THIS MATERIAL WILL HELP YOU TO PREPARE FOR THE BASIC CONCEPTS IN

MATHEMATICS FOR ENGINEERING ELECTROMAGNETICS

KEY TOPICS:

DEFINITIONS OF SCALAR AND VECTOR

CARTESIAN COORDINATE SYSTEM (x, y, z)

UNIT VECTOR

VECTOR ADDITION

VECTOR SUBTRACTION

VECTOR MULTIPLICATION BY A SCALAR

DOT PRODUCT & CROSS PRODUCT

RIGHT HAND RULE

CYLINDRICAL COORDINATE SYSTEM (r, φ, z)

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 1

SCALARS AND VECTORS

A scalar is a quantity which has only magnitude.

Examples of Scalars: time (second); temperature; mass (kg); electric potential (volt).

A vector has both magnitude and direction

Examples of Vectors: velocity (m/s); force (Newton); electric field (Newton/ Coulomb).

To distinguish between a scalar and a vector, it is a customary to denote a vector by a letter with an
j
j
j
j
j
kj
j
j
arrow on top of it, such as A .

A scalar is represented simply by a letter, for example: A .

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 2

CARTESIAN COORDINATE SYSTEM (= RECTANGULAR COORDINATE SYSTEM)

In Cartesian coordinate system, there are three coordinate axes which are mutually at right angles to
each other, namely x, y and z axes.

j
j
j
j
j
kj
j
j b c
A vector A which extends from the origin to the point A Ax , A y , A z in Cartesian coordinates can
j
j
j
j
j
kj
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j ^ ^ ^ j
j
j
k
jj
j j
j
j
k
j
jj
j j
j
j
k
jj
j
j ^ ^
be written as: A = Ax ax + A y a y + A z a z (or A = Ax i + A y j + A z k ) in which ax , a y and a z (or i , j
^
and k ) are the unit vectors (base vectors) along x, y and z directions respectively. Ax , A y and A z are
j
j
jj
j
k
j
jj
the scalar components of A along the x, y and z directions, respectively.

j
j
j
k
jj
j j
j
j
k
j
jj
j j
j
j
k
jj
j
j ^ ^ ^
In Engineering Electromagnetics, notation ax , a y , a z is used instead of i , j and k .
SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 3
MAGNITUDE OF A VECTOR
Lj
j
j
j
j
j
kj
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j Lk
j
j
jj
M
M
For a vector A = Ax ax + A y a y + A z a z in the Cartesian coordinates, its magnitude LAM is:

Lj M w w
w
w
w
ww
w
w
ww
w
w
w
ww
w
ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
w
ww
www
w
w
w
ww
w
w
ww
w
w
w
ww
w
w
w
Lk
jj
j
jM q 2 2 2
L AM = A x + A y + A z

UNIT VECTOR
j
j
j
j
j
kj
j
j j
j
j
j
j
kj
j
j
A unit vector a A along A is defined as a vector whose magnitude is unity (i.e.: 1) and the direction is
j
j
j
j
j
kj
j
j
along A .
j
k
j
j
jj
j
j
j
jj
k
j
jj f f
f
Af
f
ff
f
f
a A =Lj
Lk
j
j
jj
M
M
LAM
j
j
j
j
j
kj
j
j j
k
j
j
j
j j
j
j
j
j
kj
j
j
Thus, we also can write A as: A = A aA

j
j
j
j
j
kj
j
j j
j
j
k
jj
j j
j
j
k
jj
j
j j
j
j
k
jj
j
j j
j
j
j
j
kj
j
j
For a vector A = Ax ax + A y a y + A z a z in the Cartesian coordinates, its unit vector a A is given by:
j
j
j
j
jj
j
j
j
j
kj A
j
j f
f
ff
xf
f
faj
f
j
k
j
j
f
f
f
j
f
xf
f
f+
f
f
ff
f
ff
f
fA
f
f
ff
ff
yf
f
f
j
aj
f
j
k
j
j
j
f
f
f
j
f
yf
f
f+
f
f
ff
f
ff
f
fA
f
f
ff
ff
zf
f
f
j
aj
f
j
k
j
j
j
f
f
f
j
f
zf
f
ff
aA = w
www
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
ww
w
w
www
w
w
www
w
w
ww
ww
w
w
ww
w
ww
w
w
ww
w
w
ww
w
w
w
q Ax2 + A 2y + A 2z

Lj
Lj
j
jj
k
j
jjM
M
La AM= 1

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 4

Notes on Unit Vector:

Unit vector gives information about the direction of a vector

Magnitude of a unit vector is always 1.

Example
j
k
j
j
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
Q.1. Given a vector F = 2 ax @ 6 a y + 10 a z . Find the following:
j
k
j
j
j
j
a. Magnitude of vector F
j
k
j
j
j
j
b. Unit vector of vector F
j
k
j
j
j
j
c. Magnitude of the unit vector of vector F

Solution:
j
k
j
j
j
j
a. Magnitude of vector F
Lj M w w
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
w
w
ww
www
w
w
w
ww
w
w
w
ww
w
w
w
ww w
w
w
w ww
w
w
w
ww
ww
w
w
w
ww
w
ww
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
ww
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
ww w
w
w
w
ww
w
w
w
ww
w
w
w
ww
Lj
j
j
kj
j
j
j
LF M= F x + F y + F z = q 2 + @ 6 + 10 = p140
M q 2 2 2 ` a2 ` a2 ` a2

Lj
Ljj
j
k
j
j
jj
M ww
w
w
w
ww
w
w
w
w
M
# F = 2 35
L M p

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 5

 j
k
j
j
j
j
b. Unit vector of F

j
j
j
j
jj
j
j
jj Ff
j
k
j
j f
ff
xf
f
faj
f
j
k
j
j
f
f
f
j
f
xf
f
f+
f
f
ff
f
fF
f
f
ff
f
ff
f
f
yf
f
f
j
aj
f
j
k
j
j
j
f
f
f
j
f
yf
f
f+
f
f
ff
f
fF
f
f
ff
f
ffff
zf
f
f
j
aj
f
j
k
j
j
j
f
f
f
j
f
zf
f
ff 2f
f
f
j
aj
f
f
f
j
k
j
j
f
f
f
j
f
xf
f
ff
f
f
@f
f
f6f
f
f
ff
f
j
aj
f
f
f
j
k
j
j
f
f
f
j
j
f
yf
f
f+
f
f
ff
f
f10
f
f
ff
f
ff
f
ff
f
f
j
aj
f
j
k
j
j
j
f
f
f
j
f
zf
f
ff 2f
f f
f
j
aj
f
j
k
j
j
f
f
f
j
f
xf
f
ff
f
f
@f
f
ff
f
f6f
f
f
j
f
f
faj
j
k
j
j
f
f
f
j
j
f
f
yf
f
f+f
f
ff
ff
f
f10
f
ff
f
ff
f
f
j
aj
f
f
j
k
j
j
f
f
f
j
j
f
f
zf
f
f
aF = ww
ww
w
w
ww
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
ww
w
w
ww
ww
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
w = w w
ww
w
w
ww
w
w
www
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
ww
w
w
ww
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
ww
w
w
w= ww
w
w
ww
ww
w
w
w
qF 2x + F 2y + F 2z q2 2 +`@ 6a2 +`10a2 2 p35
j
j
j
j
jj
j
j
jj
k
j
j
j ff
j
j
j
k
f
f
f
aj
j
j
f
f
xf
f
ff
f
ff 3f
f f
faj
f
f
f
j
k
j
j
f
f
f
j
j
f
yf
f
ff
f 5f
f
f
j
aj
f
f
f
j
k
j
j
f
f
f
j
j
f
zf
f
ff
f
w
w
# aF = pw
w
w
ww
w
ww
w@ w w
ww
w
w
ww
w
w
w+ w w
ww
w
w
ww
w
w
w
35 p35 p35
j
k
j
j
j
j
c. Magnitude of the unit vector of F
v
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w
ww
w
ww
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
ww
w
w
ww
w
w
ww
w
w
ww
w
w v
w
ww
w
w
w
ww
w
w
w
ww
ww
w
ww
w
ww
w
w
w
ww
w
ww
w
w
w
ww
w
ww
w
w
w
ww
w
ww
w
ww
w
w
w
ww
w
ww
w
w
ww
w
w
ww
w
ww
w
ww
w
w
ww
w
w
ww
w
ww
w
ww
w
w
ww
w
uf u
Lj u
M u f g2 f g2 f g2
u
f g f g f g
j
j
jj
j
j
jj
k
j
j
j ff
f
f
1f
f
ff
f
ff
f
ff f
f
ff
f
f
3f
f
ff
f
ff
f
f f
ff
f
f
5f
f
ff
f
ff
f
ff f
f
f
1f
ff
f f
9f
f
ff
f
f f
f
f
25f
f
ff
LaF M= t w w
w
w
w
ww
w
ww
w + @ w w
ww
w
w
ww
w
w
w + w w
w
w
w
ww
w
ww
w =t
L M
p35 p35 p35
+ +
35 35 35
Lj
Lj
j
jj
j
j
jj
k
j
j
jM
# LaF M
M= 1

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 6

VECTOR ADDITION
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
k
j
jj
j
Two vectors A and B can be added together to give another vector, let us say R , which is:
j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
R =A +B.

The vector addition is carried out component by component.

j
j
j
j
j
kj
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j j
j
j
k
j
jj
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
If A = Ax ax + A y a y + A z a z and B = Bx ax + B y a y + B z a z ,
then:
j
j
j
k
j
jj
j
R = Rx j
aj
j
k
j
j
j j
j
j
k
jj
j
j j
j
j
k
jj
j
j
x + Ry ay + Rz az

= Ax + Bx ax + A y + B y a y + A z + B z j
j
j
j
k
j
jj j
j
j
k
j
jj
j
aj
j
k
j
j
jj
b c b c b c
z

Vector addition can also be carried out geometrically.

j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
Vector Addition of R = A + B : (1) – (3): Head Tail Rule; (4):Parallelogram Rule
SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 7
VECTOR SUBTRACTION

Vector Subtraction is carried out similar to Vector Addition.

j
j
j
j
j
kj
j
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j j
j
j
k
j
jj
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
Let us say that D = A @ B . If A = Ax ax + A y a y + A z a z and B = Bx ax + B y a y + B z a z ,
then:

j
j
j
j
j
kj
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj j
j j
j
j
j
kj
j
j j
j
j
j
j
kj
j
j j
j
j
j
j
kj
j
j b j
j
j
k
j
jj
jc
D = Dx ax + D y a y + D z a z = A @ B = A + @ B
j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
b c b c b c
= Ax @ Bx ax + A y @ B y a y + A z @ B z a z

j
j
j
j
j
kj
j
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
Vector Subtraction D = A @ B

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 8

VECTOR MULTIPLICATION BY A SCALAR

Vectors may be multiplied by scalars. The magnitude of the vector will change, however the vector’s
direction does not change when the scalar is positive. The vector would reverse its direction if it is
multiplied by a negative scalar.

j
j
j
j
j
kj
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
Assume A = Ax ax + A y a y + A z a z and c is a scalar,
then:
j
j
j
j
j
kj
j
j b
c A = c Ax ax + c A y a y + c A z j
j
j
j
k
j
jj j
j
j
k
j
jj
j
aj
j
k
j
j
jj
c b c b c
z
j
j
j
j
j
kj
j
j j
j
j
j
jj
k
j
j
j
j
c A is always parallel to A

Multiplication of a vector by a scalar obeys the associative and distributive laws of algebra.
Assume r and s are scalars,
then:
` abj
j
j
j
j
kj
j
j j
j
j
k
j
jj
jc bj
j
j
j
j
kj
j
j j
j
j
k
j
jj
jc bj
j
j
j
j
kj
j
j j
j
j
k
j
jj
jc j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
r+ s A + B =r A + B + s A + B =r A + rB + s A + sB

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 9

Example:
j
k
j
j
j
j j
j
j
k
jj
j j j
j
k
jj
j
j j
j
j
k
jj
j
j j
k
j
j
j j
j
j
k
jj
j
j j j
j
k
jj
j
j j
k
j
j
j
j j
j
j
k
jj
j j
j
j
k
jj
j
j j
j
j
k
jj
j
j
Q.1. If A = 2 ax + a y @ 3 a z ; B = a y @ a z ; C = 3 ax + 5 a y + 7 a z determine:
j
k
j
jj
j j
k
j
j
j
j
k
j
j
j
j j
k
j
j
j j
k
j
j
j
j 2f
f
ff
f
f
Af
f
ff
f
f
@f
f
ff
f
f3f
f
ff
f
ff
f
f
Bf
ff
a. A @ 2 B + 3 C b. L
LCM
M

Solution:
a. j
k
j
j
jj j
k
j
j
j j
k
j
j
j
jb j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
c b
jj
j
k
j
j
jj j
j
j
k
j
jj
j
c b
j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
c
A @ 2 B + 3 C = 2 ax + a y @ 3 a z @ 2 a y @ a z + 3 3 ax + 5 a y + 7 a z
j
k
j
j
j
j j
k
j
j
j j
k
j
j
j
jb j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
c b
j
j
j
k
j
jj
j j
j
j
k
j
jj
j
c b
j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
c
A @ 2 B + 3 C = 2 ax + a y @ 3 a z @ 2 a y @ 2 a z + 9 ax + 15 a y + 21 a z
j
k
j
j
j
j j
k
j
j
j j
k
j
j
j
j` aj
j
j
k
j
jj ` aj
j
j
k
j
jj
j ` aj
j
j
k
j
jj
j
A @ 2 B + 3 C = 2 + 9 ax + 1 @ 2 + 15 a y + @ 3 + 2 + 21 a z
j
k
j
j
j
j j
k
j
j
j j
k
j
j
j
j j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
# A @ 2 B + 3 C = 11 ax + 14 a y + 20 a z
ww
w
w
w
ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
www
w
w
w
ww
w
w
w
ww
w
w
w
ww
L M q 2 w
ww
w
w
w
ww
w
w
w
b. LCM= 3 + 5 + 7 2 = p83 = 9.11
2

j 4j j
j
k
j
jj j
j
jk
j
j
j
j j jj
k
j
j
jj j
jj
k
j
j
jj jj
j
k
j
jj
j
b c b c
j
k
j
jj
j j
k
j
j j
j
j
kj
j
j j j
jk
j
j
j
j j
2f
f
ff
f
f
Af
f
ff
f
f
@f
f
ff
f
f3f
f
ff
f
ff
f
f
Bf
ff fff
f
ff
f
f
af
f
fx + 2 ay @ 6 az @ 3 ay @ 3 az
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
f
ff
ff 4f
f f
fa
f
f
ff
f
xf
f
ff
f
f
@f
f
ff
fa
f
f
ff
f
fyf
f
ff
f
f
@f
f
f3f
f
ff
ff
f
faj
j
k
j
j
f
f
f
j
j
f
zf
ff
f
L M = =
LCM 9.11 9.11
j
k
j
jj
j j
kj
j
j
2f
f
ff
f
f
Af
f
ff
f
f
@f
f
ff
f
f3f
f
ff
f
ff
f
f
Bf
ff j
j
k
j
jj
j j
j
j
k
jj
j
j j
j
j
k
jj
j
j
# L LCM
M = 0.439 ax @ 0.109 a y @ 0.329 a z

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 10

MULTIPLICATION OF TWO VECTORS
Multiplication of two vectors can be two types: DOT PRODUCT and CROSS PRODUCT

DOT PRODUCT
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
jjj
j
k
j
j
jj
Dot product of two vectors A and B , written as A A B is defined geometrically as the product of the
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
magnitudes of A and B and the cosine of the smallest angle between them.

j
j
j
j
j
kj
j
jjj
j
k
j
j
jj
A A B = AB cos θ AB ; 0 ≤ θ AB ≤ π

j
j
j
j
j
kj
j
jjj
j
k
j
j
jj πf
f
ff
f
A A B > 0 when 0 ≤ θ AB < 2

j
j
j
j
j
kj
j
jjj
j
k
j
j
jj πf
f
ff
f
A A B < 0 when 2 < θ AB ≤ π

j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
Another method of finding the dot product of 2 vectors A and B in Cartesian Coordinates:
j
j
j
j
j
kj
j
jjj
j
k
j
j
jj
A A B = Ax Bx + A y B y + A z B z
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
The angle between A and B can be found by: hjk
j
j
j
jk jjj
ji
f
f
@ 1j Af
ff
Af
f
ff
Bf
f
ff
f
θ AB = cos k
AB

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 11

Properties of Dot Product
j
j
j
j
j
kj
j
jjj
j
k
j
j
jj j
j
j
k
j
jj
jjj
j
j
j
k
jj
j
(i) Commutative law: A A B = B A A
j
j
j
k
j
jj
jbj
j
j
k
j
jj
j j
j
j
j
k
jj
j
jc j
j
j
j
j
kj
j
jjj
j
k
j
j
jj j
j
j
j
j
kj
j
jjj
j
j
k
j
jj
j
(ii) Distributive Law: A A B + C = A A B + A A C

Notes on Dot Product:

j
j
j
j
j
kj
j
jjj
j
j
j
k
jj
j 2
1. A A A = |A |
j
j
j
k
jj
jj j
j
k
jj
j
j j j
j
k
jj
j
jj j
j
k
jj
j
j j j
j
k
jj
j
jj j
j
k
jj
j
2. ax A a y = a y A a z = a z A ax = 0
j
j
j
k
jj
jj j
j
kj
j
j j j
j
kj
j
jjj j
jk
j
j
jj j j
j
k
jj
j
jj j
j
kj
j
j
j
3. ax A ax = a y A a y = a z A a z = 1

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 12

CROSS PRODUCT
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
Cross product of 2 vectors A and B , written as A B B is a vector quantity whose magnitude is the
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
area formed by A B B and is in the direction of a right-handed screw turning from A to B

Definition of the CROSS PRODUCT is:

j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
A BB = AB sin θ AB j
aj
j
j
j
jj
k
jj
j
j
n ;
j
j
j
j
jj
j
k
j
j
jj j
j
j
j
jj
j
k
j
j
jj j
j
j
j
jj
j
j
k
j
jj
j
an = a A B aB

Another method of finding the cross-product in Cartesian Coordinates:

L M
Ljj
j
k
jj
j j
j
j
k
jj
j
j j
j
j
k
jj
j
j M
L ax a y a z M
j
j
j
j
j
kj
j
j j
j
j
k
jj
j
jLL
M b
M c
j
j
j
k
j
jj
b c
j
j
j
k
j
jj
j
b c
j
j
j
k
j
jj
j
A BB =LAx A y A z M = A y B z @ A z B y ax + A z Bx @ Ax B z a y + Ax B y @ A y Bx a z
L M
L M
LB B B M
L x y zM

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 13

RIGHT HAND RULE
One of the challenges in Vector Cross Product is the determination of the direction of the resultant
vector. To tackle this challenge, the Right Hand Rule can be applied.

There are 3 techniques for RIGHT HAND RULE which can be applied. When applied CORRECTLY, the 3
techniques give the SAME result.

(1) Using the Thumb, Forefinger and Middle Finger

Procedure:
a. Forefinger must point in the direction of the 1st vector. For example, to
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j
calculate A B B , the forefinger must point in the direction of A
b. Middle finger must point in the direction of the 2nd vector. For example,
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
k
j
jj
j
to calculate A B B the middle finger must point in the direction of B
c. Thumb is now pointing in the direction of the cross product or the
resultant vector

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 14

(2) Using the Curl of Four fingers and Thumb

Procedure:
a) The four fingers except the thumb must curl in the direction as if the 1st
j
j
j
j
j
kj
j
j
vector is approaching (in this case is A ) the 2nd vector (in this case is
j
j
j
k
j
jj
j
B ). Always remember to take the shortest path along the vectors
b) The thumb is now pointing in the direction of the cross product or the
resultant vector

(3) Using Palm

Procedure:
a. The four fingers (EXCEPT THUMB) must point in the direction of the
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j
1st vector. For example, to calculate A B B , the four fingers must
j
j
j
j
j
kj
j
j
point in the direction of A
b. Palm must point in the direction of the 2nd vector. For example, to
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
k
j
jj
j
calculate A B B , the palm points in the direction of B
c. The thumb is now pointing in the direction of the cross product or
the resultant vector

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 15

Properties of Cross Product:
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j
1. It is not commutative: A B B ≠ B B A
j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j
2. It is anti commutative: A B B = @ B B A
j
j
j
j
j
kj
j
j bj
j
j
k
j
jj
j j
j
j
j
k
jj
j
jc bj
j
j
j
j
kj
j
j j
j
j
k
j
jj
jc j
j
j
j
k
jj
j
j
3. It is not associative: A B B BC ≠ A B B BC
j
j
j
j
j
kj
j
j bj
j
j
k
j
jj
j j
j
j
j
k
jj
j
jc j
j
j
j
j
kj
j
j j
j
j
k
j
jj
j j
j
j
j
j
kj
j
j j
j
j
j
k
jj
j
j
4. It is distributive: A B B + C = A B B + A BC

Notes on Cross Product:

j
j
j
j
j
kj
j
j j
j
j
j
j
kj
j
j
1. A B A = 0
j
j
j
k
jj
j j jj
k
j
jj
j j j
j
k
j
jj
j
2. ax Ba y = a z
j
j
j
k
jj
j
j j j
j
k
jj
j
j j j
j
k
jj
j
3. a y Ba z = ax
j
j
j
k
jj
j
j j j
j
k
jj
j j j
j
k
j
jj
j
4. a z Bax = a y
j
j
j
k
jj
j j j
j
k
j
jj
j j
j
j
k
jj
j
j
5. ax B a z = @ a y
j
j
j
k
jj
j
j j j
j
k
jj
j j
j
j
k
jj
j
j
6. a y B ax = @ a z
j
j
j
k
jj
j
j j j
j
k
jj
j
j j
j
j
k
j
jj
7. a z Ba y = @ ax Cyclic Permutation Diagram

Note no. 2-6 can be obtained by applying Cross Product using Cyclic Permutation.

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 16

NOTES ON USAGE OF CYCLIC PERMUTATION DIAGRAM

First we construct the Cyclic Permutation Diagram shown.

If the sequence of the two vectors is CLOCK WISE (CW), the cross
product is the remaining vector WITHOUT change of sign. Thus,
j
aj
j
k
jj
j j j
j
k
j
jj
j j j
j
k
jj
j
j
x Ba y = a z .
If the sequence of the two vectors is Counter Clock Wise (CCW), the
cross product is the remaining vector WITH change of sign. Thus,
j
aj
j
k
jj
j
j j j
j
k
jj
j j
j
y B ax = @ a z
jk
j
j
j
j

Example:
j
k
j
j
j
j j
j
j
k
jj
j j j
j
k
jj
j
j j
j
j
k
jj
j
j j
k
j
j
j
j j
j
j
k
jj
j j
j
j
k
jj
j
j j
j
j
k
jj
j
j j
k
j
j
j j
j
j
k
jj
j j j
j
k
jj
j
j j
j
j
k
jj
j
j
Q.1. Given that P = @ 2 ax @ a y @ 2 a z ; Q = 4 ax + 3 a y + 2 a z ; R = @ ax + a y + 2 a z
Find:
j
k
j
j
j
j k
j
j
j
j j
k
j
j
j
jjk
j
j
j
j k
j
j
j
j
a. Q B R b. P A Q B R
Solution:
L M
L ax ay az M
a. j
k
j
j
jj kj
j
j
jL L
M
M
Q B R =L
L 4 3 2M M
L M
L@ 1 1 2M
j
k
j
j
j
j k
j
j
j
j ` aj
j
k
j
j
jj
b ` a c
j
j
j
k
j
jj
j
b ` ac j
j
j
k
j
jj
j
Q BR = 3 A 2 @ 2 A 1 ax + 2 A @ 1 @ 4 A 2 a y + 4 A 1 @ 3 A @ 1 a z
j
k
j
j
j
j k
j
j
j
j
# Q BR = 4 j
aj
j
k
j
j
j j
j
j
k
jj
j
j j j
j
k
jj
j
j
x @ 10 a y + 7 a z

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 17

 j
k
j
j
j
jjk
j
j
j
j k
j
j
j
j j
k
j
j
j
j k
j
j
j
j
b. In P A Q B R , cross product of Q B R is carried out first, because the cross product would
eventually yield another vector. Dot product can eventually be carried out between this new
j
k
j
j
j
j j
k
j
j
j
jjk
j
j
j
j
vector and P . If the dot product of P A Q is carried out first, the cross product can not be
carried out later. Dot product would yield a scalar value while at the other hand; we know
that cross product must only be carried out between vectors only.
j
k
j
j
j
jjk
j
j
j
j k
j
j
j
j b j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
c b
j
j
j
k
j
jj j
j
j
k
j
jj
j j
j
j
k
j
jj
j
c
P A Q B R = @ 2 ax @ a y @ 2 a z A 4 ax @ 10 a y + 7 a z
j
k
j
j
j
jjk
j
j
j
j j
k
j
j
j ` a b` a` ac b` a c
# P A Q B R = @ 2 A 4 + @ 1 A @ 10 + @ 2 A 7 = @ 12

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 18

CYLINDRICAL COORDINATE SYSTEM (r, φ, z)

Whenever we are dealing with problems having cylindrical symmetry; the cylindrical coordinate
system becomes very handy.

A point P in cylindrical coordinates is represented as ( r , φ , z ).

r is the radius (shortest distance) from z-axis passing to point P.
φ is the azimuthal angle; which is measured counterclockwise from the x axis in the X-Y Plane.
z is the same as in the Cartesian coordinate system.

Top View
3-D View
SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 19
RELATIONSHIP BETWEEN CARTESIAN AND CYLINDRICAL COORDINATE SYSTEMS

(1) Relationship between the Cartesian and Cylindrical coordinates

Transform Cartesian to Cylindrical Transform Cylindrical to Cartesian

ww
w
w
w
ww
w
w
w
ww
w
ww
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
q
r = x + y2
2 x = r cos φ
; 0 ≤ r<1
y = r sinφ
φ = tan@ 1 f
yf
f
ff
x ; 0 ≤ φ< 2π z =z
z = z;

j
j
j
k
j
jjj
j
j
k
j
jj
j j
j
j
k
j
jj
j
In Cartesian coordinate system, the unit vectors (base vectors) are ax , a y and a z .
j
j
j
k
jjj
j j
j
k
jj
j
j j
j
j
kj
jj
j
In Cylindrical coordinate system, the unit vectors (base vectors) are ar , aφ , and a z along r , φ and z
directions, respectively.

j
j
j
j
j
kj
j
j
A vector A in cylindrical coordinate system can be written as:
j
j
j
j
j
kj
j
j
A = Ar j
aj
j
k
j
j
j j
j
j
k
jj
j
j j
j
j
k
jj
j
j
r + Aφ aφ + A z a z

Lj ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
w
www
ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
w
w
j
j
j
j
j
kj
j
j Lk
jj
jj
M
M q 2 2 2
The magnitude of A is written as: L AM = A r + A φ + A z

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 20

 jj
j
k
jj
j j
j
j
k
j
jj
j j
j
j
k
jj
j
j jj
j
k
jj
j j
j
j
k
j
jj
j j
j
j
k
jj
j
j
(2) Relationship between ( ax , a y and a z ) and ( ar , aφ , and a z )

Transform Cartesian to Cylindrical Transform Cylindrical to Cartesian

j
j
j
j
k
j
jj j
j
j
k
j
jj j
j
j
k
j
j
ar = cosφ ax + sinφ a y
j
j
ax = cosφ j
j
j
k
j
jj
aj
j
k
j
j
j j
j
j
k
jj
j
j
r @ sinφ aφ

j
aφ = @ sinφ j
j
j
k
j
jj
j
aj
j
k
j
j
j j
j
j
k
jj
j
j
x + cosφ a y j
j
j
k
j
jj
j j
j
j
k
j
jj j
j
j
k
j
jj
j
a y = sinφ ar + cosφ aφ
j
j
j
k
j
jj
j j
j
j
k
j
jj
j
az = az j
j
j
k
j
jj
j j
j
j
k
j
jj
j
az = az

j
j
j
j
j
kj
j
j
(3) Relationship between Vector Representation of A in Cartesian and Cylindrical Coordinate
Transform Cartesian to Cylindrical Transform Cylindrical to Cartesian
H I H IH IH I H IH I
Ar cosφ sinφ 0 Ax Ax cosφ @ sinφ 0 Ar
L M L ML M L M L ML M
L Aφ M=L @ sinφ cosφ 0ML A y M L A y M=L sinφ cosφ
KJ Aφ K
0ML M
J K J KJ K J K J
Az 0 0 1 Az Az 0 0 1 Az

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 21

Example:
Q.1. Express the Cartesian coordinates of point P (1, -4, -3) in Cylindrical Coordinates
Solution: w
w
ww
w
ww
w
w
ww
w
w
w
ww
w
w
ww
w
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
w
w
ww
w
w
w
ww
w
w
ww
w
ww
w
w
w
ww
ww
w
w
w
ww
w
w
w
ww
w
w
w
ww
r = q x + y 2 = q1 + @ 4
2 2 ` a2
= 4.123
d e f g
yf
f
ff
f f
f
@1 @f
ff
f
f
4f
f
ff 0
b c
φ = tan 1
@
= tan = 284.04 φ is in the 4th Quadrant
x 1
b c b c
0
# P r,φ, z = 4.123, 284.04 , @ 3

j
j
k
j
j
jj ` aj
j
j
k
j
jj
j
Q.2. (ADVANCED) Transform vector D = x + z a y into cylindrical coordinates
Solution:
H I H I H I
Dr cosφ sinφ 0
L M L ML 0 M
LD φ M=L @ sinφ cosφ
J K J 0MKJx + zK
Dz 0 0 1 0
` a
Dr = x + z sinφ
` a
Dφ = x + z cosφ
x = rcosφ; z = z
j
j
k
j
j
jjb
# D = rcosφ + z sinφ ar + rcosφ + z cosφ j
j
j
j
k
j
jj
aj
j
k
j
j
jj
c b c
φ

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 22

 j
k
j
j
j
j b 2
c
2 j
j
j
k
j
jj j
j
j
k
j
jj
j
b
2
c
2 j
j
j
k
j
jj
j
Q.3. (ADVANCED) Express vector E = y @ x ax + xyz a y + x @ z a z into cylindrical coordinates
Solution:
H I H IH I
Er cosφ sinφ 0 y 2 @ x 2
L M L ML M
LE φ M=L @ sinφ cosφ 0ML xyz M
J K J KJ K
2 2
Ez 0 0 1 x @z
b c
2 2
E r = y @ x cosφ + xyz sinφ
b c
2 2
E r = r sin φ @cos φ cosφ + r 2 z cosφsin φ
2 2

2
E r = @ r 2 cos 2φcosφ + r 2 z sin φcosφ
b c
2 2
E φ = @ y @ x sinφ + xyz cosφ
E φ = r 2 cos 2φsinφ + r 2 cos 2φsinφ + r 2 z sinφcos 2 φ

E z = x 2 @ z 2 = r 2 cos 2 φ @ z 2
j
k
j
j
j
j
E = r cosφ zsin φ @ cos 2φ aφ + r sinφ 2 cos φ + cos 2φ aφ + r cos φ @ z j
j
j
j
k
j
jj
j
aj
j
k
j
j
jj j
j
j
k
j
jj
j
b c b c b c
2 2 2 2 2 2 2
z

SOME BASIC MATHEMATICAL CONCEPTS FOR ENGINEERING ELECTROMAGNETICS 23