FORMULA SHEET for MATH 3101/4081 : CONTINUUM MECHANICS

Some vector identities:

∇ · f A = ∇f · A + f ∇ · A (1)



∇ × f A = ∇f × A + f ∇ × A (2)



∇ × ∇ × A = ∇ ∇ · A − ∆A (3)
A · ∇A = 21 ∇|A|2 − A × ∇ × A


(4)




∇· A×B =B· ∇×A −A· ∇×B (5)


∇ × A × B = B · ∇A − A · ∇B + A∇ · B − B∇ · A (6)




∇ A · B = A · ∇B + B · ∇A + A × ∇ × B + B × ∇ × A (7)

In cylindrical coordinates (r, θ, z):

eθ
∇f = grad f = er ∂r f + ∂θ f + ez ∂z f (8)
r
1 1
∇·A = div A = ∂r (rAr ) + ∂θ Aθ + ∂z Az (9)
r r
1 
1

∇×A = rot A = ∂θ Az − ∂z Aθ er + ∂z Ar − ∂r Az eθ + ∂r (rAθ ) − ∂θ Ar ez (10)
r r
1
1
∆f = ∂r r ∂r f + 2 ∂θθ f + ∂zz f (11)
r r
 1 2   2 1 
∆A = ∆Ar − 2 Ar − 2 ∂θ Aθ er + ∆Aθ + 2 ∂θ Ar − 2 Aθ eθ + ez ∆Az (12)
r r r r
 Bθ Aθ   Bθ Ar 

B ·∇A = er B ·∇Ar − + eθ B ·∇Aθ + + ez B ·∇Az (13)
r r
In spherical coordinates (r, θ, φ):
eθ eφ
∇f = grad f = er ∂r f + ∂θ f + ∂φ f (14)
r r sin θ
1 1 1
∇·A = div A = 2 ∂r r2 Ar +



∂θ Aθ sin θ + ∂φ Aφ (15)
r r sin θ r sin θ
er
eθ  1 
∇×A = rot A = ∂θ (Aφ sin θ) − ∂φ Aθ + ∂φ Ar − ∂r (rAφ )
r sin θ r sin θ
eφ

+ ∂r (rAθ ) − ∂θ Ar (16)
r
1 1
1
∆f = ∂rr (rf ) + 2 ∂θ sin θ∂θ f + 2 2 ∂φφ f (17)
r r sin θ r sin θ
 2 2  
∆A = ∆Ar − 2 Ar − 2 ∂θ (sin θAθ ) + ∂φ Aφ er
r r sin θ
 2 Aθ 2 cos θ 
+ ∆Aθ + 2 ∂θ Ar − 2 2 − 2 2 ∂φ Aφ eθ
r r sin θ r sin θ
 2 2 cos θ Aφ 
+ ∆Aφ + 2 ∂φ Ar + 2 2 ∂φ Aθ − 2 2 eφ (18)
r sin θ r sin θ r sin θ
 Bθ Aθ Bφ Aφ   Bφ Aφ Bθ Ar 
B ·∇A = er B ·∇Ar − − + eθ B ·∇Aθ − cot θ +
r r r r
 Bφ Ar Bφ Aθ 
+ eφ B ·∇Aφ + + cot θ (19)
r r
Bessel functions u(r) = Jn (r) and u(r) = Yn (r) are solutions to the ODE
r2 u00 + ru0 + r2 − n2 u = 0.


(20)
Both Jn (r) and Yn (r) → 0 as r → ∞; Jn (0) = δn0 , and |Yn (r)| → ∞ as r → 0.