Professional Documents
Culture Documents
Green’s Functions
∂2 1 ∂2
2
− 2 2 U (x, t) = f (x) cos ωt (12.1)
∂x c ∂t
represents the oscillatory motion of the string, with amplitude U , which is tied
down at both ends (here l is the length of the string):
so u(x) satisfies
d2
2
+ k u(x) = f (x), k = ω/c. (12.4)
dx2
The solution to this inhomogeneous Helmholtz equation is expressed in terms of
the Green’s function Gk (x, x′ ) as
Z l
u(x) = dx′ Gk (x, x′ )f (x′ ), (12.5)
0
d2
2
+ k Gk (x, x′ ) = δ(x − x′ ). (12.6)
dx2
As we saw in the previous chapter, the Green’s function can be written down
in terms of the eigenfunctions of d2 /dx2 , with the specified boundary conditions,
2
d
− λn un (x) = 0, (12.7a)
dx2
un (0) = un (l) = 0. (12.7b)
2 l nπx mπx
Z
dx sin sin = δnm . (12.9)
l 0 l l
Thus the Green’s function for this problem is given by the eigenfunction expan-
sion
∞ 2 nπx nπx′
l sin l sin l
X
′
Gk (x, x ) = 2 . (12.10)
n=1 k 2 − nπ
l
But this form is not usually very convenient for calculation.
Therefore we solve the differential equation (12.6) directly. When x 6= x′ the
inhomogeneous term is zero. Since
we must have
x′ Z x′ +ǫ
d d
Z
′
= dx G(x, x ) + dx G(x, x′ )
′
x −ǫ dx x ′ dx
d ′
d ′
=ǫ G(x, x ) + G(x, x ) , (12.15)
dx x=x′ −ξ dx x=x′ +ξ̄
∞ nπx′
X sin nπx
l sin l
=
n=−∞
nπ k − nπ
l
n6=0
∞
nπx′ 1
X nπx 1 1
= sin sin −
n=1
l l nπ k − nπ
l k + nπ
l
∞
X 2 nπx nπx′ 1
= sin sin 2 . (12.25)
n=1
l l l k − nπ
2
l
Table 12.1: Boundary conditions required for the three types of second-order
differential equations. The boundary conditions referred to in the first and third
cases are actually initial conditions.
Example.
To determine the vibrations of a string, described by
2
1 ∂2
∂
− u = 0, (12.28)
∂x2 c2 ∂t2
we must specify
∂u
u(x, 0), (x, 0) (12.29)
∂t
at some initial time (t = 0). The line t = 0 is an open surface in the (ct, x)
plane.
(L − λ)ψ = S (12.30)
To see how to deal with this situation, let us consider the example of the
three-dimensional Helmholtz equation,
ZV
= (dr′ ) [G(r, r′ )S(r′ ) − ψ(r′ )δ(r − r′ )] . (12.34)
V
Here we have interchanged r and r′ in Eqs. (12.32) and (12.33), and have used
the reciprocity relation,
G(r, r′ ) = G(r′ , r). (12.35)
(We have assumed that the eigenfunctions and hence the Green’s function are
real.) Now we use Green’s theorem to establish
Z
dσ · G(r, r′ )∇′ ψ(r′ ) − ψ(r′ )∇′ G(r, r′ )
−
ZΣ
ψ(r), r ∈ V,
+ (dr′ ) G(r, r′ )S(r′ ) = (12.36)
V 0, r 6∈ V,
where in the surface integral dσ is the outwardly directed surface element, and
r′ lies on the surface Σ. This generalizes the simple relation given in Eq. (12.31).
How do we use this result? We always suppose G satisfies homogeneous
boundary conditions on Σ. If ψ satisfies the same conditions, then for r ∈ V
Eq. (12.31) holds. But suppose ψ satisfies inhomogeneous Dirichlet boundary
conditions on Σ,
ψ(r′ )r′ ∈Σ = ψ0 (r′ ),
(12.37)
a specified function on the surface. Then we impose homogeneous Dirichlet
conditions on G,
G(r, r′ )r′ ∈Σ = 0.
(12.38)
Then the first surface term in Eq. (12.36) is zero, but the second contributes.
For example if S(r) = 0 inside V , we have for r ∈ V
Z
ψ(r) = dσ · [∇′ G(r, r′ )]ψ0 (r′ ), (12.39)
Σ
a specified function, then we use the Green’s function which respects homoge-
neous Neumann conditions,
∂ ′
′
G(r, r ) = 0, (12.41)
∂n r′ ∈Σ
we have for r ∈ V
Z Z
ψ(r) = (dr′ ) G(r, r′ )S(r′ ) − dσ G(r, r′ )F (r′ ). (12.45)
V σ
jl (βln ) = 0, n = 1, 2, 3, . . . , (12.56)
where dΩ = sin θ dθ dφ is the element of solid angle. Since the spherical har-
monics are normalized so that [Ω = (θ, φ) represents a point on the unit sphere]
Z
′
dΩ Ylm
′
∗
(Ω)Ylm (Ω) = δll′ δmm′ , (12.60)
Now a
1
Z
r2 dr jl (βln r/a)jl (βlm r/a) = δnm a3 jl+1
2
(βln ), (12.62)
0 2
which for n 6= m follows from the orthogonality property (11.68). So
r
2 1
|Anl | = 3
, (12.63)
a jl+1 (βln )
This result can be simplified by carrying out the sum on m, using the addition
theorem for spherical harmonics,
l
4π X m∗ ′ m
Yl (Ω )Yl (Ω) = Pl (cos γ), (12.65)
2l + 1
m=−l
where Pl (cos γ) = Pl0 (cos γ) is Legendre’s polynomial, and γ is the angle between
the directions represented by Ω and Ω′ , or
Then we obtain
2 X 2l + 1 1 jl (βln r/a)jl (βln r′ /a)
Gk (r, r′ ) = 3
Pl (cos γ) 2 . (12.67)
a 4π jl+1 (βln ) k 2 − (βln /a)2
nl
where we will call gl the reduced Green’s function. Because Ylm is an eigenfunc-
tion of the angular part of the Laplacian operator,
l(l + 1) m
∇2 Ylm (Ω) = − Yl (Ω), (12.69)
r2
and the delta function can be written as
1
δ(r − r′ ) = δ(r − r′ )δ(Ω − Ω′ ), (12.70)
rr′
we see that, because of the orthonormality of the spherical harmonics, Eq. (12.60),
the Green’s function equation (12.46) corresponds to the following equation
satisfied by the reduced Green’s function, the inhomogeneous “spherical Bessel
equation,”
2
d 2 d l(l + 1) 2 1
2
+ − 2
+ k gl (r, r′ ) = ′ δ(r − r′ ). (12.71)
dr r dr r rr
Only jl appears in the first form because the solution must be finite at r = 0,
and the second solution to the spherical Bessel equation,
r
π
nl (x) = Nl+1/2 (x), (12.73)
2x
where Nν is the Neumann function, is singular at x = 0. For example,
cos x
n0 (x) = − , (12.74)
x
and in general
l
1 d cos x
nl (x) = −xl − . (12.75)
x dx x
To determine the functions a, b, and c, we proceed as follows. The boundary
condition at r = a, gl (a, r′ ) = 0, implies
or
b(r′ ) nl (ka)
=− . (12.77)
c(r′ ) jl (ka)
Thus we can write in the outer region,
a(r′ )jl (kr′ ) = A(r′ )[jl (kr′ )nl (ka) − nl (kr′ )jl (ka)]. (12.79)
which implies
1
ka(r′ )jl′ (kr′ ) − kA(r′ )[jl′ (kr′ )nl (ka) − n′l (kr′ )jl (ka)] = − . (12.81)
r′2
Now multiply Eq. (12.79) by kjl′ (kr′ ), and Eq. (12.81) by jl (kr′ ), and subtract:
jl (kr′ )
= −kA(r′ )jl (ka)[jl (kr′ )n′l (kr′ ) − nl (kr′ )jl′ (kr′ )]. (12.82)
r′2
Now jl , nl are the independent solutions of the spherical Bessel equation
1 d 2 d l(l + 1) 2
r − + k u = 0, (12.83)
r2 dr dr r2
136 Version of November 23, 2010 CHAPTER 12. GREEN’S FUNCTIONS
sin(kr − lπ/2)
jl (kr) ∼ , kr ≫ 1, (12.86a)
kr
cos(kr − lπ/2)
nl (kr) ∼ − , kr ≫ 1, (12.86b)
kr
which imply
1
∆(r) = [sin2 (kr − lπ/2) + cos2 (kr − lπ/2)]
k 2 r2
1
= . (12.87)
(kr)2
Thus since the right-hand side of Eq. (12.82) is proportional to the Wronskian,
we find the function A:
jl (kr′ )
A(r′ ) = −k , (12.88)
jl (ka)
and then from Eq. (12.79) we find the function a:
k
a(r′ ) = − [jl (kr′ )nl (ka) − nl (kr′ )jl (ka)]. (12.89)
jl (ka)
jl (kr)
r < r′ : gl (r, r′ ) = −k [jl (kr′ )nl (ka) − nl (kr′ )jl (ka)], (12.90a)
jl (ka)
jl (kr′ )
r > r′ : gl (r, r′ ) = −k [jl (kr)nl (ka) − nl (kr)jl (ka)], (12.90b)
jl (ka)
or
′ nl (ka) nl (kr> )
gl (r, r ) = −kjl (kr< )jl (kr> ) − , (12.91)
jl (ka) jl (kr> )
where r< is the lesser of r, r′ , and r> is the greater.
From this closed form we may extract the eigenvalues and eigenfunctions of
the spherical Bessel differential operator appearing in Eq. (12.83). The poles of
gl occur where jl (ka) has zeroes, all of which are real, at ka = βln , the nth zero
of jl , or
2
βln
k2 = . (12.92)
a
12.5. HELMHOLTZ EQUATION IN UNBOUNDED SPACE137 Version of November 23, 2010
Thus the eigenfunction expansion for the Green’s function has the form
′ ′ ′
(dk′ ) e−ik ·r eik ·r
Z
Gk (r − r′ ) = . (12.108)
(2π)3 k 2 − k ′2
Let us evaluate this integral in spherical coordinates, where we write
(dk′ ) = k ′2 dk ′ dφ′ dµ′ , µ′ = cos θ′ , (12.109)
where we have chosen the z axis to lie along the direction of r − r′ . The
integration over the angles is easy:
Z ∞ Z 2π Z 1 ik′ |r−r′ |µ′
1 ′e
Gk (r − r′ ) = dk ′ ′2
k dφ′
dµ
(2π)3 0 0 −1 k 2 − k ′2
Z ∞
1 1 dk ′ k ′2 1
ik′ ρ −ik′ ρ
= e − e , (12.110)
(2π)2 2 −∞ k 2 − k ′2 ik ′ ρ
12.5. HELMHOLTZ EQUATION IN UNBOUNDED SPACE139 Version of November 23, 2010
k
- • •-
−k
Figure 12.1: Contour in the k ′ plane used to evaluate the integral (12.110).
The integral is closed in the upper (lower) half-plane if the exponent is positive
(negative). The poles in the integrand are avoided by passing above the one on
the left, and below the one on the right.
R∞ R∞
defining ρ = |r − r′ |, where we have replaced 0 by 12 −∞ because the inte-
grand is even in k ′2 . We evaluate this integral by contour methods. Because
now k can coincide with an eigenvalue k ′ , we must choose the contour appropri-
ately to define the Green’s function. Suppose we choose the contour as shown
in Fig. 12.1, passing below the pole at k and above the pole at −k. We close the
contour in the upper half plane for the eikρ and in the lower half plane for the
e−ikρ term. Then by Jordan’s lemma, we immediately evaluate the integral:
which coincides with Eq. (12.101). If a different contour defining the integral
had been chosen, we would have obtained a different Green’s function, not
one corresponding to outgoing spherical waves. Boundary conditions uniquely
determine the contour.
Note that
Gk (r, r′ ) = Gk (r′ , r), (12.112)
∂2 ∂2
∂ ∂ ∂
A B − B A = A 2 B − B 2 A, (12.118)
∂t ∂t ∂t ∂t ∂t
to conclude that
The surface integral vanishes, since both Green’s functions satisfy the same
homogeneous boundary conditions on Σ. (The boundary conditions are time
independent.) The second integral is also zero because from Eq. (12.115)
G(r, −∞; r′ , t′ )
∂G ′ ′ = 0, (12.120a)
∂t (r, −∞; r , t )
1 ∂2
∇′2 ψ(r′ , t) − ψ(r′ , t′ ) = ρ(r′ , t′ ), (12.122a)
c2 ∂t′2
2
1 ∂
∇′2 G(r, t; r′ , t′ ) − 2 ′2 G(r, t; r′ , t′ ) = δ(r − r′ )δ(t − t′ ). (12.122b)
c ∂t
Note that the differentiations on G are with respect to the second set of argu-
ments (this equation follows from the reciprocity relation). Again multiply the
first equation by G(r, t; r′ , t′ ), the second by ψ(r′ , t′ ), subtract, integrate over
the volume, and over t′ from t0 < t to t+ , where t+ means t + ǫ, ǫ → 0 through
142 Version of November 23, 2010 CHAPTER 12. GREEN’S FUNCTIONS
Now we again use Green’s theorem and the identity (12.118) to conclude
Z t+ Z
′
ψ(r, t) = dt (dr′ ) G(r, t; r′ , t′ )ρ(r′ , t′ )
t0 V
Z t+ I
dσ · G(r, t; r′ , t′ )∇′ ψ(r′ , t′ ) − ψ(r′ , t′ )∇′ G(r, t; r′ , t′ )
′
− dt
t0 Σ
1 ∂ ∂
Z
′ ′ ′ ′ ′
− 2 (dr ) G(r, t; r , t0 ) ψ(r , t0 ) − ψ(r , t0 ) G(r, t; r , t0 ) .
c V ∂t0 ∂t0
(12.124)
1 ∂2
∇2 − 2 2 G(r, t; r′ , t′ ) = δ(r − r′ )δ(t − t′ ), (12.130)
c ∂t
in unbounded space by noting that then G is a function of R = r − r′ and
T = t − t′ only,
The Fourier transform of the Green’s function equation is (we have set c = 1
temporarily for convenience),
−k + iǫ k + iǫ
• •
- -
Figure 12.2: Contour in the ω plane used to evaluate the integral (12.135).
Thus, if T > 0,
Z ∞ Z 1
1 2 i
dµ e−ikRµ eikT − e−ikT
G(R, T ) = 3
k dk 2π
(2π) 0 −1 2k
Z ∞
i k dk ikR
− e−ikR eikT − e−ikT
= 2
e
(2π) 0 2ikR
1 1 1 ∞
Z
ik(R+T ) −ik(R+T ) ik(R−T ) ik(T −R)
= dk e + e − e − e
(2π)2 2R 2 −∞
1 1
= [δ(R + T ) − δ(R − T )] . (12.138)
2π 2R
But R and T are both positive, so R + T can never vanish. Thus we are left
with
1 1
G(R, T ) = − δ(R − T ), (12.139)
4π R
or restoring c,
|r − r′ |
1 1
G(r − r′ , t − t′ ) = − δ − (t − t ′
) . (12.140)
4π |r − r′ | c
The effect at the observation point r at time t is due to the action at the source
point r′ at time
|r − r′ |
t′ = t − . (12.141)
c
Physically, this means that the “signal” propagates with speed c.
12.7. WAVE EQUATION IN UNBOUNDED SPACE145 Version of November 23, 2010
There are no effects from the infinite surface, nor from the infinite past, so we
have from Eq. (12.124)
Z t+ Z
′
ψ(r, t) = dt (dr′ ) G(r − r′ , t − t′ )ρ(r′ , t′ )
−∞ V
t+
|r − r(t′ )|
q 1
Z
= − dt′ δ − (t − t′ ) . (12.143)
4π −∞ |r − r(t′ )| c
If we let R(t′ ) = r − r(t′ ), the distance from the source to the observation point
′
at time t′ = t − R(tc ) , we write this as
t+
R(t′ )
q 1
Z
′ ′
ψ(r, t) = − dt δ − (t − t ) . (12.144)
4π −∞ R(t′ ) c
where
dR 1 d R·v
= R·R = − , (12.146)
dt′ 2R dt′ R
that is
R·v
′
dτ = dt 1 − . (12.147)
Rc
Thus the field is evaluated as
Z t+R(t)/c
q dτ 1
ψ(r, t) = − δ(τ − t)
R(τ ) 1 − R·v
4π −∞ Rc (τ )
q 1
= − . (12.148)
4π R(t) − R(t) · v(t)/c