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ϒ
Bo Thidé

U p s i l o n B o o k s

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E LECTROMAGNETIC F IELD T HEORY
Bo Thidé

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Also available
E LECTROMAGNETIC F IELD T HEORY
E XERCISES
by
Tobia Carozzi, Anders Eriksson, Bengt Lundborg,
Bo Thidé and Mattias Waldenvik
Freely downloadable from
www.plasma.uu.se/CED

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E LECTROMAGNETIC
F IELD T HEORY

Bo Thidé

Swedish Institute of Space Physics

and
Department of Astronomy and Space Physics
Uppsala University, Sweden
and
School of Mathematics and Systems Engineering
Växjö University, Sweden

ϒ
Upsilon Books · Communa AB · Uppsala · Sweden

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This book was typeset in LATEX 2ε (based on TEX 3.14159 and Web2C 7.4.2)
on an HP Visualize 9000/360 workstation running HP-UX 11.11.

Copyright ©1997, 1998, 1999, 2000, 2001, 2002 and 2003 by

Bo Thidé
Uppsala, Sweden
All rights reserved.

Electromagnetic Field Theory

ISBN X-XXX-XXXXX-X

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Contents

Preface xi

1 Classical Electrodynamics 1
1.1 Electrostatics . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.1 Coulomb’s law . . . . . . . . . . . . . . . . . . . . . . 2
1.1.2 The electrostatic field . . . . . . . . . . . . . . . . . . . 3
1.2 Magnetostatics . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.1 Ampère’s law . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.2 The magnetostatic field . . . . . . . . . . . . . . . . . . 7
1.3 Electrodynamics . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3.1 Equation of continuity for electric charge . . . . . . . . 10
1.3.2 Maxwell’s displacement current . . . . . . . . . . . . . 10
1.3.3 Electromotive force . . . . . . . . . . . . . . . . . . . . 11
1.3.4 Faraday’s law of induction . . . . . . . . . . . . . . . . 12
1.3.5 Maxwell’s microscopic equations . . . . . . . . . . . . 15
1.3.6 Maxwell’s macroscopic equations . . . . . . . . . . . . 16
1.4 Electromagnetic Duality . . . . . . . . . . . . . . . . . . . . . 16
Example 1.1 Faraday’s law as a consequence of conserva-
tion of magnetic charge . . . . . . . . . . . . . 18
Example 1.2 Duality of the electromagnetodynamic equations 19
Example 1.3 Dirac’s symmetrised Maxwell equations for a
fixed mixing angle . . . . . . . . . . . . . . . . 20
Example 1.4 The complex field six-vector . . . . . . . . . 21
Example 1.5 Duality expressed in the complex field six-vector 22
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2 Electromagnetic Waves 25
2.1 The Wave Equations . . . . . . . . . . . . . . . . . . . . . . . 26
2.1.1 The wave equation for E . . . . . . . . . . . . . . . . . 26
2.1.2 The wave equation for B . . . . . . . . . . . . . . . . . 26
2.1.3 The time-independent wave equation for E . . . . . . . 27
Example 2.1 Wave equations in electromagnetodynamics . . 28
2.2 Plane Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.2.1 Telegrapher’s equation . . . . . . . . . . . . . . . . . . 31
2.2.2 Waves in conductive media . . . . . . . . . . . . . . . . 32

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2.3 Observables and Averages . . . . . . . . . . . . . . . . . . . . 34

Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3 Electromagnetic Potentials 37
3.1 The Electrostatic Scalar Potential . . . . . .. . . . . . . . . . . 37
3.2 The Magnetostatic Vector Potential . . . . .. . . . . . . . . . . 38
3.3 The Electrodynamic Potentials . . . . . . .. . . . . . . . . . . 38
3.3.1 Lorenz-Lorentz gauge . . . . . . .. . . . . . . . . . . 40
The retarded potentials . . . . . . .. . . . . . . . . . . 44
3.3.2 Coulomb gauge . . . . . . . . . . .. . . . . . . . . . . 44
3.3.3 Gauge transformations . . . . . . .. . . . . . . . . . . 45
Example 3.1 Electromagnetodynamic potentials . . . . . . . 46
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4 Relativistic Electrodynamics 49
4.1 The Special Theory of Relativity . . . . . . . . . . . . . . . . . 49
4.1.1 The Lorentz transformation . . . . . . . . . . . . . . . 50
4.1.2 Lorentz space . . . . . . . . . . . . . . . . . . . . . . . 51
Radius four-vector in contravariant and covariant form . 52
Scalar product and norm . . . . . . . . . . . . . . . . . 52
Metric tensor . . . . . . . . . . . . . . . . . . . . . . . 53
Invariant line element and proper time . . . . . . . . . . 54
Four-vector fields . . . . . . . . . . . . . . . . . . . . . 56
The Lorentz transformation matrix . . . . . . . . . . . . 56
The Lorentz group . . . . . . . . . . . . . . . . . . . . 56
4.1.3 Minkowski space . . . . . . . . . . . . . . . . . . . . . 57
4.2 Covariant Classical Mechanics . . . . . . . . . . . . . . . . . . 59
4.3 Covariant Classical Electrodynamics . . . . . . . . . . . . . . . 61
4.3.1 The four-potential . . . . . . . . . . . . . . . . . . . . . 61
4.3.2 The Liénard-Wiechert potentials . . . . . . . . . . . . . 62
4.3.3 The electromagnetic field tensor . . . . . . . . . . . . . 64
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5 Electromagnetic Fields and Particles 69

5.1 Charged Particles in an Electromagnetic Field . . . . . . . . . . 69
5.1.1 Covariant equations of motion . . . . . . . . . . . . . . 69
Lagrange formalism . . . . . . . . . . . . . . . . . . . 70
Hamiltonian formalism . . . . . . . . . . . . . . . . . . 72
5.2 Covariant Field Theory . . . . . . . . . . . . . . . . . . . . . . 76
5.2.1 Lagrange-Hamilton formalism for fields and interactions 76

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The electromagnetic field . . . . . . . . . . . . . . . . . 80

Example 5.1 Field energy difference expressed in the field
tensor . . . . . . . . . . . . . . . . . . . . . . 81
Other fields . . . . . . . . . . . . . . . . . . . . . . . . 84
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

6 Electromagnetic Fields and Matter 87

6.1 Electric Polarisation and Displacement . . . . . . . . . . . . . . 87
6.1.1 Electric multipole moments . . . . . . . . . . . . . . . 87
6.2 Magnetisation and the Magnetising Field . . . . . . . . . . . . . 90
6.3 Energy and Momentum . . . . . . . . . . . . . . . . . . . . . . 92
6.3.1 The energy theorem in Maxwell’s theory . . . . . . . . 92
6.3.2 The momentum theorem in Maxwell’s theory . . . . . . 93
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

7 Electromagnetic Fields from Arbitrary Source Distributions 97

7.1 The Magnetic Field . . . . . . . . . . . . . . . . . . . . . . . . 99
7.2 The Electric Field . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.3 The Radiation Fields . . . . . . . . . . . . . . . . . . . . . . . 103
7.4 Radiated Energy . . . . . . . . . . . . . . . . . . . . . . . . . . 106
7.4.1 Monochromatic signals . . . . . . . . . . . . . . . . . . 106
7.4.2 Finite bandwidth signals . . . . . . . . . . . . . . . . . 107
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

8 Electromagnetic Radiation and Radiating Systems 109

8.1 Radiation from Extended Sources . . . . . . . . . . . . . . . . 109
8.1.1 Radiation from a one-dimensional current distribution . 110
8.1.2 Radiation from a two-dimensional current distribution . 113
8.2 Multipole Radiation . . . . . . . . . . . . . . . . . . . . . . . . 116
8.2.1 The Hertz potential . . . . . . . . . . . . . . . . . . . . 116
8.2.2 Electric dipole radiation . . . . . . . . . . . . . . . . . 120
8.2.3 Magnetic dipole radiation . . . . . . . . . . . . . . . . 122
8.2.4 Electric quadrupole radiation . . . . . . . . . . . . . . . 124
8.3 Radiation from a Localised Charge in Arbitrary Motion . . . . . 124
8.3.1 The Liénard-Wiechert potentials . . . . . . . . . . . . . 125
8.3.2 Radiation from an accelerated point charge . . . . . . . 127
The differential operator method . . . . . . . . . . . . . 129
The direct method . . . . . . . . . . . . . . . . . . . . 133
Example 8.1 The fields from a uniformly moving charge . . 135
Example 8.2 The convection potential and the convection force136

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Radiation for small velocities . . . . . . . . . . . . . . 139

8.3.3 Bremsstrahlung . . . . . . . . . . . . . . . . . . . . . . 140
Example 8.3 Bremsstrahlung for low speeds and short ac-
celeration times . . . . . . . . . . . . . . . . . 143
8.3.4
Cyclotron and synchrotron radiation . . . . . . . . . . . 146
Cyclotron radiation . . . . . . . . . . . . . . . . . . . . 148
Synchrotron radiation . . . . . . . . . . . . . . . . . . . 148
Radiation in the general case . . . . . . . . . . . . . . . 151
Virtual photons . . . . . . . . . . . . . . . . . . . . . . 151
8.3.5 Radiation from charges moving in matter . . . . . . . . 153
Vavilov-Čerenkov radiation . . . . . . . . . . . . . . . 156
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

F Formulae 163
F.1 The Electromagnetic Field . . . . . . . . . . . . . . . . . . . . 163
F.1.1 Maxwell’s equations . . . . . . . . . . . . . . . . . . . 163
Constitutive relations . . . . . . . . . . . . . . . . . . . 163
F.1.2 Fields and potentials . . . . . . . . . . . . . . . . . . . 163
Vector and scalar potentials . . . . . . . . . . . . . . . . 163
The Lorenz-Lorentz gauge condition in vacuum . . . . . 164
F.1.3 Force and energy . . . . . . . . . . . . . . . . . . . . . 164
Poynting’s vector . . . . . . . . . . . . . . . . . . . . . 164
Maxwell’s stress tensor . . . . . . . . . . . . . . . . . . 164
F.2 Electromagnetic Radiation . . . . . . . . . . . . . . . . . . . . 164
F.2.1 Relationship between the field vectors in a plane wave . 164
F.2.2 The far fields from an extended source distribution . . . 164
F.2.3 The far fields from an electric dipole . . . . . . . . . . . 164
F.2.4 The far fields from a magnetic dipole . . . . . . . . . . 165
F.2.5 The far fields from an electric quadrupole . . . . . . . . 165
F.2.6 The fields from a point charge in arbitrary motion . . . . 165
F.3 Special Relativity . . . . . . . . . . . . . . . . . . . . . . . . . 165
F.3.1 Metric tensor . . . . . . . . . . . . . . . . . . . . . . . 165
F.3.2 Covariant and contravariant four-vectors . . . . . . . . . 166
F.3.3 Lorentz transformation of a four-vector . . . . . . . . . 166
F.3.4 Invariant line element . . . . . . . . . . . . . . . . . . . 166
F.3.5 Four-velocity . . . . . . . . . . . . . . . . . . . . . . . 166
F.3.6 Four-momentum . . . . . . . . . . . . . . . . . . . . . 166
F.3.7 Four-current density . . . . . . . . . . . . . . . . . . . 166
F.3.8 Four-potential . . . . . . . . . . . . . . . . . . . . . . . 166
F.3.9 Field tensor . . . . . . . . . . . . . . . . . . . . . . . . 167

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F.4 Vector Relations . . . . . . . . . . . . . . . . . . . . . . . . . . 167

F.4.1 Spherical polar coordinates . . . . . . . . . . . . . . . . 167
Base vectors . . . . . . . . . . . . . . . . . . . . . . . 167
Directed line element . . . . . . . . . . . . . . . . . . . 167
Solid angle element . . . . . . . . . . . . . . . . . . . . 168
Directed area element . . . . . . . . . . . . . . . . . . . 168
Volume element . . . . . . . . . . . . . . . . . . . . . . 168
F.4.2 Vector formulae . . . . . . . . . . . . . . . . . . . . . . 168
General vector algebraic identities . . . . . . . . . . . . 168
General vector analytic identities . . . . . . . . . . . . . 168
Special identities . . . . . . . . . . . . . . . . . . . . . 169
Integral relations . . . . . . . . . . . . . . . . . . . . . 169
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

Appendices 163

M Mathematical Methods 171

M.1 Scalars, Vectors and Tensors .. . . . . . . . . . . . . . . . . . 171
M.1.1 Vectors . . . . . . . .. . . . . . . . . . . . . . . . . . 171
Radius vector . . . . .. . . . . . . . . . . . . . . . . . 171
M.1.2 Fields . . . . . . . . .. . . . . . . . . . . . . . . . . . 173
Scalar fields . . . . . .. . . . . . . . . . . . . . . . . . 173
Vector fields . . . . . .. . . . . . . . . . . . . . . . . . 173
Tensor fields . . . . .. . . . . . . . . . . . . . . . . . 174
Example M.1 Tensors in 3D space . . . . . . . . . . . . . 175
Example M.2 Contravariant and covariant vectors in flat
Lorentz space . . . . . . . . . . . . . . . . . . 178
M.1.3 Vector algebra . . . . . . . . . . . . . . . . . . . . . . 180
Scalar product . . . . . . . . . . . . . . . . . . . . . . 180
Example M.3 Inner products in complex vector space . . . . 180
Example M.4 Scalar product, norm and metric in Lorentz
space . . . . . . . . . . . . . . . . . . . . . . 181
Example M.5 Metric in general relativity . . . . . . . . . . 182
Dyadic product . . . . . . . . . . . . . . . . . . . . . . 183
Vector product . . . . . . . . . . . . . . . . . . . . . . 183
M.1.4 Vector analysis . . . . . . . . . . . . . . . . . . . . . . 184
The del operator . . . . . . . . . . . . . . . . . . . . . 184
Example M.6 The four-del operator in Lorentz space . . . . 185
The gradient . . . . . . . . . . . . . . . . . . . . . . . 185

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Example M.7 Gradients of scalar functions of relative dis-

tances in 3D . . . . . . . . . . . . . . . . . . . 185
The divergence . . . . . . . . . . . . . . . . . . . . . . 186
Example M.8 Divergence in 3D . . . . . . . . . . . . . . 186
The Laplacian . . . . . . . . . . . . . . . . . . . . . . . 187
Example M.9 The Laplacian and the Dirac delta . . . . . . 187
The curl . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Example M.10 The curl of a gradient . . . . . . . . . . . . 187
Example M.11 The divergence of a curl . . . . . . . . . . . 188
M.2 Analytical Mechanics . . . . . . . . . . . . . . . . . . . . . . . 189
M.2.1 Lagrange’s equations . . . . . . . . . . . . . . . . . . . 189
M.2.2 Hamilton’s equations . . . . . . . . . . . . . . . . . . . 190
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

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List of Figures

1.1 Coulomb interaction between two electric charges . . . . . . . . 3

1.2 Coulomb interaction for a distribution of electric charges . . . . 5
1.3 Ampère interaction . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4 Moving loop in a varying B field . . . . . . . . . . . . . . . . . 13

4.1 Relative motion of two inertial systems . . . . . . . . . . . . . . 50

4.2 Rotation in a 2D Euclidean space . . . . . . . . . . . . . . . . . 57
4.3 Minkowski diagram . . . . . . . . . . . . . . . . . . . . . . . . 58

5.1 Linear one-dimensional mass chain . . . . . . . . . . . . . . . . 76

7.1 Radiation in the far zone . . . . . . . . . . . . . . . . . . . . . 105

8.1 Linear antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

8.2 Electric dipole geometry . . . . . . . . . . . . . . . . . . . . . 111
8.3 Loop antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
8.4 Multipole radiation geometry . . . . . . . . . . . . . . . . . . . 118
8.5 Electric dipole geometry . . . . . . . . . . . . . . . . . . . . . 121
8.6 Radiation from a moving charge in vacuum . . . . . . . . . . . 126
8.7 An accelerated charge in vacuum . . . . . . . . . . . . . . . . . 128
8.8 Angular distribution of radiation during bremsstrahlung . . . . . 141
8.9 Location of radiation during bremsstrahlung . . . . . . . . . . . 142
8.10 Radiation from a charge in circular motion . . . . . . . . . . . . 147
8.11 Synchrotron radiation lobe width . . . . . . . . . . . . . . . . . 149
8.12 The perpendicular field of a moving charge . . . . . . . . . . . 152
8.13 Electron-electron scattering . . . . . . . . . . . . . . . . . . . . 154
8.14 Vavilov-Čerenkov cone . . . . . . . . . . . . . . . . . . . . . . 159

M.1 Tetrahedron-like volume element of matter . . . . . . . . . . . . 176

vii

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To the memory of professor

L EV M IKHAILOVICH E RUKHIMOV
dear friend, great physicist
and a truly remarkable human being.

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If you understand, things are such as they are

If you do not understand, things are such as they are
G ENSHA

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Preface

This book is the result of a twenty-five year long love affair. In 1972, I took
my first advanced course in electrodynamics at the Theoretical Physics depart-
ment, Uppsala University. Shortly thereafter, I joined the research group there
and took on the task of helping my supervisor, professor P ER -O LOF F RÖ -
MAN , with the preparation of a new version of his lecture notes on Electricity
Theory. These two things opened up my eyes for the beauty and intricacy of
electrodynamics, already at the classical level, and I fell in love with it.
Ever since that time, I have off and on had reason to return to electro-
dynamics, both in my studies, research and teaching, and the current book
is the result of my own teaching of a course in advanced electrodynamics at
Uppsala University some twenty odd years after I experienced the first en-
counter with this subject. The book is the outgrowth of the lecture notes that I
prepared for the four-credit course Electrodynamics that was introduced in the
Uppsala University curriculum in 1992, to become the five-credit course Clas-
sical Electrodynamics in 1997. To some extent, parts of these notes were based
on lecture notes prepared, in Swedish, by B ENGT L UNDBORG who created,
developed and taught the earlier, two-credit course Electromagnetic Radiation
at our faculty.
Intended primarily as a textbook for physics students at the advanced un-
dergraduate or beginning graduate level, I hope the book may be useful for
research workers too. It provides a thorough treatment of the theory of elec-
trodynamics, mainly from a classical field theoretical point of view, and in-
cludes such things as electrostatics and magnetostatics and their unification
into electrodynamics, the electromagnetic potentials, gauge transformations,
covariant formulation of classical electrodynamics, force, momentum and en-
ergy of the electromagnetic field, radiation and scattering phenomena, electro-
magnetic waves and their propagation in vacuum and in media, and covariant
Lagrangian/Hamiltonian field theoretical methods for electromagnetic fields,
particles and interactions. The aim has been to write a book that can serve
both as an advanced text in Classical Electrodynamics and as a preparation for
studies in Quantum Electrodynamics and related subjects.
In an attempt to encourage participation by other scientists and students in
the authoring of this book, and to ensure its quality and scope to make it useful
in higher university education anywhere in the world, it was produced within
a World-Wide Web (WWW) project. This turned out to be a rather successful

xi

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xii P REFACE

move. By making an electronic version of the book freely down-loadable on

the net, I have not only received comments on it from fellow Internet physicists
around the world, but know, from WWW ‘hit’ statistics that at the time of
writing this, the book serves as a frequently used Internet resource. This way
it is my hope that it will be particularly useful for students and researchers
working under financial or other circumstances that make it difficult to procure
a printed copy of the book.
I am grateful not only to Per-Olof Fröman and Bengt Lundborg for provid-
ing the inspiration for my writing this book, but also to C HRISTER WAHLBERG
and G ÖRAN FÄLDT, Uppsala University, and YAKOV I STOMIN, Lebedev In-
stitute, Moscow, for interesting discussions on electrodynamics and relativity
in general and on this book in particular. I also wish to thank my former
graduate students M ATTIAS WALDENVIK and T OBIA C AROZZI as well as
A NDERS E RIKSSON, all at the Swedish Institute of Space Physics, Uppsala
Division, who all have participated in the teaching and commented on the ma-
terial covered in the course and in this book. Thanks are also due to my long-
term space physics colleague H ELMUT KOPKA of the Max-Planck-Institut für
Aeronomie, Lindau, Germany, who not only taught me about the practical as-
pects of the of high-power radio wave transmitters and transmission lines, but
also about the more delicate aspects of typesetting a book in TEX and LATEX.
I am particularly indebted to Academician professor V ITALIY L. G INZBURG
for his many fascinating and very elucidating lectures, comments and histor-
ical footnotes on electromagnetic radiation while cruising on the Volga river
during our joint Russian-Swedish summer schools.
Finally, I would like to thank all students and Internet users who have
downloaded and commented on the book during its life on the World-Wide
Web.
I dedicate this book to my son M ATTIAS, my daughter K AROLINA, my
high-school physics teacher, S TAFFAN RÖSBY, and to my fellow members of
the C APELLA P EDAGOGICA U PSALIENSIS.

Uppsala, Sweden B O T HIDÉ

February, 2001

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1
Classical
Electrodynamics

Classical electrodynamics deals with electric and magnetic fields and inter-
actions caused by macroscopic distributions of electric charges and currents.
This means that the concepts of localised electric charges and currents assume
the validity of certain mathematical limiting processes in which it is considered
possible for the charge and current distributions to be localised in infinitesim-
ally small volumes of space. Clearly, this is in contradiction to electromagnet-
ism on a truly microscopic scale, where charges and currents have to be treated
as spatially extended objects and quantum corrections must be included. How-
ever, the limiting processes used will yield results which are correct on small
as well as large macroscopic scales.
It took the genius of James Clerk Maxwell to unify electricity and magnet-
ism into a super-theory, electromagnetism or classical electrodynamics (CED),
and to realise that optics is a subfield of this new super-theory. Early in the 20th
century, Nobel laureate Hendrik Antoon Lorentz took the electrodynamics the-
ory further to the microscopic scale and also laid the foundation for the special
theory of relativity, formulated by Albert Einstein in 1905. In the 1930s Paul
A. M. Dirac expanded electrodynamics to a more symmetric form, includ-
ing magnetic as well as electric charges and also laid the foundation for the
development of quantum electrodynamics (QED) for which Sin-Itiro Tomon-
aga, Julian Schwinger, and Richard P. Feynman earned their Nobel prizes in
1965. Around the same time, physicists such as the Nobel laureates Sheldon
Glashow, Abdus Salam, and Steven Weinberg managed to unify electrodynam-
ics with the weak interaction theory to yet another super-theory, electroweak
theory.
In this chapter we start with the force interactions in classical electrostat-
ics and classical magnetostatics and introduce the static electric and magnetic
fields and find two uncoupled systems of equations for them. Then we see how
the conservation of electric charge and its relation to electric current leads to
the dynamic connection between electricity and magnetism and how the two

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2 C LASSICAL E LECTRODYNAMICS

can be unified into one ‘super-theory’, classical electrodynamics, described by

one system of coupled dynamic field equations—the Maxwell equations.
At the end of the chapter we study Dirac’s symmetrised form of Max-
well’s equations by introducing (hypothetical) magnetic charges and magnetic
currents into the theory. While not identified unambiguously in experiments
yet, magnetic charges and currents make the theory much more appealing for
instance by allowing for duality transformations in a most natural way.

1.1 Electrostatics
The theory which describes physical phenomena related to the interaction
between stationary electric charges or charge distributions in space with sta-
tionary boundaries is called electrostatics. For a long time electrostatics, un-
der the name electricity, was considered an independent physical theory of its
own, alongside other physical theories such as magnetism, mechanics, optics
and thermodynamics.1

1.1.1 Coulomb’s law

It has been found experimentally that in classical electrostatics the interaction
between stationary, electrically charged bodies can be described in terms of a
mechanical force. Let us consider the simple case described by Figure 1.1 on
the facing page. Let F denote the force acting on a electrically charged particle
with charge q located at x, due to the presence of a charge q
located at x
.
According to Coulomb’s law this force is, in vacuum, given by the expression



qq
x − x
qq
1 qq

1
F(x) = =− ∇ = ∇ (1.1)
4πε0 |x − x
|3 4πε0 |x − x
| 4πε0 |x − x
|

where in the last step Formula (F.71) on page 169 was used. In SI units, which
we shall use throughout, the force F is measured in Newton (N), the electric
charges q and q
in Coulomb (C) [= Ampère-seconds (As)], and the length
|x − x
| in metres (m). The constant ε0 = 107 /(4πc2 ) ≈ 8.8542 × 10−12 Farad
1 The physicist and philosopher Pierre Duhem (1861–1916) once wrote:
‘The whole theory of electrostatics constitutes a group of abstract ideas and gen-
eral propositions, formulated in the clear and concise language of geometry and
algebra, and connected with one another by the rules of strict logic. This whole
fully satisfies the reason of a French physicist and his taste for clarity, simplicity
and order. . . .’

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1.1 E LECTROSTATICS 3

x − x

x
q

x

F IGURE 1.1: Coulomb’s law describes how a static electric charge q,

located at a point x relative to the origin O, experiences an electrostatic
force from a static electric charge q
located at x
.

per metre (F/m) is the vacuum permittivity and c ≈ 2.9979 × 10 8 m/s is the
speed of light in vacuum. In CGS units ε0 = 1/(4π) and the force is measured
in dyne, electric charge in statcoulomb, and length in centimetres (cm).

1.1.2 The electrostatic field

Instead of describing the electrostatic interaction in terms of a ‘force action
at a distance’, it turns out that it is often more convenient to introduce the
concept of a field and to describe the electrostatic interaction in terms of a
static vectorial electric field E stat defined by the limiting process

def F
Estat ≡ lim (1.2)
q→0 q

where F is the electrostatic force, as defined in Equation (1.1) on the facing

page, from a net electric charge q
on the test particle with a small electric net
electric charge q. Since the purpose of the limiting process is to assure that
the test charge q does not influence the field, the expression for E stat does not
depend explicitly on q but only on the charge q
and the relative radius vector
x − x
. This means that we can say that any net electric charge produces an
electric field in the space that surrounds it, regardless of the existence of a
second charge anywhere in this space. 1
1 In the preface to the first edition of the first volume of his book A Treatise on Electricity

and Magnetism, first published in 1873, James Clerk Maxwell describes this in the following,
almost poetic, manner [9]:

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4 C LASSICAL E LECTRODYNAMICS

Using (1.1) and Equation (1.2) on the previous page, and Formula (F.70)
on page 169, we find that the electrostatic field E stat at the field point x (also
known as the observation point), due to a field-producing electric charge q
at
the source point x
, is given by



q
x − x
q
1 q

1
E (x) =
stat
=− ∇ = ∇ (1.3)
4πε0 |x − x
|3 4πε0 |x − x
| 4πε0 |x − x
|
In the presence of several field producing discrete electric charges q
i , loc-
ated at the points x
i , i = 1, 2, 3, . . . , respectively, in an otherwise empty space,
the assumption of linearity of vacuum 1 allows us to superimpose their indi-
vidual electrostatic fields into a total electrostatic field


1
x − xi
4πε0 ∑
Estat (x) = q   (1.4)
i
i
x − x
3
i

If the discrete electric charges are small and numerous enough, we intro-
duce the electric charge density ρ, measured in C/m 3 in SI units, located at x

within a volume V
of limited extent and replace summation with integration
over this volume. This allows us to describe the total field as



1 3

x−x 1 3

1
E (x) =
stat
d x ρ(x ) =− d x ρ(x )∇
4πε0 V
|x − x
|3 4πε0 V
|x − x
|

(1.5)
1 3
ρ(x )
=− ∇ dx
4πε0 V
|x − x
|
where we used Formula (F.70) on page 169 and the fact that ρ(x
) does not
depend on the unprimed (field point) coordinates on which ∇ operates.
We emphasise that under the assumption of linear superposition, Equa-
tion (1.5) is valid for an arbitrary distribution of electric charges, including
discrete charges, in which case ρ is expressed in terms of Dirac delta distribu-
tions:
ρ(x
) = ∑ q
i δ(x
− x
i ) (1.6)
i

‘For instance, Faraday, in his mind’s eye, saw lines of force traversing all space
where the mathematicians saw centres of force attracting at a distance: Faraday
saw a medium where they saw nothing but distance: Faraday sought the seat of
the phenomena in real actions going on in the medium, they were satisfied that
they had found it in a power of action at a distance impressed on the electric
fluids.’

1 In fact, vacuum exhibits a quantum mechanical nonlinearity due to vacuum polarisation

effects manifesting themselves in the momentary creation and annihilation of electron-positron

pairs, but classically this nonlinearity is negligible.

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1.1 E LECTROSTATICS 5

x − x
i
x
q
i
V

x
i

F IGURE 1.2: Coulomb’s law for a distribution of individual charges x
i

localised within a volume V
of limited extent.

as illustrated in Figure 1.2. Inserting this expression into expression (1.5) on

the facing page we recover expression (1.4) on the preceding page.
Taking the divergence of the general E stat expression for an arbitrary elec-
tric charge distribution, Equation (1.5) on the facing page, and using the rep-
resentation of the Dirac delta distribution, Formula (F.73) on page 169, we find
that

1 x − x

∇ · Estat (x) = ∇ · d3x
ρ(x
)
4πε0 V
|x − x
|3


1 3

1
=− d x ρ(x )∇ · ∇
4πε0 V
|x − x
|


1 3

1
=− d x ρ(x ) ∇ 2 (1.7)
4πε0 V
|x − x
|

1
= d3x
ρ(x
) δ(x − x
)
ε0 V

ρ(x)
=
ε0
which is the differential form of Gauss’s law of electrostatics.
Since, according to Formula (F.62) on page 168, ∇ × [∇α(x)] ≡ 0 for any
3D R3 scalar field α(x), we immediately find that in electrostatics




1 3
ρ(x )
∇ × E (x) = −
stat
∇× ∇ d x =0 (1.8)
4πε0 V
|x − x
|

i.e., that Estat is an irrotational field.

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6 C LASSICAL E LECTRODYNAMICS

To summarise, electrostatics can be described in terms of two vector partial

differential equations

ρ(x)
∇ · Estat (x) = (1.9a)
ε0
∇ × E (x) = 0
stat
(1.9b)

representing four scalar partial differential equations.

1.2 Magnetostatics
While electrostatics deals with static electric charges, magnetostatics deals
with stationary electric currents, i.e., electric charges moving with constant
speeds, and the interaction between these currents. Here we shall discuss this
theory in some detail.

1.2.1 Ampère’s law

Experiments on the interaction between two small loops of electric current
have shown that they interact via a mechanical force, much the same way that
electric charges interact. Let F denote such a force acting on a small loop
C, with tangential line element dl, located at x and carrying a current J in
the direction of dl, due to the presence of a small loop C
, with tangential
line element dl, located at x
and carrying a current J
in the direction of dl
.
According to Ampère’s law this force is, in vacuum, given by the expression
 
µ0 JJ
(x − x
)
F(x) = dl × dl
×
4π C C
|x − x
|3
 
 (1.10)
µ0 JJ
1
=− dl × dl
× ∇
4π C C
|x − x
|

In SI units, µ0 = 4π × 10−7 ≈ 1.2566 × 10−6 H/m is the vacuum permeability.

From the definition of ε0 and µ0 (in SI units) we observe that

107 1
ε0 µ0 = 2
(F/m) × 4π × 10−7 (H/m) = 2 (s2 /m2 ) (1.11)
4πc c
which is a most useful relation.
At first glance, Equation (1.10) above may appear unsymmetric in terms
of the loops and therefore to be a force law which is in contradiction with

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1.2 M AGNETOSTATICS 7

C dl

x − x
dl

x
C

J

x

F IGURE 1.3: Ampère’s law describes how a small loop C, carrying a

static electric current J through its tangential line element dl located at
x, experiences a magnetostatic force from a small loop C
, carrying a
static electric current J
through the tangential line element dl
located at
x
. The loops can have arbitrary shapes as long as they are simple and
closed.

Newton’s third law. However, by applying the vector triple product ‘bac-cab’
Formula (F.51) on page 168, we can rewrite (1.10) as
 

µ0 JJ

1
F(x) = − dl dl · ∇
4π C
C |x − x
|

 
(1.12)
µ0 JJ x−x
− dl ·dl

4π C C
|x − x
|3

Since the integrand in the first integral is an exact differential, this integral van-
ishes and we can rewrite the force expression, Equation (1.10) on the preceding
page, in the following symmetric way
 
µ0 JJ
x − x

F(x) = − dl · dl
(1.13)
4π C C
|x − x
|3

which clearly exhibits the expected symmetry in terms of loops C and C
.

1.2.2 The magnetostatic field

In analogy with the electrostatic case, we may attribute the magnetostatic in-
teraction to a static vectorial magnetic field B stat . It turns out that the elemental

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8 C LASSICAL E LECTRODYNAMICS

Bstat can be defined as

x − x

def µ0 J
dBstat (x) ≡ dl
× (1.14)
4π |x − x
|3
which expresses the small element dB stat (x) of the static magnetic field set
up at the field point x by a small line element dl
of stationary current J
at
the source point x
. The SI unit for the magnetic field, sometimes called the
magnetic flux density or magnetic induction, is Tesla (T).
If we generalise expression (1.14) to an integrated steady state electric
current density j(x), measured in A/m 2 in SI units, we obtain Biot-Savart’s
law:
 

µ0 x − x
µ0 1
Bstat (x) = d3x
j(x
) × = − d 3

x j(x

) × ∇
4π V
|x − x
|3 4π V
|x − x
|


µ0 j(x )
= ∇ × d3x

4π V
|x − x
|
(1.15)
where we used Formula (F.70) on page 169, Formula (F.57) on page 168, and
the fact that j(x
) does not depend on the unprimed coordinates on which ∇
operates. Comparing Equation (1.5) on page 4 with Equation (1.15), we see
that there exists a close analogy between the expressions for E stat and Bstat but
that they differ in their vectorial characteristics. With this definition of B stat ,
Equation (1.10) on page 6 may we written

F(x) = J dl × Bstat (x) (1.16)
C

In order to assess the properties of B stat , we determine its divergence and

curl. Taking the divergence of both sides of Equation (1.15) and utilising For-
mula (F.58) on page 168, we obtain

 
µ0 j(x
)
∇ · Bstat (x) = ∇ · ∇ × d3x
=0 (1.17)
4π V
|x − x
|
since, according to Formula (F.63) on page 168, ∇ · (∇ × a) vanishes for any
vector field a(x).
Applying the operator ‘bac-cab’ rule, Formula (F.64) on page 168, the curl
of Equation (1.15) can be written




µ0 3
j(x )
∇ × B (x) = ∇ × ∇ × d x
stat
=
4π V
|x − x
|

 

µ0 3

1 µ0 3



1
=− d x j(x ) ∇ 2
+ d x [j(x ) · ∇ ] ∇
4π V
|x − x
| 4π V
|x − x
|

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1.3 E LECTRODYNAMICS 9

(1.18)

In the first of the two integrals on the right hand side, we use the representation
of the Dirac delta function given in Formula (F.73) on page 169, and integrate
the second one by parts, by utilising Formula (F.56) on page 168 as follows:
 


3


1

d x [j(x ) · ∇ ]∇
V
|x − x
|
  
 

3


∂ 1 3






1
= x̂k d x ∇ · j(x ) − d x ∇ · j(x ) ∇
V
∂xk
|x − x
| V
|x − x
|

 

∂ 1
 1
= x̂k dS · j(x
)


− d3x
∇
· j(x
) ∇

S ∂xk |x − x | V
|x − x
|
(1.19)

Then we note that the first integral in the result, obtained by applying Gauss’s
theorem, vanishes when integrated over a large sphere far away from the loc-
alised source j(x
), and that the second integral vanishes because ∇ · j = 0 for
stationary currents (no charge accumulation in space). The net result is simply

∇×B stat
(x) = µ0 d3x
j(x
)δ(x − x
) = µ0 j(x) (1.20)
V

1.3 Electrodynamics
As we saw in the previous sections, the laws of electrostatics and magneto-
statics can be summarised in two pairs of time-independent, uncoupled vector
partial differential equations, namely the equations of classical electrostatics
ρ(x)
∇ · Estat (x) = (1.21a)
ε0
∇ × E (x) = 0
stat
(1.21b)

and the equations of classical magnetostatics

∇ · Bstat (x) = 0 (1.22a)

∇×B stat
(x) = µ0 j(x) (1.22b)

Since there is nothing a priori which connects E stat directly with Bstat , we must
consider classical electrostatics and classical magnetostatics as two independ-
ent theories.

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10 C LASSICAL E LECTRODYNAMICS

However, when we include time-dependence, these theories are unified

into one theory, classical electrodynamics. This unification of the theories of
electricity and magnetism is motivated by two empirically established facts:

1. Electric charge is a conserved quantity and electric current is a transport

of electric charge. This fact manifests itself in the equation of continuity
and, as a consequence, in Maxwell’s displacement current.

2. A change in the magnetic flux through a loop will induce an EMF elec-
tric field in the loop. This is the celebrated Faraday’s law of induction.

1.3.1 Equation of continuity for electric charge

Let j(t, x) denote the time-dependent electric current density. In the simplest
case it can be defined as j = vρ where v is the velocity of the electric charge
density ρ. In general, j has to be defined in statistical mechanical terms as
j(t, x) = ∑α qα d3v v fα (t, x, v) where fα (t, x, v) is the (normalised) distribution
function for particle species α with electric charge q α .
The electric charge conservation law can be formulated in the equation of
continuity

∂ρ(t, x)
+ ∇ · j(t, x) = 0 (1.23)
∂t
which states that the time rate of change of electric charge ρ(t, x) is balanced
by a divergence in the electric current density j(t, x).

1.3.2 Maxwell’s displacement current

We recall from the derivation of Equation (1.20) on the previous page that there
we used the fact that in magnetostatics ∇·j(x) = 0. In the case of non-stationary
sources and fields, we must, in accordance with the continuity Equation (1.23),
set ∇ · j(t, x) = −∂ρ(t, x)/∂t. Doing so, and formally repeating the steps in the
derivation of Equation (1.20) on the previous page, we would obtain the formal
result
 

3


µ0 ∂ 3


1
∇ × B(t, x) = µ0 d x j(t, x )δ(x − x ) + d x ρ(t, x )∇
V
4π ∂t V
|x − x
|
∂
= µ0 j(t, x) + µ0 ε0 E(t, x)
∂t
(1.24)

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1.3 E LECTRODYNAMICS 11

where, in the last step, we have assumed that a generalisation of Equation (1.5)
on page 4 to time-varying fields allows us to make the identification

  

1 ∂ 3


1 ∂ 1 3

1
d x ρ(t, x )∇ = − d x ρ(t, x )∇
4πε0 ∂t V
|x − x
| ∂t 4πε0 V
|x − x
|
∂
= E(t, x)
∂t
(1.25)

Later, we will need to consider this formal result further. The result is Max-
well’s source equation for the B field


∂
∇ × B(t, x) = µ0 j(t, x) + ε0 E(t, x) (1.26)
∂t

where the last term ∂ε0 E(t, x)/∂t is the famous displacement current. This
term was introduced, in a stroke of genius, by Maxwell [8] in order to make
the right hand side of this equation divergence free when j(t, x) is assumed to
represent the density of the total electric current, which can be split up in ‘or-
dinary’ conduction currents, polarisation currents and magnetisation currents.
The displacement current is an extra term which behaves like a current density
flowing in vacuum. As we shall see later, its existence has far-reaching phys-
ical consequences as it predicts the existence of electromagnetic radiation that
can carry energy and momentum over very long distances, even in vacuum.

1.3.3 Electromotive force

If an electric field E(t, x) is applied to a conducting medium, a current density
j(t, x) will be produced in this medium. There exist also hydrodynamical and
chemical processes which can create currents. Under certain physical condi-
tions, and for certain materials, one can sometimes assume a linear relationship
between the electric current density j and E, called Ohm’s law:

j(t, x) = σE(t, x) (1.27)

where σ is the electric conductivity (S/m). In the most general cases, for in-
stance in an anisotropic conductor, σ is a tensor.
We can view Ohm’s law, Equation (1.27) above, as the first term in a Taylor
expansion of the law j[E(t, x)]. This general law incorporates non-linear effects
such as frequency mixing. Examples of media which are highly non-linear are
semiconductors and plasma. We draw the attention to the fact that even in cases

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12 C LASSICAL E LECTRODYNAMICS

when the linear relation between E and j is a good approximation, we still have
to use Ohm’s law with care. The conductivity σ is, in general, time-dependent
(temporal dispersive media) but then it is often the case that Equation (1.27)
on the preceding page is valid for each individual Fourier component of the
field.
If the current is caused by an applied electric field E(t, x), this electric field
will exert work on the charges in the medium and, unless the medium is super-
conducting, there will be some energy loss. The rate at which this energy is
expended is j · E per unit volume. If E is irrotational (conservative), j will
decay away with time. Stationary currents therefore require that an electric
field which corresponds to an electromotive force (EMF) is present. In the
presence of such a field EEMF , Ohm’s law, Equation (1.27) on the previous
page, takes the form

j = σ(Estat + EEMF ) (1.28)

The electromotive force is defined as


E= dl · (Estat + EEMF ) (1.29)
C

where dl is a tangential line element of the closed loop C.

1.3.4 Faraday’s law of induction

In Subsection 1.1.2 we derived the differential equations for the electrostatic
field. In particular, on page 5 we derived Equation (1.8) which states that
∇ × Estat (x) = 0 and thus that Estat is a conservative field (it can be expressed
as a gradient of a scalar field). This implies that the closed line integral of E stat
in Equation (1.29) above vanishes and that this equation becomes

E= dl · EEMF (1.30)
C

It has been established experimentally that a nonconservative EMF field is

produced in a closed circuit C in the magnetic flux through this circuit varies
with time. This is formulated in Faraday’s law which, in Maxwell’s general-
ised form, reads

d
E(t, x) = dl · E(t, x) = − Φm (t, x)
C dt
  (1.31)
d ∂
=− dS · B(t, x) = − dS · B(t, x)
dt S S ∂t

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1.3 E LECTRODYNAMICS 13

dS
v
B(x)

dl

B(x)

F IGURE 1.4: A loop C which moves with velocity v in a spatially varying

magnetic field B(x) will sense a varying magnetic flux during the motion.

where Φm is the magnetic flux and S is the surface encircled by C which can be
interpreted as a generic stationary ‘loop’ and not necessarily as a conducting
circuit. Application of Stokes’ theorem on this integral equation, transforms it
into the differential equation
∂
∇ × E(t, x) = −B(t, x) (1.32)
∂t
which is valid for arbitrary variations in the fields and constitutes the Maxwell
equation which explicitly connects electricity with magnetism.
Any change of the magnetic flux Φm will induce an EMF. Let us there-
fore consider the case, illustrated if Figure 1.3.4, that the ‘loop’ is moved in
such a way that it links a magnetic field which varies during the movement.
The convective derivative is evaluated according to the well-known operator
formula

d ∂
= +v·∇ (1.33)
dt ∂t

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14 C LASSICAL E LECTRODYNAMICS

which follows immediately from the rules of differentiation of an arbitrary

differentiable function f (t, x(t)). Applying this rule to Faraday’s law, Equa-
tion (1.31) on page 12, we obtain
  
d ∂B
E(t, x) = − dS · B = − dS · − dS · (v · ∇)B (1.34)
dt S S ∂t S

During spatial differentiation v is to be considered as constant, and Equa-

tion (1.17) on page 8 holds also for time-varying fields:

∇ · B(t, x) = 0 (1.35)

(it is one of Maxwell’s equations) so that, according to Formula (F.59) on

page 168,

∇ × (B × v) = (v · ∇)B (1.36)

allowing us to rewrite Equation (1.34) in the following way:

 
d
E(t, x) = dl · E EMF
=− dS · B
C dt S
  (1.37)
∂B
= − dS · − dS · ∇ × (B × v)
S ∂t S

With Stokes’ theorem applied to the last integral, we finally get

  
∂B
E(t, x) = dl · EEMF = − dS · − dl · (B × v) (1.38)
C S ∂t C

or, rearranging the terms,

 
∂B
dl · (EEMF − v × B) = − dS · (1.39)
C S ∂t

where EEMF is the field which is induced in the ‘loop’, i.e., in the moving
system. The use of Stokes’ theorem ‘backwards’ on Equation (1.39) above
yields

∂B
∇ × (EEMF − v × B) = − (1.40)
∂t
In the fixed system, an observer measures the electric field

E = EEMF − v × B (1.41)

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1.3 E LECTRODYNAMICS 15

Hence, a moving observer measures the following Lorentz force on a charge q

qEEMF = qE + q(v × B) (1.42)

corresponding to an ‘effective’ electric field in the ‘loop’ (moving observer)

EEMF = E + (v × B) (1.43)

Hence, we can conclude that for a stationary observer, the Maxwell equation

∂B
∇×E = − (1.44)
∂t
is indeed valid even if the ‘loop’ is moving.

1.3.5 Maxwell’s microscopic equations

We are now able to collect the results from the above considerations and for-
mulate the equations of classical electrodynamics valid for arbitrary variations
in time and space of the coupled electric and magnetic fields E(t, x) and B(t, x).
The equations are

ρ(t, x)
∇·E = (1.45a)
ε0
∂B
∇×E = − (1.45b)
∂t
∇·B = 0 (1.45c)
∂E
∇ × B = ε0 µ0 + µ0 j(t, x) (1.45d)
∂t
In these equations ρ(t, x) represents the total, possibly both time and space de-
pendent, electric charge, i.e., free as well as induced (polarisation) charges,
and j(t, x) represents the total, possibly both time and space dependent, elec-
tric current, i.e., conduction currents (motion of free charges) as well as all
atomistic (polarisation, magnetisation) currents. As they stand, the equations
therefore incorporate the classical interaction between all electric charges and
currents in the system and are called Maxwell’s microscopic equations. An-
other name often used for them is the Maxwell-Lorentz equations. Together
with the appropriate constitutive relations, which relate ρ and j to the fields,
and the initial and boundary conditions pertinent to the physical situation at
hand, they form a system of well-posed partial differential equations which
completely determine E and B.

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16 C LASSICAL E LECTRODYNAMICS

1.3.6 Maxwell’s macroscopic equations

The microscopic field equations (1.45) provide a correct classical picture for
arbitrary field and source distributions, including both microscopic and macro-
scopic scales. However, for macroscopic substances it is sometimes conveni-
ent to introduce new derived fields which represent the electric and magnetic
fields in which, in an average sense, the material properties of the substances
are already included. These fields are the electric displacement D and the mag-
netising field H. In the most general case, these derived fields are complicated
nonlocal, nonlinear functionals of the primary fields E and B:

D = D[t, x; E, B] (1.46a)
H = H[t, x; E, B] (1.46b)

Under certain conditions, for instance for very low field strengths, we may
assume that the response of a substance to the fields is linear so that

D = εE (1.47)
H = µ−1 B (1.48)

i.e., that the derived fields are linearly proportional to the primary fields and
that the electric displacement (magnetising field) is only dependent on the elec-
tric (magnetic) field.
The field equations expressed in terms of the derived field quantities D and
H are

∇ · D = ρ(t, x) (1.49a)
∂B
∇×E = − (1.49b)
∂t
∇·B = 0 (1.49c)
∂D
∇×H = + j(t, x) (1.49d)
∂t
and are called Maxwell’s macroscopic equations. We will study them in more
detail in Chapter 6.

1.4 Electromagnetic Duality

If we look more closely at the microscopic Maxwell equations (1.45), we see
that they exhibit a certain, albeit not a complete, symmetry. Let us follow Dirac

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1.4 E LECTROMAGNETIC D UALITY 17

and make the ad hoc assumption that there exist magnetic monopoles repres-
ented by a magnetic charge density, which we denote by ρ m = ρm (t, x), and a
magnetic current density, which we denote by j m = jm (t, x). With these new
quantities included in the theory, and with the electric charge density denoted
ρe and the electric current density denoted j e , the Maxwell equations will be
symmetrised into the following four coupled, vector, partial differential equa-
tions:
ρe
∇·E = (1.50a)
ε0
∂B
∇×E = − − µ0 jm (1.50b)
∂t
1 ρm
∇ · B = µ0 ρm = 2 (1.50c)
c ε0
∂E 1 ∂E
∇ × B = ε0 µ0 + µ0 je = 2 + µ0 je (1.50d)
∂t c ∂t
We shall call these equations Dirac’s symmetrised Maxwell equations or the
electromagnetodynamic equations.
Taking the divergence of (1.50b), we find that
∂
∇ · (∇ × E) = − (∇ · B) − µ0 ∇ · jm ≡ 0 (1.51)
∂t
where we used the fact that, according to Formula (F.63) on page 168, the
divergence of a curl always vanishes. Using (1.50c) to rewrite this relation, we
obtain the equation of continuity for magnetic monopoles
∂ρm
+ ∇ · jm = 0 (1.52)
∂t
which has the same form as that for the electric monopoles (electric charges)
and currents, Equation (1.23) on page 10.
We notice that the new Equations (1.50) exhibit the following symmetry
(recall that ε0 µ0 = 1/c2 ):

E → cB (1.53a)
cB → −E (1.53b)
cρ → ρ
e m
(1.53c)
ρ → −cρ
m e
(1.53d)
cj → j
e m
(1.53e)
j → −cj
m e
(1.53f)

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18 C LASSICAL E LECTRODYNAMICS

which is a particular case (θ = π/2) of the general duality transformation (de-

picted by the Hodge star operator)

E = E cos θ + cB sin θ (1.54a)

c B = −E sin θ + cB cos θ (1.54b)
e
c ρ = cρ cos θ + ρ sin θ
e m
(1.54c)
m
ρ = −cρ sin θ + ρ cos θ
e m
(1.54d)
e
c j = cj cos θ + j sin θ
e m
(1.54e)
m
j = −cj sin θ + j cos θ
e m
(1.54f)
which leaves the symmetrised Maxwell equations, and hence the physics they
describe (often referred to as electromagnetodynamics), invariant. Since E and
je are (true or polar) vectors, B a pseudovector (axial vector), ρ e a (true) scalar,
then ρm and θ, which behaves as a mixing angle in a two-dimensional ‘charge
space’, must be pseudoscalars and j m a pseudovector.

E XAMPLE 1.1
FARADAY ’ S LAW AS A CONSEQUENCE OF CONSERVATION OF MAGNETIC CHARGE

Postulate 1.1 (Indestructibility of magnetic charge). Magnetic charge exists and is
indestructible in the same way that electric charge exists and is indestructible. In other
words we postulate that there exists an equation of continuity for magnetic charges:
∂ρm (t, x)
+ ∇ · jm (t, x) = 0
∂t
Use this postulate and Dirac’s symmetrised form of Maxwell’s equations to derive
Faraday’s law.
The assumption of the existence of magnetic charges suggests a Coulomb-like law for
magnetic fields:
 

µ0 x − x
µ0 1
Bstat (x) = d3x
ρm (x
) = − d3
m

x ρ (x )∇
4π V
|x − x
|3 4π V
|x − x
|


µ0 1
= − ∇ d3x
ρm (x
)
4π V
|x − x
|
(1.55)
[cf. Equation (1.5) on page 4 for Estat ] and, if magnetic currents exist, a Biot-Savart-
like law for electric fields [cf. Equation (1.15) on page 8 for Bstat ]:
 

µ0 x − x
µ0 1
Estat (x) = − d3x
jm (x
) × = d3
m

x j (x ) × ∇
4π V
|x − x
|3 4π V
|x − x
|

µ0 jm (x
)
= − ∇ × d3x

4π V
|x − x
|
(1.56)
Taking the curl of the latter and using the operator ‘bac-cab’ rule, Formula (F.59) on

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1.4 E LECTROMAGNETIC D UALITY 19

page 168, we find that

 m


µ0 3
j (x )
∇ × E (x) = − ∇ × ∇ × d x
stat
=
4π V
|x − x
|

 

µ0 3
m
2 1 µ0 3
m


1
=− d x j (x )∇ + d x [j (x ) · ∇ ]∇
4π V
|x − x
| 4π V
|x − x
|
(1.57)
Comparing with Equation (1.18) on page 9 for Estat and the evaluation of the integrals
there, we obtain

∇ × Estat (x) = −µ0 d3x
jm (x
) δ(x − x
) = −µ0 jm (x) (1.58)
V

We assume that Formula (1.56) on the preceding page is valid also for time-varying
magnetic currents. Then, with the use of the representation of the Dirac delta function,
Equation (F.73) on page 169, the equation of continuity for magnetic charge, Equa-
tion (1.52) on page 17, and the assumption of the generalisation of Equation (1.55) on
the facing page to time-dependent magnetic charge distributions, we obtain, formally,
 

3
m

µ0 ∂ 3
m

1
∇ × E(t, x) = −µ0 d x j (t, x )δ(x − x ) − d x ρ (t, x )∇
V
4π ∂t V
|x − x
|
∂
= −µ0 jm (t, x) − B(t, x)
∂t
(1.59)
[cf. Equation (1.24) on page 10] which we recognise as Equation (1.50b) on page 17.
A transformation of this electromagnetodynamic result by rotating into the ‘electric
realm’ of charge space, thereby letting jm tend to zero, yields the electrodynamic
Equation (1.50b) on page 17, i.e., the Faraday law in the ordinary Maxwell equations.
This process also provides an alternative interpretation of the term ∂B∂t as a magnetic
displacement current, dual to the electric displacement current [cf. Equation (1.26) on
page 11].
By postulating the indestructibility of a hypothetical magnetic charge, we have thereby
been able to replace Faraday’s experimental results on electromotive forces and induc-
tion in loops as a foundation for the Maxwell equations by a more appealing one.
E ND OF EXAMPLE 1.1

D UALITY OF THE ELECTROMAGNETODYNAMIC EQUATIONS E XAMPLE 1.2

Show that the symmetric, electromagnetodynamic form of Maxwell’s equations
(Dirac’s symmetrised Maxwell equations), Equations (1.50) on page 17, are invari-
ant under the duality transformation (1.54).
Explicit application of the transformation yields

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20 C LASSICAL E LECTRODYNAMICS

ρe
∇ · E = ∇ · (E cos θ + cB sin θ) = cos θ + cµ0 ρm sin θ
ε

0 e (1.60)
1 1 ρ
= ρe cos θ + ρm sin θ =
ε0 c ε0


∂ B ∂ 1
∇ × E + = ∇ × (E cos θ + cB sin θ) + − E sin θ + B cos θ
∂t ∂t c
∂B 1 ∂E
= −µ0 jm cos θ − cos θ + cµ0 je sin θ + sin θ
∂t c ∂t (1.61)
1 ∂E ∂B
− sin θ + cos θ = −µ0 jm cos θ + cµ0 je sin θ
c ∂t ∂t
= −µ0 (−cje sin θ + jm cos θ) = −µ0 jm
1 ρe
∇ · B = ∇ · (− E sin θ + B cos θ) = − sin θ + µ0 ρm cos θ
c cε0 (1.62)

= µ0 −cρe sin θ + ρm cos θ = µ0 ρm
1 ∂ E 1 1 ∂
∇ × B − = ∇ × (− E sin θ + B cos θ) − 2 (E cos θ + cB sin θ)
c2 ∂t c c ∂t
1 1 ∂B 1 ∂E
= µ0 jm sin θ + cos θ + µ0 je cos θ + 2 cos θ
c c ∂t c ∂t
(1.63)
1 ∂E 1 ∂B
− 2 cos θ − sin θ
c
∂t c ∂t 
1 m
= µ0 j sin θ + je cos θ = µ0 je
c
QED 
E ND OF EXAMPLE 1.2

E XAMPLE 1.3
D IRAC ’ S SYMMETRISED M AXWELL EQUATIONS FOR A FIXED MIXING ANGLE
Show that for a fixed mixing angle θ such that
ρm = cρe tan θ (1.64a)
jm = cje tan θ (1.64b)
the symmetrised Maxwell equations reduce to the usual Maxwell equations.
Explicit application of the fixed mixing angle conditions on the duality transformation
(1.54) on page 18 yields
e 1 1
ρ = ρe cos θ + ρm sin θ = ρe cos θ + cρe tan θ sin θ
c c (1.65a)
1 1 e
= (ρ cos θ + ρ sin θ) =
e 2 e 2
ρ
cos θ cos θ
m
ρ = −cρe sin θ + cρe tan θ cos θ = −cρe sin θ + cρe sin θ = 0 (1.65b)
e 1 e 1 e
j = je cos θ + je tan θ sin θ = (j cos2 θ + je sin2 θ) = j (1.65c)
cos θ cos θ
m
j = −cje sin θ + cje tan θ cos θ = −cje sin θ + cje sin θ = 0 (1.65d)

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1.4 E LECTROMAGNETIC D UALITY 21

Hence, a fixed mixing angle, or, equivalently, a fixed ratio between the electric and
magnetic charges/currents, ‘hides’ the magnetic monopole influence (ρm and jm ) on
the dynamic equations.

We notice that the inverse of the transformation given by Equation (1.54) on page 18
yields

E = E cos θ − c B sin θ (1.66)

This means that

∇ · E = ∇ · E cos θ − c∇ · B sin θ (1.67)

Furthermore, from the expressions for the transformed charges and currents above, we
find that
ρe 1 ρe
∇ · E = = (1.68)
ε0 cos θ ε0

and

∇ · B = µ0 ρm = 0 (1.69)

so that

1 ρe ρe
∇·E = cos θ − 0 = (1.70)
cos θ ε0 ε0

and so on for the other equations. QED 

E ND OF EXAMPLE 1.3

The invariance of Dirac’s symmetrised Maxwell equations under the sim-

ilarity transformation means that the amount of magnetic monopole density
ρm is irrelevant for the physics as long as the ratio ρ m /ρe = tan θ is kept con-
stant. So whether we assume that the particles are only electrically charged or
have also a magnetic charge with a given, fixed ratio between the two types of
charges is a matter of convention, as long as we assume that this fraction is the
same for all particles. Such particles are referred to as dyons [14]. By varying
the mixing angle θ we can change the fraction of magnetic monopoles at will
without changing the laws of electrodynamics. For θ = 0 we recover the usual
Maxwell electrodynamics as we know it. 1

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22 C LASSICAL E LECTRODYNAMICS

E XAMPLE 1.4
T HE COMPLEX FIELD SIX - VECTOR

The complex field six-vector
G(t, x) = E(t, x) + icB(t, x) (1.71)
where E, B ∈ R3 and hence G ∈ C3 , has a number of interesting properties:

1. The inner product of G with itself

G · G = (E + icB) · (E + icB) = E 2 − c2 B2 + 2icE · B (1.72)
is conserved. I.e.,
E 2 − c2 B2 = Const (1.73a)
E · B = Const (1.73b)
as we shall see later.
2. The inner product of G with the complex conjugate of itself
G · G∗ = (E + icB) · (E − icB) = E 2 + c2 B2 (1.74)
is proportional to the electromagnetic field energy.
3. As with any vector, the cross product of G itself vanishes:
G × G = (E + icB) × (E + icB)
= E × E − c2 B × B + ic(E × B) + ic(B × E) (1.75)
= 0 + 0 + ic(E × B) − ic(E × B) = 0

4. The cross product of G with the complex conjugate of itself

G × G∗ = (E + icB) × (E − icB)
= E × E + c2 B × B − ic(E × B) + ic(B × E) (1.76)
= 0 + 0 − ic(E × B) − ic(E × B) = −2ic(E × B)
is proportional to the electromagnetic power flux.

E ND OF EXAMPLE 1.4

E XAMPLE 1.5
D UALITY EXPRESSED IN THE COMPLEX FIELD SIX - VECTOR

Expressed in the complex field vector, introduced in Example 1.4, the duality trans-
1 Nobel laureate Julian Schwinger (1918–1994) has put it [15]:
‘. . . there are strong theoretical reasons to believe that magnetic charge exists in
nature, and may have played an important role in the development of the uni-
verse. Searches for magnetic charge continue at the present time, emphasizing
that electromagnetism is very far from being a closed object’.

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1.4 B IBLIOGRAPHY 23

formation Equations (1.54) on page 18 become

G = E + ic B = E cos θ + cB sin θ − iE sin θ + icB cos θ
(1.77)
= E(cos θ − i sin θ) + icB(cos θ − i sin θ) = e−iθ (E + icB) = e−iθ G
from which it is easy to see that
 2

G · G∗ =  G = e−iθ G · eiθ G∗ = |G|2 (1.78)
while

G · G = e−2iθ G · G (1.79)

Furthermore, assuming that θ = θ(t, x), we see that the spatial and temporal differenti-
ation of G leads to
∂ G
∂t G ≡ = −i(∂t θ)e−iθ G + e−iθ ∂t G (1.80a)
∂t
∂ · G ≡ ∇ · G = −ie−iθ ∇θ · G + e−iθ ∇ · G (1.80b)
−iθ −iθ
∂ × G ≡ ∇ × G = −ie ∇θ × G + e ∇×G (1.80c)
which means that ∂t G transforms as G itself only if θ is time-independent, and that
∇ · G and ∇ × G transform as G itself only if θ is space-independent.
E ND OF EXAMPLE 1.5

Bibliography
[1] T. W. BARRETT AND D. M. G RIMES, Advanced Electromagnetism. Found-
ations, Theory and Applications, World Scientific Publishing Co., Singapore,
1995, ISBN 981-02-2095-2.

[2] R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc.,

New York, NY, 1982, ISBN 0-486-64290-9.

[3] W. G REINER, Classical Electrodynamics, Springer-Verlag, New York, Berlin,

Heidelberg, 1996, ISBN 0-387-94799-X.

[4] E. H ALLÉN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962.

[5] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.

[6] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.

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24 C LASSICAL E LECTRODYNAMICS

[7] F. E. L OW, Classical Field Theory, John Wiley & Sons, Inc., New York, NY . . . ,
1997, ISBN 0-471-59551-9.

[8] J. C. M AXWELL, A dynamical theory of the electromagnetic field, Royal Soci-

ety Transactions, 155 (1864).

[9] J. C. M AXWELL, A Treatise on Electricity and Magnetism, third ed., vol. 1,

Dover Publications, Inc., New York, NY, 1954, ISBN 0-486-60636-8.

[10] J. C. M AXWELL, A Treatise on Electricity and Magnetism, third ed., vol. 2,

Dover Publications, Inc., New York, NY, 1954, ISBN 0-486-60637-8.

[11] D. B. M ELROSE AND R. C. M C P HEDRAN, Electromagnetic Processes in Dis-

persive Media, Cambridge University Press, Cambridge . . . , 1991, ISBN 0-521-
41025-8.

[12] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

[13] F. ROHRLICH, Classical Charged Particles, Perseus Books Publishing, L.L.C.,

Reading, MA . . . , 1990, ISBN 0-201-48300-9.

[14] J. S CHWINGER, A magnetic model of matter, Science, 165 (1969), pp. 757–761.

[15] J. S CHWINGER , L. L. D E R AAD , J R ., K. A. M ILTON , AND W. T SAI, Classical

Electrodynamics, Perseus Books, Reading, MA, 1998, ISBN 0-7382-0056-5.

[16] J. A. S TRATTON, Electromagnetic Theory, McGraw-Hill Book Company, Inc.,

New York, NY and London, 1953, ISBN 07-062150-0.

[17] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc.,
New York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-
57269-1.

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2
Electromagnetic
Waves

In this chapter we investigate the dynamical properties of the electromagnetic

field by deriving a set of equations which are alternatives to the Maxwell equa-
tions. It turns out that these alternative equations are wave equations, indic-
ating that electromagnetic waves are natural and common manifestations of
electrodynamics.
Maxwell’s microscopic equations [cf. Equations (1.45) on page 15] are

ρ(t, x)
∇·E = (Coulomb’s/Gauss’s law) (2.1a)
ε0
∂B
∇×E = − (Faraday’s law) (2.1b)
∂t
∇·B = 0 (No free magnetic charges) (2.1c)
∂E
∇ × B = ε0 µ0 + µ0 j(t, x) (Ampère’s/Maxwell’s law) (2.1d)
∂t

and can be viewed as an axiomatic basis for classical electrodynamics. In par-

ticular, these equations are well suited for calculating the electric and magnetic
fields E and B from given, prescribed charge distributions ρ(t, x) and current
distributions j(t, x) of arbitrary time- and space-dependent form.
However, as is well known from the theory of differential equations, these
four first order, coupled partial differential vector equations can be rewritten
as two un-coupled, second order partial equations, one for E and one for B.
We shall derive these second order equations which, as we shall see are wave
equations, and then discuss the implications of them. We shall also show how
the B wave field can be easily calculated from the solution of the E wave
equation.

25

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26 E LECTROMAGNETIC WAVES

2.1 The Wave Equations

We restrict ourselves to derive the wave equations for the electric field vector
E and the magnetic field vector B in a volume with no net charge, ρ = 0, and
no electromotive force EEMF = 0.

2.1.1 The wave equation for E

In order to derive the wave equation for E we take the curl of (2.1b) and using
(2.1d), to obtain


∂ ∂ ∂
∇ × (∇ × E) = − (∇ × B) = −µ0 j + ε0 E (2.2)
∂t ∂t ∂t
According to the operator triple product ‘bac-cab’ rule Equation (F.64) on
page 168

∇ × (∇ × E) = ∇(∇ · E) − ∇2 E (2.3)

Furthermore, since ρ = 0, Equation (2.1a) on the preceding page yields

∇·E = 0 (2.4)

and since EEMF = 0, Ohm’s law, Equation (1.28) on page 12, yields

j = σE (2.5)

we find that Equation (2.2) can be rewritten


∂ ∂
∇ E − µ0
2
σE + ε0 E = 0 (2.6)
∂t ∂t
or, also using Equation (1.11) on page 6 and rearranging,

∂E 1 ∂2 E
∇2 E − µ0 σ − =0 (2.7)
∂t c2 ∂t2
which is the homogeneous wave equation for E.

2.1.2 The wave equation for B

The wave equation for B is derived in much the same way as the wave equation
for E. Take the curl of (2.1d) and use Ohm’s law j = σE to obtain
∂ ∂
∇ × (∇ × B) = µ0 ∇ × j + ε0 µ0 (∇ × E) = µ0 σ∇ × E + ε0 µ0 (∇ × E) (2.8)
∂t ∂t

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2.1 T HE WAVE E QUATIONS 27

which, with the use of Equation (F.64) on page 168 and Equation (2.1c) on
page 25 can be rewritten
∂B ∂2
∇(∇ · B) − ∇2 B = −µ0 σ − ε0 µ0 2 B (2.9)
∂t ∂t
Using the fact that, according to (2.1c), ∇ · B = 0 for any medium and rearran-
ging, we can rewrite this equation as
∂B 1 ∂2 B
∇2 B − µ0 σ − =0 (2.10)
∂t c2 ∂t2
This is the wave equation for the magnetic field. We notice that it is of exactly
the same form as the wave equation for the electric field, Equation (2.7) on the
facing page.

2.1.3 The time-independent wave equation for E

We now look for a solution to any of the wave equations in the form of a time-
harmonic wave. As is clear from the above, it suffices to consider only the E
field, since the results for the B field follow trivially. We therefore make the
following Fourier component Ansatz
E = E0 (x)e−iωt (2.11)
and insert this into Equation (2.7) on the preceding page. This yields
∂ 1 ∂2
∇2 E − µ0 σ E0 (x)e−iωt − 2 2 E0 (x)e−iωt
∂t c ∂t
1
= ∇2 E − µ0 σ(−iω)E0 (x)e−iωt − 2 (−iω)2 E0 (x)e−iωt
c
1 (2.12)
= ∇ E − µ0 σ(−iω)E − 2 (−iω) E =
2 2

c
ω 2 σ
= ∇2 E + 2 1 + i E=0
c ε0 ω
Introducing the relaxation time τ = ε 0 /σ of the medium in question we can
rewrite this equation as


ω2 i
∇ E+ 2 1+
2
E=0 (2.13)
c τω
In the limit of long τ, Equation (2.13) tends to
ω2
∇2 E + E=0 (2.14)
c2

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28 E LECTROMAGNETIC WAVES

which is a time-independent wave equation for E, representing weakly damped

propagating waves. In the short τ limit we have instead

∇2 E + iωµ0 σE = 0 (2.15)

which is a time-independent diffusion equation for E.

For most metals τ ∼ 10−14 s, which means that the diffusion picture is good
for all frequencies lower than optical frequencies. Hence, in metallic conduct-
ors, the propagation term ∂2 E/c2 ∂t2 is negligible even for VHF, UHF, and
SHF signals. Alternatively, we may say that the displacement current ε 0 ∂E/∂t
is negligible relative to the conduction current j = σE.
If we introduce the vacuum wave number
ω
k= (2.16)
c
√
we can write, using the fact that c = 1/ ε0 µ0 according to Equation (1.11) on
page 6,

1 σ σ 1 σ µ0 σ
= = = = R0 (2.17)
τω ε0 ω ε0 ck k ε0 k
where in the last step we introduced the characteristic impedance for vacuum

µ0
R0 = ≈ 376.7 Ω (2.18)
ε0

E XAMPLE 2.1
WAVE EQUATIONS IN ELECTROMAGNETODYNAMICS

Derive the wave equation for the E field described by the electromagnetodynamic
equations (Dirac’s symmetrised Maxwell equations) [cf. Equations (1.50) on page 17]

ρe
∇·E = (2.19a)
ε0
∂B
∇×E = − − µ0 jm (2.19b)
∂t
∇ · B = µ0 ρm (2.19c)
∂E
∇ × B = ε 0 µ0 + µ0 je (2.19d)
∂t
under the assumption of vanishing net electric and magnetic charge densities and in
the absence of electromotive and magnetomotive forces. Interpret this equation phys-
ically.
Taking the curl of (2.19b) and using (2.19d), and assuming, for symmetry reasons, that
there exists a linear relation between the magnetic current density jm and the magnetic

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2.1 T HE WAVE E QUATIONS 29

field B (the analogue of Ohm’s law for electric currents, je = σe E)

jm = σm B (2.20)
one finds, noting that ε0 µ0 = 1/c2 , that


∂ ∂ 1 ∂E
∇ × (∇ × E) = −µ0 ∇ × j − (∇ × B) = −µ0 σ ∇ × B −
m m
µ0 j + 2
e
∂t ∂t c ∂t


1 ∂E ∂E 1 ∂2E
= −µ0 σm µ0 σe E + 2 − µ0 σ e −
c ∂t ∂t c2 ∂t2
(2.21)
Using the vector operator identity ∇ × (∇ × E) = ∇(∇ · E) − ∇2 E, and the fact that
∇ · E = 0 for a vanishing net electric charge, we can rewrite the wave equation as


σm ∂E 1 ∂2 E
∇2 E − µ0 σe + 2 − − µ20 σm σe E = 0 (2.22)
c ∂t c2 ∂t2
This is the homogeneous electromagnetodynamic wave equation for E we were after.
Compared to the ordinary electrodynamic wave equation for E, Equation (2.7) on
page 26, we see that we pick up extra terms. In order to understand what these extra
terms mean physically, we analyse the time-independent wave equation for a single
Fourier component. Then our wave equation becomes


e σ ω2
m
∇ E + iωµ0 σ + 2 E + 2 E − µ20 σm σe E
2
c c

  (2.23)
ω 2 1 µ0 m e σe + σm /c2
= ∇ E+ 2
2
1− 2 σ σ +i E=0
c ω ε0 ε0 ω
Realising that, according to Formula (2.18) on the preceding page, µ0 /ε0 is the square
of the vacuum radiation resistance R0 , and rearranging a bit, we obtain the time-
independent wave equation in Dirac’s symmetrised electrodynamics
⎛ ⎞


ω 2 R 2
⎜ σ + σ /c
e m 2
⎟
∇2 E + 2 1 − 02 σm σe ⎝1 + i  ⎠E = 0 (2.24)
c ω R20 m e
ε 0 ω 1 − ω2 σ σ
From this equation we conclude that the existence of magnetic charges (magnetic
monopoles), and non-vanishing electric and magnetic conductivities would lead to
a shift in the effective wave number of the wave. Furthermore, even if the electric
conductivity vanishes, the imaginary term does not necessarily vanish and the wave
might therefore experience damping (or growth) according as σm is positive (or neg-
ative) in
√ a perfect electric isolator. Finally, we note that in the particular case that
ω = R0 σm σe , the wave equation becomes a (time-independent) diffusion equation


σm
∇2 E + iωµ0 σe + 2 E = 0 (2.25)
c
and, hence, no waves exist at all!
E ND OF EXAMPLE 2.1

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30 E LECTROMAGNETIC WAVES

2.2 Plane Waves

Consider now the case where all fields depend only on the distance ζ to a given
plane with unit normal n̂. Then the del operator becomes
∂
∇ = n̂ (2.26)
∂ζ
and Maxwell’s equations attain the form
∂E
n̂· =0 (2.27a)
∂ζ
∂E ∂B
n̂× =− (2.27b)
∂ζ ∂t
∂B
n̂· =0 (2.27c)
∂ζ
∂B ∂E ∂E
n̂× = µ0 j(t, x) + ε0 µ0 = µ0 σE + ε0 µ0 (2.27d)
∂ζ ∂t ∂t
Scalar multiplying (2.27d) by n̂, we find that



∂B ∂
0 = n̂· n̂× = n̂· µ0 σ + ε0 µ0 E (2.28)
∂ζ ∂t
which simplifies to the first-order ordinary differential equation for the normal
component En of the electric field
dEn σ
+ En = 0 (2.29)
dt ε0
with the solution

En = En0 e−σt/ε0 = En0 e−t/τ (2.30)

This, together with (2.27a), shows that the longitudinal component of E, i.e.,
the component which is perpendicular to the plane surface is independent of ζ
and has a time dependence which exhibits an exponential decay, with a decre-
ment given by the relaxation time τ in the medium.
Scalar multiplying (2.27b) by n̂, we similarly find that


∂E ∂B
0 = n̂· n̂× = − n̂· (2.31)
∂ζ ∂t
or
∂B
n̂· =0 (2.32)
∂t

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2.2 P LANE WAVES 31

From this, and (2.27c), we conclude that the only longitudinal component of
B must be constant in both time and space. In other words, the only non-static
solution must consist of transverse components.

2.2.1 Telegrapher’s equation

In analogy with Equation (2.7) on page 26, we can easily derive the equation

∂2 E ∂E 1 ∂2 E
− µ0 σ − =0 (2.33)
∂ζ 2 ∂t c2 ∂t2

This equation, which describes the propagation of plane waves in a conducting

medium, is called the telegrapher’s equation. If the medium is an insulator
so that σ = 0, then the equation takes the form of the one-dimensional wave
equation

∂2 E 1 ∂2 E
− =0 (2.34)
∂ζ 2 c2 ∂t2

As is well known, each component of this equation has a solution which can
be written

Ei = f (ζ − ct) + g(ζ + ct), i = 1, 2, 3 (2.35)

where f and g are arbitrary (non-pathological) functions of their respective

arguments. This general solution represents perturbations which propagate
along ζ, where the f perturbation propagates in the positive ζ direction and the
g perturbation propagates in the negative ζ direction.
If we assume that our electromagnetic fields E and B are time-harmonic,
i.e., that they can each be represented by a Fourier component proportional to
exp{−iωt}, the solution of Equation (2.34) becomes

E = E0 e−i(ωt±kζ) = E0 ei(∓kζ−ωt) (2.36)

By introducing the wave vector

ω ω
k = k n̂ = n̂ = k̂ (2.37)
c c
this solution can be written as

E = E0 ei(k·x−ωt) (2.38)

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32 E LECTROMAGNETIC WAVES

Let us consider the lower sign in front of kζ in the exponent in (2.36).

This corresponds to a wave which propagates in the direction of increasing ζ.
Inserting this solution into Equation (2.27b) on page 30, gives
∂E
n̂× = iωB = ik n̂× E (2.39)
∂ζ
or, solving for B,
k 1 1 √
B= n̂× E = k × E = k̂ × E = ε0 µ0 n̂× E (2.40)
ω ω c
Hence, to each transverse component of E, there exists an associated magnetic
field given by Equation (2.40). If E and/or B has a direction in space which is
constant in time, we have a plane polarised wave (or linearly polarised wave).

2.2.2 Waves in conductive media

Assuming that our medium has a finite conductivity σ, and making the time-
harmonic wave Ansatz in Equation (2.33) on the previous page, we find that
the time-independent telegrapher’s equation can be written
∂2 E ∂2 E
+ ε0 µ0 ω 2
E + iµ0 σωE = + K2E = 0 (2.41)
∂ζ 2 ∂ζ 2
where




σ ω2 σ σ
K = ε0 µ0 ω 1 + i
2 2
= 2 1+i = k 1+i
2
(2.42)
ε0 ω c ε0 ω ε0 ω
where, in the last step, Equation (2.16) on page 28 was used to introduce the
wave number k. Taking the square root of this expression, we obtain

σ
K = k 1+i = α + iβ (2.43)
ε0 ω
Squaring, one finds that


σ
k 1+i
2
= (α2 − β2 ) + 2iαβ (2.44)
ε0 ω
or

β2 = α2 − k2 (2.45)
k2 σ
αβ = (2.46)
2ε0 ω

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2.2 P LANE WAVES 33

Squaring the latter and combining with the former, one obtains the second
order algebraic equation (in α 2 )
k4 σ2
α2 (α2 − k2 ) = (2.47)
4ε20 ω2
which can be easily solved and one finds that

  2

 1+ σ +1
 ε0 ω
α=k (2.48a)
2

  2

 1+ σ −1
 ε0 ω
β=k (2.48b)
2
As a consequence, the solution of the time-independent telegrapher’s equation,
Equation (2.41) on the preceding page, can be written
E = E0 e−βζ ei(αζ−ωt) (2.49)
With the aid of Equation (2.40) on the facing page we can calculate the asso-
ciated magnetic field, and find that it is given by
1 1 1
B= K k̂ × E = ( k̂ × E)(α + iβ) = ( k̂ × E) |A| eiγ (2.50)
ω ω ω
where we have, in the last step, rewritten α + iβ in the amplitude-phase form
|A| exp{iγ}. From the above, we immediately see that E, and consequently also
B, is damped, and that E and B in the wave are out of phase.
In the case that ε0 ω  σ, we can approximate K as follows:

1  1 
σ 2 σ  ε0 ω  2 σ
K = k 1+i =k i 1−i ≈ k(1 + i)
ε0 ω ε0 ω σ 2ε0 ω
  (2.51)
√ σ µ0 σω
= ε0 µ0 ω(1 + i) = (1 + i)
2ε0 ω 2
From this analysis we conclude that when the wave impinges perpendicu-
larly upon the medium, the fields are given, inside this medium, by
  
 

µ0 σω µ0 σω
E = E0 exp − ζ exp i ζ − ωt (2.52a)
2 2


µ0 σ
B = (1 + i) ( n̂× E
) (2.52b)
2ω

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34 E LECTROMAGNETIC WAVES

Hence, both fields fall off by a factor 1/e at a distance


2
δ= (2.53)
µ0 σω

This distance δ is called the skin depth.

2.3 Observables and Averages

In the above we have used complex notation quite extensively. This is for
mathematical convenience only. For instance, in this notation differentiations
are almost trivial to perform. However, every physical measurable quantity
is always real valued. I.e., ‘Ephysical = Re {Emathematical }’. It is particularly im-
portant to remember this when one works with products of physical quantit-
ies. For instance, if we have two physical vectors F and G which both are
time-harmonic, i.e., can be represented by Fourier components proportional to
exp{−iωt}, then we must make the following interpretation
   
F(t, x) · G(t, x) = Re {F} · Re {G} = Re F0 (x) e−iωt · Re G0 (x) e−iωt (2.54)

Furthermore, letting ∗ denotes complex conjugate, we can express the real part
of the complex vector F as

  1
Re {F} = Re F0 (x) e−iωt = [F0 (x) e−iωt + F∗0 (x) eiωt ] (2.55)
2
and similarly for G. Hence, the physically acceptable interpretation of the
scalar product of two complex vectors, representing physical observables, is
   
F(t, x) · G(t, x) = Re F0 (x) e−iωt · Re G0 (x) e−iωt
1 1
= [F0 (x) e−iωt + F∗0 (x) eiωt ] · [G0 (x) e−iωt + G∗0 (x) eiωt ]
2 2
1 
= F0 · G∗0 + F∗0 · G0 + F0 · G0 e−2iωt + F∗0 · G∗0 e2iωt
4
1   (2.56)
= Re F0 · G∗0 + F0 · G0 e−2iωt
2
1  
= Re F0 e−iωt · G∗0 eiωt + F0 · G0 e−2iωt
2
1  
= Re F(t, x) · G∗ (t, x) + F0 · G0 e−2iωt
2

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2.3 B IBLIOGRAPHY 35

Often in physics, we measure temporal averages ( ) of our physical ob-

servables. If so, we see that the average of the product of the two physical
quantities represented by F and G can be expressed as
1   1  
F · G ≡ Re {F} · Re {G} = Re F · G∗ = Re F∗ · G (2.57)
2 2
since the temporal average of the oscillating function exp{−2iωt} vanishes.

Bibliography
[1] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.

[2] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

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36 E LECTROMAGNETIC WAVES

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3
Electromagnetic
Potentials

Instead of expressing the laws of electrodynamics in terms of electric and mag-

netic fields, it turns out that it is often more convenient to express the theory in
terms of potentials. In this chapter we will introduce and study the properties
of such potentials.

3.1 The Electrostatic Scalar Potential

As we saw in Equation (1.8) on page 5, the electrostatic field E stat (x) is irrota-
tional. Hence, it may be expressed in terms of the gradient of a scalar field. If
we denote this scalar field by −φ stat (x), we get

Estat (x) = −∇φstat (x) (3.1)

Taking the divergence of this and using Equation (1.7) on page 5, we obtain
Poisson’s equation

ρ(x)
∇2 φstat (x) = −∇ · Estat (x) = − (3.2)
ε0

A comparison with the definition of Estat , namely Equation (1.5) on page 4,

shows that this equation has the solution

1 ρ(x
) 3

φstat (x) = d x +α (3.3)
4πε0 V
|x − x
|

where the integration is taken over all source points x
at which the charge
density ρ(x
) is non-zero and α is an arbitrary quantity which has a vanish-
ing gradient. An example of such a quantity is a scalar constant. The scalar
function φstat (x) in Equation (3.3) is called the electrostatic scalar potential.

37

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38 E LECTROMAGNETIC P OTENTIALS

3.2 The Magnetostatic Vector Potential

Consider the equations of magnetostatics (1.22) on page 9. From Equa-
tion (F.63) on page 168 we know that any 3D vector a has the property that
∇ · (∇ × a) ≡ 0 and in the derivation of Equation (1.17) on page 8 in magneto-
statics we found that ∇ · Bstat (x) = 0. We therefore realise that we can always
write

Bstat (x) = ∇ × Astat (x) (3.4)

where Astat (x) is called the magnetostatic vector potential.

We saw above that the electrostatic potential (as any scalar potential) is not
unique: we may, without changing the physics, add to it a quantity whose spa-
tial gradient vanishes. A similar arbitrariness is true also for the magnetostatic
vector potential.
In the magnetostatic case, we may start from Biot-Savart’s law as ex-
pressed by Equation (1.15) on page 8. Identifying this expression with Equa-
tion (3.4) allows us to define the static vector potential as

µ0 j(x
) 3

A stat
(x) = d x + a(x) (3.5)
4π V
|x − x
|

where a(x) is an arbitrary vector field whose curl vanishes. From Equa-
tion (F.62) on page 168 we know that such a vector can always be written
as the gradient of a scalar field.

3.3 The Electrodynamic Potentials

Let us now generalise the static analysis above to the electrodynamic case, i.e.,
the case with temporal and spatial dependent sources ρ(t, x) and j(t, x), and
corresponding fields E(t, x) and B(t, x), as described by Maxwell’s equations
(1.45) on page 15. In other words, let us study the electrodynamic potentials
φ(t, x) and A(t, x).
From Equation (1.45c) on page 15 we note that also in electrodynam-
ics the homogeneous equation ∇ · B(t, x) = 0 remains valid. Because of this
divergence-free nature of the time- and space-dependent magnetic field, we
can express it as the curl of an electromagnetic vector potential:

B(t, x) = ∇ × A(t, x) (3.6)

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3.3 T HE E LECTRODYNAMIC P OTENTIALS 39

Inserting this expression into the other homogeneous Maxwell equation, Equa-
tion (1.32) on page 13, we obtain

∂ ∂
∇ × E(t, x) = − [∇ × A(t, x)] = −∇ × A(t, x) (3.7)
∂t ∂t
or, rearranging the terms,


∂
∇ × E(t, x) + A(t, x) = 0 (3.8)
∂t

As before we utilise the vanishing curl of a vector expression to write this

vector expression as the gradient of a scalar function. If, in analogy with the
electrostatic case, we introduce the electromagnetic scalar potential function
−φ(t, x), Equation (3.8) becomes equivalent to

∂
E(t, x) + A(t, x) = −∇φ(t, x) (3.9)
∂t
This means that in electrodynamics, E(t, x) can be calculated from the formula

∂
E(t, x) = −∇φ(t, x) − A(t, x) (3.10)
∂t
and B(t, x) from Equation (3.6) on the preceding page. Hence, it is a matter
of taste whether we want to express the laws of electrodynamics in terms of
the potentials φ(t, x) and A(t, x), or in terms of the fields E(t, x) and B(t, x).
However, there exists an important difference between the two approaches: in
classical electrodynamics the only directly observable quantities are the fields
themselves (and quantities derived from them) and not the potentials. On the
other hand, the treatment becomes significantly simpler if we use the potentials
in our calculations and then, at the final stage, use Equation (3.6) on the facing
page and Equation (3.10) above to calculate the fields or physical quantities
expressed in the fields.
Inserting (3.10) and (3.6) on the facing page into Maxwell’s equa-
tions (1.45) on page 15 we obtain, after some simple algebra and the use of
Equation (1.11) on page 6, the general inhomogeneous wave equations

ρ(t, x) ∂
∇2 φ = − − (∇ · A) (3.11a)
ε0 ∂t
1∂ A
2 1 ∂φ
∇2 A − 2 2 − ∇(∇ · A) = −µ0 j(t, x) + 2 ∇ (3.11b)
c ∂t c ∂t

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40 E LECTROMAGNETIC P OTENTIALS

which can be rewritten in the following, more symmetric, form


1 ∂2 φ ρ(t, x) ∂ 1 ∂φ
−∇ φ =
2
+ ∇·A+ 2 (3.12a)
c2 ∂t2 ε0 ∂t c ∂t


1∂ A2 1 ∂φ
− ∇ A = µ0 j(t, x) − ∇ ∇ · A + 2
2
(3.12b)
c2 ∂t2 c ∂t

These two second order, coupled, partial differential equations, representing

in all four scalar equations (one for φ and one each for the three components
Ai , i = 1, 2, 3 of A) are completely equivalent to the formulation of electro-
dynamics in terms of Maxwell’s equations, which represent eight scalar first-
order, coupled, partial differential equations.
As they stand, Equations (3.11) on the preceding page and Equations (3.12)
above look complicated and may seem to be of limited use. However, if we
write Equation (3.6) on page 38 in the form ∇×A(t, x) = B(t, x) we can consider
this as a specification of ∇ × A. But we know from Helmholtz’ theorem that
in order to determine the (spatial) behaviour of A completely, we must also
specify ∇ · A. Since this divergence does not enter the derivation above, we are
free to choose ∇ · A in whatever way we like and still obtain the same physical
results!

3.3.1 Lorenz-Lorentz gauge

If we choose ∇ · A to fulfil the so called Lorenz-Lorentz gauge condition 1

1 ∂φ
∇·A+ =0 (3.13)
c2 ∂t
the coupled inhomegeneous wave Equation (3.12) on page 40 simplify into the
following set of uncoupled inhomogeneous wave equations:


def 1 ∂2 1 ∂2 φ ρ(t, x)
 φ ≡
2
− ∇ 2
φ = − ∇2 φ = (3.14a)
c2 ∂t2 c2 ∂t2 ε0


def 1 ∂2 1 ∂2 A
2 A ≡ − ∇2 A = 2 2 − ∇2 A = µ0 j(t, x) (3.14b)
c ∂t
2 2 c ∂t
1 Infact, the Dutch physicist Hendrik Antoon Lorentz, who in 1903 demonstrated the cov-
ariance of Maxwell’s equations, was not the original discoverer of this condition. It had been
discovered by the Danish physicist Ludvig V. Lorenz already in 1867 [5]. In the literature, this
fact has sometimes been overlooked and the condition was earlier referred to as the Lorentz
gauge condition.

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3.3 T HE E LECTRODYNAMIC P OTENTIALS 41

where 2 is the d’Alembert operator discussed in Example M.6 on page 185.

Each of these four scalar equations is an inhomogeneous wave equation of the
following generic form:

2 Ψ(t, x) = f (t, x) (3.15)

where Ψ is a shorthand for either φ or one of the components A i of the vec-

tor potential A, and f is the pertinent generic source component, ρ(t x)/ε 0 or
µ0 ji (t, x), respectively.
We assume that our sources are well-behaved enough in time t so that the
Fourier transform pair for the generic source function
 ∞
−1 def
F [ fω (x)] ≡ f (t, x) = dω fω (x) e−iωt (3.16a)
−∞
 ∞
def 1
F [ f (t, x)] ≡ fω (x) = dt f (t, x) eiωt (3.16b)
2π −∞

exists, and that the same is true for the generic potential component:
 ∞
Ψ(t, x) = dω Ψω (x) e−iωt (3.17a)
−∞

1 ∞
Ψω (x) = dt Ψ(t, x) eiωt (3.17b)
2π −∞

Inserting the Fourier representations (3.16a) and (3.17a) into Equation (3.15),
and using the vacuum dispersion relation for electromagnetic waves

ω = ck (3.18)

the generic 3D inhomogeneous wave equation, Equation (3.15) above, turns

into

∇2 Ψω (x) + k2 Ψω (x) = − fω (x) (3.19)

which is a 3D inhomogeneous time-independent wave equation, often called

the 3D inhomogeneous Helmholtz equation.
As postulated by Huygen’s principle, each point on a wave front acts as
a point source for spherical waves which form a new wave from a superpos-
ition of the individual waves from each of the point sources on the old wave
front. The solution of (3.19) can therefore be expressed as a superposition of
solutions of an equation where the source term has been replaced by a point
source:

∇2G(x, x
) + k2G(x, x
) = −δ(x − x
) (3.20)

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42 E LECTROMAGNETIC P OTENTIALS

and the solution of Equation (3.19) on the preceding page which corresponds
to the frequency ω is given by the superposition

Ψω (x) = d3x
fω (x
)G(x, x
) (3.21)
V

The function G(x, x
) is called the Green function or the propagator.

In Equation (3.20) on the previous page, the Dirac generalised function
δ(x − x
), which represents the point source, depends only on x − x
and there
is no angular dependence in the equation. Hence, the solution can only be de-
pendent on r = |x − x
| and not on the direction of x − x
. If we interpret r as the
radial coordinate in a spherically polar coordinate system, and recall the ex-
pression for the Laplace operator in such a coordinate system, Equation (3.20)
on the preceding page becomes

d2
(rG) + k2 (rG) = −rδ(r) (3.22)
dr2
Away from r = |x − x
| = 0, i.e., away from the source point x
, this equation
takes the form
d2
(rG) + k2 (rG) = 0 (3.23)
dr2
with the well-known general solution



eikr e−ikr eik|x−x | −e
−ik|x−x |
G = C+ + C− ≡ C+ + C (3.24)
r r |x − x
| |x − x
|

where C ± are constants.

In order to evaluate the constants C ± , we insert the general solution, Equa-
tion (3.24) above, into Equation (3.20) on the preceding page and integrate
over a small volume around r = |x − x
| = 0. Since
  1 1  
G(x − x
) ∼ C +

+ C− , x − x
 → 0 (3.25)
|x − x | |x − x
|
The volume integrated Equation (3.20) on the previous page can under this
assumption be approximated by


+ −
 3
2 1 + −
 3
1
C +C dx ∇ + k 2
C + C dx
V
|x − x
| V
|x − x
|
  
(3.26)
3


= − d x δ( x − x )
V

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3.3 T HE E LECTRODYNAMIC P OTENTIALS 43

In virtue of the fact that the volume element d 3x
in spherical polar coordinates
is proportional to |x − x
|2 , the second integral vanishes when |x − x
| → 0. Fur-
thermore, from Equation (F.73) on page 169, we find that the integrand in the
first integral can be written as −4πδ(|x − x
|) and, hence, that

1
C+ + C− = (3.27)
4π
Insertion of the general solution Equation (3.24) on the facing page into
Equation (3.21) on the preceding page gives



+ 3

eik|x−x | e−ik|x−x |
Ψω (x) = C d x fω (x ) + C− 3


d x fω (x ) (3.28)
V
|x − x
| V
|x − x
|
The Fourier transform to ordinary t domain of this is obtained by inserting the
above expression for Ψω (x) into Equation (3.17a) on page 41:
 
|

  ∞ exp −iω t − k|x−x ω
Ψ(t, x) = C + d3x
dω fω (x
)

V
−∞ |x − x |
 
|
 (3.29)
  ∞ exp −iω t + k|x−x ω
+ C − d3x
dω fω (x
)

V
−∞ |x − x |

and the advanced time t
in the following
If we introduce the retarded time t ret adv
way [using the fact that in vacuum k/ω = 1/c, according to Equation (3.18) on
page 41]:
  k |x − x
| |x − x
|


tret

= tret (t, x − x
) = t − = t− (3.30a)
ω c
  k |x − x

| |x − x
|
tadv = tadv (t, x − x ) = t +




= t+ (3.30b)
ω c
and use Equation (3.16a) on page 41, we obtain

, x
) 
, x
)
+ f (tret
3
f (tadv
Ψ(t, x) = C dx + C− d3x
(3.31)
V
|x − x
| V
|x − x
|
This is a solution to the generic inhomogeneous wave equation for the potential
components Equation (3.15) on page 41. We note that the solution at time t at
the field point x is dependent on the behaviour at other times t
of the source
at x
and that both retarded and advanced t
are mathematically acceptable
solutions. However, if we assume that causality requires that the potential at

, x
), we must in
(t, x) is set up by the source at an earlier time, i.e., at (t ret

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44 E LECTROMAGNETIC P OTENTIALS

Equation (3.31) on the preceding page set C − = 0 and therefore, according to

Equation (3.27) on the previous page, C + = 1/(4π).1

The retarded potentials

From the above discussion on the solution of the inhomogeneous wave equa-
tions in the Lorenz-Lorentz gauge we conclude that, under the assumption of
causality, the electrodynamic potentials in vacuum can be written

1 ρ(t
, x
)
φ(t, x) = d3x
ret
(3.32a)
4πε0 V
|x − x |

, x
)
µ0 j(t
A(t, x) = d3x
ret
(3.32b)
4π V
|x − x |
Since these retarded potentials were obtained as solutions to the Lorenz-Lorentz
equations (3.14) on page 40 they are valid in the Lorenz-Lorentz gauge but may
be gauge transformed according to the scheme described in subsection 3.3.3 on
the next page. As they stand, we shall use them frequently in the following.

3.3.2 Coulomb gauge

In Coulomb gauge, often employed in quantum electrodynamics, one chooses
∇ · A = 0 so that Equations (3.11) on page 39 or Equations (3.12) on page 40
become
ρ(t, x)
∇2 φ = − (3.33)
ε0

1 ∂2 A 1 ∂φ
∇2 A − = −µ0 j(t, x) + 2 ∇ (3.34)
c2 ∂t2 c ∂t
The first of these two is the time-dependent Poisson’s equation which, in ana-
logy with Equation (3.3) on page 37, has the solution

1 ρ(t, x
)
φ(t, x) = d3x
+α (3.35)
4πε0 V
|x − x
|
where α has vanishing gradient. We note that in the scalar potential expression
the charge density source is evaluated at time t. The retardation (and advance-
ment) effects ccur only in the vector potential, which is the solution of the
1 In fact, inspired by a discussion by Paul A. M. Dirac, John A. Wheeler and Richard P. Feyn-

man derived in 1945 a fully self-consistent electrodynamics using both the retarded and the
advanced potentials [7]; see also [3].

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3.3 T HE E LECTRODYNAMIC P OTENTIALS 45

inhomogeneous wave equation


1 ∂2 A µ0 ∂ ρ(t, x
)
∇ A − 2 2 = −µ0 j + ∇
2
d3x
(3.36)
c ∂t 4π ∂t V
|x − x
|
Other useful gauges are

• The temporal gauge, also known as the Hamilton gauge, defined by

φ = 0.

• The axial gauge, defined by A3 = 0.

3.3.3 Gauge transformations

We saw in Section 3.1 on page 37 and in Section 3.2 on page 38 that in electro-
statics and magnetostatics we have a certain mathematical degree of freedom,
up to terms of vanishing gradients and curls, to pick suitable forms for the
potentials and still get the same physical result. In fact, the way the electro-
magnetic scalar potential φ(t, x) and the vector potential A(t, x) are related to
the physically observables gives leeway for similar ‘manipulation’ of them also
in electrodynamics. If we transform φ(t, x) and A(t, x) simultaneously into new
ones φ
(t, x) and A
(t, x) according to the mapping scheme
∂Γ(t, x)
φ(t, x) → φ
(t, x) = φ(t, x) + (3.37a)
∂t


A(t, x) → A (t, x) = A(t, x) − ∇Γ(t, x) (3.37b)

where Γ(t, x) is an arbitrary, differentiable scalar function called the gauge

function, and insert the transformed potentials into Equation (3.10) on page 39
for the electric field and into Equation (3.6) on page 38 for the magnetic field,
we obtain the transformed fields
∂A
∂(∇Γ) ∂A ∂(∇Γ) ∂A
E
= −∇φ
− = −∇φ − − + = −∇φ − (3.38a)
∂t ∂t ∂t ∂t ∂t



B = ∇ × A = ∇ × A − ∇ × (∇Γ) = ∇ × A (3.38b)

where, once again Equation (F.62) on page 168 was used. Comparing these
expressions with (3.10) and (3.6) we see that the fields are unaffected by the
gauge transformation (3.37). A transformation of the potentials φ and A which
leaves the fields, and hence Maxwell’s equations, invariant is called a gauge
transformation. A physical law which does not change under a gauge trans-
formation is said to be gauge invariant. By definition, the fields themselves
are, of course, gauge invariant.

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46 E LECTROMAGNETIC P OTENTIALS

The potentials φ(t, x) and A(t, x) calculated from (3.11a) on page 39, with
an arbitrary choice of ∇ · A, can be further gauge transformed according to
(3.37) on the previous page. If, in particular, we choose ∇ · A according
to the Lorenz-Lorentz condition, Equation (3.13) on page 40, and apply the
gauge transformation (3.37) on the resulting Lorenz-Lorentz potential equa-
tions (3.14) on page 40, these equations will be transformed into


1 ∂2 φ ∂ 1 ∂2 Γ ρ(t, x)
−∇ φ+
2
−∇ Γ =
2
(3.39a)
c2 ∂t2 ∂t c2 ∂t2 ε0


1 ∂2 A 1 ∂2 Γ
− ∇ 2
A − ∇ − ∇2 Γ = µ0 j(t, x) (3.39b)
c2 ∂t2 c2 ∂t2
We notice that if we require that the gauge function Γ(t, x) itself be restricted
to fulfil the wave equation

1 ∂2 Γ
− ∇2 Γ = 0 (3.40)
c2 ∂t2
these transformed Lorenz-Lorentz equations will keep their original form. The
set of potentials which have been gauge transformed according to Equation (3.37)
on the preceding page with a gauge function Γ(t, x) which is restricted to fulfil
Equation (3.40) above, i.e., those gauge transformed potentials for which the
Lorenz-Lorentz equations (3.14) are invariant, comprises the Lorenz-Lorentz
gauge.
The process of choosing a particular gauge condition is referred to as gauge
fixing.

E XAMPLE 3.1
E LECTROMAGNETODYNAMIC POTENTIALS

In Dirac’s symmetrised form of electrodynamics (electromagnetodynamics), Max-
well’s equations are replaced by [see also Equations (1.50) on page 17]:
ρe
∇·E = (3.41a)
ε0
∂B
∇ × E = −µ0 jm − (3.41b)
∂t
∇ · B = µ0 ρ m
(3.41c)
∂E
∇ × B = µ0 je + ε0 µ0 (3.41d)
∂t
In this theory, one derives the inhomogeneous wave equations for the usual ‘electric’
scalar and vector potentials (φe , Ae ) and their ‘magnetic’ counterparts (φm , Am ) by
assuming that the potentials are related to the fields in the following symmetrised
form:

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3.3 T HE E LECTRODYNAMIC P OTENTIALS 47

∂ e
E = −∇φe (t, x) − A (t, x) − ∇ × Am (3.42a)
∂t
1 1 ∂
B = − 2 ∇φm (t, x) − 2 Am (t, x) + ∇ × Ae (3.42b)
c c ∂t
In the absence of magnetic charges, or, equivalenty for φm ≡ 0 and Am ≡ 0, these
formulae reduce to the usual Maxwell theory Formula (3.10) on page 39 and For-
mula (3.6) on page 38, respectively, as they should.

Inserting the symmetrised expressions (3.42) on the preceding page into Equa-
tions (3.41) on the facing page, one obtains [cf., Equations (3.11a) on page 39]

∂  ρe (t, x)
∇2 φe + ∇ · Ae = − (3.43a)
∂t ε0
∂  ρm (t, x)
∇2 φm + ∇ · Am = − (3.43b)
∂t ε0


1 ∂2 Ae 1 ∂φe
−∇ A +∇ ∇·A + 2
2 e e
= µ0 je (t, x) (3.43c)
c2 ∂t2 c ∂t


1 ∂2 Am 1 ∂φm
−∇ A +∇ ∇·A + 2
2 m m
= µ0 jm (t, x) (3.43d)
c2 ∂t2 c ∂t

By choosing the conditions on the vector potentials according to the Lorenz-Lorentz

prescripton [cf., Equation (3.13) on page 40]

1 ∂ e
∇ · Ae + φ =0 (3.44)
c2 ∂t
1 ∂
∇ · Am + 2 φm = 0 (3.45)
c ∂t
these coupled wave equations simplify to

1 ∂2 φe ρe (t, x)
− ∇ φ
2 e
= (3.46a)
c2 ∂t2 ε0
1 ∂2 φm ρm (t, x)
− ∇2 φm = (3.46b)
c2 ∂t2 ε0
1 ∂ A
2 e
− ∇2 Ae = µ0 je (t, x) (3.46c)
c2 ∂t2
1 ∂2 Am
− ∇2 Am = µ0 jm (t, x) (3.46d)
c2 ∂t2
exhibiting once again, the striking properties of Dirac’s symmetrised Maxwell theory.

E ND OF EXAMPLE 3.1

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48 E LECTROMAGNETIC P OTENTIALS

Bibliography
[1] L. D. FADEEV AND A. A. S LAVNOV, Gauge Fields: Introduction to Quantum
Theory, No. 50 in Frontiers in Physics: A Lecture Note and Reprint Series. Ben-
jamin/Cummings Publishing Company, Inc., Reading, MA . . . , 1980, ISBN 0-
8053-9016-2.

[2] M. G UIDRY, Gauge Field Theories: An Introduction with Applications, John

Wiley & Sons, Inc., New York, NY . . . , 1991, ISBN 0-471-63117-5.

[3] F. H OYLE , S IR AND J. V. NARLIKAR, Lectures on Cosmology and Action at a

Distance Electrodynamics, World Scientific Publishing Co. Pte. Ltd, Singapore,
New Jersey, London and Hong Kong, 1996, ISBN 9810-02-2573-3(pbk).

[4] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.

[5] L. L ORENZ, Philosophical Magazine (1867), pp. 287–301.

[6] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

[7] J. A. W HEELER AND R. P. F EYNMAN, Interaction with the absorber as a mech-

anism for radiation, Reviews of Modern Physics, 17 (1945), pp. 157–.

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4
Relativistic
Electrodynamics

We saw in Chapter 3 how the derivation of the electrodynamic potentials led,

in a most natural way, to the introduction of a characteristic, finite speed of
√
propagation in vacuum that equals the speed of light c = 1/ ε0 µ0 and which
can be considered as a constant of nature. To take this finite speed of propaga-
tion of information into account, and to ensure that our laws of physics be
independent of any specific coordinate frame, requires a treatment of electro-
dynamics in a relativistically covariant (coordinate independent) form. This is
the object of this chapter.

4.1 The Special Theory of Relativity

An inertial system, or inertial reference frame, is a system of reference, or
rigid coordinate system, in which the law of inertia (Galileo’s law, Newton’s
first law) holds. In other words, an inertial system is a system in which free
bodies move uniformly and do not experience any acceleration. The special
theory of relativity1 describes how physical processes are interrelated when
observed in different inertial systems in uniform, rectilinear motion relative to
each other and is based on two postulates:
1 The Special Theory of Relativity, by the American physicist and philosopher David Bohm,

opens with the following paragraph [4]:

‘The theory of relativity is not merely a scientific development of great import-
ance in its own right. It is even more significant as the first stage of a radical
change in our basic concepts, which began in physics, and which is spreading
into other fields of science, and indeed, even into a great deal of thinking outside
of science. For as is well known, the modern trend is away from the notion of
sure ‘absolute’ truth, (i.e., one which holds independently of all conditions, con-
texts, degrees, and types of approximation etc..) and toward the idea that a given
concept has significance only in relation to suitable broader forms of reference,
within which that concept can be given its full meaning.’

49

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50 R ELATIVISTIC E LECTRODYNAMICS

vt
y y

Σ Σ
v
P(t, x, y, z)
P(t
, x
, y
, z
)

O x O
x

z z

F IGURE 4.1: Two inertial systems Σ and Σ
in relative motion with velo-
city v along the x = x
axis. At time t = t
= 0 the origin O
of Σ
coincided
with the origin O of Σ. At time t, the inertial system Σ
has been translated
a distance vt along the x axis in Σ. An event represented by P(t, x, y, z) in
Σ is represented by P(t
, x
, y
, z
) in Σ
.

Postulate 4.1 (Relativity principle; Poincaré, 1905). All laws of physics (ex-
cept the laws of gravitation) are independent of the uniform translational mo-
tion of the system on which they operate.
Postulate 4.2 (Einstein, 1905). The velocity of light in empty space is inde-
pendent of the motion of the source that emits the light.
A consequence of the first postulate is that all geometrical objects (vec-
tors, tensors) in an equation describing a physical process must transform in a
covariant manner, i.e., in the same way.

4.1.1 The Lorentz transformation

Let us consider two three-dimensional inertial systems Σ and Σ
in vacuum
which are in rectilinear motion relative to each other in such a way that Σ

moves with constant velocity v along the x axis of the Σ system. The times and
the spatial coordinates as measured in the two systems are t and (x, y, z), and t

and (x
, y
, z
), respectively. At time t = t
= 0 the origins O and O
and the x
and x
axes of the two inertial systems coincide and at a later time t they have
the relative location as depicted in Figure 4.1.
For convenience, let us introduce the two quantities
v
β= (4.1)
c
1
γ= (4.2)
1 − β2

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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 51

where v = |v|. In the following, we shall make frequent use of these shorthand
notations.
As shown by Einstein, the two postulates of special relativity require that
the spatial coordinates and times as measured by an observer in Σ and Σ
,
respectively, are connected by the following transformation:

ct
= γ(ct − xβ) (4.3a)

x = γ(x − vt) (4.3b)


y =y (4.3c)


z =z (4.3d)

Taking the difference between the square of (4.3a) and the square of (4.3b) we
find that

c2 t
2 − x
2 = γ2 c2 t2 − 2xcβt + x2 β2 − x2 + 2xvt − v2 t2



1 v2 v2
= c t 1− 2 − x 1− 2
2 2 2
v2 c c (4.4)
1− 2
c
= c2 t 2 − x 2

From Equations (4.3) we see that the y and z coordinates are unaffected by
the translational motion of the inertial system Σ
along the x axis of system
Σ. Using this fact, we find that we can generalise the result in Equation (4.4)
above to

c2 t2 − x2 − y2 − z2 = c2 t
2 − x
2 − y
2 − z
2 (4.5)

which means that if a light wave is transmitted from the coinciding origins O
and O
at time t = t
= 0 it will arrive at an observer at (x, y, z) at time t in Σ
and an observer at (x
, y
, z
) at time t
in Σ
in such a way that both observers
conclude that the speed (spatial distance divided by time) of light in vacuum
is c. Hence, the speed of light in Σ and Σ
is the same. A linear coordin-
ate transformation which has this property is called a (homogeneous) Lorentz
transformation.

4.1.2 Lorentz space

Let us introduce an ordered quadruple of real numbers, enumerated with the
help of upper indices µ = 0, 1, 2, 3, where the zeroth component is ct (c is the

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52 R ELATIVISTIC E LECTRODYNAMICS

speed of light and t is time), and the remaining components are the components
of the ordinary R3 radius vector x defined in Equation (M.1) on page 172:

xµ = (x0 , x1 , x2 , x3 ) = (ct, x, y, z) ≡ (ct, x) (4.6)

We want to interpret this quadruple x µ as (the component form of) a radius

four-vector in a real, linear, four-dimensional vector space. 1 We require that
this four-dimensional space be a Riemannian space, i.e., a space where a ‘dis-
tance’ and a scalar product are defined. In this space we therefore define a
metric tensor, also known as the fundamental tensor, which we denote by g µν .

Radius four-vector in contravariant and covariant form

The radius four-vector x µ = (x0 , x1 , x2 , x3 ) = (ct, x), as defined in Equation (4.6)
above, is, by definition, the prototype of a contravariant vector (or, more ac-
curately, a vector in contravariant component form). To every such vector
there exists a dual vector. The vector dual to x µ is the covariant vector x µ ,
obtained as (the upper index µ in x µ is summed over and is therefore a dummy
index and may be replaced by another dummy index ν):

xµ = gµν xν (4.7)

This summation process is an example of index contraction and is often re-

ferred to as index lowering.

Scalar product and norm

The scalar product of x µ with itself in a Riemannian space is defined as

gµν xν xµ = xµ xµ (4.8)

This scalar product acts as an invariant ‘distance’, or norm, in this space.

If we want the Lorentz transformation invariance, described by Equa-
tion (4.5) on the preceding page, to be the manifestation of the conservation of
1 The British mathematician and philosopher Alfred North Whitehead writes in his book The

Concept of Nature [13]:

‘I regret that it has been necessary for me in this lecture to administer a large
dose of four-dimensional geometry. I do not apologise, because I am really
not responsible for the fact that nature in its most fundamental aspect is four-
dimensional. Things are what they are. . . .’

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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 53

the norm in a 4D Riemannian space, then the explicit expression for the scalar
product of xµ with itself in this space must be

xµ x µ = c2 t 2 − x 2 − y2 − z2 (4.9)

We notice that our space will have an indefinite norm which means that we deal
with a non-Euclidean space. We call the four-dimensional space (or space-
time) with this property Lorentz space and denote it L 4 . A corresponding real,
linear 4D space with a positive definite norm which is conserved during ordin-
ary rotations is a Euclidean vector space. We denote such a space R 4 .

Metric tensor
By choosing the metric tensor in L4 as
⎧
⎪
⎨1 if µ = ν = 0
gµν = −1 if µ = ν = i = j = 1, 2, 3 (4.10)
⎪
⎩
0 if µ = ν

or, in matrix notation,

⎛ ⎞
1 0 0 0
⎜0 −1 0 0⎟
(gµν ) = ⎜
⎝0 0 −1 0 ⎠
⎟ (4.11)
0 0 0 −1

i.e., a matrix with a main diagonal that has the sign sequence, or signature,
{+, −, −, −}, the index lowering operation in our chosen flat 4D space becomes
nearly trivial:

xµ = gµν xν = (ct, −x) (4.12)

Using matrix algebra, this can be written

⎛ ⎞ ⎛ ⎞ ⎛ 0⎞ ⎛ 0 ⎞
x0 1 0 0 0 x x
⎜ x1 ⎟ ⎜0 −1 0 0 ⎟ ⎜ x ⎟ ⎜−x1 ⎟
⎟ ⎜ 1 ⎟ ⎜
⎜ ⎟=⎜ ⎟
⎝ x2 ⎠ ⎝0 0 −1 0 ⎠ ⎝ x2 ⎠ = ⎝−x2 ⎠ (4.13)
x3 0 0 0 −1 x3 −x3

Hence, if the metric tensor is defined according to expression (4.10) above the
covariant radius four-vector x µ is obtained from the contravariant radius four-
vector xµ simply by changing the sign of the last three components. These

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54 R ELATIVISTIC E LECTRODYNAMICS

components are referred to as the space components; the zeroth component is

referred to as the time component.
As we see, for this particular choice of metric, the scalar product of x µ with
itself becomes

xµ xµ = (ct, x) · (ct, −x) = c2 t2 − x2 − y2 − z2 (4.14)

which indeed is the desired Lorentz transformation invariance as required by

Equation (4.9) on the preceding page. Without changing the physics, one can
alternatively choose a signature {−, +, +, +}. The latter has the advantage that
the transition from 3D to 4D becomes smooth, while it will introduce some
annoying minus signs in the theory. In current physics literature, the signature
{+, −, −, −} seems to be the most commonly used one.
The L4 metric tensor Equation (4.10) on the previous page has a number  of
interesting properties: firstly, we see that this tensor has a trace Tr gµν = −2
whereas in R4 , as in any vector space with definite norm, the trace equals
the space dimensionality. Secondly, we find, after trivial algebra, that the fol-
lowing relations between the contravariant, covariant and mixed forms of the
metric tensor hold:

gµν = gνµ (4.15a)

µν
g = gµν (4.15b)
κµ
gνκ g = gµν = δµν (4.15c)
νκ
g gκµ = gνµ = δνµ (4.15d)
µ
Here we have introduced the 4D version of the Kronecker delta δ ν , a mixed
four-tensor of rank 2 which fulfils
%
µ ν 1 if µ = ν
δν = δµ = (4.16)
0 if µ = ν

Invariant line element and proper time

The differential distance ds between the two points x µ and xµ + dxµ in L4 can
be calculated from the Riemannian metric, given by the quadratic differential
form

ds2 = gµν dxν dxµ = dxµ dxµ = (dx0 )2 − (dx1 )2 − (dx2 )2 − (dx3 )2 (4.17)

where the metric tensor is as in Equation (4.10) on the preceding page. As we

see, this form is indefinite as expected for a non-Euclidean space. The square

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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 55

root of this expression is the invariant line element

 &


 2
2 2
3 2 '
 1 dx 1 dx dx
ds = c 1 − 2 + + dt
c dt dt dt
 
1
 v2 (4.18)
= c 1 − 2 (v x )2 + (vy )2 + (vz )2 dt = c 1 − 2 dt
c c
c
= c 1 − β dt = dt = c dτ
2
γ

where we introduced

dτ = dt/γ (4.19)

Since dτ measures the time when no spatial changes are present, it is called the
proper time.
Expressing Equation (4.5) on page 51 in terms of the differential interval
ds and comparing with Equation (4.17) on the facing page, we find that

ds2 = c2 dt2 − dx2 − dy2 − dz2 (4.20)

is invariant during a Lorentz transformation. Conversely, we may say that

every coordinate transformation which preserves this differential interval is a
Lorentz transformation.
If in some inertial system

dx2 + dy2 + dz2 < c2 dt2 (4.21)

ds is a time-like interval, but if

dx2 + dy2 + dz2 > c2 dt2 (4.22)

ds is a space-like interval, whereas

dx2 + dy2 + dz2 = c2 dt2 (4.23)

is a light-like interval; we may also say that in this case we are on the light
cone. A vector which has a light-like interval is called a null vector. The
time-like, space-like or light-like aspects of an interval ds is invariant under a
Lorentz transformation.

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56 R ELATIVISTIC E LECTRODYNAMICS

Four-vector fields
Any quantity which relative to any coordinate system has a quadruple of real
numbers and transforms in the same way as the radius four-vector x µ does, is
called a four-vector. In analogy with the notation for the radius four-vector we
introduce the notation aµ = (a0 , a) for a general contravariant four-vector field
in L4 and find that the ‘lowering of index’ rule, Equation (M.32) on page 178,
for such an arbitrary four-vector yields the dual covariant four-vector field

aµ (xκ ) = gµν aν (xκ ) = (a0 (xκ ), −a(xκ )) (4.24)

The scalar product between this four-vector field and another one b µ (xκ ) is

gµν aν (xκ )bµ (xκ ) = (a0 , −a) · (b0 , b) = a0 b0 − a · b (4.25)

which is a scalar field, i.e., an invariant scalar quantity α(x κ ) which depends
on time and space, as described by x κ = (ct, x, y, z).

The Lorentz transformation matrix

Introducing the transformation matrix
⎛ ⎞
γ −βγ 0 0
µ  ⎜−βγ γ 0 0⎟
Λν =⎜ ⎝ 0
⎟ (4.26)
0 1 0⎠
0 0 0 1
the linear Lorentz transformation (4.3) on page 51, i.e., the coordinate trans-
formation xµ → x
µ = x
µ (x0 , x1 , x2 , x3 ), from one inertial system Σ to another
inertial system Σ
, can be written

x
µ = Λµν xν (4.27)

The inverse transform then takes the form

xµ = (Λ−1 )µν x
ν (4.28)

The Lorentz group

It is easy to show, by means of direct algebra, that two successive Lorentz
transformations of the type in Equation (4.28) above, and defined by the speed
parameters β1 and β2 , respectively, correspond to a single transformation with
speed parameter
β1 + β2
β= (4.29)
1 + β1 β2

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4.1 T HE S PECIAL T HEORY OF R ELATIVITY 57

X0
X
0

θ
x
1

θ
x1

F IGURE 4.2: Minkowski space can be considered an ordinary Euclidean

space where a Lorentz transformation from (x1 , X 0 = ict) to (x
1 , X
0 =
ict
) corresponds to an ordinary rotation through an angle θ. This rotation
2 2
leaves the Euclidean distance x1 + X 0 = x2 − c2 t2 invariant.

This means that the nonempty set of Lorentz transformations constitutes a

closed algebraic structure with a binary operation which is associative. Fur-
thermore, one can show that this set possesses at least one identity element and
at least one inverse element. In other words, this set of Lorentz transformations
constitutes a mathematical group. However tempting, we shall not make any
further use of group theory.

4.1.3 Minkowski space

Specifying a point xµ = (x0 , x1 , x2 , x3 ) in 4D space-time is a way of saying
that ‘something takes place at a certain time t = x 0 /c and at a certain place
(x, y, z) = (x1 , x2 , x3 )’. Such a point is therefore called an event. The trajectory
for an event as a function of time and space is called a world line. For instance,
the world line for a light ray which propagates in vacuum is the trajectory
x0 = x1 .
Introducing

X 0 = ix0 = ict (4.30a)

X 1 = x1 (4.30b)
X =x
2 2
(4.30c)
X 3 = x3 (4.30d)
dS = ids (4.30e)

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58 R ELATIVISTIC E LECTRODYNAMICS

Σ w
x0 = ct
x
0 x0 = x1

P

x
1
ϕ ct
O= O

P x1 = x

F IGURE 4.3: Minkowski diagram depicting geometrically the transform-

ation (4.34) from the unprimed system to the primed system. Here w de-
notes the world line for an event and the line x0 = x1 ⇔ x = ct the world
line for a light ray in vacuum. Note that the event P is simultaneous with
all points on the x1 axis (t = 0), including the origin O while the event
P
, which is also simultaneous with all points on the x
axis, including
O
= O, to an observer at rest in the primed system, is not simultaneous
with O in the unprimed system but occurs there at time |P − P
| /c.

√
where i = −1, we see that Equation (4.17) on page 54 transforms into
dS 2 = (dX 0 )2 + (dX 1 )2 + (dX 2 )2 + (dX 3 )2 (4.31)
i.e., into a 4D differential form which is positive definite just as is ordinary 3D
Euclidean space R3 . We shall call the 4D Euclidean space constructed in this
way the Minkowski space M4 .1
As before, it suffices to consider the simplified case where the relative
motion between Σ and Σ
is along the x axes. Then
dS 2 = (dX 0 )2 + (dx1 )2 (4.32)
and we consider X 0 and x1 as orthogonal axes in an Euclidean space. As in all
Euclidean spaces, every interval is invariant under a rotation of the X 0 x1 plane
through an angle θ into X
0 x
1 :
X
0 = −x1 sin θ + X 0 cos θ (4.33a)

1
x = x cos θ + X sin θ
1 0
(4.33b)
1 Thefact that our Riemannian space can be transformed in this way into an Euclidean one
means that it is, strictly speaking, a pseudo-Riemannian space.

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4.2 C OVARIANT C LASSICAL M ECHANICS 59

See Figure 4.2 on page 57.

If we introduce the angle ϕ = −iθ, often called the rapidity or the Lorentz
boost parameter, and transform back to the original space and time variables
by using Equation (4.30) on page 57 backwards, we obtain
ct
= −x sinhϕ + ct cosh ϕ (4.34a)


x = x cosh ϕ − ct sinh ϕ (4.34b)
which are identical to the transformation equations (4.3) on page 51 if we let
sinh ϕ = γβ (4.35a)
cosh ϕ = γ (4.35b)
tanh ϕ = β (4.35c)
It is therefore possible to envisage the Lorentz transformation as an ‘ordinary’
rotation in the 4D Euclidean space M 4 This rotation i M4 corresponds to a
coordinate change in L4 as depicted in Figure 4.3 on the facing page. Equa-
tion (4.29) on page 56 for successive Lorentz transformation then corresponds
to the tanh addition formula
tanh ϕ1 + tanh ϕ2
tanh(ϕ1 + ϕ2 ) = (4.36)
1 + tanh ϕ1 tanh ϕ2
The use of ict and M4 , which leads to the interpretation of the Lorentz
transformation as an ‘ordinary’ rotation, may, at best, be illustrative, but is
not very physical. Besides, if we leave the flat L 4 space and enter the curved
space of general relativity, the ‘ict’ trick will turn out to be an impasse. Let us
therefore immediately return to L 4 where all components are real valued.

4.2 Covariant Classical Mechanics

The invariance of the differential ‘distance’ ds in L 4 , and the associated differ-
ential proper time dτ [see Equation (4.18) on page 55] allows us to define the
four-velocity
⎛ ⎞
µ
dx c v
uµ = = γ(c, v) = ⎝ ( ,( ⎠ = (u0 , u) (4.37)
dτ 1− v2
1− v2
c2 c2

which, when multiplied with the scalar invariant m 0 yields the four-momentum
⎛ ⎞
µ
dx m0 c m0 v ⎠
pµ = m0 = m0 γ(c, v) = ⎝ ( ,( = (p0 , p) (4.38)
dτ 1− v 2
1− v2
c2 c2

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60 R ELATIVISTIC E LECTRODYNAMICS

From this we see that we can write

p = mv (4.39)

where
m0
m = γm0 = ( (4.40)
2
1 − vc2

We can interpret this such that the Lorentz covariance implies that the mass-
like term in the ordinary 3D linear momentum is not invariant. A better way to
look at this is that p = mv = γm0 v is the covariantly correct expression for the
kinetic three-momentum.
Multiplying the zeroth (time) component of the four-momentum p µ with
the scalar invariant c, we obtain

m0 c2
cp0 = γm0 c2 = ( = mc2 (4.41)
2
1 − vc2

Since this component has the dimension of energy and is the result of a covari-
ant description of the motion of a particle with its kinetic momentum described
by the spatial components of the four-momentum, Equation (4.38) on the pre-
vious page, we interpret cp0 as the total energy E. Hence,

cpµ = (cp0 , cp) = (E, cp) (4.42)

Scalar multiplying this four-vector with itself, we obtain

cpµ cpµ = c2 gµν pν pµ = c2 [(p0 )2 − (p1 )2 − (p2 )2 − (p3 )2 ]

= (E, −cp) · (E, cp) = E 2 − c2 p2

 (4.43)
(m0 c2 )2 v2
= v2
1 − 2
= (m0 c2 )2
1 − c2 c

Since this is an invariant, this equation holds in any inertial frame, particularly
in the frame where p = 0 and there we have

E = m0 c2 (4.44)

This is probably the most famous formula in physics history.

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4.3 C OVARIANT C LASSICAL E LECTRODYNAMICS 61

4.3 Covariant Classical Electrodynamics

In the rest inertial system the charge density is ρ 0 . The four-vector (in contrav-
ariant component form)
dxµ
jµ = ρ0 = ρ0 uµ = ρ0 γ(c, v) = (ρc, ρv) (4.45)
dτ
where we introduced

ρ = γρ0 (4.46)

is called the four-current.

The contravariant form of the four-del operator ∂ µ = ∂/∂xµ is defined in
Equation (M.73) on page 184 and its covariant counterpart ∂ µ = ∂/∂xµ in
Equation (M.74) on page 184, respectively. As is shown in Example M.6 on
page 185, the d’Alembert operator is the scalar product of the four-del with
itself:
1 ∂2
2 = ∂µ ∂µ = ∂µ ∂µ = − ∇2 (4.47)
c2 ∂t2
Since it has the characteristics of a four-scalar, the d’Alembert operator is in-
variant and, hence, the homogeneous wave equation is Lorentz covariant.

4.3.1 The four-potential

If we introduce the four-potential


µ φ
A = ,A (4.48)
c

where φ is the scalar potential and A the vector potential, defined in Sec-
tion 3.3 on page 38, we can write the uncoupled inhomogeneous wave equa-
tions, Equations (3.14) on page 40, in the following compact (and covariant)
way:

2 Aµ = µ0 jµ (4.49)

With the help of the above, we can formulate our electrodynamic equations
covariantly. For instance, the covariant form of the equation of continuity,
Equation (1.23) on page 10 is

∂µ jµ = 0 (4.50)

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62 R ELATIVISTIC E LECTRODYNAMICS

and the Lorenz-Lorentz gauge condition, Equation (3.13) on page 40, can be
written

∂µ Aµ = 0 (4.51)

The gauge transformations (3.37) on page 45 in covariant form are

Aµ → A
µ = Aµ + ∂µ Γ(xν ) (4.52)

If only one dimension Lorentz contracts (for instance, due to relative mo-
tion along the x direction), a 3D spatial volume transforms according to

1 v2
dV = d x = dV0 = dV0 1 − β = dV0 1 − 2
3 2 (4.53)
γ c
then from Equation (4.46) on the preceding page we see that

ρdV = ρ0 dV0 (4.54)

i.e., the charge in a given volume is conserved. We can therefore conclude that
the elementary charge is a universal constant.

4.3.2 The Liénard-Wiechert potentials

Let us now solve the the inhomogeneous wave equations (3.14) on page 40 in
vacuum for the case of a well-localised charge q
at a source point defined by
the radius four-vector x
µ = (x
0 = ct
, x
1 , x
2 , x
3 ). The field point (observation
point) is denoted by the radius four-vector x µ = (x0 = ct, x1 , x2 , x3 ).
In the rest system we know that the solution is simply




µ φ q 1
A 0= ,A = ,0 (4.55)
c v=0 4πε0 c |x − x
|0

where |x − x
|0 is the usual distance from the source point to the field point,
evaluated in the rest system (signified by the index ‘0’).
Let us introduce the relative radius four-vector between the source point
and the field point:

Rµ = xµ − x
µ = (c(t − t
), x − x
) (4.56)

Scalar multiplying this relative four-vector with itself, we obtain

 2
Rµ Rµ = (c(t − t
), x − x
) · (c(t − t
), −(x − x
)) = c2 (t − t
)2 − x − x
 (4.57)

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4.3 C OVARIANT C LASSICAL E LECTRODYNAMICS 63

We know that in vacuum the signal (field) from the charge q
at x
µ propag-
ates to xµ with the speed of light c so that
 
x − x
 = c(t − t
) (4.58)

Inserting this into Equation (4.57) on the facing page, we see that

Rµ Rµ = 0 (4.59)

or that Equation (4.56) on the preceding page can be written

 
Rµ = (x − x
 , x − x
) (4.60)

Now we want to find the correspondence to the rest system solution, Equa-
tion (4.55) on the facing page, in an arbitrary inertial system. We note from
Equation (4.37) on page 59 that in the rest system
⎛ ⎞
µ c v ⎠
u 0 = ⎝( ,( = (c, 0) (4.61)
2 2
1 − vc2 1 − vc2
v=0

and
   
(Rµ )0 = (x − x
 , x − x
)0 = (x − x
0 , (x − x
)0 ) (4.62)

As all scalar products, uµ Rµ is invariant, which means that we can evaluate

it in any inertial system and it will have the same value in all other inertial
systems. If we evaluate it in the rest system the result is:

uµ Rµ = uµ Rµ 0 = (uµ )0 (Rµ )0
    (4.63)
= (c, 0) · (x − x
 , −(x − x
)0 ) = c x − x

0 0

We therefore see that the expression

q
uµ
Aµ = (4.64)
4πε0 cuν Rν
subject to the condition Rµ Rµ = 0 has the proper transformation properties
(proper tensor form) and reduces, in the rest system, to the solution Equa-
tion (4.55) on the facing page. It is therefore the correct solution, valid in any
inertial system.
According to Equation (4.37) on page 59 and Equation (4.60)
     
uν Rν = γ(c, v) · x − x
 , −(x − x
) = γ c x − x
 − v · (x − x
) (4.65)

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64 R ELATIVISTIC E LECTRODYNAMICS

Generalising expression (4.1) on page 50 to vector form:

def v
β = β v̂ ≡ (4.66)
c
and introducing
def   v · (x − x
)  
s ≡ x − x
 − ≡ x − x
 − β · (x − x
) (4.67)
c
we can write

uν Rν = γcs (4.68)

and


uµ 1 v
= , (4.69)
cuν Rν cs c2 s
from which we see that the solution (4.64) can be written



µ κ q
1 v φ
A (x ) = , = ,A (4.70)
4πε0 cs c2 s c
where in the last step the definition of the four-potential, Equation (4.48) on
page 61, was used. Writing the solution in the ordinary 3D-way, we conclude
that for a very localised charge volume, moving relative an observer with a
velocity v, the scalar and vector potentials are given by the expressions
q
1 q
1
φ(t, x) = = (4.71a)
4πε0 s 4πε0 |x − x | − β · (x − x
)

q
v q
v
A(t, x) = = (4.71b)
4πε0 c s 4πε0 c |x − x | − β · (x − x
)
2 2

These potentials are called the Liénard-Wiechert potentials.

4.3.3 The electromagnetic field tensor

Consider a vectorial (cross) product c between two ordinary vectors a and b:

c = a × b = i jk ai b j x̂k = (a2 b3 − a3 b2 ) x̂1 + (a3 b1 − a1 b3 ) x̂2 + (a1 b2 − a2 b1 ) x̂3

(4.72)

We notice that the kth component of the vector c can be represented as

ck = ai b j − a j bi = ci j = −c ji , i, j = k (4.73)

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4.3 C OVARIANT C LASSICAL E LECTRODYNAMICS 65

In other words, the pseudovector c = a × b can be considered as an antisym-

metric tensor of rank two.
The same is true for the curl operator ∇×. For instance, the Maxwell equa-
tion
∂B
∇×E = − (4.74)
∂t
can in this tensor notation be written
∂E j ∂Ei ∂Bi j
− j =− (4.75)
∂x i ∂x ∂t
We know from Chapter 3 that the fields can be derived from the electro-
magnetic potentials in the following way:

B = ∇×A (4.76a)
∂A
E = −∇φ − (4.76b)
∂t
In component form, this can be written

∂A j ∂Ai
Bi j = − = ∂i A j − ∂ j Ai (4.77a)
∂xi ∂x j
∂φ ∂Ai
Ei = − i − = −∂i φ − ∂t Ai (4.77b)
∂x ∂t
From this, we notice the clear difference between the axial vector (pseudovector)
B and the polar vector (‘ordinary vector’) E.
Our goal is to express the electric and magnetic fields in a tensor form
where the components are functions of the covariant form of the four-potential,
Equation (4.48) on page 61:


µ φ
A = ,A (4.78)
c

Inspection of (4.78) and Equation (4.77) makes it natural to define the four-
tensor
∂Aν ∂Aµ
F µν = − = ∂µ Aν − ∂ν Aµ (4.79)
∂xµ ∂xν

This anti-symmetric (skew-symmetric), four-tensor of rank 2 is called the elec-

tromagnetic field tensor. In matrix representation, the contravariant field tensor

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66 R ELATIVISTIC E LECTRODYNAMICS

can be written
⎛ ⎞
0 −E x /c −Ey /c −Ez /c
µν  ⎜E x /c 0 −Bz By ⎟
F =⎜
⎝ Ey /c
⎟ (4.80)
Bz 0 −B x ⎠
Ez /c −By Bx 0

The covariant field tensor is obtained from the contravariant field tensor in the
usual manner by index contraction (index lowering):

Fµν = gµκ gνλ F κλ = ∂µ Aν − ∂ν Aµ (4.81)

It is perhaps interesting to note that the field tensor is a sort of four-dimensional

curl of the four-potential vector A µ . The matrix representation for the covariant
field tensor is
⎛ ⎞
0 E x /c Ey /c Ez /c
 ⎜−E x /c 0 −Bz By ⎟
Fµν = ⎜ ⎝−Ey /c Bz
⎟ (4.82)
0 −B x ⎠
−Ez /c −By Bx 0

That the two Maxwell source equations can be written

∂ν F νµ = µ0 jµ (4.83)

is immediately observed by explicitly setting µ = 0 in this covariant equation

and using the matrix representation Formula (4.80) above for the covariant
component form of the electromagnetic field tensor F µν , to obtain


∂F 00 ∂F 10 ∂F 20 ∂F 30 1 ∂E x ∂Ey ∂Ez
+ + + = 0+ + +
∂x0 ∂x1 ∂x2 ∂x3 c ∂x ∂y ∂z (4.84)
1
= ∇ · E = µ0 j = µ0 cρ
0
c
or, equivalently,
ρ
∇ · E = µ0 c2 ρ = (4.85)
ε0
which is the Maxwell source equation for the electric field, Equation (1.45a)
on page 15.
For µ = 1, Equation (4.84) above yields

∂F 01 ∂F 11 ∂F 21 ∂F 31 1 ∂E x ∂Bz ∂By
+ 1 + 2 + 3 =− 2 +0− + = µ0 j1 = µ0 ρv x (4.86)
∂x 0 ∂x ∂x ∂x c ∂t ∂y ∂z

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4.3 B IBLIOGRAPHY 67

or, using ε0 µ0 = 1/c2 ,

∂By ∂Bz ∂E x
− − ε0 µ0 = µ0 j x (4.87)
∂z ∂y ∂t
and similarly for µ = 2, 3. In summary, in three-vector form, we can write the
result as
∂E
∇ × B − ε0 µ0 = µ0 j(t, x) (4.88)
∂t
which is the Maxwell source equation for the magnetic field, Equation (1.45d)
on page 15.
The two Maxwell field equations
∂B
∇×E = − (4.89)
∂t
∇·B = 0 (4.90)

correspond to (no summation!)

∂κ Fµν + ∂µ Fνκ + ∂ν Fκµ = 0 (4.91)

Hence, Equation (4.83) on the preceding page and Equation (4.91) constitute
Maxwell’s equations in four-dimensional formalism.

Bibliography
[1] J. A HARONI, The Special Theory of Relativity, second, revised ed., Dover Pub-
lications, Inc., New York, 1985, ISBN 0-486-64870-2.

[2] A. O. BARUT, Electrodynamics and Classical Theory of Fields and Particles,

Dover Publications, Inc., New York, NY, 1980, ISBN 0-486-64038-8.

[3] R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc.,

New York, NY, 1982, ISBN 0-486-64290-9.

[4] D. B OHM, The Special Theory of Relativity, Routledge, New York, NY, 1996,
ISBN 0-415-14809-X.

[5] W. T. G RANDY, Introduction to Electrodynamics and Radiation, Academic

Press, New York and London, 1970, ISBN 0-12-295250-2.

[6] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.

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68 R ELATIVISTIC E LECTRODYNAMICS

[7] F. E. L OW, Classical Field Theory, John Wiley & Sons, Inc., New York, NY . . . ,
1997, ISBN 0-471-59551-9.

[8] H. M UIRHEAD, The Special Theory of Relativity, The Macmillan Press Ltd.,
London, Beccles and Colchester, 1973, ISBN 333-12845-1.

[9] C. M ØLLER, The Theory of Relativity, second ed., Oxford University Press,
Glasgow . . . , 1972.

[10] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

[11] J. J. S AKURAI, Advanced Quantum Mechanics, Addison-Wesley Publishing

Company, Inc., Reading, MA . . . , 1967, ISBN 0-201-06710-2.

[12] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and
London, 1965, ISBN 05-001331-9.

[13] A. N. W HITEHEAD, Concept of Nature, Cambridge University Press, Cam-

bridge . . . , 1920, ISBN 0-521-09245-0.

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5
Electromagnetic
Fields and
Particles

In previous chapters, we calculated the electromagnetic fields and potentials

from arbitrary, but prescribed distributions of charges and currents. In this
chapter we study the general problem of interaction between electric and mag-
netic fields and electrically charged particles. The analysis is based on Lag-
rangian and Hamiltonian methods, is fully covariant, and yields results which
are relativistically correct.

5.1 Charged Particles in an Electromagnetic

Field
We first establish a relativistically correct theory describing the motion of
charged particles in prescribed electric and magnetic fields. From these equa-
tions we may then calculate the charged particle dynamics in the most general
case.

5.1.1 Covariant equations of motion

We will show that for our problem we can derive the correct equations of mo-
tion by using in 4D L4 a function with similiar properties as a Lagrange func-
tion in 3D and then apply a variational principle. We will also show that we
can find find a Hamiltonian-type function in 4D and solve the corresponding
Hamilton-type equations to obtain the correct covariant formulation of clas-
sical electrodynamics.

69

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70 E LECTROMAGNETIC F IELDS AND PARTICLES

Lagrange formalism
Let us now introduce a generalised action

S (4) = L(4) (xµ , uµ ) dτ (5.1)

where dτ is the proper time defined via Equation (4.18) on page 55, and L (4)
acts as a kind of generalisation to the common 3D Lagrangian so that the vari-
ational principle
 τ1
δS (4) (τ0 , τ1 ) = δ L(4) (xµ , uµ ) dτ = 0 (5.2)
τ0

with fixed endpoints τ0 , τ1 is fulfilled. We require that L (4) is a scalar invariant

and does not contain higher than the second power of the four-velocity u µ in
order that the equations of motion be linear.
According to Formula (M.100) on page 189 the ordinary 3D Lagrangian is
the difference between the kinetic and potential energies. A free particle has
only kinetic energy. If the particle mass is m 0 then in 3D the kinetic energy is
m0 v2 /2. This suggests that in 4D the Lagrangian for a free particle should be

1
free
L(4) = m0 uµ uµ (5.3)
2
For an interaction with the electromagnetic field we can introduce the interac-
tion with the help of the four-potential given by Equation (4.78) on page 65 in
the following way

1
L(4) = m0 uµ uµ + quµ Aµ (xν ) (5.4)
2
We call this the four-Lagrangian and shall now show how this function, to-
gether with the variation principle, Formula (5.2), yields covariant results which
are physically correct.
The variation principle (5.2) with the 4D Lagrangian (5.4) inserted, leads
to
 τ1  
m0 µ
δS (4) (τ0 , τ1 ) = δ u uµ + quµ Aµ dτ
τ0 2
 τ1  µ

m0 ∂(u uµ ) µ µ µ ∂Aµ ν
= δu + q Aµ δu + u δx dτ (5.5)
τ0 2 ∂uµ ∂xν
 τ1

= m0 uµ δuµ + q Aµ δuµ + uµ ∂ν Aµ δxν dτ = 0
τ0

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5.1 C HARGED PARTICLES IN AN E LECTROMAGNETIC F IELD 71

According to Equation (4.37) on page 59, the four-velocity is

dx µ
uµ = (5.6)
dτ
which means that we can write the variation of u µ as a total derivative with
respect to τ :

µ
µ dx d µ
δu = δ = δx (5.7)
dτ dτ
Inserting this into the first two terms in the last integral in Equation (5.5) on
the facing page, we obtain
 τ1

d µ d µ µ ν
δS (4) (τ0 , τ1 ) = m0 uµ δx + qAµ δx + qu ∂ν Aµ δx dτ (5.8)
τ0 dτ dτ
Partial integration in the two first terms in the right hand member of (5.8)
gives
 τ1

duµ µ dAµ µ
δS (4) (τ0 , τ1 ) = −m0 δx − q δx + quµ ∂ν Aµ δxν dτ (5.9)
τ0 dτ dτ
where the integrated parts do not contribute since the variations at the end-
points vanish. A change of irrelevant summation index from µ to ν in the first
two terms of the right hand member of (5.9) yields, after moving the ensuing
common factor δxν outside the partenthesis, the following expression:
 τ1

duν dAν
δS (4) (τ0 , τ1 ) = −m0 −q + qu ∂ν Aµ δxν dτ
µ
(5.10)
τ0 dτ dτ
Applying well-known rules of differentiation and the expression (4.37) for
the four-velocity, we can express dA ν /dτ as follows:
dAν ∂Aν dxµ
= µ = ∂µ Aν uµ (5.11)
dτ ∂x dτ
By inserting this expression (5.11) into the second term in right-hand member
of Equation (5.10) above, and noting the common factor qu µ of the resulting
term and the last term, we obtain the final variational principle expression
 τ1  

duν
δS (4) (τ0 , τ1 ) = −m0 + qu ∂ν Aµ − ∂µ Aν δxν dτ
µ
(5.12)
τ0 dτ
Since, according to the variational principle, this expression shall vanish and

δxν is arbitrary between the fixed end points τ 0 and τ1 , the expression inside

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72 E LECTROMAGNETIC F IELDS AND PARTICLES

in the integrand in the right hand member of Equation (5.12) on the preceding
page must vanish. In other words, we have found an equation of motion for a
charged particle in a prescribed electromagnetic field:

duν 
m0 = quµ ∂ν Aµ − ∂µ Aν (5.13)
dτ
With the help of Equation (4.79) on page 65 we can express this equation in
terms of the electromagnetic field tensor in the following way:

duν
m0 = quµ Fνµ (5.14)
dτ
This is the sought-for covariant equation of motion for a particle in an electro-
magnetic field. It is often referred to as the Minkowski equation. As the reader
can easily verify, the spatial part of this 4-vector equation is the covariant (re-
lativistically correct) expression for the Newton-Lorentz force equation.

Hamiltonian formalism
The usual Hamilton equations for a 3D space are given by Equation (M.105)
on page 190 in Appendix M. These six first-order partial differential equations
are
∂H dqi
= (5.15a)
∂pi dt
∂H dpi
=− (5.15b)
∂qi dt

where H(pi , qi , t) = pi q̇i − L(qi , q̇i , t) is the ordinary 3D Hamiltonian, q i is a

generalised coordinate and pi is its canonically conjugate momentum.
We seek a similar set of equations in 4D space. To this end we introduce a
canonically conjugate four-momentum p µ in an analogous way as the ordinary
3D conjugate momentum:

∂L(4)
pµ = (5.16)
∂uµ

and utilise the four-velocity u µ , as given by Equation (4.37) on page 59, to

define the four-Hamiltonian

H(4) = pµ uµ − L(4) (5.17)

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5.1 C HARGED PARTICLES IN AN E LECTROMAGNETIC F IELD 73

With the help of these, the radius four-vector x µ , considered as the generalised
four-coordinate, and the invariant line element ds, defined in Equation (4.18)
on page 55, we introduce the following eight partial differential equations:
∂H(4) dxµ
= (5.18a)
∂pµ dτ
∂H(4) dpµ
=− (5.18b)
∂xµ dτ
which form the four-dimensional Hamilton equations.
Our strategy now is to use Equation (5.16) on the preceding page and Equa-
tions (5.18) to derive an explicit algebraic expression for the canonically con-
jugate momentum four-vector. According to Equation (4.42) on page 60, c
times a four-momentum has a zeroth (time) component which we can identify
with the total energy. Hence we require that the component p 0 of the conjug-
ate four-momentum vector defined according to Equation (5.16) on the facing
page be identical to the ordinary 3D Hamiltonian H divided by c and hence
that this cp0 solves the Hamilton equations, Equations (5.15) on the preceding
page. This later consistency check is left as an exercise to the reader.
Using the definition of H(4) , Equation (5.17) on the facing page, and the
expression for L(4) , Equation (5.4) on page 70, we obtain
1
H(4) = pµ uµ − L(4) = pµ uµ − m0 uµ uµ − quµ Aµ (xν ) (5.19)
2
Furthermore, from the definition (5.16) of the canonically conjugate four-
momentum pµ , we see that


µ ∂L(4) ∂ 1
p = = m0 u uµ + quµ A (x ) = m0 uµ + qAµ
µ µ ν
(5.20)
∂uµ ∂uµ 2
Inserting this into (5.19), we obtain
1 1
H(4) = m0 uµ uµ + qAµ uµ − m0 uµ uµ − quµ Aµ (xν ) = m0 uµ uµ (5.21)
2 2
Since the four-velocity scalar-multiplied by itself is u µ uµ = c2 , we clearly
see from Equation (5.21) that H(4) is indeed a scalar invariant, whose value is
simply
m0 c2
H(4) = (5.22)
2
However, at the same time (5.20) provides the algebraic relationship
1 µ 
uµ = p − qAµ (5.23)
m0

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74 E LECTROMAGNETIC F IELDS AND PARTICLES

and if this is used in (5.21) to eliminate u µ , one gets


m0 1 µ  1 
H(4) = p − qAµ pµ − qAµ
2 m0 m0
1  
= pµ − qAµ pµ − qAµ (5.24)
2m0
1 µ 
= p pµ − 2qAµ pµ + q2 Aµ Aµ
2m0
That this four-Hamiltonian yields the correct covariant equation of motion can
be seen by inserting it into the four-dimensional Hamilton’s equations (5.18)
and using the relation (5.23):
∂H(4) q ∂Aν
= − (pν − qAν ) µ
∂xµ m0 ∂x
q ∂Aν
= − m0 uν µ
m0 ∂x (5.25)
∂Aν
= −quν µ
∂x
dpµ duµ ∂Aµ
=− = −m0 − q ν uν
dτ dτ ∂x
where in the last step Equation (5.20) on the previous page was used. Rearran-
ging terms, and using Equation (4.80) on page 66, we obtain
duµ 
m0 = quν ∂µ Aν − ∂ν Aµ = quν Fµν (5.26)
dτ
which is identical to the covariant equation of motion Equation (5.14) on
page 72. We can then safely conclude that the Hamiltonian in question is
correct.
Recalling expression (4.48) on page 61 and representing the canonically
conjugate four-momentum as pµ = (p0 , p), we obtain the following scalar
products:

pµ pµ = (p0 )2 − (p)2 (5.27a)

1
Aµ pµ = φp0 − (p · A) (5.27b)
c
1
Aµ Aµ = 2 φ2 − (A)2 (5.27c)
c
Inserting these explicit expressions into Equation (5.24) above, and using the
fact that for H(4) is equal to the scalar value m 0 c2 /2, as derived in Equa-

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5.1 C HARGED PARTICLES IN AN E LECTROMAGNETIC F IELD 75

tion (5.22) on page 73, we obtain the equation

 
m0 c2 1 2 2 q2 2 2 2
= (p ) − (p) − qφp + 2q(p · A) + 2 φ − q (A) (5.28)
0 2 0
2 2m0 c c
which is the second order algebraic equation in p 0 :
2q 0
2  q2
(p0 )2 − φp − (p) − 2qp · A + q2 (A)2 + 2 φ2 − m20 c2 = 0 (5.29)
c ) *+ , c
(p−qA)2

with two possible solutions

(
q
p = φ ± (p − qA)2 + m20 c2
0
(5.30)
c
Since the fourth component (time component) p 0 of a four-momentum vector
pµ multiplied by c represents the energy [cf. Equation (4.42) on page 60],
the positive solution in Equation (5.30) must be identified with the ordinary
Hamilton function H divided by c. Consequently,
(
H ≡ cp0 = qφ + c (p − qA)2 + m20 c2 (5.31)
is the ordinary 3D Hamilton function for a charged particle moving in scalar
and vector potentials associated with prescribed electric and magnetic fields.
The ordinary Lagrange and Hamilton functions L and H are related to each
other by the 3D transformation [cf. the 4D transformation (5.17) between L (4)
and H(4) ]
L = p·v−H (5.32)
Using the explicit expressions (Equation (5.31) above) and (Equation (5.32)),
we obtain the explicit expression for the ordinary 3D Lagrange function
(
L = p · v − qφ − c (p − qA)2 + m20 c2 (5.33)
and if we make the identification
m0 v
p − qA = ( = mv (5.34)
2
1 − vc2
where the quantity mv is the usual kinetic momentum, we can rewrite this ex-
pression for the ordinary Lagrangian as follows:
(
L = qA · v + mv2 − qφ − c m2 v2 + m20 c2
 (5.35)
v2
= mv − q(φ − A · v) − mc = −qφ + qA · v − m0 c 1 − 2
2 2 2
c

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76 E LECTROMAGNETIC F IELDS AND PARTICLES

ηi−1 ηi ηi+1

m m m m m
k k k k
a a a a x

F IGURE 5.1: A one-dimensional chain consisting of N discrete, identical

mass points m, connected to their neighbours with identical, ideal springs
with spring constants k. The equilibrium distance between the neigh-
bouring mass points is a and ηi−1 (t), ηi (t), ηi+1 (t) are the instantaneous
deviations, along the x axis, of positions of the (i − 1)th, ith, and (i + 1)th
mass point, respectively.

What we have obtained is the relativstically correct (covariant) expression for

the Lagrangian describing the motion of a charged particle in scalar and vector
potentials associated with prescribed electric and magnetic fields.

5.2 Covariant Field Theory

So far, we have considered two classes of problems. Either we have calculated
the fields from given, prescribed distributions of charges and currents, or we
have derived the equations of motion for charged particles in given, prescribed
fields. Let us now put the fields and the particles on an equal footing and
present a theoretical description which treats the fields, the particles, and their
interactions in a unified way. This involves transition to a field picture with an
infinite number of degrees of freedom. We shall first consider a simple mech-
anical problem whose solution is well known. Then, drawing inferences from
this model problem, we apply a similar view on the electromagnetic problem.

5.2.1 Lagrange-Hamilton formalism for fields and

interactions
Consider N identical mass points, each with mass m and connected to its neigh-
bour along a one-dimensional straight line, which we choose to be the x axis,
by identical ideal springs with spring constants k. At equilibrium the mass
points are at rest, distributed evenly with a distance a to their two nearest neigh-
bours. After perturbation, the motion of mass point i will be a one-dimensional
oscillatory motion along x̂. Let us denote the deviation for mass point i from

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5.2 C OVARIANT F IELD T HEORY 77

its equilibrium position by η i (t) x̂.

The solution to this mechanical problem can be obtained if we can find a
Lagrangian (Lagrange function) L which satisfies the variational equation

δ L(ηi , η̇i , t) dt = 0 (5.36)

According to Equation (M.100) on page 189, the Lagrangian is L = T − V

where T denotes the kinetic energy and V the potential energy of a classical
mechanical system with conservative forces. In our case the Lagrangian is

1 N
2 
L= ∑
2 i=1
mη̇i − k(ηi+1 − ηi )2 (5.37)

Let us write the Lagrangian, as given by Equation (5.37) above, in the

following way:
N
L = ∑ aLi (5.38)
i=1

Here,
  η − η 2 
1 m 2 i+1 i
Li = η̇i − ka (5.39)
2 a a
is the so called linear Lagrange density. If we now let N → ∞ and, at the same
time, let the springs become infinitesimally short according to the following
scheme:

a → dx (5.40a)
m dm
→ =µ linear mass density (5.40b)
a dx
ka → Y Young’s modulus (5.40c)
ηi+1 − ηi ∂η
→ (5.40d)
a ∂x
we obtain

L= L dx (5.41)

where

 &

2 '
2
∂η ∂η 1 ∂η ∂η
L η, , , t = µ −Y (5.42)
∂t ∂x 2 ∂t ∂x

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78 E LECTROMAGNETIC F IELDS AND PARTICLES

Notice how we made a transition from a discrete description, in which the mass
points were identified by a discrete integer variable i = 1, 2, . . . , N, to a continu-
ous description, where the infinitesimal mass points were instead identified by
a continuous real parameter x, namely their position along x̂.
A consequence of this transition is that the number of degrees of freedom
for the system went from the finite number N to infinity! Another consequence
is that L has now become dependent also on the partial derivative with respect
to x of the ‘field coordinate’ η. But, as we shall see, the transition is well
worth the price because it allows us to treat all fields, be it classical scalar
or vectorial fields, or wave functions, spinors and other fields that appear in
quantum physics, on an equal footing.
Under the assumption of time independence and fixed endpoints, the vari-
ation principle (5.36) on the preceding page yields:

δ L dt


∂η ∂η
=δ L η, ,
dx dt
∂t ∂x
⎡ ⎤ (5.43)



⎣ ∂L ∂L ∂η ∂L ∂η ⎦ dx dt
= δη +   δ +  δ
∂η ∂ ∂η ∂t ∂ ∂η ∂x
∂t ∂x

=0

The last integral can be integrated by parts. This results in the expression
⎡ ⎛ ⎞ ⎛ ⎞⎤

⎣ ∂L − ∂ ⎝ ∂L ∂ ∂L
  ⎠ − ⎝   ⎠⎦ δη dx dt = 0 (5.44)
∂η ∂t ∂ ∂η ∂x ∂ ∂η
∂t ∂x

where the variation is arbitrary (and the endpoints fixed). This means that the
integrand itself must vanish. If we introduce the functional derivative
⎛ ⎞
δL ∂L ∂ ∂L
= − ⎝  ⎠ (5.45)
δη ∂η ∂x ∂ ∂η
∂x

we can express this as

⎛ ⎞
δL ∂ ⎝ ∂L ⎠
−   =0 (5.46)
δη ∂t ∂ ∂η
∂t

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5.2 C OVARIANT F IELD T HEORY 79

which is the one-dimensional Euler-Lagrange equation.

Inserting the linear mass point chain Lagrangian density, Equation (5.42)
on page 77, into Equation (5.46) on the facing page, we obtain the equation of
motion for our one-dimensional linear mechanical structure. It is:


∂2 ∂2 µ ∂2 ∂2
µ 2η−Y 2η = − η=0 (5.47)
∂t ∂x Y ∂t2 ∂x2

i.e., the one-dimensional wave equation for compression waves which propag-
√
ate with phase speed vφ = Y/µ along the linear structure.
A generalisation of the above 1D results to a three-dimensional continuum
is straightforward. For this 3D case we get the variational principle
 
δ L dt = δ L d3x dt


∂η
= δ L η, µ d4x
∂x
⎡ ⎛ ⎞⎤ (5.48)

= ⎣ ∂L − ∂ ⎝ ∂L  ⎠⎦ δη d4x
∂η ∂xµ ∂ ∂ηµ
∂x

=0

where the variation δη is arbitrary and the endpoints are fixed. This means that
the integrand itself must vanish:
⎛ ⎞
∂L ∂ ⎝ ∂L ⎠
−   =0 (5.49)
∂η ∂xµ ∂ ∂ηµ
∂x

This constitutes the four-dimensional Euler-Lagrange equations.

Introducing the three-dimensional functional derivative
⎛ ⎞
δL ∂L ∂ ⎝ ∂L ⎠
= −   (5.50)
δη ∂η ∂xi ∂ ∂η
∂xi

we can express this as

⎛ ⎞
δL ∂ ⎝ ∂L ⎠
−   =0 (5.51)
δη ∂t ∂ ∂η
∂t

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80 E LECTROMAGNETIC F IELDS AND PARTICLES

In analogy with particle mechanics (finite number of degrees of freedom),

we may introduce the canonically conjugate momentum density

∂L
π(xµ ) = π(t, x) =   (5.52)
∂ ∂η
∂t

and define the Hamilton density



∂η ∂η ∂η ∂η
H π, η, ; t = π − L η, , (5.53)
∂xi ∂t ∂t ∂xi

If, as usual, we differentiate this expression and identify terms, we obtain the
following Hamilton density equations

∂H ∂η
= (5.54a)
∂π ∂t
δH ∂π
=− (5.54b)
δη ∂t

The Hamilton density functions are in many ways similar to the ordinary
Hamilton functions and lead to similar results.

The electromagnetic field

Above, when we described the mechanical field, we used a scalar field η(t, x).
If we want to describe the electromagnetic field in terms of a Lagrange density
L and Euler-Lagrange equations, it comes natural to express L in terms of
the four-potential Aµ (xκ ).
The entire system of particles and fields consists of a mechanical part, a
field part and an interaction part. We therefore assume that the total Lagrange
density L tot for this system can be expressed as

L tot = L mech + L inter + L field (5.55)

where the mechanical part has to do with the particle motion (kinetic energy).
It is given by L(4) /V where L(4) is given by Equation (5.3) on page 70 and V is
the volume. Expressed in the rest mass density  0 , the mechanical Lagrange
density can be written

1
L mech = 0 uµ uµ (5.56)
2

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5.2 C OVARIANT F IELD T HEORY 81

The L inter part which describes the interaction between the charged particles
and the external electromagnetic field. A convenient expression for this inter-
action Lagrange density is

L inter = jµ Aµ (5.57)

For the field part L field we choose the difference between magnetic and
electric energy density (in analogy with the difference between kinetic and
potential energy in a mechanical field). Using the field tensor, we express this
field Lagrange density as

1 µν
L field = F Fµν (5.58)
4µ0

so that the total Lagrangian density can be written

1 1 µν
L tot = 0 uµ uµ + jµ Aµ + F Fµν (5.59)
2 4µ0

From this we can calculate all physical quantities.

F IELD ENERGY DIFFERENCE EXPRESSED IN THE FIELD TENSOR E XAMPLE 5.1

Show, by explicit calculation, that


1 µν 1 B2
F Fµν = − ε0 E 2
(5.60)
4µ0 2 µ0
i.e., the difference between the magnetic and electric field energy densities.
From Formula (4.80) on page 66 we recall that
⎛ ⎞
0 −E x /c −Ey /c −Ez /c
µν  ⎜E x /c 0 −Bz By ⎟
F =⎜⎝ Ey /c
⎟ (5.61)
Bz 0 −B x ⎠
Ez /c −By Bx 0

and from Formula (4.82) on page 66 that

⎛ ⎞
0 E x /c Ey /c Ez /c
 ⎜−E x /c 0 −Bz By ⎟
Fµν = ⎜
⎝−Ey /c
⎟ (5.62)
Bz 0 −B x ⎠
−Ez /c −By Bx 0

where µ denotes the row number and ν the column number. Then, Einstein summation

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82 E LECTROMAGNETIC F IELDS AND PARTICLES

and direct substitution yields

F µν Fµν = F 00 F00 + F 01 F01 + F 02 F02 + F 03 F03

+ F 10 F10 + F 11 F11 + F 12 F12 + F 13 F13
+ F 20 F20 + F 21 F21 + F 22 F22 + F 23 F23
+ F 30 F30 + F 31 F31 + F 32 F32 + F 33 F33
= 0 − E 2x /c2 − Ey2 /c2 − Ez2 /c2
(5.63)
− E 2x /c2 + 0 + B2z + B2y
− Ey2 /c2 + B2z + 0 + B2x
− Ez2 /c2 + B2y + B2x + 0
= −2E 2x /c2 − 2Ey2 /c2 − 2Ez2 /c2 + 2B2x + 2B2y + 2B2z
= −2E 2 /c2 + 2B2 = 2(B2 − E 2 /c2 )

or



1 µν 1 B2 1 2 1 B2
F Fµν = − E = − ε0 E 2 (5.64)
4µ0 2 µ0 c 2 µ0 2 µ0

where, in the last step, the identity ε0 µ0 = 1/c2 was used. QED 

E ND OF EXAMPLE 5.1

Using L tot in the 3D Euler-Lagrange equations, Equation (5.49) on page 79

(with η replaced by Aν ), we can derive the dynamics for the whole system. For
instance, the electromagnetic part of the Lagrangian density

1 µν
L EM = L inter + L field = jν Aν + F Fµν (5.65)
4µ0

inserted into the Euler-Lagrange equations, expression (5.49) on page 79, yields
two of Maxwell’s equations. To see this, we note from Equation (5.65) and the
results in Example 5.1 that

∂L EM
= jν (5.66)
∂Aν

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5.2 C OVARIANT F IELD T HEORY 83

Furthermore,
   
∂L EM 1 ∂ κλ 
∂µ = ∂µ F Fκλ
∂(∂µ Aν ) 4µ0 ∂(∂µ Aν )

1 ∂
κ λ λ κ 
= ∂µ (∂ A − ∂ A )(∂κ Aλ − ∂λ Aκ )
4µ0 ∂(∂µ Aν )
 
1 ∂
= ∂µ ∂κ Aλ ∂κ Aλ − ∂κ Aλ ∂λ Aκ (5.67)
4µ0 ∂(∂µ Aν )

λ κ λ κ
− ∂ A ∂κ Aλ + ∂ A ∂λ Aκ
 
1 ∂ κ λ κ λ

= ∂µ ∂ A ∂κ Aλ − ∂ A ∂λ Aκ
2µ0 ∂(∂µ Aν )

But
∂ κ λ  ∂ ∂
∂ A ∂κ Aλ = ∂κ Aλ ∂κ Aλ + ∂κ Aλ ∂κ Aλ
∂(∂µ Aν ) ∂(∂µ Aν ) ∂(∂µ Aν )
∂ ∂
= ∂κ Aλ ∂κ Aλ + ∂κ Aλ gκα ∂α gλβ Aβ
∂(∂µ Aν ) ∂(∂µ Aν )
∂ ∂
= ∂κ Aλ ∂κ Aλ + gκα gλβ ∂κ Aλ ∂α Aβ (5.68)
∂(∂µ Aν ) ∂(∂µ Aν )
∂ ∂
= ∂κ Aλ ∂κ Aλ + ∂α Aβ ∂α Aβ
∂(∂µ Aν ) ∂(∂µ Aν )
= 2∂µ Aν

Similarly,

∂ κ λ 
∂ A ∂λ Aκ = 2∂ν Aµ (5.69)
∂(∂µ Aν )

so that
 
∂L EM 1  1
∂µ = ∂µ ∂µ Aν − ∂ν Aµ = ∂µ F µν (5.70)
∂(∂µ Aν ) µ0 µ0

This means that the Euler-Lagrange equations, expression (5.49) on page 79,
for the Lagrangian density L EM and with Aν as the field quantity become
 
∂L EM ∂L EM 1
− ∂µ = jν − ∂µ F µν = 0 (5.71)
∂Aν ∂(∂µ Aν ) µ0

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84 E LECTROMAGNETIC F IELDS AND PARTICLES

or

∂µ F µν = µ0 jν (5.72)

which, according to Equation (4.83) on page 66, is the covariant version of

Maxwell’s source equations.

Other fields
In general, the dynamic equations for most any fields, and not only electro-
magnetic ones, can be derived from a Lagrangian density together with a vari-
ational principle (the Euler-Lagrange equations). Both linear and non-linear
fields are studied with this technique. As a simple example, consider a real,
scalar field η which has the following Lagrange density:

1 
L = ∂µ η∂µ η − m2 η2 (5.73)
2
Insertion into the 1D Euler-Lagrange equation, Equation (5.46) on page 78,
yields the dynamic equation

(2 − m2 )η = 0 (5.74)

with the solution

e−m|x|
η = ei(k·x−ωt) (5.75)
|x|

which describes the Yukawa meson field for a scalar meson with mass m. With

1 ∂η
π= (5.76)
c2 ∂t
we obtain the Hamilton density

1
2 2 
H = c π + (∇η)2 + m2 η2 (5.77)
2
which is positive definite.
Another Lagrangian density which has attracted quite some interest is the
Proca Lagrangian

1 µν
L EM = L inter + L field = jν Aν + F Fµν + m2 Aµ Aµ (5.78)
4µ0

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5.2 B IBLIOGRAPHY 85

which leads to the dynamic equation

∂µ F µν + m2 Aν = µ0 jν (5.79)

This equation describes an electromagnetic field with a mass, or, in other

words, massive photons. If massive photons would exist, large-scale magnetic
fields, including those of the earth and galactic spiral arms, would be signific-
antly modified to yield measurable discrepances from their usual form. Space
experiments of this kind onboard satellites have led to stringent upper bounds
on the photon mass. If the photon really has a mass, it will have an impact on
electrodynamics as well as on cosmology and astrophysics.

Bibliography
[1] A. O. BARUT, Electrodynamics and Classical Theory of Fields and Particles,
Dover Publications, Inc., New York, NY, 1980, ISBN 0-486-64038-8.

[2] V. L. G INZBURG, Applications of Electrodynamics in Theoretical Physics

and Astrophysics, Revised third ed., Gordon and Breach Science Publishers,
New York, London, Paris, Montreux, Tokyo and Melbourne, 1989, ISBN 2-
88124-719-9.

[3] H. G OLDSTEIN, Classical Mechanics, second ed., Addison-Wesley Publishing

Company, Inc., Reading, MA . . . , 1981, ISBN 0-201-02918-9.

[4] W. T. G RANDY, Introduction to Electrodynamics and Radiation, Academic

Press, New York and London, 1970, ISBN 0-12-295250-2.

[5] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.

[6] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

[7] J. J. S AKURAI, Advanced Quantum Mechanics, Addison-Wesley Publishing

Company, Inc., Reading, MA . . . , 1967, ISBN 0-201-06710-2.

[8] D. E. S OPER, Classical Field Theory, John Wiley & Sons, Inc., New York, Lon-
don, Sydney and Toronto, 1976, ISBN 0-471-81368-0.

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86 E LECTROMAGNETIC F IELDS AND PARTICLES

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6
Electromagnetic
Fields and
Matter

The microscopic Maxwell equations (1.45) derived in Chapter 1 are valid on all
scales where a classical description is good. However, when macroscopic mat-
ter is present, it is sometimes convenient to use the corresponding macroscopic
Maxwell equations (in a statistical sense) in which auxiliary, derived fields are
introduced in order to incorporate effects of macroscopic matter when this is
immersed fully or partially in an electromagnetic field.

6.1 Electric Polarisation and Displacement

In certain cases, for instance in engneering applications, it may be convenient
to separate the influence of an external electric field on free charges ont the
one hand and on neutral matter in bulk on the other. This view, which, as
we shall see, has certain limitations, leads to the introduction of (di)electric
polarisation and magnetisation which, in turn, justifies the introduction of two
help quantities, the electric displacement vector D and the magnetising field
H.

6.1.1 Electric multipole moments

The electrostatic properties of a spatial volume containing electric charges and
located near a point x0 can be characterized in terms of the total charge or
electric monopole moment

q= d3x
ρ(x
) (6.1)
V

87

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88 E LECTROMAGNETIC F IELDS AND M ATTER

where the ρ is the charge density introduced in Equation (1.7) on page 5, the
electric dipole moment vector

p(x0 ) = d3x
(x
− x0 ) ρ(x
) (6.2)
V

with components pi , i = 1, 2, 3, the electric quadrupole moment tensor


Q(x0 ) = d3x
(x
− x0 )(x
− x0 ) ρ(x
) (6.3)
V

with components Qi j , i, j = 1, 2, 3, and higher order electric moments.

In particular, the electrostatic potential Equation (3.3) on page 37 from a
charge distribution located near x 0 can be Taylor expanded in the following
way:

1 q 1 (x − x0 )i
φ stat
(x) = + pi
4πε0 |x − x0 | |x − x0 | 2 |x − x0 |

  (6.4)
1 3 (x − x0 )i (x − x0 ) j 1
+ Qi j − δi j + . . .
|x − x0 |3 2 |x − x0 | |x − x0 | 2

where Einstein’s summation convention over i and j is implied. As can be

seen from this expression, only the first few terms are important if the field
point (observation point) is far away from x 0 .
For a normal medium, the major contributions to the electrostatic interac-
tions come from the net charge and the lowest order electric multipole mo-
ments induced by the polarisation due to an applied electric field. Particularly
important is the dipole moment. Let P denote the electric dipole moment dens-
ity (electric dipole moment per unit volume; unit: C/m 2 ), also known as the
electric polarisation, in some medium. In analogy with the second term in the
expansion Equation (6.4), the electric potential from this volume distribution
P(x
) of electric dipole moments p at the source point x
can be written

 

1 x − x
1 1
φp (x) = d3x
P(x
) ·

=− 3


d x P(x ) · ∇
4πε0 V
|x − x |3 4πε0 V
|x − x
|


1 1
= d3x
P(x
) · ∇

4πε0 V
|x − x
|
(6.5)

Using the expression Equation (M.87) on page 187 and applying the diver-

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6.1 E LECTRIC P OLARISATION AND D ISPLACEMENT 89

gence theorem, we can rewrite this expression for the potential as follows:

 

1 3

P(x
) 3
∇ · P(x )


φp (x) = dx ∇· − dx
4πε0 V
|x − x
| V
|x − x
|




 (6.6)
1 2
P(x ) · n̂ 3
∇ · P(x )
= dx − dx
4πε0 S
|x − x
| V
|x − x
|

where the first term, which describes the effects of the induced, non-cancelling
dipole moment on the surface of the volume, can be neglected, unless there is
a discontinuity in P · n̂ at the surface. Doing so, we find that the contribution
from the electric dipole moments to the potential is given by

1 −∇
· P(x
)
φp = d3x
(6.7)
4πε0 V
|x − x
|
Comparing this expression with expression Equation (3.3) on page 37 for the
electrostatic potential from a static charge distribution ρ, we see that −∇ · P(x)
has the characteristics of a charge density and that, to the lowest order, the
effective charge density becomes ρ(x) − ∇ · P(x), in which the second term is a
polarisation term.
The version of Equation (1.7) on page 5 where free, ‘true’ charges and
bound, polarisation charges are separated thus becomes

ρtrue (x) − ∇ · P(x)

∇·E = (6.8)
ε0
Rewriting this equation, and at the same time introducing the electric displace-
ment vector (C/m2 )

D = ε0 E + P (6.9)

we obtain

∇ · (ε0 E + P) = ∇ · D = ρtrue (x) (6.10)

where ρtrue is the ‘true’ charge density in the medium. This is one of Max-
well’s equations and is valid also for time varying fields. By introducing the
notation ρpol = −∇ · P for the ‘polarised’ charge density in the medium, and
ρtotal = ρtrue + ρpol for the ‘total’ charge density, we can write down the follow-
ing alternative version of Maxwell’s equation (6.23a) on page 92

ρtotal (x)
∇·E = (6.11)
ε0

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90 E LECTROMAGNETIC F IELDS AND M ATTER

Often, for low enough field strengths |E|, the linear and isotropic relation-
ship between P and E

P = ε0 χE (6.12)

is a good approximation. The quantity χ is the electric susceptibility which

is material dependent. For electromagnetically anisotropic media such as a
magnetised plasma or a birefringent crystal, the susceptibility is a tensor. In
general, the relationship is not of a simple linear form as in Equation (6.12)
but non-linear terms are important. In such a situation the principle of super-
position is no longer valid and non-linear effects such as frequency conversion
and mixing can be expected.
Inserting the approximation (6.12) into Equation (6.9) on the previous
page, we can write the latter

D = εE (6.13)

where, approximately,

ε = ε0 (1 + χ) (6.14)

6.2 Magnetisation and the Magnetising Field

An analysis of the properties of stationary magnetic media and the associated
currents shows that three such types of currents exist:

1. In analogy with ‘true’ charges for the electric case, we may have ‘true’
currents jtrue , i.e., a physical transport of true charges.

2. In analogy with electric polarisation P there may be a form of charge

transport associated with the changes of the polarisation with time. We
call such currents induced by an external field polarisation currents. We
identify them with ∂P/∂t.

3. There may also be intrinsic currents of a microscopic, often atomic,

nature that are inaccessible to direct observation, but which may pro-
duce net effects at discontinuities and boundaries. We shall call such
currents magnetisation currents and denote them j M .

No magnetic monopoles have been observed yet. So there is no corres-

pondence in the magnetic case to the electric monopole moment (6.1). The

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6.2 M AGNETISATION AND THE M AGNETISING F IELD 91

lowest order magnetic moment, corresponding to the electric dipole moment

(6.2), is the magnetic dipole moment

1
m= d3x
(x
− x0 ) × j(x
) (6.15)
2 V

For a distribution of magnetic dipole moments in a volume, we may describe

this volume in terms of the magnetisation, or magnetic dipole moment per unit
volume, M. Via the definition of the vector potential one can show that the
magnetisation current and the magnetisation is simply related:

jM = ∇ × M (6.16)

In a stationary medium we therefore have a total current which is (approx-

imately) the sum of the three currents enumerated above:

∂P
jtotal = jtrue + +∇×M (6.17)
∂t
We might then, erroneously, be led to think that


true ∂P
∇ × B = µ0 j + +∇×M (6.18)
∂t

Moving the term ∇ × M to the left hand side and introducing the magnetising
field (magnetic field intensity, Ampère-turn density) as

B
H= −M (6.19)
µ0

and using the definition for D, Equation (6.9) on page 89, we can write this
incorrect equation in the following form

∂P ∂D ∂E
∇ × H = jtrue + = jtrue + − ε0 (6.20)
∂t ∂t ∂t
As we see, in this simplistic view, we would pick up a term which makes
the equation inconsistent; the divergence of the left hand side vanishes while
the divergence of the right hand side does not. Maxwell realised this and to
overcome this inconsistency he was forced to add his famous displacement
current term which precisely compensates for the last term in the right hand
side. In Chapter 1, we discussed an alternative way, based on the postulate of
conservation of electric charge, to introduce the displacement current.

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92 E LECTROMAGNETIC F IELDS AND M ATTER

We may, in analogy with the electric case, introduce a magnetic susceptib-

ility for the medium. Denoting it χ m , we can write
B
H= (6.21)
µ
where, approximately,

µ = µ0 (1 + χm ) (6.22)

Maxwell’s equations expressed in terms of the derived field quantities D

and H are

∇ · D = ρ(t, x) (6.23a)
∇·B = 0 (6.23b)
∂B
∇×E = − (6.23c)
∂t
∂
∇ × H = j(t, x) + D (6.23d)
∂t
and are called Maxwell’s macroscopic equations. These equations are conveni-
ent to use in certain simple cases. Together with the boundary conditions and
the constitutive relations, they describe uniquely (but only approximately!) the
properties of the electric and magnetic fields in matter.

6.3 Energy and Momentum

We shall use Maxwell’s macroscopic equations in the following considerations
on the energy and momentum of the electromagnetic field and its interaction
with matter.

6.3.1 The energy theorem in Maxwell’s theory

Scalar multiplying (6.23c) by H, (6.23d) by E and subtracting, we obtain
H · (∇ × E) − E · (∇ × H) = ∇ · (E × H)
∂B ∂D 1∂ (6.24)
= −H · −E·j−E· =− (H · B + E · D) − j · E
∂t ∂t 2 ∂t
Integration over the entire volume V and using Gauss’s theorem (the diver-
gence theorem), we obtain
  
∂ 1
− d3x
(H · B + E · D) = d3x
j · E + d2x
(E × H) · n̂ (6.25)
∂t V
2 V
S

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6.3 E NERGY AND M OMENTUM 93

We assume the validity of Ohm’s law so that in the presence of an elec-

tromotive force field, we make the linear approximation Equation (1.28) on
page 12:

j = σ(E + EEMF ) (6.26)

which means that

  
3
j2 3

d x j·E = dx − d3x
j · EEMF (6.27)
V
V
σ V

Inserting this into Equation (6.25) on the facing page

   
3
j2 ∂ 3
1
d x j·E EMF
= dx + d3x
(E · D + H · B) + d2x
(E × H) · n̂


σ ∂t V
2

)V *+ , ) V *+ , ) *+ , )S *+ ,
Applied electric power Joule heat Field energy Radiated power
(6.28)

which is the energy theorem in Maxwell’s theory also known as Poynting’s

theorem.
It is convenient to introduce the following quantities:


1
Ue = d3x
E · D (6.29)
2 V


1
Um = d3x
H · B (6.30)
2 V

S = E×H (6.31)

where U e is the electric field energy, U m is the magnetic field energy, both
measured in J, and S is the Poynting vector (power flux), measured in W/m 2 .

6.3.2 The momentum theorem in Maxwell’s theory

Let us now investigate the momentum balance (force actions) in the case that
a field interacts with matter in a non-relativistic way. For this purpose we
consider the force density given by the Lorentz force per unit volume ρE+j×B.

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94 E LECTROMAGNETIC F IELDS AND M ATTER

Using Maxwell’s equations (6.23) and symmetrising, we obtain


∂D
ρE + j × B = (∇ · D)E + ∇ × H − ×B
∂t
∂D
= E(∇ · D) + (∇ × H) × B − ×B
∂t
= E(∇ · D) − B × (∇ × H)
∂ ∂B
− (D × B) + D ×
∂t ∂t (6.32)
= E(∇ · D) − B × (∇ × H)
∂
− (D × B) − D × (∇ × E) + H(∇ · B)
)*+,
∂t
=0
= [E(∇ · D) − D × (∇ × E)] + [H(∇ · B) − B × (∇ × H)]
∂
− (D × B)
∂t

One verifies easily that the ith vector components of the two terms in
square brackets in the right hand member of (6.32) can be expressed as



1 ∂D ∂E ∂ 1
[E(∇ · D) − D × (∇ × E)]i = E· −D· + Ei D j − E · D δi j
2 ∂xi ∂xi ∂x j 2
(6.33)

and



1 ∂B ∂H ∂ 1
[H(∇ · B) − B × (∇× H)]i = H· −B· + Hi B j − B · H δi j
2 ∂xi ∂xi ∂x j 2
(6.34)

respectively.
Using these two expressions in the ith component of Equation (6.32) above
and re-shuffling terms, we get



1 ∂D ∂E ∂B ∂H ∂
(ρE + j × B)i − E· −D· + H· −B· + (D × B)i
2 ∂xi ∂xi ∂xi ∂xi ∂t


∂ 1 1
= Ei D j − E · D δi j + Hi B j − H · B δi j
∂x j 2 2
(6.35)

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6.3 E NERGY AND M OMENTUM 95

Introducing the electric volume force F ev via its ith component




1 ∂D ∂E ∂B ∂H
(Fev )i = (ρE + j × B)i − E· −D· + H· −B· (6.36)
2 ∂xi ∂xi ∂xi ∂xi
and the Maxwell stress tensor T with components
1 1
T i j = Ei D j − E · D δi j + Hi B j − H · B δi j (6.37)
2 2
we finally obtain the force equation
 
∂ ∂T i j
Fev + (D × B) = = (∇ · T)i (6.38)
∂t i ∂x j
If we introduce the relative electric permittivity κ and the relative magnetic
permeability κm as

D = κε0 E = εE (6.39)
B = κm µ0 H = µH (6.40)

we can rewrite (6.38) as


∂T i j κκm ∂S
= Fev + 2 (6.41)
∂x j c ∂t i
where S is the Poynting vector defined in Equation (6.29) on page 93. Integra-
tion over the entire volume V yields
  
d κκm
d3x
Fev + d3x
2 S = d2x
T n̂ (6.42)
V

) *+ , dt ) V

*+ c S

, ) *+ ,
Force on the matter Field momentum Maxwell stress

which expresses the balance between the force on the matter, the rate of change
of the electromagnetic field momentum and the Maxwell stress. This equation
is called the momentum theorem in Maxwell’s theory.
In vacuum (6.42) becomes
  
3
1 d 3

d x ρ(E + v × B) + 2 d x S= d2x
T n̂ (6.43)
V
c dt V
S

or

d mech d field
p + p = d2x
T n̂ (6.44)
dt dt S

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96 E LECTROMAGNETIC F IELDS AND M ATTER

Bibliography
[1] E. H ALLÉN, Electromagnetic Theory, Chapman & Hall, Ltd., London, 1962.

[2] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.

[3] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

[4] J. A. S TRATTON, Electromagnetic Theory, McGraw-Hill Book Company, Inc.,

New York, NY and London, 1953, ISBN 07-062150-0.

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7
Electromagnetic
Fields from
Arbitrary Source
Distributions

While, in principle, the electric and magnetic fields can be calculated from the
Maxwell equations in Chapter 1, or even from the wave equations in Chapter 2,
it is often physically more lucid to calculate them from the electromagnetic
potentials derived in Chapter 3. In this chapter we will derive the electric and
magnetic fields from the potentials.
We recall that in order to find the solution (3.31) for the generic inhomo-
geneous wave equation (3.15) on page 41 we presupposed the existence of a
Fourier transform pair (3.16a) on page 41 for the generic source term
 ∞
Ψ(t, x) = dω Ψω (x) e−iωt (7.1a)
−∞

1 ∞
Ψω (x) = dt Ψ(t, x) eiωt (7.1b)
2π −∞

That such transform pairs exist is true for most physical variables which are
neither strictly monotonically increasing nor strictly monotonically decreasing
with time. For charge and current densities varying in time we can therefore,
without loss of generality, work with individual Fourier components ρ ω (x) and
jω (x), respectively. Strictly speaking, the existence of a single Fourier compon-
ent assumes a monochromatic source (i.e., a source containing only one single
frequency component), which in turn requires that the electric and magnetic
fields exist for infinitely long times. However, by taking the proper limits, we
may still use this approach even for sources and fields of finite duration.
This is the method we shall utilise in this chapter in order to derive the
electric and magnetic fields in vacuum from arbitrary given charge densities
ρ(t, x) and current densities j(t, x), defined by the temporal Fourier transform

97

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98 E LECTROMAGNETIC F IELDS AND M ATTER

pairs
 ∞
ρ(t, x) = dω ρω (x) e−iωt (7.2a)
−∞

1 ∞
ρω (x) = dt ρ(t, x) eiωt (7.2b)
2π −∞
and
 ∞
j(t, x) = dω jω (x) e−iωt (7.3a)
−∞

1 ∞
jω (x) = dt j(t, x) eiωt (7.3b)
2π −∞
under the assumption that only retarded potentials produce physically accept-
able solutions.
The temporal Fourier transform pair for the retarded scalar potential can
then be written
 ∞
φ(t, x) = dω φω (x) e−iωt (7.4a)
−∞
 

1 ∞ 1 eik|x−x |
φω (x) = dt φ(t, x) eiωt = d3x
ρω (x
) (7.4b)
2π −∞ 4πε0 V
|x − x
|
where in the last step, we made use of the explicit expression for the temporal
Fourier transform of the generic potential component Ψ ω (x), Equation (3.28)
on page 43. Similarly, the following Fourier transform pair for the vector po-
tential must exist:
 ∞
A(t, x) = dω Aω (x) e−iωt (7.5a)
−∞
 

1 ∞ µ0 eik|x−x |
Aω (x) = dt A(t, x) eiωt = d3x
jω (x
) (7.5b)
2π −∞ 4π V
|x − x
|
Clearly, we must require that
Aω = A∗−ω , φω = φ∗−ω (7.6)
in order that all physical quantities be real. Similar transform pairs and re-
quirements of real-valuedness exist for the fields themselves.
In the limit that the sources can be considered monochromatic containing
only one single frequency ω0 , we have the much simpler expressions
ρ(t, x) = ρ0 (x)e−iω0 t (7.7a)
j(t, x) = j0 (x)e−iω0 t (7.7b)
−iω0 t
φ(t, x) = φ0 (x)e (7.7c)
A(t, x) = A0 (x)e−iω0 t (7.7d)

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7.1 T HE M AGNETIC F IELD 99

where again the real-valuedness of all these quantities is implied. As discussed

above, we can safely assume that all formulae derived for a general temporal
Fourier representation of the source (general distribution of frequencies in the
source) are valid for these simple limiting cases. We note that in this context,
we can make the formal identification ρ ω = ρ0 δ(ω − ω0 ), jω = j0 δ(ω − ω0 ) etc.,
and that we therefore, without any loss of stringence, let ρ 0 mean the same as
the Fourier amplitude ρω and so on.

7.1 The Magnetic Field

Let us now compute the magnetic field from the vector potential, defined by
Equation (7.5a) and Equation (7.5b) on the facing page, and Formula (3.6) on
page 38:

B(t, x) = ∇ × A(t, x) (7.8)

The calculations are much simplified if we work in ω space and, at the fi-
nal stage, Fourier transform back to ordinary t space. We are working in the
Lorentz gauge and note that in ω space the Lorentz condition, Equation (3.13)
on page 40, takes the form

k
∇ · Aω − i φω = 0 (7.9)
c

which provides a relation between (the Fourier transforms of) the vector and
scalar potentials.
Using the Fourier transformed version of Equation (7.8) above and Equa-
tion (7.5b) on the facing page, we obtain



µ0 3

eik|x−x |
Bω (x) = ∇ × Aω (x) = ∇ × d x jω (x ) (7.10)
4π V
|x − x
|

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100 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

Using Formula (F.57) on page 168, we can rewrite this as

 
ik|x−x
| 
µ0 3

e
Bω (x) = − d x jω (x ) × ∇
4π V
|x − x
|


µ0 x − x


=− d3x
jω (x
) × −

eik|x−x |
4π V
|x − x | 3

 
x − x
ik|x−x
| 1
+ d3x
jω (x
) × ik e (7.11)
V
|x − x
| |x − x
|


µ0 jω (x
)eik|x−x | × (x − x
)
= d3x

4π V
|x − x
|3


(−ik)jω (x
)eik|x−x | × (x − x
)
+ d3x

V
|x − x
|2
From this expression for the magnetic field in the frequency (ω) domain,
we obtain the total magnetic field in the temporal (t) domain by taking the
inverse Fourier transform (using the identity −ik = −iω/c):
 ∞
B(t, x) = dω Bω (x) e−iωt
−∞

 ∞ 

i(k|x−x
|−ωt) × (x − x
)
µ0 3
−∞ dω jω (x )e
= dx
4π V
|x − x
|3

 ∞ 

i(k|x−x
|−ωt) × (x − x
)
1 3
−∞ dω (−iω)jω (x )e
+ dx
c V
|x − x
|2

, x
) × (x − x
) 
, x
) × (x − x
)
µ0 j(tret µ0 j̇(tret
= d3x


+ d3x

4π V
|x − x | 3 4πc V
|x − x
|2
) *+ , ) *+ ,
Induction field Radiation field
(7.12)

where



def ∂j
j̇(tret , x
) ≡ (7.13)
∂t

t=tret

The first term, the induction field, dominates near the current source but falls
off rapidly with distance from it, is the electrodynamic version of the Biot-
Savart law in electrostatics, Formula (1.15) on page 8. The second term, the
radiation field or the far field, dominates at large distances and represents en-
ergy that is transported out to infinity. Note how the spatial derivatives (∇)
gave rise to a time derivative (˙)!

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7.2 T HE E LECTRIC F IELD 101

7.2 The Electric Field

In order to calculate the electric field, we use the temporally Fourier trans-
formed version of Formula (3.10) on page 39, inserting Equations (7.4b) and
(7.5b) as the explicit expressions for the Fourier transforms of φ and A:

Eω (x) = −∇φω (x) + iωAω (x)




1 eik|x−x | iµ0 ω
e
ik|x−x |
=− ∇ d3x
ρω (x
) + d 3

x j ω (x )
4πε0 V
|x − x
| 4π V
|x − x
|


1 ρω (x
)eik|x−x | (x − x
) (7.14)
= d3x


4πε0 V
|x − x | 3



3
ρω (x
)(x − x
) jω (x
) eik|x−x |
− ik d x −
V
|x − x
| c |x − x
|

Using the Fourier transform of the continuity Equation (1.23) on page 10

∇
· jω (x
) − iωρω (x
) = 0 (7.15)

we see that we can express ρω in terms of jω as follows

i
ρω (x
) = − ∇
· jω (x
) (7.16)
ω
Doing so in the last term of Equation (7.14) above, and also using the fact that
k = ω/c, we can rewrite this Equation as


1 ρω (x
)eik|x−x | (x − x
)
Eω (x) = d3x

4πε0 V
|x − x
|3

 ik|x−x
| 
1 3
[∇
· jω (x
)](x − x
)
e (7.17)
− dx

− ikjω (x )

c V
|x − x | |x − x |
) *+ ,
Iω

The last vector-valued integral can be further rewritten in the following

way:

 ik|x−x
|
[∇
· jω (x
)](x − x
)
3

e
Iω = dx

− ikjω (x )
V
|x − x | |x − x
|


(7.18)
3
∂ jωm xl − xl

eik|x−x |
= dx
|x − x
|
− ik jωl (x ) x̂l
V
∂xm |x − x
|

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102 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

But, since



∂ xl − xl
ik|x−x
| ∂ jωmxl − xl
ik|x−x
|


jωm e =

e
∂xm |x − x
|2 ∂xm |x − x
|2

 (7.19)
∂ xl − xl
ik|x−x
|
+ jωm
e
∂xm |x − x
|2
we can rewrite Iω as

 

∂ 3
xl − xl
ik|x−x
| eik|x−x |
Iω = − d x jωm
x̂l e + ikjω
V
∂xm |x − x
|2 |x − x
|


 (7.20)
∂ xl − xl

+ d3x

jωm x̂l eik|x−x |
V
∂xm

|x − x | 2

where, according to Gauss’s theorem, the last term vanishes if j ω is assumed

to be limited and tends to zero at large distances. Further evaluation of the
derivative in the first term makes it possible to write



3
eik|x−x | 2



ik|x−x
|
Iω = − d x −jω + jω · (x − x ) (x − x )e
V
|x − x
|2 |x − x
|4

1


2 (7.21)
3
jω · (x − x
) (x − x
) ik|x−x
| eik|x−x |
− ik d x − e + jω
V
|x − x
|3 |x − x
|

Using the triple product ‘bac-cab’ Formula (F.51) on page 168 backwards, and
inserting the resulting expression for I ω into Equation (7.17) on the previous
page, we arrive at the following final expression for the Fourier transform of
the total E field:



1 eik|x−x | iµ0 ω eik|x−x |
Eω (x) = − ∇ d3x
ρω (x
) + d3x
jω (x
)
4πε0 V
|x − x
| 4π V
|x − x
|


|

1 ρω (x )e ik|x−x (x − x )
= d3x


4πε0 V
|x − x | 3


1 [jω (x
)eik|x−x | · (x − x
)](x − x
)
3

+ dx (7.22)
c V
|x − x
|4

ik|x−x
| × (x − x
)] × (x − x
)
1 3
[jω (x )e
+ dx
c V
|x − x
|4


ik [jω (x
)eik|x−x | × (x − x
)] × (x − x
)
− d3x

c V
|x − x
|3
Taking the inverse Fourier transform of Equation (7.22), once again using
the vacuum relation ω = kc, we find, at last, the expression in time domain for

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7.3 T HE R ADIATION F IELDS 103

the total electric field:

 ∞
E(t, x) = dω Eω (x) e−iωt
−∞

, x
)(x − x
)
1 ρ(tret
= d3x

4πε V
|x − x
|3
) 0 *+ ,
Retarded Coulomb field

1

[j(tret , x ) · (x − x
)](x − x
)
+ d3x

4πε c V
|x − x
|4
) 0 *+ , (7.23)
Intermediate field

, x
) × (x − x
)] × (x − x
)
1 [j(tret
+ d3x

4πε0 c V
|x − x
|4
) *+ ,
Intermediate field

, x
) × (x − x
)] × (x − x
)
1 [j̇(tret
+ d3x

4πε0 c2 V
|x − x
|3
) *+ ,
Radiation field

Here, the first term represents the retarded Coulomb field and the last term
represents the radiation field which carries energy over very large distances.
The other two terms represent an intermediate field which contributes only in
the near zone and must be taken into account there.
With this we have achieved our goal of finding closed-form analytic ex-
pressions for the electric and magnetic fields when the sources of the fields
are completely arbitrary, prescribed distributions of charges and currents. The
only assumption made is that the advanced potentials have been discarded;
recall the discussion following Equation (3.31) on page 43 in Chapter 3.

7.3 The Radiation Fields

In this section we study electromagnetic radiation, i.e., the part of the electric
and magnetic fields, calculated above, which are capable of carrying energy
and momentum over large distances. We shall therefore make the assumption
that the observer is located in the far zone, i.e., very far away from the source
region(s). The fields which are dominating in this zone are by definition the
radiation fields.
From Equation (7.12) on page 100 and Equation (7.23) on the previous

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104 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

page, which give the total electric and magnetic fields, we obtain
 ∞ 
, x
) × (x − x
)
µ0 j̇(tret
Brad (t, x) = dω Brad ω (x) e−iωt = d3x

−∞ 4πc V
|x − x
|2

(7.24a)
 ∞
Erad (t, x) = dω Erad ω (x) e−iωt
−∞

, x
) × (x − x
)] × (x − x
) (7.24b)
1 3
[j̇(tret
= dx
4πε0 c2 V
|x − x
|3

where



def ∂j
j̇(tret , x
) ≡ (7.25)
∂t

t=tret

Instead of studying the fields in the time domain, we can often make a
spectrum analysis into the frequency domain and study each Fourier compon-
ent separately. A superposition of all these components and a transformation
back to the time domain will then yield the complete solution.
The Fourier representation of the radiation fields Equation (7.24a) and
Equation (7.24b) above were included in Equation (7.11) on page 100 and
Equation (7.22) on page 102, respectively and are explicitly given by

1 ∞
ω (x) =
Brad dt Brad (t, x) eiωt
2π −∞

kµ0 jω (x
) × (x − x
) ik|x−x
|
= −i d3x
e (7.26a)
4π V
|x − x
|2

µ0 jω (x
) × k ik|x−x
|
= −i d3x
e
4π V
|x − x
|

1 ∞
Erad
ω (x) = dt Erad (t, x) eiωt
2π −∞

k [jω (x
) × (x − x
)] × (x − x
) ik|x−x
|
= −i d3x
e (7.26b)
4πε0 c V
|x − x
|3

1 [jω (x
) × k] × (x − x
) ik|x−x
|
= −i d3x
e
4πε0 c V
|x − x
|2

where we used the fact that k = k k̂ = k(x − x
)/ |x − x‘|.

If the source is located inside a volume V near x 0 and has such a limited
spatial extent that max |x
− x0 |  |x − x
|, and the integration surface S , centred

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7.3 T HE R ADIATION F IELDS 105

dS = n̂d2x
x − x

k̂ x − x0 x
x
− x0
x x0
V

F IGURE 7.1: Relation between the surface normal and the k vector for
radiation generated at source points x
near the point x0 in the source
volume V. At distances much larger than the extent of V, the unit vector
n̂, normal to the surface S which has its centre at x0 , and the unit vector
k̂ of the radiation k vector from x
are nearly coincident.

on x0 , has a large enough radius |x − x0 |  max |x
− x0 |, we see from Figure 7.1
that we can approximate

 
k x − x
 ≡ k · (x − x
) ≡ k · (x − x0 ) − k · (x
− x0 )
(7.27)
≈ k |x − x0 | − k · (x
− x0 )

Recalling from Formula (F.45) and Formula (F.46) on page 168 that

dS = |x − x0 |2 dΩ = |x − x0 |2 sin θ dθ dϕ

and noting from Figure 7.1 that k̂ and n̂ are nearly parallel, we see that we can
approximate.

k̂ · dS k̂ · n̂
= dS ≈ dΩ (7.28)
|x − x0 | 2
|x − x0 |2

Both these approximations will be used in the following.

Within approximation (7.27) the expressions (7.26a) and (7.26b) for the

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106 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

radiation fields can be approximated as


µ0 ik|x−x0 | jω (x
) × k −ik·(x
−x0 )
ω (x) ≈ −i
Brad e d3x
e
4π V
|x − x
|
 (7.29a)
µ0 eik|x−x0 |

≈ −i d3x
[jω (x
) × k] e−ik·(x −x0 )
4π |x − x0 | V


1 ik|x−x0 | [jω (x
) × k] × (x − x
) −ik·(x
−x0 )
Eω (x) ≈ −i
rad
e d3x
e
4πε0 c V
|x − x
|2

1 eik|x−x0 | (x − x0 )

≈i × d3x
[jω (x
) × k] e−ik·(x −x0 )
4πε0 c |x − x0 | |x − x0 | V

(7.29b)

I.e., if max |x
− x0 |  |x − x
|, then the fields can be approximated as spherical

waves multiplied by dimensional and angular factors, with integrals over points
in the source volume only.

7.4 Radiated Energy

Let us consider the energy that is carried in the radiation fields B rad , Equa-
tion (7.26a), and Erad , Equation (7.26b) on page 104. We have to treat signals
with limited lifetime and hence finite frequency bandwidth differently from
monochromatic signals.

7.4.1 Monochromatic signals

If the source is strictly monochromatic, we can obtain the temporal average of
the radiated power P directly, simply by averaging over one period so that

1   1  
S = E × H = Re E × B∗ = Re Eω e−iωt × (Bω e−iωt )∗
2µ0 2µ0
    (7.30)
1 1
= Re Eω × B∗ω e−iωt eiωt = Re Eω × B∗ω
2µ0 2µ0

Using the far-field approximations (7.29a) and (7.29b) and the fact that 1/c =
√ √
ε0 µ0 and R0 = µ0 /ε0 according to the definition (2.18) on page 28, we ob-
tain
 2
1 1  
−ik·(x
−x0 )  x − x0
S = R  d 3

x (j × k)e (7.31)
32π2 |x − x0 |2  V
 |x − x0 |
0 ω

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7.4 R ADIATED E NERGY 107

or, making use of (7.28) on page 105,

 2
dP 1  
= R  d 3

x (j × k)e −ik·(x
−x0 ) 
(7.32)
dΩ 32π2  V

0 ω

which is the radiated power per unit solid angle.

7.4.2 Finite bandwidth signals

A signal with finite pulse width in time (t) domain has a certain spread in fre-
quency (ω) domain. To calculate the total radiated energy we need to integrate
over the whole bandwidth. The total energy transmitted through a unit area is
the time integral of the Poynting vector:
 ∞  ∞
dt S(t) = dt (E × H)
−∞
−∞
∞  ∞  ∞ (7.33)

−i(ω+ω
)t
= dω dω dt (Eω × H ) e
ω

−∞ −∞ −∞

If we carry out the temporal integration first and use the fact that
 ∞


dt e−i(ω+ω )t = 2πδ(ω + ω
) (7.34)
−∞

Equation (7.33) can be written [cf. Parseval’s identity]

 ∞  ∞
dt S(t) = 2π dω (Eω × H−ω )
−∞ −∞

 ∞  0 
= 2π (Eω × H−ω ) dω + (Eω × H−ω ) dω
0 −∞

 ∞  −∞ 
= 2π (Eω × H−ω ) dω −
(Eω × H−ω ) dω
0 0

 ∞  ∞  (7.35)
= 2π (Eω × H−ω ) dω + (E−ω × Hω ) dω
0 0

2π ∞
= (Eω × B−ω + E−ω × Bω ) dω
µ0 0
 ∞
2π
= (Eω × B∗ω + E∗ω × Bω ) dω
µ0 0

where the last step follows from the real-valuedness of E ω and Bω . We in-
sert the Fourier transforms of the field components which dominate at large

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108 E LECTROMAGNETIC F IELDS FROM A RBITRARY S OURCE D ISTRIBUTIONS

distances, i.e., the radiation fields (7.26a) and (7.26b). The result, after integ-
ration over the area S of a large sphere which encloses the source, is
   ∞  2
1 µ0  j ω × k
|
U= 2
d x n̂· dω  d x 3

e ik|x−x  k̂
 (7.36)
4π ε0 S 0 V
|x − x
|
Inserting the approximations (7.27) and (7.28) into Equation (7.36) above
and also introducing
 ∞
U= Uω dω (7.37)
0

and recalling the definition (2.18) on page 28 for the vacuum resistance R 0 we
obtain
 2
dUω 1  
 3

dω ≈ R0  d x (jω × k)e −ik·(x
−x0 ) 
dΩ 4π V

 dω (7.38)

which, at large distances, is a good approximation to the energy that is radiated

per unit solid angle dΩ in a frequency band dω. It is important to notice that
Formula (7.38) includes only source coordinates. This means that the amount
of energy that is being radiated is independent on the distance to the source (as
long as it is large).

Bibliography
[1] F. H OYLE , S IR AND J. V. NARLIKAR, Lectures on Cosmology and Action at a
Distance Electrodynamics, World Scientific Publishing Co. Pte. Ltd, Singapore,
New Jersey, London and Hong Kong, 1996, ISBN 9810-02-2573-3(pbk).

[2] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.

[3] L. D. L ANDAU AND E. M. L IFSHITZ, The Classical Theory of Fields, fourth re-
vised English ed., vol. 2 of Course of Theoretical Physics, Pergamon Press, Ltd.,
Oxford . . . , 1975, ISBN 0-08-025072-6.

[4] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

[5] J. A. S TRATTON, Electromagnetic Theory, McGraw-Hill Book Company, Inc.,

New York, NY and London, 1953, ISBN 07-062150-0.

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8
Electromagnetic
Radiation and
Radiating
Systems

In Chapter 3 we were able to derive general expressions for the scalar and vec-
tor potentials from which we then, in Chapter 7, calculated the total electric
and magnetic fields from arbitrary distributions of charge and current sources.
The only limitation in the calculation of the fields was that the advanced po-
tentials were discarded.
Thus, one can, at least in principle, calculate the radiated fields, Poynting
flux and energy for an arbitrary current density Fourier component and then
add these Fourier components together to construct the complete electromag-
netic field at any time at any point in space. However, in practice, it is often
difficult to evaluate the source integrals unless the current has a simple distri-
bution in space. In the general case, one has to resort to approximations. We
shall consider both these situations.

8.1 Radiation from Extended Sources

Certain radiation systems have a geometry which is one-dimensional, symmet-
ric or in any other way simple enough that a direct calculation of the radiated
fields and energy is possible. This is for instance the case when the current
flows in one direction in space only and is limited in extent. An example of
this is a linear antenna.

109

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110 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

 
sin[k(L/2 −  x
3 )]

− L2 j(t
, x
) L
2

F IGURE 8.1: A linear antenna used for transmission. The current in the
feeder and the antenna wire is set up by the EMF of the generator (the
transmitter). At the ends of the wire, the current is reflected back with a
180◦ phase shift to produce a antenna current in the form of a standing
wave.

8.1.1 Radiation from a one-dimensional current

distribution
Let us apply Equation (7.32) on page 107 to calculate the power from a linear,
transmitting antenna, fed across a small gap at its centre with a monochromatic
source. The antenna is a straight, thin conductor of length L which carries
a one-dimensional time-varying current so that it produces electromagnetic
radiation.
We assume that the conductor resistance and the energy loss due to the
electromagnetic radiation are negligible. The charges in this thin wire are set
in motion due to the EMF of the generator (transmitter) to produce an antenna
current which is the source of the EM radiation. Since we can assume that
the antenna wire is infinitely thin, the current must vanish at the end points
−L/2 and L/2 and. Furthermore, for a monochromatic signal, the current is
sinusoidal and is reflected at the ends of the antenna wire and undergoes there
a phase shift of π radians. The combined effect of this is that the antenna
current forms a standing wave as indicated in Figure 8.1
For a Fourier component ω0 the standing wave current density can be writ-
ten as j(t
, x
) = j0 (x
) exp{−iω0 t
} [cf. Equations (7.7) on page 98] where


 



sin[k(L/2 − x3 )]
j0 (x ) = I0 δ(x1 )δ(x2 ) x̂3 (8.1)
sin(kL/2)
where the current amplitude I 0 is a constant (measured in A).

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8.1 R ADIATION FROM E XTENDED S OURCES 111

r̂

x3 = z ϕ̂
x
L
2

θ̂

θ
k̂
jω (x
)
x2

x1

− L2

F IGURE 8.2: We choose a spherical polar coordinate system (r = |x| , θ, ϕ)

and orient it so that the linear antenna axis (and thus the antenna current
density jω ) is along the polar axis with the feed point at the origin.

In order to evaluate Formula (7.32) on page 107 with the explicit mono-
chromatic current (8.1) inserted, we use a spherical polar coordinate system as
in Figure 8.2 to evaluate the source integral
 2

−x ) 
 d x j0 × k e
3
−ik·(x 0 
 V

 2
 L/2 sin[k(L/2 −  x
)] 
 −ikx
3 cos θ ikx0 cos θ

= I0 3
k sin θe e dx3 
 −L/2 sin(kL/2) 
 2
2 2 
2 k sin θ  ikx0 cos θ 2 
   L/2





= I0 2 e 2 sin[k(L/2 − x3 )] cos(kx3 cos θ) dx3 
sin (kL/2) 0


cos[(kL/2) cosθ] − cos(kL/2) 2
= 4I02
sin θ sin(kL/2)
(8.2)

Inserting this expression and dΩ = 2π sin θ dθ into Formula (7.32) on page 107
and integrating over θ, we find that the total radiated power from the antenna

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112 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

is
 π

1 cos[(kL/2) cosθ] − cos(kL/2) 2
P(L) = R0 I02 sin θ dθ (8.3)
4π 0 sin θ sin(kL/2)
One can show that

2
π L
lim P(L) = R0 I02 (8.4)
kL→0 12 λ
where λ is the vacuum wavelength.
The quantity

2
2
P(L) P(L) π L L
R (L) = 2 = 1 2 = R0
rad
≈ 197 Ω (8.5)
Ieff 2 I0
6 λ λ

is called the radiation resistance. For the technologically important case of a

half-wave antenna, i.e., for L = λ/2 or kL = π, Formula (8.3) above reduces to
 π 
2 1 cos2 π2 cos θ
P(λ/2) = R0 I0 dθ (8.6)
4π 0 sin θ
The integral in (8.6) can always be evaluated numerically. But, it can in
fact also be evaluated analytically as follows:
 π   1 
cos2 π2 cos θ cos2 π2 u
dθ = [cos θ → u] = du =
sin θ −1 1 − u
2
0
  π  1 + cos(πu) 
cos2 u =
2 2
 1
1 1 + cos(πu)
= du
2 −1 (1 + u)(1 − u)
 
1 1 1 + cos(πu) 1 1 1 + cos(πu) (8.7)
= du + du
4 −1 (1 + u) 4 −1 (1 − u)
 1 
1 1 + cos(πu) v
= du = 1 + u →
2 −1 (1 + u) π

1 2π 1 − cos v 1
= dv = [γ + ln 2π − Ci(2π)]
2 0 v 2
≈ 1.22

where in the last step the Euler-Mascheroni constant γ = 0.5772 . . . and the
cosine integral Ci(x) were introduced. Inserting this into the expression Equa-
tion (8.6) we obtain the value Rrad (λ/2) ≈ 73 Ω.

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8.1 R ADIATION FROM E XTENDED S OURCES 113

r̂

x3 = z = z
ϕ̂
x

θ̂

θ
k̂
x2

ẑ

jω (x
) ϕ
x

x1 ϕ̂

ϕ

ρ̂

F IGURE 8.3: For the loop antenna the spherical coordinate system
(r, θ, ϕ) describes the field point x (the radiation field) and the cylindrical
coordinate system (ρ
, ϕ
, z
) describes the source point x
(the antenna
current).

8.1.2 Radiation from a two-dimensional current

distribution
As an example of a two-dimensional current distribution we consider a circular
loop antenna and calculate the radiated fields from such an antenna. We choose
the Cartesian coordinate system x 1 x2 x3 with its origin at the centre of the loop
as in Figure 8.3
According to Equation (7.29a) on page 106 in the formula collection the
Fourier component of the radiation part of the magnetic field generated by an
extended, monochromatic current source is

−iµ0 eik|x|

Brad
ω = d3x
e−ik·x jω × k (8.8)
4π |x| V

In our case the generator produces a single frequency ω and we feed the an-
tenna across a small gap where the loop crosses the positive x 1 axis. The cir-
cumference of the loop is chosen to be exactly one wavelength λ = 2πc/ω. This
means that the antenna current oscillates in the form of a sinusoidal standing

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114 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

current wave around the circular loop with a Fourier amplitude

jω = I0 cos ϕ
δ(ρ
− a)δ(z
)ϕ̂
(8.9)
For the spherical coordinate system of the field point, we recall from subsec-
tion F.4.1 on page 167 that the following relations between the base vectors
hold:
r̂ = sin θ cos ϕ x̂1 + sin θ sin ϕ x̂2 + cos θ x̂3
θ̂ = cos θ cos ϕ x̂1 + cos θ sin ϕ x̂2 − sin θ x̂3
ϕ̂ = − sin ϕ x̂1 + cos ϕ x̂2
and
x̂1 = sin θ cos ϕr̂ + cos θ cos ϕθ̂ − sin ϕϕ̂
x̂2 = sin θ sin ϕr̂ + cos θ sinϕθ̂ + cos ϕϕ̂
x̂3 = cos θr̂ − sin θθ̂
With the use of the above transformations and trigonometric identities, we
obtain for the cylindrical coordinate system which describes the source:
ρ̂
= cos ϕ
x̂1 + sin ϕ
x̂2
(8.10)
= sin θ cos(ϕ
− ϕ)r̂ + cos θ cos(ϕ
− ϕ)θ̂ + sin(ϕ
− ϕ)ϕ̂
ϕ̂
= − sin ϕ
x̂1 + cos ϕ
x̂2
(8.11)
= − sin θ sin(ϕ
− ϕ)r̂ − cos θ sin(ϕ
− ϕ)θ̂ + cos(ϕ
− ϕ)ϕ̂
ẑ
= x̂3 = cos θr̂ − sin θθ̂ (8.12)
This choice of coordinate systems means that k = kr̂ and x
= aρ̂
so that
k · x
= ka sin θ cos(ϕ
− ϕ) (8.13)
and
ϕ̂
× k = k[cos(ϕ
− ϕ)θ̂ + cos θ sin(ϕ
− ϕ)ϕ̂] (8.14)
With these expressions inserted and d 3x
= ρ
dρ
dϕ
dz
, the source integral
becomes
  2π
3
−ik·x


dx e jω × k = a dϕ
e−ika sin θ cos(ϕ −ϕ) I0 cos ϕ
ϕ̂ × k
V
0
 2π


= I0 ak e−ika sin θ cos(ϕ −ϕ) cos(ϕ
− ϕ) cos ϕ
dϕ
θ̂ (8.15)
0
 2π


+ I0 ak cos θ e−ika sin θ cos(ϕ −ϕ) sin(ϕ
− ϕ) cos ϕ
dϕ
ϕ̂
0

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8.1 R ADIATION FROM E XTENDED S OURCES 115

Utilising the periodicity of the integrands over the integration interval [0, 2π],
introducing the auxiliary integration variable ϕ

= ϕ
−ϕ, and utilising standard
trigonometric identities, the first integral in the RHS of (8.15) can be rewritten
 2π



e−ika sin θ cos ϕ cos ϕ

cos(ϕ

+ ϕ) dϕ


0
 2π



= cos ϕ e−ika sin θ cos ϕ cos2 ϕ

dϕ

+ a vanishing integral
0
 2π

−ika sin θ cos ϕ

1 1


= cos ϕ e + cos 2ϕ dϕ

(8.16)
0 2 2
 2π
1


= cos ϕ e−ika sin θ cos ϕ dϕ


2 0
 2π
1


+ cos ϕ e−ika sin θ cos ϕ cos 2ϕ

dϕ


2 0

Analogously, the second integral in the RHS of (8.15) can be rewritten

 2π



e−ika sin θ cos ϕ sin ϕ

cos(ϕ

+ ϕ) dϕ


0
2π 
1


= sin ϕ e−ika sin θ cos ϕ dϕ

(8.17)
2 0
 2π
1


− sin ϕ e−ika sin θ cos ϕ cos 2ϕ

dϕ


2 0

As is well-known from the theory of Bessel functions,

Jn (−ξ) = (−1)n Jn (ξ)

 π  2π
i−n i−n (8.18)
Jn (−ξ) = e−iξ cos ϕ cos nϕ dϕ = e−iξ cos ϕ cos nϕ dϕ
π 0 2π 0

which means that

 2π



e−ika sin θ cos ϕ dϕ

= 2πJ0 (ka sin θ)
0
 2π (8.19)



e−ika sin θ cos ϕ cos 2ϕ

dϕ

= −2πJ2 (ka sin θ)
0

Putting everything together, we find that




d3x
e−ik·x jω × k = Iθ θ̂ + Iϕ ϕ̂
V

= I0 akπ cos ϕ [J0 (ka sin θ) − J2 (ka sin θ)] θ̂ (8.20)
+ I0 akπ cos θ sin ϕ [J0 (ka sin θ) + J2 (ka sin θ)] ϕ̂

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116 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

so that, in spherical coordinates where |x| = r,

−iµ0 eikr 
ω (x) =
Brad Iθ θ̂ + Iϕ ϕ̂ (8.21)
4πr
To obtain the desired physical magnetic field in the radiation (far) zone we
must Fourier transform back to t space and take the real part and evaluate it at
the retarded time:


−iµ0 e(ikr−ωt ) 
B (t, x) = Re
rad
Iθ θ̂ + Iϕ ϕ̂
4πr
µ0 
= sin(kr − ωt
) Iθ θ̂ + Iϕ ϕ̂
4πr

I0 akµ0

= sin(kr − ωt ) cos ϕ [J0 (ka sin θ) − J2 (ka sinθ)] θ̂
4r

+ cos θ sin ϕ [J0 (ka sin θ) + J2 (ka sin θ)] ϕ̂
(8.22)
From this expression for the radiated B field, we can obtain the radiated E field
with the help of Maxwell’s equations.

8.2 Multipole Radiation

In the general case, and when we are interested in evaluating the radiation far
from the source volume, we can introduce an approximation which leads to a
multipole expansion where individual terms can be evaluated analytically. We
shall use Hertz’ method to obtain this expansion.

8.2.1 The Hertz potential

Let us consider the equation of continuity, which, according to expression (1.23)
on page 10, can be written
∂ρ(t, x)
+ ∇ · j(t, x) = 0 (8.23)
∂t
In Section 6.1.1 we introduced the electric polarisation P such that ∇ · P = −ρ pol ,
the polarisation charge density. If we introduce a vector field π(t, x) such that
∇ · π = −ρtrue (8.24a)
∂π
= jtrue (8.24b)
∂t

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8.2 M ULTIPOLE R ADIATION 117

and compare with Equation (8.23) on the preceding page, we see that π(t, x)
satisfies this equation of continuity. Furthermore, if we compare with the elec-
tric polarisation [cf. Equation (6.9) on page 89], we see that the quantity π
is related to the “true” charges in the same way as P is related to polarised
charge, namely as a dipole moment density. The quantity π is referred to as
the polarisation vector since, formally, it treats also the “true” (free) charges
as polarisation charges so that

ρtrue + ρpol −∇ · π − ∇ · P
∇·E = = (8.25)
ε0 ε0

We introduce a further potential Π e with the following property

∇ · Πe = −φ (8.26a)
1 ∂Πe
=A (8.26b)
c2 ∂t
where φ and A are the electromagnetic scalar and vector potentials, respect-
ively. As we see, Πe acts as a “super-potential” in the sense that it is a poten-
tial from which we can obtain other potentials. It is called the Hertz’ vector
or polarisation potential. Requiring that the scalar and vector potentials φ and
A, respectively, fulfil their inhomogeneous wave equations, one finds, using
(8.24) and (8.26), that Hertz’ vector must satisfy the inhomogeneous wave
equation

1 ∂2 e π
2 Πe = Π − ∇2 Πe = (8.27)
c ∂t
2 2 ε0

This equation is of the same type as Equation (3.15) on page 41, and has
therefore the retarded solution

, x
)
1 π(tret
Πe (t, x) = d3x
(8.28)
4πε0 V
|x − x
|

with Fourier components



1 πω (x
)eik|x−x |
3

Πeω (x) = dx (8.29)
4πε0 V
|x − x
|

If we introduce the help vector C such that

C = ∇ × Πe (8.30)

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118 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

x − x

x − x0 x

Θ

x x0
V

F IGURE 8.4: Geometry of a typical multipole radiation problem where

the field point x is located some distance away from the finite source
volume V
centred around x0 . If k |x
− x0 |  1  k |x − x0 |, then the radi-
ation at x is well approximated by a few terms in the multipole expansion.

we see that we can calculate the magnetic and electric fields, respectively, as
follows

1 ∂C
B= (8.31a)
c2 ∂t
E = ∇×C (8.31b)

Clearly, the last equation is valid only outside the source volume, where
∇ · E = 0. Since we are mainly interested in the fields in the far zone, a long
distance from the source region, this is no essential limitation.
Assume that the source region is a limited volume around some central
point x0 far away from the field (observation) point x illustrated in Figure 8.4.
Under these assumptions, we can expand the Hertz’ vector, expression (8.28)
on the previous page, due to the presence of non-vanishing π(t ret
, x
) in the

vicinity of x0 , in a formal series. For this purpose we recall from potential

theory that

eik|x−x | eik|(x−x0 )−(x −x0 )|
≡
|x − x
| |(x − x0 ) − (x
− x0 )|
∞   (8.32)
= ik ∑ (2n + 1)Pn (cos Θ) jn (k x
− x0 )h(1)
n (k |x − x0 |)
n=0

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8.2 M ULTIPOLE R ADIATION 119

where


eik|x−x |
is a Green function
|x − x
|
Θ is the angle between x
− x0 and x − x0 (see Figure 8.4 on page 118)
Pn (cos Θ) is the Legendre polynomial of order n
 
jn (k x
− x0 ) is the spherical Bessel function of the first kind of order n
n (k |x − x0 |) is the spherical Hankel function of the first kind of order n
h(1)

According to the addition theorem for Legendre polynomials, we can write

n


Pn (cos Θ) = ∑ (−1)m Pmn (cos θ)P−m
im(ϕ−ϕ )
n (cos θ )e (8.33)
m=−n

where Pm n is an associated Legendre polynomial and, in spherical polar co-

ordinates,
 
x
− x0 = (x
− x0  , θ
, φ
) (8.34a)
x − x0 = (|x − x0 | , θ, φ) (8.34b)

Inserting Equation (8.32) on the facing page, together with Equation (8.33)
above, into Equation (8.29) on page 117, we can in a formally exact way ex-
pand the Fourier component of the Hertz’ vector as

ik ∞ n
Πeω = ∑ ∑ (2n + 1)(−1)mh(1)
4πε0 n=0 n (k |x − x0 |) Pn (cos θ) e
m imϕ
m=−n (8.35)
  
× d3x
πω (x
) jn (k x
− x0 ) P−m
−imϕ

n (cos θ ) e
V

We notice that there is no dependence on x − x 0 inside the integral; the integ-

rand is only dependent on the relative source vector x
− x0 .
We are interested in the case where the field point is many wavelengths
away from the well-localised sources, i.e., when the following inequalities
 
k x
− x0   1  k |x − x0 | (8.36)

hold. Then we may to a good approximation replace h (1)

n with the first term in
its asymptotic expansion:

eik|x−x0 |
n (k |x − x0 |) ≈ (−i)
h(1) n+1
(8.37)
k |x − x0 |

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120 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

and replace jn with the first term in its power series expansion:
  2n n! 
n
jn (k x
− x0 ) ≈ k x − x0  (8.38)
(2n + 1)!
Inserting these expansions into Equation (8.35) on the previous page, we obtain
the multipole expansion of the Fourier component of the Hertz’ vector
∞
Πeω ≈ ∑ Πeω(n) (8.39a)
n=0

where
  
1 eik|x−x0 | 2n n!
Πeω(n) = (−i)n d3x
πω (x
) (k x
− x0 )n Pn (cos Θ) (8.39b)
4πε0 |x − x0 | (2n)! V

This expression is approximately correct only if certain care is exercised; if

many Πeω(n) terms are needed for an accurate result, the expansions of the
spherical Hankel and Bessel functions used above may not be consistent and
must be replaced by more accurate expressions. Taking the inverse Fourier
transform of Πeω will yield the Hertz’ vector in time domain, which inserted
into Equation (8.30) on page 117 will yield C. The resulting expression can
then in turn be inserted into Equation (8.31) on page 118 in order to obtain the
radiation fields.
For a linear source distribution along the polar axis, Θ = θ in expres-
sion (8.39b), and Pn (cos θ) gives the angular distribution of the radiation. In
the general case, however, the angular distribution must be computed with the
help of Formula (8.33) on the previous page. Let us now study the lowest order
contributions to the expansion of Hertz’ vector.

8.2.2 Electric dipole radiation

Choosing n = 0 in expression (8.39b), we obtain

eik|x−x0 | 1 eik|x−x0 |
Πeω(0) = d3x
πω (x
) = pω (8.40)
4πε0 |x − x0 | V
4πε0 |x − x0 |
Since π represents a dipole moment density for the“true” charges (in the same
vein as P does so for the polarised charges), p ω = V
d3x
πω (x
) is the Fourier
component of the electric dipole moment
 
p(t, x0 ) = d3x
π(t
, x
) = d3x
(x
− x0 )ρ(t
, x
) (8.41)
V
V

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8.2 M ULTIPOLE R ADIATION 121

k̂
x3
x Brad

Erad

θ
p r̂
x2

x1

F IGURE 8.5: If a spherical polar coordinate system (r, θ, ϕ) is chosen

such that the electric dipole moment p (and thus its Fourier transform pω )
is located at the origin and directed along the polar axis, the calculations
are simplified.

[cf. Equation (6.2) on page 88 which describes the static dipole moment]. If
a spherical coordinate system is chosen with its polar axis along p ω as in Fig-
ure 8.5, the components of Πeω(0) are

def 1 eik|x−x0 |
Πer ≡ Πeω(0) · r̂ = pω cos θ (8.42a)
4πε0 |x − x0 |
def 1 eik|x−x0 |
Πeθ ≡ Πeω(0) · θ̂ = − pω sin θ (8.42b)
4πε0 |x − x0 |
def
Πeϕ ≡ Πeω(0) · ϕ̂ = 0 (8.42c)

Evaluating Formula (8.30) on page 117 for the help vector C, with the
spherically polar components (8.42) of Π eω(0) inserted, we obtain

 ik|x−x0 |
1 1 e
Cω = Cω,ϕ
(0)
ϕ̂ = − ik pω sin θ ϕ̂ (8.43)
4πε0 |x − x0 | |x − x0 |

Applying this to Equation (8.31) on page 118, we obtain directly the Fourier

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122 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

components of the fields

 ik|x−x0 |
ωµ0 1 e
Bω = −i − ik pω sin θ ϕ̂ (8.44a)
4π |x − x0 | |x − x0 |


1 1 ik x − x0
Eω = 2 − cos θ
4πε0 |x − x0 |2 |x − x 0 | |x − x0 |

  ik|x−x0 | (8.44b)
1 ik e
+ − − k 2
sin θ θ̂ pω
|x − x0 | 2 |x − x 0 | |x − x0 |

Keeping only those parts of the fields which dominate at large distances
(the radiation fields) and recalling that the wave vector k = k(x − x 0 )/ |x − x0 |
where k = ω/c, we can now write down the Fourier components of the radiation
parts of the magnetic and electric fields from the dipole:

ωµ0 eik|x−x0 | ωµ0 eik|x−x0 |

ω =−
Brad pω k sin θ ϕ̂ = − (pω × k) (8.45a)
4π |x − x0 | 4π |x − x0 |
1 eik|x−x0 | 1 eik|x−x0 |
ω =−
Erad pω k2 sin θ θ̂ = − [(pω × k) × k]
4πε0 |x − x0 | 4πε0 |x − x0 |
(8.45b)

These fields constitute the electric dipole radiation, also known as E1 radi-
ation.

8.2.3 Magnetic dipole radiation

The next term in the expression (8.39b) on page 120 for the expansion of the
Fourier transform of the Hertz’ vector is for n = 1:
  
eik|x−x0 |
Πeω(1) = −i d3x
k x
− x0  πω (x
) cos Θ
4πε0 |x − x0 | V

 (8.46)
1 eik|x−x0 |
= −ik d3x
[(x − x0 ) · (x
− x0 )] πω (x
)
4πε0 |x − x0 |2 V

Here, the term [(x − x0 ) · (x
− x0 )] πω (x
) can be rewritten

[(x − x0 ) · (x
− x0 )] πω (x
) = (xi − x0,i )(xi
− x0,i ) πω (x
) (8.47)

and introducing

ηi = xi − x0,i (8.48a)
η
i = xi
− x0,i (8.48b)

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8.2 M ULTIPOLE R ADIATION 123

the jth component of the integrand in Π eω (1) can be broken up into

1 
{[(x − x0 ) · (x
− x0 )] πω (x
)} j = ηi πω, j η
i + πω,i η
j
2 (8.49)
1 
+ ηi πω, j η
i − πω,i η
j
2
i.e., as the sum of two parts, the first being symmetric and the second antisym-
metric in the indices i, j. We note that the antisymmetric part can be written
as
1  1
ηi πω, j η
i − πω,i η
j = [πω, j (ηi η
i ) − η
j (ηi πω,i )]
2 2
1
= [πω (η · η
) − η
(η · πω )] j (8.50)
2
1 
= (x − x0 ) × [πω × (x
− x0 )] j
2
The utilisation of Equations (8.24) on page 116, and the fact that we are
considering a single Fourier component,
π(t, x) = πω e−iωt (8.51)
allow us to express πω in jω as
jω
πω = i (8.52)
ω
Hence, we can write the antisymmetric part of the integral in Formula (8.46)
on the preceding page as

1
(x − x0 ) × d3x
πω (x
) × (x
− x0 )
2 V


1
= i (x − x0 ) × d3x
jω (x
) × (x
− x0 ) (8.53)
2ω V

1
= −i (x − x0 ) × mω
ω
where we introduced the Fourier transform of the magnetic dipole moment

1
mω = d3x
(x
− x0 ) × jω (x
) (8.54)
2 V

The final result is that the antisymmetric, magnetic dipole, part of Π eω(1)
can be written
(1) k eik|x−x0 |
Πe,antisym
ω =− (x − x0 ) × mω (8.55)
4πε0 ω |x − x0 |2

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124 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

In analogy with the electric dipole case, we insert this expression into Equa-
tion (8.30) on page 117 to evaluate C, with which Equations (8.31) on page 118
then gives the B and E fields. Discarding, as before, all terms belonging to the
near fields and transition fields and keeping only the terms that dominate at
large distances, we obtain

µ0 eik|x−x0 |
ω (x) = −
Brad (mω × k) × k (8.56a)
4π |x − x0 |
k eik|x−x0 |
ω (x) =
Erad mω × k (8.56b)
4πε0 c |x − x0 |
which are the fields of the magnetic dipole radiation (M1 radiation).

8.2.4 Electric quadrupole radiation

e,sym (1)
The symmetric part Πω of the n = 1 contribution in the Equation (8.39b)
on page 120 for the expansion of the Hertz’ vector can be expressed in terms
of the electric quadrupole tensor, which is defined in accordance with Equa-
tion (6.3) on page 88:

Q(t, x0 ) = d3x
(x
− x0 )(x
− x0 )ρ(t, x
) (8.57)
V

Again we use this expression in Equation (8.30) on page 117 to calculate the
fields via Equations (8.31) on page 118. Tedious, but fairly straightforward
algebra (which we will not present here), yields the resulting fields. The ra-
diation components of the fields in the far field zone (wave zone) are given
by

iµ0 ω eik|x−x0 | 
ω (x) =
Brad k · Qω × k (8.58a)
8π |x − x0 |
i eik|x−x0 |
 
Erad
ω (x) = k · Qω × k × k (8.58b)
8πε0 |x − x0 |
This type of radiation is called electric quadrupole radiation or E2 radiation.

8.3 Radiation from a Localised Charge in

Arbitrary Motion
The derivation of the radiation fields for the case of the source moving relat-
ive to the observer is considerably more complicated than the stationary cases

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 125

studied above. In order to handle this non-stationary situation, we use the re-
tarded potentials (3.32) on page 44 in Chapter 3

1 ρ(t
, x
)
φ(t, x) = d3x
ret
(8.59a)
4πε0 V
|x − x |

, x
)
µ0 j(t
A(t, x) = d3x
ret
(8.59b)
4π V
|x − x |
and consider a source region with such a limited spatial extent that the charges
and currents are well localised. Specifically, we consider a charge q
, for in-
stance an electron, which, classically, can be thought of as a localised, unstruc-
tured and rigid “charge distribution” with a small, finite radius. The part of this
“charge distribution” dq
which we are considering is located in dV
= d3x
in
the sphere in Figure 8.6 on the next page. Since we assume that the electron
(or any other other similar electric charge) is moving with a velocity v whose
direction is arbitrary and whose magnitude can be almost comparable to the
speed

of light, we cannot

say that the charge and current to be used in (8.59) is
ρ(t
, x
) d3x
and

3

V ret V vρ(t ret , x ) d x , respectively, because in the finite time
interval during which the observed signal is generated, part of the charge dis-
tribution will “leak” out of the volume element d 3x
.

8.3.1 The Liénard-Wiechert potentials

The charge distribution in Figure 8.6 on page 126 which contributes to the
field at x(t) is located at x
(t
) on a sphere with radius r = |x − x
| = c(t − t
).
The radius interval of this sphere from which radiation is received at the field
point x during the time interval (t
, t
+ dt
) is (r
, r
+ dr
) and the net amount
of charge in this radial interval is
(x − x
) · v


dq
= ρ(tret


, x
) dS
dr
− ρ(tret


, x
) dS dt (8.60)
|x − x
|
where the last term represents the amount of “source leakage” due to the fact
that the charge distribution moves with velocity v(t
). Since dt
= dr
/c and
dS
dr
= d3x
we can rewrite this expression for the net charge as
(x − x
) · v 3

dq
= ρ(tret


, x
) d3x
− ρ(tret


, x
) dx
c |x − x
|

 (8.61)


(x − x
) · v
= ρ(tret , x ) 1 − d3x

c |x − x
|
or

dq

ρ(tret , x
) d3x
=
(8.62)
1 − (x−x )·v
c|x−x
|

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126 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

1111111111
0000000000
x(t) dr

0000
1111
v(t
)

0000000000
1111111111 dS

0000
1111
x − x

0000000000
1111111111
dV

x
(t
) q

F IGURE 8.6: Signals which are observed at the field point x at time t were
generated at source points x
(t
) on a sphere, centred on x and expanding,
as time increases, with the velocity c outward from the centre. The source
charge element moves with an arbitrary velocity v and gives rise to a
source “leakage” out of the source volume dV
= d3x
.

which leads to the expression

, x
)
ρ(tret dq

3

d x =
(8.63)
|x − x
| |x − x
| − (x−xc )·v

This is the expression to be used in the Formulae (8.59) on the preceding page
for the retarded potentials. The result is (recall that j = ρv)

1 dq

φ(t, x) =
(8.64a)
4πε0 |x − x
| − (x−xc )·v

µ0 v dq

A(t, x) =
(8.64b)
4π |x − x
| − (x−xc )·v

For a sufficiently small and well localised charge distribution we can, assuming
that the integrands do not change sign in the integration volume, use the mean
value theorem and the fact that V dq
= q
to evaluate these expressions to

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 127

become
q
1 q
1
φ(t, x) =
= (8.65a)
4πε0 |x − x
| − (x−xc )·v 4πε0 s
q
v q
v v
A(t, x) =
= = φ(t, x) (8.65b)
4πε0 c2 |x − x
| − (x−xc )·v 4πε0 c2 s c2
where
  (x − x
(t
)) · v(t
)
s = s(t
, x) = x − x
(t
) − (8.66a)

c 
  x − x
(t
) v(t
)
= x − x (t ) 1 −



· (8.66b)
|x − x
(t
)| c




x − x
(t
) v(t
)
= (x − x (t )) · − (8.66c)
|x − x
(t
)| c
is the retarded relative distance. The potentials (8.65) are precisely the Liénard-
Wiechert potentials which we derived in Section 4.3.2 on page 62 by using a
covariant formalism.
It is important to realise that in the complicated derivation presented here,
the observer is in a coordinate system which has an “absolute” meaning and the
velocity v is that of the particle, whereas in the covariant derivation two frames
of equal standing were moving relative to each other with v. Expressed in the
four-potential, Equation (4.48) on page 61, the Liénard-Wiechert potentials
become



µ κ q
1 v φ
A (x ) = , = ,A (8.67)
4πε0 cs c2 s c
The Liénard-Wiechert potentials are applicable to all problems where a
spatially localised charge emits electromagnetic radiation, and we shall now
study such emission problems. The electric and magnetic fields are calculated
from the potentials in the usual way:
B(t, x) = ∇ × A(t, x) (8.68a)
∂A(t, x)
E(t, x) = −∇φ(t, x) − (8.68b)
∂t

8.3.2 Radiation from an accelerated point charge

Consider a localised charge q
and assume that its trajectory is known experi-
mentally as a function of retarded time
x
= x
(t
) (8.69)

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128 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

|x − x
|
q
v x0 (t) v(t
)
c
x
(t
) θ
θ0

x − x0
x − x

x(t)

F IGURE 8.7: Signals which are observed at the field point x at time t
were generated at the source point x
(t
). After time t
the particle, which
moves with nonuniform velocity, has followed a yet unknown trajectory.
Extrapolating tangentially the trajectory from x
(t
), based on the velo-
city v(t
), defines the virtual simultaneous coordinate x0 (t).

(in the interest of simplifying our notation, we drop the subscript “ret” on t

from now on). This means that we know the trajectory of the charge q
, i.e., x
,
for all times up to the time t
at which a signal was emitted in order to precisely
arrive at the field point x at time t. Because of the finite speed of propagation
of the fields, the trajectory at times later than t
is not (yet) known.
The retarded velocity and acceleration at time t
are given by

dx

v(t
) = (8.70a)
dt

dv d2 x

a(t
) = v̇(t
) = = (8.70b)
dt
dt
2
As for the charge coordinate x
itself, we have in general no knowledge of the
velocity and acceleration at times later than t
, in particular not at the time of
observation t. If we choose the field point x as fixed, application of (8.70) to
the relative vector x − x
yields

d
(x − x
(t
)) = −v(t
) (8.71a)
dt

d2
(x − x
(t
)) = −v̇(t
) (8.71b)
dt
2

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 129

The retarded time t
can, at least in principle, be calculated from the implicit
relation
|x − x
(t
)|
t
= t
(t, x) = t − (8.72)
c
and we shall see later how this relation can be taken into account in the calcu-
lations.
According to Formulae (8.68) on page 127 the electric and magnetic fields
are determined via differentiation of the retarded potentials at the observation
time t and at the observation point x. In these formulae the unprimed ∇, i.e.,
the spatial derivative differentiation operator ∇ = x̂ i ∂/∂xi means that we differ-
entiate with respect to the coordinates x = (x 1 , x2 , x3 ) while keeping t fixed, and
the unprimed time derivative operator ∂/∂t means that we differentiate with re-
spect to t while keeping x fixed. But the Liénard-Wiechert potentials φ and A,
Equations (8.65) on page 127, are expressed in the charge velocity v(t
) given
by Equation (8.70a) on the preceding page and the retarded relative distance
s(t
, x) given by Equation (8.66) on page 127. This means that the expressions
for the potentials φ and A contain terms which are expressed explicitly in t
,
which in turn is expressed implicitly in t via Equation (8.72) above. Despite
this complication it is possible, as we shall see below, to determine the electric
and magnetic fields and associated quantities at the time of observation t. To
this end, we need to investigate carefully the action of differentiation on the
potentials.

The differential operator method

We introduce the convention that a differential operator embraced by paren-
theses with an index x or t means that the operator in question is applied at
constant x and t, respectively. With this convention, we find that



∂  
 (x − x
) · v(t
)
x − x
(t
) = x − x · ∂ x − x


(t ) = − (8.73)
∂t
x |x − x
| ∂t
x |x − x
|

Furthermore, by applying the operator (∂/∂t)x to Equation (8.72) we find that



∂t ∂ |x − x
(t
(t, x))|
= 1−
∂t x ∂t c

x 


∂ |x − x
| ∂t
= 1−

(8.74)
∂t x c ∂t x


(x − x
) · v(t
) ∂t

= 1+
c |x − x
| ∂t x

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130 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

This is an algebraic equation in (∂t
/∂t)x which we can solve to obtain


∂t |x − x
| |x − x
|
= = (8.75)
∂t x |x − x
| − (x − x
) · v(t
)/c s

where s = s(t
, x) is the retarded relative distance given by Equation (8.66)

on page 127. Making use of Equation (8.75), we obtain the following useful
operator identity






∂ ∂t ∂ |x − x
| ∂
= = (8.76)
∂t x ∂t x ∂t
x s ∂t
x

Likewise, by applying (∇)t to Equation (8.72) on the previous page we

obtain
|x − x
(t
(t, x))| x − x

(∇)t t
= −(∇)t =− · (∇)t (x − x
)
c c |x − x
|
(8.77)
x − x
(x − x
) · v(t
)
=− + (∇)t t

c |x − x
| c |x − x
|

This is an algebraic equation in (∇) t t
with the solution

x − x

(∇)t t
= − (8.78)
cs
which gives the following operator relation when (∇) t is acting on an arbitrary
function of t
and x:






 ∂ x − x
∂
(∇)t = (∇)t t + (∇)t = −

+ (∇)t
(8.79)
∂t
x cs ∂t
x

With the help of the rules (8.79) and (8.76) we are now able to replace t by t

in the operations which we need to perform. We find, for instance, that


1 q

∇φ ≡ (∇φ)t = ∇
4πε0 s



 (8.80a)
q x − x
v(t
) x − x
∂s
=− − −
4πε0 s2 |x − x
| c cs ∂t
x



∂A ∂A ∂ µ0 q
v(t
)
≡ =
∂t ∂t x ∂t 4π s
 x

 (8.80b)
q
   
∂s
= x − x  sv̇(t ) − x − x  v(t )




4πε0 c2 s3 ∂t
x

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 131

Utilising these relations in the calculation of the E field from the Liénard-
Wiechert potentials, Equations (8.65) on page 127, we obtain

∂
E(t, x) = −∇φ(t, x) − A(t, x)
∂t
q
(x − x
(t
)) − |x − x
(t
)| v(t
)/c
=
4πε0 s2 (t
, x) |x − x
(t
)|

 
(x − x
(t
)) − |x − x
(t
)| v(t
)/c ∂s(t
, x) |x − x
(t
)| v̇(t
)
− −
cs(t
, x) ∂t
x c2
(8.81)

Starting from expression (8.66a) on page 127 for the retarded relative distance
s(t
, x), we see that we can evaluate (∂s/∂t
)x in the following way




∂s ∂  



 (x − x ) · v(t )
= x−x −
∂t
∂t
c
x x
1  2
∂  


 1 ∂ x − x
(t
)


∂v(t
)
=
x − x (t ) − · v(t ) + (x − x (t )) ·
∂t c ∂t
∂t

(x − x
) · v(t
) v2 (t
) (x − x
) · v̇(t
)
=− + −
|x − x
| c c
(8.82)

where Equation (8.73) on page 129 and Equations (8.70) on page 128, respect-
ively, were used. Hence, the electric field generated by an arbitrarily moving
charged particle at x
(t
) is given by the expression



q


|x − x
(t
)| v(t
) v2 (t
)
E(t, x) = (x − x (t )) − 1 −
4πε0 s3 (t
, x) c c2
) *+ ,
Coulomb field when v → 0
 
 
q
x − x
(t
) |x − x
(t
)| v(t
)
+ × (x − x
(t
)) − × v̇(t
)
4πε0 s3 (t
, x) c2 c
) *+ ,
Radiation (acceleration) field
(8.83)

The first part of the field, the velocity field, tends to the ordinary Coulomb field
when v → 0 and does not contribute to the radiation. The second part of the
field, the acceleration field, is radiated into the far zone and is therefore also
called the radiation field.

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132 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

From Figure 8.7 on page 128 we see that the position the charged particle
would have had if at t
all external forces would have been switched off so that
the trajectory from then on would have been a straight line in the direction of
the tangent at x
(t
) is x0 (t), the virtual simultaneous coordinate. During the
arbitrary motion, we interpret x − x 0 as the coordinate of the field point x relat-
ive to the virtual simultaneous coordinate x 0 (t). Since the time it takes from a
signal to propagate (in the assumed vacuum) from x
(t
) to x is |x − x
| /c, this
relative vector is given by
|x − x
(t
)| v(t
)
x − x0 (t) = x − x
(t
) − (8.84)
c
This allows us to rewrite Equation (8.83) on the previous page in the following
way

 
q
v2
(x − x0 ) × v̇
E(t, x) = (x − x0 ) 1 − 2 + (x − x ) × (8.85)
4πε0 s3 c c2
In a similar manner we can compute the magnetic field:


x − x
∂
B(t, x) = ∇ × A(t, x) ≡ (∇)t × A = (∇)t
× A − × A
cs ∂t
x

 (8.86)
q
x − x
x − x
∂A
=−

×v− ×
4πε0 c s |x − x |
2 2 c |x − x
| ∂t x
where we made use of Equation (8.65) on page 127 and Formula (8.76) on
page 130. But, according to (8.80a),
x − x
q
x − x

× (∇) t φ = ×v (8.87)
c |x − x
| 4πε0 c2 s2 |x − x
|
so that


x − x
∂A
B(t, x) = × −(∇φ) t −
c |x − x
| ∂t x


(8.88)
x−x
= × E(t, x)
c |x − x
|
The radiation part of the electric field is obtained from the acceleration
field in Formula (8.83) on the preceding page as
Erad (t, x) = lim E(t, x)
|x−x
|→∞

 
q


|x − x
| v
= (x − x ) × (x − x ) − × v̇ (8.89)
4πε0 c2 s3 c
q

= (x − x
) × [(x − x0 ) × v̇]
4πε0 c2 s3

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 133

where in the last step we again used Formula (8.84) on the preceding page.
Using this formula and Formula (8.88) on the facing page, the radiation part of
the magnetic field can be written

x − x

Brad (t, x) = × Erad (t, x) (8.90)
c |x − x
|

The direct method

An alternative to the differential operator transformation technique just de-
scribed is to try to express all quantities in the potentials directly in t and x. An
example of such a quantity is the retarded relative distance s(t
, x). According
to Equation (8.66) on page 127, the square of this retarded relative distance
can be written


   





 (x − x (t )) · v(t ) (x − x
(t
)) · v(t
) 2
2


2 
s (t , x) = x − x (t ) − 2 x − x (t ) +
c c
(8.91)

If we use the following handy identity

2

(x − x
) · v (x − x
) × v 2
+
c c
|x − x
|2 v2
2 2
2
|x − x | v
= cos θ + sin2 θ
(8.92)
c2 c2
|x − x
|2 v2 2
2
|x − x
|2 v2
= (cos θ + sin θ ) =
c2 c2
we find that

2
2
(x − x
) · v |x − x
|2 v2 (x − x
) × v
= − (8.93)
c c2 c

Furthermore, from Equation (8.84) on the facing page, we obtain the following
identity:

(x − x
(t
)) × v = (x − x0 (t)) × v (8.94)

which, when inserted into Equation (8.93) above, yields the relation

2

(x − x
) · v |x − x
|2 v2 (x − x0 ) × v 2
= − (8.95)
c c2 c

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134 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

Inserting the above into expression (8.91) on the preceding page for s 2 , this
expression becomes

2
 2   (x − x
) · v |x − x
|2 v2 (x − x0 ) × v
s2 = x − x
 − 2 x − x
 + −
c c2 c



|x − x
| v
2 2
(x − x0 ) × v
= (x − x
) − −
c c

2 (8.96)
(x − x 0 ) × v
= (x − x0 )2 −
c


(x − x0 (t)) × v(t
) 2
≡ |x − x0 (t)| −
2
c

where in the penultimate step we used Equation (8.84) on page 132.

What we have just demonstrated is that if the particle velocity at time t can
be calculated or projected from its value at the retarded time t
, the retarded
distance s in the Liénard-Wiechert potentials (8.65) can be expressed in terms
of the virtual simultaneous coordinate x 0 (t), viz., the point at which the particle
will have arrived at time t, i.e., when we obtain the first knowledge of its ex-
istence at the source point x
at the retarded time t
, and in the field coordinate
x = x(t), where we make our observations. We have, in other words, shown
that all quantities in the definition of s, and hence s itself, can, when the mo-
tion of the charge is somehow known, be expressed in terms of the time t alone.
I.e., in this special case we are able to express the retarded relative distance as
s = s(t, x) and we do not have to involve the retarded time t
or any transformed
differential operators in our calculations.
Taking the square root of both sides of Equation (8.96), we obtain the
following alternative final expressions for the retarded relative distance s in
terms of the charge’s virtual simultaneous coordinate x 0 (t):

2
(x − x0 ) × v
s(t, x) = |x − x0 | −2
(8.97a)
c

v2
= |x − x0 | 1 − 2 sin2 θ0 (8.97b)
 c



v2 (x − x0 ) · v 2
= |x − x0 | 1 − 2 +
2
(8.97c)
c c

Using Equation (8.97c) above and standard vector analytic formulae, we

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 135

obtain
& 

2 '
v2 (x − x0 ) · v
∇s = ∇ |x − x0 | 1 − 2 +
2 2
c c

 
v2 vv (8.98)
= 2 (x − x0 ) 1 − 2 + 2 · (x − x0 )
c c
 v v 
= 2 (x − x0 ) + × × (x − x0 )
c c
which we shall use in the following example of a uniformly, unaccelerated
motion of the charge.

T HE FIELDS FROM A UNIFORMLY MOVING CHARGE E XAMPLE 8.1

In the special case of uniform motion, the localised charge moves in a field-free, isol-
ated space and we know that it will not be affected by any external forces. It will
therefore move uniformly in a straight line with the constant velocity v. This gives us
the possibility to extrapolate its position at the observation time, x
(t), from its posi-
tion at the retarded time, x
(t
). Since the particle is not accelerated, v̇ ≡ 0, the virtual
simultaneous coordinate x0 will be identical to the actual simultaneous coordinate of
the particle at time t, i.e., x0 (t) = x
(t). As depicted in Figure 8.7 on page 128, the
angle between x − x0 and v is θ0 while then angle between x − x
and v is θ
.
We note that in the case of uniform velocity v, time and space derivatives are closely
related in the following way when they operate on functions of x(t) [cf. Equa-
tion (1.33) on page 13]:
∂
→ −v · ∇ (8.99)
∂t
Hence, the E and B fields can be obtained from Formulae (8.68) on page 127, with the
potentials given by Equations (8.65) on page 127 as follows:
∂A 1 ∂vφ v ∂φ
E = −∇φ − = −∇φ − 2 = −∇φ − 2
∂t  c ∂t vv  c ∂t
v v
= −∇φ + · ∇φ = − 1 − 2 · ∇φ (8.100a)
 vv c c c
= 2 − 1 · ∇φ
c v  v v
B = ∇ × A = ∇ × 2 φ = ∇φ × 2 = − 2 × ∇φ
v  v c v  vc  vvc 
= 2× · ∇φ − ∇φ = 2 × 2 − 1 · ∇φ (8.100b)
c c c c c
v
= 2 ×E
c
Here 1 = x̂i x̂i is the unit dyad and we used the fact that v × v ≡ 0. What remains is just
to express ∇φ in quantities evaluated at t and x.
From Equation (8.65a) on page 127 and Equation (8.98) above we find that

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136 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS


q
1 q

∇φ = ∇ =− ∇s2
4πε0 s 8πε0 s3
(8.101)
q
 v v 
=− (x − x0 ) + × × (x − x0 )
4πε0 s3 c c
When this expression for ∇φ is inserted into Equation (8.100a) on the preceding page,
the following result
 vv  q
 vv 
E(t, x) = 2 − 1 · ∇φ = − − 1 · ∇s2
c 8πε0 s3 c2

q
v v 
= (x − x 0 ) + × × (x − x 0 )
4πε0 s3 c c

v v  vv  v  v 
− · (x − x0 ) − 2 · × × (x − x0 )
c c c c c


   (8.102)
q v v v2
= (x − x0 ) + · (x − x0 ) − (x − x0 ) 2
4πε0 s3 c c c
  
v v
− · (x − x0 )
c c


q
v2
= (x − x0 ) 1 −
4πε0 s3 c2
follows. Of course, the same result also follows from Equation (8.85) on page 132
with v̇ ≡ 0 inserted.
From Equation (8.102) we conclude that E is directed along the vector from the sim-
ultaneous coordinate x0 (t) to the field (observation) coordinate x(t). In a similar way,
the magnetic field can be calculated and one finds that


µ0 q
v2 1
B(t, x) = 3
1 − 2 v × (x − x0 ) = 2 v × E (8.103)
4πs c c
From these explicit formulae for the E and B fields we can discern the following cases:

1. v → 0 ⇒ E goes over into the Coulomb field ECoulomb

2. v → 0 ⇒ B goes over into the Biot-Savart field

3. v → c ⇒ E becomes dependent on θ0

4. v → c, sin θ0 ≈ 0 ⇒ E → (1 − v2 /c2 )ECoulomb

5. v → c, sin θ0 ≈ 1 ⇒ E → (1 − v2 /c2 )−1/2 ECoulomb

E ND OF EXAMPLE 8.1

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 137

T HE CONVECTION POTENTIAL AND THE CONVECTION FORCE E XAMPLE 8.2

Let us consider in more detail the treatment of the radiation from a uniformly moving
rigid charge distribution.
If we return to the original definition of the potentials and the inhomogeneous wave
equation, Formula (3.15) on page 41, for a generic potential component Ψ(t, x) and a
generic source component f (t, x),


1 ∂2
2 Ψ(t, x) = − ∇2
Ψ(t, x) = f (t, x) (8.104)
c2 ∂t2
we find that under the assumption that v = v x̂1 , this equation can be written


v2 ∂2 Ψ ∂2 Ψ ∂2 Ψ
1− 2 + + = − f (x) (8.105)
c ∂x21 ∂x22 ∂x23
i.e., in a time-independent form. Transforming
x1
ξ1 = (8.106a)
1 − v2 /c2
ξ 2 = x2 (8.106b)
ξ 3 = x3 (8.106c)
def
and introducing the vectorial nabla operator in ξ space, ∇ξ ≡ (∂/∂ξ1 , ∂/∂ξ2 , ∂/∂ξ3 ),
the time-independent equation (8.105) reduces to an ordinary Poisson equation
∇ξ2 Ψ(ξ) = − f ( 1 − v2 /c2 ξ1 , ξ2 , ξ3 ) ≡ − f (ξ) (8.107)
in this space. This equation has the well-known Coulomb potential solution

1 f (ξ
) 3

Ψ(ξ) =  
4π V ξ − ξ
 d ξ (8.108)

After inverse transformation back to the original coordinates, this becomes


1 f (x
) 3

Ψ(x) = dx (8.109)
4π V s
where, in the denominator,

  12

2 v2
2
2
s = (x1 − x1 ) + 1 − 2 [(x2 − x2 ) + (x3 − x3 ) ] (8.110)
c
Applying this to the explicit scalar and vector potential components, realising that for
a rigid charge distribution ρ moving with velocity v the current is given by j = ρv, we
obtain

1 ρ(x
) 3

φ(t, x) = dx (8.111a)
4πε0 V s

1 vρ(x
) 3
v
A(t, x) = d x = 2 φ(t, x) (8.111b)
4πε0 c2 V s c

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138 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS


For a localised charge where ρ d3x
= q
, these expressions reduce to

q

φ(t, x) = (8.112a)
4πε0 s
q
v
A(t, x) = (8.112b)
4πε0 c2 s
which we recognise as the Liénard-Wiechert potentials; cf. Equations (8.65) on
page 127. We notice, however, that the derivation here, based on a mathematical
technique which in fact is a Lorentz transformation, is of more general validity than
the one leading to Equations (8.65) on page 127.
Let us now consider the action of the fields produced from a moving, rigid charge
distribution represented by q
moving with velocity v, on a charged particle q, also
moving with velocity v. This force is given by the Lorentz force

F = q(E + v × B) (8.113)

With the help of Equation (8.103) on page 136 and Equations (8.111) on the previous
page, and the fact that ∂t = −v · ∇ [cf.. Formula (8.99) on page 135], we can rewrite
expression (8.113) above as
 v   v v v v 
F = q E+v× 2 ×E = q · ∇φ − ∇φ − × × ∇φ (8.114)
c c c c c
Applying the “bac-cab” rule, Formula (F.51) on page 168, on the last term yields

v v  v  v v2
× × ∇φ = · ∇φ − ∇φ (8.115)
c c c c c2
which means that we can write

F = −q∇ψ (8.116)

where


v2
ψ = 1− 2 φ (8.117)
c

The scalar function ψ is called the convection potential or the Heaviside potential.
When the rigid charge distribution is well localised so that we can use the potentials
(8.112) the convection potential becomes


v2 q

ψ = 1− 2 (8.118)
c 4πε0 s

The convection potential from a point charge is constant on flattened ellipsoids of

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 139

revolution, defined through Equation (8.110) on page 137 as

1 22
x1 − x
1
+ (x2 − x
2 )2 + (x3 − x
3 )2
1 − v2 /c2 (8.119)
=γ 2
(x1 − x
1 )2 + (x2 − x
2 )2 + (x3 − x
3 )2 = Const
These Heaviside ellipsoids are equipotential surfaces, and since the force is propor-
tional to the gradient of ψ, which means that it is perpendicular to the ellipsoid sur-
face, the force between two charges is in general not directed along the line which
connects the charges. A consequence of this is that a system consisting of two co-
moving charges connected with a rigid bar, will experience a torque. This is the idea
behind the Trouton-Noble experiment, aimed at measuring the absolute speed of the
earth or the galaxy. The negative outcome of this experiment is explained by the spe-
cial theory of relativity which postulates that mechanical laws follow the same rules
as electromagnetic laws, so that a compensating torque appears due to mechanical
stresses within the charge-bar system.
E ND OF EXAMPLE 8.2

Radiation for small velocities

If the charge moves at such low speeds that v/c  1, Formula (8.66) on page 127
simplifies to
  (x − x
) · v  
s =  x − x
 − ≈ x − x
 , vc (8.120)
c
and Formula (8.84) on page 132
|x − x
| v
x − x0 = (x − x
) − ≈ x − x
, vc (8.121)
c
so that the radiation field Equation (8.89) on page 132 can be approximated by
q

Erad (t, x) = (x − x
) × [(x − x
) × v̇], vc (8.122)
4πε0 c2 |x − x
|3
from which we obtain, with the use of Formula (8.88) on page 132, the mag-
netic field
q

Brad (t, x) = [v̇ × (x − x
)], vc (8.123)
4πε0 c3 |x − x
|2
It is interesting to note the close correspondence which exists between the
nonrelativistic fields (8.122) and (8.123) and the electric dipole field Equa-
tions (8.45) on page 122 if we introduce
p = q
x
(t
) (8.124)

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140 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

and at the same time make the transitions

q
v̇ = p̈ → −ω2 pω (8.125a)


x − x = x − x0 (8.125b)

The power flux in the far zone is described by the Poynting vector as a
function of Erad and Brad . We use the close correspondence with the dipole
case to find that it becomes

µ0 q
2 (v̇)2 2 x−x


S= sin θ (8.126)
16π2 c |x − x
|2 |x − x
|

where θ is the angle between v̇ and x − x0 . The total radiated power (integrated
over a closed spherical surface) becomes

µ0 q
2 (v̇)2 q
2 v̇2
P= = (8.127)
6πc 6πε0 c3
which is the Larmor formula for radiated power from an accelerated charge.
Note that here we are treating a charge with v  c but otherwise totally un-
specified motion while we compare with formulae derived for a stationary os-
cillating dipole. The electric and magnetic fields, Equation (8.122) on the
previous page and Equation (8.123) on the preceding page, respectively, and
the expressions for the Poynting flux and power derived from them, are here
instantaneous values, dependent on the instantaneous position of the charge
at x
(t
). The angular distribution is that which is “frozen” to the point from
which the energy is radiated.

8.3.3 Bremsstrahlung
An important special case of radiation is when the velocity v and the acceler-
ation v̇ are collinear (parallel or anti-parallel) so that v × v̇ = 0. This condition
(for an arbitrary magnitude of v) inserted into expression (8.89) on page 132
for the radiation field, yields

q

Erad (t, x) = (x − x
) × [(x − x
) × v̇], v  v̇ (8.128)
4πε0 c2 s3
from which we obtain, with the use of Formula (8.88) on page 132, the mag-
netic field
q
|x − x
|
Brad (t, x) = [v̇ × (x − x
)], v  v̇ (8.129)
4πε0 c3 s3

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 141

v = 0.5c

v = 0.25c
v=0
v

F IGURE 8.8: Polar diagram of the energy loss angular distribution factor
sin2 θ/(1 − v cos θ/c)5 during bremsstrahlung for particle speeds v = 0, v =
0.25c, and v = 0.5c.

The difference between this case and the previous case of v  c is that the
approximate expression (8.120) on page 139 for s is no longer valid; we must
instead use the correct expression (8.66) on page 127. The angular distribution
of the power flux (Poynting vector) therefore becomes

µ0 q
2 v̇2 sin2 θ x − x

S=  (8.130)
16π2 c |x − x
|2 1 − v cos θ 6 |x − x
|
c

It is interesting to note that the magnitudes of the electric and magnetic fields
are the same whether v and v̇ are parallel or anti-parallel.
We must be careful when we compute the energy (S integrated over time).
The Poynting vector is related to the time t when it is measured and to a fixed
surface in space. The radiated power into a solid angle element dΩ, measured
relative to the particle’s retarded position, is given by the formula

dU rad (θ)   µ0 q
2 v̇2 sin2 θ

dΩ = S · (x − x
) x − x
 dΩ =  dΩ (8.131)
dt 16π2 c 1 − v cos θ 6
c

On the other hand, the radiation loss due to radiation from the charge at re-
tarded time t
:


dU rad dU rad ∂t
dΩ = dΩ (8.132)
dt
dt ∂t
x

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142 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

dS
dr
x dΩ  

x − x
 + c dt

θ q 2


x
2 vdt x
1

F IGURE 8.9: Location of radiation between two spheres as the charge

moves with velocity v from x
1 to x
2 during the time interval (t
, t
+ dt
).
The observation point (field point) is at the fixed location x.

Using Formula (8.76) on page 130, we obtain

dU rad dU rad s
dΩ = dΩ = S · (x − x
)s dΩ (8.133)
dt
dt |x − x
|
Inserting Equation (8.130) on the preceding page for S into (8.133), we
obtain the explicit expression for the energy loss due to radiation evaluated at
the retarded time
dU rad (θ) µ0 q
2 v̇2 sin2 θ
dΩ =  dΩ (8.134)
dt
16π2 c 1 − v cos θ 5
c
The angular factors of this expression, for three different particle speeds, are
plotted in Figure 8.8 on the previous page.
Comparing expression (8.131) on the preceding page with expres-
sion (8.134) above, we see that they differ by a factor 1− v cos θ/c which comes
from the extra factor s/ |x − x
| introduced in (8.133). Let us explain this in geo-
metrical terms.
During the interval (t
, t
+ dt
) and within the solid angle element dΩ the
particle radiates an energy [dU rad (θ)/dt
] dt
dΩ. As shown in 8.9 this energy
is at time t located between two spheres, one outer with its origin at x
1 (t
) and
radius c(t − t
), and one inner with its origin at x
2 (t
+ dt
) = x
1 (t
) + v dt
and
radius c[t − (t
+ dt
)] = c(t − t
− dt
).

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 143

From Figure 8.9 we see that the volume element subtending the solid angle
element
dS
dΩ =   (8.135)
x − x
2
2

is
 2
d3x = dS dr = x − x
2  dΩ dr (8.136)

Here, dr denotes the differential distance between the two spheres and can be
evaluated in the following way
    x − x
2
dr = x − x
2  + c dt
− x − x
2  −   · v dt

x − x
2 
) *+ ,
v cos θ (8.137)
1 2
x − x2

cs
= c −   · v dt
=   dt

x − x2
 x − x
2 

where Formula (8.66) on page 127 was used in the last step. Hence, the volume
element under consideration is
s
d3x = dS dr =   dS cdt
(8.138)
x − x
 2

We see that the energy which is radiated per unit solid angle during the time
interval (t
, t
+ dt
) is located in a volume element whose size is θ depend-
ent. This explains the difference between expression (8.131) on page 141 and
expression (8.134) on the facing page.
Let the radiated energy, integrated over Ω, be denoted Ũ rad . After tedious,
but relatively straightforward integration of Formula (8.134) on the preceding
page, one obtains

−3
dŨ rad µ0 q
2 v̇2 1 2 q
2 v̇2 v2
=  3 = 1 − (8.139)
dt
6πc v2 3 4πε0 c3 c2
1− c2

If we know v(t
), we can integrate this expression over t
and obtain the total
energy radiated during the acceleration or deceleration of the particle. This
way we obtain a classical picture of bremsstrahlung (braking radiation). Of-
ten, an atomistic treatment is required for an acceptable result.

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144 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

E XAMPLE 8.3
B REMSSTRAHLUNG FOR LOW SPEEDS AND SHORT ACCELERATION TIMES
Calculate the bremsstrahlung when a charged particle, moving at a non-relativistic
speed, is accelerated or decelerated during an infinitely short time interval.
We approximate the velocity change at time t
= t0 by a delta function:
v̇(t
) = ∆v δ(t
− t0 ) (8.140)
which means that
 ∞
∆v(t0 ) = v̇ dt
(8.141)
−∞
Also, we assume v/c  1 so that, according to Formula (8.66) on page 127,
 
s ≈ x − x
 (8.142)
and, according to Formula (8.84) on page 132,
x − x0 ≈ x − x
(8.143)

From the general expression  (8.88)

 on page 132 we conclude that E ⊥ B and that
it suffices to consider E ≡ Erad . According to the “bremsstrahlung expression” for
Erad , Equation (8.128) on page 140,
q
sin θ
E= ∆v δ(t
− t0 ) (8.144)
4πε0 c2 |x − x
|
 
In this simple case B ≡ Brad  is given by
E
B= (8.145)
c

Fourier transforming expression (8.144) for E is trivial, yielding

q
sin θ
Eω = 2 |x − x
|
∆v eiωt0 (8.146)
8π2 ε 0 c
We note that the magnitude of this Fourier component is independent of ω. This is a
consequence of the infinitely short “impulsive step” δ(t
−t0 ) in the time domain which
produces an infinite spectrum in the frequency domain.
The total radiation energy is given by the expression
  ∞

dŨ rad
B
Ũ =
rad
dt = E× · dS dt

dt
−∞ S µ0
  ∞   ∞
1
2
1
= EB dt d x = E 2 dt
d2x
(8.147)
µ0 S −∞ µ0 c S −∞
  ∞
= ε0 c E 2 dt
d2x

S −∞

According to Parseval’s identity [cf. Equation (7.35) on page 107] the following equal-

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 145

ity holds:
 ∞  ∞
E 2 dt
= 4π |Eω |2 dω (8.148)
−∞ 0

which means that the radiated energy in the frequency interval (ω, ω + dω) is

 
Ũω dω = 4πε0 c
rad
|Eω | d x dω
2 2
(8.149)
S

For our infinite spectrum, Equation (8.146) on the facing page, we obtain

q
2 (∆v)2 sin2 θ 2
Ũωrad dω = d x dω
16π3 ε0 c3 S |x − x
|2
 2π  π
q
2 (∆v)2
= dϕ sin2 θ sin θ dθ dω (8.150)
16π3 ε0 c3 0 0

2
2
q ∆v dω
=
3πε0 c c 2π

We see that the energy spectrum Ũωrad is independent of frequency ω. This means that
if we would integrate it over all frequencies ω ∈ [0, ∞], a divergent integral would
result.
In reality, all spectra have finite widths, with an upper cutoff limit set by the quantum
condition
1
h̄ωmax = m(∆v)2 (8.151)
2
which expresses that the highest possible frequency ωmax in the spectrum is that for
which all kinetic energy difference has gone into one single field quantum (photon)
with energy h̄ωmax . If we adopt the picture that the total energy is quantised in terms
of Nω photons radiated during the process, we find that

Ũωrad dω
= dNω (8.152)
h̄ω
or, for an electron where q
= − |e|, where e is the elementary charge,



e2 2 ∆v 2 dω 1 2 ∆v 2 dω
dNω = ≈ (8.153)
4πε0 h̄c 3π c ω 137 3π c ω

where we used the value of the fine structure constant α = e2 /(4πε0 h̄c) ≈ 1/137.
Even if the number of photons becomes infinite when ω → 0, these photons have
negligible energies so that the total radiated energy is still finite.

E ND OF EXAMPLE 8.3

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146 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

8.3.4 Cyclotron and synchrotron radiation

Formula (8.88) and Formula (8.89) on page 132 for the magnetic field and the
radiation part of the electric field are general, valid for any kind of motion of
the localised charge. A very important special case is circular motion, i.e., the
case v ⊥ v̇.
With the charged particle orbiting in the x 1 x2 plane as in Figure 8.10 on
the facing page, an orbit radius a, and an angular frequency ω 0 , we obtain

ϕ(t
) = ω0 t
(8.154a)





x (t ) = a[ x̂1 cos ϕ(t ) + x̂2 sin ϕ(t )] (8.154b)






v(t ) = ẋ (t ) = aω0 [− x̂1 sin ϕ(t ) + x̂2 cos ϕ(t )] (8.154c)
v = |v| = aω0 (8.154d)


v̇(t ) = ẍ (t ) = −aω20 [ x̂1 cos ϕ(t
) + x̂2 sin ϕ(t
)]



(8.154e)
v̇ = |v̇| = aω20 (8.154f)

Because of the rotational symmetry we can, without loss of generality, rotate

our coordinate system around the x 3 axis so the relative vector x − x
from the
source point to an arbitrary field point always lies in the x 2 x3 plane, i.e.,
 
x − x
= x − x
 ( x̂2 sin α + x̂3 cos α) (8.155)

where α is the angle between x − x
and the normal to the plane of the particle
orbit (see Figure 8.10). From the above expressions we obtain
 
(x − x
) · v = x − x
 v sin α cos ϕ (8.156a)
   
(x − x ) · v̇ = − x − x  v̇ sin α sin ϕ = x − x  v̇ cos θ




(8.156b)

where in the last step we simply used the definition of a scalar product and the
fact that the angle between v̇ and x − x
is θ.
The power flux is given by the Poynting vector, which, with the help of
Formula (8.88) on page 132, can be written
1 1 x − x

S= (E × B) = |E|2 (8.157)
µ0 cµ0 |x − x
|
Inserting this into Equation (8.133) on page 142, we obtain
dU rad (α, ϕ) |x − x
| s 2
= |E| (8.158)
dt
cµ0
where the retarded distance s is given by expression (8.66) on page 127. With
the radiation part of the electric field, expression (8.89) on page 132, inserted,

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 147

x2

(t, x) x − x

x
v
q



θ (t , x )
a
v̇
α ϕ(t
)
0 x1

x3

F IGURE 8.10: Coordinate system for the radiation from a charged

particle at x
(t
) in circular motion with velocity v(t
) along the tan-
gent and constant acceleration v̇(t
) toward the origin. The x1 x2 axes
are chosen so that the relative field point vector x − x
makes an angle α
with the x3 axis which is normal to the plane of the orbital motion. The
radius of the orbit is a.

and using (8.156a) and (8.156b) on the preceding page, one finds, after some
algebra, that
2  2


2 2 1 − v sin α cos ϕ − 1 − v2 sin2 α sin2 ϕ
dU (α, ϕ) µ0 q v̇
rad c c


= 2 5 (8.159)
dt 16π c 1 − v sin α cos ϕ c

The angles θ and ϕ vary in time during the rotation, so that θ refers to a moving
coordinate system. But we can parametrise the solid angle dΩ in the angle ϕ
and the (fixed) angle α so that dΩ = sin α dα dϕ. Integration of Equation (8.159)
over this dΩ gives, after some cumbersome algebra, the angular integrated
expression

dŨ rad µ0 q
2 v̇2 1

=  2 (8.160)
dt
6πc v2
1− c2

In Equation (8.159) above, two limits are particularly interesting:

1. v/c  1 which corresponds to cyclotron radiation.

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148 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

2. v/c  1 which corresponds to synchrotron radiation.

Cyclotron radiation
For a non-relativistic speed v  c, Equation (8.159) on the preceding page
reduces to
dU rad (α, ϕ) µ0 q
2 v̇2
= (1 − sin2 α sin2 ϕ) (8.161)
dt
16π2 c
But, according to Equation (8.156b) on page 146

sin2 α sin2 ϕ = cos2 θ (8.162)

where θ is defined in Figure 8.10 on the preceding page. This means that we
can write
dU rad (θ) µ0 q
2 v̇2 µ0 q
2 v̇2
= (1 − cos 2
θ) = sin2 θ (8.163)
dt
16π2 c 16π2 c
Consequently, a fixed observer near the orbit plane will observe cyclotron
radiation twice per revolution in the form of two equally broad pulses of radi-
ation with alternating polarisation.

Synchrotron radiation
When the particle is relativistic, v  c, the denominator in Equation (8.159)
on the previous page becomes very small if sin α cos ϕ ≈ 1, which defines the
forward direction of the particle motion (α ≈ π/2, ϕ ≈ 0). Equation (8.159) on
the preceding page then becomes

dU rad (π/2, 0) µ0 q
2 v̇2 1

=  (8.164)
dt
16π2 c 1 − v 3
c

which means that an observer near the orbit plane sees a very strong pulse
followed, half an orbit period later, by a much weaker pulse.
The two cases represented by Equation (8.163) above and Equation (8.164)
are very important results since they can be used to determine the character-
istics of the particle motion both in particle accelerators and in astrophysical
objects where a direct measurement of particle velocities are impossible.
In the orbit plane (α = π/2), Equation (8.159) on the previous page gives
2  2


2 2 1 − v cos ϕ − 1 − v2 sin2 ϕ
dU (π/2, ϕ) µ0 q v̇
rad c c


= 2 5 (8.165)
dt 16π c 1 − cos ϕ
v
c

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 149

x2
(t, x)
x − x

∆θ
v
q



a ∆θ (t , x )
v̇
ϕ(t
)
0 x1

x3

F IGURE 8.11: When the observation point is in the plane of the particle
orbit, i.e., α = π/2 the lobe width is given by ∆θ.

which vanishes for angles ϕ0 such that

v
cos ϕ0 = (8.166a)
c

v2
sin ϕ0 = 1− (8.166b)
c2
Hence, the angle ϕ0 is a measure of the synchrotron radiation lobe width ∆θ;
see Figure 8.11. For ultra-relativistic particles, defined by

1 v2
γ= (  1, 1 − 2  1, (8.167)
1− v
2 c
c2

one can approximate


v2 1
ϕ0 ≈ sin ϕ0 = 1− = (8.168)
c2 γ
Hence, synchrotron radiation from ultra-relativistic charges is character-
ized by a radiation lobe width which is approximately
1
∆θ ≈ (8.169)
γ

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150 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

This angular interval is swept by the charge during the time interval
∆θ
∆t
= (8.170)
ω0
during which the particle moves a length interval
∆θ
∆l = v∆t
= v (8.171)
ω0
in the direction toward the observer who therefore measures a pulse width of
length

∆l v∆t
 v
 v  ∆θ  v 1
∆t = ∆t
− = ∆t
− = 1− ∆t = 1 − ≈ 1−
c c c c ω0 c γω0
 
1 − vc 1 + vc 1 v 2 1 1 1
= v ≈ 1− 2 = 3
1+ γω 0 c
) *+ , 2γω 0 2γ ω0
c
) *+ , 1/γ2
≈2
(8.172)
As a general rule, the spectral width of a pulse of length ∆t is ∆ω  1/∆t.
In the ultra-relativistic synchrotron case one can therefore expect frequency
components up to
1
ωmax ≈ = 2γ3 ω0 (8.173)
∆t
A spectral analysis of the radiation pulse will will therefore exhibit a (broadened)
line spectrum of Fourier components nω 0 from n = 1 up to n ≈ 2γ3 .
When many charged particles, N say, contribute to the radiation, we can
have three different situations depending on the relative phases of the radiation
fields from the individual particles:
1. All N radiating particles are spatially much closer to each other than a
typical wavelength. Then the relative phase differences of the individual
electric and magnetic fields radiated are negligible and the total radi-
ated fields from all individual particles will add up to become N times
that from one particle. This means that the power radiated from the N
particles will be N 2 higher than for a single charged particle. This is
called coherent radiation.
2. The charged particles are perfectly evenly distributed in the orbit. In this
case the phases of the radiation fields cause a complete cancellation of
the fields themselves. No radiation escapes.

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 151

3. The charged particles are somewhat unevenly distributed in the orbit.

This happens for an open ring current, carried initially by evenly distrib-
uted charged particles, which is subject to thermal fluctuations. From
statistical mechanics we know that this happens for all open √ systems
and that the particle densities exhibit
√ fluctuations of order N. This
means that out of the N particles, N will exhibit deviation from perfect
randomness—and thereby perfect radiation field cancellation—and
√ give
rise to net radiation fields which are proportional to N. As a result, the
radiated power will be proportional to N, and we speak about incoher-
ent radiation. Examples of this can be found both in earthly laboratories
and under cosmic conditions.

Radiation in the general case

We recall that the general expression for the radiation E field from a moving
charge concentration is given by expression (8.89) on page 132. This expres-
sion in Equation (8.158) on page 146 yields the general formula
 
 2
dU rad (θ, ϕ) µ0 q
2 |x − x
|

|x − x
| v
= (x − x ) × (x − x ) − × v̇ (8.174)
dt
16π2 cs5 c
Integration over the solid angle Ω gives the totally radiated power as
2
dŨ rad µ0 q
2 v̇2 1 − c2 sin ψ
v 2
=   (8.175)
dt
6πc 2 3
1 − vc2
where ψ is the angle between v and v̇.
If v is collinear with v̇, then sin ψ = 0, we get bremsstrahlung. For v ⊥ v̇,
sin ψ = 1, which corresponds to cyclotron radiation or synchrotron radiation.

Virtual photons
Let us consider a charge q
moving with constant, high velocity v(t
) along the
x1 axis. According to Formula (8.102) on page 136 and Figure 8.12 on the
following page, the perpendicular component along the x 3 axis of the electric
field from this moving charge is


q
v2
E⊥ = E3 = 1 − 2 (x − x0 ) · x̂3 (8.176)
4πε0 s3 c
Utilising expression (8.97a) on page 134 and simple geometrical relations, we
can rewrite this as
q
b
E⊥ =
 (8.177)
4πε0 γ2 (vt)2 + b2 /γ2 3/2

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152 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

vt
q

v = v x̂1
b θ0

|x − x0 |

E⊥ x̂3

F IGURE 8.12: The perpendicular field of a charge q
moving with velo-

city v = v x̂ is E⊥ ẑ.

This represents a contracted field, approaching the field of a plane wave. The
passage of this field “pulse” corresponds to a frequency distribution of the field
energy. Fourier transforming, we obtain
 


1 ∞ q
bω bω
Eω,⊥ = dt E⊥ (t) e = 2
iωt
K1 (8.178)
2π −∞ 4π ε0 bv vγ vγ
Here, K1 is the Kelvin function (Bessel function of the second kind with ima-
ginary argument) which behaves in such a way for small and large arguments
that
q

Eω,⊥ ∼ 2 , bω  vγ (8.179a)
4π ε0 bv
Eω,⊥ ∼ 0, bω  vγ (8.179b)
showing that the “pulse” length is of the order b/(vγ).
Due to the equipartition of the field energy into the electric and magnetic
fields, the total field energy can be written
  bmax ∞
Ũ = ε0 E⊥2 d3x = ε0 E⊥2 vdt 2πb db (8.180)
V bmin −∞
where the volume integration is over the plane perpendicular to v. With the
use of Parseval’s identity for Fourier transforms, Formula (7.35) on page 107,
we can rewrite this as
 ∞  bmax ∞  
Ũ = Ũω dω = 4πε0 v Eω,⊥ 2 dω 2πb db
0 bmin 0

2  ∞ vγ/ω (8.181)
q db
≈ 2 dω
2π ε0 v 0 bmin b

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 153

from which we conclude that


q
2 vγ
Ũω ≈ 2 ln (8.182)
2π ε0 v bmin ω
where an explicit value of b min can be calculated in quantum theory only.
As in the case of bremsstrahlung, it is intriguing to quantise the energy into
photons [cf. Equation (8.152) on page 145]. Then we find that


2α cγ dω
Nω dω ≈ ln (8.183)
π bmin ω ω
where α = e2 /(4πε0 h̄c) ≈ 1/137 is the fine structure constant.
Let us consider the interaction of two (classical) electrons, 1 and 2. The
result of this interaction is that they change their linear momenta from p 1
to p
1 and p2 to p
2 , respectively. Heisenberg’s uncertainty principle gives
bmin ∼ h̄/ p1 − p
1  so that the number of photons exchanged in the process
is of the order
2α  cγ   dω
Nω dω ≈ ln p1 − p
1  (8.184)
π h̄ω ω
Since this change in momentum corresponds to a change in energy h̄ω = E 1 − E1

and E1 = m0 γc2 , we see that
1  2
2α E1 cp1 − cp
1  dω
Nω dω ≈ ln (8.185)
π m0 c2 E1 − E1
ω

a formula which gives a reasonable semi-classical account of a photon-induced

electron-electron interaction process. In quantum theory, including only the
lowest order contributions, this process is known as Møller scattering. A dia-
grammatic representation of (a semi-classical approximation of) this process
is given in Figure 8.13 on the following page.

8.3.5 Radiation from charges moving in matter

When electromagnetic radiation is propagating through matter, new phenom-
ena may appear which are (at least classically) not present in vacuum. As men-
tioned earlier, one can under certain simplifying assumptions include, to some
extent, the influence from matter on the electromagnetic fields by introducing
new, derived field quantities D and H according to
D = ε(t, x)E = κε0 E (8.186)
B = µ(t, x)H = κm µ0 H (8.187)

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154 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

p2 p
2

p1 p
1

F IGURE 8.13: Diagrammatic representation of the semi-classical

electron-electron interaction (Møller scattering).

Expressed in terms of these derived field quantities, the Maxwell equations,

often called macroscopic Maxwell equations, take the form

∇ · D = ρ(t, x) (8.188a)
∂B
∇×E = − (8.188b)
∂t
∇·B = 0 (8.188c)
∂D
∇×H = + j(t, x) (8.188d)
∂t
Assuming for simplicity that the electric permittivity ε and the magnetic
permeability µ, and hence the relative permittivity κ and the relative permeab-
ility κm all have fixed values, independent on time and space, for each type
of material we consider, we can derive the general telegrapher’s equation [cf.
Equation (2.33) on page 31]

∂2 E ∂E ∂2 E
− σµ − εµ 2 = 0 (8.189)
∂ζ 2 ∂t ∂t

describing (1D) wave propagation in a material medium.

In Chapter 2 we concluded that the existence of a finite conductivity, mani-
festing itself in a collisional interaction between the charge carriers, causes the
waves to decay exponentially with time and space. Let us therefore assume that
in our medium σ = 0 so that the wave equation simplifies to

∂2 E ∂2 E
− εµ =0 (8.190)
∂ζ 2 ∂t2

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 155

If we introduce the phase velocity in the medium as

1 1 c
vϕ = √ = √ =√ (8.191)
εµ κε0 κm µ0 κκm
√
where, according to Equation (1.11) on page 6, c = 1/ ε0 µ0 is the speed of
light, i.e., the phase speed of electromagnetic waves in vacuum, then the gen-
eral solution to each component of Equation (8.190) on the preceding page

Ei = f (ζ − vϕ t) + g(ζ + vϕ t), i = 1, 2, 3 (8.192)

The ratio of the phase speed in vacuum and in the medium

c √ √ def
= κκm = c εµ ≡ n (8.193)
vϕ

is called the refractive index of the medium. In general n is a function of both

time and space as are the quantities ε, µ, κ, and κ m themselves. If, in addition,
the medium is anisotropic or birefringent, all these quantities are rank-two
tensor fields. Under our simplifying assumptions, in each medium we consider
n = Const for each frequency component of the fields.
Associated with the phase speed of a medium for a wave of a given fre-
quency ω we have a wave vector, defined as
def ω vϕ
k ≡ k k̂ = kv̂ϕ = (8.194)
vϕ vϕ

As in the vacuum case discussed in Chapter 2, assuming that E is time-harmonic,

i.e., can be represented by a Fourier component proportional to exp{−iωt}, the
solution of Equation (8.190) can be written

E = E0 ei(k·x−ωt) (8.195)

where now k is the wave vector in the medium given by Equation (8.194).
With these definitions, the vacuum formula for the associated magnetic field,
Equation (2.40) on page 32,

√ 1 1
B = εµ k̂ × E = k̂ × E = k × E (8.196)
vϕ ω

is valid also in a material medium (assuming, as mentioned, that n has a fixed

constant scalar value). A consequence of a κ = 1 is that the electric field will,
in general, have a longitudinal component.

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156 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

It is important to notice that depending on the electric and magnetic prop-

erties of a medium, and, hence, on the value of the refractive index n, the phase
speed in the medium can be smaller or larger than the speed of light:
c ω
vϕ = = (8.197)
n k
where, in the last step, we used Equation (8.194) on the preceding page.
If the medium has a refractive index which, as is usually the case, depend-
ent on frequency ω, we say that the medium is dispersive. Because in this case
also k(ω) and ω(k), so that the group velocity

∂ω
vg = (8.198)
∂k
has a unique value for each frequency component, and is different from v ϕ .
Except in regions of anomalous dispersion, v ϕ is always smaller than c. In
a gas of free charges, such as a plasma, the refractive index is given by the
expression

ω2p
n2 (ω) = 1 − (8.199)
ω2
where

Nσ q2σ
ω2p = ∑ (8.200)
σ ε0 mσ

is the plasma frequency. Here mσ and Nσ denote the mass and number density,
respectively, of charged particle species σ. In an inhomogeneous plasma, N σ =
Nσ (x) so that the refractive index and also the phase and group velocities are
space dependent. As can be easily seen, for each given frequency, the phase
and group velocities in a plasma are different from each other. If the frequency
ω is such that it coincides with ω p at some point in the medium, then at that
point vϕ → ∞ while vg → 0 and the wave Fourier component at ω is reflected
there.

Vavilov-Čerenkov radiation
As we saw in Subsection 8.1, a charge in uniform, rectilinear motion in va-
cuum does not give rise to any radiation; see in particular Equation (8.100a)
on page 135. Let us now consider a charge in uniform, rectilinear motion in a

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 157

medium with electric properties which are different from those of a (classical)
vacuum. Specifically, consider a medium where

ε = Const > ε0 (8.201a)

µ = µ0 (8.201b)

This implies that in this medium the phase speed is

c 1
vϕ = =√ <c (8.202)
n εµ0

Hence, in this particular medium, the speed of propagation of (the phase planes
of) electromagnetic waves is less than the speed of light in vacuum, which we
know is an absolute limit for the motion of anything, including particles. A
medium of this kind has the interesting property that particles, entering into
the medium at high speeds |v|, which, of course, are below the phase speed
in vacuum, can experience that the particle speeds are higher than the phase
speed in the medium. This is the basis for the Vavilov- Čerenkov radiation that
we shall now study.
If we recall the general derivation, in the vacuum case, of the retarded (and
advanced) potentials in Chapter 3 and the Liénard-Wiechert potentials, Equa-
tions (8.65) on page 127, we realise that we obtain the latter in the medium
by a simple formal replacement c → c/n in the expression (8.66) on page 127
for s. Hence, the Liénard-Wiechert potentials in a medium characterized by a
refractive index n, are

1 q
1 q

φ(t, x) =  = (8.203a)
4πε0 |x − x
| − n (x−x
)·v  4πε0 s
c
1 q
v 1 q
v
A(t, x) =  = (8.203b)
4πε0 c2 |x − x
| − n (x−x
)·v  4πε0 c2 s
c

where now
 
  (x − x
) · v 
 

s =  x−x −n (8.204)
c 

The need for the absolute value of the expression for s is obvious in the case
when v/c ≥ 1/n because then the second term can be larger than the first term;
if v/c  1/n we recover the well-known vacuum case but with modified phase
speed. We also note that the retarded and advanced times in the medium are

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158 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

[cf. Equation (3.30) on page 43]

  k |x − x
| |x − x
| n


tret

= tret (t, x − x
) = t − = t− (8.205a)
ω c
  k |x − x

| |x − x
| n


tadv

= tadv (t, x − x
) = t + = t+ (8.205b)
ω c
so that the usual time interval t − t
between the time measured at the point of
observation and the retarded time in a medium becomes
|x − x
| n
t − t
= (8.206)
c
For v/c ≥ 1/n, the retarded distance s, and therefore the denominators in
Equations (8.203) on the previous page vanish when
v   nv  
n(x − x
) · = x − x
 cos θc = x − x
 (8.207)
c c
or, equivalently, when
c
cos θc = (8.208)
nv
In the direction defined by this angle θ c , the potentials become singular. During
the time interval t − t
given by expression (8.206), the field exists within a
sphere of radius |x − x
| around the particle while the particle moves a distance

l = v(t − t
) (8.209)

along the direction of v.

In the direction θc where the potentials are singular, all field spheres are
tangent to a straight cone with its apex at the instantaneous position of the
particle and with the apex half angle α c defined according to
c
sin αc = cos θc = (8.210)
nv
This cone of potential singularities and field sphere circumferences propagates
with speed c/n in the form of a shock front, called Vavilov- Čerenkov radiation.1
The Vavilov-Čerenkov cone is similar in nature to the Mach cone in acoustics.
1 The first systematic exploration of this radiation was made by P. A. Čerenkov in 1934,
who was then a post-graduate student in S. I. Vavilov’s research group at the Lebedev Institute
in Moscow. Vavilov wrote a manuscript with the experimental findings, put Čerenkov as the
author, and submitted it to Nature. In the manuscript, Vavilov explained the results in terms of
radioactive particles creating Compton electrons which gave rise to the radiation (which was

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8.3 R ADIATION FROM A L OCALISED C HARGE IN A RBITRARY M OTION 159

x(t)

θc αc q
v
x
(t
)

F IGURE 8.14: Instantaneous picture of the expanding field spheres from

a point charge moving with constant speed v/c > 1/n in a medium where
n > 1. This generates a Vavilov-Čerenkov shock wave in the form of a
cone.

In order to make some quantitative estimates of this radiation, we note that

we can describe the motion of each charged particle q
as a current density:
j = q
v δ(x
− vt
) = q
v δ(x
− vt
)δ(y
)δ(z
) x̂1 (8.211)
which has the trivial Fourier transform
q
iωx
/v

jω = e δ(y )δ(z
) x̂1 (8.212)
2π
This Fourier component can be used in the formulae derived for a linear current
in Subsection 8.1.1 if only we make the replacements
ε0 → ε = n2 ε0 (8.213a)
nω
k→ (8.213b)
c
the correct interpretation), but the paper was rejected. The paper was then sent to Physical
Review and was, after some controversy with the American editors who claimed the results to
be wrong, eventually published in 1937. In the same year, I. E. Tamm and I. M. Frank published
the theory for the effect (“the singing electron”). In fact, predictions of a similar effect had been
made as early as 1888 by Heaviside, and by Sommerfeld in his 1904 paper “Radiating body
moving with velocity of light”. On May 8, 1937, Sommerfeld sent a letter to Tamm via Austria,
saying that he was surprised that his old 1904 ideas were now becoming interesting. Tamm,
Frank and Čerenkov received the Nobel Prize in 1958 “for the discovery and the interpretation
of the Čerenkov effect” [V. L. Ginzburg, private communication].
The first observation of this type of radiation was reported by Marie Curie in 1910, but she
never pursued the exploration of it [8].

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160 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

In this manner, using jω from Equation (8.212) on the previous page, the result-
ing Fourier transforms of the Vavilov- Čerenkov magnetic and electric radiation
fields can be calculated from the expressions (7.11) and (7.22) on page 102,
respectively.
The total energy content is then obtained from Equation (7.35) on page 107
(integrated over a closed sphere at large distances). For a Fourier component
one obtains [cf. Equation (7.38) on page 108]
 2
1  
−ik·x
3

Uω dΩ ≈
rad
 (jω × k)e d x  dΩ
4πε0 nc V
 

 2 (8.214)
q
2 nω2  ∞ ωx




= exp i − kx cos θ dx  sin θ dΩ
2
16π3 ε0 c3  −∞ v
where θ is the angle between the direction of motion, x̂
1 , and the direction to
the observer, k̂. The integral in (8.214) is singular of a “Dirac delta type.” If
we limit the spatial extent of the motion of the particle to the closed interval
[−X, X] on the x
axis we can evaluate the integral to obtain

 Xω 
q
2 nω2 sin2 θ sin2 1 − nvc cos θ v
Uω dΩ =
rad

 2 dΩ (8.215)
4π3 ε0 c3 1 − nv cos θ ω
c v
which has a maximum in the direction θc as expected. The magnitude of this
maximum grows and its width narrows as X → ∞. The integration of (8.215)
over Ω therefore picks up the main contributions from θ ≈ θ c . Consequently,
we can set sin2 θ ≈ sin2 θc and the result of the integration is
 π  1
Ũωrad = 2π Uωrad (θ) sinθ dθ = cos θ = −ξ = 2π Uωrad (ξ) dξ
−1
0
  

 1 sin2 1 + nvξ Xω (8.216)
q nω sin θc
2 2 2
c v
≈   2 dξ
2π ε0 c
2 3
−1 ω
1 + nvξ
c v

The integrand in (8.216) is strongly peaked near ξ = −c/(nv), or, equivalently,

near cos θc = c/(nv). This means that the integrand function is practically zero
outside the integration interval ξ ∈ [−1, 1]. Consequently, one may extend the
ξ integration interval to (−∞, ∞) without introducing too much an error. Via
yet another variable substitution we can therefore approximate
  
 1 sin2 1 + nvξ Xω
 
c v c2 cX ∞ sin2 x
sin2 θc   2 dξ ≈ 1 − dx
−1 nvξ ω n2 v2 ωn −∞ x2
1+ c v (8.217)

2

cXπ c
= 1− 2 2
ωn n v

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8.3 B IBLIOGRAPHY 161

leading to the final approximate result for the total energy loss in the frequency
interval (ω, ω + dω)


q
2 X c2
Ũω dω =
rad
1 − 2 2 ω dω (8.218)
2πε0 c2 n v

As mentioned earlier, the refractive index is usually frequency dependent.

Realising this, we find that the radiation energy per frequency unit and per unit
length is


Ũωrad dω q
2 ω c2
= 1 − dω (8.219)
2X 4πε0 c2 n2 (ω)v2

This result was derived under the assumption that v/c > 1/n(ω), i.e., under the
condition that the expression inside the parentheses in the right hand side is
positive. For all media it is true that n(ω) → 1 when ω → ∞, so there exist al-
ways a highest frequency for which we can obtain Vavilov- Čerenkov radiation
from a fast charge in a medium. Our derivation above for a fixed value of n is
valid for each individual Fourier component.

Bibliography
[1] H. A LFVÉN AND N. H ERLOFSON, Cosmic radiation and radio stars, Physical
Review, 78 (1950), p. 616.

[2] R. B ECKER, Electromagnetic Fields and Interactions, Dover Publications, Inc.,

New York, NY, 1982, ISBN 0-486-64290-9.

[3] M. B ORN AND E. W OLF, Principles of Optics. Electromagnetic Theory of

Propagation, Interference and Diffraction of Light, sixth ed., Pergamon Press,
Oxford,. . . , 1980, ISBN 0-08-026481-6.

[4] V. L. G INZBURG, Applications of Electrodynamics in Theoretical Physics

and Astrophysics, Revised third ed., Gordon and Breach Science Publishers,
New York, London, Paris, Montreux, Tokyo and Melbourne, 1989, ISBN 2-
88124-719-9.

[5] J. D. JACKSON, Classical Electrodynamics, third ed., John Wiley & Sons, Inc.,
New York, NY . . . , 1999, ISBN 0-471-30932-X.

[6] J. B. M ARION AND M. A. H EALD, Classical Electromagnetic Radiation,

second ed., Academic Press, Inc. (London) Ltd., Orlando, . . . , 1980, ISBN 0-
12-472257-1.

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162 E LECTROMAGNETIC R ADIATION AND R ADIATING S YSTEMS

[7] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

[8] J. S CHWINGER , L. L. D E R AAD , J R ., K. A. M ILTON , AND W. T SAI, Classical

Electrodynamics, Perseus Books, Reading, MA, 1998, ISBN 0-7382-0056-5.

[9] J. A. S TRATTON, Electromagnetic Theory, McGraw-Hill Book Company, Inc.,

New York, NY and London, 1953, ISBN 07-062150-0.

[10] J. VANDERLINDE, Classical Electromagnetic Theory, John Wiley & Sons, Inc.,
New York, Chichester, Brisbane, Toronto, and Singapore, 1993, ISBN 0-471-
57269-1.

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F
Formulae

F.1 The Electromagnetic Field

F.1.1 Maxwell’s equations

∇·D = ρ (F.1)
∇·B = 0 (F.2)
∂
∇×E = − B (F.3)
∂t
∂
∇×H = j+ D (F.4)
∂t

Constitutive relations

D = εE (F.5)
B
H= (F.6)
µ

j = σE (F.7)
P = ε0 χE (F.8)

F.1.2 Fields and potentials

Vector and scalar potentials

B = ∇×A (F.9)
∂
E = −∇φ − A (F.10)
∂t

163

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164 F ORMULAE

The Lorenz-Lorentz gauge condition in vacuum

1 ∂
∇·A+ φ=0 (F.11)
c2 ∂t

F.1.3 Force and energy

Poynting’s vector
S = E×H (F.12)

Maxwell’s stress tensor

1
T i j = Ei D j + Hi B j − δi j (Ek Dk + Hk Bk ) (F.13)
2

F.2 Electromagnetic Radiation

F.2.1 Relationship between the field vectors in a plane
wave
k̂ × E
B= (F.14)
c

F.2.2 The far fields from an extended source distribution


−iµ0 eik|x|

ω (x) =
Brad d3 x
e−ik·x jω × k (F.15)
4π |x| V


i eik|x|

Eω (x) =
rad
x̂ × d3 x
e−ik·x jω × k (F.16)
4πε0 c |x| V

F.2.3 The far fields from an electric dipole

ωµ0 eik|x|
ω (x) = −
Brad pω × k (F.17)
4π |x|
1 eik|x|
ω (x) = −
Erad (pω × k) × k (F.18)
4πε0 |x|

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F.3 S PECIAL R ELATIVITY 165

F.2.4 The far fields from a magnetic dipole

µ0 eik|x|
ω (x) = −
Brad (mω × k) × k (F.19)
4π |x|
k eik|x|
ω (x) =
Erad mω × k (F.20)
4πε0 c |x|

F.2.5 The far fields from an electric quadrupole

iµ0 ω eik|x| 
ω (x) =
Brad k · Qω × k (F.21)
8π |x|
i eik|x|
 
Erad
ω (x) = k · Qω × k × k (F.22)
8πε0 |x|

F.2.6 The fields from a point charge in arbitrary motion


 
q v2
(x − x0 ) × v̇
E(t, x) = (x − x0 ) 1 − 2 + (x − x ) × (F.23)
4πε0 s3 c c2
E(t, x)
B(t, x) = (x − x
) × (F.24)
c|x − x
|

  v
s = x − x
 − (x − x
) · (F.25)
c
v
x − x0 = (x − x
) − |x − x
| (F.26)


 c
∂t |x − x
|
= (F.27)
∂t x s

F.3 Special Relativity

F.3.1 Metric tensor
⎛ ⎞
1 0 0 0
⎜0 −1 0 0⎟
gµν = ⎜ ⎟
⎝0 0 −1 0 ⎠ (F.28)
0 0 0 −1

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166 F ORMULAE

F.3.2 Covariant and contravariant four-vectors

vµ = gµν vν (F.29)

F.3.3 Lorentz transformation of a four-vector

x
µ = Λµν xν (F.30)

⎛ ⎞
γ −γβ 0 0
⎜−γβ γ 0 0⎟
Λµν = ⎜
⎝ 0
⎟ (F.31)
0 1 0⎠
0 0 0 1
1
γ= (F.32)
1 − β2
v
β= (F.33)
c

F.3.4 Invariant line element

dt
ds = c = c dτ (F.34)
γ

F.3.5 Four-velocity
dx µ
uµ = = γ(c, v) (F.35)
dτ

F.3.6 Four-momentum


µ µ E
p = m0 u = ,p (F.36)
c

F.3.7 Four-current density

jµ = ρ0 uµ (F.37)

F.3.8 Four-potential


φ
Aµ = ,A (F.38)
c

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F.4 V ECTOR R ELATIONS 167

F.3.9 Field tensor

⎛ ⎞
0 −E x /c −Ey /c −Ez /c
⎜E x /c 0 −Bz By ⎟
F µν = ∂µ Aν − ∂ν Aµ = ⎜
⎝ Ey /c
⎟ (F.39)
Bz 0 −B x ⎠
Ez /c −By Bx 0

F.4 Vector Relations

Let x be the radius vector (coordinate vector) from the origin to the point
(x1 , x2 , x3 ) ≡ (x, y, z) and let |x| denote the magnitude (“length”) of x. Let fur-
ther α(x), β(x), . . . be arbitrary scalar fields and a(x), b(x), c(x), d(x), . . . arbit-
rary vector fields.
The differential vector operator ∇ is in Cartesian coordinates given by
3
∂ def ∂ def
∇ ≡ ∑ x̂i ≡ x̂i ≡ ∂ (F.40)
i=1 ∂xi ∂xi

where x̂i , i = 1, 2, 3 is the ith unit vector and x̂ 1 ≡ x̂, x̂2 ≡ ŷ, and x̂3 ≡ ẑ. In
component (tensor) notation ∇ can be written



∂ ∂ ∂ ∂ ∂ ∂
∇i = ∂i = , , = , , (F.41)
∂x1 ∂x2 ∂x3 ∂x ∂y ∂z

F.4.1 Spherical polar coordinates

Base vectors

r̂ = sin θ cos ϕ x̂1 + sin θ sin ϕ x̂2 + cos θ x̂3 (F.42a)

θ̂ = cos θ cos ϕ x̂1 + cos θ sin ϕ x̂2 − sin θ x̂3 (F.42b)
ϕ̂ = − sin ϕ x̂1 + cos ϕ x̂2 (F.42c)

x̂1 = sin θ cos ϕr̂ + cos θ cos ϕθ̂ − sin ϕϕ̂ (F.43a)
x̂2 = sin θ sin ϕr̂ + cos θ sin ϕθ̂ + cos ϕϕ̂ (F.43b)
x̂3 = cos θr̂ − sin θθ̂ (F.43c)

Directed line element

dx x̂ = dl = dr r̂ + r dθ θ̂ + r sin θ dϕ ϕ̂ (F.44)

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168 F ORMULAE

Solid angle element

dΩ = sin θ dθ dϕ (F.45)

Directed area element

d2x n̂ = dS = dS r̂ = r 2 dΩ r̂ (F.46)

Volume element
d3x = dV = drdS = r2 dr dΩ (F.47)

F.4.2 Vector formulae

General vector algebraic identities

a · b = b · a = δi j ai b j = ab cos θ (F.48)
a × b = −b × a = i jk a j bk x̂i (F.49)
a · (b × c) = (a × b) · c (F.50)
a × (b × c) = b(a · c) − c(a · b) (F.51)
a × (b × c) + b × (c × a) + c × (a × b) = 0 (F.52)
(a × b) · (c × d) = a · [b × (c × d)] = (a · c)(b · d) − (a · d)(b · c) (F.53)
(a × b) × (c × d) = (a × b · d)c − (a × b · c)d (F.54)

General vector analytic identities

∇(αβ) = α∇β + β∇α (F.55)

∇ · (αa) = a · ∇α + α∇ · a (F.56)
∇ × (αa) = α∇ × a − a × ∇α (F.57)
∇ · (a × b) = b · (∇ × a) − a · (∇ × b) (F.58)
∇ × (a × b) = a(∇ · b) − b(∇ · a) + (b · ∇)a − (a · ∇)b (F.59)
∇(a · b) = a × (∇ × b) + b × (∇ × a) + (b · ∇)a + (a · ∇)b (F.60)
∇ · ∇α = ∇ α 2
(F.61)
∇ × ∇α = 0 (F.62)
∇ · (∇ × a) = 0 (F.63)
∇ × (∇ × a) = ∇(∇ · a) − ∇2 a (F.64)

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F.4 V ECTOR R ELATIONS 169

Special identities
In the following x = xi x̂i and x
= xi
x̂i are radius vectors, k an arbitrary constant
vector, a = a(x) an arbitrary vector field, ∇ ≡ ∂x∂ i x̂i , and ∇
≡ ∂x∂
x̂i .
i

∇·x = 3 (F.65)
∇×x = 0 (F.66)
∇(k · x) = k (F.67)
x
∇|x| = (F.68)
|x|
 x − x

∇ |x − x
| =

= −∇
|x − x
| (F.69)
|x − x |


1 x
∇ =− 3 (F.70)
|x| |x|



1 x − x

1
∇ =− = −∇ (F.71)
|x − x
| |x − x
|3 |x − x
|



x 1
∇· = −∇2 = 4πδ(x) (F.72)
|x|3 |x|



x − x
1
∇· = −∇ 2
= 4πδ(x − x
) (F.73)
|x − x
|3 |x − x
|

 

k 1 k·x
∇ = k· ∇ =− 3 (F.74)
|x| |x| |x|



x k·x
∇× k× = −∇ if |x| = 0 (F.75)
|x|3 |x|3



k 1
∇ 2
= k∇ 2
= −4πkδ(x) (F.76)
|x| |x|
∇ × (k × a) = k(∇ · a) + k × (∇ × a) − ∇(k · a) (F.77)

Integral relations
Let V(S ) be the volume bounded by the closed surface S (V). Denote the 3-
dimensional volume element by d3x(≡ dV) and the surface element, directed
along the outward pointing surface normal unit vector n̂, by dS(≡ d 2x n̂). Then
 
(∇ · a) d x =
3
dS · a (F.78)
V  S
(∇α) d3x = dS α (F.79)
V S
 
(∇ × a) d3x = dS × a (F.80)
V S

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170 F ORMULAE

If S (C) is an open surface bounded by the contour C(S ), whose line ele-
ment is dl, then
 
α dl = dS × ∇α (F.81)
C S
a · dl = dS · (∇ × a) (F.82)
C S

Bibliography
[1] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth,
international ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-
059816-7.

[2] P. M. M ORSE AND H. F ESHBACH, Methods of Theoretical Physics, Part I.

McGraw-Hill Book Company, Inc., New York, NY . . . , 1953, ISBN 07-043316-8.

[3] W. K. H. PANOFSKY AND M. P HILLIPS, Classical Electricity and Magnetism,

second ed., Addison-Wesley Publishing Company, Inc., Reading, MA . . . , 1962,
ISBN 0-201-05702-6.

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M
Mathematical
Methods

M.1 Scalars, Vectors and Tensors

Every physical observable can be described by a geometric object. We will
describe the observables in classical electrodynamics mathematically in terms
of scalars, pseudoscalars, vectors, pseudovectors, tensors or pseudotensors and
will not exploit differential forms to any significant degree.
A scalar describes a scalar quantity which may or may not be constant in
time and/or space. A vector describes some kind of physical motion due to
vection and a tensor describes the motion or deformation due to some form of
tension. However, generalisations to more abstract notions of these quantities
are commonplace. The difference between a scalar, vector and tensor and a
pseudoscalar, pseudovector and a pseudotensor is that the latter behave differ-
ently under such coordinate transformations which cannot be reduced to pure
rotations.
Throughout we adopt the convention that Latin indices i, j, k, l, . . . run over
the range 1, 2, 3 to denote vector or tensor components in the real Euclidean
three-dimensional (3D) configuration space R 3 , and Greek indices µ, ν, κ, λ, . . . ,
which are used in four-dimensional (4D) space, run over the range 0, 1, 2, 3.

M.1.1 Vectors
Radius vector
A vector can be represented mathematically in a number of different ways.
One suitable representation is in terms of an ordered N-tuple, or row vector, of
the coordinates x N where N is the dimensionality of the space under consider-
ation. The most basic vector is the radius vector which is the vector from the
origin to the point of interest. Its N-tuple representation simply enumerates the
coordinates which describe this point. In this sense, the radius vector from the
origin to a point is synonymous with the coordinates of the point itself.

171

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172 M ATHEMATICAL M ETHODS

In the 3D Euclidean space R3 , we have N = 3 and the radius vector can be

represented by the triplet (x 1 , x2 , x3 ) of coordinates xi , i = 1, 2, 3. The coordin-
ates xi are scalar quantities which describe the position along the unit base
vectors x̂i which span R3 . Therefore a representation of the radius vector in
R3 is
3
x = ∑ xi x̂i ≡ xi x̂i
def
(M.1)
i=1

where we have introduced Einstein’s summation convention (EΣ) which states

that a repeated index in a term implies summation over the range of the index in
question. Whenever possible and convenient we shall in the following always
assume EΣ and suppress explicit summation in our formulae. Typographically,
we represent a vector in 3D Euclidean space R 3 by a boldface letter or symbol
in a Roman font.
Alternatively, we may describe the radius vector in component notation as
follows:
def
xi ≡ (x1 , x2 , x3 ) ≡ (x, y, z) (M.2)
This component notation is particularly useful in 4D space where we can
represent the radius vector either in its contravariant component form
def
xµ ≡ (x0 , x1 , x2 , x3 ) (M.3)
or its covariant component form
def
xµ ≡ (x0 , x1 , x2 , x3 ) (M.4)
The relation between the covariant and contravariant forms is determined by
the metric tensor (also known as the fundamental tensor) whose actual form
is dictated by the properties of the vector space in question. The dual rep-
resentation of vectors in contravariant and covariant forms is most convenient
when we work in a non-Euclidean vector space with an indefinite metric. An
example is Lorentz space L4 which is a 4D Riemannian space utilised to for-
mulate the special theory of relativity.
We note that for a change of coordinates x µ → x
µ = x
µ (x0 , x1 , x2 , x3 ), due
to a transformation from a system Σ to another system Σ
, the differential radius
vector dxµ transforms as
∂x
µ
dx
µ = ν dxν (M.5)
∂x
which follows trivially from the rules of differentiation of x
µ considered as
functions of four variables x ν .

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M.1 S CALARS , V ECTORS AND T ENSORS 173

M.1.2 Fields
A field is a physical entity which depends on one or more continuous paramet-
ers. Such a parameter can be viewed as a “continuous index” which enumer-
ates the “coordinates” of the field. In particular, in a field which depends on
the usual radius vector x of R 3 , each point in this space can be considered as
one degree of freedom so that a field is a representation of a physical entity
which has an infinite number of degrees of freedom.

Scalar fields
We denote an arbitrary scalar field in R 3 by

def
α(x) = α(x1 , x2 , x3 ) ≡ α(xi ) (M.6)

This field describes how the scalar quantity α varies continuously in 3D R 3

space.
In 4D, a four-scalar field is denoted

def
α(x0 , x1 , x2 , x3 ) ≡ α(xµ ) (M.7)

which indicates that the four-scalar α depends on all four coordinates spanning
this space. Since a four-scalar has the same value at a given point regardless
of coordinate system, it is also called an invariant.
Analogous to the transformation rule, Equation (M.5) on the preceding
page, for the differential dx µ , the transformation rule for the differential oper-
ator ∂/∂xµ under a transformation x µ → x
µ becomes

∂ ∂xν ∂
= (M.8)
∂x
µ ∂x
µ ∂xν
which, again, follows trivially from the rules of differentiation.

Vector fields
We can represent an arbitrary vector field a(x) in R 3 as follows:

a(x) = ai (x) x̂i (M.9)

In component notation this same vector can be represented as

ai (x) = (a1 (x), a2 (x), a3 (x)) = ai (x j ) (M.10)

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174 M ATHEMATICAL M ETHODS

In 4D, an arbitrary four-vector field in contravariant component form can

be represented as

aµ (xν ) = (a0 (xν ), a1 (xν ), a2 (xν ), a3 (xν )) (M.11)

or, in covariant component form, as

aµ (xν ) = (a0 (xν ), a1 (xν ), a2 (xν ), a3 (xν )) (M.12)

where xν is the radius four-vector. Again, the relation between a µ and aµ is

determined by the metric of the physical 4D system under consideration.
Whether an arbitrary N-tuple fulfils the requirement of being an (N-dimen-
sional) contravariant vector or not, depends on its transformation properties
during a change of coordinates. For instance, in 4D an assemblage y µ =
(y0 , y1 , y2 , y3 ) constitutes a contravariant four-vector (or the contravariant com-
ponents of a four-vector) if and only if, during a transformation from a system
Σ with coordinates xµ to a system Σ
with coordinates x
µ , it transforms to the
new system according to the rule

∂x
µ ν
y
µ = y (M.13)
∂xν
i.e., in the same way as the differential coordinate element dx µ transforms
according to Equation (M.5) on page 172.
The analogous requirement for a covariant four-vector is that it transforms,
during the change from Σ to Σ
, according to the rule

∂xν
y
µ = yν (M.14)
∂x
µ
i.e., in the same way as the differential operator ∂/∂x µ transforms according to
Equation (M.8) on the previous page.

Tensor fields
We denote an arbitrary tensor field in R 3 by A(x). This tensor field can be
represented in a number of ways, for instance in the following matrix form:
⎛ ⎞
 def A11 (x) A12 (x) A13 (x)
Ai j (xk ) ≡ ⎝A21 (x) A22 (x) A23 (x)⎠ (M.15)
A31 (x) A32 (x) A33 (x)

Strictly speaking, the tensor field described here is a tensor of rank two.

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M.1 S CALARS , V ECTORS AND T ENSORS 175

A particularly simple rank-two tensor in R 3 is the 3D Kronecker delta sym-

bol δi j , with the following properties:
%
0 if i = j
δi j = (M.16)
1 if i = j

The 3D Kronecker delta has the following matrix representation

⎛ ⎞
1 0 0
(δi j ) = ⎝0 1 0⎠ (M.17)
0 0 1
Another common and useful tensor is the fully antisymmetric tensor of
rank 3, also known as the Levi-Civita tensor
⎧
⎪
⎨1 if i, j, k is an even permutation of 1,2,3
i jk = 0 if at least two of i, j, k are equal (M.18)
⎪
⎩
−1 if i, j, k is an odd permutation of 1,2,3

with the following further property

i jk ilm = δ jl δkm − δ jm δkl (M.19)

In fact, tensors may have any rank n. In this picture a scalar is considered
to be a tensor of rank n = 0 and a vector a tensor of rank n = 1. Consequently,
the notation where a vector (tensor) is represented in its component form is
called the tensor notation. A tensor of rank n = 2 may be represented by a two-
dimensional array or matrix whereas higher rank tensors are best represented
in their component forms (tensor notation).

T ENSORS IN 3D SPACE E XAMPLE M.1

Consider a tetrahedron-like volume element V of a solid, fluid, or gaseous body, whose
atomistic structure is irrelevant for the present analysis; figure M.1 on the following
page indicates how this volume may look like. Let dS = d2x n̂ be the directed surface
element of this volume element and let the vector T n̂ d2x be the force that matter, lying
on the side of d2x toward which the unit normal vector n̂ points, acts on matter which
lies on the opposite side of d2x. This force concept is meaningful only if the forces
are short-range enough that they can be assumed to act only in the surface proper.
According to Newton’s third law, this surface force fulfils

T− n̂ = −T n̂ (M.20)

Using (M.20) and Newton’s second law, we find that the matter of mass m, which at a

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176 M ATHEMATICAL M ETHODS

x3

n̂

d2x

x2

x1

F IGURE M.1: Terahedron-like volume element V containing matter.

given instant is located in V obeys the equation of motion

T n̂ d2x − cos θ1 T x̂1 d2x − cos θ2 T x̂2 d2x − cos θ3 T x̂3 d2x + Fext = ma (M.21)
where Fext is the external force and a is the acceleration of the volume element. In
other words


m Fext
T n̂ = n1 T x̂1 + n2 T x̂2 + n3 T x̂3 + 2 a − (M.22)
dx m
Since both a and Fext /m remain finite whereas m/d2x → 0 as V → 0, one finds that in
this limit
3
T n̂ = ∑ ni T x̂i ≡ ni T x̂i (M.23)
i=1
From the above derivation it is clear that Equation (M.23) above is valid not only in
equilibrium but also when the matter in V is in motion.
Introducing the notation

T i j = T x̂i j (M.24)
for the jth component of the vector T x̂i , we can write Equation (M.23) in component

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M.1 S CALARS , V ECTORS AND T ENSORS 177

form as follows
3
T n̂j = (T n̂) j = ∑ ni T i j ≡ ni T i j (M.25)
i=1

Using Equation (M.25) above, we find that the component of the vector T n̂ in the
direction of an arbitrary unit vector m̂ is
T n̂m̂ = T n̂ · m̂
1 2
3 3 3 (M.26)
= ∑ T n̂j m j = ∑ ∑ ni Ti j m j ≡ ni T i j m j = n̂· T · m̂
j=1 j=1 i=1

Hence, the jth component of the vector T x̂i , here denoted T i j , can be interpreted as the
i jth component of a tensor T. Note that T n̂m̂ is independent of the particular coordinate
system used in the derivation.
We shall now show how one can use the momentum law (force equation) to derive
the equation of motion for an arbitrary element of mass in the body. To this end we
consider a part V of the body. If the external force density (force per unit volume) is
denoted by f and the velocity for a mass element dm is denoted by v, we obtain
  
d
v dm = f d3x + T n̂ d2x (M.27)
dt V V S

The jth component of this equation can be written

    
d
v j dm = f j d3x + T n̂j d2x = f j d3x + ni T i j d2x (M.28)
V dt V S V S

where, in the last step, Equation (M.25) was used. Setting dm = ρ d3x and using the
divergence theorem on the last term, we can rewrite the result as
  
d ∂T i j 3
ρ v j d3x = f j d3x + dx (M.29)
V dt V V ∂xi
Since this formula is valid for any arbitrary volume, we must require that
d ∂T i j
ρ vj − fj − =0 (M.30)
dt ∂xi
or, equivalently
∂v j ∂T i j
ρ + ρv · ∇v j − f j − =0 (M.31)
∂t ∂xi
Note that ∂v j /∂t is the rate of change with time of the velocity component v j at a fixed
point x = (x1 , x1 , x3 ).

E ND OF EXAMPLE M.1

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178 M ATHEMATICAL M ETHODS

In 4D, we have three forms of four-tensor fields of rank n. We speak of

• a contravariant four-tensor field, denoted A µ1 µ2 ...µn (xν ),

• a covariant four-tensor field, denoted A µ1 µ2 ...µn (xν ),

µ µ ...µ
• a mixed four-tensor field, denoted A µ1k+12...µnk (xν ).

The 4D metric tensor (fundamental tensor) mentioned above is a particu-

larly important four-tensor of rank 2. In covariant component form we shall
denote it gµν . This metric tensor determines the relation between an arbitrary
contravariant four-vector a µ and its covariant counterpart a µ according to the
following rule:

def
aµ (xκ ) ≡ gµν aν (xκ ) (M.32)

This rule is often called lowering of index. The raising of index analogue of
the index lowering rule is:

def
aµ (xκ ) ≡ gµν aν (xκ ) (M.33)

More generally, the following lowering and raising rules hold for arbitrary
rank n mixed tensor fields:

gµk νk Aνν1k+1
ν2 ...νk−1 νk κ ν1 ν2 ...νk−1 κ
νk+2 ...νn (x ) = Aµk νk+1 ...νn (x ) (M.34)

gµk νk Aνν1k ννk+1

2 ...νk−1 κ ν1 ν2 ...νk−1 µk κ
...νn (x ) = Aνk+1 νk+2 ...νn (x ) (M.35)

Successive lowering and raising of more than one index is achieved by a re-
peated application of this rule. For example, a dual application of the lowering
operation on a rank 2 tensor in contravariant form yields

Aµν = gµκ gλν Aκλ (M.36)

i.e., the same rank 2 tensor in covariant form. This operation is also known as
a tensor contraction.

E XAMPLE M.2
C ONTRAVARIANT AND COVARIANT VECTORS IN FLAT L ORENTZ SPACE

The 4D Lorentz space L4 has a simple metric which can be described either by the

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M.1 S CALARS , V ECTORS AND T ENSORS 179

metric tensor
⎧
⎪
⎨1 if µ = ν = 0
gµν = −1 if µ = ν = i = j = 1, 2, 3 (M.37)
⎪
⎩
0 if µ =
 ν
which, in matrix notation, is represented as
⎛ ⎞
1 0 0 0
⎜0 −1 0 0⎟
(gµν ) = ⎜
⎝0 0 −1 0 ⎠
⎟ (M.38)
0 0 0 −1
i.e., a matrix with a main diagonal that has the sign sequence, or signature, {+, −, −, −}
or
⎧
⎪
⎨−1 if µ = ν = 0
gµν = 1 if µ = ν = i = j = 1, 2, 3 (M.39)
⎪
⎩
0 if µ = ν
which, in matrix notation, is represented as
⎛ ⎞
−1 0 0 0
⎜ 0 1 0 0⎟
(gµν ) = ⎜
⎝ 0 0 1 0⎠
⎟ (M.40)
0 0 0 1
i.e., a matrix with signature {−, +, +, +}.
Consider an arbitrary contravariant four-vector aν in this space. In component form it
can be written:
def
aν ≡ (a0 , a1 , a2 , a3 ) = (a0 , a) (M.41)
According to the index lowering rule, Equation (M.32) on the preceding page, we
obtain the covariant version of this vector as
def
aµ ≡ (a0 , a1 , a2 , a3 ) = gµν aν (M.42)
In the {+, −, −, −} metric we obtain
µ=0: a0 = 1 · a0 + 0 · a1 + 0 · a2 + 0 · a3 = a0 (M.43)
µ=1: a1 = 0 · a − 1 · a + 0 · a + 0 · a = −a
0 1 2 3 1
(M.44)
µ=2: a2 = 0 · a + 0 · a − 1 · a + 0 · a = −a
0 1 2 3 2
(M.45)
µ=3: a3 = 0 · a + 0 · a + 0 · a + 1 · a = −a
0 1 2 3 3
(M.46)
or
aµ = (a0 , a1 , a2 , a3 ) = (a0 , −a1 , −a2 , −a3 ) = (a0 , −a) (M.47)
Radius 4-vector itself in L4 and in this metric is given by

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180 M ATHEMATICAL M ETHODS

xµ = (x0 , x1 , x2 , x3 ) = (x0 , x, y, z) = (x0 , x)

(M.48)
xµ = (x0 , x1 , x2 , x3 ) = (x0 , −x1 , −x2 , −x3 ) = (x0 , −x)
where x0 = ct.
Analogously, using the {−, +, +, +} metric we obtain
aµ = (a0 , a1 , a2 , a3 ) = (−a0 , a1 , a2 , a3 ) = (−a0 , a) (M.49)

E ND OF EXAMPLE M.2

M.1.3 Vector algebra

Scalar product
The scalar product (dot product, inner product) of two arbitrary 3D vectors a
and b in ordinary R3 space is the scalar number
a · b = ai x̂i · b j x̂ j = x̂i · x̂ j ai b j = δi j ai b j = ai bi (M.50)
where we used the fact that the scalar product x̂ i · x̂ j is a representation of
the Kronecker delta δi j defined in Equation (M.16) on page 175. In Russian
literature, the 3D scalar product is often denoted (ab). The scalar product of a
in R3 with itself is
def
a · a ≡ (a)2 = |a|2 = (ai )2 = a2 (M.51)
and simlarly for b. This allows us to write
a · b = ab cos θ (M.52)
where θ is the angle between a and b.
In 4D space we define the scalar product of two arbitrary four-vectors a µ
and bµ in the following way
aµ bµ = gνµ aν bµ = aν bν = gµν aµ bν (M.53)
where we made use of the index lowering and raising rules (M.32) and (M.33).
The result is a four-scalar, i.e., an invariant which is independent of in which
4D coordinate system it is measured.
The quadratic differential form
ds2 = gµν dxν dxµ = dxµ dxµ (M.54)
i.e., the scalar product of the differential radius four-vector with itself, is an
invariant called the metric. It is also the square of the line element ds which is
the distance between neighbouring points with coordinates x µ and xµ + dxµ .

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M.1 S CALARS , V ECTORS AND T ENSORS 181

I NNER PRODUCTS IN COMPLEX VECTOR SPACE E XAMPLE M.3

A 3D complex vector A is a vector in C3 (or, if we like, in R6 ), expressed in terms of

two real vectors aR and aI in R3 in the following way

def def
A ≡ aR + iaI = aR âR + iaI âI ≡ A Â ∈ C3 (M.55)

The inner product of A with itself may be defined as

def def
A2 ≡ A · A = a2R − a2I + 2iaR · aI ≡ A2 ∈ C (M.56)

from which we find that

(
A = a2R − a2I + 2iaR · aI ∈ C (M.57)

Using this in Equation (M.55) above, we see that we can interpret this so that the
complex unit vector is

A aR aI
 = =( âR + i ( âI
A a2R − a2I + 2iaR · aI a2R − a2I + 2iaR · aI
( (
aR a2R − a2I − 2iaR · aI aI a2R − a2I − 2iaR · aI
= âR + i âI ∈ C3
a2R + a2I a2R + a2I
(M.58)

On the other hand, the definition of the scalar product in terms of the inner product of
complex vector with its own complex conjugate yields

def
|A|2 ≡ A · A∗ = a2R + a2I = |A|2 (M.59)

with the help of which we can define the unit vector as

A aR aI
 = =( âR + i ( âI
|A| a2R + a2I a2R + a2I
( ( (M.60)
aR a2R + a2I aI a2R + a2I
= âR + i âI ∈ C3
a2R + a2I a2R + a2I

E ND OF EXAMPLE M.3

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182 M ATHEMATICAL M ETHODS

E XAMPLE M.4
S CALAR PRODUCT, NORM AND METRIC IN L ORENTZ SPACE

In L4 the metric tensor attains a simple form [see Example M.2 on page 179] and,
hence, the scalar product in Equation (M.53) on page 180 can be evaluated almost
trivially. For the {+, −, −, −} signature it becomes

aµ bµ = (a0 , −a) · (b0 , b) = a0 b0 − a · b (M.61)

The important scalar product of the L4 radius four-vector with itself becomes

xµ xµ = (x0 , −x) · (x0 , x) = (ct, −x) · (ct, x)

(M.62)
= (ct)2 − (x1 )2 − (x2 )2 − (x3 )2 = s2

which is the indefinite, real norm of L4 . The L4 metric is the quadratic differential
form

ds2 = dxµ dxµ = c2 (dt)2 − (dx1 )2 − (dx2 )2 − (dx3 )2 (M.63)

E ND OF EXAMPLE M.4

E XAMPLE M.5
M ETRIC IN GENERAL RELATIVITY

In the general theory of relativity, several important problems are treated in a 4D

spherical polar coordinate system. Then the radius four-vector can be given as
xµ = (ct, r, θ, φ) and the metric tensor is
⎛ κ ⎞
e 0 0 0
⎜ 0 e−λ 0 0 ⎟
(gµν ) = ⎜ ⎝0
⎟
⎠ (M.64)
0 −r 2 0
0 0 0 −r2 sin2 θ

where κ = κ(ct, r, θ, φ) and λ = λ(ct, r, θ, φ). In such a space, the metric takes the form

ds2 = c2 eκ (dt)2 − eλ (dr)2 − r2 (dθ)2 − r2 sin2 θ(dφ)2 (M.65)

In general relativity the metric tensor is not given a priori but is determined by the
Einstein equations.

E ND OF EXAMPLE M.5

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M.1 S CALARS , V ECTORS AND T ENSORS 183

Dyadic product
The dyadic product field A(x) ≡ a(x)b(x) with two juxtaposed vector fields
a(x) and b(x) is the outer product of a and b. Operating on this dyad from the
right and from the left with an inner product of an vector c one obtains
def def
A · c ≡ ab · c ≡ a(b · c) (M.66a)
def def
c · A ≡ c · ab ≡ (c · a)b (M.66b)

i.e., new vectors, proportional to a and b, respectively. In mathematics, a dy-

adic product is often called tensor product and is frequently denoted a ⊗ b.
In matrix notation the outer product of a and b is written
⎛ ⎞⎛ ⎞
  a1 b1 a1 b2 a1 b3 x̂1
ab = 1 x̂ x̂ 2 x̂ 3 ⎝a1 b2 a2 b2 a2 b3 ⎠ ⎝ x̂2 ⎠ (M.67)
a1 b3 a3 b2 a3 b3 x̂3

which means that we can represent the tensor A(x) in matrix form as
⎛ ⎞
 a 1 b 1 a 1 b 2 a 1 b 3
Ai j (xk ) = ⎝a1 b2 a2 b2 a2 b3 ⎠ (M.68)
a1 b3 a3 b2 a3 b3

which we identify with expression (M.15) on page 174, viz. a tensor in matrix
notation.

Vector product
The vector product or cross product of two arbitrary 3D vectors a and b in
ordinary R3 space is the vector

c = a × b = i jk a j bk x̂i (M.69)

Here i jk is the Levi-Civita tensor defined in Equation (M.18) on page 175.

Sometimes the 3D vector product of a and b is denoted a ∧ b or, particularly in
the Russian literature, [ab]. Alternatively,

a · b = ab sin θ ê (M.70)

where θ is the angle between a and b and ê is a unit vector perpendicular to the
plane spanned by a and b.
A spatial reversal of the coordinate system (x 1
, x2
, x3
) = (−x1 , −x2 , −x3 )
changes sign of the components of the vectors a and b so that in the new

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184 M ATHEMATICAL M ETHODS

coordinate system a
= −a and b
= −b, which is to say that the direction of an

ordinary vector is not dependent on the choice of directions of the coordinate
axes. On the other hand, as is seen from Equation (M.69) on the preceding
page, the cross product vector c does not change sign. Therefore a (or b) is
an example of a “true” vector, or polar vector, whereas c is an example of an
axial vector, or pseudovector.
A prototype for a pseudovector is the angular momentum vector L = r × p
and hence the attribute “axial.” Pseudovectors transform as ordinary vectors
under translations and proper rotations, but reverse their sign relative to ordin-
ary vectors for any coordinate change involving reflection. Tensors (of any
rank) which transform analogously to pseudovectors are called pseudotensors.
Scalars are tensors of rank zero, and zero-rank pseudotensors are therefore
also called pseudoscalars, an example being the pseudoscalar x̂ i · ( x̂ j × x̂k ).
This triple product is a representation of the i jk component of the Levi-Civita
tensor i jk which is a rank three pseudotensor.

M.1.4 Vector analysis

The del operator
In R3 the del operator is a differential vector operator, denoted in Gibbs’
notation by ∇ and defined as

def ∂ def
∇ ≡ x̂i ≡ ∂ (M.71)
∂xi
where x̂i is the ith unit vector in a Cartesian coordinate system. Since the
operator in itself has vectorial properties, we denote it with a boldface nabla.
In “component” notation we can write


∂ ∂ ∂
∂i = , , (M.72)
∂x1 ∂x2 ∂x3

In 4D, the contravariant component representation of the four-del operator

is defined by


µ ∂ ∂ ∂ ∂
∂ = , , , (M.73)
∂x0 ∂x1 ∂x2 ∂x3

whereas the covariant four-del operator is


∂ ∂ ∂ ∂
∂µ = , , , (M.74)
∂x0 ∂x1 ∂x2 ∂x3

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M.1 S CALARS , V ECTORS AND T ENSORS 185

We can use this four-del operator to express the transformation properties

(M.13) and (M.14) on page 174 as

y
µ = ∂ν x
µ yν (M.75)

and

y
µ = ∂
µ xν yν (M.76)

respectively.

T HE FOUR - DEL OPERATOR IN L ORENTZ SPACE E XAMPLE M.6

In L4 the contravariant form of the four-del operator can be represented as



µ 1∂ 1∂
∂ = , −∂ = , −∇ (M.77)
c ∂t c ∂t
and the covariant form as



1∂ 1∂
∂µ = ,∂ = ,∇ (M.78)
c ∂t c ∂t
Taking the scalar product of these two, one obtains
1 ∂2
∂µ ∂µ = − ∇2 = 2 (M.79)
c2 ∂t2
which is the d’Alembert operator, sometimes denoted , and sometimes defined with
an opposite sign convention.
E ND OF EXAMPLE M.6

With the help of the del operator we can define the gradient, divergence
and curl of a tensor (in the generalised sense).

The gradient
The gradient of an R3 scalar field α(x), denoted ∇α(x), is an R 3 vector field
a(x):

∇α(x) = ∂α(x) = x̂i ∂i α(x) = a(x) (M.80)

From this we see that the boldface notation for the nabla and del operators is
very handy as it elucidates the 3D vectorial property of the gradient.
In 4D, the four-gradient is a covariant vector, formed as a derivative of a
four-scalar field α(x µ ), with the following component form:
∂α(xν )
∂µ α(xν ) = (M.81)
∂xµ

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186 M ATHEMATICAL M ETHODS

E XAMPLE M.7
G RADIENTS OF SCALAR FUNCTIONS OF RELATIVE DISTANCES IN 3D

Very often electrodynamic quantities are dependent on the relative distance in R3

between two vectors x and x
, i.e., on |x − x
|. In analogy with Equation (M.71) on
page 184, we can define the “primed” del operator in the following way:

∂
∇
= x̂i = ∂
(M.82)
∂x
i

Using this, the “unprimed” version, Equation (M.71) on page 184, and elementary
rules of differentiation, we obtain the following two very useful results:
 ∂|x − x
| x − x
∂|x − x
|
∇ |x − x
| = x̂i = = − x̂i
∂xi

|x − x | ∂x
i (M.83)

= −∇
|x − x
|

and



1 x − x
1
∇ =− = −∇
(M.84)
|x − x
| |x − x
|3 |x − x
|

E ND OF EXAMPLE M.7

The divergence
We define the 3D divergence of a vector field in R 3 as

∂ai (x)
∇ · a(x) = ∂ · x̂ j a j (x) = δi j ∂i a j (x) = ∂i ai (x) = = α(x) (M.85)
∂xi

which, as indicated by the notation α(x), is a scalar field in R 3 . We may think

of the divergence as a scalar product between a vectorial operator and a vector.
As is the case for any scalar product, the result of a divergence operation is a
scalar. Again we see that the boldface notation for the 3D del operator is very
convenient.
The four-divergence of a four-vector a µ is the following four-scalar:

∂aµ (xν )
∂µ aµ (xν ) = ∂µ aµ (xν ) = (M.86)
∂xµ

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M.1 S CALARS , V ECTORS AND T ENSORS 187

D IVERGENCE IN 3D E XAMPLE M.8

For an arbitrary R3
vector field a(x
),
the following relation holds:


)


)


a(x ∇ · a(x 1
∇
· = + a(x

) · ∇

(M.87)
|x − x
| |x − x
| |x − x
|
which demonstrates how the “primed” divergence, defined in terms of the “primed”
del operator in Equation (M.82) on the facing page, works.
E ND OF EXAMPLE M.8

The Laplacian
The 3D Laplace operator or Laplacian can be described as the divergence of
the gradient operator:
∂ ∂ ∂2 3
∂2
∇2 = ∆ = ∇ · ∇ = x̂i · x̂ j = δi j ∂i ∂ j = ∂2i = 2 ≡ ∑ 2 (M.88)
∂xi ∂x j ∂xi i=1 ∂xi
The symbol ∇2 is sometimes read del squared. If, for a scalar field α(x),
∇2 α < 0 at some point in 3D space, it is a sign of concentration of α at that
point.

T HE L APLACIAN AND THE D IRAC DELTA E XAMPLE M.9

A very useful formula in 3D is R3



1 1
∇·∇ = ∇2
= −4πδ(x − x
) (M.89)
|x − x
| |x − x
|
where δ(x − x
) is the 3D Dirac delta “function.”
E ND OF EXAMPLE M.9

The curl
In R3 the curl of a vector field a(x), denoted ∇ × a(x), is another R 3 vector field
b(x) which can be defined in the following way:
∂ak (x)
∇ × a(x) = i jk x̂i ∂ j ak (x) = i jk x̂i = b(x) (M.90)
∂x j
where use was made of the Levi-Civita tensor, introduced in Equation (M.18)
on page 175.
The covariant 4D generalisation of the curl of a four-vector field a µ (xν ) is
the antisymmetric four-tensor field
Gµν (xκ ) = ∂µ aν (xκ ) − ∂ν aµ (xκ ) = −Gνµ (xκ ) (M.91)
A vector with vanishing curl is said to be irrotational.

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188 M ATHEMATICAL M ETHODS

E XAMPLE M.10
T HE CURL OF A GRADIENT

Using the definition of the R3 curl, Equation (M.90) on the preceding page, and the
gradient, Equation (M.80) on page 185, we see that

∇ × [∇α(x)] = i jk x̂i ∂ j ∂k α(x) (M.92)

which, due to the assumed well-behavedness of α(x), vanishes:

∂ ∂
i jk x̂i ∂ j ∂k α(x) = i jk α(x) x̂i
∂x j ∂xk


∂2 ∂2
= − α(x) x̂1
∂x2 ∂x3 ∂x3 ∂x2


∂2 ∂2 (M.93)
+ − α(x) x̂2
∂x3 ∂x1 ∂x1 ∂x3


∂2 ∂2
+ − α(x) x̂3
∂x1 ∂x2 ∂x2 ∂x1
≡0

We thus find that

∇ × [∇α(x)] ≡ 0 (M.94)

for any arbitrary, well-behaved R3 scalar field α(x).

In 4D we note that for any well-behaved four-scalar field α(xκ )

(∂µ ∂ν − ∂ν ∂µ )α(xκ ) ≡ 0 (M.95)

so that the four-curl of a four-gradient vanishes just as does a curl of a gradient in R3 .

Hence, a gradient is always irrotational.

E ND OF EXAMPLE M.10

E XAMPLE M.11
T HE DIVERGENCE OF A CURL

With the use of the definitions of the divergence (M.85) and the curl, Equation (M.90)
on the preceding page, we find that

∇ · [∇ × a(x)] = ∂i [∇ × a(x)]i = i jk ∂i ∂ j ak (x) (M.96)

Using the definition for the Levi-Civita symbol, defined by Equation (M.18) on

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M.2 A NALYTICAL M ECHANICS 189

page 175, we find that, due to the assumed well-behavedness of a(x),

∂ ∂
∂i i jk ∂ j ak (x) = i jk ak
∂xi ∂x j


∂2 ∂2
= − a1 (x)
∂x2 ∂x3 ∂x3 ∂x2


∂2 ∂2 (M.97)
+ − a2 (x)
∂x3 ∂x1 ∂x1 ∂x3


∂2 ∂2
+ − a3 (x)
∂x1 ∂x2 ∂x2 ∂x1
≡0
i.e., that
∇ · [∇ × a(x)] ≡ 0 (M.98)
for any arbitrary, well-behaved R3 vector field a(x).
In 4D, the four-divergence of the four-curl is not zero, for
∂νGµν = ∂µ ∂ν aν (xκ ) − 2 aµ (xκ ) = 0 (M.99)

E ND OF EXAMPLE M.11

Numerous vector algebra and vector analysis formulae are given in

Chapter F. Those which are not found there can often be easily derived by
using the component forms of the vectors and tensors, together with the Kro-
necker and Levi-Civita tensors and their generalisations to higher ranks. A
short but very useful reference in this respect is the article by A. Evett [3].

M.2 Analytical Mechanics

M.2.1 Lagrange’s equations
As is well known from elementary analytical mechanics, the Lagrange func-
tion or Lagrangian L is given by


dqi
L(qi , q̇i , t) = L qi , ,t = T −V (M.100)
dt
where qi is the generalised coordinate, T the kinetic energy and V the po-
tential energy of a mechanical system, The Lagrangian satisfies the Lagrange
equations


∂ ∂L ∂L
− =0 (M.101)
∂t ∂q̇i ∂qi

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190 M ATHEMATICAL M ETHODS

To the generalised coordinate q i one defines a canonically conjugate mo-

mentum pi according to
∂L
pi = (M.102)
∂q̇i
and note from Equation (M.101) on the preceding page that
∂L
= ṗi (M.103)
∂qi

M.2.2 Hamilton’s equations

From L, the Hamiltonian (Hamilton function) H can be defined via the Le-
gendre transformation

H(pi , qi , t) = pi q̇i − L(qi , q̇i , t) (M.104)

After differentiating the left and right hand sides of this definition and setting
them equal we obtain
∂H ∂H ∂H ∂L ∂L ∂L
dpi + dqi + dt = q̇i dpi + pi dq̇i − dqi − dq̇i − dt (M.105)
∂pi ∂qi ∂t ∂qi ∂q̇i ∂t
According to the definition of p i , Equation (M.102) above, the second and
fourth terms on the right hand side cancel. Furthermore, noting that according
to Equation (M.103) the third term on the right hand side of Equation (M.105)
above is equal to − ṗi dqi and identifying terms, we obtain the Hamilton equa-
tions:
∂H dqi
= q̇i = (M.106a)
∂pi dt
∂H dpi
= − ṗi = − (M.106b)
∂qi dt

Bibliography
[1] G. B. A RFKEN AND H. J. W EBER, Mathematical Methods for Physicists, fourth,
international ed., Academic Press, Inc., San Diego, CA . . . , 1995, ISBN 0-12-
059816-7.

[2] R. A. D EAN, Elements of Abstract Algebra, John Wiley & Sons, Inc.,
New York, NY . . . , 1967, ISBN 0-471-20452-8.

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M.2 B IBLIOGRAPHY 191

[3] A. A. E VETT, Permutation symbol approach to elementary vector analysis,

American Journal of Physics, 34 (1965), pp. 503–507.

[4] P. M. M ORSE AND H. F ESHBACH, Methods of Theoretical Physics, Part I.

McGraw-Hill Book Company, Inc., New York, NY . . . , 1953, ISBN 07-043316-8.

[5] B. S PAIN, Tensor Calculus, third ed., Oliver and Boyd, Ltd., Edinburgh and Lon-
don, 1965, ISBN 05-001331-9.

[6] W. E. T HIRRING, Classical Mathematical Physics, Springer-Verlag, New York,

Vienna, 1997, ISBN 0-387-94843-0.

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192 M ATHEMATICAL M ETHODS

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Index

acceleration field, 131 contravariant four-vector field, 56

advanced time, 43 contravariant vector, 52
Ampère’s law, 6 convection potential, 138
Ampère-turn density, 91 convective derivative, 13
anisotropic, 155 cosine integral, 112
anomalous dispersion, 156 Coulomb gauge, 44
antisymmetric tensor, 65 Coulomb’s law, 2
associated Legendre polynomial, 119 covariant, 50
associative, 57 covariant component form, 172
axial gauge, 45 covariant field tensor, 66
axial vector, 65, 184 covariant four-tensor field, 178
covariant four-vector, 174
Bessel functions, 115 covariant four-vector field, 56
Biot-Savart’s law, 8 covariant vector, 52
birefringent, 155 cross product, 183
braking radiation, 143 curl, 187
bremsstrahlung, 143, 151 cutoff, 145
cyclotron radiation, 147, 151
canonically conjugate four-momentum,
72 d’Alembert operator, 41, 61, 185
canonically conjugate momentum, 72, del operator, 184
190 del squared, 187
canonically conjugate momentum dens- differential distance, 54
ity, 80 differential vector operator, 184
characteristic impedance, 28 Dirac delta, 187
classical electrodynamics, 10 Dirac’s symmetrised Maxwell equations,
classical electrodynamics (CED), 1 17
closed algebraic structure, 57 dispersive, 156
coherent radiation, 150 displacement current, 11
collisional interaction, 154 divergence, 186
complex field six-vector, 22 dot product, 180
complex notation, 34 dual vector, 52
complex vector, 181 duality transformation, 18
component notation, 172 dummy index, 52
concentration, 187 dyadic product, 183
conservative field, 12 dyons, 21
conservative forces, 77
constitutive relations, 15 E1 radiation, 122
contravariant component form, 52, 172 E2 radiation, 124
contravariant field tensor, 65 Einstein equations, 182
contravariant four-tensor field, 178 Einstein’s summation convention, 172
contravariant four-vector, 174 electric charge conservation law, 10

193

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194 M ATHEMATICAL M ETHODS

electric charge density, 4 far field, 100

electric conductivity, 11 far zone, 103
electric current density, 8 Faraday’s law, 12
electric dipole moment, 120 field, 173
electric dipole moment vector, 88 field Lagrange density, 81
electric dipole radiation, 122 field point, 4
electric displacement, 16 field quantum, 145
electric displacement current, 19 fine structure constant, 145, 153
electric displacement vector, 87, 89 four-current, 61
electric field, 3 four-del operator, 184
electric field energy, 93 four-dimensional Hamilton equations,
electric monopole moment, 87 73
electric permittivity, 154 four-dimensional vector space, 52
electric polarisation, 88 four-divergence, 186
electric quadrupole moment tensor, 88 four-gradient, 185
electric quadrupole radiation, 124 four-Hamiltonian, 72
electric quadrupole tensor, 124 four-Lagrangian, 70
electric susceptibility, 90 four-momentum, 59
electric volume force, 95 four-potential, 61
electricity, 2 four-scalar, 173
electrodynamic potentials, 38 four-tensor fields, 178
electromagnetic field tensor, 65 four-vector, 56, 174
electromagnetic scalar potential, 39 four-velocity, 59
electromagnetic vector potential, 38 Fourier component, 27
electromagnetism, 1 Fourier transform, 41
electromagnetodynamic equations, 17 functional derivative, 78
electromagnetodynamics, 18 fundamental tensor, 52, 172, 178
electromotive force (EMF), 12
electrostatic scalar potential, 37 Galileo’s law, 49
electrostatics, 2 gauge fixing, 46
electroweak theory, 1 gauge function, 45
energy theorem in Maxwell’s theory, gauge invariant, 45
93 gauge transformation, 45
equation of continuity, 10, 61 Gauss’s law of electrostatics, 5
equation of continuity for magnetic mono- general inhomogeneous wave equations,
poles, 17 39
equations of classical electrostatics, 9 generalised coordinate, 72, 189
equations of classical magnetostatics, generalised four-coordinate, 73
9 Gibbs’ notation, 184
Euclidean space, 58 gradient, 185
Euclidean vector space, 53 Green function, 42, 119
Euler-Lagrange equation, 79 group theory, 57
Euler-Lagrange equations, 79 group velocity, 156
Euler-Mascheroni constant, 112
event, 57 Hamilton density, 80

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195

Hamilton density equations, 80 Laplace operator, 187

Hamilton equations, 72, 190 Laplacian, 187
Hamilton function, 190 Larmor formula for radiated power, 140
Hamilton gauge, 45 law of inertia, 49
Hamiltonian, 190 Legendre polynomial, 119
Heaviside potential, 138 Legendre transformation, 190
Helmholtz’ theorem, 40 Levi-Civita tensor, 175
help vector, 117 Liénard-Wiechert potentials, 64, 127,
Hertz’ method, 116 138
Hertz’ vector, 117 light cone, 55
Hodge star operator, 18 light-like interval, 55
homogeneous wave equation, 26 line element, 180
Huygen’s principle, 41 linear mass density, 77
linearly polarised wave, 32
identity element, 57 longitudinal component, 30
in a medium, 158 Lorentz boost parameter, 59
incoherent radiation, 151 Lorentz force, 15, 93, 138
indefinite norm, 53 Lorentz gauge condition, 40
index contraction, 52 Lorentz space, 53, 172
index lowering, 52 Lorentz transformation, 51, 138
induction field, 100 Lorenz-Lorentz gauge, 46
inertial reference frame, 49 Lorenz-Lorentz gauge condition, 40, 62
inertial system, 49 lowering of index, 178
inhomogeneous Helmholtz equation, 41
inhomogeneous time-independent wave M1 radiation, 124
equation, 41 Møller scattering, 153
inhomogeneous wave equation, 41 Mach cone, 158
inner product, 180 macroscopic Maxwell equations, 154
instantaneous, 140 magnetic charge density, 17
interaction Lagrange density, 81 magnetic current density, 17
intermediate field, 103 magnetic dipole moment, 91, 123
invariant, 173 magnetic dipole radiation, 124
invariant line element, 55 magnetic displacement current, 19
inverse element, 57 magnetic field, 7
irrotational, 5, 187 magnetic field energy, 93
magnetic field intensity, 91
Kelvin function, 152 magnetic flux, 13
kinetic energy, 77, 189 magnetic flux density, 8
kinetic momentum, 75 magnetic induction, 8
Kronecker delta, 175 magnetic monopoles, 17
magnetic permeability, 154
Lagrange density, 77 magnetic susceptibility, 92
Lagrange equations, 189 magnetisation, 91
Lagrange function, 77, 189 magnetisation currents, 90
Lagrangian, 77, 189 magnetising field, 16, 87, 91

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196 M ATHEMATICAL M ETHODS

magnetostatic vector potential, 38 polarisation charges, 89

magnetostatics, 6 polarisation currents, 90
massive photons, 85 polarisation potential, 117
mathematical group, 57 polarisation vector, 117
matrix form, 174 positive definite, 58
Maxwell stress tensor, 95 positive definite norm, 53
Maxwell’s macroscopic equations, 16, potential energy, 77, 189
92 potential theory, 118
Maxwell’s microscopic equations, 15 power flux, 93
Maxwell-Lorentz equations, 15 Poynting vector, 93
mechanical Lagrange density, 80 Poynting’s theorem, 93
metric, 172, 180 Proca Lagrangian, 84
metric tensor, 52, 172, 178 propagator, 42
Minkowski equation, 72 proper time, 55
Minkowski space, 58 pseudo-Riemannian space, 58
mixed four-tensor field, 178 pseudoscalar, 171
mixing angle, 18 pseudoscalars, 184
momentum theorem in Maxwell’s the- pseudotensor, 171
ory, 95 pseudotensors, 184
monochromatic, 97 pseudovector, 65, 171, 184
multipole expansion, 116, 120
quadratic differential form, 54, 180
near zone, 103 quantum electrodynamics, 44
Newton’s first law, 49 quantum mechanical nonlinearity, 4
Newton-Lorentz force equation, 72
non-Euclidean space, 53 radiation field, 100, 103, 131
non-linear effects, 11 radiation fields, 103
norm, 52, 182 radiation resistance, 112
null vector, 55 radius four-vector, 52
radius vector, 171
observation point, 4 raising of index, 178
Ohm’s law, 11 rank, 174
one-dimensional wave equation, 31 rapidity, 59
outer product, 183 refractive index, 155
relative electric permittivity, 95
Parseval’s identity, 107, 144, 152 relative magnetic permeability, 95
phase velocity, 155 relative permeability, 154
photon, 145 relative permittivity, 154
physical measurable, 34 Relativity principle, 50
plane polarised wave, 32 relaxation time, 27
plasma, 156 rest mass density, 80
plasma frequency, 156 retarded Coulomb field, 103
Poisson equation, 137 retarded potentials, 44
Poisson’s equation, 37 retarded relative distance, 127
polar vector, 65, 184 retarded time, 43

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197

Riemannian metric, 54 total charge, 87

Riemannian space, 52, 172 transverse components, 31
row vector, 171
uncoupled inhomogeneous wave equa-
scalar, 171, 186 tions, 40
scalar field, 56, 173
scalar product, 180 vacuum permeability, 6
shock front, 158 vacuum permittivity, 3
signature, 53, 179 vacuum polarisation effects, 4
simultaneous coordinate, 135 vacuum wave number, 28
skew-symmetric, 65 Vavilov-Čerenkov radiation, 157, 158
skin depth, 34 vector, 171
source point, 4 vector product, 183
space components, 54 velocity field, 131
space-like interval, 55 virtual simultaneous coordinate, 128,
space-time, 53 132
special theory of relativity, 49
wave equations, 25
spherical Bessel function of the first
wave vector, 31, 155
kind, 119
world line, 57
spherical Hankel function of the first
kind, 119 Young’s modulus, 77
spherical waves, 106 Yukawa meson field, 84
standing wave, 110
super-potential, 117
synchrotron radiation, 148, 151
synchrotron radiation lobe width, 149

telegrapher’s equation, 31, 154

temporal dispersive media, 12
temporal gauge, 45
tensor, 171
tensor contraction, 178
tensor field, 174
tensor notation, 175
tensor product, 183
three-dimensional functional derivative,
79
time component, 54
time-dependent Poisson’s equation, 44
time-harmonic wave, 27
time-independent diffusion equation, 28
time-independent telegrapher’s equation,
32
time-independent wave equation, 28
time-like interval, 55

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