Rules Summary

Tutorial 1: Elementary of Vectors - Vector Product

3 ways to express the components of a vector:
1. Using the given coordinates:
𝑎1 = 𝑥2 − 𝑥1
𝑎2 = 𝑦2 − 𝑦1
𝑎3 = 𝑧2 − 𝑧1
2. By its components:
𝑎⃗ = [𝑎1 , 𝑎2 , 𝑎3 ]
3. By its unit vectors
𝑎⃗ = 𝑎1 𝒊 + 𝑎2 𝒋 + 𝑎3 𝒌 𝑖 = [1,0,0] 𝑗 = [0,1,0] 𝑘 = [0,0,1]
Sum & difference of two vectors:
𝑎⃗ ± 𝑏⃗⃗ = [𝑏1 ± 𝑎1 , 𝑏2 ± 𝑎2 , 𝑏3 ± 𝑎3 ]
The length of a vector (magnitude of a vector):
|𝑎⃗| = √𝑎12 + 𝑎22 + 𝑎32

|𝑎⃗| = √𝑎⃗ ∙ 𝑎⃗

|𝑣⃗| = |𝑎⃗ × 𝑏⃗⃗| = |𝑎⃗||𝑏⃗⃗|𝑠𝑖𝑛𝜃

The position vector (𝒓

⃗⃗):

𝑟⃗ = [𝑥, 𝑦, 𝑧]
The unit vector 𝒖 ⃗⃗ in the direction of vector 𝒗
⃗⃗:
𝑣⃗
𝑢
⃗⃗ =
|𝑣⃗|
The inner dot product of two vectors:
𝑎⃗ ∙ 𝑏⃗⃗ = 𝑎1 𝑏1 + 𝑎2 𝑏2 + 𝑎3 𝑏3
The cross product of two vectors:
𝑖 𝑗 𝑘
𝑎⃗ × 𝑏⃗⃗ = |𝑎1 𝑎2 𝑎3 | = (𝑎2 𝑏3 − 𝑎3 𝑏2 )𝒊 − (𝑎1 𝑏3 − 𝑎2 𝑏1 )𝒋 + (𝑎1 𝑏2 − 𝑎2 𝑏1 )𝒌
𝑏1 𝑏2 𝑏3
The angle between two vectors:
⃗⃗
𝑎⃗⃗ ∙𝑏
𝑐𝑜𝑠𝜃 = |𝑎 ⃗⃗ |
0≤𝜃≤𝜋
⃗⃗| |𝑏

𝑎⃗ ∙ 𝑏⃗⃗ < 0 → 𝜃 is an acute angle.

𝑎⃗ ∙ 𝑏⃗⃗ = 0 → 𝜃 is a right angle. (𝑎⃗ & 𝑏⃗⃗) are orthogonal/perpendicular/normal to each other

𝑎⃗ ∙ 𝑏⃗⃗ > 0 → 𝜃 is an obtuse angle.

|𝑎⃗⃗ ×𝑏⃗⃗ |
𝑠𝑖𝑛𝜃 = ⃗⃗ |
|𝑎⃗⃗||𝑏
Scalar triple product:
𝑎1 𝑎2 𝑎3
⃗⃗ ⃗⃗
(𝑎⃗ 𝑏 𝑐⃗) = 𝑎⃗ ∙ (𝑏 × 𝑐⃗) = |𝑏1 𝑏2 𝑏3 |
𝑐1 𝑐2 𝑐3
The resultant of vector:

⃗⃗⃗⃗ = 𝑎⃗ + 𝑏⃗⃗ + 𝑐⃗
𝑅
⃗⃗ such that the given vectors & 𝒑
Find 𝒑 ⃗⃗ are in equilibrium:

𝑝⃗ = −𝑅⃗⃗
- A scalar quantity is determined by its magnitude.
- A vector quantity has both magnitude and direction.
o Two vectors are equal if they have the same length and same direction.
o A zero vector (0 ⃗⃗) has length equal to 0 and no direction.
Tutorial 2: Differentiation of a Vector – Gradient & Directional Derivative – Divergence &
Curl of vector
Vector function:

⃗⃗(𝑡) = [𝑣1 (𝑡), 𝑣2 (𝑡), 𝑣3 (𝑡)]

𝒗
Derivative of a vector function:

⃗⃗′(𝑡) = [𝑣1 ′(𝑡), 𝑣2 ′(𝑡), 𝑣3 ′(𝑡)]

𝒗
Derive 𝑣1 (𝑡) with respect to 𝑥, 𝑣2 (𝑡) with respect to 𝑦, 𝑣3 (𝑡) with respect to 𝑧.

Parametric representation for the vector function of a curve with parameter 𝒕:

𝑟⃗(𝑡) = [𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡)]

The tangent of a curve:

⃗⃗′(𝑡) = [𝑥′(𝑡), 𝑦′(𝑡), 𝑧′(𝑡)]

𝒓
Unit tangent vector:
⃗⃗′(𝑡)
𝒓
𝑢
⃗⃗ = ⃗⃗′(𝑡)|
|𝒓

Gradient of a scalar function:

𝜕𝑓 𝜕𝑓 𝜕𝑓
𝑔𝑎𝑟𝑑 𝑓 = ∇𝑓 = [ , , ]
𝜕𝑥 𝜕𝑦 𝜕𝑧
Directional derivative of a function in the direction of a particular vector:

𝜕𝑓 𝑎⃗
𝐷𝑎 𝑓 = = ∙ ∇𝑓
𝜕𝑠 |𝑎⃗|
Divergence of a vector:
𝜕𝑣1 𝜕𝑣2 𝜕𝑣3
⃗⃗ =
𝑑𝑖𝑣 𝒗 + +
𝜕𝑥 𝜕𝑦 𝜕𝑧
Curl of a vector:
𝑖 𝑗 𝑘
𝜕 𝜕 𝜕 𝜕 𝜕 𝜕 𝜕 𝜕 𝜕
⃗⃗ = ∇ × 𝒗
𝑐𝑢𝑟𝑙 𝒗 ⃗⃗ = | | = (𝑣3 − 𝑣2 ) 𝑖 − (𝑣1 − 𝑣3 ) 𝑗 + (𝑣2 − 𝑣1 ) 𝑘
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑥 𝜕𝑦
𝑣1 𝑣2 𝑣3

- 𝑑𝑖𝑣 (𝑐𝑢𝑟𝑙) = 0
- 𝑐𝑢𝑟𝑙 (𝑔𝑟𝑎𝑑) = 0
- Gradient is the rate of change of a scalar function in the direction of maximum change.
Tutorial 3: Polar Coordinates – Line, Surface, & Volume Integrals
Plane Polar Cylindrical Polar Spherical Polar
𝑟2 = 𝑥2 + 𝑦2 𝑟 = √𝑥 2 + 𝑦 2 𝑥 = 𝑟𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜙
𝑦 𝑦 𝑦 = 𝑟𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝜙
𝑡𝑎𝑛𝜃 = 𝑡𝑎𝑛𝜃 =
𝑥 𝑥 𝑧 = 𝑟𝑐𝑜𝑠𝜃
𝑥 = 𝑟𝑐𝑜𝑠𝜃 𝑧=𝑧 𝑑𝑆 = 𝑟 2 𝑠𝑖𝑛𝜃𝑑𝑟𝑑𝜃
𝑦 = 𝑟𝑠𝑖𝑛𝜃 𝑥 = 𝑟𝑐𝑜𝑠𝜃 𝑑𝑉 = 𝑟 2 𝑠𝑖𝑛𝜃𝑑𝑟𝑑𝜃𝑑𝜙
𝑑𝑆 = 𝑟𝑑𝑟𝑑𝜃 𝑦 = 𝑟𝑠𝑖𝑛𝜃
𝑧=𝑧
𝑑𝑉 = 𝑟𝑑𝑟𝑑𝜃𝑑𝑧
Line integrals

1. 𝑟⃗(𝑡) = [𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡)]

2. ⃗⃗′(𝑡) = [𝑥′(𝑡), 𝑦′(𝑡), 𝑧′(𝑡)]
𝒓
3. 𝐹(𝑟⃗(𝑡))
4. ⃗⃗′(𝑡)
𝐹(𝑟⃗(𝑡)) ∙ 𝒓
𝑏
⃗⃗′(𝑡)𝑑𝑡
5. ∫𝑎 𝐹(𝑟⃗(𝑡)) ∙ 𝒓

Surface integrals

1. 𝑟⃗(𝑢, 𝑣) = [𝑥(𝑢, 𝑣), 𝑦(𝑢, 𝑣), 𝑧(𝑢, 𝑣)]

2. ⃗⃗′(𝑢) = [𝑥′(𝑢, 𝑣), 𝑦′(𝑢, 𝑣), 𝑧′(𝑢, 𝑣)]
𝒓
3. ⃗⃗′(𝑣) = [𝑥′(𝑢, 𝑣), 𝑦′(𝑢, 𝑣), 𝑧′(𝑢, 𝑣)]
𝒓
4. 𝑁=𝒓 ⃗⃗′(𝑢) × 𝒓
⃗⃗′(𝑣)
5. 𝐹(𝑟⃗(𝑢, 𝑣))
6. 𝐹(𝑟⃗(𝑢, 𝑣)) ∙ 𝑁
7. ∬ 𝐹(𝑟⃗(𝑢, 𝑣)) ∙ 𝑁𝑑𝑢𝑑𝑣

Volume integral

∭ 𝑓(𝑥, 𝑦, 𝑧)𝑑𝑥𝑑𝑦𝑑𝑧

Volume integral is the triple integral of a function over the region 𝑇

Unit normal vector:

𝑵
𝒏=
|𝑵|
Area of parallelogram with sides 𝒓𝒖 and 𝒓𝒗 :

|𝑵| = |𝒓𝑢 × 𝒓𝑣 |
Tutorial 4: Green’s Theorem – Divergence Theorem of Gauss – Stokes’ Theorem
Green’s Theorem in the Plane:
𝜕𝐹 𝜕𝐹1
∬ ( 𝜕𝑥2 − 𝜕𝑦
) 𝑑𝑥𝑑𝑦 = ∮(𝐹1 𝑑𝑥 + 𝐹2 𝑑𝑦)

Green’s Theorem given the curl of vector function 𝑭:

∬(𝑐𝑢𝑟𝑙 𝑭) ∙ 𝒌𝑑𝑥𝑑𝑦 = ∮ 𝑭 ∙ 𝑑𝒓
Green’s theorem steps of solving:
𝜕𝐹2
1. 𝜕𝑥
𝜕𝐹1
2. 𝜕𝑦
𝜕𝐹2 𝜕𝐹1
3. −
𝜕𝑥 𝜕𝑦
𝜕𝐹2 𝜕𝐹
4. ∬ ( 𝜕𝑥 − 𝜕𝑦1 ) 𝑑𝑥𝑑𝑦

Divergence Theorem of Gauss:

𝜕𝐹1 𝜕𝐹2 𝜕𝐹3
𝑑𝑖𝑣 𝑭 = 𝜕𝑥
+ 𝜕𝑦
+ 𝜕𝑧

∭𝑇(𝑑𝑖𝑣 ⋅ 𝐅) 𝑑𝑉 = ∯𝑆 𝐅 ⋅ 𝐧 𝑑𝐀

Stokes’ Theorem (generalization of greens theorem):

∫ ∫𝑆(𝑐𝑢𝑟𝑙 𝐅) ⋅ 𝐧 𝑑𝐀 = ∮𝐶 𝐅 ⋅ 𝐫′(𝐬) 𝑑𝐬

Stokes’ theorem steps of solving:

1. 𝑐𝑢𝑟𝑙 𝑭
2. 𝑵 = ∇(𝑧 − 𝑓(𝑥, 𝑦))
3. 𝑐𝑢𝑟𝑙 𝑭 ∙ 𝑵
Tutorial 5: Elementary of Complex Numbers - Geometric Representation in the Complex
Plane - Polar Form of Complex Numbers -Power and Roots
- A complex number 𝑧 is an ordered pair of real numbers 𝑥 and 𝑦: 𝑧 = (𝑥, 𝑦).
o Real part: 𝑥 = 𝑅𝑒 𝑧
o Imaginary part: 𝑦 = 𝐼𝑚 𝑧

Addition & Subtraction of two complex numbers:

𝑧1 ± 𝑧2 = (𝑥1 , 𝑦1 ) ± (𝑥2 , 𝑦2 ) = (𝑥1 ± 𝑥2 ) + 𝑖(𝑦1 ± 𝑦2 )

Multiplication of two complex numbers:

𝑧1 𝑧2 = (𝑥1 , 𝑦1 )(𝑥2 , 𝑦2 ) = (𝑥1 𝑥2 − 𝑦1 𝑦2 , 𝑥1 𝑦2 + 𝑥2 𝑦1 )

Division of complex numbers:
𝑥1 +𝑖𝑦1 𝑥1 +𝑖𝑦1 𝑥2 −𝑖𝑦2 𝑥1 𝑥2 +𝑦1 𝑦2 𝑥2 𝑦1 −𝑥1 𝑦2
𝑧= = × = +𝑖
𝑥2 +𝑖𝑦2 𝑥2 +𝑖𝑦2 𝑥2 −𝑖𝑦2 𝑥22 +𝑦22 𝑥22 +𝑦22

- Complex number can be represented on a complex plane with the real part on the x-axis and the
imaginary part on the y-axis.
- The complex conjugate (𝑧̅) is the reflection of complex number on the real axis.
o 𝑧 = 𝑥 + 𝑖𝑦
o 𝑧̅ = 𝑥 − 𝑖𝑦
Properties of complex conjugate numbers:
1
𝑅𝑒 𝑧 = 𝑥 = (𝑧 + 𝑧̅)
2
1
𝐼𝑚 𝑧 = 𝑦 = (𝑧 − 𝑧̅)
2𝑖
̅̅̅̅̅̅̅̅̅̅̅̅
(𝑧1 ± 𝑧2 ) = 𝑧̅1 ± 𝑧̅2
̅̅̅̅̅̅̅̅
(𝑧 1 𝑧2 ) = 𝑧̅1 𝑧̅2

̅̅̅̅̅̅
𝑧1 𝑧̅1
( )=
𝑧2 𝑧̅2
- The complex number can be represented in polar form: 𝑧 = 𝑟(𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃)
o Real part: 𝑥 = 𝑟𝑐𝑜𝑠𝜃
o Imaginary part: 𝑦 = 𝑟𝑠𝑖𝑛𝜃
▪ Absolute value (modulus of z): 𝑟 = |𝒛| = √𝑥 2 + 𝑦 2 = √𝑧𝑧̅
𝑦
▪ 𝜃 = tan−1 𝑥
- The principal value 𝑨𝒓𝒈 𝒛:
−𝜋 < 𝐴𝑟𝑔 𝑧 ≦ 𝜋
- Angle 𝜽 = 𝐚𝐫𝐠 𝒛:
arg 𝑧 = 𝐴𝑟𝑔 𝑧 ± 2𝑛𝜋
The triangle inequality:
|𝑧1 + 𝑧2 | ≦ |𝑧1 | + |𝑧2 |
Multiplication of two complex numbers in polar form:
𝑧1 𝑧2 = 𝑟1 𝑟2 [cos(𝜃1 + 𝜃2 ) + 𝑖𝑠𝑖𝑛(𝜃1 + 𝜃2 )]
|𝑧1 𝑧2 | = |𝑧1 ||𝑧2 |
arg(𝑧1 𝑧2 ) = arg 𝑧1 + arg 𝑧2 up to multiples of 2𝜋
Division of two complex numbers in polar form:
𝑧1 𝑟
𝑧2
= 1 [cos(𝜃1 − 𝜃2 ) + 𝑖𝑠𝑖𝑛(𝜃1 − 𝜃2 )]
𝑟2
𝑧1 |𝑧1 |
| |= 𝑧2 ≠ 0
𝑧2 |𝑧2 |
𝑧
arg 𝑧1 = arg 𝑧1 − arg 𝑧2 up to multiples of 2𝜋
2
A complex number with integer power:
𝑧 𝑛 = 𝑟 𝑛 (𝑐𝑜𝑠 𝑛𝜃 + 𝑖𝑠𝑖𝑛 𝑛𝜃)
De Moivre’s formula:

(cos 𝜃 + 𝑖 sin 𝜃)𝑛 = cos 𝑛𝜃 + 𝑖 sin 𝑛𝜃

The 𝒏th root of 𝒛:

𝑛 𝑛 𝜃+2𝑘𝜋 𝜃+2𝑘𝜋
𝑤 = √𝑧 = √𝑟 (cos + isin ) 𝑘 = 0,1, … . , 𝑛 − 1
𝑛 𝑛
Tutorial 6: Elementary of Complex Functions – Limit, Continuity, & Derivatives – Cauchy
Riemann Equations – Laplace’s Equations
A circle in complex plane with center 𝒂 and radius Two circles in the complex plane both with center
𝝆 𝒂 and radius 𝝆𝟏 , 𝝆𝟐

|𝑧 − 𝑎| = 𝜌 𝜌1 < |𝑧 − 𝑎| < 𝜌2
The set of all points located on the circle itself The set of all points located in the interior between
the two circles (open annulus - circular ring)

|𝑧 − 𝑎| < 𝜌 𝜌1 ≤ |𝑧 − 𝑎| ≤ 𝜌2
The set of all points located in the interior of the The set of all points located on the two circles and
circle (open circular disk) in the interior between them (closed annulus)

|𝑧 − 𝑎| > 𝜌
The set of all points located in the exterior of the
circle
|𝑧 − 𝑎| ≤ 𝜌
The set of all points located on the circle itself and
its interior (closed circular disk)

Half Planes
𝑦>0 𝑦<0 𝑥>0 𝑥<0
The set of all points The set of all points The set of all points The set of all points
located in the open located in the open located in the open located in the open left
upper half plane lower half plane right half plane half plane

- The boundary of 𝑆 is the set of all points on the boundary of the set.
- Set 𝑆 is open if every point of 𝑆 is interior and no points is boundary (open circular disk and open
half plane)
- Set 𝑆 is Close if it includes every interior and boundary points (clothes circular desk and closed
annulus)
- Set 𝑆 is connected if we can connect between any two points in 𝑆.
- Set 𝑆 is called a domain if it's open and connected.
- The set of all points in the complex plane that do not belong to the set 𝑆 is called the
complement of set 𝑆.
- Set 𝑆 is region if it includes at least all points in the domain.

- A function is set to have the limit 𝑙 as 𝑧 approaches a point 𝑧0 : lim 𝑓(𝑧) = 𝑙

𝑧→𝑧0
- For every positive real 𝜖 we can find a positive real 𝛿 such that for all 𝑧 ≠ 𝑧0 in the disk
|𝑧 − 𝑧0 | < 𝛿.
- A function is set to be continuous at 𝑧 = 𝑧0 if 𝑓(𝑧0 ) is defined and lim 𝑓(𝑧) = 𝑓(𝑧0 ).
𝑧→𝑧0
 - 𝑓(𝑧) Is set to be continuous in the domain if it is continuous at each point of this domain.
- The derivative of a complex function 𝑓 at point 𝑧0 is written 𝑓′(𝑧0 ) and is defined by
𝑓(𝑧0 + ∆𝑧) − 𝑓(𝑧0 )
𝑓 ′ (𝑧0 ) = lim
∆𝑧→0 ∆𝑧
Differentiation rules
(𝑐𝑓)′ = 𝑐𝑓 ′
(𝑓 + 𝑔)′ = 𝑓 ′ + 𝑔′
(𝑓𝑔)′ = 𝑓 ′ 𝑔 + 𝑔′ 𝑓
𝑓 ′ 𝑓 ′ 𝑔 − 𝑔′ 𝑓
( ) =
𝑔 𝑔2
(𝑧 𝑛 )′ = 𝑛𝑧 𝑛−1

- A function is said to be analytic in a domain 𝐷 if 𝑓(𝑧) is defined and differentiable at all points of
the domain.
- The function 𝑓(𝑧) is set to be analytic at point 𝑧 = 𝑧0 in 𝐷 if 𝑓(𝑧) is analytic in a neighborhood
of 𝑧0 .

Cauchy – Riemann Equations:

- 𝑓 is analytic in a domain 𝐷 if and only if the first partial derivatives of 𝑢 and 𝑣 set aside the two
Cauchy – Riemann Equations.
𝑢𝑥 = 𝑣𝑦 𝑢𝑦 = −𝑣𝑥

- Cauchy – Riemann Equations in polar forms:

1 1
𝑢𝑟 = 𝑟 𝑣𝜃 𝑣𝑟 = − 𝑟 𝑢𝜃

Laplace’s Equation:

If 𝑓(𝑧) = 𝑢(𝑥, 𝑦) + 𝑖𝑣(𝑥, 𝑦) is analytic in a domain 𝐷 then 𝑢 & 𝑣 satisfy Laplace’s Equation:

∇2 𝑢 = 𝑢𝑥𝑥 + 𝑢𝑦𝑦 = 0

∇2 𝑣 = 𝑣𝑥𝑥 + 𝑣𝑦𝑦 = 0

Solutions of Laplace’s Equation having continuous second order partial derivatives are called harmonic
functions, where 𝑣 set to be a harmonic conjugate function of 𝑢