Lecture 4: Vectors: Vector Product Dyadic Product: Mathematical Foundations of EFT (MFEFT)

Vector and Tensor Algebra Vectors: Scalar Product; Vector Product; Dyadic Product
Lecture 4: Vectors: Vector Product; Dyadic Product

Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundations of EFT (MFEFT) WS 2007/2008 73 / 113
MFEFT - Lecture 4
1
Introduction
2
Vector and Tensor Algebra
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
Vectors: Scalar Product; Vector Product; Dyadic Product
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
Vector and Tensor Analysis
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
MFEFT - Lecture 4
1
Introduction
2
Vector and Tensor Algebra
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
Vectors: Scalar Product; Vector Product; Dyadic Product
Scalar Product
Vector Product
Dyadic Product
Complex Vectors
Tensors
Denition
3
Vector and Tensor Analysis
4
Distributions
5
Complex Analysis
6
Special Functions
7
Fourier Transform
8
Laplace Transform
Vector Product
Vector Product
The denition of the vector product is
shown in Fig. 8. Two vectors A and B
span a parallelogram with the surface
F = AB sin . (203)
The vector C with the length equal to F is
normal ( perpendicular) to the surface F
and the orientation of C is given by the
right-hand rule
C = AB. (204)
Thats because the vector product is not
commutative
BA = AB. (205)
. .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .. . .. .. . .. . .. . .. . .. . .. . .........................
........ ... . .. . .. . . . . . .
................................................................................................................................................................................................................................................................................................................................................. . . . . . . .. . . .. .. .. ......
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . .. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . ........................
.......................
............. ............. ............. ............. ............. ............. .............
............. ............. .............
............. ............. ............. ............. ............. ............. ............. ......... . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
A
B
C
F = |C|
Figure 8: Denition of the Vector Product
Vector Product
Vector Product between two Parallel or Antiparallel Vectors
It follows that two vectors are parallel or antiparallel, if the vector product is zero:
A B AB = 0.
Vector Product between the Unit Vectors of the Cartesian Coordinate System
For example, the vector product between the unit vectors of the Cartesian coordinate system is
e
x
e
x
= 0
e
y
e
y
= 0 (206)
e
z
e
z
= 0
and
e
x
e
y
= e
z
e
x
e
z
= e
y
(207)
e
y
e
z
= e
x
.
Vector Product between two Vectors: Components Form in Cartesian
Coordinates
In components representation of A and B it follows explicitly by using Eq. (207) and (206)
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (208)
= A
x
e
x
B
x
e
x
+ A
y
e
y
B
x
e
x
+ A
z
e
z
B
x
e
x
+ A
x
e
x
B
y
e
y
+ A
y
e
y
B
y
e
y
+ A
z
e
z
B
y
e
y
+ A
x
e
x
B
z
e
z
+ A
y
e
y
B
z
e
z
+ A
z
e
z
B
z
e
z
(209)
= A
x
B
x
e
x
e
x
. .
=0
+A
y
B
x
e
y
e
x
. .
=e
z
+A
z
B
x
e
z
e
x
. .
=e
y
+ A
x
B
y
e
x
e
y
. .
=e
z
+A
y
B
y
e
y
e
y
. .
=0
+A
z
B
y
e
z
e
y
. .
=e
x
+ A
x
B
z
e
x
e
z
. .
=e
y
+A
y
B
z
e
y
e
z
. .
=e
x
+A
z
B
z
e
z
e
z
. .
=0
(210)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (211)
Sarrus Scheme
Sarrus Scheme
The last result is also obtained by applying the Sarrus Scheme introduced by the French
mathematician Pierre Frederic Sarrus (1798-1861):
C = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (212)
= det
_
_
_
_
_
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
_
_
_
_
_
=
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
. (213)
Computing the determinant of the 3 3 matrix gives:
C =
e
x
e
y
e
z
A
x
A
y
A
z
B
x
B
y
B
z
(214)
= e
x
A
y
B
z
+e
y
A
z
B
x
+e
z
A
x
B
y
B
x
A
y
e
z
B
y
A
z
e
x
B
z
A
x
e
y
(215)
= (A
y
B
z
A
z
B
y
)
. .
=C
x
e
x
+ (A
z
B
x
A
x
B
z
)
. .
=C
y
e
y
+ (A
x
B
y
A
y
B
x
)
. .
=C
z
e
z
. (216)
Levi-Cività Symbol
Levi-Cività Symbol
We can also make use of the so-called Levi-Cività Symbol
ijk
, i, j, k = 1, 2, 3 introduced by the
Italian mathematician T. LeviCività (1873-1941)
ijk
=
_
_
0 , if two subscripts are equal
1 , if ijk is a even permutation of 123
1 , if ijk is a odd permutation of 123 .
(217)
Then, the components of the result vector of the vector product of two vectors read
C
i
=
3
j=1
3
k=1
ijk
A
j
B
k
(218)
and by using the Einstein summation convention:
C
i
=
ijk
A
j
B
k
. (219)
Multiple Vector and Scalar Products
Vector Triple Product (VTB)
The vector triple product is dened as
A(BC) = B(A C) C(A B) (220)
Say: A cross B cross C = BAC minus CAB.
This is called the Vector Triple Product (VTP), because it involves three terms (vectors) and the
result is a vector. The right-hand side can be shown to be correct by direct evaluation of the
vector product. The VTO appears for example in the
Magnetostatic (MS) Case: in the derivation of the vectorial Poisson/Laplace equation for
the magnetic vector potential A(R):
B(R) = A(R) H(R) =
1
A(R) (221)
H(R) =
_
1
A(R)
_
=
1
A(R) = J
e
(R) . (222)
Electromagnetic (EM) Case: in the derivation of the vectorial wave equation for the electric
eld strength E(R, t):
E(R, t) =
0
t
J(R, t)
0
2
t
2
E(R, t) (223)
. . . (224)
Proof of the Identity A(BC) = B(A C) C(A B)
BC =
e
x
e
y
e
z
B
x
B
y
B
z
C
x
C
y
C
z
(225)
= (B
y
C
z
B
z
C
y
)e
x
+ (B
z
C
x
B
x
C
z
)e
y
+ (B
x
C
y
B
y
C
x
)e
z
. (226)
A(BC) =
e
x
e
y
e
z
A
x
A
y
A
z
(B
y
C
z
B
z
C
y
) (B
z
C
x
B
x
C
z
) (B
x
C
y
B
y
C
x
)
(227)
= (A
y
(B
x
C
y
B
y
C
x
) A
z
(B
z
C
x
B
x
C
z
))e
x
+ (A
z
(B
y
C
z
B
z
C
y
) A
x
(B
x
C
y
B
y
C
x
))e
y
+ (A
x
(B
z
C
x
B
x
C
z
) A
y
(B
y
C
z
B
z
C
y
))e
z
(228)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+ B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+ B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
. (229)
A(BC)
= B
x
e
x
A
y
C
y
A
y
B
y
C
x
e
x
A
z
B
z
C
x
e
x
+ B
x
e
x
A
z
C
z
+B
y
e
y
A
z
C
z
A
z
B
z
C
y
e
y
A
x
B
x
C
y
e
y
+ B
y
e
y
A
x
C
x
+B
z
e
z
A
x
C
x
A
x
B
x
C
z
e
z
A
y
B
y
C
z
e
z
+ B
z
e
z
A
y
C
y
(230)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) (A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) (A
z
B
z
+ A
x
B
x
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) (A
x
B
x
+ A
y
B
y
) C
z
e
z
(231)
= B
x
e
x
(A
y
C
y
+ A
z
C
z
) +B
x
e
x
A
x
C
x
(A
y
B
y
+ A
z
B
z
) C
x
e
x
B
x
e
x
A
x
C
x
+ B
y
e
y
(A
z
C
z
+ A
x
C
x
) +B
y
e
y
A
y
C
y
(A
z
B
z
+ A
x
B
x
) C
y
e
y
B
y
e
y
A
y
C
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
) +B
z
e
z
A
z
C
z
(A
x
B
x
+ A
y
B
y
) C
z
e
z
B
z
e
z
A
z
C
z
(232)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
) (B
x
A
x
+ A
y
B
y
+ A
z
B
z
) C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
) (A
x
B
x
+B
y
A
y
+ A
z
B
z
) C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
) (A
x
B
x
+ A
y
B
y
+B
z
A
z
) C
z
e
z
. (233)
A(BC)
= B
x
e
x
(A
x
C
x
+ A
y
C
y
+ A
z
C
z
)
. .
=A C
(B
x
A
x
+ A
y
B
y
+ A
z
B
z
)
. .
=A B
C
x
e
x
+ B
y
e
y
(A
x
C
x
+A
y
C
y
+ A
z
C
z
)
. .
=A C
(A
x
B
x
+B
y
A
y
+ A
z
B
z
)
. .
=A B
C
y
e
y
+ B
z
e
z
(A
x
C
x
+ A
y
C
y
+A
z
C
z
)
. .
=A C
(A
x
B
x
+ A
y
B
y
+B
z
A
z
)
. .
=A B
C
z
e
z
(234)
= B
x
e
x
(A C) + B
y
e
y
(A C) + B
z
e
z
(A C)
(A B) C
x
e
x
(A B) C
y
e
y
(A B) C
z
e
z
(235)
= B(A C) (A B) C. (236)
Scalar Triple Product (STP)
The Scalar Triple Product is dened by
A (BC) = [ABC] , (237)
which determines the volume of the parallelepiped represented by the vectors A, B, C. This
scalar value is a so-called Pseudo Scalar [Hafner, 1987], because the sign depends on the
handedness of the involved vector product.
Special Cases of the Scalar Triple Product (STP)
The resulting vector of two vectors is always perpendicular to both vectors, then
A (AB) = 0
B (AB) = 0 . (238)
Dyadic Product
Denition of the Dyadic Product
The Dyadic Product (product without a dot or cross) of two vectors is dened by the formal
multiplication of the vectors in components form
AB = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) . (239)
The multiplication gives the dyadic products of the unit vectors:
AB = A
x
B
x
e
x
e
x
+ A
x
B
y
e
x
e
y
+ A
x
B
z
e
x
e
z
+A
y
B
x
e
y
e
x
+ A
y
B
y
e
y
e
y
+ A
y
B
z
e
y
e
z
+A
z
B
x
e
z
e
x
+ A
z
B
y
e
z
e
y
+ A
z
B
z
e
z
e
z
. (240)
The dyadic product is not commutative, this means
AB = BA
e
x
e
y
= e
y
e
x
e
x
e
z
= e
z
e
x
.
.
.
Dyadic Product
Dyadic Product in Matrix Form
We also can write the components form of the dyadic product in a 33 Matrix. The (cartesian)
components representation of a vector
A = A
x
e
x
+ A
y
e
y
+ A
z
e
z
(241)
can be written by keeping the unit vectors in mind in form of a row vector or a column vector
{A} = {A
x
A
y
A
z
} (row vector) (242)
{A} =
_
_
_
A
x
A
y
A
z
_
_
_
(column vector) . (243)
Then, it follows for the dyadic product of two vectors AB by keeping the unit vectors of the
xed coordinate system in mind
AB =
_
_
_
A
x
A
y
A
z
_
_
_
{B
x
B
y
B
z
} =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
. (244)
Obviously, the dyadic products e
x
i
e
x
j
, i, j = 1, 2, 3, in Eq. (240) determine the position of the
A
i
B
j
element in the matrix in Eq. (244).
Dyadic Product
Dyadic Product in Matrix Form
The entry A
x
B
z
is positioned at the place e
x
e
z
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
and the entry A
z
B
x
is given by the position e
z
e
x
AB =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
.
This proves that the dyadic product is not commutative
AB = BA. (245)
We summarize: In this sense, the dyad has nine components in comparison to the the three
components of a vector. In the discussed case AB, these nine components are determined by six
vector components.
Dyadic Product
Practical Meaning of the Dyadic Product
A practical meaning of the dyadic product, if according to a matrix-vector multiplication a
dot product (contraction) is a applied to a vector. We interpret the operation the linear
mapping
AB C =
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
_
_
_
C
x
C
y
C
z
_
_
_
(246)
or
C AB = {C
x
C
y
C
z
}
_
_
A
x
B
x
A
x
B
y
A
x
B
z
A
y
B
x
A
y
B
y
A
y
B
z
A
z
B
x
A
z
B
y
A
z
B
z
_
_
(247)
in a meaningful way.
Dyadic Product
For example, we nd by computing the DyadVector Multiplication in Eq. (246) and
interpretation of the result according to Eq. (243)
AB C =
_
_
A
x
B
x
C
x
+ A
x
B
y
C
y
+ A
x
B
z
C
z
A
y
B
x
C
x
+ A
y
B
y
C
y
+ A
y
B
z
C
z
A
z
B
x
C
x
+ A
z
B
y
C
y
+ A
z
B
z
C
z
_
_
=
_
_
A
x
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
y
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
A
z
(B
x
C
x
+ B
y
C
y
+ B
z
C
z
)
_
_
= (A
x
e
x
+ A
y
e
y
+ A
z
e
z
)(B
x
C
x
+ B
y
C
y
+ B
z
C
z
) (248)
and respectively by calculation of the Vector-Dyad Multiplication
C AB = (C
x
A
x
+ C
y
A
y
+ C
z
A
z
)(B
x
e
x
+ B
y
e
y
+ B
z
e
z
) , (249)
which can be written in the coordinate-free form
AB C = A(B C) (250)
C AB = (C A)B. (251)
Dyadic Product
The result of the product of a dyad AB with a vector C
AB C = A(B C)
is again a vector, but in the direction of A, where the length is modied by the scalar
product B C
a)
.
Similarly, the dot product of a vector C with a dyad AB
C AB = (C A)B
is a vector in direciton of B, which is stretched/compressed by the scalar product C A.
The contraction of a dyad with a vector determines a rotation of C in A or of C in B, where
AB C = C AB. (252)
a)
Note that for all vectors C in a plane perpendicular to B is AB C = 0, i. e., the Cs are building the kernel of a
(nullspace) of the linear mapping AB C [Burg et al., 1990]; for all vectors in the kernel AB C = D it is impossible to solve
C in a unique way.
EM Application: Hertzian Dipole Radiation
EM Application: Hertzian Dipole Radiation
The simplest antenna to radiate electromagnetic waves is a Hertzian Dipole. The vector of the
electric eld strength E of the radiated electromagnetic eld is a function of the observation
point R and has a dierent magnitude and direction at every point in space:
E(R, ) =
0

2
p
e
() G
(0)
(R, ) . (253)
The change in direction (rotation) and amplitude (stretching/compression) relative to the
arbitrary but constant directed dipole moment p
e
is given by a dyad, the so-called Dyadic
Greens Function:
G(R, ) =
_
I +
1
k
2
0
_
e
j k
0
R
4R
=
_
I

R

R+
j
k
0
R
(I 3
R

R)
1
k
2
0
R
2
(I 3
R

R)
_
e
j k
0
R
4R
for R = 0
def
= G
(0)
(R, ) for R = 0. (254)
Dyadic Product
The Cross Product between a Vector and a Dyad
We can generalize the results obtained for the scalar product to the vector product of a vector
and a dyad and vice versa:
ABC = A(BC) (255)
CAB = (CA)B, (256)
but note that the result is a dyad and these relations are not commutative.
Dyadic Product
Dyadic Product with Numbered Coordinates and Summation Convention
If we use the numbered Cartesian coordinates (240) we write:
AB =
3
i=1
3
j=1
A
x
i
B
x
j
e
x
i
e
x
j
(257)
and applying the summation convention we nd:
AB = A
x
i
B
x
j
e
x
i
e
x
j
, (258)
where we have to sum i, j from 1, 2, 3. Note that e
x
i
e
x
j
= e
x
j
e
x
i
for i = j. A dyad AB has
components with double indices
D
x
i
x
j
= A
x
i
B
x
j
; (259)
this results in the notation of a so-called 2nd rank tensor D:
D = AB = A
x
i
B
x
j
e
x
i
e
x
j
= D
x
i
x
j
e
x
i
e
x
j
. (260)

Lecture 4: Vectors: Vector Product Dyadic Product: Mathematical Foundations of EFT (MFEFT)

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Lecture 4: Vectors: Vector Product Dyadic Product: Mathematical Foundations of EFT (MFEFT)

Uploaded by

Copyright:

Available Formats

Vector and Tensor Algebra Vectors: Scalar Product; Vector Product; Dyadic Product

Lecture 4: Vectors: Vector Product; Dyadic Product

You might also like