Chapter 1.

Vector Analysis

Chapter 1: Discusses the language (or the math) that will be used the entire semester. Day 1 1. 2. 3. 4. Scalars and vectors Scalar and vector fields Vector Algebra Component vectors and unit vectors

Chapter 1. Vector Analysis

Scalars and Vectors
Scalar - a quantity whose value may be represented by a single (positive or negative) real number. Example: height, temperature, speed Vector - a quantity with both magnitude and direction in space Example: force, velocity Convention: a quantity is vector if it is written in bold font or a has an arrow above, e.g. A Vectors are usually represented by directed segments: A

Chapter 1. Vector Analysis

A field (scalar or vector) may be defined mathematically as some function of that vector which connects an arbitrary origin to a general point in space. - Function of position Types of fields: 1. Scalar field Examples of scalar fields: density at any point P within a volume, (P) elevation of a point with coordinates (x,y) from sea level, h(x,y) temperature at any point A inside a container, T(A)

Chapter 1. Vector Analysis

2. Vector Field Examples of vector fields: wind strength and direction in a region:

Magnetic field of the earth:

Chapter 1. Vector Analysis

Vector Algebra
Vector addition follows the parallelogram law and is commutative and associative

B A A B
A+B=B+A

Chapter 1. Vector Analysis

(A+B)+C B+C C A B A A+B A+(B+C) B C A B C

A + (B + C) = (A + B) + C
Associativity of Vector Addition

Chapter 1. Vector Analysis

Negating a vector reverses its direction: negative B = -B A - B = A + (-B)
A
B A-

B A+

-B

Multiplication of vectors and scalars obey the associative and distributive laws (r + s)(A + B) = r(A + B) + s(A + B) = rA + rB + sA + sB

Chapter 1. Vector Analysis

A vector reverses its direction when multiplied by a negative scalar Division of a vector by a scalar is multiplication by the reciprocal of the scalar A a = A x 1/a Two vectors are equal if their difference is zero A = B if A - B = 0

Chapter 1. Vector Analysis

The Cartesian Coordinate System Also known as the rectangular coordinate system The right-handed cartesian coordinate system:

z-axis

y = 0, xz plane

x = 0 plane yz plane origin

y-axis
z = 0 plane xy plane

x-axis

Chapter 1. Vector Analysis

A point in space may be described by stating its x, y and z coordinates. These coordinates are the distances from the origin to the intersection of a perpendicular dropped from the point and the x, y and z axes.

zcoordinate

x-coordinate

y-coordinate

Chapter 1. Vector Analysis

The x-coordinate is equal to the distance of P from the yz plane The y-coordinate is equal to the distance of P from the xz plane The z-coordinate is equal to the distance of P from the xy plane

Illustration:
x-coordinate

y-coordinate

P
z-coordinate

The point (2,-1,4) is 2 units in front of the yz plane, 1 unit at the back of the xz plane and 4 units above the the xy plane.

Chapter 1. Vector Analysis

Vector Components and Unit Vectors A vector is identified by giving its three component vectors, each lying along the three coordinate axes, whose vector sum is the given vector.
z

r = x + y +z

z r y x
x y

x, y and z are the three component vectors of r

Chapter 1. Vector Analysis

Unit vectors are vectors with unit magnitude and directed along the coordinate axes in the direction of increasing coordinate values. Symbols: ax, ay or az or i, j, k or a , a , a or i , j , k
x y z

A vector pointing from the origin to a point P(x = x0, y = y0, z = z0) is written as z rP = x0 ax + y0 ay + z0 az rP is called a position vector Illustration: For P(2, -3, 1) rP = 2ax - 3ay + az 2, -3 and 1 are the component scalars and 2ax, -3ay and az are the component vectors Note: rP may be also written as <2, -3, 1>

r
y

Chapter 1. Vector Analysis

Vector RPQ is a vector whose tail is at P and head (arrow) at Q RPQ = rQ - rP Q rQ O rp RPQ P

Illustration: For rP = 2ax - 3ay + az and rQ = -4ax - ay + 2az: RPQ = (-4-2)ax + (-1-(-3))ay + (2-1)az = -6ax + 2ay + az - to add two vectors, add the corresponding component vectors

Chapter 1. Vector Analysis

For a vector B = Bx ax + By ay + Bz az, the magnitude |B| or B is given by

B =| B |= B x + B y + B z

The unit vector in the direction of B, or aB, is given by

2 2

aB =

B B x + By + Bz
2

|B|

Example: Given H = ax + 2ay - 2az,

z y aH x H

H =| H |= 12 + 22 + (2)2 = 3

H 1 2 2 aH = = 3 a x + 3 a y 3 az H

Chapter 1. Vector Analysis

The Vector Field A vector field is a vector function of a position vector. Given a position vector r, the notation for the vector field G is G(r). (For a scalar field T, T(r)). Illustration: Example of a vector field:
2x 2 G( r = x a x + y a y + z az ) = G = a + ( y + z + 1) a y + (5 x z ) az 2 x 1+ y

Given rP = ax + 2ay -3az, evaluate a. G(rP) b. The unit vector in the direction of G at P

Chapter 1. Vector Analysis

a. rP = ax + 2ay -3az -> P(1, 2, -3)

G (rP ) = = 2(1)
2

2x 1+ y
2

a x + ( y + z + 1) a y + (5 x z ) az
2

1+2 2 = a x 4 az 5

a x + (2 + 3 + 1) a y + (5(1) (3) ) az

b. | G(rp ) |=

2 ( 5 )2 + (4)2 4.02

The unit vector in the direction of G at P is

2 a x 4 az 5 = = 0.0995 a x 0.995 az 4.02

a G (P )

Chapter 1. Vector Analysis

The Dot Product The dot product, or scalar product, of A and B is defined as the product of the magnitude of A, the magnitude of B, and the cosine of the smaller angle between them. A B = |A||B|cos AB = AB cos AB Note: A B = B A and (A + B)C = AC + BC Given A = Axax + Ayay + Azaz and B = Bxax + Byay + Bzaz A B = AxBx + AyBy + AzBz Note: aA aA = 1 and A A = |A|2 = A2

Chapter 1. Vector Analysis

The dot product can be used to find the component vector or projection of a vector in a given direction. Illustration: To find the component of B in the direction of A: a. Obtain aA b. Get B aA = |B||aA| cos BA = B cos BA

B aA

A
AB

aA

Chapter 1. Vector Analysis

Example: Determine the vector component of A = 2 ax ay + 3 az parallel to B = ax + ay.

ax + ay 1 1 = = ax + ay The unit vector parallel to B is a b = B 2 2 12 + 12

The magnitude of the component of A parallel to B is A ab =

1 2

1 2

Therefore, the vector component of A parallel to B is

2a x

1 2

ay +

3 2

az

Chapter 1. Vector Analysis

The Cross Product The cross product or vector product of A and B is a vector with magnitude equal to AB sin AB and direction according to the right-hand rule. Given: A = Axax + Ayay + Azaz and B = Bxax + Byay + Bzaz The cross product of A and B, denoted by A x B, is given by:
AxB

ax A B = A x Bx

ay Ay By

az Az Bz

= ( A yB z A zB y ) a x + ( A zB x A xB z ) a y + ( A xB y A yB x ) az

BxA

Chapter 1. Vector Analysis

Example: Given M = 2ax + 4ay - az and N = ax - 2ay

ax MN = 2

ay 4 2

az 1 0

ax 2 1

ay 4 2

= [( 4)(0) (1)( 2)] a x + [( 1)(1) (2)(0)] a y + [(2)(2) (1)(4)] az

= 2 a x a y 8 az

Chapter 1. Vector Analysis

Circular Cylindrical Coordinate System Three dimensional version of polar coordinates in analytic geometry A point P(i, i, zi) is the intersection of three mutually perpendicular planes: = i: a cylindrical surface which axis is the z-axis and radius equal to i = i: a half-plane perpendicular to the xy plane and makes an angle fi with the xz plane z = zi

z
i

radius =

Chapter 1. Vector Analysis

The unit vectors are a, a and az a: at P(0, 0, z0), a is directed radially outward, normal to = 0 and lies in the planes = 0 and z = z0 a: normal to = 0 and points in the direction of increasing . It lies in the plane z = z0 and tangent to = 0. az: same as az in the cartesian coordinate system Note: a x a = az

az a a

Chapter 1. Vector Analysis

Chapter 1. Vector Analysis

Conversion from cartesian to cylindrical coordinates and vice versa cylindrical to cartesian: x = cos y = sin z=z cartesian to cylindrical

x +y

= tan1

y x

z=z

Illustration: A point at (x = 3, y = -4, z = 3) is also at ( = 5, = -53.130 or 306.90, z = 3)

= 32 + 4 2 = 5

= tan 1 4
3

Chapter 1. Vector Analysis

Transforming a vector function in one coordinate system to another Given A = Axax + Ayay + Azaz where Ax, Ay and Az are functions of x, y and z. Transform A to cylindrical coordinates: A = Aa + Aa + Azaz a. Solve for A, A and Az using the following:

A = A a

A = A a

A z = A az

so A = (Ax ax + Ay ay + Az az) ar = Ax ax a + Ay ay a + Az az a A = (Ax ax + Ay ay + Az az) a = Ax ax a + Ay ay a + Az az a Az = (Ax ax + Ay ay + Az az) az = Ax ax az + Ay ay az + Az az az

Chapter 1. Vector Analysis

a a a

x y z

a cos s in 0

a - s in cos 0

az 0 0 1

b. In A, A and Az , convert all xs, ys and zs to cylindrical coordinates

Chapter 1. Vector Analysis

Example: Express the field F = 2xyz ax - 5(x + y + z) az in cylindrical coordinates. F = F a = [2xyz ax - 5(x + y + z) az] a = 2xyz cos = 2( cos )( sin )z cos = 22z cos2 sin F = F a = [2xyz ax - 5(x + y + z) az] a = 2xyz (-sin ) = 2( cos )( sin )z (-sin ) = -22z cos sin2 Fz = F az = [2xyz ax - 5(x + y + z) az] az = -5(x + y + z) = -5( cos + sin + z) Therefore: F = 22z cos2 sin a - 22z cos sin2 a - 5( cos + sin + z) az

Chapter 1. Vector Analysis

Example: Find the distance of point P( = 4, = -500, z = 2) from the origin.

From the illustration:

d = 2 + z 2 = 4 2 + 22
d 2 4 x y
Note:
d = x 2 + y 2 + z2 = ( cos )2 + ( sin )2 + z2 = 2 (cos 2 + sin2 ) + z2 = 2 + z2

= 20 4.47

Chapter 1. Vector Analysis

Example. Transform 5 ax at P(=4, =1200, z=2) to cylindrical coordinates z Compute for the components of 5 ax along a, a and az: component along a: 5 ax a = 5 cos = 5 cos 1200 = -2.5 component along a: 5 ax a = -5 sin = -5 sin 1200 = -4.333 component along az: 5 ax az = 0 Therefore, at P, 5 ax in cylindrical coordinates is -2.5 a - 4.333 a
x y P
x P

Chapter 1. Vector Analysis

The Spherical Coordinate System
The three coordinates are r = distance of the point from the origin r = constant is a spherical surface with radius r and centered at the origin = angle between the z-axis and the line drawn from the origin to the point note: 0 = constant is a conical surface with x vertex at the origin and the z-axis as central axis = same as in cylindrical coordinates

P r
y

Chapter 1. Vector Analysis

The unit vectors are ar: at P(r = r0, = 0, = 0), ar is directed radially outward from the origin and normal to the sphere r = r0 a: normal to the conical surface = 0, tangent to the sphere r = r0 and points to increasing values of (downwards). a: normal to the plane = 0, and tangent to the cone and sphere z ar Note: ar x a = a
a y x a

Chapter 1. Vector Analysis

Chapter 1. Vector Analysis

Transformation from cartesian coordinates to spherical coordinates and vice versa a. Transformation of variables: x = r sin cos y = r sin sin P z = r cos

r = x +y +z

r
2 2

z x

= cos
= tan

1 2

z x +y +z

y x

Chapter 1. Vector Analysis

b. Transformation of vectors Use the following table:
a a a a
x y z r

s in c o s s in s in cos

a cos cos c o s s in - s in

a - s in cos 0

Example. Express the vector field F = 2xyz ax - 5(x + y + z) az in spherical coordinates

Fr = F ar = 2 xyz sin cos 5( x + y + z) cos F = F a = 2 xyz cos cos + 5( x + y + z) sin F = F a = 2 xyz sin
F = [2(r sin cos )(r sin sin )(r cos ) sin cos 5(r sin cos + r sin sin + r cos ) cos ]ar + [2(r sin cos )(r sin sin )(r cos ) cos cos + 5(r sin cos + r sin sin + r cos ) sin ]a 2(r sin cos )(r sin sin )(r cos ) sin a