University of British Columbia | Okanagan Campus | School of Engineering

ENGR 365 Engineering Electromagnetics

Dr. Loïc Markley, 2021-2022 Term 2

MODULE ONE

Vector Calculus Review

(Sadiku, Chapters 1-3)

Cartesian
Fields
1
scalar vector

Id
IB

tIgf.ds
sp.de
UI
D convert
coordinates

If gI AI Cylindrical unit
vectors
1.0.7
Sff 5 F du
II ds
SSs 577 Is
GIde
spherical

ÉSydx pcj.p.ca video

©Loïc Markley. Not to be copied, used, or revised without explicit written permission from the copyright owner.
Markley, ENGR 365, Module 1, Vector Calculus Review 2/27

Electromagnetics is the study of electric and magnetic fields and how they interact under static and
dynamic conditions. In order to properly analyze electromagnetic fields, it is important that we have a
language in which to describe them. Vector algebra allows us to describe and manipulate quantities with
magnitude and direction, while vector calculus allows us to quantify how those quantities change over
space and time. In this module, I will review both topics to ensure that you are all familiar with the
mathematical language we will be speaking all term. I will also present the three coordinate systems
typically used to describe physical systems and show you how they impact the setup of vector calculus
problems.

Vector Algebra

We often talk about electric field, but what exactly do we mean by a field? What types of fields are
there?

A distribution of some quantity overspace

Scalar Field Magnitude Ex Temp pressure

vector field Magnitude E Velocity electric magneticfield

direction

direction
A unit vector is a vector with unit magnitude and is used to indicate _________________. Unit vectors
make it easy to apply mathematical operators to a vector by allowing us to write vectors in algebraic
form. This form is typically based on the unit vectors that correspond to our coordinate system and
allows us to separate the vector into independent component values.

I
IT A hat indicates unitvector

eg F Ax It Ayy Az E
q
3D Scalar ID
Markley, ENGR 365, Module 1, Vector Calculus Review 3/27

Given the components of a vector, how do we determine its magnitude or norm?

If Ax2 Ay2 Az Valid for all orthogonal

coordinatesystems

What kinds of vector operations do we have? We are familiar with addition, subtraction, multiplication,
and division using scalars. How do these operations apply to vectors?

Let’s start with addition and subtraction. We can approach this algebraically and graphically. How do we
add two vectors together and how do we subtract two vectors?

I I BE Ax Bx I Ay By j CAZ Bz É

É
I 15 yep É
BE

Adding subtracting components

What about multiplication and division? What is twice A? What is one sixth of A? These are both
examples of multiplication by a scalar.

KI KA It KAYT KAZE
each component is sealed
samedirection

KI
Markley, ENGR 365, Module 1, Vector Calculus Review 4/27

When we refer to a specific point in space in our equations we represent this point by a special type of
vector called a position vector. This vector describes the location of the point in space with respect to
the origin of the coordinate system used. This is not to be confused with a displacement vector,
however, which describes the location of a point with respect to the location of another point.

z
P I E r

n
y
I
É
x
Pa
To avoid confusion, we typically use the variable to denote position vectors. A displacement vector is
therefore the difference between two position vectors.

Note: if you change the coordinate system, the direction and magnitude of a ______________________
position
vector would change but that of a _____________________
displacement vector would stay the same.

If I stand at position (8, 2,4) in a Cartesian coordinate system and walk to position (3,12,6), what are
my initial and final position vectors and what is my displacement vector? Now if I move my coordinate
system by -5 units along and +3 units along , what are my new initial and final position vectors and
what is my new displacement vector?
old
z F SI 25 42
I
P2
s 5 32 125 62
P1

y z y d É R 52 Myth
me
s new same

x T y
F Soi 55 92
rI 3,2 95 112
x I ri ri 52 145 22

Note that for the laws of physics to hold in all reference frames, our general physics equations must
depend only on ________________________
displacement vectors.
Markley, ENGR 365, Module 1, Vector Calculus Review 5/27

We still haven’t defined multiplication for two vectors. Since each vector has multiple components,
there could potentially be more than one way to define multiplication between them. It turns out that
two forms are commonly used: one returns a scalar and one returns a vector.

The dot product (or scalar product) multiplies two vectors and returns a scalar. It provides a measure of
how well the two vectors “overlap” and is largest when the two vectors are aligned.

F BE IT IB COSQAB
AxBoot AyBy AzBz F B IT III largestscalarif pointing inthe
samedirection
note I I 1712 F5 0

I I ATBI smallestmostnegative if pointingin

opposite directions

i
I.pt o

theprojection of I along is
Tiffani
BÉ F B BT
II
Iprosis
gives BTBT

What is the angle between =3 + 2 and = +3 ?

sinceits ve mustbe
inbetween goand180
IT IBTcos as F B 3C1 C1 3 2 o g

IF I JI Ta 151 Taro

Qais COS 120.50

Markley, ENGR 365, Module 1, Vector Calculus Review 6/27

What component of = 2 lies perpendicular to = 2 +5 ?

Remember I Int AI
I n
É i It I AT I Iprojo
AI
In
Ipro III 54,1445 5 15

I I I BT I I I g IE
To check It BT should 0

AT.BE
I 13 25 0

The cross product (or vector product) multiplies two vectors and returns another vector orthogonal to
both of them. Unlike the dot product, the cross product is largest when the two vectors are
perpendicular.

A xBE If i3 sin a I use righthand rule to finddirection of f

I Y I pointfingers towards A
Ax
Ay Az get as and curl to B thumb
Bx points in direction
By Bz
I AyBz Az
By Y AzBz AxBz É LA ByAyBx
 Markley, ENGR 365, Module 1, Vector Calculus Review 7/27

Graphically, the cross product relates to area.

ATE O
I s s

a
intothe
IQA
j I B
TAIBI III IBT

page
area IF 15sin as
55 8
i
IFxBF ALIBI

some Properties of Crossproduct

1 Not Commutative Txt BIT

2 Not Associative FxBTxE Fx BYE

Show that the points (5,2, 4), (1,1,2), and ( 3,0,8) all lie on a straight line.

P Ps
if we showthat crossproduct
of thevectorsequals too
BT thenthepointsare colinear

I Pz p YI J GE
J E
B Ps Pl SI 25 122 Ix Y I 6
f 2 12

1212 It CYStUSJj S b E
OK to jtOÉ 8
Since Txt 0 DAB 091800 Threepointsmust becolinear
Markley, ENGR 365, Module 1, Vector Calculus Review 8/27

Find the area of the triangle formed by the points (4, 2, 3), (3,0,2), and ( 1,3, 4).

I s P

5
15 5
1Y
2
P
É 3 6
AT rot F I 2J 5
C 27 26,5
5 42 35 ez
15 51 11
262 52 5430

Areas
FBI 18.9units

Now how do we multiply three vectors together? We can use combinations of the dot and cross
products. Two common three-vector operators are the scalar triple product and the vector triple
product.

scalar triple product

AT B xt B.EXF E.FR
Ax Ay Az
Bx By BZ
Cx Cy Cz

I BI returns me It i
of theparallelpiped

tt
i

E
 Markley, ENGR 365, Module 1, Vector Calculus Review 9/27

vector tripole product

back minus cab

Tx Ext B I.E IIIBY

Yair Tatar

Plane of Bgg

73 a

BI Q
E
Ife TxBYE

We have seen that vector algebra can be a powerful tool in analyzing the geometry of different shapes
and the relationships between them. It is important to recognize which operator can be used for which
purpose and know how to apply them in problem solving.

For example, how would you use vector algebra to perform the following tasks?

Find the distance between two points:

IE TI
Find the angle between two vectors:

cos
III
Determine if three points lie along a straight line:

Fa F x ri ri IO
Determine if four points lie in the same plane:

E rt Cri ri Cri ri O
Markley, ENGR 365, Module 1, Vector Calculus Review 10/27

Define an equation for a plane (hint, you will need a vector normal to the plane):

F ri i O
Emef O
a ri Ax X Ko tny y yo nzCzzo

The intersection betweentag

to non-parallel planes is a line. Given a normal vector for each plane (i.e. given
the equations of the planes), find a unit vector parallel to line of intersection:

nix is

Given the vectors representing two of the sides, determine if a triangle is right-angled:

a
FB O if not O doesnot mean we
Stop we could havetakenother
s sides I
B
J E
here CI B I O
Find the volume of a tetrahedron defined by three vectors: CI BI BIO or IprojpB

MEI h E
IIIs
is
height

1 Eoi i e

Base
uol.le.FI sign

Given the equation of a line ( = + ), find the shortest distance from the line to a point:

risings
I
i

É Q
FIT p Crpsilent
ro
rf
Markley, ENGR 365, Module 1, Vector Calculus Review 11/27

Coordinate Systems

Let us now review the three coordinate systems that will be used extensively in this class. We have the
Cartesian coordinate system, the cylindrical coordinate system, and the spherical coordinate system. We
choose which one to use based on the natural symmetries within the problem we are solving.

In each of the three coordinate systems, the coordinate unit vectors are mutually perpendicular
everywhere in space. This condition is called ________________________.
Orthogonality
Describe the Cartesian coordinate system.

z
OO LK 100
É 00
( , , )
Ly 200
I 00 LZ 200
pm
y

Xx J É
x I Ax xy z I AyGayz it AZCayWE

Describe the cylindrical coordinate system.

z
( , , )

O E 062T
y

DX E
x

F Ap p O z p'ColtAp P0,770 o i AzCPO 7 É

Note p and I are both functions of 0 ie theychangedirectionwith 0

 Markley, ENGR 365, Module 1, Vector Calculus Review 12/27

How do we convert to and from Cartesian coordinates?

COORDINATES To From
I
pi
=
f 22 92 = Peoso

=
tan Ux = Psind

z 70 Tx = = Z
Z
UNIT VECTORS

=
Icosotysino =
Icoso Oisino
= x'Sinotycoso = psino O'coso

= É = É
E
É É É É
VECTOR FIELDS
t

cosy Sino O cosa Sind 0

= sing 1050 O = since Cory O

0 0 I 0 0 1

How would we represent a position vector in cylindrical coordinates?

In Cartesian Cary t F xietyytzz

In Cylindrical p Oz E pizz wrong

F KI yy ZE
F Pco's
a Pcos Ising psinolepsinItocosoot
ÉÉ
T PBCcosotsinay PIC cososinfsinocosoltzz
F ppt ZE
g
functionof
0 embeded
into
P
F ppcoltzz
Markley, ENGR 365, Module 1, Vector Calculus Review 13/27

Describe the spherical coordinate system.

z
O E r 200
Pcr 0,0
r É OE 041800
f I
y
O E 023600

x
I Ar r a d Aadcool AOICao
Fx Of r a a
all functions of
crossproduct and
y
Callaregoo

How do we convert to and from Cartesian coordinates?

COORDINATES To From
r so = Tatytz =
rsinocoso
Es = tan Azt =
rsinasino

O E=
tai E
=
reosa
UNIT VECTORS

See formula sheet

VECTOR FIELDS

See formulasheet
Markley, ENGR 365, Module 1, Vector Calculus Review 14/27

How do we represent a position vector in spherical coordinates?

Cr 0,0 F ritocatoof

F pp t Z É
Crsino isin at Ecosoc rose Ecosoc Oisina
ri Sinaloa t ra sin costcososino
ri OG

It is important to be very careful when calculating displacement vectors in cylindrical and spherical
coordinates. Consider how we subtract vectors in Cartesian coordinates.

I ri ri se i t y j t z iz x at yay Zzz
x seal it Cy y
I ZI ZHE
Lanewvectorinternsofinger

Now what happens when our unit vectors change with position? How can we make sure we perform this
calculation accurately?

Ey PP t ZE
I ri ri PD z t PaPz Zzz
Zi ZalÉ
1,311
components

i Convert to Cartesian
 Markley, ENGR 365, Module 1, Vector Calculus Review 15/27

Now if we fix one coordinate variable in our coordinate system, what does the resulting constant
coordinate surface look like? It is important to be familiar with these surfaces in all three coordinate
systems so that when we are setting up and evaluating integrals in two and three dimensions, we can
quickly recognize which variable is constant and which variables are changing

Cartesian
z z z

y y É y

x
e
x

É x
Z L

z z z
Cylindrical

x
y

x
E y

x
y

P C O C Z C

z z z
spherical

y y y y

x x x

F C O C O C
Markley, ENGR 365, Module 1, Vector Calculus Review 16/27

Express the vector field = 5 + 10 + 3 in Cartesian coordinates. Is it a uniform field? What angle
does A make with the = 3 plane when = 4 and = 5?

Not a uniform field since P andOj change withposition

II find
711
coset o
3

L IÉ are
where

Notauniformfield

find T at x 3
y 4,1 5

I 3 S 4 6 3 1112,3

x 3plane
I
I sy angle anglebetween I and I goo

I
050A I
i n
Faint
Z
QA.sc 161.90

i Q QAx 90 71go
Markley, ENGR 365, Module 1, Vector Calculus Review 17/27

Vector Calculus Differentials

So far we have reviewed vector algebra where we learned how to work with vectors, and we have
reviewed the three primary coordinate systems and how to convert between them. Now we will learn
how do take derivatives and calculate integrals of vector quantities.

Understanding differential elements is the key to vector calculus. Differentials are the infinitesimal
changes in a quantity that appear in the equations for our derivatives and integrals (a derivative is a
ratio of differentials and an integral is a sum of differentials). In vector calculus we typically deal with
three differential elements:

diff
_____________________________________ is an infinitesimally small displacement vector
length

diff Surface
_____________________________________ is an infinitesimally small surface vector

diff
_____________________________________
Volume is an infinitesimally small volume scalar

What is the position vector in Cartesian coordinates and what are the three differential elements?

F xItyjtzÉ

É
z
d dace't dygtazz

ftp gj
y
8
x
1J dxdz
du docdydz
Markley, ENGR 365, Module 1, Vector Calculus Review 18/27

What is the position vector in cylindrical coordinates and what are the three differential elements?

F PPt ZE
note need p togetarclength
y
de destpdoot dz E
z
Pdodz
d5
fofEsdede
dido
y
dreededodz
o
x de

dp if
Pdo

What is the position vector in spherical coordinates and what are the three differential elements?

F ri

rsinado rdo
de dritrdocatrsinodoo
z
s r r'sinadado
ds a rsinadr do
sa f rdrdo
y
dr rasinadrdado
dr
x
Markley, ENGR 365, Module 1, Vector Calculus Review 19/27

Calculating Integrals

Now let us use these differential elements to define the three types of integrals use in vector calculus.

line integral
A ________________________ is a one dimensional integral that integrates the tangential component
of a vector field along a particular path. In electromagnetics, this integral is often performed over a
closed loop path, in which case it is referred to as the _____________________
circulation of a vector field.

e
tt
t.de
SoF de

surface integral
A __________________________ is a two-dimensional integral that integrates the normal component
flux
of a vector field over particular surface. This is also referred to as the _________ of the vector field
through the surface. Again, in electromagnetics, it is common to perform this integral over a closed
surface.

l
jp
II.ds
II d É
F IS
s

volume integral
A __________________________ is a three dimensional integral that integrates a scalar field over a
volume.

fear

Sff Pdr
Markley, ENGR 365, Module 1, Vector Calculus Review 20/27

Calculate the line integral of = cos + sin counter clockwise around the shape defined by
0 2, 0 60 , and = 0.

I
t.de qfndertfI.de
tfI.de

PO
tigger
9
P
change
0 00

Ten Ddp
ooo
I dt ScosoldPlo o Pds
Ssds 121215 2

des Pdo
ftp.s
T di O

i
SI Its O

Its Pdp 0 00
t.de3 des dsf
Pcos0dPlo.ooo
tzPdP
I dis I Pds
Stanton I S I Pdp
Emitsincreasing
1

here

I de 2 0 I I
Markley, ENGR 365, Module 1, Vector Calculus Review 21/27

Taking Derivatives

In order to define the three main derivatives used in vector calculus, we must first define the del
operator (also known as the gradient operator). Note that this operator is not a vector, despite its
similar appearance, it is simply a notational shorthand. (What would its length be if it were a vector?)

Here is the del operator in Cartesian coordinates:

I I y
Eg
Does this vector have the same form in cylindrical and spherical coordinates?

F
cyl PI OI E
thosefactors convert
angles to arclength
f y
Sph F F E I to font

The _____________________ is applied to a scalar field to produce a vector field. It represents the
gradient
magnitude and direction of the maximum rate of increase over space. In other words it is always
perpendicular to the scalar iso-surfaces (the surfaces where the scalar function is constant).

É Tv
III j E g cart

p of of ftp EE Cyd

I Of to.rs To Sph
Markley, ENGR 365, Module 1, Vector Calculus Review 22/27

Calculate the gradient of = + and the derivative at the point (2, 1,0) in the direction
= 3 + 4 + 12 (this is known as a directional derivative).

W Iya xyz
FW 2xy'ty7 It 2405 x2
j t xylE

TY YI
Sg 27

direction it isthegradient

I derivative

i Faw Cutby 22 43445,55ft 12 24 473 3.35

Markley, ENGR 365, Module 1, Vector Calculus Review 23/27

The ______________________ is applied to a vector field to produce a scalar field. It measures the
divergence
outward spreading of the field. Note the special treatment given to the three coordinates whose
constant surfaces have curvature and therefore have a “built-in” divergence.

TT I I 5 E
I Axe Ayy'tAzz

JI JI JI cart

I trait Crsinatolt
rat sph

note PC re and o c are all

carreastrangging
eg D

What is a solenoidal (or divergenceless) field and what does it look like?

Vector fields with zero discipline

t
eg a a a a
p
get
 Markley, ENGR 365, Module 1, Vector Calculus Review 24/27

curl
The _________________ is applied to a vector field to produce another vector field. It is a measure of
the rotation of the field (for example, vorticity is the curl of the velocity field).

J E
Tx Six say at Cart
Ax Ay Az

F POI E
L Hap 520 422

Az
Cylindrical
APIA
rd reinaof
past Hr Eoc To Sph
Ar
Ito Inga
a n
intrinsic
curl

What is an irrotational (or potential) field and what does it look like?

vector field where curl is zero

eg a t
a a n

e s

e
Markley, ENGR 365, Module 1, Vector Calculus Review 25/27

The Divergence Theorem and Stokes’ Theorem

The Divergence Theorem states that the total outward flux through a closed surface is equal to the
volume integral of the divergence. This is a formalization of the idea that the divergence of a vector field
represents the outward flow or the spreading of that field.

V
T d5
s 1 5 E dr

Figgis Escaarfield
integral

Consider a cylinder defined by = 1 and 0 1 sitting in a vector field = 10 ( + ).

Calculate the outward flux through all three surfaces.

outward flux Y Joe I Yo Yo 430

It'É
go Is ÉPdpdo zoo
g Is lopardo since é I

10 S Pdpdo LOGIC's IOT

Tarea ofbottom
circle

Is
fpdoldzlp. E
dsi 10é2td0dz since I I

10 e dode 101217 É lot l E

Is I Pdsdsdolz I
E Is3 10Epdpdo
10é PdOdp IOE T tote

Total Y loft lotte2 D

Markley, ENGR 365, Module 1, Vector Calculus Review 26/27

Now verify your result using the Divergence Theorem.

F E I PG Iz Ge
I 105270
2,110527
10827 21 10827 2
0

Y
f F
Eldred

Stokes’ Theorem states that the circulation of a vector field around the edge of a surface is equal to the
flux of the curl through that surface. Again, this is a formalization of the idea that the curl of a vector
field is a measure of the field’s rotation.

t.de S Ext d
Fedorfield
Integral f
Use Ivectorfild
RHR
I fYd I
integral of the
derivative off
Markley, ENGR 365, Module 1, Vector Calculus Review 27/27

Verify the result of the previous line integral example using Stokes’ Theorem. In that example, you were
asked to evaluate the counter clockwise line integral of the vector field = cos + sin around
the path defined by 2 5, 30 60 , = 0.
NÉE
Ya ft.de fCJxFl.d5

z
If wherefromRHR.de EPdPd0

00

g
ftp.et.gfcoso sino
8121 0 2
Ap A Az

f T.tl.de fo8sin0 Pd0dP 1PdP.fsinold0

52 Is ite
2
I D