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E LECTROMAGNETIC F IELD T HEORY
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Preface xi
1 Classical Electrodynamics 1
1.1 Electrostatics . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 Coulomb’s law . . . . . . . . . . . . . . . . . . . . . . 2
1.1.2 The electrostatic field . . . . . . . . . . . . . . . . . . . 2
1.2 Magnetostatics . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.1 Ampère’s law . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.2 The magnetostatic field . . . . . . . . . . . . . . . . . . 6
1.3 Electrodynamics . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3.1 Equation of continuity for electric charge . . . . . . . . 8
1.3.2 Maxwell’s displacement current . . . . . . . . . . . . . 9
1.3.3 Electromotive force . . . . . . . . . . . . . . . . . . . . 10
1.3.4 Faraday’s law of induction . . . . . . . . . . . . . . . . 11
1.3.5 Maxwell’s microscopic equations . . . . . . . . . . . . 14
1.3.6 Maxwell’s macroscopic equations . . . . . . . . . . . . 14
1.4 Electromagnetic Duality . . . . . . . . . . . . . . . . . . . . . 15
Example 1.1 Faraday’s law as a consequence of conserva-
tion of magnetic charge . . . . . . . . . . . . . 16
Example 1.2 Duality of the electromagnetodynamic equations 18
Example 1.3 Dirac’s symmetrised Maxwell equations for a
fixed mixing angle . . . . . . . . . . . . . . . . 18
Example 1.4 The complex field six-vector . . . . . . . . . 20
Example 1.5 Duality expressed in the complex field six-vector 20
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 Electromagnetic Waves 23
2.1 The Wave Equations . . . . . . . . . . . . . . . . . . . . . . . 24
2.1.1 The wave equation for E . . . . . . . . . . . . . . . . . 24
2.1.2 The wave equation for B . . . . . . . . . . . . . . . . . 24
2.1.3 The time-independent wave equation for E . . . . . . . 25
Example 2.1 Wave equations in electromagnetodynamics . . 26
2.2 Plane Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2.1 Telegrapher’s equation . . . . . . . . . . . . . . . . . . 29
2.2.2 Waves in conductive media . . . . . . . . . . . . . . . . 30
i
ii C ONTENTS
3 Electromagnetic Potentials 35
3.1 The Electrostatic Scalar Potential . . . . . . . . . . . . . . . . . 35
3.2 The Magnetostatic Vector Potential . . . . . . . . . . . . . . . . 36
3.3 The Electrodynamic Potentials . . . . . . . . . . . . . . . . . . 36
3.3.1 Electrodynamic gauges . . . . . . . . . . . . . . . . . . 38
Lorentz equations for the electrodynamic potentials . . . 38
Gauge transformations . . . . . . . . . . . . . . . . . . 39
3.3.2 Solution of the Lorentz equations for the electromag-
netic potentials . . . . . . . . . . . . . . . . . . . . . . 40
The retarded potentials . . . . . . . . . . . . . . . . . . 44
Example 3.1 Electromagnetodynamic potentials . . . . . . 44
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4 Relativistic Electrodynamics 47
4.1 The Special Theory of Relativity . . . . . . . . . . . . . . . . . 47
4.1.1 The Lorentz transformation . . . . . . . . . . . . . . . 48
4.1.2 Lorentz space . . . . . . . . . . . . . . . . . . . . . . . 49
Radius four-vector in contravariant and covariant form . 50
Scalar product and norm . . . . . . . . . . . . . . . . . 50
Metric tensor . . . . . . . . . . . . . . . . . . . . . . . 51
Invariant line element and proper time . . . . . . . . . . 52
Four-vector fields . . . . . . . . . . . . . . . . . . . . . 54
The Lorentz transformation matrix . . . . . . . . . . . . 54
The Lorentz group . . . . . . . . . . . . . . . . . . . . 54
4.1.3 Minkowski space . . . . . . . . . . . . . . . . . . . . . 55
4.2 Covariant Classical Mechanics . . . . . . . . . . . . . . . . . . 57
4.3 Covariant Classical Electrodynamics . . . . . . . . . . . . . . . 59
4.3.1 The four-potential . . . . . . . . . . . . . . . . . . . . 59
4.3.2 The Liénard-Wiechert potentials . . . . . . . . . . . . . 60
4.3.3 The electromagnetic field tensor . . . . . . . . . . . . . 62
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
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iii
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iv C ONTENTS
F Formulae 159
F.1 The Electromagnetic Field . . . . . . . . . . . . . . . . . . . . 159
F.1.1 Maxwell’s equations . . . . . . . . . . . . . . . . . . . 159
Constitutive relations . . . . . . . . . . . . . . . . . . . 159
F.1.2 Fields and potentials . . . . . . . . . . . . . . . . . . . 159
Vector and scalar potentials . . . . . . . . . . . . . . . 159
Lorentz’ gauge condition in vacuum . . . . . . . . . . . 160
F.1.3 Force and energy . . . . . . . . . . . . . . . . . . . . . 160
Poynting’s vector . . . . . . . . . . . . . . . . . . . . . 160
Maxwell’s stress tensor . . . . . . . . . . . . . . . . . . 160
F.2 Electromagnetic Radiation . . . . . . . . . . . . . . . . . . . . 160
F.2.1 Relationship between the field vectors in a plane wave . 160
F.2.2 The far fields from an extended source distribution . . . 160
F.2.3 The far fields from an electric dipole . . . . . . . . . . . 160
F.2.4 The far fields from a magnetic dipole . . . . . . . . . . 161
F.2.5 The far fields from an electric quadrupole . . . . . . . . 161
F.2.6 The fields from a point charge in arbitrary motion . . . . 161
F.3 Special Relativity . . . . . . . . . . . . . . . . . . . . . . . . . 161
F.3.1 Metric tensor . . . . . . . . . . . . . . . . . . . . . . . 161
F.3.2 Covariant and contravariant four-vectors . . . . . . . . . 162
F.3.3 Lorentz transformation of a four-vector . . . . . . . . . 162
F.3.4 Invariant line element . . . . . . . . . . . . . . . . . . . 162
F.3.5 Four-velocity . . . . . . . . . . . . . . . . . . . . . . . 162
F.3.6 Four-momentum . . . . . . . . . . . . . . . . . . . . . 162
F.3.7 Four-current density . . . . . . . . . . . . . . . . . . . 162
F.3.8 Four-potential . . . . . . . . . . . . . . . . . . . . . . . 162
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v
Appendices 159
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vi C ONTENTS
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List of Figures
vii
To the memory of professor
L EV M IKHAILOVICH E RUKHIMOV
dear friend, great physicist
and a truly remarkable human being.
If you understand, things are such as they are
If you do not understand, things are such as they are
G ENSHA
Preface
This book is the result of a twenty-five year long love affair. In 1972, I took
my first advanced course in electrodynamics at the Theoretical Physics depart-
ment, Uppsala University. Shortly thereafter, I joined the research group there
and took on the task of helping my supervisor, professor P ER -O LOF F RÖ -
MAN , with the preparation of a new version of his lecture notes on Electricity
Theory. These two things opened up my eyes for the beauty and intricacy of
electrodynamics, already at the classical level, and I fell in love with it.
Ever since that time, I have off and on had reason to return to electro-
dynamics, both in my studies, research and teaching, and the current book
is the result of my own teaching of a course in advanced electrodynamics at
Uppsala University some twenty odd years after I experienced the first en-
counter with this subject. The book is the outgrowth of the lecture notes that I
prepared for the four-credit course Electrodynamics that was introduced in the
Uppsala University curriculum in 1992, to become the five-credit course Clas-
sical Electrodynamics in 1997. To some extent, parts of these notes were based
on lecture notes prepared, in Swedish, by B ENGT L UNDBORG who created,
developed and taught the earlier, two-credit course Electromagnetic Radiation
at our faculty.
Intended primarily as a textbook for physics students at the advanced un-
dergraduate or beginning graduate level, I hope the book may be useful for
research workers too. It provides a thorough treatment of the theory of elec-
trodynamics, mainly from a classical field theoretical point of view, and in-
cludes such things as electrostatics and magnetostatics and their unification
into electrodynamics, the electromagnetic potentials, gauge transformations,
covariant formulation of classical electrodynamics, force, momentum and en-
ergy of the electromagnetic field, radiation and scattering phenomena, electro-
magnetic waves and their propagation in vacuum and in media, and covariant
Lagrangian/Hamiltonian field theoretical methods for electromagnetic fields,
particles and interactions. The aim has been to write a book that can serve
both as an advanced text in Classical Electrodynamics and as a preparation for
studies in Quantum Electrodynamics and related subjects.
In an attempt to encourage participation by other scientists and students in
the authoring of this book, and to ensure its quality and scope to make it useful
in higher university education anywhere in the world, it was produced within
a World-Wide Web (WWW) project. This turned out to be a rather successful
xi
xii P REFACE
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1
Classical
Electrodynamics
Classical electrodynamics deals with electric and magnetic fields and inter-
actions caused by macroscopic distributions of electric charges and currents.
This means that the concepts of localised electric charges and currents assume
the validity of certain mathematical limiting processes in which it is considered
possible for the charge and current distributions to be localised in infinitesim-
ally small volumes of space. Clearly, this is in contradiction to electromag-
netism on a truly microscopic scale, where charges and currents are known to
be spatially extended objects. However, the limiting processes used will yield
results which are correct on small as well as large macroscopic scales.
In this chapter we start with the force interactions in classical electrostat-
ics and classical magnetostatics and introduce the static electric and magnetic
fields and find two uncoupled systems of equations for them. Then we see how
the conservation of electric charge and its relation to electric current leads to
the dynamic connection between electricity and magnetism and how the two
can be unified in one theory, classical electrodynamics, described by one sys-
tem of coupled dynamic field equations—the Maxwell equations.
At the end of the chapter we study Dirac’s symmetrised form of Max-
well’s equations by introducing (hypothetical) magnetic charges and magnetic
currents into the theory. While not identified unambiguously in experiments
yet, magnetic charges and currents make the theory much more appealing for
instance by allowing for duality transformations in a most natural way.
1.1 Electrostatics
The theory which describes physical phenomena related to the interaction
between stationary electric charges or charge distributions in space is called
electrostatics.1 For a long time electrostatics was considered an independent
1 The famous physicist and philosopher Pierre Duhem (1861–1916) once wrote:
1
2 C LASSICAL E LECTRODYNAMICS
physical theory of its own, alongside other physical theories such as mechanics
and thermodynamics.
where in the last step Equation (M.80) on page 181 was used. In SI units,
which we shall use throughout, the force F is measured in Newton (N), the
electric charges q and q0 in Coulomb (C) [= Ampère-seconds (As)], and the
length |x − x0 | in metres (m). The constant ε0 = 107 /(4πc2 ) ≈ 8.8542 × 10−12
Farad per metre (F/m) is the vacuum permittivity and c ≈ 2.9979 × 108 m/s
is the speed of light in vacuum. In CGS units ε0 = 1/(4π) and the force is
measured in dyne, electric charge in statcoulomb, and length in centimetres
(cm).
def F
Estat ≡ lim (1.2)
q→0 q
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1.1 E LECTROSTATICS 3
x − x0
x
q0
x0
Since the purpose of the limiting process is to assure that the test charge q does
not influence the field, the expression for Estat does not depend explicitly on q
but only on the charge q0 and the relative radius vector x − x0 . This means that
we can say that any net electric charge produces an electric field in the space
that surrounds it, regardless of the existence of a second charge anywhere in
this space.1
Using (1.1) and Equation (1.2) on the preceding page, and Formula (F.69)
on page 165, we find that the electrostatic field Estat at the field point x (also
known as the observation point), due to a field-producing electric charge q 0 at
the source point x0 , is given by
q0 x − x 0 q0 q0 0
Estat (x) = 0
4πε0 |x − x | 3
= −
4πε0
∇ 1
|x − x |
0
=
4πε0
∇
1
|x − x0 |
(1.3)
where in the last step Equation (M.80) on page 181 was used.
In the presence of several field producing discrete electric charges q0i , loc-
ated at the points x0i , i = 1, 2, 3, . . . , respectively, in an otherwise empty space,
1 In the preface to the first edition of the first volume of his book A Treatise on Electricity
and Magnetism, first published in 1873, James Clerk Maxwell describes this in the following,
almost poetic, manner [7]:
“For instance, Faraday, in his mind’s eye, saw lines of force traversing all space
where the mathematicians saw centres of force attracting at a distance: Faraday
saw a medium where they saw nothing but distance: Faraday sought the seat of
the phenomena in real actions going on in the medium, they were satisfied that
they had found it in a power of action at a distance impressed on the electric
fluids.”
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4 C LASSICAL E LECTRODYNAMICS
If the discrete electric charges are small and numerous enough, we intro-
duce the electric charge density ρ located at x0 and write the total field as
x − x0 3 0
ρ(x0 )∇
1 1 1
Estat (x) = ρ(x0 ) d3x0
|x − x0 |
d x =−
4πε0 V 0 0
|x − x |3 4πε0 V 0
(1.5)
1 ρ(x0 ) 3 0
=− ∇ d x
4πε0 V 0 |x − x0 |
where we used Formula (F.69) on page 165 and the fact that ρ(x0 ) does not de-
pend on the “unprimed” coordinates on which ∇ operates. We emphasise that
Equation (1.5) above is valid for an arbitrary distribution of electric charges,
including discrete charges, in which case ρ can be expressed in terms of one or
more Dirac delta distributions.
Since, according to formula Equation (M.90) on page 184, ∇ × [∇α(x)] ≡ 0
for any 3D 3 scalar field α(x), we immediately find that in electrostatics
ρ(x0 ) 3 0
∇× ∇
1
∇ × Estat (x) = −
4πε0 0
V 0 |x − x |
d x =0 (1.6)
ρ(x0 )∇2
1 1
d3x0 (1.7)
|x − x0 |
=−
4πε0 V 0
1
= ρ(x0 )δ(x − x0 ) d3x0
ε0 V 0
ρ(x)
=
ε0
which is Gauss’s law in differential form.
1 In fact, vacuum exhibits a quantum mechanical nonlinearity due to vacuum polarisation
effects manifesting themselves in the momentary creation and annihilation of electron-positron
pairs, but classically this nonlinearity is negligible.
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1.2 M AGNETOSTATICS 5
1.2 Magnetostatics
While electrostatics deals with static electric charges, magnetostatics deals
with stationary electric currents, i.e., electric charges moving with constant
speeds, and the interaction between these currents. Let us discuss this theory
in some detail.
=−
Here dl and dl0 are tangential line elements of the loops C and C 0 , respectively,
and, in SI units, µ0 = 4π × 10−7 ≈ 1.2566 × 10−6 H/m is the vacuum permeab-
ility. From the definition of ε0 and µ0 (in SI units) we observe that
107 1
ε0 µ0 = 2
(F/m) × 4π × 10−7 (H/m) = 2 (s2 /m2 ) (1.9)
4πc c
which is a useful relation.
At first glance, Equation (1.8) above may appear unsymmetric in terms
of the loops and therefore to be a force law which is in contradiction with
Newton’s third law. However, by applying the vector triple product “bac-cab”
Formula (F.51) on page 164, we can rewrite (1.8) as
µ0 JJ 0
F(x) = −
4π C C 0
dl · ∇
1
|x − x0 |
dl0
(1.10)
µ0 JJ 0 x − x0
− dl · dl0
4π C C 0 |x − x0 |3
Recognising the fact that the integrand in the first integral is an exact differen-
tial so that this integral vanishes, we can rewrite the force expression, Equa-
tion (1.8) above, in the following symmetric way
µ0 JJ 0 x − x0
dl · dl0
F(x) = −
4π C C 0 0
|x − x |3
(1.11)
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6 C LASSICAL E LECTRODYNAMICS
C dl
x − x0 dl0
x
C0
J0
x0
def µ0 J 0 0 x − x 0
dBstat (x) ≡ dl × (1.12)
4π |x − x0 |3
which expresses the small element dBstat (x) of the static magnetic field set
up at the field point x by a small line element dl0 of stationary current J 0 at
the source point x0 . The SI unit for the magnetic field, sometimes called the
magnetic flux density or magnetic induction, is Tesla (T).
If we generalise expression (1.12) to an integrated steady state electric
current density j(x), we obtain Biot-Savart’s law:
x − x0 3 0
j(x0 ) × ∇
µ0 µ0 1
Bstat (x) = j(x0 ) × d3x0
|x − x0 |
d x =−
4π V 0 0
|x − x | 3 4π V0
(1.13)
µ0 j(x0 ) 3 0
= ∇× dx
4π V 0 x − x0
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1.2 M AGNETOSTATICS 7
where we used Formula (F.69) on page 165, Formula (F.57) on page 164, and
the fact that j(x0 ) does not depend on the “unprimed” coordinates on which
∇ operates. Comparing Equation (1.5) on page 4 with Equation (1.13) on the
facing page, we see that there exists a close analogy between the expressions
for Estat and Bstat but that they differ in their vectorial characteristics. With this
definition of Bstat , Equation (1.8) on page 5 may we written
stat
F(x) = J
C dl × B (x) (1.14)
j(x0 ) 3 0
∇× ∇×
µ0
∇ × Bstat (x) =
V 0 x − x0
dx =
4π
j(x0 )∇2
µ0 1 µ0 1
d3x0 + [j(x0 ) · ∇0 ]∇0 d3x0
|x − x | |x − x0 |
=−
4π V 0 0 4π V 0
(1.16)
In the first of the two integrals on the right hand side, we use the representation
of the Dirac delta function given in Formula (F.70) on page 165, and integrate
the second one by parts, by utilising Formula (F.56) on page 164 as follows:
[j(x0 ) · ∇0 ]∇0
1
|x − x0 |
d3x0
V0
= x̂k ∇0 · j(x0 ) 0 ∇0 · j(x0 ) ∇0
∂ 1 1
d3x0 − d3x0
V 0 ∂x k |x − x 0 |
V 0 |x − x 0|
(1.17)
Then we note that the first integral in the result, obtained by applying Gauss’s
theorem, vanishes when integrated over a large sphere far away from the loc-
alised source j(x0 ), and that the second integral vanishes because ∇ · j = 0 for
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8 C LASSICAL E LECTRODYNAMICS
stationary currents (no charge accumulation in space). The net result is simply
1.3 Electrodynamics
As we saw in the previous sections, the laws of electrostatics and magneto-
statics can be summarised in two pairs of time-independent, uncoupled vector
differential equations, namely the equations of classical electrostatics
ρ(x)
∇ · Estat (x) = (1.19a)
ε0
stat
∇ × E (x) = 0 (1.19b)
Since there is nothing a priori which connects Estat directly with Bstat , we must
consider classical electrostatics and classical magnetostatics as two independ-
ent theories.
However, when we include time-dependence, these theories are unified
into one theory, classical electrodynamics. This unification of the theories of
electricity and magnetism is motivated by two empirically established facts:
2. A change in the magnetic flux through a loop will induce an EMF elec-
tric field in the loop. This is the celebrated Faraday’s law of induction.
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1.3 E LECTRODYNAMICS 9
ρ(t, x0 )∇0
µ0 ∂ 1
j(t, x0 )δ(x − x0 ) d3x0 + d3x0
|x − x0 |
∇ × B(t, x) = µ0
V0 4π ∂t V0
∂
= µ0 j(t, x) + µ0 ε0 E(t, x)
∂t
(1.22)
where, in the last step, we have assumed that a generalisation of Equation (1.5)
on page 4 to time-varying fields allows us to make the identification
∂
= E(t, x)
∂t
(1.23)
Later, we will need to consider this formal result further. The result is Max-
well’s source equation for the B field
∇ × B(t, x) = µ0 j(t, x) +
∂
∂t
ε0 E(t, x)
(1.24)
where the last term ∂ε0 E(t, x)/∂t is the famous displacement current. This
term was introduced, in a stroke of genius, by Maxwell [6] in order to make
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10 C LASSICAL E LECTRODYNAMICS
the right hand side of this equation divergence free when j(t, x) is assumed to
represent the density of the total electric current, which can be split up in “or-
dinary” conduction currents, polarisation currents and magnetisation currents.
The displacement current is an extra term which behaves like a current density
flowing in vacuum. As we shall see later, its existence has far-reaching phys-
ical consequences as it predicts the existence of electromagnetic radiation that
can carry energy and momentum over very long distances, even in vacuum.
E= (Estat + EEMF ) · dl
C
(1.27)
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1.3 E LECTRODYNAMICS 11
EMF
E=
CE · dl (1.28)
d
E(t, x) = E(t, x) · dl = −
C dt
Φm (t, x)
(1.29)
d ∂
=− B(t, x) · dS = − dS · B(t, x)
dt S S ∂t
where Φm is the magnetic flux and S is the surface encircled by C which can be
interpreted as a generic stationary “loop” and not necessarily as a conducting
circuit. Application of Stokes’ theorem on this integral equation, transforms it
into the differential equation
∂
∇ × E(t, x) = − B(t, x) (1.30)
∂t
which is valid for arbitrary variations in the fields and constitutes the Maxwell
equation which explicitly connects electricity with magnetism.
Any change of the magnetic flux Φm will induce an EMF. Let us therefore
consider the case, illustrated if Figure 1.3.4 on the following page, that the
“loop” is moved in such a way that it links a magnetic field which varies during
the movement. The convective derivative is evaluated according to the well-
known operator formula
d ∂
= +v·∇ (1.31)
dt ∂t
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12 C LASSICAL E LECTRODYNAMICS
dS
v
B(x)
dl
B(x)
d ∂B
E(t, x) = − B · dS = − dS · − (v · ∇)B · dS (1.32)
dt S S ∂t S
∇ · B(t, x) = 0 (1.33)
∇ × (B × v) = (v · ∇)B (1.34)
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1.3 E LECTRODYNAMICS 13
allowing us to rewrite Equation (1.32) on the facing page in the following way:
d
E(t, x) = EEMF · dl = −
C dt S
B · dS
(1.35)
∂B
=− · dS − ∇ × (B × v) · dS
S ∂t S
∂B
EEMF · dl = −
E(t, x) =
C S ∂t
· dS −
C
(B × v) · dl (1.36)
∂B
(EEMF − v × B) · dl = − · dS (1.37)
C S ∂t
where EEMF is the field which is induced in the “loop,” i.e., in the moving
system. The use of Stokes’ theorem “backwards” on Equation (1.37) above
yields
∂B
∇ × (EEMF − v × B) = − (1.38)
∂t
E = EEMF − v × B (1.39)
EEMF = E + (v × B) (1.41)
Hence, we can conclude that for a stationary observer, the Maxwell equation
∂B
∇×E = − (1.42)
∂t
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14 C LASSICAL E LECTRODYNAMICS
D = D[t, x; E, B] (1.44a)
H = H[t, x; E, B] (1.44b)
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1.4 E LECTROMAGNETIC D UALITY 15
Under certain conditions, for instance for very low field strengths, we may
assume that the response of a substance to the fields is linear so that
D = εE (1.45)
H = µ−1 B (1.46)
i.e., that the derived fields are linearly proportional to the primary fields and
that the electric displacement (magnetising field) is only dependent on the elec-
tric (magnetic) field.
The field equations expressed in terms of the derived field quantities D and
H are
∇ · D = ρ(t, x) (1.47a)
∂B
∇×E = − (1.47b)
∂t
∇·B = 0 (1.47c)
∂D
∇×H = + j(t, x) (1.47d)
∂t
and are called Maxwell’s macroscopic equations. We will study them in more
detail in Chapter 6.
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16 C LASSICAL E LECTRODYNAMICS
E → cB (1.51a)
cB → −E (1.51b)
e m
cρ → ρ (1.51c)
m e
ρ → −cρ (1.51d)
e m
cj → j (1.51e)
m e
j → −cj (1.51f)
which leaves the symmetrised Maxwell equations, and hence the physics they
describe (often referred to as electromagnetodynamics), invariant. Since E and
je are (true or polar) vectors, B a pseudovector (axial vector), ρe a (true) scalar,
then ρm and θ, which behaves as a mixing angle in a two-dimensional “charge
space,” must be pseudoscalars and jm a pseudovector.
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1.4 E LECTROMAGNETIC D UALITY 17
Use this postulate and Dirac’s symmetrised form of Maxwell’s equations to derive
Faraday’s law.
The assumption of existence of magnetic charges suggests that there exists a Coulomb
law for magnetic fields:
x − x0 3 0
Bstat (x) =
µ0
4π V 0
ρm (x0 )
|x − x 0 | 3
d x =−
µ0
4π Vρ
0
m
(x0 )∇ 1
|x − x0 |
d3x0
(1.53)
=
µ0
4π
− ∇ ρm (x0 )
V0
1
|x − x0 |
d3x0
[cf. Equation (1.5) on page 4 for Estat ] and, if magnetic currents exist, a Biot-Savart
law for electric fields:
x − x 0 3 0 µ0
Estat (x) = −
µ0
4π V 0
jm (x0 ) ×
|x − x0 |3
dx =
4π Vj 0
m
(x0 ) × ∇ 1
|x − x0 |
d3x0
(1.54)
Taking the curl of the latter and using the operator “bac-cab” rule, Formula (F.59) on
page 164, we find that
jm (x0 ) 3 0
∇ × Estat (x) =
µ0
4π
∇× ∇× V0 x − x
0
dx =
=−
µ0
4π V0
jm (x0 )∇2 1
0
|x − x |
d3x0 +
µ0
4π V 0
[jm (x0 ) · ∇0 ]∇0
1
|x − x0 |
d3x0
(1.55)
Comparing with Equation (1.16) on page 7 for Estat and the evaluation of the integrals
there we obtain
∇ × Estat (x) = µ0 m
(x0 )δ(x − x0 ) d3x0 = µ0 jm (x)
Vj 0
(1.56)
We assume that Formula (1.54) is valid also for time-varying magnetic currents. Then,
with the use of the representation of the Dirac delta function, Equation (M.85) on
page 183, the equation of continuity for magnetic charge, Equation (1.50) on the fa-
cing page, and the assumption of the generalisation of Equation (1.53) above to time-
dependent magnetic charge distributions, we obtain, formally,
∇ × E(t, x) = −µ0
Vj 0
m
(t, x0 )δ(x − x0 ) d3x0 −
µ0 ∂
4π ∂t Vρ 0
m
(t, x0 )∇0 1
|x − x0 |
d3x0
∂
= −µ0 jm (t, x) − B(t, x)
∂t
(1.57)
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18 C LASSICAL E LECTRODYNAMICS
[cf. Equation (1.22) on page 9] which we recognise as Equation (1.48b) on page 15.
A transformation of this electromagnetodynamic result by rotating into the “electric
realm” of charge space, thereby letting jm tend to zero, yields the electrodynamic
Equation (1.48b) on page 15, i.e., the Faraday law in the ordinary Maxwell equations.
By postulating the indestructibility of an hypothetical magnetic charge, we have
thereby been able to replace Faraday’s experimental results on electromotive forces
and induction in loops as a foundation for the Maxwell equations by a more appealing
one.
E ND OF EXAMPLE 1.1C
E XAMPLE 1.2
D UALITY OF THE ELECTROMAGNETODYNAMIC EQUATIONS
Show that the symmetric, electromagnetodynamic form of Maxwell’s equations
(Dirac’s symmetrised Maxwell equations), Equations (1.48) on page 15, are invari-
ant under the duality transformation (1.52).
Explicit application of the transformation yields
ρe
∇ · ?E = ∇ · (E cos θ + cB sin θ) = cos θ + cµ0 ρm sin θ
ε0
?ρe (1.58)
=
1
ε0
1
ρe cos θ + ρm sin θ =
c
ε0
?B
∇ × ?E +
∂
∂t
= ∇ × (E cos θ + cB sin θ) +
∂
∂t
1
− E sin θ + B cos θ
c
∂B 1 ∂E
= −µ0 jm cos θ − cos θ + cµ0 je sin θ + sin θ
∂t c ∂t (1.59)
1 ∂E ∂B
− sin θ + cos θ = −µ0 jm cos θ + cµ0 je sin θ
c ∂t ∂t
= −µ0 (−cje sin θ + jm cos θ) = −µ0 ?jm
1 ρe
∇ · ?B = ∇ · (− E sin θ + B cos θ) = − sin θ + µ0 ρm cos θ
c cε0 (1.60)
= µ0 −cρe sin θ + ρm cos θ = µ0 ?ρm
1 ∂?E 1 1 ∂
∇ × ?B − 2 = ∇ × (− E sin θ + B cos θ) − 2 (E cos θ + cB sin θ)
c ∂t c c ∂t
1 m 1 ∂B 1 ∂E
= µ0 j sin θ + cos θ + µ0 je cos θ + 2 cos θ
c c ∂t c ∂t
(1.61)
1 ∂E 1 ∂B
− 2 cos θ − sin θ
c ∂t c ∂t
= µ0
1 m
c
j sin θ + je cos θ = µ0 ?je
QED
E ND OF EXAMPLE 1.2C
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1.4 E LECTROMAGNETIC D UALITY 19
D IRAC ’ S SYMMETRISED M AXWELL EQUATIONS FOR A FIXED MIXING ANGLE E XAMPLE 1.3
Show that for a fixed mixing angle θ such that
ρm = cρe tan θ (1.62a)
jm = cje tan θ (1.62b)
the symmetrised Maxwell equations reduce to the usual Maxwell equations.
Explicit application of the fixed mixing angle conditions on the duality transformation
(1.52) on page 16 yields
? e 1 1
ρ = ρe cos θ + ρm sin θ = ρe cos θ + cρe tan θ sin θ
c c (1.63a)
1 e 2 e 2 1 e
= (ρ cos θ + ρ sin θ) = ρ
cos θ cos θ
? m
ρ = −cρe sin θ + cρe tan θ cos θ = −cρe sin θ + cρe sin θ = 0 (1.63b)
? e 1 e 2 1 e
j = je cos θ + je tan θ sin θ = (j cos θ + je sin2 θ) = j (1.63c)
cos θ cos θ
? m
j = −cje sin θ + cje tan θ cos θ = −cje sin θ + cje sin θ = 0 (1.63d)
Hence, a fixed mixing angle, or, equivalently, a fixed ratio between the electric and
magnetic charges/currents, “hides” the magnetic monopole influence (ρ m and jm ) on
the dynamic equations.
We notice that the inverse of the transformation given by Equation (1.52) on page 16
yields
E = ?E cos θ − c?B sin θ (1.64)
This means that
∇ · E = ∇ · ?E cos θ − c∇ · ?B sin θ (1.65)
Furthermore, from the expressions for the transformed charges and currents above, we
find that
?ρe 1 ρe
∇ · ?E = = (1.66)
ε0 cos θ ε0
and
∇ · ?B = µ0 ?ρm = 0 (1.67)
so that
1 ρe ρe
∇·E = cos θ − 0 = (1.68)
cos θ ε0 ε0
and so on for the other equations. QED
E ND OF EXAMPLE 1.3C
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20 C LASSICAL E LECTRODYNAMICS
E XAMPLE 1.4
T HE COMPLEX FIELD SIX - VECTOR
E ND OF EXAMPLE 1.4C
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1.4 B IBLIOGRAPHY 21
Furthermore, assuming that θ = θ(t, x), we see that the spatial and temporal differenti-
ation of ?G leads to
∂?G
∂t ?G ≡ = −i(∂t θ)e−iθ G + e−iθ ∂t G (1.78a)
∂t
∂ · ?G ≡ ∇ · ?G = −ie−iθ ∇θ · G + e−iθ ∇ · G (1.78b)
∂ × ?G ≡ ∇ × ?G = −ie−iθ ∇θ × G + e−iθ ∇ × G (1.78c)
which means that ∂t ?G transforms as ?G itself if θ is time-independent, and that ∇ · ?G
and ∇ × ?G transform as ?G itself if θ is space-independent.
E ND OF EXAMPLE 1.5C
Bibliography
[1] R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc.,
New York, NY, 1982, ISBN 0-486-64290-9.
[3] E. H ALLÉN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962.
[4] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.
[5] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.
Draft version released 6th March 2002 at 19:18. Downloaded from http://www.plasma.uu.se/CED/Book
22 C LASSICAL E LECTRODYNAMICS
[11] J. S CHWINGER, A magnetic model of matter, Science, 165 (1969), pp. 757–761.
[14] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc.,
New York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-
57269-1.
Downloaded from http://www.plasma.uu.se/CED/Book Draft version released 6th March 2002 at 19:18.
2
Electromagnetic
Waves
ρ(t, x)
∇·E = (2.1a)
ε0
∂B
∇×E = − (2.1b)
∂t
∇·B = 0 (2.1c)
∂E
∇ × B = ε 0 µ0 + µ0 j(t, x) (2.1d)
∂t
23
24 E LECTROMAGNETIC WAVES
(∇ × B) = −µ0 j + ε0 E
∂ ∂ ∂
∂t
∇ × (∇ × E) = − (2.2)
∂t ∂t
According to the operator triple product “bac-cab” rule Equation (F.64) on
page 164
∇ × (∇ × E) = ∇(∇ · E) − ∇2 E (2.3)
∇·E = 0 (2.4)
and since EEMF = 0, Ohm’s law, Equation (1.26) on page 10, yields
j = σE (2.5)
∇2 E − µ 0
∂
∂t
σE + ε0 ∂t∂ E = 0 (2.6)
∂E 1 ∂2 E
∇2 E − µ 0 σ − =0 (2.7)
∂t c2 ∂t2
which is the homogeneous wave equation for E.
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2.1 T HE WAVE E QUATIONS 25
which, with the use of Equation (F.64) on page 164 and Equation (2.1c) on
page 23 can be rewritten
∂B ∂2
∇(∇ · B) − ∇2 B = −µ0 σ − ε0 µ0 2 B (2.9)
∂t ∂t
Using the fact that, according to (2.1c), ∇ · B = 0 for any medium and rearran-
ging, we can rewrite this equation as
∂B 1 ∂2 B
∇2 B − µ 0 σ − =0 (2.10)
∂t c2 ∂t2
This is the wave equation for the magnetic field. We notice that it is of exactly
the same form as the wave equation for the electric field, Equation (2.7) on the
facing page.
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26 E LECTROMAGNETIC WAVES
∇2 E + iωµ0 σE = 0 (2.15)
E XAMPLE 2.1
WAVE EQUATIONS IN ELECTROMAGNETODYNAMICS
Derive the wave equation for the E field described by the electromagnetodynamic
equations (Dirac’s symmetrised Maxwell equations) [cf. Equations (1.48) on page 15]
ρe
∇·E = (2.19a)
ε0
∂B
∇×E = − − µ 0 jm (2.19b)
∂t
m
∇ · B = µ0 ρ (2.19c)
∂E
∇ × B = ε 0 µ0 + µ 0 je (2.19d)
∂t
under the assumption of vanishing net electric and magnetic charge densities and in
the absence of electromotive and magnetomotive forces. Interpret this equation phys-
ically.
Taking the curl of (2.19b) and using (2.19d), and assuming, for symmetry reasons, that
there exists a linear relation between the magnetic current density jm and the magnetic
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2.1 T HE WAVE E QUATIONS 27
∇ × (∇ × E) = −µ0 ∇ × jm −
∂
∂t
(∇ × B) = −µ0 σm ∇ × B −
∂
∂t
1 ∂E
µ0 j e + 2
c ∂t
∂2 E
= −µ0 σm µ0 σe E + 1 ∂E
2
c ∂t
− µ0 σ e
∂E 1
−
∂t c2 ∂t2
(2.21)
Using the vector operator identity ∇ × (∇ × E) and the fact that = ∇(∇ · E) − ∇2 E,
∇ · E = 0 for a vanishing net electric charge, we can rewrite the wave equation as
σm ∂E 1 ∂2 E
∇2 E − µ 0 σe + c2 −
∂t c2 ∂t2
− µ20 σm σe E = 0 (2.22)
ω2 R20 m e σe + σm /c2
∇2 E + 1− σ σ
!"# 1+i *
%'&)(
E=0 (2.24)
c2 ω2 $ R2
ε0 ω 1 − ω02 σm σe
From this equation we conclude that the existence of magnetic charges (magnetic
monopoles), and non-vanishing electric and magnetic conductivities would lead to
a shift in the effective wave number of the wave. Furthermore, even if the electric
conductivity vanishes, the imaginary term does not necessarily vanish and the wave
might therefore experience damping (or growth) according as σ m is positive (or neg-
ative) in
√ a perfect electric isolator. Finally, we note that in the particular case that
ω = R0 σm σe , the wave equation becomes a (time-independent) diffusion equation
σm
∇2 E + iωµ0 σe + c2 E=0 (2.25)
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28 E LECTROMAGNETIC WAVES
which simplifies to the first-order ordinary differential equation for the normal
component En of the electric field
dEn σ
+ En = 0 (2.29)
dt ε0
with the solution
This, together with (2.27a), shows that the longitudinal component of E, i.e.,
the component which is perpendicular to the plane surface is independent of ζ
and has a time dependence which exhibits an exponential decay, with a decre-
ment given by the relaxation time τ in the medium.
Scalar multiplying (2.27b) by n̂, we similarly find that
0 = n̂· n̂×
∂E ∂B
∂ζ
= − n̂· (2.31)
∂t
or
∂B
n̂· =0 (2.32)
∂t
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2.2 P LANE WAVES 29
From this, and (2.27c), we conclude that the only longitudinal component of
B must be constant in both time and space. In other words, the only non-static
solution must consist of transverse components.
∂2 E ∂E 1 ∂2 E
− µ 0 σ − =0 (2.33)
∂ζ 2 ∂t c2 ∂t2
∂2 E 1 ∂2 E
− =0 (2.34)
∂ζ 2 c2 ∂t2
As is well known, each component of this equation has a solution which can
be written
E = E0 ei(k·x−ωt) (2.38)
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30 E LECTROMAGNETIC WAVES
k2 1 + i
σ
= (α2 − β2 ) + 2iαβ
ε0 ω
(2.44)
or
β2 = α2 − k2 (2.45)
k2 σ
αβ = (2.46)
2ε0 ω
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2.2 P LANE WAVES 31
Squaring the latter and combining with the former, one obtains the second
order algebraic equation (in α2 )
k 4 σ2
α2 (α2 − k2 ) = (2.47)
4ε20 ω2
which can be easily solved and one finds that
+,,
,
.
2
- 1+ σ
ε0 ω / +1
α=k (2.48a)
+,, 2
,
.
2
- 1+ σ
ε0 ω / −1
β=k (2.48b)
2
As a consequence, the solution of the time-independent telegrapher’s equation,
Equation (2.41) on the preceding page, can be written
E = E0 e−βζ ei(αζ−ωt) (2.49)
With the aid of Equation (2.40) on the facing page we can calculate the asso-
ciated magnetic field, and find that it is given by
1 1 1
B= K k̂ × E = ( k̂ × E)(α + iβ) = ( k̂ × E) |A| eiγ (2.50)
ω ω ω
where we have, in the last step, rewritten α + iβ in the amplitude-phase form
|A| exp{iγ}. From the above, we immediately see that E, and consequently also
B, is damped, and that E and B in the wave are out of phase.
In the case that ε0 ω σ, we can approximate K as follows:
1 1
K = k 1+i
σ
=k i
σ
. 1 − i εσ0 ω / σ
2 2
ε0 ω
≈ k(1 + i)
ε0 ω 2ε0 ω
(2.51)
√ σ µ0 σω
= ε0 µ0 ω(1 + i)
2ε0 ω
= (1 + i)
2
From this analysis we conclude that when the wave impinges perpendicu-
larly upon the medium, the fields are given, inside this medium, by
E0 = E0 exp −
µ0 σω
2
ζ exp i
µ0 σω
2
ζ − ωt
0 (2.52a)
µ0 σ
B0 = (1 + i) ( n̂× E0 )
2ω
(2.52b)
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32 E LECTROMAGNETIC WAVES
2
δ= (2.53)
µ0 σω
Furthermore, letting ∗ denotes complex conjugate, we can express the real part
of the complex vector F as
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2.3 B IBLIOGRAPHY 33
Bibliography
[1] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.
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34 E LECTROMAGNETIC WAVES
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3
Electromagnetic
Potentials
Taking the divergence of this and using Equation (1.7) on page 4, we obtain
Poisson’s equation
ρ(x)
∇2 φstat (x) = −∇ · Estat (x) = − (3.2)
ε0
1 ρ(x0 ) 3 0
φstat (x) = d x +α (3.3)
4πε0 V |x − x0 |
where the integration is taken over all source points x0 at which the charge
density ρ(x0 ) is non-zero and α is an arbitrary quantity which has a vanish-
ing gradient. An example of such a quantity is a scalar constant. The scalar
function φstat (x) in Equation (3.3) is called the electrostatic scalar potential.
35
36 E LECTROMAGNETIC P OTENTIALS
µ0 j(x0 ) 3 0
Astat (x) = d x + a(x) (3.5)
4π V |x − x0 |
where a(x) is an arbitrary vector field whose curl vanishes. From Equa-
tion (M.90) on page 184 we know that such a vector can always be written
as the gradient of a scalar field.
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3.3 T HE E LECTRODYNAMIC P OTENTIALS 37
Inserting this expression into the other homogeneous Maxwell equation, Equa-
tion (1.30) on page 11, we obtain
∂ ∂
∇ × E(t, x) = − [∇ × A(t, x)] = −∇ × A(t, x) (3.7)
∂t ∂t
or, rearranging the terms,
∇ × E(t, x) +
∂
∂t
A(t, x) = 0 (3.8)
∂
E(t, x) + A(t, x) = −∇φ(t, x) (3.9)
∂t
This means that in electrodynamics, E(t, x) can be calculated from the formula
∂
E(t, x) = −∇φ(t, x) − A(t, x) (3.10)
∂t
and B(t, x) from Equation (3.6) on the preceding page. Hence, it is a matter
of taste whether we want to express the laws of electrodynamics in terms of
the potentials φ(t, x) and A(t, x), or in terms of the fields E(t, x) and B(t, x).
However, there exists an important difference between the two approaches: in
classical electrodynamics the only directly observable quantities are the fields
themselves (and quantities derived from them) and not the potentials. On the
other hand, the treatment becomes significantly simpler if we use the potentials
in our calculations and then, at the final stage, use Equation (3.6) on the facing
page and Equation (3.10) above to calculate the fields or physical quantities
expressed in the fields.
Inserting (3.10) and (3.6) on the facing page into Maxwell’s equations (1.43)
on page 14 we obtain, after some simple algebra and the use of Equation (1.9)
on page 5, the general inhomogeneous wave equations
∂ ρ(t, x)
∇2 φ + (∇ · A) = − (3.11a)
∂t ε0
2A
∇2 A − 2 2 − ∇ ∇ · A + 2
1 ∂ 1 ∂φ
c ∂t
= −µ0 j(t, x) (3.11b)
c ∂t
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38 E LECTROMAGNETIC P OTENTIALS
1 ∂2 φ
− ∇2 φ − ∇ · A + 2
∂ 1 ∂φ ρ(t, x)
c ∂t
2 2
= (3.12a)
c ∂t ∂t ε0
2
− ∇2 A + ∇ ∇ · A + 2
1∂ A 1 ∂φ
c ∂t
= µ0 j(t, x) (3.12b)
c2 ∂t2
1 ∂
∇·A+ φ=0 (3.13)
c2 ∂t
1 Infact, the Dutch physicist Hendrik Antoon Lorentz, who in 1903 demonstrated the cov-
ariance of Maxwell’s equations, was not the original discoverer of this condition. It had been
discovered by the Danish physicist Ludwig Lorenz already in 1867 [4].
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3.3 T HE E LECTRODYNAMIC P OTENTIALS 39
5 2 def
φ ≡ 1 ∂2 1 ∂2 φ
− ∇2 φ = 2 2 − ∇2 φ =
ρ(t, x)
2
c ∂t 2 c ∂t ε0
(3.14a)
5 2 def
1 ∂ 2 2
1∂ A
− ∇2 A = 2 2 − ∇2 A = µ0 j(t, x)
A ≡ 2
c ∂t 2 c ∂t
(3.14b)
5
where 2 is the d’Alembert operator discussed in Example M.6 on page 180.
We shall call (3.14) the Lorentz potential equations for the electrodynamic
potentials.
Gauge transformations
We saw in Section 3.1 on page 35 and in Section 3.2 on page 36 that in electro-
statics and magnetostatics we have a certain mathematical degree of freedom,
up to terms of vanishing gradients and curls, to pick suitable forms for the
potentials and still get the same physical result. In fact, the way the electro-
magnetic scalar potential φ(t, x) and the vector potential A(t, x) are related to
the physically observables gives leeway for similar “manipulation” of them
also in electrodynamics. If we transform φ(t, x) and A(t, x) simultaneously into
new ones φ0 (t, x) and A0 (t, x) according to the mapping scheme
∂Γ(t, x)
φ(t, x) 7→ φ0 (t, x) = φ(t, x) + (3.15a)
∂t
A(t, x) 7→ A0 (t, x) = A(t, x) − ∇Γ(t, x) (3.15b)
where, once again Equation (M.90) on page 184 was used. Comparing these
expressions with (3.10) and (3.6) we see that the fields are unaffected by the
gauge transformation (3.15). A transformation of the potentials φ and A which
leaves the fields, and hence Maxwell’s equations, invariant is called a gauge
transformation. A physical law which does not change under a gauge trans-
formation is said to be gauge invariant. By definition, the fields themselves
are, of course, gauge invariant.
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40 E LECTROMAGNETIC P OTENTIALS
The potentials φ(t, x) and A(t, x) calculated from (3.11) on page 37, with an
arbitrary choice of ∇ · A, can be further gauge transformed according to (3.15)
on the previous page. If, in particular, we choose ∇·A according to the Lorentz
condition, Equation (3.13) on page 38, and apply the gauge transformation
(3.15) on the resulting Lorentz potential equations (3.14) on the previous page,
these equations will be transformed into
1 ∂2 φ 1 ∂2 Γ
− ∇2 φ +
∂ ρ(t, x)
− ∇2 Γ =
2
c ∂t 2 ∂t 2
c ∂t 2 ε0
(3.17a)
2 2
− ∇2 A − ∇
1∂ A 1∂ Γ
− ∇2 Γ = µ0 j(t, x)
c2 ∂t2 c2 ∂t2 (3.17b)
We notice that if we require that the gauge function Γ(t, x) itself be restricted
to fulfil the wave equation
1 ∂2 Γ
− ∇2 Γ = 0 (3.18)
c2 ∂t2
these transformed Lorentz equations will keep their original form. The set of
potentials which have been gauge transformed according to Equation (3.15)
on the preceding page with a gauge function Γ(t, x) which is restricted to fulfil
Equation (3.18) above, i.e., those gauge transformed potentials for which the
Lorentz equations (3.14) are invariant, comprises the Lorentz gauge.
Other useful gauges are
• The radiation gauge, also known as the transverse gauge, defined by
∇ · A = 0.
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3.3 T HE E LECTRODYNAMIC P OTENTIALS 41
(one equation for φ and one equation for each of the three components of A).
Each of these four scalar equations is an inhomogeneous wave equation of the
following generic form:
5 2
Ψ(t, x) = f (t, x) (3.19)
def ∞
F −1 [ fω (x)] ≡ f (t, x) = fω (x) e−iωt dω (3.20a)
−∞
∞
def 1
F [ f (t, x)] ≡ fω (x) = f (t, x) eiωt dt (3.20b)
2π −∞
exists, and that the same is true for the generic potential component:
∞
Ψ(t, x) = Ψω (x) e−iωt dω (3.21a)
−∞
∞
1
Ψω (x) = Ψ(t, x) eiωt dt (3.21b)
2π −∞
Inserting the Fourier representations (3.20a) and (3.21a) into Equation (3.19)
above, and using the vacuum dispersion relation for electromagnetic waves
ω = ck (3.22)
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42 E LECTROMAGNETIC P OTENTIALS
and the solution of Equation (3.23) on the previous page which corresponds to
the frequency ω is given by the superposition
d2
(rG) + k2 (rG) = −rδ(r) (3.26)
dr2
Away from r = |x − x0 | = 0, i.e., away from the source point x0 , this equation
takes the form
d2
(rG) + k2 (rG) = 0 (3.27)
dr2
with the well-known general solution
0 0
eikr e−ikr eik|x−x | −e
−ik|x−x |
G = C+ + C− ≡ C+ + C (3.28)
r r |x − x0 | |x − x0 |
C+ + C− 4 ∇2 d3x0 + k2 C + + C − 4
1 1
d3x0
3 |x − x0 | 3 |x − x0 |
0
3 0
(3.30)
=− δ( x − x ) d x
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3.3 T HE E LECTRODYNAMIC P OTENTIALS 43
In virtue of the fact that the volume element d3x0 in spherical polar coordinates
is proportional to |x − x0 |2 , the second integral vanishes when |x − x0 | → 0. Fur-
thermore, from Equation (M.85) on page 183, we find that the integrand in the
first integral can be written as −4πδ(|x − x0 |) and, hence, that
1
C+ + C− = (3.31)
4π
Insertion of the general solution Equation (3.28) on the preceding page into
Equation (3.25) on the facing page gives
0 0
eik|x−x | 3 0 e−ik|x−x | 3 0
Ψω (x) = C + fω (x0 ) d x + C− fω (x0 ) dx (3.32)
|x − x0 | |x − x0 |
The Fourier transform to ordinary t domain of this is obtained by inserting the
above expression for Ψω (x) into Equation (3.21a) on page 41:
+ C− fω (x0 ) dω d3x0
6 |x − x0 |
0 and the advanced time t 0 in the following
If we introduce the retarded time tret adv
way [using the fact that in vacuum k/ω = 1/c, according to Equation (3.22) on
page 41]:
(t, x − x0 ) = t −
0 0 k |x − x0 | |x − x0 |
tret = tret = t− (3.34a)
ω c
0 0
0 k |x − x0 | |x − x0 |
tadv = tadv (t, x − x ) = t + = t+ (3.34b)
ω c
and use Equation (3.20a) on page 41, we obtain
0 , x0 ) 0 , x0 )
f (tadv
f (tret
Ψ(t, x) = C + d3x0 + C − d3x0 (3.35)
|x − x0 | |x − x0 |
This is a solution to the generic inhomogeneous wave equation for the potential
components Equation (3.19) on page 41. We note that the solution at time t at
the field point x is dependent on the behaviour at other times t 0 of the source
at x0 and that both retarded and advanced t 0 are mathematically acceptable
solutions. However, if we assume that causality requires that the potential at
0 , x0 ), we must in
(t, x) is set up by the source at an earlier time, i.e., at (tret
−
Equation (3.35) above set C = 0 and therefore, according to Equation (3.31),
C + = 1/(4π).
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44 E LECTROMAGNETIC P OTENTIALS
1 0 , x0 )
ρ(tret
φ(t, x) = d3x0 (3.36a)
4πε0 |x − x0 |
0 , x0 )
µ0 j(tret
A(t, x) = d3x0 (3.36b)
4π |x − x0 |
Since these retarded potentials were obtained as solutions to the Lorentz equa-
tions (3.14) on page 39 they are valid in the Lorentz gauge but may be gauge
transformed according to the scheme described in subsection 3.3.1 on page 39.
As they stand, we shall use them frequently in the following.
E XAMPLE 3.1
E LECTROMAGNETODYNAMIC POTENTIALS
In this theory, one derives the inhomogeneous wave equations for the usual “electric”
scalar and vector potentials (φe , Ae ) and their “magnetic” counterparts (φm , Am ) by
assuming that the potentials are related to the fields in the following symmetrised
form:
∂ e
E = −∇φe (t, x) − A (t, x) − ∇ × Am (3.38a)
∂t
1 1 ∂
B = − 2 ∇φm (t, x) − 2 Am (t, x) + ∇ × Ae (3.38b)
c c ∂t
In the absence of magnetic charges, or, equivalenty for φm ≡ 0 and Am ≡ 0, these
formulae reduce to the usual Maxwell theory Formula (3.10) on page 37 and For-
mula (3.6) on page 36, respectively, as they should.
Inserting the symmetrised expressions (3.38) into Equations (3.37) above, one obtains
[cf., Equations (3.11) on page 37]
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3.3 B IBLIOGRAPHY 45
ρe (t, x)
∇ 2 φe +
∂
∂t
∇ · Ae = −
ε0
(3.39a)
m (t, x)
∇ 2 φm +
∂
∂t
∇ · Am = −
ρ
ε0
(3.39b)
1 ∂ 2 Ae 1 ∂φe
c2 ∂t2
− ∇ 2 e
A + ∇ ∇ · A e
+ c2 ∂t = µ0 je (t, x) (3.39c)
1 ∂ 2 Am 1 ∂φm
2
c ∂t 2
− ∇2 Am + ∇ ∇ · A m + 2
c ∂t
= µ0 jm (t, x) (3.39d)
Bibliography
[1] L. D. FADEEV AND A. A. S LAVNOV, Gauge Fields: Introduction to Quantum
Theory, No. 50 in Frontiers in Physics: A Lecture Note and Reprint Series. Ben-
jamin/Cummings Publishing Company, Inc., Reading, MA . . . , 1980, ISBN 0-
8053-9016-2.
[3] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.
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46 E LECTROMAGNETIC P OTENTIALS
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4
Relativistic
Electrodynamics
47
48 R ELATIVISTIC E LECTRODYNAMICS
vt
y y0
Σ Σ0 v
P(t, x, y, z)
P(t0 , x0 , y0 , z0 )
O x O0 x0
z z0
F IGURE 4.1: Two inertial systems Σ and Σ0 in relative motion with velo-
city v along the x = x0 axis. At time t = t0 = 0 the origin O0 of Σ0 coincided
with the origin O of Σ. At time t, the inertial system Σ0 has been translated
a distance vt along the x axis in Σ. An event represented by P(t, x, y, z) in
Σ is represented by P(t0 , x0 , y0 , z0 ) in Σ0 .
Postulate 4.1 (Relativity principle; Poincaré, 1905). All laws of physics (ex-
cept the laws of gravitation) are independent of the uniform translational mo-
tion of the system on which they operate.
Postulate 4.2 (Einstein, 1905). The velocity of light in empty space is inde-
pendent of the motion of the source that emits the light.
A consequence of the first postulate is that all geometrical objects (vec-
tors, tensors) in an equation describing a physical process must transform in a
covariant manner, i.e., in the same way.
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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 49
where v = |v|. In the following, we shall make frequent use of these shorthand
notations.
As shown by Einstein, the two postulates of special relativity require that
the spatial coordinates and times as measured by an observer in Σ and Σ0 ,
respectively, are connected by the following transformation:
Taking the difference between the square of (4.3a) and the square of (4.3b) we
find that
From Equations (4.3) above we see that the y and z coordinates are unaffected
by the translational motion of the inertial system Σ0 along the x axis of system
Σ. Using this fact, we find that we can generalise the result in Equation (4.4)
to
which means that if a light wave is transmitted from the coinciding origins O
and O0 at time t = t0 = 0 it will arrive at an observer at (x, y, z) at time t in Σ
and an observer at (x0 , y0 , z0 ) at time t0 in Σ0 in such a way that both observers
conclude that the speed (spatial distance divided by time) of light in vacuum
is c. Hence, the speed of light in Σ and Σ0 is the same. A linear coordin-
ate transformation which has this property is called a (homogeneous) Lorentz
transformation.
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50 R ELATIVISTIC E LECTRODYNAMICS
speed of light and t is time), and the remaining components are the components
of the ordinary 3 radius vector x defined in Equation (M.1) on page 168:
xµ = gµν xν (4.7)
gµν xν xµ = xµ xµ (4.8)
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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 51
of the norm in a 4D Riemann space, then the explicit expression for the scalar
product of xµ with itself in this space must be
xµ x µ = c2 t 2 − x 2 − y2 − z2 (4.9)
We notice that our space will have an indefinite norm which means that we deal
with a non-Euclidean space. We call the four-dimensional space (or space-
time) with this property Lorentz space and denote it ; 4 . A corresponding real,
linear 4D space with a positive definite norm which is conserved during ordin-
ary rotations is a Euclidean vector space. We denote such a space 4 .
Metric tensor
By choosing the metric tensor in ; 4 as
> 1 if µ = ν = 0
gµν = <= −1 if µ = ν = i = j = 1, 2, 3 (4.10)
=? 0 6 ν
if µ =
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52 R ELATIVISTIC E LECTRODYNAMICS
As we see, for this particular choice of metric, the scalar product of x µ with
itself becomes
δµν = δνµ = G 1 if µ = ν
(4.16)
0 if µ 6= ν
ds2 = gµν dxν dxµ = dxµ dxµ = (dx0 )2 − (dx1 )2 − (dx2 )2 − (dx3 )2 (4.17)
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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 53
v2 (4.18)
2 + (v )2 + (v )2 dt = c 1 −
1
= c 1−
c2
(v x ) y z dt
: c
c2
= c 1 − β2 dt = dt = c dτ
γ
where we introduced
dτ = dt/γ (4.19)
Since dτ measures the time when no spatial changes are present, it is called the
proper time.
Expressing Equation (4.5) on page 49 in terms of the differential interval
ds and comparing with Equation (4.17) on the preceding page, we find that
is a light-like interval; we may also say that in this case we are on the light
cone. A vector which has a light-like interval is called a null vector. The
time-like, space-like or light-like aspects of an interval ds is invariant under a
Lorentz transformation.
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54 R ELATIVISTIC E LECTRODYNAMICS
Four-vector fields
Any quantity which relative to any coordinate system has a quadruple of real
numbers and transforms in the same way as the radius four-vector x µ does, is
called a four-vector. In analogy with the notation for the radius four-vector we
introduce the notation aµ = (a0 , a) for a general contravariant four-vector field
in ; 4 and find that the “lowering of index” rule, Equation (M.32) on page 174,
for such an arbitrary four-vector yields the dual covariant four-vector field
The scalar product between this four-vector field and another one bµ (xκ ) is
which is a scalar field, i.e., an invariant scalar quantity α(x κ ) which depends
on time and space, as described by xκ = (ct, x, y, z).
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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 55
X0
X 00
θ
x01
θ
x1
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56 R ELATIVISTIC E LECTRODYNAMICS
Σ w
x0 = ct
x00 x0 = x 1
P0
x01
ϕ ct
O= O0
P x1 = x
√
where i = −1, we see that Equation (4.17) on page 52 transforms into
dS 2 = (dX 0 )2 + (dX 1 )2 + (dX 2 )2 + (dX 3 )2 (4.31)
i.e., into a 4D differential form which is positive definite just as is ordinary 3D
Euclidean space 3 . We shall call the 4D Euclidean space constructed in this
way the Minkowski space J 4 .1
As before, it suffices to consider the simplified case where the relative
motion between Σ and Σ0 is along the x axes. Then
dS 2 = (dX 0 )2 + (dx1 )2 (4.32)
and we consider X 0 and x1 as orthogonal axes in an Euclidean space. As in all
Euclidean spaces, every interval is invariant under a rotation of the X 0 x1 plane
through an angle θ into X 00 x01 :
X 00 = −x1 sin θ + X 0 cos θ (4.33a)
x01 = x1 cos θ + X 0 sin θ (4.33b)
1 Thefact that our Riemannian space can be transformed in this way into an Euclidean one
means that it is, strictly speaking, a pseudo-Riemannian space.
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4.2 C OVARIANT C LASSICAL M ECHANICS 57
which, when multiplied with the scalar invariant m0 yields the four-momentum
C
F
µ
pµ = m0
dx
dτ
= m0 γ(c, v) = B@ K m0 c
, K m0 v
= (p0 , p) (4.38)
v2 v2
1− c2
1− c2
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58 R ELATIVISTIC E LECTRODYNAMICS
p = mv (4.39)
where
m = γm0 = K m0
2
(4.40)
1 − vc2
We can interpret this such that the Lorentz covariance implies that the mass-
like term in the ordinary 3D linear momentum is not invariant. A better way to
look at this is that p = mv = γm0 v is the covariantly correct expression for the
kinetic three-momentum.
Multiplying the zeroth (time) component of the four-momentum pµ with
the scalar invariant c, we obtain
m0 c2
cp0 = γm0 c2 = K = mc2 (4.41)
v2
1− c2
Since this component has the dimension of energy and is the result of a covari-
ant description of the motion of a particle with its kinetic momentum described
by the spatial components of the four-momentum, Equation (4.38) on the pre-
ceding page, we interpret cp0 as the total energy E. Hence,
Since this is an invariant, this equation holds in any inertial frame, particularly
in the frame where p = 0 and there we have
E = m 0 c2 (4.44)
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4.3 C OVARIANT C LASSICAL E LECTRODYNAMICS 59
ρ = γρ0 (4.46)
Aµ = φ
c
,A (4.48)
where φ is the scalar potential and A the vector potential, defined in Sec-
tion 3.3 on page 36, we can write the inhomogeneous wave equations (Lorentz
potential equations), Equations (3.14) on page 39, in the following compact
(and covariant) way:
5 2 µ
A = µ0 jµ (4.49)
With the help of the above, we can formulate our electrodynamic equations
covariantly. For instance, the covariant form of the equation of continuity,
Equation (1.21) on page 9 is
∂µ jµ = 0 (4.50)
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60 R ELATIVISTIC E LECTRODYNAMICS
and the Lorentz gauge condition, Equation (3.13) on page 38, can be written
∂µ Aµ = 0 (4.51)
If only one dimension Lorentz contracts (for instance, due to relative mo-
tion along the x direction), a 3D spatial volume transforms according to
1 : v2
dV = d3x = dV0 = dV0 1 − β2 = dV0 1 − 2 (4.53)
γ c
then from Equation (4.46) on the previous page we see that
i.e., the charge in a given volume is conserved. We can therefore conclude that
the elementary charge is a universal constant.
Aµ 4
q0
3 0
= φ
c
,A = 1
4πε0 c |x − x0 |0
,0 (4.55)
v=0
where |x − x0 |0 is the usual distance from the source point to the field point,
evaluated in the rest system (signified by the index “0”).
Let us introduce the relative radius four-vector between the source point
and the field point:
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4.3 C OVARIANT C LASSICAL E LECTRODYNAMICS 61
We know that in vacuum the signal (field) from the charge q0 at x0µ propag-
ates to xµ with the speed of light c so that
x − x0 = c(t − t0 ) (4.58)
Inserting this into Equation (4.57) on the preceding page, we see that
Rµ Rµ = 0 (4.59)
Now we want to find the correspondence to the rest system solution, Equa-
tion (4.55) on the preceding page, in an arbitrary inertial system. We note from
Equation (4.37) on page 57 that in the rest system
C
µ 4 B@ K c
K v F
3u 0
=
1− v2
,
1− v2
= (c, 0) (4.61)
c2 c2 v=0
and
(Rµ )0 = ( x − x0 , x − x0 )0 = ( x − x0 0 , (x − x0 )0 ) (4.62)
uµ Rµ = uµ Rµ 4 = (uµ )0 (Rµ )0
3 0
= (c, 0) · ( x − x0 0 , −(x − x0 )0 ) = c x − x0 0
(4.63)
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62 R ELATIVISTIC E LECTRODYNAMICS
uν Rν = γcs (4.68)
and
uµ
cuν Rν
= 1 v
cs c2 s
, (4.69)
where in the last step the definition of the four-potential, Equation (4.48) on
page 59, was used. Writing the solution in the ordinary 3D-way, we conclude
that for a very localised charge volume, moving relative an observer with a
velocity v, the scalar and vector potentials are given by the expressions
q0 1 q0 1
φ(t, x) = = (4.71a)
0
4πε0 s 4πε0 |x − x | − β · (x − x0 )
q0 v q0 v
A(t, x) = = (4.71b)
2 2 0
4πε0 c s 4πε0 c |x − x | − β · (x − x0 )
These potentials are called the Liénard-Wiechert potentials.
ck = ai b j − a j bi = ci j = −c ji , i, j 6= k (4.73)
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4.3 C OVARIANT C LASSICAL E LECTRODYNAMICS 63
B = ∇×A (4.76a)
∂A
E = −∇φ − (4.76b)
∂t
In component form, this can be written
∂A j ∂Ai
Bi j = − = ∂i A j − ∂ j Ai (4.77a)
∂xi ∂x j
∂φ ∂Ai
Ei = − i − = −∂i φ − ∂t Ai (4.77b)
∂x ∂t
From this, we notice the clear difference between the axial vector (pseudovector)
B and the polar vector (“ordinary vector”) E.
Our goal is to express the electric and magnetic fields in a tensor form
where the components are functions of the covariant form of the four-potential,
Equation (4.48) on page 59:
Aµ = φ
c
,A (4.78)
Inspection of (4.78) and Equation (4.77) above makes it natural to define the
four-tensor
∂Aν ∂Aµ
F µν = − = ∂µ Aν − ∂ν Aµ (4.79)
∂xµ ∂xν
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64 R ELATIVISTIC E LECTRODYNAMICS
can be written
CEDD
0 −E x /c −Ey /c −Ez /c
4 @AAB E x /c 0 −Bz By
−B x F
µν
3F =
Ey /c Bz 0
(4.80)
Ez /c −By Bx 0
The covariant field tensor is obtained from the contravariant field tensor in the
usual manner by index contraction (index lowering):
∂ν F νµ = µ0 jµ (4.83)
∂F 00 ∂F 10 ∂F 20 ∂F 30
∂x0
+
∂x1
+
∂x2
+
∂x3
= 0+
1
c
∂E x ∂Ey ∂Ez
∂x
+
∂y
+
∂z (4.84)
1
= ∇ · E = µ0 j0 = µ0 cρ
c
or, equivalently,
ρ
∇ · E = µ 0 c2 ρ = (4.85)
ε0
which is the Maxwell source equation for the electric field, Equation (1.43a)
on page 14.
For µ = 1, Equation (4.84) yields
∂F 01 ∂F 11 ∂F 21 ∂F 31 1 ∂E x ∂Bz ∂By
0
+ 1 + 2 + 3 =− 2 +0− + = µ0 j1 = µ0 ρv x (4.86)
∂x ∂x ∂x ∂x c ∂t ∂y ∂z
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4.3 B IBLIOGRAPHY 65
Hence, Equation (4.83) on the facing page and Equation (4.91) above consti-
tute Maxwell’s equations in four-dimensional formalism.
Bibliography
[1] J. A HARONI, The Special Theory of Relativity, second, revised ed., Dover Pub-
lications, Inc., New York, 1985, ISBN 0-486-64870-2.
[4] D. B OHM, The Special Theory of Relativity, Routledge, New York, NY, 1996,
ISBN 0-415-14809-X.
[6] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.
Draft version released 6th March 2002 at 19:18. Downloaded from http://www.plasma.uu.se/CED/Book
66 R ELATIVISTIC E LECTRODYNAMICS
[7] F. E. L OW, Classical Field Theory, John Wiley & Sons, Inc., New York, NY . . . ,
1997, ISBN 0-471-59551-9.
[8] C. M ØLLER, The Theory of Relativity, second ed., Oxford University Press,
Glasgow . . . , 1972.
[9] H. M UIRHEAD, The Special Theory of Relativity, The Macmillan Press Ltd.,
London, Beccles and Colchester, 1973, ISBN 333-12845-1.
[12] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and
London, 1965, ISBN 05-001331-9.
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5
Electromagnetic
Fields and
Particles
67
68 E LECTROMAGNETIC F IELDS AND PARTICLES
Lagrange formalism
Let us no introduce a function L(4) which fulfils the variational principle
τ1
δ L(4) (xµ , uµ ) dτ = 0 (5.1)
τ0
where dτ is the proper time defined via Equation (4.18) on page 53, and the
endpoints are fixed. We shall show that L(4) acts as a kind of generalisation to
the common 3D Lagrangian.
We require that L(4) fulfils the following conditions:
1. The Lagrange function must be invariant. This implies that L(4) must be
a scalar.
2. The Lagrange function must yield linear equations of motion. This im-
plies that L(4) must not contain higher than the second power of the four-
velocity uµ .
According to Formula (M.96) on page 185 the ordinary 3D Lagrangian is
the difference between the kinetic and potential energies. A free particle has
only kinetic energy. If the particle mass is m0 then in 3D the kinetic energy is
m0 v2 /2. This suggests that in 4D the Lagrangian for a free particle should be
1
free
L(4) = m0 uµ uµ (5.2)
2
For an interaction with the electromagnetic field we can introduce the interac-
tion with the help of the four-potential given by Equation (4.78) on page 63 in
the following way
1
L(4) = m0 uµ uµ + quµ Aµ (xν ) (5.3)
2
We call this the four-Lagrangian and shall now show how this function, to-
gether with the variation principle, Formula (5.1) above, yields covariant res-
ults which are physically correct.
The variation principle (5.1) with the 4D Lagrangian (5.3) inserted, leads
to
τ1 τ1
δ L(4) (xµ , uµ ) dτ = δ
m0 µ
.
u u + quµ Aµ / dτ
τ0 τ0 2 µ
τ1 m0 ∂(uµ uµ ) µ
= δu + q Aµ δuµ + uµ ν δxν dτ
∂Aµ
(5.4)
τ0 2 ∂uµ ∂x
+ q Aµ δuµ + uµ ∂ν Aµ δxν 4 dτ = 0
τ1
µ
=
τ0 m0 uµ δu 3
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5.1 C HARGED PARTICLES IN AN E LECTROMAGNETIC F IELD 69
δxµ 4
dx µ
δuµ = δ dτ
=
d
dτ 3
(5.6)
Inserting this into the first two terms in the last integral in Equation (5.4) on
the preceding page, we obtain
τ1
δ L(4) (xµ , uµ ) dτ
τ0
(5.7)
δxµ 4 + qAµ δxµ 4 + quµ ∂ν Aµ δxν dτ
τ1
= m0 uµ
d
dτ 3
d
dτ 3
τ0
Partial integration in the two first terms in the right hand member of (5.7)
gives
τ1
δ L(4) (xµ , uµ ) dτ
τ0
(5.8)
τ1
= −m0
duµ µ
δx − q
dAµ µ
δx + quµ ∂ν Aµ δxν dτ
τ0 dτ dτ
where the integrated parts do not contribute since the variations at the end-
points vanish. A change of irrelevant summation index from µ to ν in the first
two terms of the right hand member of (5.8) yields, after moving the ensuing
common factor δxν outside the partenthesis, the following expression:
τ1
δ L(4) (xµ , uµ ) dτ
τ0
(5.9)
τ1
= −m0
duν
−q
dAν
+ quµ ∂ν Aµ δxν dτ
τ0 dτ dτ
Applying well-known rules of differentiation and the expression (4.37) for
the four-velocity, we can express dAν /dτ as follows:
dAν ∂Aν dxµ
= µ = ∂µ Aν uµ (5.10)
dτ ∂x dτ
By inserting this expression (5.10) into the second term in right-hand member
of Equation (5.9) on the preceding page, and noting the common factor qu µ of
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70 E LECTROMAGNETIC F IELDS AND PARTICLES
the resulting term and the last term, we obtain the final variational principle
expression
τ1
δ L(4) (xµ , uµ ) dτ
τ0
(5.11)
+ quµ ∂ν Aµ − ∂µ Aν 4
τ1
= −m0 du ν
3
ν
δx dτ
τ0 dτ
Since, according to the variational principle, this expression shall vanish and
δxν is arbitrary between the fixed end points τ0 and τ1 , the expression inside
in the integrand in the right hand member of Equation (5.11) above must
vanish. In other words, we have found an equation of motion for a charged
particle in a prescribed electromagnetic field:
= quµ ∂ν Aµ − ∂µ Aν 4
duν
m0
dτ 3 (5.12)
With the help of Equation (4.79) on page 63 we can express this equation in
terms of the electromagnetic field tensor in the following way:
duν
m0 = quµ Fνµ (5.13)
dτ
This is the sought-for covariant equation of motion for a particle in an electro-
magnetic field. It is often referred to as the Minkowski equation. As the reader
can easily verify, the spatial part of this 4-vector equation is the covariant (re-
lativistically correct) expression for the Newton-Lorentz force equation.
Hamiltonian formalism
The usual Hamilton equations for a 3D space are given by Equation (M.101)
on page 185 in Appendix M. These six first-order partial differential equations
are
∂H dqi
= (5.14a)
∂pi dt
∂H dpi
=− (5.14b)
∂qi dt
where H(pi , qi , t) = pi q̇i − L(qi , q̇i , t) is the ordinary 3D Hamiltonian, qi is a
generalised coordinate and pi is its canonically conjugate momentum.
We seek a similar set of equations in 4D space. To this end we introduce a
canonically conjugate four-momentum pµ in an analogous way as the ordinary
3D conjugate momentum:
∂L(4)
pµ = (5.15)
∂uµ
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5.1 C HARGED PARTICLES IN AN E LECTROMAGNETIC F IELD 71
pµ =
∂L(4)
∂uµ
=
∂
∂uµ
1
2
m0 uµ uµ + quµ Aµ (xν ) = m0 uµ + qAµ
(5.19)
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72 E LECTROMAGNETIC F IELDS AND PARTICLES
pµ − qAµ 4
1
uµ =
m0 3
(5.22)
pµ − qAµ 4 pµ − qAµ 4
m0 1 1
H(4) =
2 m0 3 m0 3
− qAµ 4 4
1 µ (5.23)
=
2m0 3p 3 pµ − qAµ
pµ − 2qAµ pµ + q2 Aµ Aµ 4
1 µ
=
2m0 3p
That this four-Hamiltonian yields the correct covariant equation of motion can
be seen by inserting it into the four-dimensional Hamilton’s equations (5.17)
and using the relation (5.22):
∂H(4) q ∂Aν
µ
= − (pν − qAν ) µ
∂x m0 ∂x
q ∂A ν
= − m0 uν µ
m0 ∂x (5.24)
ν ∂Aν
= −qu
∂xµ
dpµ duµ ∂Aµ
=− = −m0 − q ν uν
dτ dτ ∂x
where in the last step Equation (5.19) on the preceding page was used. Re-
arranging terms, and using Equation (4.80) on page 64, we obtain
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5.1 C HARGED PARTICLES IN AN E LECTROMAGNETIC F IELD 73
Inserting these explicit expressions into Equation (5.23) on the facing page,
and using the fact that for H(4) is equal to the scalar value m0 c2 /2, as derived
in Equation (5.21) on the preceding page, we obtain the equation
m0 c2 q2
2
=
1
2m0
2
(p0 )2 − (p)2 − qφp0 + 2q(p · A) + 2 φ2 − q2 (A)2
c c
(5.27)
q2
φp − L (p)2 − 2qpME·N A + q2 (A)2O + 2 φ2 − m20 c2 = 0
2q 0
(p0 )2 −
c c
(5.28)
(p−qA)2
L = p·v−H (5.31)
Using the explicit expressions (Equation (5.30) on the preceding page) and
(Equation (5.31) on the previous page), we obtain the explicit expression for
the ordinary 3D Lagrange function
K
L = p · v − qφ − c (p − qA)2 + m20 c2 (5.32)
p − qA = K m0 v
= mv (5.33)
v2
1− c2
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74 E LECTROMAGNETIC F IELDS AND PARTICLES
where the quantity mv is the usual kinetic momentum, we can rewrite this ex-
pression for the ordinary Lagrangian as follows:
K
L = qA · v + mv2 − qφ − c m2 v2 + m20 c2
(5.34)
v2
= mv2 − q(φ − A · v) − mc2 = −qφ + qA · v − m0 c2 1 −
c2
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5.2 C OVARIANT F IELD T HEORY 75
ηi−1 ηi ηi+1
m m m m m
k k k k
a a a a x
1 N
2∑ mη̇i − k(ηi+1 − ηi )
2 2
L= (5.36)
i=1
Here,
2
P i = η̇ − ka . ηi+1a− ηi /
1 m 2
2 a i
(5.38)
is the so called linear Lagrange density. If we now let N → ∞ and, at the same
time, let the springs become infinitesimally short according to the following
scheme:
a → dx (5.39a)
m dm
→ =µ linear mass density (5.39b)
a dx
ka → Y Young’s modulus (5.39c)
ηi+1 − ηi ∂η
→ (5.39d)
a ∂x
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76 E LECTROMAGNETIC F IELDS AND PARTICLES
we obtain
L= P dx (5.40)
where
2 2 I
P η, , , t = H µ
∂η ∂η
∂t ∂x
1
2
∂η
∂t
−Y ∂η
∂x
(5.41)
Notice how we made a transition from a discrete description, in which the mass
points were identified by a discrete integer variable i = 1, 2, . . . , N, to a continu-
ous description, where the infinitesimal mass points were instead identified by
a continuous real parameter x, namely their position along x̂.
A consequence of this transition is that the number of degrees of freedom
for the system went from the finite number N to infinity! Another consequence
is that P has now become dependent also on the partial derivative with respect
to x of the “field coordinate” η. But, as we shall see, the transition is well
worth the price because it allows us to treat all fields, be it classical scalar
or vectorial fields, or wave functions, spinors and other fields that appear in
quantum physics, on an equal footing.
Under the assumption of time independence and fixed endpoints, the vari-
ation principle (5.35) on the previous page yields:
δ L dt
=δ P η,
∂η ∂η
∂t ∂x
, dx dt
Q
(5.42)
∂P ∂P ∂P
δ δ
∂η ∂η
∂t ∂x
UV
= δη + + dx dt
QSRT ∂η ∂ . ∂t /
∂η
∂ . ∂x /
∂η
=0
The last integral can be integrated by parts. This results in the expression
C C
∂P ∂P F ∂P F
−
∂
B@ −
∂
B@ UV δη dx dt = 0 (5.43)
QSRT ∂η ∂t ∂. ∂η
∂t / ∂x ∂. ∂η
∂x /
where the variation is arbitrary (and the endpoints fixed). This means that the
integrand itself must vanish. If we introduce the functional derivative
C
δP ∂P ∂P F
= −
∂
B@ (5.44)
δη ∂η ∂x ∂. ∂η
∂x /
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5.2 C OVARIANT F IELD T HEORY 77
∂2 ∂2 µ ∂2 ∂2
µ
∂t2
η − Y
∂x2
η= Y ∂t2 ∂x2
− η=0 (5.46)
i.e., the one-dimensional wave equation for compression waves which propag-
√
ate with phase speed vφ = Y/µ along the linear structure.
A generalisation of the above 1D results to a three-dimensional continuum
is straightforward. For this 3D case we get the variational principle
δ L dt = δ P d3x dt
W
=δ P η,
∂η
∂xµ
d4x
C (5.47)
∂P ∂P F
= −
∂
B@ UV
4
δη d x
Q RT ∂η ∂xµ ∂. ∂η
∂xµ /
=0
where the variation δη is arbitrary and the endpoints are fixed. This means that
the integrand itself must vanish:
C
∂P ∂P F
∂
− µ B@ =0 (5.48)
∂η ∂x ∂. ∂η
∂xµ /
This constitutes the four-dimensional Euler-Lagrange equations.
Introducing the three-dimensional functional derivative
C
δP ∂P ∂P F
= −
∂
B@ (5.49)
δη ∂η ∂xi ∂. ∂η
∂xi /
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78 E LECTROMAGNETIC F IELDS AND PARTICLES
∂P
π(xµ ) = π(t, x) = (5.51)
∂. ∂η
∂t /
and define the Hamilton density
X ∂η
;t = π − P
∂η
∂η ∂η
∂x ∂t ∂xi
π, η, i
η, , (5.52)
∂t
If, as usual, we differentiate this expression and identify terms, we obtain the
following Hamilton density equations
∂
X ∂η
= (5.53a)
δ
X
∂π ∂t
∂π
=− (5.53b)
δη ∂t
The Hamilton density functions are in many ways similar to the ordinary
Hamilton functions and lead to similar results.
P tot
=P mech
+P inter
+P field
(5.54)
where the mechanical part has to do with the particle motion (kinetic energy).
It is given by L(4) /V where L(4) is given by Equation (5.2) on page 68 and V is
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5.2 C OVARIANT F IELD T HEORY 79
the volume. Expressed in the rest mass density %0 , the mechanical Lagrange
density can be written
P mech 1
= %0 uµ uµ
2
(5.55)
The P inter part which describes the interaction between the charged particles
and the external electromagnetic field. A convenient expression for this inter-
action Lagrange density is
P inter
= jµ Aµ (5.56)
For the field part P field we choose the difference between magnetic and
electric energy density (in analogy with the difference between kinetic and
potential energy in a mechanical field). Using the field tensor, we express this
field Lagrange density as
P field
=
1 µν
4µ0
F Fµν (5.57)
P tot 1
= %0 uµ uµ + jµ Aµ +
2
1 µν
4µ0
F Fµν (5.58)
i.e., the difference between the magnetic and electric field energy densities.
From Formula (4.80) on page 64 we recall that
0 −E x /c −E y /c −E z /c
F
µν
= ""#
E x /c 0 −Bz By
*& ( (5.60)
E y /c
E z /c
Bz
−By
0
Bx
−B x
0
(
and from Formula (4.82) on page 64 that
0 E x /c E y /c E z /c
Fµν = ""#
−E x /c 0 −Bz By
*& ( (5.61)
−E y /c
−E z /c
Bz
−By
0
Bx
−B x
0
(
where µ denotes the row number and ν the column number. Then, Einstein summation
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80 E LECTROMAGNETIC F IELDS AND PARTICLES
F µν F µν = F 00 F 00 + F 01 F 01 + F 02 F 02 + F 03 F 03
+ F 10 F 10 + F 11 F 11 + F 12 F 12 + F 13 F 13
+ F 20 F 20 + F 21 F 21 + F 22 F 22 + F 23 F 23
+ F 30 F 30 + F 31 F 31 + F 32 F 32 + F 33 F 33
= 0 − E 2x /c2 − E y2 /c2 − E z2 /c2
(5.62)
− E 2x /c2 + 0 + B2z + B2y
− E y2 /c2 + B2z + 0 + B2x
− E z2 /c2 + B2y + B2x + 0
= −2E 2x /c2 − 2E y2 /c2 − 2E z2 /c2 + 2B2x + 2B2y + 2B2z
= −2E 2 /c2 + 2B2 = 2(B2 − E 2 /c2 )
or
B2 B2
1 µν
4µ0
F F µν =
1
2
−
1 2
µ0 c 2 µ0
E
=
1
2
µ0
− ε0 E 2
(5.63)
where, in the last step, the identity ε0 µ0 = 1/c2 was used. QED
E ND OF EXAMPLE 5.1C
P EM
=P inter
+P field
= jν Aν +
1 µν
4µ0
F Fµν (5.64)
inserted into the Euler-Lagrange equations, expression (5.48) on page 77, yields
two of Maxwell’s equations. To see this, we note from Equation (5.64) above
and the results in Example 5.1 that
∂P EM
= jν (5.65)
∂Aν
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5.2 C OVARIANT F IELD T HEORY 81
Furthermore,
∂P EM
∂(∂ ∂µ F κλ Fκλ 4
1 ∂
A )
∂(∂µ Aν ) 3
∂µ =
µ ν 4µ0
∂µ (∂κ Aλ − ∂λ Aκ )(∂κ Aλ − ∂λ Aκ )
1 ∂
∂(∂µ Aν )
=
4µ0
=
1
4µ0
∂µ
∂
∂(∂µ Aν )
∂κ Aλ ∂κ Aλ − ∂κ Aλ ∂λ Aκ (5.66)
− ∂λ Aκ ∂κ Aλ + ∂λ Aκ ∂λ Aκ
'
∂µ ∂κ Aλ ∂κ Aλ − ∂κ Aλ ∂λ Aκ 4
1 ∂
∂(∂µ Aν ) 3
=
2µ0
But
∂κ Aλ ∂κ Aλ 4 = ∂κ Aλ
∂ ∂ ∂
∂κ Aλ
∂(∂µ Aν ) 3
∂κ Aλ + ∂κ Aλ
∂(∂µ Aν ) ∂(∂µ Aν )
∂ ∂
= ∂κ Aλ ∂κ Aλ + ∂κ Aλ gκα ∂α gλβ Aβ
∂(∂µ Aν ) ∂(∂µ Aν )
∂ ∂
= ∂κ Aλ ∂κ Aλ + gκα gλβ ∂κ Aλ ∂α Aβ (5.67)
∂(∂µ Aν ) ∂(∂µ Aν )
∂ ∂
= ∂κ Aλ ∂κ Aλ + ∂α Aβ ∂α Aβ
∂(∂µ Aν ) ∂(∂µ Aν )
= 2∂µ Aν
Similarly,
∂κ Aλ ∂λ Aκ 4 = 2∂ν Aµ
∂
∂(∂µ Aν ) 3
(5.68)
so that
∂P EM
∂(∂ ∂µ ∂µ Aν − ∂ν Aµ 4 = ∂µ F µν
1 1
A )
µ0 3
∂µ = (5.69)
µ ν µ0
This means that the Euler-Lagrange equations, expression (5.48) on page 77,
for the Lagrangian density P EM and with Aν as the field quantity become
∂P EM ∂P EM
∂Aν
− ∂µ ∂(∂ A )
= jν −
1
µ0
∂µ F µν = 0 (5.70)
µ ν
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82 E LECTROMAGNETIC F IELDS AND PARTICLES
or
∂µ F µν = µ0 jν (5.71)
Other fields
In general, the dynamic equations for most any fields, and not only electro-
magnetic ones, can be derived from a Lagrangian density together with a vari-
ational principle (the Euler-Lagrange equations). Both linear and non-linear
fields are studied with this technique. As a simple example, consider a real,
scalar field η which has the following Lagrange density:
P ∂µ η∂µ η − m2 η2 4
1
23
= (5.72)
(
5 2
− m2 )η = 0 (5.73)
e−m|x|
η = ei(k·x−ωt) (5.74)
|x|
which describes the Yukawa meson field for a scalar meson with mass m. With
1 ∂η
π= (5.75)
c2 ∂t
we obtain the Hamilton density
X c π + (∇η)2 + m2 η2
1 2 2
2
= (5.76)
P EM
=P inter
+P field
= jν Aν +
1 µν
4µ0
F Fµν + m2 Aµ Aµ (5.77)
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5.2 B IBLIOGRAPHY 83
∂µ F µν + m2 Aν = µ0 jν (5.78)
Bibliography
[1] A. O. BARUT, Electrodynamics and Classical Theory of Fields and Particles,
Dover Publications, Inc., New York, NY, 1980, ISBN 0-486-64038-8.
[5] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.
[8] D. E. S OPER, Classical Field Theory, John Wiley & Sons, Inc., New York, Lon-
don, Sydney and Toronto, 1976, ISBN 0-471-81368-0.
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84 E LECTROMAGNETIC F IELDS AND PARTICLES
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6
Electromagnetic
Fields and
Matter
The microscopic Maxwell equations (1.43) derived in Chapter 1 are valid on all
scales where a classical description is good. However, when macroscopic mat-
ter is present, it is sometimes convenient to use the corresponding macroscopic
Maxwell equations (in a statistical sense) in which auxiliary, derived fields are
introduced in order to incorporate effects of macroscopic matter when this is
immersed fully or partially in an electromagnetic field.
where the ρ is the charge density introduced in Equation (1.7) on page 4, the
electric dipole moment vector
85
86 E LECTROMAGNETIC F IELDS AND M ATTER
φstat (x) =
1
q
+
1
4πε0 |x − x0 | |x − x0 | 2
pi
(x − x0 )i
|x − x0 |
(6.4)
3 (x − x0 )i (x − x0 ) j 1
+
1
Qi j 2 |x − x0 | |x − x0 | 2
− δi j + . . .
|x − x0 |3
x − x0 3 0
P(x0 ) · ∇
1 1 1
P(x0 ) · d3x0
|x − x0 |
φp (x) = d x =−
4πε0 V
0
|x − x | 3 4πε0 V
P(x0 ) · ∇0
1 1
d3x0
|x − x0 |
=
4πε0 V
(6.5)
Using the expression Equation (M.83) on page 182 and applying the diver-
gence theorem, we can rewrite this expression for the potential as follows:
P(x0 ) ∇0 · P(x0 ) 3 0
φp (x) =
1
∇0 ·
|x − x0 |
d 3 0
x − dx
4πε0 V V |x − x0 | (6.6)
0 0 0
=
1
P(x ) · n̂ 2
d x−
∇ · P(x ) 3 0
dx
4πε0 S |x − x 0|
V |x − x0 |
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6.1 E LECTRIC P OLARISATION AND D ISPLACEMENT 87
where the first term, which describes the effects of the induced, non-cancelling
dipole moment on the surface of the volume, can be neglected, unless there is
a discontinuity in P · n̂ at the surface. Doing so, we find that the contribution
from the electric dipole moments to the potential is given by
1 −∇0 · P(x0 ) 3 0
φp = dx (6.7)
4πε0 V |x − x0 |
Comparing this expression with expression Equation (3.3) on page 35 for the
electrostatic potential from a static charge distribution ρ, we see that −∇ · P(x)
has the characteristics of a charge density and that, to the lowest order, the
effective charge density becomes ρ(x) − ∇ · P(x), in which the second term is a
polarisation term.
The version of Equation (1.7) on page 4 where “true” and polarisation
charges are separated thus becomes
ρ(x) − ∇ · P(x)
∇·E = (6.8)
ε0
Rewriting this equation, and at the same time introducing the electric displace-
ment vector (C/m2 )
D = ε0 E + P (6.9)
we obtain
where ρtrue is the “true” charge density in the medium. This is one of Max-
well’s equations and is valid also for time varying fields. By introducing the
notation ρpol = −∇ · P for the “polarised” charge density in the medium, and
ρtotal = ρtrue + ρpol for the “total” charge density, we can write down the follow-
ing alternative version of Maxwell’s equation (6.23a) on page 90
ρtotal (x)
∇·E = (6.11)
ε0
Often, for low enough field strengths |E|, the linear and isotropic relation-
ship between P and E
P = ε0 χE (6.12)
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88 E LECTROMAGNETIC F IELDS AND M ATTER
D = εE (6.13)
where, approximately,
ε = ε0 (1 + χ) (6.14)
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6.2 M AGNETISATION AND THE M AGNETISING F IELD 89
volume, M. Via the definition of the vector potential one can show that the
magnetisation current and the magnetisation is simply related:
jM = ∇ × M (6.16)
∂P
jtotal = jtrue + +∇×M (6.17)
∂t
We might then, erroneously, be led to think that
∇ × B = µ0 jtrue +
∂P
+∇×M
∂t (6.18)
Moving the term ∇ × M to the left hand side and introducing the magnetising
field (magnetic field intensity, Ampère-turn density) as
B
H= −M (6.19)
µ0
and using the definition for D, Equation (6.9) on page 87, we can write this
incorrect equation in the following form
∂P ∂D ∂E
∇ × H = jtrue + = jtrue + − ε0 (6.20)
∂t ∂t ∂t
As we see, in this simplistic view, we would pick up a term which makes
the equation inconsistent; the divergence of the left hand side vanishes while
the divergence of the right hand side does not. Maxwell realised this and to
overcome this inconsistency he was forced to add his famous displacement
current term which precisely compensates for the last term in the right hand
side. In Chapter 1, we discussed an alternative way, based on the postulate of
conservation of electric charge, to introduce the displacement current.
We may, in analogy with the electric case, introduce a magnetic susceptib-
ility for the medium. Denoting it χm , we can write
B
H= (6.21)
µ
where, approximately,
µ = µ0 (1 + χm ) (6.22)
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90 E LECTROMAGNETIC F IELDS AND M ATTER
∇ · D = ρ(t, x) (6.23a)
∇·B = 0 (6.23b)
∂B
∇×E = − (6.23c)
∂t
∂
∇ × H = j(t, x) + D (6.23d)
∂t
and are called Maxwell’s macroscopic equations. These equations are conveni-
ent to use in certain simple cases. Together with the boundary conditions and
the constitutive relations, they describe uniquely (but only approximately!) the
properties of the electric and magnetic fields in matter.
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6.3 E NERGY AND M OMENTUM 91
j2 3 0 ∂ 1
j · EEMF d3x0 = dx + (E · D + H · B) d3x0 + (E × H) · n̂d2x0
L V MEN O L V MEN O ∂t L
σ V 2 MEN O L S MYN O
Applied electric power Joule heat Field energy Radiated power
(6.28)
where U e is the electric field energy, U m is the magnetic field energy, both
measured in J, and S is the Poynting vector (power flux), measured in W/m2 .
ρE + j × B = (∇ · D)E + ∇ × H −
∂D
∂t
×B
∂D
= E(∇ · D) + (∇ × H) × B − ×B
∂t
= E(∇ · D) − B × (∇ × H)
∂ ∂B
− (D × B) + D ×
∂t ∂t (6.32)
= E(∇ · D) − B × (∇ × H)
∂
− (D × B) − D × (∇ × E) + H(∇
∂t
L ME·N BO )
=0
= [E(∇ · D) − D × (∇ × E)] + [H(∇ · B) − B × (∇ × H)]
∂
− (D × B)
∂t
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92 E LECTROMAGNETIC F IELDS AND M ATTER
One verifies easily that the ith vector components of the two terms in
square brackets in the right hand member of (6.32) can be expressed as
[E(∇ · D) − D × (∇ × E)]i =
1
2
E·
∂D
∂xi
−D·
∂E
∂xi
+
∂
∂x j
1
E i D j − E · D δi j
2
(6.33)
and
respectively.
Using these two expressions in the ith component of Equation (6.32) on
the previous page and re-shuffling terms, we get
(ρE + j × B)i −
1
2
Z ∂D
E·
∂xi
−D·
∂E
∂xi
+ H·
∂B
∂xi
−B·
∂H
∂xi [
∂
+ (D × B)i
∂t
=
∂
∂x j
1 1
E i D j − E · D δ i j + Hi B j − H · B δ i j
2 2
(6.35)
Introducing the electric volume force Fev via its ith component
(6.36)
Fev + ∂t∂ (D × B)
=
∂T i j
∂x j
= (∇ · T)i (6.38)
i
D = κε0 E = εE (6.39)
B = κm µ0 H = µH (6.40)
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6.3 B IBLIOGRAPHY 93
= Fev + 2
∂T i j κκm ∂S
c ∂t
(6.41)
∂x j i
where S is the Poynting vector defined in Equation (6.29) on page 91. Integra-
tion over the entire volume V yields
d κκm 3 0
Fev d3x0 + Sd x = T n̂ d2x0 (6.42)
L V MEN O dt L V c2MEN O L S MEN O
Force on the matter Field momentum Maxwell stress
which expresses the balance between the force on the matter, the rate of change
of the electromagnetic field momentum and the Maxwell stress. This equation
is called the momentum theorem in Maxwell’s theory.
In vacuum (6.42) becomes
1 d
ρ(E + v × B) d3x0 + S d3x0 = T n̂ d2x0 (6.43)
V c2 dt V S
or
d mech d field
p + p = T n̂ d2x0 (6.44)
dt dt S
Bibliography
[1] E. H ALLÉN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962.
[2] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.
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94 E LECTROMAGNETIC F IELDS AND M ATTER
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7
Electromagnetic
Fields from
Arbitrary Source
Distributions
While, in principle, the electric and magnetic fields can be calculated from the
Maxwell equations in Chapter 1, or even from the wave equations in Chapter 2,
it is often physically more lucid to calculate them from the electromagnetic
potentials derived in Chapter 3. In this chapter we will derive the electric and
magnetic fields from the potentials.
We recall that in order to find the solution (3.35) for the generic inhomo-
geneous wave equation (3.19) on page 41 we presupposed the existence of a
Fourier transform pair (3.20a) on page 41 for the generic source term
∞
Ψ(t, x) = Ψω (x) e−iωt dω (7.1a)
−∞
∞
1
Ψω (x) = Ψ(t, x) eiωt dt (7.1b)
2π −∞
That such transform pairs exists is true for most physical variables which are
neither strictly monotonically increasing nor strictly monotonically decreasing
with time. For charge and current densities varying in time we can therefore,
without loss of generality, work with individual Fourier components ρw (x) and
jw (x), respectively. Strictly speaking, the existence of a single Fourier compon-
ent assumes a monochromatic source (i.e., a source containing only one single
frequency component), which in turn requires that the electric and magnetic
fields exist for infinitely long times. However, by taking the proper limits, we
may still use this approach even for sources and fields of finite duration.
This is the method we shall utilise in this chapter in order to derive the
electric and magnetic fields in vacuum from arbitrary given charge densities
ρ(t, x) and current densities j(t, x), defined by the temporal Fourier transform
95
96 E LECTROMAGNETIC F IELDS AND M ATTER
pairs
∞
ρ(t, x) = ρω (x) e−iωt dω (7.2a)
−∞
∞
1
ρω (x) = ρ(t, x) eiωt dt (7.2b)
2π −∞
and
∞
j(t, x) = jω (x) e−iωt dω (7.3a)
−∞
∞
1
jω (x) = j(t, x) eiωt dt (7.3b)
2π −∞
under the assumption that only retarded potentials produce physically accept-
able solutions.1
The temporal Fourier transform pair for the retarded scalar potential can
then be written
∞
φ(t, x) = φω (x) e−iωt dω (7.4a)
−∞
0
1 ∞ 1 eik|x−x | 3 0
φω (x) = φ(t, x) eiωt dt = ρω (x0 ) dx (7.4b)
2π −∞ 4πε0 |x − x0 |
where in the last step, we made use of the explicit expression for the temporal
Fourier transform of the generic potential component Ψω (x), Equation (3.32)
on page 43. Similarly, the following Fourier transform pair for the vector po-
tential must exist:
∞
A(t, x) = Aω (x) e−iωt dω (7.5a)
−∞
0
1 ∞ µ0 eik|x−x | 3 0
Aω (x) = A(t, x) eiωt dt = jω (x0 ) dx (7.5b)
2π −∞ 4π |x − x0 |
in order that all physical quantities be real. Similar transform pairs and re-
quirements of real-valuedness exist for the fields themselves.
1 Infact, John A. Wheeler and Richard P. Feynman derived in 1945 a fully self-consistent
electrodynamics using both the retarded and the advanced potentials [6]; See also [1].
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7.1 T HE M AGNETIC F IELD 97
k
∇ · Aω − i φω = 0 (7.9)
c
which provides a relation between (the Fourier transforms of) the vector and
scalar potentials.
Using the Fourier transformed version of Equation (7.8) above and Equa-
tion (7.5b) on the facing page, we obtain
0
µ0 0 eik|x−x | 3 0
Bω (x) = ∇ × Aω (x) = ∇ × jω (x ) dx (7.10)
4π V |x − x0 |
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98 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS
Bω (x) = −
4π V
x − x0
=− jω (x0 ) × −
µ0 0
3
eik|x−x | d3x0
4π V |x − x |0
x − x0 ik|x−x0 |
+ jω (x0 ) × ik
1 3 0
V |x − x |0
e
|x − x0 | d x
(7.11)
0 ik|x−x | × (x − x0 )0
=
µ0
jω (x )e d3x0
4π V |x − x0 |3
0
(−ik)jω(x0 )eik|x−x | × (x − x0 ) 3 0
+
V |x − x0 |2
dx
From this expression for the magnetic field in the frequency (ω) domain,
we obtain the total magnetic field in the temporal (t) domain by taking the
inverse Fourier transform (using the identity −ik = −iω/c):
∞
B(t, x) = Bω (x) e−iωt dω
−∞
jω (x0 )ei(k|x−x |−ωt) dω × (x − x0 )
0
=
µ0
d3x0
4π V |x − x0 |3
(−iω)jω (x0 )ei(k|x−x |−ωt) dω × (x − x0 )
0
1 (7.12)
d3x0
+
c V |x − x0 |2
µ0 0 , x0 ) × (x − x0 )
j(tret µ0 0 , x0 ) × (x − x0 )
j̇(tret
= d3x0 + d3x0
L 4π V |xMY−N x |
03 4πc O L V |xMY−
N x|02
O
Induction field Radiation field
where
0
j̇(tret , x0 ) ≡
def
∂j
∂t 0
(7.13)
t=tret
The first term, the induction field, dominates near the current source but falls
off rapidly with distance from it, is the electrodynamic version of the Biot-
Savart law in electrostatics, Formula (1.13) on page 6. The second term, the
radiation field or the far field, dominates at large distances and represents en-
ergy that is transported out to infinity. Note how the spatial derivatives (∇)
gave rise to a time derivative (˙)!
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7.2 T HE E LECTRIC F IELD 99
V |x − x0 |
i
ρω (x0 ) = − ∇0 · jω (x0 ) (7.16)
ω
Doing so in the last term of Equation (7.14) above, and also using the fact that
k = ω/c, we can rewrite this Equation as
0
ρω (x0 )eik|x−x | (x − x0 ) 3 0
Eω (x) =
1
dx
4πε0 V |x − x0 |3
0
[∇0 · jω (x0 )](x − x0 ) eik|x−x | 3 0
−
1
c L
0
− ikjω (x )
|x − x0 | d xO
(7.17)
V |x − x0 | MEN
Iω
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100 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS
But, since
xl − xl0 ik|x−x0 | ∂ jωm xl − xl0 ik|x−x0 |
∂
jωm e
= 0
e
0
∂xm |x − x0 |2 ∂xm |x − x0 |2
(7.19)
xl − xl0 ik|x−x0 |
+ jωm 0
∂
∂xm |x − x0 |2
e
we can rewrite Iω as
0
xl − xl0 eik|x−x | 3 0
Iω = − jωm
∂
x̂ e ik|x−x0 |
+ ikj
|x − x0 |
dx
V
0
∂xm |x − x0 | 2 l ω
(7.20)
xl − xl0
+
∂
jωm
0
x̂ eik|x−x | d3x0
V
0
∂xm 0
|x − x | 2 l
V 0
|x − x | 2 0
|x − x |
jω · (x − x0 ) (x − x0 )
0 (7.21)
− ik|x−x0 | eik|x−x |
− ik d3x0
|x − x0 | ]
e + jω
V\ |x − x0 |3
Using the triple product “bac-cab” Formula (F.51) on page 164 backwards, and
inserting the resulting expression for Iω into Equation (7.17) on the previous
page, we arrive at the following final expression for the Fourier transform of
the total E field:
0 0
1 eik|x−x | 3 0 iµ0 ω eik|x−x | 3 0
Eω (x) = − ∇ ρω (x0 ) dx + jω (x ) 0
dx
4πε0 V |x − x0 | 4π V |x − x0 |
0 ik|x−x 0| 0
=
1
ρω (x )e 0 3(x − x ) d3x0
4πε0 V |x − x |
0
1 [jω (x0 )eik|x−x | · (x − x0 )](x − x0 ) 3 0
+ dx (7.22)
c V |x − x0 |4
0
1 [jω (x0 )eik|x−x | × (x − x0 )] × (x − x0 ) 3 0
+ dx
c V |x − x0 |4
0
ik [jω (x0 )eik|x−x | × (x − x0 )] × (x − x0 ) 3 0
−
c V |x − x0 |3
dx
Taking the inverse Fourier transform of Equation (7.22), once again using
the vacuum relation ω = kc, we find, at last, the expression in time domain for
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7.3 T HE R ADIATION F IELDS 101
∞
E(t, x) = Eω (x) e−iωt dω
−∞
0 , x0 )(x − x0 )
1 ρ(tret
= d3x0
L 4πε0 V |xMEN − x0 |3 O
Retarded Coulomb field
1 0 , x0 ) · (x − x0 )](x − x0 )
[j(tret
+ d3x0
L 0c
4πε V MY|xN − x |
0 4
O
(7.23)
Intermediate field
1 0 , x0 ) × (x − x0 )] × (x − x0 )
[j(tret
+ d3x0
L 4πε0 c V MEN
|x − x 0 |4
O
Intermediate field
1 0 , x0 ) × (x − x0 )] × (x − x0 )
[j̇(tret
+ d3x0
L 4πε0 c2 V MYN
|x − x 0 |3
O
Radiation field
Here, the first term represents the retarded Coulomb field and the last term
represents the radiation field which carries energy over very large distances.
The other two terms represent an intermediate field which contributes only in
the near zone and must be taken into account there.
With this we have achieved our goal of finding closed-form analytic ex-
pressions for the electric and magnetic fields when the sources of the fields
are completely arbitrary, prescribed distributions of charges and currents. The
only assumption made is that the advanced potentials have been discarded;
recall the discussion following Equation (3.35) on page 43 in Chapter 3.
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102 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS
Instead of studying the fields in the time domain, we can often make a
spectrum analysis into the frequency domain and study each Fourier compon-
ent separately. A superposition of all these components and a transformation
back to the time domain will then yield the complete solution.
The Fourier representation of the radiation fields Equation (7.24a) and
Equation (7.24b) above were included in Equation (7.11) on page 98 and Equa-
tion (7.22) on page 100, respectively and are explicitly given by
1 ∞ rad
Brad
ω (x) = B (t, x) eiωt dt
2π −∞
kµ0 jω (x0 ) × (x − x0 ) ik|x−x0 | 3 0
= −i e dx (7.26a)
4π V |x − x0 |2
µ0 jω (x0 ) × k ik|x−x0 | 3 0
= −i e dx
4π V |x − x0 |
1 ∞ rad
Erad
ω (x) = E (t, x) eiωt dt
2π −∞
k [jω (x0 ) × (x − x0 )] × (x − x0 ) ik|x−x0 | 3 0
= −i e dx
4πε0 c V
(7.26b)
|x − x0 |3
1 [jω (x0 ) × k] × (x − x0 ) ik|x−x0 | 3 0
= −i e dx
4πε0 c V |x − x0 |2
where we used the fact that k = k k̂ = k(x − x0 )/ |x − x‘|.
If the source is located inside a volume V near x0 and has such a lim-
ited spatial extent that max |x0 − x0 | |x − x0 |, and the integration surface S ,
centred on x0 , has a large enough radius |x − x0 | max |x0 − x0 |, we see from
Figure 7.1 on the facing page that we can approximate
k x − x0 ≡ k · (x − x0 ) ≡ k · (x − x0 ) − k · (x0 − x0 )
(7.27)
≈ k |x − x0 | − k · (x0 − x0 )
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7.3 T HE R ADIATION F IELDS 103
dS = n̂d2x
x − x0
k̂ x − x0 x0
x0 − x 0
x x0
V
F IGURE 7.1: Relation between the surface normal and the k vector for
radiation generated at source points x0 near the point x0 in the source
volume V. At distances much larger than the extent of V, the unit vector
n̂, normal to the surface S which has its centre at x0 , and the unit vector
k̂ of the radiation k vector from x0 are nearly coincident.
Recalling from Formula (F.45) and Formula (F.46) on page 164 that
dS = |x − x0 |2 dΩ = |x − x0 |2 sin θ dθ dϕ
and noting from Figure 7.1 that k̂ and n̂ are nearly parallel, we see that we can
approximate.
k̂ · dS k̂ · n̂
2
= dS ≈ dΩ (7.28)
|x − x0 | |x − x0 |2
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104 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS
Using the far-field approximations (7.29a) and (7.29b) and the fact that 1/c =
√ √
ε0 µ0 and R0 = µ0 /ε0 according to the definition (2.18) on page 26, we ob-
tain
2
hSi =
1
R0
1 (jω × k)e −ik·(x0 −x0 ) 3 0
dx x − x0
(7.31)
32π2 |x − x0 |2 V |x − x0 |
2
R0
dP 1 −ik·(x0 −x0 ) 3 0
= (jω × k)e dx (7.32)
dΩ 32π 2
V
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7.4 R ADIATED E NERGY 105
over the whole bandwidth. The total energy transmitted through a unit area is
the time integral of the Poynting vector:
∞ ∞
S(t) dt = (E × H) dt
−∞ −∞
∞ ∞ ∞ (7.33)
0
= dω dω0 (Eω × Hω0 )e−i(ω+ω )t dt
−∞ −∞ −∞
If we carry out the temporal integration first and use the fact that
∞ 0
e−i(ω+ω )t dt = 2πδ(ω + ω0 ) (7.34)
−∞
Equation (7.33) can be written [cf. Parseval’s identity]
∞ ∞
S(t) dt = 2π (Eω × H−ω ) dω
−∞ −∞
∞ 0
= 2π (Eω × H−ω ) dω + (Eω × H−ω ) dω
0 −∞
∞ −∞
= 2π (Eω × H−ω ) dω − (Eω × H−ω ) dω
0 0
(7.35)
∞ ∞
= 2π (Eω × H−ω ) dω + (E−ω × Hω ) dω
0 0
2π ∞
= (Eω × B−ω + E−ω × Bω ) dω
µ0 0
2π ∞
= (Eω × B∗ω + E∗ω × Bω ) dω
µ0 0
where the last step follows from the real-valuedness of Eω and Bω . We in-
sert the Fourier transforms of the field components which dominate at large
distances, i.e., the radiation fields (7.26a) and (7.26b). The result, after integ-
ration over the area S of a large sphere which encloses the source, is
1 µ0 ∞
jω × k ik|x−x0 | 3 0 2
d x k̂ · n̂dS dω
4π
U= e (7.36)
ε0 S 0 V |x − x0 |
Inserting the approximations (7.27) and (7.28) into Equation (7.36) above
and also introducing
∞
U= Uω dω (7.37)
0
and recalling the definition (2.18) on page 26 for the vacuum resistance R 0 we
obtain
2
dω ≈ R0
dUω 1 −ik·(x0 −x0 ) 3 0
(jω × k)e dx dω (7.38)
dΩ 4π V
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106 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS
Bibliography
[1] F. H OYLE , S IR AND J. V. NARLIKAR, Lectures on Cosmology and Action at a
Distance Electrodynamics, World Scientific Publishing Co. Pte. Ltd, Singapore,
New Jersey, London and Hong Kong, 1996, ISBN 9810-02-2573-3(pbk).
[2] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.
[3] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.
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8
Electromagnetic
Radiation and
Radiating
Systems
In Chapter 3 we were able to derive general expressions for the scalar and vec-
tor potentials from which we then, in Chapter 7, calculated the total electric
and magnetic fields from arbitrary distributions of charge and current sources.
The only limitation in the calculation of the fields was that the advanced po-
tentials were discarded.
Thus, one can, at least in principle, calculate the radiated fields, Poynting
flux and energy for an arbitrary current density Fourier component and then
add these Fourier components together to construct the complete electromag-
netic field at any time at any point in space. However, in practice, it is often
difficult to evaluate the source integrals unless the current has a simple distri-
bution in space. In the general case, one has to resort to approximations. We
shall consider both these situations.
107
108 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
− L2 L
2
F IGURE 8.1: A linear antenna used for transmission. The current in the
feeder and the antenna wire is set up by the EMF of the generator (the
transmitter). At the ends of the wire, the current is reflected back with a
180◦ phase shift to produce a antenna current in the form of a standing
wave.
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8.1 R ADIATION FROM E XTENDED S OURCES 109
r̂
x3 = z ϕ̂
x
L
2
θ̂
θ
k̂
jω (x0 )
x2
x1
− L2
−L/2
I0
sin(kL/2)
2
k2 sin2 θ ikx0 cos θ 2 L/2
= I02
sin2 (kL/2)
e 2 0
sin[k(L/2 − x30 )] cos(kx30 cos θ) dx30
2
= 4I02 cos[(kL/2) cosθ] − cos(kL/2)
sin θ sin(kL/2)
(8.2)
Inserting this expression and dΩ = 2π sin θ dθ into Formula (7.32) on page 104
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110 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
and integrating over θ, we find that the total radiated power from the antenna
is
π 2
P(L) = R0 I02
1
4π
cos[(kL/2) cosθ] − cos(kL/2)
sin θ sin(kL/2) sin θ dθ (8.3)
0
kL→0
lim P(L) =
π
12
Lλ R0 I02 (8.4)
1 1 1 + cos(πu)
= du
2 −1 (1 + u)(1 − u)
1 1 1 + cos(πu) 1 1 1 + cos(πu) (8.7)
= du + du
4 −1 (1 + u) 4 −1 (1 − u)
1 1 1 + cos(πu)
du = 7 1 + u → 8
v
=
2 −1 (1 + u) π
1 2π 1 − cos v 1
= dv = [γ + ln 2π − Ci(2π)]
2 0 v 2
≈ 1.22
where in the last step the Euler-Mascheroni constant γ = 0.5772 . . . and the
cosine integral Ci(x) were introduced. Inserting this into the expression Equa-
tion (8.6) we obtain the value Rrad (λ/2) ≈ 73 Ω.
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8.1 R ADIATION FROM E XTENDED S OURCES 111
r̂
x3 = z = z 0 ϕ̂
x
θ̂
θ
k̂
x2
ẑ0
jω (x0 ) ϕ
x0
x1 ϕ̂0
ϕ0
ρ̂0
F IGURE 8.3: For the loop antenna the spherical coordinate system
(r, θ, ϕ) describes the field point x (the radiation field) and the cylindrical
coordinate system (ρ0 , ϕ0 , z0 ) describes the source point x0 (the antenna
current).
−iµ0 eik|x| 0
Brad
ω = e−ik·x jω × k d3x0 (8.8)
4π |x| V0
In our case the generator produces a single frequncy ω and we feed the antenna
across a small gap where the loop crosses the positive x1 axis. The circumfer-
ence of the loop is chosen to be exactly one wavelength λ = 2πc/ω. This means
that the antenna current oscillates in the form of a sinusoidal standing current
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112 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
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8.1 R ADIATION FROM E XTENDED S OURCES 113
Utilising the periodicity of the integrands over the integration interval [0, 2π],
introducing the auxiliary integration variable ϕ00 = ϕ0 −ϕ, and utilising standard
trigonometric identities, the first integral in the RHS of (8.15) can be rewritten
2π 00
e−ika sin θ cos ϕ cos ϕ00 cos(ϕ00 + ϕ) dϕ00
0
2π 00
= cos ϕ e−ika sin θ cos ϕ cos2 ϕ00 dϕ00 + a vanishing integral
0
2π
= cos ϕ e−ika sin θ cos ϕ
00
1 1
+ cos 2ϕ00 dϕ00
(8.16)
0 2 2
1 2π 00
= cos ϕ e−ika sin θ cos ϕ dϕ00
2 0
1 2π 00
+ cos ϕ e−ika sin θ cos ϕ cos 2ϕ00 dϕ00
2 0
Analogously, the second integral in the RHS of (8.15) can be rewritten
2π 00
e−ika sin θ cos ϕ sin ϕ00 cos(ϕ00 + ϕ) dϕ00
0
1 2π 00
= sin ϕ e−ika sin θ cos ϕ dϕ00 (8.17)
2 0
1 2π 00
− sin ϕ e−ika sin θ cos ϕ cos 2ϕ00 dϕ00
2 0
As is well-known from the theory of Bessel functions,
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114 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
Iθ θ̂ + Iϕ ϕ̂4
−iµ0 eikr
Brad
ω (x) =
4πr 3
(8.21)
To obtain the desired physical magnetic field in the radiation (far) zone we
must Fourier transform back to t space and take the real part and evaluate it at
the retarded time:
4
0
−iµ0 e(ikr−ωt )
Brad (t, x) = Re
4πr 3 Iθ θ̂ + Iϕ ϕ̂
sin(kr − ωt0 ) Iθ θ̂ + Iϕ ϕ̂4
µ0
=
4πr 3
sin(kr − ωt0 ) cos ϕ [J0 (ka sin θ) − J2 (ka sinθ)] θ̂
I0 akµ0
=
4r
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8.2 M ULTIPOLE R ADIATION 115
and compare with Equation (8.23) on the preceding page, we see that π(t, x)
satisfies this equation of continuity. Furthermore, if we compare with the elec-
tric polarisation [cf. Equation (6.9) on page 87], we see that the quantity π is
related to the “true” charges in the same way as P is related to polarised charge.
The quantity π is referred to as the polarisation vector since, formally, it treats
also the “true” (free) charges as polarisation charges.
We introduce a further potential Πe with the following property
∇ · Πe = −φ (8.25a)
1 ∂Πe
=A (8.25b)
c2 ∂t
where φ and A are the electromagnetic scalar and vector potentials, respect-
ively. As we see, Πe acts as a “super-potential” in the sense that it is a poten-
tial from which we can obtain other potentials. It is called the Hertz’ vector
or polarisation potential and, as can be seen from (8.24) and (8.25), it satisfies
the inhomogeneous wave equation
5 2
Πe =
1 ∂2 e
Π − ∇2 Πe =
π
(8.26)
2
c ∂t 2 ε0
This equation is of the same type as Equation (3.19) on page 41, and has
therefore the retarded solution
1 0 , x0 )
π(tret
Πe (t, x) = d3x0 (8.27)
4πε0 V 0 |x − x 0|
C = ∇ × Πe (8.29)
we see that we can calculate the magnetic and electric fields, respectively, as
follows
1 ∂C
B= (8.30a)
c2 ∂t
E = ∇×C (8.30b)
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116 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
x − x0
x − x0 x0
Θ
x x0
V0
Clearly, the last equation is valid only outside the source volume, where
∇ · E = 0. Since we are mainly interested in the fields in the far zone, a long
distance from the source region, this is no essential limitation.
Assume that the source region is a limited volume around some central
point x0 far away from the field (observation) point x illustrated in Figure 8.4.
Under these assumptions, we can expand the Hertz’ vector, expression (8.27)
on the previous page, due to the presence of non-vanishing π(tret 0 , x0 ) in the
where
0
eik|x−x |
is a Green function
|x − x0 |
Θ is the angle between x0 − x0 and x − x0 (see Figure 8.4 on page 116)
Pn (cos Θ) is the Legendre polynomial of order n
jn (k x0 − x0 ) is the spherical Bessel function of the first kind of order n
h(1)
n (k |x − x0 |) is the spherical Hankel function of the first kind of order n
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8.2 M ULTIPOLE R ADIATION 117
Inserting Equation (8.31) on the facing page, together with Equation (8.32)
above, into Equation (8.28) on page 115, we can in a formally exact way ex-
pand the Fourier component of the Hertz’ vector as
ik ∞ n
Πeω = ∑ ∑ (2n + 1)(−1)mh(1)
4πε0 n=0
m
n (k |x − x0 |) Pn (cos θ) e
imϕ
m=−n
0
0
0 −imϕ0 3 0
(8.34)
× πω (x ) jn (k x − x0 ) P−m
n (cos θ ) e dx
V0
eik|x−x0 |
h(1)
n (k |x − x0 |) ≈ (−i)
n+1
(8.36)
k |x − x0 |
and replace jn with the first term in its power series expansion:
jn (k x0 − x0 ) ≈ k x0 − x0 4
2n n! n
(2n + 1)! 3
(8.37)
Inserting these expansions into Equation (8.34) above, we obtain the multipole
expansion of the Fourier component of the Hertz’ vector
∞
Πeω ≈ ∑ Πeω(n) (8.38a)
n=0
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118 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
where
Vπω (x0 ) (k x0 − x0 )n Pn (cos Θ) d3x0
1 eik|x−x0 | 2n n!
Πeω(n) = (−i)n
4πε0 |x − x0 | (2n)! V0
(8.38b)
This expression is approximately correct only if certain care is exercised; if
many Πeω(n) terms are needed for an accurate result, the expansions of the
spherical Hankel and Bessel functions used above may not be consistent and
must be replaced by more accurate expressions. Taking the inverse Fourier
transform of Πeω will yield the Hertz’ vector in time domain, which inserted
into Equation (8.29) on page 115 will yield C. The resulting expression can
then in turn be inserted into Equation (8.30) on page 115 in order to obtain the
radiation fields.
For a linear source distribution along the polar axis, Θ = θ in expres-
sion (8.38b), and Pn (cos θ) gives the angular distribution of the radiation. In
the general case, however, the angular distribution must be computed with the
help of Formula (8.32) on the previous page. Let us now study the lowest order
contributions to the expansion of Hertz’ vector.
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8.2 M ULTIPOLE R ADIATION 119
k̂
x3
x Brad
Erad
θ
p r̂
x2
x1
Applying this to Equation (8.30) on page 115, we obtain directly the Fourier
components of the fields
eik|x−x0 |
Bω = −i
ωµ0
1
4π |x − x0 |
− ik
|x − x0 | pω sin θ ϕ̂ (8.42a)
Eω =
1
4πε0
2
1
2
−
ik
|x − x0 |
cos θ
x − x0
|x − x0 |
|x − x0 |
(8.42b)
eik|x−x0 |
+
1 ik 2
−
|x − x0 |2 |x − x0 |
− k
sin θ θ̂
|x − x0 | pω
Keeping only those parts of the fields which dominate at large distances
(the radiation fields) and recalling that the wave vector k = k(x − x0 )/ |x − x0 |
where k = ω/c, we can now write down the Fourier components of the radiation
parts of the magnetic and electric fields from the dipole:
ωµ0 eik|x−x0 | ωµ0 eik|x−x0 |
Brad
ω =− pw k sin θ ϕ̂ = − (pω × k) (8.43a)
4π |x − x0 | 4π |x − x0 |
1 eik|x−x0 | 1 eik|x−x0 |
Erad
ω =− pω k2 sin θ θ̂ = − [(pω × k) × k]
4πε0 |x − x0 | 4πε0 |x − x0 |
(8.43b)
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120 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
These fields constitute the electric dipole radiation, also known as E1 radi-
ation.
and introducing
ηi = xi − x0,i (8.46a)
η0i = xi0 − x0,i (8.46b)
the jth component of the integrand in Πeω (1) can be broken up into
ηi πω, j η0i − πω,i η0j 4 = [πω, j (ηi η0i ) − η0j (ηi πω,i )]
1 1
2 3 2
1
= [πω (η · η0 ) − η0 (η · πω )] j (8.48)
2
= 1 (x − x0 ) × [πω × (x0 − x0 )] 2
1
2 j
The utilisation of Equations (8.24) on page 114, and the fact that we are
considering a single Fourier component,
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8.2 M ULTIPOLE R ADIATION 121
allow us to express πω in jω as
jω
πω = i (8.50)
ω
Hence, we can write the antisymmetric part of the integral in Formula (8.44)
on the preceding page as
1
(x − x0 ) × πω (x0 ) × (x0 − x0 ) d3x0
2 V0
1
= i (x − x0 ) × jω (x0 ) × (x0 − x0 ) d3x0 (8.51)
2ω V0
1
= −i (x − x0 ) × mω
ω
where we introduced the Fourier transform of the magnetic dipole moment
1
mω = (x0 − x0 ) × jω (x0 ) d3x0 (8.52)
2 V0
The final result is that the antisymmetric, magnetic dipole, part of Π eω(1)
can be written
(1) k eik|x−x0 |
Πe,antisym
ω =− (x − x0 ) × mω (8.53)
4πε0 ω |x − x0 |2
In analogy with the electric dipole case, we insert this expression into Equa-
tion (8.29) on page 115 to evaluate C, with which Equations (8.30) on page 115
then gives the B and E fields. Discarding, as before, all terms belonging to the
near fields and transition fields and keeping only the terms that dominate at
large distances, we obtain
µ0 eik|x−x0 |
Brad
ω (x) = − (mω × k) × k (8.54a)
4π |x − x0 |
k eik|x−x0 |
Erad
ω (x) = mω × k (8.54b)
4πε0 c |x − x0 |
which are the fields of the magnetic dipole radiation (M1 radiation).
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122 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
Again we use this expression in Equation (8.29) on page 115 to calculate the
fields via Equations (8.30) on page 115. Tedious, but fairly straightforward
algebra (which we will not present here), yields the resulting fields. The ra-
diation components of the fields in the far field zone (wave zone) are given
by
k · Qω 4 × k
iµ0 ω eik|x−x0 |
Brad
ω (x) =
8π |x − x0 | 3
(8.56a)
k · Qω 4 × k × k
i eik|x−x0 |
Erad
ω (x) =
8πε0 |x − x0 | 3
(8.56b)
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 123
b_a b_a b_a b_a b_a b_a `_^ b_a `_^ b_a `_^ ba `^ dV 0
x0 (t0 ) q0
F IGURE 8.6: Signals which are observed at the field point x at time t
were generated at source points x0 (t0 ) on a sphere, centred on x and ex-
panding, as time increases, with the velocity c outward from the centre.
The source charge element moves with an arbitrary velocity v and gives
rise to a source “leakage” out of the source volume dV 0 = d3x0 .
V ρ(tret
0 , x0 ) d3x0 and
V vρ(tret
0 , x0 ) d3x0 , respectively, because in the finite time
interval during which the observed signal is generated, part of the charge dis-
tribution will “leak” out of the volume element d3x0 .
(x − x0 ) · v 0 0
dq0 = ρ(tret
0
, x0 ) dS 0 dr0 − ρ(tret
0
, x0 ) dS dt (8.58)
|x − x0 |
where the last term represents the amount of “source leakage” due to the fact
that the charge distribution moves with velocity v(t 0 ). Since dt0 = dr0 /c and
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124 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
dS 0 dr0 = d3x0 we can rewrite this expression for the net charge as
(x − x0 ) · v 3 0
dq0 = ρ(tret
0
, x0 ) d3x0 − ρ(tret
0
, x0 ) dx
c |x − x0 |
(8.59)
(x − x0 ) · v
0
, x0 ) 1 − d3x0
c |x − x0 |
= ρ(tret
or
0 dq0
ρ(tret , x0 ) d3x0 = 0 (8.60)
1 − (x−x )·v
c|x−x0 |
This is the expression to be used in the Formulae (8.57) on page 122 for the
retarded potentials. The result is (recall that j = ρv)
1 dq0
φ(t, x) = (8.62a)
4πε0 |x − x0 | − (x−xc0 )·v
µ0 v dq0
A(t, x) = (8.62b)
4π
0
|x − x0 | − (x−xc )·v
For a sufficiently small and well localised charge distribution we can, assuming
that the integrands do not change sign in the integration volume, use the mean
value theorem and the fact that V dq0 = q0 to evaluate these expressions to
become
q0 1 q0 1
φ(t, x) = 0 = (8.63a)
4πε0 |x − x0 | − (x−xc )·v 4πε0 s
q0 v q0 v v
A(t, x) = 0 = = φ(t, x) (8.63b)
4πε0 c2 |x − x0 | − (x−xc )·v 4πε0 c2 s c2
where
s = s(t0 , x) = x − x0 (t0 ) −
(x − x0 (t0 )) · v(t0 )
(8.64a)
c
0 0 x − x0 (t0 ) v(t0 )
= x − x (t ) 1 −
|x − x0 (t0 )| c
· (8.64b)
x − x0 (t0 ) v(t0 )
= (x − x0 (t0 )) · −
c
(8.64c)
|x − x0 (t0 )|
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 125
is the retarded relative distance. The potentials (8.63) are precisely the Liénard-
Wiechert potentials which we derived in Section 4.3.2 on page 60 by using a
covariant formalism.
It is important to realise that in the complicated derivation presented here,
the observer is in a coordinate system which has an “absolute” meaning and the
velocity v is that of the particle, whereas in the covariant derivation two frames
of equal standing were moving relative to each other with v. Expressed in the
four-potential, Equation (4.48) on page 59, the Liénard-Wiechert potentials
become
q0
Aµ (xκ ) =
4πε0
1 v
s cs
, = (φ, cA) (8.65)
x0 = x0 (t0 ) (8.67)
(in the interest of simplifying our notation, we drop the subscript “ret” on t 0
from now on). This means that we know the trajectory of the charge q0 , i.e., x0 ,
for all times up to the time t0 at which a signal was emitted in order to precisely
arrive at the field point x at time t. Because of the finite speed of propagation
of the fields, the trajectory at times later than t 0 is not (yet) known.
The retarded velocity and acceleration at time t 0 are given by
dx0
v(t0 ) = (8.68a)
dt0
dv d2 x0
a(t0 ) = v̇(t0 ) = = (8.68b)
dt0 dt0 2
As for the charge coordinate x0 itself, we have in general no knowledge of the
velocity and acceleration at times later than t 0 , in particular not at the time of
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126 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
|x − x0 |
q0 v x0 (t) v(t0 )
c
x0 (t0 ) θ0 θ0
x − x0
x − x0
x(t)
F IGURE 8.7: Signals which are observed at the field point x at time t
were generated at the source point x0 (t0 ). After time t0 the particle, which
moves with nonuniform velocity, has followed a yet unknown trajectory.
Extrapolating tangentially the trajectory from x0 (t0 ), based on the velo-
city v(t0 ), defines the virtual simultaneous coordinate x0 (t).
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 127
φ and A, Equations (8.63) on page 124, are expressed in the charge velocity
v(t0 ) given by Equation (8.68a) on page 125 and the retarded relative distance
s(t0 , x) given by Equation (8.64) on page 124. This means that the expressions
for the potentials φ and A contain terms which are expressed explicitly in t 0 ,
which in turn is expressed implicitly in t via Equation (8.70) on the preceding
page. Despite this complication it is possible, as we shall see below, to de-
termine the electric and magnetic fields and associated quantities at the time
of observation t. To this end, we need to investigate carefully the action of
differentiation on the potentials.
x − x0 (t0 ) = x − x0 (t0 )4 = −
x − x0 (x − x0 ) · v(t0 )
∂
∂t0
·
∂
|x − x0 | ∂t0 3 |x − x0 |
(8.71)
x x
∂t0 |x − x0 | |x − x0 |
∂t
=
|x − x0 | − (x − x0 ) · v(t0 )/c
=
s
(8.73)
x
∂t0 |x − x0 |
∂
∂t
= ∂t
∂
∂t0
=
s
∂
∂t0
(8.74)
x x x x
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128 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
x − x0
(∇)t t0 = − (8.76)
cs
which gives the following operator relation when (∇)t is acting on an arbitrary
function of t0 and x:
x − x0
(∇)t = (∇)t t0
∂
∂t0
+ (∇)t0 = −
cs
∂
∂t0
+ (∇)t0 (8.77)
x x
With the help of the rules (8.77) and (8.74) we are now able to replace t by t 0
in the operations which we need to perform. We find, for instance, that
1 q0
∇φ ≡ (∇φ)t = ∇
4πε0 s
0 (8.78a)
x − x0 v(t0 ) x − x0 ∂s
=−
q
4πε0 s2 |x − x0 |
−
c
−
cs
∂t0
x
0 0
≡
∂A ∂A ∂ µ0 q v(t )
∂t x ∂t 4π s
=
∂t
q0 0 0 0 0 ∂s (8.78b)
=
4πε0 c s2 3
x − x sv̇(t ) − x − x v(t ) 0
∂t
Utilising these relations in the calculation of the E field from the Liénard-
Wiechert potentials, Equations (8.63) on page 124, we obtain
∂
E(t, x) = −∇φ(t, x) − A(t, x)
∂t
q0 (x − x0 (t0 )) − |x − x0 (t0 )| v(t0 )/c
=
4πε0 s2 (t0 , x)
|x − x0 (t0 )|
(x − x0 (t0 )) − |x − x0 | v(t0 )/c ∂s(t0 , x) |x − x0 (t0 )| v̇(t0 )
−
cs(t0 , x)
∂t0
−
c2
x
(8.79)
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 129
Starting from expression (8.64a) on page 124 for the retarded relative distance
s(t0 , x), we see that we can evaluate (∂s/∂t 0 )x in the following way
x − x0 − (x − x c) · v(t )
0 0
∂s
∂t0
= ∂
∂t0
x x
1 ∂ x − x0 (t0 )4 0
= 0 x − x0 (t0 ) −
0
∂
3 0 · v(t ) + (x − x0(t0 )) · ∂v(t0 )
∂t c \ ∂t ∂t ]
(x − x0 ) · v(t0 ) v2 (t0 ) (x − x0 ) · v̇(t0 )
=− + −
|x − x0 | c c
(8.80)
where Equation (8.71) on page 127 and Equations (8.68) on page 125, respect-
ively, were used. Hence, the electric field generated by an arbitrarily moving
charged particle at x0 (t0 ) is given by the expression
The first part of the field, the velocity field, tends to the ordinary Coulomb field
when v → 0 and does not contribute to the radiation. The second part of the
field, the acceleration field, is radiated into the far zone and is therefore also
called the radiation field.
From Figure 8.7 on page 126 we see that the position the charged particle
would have had if at t0 all external forces would have been switched off so that
the trajectory from then on would have been a straight line in the direction of
the tangent at x0 (t0 ) is x0 (t), the virtual simultaneous coordinate. During the
arbitrary motion, we interpret x − x0 as the coordinate of the field point x relat-
ive to the virtual simultaneous coordinate x0 (t). Since the time it takes from a
signal to propagate (in the assumed vacuum) from x0 (t0 ) to x is |x − x0 | /c, this
relative vector is given by
|x − x0 (t0 )| v(t0 )
x − x0 (t) = x − x0 (t0 ) − (8.82)
c
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130 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
This allows us to rewrite Equation (8.81) on the previous page in the following
way
q0 v2
E(t, x) =
4πε0 s 3
(x − x 0 ) 1 −
c
2
+ (x − x0 ) ×
(x − x0 ) × v̇
c2
(8.83)
x − x0
× 0
∂
∂t
B(t, x) = ∇ × A(t, x) ≡ (∇)t × A = (∇)t0 × A − A
cs x
0 0 0 (8.84)
×
q x−x x−x ∂A
∂t x
=− 2 2 0
×v− 0
4πε0 c s |x − x | c |x − x |
where we made use of Equation (8.63) on page 124 and Formula (8.74) on
page 127. But, according to (8.78a),
x − x0 q0 x − x0
× (∇) t φ = ×v (8.85)
c |x − x0 | 4πε0 c2 s2 |x − x0 |
so that
x − x0
× −(∇φ)t −
∂A
∂t
B(t, x) =
c |x − x0 | x
0
(8.86)
x−x
= × E(t, x)
c |x − x0 |
The radiation part of the electric field is obtained from the acceleration
field in Formula (8.81) on the preceding page as
where in the last step we again used Formula (8.82) on the previous page.
Using this formula and Formula (8.86), the radiation part of the magnetic field
can be written
x − x0
Brad (t, x) = × Erad (t, x) (8.88)
c |x − x0 |
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 131
Furthermore, from Equation (8.82) on page 129, we obtain the following iden-
tity:
(x − x0 ) × v = (x − x0 ) × v (8.92)
which, when inserted into Equation (8.91) above, yields the relation
2 2
(x − x0 ) · v |x − x0 |2 v2
c =
c2
−
(x − x0 ) × v
c (8.93)
Inserting the above into expression (8.89) for s2 , this expression becomes
2
s2 = x − x 0 − 2 x − x 0
2
(x − x0 ) · v |x − x0 |2 v2
−
(x − x0 ) × v
c
+
c 2 c
2 2
|x − x0 | v
= (x − x0 ) − (x − x0 ) × v
c −
c (8.94)
2
= (x − x0 (t)) −
(x − x0 (t)) × v
2
c
2
≡ |x − x0 | −
(x − x0 ) × v
2
c
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132 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
2
|x − x0 | −
2 (x − x0 ) × v
s(t, x) =
c (8.95a)
v2 2
= |x − x0 | 1 − sin θ0 (8.95b)
c2
2
v2
= |x − x0 | 2
1− 2 +
c
(x − x0 ) · v
c (8.95c)
v2
2 I
∇s2 = ∇ H |x − x0 |2 1 − −
(x − x0 ) · v
c
2 c
v2
= 2 (x − x0 ) 1 −
vv (8.96)
c
2
+ 2 · (x − x0 )
c
= 2 7 (x − x0 ) + × . × (x − x0 )/98
v v
c c
which we shall use in the following example of a uniformly, unaccelerated
motion of the charge.
E XAMPLE 8.1
T HE FIELDS FROM A UNIFORMLY MOVING CHARGE
In the special case of uniform motion, the localised charge moves in a field-free, isol-
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 133
ated space and we know that it will not be affected by any external forces. It will
therefore move uniformly in a straight line with the constant velocity v. This gives us
the possibility to extrapolate its position at the observation time, x0 (t), from its posi-
tion at the retarded time, x0 (t0 ). Since the particle is not accelerated, v̇ ≡ 0, the virtual
simultaneous coordinate x0 will be identical to the actual simultaneous coordinate of
the particle at time t, i.e., x0 (t) = x0 (t). As depicted in Figure 8.7 on page 126, the
angle between x − x0 and v is θ0 while then angle between x − x0 and v is θ0 .
We note that in the case of uniform velocity v, time and space derivatives are closely
related in the following way when they operate on functions of x(t) :
∂
→ −v · ∇ (8.97)
∂t
Hence, the E and B fields can be obtained from Formulae (8.66) on page 125, with the
potentials given by Equations (8.63) on page 124 as follows:
∂A 1 ∂vφ v ∂φ
E = −∇φ − = −∇φ − 2 = −∇φ − 2
∂t c ∂t c ∂t
= −∇φ +
v v
$ vv
· ∇φ = − 1 − 2 · ∇φ % $ % (8.98a)
c c c
$
vv
= 2 − 1 · ∇φ %
c
v
$ v
B = ∇ × A = ∇ × 2 φ = ∇φ × 2 = − 2 × ∇φ
v %
c c c
v
= 2×
v
ef$
· ∇φ
v v% vv
− ∇φ = 2 × 2 − 1 · ∇φ g $ % (8.98b)
c c c c c
v
= 2 ×E
c
Here 1 = x̂i x̂i is the unit dyad and we used the fact that v × v ≡ 0. What remains is just
to express ∇φ in quantities evaluated at t and x.
From Equation (8.63a) on page 124 and Equation (8.96) on the facing page we find
that
q0 q0
∇φ =
4πε0
∇
1
s
=−
8πε0 s3
∇s2
(8.99)
=−
q0
3
e
v
(x − x0 ) + ×
v
× (x − x0 ) $ %g
4πε0 s c c
When this expression for ∇φ is inserted into Equation (8.98a) above, the following
result
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134 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
E(t, x) = $
vv
− 1 · ∇φ = −
q0 % vv
− 1 · ∇s2 $ %
c2 8πε0 s3 c2
=
q0
h
v
(x − x0 ) + ×
v
× (x − x0 ) $ %
4πε0 s3 c c
−
v v
$ vv v
· (x − x0 ) − 2 · ×
v
× (x − x0 )% e $ % gi
c c c c c
(8.100)
=
q0
3
(x − x0 ) +
v v
v2
· (x − x0 ) − (x − x0 ) 2 $ %
4πε0 s c c c
v v
$ %
−
c c
· (x − x0 )
q0 v2
=
4πε0 s 3
(x − x0 ) 1 − c2
follows. Of course, the same result also follows from Equation (8.83) on page 130
with v̇ ≡ 0 inserted.
From Equation (8.100) above we conclude that E is directed along the vector from the
simultaneous coordinate x0 (t) to the field (observation) coordinate x(t). In a similar
way, the magnetic field can be calculated and one finds that
µ0 q 0 v2
B(t, x) =
4πs3
1−
c2 v × (x − x0 ) =
1
c2
v×E (8.101)
From these explicit formulae for the E and B fields we can discern the following cases:
E ND OF EXAMPLE 8.1C
E XAMPLE 8.2
T HE CONVECTION POTENTIAL AND THE CONVECTION FORCE
Let us consider in more detail the treatment of the radiation from a uniformly moving
rigid charge distribution.
If we return to the original definition of the potentials and the inhomogeneous wave
equation, Formula (3.19) on page 41, for a generic potential component Ψ(t, x) and a
generic source component f (t, x),
j 2
1 ∂2
− ∇2 Ψ(t, x) = f (t, x)
Ψ(t, x) =
c2 ∂t2 (8.102)
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 135
we find that under the assumption that v = v x̂1 , this equation can be written
v2 ∂2 Ψ ∂2 Ψ ∂2 Ψ
1−
c2 + +
∂x21 ∂x22 ∂x23
= − f (x) (8.103)
s = (x1 − x01 )2 + 1 −
c 2
[(x2 − x02 )2 + (x3 − x03 )2 ]
(8.108)
Applying this to the explicit scalar and vector potential components, realising that for
a rigid charge distribution ρ moving with velocity v the current is given by j = ρv, we
obtain
1 ρ(x0 ) 3 0
φ(t, x) =
4πε0 V s
dx
(8.109a)
1 vρ(x0 ) 3 0 v
A(t, x) = 2
4πε0 c V s c
d x = 2 φ(t, x) (8.109b)
l
For a localised charge where ρ d3x0 = q0 , these expressions reduce to
q0
φ(t, x) = (8.110a)
4πε0 s
q0 v
A(t, x) = (8.110b)
4πε0 c2 s
which we recognise as the Liénard-Wiechert potentials; cf. Equations (8.63) on
page 124. We notice, however, that the derivation here, based on a mathematical
technique which in fact is a Lorentz transformation, is of more general validity than
the one leading to Equations (8.63) on page 124.
Let us now consider the action of the fields produced from a moving, rigid charge
distribution represented by q0 moving with velocity v, on a charged particle q, also
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136 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
With the help of Equation (8.101) on page 134 and Equations (8.109) on the preceding
page, and the fact that ∂t = −v · ∇ [cf.. Formula (8.97) on page 133], we can rewrite
expression (8.111) as
v
F = q E+v× 2 ×E = q e v
· ∇φ
v
$− ∇φ − ×
v v %g
× ∇φ e)$
(8.112) % $ %g
c c c c c
Applying the “bac-cab” rule, Formula (F.51) on page 164, on the last term yields
v
×
v
$
× ∇φ =
v
· ∇φ
v v2
− ∇φ % $ % (8.113)
c c c c c2
which means that we can write
F = −q∇ψ (8.114)
where
v2
ψ = 1− c2 φ (8.115)
The scalar function ψ is called the convection potential or the Heaviside potential.
When the rigid charge distribution is well localised so that we can use the potentials
(8.110) the convection potential becomes
v2 q0
ψ = 1− c2 4πε0 s
(8.116)
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 137
p = q0 x0 (t0 ) (8.122)
q0 v̇ = p̈ → −ω2 pω (8.123a)
0
x − x = x − x0 (8.123b)
The power flux in the far zone is described by the Poynting vector as a
function of Erad and Brad . We use the close correspondence with the dipole
case to find that it becomes
µ0 q0 2 (v̇)2 2 x−x
0
S= sin θ (8.124)
16π2 c |x − x0 |2 |x − x0 |
where θ is the angle between v̇ and x − x0 . The total radiated power (integrated
over a closed spherical surface) becomes
µ0 q0 2 (v̇)2 q0 2 v̇2
P= = (8.125)
6πc 6πε0 c3
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138 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
which is the Larmor formula for radiated power from an accelerated charge.
Note that here we are treating a charge with v c but otherwise totally un-
specified motion while we compare with formulae derived for a stationary os-
cillating dipole. The electric and magnetic fields, Equation (8.120) on the
preceding page and Equation (8.121) on the previous page, respectively, and
the expressions for the Poynting flux and power derived from them, are here
instantaneous values, dependent on the instantaneous position of the charge
at x0 (t0 ). The angular distribution is that which is “frozen” to the point from
which the energy is radiated.
8.3.3 Bremsstrahlung
An important special case of radiation is when the velocity v and the acceler-
ation v̇ are collinear (parallel or anti-parallel) so that v × v̇ = 0. This condition
(for an arbitrary magnitude of v) inserted into expression (8.87) on page 130
for the radiation field, yields
q0
Erad (t, x) = (x − x0 ) × [(x − x0 ) × v̇], v k v̇ (8.126)
4πε0 c2 s3
from which we obtain, with the use of Formula (8.86) on page 130, the mag-
netic field
q0 |x − x0 |
Brad (t, x) = [v̇ × (x − x0 )], v k v̇ (8.127)
4πε0 c3 s3
The difference between this case and the previous case of v c is that the
approximate expression (8.118) on the preceding page for s is no longer valid;
we must instead use the correct expression (8.64) on page 124. The angular
distribution of the power flux (Poynting vector) therefore becomes
µ0 q0 2 v̇2 sin2 θ x − x0
16π2 c |x − x0 |2 1 − v cos θ 4
S= 6
(8.128)
|x − x0 |
3
c
It is interesting to note that the magnitudes of the electric and magnetic fields
are the same whether v and v̇ are parallel or anti-parallel.
We must be careful when we compute the energy (S integrated over time).
The Poynting vector is related to the time t when it is measured and to a fixed
surface in space. The radiated power into a solid angle element dΩ, measured
relative to the particle’s retarded position, is given by the formula
dΩ = S · (x − x0 ) x − x0 dΩ =
dU rad (θ) µ0 q0 2 v̇2 sin2 θ
16π2 c 1 − v cos θ 4 6
dΩ (8.129)
dt
c 3
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 139
v = 0.5c
v = 0.25c
v=0
v
F IGURE 8.8: Polar diagram of the energy loss angular distribution factor
sin2 θ/(1 − v cos θ/c)5 during bremsstrahlung for particle speeds v = 0, v =
0.25c, and v = 0.5c.
On the other hand, the radiation loss due to radiation from the charge at re-
tarded time t0 :
dU rad dU rad
dt0
dΩ =
dt
∂t
∂t0
dΩ (8.130)
x
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140 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
dS
dr
x dΩ
θ q
0
x − x02 + c dt0
0
x02 vdt x01
is at time t located between two spheres, one outer with its origin in x01 (t0 ) and
one inner with its origin in x01 (t0 + dt0 ) = x01 (t0 ) + v dt and radius c[t − (t0 + dt0 )] =
c(t − t0 − dt0 ).
From Figure 8.9 we see that the volume element subtending the solid angle
element
dS
2
x − x02
dΩ = (8.133)
is
2
d3x = dS dr = x − x02 dΩ dr (8.134)
Here, dr denotes the differential distance between the two spheres and can be
evaluated in the following way
dr = x − x02 + c dt0 − x − x20 · v dt0 − x − x02
0
L x −MExN 2 O
v cos θ (8.135)
x − x02
cs
dt0
x − x02
c− ·v dt0 =
=
\ x − x02 ]
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 141
where Formula (8.64) on page 124 was used in the last step. Hence, the volume
element under consideration is
d3x = dS dr = dS c dt0
s
x − x02
(8.136)
We see that the energy which is radiated per unit solid angle during the time
interval (t0 , t0 + dt0 ) is located in a volume element whose size is θ depend-
ent. This explains the difference between expression (8.129) on page 138 and
expression (8.132) on page 139.
Let the radiated energy, integrated over Ω, be denoted Ũ rad . After tedious,
but relatively straightforward integration of Formula (8.132) on page 139, one
obtains
−3
dŨ rad µ0 q0 2 v̇2 2 q0 2 v̇2 v2
=
1
= 1 −
c2
(8.137)
. 1− /
dt0 6πc 3 3 4πε0 c3
v2
c2
If we know v(t0 ), we can integrate this expression over t 0 and obtain the total
energy radiated during the acceleration or deceleration of the particle. This
way we obtain a classical picture of bremsstrahlung (braking radiation). Of-
ten, an atomistic treatment is required for an acceptable result.
B REMSSTRAHLUNG FOR LOW SPEEDS AND SHORT ACCELERATION TIMES E XAMPLE 8.3
Calculate the bremsstrahlung when a charged particle, moving at a non-relativistic
speed, is accelerated or decelerated during an infinitely short time interval.
We approximate the velocity change at time t 0 = t0 by a delta function:
v̇(t0 ) = ∆v δ(t0 − t0 ) (8.138)
which means that
∞
∆v =
−∞ v̇ dt (8.139)
From the general expression (8.86) on page 130 we conclude that E ⊥ B and that
it suffices to consider E ≡ Erad . According to the “bremsstrahlung expression” for
Erad , Equation (8.126) on page 138,
q0 sin θ
E= ∆v δ(t0 − t0 ) (8.142)
4πε0 c2 |x − x0 |
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142 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
In this simple case B ≡ Brad is given by
E
B= (8.143)
c
Fourier transforming expression (8.142) on the previous page for E is trivial, yielding
q0 sin θ
Eω = ∆v eiωt0 (8.144)
8π2 ε0 c2 |x − x0 |
We note that the magnitude of this Fourier component is independent of ω. This is a
consequence of the infinitely short “impulsive step” δ(t 0 −t0 ) in the time domain which
produces an infinite spectrum in the frequency domain.
The total radiation energy is given by the expression
dŨ rad 0
−∞ S
∞ B
Ũ rad = · dS dt0
dt0
dt = E×
µ0
1 ∞ 1 ∞
EB dt0 d2x0 = 2
dt0 d2x0 (8.145)
=
µ0 S −∞ µ0 c S −∞ E
∞
2
dt0 d2x0
= ε0 c
S −∞ E
According to Parseval’s identity [cf. Equation (7.35) on page 105] the following equal-
ity holds:
∞ ∞
E 2 dt0 = 4π |E ω |2 dω
−∞ 0 (8.146)
which means that the radiated energy in the frequency interval (ω, ω + dω) is
q0 2 (∆v)2 sin2 θ 2
Ũωrad dω =
16π3 ε0 c3 S |x − x0 |2
d x dω
q0 2 (∆v)2 2π π
sin2 θ sin θ dθ dω
=
16π3 ε0 c3 0 dϕ
0 (8.148)
2
q0 2
=
3πε0 c
∆v
c
dω
2π
We see that the energy spectrum Ũωrad is independent of frequency ω. This means that
if we integrate it over all frequencies ω ∈ [0, ∞], a divergent integral would result.
In reality, all spectra have finite widths, with an upper cutoff limit set by the quantum
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 143
condition
1
h̄ω = m(∆v)2 (8.149)
2
which expresses that the highest possible frequency in the spectrum is that for which
all kinetic energy difference has gone into one single field quantum (photon) with
energy h̄ω. If we adopt the picture that the total energy is quantised in terms of N ω
photons radiated during the process, we find that
Ũωrad dω
= dNω (8.150)
h̄ω
or, for an electron where q0 = − |e|, where e is the elementary charge,
2 2
e2
dNω =
2
4πε0 h̄c 3π
∆v
c
dω
ω
≈
1 2
137 3π
∆v
c
dω
ω
(8.151)
where we used the value of the fine structure constant α = e2 /(4πε0 h̄c) ≈ 1/137.
Even if the number of photons becomes infinite when ω → 0, these photons have
negligible energies so that the total radiated energy is still finite.
E ND OF EXAMPLE 8.3C
ϕ(t0 ) = ω0 t0 (8.152a)
0 0 0 0
x (t ) = a[ x̂1 cos ϕ(t ) + x̂2 sin ϕ(t )] (8.152b)
0 0 0 0 0
v(t ) = ẋ (t ) = aω0 [− x̂1 sin ϕ(t ) + x̂2 cos ϕ(t )] (8.152c)
v = |v| = aω0 (8.152d)
v̇(t0 ) = ẍ0 (t0 ) = −aω20 [ x̂1 cos ϕ(t0 ) + x̂2 sin ϕ(t0 )] (8.152e)
v̇ = |v̇| = aω20 (8.152f)
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144 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
x2
(t, x) x − x0
x
v
q0 0 0
θ (t , x )
a
v̇
α ϕ(t0 )
0 x1
x3
where α is the angle between x − x0 and the normal to the plane of the particle
orbit (see Figure 8.10). From the above expressions we obtain
(x − x0 ) · v = x − x0 v sin α cos ϕ
0
0
0
(8.154a)
(x − x ) · v̇ = − x − x v̇ sin α sin ϕ = x − x v̇ cos θ (8.154b)
where in the last step we simply used the definition of a scalar product and the
fact that the angle between v̇ and x − x0 is θ.
The power flux is given by the Poynting vector, which, with the help of
Formula (8.86) on page 130, can be written
1 1 x − x0
S= (E × B) = |E|2 (8.155)
µ0 cµ0 |x − x0 |
dU rad (α, ϕ) |x − x0 | s 2
= |E| (8.156)
dt0 cµ0
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 145
where the retarded distance s is given by expression (8.64) on page 124. With
the radiation part of the electric field, expression (8.87) on page 130, inser-
ted, and using (8.154a) and (8.154b) on the facing page, one finds, after some
algebra, that
4
dU rad (α, ϕ) µ0 q0 2 v̇2 3 1 − c sin α cos ϕ − . 1 − c2 / sin α sin ϕ
v v 2 2 2 2
1 − v sin α cos ϕ 4
= (8.157)
dt0 16π2 c 5
3 c
The angles θ and ϕ vary in time during the rotation, so that θ refers to a moving
coordinate system. But we can parametrise the solid angle dΩ in the angle ϕ
and the (fixed) angle α so that dΩ = sin α dα dϕ. Integration of Equation (8.157)
above over this dΩ gives, after some cumbersome algebra, the angular integ-
rated expression
Cyclotron radiation
For a non-relativistic speed v c, Equation (8.157) above reduces to
where θ is defined in Figure 8.10 on the preceding page. This means that we
can write
dU rad (θ) µ0 q0 2 v̇2 2 µ0 q0 2 v̇2
= (1 − cos θ) = sin2 θ (8.161)
dt0 16π2 c 16π2 c
Consequently, a fixed observer near the orbit plane will observe cyclotron
radiation twice per revolution in the form of two equally broad pulses of radi-
ation with alternating polarisation.
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146 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
x2
(t, x)
x − x0
∆θ
v
q0 0 0
a ∆θ (t , x )
v̇
ϕ(t0 )
0 x1
x3
F IGURE 8.11: When the observation point is in the plane of the particle
orbit, i.e., α = π/2 the lobe width is given by ∆θ.
Synchrotron radiation
When the particle is relativistic, v o c, the denominator in Equation (8.157)
on the preceding page becomes very small if sin α cos ϕ ≈ 1, which defines the
forward direction of the particle motion (α ≈ π/2, ϕ ≈ 0). Equation (8.157) on
the previous page then becomes
which means that an observer near the orbit plane sees a very strong pulse
followed, half an orbit period later, by a much weaker pulse.
The two cases represented by Equation (8.161) on the preceding page and
Equation (8.162) above are very important results since they can be used to
determine the characteristics of the particle motion both in particle accelerators
and in astrophysical objects where a direct measurement of particle velocities
are impossible.
In the orbit plane (α = π/2), Equation (8.157) on the preceding page gives
4
dU rad (π/2, ϕ) µ0 q0 2 v̇2 3 1 − c cos ϕ − . 1 − c2 / sin ϕ
v v 2 2 2
1 − v cos ϕ4
= (8.163)
dt0 16π2 c 5
3 c
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 147
Hence, the angle ϕ0 is a measure of the synchrotron radiation lobe width ∆θ;
see Figure 8.11 on the preceding page. For ultra-relativistic particles, defined
by
γ= K 1
1, 1−
v2
1, (8.165)
1 − vc2
2 c2
v2 1
ϕ0 ≈ sin ϕ0 = 1− =
c2 γ
(8.166)
v∆t0
= . 1 − / ∆t0 = . 1 − / ≈ . 1− /
∆l v v ∆θ v 1
∆t = ∆t0 − = ∆t0 −
c c c c ω0 c γω0
v4 v4 2
= 3 3v
1− c 1+ c 1 v 1 1 1
≈ 1− 2 = 3
1+ γω0 L MEN c O 2γω0 2γ ω0
L MEN cO 1/γ2
≈2
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148 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
(8.170)
As a general rule, the spectral width of a pulse of length ∆t is ∆ω o 1/∆t.
In the ultra-relativistic synchrotron case one can therefore expect frequency
components up to
1
ωmax ≈ = 2γ3 ω0 (8.171)
∆t
A spectral analysis of the radiation pulse will exhibit Fourier components nω 0
from n = 1 up to n ≈ 2γ3 .
When N electrons are contributing to the radiation, we can discern between
three situations:
1. All electrons are very close to each other so that the individual phase
differences are negligible. The power will be multiplied by N 2 relative
to a single electron and we talk about coherent radiation.
2. The electrons are perfectly evenly distributed in the orbit. This is the
case, for instance, for electrons in a circular current in a conductor. In
this case the radiation fields cancel completely and no far fields are gen-
erated.
3. The electrons are unevenly distributed in the orbit. This happens
√ for an
open ring current which is subject to fluctuations of order N as for all
open systems. As a result we get incoherent radiation. Examples of this
can be found both in earthly laboratories and under cosmic conditions.
Integration over the solid angle Ω gives the totally radiated power as
2 2
dŨ rad µ0 q0 2 v̇2 1 − vc2 sin θ
= (8.173)
. 1 − cv22 /
dt0 6πc 3
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 149
vt
q0
v = v x̂
b θ0
|x − x0 |
E⊥ ẑ
Virtual photons
According to Formula (8.100) on page 134 and Figure 8.12,
q0 v2
E⊥ = Ez =
4πε0 s3
1−
c2
(x − x0 ) · x̂3 (8.174)
(8.176)
−∞ 0 bv
Here, K1 is the Kelvin function (Bessel function of the second kind with ima-
ginary argument) which behaves in such a way for small and large arguments
that
q
Eω,⊥ ∼ , bω vγ (8.177a)
4π2 ε 0 bv
Eω,⊥ ∼ 0, bω vγ (8.177b)
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150 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
where the volume integration is over the plane perpendicular to v. With the
use of Parseval’s identity for Fourier transforms, Formula (7.35) on page 105,
we can rewrite this as
2
Eω,⊥ dω 2πb db
∞ bmax ∞
U= Uω dω = 4πε0 v
0 bmin 0
(8.179)
q2 ∞ vγ/ω db
≈ 2 dω
2π ε0 v 0 bmin b
from which we conclude that
q2
ln
vγ
bmin ω
Uω ≈ 2
(8.180)
2π ε0 v
where an explicit value of bmin can be calculated in quantum theory only.
As in the case of bremsstrahlung, it is intriguing to quantise the energy into
photons [cf. Equation (8.150) on page 143]. Then we find that
ln
2α cγ dω
Nω dω ≈
bmin ω ω
(8.181)
π
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 151
∇ · D = ρ(t, x) (8.186a)
∂
∇×E+ B = 0 (8.186b)
∂t
∇·B = 0 (8.186c)
∂
∇ × H − D = j(t, x) (8.186d)
∂t
Assuming for simplicity that the electric permittivity ε and the magnetic
permeability µ, and hence the relative permittivity κ and the relative permeab-
ility κm all have fixed values, independent on time and space, for each type
of material we consider, we can derive the general telegrapher’s equation [cf.
Equation (2.33) on page 29]
∂2 E ∂E ∂2 E
− σµ − εµ =0 (8.187)
∂ζ 2 ∂t ∂t2
describing (1D) wave propagation in a material medium.
In Chapter 2 we concluded that the existence of a finite conductivity, mani-
festing itself in a collisional interaction between the charge carriers, causes the
waves to decay exponentially with time and space. Let us therefore assume that
in our medium σ = 0 so that the wave equation simplifies to
∂2 E ∂2 E
− εµ =0 (8.188)
∂ζ 2 ∂t2
If we introduce the phase velocity in the medium as
1 1 c
vϕ = √ = √ =√ (8.189)
εµ κε0 κm µ0 κκm
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152 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
√
where, according to Equation (1.9) on page 5, c = 1/ ε0 µ0 is the speed of light,
i.e., the phase speed of electromagnetic waves in vacuum, then the general
solution to each component of Equation (8.188) on the previous page
E = E0 ei(k·x−ωt) (8.193)
where now k is the wave vector in the medium given by Equation (8.192).
With these definitions, the vacuum formula for the associated magnetic field,
Equation (2.40) on page 30,
√ 1 1
B = εµ k̂ × E = k̂ × E = k × E (8.194)
vϕ ω
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 153
where, in the last step, we used Equation (8.192) on the facing page.
If the medium has a refractive index which, as is usually the case, depend-
ent on frequency ω, we say that the medium is dispersive. Because in this case
also k(ω) and ω(k), so that the group velocity
∂ω
vg = (8.196)
∂k
has a unique value for each frequency component, and is different from v ϕ .
Except in regions of anomalous dispersion, vϕ is always smaller than c. In
a gas of free charges, such as a plasma, the refractive index is given by the
expression
ω2p
n2 (ω) = 1 − (8.197)
ω2
where
Nσ q2σ
ω2p = ∑ (8.198)
σ ε0 mσ
is the plasma frequency. Here mσ and Nσ denote the mass and number density,
respectively, of charged particle species σ. In an inhomogeneous plasma, N σ =
Nσ (x) so that the refractive index and also the phase and group velocities are
space dependent. As can be easily seen, for each given frequency, the phase
and group velocities in a plasma are different from each other. If the frequency
ω is such that it coincides with ωp at some point in the medium, then at that
point vϕ → ∞ while vg → 0 and the wave Fourier component at ω is reflected
there.
Vavilov-Čerenkov radiation
As we saw in Subsection 8.1, a charge in uniform, rectilinear motion in va-
cuum does not give rise to any radiation; see in particular Equation (8.98a) on
page 133. Let us now consider a charge in uniform, rectilinear motion in a
medium with electric properties which are different from those of a (classical)
vacuum. Specifically, consider a medium where
ε = Const > ε0 (8.199a)
µ = µ0 (8.199b)
This implies that in this medium the phase speed is
c 1
vϕ = =√ <c (8.200)
n εµ0
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154 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
Hence, in this particular medium, the speed of propagation of (the phase planes
of) electromagnetic waves is less than the speed of light in vacuum, which we
know is an absolute limit for the motion of anything, including particles. A
medium of this kind has the interesting property that particles, entering into
the medium at high speeds |v|, which, of course, are below the phase speed
in vacuum, can experience that the particle speeds are higher than the phase
speed in the medium. This is the basis for the Vavilov-Čerenkov radiation that
we shall now study.
If we recall the general derivation, in the vacuum case, of the retarded (and
advanced) potentials in Chapter 3 and the Liénard-Wiechert potentials, Equa-
tions (8.63) on page 124, we realise that we obtain the latter in the medium
by a simple formal replacement c → c/n in the expression (8.64) on page 124
for s. Hence, the Liénard-Wiechert potentials in a medium characterized by a
refractive index n, are
q0 1 q0
1
4πε0 |x − x0 | − n (x−x0 )·v 4πε0 s
φ(t, x) = = (8.201a)
c
q0 v 1 q0 v
1
4πε0 c2 |x − x0 | − n (x−x0 )·v 4πε0 c2 s
A(t, x) = = (8.201b)
c
where now
(x − x0 ) · v
0
s = x−x −n (8.202)
c
The need for the absolute value of the expression for s is obvious in the case
when v/c ≥ 1/n because then the second term can be larger than the first term;
if v/c 1/n we recover the well-known vacuum case but with modified phase
speed. We also note that the retarded and advanced times in the medium are
[cf. Equation (3.34) on page 43]
(t, x − x0 ) = t −
0 0 k |x − x0 | |x − x0 | n
tret = tret = t− (8.203a)
ω c
0 0
0 k |x − x0 | |x − x0 | n
tadv = tadv (t, x − x ) = t + = t+ (8.203b)
ω c
so that the usual time interval t − t 0 between the time measured at the point of
observation and the retarded time in a medium becomes
|x − x0 | n
t − t0 = (8.204)
c
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 155
x(t)
θc αc q0 v
x0 (t0 )
For v/c ≥ 1/n, the retarded distance s, and therefore the denominators in
Equations (8.201) on the preceding page vanish when
v nv
n(x − x0 ) · = x − x0 cos θc = x − x0 (8.205)
c c
or, equivalently, when
c
cos θc = (8.206)
nv
In the direction defined by this angle θc , the potentials become singular. During
the time interval t − t0 given by expression (8.204) on the facing page, the field
exists within a sphere of radius |x − x0 | around the particle while the particle
moves a distance
l = v(t − t0 ) (8.207)
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156 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
1 The first systematic exploration of this radiation was made by P. A. Čerenkov in 1934,
who was then a post-graduate student in S. I. Vavilov’s research group at the Lebedev Institute
in Moscow. Vavilov wrote a manuscript with the experimental findings, put Čerenkov as the
author, and submitted it to Nature. In the manuscript, Vavilov explained the results in terms of
radioactive particles creating Compton electrons which gave rise to the radiation (which was
the correct interpretation), but the paper was rejected. The paper was then sent to Physical
Review and was, after some controversy with the American editors who claimed the results to
be wrong, eventually published in 1937. In the same year, I. E. Tamm and I. M. Frank published
the theory for the effect (“the singing electron”). In fact, predictions of a similar effect had been
made as early as 1888 by Heaviside, and by Sommerfeld in his 1904 paper “Radiating body
moving with velocity of light”. On May 8, 1937, Sommerfeld sent a letter to Tamm via Austria,
saying that he was surprised that his old 1904 ideas were now becoming interesting. Tamm,
Frank and Čerenkov received the Nobel Prize in 1958 “for the discovery and the interpretation
of the Čerenkov effect” [V. L. Ginzburg, private communication].
The first observation of this type of radiation was reported by Marie Curie in 1910, but she
never pursued the exploration of it [7].
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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 157
where θ is the angle between the direction of motion, x̂01 , and the direction to
the observer, k̂. The integral in (8.212) is singular of a “Dirac delta type.” If
we limit the spatial extent of the motion of the particle to the closed interval
[−X, X] on the x0 axis we can evaluate the integral to obtain
4 Xω
q0 2 nω2 sin2 θ sin2 1 − nv
3 c cos θ v
Uωrad dΩ =
1 − nvc cos θ 4 ωv
2
dΩ (8.213)
4π3 ε0 c3
3
which has a maximum in the direction θc as expected. The magnitude of this
maximum grows and its width narrows as X → ∞. The integration of (8.213)
over Ω therefore picks up the main contributions from θ ≈ θc . Consequently,
we can set sin2 θ ≈ sin2 θc and the result of the integration is
π 1
Ũωrad = 2π Uωrad (θ) sinθ dθ = dcos θ = −ξc = 2π Uωrad (ξ) dξ
0 −1
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158 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS
This result was derived under the assumption that v/c > 1/n(ω), i.e., under the
condition that the expression inside the parentheses in the right hand side is
positive. For all media it is true that n(ω) → 1 when ω → ∞, so there exist al-
ways a highest frequency for which we can obtain Vavilov-Čerenkov radiation
from a fast charge in a medium. Our derivation above for a fixed value of n is
valid for each individual Fourier component.
Bibliography
[1] R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc.,
New York, NY, 1982, ISBN 0-486-64290-9.
[4] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.
[9] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc.,
New York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-
57269-1.
Downloaded from http://www.plasma.uu.se/CED/Book Draft version released 6th March 2002 at 19:18.
F
Formulae
∇·D = ρ (F.1)
∇·B = 0 (F.2)
∂
∇×E = − B (F.3)
∂t
∂
∇×H = j+ D (F.4)
∂t
Constitutive relations
D = εE (F.5)
B
H= (F.6)
µ
j = σE (F.7)
P = ε0 χE (F.8)
B = ∇×A (F.9)
∂
E = −∇φ − A (F.10)
∂t
159
160 F ORMULAE
−iµ0 eik|x| 0
Brad
ω (x) = d3 x0 e−ik·x jω × k (F.15)
4π |x| V 0
i eik|x| 0
Erad
ω (x) = x̂ × d3 x0 e−ik·x jω × k (F.16)
4πε0 c |x| V 0
ωµ0 eik|x|
Brad
ω (x) = − pω × k (F.17)
4π |x|
1 eik|x|
Erad
ω (x) = − (pω × k) × k (F.18)
4πε0 |x|
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F.3 S PECIAL R ELATIVITY 161
µ0 eik|x|
Brad
ω (x) = − (mω × k) × k (F.19)
4π |x|
k eik|x|
Erad
ω (x) = mω × k (F.20)
4πε0 c |x|
k · Qω 4 × k
iµ0 ω eik|x|
Brad
ω (x) =
8π |x| 3
(F.21)
k · Qω 4 × k × k
i eik|x|
Erad
8πε0 |x| 3
ω (x) = (F.22)
v2
E(t, x) =
q
4πε0 s 3
(x − x 0 ) 1 −
c
2
+ (x − x0 ) ×
(x − x0 ) × v̇
c2
(F.23)
E(t, x)
B(t, x) = (x − x0 ) × (F.24)
c|x − x0 |
s = x − x0 − (x − x0 ) ·
v
(F.25)
c
v
x − x0 = (x − x0 ) − |x − x0 | (F.26)
c
∂t0 |x − x0 |
∂t
=
s
(F.27)
x
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162 F ORMULAE
γ= :
1
(F.32)
1 − β2
v
β= (F.33)
c
F.3.5 Four-velocity
dx µ
uµ = = γ(c, v) (F.35)
dτ
F.3.6 Four-momentum
pµ = m0 cuµ = E
c
,p (F.36)
F.3.8 Four-potential
Aµ = φ
c
,A (F.38)
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F.4 V ECTOR R ELATIONS 163
where x̂i , i = 1, 2, 3 is the ith unit vector and x̂1 ≡ x̂, x̂2 ≡ ŷ, and x̂3 ≡ ẑ. In
component (tensor) notation ∇ can be written
∇i = ∂i = ∂ ∂ ∂
∂x1 ∂x2 ∂x3
, , = ∂ ∂ ∂
∂x ∂y ∂z
, , (F.41)
x̂1 = sin θ cos ϕr̂ + cos θ cos ϕθ̂ − sin ϕϕ̂ (F.43a)
x̂2 = sin θ sin ϕr̂ + cos θ sin ϕθ̂ + cos ϕϕ̂ (F.43b)
x̂3 = cos θr̂ − sin θθ̂ (F.43c)
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164 F ORMULAE
Volume element
d3x = dV = drdS = r2 dr dΩ (F.47)
a · b = b · a = δi j ai b j = ab cos θ (F.48)
a × b = −b × a = i jk a j bk x̂i (F.49)
a · (b × c) = (a × b) · c (F.50)
a × (b × c) = b(a · c) − c(a · b) (F.51)
a × (b × c) + b × (c × a) + c × (a × b) = 0 (F.52)
(a × b) · (c × d) = a · [b × (c × d)] = (a · c)(b · d) − (a · d)(b · c) (F.53)
(a × b) × (c × d) = (a × b · d)c − (a × b · c)d (F.54)
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F.4 V ECTOR R ELATIONS 165
Special identities
In the following k is an arbitrary constant vector while x, as before, is the
radius vector and a an arbitrary vector field.
∇·x = 3 (F.65)
∇×x = 0 (F.66)
∇(k · x) = k (F.67)
x
∇|x| = (F.68)
|x|
∇
1 x
|x|
=− 3 (F.69)
|x|
∇· = −∇2
x 1
|x| |x|
3
= 4πδ(x) (F.70)
∇ = k· ∇
k 1 k·x
|x| |x|
=− 3 (F.71)
|x|
∇× k× = −∇
x k·x
|x|3
|x|3
if |x| 6= 0 (F.72)
∇2 = k∇2
k 1
|x| |x|
= −4πkδ(x) (F.73)
Integral relations
Let V(S ) be the volume bounded by the closed surface S (V). Denote the 3-
dimensional volume element by d3x(≡ dV) and the surface element, directed
along the outward pointing surface normal unit vector n̂, by dS(≡ d2x n̂). Then
(∇ · a) d3x = dS · a
V S
(F.75)
(∇α) d3x =
V S
dS α (F.76)
(∇ × a) d3x =
V S
dS × a (F.77)
If S (C) is an open surface bounded by the contour C(S ), whose line ele-
ment is dl, then
dS × ∇α
C α dl = S
(F.78)
C a · dl = S
dS · (∇ × a) (F.79)
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166 F ORMULAE
Bibliography
[1] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth,
international ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-
059816-7.
Downloaded from http://www.plasma.uu.se/CED/Book Draft version released 6th March 2002 at 19:18.
M
Mathematical
Methods
M.1.1 Vectors
Radius vector
Any vector can be represented mathematically in several different ways. One
suitable representation is in terms of an ordered N-tuple, or row vector, of the
coordinates xN where N is the dimensionality of the space under considera-
tion. The most basic vector is the radius vector which is the vector from the
origin to the point of interest. Its N-tuple representation simply enumerates the
coordinates which describe this point. In this sense, the radius vector from the
origin to a point is synonymous with the coordinates of the point itself.
167
168 M ATHEMATICAL M ETHODS
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M.1 S CALARS , V ECTORS AND T ENSORS 169
M.1.2 Fields
A field is a physical entity which depends on one or more continuous paramet-
ers. Such a parameter can be viewed as a “continuous index” which enumer-
ates the “coordinates” of the field. In particular, in a field which depends on
the usual radius vector x of 3 , each point in this space can be considered as
one degree of freedom so that a field is a representation of a physical entity
which has an infinite number of degrees of freedom.
Scalar fields
We denote an arbitrary scalar field in 3 by
def
α(x) = α(x1 , x2 , x3 ) ≡ α(xi ) (M.6)
space.
In 4D, a four-scalar field is denoted
def
α(x0 , x1 , x2 , x3 ) ≡ α(xµ ) (M.7)
which indicates that the four-scalar α depends on all four coordinates spanning
this space. Since a four-scalar has the same value at a given point regardless
of coordinate system, it is also called an invariant.
Analogous to the transformation rule, Equation (M.5) on the preceding
page, for the differential dxµ , the transformation rule for the differential oper-
ator ∂/∂xµ under a transformation xµ → x0µ becomes
∂ ∂xν ∂
= (M.8)
∂x0µ ∂x0µ ∂xν
which, again, follows trivially from the rules of differentiation.
Vector fields
We can represent an arbitrary vector field a(x) in 3 as follows:
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170 M ATHEMATICAL M ETHODS
Tensor fields
We denote an arbitrary tensor field in 3 by A(x). This tensor field can be
represented in a number of ways, for instance in the following matrix form:
C
A11 (x) A12 (x) A13 (x)
B@ A21 (x) A22 (x) A23 (x)F ≡ Ai j (xk ) 4
def
A(x) =
A31 (x) A32 (x) A33 (x)
3 (M.15)
where, in the last member, we have again used the more compact component
notation. Strictly speaking, the tensor field described here is a tensor of rank
two.
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M.1 S CALARS , V ECTORS AND T ENSORS 171
0 if i 6= j
δi j = G (M.16)
1 if i = j
In fact, tensors may have any rank n. In this picture a scalar is considered
to be a tensor of rank n = 0 and a vector a tensor of rank n = 1. Consequently,
the notation where a vector (tensor) is represented in its component form is
called the tensor notation. A tensor of rank n = 2 may be represented by a two-
dimensional array or matrix whereas higher rank tensors are best represented
in their component forms (tensor notation).
T ENSORS IN 3D SPACE E XAMPLE M.1
Consider a tetrahedron-like volume element V of a solid, fluid, or gaseous body, whose
atomistic structure is irrelevant for the present analysis; figure M.1 on the following
page indicates how this volume may look like. Let dS = d2x n̂ be the directed surface
element of this volume element and let the vector T n̂ d2x be the force that matter, lying
on the side of d2x toward which the unit normal vector n̂ points, acts on matter which
lies on the opposite side of d2x. This force concept is meaningful only if the forces
are short-range enough that they can be assumed to act only in the surface proper.
According to Newton’s third law, this surface force fulfils
T− n̂ = −T n̂ (M.20)
Using (M.20) and Newton’s second law, we find that the matter of mass m, which at a
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172 M ATHEMATICAL M ETHODS
x3
n̂
d2x
x2
x1
Since both a and Fext /m remain finite whereas m/d2x → 0 as V → 0, one finds that in
this limit
3
T n̂ = ∑ ni T x̂i ≡ ni T x̂i (M.23)
i=1
From the above derivation it is clear that Equation (M.23) above is valid not only in
equilibrium but also when the matter in V is in motion.
Introducing the notation
T i j = T x̂i j
(M.24)
for the jth component of the vector T x̂i , we can write Equation (M.23) on the facing
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M.1 S CALARS , V ECTORS AND T ENSORS 173
Using Equation (M.25) above, we find that the component of the vector T n̂ in the
direction of an arbitrary unit vector m̂ is
T n̂m̂ = T n̂ · m̂
3 3
m 3 (M.26)
= ∑ T n̂j m j = ∑ ∑ ni T i j n m j ≡ ni T i j m j = n̂· T · m̂
j=1 j=1 i=1
Hence, the jth component of the vector T x̂i , here denoted T i j , can be interpreted as the
i jth component of a tensor T. Note that T n̂m̂ is independent of the particular coordinate
system used in the derivation.
We shall now show how one can use the momentum law (force equation) to derive
the equation of motion for an arbitrary element of mass in the body. To this end we
consider a part V of the body. If the external force density (force per unit volume) is
denoted by f and the velocity for a mass element dm is denoted by v, we obtain
d 3 2
dt V v dm = V f d x + S Tn̂ d x (M.27)
where, in the last step, Equation (M.25) was used. Setting dm = ρ d 3x and using the
divergence theorem on the last term, we can rewrite the result as
d ∂T i j 3
v j d3x = f j d3x +
V ρ
dt V V ∂xi
dx (M.29)
Since this formula is valid for any arbitrary volume, we must require that
d ∂T i j
ρ vj − fj − =0 (M.30)
dt ∂xi
or, equivalently
∂v j ∂T i j
ρ + ρv · ∇v j − f j − =0 (M.31)
∂t ∂xi
Note that ∂v j /∂t is the rate of change with time of the velocity component v j at a fixed
point x = (x1 , x1 , x3 ).
E ND OF EXAMPLE M.1C
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174 M ATHEMATICAL M ETHODS
def
aµ (xκ ) ≡ gµν aν (xκ ) (M.32)
This rule is often called lowering of index. The raising of index analogue of
the index lowering rule is:
def
aµ (xκ ) ≡ gµν aν (xκ ) (M.33)
More generally, the following lowering and raising rules hold for arbitrary
rank n mixed tensor fields:
gµk νk Aνν1k+1
ν2 ...νk−1 νk κ ν1 ν2 ...νk−1 κ
νk+2 ...νn (x ) = Aµk νk+1 ...νn (x ) (M.34)
Successive lowering and raising of more than one index is achieved by a re-
peated application of this rule. For example, a dual application of the lowering
operation on a rank 2 tensor in contravariant form yields
i.e., the same rank 2 tensor in covariant form. This operation is also known as
a tensor contraction.
E XAMPLE M.2
C ONTRAVARIANT AND COVARIANT VECTORS IN FLAT L ORENTZ SPACE
The 4D Lorentz space q 4 has a simple metric which can be described either by the
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M.1 S CALARS , V ECTORS AND T ENSORS 175
metric tensor
t 1 if µ = ν = 0
gµν = rs −1 if µ = ν = i = j = 1, 2, 3 (M.37)
su 0 if µ 6= ν
or, in matrix notation,
1 0 0 0
0 −1 0 0
(gµν ) = ""# *& ( (M.38)
0 0
0 0
−1 0
0 −1
(
i.e., a matrix with a main diagonal that has the sign sequence, or signature, {+, −, −, −}
or
t −1 if µ = ν = 0
gµν = rs 1 if µ = ν = i = j = 1, 2, 3 (M.39)
su 0 6 ν
if µ =
which, in matrix notation, can be represented as
−1 0 0 0
0 1 0 0
(gµν ) = ""# *&)( (M.40)
0 0
0 0
1
0
0
1
(
i.e., a matrix with signature {−, +, +, +}.
Consider an arbitrary contravariant four-vector aν in this space. In component form it
can be written:
def
aν ≡ (a0 , a1 , a2 , a3 ) = (a0 , a) (M.41)
According to the index lowering rule, Equation (M.32) on the preceding page, we
obtain the covariant version of this vector as
def
aµ ≡ (a0 , a1 , a2 , a3 ) = gµν aν (M.42)
In the {+, −, −, −} metric we obtain
µ=0: a 0 = 1 · a 0 + 0 · a 1 + 0 · a 2 + 0 · a 3 = a0 (M.43)
0 1 2 3 1
µ=1: a1 = 0 · a − 1 · a + 0 · a + 0 · a = −a (M.44)
µ=2: a2 = 0 · a0 + 0 · a1 − 1 · a2 + 0 · a3 = −a2 (M.45)
0 1 2 3 3
µ=3: a3 = 0 · a + 0 · a + 0 · a + 1 · a = −a (M.46)
or
aµ = (a0 , a1 , a2 , a3 ) = (a0 , −a1 , −a2 , −a3 ) = (a0 , −a) (M.47)
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176 M ATHEMATICAL M ETHODS
E ND OF EXAMPLE M.2C
E XAMPLE M.3
I NNER PRODUCTS IN COMPLEX VECTOR SPACE
A 3D complex vector A is a vector in 3 (or, if we like, in 6 ), expressed in terms of
two real vectors aR and aI in 3 in the following way
def
A ≡ aR + iaI = aR âR + iaI âI ≡ A Â ∈
def
3
(M.52)
The inner product of A with itself may be defined as
def
A2 ≡ A · A = a2R − a2I + 2iaR · aI ≡ A2 ∈
def
(M.53)
from which we find that
A= v a2R − a2I + 2iaR · aI ∈ (M.54)
Using this in Equation (M.52) above, we see that we can interpret this so that the
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M.1 S CALARS , V ECTORS AND T ENSORS 177
(M.55)
On the other hand, the definition of the scalar product in terms of the inner product of
complex vector with its own complex conjugate yields
def
|A|2 ≡ A · A∗ = a2R + a2I = |A|2 (M.56)
with the help of which we can define the unit vector as
A aR aI
 = = âR + i âI
|A| v a2R + a2I v a2R + a2I
(M.57)
aR v a2R + a2I aI v a2R + a2I
=
a2R + a2I
âR + i
a2R + a2I
âI ∈ 3
E ND OF EXAMPLE M.3C
q
In 4 the metric tensor attains a simple form [see Equation (4.10) on page 51 for an
example] and, hence, the scalar product in Equation (M.50) on the preceding page can
be evaluated almost trivially and becomes
aµ bµ = (a0 , −a) · (b0 , b) = a0 b0 − a · b (M.58)
The important scalar product of the q 4 radius four-vector with itself becomes
xµ xµ = (x0 , −x) · (x0 , x) = (ct, −x) · (ct, x)
(M.59)
= (ct)2 − (x1 )2 − (x2 )2 − (x3 )2 = s2
which is the indefinite, real norm of q 4. The q 4 metric is the quadratic differential
form
ds2 = dxµ dxµ = c2 (dt)2 − (dx1 )2 − (dx2 )2 − (dx3 )2 (M.60)
E ND OF EXAMPLE M.4C
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178 M ATHEMATICAL M ETHODS
E XAMPLE M.5
M ETRIC IN GENERAL RELATIVITY
In general relativity the metric tensor is not given a priori but is determined by the
Einstein equations.
E ND OF EXAMPLE M.5C
Dyadic product
The dyadic product field A(x) ≡ a(x)b(x) with two juxtaposed vector fields
a(x) and b(x) is the outer product of a and b. Operating on this dyad from the
right and from the left with an inner product of an vector c one obtains
def def
A · c ≡ ab · c ≡ a(b · c) (M.63a)
def def
c · A ≡ c · ab ≡ (c · a)b (M.63b)
which means that we can represent the tensor A(x) in matrix form as
C
a1 b1 a1 b2 a1 b3
4 B@ a1 b2 a2 b2 a2 b3 F
3 Ai j (xk ) =
a1 b3 a3 b2 a3 b3
(M.65)
which we identify with expression (M.15) on page 170, viz. a tensor in matrix
notation.
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M.1 S CALARS , V ECTORS AND T ENSORS 179
Vector product
The vector product or cross product of two arbitrary 3D vectors a and b in
ordinary 3 space is the vector
c = a × b = i jk a j bk x̂i (M.66)
Here i jk is the Levi-Civita tensor defined in Equation (M.18) on page 171.
Sometimes the vector product of a and b is denoted a ∧ b or, particularly in the
Russian literature, [ab].
A spatial reversal of the coordinate system (x10 , x20 , x30 ) = (−x1 , −x2 , −x3 )
changes sign of the components of the vectors a and b so that in the new
coordinate system a0 = −a and b0 = −b, which is to say that the direction
of an ordinary vector is not dependent on the choice of directions of the co-
ordinate axes. On the other hand, as is seen from Equation (M.66), the cross
product vector c does not change sign. Therefore a (or b) is an example of a
“true” vector, or polar vector, whereas c is an example of an axial vector, or
pseudovector.
A prototype for a pseudovector is the angular momentum vector L = r × p
and hence the attribute “axial.” Pseudovectors transform as ordinary vectors
under translations and proper rotations, but reverse their sign relative to ordin-
ary vectors for any coordinate change involving reflection. Tensors (of any
rank) which transform analogously to pseudovectors are called pseudotensors.
Scalars are tensors of rank zero, and zero-rank pseudotensors are therefore
also called pseudoscalars, an example being the pseudoscalar x̂i · ( x̂ j × x̂k ).
This triple product is a representation of the i jk component of the Levi-Civita
tensor i jk which is a rank three pseudotensor.
∂i = ∂ ∂ ∂
∂x1 ∂x2 ∂x3
, , (M.68)
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180 M ATHEMATICAL M ETHODS
∂µ = ∂ ∂ ∂ ∂
∂x0 ∂x1 ∂x2 ∂x3
, , , (M.69)
∂µ = ∂ ∂ ∂ ∂
∂x0 ∂x1 ∂x2 ∂x3
, , , (M.70)
y0µ = ∂ν x0µ 4 yν
3 (M.71)
and
y0µ = ∂0µ xν 4 yν
3 (M.72)
respectively.
E XAMPLE M.6
T HE FOUR - DEL OPERATOR IN L ORENTZ SPACE
∂µ = 1∂
c ∂t
, −∂ = 1∂
c ∂t
, −∇
(M.73)
∂µ = 1∂
c ∂t
,∂ = 1∂
c ∂t
,∇
(M.74)
∂µ ∂µ =
1 ∂2
− ∇2 =
j 2
(M.75)
c2 ∂t2
which is the d’Alembert operator, sometimes denoted
j , and sometimes defined with
an opposite sign convention.
E ND OF EXAMPLE M.6C
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M.1 S CALARS , V ECTORS AND T ENSORS 181
With the help of the del operator we can define the gradient, divergence
and curl of a tensor (in the generalised sense).
The gradient
The gradient of an 3 scalar field α(x), denoted ∇α(x), is an 3 vector field
a(x):
From this we see that the boldface notation for the nabla and del operators is
very handy as it elucidates the 3D vectorial property of the gradient.
In 4D, the four-gradient is a covariant vector, formed as a derivative of a
four-scalar field α(xµ ), with the following component form:
∂α(xν )
∂µ α(xν ) = (M.77)
∂xµ
E ND OF EXAMPLE M.7C
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182 M ATHEMATICAL M ETHODS
The divergence
We define the 3D divergence of a vector field in 3 as
∂ai (x)
∇ · a(x) = ∂ · x̂ j a j (x) = δi j ∂i a j (x) = ∂i ai (x) = = α(x) (M.81)
∂xi
∂aµ (xν )
∂µ aµ (xν ) = ∂µ aµ (xν ) = (M.82)
∂xµ
E XAMPLE M.8
D IVERGENCE IN 3D
which demonstrates how the “primed” divergence, defined in terms of the “primed”
del operator in Equation (M.78) on the preceding page, works.
E ND OF EXAMPLE M.8C
The Laplacian
The 3D Laplace operator or Laplacian can be described as the divergence of
the gradient operator:
3
∂ ∂ ∂2 ∂2
∇2 = ∆ = ∇ · ∇ = x̂i · x̂ j = δi j ∂i ∂ j = ∂2i = 2 ≡ ∑ 2 (M.84)
∂xi ∂x j ∂xi i=1 ∂xi
The symbol ∇2 is sometimes read del squared. If, for a scalar field α(x),
∇2 α < 0 at some point in 3D space, it is a sign of concentration of α at that
point.
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M.1 S CALARS , V ECTORS AND T ENSORS 183
∇·∇ 1
|x x0 |
− = ∇2 1
|x x0 |
− = −4πδ(x − x0 ) (M.85)
The curl
In 3 the curl of a vector field a(x), denoted ∇ × a(x), is another 3 vector field
b(x) which can be defined in the following way:
∂ak (x)
∇ × a(x) = i jk x̂i ∂ j ak (x) = i jk x̂i = b(x) (M.86)
∂x j
where use was made of the Levi-Civita tensor, introduced in Equation (M.18)
on page 171.
The covariant 4D generalisation of the curl of a four-vector field aµ (xν ) is
the antisymmetric four-tensor field
∂2 ∂2
+ −
∂x3 ∂x1 ∂x1 ∂x3 α(x) x̂2
(M.89)
∂2 ∂2
+ −
∂x1 ∂x2 ∂x2 ∂x1 α(x) x̂3
≡0
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184 M ATHEMATICAL M ETHODS
E ND OF EXAMPLE M.10C
E XAMPLE M.11
T HE DIVERGENCE OF A CURL
With the use of the definitions of the divergence (M.81) and the curl, Equation (M.86)
on the preceding page, we find that
∇ · [∇ × a(x)] = ∂i [∇ × a(x)]i = i jk ∂i ∂ j ak (x) (M.92)
Using the definition for the Levi-Civita symbol, defined by Equation (M.18) on
page 171, we find that, due to the assumed well-behavedness of a(x),
∂ ∂
∂i i jk ∂ j ak (x) = i jk ak
∂xi ∂x j
∂2 ∂2
= −
∂x2 ∂x3 ∂x3 ∂x2 a1 (x)
∂2 ∂2
+ −
∂x3 ∂x1 ∂x1 ∂x3 a2 (x)
(M.93)
∂2 ∂2
+ −
∂x1 ∂x2 ∂x2 ∂x1 a3 (x)
≡0
i.e., that
∇ · [∇ × a(x)] ≡ 0 (M.94)
for any arbitrary, well-behaved 3 vector field a(x).
In 4D, the four-divergence of the four-curl is not zero, for
∂ν Gµν = ∂µ ∂ν aν (xκ ) −
j 2 µ
a (xκ ) 6= 0 (M.95)
E ND OF EXAMPLE M.11C
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M.2 A NALYTICAL M ECHANICS 185
L(qi , q̇i , t) = L qi ,
dqi
dt
,t = T −V (M.96)
where qi is the generalised coordinate, T the kinetic energy and V the po-
tential energy of a mechanical system, The Lagrangian satisfies the Lagrange
equations
∂
∂t
∂L
∂q̇i
−
∂L
∂qi
=0 (M.97)
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186 M ATHEMATICAL M ETHODS
∂H dqi
= q̇i = (M.102a)
∂pi dt
∂H dpi
= − ṗi = − (M.102b)
∂qi dt
Bibliography
[1] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth,
international ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-
059816-7.
[2] R. A. D EAN, Elements of Abstract Algebra, John Wiley & Sons, Inc.,
New York, NY . . . , 1967, ISBN 0-471-20452-8.
[5] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and Lon-
don, 1965, ISBN 05-001331-9.
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Index
187
188 M ATHEMATICAL M ETHODS
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189
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190 M ATHEMATICAL M ETHODS
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191
vacuum permeability, 5
vacuum permittivity, 2
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