Chapter 1

Vector Analysis

1.1 Vectors
A vector is a physical quantity that has magnitude and direction (Fig. 1.1).
Example: Coulomb force, Electric field, Electric dipole moment, Magnetic field, Lorentz
force, Magnetic vector potential, Magnetic dipole moment, Pointing vector, etc.
Vector analysis can be considered as mathematical shorthand. It has many new symbols
and many new rules, and it demands lot of concentration and practice.
Scalar and Vector Fields
a) A field (scalar or vector) may be defined mathematically as some function that connects
an arbitrary origin to a general point in space.
b) There is some physical effect associated with a field, such as the force on a compass
needle in the earth’s magnetic field, or the movement of smoke particles in the field defined
by the vector velocity of air in some region of space.
c) The field concept invariably is related to a region. Some quantity is defined at every
point in a region. Both scalar fields and vector fields exist.
d) The temperature throughout the bowl of soup and the density at any point in the earth
are examples of scalar fields. The gravitational and magnetic fields of the earth, the voltage
gradient in a cable, and the temperature gradient in a soldering-iron tip are examples of
vector fields.
e) The value of a field varies in general with both position and time.
Note: Vectors will be represented in bold alphabets Example: E, B, A

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Fig. 1.1 Position Vector Representation

Vector Algebra
1. Commutative law: A+B = B+A
2. Associative law: A+(B + C) = (A + B) + C
3.Parallelogram Law: Two vectors may be added graphically either by drawing both
vectors from a common origin and completing the parallelogram or by beginning the second
vector from the head of the first and completing the triangle; either method is easily extended
to three or more vectors (Fig. 1.2).

Fig. 1.2 Addition of Vectors

4. (r + s)(A + B) = r(A + B) + s(A + B) = rA + rB + sA + sB

5. For Vector Fields we shall always add and subtract vectors that are defined at the
same point.

1.2 The Rectangular Coordinate System

To describe a vector accurately, some specific lengths, directions, angles, projections, or
components must be given. There are three simple methods of doing this. Simplest of these
is the rectangular, or rectangular cartesian, coordinate system.
(a) A right-handed rectangular coordinate system. If the curved fingers of the right hand
indicate the direction through which the x axis is turned into coincidence with they axis, the
thumb shows the direction of the z axis (Fig. 1.3(a)).
(b) The location of points P(1, 2, 3) and Q(2, -2, 1) (Fig. 1.3(b)).
(c) The differential volume element in rectangular coordinates; dx, dy, and dz are, in
general, independent differentials (Fig. 1.3(c)).
Note: The point P is the common intersection of three surfaces. These are the planes x =
constant, y = constant, and z = constant, where the constants are the coordinate values of
the point. In other coordinate systems the points to be located at the common intersection

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Fig. 1.3 Rectangular Coordinate System

of three surfaces, not necessarily planes, but still mutually perpendicular at the point of
intersection (Fig. 1.4).

Fig. 1.4 A point P(x, y, z) in Cartesian co-ordinate system is represented as intersection of

three planes x = constant, y = constant and z = constant

1.3 Vector Components and Unit Vectors

Consider a vector r = x+y+z. It can be represented in terms of unit vectors as r = xax + yay +
zaz (Fig. 1.5).
Unit vector Consider a vector, r = x + y + z, the unit vector is given as, r̂ = rr , where,
p
r = x2 + y2 + z2

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Fig. 1.5 (a) The component vectors x, y, and z of vector r. (b) The unit vectors of the
rectangular coordinate system have unit magnitude and are directed toward increasing values
of their respective variables. (c) The vector RPQ is equal to the vector difference rQ − rP .

1.4 Vector Field

We have defined a vector field as a vector function of a position vector. In general, the
magnitude and direction of the function will change as we move throughout the region, and
the value of the vector function must be determined using the coordinate values of the point
in question. Because we have considered only the rectangular coordinate system, we expect
the vector to be a function of the variables x, y, and z.
If we again represent the position vector as r, then a vector field G can be expressed in
functional notation as G(r); a scalar field T is written as T (r).

Example: A vector field S is expressed in rectangular coordinates as

125 
S=   (x − 1)ax + (y − 2)ay + (z + 1)az
2 2
(x − 1) + (y − 2) + (z + 1)2

(a) Evaluate S at P(2, 4, 3).

(b) Determine a unit vector that gives the direction of S at P.
(c) Specify the surface f (x, y, z) on which |S| = 1

Solution: a) 5.95ax + 11.90ay + 23.8az

b) 0.218ax + 0.436ay + 0.873az

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p
c) (x − 1)2 + (y − 2)2 + (z + 1)2 = 125

1.5 The Dot Product

Important properties of dot product or scalar product:
a) A · B = |A||B| cos θBA
b) A · B = B · A
R
c) work = F · dr
R
d) Electric Potential = − E · dl
e) ax · ay = ay · ax = ax · az = az · ax = ay · az = az · ay = 0
f) ax · ax = ay · ay = az · az = 1
e) Resolution of vector in its horizontal and vertical components (Fig. 1.6).

Ax = A cos θ , Ay = A sin θ

Fig. 1.6 (a) The scalar component of B in the direction of the unit vector a is B · a (b) The
vector component of B in the direction of the unit vector a is (B · a) a

Example: Consider the vector field G = yax − 2.5xay + 3az and the point Q(4, 5, 2).
We wish to find: G at Q; the scalar component of G at Q in the direction of aN =
1


3 2ax + a y − 2a z ; the vector component of G at Q in the direction of aN ; and finally,


the angle θGa between G rQ and aN .
Solution: Substituting the coordinates of point Q into the expression for G, we have


G rQ = 5ax − 10ay + 3az

Next we find the scalar component. Using the dot product, we have

1
1
G · aN = 5ax − 10ay + 3az · 2ax + ay − 2az = (10 − 10 − 6) = −2
3 3

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The vector component is obtained by multiplying the scalar component by the unit vector in
the direction of aN ,

1

(G · aN ) aN = −(2) 2ax + ay − 2az = −1.333ax − 0.667ay + 1.333az
3


The angle between G rQ and aN is found from

G · aN = |G| cos θGa

√
−2 = 25 + 100 + 9 cos θGa

and
−2
θGa = cos−1 √ = 99.9◦
134

1.6 The Cross Product

A × B = aN |A||B| sin θAB

aN is normal unit vector

Important properties of cross product or vector product:
a) Screw rule: The direction will be given by screw rule as shown in Fig. 1.7.

Fig. 1.7 The direction of A × B is in the direction of advance of a right-handed screw as A is

turned into B.

b) F = I(L × B)



c) A × B = Ay Bz − Az By ax + (Az Bx − Ax Bz ) ay + Ax By − Ay Bx az or written as a de-
terminant in a more easily remembered form,

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ax ay az
A × B = Ax Ay Az
Bx By Bz

Thus, if A = 2ax − 3ay + az and B = −4ax − 2ay + 5az , we have

ax ay az
A × B = 2 −3 1
−4 −2 5

= (−3)(5) − (1(−2)]ax − [(2)(5) − (1)(−4)]ay + [(2)(−2) − (−3)(−4)]az
= −13ax − 14ay − 16az

1.7 The Circular Cylindrical Coordinate System

Some important features of circular cylindrical coordinate system
a) It is the three-dimensional version of the polar coordinates of analytic geometry.
b) We specify the distance z of the point from an arbitrary z = 0 reference plane that is
perpendicular to the line ρ = 0.
c) We consider any point as the intersection of three mutually perpendicular surfaces.
These surfaces are a circular cylinder ( ρ = constant ), a plane (φ = constant), and another
plane ( z = constant). Note that three such surfaces may be passed through any point, unless
it lies on the z axis, in which case one plane suffices.
d) The unit vectors in this case are directed towards increasing coordinate values and are
perpendicular to the surface on which that coordinate value is constant (i.e., the unit vector ax
is normal to the plane x = constant and points toward larger values of x ). In a corresponding
way, we may now define three unit vectors in cylindrical coordinates, aρ , aφ , and az .
e) The unit vector aρ at a point P (ρ1 , φ1 , z1 ) is directed radially outward, normal to the
cylindrical surface ρ = ρ1 . It lies in the planes φ = φ1 and z = z1 . The unit vector aφ is
normal to the plane φ = φ1 , points in the direction of increasing φ , lies in the plane z = z1 ,
and is tangent to the cylindrical surface ρ = ρ1 . Fig. 1.8(b) shows the three vectors in
cylindrical coordinates.
f) In rectangular coordinates, the unit vectors are not functions of the coordinates. Two of
the unit vectors in cylindrical coordinates, aρ and aφ , however, do vary with the coordinate
φ , as their directions change. In integration or differentiation with respect to φ , aρ and aφ
must not be treated as constants.

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Fig. 1.8 (a) The three mutually perpendicular surfaces of the circular cylindrical coordinate
system. (b) The three unit vectors of the circular cylindrical coordinate system. (c) The
differential volume unit in the circular cylindrical coordinate system; dρ , ρdφ , and dz are
all elements of length.

g) aρ × aφ = az .
h) A differential volume element in cylindrical coordinates may be obtained by increasing
ρ, φ , and z by the differential increments dρ, dφ , and dz.

• The two cylinders of radius ρ and ρ + dρ, the two radial planes at angles φ and
φ + dφ , and the two "horizontal" planes at "elevations" z and z + dz now enclose a
small volume, as shown in Figure 1.8(c), having the shape of a truncated wedge.

• As the volume element becomes very small, its shape approaches that of a rectangular
parallelepiped having sides of length dρ, ρdφ , and dz.

• Note that dρ and dz are dimensionally lengths, but dφ is not; ρdφ is the length. The
surfaces have areas of ρdρdφ , ρdz, ρdφ dz, and the volume becomes ρdρdφ dz.

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Fig. 1.9 The relationship between the rectangular variables x, y, z and the cylindrical coordi-
nate variables ρ, φ , z. There is no change in the variable z between the two systems.

The variables of the rectangular and cylindrical coordinate systems are easily related to
each other. Referring to Figure 1.9, we see that

x = ρ cos φ
y = ρ sin φ
z=z

From the other viewpoint, we may express the cylindrical variables in terms of x, y, and z :
p
ρ= x2 + y2 (ρ ≥ 0)
y
φ = tan−1
x
z=z

Transformation of Vectors: Table Dot products of unit vectors in cylindrical and rectangular
coordinate systems

aρ aφ az
ax · cos φ − sin φ 0
ay · sin φ cos φ 0
az · 0 0 1

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Example: Transform the vector B = yax − xay + zaz into cylindrical coordinates.
Solution: The new components are



Bρ = B · aρ = y ax · aρ − x ay · aρ
= y cos φ − x sin φ = ρ sin φ cos φ − ρ cos φ sin φ = 0



Bφ = B · aφ = y ax · aφ − x ay · aφ
= −y sin φ − x cos φ = −ρ sin2 φ − ρ cos2 φ = −ρ
Thus, B = −ρaφ + zaz

1.8 The Spherical Polar Coordinate System

Important points of spherical polar coordinate system
(a) Let us start by building a spherical coordinate system on the three rectangular axes
(Figure 1.10(a)).
(b) We first define the distance from the origin to any point as r . The surface r = constant
is a sphere. The second coordinate is an angle θ between the z axis and the line drawn from
the origin to the point in question. The surface θ = constant is a cone, and the two surfaces,
cone and sphere, are everywhere perpendicular along their intersection, which is a circle of
radius r sin θ (Fig. 1.10(b)).

Fig. 1.10 (a) The three spherical coordinates. (b) The three mutually perpendicular surfaces
of the spherical coordinate system. (c) The three unit vectors of spherical coordinates:
ar × aθ = aφ . (d) The differential volume element in the spherical coordinate system.

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(c) The third coordinate φ is also an angle and is exactly the same as the angle φ of
cylindrical coordinates. It is the angle between the x axis and the projection in the z = 0
plane of the line drawn from the origin to the point.
(d) Consider any point as the intersection of three mutual surfaces-a sphere, a cone, and a
plane-each oriented in the manı The three surfaces are shown in Figure 1.10(b)
Note: Three unit vectors may again be defined at any point. Each unit vector is perpen-
dicular to one of the three mutually perpendicular surfaces and oriented in that direction in
which the coordinate increases.

The unit vector

(i) ar is directed radially outward, normal to the sphere r = constant, and lies in the cone
θ = constant and the plane φ = constant.
(ii) The unit vector aθ is normal to the conical surface, lies in the plane, and is tangent to
the sphere. It is directed along a line of "longitude" and points "south."
(iii) The third unit vector aφ is the same as in cylindrical coordinates, being normal to the
plane and tangent to both the cone and the sphere. It is directed to the "east."
(iv) The three unit vectors are shown in Figure 1.10(c). They are, of course, mutually
perpendicular, and a right-handed coordinate system is defined by causing ar × aθ = aφ .
Our system is right-handed, as an inspection of Figure 1.10(c) will show, on application
of the definition of the cross product. The right-hand rule identifies the thumb, forefinger,
and middle finger with the direction of increasing r, θ , and φ , respectively. (Note that the
identification in cylindrical coordinates was with ρ, φ , and z, and in rectangular coordinates
with x, y, and z.)
(v) A differential volume element may be constructed in spherical coordinates by increas-
ing r, θ , and φ by dr, dθ , and dφ , as shown in Figure 1.10(d). The distance between the two
spherical surfaces of radius r and r + dr is dr; the distance between the two cones having
generating angles of θ and θ + dθ is rdθ ; and the distance between the two radial planes at
angles φ and φ + dφ is found to be r sin θ dφ , after a few moments of trigonometric thought.
Note: The surfaces have areas of rdrdθ , r sin θ drdφ , and r2 sin θ dθ dφ , and the volume
is r2 sin θ drdθ dφ
The transformation of scalars from the rectangular to the spherical coordinate system is
easily made by using Figure 1.10(a) to relate the two sets of variables:

x = r sin θ cos φ
y = r sin θ sin φ
z = r cos θ

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The transformation in the reverse direction is achieved with the help of

p
r = x2 + y2 + z2 (r ≥ 0)
θ = cos−1 √ 2 z 2 (0◦ ≤ θ ≤ 180◦ )
x +y +z2
φ = tan−1 xy

The radius variable r is non-negative, and θ is restricted to the range from 0◦ to 180◦ ,
inclusive. The angles are placed in the proper quadrants by inspecting the signs of x, y, and z.
Transformation of Vectors: Table Dot products of unit vectors in spherical and rectan-
gular coordinate systems

ar aθ aφ
ax · sin θ cos φ cos θ cos φ − sin φ
ay · sin θ sin φ cos θ sin φ cos φ
az · cos θ − sin θ 0

Example: We illustrate this procedure by transforming the vector field G = (xz/y)ax

into spherical components and variables.
Solution: We find the three spherical components by dotting G with the appropriate unit
vectors, and we change variables during the procedure:
xz xz
Gr = G · ar = ax · ar = sin θ cos φ
y y
2
cos φ
= r sin θ cos θ
sin φ
xz xz
Gθ = G · aθ = ax · aθ = cos θ cos φ
y y
2
cos φ
= r cos2 θ
sin φ
xz xz
Gφ = G · aφ = ax · aφ = (− sin φ )
y y
= −r cos θ cos φ

Collecting these results, we have

G = r cos θ cos φ sin θ cot φ ar + cos θ cot φ aθ − aφ

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Examples
Example 1: Specify the unit vector extending from the origin toward the point G(2,-2,-1).

Solution: We first construct the vector extending from origin to point G,

G = 2ax − 2ay − 1az

We continue by finding the magnitude of G,

q
|G| = (2)2 + (−2)2 + (−1)2 = 3

and finally expressing the desired unit vector as the quotient,

G 2 2 1
aG = = ax − ay − az = 0.667ax − 0.667ay − 0.333az
|G| 3 3 3
A special symbol is desirable for a unit vector so that its character is immediately apparent.
Symbols that have been used are uB , aB , 1B , or even b. We will consistently use the lowercase
a with an appropriate subscript.

Example 2: Given Points M(−1, 2, 1), N(3, −3, 0), and P(−2, −3, −4), find: (a) RMN ;
(b) RMN + RMP ; (c) |rM |; (d) aMP ; (e) |2rP − 3rN |.

Solution: (a) 4ax − 5ay − az ; (b) 3ax − 10ay − 6az ; (c) 2.45; (d) −0.14ax − 0.7ay − 0.7az ;
(e) 15.56

 h
Example 3: A vector field S is expressed in rectangular coordinates as S = 125/ (x − 1)2 + (y−
i 
2
2) + (z + 1)2 (x − 1)ax + (y − 2)ay + (z + 1)az . (a) Evaluate S at P(2, 4, 3). (b) Deter-
mine a unit vector that gives the direction of S at P. (c) Specify the surface f (x, y, z) on which
|S| = 1.

Solution: (a) 5.95ax + 11.90ay + 23.8az ;(b) 0.218ax + 0.436ay + 0.873az ;

p
(c) (x − 1)2 + (y − 2)2 + (z + 1)2 = 125

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Example 4: In order to illustrate these definitions and operations, consider the vector
field G = yax − 2.5xay + 3ay and the point Q(4, 5, 2). We wish to find: G at Q; the scalar
component of G at Q in the direction of aN = 13 2ax + ay − 2az ; the vector component of




G at Q in the direction of aN ; and finally, the angle θGa between G rQ and aN .

Solution: Substituting the coordinates of point Q into the expression for G, we have


G rQ = 5ax − 10ay + 3az

Next we find the scalar component. Using the dot product, we have

1
1
G · aN = 5ax − 10ay + 3az · 2ax + ay − 2az = (10 − 10 − 6) = −2
3 3
The vector component is obtained by multiplying the scalar component by the unit vector in
the direction of aN

1

(G · aN ) aN = −(2) 2ax + ay − 2az = −1.333ax − 0.667ay + 1.333az
3


The angle between G rQ and aN is found from

G · aN = |G| cos θGa

√
−2 = 25 + 100 + 9 cos θGa

and
−2
θGa = cos−1 √ = 99.9◦
134
Example 5: The three vertices of a triangle are located at A(6, −1, 2), B(−2, 3, −4), and
C(−3, 1, 5) Find: (a) RAB ; (b) RAC ; (c) the angle θBAC at vertex A; (d) the (vector) projection
of RAB on RAC .

Solution: (a) −8ax + 4ay − 6az ; (b) −9ax + 2ay + 3az ; (c) 53.6◦ ; (d) −5.94ax + 1.319ay +
1.979az
Example 6: The three vertices of a triangle are located at A(6, −1, 2), B(−2, 3, −4), and
C(−3, 1, 5). Find: (a) RAB × RAC ; (b) the area of the triangle; (c) a unit vector perpendicular
to the plane in which the triangle is located.

Solution: (a) 24ax + 78ay + 20az ; (b) 42.0; (c) 0.286ax + 0.928ay + 0.238az

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Example 7: Calculate the volume of the parallelepiped formed by following the three
vectors
I = ax + ay , J = 4ay + az , and K = 2ay + 2az

All the length in above vectors may be considered to be in cm.

Solution: Consider the parallelepiped shown in Figure 1.7, formed by three vectors I,
J, and K. The volume of the parallelepiped can actually be determined by estimating the
ST P ≡ I • (J × K) as described earlier. Now, in order to determine the ST P, the inner vector
product may first be estimated using the following expression:

ax ay az



(J × K) = Jx Jy Jz = ax Jy Kz − Jz Ky + ay ( Jz Kx − Jx Kz ) + az Jx Ky − Jy Kx
Kx Ky Kz

Once the above vector product is determined, the resultant ST P may be computed as
follows:

I · (J × K) ≡ Ix Jy Kz − Jz Ky + Iy ( Jz Kx − Jx Kz ) + Iz Jx Ky − Jy Kx

Finally, the values of different components may be substituted in the above equation to
determine the total volume. The component values of all the three vectors in the present
example are given as follows:

Ix = 1, Iy = 1, Iz = 0, Jx = 0, Jy = 4, Jz = 1, Kx = 0, Ky = 2, Kz = 2

Hence, the actual volume is estimated as Volume of parallelepiped (STP) = (8 − 2) + 0 + 0 =

6 cm3
Example 8: Estimate the VTP I × (J × K) corresponding to the vectors given in the
previous example and comment about the direction of the resultant vector.

Solution:

VTP ≡ I × (J × K) = J(I · K) − K(I · J)

h

i 


= J ax + ay · 2ay + 2az − K ax + ay · 4ay + az



= 2 4ay + az − 4 2ay + 2az
= −6az

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Example 9: Transform the vector B = yax − xay + zaz into cylindrical coordinates.

Solution: The new components are

Bρ = B · aρ = y ax · aρ − x ay · aρ
= y cos φ − x sin φ = ρ sin φ cos φ − ρ cos φ sin φ = 0



Bφ = B · aφ = y ax · aφ − x ay · aφ
= −y sin φ − x cos φ = −ρ sin2 φ − ρ cos2 φ = −ρ

Thus,
B = −ρaφ + zaz

Vector Identities

Triple Products
1. A · (B × C) = B · (C × A) = C · (A × B)

2. A × (B × C) = B(A · C) − C(A · B)

Product Rules
1. ∇( f g) = f (∇g) + g(∇ f )

2. ∇(A · B) = A × (∇ × B) + B × (∇ × A) + (A · ∇)B + (B · ∇)A

3. ∇ · ( f A) = f (∇ · A) + A · (∇ f )

4. ∇ · (A × B) = B · (∇ × A) − A · (∇ × B)

5. ∇ × ( f A) = f (∇ × A) − A × (∇ f )

Second Derivatives
1. ∇ · (∇ × A) = 0

2. ∇ × (∇ f ) = 0

3. ∇ × (∇ × A) = ∇(∇ · A) − ∇2 A

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Other Vector Identities

1. ∇ · (A + B) ≡ ∇ · A + ∇ · B

2. ∇(V +W ) ≡ ∇V + ∇W

3. ∇ × (A + B) ≡ ∇ × A + ∇ × B

4. ∇(VW ) ≡ V ∇W +W ∇V

5. ∇ × (A × B) ≡ A∇ · B − B∇ · A + (B · ∇)A − (A · ∇)B

6. ∇ · ∇V ≡ ∇2V

Note: The actual realization of the identities is only possible after applications. It should
be left at initial stage. Once the application part will come then only it could be really
understood.

Vector Differential Operations

Divergence
∂ Dx ∂ Dy ∂ Dz
Rectangular ∇·D = + +
∂x ∂y ∂z
1 ∂
1 ∂ Dφ ∂ Dz
Cylindrical ∇·D = ρDρ + +
ρ ∂ρ ρ ∂φ ∂z
1 ∂   1 ∂ 1 ∂ Dφ
Spherical ∇·D = 2 r2 Dr + (Dθ sin θ ) +
r ∂r r sin θ ∂ θ r sin θ ∂ φ

Gradient
∂V ∂V ∂V
Rectangular ∇V = ax + ay + az
∂x ∂y ∂z
∂V 1 ∂V ∂V
Cylindrical ∇V = aρ + aφ + az
∂ρ ρ ∂φ ∂z
∂V 1 ∂V 1 ∂V
Spherical ∇V = ar + aθ + aφ
∂r r ∂θ r sin θ ∂ φ

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Curl
     
∂ Hz ∂ Hy ∂ Hx ∂ Hz ∂ Hy ∂ Hx
Rectangular ∇×H = − ax + − ay + − az
∂y ∂z ∂z ∂x ∂x ∂y
! ! "
#
1 ∂ Hz ∂ Hφ ∂ Hρ ∂ Hz 1 ∂ ρHφ ∂ Hρ
Cylindrical ∇×H = − aρ + − aφ + − az
ρ ∂φ ∂z ∂z ∂ρ ρ ∂ρ ∂φ
"
# "
#
1 ∂ Hφ sin θ ∂ Hθ 1 1 ∂ Hr ∂ rHφ
Spherical ∇×H = − ar + − aθ
r sin θ ∂θ ∂φ r sin θ ∂ φ ∂r
 
1 ∂ (rHθ ) ∂ Hr
+ − aφ
r ∂r ∂θ

Laplacian
∂ 2V ∂ 2V ∂ 2V
Rectangular ∇2V = + 2 + 2
∂ x2 ∂y ∂z
1 ∂ 2V ∂ 2V
 
1 ∂ ∂V
Cylindrical ∇2V = ρ + 2 +
ρ ∂ρ ∂ρ ρ ∂ φ 2 ∂ z2
∂ 2V
   
2 1 ∂ 2 ∂V 1 ∂ ∂V 1
Spherical ∇V= 2 r + 2 sin θ + 2 2
r ∂r ∂r r sin θ ∂ θ ∂θ r sin θ ∂ φ 2

Vector Laplacian
     
Rectangular ∇2 A = ∇2 Ax ax + ∇2 Ay ay + ∇2 Az az
! !
2 ∂ Aφ 1 2 ∂ A ρ 1  
Cylindrical ∇2 A = ∇2 Aρ − 2 − 2 Aρ aρ + ∇2 Aφ + 2 − 2 Aφ aφ + ∇2 Az az
ρ ∂φ ρ ρ ∂φ ρ

 !
2 ∂ Aφ ∂ Aθ 
Spherical ∇2 A = ∇2 Ar − Ar + Aθ cot θ + csc θ + ar
r2 ∂φ ∂θ
 !
1 ∂ Aφ ∂ Ar 
+ ∇2 Aθ − Aθ csc2 θ + 2 cot θ csc θ −2 aθ
r2 ∂φ ∂θ
"  #
1 ∂ A ∂ Ar
+ ∇2 Aφ − 2 Aφ csc2 θ − 2 cot θ csc θ
θ
− 2 csc θ aφ
r ∂φ ∂φ

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Vector Derivatives

Cartesian.
dl = dxx̂ + dyŷ + dzẑ; dτ = dxdydz

∂t ∂t ∂t
Gradient: ∇t = x̂ + ŷ + ẑ
∂x ∂y ∂z
∂ vx ∂ vy ∂ vz
Divergence: ∇·v = + +
∂x ∂y ∂z
     
∂ vz ∂ vy ∂ vz ∂ vz ∂ vy ∂ vz
Curl: ∇×v = − x̂ + − ŷ + − ẑ
∂y ∂z ∂z ∂x ∂x ∂y
2 ∂ 2t ∂ 2t ∂ 2t
Laplacian: ∇ t= 2+ 2+ 2
∂x ∂y ∂z

Spherical.
dl = drr̂ + rdθ θ̂ + r sin θ dφ φ̂ ; dτ = r2 sin θ drdθ dφ

∂t 1 ∂t 1 ∂t
Gradient: ∇t = r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂ φ
1 ∂  2  1 ∂ 1 ∂ vφ
Divergence: ∇·v = 2 r vr + (sin θ vθ ) +
r ∂r r sin θ ∂ θ r sin θ ∂ φ
 
1 ∂
∂ vθ
Curl: ∇×v = sin θ vφ − r̂
r sin θ ∂ θ ∂φ
   
1 1 ∂ vr ∂
1 ∂ ∂ vr
+ − rvφ θ̂ + (rvθ ) − φ̂
r sin θ ∂ φ ∂ r r ∂r ∂θ

∂ 2t
   
2 1 ∂ 2 ∂t 1 ∂ ∂t 1
Laplacian: ∇ t= 2 r + 2 sin θ + 2 2
r ∂r ∂r r sin θ ∂ θ ∂θ r sin θ ∂ φ 2

Cylindrical
dl = dsŝ + sdφ φ̂ + dzẑ; dτ = sdsdφ dz

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∂t 1 ∂t ∂t
Gradient: ∇t = ŝ + φ̂ + ẑ
∂s s ∂φ ∂z
1∂ 1 ∂ vφ ∂ vz
Divergence: ∇·v = (svs ) + +
s ∂s s ∂φ ∂z
" #    
1 ∂ vz ∂ vφ ∂ vs ∂ vz 1 ∂
∂ vs
Curl: ∇×v = − ŝ + − φ̂ + svφ − ẑ
s ∂φ ∂z ∂z ∂s s ∂s ∂φ
1 ∂ 2t ∂ 2t
 
2 1∂ ∂t
Laplacian: ∇ t= s + 2 2+ 2
s ∂s ∂s s ∂φ ∂z

Fundamental Theorem
b R
Gradient Theorem: (∇ f ) · ddl = f (b) − f (a)
Ra H
Divergence Theorem: (∇ · A)dτ = A · da
(∇ × A)da = ab A · dl
R R
Stoke’s Theorem:

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