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6.641 Electromagnetic Fields, Forces, and Motion

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 6.641 Formula Sheet #1
Cartesian Coordinates (x, y, z) Cartesian Cylindrical Spherical
x = r cos φ = r sin θ cos φ
∂f ∂f ∂f y = r sin φ = r sin θ sin φ
�f = ix + iy + iz
∂x ∂y ∂z z = z = r cos θ
∂Ax ∂Ay ∂Az ix = cos φir − sin φiφ = sin θ cos φir + cos θ cos φiθ
�·A= + + − sin φiφ
∂x ∂y ∂z
� � � � � � iy = sin φir + cos φiφ = sin θ sin φir + cos θ sin φiθ
∂Az ∂Ay ∂Ax ∂Az ∂Ay ∂Ax + cos φiφ
� × A = ix − + iy − + iz −
∂y ∂z ∂z ∂x ∂x ∂y iz = iz = cos θir − sin θiθ
2 ∂2f ∂2f ∂2f
� f = 2
+ 2
+
∂x ∂y ∂z 2
Cylindrical Coordinates (r, φ, z)
∂f 1 ∂f ∂f Cylindrical Cartesian Spherical
�f = ir + iφ + iz �
∂r r ∂φ ∂z r = x2 + y 2 = r sin θ
y
1 ∂ 1 ∂Aφ ∂Az φ = tan−1 x = φ
�·A= (rAr ) + + z = z = r cos θ
r ∂r r ∂φ ∂z
� � � � � � � � ir = cos φix + sin φiy = sin θir + cos θiθ
1 ∂Az ∂Aφ ∂Ar ∂Az 1 ∂ rAφ ∂Ar iφ = − sin φix + cos φiy = iφ
� × A = ir − + iφ − + iz −
r ∂φ ∂z ∂z ∂r r ∂r ∂φ iz = iz = cos θir − sin θiθ

1 ∂
�
∂f
�
1 ∂ 2f ∂ 2f
�2 f = r + 2 +
r ∂r ∂r r ∂φ2 ∂z 2
Spherical Coordinates (r, θ, φ)
Spherical �Cartesian Cylindrical
∂f 1 ∂f 1 ∂f √
�f = ir + iθ + iφ r = x2 + y 2 + z 2 = r2 + z 2
∂r r ∂θ r sin θ ∂φ θ = cos−1 √ z
= cos−1 √ z
1 ∂ � 2 � 1 ∂ (sin θAθ ) 1 ∂Aφ x2 +y 2 +z 2 r 2 +z 2
�·A= 2 r Ar + + φ = cot−1 xy
= φ
r ∂r r sin θ ∂θ r sin θ ∂φ
� � � � ir = sin θ cos φix + sin θ sin φiy = sin θir + cos θiz
1 ∂ sin θAφ ∂Aθ + cos θiz
� × A = ir −
r sin θ ∂θ ∂φ iθ = cos θ cos φix + cos θ sin φiy = cos θir − sin θiz
� � �� − sin θiz
∂ rAφ
� �
1 1 ∂Ar 1 ∂ (rAθ ) ∂Ar iφ = − sin φix + cos φiy = iφ
+ iθ − + iφ −
r sin θ ∂φ ∂r r ∂r ∂θ Geometric relations between coordinates and unit vectors for Cartesian, cylindrical,
and spherical coordinate systems.
∂2f
� � � �
1 ∂ ∂f 1 ∂ ∂f 1
�2 f = 2 r2 + 2 sin θ + 2
r ∂r ∂r r sin θ ∂θ ∂θ r sin2 θ ∂φ2

1
 6.641 Formula Sheet #1
Vector Identities Maxwell’s Equations
Integral Differential Boundary Conditions
Faraday’s Law
(A × B) · C = A · (B × C) = (C × A) · B � d � �
� × E = − ∂B
� �
L E · dl = − dt S B · dS ∂t
n × (E2 − E1 ) = 0
A × (B × C) = B(A · C) − C(A · B) Ampere’s Law
� with Maxwell’s
d
� Displacement Current Correction
� × H = Jf + ∂D
�
� · (� × A) = 0 L H · dl = S Jf · dS + dt S D · dS ∂d
n × (H2 − H1 ) = Kf
� × (�f ) = 0 Gauss’s
� Law �
�(f g) = f �g + g�f �S D · dS = V ρf dV � · D = ρf n · (D2 − D1 ) = σf
S B · dS = 0 �·B=0 n · (B2 − B1 ) = 0
�(A · B) = (A · �)B + (B · �)A + A × (� × B) + B × (� × A) Conservation of Charge
d ∂ρ ∂σ
� · Jf + ∂tf = 0 n · (J2 − J1 ) + ∂tf = 0
� �
� · (f A) = f � · A + (A · �)f S Jf · dS + dt V ρf dV = 0
� · (A × B) = B · (� × A) − A · (� × B) Usual Linear Constitutive Laws
D = �E
� × (A × B) = A(� · B) − B(� · A) + (B · �)A − (A · �)B
B = µH
�
� × (f A) = �f × A + f � × A Jf = σ(E + v × B) = σE [Ohm’s law for moving media with velocity v]
1
(� × A) × A = (A · �)A − �(A · A)
2
� × (� × A) = �(� · A) − �2 A

Physical Constants
Integral Theorems Constant Symbol Value units
Speed of light in vacuum c 2.9979 × 108 ≈ 3 × 108 m/sec
Line Integral of a Gradient
� b Elementary electron charge e 1.602 × 10−19 coul
Electron rest mass me 9.11 × 10−31 kg
�f · dl = f (b) − f (a)
a
Electron charge to mass ratio me 1.76 × 1011 coul/kg
e
Divergence Theorem: Proton rest mass mp 1.67 × 10−27 kg
� � Boltzmann constant k 1.38 × 10−23 joule/◦ K
� · AdV = A · dS Gravitation constant G 6.67 × 10−11 nt-m2 /(kg)2
V S Acceleration of gravity g 9.807 m/(sec)2
−9
Corollaries Permittivity of free space �0 8.854 × 10−12 ≈ 10 farad/m
36π
� �
Permeability of free space µ0 4π × 10 −7 henry/m
�f dV = f dS Planck’s constant h 6.6256 × 10−34 joule-sec
�V S �
µ0
� Impedance of free space η0 = �
376.73 ≈ 120π ohms
0
� × AdV = − A × dS
V S Avogadro’s number N 6.023 × 1023 atoms/mole
Stokes’ Theorem:
� �
A · dl = (� × A) · dS
L S
Corollary
� �
f dl = − �f × dS
L S