Ivan Avramidi, MATH 332: Vector Analysis, Formulas 1

MATH 332: Vector Analysis

Formulas
Vector Algebra
x
1
= x, x
2
= y, x
3
= z
e
1
= i, e
2
= j, e
3
= k
e
i
e
j
=
ij
e
i
e
j
=
ijk
e
k
A = A
i
e
i
A B = A
i
B
i
A B = B A
|A|
2
= A A = A
i
A
i
AB =
ijk
A
j
B
k
e
i
=

i j k
A
1
A
2
A
3
B
1
B
2
B
3

(AB)
i
=
ijk
A
j
B
k
AA = 0
[A, B, C] = A (BC) =
ijk
A
i
B
j
C
k
[A, B, C] = [B, C, A] = [C, A, B]
Line parallel to A:
x
i
= x
(0) i
+ A
i
t
t =
x
i
x
(0) i
A
i
, A
i
= 0
Plane orthogonal to N
N
i
(x
i
x
(0) i
) = 0
Identities:
A(BC) = B(A C) C(A B)
Tensors:

ij
=
ji

ii
= 3

ij
A
j
= A
i

ij
A
i
B
j
= A
i
B
i
= A B

ijk
=
jik
=
ikj
=
kji

ijk
=
jki
=
kij

ijj
=
jij
=
jji
= 0

ijk

ij
=
ijk

ik
=
ijk

jk
= 0
Ivan Avramidi, MATH 332: Vector Analysis, Formulas 2

ijk
A
j
A
k
=
ijk
A
i
A
k
=
ijk
A
i
A
j
= 0

i
j
=
j
i
=
ij
=
ij

ijk
=
ijk

ijk

mnl
=
m
i

n
j

l
k
+
m
j

n
k

l
i
+
m
k

n
i

l
j

m
i

n
k

l
j

m
j

n
i

l
k

m
k

n
j

l
i

ijk

mnk
=
m
i

n
j

m
j

n
i

ijk

mjk
= 2
m
i

ijk

ijk
= 6
Vector Functions
Position
R = x
i
e
i
= xi + yj + zk
Velocity
v =
dR
dt
Acceleration
a =
dv
dt
=
d
2
R
dt
2
Arc Length
ds = |v|dt
s(t) =

t
t
0
|v()| d
Speed
|v| =
ds
dt
Tangent
T =
v
|v|
Curvature
k =
1
|v|

dT
dt

=
|v a|
|v|
3
Radius of curvature
=
1
k
Principal Normal
N =
1
k|v|
dT
dt
Binormal
B = TN
Torsion
=
1
|v|
B
dN
dt
Scalar and Vector Fields
Partial derivatives

i
=

x
i

1
=
x
,
2
=
y
,
3
=
z
Nabla (Del) Operator
= e
i

i
= i
x
+j
y
+k
z
Gradient
grad f = f = e
i

i
f

i
f =
i
f
Directional derivative
df
ds
=
dR
ds
gradf =
dx
i
ds

i
f
Flow curves
dx
i
ds
= F
i
Ivan Avramidi, MATH 332: Vector Analysis, Formulas 3
ds =
dx
i
F
i
Divergence
div F = F =
i
F
i
Curl
curl F = F =
ijk

j
F
k
e
i
=

i j k

x

y

z
F
1
F
2
F
3

(curl F)
i
=
ijk

j
F
k
Laplacian
=
2
= =
i

i
=
2
x
+
2
y
+
2
z
Vector identities:
= 0, curl grad = 0
(F) = 0, div curl = 0
(fg) = (f)g + f(g)
(fF) = (f) F + fF
(fF) = (f) F + f(F)
f() =
df
d

R = 3
R = 0
(F )R = F
Cylindrical Coordinates:
ds
2
= d
2
+
2
d
2
+ dz
2
dV = d d dz
f =

+e

+e
z

f
F =
1

(F

) +
1

+
z
F
z
F =
1

e
z

z
F

F
z

f =
1

f) +
1

f +
2
z
f
Spherical Coordinates
ds
2
= dr
2
+ r
2
d
2
+ r
2
sin
2
d
2
dV = r
2
sin dr dd
f =

e
r

r
+e

1
r

+e

1
r sin

f
F =
1
r
2

r
(r
2
F
r
) +
1
r sin

(sin F

)
+
1
r sin

F =
1
r
2
sin

e
r
re

r sin , e

F
r
rF

r sin F

f =
1
r
2

r
(r
2

r
f) +
1
r
2
sin

(sin

f)
+
1
r
2
sin
2

f
Line, Surface and Volume Integrals
Line Integrals

C
F dR =

b
a
F(x(t), y(t), z(t))
dR
dt
dt
=

b
a
F
i
dx
i
dt
dt
Potentials
F = (x, y, z) =

(x,y,z)
(x
0
,y
0
,z
0
)
F dR
Ivan Avramidi, MATH 332: Vector Analysis, Formulas 4

Q
P
d R = (Q) (P)
F = G G(x, y, z) =

1
0
F(tx, ty, tz) Rt dt
Unit Normal:
to a surface R = R(u, v)
n =

u
R
v
R
|
u
R
v
R|
to a surface f(x, y, z) = C
n =
f
|f|
Surface Element
dS =
u
R
v
R dudv
d S = |
u
R
v
R| dudv
For a surface given by
z = f(x, y), a x b, y
1
(x) y y
2
(x)
dS =

1 + (
x
f)
2
+ (
y
f)
2
dy dx =
dxdy
| cos |
Flux through S

S
F dS =

S
F n d S
=

b
a

y
2
(x)
y
1
(x)
F n

1 + (
x
f)
2
+ (
y
f)
2
dy dx
Divergence Theorem

D
FdV =

S
F dS
Greens Theorem

C
(F
1
dx + F
2
dy) =

D
(
x
F
2

y
F
1
)dxdy
Stokes Theorem

D
( F) dS =

C
F d R