Formula Sheeets to ECED 3300 1

Potentially useful formulae

You may or may not find useful the following formulas
Cartesian coordinates, (x, y, z)
r = xax + yay + zaz ; ax × ay = az .
dl = dxax + dyay + dzaz ; (differential line element)
dydzax
(
dS = dxdzay (differential surface elements)
dxdyaz
dv = dxdydz (differential volume).
∂V ∂V ∂V
∇V = ax + ay + az
∂x ∂y ∂z
∂Ax ∂Ay ∂Az
∇·A= + + ; where A = Ax ax + Ay ay + Az az .
∂x ∂y ∂z
! ! !
∂Az ∂Ay ∂Ax ∂Az ∂Ay ∂Ax
∇×A= − ax + − ay + − az
∂y ∂z ∂z ∂x ∂x ∂y
∂2V ∂2V ∂2V
∇2 V = + +
∂x2 ∂y 2 ∂z 2
Cylindrical coordinates, (ρ, φ, z)
r = ρ cos φax + ρ sin φay + zaz ; aρ × aφ = az .
aρ = cos φ ax + sin φ ay ,
aφ = − sin φ ax + cos φ ay ,
az = az .
ax = cos φ aρ − sin φ aφ ,
ay = sin φ aρ + cos φ aφ ,

dl = dρaρ + ρdφaφ + dzaz ; (differential line element)


 ρdφdzaρ
dS =dρdzaφ (differential surface elements)
ρdφdρaz


dv = ρdρdφdz (differential volume).

∂V 1 ∂V ∂V
∇V = aρ + aφ + az
∂ρ ρ ∂φ ∂z
1 ∂(ρAρ ) 1 ∂Aφ ∂Az
∇·A= + + ; where A = Aρ aρ + Aφ aφ + Az az .
ρ ∂ρ ρ ∂φ ∂z
! ! " #
1 ∂Az ∂Aφ ∂Aρ ∂Az 1 ∂(ρAφ ) ∂Aρ
∇×A= − aρ + − aφ + − az
ρ ∂φ ∂z ∂z ∂ρ ρ ∂ρ ∂φ
1 ∂2V ∂2V
!
21 ∂ ∂V
∇V = ρ + 2 2 +
ρ ∂ρ ∂ρ ρ ∂φ ∂z 2
Formula Sheeets to ECED 3300 2

Spherical coordinates, (r, θ, φ)

r = r sin θ cos φax + r sin θ sin φay + r cos θaz ; ar × aθ = aφ .

ar = sin θ cos φ ax + sin θ sin φ ay + cos θ az ,

aθ = cos θ cos φ ax + cos θ sin φ ay − sin θ az ,
aφ = − sin φ ax + cos φ ay .

ax = sin θ cos φ ar + cos θ cos φ ay − sin φ aφ

ay = sin θ sin φ ar + cos θ sin φ aθ + cos φ aφ

az = cos θ ar − sin θ aθ
dl = drar + rdθaθ + r sin θdφaφ ; (differential line element)

 r 2 sin θdθdφar
dS =  r sin θdrdφaθ (differential surface elements)
rdrdθaφ
dv = r2 sin θdrdθdφ (differential volume).
∂V 1 ∂V 1 ∂V
∇V = ar + aθ + aφ
∂r r ∂θ r sin θ ∂φ
1 ∂(r2 Ar ) 1 ∂(sin θAθ ) 1 ∂Aφ
∇·A= 2 + + where A = Ar ar + Aθ aθ + Aφ aφ
r ∂r r sin θ ∂θ r sin θ ∂φ
" # " # " #
1 ∂(sin θAφ ) ∂Aθ 1 1 ∂Ar ∂(rAφ ) 1 ∂(rAθ ) ∂Ar
∇×A= − ar + − aθ + − aφ
r sin θ ∂θ ∂φ r sin θ ∂φ ∂r r ∂r ∂θ
∂2V
! !
1 ∂ ∂V 1 ∂ ∂V 1
∇2 V = 2 r2 + 2 sin θ +
r ∂r ∂r r sin θ ∂θ ∂θ r2 sin2 θ ∂φ2
Vector Identities
a · (b × c) = b · (c × a) = c · (a × b)
a × (b × c) = b(a · c) − c(a · b)
(a × b) · (c × d) = (a · c)(d · b) − (a · d)(b · c)
Vector Calculus Formulas
∇ × ∇ψ = 0
∇ · (∇ × a) = 0
∇ × (∇ × a) = ∇(∇ · a) − ∇2 a
∇ · (ψa) = a · ∇ψ + ψ∇ · a
∇ × (ψa) = ∇ψ × a + ψ∇ × a
∇(a · b) = (a · ∇)b + (b · ∇)a + a × (∇ × b) + b × (∇ × a)
∇ · (a × b) = b · (∇ × a) − a · (∇ × b)
∇ × (a × b) = a(∇ · b) − b(∇ · a) + (b · ∇)a − (a · ∇)b
Formula Sheeets to ECED 3300 3

Theorems of Vector Calculus

Z I
(∇ · A)dv = A · dS Gauss’ theorem
v S
Z Z
∇ψdv = ψdS
v S
Z Z
(∇ × A)dv = A × dS
v S
Z I
(∇ × A) · dS = A · dl, Stokes’ theorem
S C
Z I
∇ψ × dS = ψdl
S C

Potentially useful integrals

Z
s xs+1 Z
dx
x dx = + const; s 6= −1, = ln x + const.
s+1 x
Z
1 Z
1
sin ax dx = − cos ax + const; cos ax dx = sin ax + const.
a a
Z
1 Z
dx 1
eax dx = eax + const; = arctan(x/a) + const.
a x 2 + a2 a
Z
1 Z
1
tan axdx = − ln cos ax + const; tanh ax = ln cosh ax + const.
a a
Z
1 Z
1
sinh axdx = cosh ax + const; cosh axdx = sinh ax + const.
a a
Z
1 Z
1
x sin axdx = (sin ax − ax cos ax) + const x cos axdx = (cos ax + ax sin ax) + const.
a2 a2
Z
eax Z
eax
eax sin bxdx = (a sin bx−b cos bx)+const; eax cos bxdx = (a cos bx+b sin bx)+const.
a2 + b 2 a2 + b 2
Z
dx Z
dx
= − cot x + const; = tan x + const.
sin2 x cos2 x
Z
dx 1 x Z
xdx 1
2 2
= arctan + const; 2 2
= ln(x2 + a2 ) + const.
x +a a a x +a 2
Z
dx √ Z
xdx √
√ = ln(x + x2 ± a2 ) + const; √ = x2 + a2 + const.
x ± a2
2 x 2 + a2
Z
dx x Z
xdx 1
2 2 3/2
= 2√ 2 + const; 2 2 3/2
= −√ 2 + const.
(x + a ) a x + a2 (x + a ) x + a2
Z
dx 1 ax Z
dx 1 ax
= ln tan + const; = ln cot + const.
sin ax a 2 cos ax a 2
dx 1 x − a dx x
Z   Z
= ln   + const; √ = arcsin + const.
x 2 − a2 2a  x + a  a2 − x 2 a
Formula Sheeets to ECED 3300 4
√
x2 dx
!
Z
x 2 + a2 x x
= ln + −√ 2 + const.
(x2 + a2 )3/2 a a x + a2
dx 1 x 1 x
Z  
= 2 + arctan + const.
(x2 + a2 )2 2a x2 + a2 a a
Laws of Electromagnetism In the expressions below, Rij ≡ ri − rj and aR = R/R.
Q1 Q2 Q P N Qk (r−rk )
F12 = 4π 3 R12 ;
0 R12
F = 4π 0 k=1 |r−rk |3 .
R ρv dv
E = F/q; E = v 4π a .
R2 R
R ρl dl R ρS0dS
E = RL 4π 0R
2 aR ; E = S 4π0 R2 aR .
Ψ ≡ D · dS; Ψ = Qenc .
S D · dS = v ρv dv; ∇ · D = ρRv .
H R

VAB = VA − VB ; VAB = − AB dl · E.
time-independent electric fields are potential : E = −∇V.
1 PN
WE = 12 R ρv V dv.
R
WE = 2 R k=1 Qk Vk ;
WE = 12 (D · E)dv; WE = 2 E 2 dv.
ρps = P · an ; ρpv = −∇ · P.
D = 0 E + P; D = E.
P = χe 0 E; D = 0 r E.
r = 1 + χ e ; r = /0 .
E1t = E2t ; (D1 −H D2 ) · an21 = ρS .
ds·E
C = Q/V ; C = R dl·E .
WE = CV 2 /2; WE = QV /2.
WE = Q2 /2C; C = A/d.
2πL 4π
C = ln(b/a) ; C = 1/a−1/b .
R
dl·E
R = V /I; R = ds·σE .
H

I = J · dS.
R
RC = /σ, if  = const, σ = const;
∂ρv
J = σE; ∂t
+ ∇ · J = 0.
ρv = ρv0 e−σt/ ; I = dQ
dt
.
l
J = ρv U; R = σS , σ = const.
0 = 8.854 × 10−12 F/m; µ0 = 4π × 10−7 H/m.
dH = Idl×R
4πR3
; Idl =R KdS = Jdv.
H · dl = Iinc = J · dS; Φ = B · dS.
H R
H = −∇Vm , if J = 0; B=∇ H × A.
µ0 Idl
∇2 A = −µ0 J; A = C 4πR
A = H S µ04πR
KdS
A = v µ4πR
R R 0 Jdv
;
Φ = L A · dl; ∇ · BR = 0.
F = q(E + u × B); F = Idl × B.
m = ISan ; T = m × B.
M = χm H; B = µ0 (H + M).
B = µH; µ = µ0 µr = µ0 (1 + χm ).
Jm = ∇ × M; Km = M × an
B1n = BR2n ; (H1 − H2 ) × an12 = K.
2
Wm = 21 B · Hdv = µ2 H 2 dv; Wm = LI2 .
R

L = λI = NIΦ ; L12 = λI12 = λ21 .

R 2 ∂B I1
E = −N dΦ E = − S ∂t · dS + L (u × B) · dl.
H
dt
;
∇ × H = J + ∂D ∂t
; ∇ × E = − ∂B ∂t
.