Differentiation

Integration

Vector Calculus
Minimal preparation course for 1st year electromagnetism

Shinsuke Kawai

Department of Physics/University College, Sungkyunkwan University

Autumn semester 2010

Shinsuke Kawai Vector Calculus

 Differentiation
Integration

Outline

1 Differentiation
Differential operators
Gradient, divergence, rotation

2 Integration
Integrations in vector calculus
Integration formulae
Maxwell’s equations

Shinsuke Kawai Vector Calculus

 Differentiation Differential operators
Integration Gradient, divergence, rotation

Differential operators

Physical observables we have studied are scalars (such as

energy, charge density, mass density, etc.) and vectors (velocity,
electric field, magnetic field, etc.). There are also axial vectors,
tensors, etc.
They are functions of positions (x, y , z), as well as of time t.
Let us forget about the time dependence now.
Differentiation by one variable (say, x) while treating others (y and
z) as constants – partial differentiation ∂∂x
Let us make a vector from the differential operators ∂∂x , ∂∂y , and
∂
∂z :

~— = ( ∂ , ∂ , ∂ ). (1)
∂x ∂y ∂z

Shinsuke Kawai Vector Calculus

 Differentiation Differential operators
Integration Gradient, divergence, rotation

Products of vectors

For vectors ~A = (Ax , Ay , Az ) and ~B = (Bx , By , Bz ), we can define

the scalar product: ~A · ~B = Ax Bx + Ay By + Az Bz .
the vector product:

~ı ~j ~k
~A ⇥ ~B = Ax Ay Az
Bx By Bz
= ( Ay Bz Az By , Az Bx Ax Bz , Ax By Ay Bx ).

Shinsuke Kawai Vector Calculus

 Differentiation Differential operators
Integration Gradient, divergence, rotation

Operation with ~—

On a scalar f (x , y , z ),
Gradient:
∂f ∂f ∂f
grad f = ~—f = ( , , ).
∂x ∂y ∂z
On a vector ~F (x , y , z ),
∂F
Divergence: div ~F = ~— · ~F = ∂∂Fxx + ∂ yy + ∂∂Fzz .
Rotation (or curl):
∂ Fz ∂ Fy ∂ Fx ∂ Fz ∂ Fy ∂ Fx
rot ~F = curl ~F = ~— ⇥ ~F = ( , , ).
∂y ∂z ∂z ∂x ∂x ∂y
Note: div is a scalar, whereas grad, rot are vectors.

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Integration

In 3 dimensions we may consider:

Line integration: along d~s
Surface integration: over an area vector d~A
(|dA| is the area and the direction is perpendicular to the surface.
Pointing outside if the surface is closed. Use the right hand rule
when a closed line integral on the boundary curve is defined.)
Volume integration: over a volume element dv = dxdydz.

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Integration formulae

There are formulae relating integrals over different dimentions.

The divergence theorem:
volume integral over ⌃ $ surface integral over ∂ ⌃
Z I
~— · ~F dv = ~F · d~A.
⌃ ∂⌃

Stokes’ theorem:
surface integral over ⌃ $ line integral over ∂ ⌃
Z I
~
(— ⇥ F ) · d A =
~ ~ ~F · d~s.
⌃ ∂⌃
~F = ~F (x , y , z ) is a vector. ∂ ⌃ is the boundary of ⌃.

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Proof of the divergence theorem

The divergence theorem is
Z I
~— · ~F dv = ~F · d~A.
⌃ ∂⌃
Note that the theorem is additive, so it is enough to show it for a small
cube of size dx ⇥ dy ⇥ dz.
(x0,y0,z0+dz) (x0+dx,y0,z0+dz)

(x0,y0+dy,z0+dz)
(x0+dx,y0+dy,z0+dz)

→
F(x0,y0,z0)
dz →
F(x0+dx,y0,z0)
(x0+dx,y0,z0)
(x0,y0,z0)
dy
dx
(x0,y0+dy,z0)
(x0+dx,y0+dy,z0)
Shinsuke Kawai Vector Calculus
 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Proof of the divergence theorem – cont.

Using f (x0 + dx ) = f (x0 ) + ∂∂ xf dx + O(dx 2 ),

x =x0

Z Z ✓ ◆
~— · ~F dv ∂ Fx ∂ Fy ∂ Fz
= + + dxdydz
⌃ ⌃ ∂x ∂y ∂z
Z
= dydz (Fx (x0 + dx ) Fx (x0 ))
Z
+ dzdx (Fy (y0 + dy ) Fy (y0 ))
Z
+ dxdy (Fz (z0 + dz ) Fz (z0 ))
I
= ~F · d~A.
∂⌃

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Proof of Stokes’ theorem

Stokes’ theorem is
Z I
(~— ⇥ ~F ) · d~A = ~F · d~s.
⌃ ∂⌃

Again, it is enough to show it for a small area of size dx ⇥ dy .

→ →
F(x0,y0) F(x0+dx,y0)

→
F(x0+dx,y0+dy)

→
F(x0,y0+dy) (x0,y0)
dy

dx
Shinsuke Kawai Vector Calculus
 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Proof of Stokes’ theorem – cont.

Z Z ✓ ◆
∂ Fy ∂ Fx
(~— ⇥ ~F ) · d~A = dxdy
⌃ ⌃ ∂x ∂y
Z Z
∂ Fy ∂ Fx
= dx dy dy dx
∂x ∂y
Z
= (Fy (x0 + dx , y , z ) Fy (x0 , y , z )) dy
Z
(Fx (x , y0 + dy , z ) Fx (x , y0 , z )) dx
I
= ~F · d~s.
∂⌃

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Maxwell’s equations – Gauss (electric)

In the differential representation,

~— · ~E = r
e0
Performing the volume integration and applying the divergence
theorem, Z I Z
~— · ~Edv = ~E · d~A = 1 r dv .
⌃ ∂⌃ e0 ⌃
R
q = ⌃ r dv is the electric charge contained in the region ⌃. Hence
I
~E · d~A = q .
∂⌃ e0

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Maxwell’s equations – Gauss (magnetic)

In the differential representation,

~— · ~B = 0

Performing the volume integration and applying the divergence

theorem, Z I
~— · ~Bdv = ~B · d~A = 0.
⌃ ∂⌃

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Maxwell’s equations – Faraday

In the differential representation,

~— ⇥ ~E = ∂~B
∂t
Performing the surface integration and applying Stokes’ theorem,
Z I Z
∂
(~— ⇥ ~E ) · d~A = ~E · d~s = ~B · d~A.
⌃ ∂⌃ ∂t ⌃
R
B = ~
⌃ B · dA
~ is the magnetic flux. Hence,
I
~E · d~s = ∂ B
.
∂⌃ ∂t

Shinsuke Kawai Vector Calculus

 Integrations in vector calculus
Differentiation
Integration formulae
Integration
Maxwell’s equations

Maxwell’s equations – Ampère-Maxwell

In the differential representation,

~— ⇥ ~B = µ0~j + e0 µ0 ∂ E
~
∂t
Performing the surface integration and applying Stokes’ theorem,
Z I Z Z
(~— ⇥ ~B ) · d~A = ~B · d~s = µ0 ~j · d~A + e0 µ0 ∂ ~E · d~A.
⌃ ∂⌃ ⌃ ∂t ⌃
R R
I = ⌃~j · d~A is the current and E = ⌃E
~ · d~A is the electric flux.
Hence, I
~B · d~s = µ0 I + e0 µ0 ∂ E .
∂⌃ ∂t

Shinsuke Kawai Vector Calculus

 overview of Electromagnetism

Maxwell’s equations
1. Gauss (electric) I Coulomb
~ = ⇢/✏0
r·E ~ · dA
E ~ = q/✏0
~ = 1 q
E ~n
(special case) 4⇡✏0 r 2
2. Gauss (magnetic)
I
~ =0
r·B ~ · dA
B ~=0

3. Faraday
I Biot-Savart
@ ~
B ~ · d~s = @ B
r⇥E~ = E
@t @t
~ µ0 Id~s ⇥ ~n
4. Ampère-Maxwell dB =
I 4⇡ r2
@ ~
E ~ @ E
~ = µ0~j + ✏0 µ0
r⇥B B · d~s = µ0 I + ✏0 µ0
@t @t

Differential expressions Integral expressions

Lorentz force F~ = q(E~ + ~v ⇥ B)

~