Review of vector relations

Prof. Francesco Avallone

Corso di Aerodinamica
2024-2025
 Vector algebra

A (bold) is a vector
It is characterized by:
• magnitude 𝐀 (scalar quantity)
• direction
A
Its unit vector is
𝐀
𝐧=
𝐀
it is a vector of unit magnitude and direction equal to
the one of the vector A

Review of vector relations 2

 A
Vector algebra
A and B are vectors
B Difference
Sum
A A
C C
A+B=C A-B=C
-B
B B

Scalar product Vectorial product

A A

𝜃 𝐀 𝐁 cosθ A 𝗑 B=C 𝜃
A· B=C
C
B B
𝐀 𝐁 sinθ 𝐞
Review of vector relations 3
 Orthogonal coordinate system

Cartesian Cylindrical Spherical

Review of vector relations 4

Cartesian coordinate system

x, y, z are mutually perpendicular

i, j, k are unit vectors

P x, y, z
𝐫 = x𝐢 + y𝐣 + z𝐤
𝐀 = Ax 𝐢 + Ay 𝐢 + Az 𝐢

Review of vector relations 5

Cylindrical coordinate system

P r, θ, z

𝑟 and 𝜃 are measured in xy plane

𝐀 = A r 𝐞 𝐫 + A θ 𝐞𝛉 + A z 𝐞 𝒛

Cartesian to Cylindrical Cylindrical to Cartesian

x = r cos θ r= x2 + y2
y = r sin θ y
y = arctan
z=z x
z=z

Review of vector relations 6

Spherical coordinate system

P r, θ, Φ

Φ is in xy plane

𝐀 = A r 𝐞𝐫 + A θ 𝐞 𝛉 + A Φ 𝐞 𝚽

Cartesian to Spherical Spherical to Cartesian

x = r sin θ cos Φ r= x2 + y2 + z2
y = r sin θ sin Φ z
θ = arccos
z = r cos θ r
x
Φ = arccos
x2 + y2
Review of vector relations 7
 Scalar and vector fields

A scalar quantity given as a function of coordinate space and time t is

called a scalar field.

p = p(x, y, z, t)

Similarly, a vector quantity given as a function of coordinate space and

time is called a vector field.

𝐕 = Vx 𝐢 + Vy 𝐣 + Vz 𝐳
Vx = Vx (x, y, z, t)
Vy = Vy (x, y, z, t)
Vz = Vz (x, y, z, t)

Review of vector relations 8

 Scalar and vector products
Cartesian coordinates

𝐀 = Ax 𝐢 + Ay 𝐢 + Az 𝐢
𝐁 = Bx 𝐢 + By 𝐢 + Bz 𝐢

𝐀 ∙ 𝐁 = Ax Bx + Ay By + Az Bz

𝐢 𝐣 𝐤
𝐀 × 𝐁 = Ax Ay Az = 𝐢 Ay Bz − Az By + 𝐣 Az Bx − Ax Bz + 𝐳(Ax By − Ay Bx )
Bx By Bz

Review of vector relations 9

 Gradient of a scalar field
The gradient of p, ∇p, at a given point in space is defined as a vector such that:
1. Its magnitude is the maximum rate of change of p per unit length of the coordinate space at
the given point.
2. Its direction is that of the maximum rate of change of p at the given point.
∇p tangent at
each point
Let n be a unit vector
in the s direction

Directional derivative

𝜕p
= ∇p ∙ 𝐧
𝜕s

perpendicular
Review of vector relations 10
 Gradient of a scalar field
The gradient of p, ∇p, at a given point in space is defined as a vector such that:
1. Its magnitude is the maximum rate of change of p per unit length of the coordinate space at
the given point.
2. Its direction is that of the maximum rate of change of p at the given point.
∇p tangent at
each point Cartesian
𝜕p 𝜕p 𝜕p
∇p = 𝐢+ 𝐣+ 𝐤
𝜕x 𝜕y 𝜕z
Cylindrical
𝜕p 1 𝜕p 𝜕p
∇p = 𝐞𝐫 + 𝐞𝛉 + 𝐞 𝒛
𝜕r r 𝜕θ 𝜕z
Spherical
𝜕p 1 𝜕p 1 𝜕p
∇p = 𝐞𝐫 + 𝐞𝛉 + 𝐞𝚽
𝜕r r 𝜕θ sin θ 𝜕Φ
perpendicular
Review of vector relations 11
 Divergence of a vector field
As a fluid element moves in the flow, its volume can change. The time rate of change of the
volume of a moving fluid element of fixed mass, per unit volume of that element, is equal
to the divergence of V, 𝛁 ∙ 𝐕

t0 t1
Cartesian
𝜕V 𝜕V 𝜕V
∇∙V= + +
𝜕x 𝜕y 𝜕z
Cylindrical
1𝜕 1 𝜕Vθ 𝜕Vz
∇∙V= rVr + +
r 𝜕r r 𝜕θ 𝜕z
Spherical
1 𝜕 2 1 𝜕 1 𝜕VΦ
∇∙V= 2 r Vr + Vθ sin θ +
r 𝜕r r sinθ 𝜕θ r sinθ 𝜕Φ

Review of vector relations 12

 Divergence of a vector field
As a fluid element moves in the flow, its volume can change. The time rate of change of the
volume of a moving fluid element of fixed mass, per unit volume of that element, is equal
to the divergence of V, 𝛁 ∙ 𝐕

Same
volume
Review of vector relations 13
 Curl of a vector field
A fluid element can rotate with an angular velocity ω while it translates over
streamline.
We will prove that the angular velocity is one half of the Curl of V, 𝛁 × 𝐕. The
Curl is a vector.

Cartesian
𝐢 𝐣 𝐤
𝜕 𝜕 𝜕
∇×𝐕=
𝜕x 𝜕y 𝜕z
Vx Vy Vz
𝜕Vz 𝜕Vy 𝜕Vx 𝜕Vz 𝜕Vy 𝜕Vx
=𝐢 − +𝐣 − +𝐤 −
𝜕y 𝜕z 𝜕z 𝜕x 𝜕x 𝜕y Streamline

Review of vector relations 14

 Line integral
Consider a curve C in space connecting two
points a and b.

Let ds be an elemental length of the curve,

and n be a unit vector tangent to the curve.

Define the vector ds = n ds.

Then, the line integral of A along curve C from

point a to point b is

b
න 𝐀 ∙ 𝐝𝐬
a

Review of vector relations 15

 Surface integral
Consider an open surface S bounded by the
closed curve C.

At point P on the surface, let dS be an

elemental area of the surface and n be a
unit vector normal to the surface.

The orientation of n is in the direction

according to the right-hand rule for
movement along C.

Define a vector elemental area as dS = n dS.

Review of vector relations 16

Relation between Line, Surface and Volume
Integrals

Stokes’ theorem

ර 𝐀 ∙ 𝐝𝐒 = ඵ ∇ × 𝐀 ∙ 𝐝𝐒
C S

Divergence theorem

඾ 𝐀 ∙ 𝐝𝐒 = ශ ∇ ∙ 𝐀 ∙ dV
S V

Review of vector relations 17

 Relation between Line, Surface and Volume
Integrals

If p is a scalar field

Gradient theorem

඾ p𝐝𝐒 = ශ ∇pdV
S V

Review of vector relations 18

 More info

If you want to learn more about the change of coordinate system

look at:

https://math.libretexts.org/Bookshelves/Calculus/Vector_Calculus_(
Corral)/04%3A_Line_and_Surface_Integrals/4.06%3A_Gradient_Diver
gence_Curl_and_Laplacian

Review of vector relations 19