PHY352K
Classical Electromagnetism
an upperdivision undergraduate level lecture course given by
Richard Fitzpatrick
Assistant Professor of Physics
The University of Texas at Austin
Fall 1997
Email: rfitzp@farside.ph.utexas.edu, Tel.: 5124719439
Homepage: http://farside.ph.utexas.edu/em1/em.html
1 Introduction
1.1 Major sources
The textbooks which I have consulted most frequently whilst developing course
material are:
Introduction to electrodynamics: D.J. Griﬃths, 2nd edition (Prentice Hall,
Englewood Cliﬀs NJ, 1989).
Electromagnetism: I.S. Grant and W.R. Phillips (John Wiley & Sons, Chich
ester, 1975).
Classical electromagnetic radiation: M.A. Heald and J.B. Marion, 3rd edi
tion (Saunders College Publishing, Fort Worth TX, 1995).
The Feynman lectures on physics: R.P. Feynman, R.B. Leighton, and M.
Sands, Vol. II (AddisonWesley, Reading MA, 1964).
1
1.2 Outline of course
The main topic of this course is Maxwell’s equations. These are a set of eight
ﬁrst order partial diﬀerential equations which constitute a complete description
of electric and magnetic phenomena. To be more exact, Maxwell’s equations con
stitute a complete description of the behaviour of electric and magnetic ﬁelds.
You are all, no doubt, quite familiar with the concepts of electric and magnetic
ﬁelds, but I wonder how many of you can answer the following question. “Do
electric and magnetic ﬁelds have a real physical existence or are they just the
oretical constructs which we use to calculate the electric and magnetic forces
exerted by charged particles on one another?” In trying to formulate an answer
to this question we shall, hopefully, come to a better understanding of the nature
of electric and magnetic ﬁelds and the reasons why it is necessary to use these
concepts in order to fully describe electric and magnetic phenomena.
At any given point in space an electric or magnetic ﬁeld possesses two proper
ties, a magnitude and a direction. In general, these properties vary from point to
point. It is conventional to represent such a ﬁeld in terms of its components mea
sured with respect to some conveniently chosen set of Cartesian axes (i.e., x, y,
and z axes). Of course, the orientation of these axes is arbitrary. In other words,
diﬀerent observers may well choose diﬀerent coordinate axes to describe the same
ﬁeld. Consequently, electric and magnetic ﬁelds may have diﬀerent components
according to diﬀerent observers. We can see that any description of electric and
magnetic ﬁelds is going to depend on two diﬀerent things. Firstly, the nature of
the ﬁelds themselves and, secondly, our arbitrary choice of the coordinate axes
with respect to which we measure these ﬁelds. Likewise, Maxwell’s equations, the
equations which describe the behaviour of electric and magnetic ﬁelds, depend on
two diﬀerent things. Firstly, the fundamental laws of physics which govern the
behaviour of electric and magnetic ﬁelds and, secondly, our arbitrary choice of
coordinate axes. It would be nice if we could easily distinguish those elements of
Maxwell’s equations which depend on physics from those which only depend on
coordinates. In fact, we can achieve this using what mathematicians call vector
ﬁeld theory. This enables us to write Maxwell’s equations in a manner which
is completely independent of our choice of coordinate axes. As an added bonus,
Maxwell’s equations look a lot simpler when written in a coordinate free manner.
2
In fact, instead of eight ﬁrst order partial diﬀerential equations, we only require
four such equations using vector ﬁeld theory. It should be clear, by now, that we
are going to be using a lot of vector ﬁeld theory in this course. In order to help
you with this, I have decided to devote the ﬁrst few lectures of this course to a
review of the basic results of vector ﬁeld theory. I know that most of you have
already taken a course on this topic. However, that course was taught by some
body from the mathematics department. Mathematicians have their own agenda
when it comes to discussing vectors. They like to think of vector operations as a
sort of algebra which takes place in an abstract “vector space.” This is all very
well, but it is not always particularly useful. So, when I come to review this topic
I shall emphasize those aspects of vectors which make them of particular interest
to physicists; namely, the fact that we can use them to write the laws of physics
in a coordinate free fashion.
Traditionally, an upper division college level course on electromagnetic theory
is organized as follows. First, there is a lengthy discussion of electrostatics (i.e.,
electric ﬁelds generated by stationary charge distributions) and all of its applica
tions. Next, there is a discussion of magnetostatics (i.e., magnetic ﬁelds generated
by steady current distributions) and all of its applications. At this point, there is
usually some mention of the interaction of steady electric and magnetic ﬁelds with
matter. Next, there is an investigation of induction (i.e., electric and magnetic
ﬁelds generated by time varying magnetic and electric ﬁelds, respectively) and its
many applications. Only at this rather late stage in the course is it possible to
write down the full set of Maxwell’s equations. The course ends with a discussion
of electromagnetic waves.
The organization of my course is somewhat diﬀerent to that described above.
There are two reasons for this. Firstly, I do not think that the traditional course
emphasizes Maxwell’s equations suﬃciently. After all, they are only written down
in their full glory more than three quarters of the way through the course. I ﬁnd
this a problem because, as I have already mentioned, I think that Maxwell’s equa
tions should be the principal topic of an upper division course on electromagnetic
theory. Secondly, in the traditional course it is very easy for the lecturer to fall
into the trap of dwelling too long on the relatively uninteresting subject matter at
the beginning of the course (i.e., electrostatics and magnetostatics) at the expense
of the really interesting material towards the end of the course (i.e., induction,
3
Maxwell’s equations, and electromagnetic waves). I vividly remember that this
is exactly what happened when I took this course as an undergraduate. I was
very disappointed! I had been looking forward to hearing all about Maxwell’s
equations and electromagnetic waves, and we were only able to cover these topics
in a hurried and rather cursory fashion because the lecturer ran out of time at
the end of the course.
My course is organized as follows. The ﬁrst section is devoted to Maxwell’s
equations. I shall describe how Maxwell’s equations can be derived from the
familiar laws of physics which govern electric and magnetic phenomena, such
as Coulomb’s law and Faraday’s law. Next, I shall show that Maxwell’s equa
tions possess propagating wave like solutions, called electromagnetic waves, and,
furthermore, that light, radio waves, and Xrays, are all diﬀerent types of elec
tromagnetic wave. Finally, I shall demonstrate that it is possible to write down
a formal solution to Maxwell’s equations, given a sensible choice of boundary
conditions. The second section of my course is devoted to the applications of
Maxwell’s equations. We shall investigate electrostatic ﬁelds generated by sta
tionary charge distributions, conductors, resistors, capacitors, inductors, the en
ergy and momentum carried by electromagnetic ﬁelds, and the generation and
transmission of electromagnetic radiation. This arrangement of material gives
the proper emphasis to Maxwell’s equations. It also reaches the right balance
between the interesting and the more mundane aspects of electromagnetic the
ory. Finally, it ensures that even if I do run out of time towards the end of the
course I shall still have covered Maxwell’s equations and electromagnetic waves
in adequate detail.
One topic which I am not going to mention at all in my course is the interaction
of electromagnetic ﬁelds with matter. It is impossible to do justice to this topic
at the college level, which is why I always prefer to leave it to graduate school.
4
2 Vector assault course
2.1 Vector algebra
In applied mathematics physical quantities are represented by two distinct classes
of objects. Some quantities, denoted scalars, are represented by real numbers.
Others, denoted vectors, are represented by directed line elements: e.g.
→
PQ. Note
P
Q
that line elements (and therefore vectors) are movable and do not carry intrinsic
position information. In fact, vectors just possess a magnitude and a direction,
whereas scalars possess a magnitude but no direction. By convention, vector
quantities are denoted by boldfaced characters (e.g. a) in typeset documents and
by underlined characters (e.g. a) in longhand. Vectors can be added together
but the same units must be used, like in scalar addition. Vector addition can be
represented using a parallelogram:
→
PR=
→
PQ +
→
QR. Suppose that a ≡
→
PQ≡
→
SR,
P
Q
S
R
b ≡
→
QR≡
→
PS, and c ≡
→
PR. It is clear from the diagram that vector addition is
5
commutative: e.g., a +b = b +a. It can also be shown that the associative law
holds: e.g., a + (b +c) = (a +b) +c.
There are two approaches to vector analysis. The geometric approach is based
on line elements in space. The coordinate approach assumes that space is deﬁned
by Cartesian coordinates and uses these to characterize vectors. In physics we
adopt the second approach because we can generalize it to ndimensional spaces
without suﬀering brain failure. This is necessary in special relativity, where three
dimensional space and onedimensional time combine to form fourdimensional
spacetime. The coordinate approach can also be generalized to curved spaces,
as is necessary in general relativity.
In the coordinate approach a vector is denoted as the row matrix of its com
ponents along each of the Cartesian axes (the x, y, and z axes, say):
a ≡ (a
x
, a
y
, a
z
). (2.1)
Here, a
x
is the xcoordinate of the “head” of the vector minus the xcoordinate
of its “tail.” If a ≡ (a
x
, a
y
, a
z
) and b ≡ (b
x
, b
y
, b
z
) then vector addition is deﬁned
a +b ≡ (a
x
+b
x
, a
y
+b
y
, a
z
+b
z
). (2.2)
If a is a vector and n is a scalar then the product of a scalar and a vector is
deﬁned
na ≡ (na
x
, na
y
, na
z
). (2.3)
It is clear that vector algebra is distributive with respect to scalar multiplication:
e.g., n(a +b) = na +nb.
Unit vectors can be deﬁned in the x, y, and z directions as i ≡ (1, 0, 0),
j ≡ (0, 1, 0), and k ≡ (0, 0, 1). Any vector can be written in terms of these unit
vectors
a = a
x
i +a
y
j +a
z
k. (2.4)
In mathematical terminology three vectors used in this manner form a basis of
the vector space. If the three vectors are mutually perpendicular then they are
termed orthogonal basis vectors. In fact, any set of three noncoplanar vectors
can be used as basis vectors.
6
Examples of vectors in physics are displacements from an origin
r = (x, y, z) (2.5)
and velocities
v =
dr
dt
= lim
δt→0
r(t +δt) −r(t)
δt
. (2.6)
Suppose that we transform to new orthogonal basis, the x
, y
, and z
axes,
which are related to the x, y, and z axes via rotation through an angle θ around
the zaxis. In the new basis the coordinates of the general displacement r from the
θ
y
x
/
x
y
/
origin are (x
, y
, z
). These coordinates are related to the previous coordinates
via
x
= xcos θ +y sinθ,
y
= −xsinθ +y cos θ, (2.7)
z
= z.
We do not need to change our notation for the displacement in the new basis. It
is still denoted r. The reason for this is that the magnitude and direction of r
are independent of the choice of basis vectors. The coordinates of r do depend on
the choice of basis vectors. However, they must depend in a very speciﬁc manner
[i.e., Eq. (2.7) ] which preserves the magnitude and direction of r.
Since any vector can be represented as a displacement from an origin (this is
just a special case of a directed line element) it follows that the components of a
7
general vector a must transform in an analogous manner to Eq. (2.7). Thus,
a
x
= a
x
cos θ +a
y
sinθ,
a
y
= −a
x
sinθ +a
y
cos θ, (2.8)
a
z
= a
z
,
with similar transformation rules for rotation about the y and zaxes. In the
coordinate approach Eq. (2.8) is the deﬁnition of a vector. The three quantities
(a
x
, a
y
, a
z
) are the components of a vector provided that they transform under
rotation like Eq. (2.8). Conversely, (a
x
, a
y
, a
z
) cannot be the components of
a vector if they do not transform like Eq. (2.8). Scalar quantities are invariant
under transformation. Thus, the individual components of a vector (a
x
, say)
are real numbers but they are not scalars. Displacement vectors and all vectors
derived from displacements automatically satisfy Eq. (2.8). There are, however,
other physical quantities which have both magnitude and direction but which are
not obviously related to displacements. We need to check carefully to see whether
these quantities are vectors.
2.2 Vector areas
Suppose that we have planar surface of scalar area S. We can deﬁne a vector
area S whose magnitude is S and whose direction is perpendicular to the plane,
in the sense determined by the righthand grip rule on the rim. This quantity
S
clearly possesses both magnitude and direction. But is it a true vector? We know
that if the normal to the surface makes an angle α
x
with the xaxis then the area
8
seen in the xdirection is S cos α
x
. This is the xcomponent of S. Similarly, if the
normal makes an angle α
y
with the yaxis then the area seen in the ydirection is
S cos α
y
. This is the ycomponent of S. If we limit ourselves to a surface whose
normal is perpendicular to the zdirection then α
x
= π/2 − α
y
= α. It follows
that S = S(cos α, sinα, 0). If we rotate the basis about the zaxis by θ degrees,
which is equivalent to rotating the normal to the surface about the zaxis by −θ
degrees, then
S
x
= S cos(α −θ) = S cos αcos θ +S sinαsinθ = S
x
cos θ +S
y
sinθ, (2.9)
which is the correct transformation rule for the xcomponent of a vector. The
other components transform correctly as well. This proves that a vector area is
a true vector.
According to the vector addition theorem the projected area of two plane
surfaces, joined together at a line, in the x direction (say) is the xcomponent
of the sum of the vector areas. Likewise, for many joined up plane areas the
projected area in the xdirection, which is the same as the projected area of the
rim in the xdirection, is the xcomponent of the resultant of all the vector areas:
S =
i
S
i
. (2.10)
If we approach a limit, by letting the number of plane facets increase and their
area reduce, then we obtain a continuous surface denoted by the resultant vector
area:
S =
i
δS
i
. (2.11)
It is clear that the projected area of the rim in the xdirection is just S
x
. Note
that the rim of the surface determines the vector area rather than the nature
of the surface. So, two diﬀerent surfaces sharing the same rim both possess the
same vector areas.
In conclusion, a loop (not all in one plane) has a vector area S which is the
resultant of the vector areas of any surface ending on the loop. The components
of S are the projected areas of the loop in the directions of the basis vectors. As
a corollary, a closed surface has S = 0 since it does not possess a rim.
9
2.3 The scalar product
A scalar quantity is invariant under all possible rotational transformations. The
individual components of a vector are not scalars because they change under
transformation. Can we form a scalar out of some combination of the components
of one, or more, vectors? Suppose that we were to deﬁne the “ampersand” product
a&b = a
x
b
y
+a
y
b
z
+a
z
b
x
= scalar number (2.12)
for general vectors a and b. Is a&b invariant under transformation, as must be
the case if it is a scalar number? Let us consider an example. Suppose that
a = (1, 0, 0) and b = (0, 1, 0). It is easily seen that a&b = 1. Let us now rotate
the basis through 45
◦
about the zaxis. In the new basis, a = (1/
√
2, −1/
√
2, 0)
and b = (1/
√
2, 1/
√
2, 0), giving a&b = 1/2. Clearly, a&b is not invariant under
rotational transformation, so the above deﬁnition is a bad one.
Consider, now, the dot product or scalar product:
a · b = a
x
b
x
+a
y
b
y
+a
z
b
z
= scalar number. (2.13)
Let us rotate the basis though θ degrees about the zaxis. According to Eq. (2.8),
in the new basis a · b takes the form
a · b = (a
x
cos θ +a
y
sinθ)(b
x
cos θ +b
y
sinθ)
+(−a
x
sinθ +a
y
cos θ)(−b
x
sinθ +b
y
cos θ) +a
z
b
z
(2.14)
= a
x
b
x
+a
y
b
y
+a
z
b
z
.
Thus, a · b is invariant under rotation about the zaxis. It can easily be shown
that it is also invariant under rotation about the x and yaxes. Clearly, a · b
is a true scalar, so the above deﬁnition is a good one. Incidentally, a · b is the
only simple combination of the components of two vectors which transforms like
a scalar. It is easily shown that the dot product is commutative and distributive:
a · b = b · a,
a · (b +c) = a · b +a · c. (2.15)
The associative property is meaningless for the dot product because we cannot
have (a · b) · c since a · b is scalar.
10
We have shown that the dot product a · b is coordinate independent. But
what is the physical signiﬁcance of this? Consider the special case where a = b.
Clearly,
a · b = a
2
x
+a
2
y
+a
2
z
= Length (OP)
2
, (2.16)
if a is the position vector of P relative to the origin O. So, the invariance of
a· a is equivalent to the invariance of the length, or magnitude, of vector a under
transformation. The length of vector a is usually denoted a (“the modulus of
a”) or sometimes just a, so
a · a = a
2
= a
2
. (2.17)
θ
a
b
ba
O
A
B
Let us now investigate the general case. The length squared of AB is
(b −a) · (b −a) = a
2
+b
2
−2 a · b. (2.18)
However, according to the “cosine rule” of trigonometry
(AB)
2
= (OA)
2
+ (OB)
2
−2(OA)(OB) cos θ, (2.19)
where (AB) denotes the length of side AB. It follows that
a · b = ab cos θ. (2.20)
Clearly, the invariance of a·b under transformation is equivalent to the invariance
of the angle subtended between the two vectors. Note that if a· b = 0 then either
11
a = 0, b = 0, or the vectors a and b are perpendicular. The angle subtended
between two vectors can easily be obtained from the dot product:
cos θ =
a · b
ab
. (2.21)
The work W performed by a force F moving through a displacement r is the
product of the magnitude of F times the displacement in the direction of F. If
the angle subtended between F and r is θ then
W = F(r cos θ) = F · r. (2.22)
The rate of ﬂow of liquid of constant velocity v through a loop of vector area S
is the product of the magnitude of the area times the component of the velocity
perpendicular to the loop. Thus,
Rate of ﬂow = v · S. (2.23)
2.4 The vector product
We have discovered how to construct a scalar from the components of two gen
eral vectors a and b. Can we also construct a vector which is not just a linear
combination of a and b? Consider the following deﬁnition:
axb = (a
x
b
x
, a
y
b
y
, a
z
b
z
). (2.24)
Is axb a proper vector? Suppose that a = (1, 0, 0), b = (0, 1, 0). Clearly,
axb = 0. However, if we rotate the basis through 45
◦
about the zaxis then
a = (1/
√
2, −1/
√
2, 0), b = (1/
√
2, 1/
√
2, 0), and axb = (1/2, −1/2, 0). Thus,
axb does not transform like a vector because its magnitude depends on the choice
of axis. So, above deﬁnition is a bad one.
Consider, now, the cross product or vector product:
a ∧ b = (a
y
b
z
−a
z
b
y
, a
z
b
x
−a
x
b
z
, a
x
b
y
−a
y
b
x
) = c. (2.25)
12
Does this rather unlikely combination transform like a vector? Let us try rotating
the basis through θ degrees about the zaxis using Eq. (2.8). In the new basis
c
x
= (−a
x
sinθ +a
y
cos θ)b
z
−a
z
(−b
x
sinθ +b
y
cos θ)
= (a
y
b
z
−a
z
b
y
) cos θ + (a
z
b
x
−a
x
b
z
) sinθ
= c
x
cos θ +c
y
sinθ. (2.26)
Thus, the xcomponent of a∧b transforms correctly. It can easily be shown that
the other components transform correctly as well. Thus, a∧b is a proper vector.
The cross product is anticommutative:
a ∧ b = −b ∧ a, (2.27)
distributive:
a ∧ (b +c) = a ∧ b +a ∧ c, (2.28)
but is not associative:
a ∧ (b ∧ c) = (a ∧ b) ∧ c. (2.29)
The cross product transforms like a vector, which means that it must have a
well deﬁned direction and magnitude. We can show that a ∧ b is perpendicular
to both a and b. Consider a · a ∧ b. If this is zero then the cross product must
be perpendicular to a. Now
a · a ∧ b = a
x
(a
y
b
z
−a
z
b
y
) +a
y
(a
z
b
x
−a
x
b
z
) +a
z
(a
x
b
y
−a
y
b
x
)
= 0. (2.30)
Therefore, a ∧ b is perpendicular to a. Likewise, it can be demonstrated that
a ∧ b is perpendicular to b. The vectors a, b, and a ∧ b form a righthanded set
like the unit vectors i, j, and k: i ∧ j = k. This deﬁnes a unique direction for
a ∧ b, which is obtained from the righthand rule.
Let us now evaluate the magnitude of a ∧ b. We have
(a ∧ b)
2
= (a
y
b
z
−a
z
b
y
)
2
+ (a
z
b
x
−a
x
b
z
)
2
+ (a
x
b
z
−a
y
b
x
)
2
= (a
2
x
+a
2
y
+a
2
z
)(b
2
x
+b
2
y
+b
2
z
) −(a
x
b
x
+a
y
b
y
+a
z
b
z
)
2
= a
2
b
2
−(a · b)
2
= a
2
b
2
−a
2
b
2
cos
2
θ = a
2
b
2
sin
2
θ. (2.31)
13
θ
a
^
b
b
a index finger
middle finger
thumb
Thus,
a ∧ b = ab sinθ. (2.32)
Clearly, a ∧ a = 0 for any vector, since θ is always zero in this case. Also, if
a ∧ b = 0 then either a = 0, b = 0, or b is parallel (or antiparallel) to a.
Consider the parallelogram deﬁned by vectors a and b. The scalar area is
ab sinθ. The vector area has the magnitude of the scalar area and is normal to
the plane of the parallelogram, which means that it is perpendicular to both a
and b. Clearly, the vector area is given by
b
a
θ
S = a ∧ b, (2.33)
with the sense obtained from the righthand grip rule by rotating a on to b.
Suppose that a force F is applied at position r. The moment about the origin
O is the product of the magnitude of the force and the length of the lever arm OQ.
Thus, the magnitude of the moment is Fr sinθ. The direction of a moment
is conventionally the direction of the axis through O about which the force tries
14
O Q
r
P
θ
F
r sinθ
to rotate objects, in the sense determined by the righthand grip rule. It follows
that the vector moment is given by
M = r ∧ F. (2.34)
2.5 Rotation
Let us try to deﬁne a rotation vector θ whose magnitude is the angle of the
rotation, θ, and whose direction is the axis of the rotation, in the sense determined
by the righthand grip rule. Is this a good vector? The short answer is, no.
The problem is that the addition of rotations is not commutative, whereas vector
addition is. The diagram shows the eﬀect of applying two successive 90
◦
rotations,
one about xaxis, and the other about the zaxis, to a sixsided die. In the
lefthand case the zrotation is applied before the xrotation, and vice versa in
the righthand case. It can be seen that the die ends up in two completely
diﬀerent states. Clearly, the zrotation plus the xrotation does not equal the x
rotation plus the zrotation. This noncommuting algebra cannot be represented
by vectors. So, although rotations have a well deﬁned magnitude and direction
they are not vector quantities.
But, this is not quite the end of the story. Suppose that we take a general
15
zaxis xaxis
xaxis zaxis
y
z
x
vector a and rotate it about the zaxis by a small angle δθ
z
. This is equivalent
to rotating the basis about the zaxis by −δθ
z
. According to Eq. (2.8) we have
a
a +δθ
z
k ∧ a, (2.35)
where use has been made of the small angle expansions sinθ θ and cos θ 1.
The above equation can easily be generalized to allow small rotations about the
x and yaxes by δθ
x
and δθ
y
, respectively. We ﬁnd that
a
a +δθ ∧ a, (2.36)
16
where
δθ = δθ
x
i +δθ
y
j +δθ
z
k. (2.37)
Clearly, we can deﬁne a rotation vector δθ, but it only works for small angle
rotations (i.e., suﬃciently small that the small angle expansions of sine and cosine
are good). According to the above equation, a small zrotation plus a small x
rotation is (approximately) equal to the two rotations applied in the opposite
order. The fact that inﬁnitesimal rotation is a vector implies that angular velocity,
ω = lim
δt→0
δθ
δt
, (2.38)
must be a vector as well. If a
is interpreted as a(t + δt) in the above equation
then it is clear that the equation of motion of a vector precessing about the origin
with angular velocity ω is
da
dt
= ω ∧ a. (2.39)
2.6 The scalar triple product
Consider three vectors a, b, and c. The scalar triple product is deﬁned a · b ∧ c.
Now, b∧c is the vector area of the parallelogram deﬁned by b and c. So, a· b∧c
is the scalar area of this parallelogram times the component of a in the direction
of its normal. It follows that a · b ∧ c is the volume of the parallelepiped deﬁned
by vectors a, b, and c. This volume is independent of how the triple product is
b
a
c
formed from a, b, and c, except that
a · b ∧ c = −a · c ∧ b. (2.40)
17
So, the “volume” is positive if a, b, and c form a righthanded set (i.e., if a lies
above the plane of b and c, in the sense determined from the righthand grip rule
by rotating b on to c) and negative if they form a lefthanded set. The triple
product is unchanged if the dot and cross product operators are interchanged:
a · b ∧ c = a ∧ b · c. (2.41)
The triple product is also invariant under any cyclic permutation of a, b, and c,
a · b ∧ c = b · c ∧ a = c · a ∧ b, (2.42)
but any anticyclic permutation causes it to change sign,
a · b ∧ c = −b · a ∧ c. (2.43)
The scalar triple product is zero if any two of a, b, and c are parallel, or if a, b,
and c are coplanar.
If a, b, and c are noncoplanar, then any vector r can be written in terms of
them:
r = αa +βb +γc. (2.44)
Forming the dot product of this equation with b ∧ c then we obtain
r · b ∧ c = αa · b ∧ c, (2.45)
so
α =
r · b ∧ c
a · b ∧ c
. (2.46)
Analogous expressions can be written for β and γ. The parameters α, β, and γ
are uniquely determined provided a· b ∧c = 0; i.e., provided that the three basis
vectors are not coplanar.
2.7 The vector triple product
For three vectors a, b, and c the vector triple product is deﬁned a ∧ (b ∧ c).
The brackets are important because a ∧ (b ∧ c) = (a ∧ b) ∧ c. In fact, it can be
demonstrated that
a ∧ (b ∧ c) ≡ (a · c)b −(a · b)c (2.47)
18
and
(a ∧ b) ∧ c ≡ (a · c)b −(b · c)a. (2.48)
Let us try to prove the ﬁrst of the above theorems. The lefthand side and
the righthand side are both proper vectors, so if we can prove this result in
one particular coordinate system then it must be true in general. Let us take
convenient axes such that the xaxis lies along b, and c lies in the xy plane. It
follows that b = (b
x
, 0, 0), c = (c
x
, c
y
, 0), and a = (a
x
, a
y
, a
z
). The vector b ∧ c
is directed along the zaxis: b ∧ c = (0, 0, b
x
c
y
). It follows that a ∧ (b ∧ c) lies
in the xy plane: a ∧ (b ∧ c) = (a
x
b
x
c
y
, −a
x
b
x
c
y
, 0). This is the lefthand side
of Eq. (2.47) in our convenient axes. To evaluate the righthand side we need
a · c = a
x
c
x
+a
y
c
y
and a · b = a
x
b
x
. It follows that the righthand side is
RHS = ( (a
x
c
x
+a
y
c
y
)b
x
, 0, 0) −(a
x
b
x
c
x
, a
x
b
x
c
y
, 0)
= (a
y
c
y
b
x
, −a
x
b
x
c
y
, 0) = LHS, (2.49)
which proves the theorem.
2.8 Vector calculus
Suppose that vector a varies with time, so that a = a(t). The time derivative of
the vector is deﬁned
da
dt
= lim
δt→0
_
a(t +δt) −a(t)
δt
_
. (2.50)
When written out in component form this becomes
da
dt
=
_
da
x
dt
,
da
y
dt
,
da
z
dt
_
. (2.51)
Note that da/dt is often written in shorthand as ˙ a.
Suppose that a is, in fact, the product of a scalar φ(t) and another vector
b(t). What now is the time derivative of a? We have
da
x
dt
=
d
dt
(φb
x
) =
dφ
dt
b
x
+φ
db
x
dt
, (2.52)
19
which implies that
da
dt
=
dφ
dt
b +φ
db
dt
. (2.53)
It is easily demonstrated that
d
dt
(a · b) = ˙ a · b +a ·
˙
b. (2.54)
Likewise,
d
dt
(a ∧ b) = ˙ a ∧ b +a ∧
˙
b. (2.55)
It can be seen that the laws of vector diﬀerentiation are analogous to those in
conventional calculus.
2.9 Line integrals
Consider a twodimensional function f(x, y) which is deﬁned for all x and y.
What is meant by the integral of f along a given curve from P to Q in the xy
P
Q
y
x
l
Q P
l
f
plane? We ﬁrst draw out f as a function of length l along the path. The integral
is then simply given by
_
Q
P
f(x, y) dl = Area under the curve. (2.56)
20
As an example of this, consider the integral of f(x, y) = xy between P and Q
along the two routes indicated in the diagram below. Along route 1 we have
Q = (1,1)
P = (0,0) 2
1
x
y
x = y, so dl =
√
2 dx. Thus,
_
Q
P
xy dl =
_
1
0
x
2
√
2 dx =
√
2
3
. (2.57)
The integration along route 2 gives
_
Q
P
xy dl =
_
1
0
xy dx
¸
¸
¸
¸
y=0
+
_
1
0
xy dy
¸
¸
¸
¸
x=1
= 0 +
_
1
0
y dy =
1
2
. (2.58)
Note that the integral depends on the route taken between the initial and ﬁnal
points.
The most common type of line integral is where the contributions from dx
and dy are evaluated separately, rather that through the path length dl;
_
Q
P
[f(x, y) dx +g(x, y) dy] . (2.59)
As an example of this consider the integral
_
Q
P
_
y
3
dx +xdy
¸
(2.60)
21
2
1
y
x
Q = (2,1)
P = (1,0)
along the two routes indicated in the diagram below. Along route 1 we have
x = y + 1 and dx = dy, so
_
Q
P
=
_
1
0
_
y
3
dy + (y + 1) dy
_
=
7
4
. (2.61)
Along route 2
_
Q
P
=
_
2
1
y
3
dx
¸
¸
¸
¸
y=0
+
_
1
0
xdy
¸
¸
¸
¸
x=2
= 2. (2.62)
Again, the integral depends on the path of integration.
Suppose that we have a line integral which does not depend on the path of
integration. It follows that
_
Q
P
(f dx +g dy) = F(Q) −F(P) (2.63)
for some function F. Given F(P) for one point P in the xy plane, then
F(Q) = F(P) +
_
Q
P
(f dx +g dy) (2.64)
deﬁnes F(Q) for all other points in the plane. We can then draw a contour map
of F(x, y). The line integral between points P and Q is simply the change in
height in the contour map between these two points:
_
Q
P
(f dx +g dy) =
_
Q
P
dF(x, y) = F(Q) −F(P). (2.65)
22
Thus,
dF(x, y) = f(x, y) dx +g(x, y) dy. (2.66)
For instance, if F = xy
3
then dF = y
3
dx + 3xy
2
dy and
_
Q
P
_
y
3
dx + 3xy
2
dy
_
=
_
xy
3
¸
Q
P
(2.67)
is independent of the path of integration.
It is clear that there are two distinct types of line integral. Those that depend
only on their endpoints and not on the path of integration, and those which
depend both on their endpoints and the integration path. Later on, we shall
learn how to distinguish between these two types.
2.10 Vector line integrals
A vector ﬁeld is deﬁned as a set of vectors associated with each point in space.
For instance, the velocity v(r) in a moving liquid (e.g., a whirlpool) constitutes
a vector ﬁeld. By analogy, a scalar ﬁeld is a set of scalars associated with each
point in space. An example of a scalar ﬁeld is the temperature distribution T(r)
in a furnace.
Consider a general vector ﬁeld A(r). Let dl = (dx, dy, dz) be the vector
element of line length. Vector line integrals often arise as
_
Q
P
A· dl =
_
Q
P
(A
x
dx +A
y
dy +A
z
dz). (2.68)
For instance, if A is a force then the line integral is the work done in going from
P to Q.
As an example, consider the work done in a repulsive, inverse square law,
central ﬁeld F = −r/r
3
. The element of work done is dW = F · dl. Take
P = (∞, 0, 0) and Q = (a, 0, 0). Route 1 is along the xaxis, so
W =
_
a
∞
_
−
1
x
2
_
dx =
_
1
x
_
a
∞
=
1
a
. (2.69)
23
The second route is, ﬁrstly, around a large circle (r = constant) to the point (a,
∞, 0) and then parallel to the yaxis. In the ﬁrst part no work is done since F is
perpendicular to dl. In the second part
W =
_
0
∞
−y dy
(a
2
+y
2
)
3/2
=
_
1
(y
2
+a
2
)
1/2
_
∞
0
=
1
a
. (2.70)
In this case the integral is independent of path (which is just as well!).
2.11 Surface integrals
Let us take a surface S, which is not necessarily coplanar, and divide in up into
(scalar) elements δS
i
. Then
_ _
S
f(x, y, z) dS = lim
δS
i
→0
i
f(x, y, z) δS
i
(2.71)
is a surface integral. For instance, the volume of water in a lake of depth D(x, y)
is
V =
_ _
D(x, y) dS. (2.72)
To evaluate this integral we must split the calculation into two ordinary integrals.
x x x
y
y
y
dy
1 2
1
2
24
The volume in the strip shown in the diagram is
__
x
2
x
1
D(x, y) dx
_
dy. (2.73)
Note that the limits x
1
and x
2
depend on y. The total volume is the sum over
all strips:
V =
_
y
2
y
1
dy
_
_
x
2
(y)
x
1
(y)
D(x, y) dx
_
≡
_ _
S
D(x, y) dxdy. (2.74)
Of course, the integral can be evaluated by taking the strips the other way around:
V =
_
x
2
x
1
dx
_
y
2
(x)
y
1
(x)
D(x, y) dy. (2.75)
Interchanging the order of integration is a very powerful and useful trick. But
great care must be taken when evaluating the limits.
As an example, consider
_ _
S
x
2
y dxdy, (2.76)
where S is shown in the diagram below. Suppose that we evaluate the x integral
1y = x
(0,1)
(1,0)
y
x
ﬁrst:
dy
__
1−y
0
x
2
y dx
_
= y dy
_
x
3
3
_
1−y
0
=
y
3
(1 −y)
3
dy. (2.77)
25
Let us now evaluate the y integral:
_
1
0
_
y
3
−y
2
+y
3
−
y
4
3
_
dy =
1
60
. (2.78)
We can also evaluate the integral by interchanging the order of integration:
_
1
0
x
2
dx
_
1−x
0
y dy =
_
1
0
x
2
2
(1 −x)
2
dx =
1
60
. (2.79)
In some cases a surface integral is just the product of two separate integrals.
For instance,
_ _
S
x
2
y dxdy (2.80)
where S is a unit square. This integral can be written
_
1
0
dx
_
1
0
x
2
y dy =
__
1
0
x
2
dx
___
1
0
y dy
_
=
1
3
1
2
=
1
6
, (2.81)
since the limits are both independent of the other variable.
In general, when interchanging the order of integration the most important
part of the whole problem is getting the limits of integration right. The only
foolproof way of doing this is to draw a diagram.
2.12 Vector surface integrals
Surface integrals often occur during vector analysis. For instance, the rate of ﬂow
of a liquid of velocity v through an inﬁnitesimal surface of vector area dS is v·dS.
The net rate of ﬂow of a surface S made up of lots of inﬁnitesimal surfaces is
_ _
S
v · dS = lim
dS→0
_
v cos θ dS
_
, (2.82)
where θ is the angle subtended between the normal to the surface and the ﬂow
velocity.
26
As with line integrals, most surface integrals depend both on the surface and
the rim. But some (very important) integrals depend only on the rim, and not
on the nature of the surface which spans it. As an example of this, consider
incompressible ﬂuid ﬂow between two surfaces S
1
and S
2
which end on the same
rim. The volume between the surfaces is constant, so what goes in must come
out, and
_ _
S
1
v · dS =
_ _
S
2
v · dS. (2.83)
It follows that
_ _
v · dS (2.84)
depends only on the rim, and not on the form of surfaces S
1
and S
2
.
2.13 Volume integrals
A volume integral takes the form
_ _ _
V
f(x, y, z) dV (2.85)
where V is some volume and dV = dxdy dz is a small volume element. The
volume element is sometimes written d
3
r, or even dτ. As an example of a volume
integral, let us evaluate the centre of gravity of a solid hemisphere of radius a.
The height of the centre of gravity is given by
y
x
z
27
z =
_ _ _
z dV
__ _ _
dV. (2.86)
The bottom integral is simply the volume of the hemisphere, which is 2πa
3
/3.
The top integral is most easily evaluated in spherical polar coordinates, for which
z = r cos θ and dV = r
2
sinθ dr dθ dφ. Thus,
_ _ _
z dV =
_
a
0
dr
_
π/2
0
dθ
_
2π
0
dφ r cos θ r
2
sinθ
=
_
a
0
r
3
dr
_
π/2
0
sinθ cos θ dθ
_
2π
0
dφ =
πa
4
4
, (2.87)
giving
z =
πa
4
4
3
2πa
3
=
3a
8
. (2.88)
2.14 Gradient
A onedimensional function f(x) has a gradient df/dx which is deﬁned as the
slope of the tangent to the curve at x. We wish to extend this idea to cover scalar
x
f(x)
ﬁelds in two and three dimensions.
Consider a twodimensional scalar ﬁeld h(x, y) which is (say) the height of
a hill. Let dl = (dx, dy) be an element of horizontal distance. Consider dh/dl,
28
where dh is the change in height after moving an inﬁnitesimal distance dl. This
quantity is somewhat like the onedimensional gradient, except that dh depends
on the direction of dl, as well as its magnitude. In the immediate vicinity of some
θ
y
x
Contours of h(x,y)
P
point P the slope reduces to an inclined plane. The largest value of dh/dl is
straight up the slope. For any other direction
dh
dl
=
_
dh
dl
_
max
cos θ. (2.89)
Let us deﬁne a twodimensional vector gradh, called the gradient of h, whose
magnitude is (dh/dl)
max
and whose direction is the direction of the steepest slope.
Because of the cos θ property, the component of gradh in any direction equals
dh/dl for that direction. [The argument, here, is analogous to that used for vector
areas in Section 2.2. See, in particular, Eq. (2.9). ]
The component of dh/dl in the xdirection can be obtained by plotting out the
proﬁle of h at constant y, and then ﬁnding the slope of the tangent to the curve
at given x. This quantity is known as the partial derivative of h with respect to
x at constant y, and is denoted (∂h/∂x)
y
. Likewise, the gradient of the proﬁle
at constant x is written (∂h/∂y)
x
. Note that the subscripts denoting constantx
and constanty are usually omitted, unless there is any ambiguity. If follows that
in component form
gradh =
_
∂h
∂x
,
∂h
∂y
_
. (2.90)
29
Now, the equation of the tangent plane at P = (x
0
, y
0
) is
h
T
(x, y) = h(x
0
, y
0
) +α(x −x
0
) +β(y −y
0
). (2.91)
This has the same local gradients as h(x, y), so
α =
∂h
∂x
, β =
∂h
∂y
(2.92)
by diﬀerentiation of the above. For small dx = x−x
0
and dy = y−y
0
the function
h is coincident with the tangent plane. We have
dh =
∂h
∂x
dx +
∂h
∂y
dy, (2.93)
but gradh = (∂h/∂x, ∂h/∂y) and dl = (dx, dy), so
dh = gradh · dl. (2.94)
Incidentally, the above equation demonstrates that gradh is a proper vector,
since the lefthand side is a scalar and, according to the properties of the dot
product, the righthand side is also a scalar provided that dl and gradh are
both proper vectors (dl is an obvious vector because it is directly derived from
displacements).
Consider, now, a threedimensional temperature distribution T(x, y, z) in (say)
a reaction vessel. Let us deﬁne gradT, as before, as a vector whose magnitude is
(dT/dl)
max
and whose direction is the direction of the maximum gradient. This
vector is written in component form
gradT =
_
∂T
∂x
,
∂T
∂y
,
∂T
∂z
_
. (2.95)
Here, ∂T/∂x ≡ (∂T/∂x)
y,z
is the gradient of the onedimensional temperature
proﬁle at constant y and z. The change in T in going from point P to a neigh
bouring point oﬀset by dl = (dx, dy, dz) is
dT =
∂T
∂x
dx +
∂T
∂y
dy +
∂T
∂z
dz. (2.96)
30
In vector form this becomes
dT = gradT · dl. (2.97)
Suppose that dT = 0 for some dl. It follows that
dT = gradT · dl = 0, (2.98)
so dl is perpendicular to gradT. Since dT = 0 along socalled “isotherms”
(i.e., contours of the temperature) we conclude that the isotherms (contours) are
everywhere perpendicular to gradT.
dl
gradT
isotherm
T = constant
It is, of course, possible to integrate dT. The line integral from point P to
point Q is written
_
Q
P
dT =
_
Q
P
gradT · dl = T(Q) −T(P). (2.99)
This integral is clearly independent of the path taken between P and Q, so
_
Q
P
gradT · dl must be path independent.
In general,
_
Q
P
A· dl depends on path, but for some special vector ﬁelds the
integral is path independent. Such ﬁelds are called conservative ﬁelds. It can be
shown that if A is a conservative ﬁeld then A = gradφ for some scalar ﬁeld φ.
The proof of this is straightforward. Keeping P ﬁxed we have
_
Q
P
A· dl = V (Q), (2.100)
31
where V (Q) is a welldeﬁned function due to the path independent nature of the
line integral. Consider moving the position of the end point by an inﬁnitesimal
amount dx in the xdirection. We have
V (Q+dx) = V (Q) +
_
Q+dx
Q
A· dl = V (Q) +A
x
dx. (2.101)
Hence,
∂V
∂x
= A
x
, (2.102)
with analogous relations for the other components of A. It follows that
A = gradV. (2.103)
In physics, the force due to gravity is a good example of a conservative ﬁeld.
If A is a force, then
_
A· dl is the work done in traversing some path. If A is
conservative then
_
A· dl = 0, (2.104)
where
_
corresponds to the line integral around some closed loop. The fact
that zero net work is done in going around a closed loop is equivalent to the
conservation of energy (this is why conservative ﬁelds are called “conservative”).
A good example of a nonconservative ﬁeld is the force due to friction. Clearly, a
frictional system loses energy in going around a closed cycle, so
_
A· dl = 0.
It is useful to deﬁne the vector operator
∇ ≡
_
∂
∂x
,
∂
∂y
,
∂
∂z
_
, (2.105)
which is usually called the “grad” or “del” operator. This operator acts on
everything to its right in a expression until the end of the expression or a closing
bracket is reached. For instance,
gradf = ∇f =
_
∂f
∂x
,
∂f
∂y
,
∂f
∂x
_
. (2.106)
32
For two scalar ﬁelds φ and ψ,
grad(φψ) = φgradψ +ψ gradφ (2.107)
can be written more succinctly as
∇(φψ) = φ∇ψ +ψ∇φ. (2.108)
Suppose that we rotate the basis about the zaxis by θ degrees. By analogy
with Eq. (2.7), the old coordinates (x, y, z) are related to the new ones (x
, y
,
z
) via
x = x
cos θ −y
sinθ,
y = x
sinθ +y
cos θ, (2.109)
z = z
.
Now,
∂
∂x
=
_
∂x
∂x
_
y
,z
∂
∂x
+
_
∂y
∂x
_
y
,z
∂
∂y
+
_
∂z
∂x
_
y
,z
∂
∂z
, (2.110)
giving
∂
∂x
= cos θ
∂
∂x
+ sinθ
∂
∂y
, (2.111)
and
∇
x
= cos θ ∇
x
+ sinθ ∇
y
. (2.112)
It can be seen that the diﬀerential operator ∇ transforms like a proper vector,
according to Eq. (2.8). This is another proof that ∇f is a good vector.
2.15 Divergence
Let us start with a vector ﬁeld A. Consider
_
S
A· dS over some closed surface
S, where dS denotes an outward pointing surface element. This surface integral
33
is usually called the ﬂux of A out of S. If A is the velocity of some ﬂuid, then
_
S
A· dS is the rate of ﬂow of material out of S.
If A is constant in space then it is easily demonstrated that the net ﬂux out
of S is zero:
_
A· dS = A·
_
dS = A· S = 0, (2.113)
since the vector area S of a closed surface is zero.
Suppose, now, that A is not uniform in space. Consider a very small rectan
gular volume over which A hardly varies. The contribution to
_
A· dS from the
two faces normal to the xaxis is
A
x
(x +dx) dy dz −A
x
(x) dy dz =
∂A
x
∂x
dxdy dz =
∂A
x
∂x
dV, (2.114)
where dV = dxdy dz is the volume element. There are analogous contributions
x
z
y
x x+dx
z+dz
z
y+dy
y
from the sides normal to the y and zaxes, so the total of all the contributions is
_
A· dS =
_
∂A
x
∂x
+
∂A
y
∂y
+
∂A
z
∂z
_
dV. (2.115)
The divergence of a vector ﬁeld is deﬁned
div A = ∇· A =
∂A
x
∂x
+
∂A
y
∂y
+
∂A
z
∂z
. (2.116)
34
Divergence is a good scalar (i.e., it is coordinate independent), since it is the dot
product of the vector operator ∇ with A. The formal deﬁnition of div A is
div A = lim
dV →0
_
A· dS
dV
. (2.117)
This deﬁnition is independent of the shape of the inﬁnitesimal volume element.
One of the most important results in vector ﬁeld theory is the socalled diver
gence theorem or Gauss’ theorem. This states that for any volume V surrounded
by a closed surface S,
_
S
A· dS =
_
V
div AdV, (2.118)
where dS is an outward pointing volume element. The proof is very straightfor
S
ward. We divide up the volume into lots of very small cubes and sum
_
A· dS
over all of the surfaces. The contributions from the interior surfaces cancel out,
leaving just the contribution from the outer surface. We can use Eq. (2.115)
for each cube individually. This tells us that the summation is equivalent to
_
div AdV over the whole volume. Thus, the integral of A· dS over the outer
surface is equal to the integral of div A over the whole volume, which proves the
divergence theorem.
Now, for a vector ﬁeld with div A = 0,
_
S
A· dS = 0 (2.119)
35
for any closed surface S. So, for two surfaces on the same rim,
_
S
1
A· dS =
_
S
2
A· dS. (2.120)
Thus, if div A = 0 then the surface integral depends on the rim but not the
nature of the surface which spans it. On the other hand, if div A = 0 then the
integral depends on both the rim and the surface.
RIM
S
S
2
1
Consider an incompressible ﬂuid whose velocity ﬁeld is v. It is clear that
_
v · dS = 0 for any closed surface, since what ﬂows into the surface must ﬂow
out again. Thus, according to the divergence theorem,
_
div v dV = 0 for any
volume. The only way in which this is possible is if div v is everywhere zero.
Thus, the velocity components of an incompressible ﬂuid satisfy the following
diﬀerential relation:
∂v
x
∂x
+
∂v
y
∂y
+
∂v
z
∂z
= 0. (2.121)
Consider, now, a compressible ﬂuid of density ρ and velocity v. The surface
integral
_
S
ρv · dS is the net rate of mass ﬂow out of the closed surface S. This
must be equal to the rate of decrease of mass inside the volume V enclosed by S,
which is written −(∂/∂t)(
_
V
ρ dV ). Thus,
_
S
ρv · dS = −
∂
∂t
__
V
ρ dV
_
(2.122)
36
for any volume. It follows from the divergence theorem that
div(ρv) = −
∂ρ
∂t
. (2.123)
This is called the equation of continuity of the ﬂuid, since it ensures that ﬂuid is
neither created nor destroyed as it ﬂows from place to place. If ρ is constant then
the equation of continuity reduces to the previous incompressible result div v = 0.
It is sometimes helpful to represent a vector ﬁeld A by “lines of force” or
“ﬁeld lines.” The direction of a line of force at any point is the same as the
direction of A. The density of lines (i.e., the number of lines crossing a unit
surface perpendicular to A) is equal to A. In the diagram, A is larger at point
1 2
1 than at point 2. The number of lines crossing a surface element dS is A· dS.
So, the net number of lines leaving a closed surface is
_
S
A· dS =
_
V
div AdV. (2.124)
If div A = 0 then there is no net ﬂux of lines out of any surface, which mean that
the lines of force must form closed loops. Such a ﬁeld is called a solenoidal vector
ﬁeld.
37
2.16 The Laplacian
So far we have encountered
gradφ =
_
∂φ
∂x
,
∂φ
∂y
,
∂φ
∂z
_
, (2.125)
which is a vector ﬁeld formed from a scalar ﬁeld, and
div A =
∂A
x
∂x
+
∂A
y
∂y
+
∂A
z
∂z
, (2.126)
which is a scalar ﬁeld formed from a vector ﬁeld. There are two ways in which
we can combine grad and div. We can either form the vector ﬁeld grad(div A)
or the scalar ﬁeld div(gradφ). The former is not particularly interesting, but
the scalar ﬁeld div(gradφ) turns up in a great many physics problems and is,
therefore, worthy of discussion.
Let us introduce the heat ﬂow vector h which is the rate of ﬂow of heat
energy per unit area across a surface perpendicular to the direction of h. In
many substances heat ﬂows directly down the temperature gradient, so that we
can write
h = −κgradT, (2.127)
where κ is the thermal conductivity. The net rate of heat ﬂow
_
S
h · dS out of
some closed surface S must be equal to the rate of decrease of heat energy in the
volume V enclosed by S. Thus, we can write
_
S
h · dS = −
∂
∂t
__
c T dV
_
, (2.128)
where c is the speciﬁc heat. It follows from the divergence theorem that
div h = −c
∂T
∂t
. (2.129)
Taking the divergence of both sides of Eq. (2.127), and making use of Eq. (2.129),
we obtain
div (κgradT) = c
∂T
∂t
, (2.130)
38
or
∇· (κ∇T) = c
∂T
∂t
. (2.131)
If κ is constant then the above equation can be written
div(gradT) =
c
κ
∂T
∂t
. (2.132)
The scalar ﬁeld div(gradT) takes the form
div(gradT) =
∂
∂x
_
∂T
∂x
_
+
∂
∂y
_
∂T
∂y
_
+
∂
∂z
_
∂T
∂z
_
=
∂
2
T
∂x
2
+
∂
2
T
∂y
2
+
∂
2
T
∂z
2
≡ ∇
2
T. (2.133)
Here, the scalar diﬀerential operator
∇
2
≡
_
∂
2
∂x
2
+
∂
2
∂y
2
+
∂
2
∂z
2
_
(2.134)
is called the Laplacian. The Laplacian is a good scalar operator (i.e., it is coordi
nate independent) because it is formed from a combination of div (another good
scalar operator) and grad (a good vector operator).
What is the physical signiﬁcance of the Laplacian? In onedimension ∇
2
T
reduces to ∂
2
T/∂x
2
. Now, ∂
2
T/∂x
2
is positive if T(x) is concave (from above)
 
+ +
T
x
39
and negative if it is convex. So, if T is less than the average of T in its surroundings
then ∇
2
T is positive, and vice versa.
In two dimensions
∇
2
T =
∂
2
T
∂x
2
+
∂
2
T
∂y
2
. (2.135)
Consider a local minimum of the temperature. At the minimum the slope of T
increases in all directions so ∇
2
T is positive. Likewise, ∇
2
T is negative at a local
maximum. Consider, now, a steepsided valley in T. Suppose that the bottom
of the valley runs parallel to the xaxis. At the bottom of the valley ∂
2
T/∂y
2
is
large and positive, whereas ∂
2
T/∂x
2
is small and may even be negative. Thus,
∇
2
T is positive, and this is associated with T being less than the average local
value T.
Let us now return to the heat conduction problem:
∇
2
T =
c
κ
∂T
∂t
. (2.136)
It is clear that if ∇
2
T is positive then T is locally less than the average value, so
∂T/∂t > 0; i.e., the region heats up. Likewise, if ∇
2
T is negative then T is locally
greater than the average value and heat ﬂows out of the region; i.e., ∂T/∂t < 0.
Thus, the above heat conduction equation makes physical sense.
2.17 Curl
Consider a vector ﬁeld A and a loop which lies in one plane. The integral of A
around this loop is written
_
A · dl, where dl is a line element of the loop. If
A is a conservative ﬁeld then A = gradφ and
_
A· dl = 0 for all loops. For a
nonconservative ﬁeld
_
A· dl = 0, in general.
For a small loop we expect
_
A· dl to be proportional to the area of the loop.
Moreover, for a ﬁxed area loop we expect
_
A· dl to depend on the orientation of
the loop. One particular orientation will give the maximum value:
_
A·dl = I
max
.
If the loop subtends an angle θ with this optimum orientation then we expect
40
I = I
max
cos θ. Let us introduce the vector ﬁeld curl A whose magnitude is
curl A = lim
dS→0
_
A· dl
dS
(2.137)
for the orientation giving I
max
. Here, dS is the area of the loop. The direction
of curl A is perpendicular to the plane of the loop, when it is in the orientation
giving I
max
, with the sense given by the righthand grip rule assuming that the
loop is righthanded.
Let us now express curl A in terms of the components of A. First, we shall
evaluate
_
A· dl around a small rectangle in the yz plane. The contribution from
y
z
z+dz
z
y y+dy
1
2
3
4
sides 1 and 3 is
A
z
(y +dy) dz −A
z
(y) dz =
∂A
z
∂y
dy dz. (2.138)
The contribution from sides 2 and 4 is
−A
y
(z +dz) dy +A
y
(z) dy = −
∂A
y
∂y
dy dz. (2.139)
So, the total of all contributions gives
_
A· dl =
_
∂A
z
∂y
−
∂A
y
∂z
_
dS, (2.140)
where dS = dy dz is the area of the loop.
41
Consider a nonrectangular (but still small) loop in the yz plane. We can
divide it into rectangular elements and form
_
A· dl over all the resultant loops.
The interior contributions cancel, so we are just left with the contribution from
the outer loop. Also, the area of the outer loop is the sum of all the areas of the
inner loops. We conclude that
_
A· dl =
_
∂A
z
∂y
−
∂A
y
∂z
_
dS
x
(2.141)
is valid for a small loop dS = (dS
x
, 0, 0) of any shape in the yz plane. Likewise,
we can show that if the loop is in the xz plane then dS = (0, dS
y
, 0) and
_
A· dl =
_
∂A
x
∂z
−
∂A
z
∂x
_
dS
y
. (2.142)
Finally, if the loop is in the xy plane then dS = (0, 0, dS
z
) and
_
A· dl =
_
∂A
y
∂x
−
∂A
x
∂y
_
dS
z
. (2.143)
Imagine an arbitrary loop of vector area dS = (dS
x
, dS
y
, dS
z
). We can con
struct this out of three loops in the x, y, and z directions, as indicated in the
diagram below. If we form the line integral around all three loops then the inte
x
y
z
S d
3
1
2
rior contributions cancel and we are left with the line integral around the original
42
loop. Thus,
_
A· dl =
_
A· dl
1
+
_
A· dl
2
+
_
A· dl
3
, (2.144)
giving
_
A· dl = curl A· dS = curl AdS cos θ, (2.145)
where
curl A =
_
∂A
z
∂y
−
∂A
y
∂z
,
∂A
x
∂z
−
∂A
z
∂x
,
∂A
y
∂x
−
∂A
x
∂y
_
. (2.146)
Note that
curl A = ∇∧ A. (2.147)
This demonstrates that curl A is a good vector ﬁeld, since it is the cross product
of the ∇ operator (a good vector operator) and the vector ﬁeld A.
Consider a solid body rotating about the zaxis. The angular velocity is given
by ω = (0, 0, ω), so the rotation velocity at position r is
v = ω ∧ r (2.148)
[see Eq. (2.39) ]. Let us evaluate curl v on the axis of rotation. The xcomponent
is proportional to the integral
_
v · dl around a loop in the yz plane. This
is plainly zero. Likewise, the ycomponent is also zero. The zcomponent is
_
v · dl/dS around some loop in the xy plane. Consider a circular loop. We have
_
v · dl = 2πr ωr with dS = πr
2
. Here, r is the radial distance from the rotation
axis. It follows that (curl v)
z
= 2ω, which is independent of r. So, on the axis
curl v = (0, 0, 2ω). Oﬀ the axis, at position r
0
, we can write
v = ω ∧ (r −r
0
) +ω ∧ r
0
. (2.149)
The ﬁrst part has the same curl as the velocity ﬁeld on the axis, and the second
part has zero curl since it is constant. Thus, curl v = (0, 0, 2ω) everywhere in the
body. This allows us to form a physical picture of curl A. If we imagine A as the
velocity ﬁeld of some ﬂuid then curl A at any given point is equal to twice the
local angular rotation velocity, i.e., 2ω. Hence, a vector ﬁeld with curl A = 0
everywhere is said to be irrotational.
43
Another important result of vector ﬁeld theory is the curl theorem or Stokes’
theorem:
_
C
A· dl =
_
S
curl A· dS, (2.150)
for some (nonplanar) surface S bounded by a rim C. This theorem can easily be
proved by splitting the loop up into many small rectangular loops and forming
the integral around all of the resultant loops. All of the contributions from the
interior loops cancel, leaving just the contribution from the outer rim. Making
use of Eq. (2.145) for each of the small loops, we can see that the contribution
from all of the loops is also equal to the integral of curl A· dS across the whole
surface. This proves the theorem.
C
One immediate consequence of of Stokes’ theorem is that curl A is “incom
pressible.” Consider two surfaces, S
1
and S
2
, which share the same rim. It is clear
from Stokes’ theorem that
_
curl A· dS is the same for both surfaces. Thus, it
follows that
_
curl A· dS = 0 for any closed surface. However, we have from the
divergence theorem that
_
curl A· dS =
_
div(curl A) dV = 0 for any volume.
Hence,
div(curl A) ≡ 0. (2.151)
So, the ﬁeldlines of curl A never begin or end. In other words, curl A is a
solenoidal ﬁeld.
We have seen that for a conservative ﬁeld
_
A · dl = 0 for any loop. This
is entirely equivalent to A = gradφ. However, the magnitude of curl A is
44
lim
dS→0
_
A· dl/dS for some particular loop. It is clear then that curl A = 0
for a conservative ﬁeld. In other words,
curl(gradφ) ≡ 0. (2.152)
Thus, a conservative ﬁeld is also an irrotational one.
Finally, it can be shown that
curl(curl A) = grad(div A) −∇
2
A, (2.153)
where
∇
2
A = (∇
2
A
x
, ∇
2
A
y
, ∇
2
A
z
). (2.154)
It should be emphasized, however, that the above result is only valid in Cartesian
coordinates.
2.18 Summary
Vector addition:
a +b ≡ (a
x
+b
x
, a
y
+b
y
, a
z
+b
z
)
Vector multiplication:
na ≡ (na
x
, na
y
, na
z
)
Scalar product:
a · b = a
x
b
x
+a
y
b
y
+a
z
b
z
Vector product:
a ∧ b = (a
y
b
z
−a
z
b
y
, a
z
b
x
−a
x
b
z
, a
x
b
y
−a
y
b
x
)
Scalar triple product:
a · b ∧ c = a ∧ b · c = b · c ∧ a = −b · a ∧ c
45
Vector triple product:
a ∧ (b ∧ c) = (a · c)b −(a · b)c
(a ∧ b) ∧ c = (a · c)b −(b · c)a
Gradient:
gradφ =
_
∂φ
∂x
,
∂φ
∂y
,
∂φ
∂z
_
Divergence:
div A =
∂A
x
∂x
+
∂A
y
∂y
+
∂A
z
∂z
Curl:
curl A =
_
∂A
z
∂y
−
∂A
y
∂z
,
∂A
x
∂z
−
∂A
z
∂x
,
∂A
y
∂x
−
∂A
x
∂y
_
Gauss’ theorem:
_
S
A· dS =
_
V
div AdV
Stokes’ theorem:
_
C
A· dl =
_
S
curl A· dS
Del operator:
∇ =
_
∂
∂x
,
∂
∂y
,
∂
∂z
_
gradφ = ∇φ
div A = ∇· A
curl A = ∇∧ A
Vector identities:
∇· ∇φ = ∇
2
φ =
_
∂
2
φ
∂x
2
+
∂
2
φ
∂y
2
+
∂
2
φ
∂z
2
_
46
∇· ∇∧ A = 0
∇∧ ∇φ = 0
∇
2
A = ∇(∇· A) −∇∧ ∇∧ A
Other vector identities:
∇(φψ) = φ∇(ψ) +ψ∇(φ)
∇· (φA) = φ∇· A+A· ∇φ
∇∧ (φA) = φ∇∧ A+∇φ ∧ A
∇· (A∧ B) = B · ∇∧ A−A· ∇∧ B
∇∧ (A∧ B) = A(∇· B) −B(∇· A) + (B · ∇)A−(A· ∇)B
∇(A· B) = A∧ (∇∧ B) +B ∧ (∇∧ A) + (A· ∇)B + (B · ∇)A
Acknowledgment
This section is almost entirely based on my undergraduate notes taken during a
course of lectures given by Dr. Steven Gull of the Cavendish Laboratory, Cam
bridge.
47
3 Maxwell’s equations
3.1 Coulomb’s law
Between 1785 and 1787 the French physicist Charles Augustine de Coulomb per
formed a series of experiments involving electric charges and eventually estab
lished what is nowadays known as “Coulomb’s law.” According to this law the
force acting between two charges is radial, inversesquare, and proportional to the
product of the charges. Two like charges repel one another whereas two unlike
charges attract. Suppose that two charges, q
1
and q
2
, are located at position
vectors r
1
and r
2
. The electrical force acting on the second charge is written
f
2
=
q
1
q
2
4π
0
r
2
−r
1
[r
2
−r
1
[
3
(3.1)
in vector notation. An equal and opposite force acts on the ﬁrst charge, in
accordance with Newton’s third law of motion. The SI unit of electric charge is
q
1
q
2
f
1
r
f
r
1 2
2
r
_
r
2 1
the coulomb (C). The charge of an electron is 1.6022 10
−19
C. The universal
constant
0
is called the “permittivity of free space” and takes the value
0
= 8.8542 10
−12
C
2
N
−1
m
−2
. (3.2)
Coulomb’s law has the same mathematical form as Newton’s law of gravity.
Suppose that two masses, m
1
and m
2
, are located at position vectors r
1
and r
2
.
48
The gravitational force acting on the second mass is written
f
2
= −Gm
1
m
2
r
2
−r
1
[r
2
−r
1
[
3
(3.3)
in vector notation. The gravitational constant G takes the value
G = 6.6726 10
−11
Nm
2
kg
−2
. (3.4)
Coulomb’s law and Newton’s law are both “inversesquare”; i.e.
[f
2
[ ∝
1
[r
2
−r
1
[
2
. (3.5)
However, they diﬀer in two crucial respects. Firstly, the force due to gravity
is always attractive (there is no such thing as a negative mass!). Secondly, the
magnitudes of the two forces are vastly diﬀerent. Consider the ratio of the elec
trical and gravitational forces acting on two particles. This ratio is a constant,
independent of the relative positions of the particles, and is given by
[f
electrical
[
[f
gravitational
[
=
q
1
m
1
q
2
m
2
1
4π
0
G
. (3.6)
For electrons the charge to mass ratio q/m = 1.759 10
11
Ckg
−1
, so
[f
electrical
[
[f
gravitational
[
= 4.17 10
42
. (3.7)
This is a colossal number! Suppose you had a homework problem involving the
motion of particles in a box under the action of two forces with the same range
but diﬀering in magnitude by a factor 10
42
. I think that most people would write
on line one something like “it is a good approximation to neglect the weaker force
in favour of the stronger one.” In fact, most people would write this even if the
forces diﬀered in magnitude by a factor 10! Applying this reasoning to the motion
of particles in the universe we would expect the universe to be governed entirely
by electrical forces. However, this is not the case. The force which holds us to
the surface of the Earth, and prevents us from ﬂoating oﬀ into space, is gravity.
The force which causes the Earth to orbit the Sun is also gravity. In fact, on
49
astronomical lengthscales gravity is the dominant force and electrical forces are
largely irrelevant. The key to understanding this paradox is that there are both
positive and negative electric charges whereas there are only positive gravitational
“charges.” This means that gravitational forces are always cumulative whereas
electrical forces can cancel one another out. Suppose, for the sake of argument,
that the universe starts out with randomly distributed electric charges. Initially,
we expect electrical forces to completely dominate gravity. These forces try to
make every positive charge get as far away as possible from other positive charges
and as close as possible to other negative charges. After a bit we expect the
positive and negative charges to form close pairs. Just how close is determined
by quantum mechanics but, in general, it is pretty close; i.e., about 10
−10
m.
The electrical forces due to the charges in each pair eﬀectively cancel one another
out on lengthscales much larger than the mutual spacing of the pair. It is only
possible for gravity to be the dominant longrange force if the number of positive
charges in the universe is almost equal to the number of negative charges. In this
situation every positive change can ﬁnd a negative charge to team up with and
there are virtually no charges left over. In order for the cancellation of longrange
electrical forces to be eﬀective the relative diﬀerence in the number of positive
and negative charges in the universe must be incredibly small. In fact, positive
and negative charges have to cancel each other out to such accuracy that most
physicists believe that the net charge of the universe is exactly zero. But, it is
not enough for the universe to start out with zero charge. Suppose there were
some elementary particle process which did not conserve electric charge. Even
if this were to go on at a very low rate it would not take long before the ﬁne
balance between positive and negative charges in the universe were wrecked. So,
it is important that electric charge is a conserved quantity (i.e., the charge of the
universe can neither increase or decrease). As far as we know, this is the case.
To date no elementary particle reactions have been discovered which create or
destroy net electric charge.
In summary, there are two longrange forces in the universe, electromagnetism
and gravity. The former is enormously stronger than the latter, but is usually
“hidden” away inside neutral atoms. The ﬁne balance of forces due to negative
and positive electric charges starts to break down on atomic scales. In fact, inter
atomic and intermolecular forces are electrical in nature. So, electrical forces are
basically what prevent us from falling though the ﬂoor. But, this is electromag
50
netism on the microscopic or atomic scale; what is usually known as “quantum
electromagnetism.” This course is about “classical electromagnetism”; that is,
electromagnetism on lengthscales much larger than the atomic scale. Classical
electromagnetism generally describes phenomena in which some sort of “violence”
is done to matter, so that the close pairing of negative and positive charges is
disrupted. This allows electrical forces to manifest themselves on macroscopic
lengthscales. Of course, very little disruption is necessary before gigantic forces
are generated. It is no coincidence that the vast majority of useful machines which
mankind has devised during the last century are electromagnetic in nature.
Coulomb’s law and Newton’s law are both examples of what are usually re
ferred to as “action at a distance” theories. According to Eqs. (3.1) and (3.3), if
the ﬁrst charge or mass is moved then the force acting on the second charge or
mass immediately responds. In particular, equal and opposite forces act on the
two charges or masses at all times. However, this cannot be correct according
to Einstein’s theory of relativity. The maximum speed with which information
can propagate through the universe is the speed of light. So, if the ﬁrst charge
or mass is moved then there must always be time delay (i.e., at least the time
needed for a light signal to propagate between the two charges or masses) be
fore the second charge or mass responds. Consider a rather extreme example.
Suppose the ﬁrst charge or mass is suddenly annihilated. The second charge or
mass only ﬁnds out about this some time later. During this time interval the
second charge or mass experiences an electrical or gravitational force which is
as if the ﬁrst charge or mass were still there. So, during this period there is an
action but no reaction, which violates Newton’s third law of motion. It is clear
that “action at a distance” is not compatible with relativity and, consequently,
that Newton’s third law of motion is not strictly true. Of course, Newton’s third
law is intimately tied up with the conservation of momentum in the universe. A
concept which most physicists are loath to abandon. It turns out that we can
“rescue” momentum conservation by abandoning “action at a distance” theories
and adopting socalled “ﬁeld” theories in which there is a medium, called a ﬁeld,
which transmits the force from one particle to another. In electromagnetism there
are, in fact, two ﬁelds; the electric ﬁeld and the magnetic ﬁeld. Electromagnetic
forces are transmitted though these ﬁelds at the speed of light, which implies
that the laws of relativity are never violated. Moreover, the ﬁelds can soak up
energy and momentum. This means that even when the actions and reactions
51
acting on particles are not quite equal and opposite, momentum is still conserved.
We can bypass some of the problematic aspects of “action at a distance” by only
considering steadystate situations. For the moment, this is how we shall proceed.
Consider N charges, q
1
though q
N
, which are located at position vectors r
1
through r
N
. Electrical forces obey what is known as the principle of superposition.
The electrical force acting on a test charge q at position vector r is simply the
vector sum of all of the Coulomb law forces from each of the N charges taken in
isolation. In other words, the electrical force exerted by the ith charge (say) on
the test charge is the same as if all the other charges were not there. Thus, the
force acting on the test charge is given by
f(r) = q
N
i=1
q
i
4π
0
r −r
i
[r −r
i
[
3
. (3.8)
It is helpful to deﬁne a vector ﬁeld E(r), called the electric ﬁeld, which is the
force exerted on a unit test charge located at position vector r. So, the force on
a test charge is written
f = q E, (3.9)
and the electric ﬁeld is given by
E(r) =
N
i=1
q
i
4π
0
r −r
i
[r −r
i
[
3
. (3.10)
At this point, we have no reason to believe that the electric ﬁeld has any real
existence; it is just a useful device for calculating the force which acts on test
charges placed at various locations.
The electric ﬁeld from a single charge q located at the origin is purely ra
dial, points outwards if the charge is positive, inwards if it is negative, and has
magnitude
E
r
(r) =
q
4π
0
r
2
, (3.11)
where r = [r[.
52
q
E
We can represent an electric ﬁeld by “ﬁeldlines.” The direction of the lines
indicates the direction of the local electric ﬁeld and the density of the lines per
pendicular to this direction is proportional to the magnitude of the local electric
ﬁeld. Thus, the ﬁeld of a point positive charge is represented by a group of equally
spaced straight lines radiating from the charge.
The electric ﬁeld from a collection of charges is simply the vector sum of the
ﬁelds from each of the charges taken in isolation. In other words, electric ﬁelds
are completely superposable. Suppose that, instead of having discrete charges,
we have a continuous distribution of charge represented by a charge density ρ(r).
Thus, the charge at position vector r
is ρ(r
) d
3
r
, where d
3
r
is the volume
element at r
. It follows from a simple extension of Eq. (3.10) that the electric
ﬁeld generated by this charge distribution is
E(r) =
1
4π
0
_
ρ(r
)
r −r
[r −r
[
3
d
3
r
, (3.12)
where the volume integral is over all space, or, at least, over all space for which
ρ(r
) is nonzero.
53
3.2 The electric scalar potential
Suppose that r = (x, y, z) and r
= (x
, y
, z
) in Cartesian coordinates. The x
component of (r −r
)/[r −r
[
3
is written
x −x
[(x −x
)
2
+ (y −y
)
2
+ (z −z
)
2
]
3/2
. (3.13)
However, it is easily demonstrated that
x −x
[(x −x
)
2
+ (y −y
)
2
+ (z −z
)
2
]
3/2
=
−
∂
∂x
1
[(x −x
)
2
+ (y −y
)
2
+ (z −z
)
2
]
1/2
. (3.14)
Since there is nothing special about the xaxis we can write
r −r
[r −r
[
3
= −∇
_
1
[r −r
[
_
, (3.15)
where ∇ ≡ (∂/∂x, ∂/∂y, ∂/∂z) is a diﬀerential operator which involves the com
ponents of r but not those of r
. It follows from Eq. (3.12) that
E = −∇φ, (3.16)
where
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
. (3.17)
Thus, the electric ﬁeld generated by a collection of ﬁxed charges can be written
as the gradient of a scalar potential, and this potential can be expressed as a
simple volume integral involving the charge distribution.
The scalar potential generated by a charge q located at the origin is
φ(r) =
q
4π
0
r
. (3.18)
54
According to Eq. (3.10) the scalar potential generated by a set of N discrete
charges q
i
, located at r
i
, is
φ(r) =
N
i=1
φ
i
(r), (3.19)
where
φ
i
(r) =
q
i
4π
0
[r −r
i
[
. (3.20)
Thus, the scalar potential is just the sum of the potentials generated by each of
the charges taken in isolation.
Suppose that a particle of charge q is taken along some path from point P to
point Q. The net work done on the particle by electrical forces is
W =
_
Q
P
f dl, (3.21)
where f is the electrical force and dl is a line element along the path. Making
use of Eqs. (3.9) and (3.16) we obtain
W = q
_
Q
P
E dl = −q
_
Q
P
∇φ dl = −q ( φ(Q) −φ(P) ) . (3.22)
Thus, the work done on the particle is simply minus its charge times the diﬀer
ence in electric potential between the end point and the beginning point. This
quantity is clearly independent of the path taken from P to Q. So, an electric
ﬁeld generated by stationary charges is an example of a conservative ﬁeld. In
fact, this result follows immediately from vector ﬁeld theory once we are told, in
Eq. (3.16), that the electric ﬁeld is the gradient of a scalar potential. The work
done on the particle when it is taken around a closed path is zero, so
_
C
E dl = 0 (3.23)
for any closed loop C. This implies from Stokes’ theorem that
∇∧ E = 0 (3.24)
55
for any electric ﬁeld generated by stationary charges. Equation (3.24) also follows
directly from Eq. (3.16), since ∇∧ ∇φ = 0 for any scalar potential φ.
The SI unit of electric potential is the volt, which is equivalent to a joule per
coulomb. Thus, according to Eq. (3.22) the electrical work done on a particle
when it is taken between two points is the product of its charge and the voltage
diﬀerence between the points.
We are familiar with the idea that a particle moving in a gravitational ﬁeld
possesses potential energy as well as kinetic energy. If the particle moves from
point P to a lower point Q then the gravitational ﬁeld does work on the par
ticle causing its kinetic energy to increase. The increase in kinetic energy of
the particle is balanced by an equal decrease in its potential energy so that the
overall energy of the particle is a conserved quantity. Therefore, the work done
on the particle as it moves from P to Q is minus the diﬀerence in its gravi
tational potential energy between points Q and P. Of course, it only makes
sense to talk about gravitational potential energy because the gravitational ﬁeld
is conservative. Thus, the work done in taking a particle between two points is
path independent and, therefore, well deﬁned. This means that the diﬀerence
in potential energy of the particle between the beginning and end points is also
well deﬁned. We have already seen that an electric ﬁeld generated by stationary
charges is a conservative ﬁeld. In follows that we can deﬁne an electrical potential
energy of a particle moving in such a ﬁeld. By analogy with gravitational ﬁelds,
the work done in taking a particle from point P to point Q is equal to minus the
diﬀerence in potential energy of the particle between points Q and P. It follows
from Eq. (3.22) that the potential energy of the particle at a general point Q,
relative to some reference point P, is given by
c(Q) = q φ(Q). (3.25)
Free particles try to move down gradients of potential energy in order to attain a
minimum potential energy state. Thus, free particles in the Earth’s gravitational
ﬁeld tend to fall downwards. Likewise, positive charges moving in an electric ﬁeld
tend to migrate towards regions with the most negative voltage and vice versa
for negative charges.
The scalar electric potential is undeﬁned to an additive constant. So, the
56
transformation
φ(r) →φ(r) +c (3.26)
leaves the electric ﬁeld unchanged according to Eq. (3.16). The potential can
be ﬁxed unambiguously by specifying its value at a single point. The usual
convention is to say that the potential is zero at inﬁnity. This convention is
implicit in Eq. (3.17), where it can be seen that φ →0 as [r[ →∞ provided that
the total charge
_
ρ(r
) d
3
r
is ﬁnite.
3.3 Gauss’ law
Consider a single charge located at the origin. The electric ﬁeld generated by
such a charge is given by Eq. (3.11). Suppose that we surround the charge by a
concentric spherical surface S of radius r. The ﬂux of the electric ﬁeld through
this surface is given by
r
S
V
q
_
S
E dS =
_
S
E
r
dS
r
= E
r
(r) 4πr
2
=
q
4π
0
r
2
4πr
2
=
q
0
, (3.27)
since the normal to the surface is always parallel to the local electric ﬁeld. How
ever, we also know from Gauss’ theorem that
_
S
E dS =
_
V
∇ E d
3
r, (3.28)
57
where V is the volume enclosed by surface S. Let us evaluate ∇ E directly. In
Cartesian coordinates the ﬁeld is written
E =
q
4π
0
_
x
r
3
,
y
r
3
,
z
r
3
_
, (3.29)
where r
2
= x
2
+y
2
+z
2
. So,
∂E
x
∂x
=
q
4π
0
_
1
r
3
−
3x
r
4
x
r
_
=
q
4π
0
r
2
−3x
2
r
5
. (3.30)
Here, use has been made of
∂r
∂x
=
x
r
. (3.31)
Formulae analogous to Eq. (3.30) can be obtained for ∂E
y
/∂y and ∂E
z
/∂z. The
divergence of the ﬁeld is given by
∇ E =
∂E
x
∂x
+
∂E
y
∂y
+
∂E
z
∂z
=
q
4π
0
3r
2
−3x
2
−3y
2
−3z
2
r
5
= 0. (3.32)
This is a puzzling result! We have from Eqs. (3.27) and (3.28) that
_
V
∇ E d
3
r =
q
0
, (3.33)
and yet we have just proved that ∇ E = 0. This paradox can be resolved after a
close examination of Eq. (3.32). At the origin (r = 0) we ﬁnd that ∇ E = 0/0,
which means that ∇ E can take any value at this point. Thus, Eqs. (3.32) and
(3.33) can be reconciled if ∇ E is some sort of “spike” function; i.e., it is zero
everywhere except arbitrarily close to the origin, where it becomes very large.
This must occur in such a manner that the volume integral over the “spike” is
ﬁnite.
Let us examine how we might construct a onedimensional “spike” function.
Consider the “boxcar” function
g(x, ) =
_
1/ for [x[ < /2
0 otherwise.
(3.34)
58
1/ε
ε/2 −ε/2 x
g(x)
It is clear that that
_
∞
−∞
g(x, ) dx = 1. (3.35)
Now consider the function
δ(x) = lim
→0
g(x, ). (3.36)
This is zero everywhere except arbitrarily close to x = 0. According to Eq. (3.35),
it also possess a ﬁnite integral;
_
∞
−∞
δ(x) dx = 1. (3.37)
Thus, δ(x) has all of the required properties of a “spike” function. The one
dimensional “spike” function δ(x) is called the “Dirac deltafunction” after the
Cambridge physicist Paul Dirac who invented it in 1927 while investigating quan
tum mechanics. The deltafunction is an example of what mathematicians call a
“generalized function”; it is not welldeﬁned at x = 0, but its integral is never
theless welldeﬁned. Consider the integral
_
∞
−∞
f(x) δ(x) dx, (3.38)
where f(x) is a function which is wellbehaved in the vicinity of x = 0. Since the
deltafunction is zero everywhere apart from very close to x = 0, it is clear that
_
∞
−∞
f(x) δ(x) dx = f(0)
_
∞
−∞
δ(x) dx = f(0), (3.39)
59
where use has been made of Eq. (3.37). The above equation, which is valid for
any wellbehaved function f(x), is eﬀectively the deﬁnition of a deltafunction.
A simple change of variables allows us to deﬁne δ(x − x
0
), which is a “spike”
function centred on x = x
0
. Equation (3.39) gives
_
∞
−∞
f(x) δ(x −x
0
) dx = f(x
0
). (3.40)
We actually want a threedimensional “spike” function; i.e., a function which
is zero everywhere apart from close to the origin, and whose volume integral
is unity. If we denote this function by δ(r) then it is easily seen that the
threedimensional deltafunction is the product of three onedimensional delta
functions:
δ(r) = δ(x)δ(y)δ(z). (3.41)
This function is clearly zero everywhere except the origin. But is its volume
integral unity? Let us integrate over a cube of dimensions 2a which is centred on
the origin and aligned along the Cartesian axes. This volume integral is obviously
separable, so that
_
δ(r) d
3
r =
_
a
−a
δ(x) dx
_
a
−a
δ(y) dy
_
a
−a
δ(z) dz. (3.42)
The integral can be turned into an integral over all space by taking the limit a →
∞. However, we know that for onedimensional deltafunctions
_
∞
−∞
δ(x) dx = 1,
so it follows from the above equation that
_
δ(r) d
3
r = 1, (3.43)
which is the desired result. A simple generalization of previous arguments yields
_
f(r) δ(r) d
3
r = f(0), (3.44)
where f(r) is any wellbehaved scalar ﬁeld. Finally, we can change variables and
write
δ(r −r
) = δ(x −x
)δ(y −y
)δ(z −z
), (3.45)
60
which is a threedimensional “spike” function centred on r = r
. It is easily
demonstrated that
_
f(r) δ(r −r
) d
3
r = f(r
). (3.46)
Up to now we have only considered volume integrals taken over all space. How
ever, it should be obvious that the above result also holds for integrals over any
ﬁnite volume V which contains the point r = r
. Likewise, the integral is zero if
V does not contain r = r
.
Let us now return to the problem in hand. The electric ﬁeld generated by a
charge q located at the origin has ∇ E = 0 everywhere apart from the origin,
and also satisﬁes
_
V
∇ E d
3
r =
q
0
(3.47)
for a spherical volume V centered on the origin. These two facts imply that
∇ E =
q
0
δ(r), (3.48)
where use has been made of Eq. (3.43).
At this stage, you are probably not all that impressed with vector ﬁeld theory.
After all we have just spent an inordinately long time proving something using
vector ﬁeld theory which we previously proved in one line [see Eq. (3.27) ] using
conventional analysis! Let me now demonstrate the power of vector ﬁeld theory.
Consider, again, a charge q at the origin surrounded by a spherical surface S
which is centered on the origin. Suppose that we now displace the surface S, so
that it is no longer centered on the origin. What is the ﬂux of the electric ﬁeld
out of S? This is no longer a simple problem for conventional analysis because
the normal to the surface is not parallel to the local electric ﬁeld. However, using
vector ﬁeld theory this problem is no more diﬃcult than the previous one. We
have
_
S
E dS =
_
V
∇ E d
3
r (3.49)
from Gauss’ theorem, plus Eq. (3.48). From these, it is clear that the ﬂux of E
out of S is q/
0
for a spherical surface displaced from the origin. However, the
ﬂux becomes zero when the displacement is suﬃciently large that the origin is
61
q
S
no longer enclosed by the sphere. It is possible to prove this from conventional
analysis, but it is not easy! Suppose that the surface S is not spherical but
is instead highly distorted. What now is the ﬂux of E out of S? This is a
virtually impossible problem in conventional analysis, but it is easy using vector
ﬁeld theory. Gauss’ theorem and Eq. (3.48) tell us that the ﬂux is q/
0
provided
that the surface contains the origin, and that the ﬂux is zero otherwise. This
result is independent of the shape of S.
q
S
Consider N charges q
i
located at r
i
. A simple generalization of Eq. (3.48)
62
gives
∇ E =
N
i=1
q
i
0
δ(r −r
i
). (3.50)
Thus, Gauss’ theorem (3.49) implies that
_
S
E dS =
_
V
∇ E d
3
r =
Q
0
, (3.51)
where Q is the total charge enclosed by the surface S. This result is called Gauss’
law and does not depend on the shape of the surface.
Suppose, ﬁnally, that instead of having a set of discrete charges we have a
continuous charge distribution described by a charge density ρ(r). The charge
contained in a small rectangular volume of dimensions dx, dy, and dz, located at
position r is Q = ρ(r) dxdy dz. However, if we integrate ∇ E over this volume
element we obtain
∇ E dxdy dz =
Q
0
=
ρ dxdy dz
0
, (3.52)
where use has been made of Eq. (3.51). Here, the volume element is assumed to
be suﬃciently small that ∇ E does not vary signiﬁcantly across it. Thus, we
obtain
∇ E =
ρ
0
. (3.53)
This is the ﬁrst of four ﬁeld equations, called Maxwell’s equations, which together
form a complete description of electromagnetism. Of course, our derivation of
Eq. (3.53) is only valid for electric ﬁelds generated by stationary charge distribu
tions. In principle, additional terms might be required to describe ﬁelds generated
by moving charge distributions. However, it turns out that this is not the case
and that Eq. (3.53) is universally valid.
Equation (3.53) is a diﬀerential equation describing the electric ﬁeld generated
by a set of charges. We already know the solution to this equation when the
charges are stationary; it is given by Eq. (3.12):
E(r) =
1
4π
0
_
ρ(r
)
r −r
[r −r
[
3
d
3
r
. (3.54)
63
Equations (3.53) and (3.54) can be reconciled provided
∇
_
r −r
[r −r
[
3
_
= −∇
2
_
1
[r −r
[
_
= 4π δ(r −r
), (3.55)
where use has been made of Eq. (3.15). It follows that
∇ E(r) =
1
4π
0
_
ρ(r
) ∇
_
r −r
[r −r
[
3
_
d
3
r
=
_
ρ(r
)
0
δ(r −r
) d
3
r
=
ρ(r)
0
, (3.56)
which is the desired result. The most general form of Gauss’ law, Eq. (3.51), is
obtained by integrating Eq. (3.53) over a volume V surrounded by a surface S
and making use of Gauss’ theorem:
_
S
E dS =
1
0
_
V
ρ(r) d
3
r. (3.57)
3.4 Poisson’s equation
We have seen that the electric ﬁeld generated by a set of stationary charges can
be written as the gradient of a scalar potential, so that
E = −∇φ. (3.58)
This equation can be combined with the ﬁeld equation (3.53) to give a partial
diﬀerential equation for the scalar potential:
∇
2
φ = −
ρ
0
. (3.59)
This is an example of a very famous type of partial diﬀerential equation known
as “Poisson’s equation.”
In its most general form Poisson’s equation is written
∇
2
u = v, (3.60)
64
where u(r) is some scalar potential which is to be determined and v(r) is a
known “source function.” The most common boundary condition applied to this
equation is that the potential u is zero at inﬁnity. The solutions to Poisson’s
equation are completely superposable. Thus, if u
1
is the potential generated by
the source function v
1
, and u
2
is the potential generated by the source function
v
2
, so that
∇
2
u
1
= v
1
, ∇
2
u
2
= v
2
, (3.61)
then the potential generated by v
1
+v
2
is u
1
+u
2
, since
∇
2
(u
1
+u
2
) = ∇
2
u
1
+∇
2
u
2
= v
1
+v
2
. (3.62)
Poisson’s equation has this property because it is linear in both the potential and
the source term.
The fact that the solutions to Poisson’s equation are superposable suggests
a general method for solving this equation. Suppose that we could construct
all of the solutions generated by point sources. Of course, these solutions must
satisfy the appropriate boundary conditions. Any general source function can be
built up out of a set of suitably weighted point sources, so the general solution of
Poisson’s equation must be expressible as a weighted sum over the point source
solutions. Thus, once we know all of the point source solutions we can construct
any other solution. In mathematical terminology we require the solution to
∇
2
G(r, r
) = δ(r −r
) (3.63)
which goes to zero as [r[ →∞. The function G(r, r
) is the solution generated by
a point source located at position r
. In mathematical terminology this function
is known as a “Green’s function.” The solution generated by a general source
function v(r) is simply the appropriately weighted sum of all of the Green’s
function solutions:
u(r) =
_
G(r, r
)v(r
) d
3
r
. (3.64)
We can easily demonstrate that this is the correct solution:
∇
2
u(r) =
_
_
∇
2
G(r, r
)
¸
v(r
) d
3
r
=
_
δ(r −r
) v(r
) d
3
r
= v(r). (3.65)
65
Let us return to Eq. (3.59):
∇
2
φ = −
ρ
0
. (3.66)
The Green’s function for this equation satisﬁes Eq. (3.63) with [G[ → ∞ as
[r[ →0. It follows from Eq. (3.55) that
G(r, r
) = −
1
4π
1
[r −r
[
. (3.67)
Note from Eq. (3.20) that the Green’s function has the same form as the potential
generated by a point charge. This is hardly surprising given the deﬁnition of a
Green’s function. It follows from Eq. (3.64) and (3.67) that the general solution
to Poisson’s equation (3.66) is written
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
. (3.68)
In fact, we have already obtained this solution by another method [see Eq. (3.17) ].
3.5 Amp`ere’s experiments
In 1820 the Danish physicist Hans Christian Ørsted was giving a lecture demon
stration of various electrical and magnetic eﬀects. Suddenly, much to his surprise,
he noticed that the needle of a compass he was holding was deﬂected when he
moved it close to a current carrying wire. Up until then magnetism has been
thought of as solely a property of some rather unusual rocks called loadstones.
Word of this discovery spread quickly along the scientiﬁc grapevine, and the
French physicist Andre Marie Amp`ere immediately decided to investigate fur
ther. Amp`ere’s apparatus consisted (essentially) of a long straight wire carrying
an electric current current I. Amp`ere quickly discovered that the needle of a small
compass maps out a series of concentric circular loops in the plane perpendicular
to a current carrying wire. The direction of circulation around these magnetic
loops is conventionally taken to be the direction in which the north pole of the
compass needle points. Using this convention, the circulation of the loops is given
66
I
direction of north pole
of compass needle
by a righthand rule: if the thumb of the righthand points along the direction of
the current then the ﬁngers of the righthand circulate in the same sense as the
magnetic loops.
Amp`ere’s next series of experiments involved bringing a short test wire, car
rying a current I
, close to the original wire and investigating the force exerted on
the test wire. This experiment is not quite as clear cut as Coulomb’s experiment
I
I
/
test wire
currentcarrying
because, unlike electric charges, electric currents cannot exist as point entities;
they have to ﬂow in complete circuits. We must imagine that the circuit which
connects with the central wire is suﬃciently far away that it has no appreciable
inﬂuence on the outcome of the experiment. The circuit which connects with the
test wire is more problematic. Fortunately, if the feed wires are twisted around
each other, as indicated in the diagram, then they eﬀectively cancel one another
67
out and also do not inﬂuence the outcome of the experiment.
Amp`ere discovered that the force exerted on the test wire is directly propor
tional to its length. He also made the following observations. If the current in the
test wire (i.e., the test current) ﬂows parallel to the current in the central wire
then the two wires attract one another. If the current in the test wire is reversed
then the two wires repel one another. If the test current points radially towards
the central wire (and the current in the central wire ﬂows upwards) then the test
wire is subject to a downwards force. If the test current is reversed then the force
is upwards. If the test current is rotated in a single plane, so that it starts parallel
to the central current and ends up pointing radially towards it, then the force on
the test wire is of constant magnitude and is always at right angles to the test
current. If the test current is parallel to a magnetic loop then there is no force
exerted on the test wire. If the test current is rotated in a single plane, so that it
starts parallel to the central current and ends up pointing along a magnetic loop,
then the magnitude of the force on the test wire attenuates like cos θ (where θ is
the angle the current is turned through; θ = 0 corresponds to the case where the
test current is parallel to the central current), and its direction is again always at
right angles to the test current. Finally, Amp`ere was able to establish that the
attractive force between two parallel current carrying wires is proportional to the
product of the two currents, and falls oﬀ like one over the perpendicular distance
between the wires.
This rather complicated force law can be summed up succinctly in vector
notation provided that we deﬁne a vector ﬁeld B, called the magnetic ﬁeld,
whose direction is always parallel to the loops mapped out by a small compass.
The dependence of the force per unit length, F, acting on a test wire with the
diﬀerent possible orientations of the test current is described by
F = I
∧ B, (3.69)
where I
is a vector whose direction and magnitude are the same as those of the
test current. Incidentally, the SI unit of electric current is the ampere (A), which
is the same as a coulomb per second. The SI unit of magnetic ﬁeld strength
is the tesla (T), which is the same as a newton per ampere per meter. The
variation of the force per unit length acting on a test wire with the strength of
the central current and the perpendicular distance r to the central wire is summed
68
up by saying that the magnetic ﬁeld strength is proportional to I and inversely
proportional to r. Thus, deﬁning cylindrical polar coordinates aligned along the
axis of the central current, we have
B
θ
=
µ
0
I
2πr
, (3.70)
with B
r
= B
z
= 0. The constant of proportionality µ
0
is called the “permeability
of free space” and takes the value
µ
0
= 4π 10
−7
NA
−2
. (3.71)
The concept of a magnetic ﬁeld allows the calculation of the force on a test
wire to be conveniently split into two parts. In the ﬁrst part, we calculate the
magnetic ﬁeld generated by the current ﬂowing in the central wire. This ﬁeld
circulates in the plane normal to the wire; its magnitude is proportional to the
central current and inversely proportional to the perpendicular distance from the
wire. In the second part, we use Eq. (3.69) to calculate the force per unit length
acting on a short current carrying wire located in the magnetic ﬁeld generated
by the central current. This force is perpendicular to both the magnetic ﬁeld and
the direction of the test current. Note that, at this stage, we have no reason to
suppose that the magnetic ﬁeld has any real existence. It is introduced merely to
facilitate the calculation of the force exerted on the test wire by the central wire.
3.6 The Lorentz force
The ﬂow of an electric current down a conducting wire is ultimately due to the
motion of electrically charged particles (in most cases, electrons) through the
conducting medium. It seems reasonable, therefore, that the force exerted on
the wire when it is placed in a magnetic ﬁeld is really the resultant of the forces
exerted on these moving charges. Let us suppose that this is the case.
Let A be the (uniform) crosssectional area of the wire, and let n be the
number density of mobile charges in the conductor. Suppose that the mobile
charges each have charge q and velocity v. We must assume that the conductor
also contains stationary charges, of charge −q and number density n, say, so that
69
the net charge density in the wire is zero. In most conductors the mobile charges
are electrons and the stationary charges are atomic nuclei. The magnitude of
the electric current ﬂowing through the wire is simply the number of coulombs
per second which ﬂow past a given point. In one second a mobile charge moves
a distance v, so all of the charges contained in a cylinder of crosssectional area
A and length v ﬂow past a given point. Thus, the magnitude of the current is
q nAv. The direction of the current is the same as the direction of motion of the
charges, so the vector current is I
= q nAv. According to Eq. (3.69) the force
per unit length acting on the wire is
F = q nAv ∧ B. (3.72)
However, a unit length of the wire contains nA moving charges. So, assuming
that each charge is subject to an equal force from the magnetic ﬁeld (we have no
reason to suppose otherwise), the force acting on an individual charge is
f = q v ∧ B. (3.73)
We can combine this with Eq. (3.9) to give the force acting on a charge q moving
with velocity v in an electric ﬁeld E and a magnetic ﬁeld B:
f = q E +q v ∧ B. (3.74)
This is called the “Lorentz force law” after the Dutch physicist Hendrik Antoon
Lorentz who ﬁrst formulated it. The electric force on a charged particle is parallel
to the local electric ﬁeld. The magnetic force, however, is perpendicular to both
the local magnetic ﬁeld and the particle’s direction of motion. No magnetic force
is exerted on a stationary charged particle.
The equation of motion of a free particle of charge q and mass m moving in
electric and magnetic ﬁelds is
m
dv
dt
= q E +q v ∧ B, (3.75)
according to the Lorentz force law. This equation of motion was veriﬁed in a
famous experiment carried out by the Cambridge physicist J.J. Thompson in
1897. Thompson was investigating “cathode rays,” a then mysterious form of
70
radiation emitted by a heated metal element held at a large negative voltage (i.e.
a cathode) with respect to another metal element (i.e., an anode) in an evacuated
tube. German physicists held that cathode rays were a form of electromagnetic
radiation, whilst British and French physicists suspected that they were, in reality,
a stream of charged particles. Thompson was able to demonstrate that the latter
view was correct. In Thompson’s experiment the cathode rays passed though
a region of “crossed” electric and magnetic ﬁelds (still in vacuum). The ﬁelds
were perpendicular to the original trajectory of the rays and were also mutually
perpendicular.
Let us analyze Thompson’s experiment. Suppose that the rays are originally
traveling in the xdirection, and are subject to a uniform electric ﬁeld E in the
zdirection and a uniform magnetic ﬁeld B in the −ydirection. Let us assume, as
Thompson did, that cathode rays are a stream of particles of mass m and charge
q. The equation of motion of the particles in the zdirection is
m
d
2
z
dt
2
= q (E −vB) , (3.76)
where v is the velocity of the particles in the xdirection. Thompson started oﬀ his
experiment by only turning on the electric ﬁeld in his apparatus and measuring
the deﬂection d of the ray in the zdirection after it had traveled a distance l
through the electric ﬁeld. It is clear from the equation of motion that
d =
q
m
E t
2
2
=
q
m
E l
2
2v
2
, (3.77)
where the “time of ﬂight” t is replaced by l/v. This formula is only valid if d ¸l,
which is assumed to be the case. Next, Thompson turned on the magnetic ﬁeld
in his apparatus and adjusted it so that the cathode ray was no longer deﬂected.
The lack of deﬂection implies that the net force on the particles in the zdirection
is zero. In other words, the electric and magnetic forces balance exactly. It follows
from Eq. (3.76) that with a properly adjusted magnetic ﬁeld strength
v =
E
B
. (3.78)
Thus, Eqs. (3.77) and (3.78) and can be combined and rearranged to give the
71
charge to mass ratio of the particles in terms of measured quantities:
q
m
=
2dE
l
2
B
2
. (3.79)
Using this method Thompson inferred that cathode rays were made up of nega
tively charged particles (the sign of the charge is obvious from the direction of the
deﬂection in the electric ﬁeld) with a charge to mass ratio of −1.7 10
11
C/kg.
A decade later in 1908 the American Robert Millikan performed his famous “oil
drop” experiment and discovered that mobile electric charges are quantized in
units of −1.6 10
−19
C. Assuming that mobile electric charges and the parti
cles which make up cathode rays are one and the same thing, Thompson’s and
Millikan’s experiments imply that the mass of these particles is 9.4 10
−31
kg.
Of course, this is the mass of an electron (the modern value is 9.1 10
−31
kg),
and −1.6 10
−19
C is the charge of an electron. Thus, cathode rays are, in fact,
streams of electrons which are emitted from a heated cathode and then acceler
ated because of the large voltage diﬀerence between the cathode and anode.
If a particle is subject to a force f and moves a distance δr in a time interval
δt then the work done on the particle by the force is
δW = f δr. (3.80)
The power input to the particle from the force ﬁeld is
P = lim
δt→0
δW
δt
= f v, (3.81)
where v is the particle’s velocity. It follows from the Lorentz force law, Eq. (3.74),
that the power input to a particle moving in electric and magnetic ﬁelds is
P = q v E. (3.82)
Note that a charged particle can gain (or lose) energy from an electric ﬁeld but not
from a magnetic ﬁeld. This is because the magnetic force is always perpendicular
to the particle’s direction of motion and, therefore, does no work on the particle
[see Eq. (3.80) ]. Thus, in particle accelerators magnetic ﬁelds are often used to
guide particle motion (e.g., in a circle) but the actual acceleration is performed
by electric ﬁelds.
72
3.7 Amp`ere’s law
Magnetic ﬁelds, like electric ﬁelds, are completely superposable. So, if a ﬁeld
B
1
is generated by a current I
1
ﬂowing through some circuit, and a ﬁeld B
2
is
generated by a current I
2
ﬂowing through another circuit, then when the currents
I
1
and I
2
ﬂow through both circuits simultaneously the generated magnetic ﬁeld
is B
1
+B
2
.
B
1
I
1
I
2
B
2
F F
r
Consider two parallel wires separated by a perpendicular distance r and car
rying electric currents I
1
and I
2
, respectively. The magnetic ﬁeld strength at the
second wire due to the current ﬂowing in the ﬁrst wire is B = µ
0
I
1
/2πr. This
ﬁeld is orientated at right angles to the second wire, so the force per unit length
exerted on the second wire is
F =
µ
0
I
1
I
2
2πr
. (3.83)
This follows from Eq. (3.69), which is valid for continuous wires as well as short
test wires. The force acting on the second wire is directed radially inwards to
wards the ﬁrst wire. The magnetic ﬁeld strength at the ﬁrst wire due to the
current ﬂowing in the second wire is B = µ
0
I
2
/2πr. This ﬁeld is orientated at
right angles to the ﬁrst wire, so the force per unit length acting on the ﬁrst wire
is equal and opposite to that acting on the second wire, according to Eq. (3.69).
Equation (3.83) is sometimes called “Amp`ere’s law” and is clearly another exam
ple of an “action at a distance” law; i.e., if the current in the ﬁrst wire is suddenly
changed then the force on the second wire immediately adjusts, whilst in reality
there should be a short time delay, at least as long as the propagation time for a
73
light signal between the two wires. Clearly, Amp`ere’s law is not strictly correct.
However, as long as we restrict our investigations to steady currents it is perfectly
adequate.
3.8 Magnetic monopoles?
Suppose that we have an inﬁnite straight wire carrying an electric current I. Let
the wire be aligned along the zaxis. The magnetic ﬁeld generated by such a wire
is written
B =
µ
0
I
2π
_
−y
r
2
,
x
r
2
, 0
_
(3.84)
in Cartesian coordinates, where r =
_
x
2
+y
2
. The divergence of this ﬁeld is
∇ B =
µ
0
I
2π
_
2yx
r
4
−
2xy
r
4
_
= 0, (3.85)
where use has been made of ∂r/∂x = x/r, etc. We saw in Section 3.3 that the
divergence of the electric ﬁeld appeared, at ﬁrst sight, to be zero, but, in reality,
it was a deltafunction because the volume integral of ∇ E was nonzero. Does
the same sort of thing happen for the divergence of the magnetic ﬁeld? Well,
if we could ﬁnd a closed surface S for which
_
S
B dS ,= 0 then according to
Gauss’ theorem
_
V
∇ BdV ,= 0 where V is the volume enclosed by S. This
would certainly imply that ∇ B is some sort of deltafunction. So, can we ﬁnd
such a surface? The short answer is, no. Consider a cylindrical surface aligned
with the wire. The magnetic ﬁeld is everywhere tangential to the outward surface
element, so this surface certainly has zero magnetic ﬂux coming out of it. In fact,
it is impossible to invent any closed surface for which
_
S
B dS ,= 0 with B given
by Eq. (3.84) (if you do not believe me, try it yourselves!). This suggests that
the divergence of a magnetic ﬁeld generated by steady electric currents really is
zero. Admittedly, we have only proved this for inﬁnite straight currents, but, as
will be demonstrated presently, it is true in general.
If ∇ B = 0 then B is a solenoidal vector ﬁeld. In other words, ﬁeld lines
of B never begin or end; instead, they form closed loops. This is certainly the
case in Eq. (3.84) where the ﬁeld lines are a set of concentric circles centred
74
on the zaxis. In fact, the magnetic ﬁeld lines generated by any set of electric
currents form closed loops, as can easily be checked by tracking the magnetic
lines of force using a small compass. What about magnetic ﬁelds generated by
permanent magnets (the modern equivalent of loadstones)? Do they also always
form closed loops? Well, we know that a conventional bar magnet has both a
north and south magnetic pole (like the Earth). If we track the magnetic ﬁeld
lines with a small compass they all emanate from the south pole, spread out, and
eventually reconverge on the north pole. It appears likely (but we cannot prove
it with a compass) that the ﬁeld lines inside the magnet connect from the north
to the south pole so as to form closed loops.
N
S
Can we produce an isolated north or south magnetic pole; for instance, by
snapping a bar magnet in two? A compass needle would always point towards an
isolated north pole, so this would act like a negative “magnetic charge.” Likewise,
a compass needle would always point away from an isolated south pole, so this
would act like a positive “magnetic charge.” It is clear from the diagram that if
we take a closed surface S containing an isolated magnetic pole, which is usually
termed a “magnetic monopole,” then
_
S
B dS ,= 0; the ﬂux will be positive for
an isolated south pole and negative for an isolated north pole. It follows from
Gauss’ theorem that if
_
S
B dS ,= 0 then ∇ B ,= 0. Thus, the statement that
magnetic ﬁelds are solenoidal, or that ∇ B = 0, is equivalent to the statement
that there are no magnetic monopoles. It is not clear, a priori, that this is a
true statement. In fact, it is quite possible to formulate electromagnetism so
as to allow for magnetic monopoles. However, as far as we know, there are no
magnetic monopoles in the universe. At least, if there are any then they are all
75
N
S
hiding from us! We know that if we try to make a magnetic monopole by snapping
a bar magnet in two then we just end up with two smaller bar magnets. If we
snap one of these smaller magnets in two then we end up with two even smaller
bar magnets. We can continue this process down to the atomic level without ever
producing a magnetic monopole. In fact, permanent magnetism is generated by
electric currents circulating on the atomic scale, so this type of magnetism is not
fundamentally diﬀerent to the magnetism generated by macroscopic currents.
In conclusion, all steady magnetic ﬁelds in the universe are generated by
circulating electric currents of some description. Such ﬁelds are solenoidal; that
is, they form closed loops and satisfy the ﬁeld equation
∇ B = 0. (3.86)
This, incidentally, is the second of Maxwell’s equations. Essentially, it says that
there are no such things as magnetic monopoles. We have only proved that
∇ B = 0 for steady magnetic ﬁelds but, in fact, this is also the case for time
dependent ﬁelds (see later).
3.9 Amp`ere’s other law
Consider, again, an inﬁnite straight wire aligned along the zaxis and carrying a
current I. The ﬁeld generated by such a wire is written
B
θ
=
µ
0
I
2πr
(3.87)
76
in cylindrical polar coordinates. Consider a circular loop C in the xy plane which
is centred on the wire. Suppose that the radius of this loop is r. Let us evaluate
the line integral
_
C
B dl. This integral is easy to perform because the magnetic
ﬁeld is always parallel to the line element. We have
_
C
B dl =
_
B
θ
rdθ = µ
0
I. (3.88)
However, we know from Stokes’ theorem that
_
S
B dl =
_
S
∇∧ B dS, (3.89)
where S is any surface attached to the loop C. Let us evaluate ∇∧ B directly.
C
S
I
According to Eq. (3.84):
(∇∧ B)
x
=
∂B
z
∂y
−
∂B
y
∂z
= 0,
(∇∧ B)
y
=
∂B
x
∂z
−
∂B
z
∂x
= 0, (3.90)
(∇∧ B)
z
=
∂B
y
∂x
−
∂B
x
∂y
=
µ
0
I
2π
_
1
r
2
−
2x
2
r
4
+
1
r
2
−
2y
2
r
4
_
= 0,
where use has been made of ∂r/∂x = x/r, etc. We now have a problem. Equations
(3.88) and (3.89) imply that
_
S
∇∧ B dS = µ
0
I; (3.91)
77
but we have just demonstrated that ∇∧B = 0. This problem is very reminiscent
of the diﬃculty we had earlier with ∇ E. Recall that
_
V
∇ EdV = q/
0
for a
volume V containing a discrete charge q, but that ∇E = 0 at a general point. We
got around this problem by saying that ∇E is a threedimensional deltafunction
whose “spike” is coincident with the location of the charge. Likewise, we can get
around our present diﬃculty by saying that ∇ ∧ B is a twodimensional delta
function. A threedimensional deltafunction is a singular (but integrable) point
in space, whereas a twodimensional deltafunction is a singular line in space. It
is clear from an examination of Eqs. (3.90) that the only component of ∇ ∧ B
which can be singular is the zcomponent, and that this can only be singular on
the zaxis (i.e., r = 0). Thus, the singularity coincides with the location of the
current, and we can write
∇∧ B = µ
0
I δ(x)δ(y) ˆ z. (3.92)
The above equation certainly gives (∇∧B)
x
= (∇∧B)
y
= 0, and (∇∧B)
z
= 0
everywhere apart from the zaxis, in accordance with Eqs. (3.90). Suppose that
we integrate over a plane surface S connected to the loop C. The surface element
is dS = dxdy ˆ z, so
_
S
∇∧ B dS = µ
0
I
_ _
δ(x)δ(y) dxdy (3.93)
where the integration is performed over the region
_
x
2
+y
2
≤ r. However, since
the only part of S which actually contributes to the surface integral is the bit
which lies inﬁnitesimally close to the zaxis, we can integrate over all x and y
without changing the result. Thus, we obtain
_
S
∇∧ B dS = µ
0
I
_
∞
−∞
δ(x) dx
_
∞
−∞
δ(y) dy = µ
0
I, (3.94)
which is in agreement with Eq. (3.91).
You might again be wondering why we have gone to so much trouble to prove
something using vector ﬁeld theory which can be demonstrated in one line via
conventional analysis [see Eq. (3.88) ]. The answer, of course, is that the vector
ﬁeld result is easily generalized whereas the conventional result is just a special
78
case. For instance, suppose that we distort our simple circular loop C so that it
is no longer circular or even lies in one plane. What now is the line integral of B
around the loop? This is no longer a simple problem for conventional analysis,
because the magnetic ﬁeld is not parallel to the line element of the loop. However,
according to Stokes’ theorem
_
C
B dl =
_
S
∇∧ B dS, (3.95)
with ∇∧ B given by Eq. (3.92). Note that the only part of S which contributes
to the surface integral is an inﬁnitesimal region centered on the zaxis. So, as
long as S actually intersects the zaxis it does not matter what shape the rest
the surface is, we always get the same answer for the surface integral, namely
_
C
B dl =
_
S
∇∧ B dS = µ
0
I. (3.96)
Thus, provided the curve C circulates the zaxis, and therefore any surface S
attached to C intersects the zaxis, the line integral
_
C
B dl is equal to µ
0
I.
Of course, if C does not circulate the zaxis then an attached surface S does
not intersect the zaxis and
_
C
B dl is zero. There is one more proviso. The
line integral
_
C
B dl is µ
0
I for a loop which circulates the zaxis in a clockwise
direction (looking up the zaxis). However, if the loop circulates in an anti
clockwise direction then the integral is −µ
0
I. This follows because in the latter
case the zcomponent of the surface element dS is oppositely directed to the
current ﬂow at the point where the surface intersects the wire.
Let us now consider N wires directed along the zaxis, with coordinates (x
i
,
y
i
) in the xy plane, each carrying a current I
i
in the positive zdirection. It is
fairly obvious that Eq. (3.92) generalizes to
∇∧ B = µ
0
N
i=1
I
i
δ(x −x
i
)δ(y −y
i
) ˆ z. (3.97)
If we integrate the magnetic ﬁeld around some closed curve C, which can have
any shape and does not necessarily lie in one plane, then Stokes’ theorem and the
above equation imply that
_
C
B dl =
_
S
∇∧ B dS = µ
0
1, (3.98)
79
where 1 is the total current enclosed by the curve. Again, if the curve circulates
the ith wire in a clockwise direction (looking down the direction of current ﬂow)
then the wire contributes I
i
to the aggregate current 1. On the other hand, if
the curve circulates in an anticlockwise direction then the wire contributes −I
i
.
Finally, if the curve does not circulate the wire at all then the wire contributes
nothing to 1.
Equation (3.97) is a ﬁeld equation describing how a set of zdirected current
carrying wires generate a magnetic ﬁeld. These wires have zerothickness, which
implies that we are trying to squeeze a ﬁnite amount of current into an inﬁnites
imal region. This accounts for the deltafunctions on the righthand side of the
equation. Likewise, we obtained deltafunctions in Section 3.3 because we were
dealing with point charges. Let us now generalize to the more realistic case of
diﬀuse currents. Suppose that the zcurrent ﬂowing through a small rectangle
in the xy plane, centred on coordinates (x, y) and of dimensions dx and dy, is
j
z
(x, y) dxdy. Here, j
z
is termed the current density in the zdirection. Let us
integrate (∇∧B)
z
over this rectangle. The rectangle is assumed to be suﬃciently
small that (∇∧B)
z
does not vary appreciably across it. According to Eq. (3.98)
this integral is equal to µ
0
times the total zcurrent ﬂowing through the rectangle.
Thus,
(∇∧ B)
z
dxdy = µ
0
j
z
dxdy, (3.99)
which implies that
(∇∧ B)
z
= µ
0
j
z
. (3.100)
Of course, there is nothing special about the zaxis. Suppose we have a set of
diﬀuse currents ﬂowing in the xdirection. The current ﬂowing through a small
rectangle in the yz plane, centred on coordinates (y, z) and of dimensions dy and
dz, is given by j
x
(y, z) dy dz, where j
x
is the current density in the xdirection.
It is fairly obvious that we can write
(∇∧ B)
x
= µ
0
j
x
, (3.101)
with a similar equation for diﬀuse currents ﬂowing along the yaxis. We can
combine these equations with Eq. (3.100) to form a single vector ﬁeld equation
which describes how electric currents generate magnetic ﬁelds:
∇∧ B = µ
0
j, (3.102)
80
where j = (j
x
, j
y
, j
z
) is the vector current density. This is the third Maxwell equa
tion. The electric current ﬂowing through a small area dS located at position r is
j(r) dS. Suppose that space is ﬁlled with particles of charge q, number density
n(r), and velocity v(r). The charge density is given by ρ(r) = qn. The current
density is given by j(r) = qnv and is obviously a proper vector ﬁeld (velocities
are proper vectors since they are ultimately derived from displacements).
If we form the line integral of B around some general closed curve C, making
use of Stokes’ theorem and the ﬁeld equation (3.102), then we obtain
_
C
B dl = µ
0
_
S
j dS. (3.103)
In other words, the line integral of the magnetic ﬁeld around any closed loop C is
equal to µ
0
times the ﬂux of the current density through C. This result is called
Amp`ere’s (other) law. If the currents ﬂow in zerothickness wires then Amp`ere’s
law reduces to Eq. (3.98).
The ﬂux of the current density through C is evaluated by integrating j dS
over any surface S attached to C. Suppose that we take two diﬀerent surfaces
S
1
and S
2
. It is clear that if Amp`ere’s law is to make any sense then the surface
integral
_
S
1
j dS had better equal the integral
_
S
2
j dS. That is, when we work
out the ﬂux of the current though C using two diﬀerent attached surfaces then
we had better get the same answer, otherwise Eq. (3.103) is wrong. We saw in
C
S
S
1
2
Section 2 that if the integral of a vector ﬁeld A over some surface attached to a
loop depends only on the loop, and is independent of the surface which spans it,
81
then this implies that ∇ A = 0. The ﬂux of the current density through any
loop C is is calculated by evaluating the integral
_
S
j dS for any surface S which
spans the loop. According to Amp`ere’s law, this integral depends only on C and
is completely independent of S (i.e., it is equal to the line integral of B around C,
which depends on C but not on S). This implies that ∇ j = 0. In fact, we can
obtain this relation directly from the ﬁeld equation (3.102). We know that the
divergence of a curl is automatically zero, so taking the divergence of Eq. (3.102)
we obtain
∇ j = 0. (3.104)
We have shown that if Amp`ere’s law is to make any sense then we need
∇ j = 0. Physically this implies that the net current ﬂowing through any closed
surface S is zero. Up to now we have only considered stationary charges and
steady currents. It is clear that if all charges are stationary and all currents are
steady then there can be no net current ﬂowing through a closed surface S, since
this would imply a build up of charge in the volume V enclosed by S. In other
words, as long as we restrict our investigation to stationary charges and steady
currents then we expect ∇ j = 0, and Amp`ere’s law makes sense. However,
suppose that we now relax this restriction. Suppose that some of the charges in
a volume V decide to move outside V . Clearly, there will be a nonzero net ﬂux
of electric current through the bounding surface S whilst this is happening. This
implies from Gauss’ theorem that ∇ j ,= 0. Under these circumstances Amp`ere’s
law collapses in a heap. We shall see later that we can rescue Amp`ere’s law by
adding an extra term involving a time derivative to the righthand side of the ﬁeld
equation (3.102). For steady state situations (i.e., ∂/∂t = 0) this extra term can
be neglected. Thus, the ﬁeld equation ∇∧B = µ
0
j is, in fact, only twothirds of
Maxwell’s third equation; there is a term missing on the righthand side.
We have now derived two ﬁeld equations involving magnetic ﬁelds (actually,
we have only derived one and twothirds):
∇ B = 0, (3.105a)
∇∧ B = µ
0
j. (3.105b)
We obtained these equations by looking at the ﬁelds generated by inﬁnitely long,
straight, steady currents. This, of course, is a rather special class of currents.
82
We should now go back and repeat the process for general currents. In fact, if
we did this we would ﬁnd that the above ﬁeld equations still hold (provided that
the currents are steady). Unfortunately, this demonstration is rather messy and
extremely tedious. There is a better approach. Let us assume that the above ﬁeld
equations are valid for any set of steady currents. We can then, with relatively
little eﬀort, use these equations to generate the correct formula for the magnetic
ﬁeld induced by a general set of steady currents, thus proving that our assumption
is correct. More of this later.
3.10 Helmholtz’s theorem: A mathematical digression
Let us now embark on a slight mathematical digression. Up to now we have
only studied the electric and magnetic ﬁelds generated by stationary charges and
steady currents. We have found that these ﬁelds are describable in terms of four
ﬁeld equations:
∇ E =
ρ
0
,
∇∧ E = 0 (3.106)
for electric ﬁelds, and
∇ B = 0,
∇∧ B = µ
0
j (3.107)
for magnetic ﬁelds. There are no other ﬁeld equations. This strongly suggests that
if we know the divergence and the curl of a vector ﬁeld then we know everything
there is to know about the ﬁeld. In fact, this is the case. There is a mathematical
theorem which sums this up. It is called Helmholtz’s theorem after the German
polymath Hermann Ludwig Ferdinand von Helmholtz.
Let us start with scalar ﬁelds. Field equations are a type of diﬀerential equa
tion; i.e., they deal with the inﬁnitesimal diﬀerences in quantities between neigh
bouring points. The question is, what diﬀerential equation completely speciﬁes
a scalar ﬁeld? This is easy. Suppose that we have a scalar ﬁeld φ and a ﬁeld
83
equation which tells us the gradient of this ﬁeld at all points: something like
∇φ = A, (3.108)
where A(r) is a vector ﬁeld. Note that we need ∇∧ A = 0 for self consistency,
since the curl of a gradient is automatically zero. The above equation completely
speciﬁes φ once we are given the value of the ﬁeld at a single point, P say. Thus,
φ(Q) = φ(P) +
_
Q
P
∇φ dl = φ(P) +
_
Q
P
A dl, (3.109)
where Qis a general point. The fact that ∇∧A = 0 means that Ais a conservative
ﬁeld which guarantees that the above equation gives a unique value for φ at a
general point in space.
Suppose that we have a vector ﬁeld F. How many diﬀerential equations do
we need to completely specify this ﬁeld? Hopefully, we only need two: one giving
the divergence of the ﬁeld and one giving its curl. Let us test this hypothesis.
Suppose that we have two ﬁeld equations:
∇ F = D, (3.110a)
∇∧ F = C, (3.110b)
where D is a scalar ﬁeld and C is a vector ﬁeld. For selfconsistency we need
∇ C = 0, (3.111)
since the divergence of a curl is automatically zero. The question is, do these
two ﬁeld equations plus some suitable boundary conditions completely specify
F? Suppose that we write
F = −∇U +∇∧ W. (3.112)
In other words, we are saying that a general ﬁeld F is the sum of a conservative
ﬁeld, ∇U, and a solenoidal ﬁeld, ∇∧ W. This sounds plausible, but it remains
to be proved. Let us start by taking the divergence of the above equation and
making use of Eq. (3.110a). We get
∇
2
U = −D. (3.113)
84
Note that the vector ﬁeld W does not ﬁgure in this equation because the diver
gence of a curl is automatically zero. Let us now take the curl of Eq. (3.112):
∇∧ F = ∇∧ ∇∧ W = ∇(∇ W) −∇
2
W = −∇
2
W. (3.114)
Here, we assume that the divergence of W is zero. This is another thing which
remains to be proved. Note that the scalar ﬁeld U does not ﬁgure in this equation
because the curl of a divergence is automatically zero. Using Eq. (3.110b) we get
∇
2
W
x
= −C
x
,
∇
2
W
y
= −C
y
, (3.115)
∇
2
W
z
= −C
z
,
So, we have transformed our problem into four diﬀerential equations, Eq. (3.113)
and Eqs. (3.115), which we need to solve. Let us look at these equations. We
immediately notice that they all have exactly the same form. In fact, they are all
versions of Poisson’s equation. We can now make use of a principle made famous
by Richard P. Feynman: “the same equations have the same solutions.” Recall
that earlier on we came across the following equation:
∇
2
φ = −
ρ
0
, (3.116)
where φ is the electrostatic potential and ρ is the charge density. We proved that
the solution to this equation, with the boundary condition that φ goes to zero at
inﬁnity, is
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
. (3.117)
Well, if the same equations have the same solutions, and Eq. (3.117) is the solution
to Eq. (3.116), then we can immediately write down the solutions to Eq. (3.113)
and Eqs. (3.115). We get
U(r) =
1
4π
_
D(r
)
[r −r
[
d
3
r
, (3.118)
and
W
x
(r) =
1
4π
_
C
x
(r
)
[r −r
[
d
3
r
,
85
W
y
(r) =
1
4π
_
C
y
(r
)
[r −r
[
d
3
r
, (3.119)
W
z
(r) =
1
4π
_
C
z
(r
)
[r −r
[
d
3
r
.
The last three equations can be combined to form a single vector equation:
W(r) =
1
4π
_
C(r
)
[r −r
[
d
3
r
. (3.120)
We assumed earlier that ∇ W = 0. Let us check to see if this is true. Note
that
∂
∂x
_
1
[r −r
[
_
= −
x −x
[r −r
[
3
=
x
−x
[r −r
[
3
= −
∂
∂x
_
1
[r −r
[
_
, (3.121)
which implies that
∇
_
1
[r −r
[
_
= −∇
_
1
[r −r
[
_
, (3.122)
where ∇
is the operator (∂/∂x
, ∂/∂y
, ∂/∂z
). Taking the divergence of Eq. (3.120)
and making use of the above relation, we obtain
∇ W =
1
4π
_
C(r
) ∇
_
1
[r −r
[
_
d
3
r
= −
1
4π
_
C(r
) ∇
_
1
[r −r
[
_
d
3
r
.
(3.123)
Now
_
∞
−∞
g
∂f
∂x
dx = [gf]
∞
−∞
−
_
∞
−∞
f
∂g
∂x
dx. (3.124)
However, if gf → 0 as x → ±∞ then we can neglect the ﬁrst term on the
righthand side of the above equation and write
_
∞
−∞
g
∂f
∂x
dx = −
_
∞
−∞
f
∂g
∂x
dx. (3.125)
A simple generalization of this result yields
_
g ∇f d
3
r = −
_
f ∇ g d
3
r, (3.126)
86
provided that g
x
f →0 as [r[ →∞, etc. Thus, we can deduce that
∇ W =
1
4π
_
∇
C(r
)
[r −r
[
d
3
r
(3.127)
from Eq. (3.123), provided [C(r)[ is bounded as [r[ → ∞. However, we have
already shown that ∇ C = 0 from selfconsistency arguments, so the above
equation implies that ∇ W = 0, which is the desired result.
We have constructed a vector ﬁeld F which satisﬁes Eqs. (3.110) and behaves
sensibly at inﬁnity; i.e., [F[ → 0 as [r[ → ∞. But, is our solution the only
possible solution of Eqs. (3.110) with sensible boundary conditions at inﬁnity?
Another way of posing this question is to ask whether there are any solutions of
∇
2
U = 0, ∇
2
W
i
= 0, (3.128)
where i denotes x, y, or z, which are bounded at inﬁnity. If there are then we are
in trouble, because we can take our solution and add to it an arbitrary amount
of a vector ﬁeld with zero divergence and zero curl and thereby obtain another
solution which also satisﬁes physical boundary conditions. This would imply that
our solution is not unique. In other words, it is not possible to unambiguously
reconstruct a vector ﬁeld given its divergence, its curl, and physical boundary
conditions. Fortunately, the equation
∇
2
φ = 0, (3.129)
which is called Laplace’s equation, has a very nice property: its solutions are
unique. That is, if we can ﬁnd a solution to Laplace’s equation which satisﬁes
the boundary conditions then we are guaranteed that this is the only solution.
We shall prove this later on in the course. Well, let us invent some solutions to
Eqs. (3.128) which are bounded at inﬁnity. How about
U = W
i
= 0? (3.130)
These solutions certainly satisfy Laplace’s equation and are wellbehaved at in
ﬁnity. Because the solutions to Laplace’s equations are unique, we know that
Eqs. (3.130) are the only solutions to Eqs. (3.128). This means that there is
no vector ﬁeld which satisﬁes physical boundary equations at inﬁnity and has
87
zero divergence and zero curl. In other words, our solution to Eqs. (3.110) is
the only solution. Thus, we have unambiguously reconstructed the vector ﬁeld F
given its divergence, its curl, and sensible boundary conditions at inﬁnity. This
is Helmholtz’s theorem.
We have just proved a number of very useful, and also very important, points.
First, according to Eq. (3.112), a general vector ﬁeld can be written as the sum
of a conservative ﬁeld and a solenoidal ﬁeld. Thus, we ought to be able to write
electric and magnetic ﬁelds in this form. Second, a general vector ﬁeld which is
zero at inﬁnity is completely speciﬁed once its divergence and its curl are given.
Thus, we can guess that the laws of electromagnetism can be written as four ﬁeld
equations,
∇ E = something,
∇∧ E = something, (3.131)
∇ B = something,
∇∧ B = something,
without knowing the ﬁrst thing about electromagnetism (other than the fact that
it deals with two vector ﬁelds). Of course, Eq. (3.106) and (3.107) are of exactly
this form. We also know that there are only four ﬁeld equations, since the above
equations are suﬃcient to completely reconstruct both E and B. Furthermore,
we know that we can solve the ﬁeld equations without even knowing what the
righthand sides look like. After all, we solved Eqs. (3.110) for completely general
righthand sides. (Actually, the righthand sides have to go to zero at inﬁnity
otherwise integrals like Eq. (3.118) blow up.) We also know that any solutions
we ﬁnd are unique. In other words, there is only one possible steady electric
and magnetic ﬁeld which can be generated by a given set of stationary charges
and steady currents. The third thing which we proved was that if the righthand
sides of the above ﬁeld equations are all zero then the only physical solution is
E = B = 0. This implies that steady electric and magnetic ﬁelds cannot generate
themselves, instead they have to be generated by stationary charges and steady
currents. So, if we come across a steady electric ﬁeld we know that if we trace
the ﬁeld lines back we shall eventually ﬁnd a charge. Likewise, a steady magnetic
ﬁeld implies that there is a steady current ﬂowing somewhere. All of these results
88
follow from vector ﬁeld theory, i.e., from the general properties of ﬁelds in three
dimensional space, prior to any investigation of electromagnetism.
3.11 The magnetic vector potential
Electric ﬁelds generated by stationary charges obey
∇∧ E = 0. (3.132)
This immediately allows us to write
E = −∇φ, (3.133)
since the curl of a gradient is automatically zero. In fact, whenever we come across
an irrotational vector ﬁeld in physics we can always write it as the gradient of
some scalar ﬁeld. This is clearly a useful thing to do since it enables us to replace
a vector ﬁeld by a much simpler scalar ﬁeld. The quantity φ in the above equation
is known as the electric scalar potential.
Magnetic ﬁelds generated by steady currents (and unsteady currents, for that
matter) satisfy
∇ B = 0. (3.134)
This immediately allows us to write
B = ∇∧ A, (3.135)
since the divergence of a curl is automatically zero. In fact, whenever we come
across a solenoidal vector ﬁeld in physics we can always write it as the curl of
some other vector ﬁeld. This is not an obviously useful thing to do, however, since
it only allows us to replace one vector ﬁeld by another. Nevertheless, Eq. (3.135)
is probably the single most useful equation we shall come across in this lecture
course. The quantity A is known as the magnetic vector potential.
We know from Helmholtz’s theorem that a vector ﬁeld is fully speciﬁed by its
divergence and its curl. The curl of the vector potential gives us the magnetic
ﬁeld via Eq. (3.135). However, the divergence of A has no physical signiﬁcance.
89
In fact, we are completely free to choose ∇ A to be whatever we like. Note that,
according to Eq. (3.135), the magnetic ﬁeld is invariant under the transformation
A →A−∇ψ. (3.136)
In other words, the vector potential is undetermined to the gradient of a scalar
ﬁeld. This is just another way of saying that we are free to choose ∇ A. Re
call that the electric scalar potential is undetermined to an arbitrary additive
constant, since the transformation
φ →φ +c (3.137)
leaves the electric ﬁeld invariant in Eq. (3.133). The transformations (3.136) and
(3.137) are examples of what mathematicians call “gauge transformations.” The
choice of a particular function ψ or a particular constant c is referred to as a
choice of the gauge. We are free to ﬁx the gauge to be whatever we like. The
most sensible choice is the one which makes our equations as simple as possible.
The usual gauge for the scalar potential φ is such that φ → 0 at inﬁnity. The
usual gauge for A is such that
∇ A = 0. (3.138)
This particular choice is known as the “Coulomb gauge.”
It is obvious that we can always add a constant to φ so as to make it zero
at inﬁnity. But it is not at all obvious that we can always perform a gauge
transformation such as to make ∇ A zero. Suppose that we have found some
vector ﬁeld A whose curl gives the magnetic ﬁeld but whose divergence in non
zero. Let
∇ A = v(r). (3.139)
The question is, can we ﬁnd a scalar ﬁeld ψ such that after we perform the gauge
transformation (3.136) we are left with ∇ A = 0. Taking the divergence of
Eq. (3.136) it is clear that we need to ﬁnd a function ψ which satisﬁes
∇
2
ψ = v. (3.140)
But this is just Poisson’s equation (again!). We know that we can always ﬁnd a
unique solution of this equation (see Section 3.10). This proves that, in practice,
we can always set the divergence of A equal to zero.
90
Let us consider again an inﬁnite straight wire directed along the zaxis and
carrying a current I. The magnetic ﬁeld generated by such a wire is written
B =
µ
0
I
2π
_
−y
r
2
,
x
r
2
, 0
_
. (3.141)
We wish to ﬁnd a vector potential A whose curl is equal to the above magnetic
ﬁeld and whose divergence is zero. It is not diﬃcult to see that
A = −
µ
0
I
4π
_
0, 0, ln(x
2
+y
2
)
_
(3.142)
ﬁts the bill. Note that the vector potential is parallel to the direction of the
current. This would seem to suggest that there is a more direct relationship
between the vector potential and the current than there is between the magnetic
ﬁeld and the current. The potential is not very well behaved on the zaxis, but
this is just because we are dealing with an inﬁnitely thin current.
Let us take the curl of Eq. (3.135). We ﬁnd that
∇∧ B = ∇∧ ∇∧ A = ∇(∇ A) −∇
2
A = −∇
2
A, (3.143)
where use has been made of the Coulomb gauge condition (3.138). We can com
bine the above relation with the ﬁeld equation (3.102) to give
∇
2
A = −µ
0
j. (3.144)
Writing this in component form, we obtain
∇
2
A
x
= −µ
0
j
x
,
∇
2
A
y
= −µ
0
j
y
, (3.145)
∇
2
A
z
= −µ
0
j
z
.
But, this is just Poisson’s equation three times over. We can immediately write
the unique solutions to the above equations:
A
x
(r) =
µ
0
4π
_
j
x
(r
)
[r −r
[
d
3
r
,
91
A
y
(r) =
µ
0
4π
_
j
y
(r
)
[r −r
[
d
3
r
, (3.146)
A
z
(r) =
µ
0
4π
_
j
z
(r
)
[r −r
[
d
3
r
.
These solutions can be recombined to form a single vector solution
A(r) =
µ
0
4π
_
j(r
)
[r −r
[
d
3
r
. (3.147)
Of course, we have seen a equation like this before:
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
. (3.148)
Equations (3.147) and (3.148) are the unique solutions (given the arbitrary choice
of gauge) to the ﬁeld equations (3.106) and (3.107); they specify the magnetic
vector and electric scalar potentials generated by a set of stationary charges,
of charge density ρ(r), and a set of steady currents, of current density j(r).
Incidentally, we can prove that Eq. (3.147) satisﬁes the gauge condition ∇ A = 0
by repeating the analysis of Eqs. (3.121)–(3.127) (with W → A and C → µ
0
j)
and using the fact that ∇ j = 0 for steady currents.
3.12 The BiotSavart law
According to Eq. (3.133) we can obtain an expression for the electric ﬁeld gen
erated by stationary charges by taking minus the gradient of Eq. (3.148). This
yields
E(r) =
1
4π
0
_
ρ(r
)
r −r
[r −r
[
3
d
3
r
, (3.149)
which we recognize as Coulomb’s law written for a continuous charge distribution.
According to Eq. (3.135) we can obtain an equivalent expression for the magnetic
ﬁeld generated by steady currents by taking the curl of Eq. (3.147). This gives
B(r) =
µ
0
4π
_
j(r
) ∧ (r −r
)
[r −r
[
3
d
3
r
, (3.150)
92
where use has been made of the vector identity ∇∧ (φA) = φ∇∧ A + ∇φ ∧ A.
Equation (3.150) is known as the “BiotSavart law” after the French physicists
Jean Baptiste Biot and Felix Savart; it completely speciﬁes the magnetic ﬁeld
generated by a steady (but otherwise quite general) distributed current.
Let us reduce our distributed current to an idealized zero thickness wire. We
can do this by writing
j(r) d
3
r = I(r) dl, (3.151)
where I is the vector current (i.e., its direction and magnitude specify the direc
tion and magnitude of the current) and dl is an element of length along the wire.
Equations (3.150) and (3.151) can be combined to give
B(r) =
µ
0
4π
_
I(r
) ∧ (r −r
)
[r −r
[
3
dl, (3.152)
which is the form in which the BiotSavart law is most usually written. This
dl
r  r
I( r )
measurement
point
current
/
/
law is to magnetostatics (i.e., the study of magnetic ﬁelds generated by steady
currents) what Coulomb’s law is to electrostatics (i.e., the study of electric ﬁelds
generated by stationary charges). Furthermore, it can be experimentally veriﬁed
given a set of currents, a compass, a test wire, and a great deal of skill and
patience. This justiﬁes our earlier assumption that the ﬁeld equations (3.105) are
valid for general current distributions (recall that we derived them by studying
93
the ﬁelds generated by inﬁnite, straight wires). Note that both Coulomb’s law
and the BiotSavart law are “gauge independent”; i.e., they do not depend on
the particular choice of gauge.
Consider (for the last time!) an inﬁnite, straight wire directed along the z
axis and carrying a current I. Let us reconstruct the magnetic ﬁeld generated by
P
r  r
/
dl
I
>
( r  r )
/
z
θ
ρ
l
I
the wire at point P using the BiotSavart law. Suppose that the perpendicular
distance to the wire is ρ. It is easily seen that
I ∧ (r −r
) = Iρ
ˆ
θ,
l = ρ tanθ,
dl =
ρ
cos
2
θ
dθ, (3.153)
[r −r
[ =
ρ
cos θ
.
Thus, according to Eq. (3.152) we have
B
θ
=
µ
0
4π
_
π/2
−π/2
Iρ
ρ
3
(cos θ)
−3
ρ
cos
2
θ
dθ
94
=
µ
0
I
4πρ
_
π/2
−π/2
cos θ dθ =
µ
0
I
4πρ
[sinθ]
π/2
−π/2
, (3.154)
which gives the familiar result
B
θ
=
µ
0
I
2πρ
. (3.155)
So, we have come full circle in our investigation of magnetic ﬁelds. Note that
the simple result (3.155) can only be obtained from the BiotSavart law after
some nontrivial algebra. Examination of more complicated current distributions
using this law invariably leads to lengthy, involved, and extremely unpleasant
calculations.
3.13 Electrostatics and magnetostatics
We have now completed our theoretical investigation of electrostatics and mag
netostatics. Our next task is to incorporate time variation into our analysis.
However, before we start this let us brieﬂy review our progress so far. We have
found that the electric ﬁelds generated by stationary charges and the magnetic
ﬁelds generated by steady currents are describable in terms of four ﬁeld equa
tions:
∇ E =
ρ
0
, (3.156a)
∇∧ E = 0, (3.156b)
∇ B = 0, (3.156c)
∇∧ B = µ
0
j. (3.156d)
The boundary conditions are that the ﬁelds are zero at inﬁnity, assuming that the
generating charges and currents are localized to some region in space. According
to Helmholtz’s theorem the above ﬁeld equations, plus the boundary conditions,
are suﬃcient to uniquely specify the electric and magnetic ﬁelds. The physical
signiﬁcance of this is that divergence and curl are the only rotationally invariant
diﬀerential properties of a general vector ﬁeld; i.e., the only quantities which
do not change when the axes are rotated. Since physics does not depend on the
95
orientation of the axes (which is, after all, quite arbitrary) divergence and curl are
the only quantities which can appear in ﬁeld equations which claim to describe
physical phenomena.
The ﬁeld equations can be integrated to give:
_
S
E dS =
1
0
_
V
ρ dV, (3.157a)
_
C
E dl = 0, (3.157b)
_
S
B dS = 0, (3.157c)
_
C
B dl = µ
0
_
S
j dS. (3.157d)
Here, S is a closed surface enclosing a volume V . Also, C is a closed loop, and S
is some surface attached to this loop. The ﬁeld equations (3.156) can be deduced
from Eqs. (3.157) using Gauss’ theorem and Stokes’ theorem. Equation (3.157a)
is called Gauss’ law and says that the ﬂux of the electric ﬁeld out of a closed
surface is proportional to the enclosed electric charge. Equation (3.157c) has no
particular name and says that there are no such things as magnetic monopoles.
Equation (3.157d) is called Amp`ere’s law and says that the line integral of the
magnetic ﬁeld around any closed loop is proportional to the ﬂux of the current
through the loop. Equations (3.157b) and (3.157d) are incomplete; each acquires
an extra term on the righthand side in time dependent situations.
The ﬁeld equation (3.156b) is automatically satisﬁed if we write
E = −∇φ. (3.158)
Likewise, the ﬁeld equation (3.156c) is automatically satisﬁed if we write
B = ∇∧ A. (3.159)
Here, φ is the electric scalar potential and A is the magnetic vector potential.
The electric ﬁeld is clearly unchanged if we add a constant to the scalar potential:
E →E as φ →φ +c. (3.160)
96
The magnetic ﬁeld is similarly unchanged if we add the gradient of a scalar ﬁeld
to the vector potential:
B →B as A →A+∇ψ. (3.161)
The above transformations, which leave the E and B ﬁelds invariant, are called
gauge transformations. We are free to choose c and ψ to be whatever we like;
i.e., we are free to choose the gauge. The most sensible gauge is the one which
make our equations as simple and symmetric as possible. This corresponds to
the choice
φ(r) →0 as [r[ →∞, (3.162)
and
∇ A = 0. (3.163)
The latter convention is known as the Coulomb gauge.
Taking the divergence of Eq. (3.158) and the curl of Eq. (3.159), and making
use of the Coulomb gauge, we ﬁnd that the four ﬁeld equations (3.156) can be
reduced to Poisson’s equation written four times over:
∇
2
φ = −
ρ
0
, (3.164a)
∇
2
A = −µ
0
j. (3.164b)
Poisson’s equation is just about the simplest rotationally invariant partial dif
ferential equation it is possible to write. Note that ∇
2
is clearly rotationally
invariant since it is the divergence of a gradient, and both divergence and gradi
ent are rotationally invariant. We can always construct the solution to Poisson’s
equation, given the boundary conditions. Furthermore, we have a uniqueness the
orem which tells us that our solution is the only possible solution. Physically, this
means that there is only one electric and magnetic ﬁeld which is consistent with
a given set of stationary charges and steady currents. This sounds like an obvi
ous, almost trivial, statement. But there are many areas of physics (for instance,
ﬂuid mechanics and plasma physics) where we also believe, for physical reasons,
that for a given set of boundary conditions the solution should be unique. The
problem is that in most cases when we reduce the problem to a partial diﬀerential
97
equation we end up with something far nastier than Poisson’s equation. In gen
eral, we cannot solve this equation. In fact, we usually cannot even prove that it
possess a solution for general boundary conditions, let alone that the solution is
unique. So, we are very fortunate indeed that in electrostatics and magnetostat
ics the problem boils down to solving a nice partial diﬀerential equation. When
you hear people say things like “electromagnetism is the best understood theory
in physics” what they are really saying is that the partial diﬀerential equations
which crop up in this theory are soluble and have nice properties.
Poisson’s equation
∇
2
u = v (3.165)
is linear, which means that its solutions are superposable. We can exploit this
fact to construct a general solution to this equation. Suppose that we can ﬁnd
the solution to
∇
2
G(r, r
) = δ(r −r
) (3.166)
which satisﬁes the boundary conditions. This is the solution driven by a unit
amplitude point source located at position vector r
. Since any general source
can be built up out of a weighted sum of point sources it follows that a general
solution to Poisson’s equation can be built up out of a weighted superposition of
point source solutions. Mathematically, we can write
u(r) =
_
G(r, r
) v(r
) d
3
r
. (3.167)
The function G is called the Green’s function. The Green’s function for Poisson’s
equation is
G(r, r
) = −
1
4π
1
[r −r
[
. (3.168)
Note that this Green’s function is proportional to the scalar potential of a point
charge located at r
; this is hardly surprising given the deﬁnition of a Green’s
function and Eq. (3.164a).
According to Eqs. (3.164), (3.165), (3.167), and (3.168), the scalar and vector
potentials generated by a set of stationary charges and steady currents take the
98
form
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
, (3.169a)
A(r) =
µ
0
4π
_
j(r
)
[r −r
[
d
3
r
. (3.169b)
Making use of Eqs. (3.158) and (3.159) we obtain the fundamental force laws for
electric and magnetic ﬁelds. Coulomb’s law
E(r) =
1
4π
0
_
ρ(r
)
r −r
[r −r
[
3
d
3
r
, (3.170)
and the BiotSavart law
B(r) =
µ
0
4π
_
j(r
) ∧ (r −r
)
[r −r
[
3
d
3
r
. (3.171)
Of course, both of these laws are examples of action at a distance laws and,
therefore, violate relativity. However, this is not a problem as long as we restrict
ourselves to ﬁelds generated by time independent charge and current distribu
tions.
The question, now, is how badly is this scheme we have just worked out
going to be disrupted when we take time variation into account. The answer,
somewhat surprisingly, is by very little indeed. So, in Eqs. (3.156)–(3.171) we can
already discern the basic outline of classical electromagnetism. Let us continue
our investigation.
3.14 Faraday’s law
The history of mankind’s development of physics is really the history of the
synthesis of ideas. Physicists keep ﬁnding that apparently disparate phenomena
can be understood as diﬀerent aspects of some more fundamental phenomenon.
This process has continued until today all physical phenomena can be described
in terms of three fundamental forces: gravity, the electroweak force, and the
99
strong force. One of the main goals of modern physics is to ﬁnd some way of
combining these three forces so that all of physics can be described in terms of a
single uniﬁed force. This, essentially, is the purpose of supersymmetry theories.
The ﬁrst great synthesis of ideas in physics took place in 1666 when Issac
Newton realised that the force which causes apples to fall downwards is the same
as the force which maintains the planets in elliptical orbits around the Sun. The
second great synthesis, which we are about to study in more detail, took place
in 1830 when Michael Faraday discovered that electricity and magnetism are two
aspects of the same thing, usually referred to as “electromagnetism.” The third
great synthesis, which we shall discuss presently, took place in 1873 when James
Clerk Maxwell demonstrated that light and electromagnetism are intimately re
lated. The last (but, hopefully, not the ﬁnal) great synthesis took place in 1967
when Steve Weinberg and Abdus Salam showed that the electromagnetic force
and the weak nuclear force (i.e., the one which is responsible for β decays) can
be combined to give the electroweak force. Unfortunately, Weinberg’s work lies
beyond the scope of this lecture course.
Let us now consider Faraday’s experiments, having put them in their proper
historical context. Prior to 1830 the only known way to make an electric current
ﬂow through a conducting wire was to connect the ends of the wire to the posi
tive and negative terminals of a battery. We measure a battery’s ability to push
current down a wire in terms of its “voltage,” by which we mean the voltage diﬀer
ence between its positive and negative terminals. What does voltage correspond
to in physics? Well, volts are the units used to measure electric scalar potential,
so when we talk about a 6V battery what we are really saying is that the diﬀer
ence in electric scalar potential between its positive and negative terminals is six
volts. This insight allows us to write
V = φ(⊕) −φ(¸) = −
_
⊕
∇φ dl =
_
⊕
E dl, (3.172)
where V is the battery voltage, ⊕ denotes the positive terminal, ¸ the negative
terminal, and dl is an element of length along the wire. Of course, the above
equation is a direct consequence of E = −∇φ. Clearly, a voltage diﬀerence
between two ends of a wire attached to a battery implies the presence of an
electric ﬁeld which pushes charges through the wire. This ﬁeld is directed from
100
the positive terminal of the battery to the negative terminal and is, therefore, such
as to force electrons to ﬂow through the wire from the negative to the positive
terminal. As expected, this means that a net positive current ﬂows from the
positive to the negative terminal. The fact that E is a conservative ﬁeld ensures
that the voltage diﬀerence V is independent of the path of the wire. In other
words, two diﬀerent wires attached to the same battery develop identical voltage
diﬀerences. This is just as well. The quantity V is usually called the electromotive
force, or e.m.f. for short. “Electromotive force” is a bit of a misnomer. The e.m.f.
is certainly what causes current to ﬂow through a wire, so it is electromotive (i.e.,
it causes electrons to move), but it is not a force. In fact, it is a diﬀerence in
electric scalar potential.
Let us now consider a closed loop of wire (with no battery). The electromotive
force around such a loop is
V =
_
E dl = 0. (3.173)
This is a direct consequence of the ﬁeld equation ∇ ∧ E = 0. So, since E is
a conservative ﬁeld then the electromotive force around a closed loop of wire is
automatically zero and no current ﬂows around the wire. This all seems to make
sense. However, Michael Faraday is about to throw a spanner in our works! He
discovered in 1830 that a changing magnetic ﬁeld can cause a current to ﬂow
around a closed loop of wire (in the absence of a battery). Well, if current ﬂows
through a wire then there must be an electromotive force. So,
V =
_
E dl ,= 0, (3.174)
which immediately implies that E is not a conservative ﬁeld, and that ∇∧E ,= 0.
Clearly, we are going to have to modify some of our ideas regarding electric ﬁelds!
Faraday continued his experiments and found that another way of generating
an electromotive force around a loop of wire is to keep the magnetic ﬁeld constant
and move the loop. Eventually, Faraday was able to formulate a law which
accounted for all of his experiments. The e.m.f. generated around a loop of wire
in a magnetic ﬁeld is proportional to the rate of change of the ﬂux of the magnetic
ﬁeld through the loop. So, if the loop is denoted C and S is some surface attached
101
to the loop then Faraday’s experiments can be summed up by writing
V =
_
C
E dl = A
∂
∂t
_
S
B dS, (3.175)
where A is a constant of proportionality. Thus, the changing ﬂux of the magnetic
ﬁeld through the loop creates an electric ﬁeld directed around the loop. This
process is know as “magnetic induction.”
S.I. units have been carefully chosen so as to make [A[ = 1 in the above
equation. The only thing we now have to decide is whether A = +1 or A = −1.
In other words, which way around the loop does the induced e.m.f. want to drive
the current? We possess a general principle which allows us to decide questions
like this. It is called Le Chatelier’s principle. According to Le Chatelier’s principle
every change generates a reaction which tries to minimize the change. Essentially,
this means that the universe is stable to small perturbations. When this principle
is applied to the special case of magnetic induction it is usually called Lenz’s law.
According to Lenz’s law, the current induced around a closed loop is always such
that the magnetic ﬁeld it produces tries to counteract the change in magnetic ﬂux
which generates the electromotive force. From the diagram, it is clear that if the
B
I
C
B
/
magnetic ﬁeld B is increasing and the current I circulates clockwise (as seen from
above) then it generates a ﬁeld B
which opposes the increase in magnetic ﬂux
through the loop, in accordance with Lenz’s law. The direction of the current is
102
opposite to the sense of the current loop C (assuming that the ﬂux of B through
the loop is positive), so this implies that A = −1 in Eq. (3.175). Thus, Faraday’s
law takes the form
_
C
E dl = −
∂
∂t
_
S
B dS. (3.176)
Experimentally, Faraday’s law is found to correctly predict the e.m.f. (i.e.,
_
Edl)
generated in any wire loop, irrespective of the position or shape of the loop. It
is reasonable to assume that the same e.m.f. would be generated in the absence
of the wire (of course, no current would ﬂow in this case). Thus, Eq. (3.176) is
valid for any closed loop C. If Faraday’s law is to make any sense it must also be
true for any surface S attached to the loop C. Clearly, if the ﬂux of the magnetic
ﬁeld through the loop depends on the surface upon which it is evaluated then
Faraday’s law is going to predict diﬀerent e.m.f.s for diﬀerent surfaces. Since
there is no preferred surface for a general noncoplanar loop, this would not make
very much sense. The condition for the ﬂux of the magnetic ﬁeld,
_
S
B dS, to
depend only on the loop C to which the surface S is attached, and not on the
nature of the surface itself, is
_
S
B dS
= 0, (3.177)
for any closed surface S
.
Faraday’s law, Eq. (3.176), can be converted into a ﬁeld equation using Stokes’
theorem. We obtain
∇∧ E = −
∂B
∂t
. (3.178)
This is the ﬁnal Maxwell equation. It describes how a changing magnetic ﬁeld
can generate, or induce, an electric ﬁeld. Gauss’ theorem applied to Eq. (3.177)
yields the familiar ﬁeld equation
∇ B = 0. (3.179)
This ensures that the magnetic ﬂux through a loop is a well deﬁned quantity.
The divergence of Eq. (3.178) yields
∂ ∇ B
∂t
= 0. (3.180)
103
Thus, the ﬁeld equation (3.178) actually demands that the divergence of the
magnetic ﬁeld be constant in time for selfconsistency (this means that the ﬂux
of the magnetic ﬁeld through a loop need not be a well deﬁned quantity as long as
its time derivative is well deﬁned). However, a constant nonsolenoidal magnetic
ﬁeld can only be generated by magnetic monopoles, and magnetic monopoles do
not exist (as far as we are aware). Hence, ∇ B = 0. The absence of magnetic
monopoles is an observational fact, it cannot be predicted by any theory. If
magnetic monopoles were discovered tomorrow this would not cause physicists
any problems. We know how to generalize Maxwell’s equations to include both
magnetic monopoles and currents of magnetic monopoles. In this generalized
formalism Maxwell’s equations are completely symmetric with respect to electric
and magnetic ﬁelds, and ∇B ,= 0. However, an extra term (involving the current
of magnetic monopoles) must be added to the righthand side of Eq. (3.178) in
order to make it selfconsistent.
3.15 Electric scalar potential?
We now have a problem. We can only write the electric ﬁeld in terms of a scalar
potential (i.e., E = −∇φ) provided that ∇∧E = 0. However, we have just found
that in the presence of a changing magnetic ﬁeld the curl of the electric ﬁeld is
nonzero. In other words, E is not, in general, a conservative ﬁeld. Does this mean
that we have to abandon the concept of electric scalar potential? Fortunately,
no. It is still possible to deﬁne a scalar potential which is physically meaningful.
Let us start from the equation
∇ B = 0, (3.181)
which is valid for both time varying and non time varying magnetic ﬁelds. Since
the magnetic ﬁeld is solenoidal we can write it as the curl of a vector potential:
B = ∇∧ A. (3.182)
So, there is no problem with the vector potential in the presence of time varying
ﬁelds. Let us substitute Eq. (3.182) into the ﬁeld equation (3.178). We obtain
∇∧ E = −
∂ ∇∧ A
∂t
, (3.183)
104
which can be written
∇∧
_
E +
∂A
∂t
_
= 0. (3.184)
We know that a curl free vector ﬁeld can always be expressed as the gradient of
a scalar potential, so let us write
E +
∂A
∂t
= −∇φ, (3.185)
or
E = −∇φ −
∂A
∂t
. (3.186)
This is a very nice equation! It tells us that the scalar potential φ only describes
the conservative electric ﬁeld generated by electric charges. The electric ﬁeld
induced by time varying magnetic ﬁelds is nonconservative, and is described by
the magnetic vector potential.
3.16 Gauge transformations
Electric and magnetic ﬁelds can be written in terms of scalar and vector poten
tials, as follows:
E = −∇φ −
∂A
∂t
,
B = ∇∧ A. (3.187)
However, this prescription is not unique. There are many diﬀerent potentials
which generate the same ﬁelds. We have come across this problem before. It
is called gauge invariance. The most general transformation which leaves the E
and B ﬁelds unchanged in Eqs. (3.187) is
φ → φ +
∂ψ
∂t
,
A → A−∇ψ. (3.188)
105
This is clearly a generalization of the gauge transformation which we found earlier
for static ﬁelds:
φ → φ +c,
A → A−∇ψ, (3.189)
where c is a constant. In fact, if ψ(r, t) →ψ(r) +c t then Eqs. (3.188) reduce to
Eqs. (3.189).
We are free to choose the gauge so as to make our equations as simple as
possible. As before, the most sensible gauge for the scalar potential is to make it
go to zero at inﬁnity:
φ(r) →0 as [r[ →∞. (3.190)
For steady ﬁelds we found that the optimum gauge for the vector potential was
the so called Coulomb gauge:
∇ A = 0. (3.191)
We can still use this gauge for nonsteady ﬁelds. The argument which we gave
earlier (see Section 3.11), that it is always possible to transform away the di
vergence of a vector potential, remains valid. One of the nice features of the
Coulomb gauge is that when we write the electric ﬁeld,
E = −∇φ −
∂A
∂t
, (3.192)
we ﬁnd that the part which is generated by charges (i.e., the ﬁrst term on the
righthand side) is conservative and the part induced by magnetic ﬁelds (i.e.,
the second term on the righthand side) is purely solenoidal. Earlier on, we
proved mathematically that a general vector ﬁeld can be written as the sum of
a conservative ﬁeld and a solenoidal ﬁeld (see Section 3.10). Now we are ﬁnding
that when we split up the electric ﬁeld in this manner the two ﬁelds have diﬀerent
physical origins: the conservative part of the ﬁeld emanates from electric charges
whereas the solenoidal part is induced by magnetic ﬁelds.
Equation (3.192) can be combined with the ﬁeld equation
∇ E =
ρ
0
(3.193)
106
(which remains valid for nonsteady ﬁelds) to give
−∇
2
φ −
∂ ∇ A
∂t
=
ρ
0
. (3.194)
With the Coulomb gauge condition, ∇ A = 0, the above expression reduces to
∇
2
φ = −
ρ
0
, (3.195)
which is just Poisson’s equation. Thus, we can immediately write down an ex
pression for the scalar potential generated by nonsteady ﬁelds. It is exactly the
same as our previous expression for the scalar potential generated by steady ﬁelds,
namely
φ(r, t) =
1
4π
0
_
ρ(r
, t)
[r −r
[
d
3
r
. (3.196)
However, this apparently simple result is extremely deceptive. Equation (3.196)
is a typical action at a distance law. If the charge density changes suddenly at
r
then the potential at r responds immediately. However, we shall see later that
the full time dependent Maxwell’s equations only allow information to propagate
at the speed of light (i.e., they do not violate relativity). How can these two
statements be reconciled? The crucial point is that the scalar potential cannot
be measured directly, it can only be inferred from the electric ﬁeld. In the time
dependent case there are two parts to the electric ﬁeld; that part which comes
from the scalar potential, and that part which comes from the vector potential [see
Eq. (3.192) ]. So, if the scalar potential responds immediately to some distance
rearrangement of charge density it does not necessarily follow that the electric
ﬁeld also has an immediate response. What actually happens is that the change in
the part of the electric ﬁeld which comes from the scalar potential is balanced by
an equal and opposite change in the part which comes from the vector potential,
so that the overall electric ﬁeld remains unchanged. This state of aﬀairs persists
at least until suﬃcient time has elapsed for a light ray to travel from the distant
charges to the region in question. Thus, relativity is not violated since it is
the electric ﬁeld, and not the scalar potential, which carries physically accessible
information.
It is clear that the apparent action at a distance nature of Eq. (3.196) is
highly misleading. This suggests, very strongly, that the Coulomb gauge is not
107
the optimum gauge in the time dependent case. A more sensible choice is the so
called “Lorentz gauge”:
∇ A = −
0
µ
0
∂φ
∂t
. (3.197)
It can be shown, by analogy with earlier arguments (see Section 3.11), that it is
always possible to make a gauge transformation, at a given instance in time, such
that the above equation is satisﬁed. Substituting the Lorentz gauge condition
into Eq. (3.194), we obtain
0
µ
0
∂
2
φ
∂t
2
−∇
2
φ =
ρ
0
. (3.198)
It turns out that this is a three dimensional wave equation in which information
propagates at the speed of light. But, more of this later. Note that the magneti
cally induced part of the electric ﬁeld (i.e., −∂A/∂t) is not purely solenoidal in
the Lorentz gauge. This is a slight disadvantage of the Lorentz gauge with respect
to the Coulomb gauge. However, this disadvantage is more than oﬀset by other
advantages which will become apparent presently. Incidentally, the fact that the
part of the electric ﬁeld which we ascribe to magnetic induction changes when
we change the gauge suggests that the separation of the ﬁeld into magnetically
induced and charge induced components is not unique in the general time varying
case (i.e., it is a convention).
3.17 The displacement current
Michael Faraday revolutionized physics in 1830 by showing that electricity and
magnetism were interrelated phenomena. He achieved this breakthrough by care
ful experimentation. Between 1864 and 1873 James Clerk Maxwell achieved a
similar breakthrough by pure thought. Of course, this was only possible because
he was able to take the experimental results of Faraday, Amp`ere, etc., as his start
ing point. Prior to 1864 the laws of electromagnetism were written in integral
form. Thus, Gauss’s law was (in S.I. units) the ﬂux of the electric ﬁeld through
a closed surface equals the total enclosed charge divided by
0
. The no magnetic
monopole law was the ﬂux of the magnetic ﬁeld through any closed surface is zero.
Faraday’s law was the electromotive force generated around a closed loop equals
108
minus the rate of change of the magnetic ﬂux through the loop. Finally, Amp`ere’s
law was the line integral of the magnetic ﬁeld around a closed loop equals the total
current ﬂowing through the loop times µ
0
. Maxwell’s ﬁrst great achievement was
to realize that these laws could be expressed as a set of partial diﬀerential equa
tions. Of course, he wrote his equations out in component form because modern
vector notation did not come into vogue until about the time of the First World
War. In modern notation, Maxwell ﬁrst wrote
∇ E =
ρ
0
, (3.199a)
∇ B = 0, (3.199b)
∇∧ E = −
∂B
∂t
, (3.199c)
∇∧ B = µ
0
j. (3.199d)
Maxwell’s second great achievement was to realize that these equations are wrong.
We can see that there is something slightly unusual about Eqs. (3.199). They
are very unfair to electric ﬁelds! After all, time varying magnetic ﬁelds can induce
electric ﬁelds, but electric ﬁelds apparently cannot aﬀect magnetic ﬁelds in any
way. However, there is a far more serious problem associated with the above
equations, which we alluded to earlier on. Consider the integral form of the last
Maxwell equation (i.e., Amp`ere’s law)
_
C
B dl = µ
0
_
S
j dS. (3.200)
This says that the line integral of the magnetic ﬁeld around a closed loop C is
equal to µ
0
times the ﬂux of the current density through the loop. The problem
is that the ﬂux of the current density through a loop is not, in general, a well
deﬁned quantity. In order for the ﬂux to be well deﬁned the integral of j dS over
some surface S attached to a loop C must depend on C but not on the details of
S. This is only the case if
∇ j = 0. (3.201)
Unfortunately, the above condition is only satisﬁed for non time varying ﬁelds.
109
Why do we say that, in general, ∇ j ,= 0? Well, consider the ﬂux of j over
some closed surface S enclosing a volume V . This is clearly equivalent to the
rate at which charge ﬂows through S. However, if charge is a conserved quantity
(and we certainly believe that it is) then the rate at which charge ﬂows through
S must equal the rate of decrease of the charge contained in volume V . Thus,
_
S
j dS = −
∂
∂t
_
V
ρ dV. (3.202)
Making use of Gauss’ theorem, this yields
∇ j = −
∂ρ
∂t
. (3.203)
Thus, ∇ j = 0 is only true in a steady state (i.e., when ∂/∂t ≡ 0).
The problem with Amp`ere’s law is well illustrated by the following very famous
example. Consider a long straight wire interrupted by a parallel plate capacitor.
Suppose that C is some loop which circles the wire. In the non time dependent
situation the capacitor acts like a break in the wire, so no current ﬂows, and no
magnetic ﬁeld is generated. There is clearly no problem with Amp`ere’s law in this
case. In the time dependent situation a transient current ﬂows in the wire as the
capacitor charges up, or charges down, so a transient magnetic ﬁeld is generated.
Thus, the line integral of the magnetic ﬁeld around C is (transiently) nonzero.
According to Amp`ere’s law, the ﬂux of the current through any surface attached
to C should also be (transiently) nonzero. Let us consider two such surfaces.
The ﬁrst surface, S
1
, intersects the wire. This surface causes us no problem since
the ﬂux of j though the surface is clearly nonzero (because it intersects a current
carrying wire). The second surface, S
2
, passes between the plates of the capacitor
and, therefore, does not intersect the wire at all. Clearly, the ﬂux of the current
through this surface is zero. The current ﬂuxes through surfaces S
1
and S
2
are
obviously diﬀerent. However, both surfaces are attached to the same loop C, so
the ﬂuxes should be the same according to Amp`ere’s law. It would appear that
Amp`ere’s law is about to disintegrate! However, we notice that although the
surface S
2
does not intersect any electric current it does pass through a region
of strong changing electric ﬁeld as it threads between the plates of the charging
(or discharging) capacitor. Perhaps, if we add a term involving ∂E/∂t to the
110
righthand side of Eq. (3.199d) we can somehow ﬁx up Amp`ere’s law? This is,
essentially, how Maxwell reasoned more than one hundred years ago.
Let us try out this scheme. Suppose that we write
∇∧ B = µ
0
j +λ
∂E
∂t
(3.204)
instead of Eq. (3.199d). Here, λ is some constant. Does this resolve our problem?
We want the ﬂux of the righthand side of the above equation through some loop
C to be well deﬁned; i.e., it should only depend on C and not the particular
surface S (which spans C) upon which it is evaluated. This is another way of
saying that we want the divergence of the righthand side to be zero. In fact,
we can see that this is necessary for self consistency since the divergence of the
lefthand side is automatically zero. So, taking the divergence of Eq. (3.204) we
obtain
0 = µ
0
∇ j +λ
∂ ∇ E
∂t
. (3.205)
But, we know that
∇ E =
ρ
0
, (3.206)
so combining the previous two equations we arrive at
µ
0
∇ j +
λ
0
∂ρ
∂t
= 0. (3.207)
Now, our charge conservation law (3.203) can be written
∇ j +
∂ρ
∂t
= 0. (3.208)
The previous two equations are in agreement provided λ =
0
µ
0
. So, if we modify
the ﬁnal Maxwell equation such that it reads
∇∧ B = µ
0
j +
0
µ
0
∂E
∂t
(3.209)
then we ﬁnd that the divergence of the righthand side is zero as a consequence
of charge conservation. The extra term is called the “displacement current” (this
111
name was invented by Maxwell). In summary, we have shown that although the
ﬂux of the real current through a loop is not well deﬁned, if we form the sum of
the real current and the displacement current then the ﬂux of this new quantity
through a loop is well deﬁned.
Of course, the displacement current is not a current at all. It is, in fact,
associated with the generation of magnetic ﬁelds by time varying electric ﬁelds.
Maxwell came up with this rather curious name because many of his ideas regard
ing electric and magnetic ﬁelds were completely wrong. For instance, Maxwell
believed in the æther, and he thought that electric and magnetic ﬁelds were some
sort of stresses in this medium. He also thought that the displacement current was
associated with displacements of the æther (hence, the name). The reason that
these misconceptions did not invalidate his equations is quite simple. Maxwell
based his equations on the results of experiments, and he added in his extra term
so as to make these equations mathematically self consistent. Both of these steps
are valid irrespective of the existence or nonexistence of the æther.
“But, hang on a minute,” you might say, “you can’t go around adding terms to
laws of physics just because you feel like it! The ﬁeld equations (3.199) are derived
directly from the results of famous nineteenth century experiments. If there is a
new term involving the time derivative of the electric ﬁeld which needs to be added
into these equations, how come there is no corresponding nineteenth century
experiment which demonstrates this? We have Amp`ere’s law which shows that
changing magnetic ﬁelds generate electric ﬁelds. Why is there no “Joe Blogg’s”
law that says that changing electric ﬁelds generate magnetic ﬁelds?” This is a
perfectly reasonable question. The answer is that the new term describes an eﬀect
which is far too small to have been observed in nineteenth century experiments.
Let us demonstrate this.
First, we shall show that it is comparatively easy to detect the induction of
an electric ﬁeld by a changing magnetic ﬁeld in a desktop laboratory experiment.
The Earth’s magnetic ﬁeld is about 1 gauss (that is, 10
−4
tesla). Magnetic
ﬁelds generated by electromagnets (which will ﬁt on a laboratory desktop) are
typically about one hundred times bigger that this. Let us, therefore, consider
a hypothetical experiment in which a 100 gauss magnetic ﬁeld is switched on
suddenly. Suppose that the ﬁeld ramps up in one tenth of a second. What
112
electromotive force is generated in a 10 centimeter square loop of wire located in
this ﬁeld? Amp`ere’s law is written
V = −
∂
∂t
_
B dS ∼
BA
t
, (3.210)
where B = 0.01 tesla is the ﬁeld strength, A = 0.01 m
2
is the area of the loop,
and t = 0.1 seconds is the ramp time. It follows that V ∼ 1 millivolt. Well, one
millivolt is easily detectable. In fact, most handheld laboratory voltmeters are
calibrated in millivolts. It is clear that we would have no diﬃculty whatsoever
detecting the magnetic induction of electric ﬁelds in a nineteenth century style
laboratory experiment.
Let us now consider the electric induction of magnetic ﬁelds. Suppose that our
electric ﬁeld is generated by a parallel plate capacitor of spacing one centimeter
which is charged up to 100 volts. This gives a ﬁeld of 10
4
volts per meter.
Suppose, further, that the capacitor is discharged in one tenth of a second. The
law of electric induction is obtained by integrating Eq. (3.209) and neglecting the
ﬁrst term on the righthand side. Thus,
_
B dl =
0
µ
0
∂
∂t
_
E dS. (3.211)
Let us consider a loop 10 centimeters square. What is the magnetic ﬁeld gen
erated around this loop (we could try to measure this with a Hall probe). Very
approximately we ﬁnd that
lB ∼
0
µ
0
El
2
t
, (3.212)
where l = 0.1 meters is the dimensions of the loop, B is the magnetic ﬁeld
strength, E = 10
4
volts per meter is the electric ﬁeld, and t = 0.1 seconds is the
decay time of the ﬁeld. We ﬁnd that B ∼ 10
−9
gauss. Modern technology is
unable to detect such a small magnetic ﬁeld, so we cannot really blame Faraday
for not noticing electric induction in 1830.
“So,” you might say, “why did you bother mentioning this displacement cur
rent thing in the ﬁrst place if it is undetectable?” Again, a perfectly fair question.
The answer is that the displacement current is detectable in some experiments.
113
Suppose that we take an FM radio signal, amplify it so that its peak voltage is
one hundred volts, and then apply it to the parallel plate capacitor in the previous
hypothetical experiment. What size of magnetic ﬁeld would this generate? Well,
a typical FM signal oscillates at 10
9
Hz, so t in the previous example changes
from 0.1 seconds to 10
−9
seconds. Thus, the induced magnetic ﬁeld is about
10
−1
gauss. This is certainly detectable by modern technology. So, it would
seem that if the electric ﬁeld is oscillating fast then electric induction of magnetic
ﬁelds is an observable eﬀect. In fact, there is a virtually infallible rule for de
ciding whether or not the displacement current can be neglected in Eq. (3.209).
If electromagnetic radiation is important then the displacement current must be
included. On the other hand, if electromagnetic radiation is unimportant then
the displacement current can be safely neglected. Clearly, Maxwell’s inclusion of
the displacement current in Eq. (3.209) was a vital step in his later realization
that his equations allowed propagating wavelike solutions. These solutions are,
of course, electromagnetic waves. But, more of this later.
We are now in a position to write out Maxwell’s equations in all their glory!
We get
∇ E =
ρ
0
, (3.213a)
∇ B = 0, (3.213b)
∇∧ E = −
∂B
∂t
, (3.213c)
∇∧ B = µ
0
j +
0
µ
0
∂E
∂t
. (3.213d)
These four partial diﬀerential equations constitute a complete description of the
behaviour of electric and magnetic ﬁelds. The ﬁrst equation describes how electric
ﬁelds are induced by charges. The second equation says that there is no such thing
as a magnetic charge. The third equation describes the induction of electric ﬁelds
by changing magnetic ﬁelds, and the fourth equation describes the generation
of magnetic ﬁelds by electric currents and the induction of magnetic ﬁelds by
changing electric ﬁelds. Note that with the inclusion of the displacement current
these equations treat electric and magnetic ﬁelds on an equal footing; i.e., electric
ﬁelds can induce magnetic ﬁelds, and vice versa. Equations (3.213) sum up the
114
experimental results of Coulomb, Amp`ere, and Faraday very succinctly; they are
called Maxwell’s equations because James Clerk Maxwell was the ﬁrst to write
them down (in component form). Maxwell also ﬁxed them up so that they made
mathematical sense.
3.18 The potential formulation of Maxwell’s equations
We have seen that Eqs. (3.213b) and (3.213c) are automatically satisﬁed if we
write the electric and magnetic ﬁelds in terms of potentials:
E = −∇φ −
∂A
∂t
,
B = ∇∧ A. (3.214)
This prescription is not unique, but we can make it unique by adopting the
following conventions:
φ(r) → 0 as [r[ →∞, (3.215a)
∇ A = −
0
µ
0
∂φ
∂t
. (3.215b)
The above equations can be combined with Eq. (3.213a) to give
0
µ
0
∂
2
φ
∂t
2
−∇
2
φ =
ρ
0
. (3.216)
Let us now consider Eq. (3.213d). Substitution of Eqs. (3.214) into this for
mula yields
∇∧ ∇∧ A ≡ ∇(∇ A) −∇
2
A = µ
0
j −
0
µ
0
∂ ∇φ
∂t
−
0
µ
0
∂
2
A
∂t
2
, (3.217)
or
0
µ
0
∂
2
A
∂t
2
−∇
2
A = µ
0
j −∇
_
∇ A+
0
µ
0
∂φ
∂t
_
. (3.218)
115
We can now see quite clearly where the Lorentz gauge condition (3.215b) comes
from. The above equation is, in general, very complicated since it involves both
the vector and scalar potentials. But, if we adopt the Lorentz gauge then the last
term on the righthand side becomes zero and the equation simpliﬁes consider
ably so that it only involves the vector potential. Thus, we ﬁnd that Maxwell’s
equations reduce to the following:
0
µ
0
∂
2
φ
∂t
2
−∇
2
φ =
ρ
0
,
0
µ
0
∂
2
A
∂t
2
−∇
2
A = µ
0
j. (3.219)
This is the same equation written four times over. In steady state (i.e., ∂/∂t = 0)
it reduces to Poisson’s equation, which we know how to solve. With the ∂/∂t
terms included it becomes a slightly more complicated equation (in fact, a driven
three dimensional wave equation).
3.19 Electromagnetic waves
This is an appropriate point at which to demonstrate that Maxwell’s equations
possess propagating wavelike solutions. Let us start from Maxwell’s equations
in free space (i.e., with no charges and no currents):
∇ E = 0, (3.220a)
∇ B = 0, (3.220b)
∇∧ E = −
∂B
∂t
, (3.220c)
∇∧ B =
0
µ
0
∂E
∂t
. (3.220d)
Note that these equations exhibit a nice symmetry between the electric and mag
netic ﬁelds.
There is an easy way to show that the above equations possess wavelike
solutions, and a hard way. The easy way is to assume that the solutions are going
116
to be wavelike beforehand. Speciﬁcally, let us search for plane wave solutions of
the form:
E(r, t) = E
0
cos (k r −ωt),
B(r, t) = B
0
cos (k r −ωt +φ). (3.221)
Here, E
0
and B
0
are constant vectors, k is called the wavevector, and ω is the
angular frequency. The frequency in hertz is related to the angular frequency
via ω = 2π f. The frequency is conventionally deﬁned to be positive. The
quantity φ is a phase diﬀerence between the electric and magnetic ﬁelds. It
is more convenient to write
E = E
0
e
i(k·r−ωt)
,
B = B
0
e
i(k·r−ωt)
, (3.222)
where by convention the physical solution is the real part of the above equations.
The phase diﬀerence φ is absorbed into the constant vector B
0
by allowing it to
become complex. Thus, B
0
→B
0
e
i φ
. In general, the vector E
0
is also complex.
A wave maximum of the electric ﬁeld satisﬁes
k r = ωt +n2π +φ, (3.223)
where n is an integer and φ is some phase angle. The solution to this equation
is a set of equally spaced parallel planes (one plane for each possible value of n)
whose normals lie in the direction of the wave vector k and which propagate in
this direction with velocity
v =
ω
k
. (3.224)
The spacing between adjacent planes (i.e., the wavelength) is given by
λ =
2π
k
. (3.225)
Consider a general plane wave vector ﬁeld
A = A
0
e
i(k·r−ωt)
. (3.226)
117
k
v
λ
What is the divergence of A? This is easy to evaluate. We have
∇ A =
∂A
x
∂x
+
∂A
y
∂y
+
∂A
z
∂z
= (A
0x
ik
x
+A
0y
ik
y
+A
0z
ik
z
) e
i(k·r−ωt)
= i k A. (3.227)
How about the curl of A? This is slightly more diﬃcult. We have
(∇∧ A)
x
=
∂A
z
∂y
−
∂A
y
∂z
= (i k
y
A
z
−i k
z
A
y
)
= i (k ∧ A)
x
. (3.228)
This is easily generalized to
∇∧ A = i k ∧ A. (3.229)
We can see that vector ﬁeld operations on a plane wave simplify to dot and cross
products involving the wavevector.
The ﬁrst Maxwell equation (3.220a) reduces to
i k E
0
= 0, (3.230)
using the assumed electric and magnetic ﬁelds (3.222), and Eq. (3.227). Thus,
the electric ﬁeld is perpendicular to the direction of propagation of the wave.
118
Likewise, the second Maxwell equation gives
i k B
0
= 0, (3.231)
implying that the magnetic ﬁeld is also perpendicular to the direction of prop
agation. Clearly, the wavelike solutions of Maxwell’s equation are a type of
transverse wave. The third Maxwell equation gives
i k ∧ E
0
= i ωB
0
, (3.232)
where use has been made of Eq. (3.229). Dotting this equation with E
0
yields
E
0
B
0
=
E
0
k ∧ E
0
ω
= 0. (3.233)
Thus, the electric and magnetic ﬁelds are mutually perpendicular. Dotting equa
tion (3.232) with B
0
yields
B
0
k ∧ E
0
= ω B
2
0
> 0. (3.234)
Thus, the vectors E
0
, B
0
, and k are mutually perpendicular and form a right
handed set. The ﬁnal Maxwell equation gives
i k ∧ B
0
= −i
0
µ
0
ωE
0
. (3.235)
Combining this with Eq. (3.232) yields
k ∧ (k ∧ E
0
) = (k E
0
) k −k
2
E
0
= −
0
µ
0
ω
2
E
0
, (3.236)
or
k
2
=
0
µ
0
ω
2
, (3.237)
where use has been made of Eq. (3.230). However, we know from Eq. (3.224)
that the wavevelocity c is related to the magnitude of the wavevector and the
wave frequency via c = ω/k. Thus, we obtain
c =
1
√
0
µ
0
. (3.238)
119
We have found transverse wave solutions of the freespace Maxwell equations,
propagating at some velocity c which is given by a combination of
0
and µ
0
.
The constants
0
and µ
0
are easily measurable. The former is related to the
force acting between electric charges and the latter to the force acting between
electric currents. Both of these constants were fairly well known in Maxwell’s
time. Maxwell, incidentally, was the ﬁrst person to look for wavelike solutions
of his equations and, thus, to derive Eq. (3.238). The modern values of
0
and µ
0
are
0
= 8.8542 10
−12
C
2
N
−1
m
−2
,
µ
0
= 4π 10
−7
NA
−2
. (3.239)
Let us use these values to ﬁnd the propagation velocity of “electromagnetic
waves.” We get
c =
1
√
0
µ
0
= 2.998 10
8
ms
−1
. (3.240)
Of course, we immediately recognize this as the velocity of light. Maxwell also
made this connection back in the 1870’s. He conjectured that light, whose nature
has been previously unknown, was a form of electromagnetic radiation. This
was a remarkable prediction. After all, Maxwell’s equations were derived from
the results of benchtop laboratory experiments involving charges, batteries, coils,
and currents, which apparently had nothing whatsoever to do with light.
Maxwell was able to make another remarkable prediction. The wavelength
of light was well known in the late nineteenth century from studies of diﬀraction
through slits, etc. Visible light actually occupies a surprisingly narrow wavelength
range. The shortest wavelength blue light which is visible has λ = 0.4 microns
(one micron is 10
−6
meters). The longest wavelength red light which is visible
has λ = 0.76 microns. However, there is nothing in our analysis which suggests
that this particular range of wavelengths is special. Electromagnetic waves can
have any wavelength. Maxwell concluded that visible light was a small part of
a vast spectrum of previously undiscovered types of electromagnetic radiation.
Since Maxwell’s time virtually all of the nonvisible parts of the electromagnetic
spectrum have been observed. Table 1 gives a brief guide to the electromagnetic
spectrum. Electromagnetic waves are of particular importance because they are
our only source of information regarding the universe around us. Radio waves and
120
Radiation Type Wavelength Range (m)
Gamma Rays < 10
−11
XRays 10
−11
–10
−9
Ultraviolet 10
−9
–10
−7
Visible 10
−7
–10
−6
Infrared 10
−6
–10
−4
Microwave 10
−4
–10
−1
TVFM 10
−1
–10
1
Radio > 10
1
Table 1: The electromagnetic spectrum
microwaves (which are comparatively hard to scatter) have provided much of our
knowledge about the centre of our own galaxy. This is completely unobservable
in visible light, which is strongly scattered by interstellar gas and dust lying
in the galactic plane. For the same reason, the spiral arms of our galaxy can
only be mapped out using radio waves. Infrared radiation is useful for detecting
protostars which are not yet hot enough to emit visible radiation. Of course,
visible radiation is still the mainstay of astronomy. Satellite based ultraviolet
observations have yielded invaluable insights into the structure and distribution
of distant galaxies. Finally, Xray and γray astronomy usually concentrates on
exotic objects in the Galaxy such as pulsars and supernova remnants.
Equations (3.230), (3.232), and the relation c = ω/k, imply that
B
0
=
E
0
c
. (3.241)
Thus, the magnetic ﬁeld associated with an electromagnetic wave is smaller in
magnitude than the electric ﬁeld by a factor c. Consider a free charge interacting
with an electromagnetic wave. The force exerted on the charge is given by the
Lorentz formula
f = q (E +v ∧ B). (3.242)
121
The ratio of the electric and magnetic forces is
f
magnetic
f
electric
∼
v B
0
E
0
∼
v
c
. (3.243)
So, unless the charge is relativistic the electric force greatly exceeds the magnetic
force. Clearly, in most terrestrial situations electromagnetic waves are an essen
tially electric phenomenon (as far as their interaction with matter goes). For
this reason, electromagnetic waves are usually characterized by their wavevector
(which speciﬁes the direction of propagation and the wavelength) and the plane
of polarization (i.e., the plane of oscillation) of the associated electric ﬁeld. For a
given wavevector k, the electric ﬁeld can have any direction in the plane normal
to k. However, there are only two independent directions in a plane (i.e., we
can only deﬁne two linearly independent vectors in a plane). This implies that
there are only two independent polarizations of an electromagnetic wave, once its
direction of propagation is speciﬁed.
Let us now derive the velocity of light from Maxwell’s equation the hard way.
Suppose that we take the curl of the fourth Maxwell equation, Eq. (3.220d). We
obtain
∇∧ ∇∧ B = ∇(∇ B) −∇
2
B = −∇
2
B =
0
µ
0
∂ ∇∧ E
∂t
. (3.244)
Here, we have used the fact that ∇ B = 0. The third Maxwell equation,
Eq. (3.220c), yields
_
∇
2
−
1
c
2
∂
2
∂t
2
_
B = 0, (3.245)
where use has been made of Eq. (3.238). A similar equation can obtained for the
electric ﬁeld by taking the curl of Eq. (3.220c):
_
∇
2
−
1
c
2
∂
2
∂t
2
_
E = 0, (3.246)
We have found that electric and magnetic ﬁelds both satisfy equations of the
form
_
∇
2
−
1
c
2
∂
2
∂t
2
_
A = 0 (3.247)
122
in free space. As is easily veriﬁed, the most general solution to this equation
(with a positive frequency) is
A
x
= F
x
(k r −kc t),
A
y
= F
y
(k r −kc t),
A
z
= F
z
(k r −kc t), (3.248)
where F
x
(φ), F
y
(φ), and F
z
(φ) are onedimensional scalar functions. Looking
along the direction of the wavevector, so that r = (k/k) r, we ﬁnd that
A
x
= F
x
( k (r −ct) ),
A
y
= F
y
( k (r −ct) ),
A
z
= F
z
( k (r −ct) ). (3.249)
The xcomponent of this solution is shown schematically below; it clearly prop
agates in r with velocity c. If we look along a direction which is perpendicular
to k then k r = 0 and there is no propagation. Thus, the components of A
are arbitrarily shaped pulses which propagate, without changing shape, along
the direction of k with velocity c. These pulses can be related to the sinusoidal
ct
F (r, t) F (r, t=0)
r >
x x
plane wave solutions which we found earlier by Fourier transformation. Thus, any
arbitrary shaped pulse propagating in the direction of k with velocity c can be
123
broken down into lots of sinusoidal oscillations propagating in the same direction
with the same velocity.
The operator
∇
2
−
1
c
2
∂
2
∂t
2
(3.250)
is called the d’Alembertian. It is the four dimensional equivalent of the Lapla
cian. Recall that the Laplacian is invariant under rotational transformation. The
d’Alembertian goes one better than this because it is both rotationally invariant
and Lorentz invariant. The d’Alembertian is conventionally denoted 2
2
. Thus,
electromagnetic waves in free space satisfy the wave equations
2
2
E = 0,
2
2
B = 0. (3.251)
When written in terms of the vector and scalar potentials, Maxwell’s equations
reduce to
2
2
φ = −
ρ
0
,
2
2
A = −µ
0
j. (3.252)
These are clearly driven wave equations. Our next task is to ﬁnd the solutions to
these equations.
3.20 Green’s functions
Earlier on in this lecture course we had to solve Poisson’s equation
∇
2
u = v, (3.253)
where v(r) is denoted the source function. The potential u(r) satisﬁes the bound
ary condition
u(r) →0 as [r[ →∞, (3.254)
provided that the source function is reasonably localized. The solutions to Pois
son’s equation are superposable (because the equation is linear). This property
124
is exploited in the Green’s function method of solving this equation. The Green’s
function G(r, r
) is the potential, which satisﬁes the appropriate boundary con
ditions, generated by a unit amplitude point source located at r
. Thus,
∇
2
G(r, r
) = δ(r −r
). (3.255)
Any source function v(r) can be represented as a weighted sum of point sources
v(r) =
_
δ(r −r
) v(r
) d
3
r
. (3.256)
It follows from superposability that the potential generated by the source v(r)
can be written as the weighted sum of point source driven potentials (i.e., Green’s
functions)
u(r) =
_
G(r, r
) v(r
) d
3
r
. (3.257)
We found earlier that the Green’s function for Poisson’s equation is
G(r, r
) = −
1
4π
1
[r −r
[
. (3.258)
It follows that the general solution to Eq. (3.253) is written
u(r) = −
1
4π
_
v(r
)
[r −r
[
d
3
r
. (3.259)
Note that the point source driven potential (3.258) is perfectly sensible. It is
spherically symmetric about the source, and falls oﬀ smoothly with increasing
distance from the source.
We now need to solve the wave equation
_
∇
2
−
1
c
2
∂
2
∂t
2
_
u = v, (3.260)
where v(r, t) is a time varying source function. The potential u(r, t) satisﬁes the
boundary conditions
u(r) →0 as [r[ →∞ and [t[ →∞. (3.261)
125
The solutions to Eq. (3.260) are superposable (since the equation is linear), so a
Green’s function method of solution is again appropriate. The Green’s function
G(r, r
; t, t
) is the potential generated by a point impulse located at position r
and applied at time t
. Thus,
_
∇
2
−
1
c
2
∂
2
∂t
2
_
G(r, r
; t, t
) = δ(r −r
)δ(t −t
). (3.262)
Of course, the Green’s function must satisfy the correct boundary conditions. A
general source v(r, t) can be built up from a weighted sum of point impulses
v(r, t) =
_ _
δ(r −r
)δ(t −t
) v(r
, t
) d
3
r
dt
. (3.263)
It follows that the potential generated by v(r, t) can be written as the weighted
sum of point impulse driven potentials
u(r, t) =
_ _
G(r, r
; t, t
) v(r
, t
) d
3
r
dt
. (3.264)
So, how do we ﬁnd the Green’s function?
Consider
G(r, r
; t, t
) =
F(t −t
−[r −r
[/c)
[r −r
[
, (3.265)
where F(φ) is a general scalar function. Let us try to prove the following theorem:
_
∇
2
−
1
c
2
∂
2
∂t
2
_
G = −4π F(t −t
) δ(r −r
). (3.266)
At a general point, r ,= r
, the above expression reduces to
_
∇
2
−
1
c
2
∂
2
∂t
2
_
G = 0. (3.267)
So, we basically have to show that G is a valid solution of the free space wave
equation. We can easily show that
∂[r −r
[
∂x
=
x −x
[r −r
[
. (3.268)
126
It follows by simple diﬀerentiation that
∂
2
G
∂x
2
=
_
3(x −x
)
2
−[r −r
[
2
[r −r
[
5
_
F
+
_
3(x −x
)
2
−[r −r
[
2
[r −r
[
4
_
F
c
+
(x −x
)
2
[r −r
[
3
F
c
2
, (3.269)
where F
(φ) = dF(φ)/dφ. We can derive analogous equations for ∂
2
G/∂y
2
and
∂
2
G/∂z
2
. Thus,
∇
2
G =
∂
2
G
∂x
2
+
∂
2
G
∂y
2
+
∂
2
G
∂z
2
=
F
[r −r
[ c
2
=
1
c
2
∂
2
G
∂t
2
, (3.270)
giving
_
∇
2
−
1
c
2
∂
2
∂t
2
_
G = 0, (3.271)
which is the desired result. Consider, now, the region around r = r
. It is clear
from Eq. (3.269) that the dominant term on the lefthand side as [r − r
[ → 0
is the ﬁrst one, which is essentially F ∂
2
([r − r
[
−1
)/∂x
2
. It is also clear that
(1/c
2
)(∂
2
G/∂t
2
) is negligible compared to this term. Thus, as [r − r
[ → 0 we
ﬁnd that
_
∇
2
−
1
c
2
∂
2
∂t
2
_
G →F(t −t
) ∇
2
_
1
[r −r
[
_
. (3.272)
However, according to Eqs. (3.255) and (3.258)
∇
2
_
1
[r −r
[
_
= −4π δ(r −r
). (3.273)
We conclude that
_
∇
2
−
1
c
2
∂
2
∂t
2
_
G = −4π F(t −t
) δ(r −r
), (3.274)
which is the desired result.
Let us now make the special choice
F(φ) = −
δ(φ)
4π
. (3.275)
127
It follows from Eq. (3.274) that
_
∇
2
−
1
c
2
∂
2
∂t
2
_
G = δ(r −r
)δ(t −t
). (3.276)
Thus,
G(r, r
; t, t
) = −
1
4π
δ(t −t
−[r −r
[/c)
[r −r
[
(3.277)
is the Green’s function for the driven wave equation (3.260).
The time dependent Green’s function (3.277) is the same as the steady state
Green’s function (3.258), apart from the delta function appearing in the former.
What does this delta function do? Well, consider an observer at point r. Because
of the delta function our observer only measures a nonzero potential at one
particular time
t = t
+
[r −r
[
c
. (3.278)
It is clear that this is the time the impulse was applied at position r
(i.e., t
)
plus the time taken for a light signal to travel between points r
and r. At time
t > t
the locus of all points at which the potential is nonzero is
[r −r
[ = c (t −t
). (3.279)
In other words, it is a sphere centred on r
whose radius is the distance traveled by
light in the time interval since the impulse was applied at position r
. Thus, the
Green’s function (3.277) describes a spherical wave which emanates from position
r
at time t
and propagates at the speed of light. The amplitude of the wave is
inversely proportional to the distance from the source.
3.21 Retarded potentials
We are now in a position to solve Maxwell’s equations. Recall that in steady
state Maxwell’s equations reduce to
∇
2
φ = −
ρ
0
,
∇
2
A = −µ
0
j. (3.280)
128
The solutions to these equations are easily found using the Green’s function for
Poisson’s equation (3.258):
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
A(r) =
µ
0
4π
_
j(r
)
[r −r
[
d
3
r
. (3.281)
The time dependent Maxwell equations reduce to
2
2
φ = −
ρ
0
,
2
2
A = −µ
0
j. (3.282)
We can solve these equations using the time dependent Green’s function (3.277).
From Eq. (3.264) we ﬁnd that
φ(r, t) =
1
4π
0
_ _
δ(t −t
−[r −r
[/c) ρ(r
, t
)
[r −r
[
d
3
r
dt
, (3.283)
with a similar equation for A. Using the well known property of delta functions,
these equations reduce to
φ(r, t) =
1
4π
0
_
ρ(r
, t −[r −r
[/c)
[r −r
[
d
3
r
A(r, t) =
µ
0
4π
_
j(r
, t −[r −r
[/c)
[r −r
[
d
3
r
. (3.284)
These are the general solutions to Maxwell’s equations! Note that the time de
pendent solutions (3.284) are the same as the steady state solutions (3.281),
apart from the weird way in which time appears in the former. According to
Eqs. (3.284), if we want to work out the potentials at position r and time t we
have to perform integrals of the charge density and current density over all space
(just like in the steady state situation). However, when we calculate the contri
bution of charges and currents at position r
to these integrals we do not use the
values at time t, instead we use the values at some earlier time t−[r−r
[/c. What
is this earlier time? It is simply the latest time at which a light signal emitted
129
from position r
would be received at position r before time t. This is called the
retarded time. Likewise, the potentials (3.284) are called retarded potentials. It
is often useful to adopt the following notation
A(r
, t −[r −r
[/c) ≡ [A(r
, t)] . (3.285)
The square brackets denote retardation (i.e., using the retarded time instead of
the real time). Using this notation Eqs. (3.284) become
φ(r) =
1
4π
0
_
[ρ(r
)]
[r −r
[
d
3
r
,
A(r) =
µ
0
4π
_
[j(r
)]
[r −r
[
d
3
r
. (3.286)
The time dependence in the above equations is taken as read.
We are now in a position to understand electromagnetism at its most funda
mental level. A charge distribution ρ(r, t) can thought of as built up out of a
collection or series of charges which instantaneously come into existence, at some
point r
and some time t
, and then disappear again. Mathematically, this is
written
ρ(r, t) =
_ _
δ(r −r
)δ(t −t
) ρ(r
, t
) d
3
r
dt
. (3.287)
Likewise, we can think of a current distribution j(r, t) as built up out of a col
lection or series of currents which instantaneously appear and then disappear:
j(r, t) =
_ _
δ(r −r
)δ(t −t
) j(r
, t
) d
3
r
dt
. (3.288)
Each of these ephemeral charges and currents excites a spherical wave in the
appropriate potential. Thus, the charge density at r
and t
sends out a wave in
the scalar potential:
φ(r, t) =
ρ(r
, t
)
4π
0
δ(t −t
−[r −r
[/c)
[r −r
[
. (3.289)
Likewise, the current density at r
and t
sends out a wave in the vector potential:
A(r, t) =
µ
0
j(r
, t
)
4π
δ(t −t
−[r −r
[/c)
[r −r
[
. (3.290)
130
These waves can be thought of as little messengers which inform other charges
and currents about the charges and currents present at position r
and time t
.
However, the messengers travel at a ﬁnite speed; i.e., the speed of light. So, by
the time they reach other charges and currents their message is a little out of date.
Every charge and every current in the universe emits these spherical waves. The
resultant scalar and vector potential ﬁelds are given by Eqs. (3.286). Of course,
we can turn these ﬁelds into electric and magnetic ﬁelds using Eqs. (3.187). We
can then evaluate the force exerted on charges using the Lorentz formula. We can
see that we have now escaped from the apparent action at a distance nature of
Coulomb’s law and the BiotSavart law. Electromagnetic information is carried
by spherical waves in the vector and scalar potentials and, therefore, travels at the
velocity of light. Thus, if we change the position of a charge then a distant charge
can only respond after a time delay suﬃcient for a spherical wave to propagate
from the former to the latter charge.
Let us compare the steadystate law
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
(3.291)
with the corresponding time dependent law
φ(r) =
1
4π
0
_
[ρ(r
)]
[r −r
[
d
3
r
(3.292)
These two formulae look very similar indeed, but there is an important diﬀerence.
We can imagine (rather pictorially) that every charge in the universe is continu
ously performing the integral (3.291), and is also performing a similar integral to
ﬁnd the vector potential. After evaluating both potentials, the charge can calcu
late the ﬁelds and using the Lorentz force law it can then work out its equation of
motion. The problem is that the information the charge receives from the rest of
the universe is carried by our spherical waves, and is always slightly out of date
(because the waves travel at a ﬁnite speed). As the charge considers more and
more distant charges or currents its information gets more and more out of date.
(Similarly, when astronomers look out to more and more distant galaxies in the
universe they are also looking backwards in time. In fact, the light we receive
from the most distant observable galaxies was emitted when the universe was
131
only about a third of its present age.) So, what does our electron do? It simply
uses the most up to date information about distant charges and currents which
it possesses. So, instead of incorporating the charge density ρ(r, t) in its integral
the electron uses the retarded charge density [ρ(r, t)] (i.e., the density evaluated
at the retarded time). This is eﬀectively what Eq. (3.292) says.
t > t t < t < t t < t
1
2 2 1
Consider a thought experiment in which a charge q appears at position r
0
at
time t
1
, persists for a while, and then disappears at time t
2
. What is the electric
ﬁeld generated by such a charge? Using Eq. (3.292), we ﬁnd that
φ(r) =
q
4π
0
1
[r −r
0
[
for t
1
≤ t −[r −r
0
[/c ≤ t
2
= 0 otherwise. (3.293)
Now, E = −∇φ (since there are no currents, and therefore no vector potential is
generated), so
E(r) =
q
4π
0
r −r
0
[r −r
0
[
3
for t
1
≤ t −[r −r
0
[/c ≤ t
2
= 0 otherwise. (3.294)
This solution is shown pictorially above. We can see that the charge eﬀectively
emits a Coulomb electric ﬁeld which propagates radially away from the charge
at the speed of light. Likewise, it is easy to show that a current carrying wire
eﬀectively emits an Amp`erian magnetic ﬁeld at the speed of light.
132
We can now appreciate the essential diﬀerence between time dependent elec
tromagnetism and the action at a distance laws of Coulomb and Biot & Savart.
In the latter theories, the ﬁeld lines act rather like rigid wires attached to charges
(or circulating around currents). If the charges (or currents) move then so do the
ﬁeld lines, leading inevitably to unphysical action at a distance type behaviour.
In the time dependent theory charges act rather like water sprinklers; i.e., they
spray out the Coulomb ﬁeld in all directions at the speed of light. Similarly,
current carrying wires throw out magnetic ﬁeld loops at the speed of light. If we
move a charge (or current) then ﬁeld lines emitted beforehand are not aﬀected, so
the ﬁeld at a distant charge (or current) only responds to the change in position
after a time delay suﬃcient for the ﬁeld to propagate between the two charges (or
currents) at the speed of light. In Coulomb’s law and the BiotSavart law it is not
obvious that the electric and magnetic ﬁelds have any real existence. The only
measurable quantities are the forces acting between charges and currents. We can
describe the force acting on a given charge or current, due to the other charges
and currents in the universe, in terms of the local electric and magnetic ﬁelds,
but we have no way of knowing whether these ﬁelds persist when the charge or
current is not present (i.e., we could argue that electric and magnetic ﬁelds are
just a convenient way of calculating forces but, in reality, the forces are trans
mitted directly between charges and currents by some form of magic). However,
it is patently obvious that electric and magnetic ﬁelds have a real existence in
the time dependent theory. Consider the following thought experiment. Suppose
that a charge q
1
comes into existence for a period of time, emits a Coulomb ﬁeld,
133
and then disappears. Suppose that a distant charge q
2
interacts with this ﬁeld,
but is suﬃciently far from the ﬁrst charge that by the time the ﬁeld arrives the
ﬁrst charge has already disappeared. The force exerted on the second charge
is only ascribable to the electric ﬁeld; it cannot be ascribed to the ﬁrst charge
because this charge no longer exists by the time the force is exerted. The electric
ﬁeld clearly transmits energy and momentum between the two charges. Anything
which possesses energy and momentum is “real” in a physical sense. Later on in
this course we shall demonstrate that electric and magnetic ﬁelds conserve energy
and momentum.
Let us now consider a moving charge. Such a charge is continually emitting
spherical waves in the scalar potential, and the resulting wave front pattern is
sketched below. Clearly, the wavefronts are more closely spaced in front of the
charge than they are behind it, suggesting that the electric ﬁeld in front is larger
than the ﬁeld behind. In a medium, such as water or air, where waves travel
at a ﬁnite speed c (say) it is possible to get a very interesting eﬀect if the wave
source travels at some velocity v which exceeds the wave speed. This is illus
trated below. The locus of the outermost wave front is now a cone instead of a
sphere. The wave intensity on the cone is extremely large: this is a shock wave!
The half angle θ of the shock wave cone is simply cos
−1
(c/v). In water, shock
waves are produced by fast moving boats. We call these “bow waves.” In air,
shock waves are produced by speeding bullets and supersonic jets. In the latter
case we call these “sonic booms.” Is there any such thing as an electromagnetic
134
v t
θ
c t
shock wave? At ﬁrst sight, the answer to this question would appear to be, no.
After all, electromagnetic waves travel at the speed of light and no wave source
(i.e., an electrically charged particle) can travel faster than this velocity. This
is a rather disappointing conclusion. However, when an electromagnetic wave
travels through matter a remarkable thing happens. The oscillating electric ﬁeld
of the wave induces a slight separation of the positive and negative charges in
the atoms which make up the material. We call separated positive and negative
charges an electric dipole. Of course, the atomic dipoles oscillate in sympathy
with the ﬁeld which induces them. However, an oscillating electric dipole radiates
electromagnetic waves. Amazingly, when we add the original wave to these in
duced waves it is exactly as if the original wave propagates through the material
in question at a velocity which is slower than the velocity of light in vacuum.
Suppose, now, that we shoot a charged particle through the material faster than
the slowed down velocity of electromagnetic waves. This is possible since the
waves are traveling slower than the velocity of light in vacuum. In practice, the
particle has to be traveling pretty close to the velocity of light in vacuum (i.e., it
has to be relativistic), but modern particle accelerators produce copious amount
of such particles. Now, we can get an electromagnetic shock wave. We expect an
intense cone of emission, just like the bow wave produced by a fast ship. In fact,
this type of radiation has been observed. It is called Cherenkov radiation, and it
is very useful in high energy physics. Cherenkov radiation is typically produced
by surrounding a particle accelerator with perspex blocks. Relativistic charged
particles emanating from the accelerator pass through the perspex traveling faster
135
than the local velocity of light and therefore emit Cherenkov radiation. We know
the velocity of light (c
∗
, say) in perspex (this can be worked out from the refrac
tive index), so if we can measure the half angle θ of the radiation cone emitted by
each particle then we can evaluate the speed of the particle v via the geometric
relation cos θ = c
∗
/v.
3.22 Advanced potentials?
We have deﬁned the retarded time
t
r
= t −[r −r
[/c (3.295)
as the latest time at which a light signal emitted from position r
would reach po
sition r before time t. We have also shown that a solution to Maxwell’s equations
can be written in terms of retarded potentials:
φ(r, t) =
1
4π
0
_
ρ(r
, t
r
)
[r −r
[
d
3
r
, (3.296)
etc. But, is this the most general solution? Suppose that we deﬁne the advanced
time.
t
a
= t +[r −r
[/c. (3.297)
This is the time a light signal emitted at time t from position r would reach
position r
. It turns out that we can also write a solution to Maxwell’s equations
in terms of advanced potentials:
φ(r, t) =
1
4π
0
_
ρ(r
, t
a
)
[r −r
[
d
3
r
, (3.298)
etc. In fact, this is just as good a solution to Maxwell’s equation as the one
involving retarded potentials. To get some idea what is going on let us examine
the Green’s function corresponding to our retarded potential solution:
φ(r, t) =
ρ(r
, t
)
4π
0
δ(t −t
−[r −r
[/c)
[r −r
[
, (3.299)
136
with a similar equation for the vector potential. This says that the charge density
present at position r
and time t
emits a spherical wave in the scalar potential
which propagates forwards in time. The Green’s function corresponding to our
advanced potential solution is
φ(r, t) =
ρ(r
, t
)
4π
0
δ(t −t
+[r −r
[/c)
[r −r
[
. (3.300)
This says that the charge density present at position r
and time t
emits a
spherical wave in the scalar potential which propagates backwards in time. “But,
hang on a minute,” you might say, “ everybody knows that electromagnetic waves
can’t travel backwards in time. If they did then causality would be violated.”
Well, you know that electromagnetic waves do not propagate backwards in time,
I know that electromagnetic waves do not propagate backwards in time, but the
question is do Maxwell’s equations know this? Consider the wave equation for
the scalar potential:
_
∇
2
−
1
c
2
∂
2
∂t
2
_
φ = −
ρ
0
. (3.301)
This equation is manifestly symmetric in time (i.e., it is invariant under the trans
formation t →−t). Thus, backward traveling waves are just as good a solution to
this equation as forward traveling waves. The equation is also symmetric in space
(i.e., it is invariant under the transformation x →−x). So, why do we adopt the
Green’s function (3.299) which is symmetric in space (i.e., it is invariant under
x →−x) but asymmetric in time (i.e., it is not invariant under t →−t)? Would
it not be better to use the completely symmetric Green’s function
φ(r, t) =
ρ(r
, t
)
4π
0
1
2
_
δ(t −t
−[r −r
[/c)
[r −r
[
+
δ(t −t
+[r −r
[/c)
[r −r
[
_
? (3.302)
In other words, a charge emits half of its waves running forwards in time (i.e.,
retarded waves) and the other half running backwards in time (i.e., advanced
waves). This sounds completely crazy! However, in the 1940’s Richard P. Feyn
man and John A. Wheeler pointed out that under certain circumstances this
prescription gives the right answer. Consider a charge interacting with “the rest
of the universe,” where the “rest of the universe” denotes all of the distant charges
in the universe and is, by implication, an awful long way away from our original
137
charge. Suppose that the “rest of the universe” is a perfect reﬂector of advanced
waves and a perfect absorbed of retarded waves. The waves emitted by the charge
can be written schematically as
F =
1
2
(retarded) +
1
2
(advanced). (3.303)
The response of the rest of the universe is written
R =
1
2
(retarded) −
1
2
(advanced). (3.304)
This is illustrated in the spacetime diagram below. Here, A and R denote the
time
space
charge
rest of universe
a
R
A
aa
advanced and retarded waves emitted by the charge, respectively. The advanced
wave travels to “the rest of the universe” and is reﬂected; i.e., the distant charges
oscillate in response to the advanced wave and emit a retarded wave a, as shown.
The retarded wave a is spherical wave which converges on the original charge,
passes through the charge, and then diverges again. The divergent wave is de
noted aa. Note that a looks like a negative advanced wave emitted by the charge,
whereas aa looks like a positive retarded wave emitted by the charge. This is
138
essentially what Eq. (3.304) says. The retarded waves R and aa are absorbed by
“the rest of the universe.”
If we add the waves emitted by the charge to the response of “the rest of the
universe” we obtain
F
= F +R = (retarded). (3.305)
Thus, charges appear to emit only retarded waves, which agrees with our everyday
experience. Clearly, in this model we have sidestepped the problem of a time
asymmetric Green’s function by adopting time asymmetric boundary conditions
to the universe; i.e., the distant charges in the universe absorb retarded waves
and reﬂect advanced waves. This is possible because the absorption takes place
at the end of the universe (i.e., at the “big crunch,” or whatever) and the re
ﬂection takes place at the beginning of the universe (i.e., at the “big bang”). It
is quite plausible that the state of the universe (and, hence, its interaction with
electromagnetic waves) is completely diﬀerent at these two times. It should be
pointed out that the FeynmanWheeler model runs into trouble when one tries to
combine electromagnetism with quantum mechanics. These diﬃculties have yet
to be resolved, so at present the status of this model is that it is “an interesting
idea” but it is still not fully accepted into the canon of physics.
3.23 Retarded ﬁelds
We know the solution to Maxwell’s equations in terms of retarded potentials. Let
us now construct the associated electric and magnetic ﬁelds using
E = −∇φ −
∂A
∂t
,
B = ∇∧ A. (3.306)
It is helpful to write
R = r −r
, (3.307)
where R = [r − r
[. The retarded time becomes t
r
= t − R/c, and a general
retarded quantity is written [F(r, t)] ≡ F(r, t
r
). Thus, we can write the retarded
139
potential solutions of Maxwell’s equations in the especially compact form:
φ =
1
4π
0
_
[ρ]
R
dV
,
A =
µ
0
4π
_
[j]
R
dV
, (3.308)
where dV
≡ d
3
r
.
It is easily seen that
∇φ =
1
4π
0
_ _
[ρ]∇(R
−1
) +
[∂ρ/∂t]
R
∇t
r
_
dV
= −
1
4π
0
_ _
[ρ]
R
3
R−
[∂ρ/∂t]
cR
2
R
_
dV
, (3.309)
where use has been made of
∇R =
R
R
, ∇(R
−1
) = −
R
R
3
, ∇t
r
= −
R
cR
. (3.310)
Likewise,
∇∧ A =
µ
0
4π
_ _
∇(R
−1
) ∧ [j] +
∇t
r
∧ [∂j/∂t]
R
_
dV
= −
µ
0
4π
_ _
R∧ [j]
R
3
+
R∧ [∂j/∂t]
cR
2
_
dV
. (3.311)
Equations (3.306), (3.309), and (3.311) can be combined to give
E =
1
4π
0
_ _
[ρ]
R
R
3
+
_
∂ρ
∂t
_
R
cR
2
−
[∂j/∂t]
c
2
R
_
dV
, (3.312)
which is the time dependent generalization of Coulomb’s law, and
B =
µ
0
4π
_ _
[j] ∧ R
R
3
+
[∂j/∂t] ∧ R
cR
2
_
dV
, (3.313)
140
which is the time dependent generalization of the BiotSavart law.
Suppose that the typical variation timescale of our charges and currents is
t
0
. Let us deﬁne R
0
= c t
0
which is the distance a light ray travels in time t
0
. We
can evaluate Eqs. (3.312) and (3.313) in two asymptotic limits: the “near ﬁeld”
region R ¸R
0
, and the “far ﬁeld” region R ¸R
0
. In the near ﬁeld region
[t −t
r
[
t
0
=
R
R
0
¸1, (3.314)
so the diﬀerence between retarded time and standard time is relatively small.
This allows us to expand retarded quantities in a Taylor series. Thus,
[ρ] · ρ +
∂ρ
∂t
(t
r
−t) +
1
2
∂
2
ρ
∂t
2
(t
r
−t) + , (3.315)
giving
[ρ] · ρ −
∂ρ
∂t
R
c
+
1
2
∂
2
ρ
∂t
2
R
2
c
2
+ . (3.316)
Expansion of the retarded quantities in the near ﬁeld region yields
E ·
1
4π
0
_ _
ρ R
R
3
−
1
2
∂
2
ρ
∂t
2
R
c
2
R
−
∂j/∂t
c
2
R
+
_
dV
, (3.317a)
B ·
µ
0
4π
_ _
j ∧ R
R
3
−
1
2
(∂
2
j/∂t
2
) ∧ R
c
2
R
+
_
dV
. (3.317b)
In Eq. (3.317a) the ﬁrst term on the righthand side corresponds to Coulomb’s
law, the second term is the correction due to retardation eﬀects, and the third
term corresponds to Faraday induction. In Eq. (3.317b) the ﬁrst term on the
righthand side is the BiotSavart law and the second term is the correction due
to retardation eﬀects. Note that the retardation corrections are only of order
(R/R
0
)
2
. We might suppose, from looking at Eqs. (3.312) and (3.313), that
the corrections should be of order R/R
0
, however all of the order R/R
0
terms
canceled out in the previous expansion. Suppose, then, that we have a d.c.
circuit sitting on a laboratory benchtop. Let the currents in the circuit change on
a typical timescale of one tenth of a second. In this time light can travel about
310
7
meters, so R
0
∼ 30, 000 kilometers. The lengthscale of the experiment is
141
about one meter, so R = 1 meter. Thus, the retardation corrections are of order
(3 10
7
)
−2
∼ 10
−15
. It is clear that we are fairly safe just using Coulomb’s law,
Faraday’s law, and the BiotSavart law to analyze the ﬁelds generated by this
type of circuit.
In the far ﬁeld region, R ¸ R
0
, Eqs. (3.312) and (3.313) are dominated by
the terms which vary like R
−1
, so
E · −
1
4π
0
_
[∂j
⊥
/∂t]
c
2
R
dV
, (3.318a)
B ·
µ
0
4π
_
[∂j
⊥
/∂t] ∧ R
cR
2
dV
, (3.318b)
where
j
⊥
= j −
(j R)
R
2
R. (3.318c)
Here, use has been made of [∂ρ/∂t] = −[∇ j] and [∇ j] = −[∂j/∂t] R/cR +
O(1/R
2
). Suppose that our charges and currents are localized to some region in
the vicinity of r
= r
∗
. Let R
∗
= r − r
∗
, with R
∗
= [r − r
∗
[. Suppose that
the extent of the current and charge containing region is much less than R
∗
. It
follows that retarded quantities can be written
[ρ(r, t)] · ρ(r, t −R
∗
/c), (3.319)
etc. Thus, the electric ﬁeld reduces to
E · −
1
4π
0
__
∂j
⊥
/∂t dV
¸
c
2
R
∗
, (3.320)
whereas the magnetic ﬁeld is given by
B ·
1
4π
0
__
∂j
⊥
/∂t dV
¸
∧ R
∗
c
3
R
2
∗
. (3.321)
Note that
E
B
= c, (3.322)
142
and
E B = 0. (3.323)
This conﬁguration of electric and magnetic ﬁelds is characteristic of an elec
tromagnetic wave (see Section 3.19). Thus, Eqs. (3.322) and (3.323) describe
an electromagnetic wave propagating radially away from the charge and current
containing region. Note that the wave is driven by time varying electric currents.
Now, charges moving with a constant velocity constitute a steady current, so a
nonsteady current is associated with accelerating charges. We conclude that ac
celerating electric charges emit electromagnetic waves. The wave ﬁelds, (3.320)
and (3.321), fall oﬀ like the inverse of the distance from the wave source. This
behaviour should be contrasted with that of Coulomb or BiotSavart ﬁelds which
fall oﬀ like the inverse square of the distance from the source. The fact that wave
ﬁelds attenuate fairly gently with increasing distance from the source is what
makes astronomy possible. If wave ﬁelds obeyed an inverse square law then no
appreciable radiation would reach us from the rest of the universe.
In conclusion, electric and magnetic ﬁelds look simple in the near ﬁeld region
(they are just Coulomb ﬁelds, etc.) and also in the far ﬁeld region (they are just
electromagnetic waves). Only in the intermediate region, R ∼ R
0
, do things start
getting really complicated (so we do not look in this region!).
3.24 Summary
This marks the end of our theoretical investigation of Maxwell’s equations. Let
us now summarize what we have learned so far. The ﬁeld equations which govern
electric and magnetic ﬁelds are written:
∇ E =
ρ
0
, (3.324a)
∇ B = 0, (3.324b)
∇∧ E = −
∂B
∂t
, (3.324c)
∇∧ B = µ
0
j +
1
c
2
∂E
∂t
. (3.324d)
143
These equations can be integrated to give
_
S
E dS =
1
0
_
V
ρ dV, (3.325a)
_
S
B dS = 0, (3.325b)
_
C
E dl = −
∂
∂t
_
S
B dS, (3.325c)
_
C
B dl = µ
0
_
S
j dS +
1
c
2
∂
∂t
_
S
E dS. (3.325d)
Equations (3.324b) and (3.324c) are automatically satisﬁed by writing
E = −∇φ −
∂A
∂t
, (3.326a)
B = ∇∧ A. (3.326b)
This prescription is not unique (there are many choices of φ and A which gen
erate the same ﬁelds) but we can make it unique by adopting the following con
ventions:
φ(r) →0 as [r[ →∞, (3.327)
and
1
c
2
∂φ
∂t
+∇ A = 0. (3.328)
Equations (3.324a) and (3.324d) reduce to
2
2
φ = −
ρ
0
, (3.329a)
2
2
A = −µ
0
j (3.329b)
These are driven wave equations of the general form
2
2
u ≡
_
∇
2
−
1
c
2
∂
2
∂t
2
_
u = v. (3.330)
144
The Green’s function for this equation which satisﬁes the boundary conditions
and is consistent with causality is
G(r, r
; t, t
) = −
1
4π
δ(t −t
−[r −r
[/c)
[r −r
[
. (3.331)
Thus, the solutions to Eqs. (3.329) are
φ(r, t) =
1
4π
0
_
[ρ]
R
dV
, (3.332a)
A(r, t) =
µ
0
4π
_
[j]
R
dV
, (3.332b)
where R = [r − r
[, and dV
= d
3
r
, with [A] ≡ A(r
, t − R/c). These solutions
can be combined with Eqs. (3.326) to give
E(r, t) =
1
4π
0
_ _
[ρ]
R
R
3
+
_
∂ρ
∂t
_
R
cR
2
−
[∂j/∂t]
c
2
R
_
dV
, (3.333a)
B(r, t) =
µ
0
4π
_ _
[j] ∧ R
R
3
+
[∂j/∂t] ∧ R
cR
2
_
dV
. (3.333b)
Equations (3.324)–(3.333) constitute the complete theory of classical electro
magnetism. We can express the same information in terms of ﬁeld equations
[Eqs. (3.324) ], integrated ﬁeld equations [Eqs. (3.325) ], retarded electromagnetic
potentials [Eqs. (3.332) ], and retarded electromagnetic ﬁelds [Eqs. (3.333) ]. Let
us now consider the applications of this theory.
145
4 Applications of Maxwell’s equations
4.1 Electrostatic energy
Consider a collection of N static point charges q
i
located at position vectors r
i
(where i runs from 1 to N). What is the electrostatic energy stored in such a
collection? Another way of asking this is, how much work would we have to do
in order to assemble the charges, starting from an initial state in which they are
all at rest and also very widely separated?
We know that a static electric ﬁeld is conservative and can consequently be
written in terms of a scalar potential:
E = −∇φ. (4.1)
We also know that the electric force on a charge q is written
f = q E. (4.2)
The work we would have to do against electrical forces in order to move the charge
from point P to point Q is simply
W = −
_
Q
P
f dl = −q
_
Q
P
E dl = q
_
Q
P
∇φ dl = q [φ(Q) −φ(P)] . (4.3)
The negative sign in the above expression comes about because we would have
to exert a force −f on the charge in order to counteract the force exerted by the
electric ﬁeld. Recall that the scalar potential generated by a point charge q
at
position r
is
φ(r) =
1
4π
0
q
[r −r
[
. (4.4)
Let us build up our collection of charges one by one. It takes no work to bring
the ﬁrst charge from inﬁnity, since there is no electric ﬁeld to ﬁght against. Let
us clamp this charge in position at r
1
. In order to bring the second charge into
146
position at r
2
we have to do work against the electric ﬁeld generated by the ﬁrst
charge. According to Eqs. (4.3) and Eqs. (4.4), this work is given by
W
2
=
1
4π
0
q
1
q
2
[r
1
−r
2
[
. (4.5)
Let us now bring the third charge into position. Since electric ﬁelds and scalar
potentials are superposable the work done whilst moving the third charge from in
ﬁnity to r
3
is simply the sum of the work done against the electric ﬁelds generated
by charges 1 and 2 taken in isolation:
W
3
=
1
4π
0
_
q
1
q
3
[r
1
−r
3
[
+
q
2
q
3
[r
2
−r
3
[
_
. (4.6)
Thus, the total work done in assembling the three charges is given by
W =
1
4π
0
_
q
1
q
2
[r
1
−r
2
[
+
q
1
q
3
[r
1
−r
3
[
+
q
2
q
3
[r
2
−r
3
[
_
. (4.7)
This result can easily be generalized to N charges:
W =
1
4π
0
N
i=1
N
j>i
q
i
q
j
[r
i
−r
j
[
. (4.8)
The restriction that j must be greater than i makes the above summation rather
messy. If we were to sum without restriction (other than j ,= i) then each pair
of charges would be counted twice. It is convenient to do just this and then to
divide the result by two. Thus,
W =
1
2
1
4π
0
N
i=1
N
j=1
j=i
q
i
q
j
[r
i
−r
j
[
. (4.9)
This is the potential energy (i.e., the diﬀerence between the total energy and the
kinetic energy) of a collection of charges. We can think of this as the work needed
to bring static charges from inﬁnity and assemble them in the required formation.
Alternatively, this is the kinetic energy which would be released if the collection
147
were dissolved and the charges returned to inﬁnity. But where is this potential
energy stored? Let us investigate further.
Equation (4.9) can be written
W =
1
2
N
i=1
q
i
φ
i
, (4.10)
where
φ
i
=
1
4π
0
N
j=1
j=i
q
j
[r
i
−r
j
[
(4.11)
is the scalar potential experienced by the i th charge due to the other charges in
the distribution.
Let us now consider the potential energy of a continuous charge distribution.
It is tempting to write
W =
1
2
_
ρ φd
3
r, (4.12)
by analogy with Eqs. (4.10) and (4.11), where
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
(4.13)
is the familiar scalar potential generated by a continuous charge distribution. Let
us try this out. We know from Poisson’s equation that
ρ =
0
∇E, (4.14)
so Eq. (4.12) can be written
W =
0
2
_
φ∇Ed
3
r. (4.15)
Vector ﬁeld theory yields the standard result
∇ (Eφ) = φ∇E +E∇φ. (4.16)
148
However, ∇φ = −E, so we obtain
W =
0
2
__
∇(Eφ) d
3
r +
_
E
2
d
3
r
_
(4.17)
Application of Gauss’ theorem gives
W =
0
2
__
S
φE dS +
_
V
E
2
dV
_
, (4.18)
where V is some volume which encloses all of the charges and S is its bounding
surface. Let us assume that V is a sphere, centred on the origin, and let us
take the limit in which radius r of this sphere goes to inﬁnity. We know that, in
general, the electric ﬁeld at large distances from a bounded charge distribution
looks like the ﬁeld of a point charge and, therefore, falls oﬀ like 1/r
2
. Likewise,
the potential falls oﬀ like 1/r. However, the surface area of the sphere increases
like r
2
. It is clear that in the limit as r → ∞ the surface integral in Eq. (4.18)
falls oﬀ like 1/r and is consequently zero. Thus, Eq. (4.18) reduces to
W =
0
2
_
E
2
d
3
r, (4.19)
where the integral is over all space. This is a very nice result! It tells us that
the potential energy of a continuous charge distribution is stored in the electric
ﬁeld. Of course, we now have to assume that an electric ﬁeld possesses an energy
density
U =
0
2
E
2
. (4.20)
We can easily check that Eq. (4.19) is correct. Suppose that we have a charge
Q which is uniformly distributed within a sphere of radius a. Let us imagine
building up this charge distribution from a succession of thin spherical layers of
inﬁnitesimal thickness. At each stage we gather a small amount of charge from
inﬁnity and spread it over the surface of the sphere in a thin layer from r to r+dr.
We continue this process until the ﬁnal radius of the sphere is a. If q(r) is the
charge in the sphere when it has attained radius r, the work done in bringing a
charge dq to it is
dW =
1
4π
0
q(r) dq
r
. (4.21)
149
This follows from Eq. (4.5) since the electric ﬁeld generated by a spherical charge
distribution (outside itself) is the same as that of a point charge q(r) located at
the origin (r = 0) (see later). If the constant charge density in the sphere is ρ
then
q(r) =
4
3
πr
3
ρ, (4.22)
and
dq = 4πr
2
ρ dr. (4.23)
Thus, Eq. (4.21) becomes
dW =
4π
3
0
ρ
2
r
4
dr. (4.24)
The total work needed to build up the sphere from nothing to radius a is plainly
W =
4π
3
0
ρ
2
_
a
0
r
4
dr =
4π
15
0
ρ
2
a
5
. (4.25)
This can also be written in terms of the total charge Q = (4/3)πa
3
ρ as
W =
3
5
Q
2
4π
0
a
. (4.26)
Now that we have evaluated the potential energy of a spherical charge distri
bution by the direct method, let us work it out using Eq. (4.19). We assume that
the electric ﬁeld is radial and spherically symmetric, so E = E
r
(r) ˆ r. Application
of Gauss’ law
_
S
E dS =
1
0
_
V
ρ dV, (4.27)
where V is a sphere of radius r, yields
E
r
(r) =
Q
4π
0
r
a
3
(4.28)
for r < a, and
E
r
(r) =
Q
4π
0
r
2
(4.29)
150
for r ≥ a. Note that the electric ﬁeld generated outside the charge distribution is
the same as that of a point charge Q located at the origin, r = 0. Equations (4.19),
(4.28), and (4.29) yield
W =
Q
2
8π
0
_
1
a
6
_
a
0
r
4
dr +
_
∞
a
dr
r
2
_
, (4.30)
which reduces to
W =
Q
2
8π
0
a
_
1
5
+ 1
_
=
3
5
Q
2
4π
0
a
. (4.31)
Thus, Eq. (4.19) gives the correct answer.
The reason we have checked Eq. (4.19) so carefully is that on close inspection
it is found to be inconsistent with Eq. (4.10), from which it was supposedly de
rived! For instance, the energy given by Eq. (4.19) is manifestly positive deﬁnite,
whereas the energy given by Eq. (4.10) can be negative (it is certainly negative for
a collection of two point charges of opposite sign). The inconsistency was intro
duced into our analysis when we replaced Eq. (4.11) by Eq. (4.13). In Eq. (4.11)
the selfinteraction of the i th charge with its own electric ﬁeld is excluded whereas
it is included in Eq. (4.13). Thus, the potential energies (4.10) and (4.19) are
diﬀerent because in the former we start from ready made point charges whereas
in the latter we build up the whole charge distribution from scratch. Thus, if
we were to work out the potential energy of a point charge distribution using
Eq. (4.19) we would obtain the energy (4.10) plus the energy required to assem
ble the point charges. What is the energy required to assemble a point charge?
In fact, it is inﬁnite! To see this let us suppose, for the sake of argument, that
our point charges are actually made of charge uniformly distributed over a small
sphere of radius a. According to Eq. (4.26) the energy required to assemble the
i th point charge is
W
i
=
3
5
q
2
i
4π
0
a
. (4.32)
We can think of this as the selfenergy of the i th charge. Thus, we can write
W =
0
2
_
E
2
d
3
r =
1
2
N
i=1
q
i
φ
i
+
N
i=1
W
i
(4.33)
151
which enables us to reconcile Eqs. (4.10) and (4.19). Unfortunately, if our point
charges really are point charges then a → 0 and the selfenergy of each charge
becomes inﬁnite. Thus, the potential energies predicted by Eqs. (4.10) and (4.19)
diﬀer by an inﬁnite amount. What does this all mean? We have to conclude
that the idea of locating electrostatic potential energy in the electric ﬁeld is
inconsistent with the assumption of the existence of point charges. One way out
of this diﬃculty would be to say that all elementary charges, such as electrons, are
not points but instead small distributions of charge. Alternatively, we could say
that our classical theory of electromagnetism breaks down on very small length
scales due to quantum eﬀects. Unfortunately, the quantum mechanical version
of electromagnetism (quantum electrodynamics or QED, for short) suﬀers from
the same inﬁnities in the selfenergies of particles as the classical version. There
is a prescription, called renormalization, for steering round these inﬁnities and
getting ﬁnite answers which agree with experiments to extraordinary accuracy.
However, nobody really understands why this prescription works. The problem
of the inﬁnite selfenergies of charged particles is still unresolved.
4.2 Ohm’s law
We all know the simplest version of Ohm’s law:
V = IR, (4.34)
where V is the voltage drop across a resistor of resistance R when a current I
ﬂows through it. Let us generalize this law so that it is expressed in terms of
E and j rather than V and I. Consider a length l of a conductor of uniform
crosssectional area A with a current I ﬂowing down it. In general, we expect
the electrical resistance of the conductor to be proportional to its length and
inversely proportional to its area (i.e., it is harder to push an electrical current
down a long rather than a short wire, and it is easier to push a current down a
wide rather than a narrow conducting channel.) Thus, we can write
R = η
l
A
. (4.35)
152
The constant η is called the resistivity and is measured in units of ohmmeters.
Ohm’s law becomes
V = η
l
A
I. (4.36)
However, I/A = j
z
(suppose that the conductor is aligned along the zaxis) and
V/l = E
z
, so the above equation reduces to
E
z
= ηj
z
. (4.37)
There is nothing special about the zaxis (in an isotropic conducting medium) so
the previous formula immediately generalizes to
E = η j. (4.38)
This is the vector form of Ohm’s law.
A charge q which moves through a voltage drop V acquires an energy qV
from the electric ﬁeld. In a resistor this energy is dissipated as heat. This type
of heating is called “ohmic heating.” Suppose that N charges per unit time pass
through a resistor. The current ﬂowing is obviously I = Nq. The total energy
gained by the charges, which appears as heat inside the resistor, is
P = N qV = IV (4.39)
per unit time. Thus, the heating power is
P = IV = I
2
R =
V
2
R
. (4.40)
Equations (4.39) and (4.40) generalize to
P = j E = η j
2
, (4.41)
where P is now the power dissipated per unit volume in a resistive medium.
4.3 Conductors
Most (but not all) electrical conductors obey Ohm’s law. Such conductors are
termed “ohmic.” Suppose that we apply an electric ﬁeld to an ohmic conduc
tor. What is going to happen? According to Eq. (4.38) the electric ﬁeld drives
153
currents. These redistribute the charge inside the conductor until the original
electric ﬁeld is canceled out. At this point, the currents stop ﬂowing. It might
be objected that the currents could keep ﬂowing in closed loops. According to
Ohm’s law, this would require a nonzero e.m.f.,
_
E dl, acting around each loop
(unless the conductor is a superconductor, with η = 0). However, we know that
in steadystate
_
C
E dl = 0 (4.42)
around any closed loop C. This proves that a steadystate e.m.f. acting around
a closed loop inside a conductor is impossible. The only other alternative is
j = E = 0 (4.43)
inside a conductor. It immediately follows from Gauss’ law, ∇ E = ρ/
0
, that
ρ = 0. (4.44)
So, there are no electric charges in the interior of a conductor. But, how can
a conductor cancel out an applied electric ﬁeld if it contains no charges? The
answer is that all of the charges reside on the surface of the conductor. In reality,
the charges lie within one or two atomic layers of the surface (see any textbook
on solidstate physics). The diﬀerence in scalar potential between two points P
and Q is simply
φ(Q) −φ(P) =
_
Q
P
∇φ dl = −
_
Q
P
E dl. (4.45)
However, if P and Q lie inside the same conductor then it is clear from Eq. (4.43)
that the potential diﬀerence between P and Q is zero. This is true no matter
where P and Q are situated inside the conductor, so we conclude that the scalar
potential must be uniform inside a conductor. A corollary of this is that the
surface of a conductor is an equipotential (i.e., φ = constant) surface.
Not only is the electric ﬁeld inside a conductor zero. It is also possible to
demonstrate that the ﬁeld within an empty cavity lying inside a conductor is also
zero, provided that there are no charges within the cavity. Let us, ﬁrst of all,
integrate Gauss’ law over a surface S which surrounds the cavity but lies wholly in
154
Conductor
Cavity
S

+
+
+
+





C +
+
+
the conducting material. Since the electric ﬁeld is zero in a conductor, it follows
that zero net charge is enclosed by S. This does not preclude the possibility that
there are equal amounts of positive and negative charges distributed on the inner
surface of the conductor. However, we can easily rule out this possibility using
the steadystate relation
_
C
E dl = 0, (4.46)
for any closed loop C. If there are any electric ﬁeld lines inside the cavity then
they must run from the positive to the negative surface charges. Consider a loop
C which straddles the cavity and the conductor, such as the one shown above. In
the presence of ﬁeld lines it is clear that the line integral of E along that portion
of the loop which lies inside the cavity is nonzero. However, the line integral of
E along that portion of the loop which runs through the conducting material is
obviously zero (since E = 0 inside a conductor). Thus, the line integral of the
ﬁeld around the closed loop C is nonzero. This, clearly contradicts Eq. (4.46).
In fact, this equation implies that the line integral of the electric ﬁeld along any
path which runs through the cavity, from one point on the interior surface of the
conductor to another, is zero. This can only be the case if the electric ﬁeld itself
is zero everywhere inside the cavity. There is one proviso to this argument. The
electric ﬁeld inside a cavity is only zero if the cavity contains no charges. If the
cavity contains charges then our argument fails because it is possible to envisage
155
that the line integral of the electric ﬁeld along many diﬀerent paths across the
cavity could be zero without the ﬁelds along these paths necessarily being zero
(this argument is somewhat inexact; we shall improve it later on).
We have shown that if a cavity is completely enclosed by a conductor then no
stationary distribution of charges outside can ever produce any ﬁelds inside. So,
we can shield a piece of electrical equipment from stray external electric ﬁelds by
placing it inside a metal can. Using similar arguments to those given above, we
can also show that no static distribution of charges inside a closed conductor can
ever produce a ﬁeld outside it. Clearly, shielding works both ways!
E
Conductor
Vacuum
A
Gaussian pillbox
Let us consider some small region on the surface of a conductor. Suppose that
the local surface charge density is σ, and that the electric ﬁeld just outside the
conductor is E. Note that this ﬁeld must be directed normal to the surface of
the conductor. Any parallel component would be shorted out by surface currents.
Another way of saying this is that the surface of a conductor is an equipotential.
We know that ∇φ is always perpendicular to equipotential surfaces, so E = −∇φ
must be locally perpendicular to a conducting surface. Let us use Gauss’ law,
_
S
E dS =
1
0
_
V
ρ dV, (4.47)
where V is a socalled “Gaussian pillbox.” This is a pillbox shaped volume
whose two ends are aligned normal to the surface of the conductor, with the
156
surface running between them, and whose sides are tangential to the surface
normal. It is clear that E is perpendicular to the sides of the box, so the sides
make no contribution to the surface integral. The end of the box which lies inside
the conductor also makes no contribution, since E = 0 inside a conductor. Thus,
the only nonzero contribution to the surface integral comes from the end lying
in free space. This contribution is simply E
⊥
A, where E
⊥
denotes an outward
pointing (from the conductor) normal electric ﬁeld, and A is the crosssectional
area of the box. The charge enclosed by the box is simply σ A, from the deﬁnition
σ
E
E
A
of a surface charge density. Thus, Gauss’ law yields
E
⊥
=
σ
0
(4.48)
as the relationship between the normal electric ﬁeld immediately outside a con
ductor and the surface charge density.
Let us look at the electric ﬁeld generated by a sheet charge distribution a
little more carefully. Suppose that the charge per unit area is σ. By symmetry,
we expect the ﬁeld generated below the sheet to be the mirror image of that
above the sheet (at least, locally). Thus, if we integrate Gauss’ law over a pill
box of cross sectional area A, as shown above, then the two ends both contribute
E
sheet
A to the surface integral, where E
sheet
is the normal electric ﬁeld generated
above and below the sheet. The charge enclosed by the pillbox is just σ A. Thus,
157
Gauss’ law yields a symmetric electric ﬁeld
E
sheet
= +
σ
2
0
above,
E
sheet
= −
σ
2
0
below. (4.49)
So, how do we get the asymmetric electric ﬁeld of a conducting surface, which
is zero immediately below the surface (i.e., inside the conductor) and nonzero
immediately above it? Clearly, we have to add in an external ﬁeld (i.e., a ﬁeld
which is not generated locally by the sheet charge). The requisite ﬁeld is
E
ext
=
σ
2
0
(4.50)
both above and below the charge sheet. The total ﬁeld is the sum of the ﬁeld
generated locally by the charge sheet and the external ﬁeld. Thus, we obtain
E
total
= +
σ
0
above,
E
total
= 0 below, (4.51)
which is in agreement with Eq. (4.48).
The external ﬁeld exerts a force on the charge sheet. The ﬁeld generated
locally by the sheet itself obviously cannot exert a force (the sheet cannot exert
a force on itself!). The force per unit area acting on the surface of the conductor
always acts outward and is given by
p = σE
ext
=
σ
2
2
0
. (4.52)
Thus, there is an electrostatic pressure acting on any charged conductor. This
eﬀect can be visualized by charging up soap bubbles; the additional electrostatic
pressure eventually causes them to burst. The electrostatic pressure can also be
written
p =
0
2
E
2
, (4.53)
where E is the ﬁeld strength immediately above the surface of the conductor. Note
that, according to the above formula, the electrostatic pressure is equivalent to
158
the energy density of the electric ﬁeld immediately outside the conductor. This is
not a coincidence. Suppose that the conductor expands by an average distance dx
due to the electrostatic pressure. The electric ﬁeld is excluded from the region into
which the conductor expands. The volume of this region dV = Adx, where A is
the surface area of the conductor. Thus, the energy of the electric ﬁeld decreases
by an amount dE = U dV = (
0
/2) E
2
dV , where U is the energy density of the
ﬁeld. This decrease in energy can be ascribed to the work which the ﬁeld does
on the conductor in order to make it expand. This work is dW = p Adx, where
p is the force per unit area the ﬁeld exerts on the conductor. Thus, dE = dW,
from energy conservation, giving
p =
0
2
E
2
. (4.54)
This technique for calculating a force given an expression for the energy of a
system as a function of some adjustable parameter is called the principle of virtual
work, and is very useful.
We have seen that an electric ﬁeld is excluded from the inside of the conductor,
but not from the outside, giving rise to a net outward force. We can account for
this by saying that the ﬁeld exerts a negative pressure p = −(
0
/2) E
2
on the
conductor. We know that if we evacuate a metal can then the pressure diﬀerence
between the inside and the outside eventually causes it to implode. Likewise, if
we place the can in a strong electric ﬁeld then the pressure diﬀerence between the
inside and the outside will eventually cause it to explode. How big a ﬁeld do we
need before the electrostatic pressure diﬀerence is the same as that obtained by
evacuating the can? In other words, what ﬁeld exerts a negative pressure of one
atmosphere (i.e., 10
5
newtons per meter squared) on conductors? The answer is
a ﬁeld of strength E ∼ 10
8
volts per meter. Fortunately, this is a rather large
ﬁeld, so there is no danger of your car exploding when you turn on the stereo!
4.4 Boundary conditions on the electric ﬁeld
What are the most general boundary conditions satisﬁed by the electric ﬁeld at
the interface between two mediums; e.g., the interface between a vacuum and a
conductor? Consider an interface P between two mediums A and B. Let us, ﬁrst
159
E
para B
E
para A
l
A
A
B
loop
E
E
perp B
perp A
P
Gaussian pillbox
of all, integrate Gauss’ law,
_
S
E dS =
1
0
_
V
ρ dV, (4.55)
over a Gaussian pillbox S of crosssectional area A whose two ends are locally
parallel to the interface. The ends of the box can be made arbitrarily close
together. In this limit, the ﬂux of the electric ﬁeld out of the sides of the box is
obviously negligible. The only contribution to the ﬂux comes from the two ends.
In fact,
_
S
E dS = (E
⊥A
−E
⊥B
) A, (4.56)
where E
⊥A
is the perpendicular (to the interface) electric ﬁeld in medium A at
the interface, etc. The charge enclosed by the pillbox is simply σ A, where σ is
the sheet charge density on the interface. Note that any volume distribution of
charge gives rise to a negligible contribution to the righthand side of the above
equation in the limit where the two ends of the pillbox are very closely spaced.
Thus, Gauss’ law yields
E
⊥A
−E
⊥B
=
σ
0
(4.57)
at the interface; i.e., the presence of a charge sheet on an interface causes a
discontinuity in the perpendicular component of the electric ﬁeld. What about
160
the parallel electric ﬁeld? Let us integrate Faraday’s law,
_
C
E dl = −
∂
∂t
_
S
B dS, (4.58)
around a rectangular loop C whose long sides, length l, run parallel to the in
terface. The length of the short sides is assumed to be arbitrarily small. The
dominant contribution to the loop integral comes from the long sides:
_
C
E dl = (E
A
−E
B
) l, (4.59)
where E
A
is the parallel (to the interface) electric ﬁeld in medium A at the
interface, etc. The ﬂux of the magnetic ﬁeld through the loop is approximately
B
⊥
A, where B
⊥
is the component of the magnetic ﬁeld which is normal to the
loop, and A is the area of the loop. But, A →0 as the short sides of the loop are
shrunk to zero so, unless the magnetic ﬁeld becomes inﬁnite (we assume that it
does not), the ﬂux also tends to zero. Thus,
E
A
−E
B
= 0; (4.60)
i.e., there can be no discontinuity in the parallel component of the electric ﬁeld
across an interface.
4.5 Capacitors
We can store electrical charge on the surface of a conductor. However, electric
ﬁelds will be generated immediately above the surface. The conductor can only
successfully store charge if it is electrically insulated from its surroundings. Air is
a very good insulator. Unfortunately, air ceases to be an insulator when the elec
tric ﬁeld strength through it exceeds some critical value which is about E
crit
∼ 10
6
volts per meter. This phenomenon, which is called “breakdown,” is associated
with the formation of sparks. The most well known example of the breakdown of
air is during a lightning strike. Clearly, a good charge storing device is one which
holds a large amount of charge but only generates small electric ﬁelds. Such a
device is called a “capacitor.”
161
Consider two thin, parallel, conducting plates of crosssectional area A which
are separated by a small distance d (i.e., d ¸
√
A). Suppose that each plate
carries an equal and opposite charge Q. We expect this charge to spread evenly
over the plates to give an eﬀective sheet charge density σ = ±Q/A on each plate.
Suppose that the upper plate carries a positive charge and that the lower plate
carries a negative charge. According to Eq. (4.49), the ﬁeld generated by the
upper plate is normal to the plate and of magnitude
E
upper
= +
σ
2
0
above,
E
upper
= −
σ
2
0
below. (4.61)
Likewise, the ﬁeld generated by the lower plate is
E
lower
= −
σ
2
0
above,
E
lower
= +
σ
2
0
below. (4.62)
Note that we are neglecting any “leakage” of the ﬁeld at the edges of the plates.
This is reasonable if the plates are closely spaced. The total ﬁeld is the sum of
the two ﬁelds generated by the upper and lower plates. Thus, the net ﬁeld is
normal to the plates and of magnitude
E
⊥
=
σ
0
between,
E
⊥
= 0 otherwise. (4.63)
Since the electric ﬁeld is uniform, the potential diﬀerence between the plates is
simply
V = E
⊥
d =
σ d
0
. (4.64)
It is conventional to measure the capacity of a conductor, or set of conductors, to
store charge but generate small electric ﬁelds in terms of a parameter called the
“capacitance.” This is usually denoted C. The capacitance of a charge storing
162
device is simply the ratio of the charge stored to the potential diﬀerence generated
by the charge. Thus,
C =
Q
V
. (4.65)
Clearly, a good charge storing device has a high capacitance. Incidentally, ca
pacitance is measured in coulombs per volt, or farads. This is a rather unwieldy
unit since good capacitors typically have capacitances which are only about one
millionth of a farad. For a parallel plate capacitor it is clear that
C =
σ A
V
=
0
A
d
. (4.66)
Note that the capacitance only depends on geometric quantities such as the area
and spacing of the plates. This is a consequence of the superposability of elec
tric ﬁelds. If we double the charge on conductors then we double the electric
ﬁelds generated around them and we, therefore, double the potential diﬀerence
between the conductors. Thus, the potential diﬀerence between conductors is al
ways directly proportional to the charge carried; the constant of proportionality
(the inverse of the capacitance) can only depend on geometry.
Suppose that the charge ±Q on each plate is built up gradually by transferring
small amounts of charge from one plate to another. If the instantaneous charge on
the plates is ±q and an inﬁnitesimal amount of positive charge dq is transferred
from the negatively charged plate to the positively charge plate then the work
done is dW = V dq = q dq/C, where V is the instantaneous voltage diﬀerence
between the plates. Note that the voltage diﬀerence is such that it opposes any
increase in the charge on either plate. The total work done in charging the
capacitor is
W =
1
C
_
Q
0
q dq =
Q
2
2C
=
1
2
CV
2
, (4.67)
where use has been made of Eq. (4.65). The energy stored in the capacitor is the
same as the work required to charge up the capacitor. Thus,
W =
1
2
CV
2
. (4.68)
This is a general result which holds for all types of capacitor.
163
The energy of a charged parallel plate capacitor is actually stored in the elec
tric ﬁeld between the plates. This ﬁeld is of approximately constant magnitude
E
⊥
= V/d and occupies a region of volume Ad. Thus, given the energy density
of an electric ﬁeld U = (
0
/2) E
2
, the energy stored in the electric ﬁeld is
W =
0
2
V
2
d
2
Ad =
1
2
CV
2
, (4.69)
where use has been made of Eq. (4.66). Note that Eqs. (4.67) and (4.69) agree.
We all know that if we connect a capacitor across the terminals of a battery then
a transient current ﬂows as the capacitor charges up. The capacitor can then
be placed to one side and, some time later, the stored charge can be used, for
instance, to transiently light a bulb in an electrical circuit. What is interesting
here is that the energy stored in the capacitor is stored as an electric ﬁeld, so
we can think of a capacitor as a device which either stores energy in, or extracts
energy from, an electric ﬁeld.
The idea, which we discussed earlier, that an electric ﬁeld exerts a negative
pressure p = −(
0
/2) E
2
on conductors immediately suggests that the two plates
in a parallel plate capacitor attract one another with a mutual force
F =
0
2
E
2
⊥
A =
1
2
CV
2
d
. (4.70)
It is not necessary to have two oppositely charged conductors in order to make
a capacitor. Consider an isolated sphere of radius a which carries a charge Q.
The radial electric ﬁeld generated outside the sphere is given by
E
r
(r > a) =
Q
4π
0
r
2
. (4.71)
The potential diﬀerence between the sphere and inﬁnity, or, more realistically,
some large, relatively distant reservoir of charge such as the Earth, is
V =
Q
4π
0
a
. (4.72)
Thus, the capacitance of the sphere is
C =
Q
V
= 4π
0
a. (4.73)
164
The energy of a sphere when it carries a charge Q is again given by (1/2) C V
2
. It
can easily be demonstrated that this is really the energy contained in the electric
ﬁeld around the sphere.
Suppose that we have two spheres of radii a and b, respectively, which are
connected by an electric wire. The wire allows charge to move back and forth
between the spheres until they reach the same potential (with respect to inﬁnity).
Let Q be the charge on the ﬁrst sphere and Q
the charge on the second sphere.
Of course, the total charge Q
0
= Q+Q
carried by the two spheres is a conserved
quantity. It follows from Eq. (4.72) that
Q
Q
0
=
a
a +b
,
Q
Q
0
=
b
a +b
. (4.74)
Note that if one sphere is much smaller than the other one, e.g., b ¸a, then the
large sphere grabs most of the charge:
Q
Q
=
a
b
¸1. (4.75)
The ratio of the electric ﬁelds generated just above the surfaces of the two spheres
follows from Eqs. (4.71) and (4.75):
E
b
E
a
=
a
b
. (4.76)
If b ¸a then the ﬁeld just above the smaller sphere is far bigger than that above
the larger sphere. Equation (4.76) is a simple example of a far more general rule.
The electric ﬁeld above some point on the surface of a conductor is inversely
proportional to the local radius of curvature of the surface.
It is clear that if we wish to store signiﬁcant amounts of charge on a conductor
then the surface of the conductor must be made as smooth as possible. Any sharp
spikes on the surface will inevitably have comparatively small radii of curvature.
Intense local electric ﬁelds are generated in these regions. These can easily exceed
the critical ﬁeld for the break down of air, leading to sparking and the eventual
165
loss of the charge on the conductor. Sparking can also be very destructive because
the associated electric currents ﬂow through very localized regions giving rise to
intense heating.
As a ﬁnal example, consider two coaxial conducting cylinders of radii a and
b, where a < b. Suppose that the charge per unit length carried by the inner
and outer cylinders is +q and −q, respectively. We can safely assume that E =
E
r
(r) ˆ r, by symmetry (adopting standard cylindrical polar coordinates). Let us
integrate Gauss’ law over a cylinder of radius r, coaxial with the conductors, and
of length l. For a < r < b we ﬁnd that
2πrl E
r
(r) =
ql
0
, (4.77)
so
E
r
=
q
2π
0
r
(4.78)
for a < r < b. It is fairly obvious that E
r
= 0 if r is not in the range a to b. The
potential diﬀerence between the inner and outer cylinders is
V = −
_
inner
outer
E dl =
_
outer
inner
E dl
=
_
b
a
E
r
dr =
q
2π
0
_
b
a
dr
r
, (4.79)
so
V =
q
2π
0
ln
b
a
. (4.80)
Thus, the capacitance per unit length of the two cylinders is
C =
q
V
=
2π
0
lnb/a
. (4.81)
This is a particularly useful result which we shall need later on in this course.
166
4.6 Poisson’s equation
We know that in steady state we can write
E = −∇φ, (4.82)
with the scalar potential satisfying Poisson’s equation
∇
2
φ = −
ρ
0
. (4.83)
We even know the general solution to this equation:
φ(r) =
1
4π
0
_
ρ(r
)
[r −r
[
d
3
r
. (4.84)
So, what else is there to say about Poisson’s equation? Well, consider a positive
(say) point charge in the vicinity of an uncharged, insulated, conducting sphere.
The charge attracts negative charges to the near side of the sphere and repels
positive charges to the far side. The surface charge distribution induced on the
sphere is such that it is maintained at a constant electrical potential. We now have
a problem. We cannot use formula (4.84) to work out the potential φ(r) around
the sphere, since we do not know how the charges induced on the conducting
surface are distributed. The only things which we know about the surface of
the sphere are that it is an equipotential and carries zero net charge. Clearly,
in the presence of conducting surfaces the solution (4.84) to Poisson’s equation
is completely useless. Let us now try to develop some techniques for solving
Poisson’s equation which allow us to solve real problems (which invariably involve
conductors).
4.7 The uniqueness theorem
We have already seen the great value of the uniqueness theorem for Poisson’s
equation (or Laplace’s equation) in our discussion of Helmholtz’s theorem (see
Section 3.10). Let us now examine this theorem in detail.
Consider a volume V bounded by some surface S. Suppose that we are given
the charge density ρ throughout V and the value of the scalar potential φ
S
on S.
167
Is this suﬃcient information to uniquely specify the scalar potential throughout
V ? Suppose, for the sake of argument, that the solution is not unique. Let there
be two potentials φ
1
and φ
2
which satisfy
∇
2
φ
1
= −
ρ
0
,
∇
2
φ
2
= −
ρ
0
(4.85)
throughout V , and
φ
1
= φ
S
,
φ
2
= φ
S
(4.86)
on S. We can form the diﬀerence between these two potentials:
φ
3
= φ
1
−φ
2
. (4.87)
The potential φ
3
clearly satisﬁes
∇
2
φ
3
= 0 (4.88)
throughout V , and
φ
3
= 0 (4.89)
on S.
According to vector ﬁeld theory
∇ (φ
3
∇φ
3
) = (∇φ
3
)
2
+φ
3
∇
2
φ
3
. (4.90)
Thus, using Gauss’ theorem
_
V
_
(∇φ
3
)
2
+φ
3
∇
2
φ
3
_
dV =
_
S
φ
3
∇φ
3
dS. (4.91)
But, ∇
2
φ
3
= 0 throughout V and φ
3
= 0 on S, so the above equation reduces to
_
V
(∇φ
3
)
2
dV = 0. (4.92)
168
Note that (∇φ
3
)
2
is a positive deﬁnite quantity. The only way in which the
volume integral of a positive deﬁnite quantity can be zero is if that quantity itself
is zero throughout the volume. This is not necessarily the case for a nonpositive
deﬁnite quantity; we could have positive and negative contributions from various
regions inside the volume which cancel one another out. Thus, since (∇φ
3
)
2
is
positive deﬁnite it follows that
φ
3
= constant (4.93)
throughout V . However, we know that φ
3
= 0 on S, so we get
φ
3
= 0 (4.94)
throughout V . In other words,
φ
1
= φ
2
(4.95)
throughout V and on S. Our initial assumption that φ
1
and φ
2
are two diﬀerent
solutions of Laplace’s equations, satisfying the same boundary conditions, turns
out to be incorrect.
The fact that the solutions to Poisson’s equation are unique is very useful.
It means that if we ﬁnd a solution to this equation—no matter how contrived
the derivation—then this is the only possible solution. One immediate use of the
uniqueness theorem is to prove that the electric ﬁeld inside an empty cavity in a
conductor is zero. Recall that our previous proof of this was rather involved, and
was also not particularly rigorous (see Section 4.3). We know that the interior
surface of the conductor is at some constant potential V , say. So, we have φ = V
on the boundary of the cavity and ∇
2
φ = 0 inside the cavity (since it contains
no charges). One rather obvious solution to these equations is φ = V throughout
the cavity. Since the solutions to Poisson’s equation are unique this is the only
solution. Thus,
E = −∇φ = −∇V = 0 (4.96)
inside the cavity.
Suppose that some volume V contains a number of conductors. We know that
the surface of each conductor is an equipotential, but, in general, we do not know
what potential each surface is at (unless we are speciﬁcally told that it is earthed,
169
etc.). However, if the conductors are insulated it is plausible that we might
know the charge on each conductor. Suppose that there are N conductors, each
carrying a charge Q
i
(i = 1 to N), and suppose that the region V containing these
conductors is ﬁlled by a known charge density ρ and bounded by some surface S
which is either inﬁnity or an enclosing conductor. Is this enough information to
uniquely specify the electric ﬁeld throughout V ?
Well, suppose that it is not enough information, so that there are two ﬁelds
E
1
and E
2
which satisfy
∇ E
1
=
ρ
0
,
∇ E
2
=
ρ
0
(4.97)
throughout V , with
_
S
i
E
1
dS
i
=
Q
i
0
,
_
S
i
E
2
dS
i
=
Q
i
0
(4.98)
on the surface of the ith conductor, and, ﬁnally,
_
S
E
1
dS
i
=
Q
total
0
,
_
S
E
2
dS
i
=
Q
total
0
(4.99)
over the bounding surface, where
Q
total
=
N
i=1
Q
i
+
_
V
ρ dV (4.100)
is the total charge contained in volume V .
Let us form the diﬀerence ﬁeld
E
3
= E
1
−E
2
. (4.101)
170
It is clear that
∇ E
3
= 0 (4.102)
throughout V , and
_
S
i
E
3
dS
i
= 0 (4.103)
for all i, with
_
S
E
3
dS = 0. (4.104)
Now, we know that each conductor is at a constant potential, so if
E
3
= −∇φ
3
, (4.105)
then φ
3
is a constant on the surface of each conductor. Furthermore, if the outer
surface S is inﬁnity then φ
1
= φ
2
= φ
3
= 0 on this surface. If the outer surface
is an enclosing conductor then φ
3
is a constant on this surface. Either way, φ
3
is
constant on S.
Consider the vector identity
∇ (φ
3
E
3
) = φ
3
∇ E
3
+E
3
∇φ
3
. (4.106)
We have ∇ E
3
= 0 throughout V and ∇φ
3
= −E
3
, so the above identity reduces
to
∇ (φ
3
E
3
) = −E
2
3
(4.107)
throughout V . Integrating over V and making use of Gauss’ theorem yields
_
V
E
2
3
dV = −
N
i=1
_
S
i
φ
3
E
3
dS
i
−
_
S
φ
3
E
3
dS. (4.108)
However, φ
3
is a constant on the surfaces S
i
and S. So, making use of Eqs. (4.103)
and (4.104), we obtain
_
V
E
2
3
dV = 0. (4.109)
171
Of course, E
2
3
is a positive deﬁnite quantity, so the above relation implies that
E
3
= 0 (4.110)
throughout V ; i.e., the ﬁelds E
1
and E
2
are identical throughout V .
It is clear that, for a general electrostatic problem involving charges and con
ductors, if we are given either the potential at the surface of each conductor or
the charge carried by each conductor (plus the charge density throughout the
volume, etc.) then we can uniquely determine the electric ﬁeld. There are many
other uniqueness theorems which generalize this result still further; i.e., we could
be given the potential of some of the conductors and the charge carried by the
others and the solution would still be unique.
4.8 The classical image problem
So, how do we actually solve Poisson’s equation,
∂
2
φ
∂x
2
+
∂
2
φ
∂y
2
+
∂
2
φ
∂z
2
= −
ρ(x, y, z)
0
, (4.111)
in practice? In general, the answer is that we use a computer. However, there
are a few situations, possessing a high degree of symmetry, where it is possible
to ﬁnd analytic solutions. Let us discuss some of these solutions.
Suppose that we have a point charge q held a distance d from an inﬁnite,
grounded, conducting plate. Let the plate lie in the xy plane and suppose that
the point charge is located at coordinates (0, 0, d). What is the scalar potential
above the plane? This is not a simple question because the point charge induces
surface charges on the plate, and we do not know how these are distributed.
What do we know in this problem? We know that the conducting plate is
an equipotential. In fact, the potential of the plate is zero, since it is grounded.
We also know that the potential at inﬁnity is zero (this is our usual boundary
condition for the scalar potential). Thus, we need to solve Poisson’s equation in
the region z > 0, for a single point charge q at position (0, 0, d), subject to the
172
boundary conditions
φ(z = 0) = 0, (4.112)
and
φ →∞ (4.113)
as x
2
+ y
2
+ z
2
→ ∞. Let us forget about the real problem, for a minute, and
concentrate on a slightly diﬀerent one. We refer to this as the analogue problem.
In the analogue problem we have a charge q located at (0, 0, d) and a charge −q
located at (0, 0, d) with no conductors present. We can easily ﬁnd the scalar
potential for this problem, since we know where all the charges are located. We
get
φ
analogue
(x, y, z) =
1
4π
0
_
q
_
x
2
+y
2
+ (z −d)
2
−
q
_
x
2
+y
2
+ (z +d)
2
_
.
(4.114)
Note, however, that
φ
analogue
(z = 0) = 0, (4.115)
and
φ
analogue
→0 (4.116)
as x
2
+ y
2
+ z
2
→ ∞. In addition, φ
analogue
satisﬁes Poisson’s equation for a
charge at (0, 0, d), in the region z > 0. Thus, φ
analogue
is a solution to the
problem posed earlier, in the region z > 0. Now, the uniqueness theorem tells
us that there is only one solution to Poisson’s equation which satisﬁes a given,
wellposed set of boundary conditions. So, φ
analogue
must be the correct potential
in the region z > 0. Of course, φ
analogue
is completely wrong in the region z < 0.
We know this because the grounded plate shields the region z < 0 from the point
charge, so that φ = 0 in this region. Note that we are leaning pretty heavily on
the uniqueness theorem here! Without this theorem, it would be hard to convince
a skeptical person that φ = φ
analogue
is the correct solution in the region z > 0.
Now that we know the potential in the region z > 0, we can easily work out the
distribution of charges induced on the conducting plate. We already know that
the relation between the electric ﬁeld immediately above a conducting surface
and the density of charge on the surface is
E
⊥
=
σ
0
. (4.117)
173
In this case,
E
⊥
= E
z
(z = 0
+
) = −
∂φ(z = 0
+
)
∂z
= −
∂φ
analogue
(z = 0
+
)
∂z
, (4.118)
so
σ = −
0
∂φ
analogue
(z = 0
+
)
∂z
. (4.119)
It follows from Eq. (4.114) that
∂φ
∂z
=
q
4π
0
_
−(z −d)
[x
2
+y
2
+ (z −d)
2
]
3/2
+
(z +d)
[x
2
+y
2
+ (z +d)
2
]
3/2
_
, (4.120)
so
σ(x, y) = −
qd
2π(x
2
+y
2
+d
2
)
3/2
. (4.121)
Clearly, the charge induced on the plate has the opposite sign to the point charge.
The charge density on the plate is also symmetric about the zaxis, and is largest
where the plate is closest to the point charge. The total charge induced on the
plate is
Q =
_
x−y plane
σ dS, (4.122)
which yields
Q = −
qd
2π
_
∞
0
2πr dr
(r
2
+d
2
)
3/2
, (4.123)
where r
2
= x
2
+y
2
. Thus,
Q = −
qd
2
_
∞
0
dk
(k +d
2
)
3/2
= qd
_
1
(k +d
2
)
1/2
_
∞
0
= −q. (4.124)
So, the total charge induced on the plate is equal and opposite to the point charge
which induces it.
Our point charge induces charges of the opposite sign on the conducting plate.
This, presumably, gives rise to a force of attraction between the charge and the
plate. What is this force? Well, since the potential, and, hence, the electric ﬁeld,
in the vicinity of the point charge is the same as in the analogue problem then
174
the force on the charge must be the same as well. In the analogue problem there
are two charges ±q a net distance 2d apart. The force on the charge at position
(0, 0, d) (i.e., the real charge) is
F = −
1
4π
0
q
2
(2d)
2
ˆ z. (4.125)
What, ﬁnally, is the potential energy of the system. For the analogue problem
this is just
W
analogue
= −
1
4π
0
q
2
2d
. (4.126)
Note that the ﬁelds on opposite sides of the conducting plate are mirror images of
one another in the analogue problem. So are the charges (apart from the change
in sign). This is why the technique of replacing conducting surfaces by imaginary
charges is called “the method of images.” We know that the potential energy of
a set of charges is equivalent to the energy stored in the electric ﬁeld. Thus,
W =
0
2
_
all space
E
2
dV. (4.127)
In the analogue problem the ﬁelds on either side of the xy plane are mirror
images of one another, so E
2
(x, y, z) = E
2
(x, y, −z). It follows that
W
analogue
= 2
0
2
_
z>0
E
2
analogue
dV. (4.128)
In the real problem
E(z > 0) = E
analogue
(z > 0),
E(z < 0) = 0. (4.129)
So,
W =
0
2
_
z>0
E
2
dV =
0
2
_
z>0
E
2
analogue
dV =
1
2
W
analogue
, (4.130)
giving
W = −
1
4π
0
q
2
4d
. (4.131)
175
There is another method by which we can obtain the above result. Suppose
that the charge is gradually moved towards the plate along the zaxis from inﬁnity
until it reaches position (0, 0, d). How much work is required to achieve this?
We know that the force of attraction acting on the charge is
F
z
= −
1
4π
0
q
2
4z
2
. (4.132)
Thus, the work required to move this charge by dz is
dW = −F
z
dz =
1
4π
0
q
2
4z
2
dz. (4.133)
The total work needed to move the charge from z = ∞ to z = d is
W =
1
4π
0
_
d
∞
q
2
4z
2
dz =
1
4π
0
_
−
q
2
4z
_
d
∞
= −
1
4π
0
q
2
4d
. (4.134)
Of course, this work is equivalent to the potential energy we evaluated earlier,
and is, in turn, the same as the energy contained in the electric ﬁeld.
There are many diﬀerent image problems, each of which involves replacing a
conductor (e.g., a sphere) with an imaginary charge (or charges) which mimics
the electric ﬁeld in some region (but not everywhere). Unfortunately, we do not
have time to discuss any more of these problems.
4.9 Complex analysis
Let us now investigate another “trick” for solving Poisson’s equation (actually it
only solves Laplace’s equation). Unfortunately, this method can only be applied
in two dimensions.
The complex variable is conventionally written
z = x + i y (4.135)
(z should not be confused with a zcoordinate; this is a strictly two dimensional
problem). We can write functions F(z) of the complex variable just like we would
176
write functions of a real variable. For instance,
F(z) = z
2
,
F(z) =
1
z
. (4.136)
For a given function F(z) we can substitute z = x + i y and write
F(z) = U(x, y) + i V (x, y), (4.137)
where U and V are two real two dimensional functions. Thus, if
F(z) = z
2
, (4.138)
then
F(x + i y) = (x + i y)
2
= (x
2
−y
2
) + 2 i xy, (4.139)
giving
U(x, y) = x
2
−y
2
,
V (x, y) = 2xy. (4.140)
We can deﬁne the derivative of a complex function in just the same manner
as we would deﬁne the derivative of a real function. Thus,
dF
dz
=
limδz→∞
F(z +δz) −F(z)
δz
. (4.141)
However, we now have a slight problem. If F(z) is a “well deﬁned” function (we
shall leave it to the mathematicians to specify exactly what being well deﬁned
entails: suﬃce to say that most functions we can think of are well deﬁned) then it
should not matter from which direction in the complex plane we approach z when
taking the limit in Eq. (4.141). There are, of course, many diﬀerent directions we
could approach z from, but if we look at a regular complex function, F(z) = z
2
,
say, then
dF
dz
= 2z (4.142)
177
is perfectly well deﬁned and is, therefore, completely independent of the details
of how the limit is taken in Eq. (4.141).
The fact that Eq. (4.141) has to give the same result, no matter which path
we approach z from, means that there are some restrictions on the functions U
and V in Eq. (4.137). Suppose that we approach z along the real axis, so that
δz = δx. Then,
dF
dz
=
limδx→0
U(x +δx, y) + i V (x +δx, y) −U(x, y) −i V (x, y)
δx
=
∂U
∂x
+ i
∂V
∂x
. (4.143)
Suppose that we now approach z along the imaginary axis, so that δz = i δy.
Then,
dF
dz
=
limδy→0
U(x, y +δy) + i V (x, y +δy) −U(x, y) −i V (x, y)
i δy
= −i
∂U
∂y
+
∂V
∂y
. (4.144)
If F(z) is a well deﬁned function then its derivative must also be well deﬁned,
which implies that the above two expressions are equivalent. This requires that
∂U
∂x
=
∂V
∂y
,
∂V
∂x
= −
∂U
∂y
. (4.145)
These are called the CauchyRiemann equations and are, in fact, suﬃcient to
ensure that all possible ways of taking the limit (4.141) give the same answer.
So far, we have found that a general complex function F(z) can be written
F(z) = U(x, y) + i V (x, y), (4.146)
where z = x +i y. If F(z) is well deﬁned then U and V automatically satisfy the
CauchyRiemann equations:
∂U
∂x
=
∂V
∂y
,
178
∂V
∂x
= −
∂U
∂y
. (4.147)
But, what has all of this got to do with electrostatics? Well, we can combine the
two CauchyRiemann relations. We get
∂
2
U
∂x
2
=
∂
∂x
∂V
∂y
=
∂
∂y
∂V
∂x
= −
∂
∂y
∂U
∂y
, (4.148)
and
∂
2
V
∂x
2
= −
∂
∂x
∂U
∂y
= −
∂
∂y
∂U
∂x
= −
∂
∂y
∂V
∂y
, (4.149)
which reduce to
∂
2
U
∂x
2
+
∂
2
U
∂y
2
= 0,
∂
2
V
∂x
2
+
∂
2
V
∂y
2
= 0. (4.150)
Thus, both U and V automatically satisfy Laplace’s equation in two dimensions;
i.e., both U and V are possible two dimensional scalar potentials in free space.
Consider the two dimensional gradients of U and V :
∇U =
_
∂U
∂x
,
∂U
∂y
_
,
∇V =
_
∂V
∂x
,
∂V
∂y
_
. (4.151)
Now
∇U ∇V =
∂U
∂x
∂V
∂x
+
∂U
∂y
∂V
∂y
. (4.152)
It follows from the CauchyRiemann equations that
∇U ∇V =
∂V
∂y
∂V
∂x
−
∂V
∂x
∂V
∂y
= 0. (4.153)
179
Thus, the contours of U are everywhere perpendicular to the contours of V . It
follows that if U maps out the contours of some free space scalar potential then
V indicates the directions of the associated electric ﬁeld lines, and vice versa.
For every well deﬁned complex function F(z) we can think of, we get two
sets of free space potentials and the associated electric ﬁeld lines. For example,
consider the function F(z) = z
2
, for which
U = x
2
−y
2
,
V = 2xy. (4.154)
These are, in fact, the equations of two sets of orthogonal hyperboloids. So,
y
x
V
U
U = 1
U = 1
U = 0
U = 1
U = 1
U = 0
U(x, y) (the solid lines in the ﬁgure) might represent the contours of some scalar
potential and V (x, y) (the dashed lines in the ﬁgure) the associated electric ﬁeld
lines, or vice versa. But, how could we actually generate a hyperboloidal poten
tial? This is easy. Consider the contours of U at level ±1. These could represent
the surfaces of four hyperboloid conductors maintained at potentials ±1. The
scalar potential in the region between these conductors is given by 1 U(x, y) and
the associated electric ﬁeld lines follow the contours of V (x, y). Note that
E
x
= −
∂φ
∂x
= −1
∂U
∂x
= −21x (4.155)
180
Thus, the xcomponent of the electric ﬁeld is directly proportional to the distance
from the xaxis. Likewise, for the ycomponent of the ﬁeld. This property can
be exploited to make devices (called quadrupole electrostatic lenses) which are
useful for focusing particle beams.
We can think of the set of all possible well deﬁned complex functions as a
reference library of solutions to Laplace’s equation in two dimensions. We have
only considered a single example but there are, of course, very many complex
functions which generate interesting potentials. For instance, F(z) = z
1/2
gener
ates the potential around a semiinﬁnite, thin, grounded, conducting plate placed
in an external ﬁeld, whereas F(z) = z
3/2
yields the potential outside a grounded
rectangular conducting corner under similar circumstances.
4.10 Separation of variables
The method of images and complex analysis are two rather elegant techniques for
solving Poisson’s equation. Unfortunately, they both have an extremely limited
range of application. The ﬁnal technique we shall discuss in this course, namely,
the separation of variables, is somewhat messy but possess a far wider range of
application. Let us examine a speciﬁc example.
Consider two semiinﬁnite, grounded, conducting plates lying parallel to the
xz plane, one at y = 0, and the other at y = π. The left end, at x = 0, is closed
oﬀ by an inﬁnite strip insulated from the two plates and maintained at a speciﬁed
potential φ
0
(y). What is the potential in the region between the plates?
y = 0
y = π
x = 0
x
y
plate
181
We ﬁrst of all assume that the potential is zindependent, since everything
else in the problem is. This reduces the problem to two dimensions. Poisson’s
equation is written
∂
2
φ
∂x
2
+
∂
2
φ
∂y
2
= 0 (4.156)
in the vacuum region between the conductors. The boundary conditions are
φ(x, 0) = 0, (4.157a)
φ(x, π) = 0 (4.157b)
for x > 0, since the two plates are earthed, plus
φ(0, y) = φ
0
(y) (4.158)
for 0 ≤ y ≤ π, and
φ(x, y) →0 (4.159)
as x →∞. The latter boundary condition is our usual one for the scalar potential
at inﬁnity.
The central assumption in the method of separation of variables is that a
multidimensional potential can be written as the product of onedimensional
potentials, so that
φ(x, y) = X(x)Y (y). (4.160)
The above solution is obviously a very special one, and is, therefore, only likely
to satisfy a very small subset of possible boundary conditions. However, it turns
out that by adding together lots of diﬀerent solutions of this form we can match
to general boundary conditions.
Substituting (4.160) into (4.156), we obtain
Y
d
2
Y
dx
2
+X
d
2
Y
dy
2
= 0. (4.161)
Let us now separate the variables; i.e., let us collect all of the xdependent terms
on one side of the equation, and all of the ydependent terms on the other side.
Thus,
1
X
d
2
X
dx
2
= −
1
Y
d
2
Y
dy
2
. (4.162)
182
This equation has the form
f(x) = g(y), (4.163)
where f and g are general functions. The only way in which the above equation
can be satisﬁed, for general x and y, is if both sides are equal to the same constant.
Thus,
1
X
d
2
X
dx
2
= k
2
= −
1
Y
d
2
Y
dy
2
. (4.164)
The reason why we write k
2
, rather than −k
2
, will become apparent later on.
Equation (4.164) separates into two ordinary diﬀerential equations:
d
2
X
dx
2
= k
2
X,
d
2
Y
dy
2
= −k
2
Y. (4.165)
We know the general solution to these equations:
X = Aexp(kx) +Bexp(−kx),
Y = C sinky +Dcos ky, (4.166)
giving
φ = ( Aexp(kx) +Bexp(−kx) )(C sinky +Dcos ky). (4.167)
Here, A, B, C, and D are arbitrary constants. The boundary condition (4.159)
is automatically satisﬁed if A = 0 and k > 0. Note that the choice k
2
, instead of
−k
2
, in Eq. (4.164) facilitates this by making φ either grow or decay monotonically
in the xdirection instead of oscillating. The boundary condition (4.157a) is
automatically satisﬁed if D = 0. The boundary condition (4.157b) is satisﬁed
provided that
sinkπ = 0, (4.168)
which implies that k is a positive integer, n (say). So, our solution reduces to
φ(x, y) = C exp(−nx) sinny, (4.169)
183
where B has been absorbed into C. Note that this solution is only able to satisfy
the ﬁnal boundary condition (4.158) provided φ
0
(y) is proportional to sinny.
Thus, at ﬁrst sight, it would appear that the method of separation of variables
only works for a very special subset of boundary conditions. However, this is not
the case.
Now comes the clever bit! Since Poisson’s equation is linear, any linear com
bination of solutions is also a solution. We can therefore form a more general
solution than (4.169) by adding together lots of solutions involving diﬀerent val
ues of n. Thus,
φ(x, y) =
∞
n=1
C
n
exp(−nx) sinny, (4.170)
where the C
n
are constants. This solution automatically satisﬁes the boundary
conditions (4.157) and (4.159). The ﬁnal boundary condition (4.158) reduces to
φ(0, y) =
∞
n=1
C
n
sinny = φ
0
(y). (4.171)
The question now is what choice of the C
n
ﬁts an arbitrary function φ
0
(y)?
To answer this question we can make use of two very useful properties of the
functions sinny. Namely, that they are mutually orthogonal and form a complete
set. The orthogonality property of these functions manifests itself through the
relation
_
π
0
sinny sinn
y dy =
π
2
δ
nn
, (4.172)
where the function δ
nn
= 1 if n = n
and 0 otherwise is called a Kroenecker delta.
The completeness property of sine functions means that any general function
φ
0
(y) can always be adequately represented as a weighted sum of sine functions
with various diﬀerent n values. Multiplying both sides of Eq. (4.171) by sinn
y
and integrating over y we obtain
∞
n=1
C
n
_
π
0
sinny sinn
y dy =
_
π
0
φ
0
(y) sinn
y dy. (4.173)
184
The orthogonality relation yields
π
2
∞
n=1
C
n
δ
nn
=
π
2
C
n
=
_
π
0
φ
0
(y) sinn
y dy, (4.174)
so
C
n
=
2
π
_
π
0
φ
0
(y) sinny dy. (4.175)
Thus, we now have a general solution to the problem for any driving potential
φ
0
(y).
If the potential φ
0
(y) is constant then
C
n
=
2 φ
0
π
_
π
0
sinny dy =
2 φ
0
nπ
(1 −cos nπ), (4.176)
giving
C
n
= 0 (4.177)
for even n, and
C
n
=
4 φ
0
nπ
(4.178)
for odd n. Thus,
φ(x, y) =
4 φ
0
π
n=1,3,5
exp(−nx) sinnx
n
. (4.179)
This potential can be summed explicitly to give
φ(x, y) =
2φ
0
π
tan
−1
_
siny
sinhx
_
. (4.180)
In this form it is easy to check that Poisson’s equation is obeyed and that all of
the boundary conditions are satisﬁed.
In the above problem we write the potential as the product of one dimensional
functions. Some of these functions grow and decay monotonically (i.e., the ex
ponential functions) and the others oscillate (i.e., the sinusoidal functions). The
185
success of the method depends crucially on the orthogonality and completeness
of the oscillatory functions. A set of functions f
n
(x) is orthogonal if the integral
of the product of two diﬀerent members of the set over some range is always zero:
_
b
a
f
n
(x)f
m
(x) dx = 0, (4.181)
for n ,= m. A set of functions is complete if any other function can be expanded
as a weighted sum of them. It turns out that the scheme set out above can be
generalized to more complicated geometries. For instance, in spherical geome
try the monotonic functions are power law functions of the radial variable and
the oscillatory functions are Legendre polynomials. The latter are both mutually
orthogonal and form a complete set. There are also cylindrical, ellipsoidal, hyper
bolic, toroidal, etc. coordinates. In all cases, the associated oscillating functions
are mutually orthogonal and form a complete set. This implies that the method
of separation of variables is of quite general applicability.
4.11 Inductors
We have now completed our investigation of electrostatics. We should now move
on to magnetostatics—i.e., the study of steady magnetic ﬁelds generated by
steady currents. Let us skip this topic. It contains nothing new (it merely con
sists of the application of Amp`ere’s law and the BiotSavart law) and is also
exceptionally dull!
We have learned about resistance and capacitance. Let us now investigate
inductance. Electrical engineers like to reduce all pieces of electrical apparatus to
an equivalent circuit consisting only of e.m.f. sources (e.g., batteries), inductors,
capacitors, and resistors. Clearly, once we understand inductors we shall be ready
to apply the laws of electromagnetism to real life situations.
Consider two stationary loops of wire, labeled 1 and 2. Let us run a steady
current I
1
around the ﬁrst loop to produce a ﬁeld B
1
. Some of the ﬁeld lines of
B
1
will pass through the second loop. Let Φ
2
be the ﬂux of B
1
through loop 2:
Φ
2
=
_
loop 2
B
1
dS
2
, (4.182)
186
where dS
2
is a surface element of loop 2. This ﬂux is generally quite diﬃcult
to calculate exactly (unless the two loops have a particularly simple geometry).
However, we can infer from the BiotSavart law,
B
1
(r) =
µ
0
I
1
4π
_
loop 1
dl
1
∧ (r −r
)
[r −r
[
3
, (4.183)
that the magnitude of B
1
is proportional to the current I
1
. This is ultimately a
consequence of the linearity of Maxwell’s equations. Here, dl
1
is a line element
of loop 1 located at position vector r
. It follows that the ﬂux Φ
2
must also be
proportional to I
1
. Thus, we can write
Φ
2
= M
21
I
1
, (4.184)
where M
21
is the constant of proportionality. This constant is called the mutual
inductance of the two loops.
Let us write the ﬁeld B
1
in terms of a vector potential A
1
, so that
B
1
= ∇∧ A
1
. (4.185)
It follows from Stokes’ theorem that
Φ
2
=
_
loop 2
B
1
dS
2
=
_
loop 2
∇∧ A
1
dS
2
=
_
loop 2
A
1
dl
2
, (4.186)
where dl
2
is a line element of loop 2. However, we know that
A
1
(r) =
µ
0
I
1
4π
_
loop 1
dl
1
[r −r
[
. (4.187)
The above equation is just a special case of the more general law,
A
1
(r) =
µ
0
4π
_
all space
j(r
)
[r −r
[
d
3
r
, (4.188)
for j(r
) = dl
1
I
1
/dl
1
dA and d
3
r
= dl
1
dA, where dA is the cross sectional area
of loop 1. Thus,
Φ
2
=
µ
0
I
1
4π
_
loop 1
_
loop 2
dl
1
dl
2
[r −r
[
, (4.189)
187
where r is now the position vector of the line element dl
2
of loop 2. The above
equation implies that
M
21
=
µ
0
4π
_
loop 1
_
loop 2
dl
1
dl
2
[r −r
[
. (4.190)
In fact, mutual inductances are rarely worked out from ﬁrst principles—it is
usually too diﬃcult. However, the above formula tells us two important things.
Firstly, the mutual inductance of two loops is a purely geometric quantity, having
to do with the sizes, shapes, and relative orientations of the loops. Secondly, the
integral is unchanged of we switch the roles of loops 1 and 2. In other words,
M
21
= M
12
. (4.191)
In fact, we can drop the subscripts and just call these quantities M. This is a
rather surprising result. It implies that no matter what the shapes and relative
positions of the two loops, the ﬂux through loop 2 when we run a current I
around loop 1 is exactly the same as the ﬂux through loop 1 when we send the
same current around loop 2.
We have seen that a current I ﬂowing around some loop, 1, generates a mag
netic ﬂux linking some other loop, 2. However, ﬂux is also generated through the
ﬁrst loop. As before, the magnetic ﬁeld, and, therefore, the ﬂux Φ, is proportional
to the current, so we can write
Φ = LI. (4.192)
The constant of proportionality L is called the self inductance. Like M it only
depends on the geometry of the loop.
Inductance is measured in S.I. units called henries (H); 1 henry is 1 voltsecond
per ampere. The henry, like the farad, is a rather unwieldy unit since most real
life inductors have a inductances of order a microhenry.
Consider a long solenoid of length l and radius r which has N turns per unit
length, and carries a current I. The longitudinal (i.e., directed along the axis of
the solenoid) magnetic ﬁeld within the solenoid is approximately uniform, and is
given by
B = µ
0
NI. (4.193)
188
This result is easily obtained by integrating Amp`ere’s law over a rectangular loop
whose long sides run parallel to the axis of the solenoid, one inside the solenoid
and the other outside, and whose short sides run perpendicular to the axis. The
magnetic ﬂux though each turn of the loop is Bπr
2
= µ
0
NI πr
2
. The total ﬂux
through the solenoid wire, which has Nl turns, is
Φ = Nl µ
0
NI πr
2
. (4.194)
Thus, the self inductance of the solenoid is
L =
Φ
I
= µ
0
N
2
πr
2
l. (4.195)
Note that the self inductance only depends on geometric quantities such as the
number of turns in the solenoid and the area of the coils.
Suppose that the current I ﬂowing through the solenoid changes. We have to
assume that the change is suﬃciently slow that we can neglect the displacement
current and retardation eﬀects in our calculations. This implies that the typical
timescale of the change must be much longer than the time for a light ray to
traverse the circuit. If this is the case then the above formulae remain valid.
A change in the current implies a change in the magnetic ﬂux linking the
solenoid wire, since Φ = LI. According to Faraday’s law, this change generates
an e.m.f. in the coils. By Lenz’s law, the e.m.f. is such as to oppose the change
in the current—i.e., it is a back e.m.f. We can write
V = −
dΦ
dt
= −L
dI
dt
, (4.196)
where V is the generated e.m.f.
Suppose that our solenoid has an electrical resistance R. Let us connect the
ends of the solenoid across the terminals of a battery of e.m.f. V . What is going
to happen? The equivalent circuit is shown below. The inductance and resistance
of the solenoid are represented by a perfect inductor L and a perfect resistor R
connected in series. The voltage drop across the inductor and resistor is equal
to the e.m.f. of the battery, V . The voltage drop across the resistor is simply
189
V
I
R
L
IR, whereas the voltage drop across the inductor (i.e., minus the back e.m.f.) is
LdI/dt. Here, I is the current ﬂowing through the solenoid. It follows that
V = IR +L
dI
dt
. (4.197)
This is a diﬀerential equation for the current I. We can rearrange it to give
dI
dt
=
V
L
−
R
L
I. (4.198)
The general solution is
I(t) =
V
R
+k exp(−Rt/L). (4.199)
The constant k is ﬁxed by the boundary conditions. Suppose that the battery is
connected at time t = 0, when I = 0. It follows that k = −V/R, so that
I(t) =
V
R
(1 −exp(−Rt/L) ) . (4.200)
It can be seen from the diagram that after the battery is connected the current
ramps up and attains its steady state value V/R (which comes from Ohm’s law)
on the characteristic timescale
τ =
L
R
. (4.201)
190
0
V / R
I

>
L / R
0
t >
This timescale is sometimes called the “time constant” of the circuit, or, some
what unimaginatively, the “L/R time” of the circuit.
We can now appreciate the signiﬁcance of self inductance. The back e.m.f.
generated in an inductor, as the current tries to change, eﬀectively prevents the
current from rising (or falling) much faster than the L/R time. This eﬀect is
sometimes advantageous, but often it is a great nuisance. All circuit elements
possess some self inductance, as well as some resistance, so all have a ﬁnite L/R
time. This means that when we power up a circuit the current does not jump
up instantaneously to its steady state value. Instead, the rise is spread out over
the L/R time of the circuit. This is a good thing. If the current were to rise
instantaneously then extremely large electric ﬁelds would be generated by the
sudden jump in the magnetic ﬁeld, leading, inevitably, to breakdown and electric
arcing. So, if there were no such thing as self inductance then every time you
switched an electric circuit on or oﬀ there would be a big blue ﬂash due to arcing
between conductors. Self inductance can also be a bad thing. Suppose that we
possess a fancy power supply, and we want to use it to send an electric signal down
a wire (or transmission line). Of course, the wire or transmission line will possess
both resistance and inductance, and will, therefore, have some characteristic L/R
time. Suppose that we try to send a square wave signal down the line. Since
the current in the line cannot rise or fall faster than the L/R time, the leading
and trailing edges of the signal get smoothed out over an L/R time. The typical
191
diﬀerence between the signal fed into the wire (upper trace) and that which comes
out of the other end (lower trace) is illustrated in the diagram below. Clearly,
there is little point having a fancy power supply unless you also possess a low
inductance wire or transmission line, so that the signal from the power supply
can be transmitted to some load device without serious distortion.
0
V
0
V
τ
Consider, now, two long thin solenoids, one wound on top of the other. The
length of each solenoid is l, and the common radius is r. Suppose that the
bottom coil has N
1
turns per unit length and carries a current I
1
. The magnetic
ﬂux passing through each turn of the top coil is µ
0
N
1
I
1
πr
2
, and the total ﬂux
linking the top coil is therefore Φ
2
= N
2
l µ
0
N
1
I
1
πr
2
, where N
2
is the number of
turns per unit length in the top coil. It follows that the mutual inductance of the
two coils, deﬁned Φ
2
= MI
1
, is given by
M = µ
0
N
1
N
2
πr
2
l. (4.202)
Recall that the self inductance of the bottom coil is
L
1
= µ
0
N
2
1
πr
2
l, (4.203)
and that of the top coil is
L
2
= µ
0
N
2
2
πr
2
l. (4.204)
192
Hence, the mutual inductance can be written
M =
_
L
1
L
2
. (4.205)
Note that this result depends on the assumption that all of the ﬂux produced
by one coil passes through the other coil. In reality, some of the ﬂux “leaks”
out, so that the mutual inductance is somewhat less than that given in the above
formula. We can write
M = k
_
L
1
L
2
, (4.206)
where the constant k is called the “coeﬃcient of coupling” and lies in the range
0 ≤ k ≤ 1.
Suppose that the two coils have resistances R
1
and R
2
. If the bottom coil has
an instantaneous current I
1
ﬂowing through it and a total voltage drop V
1
, then
the voltage drop due to its resistance is I
1
R. The voltage drop due to the back
e.m.f. generated by the self inductance of the coil is L
1
dI
1
/dt. There is also a
back e.m.f. due to the inductive coupling to the top coil. We know that the ﬂux
through the bottom coil due to the instantaneous current I
2
ﬂowing in the top
coil is
Φ
1
= MI
2
. (4.207)
Thus, by Faraday’s law and Lenz’s law the back e.m.f. induced in the bottom coil
is
V = −M
dI
2
dt
. (4.208)
The voltage drop across the bottom coil due to its mutual inductance with the
top coil is minus this expression. Thus, the circuit equation for the bottom coil
is
V
1
= R
1
I
1
+L
1
dI
1
dt
+M
dI
2
dt
. (4.209)
Likewise, the circuit equation for the top coil is
V
2
= R
2
I
2
+L
2
dI
2
dt
+M
dI
1
dt
. (4.210)
Here, V
2
is the total voltage drop across the top coil.
193
Suppose that we suddenly connect a battery of e.m.f. V
1
to the bottom coil
at time t = 0. The top coil is assumed to be open circuited, or connected to
a voltmeter of very high internal resistance, so that I
2
= 0. What is the e.m.f.
generated in the top coil? Since I
2
= 0, the circuit equation for the bottom coil
is
V
1
= R
1
I
1
+L
1
dI
1
dt
, (4.211)
where V
1
is constant, and I
1
(t = 0) = 0. We have already seen the solution to
this equation:
I
1
=
V
1
R
1
(1 −exp(−R
1
t/L
1
) ) . (4.212)
The circuit equation for the top coil is
V
2
= M
dI
1
dt
, (4.213)
giving
V
2
= V
1
M
L
1
exp(−R
1
t/L
1
). (4.214)
It follows from Eq. (4.206) that
V
2
= V
1
k
_
L
2
L
1
exp(−R
1
t/L
1
). (4.215)
Since L
1, 2
∝ N
2
1, 2
, we obtain
V
2
= V
1
k
N
2
N
1
exp(−R
1
t/L
1
). (4.216)
Note that V
2
(t) is discontinuous at t = 0. This is not a problem since the
resistance of the top circuit is inﬁnite, so there is no discontinuity in the current
(and, hence, in the magnetic ﬁeld). But, what about the displacement current,
which is proportional to ∂E/∂t? Surely, this is discontinuous at t = 0 (which is
clearly unphysical)? The crucial point, here, is that we have speciﬁcally neglected
the displacement current in all of our previous analysis, so it does not make much
sense to start worrying about it now. If we had retained the displacement current
in our calculations we would ﬁnd that the voltage in the top circuit jumps up, at
194
0
t >
V

>
2
1
L / R
1
t = 0, on a timescale similar to the light traverse time across the circuit (i.e., the
jump is instantaneous to all intents and purposes, but the displacement current
remains ﬁnite).
Now,
V
2
(t = 0)
V
1
= k
N
2
N
1
, (4.217)
so if N
2
¸ N
1
the voltage in the bottom circuit is considerably ampliﬁed in the
top circuit. This eﬀect is the basis for oldfashioned car ignition systems. A large
voltage spike is induced in a secondary circuit (connected to a coil with very
many turns) whenever the current in a primary circuit (connected to a coil with
not so many turns) is either switched on or oﬀ. The primary circuit is connected
to the car battery (whose e.m.f. is typically 12 volts). The switching is done by
a set of points which are mechanically opened and closed as the engine turns.
The large voltage spike induced in the secondary circuit as the points are either
opened or closed causes a spark to jump across a gap in this circuit. This spark
ignites a petrol/air mixture in one of the cylinders. You might think that the
optimum conﬁguration is to have only one turn in the primary circuit and lots
of turns in the secondary circuit, so that the ratio N
2
/N
1
is made as large as
possible. However, this is not the case. Most of the magnetic ﬁeld lines generated
by a single turn primary coil are likely to miss the secondary coil altogether.
This means that the coeﬃcient of coupling k is small, which reduces the voltage
195
induced in the secondary circuit. Thus, you need a reasonable number of turns
in the primary coil in order to localize the induced magnetic ﬁeld so that it links
eﬀectively with the secondary coil.
4.12 Magnetic energy
Suppose that at t = 0 a coil of inductance L and resistance R is connected across
the terminals of a battery of e.m.f. V . The circuit equation is
V = L
dI
dt
+RI. (4.218)
The power output of the battery is V I. [Every charge q that goes around the
circuit falls through a potential diﬀerence qV . In order to raise it back to the
starting potential, so that it can perform another circuit, the battery must do
work qV . The work done per unit time (i.e., the power) is nqV , where n is the
number of charges per unit time passing a given point on the circuit. But, I = nq,
so the power output is V I.] The total work done by the battery in raising the
current in the circuit from zero at time t = 0 to I
T
at time t = T is
W =
_
T
0
V I dt. (4.219)
Using the circuit equation (4.218), we obtain
W = L
_
T
0
I
dI
dt
dt +R
_
T
0
I
2
dt, (4.220)
giving
W =
1
2
LI
2
T
+R
_
T
0
I
2
dt. (4.221)
The second term on the righthand side represents the irreversible conversion of
electrical energy into heat energy in the resistor. The ﬁrst term is the amount
of energy stored in the inductor at time T. This energy can be recovered af
ter the inductor is disconnected from the battery. Suppose that the battery is
196
disconnected at time T. The circuit equation is now
0 = L
dI
dt
+RI, (4.222)
giving
I = I
T
exp
_
−
R
L
(t −T)
_
, (4.223)
where we have made use of the boundary condition I(T) = I
T
. Thus, the current
decays away exponentially. The energy stored in the inductor is dissipated as
heat in the resistor. The total heat energy appearing in the resistor after the
battery is disconnected is
_
∞
T
I
2
Rdt =
1
2
LI
2
T
, (4.224)
where use has been made of Eq. (4.223). Thus, the heat energy appearing in
the resistor is equal to the energy stored in the inductor. This energy is actually
stored in the magnetic ﬁeld generated around the inductor.
Consider, again, our circuit with two coils wound on top of one another.
Suppose that each coil is connected to its own battery. The circuit equations are
V
1
= R
1
I
1
+L
dI
1
dt
+M
dI
2
dt
,
V
2
= R
2
I
2
+L
dI
2
dt
+M
dI
1
dt
, (4.225)
where V
1
is the e.m.f. of the battery in the ﬁrst circuit, etc. The work done by
the two batteries in increasing the currents in the two circuits from zero at time
0 to I
1
and I
2
at time T, respectively, is
W =
_
T
0
(V
1
I
1
+V
2
I
2
) dt
=
_
T
0
(R
1
I
2
1
+R
2
I
2
2
) dt +
1
2
L
1
I
2
1
+
1
2
L
2
I
2
2
+M
_
T
0
_
I
1
dI
2
dt
+I
2
dI
1
dt
_
dt. (4.226)
197
Thus,
W =
_
T
0
(R
1
I
2
1
+R
2
I
2
2
) dt
+
1
2
L
1
I
2
1
+
1
2
L
2
I
2
2
+MI
1
I
2
. (4.227)
Clearly, the total magnetic energy stored in the two coils is
W
B
=
1
2
L
1
I
2
1
+
1
2
L
2
I
2
2
+MI
1
I
2
. (4.228)
Note that the mutual inductance term increases the stored magnetic energy if
I
1
and I
2
are of the same sign—i.e., if the currents in the two coils ﬂow in the
same direction, so that they generate magnetic ﬁelds which reinforce one another.
Conversely, the mutual inductance term decreases the stored magnetic energy if
I
1
and I
2
are of the opposite sign. The total stored energy can never be negative,
otherwise the coils would constitute a power source (a negative stored energy is
equivalent to a positive generated energy). Thus,
1
2
L
1
I
2
1
+
1
2
L
2
I
2
2
+MI
1
I
2
≥ 0, (4.229)
which can be written
1
2
_
_
L
1
I
1
+
_
L
2
I
2
_
2
−I
1
I
2
(
_
L
1
L
2
−M) ≥ 0, (4.230)
assuming that I
1
I
2
< 0. It follows that
M ≤
_
L
1
L
2
. (4.231)
The equality sign corresponds to the situation where all of the ﬂux generated by
one coil passes through the other. If some of the ﬂux misses then the inequality
sign is appropriate. In fact, the above formula is valid for any two inductively
coupled circuits.
We intimated previously that the energy stored in an inductor is actually
stored in the surrounding magnetic ﬁeld. Let us now obtain an explicit formula
198
for the energy stored in a magnetic ﬁeld. Consider an ideal solenoid. The energy
stored in the solenoid when a current I ﬂows through it is
W =
1
2
LI
2
, (4.232)
where L is the self inductance. We know that
L = µ
0
N
2
πr
2
l, (4.233)
where N is the number of turns per unit length of the solenoid, r the radius, and
l the length. The ﬁeld inside the solenoid is uniform, with magnitude
B = µ
0
NI, (4.234)
and is zero outside the solenoid. Equation (4.232) can be rewritten
W =
B
2
2µ
0
V, (4.235)
where V = πr
2
l is the volume of the solenoid. The above formula strongly
suggests that a magnetic ﬁeld possesses an energy density
U =
B
2
2µ
0
. (4.236)
Let us now examine a more general proof of the above formula. Consider
a system of N circuits (labeled i = 1 to N), each carrying a current I
i
. The
magnetic ﬂux through the ith circuit is written [cf., Eq. (4.186) ]
Φ
i
=
_
B dS
i
=
_
A dl
i
, (4.237)
where B = ∇∧A, and dS
i
and dl
i
denote a surface element and a line element of
this circuit, respectively. The back e.m.f. induced in the ith circuit follows from
Faraday’s law:
V
i
= −
dΦ
i
dt
. (4.238)
199
The rate of work of the battery which maintains the current I
i
in the ith circuit
against this back e.m.f. is
P
i
= I
i
dΦ
i
dt
. (4.239)
Thus, the total work required to raise the currents in the N circuits from zero at
time 0 to I
0 i
at time T is
W =
N
i=1
_
T
0
I
i
dΦ
i
dt
dt. (4.240)
The above expression for the work done is, of course, equivalent to the total
energy stored in the magnetic ﬁeld surrounding the various circuits. This energy
is independent of the manner in which the currents are set up. Suppose, for the
sake of simplicity, that the currents are ramped up linearly, so that
I
i
= I
0 i
t
T
. (4.241)
The ﬂuxes are proportional to the currents, so they must also ramp up linearly:
Φ
i
= Φ
0 i
t
T
. (4.242)
It follows that
W =
N
i=1
_
T
0
I
0 i
Φ
0 i
t
T
2
dt, (4.243)
giving
W =
1
2
_
N
i=1
I
0 i
Φ
0 i
. (4.244)
So, if instantaneous currents I
i
ﬂow in the the N circuits, which link instantaneous
ﬂuxes Φ
i
, then the instantaneous stored energy is
W =
1
2
_
N
i=1
I
i
Φ
i
. (4.245)
200
Equations (4.237) and (4.245) imply that
W =
1
2
N
i=1
I
i
_
A dl
i
. (4.246)
It is convenient, at this stage, to replace our N line currents by N current dis
tributions of small, but ﬁnite, crosssectional area. Equation (4.246) transforms
to
W =
1
2
_
V
A j dV, (4.247)
where V is a volume which contains all of the circuits. Note that for an element
of the ith circuit j = I
i
dl
i
/dl
i
A
i
and dV = dl
i
A
i
, where A
i
is the crosssectional
area of the circuit. Now, µ
0
j = ∇∧B (we are neglecting the displacement current
in this calculation), so
W =
1
2µ
0
_
V
A ∇∧ BdV. (4.248)
According to vector ﬁeld theory,
∇ (A∧ B) = B ∇∧ A−A ∇∧ B, (4.249)
which implies that
W =
1
2µ
0
_
V
(−∇ (A∧ B) +B ∇∧ A) dV. (4.250)
Using Gauss’ theorem and B = ∇∧ A, we obtain
W = −
1
2µ
0
_
S
A∧ B dS +
1
2µ
0
_
V
B
2
dV, (4.251)
where S is the bounding surface of V . Let us take this surface to inﬁnity. It
is easily demonstrated that the magnetic ﬁeld generated by a current loop falls
of like r
−3
at large distances. The vector potential falls oﬀ like r
−2
. However,
the area of surface S only increases like r
2
. It follows that the surface integral is
negligible in the limit r →∞. Thus, the above expression reduces to
W =
_
all space
B
2
2µ
0
dV. (4.252)
201
Since this expression is valid for any magnetic ﬁeld whatsoever, we can conclude
that the energy density of a general magnetic ﬁeld is given by
U =
B
2
2µ
0
. (4.253)
4.13 Energy conservation in electromagnetism
We have seen that the energy density of an electric ﬁeld is given by
U
E
=
0
E
2
2
, (4.254)
whereas the energy density of a magnetic ﬁeld satisﬁes
U
B
=
B
2
2µ
0
. (4.255)
This suggests that the energy density of a general electromagnetic ﬁeld is
U =
0
E
2
2
+
B
2
2µ
0
. (4.256)
We are now in a position to demonstrate that the classical theory of electromag
netism conserves energy. We have already come across one conservation law in
electromagnetism:
∂ρ
∂t
+∇ j = 0. (4.257)
This is the equation of charge conservation. Integrating over some volume V
bounded by a surface S, we obtain
−
∂
∂t
_
V
ρ dV =
_
S
j dS. (4.258)
In other words, the rate of decrease of the charge contained in volume V equals
the net ﬂux of charge across surface S. This suggests that an energy conservation
law for electromagnetism should have the form
−
∂
∂t
_
V
U dV =
_
S
u dS. (4.259)
202
Here, U is the energy density of the electromagnetic ﬁeld and u is the ﬂux of
electromagnetic energy (i.e., energy [u[ per unit time, per unit crosssectional
area, passes a given point in the direction of u). According to the above equation,
the rate of decrease of the electromagnetic energy in volume V equals the net ﬂux
of electromagnetic energy across surface S.
Equation (4.259) is incomplete because electromagnetic ﬁelds can lose or gain
energy by interacting with matter. We need to factor this into our analysis. We
saw earlier (see Section 4.2) that the rate of heat dissipation per unit volume in
a conductor (the socalled ohmic heating rate) is E j. This energy is extracted
from electromagnetic ﬁelds, so the rate of energy loss of the ﬁelds in volume V
due to interaction with matter is
_
V
E j dV . Thus, Eq. (4.259) generalizes to
−
∂
∂t
_
V
U dV =
_
S
u dS +
_
V
E j dV. (4.260)
The above equation is equivalent to
∂U
∂t
+∇ u = −E j. (4.261)
Let us now see if we can derive an expression of this form from Maxwell’s equa
tions.
We start from Amp`ere’s law (including the displacement current):
∇∧ B = µ
0
j +
0
µ
0
∂E
∂t
. (4.262)
Dotting this equation with the electric ﬁeld yields
−E j = −
E ∇∧ B
µ
0
+
0
E
∂E
∂t
. (4.263)
This can be rewritten
−E j = −
E ∇∧ B
µ
0
+
∂
∂t
_
0
E
2
2
_
. (4.264)
Now, from vector ﬁeld theory
∇ (E ∧ B) = B ∇∧ E −E ∇∧ B, (4.265)
203
so
−E j = ∇
_
E ∧ B
µ
0
_
−
B ∇∧ E
µ
0
+
∂
∂t
_
0
E
2
2
_
. (4.266)
Faraday’s law yields
∇∧ E = −
∂B
∂t
, (4.267)
so
−E j = ∇
_
E ∧ B
µ
0
_
+
1
µ
0
B
∂B
∂t
+
∂
∂t
_
0
E
2
2
_
. (4.268)
This can be rewritten
−E j = ∇
_
E ∧ B
µ
0
_
+
∂
∂t
_
0
E
2
2
+
B
2
2µ
0
_
. (4.269)
Thus, we obtain the desired conservation law,
∂U
∂t
+∇ u = −E j, (4.270)
where
U =
0
E
2
2
+
B
2
2µ
0
(4.271)
is the electromagnetic energy density, and
u =
E ∧ B
µ
0
(4.272)
is the electromagnetic energy ﬂux. The latter quantity is usually called the
“Poynting ﬂux” after its discoverer.
Let us see whether our expression for the electromagnetic energy ﬂux makes
sense. We all know that if we stand in the sun we get hot (especially in Texas!).
This occurs because we absorb electromagnetic radiation emitted by the Sun.
So, radiation must transport energy. The electric and magnetic ﬁelds in elec
tromagnetic radiation are mutually perpendicular, and are also perpendicular to
the direction of propagation
ˆ
k (this is a unit vector). Furthermore, B = E/c.
204
Equation (3.232) can easily be transformed into the following relation between
the electric and magnetic ﬁelds of an electromagnetic wave:
E ∧ B =
E
2
c
ˆ
k. (4.273)
Thus, the Poynting ﬂux for electromagnetic radiation is
u =
E
2
µ
0
c
ˆ
k =
0
cE
2
ˆ
k. (4.274)
This expression tells us that electromagnetic waves transport energy along their
direction of propagation, which seems to make sense.
The energy density of electromagnetic radiation is
U =
0
E
2
2
+
B
2
2µ
0
=
0
E
2
2
+
E
2
2µ
0
c
2
=
0
E
2
, (4.275)
using B = E/c. Note that the electric and magnetic ﬁelds have equal energy
densities. Since electromagnetic waves travel at the speed of light, we would
expect the energy ﬂux through one square meter in one second to equal the
energy contained in a volume of length c and unit crosssectional area; i.e., c
times the energy density. Thus,
[u[ = cU =
0
cE
2
, (4.276)
which is in accordance with Eq. (4.274).
4.14 Electromagnetic momentum
We have seen that electromagnetic waves carry energy. It turns out that they also
carry momentum. Consider the following argument, due to Einstein. Suppose
that we have a railroad car of mass M and length L which is free to move in one
dimension. Suppose that electromagnetic radiation of total energy E is emitted
from one end of the car, propagates along the length of the car, and is then
absorbed at the other end. The eﬀective mass of this radiation is m = E/c
2
205
L
M
E
E
x
(from Einstein’s famous relation E = mc
2
). At ﬁrst sight, the process described
above appears to cause the centre of mass of the system to spontaneously shift.
This violates the law of momentum conservation (assuming the railway car is
subject to no external forces). The only way in which the centre of mass of the
system can remain stationary is if the railway car moves in the opposite direction
to the direction of propagation of the radiation. In fact, if the car moves by a
distance x then the centre of mass of the system is the same before and after the
radiation pulse provided that
Mx = mL =
E
c
2
L. (4.277)
It is assumed that m ¸M in this derivation.
But, what actually causes the car to move? If the radiation possesses mo
mentum p then the car will recoil with the same momentum as the radiation is
emitted. When the radiation hits the other end of the car then it acquires mo
206
mentum p in the opposite direction, which stops the motion. The time of ﬂight
of the radiation is L/c. So, the distance traveled by a mass M with momentum
p in this time is
x = vt =
p
M
L
c
, (4.278)
giving
p = Mx
c
L
=
E
c
. (4.279)
Thus, the momentum carried by electromagnetic radiation equals its energy di
vided by the speed of light. The same result can be obtained from the well known
relativistic formula
E
2
= p
2
c
2
+m
2
c
4
(4.280)
relating the energy E, momentum p, and mass m of a particle. According to
quantum theory, electromagnetic radiation is made up of massless particles called
photons. Thus,
p =
E
c
(4.281)
for individual photons, so the same must be true of electromagnetic radiation as
a whole. If follows from Eq. (4.281) that the momentum density g of electromag
netic radiation equals its energy density over c, so
g =
U
c
=
[u[
c
2
=
0
E
2
c
. (4.282)
It is reasonable to suppose that the momentum points along the direction of the
energy ﬂow (this is obviously the case for photons), so the vector momentum
density (which gives the direction as well as the magnitude, of the momentum
per unit volume) of electromagnetic radiation is
g =
u
c
2
. (4.283)
Thus, the momentum density equals the energy ﬂux over c
2
.
Of course, the electric ﬁeld associated with an electromagnetic wave oscillates
rapidly, which implies that the previous expressions for the energy density, en
ergy ﬂux, and momentum density of electromagnetic radiation are also rapidly
207
oscillating. It is convenient to average over many periods of the oscillation (this
average is denoted ¸ )). Thus,
¸U) =
0
E
2
0
2
,
¸u) =
c
0
E
2
0
2
= c ¸U)
ˆ
k, (4.284)
¸g) =
0
E
2
0
2c
ˆ
k =
¸U)
c
ˆ
k,
where the factor 1/2 comes from averaging cos
2
ωt. Here, E
0
is the peak amplitude
of the electric ﬁeld associated with the wave.
Since electromagnetic radiation possesses momentum then it must exert a
force on bodies which absorb (or emit) radiation. Suppose that a body is placed
in a beam of perfectly collimated radiation, which it absorbs completely. The
amount of momentum absorbed per unit time, per unit crosssectional area, is
simply the amount of momentum contained in a volume of length c and unit cross
sectional area; i.e., c times the momentum density g. An absorbed momentum
per unit time, per unit area, is equivalent to a pressure. In other words, the
radiation exerts a pressure cg on the body. Thus, the “radiation pressure” is
given by
p =
0
E
2
2
= ¸U). (4.285)
So, the pressure exerted by collimated electromagnetic radiation is equal to its
average energy density.
Consider a cavity ﬁlled with electromagnetic radiation. What is the radiation
pressure exerted on the walls? In this situation the radiation propagates in all
directions with equal probability. Consider radiation propagating at an angle θ
to the local normal to the wall. The amount of such radiation hitting the wall
per unit time, per unit area, is proportional to cos θ. Moreover, the component
of momentum normal to the wall which the radiation carries is also proportional
to cos θ. Thus, the pressure exerted on the wall is the same as in Eq. (4.285),
except that it is weighted by the average of cos
2
θ over all solid angles in order to
take into account the fact that obliquely propagating radiation exerts a pressure
208
which is cos
2
θ times that of normal radiation. The average of cos
2
θ over all solid
angles is 1/3, so for isotropic radiation
p =
¸U)
3
. (4.286)
Clearly, the pressure exerted by isotropic radiation is one third of its average
energy density.
The power incident on the surface of the Earth due to radiation emitted by
the Sun is about 1300 W/m
2
. So, what is the radiation pressure? Since,
¸[u[) = c ¸U) = 1300 Wm
−2
, (4.287)
then
p = ¸U) · 4 10
−6
Nm
−2
. (4.288)
Here, the radiation is assumed to be perfectly collimated. Thus, the radiation
pressure exerted on the Earth is minuscule (one atmosphere equals about 10
5
N/m
2
). Nevertheless, this small pressure due to radiation is important in outer
space, since it is responsible for continuously sweeping dust particles out of the
solar system. It is quite common for comets to exhibit two separate tails. One
(called the “gas tail”) consists of ionized gas, and is swept along by the solar
wind (a stream of charged particles and magnetic ﬁeld lines emitted by the Sun).
The other (called the “dust tail”) consists of uncharged dust particles, and is
swept radially outward from the Sun by radiation pressure. Two separate tails
are observed if the local direction of the solar wind is not radially outward from
the Sun (which is quite often the case).
The radiation pressure from sunlight is very weak. However, that produced
by laser beams can be enormous (far higher than any conventional pressure which
has ever been produced in a laboratory). For instance, the lasers used in Inertial
Conﬁnement Fusion (e.g., the NOVA experiment in Laurence Livermore National
Laboratory) typically have energy ﬂuxes of 10
18
Wm
−2
. This translates to a
radiation pressure of about 10
4
atmospheres. Obviously, it would not be a good
idea to get in the way of one of these lasers!
209
4.15 The Hertzian dipole
Consider two spherical conductors connected by a wire. Suppose that electric
charge ﬂows periodically back and forth between the spheres. Let q be the charge
on one of the conductors. The system has zero net charge, so the charge on the
other conductor is −q. Let
q(t) = q
0
sinωt. (4.289)
We expect the oscillating current ﬂowing in the wire connecting the two spheres
to generate electromagnetic radiation (see Section 3.23). Let us consider the
simple case where the length of the wire is small compared to the wavelength of
the emitted radiation. If this is the case then the current I ﬂowing between the
conductors has the same phase along the whole length of the wire. It follows that
I(t) =
dq
dt
= I
0
cos ωt, (4.290)
where I
0
= ωq
0
. This type of antenna is called a Hertzian dipole, after the
German physicist Heinrich Hertz.
The magnetic vector potential generated by a current distribution j(r) is
given by the well known formula
A(r, t) =
µ
0
4π
_
[j]
[r −r
[
d
3
r
, (4.291)
where
[f] = f(r
, t −[r −r
[/c). (4.292)
Suppose that the wire is aligned along the zaxis and extends from z = −l/2 to
z = l/2. For a wire of negligible thickness we can replace j(r
, t −[r −r
[/c) d
3
r
by I(r
, t −[r −r
[/c) dz
ˆ z. Thus, A(r, t) = A
z
(r, t) ˆ z and
A
z
(r, t) =
µ
0
4π
_
l/2
−l/2
I(z
, t −[r −z
ˆ z[/c)
[r −z
ˆ z[
dz
. (4.293)
In the region r ¸l
[r −z
ˆ z[ · r (4.294)
210
and
t −[r −z
ˆ z[/c · t −r/c. (4.295)
The maximum error in the latter approximation is ∆t ∼ l/c. This error (which
is a time) must be much less than a period of oscillation of the emitted radiation,
otherwise the phase of the radiation will be wrong. So
l
c
¸
2π
ω
, (4.296)
which implies that l ¸ λ, where λ = 2π c/ω is the wavelength of the emitted
radiation. However, we have already assumed that the length of the wire l is much
less than the wavelength of the radiation, so the above inequality is automatically
satisﬁed. Thus, in the “far ﬁeld” region, r ¸λ, we can write
A
z
(r, t) ·
µ
0
4π
_
l/2
−l/2
I(z
, t −r/c)
r
dz
. (4.297)
This integral is easy to perform since the current is uniform along the length of
the wire. So,
A
z
(r, t) ·
µ
0
l
4π
I(t −r/c)
r
. (4.298)
The scalar potential is most conveniently evaluated using the Lorentz gauge
condition
∇ A = −
0
µ
0
∂φ
∂t
. (4.299)
Now,
∇ A =
∂A
z
∂z
·
µ
0
l
4π
∂I(t −r/c)
∂t
_
−
z
r
2
c
_
+O
_
1
r
2
_
(4.300)
to leading order in r
−1
. Thus,
φ(r, t) ·
l
4π
0
c
z
r
I(t −r/c)
r
. (4.301)
Given the vector and scalar potentials, Eqs. (4.298) and (4.301), respectively,
we can evaluate the associated electric and magnetic ﬁelds using
E = −
∂A
∂t
−∇φ,
211
B = ∇∧ A. (4.302)
Note that we are only interested in radiation ﬁelds, which fall oﬀ like r
−1
with
increasing distance from the source. It is easily demonstrated that
E · −
ωlI
0
4π
0
c
2
sinθ
sin[ω(t −r/c)]
r
ˆ
θ (4.303)
and
B · −
ωlI
0
4π
0
c
3
sinθ
sin[ω(t −r/c)]
r
ˆ
φ. (4.304)
Here, (r, θ, φ) are standard spherical polar coordinates aligned along the zaxis.
The above expressions for the far ﬁeld (i.e., r ¸λ) electromagnetic ﬁelds gener
ated by a localized oscillating current are also easily derived from Eqs. (3.320) and
(3.321). Note that the ﬁelds are symmetric in the azimuthal angle φ. There is no
radiation along the axis of the oscillating dipole (i.e., θ = 0), and the maximum
emission is in the plane perpendicular to this axis (i.e., θ = π/2).
The average power crossing a spherical surface S (whose radius is much greater
than λ) is
P
rad
=
_
S
¸u) dS, (4.305)
where the average is over a single period of oscillation of the wave, and the
Poynting ﬂux is given by
u =
E ∧ B
µ
0
=
ω
2
l
2
I
2
0
16π
2
0
c
3
sin
2
[ω(t −r/c)]
sin
2
θ
r
2
ˆ r. (4.306)
It follows that
¸u) =
ω
2
l
2
I
2
0
32π
2
0
c
3
sin
2
θ
r
2
ˆ r. (4.307)
Note that the energy ﬂux is radially outwards from the source. The total power
ﬂux across S is given by
P
rad
=
ω
2
l
2
I
2
0
32π
2
0
c
3
_
2π
0
dφ
_
π
0
sin
2
θ
r
2
r
2
sin
2
θ dθ. (4.308)
212
Thus,
P
rad
=
ω
2
l
2
I
2
0
12π
0
c
3
. (4.309)
The total ﬂux is independent of the radius of S, as is to be expected if energy is
conserved.
Recall that for a resistor of resistance R the average ohmic heating power is
P
heat
= ¸I
2
R) =
1
2
I
2
0
R, (4.310)
assuming that I = I
0
cos ωt. It is convenient to deﬁne the “radiation resistance”
of a Hertzian dipole antenna:
R
rad
=
P
rad
I
2
0
/2
, (4.311)
so that
R
rad
=
2π
3
0
c
_
l
λ
_
2
, (4.312)
where λ = 2π c/ω is the wavelength of the radiation. In fact,
R
rad
= 789
_
l
λ
_
2
ohms. (4.313)
In the theory of electrical circuits, antennas are conventionally represented as
resistors whose resistance is equal to the characteristic radiation resistance of
the antenna plus its real resistance. The power loss I
2
0
R
rad
/2 associated with
the radiation resistance is due to the emission of electromagnetic radiation. The
power loss I
2
0
R/2 associated with the real resistance is due to ohmic heating of
the antenna.
Note that the formula (4.313) is only valid for l ¸ λ. This suggests that
R
rad
¸R for most Hertzian dipole antennas; i.e., the radiated power is swamped
by the ohmic losses. Thus, antennas whose lengths are much less than that of
the emitted radiation tend to be extremely ineﬃcient. In fact, it is necessary to
have l ∼ λ in order to obtain an eﬃcient antenna. The simplest practical antenna
213
is the “halfwave antenna,” for which l = λ/2. This can be analyzed as a series
of Hertzian dipole antennas stacked on top of one another, each slightly out of
phase with its neighbours. The characteristic radiation resistance of a halfwave
antenna is
R
rad
=
2.44
4π
0
c
= 73 ohms. (4.314)
Antennas can be used to receive electromagnetic radiation. The incoming
wave induces a voltage in the antenna which can be detected in an electrical circuit
connected to the antenna. In fact, this process is equivalent to the emission of
electromagnetic waves by the antenna viewed in reverse. It is easily demonstrated
that antennas most readily detect electromagnetic radiation incident from those
directions in which they preferentially emit radiation. Thus, a Hertzian dipole
antenna is unable to detect radiation incident along its axis, and most eﬃciently
detects radiation incident in the plane perpendicular to this axis. In the theory
of electrical circuits, a receiving antenna is represented as an e.m.f in series with
a resistor. The e.m.f., V
0
cos ωt, represents the voltage induced in the antenna by
the incoming wave. The resistor, R
rad
, represents the power reradiated by the
antenna (here, the real resistance of the antenna is neglected). Let us represent
the detector circuit as a single load resistor R
load
connected in series with the
antenna. The question is: how can we choose R
load
so that the maximum power
is extracted from the wave and transmitted to the load resistor? According to
Ohm’s law:
V
0
cos ωt = I
0
cos ωt (R
rad
+R
load
), (4.315)
where I = I
0
cos ωt is the current induced in the circuit.
The power input to the circuit is
P
in
= ¸V I) =
V
2
0
2(R
rad
+R
load
)
. (4.316)
The power transferred to the load is
P
load
= ¸I
2
R
load
) =
R
load
V
2
0
2(R
rad
+R
load
)
2
. (4.317)
214
The power reradiated by the antenna is
P
rad
= ¸I
2
R
rad
) =
R
rad
V
2
0
2(R
rad
+R
load
)
2
. (4.318)
Note that P
in
= P
load
+ P
rad
. The maximum power transfer to the load occurs
when
∂P
load
∂R
load
=
V
2
0
2
_
R
load
−R
rad
(R
rad
+R
load
)
3
_
= 0. (4.319)
Thus, the maximum transfer rate corresponds to
R
load
= R
res
. (4.320)
In other words, the resistance of the load circuit must match the radiation resis
tance of the antenna. For this optimum case,
P
load
= P
rad
=
V
2
0
8R
rad
=
P
in
2
. (4.321)
So, in the optimum case half of the power absorbed by the antenna is immediately
reradiated. Clearly, an antenna which is receiving electromagnetic radiation is
also emitting it. This is how the BBC catch people who do not pay their television
license fee in England. They have vans which can detect the radiation emitted by
a TV aerial whilst it is in use (they can even tell which channel you are watching!).
For a Hertzian dipole antenna interacting with an incoming wave whose elec
tric ﬁeld has an amplitude E
0
we expect
V
0
= E
0
l. (4.322)
Here, we have used the fact that the wavelength of the radiation is much longer
than the length of the antenna. We have also assumed that the antenna is properly
aligned (i.e., the radiation is incident perpendicular to the axis of the antenna).
The Poynting ﬂux of the incoming wave is
¸u
in
) =
0
cE
2
0
2
, (4.323)
215
whereas the power transferred to a properly matched detector circuit is
P
load
=
E
2
0
l
2
8R
rad
. (4.324)
Consider an idealized antenna in which all incoming radiation incident on some
area A
eﬀ
is absorbed and then magically transferred to the detector circuit with
no reradiation. Suppose that the power absorbed from the idealized antenna
matches that absorbed from the real antenna. This implies that
P
load
= ¸u
in
)A
eﬀ
. (4.325)
The quantity A
eﬀ
is called the “eﬀective area” of the antenna; it is the area of
the idealized antenna which absorbs as much net power from the incoming wave
as the actual antenna. Thus,
P
load
=
E
2
0
l
2
8R
rad
=
0
cE
2
0
2
A
eﬀ
, (4.326)
giving
A
eﬀ
=
l
2
4
0
cR
rad
=
3
8π
λ
2
. (4.327)
It is clear that the eﬀective area of a Hertzian dipole antenna is of order the
wavelength squared of the incoming radiation.
For a properly aligned halfwave antenna
A
eﬀ
= 0.13 λ
2
. (4.328)
Thus, the antenna, which is essentially one dimensional with length λ/2, acts as
if it is two dimensional, with width 0.26 λ, as far as its absorption of incoming
electromagnetic radiation is concerned.
4.16 AC circuits
Alternating current (AC) circuits are made up of e.m.f. sources and three diﬀerent
types of passive element; resistors, inductors, and capacitors, Resistors satisfy
Ohm’s law:
V = IR, (4.329)
216
where R is the resistance, I is the current ﬂowing through the resistor, and V is
the voltage drop across the resistor (in the direction in which the current ﬂows).
Inductors satisfy
V = L
dL
dt
, (4.330)
where L is the inductance. Finally, capacitors obey
V =
q
C
=
_
t
0
I dt
_
C, (4.331)
where C is the capacitance, q is the charge stored on the plate with the more
positive potential, and I = 0 for t < 0. Note that any passive component of a
real electrical circuit can always be represented as a combination of ideal resistors,
inductors, and capacitors.
Let us consider the classic LCR circuit, which consists of an inductor L, a
capacitor C, and a resistor R, all connected in series with an e.m.f. source V .
The circuit equation is obtained by setting the input voltage V equal to the sum
of the voltage drops across the three passive elements in the circuit. Thus,
V = IR +L
dI
dt
+
_
t
0
I dt
_
C. (4.332)
This is an integrodiﬀerential equation which, in general, is quite tricky to solve.
Suppose, however, that both the voltage and the current oscillate at some angular
frequency ω, so that
V (t) = V
0
exp(i ωt),
I(t) = I
0
exp(i ωt), (4.333)
where the physical solution is understood to be the real part of the above expres
sions. The assumed behaviour of the voltage and current is clearly relevant to
electrical circuits powered by the mains voltage (which oscillates at 60 hertz).
Equations (4.332) and (4.333) yield
V
0
exp(i ωt) = I
0
exp(i ωt) R +Li ω I
0
exp(i ωt) +
I
0
exp(i ωt)
i ωC
, (4.334)
217
giving
V
0
= I
0
_
i ωL +
1
i ωC
+R
_
. (4.335)
It is helpful to deﬁne the “impedance” of the circuit;
Z =
V
I
= i ωL +
1
i ωC
+R. (4.336)
Impedance is a generalization of the concept of resistance. In general, the impedance
of an AC circuit is a complex quantity.
The average power output of the e.m.f. source is
P = ¸V (t)I(t)), (4.337)
where the average is taken over one period of the oscillation. Let us, ﬁrst of all,
calculate the power using real (rather than complex) voltages and currents. We
can write
V (t) = V
0
cos ωt,
I(t) = I
0
cos(ωt −θ), (4.338)
where θ is the phase lag of the current with respect to the voltage. It follows that
P = V
0
I
0
_
ωt=2π
ωt=0
cos ωt cos(ωt −θ)
d(ωt)
2π
= V
0
I
0
_
ωt=2π
ωt=0
cos ωt (cos ωt cos θ + sinωt sinθ)
d(ωt)
2π
, (4.339)
giving
P =
1
2
V
0
I
0
cos θ, (4.340)
since ¸cos ωt sinωt) = 0 and ¸cos ωt cos ωt) = 1/2. In complex representation,
the voltage and the current are written
V (t) = V
0
exp(i ωt),
I(t) = I
0
exp[i (ωt −θ)], (4.341)
218
where I
0
and V
0
are assumed to be real quantities. Note that
1
2
(V I
∗
+V
∗
I) = V
0
I
0
cos θ. (4.342)
It follows that
P =
1
4
(V I
∗
+V
∗
I) =
1
2
Re(V I
∗
). (4.343)
Making use of Eq. (4.336), we ﬁnd that
P =
1
2
Re(Z) [I[
2
=
1
2
Re(Z) [V [
2
[Z[
2
. (4.344)
Note that power dissipation is associated with the real part of the impedance.
For the special case of an LCR circuit,
P =
1
2
RI
2
0
. (4.345)
It is clear that only the resistor dissipates energy in this circuit. The inductor
and the capacitor both store energy, but they eventually return it to the circuit
without dissipation.
According to Eq. (4.336), the amplitude of the current which ﬂows in an LCR
circuit for a given amplitude of the input voltage is given by
I
0
=
V
0
[Z[
=
V
0
_
(ωL −1/ωC)
2
+R
2
. (4.346)
The response of the circuit is clearly resonant, peaking at ω = 1/
√
LC, and
reaching 1/
√
2 of the peak value at ω = 1/
√
LC ± R/2L (assuming that R ¸
_
L/C). In fact, LCR circuits are used in radio tuners to ﬁlter out signals whose
frequencies fall outside a given band.
The phase lag of the current with respect to the voltage is given by
θ = arg(Z) = tan
−1
_
ωL −1/ωC
R
_
. (4.347)
219
The phase lag varies from −π/2 for frequencies signiﬁcantly below the resonant
frequency, to zero at the resonant frequency (ω = 1/
√
LC), to π/2 for frequencies
signiﬁcantly above the resonant frequency.
It is clear that in conventional AC circuits the circuit equation reduces to a
simple algebraic equation, and the behaviour of the circuit is summed up by the
impedance Z. The real part of Z tells us the power dissipated in the circuit, the
magnitude of Z gives the ratio of the peak current to the peak voltage, and the
argument of Z gives the phase lag of the current with respect to the voltage.
4.17 Transmission lines
The central assumption made in the analysis of conventional AC circuits is that
the voltage (and, hence, the current) has the same phase throughout the circuit.
Unfortunately, if the circuit is suﬃciently large and the frequency of oscillation
ω is suﬃciently high then this assumption becomes invalid. The assumption of
a constant phase throughout the circuit is reasonable if the wavelength of the
oscillation λ = 2π c/ω is much larger than the dimensions of the circuit. This is
generally not the case in electrical circuits which are associated with communi
cation. The frequencies in such circuits tend to be high and the dimensions are,
almost by deﬁnition, large. For instance, leased telephone lines (the type you at
tach computers to) run at 56 kHz. The corresponding wavelength is about 5 km,
so the constant phase approximation clearly breaks down for long distance calls.
Computer networks generally run at about 10 MHz, corresponding to λ ∼ 30 m.
Thus, the constant phase approximation also breaks down for the computer net
work in this building, which is certainly longer than 30 m. It turns out that you
need a special sort of wire, called a transmission line, to propagate signals around
circuits whose dimensions greatly exceed the wavelength λ. Let us investigate
transmission lines.
An idealized transmission line consists of two parallel conductors of uniform
crosssectional area. The conductors possess a capacitance per unit length C, and
an inductance per unit length L. Suppose that x measures the position along the
line.
220
Consider the voltage diﬀerence between two neighbouring points on the line,
located at positions x and x+δx, respectively. The selfinductance of the portion
of the line lying between these two points is Lδx. This small section of the line
can be thought of as a conventional inductor, and therefore obeys the wellknown
equation
V (x, t) −V (x +δx, t) = Lδx
∂I(x, t)
∂t
, (4.348)
where V (x, t) is the voltage diﬀerence between the two conductors at position x
and time t, and I(x, t) is the current ﬂowing in one of the conductors at position
x and time t [the current ﬂowing in the other conductor is −I(x, t) ]. In the limit
δx →0, the above equation reduces to
∂V
∂x
= −L
∂I
∂t
. (4.349)
Consider the diﬀerence in current between two neighbouring points on the
line, located at positions x and x + δx, respectively. The capacitance of the
portion of the line lying between these two points is C δx. This small section of
the line can be thought of as a conventional capacitor, and therefore obeys the
wellknown equation
_
t
0
I(x, t) dt −
_
t
0
I(x +δx, t) = C δxV (x, t), (4.350)
where t = 0 denotes a time at which the charge stored in either of the conductors
in the region x to x +δx is zero. In the limit δx →0, the above equation yields
∂I
∂x
= −C
∂V
∂t
. (4.351)
Equations (4.349) and (4.351) are generally known as the “telegrapher’s equa
tions,” since an old fashioned telegraph line can be thought of as a primitive
transmission line (telegraph lines consist of a single wire; the other conductor is
the Earth.)
Diﬀerentiating Eq. (4.349) with respect to x, we obtain
∂
2
V
∂x
2
= −L
∂
2
I
∂x∂t
. (4.352)
221
Diﬀerentiating Eq. (4.351) with respect to t yields
∂
2
I
∂x∂t
= −C
∂
2
V
∂t
2
. (4.353)
The above two equations can be combined to give
LC
∂
2
V
∂t
2
=
∂
2
V
∂x
2
. (4.354)
This is clearly a wave equation with wave velocity v = 1/
√
LC. An analogous
equation can be written for the current I.
Consider a transmission line which is connected to a generator at one end
(x = 0) and a resistor R at the other (x = l). Suppose that the generator outputs
a voltage V
0
cos ωt. If follows that
V (0, t) = V
0
cos ωt. (4.355)
The solution to the wave equation (4.354), subject to the above boundary condi
tion, is
V (x, t) = V
0
cos(ωt −kx), (4.356)
where k = ω
√
LC. This clearly corresponds to a wave which propagates from the
generator towards the resistor. Equations (4.349) and (4.356) yield
I(x, t) =
V
0
_
L/C
cos(ωt −kx). (4.357)
For selfconsistency, the resistor at the end of the line must have a particular
value;
R =
V (l, t)
I(l, t)
=
_
L
C
. (4.358)
The socalled “input impedance” of the line is deﬁned
Z
in
=
V (0, t)
I(0, t)
=
_
L
C
. (4.359)
222
Thus, a transmission line terminated by a resistor R =
_
L/R acts very much
like a conventional resistor R = Z
in
in the circuit containing the generator. In
fact, the transmission line could be replaced by an eﬀective resistor R = Z
in
in
the circuit diagram for the generator circuit. The power loss due to this eﬀective
resistor corresponds to power which is extracted from the circuit, transmitted
down the line, and absorbed by the terminating resistor.
The most commonly occurring type of transmission line is a coaxial cable,
which consists of two coaxial cylindrical conductors of radii a and b (with b > a).
We have already shown that the capacitance per unit length of such a cable is
(see Section 4.5)
C =
2π
0
ln(b/a)
. (4.360)
Let us now calculate the inductance per unit length. Suppose that the inner
conductor carries a current I. According to Amp`ere’s law, the magnetic ﬁeld in
the region between the conductors is given by
B
θ
=
µ
0
I
2πr
. (4.361)
The ﬂux linking unit length of the cable is
Φ =
_
b
a
B
θ
dr =
µ
0
I
2π
ln(b/a). (4.362)
Thus, the selfinductance per unit length is
L =
Φ
I
=
µ
0
2π
ln(b/a). (4.363)
The speed of propagation of a wave down a coaxial cable is
v =
1
√
LC
=
1
√
0
µ
0
= c. (4.364)
Not surprisingly, the wave (which is a type of electromagnetic wave) propagates
at the speed of light. The impedance of the cable is given by
Z
0
=
_
L
C
=
_
µ
0
4π
2
0
_
1/2
ln(b/a) = 60 ln(b/a) ohms. (4.365)
223
We have seen that if a transmission line is terminated by a resistor whose
resistance R matches the impedance Z
0
of the line then all the power sent down
the line is absorbed by the resistor. What happens if R ,= Z
0
? The answer is that
some of the power is reﬂected back down the line. Suppose that the beginning
of the line lies at x = −l and the end of the line is at x = 0. Let us consider a
solution
V (x, t) = V
0
exp[i (ωt −kx)] +KV
0
exp[i (ωt +kx)]. (4.366)
This corresponds to a voltage wave of amplitude V
0
which travels down the line
and is reﬂected, with reﬂection coeﬃcient K, at the end of the line. It is easily
demonstrated from the telegrapher’s equations that the corresponding current
waveform is
I(x, t) =
V
0
Z
0
exp[i (ωt −kx)] −
KV
0
Z
0
exp[i (ωt +kx)]. (4.367)
Since the line is terminated by a resistance R at x = 0 we have, from Ohm’s law,
V (0, t)
I(0, t)
= R. (4.368)
This yields an expression for the coeﬃcient of reﬂection,
K =
R −Z
0
R +Z
0
. (4.369)
The input impedance of the line is given by
Z
in
=
V (−l, t)
I(−l, t)
= Z
0
Rcos kl + i Z
0
sinkl
Z
0
cos kl + i Rsinkl
. (4.370)
Clearly, if the resistor at the end of the line is properly matched, so that
R = Z
0
, then there is no reﬂection (i.e., K = 0), and the input impedance of
the line is Z
0
. If the line is short circuited, so that R = 0, then there is total
reﬂection at the end of the line (i.e., K = −1), and the input impedance becomes
Z
in
= i Z
0
tankl. (4.371)
This impedance is purely imaginary, implying that the transmission line absorbs
no net power from the generator circuit. In fact, the line acts rather like a pure
224
inductor or capacitor in the generator circuit (i.e., it can store, but cannot absorb,
energy). If the line is open circuited, so that R → ∞, then there is again total
reﬂection at the end of the line (i.e., K = 1), and the input impedance becomes
Z
in
= i Z
0
tan(kl −π/2). (4.372)
Thus, the open circuited line acts like a closed circuited line which is shorter by
one quarter of a wavelength. For the special case where the length of the line is
exactly one quarter of a wavelength (i.e., kl = π/2), we ﬁnd
Z
in
=
Z
2
0
R
. (4.373)
Thus, a quarter wave line looks like a pure resistor in the generator circuit.
Finally, if the length of the line is much less than the wavelength (i.e., kl ¸ 1)
then we enter the constant phase regime, and Z
in
· R (i.e., we can forget about
the transmission line connecting the terminating resistor to the generator circuit).
Suppose that we want to build a radio transmitter. We can use a half wave
antenna to emit the radiation. We know that in electrical circuits such an antenna
acts like a resistor of resistance 73 ohms (it is more usual to say that the antenna
has an impedance of 73 ohms). Suppose that we buy a 500 kW generator to supply
the power to the antenna. How do we transmit the power from the generator to
the antenna? We use a transmission line, of course. (It is clear that if the distance
between the generator and the antenna is of order the dimensions of the antenna
(i.e., λ/2) then the constant phase approximation breaks down, so we have to
use a transmission line.) Since the impedance of the antenna is ﬁxed at 73 ohms
we need to use a 73 ohm transmission line (i.e., Z
0
= 73 ohms) to connect the
generator to the antenna, otherwise some of the power we send down the line
is reﬂected (i.e., not all of the power output of the generator is converted into
radio waves). If we wish to use a coaxial cable to connect the generator to the
antenna, then it is clear from Eq. (4.365) that the radii of the inner and outer
conductors need to be such that b/a = 3.38.
Suppose, ﬁnally, that we upgrade our transmitter to use a full wave antenna
(i.e., an antenna whose length equals the wavelength of the emitted radiation).
A full wave antenna has a diﬀerent impedance than a half wave antenna. Does
this mean that we have to rip out our original coaxial cable and replace it by
225
one whose impedance matches that of the new antenna? Not necessarily. Let Z
0
be the impedance of the coaxial cable, and Z
1
the impedance of the antenna.
Suppose that we place a quarter wave transmission line (i.e., one whose length is
one quarter of a wavelength) of characteristic impedance Z
1/4
=
√
Z
0
Z
1
between
the end of the cable and the antenna. According to Eq. (4.373) (with Z
0
→
√
Z
0
Z
1
and R → Z
1
) the input impedance of the quarter wave line is Z
in
= Z
0
,
which matches that of the cable. The output impedance matches that of the
antenna. Consequently, there is no reﬂection of the power sent down the cable
to the antenna. A quarter wave line of the appropriate impedance can easily be
fabricated from a short length of coaxial cable of the appropriate b/a.
4.18 Epilogue
Unfortunately, our investigation of the many and varied applications of Maxwell’s
equations must now come to and end, since we have run out of time. Many im
portant topics have been skipped in this course. For instance, we have hardly
mentioned the interaction of electric and magnetic ﬁelds with matter. It turns out
that atoms polarize in the presence of electric ﬁelds. Under many circumstances
this has the eﬀect of increasing the eﬀective permittivity of space; i.e.,
0
→
0
,
where > 1 is called the relative permittivity or dielectric constant of matter.
Magnetic materials (e.g., iron) develop net magnetic moments in the presence
of magnetic ﬁelds. This has the eﬀect of increasing the eﬀective permeability of
space; i.e., µ
0
→ µµ
0
, where µ > 1 is called the relative permeability of mat
ter. More interestingly, matter can reﬂect, transmit, absorb, or eﬀectively slow
down, electromagnetic radiation. For instance, long wavelength radio waves are
reﬂected by charged particles in the ionosphere. Short wavelength waves are not
reﬂected and, therefore, escape to outer space. This explains why it is possible
to receive long wavelength radio transmissions when the transmitter is over the
horizon. This is not possible at shorter wavelengths. For instance, to receive
FM or TV signals the transmitter must be in the line of sight (this explains
the extremely local coverage of such transmitters). Another fascinating topic
is the generation of extremely short wavelength radiation, such as microwaves
and radar. This is usually done by exciting electromagnetic standing waves in
conducting cavities, rather than by using antennas. Finally, we have not men
226
tioned relativity. It turns out, somewhat surprisingly, that Maxwell’s equations
are invariant under the Lorentz transformation. This is essentially because mag
netism is an intrinsically relativistic phenomenon. In relativistic notation the
whole theory of electromagnetism can be summed up in just two equations.
227
1.2
Outline of course
The main topic of this course is Maxwell’s equations. These are a set of eight ﬁrst order partial diﬀerential equations which constitute a complete description of electric and magnetic phenomena. To be more exact, Maxwell’s equations constitute a complete description of the behaviour of electric and magnetic ﬁelds. You are all, no doubt, quite familiar with the concepts of electric and magnetic ﬁelds, but I wonder how many of you can answer the following question. “Do electric and magnetic ﬁelds have a real physical existence or are they just theoretical constructs which we use to calculate the electric and magnetic forces exerted by charged particles on one another?” In trying to formulate an answer to this question we shall, hopefully, come to a better understanding of the nature of electric and magnetic ﬁelds and the reasons why it is necessary to use these concepts in order to fully describe electric and magnetic phenomena. At any given point in space an electric or magnetic ﬁeld possesses two properties, a magnitude and a direction. In general, these properties vary from point to point. It is conventional to represent such a ﬁeld in terms of its components measured with respect to some conveniently chosen set of Cartesian axes (i.e., x, y, and z axes). Of course, the orientation of these axes is arbitrary. In other words, diﬀerent observers may well choose diﬀerent coordinate axes to describe the same ﬁeld. Consequently, electric and magnetic ﬁelds may have diﬀerent components according to diﬀerent observers. We can see that any description of electric and magnetic ﬁelds is going to depend on two diﬀerent things. Firstly, the nature of the ﬁelds themselves and, secondly, our arbitrary choice of the coordinate axes with respect to which we measure these ﬁelds. Likewise, Maxwell’s equations, the equations which describe the behaviour of electric and magnetic ﬁelds, depend on two diﬀerent things. Firstly, the fundamental laws of physics which govern the behaviour of electric and magnetic ﬁelds and, secondly, our arbitrary choice of coordinate axes. It would be nice if we could easily distinguish those elements of Maxwell’s equations which depend on physics from those which only depend on coordinates. In fact, we can achieve this using what mathematicians call vector ﬁeld theory. This enables us to write Maxwell’s equations in a manner which is completely independent of our choice of coordinate axes. As an added bonus, Maxwell’s equations look a lot simpler when written in a coordinate free manner.
2
In fact, instead of eight ﬁrst order partial diﬀerential equations, we only require four such equations using vector ﬁeld theory. It should be clear, by now, that we are going to be using a lot of vector ﬁeld theory in this course. In order to help you with this, I have decided to devote the ﬁrst few lectures of this course to a review of the basic results of vector ﬁeld theory. I know that most of you have already taken a course on this topic. However, that course was taught by somebody from the mathematics department. Mathematicians have their own agenda when it comes to discussing vectors. They like to think of vector operations as a sort of algebra which takes place in an abstract “vector space.” This is all very well, but it is not always particularly useful. So, when I come to review this topic I shall emphasize those aspects of vectors which make them of particular interest to physicists; namely, the fact that we can use them to write the laws of physics in a coordinate free fashion. Traditionally, an upper division college level course on electromagnetic theory is organized as follows. First, there is a lengthy discussion of electrostatics (i.e., electric ﬁelds generated by stationary charge distributions) and all of its applications. Next, there is a discussion of magnetostatics (i.e., magnetic ﬁelds generated by steady current distributions) and all of its applications. At this point, there is usually some mention of the interaction of steady electric and magnetic ﬁelds with matter. Next, there is an investigation of induction (i.e., electric and magnetic ﬁelds generated by time varying magnetic and electric ﬁelds, respectively) and its many applications. Only at this rather late stage in the course is it possible to write down the full set of Maxwell’s equations. The course ends with a discussion of electromagnetic waves. The organization of my course is somewhat diﬀerent to that described above. There are two reasons for this. Firstly, I do not think that the traditional course emphasizes Maxwell’s equations suﬃciently. After all, they are only written down in their full glory more than three quarters of the way through the course. I ﬁnd this a problem because, as I have already mentioned, I think that Maxwell’s equations should be the principal topic of an upper division course on electromagnetic theory. Secondly, in the traditional course it is very easy for the lecturer to fall into the trap of dwelling too long on the relatively uninteresting subject matter at the beginning of the course (i.e., electrostatics and magnetostatics) at the expense of the really interesting material towards the end of the course (i.e., induction,
3
Maxwell’s equations, and electromagnetic waves). I vividly remember that this is exactly what happened when I took this course as an undergraduate. I was very disappointed! I had been looking forward to hearing all about Maxwell’s equations and electromagnetic waves, and we were only able to cover these topics in a hurried and rather cursory fashion because the lecturer ran out of time at the end of the course. My course is organized as follows. The ﬁrst section is devoted to Maxwell’s equations. I shall describe how Maxwell’s equations can be derived from the familiar laws of physics which govern electric and magnetic phenomena, such as Coulomb’s law and Faraday’s law. Next, I shall show that Maxwell’s equations possess propagating wave like solutions, called electromagnetic waves, and, furthermore, that light, radio waves, and Xrays, are all diﬀerent types of electromagnetic wave. Finally, I shall demonstrate that it is possible to write down a formal solution to Maxwell’s equations, given a sensible choice of boundary conditions. The second section of my course is devoted to the applications of Maxwell’s equations. We shall investigate electrostatic ﬁelds generated by stationary charge distributions, conductors, resistors, capacitors, inductors, the energy and momentum carried by electromagnetic ﬁelds, and the generation and transmission of electromagnetic radiation. This arrangement of material gives the proper emphasis to Maxwell’s equations. It also reaches the right balance between the interesting and the more mundane aspects of electromagnetic theory. Finally, it ensures that even if I do run out of time towards the end of the course I shall still have covered Maxwell’s equations and electromagnetic waves in adequate detail. One topic which I am not going to mention at all in my course is the interaction of electromagnetic ﬁelds with matter. It is impossible to do justice to this topic at the college level, which is why I always prefer to leave it to graduate school.
4
are represented by real numbers.
R
Q S
P
→ → → b ≡ QR ≡ P S. whereas scalars possess a magnitude but no direction. vector quantities are denoted by boldfaced characters (e. It is clear from the diagram that vector addition is 5
. Some quantities. denoted vectors. Vector addition can be → → → → → represented using a parallelogram: P R = P Q + QR. vectors just possess a magnitude and a direction. and c ≡ P R. In fact. a) in typeset documents and by underlined characters (e.1
Vector assault course
Vector algebra
In applied mathematics physical quantities are represented by two distinct classes of objects.g. P Q.g. Suppose that a ≡ P Q ≡ SR. Vectors can be added together but the same units must be used. a) in longhand. Note
Q
P
that line elements (and therefore vectors) are movable and do not carry intrinsic position information. are represented by directed line elements: e. denoted scalars.2
2. → Others. like in scalar addition.g. By convention.
commutative: e. 0). say): a ≡ (ax . 0. Unit vectors can be deﬁned in the x. and z directions as i ≡ (1.” If a ≡ (ax . The coordinate approach can also be generalized to curved spaces. naz ). az + bz ). (2. The geometric approach is based on line elements in space. 0. y. nay . There are two approaches to vector analysis. any set of three noncoplanar vectors can be used as basis vectors. ay + by .3) It is clear that vector algebra is distributive with respect to scalar multiplication: e. a + (b + c) = (a + b) + c. Any vector can be written in terms of these unit vectors a = ax i + ay j + az k. The coordinate approach assumes that space is deﬁned by Cartesian coordinates and uses these to characterize vectors. ay .g. n(a + b) = na + nb. In physics we adopt the second approach because we can generalize it to ndimensional spaces without suﬀering brain failure. ay .. az ). It can also be shown that the associative law holds: e. and k ≡ (0. bz ) then vector addition is deﬁned a + b ≡ (ax + bx ..2)
If a is a vector and n is a scalar then the product of a scalar and a vector is deﬁned na ≡ (nax . y.
6
. by . a + b = b + a. 0).1)
Here. az ) and b ≡ (bx . In the coordinate approach a vector is denoted as the row matrix of its components along each of the Cartesian axes (the x. and z axes.. This is necessary in special relativity. (2. (2. ax is the xcoordinate of the “head” of the vector minus the xcoordinate of its “tail. If the three vectors are mutually perpendicular then they are termed orthogonal basis vectors.g. j ≡ (0. as is necessary in general relativity.g. where threedimensional space and onedimensional time combine to form fourdimensional spacetime.4) In mathematical terminology three vectors used in this manner form a basis of the vector space. In fact. 1. 1). (2.
(2. However. = −x sin θ + y cos θ. z) and velocities v= r(t + δt) − r(t) dr = lim .e. These coordinates are related to the previous coordinates via x y z = x cos θ + y sin θ. y. The reason for this is that the magnitude and direction of r are independent of the choice of basis vectors. Eq.6)
Suppose that we transform to new orthogonal basis. = z. It is still denoted r. y . y.. y . In the new basis the coordinates of the general displacement r from the
y
/
y
x/ θ x
origin are (x . and z axes via rotation through an angle θ around the zaxis. they must depend in a very speciﬁc manner [i. δt→0 dt δt (2. which are related to the x. Since any vector can be represented as a displacement from an origin (this is just a special case of a directed line element) it follows that the components of a 7
. The coordinates of r do depend on the choice of basis vectors.5)
(2.7) ] which preserves the magnitude and direction of r. z ). the x . and z axes.Examples of vectors in physics are displacements from an origin r = (x.7)
We do not need to change our notation for the displacement in the new basis. (2.
= az .8)
with similar transformation rules for rotation about the y.8). ax ay az = ax cos θ + ay sin θ. There are.and zaxes. however. Conversely.8). In the coordinate approach Eq. the individual components of a vector (a x .7). ay . = −ax sin θ + ay cos θ. (ax . ay . in the sense determined by the righthand grip rule on the rim. But is it a true vector? We know that if the normal to the surface makes an angle αx with the xaxis then the area 8
. say) are real numbers but they are not scalars. We can deﬁne a vector area S whose magnitude is S and whose direction is perpendicular to the plane. Scalar quantities are invariant under transformation. The three quantities (ax . (2. (2. Thus. Thus. az ) are the components of a vector provided that they transform under rotation like Eq.
2. (2. (2.8). az ) cannot be the components of a vector if they do not transform like Eq. other physical quantities which have both magnitude and direction but which are not obviously related to displacements.8) is the deﬁnition of a vector.general vector a must transform in an analogous manner to Eq. This quantity
S
clearly possesses both magnitude and direction.2
Vector areas
Suppose that we have planar surface of scalar area S. We need to check carefully to see whether these quantities are vectors. (2. Displacement vectors and all vectors derived from displacements automatically satisfy Eq. (2.
(2. by letting the number of plane facets increase and their area reduce. Similarly. a closed surface has S = 0 since it does not possess a rim.10)
If we approach a limit. sin α. two diﬀerent surfaces sharing the same rim both possess the same vector areas. which is the same as the projected area of the rim in the xdirection. 0). If we rotate the basis about the zaxis by θ degrees. (2.9)
which is the correct transformation rule for the xcomponent of a vector. If we limit ourselves to a surface whose normal is perpendicular to the zdirection then αx = π/2 − αy = α. As a corollary. According to the vector addition theorem the projected area of two plane surfaces. for many joined up plane areas the projected area in the xdirection. then we obtain a continuous surface denoted by the resultant vector area: S= δSi . a loop (not all in one plane) has a vector area S which is the resultant of the vector areas of any surface ending on the loop.seen in the xdirection is S cos αx . 9
. then Sx = S cos(α − θ) = S cos α cos θ + S sin α sin θ = Sx cos θ + Sy sin θ. So. The components of S are the projected areas of the loop in the directions of the basis vectors. This is the xcomponent of S. joined together at a line. In conclusion. if the normal makes an angle αy with the yaxis then the area seen in the ydirection is S cos αy . Note that the rim of the surface determines the vector area rather than the nature of the surface. Likewise. It follows that S = S(cos α. which is equivalent to rotating the normal to the surface about the zaxis by −θ degrees.11)
i
It is clear that the projected area of the rim in the xdirection is just S x .
(2. The other components transform correctly as well. This is the ycomponent of S. in the x direction (say) is the xcomponent of the sum of the vector areas. This proves that a vector area is a true vector. is the xcomponent of the resultant of all the vector areas: S=
i
Si .
Suppose that a = (1.8). (2. a · b is a true scalar. 0) 45 √ and b = (1/ 2. Let √ now √ us rotate ◦ the basis through √ about the zaxis. Incidentally. Clearly. vectors? Suppose that we were to deﬁne the “ampersand” product a&b = ax by + ay bz + az bx = scalar number (2. It is easily seen that a&b = 1. Can we form a scalar out of some combination of the components of one. so the above deﬁnition is a bad one. 1. now. Is a&b invariant under transformation.3
The scalar product
A scalar quantity is invariant under all possible rotational transformations. 10 (2. −1/ 2. 0). as must be the case if it is a scalar number? Let us consider an example. the dot product or scalar product: a · b = ax bx + ay by + az bz = scalar number. a · b is the only simple combination of the components of two vectors which transforms like a scalar. so the above deﬁnition is a good one. a&b is not invariant under rotational transformation. or more. (2.13)
Let us rotate the basis though θ degrees about the zaxis. in the new basis a · b takes the form a · b = (ax cos θ + ay sin θ)(bx cos θ + by sin θ) +(−ax sin θ + ay cos θ)(−bx sin θ + by cos θ) + az bz = a x bx + a y by + a z bz .12)
for general vectors a and b.2. Consider. a · b is invariant under rotation about the zaxis. 0. According to Eq. Thus. It can easily be shown that it is also invariant under rotation about the x. 1/ 2. 0). It is easily shown that the dot product is commutative and distributive: a · b = b · a.and yaxes. giving a&b = 1/2. In the new basis. 0) and b = (0.14)
. a · (b + c) = a · b + a · c.15) The associative property is meaningless for the dot product because we cannot have (a · b) · c since a · b is scalar. a = (1/ 2. (2. Clearly. The individual components of a vector are not scalars because they change under transformation.
Note that if a · b = 0 then either 11
. However.We have shown that the dot product a · b is coordinate independent. the invariance of a·b under transformation is equivalent to the invariance of the angle subtended between the two vectors. according to the “cosine rule” of trigonometry (AB)2 = (OA)2 + (OB)2 − 2(OA)(OB) cos θ. (2. The length of vector a is usually denoted a (“the modulus of a”) or sometimes just a.16) a · b = ax2 + ay2 + az2 = Length (OP )2 . But what is the physical signiﬁcance of this? Consider the special case where a = b. It follows that a · b = ab cos θ. if a is the position vector of P relative to the origin O. or magnitude.19) (2. so a · a = a2 = a2 . where (AB) denotes the length of side AB.20) (2. The length squared of AB is (b − a) · (b − a) = a2 + b2 − 2 a · b.17)
B b ba θ O a A
Let us now investigate the general case. So. of vector a under transformation.18)
Clearly. (2. Clearly. the invariance of a · a is equivalent to the invariance of the length. (2.
(2. Clearly. Consider. If the angle subtended between F and r is θ then W = F (r cos θ) = F · r. ax by − ay bx ) = c. 0). ab (2. axb does not transform like a vector because its magnitude depends on the choice of axis. So. However. ay by .a = 0. b = (0. Thus. 1/ 2. now.4
The vector product
We have discovered how to construct a scalar from the components of two general vectors a and b. Can we also construct a vector which is not just a linear combination of a and b? Consider the following deﬁnition: axb = (ax bx . above deﬁnition is a bad one. Rate of ﬂow = v · S. 12 (2. and axb = (1/2. az bz ). if we rotate the √ basis through 45◦ about the zaxis then √ √ √ a = (1/ 2. az bx − ax bz . 0). b = (1/ 2. −1/2. −1/ 2. the cross product or vector product: a ∧ b = (ay bz − az by .21)
The work W performed by a force F moving through a displacement r is the product of the magnitude of F times the displacement in the direction of F . 1. The angle subtended between two vectors can easily be obtained from the dot product: cos θ = a·b . Thus. (2. 0).22)
The rate of ﬂow of liquid of constant velocity v through a loop of vector area S is the product of the magnitude of the area times the component of the velocity perpendicular to the loop. 0).23)
2. (2. b = 0. 0. axb = 0.25)
. or the vectors a and b are perpendicular. 0).24)
Is axb a proper vector? Suppose that a = (1.
distributive: but is not associative: a ∧ (b + c) = a ∧ b + a ∧ c. (2. We can show that a ∧ b is perpendicular to both a and b. and k: i ∧ j = k. (2. Thus.Does this rather unlikely combination transform like a vector? Let us try rotating the basis through θ degrees about the zaxis using Eq. which means that it must have a well deﬁned direction and magnitude. If this is zero then the cross product must be perpendicular to a. Consider a · a ∧ b. a ∧ b is perpendicular to a. We have (a ∧ b)2 = (ay bz − az by )2 + (az bx − ax bz )2 + (ax bz − ay bx )2 = a2 b2 − (a · b)2
= (ax2 + ay2 + az2 )(bx2 + by2 + bz2 ) − (ax bx + ay by + az bz )2 = a2 b2 − a2 b2 cos2 θ = a2 b2 sin2 θ. Likewise. It can easily be shown that the other components transform correctly as well. This deﬁnes a unique direction for a ∧ b. j. a ∧ (b ∧ c) = (a ∧ b) ∧ c. which is obtained from the righthand rule. a ∧ b is a proper vector. In the new basis cx = (−ax sin θ + ay cos θ)bz − az (−bx sin θ + by cos θ) = (ay bz − az by ) cos θ + (az bx − ax bz ) sin θ = cx cos θ + cy sin θ. (2.30) Therefore. it can be demonstrated that a ∧ b is perpendicular to b. the xcomponent of a ∧ b transforms correctly. The cross product is anticommutative: a ∧ b = −b ∧ a. 13 (2.8). and a ∧ b form a righthanded set like the unit vectors i.26) Thus.29) (2.31)
. The vectors a. Let us now evaluate the magnitude of a ∧ b.27)
The cross product transforms like a vector.28) (2. Now a · a ∧ b = ax (ay bz − az by ) + ay (az bx − ax bz ) + az (ax by − ay bx ) = 0. (2. b.
Consider the parallelogram deﬁned by vectors a and b.32)
Clearly. The direction of a moment is conventionally the direction of the axis through O about which the force tries 14
. (2. Suppose that a force F is applied at position r.thumb a^ b
b θ a
Thus.
middle finger index finger
a ∧ b = ab sin θ. The scalar area is ab sin θ.33)
with the sense obtained from the righthand grip rule by rotating a on to b. The vector area has the magnitude of the scalar area and is normal to the plane of the parallelogram. if a ∧ b = 0 then either a = 0. a ∧ a = 0 for any vector. Clearly. Also. the magnitude of the moment is F r sin θ. b = 0. which means that it is perpendicular to both a and b. The moment about the origin O is the product of the magnitude of the force and the length of the lever arm OQ. Thus.
(2. since θ is always zero in this case. or b is parallel (or antiparallel) to a. the vector area is given by
b θ a
S = a ∧ b.
(2. The problem is that the addition of rotations is not commutative. In the lefthand case the zrotation is applied before the xrotation. no. So. in the sense determined by the righthand grip rule. to a sixsided die. whereas vector addition is. and whose direction is the axis of the rotation. Clearly. in the sense determined by the righthand grip rule. It follows that the vector moment is given by M = r ∧ F.F
θ P
r
O
r sinθ
Q
to rotate objects. This noncommuting algebra cannot be represented by vectors. θ. this is not quite the end of the story.5
Rotation
Let us try to deﬁne a rotation vector θ whose magnitude is the angle of the rotation. and the other about the zaxis. and vice versa in the righthand case. Suppose that we take a general
15
. It can be seen that the die ends up in two completely diﬀerent states. Is this a good vector? The short answer is. one about xaxis. But. although rotations have a well deﬁned magnitude and direction they are not vector quantities. The diagram shows the eﬀect of applying two successive 90 ◦ rotations.34)
2. the zrotation plus the xrotation does not equal the xrotation plus the zrotation.
respectively. The above equation can easily be generalized to allow small rotations about the x.36)
.35)
where use has been made of the small angle expansions sin θ θ and cos θ 1.and yaxes by δθx and δθy . We ﬁnd that a a + δθ ∧ a.z x y zaxis xaxis
xaxis
zaxis
vector a and rotate it about the zaxis by a small angle δθ z . (2.8) we have a a + δθz k ∧ a. This is equivalent to rotating the basis about the zaxis by −δθz . (2. 16 (2. According to Eq.
except that a · b ∧ c = −a · c ∧ b. Now. a small zrotation plus a small xrotation is (approximately) equal to the two rotations applied in the opposite order.40)
. (2. and c. a · b ∧ c is the scalar area of this parallelogram times the component of a in the direction of its normal.6
The scalar triple product
Consider three vectors a. This volume is independent of how the triple product is
a c b
formed from a. If a is interpreted as a(t + δt) in the above equation then it is clear that the equation of motion of a vector precessing about the origin with angular velocity ω is da = ω ∧ a.. b ∧ c is the vector area of the parallelogram deﬁned by b and c.39) dt
2.37) Clearly. and c. b. but it only works for small angle rotations (i. According to the above equation. The fact that inﬁnitesimal rotation is a vector implies that angular velocity. The scalar triple product is deﬁned a · b ∧ c. 17 (2. (2.38)
must be a vector as well.where δθ = δθx i + δθy j + δθz k. and c.e. we can deﬁne a rotation vector δθ. δt→0 δt (2. b. b. So. ω = lim δθ . suﬃciently small that the small angle expansions of sine and cosine are good). It follows that a · b ∧ c is the volume of the parallelepiped deﬁned by vectors a.
in the sense determined from the righthand grip rule by rotating b on to c) and negative if they form a lefthanded set.7
The vector triple product
For three vectors a. In fact. then any vector r can be written in terms of them: r = αa + βb + γc. b. and c the vector triple product is deﬁned a ∧ (b ∧ c). and c are noncoplanar.So.44) Forming the dot product of this equation with b ∧ c then we obtain r · b ∧ c = αa · b ∧ c. a · b ∧ c = b · c ∧ a = c · a ∧ b. the “volume” is positive if a. The brackets are important because a ∧ (b ∧ c) = (a ∧ b) ∧ c. (2. b. β. a · b ∧ c = −b · a ∧ c. if a lies above the plane of b and c. so α= (2.e. and γ are uniquely determined provided a · b ∧ c = 0. b. (2. The parameters α. b. or if a. If a.42)
The scalar triple product is zero if any two of a.46) a·b∧c Analogous expressions can be written for β and γ. i... b. and c are parallel. and c. provided that the three basis vectors are not coplanar. and c are coplanar.41)
The triple product is also invariant under any cyclic permutation of a. The triple product is unchanged if the dot and cross product operators are interchanged: a · b ∧ c = a ∧ b · c.47) 18
. but any anticyclic permutation causes it to change sign.e. and c form a righthanded set (i.43) (2. (2. b. (2. it can be demonstrated that a ∧ (b ∧ c) ≡ (a · c)b − (a · b)c (2.
2.45)
r·b∧c .
8
Vector calculus
Suppose that vector a varies with time. 0. so if we can prove this result in one particular coordinate system then it must be true in general. ay .51)
˙ Note that da/dt is often written in shorthand as a.49)
2. 0). . dt dt dt . (2.47) in our convenient axes.and (a ∧ b) ∧ c ≡ (a · c)b − (b · c)a. (2. What now is the time derivative of a? We have dax d dφ dbx = (φbx ) = bx + φ . and c lies in the xy plane. (2. 0. The vector b ∧ c is directed along the zaxis: b ∧ c = (0. cy . 0). It follows that b = (bx . the product of a scalar φ(t) and another vector b(t). Suppose that a is. so that a = a(t). This is the lefthand side of Eq. 0.48)
Let us try to prove the ﬁrst of the above theorems. and a = (ax . az ). ax bx cy .52)
. in fact. 0) = (ay cy bx .50) = lim δt→0 dt δt When written out in component form this becomes da = dt dax day daz . which proves the theorem. 0). −ax bx cy . The lefthand side and the righthand side are both proper vectors. −ax bx cy . c = (cx . The time derivative of the vector is deﬁned a(t + δt) − a(t) da . bx cy ). It follows that the righthand side is RHS = ( (ax cx + ay cy )bx . Let us take convenient axes such that the xaxis lies along b. It follows that a ∧ (b ∧ c) lies in the xy plane: a ∧ (b ∧ c) = (ax bx cy . (2. 0) − (ax bx cx . dt dt dt dt 19 (2. (2. To evaluate the righthand side we need a · c = ax cx + ay cy and a · b = ax bx . 0) = LHS.
2.53)
It is easily demonstrated that d ˙ ˙ (a · b) = a · b + a · b. The integral is then simply given by
Q
f (x.54)
(2.55)
It can be seen that the laws of vector diﬀerentiation are analogous to those in conventional calculus. y) dl = Area under the curve. What is meant by the integral of f along a given curve from P to Q in the xy
y l Q f
P x P l Q
plane? We ﬁrst draw out f as a function of length l along the path.56)
20
. y) which is deﬁned for all x and y.which implies that
da dφ db = b+φ . dt (2. d ˙ ˙ (a ∧ b) = a ∧ b + a ∧ b.
P
(2. dt dt dt
(2. dt Likewise.9
Line integrals
Consider a twodimensional function f (x.
rather that through the path length dl. 3
(2.60)
21
. Thus.
P
(2.57)
The integration along route 2 gives
Q 1 1
xy dl
P
=
0
xy dx
y=0 1
+
0
xy dy
x=1
= 0+
0
y dy =
1 . so dl =
2 dx.58)
Note that the integral depends on the route taken between the initial and ﬁnal points. Along route 1 we have
y Q = (1. 2
(2.
Q
[f (x. y) dy] .59)
As an example of this consider the integral
Q
y 3 dx + x dy
P
(2.
Q 1
xy dl =
P 0
√ x2 2 dx =
√ 2 . y) dx + g(x.0)
√
2 x
x = y.As an example of this. The most common type of line integral is where the contributions from dx and dy are evaluated separately.1) 1 P = (0. y) = xy between P and Q along the two routes indicated in the diagram below. consider the integral of f (x.
The line integral between points P and Q is simply the change in height in the contour map between these two points:
Q Q
(f dx + g dy) =
P P
dF (x.61)
Along route 2
Q
=
P 1
y dx
y=0
3
+
0
x dy
x=2
= 2. the integral depends on the path of integration. We can then draw a contour map of F (x. 4
(2. y). Suppose that we have a line integral which does not depend on the path of integration. Along route 1 we have x = y + 1 and dx = dy. 22
(2.0) x
along the two routes indicated in the diagram below. Given F (P ) for one point P in the xy plane.
(2. y) = F (Q) − F (P ).1) 1 2 P = (1. then F (Q) = F (P ) +
P
(f dx + g dy)
(2.63)
for some function F .62)
Again.65)
.y
Q = (2. so
Q 1
=
P 0 2
y 3 dy + (y + 1) dy =
1
7 .64)
deﬁnes F (Q) for all other points in the plane. It follows that
Q P
(f dx + g dy) = F (Q) − F (P )
Q
(2.
Thus. dz) be the vector element of line length.67)
is independent of the path of integration. The element of work done is dW = F · dl.
P
(2. An example of a scalar ﬁeld is the temperature distribution T (r) in a furnace. Those that depend only on their endpoints and not on the path of integration. a whirlpool) constitutes a vector ﬁeld.
2. Route 1 is along the xaxis. so
a
W =
∞
1 − 2 x
1 dx = x 23
a
=
∞
1 .68)
For instance. y) dy. inverse square law. and those which depend both on their endpoints and the integration path. 0. a scalar ﬁeld is a set of scalars associated with each point in space. if A is a force then the line integral is the work done in going from P to Q. By analogy.. Vector line integrals often arise as
Q P Q
A · dl =
(Ax dx + Ay dy + Az dz). y) dx + g(x. As an example. consider the work done in a repulsive. 0). if F = xy 3 then dF = y 3 dx + 3xy 2 dy and
Q
(2. central ﬁeld F = −r/r 3 . dy.69)
. the velocity v(r) in a moving liquid (e. y) = f (x. For instance. Consider a general vector ﬁeld A(r). a
(2. 0. Take P = (∞.10
Vector line integrals
A vector ﬁeld is deﬁned as a set of vectors associated with each point in space. we shall learn how to distinguish between these two types. Let dl = (dx. Later on.g.66)
y 3 dx + 3xy 2 dy = xy 3
P
Q P
(2. 0) and Q = (a. It is clear that there are two distinct types of line integral. For instance. dF (x.
y) dS. (2. Then f (x. ﬁrstly. For instance.
2. and divide in up into (scalar) elements δSi . z) dS = lim
S
δSi →0
f (x. In the second part
0
W =
∞
1 −y dy = 2 + y 2 )3/2 2 + a2 )1/2 (a (y
∞
=
0
1 . 0) and then parallel to the yaxis. ∞. a
(2. y. In the ﬁrst part no work is done since F is perpendicular to dl.72) To evaluate this integral we must split the calculation into two ordinary integrals.The second route is.
y y2
dy y1 x1 x2 x
24
. which is not necessarily coplanar.70)
In this case the integral is independent of path (which is just as well!).11
Surface integrals
Let us take a surface S. around a large circle (r = constant) to the point (a. y) is V = D(x. y. z) δSi
i
(2.71)
is a surface integral. the volume of water in a lake of depth D(x.
3
(2.
S
(2. consider x2 y dx dy. As an example. y) dy.77)
. y) dx dy. the integral can be evaluated by taking the strips the other way around:
x2 y2 (x)
V =
x1
dx
y1 (x)
D(x.0) x
ﬁrst: dy
0
1−y
x y dx
2
x3 = y dy 3 25
1−y
=
0
y (1 − y)3 dy. The total volume is the sum over all strips:
y2 x2 (y)
V =
y1
dy
x1 (y)
D(x.
(2.74)
Of course.73)
Note that the limits x1 and x2 depend on y.76)
where S is shown in the diagram below. y) dx ≡
D(x.1)
1y = x
(1. Suppose that we evaluate the x integral
y (0. y) dx dy.
x1
(2. But great care must be taken when evaluating the limits.75)
Interchanging the order of integration is a very powerful and useful trick.
S
(2.The volume in the strip shown in the diagram is
x2
D(x.
In general.82)
S
where θ is the angle subtended between the normal to the surface and the ﬂow velocity.
(2.
2. 60
(2.12
Vector surface integrals
Surface integrals often occur during vector analysis. For instance. The net rate of ﬂow of a surface S made up of lots of inﬁnitesimal surfaces is v · dS = lim
dS→0
v cos θ dS . This integral can be written
1 1 1 1
dx
0 0
x y dy =
0
2
x dx
0
2
y dy
=
1 1 1 = . x2 y dx dy
S
(2.79)
In some cases a surface integral is just the product of two separate integrals. The only foolproof way of doing this is to draw a diagram. 26
.Let us now evaluate the y integral:
1 0
y4 y 2 3 −y +y − 3 3
dy =
1 . when interchanging the order of integration the most important part of the whole problem is getting the limits of integration right. For instance.81)
since the limits are both independent of the other variable.80)
where S is a unit square. 2 60
(2. the rate of ﬂow of a liquid of velocity v through an inﬁnitesimal surface of vector area dS is v ·dS. 3 2 6
(2.78)
We can also evaluate the integral by interchanging the order of integration:
1 1−x 1
x dx
0 0
2
y dy =
0
1 x2 (1 − x)2 dx = .
and
S1
v · dS =
S2
v · dS.
(2. and not on the nature of the surface which spans it.84)
2. But some (very important) integrals depend only on the rim. or even dτ . y. so what goes in must come out. z) dV
V
(2. (2. The height of the centre of gravity is given by
z
x
y
27
. consider incompressible ﬂuid ﬂow between two surfaces S1 and S2 which end on the same rim. As an example of this. and not on the form of surfaces S 1 and S2 . As an example of a volume integral. let us evaluate the centre of gravity of a solid hemisphere of radius a.83)
It follows that v · dS depends only on the rim. The volume between the surfaces is constant.85)
where V is some volume and dV = dx dy dz is a small volume element.13
Volume integrals
A volume integral takes the form f (x. The volume element is sometimes written d3 r.As with line integrals. most surface integrals depend both on the surface and the rim.
86)
The bottom integral is simply the volume of the hemisphere.z=
z dV
dV. We wish to extend this idea to cover scalar
f(x)
x
ﬁelds in two and three dimensions. dy) be an element of horizontal distance.
a π/2 2π
z dV
=
0 a
dr
0
dθ
0 π/2
dφ r cos θ r 2 sin θ
2π
=
0
r dr
0
3
sin θ cos θ dθ
0
dφ =
πa4 .14
Gradient
A onedimensional function f (x) has a gradient df /dx which is deﬁned as the slope of the tangent to the curve at x.88)
2. Thus. 28
. Consider a twodimensional scalar ﬁeld h(x.
(2. for which z = r cos θ and dV = r 2 sin θ dr dθ dφ. y) which is (say) the height of a hill. which is 2πa 3 /3. Let dl = (dx. = 4 2πa3 8
(2.87)
giving z=
πa4 3 3a . Consider dh/dl. 4
(2. The top integral is most easily evaluated in spherical polar coordinates.
Likewise. In the immediate vicinity of some
Contours of h(x. ] The component of dh/dl in the xdirection can be obtained by plotting out the proﬁle of h at constant y. ∂x ∂y 29
. [The argument. called the gradient of h. except that dh depends on the direction of dl. Because of the cos θ property. The largest value of dh/dl is straight up the slope. unless there is any ambiguity. here. the gradient of the proﬁle at constant x is written (∂h/∂y)x . the component of grad h in any direction equals dh/dl for that direction.89)
Let us deﬁne a twodimensional vector grad h. This quantity is somewhat like the onedimensional gradient. Note that the subscripts denoting constantx and constanty are usually omitted.2. See.y) y
θ P
x
point P the slope reduces to an inclined plane. Eq. and then ﬁnding the slope of the tangent to the curve at given x. (2. and is denoted (∂h/∂x)y .90) . in particular.where dh is the change in height after moving an inﬁnitesimal distance dl. is analogous to that used for vector areas in Section 2. (2.
max
(2. For any other direction dh = dl dh dl cos θ. as well as its magnitude. If follows that in component form ∂h ∂h grad h = . This quantity is known as the partial derivative of h with respect to x at constant y.9). whose magnitude is (dh/dl)max and whose direction is the direction of the steepest slope.
∂x ∂y (2.93)
but grad h = (∂h/∂x. y) = h(x0 .95)
Here. dy. as a vector whose magnitude is (dT /dl)max and whose direction is the direction of the maximum gradient. since the lefthand side is a scalar and. y0 ) + α(x − x0 ) + β(y − y0 ). now. (2. dy). ∂x ∂y ∂z 30 (2. We have dh = ∂h ∂h dx + dy. dz) is dT = ∂T ∂T ∂T dx + dy + dz. according to the properties of the dot product. the above equation demonstrates that grad h is a proper vector. so α= ∂h . so dh = grad h · dl. .z is the gradient of the onedimensional temperature proﬁle at constant y and z. ∂T /∂x ≡ (∂T /∂x)y. y. For small dx = x−x0 and dy = y −y0 the function h is coincident with the tangent plane. y). ∂x ∂y ∂z . z) in (say) a reaction vessel. the equation of the tangent plane at P = (x0 .Now.91)
by diﬀerentiation of the above. y0 ) is hT (x. Consider.92) (2. a threedimensional temperature distribution T (x. The change in T in going from point P to a neighbouring point oﬀset by dl = (dx.94)
Incidentally. ∂x β= ∂h ∂y (2. (2. the righthand side is also a scalar provided that dl and grad h are both proper vectors (dl is an obvious vector because it is directly derived from displacements). as before. This vector is written in component form grad T = ∂T ∂T ∂T . This has the same local gradients as h(x. ∂h/∂y) and dl = (dx.96)
. Let us deﬁne grad T .
but for some special vector ﬁelds the integral is path independent. Suppose that dT = 0 for some dl. so Q grad T · dl must be path independent.97)
so dl is perpendicular to grad T . possible to integrate dT . P A · dl depends on path. of course. Keeping P ﬁxed we have
Q P Q
A · dl = V (Q).99)
This integral is clearly independent of the path taken between P and Q. (2.
T = constant dl gradT
isotherm
It is. 31
(2. Since dT = 0 along socalled “isotherms” (i. The line integral from point P to point Q is written
Q Q
dT =
P P
grad T · dl = T (Q) − T (P )..In vector form this becomes dT = grad T · dl. It can be shown that if A is a conservative ﬁeld then A = grad φ for some scalar ﬁeld φ. It follows that dT = grad T · dl = 0. Such ﬁelds are called conservative ﬁelds.100)
. contours of the temperature) we conclude that the isotherms (contours) are everywhere perpendicular to grad T . P In general. The proof of this is straightforward.e.98) (2.
(2.
.104) where corresponds to the line integral around some closed loop. Clearly. If A is a force. ∂x ∂y ∂x . Consider moving the position of the end point by an inﬁnitesimal amount dx in the xdirection. ∂x ∂y ∂z .
∂V = Ax .
(2. (2.where V (Q) is a welldeﬁned function due to the path independent nature of the line integral. It follows that A = grad V. (2. It is useful to deﬁne the vector operator ≡ ∂ ∂ ∂ . (2. the force due to gravity is a good example of a conservative ﬁeld. We have
Q+dx
V (Q + dx) = V (Q) +
Q
A · dl = V (Q) + Ax dx. The fact that zero net work is done in going around a closed loop is equivalent to the conservation of energy (this is why conservative ﬁelds are called “conservative”).105)
which is usually called the “grad” or “del” operator. If A is conservative then A · dl = 0. grad f = f= ∂f ∂f ∂f . A good example of a nonconservative ﬁeld is the force due to friction. (2.106)
32
. a frictional system loses energy in going around a closed cycle. This operator acts on everything to its right in a expression until the end of the expression or a closing bracket is reached.101)
Hence. (2. then A · dl is the work done in traversing some path.103)
In physics. . For instance.102) ∂x with analogous relations for the other components of A. so A · dl = 0.
∂x ∂x ∂y
x
(2. By analogy with Eq. = z. z ) via x y z Now.112)
and = cos θ
x
+ sin θ
y. according to Eq. the old coordinates (x.109)
y . y . (2. = x sin θ + y cos θ. This surface integral
33
.z
y . z) are related to the new ones (x . y.
2.For two scalar ﬁelds φ and ψ. Consider S A · dS over some closed surface S.8).111) (2. ∂ = ∂x giving ∂x ∂x ∂ + ∂x ∂y ∂x ∂ + ∂y ∂z ∂x ∂ . This is another proof that f is a good vector. (2.z
y .7). (2.107)
Suppose that we rotate the basis about the zaxis by θ degrees. ∂z (2.
It can be seen that the diﬀerential operator transforms like a proper vector.108) (2. (2.z
∂ ∂ ∂ = cos θ + sin θ .110) = x cos θ − y sin θ. where dS denotes an outward pointing surface element. grad(φψ) = φ grad ψ + ψ grad φ can be written more succinctly as (φψ) = φ ψ + ψ φ.15
Divergence
Let us start with a vector ﬁeld A.
115)
The divergence of a vector ﬁeld is deﬁned div A = ·A= ∂Ax ∂Ay ∂Az + + . now. that A is not uniform in space. S If A is constant in space then it is easily demonstrated that the net ﬂux out of S is zero: A · dS = A · dS = A · S = 0. If A is the velocity of some ﬂuid. (2. so the total of all the contributions is A · dS = ∂Ay ∂Az ∂Ax + + ∂x ∂y ∂z dV.113) since the vector area S of a closed surface is zero.114)
where dV = dx dy dz is the volume element. The contribution to A · dS from the two faces normal to the xaxis is Ax (x + dx) dy dz − Ax (x) dy dz = ∂Ax ∂Ax dx dy dz = dV. (2.is usually called the ﬂux of A out of S. ∂x ∂x (2.116)
34
. then A · dS is the rate of ﬂow of material out of S. There are analogous contributions
z+dz y+dy z z x y x+dx
y x
from the sides normal to the y and zaxes. Suppose. ∂x ∂y ∂z (2. Consider a very small rectangular volume over which A hardly varies.
dV (2. The proof is very straightfor
S
ward.
S
A · dS =
div A dV. One of the most important results in vector ﬁeld theory is the socalled divergence theorem or Gauss’ theorem. A · dS = 0 35 (2. The contributions from the interior surfaces cancel out.119)
S
.117)
dV →0
This deﬁnition is independent of the shape of the inﬁnitesimal volume element. since it is the dot product of the vector operator with A.
V
(2. (2. for a vector ﬁeld with div A = 0. Thus.e. Now. This tells us that the summation is equivalent to div A dV over the whole volume. which proves the divergence theorem. This states that for any volume V surrounded by a closed surface S. We can use Eq.. it is coordinate independent).115) for each cube individually. We divide up the volume into lots of very small cubes and sum A · dS over all of the surfaces. The formal deﬁnition of div A is div A = lim A · dS . leaving just the contribution from the outer surface. the integral of A · dS over the outer surface is equal to the integral of div A over the whole volume.Divergence is a good scalar (i.118)
where dS is an outward pointing volume element.
It is clear that v · dS = 0 for any closed surface. if div A = 0 then the integral depends on both the rim and the surface.120)
S1
S2
Thus.for any closed surface S. since what ﬂows into the surface must ﬂow out again. Thus. Thus. for two surfaces on the same rim.
S
ρv · dS = −
∂ ∂t
ρ dV
V
(2. according to the divergence theorem. The only way in which this is possible is if div v is everywhere zero. the velocity components of an incompressible ﬂuid satisfy the following diﬀerential relation: ∂vx ∂vy ∂vz + + = 0. if div A = 0 then the surface integral depends on the rim but not the nature of the surface which spans it. now.
S1
S2
RIM
Consider an incompressible ﬂuid whose velocity ﬁeld is v. a compressible ﬂuid of density ρ and velocity v. (2. (2. This must be equal to the rate of decrease of mass inside the volume V enclosed by S. which is written −(∂/∂t)( V ρ dV ). The surface integral S ρv · dS is the net rate of mass ﬂow out of the closed surface S. Thus.122)
36
. On the other hand.121) ∂x ∂y ∂z Consider. A · dS = A · dS. div v dV = 0 for any volume. So.
for any volume. It follows from the divergence theorem that div(ρv) = − ∂ρ . ∂t (2.123)
This is called the equation of continuity of the ﬂuid, since it ensures that ﬂuid is neither created nor destroyed as it ﬂows from place to place. If ρ is constant then the equation of continuity reduces to the previous incompressible result div v = 0. It is sometimes helpful to represent a vector ﬁeld A by “lines of force” or “ﬁeld lines.” The direction of a line of force at any point is the same as the direction of A. The density of lines (i.e., the number of lines crossing a unit surface perpendicular to A) is equal to A. In the diagram, A is larger at point
1
2
1 than at point 2. The number of lines crossing a surface element dS is A · dS. So, the net number of lines leaving a closed surface is A · dS = div A dV.
V
(2.124)
S
If div A = 0 then there is no net ﬂux of lines out of any surface, which mean that the lines of force must form closed loops. Such a ﬁeld is called a solenoidal vector ﬁeld.
37
2.16
The Laplacian
So far we have encountered grad φ = ∂φ ∂φ ∂φ , , ∂x ∂y ∂z , (2.125)
which is a vector ﬁeld formed from a scalar ﬁeld, and div A = ∂Ay ∂Az ∂Ax + + , ∂x ∂y ∂z (2.126)
which is a scalar ﬁeld formed from a vector ﬁeld. There are two ways in which we can combine grad and div. We can either form the vector ﬁeld grad(div A) or the scalar ﬁeld div(grad φ). The former is not particularly interesting, but the scalar ﬁeld div(grad φ) turns up in a great many physics problems and is, therefore, worthy of discussion. Let us introduce the heat ﬂow vector h which is the rate of ﬂow of heat energy per unit area across a surface perpendicular to the direction of h. In many substances heat ﬂows directly down the temperature gradient, so that we can write h = −κ grad T, (2.127)
where κ is the thermal conductivity. The net rate of heat ﬂow S h · dS out of some closed surface S must be equal to the rate of decrease of heat energy in the volume V enclosed by S. Thus, we can write h · dS = − ∂ ∂t c T dV , (2.128)
S
where c is the speciﬁc heat. It follows from the divergence theorem that div h = −c ∂T . ∂t (2.129)
Taking the divergence of both sides of Eq. (2.127), and making use of Eq. (2.129), we obtain ∂T div (κ grad T ) = c , (2.130) ∂t 38
∂T . ∂t If κ is constant then the above equation can be written · (κ T ) = c div(grad T ) = The scalar ﬁeld div(grad T ) takes the form div(grad T ) = = ∂ ∂T ∂x ∂x + ∂ ∂y ∂T ∂y +
2
or
(2.131)
c ∂T . κ ∂t
(2.132)
∂ ∂z T.
∂T ∂z (2.133)
∂2T ∂2T ∂2T + + ≡ ∂x2 ∂y 2 ∂z 2
Here, the scalar diﬀerential operator
2
≡
∂2 ∂2 ∂2 + 2+ 2 ∂x2 ∂y ∂z
(2.134)
is called the Laplacian. The Laplacian is a good scalar operator (i.e., it is coordinate independent) because it is formed from a combination of div (another good scalar operator) and grad (a good vector operator). What is the physical signiﬁcance of the Laplacian? In onedimension 2 T reduces to ∂ 2 T /∂x2 . Now, ∂ 2 T /∂x2 is positive if T (x) is concave (from above)
T
+ 
+
x
39
and negative if it is convex. So, if T is less than the average of T in its surroundings then 2 T is positive, and vice versa. In two dimensions
2
∂2T ∂2T T = + . ∂x2 ∂y 2
(2.135)
Consider a local minimum of the temperature. At the minimum the slope of T increases in all directions so 2 T is positive. Likewise, 2 T is negative at a local maximum. Consider, now, a steepsided valley in T . Suppose that the bottom of the valley runs parallel to the xaxis. At the bottom of the valley ∂ 2 T /∂y 2 is large and positive, whereas ∂ 2 T /∂x2 is small and may even be negative. Thus, 2 T is positive, and this is associated with T being less than the average local value T . Let us now return to the heat conduction problem:
2
T =
c ∂T . κ ∂t
(2.136)
It is clear that if 2 T is positive then T is locally less than the average value, so ∂T /∂t > 0; i.e., the region heats up. Likewise, if 2 T is negative then T is locally greater than the average value and heat ﬂows out of the region; i.e., ∂T /∂t < 0. Thus, the above heat conduction equation makes physical sense.
2.17
Curl
Consider a vector ﬁeld A and a loop which lies in one plane. The integral of A around this loop is written A · dl, where dl is a line element of the loop. If A is a conservative ﬁeld then A = grad φ and A · dl = 0 for all loops. For a nonconservative ﬁeld A · dl = 0, in general. For a small loop we expect A · dl to be proportional to the area of the loop. Moreover, for a ﬁxed area loop we expect A · dl to depend on the orientation of the loop. One particular orientation will give the maximum value: A·dl = Imax . If the loop subtends an angle θ with this optimum orientation then we expect
40
41
. The direction of curl A is perpendicular to the plane of the loop. First. when it is in the orientation giving Imax . ∂y ∂Ay dy dz. the total of all contributions gives A · dl = ∂Ay ∂Az − ∂y ∂z
(2. dS is the area of the loop. The contribution from
z 4 z+dz 1 z y 2 y+dy 3
y
sides 1 and 3 is Az (y + dy) dz − Az (y) dz = The contribution from sides 2 and 4 is
∂Az dy dz. with the sense given by the righthand grip rule assuming that the loop is righthanded. Let us introduce the vector ﬁeld curl A whose magnitude is curl A = lim A · dl dS (2.138)
−Ay (z + dz) dy + Ay (z) dy = − So. ∂y
(2.I = Imax cos θ. Here. we shall evaluate A·dl around a small rectangle in the yz plane.
(2.137)
dS→0
for the orientation giving Imax .139)
dS. Let us now express curl A in terms of the components of A.140)
where dS = dy dz is the area of the loop.
0) of any shape in the yz plane. We can divide it into rectangular elements and form A · dl over all the resultant loops. We can construct this out of three loops in the x.143)
Imagine an arbitrary loop of vector area dS = (dSx . if the loop is in the xy plane then dS = (0. and z directions. (2. the area of the outer loop is the sum of all the areas of the inner loops. y. dSy . dS y . Also.141)
is valid for a small loop dS = (dSx . Likewise. The interior contributions cancel.142)
Finally. (2. so we are just left with the contribution from the outer loop. as indicated in the diagram below. 0.Consider a nonrectangular (but still small) loop in the yz plane. dSz ). 0) and A · dl = ∂Az ∂Ax − ∂z ∂x dSy . dS z ) and A · dl = ∂Ay ∂Ax − ∂x ∂y dSz . 0. We conclude that A · dl = ∂Az ∂Ay − ∂y ∂z dSx (2. we can show that if the loop is in the xz plane then dS = (0. If we form the line integral around all three loops then the intez
dS 2 3 x 1
y
rior contributions cancel and we are left with the line integral around the original 42
.
Thus. Consider a circular loop. (2. where curl A = Note that curl A = ∧ A.144)
[see Eq. 0. and the second part has zero curl since it is constant. the ycomponent is also zero. Likewise. (2. This allows us to form a physical picture of curl A. Let us evaluate curl v on the axis of rotation. Hence. on the axis curl v = (0. − ∂y ∂z ∂z ∂x ∂x ∂y . 2ω) everywhere in the body. since it is the cross product of the operator (a good vector operator) and the vector ﬁeld A. i. We have v · dl = 2πr ωr with dS = πr 2 .147) This demonstrates that curl A is a good vector ﬁeld. If we imagine A as the velocity ﬁeld of some ﬂuid then curl A at any given point is equal to twice the local angular rotation velocity.146) (2.39) ]. 43
. 0. A · dl = giving A · dl = curl A · dS = curl AdS cos θ. Thus. (2. 2ω).145) A · dl1 + A · dl2 + A · dl3 .e. which is independent of r.149)
The ﬁrst part has the same curl as the velocity ﬁeld on the axis. we can write v = ω ∧ (r − r0 ) + ω ∧ r0 . Consider a solid body rotating about the zaxis. So. r is the radial distance from the rotation axis. − .loop. This is plainly zero. The xcomponent is proportional to the integral v · dl around a loop in the yz plane. 2ω. Here. curl v = (0.. ω). at position r0 . It follows that (curl v)z = 2ω. Oﬀ the axis. so the rotation velocity at position r is v =ω∧r (2. The angular velocity is given by ω = (0. (2. (2. The zcomponent is v · dl/dS around some loop in the xy plane. 0. a vector ﬁeld with curl A = 0 everywhere is said to be irrotational.148) ∂Ay ∂Ax ∂Az ∂Ay ∂Ax ∂Az − .
it follows that curl A · dS = 0 for any closed surface. (2. the magnitude of curl A is 44
. we can see that the contribution from all of the loops is also equal to the integral of curl A · dS across the whole surface. Hence. (2. leaving just the contribution from the outer rim. the ﬁeldlines of curl A never begin or end. Thus.145) for each of the small loops.150)
C S
for some (nonplanar) surface S bounded by a rim C. It is clear from Stokes’ theorem that curl A · dS is the same for both surfaces.
C
One immediate consequence of of Stokes’ theorem is that curl A is “incompressible.
We have seen that for a conservative ﬁeld A · dl = 0 for any loop. which share the same rim. This proves the theorem. div(curl A) ≡ 0. All of the contributions from the interior loops cancel.Another important result of vector ﬁeld theory is the curl theorem or Stokes’ theorem: A · dl = curl A · dS. In other words. However. we have from the divergence theorem that curl A · dS = div(curl A) dV = 0 for any volume. This theorem can easily be proved by splitting the loop up into many small rectangular loops and forming the integral around all of the resultant loops.151) So. This is entirely equivalent to A = grad φ.” Consider two surfaces. Making use of Eq. However. S1 and S2 . (2. curl A is a solenoidal ﬁeld.
2
Ay . naz ) Scalar product: a · b = a x bx + a y by + a z bz Vector product: a ∧ b = (ay bz − az by .153) (2.
2
Az ). ax by − ay bx ) Scalar triple product: a · b ∧ c = a ∧ b · c = b · c ∧ a = −b · a ∧ c
45
. a conservative ﬁeld is also an irrotational one. It is clear then that curl A = 0 for a conservative ﬁeld.18
Summary
a + b ≡ (ax + bx . ay + by . nay .limdS→0 A · dl/dS for some particular loop. Finally. az bx − ax bz . that the above result is only valid in Cartesian coordinates. In other words. az + bz )
Vector addition: Vector multiplication: na ≡ (nax .152)
A.154)
A=(
2
Ax . it can be shown that curl(curl A) = grad(div A) − where
2 2
(2.
It should be emphasized.
(2. however. Thus. curl(grad φ) ≡ 0.
2.
− ∂y ∂z ∂z ∂x ∂x ∂y A · dS = div A dV
V
Stokes’ theorem:
C
A · dl =
S
curl A · dS
Del operator: = ∂ ∂ ∂ . − . . ∂x ∂y ∂z
∂Ay ∂Az ∂Ax + + ∂x ∂y ∂z
∂Ay ∂Ax ∂Az ∂Ay ∂Ax ∂Az − . ∂x ∂y ∂z φ ·A ∧A
grad φ = div A = curl A = Vector identities: · φ=
2
φ=
∂2φ ∂2φ ∂2φ + 2 + 2 ∂x2 ∂y ∂z
46
.Vector triple product: a ∧ (b ∧ c) = (a · c)b − (a · b)c (a ∧ b) ∧ c = (a · c)b − (b · c)a Gradient: grad φ = Divergence: div A = Curl: curl A = Gauss’ theorem:
S
∂φ ∂φ ∂φ . .
Cambridge. Steven Gull of the Cavendish Laboratory.
47
.·
2
∧A=0 ∧ φ=0 ∧ ∧A · A) −
A=
(
Other vector identities: (φψ) = φ (ψ) + ψ (φ) · (φA) = φ ∧ (φA) = φ · (A ∧ B) = B · ∧ (A ∧ B) = A( (A · B) = A ∧ ( · B) − B( ∧ B) + B ∧ ( ·A+A· ∧A+ ∧A−A· · A) + (B · ∧ A) + (A · φ
φ∧A ∧B )A − (A · )B + (B · )B )A
Acknowledgment
This section is almost entirely based on my undergraduate notes taken during a course of lectures given by Dr.
1
Maxwell’s equations
Coulomb’s law
Between 1785 and 1787 the French physicist Charles Augustine de Coulomb performed a series of experiments involving electric charges and eventually established what is nowadays known as “Coulomb’s law. are located at position vectors r1 and r2 . and proportional to the product of the charges. Suppose that two masses. The charge of an electron is 1. 48
.2)
Coulomb’s law has the same mathematical form as Newton’s law of gravity. are located at position vectors r1 and r2 . m1 and m2 . The SI unit of electric charge is
q f1
1
r2 _ r1
q
2
f2
r1
r2
the coulomb (C). q1 and q2 . Two like charges repel one another whereas two unlike charges attract. inversesquare.1)
in vector notation. in accordance with Newton’s third law of motion.3
3. The electrical force acting on the second charge is written f2 = q1 q2 r2 − r 1 4π 0 r2 − r1 3 (3.6022 × 10 −19 C. An equal and opposite force acts on the ﬁrst charge.8542 × 10−12 C2 N−1 m−2 .” According to this law the force acting between two charges is radial. Suppose that two charges. The universal constant 0 is called the “permittivity of free space” and takes the value
0
= 8.
(3.
In fact. The force which holds us to the surface of the Earth. they diﬀer in two crucial respects. However. so felectrical  = 4. Consider the ratio of the electrical and gravitational forces acting on two particles.6)
This is a colossal number! Suppose you had a homework problem involving the motion of particles in a box under the action of two forces with the same range but diﬀering in magnitude by a factor 1042 . Secondly.5) (3.4)
However. I think that most people would write on line one something like “it is a good approximation to neglect the weaker force in favour of the stronger one. the force due to gravity is always attractive (there is no such thing as a negative mass!). fgravitational  (3. on 49
.17 × 1042 . i. Coulomb’s law and Newton’s law are both “inversesquare”. most people would write this even if the forces diﬀered in magnitude by a factor 10! Applying this reasoning to the motion of particles in the universe we would expect the universe to be governed entirely by electrical forces.3)
in vector notation.7) (3.6726 × 10−11 N m2 kg−2 . This ratio is a constant. Firstly. The gravitational constant G takes the value G = 6.759 × 10 11 C kg−1 . The force which causes the Earth to orbit the Sun is also gravity. is gravity. f2  ∝ 1 . fgravitational  m1 m2 4π 0 G For electrons the charge to mass ratio q/m = 1.The gravitational force acting on the second mass is written f2 = −Gm1 m2 r2 − r 1 r2 − r1 3 (3. independent of the relative positions of the particles. the magnitudes of the two forces are vastly diﬀerent. and prevents us from ﬂoating oﬀ into space. this is not the case.” In fact. and is given by q1 q2 1 felectrical  = . r2 − r1 2 (3.e.
So. it is not enough for the universe to start out with zero charge. it is pretty close.e. These forces try to make every positive charge get as far away as possible from other positive charges and as close as possible to other negative charges. In summary. electrical forces are basically what prevent us from falling though the ﬂoor. we expect electrical forces to completely dominate gravity. It is only possible for gravity to be the dominant longrange force if the number of positive charges in the universe is almost equal to the number of negative charges. positive and negative charges have to cancel each other out to such accuracy that most physicists believe that the net charge of the universe is exactly zero. To date no elementary particle reactions have been discovered which create or destroy net electric charge. Even if this were to go on at a very low rate it would not take long before the ﬁne balance between positive and negative charges in the universe were wrecked. that the universe starts out with randomly distributed electric charges. But. i. interatomic and intermolecular forces are electrical in nature. In fact.” This means that gravitational forces are always cumulative whereas electrical forces can cancel one another out. Just how close is determined by quantum mechanics but. Initially. it is important that electric charge is a conserved quantity (i. this is electromag50
. The electrical forces due to the charges in each pair eﬀectively cancel one another out on lengthscales much larger than the mutual spacing of the pair. But. in general. After a bit we expect the positive and negative charges to form close pairs. The former is enormously stronger than the latter. about 10 −10 m. electromagnetism and gravity.. The ﬁne balance of forces due to negative and positive electric charges starts to break down on atomic scales. In order for the cancellation of longrange electrical forces to be eﬀective the relative diﬀerence in the number of positive and negative charges in the universe must be incredibly small. So. As far as we know.astronomical lengthscales gravity is the dominant force and electrical forces are largely irrelevant. for the sake of argument.. but is usually “hidden” away inside neutral atoms. The key to understanding this paradox is that there are both positive and negative electric charges whereas there are only positive gravitational “charges. there are two longrange forces in the universe. Suppose.e. this is the case. In this situation every positive change can ﬁnd a negative charge to team up with and there are virtually no charges left over. Suppose there were some elementary particle process which did not conserve electric charge. the charge of the universe can neither increase or decrease). In fact.
equal and opposite forces act on the two charges or masses at all times. this cannot be correct according to Einstein’s theory of relativity. Of course.netism on the microscopic or atomic scale. So. called a ﬁeld. so that the close pairing of negative and positive charges is disrupted.3). Moreover. In electromagnetism there are. This means that even when the actions and reactions 51
. The maximum speed with which information can propagate through the universe is the speed of light. The second charge or mass only ﬁnds out about this some time later. what is usually known as “quantum electromagnetism. According to Eqs. very little disruption is necessary before gigantic forces are generated. consequently. which implies that the laws of relativity are never violated. if the ﬁrst charge or mass is moved then there must always be time delay (i. two ﬁelds. the ﬁelds can soak up energy and momentum. in fact. In particular. that is. Of course.1) and (3. So. Coulomb’s law and Newton’s law are both examples of what are usually referred to as “action at a distance” theories. which violates Newton’s third law of motion. at least the time needed for a light signal to propagate between the two charges or masses) before the second charge or mass responds.e. Electromagnetic forces are transmitted though these ﬁelds at the speed of light. During this time interval the second charge or mass experiences an electrical or gravitational force which is as if the ﬁrst charge or mass were still there. However. Suppose the ﬁrst charge or mass is suddenly annihilated. the electric ﬁeld and the magnetic ﬁeld. (3. that Newton’s third law of motion is not strictly true.. It turns out that we can “rescue” momentum conservation by abandoning “action at a distance” theories and adopting socalled “ﬁeld” theories in which there is a medium. electromagnetism on lengthscales much larger than the atomic scale. A concept which most physicists are loath to abandon. during this period there is an action but no reaction. Consider a rather extreme example. It is no coincidence that the vast majority of useful machines which mankind has devised during the last century are electromagnetic in nature. Newton’s third law is intimately tied up with the conservation of momentum in the universe. It is clear that “action at a distance” is not compatible with relativity and. This allows electrical forces to manifest themselves on macroscopic lengthscales.” This course is about “classical electromagnetism”. which transmits the force from one particle to another. if the ﬁrst charge or mass is moved then the force acting on the second charge or mass immediately responds. Classical electromagnetism generally describes phenomena in which some sort of “violence” is done to matter.
acting on particles are not quite equal and opposite. momentum is still conserved. the force on a test charge is written f = q E. We can bypass some of the problematic aspects of “action at a distance” by only considering steadystate situations. Electrical forces obey what is known as the principle of superposition. For the moment.10)
At this point.11) 4π 0 r2 where r = r. which is the force exerted on a unit test charge located at position vector r. called the electric ﬁeld. and has magnitude q Er (r) = . this is how we shall proceed. the electrical force exerted by the ith charge (say) on the test charge is the same as if all the other charges were not there. (3. which are located at position vectors r1 through rN . it is just a useful device for calculating the force which acts on test charges placed at various locations. q1 though qN . 4π 0 r − ri 3
(3. inwards if it is negative. points outwards if the charge is positive. Thus. 4π 0 r − ri 3
(3. Consider N charges. The electric ﬁeld from a single charge q located at the origin is purely radial. In other words.9) and the electric ﬁeld is given by
N
E(r) =
i=1
qi r − r i . So.8)
It is helpful to deﬁne a vector ﬁeld E(r). (3. we have no reason to believe that the electric ﬁeld has any real existence.
52
. The electrical force acting on a test charge q at position vector r is simply the vector sum of all of the Coulomb law forces from each of the N charges taken in isolation. the force acting on the test charge is given by
N
f (r) = q
i=1
qi r − r i .
(3. we have a continuous distribution of charge represented by a charge density ρ(r). Thus.” The direction of the lines indicates the direction of the local electric ﬁeld and the density of the lines perpendicular to this direction is proportional to the magnitude of the local electric ﬁeld. over all space for which ρ(r ) is nonzero. instead of having discrete charges. the charge at position vector r is ρ(r ) d3 r . where d3 r is the volume element at r .12)
where the volume integral is over all space.E
q
We can represent an electric ﬁeld by “ﬁeldlines. or. the ﬁeld of a point positive charge is represented by a group of equally spaced straight lines radiating from the charge. Suppose that. at least.
53
. Thus. In other words. It follows from a simple extension of Eq. electric ﬁelds are completely superposable. 3 r − r  (3.10) that the electric ﬁeld generated by this charge distribution is E(r) = 1 4π 0 ρ(r ) r−r d3 r . The electric ﬁeld from a collection of charges is simply the vector sum of the ﬁelds from each of the charges taken in isolation.
where φ(r) = 1 4π 0 ρ(r ) 3 d r. r − r  (3.17)
Thus. y. and this potential can be expressed as a simple volume integral involving the charge distribution. 4π 0 r (3. The scalar potential generated by a charge q located at the origin is φ(r) = q . ∂/∂z) is a diﬀerential operator which involves the components of r but not those of r .18)
54
. y . It follows from Eq.2
The electric scalar potential
Suppose that r = (x.13)
1 ∂ .12) that E = − φ. ∂/∂y.15)
where ≡ (∂/∂x. z ) in Cartesian coordinates.3.16)
(3. The x component of (r − r )/r − r 3 is written x−x . the electric ﬁeld generated by a collection of ﬁxed charges can be written as the gradient of a scalar potential. (3. [(x − x )2 + (y − y )2 + (z − z )2 ]3/2 However.14) ∂x [(x − x )2 + (y − y )2 + (z − z )2 ]1/2 1 r − r 
Since there is nothing special about the xaxis we can write r−r =− r − r 3 . (3. z) and r = (x . (3. it is easily demonstrated that x−x = [(x − x )2 + (y − y )2 + (z − z )2 ]3/2 − (3.
19)
where φi (r) =
Thus.20)
W =
P
f · dl.
(3.16) we obtain
Q Q
W =q
P
E · dl = −q
P
φ · dl = −q ( φ(Q) − φ(P ) ) . so E · dl = 0 (3.According to Eq.21)
where f is the electrical force and dl is a line element along the path. located at ri . So. The net work done on the particle by electrical forces is
Q
qi .
(3.22)
Thus. that the electric ﬁeld is the gradient of a scalar potential. Making use of Eqs.9) and (3. 4π 0 r − ri 
(3. this result follows immediately from vector ﬁeld theory once we are told.16). Suppose that a particle of charge q is taken along some path from point P to point Q. the scalar potential is just the sum of the potentials generated by each of the charges taken in isolation. an electric ﬁeld generated by stationary charges is an example of a conservative ﬁeld. (3.23)
C
for any closed loop C. In fact. This implies from Stokes’ theorem that ∧E =0 55 (3.
(3. The work done on the particle when it is taken around a closed path is zero. in Eq.24)
. (3. the work done on the particle is simply minus its charge times the diﬀerence in electric potential between the end point and the beginning point. This quantity is clearly independent of the path taken from P to Q. is
N
φ(r) =
i=1
φi (r).10) the scalar potential generated by a set of N discrete charges qi . (3.
for any electric ﬁeld generated by stationary charges. Likewise. Equation (3. The SI unit of electric potential is the volt. In follows that we can deﬁne an electrical potential energy of a particle moving in such a ﬁeld. (3. is given by E(Q) = q φ(Q). since ∧ φ = 0 for any scalar potential φ. The increase in kinetic energy of the particle is balanced by an equal decrease in its potential energy so that the overall energy of the particle is a conserved quantity. which is equivalent to a joule per coulomb. Thus. free particles in the Earth’s gravitational ﬁeld tend to fall downwards. relative to some reference point P . the 56
. We have already seen that an electric ﬁeld generated by stationary charges is a conservative ﬁeld. the work done in taking a particle from point P to point Q is equal to minus the diﬀerence in potential energy of the particle between points Q and P . well deﬁned. Therefore. positive charges moving in an electric ﬁeld tend to migrate towards regions with the most negative voltage and vice versa for negative charges.22) that the potential energy of the particle at a general point Q. it only makes sense to talk about gravitational potential energy because the gravitational ﬁeld is conservative. So. We are familiar with the idea that a particle moving in a gravitational ﬁeld possesses potential energy as well as kinetic energy. therefore. (3. The scalar electric potential is undeﬁned to an additive constant.22) the electrical work done on a particle when it is taken between two points is the product of its charge and the voltage diﬀerence between the points. (3. the work done on the particle as it moves from P to Q is minus the diﬀerence in its gravitational potential energy between points Q and P .16). It follows from Eq. Thus. (3. according to Eq. By analogy with gravitational ﬁelds. If the particle moves from point P to a lower point Q then the gravitational ﬁeld does work on the particle causing its kinetic energy to increase. the work done in taking a particle between two points is path independent and.25)
Free particles try to move down gradients of potential energy in order to attain a minimum potential energy state. This means that the diﬀerence in potential energy of the particle between the beginning and end points is also well deﬁned.24) also follows directly from Eq. Thus. Of course.
However. (3.27)
since the normal to the surface is always parallel to the local electric ﬁeld.26) leaves the electric ﬁeld unchanged according to Eq.
3. Suppose that we surround the charge by a concentric spherical surface S of radius r.17). The usual convention is to say that the potential is zero at inﬁnity. (3. The potential can be ﬁxed unambiguously by specifying its value at a single point.11). This convention is implicit in Eq. The electric ﬁeld generated by such a charge is given by Eq. we also know from Gauss’ theorem that E · dS = · E d3 r. (3. (3.
(3. where it can be seen that φ → 0 as r → ∞ provided that the total charge ρ(r ) d3 r is ﬁnite. The ﬂux of the electric ﬁeld through this surface is given by
S
V q
r
S
E · dS =
Er dSr = Er (r) 4πr 2 =
S
q 4π
0
r2
4πr2 =
q
0
.3
Gauss’ law
Consider a single charge located at the origin.28)
S
V
57
.transformation φ(r) → φ(r) + c (3.16).
) = 1/ 0 for x < /2 otherwise. r3 r3 r3
(3.29)
x y z .30) can be obtained for ∂E y /∂y and ∂Ez /∂z. (3. (3. . Let us evaluate Cartesian coordinates the ﬁeld is written E= where r2 = x2 + y 2 + z 2 . use has been made of 3x x 1 − 4 r3 r r q = 4π r2 − 3x2 .28) that · E d3 r = q
0
. The divergence of the ﬁeld is given by ∂Ex ∂Ey ∂Ez q ·E = + + = ∂x ∂y ∂z 4π 3r2 − 3x2 − 3y 2 − 3z 2 = 0.32) and (3. where it becomes very large. r5 0 q 4π
0
· E directly. r5 0 (3. At the origin (r = 0) we ﬁnd that · E = 0/0.33)
V
and yet we have just proved that · E = 0.27) and (3. it is zero everywhere except arbitrarily close to the origin. (3. Eqs. So. (3.. (3.31) ∂x r Formulae analogous to Eq. . Let us examine how we might construct a onedimensional “spike” function. Consider the “boxcar” function g(x. ∂Ex q = ∂x 4π Here. In (3. i.
(3.e.30)
0
∂r x = . This must occur in such a manner that the volume integral over the “spike” is ﬁnite.where V is the volume enclosed by surface S.34)
58
.33) can be reconciled if · E is some sort of “spike” function. Thus. which means that · E can take any value at this point. This paradox can be resolved after a close examination of Eq. (3.32)
This is a puzzling result! We have from Eqs.32).
37)
Thus. Consider the integral
∞
f (x) δ(x) dx.35).35) (3.g(x) 1/ε
−ε/2 ε/2
x
It is clear that that
∞
g(x.
∞
δ(x) dx = 1. δ(x) has all of the required properties of a “spike” function. but its integral is nevertheless welldeﬁned. it is clear that
∞ ∞
f (x) δ(x) dx = f (0)
−∞ −∞
δ(x) dx = f (0).
−∞
(3.
(3. ). The onedimensional “spike” function δ(x) is called the “Dirac deltafunction” after the Cambridge physicist Paul Dirac who invented it in 1927 while investigating quantum mechanics.39)
59
. Since the deltafunction is zero everywhere apart from very close to x = 0. it is not welldeﬁned at x = 0. The deltafunction is an example of what mathematicians call a “generalized function”. ) dx = 1.36)
Now consider the function δ(x) = lim g(x.38)
where f (x) is a function which is wellbehaved in the vicinity of x = 0. According to Eq.
→0
This is zero everywhere except arbitrarily close to x = 0.
−∞
(3.
−∞
(3. it also possess a ﬁnite integral. (3.
The above equation.40)
We actually want a threedimensional “spike” function. is eﬀectively the deﬁnition of a deltafunction. A simple generalization of previous arguments yields f (r) δ(r) d3 r = f (0). However.37). Finally. (3. If we denote this function by δ(r) then it is easily seen that the threedimensional deltafunction is the product of three onedimensional deltafunctions: δ(r) = δ(x)δ(y)δ(z). (3. we can change variables and write δ(r − r ) = δ(x − x )δ(y − y )δ(z − z ). we know that for onedimensional deltafunctions −∞ δ(x) dx = 1. (3. This volume integral is obviously separable.39) gives
∞ −∞
f (x) δ(x − x0 ) dx = f (x0 ).44)
where f (r) is any wellbehaved scalar ﬁeld. i.42)
The integral can be turned into an integral over all space by taking the limit a → ∞ ∞. and whose volume integral is unity.43)
which is the desired result. (3. A simple change of variables allows us to deﬁne δ(x − x0 ).. Equation (3.
(3.41) This function is clearly zero everywhere except the origin.where use has been made of Eq. But is its volume integral unity? Let us integrate over a cube of dimensions 2a which is centred on the origin and aligned along the Cartesian axes.e. so that
a a a
δ(r) d r =
−a
3
δ(x) dx
−a
δ(y) dy
−a
δ(z) dz. so it follows from the above equation that δ(r) d3 r = 1. which is valid for any wellbehaved function f (x). which is a “spike” function centred on x = x0 .
(3. (3.45) 60
. a function which is zero everywhere apart from close to the origin.
which is a threedimensional “spike” function centred on r = r . it is clear that the ﬂux of E out of S is q/ 0 for a spherical surface displaced from the origin. From these. and also satisﬁes q (3. the integral is zero if V does not contain r = r .46) Up to now we have only considered volume integrals taken over all space. the ﬂux becomes zero when the displacement is suﬃciently large that the origin is 61
. using vector ﬁeld theory this problem is no more diﬃcult than the previous one. At this stage. Consider. you are probably not all that impressed with vector ﬁeld theory. (3. Suppose that we now displace the surface S. a charge q at the origin surrounded by a spherical surface S which is centered on the origin.48).49)
S V
q
0
δ(r). so that it is no longer centered on the origin. plus Eq. What is the ﬂux of the electric ﬁeld out of S? This is no longer a simple problem for conventional analysis because the normal to the surface is not parallel to the local electric ﬁeld.48)
from Gauss’ theorem.43). (3.27) ] using conventional analysis! Let me now demonstrate the power of vector ﬁeld theory. However. (3. These two facts imply that ·E = where use has been made of Eq. After all we have just spent an inordinately long time proving something using vector ﬁeld theory which we previously proved in one line [see Eq. again. The electric ﬁeld generated by a charge q located at the origin has · E = 0 everywhere apart from the origin. (3. it should be obvious that the above result also holds for integrals over any ﬁnite volume V which contains the point r = r . Likewise. We have E · dS = · E d3 r (3. Let us now return to the problem in hand. However. It is easily demonstrated that f (r) δ(r − r ) d3 r = f (r ). However.47) · E d3 r =
V 0
for a spherical volume V centered on the origin.
(3.
and that the ﬂux is zero otherwise.
S
q
Consider N charges qi located at ri .48) tell us that the ﬂux is q/ 0 provided that the surface contains the origin. Gauss’ theorem and Eq.48)
62
. (3. This result is independent of the shape of S.S
q
no longer enclosed by the sphere. but it is not easy! Suppose that the surface S is not spherical but is instead highly distorted. but it is easy using vector ﬁeld theory. What now is the ﬂux of E out of S? This is a virtually impossible problem in conventional analysis. A simple generalization of Eq. It is possible to prove this from conventional analysis. (3.
However. if we integrate · E over this volume element we obtain ρ dx dy dz Q = .52) · E dx dy dz =
0 0
where use has been made of Eq. Of course. dy.53) is a diﬀerential equation describing the electric ﬁeld generated by a set of charges. and dz.
(3. we obtain ρ ·E = . We already know the solution to this equation when the charges are stationary. Thus. Equation (3. (3.
(3.51).53) is only valid for electric ﬁelds generated by stationary charge distributions. Gauss’ theorem (3.53)
0
This is the ﬁrst of four ﬁeld equations.12): E(r) = 1 4π 0 ρ(r ) r−r d3 r . In principle. additional terms might be required to describe ﬁelds generated by moving charge distributions.49) implies that E · dS = · E d3 r = Q
0
.54)
63
. Here. which together form a complete description of electromagnetism. (3. called Maxwell’s equations.53) is universally valid. (3. (3.50)
Thus. The charge contained in a small rectangular volume of dimensions dx. the volume element is assumed to be suﬃciently small that · E does not vary signiﬁcantly across it. (3. However.gives
N
·E =
qi
0
i=1
δ(r − ri ). 3 r − r  (3. our derivation of Eq. that instead of having a set of discrete charges we have a continuous charge distribution described by a charge density ρ(r). (3.51)
S
V
where Q is the total charge enclosed by the surface S. Suppose. it turns out that this is not the case and that Eq. This result is called Gauss’ law and does not depend on the shape of the surface. located at position r is Q = ρ(r) dx dy dz. it is given by Eq. ﬁnally.
” In its most general form Poisson’s equation is written
2
u = v. (3.60)
.
(3. (3.53) to give a partial diﬀerential equation for the scalar potential:
2
φ=−
ρ
0
. The most general form of Gauss’ law. It follows that · E(r) = = 1 4π 0 ρ(r )
0
ρ(r )
·
r−r r − r 3
d3 r . Eq. 64
(3.
(3.4
Poisson’s equation
We have seen that the electric ﬁeld generated by a set of stationary charges can be written as the gradient of a scalar potential. (3.57)
S
3. is obtained by integrating Eq.58)
This equation can be combined with the ﬁeld equation (3.15).53) and (3. (3.54) can be reconciled provided · r−r r − r 3 =−
2
1 r − r 
= 4π δ(r − r ).53) over a volume V surrounded by a surface S and making use of Gauss’ theorem: E · dS = 1
0 V
ρ(r) d3 r.55)
where use has been made of Eq.59)
This is an example of a very famous type of partial diﬀerential equation known as “Poisson’s equation.
(3.Equations (3.51). so that E = − φ.56)
δ(r − r ) d3 r =
ρ(r)
0
which is the desired result. (3.
65)
65
. Suppose that we could construct all of the solutions generated by point sources.61) then the potential generated by v1 + v2 is u1 + u2 . and u2 is the potential generated by the source function v2 . Thus.64) We can easily demonstrate that this is the correct solution:
2
u(r) =
2
G(r.
(3. so the general solution of Poisson’s equation must be expressible as a weighted sum over the point source solutions. In mathematical terminology this function is known as a “Green’s function. The fact that the solutions to Poisson’s equation are superposable suggests a general method for solving this equation. once we know all of the point source solutions we can construct any other solution.where u(r) is some scalar potential which is to be determined and v(r) is a known “source function. r )v(r ) d3 r . Any general source function can be built up out of a set of suitably weighted point sources. these solutions must satisfy the appropriate boundary conditions. The solutions to Poisson’s equation are completely superposable. if u1 is the potential generated by the source function v1 .62)
Poisson’s equation has this property because it is linear in both the potential and the source term. The function G(r. u2 = v 2 .63)
which goes to zero as r → ∞. since
2
(u1 + u2 ) =
2
u1 +
2
u2 = v 1 + v 2 .
(3. r ) v(r ) d3 r =
δ(r − r ) v(r ) d3 r = v(r). (3. In mathematical terminology we require the solution to
2
G(r. r ) is the solution generated by a point source located at position r . r ) = δ(r − r )
(3. so that 2 2 u1 = v 1 . Of course.” The most common boundary condition applied to this equation is that the potential u is zero at inﬁnity. (3. Thus.” The solution generated by a general source function v(r) is simply the appropriately weighted sum of all of the Green’s function solutions: u(r) = G(r.
(3. Amp`re’s apparatus consisted (essentially) of a long straight wire carrying e an electric current current I. This is hardly surprising given the deﬁnition of a Green’s function. he noticed that the needle of a compass he was holding was deﬂected when he moved it close to a current carrying wire. (3. much to his surprise.Let us return to Eq. we have already obtained this solution by another method [see Eq.59):
2
φ=−
ρ
0
.
3.66) is written φ(r) = 1 4π 0 ρ(r ) 3 d r. r ) = − 1 1 . Suddenly. Up until then magnetism has been thought of as solely a property of some rather unusual rocks called loadstones. Amp`re quickly discovered that the needle of a small e compass maps out a series of concentric circular loops in the plane perpendicular to a current carrying wire.64) and (3. (3.17) ].
(3. Word of this discovery spread quickly along the scientiﬁc grapevine. (3. and the French physicist Andre Marie Amp`re immediately decided to investigate fure ther.5
Amp`re’s experiments e
In 1820 the Danish physicist Hans Christian Ørsted was giving a lecture demonstration of various electrical and magnetic eﬀects. r − r  (3.68)
In fact.55) that G(r.67)
Note from Eq. the circulation of the loops is given 66
.63) with G → ∞ as r → 0. The direction of circulation around these magnetic loops is conventionally taken to be the direction in which the north pole of the compass needle points.67) that the general solution to Poisson’s equation (3. 4π r − r  (3.20) that the Green’s function has the same form as the potential generated by a point charge.66)
The Green’s function for this equation satisﬁes Eq. (3. It follows from Eq. It follows from Eq. (3. Using this convention.
I direction of north pole of compass needle
by a righthand rule: if the thumb of the righthand points along the direction of the current then the ﬁngers of the righthand circulate in the same sense as the magnetic loops. then they eﬀectively cancel one another 67
. as indicated in the diagram. This experiment is not quite as clear cut as Coulomb’s experiment
I currentcarrying test wire I
/
because. unlike electric charges. The circuit which connects with the test wire is more problematic. they have to ﬂow in complete circuits. We must imagine that the circuit which connects with the central wire is suﬃciently far away that it has no appreciable inﬂuence on the outcome of the experiment. Fortunately. Amp`re’s next series of experiments involved bringing a short test wire. electric currents cannot exist as point entities. care rying a current I . close to the original wire and investigating the force exerted on the test wire. if the feed wires are twisted around each other.
called the magnetic ﬁeld.out and also do not inﬂuence the outcome of the experiment.. θ = 0 corresponds to the case where the test current is parallel to the central current). Finally. acting on a test wire with the diﬀerent possible orientations of the test current is described by F = I ∧ B. so that it starts parallel to the central current and ends up pointing along a magnetic loop. the test current) ﬂows parallel to the current in the central wire then the two wires attract one another. and falls oﬀ like one over the perpendicular distance between the wires. so that it starts parallel to the central current and ends up pointing radially towards it. The SI unit of magnetic ﬁeld strength is the tesla (T). then the force on the test wire is of constant magnitude and is always at right angles to the test current. If the test current is rotated in a single plane. Incidentally. whose direction is always parallel to the loops mapped out by a small compass. Amp`re was able to establish that the e attractive force between two parallel current carrying wires is proportional to the product of the two currents. the SI unit of electric current is the ampere (A). This rather complicated force law can be summed up succinctly in vector notation provided that we deﬁne a vector ﬁeld B. If the current in the test wire (i. which is the same as a coulomb per second. The variation of the force per unit length acting on a test wire with the strength of the central current and the perpendicular distance r to the central wire is summed 68
. If the test current is parallel to a magnetic loop then there is no force exerted on the test wire. If the current in the test wire is reversed then the two wires repel one another. Amp`re discovered that the force exerted on the test wire is directly propore tional to its length. then the magnitude of the force on the test wire attenuates like cos θ (where θ is the angle the current is turned through.69)
where I is a vector whose direction and magnitude are the same as those of the test current. He also made the following observations. If the test current is rotated in a single plane. If the test current points radially towards the central wire (and the current in the central wire ﬂows upwards) then the test wire is subject to a downwards force. which is the same as a newton per ampere per meter. The dependence of the force per unit length. and its direction is again always at right angles to the test current. If the test current is reversed then the force is upwards.e. F . (3.
In the ﬁrst part. we have no reason to suppose that the magnetic ﬁeld has any real existence.up by saying that the magnetic ﬁeld strength is proportional to I and inversely proportional to r.69) to calculate the force per unit length acting on a short current carrying wire located in the magnetic ﬁeld generated by the central current.70)
with Br = Bz = 0. say. Note that. we calculate the magnetic ﬁeld generated by the current ﬂowing in the central wire. so that 69
. The constant of proportionality µ0 is called the “permeability of free space” and takes the value µ0 = 4π × 10−7 N A−2 . at this stage. This ﬁeld circulates in the plane normal to the wire. We must assume that the conductor also contains stationary charges. Thus. deﬁning cylindrical polar coordinates aligned along the axis of the central current. Suppose that the mobile charges each have charge q and velocity v.71)
The concept of a magnetic ﬁeld allows the calculation of the force on a test wire to be conveniently split into two parts.6
The Lorentz force
The ﬂow of an electric current down a conducting wire is ultimately due to the motion of electrically charged particles (in most cases. (3. electrons) through the conducting medium. its magnitude is proportional to the central current and inversely proportional to the perpendicular distance from the wire. therefore.
3. This force is perpendicular to both the magnetic ﬁeld and the direction of the test current. Let us suppose that this is the case. In the second part. It seems reasonable. (3. we use Eq. 2πr (3. Let A be the (uniform) crosssectional area of the wire. that the force exerted on the wire when it is placed in a magnetic ﬁeld is really the resultant of the forces exerted on these moving charges. we have Bθ = µ0 I . It is introduced merely to facilitate the calculation of the force exerted on the test wire by the central wire. and let n be the number density of mobile charges in the conductor. of charge −q and number density n.
According to Eq. The magnetic force. (3. is perpendicular to both the local magnetic ﬁeld and the particle’s direction of motion.73)
We can combine this with Eq.” a then mysterious form of 70
.the net charge density in the wire is zero. assuming that each charge is subject to an equal force from the magnetic ﬁeld (we have no reason to suppose otherwise). The electric force on a charged particle is parallel to the local electric ﬁeld. (3. Thus.75)
according to the Lorentz force law.69) the force per unit length acting on the wire is F = q nA v ∧ B. so the vector current is I = q nA v. No magnetic force is exerted on a stationary charged particle.74)
This is called the “Lorentz force law” after the Dutch physicist Hendrik Antoon Lorentz who ﬁrst formulated it. so all of the charges contained in a cylinder of crosssectional area A and length v ﬂow past a given point. In one second a mobile charge moves a distance v. The direction of the current is the same as the direction of motion of the charges. the force acting on an individual charge is f = q v ∧ B.J. (3. the magnitude of the current is q nA v. a unit length of the wire contains nA moving charges.9) to give the force acting on a charge q moving with velocity v in an electric ﬁeld E and a magnetic ﬁeld B: f = q E + q v ∧ B. In most conductors the mobile charges are electrons and the stationary charges are atomic nuclei. The magnitude of the electric current ﬂowing through the wire is simply the number of coulombs per second which ﬂow past a given point.72)
However. (3. This equation of motion was veriﬁed in a famous experiment carried out by the Cambridge physicist J. however. Thompson was investigating “cathode rays. (3. dt (3. So. Thompson in 1897. The equation of motion of a free particle of charge q and mass m moving in electric and magnetic ﬁelds is m dv = q E + q v ∧ B.
(3. Thompson was able to demonstrate that the latter view was correct. In other words. that cathode rays are a stream of particles of mass m and charge q. in reality. This formula is only valid if d l. the electric and magnetic forces balance exactly. The ﬁelds were perpendicular to the original trajectory of the rays and were also mutually perpendicular. Next. a stream of charged particles.76)
where v is the velocity of the particles in the xdirection. a cathode) with respect to another metal element (i. which is assumed to be the case. Thompson started oﬀ his experiment by only turning on the electric ﬁeld in his apparatus and measuring the deﬂection d of the ray in the zdirection after it had traveled a distance l through the electric ﬁeld. as Thompson did. Let us assume..77) and (3. It follows from Eq. an anode) in an evacuated tube. Eqs. and are subject to a uniform electric ﬁeld E in the zdirection and a uniform magnetic ﬁeld B in the −ydirection. The equation of motion of the particles in the zdirection is d2 z m 2 = q (E − vB) .e. It is clear from the equation of motion that d= q E l2 q E t2 = .e. m 2 m 2v 2 (3.77)
where the “time of ﬂight” t is replaced by l/v. German physicists held that cathode rays were a form of electromagnetic radiation. In Thompson’s experiment the cathode rays passed though a region of “crossed” electric and magnetic ﬁelds (still in vacuum). Let us analyze Thompson’s experiment. Suppose that the rays are originally traveling in the xdirection.78) and can be combined and rearranged to give the 71
. The lack of deﬂection implies that the net force on the particles in the zdirection is zero. (3. dt (3. whilst British and French physicists suspected that they were. Thompson turned on the magnetic ﬁeld in his apparatus and adjusted it so that the cathode ray was no longer deﬂected.76) that with a properly adjusted magnetic ﬁeld strength v= E .78)
Thus.radiation emitted by a heated metal element held at a large negative voltage (i. B (3.
charge to mass ratio of the particles in terms of measured quantities: q 2dE = 2 2. (3.81) (3. in a circle) but the actual acceleration is performed by electric ﬁelds.80) ].g.74). (3. The power input to the particle from the force ﬁeld is P = lim δW = f · v. in fact.80)
where v is the particle’s velocity..6 × 10−19 C.79)
Using this method Thompson inferred that cathode rays were made up of negatively charged particles (the sign of the charge is obvious from the direction of the deﬂection in the electric ﬁeld) with a charge to mass ratio of −1. (3. Thompson’s and Millikan’s experiments imply that the mass of these particles is 9. Eq. does no work on the particle [see Eq. δt→0 δt (3. streams of electrons which are emitted from a heated cathode and then accelerated because of the large voltage diﬀerence between the cathode and anode. Thus. Of course. Assuming that mobile electric charges and the particles which make up cathode rays are one and the same thing. in particle accelerators magnetic ﬁelds are often used to guide particle motion (e. This is because the magnetic force is always perpendicular to the particle’s direction of motion and. Thus.6 × 10−19 C is the charge of an electron.4 × 10 −31 kg.1 × 10 −31 kg). 72
. therefore. If a particle is subject to a force f and moves a distance δr in a time interval δt then the work done on the particle by the force is δW = f · δr. and −1. m l B (3.7 × 10 11 C/kg. It follows from the Lorentz force law. cathode rays are. A decade later in 1908 the American Robert Millikan performed his famous “oil drop” experiment and discovered that mobile electric charges are quantized in units of −1.82)
Note that a charged particle can gain (or lose) energy from an electric ﬁeld but not from a magnetic ﬁeld. that the power input to a particle moving in electric and magnetic ﬁelds is P = q v · E. this is the mass of an electron (the modern value is 9.
e. (3. whilst in reality there should be a short time delay. The force acting on the second wire is directed radially inwards towards the ﬁrst wire. Equation (3. (3.69). then when the currents I1 and I2 ﬂow through both circuits simultaneously the generated magnetic ﬁeld is B1 + B2 . (3.69). like electric ﬁelds. if a ﬁeld B1 is generated by a current I1 ﬂowing through some circuit. at least as long as the propagation time for a
73
. which is valid for continuous wires as well as short test wires.3. are completely superposable. i. according to Eq. if the current in the ﬁrst wire is suddenly changed then the force on the second wire immediately adjusts. respectively. This ﬁeld is orientated at right angles to the ﬁrst wire.
F F
I1 B1
I2
B2
r
Consider two parallel wires separated by a perpendicular distance r and carrying electric currents I1 and I2 . The magnetic ﬁeld strength at the ﬁrst wire due to the current ﬂowing in the second wire is B = µ0 I2 /2πr. So.83) is sometimes called “Amp`re’s law” and is clearly another exame ple of an “action at a distance” law. so the force per unit length exerted on the second wire is µ0 I 1 I 2 F = .. The magnetic ﬁeld strength at the second wire due to the current ﬂowing in the ﬁrst wire is B = µ 0 I1 /2πr.83) 2πr This follows from Eq. so the force per unit length acting on the ﬁrst wire is equal and opposite to that acting on the second wire.7
Amp`re’s law e
Magnetic ﬁelds. and a ﬁeld B2 is generated by a current I2 ﬂowing through another circuit. This ﬁeld is orientated at right angles to the second wire.
0 (3. it is true in general. but. no. If · B = 0 then B is a solenoidal vector ﬁeld. (3. Let the wire be aligned along the zaxis.84) (if you do not believe me. to be zero. Consider a cylindrical surface aligned with the wire. at ﬁrst sight. they form closed loops.3 that the divergence of the electric ﬁeld appeared. . This would certainly imply that · B is some sort of deltafunction. we have only proved this for inﬁnite straight currents. The magnetic ﬁeld is everywhere tangential to the outward surface element. The magnetic ﬁeld generated by such a wire is written µ0 I −y x B= . (3. (3. Does the same sort of thing happen for the divergence of the magnetic ﬁeld? Well.
3.85)
where use has been made of ∂r/∂x = x/r. We saw in Section 3.84) 2π r2 r2 in Cartesian coordinates. it is impossible to invent any closed surface for which S B · dS = 0 with B given by Eq. ﬁeld lines of B never begin or end. if we could ﬁnd a closed surface S for which S B · dS = 0 then according to Gauss’ theorem V · B dV = 0 where V is the volume enclosed by S. but.8
Magnetic monopoles?
Suppose that we have an inﬁnite straight wire carrying an electric current I. In other words. e However. So. in reality. In fact. The divergence of this ﬁeld is 2yx 2xy − 4 r4 r = 0. can we ﬁnd such a surface? The short answer is. Admittedly. as long as we restrict our investigations to steady currents it is perfectly adequate. This is certainly the case in Eq.light signal between the two wires. as will be demonstrated presently. so this surface certainly has zero magnetic ﬂux coming out of it. instead.84) where the ﬁeld lines are a set of concentric circles centred 74
. try it yourselves!). Clearly. This suggests that the divergence of a magnetic ﬁeld generated by steady electric currents really is zero. etc. where r = ·B = µ0 I 2π x2 + y 2 . it was a deltafunction because the volume integral of · E was nonzero. Amp`re’s law is not strictly correct.
” It is clear from the diagram that if we take a closed surface S containing an isolated magnetic pole. it is quite possible to formulate electromagnetism so as to allow for magnetic monopoles. the magnetic ﬁeld lines generated by any set of electric currents form closed loops. so this would act like a negative “magnetic charge. In fact. that this is a true statement. if there are any then they are all 75
. a compass needle would always point away from an isolated south pole.” Likewise. At least. by snapping a bar magnet in two? A compass needle would always point towards an isolated north pole. It appears likely (but we cannot prove it with a compass) that the ﬁeld lines inside the magnet connect from the north to the south pole so as to form closed loops. It follows from Gauss’ theorem that if S B · dS = 0 then · B = 0. or that · B = 0. which is usually termed a “magnetic monopole. and eventually reconverge on the north pole. the ﬂux will be positive for an isolated south pole and negative for an isolated north pole. so this would act like a positive “magnetic charge. If we track the magnetic ﬁeld lines with a small compass they all emanate from the south pole. as can easily be checked by tracking the magnetic lines of force using a small compass. It is not clear. the statement that magnetic ﬁelds are solenoidal.
N
S
Can we produce an isolated north or south magnetic pole. there are no magnetic monopoles in the universe. we know that a conventional bar magnet has both a north and south magnetic pole (like the Earth). Thus.” then S B · dS = 0.on the zaxis. for instance. a priori. is equivalent to the statement that there are no magnetic monopoles. However. In fact. What about magnetic ﬁelds generated by permanent magnets (the modern equivalent of loadstones)? Do they also always form closed loops? Well. as far as we know. spread out.
9
Amp`re’s other law e
Consider. The ﬁeld generated by such a wire is written Bθ = µ0 I 2πr (3. it says that there are no such things as magnetic monopoles. If we snap one of these smaller magnets in two then we end up with two even smaller bar magnets.N
S
hiding from us! We know that if we try to make a magnetic monopole by snapping a bar magnet in two then we just end up with two smaller bar magnets. We have only proved that · B = 0 for steady magnetic ﬁelds but. this is also the case for time dependent ﬁelds (see later). (3. Essentially. In conclusion. We can continue this process down to the atomic level without ever producing a magnetic monopole. so this type of magnetism is not fundamentally diﬀerent to the magnetism generated by macroscopic currents. permanent magnetism is generated by electric currents circulating on the atomic scale.86)
This.87)
76
. an inﬁnite straight wire aligned along the zaxis and carrying a current I. In fact. is the second of Maxwell’s equations. they form closed loops and satisfy the ﬁeld equation · B = 0. again. in fact. all steady magnetic ﬁelds in the universe are generated by circulating electric currents of some description. Such ﬁelds are solenoidal.
3. incidentally. that is.
we know from Stokes’ theorem that
S
B · dl =
S
∧ B · dS. We have
C
B · dl =
Bθ rdθ = µ0 I. We now have a problem.91)
S
. 77 (3. Equations (3. Let us evaluate
S I
C
According to Eq.89) ∧ B directly. Suppose that the radius of this loop is r. This integral is easy to perform because the magnetic ﬁeld is always parallel to the line element. Let us evaluate the line integral C B · dl.90) 2x2 1 2y 2 1 − 4 + 2− 4 r2 r r r = 0.
(3.
where use has been made of ∂r/∂x = x/r. ∂z ∂x ∂By ∂Bx µ0 I − = ∂x ∂y 2π (3.84): ( ( ( ∧ B)x ∧ B)y ∧ B)z = = = ∂Bz ∂By − = 0. etc.88)
However.in cylindrical polar coordinates.88) and (3. (3.
(3.
where S is any surface attached to the loop C. Consider a circular loop C in the xy plane which is centred on the wire. ∂y ∂z ∂Bx ∂Bz − = 0.89) imply that ∧ B · dS = µ0 I.
Suppose that we integrate over a plane surface S connected to the loop C. and that this can only be singular on the zaxis (i. Thus.90) that the only component of ∧ B which can be singular is the zcomponent. in accordance with Eqs. You might again be wondering why we have gone to so much trouble to prove something using vector ﬁeld theory which can be demonstrated in one line via conventional analysis [see Eq. since the only part of S which actually contributes to the surface integral is the bit which lies inﬁnitesimally close to the zaxis. (3. A threedimensional deltafunction is a singular (but integrable) point in space. and ( ∧ B)z = 0 everywhere apart from the zaxis. whereas a twodimensional deltafunction is a singular line in space.. we obtain
∞ S ∞
∧ B · dS = µ0 I
δ(x) dx
−∞ −∞
δ(y) dy = µ0 I. Thus. r = 0). (3. (3. so ∧ B · dS = µ0 I δ(x)δ(y) dx dy (3.but we have just demonstrated that ∧ B = 0. the singularity coincides with the location of the current.94)
which is in agreement with Eq. of course. Likewise.90). is that the vector ﬁeld result is easily generalized whereas the conventional result is just a special 78
. we can get around our present diﬃculty by saying that ∧ B is a twodimensional deltafunction.93)
S
where the integration is performed over the region x2 + y 2 ≤ r. It is clear from an examination of Eqs. This problem is very reminiscent of the diﬃculty we had earlier with · E. (3. (3. However.88) ].92)
The above equation certainly gives ( ∧ B)x = ( ∧ B)y = 0. Recall that V · E dV = q/ 0 for a volume V containing a discrete charge q.91). The answer. we can integrate over all x and y without changing the result. but that ·E = 0 at a general point. The surface element ˆ is dS = dx dy z. and we can write ˆ ∧ B = µ0 I δ(x)δ(y) z.e. We got around this problem by saying that ·E is a threedimensional deltafunction whose “spike” is coincident with the location of the charge.
(3.
92) generalizes to
N
∧ B = µ0
i=1
ˆ Ii δ(x − xi )δ(y − yi ) z. 79
(3. Let us now consider N wires directed along the zaxis. (3. provided the curve C circulates the zaxis. Note that the only part of S which contributes to the surface integral is an inﬁnitesimal region centered on the zaxis. What now is the line integral of B around the loop? This is no longer a simple problem for conventional analysis. So. then Stokes’ theorem and the above equation imply that
C
B · dl =
S
∧ B · dS = µ0 I. and therefore any surface S attached to C intersects the zaxis.97)
If we integrate the magnetic ﬁeld around some closed curve C. if C does not circulate the zaxis then an attached surface S does not intersect the zaxis and C B · dl is zero.
(3.92). For instance. namely
C
B · dl =
S
∧ B · dS = µ0 I. suppose that we distort our simple circular loop C so that it is no longer circular or even lies in one plane.96)
Thus. with coordinates (x i . the line integral C B · dl is equal to µ0 I. because the magnetic ﬁeld is not parallel to the line element of the loop. yi ) in the xy plane. However.
(3. The line integral C B · dl is µ0 I for a loop which circulates the zaxis in a clockwise direction (looking up the zaxis). This follows because in the latter case the zcomponent of the surface element dS is oppositely directed to the current ﬂow at the point where the surface intersects the wire.95)
with ∧ B given by Eq. if the loop circulates in an anticlockwise direction then the integral is −µ0 I. we always get the same answer for the surface integral. according to Stokes’ theorem
C
B · dl =
S
∧ B · dS.case.
(3. There is one more proviso.98)
. each carrying a current Ii in the positive zdirection. It is fairly obvious that Eq. as long as S actually intersects the zaxis it does not matter what shape the rest the surface is. which can have any shape and does not necessarily lie in one plane. Of course. However. (3.
y) dx dy. We can combine these equations with Eq. (3. z) dy dz. is given by jx (y. These wires have zerothickness. Thus. On the other hand.100) Of course. y) and of dimensions dx and dy. Likewise. centred on coordinates (y.98) this integral is equal to µ0 times the total zcurrent ﬂowing through the rectangle. It is fairly obvious that we can write ( ∧ B)x = µ0 jx . z) and of dimensions dy and dz. Again. (3.100) to form a single vector ﬁeld equation which describes how electric currents generate magnetic ﬁelds: ∧ B = µ0 j. if the curve circulates in an anticlockwise direction then the wire contributes −I i . is jz (x.102)
. 80 (3. Finally. The rectangle is assumed to be suﬃciently small that ( ∧ B)z does not vary appreciably across it. ( ∧ B)z dx dy = µ0 jz dx dy. centred on coordinates (x. This accounts for the deltafunctions on the righthand side of the equation. Here. (3.99) which implies that ( ∧ B)z = µ0 jz .3 because we were dealing with point charges.101)
with a similar equation for diﬀuse currents ﬂowing along the yaxis. The current ﬂowing through a small rectangle in the yz plane. where jx is the current density in the xdirection. Suppose we have a set of diﬀuse currents ﬂowing in the xdirection.where I is the total current enclosed by the curve. we obtained deltafunctions in Section 3.97) is a ﬁeld equation describing how a set of zdirected current carrying wires generate a magnetic ﬁeld. Suppose that the zcurrent ﬂowing through a small rectangle in the xy plane. (3. Let us integrate ( ∧ B)z over this rectangle. which implies that we are trying to squeeze a ﬁnite amount of current into an inﬁnitesimal region. there is nothing special about the zaxis. Equation (3. jz is termed the current density in the zdirection. if the curve does not circulate the wire at all then the wire contributes nothing to I. if the curve circulates the ith wire in a clockwise direction (looking down the direction of current ﬂow) then the wire contributes Ii to the aggregate current I. Let us now generalize to the more realistic case of diﬀuse currents. According to Eq. (3.
the line integral of the magnetic ﬁeld around any closed loop C is equal to µ0 times the ﬂux of the current density through C.98). then we obtain B · dl = µ0 j · dS. The ﬂux of the current density through C is evaluated by integrating j · dS over any surface S attached to C.102). That is. This is the third Maxwell equation.103) is wrong. when we work out the ﬂux of the current though C using two diﬀerent attached surfaces then we had better get the same answer. We saw in
S2 S1
C
Section 2 that if the integral of a vector ﬁeld A over some surface attached to a loop depends only on the loop. Suppose that space is ﬁlled with particles of charge q. The electric current ﬂowing through a small area dS located at position r is j(r) · dS. If we form the line integral of B around some general closed curve C. number density n(r). The charge density is given by ρ(r) = qn. 81
. otherwise Eq. (3. jy . The current density is given by j(r) = qnv and is obviously a proper vector ﬁeld (velocities are proper vectors since they are ultimately derived from displacements). Suppose that we take two diﬀerent surfaces S1 and S2 . (3. jz ) is the vector current density. making use of Stokes’ theorem and the ﬁeld equation (3. (3. and velocity v(r). If the currents ﬂow in zerothickness wires then Amp`re’s e e law reduces to Eq. This result is called Amp`re’s (other) law.where j = (jx . and is independent of the surface which spans it. It is clear that if Amp`re’s law is to make any sense then the surface e integral S1 j · dS had better equal the integral S2 j · dS.103)
C
S
In other words.
Under these circumstances Amp`re’s e law collapses in a heap. it is equal to the line integral of B around C.e.105a) (3. which depends on C but not on S). we can obtain this relation directly from the ﬁeld equation (3. = µ0 j. only twothirds of Maxwell’s third equation. (3. e suppose that we now relax this restriction. and Amp`re’s law makes sense.102). Suppose that some of the charges in a volume V decide to move outside V . This. so taking the divergence of Eq. 82
.. there will be a nonzero net ﬂux of electric current through the bounding surface S whilst this is happening. the ﬁeld equation ∧ B = µ0 j is. In other words.. in fact. We shall see later that we can rescue Amp`re’s law by e adding an extra term involving a time derivative to the righthand side of the ﬁeld equation (3. This implies from Gauss’ theorem that · j = 0. there is a term missing on the righthand side. we have only derived one and twothirds): ·B ∧B = 0. It is clear that if all charges are stationary and all currents are steady then there can be no net current ﬂowing through a closed surface S. Thus. steady currents. This implies that · j = 0. of course. is a rather special class of currents. as long as we restrict our investigation to stationary charges and steady currents then we expect · j = 0. ∂/∂t = 0) this extra term can be neglected.102). In fact. However. this integral depends only on C and e is completely independent of S (i. According to Amp`re’s law.104) We have shown that if Amp`re’s law is to make any sense then we need e · j = 0.105b)
We obtained these equations by looking at the ﬁelds generated by inﬁnitely long. We have now derived two ﬁeld equations involving magnetic ﬁelds (actually.e.then this implies that · A = 0. Physically this implies that the net current ﬂowing through any closed surface S is zero. The ﬂux of the current density through any loop C is is calculated by evaluating the integral S j · dS for any surface S which spans the loop. Clearly. (3. straight. For steady state situations (i. Up to now we have only considered stationary charges and steady currents. since this would imply a build up of charge in the volume V enclosed by S. We know that the divergence of a curl is automatically zero. (3.102) we obtain · j = 0.
this is the case. We have found that these ﬁelds are describable in terms of four ﬁeld equations: ·E ∧E for electric ﬁelds. There are no other ﬁeld equations. if we did this we would ﬁnd that the above ﬁeld equations still hold (provided that the currents are steady). Unfortunately. In fact.We should now go back and repeat the process for general currents. this demonstration is rather messy and extremely tedious. and ·B ∧B = 0.106)
= 0
for magnetic ﬁelds. they deal with the inﬁnitesimal diﬀerences in quantities between neighbouring points.e. We can then. what diﬀerential equation completely speciﬁes a scalar ﬁeld? This is easy. In fact. with relatively little eﬀort. The question is. It is called Helmholtz’s theorem after the German polymath Hermann Ludwig Ferdinand von Helmholtz. There is a mathematical theorem which sums this up. thus proving that our assumption is correct.107) = ρ
0
. (3. Let us assume that the above ﬁeld equations are valid for any set of steady currents. Let us start with scalar ﬁelds. Field equations are a type of diﬀerential equation. More of this later. = µ0 j (3. This strongly suggests that if we know the divergence and the curl of a vector ﬁeld then we know everything there is to know about the ﬁeld. There is a better approach.
3. Up to now we have only studied the electric and magnetic ﬁelds generated by stationary charges and steady currents. use these equations to generate the correct formula for the magnetic ﬁeld induced by a general set of steady currents. i.10
Helmholtz’s theorem: A mathematical digression
Let us now embark on a slight mathematical digression.. Suppose that we have a scalar ﬁeld φ and a ﬁeld 83
.
How many diﬀerential equations do we need to completely specify this ﬁeld? Hopefully. The above equation completely speciﬁes φ once we are given the value of the ﬁeld at a single point. Suppose that we have two ﬁeld equations: · F = D. Let us test this hypothesis. Note that we need ∧ A = 0 for self consistency. we only need two: one giving the divergence of the ﬁeld and one giving its curl. but it remains to be proved. The question is. we are saying that a general ﬁeld F is the sum of a conservative ﬁeld. ∧ W .110a) (3.111)
since the divergence of a curl is automatically zero. (3. (3. Let us start by taking the divergence of the above equation and making use of Eq. (3.113)
. U . Thus. This sounds plausible. since the curl of a gradient is automatically zero. do these two ﬁeld equations plus some suitable boundary conditions completely specify F ? Suppose that we write F =− U+ ∧ W.110a). We get
2
U = −D. Suppose that we have a vector ﬁeld F . (3.
Q Q
φ(Q) = φ(P ) +
P
φ · dl = φ(P ) +
P
A · dl. P say. ∧ F = C. and a solenoidal ﬁeld. For selfconsistency we need (3. 84
(3.equation which tells us the gradient of this ﬁeld at all points: something like φ = A.108)
where A(r) is a vector ﬁeld. The fact that ∧A = 0 means that A is a conservative ﬁeld which guarantees that the above equation gives a unique value for φ at a general point in space.112)
In other words.109)
where Q is a general point.
(3. · C = 0.110b)
where D is a scalar ﬁeld and C is a vector ﬁeld.
r − r 
where φ is the electrostatic potential and ρ is the charge density. Let us look at these equations. (3. We immediately notice that they all have exactly the same form. (3. Let us now take the curl of Eq. We proved that the solution to this equation.115)
2
So. (3. We get U (r) = and Wx (r) = 1 4π 85 Cx (r ) 3 d r. Eq. Note that the scalar ﬁeld U does not ﬁgure in this equation because the curl of a divergence is automatically zero. if the same equations have the same solutions. with the boundary condition that φ goes to zero at inﬁnity.114)
Here. (3. is ρ(r ) 3 1 d r.Note that the vector ﬁeld W does not ﬁgure in this equation because the divergence of a curl is automatically zero.116) φ=− . We can now make use of a principle made famous by Richard P. This is another thing which remains to be proved. (3. In fact. Wz = −Cz . Wy = −Cy . Feynman: “the same equations have the same solutions. then we can immediately write down the solutions to Eq.113) and Eqs.117) φ(r) = 4π 0 r − r 
(3.112): ∧F = ∧ ∧W = ( · W) −
2
W =−
2
W. (3. and Eq.110b) we get
2 2
Wx = −Cx . r − r  1 4π D(r ) 3 d r.” Recall that earlier on we came across the following equation: ρ 2 (3.117) is the solution to Eq. they are all versions of Poisson’s equation. (3. we have transformed our problem into four diﬀerential equations. Using Eq. (3. (3.
0
Well.115).115).
(3.118)
.116).113) and Eqs. which we need to solve. we assume that the divergence of W is zero. (3.
Wy (r) = Wz (r) =
1 4π 1 4π
Cy (r ) 3 d r.120) and making use of the above relation. r − r 
(3. (3. if gf → 0 as x → ±∞ then we can neglect the ﬁrst term on the righthand side of the above equation and write ∂f g dx = − −∞ ∂x A simple generalization of this result yields g· f d3 r = − 86 f · g d3 r. r − r  Cz (r ) 3 d r. (3. Taking the divergence of Eq. r − r  C(r ) 3 d r. Let us check to see if this is true.122) =− 1 4π (3. ∂x
(3. ∂/∂y .124)
∂f ∞ g dx = [gf ]−∞ − −∞ ∂x
f
−∞
However. ∂x
1 r − r 
d3 r .119)
The last three equations can be combined to form a single vector equation: W (r) = We assumed earlier that that ∂ 1 ∂x r − r  which implies that 1 r − r  =− 1 r − r  . (3.125)
. Note 1 r − r  . (3. (3.121)
x −x ∂ x−x = =− 3 3 r − r  r − r  ∂x
where is the operator (∂/∂x . we obtain ·W = Now 1 4π C(r ) ·
∞
1 r − r 
d3 r = −
1 4π
∞
C(r ) · ∂g dx.126)
∞ ∞
f
−∞
∂g dx.123) (3.120)
· W = 0. ∂/∂z ).
let us invent some solutions to Eqs. Thus. has a very nice property: its solutions are unique. In other words. We shall prove this later on in the course. F  → 0 as r → ∞. Because the solutions to Laplace’s equations are unique.128)
where i denotes x. which is the desired result.
(3. (3. (3. If there are then we are in trouble. Well.110) with sensible boundary conditions at inﬁnity? Another way of posing this question is to ask whether there are any solutions of
2
U = 0. But. if we can ﬁnd a solution to Laplace’s equation which satisﬁes the boundary conditions then we are guaranteed that this is the only solution. i. it is not possible to unambiguously reconstruct a vector ﬁeld given its divergence.. However.128).129)
which is called Laplace’s equation.provided that gx f → 0 as r → ∞. provided C(r) is bounded as r → ∞. (3. This means that there is no vector ﬁeld which satisﬁes physical boundary equations at inﬁnity and has 87
. and physical boundary conditions. (3. is our solution the only possible solution of Eqs. That is. (3. This would imply that our solution is not unique. (3.127)
from Eq. or z. We have constructed a vector ﬁeld F which satisﬁes Eqs. y. etc. How about U = Wi = 0? (3. we can deduce that ·W = 1 4π ·C(r ) 3 d r r − r  (3.e. we know that Eqs. the equation
2
φ = 0.
(3.130)
These solutions certainly satisfy Laplace’s equation and are wellbehaved at inﬁnity. because we can take our solution and add to it an arbitrary amount of a vector ﬁeld with zero divergence and zero curl and thereby obtain another solution which also satisﬁes physical boundary conditions.123). we have already shown that · C = 0 from selfconsistency arguments.130) are the only solutions to Eqs.110) and behaves sensibly at inﬁnity.128) which are bounded at inﬁnity. so the above equation implies that · W = 0.
2
Wi = 0. Fortunately. which are bounded at inﬁnity. its curl.
= something. a general vector ﬁeld which is zero at inﬁnity is completely speciﬁed once its divergence and its curl are given. we have unambiguously reconstructed the vector ﬁeld F given its divergence. we can guess that the laws of electromagnetism can be written as four ﬁeld equations.118) blow up. (3. Thus.107) are of exactly this form.131)
without knowing the ﬁrst thing about electromagnetism (other than the fact that it deals with two vector ﬁelds).110) is the only solution. Second. its curl. we solved Eqs. a general vector ﬁeld can be written as the sum of a conservative ﬁeld and a solenoidal ﬁeld. instead they have to be generated by stationary charges and steady currents. After all. Of course.) We also know that any solutions we ﬁnd are unique. since the above equations are suﬃcient to completely reconstruct both E and B. This implies that steady electric and magnetic ﬁelds cannot generate themselves.106) and (3. So. In other words. (3. there is only one possible steady electric and magnetic ﬁeld which can be generated by a given set of stationary charges and steady currents. our solution to Eqs. All of these results 88
. (3. and also very important. Furthermore. ·E ∧E ·B ∧B = something. (3. (Actually. a steady magnetic ﬁeld implies that there is a steady current ﬂowing somewhere. = something. This is Helmholtz’s theorem. The third thing which we proved was that if the righthand sides of the above ﬁeld equations are all zero then the only physical solution is E = B = 0.110) for completely general righthand sides. the righthand sides have to go to zero at inﬁnity otherwise integrals like Eq. and sensible boundary conditions at inﬁnity.112). we know that we can solve the ﬁeld equations without even knowing what the righthand sides look like. First. Thus. Likewise. according to Eq. Eq. We have just proved a number of very useful. (3. if we come across a steady electric ﬁeld we know that if we trace the ﬁeld lines back we shall eventually ﬁnd a charge. In other words. (3. we ought to be able to write electric and magnetic ﬁelds in this form. Thus. We also know that there are only four ﬁeld equations.zero divergence and zero curl. = something. points.
for that matter) satisfy · B = 0. (3. We know from Helmholtz’s theorem that a vector ﬁeld is fully speciﬁed by its divergence and its curl. The quantity A is known as the magnetic vector potential. This immediately allows us to write E = − φ. the divergence of A has no physical signiﬁcance.
3.135)
since the divergence of a curl is automatically zero. This is clearly a useful thing to do since it enables us to replace a vector ﬁeld by a much simpler scalar ﬁeld.11
The magnetic vector potential
Electric ﬁelds generated by stationary charges obey ∧ E = 0.. (3. This is not an obviously useful thing to do. In fact. from the general properties of ﬁelds in three dimensional space. Magnetic ﬁelds generated by steady currents (and unsteady currents. Eq. (3.135). since it only allows us to replace one vector ﬁeld by another.135) is probably the single most useful equation we shall come across in this lecture course. Nevertheless. prior to any investigation of electromagnetism.134) This immediately allows us to write B= ∧ A.e. In fact. The quantity φ in the above equation is known as the electric scalar potential. whenever we come across an irrotational vector ﬁeld in physics we can always write it as the gradient of some scalar ﬁeld. (3. 89
. whenever we come across a solenoidal vector ﬁeld in physics we can always write it as the curl of some other vector ﬁeld.follow from vector ﬁeld theory. however. However. The curl of the vector potential gives us the magnetic ﬁeld via Eq. (3. i.132)
since the curl of a gradient is automatically zero.133) (3.
according to Eq.137) are examples of what mathematicians call “gauge transformations.136) we are left with · A = 0.” The choice of a particular function ψ or a particular constant c is referred to as a choice of the gauge. (3. The transformations (3. The usual gauge for the scalar potential φ is such that φ → 0 at inﬁnity. in practice.10). This proves that.136) and (3.In fact.
(3. Let · A = v(r). (3. since the transformation φ→φ+c (3. Taking the divergence of Eq.140)
But this is just Poisson’s equation (again!). The usual gauge for A is such that · A = 0. (3. Suppose that we have found some vector ﬁeld A whose curl gives the magnetic ﬁeld but whose divergence in nonzero. the magnetic ﬁeld is invariant under the transformation A→A− ψ.139) The question is. We are free to ﬁx the gauge to be whatever we like. But it is not at all obvious that we can always perform a gauge transformation such as to make · A zero. Note that.133). This is just another way of saying that we are free to choose · A. (3. we can always set the divergence of A equal to zero. We know that we can always ﬁnd a unique solution of this equation (see Section 3. The most sensible choice is the one which makes our equations as simple as possible.”
leaves the electric ﬁeld invariant in Eq. 90
.136) it is clear that we need to ﬁnd a function ψ which satisﬁes
2
ψ = v. (3.137)
This particular choice is known as the “Coulomb gauge.135).138)
It is obvious that we can always add a constant to φ so as to make it zero at inﬁnity. Recall that the electric scalar potential is undetermined to an arbitrary additive constant. can we ﬁnd a scalar ﬁeld ψ such that after we perform the gauge transformation (3.136)
In other words. we are completely free to choose · A to be whatever we like. (3. the vector potential is undetermined to the gradient of a scalar ﬁeld.
141)
We wish to ﬁnd a vector potential A whose curl is equal to the above magnetic ﬁeld and whose divergence is zero.102) to give
2
A = −µ0 j. This would seem to suggest that there is a more direct relationship between the vector potential and the current than there is between the magnetic ﬁeld and the current.138). It is not diﬃcult to see that A=− µ0 I 0.143)
where use has been made of the Coulomb gauge condition (3. 0. r − r  91
. we obtain
2 2 2
Ax Ay Az
= −µ0 jx . ln(x2 + y 2 ) 4π (3.145)
But. = −µ0 jz . (3. = −µ0 jy .Let us consider again an inﬁnite straight wire directed along the zaxis and carrying a current I. (3. The magnetic ﬁeld generated by such a wire is written B= µ0 I 2π −y x .
(3. r2 r2 (3. but this is just because we are dealing with an inﬁnitely thin current. We ﬁnd that ∧B = ∧ ∧A= ( · A) −
2
A=−
2
A. Let us take the curl of Eq.
(3. We can combine the above relation with the ﬁeld equation (3. .142)
ﬁts the bill. Note that the vector potential is parallel to the direction of the current. The potential is not very well behaved on the zaxis. this is just Poisson’s equation three times over.144)
Writing this in component form.0 . We can immediately write the unique solutions to the above equations: Ax (r) = µ0 4π jx (r ) 3 d r.135).
r − r 
(3.147) and (3. (3.106) and (3.107).
3. (3.12
The BiotSavart law
which we recognize as Coulomb’s law written for a continuous charge distribution. According to Eq.150)
.147)
Of course.Ay (r) = Az (r) =
µ0 4π µ0 4π
jy (r ) 3 d r.149) 3 4π 0 r − r 
(3.148).147). (3. r − r 
These solutions can be recombined to form a single vector solution A(r) = µ0 4π (3. we have seen a equation like this before: φ(r) = 1 4π 0 (3. r − r 3 92
According to Eq. we can prove that Eq.127) (with W → A and C → µ 0 j) and using the fact that · j = 0 for steady currents.146)
jz (r ) 3 d r. of charge density ρ(r).135) we can obtain an equivalent expression for the magnetic ﬁeld generated by steady currents by taking the curl of Eq. r − r  j(r ) 3 d r. Incidentally. of current density j(r). (3. (3. (3. This yields r−r 1 ρ(r ) E(r) = d3 r . r − r  ρ(r ) 3 d r. and a set of steady currents. they specify the magnetic vector and electric scalar potentials generated by a set of stationary charges.148) are the unique solutions (given the arbitrary choice of gauge) to the ﬁeld equations (3. (3.133) we can obtain an expression for the electric ﬁeld generated by stationary charges by taking minus the gradient of Eq.121)–(3. This gives B(r) = µ0 4π j(r ) ∧ (r − r ) 3 d r.148)
Equations (3.147) satisﬁes the gauge condition · A = 0 by repeating the analysis of Eqs.
its direction and magnitude specify the direction and magnitude of the current) and dl is an element of length along the wire. r − r 3 (3.105) are valid for general current distributions (recall that we derived them by studying 93
.. the study of magnetic ﬁelds generated by steady currents) what Coulomb’s law is to electrostatics (i. it can be experimentally veriﬁed given a set of currents. We can do this by writing j(r) d3 r = I(r) dl.152)
which is the form in which the BiotSavart law is most usually written.150) is known as the “BiotSavart law” after the French physicists Jean Baptiste Biot and Felix Savart.. Furthermore. This
current
I( r ) dl rr
/
/
measurement point
law is to magnetostatics (i.151) can be combined to give B(r) = µ0 4π I(r ) ∧ (r − r ) dl. This justiﬁes our earlier assumption that the ﬁeld equations (3. the study of electric ﬁelds generated by stationary charges). (3.151) where I is the vector current (i. a compass.150) and (3.e.e. a test wire.where use has been made of the vector identity ∧ (φA) = φ ∧ A + φ ∧ A. and a great deal of skill and patience. it completely speciﬁes the magnetic ﬁeld generated by a steady (but otherwise quite general) distributed current. Equation (3.. Equations (3.e. Let us reduce our distributed current to an idealized zero thickness wire.
according to Eq. Consider (for the last time!) an inﬁnite. Let us reconstruct the magnetic ﬁeld generated by
z
I dl l r .152) we have Bθ = µ0 4π
π/2 −π/2
l
>
(3. Suppose that the perpendicular distance to the wire is ρ. they do not depend on the particular choice of gauge.e..153)
Iρ ρ3 (cos θ)−3 94
ρ dθ cos2 θ
. ρ dθ. = ρ tan θ. (3. straight wires). straight wire directed along the zaxis and carrying a current I. Note that both Coulomb’s law and the BiotSavart law are “gauge independent”. r − r  = cos θ Thus.r/ I θ ρ P (rr)
/
the wire at point P using the BiotSavart law. It is easily seen that ˆ I ∧ (r − r ) = Iρ θ. dl = cos2 θ ρ .the ﬁelds generated by inﬁnite. i.
= 0. the only quantities which do not change when the axes are rotated. Note that the simple result (3. The physical signiﬁcance of this is that divergence and curl are the only rotationally invariant diﬀerential properties of a general vector ﬁeld.155) can only be obtained from the BiotSavart law after some nontrivial algebra. we have come full circle in our investigation of magnetic ﬁelds. According to Helmholtz’s theorem the above ﬁeld equations. However.156b) (3. are suﬃcient to uniquely specify the electric and magnetic ﬁelds.156d)
= 0.154)
which gives the familiar result Bθ =
µ0 I . We have found that the electric ﬁelds generated by stationary charges and the magnetic ﬁelds generated by steady currents are describable in terms of four ﬁeld equations: ·E ∧E ·B ∧B = ρ
0
. Since physics does not depend on the 95
.13
Electrostatics and magnetostatics
We have now completed our theoretical investigation of electrostatics and magnetostatics.=
µ0 I 4πρ
π/2
cos θ dθ =
−π/2
µ0 I π/2 [sin θ]−π/2 .
The boundary conditions are that the ﬁelds are zero at inﬁnity. 2πρ
(3. 4πρ
(3. i. Our next task is to incorporate time variation into our analysis. involved. and extremely unpleasant calculations. assuming that the generating charges and currents are localized to some region in space. = µ0 j. before we start this let us brieﬂy review our progress so far.156c) (3.
3. Examination of more complicated current distributions using this law invariably leads to lengthy.156a) (3..e. plus the boundary conditions.
(3.155)
So.
Likewise. Equation (3.157d) are incomplete. (3.157c) has no particular name and says that there are no such things as magnetic monopoles. (3. 96 (3.157a) (3.159) (3.157d)
Here.156c) is automatically satisﬁed if we write B= ∧ A. Equation (3. = 0. S is a closed surface enclosing a volume V .158)
Here. The ﬁeld equations (3. The ﬁeld equation (3.156) can be deduced from Eqs. C is a closed loop. each acquires an extra term on the righthand side in time dependent situations.157c)
S
= 0. The ﬁeld equations can be integrated to give: E · dS E · dl = 1
0 V
ρ dV. the ﬁeld equation (3.157) using Gauss’ theorem and Stokes’ theorem.157b) (3. = µ0
S
C
S
B · dS B · dl
C
j · dS.
(3. Equation (3.156b) is automatically satisﬁed if we write E = − φ. quite arbitrary) divergence and curl are the only quantities which can appear in ﬁeld equations which claim to describe physical phenomena.157a) is called Gauss’ law and says that the ﬂux of the electric ﬁeld out of a closed surface is proportional to the enclosed electric charge.160)
. The electric ﬁeld is clearly unchanged if we add a constant to the scalar potential: E→E as φ → φ + c. Equations (3. after all.
(3.157b) and (3. Also. and S is some surface attached to this loop.orientation of the axes (which is.157d) is called Amp`re’s law and says that the line integral of the e magnetic ﬁeld around any closed loop is proportional to the ﬂux of the current through the loop. φ is the electric scalar potential and A is the magnetic vector potential.
The magnetic ﬁeld is similarly unchanged if we add the gradient of a scalar ﬁeld to the vector potential: B→B as A → A + ψ. The latter convention is known as the Coulomb gauge. this means that there is only one electric and magnetic ﬁeld which is consistent with a given set of stationary charges and steady currents. i. and both divergence and gradient are rotationally invariant.e. Note that 2 is clearly rotationally invariant since it is the divergence of a gradient. almost trivial.
Poisson’s equation is just about the simplest rotationally invariant partial differential equation it is possible to write. Furthermore. This sounds like an obvious.164a) (3.. for physical reasons. given the boundary conditions. (3. and making use of the Coulomb gauge. But there are many areas of physics (for instance.162) and · A = 0. (3. we have a uniqueness theorem which tells us that our solution is the only possible solution.156) can be reduced to Poisson’s equation written four times over:
2 2
(3.161)
The above transformations. ﬂuid mechanics and plasma physics) where we also believe. Taking the divergence of Eq. which leave the E and B ﬁelds invariant. The most sensible gauge is the one which make our equations as simple and symmetric as possible. (3.
(3. (3.163)
φ = −
ρ
0
. we are free to choose the gauge. are called gauge transformations. The problem is that in most cases when we reduce the problem to a partial diﬀerential
97
.159).158) and the curl of Eq. statement. We can always construct the solution to Poisson’s equation. This corresponds to the choice φ(r) → 0 as r → ∞. we ﬁnd that the four ﬁeld equations (3. We are free to choose c and ψ to be whatever we like.164b)
A = −µ0 j. Physically. that for a given set of boundary conditions the solution should be unique.
The Green’s function for Poisson’s equation is 1 1 G(r. (3.165).164a). r ) v(r ) d3 r . Mathematically. Since any general source can be built up out of a weighted sum of point sources it follows that a general solution to Poisson’s equation can be built up out of a weighted superposition of point source solutions. we can write u(r) = G(r. In general. According to Eqs. (3. Suppose that we can ﬁnd the solution to 2 G(r.168).168) 4π r − r  Note that this Green’s function is proportional to the scalar potential of a point charge located at r . and (3. we are very fortunate indeed that in electrostatics and magnetostatics the problem boils down to solving a nice partial diﬀerential equation. In fact. When you hear people say things like “electromagnetism is the best understood theory in physics” what they are really saying is that the partial diﬀerential equations which crop up in this theory are soluble and have nice properties. we cannot solve this equation. this is hardly surprising given the deﬁnition of a Green’s function and Eq.167). r ) = − . So. r ) = δ(r − r ) (3.equation we end up with something far nastier than Poisson’s equation. Poisson’s equation
2
u=v
(3.166) which satisﬁes the boundary conditions. This is the solution driven by a unit amplitude point source located at position vector r . the scalar and vector potentials generated by a set of stationary charges and steady currents take the
98
. (3. which means that its solutions are superposable.167)
The function G is called the Green’s function. (3.164). We can exploit this fact to construct a general solution to this equation. (3. (3. let alone that the solution is unique. we usually cannot even prove that it possess a solution for general boundary conditions.165)
is linear.
both of these laws are examples of action at a distance laws and.159) we obtain the fundamental force laws for electric and magnetic ﬁelds. r − r 3 (3. is by very little indeed. Coulomb’s law E(r) = and the BiotSavart law B(r) = µ0 4π j(r ) ∧ (r − r ) 3 d r. 3 r − r  (3. now.169b)
j(r ) 3 d r. r − r 
Making use of Eqs.170)
Of course. is how badly is this scheme we have just worked out going to be disrupted when we take time variation into account. r − r  (3. The answer. This process has continued until today all physical phenomena can be described in terms of three fundamental forces: gravity. The question. and the 99
.171) we can already discern the basic outline of classical electromagnetism. somewhat surprisingly. Let us continue our investigation.14
Faraday’s law
The history of mankind’s development of physics is really the history of the synthesis of ideas.169a) (3. (3. this is not a problem as long as we restrict ourselves to ﬁelds generated by time independent charge and current distributions. violate relativity. Physicists keep ﬁnding that apparently disparate phenomena can be understood as diﬀerent aspects of some more fundamental phenomenon.156)–(3. therefore.171) 1 4π 0 ρ(r ) r−r d3 r .
3. So. the electroweak force.158) and (3.form φ(r) = A(r) = 1 4π 0 µ0 4π ρ(r ) 3 d r. (3. However. in Eqs.
usually referred to as “electromagnetism. so when we talk about a 6V battery what we are really saying is that the diﬀerence in electric scalar potential between its positive and negative terminals is six volts. Let us now consider Faraday’s experiments. The ﬁrst great synthesis of ideas in physics took place in 1666 when Issac Newton realised that the force which causes apples to fall downwards is the same as the force which maintains the planets in elliptical orbits around the Sun. One of the main goals of modern physics is to ﬁnd some way of combining these three forces so that all of physics can be described in terms of a single uniﬁed force. The second great synthesis. (3. the above equation is a direct consequence of E = − φ. the negative terminal. the one which is responsible for β decays) can be combined to give the electroweak force.. ⊕ denotes the positive terminal. which we are about to study in more detail. hopefully. The last (but.172)
⊕
⊕
where V is the battery voltage.” The third great synthesis. having put them in their proper historical context. not the ﬁnal) great synthesis took place in 1967 when Steve Weinberg and Abdus Salam showed that the electromagnetic force and the weak nuclear force (i. Weinberg’s work lies beyond the scope of this lecture course.strong force.” by which we mean the voltage diﬀerence between its positive and negative terminals. took place in 1873 when James Clerk Maxwell demonstrated that light and electromagnetism are intimately related. Unfortunately. This. Of course. took place in 1830 when Michael Faraday discovered that electricity and magnetism are two aspects of the same thing. a voltage diﬀerence between two ends of a wire attached to a battery implies the presence of an electric ﬁeld which pushes charges through the wire. Prior to 1830 the only known way to make an electric current ﬂow through a conducting wire was to connect the ends of the wire to the positive and negative terminals of a battery. essentially.e. This ﬁeld is directed from 100
. This insight allows us to write V = φ(⊕) − φ( ) = − φ · dl = E · dl. What does voltage correspond to in physics? Well. and dl is an element of length along the wire. volts are the units used to measure electric scalar potential. We measure a battery’s ability to push current down a wire in terms of its “voltage. Clearly. is the purpose of supersymmetry theories. which we shall discuss presently.
As expected. (3.f. The quantity V is usually called the electromotive force.m. Let us now consider a closed loop of wire (with no battery). therefore. if the loop is denoted C and S is some surface attached 101
. since E is a conservative ﬁeld then the electromotive force around a closed loop of wire is automatically zero and no current ﬂows around the wire.. or e. it is a diﬀerence in electric scalar potential. is certainly what causes current to ﬂow through a wire. Clearly. Eventually. The fact that E is a conservative ﬁeld ensures that the voltage diﬀerence V is independent of the path of the wire.f.m. The electromotive force around such a loop is V = E · dl = 0. However. In other words. such as to force electrons to ﬂow through the wire from the negative to the positive terminal.the positive terminal of the battery to the negative terminal and is.f. “Electromotive force” is a bit of a misnomer. generated around a loop of wire in a magnetic ﬁeld is proportional to the rate of change of the ﬂux of the magnetic ﬁeld through the loop. So.173)
This is a direct consequence of the ﬁeld equation ∧ E = 0. it causes electrons to move). if current ﬂows through a wire then there must be an electromotive force. In fact. so it is electromotive (i. but it is not a force. Well. This is just as well.174)
which immediately implies that E is not a conservative ﬁeld. for short. V = E · dl = 0. we are going to have to modify some of our ideas regarding electric ﬁelds! Faraday continued his experiments and found that another way of generating an electromotive force around a loop of wire is to keep the magnetic ﬁeld constant and move the loop. The e. Michael Faraday is about to throw a spanner in our works! He discovered in 1830 that a changing magnetic ﬁeld can cause a current to ﬂow around a closed loop of wire (in the absence of a battery). This all seems to make sense.e. So. this means that a net positive current ﬂows from the positive to the negative terminal. two diﬀerent wires attached to the same battery develop identical voltage diﬀerences. and that ∧E = 0. So. Faraday was able to formulate a law which accounted for all of his experiments.m. The e. (3.
this means that the universe is stable to small perturbations.175)
where A is a constant of proportionality.f.” S. it is clear that if the
B
B
/
I C
magnetic ﬁeld B is increasing and the current I circulates clockwise (as seen from above) then it generates a ﬁeld B which opposes the increase in magnetic ﬂux through the loop. It is called Le Chatelier’s principle. The direction of the current is 102
. want to drive the current? We possess a general principle which allows us to decide questions like this. Thus.
(3. the current induced around a closed loop is always such that the magnetic ﬁeld it produces tries to counteract the change in magnetic ﬂux which generates the electromotive force. the changing ﬂux of the magnetic ﬁeld through the loop creates an electric ﬁeld directed around the loop.I. This process is know as “magnetic induction. According to Lenz’s law. which way around the loop does the induced e. When this principle is applied to the special case of magnetic induction it is usually called Lenz’s law.to the loop then Faraday’s experiments can be summed up by writing V =
C
E · dl = A
∂ ∂t
S
B · dS. The only thing we now have to decide is whether A = +1 or A = −1. In other words.m. From the diagram. According to Le Chatelier’s principle every change generates a reaction which tries to minimize the change. Essentially. in accordance with Lenz’s law. units have been carefully chosen so as to make A = 1 in the above equation.
is B · dS = 0. Gauss’ theorem applied to Eq.176) E · dl = − ∂t S C Experimentally. to depend only on the loop C to which the surface S is attached. ∂t 103 (3.177)
S
for any closed surface S .. would be generated in the absence of the wire (of course. The condition for the ﬂux of the magnetic ﬁeld.f. (3. (3. S B · dS. (i.
. (3. If Faraday’s law is to make any sense it must also be true for any surface S attached to the loop C. Eq.e. (3. Thus. The divergence of Eq. an electric ﬁeld.m.m. Since there is no preferred surface for a general noncoplanar loop.175). Faraday’s law takes the form ∂ B · dS. this would not make very much sense.opposite to the sense of the current loop C (assuming that the ﬂux of B through the loop is positive).177) yields the familiar ﬁeld equation · B = 0. Faraday’s law. (3.176).s for diﬀerent surfaces. It describes how a changing magnetic ﬁeld can generate.178) yields ∂ ·B = 0. Faraday’s law is found to correctly predict the e.f.f. Clearly. or induce. (3. We obtain ∂B ∧E =− . Eq. E·dl) generated in any wire loop.180) (3. (3. and not on the nature of the surface itself.178) ∂t This is the ﬁnal Maxwell equation.m. irrespective of the position or shape of the loop. if the ﬂux of the magnetic ﬁeld through the loop depends on the surface upon which it is evaluated then Faraday’s law is going to predict diﬀerent e.179)
This ensures that the magnetic ﬂux through a loop is a well deﬁned quantity.176) is valid for any closed loop C. can be converted into a ﬁeld equation using Stokes’ theorem. Thus. It is reasonable to assume that the same e. no current would ﬂow in this case). so this implies that A = −1 in Eq. (3.
· B = 0. we have just found that in the presence of a changing magnetic ﬁeld the curl of the electric ﬁeld is nonzero.182)
So. E is not.
3. in general. In other words. We know how to generalize Maxwell’s equations to include both magnetic monopoles and currents of magnetic monopoles.e.178) actually demands that the divergence of the magnetic ﬁeld be constant in time for selfconsistency (this means that the ﬂux of the magnetic ﬁeld through a loop need not be a well deﬁned quantity as long as its time derivative is well deﬁned). We obtain ∧E =− ∂ ∧A . E = − φ) provided that ∧E = 0. Since the magnetic ﬁeld is solenoidal we can write it as the curl of a vector potential: B= ∧ A.181)
which is valid for both time varying and non time varying magnetic ﬁelds. the ﬁeld equation (3. (3. Does this mean that we have to abandon the concept of electric scalar potential? Fortunately. it cannot be predicted by any theory. and magnetic monopoles do not exist (as far as we are aware).15
Electric scalar potential?
We now have a problem. and ·B = 0. In this generalized formalism Maxwell’s equations are completely symmetric with respect to electric and magnetic ﬁelds. a constant nonsolenoidal magnetic ﬁeld can only be generated by magnetic monopoles. It is still possible to deﬁne a scalar potential which is physically meaningful. there is no problem with the vector potential in the presence of time varying ﬁelds. However.Thus. no. However. (3. Hence. (3.183)
104
.182) into the ﬁeld equation (3. ∂t (3. However.178) in order to make it selfconsistent. We can only write the electric ﬁeld in terms of a scalar potential (i. a conservative ﬁeld.. an extra term (involving the current of magnetic monopoles) must be added to the righthand side of Eq. The absence of magnetic monopoles is an observational fact. Let us start from the equation · B = 0. (3. If magnetic monopoles were discovered tomorrow this would not cause physicists any problems. Let us substitute Eq.178).
so let us write E+ or ∂A = − φ.187)
However.185)
∂A . We have come across this problem before. as follows: E B = − φ− = ∧ A.which can be written ∧ E+
∂A ∂t
= 0.
(3.186) ∂t This is a very nice equation! It tells us that the scalar potential φ only describes the conservative electric ﬁeld generated by electric charges. and is described by the magnetic vector potential.184)
We know that a curl free vector ﬁeld can always be expressed as the gradient of a scalar potential. ∂t (3. ∂A . this prescription is not unique. The most general transformation which leaves the E and B ﬁelds unchanged in Eqs. φ → φ+
(3. The electric ﬁeld induced by time varying magnetic ﬁelds is nonconservative. There are many diﬀerent potentials which generate the same ﬁelds. ∂t (3. It is called gauge invariance.188)
105
. ∂t A → A − ψ.16
Gauge transformations
Electric and magnetic ﬁelds can be written in terms of scalar and vector potentials.187) is ∂ψ . E =− φ−
3. (3. (3.
e.. In fact. Now we are ﬁnding that when we split up the electric ﬁeld in this manner the two ﬁelds have diﬀerent physical origins: the conservative part of the ﬁeld emanates from electric charges whereas the solenoidal part is induced by magnetic ﬁelds. As before. if ψ(r. (3. Earlier on.192)
we ﬁnd that the part which is generated by charges (i. remains valid. Equation (3. that it is always possible to transform away the divergence of a vector potential. the second term on the righthand side) is purely solenoidal. One of the nice features of the Coulomb gauge is that when we write the electric ﬁeld.190) For steady ﬁelds we found that the optimum gauge for the vector potential was the so called Coulomb gauge: · A = 0. E =− φ− ∂A . A → A− ψ. the ﬁrst term on the righthand side) is conservative and the part induced by magnetic ﬁelds (i. (3.This is clearly a generalization of the gauge transformation which we found earlier for static ﬁelds: φ → φ + c. The argument which we gave earlier (see Section 3.189) where c is a constant..10). we proved mathematically that a general vector ﬁeld can be written as the sum of a conservative ﬁeld and a solenoidal ﬁeld (see Section 3. We are free to choose the gauge so as to make our equations as simple as possible.192) can be combined with the ﬁeld equation ·E = 106 ρ
0
(3. ∂t (3.191) We can still use this gauge for nonsteady ﬁelds.189).193)
. t) → ψ(r) + c t then Eqs. (3. the most sensible gauge for the scalar potential is to make it go to zero at inﬁnity: φ(r) → 0 as r → ∞.e. (3.11). (3.188) reduce to Eqs.
Thus. In the time dependent case there are two parts to the electric ﬁeld.(which remains valid for nonsteady ﬁelds) to give −
2
φ−
∂
ρ ·A = . How can these two statements be reconciled? The crucial point is that the scalar potential cannot be measured directly. So. relativity is not violated since it is the electric ﬁeld. This suggests.195) φ=− .. this apparently simple result is extremely deceptive. that the Coulomb gauge is not 107
. (3. if the scalar potential responds immediately to some distance rearrangement of charge density it does not necessarily follow that the electric ﬁeld also has an immediate response. It is exactly the same as our previous expression for the scalar potential generated by steady ﬁelds.194)
With the Coulomb gauge condition.192) ]. and that part which comes from the vector potential [see Eq.196) is a typical action at a distance law. we can immediately write down an expression for the scalar potential generated by nonsteady ﬁelds. ∂t 0
(3. very strongly. t) = 4π 0 r − r  However.196) φ(r. which carries physically accessible information. If the charge density changes suddenly at r then the potential at r responds immediately. they do not violate relativity). Thus. Equation (3.e.
0
which is just Poisson’s equation. This state of aﬀairs persists at least until suﬃcient time has elapsed for a light ray to travel from the distant charges to the region in question. that part which comes from the scalar potential. so that the overall electric ﬁeld remains unchanged. However.
· A = 0. It is clear that the apparent action at a distance nature of Eq. What actually happens is that the change in the part of the electric ﬁeld which comes from the scalar potential is balanced by an equal and opposite change in the part which comes from the vector potential. and not the scalar potential. it can only be inferred from the electric ﬁeld. (3. namely ρ(r .196) is highly misleading. (3. t) 3 1 d r. the above expression reduces to ρ 2 (3. we shall see later that the full time dependent Maxwell’s equations only allow information to propagate at the speed of light (i.
units) the ﬂux of the electric ﬁeld through a closed surface equals the total enclosed charge divided by 0 . Of course. this was only possible because he was able to take the experimental results of Faraday.e. Faraday’s law was the electromotive force generated around a closed loop equals 108
. etc. more of this later. However. Thus.I. the fact that the part of the electric ﬁeld which we ascribe to magnetic induction changes when we change the gauge suggests that the separation of the ﬁeld into magnetically induced and charge induced components is not unique in the general time varying case (i. The no magnetic monopole law was the ﬂux of the magnetic ﬁeld through any closed surface is zero.the optimum gauge in the time dependent case. −∂A/∂t) is not purely solenoidal in the Lorentz gauge. as his starte ing point. this disadvantage is more than oﬀset by other advantages which will become apparent presently. Note that the magnetically induced part of the electric ﬁeld (i. that it is always possible to make a gauge transformation. Incidentally. He achieved this breakthrough by careful experimentation.
(3. we obtain ∂2φ − 0 µ0 ∂t2
2
φ=
ρ
0
. at a given instance in time.17
The displacement current
Michael Faraday revolutionized physics in 1830 by showing that electricity and magnetism were interrelated phenomena. This is a slight disadvantage of the Lorentz gauge with respect to the Coulomb gauge.198)
It turns out that this is a three dimensional wave equation in which information propagates at the speed of light.. Substituting the Lorentz gauge condition into Eq. by analogy with earlier arguments (see Section 3.194). it is a convention). But.11). such that the above equation is satisﬁed. Between 1864 and 1873 James Clerk Maxwell achieved a similar breakthrough by pure thought.
3. Gauss’s law was (in S.197) · A = − 0 µ0 ∂t It can be shown. Prior to 1864 the laws of electromagnetism were written in integral form. (3.. Amp`re. A more sensible choice is the so called “Lorentz gauge”: ∂φ .e.. (3.
minus the rate of change of the magnetic ﬂux through the loop. Finally, Amp`re’s e law was the line integral of the magnetic ﬁeld around a closed loop equals the total current ﬂowing through the loop times µ0 . Maxwell’s ﬁrst great achievement was to realize that these laws could be expressed as a set of partial diﬀerential equations. Of course, he wrote his equations out in component form because modern vector notation did not come into vogue until about the time of the First World War. In modern notation, Maxwell ﬁrst wrote ·E ·B ∧E ∧B = ρ
0
,
(3.199a) (3.199b) (3.199c) (3.199d)
= 0, = − ∂B , ∂t = µ0 j.
Maxwell’s second great achievement was to realize that these equations are wrong. We can see that there is something slightly unusual about Eqs. (3.199). They are very unfair to electric ﬁelds! After all, time varying magnetic ﬁelds can induce electric ﬁelds, but electric ﬁelds apparently cannot aﬀect magnetic ﬁelds in any way. However, there is a far more serious problem associated with the above equations, which we alluded to earlier on. Consider the integral form of the last Maxwell equation (i.e., Amp`re’s law) e B · dl = µ0 j · dS. (3.200)
C
S
This says that the line integral of the magnetic ﬁeld around a closed loop C is equal to µ0 times the ﬂux of the current density through the loop. The problem is that the ﬂux of the current density through a loop is not, in general, a well deﬁned quantity. In order for the ﬂux to be well deﬁned the integral of j · dS over some surface S attached to a loop C must depend on C but not on the details of S. This is only the case if · j = 0. (3.201) Unfortunately, the above condition is only satisﬁed for non time varying ﬁelds. 109
Why do we say that, in general, · j = 0? Well, consider the ﬂux of j over some closed surface S enclosing a volume V . This is clearly equivalent to the rate at which charge ﬂows through S. However, if charge is a conserved quantity (and we certainly believe that it is) then the rate at which charge ﬂows through S must equal the rate of decrease of the charge contained in volume V . Thus, j · dS = − ∂ ∂t ρ dV.
V
(3.202)
S
Making use of Gauss’ theorem, this yields ·j =− Thus, ∂ρ . ∂t (3.203)
· j = 0 is only true in a steady state (i.e., when ∂/∂t ≡ 0).
The problem with Amp`re’s law is well illustrated by the following very famous e example. Consider a long straight wire interrupted by a parallel plate capacitor. Suppose that C is some loop which circles the wire. In the non time dependent situation the capacitor acts like a break in the wire, so no current ﬂows, and no magnetic ﬁeld is generated. There is clearly no problem with Amp`re’s law in this e case. In the time dependent situation a transient current ﬂows in the wire as the capacitor charges up, or charges down, so a transient magnetic ﬁeld is generated. Thus, the line integral of the magnetic ﬁeld around C is (transiently) nonzero. According to Amp`re’s law, the ﬂux of the current through any surface attached e to C should also be (transiently) nonzero. Let us consider two such surfaces. The ﬁrst surface, S1 , intersects the wire. This surface causes us no problem since the ﬂux of j though the surface is clearly nonzero (because it intersects a current carrying wire). The second surface, S2 , passes between the plates of the capacitor and, therefore, does not intersect the wire at all. Clearly, the ﬂux of the current through this surface is zero. The current ﬂuxes through surfaces S 1 and S2 are obviously diﬀerent. However, both surfaces are attached to the same loop C, so the ﬂuxes should be the same according to Amp`re’s law. It would appear that e Amp`re’s law is about to disintegrate! However, we notice that although the e surface S2 does not intersect any electric current it does pass through a region of strong changing electric ﬁeld as it threads between the plates of the charging (or discharging) capacitor. Perhaps, if we add a term involving ∂E/∂t to the 110
righthand side of Eq. (3.199d) we can somehow ﬁx up Amp`re’s law? This is, e essentially, how Maxwell reasoned more than one hundred years ago. Let us try out this scheme. Suppose that we write ∧ B = µ0 j + λ ∂E ∂t (3.204)
instead of Eq. (3.199d). Here, λ is some constant. Does this resolve our problem? We want the ﬂux of the righthand side of the above equation through some loop C to be well deﬁned; i.e., it should only depend on C and not the particular surface S (which spans C) upon which it is evaluated. This is another way of saying that we want the divergence of the righthand side to be zero. In fact, we can see that this is necessary for self consistency since the divergence of the lefthand side is automatically zero. So, taking the divergence of Eq. (3.204) we obtain ∂ ·E . (3.205) 0 = µ0 · j + λ ∂t But, we know that ρ ·E = , (3.206)
0
so combining the previous two equations we arrive at µ0 ·j+ λ ∂ρ = 0. 0 ∂t (3.207)
Now, our charge conservation law (3.203) can be written ·j+ ∂ρ = 0. ∂t
0 µ0 .
(3.208) So, if we modify
The previous two equations are in agreement provided λ = the ﬁnal Maxwell equation such that it reads ∧ B = µ0 j +
0 µ0
∂E ∂t
(3.209)
then we ﬁnd that the divergence of the righthand side is zero as a consequence of charge conservation. The extra term is called the “displacement current” (this 111
name was invented by Maxwell). In summary, we have shown that although the ﬂux of the real current through a loop is not well deﬁned, if we form the sum of the real current and the displacement current then the ﬂux of this new quantity through a loop is well deﬁned. Of course, the displacement current is not a current at all. It is, in fact, associated with the generation of magnetic ﬁelds by time varying electric ﬁelds. Maxwell came up with this rather curious name because many of his ideas regarding electric and magnetic ﬁelds were completely wrong. For instance, Maxwell believed in the æther, and he thought that electric and magnetic ﬁelds were some sort of stresses in this medium. He also thought that the displacement current was associated with displacements of the æther (hence, the name). The reason that these misconceptions did not invalidate his equations is quite simple. Maxwell based his equations on the results of experiments, and he added in his extra term so as to make these equations mathematically self consistent. Both of these steps are valid irrespective of the existence or nonexistence of the æther. “But, hang on a minute,” you might say, “you can’t go around adding terms to laws of physics just because you feel like it! The ﬁeld equations (3.199) are derived directly from the results of famous nineteenth century experiments. If there is a new term involving the time derivative of the electric ﬁeld which needs to be added into these equations, how come there is no corresponding nineteenth century experiment which demonstrates this? We have Amp`re’s law which shows that e changing magnetic ﬁelds generate electric ﬁelds. Why is there no “Joe Blogg’s” law that says that changing electric ﬁelds generate magnetic ﬁelds?” This is a perfectly reasonable question. The answer is that the new term describes an eﬀect which is far too small to have been observed in nineteenth century experiments. Let us demonstrate this. First, we shall show that it is comparatively easy to detect the induction of an electric ﬁeld by a changing magnetic ﬁeld in a desktop laboratory experiment. The Earth’s magnetic ﬁeld is about 1 gauss (that is, 10 −4 tesla). Magnetic ﬁelds generated by electromagnets (which will ﬁt on a laboratory desktop) are typically about one hundred times bigger that this. Let us, therefore, consider a hypothetical experiment in which a 100 gauss magnetic ﬁeld is switched on suddenly. Suppose that the ﬁeld ramps up in one tenth of a second. What
112
A = 0.01 m2 is the area of the loop. Suppose that our electric ﬁeld is generated by a parallel plate capacitor of spacing one centimeter which is charged up to 100 volts. t (3. The answer is that the displacement current is detectable in some experiments. 113
. and t = 0. Modern technology is unable to detect such a small magnetic ﬁeld.1 seconds is the ramp time.209) and neglecting the ﬁrst term on the righthand side. one millivolt is easily detectable. and t = 0. Thus.1 seconds is the decay time of the ﬁeld. The law of electric induction is obtained by integrating Eq.210)
where B = 0. We ﬁnd that B ∼ 10−9 gauss. B is the magnetic ﬁeld strength.electromotive force is generated in a 10 centimeter square loop of wire located in this ﬁeld? Amp`re’s law is written e V =− ∂ ∂t B · dS ∼ BA . This gives a ﬁeld of 10 4 volts per meter. It is clear that we would have no diﬃculty whatsoever detecting the magnetic induction of electric ﬁelds in a nineteenth century style laboratory experiment. Very approximately we ﬁnd that El2 . “why did you bother mentioning this displacement current thing in the ﬁrst place if it is undetectable?” Again. In fact. Let us now consider the electric induction of magnetic ﬁelds. What is the magnetic ﬁeld generated around this loop (we could try to measure this with a Hall probe). most handheld laboratory voltmeters are calibrated in millivolts. Well.” you might say.01 tesla is the ﬁeld strength.211)
Let us consider a loop 10 centimeters square. (3. Suppose.1 meters is the dimensions of the loop. (3. B · dl =
0 µ0
∂ ∂t
E · dS.212) lB ∼ 0 µ0 t where l = 0. It follows that V ∼ 1 millivolt. that the capacitor is discharged in one tenth of a second. a perfectly fair question.
(3. so we cannot really blame Faraday for not noticing electric induction in 1830. further. “So. E = 104 volts per meter is the electric ﬁeld.
= − ∂B . But. Thus. electric ﬁelds can induce magnetic ﬁelds.213b)
= 0.
(3. (3. so t in the previous example changes from 0. it would seem that if the electric ﬁeld is oscillating fast then electric induction of magnetic ﬁelds is an observable eﬀect.209) was a vital step in his later realization that his equations allowed propagating wavelike solutions. These solutions are.Suppose that we take an FM radio signal.213d)
= µ0 j +
These four partial diﬀerential equations constitute a complete description of the behaviour of electric and magnetic ﬁelds. This is certainly detectable by modern technology. if electromagnetic radiation is unimportant then the displacement current can be safely neglected. a typical FM signal oscillates at 109 Hz. If electromagnetic radiation is important then the displacement current must be included. and vice versa. Maxwell’s inclusion of the displacement current in Eq. of course. there is a virtually infallible rule for deciding whether or not the displacement current can be neglected in Eq. and then apply it to the parallel plate capacitor in the previous hypothetical experiment. In fact. ∂t (3.213c) ∂E . Clearly. ∂t
0 µ0
(3. We are now in a position to write out Maxwell’s equations in all their glory! We get ·E ·B ∧E ∧B = ρ
0
. and the fourth equation describes the generation of magnetic ﬁelds by electric currents and the induction of magnetic ﬁelds by changing electric ﬁelds. more of this later.209). On the other hand. Equations (3. So. The third equation describes the induction of electric ﬁelds by changing magnetic ﬁelds. (3.e. i.213) sum up the 114
. What size of magnetic ﬁeld would this generate? Well. Note that with the inclusion of the displacement current these equations treat electric and magnetic ﬁelds on an equal footing. electromagnetic waves. The second equation says that there is no such thing as a magnetic charge. The ﬁrst equation describes how electric ﬁelds are induced by charges.1 seconds to 10−9 seconds..213a) (3. the induced magnetic ﬁeld is about 10−1 gauss. amplify it so that its peak voltage is one hundred volts.
217)
∂2A − 0 µ0 ∂t2
A = µ0 j −
·A+
0 µ0
∂φ ∂t
(3.215b)
∂φ .213c) are automatically satisﬁed if we write the electric and magnetic ﬁelds in terms of potentials: E B = − φ− = ∧ A. and Faraday very succinctly.
(3. (3. Maxwell also ﬁxed them up so that they made mathematical sense. (3.213a) to give ∂2φ − 0 µ0 ∂t2
2
φ=
ρ
0
. (3.214)
This prescription is not unique. but we can make it unique by adopting the following conventions: φ(r) → 0 ·A = − 0 µ0 as r → ∞.18
The potential formulation of Maxwell’s equations
We have seen that Eqs.213d). (3.
(3. ∂t
The above equations can be combined with Eq.experimental results of Coulomb. Amp`re. ∂A .215a) (3.213b) and (3. they are e called Maxwell’s equations because James Clerk Maxwell was the ﬁrst to write them down (in component form).218)
115
. Substitution of Eqs.214) into this formula yields ∧ or ∧A≡ ( · A) −
2 2
A = µ0 j −
0 µ0
∂ ∂t
φ
−
0 µ0
∂2A .216)
Let us now consider Eq. ∂t (3. (3.
3. ∂t2 .
With the ∂/∂t terms included it becomes a slightly more complicated equation (in fact.19
Electromagnetic waves
This is an appropriate point at which to demonstrate that Maxwell’s equations possess propagating wavelike solutions.. Let us start from Maxwell’s equations in free space (i.e. 0 µ0 ∂t (3. Thus.220d)
Note that these equations exhibit a nice symmetry between the electric and magnetic ﬁelds. The above equation is. ∂t ∂E . and a hard way. a driven three dimensional wave equation).220c) (3.220b) (3. ∂/∂t = 0) it reduces to Poisson’s equation. very complicated since it involves both the vector and scalar potentials. In steady state (i.219)
∂2A − 0 µ0 ∂t2
2
A = µ0 j. = − = ∂B .. But. which we know how to solve. = 0.e. (3. if we adopt the Lorentz gauge then the last term on the righthand side becomes zero and the equation simpliﬁes considerably so that it only involves the vector potential.215b) comes from. There is an easy way to show that the above equations possess wavelike solutions. with no charges and no currents): ·E ·B ∧E ∧B = 0.
This is the same equation written four times over. we ﬁnd that Maxwell’s equations reduce to the following:
0 µ0
∂2φ − ∂t2
2
φ =
ρ
0
. The easy way is to assume that the solutions are going 116
.We can now see quite clearly where the Lorentz gauge condition (3.220a) (3. in general.
3.
(3. k (3. Speciﬁcally.226)
. the wavelength) is given by λ= 2π . Thus.. = B0 e i(k·r−ωt) . The frequency in hertz is related to the angular frequency via ω = 2π f . t) = B0 cos (k · r − ωt + φ). 117 (3. It is more convenient to write E B = E0 e i(k·r−ωt) .221) Here. B(r. let us search for plane wave solutions of the form: E(r. The frequency is conventionally deﬁned to be positive. The phase diﬀerence φ is absorbed into the constant vector B 0 by allowing it to become complex. k The spacing between adjacent planes (i. (3.224) v= . B0 → B0 e i φ . t) = E0 cos (k · r − ωt). E0 and B0 are constant vectors. A wave maximum of the electric ﬁeld satisﬁes k · r = ωt + n 2π + φ. The quantity φ is a phase diﬀerence between the electric and magnetic ﬁelds.to be wavelike beforehand. k is called the wavevector.223)
where n is an integer and φ is some phase angle.222)
where by convention the physical solution is the real part of the above equations. In general. (3. the vector E0 is also complex.e. The solution to this equation is a set of equally spaced parallel planes (one plane for each possible value of n) whose normals lie in the direction of the wave vector k and which propagate in this direction with velocity ω (3. and ω is the angular frequency.225)
Consider a general plane wave vector ﬁeld A = A0 e i(k·r−ωt) .
The ﬁrst Maxwell equation (3.229)
We can see that vector ﬁeld operations on a plane wave simplify to dot and cross products involving the wavevector. We have ·A = ∂Ay ∂Az ∂Ax + + = (A0x ikx + A0y iky + A0z ikz ) e i(k·r−ωt) ∂x ∂y ∂z (3. How about the curl of A? This is slightly more diﬃcult.222). 118
. Thus. and Eq. the electric ﬁeld is perpendicular to the direction of propagation of the wave.227).228)
(3.220a) reduces to i k · E0 = 0. We have ( ∧ A)x = ∂Ay ∂Az − = (i ky Az − i kz Ay ) ∂y ∂z
= i (k ∧ A)x .
(3. This is easily generalized to ∧ A = i k ∧ A. (3. (3.227)
= i k · A.230)
using the assumed electric and magnetic ﬁelds (3.k
v
λ
What is the divergence of A? This is easy to evaluate.
235)
(3.
where use has been made of Eq. Dotting this equation with E 0 yields E0 · B 0 = E0 · k ∧ E 0 = 0.238)
119
. (3. we know from Eq.236) (3. The ﬁnal Maxwell equation gives i k ∧ B0 = −i Combining this with Eq. B0 . Thus. (3. However. the vectors E0 . Clearly. (3. we obtain c= √ 1
0 µ0
. or k2 =
0 µ0 0 µ0
ωE0 . the wavelike solutions of Maxwell’s equation are a type of transverse wave. (3.
(3. Dotting equation (3. the electric and magnetic ﬁelds are mutually perpendicular.231)
implying that the magnetic ﬁeld is also perpendicular to the direction of propagation. and k are mutually perpendicular and form a righthanded set.224) that the wavevelocity c is related to the magnitude of the wavevector and the wave frequency via c = ω/k.232) yields k ∧ (k ∧ E0 ) = (k · E0 ) k − k 2 E0 = − 0 µ0 ω 2 E0 .233)
Thus. ω (3. (3.229).Likewise.232)
where use has been made of Eq.
(3.232) with B0 yields B0 · k ∧ E0 = ω B02 > 0. (3. The third Maxwell equation gives i k ∧ E0 = i ωB0 . (3. the second Maxwell equation gives i k · B0 = 0.237)
ω2 .234)
Thus.230).
batteries. which apparently had nothing whatsoever to do with light. we immediately recognize this as the velocity of light. whose nature has been previously unknown. Radio waves and 120
. The constants 0 and µ0 are easily measurable. = 4π × 10−7 N A−2 . (3.We have found transverse wave solutions of the freespace Maxwell equations. Maxwell concluded that visible light was a small part of a vast spectrum of previously undiscovered types of electromagnetic radiation. incidentally. thus.4 microns (one micron is 10−6 meters).239)
µ0
Let us use these values to ﬁnd the propagation velocity of “electromagnetic waves. The wavelength of light was well known in the late nineteenth century from studies of diﬀraction through slits. The former is related to the force acting between electric charges and the latter to the force acting between electric currents. etc. Maxwell. Since Maxwell’s time virtually all of the nonvisible parts of the electromagnetic spectrum have been observed. Both of these constants were fairly well known in Maxwell’s time. Maxwell was able to make another remarkable prediction. (3. However. Visible light actually occupies a surprisingly narrow wavelength range. The shortest wavelength blue light which is visible has λ = 0. The modern values of 0 and µ0 are
0
= 8.76 microns. After all. The longest wavelength red light which is visible has λ = 0. (3. This was a remarkable prediction.” We get 1 = 2.238). Table 1 gives a brief guide to the electromagnetic spectrum. Electromagnetic waves are of particular importance because they are our only source of information regarding the universe around us. there is nothing in our analysis which suggests that this particular range of wavelengths is special. Maxwell’s equations were derived from the results of benchtop laboratory experiments involving charges. Electromagnetic waves can have any wavelength. Maxwell also made this connection back in the 1870’s. to derive Eq. was a form of electromagnetic radiation. propagating at some velocity c which is given by a combination of 0 and µ0 . He conjectured that light.240) c= √ µ0 0 Of course.8542 × 10−12 C2 N−1 m−2 . was the ﬁrst person to look for wavelike solutions of his equations and. and currents.998 × 108 m s−1 . coils.
imply that B0 = E0 .242)
121
. Satellite based ultraviolet observations have yielded invaluable insights into the structure and distribution of distant galaxies.232). This is completely unobservable in visible light.241)
Thus. (3. (3. Finally. which is strongly scattered by interstellar gas and dust lying in the galactic plane. Infrared radiation is useful for detecting protostars which are not yet hot enough to emit visible radiation. For the same reason.230). Consider a free charge interacting with an electromagnetic wave. Xray and γray astronomy usually concentrates on exotic objects in the Galaxy such as pulsars and supernova remnants. The force exerted on the charge is given by the Lorentz formula f = q (E + v ∧ B). c (3. the magnetic ﬁeld associated with an electromagnetic wave is smaller in magnitude than the electric ﬁeld by a factor c. the spiral arms of our galaxy can only be mapped out using radio waves.Radiation Type Gamma Rays XRays Ultraviolet Visible Infrared Microwave TVFM Radio
Wavelength Range (m) < 10−11 10−11 –10−9 10−9 –10−7 10−7 –10−6 10−6 –10−4 10−4 –10−1 10−1 –101 > 101
Table 1: The electromagnetic spectrum microwaves (which are comparatively hard to scatter) have provided much of our knowledge about the centre of our own galaxy. visible radiation is still the mainstay of astronomy. Of course. Equations (3. and the relation c = ω/k.
However. Suppose that we take the curl of the fourth Maxwell equation. For a given wavevector k. electromagnetic waves are usually characterized by their wavevector (which speciﬁes the direction of propagation and the wavelength) and the plane of polarization (i..245)
1 ∂2 − 2 2 c ∂t
where use has been made of Eq. This implies that there are only two independent polarizations of an electromagnetic wave. (3.246)
We have found that electric and magnetic ﬁelds both satisfy equations of the form 1 ∂2 2 − 2 2 A=0 (3. B = 0. yields
2
· B = 0.220d). Let us now derive the velocity of light from Maxwell’s equation the hard way.The ratio of the electric and magnetic forces is fmagnetic v B0 v ∼ ∼ . The third Maxwell equation.243)
So.244)
Here. felectric E0 c (3. unless the charge is relativistic the electric force greatly exceeds the magnetic force. we have used the fact that Eq. in most terrestrial situations electromagnetic waves are an essentially electric phenomenon (as far as their interaction with matter goes). We obtain ∧ ∧B = ( · B) −
2
B=−
2
B=
0 µ0
∂
∧E .e. (3. Clearly.220c):
2
1 ∂2 − 2 2 c ∂t
E = 0. once its direction of propagation is speciﬁed. the plane of oscillation) of the associated electric ﬁeld. ∂t
(3.e.220c). Eq. For this reason. we can only deﬁne two linearly independent vectors in a plane). (3. (3.238).
(3. there are only two independent directions in a plane (i. the electric ﬁeld can have any direction in the plane normal to k. A similar equation can obtained for the electric ﬁeld by taking the curl of Eq.247) c ∂t 122
.. (3.
= Fz (k · r − kc t). If we look along a direction which is perpendicular to k then k · r = 0 and there is no propagation. = Fy (k · r − kc t). Thus. t=0) x F (r.248)
where Fx (φ). along the direction of k with velocity c. and Fz (φ) are onedimensional scalar functions. the components of A are arbitrarily shaped pulses which propagate. (3. we ﬁnd that Ax Ay Az = Fx ( k (r − ct) ). Fy (φ). without changing shape.in free space. (3. = Fy ( k (r − ct) ). Thus.249)
The xcomponent of this solution is shown schematically below. = Fz ( k (r − ct) ). As is easily veriﬁed. any arbitrary shaped pulse propagating in the direction of k with velocity c can be 123
. t) x
ct r >
plane wave solutions which we found earlier by Fourier transformation. Looking along the direction of the wavevector. it clearly propagates in r with velocity c. the most general solution to this equation (with a positive frequency) is Ax Ay Az = Fx (k · r − kc t). These pulses can be related to the sinusoidal
F (r. so that r = (k/k) r.
It is the four dimensional equivalent of the Laplacian.250) − 2 2 c ∂t is called the d’Alembertian. Recall that the Laplacian is invariant under rotational transformation. = 0. electromagnetic waves in free space satisfy the wave equations
2
The operator
22 E 22 B
= 0.253)
provided that the source function is reasonably localized.20
Green’s functions
Earlier on in this lecture course we had to solve Poisson’s equation
2
u = v. The d’Alembertian goes one better than this because it is both rotationally invariant and Lorentz invariant. Our next task is to ﬁnd the solutions to these equations. The potential u(r) satisﬁes the boundary condition u(r) → 0 as r → ∞.251)
When written in terms of the vector and scalar potentials.
(3. Thus.
0
22 A = −µ0 j. The d’Alembertian is conventionally denoted 2 2 .broken down into lots of sinusoidal oscillations propagating in the same direction with the same velocity. (3. 1 ∂2 (3.
3. This property 124
where v(r) is denoted the source function.254)
. The solutions to Poisson’s equation are superposable (because the equation is linear).
(3.252)
These are clearly driven wave equations. Maxwell’s equations reduce to ρ 22 φ = − . (3.
259)
Note that the point source driven potential (3. 4π r − r  v(r ) 3 d r. Thus.
2
G(r.253) is written u(r) = − 1 4π (3. r ) = δ(r − r ). (3. and falls oﬀ smoothly with increasing distance from the source. It is spherically symmetric about the source.. Green’s functions) u(r) = G(r. t) is a time varying source function.is exploited in the Green’s function method of solving this equation.261)
. 125 (3. The potential u(r. generated by a unit amplitude point source located at r .255)
Any source function v(r) can be represented as a weighted sum of point sources v(r) = δ(r − r ) v(r ) d3 r .258)
It follows that the general solution to Eq. r ) = − 1 1 .
(3. We now need to solve the wave equation
2
1 ∂2 − 2 2 c ∂t
u = v. r ) v(r ) d3 r . (3. The Green’s function G(r.256)
It follows from superposability that the potential generated by the source v(r) can be written as the weighted sum of point source driven potentials (i.258) is perfectly sensible. t) satisﬁes the boundary conditions u(r) → 0 as r → ∞ and t → ∞. r − r  (3. which satisﬁes the appropriate boundary conditions. r ) is the potential. (3.
(3.260)
where v(r.e.257)
We found earlier that the Green’s function for Poisson’s equation is G(r.
t. We can easily show that x−x ∂r − r  = . t ) d3 r dt . Thus. t) can be built up from a weighted sum of point impulses v(r.
(3. the above expression reduces to
2
1 ∂2 − 2 2 c ∂t
G = 0.266)
At a general point.
2
−
1 ∂2 c2 ∂t2
G(r. t ) v(r . t.264)
So. the Green’s function must satisfy the correct boundary conditions.
(3. The Green’s function G(r. A general source v(r. t) = δ(r − r )δ(t − t ) v(r . t) = G(r. t ) = F (t − t − r − r /c) . r − r  (3. Let us try to prove the following theorem:
2
1 ∂2 − 2 2 c ∂t
G = −4π F (t − t ) δ(r − r ). t. r = r . how do we ﬁnd the Green’s function? Consider G(r.
(3. r . t) can be written as the weighted sum of point impulse driven potentials u(r. (3. (3. ∂x r − r  126 (3. (3. t. t ) d3 r dt .268)
.262)
Of course. so a Green’s function method of solution is again appropriate. r . r .265)
where F (φ) is a general scalar function.263)
It follows that the potential generated by v(r. t ) = δ(r − r )δ(t − t ). t ) is the potential generated by a point impulse located at position r and applied at time t .267)
So. r . we basically have to show that G is a valid solution of the free space wave equation.260) are superposable (since the equation is linear).The solutions to Eq.
We can derive analogous equations for ∂ 2 G/∂y 2 and ∂ 2 G/∂z 2 .269) that the dominant term on the lefthand side as r − r  → 0 is the ﬁrst one. now. 4π (3. ∂x2 ∂y 2 ∂z 2 r − r  c2 c ∂t
2
(3.
2
∂2G ∂2G ∂2G F 1 ∂2G G= + + = = 2 2.271)
which is the desired result. the region around r = r .272) − 2 2 G → F (t − t ) 2 c ∂t r − r  However. It is clear from Eq.
(3.275)
.255) and (3.258)
2
1 r − r 
= −4π δ(r − r ). (3.
(3. Let us now make the special choice F (φ) = − 127 δ(φ) . Thus.It follows by simple diﬀerentiation that ∂2G ∂x2 = + 3(x − x )2 − r − r 2 r − r 5 F (x − x )2 F F + . It is also clear that (1/c2 )(∂ 2 G/∂t2 ) is negligible compared to this term.269)
3(x − x )2 − r − r 2 r − r 4
where F (φ) = dF (φ)/dφ. Consider. as r − r  → 0 we ﬁnd that 1 1 ∂2 2 .274)
which is the desired result. which is essentially F ∂ 2 (r − r −1 )/∂x2 . (3. c r − r 3 c2 (3.
(3. Thus.270)
giving −
1 ∂2 c2 ∂t2
G = 0. (3.273)
We conclude that
2
1 ∂2 − 2 2 c ∂t
G = −4π F (t − t ) δ(r − r ). according to Eqs.
t.260). The amplitude of the wave is inversely proportional to the distance from the source. it is a sphere centred on r whose radius is the distance traveled by light in the time interval since the impulse was applied at position r . What does this delta function do? Well.274) that
2
1 ∂2 − 2 2 c ∂t
G = δ(r − r )δ(t − t ).277)
The time dependent Green’s function (3. r . Thus.It follows from Eq.258).
(3.
3.277) is the same as the steady state Green’s function (3.280)
. 128
(3. Recall that in steady state Maxwell’s equations reduce to ρ 2 φ = − . the Green’s function (3. At time t > t the locus of all points at which the potential is nonzero is r − r  = c (t − t ). G(r. Because of the delta function our observer only measures a nonzero potential at one particular time r − r  . 1 δ(t − t − r − r /c) 4π r − r  is the Green’s function for the driven wave equation (3.276)
Thus. t ) plus the time taken for a light signal to travel between points r and r. consider an observer at point r.
0 2
A = −µ0 j.e. (3. (3.277) describes a spherical wave which emanates from position r at time t and propagates at the speed of light. (3.278) t=t + c It is clear that this is the time the impulse was applied at position r (i. t ) = − (3.. apart from the delta function appearing in the former.21
Retarded potentials
We are now in a position to solve Maxwell’s equations.279)
In other words.
283)
with a similar equation for A. However. t − r − r /c) 3 d r r − r  (3. t ) 3 d r dt . (3.284). if we want to work out the potentials at position r and time t we have to perform integrals of the charge density and current density over all space (just like in the steady state situation). (3.281)
j(r ) 3 d r. instead we use the values at some earlier time t−r −r /c. t) = 1 4π 0 δ(t − t − r − r /c) ρ(r .The solutions to these equations are easily found using the Green’s function for Poisson’s equation (3.284) are the same as the steady state solutions (3.
We can solve these equations using the time dependent Green’s function (3. r − r  ρ
0
The time dependent Maxwell equations reduce to 22 φ = − . From Eq.281). (3. when we calculate the contribution of charges and currents at position r to these integrals we do not use the values at time t. t) = 1 4π 0 µ0 4π ρ(r .258): φ(r) = A(r) = 1 4π 0 µ0 4π ρ(r ) 3 d r r − r  (3. r − r 
These are the general solutions to Maxwell’s equations! Note that the time dependent solutions (3. t) = A(r.282)
22 A = −µ0 j. apart from the weird way in which time appears in the former. According to Eqs. Using the well known property of delta functions.264) we ﬁnd that φ(r. t − r − r /c) 3 d r. What is this earlier time? It is simply the latest time at which a light signal emitted 129
.277). these equations reduce to φ(r.284)
j(r . r − r  (3.
t ) d3 r dt .284) become φ(r) = A(r) = 1 4π 0 µ0 4π [ρ(r )] 3 d r.289)
Likewise. t) = µ0 j(r . (3. r − r  (3. (3. (3. t − r − r /c) ≡ [A(r . r − r 
The time dependence in the above equations is taken as read. t) as built up out of a collection or series of currents which instantaneously appear and then disappear: j(r.284) are called retarded potentials. t ) d3 r dt . t ) δ(t − t − r − r /c) . the charge density at r and t sends out a wave in the scalar potential: φ(r. using the retarded time instead of the real time). t) = δ(r − r )δ(t − t ) ρ(r . (3. we can think of a current distribution j(r. and then disappear again. the current density at r and t sends out a wave in the vector potential: A(r. Using this notation Eqs.e.285)
The square brackets denote retardation (i.288)
Each of these ephemeral charges and currents excites a spherical wave in the appropriate potential. A charge distribution ρ(r. t) = ρ(r . We are now in a position to understand electromagnetism at its most fundamental level.from position r would be received at position r before time t. the potentials (3.287) Likewise. It is often useful to adopt the following notation A(r . t) = δ(r − r )δ(t − t ) j(r . 4π r − r  130 (3.. t) can thought of as built up out of a collection or series of charges which instantaneously come into existence. Thus. at some point r and some time t . Mathematically.286)
[j(r )] 3 d r. t)] . 4π 0 r − r  (3. This is called the retarded time. t ) δ(t − t − r − r /c) .290)
. this is written ρ(r. Likewise.
Of course. i. Thus. and is also performing a similar integral to ﬁnd the vector potential. In fact. However. but there is an important diﬀerence.286). (3. the messengers travel at a ﬁnite speed. the charge can calculate the ﬁelds and using the Lorentz force law it can then work out its equation of motion. therefore. We can imagine (rather pictorially) that every charge in the universe is continuously performing the integral (3. We can see that we have now escaped from the apparent action at a distance nature of Coulomb’s law and the BiotSavart law. if we change the position of a charge then a distant charge can only respond after a time delay suﬃcient for a spherical wave to propagate from the former to the latter charge. As the charge considers more and more distant charges or currents its information gets more and more out of date.292)
These two formulae look very similar indeed. and is always slightly out of date (because the waves travel at a ﬁnite speed). Let us compare the steadystate law φ(r) = 1 4π 0 ρ(r ) 3 d r r − r  [ρ(r )] 3 d r r − r  (3. travels at the velocity of light. (Similarly.These waves can be thought of as little messengers which inform other charges and currents about the charges and currents present at position r and time t .291). The resultant scalar and vector potential ﬁelds are given by Eqs. (3. we can turn these ﬁelds into electric and magnetic ﬁelds using Eqs. the light we receive from the most distant observable galaxies was emitted when the universe was 131
. Electromagnetic information is carried by spherical waves in the vector and scalar potentials and.. the speed of light. We can then evaluate the force exerted on charges using the Lorentz formula. when astronomers look out to more and more distant galaxies in the universe they are also looking backwards in time.291)
with the corresponding time dependent law φ(r) = 1 4π 0 (3. The problem is that the information the charge receives from the rest of the universe is carried by our spherical waves. After evaluating both potentials.187). Every charge and every current in the universe emits these spherical waves. by the time they reach other charges and currents their message is a little out of date.e. So.
the density evaluated at the retarded time).292). (3. it is easy to show that a current carrying wire eﬀectively emits an Amp`rian magnetic ﬁeld at the speed of light. (3. Likewise. e 132
.) So. and then disappears at time t2 .294)
= 0
This solution is shown pictorially above. This is eﬀectively what Eq.only about a third of its present age.e. (3. what does our electron do? It simply uses the most up to date information about distant charges and currents which it possesses. persists for a while. t) in its integral the electron uses the retarded charge density [ρ(r.. and therefore no vector potential is generated). so E(r) = q 4π r − r0 3 0 r − r0  for t1 ≤ t − r − r0 /c ≤ t2 otherwise.
t < t1
t1< t < t 2
t > t2
Consider a thought experiment in which a charge q appears at position r 0 at time t1 .292) says. So. instead of incorporating the charge density ρ(r.293)
= 0
Now. t)] (i. we ﬁnd that φ(r) = q 4π 1 0 r − r0  for t1 ≤ t − r − r0 /c ≤ t2 otherwise. (3. We can see that the charge eﬀectively emits a Coulomb electric ﬁeld which propagates radially away from the charge at the speed of light. What is the electric ﬁeld generated by such a charge? Using Eq. E = − φ (since there are no currents.
emits a Coulomb ﬁeld.e. Suppose that a charge q1 comes into existence for a period of time. The only measurable quantities are the forces acting between charges and currents. i. We can describe the force acting on a given charge or current.. In Coulomb’s law and the BiotSavart law it is not
obvious that the electric and magnetic ﬁelds have any real existence. Consider the following thought experiment. the forces are transmitted directly between charges and currents by some form of magic).e. Similarly. leading inevitably to unphysical action at a distance type behaviour. In the latter theories. 133
. the ﬁeld lines act rather like rigid wires attached to charges (or circulating around currents). in reality.. in terms of the local electric and magnetic ﬁelds. However. it is patently obvious that electric and magnetic ﬁelds have a real existence in the time dependent theory. current carrying wires throw out magnetic ﬁeld loops at the speed of light. so the ﬁeld at a distant charge (or current) only responds to the change in position after a time delay suﬃcient for the ﬁeld to propagate between the two charges (or currents) at the speed of light. due to the other charges and currents in the universe.We can now appreciate the essential diﬀerence between time dependent electromagnetism and the action at a distance laws of Coulomb and Biot & Savart. In the time dependent theory charges act rather like water sprinklers. but we have no way of knowing whether these ﬁelds persist when the charge or current is not present (i. we could argue that electric and magnetic ﬁelds are just a convenient way of calculating forces but. they spray out the Coulomb ﬁeld in all directions at the speed of light. If we move a charge (or current) then ﬁeld lines emitted beforehand are not aﬀected. If the charges (or currents) move then so do the ﬁeld lines.
it cannot be ascribed to the ﬁrst charge because this charge no longer exists by the time the force is exerted. This is illustrated below. the wavefronts are more closely spaced in front of the
charge than they are behind it. Such a charge is continually emitting spherical waves in the scalar potential. shock waves are produced by fast moving boats. We call these “bow waves. Later on in this course we shall demonstrate that electric and magnetic ﬁelds conserve energy and momentum. such as water or air. In the latter case we call these “sonic booms. The force exerted on the second charge is only ascribable to the electric ﬁeld.” Is there any such thing as an electromagnetic
134
. Anything which possesses energy and momentum is “real” in a physical sense. and the resulting wave front pattern is sketched below. shock waves are produced by speeding bullets and supersonic jets. Suppose that a distant charge q 2 interacts with this ﬁeld. suggesting that the electric ﬁeld in front is larger than the ﬁeld behind. Clearly. The electric ﬁeld clearly transmits energy and momentum between the two charges. In a medium. The wave intensity on the cone is extremely large: this is a shock wave! The half angle θ of the shock wave cone is simply cos−1 (c/v). where waves travel at a ﬁnite speed c (say) it is possible to get a very interesting eﬀect if the wave source travels at some velocity v which exceeds the wave speed. Let us now consider a moving charge.” In air. In water. but is suﬃciently far from the ﬁrst charge that by the time the ﬁeld arrives the ﬁrst charge has already disappeared.and then disappears. The locus of the outermost wave front is now a cone instead of a sphere.
θ vt
ct
shock wave? At ﬁrst sight, the answer to this question would appear to be, no. After all, electromagnetic waves travel at the speed of light and no wave source (i.e., an electrically charged particle) can travel faster than this velocity. This is a rather disappointing conclusion. However, when an electromagnetic wave travels through matter a remarkable thing happens. The oscillating electric ﬁeld of the wave induces a slight separation of the positive and negative charges in the atoms which make up the material. We call separated positive and negative charges an electric dipole. Of course, the atomic dipoles oscillate in sympathy with the ﬁeld which induces them. However, an oscillating electric dipole radiates electromagnetic waves. Amazingly, when we add the original wave to these induced waves it is exactly as if the original wave propagates through the material in question at a velocity which is slower than the velocity of light in vacuum. Suppose, now, that we shoot a charged particle through the material faster than the slowed down velocity of electromagnetic waves. This is possible since the waves are traveling slower than the velocity of light in vacuum. In practice, the particle has to be traveling pretty close to the velocity of light in vacuum (i.e., it has to be relativistic), but modern particle accelerators produce copious amount of such particles. Now, we can get an electromagnetic shock wave. We expect an intense cone of emission, just like the bow wave produced by a fast ship. In fact, this type of radiation has been observed. It is called Cherenkov radiation, and it is very useful in high energy physics. Cherenkov radiation is typically produced by surrounding a particle accelerator with perspex blocks. Relativistic charged particles emanating from the accelerator pass through the perspex traveling faster
135
than the local velocity of light and therefore emit Cherenkov radiation. We know the velocity of light (c∗ , say) in perspex (this can be worked out from the refractive index), so if we can measure the half angle θ of the radiation cone emitted by each particle then we can evaluate the speed of the particle v via the geometric relation cos θ = c∗ /v.
3.22
Advanced potentials?
We have deﬁned the retarded time tr = t − r − r /c (3.295)
as the latest time at which a light signal emitted from position r would reach position r before time t. We have also shown that a solution to Maxwell’s equations can be written in terms of retarded potentials: φ(r, t) = 1 4π 0 ρ(r , tr ) 3 d r, r − r  (3.296)
etc. But, is this the most general solution? Suppose that we deﬁne the advanced time. ta = t + r − r /c. (3.297) This is the time a light signal emitted at time t from position r would reach position r . It turns out that we can also write a solution to Maxwell’s equations in terms of advanced potentials: φ(r, t) = 1 4π 0 ρ(r , ta ) 3 d r, r − r  (3.298)
etc. In fact, this is just as good a solution to Maxwell’s equation as the one involving retarded potentials. To get some idea what is going on let us examine the Green’s function corresponding to our retarded potential solution: φ(r, t) = ρ(r , t ) δ(t − t − r − r /c) , 4π 0 r − r  136 (3.299)
with a similar equation for the vector potential. This says that the charge density present at position r and time t emits a spherical wave in the scalar potential which propagates forwards in time. The Green’s function corresponding to our advanced potential solution is φ(r, t) = ρ(r , t ) δ(t − t + r − r /c) . 4π 0 r − r  (3.300)
This says that the charge density present at position r and time t emits a spherical wave in the scalar potential which propagates backwards in time. “But, hang on a minute,” you might say, “ everybody knows that electromagnetic waves can’t travel backwards in time. If they did then causality would be violated.” Well, you know that electromagnetic waves do not propagate backwards in time, I know that electromagnetic waves do not propagate backwards in time, but the question is do Maxwell’s equations know this? Consider the wave equation for the scalar potential: 1 ∂2 ρ 2 − 2 2 φ=− . (3.301) c ∂t 0 This equation is manifestly symmetric in time (i.e., it is invariant under the transformation t → −t). Thus, backward traveling waves are just as good a solution to this equation as forward traveling waves. The equation is also symmetric in space (i.e., it is invariant under the transformation x → −x). So, why do we adopt the Green’s function (3.299) which is symmetric in space (i.e., it is invariant under x → −x) but asymmetric in time (i.e., it is not invariant under t → −t)? Would it not be better to use the completely symmetric Green’s function φ(r, t) = ρ(r , t ) 1 4π 0 2 δ(t − t − r − r /c) δ(t − t + r − r /c) + r − r  r − r  ? (3.302)
In other words, a charge emits half of its waves running forwards in time (i.e., retarded waves) and the other half running backwards in time (i.e., advanced waves). This sounds completely crazy! However, in the 1940’s Richard P. Feynman and John A. Wheeler pointed out that under certain circumstances this prescription gives the right answer. Consider a charge interacting with “the rest of the universe,” where the “rest of the universe” denotes all of the distant charges in the universe and is, by implication, an awful long way away from our original 137
charge. Suppose that the “rest of the universe” is a perfect reﬂector of advanced waves and a perfect absorbed of retarded waves. The waves emitted by the charge can be written schematically as F = 1 1 (retarded) + (advanced). 2 2 (3.303)
The response of the rest of the universe is written R= 1 1 (retarded) − (advanced). 2 2 (3.304)
This is illustrated in the spacetime diagram below. Here, A and R denote the
charge rest of universe
time A a
aa R
space
advanced and retarded waves emitted by the charge, respectively. The advanced wave travels to “the rest of the universe” and is reﬂected; i.e., the distant charges oscillate in response to the advanced wave and emit a retarded wave a, as shown. The retarded wave a is spherical wave which converges on the original charge, passes through the charge, and then diverges again. The divergent wave is denoted aa. Note that a looks like a negative advanced wave emitted by the charge, whereas aa looks like a positive retarded wave emitted by the charge. This is 138
Let us now construct the associated electric and magnetic ﬁelds using E B It is helpful to write R=r−r . It is quite plausible that the state of the universe (and. Clearly.essentially what Eq. The retarded waves R and aa are absorbed by “the rest of the universe. the distant charges in the universe absorb retarded waves and reﬂect advanced waves. at the “big crunch. we can write the retarded = − φ− = ∧ A. hence. These diﬃculties have yet to be resolved. The retarded time becomes tr = t − R/c.304) says. (3. which agrees with our everyday experience.307) where R = r − r .” or whatever) and the reﬂection takes place at the beginning of the universe (i.e. It should be pointed out that the FeynmanWheeler model runs into trouble when one tries to combine electromagnetism with quantum mechanics. ∂A . tr ). i. charges appear to emit only retarded waves. t)] ≡ F (r.. (3. so at present the status of this model is that it is “an interesting idea” but it is still not fully accepted into the canon of physics. at the “big bang”). in this model we have sidestepped the problem of a time asymmetric Green’s function by adopting time asymmetric boundary conditions to the universe..23
Retarded ﬁelds
We know the solution to Maxwell’s equations in terms of retarded potentials.e.
3. and a general retarded quantity is written [F (r. ∂t (3. This is possible because the absorption takes place at the end of the universe (i.e. (3.” If we add the waves emitted by the charge to the response of “the rest of the universe” we obtain F = F + R = (retarded). Thus..306)
139
. its interaction with electromagnetic waves) is completely diﬀerent at these two times.305) Thus.
R (3. It is easily seen that φ = 1 4π 0 1 4π 0 [ρ] (R−1 ) + [∂ρ/∂t] R tr dV .308)
= −
[ρ] [∂ρ/∂t] R− R R3 cR2
where use has been made of R= Likewise. (3. and B= µ0 4π [j] ∧ R [∂j/∂t] ∧ R + R3 cR2 140 dV . R [j] dV . R3 tr = − R . (3.309). ∧A = µ0 4π µ0 4π (R−1 ) ∧ [j] + tr ∧ [∂j/∂t] R dV . R (R−1 ) = − R . dV (3.potential solutions of Maxwell’s equations in the especially compact form: φ = A = where dV ≡ d3 r .306).311) R .309) 1 4π 0 µ0 4π [ρ] dV . cR (3. dV (3.311) can be combined to give E= 1 4π 0 [ρ] R ∂ρ + R3 ∂t R [∂j/∂t] − cR2 c2 R dV .310)
= −
R ∧ [j] R ∧ [∂j/∂t] + R3 cR2
Equations (3. (3.312)
which is the time dependent generalization of Coulomb’s law. and (3.313)
.
and the third term corresponds to Faraday induction.which is the time dependent generalization of the BiotSavart law. [ρ] giving ∂ρ 1 ∂2ρ ρ+ (tr − t) + (tr − t) + · · · . from looking at Eqs.317a) the ﬁrst term on the righthand side corresponds to Coulomb’s law.315)
∂ρ R 1 ∂ 2 ρ R2 + + ···. ∂t c 2 ∂t2 c2 Expansion of the retarded quantities in the near ﬁeld region yields [ρ] ρ− E B 1 4π 0 µ0 4π ∂j/∂t ρ R 1 ∂2ρ R − − 2 + ··· R3 2 ∂t2 c2 R c R j ∧ R 1 (∂ 2 j/∂t2 ) ∧ R − + ··· R3 2 c2 R dV . We can evaluate Eqs. (3. Let the currents in the circuit change on a typical timescale of one tenth of a second.314)
so the diﬀerence between retarded time and standard time is relatively small. then. In the near ﬁeld region R t − tr  = t0 R0 1.316)
(3.312) and (3.312) and (3. (3.317b) the ﬁrst term on the righthand side is the BiotSavart law and the second term is the correction due to retardation eﬀects. the second term is the correction due to retardation eﬀects.313). circuit sitting on a laboratory benchtop. Thus.
(3.313) in two asymptotic limits: the “near ﬁeld” region R R0 . that the corrections should be of order R/R0 . (3. (3. 000 kilometers. however all of the order R/R0 terms canceled out in the previous expansion.
In Eq.317a) (3. Let us deﬁne R0 = c t0 which is the distance a light ray travels in time t0 . (3. This allows us to expand retarded quantities in a Taylor series. ∂t 2 ∂t2 (3.c. that we have a d. so R0 ∼ 30. Suppose that the typical variation timescale of our charges and currents is t0 . Note that the retardation corrections are only of order (R/R0 )2 . In this time light can travel about 3 × 107 meters. In Eq. The lengthscale of the experiment is 141
.317b)
dV . We might suppose. Suppose. and the “far ﬁeld” region R R0 .
so R = 1 meter. cR2
(j · R) R.320) ρ(r.319)
whereas the magnetic ﬁeld is given by B Note that 1 4π 0 ∂j⊥ /∂t dV c3 R∗2 E = c.318c) R2 Here. (3. B 142 ∧ R∗ . Let R∗ = r − r∗ . Suppose that the extent of the current and charge containing region is much less than R ∗ . Thus.318b)
µ0 4π
[∂j⊥ /∂t] ∧ R dV .313) are dominated by −1 the terms which vary like R . the retardation corrections are of order (3 × 107 )−2 ∼ 10−15 . Thus. the electric ﬁeld reduces to E − 1 4π 0 ∂j⊥ /∂t dV c 2 R∗ . and the BiotSavart law to analyze the ﬁelds generated by this type of circuit. (3. t − R∗ /c).321)
(3. It follows that retarded quantities can be written j⊥ = j − [ρ(r. Eqs.322)
.312) and (3. c2 R (3. with R∗ = r − r∗ . (3. It is clear that we are fairly safe just using Coulomb’s law. (3. Suppose that our charges and currents are localized to some region in the vicinity of r = r∗ . Faraday’s law.about one meter. R R0 . t)] etc. In the far ﬁeld region.318a) (3. (3. use has been made of [∂ρ/∂t] = −[ · j] and [ · j] = −[∂j/∂t] · R/cR + O(1/R2 ). so E B where − 1 4π 0 [∂j⊥ /∂t] dV .
19).324b)
= 0. so a nonsteady current is associated with accelerating charges. We conclude that accelerating electric charges emit electromagnetic waves.) and also in the far ﬁeld region (they are just electromagnetic waves). charges moving with a constant velocity constitute a steady current. (3.323) This conﬁguration of electric and magnetic ﬁelds is characteristic of an electromagnetic wave (see Section 3.324a) (3. This behaviour should be contrasted with that of Coulomb or BiotSavart ﬁelds which fall oﬀ like the inverse square of the distance from the source.320) and (3. (3.
3. In conclusion. Note that the wave is driven by time varying electric currents. Let us now summarize what we have learned so far.and E · B = 0. etc. If wave ﬁelds obeyed an inverse square law then no appreciable radiation would reach us from the rest of the universe. Eqs. ∂t 1 ∂E . do things start getting really complicated (so we do not look in this region!).323) describe an electromagnetic wave propagating radially away from the charge and current containing region. c2 ∂t
(3. electric and magnetic ﬁelds look simple in the near ﬁeld region (they are just Coulomb ﬁelds. Thus. (3. The wave ﬁelds. Only in the intermediate region. fall oﬀ like the inverse of the distance from the wave source.324c) (3.322) and (3.321). The fact that wave ﬁelds attenuate fairly gently with increasing distance from the source is what makes astronomy possible.324d)
= µ0 j +
143
. The ﬁeld equations which govern electric and magnetic ﬁelds are written: ·E ·B ∧E ∧B = ρ
0
.
(3. Now. R ∼ R 0 .24
Summary
This marks the end of our theoretical investigation of Maxwell’s equations. = − ∂B .
324a) and (3.
(3. (3.330)
.324c) are automatically satisﬁed by writing E B = − φ− = ∧ A.325b)
S
= 0. ∂t (3.325c) E · dS.These equations can be integrated to give E · dS B · dS E · dl B · dl = 1
0 V
ρ dV.
(3.
(3.324b) and (3.324d) reduce to 22 φ = − ρ
0
(3.326a) (3. = − ∂ ∂t
S
S
C
S
B · dS. ∂A .329b)
22 A = −µ0 j These are driven wave equations of the general form 2 u≡
2 2
1 ∂2 − 2 2 c ∂t 144
u = v.328)
.327) and 1 ∂φ + · A = 0. 1 ∂ c2 ∂t
S
(3.325a) (3.329a) (3.326b)
This prescription is not unique (there are many choices of φ and A which generate the same ﬁelds) but we can make it unique by adopting the following conventions: φ(r) → 0 as r → ∞.325d)
= µ0
C
j · dS +
Equations (3. (3. c2 ∂t Equations (3.
332b)
where R = r − r . t − R/c).333) ]. retarded electromagnetic potentials [Eqs. with [A] ≡ A(r . and dV = d3 r . Let us now consider the applications of this theory. These solutions can be combined with Eqs. R [j] dV . We can express the same information in terms of ﬁeld equations [Eqs. (3.324) ]. t. (3. dV .331)
Thus. t) = A(r.333) constitute the complete theory of classical electromagnetism. (3. (3. (3. t) = 1 4π 0 µ0 4π [ρ] R ∂ρ + R3 ∂t [∂j/∂t] R − cR2 c2 R dV .326) to give E(r.329) are φ(r. t) = (3.332) ]. the solutions to Eqs.324)–(3. R (3.
145
. t ) = − 1 δ(t − t − r − r /c) .333b)
[j] ∧ R [∂j/∂t] ∧ R + R3 cR2
Equations (3. and retarded electromagnetic ﬁelds [Eqs.The Green’s function for this equation which satisﬁes the boundary conditions and is consistent with causality is G(r.333a) (3. (3. integrated ﬁeld equations [Eqs. t) = B(r. (3.332a) (3. r . 4π r − r  1 4π 0 µ0 4π [ρ] dV .325) ].
4) φ(r) = 4π 0 r − r  Let us build up our collection of charges one by one. (4. It takes no work to bring the ﬁrst charge from inﬁnity. Recall that the scalar potential generated by a point charge q at position r is q 1 .
(4. since there is no electric ﬁeld to ﬁght against. how much work would we have to do in order to assemble the charges. What is the electrostatic energy stored in such a collection? Another way of asking this is.3)
The negative sign in the above expression comes about because we would have to exert a force −f on the charge in order to counteract the force exerted by the electric ﬁeld.1
Applications of Maxwell’s equations
Electrostatic energy
Consider a collection of N static point charges qi located at position vectors ri (where i runs from 1 to N ). Let us clamp this charge in position at r1 .2) (4. In order to bring the second charge into
146
.1)
The work we would have to do against electrical forces in order to move the charge from point P to point Q is simply
Q Q Q
W =−
P
f · dl = −q
P
E · dl = q
P
φ · dl = q [φ(Q) − φ(P )] . starting from an initial state in which they are all at rest and also very widely separated? We know that a static electric ﬁeld is conservative and can consequently be written in terms of a scalar potential: E = − φ.4
4. (4. We also know that the electric force on a charge q is written f = q E.
this is the kinetic energy which would be released if the collection 147
.4). (4.position at r2 we have to do work against the electric ﬁeld generated by the ﬁrst charge. Thus. 4π 0 r1 − r2  (4.8)
i=1 j>i
The restriction that j must be greater than i makes the above summation rather messy. It is convenient to do just this and then to divide the result by two.5)
Let us now bring the third charge into position. If we were to sum without restriction (other than j = i) then each pair of charges would be counted twice. the total work done in assembling the three charges is given by W = 1 4π 0 q1 q2 q1 q3 q2 q3 + + r1 − r2  r1 − r3  r2 − r3 
N N
.e. (4. According to Eqs. (4.3) and Eqs.9)
This is the potential energy (i.
(4.7)
This result can easily be generalized to N charges: 1 W = 4π 0 qi qj . ri − rj 
(4. this work is given by W2 = 1 q1 q2 . We can think of this as the work needed to bring static charges from inﬁnity and assemble them in the required formation. 1 1 W = 2 4π 0
N N
i=1 j=1
j=i
qi qj . ri − rj  (4.6)
Thus. Since electric ﬁelds and scalar potentials are superposable the work done whilst moving the third charge from inﬁnity to r3 is simply the sum of the work done against the electric ﬁelds generated by charges 1 and 2 taken in isolation: W3 = 1 4π 0 q1 q3 q2 q3 + r1 − r3  r2 − r3  . the diﬀerence between the total energy and the kinetic energy) of a collection of charges. Alternatively..
11)
is the scalar potential experienced by the i th charge due to the other charges in the distribution.16)
. Let us now consider the potential energy of a continuous charge distribution.
(4. (4.10) and (4. Let us try this out.13)
is the familiar scalar potential generated by a continuous charge distribution. where φ(r) = 1 4π 0 ρ(r ) 3 d r r − r  (4.11). (4.
(4. Equation (4.12) W = 2 by analogy with Eqs.were dissolved and the charges returned to inﬁnity. It is tempting to write 1 ρ φ d3 r. But where is this potential energy stored? Let us investigate further. We know from Poisson’s equation that ρ= so Eq.10)
N
j=1
j=i
qj ri − rj 
(4. (4. (4.9) can be written 1 W = 2 where 1 φi = 4π 0
N
qi φ i .14)
2
φ
·E d3 r.12) can be written W =
0 0
·E.15)
Vector ﬁeld theory yields the standard result · (E φ) = φ 148 ·E + E · φ.
i=1
(4.
Let us imagine building up this charge distribution from a succession of thin spherical layers of inﬁnitesimal thickness. we now have to assume that an electric ﬁeld possesses an energy density 0 U= E2.18) reduces to W =
0
2
E 2 d3 r.
(4. in general.18) falls oﬀ like 1/r and is consequently zero. so we obtain W =
0
2
·(E φ) d3 r +
E 2 d3 r
(4.21) 4π 0 r 149
. This is a very nice result! It tells us that the potential energy of a continuous charge distribution is stored in the electric ﬁeld. the work done in bringing a charge dq to it is 1 q(r) dq dW = . and let us take the limit in which radius r of this sphere goes to inﬁnity. We know that. Let us assume that V is a sphere. therefore. At each stage we gather a small amount of charge from inﬁnity and spread it over the surface of the sphere in a thin layer from r to r +dr. (4.
(4.18)
where V is some volume which encloses all of the charges and S is its bounding surface. Of course.19)
where the integral is over all space. (4.20) 2 We can easily check that Eq. falls oﬀ like 1/r 2 . the electric ﬁeld at large distances from a bounded charge distribution looks like the ﬁeld of a point charge and. Thus.19) is correct. the potential falls oﬀ like 1/r. We continue this process until the ﬁnal radius of the sphere is a.
φ = −E. If q(r) is the charge in the sphere when it has attained radius r. Likewise. centred on the origin. However. Suppose that we have a charge Q which is uniformly distributed within a sphere of radius a. Eq. the surface area of the sphere increases like r 2 . It is clear that in the limit as r → ∞ the surface integral in Eq.However.17)
Application of Gauss’ theorem gives W =
0
2
S
φ E · dS +
E 2 dV
V
. (4. (4. (4.
let us work it out using Eq. 3 and dq = 4πr 2 ρ dr. (4. (4. If the constant charge density in the sphere is ρ then 4 (4. so E = E r (r) r . 5 4π 0 a (4. (4. (4. Eq.24)
The total work needed to build up the sphere from nothing to radius a is plainly 4π 2 ρ W = 3 0 r4 dr =
0
4π 2 5 ρ a .26)
Now that we have evaluated the potential energy of a spherical charge distribution by the direct method. Application of Gauss’ law 1 ρ dV.29)
150
.22) q(r) = πr3 ρ.28)
r2
(4.5) since the electric ﬁeld generated by a spherical charge distribution (outside itself) is the same as that of a point charge q(r) located at the origin (r = 0) (see later).19). We assume that ˆ the electric ﬁeld is radial and spherically symmetric.This follows from Eq. 15 0
(4. and Er (r) = 4π Q r 4π 0 a3 Q
0
(4. (4. 3 0
a
(4.27) E · dS =
S 0 V
where V is a sphere of radius r.25)
This can also be written in terms of the total charge Q = (4/3)πa 3 ρ as W = 3 Q2 .23) Thus. yields Er (r) = for r < a.21) becomes dW = 4π 2 4 ρ r dr.
(4.10) can be negative (it is certainly negative for a collection of two point charges of opposite sign).32) 5 4π 0 a We can think of this as the selfenergy of the i th charge. The reason we have checked Eq.31)
Thus.
(4.10) and (4.10) plus the energy required to assemble the point charges.26) the energy required to assemble the i th point charge is 3 qi 2 Wi = . for the sake of argument.19). 5 4π 0 a
(4.for r ≥ a.11) by Eq.19) we would obtain the energy (4. (4.19) are diﬀerent because in the former we start from ready made point charges whereas in the latter we build up the whole charge distribution from scratch.30)
Q2 8π 0 a
1 +1 5
=
3 Q2 . Equations (4.33)
151
. Thus. (4. (4.11) the selfinteraction of the i th charge with its own electric ﬁeld is excluded whereas it is included in Eq. (4. In Eq.19) so carefully is that on close inspection it is found to be inconsistent with Eq. (4. we can write W =
0
2
1 E d r= 2
2 3
N
N
qi φ i +
i=1 i=1
Wi
(4. Note that the electric ﬁeld generated outside the charge distribution is the same as that of a point charge Q located at the origin. that our point charges are actually made of charge uniformly distributed over a small sphere of radius a.29) yield Q2 W = 8π 0 which reduces to W = 1 a6
a ∞
r dr +
0 a
4
dr r2
. it is inﬁnite! To see this let us suppose. (4. the energy given by Eq. According to Eq. the potential energies (4.13). What is the energy required to assemble a point charge? In fact.19) gives the correct answer. Thus.13). (4. whereas the energy given by Eq. if we were to work out the potential energy of a point charge distribution using Eq. from which it was supposedly derived! For instance. r = 0. Eq. Thus. The inconsistency was introduced into our analysis when we replaced Eq. and (4. (4.10). (4.19) is manifestly positive deﬁnite. (4. (4. (4.28).
Consider a length l of a conductor of uniform crosssectional area A with a current I ﬂowing down it. called renormalization.) Thus. such as electrons. Alternatively. Thus.which enables us to reconcile Eqs. A (4.
4.34)
where V is the voltage drop across a resistor of resistance R when a current I ﬂows through it. if our point charges really are point charges then a → 0 and the selfenergy of each charge becomes inﬁnite. (4. In general.2
Ohm’s law
We all know the simplest version of Ohm’s law: V = IR. What does this all mean? We have to conclude that the idea of locating electrostatic potential energy in the electric ﬁeld is inconsistent with the assumption of the existence of point charges. (4. One way out of this diﬃculty would be to say that all elementary charges. the quantum mechanical version of electromagnetism (quantum electrodynamics or QED.10) and (4.19). The problem of the inﬁnite selfenergies of charged particles is still unresolved. are not points but instead small distributions of charge. we could say that our classical theory of electromagnetism breaks down on very small lengthscales due to quantum eﬀects.10) and (4. and it is easier to push a current down a wide rather than a narrow conducting channel. for short) suﬀers from the same inﬁnities in the selfenergies of particles as the classical version. (4. we can write R=η l . Let us generalize this law so that it is expressed in terms of E and j rather than V and I. the potential energies predicted by Eqs. There is a prescription. for steering round these inﬁnities and getting ﬁnite answers which agree with experiments to extraordinary accuracy. it is harder to push an electrical current down a long rather than a short wire. nobody really understands why this prescription works.e. Unfortunately. we expect the electrical resistance of the conductor to be proportional to its length and inversely proportional to its area (i.. However.35)
152
.19) diﬀer by an inﬁnite amount. Unfortunately.
A charge q which moves through a voltage drop V acquires an energy qV from the electric ﬁeld.39)
(4. What is going to happen? According to Eq.
(4.38)
(4. R Equations (4. The current ﬂowing is obviously I = N q.The constant η is called the resistivity and is measured in units of ohmmeters.36) V = η I.
4. (4.3
Conductors
Most (but not all) electrical conductors obey Ohm’s law. the heating power is V2 P = IV = I R = . This type of heating is called “ohmic heating. In a resistor this energy is dissipated as heat. so the above equation reduces to Ez = ηjz . Such conductors are termed “ohmic.40)
P = j · E = η j2. is P = N qV = IV per unit time. Thus. which appears as heat inside the resistor. This is the vector form of Ohm’s law. A However.40) generalize to
2
(4.38) the electric ﬁeld drives 153
. Ohm’s law becomes l (4.41)
where P is now the power dissipated per unit volume in a resistive medium.37)
There is nothing special about the zaxis (in an isotropic conducting medium) so the previous formula immediately generalizes to E = η j.” Suppose that we apply an electric ﬁeld to an ohmic conductor. (4. I/A = jz (suppose that the conductor is aligned along the zaxis) and V /l = Ez .” Suppose that N charges per unit time pass through a resistor. The total energy gained by the charges.39) and (4.
44)
So. ρ = 0. integrate Gauss’ law over a surface S which surrounds the cavity but lies wholly in 154
. the charges lie within one or two atomic layers of the surface (see any textbook on solidstate physics). This is true no matter where P and Q are situated inside the conductor. acting around a closed loop inside a conductor is impossible.e.45)
However.42)
around any closed loop C.f. this would require a nonzero e.f. φ = constant) surface. that (4.m. A corollary of this is that the surface of a conductor is an equipotential (i. how can a conductor cancel out an applied electric ﬁeld if it contains no charges? The answer is that all of the charges reside on the surface of the conductor. (4. Not only is the electric ﬁeld inside a conductor zero. we know that in steadystate
C
E · dl = 0
(4. It immediately follows from Gauss’ law. ﬁrst of all. with η = 0). Let us. if P and Q lie inside the same conductor then it is clear from Eq. The only other alternative is j=E=0 inside a conductor. The diﬀerence in scalar potential between two points P and Q is simply
Q Q
φ(Q) − φ(P ) =
P
φ · dl = −
P
E · dl. According to Ohm’s law.
(4. (4. At this point.. provided that there are no charges within the cavity. It is also possible to demonstrate that the ﬁeld within an empty cavity lying inside a conductor is also zero.43) that the potential diﬀerence between P and Q is zero. This proves that a steadystate e. However. It might be objected that the currents could keep ﬂowing in closed loops. These redistribute the charge inside the conductor until the original electric ﬁeld is canceled out. the currents stop ﬂowing. there are no electric charges in the interior of a conductor. so we conclude that the scalar potential must be uniform inside a conductor.m.. acting around each loop (unless the conductor is a superconductor. E · dl. In reality.43) · E = ρ/ 0 .currents. But.
This does not preclude the possibility that there are equal amounts of positive and negative charges distributed on the inner surface of the conductor. (4. If there are any electric ﬁeld lines inside the cavity then they must run from the positive to the negative surface charges. is zero. This can only be the case if the electric ﬁeld itself is zero everywhere inside the cavity. However.Conductor S Cavity C 
+ + + ++ ++
the conducting material. the line integral of the ﬁeld around the closed loop C is nonzero. Consider a loop C which straddles the cavity and the conductor. However. the line integral of E along that portion of the loop which runs through the conducting material is obviously zero (since E = 0 inside a conductor). it follows that zero net charge is enclosed by S. from one point on the interior surface of the conductor to another. Since the electric ﬁeld is zero in a conductor. This. such as the one shown above. If the cavity contains charges then our argument fails because it is possible to envisage
155
. this equation implies that the line integral of the electric ﬁeld along any path which runs through the cavity. Thus. In fact. The electric ﬁeld inside a cavity is only zero if the cavity contains no charges. we can easily rule out this possibility using the steadystate relation
C
E · dl = 0. There is one proviso to this argument.
(4. In the presence of ﬁeld lines it is clear that the line integral of E along that portion of the loop which lies inside the cavity is nonzero. clearly contradicts Eq.46)
for any closed loop C.46).
Using similar arguments to those given above.47)
S
where V is a socalled “Gaussian pillbox. Any parallel component would be shorted out by surface currents.” This is a pillbox shaped volume whose two ends are aligned normal to the surface of the conductor. and that the electric ﬁeld just outside the conductor is E. We have shown that if a cavity is completely enclosed by a conductor then no stationary distribution of charges outside can ever produce any ﬁelds inside. with the 156
. we shall improve it later on). so E = − φ must be locally perpendicular to a conducting surface. Let us use Gauss’ law. shielding works both ways!
Vacuum E
Gaussian pillbox
A Conductor
Let us consider some small region on the surface of a conductor. E · dS = 1
0 V
ρ dV. we can also show that no static distribution of charges inside a closed conductor can ever produce a ﬁeld outside it. Suppose that the local surface charge density is σ. So. we can shield a piece of electrical equipment from stray external electric ﬁelds by placing it inside a metal can. We know that φ is always perpendicular to equipotential surfaces. Another way of saying this is that the surface of a conductor is an equipotential.that the line integral of the electric ﬁeld along many diﬀerent paths across the cavity could be zero without the ﬁelds along these paths necessarily being zero (this argument is somewhat inexact. Clearly.
(4. Note that this ﬁeld must be directed normal to the surface of the conductor.
Thus. since E = 0 inside a conductor. so the sides make no contribution to the surface integral. we expect the ﬁeld generated below the sheet to be the mirror image of that above the sheet (at least. Thus. The charge enclosed by the pillbox is just σ A. It is clear that E is perpendicular to the sides of the box.48)
as the relationship between the normal electric ﬁeld immediately outside a conductor and the surface charge density. then the two ends both contribute Esheet A to the surface integral. as shown above. where Esheet is the normal electric ﬁeld generated above and below the sheet. The charge enclosed by the box is simply σ A. and A is the crosssectional area of the box. By symmetry. the only nonzero contribution to the surface integral comes from the end lying in free space. Suppose that the charge per unit area is σ. and whose sides are tangential to the surface normal. Thus. locally). Thus. The end of the box which lies inside the conductor also makes no contribution. Gauss’ law yields E⊥ = σ
0
(4. if we integrate Gauss’ law over a pillbox of cross sectional area A. 157
. where E⊥ denotes an outward pointing (from the conductor) normal electric ﬁeld. from the deﬁnition
E A σ
E
of a surface charge density.surface running between them. Let us look at the electric ﬁeld generated by a sheet charge distribution a little more carefully. This contribution is simply E⊥ A.
(4. The force per unit area acting on the surface of the conductor always acts outward and is given by p = σEext σ2 . a ﬁeld which is not generated locally by the sheet charge). The total ﬁeld is the sum of the ﬁeld generated locally by the charge sheet and the external ﬁeld. there is an electrostatic pressure acting on any charged conductor. we have to add in an external ﬁeld (i. The electrostatic pressure can also be written 0 p= E2. The external ﬁeld exerts a force on the charge sheet.. Note that. below.49)
So. = 2 0 (4. according to the above formula. (4. (4. inside the conductor) and nonzero immediately above it? Clearly. The requisite ﬁeld is Eext = σ 2 0 (4. This eﬀect can be visualized by charging up soap bubbles. which is zero immediately below the surface (i.53) 2 where E is the ﬁeld strength immediately above the surface of the conductor.48).e.50)
both above and below the charge sheet. below.52)
Thus..Gauss’ law yields a symmetric electric ﬁeld Esheet Esheet σ 2 0 σ = − 2 0 = + above. Thus. the electrostatic pressure is equivalent to 158
.e. we obtain Etotal Etotal = + = 0 σ
0
above. the additional electrostatic pressure eventually causes them to burst. The ﬁeld generated locally by the sheet itself obviously cannot exert a force (the sheet cannot exert a force on itself!). (4. how do we get the asymmetric electric ﬁeld of a conducting surface.51)
which is in agreement with Eq.
105 newtons per meter squared) on conductors? The answer is a ﬁeld of strength E ∼ 108 volts per meter. This is not a coincidence. but not from the outside.54)
This technique for calculating a force given an expression for the energy of a system as a function of some adjustable parameter is called the principle of virtual work. ﬁrst 159
. This work is dW = p A dx. from energy conservation. How big a ﬁeld do we need before the electrostatic pressure diﬀerence is the same as that obtained by evacuating the can? In other words. Thus. e. so there is no danger of your car exploding when you turn on the stereo!
4. dE = dW . We can account for this by saying that the ﬁeld exerts a negative pressure p = −( 0 /2) E 2 on the conductor. this is a rather large ﬁeld. if we place the can in a strong electric ﬁeld then the pressure diﬀerence between the inside and the outside will eventually cause it to explode. giving rise to a net outward force.
(4. where U is the energy density of the ﬁeld. the energy of the electric ﬁeld decreases by an amount dE = U dV = ( 0 /2) E 2 dV . and is very useful. Let us. Thus. We know that if we evacuate a metal can then the pressure diﬀerence between the inside and the outside eventually causes it to implode. giving p=
0
2
E2. Likewise.4
Boundary conditions on the electric ﬁeld
What are the most general boundary conditions satisﬁed by the electric ﬁeld at the interface between two mediums. The electric ﬁeld is excluded from the region into which the conductor expands. where A is the surface area of the conductor. where p is the force per unit area the ﬁeld exerts on the conductor. what ﬁeld exerts a negative pressure of one atmosphere (i. The volume of this region dV = A dx. Fortunately.the energy density of the electric ﬁeld immediately outside the conductor.. the interface between a vacuum and a conductor? Consider an interface P between two mediums A and B.g.e.. We have seen that an electric ﬁeld is excluded from the inside of the conductor. Suppose that the conductor expands by an average distance dx due to the electrostatic pressure. This decrease in energy can be ascribed to the work which the ﬁeld does on the conductor in order to make it expand.
etc. where σ is the sheet charge density on the interface.
S
E · dS = (E⊥ A − E⊥ B ) A.56)
where E⊥ A is the perpendicular (to the interface) electric ﬁeld in medium A at the interface. i. integrate Gauss’ law.
(4. Note that any volume distribution of charge gives rise to a negligible contribution to the righthand side of the above equation in the limit where the two ends of the pillbox are very closely spaced. In this limit. What about 160
.57)
0
at the interface. In fact. The ends of the box can be made arbitrarily close together. Gauss’ law yields σ E⊥ A − E ⊥ B = (4. the ﬂux of the electric ﬁeld out of the sides of the box is obviously negligible. Thus.e.. E · dS = 1
0 V
l
A Gaussian pillbox
ρ dV.
(4. The charge enclosed by the pillbox is simply σ A. The only contribution to the ﬂux comes from the two ends.55)
S
over a Gaussian pillbox S of crosssectional area A whose two ends are locally parallel to the interface.A E perp A E para A loop P E para B E perp B B
of all. the presence of a charge sheet on an interface causes a discontinuity in the perpendicular component of the electric ﬁeld.
e.60)
i.. Clearly. Air is a very good insulator. a good charge storing device is one which holds a large amount of charge but only generates small electric ﬁelds. The conductor can only successfully store charge if it is electrically insulated from its surroundings. unless the magnetic ﬁeld becomes inﬁnite (we assume that it does not). which is called “breakdown. E · dl = − ∂ ∂t B · dS. However.
4. The length of the short sides is assumed to be arbitrarily small. length l. Thus. (4.5
Capacitors
We can store electrical charge on the surface of a conductor. But. The dominant contribution to the loop integral comes from the long sides: E · dl = (E
A
C
−E
B ) l. A → 0 as the short sides of the loop are shrunk to zero so.58)
C
S
around a rectangular loop C whose long sides. the ﬂux also tends to zero. etc.
(4. This phenomenon. The most well known example of the breakdown of air is during a lightning strike.the parallel electric ﬁeld? Let us integrate Faraday’s law. Such a device is called a “capacitor. The ﬂux of the magnetic ﬁeld through the loop is approximately B⊥ A.
(4. Unfortunately. E
A
−E
B
= 0.” is associated with the formation of sparks.” 161
. air ceases to be an insulator when the electric ﬁeld strength through it exceeds some critical value which is about E crit ∼ 106 volts per meter. there can be no discontinuity in the parallel component of the electric ﬁeld across an interface. and A is the area of the loop. where B⊥ is the component of the magnetic ﬁeld which is normal to the loop. electric ﬁelds will be generated immediately above the surface. run parallel to the interface.59)
where E A is the parallel (to the interface) electric ﬁeld in medium A at the interface.
64)
0
It is conventional to measure the capacity of a conductor. Suppose that each plate carries an equal and opposite charge Q. (4. d A). According to Eq. The capacitance of a charge storing
162
. the potential diﬀerence between the plates is simply σd V = E⊥ d = .Consider two thin.63)
= 0
Since the electric ﬁeld is uniform. to store charge but generate small electric ﬁelds in terms of a parameter called the “capacitance. below.49). otherwise. conducting plates√ crosssectional area A which of are separated by a small distance d (i. below. Suppose that the upper plate carries a positive charge and that the lower plate carries a negative charge.” This is usually denoted C. the ﬁeld generated by the lower plate is Elower Elower σ 2 0 σ = + 2 0 = − above. We expect this charge to spread evenly over the plates to give an eﬀective sheet charge density σ = ±Q/A on each plate.e. (4. The total ﬁeld is the sum of the two ﬁelds generated by the upper and lower plates. This is reasonable if the plates are closely spaced. or set of conductors. (4. the ﬁeld generated by the upper plate is normal to the plate and of magnitude Eupper Eupper σ 2 0 σ = − 2 0 = + above. Thus. (4.61)
Likewise.62)
Note that we are neglecting any “leakage” of the ﬁeld at the edges of the plates. (4. the net ﬁeld is normal to the plates and of magnitude E⊥ E⊥ = σ
0
between. parallel..
Incidentally. Suppose that the charge ±Q on each plate is built up gradually by transferring small amounts of charge from one plate to another. therefore. This is a rather unwieldy unit since good capacitors typically have capacitances which are only about one millionth of a farad. 163
. This is a consequence of the superposability of electric ﬁelds. or farads. capacitance is measured in coulombs per volt. a good charge storing device has a high capacitance. 2 (4. the constant of proportionality (the inverse of the capacitance) can only depend on geometry. Q (4. W = 1 CV 2 . If we double the charge on conductors then we double the electric ﬁelds generated around them and we.68)
This is a general result which holds for all types of capacitor.65) C= . Thus. the potential diﬀerence between conductors is always directly proportional to the charge carried. Note that the voltage diﬀerence is such that it opposes any increase in the charge on either plate. Thus. Thus. d
(4. (4. V Clearly. The energy stored in the capacitor is the same as the work required to charge up the capacitor.65). double the potential diﬀerence between the conductors. (4. If the instantaneous charge on the plates is ±q and an inﬁnitesimal amount of positive charge dq is transferred from the negatively charged plate to the positively charge plate then the work done is dW = V dq = q dq/C. For a parallel plate capacitor it is clear that C= σA = V
0
A .67) C 0 2C 2 where use has been made of Eq.device is simply the ratio of the charge stored to the potential diﬀerence generated by the charge.66)
Note that the capacitance only depends on geometric quantities such as the area and spacing of the plates. where V is the instantaneous voltage diﬀerence between the plates. The total work done in charging the capacitor is 1 Q Q2 1 W = q dq = = CV 2 .
The capacitor can then be placed to one side and. (4. Thus. that an electric ﬁeld exerts a negative pressure p = −( 0 /2) E 2 on conductors immediately suggests that the two plates in a parallel plate capacitor attract one another with a mutual force F =
0
2
2 E⊥
1 CV 2 A= . more realistically. so we can think of a capacitor as a device which either stores energy in. Note that Eqs.The energy of a charged parallel plate capacitor is actually stored in the electric ﬁeld between the plates. (4.71)
The potential diﬀerence between the sphere and inﬁnity. We all know that if we connect a capacitor across the terminals of a battery then a transient current ﬂows as the capacitor charges up. 4π 0 r2 (4. The radial electric ﬁeld generated outside the sphere is given by Er (r > a) = Q . which we discussed earlier. or extracts energy from.70)
It is not necessary to have two oppositely charged conductors in order to make a capacitor.
(4. the capacitance of the sphere is C= Q = 4π V 164
0
Q . What is interesting here is that the energy stored in the capacitor is stored as an electric ﬁeld. for instance. some large.69) W = 2 d2 2 where use has been made of Eq.69) agree. (4. Consider an isolated sphere of radius a which carries a charge Q. given the energy density of an electric ﬁeld U = ( 0 /2) E 2 . the energy stored in the electric ﬁeld is 1 V2 Ad = CV 2 . some time later. the stored charge can be used.72)
a.
0
The idea. an electric ﬁeld. to transiently light a bulb in an electrical circuit. is V = Thus. This ﬁeld is of approximately constant magnitude E⊥ = V /d and occupies a region of volume A d.67) and (4. 4π 0 a
(4. 2 d
(4.66). or. relatively distant reservoir of charge such as the Earth.73)
.
The electric ﬁeld above some point on the surface of a conductor is inversely proportional to the local radius of curvature of the surface. Let Q be the charge on the ﬁrst sphere and Q the charge on the second sphere.g. It can easily be demonstrated that this is really the energy contained in the electric ﬁeld around the sphere. the total charge Q0 = Q + Q carried by the two spheres is a conserved quantity. Intense local electric ﬁelds are generated in these regions. It is clear that if we wish to store signiﬁcant amounts of charge on a conductor then the surface of the conductor must be made as smooth as possible. respectively. Ea b (4.71) and (4. which are connected by an electric wire.75)
The ratio of the electric ﬁelds generated just above the surfaces of the two spheres follows from Eqs.75): Eb a = .. then the
Note that if one sphere is much smaller than the other one. It follows from Eq. e. Any sharp spikes on the surface will inevitably have comparatively small radii of curvature.
(4. leading to sparking and the eventual 165
.76) is a simple example of a far more general rule. (4.76)
If b a then the ﬁeld just above the smaller sphere is far bigger than that above the larger sphere. The wire allows charge to move back and forth between the spheres until they reach the same potential (with respect to inﬁnity). Of course. a+b b . Equation (4.74) a. b large sphere grabs most of the charge: a Q = Q b 1. These can easily exceed the critical ﬁeld for the break down of air. a+b (4. (4. Suppose that we have two spheres of radii a and b.The energy of a sphere when it carries a charge Q is again given by (1/2) C V 2 .72) that Q Q0 Q Q0 = = a .
Suppose that the charge per unit length carried by the inner and outer cylinders is +q and −q. Let us integrate Gauss’ law over a cylinder of radius r.80)
Thus. consider two coaxial conducting cylinders of radii a and b. respectively. r
so
0
b ln . by symmetry (adopting standard cylindrical polar coordinates). For a < r < b we ﬁnd that 2πrl Er (r) = so Er = ql
0
. The potential diﬀerence between the inner and outer cylinders is
inner outer
V
= −
b
outer
E · dl =
inner b
E · dl (4. As a ﬁnal example.
166
. a
(4.78)
for a < r < b. where a < b. V ln b/a (4.
(4. Sparking can also be very destructive because the associated electric currents ﬂow through very localized regions giving rise to intense heating. coaxial with the conductors.77)
q 2π 0 r
(4. It is fairly obvious that Er = 0 if r is not in the range a to b.loss of the charge on the conductor. and of length l. We can safely assume that E = ˆ Er (r) r . the capacitance per unit length of the two cylinders is C= q 2π 0 = .81)
This is a particularly useful result which we shall need later on in this course.79)
=
a
q Er dr = 2π V = q 2π
0
a
dr .
consider a positive (say) point charge in the vicinity of an uncharged.10). Let us now examine this theorem in detail. Consider a volume V bounded by some surface S. The charge attracts negative charges to the near side of the sphere and repels positive charges to the far side.6
Poisson’s equation
We know that in steady state we can write E = − φ. We cannot use formula (4.84) to Poisson’s equation is completely useless. Clearly. Suppose that we are given the charge density ρ throughout V and the value of the scalar potential φ S on S.
4. We now have a problem. conducting sphere. 167
. with the scalar potential satisfying Poisson’s equation ρ 2 φ=− .82)
(4. insulated. since we do not know how the charges induced on the conducting surface are distributed.83)
We even know the general solution to this equation: φ(r) = 1 4π 0 ρ(r ) 3 d r. The only things which we know about the surface of the sphere are that it is an equipotential and carries zero net charge.84)
So. Let us now try to develop some techniques for solving Poisson’s equation which allow us to solve real problems (which invariably involve conductors). in the presence of conducting surfaces the solution (4. what else is there to say about Poisson’s equation? Well. r − r  (4. The surface charge distribution induced on the sphere is such that it is maintained at a constant electrical potential.4.7
The uniqueness theorem
We have already seen the great value of the uniqueness theorem for Poisson’s equation (or Laplace’s equation) in our discussion of Helmholtz’s theorem (see Section 3.84) to work out the potential φ(r) around the sphere.
0
(4.
= φS (4.86)
on S.88) (4.89)
throughout V .Is this suﬃcient information to uniquely specify the scalar potential throughout V ? Suppose. According to vector ﬁeld theory · (φ3 Thus. We can form the diﬀerence between these two potentials: φ3 = φ 1 − φ 2 . for the sake of argument.91)
But. (4. The potential φ3 clearly satisﬁes
2
(4.
2
φ3 = 0 throughout V and φ3 = 0 on S.
(4.92)
168
.85)
2
ρ
0
throughout V . that the solution is not unique. using Gauss’ theorem ( φ 3 )2 + φ 3
V 2
φ3 ) = ( φ 3 )2 + φ 3
2
φ3 . and φ3 = 0 on S.
(4.
V
(4. Let there be two potentials φ1 and φ2 which satisfy
2
φ1 φ2
= − = −
ρ
0
.90)
φ3 dV =
S
φ3 φ3 · dS. so the above equation reduces to ( φ3 )2 dV = 0. and φ1 φ2 = φS .87)
φ3 = 0
(4.
but. We know that the interior surface of the conductor is at some constant potential V . and was also not particularly rigorous (see Section 4. so we get φ3 = 0 throughout V . Since the solutions to Poisson’s equation are unique this is the only solution. In other words.96) inside the cavity. satisfying the same boundary conditions. turns out to be incorrect. So. This is not necessarily the case for a nonpositive deﬁnite quantity. Thus. The fact that the solutions to Poisson’s equation are unique is very useful. 169 (4. say. Thus.3). we could have positive and negative contributions from various regions inside the volume which cancel one another out. we do not know what potential each surface is at (unless we are speciﬁcally told that it is earthed. φ1 = φ 2 (4.94) (4. E=− φ=− V =0 (4. we have φ = V on the boundary of the cavity and 2 φ = 0 inside the cavity (since it contains no charges). One rather obvious solution to these equations is φ = V throughout the cavity.Note that ( φ3 )2 is a positive deﬁnite quantity. We know that the surface of each conductor is an equipotential.95) throughout V and on S. we know that φ3 = 0 on S.93)
. It means that if we ﬁnd a solution to this equation—no matter how contrived the derivation—then this is the only possible solution. Recall that our previous proof of this was rather involved. However. The only way in which the volume integral of a positive deﬁnite quantity can be zero is if that quantity itself is zero throughout the volume. since ( φ 3 )2 is positive deﬁnite it follows that φ3 = constant throughout V . in general. Suppose that some volume V contains a number of conductors. One immediate use of the uniqueness theorem is to prove that the electric ﬁeld inside an empty cavity in a conductor is zero. Our initial assumption that φ 1 and φ2 are two diﬀerent solutions of Laplace’s equations.
However. and. (4. so that there are two ﬁelds E1 and E2 which satisfy ρ · E1 = . Is this enough information to uniquely specify the electric ﬁeld throughout V ? Well. with E1 · dSi E2 · dSi
=
ρ
0
(4. (4.97)
= =
Qi
0
. if the conductors are insulated it is plausible that we might know the charge on each conductor.
0
· E2 throughout V . suppose that it is not enough information.).100)
is the total charge contained in volume V . Let us form the diﬀerence ﬁeld E3 = E 1 − E 2 . ﬁnally.etc.101)
. 170 (4.99)
S
Qtotal
0
S
over the bounding surface. Suppose that there are N conductors. and suppose that the region V containing these conductors is ﬁlled by a known charge density ρ and bounded by some surface S which is either inﬁnity or an enclosing conductor. where
N
Qtotal =
i=1
Qi +
V
ρ dV
(4. each carrying a charge Qi (i = 1 to N ). E1 · dSi E2 · dSi = = Qtotal
0
.98)
Si
Qi
0
Si
on the surface of the ith conductor.
It is clear that · E3 = 0 throughout V . making use of Eqs.
for all i. if the outer surface S is inﬁnity then φ1 = φ2 = φ3 = 0 on this surface. so the above identity reduces (4. Integrating over V and making use of Gauss’ theorem yields E32 dV = − φ3 E3 · dSi − φ3 E3 · dS. So. so if E3 = − φ 3 .106)
φ3 = −E3 . we obtain
V
E32 dV = 0. (4.103) and (4. φ3 is constant on S. Furthermore.
(4.107)
· (φ3 E3 ) = −E32
N V
throughout V .108)
i=1
Si
S
However.104). φ3 is a constant on the surfaces Si and S.104)
S
Now. Consider the vector identity · (φ3 E3 ) = φ3 We have to · E3 = 0 throughout V and · E3 + E3 · φ3 .109)
171
.103)
E3 · dSi = 0 E3 · dS = 0.102) (4. If the outer surface is an enclosing conductor then φ3 is a constant on this surface. Either way.105)
then φ3 is a constant on the surface of each conductor. (4. (4. with (4. and
Si
(4. (4. we know that each conductor is at a constant potential.
(4. so the above relation implies that E3 = 0 throughout V . etc. What do we know in this problem? We know that the conducting plate is an equipotential. where it is possible to ﬁnd analytic solutions. there are a few situations. E32 is a positive deﬁnite quantity. In fact. It is clear that. Thus. since it is grounded. There are many other uniqueness theorems which generalize this result still further. we need to solve Poisson’s equation in the region z > 0..110)
4. for a general electrostatic problem involving charges and conductors. for a single point charge q at position (0. However. y. possessing a high degree of symmetry.e. conducting plate. the ﬁelds E1 and E2 are identical throughout V .111)
in practice? In general. 0. d). the answer is that we use a computer. We also know that the potential at inﬁnity is zero (this is our usual boundary condition for the scalar potential). Let us discuss some of these solutions.8
The classical image problem
So. Let the plate lie in the xy plane and suppose that the point charge is located at coordinates (0. Suppose that we have a point charge q held a distance d from an inﬁnite. subject to the
172
. we could be given the potential of some of the conductors and the charge carried by the others and the solution would still be unique. d).) then we can uniquely determine the electric ﬁeld. i. ρ(x. z) ∂2φ ∂2φ ∂2φ + 2 + 2 =− . the potential of the plate is zero. What is the scalar potential above the plane? This is not a simple question because the point charge induces surface charges on the plate.. if we are given either the potential at the surface of each conductor or the charge carried by each conductor (plus the charge density throughout the volume.Of course. how do we actually solve Poisson’s equation. 0. i.e. and we do not know how these are distributed. grounded. ∂x2 ∂y ∂z 0 (4.
so that φ = 0 in this region. We know this because the grounded plate shields the region z < 0 from the point charge. z) = Note. In the analogue problem we have a charge q located at (0.117)
0
(4. Let us forget about the real problem. d) with no conductors present. 0. Of course. in the region z > 0. 0.boundary conditions φ(z = 0) = 0. φanalogue is a solution to the problem posed earlier. We get φanalogue (x. it would be hard to convince a skeptical person that φ = φanalogue is the correct solution in the region z > 0. We already know that the relation between the electric ﬁeld immediately above a conducting surface and the density of charge on the surface is σ E⊥ = . φanalogue satisﬁes Poisson’s equation for a charge at (0. We can easily ﬁnd the scalar potential for this problem. and as x2 + y 2 + z 2 → ∞.116)
q
φanalogue → 0
173
. In addition. So. however. Now. (4. Now that we know the potential in the region z > 0.112) (4. Thus. and concentrate on a slightly diﬀerent one. 0. wellposed set of boundary conditions. Note that we are leaning pretty heavily on the uniqueness theorem here! Without this theorem. φanalogue must be the correct potential in the region z > 0. φanalogue is completely wrong in the region z < 0. in the region z > 0. for a minute.114) (4. since we know where all the charges are located. d). We refer to this as the analogue problem. and as x2 + y 2 + z 2 → ∞. d) and a charge −q located at (0.115) (4. we can easily work out the distribution of charges induced on the conducting plate. y. that φanalogue (z = 0) = 0. the uniqueness theorem tells us that there is only one solution to Poisson’s equation which satisﬁes a given.113)
φ→∞
1 4π 0
q x2 + y 2 + (z − d)2
−
. x2 + y 2 + (z + d)2 (4.
since the potential. The charge density on the plate is also symmetric about the zaxis. Our point charge induces charges of the opposite sign on the conducting plate. (4.123)
1 dk = qd (k + d2 )3/2 (k + d2 )1/2
∞ 0
= −q. the electric ﬁeld.In this case. in the vicinity of the point charge is the same as in the analogue problem then 174
. qd Q=− 2
∞ 0
2πr dr .114) that ∂φ q = ∂z 4π so σ(x. ∂z ∂z ∂φanalogue (z = 0+ ) . The total charge induced on the plate is Q=
x−y plane
σ dS.124)
So. and.118)
(4. gives rise to a force of attraction between the charge and the plate.122)
which yields qd Q=− 2π where r2 = x2 + y 2 . y) = − (z + d) −(z − d) + 2 [x2 + y 2 + (z − d)2 ]3/2 [x + y 2 + (z + d)2 ]3/2 qd .120)
0
∂φ(z = 0+ ) ∂φanalogue (z = 0+ ) =− . and is largest where the plate is closest to the point charge. presumably. (4. What is this force? Well. 2π(x2 + y 2 + d2 )3/2 . Thus.
∞ 0
(4. (r2 + d2 )3/2
(4.121)
Clearly. hence. the total charge induced on the plate is equal and opposite to the point charge which induces it.
(4. the charge induced on the plate has the opposite sign to the point charge. E⊥ = Ez (z = 0+ ) = − so σ=− It follows from Eq. ∂z
(4.119)
0
(4. This.
It follows that Wanalogue = 2 In the real problem E(z > 0) = Eanalogue (z > 0).131)
0 0 0
2
z>0
2 Eanalogue dV.” We know that the potential energy of a set of charges is equivalent to the energy stored in the electric ﬁeld.
all space
(4.the force on the charge must be the same as well.126) Wanalogue = − 4π 0 2d Note that the ﬁelds on opposite sides of the conducting plate are mirror images of one another in the analogue problem. W = giving 1 q2 W =− . is the potential energy of the system. ﬁnally. y.127)
In the analogue problem the ﬁelds on either side of the xy plane are mirror images of one another. −z).e. This is why the technique of replacing conducting surfaces by imaginary charges is called “the method of images.130)
. So are the charges (apart from the change in sign).125)
What. W =
0
2
E 2 dV. The force on the charge at position (0. In the analogue problem there are two charges ±q a net distance 2d apart.129) 1 Wanalogue . y. Thus. so E 2 (x. For the analogue problem this is just 1 q2 . E(z < 0) = 0.
(4. d) (i. (4. 0. So. z) = E 2 (x. 4π 0 4d 175 (4. 4π 0 (2d)2 (4.. the real charge) is F =− 1 q2 ˆ z. 2
2
E 2 dV =
z>0
2
z>0
2 Eanalogue dV =
(4.128)
(4.
Unfortunately. 4π 0 4z 2 (4. How much work is required to achieve this? We know that the force of attraction acting on the charge is Fz = − 1 q2 .There is another method by which we can obtain the above result.
4. each of which involves replacing a conductor (e. and is.134)
Of course. We can write functions F (z) of the complex variable just like we would 176
. this is a strictly two dimensional problem). There are many diﬀerent image problems. this method can only be applied in two dimensions. in turn. =− 4π 0 4d
(4. the work required to move this charge by dz is 1 q2 dW = −Fz dz = dz. Unfortunately. d).132)
Thus. 4π 0 4z 2 The total work needed to move the charge from z = ∞ to z = d is 1 W = 4π 0
d ∞
(4. The complex variable is conventionally written z = x + iy (4. we do not have time to discuss any more of these problems. this work is equivalent to the potential energy we evaluated earlier.g.133)
q2 q2 1 − dz = 4z 2 4π 0 4z
d ∞
1 q2 . Suppose that the charge is gradually moved towards the plate along the zaxis from inﬁnity until it reaches position (0.135)
(z should not be confused with a zcoordinate. the same as the energy contained in the electric ﬁeld.. a sphere) with an imaginary charge (or charges) which mimics the electric ﬁeld in some region (but not everywhere). 0.9
Complex analysis
Let us now investigate another “trick” for solving Poisson’s equation (actually it only solves Laplace’s equation).
we now have a slight problem.137)
We can deﬁne the derivative of a complex function in just the same manner as we would deﬁne the derivative of a real function.142) dz 177
. F (z) = 1 . y) + i V (x. many diﬀerent directions we could approach z from. say.140) (4. There are. if F (z) = z 2 . If F (z) is a “well deﬁned” function (we shall leave it to the mathematicians to specify exactly what being well deﬁned entails: suﬃce to say that most functions we can think of are well deﬁned) then it should not matter from which direction in the complex plane we approach z when taking the limit in Eq. where U and V are two real two dimensional functions. For instance. Thus. y) = 2xy. of course.141).139) (4.138) (4. Thus. (4. (4. δz
(4. dF = dz
lim δz→∞
F (z + δz) − F (z) . F (z) = z 2 . z (4.136)
For a given function F (z) we can substitute z = x + i y and write F (z) = U (x. but if we look at a regular complex function. V (x.write functions of a real variable. F (z) = z 2 . y). then F (x + i y) = (x + i y)2 = (x2 − y 2 ) + 2 i xy. y) = x2 − y 2 . giving U (x.141)
However. then dF = 2z (4.
completely independent of the details of how the limit is taken in Eq. y) − i V (x. (4. which implies that the above two expressions are equivalent. Suppose that we approach z along the real axis. y + δy) − U (x. y) + i V (x + δx. Then. suﬃcient to ensure that all possible ways of taking the limit (4. means that there are some restrictions on the functions U and V in Eq.145)
= −
These are called the CauchyRiemann equations and are. ∂y ∂U . (4. This requires that ∂U ∂x ∂V ∂x = ∂V . y).141) give the same answer. y) − U (x. therefore. ∂y (4. (4. ∂y
. ∂y ∂y
If F (z) is a well deﬁned function then its derivative must also be well deﬁned. If F (z) is well deﬁned then U and V automatically satisfy the CauchyRiemann equations: ∂U ∂x = 178 ∂V .146)
where z = x + i y. (4.137). in fact. y) δx ∂V ∂U +i . y) + i V (x. so that δz = δx. y) − i V (x. U (x + δx. (4. no matter which path we approach z from. =
lim δx→0
dF dz
dF dz
=
lim δy→0
U (x.141).141) has to give the same result. we have found that a general complex function F (z) can be written F (z) = U (x. So far.143) = ∂x ∂x Suppose that we now approach z along the imaginary axis. y) i δy (4. so that δz = i δy. The fact that Eq.is perfectly well deﬁned and is.144)
= −i
∂U ∂V + . Then. y + δy) + i V (x.
∂y ∂x ∂x ∂y (4. = 0.e. both U and V are possible two dimensional scalar potentials in free space. we can combine the two CauchyRiemann relations.151)
∂U ∂V ∂U ∂V + .150)
Thus. = ∂x2 ∂x ∂y ∂y ∂x ∂y ∂y and ∂ ∂U ∂ ∂V ∂ ∂U ∂2V =− =− .147)
But.∂V ∂x
= −
∂U . (4. ∂x ∂y ∂V ∂V . i.149)
which reduce to = 0. =− ∂x2 ∂x ∂y ∂y ∂x ∂y ∂y ∂2U ∂2U + ∂x2 ∂y 2 ∂2V ∂2V + ∂x2 ∂y 2 (4. . Consider the two dimensional gradients of U and V : U V Now U· V = = = ∂U ∂U .. (4.152)
It follows from the CauchyRiemann equations that U· V = ∂V ∂V ∂V ∂V − = 0. ∂x ∂y . both U and V automatically satisfy Laplace’s equation in two dimensions.153)
179
. what has all of this got to do with electrostatics? Well. ∂y
(4. ∂x ∂x ∂y ∂y
(4.148)
(4. We get ∂2U ∂ ∂V ∂ ∂U ∂ ∂V = =− .
or vice versa. the equations of two sets of orthogonal hyperboloids.Thus. But. Consider the contours of U at level ±1. for which U V = x2 − y 2 . how could we actually generate a hyperboloidal potential? This is easy. the contours of U are everywhere perpendicular to the contours of V . y). we get two sets of free space potentials and the associated electric ﬁeld lines. For example. It follows that if U maps out the contours of some free space scalar potential then V indicates the directions of the associated electric ﬁeld lines.154)
These are. Note that Ex = − ∂U ∂φ = −V = −2Vx ∂x ∂x 180 (4. The scalar potential in the region between these conductors is given by V U (x. = 2xy. For every well deﬁned complex function F (z) we can think of. y) (the dashed lines in the ﬁgure) the associated electric ﬁeld lines. and vice versa. y) and the associated electric ﬁeld lines follow the contours of V (x.155)
. consider the function F (z) = z 2 . in fact. y) (the solid lines in the ﬁgure) might represent the contours of some scalar potential and V (x. These could represent the surfaces of four hyperboloid conductors maintained at potentials ±V.
y U = 1
U
V x
U=1 U=0
U=1 U=0 U = 1
U (x. (4. So.
Let us examine a speciﬁc example. very many complex functions which generate interesting potentials. whereas F (z) = z 3/2 yields the potential outside a grounded rectangular conducting corner under similar circumstances. The ﬁnal technique we shall discuss in this course. grounded. and the other at y = π. the xcomponent of the electric ﬁeld is directly proportional to the distance from the xaxis. is closed oﬀ by an inﬁnite strip insulated from the two plates and maintained at a speciﬁed potential φ0 (y). What is the potential in the region between the plates?
y plate x=0 y=0 x
181
y =π
. Consider two semiinﬁnite. for the ycomponent of the ﬁeld. namely.Thus. conducting plates lying parallel to the xz plane. conducting plate placed in an external ﬁeld. they both have an extremely limited range of application. grounded. at x = 0. of course. This property can be exploited to make devices (called quadrupole electrostatic lenses) which are useful for focusing particle beams.
4. F (z) = z 1/2 generates the potential around a semiinﬁnite. The left end.10
Separation of variables
The method of images and complex analysis are two rather elegant techniques for solving Poisson’s equation. thin. is somewhat messy but possess a far wider range of application. For instance. Unfortunately. one at y = 0. We have only considered a single example but there are. the separation of variables. We can think of the set of all possible well deﬁned complex functions as a reference library of solutions to Laplace’s equation in two dimensions. Likewise.
160) The above solution is obviously a very special one.160) into (4.157a) (4. since the two plates are earthed. y) = φ0 (y) for 0 ≤ y ≤ π. φ(x.161)
Let us now separate the variables.156). and all of the ydependent terms on the other side. The boundary conditions are φ(x. y) → 0 (4. The central assumption in the method of separation of variables is that a multidimensional potential can be written as the product of onedimensional potentials.158) (4. (4.157b)
as x → ∞. only likely to satisfy a very small subset of possible boundary conditions. let us collect all of the xdependent terms on one side of the equation. plus φ(0.e. However. i. we obtain Y d2 Y d2 Y +X = 0. 1 d2 X 1 d2 Y =− . This reduces the problem to two dimensions. 0) = 0. and is. it turns out that by adding together lots of diﬀerent solutions of this form we can match to general boundary conditions. therefore. (4. dx2 dy 2 (4. and φ(x. so that φ(x. y) = X(x)Y (y).156) ∂x2 ∂y in the vacuum region between the conductors.159) (4. since everything else in the problem is.162) X dx2 Y dy 2 182
.. Poisson’s equation is written ∂2φ ∂2φ + 2 =0 (4. Thus. π) = 0 for x > 0. Substituting (4. The latter boundary condition is our usual one for the scalar potential at inﬁnity.We ﬁrst of all assume that the potential is zindependent.
C. Note that the choice k 2 . The boundary condition (4. 1 d2 X 1 d2 Y 2 =k =− .157a) is automatically satisﬁed if D = 0. The boundary condition (4. (4. Equation (4. (4. (4. instead of −k 2 . = C sin ky + D cos ky.164) X dx2 Y dy 2 The reason why we write k 2 . (4. is if both sides are equal to the same constant. So.169)
183
. The only way in which the above equation can be satisﬁed. 2 dx d2 Y = −k 2 Y. B. n (say). for general x and y.166)
(4.164) separates into two ordinary diﬀerential equations: d2 X = k 2 X. our solution reduces to φ(x. Thus. and D are arbitrary constants. A.157b) is satisﬁed provided that sin kπ = 0. y) = C exp(−nx) sin ny. (4.This equation has the form f (x) = g(y). rather than −k 2 . 2 dy We know the general solution to these equations: X Y giving φ = ( A exp(kx) + B exp(−kx) )(C sin ky + D cos ky). will become apparent later on.165)
Here.167) = A exp(kx) + B exp(−kx). in Eq.159) is automatically satisﬁed if A = 0 and k > 0.168) which implies that k is a positive integer.163) where f and g are general functions. The boundary condition (4. (4. (4.164) facilitates this by making φ either grow or decay monotonically in the xdirection instead of oscillating.
We can therefore form a more general solution than (4.170)
where the Cn are constants. The orthogonality property of these functions manifests itself through the relation π π sin ny sin n y dy = δnn . that they are mutually orthogonal and form a complete set. Thus. Thus.
∞
φ(x.
(4.172) 2 0 where the function δnn = 1 if n = n and 0 otherwise is called a Kroenecker delta.158) reduces to
∞
φ(0.171) by sin n y and integrating over y we obtain
∞ π π
Cn
n=1 0
sin ny sin n y dy =
0
φ0 (y) sin n y dy. this is not the case. Note that this solution is only able to satisfy the ﬁnal boundary condition (4.158) provided φ 0 (y) is proportional to sin ny. However. Now comes the clever bit! Since Poisson’s equation is linear.
(4. (4. any linear combination of solutions is also a solution.169) by adding together lots of solutions involving diﬀerent values of n.159). Namely. y) =
n=1
Cn sin ny = φ0 (y). it would appear that the method of separation of variables only works for a very special subset of boundary conditions. Multiplying both sides of Eq. at ﬁrst sight.
(4. The ﬁnal boundary condition (4.173)
184
.171)
The question now is what choice of the Cn ﬁts an arbitrary function φ0 (y)? To answer this question we can make use of two very useful properties of the functions sin ny. y) =
n=1
Cn exp(−nx) sin ny.where B has been absorbed into C. The completeness property of sine functions means that any general function φ0 (y) can always be adequately represented as a weighted sum of sine functions with various diﬀerent n values. (4.157) and (4. This solution automatically satisﬁes the boundary conditions (4.
n n=1.
0
(4.176)
This potential can be summed explicitly to give φ(x. y) = 2φ0 tan−1 π sin y sinh x . If the potential φ0 (y) is constant then 2 φ0 Cn = π giving Cn = 0 for even n. Some of these functions grow and decay monotonically (i. The 185
. nπ
(4.The orthogonality relation yields π 2 so
∞
Cn δnn
n=1
π = Cn = 2
π
π
φ0 (y) sin n y dy.179) 4 φ0 nπ (4.180)
In this form it is easy to check that Poisson’s equation is obeyed and that all of the boundary conditions are satisﬁed. Thus.e. y) = 4 φ0 π exp(−nx) sin nx . In the above problem we write the potential as the product of one dimensional functions. and Cn = for odd n.177) (4.e.3...
0
(4. the exponential functions) and the others oscillate (i. (4. the sinusoidal functions).5 (4.174)
2 Cn = π
φ0 (y) sin ny dy. we now have a general solution to the problem for any driving potential φ0 (y). φ(x.178)
π
sin ny dy =
0
2 φ0 (1 − cos nπ).175)
Thus.
m. Consider two stationary loops of wire. the study of steady magnetic ﬁelds generated by steady currents. etc.success of the method depends crucially on the orthogonality and completeness of the oscillatory functions. It turns out that the scheme set out above can be generalized to more complicated geometries. in spherical geometry the monotonic functions are power law functions of the radial variable and the oscillatory functions are Legendre polynomials.
4.
a
(4. sources (e..11
Inductors
We have now completed our investigation of electrostatics. ellipsoidal. We should now move on to magnetostatics—i. A set of functions fn (x) is orthogonal if the integral of the product of two diﬀerent members of the set over some range is always zero:
b
fn (x)fm (x) dx = 0. and resistors. the associated oscillating functions are mutually orthogonal and form a complete set. toroidal. once we understand inductors we shall be ready to apply the laws of electromagnetism to real life situations.182)
186
. labeled 1 and 2.f. Let Φ2 be the ﬂux of B1 through loop 2: Φ2 =
loop 2
B1 · dS2 . capacitors. There are also cylindrical.. This implies that the method of separation of variables is of quite general applicability. In all cases. hyperbolic. Let us now investigate inductance. The latter are both mutually orthogonal and form a complete set. For instance. A set of functions is complete if any other function can be expanded as a weighted sum of them. Some of the ﬁeld lines of B1 will pass through the second loop.181)
for n = m. Let us skip this topic. It contains nothing new (it merely consists of the application of Amp`re’s law and the BiotSavart law) and is also e exceptionally dull! We have learned about resistance and capacitance.
(4. Let us run a steady current I1 around the ﬁrst loop to produce a ﬁeld B1 . Clearly. coordinates. inductors. Electrical engineers like to reduce all pieces of electrical apparatus to an equivalent circuit consisting only of e.g. batteries).e.
This is ultimately a consequence of the linearity of Maxwell’s equations. However. dl 1 is a line element of loop 1 located at position vector r . r − r 3 (4. Thus. Thus.
(4.189) 4π loop 1 loop 2 r − r  187
. This constant is called the mutual inductance of the two loops. we know that A1 (r) = µ0 I 1 4π dl1 . It follows that the ﬂux Φ2 must also be proportional to I1 .185)
B1 · dS2 =
loop 2
∧ A1 · dS2 =
loop 2
A1 · dl2 . r − r  (4.184)
where M21 is the constant of proportionality. r − r  (4.186)
where dl2 is a line element of loop 2. However. we can infer from the BiotSavart law. Let us write the ﬁeld B1 in terms of a vector potential A1 . so that B1 = It follows from Stokes’ theorem that Φ2 =
loop 2
∧ A1 .where dS2 is a surface element of loop 2.188)
all space
for j(r ) = dl1 I1 /dl1 dA and d3 r = dl1 dA. µ0 I 1 dl1 · dl2 Φ2 = . A1 (r) = µ0 4π j(r ) 3 d r. (4. This ﬂux is generally quite diﬃcult to calculate exactly (unless the two loops have a particularly simple geometry). B1 (r) = µ0 I 1 4π dl1 ∧ (r − r ) . Here.
(4. (4.183)
loop 1
that the magnitude of B1 is proportional to the current I1 . where dA is the cross sectional area of loop 1.187)
loop 1
The above equation is just a special case of the more general law. we can write Φ2 = M21 I1 .
the ﬂux through loop 2 when we run a current I around loop 1 is exactly the same as the ﬂux through loop 1 when we send the same current around loop 2. In other words. However. It implies that no matter what the shapes and relative positions of the two loops. we can drop the subscripts and just call these quantities M . Inductance is measured in S. the above formula tells us two important things. (4. The above equation implies that M21 = µ0 4π dl1 · dl2 . The henry.where r is now the position vector of the line element dl2 of loop 2. ﬂux is also generated through the ﬁrst loop. 1. the mutual inductance of two loops is a purely geometric quantity. Consider a long solenoid of length l and radius r which has N turns per unit length. Secondly.192) The constant of proportionality L is called the self inductance.190)
loop 1
loop 2
In fact.I. shapes. 1 henry is 1 voltsecond per ampere. the ﬂux Φ. (4. (4. having to do with the sizes. However. Firstly. so we can write Φ = L I. and. directed along the axis of the solenoid) magnetic ﬁeld within the solenoid is approximately uniform. M21 = M12 . is proportional to the current. As before. generates a magnetic ﬂux linking some other loop. and carries a current I. This is a rather surprising result. the integral is unchanged of we switch the roles of loops 1 and 2. and relative orientations of the loops.193) 188
. like the farad. 2. We have seen that a current I ﬂowing around some loop. therefore. and is given by B = µ0 N I. mutual inductances are rarely worked out from ﬁrst principles—it is usually too diﬃcult. Like M it only depends on the geometry of the loop. r − r  (4. the magnetic ﬁeld..191)
In fact. is a rather unwieldy unit since most real life inductors have a inductances of order a microhenry.e. units called henries (H). The longitudinal (i.
If this is the case then the above formulae remain valid.f. The inductance and resistance of the solenoid are represented by a perfect inductor L and a perfect resistor R connected in series. of the battery. According to Faraday’s law. This implies that the typical timescale of the change must be much longer than the time for a light ray to traverse the circuit. is Φ = N l µ0 N I πr2 . in the coils.m. V . the e. The voltage drop across the inductor and resistor is equal to the e.m. this change generates an e. We have to assume that the change is suﬃciently slow that we can neglect the displacement current and retardation eﬀects in our calculations.f.196)
189
. V .m.f. A change in the current implies a change in the magnetic ﬂux linking the solenoid wire. Let us connect the ends of the solenoid across the terminals of a battery of e. Thus.m. which has N l turns. The magnetic ﬂux though each turn of the loop is B πr 2 = µ0 N I πr2 .195) (4.f. one inside the solenoid and the other outside. I (4.m. Suppose that the current I ﬂowing through the solenoid changes. Suppose that our solenoid has an electrical resistance R. the self inductance of the solenoid is L= Φ = µ0 N 2 πr2 l. The voltage drop across the resistor is simply dΦ dI = −L . and whose short sides run perpendicular to the axis.e. is such as to oppose the change in the current—i..194)
Note that the self inductance only depends on geometric quantities such as the number of turns in the solenoid and the area of the coils. dt dt (4. since Φ = L I. What is going to happen? The equivalent circuit is shown below.m.f. By Lenz’s law. We can write V =− where V is the generated e.This result is easily obtained by integrating Amp`re’s law over a rectangular loop e whose long sides run parallel to the axis of the solenoid. The total ﬂux through the solenoid wire. it is a back e.f.
We can rearrange it to give dI V R = − I.) is L dI/dt. It follows that V = IR + L dI . Here.200)
It can be seen from the diagram that after the battery is connected the current ramps up and attains its steady state value V /R (which comes from Ohm’s law) on the characteristic timescale L τ= . I is the current ﬂowing through the solenoid. It follows that k = −V /R. R (4.199) (4.198)
The constant k is ﬁxed by the boundary conditions.197)
This is a diﬀerential equation for the current I.m.e. (4. R (4. minus the back e.L V R I
IR. Suppose that the battery is connected at time t = 0. so that I(t) = V (1 − exp(−R t/L) ) . whereas the voltage drop across the inductor (i. dt (4. dt L L The general solution is I(t) = V + k exp(−R t/L). when I = 0.201) R 190
..f.
inevitably. The back e. If the current were to rise instantaneously then extremely large electric ﬁelds would be generated by the sudden jump in the magnetic ﬁeld. the leading and trailing edges of the signal get smoothed out over an L/R time. as well as some resistance. This means that when we power up a circuit the current does not jump up instantaneously to its steady state value. the rise is spread out over the L/R time of the circuit.f. therefore. We can now appreciate the signiﬁcance of self inductance. leading. to breakdown and electric arcing. but often it is a great nuisance. Instead. and we want to use it to send an electric signal down a wire (or transmission line). All circuit elements possess some self inductance.V/R
> I 0 0 L/R t >
This timescale is sometimes called the “time constant” of the circuit. the “L/R time” of the circuit. somewhat unimaginatively. The typical 191
. Suppose that we possess a fancy power supply. eﬀectively prevents the current from rising (or falling) much faster than the L/R time. or. the wire or transmission line will possess both resistance and inductance. Suppose that we try to send a square wave signal down the line. if there were no such thing as self inductance then every time you switched an electric circuit on or oﬀ there would be a big blue ﬂash due to arcing between conductors. Self inductance can also be a bad thing. generated in an inductor. and will. so all have a ﬁnite L/R time. So. have some characteristic L/R time.m. as the current tries to change. This is a good thing. This eﬀect is sometimes advantageous. Since the current in the line cannot rise or fall faster than the L/R time. Of course.
so that the signal from the power supply can be transmitted to some load device without serious distortion.
V 0 V 0 τ
Consider. there is little point having a fancy power supply unless you also possess a low inductance wire or transmission line.202)
192
. Suppose that the bottom coil has N1 turns per unit length and carries a current I1 . and the common radius is r. and the total ﬂux linking the top coil is therefore Φ2 = N2 l µ0 N1 I1 πr2 . The magnetic ﬂux passing through each turn of the top coil is µ 0 N1 I1 πr2 . It follows that the mutual inductance of the two coils. (4.diﬀerence between the signal fed into the wire (upper trace) and that which comes out of the other end (lower trace) is illustrated in the diagram below.203) (4. and that of the top coil is L2 = µ0 N2 2 πr2 l. Clearly. one wound on top of the other. now. two long thin solenoids. The length of each solenoid is l. is given by M = µ0 N1 N2 πr2 l. where N2 is the number of turns per unit length in the top coil.204) (4. deﬁned Φ2 = M I1 . Recall that the self inductance of the bottom coil is L1 = µ0 N1 2 πr2 l.
210)
Here. (4. the circuit equation for the bottom coil is dI2 dI1 +M . generated by the self inductance of the coil is L1 dI1 /dt.f. If the bottom coil has an instantaneous current I1 ﬂowing through it and a total voltage drop V1 . (4. The voltage drop due to the back e.m. We can write M = k L 1 L2 .208) V = −M dt The voltage drop across the bottom coil due to its mutual inductance with the top coil is minus this expression. Suppose that the two coils have resistances R1 and R2 . dt dt (4. V2 is the total voltage drop across the top coil.Hence.207) Thus.
193
. then the voltage drop due to its resistance is I1 R. induced in the bottom coil is dI2 . Thus.m. so that the mutual inductance is somewhat less than that given in the above formula. the circuit equation for the top coil is V2 = R 2 I 2 + L 2 dI2 dI1 +M . due to the inductive coupling to the top coil. the mutual inductance can be written M= L 1 L2 . some of the ﬂux “leaks” out. (4. We know that the ﬂux through the bottom coil due to the instantaneous current I 2 ﬂowing in the top coil is Φ1 = M I 2 . There is also a back e.m.f. In reality.205)
Note that this result depends on the assumption that all of the ﬂux produced by one coil passes through the other coil. (4. (4. by Faraday’s law and Lenz’s law the back e.206) where the constant k is called the “coeﬃcient of coupling” and lies in the range 0 ≤ k ≤ 1.209) V1 = R 1 I 1 + L 1 dt dt Likewise.f.
m. (4. L1
(4. dt (4.216) L2 exp(−R1 t/L1 ).215) dI1 . what about the displacement current. 2 ∝ N1. we obtain V2 = V 1 k N2 exp(−R1 t/L1 ). in the magnetic ﬁeld).212) I1 = R1 The circuit equation for the top coil is V2 = M giving V2 = V 1 It follows from Eq. so there is no discontinuity in the current (and.f.211) V1 = R 1 I 1 + L 1 dt where V1 is constant.206) that V2 = V 1 k Since L1.214)
Note that V2 (t) is discontinuous at t = 0.m.f. here. This is not a problem since the resistance of the top circuit is inﬁnite. N1 (4. the circuit equation for the bottom coil is dI1 . or connected to a voltmeter of very high internal resistance. which is proportional to ∂E/∂t? Surely. But. so that I 2 = 0. (4. If we had retained the displacement current in our calculations we would ﬁnd that the voltage in the top circuit jumps up. We have already seen the solution to this equation: V1 (1 − exp(−R1 t/L1 ) ) .213)
M exp(−R1 t/L1 ).Suppose that we suddenly connect a battery of e. What is the e. this is discontinuous at t = 0 (which is clearly unphysical)? The crucial point. is that we have speciﬁcally neglected the displacement current in all of our previous analysis. generated in the top coil? Since I2 = 0. so it does not make much sense to start worrying about it now. hence.22 . V 1 to the bottom coil at time t = 0. and I1 (t = 0) = 0. (4. L1 (4. The top coil is assumed to be open circuited. at 194
.
However. The switching is done by a set of points which are mechanically opened and closed as the engine turns. You might think that the optimum conﬁguration is to have only one turn in the primary circuit and lots of turns in the secondary circuit. is typically 12 volts). V1 N1 (4. but the displacement current remains ﬁnite). A large voltage spike is induced in a secondary circuit (connected to a coil with very many turns) whenever the current in a primary circuit (connected to a coil with not so many turns) is either switched on or oﬀ. The large voltage spike induced in the secondary circuit as the points are either opened or closed causes a spark to jump across a gap in this circuit.m. This eﬀect is the basis for oldfashioned car ignition systems. This spark ignites a petrol/air mixture in one of the cylinders. so that the ratio N 2 /N1 is made as large as possible.> V
2
0
L1 / R1
t >
t = 0.f. this is not the case. The primary circuit is connected to the car battery (whose e.e. Now. Most of the magnetic ﬁeld lines generated by a single turn primary coil are likely to miss the secondary coil altogether.. V2 (t = 0) N2 =k . This means that the coeﬃcient of coupling k is small.217)
so if N2 N1 the voltage in the bottom circuit is considerably ampliﬁed in the top circuit. which reduces the voltage 195
. on a timescale similar to the light traverse time across the circuit (i. the jump is instantaneous to all intents and purposes.
induced in the secondary circuit. Thus, you need a reasonable number of turns in the primary coil in order to localize the induced magnetic ﬁeld so that it links eﬀectively with the secondary coil.
4.12
Magnetic energy
Suppose that at t = 0 a coil of inductance L and resistance R is connected across the terminals of a battery of e.m.f. V . The circuit equation is V =L dI + RI. dt (4.218)
The power output of the battery is V I. [Every charge q that goes around the circuit falls through a potential diﬀerence qV . In order to raise it back to the starting potential, so that it can perform another circuit, the battery must do work qV . The work done per unit time (i.e., the power) is nqV , where n is the number of charges per unit time passing a given point on the circuit. But, I = nq, so the power output is V I.] The total work done by the battery in raising the current in the circuit from zero at time t = 0 to IT at time t = T is
T
W =
0
V I dt.
(4.219)
Using the circuit equation (4.218), we obtain
T
W =L
0
dI I dt + R dt
T
T
I 2 dt,
0
(4.220)
giving 1 W = LIT2 + R 2
0
I 2 dt.
(4.221)
The second term on the righthand side represents the irreversible conversion of electrical energy into heat energy in the resistor. The ﬁrst term is the amount of energy stored in the inductor at time T . This energy can be recovered after the inductor is disconnected from the battery. Suppose that the battery is 196
disconnected at time T . The circuit equation is now 0=L giving I = IT exp − R (t − T ) L , (4.223) dI + RI, dt (4.222)
where we have made use of the boundary condition I(T ) = I T . Thus, the current decays away exponentially. The energy stored in the inductor is dissipated as heat in the resistor. The total heat energy appearing in the resistor after the battery is disconnected is
∞
I 2 R dt =
T
1 LIT2 , 2
(4.224)
where use has been made of Eq. (4.223). Thus, the heat energy appearing in the resistor is equal to the energy stored in the inductor. This energy is actually stored in the magnetic ﬁeld generated around the inductor. Consider, again, our circuit with two coils wound on top of one another. Suppose that each coil is connected to its own battery. The circuit equations are V1 V2 dI2 dI1 +M , dt dt dI2 dI1 = R2 I2 + L +M , dt dt = R1 I1 + L
(4.225)
where V1 is the e.m.f. of the battery in the ﬁrst circuit, etc. The work done by the two batteries in increasing the currents in the two circuits from zero at time 0 to I1 and I2 at time T , respectively, is
T
W
=
0 T
(V1 I1 + V2 I2 ) dt 1 1 (R1 I12 + R2 I22 ) dt + L1 I12 + L2 I22 2 2
T
=
0
+M
0
I1
dI2 dI1 + I2 dt dt 197
dt.
(4.226)
Thus,
T
W
=
0
(R1 I12 + R2 I22 ) dt 1 1 + L1 I1 2 + L2 I2 2 + M I 1 I2 . 2 2 (4.227)
Clearly, the total magnetic energy stored in the two coils is WB = 1 1 L1 I1 2 + L2 I2 2 + M I 1 I2 . 2 2 (4.228)
Note that the mutual inductance term increases the stored magnetic energy if I1 and I2 are of the same sign—i.e., if the currents in the two coils ﬂow in the same direction, so that they generate magnetic ﬁelds which reinforce one another. Conversely, the mutual inductance term decreases the stored magnetic energy if I1 and I2 are of the opposite sign. The total stored energy can never be negative, otherwise the coils would constitute a power source (a negative stored energy is equivalent to a positive generated energy). Thus, 1 1 L1 I12 + L2 I22 + M I1 I2 ≥ 0, 2 2 which can be written 1 2
2
(4.229)
L 1 I1 +
L 2 I2
− I1 I2 ( L1 L2 − M ) ≥ 0,
(4.230)
assuming that I1 I2 < 0. It follows that M≤ L 1 L2 . (4.231)
The equality sign corresponds to the situation where all of the ﬂux generated by one coil passes through the other. If some of the ﬂux misses then the inequality sign is appropriate. In fact, the above formula is valid for any two inductively coupled circuits. We intimated previously that the energy stored in an inductor is actually stored in the surrounding magnetic ﬁeld. Let us now obtain an explicit formula 198
for the energy stored in a magnetic ﬁeld. Consider an ideal solenoid. The energy stored in the solenoid when a current I ﬂows through it is W = 1 2 LI , 2 (4.232)
where L is the self inductance. We know that L = µ0 N 2 πr2 l, (4.233)
where N is the number of turns per unit length of the solenoid, r the radius, and l the length. The ﬁeld inside the solenoid is uniform, with magnitude B = µ0 N I, and is zero outside the solenoid. Equation (4.232) can be rewritten B2 W = V, 2µ0 (4.235) (4.234)
where V = πr 2 l is the volume of the solenoid. The above formula strongly suggests that a magnetic ﬁeld possesses an energy density B2 . U= 2µ0 (4.236)
Let us now examine a more general proof of the above formula. Consider a system of N circuits (labeled i = 1 to N ), each carrying a current I i . The magnetic ﬂux through the ith circuit is written [cf., Eq. (4.186) ] Φi = B · dSi = A · dli , (4.237)
where B = ∧ A, and dSi and dli denote a surface element and a line element of this circuit, respectively. The back e.m.f. induced in the ith circuit follows from Faraday’s law: dΦi Vi = − . (4.238) dt 199
for the sake of simplicity.239) Pi = I i dt Thus. the total work required to raise the currents in the N circuits from zero at time 0 to I0 i at time T is
N T
W =
i=1 0
Ii
dΦi dt. (4. is dΦi . of course.
i=1
(4. T (4. dt
(4.The rate of work of the battery which maintains the current I i in the ith circuit against this back e. This energy is independent of the manner in which the currents are set up. that the currents are ramped up linearly. equivalent to the total energy stored in the magnetic ﬁeld surrounding the various circuits.245)
200
.242)
I0 i Φ0 i
(4. T t dt. T2
(4.243)
giving 1 W = 2
N
I0 i Φ0 i .m.f. then the instantaneous stored energy is 1 W = 2
N
Ii Φi . so that Ii = I 0 i t .240)
The above expression for the work done is. Suppose.
i=1
(4.241)
The ﬂuxes are proportional to the currents. if instantaneous currents Ii ﬂow in the the N circuits. so they must also ramp up linearly: Φi = Φ 0 i It follows that W =
i=1 0 N T
t . which link instantaneous ﬂuxes Φi .244)
So.
so W = According to vector ﬁeld theory.252)
201
. It is easily demonstrated that the magnetic ﬁeld generated by a current loop falls of like r −3 at large distances. Let us take this surface to inﬁnity.246) transforms to 1 W = A · j dV. we obtain 1 2µ0
∧ A) dV. Now.
(4.
(4. the above expression reduces to W =
all space
B2 dV.246)
It is convenient. Thus. (4.245) imply that 1 W = 2
N
Ii
i=1
A · dli .249)
· (A ∧ B) + B · ∧ A.Equations (4. 2µ0
(4. Note that for an element of the ith circuit j = Ii dli /dli Ai and dV = dli Ai .250)
Using Gauss’ theorem and B = W =− 1 2µ0
S
A ∧ B · dS +
B 2 dV. but ﬁnite. However. The vector potential falls oﬀ like r −2 . the area of surface S only increases like r 2 .248)
∧A−A·
∧ B.251)
where S is the bounding surface of V .247) 2 V where V is a volume which contains all of the circuits. It follows that the surface integral is negligible in the limit r → ∞.
(4. µ0 j = ∧B (we are neglecting the displacement current in this calculation). to replace our N line currents by N current distributions of small.
(4. where Ai is the crosssectional area of the circuit. at this stage.237) and (4. crosssectional area. · (A ∧ B) = B · which implies that W = 1 2µ0 (−
V
1 2µ0
V
A·
∧ B dV. Equation (4.
V
(4.
we obtain − ∂ ∂t ρ dV =
V S
j · dS.254)
B2 UB = .258)
In other words. 2 whereas the energy density of a magnetic ﬁeld satisﬁes UE =
0
(4.253)
4. 2µ0 E2 B2 + .256)
We are now in a position to demonstrate that the classical theory of electromagnetism conserves energy.13
Energy conservation in electromagnetism
We have seen that the energy density of an electric ﬁeld is given by E2 . 2 2µ0
(4. Integrating over some volume V bounded by a surface S.Since this expression is valid for any magnetic ﬁeld whatsoever. 2µ0 (4.
(4. the rate of decrease of the charge contained in volume V equals the net ﬂux of charge across surface S.255)
This suggests that the energy density of a general electromagnetic ﬁeld is U=
0
(4. This suggests that an energy conservation law for electromagnetism should have the form − ∂ ∂t U dV =
V S
u · dS.257) ∂t This is the equation of charge conservation. (4.259)
202
. we can conclude that the energy density of a general magnetic ﬁeld is given by U= B2 . We have already come across one conservation law in electromagnetism: ∂ρ + · j = 0.
(4.
We need to factor this into our analysis. passes a given point in the direction of u). from vector ﬁeld theory · (E ∧ B) = B · 203 ∧E−E· ∧ B.264)
. According to the above equation. ∂t ∂E .259) generalizes to − ∂ ∂t U dV =
V S
u · dS +
V
E · j dV. We start from Amp`re’s law (including the displacement current): e ∧ B = µ0 j + E· ∧B
0 µ0
∂E .260)
The above equation is equivalent to ∂U + ∂t · u = −E · j.265) E· µ0 ∧B ∂ + ∂t
0
µ0
+
0E
·
(4. Equation (4. (4. We saw earlier (see Section 4. ∂t E2 2
(4.2) that the rate of heat dissipation per unit volume in a conductor (the socalled ohmic heating rate) is E · j.Here.262)
Dotting this equation with the electric ﬁeld yields −E · j = − This can be rewritten −E · j = − Now. This energy is extracted from electromagnetic ﬁelds.. the rate of decrease of the electromagnetic energy in volume V equals the net ﬂux of electromagnetic energy across surface S. U is the energy density of the electromagnetic ﬁeld and u is the ﬂux of electromagnetic energy (i. so the rate of energy loss of the ﬁelds in volume V due to interaction with matter is V E · j dV .
(4.261)
Let us now see if we can derive an expression of this form from Maxwell’s equations.e. Thus.
(4. (4. per unit crosssectional area.259) is incomplete because electromagnetic ﬁelds can lose or gain energy by interacting with matter. energy u per unit time. (4. Eq.263)
.
∂U + ∂t where U=
0
· u = −E · j.270)
(4. This occurs because we absorb electromagnetic radiation emitted by the Sun. So. B = E/c.271)
is the electromagnetic energy density.
(4.266)
∧E =− so −E · j = This can be rewritten −E · j = E∧B · µ0 · E∧B µ0 +
∂B . E2 B2 + 2 2µ0
(4.269)
Thus. ∂t
0
(4. The electric and magnetic ﬁelds in electromagnetic radiation are mutually perpendicular. and are also perpendicular to ˆ the direction of propagation k (this is a unit vector). and u= E∧B µ0 (4. we obtain the desired conservation law.
(4. Furthermore. The latter quantity is usually called the “Poynting ﬂux” after its discoverer.272)
is the electromagnetic energy ﬂux.268)
1 ∂B ∂ B· + µ0 ∂t ∂t
∂ + ∂t
0
E2 B2 + 2 2µ0
. (4.267) E2 2 . Let us see whether our expression for the electromagnetic energy ﬂux makes sense.so −E · j = Faraday’s law yields
E∧B · µ0
−
B·
µ0
∧E
∂ + ∂t
0
E2 2
. We all know that if we stand in the sun we get hot (especially in Texas!). radiation must transport energy.
204
.
274)
This expression tells us that electromagnetic waves transport energy along their direction of propagation. due to Einstein. Since electromagnetic waves travel at the speed of light. (4. Thus.
(4.275)
using B = E/c. Suppose that we have a railroad car of mass M and length L which is free to move in one dimension.232) can easily be transformed into the following relation between the electric and magnetic ﬁelds of an electromagnetic wave: E∧B = E2 ˆ k.14
Electromagnetic momentum
We have seen that electromagnetic waves carry energy..
0 cE 2
. i. Consider the following argument.273)
Thus. u = cU = which is in accordance with Eq. The eﬀective mass of this radiation is m = E/c 2 205
. and is then absorbed at the other end.
(4. It turns out that they also carry momentum.276)
4.e.274). c (4.Equation (3. Note that the electric and magnetic ﬁelds have equal energy densities. The energy density of electromagnetic radiation is U=
0
B2 E2 + = 2 2µ0
0
E2 E2 + = 2 2µ0 c2
0E
2
. we would expect the energy ﬂux through one square meter in one second to equal the energy contained in a volume of length c and unit crosssectional area.
(4. Suppose that electromagnetic radiation of total energy E is emitted from one end of the car. the Poynting ﬂux for electromagnetic radiation is E2 ˆ u= k= µ0 c
0 cE 2
ˆ k. propagates along the length of the car. c times the energy density. which seems to make sense.
the process described above appears to cause the centre of mass of the system to spontaneously shift.
But. When the radiation hits the other end of the car then it acquires mo206
. if the car moves by a distance x then the centre of mass of the system is the same before and after the radiation pulse provided that M x = mL = It is assumed that m E L.L
E M
E
x
(from Einstein’s famous relation E = mc2 ). In fact.277)
M in this derivation. what actually causes the car to move? If the radiation possesses momentum p then the car will recoil with the same momentum as the radiation is emitted. c2 (4. This violates the law of momentum conservation (assuming the railway car is subject to no external forces). The only way in which the centre of mass of the system can remain stationary is if the railway car moves in the opposite direction to the direction of propagation of the radiation. At ﬁrst sight.
281) that the momentum density g of electromagnetic radiation equals its energy density over c. the electric ﬁeld associated with an electromagnetic wave oscillates rapidly. The same result can be obtained from the well known relativistic formula E 2 = p2 c2 + m 2 c4 (4.279) L c Thus. c2 (4. of the momentum per unit volume) of electromagnetic radiation is g= u . so the vector momentum density (which gives the direction as well as the magnitude.282)
It is reasonable to suppose that the momentum points along the direction of the energy ﬂow (this is obviously the case for photons). so u U = 2 = g= c c
0E 2
c
. According to quantum theory. If follows from Eq. (4. the distance traveled by a mass M with momentum p in this time is p L . (4. which stops the motion.
(4. So.mentum p in the opposite direction. the momentum carried by electromagnetic radiation equals its energy divided by the speed of light. Of course.281) c for individual photons.278) x = vt = M c giving c E p = Mx = . the momentum density equals the energy ﬂux over c2 . electromagnetic radiation is made up of massless particles called photons.280) relating the energy E. (4. Thus. energy ﬂux. so the same must be true of electromagnetic radiation as a whole. and mass m of a particle. which implies that the previous expressions for the energy density. The time of ﬂight of the radiation is L/c. E p= (4.283)
Thus. momentum p. and momentum density of electromagnetic radiation are also rapidly 207
.
per unit area. What is the radiation pressure exerted on the walls? In this situation the radiation propagates in all directions with equal probability. is simply the amount of momentum contained in a volume of length c and unit crosssectional area.. (4. the radiation exerts a pressure cg on the body. Consider a cavity ﬁlled with electromagnetic radiation. the “radiation pressure” is given by 2 0E p= = U .285) 2 So. U u g = = = . per unit crosssectional area. (4. Moreover. It is convenient to average over many periods of the oscillation (this average is denoted ). An absorbed momentum per unit time.oscillating. 2c c
2 0 E0
(4. The amount of such radiation hitting the wall per unit time.285). Here. Since electromagnetic radiation possesses momentum then it must exert a force on bodies which absorb (or emit) radiation. which it absorbs completely. is proportional to cos θ. the component of momentum normal to the wall which the radiation carries is also proportional to cos θ.284)
where the factor 1/2 comes from averaging cos2 ωt. is equivalent to a pressure. In other words. The amount of momentum absorbed per unit time. per unit area. i. Thus. Thus. Thus. 2 2 U ˆ 0 E0 ˆ k= k. 2 c 0 E02 ˆ = c U k. the pressure exerted on the wall is the same as in Eq. Consider radiation propagating at an angle θ to the local normal to the wall. E0 is the peak amplitude of the electric ﬁeld associated with the wave. the pressure exerted by collimated electromagnetic radiation is equal to its average energy density. except that it is weighted by the average of cos2 θ over all solid angles in order to take into account the fact that obliquely propagating radiation exerts a pressure 208
.e. Suppose that a body is placed in a beam of perfectly collimated radiation. c times the momentum density g.
u = c U = 1300 Wm−2 . (4. so for isotropic radiation p= U . Nevertheless. Two separate tails are observed if the local direction of the solar wind is not radially outward from the Sun (which is quite often the case). The other (called the “dust tail”) consists of uncharged dust particles. It is quite common for comets to exhibit two separate tails.. the lasers used in Inertial Conﬁnement Fusion (e. One (called the “gas tail”) consists of ionized gas.286)
Clearly. then p= U 4 × 10−6 Nm−2 . This translates to a radiation pressure of about 104 atmospheres. and is swept along by the solar wind (a stream of charged particles and magnetic ﬁeld lines emitted by the Sun).288) Here. 3 (4. The radiation pressure from sunlight is very weak. it would not be a good idea to get in the way of one of these lasers! (4. The average of cos 2 θ over all solid angles is 1/3.g. Obviously. the pressure exerted by isotropic radiation is one third of its average energy density. the NOVA experiment in Laurence Livermore National Laboratory) typically have energy ﬂuxes of 1018 Wm−2 . For instance. that produced by laser beams can be enormous (far higher than any conventional pressure which has ever been produced in a laboratory). Thus. since it is responsible for continuously sweeping dust particles out of the solar system.287)
209
.which is cos2 θ times that of normal radiation. and is swept radially outward from the Sun by radiation pressure. However. this small pressure due to radiation is important in outer space. the radiation pressure exerted on the Earth is minuscule (one atmosphere equals about 10 5 N/m2 ). The power incident on the surface of the Earth due to radiation emitted by the Sun is about 1300 W/m2 . what is the radiation pressure? Since. the radiation is assumed to be perfectly collimated. So.
Let us consider the simple case where the length of the wire is small compared to the wavelength of the emitted radiation.15
The Hertzian dipole
Consider two spherical conductors connected by a wire. t) = where [f ] = f (r . Suppose that electric charge ﬂows periodically back and forth between the spheres. t) = Az (r. A(r. The system has zero net charge. Thus. dt (4. It follows that I(t) = dq = I0 cos ωt. The magnetic vector potential generated by a current distribution j(r) is given by the well known formula A(r. t) z and µ0 Az (r. This type of antenna is called a Hertzian dipole. r − r 
(4. so the charge on the other conductor is −q. (4.290)
where I0 = ωq0 . If this is the case then the current I ﬂowing between the conductors has the same phase along the whole length of the wire. t − r − z z/c) dz . t − r − r /c).23). t − r − r /c) dz z. t) = 4π In the region r l ˆ r − z z 210 r (4. t − r − r /c) d3 r ˆ ˆ by I(r . after the German physicist Heinrich Hertz. (4.292) Suppose that the wire is aligned along the zaxis and extends from z = −l/2 to z = l/2. ˆ r − z z
(4.289) We expect the oscillating current ﬂowing in the wire connecting the two spheres to generate electromagnetic radiation (see Section 3. Let q be the charge on one of the conductors. Let q(t) = q0 sin ωt.294)
l/2 −l/2
µ0 4π
[j] d3 r .291)
ˆ I(z .293)
. For a wire of negligible thickness we can replace j(r .4.
r
(4. µ0 l I(t − r/c) Az (r. (4. This error (which is a time) must be much less than a period of oscillation of the emitted radiation.297)
This integral is easy to perform since the current is uniform along the length of the wire. So. t − r/c) dz . Thus.
(4.and The maximum error in the latter approximation is ∆t ∼ l/c. we can write Az (r. r λ.298) 4π r The scalar potential is most conveniently evaluated using the Lorentz gauge condition ∂φ (4. we have already assumed that the length of the wire l is much less than the wavelength of the radiation. we can evaluate the associated electric and magnetic ﬁelds using E = − ∂A − ∂t φ. 4π 0 c r r (4. otherwise the phase of the radiation will be wrong. (4. ∂Az µ0 l ∂I(t − r/c) z 1 ·A= − 2 +O (4.299) · A = − 0 µ0 . (4. so the above inequality is automatically satisﬁed. However. t) .296) c ω which implies that l λ. φ(r.301).298) and (4.295)
I(z . t) l z I(t − r/c) .
211
. t) µ0 4π
l/2 −l/2
ˆ t − r − z z/c
t − r/c.301)
Given the vector and scalar potentials. Eqs. So l 2π . where λ = 2π c/ω is the wavelength of the emitted radiation. ∂t Now. respectively.300) ∂z 4π ∂t r c r2 to leading order in r −1 . in the “far ﬁeld” region. Thus.
307)
Note that the energy ﬂux is radially outwards from the source..305)
where the average is over a single period of oscillation of the wave. θ = 0).304)
Here. θ. The total power ﬂux across S is given by Prad ω 2 l 2 I0 2 = 32π 2 0 c3
2π π
dφ
0 0
sin2 θ 2 2 r sin θ dθ. and the Poynting ﬂux is given by E∧B ω 2 l 2 I0 2 sin2 θ 2 ˆ u= = sin [ω(t − r/c)] 2 r .e. Note that the ﬁelds are symmetric in the azimuthal angle φ.
(4. r2
(4. (3..
(4.320) and (3. 32π 2 0 c3 r2 (4. θ = π/2).e.e. r λ) electromagnetic ﬁelds generated by a localized oscillating current are also easily derived from Eqs. (r. which fall oﬀ like r −1 with increasing distance from the source. sin θ 3 4π 0 c r
(4.302)
Note that we are only interested in radiation ﬁelds. There is no radiation along the axis of the oscillating dipole (i.B
=
∧ A. µ0 16π 2 0 c3 r It follows that ω 2 l2 I02 sin2 θ ˆ u = r. The above expressions for the far ﬁeld (i.. φ) are standard spherical polar coordinates aligned along the zaxis.306)
(4. The average power crossing a spherical surface S (whose radius is much greater than λ) is Prad =
S
u · dS.308)
212
. It is easily demonstrated that E and B − − sin[ω(t − r/c)] ˆ ωlI0 θ sin θ 2 4π 0 c r (4.303)
ωlI0 sin[ω(t − r/c)] ˆ φ. and the maximum emission is in the plane perpendicular to this axis (i.321).
(4.Thus. Prad = ω 2 l 2 I0 2 . In fact. Note that the formula (4. In fact.311)
. Thus. antennas are conventionally represented as resistors whose resistance is equal to the characteristic radiation resistance of the antenna plus its real resistance. i. antennas whose lengths are much less than that of the emitted radiation tend to be extremely ineﬃcient.310)
assuming that I = I0 cos ωt. as is to be expected if energy is conserved. the radiated power is swamped by the ohmic losses. it is necessary to have l ∼ λ in order to obtain an eﬃcient antenna. 2 0 (4.309)
The total ﬂux is independent of the radius of S. The simplest practical antenna 213
.313)
In the theory of electrical circuits. Recall that for a resistor of resistance R the average ohmic heating power is Pheat = I 2 R = 1 2 I R.e. I02 /2
2
(4.. 12π 0 c3 (4. The power loss I02 Rrad /2 associated with the radiation resistance is due to the emission of electromagnetic radiation.
(4. This suggests that Rrad R for most Hertzian dipole antennas.312)
where λ = 2π c/ω is the wavelength of the radiation. Rrad = 789 l λ
2
ohms.313) is only valid for l λ. The power loss I02 R/2 associated with the real resistance is due to ohmic heating of the antenna. It is convenient to deﬁne the “radiation resistance” of a Hertzian dipole antenna: Rrad = so that Rrad 2π = 3 0c l λ Prad .
The resistor. In fact.m. and most eﬃciently detects radiation incident in the plane perpendicular to this axis.” for which l = λ/2. (4.is the “halfwave antenna. Thus. a receiving antenna is represented as an e. (4. a Hertzian dipole antenna is unable to detect radiation incident along its axis. It is easily demonstrated that antennas most readily detect electromagnetic radiation incident from those directions in which they preferentially emit radiation. this process is equivalent to the emission of electromagnetic waves by the antenna viewed in reverse.315) where I = I0 cos ωt is the current induced in the circuit. The e.44 = 73 ohms. In the theory of electrical circuits. 2(Rrad + Rload ) The power transferred to the load is Pload = I Rload
2
(4. Let us represent the detector circuit as a single load resistor Rload connected in series with the antenna. the real resistance of the antenna is neglected). represents the power reradiated by the antenna (here.f.m.317)
214
.f in series with a resistor.316)
Rload V0 2 = .314) Rrad = 4π 0 c Antennas can be used to receive electromagnetic radiation. The question is: how can we choose Rload so that the maximum power is extracted from the wave and transmitted to the load resistor? According to Ohm’s law: V0 cos ωt = I0 cos ωt (Rrad + Rload ). The power input to the circuit is V0 2 Pin = V I = . represents the voltage induced in the antenna by the incoming wave. This can be analyzed as a series of Hertzian dipole antennas stacked on top of one another. each slightly out of phase with its neighbours. The incoming wave induces a voltage in the antenna which can be detected in an electrical circuit connected to the antenna. Rrad . V0 cos ωt. The characteristic radiation resistance of a halfwave antenna is 2. 2(Rrad + Rload )2
(4..
the maximum transfer rate corresponds to Rload = Rres . Pload = Prad = Pin V0 2 = . (4. This is how the BBC catch people who do not pay their television license fee in England.323)
215
. in the optimum case half of the power absorbed by the antenna is immediately reradiated. we have used the fact that the wavelength of the radiation is much longer than the length of the antenna. the resistance of the load circuit must match the radiation resistance of the antenna.322)
Here.318)
Note that Pin = Pload + Prad . (4.321)
So. 2(Rrad + Rload )2
(4. We have also assumed that the antenna is properly aligned (i. The maximum power transfer to the load occurs when V0 2 Rload − Rrad ∂Pload = = 0.
(4. an antenna which is receiving electromagnetic radiation is also emitting it. For a Hertzian dipole antenna interacting with an incoming wave whose electric ﬁeld has an amplitude E0 we expect V0 = E0 l. the radiation is incident perpendicular to the axis of the antenna).e. For this optimum case. They have vans which can detect the radiation emitted by a TV aerial whilst it is in use (they can even tell which channel you are watching!). 8Rrad 2 (4.320)
In other words.. The Poynting ﬂux of the incoming wave is uin =
2 0 cE0
2
.The power reradiated by the antenna is Prad = I Rrad
2
Rrad V0 2 = . Clearly. (4.319) ∂Rload 2 (Rrad + Rload )3 Thus.
(4. Pload giving l2 3 2 Aeﬀ = = λ .26 λ. Resistors satisfy Ohm’s law: V = IR.
(4. resistors. This implies that Pload = uin Aeﬀ .16
AC circuits
Alternating current (AC) circuits are made up of e. (4. (4. the antenna.325)
The quantity Aeﬀ is called the “eﬀective area” of the antenna.326)
Thus. which is essentially one dimensional with length λ/2. it is the area of the idealized antenna which absorbs as much net power from the incoming wave as the actual antenna.327) 4 0 cRrad 8π It is clear that the eﬀective area of a Hertzian dipole antenna is of order the wavelength squared of the incoming radiation. sources and three diﬀerent types of passive element. 8Rrad (4.13 λ2 . Suppose that the power absorbed from the idealized antenna matches that absorbed from the real antenna. and capacitors.328) E02 l2 = = 8Rrad
2 0 cE0
2
Aeﬀ . inductors.m.f. For a properly aligned halfwave antenna Aeﬀ = 0.329) 216
.324)
Consider an idealized antenna in which all incoming radiation incident on some area Aeﬀ is absorbed and then magically transferred to the detector circuit with no reradiation. (4. as far as its absorption of incoming electromagnetic radiation is concerned.
4. Thus.whereas the power transferred to a properly matched detector circuit is Pload E02 l2 = . acts as if it is two dimensional. with width 0.
source V . i ωC (4. Suppose. The circuit equation is obtained by setting the input voltage V equal to the sum of the voltage drops across the three passive elements in the circuit.where R is the resistance.333)
where the physical solution is understood to be the real part of the above expressions. (4. so that V (t) = V0 exp(i ωt).
(4. capacitors obey q = V = C
t
I dt
0
C. and V is the voltage drop across the resistor (in the direction in which the current ﬂows).333) yield V0 exp(i ωt) = I0 exp(i ωt) R + L i ω I0 exp(i ωt) + 217 I0 exp(i ωt) . inductors. that both the voltage and the current oscillate at some angular frequency ω. Thus.334)
. and I = 0 for t < 0.m.f. in general.332) and (4. Let us consider the classic LCR circuit. q is the charge stored on the plate with the more positive potential. Note that any passive component of a real electrical circuit can always be represented as a combination of ideal resistors. (4. dI V = IR + L + dt
t
I dt
0
C. all connected in series with an e. and a resistor R.
(4.332)
This is an integrodiﬀerential equation which. however. a capacitor C. Equations (4. I is the current ﬂowing through the resistor. Inductors satisfy dL . Finally.330) V =L dt where L is the inductance. which consists of an inductor L. The assumed behaviour of the voltage and current is clearly relevant to electrical circuits powered by the mains voltage (which oscillates at 60 hertz).331)
where C is the capacitance. is quite tricky to solve. I(t) = I0 exp(i ωt). and capacitors.
In general. I(t) = I0 exp[i (ωt − θ)].340) 2 since cos ωt sin ωt = 0 and cos ωt cos ωt = 1/2.
ωt=2π
(4. In complex representation.339)
= V 0 I0
ωt=0
cos ωt (cos ωt cos θ + sin ωt sin θ)
giving
1 V0 I0 cos θ. i ωC (4.335)
It is helpful to deﬁne the “impedance” of the circuit.336)
Impedance is a generalization of the concept of resistance. source is P = V (t)I(t) .f. It follows that P = V 0 I0
ωt=0 ωt=2π
cos ωt cos(ωt − θ)
d(ωt) 2π d(ωt) .341)
. the voltage and the current are written P = V (t) = V0 exp(i ωt). (4.337)
where the average is taken over one period of the oscillation.giving V0 = I0 i ωL + 1 +R . The average power output of the e. calculate the power using real (rather than complex) voltages and currents. 218 (4. I(t) = I0 cos(ωt − θ). ﬁrst of all. Z= V 1 = i ωL + + R. 2π (4. Let us.m. (4. We can write V (t) = V0 cos ωt. I i ωC (4.338)
where θ is the phase lag of the current with respect to the voltage. the impedance of an AC circuit is a complex quantity.
336). According to Eq. (4. 2 It follows that 1 1 (V I ∗ + V ∗ I) = Re(V I ∗ ). 2 2 Z2 (4. (4. 2 (4. peaking at ω = 1/ LC.336).346)
√ The response of the circuit is clearly resonant.343)
(4. P = 1 RI02 .342)
(4.345)
It is clear that only the resistor dissipates energy in this circuit.where I0 and V0 are assumed to be real quantities. 4 2 Making use of Eq. (4.347)
219
. but they eventually return it to the circuit without dissipation. In fact. and √ √ reaching 1/ 2 of the peak value at ω = 1/ LC ± R/2L (assuming that R L/C). Note that 1 (V I ∗ + V ∗ I) = V0 I0 cos θ.344)
Note that power dissipation is associated with the real part of the impedance. For the special case of an LCR circuit. we ﬁnd that P = P = 1 1 Re(Z) V 2 Re(Z) I2 = . The phase lag of the current with respect to the voltage is given by θ = arg(Z) = tan−1 ωL − 1/ωC R . The inductor and the capacitor both store energy. the amplitude of the current which ﬂows in an LCR circuit for a given amplitude of the input voltage is given by I0 = V0 = Z V0 (ωL − 1/ωC)2 + R2 . (4. LCR circuits are used in radio tuners to ﬁlter out signals whose frequencies fall outside a given band.
and the argument of Z gives the phase lag of the current with respect to the voltage. the magnitude of Z gives the ratio of the peak current to the peak voltage.
4. almost by deﬁnition.The phase lag varies from −π/2 for frequencies signiﬁcantly below the resonant √ frequency. corresponding to λ ∼ 30 m. The real part of Z tells us the power dissipated in the circuit. The conductors possess a capacitance per unit length C. Suppose that x measures the position along the line. to propagate signals around circuits whose dimensions greatly exceed the wavelength λ. the current) has the same phase throughout the circuit. The corresponding wavelength is about 5 km. to zero at the resonant frequency (ω = 1/ LC). and the behaviour of the circuit is summed up by the impedance Z. if the circuit is suﬃciently large and the frequency of oscillation ω is suﬃciently high then this assumption becomes invalid. hence. Unfortunately. so the constant phase approximation clearly breaks down for long distance calls. to π/2 for frequencies signiﬁcantly above the resonant frequency. It turns out that you need a special sort of wire. An idealized transmission line consists of two parallel conductors of uniform crosssectional area. and an inductance per unit length L. the constant phase approximation also breaks down for the computer network in this building. leased telephone lines (the type you attach computers to) run at 56 kHz. The assumption of a constant phase throughout the circuit is reasonable if the wavelength of the oscillation λ = 2π c/ω is much larger than the dimensions of the circuit. called a transmission line.17
Transmission lines
The central assumption made in the analysis of conventional AC circuits is that the voltage (and. which is certainly longer than 30 m. large. The frequencies in such circuits tend to be high and the dimensions are.
220
. Computer networks generally run at about 10 MHz. For instance. Let us investigate transmission lines. It is clear that in conventional AC circuits the circuit equation reduces to a simple algebraic equation. This is generally not the case in electrical circuits which are associated with communication. Thus.
The capacitance of the portion of the line lying between these two points is C δx.
0
(4. t) dt −
I(x + δx.348) V (x. (4. t) = C δx V (x. In the limit δx → 0.351)
Equations (4.Consider the voltage diﬀerence between two neighbouring points on the line. t) .349)
Consider the diﬀerence in current between two neighbouring points on the line. we obtain ∂2V ∂2I = −L .350)
where t = 0 denotes a time at which the charge stored in either of the conductors in the region x to x + δx is zero. the above equation yields ∂I ∂V = −C .349) and (4. ∂x ∂t (4. In the limit δx → 0. t) is the voltage diﬀerence between the two conductors at position x and time t. ∂x2 ∂x∂t 221 (4. t) = L δx ∂t where V (x. the above equation reduces to ∂V ∂I = −L . located at positions x and x + δx. The selfinductance of the portion of the line lying between these two points is L δx.349) with respect to x. the other conductor is the Earth. located at positions x and x + δx.352)
. t) is the current ﬂowing in one of the conductors at position x and time t [the current ﬂowing in the other conductor is −I(x. This small section of the line can be thought of as a conventional inductor. ∂x ∂t (4. and I(x. t) − V (x + δx. and therefore obeys the wellknown equation
t 0 t
I(x. t).” since an old fashioned telegraph line can be thought of as a primitive transmission line (telegraph lines consist of a single wire. and therefore obeys the wellknown equation ∂I(x. respectively. This small section of the line can be thought of as a conventional capacitor. (4.351) are generally known as the “telegrapher’s equations. t) ]. respectively.) Diﬀerentiating Eq.
354).353)
√ This is clearly a wave equation with wave velocity v = 1/ LC. t) = . An analogous equation can be written for the current I. L V (l.351) with respect to t yields ∂2I ∂2V = −C . ∂x∂t ∂t2 The above two equations can be combined to give ∂2V ∂2V LC = . (4. If follows that V (0.349) and (4.358) R= I(l.357)
For selfconsistency. (4. the resistor at the end of the line must have a particular value. Consider a transmission line which is connected to a generator at one end (x = 0) and a resistor R at the other (x = l). is V (x. t) = V0 cos ωt. subject to the above boundary condition. ∂t2 ∂x2 (4. C (4.359)
222
.354) (4. (4. t) = V0 cos(ωt − kx).356) √ where k = ω LC. t) = I(0.Diﬀerentiating Eq. t) L . (4. This clearly corresponds to a wave which propagates from the generator towards the resistor. Suppose that the generator outputs a voltage V0 cos ωt. t) C The socalled “input impedance” of the line is deﬁned Zin = V (0. Equations (4.355)
The solution to the wave equation (4. t) = V0 L/C cos(ωt − kx).356) yield I(x. (4.
the transmission line could be replaced by an eﬀective resistor R = Z in in the circuit diagram for the generator circuit.362)
Thus. (4.360) ln(b/a) Let us now calculate the inductance per unit length.
(4. The impedance of the cable is given by Z0 = L = C µ0 4π 2 0
1/2
ln (b/a) = 60 ln (b/a) ohms. In fact. transmitted down the line.361)
The ﬂux linking unit length of the cable is
b
Φ=
a
Bθ dr =
µ0 I ln(b/a). 2πr (4. the magnetic ﬁeld in e the region between the conductors is given by Bθ = µ0 I . and absorbed by the terminating resistor. 2π
(4. The power loss due to this eﬀective resistor corresponds to power which is extracted from the circuit. I 2π 1 1 =√ = c. the wave (which is a type of electromagnetic wave) propagates at the speed of light.363)
The speed of propagation of a wave down a coaxial cable is v=√ (4.364)
Not surprisingly. Suppose that the inner conductor carries a current I. the selfinductance per unit length is L= µ0 Φ = ln(b/a). a transmission line terminated by a resistor R = L/R acts very much like a conventional resistor R = Zin in the circuit containing the generator. which consists of two coaxial cylindrical conductors of radii a and b (with b > a).365)
223
. LC 0 µ0 (4.5) 2π 0 C= .Thus. We have already shown that the capacitance per unit length of such a cable is (see Section 4. The most commonly occurring type of transmission line is a coaxial cable. According to Amp`re’s law.
366)
Since the line is terminated by a resistance R at x = 0 we have.367)
We have seen that if a transmission line is terminated by a resistor whose resistance R matches the impedance Z0 of the line then all the power sent down the line is absorbed by the resistor.369) (4. and the input impedance of the line is Z0 . at the end of the line. K = 0). then there is no reﬂection (i. It is easily demonstrated from the telegrapher’s equations that the corresponding current waveform is I(x. (4. (4. if the resistor at the end of the line is properly matched.This corresponds to a voltage wave of amplitude V0 which travels down the line and is reﬂected. so that R = 0. Z0 Z0 (4.. What happens if R = Z 0 ? The answer is that some of the power is reﬂected back down the line.e. the line acts rather like a pure 224
.371) This impedance is purely imaginary. K = −1). In fact. Suppose that the beginning of the line lies at x = −l and the end of the line is at x = 0.e. K= R − Z0 . implying that the transmission line absorbs no net power from the generator circuit. t) = Z0 . t) = KV0 V0 exp[i (ωt − kx)] − exp[i (ωt + kx)].370)
Clearly. t) = R. I(−l. t) This yields an expression for the coeﬃcient of reﬂection.. R + Z0 (4.368)
The input impedance of the line is given by Zin = R cos kl + i Z0 sin kl V (−l. and the input impedance becomes Zin = i Z0 tan kl. t) = V0 exp[i (ωt − kx)] + KV0 exp[i (ωt + kx)]. V (0. t) Z0 cos kl + i R sin kl (4. If the line is short circuited. Let us consider a solution V (x. so that R = Z0 . I(0. from Ohm’s law. then there is total reﬂection at the end of the line (i. with reﬂection coeﬃcient K.
e. a quarter wave line looks like a pure resistor in the generator circuit. Does this mean that we have to rip out our original coaxial cable and replace it by 225
. so that R → ∞.inductor or capacitor in the generator circuit (i. then there is again total reﬂection at the end of the line (i..e. ﬁnally. (4.373)
Thus.. Suppose that we want to build a radio transmitter.e. We know that in electrical circuits such an antenna acts like a resistor of resistance 73 ohms (it is more usual to say that the antenna has an impedance of 73 ohms).365) that the radii of the inner and outer conductors need to be such that b/a = 3. If we wish to use a coaxial cable to connect the generator to the antenna. For the special case where the length of the line is exactly one quarter of a wavelength (i.e. not all of the power output of the generator is converted into radio waves). then it is clear from Eq. we can forget about the transmission line connecting the terminating resistor to the generator circuit).e. Suppose. Zin = R (4. an antenna whose length equals the wavelength of the emitted radiation).e..38. (4.. Finally. kl 1) then we enter the constant phase regime. and the input impedance becomes Zin = i Z0 tan(kl − π/2). that we upgrade our transmitter to use a full wave antenna (i.. otherwise some of the power we send down the line is reﬂected (i.. K = 1). energy).e. λ/2) then the constant phase approximation breaks down. A full wave antenna has a diﬀerent impedance than a half wave antenna. the open circuited line acts like a closed circuited line which is shorter by one quarter of a wavelength... it can store. kl = π/2).e. If the line is open circuited. We can use a half wave antenna to emit the radiation. How do we transmit the power from the generator to the antenna? We use a transmission line.) Since the impedance of the antenna is ﬁxed at 73 ohms we need to use a 73 ohm transmission line (i. Z0 = 73 ohms) to connect the generator to the antenna. (It is clear that if the distance between the generator and the antenna is of order the dimensions of the antenna (i.372)
Thus. if the length of the line is much less than the wavelength (i. but cannot absorb. and Zin R (i. of course. Suppose that we buy a 500 kW generator to supply the power to the antenna. we ﬁnd Z0 2 .e. so we have to use a transmission line..
where µ > 1 is called the relative permeability of matter.373) (with Z 0 → Z0 Z1 and R → Z1 ) the input impedance of the quarter wave line is Zin = Z0 . transmit. (4. Magnetic materials (e..
4. we have hardly mentioned the interaction of electric and magnetic ﬁelds with matter.e.18
Epilogue
Unfortunately.one whose impedance matches that of the new antenna? Not necessarily. Finally. This has the eﬀect of increasing the eﬀective permeability of space. More interestingly. It turns out that atoms polarize in the presence of electric ﬁelds. since we have run out of time. This explains why it is possible to receive long wavelength radio transmissions when the transmitter is over the horizon. iron) develop net magnetic moments in the presence of magnetic ﬁelds.g. According to Eq.. matter can reﬂect. our investigation of the many and varied applications of Maxwell’s equations must now come to and end. there is no reﬂection of the power sent down the cable to the antenna. Let Z 0 be the impedance of the coaxial cable. Another fascinating topic is the generation of extremely short wavelength radiation. which matches that of the cable. This is not possible at shorter wavelengths.. therefore. where > 1 is called the relative permittivity or dielectric constant of matter. For instance. i. to receive FM or TV signals the transmitter must be in the line of sight (this explains the extremely local coverage of such transmitters). A quarter wave line of the appropriate impedance can easily be fabricated from a short length of coaxial cable of the appropriate b/a. The output impedance matches that of the antenna. Many important topics have been skipped in this course. µ0 → µµ0 . Consequently. such as microwaves and radar. or eﬀectively slow down. i.e. electromagnetic radiation. Short wavelength waves are not reﬂected and.e. and Z1 the impedance of the antenna. Suppose that we place a quarter wave transmission line (i.. escape to outer space. one √ whose length is one quarter of a wavelength) of characteristic impedance Z 1/4 = Z0 Z1 between the √ end of the cable and the antenna. For instance. long wavelength radio waves are reﬂected by charged particles in the ionosphere. Under many circumstances this has the eﬀect of increasing the eﬀective permittivity of space. we have not men
226
. rather than by using antennas. This is usually done by exciting electromagnetic standing waves in conducting cavities. For instance. absorb. 0 → 0 .
somewhat surprisingly. that Maxwell’s equations are invariant under the Lorentz transformation.
227
. This is essentially because magnetism is an intrinsically relativistic phenomenon.tioned relativity. In relativistic notation the whole theory of electromagnetism can be summed up in just two equations. It turns out.