1) Differential displacement is given by
(2) Differential normal area is given by
u
| u
| u u
|
u
RdRd d
dRd R d
d d R d
R
s
s
R s

sin

sin

2
=
=
=
(3) Differential volume is given by
| u u d dRd R dV sin
2
=
x
z
y
Rd
Rsind
dR
Example 6

0
= 30
0
x
z
y
z
1
= 3
r = 5
z
0
= 0

1
= 30
0
Find the area of a cylindrical surface described by r = 5, 30
0
60
0

and 0 z 3
Example 6 (cont.)
Find the area of a cylindrical surface described by r = 5, 30
0
60
0

and 0 z 3

0
= 30
0
x
z
y
z
1
= 3
r = 5
z
0
= 0

1
= 30
0
| |
| |
2
5
6 3
5
6 3
5
5

3
0
3
0
3
0
3 /
6 /
3
0
3 /
6 /
2
1
2
1
2
1
2
1
2
1
2
1
t
t t t t
| |
|
|
|
t
t
t |
t |
|
|
=
|
.
|

\
|
=
|
.
|

\
|
=
= =
=
=
=
}
} } }
} } }
=
=
=
=
=
=
=
=


s
z dz
dz dz d r S
dz rd dS
dz rd dS
dz rd d
z
z
z
z
z
z
z
z
r
r
Example 7
z
z
1
= 3
r = 5
z
0
= -3
x
y
A circular cylinder of r = 5 cm is concentric with the z axis and
extends between z = - 3 cm and z = 3 cm. Find the cylinders volume.
Example 7 (cont.)
z
z
1
= 3
r = 5
z
0
= -3
x
y
A circular cylinder of r = 5 cm is concentric with the z axis and
extends between z = - 3 cm and z = 3 cm. Find the cylinders volume.
| |
| | | | ( )( )
3
3
3
2
0
5
0
2
3
3
2
0
5
0
2
3
3
2
0
5
0
2
3
3
2
0
5
0
cm 150 6 2
2
25
2
2 2
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
t t |
| |
|
|
|
t
t
t |
|
t |
|
|
|
=
|
.
|

\
|
=
(

=
(

=
(

=
=
=
=

=
=
=
=
=
=
=
=
=
=
=
=
} } }
} } }
} } } }
z
r
V
dz
r
dz d
r
V
dz rdrd V
dz rdrd dV
dz rdrd dV
z
z
z
z
z
z
r
r
z
z
r
r