Unit 1 Vector Analysis

In this unit, the fundamentals of mathematics for the

study of electromagnetic field theory will be
introduced. You will first learn:
the basics of vector analysis;
concept of fields
coordinate systems.

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Field studies are concerned with quantities in a region, or
space. These quantities can be described by scalar or vector
functions in an appropriate coordinate system.

1.1 Scalar and vector quantities

Scalar:

Use a balance to measure mass: Use a thermometer to measure

temperature:
2 kg, 3 kg, 20 Celsius, -5 Celsius, .

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 Scalar is a physical quantity which is completely
defined by its magnitude, e.g. mass, time,
temperature.
It can be represented by a single (positive or

negative) real number.

Vector:

Move from A to B, we need to know distance and direction.

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 Vector is a physical quantity which is defined by its
magnitude together with its direction, e.g. displacement,
force, electric field, magnetic field.
A vector is represented by an arrowed straight line whose
length represents its magnitude.
Force F :
Direction

Length
= magnitude F or simply F

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Example: Force distribution when two permanent
magnets (PM) attract one another

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 Minus vector F:

-F

Discussion:
How to express the vector in math formula?

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 In the Cartesian (or rectangular) coordinate system, a
vector F may be represented by
F Fx ax Fy a y Fz az

where ax , a y , az are unit vectors parallel to the x, y, z axes,

respectively.

Fz a z
az
Fy a y
ax
Fx ax ay

Fx a x , Fy a y and Fz a z are called component vectors,

and Fx , Fy , Fz are called component scalars, or
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simply components.

Relation between the magnitude of vector F and its

components:
F Fx Fy Fz
2 2 2

The direction of F can be represented by unit vector

F
F .

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1.2 Vector addition and subtraction

If two vectors are given as:

P Px ax Py a y Pz az

Q Qx ax Qy a y Qz az

then the sum of the vectors is

S P Q ( Px Qx )ax ( Py Qy )a y ( Pz Qz )az (1.1)

It forms a parallelogram.
S PQ S is the diagonal line.
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Another way to get: S PQ
Q

P
S P
S

Add multi vectors together:

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The difference of the vectors
P Px ax Py a y Pz az

Q Qx ax Qy a y Qz az
is
D P Q ( Px Qx )ax ( Py Qy )a y ( Pz Qz )az (1.2)

D P Q P Q
Fig. 1.1 Vector addition and subtraction
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1.3 Vector multiplication
(1) Simple product m P
This changes the length of P by the scalar factor m,

as illustrated in Fig. 1.2.

If m is negative, the direction of P is reversed.

Fig. 1.2 Simple product

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(2) The dot product (scalar double product) P Q

It is defined as
(its a scalar) (1.3)
P Q PQ cos Q P

and is illustrated in Fig. 1.3.

Fig. 1.3 The dot product

The distributive law holds, i.e.

P Q R S P Q P R P S (1.4)

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Note:

az

ax
ay

ax .ax a y .a y az .az 1 0 cos 1 (1.5)

ax .a y a y .az az .ax 0
2 cos 0 (1.6)
The dot product of two orthogonal vectors is zero.
If P Px ax Py a y Pz az
Q Qx ax Qy a y Qz az
then
P Q Px Qx Py Q y Pz Qz (1.7)

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(3) The cross product (vector double product) PQ

It is defined as:
P Q PQ sin an (its still a vector) (1.8)
where an is a unit vector normal to the P-Q plane.
The magnitude of P Q , P Q = P Q sin is always
positive and is numerically equal to the area of the
parallelogram.
The direction of P Q is normal to the P-Q plane, given by
the right-hand screw rule, as illustrated in Fig. 1.4.

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 Fig. 1.4 The cross product
Let the fingers of your right hand curl from P to Q naturally, the
direction that your thumb is pointing to P Q .

Note: Q P PQ sin ( an ) P Q
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 For the Cartesian unit vectors ax , a y , az ,

az

ax
ay

ax ax a y a y az az 0 0 sin 0 (1.9)

ax a y az ; a y a z ax ; az ax a y ; sin 1
2

a y ax az ; az a y ax ; ax az a y sin 1 (1.10)
2

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 The cross product can be written as a determinant in a
more easily remembered form:
ax ay az
P Q Px Py Pz
Qx Qy Qz (in Cartesian coordinates) (1.11)
The determinant:
ax ay az
Py Pz Px Pz Px Py
Px Py Pz (1) a x
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(1) a y
1 2
(1) a z
1 3
Qy Qz Qx Qz Qx Qy
Qx Qy Qz

a x (1)11 Py Qz (1)1 2 Pz Qy
a (1) 11
PxQz (1)1 2 PQ
a (1) PQ
y z x

z
11
Px Qy (1)1 2 y x

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Example:
A 2a x 3a y a z , B 4a x 2a y 5a z
ax a y az
A B 2 3 1
4 2 5

= [(3)(5) (1)(2)]ax [(2)(5) (1)(4)]a y [(2)(2) (3)(4)]az

= 13ax 14a y 16az

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1.4 Fields
The region in which a certain physical quantity exerts its
influence is known as a field. A field can be a scalar or a
vector.
(1) Scalar field S
In such a field the quantity may be represented by a
continuous function, say S(x, y, z) which specifies its
scalar value at each point (x, y, z).
A scalar function can be mapped by constructing a series
of surfaces on each of which the scalar quantity has the
same value equipotentials.
Examples of scalar field include: electric potential,
temperature distribution.
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Fig. 1.5 shows the potential field (a scalar field) in a
two-electrode system.
Equipotentials
10V 20V 30V 40V
0V 50V

Electrode Electrode
Fig. 1.5 Example of a scalar field

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Example: Voltage potential between two plates:

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(2) Vector field F
The physical quantity is represented by a continuous
vector function F ( x, y, z ) which specifies the magnitude
and direction of F at each point (x, y, z).
A simple example of vector field:

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 A vector field is mapped by constructing lines of flux that
are everywhere tangential to F . The closeness or density
of these lines is a measure of the strength of the field.
Examples are electric field and magnetic field.

Fig. 1.6 shows the electric field (a vector field) in a

two-electrode system.

Fig. 1.6 Example of a vector field

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Example: Magnetic field of a permanent magnet:

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Example: Electric field between two plates:

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Example: A magnetic field of permanent magnet

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 x2
Example: Given the vector field F 0.5 x a x y a y 2 a z , find
out the magnitude of the vector F at point (0, 1,
-1).
Solution:
x
2 2

F (0.5 x) y
2 2

2
(0)
2 2

0 1
2 2
1
2

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1.5 Cylindrical coordinate system

Polar coordinate system in 2-dimensional (2-D)

From polar coordinates (, ) to

a
y
rectangular (x, y) coordinates: a
x cos P
y sin x
From rectangular coordinates (x, y) Polar coordinates
to polar coordinates (, ):
x2 y2
y
tan
1

x
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 Certain field problems are better solved using cylindrical
or spherical coordinate systems.
Consider the cylindrical coordinate system shown in Fig.
1.7, the point P is defined by the intersection of three
mutually perpendicular surfaces, namely:
a circular cylinder ( = constant)
a plane ( = constant),
another plane (z = constant).

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31
 Fig. 1.7 Cylindrical coordinate system

The variables of the rectangular and cylindrical

coordinates are easily related to each other. From Fig. 1.7,
it is seen that:

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 From cylindrical coordinates (, , z) to rectangular (x,
y, z) coordinates:
x cos
y sin
zz

From rectangular coordinates (x, y, z) to cylindrical

coordinates (, , z):
x2 y 2
y
tan 1
x
zz

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1.6 Spherical coordinate system
Refer to Fig. 1.8, the point P is also defined by three
mutually perpendicular surfaces, namely
a half-plane ( = constant).
a conical surface ( = constant)
a sphere (r = constant)

Fig. 1.8 Spherical coordinate system

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 The variables of the rectangular and spherical coordinate
systems are related by:
From spherical coordinate (r, , ) to rectangular
coordinates (x, y, z):
x r sin cos
y r sin sin
z r cos
From rectangular coordinates (x, y, z) to spherical
coordinates (r, , ):
r x2 y2 z 2
z
cos 2
1
x y2 z2

1 y
where r 0 and 00 1800
tan
x
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