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Bo Thid

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E L EC T ROM AG N E T I C F I E L D T H E OR Y

S E

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E L EC T ROM AG N E T I C F I E L D T H E OR Y

S E

Bo Thid

Swedish Institute of Space Physics Uppsala, Sweden and

Department of Physics and Astronomy Uppsala University, Sweden and Galilean School of Higher Education University of Padua Padua, Italy

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Also available

E L EC T ROM AG N E T I C F I E L D T H E OR Y EXERCISES

by Tobia Carozzi, Anders Eriksson, Bengt Lundborg, Bo Thid and Mattias Waldenvik

AT This book was typeset in L EX 2" based on TEX 3.1415926 and Web2C 7.5.6

Copyright 19972011 by Bo Thid Uppsala, Sweden All rights reserved. Electromagnetic Field Theory ISBN 978-0-486-4773-2

D

The cover graphics illustrates the linear momentum radiation pattern of a radio beam endowed with orbital angular momentum, generated by an array of tri-axial antennas. This graphics illustration was prepared by J O H A N S J H O L M and K R I S T O F F E R PA L M E R as part of their undergraduate Diploma Thesis work in Engineering Physics at Uppsala University 20062007.

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To the memory of professor L E V M I K H A I L OV I C H E RU K H I M OV (19361997) dear friend, great physicist, poet and a truly remarkable man.

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C ON T E N TS

Contents List of Figures Preface to the second edition Preface to the rst edition 1 Foundations of Classical Electrodynamics

1.1 Electrostatics . . . . . . . . . . . . . . . . . . 1.1.1 Coulombs law . . . . . . . . . . . . . 1.1.2 The electrostatic eld . . . . . . . . . . 1.2 Magnetostatics . . . . . . . . . . . . . . . . . 1.2.1 Ampres law . . . . . . . . . . . . . . 1.2.2 The magnetostatic eld . . . . . . . . . 1.3 Electrodynamics . . . . . . . . . . . . . . . . . 1.3.1 The indestructibility of electric charge . 1.3.2 Maxwells displacement current . . . . 1.3.3 Electromotive force . . . . . . . . . . . 1.3.4 Faradays law of induction . . . . . . . 1.3.5 The microscopic Maxwell equations . . 1.3.6 Diracs symmetrised Maxwell equations 1.4 Examples . . . . . . . . . . . . . . . . . . . . 1.5 Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ix xv xvii xix 1 2 2 3 6 6 7 9 10 10 11 12 15 15 16 18 19 19 20 21 22 23 25 30 32 33 33 34 35

2.1 Axiomatic classical electrodynamics . . . . . . . . . . . . 2.2 Complex notation and physical observables . . . . . . . . 2.2.1 Physical observables and averages . . . . . . . . . 2.2.2 Maxwell equations in Majorana representation . . . 2.3 The wave equations for E and B . . . . . . . . . . . . . . 2.3.1 The time-independent wave equations for E and B 2.4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5 Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 The electrostatic scalar potential . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 The magnetostatic vector potential . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 The electrodynamic potentials . . . . . . . . . . . . . . . . . . . . . . . . . . . ix

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3.4 Gauge conditions . . . . . . . 3.4.1 Lorenz-Lorentz gauge . 3.4.2 Coulomb gauge . . . . 3.4.3 Velocity gauge . . . . 3.5 Gauge transformations . . . . 3.5.1 Other gauges . . . . . 3.6 Examples . . . . . . . . . . . 3.7 Bibliography . . . . . . . . . .

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4.1 Discrete symmetries . . . . . . . . . . . . . . . . . . . . . . . 4.1.1 Charge conjugation, spatial inversion, and time reversal 4.1.2 C symmetry . . . . . . . . . . . . . . . . . . . . . . . 4.1.3 P symmetry . . . . . . . . . . . . . . . . . . . . . . . 4.1.4 T symmetry . . . . . . . . . . . . . . . . . . . . . . . 4.2 Continuous symmetries . . . . . . . . . . . . . . . . . . . . . 4.2.1 General conservation laws . . . . . . . . . . . . . . . 4.2.2 Conservation of electric charge . . . . . . . . . . . . . 4.2.3 Conservation of energy . . . . . . . . . . . . . . . . . 4.2.4 Conservation of linear (translational) momentum . . . 4.2.4.1 Gauge-invariant operator formalism . . . . . 4.2.5 Conservation of angular (rotational) momentum . . . . 4.2.5.1 Gauge-invariant operator formalism . . . . . 4.2.6 Electromagnetic duality . . . . . . . . . . . . . . . . . 4.2.7 Electromagnetic virial theorem . . . . . . . . . . . . . 4.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4 Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fourier component method . . . . . . . . . . . . . . . . . . . . . . . . The retarded electric eld . . . . . . . . . . . . . . . . . . . . . . . . . The retarded magnetic eld . . . . . . . . . . . . . . . . . . . . . . . . The total electric and magnetic elds at large distances from the sources 5.4.1 The far elds . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 .1 5 .2 5 .3 5 .4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Radiation of linear momentum and energy 6.1.1 Monochromatic signals . . . . . . 6.1.2 Finite bandwidth signals . . . . . 6.2 Radiation of angular momentum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7 Relativistic Electrodynamics

6.3 Radiation from a localised source at rest . . . . . . . . . . . 6.3.1 Electric multipole moments . . . . . . . . . . . . . . 6.3.2 The Hertz potential . . . . . . . . . . . . . . . . . . 6.3.3 Electric dipole radiation . . . . . . . . . . . . . . . . 6.3.4 Magnetic dipole radiation . . . . . . . . . . . . . . . 6.3.5 Electric quadrupole radiation . . . . . . . . . . . . . 6.4 Radiation from an extended source volume at rest . . . . . . 6.4.1 Radiation from a one-dimensional current distribution 6.5 Radiation from a localised charge in arbitrary motion . . . . 6.5.1 The Linard-Wiechert potentials . . . . . . . . . . . 6.5.2 Radiation from an accelerated point charge . . . . . 6.5.2.1 The differential operator method . . . . . . 6.5.2.2 The direct method . . . . . . . . . . . . . 6.5.2.3 Small velocities . . . . . . . . . . . . . . . 6.5.3 Bremsstrahlung . . . . . . . . . . . . . . . . . . . . 6.5.4 Cyclotron and synchrotron radiation . . . . . . . . . 6.5.4.1 Cyclotron radiation . . . . . . . . . . . . . 6.5.4.2 Synchrotron radiation . . . . . . . . . . . 6.5.4.3 Radiation in the general case . . . . . . . . 6.5.4.4 Virtual photons . . . . . . . . . . . . . . . 6.6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.7 Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . .

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104 104 105 109 111 112 113 113 117 119 120 122 125 127 128 131 133 134 136 137 139 150 151 151 152 153 154 154 154 156 157 158 158 158 161 162 162 163 166 169

7.1 The special theory of relativity . . . . . . . . . . . . . . . . . . . . . . 7.1.1 The Lorentz transformation . . . . . . . . . . . . . . . . . . . . 7.1.2 Lorentz space . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.2.1 Radius four-vector in contravariant and covariant form 7.1.2.2 Scalar product and norm . . . . . . . . . . . . . . . . 7.1.2.3 Metric tensor . . . . . . . . . . . . . . . . . . . . . . 7.1.2.4 Invariant line element and proper time . . . . . . . . . 7.1.2.5 Four-vector elds . . . . . . . . . . . . . . . . . . . . 7.1.2.6 The Lorentz transformation matrix . . . . . . . . . . . 7.1.2.7 The Lorentz group . . . . . . . . . . . . . . . . . . . 7.1.3 Minkowski space . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 Covariant classical mechanics . . . . . . . . . . . . . . . . . . . . . . . 7.3 Covariant classical electrodynamics . . . . . . . . . . . . . . . . . . . 7.3.1 The four-potential . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.2 The Linard-Wiechert potentials . . . . . . . . . . . . . . . . . 7.3.3 The electromagnetic eld tensor . . . . . . . . . . . . . . . . . 7.4 Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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8.1 Charged particles in an electromagnetic eld . . . . . . . . . . . 8.1.1 Covariant equations of motion . . . . . . . . . . . . . . 8.1.1.1 Lagrangian formalism . . . . . . . . . . . . . 8.1.1.2 Hamiltonian formalism . . . . . . . . . . . . . 8.2 Covariant eld theory . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Lagrange-Hamilton formalism for elds and interactions 8.2.1.1 The electromagnetic eld . . . . . . . . . . . 8.2.1.2 Other elds . . . . . . . . . . . . . . . . . . . 8.3 Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

171 171 171 171 174 177 178 181 185 186 187 188 188 189 191 192 193 193 198 199 201 201 202 203 209 211 211 212 212 212 212 212 212 213 213 213 213 213 214

9.1 Maxwells macroscopic theory . . . . . . . . . . . . . 9.1.1 Polarisation and electric displacement . . . . . 9.1.2 Magnetisation and the magnetising eld . . . . 9.1.3 Macroscopic Maxwell equations . . . . . . . . 9.2 Phase velocity, group velocity and dispersion . . . . . 9.3 Radiation from charges in a material medium . . . . . L 9.3.1 Vavilov-Cerenkov radiation . . . . . . . . . . . 9.4 Electromagnetic waves in a medium . . . . . . . . . . 9.4.1 Constitutive relations . . . . . . . . . . . . . . 9.4.2 Electromagnetic waves in a conducting medium 9.4.2.1 The wave equations for E and B . . . 9.4.2.2 Plane waves . . . . . . . . . . . . . 9.4.2.3 Telegraphers equation . . . . . . . . 9.5 Bibliography . . . . . . . . . . . . . . . . . . . . . . .

F

Formul

F .1

Vector and tensor elds in 3D Euclidean space F .1.1 Cylindrical circular coordinates . . . . F .1.1.1 Base vectors . . . . . . . . F .1.1.2 Directed line element . . . . F .1.1.3 Directed area element . . . F .1.1.4 Volume element . . . . . . F .1.1.5 Spatial differential operators F .1.2 Spherical polar coordinates . . . . . . F .1.2.1 Base vectors . . . . . . . . F .1.2.2 Directed line element . . . . F .1.2.3 Solid angle element . . . . F .1.2.4 Directed area element . . . F .1.2.5 Volume element . . . . . .

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F .1 .2 .6 Spatial differential operators . . . . . . . . . . . . . . . . . Vector and tensor eld formul . . . . . . . . . . . . . . . . . . . . . F .1 .3 .1 The three-dimensional unit tensor of rank two . . . . . . . . F .1 .3 .2 The 3D Kronecker delta tensor . . . . . . . . . . . . . . . . F .1 .3 .3 The fully antisymmetric Levi-Civita tensor . . . . . . . . . F .1 .3 .4 Rotational matrices . . . . . . . . . . . . . . . . . . . . . . F .1 .3 .5 General vector and tensor algebra identities . . . . . . . . . F .1 .3 .6 Special vector and tensor algebra identities . . . . . . . . . F .1 .3 .7 General vector and tensor calculus identities . . . . . . . . F .1 .3 .8 Special vector and tensor calculus identities . . . . . . . . . F .1 .3 .9 Integral identities . . . . . . . . . . . . . . . . . . . . . . . F .2 The electromagnetic eld . . . . . . . . . . . . . . . . . . . . . . . . . . . . F .2.1 Microscopic Maxwell-Lorentz equations in Diracs symmetrised form F .2.1.1 Constitutive relations . . . . . . . . . . . . . . . . . . . . . F .2.2 Fields and potentials . . . . . . . . . . . . . . . . . . . . . . . . . . F .2.2.1 Vector and scalar potentials . . . . . . . . . . . . . . . . . F .2.2.2 The velocity gauge condition in free space . . . . . . . . . F .2.2.3 Gauge transformation . . . . . . . . . . . . . . . . . . . . F .2.3 Energy and momentum . . . . . . . . . . . . . . . . . . . . . . . . . F .2.3.1 Electromagnetic eld energy density in free space . . . . . F .2.3.2 Poynting vector in free space . . . . . . . . . . . . . . . . . F .2.3.3 Linear momentum density in free space . . . . . . . . . . . F .2.3.4 Linear momentum ux tensor in free space . . . . . . . . . F .2.3.5 Angular momentum density around x0 in free space . . . . F .2.3.6 Angular momentum ux tensor around x0 in free space . . F .2.4 Electromagnetic radiation . . . . . . . . . . . . . . . . . . . . . . . . F .2.4.1 The far elds from an extended source distribution . . . . . F .2.4.2 The far elds from an electric dipole . . . . . . . . . . . . . F .2.4.3 The far elds from a magnetic dipole . . . . . . . . . . . . F .2.4.4 The far elds from an electric quadrupole . . . . . . . . . . F .2.4.5 Relationship between the eld vectors in a plane wave . . . F .2.4.6 The elds from a point charge in arbitrary motion . . . . . . F .3 Special relativity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F .3.1 Metric tensor for at 4D space . . . . . . . . . . . . . . . . . . . . . F .3.2 Lorentz transformation of a four-vector . . . . . . . . . . . . . . . . F .3.3 Covariant and contravariant four-vectors . . . . . . . . . . . . . . . . F .3.3.1 Position four-vector (radius four-vector) . . . . . . . . . . . F .3.3.2 Arbitrary four-vector eld . . . . . . . . . . . . . . . . . . F .3.3.3 Four-del operator . . . . . . . . . . . . . . . . . . . . . . . F .3.3.4 Invariant line element . . . . . . . . . . . . . . . . . . . . F .3.3.5 Four-velocity . . . . . . . . . . . . . . . . . . . . . . . . . F .1 .3

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Mathematical Methods

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M .2

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M .5

Scalars, vectors and tensors . . . . . . . . . . M .1.1 Vectors . . . . . . . . . . . . . . . . M .1.1.1 Position vector . . . . . . . M .1.2 Fields . . . . . . . . . . . . . . . . . M .1.2.1 Scalar elds . . . . . . . . . M .1.2.2 Vector elds . . . . . . . . M .1.2.3 Coordinate transformations M .1.2.4 Tensor elds . . . . . . . . Vector algebra . . . . . . . . . . . . . . . . . M .2.1 Scalar product . . . . . . . . . . . . . M .2.2 Vector product . . . . . . . . . . . . . M .2.3 Dyadic product . . . . . . . . . . . . Vector calculus . . . . . . . . . . . . . . . . M .3.1 The del operator . . . . . . . . . . . . M .3.2 The gradient of a scalar eld . . . . . M .3.3 The divergence of a vector eld . . . M .3.4 The curl of a vector eld . . . . . . . M .3.5 The Laplacian . . . . . . . . . . . . . M .3.6 Vector and tensor integrals . . . . . . M .3.6.1 First order derivatives . . . M .3.6.2 Second order derivatives . . M .3.7 Helmholtzs theorem . . . . . . . . . Analytical mechanics . . . . . . . . . . . . . M .4.1 Lagranges equations . . . . . . . . . M .4.2 Hamiltons equations . . . . . . . . . Examples . . . . . . . . . . . . . . . . . . . Bibliography . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

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Index

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LI ST O F F I G U R E S

1 .1 1 .2 1 .3 1 .4

Coulomb interaction between two electric charges . . . . Coulomb interaction for a distribution of electric charges Ampre interaction . . . . . . . . . . . . . . . . . . . . Moving loop in a varying B eld . . . . . . . . . . . . .

. . . .

. . . .

. . . .

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. . . .

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. . . .

. . . .

. . . .

. . . .

. . . .

. . . .

. . . .

. . . .

3 5 7 13 92 107 110 115 116 118 121 129 130 132 135 137 138 143

5.1 Fields in the far zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 .1 6 .2 6 .3 6 .4 6 .5 6 .6 6 .7 6 .8 6 .9 6.10 6.11 6.12 6.13 Multipole radiation geometry . . . . . . . . . . . . . . Electric dipole geometry . . . . . . . . . . . . . . . . Linear antenna . . . . . . . . . . . . . . . . . . . . . . Electric dipole antenna geometry . . . . . . . . . . . . Radiation from a moving charge in vacuum . . . . . . An accelerated charge in vacuum . . . . . . . . . . . . Angular distribution of radiation during bremsstrahlung Location of radiation during bremsstrahlung . . . . . . Radiation from a charge in circular motion . . . . . . . Synchrotron radiation lobe width . . . . . . . . . . . . The perpendicular electric eld of a moving charge . . Electron-electron scattering . . . . . . . . . . . . . . . Loop antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Relative motion of two inertial systems . . . . . . . . . . . . . . . . . . . . . . . . . 152 7.2 Rotation in a 2D Euclidean space . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 7.3 Minkowski diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

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PR EFACE T O T H E S EC ON D ED I T ION

This second edition of the book E L E C T RO M AG N E T I C F I E L D T H E O RY is a major revision and expansion of the rst edition that was published on the Internet (www.plasma.uu.se/CED/ Book) in an organic growth process over the years 19972008. The main changes are an expansion of the material treated, an addition of a new chapter and several illustrative examples, and a slight reordering of the chapters. The main reason for attempting to improve the presentation and to add more material is that this new edition is now being made available in printed form by Dover Publications and is used in an extended Classical Electrodynamics course at Uppsala University, at the last-year undergraduate, Master, and beginning post-graduate/doctoral level. It has also been used by the author in a similar course at the Galilean School of Higher Education (Scuola Galileiana di Studi Superiori) at University of Padova. It is the authors hope that the second edition of his book will nd a wid use in Academia and elsewhere. The subject matter starts with a description of the properties of electromagnetism when the charges and currents are located in otherwise free space, i.e., a space that is free of matter and external elds (e.g., gravitation). A rigorous analysis of the fundamental properties of the electromagnetic elds and radiation phenomena follows. Only then the inuence of matter on the elds and the pertinent interaction processes is taken into account. In the authors opinion, this approach is preferable since it avoids the formal logical inconsistency of introducing, very early in the derivations, the effect on the electric and mangetic elds when conductors and dielectrics are present (and vice versa) in an ad hoc manner, before constitutive relations and physical models for the electromagnetic properties of matter, including conductors and dielectrics, have been derived from rst principles. Curved-space effects on electromagnetism are not treated at all. In addition to the Maxwell-Lorentz equations, which postulate the beaviour of electromagnetic elds due to electric charges and currents on a microscopic classical scale, chapter 1 on page 1 also introduces Diracs symmetrised equations that incorporate the effects of magnetic charges and currents. In chapter 2 on page 19, a stronger emphasis than before is put on the axiomatic foundation of electrodynamics as provided by the Maxwell-Lorentz equations that are taken as the postulates of the theory. Chapter 3 on page 33 on potentials and gauges now provides a more comprehensive picture and discusses gauge invariance in a more satisfactory manner than the rst edition did. Chapter 4 on page 53 is new and deals with symmetries and conserved quantities in a more rigourous, profound and detailed way than in the rst edition. For instance, the presentation of the theory of electromagnetic angular momentum and other observables (constants of motion) has been substantially expanded and put on a rm basis. Chapter 9 on page 187 is a complete rewrite and combines material that was scattered more or less all over the rst edition. It also contains new material on wave propagation in plasma and other media. When, in chapter 9 on page 187, the macroscopic Maxwell equations are introduced, the inherent approximations in the derived eld quantities are clearly pointed out. The collection of formul in appendix F on page 211 has been augmented quite substantially. In appendix M on page 229, the treatment of dyadic products and tensors has been expanded signicantly and numerous examples

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have been added throughout. I want to express my warm gratitude to professor C E S A R E B A R B I E R I and his entire group, particularly F A B R I Z I O TA M B U R I N I , at the Department of Astronomy, University of Padova, for stimulating discussions and the generous hospitality bestowed upon me during several shorter and longer visits in 2008, 2009, and 2010 that made it possible to prepare the current major revision of the book. In this breathtakingly beautiful northern Italy where the cradle of renaissance once stood, intellectual titan G A L I L E O G A L I L E I worked for eighteen years and gave birth to modern physics, astronomy and science as we know it today, by sweeping away Aristotelian dogmas, misconceptions and mere superstition, thus most profoundly changing our conception of the world and our place in it. In the process, Galileos new ideas transformed society and mankind irreversibly and changed our view of the Universe, including our own planet, forever. It is hoped that this book may contribute in some small, humble way to further these, once upon a time, mind-bogglingand dangerousideas of intellectual freedom and enlightment. Thanks are also due to J O H A N S J H O L M , K R I S T O F F E R PA L M E R , M A R C U S E R I K S S O N , and J O H A N L I N D B E R G who during their work on their Diploma theses suggested improvements and additions and to H O L G E R T H E N and S TA F F A N Y N G V E for carefully checking some lengthy calculations and to the numerous undergraduate students, who have been exposed to various draft versions of this second edtion. In particular, I would like to mention B RU N O S T R A N D B E R G. This book is dedicated to my son M AT T I A S , my daughter K A RO L I NA , my four grandsons M A X , A L B I N , F I L I P and O S K A R , my high-school physics teacher, S TA F F A N R S B Y , and my fellow members of the C A P E L L A P E DAG O G I C A U P S A L I E N S I S . Padova, Italy February, 2011

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PR EFACE T O T H E F IR ST ED I T ION

Of the four known fundamental interactions in naturegravitational, strong, weak, and electromagneticthe latter has a special standing in the physical sciences. Not only does it, together with gravitation, permanently make itself known to all of us in our everyday lives. Electrodynamics is also by far the most accurate physical theory known, tested on scales running from sub-nuclear to galactic, and electromagnetic eld theory is the prototype of all other eld theories. This book, E L E C T RO M AG N E T I C F I E L D T H E O RY , which tries to give a modern view of classical electrodynamics, is the result of a more than thirty-ve year long love affair. In the autumn of 1972, I took my rst advanced course in electrodynamics at the Department of Theoretical Physics, Uppsala University. Soon I joined the research group there and took on the task of helping the late professor P E R O L O F F R M A N , who was to become my Ph.D. thesis adviser, with the preparation of a new version of his lecture notes on the Theory of Electricity. This opened my eyes to the beauty and intricacy of electrodynamics and I simply became intrigued by it. The teaching of a course in Classical Electrodynamics at Uppsala University, some twenty odd years after I experienced the rst encounter with the subject, provided the incentive and impetus to write this book. Intended primarily as a textbook for physics and engineering students at the advanced undergraduate or beginning graduate level, it is hoped that the present book will be useful for research workers too. It aims at providing a thorough treatment of the theory of electrodynamics, mainly from a classical eld-theoretical point of view. The rst chapter is, by and large, a description of how Classical Electrodynamics was established by J A M E S C L E R K M A X W E L L as a fundamental theory of nature. It does so by introducing electrostatics and magnetostatics and demonstrating how they can be unied into one theory, classical electrodynamics, summarised in Lorentzs microscopic formulation of the Maxwell equations. These equations are used as an axiomatic foundation for the treatment in the remainder of the book, which includes modern formulation of the theory; electromagnetic waves and their propagation; electromagnetic potentials and gauge transformations; analysis of symmetries and conservation laws describing the electromagnetic counterparts of the classical concepts of force, momentum and energy, plus other fundamental properties of the electromagnetic eld; radiation phenomena; and covariant Lagrangian/Hamiltonian eld-theoretical methods for electromagnetic elds, particles and interactions. Emphasis has been put on modern electrodynamics concepts while the mathematical tools used, some of them presented in an Appendix, are essentially the same kind of vector and tensor analysis methods that are used in intermediate level textbooks on electromagnetics but perhaps a bit more advanced and far-reaching. The aim has been to write a book that can serve both as an advanced text in Classical Electrodynamics and as a preparation for studies in Quantum Electrodynamics and Field Theory, as well as more applied subjects such as Plasma Physics, Astrophysics, Condensed Matter Physics, Optics, Antenna Engineering, and Wireless Communications. The current version of the book is a major revision of an earlier version, which in turn was an

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Uppsala, Sweden December, 2008

outgrowth of the lecture notes that the author prepared for the four-credit course Electrodynamics that was introduced in the Uppsala University curriculum in 1992, to become the ve-credit course Classical Electrodynamics in 1997. To some extent, parts of those notes were based on lecture notes prepared, in Swedish, by my friend and Theoretical Physics colleague B E N G T L U N D B O R G , who created, developed and taught an earlier, two-credit course called Electromagnetic Radiation at our faculty. Thanks are due not only to Bengt Lundborg for providing the inspiration to write this book, but also to professor C H R I S T E R WA H L B E R G , and professor G R A N F L D T , both at the Department of Physics and Astronomy, Uppsala University, for insightful suggestions, to professor J O H N L E A R N E D , Department of Physics and Astronomy, University of Hawaii, for decisive encouragement at the early stage of this book project, to professor G E R A R D U S T H O O F T , for recommending this book on his web page How to become a good theoretical physicist, and professor C E C I L I A J A R L S KO G , Lund Unversity, for pointing out a couple of errors and ambiguities. I am particularly indebted to the late professor V I TA L I Y L A Z A R E V I C H G I N Z B U R G , for his many fascinating and very elucidating lectures, comments and historical notes on plasma physics, electromagnetic radiation and cosmic electrodynamics while cruising up and down the Volga and Oka rivers in Russia at the ship-borne Russian-Swedish summer schools that were organised jointly by late professor L E V M I K A H I L OV I C H E RU K H I M OV and the author during the 1990s, and for numerous deep discussions over the years. Helpful comments and suggestions for improvement from former PhD students T O B I A C A RO Z Z I , R O G E R K A R L S S O N , and M AT T I A S WA L D E N V I K , as well as A N D E R S E R I K S S O N at the Swedish Institute of Space Physics in Uppsala and who have all taught Uppsala students on the material covered in this book, are gratefully acknowledged. Thanks are also due to the late H E L M U T K O P K A , for more than twenty-ve years a close friend and space physics colleague working at the Max-Planck-Institut fr Aeronomie, Lindau, Germany, who not only taught me the practical aspects of the use of high-power electromagnetic radiation for studying space, but A also some of the delicate aspects of typesetting in TEX and L TEX. In an attempt to encourage the involvement of other scientists and students in the making of this book, thereby trying to ensure its quality and scope to make it useful in higher university education anywhere in the world, it was produced as a World-Wide Web (WWW) project. This turned out to be a rather successful move. By making an electronic version of the book freely downloadable on the Internet, comments have been received from fellow physicists around the world. To judge from WWW hit statistics, it seems that the book serves as a frequently used Internet resource. This way it is hoped that it will be particularly useful for students and researchers working under nancial or other circumstances that make it difcult to procure a printed copy of the book. I would like to thank all students and Internet users who have downloaded and commented on the book during its life on the World-Wide Web.

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F O U N DAT ION S O F C L A SS I CA L E L EC T RO D Y N A MI C S

The classical theory of electromagnetism deals with electric and magnetic elds and their interaction with each other and with charges and currents. This theory is classical in the sense that it assumes the validity of certain mathematical limiting processes in which it is considered possible for the charge and current distributions to be localised in innitesimally small volumes of space.1 Clearly, this is in contradistinction to electromagnetism on an atomistic scale, where charges and currents have to be described in a nonlocal quantum formalism. However, the limiting processes used in the classical domain, which, crudely speaking, assume that an elementary charge has a continuous distribution of charge density, will yield results that agree perfectly with experiments on non-atomistic scales, however small or large these scales may be.2 It took the genius of J A M E S C L E R K M A X W E L L to consistently unify, in the mid-1800s, the theory of Electricity and the then distinctively different theory Magnetism into a single super-theory, Electromagnetism or Classical Electrodynamics (CED), and also to realise that optics is a sub-eld of this supertheory. Early in the 20th century, H E N D R I K A N T O O N L O R E N T Z took the electrodynamics theory further to the microscopic scale and also paved the way for the Special Theory of Relativity, formulated in its full extent by A L B E RT E I N S T E I N in 1905. In the 1930s PAU L A D R I E N M AU R I C E D I R AC expanded electrodynamics to a more symmetric form, including magnetic as well as electric charges. With his relativistic quantum mechanics and eld quantisation concepts, Dirac had already in the 1920s laid the foundation for Quantum Electrodynamics (QED ), the relativistic quantum theory for electromagnetic elds and their interaction with matter for which R I C H A R D P H I L L I P S F E Y N M A N , J U L I A N S E Y M O U R S C H W I N G E R , and S I N -I T I RO T O M O NAG A were awarded the Nobel Prize in Physics in 1965. Around the same time, physicists such as S H E L D O N G L A S H OW , A B D U S S A L A M , and S T E V E N W E I N B E R G were able to unify electrodynamics with the weak interaction theory, thus creating yet another successful super-theory, Electroweak Theory , an achievement which rendered them the Nobel Prize in Physics 1979. The modern theory of strong interactions, Quantum Chromodynamics (QCD ), is heavily inuenced by CED and QED.

R

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1 2

Accepting the mere existence of an electrically charged particle requires some careful thinking. In his excellent book Classical Charged Particles, F R I T Z R O H R L I C H writes To what extent does it make sense to talk about an electron, say, in classical terms? These and similar questions clearly indicate that ignoring philosophy in physics means not understanding physics. For there is no theoretical physics without some philosophy; not admitting this fact would be selfdeception.

Electrodynamics has been tested experimentally over a larger range of spatial scales than any other existing physical theory.

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1.1 Electrostatics

The physicist, mathematician and philosopher P I E R R E M AU R I C E M A R I E D U H E M (18611916) once wrote: The whole theory of electrostatics constitutes a group of abstract ideas and general propositions, formulated in the clear and concise language of geometry and algebra, and connected with one another by the rules of strict logic. This whole fully satises the reason of a French physicist and his taste for clarity, simplicity and order. . . .

3

C H A R L E S - AU G U S T I N D E C O U L O M B (17361806) was a French physicist who in 1775 published three reports on the forces between electrically charged bodies.

The theory that describes physical phenomena related to the interaction between stationary electric charges or charge distributions in a nite space with stationary boundaries is called electrostatics . For a long time, electrostatics, under the name electricity , was considered an independent physical theory of its own, alongside other physical theories such as Magnetism, Mechanics, Optics, and Thermodynamics.3

It has been found experimentally that the force interaction between stationary, electrically charged bodies can be described in terms of two-body mechanical forces. Based on these experimental observations, Coulomb4 postulated, in 1775, that in the simple case depicted in gure 1.1 on the facing page, the mechanical force on a static electric charge q located at the eld point (observation point ) x, due to the presence of another stationary electric charge q 0 at the source point x0 , is directed along the line connecting these two points, repulsive for charges of equal signs and attractive for charges of opposite signs. This postulate is called Coulombs law

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In this introductory chapter we start with the force interactions in classical electrostatics and classical magnetostatics, introduce the corresponding static electric and magnetic elds and postulate two uncoupled systems of differential equations for them. We continue by showing that the conservation of electric charge and its relation to electric current lead to a dynamic connection between electricity and magnetism and how the two can be unied into Classical Electrodynamics. This theory is described by a system of coupled dynamic eld equations the microscopic versions of Maxwells differential equations introduced by Lorentz which, in chapter 2, we take as the axiomatic foundation of the theory of electromagnetic elds and the basis for the treatment in the rest of the book. At the end of this chapter 1 we present Diracs symmetrised form of the Maxwell-Lorentz equations that incorporate magnetic charges and magnetic currents into the theory in a symmetric way. In practical work, such as in antenna engineering, magnetic currents have proved to be a very useful concept. We shall make some use of this symmetrised theory of electricity and magnetism.

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j3

q x x

x0

q0 x0

Figure 1.1: Coulombs law postulates that a static electric charge q , located at a point x relative to the origin O , will experience an electrostatic force F es .x/ from a static electric charge q 0 located at x0 . Note that this denition is independent of any particular choice of coordinate system since the mechanical force F es is a true (polar) vector.

F es .x/ D

qq 0 x x0 D 4 "0 jx x0 j3

qq 0 1 r 4 "0 jx x0 j

A

Estat .x/

def

where, in the last step, formula (F.114) on page 218 was used. In SI units , which we shall use throughout, the electrostatic force5 F es is measured in Newton (N), the electric charges q and q 0 in Coulomb (C), i.e. Ampere-seconds (As), and the length jx x0 j in metres (m). The constant "0 D 107 =.4 c 2 / Farad per metre (Fm 1 ) is the permittivity of free space and c ms 1 is the speed of light in vacuum.6 In CGS units , "0 D 1=.4 / and the force is measured in dyne, electric charge in statcoulomb, and length in centimetres (cm).

Instead of describing the electrostatic interaction in terms of a force action at a distance, it turns out that for many purposes it is useful to introduce the concept of a eld. Thus we describe the electrostatic interaction in terms of a static vectorial electric eld Estat dened by the limiting process

F es .x/ q !0 q lim

where F es is the electrostatic force, as dened in equation (1.1) above, from a net electric charge q 0 on the test particle with a small net electric charge q . In the SI system of units, electric elds are therefore measured in NC 1 or, equivalently, in Vm 1 . Since the purpose of the limiting process is to ascertain that the test charge q does not distort the eld set up by q 0 , the expression for Estat does not depend explicitly on q but only on the charge q 0 and the relative position vector x x0 . This means that we can say that any net electric charge produces

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D qq 0 0 1 r 4 "0 jx x0 j (1.1)

5 6

Massive particles also interact gravitationally but with a force that is typically 10 36 times weaker.

The notation c for speed stems from the Latin word celeritas which means swiftness. This notation seems to have been introduced by W I L H E L M E D UA R D W E B E R (18041891), and R U D O L F K O H L R AU S C H (1809 1858) and c is therefore sometimes referred to as Webers constant . In all his works from 1907 and onward, A L B E RT E I N S T E I N (18791955) used c to denote the speed of light in free space.

(1.2)

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In the preface to the rst edition of the rst volume of his book A Treatise on Electricity and Magnetism, rst published in 1873, Maxwell describes this in the following almost poetic manner: For instance, Faraday, in his minds eye, saw lines of force traversing all space where the mathematicians saw centres of force attracting at a distance: Faraday saw a medium where they saw nothing but distance: Faraday sought the seat of the phenomena in real actions going on in the medium, they were satised that they had found it in a power of action at a distance impressed on the electric uids.

an electric eld in the space that surrounds it, regardless of the existence of a second charge anywhere in this space.7 However, in order to experimentally detect a charge, a second (test) charge that senses the presence of the rst one, must be introduced. Using equations (1.1) and (1.2) on the previous page, and formula (F.114) on page 218, we nd that the electrostatic eld Estat at the observation point x (also known as the eld point ), due to a eld-producing electric charge q 0 at the source point x0 , is given by Estat .x/ D q 0 x x0 D 4 "0 jx x0 j3 q0 1 r 4 "0 j x x0 j D q0 1 r0 4 "0 j x x0 j (1.3)

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1 X 0 x x0 i qi 4 "0 x x0 3 i i 1 x x0 dq 0 4 "0 jx x0 j3 1 x x0 d3x 0 .x0 / 4 "0 jx x0 j3 Z

V0

In the presence of several eld producing discrete electric charges qi0 , located at the points x0 i , i D 1; 2; 3; : : : , respectively, in otherwise empty space, the assumption of linearity of vacuum8 allows us to superimpose their individual electrostatic elds into a total electrostatic eld Estat .x/ D ( 1 .4 )

A

dEstat .x/ D dEstat .x/ D Z dE Z

V0 stat

In fact, a vacuum exhibits a quantum mechanical non-linearity due to vacuum polarisation effects, manifesting themselves in the momentary creation and annihilation of electron-positron pairs, but classically this nonlinearity is negligible.

If the discrete electric charges are small and numerous enough, we can, in a continuum limit, assume that the total charge q 0 from an extended volume to be built up by local innitesimal elemental charges dq 0 , each producing an elemental electric eld (1.5)

R D

E

stat

By introducing the electric charge density , measured in Cm 3 in SI units, at 0 0 0 the point x0 within the volume element d3x 0 D dx1 dx 2 dx 3 (measured in m3 ), 0 3 0 0 the elemental charge can be expressed as dq D d x .x /, and the elemental electrostatic eld as ( 1 .6 )

Integrating this over the entire source volume V 0 , we obtain .x/ D 1 4 "0 1 .x / D 4 "0 jx d3x 0 .x0 / D x x0 (1.7)

d3x 0 .x0 /r

1 x0 j

where we used formula (F.114) on page 218 and the fact that .x0 / does not depend on the unprimed (eld point) coordinates on which r operates.

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q x

x0 i

qi0 x0 i

Figure 1.2: Coulombs law for a continuous charge density .x0 / within a volume V 0 of limited extent. In particular, a charge denPN 0 0 sity .x0 / D x0 i qi .x i/ would represent a source distribution consisting of N discrete 0 charges qi located at x0 i , where i D 1; 2; 3; : : : ; N .

V0

We emphasise that under the assumption of linear superposition, equation (1.7) on the facing page is valid for an arbitrary distribution of electric charges, including discrete charges, in which case is expressed in terms of Dirac delta distributions:9 X .x0 / D qi0 .x0 x0 (1.8) i/

i

which is the differential form of Gausss law of electrostatics . Since, according to formula (F.100) on page 218, r r .x/ 0 for any R3 scalar eld .x/, we immediately nd that in electrostatics Z 1 .x0 / r Estat .x/ D r r D0 (1.9b) d3x 0 4 "0 j x x0 j V0

i.e. that Estat is a purely irrotational eld. To summarise, electrostatics can be described in terms of two vector partial differential equations r Estat .x/ D r .x/ "0 Estat .x/ D 0 (1.10a) (1.10b)

as illustrated in gure 1.2. Inserting this expression into expression (1.7) on the facing page we recover expression (1.4) on the preceding page, as we should. According to Helmholtzs theorem , discussed in subsection M.3.7, any wellbehaved vector eld is completely known once we know its divergence and curl at all points x in 3D space.10 Taking the divergence of the general Estat expression for an arbitrary electric charge distribution, equation (1.7) on the facing page, and applying formula (F.126) on page 220 [see also equation (M.75) on page 244], we obtain Z .x/ .x0 / 1 stat (1.9a) r E .x / D D r r d3x 0 0j 0 4 "0 x x " j 0 V

FT

9

V0

.y

0 yi /.z 0

0 zi /D1

is dimensionless, and x has the SI dimension m, the 3D Dirac delta distribution .x0 x0 i / must have the SI dimension m 3 .

10

L U DW I G F E R H E L M H O LT Z (18211894) was a physicist, physician and philosopher who contributed to wide areas of science, ranging from electrodynamics to ophthalmology.

HERMANN D I NA N D VO N

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6j

1.2 Magnetostatics

Whereas electrostatics deals with static electric charges (electric charges that do not move), and the interaction between these charges, magnetostatics deals with static electric currents (electric charges moving with constant speeds), and the interaction between these currents. Here we shall discuss the theory of magnetostatics in some detail.

R

"0

0

ANDR-MARIE AMPRE (17751836) was a French mathematician and physicist who, only a few days after he learned about the ndings by the Danish physicist and chemist H A N S C H R I S T I A N R S T E D (17771851) regarding the magnetic effects of electric currents, presented a paper to the Acadmie des Sciences in Paris, postulating the force law that now bears his name.

11

A

F ms .x/ D D

0 II 0

Experiments on the force interaction between two small loops that carry static electric currents I and I 0 (i.e. the currents I and I 0 do not vary in time) have shown that the loops interact via a mechanical force, much the same way that static electric charges interact. Let F ms .x/ denote the magnetostatic force on a loop C , with tangential line vector element dl, located at x and carrying a current I in the direction of dl, due to the presence of a loop C 0 , with tangential line element dl0 , located at x0 and carrying a current I 0 in the direction of dl0 in otherwise empty space. This spatial conguration is illustrated in graphical form in gure 1.3 on the facing page. According to Ampres law the magnetostatic force in question is given by the expression11 I dl

C 0 II 0 C0

FT

I I dl

C C0

4 4

dl 0 I dl

0

x jx

x0 (1.11)

x0 j3 1 r j x x0 j

In SI units, 0 D 4 10 7 Henry per metre (Hm 1 ) is the permeability of free space . From the denition of "0 and 0 (in SI units) we observe that D 107 (Fm 4 c2

1

10

(Hm

) D

1 2 (s m c2

(1.12)

which is a most useful relation. At rst glance, equation (1.11) above may appear asymmetric in terms of the loops and therefore be a force law that does not obey Newtons third law. However, by applying the vector triple product bac-cab formula (F.53) on page 216,

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1.2. Magnetostatics

j7

C I dl x x x0 I 0 dl 0 C0 x0

Figure 1.3: Ampres law postulates how a small loop C , carrying a static electric current I directed along the line element dl at x, experiences a magnetostatic force F ms .x/ from a small loop C 0 , carrying a static electric current I 0 directed along the line element dl0 located at x0 .

ms 0 II 0

I dl

C0

I I

4

0 II 0

I dl

C

C0

D

dBstat .x/

In analogy with the electrostatic case, we may attribute the magnetostatic force interaction to a static vectorial magnetic eld Bstat . The small elemental static magnetic eld dBstat .x/ at the eld point x due to a line current element di 0 .x0 / D I 0 dl0 .x0 / D d3x 0 j .x0 / of static current I 0 with electric current density j , measured in Am 2 in SI units, directed along the local line element dl0 of the loop at x0 , is dF ms .x/ 0 D di 0 .x0 / I !0 I 4 x x0 0 3 0 D d x j .x0 / 4 j x x0 j 3

def

R

lim

which clearly exhibits the expected interchange symmetry between loops C and C 0.

A

jx

Since the integrand in the rst integral over C is an exact differential, this integral vanishes and we can rewrite the force expression, formula (1.11) on the preceding page, in the following symmetric way I 0 I x x0 0 II ms F .x / D dl dl0 (1.14) 4 jx x0 j3 C C0

FT

dl r dl

0

j x x0 j x x0 x0 j 3

(1.13)

jx

x0 x0 j3 (1.15)

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8j

A

C

where we used formula (F.114) on page 218, formula (F.87) on page 217, and the fact that j .x0 / does not depend on the unprimed coordinates on which r operates. Comparing equation (1.7) on page 4 with equation (1.16) above, we see that there exists an analogy between the expressions for Estat and Bstat but that they differ in their vectorial characteristics. With this denition of Bstat , equation (1.11) on page 6 may be written I I F ms .x/ D I dl Bstat .x/ D di Bstat .x/ (1.17)

C

In order to assess the properties of Bstat , we determine its divergence and curl. Taking the divergence of both sides of equation (1.16) above and utilising formula (F.99) on page 218, we obtain Z j .x0 / 0 r r D0 (1.18) d3x 0 r Bstat .x/ D 4 j x x0 j V0

since, according to formula (F.99) on page 218, r .r a/ vanishes for any vector eld a.x/. With the use of formula (F.128) on page 220, the curl of equation (1.16) above can be written Z j .x0 / 0 stat r B .x / D r r d3x 0 4 j x x0 j V0 (1.19) Z 1 0 3 0 0 0 0 d x r j .x /r D 0 j .x / 4 jx x0 j V0

FT

which is the differential form of the Biot-Savart law. The elemental eld vector dBstat .x/ at the eld point x is perpendicular to the plane spanned by the line current element vector di 0 .x0 / at the source point x0 , and the relative position vector x x0 . The corresponding local elemental force dF ms .x/ is directed perpendicular to the local plane spanned by dBstat .x/ and the line current element di .x/. The SI unit for the magnetic eld, sometimes called the magnetic ux density or magnetic induction , is Tesla (T). If we integrate expression (1.15) on the preceding page around the entire loop at x, we obtain Z Bstat .x/ D dBstat .x/ Z x x0 0 D d3x 0 j .x0 / 4 jx x0 j3 V0 (1.16) Z 1 0 d3x 0 j .x0 / r D 4 jx x0 j V0 Z 0 j .x / 0 D r d3x 0 0 4 x x0 j j V

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1.3. Electrodynamics

j9

assuming that j .x0 / falls off sufciently fast at large distances. For the stationary currents of magnetostatics, r j D 0 since there cannot be any charge accumulation in space. Hence, the last integral vanishes and we can conclude that r Bstat .x/ D

0 j .x /

(1.20)

1.3 Electrodynamics

As we saw in the previous sections, the laws of electrostatics and magnetostatics can be summarised in two pairs of time-independent, uncoupled partial differential equations, namely the equations of classical electrostatics r Estat .x/ D r .x/ "0 Estat .x/ D 0

A

B

stat

Since there is nothing a priori that connects Estat directly with Bstat , we must consider classical electrostatics and classical magnetostatics as two separate and mutually independent physical theories. However, when we include time-dependence, these theories are unied into Classical Electrodynamics . This unication of the theories of electricity and magnetism can be inferred from two empirically established facts: 1. Electric charge is a conserved quantity and electric current is a transport of electric charge. As we shall see, this fact manifests itself in the equation of continuity and, as a consequence, in Maxwells displacement current .

2. A change in the magnetic ux through a loop will induce an electromotive force electric eld in the loop. This is the celebrated Faradays law of induction .

FT

(1.21a) (1.21b) (1.21c) (1.21d)

0 j .x /

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10 j

Let j .t; x/ denote the time-dependent electric current density. In the simplest case it can be dened as j D v where v is the velocity of the electric charge density .12 The electric charge conservation law can be formulated in the equation of continuity for electric charge @ .t; x/ C r j .t; x/ D 0 @t or @ .t; x/ D @t r j .t; x/ (1.23) (1.22)

13

Later, we will need to consider this generalisation and formal identication further.

R

r B.t; x/ D

0

We recall from the derivation of equation (1.20) on the previous page that there we used the fact that in magnetostatics r j .x/ D 0. In the case of nonstationary sources and elds, we must, in accordance with the continuity equation (1.22) above, set r j .t; x/ D @ .t; x/=@t . Doing so, and formally repeating the steps in the derivation of equation (1.20) on the previous page, we would obtain the result Z 1 @ .t; x0 / 0 0 (1.24) r B.t; x/ D 0 j .t; x/ C d3x 0 r 0 4 @t j x x0 j V

If we assume that equation (1.7) on page 4 can be generalised to time-varying elds, we can make the identication13 Z 1 @ 1 d3x 0 .t; x0 /r 0 4 "0 @t V 0 j x x0 j Z @ 1 1 D d3x 0 .t; x0 /r (1.25) @t 4 "0 V 0 jx x0 j Z @ 1 .t; x0 / @ D r d3x 0 D E.t; x/ 0 @t 4 "0 @t jx x j V0 The result is Maxwells source equation for the B eld j .t; x/ C @ "0 E.t; x/ D @t

0 j .t; x/

FT

C

0 "0

A more accurate model is to assume that the individual charge and current elements obey some distribution function that describes their local variation of velocity in space and time. For instance, j can be dened in statistical mechanical R 3terms as j .t; x/ D P q d v v f .t; x; v / where f .t; x; v / is the (normalised) distribution function for particle species carrying an electric charge q .

12

which states that the time rate of change of electric charge .t; x/ is balanced by a negative divergence in the electric current density j .t; x/, i.e. an inux of charge. Conservation laws will be studied in more detail in chapter 4.

@ E.t; x/ @t (1.26)

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1.3. Electrodynamics

j 11

where "0 @E.t; x/=@t is the famous displacement current . This, at the time, unobserved current was introduced by Maxwell, in a stroke of genius, in order to make also the right-hand side of this equation divergence-free when j .t; x/ is assumed to represent the density of the total electric current. This total current can be split up into ordinary conduction currents, polarisation currents and magnetisation currents. This will be discussed in subsection 9.1 on page 188. The displacement current behaves like a current density owing in free space. As we shall see later, its existence has far-reaching physical consequences as it predicts that such physical observables as electromagnetic energy, linear momentum, and angular momentum can be transmitted over very long distances, even through empty space.

If an electric eld E.t; x/ is applied to a conducting medium, a current density j .t; x/ will be set up in this medium. But also mechanical, hydrodynamical and chemical processes can give rise to electric currents. Under certain physical conditions, and for certain materials, one can assume that a linear relationship exists between the electric current density j and E. This approximation is called Ohms law :14

where is the electric conductivity measured in Siemens per metre (Sm 1 ). We can view Ohms law equation (1.27) as the rst term in a Taylor expansion of a general law j E.t; x/. This general law incorporates non-linear effects such as frequency mixing and frequency conversion . Examples of media that are highly non-linear are semiconductors and plasma. We draw the attention to the fact that even in cases when the linear relation between E and j is a good approximation, we still have to use Ohms law with care. The conductivity is, in general, time-dependent (temporal dispersive media ) but then it is often the case that equation (1.27) above is valid for each individual temporal Fourier (spectral) component of the eld. In some media, such as magnetised plasma and certain material, the conductivity is different in different directions. For such electromagnetically anisotropic media (spatial dispersive media ) the scalar electric conductivity in Ohms law equation (1.27) has to be replaced by a conductivity tensor . If the response of the medium is not only anisotropic but also non-linear, higher-order tensorial terms have to be included. If the current is caused by an applied electric eld E.t; x/, this electric eld will exert work on the charges in the medium and, unless the medium is superconducting, there will be some energy loss. The time rate at which this energy is

j .t; x/ D E.t; x/

FT

14

(1.27)

In semiconductors this approximation is in general applicable only for a limited range of E. This property is used in semiconductor diodes for rectifying alternating currents.

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12 j

expended is j E per unit volume (Wm 3 ). If E is irrotational (conservative), j will decay away with time. Stationary currents therefore require that an electric eld due to an electromotive force (EMF ) is present. In the presence of such a eld Eemf , Ohms law, equation (1.27) on the previous page, takes the form j D .Estat C Eemf / The electromotive force is dened as I E D dl .Estat C Eemf /

C

(1.28)

(1.29)

In subsection 1.1.2 we derived the differential equations for the electrostatic eld. Specically, on page 5 we derived equation (1.9b) stating that r Estat D 0 and hence that Estat is a conservative eld (it can be expressed as a gradient of a scalar eld). This implies that the closed line integral of Estat in equation (1.29) above vanishes and that this equation becomes I E D dl Eemf (1.30)

C

It has been established experimentally that a non-conservative EMF eld is produced in a closed circuit C at rest if the magnetic ux through this circuit varies with time. This is formulated in Faradays law which, in Maxwells generalised form, reads I d m .t/ E .t / D dl E.t; x/ D d t C Z Z (1.31) @ d O B.t; x/ D O D d2x n d2x n B.t; x/ dt S @t S where m is the magnetic ux and S is the surface encircled by C , interpreted as a generic stationary loop and not necessarily as a conducting circuit. Application of Stokes theorem on this integral equation, transforms it into the differential equation r E.t; x/ D @ B.t; x/ @t (1.32)

that is valid for arbitrary variations in the elds and constitutes the Maxwell equation which explicitly connects electricity with magnetism. Any change of the magnetic ux m will induce an EMF. Let us therefore consider the case, illustrated in gure 1.4 on the facing page, when the loop is

FT

The term electromotive force is something of a misnomer since E represents a voltage, i.e. its SI dimension is V.

15

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1.3. Electrodynamics

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B .x / O d2x n

B .x /

Figure 1.4: A loop C that moves with velocity v in a spatially varying magnetic eld B.x/ will sense a varying magnetic ux during the motion.

C dl

moved in such a way that it encircles a magnetic eld which varies during the movement. The total time derivative is evaluated according to the well-known operator formula d @ dx D C r dt @t dt

A

d @ D Cv r dt @t r r r B.t; x/ D 0

This follows immediately from the multivariate chain rule for the differentiation of an arbitrary differentiable function f .t; x.t//. Here, dx=dt describes a chosen path in space. We shall choose the ow path which means that dx=dt D v and (1.34)

D

r

where, in a continuum picture, v is the uid velocity. For this particular choice, the convective derivative dx=dt is usually referred to as the material derivative and is denoted Dx=Dt . Applying the rule (1.34) to Faradays law, equation (1.31) on the preceding page, we obtain Z Z Z d @B 2 2 O BD O O .v r /B E .t/ D d xn d xn d2x n (1.35) dt S @t S S Furthermore, taking the divergence of equation (1.32) on the facing page, we see that @ @ B.t; x/ D r B.t; x/ D @t @t E.t; x/ D 0 (1.36)

where in the last step formula (F.99) on page 218 was used. Since this is true for all times t , we conclude that (1.37)

FT

(1.33)

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14 j

also for time-varying elds; this is in fact one of the Maxwell equations. Using this result and formula (F.89) on page 217, we nd that r .B v / D .v r /B (1.38)

since, during spatial differentiation, v is to be considered as constant, This allows us to rewrite equation (1.35) on the previous page in the following way: I Z d O B E .t / D dl Eemf D d2x n dt S C Z Z (1.39) @B O r .B v / O d2x n D d2x n @t S S

FT

Z v B/ D O d2x n

S

With Stokes theorem applied to the last integral, we nally get I Z I @B emf 2 O E .t / D dl E D d xn d l .B v / @t C S C or, rearranging the terms, I dl .Eemf

C

(1.40)

@B @t

(1.41)

A

r .Eemf r

where Eemf is the eld induced in the loop, i.e. in the moving system. The application of Stokes theorem in reverse on equation (1.41) above yields v B/ D @B @t (1.42)

R D

E D Eemf

(1.43)

and an observer in the moving frame of reference measures the following Lorentz force on a charge q F D q Eemf D q E C q.v B/ (1.44)

corresponding to an effective electric eld in the loop (moving observer) Eemf D E C v B (1.45)

Hence, we conclude that for a stationary observer, the Maxwell equation ED @B @t (1.46)

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1.3. Electrodynamics

j 15

We are now able to collect the results from the above considerations and formulate the equations of classical electrodynamics, valid for arbitrary variations in time and space of the coupled electric and magnetic elds E.t; x/ and B.t; x/. The equations are, in SI units ,16 r ED (1.47a) (1.47b) (1.47c)

0j

16

"0 r BD0 r r EC B @B D0 @t 1 @E D c 2 @t

In these equations D .t; x/ represents the total, possibly both time and space dependent, electric charge density, with contributions from free as well as induced (polarisation) charges. Likewise, j D j .t; x/ represents the total, possibly both time and space dependent, electric current density, with contributions from conduction currents (motion of free charges) as well as all atomistic (polarisation and magnetisation) currents. As they stand, the equations therefore incorporate the classical interaction between all electric charges and currents, free or bound, in the system and are called Maxwells microscopic equations . They were rst formulated by Lorentz and therefore another name frequently used for them is the Maxwell-Lorentz equations and the name we shall use. Together with the appropriate constitutive relations that relate and j to the elds, and the initial and boundary conditions pertinent to the physical situation at hand, they form a system of well-posed partial differential equations that completely determine E and B.

FT

r r B r r B

17

(1.47d)

JULIAN SEYMOUR S C H W I N G E R (19181994) once put it: . . . there are strong theoretical reasons to believe that magnetic charge exists in nature, and may have played an important role in the development of the Universe. Searches for magnetic charge continue at the present time, emphasising that electromagnetism is very far from being a closed object. The magnetic monopole was rst postulated by P I E R R E C U R I E (18591906) and inferred from experiments in 2009.

If we look more closely at the microscopic Maxwell equations (1.47), we see that they exhibit a certain, albeit not complete, symmetry. Dirac therefore made the ad hoc assumption that there exist magnetic monopoles represented by a magnetic charge density , which we denote by m D m .t; x/, and a magnetic current density , which we denote by j m D j m .t; x/.17 With these new hypothetical physical entities included in the theory, and with the electric charge density denoted e and the electric current density denoted j e , the Maxwell-Lorentz equations will be symmetrised into the following two

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16 j

scalar and two coupled vectorial partial differential equations (SI units):

e

r ED r BD r r

"0

0 m m

(1.48a) (1.48b)

0j

@B EC D @t 1 @E B D c 2 @t

(1.48c) (1.48d)

0j

We shall call these equations Diracs symmetrised Maxwell equations or the electromagnetodynamic equations . Taking the divergence of (1.48c), we nd that

A FT

r .r E/ D @ .r B / @t

0r

jm

(1.49)

where we used the fact that the divergence of a curl always vanishes. Using (1.48b) to rewrite this relation, we obtain the equation of continuity for magnetic charge @ m C r jm D 0 @t (1.50)

which has the same form as that for the electric charges (electric monopoles) and currents, equation (1.22) on page 10.

E X A M P L E 1.1

1.4 Examples

P O S T U L AT E 1.1 (I NDESTRUCTIBILITY OF MAGNETIC CHARGE ) Magnetic charge exists and is indestructible in the same way that electric charge exists and is indestructible. In other words, we postulate that there exists an equation of continuity for magnetic charges: @

m .t; x/

@t

C r j m .t; x/ D 0

(1.51)

Use this postulate and Diracs symmetrised form of Maxwells equations to derive Faradays law. The assumption of the existence of magnetic charges suggests a Coulomb-like law for mag-

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1.4. Examples

j 17

0

Z

V0

j x x0 j 3 Z m .x0 / 0 r d3x 0 0 4 j x x0 j V

d3x 0

.x0 /

x0

Z

V0

d3x 0

.x0 /r

1 jx x0 j (1.52)

[cf. equation (1.7) on page 4 for Estat ] and, if magnetic currents exist, a Biot-Savart-like law for electric elds [cf. equation (1.16) on page 8 for Bstat ]: Estat .x/ D D

0

Z

V0

4

0

x jx x0 j

x0 x0 j3

Z

V0

d3x 0 j m .x0 /

1 jx x0 j

j m .x0 / jx (1.53)

V0

Taking the curl of the latter and using formula (F.128) on page 220 r Estat .x/ D

0j m

. x/

assuming that j m falls off sufciently fast at large distances. Stationarity means that r j m D 0 so the last integral vanishes and we can conclude that r Estat .x/ D

0j m

It is intriguing to note that if we assume that formula (1.53) above is valid also for timevarying magnetic currents, then, with the use of the representation of the Dirac delta function, equation (F.116) on page 218, the equation of continuity for magnetic charge, equation (1.50) on the preceding page, and the assumption of the generalisation of equation (1.52) above to time-dependent magnetic charge distributions, we obtain, at least formally,

R

r E.t; x/ D

0j

[cf. equation (1.24) on page 10] which we recognise as equation (1.48c) on the facing page. A transformation of this electromagnetodynamic result by rotating into the electric realm of charge space, thereby letting j m tend to zero, yields the electrodynamic equation (1.47c) on page 15, i.e. the Faraday law in the ordinary Maxwell equations. This process would also provide an alternative interpretation of the term @B=@t as a magnetic displacement current , dual to the electric displacement current [cf. equation (1.26) on page 10]. By postulating the indestructibility of a hypothetical magnetic charge, and assuming a direct extension of results from statics to dynamics, we have been able to replace Faradays experimental results on electromotive forces and induction in loops as a foundation for the Maxwell equations by a more fundamental one. At rst sight, this result seems to be in conict with the concept of retardation. Therefore a more detailed analysis of it is required. This analysis is left to the reader. End of example 1.1

A FT

0

V0

d3x 0 r 0 j m .x0 /r 0

jx

x0 j

(1.54)

.x/

(1.55)

.t; x/

@ B.t; x/ @t

(1.56)

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18 j

1.5 Bibliography

[1] T. W. BARRETT AND D. M. G RIMES, Advanced Electromagnetism. Foundations, Theory and Applications, World Scientic Publishing Co., Singapore, 1995, ISBN 981-02-2095-2. R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc., New York, NY, 1982, ISBN 0-486-64290-9. W. G REINER, Classical Electrodynamics, Springer-Verlag, New York, Berlin, Heidelberg, 1996, ISBN 0-387-94799-X. E. H ALLN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962. K. H UANG, Fundamental Forces of Nature. The Story of Gauge Fields, World Scientic Publishing Co. Pte. Ltd, New Jersey, London, Singapore, Beijing, Shanghai, Hong Kong, Taipei, and Chennai, 2007, ISBN 13-978-981-250-654-4 (pbk). J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc., New York, NY . . . , 1999, ISBN 0-471-30932-X. L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth revised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd., Oxford . . . , 1975, ISBN 0-08-025072-6. F. E. L OW, Classical Field Theory, John Wiley & Sons, Inc., New York, NY . . . , 1997, ISBN 0-471-59551-9. J. C. M AXWELL, A Treatise on Electricity and Magnetism, third ed., vol. 1, Dover Publications, Inc., New York, NY, 1954, ISBN 0-486-60636-8.

[2]

[3]

[4] [5]

[6]

[7]

[8]

[9]

[10] J. C. M AXWELL, A Treatise on Electricity and Magnetism, third ed., vol. 2, Dover Publications, Inc., New York, NY, 1954, ISBN 0-486-60637-8.

[11] D. B. M ELROSE AND R. C. M C P HEDRAN, Electromagnetic Processes in Dispersive Media, Cambridge University Press, Cambridge . . . , 1991, ISBN 0-521-41025-8.

[12] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6.

[13] F. ROHRLICH, Classical Charged Particles, third ed., World Scientic Publishing Co. Pte. Ltd., New Jersey, London, Singapore, . . . , 2007, ISBN 0-201-48300-9. [14] J. A. S TRATTON, Electromagnetic Theory, McGraw-Hill Book Company, Inc., New York, NY and London, 1953, ISBN 07-062150-0.

[15] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc., New York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-57269-1.

FT

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2

E L EC T ROM AG N E T I C F I E L D S A N D WAV E S

As a rst step in the study of the dynamical properties of the classical electromagnetic eld, we shall in this chapter, as an alternative to the rst-order Maxwell-Lorentz equations, derive a set of second-order differential equations for the elds E and B. It turns out that these second-order equations are wave equations for the eld vectors E and B, indicating that electromagnetic vector wave modes are very natural and common manifestations of classical electrodynamics.1 But before deriving these alternatives to the Maxwell-Lorentz equations, we shall discuss the mathematical techniques of making use of complex variables to represent physical observables in order to simplify the mathematical treatment. In this chapter we will also describe how to make use of the single spectral component (Fourier component) technique, which simplies the algebra, at the same time as it claries the physical content.

In chapter 1 we described the historical route which led to the formulation of the microscopic Maxwell equations. From now on we shall consider these equations as postulates , i.e. as the axiomatic foundation of classical electrodynamics .2 As such, these equations postulate, in scalar and vector differential equation form, the behaviour in time t 2 R and in space x 2 R3 of the relation between the electric and magnetic elds E.t; x/ 2 R3 and B.t; x/ 2 R3 , respectively, and the charge density .t; x/ 2 R and current density j .t; x/ 2 R3 [cf. equations (1.47) on page 15]

R

EC B @B D0 @t 1 @E D c 2 @t

0j

A

19

D

r ED "0 r BD0 r r

FT

2

We have strong reason to conclude that light itself including radiant heat and other radiation, if any is an electromagnetic disturbance in the form of waves propagated through the electro-magnetic eld according to electromagnetic laws.

F R I T Z R O H R L I C H writes in Classical Charged Particles that A physical theory, in the narrow sense of the word, is a logical structure based on assumptions and denitions which permits one to predict the outcome of a maximum number of different experiments on the basis of a minimum number of postulates. One usually desires the postulates (or axioms) to be as self-evident as possible; one demands simplicity, beauty, and even elegance.

(Gausss law)

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20 j

FT

e

and are not to be viewed as equations that only describe how the elds E and B are generated by and j , but also the other way around. We reiterate that in these equations .t; x/ and j .t; x/ are the total charge and current densities, respectively. Hence, these equations are considered microscopic in the sense that all charges and currents, including the intrinsic ones in matter, such as bound charges in atoms and molecules as well as magnetisation currents in magnetic material, are included, but macroscopic in the sense that quantum effects are neglected. Despite the fact that the charge and current densities may not only be considered as the sources of the elds, but may equally well be considered being generated by the elds, we shall follow the convention and refer to them as the source terms of the microscopic Maxwell equations. Analogously, the two equations where they appear will be referred to as the Maxwell-Lorentz source equations . I we allow for magnetic charge and current densities m and j m , respectively, in addition to electric charge and current densities e and j e j, we will have to replace the Maxwell-Lorentz equations by Diracs symmetrised equations r ED "0 (2.2a) (2.2b) (2.2c) (2.2d)

r BD r r

c 2 "0

0j

A

EC B

@B D @t 1 @E D c 2 @t

0j

A physical observable is something that can, one way or another, be ultimately reduced to an input to the human sensory system. In other words, physical observables quantify (our perception of) the physical reality and as such they must, of course, be described by real-valued quantities.

In order to simplify the mathematical treatment, we shall frequently allow the mathematical variables that represent the elds, the charge and current densities, and other physical quantities be analytically continued into the complex domain. However, when we use such a complex notation we must be very careful how to interpret the results derived within this notation. This is because every physical observable is, by denition, real-valued.3 Consequently, the mathematical expression for the observable under consideration must also be real-valued to be physically meaningful. If a physical scalar variable, or a component of a physical vector or tensor, is represented mathematically by the complex-valued number , i.e. if 2 C,

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j 21

R

a.t; x/ b.t; x/

i!t

As just mentioned, it is important to be aware of the limitations of the mathematical technique of using a complex representation for physical observables, particularly when evaluating products of complex mathematical variables that are to represent physical observables. Let us, for example, consider two physical vector elds a.t; x/ and b.t; x/ represented by their Fourier components a0 .x/ exp. i!t/ and b0 .x/ exp. i!t/, i.e. by vectors in (a domain of) 3D complex space C3 . Furthermore, let be a binary inx operator for these vectors, representing either the scalar product operator , the vector product operator , or the dyadic product operator . To ensure that any products of a and b represent an observable in classical physics, we must make the interpretation

A

D 1 a0 .x/ e 2 1 b0 .x/ e 2

i!t i!t

D

and

We can express the real part of the complex vectors a and b as Re fag D Re a0 .x/ e C a0 .x/ ei!t (2.4a)

Re fbg D Re b0 .x/ e

FT

i!t

then in classical electrodynamics (in fact, in classical physics as a whole), one makes the identication observable D Re mathematical . Therefore, it is always understood that one must take the real part of a complex mathematical variable in order for it to represent a classical physical observable, i.e. something that is observed in Nature or measured in an experiment.4 For mathematical convenience and ease of calculation, we shall in the following regularly use and tacitly assume complex notation, stating explicitly when we do not. One convenient property of the complex notation is that differentiations often become trivial to perform. However, care must always be exercised. A typical situation being when products of two or more quantities are calculated since, for instance, for two complex-valued variables 1 and 2 we know that Re f 1 2 g Re f 1 g Re f 2 g. On the other hand, . 1 2/ D 1 2 .

This is at variance with quantum physics, where observable D mathematical . Letting denote complex conjugation, the real part can be written /, i.e. as Re f g D 1 2. C the arithmetic mean of and its complex conjugate . Similarly, the magnitude can be written j jD. /1=2 , i.e. as the geometric mean of and . Under certain conditions, also the imaginary part corresponds to a physical observable.

(2.3)

i!t

C b0 .x/ ei!t

(2.4b)

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22 j

ha bi t D

FT

1 1 Re fa b g D Re fa bg 2 2 r GD r G "0 r GD0 r GD i @G c @t

uct of two complex vectors, representing classical physical observables, is a.t; x/ b.t; x/ D Re a0 .x/ e i!t Re b0 .x/ e i!t 1 1 D a0 .x/ e i!t C a0 .x/ ei!t b0 .x/ e i!t C b0 .x/ ei!t 2 2 1 D a0 b0 C a0 b0 C a0 b0 e 2i!t C a0 b0 e2i!t 4 ( 2 .5 ) 1 1 D Re fa0 b0 g C Re a0 b0 e 2i!t 2 2 1 1 i!t D Re a0 e b0 ei!t C Re a0 e i!t b0 e i!t 2 2 1 1 D Re fa.t; x/ b .t; x/g C Re fa.t; x/ b.t; x/g 2 2 In physics, we are often forced to measure the temporal average (cycle average ) of a physical observable. We use the notation h i t for such an average and nd that the average of the product of the two physical quantities represented by a and b can be expressed as (2.6)

1 1 Re fa0 b0 g D Re fa0 b0 g 2 2

R D

In regions where

It is often convenient to express electrodynamics in terms of the complex-eld six-vector , also known as the Riemann-Silberstein vector , G .t; x/ D E.t; x/ C ic B.t; x/ (2.7)

where G 2 C3 even if E; B 2 R3 . If we use this vector, the Maxwell equations (2.1) on page 19 can be written (2.8a) (2.8b)

This is because the oscillating function exp. 2i!t/ in equation (2.5) above vanishes when averaged in time over a complete cycle 2 =! (or over innitely many cycles), and, therefore, ha.t; x/ b.t; x/i t gives no contribution.

(2.9a) (2.9b)

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j 23

which, with the help of the linear momentum operator yD p can be rewritten y GD0 p i @G y D c ip @t G (2.11a) (2.11b) i r (2.10)

i where 0 0 0 B S D @0 0 0 i

@G y /G D c.S p @t

1 0 1 0 0 0 0 i 0 C B C B O O x C x C iA 1 @ 0 0 0A 2 @ i 0 i 0 0 0

A

ic S r i @G yG DH @t

i.e. as a Schrdinger/Pauli/Dirac-like equation; sometimes these are referred to as neutrino equations . This formulation of the free-space electromagnetic eld equations is known as the Majorana representation of the Maxwell-Lorentz equations or the Majorana formalism .6

The Maxwell-Lorentz equations (2.1) on page 19 are four rst-order coupled differential equations (both E and B appear in the same equations). Two of the equations are scalar [equations (2.1a) and (2.1b)], and two are in 3D Euclidean vector form [equations (2.1c) and (2.1d)], representing three scalar equations

FT

(2.12) 1 i 0 C O3 0 0A x 0 0 (2.13) (2.14) (2.15)

6

The rst equation is the transversality condition p D k ? G where we anticipate the usual quantal relation between the eld momentum p and the wave vector k,5 whereas the second equation describes the dynamics. Using formula (F.105) on page 218, we can rewrite equation (2.11b) above as

5 The scalar quantity D h=.2 / is the reduced Planck constant where the Planck constant proper h 6:62606957 10 34 Js.

It so happens that E T T O R E M A J O R A NA (1906-1938) used the denition G D E ic B, but this is no essential difference from the denition (2.7). One may say that Majorana used the other branch of p 1 as the imaginary unit.

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24 j

.r

E/ C r r

@B @ D r .r E/ C .r @t @t 1 @ .r E / D 0 r .r B / c 2 @t

FT

B/ D 0 j .r E/ D B/ D

0 0r

each. Hence, the Maxwell equations represent eight (1 C 1 C 3 C 3 D 8) scalar coupled rst-order partial differential equations. However, it is well known from the theory of differential equations that a set of rst-order, coupled partial differential equations can be transformed into a smaller set of second-order partial differential equations that sometimes become decoupled in the process. It turns out that in our case we will obtain one second-order differential equation for E and one second-order differential equation for B. These second-order partial differential equations are, as we shall see, wave equations , and we shall discuss their properties and implications. In certain propagation media, the B wave eld can be easily obtained from the solution of the E wave equation but in general this is not the case. To bring the rst-order differential equations (2.1) on page 19 into second order one needs, of course, to operate on them with rst-order differential operators. If we apply the curl vector operator (r ) to both sides of the two MaxwellLorentz vector equations (2.1c) and (2.1d) on page 19, assuming that the elds vary in such a regular way that temporal and spatial differentiation commute, we obtain the second-order differential equations (2.16a) (2.16b)

As they stand, these second-order partial differential equations still appear to be coupled. However, by using the Maxwell-Lorentz equations (2.1) on page 19 once again we can formally decouple them into 1 @2 E Cr c 2 @t 2 1 @2 B Cr c 2 @t 2 @j @t j (2.17a) (2.17b)

R D

If we use the operator triple product bac-cab formula (F.96) on page 218, which gives r .r E/ D r .r E/ r 2E (2.18)

when applied to E and similarly to B, Gausss law equation (2.1a) on page 19, and then rearrange the terms, we obtain the two inhomogeneous vector wave equations 1 @2 E c 2 @t 2 1 @2 B c 2 @t 2 r 2E D r 2B D

2

.r

ED BD

r "0

0r

@j @t

(2.19a) (2.19b)

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j 25

where 2 is the dAlembert operator , dened by expression (F.182) on page 226. These are the general wave equations for the electromagnetic elds in regions where there exist sources .t; x/ and j .t; x/ of any kind. Simple everyday examples of such regions are electric conductors (e.g. radio and TV transmitter antennas) or plasma (e.g. the Sun and its surrounding corona). In principle, the sources and j can still cause the wave equations to be coupled, but in many important situations this is not the case.7 We notice that outside the source region, i.e. in free space where D 0 and j D 0, the inhomogeneous wave equations (2.19) on the preceding page simplify to the well-known uncoupled, homogeneous wave equations

2

Clearly, if the current density in the RHS (right-hand side) of equation (2.19b) is a function of E, as is the case if, for instance, Ohms law j D E is applicable, the coupling is not removed.

r 2B D 0

These equations describe how the elds that were generated in the source region, propagate as vector waves through free space. Once these waves impinge upon another region that can sustain charges and/or currents for a long enough time, such as a receiving antenna or other electromagnetic sensors, the elds interact with the charges and the currents in this second region in accordance with equations (2.19) on the facing page.

Often one can assume that the temporal dependency of E and B and of the sources and j is well-behaved enough that it can be represented by the sum of a nite number N of temporal spectral components (temporal Fourier components ), or, in other words, in the form of a temporal Fourier series . In such situations it is sufcient to study the properties of one arbitrary member of this set of spectral components f!n W n D 1; 2; 3; : : : ; N g, i.e.

A

i!n t i!n t

where En ; Bn 2 R3 and !n ; t 2 R is assumed. This is because the MaxwellLorentz equations are linear, implying that the general solution is obtained by a weighted linear superposition (summation) of the result for each such spectral component, where the weight of the spectral component in question is given by its Fourier amplitude , En .x/, and Bn .x/, respectively. In a physical system, a temporal spectral component is identied uniquely by its angular frequency !n . A wave containing only a nite number of temporal

FT

(2.20b) En .x/e B n .x /e

i!n t i!n t

1 @2 E c 2 @t 2 1 @2 B 2 BD 2 2 c @t ED

r 2E D 0

(2.20a)

(2.21a) (2.21b)

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26 j

When subtle classical and quantum radiation effects are taken into account, one nds that all emissions suffer an unavoidable, intrinsic line broadening . Also, simply because the Universe has existed for only about 13.5 billion years, which is a nite time, no signals in the Universe can be observed to have a spectral width that is smaller than the inverse of this age.

spectral components is called a time-harmonic wave . In the limit when only one single frequency is present, we talk about a monochromatic wave . Strictly speaking, purely monochromatic waves do not exist.8 By inserting the temporal spectral component equation (2.21a) on the previous page into equation (2.19a) on page 24 one nds that for an arbitrary component the following equation is obtained: r 2 En e

i!n t

2 !n En e c2

i!n t

C i! n

0 jn e

i!n t

r n e "0

i!n t

(2.22)

After dividing out the common factor exp. i!n t/, we obtain the time-independent wave equation

R D

D

and similarly for B. Solving this equation, multiplying the solution obtained by exp. i!n t / and summing over all N such Fourier (spectral) components with frequencies !n ; n D 1; 2; 3; : : : ; N present in the sources, and hence in the elds, the complete solution of the original wave equation is obtained. This is a consequence of the superposition principle which is valid as long as nonlinear effects can be neglected. In the limit of very many frequency components, the Fourier sum goes over into a Fourier integral . To illustrate this generic case, let us introduce the Fourier transform of E.t; x/ Z 1 1 E ! .x / D dt E.t; x/ ei!t (2.24a) 2 1 and the corresponding inverse Fourier transform Z 1 E.t; x/ D d! E! .x/ e i!t (2.24b)

where the amplitude E! .x/ 2 C is a continuous function of (angular) frequency ! 2 R and of x 2 R3 . We see that the Fourier transform of @E.t; x/=@t becomes Z 1 1 @E.t; x/ i!t dt e 2 @t 1 Z 1 1 1 1 E.t; x/ ei!t 1 i! dt E.t; x/ ei!t D (2.25) 2 2 1

D0 since E!0; t !1

A

3

i! E! .x/

FT

1

r 2 En C

2 !n E n C i! n c2

0 jn

r n "0

(2.23)

dt

1

@2 E.t; x/ i!t e D @t 2

! 2 E ! .x /

(2.26)

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j 27

Fourier transforming equation (2.19a) on page 24, and using formul (2.25) and (2.26) on the facing page, we thus obtain r 2 E! C !2 E! C i! c2

0 j!

r ! "0

(2.27)

Since we always assume that the real part shall be taken (if necessary), we can pick any pair of the spatial amplitudes in equations (2.21a) and (2.21b) on page 25, denote the members of this pair by E0 and B0 , respectively, and then represent them as the Fourier modes

A

x

R

@ e @t

i!t

D

and r eik

x

respectively, where k0 is the wave vector (measured in m 1 ) of mode 0; in the last step we introduced a complex notation and also dropped the mode number since the formul are valid for any mode n. Now, since D i! e

i!t

Oi Dx

we see that for each spectral component in equations (2.29) above, temporal and spatial differential operators turn into algebraic operations according to the

FT

x

which is mathematically identical to equation (2.23) on the preceding page. A subsequent inverse Fourier transformation of the solution E! of this equation leads to the same result as is obtained from the solution of equation (2.23) on the facing page. Hence, by considering just one temporal Fourier component we obtain results which are identical to those that we would have obtained by employing the machinery of Fourier transforms and Fourier integrals. Hence, under the assumption of linearity (superposition principle) there is usually no need for the formal forward and inverse Fourier transform technique. What was said above in general terms about temporal spectral components is true also for spatial spectral components (spatial Fourier components ) only that we must use a three-dimensional Fourier representation Z 1 1 Ek .t / D d3x E.t; x/ e ik x (2.28a) .2 /3 1 Z 1 E.t; x/ D d3k Ek .t/ eik x (2.28b)

(2.29a) (2.29b)

ik x

(2.30a)

(2.30b)

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28 j

following scheme: @ 7! i! @t r 7! ik r r We note that r E D ik E D ik Ek r r E D ik B D ik E D ik B D ik E? B? (2.32a) (2.32b) (2.32c) (2.32d) (2.32e) (2.32f) (2.32g) 7! ik 7! ik (2.31a) (2.31b) (2.31c) (2.31d)

Hence, with respect to the wave vector k, the r operator projects out the spatially longitudinal component, and the r operator projects out the spatially transverse component of the eld vector in question. Put in another way,

A

r r

FT

r D ik r j D ik j D ik jk j D ik j D ik r j? r E? D 0 Ek D 0 E D Erotat C Eirrot r Erotat D 0 Eirrot D 0 E? D Erotat Ek D E

irrot

r B D ik B D ik Bk

(2.33a) (2.33b)

R D

9

and so on for the other observables. This can be viewed as a instance in k space of the Helmholtzs theorem , discussed in subsection M.3.7 on page 245, saying that if E falls off suitably rapidly at innity, it can be written as the sum of a rotational part Erotat and an irrotational part Eirrot : (2.34)

Strictly speaking, the spatial Fourier component is a plane wave and plane waves do not fall off at all at innity as required for the Helmholtz decomposition to be applicable. However, only wave packets made up of a sum of plane waves are physically acceptable and such packages can be localised well enough.

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j 29

irrot

(2.37)

(2.38a) (2.38b)

D0

irrot

(2.39) (2.40)

As we see from equations (2.31) on the preceding page, the Fourier transform of a function of time t is a function of angular frequency ! , and the Fourier transform of a function of the position vector x is a function of the wave vector k. One says that ! is a reciprocal space to t and that k spans a space that is reciprocal to x. In the reciprocal ! and k space the Maxwell-Lorentz equations are ik Ek D "0 ik Bk D 0 ik E? (2.41a)

A

i! B D 0 ! B? C i 2 E D c

0j

ik

R

r Eirrot D r Birrot "0 D0 r Erotat C Brotat r

Applying the Helmholtz decomposition, the Maxwell-Lorentz equations become (2.42a) (2.42b) (2.42c)

0j

@B D0 @t 1 @E D c 2 @t

FT

(2.41b) (2.41c) (2.41d) (2.42d)

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30 j

2.4 Examples

E X A M P L E 2.1 Products of Riemann-Silberstein vectors with themselves for E; B 2 R3 One fundamental property of the 3D complex vector space C3 , to which the RiemannSilberstein vector G D E C ic B belongs, is that inner (scalar) products in this space are invariant under rotations just as they are in R3 . However, as discussed in example M.4 on page 253, products in C3 can be dened in two different ways. Considering the special case of the scalar product of G with itself, assuming that E 2 R3 and B 2 R3 , we have the following two possibilities: 1. The inner (scalar) product dened as G scalar multiplied with itself

Since length is a scalar quantity that is invariant under rotations, we nd that E2 c 2 B 2 D Const (2.44a) (2.44b)

2. The inner (scalar) product dened as G scalar multiplied with the complex conjugate of itself G G D .E C ic B/ .E ic B / D E E C c 2 B B E 2 C c2B 2 (2.45)

is also an invariant scalar quantity. As we shall see in chapter 4 on page 53, this quantity is proportional to the electromagnetic eld energy density . 3. As with any 3D vector, the cross product of G with itself vanishes: G G D .E C ic B/ DE E .E C ic B/ B/

A FT

E B D Const c B

2

G G D .E C ic B/ .E C ic B/ D E E

c 2 B B C 2ic E B

(2.43)

B C ic.E

B/ C ic.B B/ D 0

E/

(2.46)

D 0 C 0 C ic.E

ic.E

R

G

4. The cross product of G with the complex conjugate of itself does, however, not vanish. Instead it is G D .E C ic B/ DE

2

.E B B/

ECc B ic.E

D0C0

which is proportional to the electromagnetic energy ux (the so called Poynting vector or the electromagnetic linear momentum density ), to be introduced in chapter 4 on page 53. c 2 BB C ic.EB C BE/

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2.4. Examples

j 31

G G D .E

ic B/.E

ic B/ D EE

c 2 BB

(2.50)

7. The dyadic product of G with its own complex conjugate from the right is GG D .E C ic B/.E and from the left it is G G D .E ic B/.E C ic B/ D EE C c 2 BB C ic.EB BE/ D .GG / (2.52) ic B/ D EE C c 2 BB ic.EB BE/ (2.51)

End of example 2.1 Wave polarisation Since electromagnetic waves are vector waves they exhibit wave polarisation . Let us consider a single plane wave that propagates in free space,10 i.e. a wave where the electric and magnetic eld vectors are restricted to a two-dimensional plane that is perpendicular to the propagation direction. Let us choose this plane to be the x1 x2 plane and the propagation O 3 . A generic temporal Fourier vector (wave vector) k to be along the x3 axis: k D k x mode of the electric eld vector E with (angular) frequency ! is therefore described by the real-valued expression E.t; x/ D E1 cos.!t O 1 C E2 cos.!t kx3 C 1 / x O2 kx3 C 2 / x (2.53) E X A M P L E 2.2

10

where the amplitudes Ei and phases i , can take any value. In complex notation we can write this as E.t; x/ D E1 ei1 ei.kx3 D E1 e

i1 !t /

O 1 C E2 e D E1 x

For the special cases 0 D =2 and E1 D E2 D E0 the wave can, in complex notation, be described as E.t; x/ D E0 ei.kx3

!t C1 /

where 0 D 2 1 . When this phase difference 0 vanishes, the electric eld oscillates along a line directed at an angle arctan .E2 =E1 / relative to the x1 axis. This is called linear wave polarisation . When 0 0 the wave is in general in a state of elliptical wave polarisation . Later, in subsection 4.2.5, we will show that wave polarisation is a manifestation of the fact that the electromagnetic eld carries angular momentum.

D

The helical base vectors

As discussed in example M.1 on page 248, this shows that the eld vector E rotates around the x3 axis as it propagates along this axis. This rotation is called circular wave polarisation . For 1 D 0 in equation (2.55), the linear superpostion 1=2.EC C E / represents a wave O 1 and for 1 D =2 the superposition 1=2.EC E / that is linearly polarised along x O 2. represents a wave that is linearly polarised along x 1 O D p O 1 ix O 2/ x h 2

which are xed unit vectors, allow us to write equation (2.55) above p O E.t; x/ D 2E0 ei.kx3 !t C1 / h

A FT

O 1 C E2 ei2 ei.kx3 x O2 e x

i.kx3 !t / i.kx3 !t C1 / !t /

A single plane wave is a mathematical idealisation. In reality, plane waves appear as building blocks of wave packets , i.e. superpositions of a (possibly innite) number of individual plane waves with different properties (frequencies, directions,. . . ). E.g. a radio beam from a transmitting antenna is a superposition (Fourier sum or integral) of many plane waves with slightly different angles relative to a xed, given axis or a plane.

O2 x

O 1 C E2 e x

i0

i2

(2.54)

O2 e x

O 1 ix O2 x

(2.55)

(2.56)

(2.57)

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32 j

11

In physics, two different conventions are used. The handedness refers to the rotation in space of the electric eld vector, either when viewed as the wave propagates away from the observer or toward the observer.

O C represents left-hand circular polarisation and h O right-hand We use the convention that h 11 circular polarisation . Left-hand (right-hand) circular polarised waves are said to have positive helicity (negative helicity ) with respect to the direction of propagation (along k). End of example 2.2

E X A M P L E 2.3

Wave equations expressed in terms of Riemann-Silberstein vectors If we use the Maxwell-Lorentz equations expressed in the Riemann-Silberstein vector G D E C ic B, i.e. equations (2.8) on page 22, we can perform similar steps as we did when deriving equations (2.19) on page 24. We then nd that

2

GD

r "0

@j Ci @t

0cr

(2.58)

2.5 Bibliography

[16] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc., New York, NY . . . , 1999, ISBN 0-471-30932-X. [17] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0201-05702-6. [18] C. H. PAPAS, Theory of Electromagnetic Wave Propagation, Dover Publications, Inc., New York, 1988, ISBN 0-486-65678-0.

FT

Taking the real and imaginary parts of this equation, assuming that E; B 2 R3 , we recover the wave equations (2.17) on page 24, as expected. End of example 2.3

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3

E L EC T ROM AG N E T I C PO T E N T I A L S A N D GAU GE S

As described in chapter 1 the concepts of electric and magnetic elds were introduced such that they are intimately related to the mechanical forces between (static) charges and currents given by Coulombs law and Ampres law, respectively. Just as in mechanics, it turns out that in electrodynamics it is often more convenient to express the theory in terms of potentials rather then in terms of the electric and magnetic elds (Coulomb and Ampre forces) themselves. This is particularly true for problems related to radiation and relativity. As we shall see in chapter 7, the potentials play a central rle in the formulation of relativistically covariant electromagnetism. And at the quantum level, electrodynamics is almost exclusively formulated in terms of potentials rather than electric and magnetic elds. In this chapter we introduce and study the properties of such potentials and nd that they exhibit some remarkable properties that elucidate the fundamental aspects of electromagnetism, lead naturally to the special theory of relativity, and pave the way for gauge eld theories.

As we saw in equation (1.9b) on page 5, the time-independent electric (electrostatic) eld Estat .x/ is irrotational. According to formula (F.100) on page 218 we may therefore express it in terms of the gradient of a scalar eld. If we denote this scalar eld by stat .x/, we get Estat .x/ D r stat .x/ (3.1)

Taking the divergence of this and using equation (1.9a) on page 5, we obtain Poissons equation r 2 stat .x/ D r Estat .x/ D .x/ "0 (3.2)

A

33

FT

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If we compare with the denition of Estat , namely equation (1.7) on page 4, we see that this equation has the solution Z 1 .x0 / stat .x/ D d3x 0 (3.3) 4 "0 V 0 j x x0 j where the integration is taken over all source points x0 at which the charge density .x0 / is non-zero. The scalar function stat .x/ in equation (3.3) above is called the electrostatic scalar potential .

Let us consider the equations of magnetostatics, equations (1.21c) on page 9. According to formula (F.99) on page 218 any vector eld a has the property that r .r a/ 0 and in the derivation of equation (1.18) on page 8 in magnetostatics we found that r Bstat .x/ D 0. We therefore realise that we can always write Bstat .x/ D r Astat .x/ (3.4)

R D

where Astat .x/ is called the magnetostatic vector potential . In the magnetostatic case, we may start from Biot-Savarts law as expressed by equation (1.16) on page 8. Identifying this expression with equation (3.4) above allows us to dene the static vector potential as Z j .x 0 / 0 stat d3x 0 (3.5) A .x / D 4 jx x0 j V0 From equations (3.1) and (3.4) on pages 3334 we conclude that if we transform equations equations (3.3) and (3.5) above in the following way stat .x/ 7! stat .x/ D stat .x/ C .x/ Astat .x/ 7! A

stat 0 0

A

r

FT

.x/ D Astat .x/ C a.x/ r .x/ D 0 a.x/ D 0

(3.6a) (3.6b)

the elds Estat and Bstat will be unaffected provided (3.7a) (3.7b)

i.e. if is an arbitrary scalar function that is not dependent on x, e.g. a constant, and a.x/ is an arbitrary vector eld whose curl vanishes. According to formula (F.100) on page 218 such a vector eld can always be written as the gradient of a

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scalar eld. In other words, the elds are unaffected by the transformation (3.6) if .x/ D Const a.x/ D r .x/ (3.8a) (3.8b)

Inserting this expression into the other non-source Maxwell-Lorentz equation (2.1c) on page 19, we obtain r E.t; x/ D @ r @t A.t; x/ D r @ A.t; x/ @t (3.10)

R

E.t; x/ C E.t; x/ C E.t; x/ D

A

@ A.t; x/ D 0 @t r .t; x/ @ A.t; x/ @t

B.t; x/ D r

A.t; x/

As before we utilise the vanishing curl of a vector expression to write this vector expression as the gradient of a scalar function. If, in analogy with the electrostatic case, we introduce the electromagnetic scalar potential function .t; x/, equation (3.11) above becomes equivalent to

@ A.t; x/ D r .t; x/ (3.12) @t This means that in electrodynamics, E.t; x/ is calculated from the potentials according to the formula (3.13)

FT

(3.9) (3.11)

Let us now generalise the static analysis above to the electrodynamic case, i.e. the case with temporal and spatial dependent sources .t; x/ and j .t; x/, and the pertinent elds E.t; x/ and B.t; x/, as described by the Maxwell-Lorentz equations (2.1) on page 19. In other words, let us study the electrodynamic potentials .t; x/ and A.t; x/. According to the non-source Maxwell-Lorentz equation (2.1b), the magnetic eld B.t; x/ is divergence-free also in electrodynamics (if magnetic charges are not included). Because of this divergence-free nature of the time- and spacedependent magnetic eld, we can express it as the curl of an electromagnetic vector potential :

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and B.t; x/ from formula (3.9) on the preceding page. Hence, it is a matter of convention (or taste) whether we want to express the laws of electrodynamics in terms of the potentials .t; x/ and A.t; x/, or in terms of the elds E.t; x/ and B.t; x/. However, there is an important difference between the two approaches: in classical electrodynamics the only directly observable quantities are the elds themselves (and quantities derived from them) and not the potentials. On the other hand, the treatment becomes signicantly simpler if we use the potentials in our calculations and then, at the nal stage, use equation (3.9) on the previous page and equation (3.13) on the preceding page to calculate the elds or physical quantities expressed in the elds. This is the strategy we shall follow.

Inserting (3.13) and (3.9) on the previous page into Maxwells equations (2.1) on page 19, we obtain, after some simple algebra and the use of equation (1.12) on page 6, the equations r 2 D r 2A 1 @2 A c 2 @t 2 .t; x/ "0 @ .r A / @t C (3.14a) (3.14b)

Subtracting .1=c 2 /@2 =@t 2 from both sides of the rst equation and rearranging, the above two equations turn into the following general inhomogeneous wave equations

A

2

R D

FT

r .r A/ D

0 j .t; x/

1 @ r c 2 @t

D AD

.t; x/ @ C "0 @t

0 j .t; x/

1 @ c 2 @t 1 @ r r AC 2 c @t r AC

(3.15a) (3.15b)

where 2 is the dAlembert operator , dened by formula (F.182) on page 226. These two second-order, coupled, partial differential equations, representing in all four scalar equations (one for and one each for the three components Ai ; i D 1; 2; 3 of A), are completely equivalent to the formulation of electrodynamics in terms of Maxwells equations, which represent eight scalar rst-order, coupled, partial differential equations. As they stand, equations (3.14) and (3.37) on pages 3640 look complicated and may seem to be of limited use. However, if we write equation (3.9) on the previous page in the form r A.t; x/ D B.t; x/ we can consider this as a specication of r A. But we know from Helmholtzs theorem [see subsection M.3.7

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on page 245] that in order to determine the (spatial) behaviour of A completely, we must also specify r A. Since this divergence does not enter the derivation above, we are free to choose r A in whatever way we like and still obtain the same physical results. This illustrates the power of formulating electrodynamics in terms of potentials.

If we choose r A to full the so called Lorenz-Lorentz gauge condition 1 r AC 1 @ D0 c 2 @t (3.16)

In fact, the Dutch physicist HENDRIK ANTOON LORENTZ (1853-1928), who in 1903 demonstrated the covariance of Maxwells equations, was not the original discoverer of the gauge condition (3.16). It had been discovered by the Danish physicist L U DV I G VA L E N T I N L O R E N Z (1829-1891) already in 1867. This fact has sometimes been overlooked in the literature and the condition was earlier referred to as the Lorentz gauge condition. Prior to that, B E R N H A R D R I E M A N N , had discussed this condition in a lecture in 1858.

1

Each of these four scalar equations is an inhomogeneous wave equation of the following form:

where denotes for either or one of the components Ai ; i D 1; 2; 3 of the vector potential A, and s is a shorthand for the pertinent source component, .t; x/="0 or 0 ji .t; x/; i D 1; 2; 3, respectively. We assume that our sources are well-behaved enough in time t so that the Fourier transform pair for the generic source function s Z 1 s.t; x/ D d! s! .x/ e i!t (3.19a) 1 Z 1 1 s! .x/ D dt s.t; x/ ei!t (3.19b) 2 1

exists, and that the same is true for the generic potential component : Z 1 .t; x/ D d! ! .x/ e i!t (3.20a) 1 Z 1 1 ! .x/ D dt .t; x/ ei!t (3.20b) 2 1 Inserting the Fourier representations (3.19) and (3.20) into equation (3.18) above, and using the vacuum dispersion relation for electromagnetic waves relating the

.t; x/ D s.t; x/

FT

(3.17a) (3.17b) (3.18)

the coupled inhomogeneous wave equations (3.37) on page 40 simplify to the following set of uncoupled inhomogeneous wave equations :

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angular frequency ! , the speed of light c , and the wave number k D .2 /= where is the vacuum wavelength , ! D ck (3.21)

the generic 3D inhomogeneous wave equation (3.18) on the preceding page, turns into r 2 ! .x/ C k 2 ! .x/ D s! .x/ (3.22)

FT

.x x0 /

V0

which is the 3D inhomogeneous time-independent wave equation , often called the 3D inhomogeneous Helmholtz equation . As postulated by Huygenss principle , each point on a wave front acts as a point source for spherical wavelets of varying amplitude (weight). A new wave front is formed by a linear superposition of the individual weighted wavelets from each of the point sources on the old wave front. The solution of (3.22) can therefore be expressed as a weighted sum of solutions of an equation where the source term has been replaced by a single point source r 2 G.x; x0 / C k 2 G.x; x0 / D (3.23)

(plus boundary conditions) where s! .x0 / is the wavelet amplitude at the source point x0 . The function G.x; x0 / is called the Green function or the propagator . Due to translational invariance in space, G.x; x0 / D G.x x0 /. Furthermore, in equation (3.23) above, the Dirac generalised function .x x0 /, which represents the point source, depends only on x x0 and there is no angular dependence in the equation. Hence, the solution can only be dependent on r D jx x0 j and not on the direction of x x0 . If we interpret r as the radial coordinate in a spherically polar coordinate system, and recall the expression for the Laplace operator in such a coordinate system, equation (3.23) above becomes d2 .rG/ C k 2 .rG/ D dr 2 r.r/ (3.25)

R

Away from r D jx takes the form

and the solution of equation (3.22) above which corresponds to the frequency ! is given by the weighted superposition Z ! .x/ D d3x 0 s! .x0 /G.x; x0 / (3.24)

x0 j D 0, i.e. away from the source point x0 , this equation d2 .rG/ C k 2 .rG/ D 0 dr 2

(3.26)

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0 0

(3.27)

where C are constants. In order to determine the constants C , we insert the general solution, equation (3.27) above, into equation (3.23) on the preceding page and integrate over a small volume around r D jx x0 j D 0. Since G.x x0 / CC 1 jx x0 j CC 1 jx x0 j ; x x0 ! 0 (3.28)

A

CC C C D 1 4

0

In virtue of the fact that the volume element d3x 0 in spherical polar coordinates is proportional to r 2 D jx x0 j2 [see formula (F.19) on page 214], the second integral vanishes when jx x0 j ! 0. Furthermore, from equation (F.116) on page 218, we nd that the integrand in the rst integral can be written as 4 .jx x0 j/ and, hence, that the two constants C must full the condition (3.30)

R

Z

3 0 0

Now that we have determined the relation between CC and C , we insert the general solution equation (3.27) above into equation (3.24) on the preceding page and obtain the general solution in the ! domain: ! .x/ D CC eik jx x j d x s ! .x / CC jx x0 j V0 Z

V0

In order to nd the solution in the t domain, we take the inverse Fourier transform of this by inserting the above expression for ! .x/ into equation (3.20) on page 37: h i 0 Z Z 1 exp i! t k jx! x j .t; x/ D CC d3x 0 d! s! .x0 / j x x0 j V0 1 h i (3.32) 0 Z Z 1 exp i! t C k jx! x j CC d! s! .x0 / d3x 0 jx x0 j V0 1

FT

d3x 0 s! .x0 / e ik jx x j j x x0 j

0

the volume integrated equation (3.23) on the facing page can be approximated by Z 1 .CC C C / d3x 0 r 2 j x x0 j V0 Z Z (3.29) 1 3 0 0 2 3 0 D d x . x x / C k .CC C C / dx j x x0 j V0 V0

(3.31)

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0 0 If we introduce the retarded time tret and the advanced time tadv in the following way [using the fact that k=! D 1=c in free space, according to formula (3.21) on page 38]: 0 x x0 .t 0 / / k x x0 .tret ret 0 0 0 tret D tret .t; x x / D t Dt (3.33a) c 0 0 ! 0 0 x x .t / k x x .tadv / adv 0 0 tadv DtC (3.33b) D tadv .t; x x0 / D t C ! c and use equation (3.19) on page 37, we obtain Z Z 0 0 0 f .tret ; x0 / 3 0 f .tadv ; x / C C d x (3.34) .t; x/ D CC d3x 0 jx x0 j j x x0 j V0 V0

In 1897, N N L E V I - C I V I TA showed that the retarded LorenzLorentz potentials solves equations (3.14).

3

R

r 2A

These retarded potentials were obtained as solutions to the Lorenz-Lorentz inhomogeneous wave equations (3.17). The expressions (3.35) are therefore valid only in the Lorenz-Lorentz gauge.3 r 2 D .t; x/ "0 @ .r A / @t (3.36a)

1 @2 A 1 @ r .r A/ D (3.36b) 0 j .t; x/ C 2 r c 2 @t 2 c @t Subtracting .1=c 2 /@2 =@t 2 from both sides of the rst equation and rearranging, the above two equations turn into the following general inhomogeneous wave equations

2

A

D AD

2 0 j .t; x/

In fact, inspired by ideas put forward by PAU L A D R I E N M AU R I C E D I R AC (1902 1984), J O H N A R C H I BA L D W H E E L E R (19112008) and RICHARD PHILLIPS FEYNMAN (19181988) derived, in 1945, a consistent electrodynamics based on both the retarded and the advanced potentials.

This is a solution to the generic inhomogeneous wave equation for the potential components equation (3.18) on page 37. We note that the solution at time t at the eld point x is dependent on the behaviour at other times t 0 of the source at x0 and that both retarded and advanced t 0 are mathematically acceptable solutions. However, if we assume that causality requires that the potential at .t; x/ is set 0 up by the source at an earlier time, i.e. at .tret ; x0 /, we must in equation (3.34) above set C D 0 and therefore, according to equation (3.30) on the previous page, CC D 1=.4 /.2 From the above discussion about the solution of the inhomogeneous wave equations in the Lorenz-Lorentz gauge we conclude that, if we discard the advanced potentials, the electrodynamic potentials in free space can be written Z 0 0 tret ; x0 .tret / 1 .t; x/ D d3x 0 (3.35a) 0 0 4 "0 V 0 jx.t/ x .tret /j Z 0 0 0 1 3 0 j tret ; x .tret / d x A.t; x/ D (3.35b) 0 4 "0 c 2 V 0 /j jx.t/ x0 .tret

FT

.t; x/ @ C "0 @t 1 @ c 2 @t 1 @ r r AC 2 c @t r AC

(3.37a) (3.37b)

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where 2 is the dAlembert operator , dened by formula (F.182) on page 226. These two second-order, coupled, partial differential equations, representing in all four scalar equations (one for and one each for the three components Ai ; i D 1; 2; 3 of A), are completely equivalent to the formulation of electrodynamics in terms of Maxwells equations, which represent eight scalar rst-order, coupled, partial differential equations. In other gauges (other choices of r A) the expressions for the potentials are analytically different but will, of course, yield the very same physical elds E and B as the expressions (3.35) do. As they stand, we shall use expressions (3.35) quite frequently in the sequel.

In Coulomb gauge , often employed in quantum electrodynamics , one chooses r A D 0 so that equations (3.14) or equations (3.37) on the preceding page become r 2 D r 2A .t; x/ "0 2 1 @ A D c 2 @t 2

0 j .t; x/

1 .t; x/ D 4 "0

A

Z d3x 0

V0

The rst of these two is the time-dependent Poissons equation which, in analogy with equation (3.3) on page 34, has the solution .t; x0 / j x x0 j

We see that in the scalar potential expression, the charge density source is evaluated at time t . Hence, the scalar potential does not exhibit any retardation, which means that the effect of the charge shows up in the potential instantaneously, as if the propagation speed were innite. This is not in disagreement with the laws of nature since in classical physics potentials are not physical observables. Since in the Coulomb gauge the scalar potential does not suffer any retardation (or advancement) but the elds E and B themselves must be physical and therefore must exhibit retardation effects, all retardation must occur in the vector potential A, i.e. the solution of the inhomogeneous wave equation (3.38b) above. As we see, the last term in the RHS of this equation contains the scalar potential , which, according to equation (3.39) above, in turn depends on the charge density . The continuity equation (1.22) on page 10 provides a relation between and j on which we can apply Helmholtz decomposition and nd that

j D j rotat C j irrot

FT

(3.38a) C 1 @ r c 2 @t (3.38b) (3.39) (3.40)

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where r j rotat D 0 r j

irrot

(3.41a) (3.41b)

D0

[cf. equations (2.36) on page 28]. Then the equation of continuity becomes @ @ C r j irrot D @t @t Dr Furthermore, since r r D 0 and r r "0 r @ @t "0 r 2 C r j irrot "0 r @ @t C j irrot D 0

(3.42)

FT

C 1 @ r D c 2 @t

0j

(3.44)

The inhomogeneous wave equation (3.38b) on the previous page thus becomes r 2A 1 @2 A D c 2 @t 2

0j

0j

irrot

0j

rotat

(3.45)

R D

which shows that in Coulomb gauge the source of the vector potential A is the rotational (transverse) component of the current, j rotat . The irrotational (longitudinal) component of the current j irrot does not contribute to the vector potential. The retarded (particular) solution in Coulomb gauge of equations (3.14) on page 36 is therefore [cf. equations (3.35) on page 40]: Z t; x0 .t/ 1 .t; x/ D d3x 0 4 "0 V 0 jx.t/ x0 .t/j Z 0 rotat 0 / j tret ; x0 .tret 0 A.t; x/ D d3x 0 0 0 4 jx.t/ x .tret /j V0 (3.46a) (3.46b)

The Coulomb gauge is also called the transverse gauge or the radiation gauge .

If r A fulls the velocity gauge condition , sometimes referred to as the complete -Lorenz gauge , r AC @ D 0; c 2 @t D c2 v2 (3.47)

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we obtain the Lorenz-Lorentz gauge condition in the limit v D c , i.e. D 1, and the Coulomb gauge condition in the limit v ! 1, i.e. D 0, respectively, where v is the propagation speed of the scalar potential. Hence, the velocity gauge is a generalisation of both these gauges.4 Inserting equation (3.47) on the preceding page into the coupled inhomogeneous wave equations (3.37) on page 40 they become

2

D AD

.t; x/ "0

@ @ c 2 @t @t 1 @ r 0 j .t; x/ C c2 @t

(3.48a) (3.48b)

The value D 1, corresponding to an imaginary speed v D ic , gives the Kirchhoff gauge , introduced already in 1857 by G U S TAV R O B E RT K I R C H H O F F (18241884).

A

0

We saw in section 3.1 on page 33 and in section 3.2 on page 34 that in electrostatics and magnetostatics we have a certain mathematical degree of freedom, up to terms of vanishing gradients and curls, to pick suitable forms for the potentials and still get the same physical result. In fact, the way the electromagnetic scalar potential .t; x/ and the vector potential A.t; x/ are related to the physical observables gives leeway for similar manipulation of them also in electrodynamics. In analogy with equations (3.6) on page 34 we introduce .t; x/ 7! 0 .t; x/ D .t; x/ C .t; x/ A.t; x/ 7! A .t; x/ D A.t; x/ C a.t; x/ (3.49a) (3.49b)

R

r .t; x/ C r

By inserting these transformed potentials into equation (3.13) on page 35 for the electric eld E.t; x/ and into equation (3.9) on page 35 for the magnetic eld B.t; x/, we see that the elds will be unaffected provided @a.t; x/ D0 @t a.t; x/ D 0 (3.50a) (3.50b)

If we introduce an arbitrary, sufciently differentiable scalar function .t; x/, the second condition is fullled if we require that a.t; x/ D r .t; x/ (3.51a)

which, when inserted into the rst condition in turn requires that @.t; x/ .t; x/ D @t

FT

(3.51b)

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Hence, if we simultaneously transform both .t; x/ and A.t; x/ into new ones 0 .t; x/ and A0 .t; x/ according to the scheme .t; x/ 7! 0 .t; x/ D .t; x/ @.t; x/ @t 0 A.t; x/ 7! A .t; x/ D A.t; x/ C r .t; x/ (3.52a) (3.52b)

and insert the transformed potentials into equation (3.13) on page 35 for the electric eld and into equation (3.9) on page 35 for the magnetic eld, we obtain the transformed elds E0 D @A @.r / @A0 @ D r C r @t @t @t @t @A @.r / @.r / @A D r C D r @t @t @t @t 0 0 B D r A D r A C r .r / D r A r 0 (3.53a) (3.53b)

R

1 @2 c 2 @t 2 1 @2 A c 2 @t 2

A very important extension is the Yang-Mills theory , introduced in 1954. This theory has had a profound impact on modern physics.

where, once again equation (F.100) on page 218 was used. This explicit calculation clearly demonstrates that the elds E and B are unaffected by the gauge transformation (3.52). The function .t; x/ is called the gauge function . A transformation of the potentials and A which leaves the elds, and hence Maxwells equations, invariant is called a gauge transformation . Any physical law that does not change under a gauge transformation is said to be gauge invariant . It is only those quantities (expressions) that are gauge invariant that are observable and therefore have experimental signicance. Trivially, the electromagnetic elds and the Maxwell-Lorentz equations themselves are gauge invariant and electrodynamics is therefore a gauge theory and as such the prototype for all gauge theories.5 As just shown, the potentials .t; x/ and A.t; x/ calculated from equations (3.14) on page 36, with an arbitrary choice of r A, can be gauge transformed according to (3.52). If, in particular, we choose r A according to the Lorenz-Lorentz condition, equation (3.16) on page 37, and apply the gauge transformation (3.52) on the resulting Lorenz-Lorentz potential equations (3.17) on page 37, these equations will be transformed into

A

r 2 C r 2A @ @t r 1 @2 c 2 @t 2

FT

1 @2 .t; x/ r 2 D c 2 @t 2 "0 2 1 @ r 2 D 0 j .t; x/ c 2 @t 2 r 2 D 0

(3.54a) (3.54b)

We notice that if we require that the gauge function .t; x/ itself be restricted to full the wave equation (3.55)

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these transformed Lorenz-Lorentz equations will keep their original form. The set of potentials which have been gauge transformed according to equation (3.52) on the preceding page with a gauge function .t; x/ restricted to full equation (3.55) on the facing page, or, in other words, those gauge transformed potentials for which the equations (3.17) on page 37 are invariant, comprise the LorenzLorentz gauge .

Other useful gauges are The Poincar gauge (multipolar gauge , radial gauge ) Z 1 0 .t; x/ D d x E.t; x/ 0 Z 1 d x B.t; x/ A0 .t; x/ D

0

where is a scalar parameter. We note that in Poincar gauge A0 and x are orthogonal. The Weyl gauge , also known as the temporal gauge or Hamilton gauge , dened by 0 D 0. The axial gauge , dened by A0 3 D 0.

FT

(3.56a) (3.56b)

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3.6 Examples

E X A M P L E 3.1 Multipole expansion of the electrostatic potential The integral in the electrostatic potential formula Z 1 .x0 / stat .x/ D d3x 0 4 "0 V 0 jx x0 j

(3.57)

where is the charge density introduced in equation (1.9a) on page 5, is not always possible to evaluate analytically. However, for a charge distribution source .x0 / that is well localised in a small volume V 0 around x0 , a series expansion of the integrand in such a way that the dominant contributions are contained in the rst few terms can be made. E.g. if we Taylor expand the inverse distance 1= x x0 with respect to the point x0 D x0 we obtain

A FT

jx x0 j D j.x x0 / . x0 x0 /j

1 3 X 1 X 1 C D n jx x0 j nD1 3 X i1 D1 in D1

@n

1 jx x0 j

@xi1 1

@xin C

0 .xi 1

x0i /

1

0 .xi n

x0in /

(3.58)

1 X

jx

x0 j

. 1/n n1 n2 n3

@n jx

x03 /n3

R

@n jx

Inserting this into the integral in formula (3.57) above, we obtain the expansion " Z 1 X X 1 . 1/n 1 stat d3x 0 .x0 / C .x/ D 4 "0 jx x0 j V 0 n1n2 n3

nD1 n1 Cn2 Cn3 Dn ni 0 0 x02 /n2 .x3 1 x0 j n n n @x1 1 @x2 2 @x3 3

Z

V0

0 d3x 0 .x1

Clearly, the rst integral in this expansion is nothing but the static net charge Z qD d3x 0 .x0 /

V0

(3.60)

If we introduce the electrostatic dipole moment vector Z d.x0 / D d3x 0 .x0 x0 / .x0 /

V0

(3.61)

with components pi , i D 1; 2; 3, and the electrostatic quadrupole moment tensor Z Q.x0 / D d3x 0 .x0 x0 /.x0 x0 / .x0 /

V0

(3.62)

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3.6. Examples

j 47

@ jx and that @2 jx

1 x0 j

1 x0 j

@xi

xi jx

x0i x0 j3 x0 j2 ij

(3.63)

@xi @xj

3.xi

x0i /.xj jx

x0j / x0 j5

jx

(3.64)

then we can write the rst three terms of the expansion of equation (3.57) on the facing page as " q 1 1 x x0 stat .x/ D C d 4 "0 jx x0 j jx x0 j jx x0 j2 # 1 3 xi x0i xj x0j 1 C Qij ij C : : : (3.65) 2 jx x0 j jx x0 j 2 jx x0 j3 where Einsteins summation convention over i and j is implied. We see that at large distances from a localised charge distribution, the electrostatic potential can, to the lowest order, be approximated by the (Coulomb) potential from a single point charge q located at the moment point x0 . We also see that Z Z Z d.x0 / D d3x 0 .x0 x0 / .x0 / D d3x 0 x0 .x0 / x0 d3x 0 .x0 / V0 V0 V0 Z D d3x 0 x0 .x0 / x0 q (3.66)

V0

from which we draw the conclusion that if q 0, it is always possible to choose the moment point x0 such that d D 0, and if q D 0, then d is independent of the choice of moment point x0 . Furthermore, one can show that 1 3.xi ij 2 x0i /.xj x0j / jx x0 j2 ij x0 j5 D0 (3.67)

R

Z ij D

V0

where is an arbitrary constant. Choosing it to be Z 2 1 D d3x 0 x0 x0 .x0 / 3 V0 we can transform Qij into

0 Qij D Qij

d3x 0

D

or

Q0 D Q

13 D

V0

d3x 0

0 D 0 (Einstein summaO ix O i is the unit tensor. It follows immediately that Qi where 13 D x i 0 tion), i.e. that Q is traceless . Rotating the coordinate system, it is possible to diagonalise the tensors Q and Q0 . For any spherical symmetric distribution of charge, all components of Q0 vanish if the moment point x0 is chosen as the symmetry centre of the distribution.

If the charge distribution .x/ is made up of discrete point charges qn with coordinates xn , the denitions above of q; d; Q and Q0 become

A FT

jx (3.68)

0 .xi 0 x0i /.xj

x0j /

1 x0 3

2 x0 ij

.x0 / (3.69)

.x0

x0 /.x0

x0 /

13

1 x0 3

2 x0 .x0 /

(3.70)

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48 j

qD dD

QD Q0 D

X

n

13

X

n

X

n

X

n

A FT

e

In Diracs symmetrised form of electrodynamics (electromagnetodynamics), Maxwells equations are replaced by [see also equations (2.2) on page 20]: r ED "0 (3.72a) (3.72b) (3.72c) (3.72d)

r BD

EC

@B D @t 1 @E D c 2 @t

0j

0j

In this theory, one derives the inhomogeneous wave equations for the usual electric scalar and vector potentials .e ; Ae / and their magnetic counterparts .m ; Am / by assuming that the potentials are related to the elds in the following symmetrised form: ED r e .t; x/ @ e A .t; x/ r Am @t 1 @ m A .t; x/ C r Ae c 2 @t (3.73a) (3.73b)

BD

1 r m .t; x/ c2

R D

1 @2 Am c 2 @t 2

In the absence of magnetic charges, or, equivalently for m 0 and Am 0, these formul reduce to the usual Maxwell theory, formul (3.9) and (3.13) on page 35 respectively, as they should. Inserting the symmetrised expressions (3.73) above into equations (3.72) above, one obtains [cf., equations (3.14) on page 36]

e .t; x/ @ r Ae D @t "0 m .t; x/ @ 2 m m r A D r C @t "0 e 1 @ r 2 Ae C r r Ae C 2 D c @t

r 2 e C

(3.74a) (3.74b)

0j m e

1 @2 Ae c 2 @t 2

.t; x/

(3.74c) (3.74d)

r 2 Am C r r Am C

1 @m c 2 @t

0j

.t; x/

By choosing the conditions on the divergence of the vector potentials as the generalised Lorenz-Lorentz condition [cf. equation (3.16) on page 37]

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3.6. Examples

j 49

2 2

@ e D0 @t @ m D0 @t

e .t; x/

(3.75a) (3.75b)

e D

"0

e 0 j .t; x/ m .t; x/

Ae D m D

2 2

"0

0j m

Am D

.t; x/

exhibiting, once again, the striking properties of Diracs symmetrised Maxwell theory.

If we represent the vector potential A.t; x/ in the reciprocal k space as described at the end of subsection 2.3.1 on page 25, the gauge transformation equation (3.52b) on page 44 becomes Ak .t/ 7! A0 k .t/ D Ak .t/ ikk .t/ (3.77)

shows that

R

A

0 irrot

Hence, a law (expression) that depends on A only through its transverse/rotational component A? D Arotat is gauge invariant, whereas a law that depends on the longitudinal/irrotational component Ak D Airrot is in general not gauge invariant and, if so, it does not represent a physical observable.

With the caveat about plane waves mentioned near formul (2.36) on page 28, the following then applies for the electric eld and the magnetic eld E D E? C Ek and B D B? C Bk , respectively: E? D Ek D Bk D 0 @A? @t r A? @Ak @t (3.81a) (3.81b) (3.81c) (3.81d)

A FT

x

E X A M P L E 3.3

(3.78a)

A0 ?

D A?

(3.78b)

(3.79)

A0

rotat

D Arotat

irrot

(3.80a)

DA

C r

(3.80b)

B? D r

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50 j

In terms of rotational and irrotational parts, the electric and magnetic elds are given by the sums E D Erotat C Eirrot and B D Brotat C Birrot , respectively, where the individual terms are Erotat D Eirrot D @Arotat @t r @Airrot @t (3.82a) (3.82b) (3.82c) (3.82d) End of example 3.3 E X A M P L E 3.4 Gauge transformations and quantum mechanics

Brotat D r Birrot D 0

Arotat

A FT

i @ y DH @t H D 1 .p 2m q A/2 C q i @ 1 . i r D @t 2m q A/2 C q 7! 0 .t; x/ D .t; x/ C A 7! A .t; x/ D A.t; x/

0

As discussed in section 2.2 on page 20, quantum theory requires that we take the magnitude rather than the real part of our mathematical variables in order to turn them into quantities that represent physical observables. In non-relativistic quantum mechanics, the physical observable probability density is D j j2 , where the wave function 2 C solves the Schrdinger equation (3.83)

The non-relativistic Hamiltonian for a classical particle with charge q in an electromagnetic eld, described by the scalar potential and vector potential A, is (3.84)

where p is the linear momentum. The corresponding quantal Hamilton operator is obtained y D i r , referred from the correspondence principle , viz., by replacing p by the operator p to as minimal coupling . This gives the Schrdinger equation

R D

i i

(3.85)

The idea is to perform a gauge transformation from the potentials .t; x/ and A.t; x/ to new potentials @.t; x/ @t r .t; x/ (3.86a) (3.86b)

and then nd a .t; x/, expressed in the gauge function .t; x/, so that the transformed Schrdinger equation can be written @.ei / 1 . i r D @t 2m q A/2 ei C qei (3.87)

Under the gauge transformation equation (3.86) above, the Schrdinger equation (3.85) transforms into @ 0 1 i r D @t 2m q A C .q r /2

0

C q

Cq

@ @t

(3.88)

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3.6. Examples

j 51

Now, setting

0

.t; x/ D ei

.t;x/

.t; x/

(3.89)

we see that i r D i r D i r h q A C .q r /

2 0

q A C .q r / i r q A C .q r / i ei .r / i ei .r i /

q A C .q r / ei q Aei C .q r /e i (3.90)

i

i .r i /

i .r i /

q A C .r / C .q r /2

Clearly, the gauge transformed Hamilton operator is unchanged iff .r / D equivalently, iff .t; x/ D q.t; x/= . This has as a consequence that i @ 0 @t D i2 q @ @t

0

Di

@ i e @t

@ 0 @ @ i @ i 0 C Di .e /C e @t @t @t @t @ @ i @ C i ei C e D ei i @t @t @t

Inserting this into the transformed Schrdinger equation (3.88) on the facing page, we recover the untransformed Schrdinger equation (3.85).

Since the probability density D j j2 and the probability current i . r 2 r /=.2m/ q A j j =m do not change under a gauge transformation of and A, R the charge density D q j j2 and therefore also the charge V 0 d3x 0 are conserved. In other words, electromagnetic gauge symmetry corresponds to electric charge conservation and vice versa. For the gauge transformation given by formul (3.86) on the facing page, W O L F G A N G PAU L I introduced the notation gauge transformation of the second kind whereas he called a wavefunction phase change, expression (3.89) above, a gauge transformation of the rst kind . End of example 3.4

We conclude that under a gauge transformation of the potentials and A and with minimal coupling as in equation (3.85) on the preceding page, the wave function changes from to ei where the phase angle is real-valued. Hence, even if the wavefunction is not invariant, the quantum physical observable j j2 is unaffected by a gauge transformation of the classical potentials and A that appear in the Hamilton operator. The fact that .t; x/ is coordinate dependent, means that we are dealing with a local gauge transformation .

A FT

q A C .q r / q A C .q r /2 q.r /, or, (3.91)

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3.7 Bibliography

[19] L. D. FADEEV AND A. A. S LAVNOV, Gauge Fields: Introduction to Quantum Theory, No. 50 in Frontiers in Physics: A Lecture Note and Reprint Series. Benjamin/Cummings Publishing Company, Inc., Reading, MA . . . , 1980, ISBN 0-80539016-2. [20] M. G UIDRY, Gauge Field Theories: An Introduction with Applications, John Wiley & Sons, Inc., New York, NY . . . , 1991, ISBN 0-471-63117-5. [21] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc., New York, NY . . . , 1999, ISBN 0-471-30932-X. [22] H.-D. NATURE, The Physical Basis of The Direction of Time, fourth ed., SpringerVerlag, Cambridge . . . , 1920, ISBN 3-540-42081-9. [23] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0201-05702-6. [24] J. A. W HEELER AND R. P. F EYNMAN, Interaction with the absorber as a mechanism for radiation, Reviews of Modern Physics, 17 (1945), pp. 157.

FT

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4

F U N DA M E N TA L PROP E R T I E S O F T H E E L EC T ROM AG N E T I C F I E L D

In this chapter we shall explore a number of fundamental properties of the electromagnetic elds themselves as well as of the physical observables constructed from them. Of particular interest are symmetries (principles of simplicity), since they have a striking predictive power and are essential ingredients of the physics. This includes both discrete and continuous geometric symmetries (conjugation, reection, reversion, translation, rotation) and intrinsic symmetries (duality, reciprocity). Intimately related to symmetries are conserved quantities (constants of motion ) of which our primary interest will be the electromagnetic energy, linear momentum, centre of energy, and angular momentum. These ten conserved quantities, one scalar, two vectors and one pseudovector,1 can carry information over large distances and are all more or less straightforwardly related to their counterparts in classical mechanics (indeed in all eld theories). But we will also consider other conserved quantities where the relation classical mechanics is less straightforward. To derive useful mathematical expressions for the physical observables that we want to study, we will take the microscopic Maxwell-Lorentz equations (2.1) on page 19 as our axiomatic starting point.

An analysis of the discrete (non-continuous) symmetries of a physical system provides deep insight into the systems most fundamental characteristics. In this section we nd out how the electromagnetic elds behave under certain discrete symmetry transformations.

Let us rst investigate the transformation properties of the charge density , the current density j , and the associated elds E and B under charge conjugation , 53

FT

1

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54 j

i.e. a change of sign of charge q 7! q 0 D q , called C symmetry; under spatial inversion , i.e. a change of sign of the space coordinates x 7! x0 D x, called parity transformation or P symmetry; and under time reversal , i.e. a change of sign of the time coordinate t 7! t 0 D t , called T symmetry. Let us study the C, P, and T symmetries one by one, following the standard convention that t , q , c and "0 are ordinary scalars (not pseudoscalars) and are therefore unaffected by coordinate changes, and that the position vector x is, by denition, the prototype of all ordinary (polar) vectors against which all other vectors are benchmarked. In our study, we use the fact that /q and that (4.1a) dx dt (4.1b)

The transformation properties follow directly from the Maxwell-Lorentz equations (2.1) on page 19.

4.1.2 C symmetry

7!

A charge conjugation q 7! q 0 D

0

FT

q results in the following changes: D

0 dx dt 0 0

j D v mech D

A

j 7! j 0 D D r 7! r 0 D r

dx D dt 0

dx D dt

R D

r0

@ @ @ 7! 0 D @t @t @t

0

"0

. "0

"0

r E.t; x/

(4.3a)

Since r 0 D r , and "0 is unaffected by the changes described by equations (4.2), we conclude that that r E0 D r E, as postulated by the Maxwell-Lorentz equations, can be true only if E0 D E. In other words, the Maxwell-Lorentz equations postulate that the electric eld must change direction if the sign of the charge is changed, in agreement with Coulombs law in electrostatics. If we use this when the transformation is applied to equation (2.1c) on page 19, we obtain E0 .t 0 ; x0 / D @B0 .t 0 ; x0 / Dr @t 0 E.t; x/ D @B.t; x/ @t (4.3b)

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j 55

implying that under charge conjugation, the elds transform as E0 .t 0 ; x0 / D B0 .t 0 ; x0 / D E.t; x/ B.t; x/ (4.4a) (4.4b)

Consequently, all terms in the Maxwell-Lorentz equations change sign under charge conjugation. This means that these equations are invariant under the C symmetry. No breaking of the charge conjugation symmetry has sofar been observed in Nature.

4.1.3 P symmetry

A 3D spatial inversion x 7! x0 D 7!

0

0

D

0 dx dt 0

j 7! j 0 D r 7! r 0 D

d. x / D dt

@ @ @ 7! 0 D (4.5d) @t @t @t When applied to the Maxwell-Lorentz equations (2.1a) and (2.1c) on page 19, we see that

@B0 .t 0 ; x0 / @B.t; x/ D r E.t; x/ D @t 0 @t implying that under parity transformation the elds transform as r0 E0 .t 0 ; x0 / D E.t 0 ; x0 / D

0 0 0

A

"0 "0 E.t; x/ B .t ; x / D B.t; x/ 7!

0

r 0 E0 .t 0 ; x0 / D

r E0 .t 0 ; x/ D

R

0

Hence, the Maxwell-Lorentz postulates imply that E is an ordinary vector (polar vector), as it should be, and that B is a pseudovector (axial vector) with properties as described in subsection M.2.2 on page 237.

4.1.4 T symmetry

A time reversal t 7! t 0 D t results in the following changes: D j @ @t (4.8a) (4.8b) (4.8c) (4.8d) j 7! j 0 D @ @ 7! 0 D @t @t

r 7! r D r

FT

dx D dt j (4.5b) (4.5c) D r E.t; x/ (4.6a) (4.6b) (4.7a) (4.7b)

(4.5a)

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56 j

When we apply them to the Maxwell-Lorentz equations equation (2.1a) and equation (2.1c) on page 19, we see that r 0 E0 .t 0 ; x0 / D r E0 . t; x/ D r0

0

(4.9a)

(4.9b)

3 AMALIE EMMY NOETHER (18821935) made important contributions to mathematics and theoretical physics. Her (rst) theorem, which states that any differentiable symmetry of (the action of) a physical system has a corresponding conservation law , is considered to be a fundamental tool of theoretical physics.

It is well established that a deeper understanding of a physical system can be obtained if one nds the systems conserved quantities (constants of motion ), i.e. those observables of the system that do not change with time. According to Noethers theorem ,3 a systems conserved quantities is closely related to its continuous symmetries .

Consider a certain physical substance, quantity, property or other such entity that ows, in a time-dependent way, in 3D space. This can, for instance, be a uid, electric charge, or quantum mechanical probability. Let us denote the volume density of this entity by %.t; x/ and its ow velocity by v .t; x/. Let us also introduce a closed volume V , xed in space and enclosed by a perfectly O D permeable surface S with an innitesimally small directed area element d2x n O , where dxi and dxj are two coordinates that span the local tangent dxi dxj n

We see that E is even and B odd under the T symmetry. The Universe as a whole is asymmetric under time reversal. On quantum scales this is manifested by the uncertainty principle and on classical scales by the arrow of time which is related to the increase of thermodynamic entropy in a closed system. The CPT theorem states that the combined CPT symmetry must hold for all physical phenomena. No violation of this law has been observed to date. However, in 1964 it was experimentally discovered that the combined CP symmetry is violated in neutral kaon decays .2

FT

B .t ; x / D

B.t; x/

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j 57

O is an outward directed unit vector, orthogonal to the plane of the surface and n tangent plane. The closed volume V is called the control volume . In the special case that V is spherical, it is usually referred to as the control sphere . If the velocity of the entity in question is v , it ows with a velocity across the surface S of the volume V at the rate %v per unit time and unit area. Clearly, an O ) will increase the amount of entity in V . We also inward ow (antiparallel to n have to allow for an increase due to the production of the entity inside V . This increase is quantied by the source density s . Recalling that the normal vector O points outward, the following balance equation must then hold: n Z I Z d 3 2 O %v C d3x s d x%D d xn (4.11) dt V S V With the help of the divergence theorem, identity (F.121b) on page 219, this balance equation can be written Z @% d3x C r .%v / s D 0 (4.12) @t V

where %v is the ux density of the entity under consideration. Since this balance equation must hold for any volume V , the integrand must vanish and we obtain the continuity equation

A

@% C r .%v / D s @t a/ D s d @ D Cv r dt @t

This inhomogeneous, linear partial differential equation expresses the local balance between the explicit temporal change of the density of the entity, the ow of it across the surface of a control volume, and the local production of the entity within the control volume. In the absence of such a production, i.e. if s D 0, R equation shows that the amount of entity V d3x % in V is only changed if the entity ows in or out of V . In fact, since, according to formula (F.99) on page 218, r .r a/ D 0 for any arbitrary, continuously differentiable vector eld a, we can generalise equation (4.13) above to

@% C r .%v C r @t

Furthermore, since the time derivative d=dt operating on a scalar, vector or tensor eld, dependent on t and x.t /, is (4.15)

FT

(4.13) (4.14)

Flow into V

Production inside V

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according to the chain rule [cf. equation (1.34) on page 13], and since [cf.. identity (F.81) on page 217] r .%v / D %r v C v r % we can rewrite the equation of continuity as d% C % r .v C r dt a/ D s (4.17) (4.16)

where, again, a is an arbitrary, differentiable pseudovector eld with dimension m2 s 1 , e.g. the moment of velocity with respect to x0 , i.e. .x x0 / v .

If we multiply both members of the Maxwell-Lorentz equation (2.1a) on page 19 by "0 and apply partial differentiation with respect to time t , we get @ @ .t; x/ D "0 r E.t; x/ @t @t (4.18)

0

and if we divide both members of the Maxwell-Lorentz equation (2.1d) by and take the divergence, we get r j .t; x/ D 1

0

A

D0

FT

B.t; x/ @E.t; x/ 1 r D 2 @t 0c

D"0

"0 r

@E.t; x/ @t (4.19)

R

4

Since the electromagnetic elds are assumed to be well-behaved so that differentiation with respect to time and space commute when they operate on E.t; x/, we see that it follows from the two Maxwell-Lorentz equations used that @ .t; x/ C r j .t; x/ D 0 @t (4.20)

Note that the density of charge and the (number) density of charges are two different things!

That electricity is indestructible was postulated already 1747 by B E N JA M I N F R A N K L I N (1706 1770), printer, scientist, inventor, philosopher, statesman, and one of the founding fathers of the United States of America.

This is a differential (local) balance equation of the same type as equation (4.13) on the preceding page where now the entity density % represents the electric charge density ,4 and where s D 0. Equation (4.20) above shows that the R total electric charge within the control volume V at time t , q D V d3x .t; x/, changes if and only if a charge density ux , or, equivalently, an electric current density (amount of current per unit area), j passes across the surface enclosing the control volume V at time t . Hence, it postulates that electric charge can neither be created nor destroyed. Consequently, the Maxwell-Lorentz equations postulate that electric charge is indestructible .5 This is the rst conservation law that we have derived from the microscopic Maxwell equations (2.1) on page 19 and it can be shown to be a manifestation

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j 59

of the gauge symmetry of electrodynamics. This result is, of course, consistent a posteriori with the fact that these axiomatic laws were formulated under the a priori assumption that the continuity equation (1.22) on page 10 was valid. As shown in example 3.4 on page 50, the symmetry that is associated with charge conservation is the gauge symmetry .

The continuity equation (4.20) on the preceding page contains the divergence of the rst-order vector quantity j . As an example of the divergence of a second order vector quantity, let us study the divergence of E B. Using the Maxwell equations (2.1c) and (2.1d) on page 19, we obtain the balance equation r .E B / D B .r D D B

0

E/

E .r

where formula (F.83) on page 217 was used. Let us dene the electromagnetic eld energy density 6 ueld .t; x/ D

and the electromagnetic energy ux (also known as the Poynting vector )7 S.t; x/ D 1 E B D "0 c 2 E B (Wm

2

A

0

"0 .E E C c 2 B B/ (Jm 2

which can also be viewed as the electromagnetic energy current density . With the help of these two denitions we can write the balance equation (4.21) above as @ueld Cr S D @t j E (4.24)

If we compare equation (4.24) with the generic continuity equation (4.13) on page 57, we see that if we let % D ueld and S D ueld v eld , we see that we can interpret the quantity v eld D S E B D "c 2 eld ueld u (4.26)

FT

B/ (4.21)

6

(4.22)

This expression was derived in 1853 by W I L L I A M T H O M S O N , knighted L O R D K E LV I N , (1824 1927), Scottish mathematical physicist and engineer.

(4.23)

This expression was derived in 1884 by the English physicist J O H N H E N RY P OY N T I N G (18821914) and in 1885 by O L I V E R H E AV I S I D E (1850 1925), a self-taught English mathematician, physicist and electrical engineer who was in many ways ahead of his contemporaries and had a remarkable impact on how we look at physics today.

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as the energy density velocity , From the denition of E, we conclude that E represents force per unit volume (Nm 3 ) and that E v mech therefore represents work per unit volume or, in other words, power density (Wm 3 ). It is known as the Lorentz power density and is equivalent to the time rate of change of the mechanical kinetic energy density (Jm 3 ) of the current carrying particles @umech D j E D v mech E @t Equation (4.24) on the preceding page can therefore be written @umech @ueld C Cr S D0 @t @t (4.28) (4.27)

This is the energy density balance equation in local (differential) form. R Expressing the Lorentz power , V d3x j E, as the time rate of change of the mechanical energy : Z Z dU mech @ D d3x umech .t; x/ D d3x j E (4.29) dt @t V V and introducing the electromagnetic eld energy

FT

U eld D U e C U m j D .E C Eemf / ED j Eemf

(4.30)

where, as follows from formula (4.22) on the previous page, Z "0 U e .t/ D d3x E E 2 V is the electric eld energy and Z "0 U m .t/ D d3x c 2 B B 2 V

(4.31)

(4.32)

is the magnetic eld energy , we can write the integral version of the balance equation (4.28) above as I dU mech dU eld O SD0 C C d2x n (4.33) dt dt S This is the energy theorem in Maxwells theory , also known as Poyntings theorem . Allowing for an EMF and assuming that Ohms law (4.34)

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V V

Z

V

d3x j Eemf

(4.36)

which, when inserted into equation (4.33) on the preceding page and use is made of equation (4.29) on the facing page, yields Z Z I dU eld j j O S C d3x d3x j Eemf D (4.37) C d2x n d t V V S

Supplied electric power Field power Radiated power Joule heat

@.E B/ @E D @t @t

BCE

A

@B DE @t @B @t B @E @t

2

1 2 1 2

The derivation of the energy conservation formula (4.24) on page 59 started with a study of the divergence of E B. We now seek a balance equation involving the time derivative of E B and nd, using the Maxwell-Lorentz equations (2.1c) and (2.1d) on page 19, that

R

E .r E/ D 1 2 r .E E/ B/ D 1 2 r .B B / B .r E .r E/ D r B/ D r B .r

1 B j D E .r E / c B .r B / C "0 A combination of the identities (F.79) and (F.86) on page 217 yields r .EE/ C .r E/E r .BB/ C .r B/B

Using the Maxwell-Lorentz equations (2.1a) and (2.1b) on page 19, and the identity (F.102) on page 218 allows us to write .E E/13 .B B/13 "0 BB C 0 EE C E (4.40a) (4.40b)

Let us introduce the electromagnetic linear momentum ux tensor , also known as (the negative of) the Maxwell stress tensor or the electromagnetic linear momentum current density ,

1 .E E C c 2 B B /1 3 T D "0 2

FT

D j B

This shows how the supplied power (left-hand side, LHS) is expelled in the form of a time rate change of electric and magnetic eld energy , radiated electromagnetic power , and Joule heat power (Ohmic losses ) in the system (right-hand side, RHS). The conservation of energy is a manifestation of the temporal translational invariance of the Maxwell-Lorentz equations.

(4.38)

(4.39a) (4.39b)

.EE C c 2 BB/

(4.41)

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Tij D ueld ij

where ueld is the electromagnetic energy density, dened in formula (4.22) on page 59. The component Tij is the electromagnetic linear momentum ux in the i th direction that passes across a surface element in the j th direction per unit time, per unit area. The tensor T has the properties Tij D Tj i Tr.T/ D Ti i D u det.T/ D u

eld eld

(4.43a) (4.43b)

eld 2

.c g

eld 2

.u

(4.43c)

@.E B/ D @t

FT

1 r TC ECj "0 B geld .t; x/ D "0 E BD S c2 @geld C f C "0 r T D 0 @t f D ECj B @gmech @geld C Cr TD0 @t @t

(4.44)

This follows from Plancks relation S D geld c 2 . Since the LHS of this equation is (energy density) (velocity) and the RHS is (mass density) (velocity) c 2 , we see that this relation forebodes the relativistic relation E D mc 2 , where E is energy and m is mass.

If we introduce the electromagnetic linear momentum density geld by making the identication8 (4.45)

(4.46)

where

(4.47)

This polar vector f has the dimension Nm 3 and we therefore identify it as a force density and call it the Lorentz force density . According to classical mechanics (Newtons second law , Eulers rst law ), the mechanical force density f .t; x/ must equal the time rate change of the mechanical linear momentum density gmech .t; x/ D %m .x/v mech .t; x/ (4.48)

where %m is the (volumetric) mass density (kgm 3 ). We are therefore able to write the linear momentum density balance equation (4.38) on the previous page as a local (differential) continuity equation in the standard form (4.49)

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Integration of equation (4.49) on the facing page over the control volume V , enclosed by the surface S , yields, with the help of the divergence theorem, the conservation law for linear momentum I dpmech dpeld O TD0 C C d2x n (4.50) dt dt S where p and p or Z Z d d xf C d3x "0 .E dt V V

3 eld mech

Z .t / D

V

d xg

mech

Z D

V

d3x %m v mech

(4.51a)

Z .t / D

V

d xg

eld

Z D

V

d3x "0 .E

B/

(4.51b)

O TD0 B/ C d2x n S

which is the Lorentz force ; see also equation (1.44) on page 14. Note that equation (4.53) above follows directly from a conservation law, and therefore is a consequence of a symmetry of the Maxwell-Lorentz postulates equations (2.1). Hence, the Lorentz force does not have to be separately postulated.

Taking equation (4.51b) above as a starting point and using the fact that the elds can be Helmholtz decomposed as (see example ??) E.t; x/ D Eirrot .t; x/ C Erotat .t; x/ B.t; x/ D B

rotat

R

V V

This is the linear momentum theorem in Maxwells theory which shows that not only the mechanical particles (charges) but also the electromagnetic eld itself carries linear momentum (translational momentum ) and can thus be assumed to be particle- or uid-like. If we assume that we have a single localised charge q , such that the charge density is given in terms of a Dirac distribution as in equation (1.8) on page 5, with the summation running over one particle only, the evaluation of the rst integral in equation (4.52) above shows that the force on this charge is Z Z 3 F D d x f D d3x . E C j B/ D q.E C v mech B/ (4.53)

A

.t; x/

FT

I (4.52) (4.54a) (4.54b)

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we see that we can write the eld momentum in the following manifestly gaugeinvariant form: Z Z 3 irrot rotat eld .r A / C "0 d3x Erotat .r Arotat / p .t / D "0 d x E

V V

(4.55)

Let us rst evaluate the rst integral on the RHS of this expression. Applying identities (F.79) and (F.86) on page 217, with a 7! Eirrot and b 7! Arotat , recalling from the Helmholtz decomposed Maxwell-Lorentz equations (2.42) on page 29 that r Eirrot D ="0 and that r Eirrot D 0, the rst integrand becomes Eirrot .r Arotat / D Arotat Arotat .r Eirrot / "0 C r .Eirrot Arotat / r Eirrot Arotat (4.56) (4.57)

Performing the integration and using identities (F.121) on page 219, we nd that the rst integral can be expressed as the sum of four integrals: Z

V

d3x Eirrot

.r

Z Z 1 d3x Arotat d3x Arotat .r Eirrot / Arotat / D "0 V V I I 2 irrot rotat O .E O .Eirrot Arotat / (4.58) C d xn A / d2x n

S S

The second integral in the RHS of this equation can be integrated by parts by using identity (F.86) on page 217, with a 7! Arotat and b 7! Eirrot . The result is Z I Z 3 rotat irrot 2 irrot rotat O .E d xA .r E / D d x n A / d3x .r Arotat /Eirrot

V S V

A

V

FT

V S S

D

9

R

Strictly speaking, in the expression for Erotat and Arotat , we have neglected the respective surface integrals that must be retained if V R3 .

(4.59)

Inserting this, using the fact that, by denition, r Arotat D 0, we nd that the rst integral in equation (4.55) is I Z Z O Eirrot Arotat "0 d3x Eirrot .r Arotat / D d3x Arotat "0 d2x n (4.60)

We evaluate the second integral in equation (4.55) exactly analogously and nd that Z Z "0 d3x Eirrot .r Arotat / D "0 d3x Arotat .r Erotat / V IV (4.61) O Erotat Arotat "0 d2x n Putting all of this together, we nd that the electromagnetic linear (translational) momentum is given by the exact,9 manifestly gauge-invariant formula

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eld

Z .t / D

V

rotat S

.r

Erotat / (4.62)

If we restrict ourselves to consider a single temporal Fourier component of the rotational (transverse) component of E in a region where D 0, and use the results in example 3.3 on page 49, we nd that in complex representation Erotat D @A rotat D i! Arotat @t (4.63)

which allows us to replace Arotat by iErotat =! , yielding, after applying identity (F.93) on page 218 and equation (2.6) on page 22, Z eld "0 p D Re i d3x .r Erotat / .Erotat / t 2! V (4.64) I "0 2 rotat O E.E / C Re i d xn 2! S

D

p

eld

where we used formula (2.6) on page 22. In complex tensor notation with Einsteins summation convention applied, this can be written Z Z eld "0 "0 3 rotat rotat rotat rotat O p D i d x .E / x @ E D i d3x .Ej / r Ej i i j j t 2! V 2! V (4.66)

we see that we can write the expression for the linear momentum of the electromagnetic eld in terms of this operator as

t 3 Z "0 X y Eirotat d3x .Eirotat / p D 2 ! V i D1

If the tensor (dyadic) E.Erotat / falls off sufciently rapidly at large distances O E D 0), we can discard the surface integral term and nd that the cycle (or if n averaged linear momentum carried by the rotational components of the elds, Erotat and Brotat B D r Arotat , is Z eld "0 p D Re i d3x .r Erotat / .Erotat / (4.65) t 2! V

FT

(4.68)

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66 j

3 X eld p D t i D1

"0 rotat E D 2 !

"0 rotat Oi E x 2 ! i

(4.69)

Z

V

y i d3x i p

(4.70)

(4.71)

10

12

This fact is really an empirical law that cannot be derived from Newtons laws.

Rational mechanist, mathematician and physics historian C L I F F O R D A M B RO S E T RU E S D E L L I I I (19192000) wrote several excellent accounts on how this result was arrived at by Euler in the latter half of the 18th century.

11

A

ND

L E O N H A R D E U L E R , 1707 1783, Swiss mathematician and physicist and one of the most prolic and inuential mathematicians in history.

Euler10 showed in 1775 that the most general dynamical state of a mechanical system is the sum of its translational motion, described by the systems mechanical linear momentum pmech , and its rotational motion, described by the systems mechanical moment of momentum , or mechanical angular momentum J mech .x0 / about a moment point x0 , and that these two momenta are in general independent of each other.11 In the special case of a classical rigid body for which the contribution from internal angular momenta cancel,12 the angular momentum around x0 is given by the pseudovector J mech .x0 / D .x x0 / pmech . For a closed system of rotating and orbiting bodies, e.g. a spinning planet orbiting a (non-rotating) star, the total mechanical angular momentum of the system is the vectorial sum of two contributions: J mech .x0 / D mech C Lmech .x0 / (4.72)

where mech is the intrinsic mechanical spin angular momentum , describing the spin of the planet around its own axis, and Lmech is the extrinsic mechanical orbital angular momentum , describing the motion of the planet in an orbit around the star. As is well known from mechanics, J mech of a closed mechanical system is conserved and to change it one has to apply a mechanical torque dJ mech dt (4.73)

FT

That is, we can represent the cycle averaged linear momentum carried by a monochromatic electromagnetic eld as a sum of diagonal quantal matrix elements (expectation values) where the rotational (transverse) component of the (scaled) electric eld vector behaves as a vector wavefunction. The conservation of linear (translational) momentum is a manifestation of the spatial translational invariance of the Maxwell-Lorentz equations.

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Starting from the denition of the mechanical linear momentum density gmech , formula (4.48) on page 62, we dene the mechanical angular momentum density about a xed moment point x0 as hmech .t; xI x0 / D .x x0 / gmech .t; x/ (4.74)

Analogously, we dene the electromagnetic moment of momentum density or electromagnetic angular momentum density about a moment point x0 as the pseudovector held .t; xI x0 / D .x x0 / geld .t; x/ (4.75)

x0 /

R

K.t; xI x0 / D .x

@hmech .t; xI x0 / D .x @t

A

f .t; x/ C "0 .x x0 / x0 / f .t; x/ x0 /

T.t; x/

where we used the fact that dx=dt is the energy density velocity v eld and, hence, is parallel to geld ; see equation (4.26) on page 59. We use equation (4.46) on page 62 to immediately nd that r T.t; x/ D 0 (4.77)

as the Lorentz torque density and introducing the electromagnetic angular momentum ux tensor

where T is the electromagnetic linear momentum ux tensor given by expression (4.41) on page 61, we see that the local (differential) form of the balance equation for angular momentum density can be written (discarding the arguments t and x from now on) @hmech .x0 / @held .x0 / C C r K. x 0 / D 0 @t @t (4.80)

FT

@geld @t (4.76) (4.78) (4.79)

where geld is given by equation (4.45) on page 62. Partial differentiation with respect to time yields

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where the symmetric pseudotensor K.x0 / represents the electromagnetic angular momentum current density around x0 . Integration over the entire volume V , enclosed by the surface S , yields the conservation law for angular momentum dJ eld .x0 / dJ mech .x0 / C C dt dt I

S

O K. x 0 / D 0 d2x n

(4.81)

where the mechanical and electromagnetic angular momentum pseudovectors are Z J mech .x0 / D d3x hmech .x0 / (4.82a)

V

J eld .x0 / D

V

FT

x0 / geld d f C "0 dt Z d3x .x

V Field angular momentum

and

(4.82b)

respectively. We can formulate and interpret this conservation law in the following way: Z

V

A

Torque on the matter

d x .x x0 /

x0 /

.E

B/

I C S

(4.83)

Angular momentum ow

O K. x 0 / D 0 d xn

This angular momentum theorem is the angular analogue of the linear momentum theorem, equation (4.52) on page 63. It shows that the electromagnetic eld, like any physical eld, can carry angular momentum , also known as rotational momentum . For a single localised charge q , i.e. for a charge density given by equation (1.8) on page 5 with summation over one particle only, the evaluation of the rst integral in equation (4.83) above shows that the mechanical torque on this charge is Z Z N .x0 / D d3x .x x0 / f D d3x .x x0 / . E C j B/ V V (4.84) mech D .x x0 / q.E C v B / D .x x 0 / F where F is the Lorentz force given by expression (4.53) on page 63. The physical observable N .x0 / is known as the Lorentz torque .

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Using the fact that we can always express the magnetic eld as B D r Arotat if A falls off sufciently fast at large distances [cf. example 3.3 on page 49], we can write Z eld J .t; x0 / D "0 d3x .x x0 / E.t; x/ B.t; x// ZV (4.85) D "0 d3x .x x0 / E.t; x/ .r Arotat .t; x/

V

and three extrinsic terms that do depend on the choice of x0 : Z Leld .t; x0 / D d3x .x x0 / Arotat .t; x/ V Z C "0 d3x .x x0 / r Arotat .t; x/ E.t; x/ V I O E.t; x/.x x0 / Arotat .t; x/ "0 d2x n

S

R

V

which consists of one intrinsic term (a term that is not dependent on the choice of moment point x0 ): Z (4.88a) eld .t / D "0 d3x E.t; x/ Arotat .t; x/

A

V

Partial integration of this yields the manifestly gauge invariant expression Z J eld .t; x0 / D "0 d3x E Arotat V Z C "0 d3x .x x0 / .r Arotat / E ZV (4.87) 3 rotat " 0 d x r .E .x x 0 / A / ZV C "0 d3x .x x0 / Arotat .r E/

where use was made of the Maxwell-Lorentz equation (2.1a) on page 19. Hence, the total eld angular momentum J eld is the sum of two manifestly gauge invariant components, one intrinsic ( eld ) and one extrinsic (Leld ): J eld .t; x0 / D eld .t/ C Leld .t; x0 / (4.89)

FT

(4.88b)

Employing the vector identity (F.92) on page 217, we can rewrite this as Z eld J .t; x0 / D "0 d3x .x x0 / .r Arotat / E V Z (4.86) 3 rotat "0 d x .x x0 / E .r A /

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70 j

A

bj k D yD L i x

V

FT

i Oi ij k x bD

S

in perfect analogy with the total mechanical angular momentum; cf. equation (4.82a) on page 68. If there is no net electric charge density in the integration volume, the rst integral in the RHS of equation (4.88b) on the previous page vanishes, and if E.x x0 / Arotat falls off sufciently rapidly with jxj, the contribution from the surface integral in equation (4.88b) on the preceding page can be neglected if the volume V is large enough. Furthermore, for a single temporal Fourier component and in complex notation, we obtain the expressions Z eld "0 D i d3x .E E/ (4.90a) t 2! V Z eld "0 d3x Ei .x x0 / r Ei L .x 0 / t D i 2! V Z "0 D i d3x Ei .x r /Ei 2! V (4.90b) Z "0 3 C i x0 d x Ei r Ei 2! V D Leld .0/ t x0 peld t where peld t is the cycle averaged EM eld linear momentum given by expression (4.66) on page 65. Recalling that in quantum mechanics the spin angular momentum operator is (4.91)

which, with the help of the matrix vector expression (M.26) on page 236 can be written

R D

(4.92)

we can write (Einstein summation convention assumed) Z eld "0 bj k Ek d3x Ej D t 2 ! V Z eld "0 y Ei L .0 / t D d3x Ei L 2 ! V

(4.94a) (4.94b)

or, with the use of the vector introduced in equation (4.69) on page 66, Z eld b i D hi j b ji i D d3x i (4.95a) t V Z eld y i D hi j L y ji i L .0/ t D d3x i L (4.95b)

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Hence, under the assumptions made above, we can interpret eld as the electromagnetic spin angular momentum and Leld as the electromagnetic orbital angular momentum . The conservation of angular (rotational) momentum is a manifestation of the rotational invariance of the Maxwell-Lorentz equations.

We notice that Diracs symmetrised Maxwell-Lorentz equations (2.2) on page 20 exhibit the following symmetry (recall that "0 0 D 1=c 2 ): E 7! c B c B 7! c

e m

(4.96a)

7! 7!

c cj

c j e 7! j m j 7!

m

which is a particular case ( D =2) of the general duality transformation , also known as the Heaviside-Larmor-Rainich transformation (indicated by the Hodge star operator ? in the upper left-hand corner of the symbol in question)

A

E sin C c B cos

e

e m

c ?B D c

? e ? m

R

? e e ? m

sin C

This transformation leaves the symmetrised Maxwell equations, and hence the physics they describe (often referred to as electromagnetodynamics ), invariant. Since E and j e are true (polar) vectors, B a pseudovector (axial vector), and e a (true) scalar, we conclude that the magnetic charge density m as well as the angle , which behaves as a mixing angle in a two-dimensional charge space , must be pseudoscalars13 and the magnetic current density j m a pseudovector. The invariance of Diracs symmetrised Maxwell equations under the duality transformation (4.97) means that the amount of magnetic monopole density m is irrelevant for the physics as long as the ratio m = e D tan is kept constant. So whether we assume that charged particles are only electrically charged or also have an amount of magnetic charge with a given, xed ratio between the

FT

(4.96c) (4.96d) (4.96e) (4.96f) (4.97a) (4.97b) (4.97c) (4.97d) (4.97e) (4.97f) sin

m

(4.96b)

cos

Recall that the Taylor expansion of cos contains only even powers of and therefor is an ordinary (true) scalar, whereas the expansion of sin contains only odd powers and therefore is a pseudoscalar.

13

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two types of charges, is a matter of convention, as long as we assume that this fraction is the same for all charged particles. Such particles are called dyons , a concept introduced by Schwinger. By varying the mixing angle we can change the fraction of magnetic monopoles at will without changing the laws of electrodynamics. For D 0 we recover the usual Maxwell electrodynamics.

If instead of vector multiplying the linear momentum densities gmech and geld by the position vector relative to a x point x0 as we did in subsection 4.2.5 on page 66, we scalar multiply, the following differential balance equation is obtained: @ .x

A FT

x0 / gmech @ .x C @t x0 / geld Cr @t .x

C W 7! C W A 7!

x0 / T D ueld (4.98)

This is the electromagnetic virial theorem , analogous to the virial theorem of Clausius in mechanics. The quantity .x x0 / geld is the electromagnetic virial density . When integrated over space and time averaged, this theorem is a statement of the partitioning of energy in electrodynamics and nds use in, e.g. plasma physics .

4.3 Examples

E X A M P L E 4.1

The CPT symmetries of the electromagnetic potentials .t; x/ and A.t; x/ can be found trivially by using either expressions (3.35) or expressions (3.46) for the potentials. They can also be found by combining the results in subsection 4.1.1 and formul (F.141) on page 222. The result is C HARGE CONJUGATION A (4.99a) (4.99b)

P W 7! P W A 7!

(4.100a) (4.100b)

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4.3. Examples

j 73

T IME REVERSAL

T W 7! T W A 7!

Conservation of the total energy in a closed system Show, by explicit calculation, that the total energy U D U mech C U eld of a closed system comprising N non-relativistic particles of mass mi , speed vi and charge qi , and pertinent electromagnetic elds E and B, U D is conserved. Z N 1X "0 2 mi vi C d3x .E E C c 2 B B/ 2 2 V

i D1

E X A M P L E 4.2

(4.102)

To show that the total energy U of the closed system is conserved, i.e. is constant in time, is to show that the derivative of U with respect to time t vanishes. Direct differentiation yields Z N X dU dvi @E @B D mi vi C "0 d3x E C c2B dt dt @t @t V

i D1

From the Lorentz force equation (4.53) on page 63 and Newtons second law we nd that mi which means that

N X i D1

dvi D qi E.t; xi / C vi dt

mi vi

N N X X dvi D qi vi E.t; xi / C qi v i dt i D1 i D1

1 @E D c2r B j (4.104a) @t "0 @B D r E (4.104b) @t Substitution into equation (4.103) above yields, after some rearrangement of terms,

R

0 V

Since the current is carried by discrete charged particles i D 1; 2; : : : ; N , the current density can be represented as jD

N X i D1

A FT

(4.103) B.t; xi / vi

N X B.t; xi / D qi vi E.t; xi / i D1 0

(4.105)

qi vi x

xi .t/

(4.106)

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and therefore the two rst terms in equation (4.105) on the preceding page cancel. If we use also formula (F.83) on page 217 we see that equation (4.105) can be written Z Z I dU 1 O S d3x r .E B/ D d3x r S D d2x n (4.107) D dt 0 V V S where in the last step the divergence theorem, formula (F.121b) on page 219, was used. This result shows that the rate at which the total energy is lost in a volume equals the amount of energy ux that ows outward across a closed surface enclosing this volume. Of course, this is nothing but what is stated in the energy theorem (Poyntings theorem), formula (4.33) on page 60. Now, if the surface lies entirely outside the boundaries of the system under study, and this system is closed, no energy ux passes through the surface and hence dU D0 dt

Put in another way: If we observe a change in the radiated energy from a given system, we can deduce that there has been a similar change, but with opposite sign, of the mechanical energy of the system. This can be useful to know if we want to study the dynamics of a remote system, e.g. in the Universe. End of example 4.2

E X A M P L E 4.3

Show, by explicit calculation, that the total linear momentum p D pmech C peld of a closed electromechanical system comprising N non-relativistic particles of mass mi , speed vi and charge qi , and pertinent electromagnetic elds E and B, pD

N X

A FT

Z mi vi C "0 d3x .E B/

i D1 V

showing that the total energy U D U mech C U eld of a closed system is indeed a conserved quantity. QED

(4.108)

is conserved.

R D

To show that the total linear momentum p of the closed system is conserved, i.e. is constant in time, is to show that the derivative of p with respect to time t vanishes. Direct differentiation yields Z N X dp dvi @E D mi C "0 d3x dt dt @t V

i D1

BCE

@B @t

(4.109)

From the Lorentz force equation (4.53) on page 63 and Newtons second law we nd that dvi qi D E.t; xi / C vi dt mi B.t; xi /

Substitution of this expression and equations (4.104) on the previous page into equation (4.109) yields, after some rearrangement of terms, Z N X dp D qi E.t; xi / C vi B.t; xi / d3x j dt V i D1 Z "0 d3x E .r E/ C c 2 B .r B/

V

B.t; x/ (4.110)

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4.3. Examples

j 75

By rst applying formula (F.93) on page 218 and then formula (F.86) on page 217 on the last term, we nd that Z N X dp D qi E.t; xi / C vi B.t; xi / d3x j B.t; x/ dt V i D1 Z (4.111) "0 d3x .Er E C c 2 Br B/ V Z 2 "0 d3x 1 r .EE C c 2 BB/ 2 r .E E C c B B /

V

Since the current is carried by discrete charged particles the current density j can be represented as formula (4.106) and the charge density as D

N X

the two rst terms in equation (4.112) above cancel and, after applying the divergence formula (F.121b) on page 219, we are left with I I dp 2 2 O 1 O T D "0 d2x n . E E C c B B / 1 . EE C c BB / D " d2x n 3 0 2 dt S S (4.114)

where the tensor T is the electromagnetic linear momentum current density (the negative of the Maxwell stress tensor ); cf. equation (4.41) on page 61. This result shows that the rate at which the total linear momentum is lost in a volume equals the amount of linear momentum ux that ows outward across a closed surface enclosing this volume. If the surface lies entirely outside the boundaries of the system under study, and this system is closed, no linear momentum ux passes through the surface and hence

showing that indeed the total linear momentum p D pmech C peld of a closed system is a conserved quantity. QED If our system under study can be considered to be a closed electromechanical system and we observe a change in the electromagnetic linear momentum in this system, we can deduce that there has been a similar change, but with opposite sign, of the mechanical linear moment of the system. This allows us to determine mechanical properties of a system by analysing the radiation (radio, light, . . . ) from it. In the quantum picture the linear momentum of a photon is k where k D jkj D 2 = is the wavenumber and the radiated wavelength. The shift in is the translational Doppler shift . Since ! D ck for a photon in free space, we experience the change of electromagnetic linear momentum as an associated frequency shift, a redshift if it is to the long wavelength (low frequency) side and a blueshift if it is to the short wavelength (high frequency) side.

A FT

qi .x xi / (4.113)

i D1

We can now use the Maxwell-Lorentz equations to make the substitutions "0 r E D and r B D 0 to obtain Z N X dp D qi E.t; xi / C vi B.t; xi / d3x E C j B.t; x/ dt V i D1 (4.112) Z 3 2 2 "0 d x r 1 .EE C c BB/ 2 .E E C c B B /13

dp D0 dt

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76 j

This vocabulary is used regardless of whether the radiation falls in the optical range or not. End of example 4.3 E X A M P L E 4.4 Conservation of the total angular momentum of a closed system Show, by explicit calculation, that the total angular momentum around a momentum point x0 , J .x0 / D J mech .x0 / C J eld .x0 /, of a closed electromechanical system comprising N non-relativistic particles of mass mi , speed vi and charge qi , and pertinent electromagnetic elds E and B, Z N X J .t; x0 / D .xi x0 / mi vi C "0 d3x .x x0 / .E B/ (4.115)

i D1 V

is conserved. To show that the total angular momentum J of the closed system is conserved, i.e. is constant in time, is to show that the derivative of J with respect to time t vanishes. For simplicity we put the origin of our coordinate system at the moment point x0 and then follow the same procedure as for the proof of the constancy of linear momentum in example 4.4 above. Direct differentiation then yields

N X dxi dJ D mi vi Cxi dt dt i D1 0

A FT

dvi dt Z C "0 d3x h dx dt

V

.E

0

B / Cx

@E @t

B Cx

@B i @t

(4.116)

N X

mi xi

i D1

dvi C "0 dt

d3x x

h @E @t

B C E

@B i @t

From the Lorentz force equation (4.53) on page 63 and Newtons second law we nd that dvi qi D E.t; xi / C vi dt mi B.t; xi /

R D

V V

Substitution of this expression and equations (4.104) on page 73 into equation (4.116) yields, after some rearrangement of terms,

N X dJ D qi xi E.t; xi / C xi vi B.t; xi / dt i D1 Z Z 3 d x x .j B/ "0 d3x x E .r V

(4.117) E/ C c 2 B .r B/

By rst applying formula (F.93) on page 218, and then formula (F.86) on page 217 on the last term, we nd that

N X dJ D xi qi E.t; xi / C vi B.t; xi / dt i D1 Z Z d3x x .j B/ "0 d3x x .Er E C c 2 Br B/ V V Z 3 2 1 "0 d x x r .EE C c 2 BB/ 2 r .E E C c B B /

(4.118)

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4.3. Examples

j 77

We then use the Maxwell-Lorentz equations to make the substitutions "0 r E D and r B D 0 and obtain Z N X dJ D xi qi E.t; xi / C vi B.t; xi / d3x x E C .j B/ dt V i D1 (4.119) Z 3 2 2 "0 d x x r 1 .EE C c BB/ 2 .E E C c B B /13

V

The electric current is carried by discrete charged particles so that the current density j is given by formula (4.106) on page 73 and the charge density by formula (4.113) on page 75. Hence, the two rst terms in equation (4.119) above cancel. After applying the divergence theorem, formula (F.121b) on page 219, on the remaining third term, we are left with I dJ O K D "0 d2x n (4.120) dt S where the tensor K is the electromagnetic angular momentum current density ; cf. equation (4.79) on page 67. This result shows that the rate at which the total angular momentum is lost (gained) in a volume is equal to the amount of angular momentum ux that ows outward (inward) across a closed surface enclosing this volume. If the surface lies entirely outside the boundaries of the system under study, and this system is closed, no angular momentum ux passes through the surface and hence dJ D0 dt

Hence, we have shown that the total angular momentum J D J mech C J eld of a closed system is conserved. QED

If we observe a change in the electromagnetic angular momentum in a given system, we can deduce that there has been a similar change, but with opposite sign, of the mechanical angular moment of the system.

R

E.t; x/ D p

Spin angular momentum and wave polarisation Consider a generic temporal Fourier mode of the electric eld vector E of a circularly polarised wave with (angular) frequency ! . According to equation (2.57) on page 31 it can be written

D

where and

O C represents left-hand circular polarisation and h O As before, we use the convention that h right-hand circular polarisation . Noting that

A FT

End of example 4.4 E X A M P L E 4.5 O E.t; x/ D E.t; x/ h (4.121) 2E0 ei.kx3

!t C1 /

(4.122)

1 O D p O 1 ix O 2/ h x 2

(4.123)

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78 j

O / .h we see that E

O D iz O h

(4.124)

O D iE 2 z O E D i jE j2 z

(4.125)

When we insert this into equation (4.90a), we nd that the cycle averaged spin angular momentum of a circularly polarised wave is eld Z D E U "0 3 2 t eld OD O d xE z z (4.126) D t 2! V ! where U eld is the eld energy. Considering the fact that the wave-particle duality shows that the wave can be considered to be a gas with N photons so that the kinetic energy of the eld is U eld D N ! . This means that the spin of the wave is eld D E U N ! eld t OD O D N z O D z z (4.127) t ! ! Hence, each photon of a right-hand or a left-hand circular polarised wave carries a spin angular momentum of or , respectively. End of example 4.5

E X A M P L E 4.6

yD The Cartesian components of the quantal orbital angular momentum operator (OAM) L i x r , as given by expression (4.93) on page 70, are @ @z @ yy D i z L @x @ yz D i x L @y yx D L i y @ @y @ x @z @ y @x z (4.128a) (4.128b) (4.128c)

R D

In cylindrical coordinates . ; '; z/ the components are yx D L yy D L i i sin ' z @ @ @ cos ' z @ yz D L @ z @ C cos ' @z @' @ z @ sin ' @z @' @ i @' (4.129a) (4.129b) (4.129c)

and in spherical coordinates .r; '; / they are yx D L yy D L i i sin ' @ @ C cos ' cot @ @' @ @ cos ' sin ' cot @ @' @ yz D i L @' (4.130a) (4.130b) (4.130c)

A FT

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4.3. Examples

j 79

For an electric eld E that depends on the azimuthal angle ' in such a way that E D E0 .t; x/.'/ we nd that yz E.t; x/ D L i @E0 .t; x/ .'/ @' E0 .t; x/ @.'/ @' (4.132) (4.131)

If E0 .t; x/ is rotationally symmetric around the the z axis, so that E0 D E0 .t; ; z/ in cylindrical coordinates, E0 D E0 .t; r; / in spherical (polar) coordinates etc. the rst term in the RHS vanishes. If the azimuthal part is expressed in a Fourier series .'/ D we see that yz E.t; x/ D L

1 X mD 1

cm eim'

(4.133)

mD 1

which means that for a rotationally symmetric beam with an azimuthal phase dependence given by exp.im'/ one deduces, according to formula (4.90b) on page 70, that the z component of the orbital angular momentum of each photon in this beam is m . End of example 4.6

? e

R

D 1 "0

e

Show that the symmetric, electromagnetodynamic Maxwell-Lorentz equations (2.2) on page 20 (Diracs symmetrised Maxwell equations) are invariant under the duality transformation (4.97).

m

D

r

?

"0 e 1 r ?B D r . E sin C B cos / D sin C c c"0 D 0 c e sin C m cos D 0 ? m @?B Dr @t D .E cos C c B sin / C @ @t

EC

1 E sin C B cos c 1 @E @B m cos C c 0 j e sin C sin 0 j cos @t c @t @B 1 @E m e sin C cos D 0 j cos C c 0 j sin c @t @t e m ? m 0 . c j sin C j cos / D 0 j

A FT

1 X

cm m E0 eim' D

1 X

cm m Em

(4.134)

mD 1

(4.135)

E X A M P L E 4.7

"0 D

cos C c

? e

sin (4.136a)

sin

cos

(4.136b)

(4.136c)

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80 j

1 @?E Dr c 2 @t 1 D c

1 1 @ .E cos C c B sin / E sin C B cos / c c 2 @t 1 @B 1 @E m cos C 0 j e cos C 2 cos 0 j sin C c @t c @t 1 @B 1 @E cos sin c @t c 2 @t 1 m D 0 j sin C j e cos D 0 ?j e c (4.136d) . QED End of example 4.7

Expressed in the Riemann-Silberstein complex eld vector, introduced in equation (2.7) on page 22, the duality transformation equations (4.97) on page 71 become

?

A FT

iE sin C ic B cos i sin / D .E C ic B/e

i

E X A M P L E 4.8

D Ge

(4.137)

?

2R

2 G D ?G D G e

Ge

D Ge

G ei D jG j2

(4.138)

whereas

G D G Ge

2i

(4.139)

D .t; x/, we see that spatial and temporal differ(4.140a) (4.140b) G (4.140c)

R

r

?

i

GCe

GD

i.r /

GCe

However, if we require that the physics be unaffected by a duality transformation, the freespace Maxwell-Lorentz equations (2.9) on page 22 must hold also for ?G . I.e. r r

? ?

GD0 i c @t @?G

(4.141a) (4.141b)

GD

Then, using formul (4.140), as well as equations (2.9), we nd that this would mean that .r / .r / which can be fullled only if

?

GD0

(4.142a) (4.142b)

i@ ? ? GD G c @t

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4.3. Examples

j 81

(4.143a) (4.143b)

End of example 4.8 Examples of other conservation laws In addition to the conservation laws for energy, linear momentum and angular momentum, a large number of other electromagnetic conservation laws can be derived. C ONSERVATION OF CHIRALITY DENSITY For instance, as can be derived directly from the Maxwell-Lorentz equations, the following conservation law holds in free space (vacuum): @ Cr XD0 @t E X A M P L E 4.9

def

def

R

1

0

If we use the notation j cond for the conduction current associated with the actual motion of electric charges, both free and bound, i.e. j cond D j free C j bound , and j disp for the displacement current "0 @.E/=@t , the Maxwell-Lorentz equation (2.1d) on page 19 can be written r B D j cond C j disp D j tot

D

be written

Differentiating this with respect to time t and using the Maxwell equation (2.1c) on page 19 and formula (F.104) on page 218, we obtain the following local conservation law for the total current @j tot Cr @t

13

which is a rather obfuscated way of writing the wave equation for the electric eld vector E. Normally it is written as in equation (2.19a) on page 24. We note that the global (i.e. volume integrated) version of this wave-equation-turnedconservation-law formula can, with the help of the rank two tensor

W D 13

A FT

(4.144) E .r E/ C c 2 B . r B/ (4.145) E @E C c2B @t @B @t (4.146) (4.147) 1

0

.r

E/ D 0

(4.148)

.r

E/

(4.149)

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82 j

d dt

Z

V

d3x j tot C

1

0

I

S

O WD0 d2x n

(4.150)

and hence as a conservation law for the integrated curl of the magnetic eld: Z I d O WD0 d3x .r B/ C d2x n dt V S or, using the identity (F.121c) on page 219, I I d O B C d2x n O WD0 d2x n dt S S

(4.151)

4.4 Bibliography

[25] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc., New York, NY . . . , 1999, ISBN 0-471-30932-X. [26] F. M ELIA, Electrodynamics, Chicago Lectures in Physics. Cambridge University Press, Cambridge and London, 1991, ISBN 0-226-51957-0.

FT

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5

F I E L D S F ROM A R B I T R A R Y C H A R GE A N D C U RR E N T D I ST RI B UT ION S

The electric and magnetic elds E and B generated by prescribed charge and current sources and j can at least in principle be obtained by directly solving the Maxwell-Lorentz differential equations given at the beginning of chapter 2, or the wave equations given later in the same chapter. However, it is often technically easier and physically more lucid to calculate the elds from the electromagnetic potentials and A that we introduced in chapter 3. We saw in that chapter that these potentials can, in a suitable gauge, be readily obtained in the form of a volume integral over the spatial distribution of the source elements, divided by the distance between the actual source element and the observer. In this chapter we will use electromagnetic potentials to derive exact, closedform, analytic expressions for the electric and magnetic elds generated by prescribed but completely arbitrary charge and current sources at rest, distributed arbitrarily within a volume of nite extent in otherwise free space. As we shall nd, both the electric and magnetic eld vectors are actually a sum of several vector composants, each characterized by its particular vectorial property and fall-off behaviour with respect to distance from the source elements. This means that different eld vector composants have different magnitudes, directions and phases in different zones. These zones are customarily and self-explanatorily referred to as the near zone , the intermediate zone , and the far zone , respectively. Those composants of the eld vectors that have the slowest fall-off with distance from the source and therefore dominate in the far zone, will be referred to as the far elds . Because of their importance, a special analysis of these far elds is given at the end of the chapter. Surprising as it may seem, it will be shown in chapter 6 that certain physical observables receive their far-zone contributions not from the dominant far elds but from a combination of far elds and sub-dominant near-zone and intermediate-zone elds. For completeness, we therefore include a derivation of approximate expressions for all eld composants, dominant as well as sub-dominant, valid at large distances from an arbitrary source.

A

83

FT

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84 j

As discussed earlier, the linearity of the Maxwell-Lorentz equations means that the complete solution of them can be found in terms of a superposition of Fourier components, each of which individually solves these equations; the resulting superposition (the sum of several such Fourier components) is called a wavepacket . We recall from the treatment in chapter 3 that in order to use the Fourier component method to nd the solution (3.34) on page 40 for the generic inhomogeneous wave equation (3.18) on page 37, we presupposed the existence of the temporal Fourier transform pair (3.19) for the generic source term. That such transform pairs exist is not always the case, but it is true for reasonably well-behaved, non-erratic physical variables which are neither strictly monotonically increasing nor strictly monotonically decreasing with time. For charge and current densities that vary in time, we can therefore, without loss of generality, work with individual temporal Fourier components ! .x/ and j! .x/, respectively. Strictly speaking, the existence of a signal represented by a single Fourier component assumes a monochromatic source (i.e. a source containing only one single frequency component), which requires that this source must have existed for an innitely long time. However, by taking the proper limits, we may still use this approach even for sources and elds of nite temporal duration. This is the method we shall utilise in this chapter in order to derive the electric and magnetic elds in vacuum from arbitrary given charge densities .t; x/ and current densities j .t; x/, dened by the temporal Fourier transform pairs

A

Z .t; x/ D D

! .x /

FT

1

d!

1 1

! .x/ e

i!t

(5.1a) (5.1b)

R

and

1 2

dt .t; x/ ei!t

Z j .t; x/ D 1 2

d ! j ! .x / e

1

i!t

(5.2a) (5.2b)

1 1

j! .x/ D

dt j .t; x/ ei!t

respectively. The derivation will be completely general except we keep only retarded potentials and assume that the source region is at rest (no bulk motion) relative to the observer. The temporal Fourier transform pair for the retarded scalar potential can then

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j 85

be written Z .t; x/ D ! .x / D 1 2 Z

1 1 1

dt .t; x/ ei!t

i!t

(5.3a) x0 / (5.3b)

0 ! .x /G. x

where, in the last step, we made use of the explicit expression for the temporal Fourier transform of the generic potential component ! .x/, equation (3.31) on page 39, and introduced the Green function G.x eik jx x /D 4 jx

0

x0 j

x0 j

(5.4)

A

.t; x/ D

0 .x/e i!0 t

Analogous transform pairs must exist for the elds themselves. In the limit that the sources can be considered monochromatic, containing one single frequency !0 only, we can safely assume that ! D 0 .! !0 /, j! D j0 .! !0 / etc.. Our Fourier integrals then become trivial and we obtain the simpler expressions (5.6a) (5.6b) (5.6c) (5.6d)

i!0 t

j .t; x/ D j0 .x/e

where the real-valuedness of all these quantities is implied. As discussed above, all formul derived for a general temporal Fourier representation of the source (general distribution of frequencies in the source) are valid in these limiting cases. In this context, we can therefore, without any essential loss of stringency, formally identify 0 with the Fourier amplitude ! and so on. In order to simplify the computations, we will work in ! space and, at the nal stage, inverse Fourier transform back to ordinary t space. We shall be using the Lorenz-Lorentz gauge and note that, in ! space, the Lorenz-Lorentz condition, equation (3.16) on page 37, takes the form r A!

k i ! D 0 (5.7) c This provides a relation between (the temporal Fourier transforms of) the vector and scalar potentials A! and ! .

FT

i!0 t i!0 t

Similarly, we must require that the following Fourier transform pair for the vector potential exists: Z 1 A.t; x/ D d! A! .x/ e i!t (5.5a) 1 Z 1 Z 1 1 dt A.t; x/ ei!t D A ! .x / D d3x 0 j! .x0 /G.x x0 / (5.5b) 2 2 "0 c V 0 1

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86 j

In order to calculate the retarded electric eld, we use the temporally Fourier transformed version of formula (3.13) on page 35, with equations (5.3) on the previous page and equations (5.5) on the preceding page as the explicit expressions for the Fourier transforms of and A, respectively: E ! .x / D r ! .x / C i ! A ! .x / Z 1 D r d3x 0 ! .x0 /G.x x0 / "0 V0 Z i! C d3x 0 j! .x0 /G.x x0 / 2 "0 c V 0 Z 0 ik jx x0 j 1 .x x0 / 3 0 ! .x /e D dx 4 "0 V 0 j x x0 j 3 Z 0 ik jx x0 j ik .x x 0 / ! .x /e d3x 0 4 "0 V 0 j x x0 j 2 Z 0 ik eik jx x j C d3x 0 j! .x0 / 4 "0 c V 0 jx x0 j

R

dE.t; x/ D

Taking the inverse Fourier transform of this expression, the following expression for the retarded electric eld is obtained: Z 0 ; x/ x x0 1 .tret E.t; x/ D d3x 0 4 "0 V 0 jx x0 j2 jx x0 j Z 0 1 P.tret ; x0 / x x0 C d3x 0 (5.9) 4 "0 c V 0 j x x0 j j x x0 j Z 0 P 0 1 3 0 j .tret ; x / d x 4 "0 c 2 V 0 j x x0 j

0 0 Letting dq 0 D d3x 0 .tret ; x0 / and di 0 D I 0 dl0 D d3x 0 j .tret ; x0 /, the corresponding formula in innitesimal differential form becomes

A

r 0 j ! .x 0 /

! ! .x 0

1 1 0 x x0 x x0 dq 0 C dq P 4 "0 c jx x0 j3 jx x0 j2

FT

1 P0 1 di 2 c jx x0 j i!

! .x 0

(5.8)

(5.10)

which in the static limit reduces to the innitesimal Coulomb law, formula (1.5) on page 4. We shall now further expand equation (5.9) above. To this end we rst note that the Fourier transform of the continuity equation (4.20) on page 58 /D0 (5.11)

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j 87

Doing so in the last term of equation (5.8) on the facing page, and also using the fact that k D !=c , we can rewrite this equation as Z 0 ik jx x0 j .x x 0 / 1 ! .x /e d3x 0 E! .x/ D 4 "0 V 0 j x x0 j 3 Z 0 0 1 j! .x0 /.x x0 / eik jx x j 3 0 r 0 dx i k j ! .x / c V0 j x x0 j j x x0 j K! (5.13) The last vector-valued integral can be further rewritten in the following way (where l and m are summation indices and Einsteins summation convention is assumed): Z K! D Z D But, since @ 0 @xl j!;l xm jx

0 xm V0 V0

d3x 0 dx

3 0

0 xm x0 j

x0 /

eik jx x j Om ikj!m .x / x jx x0 j

0

A

x0 j

x0 j2

eik jx

@j!;l 0 @xl

@ C j!;l 0 @xl

R

Z " d3x 0

V0

we can rewrite K! as K! D

@ j!;l 0 @xl

xm

0 xm

jx

x0 j 2

O m eik jx x

D

Z D dx

3 0 V0

d3x 0

V0

@ 0 @xl "

j!;l

0

xm

0 xm

jx

0

x0 j2 x

O m eik jx x x0 e

j ! .x / r

jx x jx

x0 j2 x0 x0 j 2

V0

d3x 0 r 0

j ! .x 0 /

eik jx

where, according to identity (F.121e) on page 219, the last term vanishes if the dyadic inside the big parentheses is regular and tends to zero at large distances.

FT

ik j! .x0 / eik jx x j j x x0 j

0 0

(5.14)

xm

0 xm

jx

x0 j2

eik jx e

x0 j

xm

0 xm

ik jx x0 j

(5.15)

jx

x0 j2

x0 j

eik jx x j C ik j! j x x0 j

x0 j

0

ik jx x0 j

eik jx x j C i k j ! .x / jx x0 j

0

x0 j

(5.16)

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88 j

Further evaluation of the derivative in the rst term makes it possible to write

Z K! D 2

V0

d3x 0 j! .x0 / .x d x j ! .x / .x

0 3 0 0

x 0 / .x x / .x

0

x0 /

0

eik jx jx jx eik jx

x0 j

x0 j4

x0 j

Z C ik Z C

V0 V0

x/

x0 j3

d x j ! .x /

3 0

3 0

eik jx jx

0

x0 j

(5.17)

x0 j2

0

Using the triple product bac-cab formula (F.53) on page 216 backwards, and inserting the resulting expression for K! into equation (5.13) on the previous page, we arrive at the following nal expression for the temporal Fourier transform of the total E eld:

A

1 r 4 "0 Z d3x 0

V0

E ! .x / D

ik jx x j i! 3 0 0 e C d x j . x / ! 4 "0 c 2 V 0 jx x0 j Z 0 ik jx x0 j 1 .x x 0 / ! .x /e D d3x 0 4 "0 V 0 jx x0 j3 Z 0 1 j! .x0 /eik jx x j .x x0 /.x x0 / C d3x 0 c V0 jx x0 j4 Z 0 1 j! .x0 /eik jx x j .x x0 / .x x0 / C d3x 0 c V0 jx x0 j4 Z 0 ik jx x0 j ik .x x0 / .x x0 / 3 0 j ! .x /e dx c V0 jx x0 j3

FT

0 ! .x /

eik jx x j ik d x j ! .x / j x x0 j V0 Z

eik jx x j jx x0 j

0

(5.18)

Taking the inverse Fourier transform of equation (5.18) above, once again using the vacuum relation ! D kc , we nd, at last, the expression in time domain

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j 89

for the total electric eld: Z 1 E.t; x/ D d! E! .x/ e i!t 1 Z 0 1 .tret ; x0 /.x x0 / D d3x 0 4 "0 V 0 jx x0 j3

Retarded Coulomb eld

1 C 4 "0 c C 1 4 "0 c

Z

V0

d3x 0

0 j .tret ; x 0 / .x

x0 /.x x0 j 4

x0 / (5.19) x0 /

jx

0 j .tret ; x0 /

Intermediate eld

Z

V0

d3x 0

.x jx

x0 / x0 j4 x0 /

.x

Intermediate eld

1 4 "0 c 2

Z

V0

d3x 0

0 P .tret j ; x0 /

Far eld

where, as before,

def 0 P .tret ; x0 / j

@j @t

Here, the rst term represents the retarded Coulomb eld and the last term represents the far eld which dominates at very large distances. The other two terms represent the intermediate eld which contributes signicantly only to the elds themselves in the near zone and must be properly taken into account there.

D

B ! .x / D r

Let us now compute the magnetic eld from the vector potential, dened by equation (5.5) and equation (5.5b) on page 85, and formula (3.9) on page 35: B.t; x/ D r A.t; x/ (5.21)

Using the Fourier transformed version of this equation and equation (5.5b) on page 85, we obtain 1 A! .x/ D r 4 "0 c 2 Z

V0

A

d3x 0 j! .x0 /

FT

.x .x x0 / jx x0 j3

0 t Dtret

(5.20)

eik jx x j j x x0 j

(5.22)

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90 j

1 Equation (5.9) and equation (5.25) seem to have been rst introduced by Panofsky and Phillips. Later they were given by Jemenko and they are therefore sometimes called the Jemenko equations .

R

where

Comparing with equations (3.33) on page 40, we can identify the exponents 0 of the exponentials in the integrands as i!tret and nd that the total retarded magnetic eld can be written as the sum of two terms1 Z 0 0 1 .x x 0 / 3 0 j .tret ; x / B.t; x/ D d x 4 "0 c 2 V 0 jx x0 j3

Retarded induction eld

A

1 C 4 "0 c 3 Z

From this expression for the magnetic eld in the frequency (! ) domain, we nally obtain the total magnetic eld in the temporal (t ) domain by taking the inverse Fourier transform (using the identity ik D i!=c ): Z 1 B.t; x/ D d! B! .x/ e i!t 1 hR i 1 0 i.!t k jx x0 j/ Z d ! j . x / e .x x 0 / ! 1 1 3 0 D d x 4 "0 c 2 V 0 jx x0 j3 hR i 1 0 i.!t k jx x0 j/ Z d ! . i !/ j . x / e .x x 0 / ! 1 1 3 0 C dx c V0 jx x0 j2 (5.24)

FT

dx

V0 Far eld 3 0 0 P .tret j ; x0 /

Utilising formula (F.87) on page 217 and recalling that j! .x0 / does not depend on x, we can rewrite this as " !# Z 0 eik jx x j 1 3 0 0 d x j! .x / r B ! .x / D 4 "0 c 2 V 0 j x x0 j Z x x0 1 0 3 0 0 eik jx x j D d x j . x / ! 3 2 0 4 "0 c jx x j V0 Z 0 x x ik jx x0 j 1 (5.23) C d3x 0 j! .x0 / ik e 0j 0 x x x x0 j j j V Z 0 ik jx x0 j .x x 0 / 1 3 0 j! .x /e d x D 4 "0 c 2 V 0 jx x0 j3 Z 0 ik jx x0 j .x x0 / 3 0 . ik/j! .x /e C dx jx x0 j2 V0

.x x0 j 2

x0 /

(5.25)

jx

def 0 P .tret j ; x0 /

@j @t

0 t Dtret

(5.26)

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5.4. The total electric and magnetic elds at large distances from the sources

j 91

The rst term, the retarded induction eld that dominates near the current source but falls off rapidly with distance from it, is the electrodynamic version of the Biot-Savart law in electrostatics, formula (1.16) on page 8. The second term, the far eld , dominates at large distances. The spatial derivatives (r ) gave rise to a time derivative (P) so this term represents the part of the magnetic eld that is generated by the time rate of change of the current, i.e. accelerated charges, at the retarded time. In innitesimal differential form, formula (5.25) on the preceding page becomes dB.t; x/ D 1 di 0 .t 0 ; x0 / 4 "0 c 2 x jx x0 x0 j3 1 P0 .t; x0 / C di c x jx x0 x0 j 2 (5.27)

where

0 di 0 .t 0 ; x0 / D d3x 0 j .tret ; x0 /

and P 0 .t 0 ; x0 / di

def

@.di / @t

0 t Dtret

D d3x 0

5.4 The total electric and magnetic elds at large distances from the sources

For many purposes it is convenient to have access to approximate expressions for the electric and magnetic elds that are valid in the far zone , i.e. very far away from the source region. Let us therefore derive such expressions. As illustrated in gure 5.1 on the next page we assume that the sources and j are located at stationary points x0 near a xed point x0 inside a volume V 0 that is not moving relative to the observer. Hence the distance from each source point x0 to the observation point (eld point) x is assumed to be constant in time. The non-moving source volume V 0 is located in free space and has

Equation (5.27) is the dynamic generalisation of the static innitesimal BiotSavart law, equation (1.15) on page 7, to which it reduces in the static limit. With this we have achieved our goal of nding closed-form analytic expressions for the electric and magnetic elds when the sources of the elds are completely arbitrary, prescribed distributions of charges and currents. The only assumption made is that the advanced potentials have been discarded [recall the discussion following equation (3.34) on page 40 in chapter 3 on page 33].

FT

(5.28a) @j @t

0 t Dtret

(5.28b)

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92 j

Figure 5.1: Relation between the O , anchored at the obunit vector n servation point x and directed along x x0 , and hence normal to the surface S.x0 / which has its centre at x0 and passes through x, and the wave vector k.x0 /, directed along x x0 , of elds generated at the source point x0 near the point x0 in the source volume V 0 . At distances jx x0 j much larger than the exO and the tent of V 0 , the unit vector n O .x0 / are nearly coinciunit vector k dent.

O n O .x 0 / k

S.x0 /

x x

x0 x0 x0 x0 x0 x0

such a limited spatial extent that sup jx0 x0 j inf jx x0 j, and the integration surface S.x0 /, centred on x0 and with an outward pointing normal unit vector O D x x0 , has a large enough radius jx x0 j sup jx0 x0 j. n Noting that the (exact) wave vector for elds generated at x0 can be written

A

O .x0 / k.x0 / D k k x0 k .x 0 / .x k jx x0 j x0 /

0

FT

V0 k x x0 D k x jx x0 x0 j k.x0 / .x

0

(5.29)

R

k x

expressing the fact that its magnitude k D !=c is constant but its direction is along x x0 and thus is dependent on the location of the source element at x0 in V 0 , we can, for the geometry just described, make the magnitude approximation x0 / k.x0 / .x0 x0 /

k .x / .x

x0 /

(5.30)

in the amplitudes (denominators) in equation (5.18) on page 88 and in equation (5.23) on page 90. We then get the following approximate expressions for the Fourier amplitudes of the electric and magnetic elds, valid at sufciently large

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5.4. The total electric and magnetic elds at large distances from the sources

j 93

V0

d3x 0 Z

V0

! .x

/e

ik.x0 / .x0 x0 /

1 eik jx x0 j 4 "0 c j x x 0 j 2

ik.x0 / .x0 x0 /

ik jx x0 j

Z

V0

ik.x0 / .x0 x0 /

Z

V0

d3x 0 j! .x0 /e

ik.x0 / .x0 x0 /

Z

V0

x0 j

ik eik jx x0 j 4 "0 c 2 jx x0 j

Z

V0

d x j ! .x /e

3 0

At a eld (observation) point x located sufciently far away from the source volume V 0 such that inf jx x0 j sup jx0 x0 j, and jx x0 j sup jx0 x0 j, we can assume that the direction of all wave vectors from the sources in V 0 are parallel to each other. I.e. we can make the paraxial approximation

A

Z d3x 0 Z

V0 ! .x 0

O .x0 / D x k jx

x0 D x x0 x0 j

O .x 0 / D x k jx

R

1 eik jx x0 j 4 "0 jx x0 j2 C 1 eik jx x0 j 4 "0 c jx x0 j2

V0

O is the constant unit vector normal to the surface S.x0 / of a large sphere where n centred on x0 and passing through the (xed) eld point x (see gure 5.1 on the facing page). Then formul (5.32) on page 93 can be further approximated as E ! .x / /e

O .x0 x0 / ik n

d3x 0 j! .x0 /e

B ! .x /

(5.34a) Z 1 eik jx x0 j O .x0 x0 / 3 0 0 ik n O n O C d x j ! .x /e n 4 "0 c jx x0 j2 V 0 Z ik eik jx x0 j O .x0 x0 / O n O d3x 0 j! .x0 /e ik n n 4 "0 c jx x0 j V 0 Z 1 eik jx x0 j O .x0 x0 / O d3x 0 j! .x0 /e ik n n 2 2 4 "0 c jx x0 j V 0 (5.34b) Z ik eik jx x0 j O .x0 x0 / 3 0 0 ik n O d x j ! .x /e n 4 "0 c 2 jx x0 j V 0

FT

(5.32b)

0 ik.x0 / .x0 x0 /

B ! .x /

d3x 0 j! .x0 /e

ik.x0 / .x0 x0 /

O .x 0 / k

O .x 0 / k

x0 Dx x0 j

x0

O n

(5.33)

O n On O n

O .x0 x0 / ik n

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94 j

E! .x/

A R D

where and I ! .x 0 /

def

FT

1 eik jx x0 j O Q ! .x 0 / n 4 "0 jx x0 j2 C 1 eik jx x0 j On O I ! .x0 / n 4 "0 c jx x0 j2 1 eik jx x0 j C .I ! .x 0 / 4 "0 c jx x0 j2 ik eik jx x0 j .I ! .x0 / 4 "0 c jx x0 j O n O/ n O/ n O n O n 1 eik jx x0 j I ! .x 0 / 4 "0 c 2 jx x0 j2 ik eik jx x0 j I ! .x0 / 4 "0 c 2 jx x0 j

def

O is a which, after reordering of scalar and vector products, using the fact that n constant unit vector, can be written Z 1 eik jx x0 j O .x0 x0 / O d3x 0 ! .x0 /e ik n n E ! .x / 2 4 "0 j x x 0 j V0 Z 1 eik jx x0 j O .x0 x0 / On O d3x 0 j! .x0 /e ik n n C 0 4 "0 c jx x0 j2 V Z 1 eik jx x0 j O .x0 x0 / O O C d3x 0 j! .x0 /e ik n n n 0 4 "0 c jx x0 j2 V Z ik eik jx x0 j O .x0 x0 / O O d3x 0 j! .x0 /e ik n n n 4 "0 c jx x0 j V0 (5.35a) Z 1 eik jx x0 j O .x0 x0 / O B ! .x / d3x 0 j! .x0 /e ik n n 2 0 4 "0 c jx x0 j2 V (5.35b) Z ik eik jx x0 j O .x0 x0 / 3 0 0 ik n O d x j! .x /e n 4 "0 c 2 jx x0 j V0 or

(5.36a)

B! .x/

(5.36b) O n

Z

V0

Q! .x0 /

d3x 0

! .x

/e

O .x0 x0 / ik n O x0 ik n

De Z

O x0 ik n

Z

V0

(5.37a)

dx

3 0

! .x

/e

x0

(5.37b)

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5.4. The total electric and magnetic elds at large distances from the sources

j 95

In these approximate expressions for the E and B elds, we can use equation (5.30) to consistently approximate t 0 as follows: t 0 .x0 / D t k jx w x0 j C k .x0 x0 / ! (5.39)

R

1 4 "0 c 2 Z Z d3x 0 d3x 0

V0 V0

When jx x0 j ! 1 and the source region is of nite extent, the only surviving composants in expression (5.19) and expression (5.25) are the far elds Efar .t; x/ D

far 0 P .tret j ; x0 /

A

.x jx .x x0 j 2 x0 / x0 j3 x0 /

0 P .tret j ; x0 /

D

Efar ! .x / D D ik ik 1 4 "0 c 1 4 "0 c

1 B .t; x/ D 4 "0 c 3

jx

In the frequency (temporal Fourier) domain, these far elds are represented exactly by

Z

V0

d3x 0 d3x 0

V0

j! .x0 /eik jx e jx

ik jx x0 j

x0 j

x0 j

j! .x0 /

FT

.x x0 / (5.40a) (5.40b) .x x0 / .x x0 / (5.41a) O .x0 / k jx x0 j3 O .x0 / k

Inverse Fourier transforming these expressions we nd that the total retarded E and B elds very far away from a source to a good approximation are given by Z 1 O E.t; x/ d3x 0 .t 0 ; x0 /n 4 "0 jx x0 j2 V 0 Z 1 O n O d3x 0 j .t 0 ; x0 / n C 4 "0 c jx x0 j2 V 0 (5.38a) Z 1 3 0 0 0 O O C d x j .t ; x / n n 4 "0 c jx x0 j2 V 0 Z 1 P .t 0 ; x0 / n O n O d3x 0 j C 4 "0 c 2 jx x0 j V 0 and Z 1 O B.t; x/ d3x 0 j .t 0 ; x0 / n 4 "0 c 2 jx x0 j2 V 0 (5.38b) Z 1 3 0 P 0 0 O d x j .t ; x / n 4 "0 c 3 jx x0 j V 0

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96 j

far B! .x/

D D

1 ik 4 "0 c 2 ik 1 4 "0 c 2

Z

V0

d3x 0 d3x 0

V0

j! .x0 /eik jx jx

x0 j

x0 j

.x

x0 / (5.41b)

x0 j 2 O .x 0 / k

eik jx j ! .x 0 / jx x0 j

respectively. Within the approximation (5.30) the expressions (5.41b) and (5.41a) for the far elds can be simplied to Efar ! .x /

far B! .x /

ik ik

Z

V0

ik .x0 x0 /

O k O k

O (5.42a) k (5.42b)

Assuming that also the paraxial approximation (5.33) is applicable, the expressions (5.41b) and (5.41a) for the far elds can be further simplied to Efar ! .x / ik 1 eik jx x0 j 4 "0 c j x x 0 j Z d3x 0 j! .x0 /e

ik .x0 x0 /

FT

V0 V0

ik .x0 x0 /

O n

O n (5.43a)

far B! .x /

ik

1 eik jx x0 j 2 4 "0 c j x x 0 j

V0

d3x 0 j! .x0 /e

ik .x0 x0 /

O (5.43b) n

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5.5. Examples

j 97

5.5 Examples

Alternative expressions for E and B One can express the elds E and B directly in integrals of arbitrary source terms in several ways. For instance, by the electromagnetic eld density vector .t 0 ; x0 ; x/ D .t 0 ; x0 / 4 "0 jx C C x 2 jx 0 xj 1 x0 j2 x0 x0 j j .t 0 ; x0 / j .t 0 ; x0 / x jx x jx x jx x0 x x0 j jx x0 x0 j x0 x0 j x0 x0 j x jx x jx x0 x0 j x0 x0 j (5.44) E X A M P L E 5.1

4 "0 c jx 1

where

0 t 0 D tret Dt

one can, for non-moving sources, express the innitesimal differential elds as dE.t; x/ D .t 0 ; x0 ; x/ dB.t; x/ D x c jx x0 x0 j

.t 0 ; x0 ; x/

The elds themselves are in this case given by Z d3x 0 .t 0 ; x0 ; x/ E.t; x/ D V0 Z 1 x x0 B.t; x/ D .t 0 ; x0 ; x/ d3x 0 c V0 j x x0 j Denoting x

A

O0 r O0 r 1P 0 0 j .t ; x / c

0 t 0 D tret Dt

.t 0 ; x0 ; x/ D

D

where

FT

x0 c (5.45) (5.46a) (5.46b) (5.47a) (5.47b) (5.48) O0 r O0 r (5.49) End of example 5.1

4 "0 c jx x0 j2 1 P .t 0 ; x0 / j C 4 "0 c 2 jx x0 j

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FT

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6

R AD I AT ION A N D R AD I AT IN G S Y ST E M S

In chapter 3 on page 33 we were able to derive general expressions for the scalar and vector potentials from which we later (in chapter 5 on page 83) derived exact analytic expressions of general validity for the total electric and magnetic elds generated by completely arbitrary distributions of charge and current sources that are located within a certain region in space. The only limitation in the calculation of the elds was that the advanced potentials were discarded on admittedly not totally convincing physical grounds. In chapter 4 on page 53 we showed that the electromagnetic energy, linear momentum, and angular momentum are all conserved quantities and in this chapter we will show that these quantities can be radiated all the way to innity and therefore be used in wireless communications over long distances and for observing very remote objects in Nature, including electromagnetic radiation sources in the Universe. Radiation processes are irreversible in that the radiation does not return to the radiator but is lost from it forever.1 However, the radiation can, of course, be sensed by other charges and currents that are located in free space, possibly very far away from the sources. This is precisely what makes it possible for our eyes to observe light, and even more so radio signals, from extremely distant stars and galaxies. This consequence of Maxwells equations, with the displacement current included, was veried experimentally by H E I N R I C H R U D O L F H E RT Z about twenty years after Maxwell had made his theoretical predictions. Hertzs experimental and theoretical studies paved the way for radio and TV broadcasting, radar, wireless communications, radio astronomy and a host of other applications and technologies. Thus, one can, at least in principle, calculate the radiated elds, ux of energy, linear momentum and angular momentum, as well as other electromagnetic observables at any time at any point in space generated by an arbitrary charge and current density of the source. However, in practice it is often difcult to evaluate the source integrals, at least analytically, unless the charge and current densities have a simple distribution in space. In the general case, one has to resort to approximations. We shall consider both these situations in this chapter.

A

99

FT

1

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100 j

Let us consider an electromagnetic eld .E; B/ that during a nite time interval t is emitted from a localised source distribution in a volume V around a point x0 into surrounding free space. After a certain time t0 this electromagnetic pulse (signal) has propagated such a long distance radially outward from x0 that the eld is wholly located within two concentric spheres of radii r0 D ct0 and r0 C r D ct0 C ct , respectively. The total linear momentum carried by this electromagnetic pulse (signal) is the volume integral of the linear momentum density geld D S=c 2 D "0 E B [cf. equation (4.45) on page 62]. In spherical polar coordinates with the origin chosen at x0 this volume integral becomes

eld

Z D

V

dr d r g

2 eld

FT

Z Z

2

r0 Cr

D "0

d sin

d'

d r r 2 .E

B/ (6.1)

r0

We saw in chapter 5 on page 83 that at large distances r 0 D jx0 x0 j from the source, the leading order contributions to the E and B elds are purely transverse and fall off as 1=r . Hence, at large distances r , the dominating component of the linear momentum density geld D S=c 2 , where S is the Poynting vector, falls off as 1=r 2 and is purely radial there. Consequently, the total linear momentum peld is obtained when geld is integrated over a large spherical shell (centred on the source) of width dr D c dt , where dt is the short duration of the signal, O D r 2d r O D r 2 sin d d' r O and for which the directed area element is d2x n [cf. formula (F.18) on page 213]. But the total integrated power, as given by the H O S in equation (4.33) on page 60, tends to a constant at surface integral S d2x n innity, showing that energy U eld and electromagnetic linear momentum peld is carried all the way to innity and is irreversibly lost there. This is the physical foundation of the well-known fact that peld and U eld can be transmitted over extremely long distances. The force action (time rate of change of peld ) on charges in one region in space can therefore cause a force action on charges in a another region in space. Todays wireless communication technology, be it classical or quantal, is based almost exclusively on the utilisation of this translational degree of freedom of the charges (currents) and the elds. Let us consider the linear momentum and energy that is carried in the far elds Bfar , equation (5.41b), and Efar , equation (5.41a) on page 95. Signals with limited lifetime and hence nite frequency bandwidth have to be analysed differently from monochromatic signals.

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j 101

If the source is strictly monochromatic, we can obtain the temporal average of the radiated power P directly, simply by averaging over one period so that hS i t D D 1

0

hE

Bi t D

1 2

0

Re fE

i!t

B g / D 1 2

0

1 2

0

(6.2) Re fE! B! g

Re E! e

i!t

.B ! e

From formula (F.17) and formula (F.18) on page 213 we see that d2x D r 2 d D jx x0 j2 d D jx x0 j2 sin d d'

O d2x n O k jx x0 j2 jx

d2x x0 j2

O n O k

Using the far-eld approximations (5.43) for the elds and the fact that p 1=c D "0 0 , and also introducing the characteristic impedance of vacuum r def 0 376:7 (6.4) R0 "0 we obtain far S tD

A

k /e

Z 1 1 d3x 0 .j! R 0 2 2 32 j x x0 j V 0

This formula is valid far away from the sources and shows that the radiated power is given by an expression which is resistance (R0 ) times the square of the supplied current (the integrated current density j! ), as expected. We note that the emitted power is independent of distance r D jx x0 j and is therefore carried all the way to innity. The possibility to transmit electromagnetic power over large distances, even in empty space, is the physical foundation for the extremely important wireless communications technology. Besides determining the strength of the radiated power, the integral in formula (6.6) also determines its angular distribution.

Consequently, the amount of power per unit solid angle d that ows across an innitesimal surface element r 2 d D jx x0 j2 d of a large spherical shell with its origin at x0 and enclosing all sources, is Z 2 dP 1 3 0 ik .x0 x0 / D R d x . j k / e (6.6) 0 ! 0 d 32 2 V

FT

O n O d k d (6.3)

ik .x0 x0 /

O and n O are nearly parallel. Hence, We also note from gure 5.1 on page 92 that k we can approximate

2 O n

(6.5)

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102 j

A signal with nite pulse width in time (t ) domain has a certain spread in frequency (! ) domain. To calculate the total radiated energy we need to integrate over the whole bandwidth. The total energy transmitted through a unit area is the time integral of the Poynting vector: Z 1 Z 1 1 dt S.t / D dt .E B/ 0 1 1 (6.7) Z 1 Z 1 Z 1 1 0 i.! C! 0 /t d! d! dt .E! B! 0 / e D

0 1 1 1

FT

1 !/ 1 1 0

If we carry out the temporal integration rst and use the fact that Z 1 0 dt e i.! C! /t D 2 .! C ! 0 / equation (6.7) above can be written Z 1 Z 1 2 dt S.t / D d! .E! B

1 0

(6.8)

D D D

2

0

Z Z

0

B B B

!/

d! .E!

!/

2 2

1 1

!/

d! .E!

!/

A

Z

1 0

Z

!/

(6.9)

C

0 !

d! .E B! / B! /

B! /

Z Z

0 1

d! .E! d! .E!

CE

R D

B! C E!

where the last step follows from physical requirement of real-valuedness of E! and B! . We insert the Fourier transforms of the eld components which dominate at large distances, i.e. the far elds (5.41b) and (5.41a). The result, after integration over the area S of a large sphere which encloses the source volume V 0 , is Z 2 r I Z 1 1 k ik jx x0 j 0 2 3 0 j! k O O U D d xn d! d x e (6.10) 4 "0 S jx x0 j 0 V0

Inserting the approximations (5.30) and (6.3) into equation (6.10) above, introducing the spectral energy density U! via the denition Z 1 def U d!U! (6.11)

0

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and recalling the denition (6.4) on page 101, we obtain 2 Z 1 d U! 3 0 ik .x0 x0 / (6.12) d! R0 d x .j! k/e d! d 4 V0 which, at large distances, is a good approximation to the energy that is radiated per unit solid angle d in a frequency band d! . It is important to notice that Formula (6.12) includes only source coordinates. This means that the total amount of energy that is being radiated is independent on the distance to the source (as long as it is large).

Not only electromagnetic linear momentum (Poynting vector) can be radiated from a source and transmitted over very long distances, but the same is also true for electromagnetic angular momentum J eld . Then torque action (the time rate of change of J eld ) in one region causes torque action on charges. The use of this rotational degree of freedom of the elds has only recently been put to practical use even if it has been known for more than a century. After straightforward calculations, based on the results obtained in chapter 5 on page 83, one nds that the complete cycle averaged far-zone expression for a frequency component ! of the electromagnetic angular momentum density generated by arbitrary charge and current sources can be approximated by P eld O Re .cq C In /I n 1 h .x0 / t D 2 32 2 "0 c 3 c j x x0 j O Re f.cq C In /I g n (6.13) C jx x0 j3 where, in complex notation, Z I .t 0 / d3x 0 j .t 0 ; x0 / (6.14) and

R

V0

P .t 0 / I

A

Z

V0

P .t 0 ; x0 / d3x 0 j

We see that at very large distances r , the angular momentum density held falls off as 1=r 2 , i.e. it has precisely the same behaviour in the far zone as the linear momentum density and can therefore also transfer information wirelessly over large distances. The only difference is that while the direction of the linear momentum (Poynting vector) becomes purely radial at innity, the angular momentum becomes perpendicular to the linear momentum, i.e. purely transverse, there.

FT

(6.15)

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In the general case, and when we are interested in evaluating the radiation far from a source at rest and which is localised in a small volume, we can introduce an approximation which leads to a multipole expansion where individual terms can be evaluated analytically. Here we use Hertzs method , which focuses on the physics rather than on the mathematics, to obtain this expansion.

stat

where

A

Z q.t/ D

V0 V0 V0 0 t D t.tret /

1 jx

3 xi Q .t I x0 / 3 ij 2 jx x0 j

FT

x0 x0 j x0i xj x0 j j x x0j x0 j 1 ij C : : : 2

0 ; x0 / d3x 0 .tret 0 tret C Const

Let us assume that the charge distribution determining the potential in equation (3.35a) on page 40 has such a small extent that all the source points x0 can be assumed to be located very near a point x0 . At a large distance jx x0 j, one can then, to a good approximation, approximate the potential by the Taylor expansion (Einsteins summation convention over i and j is implied); cf. example 3.1 on page 46

# (6.16)

(6.17a)

R D

where

is the total charge or electric monopole moment , Z 0 d.t; x0 / D d3x 0 .x0 x0 / .tret ; x0 /

(6.17b)

with components di , i D 1; 2; 3 is the electric dipole moment vector , and Z 0 Q.t; x0 / D d3x 0 .x0 x0 /.x0 x0 / .tret ; x0 / (6.17c)

with components Qij ; i; j D 1; 2; 3 , is the electric quadrupole moment tensor . The source volume is at rest and is so small that internal retardation effects 0 can be neglected, i.e. that we can set tret t jx x0 j =c . Then (6.18) (6.19)

Const D

jx c

x0 j

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0 Hence the transformation between t and tret is a trivial. In the subsequent analy0 0 sis in this subsection we shall use t to denote this approximate tret . For a normal medium, the major contributions to the electrostatic interactions come from the net charge and the lowest order electric multipole moments induced by the polarisation due to an applied electric eld. Particularly important is the dipole moment. Let P denote the electric dipole moment density (electric dipole moment per unit volume; unit: C m 2 ), also known as the electric polarisation , in some medium. In analogy with the second term in the expansion equation (6.16) on the preceding page, the electric potential from this volume distribution P .t; x0 / of electric dipole moments d at the source point x0 can be written Z 1 x x0 d .t; x/ D d3x 0 P .t 0 ; x0 / 4 "0 V 0 jx x0 j3 Z 1 1 D d3x 0 P .t 0 ; x0 / r (6.20) 0 4 "0 V j x x0 j Z 1 1 d3x 0 P .t 0 ; x0 / r 0 D 4 "0 V 0 j x x0 j Using expression (M.155a) on page 256 and applying the divergence theorem, we can rewrite this expression for the potential as follows: Z Z 0 1 P .t 0 ; x0 / P .t 0 ; x0 / 3 0 r d .t; x/ D d3x 0 r 0 d x 4 "0 V 0 j x x0 j j x x0 j V0 (6.21) I Z 0 1 P .t 0 ; x0 / P .t 0 ; x0 / 3 0 r O0 d2x 0 n d x D 4 "0 S 0 j x x0 j jx x0 j V0 where the rst term, which describes the effects of the induced, non-cancelling dipole moment on the surface of the volume, can be neglected, unless there is O P at the surface. Doing so, we nd that the contribution a discontinuity in n from the electric dipole moments to the potential is given by Z 1 r 0 P .t 0 ; x0 / d .t; x/ D d3x 0 (6.22) 4 "0 V 0 j x x0 j Comparing this expression with expression equation (3.35a) on page 40 for the potential from a charge distribution .t; x/, we see that r P .t; x/ has the characteristics of a charge density and that, to the lowest order, the effective charge density becomes .t; x/ r P .t; x/, in which the second term is a polarisation term that we call pol .t; x/.

In section 6.3.1 on page 104 we introduced the electric polarisation P .t; x/ such that the polarisation charge density

pol

R

D

A

r P

FT

(6.23)

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If we adopt the same idea for the true charge density due to free charges and introduce a vector eld .t; x/, analogous to P .t; x/, but such that

true def

(6.24a)

which means that the associated polarisation current now is the true current: @ D j true (6.24b) @t As a consequence, the equation of continuity for true charges and currents [cf. expression (1.22) on page 10] is satised: @

true

@ r @t

Cr

@ D0 @t

(6.25)

The vector is called the polarisation vector because, formally, it treats also the true (free) charges as polarisation charges. Since in the microscopic MaxwellLorentz equation (2.1a) on page 19, the charge density must include all charges, we can write this equation

true

FT

"0 D C "0

pol

r ED

r P

"0

(6.26)

A

2

i.e. in a form where all the charges are considered to be polarisation charges. We now introduce a further potential e with the following property r e D

e

(6.27a) (6.27b)

1 @ DA c 2 @t

where and A are the electromagnetic scalar and vector potentials, respectively. As we see, e acts as a super-potential in the sense that it is a potential from which we can obtain other potentials. It is called the Hertz vector or polarisation potential . Requiring that the scalar and vector potentials and A, respectively, satisfy their inhomogeneous wave equations, equations (3.37) on page 40, one nds, using (6.24) and (6.27), that the Hertz vector must satisfy the inhomogeneous wave equation e D 1 @2 e c 2 @t 2 r 2 e D (6.28)

"0

This equation is of the same type as equation (3.18) on page 37, and has therefore the retarded solution Z 0 1 .tret ; x0 / e .t; x/ D d3x 0 (6.29) 4 "0 V 0 jx x0 j

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x x x

x0 x0 x0 x0 V0 x0 x0

Figure 6.1: Geometry of a typical multipole radiation problem where the eld point x is located some distance away from the nite source volume V 0 centred around x0 . If k jx0 x0 j 1 k jx x0 j, then the radiation at x is well approximated by a few terms in the multipole expansion.

eik jx x j j x x0 j

A

n

nD 0

0

R

x0 and x

n X mD n

x0

Pn .cos / is the Legendre polynomial of order n jn .k x0 x0 / is the spherical Bessel function of the rst kind of order n

D

Pn .cos / D

h.1/ n .k jx

m .cos /Pn m .cos . 1/m Pn 0

m where Pn is an associated Legendre polynomial of the rst kind , related to the m spherical harmonic Yn as s 2n C 1 .n m/ m m Yn . ; '/ D P .cos / eim' 4 .n C m/ n

FT

(6.31) x0 /h.1/ .k jx x0 j / /eim.'

'0/

Z 0 ik jx x0 j 1 ! .x /e (6.30) d3x 0 4 "0 V 0 jx x0 j Assume that the source region is a limited volume around some central point x0 far away from the eld (observation) point x illustrated in gure 6.1. Under these assumptions, we can expand the Hertz vector, expression (6.30) above, 0 due to the presence of non-vanishing .tret ; x0 / in the vicinity of x0 , in a formal series. For this purpose we recall from potential theory that

(6.32)

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108 j

0

; '0/

(6.33a) (6.33b)

x0 j ; ; '/

we see that we can calculate the magnetic and electric elds, respectively, as follows BD 1 @C c 2 @t C (6.35a) (6.35b)

Clearly, the last equation is valid only if r E D 0 i.e. if we are outside the source volume. Since we are mainly interested in the elds in the far zone, a long distance away from the source region, this is no essential limitation. Inserting equation (6.31) on the preceding page, together with formula (6.32) on the previous page, into equation (6.30) on the preceding page, we can in a formally exact way expand the Fourier component of the Hertz vector as

A

V0

e ! D

1 n ik X X m .2n C 1/. 1/m h.1/ x0 j/ Pn .cos / eim' n .k jx 4 "0 nD0 mD n Z 0 d3x 0 ! .x0 / jn .k x0 x0 / Pn m .cos 0 / e im'

FT

EDr x0 j/ . i/nC1 eik jx x0 j k jx x0 j x 0 / 2n n k x0 .2n C 1/ x0

n

(6.36)

We notice that there is no dependence on x x0 inside the integral; the integrand is only dependent on the relative source vector x0 x0 . We are interested in the case where the eld point is many wavelengths away from the well-localised sources, i.e. when the following inequalities k x0 x0 1 k jx x0 j (6.37) hold. Then we may to a good approximation replace h.1/ n with the rst term in its asymptotic expansion: h.1/ n .k jx (6.38)

and replace jn with the rst term in its power series expansion: jn .k x0 (6.39)

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Inserting these expansions into equation (6.36) on the preceding page, we obtain the multipole expansion of the Fourier component of the Hertz vector e ! where

.n/ e D . i /n ! 1 X nD0 .n/ e !

(6.40a)

V0

x0 /n Pn .cos / (6.40b)

Choosing n D 0 in expression (6.40b) above, we obtain

D

.0/ e D !

R

eik jx x0 j 4 "0 jx x0 j Z

V0

A

d3x 0

! .x 0

This expression is approximately correct only if certain care is exercised; if many .n/ e terms are needed for an accurate result, the expansions of the spherical ! Hankel and Bessel functions used above may not be consistent and must be replaced by more accurate expressions. Furthermore, asymptotic expansions as the one used in equation (6.38) on page 108 are not unique. Taking the inverse Fourier transform of e ! will yield the Hertz vector in time domain, which inserted into equation (6.34) on the facing page will yield C . The resulting expression can then in turn be inserted into equations (6.35) on the preceding page in order to obtain the radiation elds. For a linear source distribution along the polar axis, D in expression (6.40b) above, and Pn .cos / gives the angular distribution of the radiation. In the general case, however, the angular distribution must be computed with the help of formula (6.32) on page 107. Let us now study the lowest order contributions to the expansion of the Hertz vector.

/D

Since represents a dipole moment density for the true charges (in the same R vein as P does so for the polarised charges), d! D V 0 d3x 0 ! .x0 / is, by denition, the Fourier component of the electric dipole moment Z d.t; x0 / D

V0

d3x 0 .t 0 ; x0 / D

Z

V0

d3x 0 .x0

FT

1 eik jx x0 j d! 4 "0 j x x 0 j (6.41) x0 / .t 0 ; x0 / (6.42)

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Figure 6.2: If a spherical polar coordinate system .r; ; ' ) is chosen such that the electric dipole moment d (and thus its Fourier transform d! ) is located at the origin and directed along the polar axis, the calculations are simplied.

O k x3 x Efar Bfar

O r x2

x1

[cf. equation (6.17b) on page 104]. If a spherical coordinate system is chosen .0/ with its polar axis along d! as in gure 6.2, the components of e are ! e r e

def .0/ OD e r !

FT

1 eik jx x0 j d! cos 4 "0 jx x0 j 1 eik jx x0 j d! sin 4 "0 jx x0 j 1 jx x0 j ik eik jx x0 j O d! sin j x x0 j ik eik jx x0 j O d! sin j x x0 j jx ik x cos x0 j jx k2 x0 j

2

'

R D

B! D i ! 4

0

Evaluating formula (6.34) on page 108 for the help vector C , with the spher.0/ ically polar components (6.43) of e inserted, we obtain !

.0/ O D C! D C!;'

A

def .0/ O e D !

e '

def

.0/ O D0 e !

1 4 "0

(6.44)

Applying this to equations (6.35) on page 108, we obtain directly the Fourier components of the elds 1 jx " x0 j (6.45a)

E! D

1 1 2 4 "0 jx x0 j2 C 1 jx

ik jx x0 j

x0 x0 j # (6.45b) ik jx x0 j e O sin d! jx x0 j

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j 111

Keeping only those parts of the elds which dominate at large distances (the radiation elds) and recalling that the wave vector k D k.x x0 /= jx x0 j where k D !=c , we can now write down the Fourier components of the radiation parts of the magnetic and electric elds from the dipole:

far B! D

! 4

eik jx x0 j O D d! k sin jx x0 j

! 4

eik jx x0 j .d! j x x0 j

k/ k/

(6.46a) k (6.46b)

Efar ! D

These elds constitute the electric dipole radiation , also known as E1 radiation .

The next term in the expression (6.40b) on page 109 for the expansion of the Fourier transform of the Hertz vector is for n D 1: Z eik jx x0 j .1/ e D i d3x 0 k x0 x0 ! .x0 / cos ! 4 "0 jx x0 j V 0 (6.47) Z 1 eik jx x0 j 3 0 0 0 d x .x x0 / .x x0 / ! .x / D ik 4 "0 jx x0 j2 V 0 Here, the term .x .x x0 / .x0 x0 / .x0 x0 / x0 /

0 ! .x / 0 ! .x /

A

D .xi

i

and introducing

D xi D

x0;i

R

x 0 / .x 0 x0 /

! .x 0

0 i

xi0

x0;i

(6.50) 1 0 0 i !;j i !;i j 2 i.e. as the sum of two parts, the rst being symmetric and the second antisymmetric in the indices i; j . We note that the antisymmetric part can be written as 1 1 0 0 0 0 i !;j i !;i j D !;j . i i / j . i !;i / 2 2 1 0 0 (6.51) D !. / . ! /j 2 1 D .x x0 / ! .x0 x0 / j 2 C

f.x

/gj D

1 2

FT

! .x 0

(6.48)

(6.49a) (6.49b)

0 !;j i

0 !;i j

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The utilisation of equations (6.24) on page 106, and the fact that we are considering a single Fourier component, .t; x/ D allow us to express

! !e i!t

(6.52)

in j! as

!

Di

j! !

(6.53)

where we introduced the Fourier transform of the magnetic dipole moment Z 1 m! D d3x 0 .x0 x0 / j! .x0 / (6.55) 2 V0

.1/ The nal result is that the antisymmetric, magnetic dipole, part of e can ! be written

A

antisym e, ! .1/

FT

D k eik jx x0 j .x 4 "0 ! jx x0 j2 x0 / m! eik jx x0 j .m! 4 j x x0 j

0

Hence, we can write the antisymmetric part of the integral in formula (6.47) on the previous page as Z 1 .x x 0 / d3x 0 ! .x0 / .x0 x0 / 0 2 V Z 1 (6.54) D i .x x0 / d3x 0 j! .x0 / .x0 x0 / 0 2! V 1 D i .x x0 / m! !

(6.56)

R D

In analogy with the electric dipole case, we insert this expression into equation (6.34) on page 108 to evaluate C , with which equations (6.35) on page 108 then gives the B and E elds. Discarding, as before, all terms belonging to the near elds and transition elds and keeping only the terms that dominate at large distances, we obtain

far .x/ D B!

k/ k

(6.57a) (6.57b)

Efar ! .x/ D

k eik jx x0 j m! 4 "0 c jx x0 j

which are the elds of the magnetic dipole radiation (M1 radiation ).

e, sym .1/

The symmetric part ! of the n D 1 contribution in the equation (6.40b) on page 109 for the expansion of the Hertz vector can be expressed in terms

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of the electric quadrupole tensor , which is dened in accordance with equation (6.17c) on page 104: Z 0 Q.t; x0 / D d3x 0 .x0 x0 /.x0 x0 / .tret ; x0 / (6.58)

V0

Again we use this expression in equation (6.34) on page 108 to calculate the elds via equations (6.35) on page 108. Tedious, but fairly straightforward algebra (which we will not present here), yields the resulting elds. The components of the elds that dominate in the far eld zone (wave zone) are given by

far B! .x / D

i 8

0!

eik jx x0 j .k Q! / j x x0 j

k k k

(6.59a) (6.59b)

We describe the radiation in a standard spherical polar coordinate system as in gure 6.4 on page 116, i.e. a system where the polar axis coincides with the z axis, the polar angle is calculated relative to the direction of the positive z axis, and the azimuthal angle ' is calculated relative to the direction of positive x axis toward the positive y axis in a right-handed sense. In this polar coordinate system the observation (eld) point is located at x D .r; ; '/ with r D jx x0 j. O and the wave vector The origin is chosen at x0 so that x x0 D x D r D r r O D kr O. k D kk The Fourier amplitude of the far-zone electric eld generated by the antenna current density j .t 0 ; x0 / D j! .x0 /e

i!t 0

Certain radiating systems have a symmetric geometry or are in any other way simple enough that a direct (semi-)analytic calculation of the radiated elds and energy is possible. This is for instance the case when the radiating current ows in a nite, conducting medium of simple geometry at rest such as in a stationary antenna .

FT

(6.60)

Efar ! .x / D

eik jx x0 j .k Q! / 8 "0 jx x0 j i

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is Efar ! .x/

far B! .x/

D D

Z

V0

d3x 0 e

3 0

ik .x0 x0 /

j ! .x 0 /

0

0

dx e

V0

ik .x0 x0 /

j ! .x /

In the paraxial approximation described by equation (5.33) on page 93 one assumes that the distant observer views all parts of the antenna under one and the same xed polar angle , i.e. that all wave vectors has the same constant direction as that coming from the midpoint x0 D 0. In this approximation Z i eikr 0 far (6.62) O r k d3x 0 e ik x j! .x0 / E! D 0 4 "0 c r V where j! .x0 / k D k j! .x0 / was used. In the chosen geometry, the 1D O: antenna current ows along z Let us apply equation (6.6) on page 101 to calculate the radiated EM power from a one-dimensional, time-varying current. Such a current can be set up by feeding the EMF of a generator (e.g. a transmitter) onto a stationary, linear, straight, thin, conducting wire across a very short gap at its centre. Due to the applied EMF, the charges in this thin wire of nite length L are set into linear motion to produce a time-varying antenna current which is the source of the EM radiation. Linear antennas of this type are called dipole antennas . For simplicity, we assume that the conductor resistance and the energy loss due to the electromagnetic radiation are negligible. Choosing our coordinate system such that the x3 axis is along the antenna axis, the antenna current density can be represented, in complex notation, by 0 0 0 0 O 3 (measured in Am 2) where J.t 0 ; x3 /x / is the /J.t 0 ; x3 /.x2 j .t 0 ; x0 / D .x1 current (measured in A) along the antenna wire. Since we can assume that the antenna wire is innitely thin, the antenna current must vanish at the endpoints L=2 and L=2. At the midpoint, where the antenna is fed across a very short gap in the conducting wire, the antenna current is, of course, equal to the supplied current. 0 For each Fourier frequency component !0 , the antenna current J.t 0 ; x3 / can 0 0 be written as I.x3 / exp. i!0 t / so that the antenna current density can be represented as j .t 0 ; x0 / D j0 .x0 / exp. i!0 t 0 / [cf. equations (5.6) on page 85] where

FT

0 0 0 O3 /.x2 /I.x3 /x j0 .x0 / D .x1

(6.63)

0 and where the spatially varying Fourier amplitude I.x3 / of the antenna current fulls the time-independent wave equation (Helmholtz equation )

d2 I 0 C k 2 I.x3 / D 0; 02 dx3

I. L=2/ D I.L=2/ D 0 ;

I.0/ D I0

(6.64)

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sink.L=2

0 x /

3

L 2

j .t 0 ; x0 /

L 2

Figure 6.3: A linear antenna used for transmission. The current in the feeder and the antenna wire is set up by the EMF of the generator (the transmitter). At the ends of the wire, the current is reected back with a 180 phase shift to produce a antenna current in the form of a standing wave.

For a half-wave dipole antenna (L D =2), the antenna current density is simply

where I0 is the amplitude of the antenna current (measured in A), assumed to be constant and supplied, via a non-radiating transmission line by the generator/transmitter at the antenna feed point (in our case the midpoint of the antenna wire) and 1= sin.kL=2/ is a normalisation factor. The antenna current forms a standing wave as indicated in gure 6.3.2 When the antenna is short we can approximate the current distribution for0 mula (6.65) above by the rst term in its Taylor expansion, i.e. by I0 .1 2jx3 j=L/. For a half-wave antenna (L D =2 , kL D ) formula (6.65) simplies to 0 I0 cos.kx3 /. Hence, in the most general case of a straight, innitely thin antenna 0 of nite, arbitrary length L directed along the x3 axis, the Fourier amplitude of the antenna current density is 0 x / 3 0 0 0 sink.L=2 O3 j0 .x / D I0 .x1 /.x2 / x (6.66) sin.kL=2/

In the case of a travelling wave antenna, in which one end of the antenna is connected to ground via a resistance so that the current at this end does not vanish, the Fourier amplitude of the antenna current density is

0 0 0 O3 j0 .x0 / D I0 .x1 /.x2 / exp.kx3 /x

FT

2

This second-order ordinary differential equation with constant coefcients has the well-known solution 0 / sink.L=2 x3 0 (6.65) I.x3 / D I0 sin.kL=2/

This rather accurate model of the antenna current was introduced in 1987 by H E N RY C A B O U R N P O C K L I N G T O N (18701952).

(6.67)

(6.68)

(6.69)

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Figure 6.4: We choose a spherical polar coordinate system .r D jxj ; ; ' ) and arrange it so that the linear electric dipole antenna axis (and thus the antenna current density j! ) is along the polar axis with the feed point at the origin.

O r x3 D z

L 2

O x O

j! .x0 /

O k x2

x1

R

2 2 D 4I0

In order to evaluate formula (6.6) on page 101 with the explicit monochromatic current (6.66) inserted, we use a spherical polar coordinate system as in gure 6.4 to evaluate the source integral Z 2 3 0 ik .x0 x0 / ID d x j k e 0 0 V 2 Z L 0 2 sin k.L=2 x / 0 3 0 dx3 I0 k sin e ikx3 cos eikx0 cos 0 D L sin .kL=2/ 2 2 Z L 2 2 2 ikx0 cos 0 2 0 0 0 2 k sin dx3 sin.kL=2 kx3 / cos.kx3 cos / D I0 2 L e 2 0 sin .k /

A

kL!0

FT

L 2

'

(6.70)

Inserting this expression and d D 2 sin d into formula (6.6) on page 101 and integrating over , we nd that the total radiated power from the antenna is Z cos.kL=2/ cos cos.kL=2/ 2 2 1 sin (6.71) P .L/ D R0 I0 d 4 sin sin.kL=2/ 0 One can show that lim P .L/ D L 12

2 2 R0 I0

(6.72)

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where is the vacuum wavelength. The quantity Rrad .L/ D P .L/ P .L/ D 1 2 D R0 2 6 Ieff I 2 0 L

2

197

(6.73)

is called the radiation resistance . For the technologically important case of a half-wave antenna, i.e. for L D =2 or kL D , formula (6.71) on the facing page reduces to

2 P . =2/ D R0 I0

1 4

Z d

0

cos2

cos

sin

(6.74)

Z

0

cos2

cos

sin

d D cos cos2 D D D D Z 1 1 2 1 Z 1 1 4 1 Z 1 1 2 1 Z 1 2 2 0

7! u D

R

1:22

1

where in the last step the Euler-Mascheroni constant D 0:5772 : : : and the cosine integral Ci.x/ were introduced. Inserting this into the expression equation (6.74) above we obtain the value Rrad . =2/ 73 .

The derivation of the radiation elds for the case of the source moving relative to the observer is considerably more complicated than the stationary cases that

FT

(6.75)

The integral in (6.74) can always be evaluated numerically. But, it can in fact also be evaluated analytically as follows:

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Figure 6.5: Signals that are observed at time t at the eld point x were generated at time t 0 at source points x0 on a sphere, centred on x and expanding, as time increases, with velocity c D c.x x0 /= jx x0 j outward from the centre. The source charge element moves with an arbitrary velocity v 0 and gives rise to a source leakage out of the volume dV 0 D d3x 0 .

x.t / x x0

v 0 .t 0 / dS 0 x .t /

0 0

dr 0 dV 0

we have studied so far. In order to handle this non-stationary situation, we start from the retarded potentials (3.35) on page 40 in chapter 3 on page 33 Z 0 0 tret ; x0 .tret / 1 d3x 0 .t; x/ D 0 0 0 4 "0 V jx.t/ x .tret /j Z 0 0 j tret ; x.tret / 0 A.t; x/ D d3x 0 0 0 4 jx.t/ x .tret /j V0

FT

c

dq 0

(6.76a) (6.76b)

and consider a source region with such a limited spatial extent that the charges and currents are well localised. Specically, we consider a charge q 0 , for instance an electron, which, classically, can be thought of as a localised, unstructured and rigid charge distribution with a small, nite radius. The part of this charge distribution dq 0 which we are considering is located in dV 0 D d3x 0 in the sphere in gure 6.5. Since we assume that the electron (or any other similar electric charge) moves with a velocity v 0 whose direction is arbitrary and whose magnitude can even be comparable to the speed of light, we cannot say that the charge R R 0 0 and current to be used in (6.76) is V 0 d3x 0 .tret ; x0 / and V 0 d3x 0 v .tret ; x0 /, respectively, because in the nite time interval during which the observed signal is generated, part of the charge distribution will leak out of the volume element d3x 0 .

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The charge distribution in gure 6.5 on page 118 which contributes to the eld at x.t/ is located at x0 .t 0 / on a sphere with radius r D jx x0 j D c.t t 0 /. The radius interval of this sphere from which radiation is received at the eld point x during the time interval .t 0 ; t 0 C dt 0 / is .r 0 ; r 0 C dr 0 / and the net amount of charge in this radial interval is

0 dq 0 D .tret ; x0 / dS 0 dr 0 0 .tret ; x0 /

.x

x0 / v 0 .t 0 / 0 0 dS dt j x x0 j

(6.77)

where the last term represents the amount of source leakage due to the fact that the charge distribution moves with velocity v 0 .t 0 / D dx0 =dt 0 . Since dt 0 D dr 0 =c and dS 0 dr 0 D d3x 0 we can rewrite the expression for the net charge as

0 dq 0 D .tret ; x0 / d3x 0 0 D .tret ; x0 / 1

.x x 0 / v 0 3 0 dx c j x x0 j .x x 0 / v 0 d3x 0 c j x x0 j

0 .tret ; x0 /

or

0 .tret ; x0 / d3x 0 D

0 ; x0 / 3 0 .tret dx D jx x0 j jx

A

dq 0 x0 j

.x x0 / v 0 c c

For a sufciently small and well localised charge distribution we can, assuming that the integrands do not change sign in the integration volume, use the mean value theorem to evaluate these expressions to become Z 1 1 q0 1 0 .t; x/ D d q D (6.82a) 0 0 4 "0 jx x0 j .x x / v 4 "0 s c Z 1 v0 q0 v0 0 A.t; x/ D d q D 0 0 4 "0 c 2 jx x0 j .x x / v 4 "0 c 2 s c (6.82b) v0 D 2 c

This is the expression to be used in the formul (6.76) on the preceding page for the retarded potentials. The result is (recall that j D v ) Z 1 dq 0 (6.81a) .t; x/ D 0/ v 0 4 "0 j x x 0 j .x x c Z v 0 dq 0 0 A.t; x/ D (6.81b) 0 0 4 jx x0 j .x x / v

FT

(6.78) dq 0

.x x0 / v 0 c j x x0 j

(6.79)

(6.80)

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120 j

q0 x0 .t 0 /

0

jx x0 j 0 v c

x0 .t /

0

v 0 .t 0 /

Figure 6.6: Signals tha served at time t at the x were generated at time source point x0 .t 0 /. After t 0 the particle, which mo nonuniform velocity, has a so far (i.e. at t ) unknow tory. Extrapolating tangen trajectory from x0 .t 0 /, bas velocity v 0 .t 0 /, denes t simultaneous coordinate x

x x x

0

x0 x.t /

where

FT

x0 .t 0 / v 0 .t 0 / c 0 0 x x .t / v 0 .t 0 / x0 .t 0 / 1 c jx x0 .t 0 /j 0 0 0 0 x x .t / v .t / x0 .t 0 / 0 0 c jx x .t /j x0 .t 0 / x A.t; x/ r .t; x/ @A.t; x/ @t

s D s.t 0 ; x/ D x

D x D x

These results were derived independently by A L F R E D M A R I E L I NA R D (18691958) in 1898 and E M I L J O H A N N W I E C H E RT (18611928) in 1900. When v 0 k .x x0 / and v ! c , the potentials become singular. This was rst pointed out by A R N O L D J O H A N N E S WILHELM SOMMERFELD (18681951) in 1904.

is the retarded relative distance . The potentials (6.82) are the Linard-Wiechert potentials .3 In section 7.3.2 on page 163 we shall derive them in a more elegant and general way by using a relativistically covariant formalism. It should be noted that in the complicated derivation presented above, the observer is in a coordinate system which has an absolute meaning and the velocity v 0 is that of the localised charge q 0 , whereas, as we shall see later in the covariant derivation, two reference frames of equal standing are moving relative to each other with v 0 . The Linard-Wiechert potentials are applicable to all problems where a spatially localised charge in arbitrary motion emits electromagnetic radiation, and we shall now study such emission problems. The electric and magnetic elds are calculated from the potentials in the usual way:

A

B.t; x/ D r E.t; x/ D

(6.84a) (6.84b)

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Consider a localised charge q 0 and assume that its trajectory is known experimentally as a function of retarded time x0 D x0 .t 0 / (6.85)

(in the interest of simplifying our notation, we drop the subscript ret on t 0 from now on). This means that we know the trajectory of the charge q 0 , i.e. x0 , for all times up to the time t 0 at which a signal was emitted in order to precisely arrive at the eld point x at time t . Because of the nite speed of propagation of the elds, the trajectory at times later than t 0 cannot be known at time t . The retarded velocity and acceleration at time t 0 are given by v 0 .t 0 / D dx0 dt 0

a0 .t 0 / D a0 .t 0 / D

d2 x0 dv 0 D dt 0 dt 0 2

As for the charge coordinate x0 itself, we have in general no knowledge of the velocity and acceleration at times later than t 0 , and denitely not at the time of observation t ! If we choose the eld point x as xed, the application of (6.86) to the relative vector x x0 yields d x dt 0

A

x0 .t 0 / D v 0 .t 0 / a0 .t 0 / x0 .t 0 / D jx x0 .t 0 /j c

d2 x dt 0 2

R

t 0 D t 0 .t; x/ D t

The retarded time t 0 can, at least in principle, be calculated from the implicit relation (6.88)

and we shall see later how this relation can be taken into account in the calculations. According to formul (6.84) on the preceding page, the electric and magnetic elds are determined via differentiation of the retarded potentials at the observation time t and at the observation point x. In these formul the unprimed O i @=@xi means that r , i.e. the spatial derivative differentiation operator r D x we differentiate with respect to the coordinates x D .x1 ; x2 ; x3 / while keeping t xed, and the unprimed time derivative operator @=@t means that we differentiate with respect to t while keeping x xed. But the Linard-Wiechert potentials and A, equations (6.82) on page 119, are expressed in the charge velocity v 0 .t 0 /

FT

(6.86a) (6.86b) (6.87a) (6.87b)

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given by equation (6.86a) on page 120 and the retarded relative distance s.t 0 ; x/ given by equation (6.83) on the preceding page. This means that the expressions for the potentials and A contain terms that are expressed explicitly in t 0 , which in turn is expressed implicitly in t via equation (6.88) on the preceding page. Despite this complication it is possible, as we shall see below, to determine the electric and magnetic elds and associated quantities at the time of observation t . To this end, we need to investigate carefully the action of differentiation on the potentials.

We introduce the convention that a differential operator embraced by parentheses with an index x or t means that the operator in question is applied at constant x and t , respectively. With this convention, we nd that 0 @ @ x x0 .t 0 /p D p x x x x x0 .t 0 / 2 p 0 0 @t 0 @t jx x j x (6.89) .x x0 / v 0 .t 0 / D p jx x0 j2 p Furthermore, by applying the operator .@=@t/x to equation (6.88) on the previous page we nd that @ @t 0 jx x0 .t 0 .t; x//j D1 @t x @t x c @ @t 0 jx x0 j D1 (6.90) @t 0 x c @t x .x x0 / v 0 .t 0 / @t 0 D1C c j x x0 j @t x

R D

This is an algebraic equation in .@t 0 =@t/x that we can solve to obtain @t 0 j x x0 j jx x0 j D D 0 0 0 0 @t x s jx x j .x x / v .t /=c

FT

(6.91)

where s D s.t 0 ; x/ is the retarded relative distance given by equation (6.83) on page 120. Making use of equation (6.91) above, we obtain the following useful operator identity @ @t 0 @ jx x0 j @ D D (6.92) @t x @t x @t 0 x s @t 0 x Likewise, by applying .r / t to equation (6.88) on the preceding page we obtain x x0 jx x0 .t 0 .t; x//j .r t 0 / t D r D r .x x 0 / t c c j x x0 j t (6.93) x x0 .x x0 / v 0 .t 0 / 0 D C .r t / t c jx x0 j c jx x0 j

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This is an algebraic equation in .r t 0 / t with the solution (6.94) cs that gives the following operator relation when .r / t is acting on an arbitrary function of t 0 and x: x x0 @ @ 0 D (6.95) C . r / C .r / t 0 .r / t D .r t 0 / t t @t 0 x cs @t 0 x .r t 0 / t D With the help of the rules (6.95) and (6.92) we are now able to replace t by t 0 in the operations that we need to perform. We nd, for instance, that r D .r / t D r q0 4 "0 s 2 1 q0 4 "0 s t x x0 v 0 .t 0 / c j x x0 j

0

x0

and, from equation (6.82b) on page 119 and equation (6.92) on the facing page, @A @t @A D @t x q0 D 4 "0 c 2 s 3 @ @t x 4 q 0 v 0 .t 0 / s

x

x0 s a0 .t 0 /

Utilising these relations in the calculation of the E eld from the Linard-Wiechert potentials, equations (6.82) on page 119, we obtain E.t; x/ D @ A.t; x/ @t " q0 x x0 .t 0 / jx x0 .t 0 /j v 0 .t 0 /=c D 4 "0 s 2 .t 0 ; x/ jx x0 .t 0 /j r .t; x/ x jx x0 .t 0 / jx x0 .t 0 /j v 0 .t 0 /=c cs.t 0 ; x/ # x0 .t 0 /j a0 .t 0 / c2 @s.t 0 ; x/ @t 0

x

Starting from expression (6.83a) on page 120 for the retarded relative distance s.t 0 ; x/, we see that we can evaluate .@s=@t 0 /x in the following way 0 0 0 @s @ x x0 .x x / v .t / D @t 0 x @t 0 c x @ 0 0 D x x .t / @t 0 x (6.98) 1 @x x0 .t 0 / @v 0 .t 0 / 0 0 0 0 v .t / C x x .t / c @t 0 @t 0 x x 0 0 0 0 0 0 0 0 02 0 .x x .t // v .t / v .t / .x x .t // a .t / D C c c jx x0 .t 0 /j

FT

cs

x

x0

@s @t 0

(6.96a)

x0 v 0 .t 0 /

@s @t 0

(6.96b)

(6.97)

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where equation (6.89) on page 122 and equations (6.86) on page 120, respectively, were used. Hence, the electric eld generated by an arbitrarily moving localised charge at x0 .t 0 / is given by the expression E.t; x/ D q0 x 4 "0 s 3 .t 0 ; x/ x0 .t 0 / jx

0

x0 .t 0 /j v 0 .t 0 / c jx

v 02 .t 0 / c2 ) a .t / (6.99)

0 0

( q0 x x0 .t 0 / C 4 "0 s 3 .t 0 ; x/ c2

x .t /

x0 .t 0 /j v 0 .t 0 / c

A

x x0 .t/ D x A.t; x/ q0 x 2 2 4 "0 c s jx r x0 x0 j A D

The rst part of the eld, the velocity eld , tends to the ordinary Coulomb eld when v 0 ! 0 and does not contribute to the radiation. The second part of the eld, the acceleration eld , is radiated into the far zone and is therefore also called the radiation eld . From gure 6.6 on page 121 we see that the position the charged particle would have had if at t 0 all external forces would have been switched off so that the trajectory from then on would have been a straight line in the direction of the tangent at x0 .t 0 / is x0 .t/, the virtual simultaneous coordinate . During the arbitrary motion, we interpret x x0 .t/ as the coordinate of the eld point x relative to the virtual simultaneous coordinate x0 .t/. Since the time it takes for a signal to propagate (in the assumed free space) from x0 .t 0 / to x is jx x0 j =c , this relative vector is given by

FT

x0 .t 0 / jx x0 .t 0 /j v 0 .t 0 / c

t

(6.100)

R D

B.t; x/ D r

This allows us to rewrite equation (6.99) above in the following way " q0 v 02 .t 0 / E.t; x/ D x x .t/ 1 0 4 "0 s 3 c2 # 0 0 x x .t/ a .t / 0 C x x0 .t 0 / c2 The magnetic eld can be computed in a similar manner: D r A x

t0

(6.101)

x0

v0

x x0 c jx x0 j

cs @A @t

@A @t 0

(6.102)

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where we made use of equation (6.82) on page 119 and formula (6.92) on page 122. But, according to (6.96a), x x0 c jx x0 j so that B.t; x/ D x x0 c jx x0 j x x0 .t 0 / D c jx x0 .t 0 /j r

t

q0 x 2 2 4 "0 c s jx

x0 x0 j

v0

(6.103)

@A @t

(6.104)

E.t; x/

Efar .t; x/ D

q0 .x 4 "0 c 2 s 3 q0 D x 4 "0 c 2 s 3

x0 / x .t /

0 0

.x fx

x0 /

where in the last step we again used formula (6.100) on the facing page. Combining this formula and formula (6.104) above, the radiation part of the magnetic eld can be written

R

2 x0 .t 0 / 2 x C x x0 .t 0 / v 0 .t 0 / c .x x0 / v 0 c

2

An alternative to the differential operator transformation technique just described is to try to express all quantities in the potentials directly in t and x. An example of such a quantity is the retarded relative distance s.t 0 ; x/. According to equation (6.83) on page 120, the square of this retarded relative distance can be written s 2 .t 0 ; x/ D x x x0 .t 0 /

2

A

jx x0 j2 v 02 c2 .x x0 / c v 0 D x x0 .t/ v0

Bfar .t; x/ D

x x0 .t 0 / c jx x0 .t 0 /j

2

Furthermore, from equation (6.100) on the facing page, we obtain the identity x x0 .t 0 / (6.109)

FT

jx x0 j v 0 c

0 0

The electric far eld is obtained from the acceleration eld in formula (6.99) on the preceding page as a0

(6.105)

x0 .t/

a .t /g

Efar .t; x/

(6.106)

x0 .t 0 / v 0 .t 0 / c

(6.107)

(6.108)

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which, when inserted into equation (6.108) on the previous page, yields the relation .x x0 / v 0 c

2

jx

x0 j2 v 02 c2

.x

x0 / c

v0

(6.110)

Inserting the above into expression (6.107) on the preceding page for s 2 , this expression becomes s 2 D x D .x D .x jx 2 x0 x0 / x0 /2 x0 .t /j2 2 x jx .x x .x x0 x0 j v 0 c x0 / c

2

x0 / v 0 jx C c .x

2

x0 j2 v 02 c2 v0

2

.x

x0 / c

v0

x0 / c

FT

x0 .t/ c v 0 .t 0 /

2

v0

(6.111)

where in the penultimate step we used equation (6.100) on page 124. What we have just demonstrated is that if the particle velocity at time t can be calculated or projected from its value at the retarded time t 0 , the retarded distance s in the Linard-Wiechert potentials (6.82) can be expressed in terms of the virtual simultaneous coordinate x0 .t/, viz., the point at which the particle will have arrived at time t , i.e. when we obtain the rst knowledge of its existence at the source point x0 at the retarded time t 0 , and in the eld coordinate x D x.t /, where we make our observations. We have, in other words, shown that all quantities in the denition of s , and hence s itself, can, when the motion of the charge is somehow known, be expressed in terms of the time t alone. I.e. in this special case we are able to express the retarded relative distance as s D s.t; x/ and we do not have to involve the retarded time t 0 or any transformed differential operators in our calculations. Taking the square root of both sides of equation (6.111) above, we obtain the following alternative nal expressions for the retarded relative distance s in terms of the charges virtual simultaneous coordinate x0 .t/ and velocity v 0 .t 0 /: s x x0 .t/ v 0 .t 0 / 2 s.t 0 ; x/ D jx x0 .t/j2 (6.112a) c s v 02 .t 0 / 2 D jx x0 .t/j 1 sin 0 .t/ (6.112b) c2 s v 02 .t 0 / x x0 .t/ v 0 .t 0 / 2 D jx x0 .t/j2 1 C (6.112c) c2 c

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If we know what velocity the particle will have at time t , expression (6.112) on the preceding page for s will not be dependent on t 0 . Using equation (6.112c) on the facing page and standard vector analytic formulae, we obtain " # v 02 .x x0 / v 0 2 2 2 C r s D r j x x0 j 1 c2 c D 2 .x D 2 .x x0 / 1 x0 / C v0 c v 02 c2 C v0 c v 0v 0 .x c2 .x x0 / x0 / (6.113)

If the charge moves at such low speeds that v 0 =c page 120 simplies to s D x x0 .x x0 / v 0 c x x0 ;

A

jx x0 j v 0 c x x0 ; v0 x0 j3 .x x0 / .x x0 / q0 x0 j2 a0 .x x0 /; v0 d D q 0 x0 .t 0 /

so that the radiation eld equation (6.105) on page 125 can be approximated by

R

q0 4 "0 c 2 jx 4 "0 c 3 j x

Efar .t; x/ D

from which we obtain, with the use of formula (6.104) on page 125, the magnetic eld

D

Bfar .t; x/ D

It is interesting to note the close correspondence that exists between the nonrelativistic elds (6.116) and (6.117) and the electric dipole eld equations (6.46) on page 111 if we introduce the electric dipole moment for a localised charge [cf. formula (6.42) on page 109] (6.118)

FT

1, formula (6.83) on v0 c (6.114) c (6.115) a0 ; v0 c (6.116) c (6.117)

We shall use this result in example 6.4 on page 146 for a uniform, unaccelerated motion of the charge.

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v D 0:5c v D 0:25c v

vD0

Figure 6.7: Polar diagram ergy loss angular distribu tor sin2 =.1 v cos =c bremsstrahlung for partic v 0 D 0, v 0 D 0:25c , a 0:5c .

FT

R 7! q 0 a0 D d x Dx

0

! 2 d!

(6.119a)

x0

(6.119b)

The energy ux in the far zone is described by the Poynting vector as a function of Efar and Bfar . We use the close correspondence with the dipole case to nd that it becomes

A

16

2c

Sfar D

0q

02

.a0 /2

jx

x0 j2

sin2

x jx

x0 x0 j

(6.120)

where is the angle between a0 and x x0 . The total radiated power (integrated over a closed spherical surface) becomes

P D

0q

.a 0 /2 q 0 2 a02 D 6 c 6 "0 c 3

02

(6.121)

which is the Larmor formula for radiated power from an accelerated charge. Note that here we are treating a charge with v 0 c but otherwise totally unspecied motion while we compare with formul derived for a stationary oscillating dipole. The electric and magnetic elds, equation (6.116) on the preceding page and equation (6.117) on the previous page, respectively, and the expressions for the Poynting ux and power derived from them, are here instantaneous values, dependent on the instantaneous position of the charge at x0 .t 0 /. The angular distribution is that which is frozen to the point from which the energy is radiated.

6.5.3 Bremsstrahlung

An important special case of radiation is when the velocity v 0 and the acceleration a0 are collinear (parallel or anti-parallel) so that v 0 a0 D 0. This condition

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(for an arbitrary magnitude of v 0 ) inserted into expression (6.105) on page 125 for the radiation eld, yields Efar .t; x/ D q0 .x 4 "0 c 2 s 3 x0 / .x x0 / a0 ; v 0 k a0 (6.122)

from which we obtain, with the use of formula (6.104) on page 125, the magnetic eld Bfar .t; x/ D q 0 j x x0 j 0 a 4 "0 c 3 s 3 .x x0 /; v 0 k a0 (6.123)

Sfar D

0q

0 2 02

sin2 1

v0 c

16

2c

jx

x0 j2

A

x0 / x x0 d D a 16 2 c

0q 0 2 02

It is interesting to note that the magnitudes of the electric and magnetic elds are the same whether v 0 and a0 are parallel or anti-parallel. We must be careful when we compute the energy (S integrated over time). The Poynting vector is related to the time t when it is measured and to a xed surface in space. The radiated power into a solid angle element d , measured relative to the particles retarded position, is given by the formula dU rad . / d dt D S .x sin2

v0 c 6

On the other hand, the radiation loss due to radiation from the charge at retarded time t 0 : dU rad d dt 0 D dU rad dt @t @t 0 d

x

R

dU rad d dt 0 D dU rad s d dt jx x0 j dU rad . / d dt 0 D

0q

Inserting equation (6.124) above for S into (6.127), we obtain the explicit expression for the energy loss due to radiation evaluated at the retarded time a 2 16 c

0 2 02

FT

cos

6

The difference between this case and the previous case of v 0 c is that the approximate expression (6.114) on the preceding page for s is no longer valid; instead we must use the correct expression (6.83) on page 120. The angular distribution of the energy ux (Poynting vector) far away from the source therefore becomes x jx x0 x0 j (6.124)

cos

(6.125)

(6.126)

sin2

v0 c

cos

(6.128)

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Figure 6.8: Location of radiation between two spheres as the charge moves with velocity v 0 from x0 1 to 0 0 x0 2 during the time interval .t ; t C dt 0 /. The observation point (eld point) is at the xed location x.

dS dr x d q0 0 x0 v dt x0

2

0 x0 2 C c dt

R D

is

The angular factors of this expression, for three different particle speeds, are plotted in gure 6.7 on the preceding page. Comparing expression (6.125) on the previous page with expression (6.128) on the preceding page, we see that they differ by a factor 1 v 0 cos =c that comes from the extra factor s= jx x0 j introduced in (6.127). Let us explain this in geometrical terms. During the interval .t 0 ; t 0 C dt 0 / and within the solid angle element d the particle radiates an energy dU rad . /=dt 0 dt 0 d . As shown in gure 6.8 this 0 energy is at time t located between two spheres, one outer with its origin at x0 1 .t / 0 0 0 0 0 0 and radius c.t t 0 /, and one inner with its origin at x0 2 .t C dt / D x1 .t / C v dt 0 0 0 0 and radius ct .t C dt / D c.t t dt /. From Figure 6.8 we see that the volume element subtending the solid angle element

A

d

FT

D x d2x 2 x0 2 2 d dr x0 2

(6.129)

d3x D d2x dr D x

(6.130)

Here, dr denotes the differential distance between the two spheres and can be

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j 131

(6.131)

D c

x x

x0 2 v0 x0 2

! dt 0 D x

where formula (6.83) on page 120 was used in the last step. Hence, the volume element under consideration is

A

1 1

v 02 c2 3

We see that the energy that is radiated per unit solid angle during the time interval .t 0 ; t 0 C dt 0 / is located in a volume element whose size is dependent. This explains the difference between expression (6.125) on page 129 and expression (6.128) on page 129. Q rad . After tedious, Let the radiated energy, integrated over , be denoted U but relatively straightforward integration of formula (6.128) on page 129, one obtains Q rad dU D dt 0

0q

a 6 c

0 2 02

2 q 0 2 a02 1 3 4 "0 c 3

Formula (6.104) and formula (6.105) on page 125 for the magnetic eld and the radiation part of the electric eld are general, valid for any kind of motion of the localised charge. A very important special case is circular motion, i.e. the case v 0 ? a0 .

If we know v 0 .t 0 /, we can integrate this expression over t 0 and obtain the total energy radiated during the acceleration or deceleration of the particle. This way we obtain a classical picture of bremsstrahlung (braking radiation , free-free radiation ). Often, an atomistic treatment is required for obtaining an acceptable result.

FT

v 02 c2

3

d3x D d2x dr D x

d2x c dt 0 x0 2

(6.132)

(6.133)

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132 j

Figure 6.9: Coordinate system for the radiation from a charged particle at x0 .t 0 / in circular motion with velocity v 0 .t 0 / along the tangent and constant acceleration a0 .t 0 / toward the origin. The x1 x2 axes are chosen so that the relative eld point vector x x0 makes an angle with the x3 axis, which is normal to the plane of the orbital motion. The radius of the orbit is b .

x2 x x v0 b 0 q0 0 0 x .t / a0 '.t 0 / x1 x0

x3

With the charged particle orbiting in the x1 x2 plane as in gure 6.9, an orbit radius b , and an angular frequency !0 , we obtain '.t 0 / D !0 t 0

0 0 0 0 0

FT

0 0 0 0 0 0

(6.134a) (6.134c)

A

0 0 0 0

(6.134b)

0 2 R .t / D b!0 O1 x x 0 a D b! 2 0

P .t / D a Dv

R D

.x .x

Because of the rotational symmetry we can, without loss of generality, rotate our coordinate system around the x3 axis so the relative vector x x0 from the source point to an arbitrary eld point always lies in the x2 x3 plane, i.e. x x0 D x O 2 sin C x O 3 cos / x0 .x (6.135)

where is the angle between x x0 and the normal to the plane of the particle orbit (see Figure 6.9). From the above expressions we obtain x0 / v 0 D x x0 v 0 sin cos ' x0 / a0 D x x0 a0 sin sin ' D x (6.136a) x a cos

0

(6.136b)

where in the last step we simply used the denition of a scalar product and the fact that the angle between a0 and x x0 is .

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j 133

The energy ux is given by the Poynting vector, which, with the help of formula (6.104) on page 125, can be written SD 1

0

.E

B/ D

1 c

0

jEj2

x jx

x0 x0 j

(6.137)

Inserting this into equation (6.127) on page 129, we obtain dU rad .; '/ jx x0 j s D jEj2 0 dt c 0 (6.138)

0 2 02 1 dU rad .; '/ 0q a D dt 0 16 2 c

v0 c

Q rad dU D dt 0

A

0q

The angles and ' vary in time during the rotation, so that refers to a moving coordinate system. But we can parametrise the solid angle d in the angle ' and the angle so that d D sin d d' . Integration of equation (6.139) above over this d gives, after some cumbersome algebra, the angular integrated expression a 6 c

0 2 02

1. v 0 =c 2. v 0 =c

For a non-relativistic speed v 0 c , equation (6.139) above reduces to sin2 sin2 '/ (6.141)

But, according to equation (6.136b) on the facing page sin2 sin2 ' D cos2 (6.142)

In equation (6.139) above, two limits are particularly interesting: 1 which corresponds to cyclotron radiation .

0 2 02 dU rad .; '/ 0q a D .1 dt 0 16 2 c

FT

2

where the retarded distance s is given by expression (6.83) on page 120. With the radiation part of the electric eld, expression (6.105) on page 125, inserted, and using (6.136a) and (6.136b) on the facing page, one nds, after some algebra, that 1

v 02 c2

v0 c

(6.139)

v 02 c2

(6.140)

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134 j

where write

is dened in gure 6.9 on the preceding page. This means that we can

0 2 02 dU rad . / 0q a D .1 dt 0 16 2 c 0q 0 2 02

cos2 / D

16

2c

sin2

(6.143)

Consequently, a xed observer near the orbit plane ( =2) will observe cyclotron radiation twice per revolution in the form of two equally broad pulses of radiation with alternating polarisation.

When the particle is relativistic, v 0 c , the denominator in equation (6.139) on the preceding page becomes very small if sin cos ' 1, which denes the forward direction of the particle motion ( =2; ' 0). The equation (6.139) on the previous page becomes

0 2 02 dU rad . =2; 0/ 1 0q a D 0 2 dt 16 c 1 v0 c

FT

3 v0 c 2

(6.144)

which means that an observer near the orbit plane sees a very strong pulse followed, half an orbit period later, by a much weaker pulse. The two cases represented by equation (6.143) on the preceding page and equation (6.144) above are very important results since they can be used to determine the characteristics of the particle motion both in particle accelerators and in astrophysical objects where a direct measurement of particle velocities are impossible. In the orbit plane ( D =2), equation (6.139) on the preceding page gives

R D

cos ' 1

v0 c

1 cos '

v 02 c2 5

sin2 '

(6.145)

This vanishes for angles '0 such thati cos '0 D sin '0 D v0 c s 1 (6.146a) v 02 c2 (6.146b)

Hence, the angle '0 is a measure of the synchrotron radiation lobe width ; see gure 6.10 on the next page. For ultra-relativistic particles, dened by s 1 v 02 Ds 1; 1 1; (6.147) c2 v 02 1 c2

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j 135

x x x0

x2

Figure 6.10: If the observation point x is in the plane of the particle orbit, i.e. if D =2, the lobe width is given by .

v0 b 0 a0 '.t 0 / q0 0 0 x .t /

x1

x3

Hence, synchrotron radiation from ultra-relativistic charges is characterized by a radiation lobe width which is approximately 1

A

t 0 D !0 l 0 D v 0 t 0 D v 0 !0

This angular interval is swept by the charge during the time interval

in the direction toward the observer who therefore measures a compressed pulse

FT

v 02 1 D 2 c (6.148) (6.149) (6.150) (6.151)

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136 j

width of length t D t 0 D 1 l 0 D t 0 c v0 c !0 1 v 0 t 0 D 1 c v0 c v0 c t 0

v0 c

1 1 D !0

1C

v0 c

v0 1C c 2

1 !0 (6.152)

v 02 1 1 1 1 D 3 2 c 2 !0 2 !0 1= 2

FT

!max 1 D2 t

3

Typically, the spectral width of a pulse of length t is ! 1=t . In the ultrarelativistic synchrotron case one can therefore expect frequency components up to !0 (6.153)

1. All N radiating particles are spatially much closer to each other than a typical wavelength. Then the relative phase differences of the individual electric and magnetic elds radiated are negligible and the total radiated elds from all individual particles will add up to become N times that from one particle. This means that the power radiated from the N particles will be N 2 higher than for a single charged particle. This is called coherent radiation . 2. The charged particles are perfectly evenly distributed in the orbit. In this case the phases of the radiation elds cause a complete cancellation of the elds themselves. No radiation escapes. 3. The charged particles are somewhat unevenly distributed in the orbit. This happens for an open ring current, carried initially by evenly distributed charged particles, which is subject to thermal uctuations. From statistical mechanics we know that this happens forp all open systems and that the particle densities exhibit uctuations of order N . This means that out of the N particles, p N will exhibit deviation from perfect randomness and thereby perfect radiation eld cancellation and give rise to net radiation elds which are p proportional to N . As a result, the radiated power will be proportional to

A spectral analysis of the radiation pulse will therefore exhibit a (broadened) line spectrum of Fourier components n!0 from n D 1 up to n 2 3 . When many charged particles, N say, contribute to the radiation, we can have three different situations depending on the relative phases of the radiation elds from the individual particles:

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j 137

vt q0 b jx B O3 E? x

0

O1 v D vx

Figure 6.11: The perpendicular electric eld of a charge q 0 moving O is E? z O. with velocity v 0 D v 0 x

x0 j

N , and we speak about incoherent radiation . Examples of this can be found both in earthly laboratories and under cosmic conditions.

We recall that the general expression for the radiation E eld from a moving charge concentration is given by expression (6.105) on page 125. This expression in equation (6.138) on page 133 yields the general formula

A

0q

dU rad . ; '/ D dt 0

0q

jx x0 j .x 16 2 cs 5

02

x0 /

0 2 02

where is the angle between v 0 and a0 . If v 0 is collinear with a0 , so that sin D 0, we get bremsstrahlung . For 0 v ? a0 , sin D 1, which corresponds to cyclotron radiation or synchrotron radiation .

Let us consider a charge q 0 moving with constant, high velocity v 0 .t 0 / along the x1 axis. According to formula (6.204) on page 147 and gure 6.11, the perpendicular component along the x3 axis of the electric eld from this moving charge is E? D E3 D q0 4 "0 s 3 1 v 02 c2 .x O3 x0 / x (6.156)

Q rad dU D dt 0

FT

.x x0 / jx x0 j v 0 c

2

a0

(6.154)

v 02 c2

sin2

v 02 c2

(6.155)

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138 j

Utilising expression (6.112) on page 126 and simple geometrical relations, we can rewrite this as E? D q0 4 "0 b

2

.v 0 t 0 /2 C b 2 =

2 3=2

(6.157)

This represents a contracted Coulomb eld, approaching the eld of a plane wave. The passage of this eld pulse corresponds to a frequency distribution of the eld energy. Fourier transforming, we obtain Z 1 1 q0 b! b! E!;? D dt E? .t / ei!t D K1 (6.158) 2 " bv 0 0 0 2 4 v v 0 1 Here, K1 is the Kelvin function (Bessel function of the second kind with imaginary argument) which behaves in such a way for small and large arguments that q0 ; 4 2 "0 bv 0 0; b!

FT

b! v0 , b ! v0 1 1 v0 , b ! v0

bmin 1

E!;? E!;?

(6.159a)

(6.159b)

where the volume integration is over the plane perpendicular to v 0 . With the use of Parsevals identity for Fourier transforms, formula (6.9) on page 102, we can rewrite this as Z bmax Z 1 Z 1 2 Q D Q ! D 4 "0 v 0 db 2 b d! E!; U d! U ? 0 bmin 0 (6.161) Z 1 Z v0 =! q 02 db d! 2 2 "0 v 0 1 b bmin from which we conclude that Q! U q 02 v0 ln 2 2 "0 v 0 bmin ! (6.162)

where an explicit value of bmin can be calculated in quantum theory only. As in the case of bremsstrahlung, it is intriguing to quantise the energy into photons [cf. equation (6.218) on page 149]. Then we nd that N! d ! 2 ln c bmin ! d! ! (6.163)

A

V

showing that the pulse length is of the order b=.v 0 /. Due to the equipartitioning of the eld energy into the electric and magnetic elds, the total eld energy can be written Z Z bmax Z 1 2 2 Q D "0 d3x E? U D "0 db 2 b dt v 0 E ? (6.160)

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p2

p1

0 Since this change in momentum corresponds to a change in energy ! D E1 E1 2 and E1 D m0 c , we see that ! d! E1 c p1 c p0 2 1 ln (6.165) N! d ! 0 m0 c 2 E1 E1 !

D

6.6 Examples

a formula which gives a reasonable semi-classical account of a photon-induced electron-electron interaction process. In quantum theory, including only the lowest order contributions, this process is known as Mller scattering . A diagrammatic representation of (a semi-classical approximation of) this process is given in gure 6.12 on the preceding page.

The Fourier amplitudes of the elds generated by an electric dipole, d! , oscillating at the angular frequency ! , are given by formul (6.45) on page 110. Inverse Fourier transforming to the time domain, and using a spherical coordinate system .r; ; '/, the physically observable elds are found to be

A FT

1

where D e2 =.4 "0 c/ 1=137 is the ne structure constant . Let us consider the interaction of two (classical) electrons, 1 and 2. The result of this interaction is that they change their linear momenta from p1 to p0 and p2 1 to p0 , respectively. Heisenbergs uncertainty principle gives bmin = p1 p0

6.6. Examples !

j 139

p0 2

p0 1

(6.164)

E X A M P L E 6.1

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140 j

B.t; x/ D E.t; x/ D

! 4

d! sin

1 sin.kr r2 1 cos.kr r3

!t 0 /

k cos.kr r k sin.kr r2

O !t 0 / !t 0 / k2 cos.kr r

!t 0 / C

(6.166a) ! 0 O !t / (6.166b)

1 cos.kr r3

!t 0 / C

k sin.kr r2

O !t 0 / r

where t 0 D t

Applying formula (4.45) on page 62 for the electromagnetic linear momentum density to the elds from a pure electric dipole, equations (6.166) above, one obtains geld D "0 E C BD ! 8

0 2 d 2 !

1 sin.kr r5 !t 0 /

!t 0 / cos.kr

!t 0 / O !t 0 /

A FT

! 16

0 2 d 2 !

!t 0 /

k2 sin.kr r3 !t 0 /

!t 0 / cos.kr

1 sin.kr r5 !t 0 /

!t 0 / cos.kr !t 0 /

cos2 .kr

k2 sin.kr r3

!t 0 / cos.kr

!t 0 / (6.167)

O !t 0 / r

Using well-known trigonometric relations, this can be put in the form geld D ! 16

0 2 d 2 !

sin cos

1 sin2.kr r5

!t 0 /

k cos2.kr r4

!t 0 /

k2 sin2.kr r3

0 2 d 2 !

O !t 0 /

! 32

sin2

1 sin2.kr r5 !t 0 / C

!t 0 /

k cos2.kr r4

!t 0 /

D

or

R

held D ! 8 C

0 2 d 2 !

k2 sin2.kr r3

k3 1 C cos2.kr r2

O !t 0 / r

(6.168)

which shows that the linear momentum density, and hence the Poynting vector, is strictly radial only at innity.

Applying formula (4.75) on page 67 for the electromagnetic angular momentum density with the momentum point chosen as x0 D 0, i.e. held D x geld (6.169)

and using equation (6.168) above, we nd that for a pure electric dipole sin cos 1 sin.kr r4 !t 0 / cos2 .kr !t 0 / cos.kr !t 0 / !t 0 / !t 0 / cos.kr O !t 0 / (6.170)

k sin2 .kr r3

k2 sin.kr r2

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6.6. Examples

j 141

held D

! 16 2

0 2 d 2 !

sin cos

1 sin2.kr r4 !t 0 /

!t 0 / O !t 0 / (6.171)

k cos2.kr r3

k2 sin2.kr r2

The total electromagnetic linear momentum is (cf. formula (4.51b) on page 63) peld D Z

V0

d3x 0 geld .t 0 ; x0 /

(6.172)

and the total electromagnetic angular momentum is (cf. formula (4.89) on page 69) J eld D

In order to get a total net J eld , it is convenient to superimpose several individual dipoles of (possibly) different strengths and relative phases. Perhaps the most common conguration yielding a total net J eld is two orthogonal co-located dipoles with =2 phase shift between them. We note that in the far zone the linear and angular momentum densities tend to ! 16 ! D 32

3 0 2k d ! 2 r2

geld,far .t; x/

and

held,far .t; x/

respectively. I.e. to leading order, both the linear momentum density geld and the angular momentum density held fall off as 1=r 2 far away from the source region. This means that when they are integrated over a spherical surface / r 2 located at a large distance from the source [cf. the last term in the LHS of formula (4.33) on page 60], there is a net ux so that the integrated momenta do not fall off with distance and can therefore be transported all the way to innity. End of example 6.1

A FT

Z

V0

d3x 0 held .t 0 ; x0 /

(6.173)

O !t 0 /r

3 0 2k d 2 ! r2

1 C cos2.kr

O !t 0 / r

(6.174)

O !t 0 /

(6.175)

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142 j

Two electric dipole antennas in interferometric mode Consider two identical electric half-wave dipole antennas with their axes parallel. The antennas are fed at their midpoints that are separated by a distance 2a > =2 ( is the wavelength) along the direction of the axes and shifted by a distance 2b perpendicular to this direction. Both antennas are fed with currents at the same (single) frequency ! but possibly of different amplitude and phase, Ii ; i D 1; 2 and i ; i D 1; 2, respectively. Analyse the radiation from this antenna array , including its interferometric properties , far away from the array. To describe the antenna array conguration we choose a 3D Cartesian coordinate system such that the x3 D z axis passes through the midpoints (feed-points) of the two antennas and that the x1 x2 D xy plane is located halfway between the two antennas and that the x2 D y axis is along the direction of the perpendicular separation. This means in in this Cartesian coordinate system the midpoints of the antennas are located at .0; b; a/ and at .0; b; a/, respectively. Due to the linearity of the Maxwell-Lorentz equations, the total electric and magnetic elds are given by a linear superposition of the elds from each antenna. To simplify the treatment, we calculate the far-zone elds from a generic antenna located at the origin .0; 0; 0/ and then take the sum of two of these expressions for the individual far-zone elds, corrected for the actual location as well as the amplitudes and phases of the currents that are applied to to each of the antennas. We describe the radiation in a standard spherical polar coordinate system as in gure 6.4 on page 116, i.e. a system where the polar axis coincides with the z axis, the polar angle is calculated relative to the direction of the positive z axis, and the azimuthal angle ' is calculated relative to the direction of positive x axis toward the positive y axis in a righthanded sense. In this polar coordinate system the observation (eld) point is located at O x D .r; ; '/ with r D jx x0 j. The origin is chosen at x0 so that x x0 D x D r D r r O D kr O. and the wave vector k D k k The Fourier amplitude of the far-zone electric eld generated by the antenna current density j .t 0 ; x0 / D j! .x0 /e

i!t 0

E X A M P L E 6.2

A FT

i 1 ek jx x0 j O r 4 "0 c jx x0 j Z

V0

(6.176)

R

is Efar ! .x/ D

far B! .x/

Z

V0

d3x 0 e

k .x0 x0 /

j! .x0 /

0

0

1 ek jx x0 j i 2 4 "0 c jx x0 j

dx e

3 0

k .x0 x0 /

j! .x /

In the paraxial approximation described by equation (5.33) on page 93 one assumes that the distant observer views all parts of the antenna under one and the same xed polar angle , i.e. that all wave vectors has the same constant direction as that coming from the midpoint x0 D 0. In this approximation Z i eikr 0 (6.178) O Efar D r k d3x 0 e ik x j! .x0 / ! 4 "0 c r V0 k j! .x0 / was used. In the chosen geometry, the 1D antenna current O j! .x0 / D .x 0 /.y 0 /I.z 0 / z (6.179)

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6.6. Examples

j 143

and, consequently, since the antenna length is =2 and the antenna therefore is resonant so that the antenna current is a standing wave of the form I.z 0 / D I0 cos.kz 0 / where I0 is the antenna current amplitude at the feed-point, so that Z =4 i eikr 0 O O Efar D r . k z / dz 0 e ikz cos I.z 0 / ! 4 "0 c r =4 Z =4 I0 eikr 0 O D i k sin dz 0 e ikz cos cos.kz 0 / 4 "0 c r =4 D i I0 eikr cos 2 cos 2 "0 c r sin O (6.180)

(6.181)

As an example of a two-dimensional current distribution we consider a circular loop antenna of radius a and calculate the far-zone Efar and Bfar elds from such an antenna. We choose the Cartesian coordinate system x1 x2 x3 with its origin at the centre of the loop as in gure 6.13. According to equation (5.32b) on page 93 the Fourier component of the radiation part of the magnetic eld generated by an extended, monochromatic current source is Z i 0 eik jxj 0 far d3x 0 e ik x j! k B! (6.183) D 0 4 j xj V

D

and

In our case the generator produces a single frequency ! and we feed the antenna across a small gap where the loop crosses the positive x1 axis. The circumference of the loop is chosen to be exactly one wavelength D 2 c=! . This means that the antenna current oscillates in the form of a sinusoidal standing current wave around the circular loop with a Fourier amplitude j! D I0 cos ' 0 .

0

R

O D

For the spherical coordinate system of the eld point, we recall from subsection F.1.2 on page 213 that the following relations between the base vectors hold: O D sin cos ' x O 1 C sin sin ' x O 2 C cos x O3 r O3 sin x O 1 C cos ' x O2 sin ' x

A FT

I0 cos 2 cos 2 "0 cr sin sin.kr O !t 0 / (6.182) End of example 6.2 O0 a/.z 0 / (6.184)

Inverse Fourier transforming back to t space and taking the real part, we obtain the expression for the observable physical electric eld far away from the antenna

E X A M P L E 6.3

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144 j

O r x3 D z D z 0 O x O

Figure 6.13: For the tenna the spherical coord tem .r; ; '/ describes point x (the radiation the cylindrical coordinat . 0 ; ' 0 ; z 0 / describes th point x0 (the antenna curr

O k x2 O0 z

With the use of the above transformations and trigonometric identities, we obtain for the cylindrical coordinate system which describes the source: O 1 C sin ' 0 x O2 O 0 D cos ' 0 x D sin cos.' 0 (6.185) (6.186) (6.187)

R

O0 D D

O and x0 D a O 0 so that This choice of coordinate systems means that k D k r k x0 D ka sin cos.' 0 '/ (6.188)

With these expressions inserted, recalling that in cylindrical coordinates d3x 0 0 d 0 d' 0 dz 0 , the source integral becomes

A FT

x1 '0 O0 O0

O O 1 D sin cos ' r O C cos cos ' x O sin O sin ' O C cos ' O 2 D sin sin ' r O C cos sin ' O x O 3 D cos r O x O C cos cos.' 0 '/r O '/r O sin O C sin.' 0 '/ O '/ O 1 C cos ' 0 x O2 sin ' 0 x sin sin.' 0 cos sin.' 0 O C cos.' 0 '/ O '/ O0 D x O 3 D cos r O z

j! .x0 /

x0

'

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6.6. Examples

j 145

Z

V0

d3x 0 e

ik x0

Z j! e kDa

0

d' 0 e

O0 I0 cos ' 0

k (6.190)

Z D I0 ak

0

cos.' 0

Z C I0 ak cos

0

Utilising the periodicity of the integrands over the integration interval 0; 2 , introducing the auxiliary integration variable ' 00 D ' 0 ' , and utilising standard trigonometric identities, the rst integral in the RHS of (6.190) can be rewritten Z 2 00 e ika sin cos ' cos ' 00 cos.' 00 C '/ d' 00

0

0

e Z

0 2

cos2 ' 00 d' 00 C a vanishing integral 1 1 C cos 2' 00 2 2 d' 00 d' 00 (6.191)

e Z

0 2

1 cos ' 2 C

e Z

0 2

1 cos ' 2

Analogously, the second integral in the RHS of (6.190) can be rewritten Z 2 00 e ika sin cos ' sin ' 00 cos.' 00 C '/ d' 00

0

1 sin ' 2

1 sin ' 2

0

R

cos '

D

e

0

V0

A FT

ika sin cos ' 00

cos.2' 00 / d' 00

d' 00

(6.192)

n 2

Z

0

i cos '

(6.193)

O J2 .ka sin /

(6.195)

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146 j

far B! .x/ D

ikr 0e

4 r

O C I' O I

(6.196)

To obtain the desired physical magnetic eld in the radiation (far) zone we must Fourier transform back to t space and take the real part: ) ( 0 i 0 e.ikr !t / far O O I C I' B .t; x/ D Re 4 r

0 O C I' O sin.kr !t 0 / I 4 r I0 ak 0 D sin.kr !t 0 / cos ' J0 .ka sin / 4r

From this expression for the radiated B eld, we can obtain the radiated E eld with the help of Maxwells equations. End of example 6.3

E X A M P L E 6.4

4

R D

In the special case of uniform motion,4 the localised charge moves in a eld-free, isolated space and we know that it will not be affected by any external forces. It will therefore move uniformly in a straight line with the constant velocity v 0 . This gives us the possibility to extrapolate its position at the observation time, x0 .t/, from its position at the retarded time, P0 x0 .t 0 /. Since the particle is not accelerated, v 0, the virtual simultaneous coordinate x0 will be identical to the actual simultaneous coordinate of the particle at time t , i.e. x0 .t/ D x0 .t/. As depicted in gure 6.6 on page 121, the angle between x x0 and v 0 is x0 and v 0 is 0 . 0 while then angle between x In the case of uniform velocity v 0 , i.e. a velocity that does not change with time, any physical observable f .t; x/ has the same value at time t and position x as it has at time t C dt and position x C v 0 dt . Hence, f .t; x/ D f .t C dt; x C v 0 dt/ (6.198)

Taylor expanding f .t C dt; x C v 0 dt ), keeping only linear terms in the innitesimally small dt , we obtain f .t C dt; x C v 0 dt/ D f .t; x/ C @f dt C v 0 rf dt C O .dt/2 @t (6.199)

Since f is an arbitrary physical observable, the time and space derivatives must be related in the following way when they operate on any physical observable dependent on x.t/ [cf. equation (1.34) on page 13]: @ D @t v0 r (6.201)

A FT

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j 147

Hence, the E and B elds can be obtained from formul (6.84) on page 120, with the potentials given by equations (6.82) on page 119 as follows: ED D D BDr D v0 c2 v0 D 2 c r r c2 @A D r @t v0 v0 r C c c

13

1 @v 0 c 2 @t D 1

r r

v0 @ c 2 @t (6.202a)

v 0v 0 c2

v 0v 0

r v0 c2 v0 c Dr r v0 v0 D r 2 c c2 v0 v 0v 0 D 2 13 c c2

ADr v0 r c E

(6.202b)

O ix O i is the unit dyad and we used the fact that v 0 v 0 Here 13 D x 0. What remains is just to express r in quantities evaluated at t and x. From equation (6.82a) on page 119 and equation (6.113) on page 127 we nd that r D q0 1 q0 r r s2 D 4 "0 s 8 "0 s 3 q0 v0 v0 D . x x0 / C 3 c c 4 "0 s

13

R

v0 c D q0 .x 4 "0 s 3 v0 c v0 .x c " x0 / x0 / C

( q0 D .x 4 "0 s 3

x0 / C

D

q0 D .x 4 "0 s 3

v0 .x c

x0 / 1

obtains. Of course, the same result also follows from equation (6.101) on page 124 with P 0 0 inserted. v From equation (6.204) above we conclude that E is directed along the vector from the simultaneous coordinate x0 .t/ to the eld (observation) coordinate x.t/. In a similar way, the magnetic eld can be calculated and one nds that

A FT

(6.203) .x x0 / D

13

r s2

v0 c

.x v0 c

x0 /

v 0v 0 c2

v0 c .x

) .x x0 / v 02 c2 (6.204)

v0 v0 .x c c #

x0 /

x0 /

x0 / v 02 c2 !

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148 j

B.t; x/ D

0 0q 3 s

v 02 c2

! v0 .x x0 / D

1 0 v c2

(6.205)

From these explicit formulae for the E and B elds and formula (6.112b) on page 126 for s , we can discern the following cases: 1. v 0 ! 0 ) E goes over into the Coulomb eld ECoulomb 2. v 0 ! 0 ) B goes over into the Biot-Savart eld 3. v 0 ! c ) E becomes dependent on 4. 5. v0 v0 ! c; sin ! c; sin

0 0 0

0 ) E ! .1 1 ) E ! .1

v 02 =c 2 /ECoulomb v 02 =c 2 /

1=2 ECoulomb

Calculate the bremsstrahlung when a charged particle, moving at a non-relativistic speed, is accelerated or decelerated during an innitely short time interval. We approximate the velocity change at time t 0 D t0 by a delta function: P 0 .t 0 / D v 0 .t 0 v

1

A FT

t0 / v 0 .t0 / D Z

1

E X A M P L E 6.5

(6.206)

P0 dt 0 v

(6.207)

(6.208)

x0

(6.209)

R D

In this simple case B

From the general expression (6 far .104) on page 125 we conclude that E ? B and that it E . According to the bremsstrahlung expression for Efar , sufces to consider E equation (6.122) on page 128, ED q 0 sin 4 "0 c 2 jx

0

x0 j

v 0 .t 0

t0 /

(6.210)

Because of the Dirac behaviour in time, Fourier transforming expression (6.210) above for E is trivial, yielding Z 1 0 0 q 0 sin 0 1 t0 / i!t 0 0 v .t E! D d t e 0 .t 0 /j x x j 4 "0 c 2 2 1 (6.212) q 0 sin 0 0 i!t0 D v .t / e 0 8 2 "0 c 2 jx x0 .t0 /j

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j 149

We note that the magnitude of this Fourier component is independent of ! . This is a consequence of the innitely short impulsive step .t 0 t0 / in the time domain which produces an innite spectrum in the frequency domain. The total radiation energy is given by the expression Z 1 Z 1 I Q rad dU 0 Q rad D O0 E U dt 0 D d t d2x 0 n dt 0 1 1 S0 I Z 1 I Z 1 1 d2x 0 dt 0 EB D D d2x 0 0 S0 0c S 0 1 I Z 1 D "0 c d2x 0 dt 0 E 2

S0 1

B

0 1 1

dt 0 E 2

(6.213)

which means that the radiated energy in the frequency interval .!; ! C d!/ is I rad Q! U d2x 0 jE! j2 d! d! D 4 "0 c

S0

For our innite spectrum, equation (6.212) on the preceding page, we obtain q 0 2 .v 0 /2 rad Q! U d! D 16 3 "0 c 3 D D q 0 2 .v 0 /2 16 3 "0 c 3 q02 3 "0 c I d2x 0 sin2

0

In reality, all spectra have nite widths, with an upper cutoff limit set by the quantum condition !max D 1 m.v 0 C v 0 /2 2 1 02 mv 2 (6.217)

D

dN! D

which expresses that the highest possible frequency !max in the spectrum is that for which all kinetic energy difference has gone into one single eld quantum (photon ) with energy !max . If we adopt the picture that the total energy is quantised in terms of N! photons radiated during the process, we nd that

rad d! Q! U D dN! !

R

2 e2 4 "0 c 3 v 0 c

2

rad is independent of frequency ! . This means that if we Q! We see that the energy spectrum U would integrate it over all frequencies ! 2 0; 1/, a divergent integral would result.

A FT

0

According to Parsevals identity [cf. equation (6.9) on page 102] the following equality holds: Z 1 Z 1 dt 0 E 2 D 4 d! jE! j2 (6.214)

(6.215)

S0

d' 0

jx Z

x0 j2

0

d!

sin

sin2

d!

(6.216)

0 v 0 2

d! 2

(6.218)

2

d! !

(6.219)

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1=137.

Even if the number of photons becomes innite when ! ! 0, these photons have negligible energies so that the total radiated energy is still nite. End of example 6.5

6.7 Bibliography

[27] H. A LFVN AND N. H ERLOFSON, Cosmic radiation and radio stars, Physical Review, 78 (1950), p. 616. [28] R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc., New York, NY, 1982, ISBN 0-486-64290-9. [29] M. B ORN AND E. W OLF, Principles of Optics. Electromagnetic Theory of Propagation, Interference and Diffraction of Light, sixth ed., Pergamon Press, Oxford,. . . , 1980, ISBN 0-08-026481-6. [30] V. L. G INZBURG, Applications of Electrodynamics in Theoretical Physics and Astrophysics, Revised third ed., Gordon and Breach Science Publishers, New York, London, Paris, Montreux, Tokyo and Melbourne, 1989, ISBN 2-88124-719-9.

[32] H.-D. NATURE, The Physical Basis of The Direction of Time, fourth ed., SpringerVerlag, Cambridge . . . , 1920, ISBN 3-540-42081-9. [33] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0201-05702-6. [34] J. A. S TRATTON, Electromagnetic Theory, McGraw-Hill Book Company, Inc., New York, NY and London, 1953, ISBN 07-062150-0. [35] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc., New York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-57269-1.

[31] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc., New York, NY . . . , 1999, ISBN 0-471-30932-X.

FT

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7

R E L AT I V I ST I C E L EC T RO D Y N A MI C S

We saw in chapter 3 on page 33 how the introduction of electrodynamic potentials led, in a most natural way, to the existence of a characteristic, nite speed of propagation of electromagnetic elds (and related quantities) in free space (vacp uum) that equals the speed of light c D 1= "0 0 and which can be considered a constant of Nature. To take this nite speed of propagation of information into account, and to ensure that our laws of physics be independent of any specic coordinate frame, requires a treatment of electrodynamics in a relativistically covariant (coordinate independent) form. This is the objective of this chapter.1 The technique we shall use to study relativity is the mathematical apparatus developed for non-Euclidean spaces of arbitrary dimensions, here specialised to four dimensions. It turns out that this theory of Riemannian spaces, derived for more or less purely mathematical reasons only, is ideal for a formal description of relativistic physics. For the simple case of the special theory of relativity , the mathematics is quite simple, whereas for the general theory of relativity it becomes more complicated.

The Special Theory of Relativity, by the physicist and philosopher D AV I D J O S E P H B O H M (1917 1992), opens with the following paragraph: The theory of relativity is not merely a scientic development of great importance in its own right. It is even more signicant as the rst stage of a radical change in our basic concepts, which began in physics, and which is spreading into other elds of science, and indeed, even into a great deal of thinking outside of science. For as is well known, the modern trend is away from the notion of sure absolute truth, (i.e., one which holds independently of all conditions, contexts, degrees, and types of approximation etc.) and toward the idea that a given concept has signicance only in relation to suitable broader forms of reference, within which that concept can be given its full meaning.

An inertial system , or inertial reference frame , is a system of reference, or rigid coordinate system, in which the law of inertia (Galileos law , Newtons rst law ) holds. In other words, an inertial system is a system in which free bodies move uniformly and do not experience any acceleration. The special theory of relativity describes how physical processes are interrelated when observed in different inertial systems in uniform, rectilinear motion relative to each other and is based on two postulates:

P O S T U L AT E 7.1 (Relativity principle; P OINCAR , 1905) All laws of physics (except the laws of gravitation) are independent of the uniform translational motion of the system on which they operate.

P O S T U L AT E 7.2 (E INSTEIN , 1905) The velocity of light in empty space is independent of the motion of the source that emits the light. 151

FT

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Figure 7.1: Two inertial systems and 0 in relative motion with velocity v along the x D x 0 axis. At time t D t 0 D 0 the origin O 0 of 0 coincided with the origin O of . At time t , the inertial system 0 has been translated a distance vt along the x axis in . An event represented by P .t; x; y; z/ in is represented by P .t 0 ; x 0 ; y 0 ; z 0 / in 0 .

vt y

0

y0 v P .t; x; y; z/ P .t 0 ; x 0 ; y 0 ; z 0 /

O z

x z0

O0

x0

R D

A

D

0 0

Let us consider two three-dimensional inertial systems and 0 in free space. They are in rectilinear motion relative to each other in such a way that 0 moves with constant velocity v along the x axis of the system. The times and the spatial coordinates as measured in the two systems are t and .x; y; z/, and t 0 and .x 0 ; y 0 ; z 0 /, respectively. At time t D t 0 D 0 the origins O and O 0 and the x and x 0 axes of the two inertial systems coincide and at a later time t they have the relative location as depicted in gure 7.1, referred to as the standard conguration . For convenience, let us introduce the two quantities v c 1 1 2 ( 7 .1 ) (7.2)

where v D jv j. In the following, we shall make frequent use of these shorthand notations. As shown by Einstein, the two postulates of special relativity require that the spatial coordinates and times as measured by an observer in and 0 , respectively, are connected by the following transformation: ct 0 D .ct x D .x y Dy x/ vt/ (7.3a) (7.3b) (7.3c)

FT

Dq

A consequence of the rst postulate is that all geometrical objects (vectors, tensors) in an equation describing a physical process must transform in a covariant manner, i.e., in the same way.

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z0 D z

(7.3d)

Taking the difference between the square of (7.3a) and the square of (7.3b) we nd that c 2 t 02 x 02 D D 1 D c2t 2

2

c2t 2 1 v2 c2

2xct C x 2 2 c2t 2 1 v2 c2

x 2 C 2xvt x2 1 v2 c2

v2t 2 (7.4)

x2

c2t 2

x2

y2

z 2 D c 2 t 02

Let us introduce an ordered quadruple of real numbers, enumerated with the help of upper indices D 0; 1; 2; 3, where the zeroth component is ct (c is the speed of light and t is time), and the remaining components are the components of the ordinary R3 position vector x dened in equation (M.1) on page 231: x D .x 0 ; x 1 ; x 2 ; x 3 / D .ct; x; y; z/ .ct; x/ (7.6)

which means that if a light wave is transmitted from the coinciding origins O and O 0 at time t D t 0 D 0 it will arrive at an observer at .x; y; z/ at time t in and an observer at .x 0 ; y 0 ; z 0 / at time t 0 in 0 in such a way that both observers conclude that the speed (spatial distance divided by time) of light in vacuum is c . Hence, the speed of light in and 0 is the same. A linear coordinate transformation which has this property is called a (homogeneous) Lorentz transformation .

In order that this quadruple x represent a physical observable , it must transform as (the component form of) a position four-vector (radius four-vector ) in a real, linear, four-dimensional vector space .2 We require that this four-dimensional space be a Riemannian space , i.e., a metric space where a distance and a scalar product are dened. In this space we therefore dene a metric tensor , also known as the fundamental tensor , which we denote by g .

FT

x 02 y 02 z 02 (7.5)

2

From equations (7.3) on the facing page we see that the y and z coordinates are unaffected by the translational motion of the inertial system 0 along the x axis of system . Using this fact, we nd that we can generalise the result in equation (7.4) above to

The British mathematician and philosopher A L F R E D N O RT H W H I T E H E A D (18611947) writes in his book The Concept of Nature: I regret that it has been necessary for me in this lecture to administer a large dose of fourdimensional geometry. I do not apologise, because I am really not responsible for the fact that Nature in its most fundamental aspect is four-dimensional. Things are what they are. . . .

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The position four-vector x D .x 0 ; x 1 ; x 2 ; x 3 / D .ct; x/, as dened in equation (7.6) on the previous page, is, by denition, the prototype of a contravariant vector (or, more accurately, a vector in contravariant component form ). To every such vector there exists a dual vector . The vector dual to x is the covariant vector x , obtained as x Dg x (7.7)

where the upper index in x is summed over and is therefore a dummy index and may be replaced by another dummy index , say. This summation process is an example of index contraction and is often referred to as index lowering .

R D

In L4 one can choose the metric tensor g to take the simple form 8 if D D 0 1 < g D D 1 if D D i D j D 1; 2; 3 :0 if or, in matrix representation, 0 1 B0 B /DB @0 0 0 1 0 0 0 0 1 0 1 0 0C C C 0A 1

A

.

This scalar product acts as an invariant distance, or norm , in this space. In order to put the physical property of Lorentz transformation invariance, described by equation (7.5) on the preceding page, into a convenient mathematical framework, we perceive this invariance as the manifestation of the conservation of the norm in a 4D Riemannian space.

FT

(7.9)

(7.10)

i.e., a matrix with a main diagonal that has the sign sequence, or signature , fC; ; ; g, the index lowering operation in our at 4D space L4 becomes nearly trivial:

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j 155

In matrix representation the lowering of the indices of x becomes 1 10 1 0 0 1 0 x0 x0 x0 1 0 0 0 C B C B Bx C B0 1 0 0C C Bx 1 C B x 1 C B 1C B C B 2C D B 2C B CDB @x2 A @0 0 1 0 A @x A @ x A x3 x3 0 0 0 1 x3 I four-tensor notation, this can be written x D x D .ct; x/

(7.11)

(7.12)

x x D .ct; x/ .ct; x/ D c 2 t 2

which indeed is the desired Lorentz transformation invariance as required by equation (7.13) above. Without changing the physics, one can alternatively choose a signature f ; C; C; Cg. The latter has the advantage that the transition from 3D to 4D becomes smooth, while it will introduce some annoying minus signs in the theory. In current physics literature, the signature fC; ; ; g seems to be the most commonly used one. Note that our space, regardless of signature chosen, will have an indenite norm , i.e., a norm which can be positive denite, negative denite or even zero. This means that we deal with a nonEuclidean space and we call our four-dimensional space (or space-time ) with this property Lorentz space and denote it L4 . A corresponding real, linear 4D space with a positive denite norm which is conserved during ordinary rotations is a Euclidean vector space . We denote such a space R4 . The L4 metric tensor equation (7.9) on the preceding page has a number of interesting properties: rstly, we see that this tensor has a trace Tr D 2 4 whereas in R , as in any vector space with denite norm, the trace equals the space dimensionality. Secondly, we nd, after trivial algebra, that the following relations between the contravariant, covariant and mixed forms of the metric tensor hold:

R

D D D D

A

D D

FT

x2 y2 z2 (7.13) (7.14a) (7.14b) (7.14c) (7.14d)

Hence, if the metric tensor is dened according to expression (7.9) on the preceding page, the covariant position four-vector x is obtained from the contravariant position four-vector x simply by changing the sign of the last three components. These components are referred to as the space components ; the zeroth component is referred to as the time component . As we see, for this particular choice of metric, the scalar product of x with itself becomes

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Here we have introduced the 4D version of the Kronecker delta , a mixed four-tensor of rank 2 that fulls ( 1 if D D D (7.15) 0 if Clearly, the matrix representation of this tensor is 1 0 1 0 0 0 B0 1 0 0C C B . / D B C @0 0 1 0A 0 0 0 1

(7.16)

The differential distance ds between the two points x and x C dx in L4 can be calculated from the Riemannian metric , given by the quadratic differential form ds 2 D dx dx D dx dx D .dx 0 /2 .dx 1 /2 .d x 2 /2 .dx 3 /2 (7.17)

A

q

1 r D c dt 1 D c dt q 1

where the metric tensor is as in equation (7.9) on page 154. As we see, this form is indenite as expected for a non-Euclidean space. The square root of this expression is the invariant line element 2 !2 1 4 dx 1 C c2 dt dx 2 dt !2 C dx 3 dt !2 3 5 v2 c2 (7.18)

ds D c dt

R D

where we introduced

FT

s 1 d D dt=

i.e., the 4

4 unit matrix.

(7.19)

Since d measures the time when no spatial changes are present, i.e., by a clock that is xed relative the given frame of reference, it is called the proper time . As equation (7.19) above shows, the proper time of a moving object is always less than the corresponding interval in the rest system. One may say that moving clocks go slower than those at rest.

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Expressing the property of the Lorentz transformation described by equations (7.5) on page 153 in terms of the differential interval ds and comparing with equation (7.17) on the preceding page, we nd that ds 2 D c 2 dt 2 dx 2 dy 2 dz 2 (7.20)

is invariant, i.e., remains unchanged, during a Lorentz transformation. Conversely, we may say that every coordinate transformation which preserves this differential interval is a Lorentz transformation. If in some inertial system dx 2 C dy 2 C dz 2 < c 2 dt 2 ds is a time-like interval , but if (7.21)

dx 2 C dy 2 C dz 2 D c 2 dt 2

Any quantity which relative to any coordinate system has a quadruple of real numbers and transforms in the same way as the position four-vector x does, is called a four-vector . In analogy with the notation for the position four-vector we introduce the notation a D .a0 ; a/ for a general contravariant four-vector eld in L4 and nd that the lowering of index rule, formula (7.7) on page 154, for such an arbitrary four-vector yields the dual covariant four-vector eld a .x / D a .x / D .a0 .x /; a.x // (7.24)

The scalar product between this four-vector eld and another one b .x / is a .x /b .x / D .a0 ; a/ .b 0 ; b/ D a0 b 0 a b (7.25)

which is a scalar eld , i.e., an invariant scalar quantity .x / which depends on time and space, as described by x D .ct; x; y; z/.

is a light-like interval ; we may also say that in this case we are on the light cone . A vector which has a light-like interval is called a null vector . The time-like, space-like or light-like aspects of an interval ds are invariant under a Lorentz transformation. I.e., it is not possible to change a time-like interval into a spacelike one or vice versa via a Lorentz transformation.

FT

(7.22) (7.23)

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Introducing the transformation matrix 0 B B DB @ 0 0 0 0 0 0 1 0 1 0 0C C C 0A 1

(7.26)

the linear Lorentz transformation (7.3) on page 152, i.e., the coordinate transformation x ! x 0 D x 0 .x 0 ; x 1 ; x 2 ; x 3 /, from one inertial system to another inertial system 0 in the standard conguration, can be written

FT

x0 D x D 1 C 2 1 C 1 2

(7.27)

It is easy to show, by means of direct algebra, that two successive Lorentz transformations of the type in equation (7.27) above, and dened by the speed parameters 1 and 2 , respectively, correspond to a single transformation with speed parameter

(7.28)

This means that the nonempty set of Lorentz transformations constitutes a closed algebraic structure with a binary operation (multiplication) that is associative . Furthermore, one can show that this set possesses at least one identity element and at least one inverse element . In other words, this set of Lorentz transformations constitutes a mathematical group . However tempting, we shall not make any further use of group theory .

Specifying a point x D .x 0 ; x 1 ; x 2 ; x 3 / in 4D space-time is a way of saying that something takes place at a certain time t D x 0 =c and at a certain place .x; y; z/ D .x 1 ; x 2 ; x 3 /. Such a point is therefore called an event . The trajectory for an event as a function of time and space is called a world line . For instance, the world line for a light ray that propagates in vacuum (free space) is the trajectory x 0 D x 1 .

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X0 X 00

x 01

Figure 7.2: Minkowski space can be considered an ordinary Euclidean space where a Lorentz transformation from .x 1 ; X 0 D ict / to .x 01 ; X 00 D ict 0 / corresponds to an ordinary rotation through an angle . This rotation leaves the Euclidean distance 2 2 x 1 C X 0 D x 2 c 2 t 2 invariant.

x1

X 0 D ix 0 D ict X Dx X Dx p

3 1 1

X 2 D x2

3

dS D ds where D

A

x 1 sin C X 0 cos

1 0

R

X 00 D

01

i.e., into a 4D differential form that is positive denite just as is ordinary 3D Euclidean space R3 . We shall call the 4D Euclidean space constructed in this way the Minkowski space M4 .3 As before, it sufces to consider the simplied case where the relative motion between and 0 is along the x axes. Then d S 2 D .d X 0 /2 C .d X 1 /2 D .d X 0 /2 C .d x 1 /2 (7.31)

and we consider the X 0 and X 1 D x 1 axes as orthogonal axes in a Euclidean space. As in all Euclidean spaces, every interval is invariant under a rotation of the X 0 x 1 plane through an angle into X 00 x 01 : (7.32a) (7.32b)

x D x cos C X sin

See gure 7.2. If we introduce the angle ' D , often called the rapidity or the Lorentz boost parameter , and transform back to the original space and time variables by

FT

(7.29a) (7.29b) (7.29d) (7.29c) (7.29e) (7.30)

3

Introducing

The fact that our Riemannian space can be transformed in this way into a Euclidean one means that it is, strictly speaking, a pseudo-Riemannian space .

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0

FT

x sinh ' C ct cosh ' ct sinh ' x D x cosh ' sinh ' D cosh ' D tanh ' D tanh '1 C tanh '2 1 C tanh '1 tanh '2

Figure 7.3: Minkowski diagram depicting geometrically the transformation (7.33) from the unprimed system to the primed system. Here w denotes the world line for an event and the line x 0 D x 1 , x D ct the world line for a light ray in vacuum. Note that the event P is simultaneous with all points on the x 1 axis (t D 0), including the origin O . The event P 0 , which is simultaneous with all points on the x 0 axis, including O 0 D O , to an observer at rest in the primed system, is not simultaneous with O in the unprimed system but occurs there at time jP P 0 j =c .

x 0 D ct

w x 00 x0 D x1

0

x 01 ct

x1 D x

(7.33a) (7.33b)

A

tanh.'1 C '2 / D

which are identical to the original transformation equations (7.3) on page 152 if we let (7.34a) (7.34b) (7.34c)

It is therefore possible to envisage the Lorentz transformation as an ordinary rotation in the 4D Euclidean space M4 . Such a rotation in M4 corresponds to a coordinate change in L4 as depicted in gure 7.3. equation (7.28) on page 158 for successive Lorentz transformation then corresponds to the tanh addition formula (7.35)

The use of ict and M4 , which leads to the interpretation of the Lorentz transformation as an ordinary rotation, may, at best, be illustrative, but is not very physical. Besides, if we leave the at L4 space and enter the curved space of general relativity, the ict trick will turn out to be an impasse. Let us therefore immediately return to L4 where all components are real valued.

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The invariance of the differential distance ds in L4 , and the associated differential proper time d [see equation (7.18) on page 156] allows us to dene the four-velocity 1 0 dx u D d B C B C c v B C D .u0 ; u/ D .c; v / D B s ;s C 2 2 A @ v v 1 1 c2 c2 (7.36)

dx p D m0 d

D m0

B C B m0 c m0 v C B C D .p 0 ; p/ .c; v / D B s ;s C 2 2 @ v v A 1 1 c2 c2

A

1 v2 c2

m0

We can interpret this such that the Lorentz covariance implies that the mass-like term in the ordinary 3D linear momentum is not invariant. A better way to look at this is that p D mv D m0 v is the covariantly correct expression for the kinetic three-momentum. Multiplying the zeroth (time) component of the four-momentum p by the scalar invariant c , we obtain m0 c 2 cp 0 D m0 c 2 D s D mc 2 2 v 1 c2 (7.40)

Since this component has the dimension of energy and is the result of a Lorentzcovariant description of the motion of a particle with its kinetic momentum described by the spatial components of the four-momentum, equation (7.37) above, we interpret cp 0 as the total energy E . Hence, cp D .cp 0 ; c p/ D .E; c p/ (7.41)

FT

(7.37) (7.38) (7.39)

which, when multiplied with the scalar invariant m0 yields the four-momentum 0 1

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2 2

.p 2 /2

.p 3 /2 (7.42)

v2 c2

D .m0 c /

Since this is an invariant, this equation holds in any inertial frame, particularly in the frame where p D 0 and there we have E D m0 c 2 This is probably the most famous formula in physics history. (7.43)

Let us consider a charge density which in its rest inertial system is denoted by 0 . The four-vector (in contravariant component form) j with D

0

FT

dx d D

0u

.c; v / D . c; v /

(7.44)

A

2

(7.45)

R D

is the four-current . The contravariant form of the four-del operator @ D @=@x is dened in equation (M.52) on page 240 and its covariant counterpart @ D @=@x in equation (M.53) on page 240, respectively. As is shown in example M.9 on page 256, the dAlembert operator is the scalar product of the four-del with itself: D@ @ D@ @ D 1 @2 c 2 @t 2 r2 (7.46)

Since it has the characteristics of a four-scalar, the dAlembert operator is invariant and, hence, the homogeneous wave equation 2 f .t; x/ D 0 is Lorentz covariant.

(7.47)

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where is the scalar potential and A the vector potential, dened in section 3.3 on page 35, we can write the uncoupled inhomogeneous wave equations, equations (3.17) on page 37, in the following compact (and covariant) way:

2

A D

0j

(7.48)

With the help of the above, we can formulate our electrodynamic equations covariantly. For instance, the covariant form of the equation of continuity , equation (1.22) on page 10 is @ j D0 (7.49)

and the Lorenz-Lorentz gauge condition , equation (3.16) on page 37, can be written @ A D0

The Lorenz-Lorentz gauge is sometimes called the covariant gauge . The gauge transformations (3.52) on page 44 in covariant form are A 7! A0 D A C @ .x /

where dV0 denotes the volume element as measured in the rest system, then from equation (7.45) on the preceding page we see that

A

dV D

0 dV0

If only one dimension Lorentz contracts (for instance, due to relative motion along the x direction), a 3D spatial volume element transforms according to s q v2 1 (7.52) dV D d3x D dV0 D dV0 1 2 D dV0 1 c2

i.e., the charge in a given volume is conserved. We can therefore conclude that the elementary electric charge is a universal constant .

Let us now solve the the inhomogeneous wave equations (3.17) on page 37 in vacuum for the case of a well-localised charge q 0 at a source point dened by the position four-vector x 0 .x 00 D ct 0 ; x 01 ; x 02 ; x 03 /. The eld point (observation point) is denoted by the position four-vector x D .x 0 D ct; x 1 ; x 2 ; x 3 /. In the rest system we know that the solution is simply .A /0 D c ;A

v D0

R

D

q0 1 ;0 4 "0 c jx x0 j0

FT

(7.50) (7.51) (7.53) (7.54)

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where jx x0 j0 is the usual distance from the source point to the eld point, evaluated in the rest system (signied by the index 0). Let us introduce the relative position four-vector between the source point and the eld point: R Dx x 0 D .c.t t 0 /; x x0 / (7.55)

Scalar multiplying this relative four-vector with itself, we obtain R R D .c.t t 0 /; x x0 / .c.t t 0 /; .x x0 // D c 2 .t t 0 /2 x 2 x0 (7.56)

FT

x x0 D c.t t 0/ R R D0 R D . x x0 ; x x0 / x0 ; x x0 /0 D .x x0 0 ; .x x0 /0 /

0

We know that in vacuum the signal (eld) from the charge q 0 at x 0 propagates to x with the speed of light c so that (7.57)

(7.58)

Now we want to nd the correspondence to the rest system solution, equation (7.54) on the previous page, in an arbitrary inertial system. We note from equation (7.36) on page 161 that in the rest system 0 1

R D

and

A

.R /0 D .x u R D u R

(7.59)

B C B C c v B C .u /0 D B s ;s D .c; 0/ C 2 2 A @ v v 1 1 c2 c 2 v D0

(7.60)

(7.61)

As all scalar products, u R is invariant, which means that we can evaluate it in any inertial system and it will have the same value in all other inertial systems. If we evaluate it in the rest system the result is: D .u /0 .R /0 D .c; 0/ .x x0 0 ; .x x0 /0 / D c x (7.62)

x 0 0

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subject to the condition R R D 0 has the proper transformation properties (proper tensor form) and reduces, in the rest system, to the solution equation (7.54) on page 163. It is therefore the correct solution, valid in any inertial system. According to equation (7.36) on page 161 and equation (7.59) on the preceding page u R D .c; v / x x0 ; .x x0 / D c x x0 v .x x0 / (7.64) Generalising expression (7.1) on page 152 to vector form: D v O and introducing s we can write

def def

v c

x0

v .x x 0 / c

and

A

u R D cs u D cu R 1 v ; cs c 2 s q0 4 "0 1 v ; cs c 2 s D c ;A

R

A .x / D

D

.t; x/ D

where in the last step the denition of the four-potential, equation (7.47) on page 162, was used. Writing the solution in the ordinary 3D way, we conclude that for a very localised charge volume, moving relative an observer with a velocity v , the scalar and vector potentials are given by the expressions q0 1 q0 1 D 4 "0 s 4 " 0 j x x 0 j .x x 0 / q0 v q0 v A.t; x/ D D 2 4 "0 c s 4 "0 c 2 jx x0 j .x x0 / (7.70a) (7.70b)

These potentials are the Linard-Wiechert potentials that we derived in a more complicated and restricted way in subsection 6.5.1 on page 119.

FT

(7.65) x0 .x x0 / (7.66) (7.67) (7.68) (7.69)

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7 . RELATIVISTIC ELECTRODYNAMICS

Consider a vectorial (cross) product c between two ordinary vectors a and b: cDa bD Ok ij k ai bj x O 1 C .a3 b1 a3 b2 /x O 2 C .a1 b2 a1 b3 /x O3 a2 b1 /x (7.71)

D .a2 b3

We notice that the k th component of the vector c can be represented as ck D ai bj aj bi D cij D cj i ; i; j k (7.72)

FT

r ED @B @t BDr A ED r @A @t A D c ;A

In other words, the pseudovector c D a b can be considered as an antisymmetric tensor of rank two. The same is true for the curl operator r operating on a polar vector. For instance, the Maxwell equation (7.73)

can in this tensor notation be written @Ej @Ei @Bij D (7.74) i j @x @x @t We know from chapter 3 on page 33 that the elds can be derived from the electromagnetic potentials in the following way:

A

Bij D

(7.75a) (7.75b)

In component form, this can be written @Ai @Aj D @i Aj @j Ai (7.76a) @x i @x j @ @Ai Ei D D @i @ t Ai (7.76b) i @x @t From this, we notice the clear difference between the axial vector (pseudovector) B and the polar vector (ordinary vector) E. Our goal is to express the electric and magnetic elds in a tensor form where the components are functions of the covariant form of the four-potential, equation (7.47) on page 162: (7.77)

Inspection of (7.77) and equation (7.76) above makes it natural to dene the four-tensor @A @A F D D@ A @ A (7.78) @x @x

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This anti-symmetric (skew-symmetric ), four-tensor of rank 2 is called the electromagnetic eld tensor or the Faraday tensor . In matrix representation, the contravariant eld tensor can be written 0 1 0 Ex =c Ey =c Ez =c BE =c 0 Bz By C B x C .F / D B (7.79) C @Ey =c Bz 0 Bx A Ez =c By Bx 0 We note that the eld tensor is a sort of four-dimensional curl of the fourpotential vector A . The covariant eld tensor is obtained from the contravariant eld tensor in the usual manner by index lowering F D F D@ A

A

@ F D

0j 0

Comparing formula (7.81) with formula (7.79) above we see that the covariant eld tensor is obtained from the contravariant one by a transformation E ! E. That the two Maxwell source equations can be written (7.82)

is immediately observed by explicitly solving this covariant equation. Setting D 0, corresponding to the rst/leftmost column in the matrix representation of the covariant component form of the electromagnetic eld tensor, F , i.e., equation (7.79) above, we see that @Ex @Ey @Ez C C @x @y @z

r ED

which we recognise as the Maxwell source equation for the electric eld, equation (1.47a) on page 15.

FT

@ A (7.80) Ey =c Bz 0 Bx 1 Ez =c By C C C Bx A 0 (7.81) (7.83) (7.84)

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7 . RELATIVISTIC ELECTRODYNAMICS

For D 1 [the second column in equation (7.79) on the preceding page], equation (7.82) on the previous page yields @F 11 @F 21 @F 31 @F 01 C C C D @x 0 @x 1 @x 2 @x 3 D

1 0j D 0

@By @z

(7.85)

vx

0

@Ex D @t

0 jx

(7.86)

FT

B /x D

0 jx

C "0

@Ex @t

(7.87)

BD

0 j .t; x/

C "0

(7.88)

R D

which can be viewed as a generalisation of the Levi-Civita tensor, formula (M.21) on page 235, we can introduce the dual electromagnetic tensor

?

A

F D 1 2

? ?

which we recognise as the Maxwell source equation for the magnetic eld, equation (1.47d) on page 15. With the help of the fully antisymmetric pseudotensor of rank 4 8 if ; ; ; is an even permutation of 0,1,2,3 <1 D 0 (7.89) if at least two of ; ; ; are equal : 1 if ; ; ; is an odd permutation of 0,1,2,3

(7.90)

1 Bz Ey =c C C C Ex =c A 0

(7.92)

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7.4. Bibliography

j 169

i.e., the dual eld tensor is obtained from the ordinary eld tensor by the duality transformation E ! c B and B ! E=c . The covariant form of the two Maxwell eld equations r ED @B @t (7.93) (7.94)

?

D0

(7.95)

sometimes referred to as the Jacobi identity . Hence, equation (7.82) on page 167 and equation (7.96) above constitute Maxwells equations in four-dimensional formalism. It is interesting to note that equation (7.82) on page 167 and @

?

where jm is the magnetic four-current , represent the covariant form of Diracs symmetrised Maxwell equations (1.48) on page 16.

7.4 Bibliography

[36] J. A HARONI, The Special Theory of Relativity, second, revised ed., Dover Publications, Inc., New York, 1985, ISBN 0-486-64870-2. [37] A. O. BARUT, Electrodynamics and Classical Theory of Fields and Particles, Dover Publications, Inc., New York, NY, 1980, ISBN 0-486-64038-8.

[38] R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc., New York, NY, 1982, ISBN 0-486-64290-9. [39] W. T. G RANDY, Introduction to Electrodynamics and Radiation, Academic Press, New York and London, 1970, ISBN 0-12-295250-2. [40] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth revised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd., Oxford . . . , 1975, ISBN 0-08-025072-6.

[41] F. E. L OW, Classical Field Theory, John Wiley & Sons, Inc., New York, NY . . . , 1997, ISBN 0-471-59551-9.

A FT

F D

0 jm

@ F

C@ F

C@ F

D0

(7.96)

(7.97)

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7 . RELATIVISTIC ELECTRODYNAMICS

[42] H. M UIRHEAD, The Special Theory of Relativity, The Macmillan Press Ltd., London, Beccles and Colchester, 1973, ISBN 333-12845-1. [43] C. M LLER, The Theory of Relativity, second ed., Oxford University Press, Glasgow . . . , 1972. [44] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0-201-05702-6. [45] J. J. S AKURAI, Advanced Quantum Mechanics, Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1967, ISBN 0-201-06710-2. [46] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and London, 1965, ISBN 05-001331-9.

FT

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8

E L EC T ROM AG N E T I C F I E L D S A N D PA R T I C L E S

In previous chapters, we calculated the electromagnetic elds and potentials from arbitrary, but prescribed distributions of charges and currents. In this chapter we rst study the opposite situation, viz., the dynamics of charged particles in arbitrary, but prescribed electromagnetic elds. Then we go on to consider the general problem of interaction between electric and magnetic elds and electrically charged particles. The analysis is based on Lagrangian and Hamiltonian methods, is fully covariant, and yields results which are relativistically correct.

We will show that for our problem we can derive the correct equations of motion by using in four-dimensional L4 a function with similar properties as a Lagrange function in 3D and then apply a variational principle. We will also show that we can nd a Hamiltonian-type function in 4D and solve the corresponding Hamilton-type equations to obtain the correct covariant formulation of classical electrodynamics.

In analogy with particle dynamics in 3D Euclidean space, we introduce a generalised 4D action Z S4 D L4 .x ; u / d (8.1)

A

171

We rst establish a relativistically correct theory describing the motion of charged particles in prescribed electric and magnetic elds. From these equations we may then calculate the charged particle dynamics in the most general case.

FT

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where d is the proper time dened via equation (7.18) on page 156, and L4 acts as a kind of generalisation to the common 3D Lagrangian. As a result, the variational principle Z 1 S4 D L4 .x ; u / d D 0 ( 8 .2 )

0

FT

Lfree 4 D 1 m0 u u 2 1 m0 u u C qu A .x / 2 u D dx d dx d D d .x / d

with xed endpoints 0 ; 1 must be fullled. We require that L4 is a scalar invariant which does not contain higher than the second power of the four-velocity u in order that the resulting equations of motion be linear. According to formula (M.86) on page 247 the ordinary 3D Lagrangian is the difference between the kinetic and potential energies. A free particle has only kinetic energy. If the particle mass is m0 then in 3D the kinetic energy is m0 v 2 =2. This suggests that in 4D the Lagrangian for a free particle should be (8.3)

Again drawing inferences from analytical mechanics in 3D, we introduce a generalised interaction between the particles and the electromagnetic eld with the help of the four-potential given by equation (7.77) on page 166 in the following way L4 D ( 8 .4 )

R

0

We call this the four-Lagrangian and shall now show how this function, together with the variation principle, formula (8.2) above, yields Lorentz covariant results which are physically correct. The variation principle (8.2) with the 4D Lagrangian (8.4) inserted, leads to Z 1 m0 S4 D u u C qu A .x / d 2 0 Z 1 @A m0 @.u u / D u C q A u C u x d (8.5) 2 @u @x 0 Z 1 D m0 u u C q A u C u @ A x d D 0

which means that we can write the variation of u as a total derivative with respect to : u D (8.7)

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Inserting this into the rst two terms in the last integral in equation (8.5) on the preceding page, we obtain Z 1 d d .x / C qA .x / C qu @ A x d (8.8) S4 D m0 u d d 0 Partial integration in the two rst terms in the right hand member of (8.8) gives Z 1 dA du x q x C qu @ A x d (8.9) S4 D m0 d d 0 where the integrated parts do not contribute since the variations at the endpoints vanish. A change of irrelevant summation index from to in the rst two terms of the right hand member of (8.9) yields, after moving the ensuing common factor x outside the parenthesis, the following expression: Z 1 dA du S4 D m0 q C qu @ A x d (8.10) d d 0 Applying well-known rules of differentiation and the expression (7.36) for the four-velocity, we can express dA =d as follows:

du D qu @ A @ A (8.13) d With the help of formula (7.80) on page 167 for the covariant component form of the eld tensor, we can express this equation in terms of the electromagnetic eld tensor in the following way: m0 du D qu F (8.14) d This is the sought-for covariant equation of motion for a particle in an electromagnetic eld. It is often referred to as the Minkowski equation . As the reader may easily verify, the spatial part of this 4-vector equation is the covariant (relativistically correct) expression for the Newton-Lorentz force equation . m0

Since, according to the variational principle, this expression shall vanish and x is arbitrary between the xed end points 0 and 1 , the expression inside in the integrand in the right hand member of equation (8.12) above must vanish. In other words, we have found an equation of motion for a charged particle in a prescribed electromagnetic eld:

dA @A dx D D@ A u (8.11) d @x d By inserting this expression (8.11) into the second term in right-hand member of equation (8.10) above, and noting the common factor qu of the resulting term and the last term, we obtain the nal variational principle expression Z 1 du S4 D m0 C qu @ A @ A x d (8.12) d 0

FT

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The usual Hamilton equations for a 3D space are given by equation (M.98) on page 248 in appendix M on page 229. These six rst-order partial differential equations are @H dqi D @pi dt dpi @H D @qi dt (8.15a) (8.15b)

FT

p D @L4 @u H4 D p u L4 @H4 dx D @p d @H4 dp D @x d

where H.pi ; qi ; t / D pi q P i L.qi ; q P i ; t/ is the ordinary 3D Hamiltonian, qi is a generalised coordinate and pi is its canonically conjugate momentum . We seek a similar set of equations in 4D space. To this end we introduce a canonically conjugate four-momentum p in an analogous way as the ordinary 3D conjugate momentum (8.16)

and utilise the four-velocity u , as given by equation (7.36) on page 161, to dene the four-Hamiltonian

With the help of these, the position four-vector x , considered as the generalised four-coordinate , and the invariant line element ds , dened in equation (7.18) on page 156, we introduce the following eight partial differential equations:

R

1

(8.17)

(8.18a) (8.18b)

which form the four-dimensional Hamilton equations . Our strategy now is to use equation (8.16) above and equations (8.18) above to derive an explicit algebraic expression for the canonically conjugate momentum four-vector. According to equation (7.41) on page 161, c times a fourmomentum has a zeroth (time) component which we can identify with the total energy. Hence we require that the component p 0 of the conjugate fourmomentum vector dened according to equation (8.16) above be identical to the ordinary 3D Hamiltonian H divided by c and hence that this cp 0 solves the Hamilton equations, equations (8.15) above.1 This latter consistency check is left as an exercise to the reader.

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Using the denition of H4 , equation (8.17) on the facing page, and the expression for L4 , equation (8.4) on page 172, we obtain H4 D p u L4 D p u 1 m0 u u 2 qu A .x / (8.19)

Furthermore, from the denition (8.16) of the canonically conjugate four-momentum p , we see that p D @L4 @ D @u @u 1 m0 u u C qu A .x / D m0 u C qA 2 (8.20)

Since the four-velocity scalar-multiplied by itself is u u D c 2 , we clearly see from equation (8.21) above that H4 is indeed a scalar invariant, whose value is simply H4 D m0 c 2 2 (8.22)

A

.p qA / p p p 2qA p C q 2 A A q .p m0 q m0 u m0 @A qu @x dp D d qA / @A @x @A @x m0 du d q @A u @x

That this four-Hamiltonian yields the correct covariant equation of motion can be seen by inserting it into the four-dimensional Hamilton equations (8.18) and using the relation (8.23): @H4 D @x D D D

FT

(8.23) qA (8.24) (8.25)

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where in the last step equation (8.20) on the previous page was used. Rearranging terms, and using equation (7.80) on page 167, we obtain m0 du D qu d @ A @ A D qu F (8.26)

which is identical to the covariant equation of motion equation (8.14) on page 173. We can therefore safely conclude that the Hamiltonian in question yields correct results. Recalling expression (7.47) on page 162 for the four-potential, and representing the canonically conjugate four-momentum as p D .p 0 ; p/, we obtain the following scalar products:

FT

.p A/ .A /2 .p/2 2 q2 q p 0 C 2q.p A/ C 2 c c

2

p p D .p 0 /2 1 0 A p D p c 1 A A D 2 2 c

.p /2

Inserting these explicit expressions into equation (8.24) on the previous page, and using the fact that H4 is equal to the scalar value m0 c 2 =2, as derived in equation (8.22) on the preceding page, we obtain the equation m0 c 2 1 D 2 2m0 .p 0 /2 q 2 .A/2 (8.28)

.p q A /2 2 2 m2 0 c D 0 (8.29)

R D

2 q A/2 C m2 0c

(8.30)

Since the zeroth component (time component) p 0 of a four-momentum vector p multiplied by c represents the energy [cf. equation (7.41) on page 161], the positive solution in equation (8.30) above must be identied with the ordinary Hamilton function H divided by c . Consequently, q 2 H cp 0 D q C c .p q A/2 C m2 (8.31) 0c is the ordinary 3D Hamilton function for a charged particle moving in scalar and vector potentials associated with prescribed electric and magnetic elds.

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The ordinary Lagrange and Hamilton functions L and H are related to each other by the 3D transformation [cf. the 4D transformation (8.17) between L4 and H4 ] LDp v H (8.32)

Using the the explicit expressions given by equation (8.31) and equation (8.32), we obtain the explicit expression for the ordinary 3D Lagrange function LDp v q q c .p

2 q A /2 C m 2 0c

(8.33)

v2 c2

where the quantity mv is the usual kinetic momentum , we can rewrite this expression for the ordinary Lagrangian as follows: L D q A v C mv 2 D mv

2

q 2 c m2 v 2 C m2 0c mc D

2

q.

A v/

A

q C qA v

What we have obtained is the relativistically correct (covariant) expression for the Lagrangian describing the mechanical motion of a charged particle in scalar and vector potentials associated with prescribed electric and magnetic elds.

So far, we have considered two classes of problems. Either we have calculated the elds from given, prescribed distributions of charges and currents, or we have derived the equations of motion for charged particles in given, prescribed elds. Let us now put the elds and the particles on an equal footing and present a theoretical description which treats the elds, the particles, and their interactions in a unied way. This involves transition to a eld picture with an innite number of degrees of freedom. We shall rst consider a simple mechanical problem whose solution is well known. Then, drawing inferences from this model problem, we apply a similar view on the electromagnetic problem.

FT

D mv (8.34) s m0 c

2

m0 v

v2 c2

(8.35)

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Figure 8.1: A one-dimensional chain consisting of N discrete, identical mass points m, connected to their neighbours with identical, ideal springs with spring constants k . The equilibrium distance between the neighbouring mass points is a and i 1 .t /, i .t /, i C1 .t / are the instantaneous deviations, along the x axis, of positions of the .i 1/th, i th, and .i C 1/th mass point, respectively.

i 1

i C1

k a

k a

k a

k a

m x

Consider the situation, illustrated in gure 8.1, with N identical mass points, each with mass m and connected to its neighbour along a one-dimensional straight line, which we choose to be the x axis, by identical ideal springs with spring constants k (Hookes law ). At equilibrium the mass points are at rest, distributed evenly with a distance a to their two nearest neighbours so that the equilibrium O . After perturbation, the motion of coordinate for the i th particle is xi D iax O . Let us denote mass point i will be a one-dimensional oscillatory motion along x O. the deviation for mass point i from its equilibrium position by i .t/x As is well known, the solution to this mechanical problem can be obtained if we can nd a Lagrangian (Lagrange function ) L which satises the variational equation Z L. i ; Pi ; t/ dt D 0 (8.36) According to equation (M.86) on page 247, the Lagrangian is L D T V where T denotes the kinetic energy and V the potential energy of a classical mechanical system with conservative forces . In our case the Lagrangian is LD 1 X h P2 m i 2

i D1 N

R D

where

A

LD 1 Li D 2 " m P2 a i

FT

k.

i C1 i/ 2

(8.37)

Let us write the Lagrangian, as given by equation (8.37) above, in the following way:

N X i D1

a Li

(8.38)

ka

i C1

# (8.39)

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is the so called linear Lagrange density , measured in J m 1 . If we now let N ! 1 and, at the same time, let the springs become innitesimally short according to the following scheme: a ! dx m dm ! D a dx ka ! Y

i C1 i

a we obtain

@ @x

LD where

L

L dx

@ @ ; ; ;t @t @x

1 D 2

"

@ @t

Notice how we made a transition from a discrete description, in which the mass points were identied by a discrete integer variable i D 1; 2; : : : ; N , to a continuous description, where the innitesimal mass points were instead identied by O. a continuous real parameter x , namely their position along x A consequence of this transition is that the number of degrees of freedom for the system went from the nite number N to innity! Another consequence is that L has now become dependent also on the partial derivative with respect to x of the eld coordinate . But, as we shall see, the transition is well worth the cost because it allows us to treat all elds, be it classical scalar or vectorial elds, or wave functions, spinors and other elds that appear in quantum physics, on an equal footing. Under the assumption of time independence and xed endpoints, the variation principle (8.36) on the preceding page yields: Z L dt ZZ @ @ D L ; ; dx dt @t @x 2 3 (8.43) ZZ @ L @ L @ @ L @ 4 5 dx dt D C C @ @t @x @ @ @ @

D

D0

R

@t

A

@x

FT

(8.41)

2

@ @x

(8.42)

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As before, the last integral can be integrated by parts. This results in the expression 2 0 0 1 13 ZZ @ @ @L A @ @ @L A5 4 @L dx dt D 0 (8.44) @ @t @ @ @x @ @ @t @x where the variation is arbitrary (and the endpoints xed). This means that the integrand itself must vanish. If we introduce the functional derivative 0 1 @L @ @ @L A L D (8.45) @ @x @ @

@x

FT

L 0 1 @ @ @L A D0 @t @ @ @t @2 @t 2 Y @2 D0 @x 2 ! D0 1 @2 2 @t 2 v' @2 @x 2

@x @x

(8.46)

which is the one-dimensional Euler-Lagrange equation . Inserting the linear mass point chain Lagrangian density, equation (8.42) on the preceding page, into equation (8.46) above, we obtain the equation of motion for our one-dimensional linear mechanical structure. It is: (8.47a)

or

(8.47b)

i.e., the one-dimensional wave equation for compression waves which propagate p with phase speed v' D Y = along the linear structure. A generalisation of the above 1D results to a three-dimensional continuum is straightforward. For this 3D case we get the variational principle Z ZZ Z @ 3 L dt D L d x dt D L ; d4x @x 0 13 2 ZZ (8.48) @ @ @L A5 @L 4 4 D dxD0 @ @x @ @ where the variation is arbitrary and the endpoints are xed. This means that the integrand itself must vanish: 0 1 @L @ @ @L A @L @L D @ D0 (8.49) @ @ @x @ @.@ / @

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This constitutes the four-dimensional Euler-Lagrange equations . Introducing the three-dimensional functional derivative 0 1 @L @ @ @L A L D @ @x i @ @

@x i

(8.50)

In analogy with particle mechanics (nite number of degrees of freedom), we may introduce the canonically conjugate momentum density .x / D .t; x/ D and dene the Hamilton density

H

; ;

@ It @x i

@ @t

If, as usual, we differentiate this expression and identify terms, we obtain the following Hamilton density equations

@H @ D @ @t H @ D @t

Above, when we described the mechanical eld, we used a scalar eld .t; x/. If we want to describe the electromagnetic eld in terms of a Lagrange density L and Euler-Lagrange equations, it comes natural to express L in terms of the four-potential A .x /. The entire system of particles and elds consists of a mechanical part, a eld part and an interaction part. We therefore assume that the total Lagrange density L tot for this system can be expressed as

L tot D L mech C L interaction C L eld

The Hamilton density functions are in many ways similar to the ordinary Hamilton functions for a system of a nite number of particles and lead to similar results. However, they describe the dynamics of a continuous system of innitely many degrees of freedom.

FT

@L

@ @t

(8.52)

@ @ ; @t @x i

(8.53)

(8.54a) (8.54b)

(8.55)

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where the mechanical part has to do with the particle motion (kinetic energy). It is given by L4 =V where L4 is given by equation (8.3) on page 172 and V is the volume. Expressed in the rest mass density %0 , the mechanical Lagrange density can be written

L mech D

1 %0 u u 2

(8.56)

The L interaction part describes the interaction between the charged particles and the external electromagnetic eld. A convenient expression for this interaction Lagrange density is

For the eld part L eld we choose the difference between magnetic and electric energy density (in analogy with the difference between kinetic and potential energy in a mechanical eld). With the help of the eld tensor, we express this eld Lagrange density as

L eld D

FT

1 4 F F

0

L interaction D j A

(8.57)

(8.58)

L tot D

1 1 %0 u u C j A C F 2 4 0

(8.59)

From this we can calculate all physical quantities. Using L tot in the 3D Euler-Lagrange equations, equation (8.49) on page 180 (with replaced by A ), we can derive the dynamics for the whole system. For instance, the electromagnetic part of the Lagrangian density

L EM D L interaction C L eld D j A C

1 4

0

(8.60)

inserted into the Euler-Lagrange equations, expression (8.49) on page 180, yields two of Maxwells equations. To see this, we note from equation (8.60) above and the results in Example 8.1 that @L EM Dj @A (8.61)

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Furthermore, @ 1 @L EM @ D @ F F @.@ A / 4 0 @.@ A / h i @ 1 @ .@ A @ A /.@ A @ A / D 4 0 @.@ A / ( @ 1 D @ @ A @ A @ A @ A 4 0 @.@ A / ) @ A @ A C@ A @ A D But @ @ A @ A @.@ A / @ D@ A @.@ A @ D@ A @.@ A @ D@ A @.@ A D 2@ A Similarly, 1 2

0

(8.62)

@ @ A @ A @.@ A /

@ A @ A

@ @ A @ A @.@ A /

R

@L EM 1 D @ .@ A @.@ A / 0 @L EM @A @ @ F

so that @

This means that the Euler-Lagrange equations, expression (8.49) on page 180, for the Lagrangian density L EM and with A as the eld quantity become

D

or

which, according to equation (7.82) on page 167, is a Lorentz covariant formulation of Maxwells source equations.

Field energy difference expressed in the eld tensor E X A M P L E 8.1

A FT

(8.63) D 2@ A (8.64) @ A /D 1

0

@ F

(8.65)

@L EM Dj @.@ A / D

0j

1

0

@ F

D0

(8.66)

(8.67)

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184 j

1 4

0

1 D 2

B2

0

! "0 E

2

(8.68)

i.e., the difference between the magnetic and electric eld energy densities. From formula (7.79) on page 167 we recall that 0 BEx =c DB @Ey =c Ez =c 0 Ex =c 0 Bz By Ey =c Bz 0 Bx 1 Ez =c By C C Bx A 0

(8.69)

FT

0 B Ex =c DB @ Ey =c Ez =c 0 Ex =c 0 Bz By Ey =c Bz 0 Bx 1 Ez =c By C C Bx A 0

2 2 Ey =c 2 2 Ez =c 2 2 2Ey =c 2 2 2 2 2 2Ez =c C 2Bx C 2By C 2Bz

(8.70)

A

D0

2 2 Ex =c

2 2 2 2 Ex =c C 0 C Bz C By

(8.71)

R

D D

2 2 2 2 Ey =c C Bz C 0 C Bx 2 2 2 2 Ez =c C By C Bx C0

2 2 2Ex =c

2E 2 =c 2 C 2B 2 D 2.B 2

E 2 =c 2 /

0

1 2

B2

0

1 c2

0

! E2 D

1 2

B2

0

! "0 E 2 D

"0 2 .E 2

c2B 2/ (8.72)

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In general, the dynamic equations for most any elds, and not only electromagnetic ones, can be derived from a Lagrangian density together with a variational principle (the Euler-Lagrange equations). Both linear and non-linear elds are studied with this technique. As a simple example, consider a real, scalar eld which has the following Lagrange density:

L D

1 @ 2

m2

(8.73)

Insertion into the 1D Euler-Lagrange equation, equation (8.46) on page 180, yields the dynamic equation

which describes the Yukawa meson eld for a scalar meson with mass m. With D 1 @ c 2 @t

R

@ F

which is positive denite. Another Lagrangian density which has attracted quite some interest is the Proca Lagrangian

L EM D L interaction C L eld D j A C

This equation describes an electromagnetic eld with a mass, or, in other words, massive photons . If massive photons do exist, large-scale magnetic elds, including those of the earth and galactic spiral arms, should be signicantly modied from what they ar to yield measurable discrepancies from their usual form. Space experiments of this kind on board satellites have led to stringent upper bounds on the photon mass. If the photon really has a mass, it will have an impact on electrodynamics as well as on cosmology and astrophysics.

A FT

D ei.k x

!t/ e mjxj

m2 / D 0

(8.74)

jxj

(8.75)

(8.76)

C .r /2 C m 2

(8.77)

1 4

0

C m2 A A

(8.78)

m2 A D

0j

(8.79)

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8.3 Bibliography

[47] A. O. BARUT, Electrodynamics and Classical Theory of Fields and Particles, Dover Publications, Inc., New York, NY, 1980, ISBN 0-486-64038-8. [48] V. L. G INZBURG, Applications of Electrodynamics in Theoretical Physics and Astrophysics, Revised third ed., Gordon and Breach Science Publishers, New York, London, Paris, Montreux, Tokyo and Melbourne, 1989, ISBN 2-88124-719-9. [49] H. G OLDSTEIN, Classical Mechanics, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1981, ISBN 0-201-02918-9. [50] W. T. G RANDY, Introduction to Electrodynamics and Radiation, Academic Press, New York and London, 1970, ISBN 0-12-295250-2.

[52] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0201-05702-6. [53] J. J. S AKURAI, Advanced Quantum Mechanics, Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1967, ISBN 0-201-06710-2. [54] D. E. S OPER, Classical Field Theory, John Wiley & Sons, Inc., New York, London, Sydney and Toronto, 1976, ISBN 0-471-81368-0.

FT

[51] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth revised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd., Oxford . . . , 1975, ISBN 0-08-025072-6.

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9

E L EC T ROM AG N E T I C F I E L D S A N D M AT T E R

The microscopic Maxwell equations derived in chapter 1 on page 1, which in chapter 2 on page 19 were chosen as the axiomatic basis for the treatment in the remainder of the book, are valid on all scales where a classical description is good. They provide a correct physical picture for arbitrary eld and source distributions, on macroscopic and, under certain assumptions, microscopic scales. A more complete and accurate theory, valid also when quantum effects are signicant, is provided by quantum electrodynamics . QED gives a consistent description of how electromagnetic elds are quantised into photons and describes their intrinsic and extrinsic properties. However, this theory is beyond the scope of the current book. In a material medium, be it in a solid, uid or gaseous state or a combination thereof, it is sometimes convenient to replace the Maxwell-Lorentz equations (2.1) on page 19 by the corresponding macroscopic Maxwell equations in which auxiliary, derived elds are introduced. These auxiliary elds, viz., the electric displacement vector D (measured in C m 2 ) and the magnetising eld H (measured in A m 1 ), incorporate intrinsic electromagnetic properties of macroscopic matter, or properties that appear when the medium is immersed fully or partially in an electromagnetic eld. Consequently, they represent, respectively, electric and magnetic eld quantities in which, in an average sense, the material properties of the substances are already included. In the most general case, these derived elds are complicated, possibly non-local and nonlinear, functions of the primary elds E and B :

A

D D D .t; xI E; B/ H D H.t; xI E; B/ 187

An example of this are chiral media . A general treatment of these elds will not be included here. Only simplied, but important and illuminating examples will be given.

FT

(9.1a) (9.1b)

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Under certain conditions, for instance for small magnitudes of the primary eld strengths E and B, we may assume that the response of a substance to the elds can be approximated by a linear one so that D H "E

1

(9.2) B (9.3)

A

total

By writing the rst microscopic Maxwell-Lorentz equation (2.1a) on page 19 as in equation (6.26) on page 106, i.e., in a form where the total charge density .t; x/ is split into the charge density for free, true charges, true , and the charge density, pol , for bound polarisation charges induced by the applied eld E, as r ED .t; x/ D "0

true

R D

FT

.t; x/ C "0

pol

i.e., that the electric displacement vector D .t; x/ is only linearly dependent on the electric eld E.t; x/, and the magnetising eld H.t; x/ is only linearly dependent on the magnetic eld B.t; x/. In this chapter we derive these linearised forms, and then consider a simple, explicit linear model for a medium from which we derive the expression for the dielectric permittivity ".t; x/, the magnetic susceptibility .t; x/, and the refractive index or index of refraction n.t; x/ of this medium. Using this simple model, we study certain interesting aspects of the propagation of electromagnetic particles and waves in the medium.

.t; x/

true

.t; x/

r P .t; x/ "0

2

(9.4) ) (9.5)

and at the same time introducing the electric displacement vector (C m D .t; x/ D "0 E.t; x/ C P .t; x/

one can reshufe expression (9.4) above to obtain r "0 E.t; x/ C P .t; x/ D r D .t; x/ D

true

.t; x/

(9.6)

This is one of the original macroscopic Maxwell equations. It is important to remember that only the induced electric dipole moment of matter, subject to the eld E, was included in the above separation into true and induced charge densities. Contributions to D from higher-order electric moments were neglected. This is one of the approximations assumed.

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j 189

Another approximation is the assumption that there exists a simple linear relationship between P and E in the material medium under consideration P .t; x/ D "0

e .t; x/E.t; x/

(9.7)

This approximation is often valid for regular media if the eld strength jEj is low enough. Here the variations in time and space of the the material dependent electric susceptibility , e , are usually on much slower and longer scales than for E itself.1 Inserting the approximation (9.7) into equation (9.5) on the preceding page, we can write the latter D .t; x/ D ".t; x/E.t; x/ where, approximately, ".t; x/ D "0 1 C (9.8)

The fact that the relation between the dipole moment per unit volume P and the applied electric eld E is local in time and space is yet another approximation assumed in macroscopic Maxwell theory.

e .t; x/

For an electromagnetically anisotropic medium such as a magnetised plasma or a birefringent crystal , the susceptibility e or, equivalently the relative dielectric permittivity

e .t; x/

will have to be replaced by a tensor. This would still describe a linear relationship between E and P but one where the linear proportionality factor, or, as we shall call it, the dispersive property of the medium, is dependent on the direction in space. In general, however, the relationship is not of a simple linear form as in equation (9.7) above but non-linear terms are important. In such a situation the principle of superposition is no longer valid and non-linear effects such as frequency conversion and mixing can be expected.2

An analysis of the properties of magnetic media and the associated currents shows that three such types of currents exist: 1. In analogy with true charges for the electric case, we may have true currents j true , i.e., a physical transport of true (free) charges.

2. In analogy with the electric polarisation P there may be a form of charge transport associated with the changes of the polarisation with time. Such currents, induced by an external eld, are called polarisation currents and are identied with @P =@t .

FT

D "0 e .t; x/ (9.9)

e .t; x/

(9.10)

The nonlinearity of semiconductor diodes is used, e.g., in radio receivers to convert high radio frequencies into lower ones, or into the audible spectrum. These techniques are called heterodyning and demodulation , respectively. Another example of the nonlinear response of a medium is the Kerr effect .

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3. There may also be intrinsic currents of a microscopic, often atomistic, nature that are inaccessible to direct observation, but which may produce net effects at discontinuities and boundaries. These magnetisation currents are denoted jM. Magnetic monopoles have not yet been unambiguously identied in experiments. So there is no correspondence in the magnetic case to the electric monopole moment, formula (6.17a) on page 104. The lowest order magnetic moment, corresponding to the electric dipole moment, formula (6.17b) on page 104, is the magnetic dipole moment [cf. the Fourier component expression (6.55) on page 112] Z 1 m.t/ D d3x 0 .x0 x0 / j .t 0 ; x0 / (9.11) 2 V0 Analogously to the electric case, one may, for a distribution of magnetic dipole moments in a volume, describe this volume in terms of its magnetisation , or magnetic dipole moment per unit volume , M. Via the denition of the vector potential A one can show that the magnetisation current and the magnetisation is simply related: jM D r M (9.12)

A

RHS D

0

In a stationary medium we therefore have a total current which is (approximately) the sum of the three currents enumerated above: j total D j true C @P Cr @t M (9.13) B

R D

One might then be led to think that the right-hand side (RHS) of the r Maxwell equation (2.1d) on page 19 should be j true C @P Cr @t M

However, moving the term r M from the right hand side (RHS) to the left hand side (LHS) and introducing the magnetising eld (magnetic eld intensity , Ampre-turn density ) as HD B

0

FT

M H @P @D D j true C @t @t "0 @E @t

(9.14)

and using the denition for D , equation (9.5) on page 188, we nd that LHS D r

RHS D j true C

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Hence, in this simplistic view, we would pick up a term "0 @E=@t which makes the equation inconsistent: the divergence of the left hand side vanishes while the divergence of the right hand side does not! Maxwell realised this and to overcome this inconsistency he was forced to add his famous displacement current term which precisely compensates for the last term the RHS expression.3 In chapter 1 on page 1, we discussed an alternative way, based on the postulate of conservation of electric charge, to introduce the displacement current. We may, in analogy with the electric case, introduce a magnetic susceptibility for the medium. Denoting it m , we can write H.t; x/ D where, approximately, .t; x/ D and

m .t; x/ 0 1 1

.t; x/B.t; x/

(9.15)

This term, which ensures that electric charge is conserved also in non-stationary problems, is the one that makes it possible to turn the Maxwell equations into wave equations (see chapter 2 on page 19) and, hence, the term that, in a way, is the basis for radio communications and other engineering applications of the theory.

m .t; x/

.t; x/

0

D1C

is the relative permeability . In the case of anisotropy, is still only a linear approximation.4

R

r DD ED r r BD0 r

Field equations, expressed in terms of the derived, and therefore in principle superuous, eld quantities D and H are obtained from the Maxwell-Lorentz microscopic equations (2.1) on page 19, by replacing the E and B in the two source equations by using the approximate relations formula (9.8) on page 189 and formula (9.15), respectively:

true

A

@B @t @D @t H D j true C

This set of differential equations, originally derived by Maxwell himself, are called Maxwells macroscopic equations . Together with the boundary conditions and the constitutive relations, they describe uniquely (but only approximately) the properties of the electric and magnetic elds in matter and are convenient to use in certain simple cases, particularly in engineering applications.

FT

D

0 m .t; x/

(9.16)

m .t; x/

(9.17)

This is the case for the Hall effect which produces a potential difference across an electric conduction current channel, orthogonal to this current, in the presence of an external magnetic eld which is likewise perpendicular to the current. This effect was discovered 1879 by the US physicist E DW I N H E R B E RT H A L L (18551938).

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It should be recalled that Maxwell formulated these macroscopic equations before it was known that matter has an atomistic structure and that there exist electrically charged particles such as electrons and protons, which possess a quantum mechanical property called spin that gives rise to magnetism!

However, the structure of these equations rely on certain linear approximations and there are many situations where they are not useful or even applicable. Therefore, these equations, which are the original Maxwell equations (albeit expressed in their modern vector form as introduced by O L I V E R H E AV I S I D E ), should be used with some care.5

If we introduce the phase velocity in the medium as 1 v' D p " 1 e "0 c

e m

p where, according to equation (1.12) on page 6, c D 1= "0 0 is the speed of light, i.e., the phase speed of electromagnetic waves, in vacuum. Associated with the phase speed of a medium for a wave of a given frequency ! we have a wave vector , dened as k

def

FT

m 0

Dp

Dp

(9.19)

O D kv kk O' D

(9.20)

A

p c D v' n.t; x/

def

e m

p Dc "

def

(9.21)

In fact, there exist metamaterials where e and m are negative. For such materials, the refractive index becomes negative: nDi D

Such negative refractive index materials, have quite remarkable electromagnetic properties.

D

p

j j ej i

e mj

1=2

R

mj

p c D e .t; x/ v'

m .t; x/

(9.22)

is called the refractive index of the medium and describes its refractive and reective properties.6 In general n is a function of frequency. If the medium is anisotropic or birefringent , the refractive index is a rank-two tensor eld. Under our simplifying assumptions, in the material medium that we consider n D Const for each frequency component of the elds. In certain materials, the refractive index is larger than unity (e.g., glass and water at optical frequencies), in others, it can be smaller than unity (e.g., plasma and metals at radio and optical frequencies). It is important to notice that depending on the electric and magnetic properties of a medium, and, hence, on the value of the refractive index n, the phase speed in the medium can be smaller or larger than the speed of light: v' D ! c D n k (9.23)

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where, in the last step, we used equation (9.20) on the facing page. If the medium has a refractive index which, as is usually the case, dependent on frequency ! , we say that the medium is dispersive . Because in this case also k.!/ and !.k/, so that the group velocity @! (9.24) @k has a unique value for each frequency component, and is different from v' . Except in regions of anomalous dispersion , vg is always smaller than c . In a gas of free charges, such as a plasma , the refractive index is given by the expression vg D n2 .!/ D 1 where

2 !p D 2 !p

!2

(9.25)

X N q2 "0 m

When electromagnetic radiation is propagating through matter, new phenomena may appear which are (at least classically) not present in vacuum. As mentioned earlier, one can under certain simplifying assumptions include, to some extent, the inuence from matter on the electromagnetic elds by introducing new, derived eld quantities D and H according to D D ".t; x/E D B D .t; x/H D

e .t; x/"0 E m .t; x/ 0 H

is the square of the plasma frequency !p . Here m and N denote the mass and number density, respectively, of charged particle species . In an inhomogeneous plasma, N D N .x/ so that the refractive index and also the phase and group velocities are space dependent. As can be easily seen, for each given frequency, the phase and group velocities in a plasma are different from each other. If the frequency ! is such that it coincides with !p at some point in the medium, then at that point v' ! 1 while vg ! 0 and the wave Fourier component at ! is reected there.

As we saw in subsection 6.4 on page 146, a charge in uniform, rectilinear motion in vacuum does not give rise to any radiation; see in particular equation (6.202a)

FT

(9.26) (9.27) (9.28)

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on page 146. Let us now consider a charge in uniform, rectilinear motion in a medium with electric properties which are different from those of a (classical) vacuum. Specically, consider a medium where " D Const > "0 D

0

(9.29a) (9.29b)

This implies that in this medium the phase speed is v' D 1 c Dp n " <c

0

(9.30)

R

.t; x/ D A.t; x/ D

A

1 4 "0 q0 jx jx x0 j x0 j 1 4 "0 c 2 sD x x0

Hence, in this particular medium, the speed of propagation of (the phase planes of) electromagnetic waves is less than the speed of light in vacuum, which we know is an absolute limit for the motion of anything, including particles. A medium of this kind has the interesting property that particles, entering into the medium at high speeds jv 0 j, which, of course, are below the phase speed in vacuum, can experience that the particle speeds are higher than the phase L speed in the medium. This is the basis for the Vavilov-Cerenkov radiation , more commonly known in the western literature as Cherenkov radiation , that we shall now study. If we recall the general derivation, in the vacuum case, of the retarded (and advanced) potentials in chapter 3 on page 33 and the Linard-Wiechert potentials, equations (6.82) on page 119, we realise that we obtain the latter in the medium by a simple formal replacement c ! c=n in the expression (6.83) on page 120 for s . Hence, the Linard-Wiechert potentials in a medium characterized by a refractive index n, are

FT

n .x q0v 0 n .x 1 q0 D x0 / v 0 4 "0 s c q0v 0 1 D x0 / v 0 4 "0 c 2 s c n .x x0 / v 0 c

(9.31a) (9.31b)

The need for the absolute value of the expression for s is obvious in the case when v 0 =c 1=n because then the second term can be larger than the rst term; if v 0 =c 1=n we recover the well-known vacuum case but with modied phase speed. We also note that the retarded and advanced times in the medium are [cf.

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j 195

x.t /

q0

Figure 9.1: Instantaneous picture of the expanding eld spheres from a point charge moving with constant speed v 0 =c > 1=n in a medium where n > 1. This generates L a Vavilov-Cerenkov shock wave in the form of a cone.

x .t /

equation (3.33) on page 40] 0 0 tret D tret .t; x 0 0 tadv D tadv .t; x x0 / D t

k j x x0 j j x x0 j n Dt ! c k jx x0 j j x x0 j n 0 x /DtC DtC ! c

so that the usual time interval t t 0 between the time measured at the point of observation and the retarded time in a medium becomes

For v 0 =c 1=n, the retarded distance s , and therefore the denominators in equations (9.31) on the facing page, vanish when n.x or, equivalently, when x0 / v0 D x c nv 0 x0 cos c

c

A

D x cos

c

t0 D

jx

x0 j n c

c (9.36) nv 0 In the direction dened by this angle c , the potentials become singular. During the time interval t t 0 given by expression (9.34) above, the eld exists within a sphere of radius jx x0 j around the particle while the particle moves a distance D l 0 D .t t 0 /v 0 (9.37)

along the direction of v 0 . In the direction c where the potentials are singular, all eld spheres are tangent to a straight cone with its apex at the instantaneous position of the particle and with the apex half angle c dened according to c (9.38) sin c D cos c D nv 0

FT

(9.33a) (9.33b) (9.34) x0 (9.35)

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The rst systematic exploration of this radiation was made in 1934 by PAV E L A L E K S E E V I C H L E R E N KOV (19041990), who C was then a doctoral student in S E R G E Y I VA N OV I C H VAVI L OV s (18911951) research group at the Lebedev Physical Institute in Moscow. Vavilov wrote a manuscript with the experimental L ndings, put Cerenkov as the author, and submitted it to Nature. In the manuscript, Vavilov explained the results in terms of radioactive particles creating Compton electrons which gave rise to the radiation. This was indeed the correct interpretation, but the paper was rejected. The paper was then sent to Physical Review and was, after some controversy with the American editors, who claimed the results to be wrong, eventually published in 1937. In the same year, I G O R E V G E N E V I C H TA M M (18951975) and I LYA M I K H A I L OV I C H F R A N K (1908 1990) published the theory for the effect (the singing electron). In fact, predictions of a similar effect had been made as early as 1888 by O L I V E R H E AV I S I D E (18501925), and by A R N O L D JOHANNES WILHELM SOMM E R F E L D (18681951) in his 1904 paper Radiating body moving with velocity of light. On 8 May, 1937, Sommerfeld sent a letter to Tamm via Austria, saying that he was surprised that his old 1904 ideas were now becoming interesting. Tamm, Frank and L Cerenkov received the Nobel Prize in 1958 for the discovery and L the interpretation of the Cerenkov effect [V I TA L I Y L A Z A R E V I C H G I N Z B U R G (19162009), private communication]. The VavilovL Cerenkov cone is similar in nature to the Mach cone in acoustics.

This is illustrated in gure 9.1 on the preceding page. The cone of potential singularities and eld sphere circumferences propagates with speed c=n in the form of a shock front . The rst observation of this type of radiation was reported by M A R I E S K L O D OW S K A C U R I E in 1910, but she never pursued the exploration of it. This radiation in question is therefore L called Vavilov-Cerenkov radiation .7 In order to make some quantitative estimates of this radiation, we note that we can describe the motion of each charged particle q 0 as a current density: j D q 0 v 0 .x0 v 0 t 0 / D q 0 v 0 .x 0 O1 v 0 t 0 /.y 0 /.z 0 /x (9.39)

This Fourier component can be used in the formul derived for a linear current in subsection 6.4.1 on page 113 if only we make the replacements "0 ! " D n2 "0 n! k! c (9.41a) (9.41b)

In this manner, using j! from equation (9.40) above, the resulting Fourier transL forms of the Vavilov-Cerenkov magnetic and electric radiation elds can be calculated from the expressions (5.23) on page 90) and (5.18) on page 88, respectively. The total energy content is then obtained from equation (6.9) on page 102 (integrated over a closed sphere at large distances). For a Fourier component one obtains [cf. equation (6.12) on page 103] Z 2 1 rad 3 0 ik x0 U! d d x .j! k/e d 4 "0 nc V 0 (9.42) Z 1 2 h i q 0 2 n! 2 0 ! 0 2 k cos dx sin d D exp ix 16 3 "0 c 3 1 v0

O0 where is the angle between the direction of motion, x 1 , and the direction to the O observer, k. The integral in (9.42) is singular of a Dirac delta type. If we limit the spatial extent of the motion of the particle to the closed interval X; X on the x 0 axis we can evaluate the integral to obtain h i 0 X! 2 02 2 sin2 1 nv cos 0 c v q n! sin rad U! d D d (9.43) 2 0 4 3 "0 c 3 1 nv cos !0

c v

which has a maximum in the direction c as expected. The magnitude of this maximum grows and its width narrows as X ! 1. The integration of (9.43)

FT

j! D

(9.40)

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over therefore picks up the main contributions from c . Consequently, we can set sin2 sin2 c and the result of the integration is

rad Q! U D2

Z

0

rad U! .

1 1 rad U! . /d

q 0 2 n! 2 sin2 2 2 "0 c 3

(9.44)

sin

Z

c

1 1

sin2 h

1C

nv 0 c ! v0

X! v0

i d

1C

nv 0 c

i2

cX !n

leading to the nal approximate result for the total energy loss in the frequency interval .!; ! C d!/ q02X rad Q! d! D U 2 "0 c 2 1 c2 n2 v 02 ! d! (9.46)

As mentioned earlier, the refractive index is usually frequency dependent. Realising this, we nd that the radiation energy per frequency unit and per unit length is

R

rad Q! d! U q02! D 2X 4 "0 c 2

A

1 c2 n2 .!/v 02

This result was derived under the assumption that v 0 =c > 1=n.!/, i.e., under the condition that the expression inside the parentheses in the right hand side is positive. For all media it is true that n.!/ ! 1 when ! ! 1, so there exist L always a highest frequency for which we can obtain Vavilov-Cerenkov radiation from a fast charge in a medium. Our derivation above for a xed value of n is valid for each individual Fourier component.

FT

c2 n2 v 02 1 cX !n Z

1 1

The integrand in (9.44) is strongly peaked near D c=.nv 0 /, or, equivalently, near cos c D c=.nv 0 /. This means that the integrand function is practically zero outside the integration interval 2 1; 1. Consequently, one may extend the integration interval to . 1; 1/ without introducing too much an error. Via yet another variable substitution we can therefore approximate sin2 x dx x2

c2 n2 v 02

(9.45)

d!

(9.47)

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In section 2.3 on page 23 in chapter 2 on page 19 we derived the wave equations for the electric and magnetic elds, E and B, respectively, 1 @2 E c 2 @t 2 1 @2 B c 2 @t 2 r 2E D r 2B D r "0

0r 0

@j @t

(9.48a) (9.48b)

R D

r 2E

where the charge density and the current density j were viewed as the sources of the wave elds. As we recall, these wave equations were derived from the Maxwell-Lorentz equations (2.1) on page 19, taken as an axiomatic foundation, or postulates, of electromagnetic theory. As such, these equations just state what relations exist between (the second order derivatives of) the elds, i.e., essentially the Coulomb and Ampre forces, and the dynamics of the charges (charge and current densities) in the region under study. Even if the and j terms in the Maxwell-Lorentz equations are often referred to as the source terms, they can equally well be viewed as terms that describe the impact on matter in a particular region upon which an electromagnetic wave, produced in another region with its own charges and currents, impinges. In order to do so, one needs to nd the constitutive relations that describe how charge and current densities are induced by the impinging elds. Then one can solve the wave equations (9.48) above. In general, this is a formidable task, and one must often resort to numerical methods. Let us, for simplicity, assume that the linear relations, as given by formula (9.8) on page 189 and formula (9.15) on page 191, hold, and that there is also a linear relation between the electric eld E and the current density, known as Ohms law :

A

.x/ .x/ @E @t ".x/ .x/

FT

j .t; x/ D .t; x/E.t; x/ @2 E D .r @t 2 E/ r ln .x/ r r ln ".x/ E C r

(9.49)

where is the conductivity of the medium. Let us make the further assumption that " D ".x/, D .x/, and .x/ are not explicitly dependent on time and are local in space. Then we obtain the coupled wave equations

(9.50a)

" 2 @ H @ H r 2H .x/ .x/ ".x/ .x/ 2 D .r H/ r ln ".x/ @t @t r r ln .x/ H C r ln ".x/ . .x/E/ r .x/ E

(9.50b)

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For the case D 0 (no magnetisation) and tions (9.50) on the facing page simplify to r 2E r 2B

0

@E @t @B .x/ @t C .x/

0

(9.51a) (9.51b)

Making the further assumption that the medium is not conductive, i.e., that D 0, the uncoupled wave equations r 2E r 2B are obtained. ".x/ @2 E D r fr ln ".x/ Eg "0 c 2 @t 2 ".x/ @2 B D .r B/ r ln ".x/ "0 c 2 @t 2 (9.52a) (9.52b)

In a solid, uid or gaseous medium the source terms in the microscopic Maxwell equations (2.1) on page 19 must include all charges and currents in the medium, i.e., also the intrinsic ones (e.g., the polarisation charges in electrets, and atomistic magnetisation currents in magnets) and the self-consistently imposed ones (e.g., polarisation currents). This is of course also true for the inhomogeneous wave equations derived from Maxwells equations. From now one we assume that and j represent only the charge and current densities (i.e., polarisation and conduction charges and currents, respectively) that are induces by the E and B elds of the waves impinging upon the medium of interest.8 Let us for simplicity consider a medium containing free electrons only and which is not penetrated by a magnetic eld, i.e., the medium is assumed to be isotropic with no preferred direction(s) in space.9 Each of these electrons are assumed to be accelerated by the Lorentz force, formula (4.53) on page 63. However, if the elds are those of an electromagnetic wave one can, for reasonably high oscillation frequencies, neglect the force from the magnetic eld. Of course, this is also true if there is no magnetic eld present. So the equation of motion for each electron in the medium can be written

R

m

A

d2 x dx Cm D qE dt 2 dt

FT

8

If one includes also the effect of the charges on E and B, i.e., treat and j as sources for elds, singularities will appear in the theory. Such so called self-force effects will not be treated here.

9

To this category belongs unmagnetised plasma . So do also, to a good approximation, uid or solid metals.

(9.53)

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200 j

where m and q are the mass and charge of the electron, respectively, the effective collision frequency representing the frictional dissipative force from the surrounding medium, and E the effective applied electric eld sensed by the electron. For a Fourier component of the electric eld E D E0 exp . i!t/, the equation of motion becomes ! 2 q x.t/ i! q x.t/ D q2 E m (9.54)

If the electron is at equilibrium x D 0 when E D 0, then its dipole moment is d.t / D q x.t /. Inserting this in equation (9.54) above, we obtain dD q2 E m.! 2 C i! / (9.55)

This is the the lowest order contribution to the dipole moment of the medium from each electron under the inuence of the assumed electric eld. If Nd .x/ electrons per unit volume can be assumed to give rise to the electric polarisation P , this becomes P D Nd d D Nd q 2 E m.! 2 C i! / (9.56)

FT

D .t; x/ D ".x/E.t; x/ Nd .x/q 2 1 2 " 0 m ! C i! s !p .x/ D Nd .x/q 2 "0 m

2 !p

where

(9.57)

(9.58)

R D

(9.59)

! 2 C i!

(9.60)

is called the refractive index . At points in the medium where the wave frequency ! equals this plasma frequency and the collision frequency vanishes, the refractive index n D 0, and the wave is totally reected. In the ionised outer part of the atmosphere called the ionosphere this happens for radio waves of frequencies up to about 10 MHz. This is the basis for over-the-horizon radio communications.

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j 201

We shall now restrict ourselves to the wave equations for the electric eld vector E and the magnetic eld vector B in a electrically conductive and neutral medium, i.e., a volume where there exist no net electric charge, D 0, no dielectric effects, " D "0 , and no electromotive force, Eemf D 0. A highly conductive metal is a good example of such a medium.

To a good approximation, metals and other conductors in free space have a conductivity that is not dependent on t or x. The wave equations (9.51) on page 199 are then simplied to r 2E r 2B

0

@E @t @B @t

1 @2 E D0 c 2 @t 2 1 @2 B D0 c 2 @t 2

R

r 2 E0 C !2 c2 r 2 E.t; x/ C r 2E C

which are the homogeneous vector wave equations for E and B in a conducting medium without EMF. We notice that for the simple propagation media considered here, the wave equation for the magnetic eld B has exactly the same mathematical form as the wave equation for the electric eld E, equation (9.61) above. Therefore, in this case it sufces to consider only the E eld, since the results for the B eld follow trivially. For EM waves propagating in more complicated media, containing, e.g., inhomogeneities, the wave equations for E and for B do not have the same mathematical form. Following the spectral component prescription leading to equation (2.23) on page 26, we obtain, in the special case under consideration, the following timeindependent wave equation

A

1Ci "0 ! E0 D 0 !2 ED0 c2

D

In the limit of long

Multiplying by e i!t and introducing the relaxation time D "0 = of the medium in question, we see that the differential equation for each spectral component can be written !2 1C E.t; x/ D 0 2 c ! (9.64)

FT

(9.61) (9.62) (9.63)

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202 j

which is a time-independent wave equation for E, representing undamped propagating waves. In the short (high conductivity ) limit we have instead r 2 E C i!

0

ED0

(9.66)

where in the last step we used the characteristic impedance of vacuum dened according to formula (6.4) on page 101.

Consider now the case where all elds depend only on the distance O . Then the del operator becomes plane with unit normal n

A

O r Dn @E @ @E O n @ @B O n @ @B O n @ O n D0 D @B @t D0 D

0 j .t; x/

FT

@ Or Dn @ C "0

0

which is a time-independent diffusion equation for E. For most metals 10 14 s, which means that the diffusion picture is good for all frequencies lower than optical frequencies. Hence, in metallic conductors, the propagation term @2 E=c 2 @t 2 is negligible even for VHF, UHF, and SHF signals. Alternatively, we may say that the displacement current "0 @E=@t is negligible relative to the conduction current j D E. If we introduce the vacuum wave number ! kD (9.67) c p we can write, using the fact that c D 1= "0 0 according to equation (1.12) on page 6, r 1 1 0 D D D D R0 (9.68) ! "0 ! "0 ck k "0 k

to a given

R D

(9.69)

and the microscopic Maxwell equations attain the form (9.70a) (9.70b) (9.70c) @E D @t

0

E C "0

@E @t

(9.70d)

0

C "0

@ @t

(9.71)

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which simplies to the rst-order ordinary differential equation for the normal component En of the electric eld dE n C En D 0 dt "0 with the solution En D En0 e

t ="0

(9.72)

D En0 e

t=

(9.73)

O 0Dn or

O n

@E @

O n

@B D0 @t

R

@2 E @ 2

0

In analogy with equation (9.61) on page 201, we can easily derive a wave equation @E @t 1 @2 E D0 c 2 @t 2 (9.76)

describing the propagation of plane waves along in a conducting medium. This equation is is called the telegraphers equation . If the medium is an insulator so that D 0, then the equation takes the form of the one-dimensional wave equation @2 E @ 2 1 @2 E D0 c 2 @t 2 (9.77)

As is well known, each component of this equation has a solution which can be written Ei D f . ct / C g. C ct/; i D 1; 2; 3 (9.78)

From this, and (9.70c), we conclude that the only longitudinal component of B must be constant in both time and space. In other words, the only non-static solution must consist of transverse components .

FT

O n @B @t (9.74) (9.75)

This, together with (9.70a), shows that the longitudinal component of E, i.e., the component which is perpendicular to the plane surface is independent of and has a time dependence which exhibits an exponential decay, with a decrement given by the relaxation time in the medium. O , we similarly nd that Scalar multiplying (9.70b) by n

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204 j

where f and g are arbitrary (non-pathological) functions of their respective arguments. This general solution represents perturbations which propagate along , where the f perturbation propagates in the positive direction and the g perturbation propagates in the negative direction. In a medium, the general solution to each component of equation (9.99) on page 206 is given by Ei D f . v' t/ C g. C v' t/; i D 1; 2; 3 (9.79)

If we assume that our electromagnetic elds E and B are represented by a Fourier component proportional to exp. i!t/, the solution of equation (9.77) on the preceding page becomes E D E0 e By introducing the wave vector

i.!t k /

D E0 ei.

!t/

(9.80)

FT

O D k D kn ! !O O D k n c c E D E0 ei.k x

!t/

(9.81)

(9.82)

A

O n BD k O n ! ED 1 k ! @2 E C "0 @ 2

0! 2

Let us consider the lower sign in front of k in the exponent in (9.80). This corresponds to a wave which propagates in the direction of increasing . Inserting this solution into equation (9.70b) on page 202, gives @E O D i! B D ik n @ E (9.83)

R D

where K 2 D "0

0! 2

ED

1 O k c

ED

p "0

O n

(9.84)

Hence, to each transverse component of E, there exists an associated magnetic eld given by equation (9.84) above. If E and/or B has a direction in space which is constant in time, we have a plane wave . Allowing now for a nite conductivity in our medium, and making the spectral component Ansatz in equation (9.76) on the previous page, we nd that the time-independent telegraphers equation can be written ECi

0

!E D

@2 E C K 2E D 0 @ 2

(9.85)

1Ci

"0 !

!2 c2

1Ci

"0 !

D k2 1 C i

"0 !

(9.86)

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j 205

where, in the last step, equation (9.67) on page 202 was used to introduce the wave number k . Taking the square root of this expression, we obtain r D C i (9.87) K Dk 1Ci "0 ! Squaring, one nds that k2 1 C i or 2 D 2 D k 2"0 !

2

"0 !

D . 2

2 / C 2i

(9.88)

k2

(9.89) (9.90)

Squaring the latter and combining with the former, one obtains the second order algebraic equation (in 2 ) 2 . 2 k2/ D k4 2 2 4"2 0! (9.91)

As a consequence, the solution of the time-independent telegraphers equation, equation (9.85) on the preceding page, can be written

R

E D E0 e

which can be easily solved and one nds that vr u u u 1C t "0 ! Dk 2 vr u u u 1C t "0 ! Dk 2

A

2

D

BD 1 O Kk !

ei.

With the aid of equation (9.84) on the facing page we can calculate the associated magnetic eld, and nd that it is given by ED 1 O .k ! E/. C i/ D 1 O .k ! E/ jAj ei (9.94)

where we have, in the last step, rewritten C i in the amplitude-phase form jAj exp.i /. From the above, we immediately see that E, and consequently also B, is damped, and that E and B in the wave are out of phase.

FT

C1 (9.92a)

2

(9.92b)

!t/

(9.93)

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206 j

1 2

0

1 2

K Dk 1Ci p D "0

FT

@2 E @ 2 @E @t " @2 E D0 @t 2 @2 E @ 2 " @2 E D0 @t 2 E D E0 ei.k x

!t/

In this limit we nd that when the wave impinges perpendicularly upon the medium, the elds are given, inside the medium, by r r 0 ! 0 ! 0 E D E0 exp exp i !t (9.96a) 2 2 r 0 O E0 / .n (9.96b) B0 D .1 C i/ 2!

(9.97)

This distance is called the skin depth . Assuming for simplicity that the electric permittivity " and the magnetic permeability , and hence the relative permittivity e and the relative permeability m all have xed values, independent on time and space, for each type of material we consider, we can derive the general telegraphers equation [cf. equation (9.76) on page 203] (9.98)

describing (1D) wave propagation in a material medium. In chapter 2 on page 19 we concluded that the existence of a nite conductivity, manifesting itself in a collisional interaction between the charge carriers, causes the waves to decay exponentially with time and space. Let us therefore assume that in our medium D 0 so that the wave equation simplies to (9.99)

As in the vacuum case discussed in chapter 2 on page 19, assuming that E is time-harmonic, i.e., can be represented by a Fourier component proportional to exp. i!t /, the solution of equation (9.99) can be written (9.100)

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where now k is the wave vector in the medium given by equation (9.20) on page 192. With these denitions, the vacuum formula for the associated magnetic eld, equation (9.84) on page 204, BD p O " k ED 1 O k v' ED 1 k ! E (9.101)

is valid also in a material medium (assuming, as mentioned, that n has a xed constant scalar value). A consequence of a e 1 is that the electric eld will, in general, have a longitudinal component.

Electromagnetic waves in an electrically and magnetically conducting medium Derive the wave equation for the E eld described by the electromagnetodynamic equations (Diracs symmetrised Maxwell equations) [cf. equations (2.2) on page 20]

e

E X A M P L E 9.1

"0 @B r ED @t r BD 0 m r B D "0

under the assumption of vanishing net electric and magnetic charge densities and in the absence of electromotive and magnetomotive forces. Interpret this equation physically.

Assume, for symmetry reasons, that there exists a linear relation between the magnetic current density j m and the magnetic eld B (the magnetic dual of Ohms law for electric currents, j e D e E) jm D

m

R

.r E/ D D

0r

Taking the curl of (2.2c) and using (2.2d), one nds, noting that "0 r jm @ .r @t @ B @t

e

D

r2E

Using the vector operator identity r .r E/ D r .r E/ r 2 E, and the fact that r E D 0 for a vanishing net electric charge, we can rewrite the wave equation as

0 e m

This is the homogeneous electromagnetodynamic wave equation for E that we were after. Compared to the ordinary electrodynamic wave equation for E, equation (9.61) on page 201, we see that we pick up extra terms. In order to understand what these extra terms mean physically, we analyse the time-independent wave equation for a single Fourier

A FT

r ED (9.102a)

0j m

(9.102b) (9.102c)

@E C 0 @t

0j

(9.102d)

(9.103)

D 1=c 2 , that

B/

0j e

1 @E c 2 @t

0 e @E

(9.104) @t 1 @2 E c 2 @t 2

EC

1 @E c 2 @t

c2

@E @t

1 @2 E c 2 @t 2

2 m e E 0

D0

(9.105)

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208 j

e m

D r2E C

!2 c2

C 2 c " 1

EC 1 0 ! 2 "0

!2 E c2

m e

2 m e E 0 e

Ci

# C m =c 2 ED0 "0 !

(9.106)

Realising that, according to formula (6.4) on page 101, 0 ="0 is the square of the vacuum radiation resistance R0 , and rearranging a bit, we obtain the time-independent wave equation in Diracs symmetrised electrodynamics 0 r2E C !2 c2 1

2 R0 !2

1

e

!

m e

B B1 C i @

m =c 2

2 R0 !2

From this equation we conclude that the existence of magnetic charges (magnetic monopoles), and non-vanishing electric and magnetic conductivities would lead to a shift in the effective wave number of the wave. Furthermore, even if the electric conductivity e vanishes, the imaginary term does not necessarily vanish and the wave therefore experiences damping or growth according as m is positive or negative, respectively. This would happen in a hypothetical medium which is a perfect insulator for electric currents but which can carry magnetic currents. p m e def ! , the time-independent Finally, we note that in the particular case ! D R0 m wave equation equation (9.106) above becomes a time-independent diffusion equation r 2 E C i!

0 e m

A FT

! R0 p

m e

"0 ! 1

m e

C CE D 0; A

(9.107)

c2

ED0

(9.108)

R D

0

1

e

(9.110)

c2

Hence, electromagnetic waves with this particular frequency do not propagate. This means that if magnetic charges (monopoles) exist in a region in the Universe, electromagnetic waves propagating through this region would, in this simplistic model, exhibit a lower cutoff at ! D !m . This would in fact impose a lower limit on the mass of the photon , the quantum of the electromagnetic eld that we shall come across later. End of example 9.1

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9.5. Bibliography

j 209

9.5 Bibliography

[55] E. H ALLN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962. [56] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc., New York, NY . . . , 1999, ISBN 0-471-30932-X. [57] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0201-05702-6. [58] J. A. S TRATTON, Electromagnetic Theory, McGraw-Hill Book Company, Inc., New York, NY and London, 1953, ISBN 07-062150-0.

FT

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FT

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F

F ORM U L

This appendix is a compilation of the most important formul derived in the various chapters. It also contains an extensive collection of vector and tensor algebra and calculus formul, including a few that are perhaps not included in every electrodynamics textbook.

F .1

A

3 X i D1

Let x be the position vector (radius vector , coordinate vector ) from the origin of the Euclidean space R3 coordinate system to the coordinate point .x1 ; x2 ; x3 / in the same system and let jxj denote the magnitude (length) of x. Let further .x/; .x/; : : :, be arbitrary scalar elds, a.x/; b.x/; : : : , arbitrary vector elds, and A.x/; B.x/; : : : , arbitrary rank two tensor elds in this space. Let denote complex conjugate and denote Hermitian conjugate (transposition and, where applicable, complex conjugation). The differential vector operator r is in Cartesian coordinates given by r Oi x @ @xi

def

Oi x

O i , i D 1; 2; 3 is the i th unit vector and x O1 where x component (tensor) notation r can be written ri D @i D @ @ @ ; ; @x1 @x2 @x3 D

R

r0

3 X i D1

D

or

def

Oi x

ri0 D @0 i D

FT

@ @xi

def

( F .1 ) O , and x O3 y O . In z

O, x O2 x

@ @ @ ; ; @x @y @z

( F .2 )

@ @xi0

def

@0

( F .3 )

@ @ @ ; 0; 0 0 @x @y @z

( F .4 )

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212 j

6. FORMUL

F .1.1

F .1.1.1

Base vectors

C ARTESIAN TO CYLINDRICAL CIRCULAR O 1 C sin x O2 O D cos x O D O 1 C cos x O2 sin x ( F .5 ) ODx O3 z C YLINDRICAL CIRCULAR TO C ARTESIAN O 1 D cos O x O3 D z O x O sin ( F .6 )

F .1.1.2

FT

O 2 D sin O C cos O x dV D d3x D d d' dz @ @ O 1 @ C z O C @ @' @z 1 @. a / 1 @a' @az C C @ @' @z

O Dd O O C d' O C dz z dl D dx x

F .1.1.3

( F .7 )

A

Volume element

O r D r aD

O O C d dz O C d d' z dS D d' dz

( F .8 )

F .1.1.4

R

F .1.1.5

( F .9 )

In the following we assume that the scalar eld D . ; '; z/ and that the vector eld a D a. ; '; z/. T HE GRADIENT (F.10)

T HE DIVERGENCE (F.11)

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F .1 .

j 213

(F.12)

F .1 .2

F .1.2.1

Base vectors

O D sin cos ' x O 1 C sin sin ' x O 2 C cos x O3 r O D cos cos ' x O 1 C cos sin ' x O2 O D O 1 C cos ' x O2 sin ' x

A

O sin d D sin d d'

F .1.2.2

R

O 3 D cos r O x

D

F .1.2.3 F .1.2.4

(F.17)

O C r dr d O C r sin dr d' O dS D r 2 d r (F.18)

FT

O3 sin x (F.14) O sin ' (F.15) (F.16)

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214 j

6. FORMUL

F .1.2.5

Volume element

dV D d3x D dr r 2 d (F.19)

F .1.2.6

In the following we assume that the scalar eld D .r; ; '/ and that the vector eld a D a.r; ; '/. T HE GRADIENT O r D r T HE DIVERGENCE r aD T HE CURL r 1 @ @ O 1 @ C O C @r r@ r sin @' (F.20)

FT

1 @.a' sin / @a r sin @ @' 1 1 @a @.ra r '/ O C r sin @' @r 1 @.ra / @ar O C r @r @ C 1 @ 2 r sin @ sin @ @ C 1 2 r sin2 @2 @' 2 O ix Oi 13 D x

(F.21)

O aDr

A

1 @ @ r2 2 r @r @r

(F.22)

R

r 2 D

T HE L APLACIAN

(F.23)

F .1 .3

The three-dimensional unit tensor of rank two

(F.24)

F .1.3.1

(F.25)

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F .1 .

j 215

F .1.3.2

( ij D 0 if i j 1 if i D j

(F.26)

F .1.3.3

(F.27)

8 <1 if i; j; k is an even permutation of 1,2,3

ij k

ij k ij k

j ki j ik

D D

ij k i lm

F .1.3.4

Rotational matrices

R

Oi D S D Si x 0 0 B S1 D @0 0 0 0 B S2 D @ 0 i 0 0 B S3 D @ i 0 0 0 i 0 0 0 i 0 0

A

D j l km j m kl i. Oi ij k /x 1 0 C iA D i. 0 1 i C 0 A D i. 0 1 0 C 0A D i. 0

1j k / 2j k / 3j k /

FT

(F.28)

kij

ikj

(F.32)

(F.33a)

(F.33b)

(F.33c)

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216 j

6. FORMUL

F .1.3.5

a b D b a D ij ai bj D ab cos a aDa

2

(F.34) (F.35) O k ai bj kij x (F.36) (F.37) (F.38) (F.39) (F.40) (F.41) (F.42) (F.43) (F.44) (F.45) (F.46) (F.47) (F.48) (F.49) (F.50) (F.51) (F.52) c.a b/ a.b c/ b/ D 0 .a d/.b c/ b c/d (F.53) (F.54) (F.55) (F.56) (F.57)

bD

aD

O i aj bk ij k x

2

O j ak bi j ki x b/ D a b

2

.a b / C .a

2 2

.a

A

ab a .b a .b c/ D ba c c D ba c c/ C b .c .c

R

a .a b / .c .a

.a

b/

.b b/

d/ D a b

F .1.3.6

13 a D a 13 D a 13

FT

Tr.ab/ D a b a.b C c/ D ab C ac .a C b/c D ac C bc c ab D .c a/b ia Sb D ab c D a.b c/ ab D .c b/ D c iaS b a/b c D a .b c/ b/ c ab cd D .b c/ad c/ D .a ca b D b.a c/ a/ C c b d/c .a .a ab c D b.a c/ .c d/ D .a c/.b d/ d/ D .a aDa 0 a2 a3 0 a1

13

(F.58) (F.59) 1

0 .1 3 a / D .a B

13 / D @ a3

a2 C a1 A D 0

iS a

(F.60) (F.61)

a .13 b/ D a b

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F .1 .

j 217

a .13

13

b/ D a b/ D ba

b ab

(F.62) (F.63)

.a

F .1.3.7

O i @i r D x r a D @i ai a r D ai @i r a aD r D O i @j ak ij k x O i aj @k ij k x (F.64) (F.65) (F.66) (F.67) (F.68) (F.69) (F.70)

O ix O j ai @j ar D x

Tr.r a/ D r a ar b D a@i bi

2

O j @i Aij r ADx r r D r

O i @i @j aj r r a D r .r a/ D x r ./ D r C r r .a b / D a .r r .a b/ C b .r

O i aj @j @i a r r D .a r /r D x r . a/ D .r /a C r a b/ D .r a/ b

A

.r b / a r a .r r / r .r a r r

2

a/ C a r b C b r a

R

r .a b / D b .r .r .r / .r a/ D a/ .r b/ D b r r r . a/ D r r .a b/ D ar b .ab/ D .r a .r a .r r

r . a/ D a r C r a a/ a/ a b/ a/ b

.r / r D r . r / r .a

.r

r .ab/ D .r a/b C a r b . r / D .r / a /b

br a C b r a a r/ b a rb rb

b / D .a

b / D .r b / a

FT

(F.71) (F.72) (F.73) (F.74) (F.75) (F.76) (F.77) (F.78) (F.79) (F.80) (F.81) (F.82) (F.83) (F.84) (F.85) (F.86) (F.87) (F.88) a rb (F.89) (F.90) (F.91) (F.92)

O ix O j @i aj ra D x

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218 j

6. FORMUL

a .a .a r .r a b a r .b

.r r/ r/

1 r .a2 / a/ D 2

a ra .r b/a ar

2

2

b D .r b / a r D a rr

a/ D r r a .r

r r a D r .r a/ cCb .a r c/ a .b r c/

c/ D .a r b/ r .r r .r

c/ D b .a r c/ a/ D 0 r D 0 r/ a D 0

In the following S is the matrix vector dened in formula (F.32) and k is an arbitrary constant vector. r .13 / D r a/ D r (F.102) (F.103) (F.104) (F.105) (F.106) (F.107) (F.108) (F.109) (F.110) (F.111) (F.112) (F.113) (F.114) (F.115) (F.116) (F.117)

.r

A

r

r .x a/ D a C x.r a/ C .x r / a x r jxj D j xj x x0 r jx x0 j D D r 0 jx x0 j j x x0 j x 1 D r jxj jxj3 0 1 x x 1 r D D r0 0 0 3 jx x j jx x j jx x0 j x 1 r D r2 D 4 .x/ 3 jxj jxj x x0 1 D r2 D 4 .x x0 / 0 3 jx x j jx x0 j k k x 1 r Dk r D jxj jxj jxj3

FT

r .13 a/ D r a ir Sa D xD0 r .13 a a/ D ir S a r xD3 r x D 13 r .x k / D k

F .1.3.8

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F .1 .

j 219

k r2 k jxj

x jxj3

r 1 j xj .r

k x jxj3 D a/

if jxj 0 4 k.x/ r .k a/

D kr 2

r

F .1.3.9

.k

a/ D k.r a/ C k

Integral identities

D IVERGENCE THEOREM AND RELATED THEOREMS Let V .S/ be the volume bounded by the closed surface S.V /. Denote the 3D volume element by d3x. dV / and the surface element, directed along the outO , by dS. d2x n O /. Then ward pointing surface normal unit vector n Z

V

d x r D

S

I dS I dS a IS

Z

V

d3x r a D

A

S S C S

V

D

Z

V

S

R

A.x0 / D jx x0 j Z

V0

If S.C / is an open surface bounded by the contour C.S/, whose line element is dl, then I Z dl D dS r (F.122) I C ZS dl a D dS r a (F.123)

V0

d3x 0

d3x 0

r 0 A.x0 / j x x0 j

FT

I O d2x n (F.121a)

S

O a d2x n

(F.121b)

S I

(F.121c)

(F.121d)

(F.121e)

(F.121f)

O r d2x n

(F.124)

I

S0

O0 d2x 0 n

A.x0 / j x x0 j

(F.125)

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220 j

6. FORMUL

3 0

Z

V0

d3x 0 A.x0 /r 2

1 jx x0 j

4 A.x/ (F.126)

3 0

Z

V0

0

1 (F.127)

I C

S0

j x x0 j a.x /.x x0 / jx x0 j 3

Z r r

V0

d3x 0

a.x0 / jx x0 j

H ELMHOLTZ DECOMPOSITION

R

where

Any regular, differentiable vector eld u that falls off sufciently fast asymptotically can be decomposed into two components, one irrotational and one rotational, such that u.x/ D uirrot .x/ C urotat .x/ u

irrot

A

.x / D r urotat .x/ D r

V

FT

Z D rr Z r 0 u.x0 / 4 j x x0 j V0 Z r 0 u.x0 / d3x 0 4 j x x0 j V0 d3x 0

a.x0 / d3x 0 j x x0 j V0 Z a.x0 / r r d3x 0 j x x0 j V0 Z 1 D 4 a.x/ d3x 0 r 0 a.x0 /r 0 0 x x0 j j V I a.x0 /.x x0 / O0 C d2x 0 n jx x0 j3 S0 (F.128)

If v is a vector eld with the same properties as u, or u itself, then Z d3x uirrot .x/ v rotat .x/ D 0 ZV d3x uirrot .x/ v irrot .x/ D 0

(F.130a) (F.130b)

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F .2.

j 221

Z

V

Z

V

Z

V0

d3x 0

Z

V

d3x r

V

urotat .x/

Z

V0

d3x 0

Z

V

d xu

rotat

.x/

rotat

Z .x / D

V

d x r Z

rotat

Z .x/

V0

d3x 0

Z

V

d xu

irrot

.x /

rotat

.x / D

V

d x r u

irrot

Z .x/

V0

d3x 0

F .2

F .2 .1

A

r ED "0 r BD EC

0 m

r r

R

B 1 cDp "0

0

@B D @t 1 @E D c 2 @t

F .2.1.1

Constitutive relations

D

r

0

"0

D R0 .D 119:9169832 D H j P "E

1

E "0 E

FT

(F.131) (F.132) (F.133) (F.134)

0j m 0j e 1

376:7 /

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222 j

6. FORMUL

F .2.2

F .2.2.1

Vector and scalar potentials

BDr ED A r @A @t (F.141a)

F .2.2.2

8 < D 1 ) Lorenz-Lorentz gauge D 0 ) Coulomb gauge : D 1 ) Kirchhoff gauge

r AC

FT

D 1 " 0 .E E C c 2 B B / 2 SD 1

0

@ D 0; c 2 @t

c2 ; v2

(F.142)

F .2.2.3

Gauge transformation

A

ueld D

(F.143a) (F.143b)

F .2 .3

Electromagnetic eld energy density in free space

(F.144)

R

F .2.3.2 F .2.3.3

F .2.3.1

E B (F.145)

g D "0 E B (F.146)

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F .2.

j 223

F .2.3.4

T D ueld 13

2

(F.147) (F.148)

Tij D u

F .2.3.5

eld

ij

h D .x x0 / g D .x x0 / "0 E B (F.149)

F .2.3.6

K. x 0 / D . x

x0 /

F .2 .4

F .2.4.1

Electromagnetic radiation

k eik jx x0 j 4 "0 c jx x0 j i Z d3x 0

i k .x0 x0 /

k e 4 "0 c jx

A

V0 ik jx x0 j

Efar ! .x/

j! e

far B! .x /

R

i

V0

k eik jx x0 j 4 "0 c 2 jx x0 j

.I ! .x0 / x0 j Z d3x 0 j! e

V0 ik jx x0 j

D

F .2.4.2

Efar ! .x/ D

far B! .x / D

V0

FT

T

(F.150)

O k

O k

(F.151)

O/ n

O n O k

ik .x0 x0 /

O/ k

O k

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224 j

6. FORMUL

F .2.4.3

Efar ! .x/ D

far B! .x / D

O k

F .2.4.4

FT

O Q! .x0 / k O k O k

V0

Efar ! .x / D i

k 3 eik jx x0 j 8 "0 jx x0 j

k 3 eik jx x0 j O far O B! .x/ D i k Q! .x0 / k 8 "0 c jx x0 j Z 0 Q.t; x0 / D d3x 0 .x0 x0 /.x0 x0 / .tret ; x0 /

F .2.4.5

BD 1O k c E (F.165)

F .2.4.6

A

q .x 4 "0 s 3 x0 / 1 B.t; x/ D

v 02 c2

0

R

E.t; x/ D

C .x

x0 /

.x

x0 / c2

a0 (F.166)

x E.t; x/ x0 j dx0 .t 0 / v 0 .t 0 / D dt 0 dv 0 .t 0 / a0 .t 0 / D dt 0 v0 s D x x 0 .x x 0 / c v0 0 0 x x0 D .x x / x x c @t 0 j x x0 j D @t x s

1 x c jx

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F .3.

Special relativity

j 225

F .3

Special relativity

Metric tensor for at 4D space

0 1 B0 B DB @0 0 0 1 0 0 0 0 1 0 1 0 0C C C 0A 1

F .3 .1

(F.173)

F .3 .2

x0 D x 0 B B DB @ 0 0 0 0 1 Dp 1 2 v D c

F .3 .3

F .3.3.1

C ONTRAVARIANT REPRESENTATION

R

D .ct; x; y; z/ a .x / D

A

def def

x D .x 0 ; x 2 ; x 2 ; x 3 / D .ct; x; y; z/

D

F .3.3.2

a .x / (F.180)

FT

(F.174) 0 0 1 0 0 0C C C 0A 1 1 (F.175) (F.176) (F.177) .ct; x/ (F.178) (F.179)

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226 j

6. FORMUL

F .3.3.3

Four-del operator

@ @ @ @ ; ; ; @x0 @x1 @x2 @x3 @ @ @ @ ; 1; 2; 3 0 @x @x @x @x D 1 @ ; c @t @ ; @x @ ; @y @ @z

def def

@ D

1 @ ; r c @t (F.181a)

@ D

1 @ @ @ @ ; ; ; c @t @x @y @z

1 @ ;r c @t (F.181b)

DA LEMBERT OPERATOR

2

F .3.3.4

FT

ds D c dt Dcd u D dx d D .c; v / p D m0 u D E ;p c j D

0u

D@ @ D@ @ D

1 @ ; r c @t

1 @ ;r c @t

1 @2 c 2 @t 2

r2

(F.182)

(F.183)

F .3.3.5

Four-velocity

F .3.3.6

A

Four-momentum Four-current density Four-potential

A D

(F.184)

(F.185)

R

F .3.3.7

D . c; v /

(F.186)

F .3.3.8

;A c

(F.187)

F .3 .4

Field tensor

F D@ A @ A (F.188)

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F .4 .

Bibliography

j 227

0 BE =c B x DB @Ey =c Ez =c

Ex =c 0 Bz By

Ey =c Bz 0 Bx

1 Ez =c By C C C Bx A 0

(F.189)

F .4

Bibliography

[60] P. M. M ORSE AND H. F ESHBACH, Methods of Theoretical Physics, Part I. McGrawHill Book Company, Inc., New York, NY . . . , 1953, ISBN 07-043316-8.

[61] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism, second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962, ISBN 0201-05702-6.

FT

[59] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth, international ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-0598167.

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FT

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M

M AT H E M AT I CA L M E T HO D S

Physics is the academic discipline that systematically studies and describes the physical world, nds new fundamental laws of Nature or generalises existing ones that govern Natures behaviour under various conditions, and perhaps most important of all makes new predictions about Nature, based on these new physical laws. Then these predictions are put to systematic tests in independent, carefully designed and performed, repeatable experiments that produce objective emprical data. Merely describing Nature and explaining physical experiments in terms of already existing laws is not physics in the true sense of the word.1 Had this non-creative, static view been adopted by all physicists since the days of Newton, we would still be doing essentially Newtonian physics. Even if such a scientic giant as M I C H A E L F A R A DAY , who had very little mathematical training, was able to make truly remarkable contributions to physics (and chemistry) using practically no formal mathematics whatsoever, it is for us mere mortals most convenient to use the shorthand language of mathematics, together with the formal methods of logic (inter alia propositional calculus ), in physics. After all, mathematics was once introduced by us human beings to make it easier to quantitatively and systematically describe, understand and predict the physical world around us. Examples of this from ancient times are arithmetics and geometry. A less archaic example is differential calculus, needed by S I R I S A AC N E W T O N to formulate, in a compact and unambiguous manner, the physical laws that bear his name. Another more modern example is the delta function introduced by PAU L A D R I E N M AU R I C E D I R AC . But the opposite is also very common: the expansion and generalisation of mathematics has more than once provided excellent tools for creating new physical ideas and to better analyse observational data. Examples of the latter include non-Euclidean geometry and group theory. Unlike mathematics per se, where the criterion of logical consistency is both necessary and sufcient, a physical theory that is supposed to describe the physical reality has to full the additional criterion that its predictions be empirically testable. Ultimately, as G A L I L E O G A L I L E I taught us, physical reality is dened by the outcome of experiments and observations, and not by mere Aristotelean logical reasoning, however mathematically correct and logically consistent this may be. Common sense is not enough and logic and reasoning can never outsmart Nature. Should the outcome of repeated, carefully performed,

A

229

FT

1

As S T E V E N W E I N B E R G puts it in the Preface To Volume I of The Quantum Theory of Fields: . . . after all, our purpose in theoretical physics is not just to describe the world as we nd it, but to explain in terms of a few fundamental principles why the world is the way it is.

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The theoretical physicist S I R R U D O L F P E I E R L S (19071995) described an ideal physical theory in the following way: It must rstly leave undisturbed the successes of earlier work and not upset the explanations of observations that had been used in support of earlier ideas. Secondly it must explain in a reasonable manner the new evidence which brought the previous ideas into doubt and which suggested the new hypothesis. And thirdly it must predict new phenomena or new relationships between different phenomena, which were not known or not clearly understood at the time when it was invented.

independent experiments produce results that systematically contradict predictions of a theory, the only conclusion one can draw is that the theory in question, however logically stringent and mathematically correct it may be, is wrong.2 On the other hand, extending existing physical theories by mathematical and logical generalisations is a very powerful way of making hypotheses and predictions of new physical phenomena. History shows that if one has several alternative ways of generalising a theory, the theory with most generality, simplicity, elegance and beauty often is the best one. But it is not until these hypotheses and predictions have withstood empirical tests in physical experiments that they can be said to extend physics and our knowledge about Nature. This appendix describes briey some of the more common mathematical methods and tools that are used in Classical Electrodynamics.

M .1

Every physical observable can be represented by a mathematical object. We have chosen to describe the observables in classical electrodynamics in terms of scalars, pseudoscalars, vectors, pseudovectors, tensors and pseudotensors, all of which obey certain canonical rules of transformation under a change of coordinate systems and are completely dened by these rules. Despite certain advantages (and some shortcomings), differential forms will not be exploited to any signicant degree in our mathematical description of physical observables. A scalar , which may or may not be constant in time and/or space, describes the scaling of a physical quantity. A vector describes some kind of physical motion along a curve in space due to vection.3 A tensor describes the local motion or deformation of a surface or a volume due to some form of tension and is therefore a relation between a set of vectors. However, generalisations to more abstract notions of these quantities have proved useful and are therefore commonplace. The difference between a scalar, vector and tensor and a pseudoscalar , pseudovector and a pseudotensor is that the latter behave differently under those coordinate transformations that cannot be reduced to pure rotations. For computational convenience, it is often useful to allow mathematical objects representing physical observables to be complex valued, i.e. to let them be analytically continued into (a domain of) the complex plane. However, since by denition our physical world is real, care must be exercised when comparing mathematical results with physical observables, i.e. real-valued numbers obtained from physical measurements. Throughout we adopt the convention that Latin indices i; j; k; l; : : : run over the range f1; 2; 3g to denote vector or tensor components in the real Euclidean

FT

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M .1 .

j 231

three-dimensional (3D) conguration space, and Greek indices ; ; ; ; : : : , which are used in four-dimensional (4D) spacetime, run over the range f0; 1; 2; 3g.

M .1 .1

Vectors

Mathematically, a vector can be represented in a number of different ways. One suitable representation in a vector space of dimension N is in terms of an ordered N -tuple of real or complex4 numbers .a1 ; a2 ; : : : ; aN / of the components along N orthogonal coordinate axes that span the vector space under consideration. Note, however, that there are many ordered N -tuples of numbers that do not comprise a vector, i.e. do not have the necessary vector transformation properties!

M .1.1.1

Position vector

A

xD

3 X i D1

The most basic vector, and the prototype against which all other vectors are benchmarked, is the position vector (radius vector , coordinate vector ) which is the vector from the origin of the chosen coordinate system to the actual point of interest. Its N -tuple representation simply enumerates the coordinates of the position of this point. In this sense, the vector from the origin to a point is synonymous with the coordinates of the point itself. In the 3D Euclidean space R3 , we have N D 3 and the position vector x can be represented by the triplet .x1 ; x2 ; x3 / of its coordinates xi 2 R, i D 1; 2; 3. The coordinates xi are scalar quantities which describe the position along the O i which span R3 . Therefore one convenient representation of unit base vectors x the position vector in R3 is5

FT

5

It is often very convenient to use complex notation in physics. This notation can simplify the mathematical treatment considerably. But since all physical observables are real, we must in the nal step of our mathematical analysis of a physical problem always ensure that the results to be compared with experimental values are realvalued. In classical physics this is achieved by taking the real (or imaginary) part of the mathematical result, whereas in quantum physics one takes the absolute value.

R

xi

def

Oi xi x

def

Oi xi x

( M .1 )

We introduce the symbol which may be read is, by denition, to equal in meaning, or equals by denition, or, formally, deniendum deniens . Another symbol sometimes used is .

def

def

where we have introduced Einsteins summation convention (E) that states that a repeated index in a term implies summation over the range of the index in question. Whenever possible and convenient we shall in the following always assume E and suppress explicit summation in our formul. Typographically, we represent vectors as well as prex and inx vector operators in 3D Euclidean space by a boldface letter or symbol in a Roman font, for instance a, r , , , and . Alternatively, we can describe the position vector x in component notation as xi where .x1 ; x2 ; x3 / ( M .2 )

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This component notation is particularly useful in a 4-dimensional Riemannian space where we can represent the (one and the same) position vector either in its contravariant component form , (superscript index form) as the quartet x

def

.x 0 ; x 1 ; x 2 ; x 3 /

( M .4 )

def

.x0 ; x1 ; x2 ; x3 /

( M .5 )

M .1 .2

Fields

R

M .1.2.1

A eld is a physical entity that depends on one or more continuous parameters. Such a parameter can be viewed as a continuous index that enumerates the innitely many coordinates of the eld. In particular, in a eld that depends on the usual position vector x of R3 , each point in this space can be considered as one degree of freedom so that a eld is a representation of a physical entity with an innite number of degrees of freedom.

def

A

Scalar elds

FT

.xi / .x 0 ; x 1 ; x 2 ; x 3 /

def

The contravariant and covariant forms represent the same vector but the numerical values of the components of the two may have different numerical values. The relation between them is determined by the metric tensor (also known as the fundamental tensor ) whose actual form is dictated by the properties of the vector space in question. The dual representation of vectors in contravariant and covariant forms is most convenient when we work in a vector space with an indenite metric . An example of 4D Riemannian space is Lorentz space L4 which is a frequently employed to formulate the special theory of relativity.

( M .6 )

This eld describes how the scalar quantity varies continuously in 3D R3 space. In 4D, a four-scalar eld is denoted .x / ( M .7 )

which indicates that the four-scalar depends on all four coordinates spanning this space. Since a four-scalar has the same value at a given point regardless of coordinate system, it is also called an invariant .

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M .1.2.2

Vector elds

We can represent an arbitrary 3D real vector eld a.x/ as follows: O i 2 R3 a.x/ D ai .x/x In component notation this same vector can be represented as ai .x/ D .a1 .x/; a2 .x/; a3 .x// D ai .xj / ( M .9 ) ( M .8 )

A 3D complex vector eld c.x/ is a vector in C3 (or, if we like, in R6 ), expressed in terms of two real vectors cR and cI in R3 in the following way

O R 2 R3 Re fcg D cR D cR c OI 2 R Im fcg D cI D cI c

3

A

dx 0 D @x 0 dx @x

The use of complex vectors is in many situations a very convenient and powerful technique but requires extra care since physical observables must be represented by real vectors (2 R3 ). In 4D, an arbitrary four-vector eld in contravariant component form can be represented as a .x / D .a0 .x /; a1 .x /; a2 .x /; a3 .x // (M.12)

a .x / D .a0 .x /; a1 .x /; a2 .x /; a3 .x //

D

M .1.2.3

where x is the position four-vector (radius four-vector , coordinate four-vector ). Again, the relation between a and a is determined by the metric of the physical 4D system under consideration.

Coordinate transformations

We note that for a change of coordinates x 7! x 0 D x 0 .x 0 ; x 1 ; x 2 ; x 3 /, due to a transformation from one coordinate system to another coordinate system 0 , the differential position vector dx transforms as (M.14)

FT

(M.11a) (M.11b) (M.13)

c.x/

def

def

O 2 C3 c.x/c

(M.10)

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This follows trivially from the rules of differentiation of x 0 considered as a function of four variables x , i.e. x 0 D x 0 .x /. Analogous to the transformation rule for the differential dx , equation (M.14) above, the transformation rule for the differential operator @=@x under a transformation x 7! x 0 becomes @ @x @ D 0 0 @x @x @x (M.15)

FT

y0 D @x 0 y @x y0 D @x y @x 0

which, again, follows trivially from the rules of differentiation. Whether an arbitrary N -tuple fulls the requirement of being an (N -dimensional) contravariant vector or not, depends on its transformation properties during a change of coordinates. For instance, in 4D an assemblage y D .y 0 ; y 1 ; y 2 ; y 3 / constitutes a contravariant four-vector (or the contravariant components of a four-vector) if and only if, during a transformation from a system with coordinates x to a system 0 with coordinates x 0 , it transforms to the new system according to the rule (M.16)

i.e. in the same way as the differential coordinate element dx transforms according to equation (M.14) on the previous page. The analogous requirement for a covariant four-vector is that it transforms, during the change from to 0 , according to the rule

A

Tensor elds

(M.17)

i.e. in the same way as the differential operator @=@x transforms according to equation (M.15) above.

When a mathematical object representing a physical observable is given in matrix representation, we indicate this by enclosing the mathematical object in question in parentheses, i.e. .: : :/.

R

M .1.2.4

We denote an arbitrary tensor eld in R3 by A.x/. This tensor eld can be represented in a number of ways, for instance in the following matrix representation :6 1 0 A11 .x/ A12 .x/ A13 .x/ def def B C A.x/ Aij .xk / (M.18) @A21 .x/ A22 .x/ A23 .x/A A31 .x/ A32 .x/ A33 .x/ Strictly speaking, the tensor eld described here is a tensor of rank two. A particularly simple rank two tensor in R3 is the 3D Kronecker delta tensor ij , with the following properties: ( 0 if i j ij D (M.19) 1 if i D j

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M .1 .

j 235

The 3D Kronecker delta tensor has the following matrix representation 1 0 1 0 0 B C (M.20) .ij / D @0 1 0A 0 0 1 Another common and useful tensor is the fully antisymmetric tensor of rank three, also known as the Levi-Civita tensor 8 if i; j; k is an even permutation of 1,2,3 <1

ij k

0 : 1

(M.21)

ij k

j ki

and

ij k

j ik

ij k i lm

D j l km

In fact, tensors may have any rank n. In this picture, a scalar is considered to be a tensor of rank n D 0 and a vector to be a tensor of rank n D 1. Consequently, the notation where a vector (tensor) is represented in its component form is called the tensor notation . A tensor of rank n D 2 may be represented by a two-dimensional array or matrix, and a tensor of rank n D 3 may be represented as a vector of tensors of rank n D 2. Assuming that one of the indices of the Levi-Civita tensor ij k , e.g. the rst index i D 1; 2; 3, denotes the component of such a vector of tensors, these components have the matrix representations (the second and third indices, j; k D 1; 2; 3, are the matrix indices) 0 1 0 1 0 0 0 111 112 113 B C B C . ij k /i D1 D @ 121 122 123 A D @0 0 1A D iS1 (M.25a) 0 1 0 131 132 133 0 1 0 1 0 0 1 211 212 213 B C B C . ij k /i D2 D @ 221 222 223 A D @0 0 0 A D iS2 (M.25b) 1 0 0 231 232 233 0 1 0 1 0 1 0 311 312 313 B C B C . ij k /i D3 D @ 321 322 323 A D @ 1 0 0A D iS3 (M.25c) 0 0 0 331 332 333

FT

kij

(M.22)

ikj

(M.23)

j m kl

(M.24)

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Here we have introduced the matrix vector Oi S D Si x where the vector components Si are the matrices 0 1 0 1 0 0 0 0 0 0 i 0 B C B C B S1 D @0 0 iA S2 D @ 0 0 0A S3 D @ i 0 i 0 i 0 0 0 which satisfy the angular momentum commutation rule Si ; Sj D i

ij k Sk

(M.26) 1 i 0 C 0 0A 0 0

(M.27)

(M.28)

a contravariant four-tensor eld , denoted A a covariant four-tensor eld , denoted A a mixed four-tensor eld , denoted A

1

A

a .x / a .x / g g

k k k k

The 4D metric tensor (fundamental tensor ) mentioned above is a particularly important four-tensor of rank two. In covariant component form we shall denote it g . This metric tensor determines the relation between an arbitrary contravariant four-vector a and its covariant counterpart a according to the following rule:

def

FT

1 2 ::: n

Tensors of rank higher than 3 are best represented in their tensor notation (component form). It is important to remember that a tensor of any rank is fully and totally characterized by its transformation properties under the change of coordinates. This is a very strict constraint. In 4D, we have three forms of four-tensor elds of rank n. We speak of .x /,

2 ::: n k n

.x /,

1 2 ::: k C1 :::

.x /.

a .x /

(M.29)

R D

This rule is often called lowering of index . The raising of index analogue of the index lowering rule is:

def

a .x /

(M.30)

More generally, the following lowering and raising rules hold for arbitrary rank n mixed tensor elds: A A

1 2 ::: k 1 k k C1 k C2 ::: n 1 2 ::: k 1 k k C1 ::: n

.x / D A

1 2 ::: k 1 k k C1 ::: n

.x / .x /

(M.31) (M.32)

.x / D A

1 2 ::: k 1 k k C1 k C2 ::: n

Successive lowering and raising of more than one index is achieved by a repeated application of this rule. For example, a dual application of the lowering operation on a rank two tensor in its contravariant form yields A Dg g A (M.33)

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M .2 .

Vector algebra

j 237

M .2

Vector algebra

Scalar product

M .2 .1

The scalar product (dot product , inner product ) of two arbitrary 3D vectors a and b in Euclidean R3 space is the scalar number O i bj x Oj D x Oi x O j ai bj D ij ai bj D ai bi a b D ai x (M.34)

Oi x O j is a representation of the where we used the fact that the scalar product x Kronecker delta ij dened in equation (M.19) on page 234.7 The scalar product of a vector a in R3 with itself is a a

def

a b D ab cos

where is the angle between a and b. In 4D space we dene the scalar product of two arbitrary four-vectors a and b in the following way a b Dg a b Da b Dg a b (M.37)

A

dx dx D dx dx bD O i aj bk ij k x D a O b D ab sin e

where we made use of the index lowering and raising rules (M.29) and (M.30). The result is a four-scalar, i.e. an invariant which is independent of in which 4D coordinate system it is measured. The quadratic differential form

i.e. the scalar product of the differential position four-vector with itself, is an invariant called the metric . It is also the square of the line element ds which is the distance between neighbouring points with coordinates x and x C dx .

M .2 .2

Vector product

The vector product or cross product of two arbitrary 3D vectors a and b in ordinary R3 space is the vector8 cDa Oi ij k aj bk x (M.39)

ds 2 D g

Here ij k is the Levi-Civita tensor dened in equation (M.21) on page 235. Alternatively, (M.40)

FT

(M.36) (M.38)

8

(M.35)

Sometimes the 3D vector product of a and b is denoted a ^ b or, particularly in the Russian literature, ab.

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In electrodynamics, it is very common that the dyadic product is represented by a juxtaposition of the antecedent and the consequent, i.e. A D ab.

The dyadic product A.x/ a.x/b.x/ of two vector elds a.x/ and b.x/ is the outer product of a and b known as a dyad . Here a is called the antecedent and b the consequent .9 The dyadic product between vectors (rank one tensors) is a special instance of the direct product between arbitrary rank tensors. This associative but noncommuting operation is also called the tensor product or, when applied to matrices (matrix representations of tensors), the Kronecker product . Written out in explicit form, the dyadic product A becomes O 1 b1 x O 1 C a1 x O 1 b2 x O2 C A D ab D a1 x O 3 b3 x O3 C a3 x (M.41a) (M.41b) (M.41c)

A

b2

M .2 .3

Dyadic product

O i bj x O j D ai bj x O ix Oj D x O i ai bj x Oj D ai x 0 10 1 O1 a1 b1 a1 b2 a1 b3 x B CB C D x O1 x O2 x O 3 @a2 b1 a2 b2 a2 b3 A @x O 2A O3 a3 b1 a3 b2 a3 b3 x

FT

b3 0 a1 b1 B D @a2 b1 a3 b1 a1 b2 a2 b2 a3 b2 1 a1 b3 C a2 b3 A a3 b3

O is a unit vector perpendicular to the where is the angle between a and b and e plane spanned by a and b. 0 0 0 A spatial reversal of the coordinate system, .x1 ; x2 ; x3 / D . x 1 ; x 2 ; x 3 /, known as a parity transformation , changes sign of the components of the vectors a and b so that in the new coordinate system a0 D a and b0 D b, which is to say that the direction of an ordinary vector is not dependent on the choice of the directions of the coordinate axes. On the other hand, as is seen from equation (M.39) on the previous page, the cross product vector c does not change sign. Therefore a (or b) is an example of a true vector, or polar vector , whereas c is an example of an pseudovector or axial vector . A prototype for a pseudovector is the angular momentum vector L D x p and hence the attribute axial. Pseudovectors transform as ordinary vectors under translations and proper rotations, but reverse their sign relative to ordinary vectors for any coordinate change involving reection. Tensors (of any rank) that transform analogously to pseudovectors are called pseudotensors . Scalars are tensors of rank zero, and zero-rank pseudotensors are therefore also called O i .x Oj x O k/ D x O i . ij k x O i /. pseudoscalars , an example being the pseudoscalar x This triple product is a representation of the ij k component of the rank three Levi-Civita pseudotensor ij k .

(M.42)

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M .2 .

Vector algebra

j 239

which we identify with expression (M.18) on page 234, viz. a tensor in matrix representation. Hence, a dyadic of two vectors is intimately related to a rank two tensor, emphasising its vectorial characteristics. Scalar multiplication from the right or from the left of the dyad A D ab by a vector c, produces other vectors according to the scheme

A c D ab c

def def

Oj a.b c/ D aj bi ci x Oj .c a/b D ai bj ci x

(M.43a) (M.43b)

c A D c ab

O j A D aj b D aj bi x Oi x

Oi A x O j D ai bj D Aij x

A

c/ D O ix Oj j kl ai bk cl x D Oj x Oi j kl al bi ck x O 1x O 2 C c2 x O 1x O3 c3 x O 2x O1 C c3 x O 2x O3 c1 x O 1x O 3 C c1 x O 3x O2 D c c2 x

The vector product can be represented in matrix form as follows: 0 1 0 1 c1 a2 b3 a3 b2 B C B C .c/ D @c2 A D .a b/ D @a3 b1 a1 b3 A D ia Sb D iaS b c3 a1 b2 a2 b1

R

c

def

where Sb is the dyadic product of the matrix vector S, given by formula (M.26) on page 236, and the vector b, and aS is the dyadic product of the vector a and the matrix vector S. Vector multiplication from the right and from the left of the dyad A by a vector is another dyad according to the scheme

A

c D ab

ADc

a .b .c

D

13

ab

def

a/b D

respectively. In general, the two new dyads thus created are not identical to each other. O ix O i , i.e. the unit dyad or the second-rank unit Specically, if A D 13 D x tensor , then cD

FT

(M.44a) (M.44b) (M.44c) (M.45) (M.46a) O ix Oj ikl al bj ck x (M.46b) (M.47)

13

respectively. These two vectors, proportional to a and b, respectively, are in general not identical to each other. In the rst case, c is known as the postfactor , in the second case as the prefactor . O j , then Specically, if c D x

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13 /

(M.48)

Using the matrix vector formula (M.26) on page 236, we can write this as .1 3 c/ D .c

13 / D

iS c

(M.49)

One can extend the dyadic scheme and introduce abc, called a tryad , and so on. In this vein, a vector a is sometimes called a monad .

M .3 .1

10

This operator was introduced by W I L L I A M R OW E N H A M I LT O N (18051865) who, however, used the symbol for it. It is therefore sometimes called the Hamilton operator .

In R3 the del operator is a differential vector operator , denoted in Gibbs notation by the boldface nabla symbol r and dened as10 O i ri r Dx

def

FT

Oi x @ @xi

def

M .3

Vector calculus

@ @x

def

(M.50)

A

@i D @ D @ D

O i is the i th unit vector in a Cartesian coordinate system. Since the operwhere x ator in itself has vectorial properties, we denote it with a boldface nabla (r ). In component (tensor) notation the del operator can be written @ @ @ ; ; @x1 @x2 @x3 (M.51)

R D

and respectively.

In 4D, the contravariant component representation of the four-del operator is dened by @ @ @ @ ; ; ; @x0 @x1 @x2 @x3 @ @ @ @ ; ; ; @x 0 @x 1 @x 2 @x 3 (M.52)

We can use this four-del operator to express the transformation properties (M.16) and (M.17) on page 234 as y0 D @ x0 y (M.54)

y 0 D @0 x

(M.55)

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M .3 .

Vector calculus

j 241

M .3 .2

def

r .x/

def

@.x/

def

O i @i .x/ x

def

O i @i .xj / x

(M.56)

If the scalar eld depends only on one coordinate, say, then O @. / D O r . / r .x/ D r . / D @ (M.57)

@.x / @x @.x / @x

@ai .x/ @xi

def

A

def def

M .3 .3

r a.x/

@i ai .x/

which, as indicated by the notation .x/, is a scalar eld in R3 . The four-divergence of a four-vector a is the four-scalar @ a .x / D @a .x / @x (M.60)

D

M .3 .4

curl a.x/

def

In R3 the curl of a vector eld a.x/ is another R3 vector eld dened in the following way: r a.x/

def

R

Oi ij k x @ak .x/ @xj

def

FT

(M.58a) (M.58b)

def

O r . From this we see that the boldface notation for the and, therefore, r D gradient (r ) is very handy as it elucidates its 3D vectorial property and separates it from the nabla operator (r ) which has a scalar property. In 4D, the four-gradient of a four-scalar is a covariant vector, formed as a derivative of a four-scalar eld .x /, with the following component form:

@i ai .xj /

(M.59)

O i @j ak .x/ ij k x

def

O i @j ak .xl / ij k x (M.61)

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where use was made of the Levi-Civita tensor, introduced in equation (M.21) on page 235. If a is an ordinary vector (polar vector), then r a is a pseudovector (axial vector) and vice versa. Similarly to formula (M.45) on page 239, we can write the matrix representation of the curl in R3 as 0 @2 a3 B a/ D @@3 a1 @1 a2 1 @3 a2 C @1 a3 A D @2 a1

.r

ir S a D

ir S a

(M.62)

FT

@ a .x / D A .x /

def

where S is the matrix vector given by formula (M.26) on page 236. The covariant 4D generalisation of the curl of a four-vector eld a .x / is the antisymmetric four-tensor eld A .x / D @ a .x / (M.63)

M .3 .5

The Laplacian

A

r r D r2

The 3D Laplace operator or Laplacian can be described as the divergence of the del operator:

def 3 X @2 @xi2 i D1 def

@2 @xi2

def

@2 i

(M.64)

R

M .3 .6

The symbol r 2 is sometimes read del squared . If, for a scalar eld .x/, r 2 < 0 at some point in 3D space, has a concentration at that point. Numerous vector algebra and vector calculus formul are given in appendix F on page 211. Those which are not found there can often be easily derived by using the component forms of the vectors and tensors, together with the Kronecker and Levi-Civita tensors and their generalisations to higher ranks and higher dimensions.

In this subsection we derive some (Riemann) integral identities involving vectors and/or tensors, Of particular interest, importance and usefulness are identities where the integrand contains the scalar 1= jx x0 j.

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M .3 .

Vector calculus

j 243

M .3.6.1

Let us start with the gradient of a volume integral of a scalar eld divided by jx x0 j. It can be written Z Z 0 1 3 0 .x / r dx D d3x 0 .x0 /r (M.65) 0j 0 0 x x x x0 j j j V V where we used formula (F.77) on page 217 with .x/ D 1= jx x0 j, noticing that is a function of x0 only and therefore behaves as a constant under differentiation with respect to x. The results obtained in example M.10 on page 256 allow us to make the replacement r 7! r 0 in the integrand, leading to Z Z 1 .x0 / r d3x 0 D d3x 0 .x0 /r 0 (M.66) 0 jx x j j x x0 j V0 V0 We can now integrate the RHS by part by invoking formula (F.77) once more, but this time with r 0 instead of r . The result is Z Z Z 0 0 0 .x0 / 3 0 r .x / 3 0 0 3 0 .x / D d x d x r (M.67) r dx j x x0 j j x x0 j jx x0 j V0 V0 V0 Formula (F.121a) on page 219 enables us to replace the last volume integral with a surface integral, yielding the nal result Z Z I 0 0 .x0 / .x0 / 3 0 r .x / O r d3x 0 D d x d2x 0 n (M.68) 0 0 jx x j jx x j jx x0 j V0 V0 S0

We integrate this by part, again employing identity (F.81) on page 217 and formula (F.121b) on page 219, to obtain Z Z I 0 0 a.x0 / a .x 0 / 3 0 a.x / 3 0 r 2 0 0 O (M.70) r dx D d x d x n j x x0 j jx x0 j jx x0 j V0 V0 S0 For the curl of the same vector integral, we do not repeat the steps but only quote the nal result Z Z I 0 0 a.x0 / a.x0 / 3 0 a .x / 3 0 r 2 0 0 O r dx D d x d x n (M.71) jx x0 j jx x0 j j x x0 j V0 V0 S0

An analogous approach for the divergence of a volume integral of a regular vector eld a.x0 / divided by jx x0 j yields, with the use of formula (F.81) on page 217 and the results in example M.10 on page 256, Z Z 1 a.x0 / D d3x 0 a.x0 / r r d3x 0 0 jx x j jx x0 j V0 V0 (M.69) Z 1 D d3x 0 a.x0 / r 0 j x x0 j V0

FT

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244 j

The above results can be summarised in the general partial integration formula Z I Z 0 0 0 A.x0 / 3 0 r A.x / 2 0 0 3 0 A.x / O D d x d x n (M.72) r dx jx x0 j j x x0 j jx x0 j V0 S0 V0 where is either (i) nothing (juxtaposition) and A D , or (ii) D or D and A D a. In the surface integrals in the formul above, the surface eleO 0 is proportional to r 2 D jx x0 j2 [cf. formula (F.18) on ment d2x 0 D dS0 n page 213]. Hence, if A.x0 / falls off faster than 1=r , this surface integral vanishes when we let the radius r of the sphere S 0 , over which the surface integral is to be evaluated, tend to innity. If A.x0 / falls off exactly as 1=r for large r , the surface O0 integral tends to a constant, which, in the special cases D ; A.x0 / D a ? n O 0 is zero. If A.x0 / falls off slower than 1=r at inand D ; A.x0 / D a k n nity, the surface integral is singular and, consequently, the above formul are inapplicable. When the surface integral vanishes the following simple and very useful formula obtains: Z Z 0 0 A.x0 / 3 0 r A.x / r d3x 0 D (M.73) d x jx x0 j j x x0 j V0 V0

M .3.6.2

Let us also derive two identities involving second derivatives of an integral over V 0 where the integrand is either a regular, differentiable scalar .x0 /, or a regular vector eld a.x0 / divided by jx x0 j. The divergence of the gradient of an integral where the integrand is of the rst kind can be written Z Z .x0 / 1 r r d3x 0 D d3x 0 .x0 /r r 0 jx x j j x x0 j V0 V0 (M.74) Z 1 D d3x 0 .x0 /r 2 jx x0 j V0

The representation of the Dirac delta function given by formula (F.116) on page 218 immediately yields the simple result that Z .x0 / D 4 .x/ (M.75) r r d3x 0 jx x0 j V0 The curl of the curl of an integral with an integrand of the second kind is Z Z 0 0 3 0 a .x / 3 0 a.x / r r dx D r r d x jx x0 j j x x0 j V0 V0 (M.76) Z 0 3 0 a.x / r r dx jx x0 j V0

FT

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M .3 .

Vector calculus

j 245

where we used the identity (F.96) on page 218. The second integral in the RHS is the vector form of formula (M.75) on the facing page : Z a.x0 / D 4 a .x / (M.77) r r d3x 0 j x x0 j V0 Using the fact that r operates on unprimed coordinates whereas a depends only on x0 , we can rewrite the rst integral in the RHS as Z Z 1 1 3 0 0 d x a.x / r r D d3x 0 a.x0 / r 0 r 0 (M.78) 0 jx x j j x x0 j V0 V0 where we twice used the fact that r D r 0 when they operate on 1= jx x0 j and its gradient. Now we can utilise identity (F.86) on page 217 with b D r 0 .1= jx x0 j/ to integrate the RHS by parts as follows: 1 d3x 0 a.x0 / r 0 r 0 j x x0 j V0 Z Z 1 1 3 0 0 0 0 C D d3x 0 r 0 a.x0 /r 0 d x r a.x /r 0 jx x j jx x0 j V0 V0 I Z 1 1 O 0 a.x0 /r 0 C d2x 0 n D d3x 0 r 0 a.x0 /r 0 0 jx x j jx x0 j S0 V0 (M.79) Z

where, in the last step, we used the divergence theorem for tensors/dyadics, formula (F.121e) on page 219. Putting it all together, we nally obtain the integral identity Z r r a .x 0 / dx jx x0 j V0

3 0

D

M .3 .7

Helmholtzs theorem

Let us consider an unspecied but well-behaved vector eld u.x/ that is continuously differentiable. From equation (M.76) and equation (M.77) above we see that we can always represent such a vector eld in the following way: Z Z u.x0 / u.x0 / 3 0 3 0 u.x/ D r r dx C r r d x 4 j x x0 j 4 jx x0 j V0 V0 (M.81)

A

Z

FT

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246 j

If u.x/ is regular and falls off rapidly enough with distance r D jx x0 j (typically faster than 1=r when r ! 1), we can use formula (M.73) on page 244 to rewrite this as u.x/ D where .x/ D r 0 u.x0 / 4 jx x0 j V0 Z r 0 u.x0 / a.x/ D d3x 0 4 jx x0 j V0 Z d3x 0 (M.82b) (M.82c) r .x/ C r a.x/ (M.82a)

FT

u.x/ D uirrot .x/ C urotat .x/ Z r .x/ D r a.x/ D r r 0 u.x0 / 4 j x x0 j V0 Z r 0 u.x0 / d3x 0 4 jx x0 j V0 d3x 0 r uirrot D 0

rotat

Since, according to example M.13 on page 257, r .r / D 0, i.e. r is irrotational (also called rotation-less or lamellar ), and, according to example M.14 on page 258, r .r a/ D 0, i.e. r a is rotational (also called divergenceless or solenoidal ), u can always be decomposed into one irrotational and one rotational component (M.83a)

(M.83b) (M.83c)

R D

A

r u r uDr u

(M.84a) (M.84b)

D0

rotat

r 2 a/

(M.85a) (M.85b)

Dr

.r

from which we see that a vector eld that is well-behaved at large distances is completely and uniquely determined if we know its divergence and curl at all points x in 3D space (and at any given xed time t if the vector eld is time dependent). This is the (rst) Helmholtzs theorem , also called the fundamental theorem of vector calculus .

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M .4 .

Analytical mechanics

j 247

M .4

Analytical mechanics

Lagranges equations

M .4 .1

As is well known from elementary analytical mechanics, the Lagrange function or Lagrangian L is given by L.qi ; q P i ; t / D L .qi ; q P i ; t/ D T where qi is the generalised coordinate , q Pi

def

(M.86)

dqi dt

(M.87)

t1

A

d dt @L @q Pi @L D0 @qi pi D @L @q Pi @L Dp Pi @qi d @ @ DLCq Pi C dt @qi @t @L0 @L @ D C @q Pi @q Pi @q

R

L0 D L C

D

then

If we introduce an arbitrary, continuously differentiable function D .qi ; t/ and a new Lagrangian L0 related to L in the following way (M.93)

FT

(M.89) (M.90) (M.91) (M.92) (M.94a)

the generalised velocity , T the kinetic energy , and V the potential energy of a mechanical system, If we use the action Z t2 dt L.qi ; q P i ; t/ (M.88) SD

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248 j

@L d @ @L0 D C @qi @qi dt @q Or, in other words, d @L0 dt @ q Pi where pi0 D and qi0 D @L @L0 D D qi @p Pi @p P @L0 @L @ @ D C D pi C @q Pi @q Pi @qi @qi @L0 d @L D @qi dt @q Pi @L @qi

(M.94b)

(M.95)

(M.96a)

(M.96b)

From L, the Hamiltonian (Hamilton function ) H can be dened via the Legendre transformation H.pi ; qi ; t/ D pi q Pi L.qi ; q P i ; t/ (M.97)

After differentiating the left and right hand sides of this denition and setting them equal we obtain @H @H @H dpi C dqi C dt D q P i dpi C pi dq Pi @pi @qi @t @L dqi @qi @L dq Pi @q Pi @L dt @t (M.98)

R D

EXAMPLE

M .1

According to the denition of pi , equation (M.91) on the previous page, the second and fourth terms on the right hand side cancel. Furthermore, noting that according to equation (M.92) on the preceding page the third term on the right hand side of equation (M.98) above is equal to p Pi dqi and identifying terms, we obtain the Hamilton equations : @H dqi Dq Pi D @pi dt @H D p Pi D @qi (M.99a) dpi dt (M.99b)

M .5

The physical interpretation of a complex vector Study the physical meaning of vectors in complex notation where both the magnitudes and the base vectors are complex. Let us choose the complex magnitude as

A FT

Hamiltons equations

M .4 .2

Examples

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M .5 .

Examples

j 249

c D jc jei D

2C.cos

C i sin / ; C 2 R

(M.100)

and, without lack of generality, choose as base vectors the two complex unit base vectors, expressed in the two orthogonal base vectors x1 ; x2 2 R3 1 O D p O 1 ix O 2/ h .x 2 that full the conditions OC h O Dh O h C OC h O Dh O h O D1 h O D0 h C (M.102) (M.103) (M.101)

With these choices, our two vectors can be written O D C.cos c D jc jei h O1 D C.cos x O 1 ix O 2/ C i sin /.x (M.104)

In order to interpret this expression correctly in physical terms, we must take the real part O1 Re fc g D C.cos x If D !t , as is be the case when ! , then O 2/ sin x

O1 Re fc g D C cos.!t/ x

We see that the physically meaningful real part describes a rotation in positive or negative O are called helical base vectors . sense, depending on the choice of sign. and therefore h End of example M.1

A FT

(M.105) measures the angle of rotation with angular frequency O2 sin.!t/ x (M.106) T

O n

Tensors in 3D space

EXAMPLE

M .2

D

2 Tn O d x

R

D cos

1 Tx O1

Consider a tetrahedron-like volume element V of a solid, uid, or gaseous body, whose atomistic structure is irrelevant for the present analysis; gure M.1 on the following page O be the directed surface element of indicates how this volume may look like. Let dS D d2x n 2 this volume element and let the vector Tn O d x be the force that matter, lying on the side of O points, acts on matter which lies on the opposite d2x toward which the unit normal vector n side of d2x . This force concept is meaningful only if the forces are short-range enough that they can be assumed to act only in the surface proper. According to Newtons third law, this surface force fulls

Tn O

(M.107)

Using (M.107) and Newtons second law, we nd that the matter of mass m, which at a given instant is located in V obeys the equation of motion d2x cos

2 Tx O2

d2x

cos

3 Tx O3

d2x C Fext D ma

(M.108)

where Fext is the external force and a is the acceleration of the volume element. In other words Tn O D n1 Tx O 1 C n2 Tx O 2 C n3 Tx O3 C m d2x a Fext m (M.109)

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250 j

x3

O n

d2x x2

x1

Since both a and Fext =m remain nite whereas m=d2x ! 0 as V ! 0, one nds that in this limit Tn O D

3 X

A FT

V

ni Tx Oi ni Tx Oi

i D1

(M.110)

R D

O Tn Om O D Tn O m D

3 X j D1

From the above derivation it is clear that equation (M.110) above is valid not only in equilibrium but also when the matter in V is in motion. Introducing the notation Tij D Tx Oi

j

(M.111)

for the j th component of the vector Tx O i , we can write equation ( M .110) above in component form as follows Tn O j D . Tn O /j D

3 X i D1

ni Tij

ni Tij

(M.112)

Using equation (M.112) above, we nd that the component of the vector Tn O in the direction O is of an arbitrary unit vector m

3 3 X X j D1 i D1

! ni Tij mj O T m O ni Tij mj D n

Tn O j mj D

(M.113)

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M .5 .

Examples

j 251

Hence, the j th component of the vector Tx O i , here denoted Tij , can be interpreted as the ij th component of a tensor T. Note that Tn Om O is independent of the particular coordinate system used in the derivation. We shall now show how one can use the momentum law (force equation) to derive the equation of motion for an arbitrary element of mass in the body. To this end we consider a part V of the body. If the external force density (force per unit volume) is denoted by f and the velocity for a mass element dm is denoted by v , we obtain Z Z Z d 2 v dm D f d3x C Tn (M.114) O d x dt V V S The j th component of this equation can be written Z Z Z Z Z d 2 3 vj dm D fj d3x C Tn d x D f d x C ni Tij d2x j Oj V S V S V dt

(M.115)

Since this formula is valid for any arbitrary volume, we must require that d vj dt fj @Tij D0 @xi

or, equivalently

@vj C v r vj @t

Note that @vj =@t is the rate of change with time of the velocity component vj at a xed point x D .x1 ; x1 ; x3 /. End of example M.2

A FT

(M.117) fj @Tij D0 @xi (M.118) 0 1 B0 /DB @0 0 0 1 0 0 0 0 1 0 1 0 0C C 0A 1 (M.120)

where, in the last step, equation (M.112) on the facing page was used. Setting dm D d3x and using the divergence theorem on the last term, we can rewrite the result as Z Z Z @Tij 3 d vj d3x D dx (M.116) fj d3x C V dt V V @xi

EXAMPLE

M .3

i.e. a matrix with a main diagonal that has the sign sequence, or signature , fC; ; ; g. Alternatively, one can dene the metric tensor in L4 as 8 < 1 if D D 0 (M.121) D 1 if D D i D j D 1; 2; 3 : 0 if

R

.

The 4D Lorentz space L4 has a simple metric which can be described by the metric tensor 8 if D D 0 <1 g D D (M.119) 1 if D D i D j D 1; 2; 3 : 0 if

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252 j

(M.122)

i.e. a matrix with signature f ; C; C; Cg. Of course, the physics is unaffected by the choice of metric tensor. Consider an arbitrary contravariant four-vector a in this space. In component form it can be written: a

def

According to the index lowering rule, equation (M.29) on page 236, we obtain the covariant version of this vector as a

def

A FT

.a0 ; a1 ; a2 ; a3 / D a D0W D1W a0 D 1 a 0 C 0 a 1 C 0 a 2 C 0 a 3 D a 0 a1 D 0 a

0

.a0 ; a1 ; a2 ; a3 / D .a0 ; a/

(M.123)

(M.124)

1 a C0 a C0 a D

1 1

2 2

3 3

a a

1 2

D2W D3W

a2 D 0 a C 0 a

0

1 a C0 a D

2

a3 D 0 a C 0 a C 0 a

1 a D

R D

or

(M.129)

The radius 4-vector itself in L4 and in this metric is given by x D .x 0 ; x 1 ; x 2 ; x 3 / D .ct; x; y; z/ D .ct; x/ x D .x0 ; x1 ; x2 ; x3 / D .ct; x 1 ; x 2 ; x 3 / D .ct; x/

(M.130)

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M .5 .

Examples

j 253

Scalar products in complex vector space Let c be a complex vector dened as in expression (M.10) on page 233. The inner product of c with itself may be dened as c2

def

EXAMPLE

M .4

2 D cR 2 cI C 2icR cI def

c2 I C 2icR cI

c2 2 C

(M.132)

cD where

2 cR

2 cI C 2icR cI D

2 cR

2 cI C 2icR cI cos

2C

(M.133)

Using this in equation (M.10) on page 233, we see that we can dene the complex unit vector as being OD c c D q c cR

2 cR

2 cI C 2icR cI cos 2 cR 2 cI

q

D cR

2icR cI cos

s

2 C c2/ .cR I

jcj2

def

R

OD c

On the other hand, the denition of the scalar product in terms of the inner product of a complex vector with its own complex conjugate yields

2 2 2 2 c c D .cR C icI / .cR C icI / D c2 R C c I D cR C cI D j c j

cR cI c OR C i q OI D q c c jc j 2 2 2 2 cR C cI cR C cI

cR

A FT

OR C i q c cI OI c

2 cR 2 cI C 2icR cI cos

OR C i c

cI

2 cR

2 cI

2icR cI cos

2 C c2/ .cR I

O I 2 C3 c

(M.134)

(M.135)

2 2 cR C cI

q

OR C i c cI

2 2 cR C cI

(M.136) O I 2 C3 c

2 C c2 cR I

2 C c2 cR I

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254 j

EXAMPLE

M .5

Scalar product, norm and metric in Lorentz space In L4 the metric tensor attains a simple form [see example M.3 on page 251] and, hence, the scalar product in equation (M.37) on page 237 can be evaluated almost trivially. For the fC; ; ; g signature it becomes a b D .a0 ; a/ .b 0 ; b/ D a0 b 0 L4 a b (M.137)

In the important scalar product of the position four-vector with itself therefore takes the simple form x x D .x0 ; x/ .x 0 ; x/ D .ct; x/ .ct; x/ D .ct/2 .x 1 /2 .x 2 /2 .x 3 /2 D s 2 .dx 2 /2 .dx 3 /2 (M.138)

which is the indenite, real norm of L4 . The L4 metric is the quadratic differential form ds 2 D dx dx D c 2 .dt/2 .dx 1 /2 (M.139)

EXAMPLE

M .6

The vector triple product is the vector product of a vector a with a vector product b can, with the help of formula (M.24) on page 235, be evaluated as a .b c/ D O i aj .b ij k x O i aj ij k x c/k D O i aj . lmn x O l bm cn /k ij k x O i aj bm cn ij k kmn x D

kmn bm cn D

A FT

D O i aj bm cn kij kmn x D .i m j n O i aj bm cn i n j m /x ba c O i aj bm cn D i m j n x D .a c/b Oi O i aj bm cn D aj cj bi x i n j m x c.a b/ Oi aj bj ci x .a b/c D b.a c/ ca b R3 a S D ai Si

(M.140)

which is formula (F.53) on page 216. This is sometimes called Lagranges formula , but is more often referred to as the bac-cab rule . End of example M.6 b is given by formula

M .7

EXAMPLE

R D

Prove that the matrix representation of the vector product c D a (M.45) on page 239.

According to formula (M.43) on page 239, the scalar multiplication of a dyadic product of two vectors (in our case S and b) from the left by a vector (in our case a) is interpreted as a Sb D .a S/b where (M.141) and the components Si are given by formula (M.27) on page 236. Hence 0 1 0 1 0 1 0 0 0 0 0 i 0 i 0 a S D a1 @0 0 iA C a2 @ 0 0 0A C a3 @ i 0 0A 0 i 0 i 0 0 0 0 0 20 1 0 1 0 13 0 0 0 0 0 a2 0 a3 0 D i 4@0 0 a1 A C @ 0 0 0 A C @a3 0 0A5 0 a1 0 a2 0 0 0 0 0 0 1 0 a3 a2 D i @ a3 0 a1 A a2 a1 0

(M.142)

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M .5 .

Examples

j 255

from which we nd that 0 .a S/b D i @ a3 a2 In other words, 0 a2 b3 ia Sb D @a3 b1 a1 b2 1 a3 b2 a1 b3 A D .a a2 b1 (M.144) 0 a3 0 a1 10 1 0 a2 b1 a2 b3 a1 A @b2 A D i @a3 b1 0 b3 a1 b2 1 a3 b2 a1 b3 A a2 b1 (M.143)

i.a S/b D

b/

0 D i @ b3 b2

and

a.S b/ D i a1

a2

a3

ia.S b/ D

Hence, .a

R

b/ D ia Sb D iaS b

A FT

(M.145) 0 0 @ b3 b2 b3 0 b1 1 0 b2 a2 b3 b1 A D i @a3 b1 0 a1 b2 1 a3 b2 a1 b3 A a2 b1 (M.146) 0 a2 b3 iaS b D @a3 b1 a1 b2 1 a3 b2 a1 b3 A D .a a2 b1 b/ (M.147) QED End of example M.7 EXAMPLE

M .8

0 0 S b D Si bi D @0 0 0

0 0 i

1 0 0 0 iA b1 C @ 0 0 i 1 b3 b2 0 b1 A b1 0

0 0 0

1 0 i 0 0A b2 C @ i 0 0

i 0 0

1 0 0A b3 0

The gradient of the scalar product of two vector elds a and b can be calculated in the following way: O k/ O i @i /.aj x O j bk x r .a b/ D .x O i @i /.aj x O j / .bk x O k / C .aj x O j / .x O i @i /.bk x O k / D .x (M.148) O k / a D .r a/ b C .r b/ a O i @i aj x O j / b C .x O i @i bk x D .x

This is the rst version of formula (F.79) on page 217. End of example M.8

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256 j

EXAMPLE

M .9

The four-del operator in Lorentz space In L4 the contravariant form of the four-del operator can be represented as @ D and the covariant form as @ D 1 @ ;@ D c @t 1 @ ;r c @t (M.150) 1 @ ; @ D c @t 1 @ ; r c @t (M.149)

Taking the scalar product of these two, one obtains 1 @2 r2 D 2 (M.151) c 2 @t 2 which is the dAlembert operator , sometimes denoted , and sometimes dened with an opposite sign convention. @ @ D

EXAMPLE

M . 10

3 Very often electrodynamic quantities are dependent on the relative distance in R between 0 0 two vectors x and x , i.e. on x x . In analogy with equation (M.50) on page 240, we can dene the primed del operator in the following way:

A FT

Oi r0 D x @ 0 0 D@ @xi

(M.152)

Using this, the corresponding unprimed version, viz., equation (M.50) on page 240, and elementary rules of differentiation, we obtain the following very useful result: r x 0 2 0 2 0 2 @ .x1 x1 / C .x2 x2 / C .x3 x3 / @x x0 Oi Oi x0 D x Dx @xi @xi (M.153) 0/ .xi xi @x x0 x x0 0 0 Oi Oi Dx D r x x D D x 0 @xi jx x0 j jx x0 j 1 jx x0 j x jx x0 x0 j3 1 jx x0 j

R

Likewise r

M . 11

r0

(M.154)

EXAMPLE

Divergence and curl of a vector eld divided by the relative distance a.x0 / r 0 a.x0 / 1 D C a.x0 / r 0 j x x0 j j x x0 j jx x0 j a.x0 / r 0 a.x0 / 1 D C a.x0 / r 0 0 jx x j j x x0 j jx x0 j

For an arbitrary R3 vector eld a.x0 /, the following relations hold: r0 r0 (M.155a) (M.155b)

This demonstrates how the primed divergence and curl, dened in terms of the primed del operator in equation (M.152) above, work. End of example M.11

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M .5 .

Examples

j 257

The Laplacian and the Dirac delta function A very useful formula in R3 is r r 1 jx x0 j D r2 1 jx x0 j D 4 .x x0 / (M.156)

EXAMPLE

M . 12

where .x x0 / is the 3D Dirac delta function. This formula follows directly from the fact that Z I Z x x0 x x0 1 3 0 O0 D D d x r d2x 0 n d3x 0 r r 0 3 jx x j jx x0 j j x x0 j 3 V0 S0 V0 (M.157) equals 4 if the integration volume V 0 .S 0 /, enclosed by the surface S 0 .V 0 /, includes x0 D x, and equals 0 otherwise.

A FT

End of example M.12 O i @j r .x/k ij k x D O i @j @k .x/ ij k x (M.158) D

ij k

EXAMPLE

M . 13

Using the denition of the R3 curl, equation (M.61) on page 241, and the gradient, equation (M.56) on page 241, we see that r r .x/ D

which, due to the assumed well-behavedness of .x/, vanishes: O i @j @k .x/ ij k x @ @ Oi .x/x @xj @xk

@2 @x2 @x3

@2 @x3 @x2

O1 .x/x !

O2 .x/x O3 .x/x

(M.159)

R

C 0 r .@ @

We thus nd that

r .x/

(M.160)

so that the four-curl of a four-gradient vanishes just as does a curl of a gradient in R3 . Hence, a gradient is always irrotational . End of example M.13

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258 j

EXAMPLE

M . 14

The divergence of a curl With the use of the denitions of the divergence (M.59) and the curl, equation (M.61) on page 241, we nd that r r a.x/ D @i r a.x/i D

ij k @i @j ak .x/

(M.162)

Using the denition for the Levi-Civita symbol, dened by equation (M.21) on page 235, we nd that, due to the assumed well-behavedness of a.x/, @i

ij k @j ak .x/

D D

@ @xi

ij k

i.e. that

A FT

@2 @x2 @x1 ! 0 r r a.x/ 0 @ A D @ @ a .x /

2

@2 @x1 @x3

(M.164)

for any arbitrary, well-behaved R3 vector eld a.x/. The 3D curl is therefore solenoidal (has a vanishing divergence). In 4D, the four-divergence of the four-curl is not zero, for

a .x / 0

(M.165)

EXAMPLE

R

M . 15

The curl of the curl of a vector eld the bac-cab rule for the del operator

The curl of the curl of a vector eld can be viewed as the del operator version of the bac-cab that was derived in example M.6 on page 254. By using formula (M.24) on page 235 it can be evaluated as r .r a/ D D D O i @j .r ij k x O i @j ij k x a/k D O i @j . lmn x O l @m an /k ij k x O i @j @m an ij k kmn x O i @j @m an i n j m /x

2 O i @j x ai

kmn @m an D

O i @j @m an kij kmn x

D .i m j n

O i @j @m an D i m j n x O i @j @i aj Dx D r .r a/ r2a

O i @j @m an i n j m x

(M.166)

O i @j @j ai D x O i @i @j aj x rr a r ra

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M .5 .

Examples

j 259

Products of rotational and irrotational components of vectors Derive the scalar and vector products of the rotational and irrotational components of two vector elds u.x/ and v .x) that have been Helmholtz decomposed into u D urotat C uirrot and v D v rotat C v irrot , respectively. Let us, in addition to expressions (M.82), introduce the denitions Z r 0 v .x0 / .x/ D d3x 0 4 jx x0 j V0 Z r 0 v .x0 / b.x/ D d3x 0 4 jx x0 j V0 in order to simplify our notations and calculations. S CALAR PRODUCTS The scalar product of the two irrotational components uirrot and v irrot is given by the formula uirrot .x/ v irrot .x/ D r .x/ r .x/

EXAMPLE

M . 16

(M.167a) (M.167b)

where we can rewrite the RHS by using formula (F.82) on page 217 so that r .x/ r .x/ D r .x/r .x/ .x/r 2 .x/

We now evaluate the scalar product of the two rotational (solenoidal) components urotat and v rotat urotat .x/ v rotat .x/ D r a.x/ r b.x/ (M.171)

Formula (F.85) on page 217 allows us to write urotat .x/ v rotat .x/ D b r .r

R

b r .r

If we insert the expression (M.82b) on page 246 for .x/ and expression (M.167a) for .x/ and then integrate over V , the rst term in the RHS can, with help of the divergence theorem, be written as a surface integral where, at large distances r D x x0 , the integrand tends to zero as 1=r 3 , ensuring that this integral vanishes. Then, also using the identity (M.77) on page 245 and equations (M.85) on page 246, we obtain the following non-local scalar product expression: Z Z Z r 0 uirrot .x0 /r v irrot .x/ d3x uirrot .x/ v irrot .x/ D d3x d3x 0 4 j x x0 j V V V0 (M.170) Z Z 0 irrot .x0 / 3 0 r u 3 irrot dx D d x r v .x/ 4 jx x0 j V V0

As the last term in the RHS will vanish when we integrate over V (divergence theorem), we focus our attention on the rst term. According to formula (F.96) on page 218 a/ D b r .r a/ r 2 a (M.173)

and, according to equation (M.82c) on page 246 and formula (F.81) on page 217, we obtain Z Z 1 r 0 v .x0 / D d3x 0 r 0 v .x0 / r (M.174) r aDr d3x 0 4 j x x0 j 4 jx x0 j V0 V0

A FT

(M.168) (M.169) a/ r .r a/ b (M.172)

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260 j

With the help of formula (F.114) on page 218, formula (M.155) on page 256, and formula (F.99) on page 218, we can rewrite this as I Z r 0 v .x0 / r 0 v .x0 / O0 D (M.175) r aD d2x 0 n d3x 0 r 0 4 jx x j 4 j x x0 j S0 V0 which tends to zero for a surface at large distances. Hence, we have found that urotat .x/ v rotat .x/ D b r2a r .r a/ b (M.176)

The scalar product of uirrot and v rotat becomes uirrot .x/ v rotat .x/ D

A FT

r .x/ r b.x/ uirrot .x/ v rotat .x/ D r b.x/ r .x/

V S V V

Integration over V and the use of the divergence theorem, where the resulting surface integral vanishes, and using equations (M.85) on page 246 gives the result Z Z Z r urotat .x/ r 0 v rotat .x0 / d3x urotat .x/ v rotat .x/ D d3x d3x 0 4 jx x0 j V V V0 (M.177) Z Z r 0 v rotat .x0 / D d3x r urotat .x/ d3x 0 4 j x x0 j V V0

(M.178)

With the use of a standard vector analytic identity (F.84) on page 217, we can rewrite this as (M.179)

If we integrate this over V and use the divergence theorem, we obtain Z I O b.x/ r .x/ d3x uirrot .x/ v rotat .x/ D d2x n

(M.180)

Again, the surface integral vanishes and we nd that the non-local orthogonality condition Z d3x uirrot .x/ v rotat .x/ D 0 (M.181)

R

V ECTOR PRODUCTS

holds between the irrotational and rotational components of any two arbitrary, continuously differentiable vector elds u.x/ and v .x/. This is identity (F.130a) on page 220. If, in particlar, v u, then Z d3x uirrot .x/ urotat .x/ D 0 (M.182)

According to formul (M.83) on page 246, the vector product of the two irrotational components uirrot and v irrot is uirrot .x/ v irrot .x/ D r .x/ r .x/ (M.183)

which can be evaluated in a similar manner as the scalar product. Using formula (F.88) on page 217 we immediately see that the result is uirrot .x/ v irrot .x/ D r .x/r .x/ (M.184)

Integration over V yields, with the use of formula (F.121c) on page 219, the result

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M .5 .

Examples

j 261

Z

V

v irrot .x/ D

I

S

O d2x n

.x/r .x/

(M.185)

where the RHS goes to zero asymptotically, resulting in the non-local parallelity condition Z d3x uirrot .x/ v irrot .x/ D 0 (M.186)

V

This is identity (F.130b) on page 220. In order to evaluate the vector product of two rotational components urotat and v rotat urotat .x/ v rotat .x/ D .r a/ .r b/ (M.187)

[see formul (M.83)], we use the vector identity (F.79) on page 217 that gives (with c replacing a)

Next, we use the identity (F.86) on page 217 to replace c r b and nd that we can write c .r b/ D b .r c/ b r c C .r c/b C r .c b/ C r .cb/

C r .r

where we used formula (M.80) on page 245, not including the vanishing surface integral (last term in the RHS of that formula). Consequently, urotat .x/ v rotat .x/ D .r D a/ .r .r u/ b/ b r .r a/ a/b (M.192)

D

V

R

Dr u.x/ b

V

Recalling that a is given by formula (M.82c) on page 246, we see that the expression within square brackets in the rst term of the RHS of equation (M.190) is Z r 0 u.x0 / d3x 0 r .r a/ D r r 4 jx x0 j V0 Z 1 (M.191) d3x 0 fr 0 r 0 u.x0 /gr 0 D r u.x/ 0 4 x x0 j j V

0

Integrating the RHS of this expression over V , using the divergence theorem and formula (F.121a) on page 219, and assuming that the ensuing surface integrals vanish, we therefore obtain Z Z Z d3x urotat .x/ v rotat .x/ D d3x b .r u/ d3x b r .r a/ (M.193)

V

Integration by parts of the second term in the RHS of this expression over V , making use of the identity (F.86) on page 217 with a D b and b D r a, gives the result

A FT

(M.189) a with the result that we obtain the identity a/ b r .r a/ C r .r a/b

D0

.r

b/ D r .c b/

.r

c/

c rb

b rc

(M.188)

.r

(M.190)

a/ b C r .r

a/b

C r .r

a/ b C r .r

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262 j

Z

V

d3x b r .r

Z a/ D Z D

V V

Z a/

V

a/ (M.194) a/

I a/

S

where we used formula (F.121e) on page 219. We have thereby shown that Z Z Z d3x urotat .x/ v rotat .x/ D d3x b .r u/ C d3x .r b/.r V V IV 2 O b.r a/ d xn

S

a/ (M.195)

However, for the case at hand with sufciently rapid fall-off of the integrands in the surface integrals, we can, according to formula (M.73) on page 244 with A D r 0 v .x0 /, rewrite the expression within the large parentheses in the last term as

0

A FT

Z r

V0

When we insert b as given by expression (M.167b) on page 259, the surface integral vanishes and we get Z Z Z r 0 v .x0 / d3x urotat .x/ v rotat .x/ D d3x .r u/ d3x 0 4 jx x0 j V V V0 (M.196) Z Z r 0 v . x0 / C d3x r . r a / d3x 0 4 jx x0 j V V0

d3x 0

r0

v .x0 / x0 j

jx

0 0 v .x0 / 3 0 r r dx D D0 j x x0 j V0 Z

(M.197)

This means that the second term itself vanishes and we are left with the nal result Z Z Z r u.x/ r 0 v .x0 / d3x 0 d3x urotat .x/ v rotat .x/ D d3x 4 jx x0 j V V V0 (M.198) Z Z r 0 v .x0 / D d3x r u.x/ d3x 0 4 j x x0 j V V0 This is identity (F.130e) on page 221. The vector product of an irrotational and a rotational component is

R

uirrot .x/

uirrot .x/

v rotat .x/ D

r .x/

b.x/

(M.199)

Using identity (F.79), identity (F.89) with a D r , and identity (F.100) on page 218, together with identity (F.74) on page 217, this can be written v rotat .x/ D b r r br 2 r .r / b C r .r /b (M.200)

When we insert the expression (M.83b) on page 246 and integrate over V , employing identity (F.121a) and identity (F.121b) on page 219 and neglecting the resulting surface integrals, we get Z r 0 u.x0 / (M.201) uirrot .x/ v rotat .x/ D b r uirrot .x/ br 2 d3x 0 4 jx x0 j V0 With the help of the generic formula (F.126) on page 220 we can simplify the last integral and obtain Z Z Z d3x uirrot .x/ v rotat .x/ D d3x b.x/r uirrot .x/ d3x b.x/ r uirrot .x/

V V V

(M.202)

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M .6 .

Bibliography

j 263

After integrating the last integral on the RHS by parts, making use of formula (F.86) on page 217 and discarding the surface integral which results after applying the divergence theorem, we can write Z Z Z d3x uirrot .x/ v rotat .x/ D d3x b.x/r uirrot .x/ C d3x r b.x/uirrot .x/

V V V

(M.203)

To obtain the nal expression, we use formula (M.167b) on page 259 and recall that r b D 0. The result is Z Z Z r uirrot .x/r 0 v rotat .x0 / d3x uirrot .x/ v rotat .x/ D d3x d3x 0 4 j x x0 j V V V0 (M.204) Z Z r 0 v rotat .x0 / D d3x r uirrot .x/ d3x 0 4 jx x0 j V V0

M .6

Bibliography

[62] M. A BRAMOWITZ AND I. A. S TEGUN, Handbook of Mathematical Functions, Dover Publications, Inc., New York, 1972, Tenth Printing, with corrections.

[63] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth, international ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-0598167. [64] R. A. D EAN, Elements of Abstract Algebra, John Wiley & Sons, Inc., New York, NY . . . , 1967, ISBN 0-471-20452-8. [65] A. A. E VETT, Permutation symbol approach to elementary vector analysis, American Journal of Physics, 34 (1965), pp. 503507. [66] A. M ESSIAH, Quantum Mechanics, vol. II, North-Holland Publishing Co., Amsterdam, 1970, Sixth printing.

[67] P. M. M ORSE AND H. F ESHBACH, Methods of Theoretical Physics, Part I. McGrawHill Book Company, Inc., New York, NY . . . , 1953, ISBN 07-043316-8. [68] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and London, 1965, ISBN 05-001331-9. [69] W. E. T HIRRING, Classical Mathematical Physics, Springer-Verlag, New York, Vienna, 1997, ISBN 0-387-94843-0.

FT

End of example M.16

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FT

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IN DE X

L Cerenkov, Pavel Alekseevich, 196 rsted, Hans Christian, 6 CPT theorem, 56 acceleration eld, 124 advanced time, 40 Ampres law, 6 Ampre, Andr-Marie, 6 Ampre-turn density, 190 angular frequency, 25, 38 angular momentum, 68 angular momentum commutation rule, 236 angular momentum theorem, 68 anisotropic, 192 anisotropic medium, 189 anomalous dispersion, 193 antecedent, 238 antenna, 113 antenna array, 141 antenna current, 114, 142 antenna current density, 113, 141 antenna feed point, 115 antisymmetric tensor, 166 arrow of time, 56 associated Legendre polynomial of the rst kind, 107 associative, 158 axial gauge, 45 axial vector, 166, 238 axiomatic foundation of classical electrodynamics, 19 azimuthal phase, 79 bac-cab rule, 254 Barbieri, Cesare, xviii Bessel functions, 145 birefringent, 192 birefringent crystal, 189 blueshift, 75 Bohm, David Joseph, 151 braking radiation, 131 bremsstrahlung, 131, 137 characteristic impedance of vacuum, 101, 202 charge conjugation, 53 charge density ux, 58 charge space, 71 Cherenkov radiation, 194 chiral media, 187 chirality density, 81 chirality ow, 81 circular wave polarisation, 31 Classical Electrodynamics, 1, 9 closed algebraic structure, 158 coherent radiation, 136 collision frequency, 200 collisional interaction, 206 complete -Lorenz gauge, 42 complex conjugate, 211 complex notation, 20, 231 complex vector eld, 233 complex-eld six-vector, 22 component notation, 231 concentration, 242 conductivity, 198 conductivity tensor, 11 consequent, 238 conservation law, 56, 58 conservation law for angular momentum, 68 conservation law for linear momentum, 63 conservation law for the total current, 81 conservative eld, 12 conservative forces, 178 conserved quantities, 53, 56 constants of motion, 53, 56 constitutive relations, 15, 198 continuity equation, 57 continuous symmetries, 56 contravariant component form, 154, 232 contravariant eld tensor, 167 contravariant four-tensor eld, 236 contravariant four-vector, 234 contravariant four-vector eld, 157 contravariant vector, 154 control sphere, 57 control volume, 57 convective derivative, 13 coordinate four-vector, 233 coordinate vector, 211, 231 correspondence principle, 50

Carozzi, Tobia, xx canonically conjugate four-momentum, 174 canonically conjugate momentum, 174, 247 canonically conjugate momentum density, 181 CGS units, 3, 15

A FT

265

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266

INDEX

dAlembert operator, 25, 36, 41, 162, 256 de Coulomb, Charles-Augustin, 2 deniendum, 231 deniens, 231 del operator, 240 del squared, 242 demodulation, 189 dielectric permittivity, 188 differential distance, 156 differential vector operator, 240 diffusion coefcient, 208 dipole antennas, 114 Dirac delta, 257 Diracs symmetrised Maxwell equations, 16 Dirac, Paul Adrien Maurice, 1, 40, 229 direct product, 238 dispersive, 193 dispersive property, 189 displacement current, 11 divergence, 241 divergence-less, 246 dot product, 237 dual electromagnetic tensor, 168 dual vector, 154 duality transformation, 71, 169 Duhem, Pierre Maurice Marie, 2 dummy index, 154 dyad, 238 dyadic product, 238

A FT

cosine integral, 117 Coulomb gauge, 41 Coulombs law, 2 coupled differential equations, 23 covariant, 152 covariant component form, 232 covariant eld tensor, 167 covariant four-tensor eld, 236 covariant four-vector, 234 covariant four-vector eld, 157 covariant gauge, 163 covariant vector, 154 cross product, 237 Curie, Marie Sklodowska, 196 Curie, Pierre, 15 curl, 241 cutoff, 149 cycle average, 22 cyclotron radiation, 133, 137

dyons, 72 E1 radiation, 111 E2 radiation, 113 Einsteins summation convention, 231 Einstein, Albert, 1, 3 electric and magnetic eld energy, 61 electric charge conservation law, 10 electric charge density, 4 electric conductivity, 11 electric current density, 7, 58 electric dipole moment, 109 electric dipole moment vector, 104 electric dipole radiation, 111 electric displacement current, 17 electric displacement vector, 187, 188 electric eld, 3, 188 electric eld energy, 60 electric monopole moment, 104 electric permittivity, 206 electric polarisation, 105 electric quadrupole moment tensor, 104 electric quadrupole radiation, 113 electric quadrupole tensor, 113 electric susceptibility, 189 Electricity, 1 electricity, 2 electrodynamic potentials, 35 electromagnetic angular momentum current density, 68, 77 electromagnetic angular momentum density, 67, 140 electromagnetic angular momentum ux tensor, 67 electromagnetic energy current density, 59 electromagnetic energy ux, 59 electromagnetic eld density vector, 97 electromagnetic eld energy, 60 electromagnetic eld energy density, 30, 59 electromagnetic eld tensor, 167 electromagnetic linear momentum current density, 61, 75 electromagnetic linear momentum density, 30, 62, 139 electromagnetic linear momentum ux tensor, 61 electromagnetic moment of momentum density, 67 electromagnetic orbital angular momentum, 71 electromagnetic pulse, 100 electromagnetic scalar potential, 35 electromagnetic spin angular momentum, 71

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INDEX

267

Fldt, Gran, xx far eld, 89, 91 far elds, 83, 95 far zone, 83, 91 Faraday tensor, 167 Faradays law, 12 Faradays law of induction, 9 Faraday, Michael, 229 Feynman, Richard Phillips, 1, 40 eld, 232 eld Lagrange density, 182 eld momentum, 23

electromagnetic vector potential, 35 electromagnetic virial density, 72 electromagnetic virial theorem, 72 electromagnetically anisotropic media, 11 Electromagnetism, 1 electromagnetodynamic equations, 16 electromagnetodynamics, 71 electromotive force, 12 electrostatic dipole moment vector, 46 electrostatic quadrupole moment tensor, 46 electrostatic scalar potential, 34 electrostatics, 2 Electroweak Theory, 1 elliptical wave polarisation, 31 EM eld linear momentum, 70 EMF, 12 energy density balance equation, 60 energy density velocity, 60 energy theorem in Maxwells theory, 60 equation of continuity, 163 equation of continuity for electric charge, 10 equation of continuity for magnetic charge, 16 equations of classical electrostatics, 9 equations of classical magnetostatics, 9 Eriksson, Anders, xx Eriksson, Marcus, xviii Erukhimov, Lev Mikahilovich, xx Euclidean space, 159 Euclidean vector space, 155 Eulers rst law, 62 Euler, Leonhard, 66 Euler-Lagrange equation, 180 Euler-Lagrange equations, 181, 247 Euler-Mascheroni constant, 117 event, 158 extrinsic, 69

A FT

eld point, 2, 4 eld quantum, 149 ne structure constant, 138, 149 four-current, 162 four-del operator, 240 four-dimensional Hamilton equations, 174 four-dimensional vector space, 153 four-divergence, 241 four-gradient, 241 four-Hamiltonian, 174 four-Lagrangian, 172 four-momentum, 161 four-potential, 162 four-scalar, 232 four-tensor elds, 236 four-vector, 157, 233 four-velocity, 161 Fourier amplitude, 25 Fourier integral, 26 Fourier transform, 26, 37 Frman, Per Olof, xix Frank, Ilya Mikhailovich, 196 Franklin, Benjamin, 58 free-free radiation, 131 frequency conversion, 11 frequency mixing, 11 fully antisymmetric tensor, 235 functional derivative, 180 fundamental tensor, 153, 232, 236 fundamental theorem of vector calculus, 246

Galilei, Galileo, 229 Galileos law, 151 gauge xing, 45 gauge function, 44 gauge invariant, 44 gauge symmetry, 59 gauge theory, 44 gauge transformation, 44 gauge transformation of the rst kind, 51 gauge transformation of the second kind, 51 Gausss law of electrostatics, 5 general inhomogeneous wave equations, 36, 40 general theory of relativity, 151 generalised coordinate, 174, 247 generalised four-coordinate, 174 generalised velocity, 247 Gibbs notation, 240 Ginzburg, Vitaliy Lazarevich, xx, 196

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268

INDEX

Glashow, Sheldon, 1 gradient, 241 Green function, 38, 85, 107 group theory, 158 group velocity, 193 Hall effect, 191 Hall, Edwin Herbert, 191 Hamilton density, 181 Hamilton density equations, 181 Hamilton equations, 174, 248 Hamilton function, 248 Hamilton gauge, 45 Hamilton operator, 50, 240 Hamilton, William Rowen, 240 Hamiltonian, 50, 248 Heaviside, Oliver, 59, 146, 192, 196 Heaviside-Larmor-Rainich transformation, 71 Heaviside-Lorentz units, 15 helical base vectors, 31, 249 Helmholtz decomposition, 246 Helmholtz equation, 114 Helmholtzs theorem, 5, 28, 36, 246 help vector, 108 Hermitian conjugate, 211 Hertz vector, 106 Hertzs method, 104 Hertz, Heinrich Rudolf, 99 heterodyning, 189 Hodge star operator, 71 homogeneous vector wave equations, 201 Hookes law, 178 Huygenss principle, 38

interaction Lagrange density, 182 interferometric properties, 141 intermediate eld, 89 intermediate zone, 83 intrinsic, 69 invariant, 232 invariant line element, 156 inverse element, 158 inverse Fourier transform, 26 ionosphere, 200 irrotational, 5, 242, 246, 257 Jacobi identity, 169 Jarlskog, Cecilia, xx Jemenko equations, 90 Joule heat power, 61

identity element, 158 in a medium, 195 incoherent radiation, 136 indenite norm, 155 indestructible, 58 index contraction, 154 index lowering, 154 index of refraction, 188 inertial reference frame, 151 inertial system, 151 inhomogeneous Helmholtz equation, 38 inhomogeneous time-independent wave equation, 38 inhomogeneous wave equation, 37 inner product, 237 instantaneous, 128

A FT

Karlsson, Roger, xx Kelvin function, 137 Kelvin, Lord, 59 Kerr effect, 189 kinetic energy, 178, 247 kinetic momentum, 177 Kirchhoff gauge, 43 Kirchhoff, Gustav Robert, 43 Kohlrausch, Rudolf, 3 Kopka, Helmut, xx Kronecker delta tensor, 234 Kronecker product, 238 Lagrange density, 179 Lagrange function, 178, 247 Lagranges formula, 254 Lagrangian, 178, 247 lamellar, 246 Laplace operator, 242 Laplacian, 242 Larmor formula for radiated power, 128 law of inertia, 151 Learned, John, xx left-hand circular polarisation, 32, 77 Legendre polynomial, 107 Legendre transformation, 248 Levi-Civita tensor, 235 Levi-Civita, NN, 40 Linard, Alfred-Marie, 120 Linard-Wiechert potentials, 120, 165 light cone, 157 light-like interval, 157 Lindberg, Johan, xviii

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INDEX

269

M1 radiation, 112 Mller scattering, 139 Mach cone, 196 magnetic charge density, 15, 71 magnetic current density, 15, 71 magnetic dipole moment, 112, 190 magnetic dipole moment per unit volume, 190 magnetic dipole radiation, 112 magnetic displacement current, 17 magnetic eld, 7, 188 magnetic eld energy, 60 magnetic eld intensity, 190 magnetic ux, 12 magnetic ux density, 8 magnetic four-current, 169 magnetic induction, 8 magnetic monopoles, 15 magnetic permeability, 206 magnetic susceptibility, 188, 191 magnetisation, 190

A FT

natural units, 15 near zone, 83, 89

line broadening, 26 line element, 237 linear mass density, 179 linear momentum, 63 linear momentum density, 62 linear momentum operator, 23, 65 linear momentum theorem in Maxwells theory, 63 linear superposition, 141 linear wave polarisation, 31 linearly polarised, 31 local gauge transformation, 51 longitudinal component, 203 loop antenna, 143 Lorentz boost parameter, 159 Lorentz force, 14, 63, 68 Lorentz force density, 62 Lorentz power, 60 Lorentz power density, 60 Lorentz space, 155, 232 Lorentz torque, 68 Lorentz torque density, 67 Lorentz transformation, 153 Lorentz, Hendrik Antoon, 1, 37 Lorenz, Ludvig Valentin, 37 Lorenz-Lorentz gauge, 45 Lorenz-Lorentz gauge condition, 37, 163 lowering of index, 236 Lundborg, Bengt, xx

magnetisation currents, 190 magnetised plasma, 11, 189 magnetising eld, 187, 188, 190 Magnetism, 1 magnetostatic vector potential, 34 magnetostatics, 6 Majorana formalism, 23 Majorana representation, 23 Majorana, Ettore, 23 mass density, 62 massive photons, 185 material derivative, 13 mathematical group, 158 matrix representation, 234 Maxwell stress tensor, 61, 75 Maxwells displacement current, 9 Maxwells macroscopic equations, 191 Maxwells microscopic equations, 15 Maxwell, James Clerk, xix, 1, 19 Maxwell-Lorentz equations, 15 Maxwell-Lorentz source equations, 20 mechanical angular momentum, 66 mechanical angular momentum density, 67 mechanical energy, 60 mechanical kinetic energy density, 60 mechanical Lagrange density, 182 mechanical linear momentum, 66 mechanical linear momentum density, 62 mechanical moment of momentum, 66 mechanical orbital angular momentum, 66 mechanical spin angular momentum, 66 mechanical torque, 66 metamaterials, 192 metric, 232, 237 metric tensor, 153, 232, 236 minimal coupling, 50 Minkowski equation, 173 Minkowski space, 159 mixed four-tensor eld, 236 mixing angle, 71 moment of velocity, 58 monad, 240 monochromatic, 84 monochromatic wave, 26 multipolar gauge, 45 multipole expansion, 104

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270

INDEX

negative helicity, 32 negative refractive index, 192 neutral kaon decays, 56 neutrino equations, 23 Newtons rst law, 151 Newtons second law, 62 Newton, Sir Isaac, 229 Newton-Lorentz force equation, 173 Noethers theorem, 56 Noether, Amalie Emmy, 56 non-Euclidean space, 155 non-linear effects, 11 norm, 154, 254 null vector, 157 observation point, 2, 4 Ohms law, 11, 198 Ohmic losses, 61 one-dimensional wave equation, 203 orbital angular momentum operator, 70, 78 orthogonality condition, 260 outer product, 238 Palmer, Kristoffer, vi, xviii parallelity condition, 261 paraxial approximation, 93 parity transformation, 54, 238 Parsevals identity, 138, 148 Pauli, Wolfgang, 51 Peierls, Sir Rudolf, 230 permeability of free space, 6 permittivity of free space, 3 phase velocity, 192 photon, 149, 208 photons, 187 physical observable, 20, 153 Planck constant, 23 Planck units, 15 Plancks relation, 62 plane wave, 31, 204 plasma, 193 plasma frequency, 193, 200 plasma physics, 72 Pocklington, Henry Cabourn, 115 Poincar gauge, 45 Poincar group P .10/, 53 Poissons equation, 33 polar vector, 166, 238 polarisation charges, 188 polarisation currents, 189

A FT

QCD, 1 QED, 1, 187 quadratic differential form, 156, 237 Quantum Chromodynamics, 1 Quantum Electrodynamics, 1 quantum electrodynamics, 41, 187 quantum mechanical non-linearity, 4 radial gauge, 45 radiated electromagnetic power, 61 radiation eld, 124 radiation gauge, 42 radiation resistance, 117 radius four-vector, 153, 233 radius vector, 211, 231 raising of index, 236 rank, 234 rapidity, 159 real vector eld, 233 reciprocal space, 29 redshift, 75 reduced Planck constant, 23

polarisation potential, 106 polarisation vector, 106 position four-vector, 153, 233 position vector, 211, 231 positive denite, 159 positive denite norm, 155 positive helicity, 32 postfactor, 239 postulates, 19 potential energy, 178, 247 potential theory, 107 Poynting vector, 30, 59 Poyntings theorem, 60 Poynting, John Henry, 59 prefactor, 239 probability density, 50 Proca Lagrangian, 185 propagation vector, 31 propagator, 38, 107 proper time, 156 propositional calculus, 229 pseudo-Riemannian space, 159 pseudoscalar, 230 pseudoscalars, 238 pseudotensor, 230 pseudotensors, 238 pseudovector, 55, 166, 230, 238

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INDEX

271

Salam, Abdus, 1 scalar, 230, 241 scalar eld, 157, 232 scalar product, 237 Schrdinger equation, 50 Schwinger, Julian Seymour, 1, 15 self-force effects, 199 shock front, 196 SI units, 3, 15 signature, 154, 251 simultaneous coordinate, 146 Sjholm, Johan, vi, xviii skew-symmetric, 167 skin depth, 206 solenoidal, 246, 258 Sommerfeld, Arnold Johannes Wilhelm, 120, 196 source equations, 191 source point, 2 source terms, 20 space components, 155 space-like interval, 157 space-time, 155 spatial dispersive media, 11 spatial Fourier components, 27 spatial inversion, 54 spatial spectral components, 27

A FT

refractive index, 188, 192, 200 relative dielectric permittivity, 189 relative permeability, 191, 206 relative permittivity, 206 Relativity principle, 151 relaxation time, 201 rest mass density, 182 retarded Coulomb eld, 89 retarded induction eld, 91 retarded relative distance, 120 retarded time, 40 Riemann, Bernhard, 37 Riemann-Silberstein vector, 22 Riemannian metric, 156 Riemannian space, 153, 232 right-hand circular polarisation, 32, 77 Rohrlich, Fritz, 1, 19 rotation-less, 246 rotational, 9, 246 rotational degree of freedom, 103 rotational invariance, 71 rotational momentum, 68

spatial translational invariance, 66 special theory of relativity, 151 spectral energy density, 102 spherical Bessel function of the rst kind, 107 spherical Hankel function of the rst kind, 107 spherical harmonic, 107 spin angular momentum operator, 70 standard conguration, 152 standing wave, 115 static net charge, 46 Strandberg, Bruno, xviii super-potential, 106 superposition principle, 26 symmetries, 53 synchrotron radiation, 133, 137 synchrotron radiation lobe width, 134 tHooft, Gerardus, xx Tamburini, Fabrizio, xviii Tamm, Igor Evgenevich, 196 telegraphers equation, 203, 206 temporal average, 22 temporal dispersive media, 11 temporal Fourier components, 25 temporal Fourier series, 25 temporal gauge, 45 temporal spectral components, 25 temporal translational invariance, 61 tensor, 230 tensor eld, 234 tensor notation, 235 tensor product, 238 Then, Holger, xviii thermodynamic entropy, 56 Thomson, William, 59 three-dimensional functional derivative, 181 time arrow of radiation, 99 time component, 155 time reversal, 54 time-dependent diffusion equation, 208 time-dependent Poissons equation, 41 time-harmonic wave, 26 time-independent diffusion equation, 202 time-independent telegraphers equation, 204 time-independent wave equation, 26, 114, 202 time-like interval, 157 Tomonaga, Sin-Itiro, 1 total charge, 104 total electromagnetic angular momentum, 140

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272

INDEX

total electromagnetic linear momentum, 140 total mechanical angular momentum, 66 traceless, 47 translational degree of freedom, 100 translational Doppler shift, 75 translational momentum, 63 transmission line, 115 transversality condition, 23 transverse components, 203 transverse gauge, 42 Truesdell III, Clifford Ambrose, 66 tryad, 240 uncertainty principle, 56 uncoupled inhomogeneous wave equations, 37 unit dyad, 239 unit tensor, 239 universal constant, 163 unmagnetised plasma, 199

Whitehead, Alfred North, 153 Wiechert, Emil Johann, 120 world line, 158 Yang-Mills theory, 44 Yngve, Staffan, xviii Youngs modulus, 179 Yukawa meson eld, 185

Wahlberg, Christer, xx Waldenvik, Mattias, xx wave equation, 81 wave equations, 19, 24 wave number, 38 wave packets, 31 wave polarisation, 31 wave vector, 23, 27, 113, 141, 192, 204 wavepacket, 84 Webers constant, 3 Weber, Wilhelm Eduard, 3 Weinberg, Steven, 1, 229 Weyl gauge, 45 Wheeler, John Archibald, 40

vacuum polarisation, 4 vacuum wave number, 202 vacuum wavelength, 38 variational principle, 247 Vavilov, Sergey Ivanovich, 196 L Vavilov-Cerenkov cone, 196 L Vavilov-Cerenkov radiation, 194, 196 vector, 230 vector product, 237 vector wave equations, 24 vector waves, 25 velocity eld, 124 velocity gauge condition, 42 virtual simultaneous coordinate, 124 von Helmholtz, Hermann Ludwig Ferdinand, 5

A FT

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A FT

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