Vectors vs.

Scalars
A vector is a quantity having both magnitude and direction.
A scalar is a quantity only having magnitude.
A unit vector has magnitude one and is used to denote direction.

A= Ax + Ay + Az
2 2 2
The magnitude of vector A:

To find the unit vector of vector A:

A = Ax ax + Ay a y + Az az
A A
aA = =
A Ax + Ay + Az
2 2 2
 Vector Algebra

• Vectors can be added and subtracted.

• They obey associative,cummutative, and distributive laws
• A+(B+C)=(A+B)+C
• A+B=B+A
• r(A+B)=rA+rB
• Vector Multiplication has two forms:
• Dot Product (scalar)
• Cross Product (vector)
 Dot Product
• The dot or scalar product is:
A ⋅ B = A B cosθ AB
Where θAB is the angle between A and B

A ⋅ B = Ax Bx + Ay B y + Az Bz

a⋅a =1
A⋅ A = A
2
 Projection
To find out how much of vector B is in the direction of a:
 Cross Product
• The cross or vector product is:
A × B = A B sin θ AB an
⎡ ax a y az ⎤
⎢ ⎥
A × B = ⎢ Ax Ay Az ⎥
⎢⎣ Bx B y Bz ⎥⎦
A × B = −B × A
Expand this determinant
 Coordinate Systems

P(x,y,z) P(ρ,φ,z) P(r,φ,θ)

θ
z z r
x φ
y ρ φ
rectangular cylindrical spherical
Rectangular Differential Surfaces
and Volumes
______ ______

Volume = dx dy dz
_______
______

________
 Surfaces in Rectangular Coordinates

Z
Z Z

Y
Y Y

X
X X
 Cylindrical

______az
volume = ________

_____

________
___

________

____
____
Surfaces in Cylindrical Coordinates
 Spherical
________________

________________

_______ ____

________aφ
_____________ ______

Volume dv= _____________

 Where does r sinθ come from?

r sinθ dφ

r’
y
x
θ r

y sinθ = r’/r
r’ = r sinθ

x
Surfaces in Spherical Coordinates
 Vector Transformation:
Cylindrical
Given:
A=Ax ax + Ay ay + Az az (rectangular)
Find:
A=Aρ aρ + Aφ aφ + Az az (cylindrical)
We must use the projection property
Aρ = A •aρ
Aφ = A •aφ
Az = A •az
Aρ = (Ax ax + Ay ay + Az az) • aρ
= Ax ax•aρ + Ay ay• aρ + Az az • aρ
Aφ = (Ax ax + Ay ay + Az az) • aφ
= Ax ax •aφ + Ay ay •aφ + Az az •aφ
Az = Az

Then use Table 1.1

 What is φ?
What is φ? use equations on page 17 #11

Cylindrical Point
transformations:
x= r cosφ r = sqrt(x2 +y2)
y= r sinφ φ= tan-1 y / x
z= z z= z

Note: A vector transformation is always done at a point

 Vector Transformations
Spherical:
A = Ax ax + Ay ay + Az az
A = Ar ar + Aθ aθ + Aφ aφ
Ar = A• ar
Aθ = Α •aθ
Aφ = A• aφ
Then use table 1.2 for unit vector products.
!!For θ, φ use point transformations at some point (r, θ, φ)
 What do we use for r, θ, and φ?

Spherical Point Transformations:

x= r sinθ cosφ r = sqrt(x2 +y2 + z2)
y= r sinθ sinφ θ = cos-1 (z / sqrt(x2 +y2 + z2))
z= r cosθ φ = tan-1 y / x