Lecture 1:
Vector Analysis
SCALAR AND VECTOR (FIELDS), VECTOR
OPERATIONS, AND COORDINATE SYSTEMS
EEE 23: ELECTROMAGNETICS I 1
Scalar and Vectors
• Scalar - a quantity whose value may be represented by a single
(positive or negative) real number
• Examples: height, temperature, and speed
• Vector – a quantity with both magnitude and direction in space
• Example: Force, velocity
• Our focus is on 2-dimensional and 3-dimensional space
• Usually Represented by a directed ray:
CONVENTION: A quantity is a vector if it is written in bold
font or has an arrow above, e.g. A or A
EEE 23: ELECTROMAGNETICS I 2
Vector and Scalar Fields
• 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.
Scalar Field
• Input-Output:
x, y , z → f ( x, y , z ) → a
• Examples:
• Density at any point P within a
volume
• Elevation of a point (x,y) from
sea level
• Temperature at any point A
inside a container
EEE 23: ELECTROMAGNETICS I 3
Vector and Scalar Fields
• 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.
Vector Field
• Input-Output:
x, y , z → f ( x, y , z ) → a
• Examples:
• Wind Strength and direction
in a region
• Magnetic Field of the Earth
EEE 23: ELECTROMAGNETICS I 4
Vector Addition
• Vector addition follows the parallelogram law and is commutative
and associative
• Negating a vector reverses its direction → Vector subtraction
A+B A−B A
A
B B
Vector Addition Vector Subtraction
EEE 23: ELECTROMAGNETICS I 5
Vector Addition
Commutative Property:
A+B =B+A
Associative Property:
(A + B) + C = A + (B + C)
EEE 23: ELECTROMAGNETICS I 6
Vector Multiplied by a Scalar
• Obeys associative and distributive laws:
(r + s )(A + B) = r (A + B) + s(A + B)
= rA + rB + sA + sB
• A vector reverses its direction when multiplied by a negative
scalar
• Dividing a vector by a scalar value is just multiplying it with the
reciprocal of the scalar
A a = A 1
a
EEE 23: ELECTROMAGNETICS I 7
Cartesian Coordinate System
• Also known as the rectangular
coordinate system
• Axes convention follows the “right-
hand rule”: z
x
y
• A point in space may be describe by
stating the x, y, and z coordinates
EEE 23: ELECTROMAGNETICS I 8
Component Vectors
• x-coordinate is equal to the distance of P from the yz plane
• y-coordinate is equal to the distance of P from the xz plane
• z-coordinate is equal to the distance of P from the xy plane
A vector is identified by giving its
three component vectors each
lying along the three coordinate axes,
whose vector sum is the given vector
r = x+ y+z
r x , y, and z are the component
vectors of r
EEE 23: ELECTROMAGNETICS I 9
Unit and Position Vectors
• Unit vectors are vectors with unit magnitude and directed along the
coordinate axes in the direction of increasing coordinate values.
• Symbols: x y z | x ,a y ,a z | ˆi, ˆj, kˆ
a , a , a a
• A vector pointing from the origin to a point P(x=x0,y=y0,z=z0) is written
as
rp = x0 a x + y0 a y + z0 a z = x0 , y0 , z0
Illustration: For P(2,-3,1), we have
rp = 2a x − 3a y + 1a z
2, -3, and 1 are the component
scalars, and 2a x ,3a y ,1a z are the
component vectors.
EEE 23: ELECTROMAGNETICS I 10
Distance Vectors
• Vector RPQ is a vector whose tail is at P and head (arrow) at Q
R PQ = R Q − R P
Example:
rp = 2a x − 3a y + a z
rQ = −4a x − 1a y + 2a z
Distance vector between point P and
point Q is given by:
R PQ = (−4 − 2)a x + (−1 + 3)a y + (2 − 1)a z
= −6a x + 2a y + 1a z
EEE 23: ELECTROMAGNETICS I 11
Vector (Euclidean) Norm
• For a vector B = Bx a x + B y a y + Bz a z , the magnitude B can
be obtained by solving for the Euclidean norm:
B = Bx2 + B y2 + Bz2
• The unit vector in the direction of B , or a b , is given by:
B
ab =
Bx2 + B y2 + Bz2
Example: Given H = a x + 2a y − 2a z
→ H = 12 + 2 2 + (−2) 2 = 3
H 1 2 2
→ aH = = ax + a y − az
H 3 3 3
EEE 23: ELECTROMAGNETICS I 12
Vector Field
• is a vector function of a position vector
• NOTATION: Given a position vector r, the vector field G is G (r )
For a scalar field T, the notation is T (r )
• Example:
2x 2
G (r = xa x + ya y + za z ) = a + ( y + z + 1)a y + (5 x − z )a z
2 x
1+ y
rp = a x + 2a y − 3a z
• Solve for:
a. G (rp )
b. Unit vector in the direction of vector field G at point P
EEE 23: ELECTROMAGNETICS I 13
Vector Field
a. rP = ax + 2ay -3az → P(1, 2, -3)
→ → 2x → → →
2
G (rP ) = a x + ( y + z + 1) a y + (5 x − z ) az
2
1+ y
2(1) → →
2
→
= a + (2 + −3 + 1) a y + (5(1) − (−3) ) a z
2 x
1+2
2 → →
= a x − 4 az
5
| G(rp ) |= ( 52 )2 + (−4)2 4.02
b. The unit vector in the direction of G at P is
2 → →
→ a x − 4 az → →
→
a G (P ) = 5 = 0.0995 a x − 0.995 az
4.02
EEE 23: ELECTROMAGNETICS I 14
Dot or Scalar Product
• DEFINITION:
The dot product of two vectors, = a1 , a2 ,..., an
a
and b = b1 , b2 ,..., bn , in a n-dimensional space is defined as:
n
a b = ai bi = a1b1 + a2b2 + ... + an bn = a b cos( )
i =1
Angle between
two vectors
• PROPERTIES:
(commutative)
• a b = b a
( )
• a b + c = a b + a c (distributive over vector addition)
• a ⊥ b , then a b = 0 (orthogonal vectors)
EEE 23: ELECTROMAGNETICS I 16
Dot Product – Physical
Interpretation
• Projection of vector A in the
direction of vector B is given by:
AB
AB =
B
• Scalar Projection vs. Vector
Projection
AB
projB ( A) = aB
B
Scalar Projection
Vector Projection
EEE 23: ELECTROMAGNETICS I 17
Cross or Vector Product
• DEFINITION: The cross product a b is defined as vector c
that is perpendicular to both a and b, with a direction given by
the right-hand rule and a magnitude equal to the area of the
parallelogram that the vectors span.
a b = (
a b sin ( ) an )
Unit vector perpendicular to
vector a and vector b
• PROPERTIES:
• a b = −b a (anti-commutative)
( )
• a b + c = a b + a c (distributive over vector addition)
EEE 23: ELECTROMAGNETICS I 18
Cross Product – Physical
Interpretation
EEE 23: ELECTROMAGNETICS I 19
Solving Cross Product
• GIVEN: A = Ax a x + Ay a y + Az a z B = Bx a x + B y a y + Bz a z
ax a y az ax a y
A B = Ax Ay Az Ax Ay
Bx By Bz Bx By
A B = ( Ay Bz − Az B y )a x
+ ( Az Bx − Ax Bz )a y
+ ( Ax B y − Ay Bx )a z
→ RECX = Product of elements enclosed by rectangle X
→ RESULT = (SUM OF RED REC) – (SUM OF BLUE REC)
EEE 23: ELECTROMAGNETICS I 20
Solving Cross Product
EXAMPLE:
Given M = 2ax + 4ay - az and N = ax - 2ay
→ → → → →
ax ay az ax ay
→ →
MN = 2 4 −1 2 4
1 −2 0 1 −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
EEE 23: ELECTROMAGNETICS I 21
2D Coordinate Systems
Cartesian Polar
x = cos = x2 + y2
y = sin = tan −1 y x
EEE 23: ELECTROMAGNETICS I 22
Cylindrical Coordinate System
• Three dimensional version of polar
coordinates in analytical geometry
• A point P( i , i , zi ) is the intersection
of three mutually perpendicular
planes
• The unit vectors are expressed as:
ˆ
, , ẑ | ρ φ z | ρ ,aφ ,a z
ˆ a , a , a a
• NOTE: a ρ aφ = a z
• Cartesian to Cylindrical: Convert x
and y to polar coordinates, retain z
EEE 23: ELECTROMAGNETICS I 23
Coordinate Transformation
• Given a vector A in some coordinate system, we can transform it to
another coordinate system by projecting it to the unit vectors of the desired
coordinate system
• EXAMPLE: Given a vector a = Ax , Ay , Az in Cartesian
coordinates, transform the vector to cylindrical coordinates.
• STEP 1: Solve A , A , Az using the following:
A = A a A = A a Az = A a z
so
A = ( Ax a x + Ay a y + Az a z ) a = Ax (a x a ) + Ay (a y a ) + Az (a z a )
A = ( Ax a x + Ay a y + Az a z ) a = Ax (a x a ) + Ay (a y a ) + Az (a z a )
Az = ( Ax a x + Ay a y + Az a z ) a z = Ax (a x a z ) + Ay (a y a z ) + Az (a z a z )
EEE 23: ELECTROMAGNETICS I 24
Coordinate Transformation
•STEP 2: Replace the dot product of the unit vectors using the
following:
a a az
ax cos − sin 0
ay sin cos 0
az 0 0 1
• STEP 3: In A , A , Az , convert all x’s, y’s, and z’s to cylindrical
coordinates
x = cos
y = sin
z=z
EEE 23: ELECTROMAGNETICS I 25
Coordinate Transformation
EXAMPLE:
Express the field F = 2xyz ax - 5(x + y + z) az in cylindrical coordinates.
Fρ = F • aρ = [2xyz ax - 5(x + y + z) az] • aρ
= 2xyz cos ϕ = 2(ρ cos ϕ)(ρ sin ϕ)z cos ϕ = 2 ρ 2z cos2 ϕ sin ϕ
F ϕ = F • a ϕ = [2xyz ax - 5(x + y + z) az] • a ϕ
= 2xyz (-sin ϕ) = 2(ρ cos ϕ)(ρ sin ϕ)z (-sin ϕ)
= -2 ρ 2z cos ϕ sin2 ϕ
Fz = F • az = [2xyz ax - 5(x + y + z) az] • az
= -5(x + y + z) = -5(ρ cos ϕ + ρ sin ϕ + z)
Therefore:
F = 2 ρ 2z cos2 ϕ sin ϕ aρ - 2 ρ 2z cos ϕ sin2 ϕ a ϕ
- 5(ρ cos ϕ + ρ sin ϕ + z) az
EEE 23: ELECTROMAGNETICS I 26
Spherical Coordinate System
• The three coordinates are:
• r = distance of the point
from the origin
• = the angle between the
z-axis and the line drawn
from the origin to the point
• = same as in cylindrical
coordinates
NOTE:
• r = constant is a spherical surface
of radius r centered at the origin
• [0, ] [− , ]
EEE 23: ELECTROMAGNETICS I 27
Spherical Coordinate System
• The (spherical) unit vectors are:
• a r : at P(r = r0 , = 0 , = 0 ), a r is
directed radially outward from
the origin and normal to the
sphere r=r0
• a θ : normal to the conical
surface = 0 , tangent to the
sphere r=r0 and points to
increasing values of
• a : normal to the plane = 0 ,
and tangent to cone and
sphere
EEE 23: ELECTROMAGNETICS I 28
Coordinate Transformation
• EXAMPLE: Given a vector a = Ax , Ay , Az in Cartesian
coordinates, transform the vector to spherical coordinates.
• STEP 1: Solve Ar , A , A using the following:
Ar = A ar A = A a A = A a
Ar = ( Ax a x + Ay a y + Az a z ) ar = Ax (a x ar ) + Ay (a y ar ) + Az (a z ar )
Az = ( Ax a x + Ay a y + Az a z ) a = Ax (a x a ) + Ay (a y a ) + Az (a z a )
A = ( Ax a x + Ay a y + Az a z ) a = Ax (a x a ) + Ay (a y a ) + Az (a z a )
EEE 23: ELECTROMAGNETICS I 29
Coordinate Transformation
• STEP 2: Replace the dot product of the unit vectors using the
following:
ar a a
ax sin cos cos cos − sin
ay sin sin cos sin cos
az cos − sin 0
• STEP 3: In Ar , A , A , convert all x’s, y’s, and z’s to spherical
coordinates 2 2
r= x +y +z
2
x = r sin cos z
= cos
−1
y = r sin sin x2 + y2 + z 2
z = r cos = tan −1 y x
EEE 23: ELECTROMAGNETICS I 30
Matrix Notation of Coordinate
Transformation
Cartesian Cylindrical
A cos sin 0 Ax
A = − sin cos 0 Ay
Az 0 0 1 Az
Cylindrical Cartesian
Ax cos − sin 0 A
A = sin cos 0 A
y
Az 0 0 1 Az
EEE 23: ELECTROMAGNETICS I 31
Matrix Notation of Coordinate
Transformation
Cartesian Spherical
Ar sin cos sin sin cos Ax
A = cos cos cos sin − sin Ay
A − sin cos 0 Az
Spherical Cartesian
Ax sin cos cos cos − sin Ar
A = sin sin cos sin cos A
y
Az cos − sin 0 A
EEE 23: ELECTROMAGNETICS I 32
Cartesian Differential Element- dl
dl = dxxˆ + dyyˆ + dzzˆ
EEE 23: ELECTROMAGNETICS I 33
Example: Length of a curve
• Find the length of the curve 𝑦 = 4 − 𝑥 2 from −2 ≤ 𝑥 ≤ 2.
• Length of the curve means getting the sum of the lengths of each
differential line element:
𝑥=2
𝐿= න 𝑑 𝑙Ԧ
𝑥=2 𝑥=−2
𝐿= න 𝑑𝑥 2 + 𝑑𝑦 2 + 𝑑𝑧 2
𝑥=−2
• No change in 𝑧, therefore, 𝑑𝑧 = 0. Also, 𝑦 = 𝑥 2 → 𝑑𝑦 = 2𝑥𝑑𝑥
𝑥=2 2
𝐿= න 𝑑𝑥 2 + 2𝑥𝑑𝑥 2 → 𝐿 = න 1 + 4𝑥 2 𝑑𝑥
𝑥=−2 −2
EEE 23: ELECTROMAGNETICS I 34
Example: Line Integral
• A certain force field is defined by the function 𝐹Ԧ = 𝑥𝑎Ԧ𝑥 + 𝑦𝑎Ԧ𝑦 . If a
particle of mass 𝑚 was moved from the point (0,0) to (1.5,-1), what is
the work done by the force field if the path of the particle took is
defined by the function 𝑦 = sin 2𝜋𝑥.
(1.5,−1) (1.5,−1)
𝑊= න 𝐹Ԧ ∙ 𝑑 𝑙Ԧ = න 𝑥 𝑎Ԧ𝑥 + 𝑦𝑎Ԧ𝑦 ∙ 𝑑𝑥𝑎Ԧ𝑥 + 𝑑𝑦𝑎Ԧ𝑦
(0,0) (0,0)
(1.5,−1) 𝑥=1.5
𝑊= න 𝑥𝑑𝑥 + 𝑦𝑑𝑦 = න 𝑥𝑑𝑥 + 2𝜋 sin 2𝜋𝑥 cos 2𝜋𝑥 𝑑𝑥
(0,0) 𝑥=0
1.5
𝑊 = න 𝑥 + 𝜋 sin 4𝜋𝑥 𝑑𝑥
0
𝑊 = 1.125
EEE 23: ELECTROMAGNETICS I 35
Cartesian Differential Element- dS
dS = dxdyzˆ (or ) dydzxˆ (or ) dzdxyˆ
EEE 23: ELECTROMAGNETICS I 36
Example: Force Distribution
over an Area
• A force distribution is acting on a 3 𝑚 by 3 𝑚 platform whose vertices
are located on the points {(0,0), (0,3), (3,3), (3,0)}. The force is defined
by the distribution function 𝐹Ԧ = 𝑥𝑎Ԧ𝑥 + 𝑦𝑎Ԧ𝑦 + 𝑥𝑦𝑎Ԧ𝑧 . What is the
component of the force in the z-component?
3 3
𝐹𝑧 = න 𝐹Ԧ ∙ 𝑎Ԧ𝑧 𝑑𝑆Ԧ ∙ 𝑎Ԧ𝑧 = න න 𝑥𝑦𝑑𝑥𝑑𝑦
𝑆 0 0
3 3 3
2 2
𝑥 𝑦
𝐹𝑧 = อ න 𝑦𝑑𝑦 = 4.5 อ
2 2
0 0 0
𝐹𝑧 = 20.25 𝑁
EEE 23: ELECTROMAGNETICS I 37
Example: Force Distribution
over an Area
EEE 23: ELECTROMAGNETICS I 38
Cartesian Differential Element- dv
dv = dxdydz
EEE 23: ELECTROMAGNETICS I 39
Cylindrical Differential Element- dl
dl = dˆ + dˆ + dzzˆ
EEE 23: ELECTROMAGNETICS I 40
Example: Length of a helix
• A helix has a radius 𝜌 = 1 defined by the function 𝑧 = 𝜙 from 0 ≤ 𝜙 ≤
2𝜋.
𝐿 = න 𝑑𝑙Ԧ = න 𝑑𝜌2 + 𝜌2 𝑑𝜙 + 𝑑𝑧 2
• 𝜌 = 1 → 𝑑𝜌 = 0, 𝑑𝑧 = 𝑑𝜙
2𝜋 2𝜋
𝐿=න 𝜌2 + 1 𝑑𝜙 = න 2𝑑𝜙
0 0
𝐿 = 2𝜋 2
EEE 23: ELECTROMAGNETICS I 41
Cylindrical Differential Element- dS
dS = d d zˆ dS = d dz ˆ
EEE 23: ELECTROMAGNETICS I 42
Example: Area of a section of a
cone
• In the figure on the right, find the surface area of the red section which
is defined by the function 𝜌 = 𝑧 and 0.4 ≤ 𝜌 ≤ 0.6.
𝐴 = න 𝑑 𝑆Ԧ = න 𝜌2 𝑑𝜙 2 𝑑𝑧 2 + 𝜌2 𝑑𝜙 2 𝑑𝜌2 + 𝑑𝜌2 𝑑𝑧 2
𝑆 𝑆
𝜌2 𝑑𝑧 2 2+
𝑑𝑧
𝐴=න + 𝜌 𝑑𝜙𝑑𝜌
𝑑𝜌2 𝑑𝜙
𝑆
0.6 2𝜋 0.6 2𝜋
𝐴= න න 𝜌2 + 𝜌2 𝑑𝜙𝑑𝜌 = න න 𝜌 2 𝑑𝜙𝑑𝜌
0.4 0 0.4 0
0.6
𝜌2
𝐴 = 2𝜋 อ 2
2
0.4
𝐴 = 0.2𝜋 2
EEE 23: ELECTROMAGNETICS I 43
Cylindrical Differential Element- dv
dv = d dz d
EEE 23: ELECTROMAGNETICS I 44
Example: Mass of a Slice of Pie
• A slice of pie is bound by the region: 0 ≤ 𝜌 ≤ 3, 𝜋Τ4 ≤ 𝜙 ≤ 𝜋Τ2, and
0 ≤ 𝑧 ≤ 1 . Its mass distribution is defined by the function 𝑚 =
𝜌 + 1 sin 𝜙.What is the total mass?
1 𝜋/2 3
𝑀 = න 𝑚𝑑𝑣 = න න න 𝜌 + 1 sin 𝜙 𝜌𝑑𝜌𝑑𝜙𝑑𝑧
𝑉 0 𝜋/4 0
1 𝜋/2 3
𝑀 = න 𝑑𝑧 න sin 𝜙 𝑑𝜙 න𝜌 𝜌 + 1
0 𝜋/4 0
𝜋 3
3 2
2 𝜌 𝜌
𝑀= − cos 𝜙ቚ𝜋 + อ
4
3 2
0
𝑀 = 6.75 2
EEE 23: ELECTROMAGNETICS I 45
Spherical Differential Element- dL
dl = dr rˆ + rd ˆ + r sin d ˆ
EEE 23: ELECTROMAGNETICS I 46
Example: Circumference of the
Tropic of Cancer
• Assume that the radius of Earth is r = 1. The tropic of cancer can be
located north of the equator at a latitude of approx. 23.5 degrees which
corresponds to 𝜃 = 66.5° from the north pole. What is the
approximate circumference of the tropic of cancer?
𝜙=2𝜋
𝐿 = න 𝑑 𝑙Ԧ = න 𝑑𝑟 2 + 𝑟 2 𝑑𝜃 2 + 𝑟 2 sin2 𝜃 𝑑𝜙 2
𝜙=0
𝜙=2𝜋 2 2
𝑑𝑟 𝑑𝜃
𝐿= න + 𝑟2 + 𝑟 2 sin2 𝜃 𝑑𝜙
𝑑𝜙 𝑑𝜙
𝜙=0
𝜙=2𝜋
𝐿 = න 𝑟 sin 𝜃 𝑑𝜙 → 𝐿 = 2𝜋𝑟 sin 𝜃 ≈ 5.7621
𝜙=0
EEE 23: ELECTROMAGNETICS I 47
Spherical Differential Element- dS
dS = r 2 sin d d rˆ
EEE 23: ELECTROMAGNETICS I 48
Example: Spherical Triangle
• A spherical triangle is defined by letting the parameter 𝜃 be bound from
zero to a constant and 𝜙 < 2𝜋. If a sphere has a radius 𝑟 = 2, what is
the area of a spherical triangle bound by 𝜋Τ4 ≤ 𝜙 ≤ 3𝜋Τ4 and 0 ≤ 𝜃 ≤
𝜋/2.
𝐴 = න 𝑑𝑆Ԧ = න 𝑟 2 sin 𝜃 𝑑𝜃𝑑𝜙
𝑆 𝑆
3𝜋/4 𝜋/2
𝐴 = 22 න න sin 𝜃 𝑑𝜃𝑑𝜙
𝜋/4 0
3𝜋/4 𝜋/2
𝐴 = 4 − cos 𝜃ቚ 𝜙ቚ
𝜋/4 0
𝐴 = 2𝜋 2
EEE 23: ELECTROMAGNETICS I 49
Spherical Differential Element- dv
dv = r 2 sin dr d d
EEE 23: ELECTROMAGNETICS I 50
Example: Volume of a Sphere
• Derive the volume of s sphere with radius 𝑟𝑆 .
2𝜋 𝑟𝑆 𝜋
𝑉𝑆 = න න න 𝑟 2 sin 𝜃 𝑑𝜃𝑑𝑟𝑑𝜙
0 0 0
2𝜋 𝜋 𝑟𝑆
𝑉𝑆 = න 𝑑𝜙 න sin 𝜃 𝑑𝜃 න 𝑟 2 𝑑𝑟
0 0 0
𝑟𝑆
𝑟3
𝑉𝑆 = 2𝜋 2 อ
3
0
4 3
𝑉𝑆 = 𝜋𝑟𝑆
3
EEE 23: ELECTROMAGNETICS I 51
When are these needed in EEE
23?
• Line Integration:
• Determine Work Done
• Potential Difference between two regions
• Ampere’s Circuital Law
• Surface Integration:
• Gauss’s Law (Electric and Magnetic)
• Current Density
• Volume Integration:
• Divergence Theorem
• Energy Density in a region of space
EEE 23: ELECTROMAGNETICS I 52
