1.

1 Introduction
1.2 Vector Notation
1.3 Vector Algebra
1.4 Coordinate Systems
1.5 Vector Transformation
1.6 Differential Volume, Surface, and Line Elements
 1.1 Introduction
VECTOR ANALYSIS
 Developed by Josiah Willard Gibbs (1839-1903), an
American mathematical physicist.
 Foundational subject in engineering and is mainly
applied in electromagnetic theory where scalar and
vector fields are the interest of the study. Both
analytical and graphical representation of a vector
along with the different coordinate systems in space is
given focus since these are necessary to a successful
solution of problems with electromagnetic nature.
 1.2 Vector Notation
Scalars
quantity that has magnitude and a
unit of measure whose value may
be represented by a single positive
or negative real number.
Distance, speed, time, energy
VECTOR and UNIT VECTORS in

1.2 Vector Notation

CARTESIAN COORDINATE SYSTEM
 VECTOR – quantity with magnitude, direction, and a
unit of measure
 Displacement, velocity, acceleration, force
 Unit Vector – one of absolute value (or
magnitude or length) 1
𝐴
 𝑎𝐴 =
𝐴
 Component Form of a Vector:
 𝐴 = 𝐴 𝑥 𝑎 𝑥 + 𝐴𝑦 𝑎 𝑦 + 𝐴 𝑧 𝑎 𝑧
 Absolute value of a vector
 𝐴 =𝐴= 𝐴2𝑥 +𝐴2𝑦 +𝐴2𝑧
 𝑇𝑎𝑛𝜃 = Ay /Ax
 1.2 Vector Notation
Example:
 Suppose that Point A is located at (2,1,3) and Point B is
located at (3,5,2). Determine (a) the resulting vector
joining from point A to point B; (b) the radial vector rB; (c)
the magnitude of the radial vector rA and (d) the unit
vector in the direction of rA.
 Solution:
 (a) RAB=rB-rA = (3-2)ax+(5-1)ay+(2-3)az = ax+4ay-az
 (b) rB = 3ax+5ay+2az
 (c) 𝑟𝐴 = 22 + 12 + 32 = 14
𝑟𝐴 2𝑎𝑥 +𝑎𝑦 +3𝑎𝑥
 (d)𝑎𝑟𝐴 = =
𝑟𝐴 14
 1.3 Vector Algebra
Addition and Subtraction of Vectors
 Resultant is sum of two (or more) vectors.
 We express vectors in component form using the unit
vectors i, j and k
A = Axi + Ayj + Azk and B = Bxi + Byj + Bzk
A ± B =(Ax ± Bx)i +(Ay ± By)j +(Az ± Bz)k
 1.3 Vector Algebra
Associative, Distributive,
commutative laws in vectors
Associative law
A+(B+C)=(A+B)+C
Distributive laws
cA = cAxi + cAyj + cAzk
(c1+c2)A = c1A + c2A
Commutative law
A+B=B+A
 1.3 Vector Algebra
Example
 What is the sum in unit–vector notation of the two vectors A =4
.0i+3 .0j and B = −13.0i +7 .0j? (b) What are the magnitude and
direction of A+B?
 Solution:
 (a) Summing the corresponding components of vectors A and B
we find:
A+B = (4 .0−13.0)i + (3 .0+7 .0)j = −9.0i + 10 .0j
This is the sum of the two vectors is unit–vector form.
 1.3 Vector Algebra
 (b) Using our results from (a), the magnitude of A+B is
|A+B| =[(−9.0)2 + (10.0)2]1/2 = 13 .4
and if C = A+B points in a direction θ as measured from the
positive x axis, then the tangent of θ is found from
Tanθ =Cy /Cx=−1.11
θ = tan−1(−1.11) = −48.0◦ (not correct)
θ = −48.0◦ + 180.0◦ = 132.0◦
 1.3 Vector Algebra
Example
 In the sum A+B = C, vector A has a magnitude of
12.0m and is angled 40.0◦ counterclockwise from
the +x direction, and vector C has magnitude of
15.0m and is angled 20.0◦ counterclockwise from
the −x direction. What are (a) the magnitude and
(b) the angle (relative to +x) of B?
 1.3 Vector Algebra
(a)
Ax = (12.0m)cos(40.0◦)=9 .19m
Ay = (12.0m)sin(40.0◦)=7 .71m
Cx = −(15.0m)cos(20.0◦)=−14.1m
Cy =−(15.0m)sin(20.0◦)=−5.13m
Then from the relation A + B = C it follows that B = C−A, and
from this we find the components of B:
Bx = Cx −Ax = −14.1m−9.19m =−23.3m
By = Cy −Ay = −5.13m−7.71m =−12.8m
Then we find the magnitude of vector B:
B =(Bx2 + By2 )1/2=[(−23.3)2 +(−12.8)2 ]1/2m = 26 .6m
 1.3 Vector Algebra
(b)We find the direction of B from:
tanθ =By / Bx =0 .551
θ = tan−1(0.551) = 28.9◦
θ = 28 .9◦ + 180.0◦ = 208.9◦ .
 1.3 Vector Algebra
Example
 If A−B =2C, A+B =4C and C =3 i +4j, then what are A and B?
Solution:
if we add the first two relations together, the vector B will cancel:
(A-B)+(A+B) = (2 C) + (4C)
which gives:
2A =6C ⇒ A =3C
and we can use the last of the given equations to substitute for C;
we get A =3C = 3(3i +4 j)=9 i + 12 j
Then we can rearrange the first of the equations to solve for B:
B = A−2C = (9 i + 12 j)−2(3i +4 j) = (9 −6)i + (12−8)j =3 i +4 j
So we have found:
A =9 i + 12 j and B =3 i +4 j
 1.3 Vector Algebra
The dot product of two vectors
 scalar product (or dot product) of the vectors
A·B = |A||B|cosφ
where |A| is the magnitude of A, |B| is the magnitude of
B and φ is the smaller angle between A and B.

 scalar product is commutative: A·B = B·A

A·B = AxBx + AyBy + AzBz
Note: If two vectors are perpendicular then their scalar
product is zero.
 1.3 Vector Algebra
Example
 Given two vectors A = ax-5ay+3az and B = 2ax+7ay+az
determine the following (a) A·B; (b) angle between
vector A and B; (c) length of projection of B on A; (d)
vector projection of B on A.
 Solution:
 (a) A·B = AxBx+AyBy+AzBz = (1)(2)+(-5)(7)+(3)(1) = -30
 (b) From A·B = |A||B|cosθAB
𝐴∙𝐵 −30
cos 𝜃𝐴𝐵 = =
𝐴 |𝐵| 12 +(−5)2 +32 22 +72 +12

θAB = cos-1 (-0.69) = 46.36°

 1.3 Vector Algebra
Example
 Given two vectors A = ax-5ay+3az and B = 2ax+7ay+az
determine the following (a) A·B; (b) angle between
vector A and B; (c) length of projection of B on A; (d)
vector projection of B on A.
 Solution:
 (c) B·aA = |B|cos θBa = length of projection of B on A
𝐴 𝑎𝑥 −5𝑎𝑦 +3𝑎𝑧 𝑎𝑥 −5𝑎𝑦 +3𝑎𝑧
𝑎𝐴 = = =
|𝐴| 12 +(−5)2 +32 5.916
= 0.169𝑎𝑥 − 0.845𝑎𝑦 + 0.507𝑎𝑧
B·aA = (2)(0.169)+(7)(-0.845)+(3)(0.507) = -4.006
 (d) (B·aA)aA = -4.006(0.169𝑎𝑥 − 0.845𝑎𝑦 + 0.507𝑎𝑧 )
= −0.677𝑎𝑥 + 3.385𝑎𝑦 − 2.031𝑎𝑧
 1.3 Vector Algebra
Example
 Vector A extends from the origin to a point having
polar coordinates (7,70◦) and vector B extends
from the origin to a point having polar coordinates
(4,130◦). Find A·B.
 Solution:
 We have the magnitudes of the two vectors (namely A
= 7 and B = 4) and the angle φ between the two is
φ = 130◦−70◦ = 60 ◦
Then we get:
A·B = |A||B| cosφ = (7)(4)cos60◦ = 14
 1.3 Vector Algebra
Example:
 Find the angle between A = −5i−3j +2k and B= −2j−2k.
 Solution:
 The magnitudes of the vectors A and B are:
A =(A2 x + A2 y + A2 z )1/2=[(−5)2 +(−3)2 + (2)2 ]1/2=6 .164
B =(B2 x + B2 y + B2 z =[(0)2 +(−2)2 +(−2)2 =2 .828
and their dot product is:
A·B = AxBx + AyBy + AzBz
=(−5)(0) + (−3)(−2) + (2)(−2) = 2
cosφ = A·B / |A||B| = 2 /[(6.164)(2.828)] =0 .114
which then gives
φ = 83 .4◦
The cross product of two vectors

1.3 Vector Algebra

 vector product (or cross product) of vectors (c)
|C| =|A×B|= (|A||B|sinφ)an
where φ is the smallest angle between a and b and an is
the unit vector normal to the plane determined by A
and B when they are drawn from a common point.
The direction of c is perpendicular to the plane
containing a and b with its orientation given by the
right–hand rule.
 1.3 Vector Algebra
The cross product of two vectors
 vector product is anti–commutative: A×B = −B×A
 Relations among the unit vectors for vector products
are: i×j = k, j ×k = i, k ×i = j

A×B =( AyBz −AzBy)i +(AzBx −AxBz)j +(AxBy −AyBx)k

𝑖 𝑗 𝑘
𝐴 × 𝐵 = 𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐵𝑥 𝐵𝑦 𝐵𝑧
 1.3 Vector Algebra
Example
 Given A = 2i+4j-3k and B = i-j. Find A·B and A×B.
 Solution:
 A·B = (2)(1)+(4)(-1)+(-3)(0) = -2
𝑖 𝑗 𝑘
 𝐴 × 𝐵 = 2 4 −3 =-3i-3j-6k
1 −1 0
 1.3 Vector Algebra
Example
 Use the vector product to find the components of the unit
vector aC perpendicular to the plane with the coordinates of
its 3 points given as follows: (0,0,3), (1,0,0) and (0,2,0).
 Solution:
 A = (0-1)i+(2-0)j+(0-0)k = -i+2j
 B = (0-1)i+(0-0)j+(3-0)k = -i+3k
𝑖 𝑗 𝑘
 C = A × 𝐵 = −1 2 0 =6i+3j+2k
−1 0 3
 |C| = 62 + 32 + 22 = 7
𝐶 6i+3j+2k 6 3 2
 aC= |𝐶| = = 7𝑖 + 7𝑗 + 7𝑘
7
 1.3 Vector Algebra
Example
 Two vectors are given by A = −3i +4j and B=2 i +3j. Find (a)
A×B and(b) the angle between A and B.
 Solution:
𝑖 𝑗 𝑘
 (a) 𝐴 × 𝐵 = −3 4 0 =-17k
2 3 0
 (b) |A| = (Ax + Ay2 )1/2=[(−3)2 + (4)2 ]1/2=5
2

|B| =(Bx2+ By2)1/2=[(2)2 + (3)2 ]1/2=3 .61

and the dot product of the two vectors is
A·B = AxBx + AyBy + AzBz =(−3)(2) + (4)(3) = 6
so then if φ is the angle between A and B we get:
cosφ =A·B / |A||B| =6 / [(5)(3.61)] =0 .333
which gives
φ = 70 .6◦ .
 1.4 Coordinate Systems
Cartesian Coordinate System
- often used in calculations involving
systems with no apparent symmetry.

A = Axax+Ayay+Azaz
Where:
ax, ay, az = unit vectors
Ax, Ay, Az = components of vector A
 1.4 Coordinate Systems
Spherical Coordinate System
-used when the system under
consideration has spherical symmetry.
A = Arar +Aφaφ +Aθaθ
Where:
r = distance between the origin and point
P
θ = the polar angle which is the angle
between the vector P and the z-axis
φ = the azimuthal angle which is the
angle between the projection of the
vector P in the x-y plane and the x
axis.
 1.4 Coordinate Systems
Spherical Coordinate System
Corresponding Cartesian coordinates of Spherical
coordinates:
x = rsinθcosφ
y = rsinθsinφ
z = rcosθ
Unit vectors:
ar = (sinθcosφ)ax+(sinθsinφ)ay+(cosθ)az
aθ = (cosθcosφ)ax+(cosθsinφ)ay-(sinθ)az
aφ = -(sinφ)ax+(cosφ)ay

Note: dP = (r cosθcosφdθ)ax+(rcosθsinφdθ)ay-(rsinθdθ)az
 1.4 Coordinate Systems
Cylindrical Coordinate System
-used when the system under consideration
has cylindrical symmetry.
A = Aρaρ +Aφaφ +Azaz
Where:
ρ = distance between point P and the z axis
φ = the azimuthal angle which is the angle
between the projection of the vector P in
the x-y plane and the x axis.
z = the z coordinate of point P
Corresponding Cartesian coordinates of
Cylindrical coordinates:
x = ρ cosφ
y = ρ sinφ
z=z
 1.5 Vector Transformation
Dot product of unit vectors
Cylindrical Coordinates Spherical Coordinates
aρ aφ az ar aθ aφ
ax cosφ -sinφ 0 sinθcosφ cosθcosφ -sinφ
ay sinφ cosφ 0 sinθsinφ cosθsinφ cosφ
az 0 0 1 cosθ -sinθ 0
 1.5 Vector Transformation
Example
Transform A = 4ax-2ay-4az to a) cylindrical b) spherical
coordinates.
Solution:
a) Aρ = A·aρ = (4ax-2ay-4az)·aρ = 4(ax·aρ)-2(ay·aρ)-4(az·aρ)
= 4cosφ-2sinφ-4(0) = 4cosφ-2sinφ
Aφ = A·aφ = (4ax-2ay-4az)·aφ = 4(ax·aφ)-2(ay·aφ)-4(az·aφ)
= 4(-sinφ)-2cosφ-4(0) = -4sinφ-2cosφ
Az = A·az = (4ax-2ay-4az)·az = 4(ax·az)-2(ay·az)-4(az·az)
= 4(0)-2(0)-4(1) = -4
Therefore, the transformed vector A in cylindrical is
A = (4cosφ-2sinφ)aρ-(4sinφ+2cosφ)aφ-4az
 1.5 Vector Transformation
Example
Transform A = 4ax-2ay-4az to a) cylindrical b) spherical
coordinates.
Solution:
b) Ar = A·ar = (4ax-2ay-4az)·ar = 4(ax·ar)-2(ay·ar)-4(az·ar)
= 4sinθcosφ-2sinθsinφ-4cosθ
Aθ = A·aθ = (4ax-2ay-4az)·aθ = 4(ax·aθ)-2(ay·aθ)-4(az ·aθ)
= 4cosθcosφ-2cosθsinφ+4sinθ
Aφ = A·aφ = (4ax-2ay-4az)·aφ = 4(ax·aφ)-2(ay·aφ)-4(az·aφ)
= 4(-sinφ)-2cosφ-4(0) = -4sinφ-2cosφ
Therefore, the transformed vector A in spherical is
A = (4sinθcosφ-2sinθsinφ-4cosθ)ar+(4cosθcosφ-2cosθsinφ-4sinθ)aθ-(4sinφ+2cosφ)aφ
 1.5 Vector Transformation
Example
Transform A = 2aθ at P(1,1,1) to cartesian coordinate
Solution:
a) Ax = A·ax = 2(aθ·ax) = 2cosθcosφ
Ay = A·ay = 2(aθ·ay) = 2cosθsinφ
Az = A·az = 2(aθ·az) = -2sinθ
Therefore, the transformed vector A in cartesian is
A = (2cosθcosφ)ax+(2cosθsinφ)ay-2sinθaz
Transforming P(1,1,1) to spherical:
r = 𝑥 2 + 𝑦 2 + 𝑧 2 = 12 + 12 + 12 = 3 = 1.732
𝑧 𝑧 1
𝜃 = cos −1 = cos −1 = cos −1 = 54.74°
𝑥 2 +𝑦 2 +𝑧 2 𝑟 3
−1 𝑦 −1 1
φ= tan 𝑥 = tan 1= 45°
A = (2cos54.74°cos45°)ax+(2cos54.74°sin45°)ay-2sin54.74°az
A = 0.816ax+0.816ay-1.63az
 1.6 Differential Volume, Surface, and Line Elements
When the coordinates of point P are expanded to (x+dx,
y+dy, z+dz) or (ρ+dρ, φ+dφ, z+dz) or (r+dr, θdθ, φ+dφ), a
differential volume dv is formed.

Cartesian Cylindrical Spherical

[dA]top/bottom dxdy ρdρdφ rsinθdrdθ
[dA]left/right dydz dρdz rdrdθ
[dA]front/back dxdz ρdφdz r2sinθdθdφ
 1.6 Differential Volume, Surface, and Line Elements
The differential surface element perpendicular to a is
dS = (rdθ)(rsinθdφ) = r2sinθdθdφ
The differential line element, dl is the diagonal
through P.
dl2 = dx2+dy2+dz2 (cartesian)
dl2 = dρ2 +ρ2dφ2+dz2 (cylindrical)
dl2 = dr2+r2dθ2+r2sin2θdφ2 (spherical)
 1.5 Vector Transformation
Example
Find the total volume and the area of the top given the
following boundaries 1<x<3, 0<y<1, and -1<z<1.
Solution:
3 1 1
𝑑𝑣 = 𝑑𝑥𝑑𝑦𝑑𝑧 = ‫׬‬1 𝑑𝑥 ‫׬‬0 𝑑𝑦 ‫׬‬−1 𝑑𝑧
3 1 1
𝑣= 𝑥 𝑦 𝑧 = 3 − 1 1 − 0 1 − −1 =2 1 2
1 0 −1
= 4𝑐𝑢. 𝑢𝑛𝑖𝑡𝑠
𝑑𝐴 𝑡𝑜𝑝 = 𝑑𝑥𝑑𝑦
3 1 3 1
𝐴𝑡𝑜𝑝 = ‫׬‬1 𝑑𝑥 ‫׬‬0 𝑑𝑦 = 𝑥 𝑦 = 3 − 1 1 − 0 = 2𝑠𝑞. 𝑢𝑛𝑖𝑡𝑠
1 0
 1.5 Vector Transformation
Example
Find the total volume and the area of the front given the
following boundaries 1<ρ<2, 0<φ<π/2, and 0<z<1.
Solution:
2 𝜋/2 1
𝑑𝑣 = ρ𝑑ρ𝑑φ𝑑𝑧 = ‫׬‬1 ρ𝑑ρ ‫׬‬0 𝑑φ ‫׬‬0 𝑑𝑧
ρ2 2 𝜋/2 1 2
2 −12
𝜋 3 𝜋
𝑣= φ 𝑧 = −0 1−0 = ∙
2 1 0 0 2 2 2 2
3𝜋
= 𝑐𝑢. 𝑢𝑛𝑖𝑡𝑠
4
𝑑𝐴 𝑓𝑟𝑜𝑛𝑡 = ρ𝑑φ𝑑𝑧
𝜋/2 1 𝜋
𝐴𝑓𝑟𝑜𝑛𝑡 = ρ ‫׬‬0 𝑑φ ‫׬‬0 𝑑𝑧 = 2( 2 )(1) = 𝜋𝑠𝑞. 𝑢𝑛𝑖𝑡𝑠
 1.5 Vector Transformation
Example
Find the total volume and the area of the left given the following
boundaries 3<r<5, 0.1π<θ<0.3π, and 1.2π<φ<1.6π.
Solution:
Convert given angles into degrees:
0.1π=18°, 0.3π=54°, 1.2π=216°, 1.6π=288°
5 2 0.3𝜋 1.6𝜋
𝑑𝑣 = 𝑟 2 𝑠𝑖𝑛𝜃𝑑rdθ𝑑φ = ‫׬‬3 𝑟 𝑑𝑟 ‫׬‬0.1𝜋 sin 𝜃 𝑑𝜃 ‫׬‬1.2𝜋 𝑑φ
𝑟3 5 0.3𝜋 1.6𝜋
𝑣= − cos 𝜃 φ
3 3 0.1𝜋 1.2𝜋
53 − 33
= − cos 0.3𝜋 − − cos 0.1𝜋 1.6𝜋 − 1.2𝜋
3
= 32.67 0.3633 1.2566 = 14.91464𝑐𝑢. 𝑢𝑛𝑖𝑡𝑠
𝑑𝐴 𝑙𝑒𝑓𝑡 = r𝑑r𝑑θ
5 0.3𝜋
𝐴𝑙𝑒𝑓𝑡 = ‫׬‬3 𝑟𝑑r ‫׬‬0.1𝜋 𝑑𝜃 = 8(0.628) = 5.027𝑠𝑞. 𝑢𝑛𝑖𝑡𝑠