Mathematical Foundation of Electromagnetic Field Theory (MFEFT)

Dr.-Ing. Rene Marklein

[email protected]
FG Electromagnetic Theory
FB 16 Electrical Engineering / Computer Science
University of Kassel
WS 2007/2008
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 1 / 71
FB16-2508 Mathematical Foundations of Electromagnetic Field Theory
(MFEFT) - Lectures / Exercises
Lectures
Dr.-Ing. Rene Marklein
Tu 14.00-15.30, Room 2104/WA71, Beginn: 23.10.2007
Exercises
Prashanth Kumar Chinta , M.Sc.
Th 11.30-13.00, every 2nd week, Room 2104/WA71, Beginn: 01.11.2007
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 2 / 71
MFEFT - Outline
1
Introduction
2
Vector and Tensor Algebra
3
Position Vector and Coordinate Systems
4
Vectors: Scalar Product; Vector Product; Dyadic Product
5
Vector and Tensor Analysis
6
Distributions
7
Complex Analysis
8
Special Functions
9
Fourier Transform
10
Laplace Transform
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 3 / 71
Lecture 1: Introduction; Vector- and Tensor Algebra; Position Vector and
Coordinate Systems
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 4 / 71
Introduction
MFEFT - Lecture 1
1
Introduction
2
Vector and Tensor Algebra
3
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
4
Vectors: Scalar Product; Vector Product; Dyadic Product
5
Vector and Tensor Analysis
6
Distributions
7
Complex Analysis
8
Special Functions
9
Fourier Transform
10
Laplace Transform
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 5 / 71
Introduction
Introduction
In the following lecture series we are going to discuss the mathematical basis of
electromagnetic elds and waves as solutions of the theory of James Clerk Maxwell
We do not claim completeness!
We provide the essential results and facts without detailed proofs.
We try to provide a sketch of the derivations and explain, illustrate, and discuss the
mathematical relations.
We follow in principle the rst book chapter of the German manuscript by Karl-Jorg
Langenberg [2002]:
[Langenberg, 2002] K.-J. Langenberg: Theory of Electromagnetic Waves. Manuskript,
Universitat Kassel, Kassel, 2002 (in German).
You can get a copy of the CD with this Manuscript!
Contact: Dr.-Ing. Rene Marklein in his oce or wire e-mail: [email protected]
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 6 / 71
Introduction
Introduction
In the following lecture series we are going to discuss the mathematical basis of
electromagnetic elds and waves as solutions of the theory of James Clerk Maxwell
We do not claim completeness!
We provide the essential results and facts without detailed proofs.
We try to provide a sketch of the derivations and explain, illustrate, and discuss the
mathematical relations.
We follow in principle the rst book chapter of the German manuscript by Karl-Jorg
Langenberg [2002]:
[Langenberg, 2002] K.-J. Langenberg: Theory of Electromagnetic Waves. Manuskript,
Universitat Kassel, Kassel, 2002 (in German).
You can get a copy of the CD with this Manuscript!
Contact: Dr.-Ing. Rene Marklein in his oce or wire e-mail: [email protected]
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 6 / 71
Introduction
Introduction
In the following lecture series we are going to discuss the mathematical basis of
electromagnetic elds and waves as solutions of the theory of James Clerk Maxwell
We do not claim completeness!
We provide the essential results and facts without detailed proofs.
We try to provide a sketch of the derivations and explain, illustrate, and discuss the
mathematical relations.
We follow in principle the rst book chapter of the German manuscript by Karl-Jorg
Langenberg [2002]:
[Langenberg, 2002] K.-J. Langenberg: Theory of Electromagnetic Waves. Manuskript,
Universitat Kassel, Kassel, 2002 (in German).
You can get a copy of the CD with this Manuscript!
Contact: Dr.-Ing. Rene Marklein in his oce or wire e-mail: [email protected]
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 6 / 71
Introduction
Introduction
In the following lecture series we are going to discuss the mathematical basis of
electromagnetic elds and waves as solutions of the theory of James Clerk Maxwell
We do not claim completeness!
We provide the essential results and facts without detailed proofs.
We try to provide a sketch of the derivations and explain, illustrate, and discuss the
mathematical relations.
We follow in principle the rst book chapter of the German manuscript by Karl-Jorg
Langenberg [2002]:
[Langenberg, 2002] K.-J. Langenberg: Theory of Electromagnetic Waves. Manuskript,
Universitat Kassel, Kassel, 2002 (in German).
You can get a copy of the CD with this Manuscript!
Contact: Dr.-Ing. Rene Marklein in his oce or wire e-mail: [email protected]
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 6 / 71
Introduction
Introduction
In the following lecture series we are going to discuss the mathematical basis of
electromagnetic elds and waves as solutions of the theory of James Clerk Maxwell
We do not claim completeness!
We provide the essential results and facts without detailed proofs.
We try to provide a sketch of the derivations and explain, illustrate, and discuss the
mathematical relations.
We follow in principle the rst book chapter of the German manuscript by Karl-Jorg
Langenberg [2002]:
[Langenberg, 2002] K.-J. Langenberg: Theory of Electromagnetic Waves. Manuskript,
Universitat Kassel, Kassel, 2002 (in German).
You can get a copy of the CD with this Manuscript!
Contact: Dr.-Ing. Rene Marklein in his oce or wire e-mail: [email protected]
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 6 / 71
Introduction
Introduction
Our idol is the mathematician Gustav Doetsch, who wrote books for engineers about the
Fourier and Laplace transform as well as the theory of distributions. We point out the book
chapter [Doetsch, 1967]:
[Doetsch, 1967] G. Doetsch: Funktionaltransformationen. In: R. Sauer, I. Szabo (Eds.):
Mathematische Hilfsmittel des Ingenieurs, Teil I . Springer-Verlag, Berlin, 1967.
We are going the follow the books:
Vector and Tensor Algebra by Hollis Chen [1983]:
[Chen, 1983] H.C. Chen: Theory of Electromagnetic Waves. McGraw-Hill, New York,
1983.
Functional Theory by Heinrich Behnke and Friedrich Sommer [Behnke & Sommer, 1965]:
[Behnke & Sommer, 1965] H. Behnke, F. Sommer: Theorie der analytischen Funktionen
einer komplexen Veranderlichen. Springer-Verlag, Berlin 1965.
Vector and Tensor Analysis by the 4th Volume of the Mathematics for Engineers by K. Burg,
H. Haf und F. Wille (

BHW) Burg et al.[1990]:

[Burg et al., 1990] K. Burg, H. Haf, F. Wille: Hohere Mathematik fur Ingenieure, Band
IV: Vektoranalysis und Funktionentheorie. B.G. Teubner, Stuttgart 1990.
The main features about Special Functions are derived from the Book Theory of Ordinary
Dierential Equations in the Complex Domain by Smirnow [1959]:
[Smirnow, 1959] W.I. Smirnow: Lehrgang der hoheren Mathematik, Teil III,2. VEB
Deutscher Verlag der Wissenschaften, Berlin 1959.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 7 / 71
Introduction
Introduction
Our idol is the mathematician Gustav Doetsch, who wrote books for engineers about the
Fourier and Laplace transform as well as the theory of distributions. We point out the book
chapter [Doetsch, 1967]:
[Doetsch, 1967] G. Doetsch: Funktionaltransformationen. In: R. Sauer, I. Szabo (Eds.):
Mathematische Hilfsmittel des Ingenieurs, Teil I . Springer-Verlag, Berlin, 1967.
We are going the follow the books:
Vector and Tensor Algebra by Hollis Chen [1983]:
[Chen, 1983] H.C. Chen: Theory of Electromagnetic Waves. McGraw-Hill, New York,
1983.
Functional Theory by Heinrich Behnke and Friedrich Sommer [Behnke & Sommer, 1965]:
[Behnke & Sommer, 1965] H. Behnke, F. Sommer: Theorie der analytischen Funktionen
einer komplexen Veranderlichen. Springer-Verlag, Berlin 1965.
Vector and Tensor Analysis by the 4th Volume of the Mathematics for Engineers by K. Burg,
H. Haf und F. Wille (

BHW) Burg et al.[1990]:

[Burg et al., 1990] K. Burg, H. Haf, F. Wille: Hohere Mathematik fur Ingenieure, Band
IV: Vektoranalysis und Funktionentheorie. B.G. Teubner, Stuttgart 1990.
The main features about Special Functions are derived from the Book Theory of Ordinary
Dierential Equations in the Complex Domain by Smirnow [1959]:
[Smirnow, 1959] W.I. Smirnow: Lehrgang der hoheren Mathematik, Teil III,2. VEB
Deutscher Verlag der Wissenschaften, Berlin 1959.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 7 / 71
Introduction
Introduction
Our idol is the mathematician Gustav Doetsch, who wrote books for engineers about the
Fourier and Laplace transform as well as the theory of distributions. We point out the book
chapter [Doetsch, 1967]:
[Doetsch, 1967] G. Doetsch: Funktionaltransformationen. In: R. Sauer, I. Szabo (Eds.):
Mathematische Hilfsmittel des Ingenieurs, Teil I . Springer-Verlag, Berlin, 1967.
We are going the follow the books:
Vector and Tensor Algebra by Hollis Chen [1983]:
[Chen, 1983] H.C. Chen: Theory of Electromagnetic Waves. McGraw-Hill, New York,
1983.
Functional Theory by Heinrich Behnke and Friedrich Sommer [Behnke & Sommer, 1965]:
[Behnke & Sommer, 1965] H. Behnke, F. Sommer: Theorie der analytischen Funktionen
einer komplexen Veranderlichen. Springer-Verlag, Berlin 1965.
Vector and Tensor Analysis by the 4th Volume of the Mathematics for Engineers by K. Burg,
H. Haf und F. Wille (

BHW) Burg et al.[1990]:

[Burg et al., 1990] K. Burg, H. Haf, F. Wille: Hohere Mathematik fur Ingenieure, Band
IV: Vektoranalysis und Funktionentheorie. B.G. Teubner, Stuttgart 1990.
The main features about Special Functions are derived from the Book Theory of Ordinary
Dierential Equations in the Complex Domain by Smirnow [1959]:
[Smirnow, 1959] W.I. Smirnow: Lehrgang der hoheren Mathematik, Teil III,2. VEB
Deutscher Verlag der Wissenschaften, Berlin 1959.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 7 / 71
Introduction
Introduction
Our idol is the mathematician Gustav Doetsch, who wrote books for engineers about the
Fourier and Laplace transform as well as the theory of distributions. We point out the book
chapter [Doetsch, 1967]:
[Doetsch, 1967] G. Doetsch: Funktionaltransformationen. In: R. Sauer, I. Szabo (Eds.):
Mathematische Hilfsmittel des Ingenieurs, Teil I . Springer-Verlag, Berlin, 1967.
We are going the follow the books:
Vector and Tensor Algebra by Hollis Chen [1983]:
[Chen, 1983] H.C. Chen: Theory of Electromagnetic Waves. McGraw-Hill, New York,
1983.
Functional Theory by Heinrich Behnke and Friedrich Sommer [Behnke & Sommer, 1965]:
[Behnke & Sommer, 1965] H. Behnke, F. Sommer: Theorie der analytischen Funktionen
einer komplexen Veranderlichen. Springer-Verlag, Berlin 1965.
Vector and Tensor Analysis by the 4th Volume of the Mathematics for Engineers by K. Burg,
H. Haf und F. Wille (

BHW) Burg et al.[1990]:

[Burg et al., 1990] K. Burg, H. Haf, F. Wille: Hohere Mathematik fur Ingenieure, Band
IV: Vektoranalysis und Funktionentheorie. B.G. Teubner, Stuttgart 1990.
The main features about Special Functions are derived from the Book Theory of Ordinary
Dierential Equations in the Complex Domain by Smirnow [1959]:
[Smirnow, 1959] W.I. Smirnow: Lehrgang der hoheren Mathematik, Teil III,2. VEB
Deutscher Verlag der Wissenschaften, Berlin 1959.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 7 / 71
Introduction
Introduction
Our idol is the mathematician Gustav Doetsch, who wrote books for engineers about the
Fourier and Laplace transform as well as the theory of distributions. We point out the book
chapter [Doetsch, 1967]:
[Doetsch, 1967] G. Doetsch: Funktionaltransformationen. In: R. Sauer, I. Szabo (Eds.):
Mathematische Hilfsmittel des Ingenieurs, Teil I . Springer-Verlag, Berlin, 1967.
We are going the follow the books:
Vector and Tensor Algebra by Hollis Chen [1983]:
[Chen, 1983] H.C. Chen: Theory of Electromagnetic Waves. McGraw-Hill, New York,
1983.
Functional Theory by Heinrich Behnke and Friedrich Sommer [Behnke & Sommer, 1965]:
[Behnke & Sommer, 1965] H. Behnke, F. Sommer: Theorie der analytischen Funktionen
einer komplexen Veranderlichen. Springer-Verlag, Berlin 1965.
Vector and Tensor Analysis by the 4th Volume of the Mathematics for Engineers by K. Burg,
H. Haf und F. Wille (

BHW) Burg et al.[1990]:

[Burg et al., 1990] K. Burg, H. Haf, F. Wille: Hohere Mathematik fur Ingenieure, Band
IV: Vektoranalysis und Funktionentheorie. B.G. Teubner, Stuttgart 1990.
The main features about Special Functions are derived from the Book Theory of Ordinary
Dierential Equations in the Complex Domain by Smirnow [1959]:
[Smirnow, 1959] W.I. Smirnow: Lehrgang der hoheren Mathematik, Teil III,2. VEB
Deutscher Verlag der Wissenschaften, Berlin 1959.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 7 / 71
Introduction
Introduction
Our idol is the mathematician Gustav Doetsch, who wrote books for engineers about the
Fourier and Laplace transform as well as the theory of distributions. We point out the book
chapter [Doetsch, 1967]:
[Doetsch, 1967] G. Doetsch: Funktionaltransformationen. In: R. Sauer, I. Szabo (Eds.):
Mathematische Hilfsmittel des Ingenieurs, Teil I . Springer-Verlag, Berlin, 1967.
We are going the follow the books:
Vector and Tensor Algebra by Hollis Chen [1983]:
[Chen, 1983] H.C. Chen: Theory of Electromagnetic Waves. McGraw-Hill, New York,
1983.
Functional Theory by Heinrich Behnke and Friedrich Sommer [Behnke & Sommer, 1965]:
[Behnke & Sommer, 1965] H. Behnke, F. Sommer: Theorie der analytischen Funktionen
einer komplexen Veranderlichen. Springer-Verlag, Berlin 1965.
Vector and Tensor Analysis by the 4th Volume of the Mathematics for Engineers by K. Burg,
H. Haf und F. Wille (

BHW) Burg et al.[1990]:

[Burg et al., 1990] K. Burg, H. Haf, F. Wille: Hohere Mathematik fur Ingenieure, Band
IV: Vektoranalysis und Funktionentheorie. B.G. Teubner, Stuttgart 1990.
The main features about Special Functions are derived from the Book Theory of Ordinary
Dierential Equations in the Complex Domain by Smirnow [1959]:
[Smirnow, 1959] W.I. Smirnow: Lehrgang der hoheren Mathematik, Teil III,2. VEB
Deutscher Verlag der Wissenschaften, Berlin 1959.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 7 / 71
Vector and Tensor Algebra
MFEFT - Lecture 1
1
Introduction
2
Vector and Tensor Algebra
3
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
4
Vectors: Scalar Product; Vector Product; Dyadic Product
5
Vector and Tensor Analysis
6
Distributions
7
Complex Analysis
8
Special Functions
9
Fourier Transform
10
Laplace Transform
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 8 / 71
Vector and Tensor Algebra
Electromagnetic Fields
Electromagnetic Fields; Vector Fields; Maxwells Equations
Electromagnetic Fields are Vector Fields, which are a function of Time t and the
three-dimensional Position Vector R; Maxwells Equations
E(R, t) =
B(R, t)
t
J
m
(R, t)
H(R, t) =
D(R, t)
t
+J
e
(R, t)
D(R, t) =
e
(R, t)
B(R, t) =
m
(R, t)
describing the Physics of their interaction through the change in Time and Space, this requires
Mathematical Tools to describe such changes of Vector Fields and their Algebraic Interrelation.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 9 / 71
Vector and Tensor Algebra
Electromagnetic Fields
Electromagnetic Fields; Vector Fields; Maxwells Equations
Electromagnetic Fields are Vector Fields, which are a function of Time t and the
three-dimensional Position Vector R; Maxwells Equations
E(R, t) =
B(R, t)
t
J
m
(R, t)
H(R, t) =
D(R, t)
t
+J
e
(R, t)
D(R, t) =
e
(R, t)
B(R, t) =
m
(R, t)
describing the Physics of their interaction through the change in Time and Space, this requires
Mathematical Tools to describe such changes of Vector Fields and their Algebraic Interrelation.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 9 / 71
Vector and Tensor Algebra
Literature
Further literature of the topic vector/tensor algebra and analysis
[Tai, 1992] C. T. Tai: Generalized Vector and Dyadic Analysis. IEEE Press, New York 1992
[Bourne & Kendall, 1988] D. E. Bourne, P. C. Kendall: Vektoranalysis. Teubner
Studienb ucher, B. G. Teubner, Stuttgart 1988
[Teichmann, 1963] H. Teichmann: Physikalische Anwendungen der Vektor- und
Tensorrechnung. Bibliographisches Institut, Mannheim 1963
[Fetzer, 1978] V. Fetzer: Mathematik fur Elektrotechniker, Band 1. H uthig Verlag,
Heidelberg 1978
[Spiegel, 1977] M. S. Spiegel: Vektoranalysis. Schaums Outline, McGraw-Hill, Hamburg,
1977.
[Morse & Feshbach, 1953] P. M. Morse, H. Feshbach: Methods of Theoretical Physics, Part
I and Part II. McGraw-Hill, New York, 1953.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 10 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
MFEFT - Lecture 1
1
Introduction
2
Vector and Tensor Algebra
3
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
4
Vectors: Scalar Product; Vector Product; Dyadic Product
5
Vector and Tensor Analysis
6
Distributions
7
Complex Analysis
8
Special Functions
9
Fourier Transform
10
Laplace Transform
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 11 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Cartesian Coordinate System
Cartesian Coordinates; Unit Vectors, Magnitude of the Position Vector
x, y, z Coordinate Axes like Heinrich Hertz:

Wir nehmen an, dass das benutzte

Coordinatensystem der x, y, z von solcher
Beschaenheit ist, dass, wenn die Richtung der
positiven x von uns aus nach vorn, die der positiven
z von uns aus nach oben geht, alsdann die y von
links nach rechts hin wachsen.
English translation:

We assume that the used

coordinate system of x, y, z is in such a way, that, if
the direction of the positive x points from us to the
front, the positive z points from us upwards, and y
increases from left to right.
[Hertz, 1890] H. R. Hertz:

Uber die
Grundgleichungen der Elektrodynamik f ur
ruhende Korper. Nachrichten von der
Koniglichen Gesellschaft der Wissenschaften
und der Georg-August-Universitat zu
Gottingen, pp. 106-149; nachgedruckt in
Annalen der Physik, Vol. 40, pp. 577-624,
1890.
Cartesian Coordinates of the spatial
point P and the related position
vector
...........................................................................................................................................................................................
. . . . . . . . . . . . . . . .
................................................................................................................................................ . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 12 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Cartesian Coordinate System
Cartesian Coordinates; Unit Vectors, Magnitude of the Position Vector
Cartesian Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: x, y, z
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
in the limits < x < ,
< y < , < z <
Orthonormal Unit Vectors: e
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P,
the magnitude of the position vector is
|R| = R =
_
x
2
+ y
2
+ z
2
a
| | stands for the magnitude of the argument
b
stands for perpendicular
Cartesian Coordinates of the spatial point
P and the related position vector
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 13 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Cartesian Coordinate System
Cartesian Coordinates; Unit Vectors, Magnitude of the Position Vector
Cartesian Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: x, y, z
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
in the limits < x < ,
< y < , < z <
Orthonormal Unit Vectors: e
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P,
the magnitude of the position vector is
|R| = R =
_
x
2
+ y
2
+ z
2
a
| | stands for the magnitude of the argument
b
stands for perpendicular
Cartesian Coordinates of the spatial point
P and the related position vector
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 13 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Cartesian Coordinate System
Cartesian Coordinates; Unit Vectors, Magnitude of the Position Vector
Cartesian Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: x, y, z
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
in the limits < x < ,
< y < , < z <
Orthonormal Unit Vectors: e
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P,
the magnitude of the position vector is
|R| = R =
_
x
2
+ y
2
+ z
2
a
| | stands for the magnitude of the argument
b
stands for perpendicular
Cartesian Coordinates of the spatial point
P and the related position vector
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 13 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Cartesian Coordinate System
Cartesian Coordinates; Unit Vectors, Magnitude of the Position Vector
Cartesian Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: x, y, z
or x
1
, x
2
, x
3
(or x
i
with i = 1, 2, 3))
in the limits < x < ,
< y < , < z <
Orthonormal Unit Vectors: e
x
, e
y
, e
z
with |e
x
| = |e
y
| = |e
z
| = 1
a
and e
x
e
y
e
z
b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P,
the magnitude of the position vector is
|R| = R =
_
x
2
+ y
2
+ z
2
a
| | stands for the magnitude of the argument
b
stands for perpendicular
Cartesian Coordinates of the spatial point
P and the related position vector
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 13 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Scalar and Vectorial (Vector)Components
Scalar (Vector)Components
The projections of the vector onto the orthonormal unit vectors e
x
, e
y
, e
z
yield the Scalar
(Vector)Components R
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
Vectorial (Vector)Components
If we multiply the scalar (vector)components with the relating unit vectors, we obtain the
Vectorial (Vector)Components R
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 14 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Scalar and Vectorial (Vector)Components
Scalar (Vector)Components
The projections of the vector onto the orthonormal unit vectors e
x
, e
y
, e
z
yield the Scalar
(Vector)Components R
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
Vectorial (Vector)Components
If we multiply the scalar (vector)components with the relating unit vectors, we obtain the
Vectorial (Vector)Components R
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 14 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Scalar and Vectorial (Vector)Components
Scalar (Vector)Components
The projections of the vector onto the orthonormal unit vectors e
x
, e
y
, e
z
yield the Scalar
(Vector)Components R
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
Vectorial (Vector)Components
If we multiply the scalar (vector)components with the relating unit vectors, we obtain the
Vectorial (Vector)Components R
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 14 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Scalar and Vectorial (Vector)Components
Scalar (Vector)Components
The projections of the vector onto the orthonormal unit vectors e
x
, e
y
, e
z
yield the Scalar
(Vector)Components R
x
, R
y
, R
z
of R:
R
x
= e
x
R (1)
R
y
= e
y
R (2)
R
z
= e
z
R (3)
Vectorial (Vector)Components
If we multiply the scalar (vector)components with the relating unit vectors, we obtain the
Vectorial (Vector)Components R
x
, R
y
, R
z
of R:
R
x
= R
x
e
x
= (e
x
R) e
x
(4)
R
y
= R
y
e
y
= (e
y
R) e
y
(5)
R
z
= R
z
e
z
= (e
z
R) e
z
(6)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 14 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Cartesian Coordinate System
Component Representation of the Position Vector in the Cartesian Coordinate System
Component Representation of the Position
Vector in the Cartesian Coordinate System
According to the rules of vector addition it
follows that the component representation
of the Position Vector R in the Cartesian
Coordinate System is
R = R
x
e
x
+ R
y
e
y
+ R
z
e
z
(7)
= xe
x
+ y e
y
+ z e
z
(8)
Cartesian Coordinates of the spatial point
P and the related position vector
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................................................................................................................................................................................... .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
O
x
y
z
z
x
y
P (x, y, z)
R
e
z
e
x
e
y
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 15 / 71
Position Vector and Coordinate Systems Cartesian Coordinates
Cartesian Coordinate System
Component Representation of the Position Vector in the Cartesian Coordinate System
Component Representation of the Position
Vector in the Cartesian Coordinate System
Using the coordinates x
1
, x
2
, x
3
it follows
for the Position Vector R in the Cartesian
Coordinate System
R = xe
x
+ y e
y
+ z e
z
(9)
= x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
(10)
The advantage of this notation is that we
can write the position vector in form of a
sum:
R = x
1
e
x
1
+ x
2
e
x
2
+ x
3
e
x
3
(11)
=
3

i=1
x
i
e
x
i
(12)
Cartesian Coordinates of the spatial Point P
and the related Position Vector R
......................................................................................................................................................................................................................................
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................
................
................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................................................................................................................................................................................... .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
u
.................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
............................................................. ................
. . . . . . . . . . . . . . . .
............................................................. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O
x = x
1
y = x
2
z = x
3
x = x
1
y = x
2
z = x
3
P (x, y, z)
= P (x
1
, x
2
, x
3
)
R
e
z
= e
x
3
e
x
= e
x
1
e
y
= e
x
2
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 16 / 71
Position Vector and Coordinate Systems Einsteins Summation Convention
Einsteins Summation Convention
Einsteins Summation Convention
The numbered form of Eq. (10) allows a short hand notation using Einsteins summation
convention:
R =
3

i=1
x
i
e
x
i
(13)
def
= x
i
e
x
i
, (14)
i. e., one can delete the sum sign and say:
If an index appears only on one side of an equation and more than two times, we have to build a
sum from 1 to 3.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 17 / 71
Position Vector and Coordinate Systems Einsteins Summation Convention
Einsteins Summation Convention
Einsteins Summation Convention
The numbered form of Eq. (10) allows a short hand notation using Einsteins summation
convention:
R =
3

i=1
x
i
e
x
i
(13)
def
= x
i
e
x
i
, (14)
i. e., one can delete the sum sign and say:
If an index appears only on one side of an equation and more than two times, we have to build a
sum from 1 to 3.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 17 / 71
Position Vector and Coordinate Systems Einsteins Summation Convention
Einsteins Summation Convention
Einsteins Summation Convention
The numbered form of Eq. (10) allows a short hand notation using Einsteins summation
convention:
R =
3

i=1
x
i
e
x
i
(13)
def
= x
i
e
x
i
, (14)
i. e., one can delete the sum sign and say:
If an index appears only on one side of an equation and more than two times, we have to build a
sum from 1 to 3.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 17 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector
Dierentiation of the Position Vector
Dierentiation of the x
i
th cartesian coordinate of the position vector with regard to the x
j
th
coordinate is

x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
It follows for the term x
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 18 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector
Dierentiation of the Position Vector
Dierentiation of the x
i
th cartesian coordinate of the position vector with regard to the x
j
th
coordinate is

x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
It follows for the term x
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 18 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector
Dierentiation of the Position Vector
Dierentiation of the x
i
th cartesian coordinate of the position vector with regard to the x
j
th
coordinate is

x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
It follows for the term x
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 18 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector
Dierentiation of the Position Vector
Dierentiation of the x
i
th cartesian coordinate of the position vector with regard to the x
j
th
coordinate is

x
j
R =

x
j
_
x
i
e
x
i
_
(15)
= e
x
i
x
i
x
j
+ x
i
e
x
i
x
j
. .
= 0
(16)
= e
x
i
x
i
x
j
. (17)
It follows for the term x
i
/x
j
:
x
i
x
j
=
_
0 for i = j
1 for i = j .
(18)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 18 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
The right-hand side (RSH) of the last Eq. (18) is representing the properties of the Kronecker
Symbol (Kronecker Delta):

ij
=
_
0 for i = j
1 for i = j
(19)
It follows for the above mentioned dierentiation of the position vector with regard to the x
j
th
coordinate

x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 19 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
The right-hand side (RSH) of the last Eq. (18) is representing the properties of the Kronecker
Symbol (Kronecker Delta):

ij
=
_
0 for i = j
1 for i = j
(19)
It follows for the above mentioned dierentiation of the position vector with regard to the x
j
th
coordinate

x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 19 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
The right-hand side (RSH) of the last Eq. (18) is representing the properties of the Kronecker
Symbol (Kronecker Delta):

ij
=
_
0 for i = j
1 for i = j
(19)
It follows for the above mentioned dierentiation of the position vector with regard to the x
j
th
coordinate

x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 19 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
The right-hand side (RSH) of the last Eq. (18) is representing the properties of the Kronecker
Symbol (Kronecker Delta):

ij
=
_
0 for i = j
1 for i = j
(19)
It follows for the above mentioned dierentiation of the position vector with regard to the x
j
th
coordinate

x
j
R =

x
j
(x
i
e
x
i
) (20)
= e
x
i
x
i
x
j
..
=
ij
(21)
= e
x
i

ij
. (22)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 19 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:

x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 20 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:

x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 20 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:

x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 20 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:

x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 20 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:

x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 20 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:

x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 20 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Dierentiation of the Position Vector in Cartesian Coordinates; Kronecker Symbol
The term e
x
i

ij
can be simplied to
e
x
i

ij
j=i
= e
x
i
(23)
or (24)
i=j
= e
x
j
, (25)
i. e., one can either replace i by j or j by i, because
ij
is only for i = j unequal of null. We nd
for i = j:

x
j
R = e
x
i

ij
(26)
i=j
= e
x
j

ij
(27)
= e
x
j
. (28)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 20 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71
Position Vector and Coordinate Systems Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cartesian Coordinate System
Dierentiation of the Position Vector; Kronecker Symbol
Keep in Mind!
Obviously, we obtain the three orthogonal unit vector e
x
j
, j = 1, 2, 3 by dierentiating the
position vector with regard to the cartesian coordinate x
j
:

x
j
R = e
x
j
. (29)
Example (Dierentiation of the Position Vector; Kronecker Symbol)
If x
j
j=1
= x
1
= x it follows:
With the application of the summation con-
vention:

x
1
R =

x
1
(x
i
e
x
i
) (30)
= e
x
i
x
i
x
1
..
=
i1
(31)
= e
x
i

i1
(32)
= e
x
1
. (33)
Without the summation convention:

x
R =

x
_
xe
x
+ y e
y
+ z e
z
_
(34)
=

x
x
. .
= 1
e
x
+

x
y
. .
= 0
e
y
+

x
z
..
= 0
e
z
(35)
= e
x
. (36)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 21 / 71