Vector Calculus (Unit 2)

Unit 2
Electromagnetic Theory
Vector Calculus
Scalar and Vector Fields
• A scalar field is a function that gives us a single value

of some variable for every point in space.
voltage, current, energy, temperature
• A vector is a quantity which has both a magnitude and

a direction in space. A function that corresponds to a
vector quantity is a vector field.
velocity, momentum, acceleration and force

COORDINATE SYSTEMS
❖ RECTANGULAR or Cartesian
❖ CYLINDRICAL
❖ SPHERICAL
Choice is based on
symmetry of
problem
Examples:
Sheets - RECTANGULAR
Wires/Cables - CYLINDRICAL
Spheres - SPHERICAL
Cylindrical Symmetry Spherical Symmetry
Cartesian Coordinates or Rectangular Coordinates
P (x, y, z) z
−  x   P(x,y,z)
−  y   y
−  z  
x
Any vector A in Cartesian coordinates can be written as

( Ax , Ay , Az ) or Ax ax + Ay a y + Az az
where ax, ay and az are unit vectors along x, y and z-directions.
Reference Book: Engineering Physics, Malik & Singh

Principles of Electromagnetics, Sadiku
Cylindrical Coordinates
z
z
P (ρ, Φ, z)
0  P(ρ, Φ, z)
0    2
y
−  z  
ρ
x Φ

z
z
P(ρ, Φ, z)
ρ y
x Φ
Any vector A in Cylindrical coordinates can be written as

( A , A , Az ) or A a + A a + Az az
where aρ, aΦ and az are unit vectors along ρ, Φ and z-directions.
x = ρ cos Φ, y=ρ sin Φ, z=z
y
 = x + y ,  = tan
2 2 −1
,z = z
x
The relationships between (ax,ay, az) and (aρ,aΦ, az) are
a x = cosa  − sin a

a y = sin a + cosa
az = az
Or, a  = cosa x + sin a y
a = − sin a x + cosa y
az = az
Since, A = Axax + Ayay + Azaz
A = ( Ax cos + Ay sin  )a + (− Ax sin  + Ay cos )a + Az az

But, A = Aρaρ + AΦaΦ + Azaz
So, A = Ax cos + Ay sin 
A = − Ax sin  + Ay cos
Az = Az
In matrix form, we can write
 A   cos sin  0  Ax 
 A  = − sin  cos 0  Ay 
  
 Az   0 0 1  Az 
which is the relationship between (Ax,Ay, Az) and (Aρ, AΦ, Az)
Note:
the above relation is also valid for (aρ,aΦ,az) and (ax,ay,az)
Spherical Coordinates
z
P (r, θ, Φ)
0r P(r, θ, Φ)
θ r
0  
0    2 x Φ
y

A vector A in Spherical P (r, θ, Φ)
coordinates can be written as
( Ar , A , A )
or
Ar ar + A a + A a
where ar, aθ, and aΦ are unit vectors along r, θ, and Φ-directions.
x=r sin θ cos Φ, y=r sin θ sin Φ, Z=r cos θ
x2 + y2 −1 y
r = x 2 + y 2 + z 2 , = tan −1 ,  = tan
z x
The relationships between (ax,ay, az) and (ar,aθ,aΦ) are
a x = sin  cosar + cos cosa − sin a
a y = sin  sin ar + cos sin a + cosa
a z = cosar − sin a
Since, A = Axax + Ayay + Azaz
A = ( Ax sin  cos + Ay sin  sin  + Az cos )ar

+ ( Ax cos cos + Ay cos sin  − Az sin  )a
+ (− Ax sin  + Ay cos )a
But, A = Arar + AƟaƟ + AΦaΦ

So,
Ar = Ax sin  cos + Ay sin  sin  + Az cos
A = Ax cos cos + Ay cos sin  − Az sin 
A = − Ax sin  + Ay cos
In matrix form, we can write
 Ar   sin  cos sin  sin  cos   Ax 

     
 A  = cos cos cos sin  − sin    Ay 
 A   − sin  cos 0   Az 
 
which is the relationship between (Ax,Ay, Az) and (Ar, Aθ,AΦ)
Note:
the above relation is also valid for (ar,aθ,aΦ) and (ax,ay,az)
z z
P(r, θ, Φ)
Cartesian Coordinates P(x,y,z)
θ r P(x, y, z) y
y x
x Φ
Spherical Coordinates Cylindrical Coordinates

P(r, θ, Φ) z P(ρ, Φ, z)
z
P(ρ, Φ, z)
Φ
r y
x
Differential Length, Area and Volume
Cartesian Coordinates
Differential displacement
dl = dxax + dyay + dzaz
Differential area
Differential Volume dV = dxdydz

Differential area
Differential displacement
dl = da + da + dzaz
Differential Volume dV = dddz

Differential displacement dl = drar + rda + r sin da

Differential area

RECAP
Vector Calculus
✓Scalar & Vector Fields

✓Cartesian or Rectangular Co-ordinates
✓Cylindrical Co-ordinates
✓Spherical Co-ordinates
✓Conversion from one co-ordinate system to other
✓Differential Length, Differential Area, Differential Volume
Line, Surface and Volume Integrals
Line Integral Surface Integral

(Flux)
Volume Integral
Gradient, Divergence, Curl
Del Operator Not a vector in itself, but

when it operates on a
scalar, a vector is
produced.

Del Operator
Cartesian Coordinates
  
 = ax + a y + az
x y z
 1  
= a + a + a z
   z
 1  1 
 = ar + a + a
r r  r sin  
Gradient of a Scalar
The gradient of a scalar field (u) is a vector that represents both the
magnitude & the direction of the maximum space rate of increase of the
scalar field.

Gradient of a Scalar (in different co-ordinate systems)
V V V
V = ax + ay + az
x y z
V 1 V V
V = a + a + az
   z
V 1 V 1 V
V = ar + a + a
r r  r sin  

Divergence of a Vector
The divergence of a vector (A) at a given point P is the outward flux per unit
volume as the volume shrinks about P.
Physically, the
divergence of a vector
(A) at a given point is
a measure of how
much that vector
spreads out, i.e.,
diverges, from that
Reference Book: Engineering Physics, Malik & Singh point.
Divergence of a Vector (in different co-ordinate systems)
1  1 A Az
. A = ( A ) + +
    z

Curl of a Vector
Physically, the curl of a vector (A) at a given point P is the
measure of the circulation of the vector around that point P (i.e.,
how much the vector field A curls around the point P).
The curl of a vector field (A) provides

the maximum value of the circulation
of the field per unit area, and
indicates the direction along which
this maximum value occurs.
Curl of a Vector (in different co-ordinate systems)
 ax ay az   a a az 
   1  
 A =    A =  
 x y z      z 
 Ax Ay Az   A A Az 
Cartesian Coordinates Cylindrical Coordinates
 ar ra r sin a 

1    
 A = 2  
r sin   r   
 Ar rA r sin A 
Some Important Points
Reference Book: Principles of Electromagnetics, Sadiku

Some Important Points
conservative

Divergence or Gauss’ Theorem
The divergence theorem states that the total outward flux of a

vector field A through the closed surface S is the same as the
volume integral of the divergence of A.
 A.dS =  .Adv V

Stokes’ Theorem
Stokes’s theorem states that the circulation of a vector field A around a closed path L is
equal to the surface integral of the curl of A over the open surface S bounded by L,
provided A and curl A are continuous on S.
 A.dl =  (  A).dS
L S

Vector Calculus (Unit 2)

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Vector Calculus (Unit 2)

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Unit 2

• A scalar field is a function that gives us a single value

voltage, current, energy, temperature

• A vector is a quantity which has both a magnitude and

velocity, momentum, acceleration and force

Any vector A in Cartesian coordinates can be written as

Reference Book: Engineering Physics, Malik & Singh

Reference Book: Engineering Physics, Malik & Singh

Any vector A in Cylindrical coordinates can be written as

x = ρ cos Φ, y=ρ sin Φ, z=z

a x = cosa  − sin a

Since, A = Axax + Ayay + Azaz

A = ( Ax cos + Ay sin  )a + (− Ax sin  + Ay cos )a + Az az

In matrix form, we can write

Reference Book: Engineering Physics, Malik & Singh

x=r sin θ cos Φ, y=r sin θ sin Φ, Z=r cos θ

Since, A = Axax + Ayay + Azaz

A = ( Ax sin  cos + Ay sin  sin  + Az cos )ar

But, A = Arar + AƟaƟ + AΦaΦ

Reference Book: Engineering Physics, Malik & Singh

 Ar   sin  cos sin  sin  cos   Ax 

Spherical Coordinates Cylindrical Coordinates

Differential Volume dV = dxdydz

Reference Book: Engineering Physics, Malik & Singh

Differential Volume dV = dddz

Differential displacement dl = drar + rda + r sin da

Reference Book: Engineering Physics, Malik & Singh

✓Scalar & Vector Fields

Line Integral Surface Integral

Del Operator Not a vector in itself, but

Reference Book: Engineering Physics, Malik & Singh

Reference Book: Engineering Physics, Malik & Singh

Reference Book: Engineering Physics, Malik & Singh

Reference Book: Engineering Physics, Malik & Singh

The curl of a vector field (A) provides

Cartesian Coordinates Cylindrical Coordinates

 ar ra r sin a 

Reference Book: Principles of Electromagnetics, Sadiku

Reference Book: Principles of Electromagnetics, Sadiku

The divergence theorem states that the total outward flux of a

Reference Book: Principles of Electromagnetics, Sadiku

Reference Book: Principles of Electromagnetics, Sadiku

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