EE2257

Electromagnetic fields
Unit 1

By
Dr.Pradnya Zode
EE., YCCE
Objectives
• To introduce students with different coordinate systems.
• To familiarize the students with the different concepts of electrostatic,
magneto static and time varying electromagnetic systems.
• To understand the basic laws applicable to electric and magnetic field.
• To expose the students to the ideas of electromagnetic waves.

Outcomes
After study through lectures and assignments, students will able to:
• Define and recognize different co‐ordinate systems, apply different
techniques of vector calculus to understand concepts of
electromagnetic field theory.
• Determine the electromagnetic force exerted on charged particles,
current elements, working principle of various electric and magnetic
fields.
• Explain fundamental laws governing electromagnetic fields and
evaluate the physical quantities of electromagnetic fields in different
media using the fundamental laws.
• Deduce and justify the concepts of electromagnetic waves, means of
transporting energy or information, in the form of radio waves.
Unit I:
Orthogonal coordinate systems: Cartesian, Cylindrical, Spherical
and Transformations, differential lengths, surfaces and volumes.

Unit II:
Coulomb’s law, Electric field Intensity for different charge
distribution: Point, Line, Surface & Volume, Electric flux, Gauss’s
law and Application, Divergence, Maxwell’s First equation
(Electrostatics), The Divergence Theorem.

Unit III
Energy & Potential: Energy Expended in Moving a Point charge in
an Electric Field, Definition of Potential Difference and Potential,
Potential field of a point charge, Potential field of a System of
charges: Conservative Property, Potential Gradient, The Dipole,
Poisson’s and Laplace’s equation, Uniqueness Of Electrostatic
solution.
Unit IV
Biot-Savart’s law and its applications, Ampere’s Circuital law
and its applications, Curl, Stoke’s Theorem, Magnetic flux and
magnetic flux density, Faraday’s law, displacement current,
Maxwell’s equations for static and time varying fields with
physical significance.

Unit V:
Uniform plane wave, wave propagation in free space &
dielectric, Poynting’s Theorem and Wave Power, Propagation
in Good Conductors: Skin Effect

Unit VI:
Reflection of uniform plane waves at Normal incidence,
standing wave ratio, plane wave propagation in general
directions, plane wave reflection at oblique incidence angles,
Brewsters angle.
Textbook:
1) Engineering Electromagnetic, Seventh Edition, William H.
Hayt, Tata McGraw – Hill, 2006 reprint.
2)Electromagnetics, J D Kraus, McGraw – Hill,3rd edition 1984.

References:
1) Electromagnetism: Theory and application, Ashutosh
Pramanik, Prentice Hall, 2nd edition august 2009.
2) Elements of Electromagnetics, M. N. O. Sadiku, Oxford
Press, 4th edition 2007.
3) Field and Wave Electromagnetics, David K. Cheng, Second
Edition, Addison Wesley.
Prerequisites
 Partial differentiation
 Multiple Integrals
Class Description
Why Study Electromagnetics?
Electromagnetics is Everywhere !

Electromagnetics is fundamental to the advancement of

electrical and computer engineering technology!

What is Electromagnetics?
Electromagnetics is the study of the effect of charges at rest
and charges in motion.
Some special cases of electromagnetics:
Electrostatics: charges at rest
Magnetostatics: charges in steady motion (DC)
Electromagnetic waves: waves excited by charges in time-
varying motion
Examples of Electromagnetic Applications
Examples of Electromagnetic Applications,
Cont’d
Examples of Electromagnetic Applications,
Cont’d
Examples of Electromagnetic Applications,
Cont’d
Examples of Electromagnetic Applications,
Cont’d
 Research Areas of Electromagnetics

• Antenas
• Microwaves
• Computational Electromagnetics
• Electromagnetic Scattering
• Electromagnetic Propagation
• Radars
• Optics
• etc …
Why is Electromagnetics Difficult?
Electric and Magnetic Fields:
are 3-dimensional!
are vectors!
vary in space and as well as time!
are governed by partial differential equations

Therefore
Solution of electromagnetic problems requires a high level
of abstract thinking!

Students must develop a deep physical understanding!

Math is a powerful tool!

What is Electromagnetics?
Fundamental Laws of Electromagnetics
Steps in Studying Electromagnetics
Fundamental Electromagnetic Field Quantities
Introduction to Electromagnetic Fields

• Fundamental vector field quantities in

electromagnetics:
– Electric field intensity E
units = volts per meter (V/m)

– Electric flux density (electric displacement) D

units = coulombs per square meter (C/m2)

– Magnetic field intensity H

units = amps per meter (A/m)

– Magnetic flux density B

units = teslas = webers per square meter (T = Wb/ m2)
 Introduction to Electromagnetic Fields

• Universal constants in
electromagnetics:
– Velocity of an electromagnetic wave (e.g.,
light) in free space (perfect vacuum)
c  3 108 m/s
– Permeability of free space
0  4 10 7 H/m
– Permittivity of free space:
 0  8.854 10 12 F/m
– Intrinsic impedance of free space:
0  120 
Three Universal Constants
Fundamental Relationships
 Introduction to Electromagnetic Fields

• When an event in one place has an effect

on something at a different location, we
talk about the events as being connected
by a “field”.
• A field is a spatial distribution of a quantity;
in general, it can be either scalar or vector
in nature.
 Introduction to Electromagnetic Fields

• Electric and magnetic fields:

• Are vector fields with three spatial
components.
• Vary as a function of position in 3D space as
well as time.
• Are governed by partial differential equations
derived from Maxwell’s equations.
 Scalar and Vector Fields
• A scalar field is a function that gives us a
single value of some variable for every point
in space.
• Examples: voltage, current, energy, temperature

• A vector is a quantity which has both a

magnitude and a direction in space.
• Examples: velocity, momentum, acceleration and force
Example of a Scalar Field
 Scalar Fields

e.g. Temperature: Every location has associated value (number

with units)
 Scalar Fields - Contours

• Colors represent surface temperature

• Contour lines show constant temperatures
 Vector Fields
Vector (magnitude, direction) at every point in space

Example: Velocity vector field - jet stream

Vector Fields Explained
Examples of Vector Fields
Examples of Vector Fields
Examples of Vector Fields
Electromagnetics (EM) is a branch of physics or
electrical engineering in which electric and magnetic
phenomena are studied.

EM principles find applications in various allied disciplines

such as
• microwaves,
• antennas,
• Electric machines,
• satellite communications,
• bioelectromagnetics,
• plasmas,
• Nuclear research,
• fiber optics,
• Electromagnetic interference and compatibility,
electromechanical energy conversion,
• radar meteorology," and remote sensing.
• EM devices include
• Transformers,
• Electric relays,
• Radio/TV,
• Telephone,
• Electric motors,
• Transmission lines,
• Waveguides,
• Antennas,
• Optical fibers,
• Radars, and
• Lasers.

The design of these devices requires thorough

knowledge of the laws and principles of EM.
Definition of physical quantities:
The quantities that can be measured are called as physical quantities.

Common examples of physical quantities are-

(a) Mass of a body
(b) Position of a particle
(c) Temperature of a gas
(d) Volume of a cube
(e) Magnetic field due to a current carrying wire

Scalar and vector

Some of these physical quantities are scalar and some others are vectors.

Those physical quantities which have only magnitude and no direction in space
are termed as scalar quantities. The examples are (a), (c) and (d).

The other quantities which have both magnitude and some fixed direction in
space are called as vectors. (b) and (e) are examples of such quantities.

Thus, in a three-dimensional (3D) space, vectors are represented by three

real numbers corresponding to each direction of space.
SCALARS AND VECTORS

A scalar is a quantity that has only magnitude.

Quantities such as time, mass, distance, temperature, entropy, electric

potential, and population are scalars.

A vector is a quantity that has both magnitude and direction.

Vector quantities include velocity, force, displacement, and electric field

intensity.

A field is a function that specifies a particular quantity everywhere in

a region.

If the quantity is scalar (or vector), the field is said to be a scalar (or vector)
field. Example of scalar fields are temperature distribution in a building.

The gravitational force on a body in space and the velocity of raindrops in

the atmosphere are examples of vector fields.
Vector Analysis
Vector Analysis, the mathematical tool for this course.

Vector analysis is a mathematical tool with which

electromagnetic (EM) concepts are most conveniently
expressed and best understood.
•SCALARS AND VECTORS
•VECTOR ALGEBRA
•THE COORDINATE SYSTEMs
•VECTOR COMPONENTS AND UNIT VECTORS
•THE DOT PRODUCT
•THE CROSS PRODUCT
•VECTOR CALCULUS
VECTOR ALGEBRA
VECTOR ADDITION

Two vectors A and B can be added together to give another vector C; that is,
C=A+B
VECTOR SUBTRACTION

The rule for the subtraction of vectors is

A−B as A+(−B); the sign, or direction, of the second vector is reversed,
and this vector is then added to the first by the rule for vector addition.

VECTOR MULTIPLICATION

Vectors may be multiplied by scalars and the result is a vector.

The magnitude of the vector changes, but its direction does not when
the scalar is positive, although it reverses direction when multiplied by a
negative scalar.
Multiplication of a vector by a scalar also obeys the associative and
distributive laws of algebra.

B.A = C
VECTOR DIVISION

Division of a vector by a scalar is multiplication by the reciprocal of

that scalar.
A/B = A.1/B

The multiplication of a vector by a vector is discussed later.

Note:
Two vectors are said to be equal if their difference is zero,
or A = B if A − B = 0.
 VECTOR REPRESENTATION
3 PRIMARY COORDINATE SYSTEMS:

• RECTANGULAR
Choice is based on
• CYLINDRICAL symmetry of problem

• SPHERICAL
Examples:
Sheets - RECTANGULAR

Wires/Cables - CYLINDRICAL

Spheres - SPHERICAL
Orthogonal Coordinate Systems: (coordinates mutually perpendicular)
Cartesian Coordinates z
P(x,y,z)
y
Rectangular Coordinates
P (x,y,z) x

z
z
P(ρ, θ, z)
Cylindrical Coordinates
P (ρ,ϕ, z) r y
x θ

z
Spherical Coordinates P(r, θ, Φ)
θ r
P (r, Θ, Φ)

Φ
y
x

Page 108
 z z
P(r, θ, Φ)
Cartesian Coordinates P(x,y,z)
θ r P(x,y,z) y

y x
x Φ

Spherical Coordinates Cylindrical Coordinates

P(r, θ, Φ) z P(r, θ, z)

z
P(r, θ, z)

θ
r y
x
• To describe a vector accurately, some specific lengths, directions,
angles, projections ,or components must be given.

• There are three simple methods of doing this, and about eight or ten
other methods that are useful in very special cases.

• We are going to use only the three simple methods, and the
simplest of these is the rectangular, or rectangular cartesian,
coordinate system.

THE RECTANGULAR COORDINATE SYSTEM

• In the rectangular coordinate system we set up three coordinate

axes mutually at right angles to each other and call them the x, y,
and z axes.

• It is customary to choose a right-handed coordinate system, in

which a rotation (through the smaller angle) of the x axis into the y
axis would cause a right-handed screw to progress in the direction
of the z axis.
• A point is located by giving its x, y, and z coordinates.
• These are, respectively, the distances from the origin to the intersection of
perpendicular lines dropped from the point to the x, y, and z axes.

• Figure shows points P and Q whose coordinates are (1, 2, 3) and

(2,−2, 1), respectively.
• Point P is therefore located at the common point of intersection of the
• planes x = 1, y = 2, and z = 3, whereas point Q is located at the
intersection of the planes x = 2, y = −2, and z = 1.
 VECTOR COMPONENTS AND UNIT VECTORS
POSITION AND DISTANCE VECTORS

A point P in Cartesian coordinates may be represented by (x, y, z).

Consider a vector extending outward from the origin

Logically a vector is identified by giving the three component vectors, lying

along the three coordinate axes, whose vector sum must be the given
vector.

The position vector r,. (or radius vector) of point P is as the directed
distance from the origin to the point P: i.e..

Where ax , ay ,and az are the unit vectors in the rectangular coordinate

system. They are directed along the x, y, and z axes, respectively.
Unit Vector
If the component vector y happens to be two units in magnitude and directed
toward increasing values of y, we should then write y = 2ay.

A vector rP pointing from the origin to point P(1, 2, 3) is written

rP = ax + 2ay + 3az .
The vector from P to Q may be obtained by applying the rule of vector addition.
This rule shows that the vector from the origin to P plus the vector from P to Q is
equal to the vector from the origin to Q.
The desired vector from P(1, 2, 3) to Q(2,−2, 1) is therefore

The vectors rP , rQ, and RPQ are shown in Figure

VECTOR REPRESENTATION: UNIT VECTORS
Rectangular Coordinate System
z Unit Vector
âz Representation
for Rectangular
Coordinate
System

â x â y

x
The Unit Vectors imply :

â x Points in the direction of increasing x

â y Points in the direction of increasing y

âz Points in the direction of increasing z

• The components are the signed magnitudes of the component
vectors.

• We may then write F = Fxax + Fyay + Fzaz.

• The component vectors are Fxax , Fyay , and Fzaz .

• Any vector B then may be described by B = Bxax+Byay+Bzaz .

• The magnitude of B written |B| or simply B, is given by

Given the vectors M = −10ax + 4ay − 8az and N = 8ax + 7ay − 2az, find:

a) a unit vector in the direction of −M+ 2N.

First find
2N= 2(8ax + 7ay − 2az)= 16ax + 14ay − 4az,
−M+ 2N = 10ax − 4ay + 8az + 16ax + 14ay − 4az = 26aX + 10aY + 4aZ
Thus
a(-M+2N) = −M+ 2N/ | −M+ 2N|= 0.92aX + 0.36aY + 0.14aZ

b) the magnitude of 5ax + N− 3M:

3M= 3(−10ax + 4ay − 8az )= −30ax + 12ay − 24az
5ax + 8ax + 7ay − 2az –(−30ax + 12ay − 24az )=43ax -5ay + 22az
|(43,−5, 22)| = 48.6.

c) |M||2N|(M+N):
M+N = −10ax + 4ay − 8az + 8ax + 7ay − 2az = -2ax + 11ay − 10az
|(−10, 4,−8)||(16, 14,−4)|(−2, 11,−10)
= (13.4)(21.6)(−2, 11,−10)
= −580.5ax + 3193 ay−2902az
Given points M(−1, 2, 1), N(3,−3, 0), and P(−2,−3,−4), find:
(a) RMN; (b) RMN + RMP; (c) |rM|; (d) aMP; (e) |2rP − 3rN |.

M(−1, 2, 1) =>M = -1ax + 2ay + 1az = -ax + 2ay + az

a) RMN = N – M
Where
N = 3ax - 3ay + 0az = 3ax - 3ay
M = -1ax + 2ay + 1az
RMN = N – M = (3ax - 3ay) – (-ax + 2ay + az) = 4ax - 5ay – az

b) RMN + RMP
RMP = P – M = (-2ax - 3ay - 4az) - (-ax + 2ay + az) = -ax - 5ay - 5az
RMN + RMP = (4ax - 5ay – az) + (-ax - 5ay - 5az ) = 3ax - 10ay - 6az

c) |rM| = rM = -ax + 2ay + az =

(1) 2  2 2  12  6  2.45
d) aˆ  MP  - â x - 5â y - 5â y
MP
| MP | (1) 2  (5) 2  (5) 2
= -0.14ax – 0.7ay – 0.7az

e) |2rP – 3rN|

2rP = 2 (-2ax - 3ay - 4az) = -4ax - 6ay - 8az

3rN = 3 (3ax - 3ay) = 9ax - 9ay

|2rP – 3rN| = | (-4ax - 6ay - 8az )-(9ax - 9ay)|=-13ax + 3ay - 8az =

(13) 2  32  (8) 2  242  15.56

 Multiplication of Two Vectors
Scalar or dot product :
• Given two vectors A and B, the dot product, or scalar product, is
defined as the product of the magnitude of A, the magnitude of B,
and the cosine of the smaller angle between them,
A  B | A || B | cos  B  A
• The dot, or scalar, product is a scalar, as one of the names implies,
and it obeys the commutative law,
• A.B = B.A
• The expression A· B is read “A dot B”

• Finding the angle between two vectors in three-dimensional space is

very difficult , and for that reason the definition of the dot product is
usually not used in its basic form. A

 B
To find dot product of 2 vector consider 2 vectors as
A = Axax + Ayay + Azaz
and B = Bxax + Byay + Bzaz

Dot product also obeys the distributive law, and, therefore, A· B gives the
sum of nine scalar terms, each involving the dot product of two unit vectors.
Because the angle between two different unit vectors of the rectangular
coordinate system is 90◦,
A· B = AxBx(ax· ax) + AxBy (ax·ay) + AxBz (ax·az) + AyBx (ay·ax) + AyBy (ay·ay) +
AyBz (ay·az) + AzBx (az·ax) + AzBy (az·ay) + AzBz (az·az)

ax · ay = ay · ax = ax · az = az · ax = ay · az = az · ay = 0
ax · ax = ay · ay = az · az = 1 (Unity)

Using above results

A· B = AxBx + AyBy + AzBz
which is an expression involving no angles.
A vector dotted with itself yields the magnitude squared, or = A.A = A2 =|A2|
and any unit vector dotted with itself is unity,
aA · aA = 1

One of the most important applications of the dot product is to find the component
of a vector in a given direction. Shown in Figure, the component (scalar) of B in the
direction specified by the unit vector a is

B · a = |B| |a| cos θBa = |B| cos θBa ------as magnitude of unit vector is 1

The sign of the component is positive if 0 ≤ θBa ≤ 900 and negative whenever
900 ≤ θBa ≤ 1800.

As a unit vector is along the coordinate axis

or along the vector so the angle between the
Vector and its unit vector is 0.
cos θ = cos 0 = 1

So Scalar component of B is = B.a

The term projection is also used with the dot product.

Thus, B · a is the projection of B in the a direction.
To obtain the component vector of B in the direction of a, multiply the component
(scalar) by unit vector a, as shown in Figure

For example, the scalar component of B in the

direction of ax is B · ax , and
the component vector is (B · ax )ax .
The three vertices of a triangle are located at A(6,−1, 2), B(−2, 3,−4), and C(−3, 1,
5). Find: (a) RAB; (b) RAC; (c) the angle θBAC at vertex A; (d) the (vector) projection
of RAB on RAC.

(a) RAB = B – A = (-2ax + 3ay - 4az) - (6ax - 1ay + 2az) = -8ax + 4ay - 6az
(b) RAC = C – A = (-3ax + 1ay + 5az) - (6ax - 1ay + 2az) = -9ax + 2ay + 3az

(c) the angle θBAC at vertex A A B  A C | A B || A C | COS BAC

AB  AC
COS BAC 
A· B = AxBx + AyBy + AzBz | A B || A C |
A=-8ax + 4ay - 6az
B=-9ax + 2ay + 3az  0.5937
A.B = -8.-9 +4.2+-6.3=
  COS 1 (0.5937)  53.60

(d) the (vector) projection of RAB on RAC.

RAC RAC
( RAB  )  5.94â x  1.319â y  1.979â z
| RAC | | RAC |
Consider the vector field G = yax −2.5xay +3az and the point Q(4, 5, 2).find:
a)G at Q; b)the scalar component of G at Q in the direction of aN = 1/3(2ax +
ay − 2az ); c)the vector component of G at Q in the direction of aN ; and finally,
d) the angle θGa between G(rQ) and aN .
THE CROSS PRODUCT

For two vectors A and B, the cross product, or vector product, of A and B,
written with a cross between the two vectors as A × B and read as
“A cross B.”

The cross product A × B is a vector; the magnitude of A × B is equal to

the product of the magnitudes of A, B, and the sine of the smaller angle
between A and B; the direction of A×B is perpendicular to the plane
containing A and B and is along one of the two possible perpendiculars
which is in the direction of advance of a right-handed screw as A is turned
into B.
A  B  aˆ N | A || B | sin  AB

Where aN is a normal unit vector

Reversing the order of the vectors A and B results in a unit vector in the
opposite direction, and so that the cross product is not commutative, for
B×A = −(A×B).
To find cross product of 2 vector consider 2 vectors as
A = Axax + Ayay + Azaz
and B = Bxax + Byay + Bzaz

Then
A × B = (Axax + Ayay + Azaz) × (Bxax + Byay + Bzaz )

A × B = AxBx(ax × ax) + AxBy (ax × ay) + AxBz (ax × az) + AyBx (ay × ax) + AyBy (ay ×
ay) + AyBz (ay × az) + AzBx (az × ax) + AzBy (az × ay) +AzBz (az × az)
Where cross product of unit vectors are as
ax × ax = ay × ay = az × az = 0, sin0=0
And
ax × ay = az , ay × az = ax, az × ax = ay,
ax × az= -ay , az × ay = -ax, ay × ax = -az
substituting in above equation
A × B = AxBx(0) + AxBy (az) + AxBz (-ay) + AyBx (-az) + AyBy (0) + AyBz (ax) + AzBx (ay)
+ AzBy (-ax) + AzBz (0)
A × B = (Ay Bz − Az By )ax + (Az Bx − Ax Bz )ay + (Ax By − Ay Bx )az
A × B = (Ay Bz − Az By )ax + (Az Bx − Ax Bz )ay + (Ax By − Ay Bx )az
Same equation written as a determinant
The three vertices of a triangle are located at A(6,−1, 2), B(−2, 3,−4), and
C(−3, 1, 5). Find: (a) RAB × RAC; (b) the area of the triangle; (c) a unit vector
perpendicular to the plane in which the triangle is located.

(a)RAB = B – A = (-2ax + 3ay - 4az) - (6ax - 1ay + 2az) = -8ax + 4ay - 6az
RAC = C – A = (-3ax + 1ay + 5az) - (6ax - 1ay + 2az) = -9ax + 2ay + 3az

RAB × RAC = (-8ax + 4ay - 6az ) × (-9ax + 2ay + 3az)

aˆ x aˆ y aˆ z
RAB  RAC  8 4  6  24aˆ x  78aˆ y  20aˆ z
9 2 3

(b) the area of the triangle=

1
| RAB  RAC | 42.0119m 2
2
(c) a unit vector perpendicular to the plane in which the triangle is located.

RAB  RAC 24aˆ x  78aˆ y  20aˆ z

aˆ N  
| RAB  RAC | 24 2  782  20 2

 0.286aˆ x  0.928aˆ y  0.238aˆ z

CIRCULAR CYLINDRICAL COORDINATE System
• A point P in Cylindrical
coordinates is represented as
(ρ,Φ, z).
• Where ρ is the distance of point
P from reference Z-axis.
• Φ is called the azimuthal angle
is measured from the positive x-
axis in the xy-plane; and
• z is the distance of point P from
origin to the positive z-axis
direction.
• The ranges of the coordinates
are
0 
0    2
  z  
 VECTOR REPRESENTATION: UNIT VECTORS
Cylindrical Coordinate System
z
ρ
âz
P
â
z

â 
x  y

The Unit Vectors imply :

â  Points in the direction of increasing ρ

â Points in the direction of increasing ϕ

âz Points in the direction of increasing z

A vector A in cylindrical coordinates can be written as

A =Aρaρ + AΦaΦ + Azaz

where aρ, aΦ, and az are unit vectors in the ρ, Φ and z directions as shown in
Figure

Dot product and cross product of unit vectors

aρ · aΦ = aΦ · az = az · aρ = a ρ · az = az · aΦ = aΦ · aρ = 0
aρ · aρ = aΦ · aΦ = az · az = 1 (Unity)

aρ × aΦ = az , aΦ × az = aρ, az × aρ = aΦ,
aρ × az= -aΦ , az × aΦ = -aρ, aΦ × aρ = -az
The relationships between the variables (x, y, z) of the Cartesian
coordinate system and those of the cylindrical system (ρ,Φ, z) are

(x, y, z) to (ρ,Φ,z) i.e. rectangular to cylindrical

y
  x  y ,   tan
2 2 1
, zz
x
(ρ,Φ, z) to (x, y, z) i.e. cylindrical to rectangular

x = ρcosϕ, y = ρsinϕ, z=z

a) Give the rectangular coordinates of the point C(ρ = 4.4, φ = −1150, z =
2). (b) Give the cylindrical coordinates of the point D(x = −3.1, y = 2.6, z =
−3). (c) Specify the distance from C to D.

a) C(ρ = 4.4, φ = −115◦, z = 2)

x = ρcosΦ = 4.4 cos (-1150) = -1.860,

y = ρsinΦ = 4.4 sin(-1150) = -3.98,
z=z=2

Point C in rectangular coordinates is (x= -1.860, y= -3.98, z=2)

b) D(x = −3.1, y = 2.6, z = −3)

  x 2  y 2   3.12  2.6 2  4.046,

y 1 2.6
  tan 1
 tan  39.980 ,
x  3.1
z  z  3
As Φ is the angle with the positive x-axis, therefore when
negative value for x coordinate is given add 1800 to the
answer of Φ.
So
Φ = -39.980 + 1800 = 1400

Point D in cylindrical coordinates as (4.046,1400,-3)

(c) Specify the distance from C to D.

Distance between 2 points

DCD  ( x2  x1 ) 2  ( y2  y1 ) 2  ( z 2  z1 ) 2

= 8.36m
Transform to cylindrical coordinates: (a) F = 10ax−8ay+ 6az at point P(10,−8, 6);
(b)G = (2x+y)ax−(y−4x)ay at point Q(ρ, φ, z). (c) Give the rectangular components
of the vector H = 20aρ − 10aφ + 3az at P(x = 5, y = 2, z = −1).

(a) F = 10ax−8ay+ 6az at point P(10,−8, 6);

Find the cylindrical coordinates of point P

  x 2  y 2  10 2  (8) 2  12.81,
y 1  8
  tan 1
 tan  38.6590 ,
x 10
zz6

A vector F in cylindrical coordinates is written as

F =Fρaρ + FΦaΦ + Fzaz
where
Fρ = F.aρ
= (10ax − 8ay + 6az ) .aρ = 10ax .aρ − 8ay .aρ + 6az .aρ
= 10cosϕ – 8sinϕ + 6(0) = 10cos(-38.6590) – 8sin(-38.6590)
Solving Bρ = 12.81
 Fϕ = F.aϕ
= (10ax − 8ay + 6az ) .aϕ
= 10ax .aϕ − 8ay .aϕ + 6az .aϕ = 10(-sinϕ) – 8cosϕ + 6(0)
= -10sin(-38.6590) – 8cos (-38.6590)
Fϕ = 2.9 × 10-10 ≈ 0 == -1.8
Fz = F.az = 6
= (10ax − 8ay + 6az ) .az
= 10ax .az − 8ay .az + 6az .az
= 10(0) – 8(0) + 6(1)
=6
So
the vector F = 10ax − 8ay + 6az into cylindrical coordinates is
F =12.81aρ + (-1.8×10-4)aϕ + 6az
(b)G = (2x+y)ax −(y−4x)ay at point Q(ρ, φ, z).
A vector G in cylindrical coordinates is written as
G =Gρaρ + GΦaΦ + Gzaz
where
Gρ = G.aρ
= ((2x+y)ax −(y−4x)ay ) .aρ = (2x+y)ax .aρ −(y−4x)ay .aρ
= (2x+y)cosϕ – (y−4x)sinϕ
Put x = ρcosϕ and y = ρsinϕ
Gρ = (2ρcosϕ +ρsinϕ)cosϕ – (ρsinϕ−4ρcosϕ )sinϕ
Gρ = 2ρcos2ϕ +ρsinϕcosϕ – ρsin2ϕ + 4ρcosϕsinϕ = 2ρcos2ϕ + 5ρsinϕcosϕ – ρsin2ϕ
Gϕ = G.aϕ
= ((2x+y)ax −(y−4x)ay ) .aϕ
= (2x+y)ax .aϕ − (y−4x)ay .aϕ =(2x+y)(-sinϕ) – (y−4x)cosϕ
Put x = ρcosϕ and y = ρsinϕ
=(2ρcosϕ +ρsinϕ)(-sinϕ) – (ρsinϕ−4ρcosϕ )cosϕ
Gϕ = (-2ρcosϕsinϕ)+(-ρsin2ϕ)– ρsinϕ cosϕ + 4ρcos2ϕ
=-ρsin2ϕ + 4ρcos2ϕ-3ρcosϕsinϕ
G =(2ρcos2ϕ + 5ρsinϕcosϕ – ρsin2ϕ)aρ + (-ρsin2ϕ + 4ρcos2ϕ-3ρcosϕsinϕ)aΦ
(c) Give the rectangular components of the vector H = 20aρ − 10aφ + 3az at P(x = 5,
y = 2, z = −1).
A vector H in rectangular coordinates is written as
H = Hxax + Hyay + Hzaz.

where
Hx = H.ax = (20aρ − 10aφ + 3az).ax = 20aρ.ax−10aφ.ax+ 3az.ax = 20cosϕ – 10sinϕ + 0
Where
Φ = tan-1y/x = tan-1 2/5 = 21.8010
Hx = 22.3
Hy = H.ay = (20aρ − 10aφ + 3az).ay = 20aρ.ay−10aφ.ay+ 3az.ay = 20sinϕ – 10cosϕ + 0
Where
Φ = tan-1y/x = tan-1 2/5 = 21.8010
Hy = -1.857
Hz = 3
H = 22.3ax – 1.857ay + 3az.
THE SPHERICAL COORDINATE SYSTEM
A point P is represented by (r, θ, Φ) and
is illustrated in Figure. where
r is the distance from the origin to point P
or the radius of a sphere centered at the
origin and passing through P;
θ (called the colatitude) is the angle
between the z-axis and the position
vector of P; and
Φ is measured from the positive x-axis
(the same azimuthal angle in cylindrical
coordinates).
According to these definitions, the
ranges of the variables are

0r 
0  
0    2
VECTOR REPRESENTATION: UNIT VECTORS
Spherical Coordinate System

z â
 P
âr
r

â
 y
x

The Unit Vectors imply :

âr Points in the direction of increasing r

â Points in the direction of increasing 

â Points in the direction of increasing j

A vector A in spherical coordinates can be written as

A =Arar + Aθaθ + AΦaΦ

where ar,aθ and aΦ are unit vectors in the r, θ and Φ directions.

Dot product and cross product of unit vectors

ar · aθ = aθ · aΦ = aΦ · ar = ar · aΦ = aΦ · aθ = aθ · ar = 0
ar · ar = aθ · aθ = aΦ · aΦ = 1 (Unity)
ar × aθ = aΦ , aθ × aΦ = ar, aΦ × ar = aθ,
ar × aΦ = -aθ , aΦ × aθ = -ar, aθ × ar = -aΦ
The space variables (x, y, z) in Cartesian coordinates can be
related to variables (r, θ, Φ) of a spherical coordinate system

Cartesian to Spherical
(x, y, z) to (r,θ,Φ)
z y
r  x  y  z ,   cos
2 2 2 1
,   tan 1

x y z
2 2 2 x

Spherical to Cartesian
(r,θ,Φ) to (x, y, z)

x = rsinθcosΦ, y = rsinθsinΦ, z = rcosθ

 Dot Products of unit vectors in cylindrical
and spherical coordinate systems

ar aθ aϕ
aρ. sinθ cosθ 0
aϕ. 0 0 1
az. cosθ -sinθ 0
Transform the vector field G=(xz/y)ax into spherical components and variables.
Given the two points, C(−3, 2, 1) and D(5,200,−700), find: (a) the spherical
coordinates of point C; (b) the rectangular coordinates of point D; (c) the
distance from C to D.
(a) the spherical coordinates of C;

r  x 2  y 2  z 2   32  2 2  12  3.74
z z 1
  cos 1
 cos1
 cos 1
 74.50
x2  y2  z 2 r  32  2 2  12
y 2
  tan 1  tan 1  146.30
x 3
(b) the rectangular coordinates of D;
• x = rsinθcosΦ = 5sin200cos -700 = 0.585,
• y = rsinθsinΦ = 5sin200sin -700=-1.607,
• z = rcosθ = 5cos200 = 4.7
(c) the distance from C to D.
d (C , D)  (0.585  3) 2  (1.607  2) 2  (4.7  1) 2  6.29m
Transform the following vectors to spherical coordinates at the points
given: (a) 10ax at P(−3,2,4); (b) 10ay at Q(5,300,4); (c) 10az at
M(4,1100,1200)
(a) 10ax at P(x = −3, y = 2, z = 4);
First find the spherical coordinates of point P as

r  x 2  y 2  z 2   32  2 2  4 2  5.385
z z 4
  cos 1  cos 1  cos 1  42.0290
x2  y2  z 2 r 5.385
y 2
  tan 1  tan 1  146.30
x 3
A vector A in spherical coordinates can be written as
A =Arar + Aθaθ + AΦaΦ
where
Ar = A.ar = 10ax .ar = 10sinθcosϕ = -5.570
Aθ = A.aθ = 10ax .aθ = 10cosθcosϕ = -6.18
Aϕ = A.aϕ = 10ax .aϕ = 10.(-sinϕ) = -5.547

So A = -5.570ar - 6.18aθ – 5.547aΦ

b) 10ay at Q(ρ = 5, φ = 300, z = 4);
As the coordinates point P are given in cylindrical system, convert them
first to Cartesian and then to spherical as
x = ρcosϕ = 5cos300 = 4.33, r  x 2  y 2  z 2  6.403
y = ρsinϕ = 5sin300 = 2.5, z
  cos 1  51.330
z=z=4 x2  y2  z 2
y
  tan 1
 28.99 0 =300
x

A vector A in spherical coordinates can be written as

A = Arar + Aθaθ + AΦaΦ
where
Ar = A.ar = 10ay .ar = 10sinθsinϕ = 3.904
Aθ = A.aθ = 10ay .aθ = 10cosθsinϕ = 3.12
Aϕ = A.aϕ = 10ay .aϕ = 10cosϕ = 8.66

So A = 3.904ar + 3.1218aθ + 8.66aΦ

(c) 10az at M(r = 4, θ = 1100, φ = 1200)

A vector A in spherical coordinates can be written as

A =Arar + Aθaθ + AΦaΦ
where
Ar = A.ar = 10az .ar = 10cosθ = -3.42
Aθ = A.aθ = 10az .aθ = 10(-sinθ) = -9.396
Aϕ = A.aϕ = 10az .aϕ = 10.0 = 0

So A = -3.42ar – 9.396aθ
VECTOR REPRESENTATION: UNIT VECTORS

Summary

RECTANGULAR CYLINDRICAL SPHERICAL

Coordinate Coordinate Coordinate
Systems Systems Systems

aˆ x aˆ y aˆ z  aˆ  aˆ  aˆ z  aˆ r aˆ aˆ 

NOTE THE ORDER!

ρ,, z r, ,
 METRIC COEFFICIENTS
Unit is in “meters”
1. Rectangular Coordinates:

When you move a small amount in x-direction, the distance is dx

In a similar fashion, you generate dy and dz

DIFFERENTIAL LENGTH, AREA, AND VOLUME
Differential elements in length, area, and volume are useful in vector
calculus. They are defined in the Cartesian, cylindrical, and spherical
coordinate systems.

Cartesian Coordinates
Differential quantities:


Differential length or displacement
dl  dxaˆ x  dyaˆ y  dzaˆ z
Differential (normal) surface (area):

ds  dydzaˆ x
dxdzaˆ y
dxdyaˆ z
Differential Volume:
dv  dxdydz
Cylindrical Coordinates:

y Differential Distances:
Distance = ρd
( dρ, ρd, dz )

d
ρ

x
Cylindrical Coordinates:
Differential length or displacement (dρ, ρd, dz )

dl  daˆ   daˆ  dzaˆ z
Differential (normal) surface (area):

dS  ddzaˆ 
ddzaˆ
ddaˆ z
Differential Volume:

dv = ρdρdΦdz
 Spherical Coordinates:

y Differential Distances:
Distance = r sin d
( dr, rd, rsin d )
z
d
r sin  P
x
r

 y
x
Spherical Coordinates
Differential quantities:

Differential length or displacement


dl  draˆr  rdaˆ  r sin daˆ

Differential (normal) surface (area):

d S  r 2 sin ddaˆ r
r sin drdaˆ
rdrdaˆ
Differential Volume:

dv = r2sinθdrdθdΦ

Pages 113-115
1.23
The surfaces ρ = 3, ρ = 5, ɸ = 1000, ɸ = 1300, z = 3, and z = 4.5 define a closed
surface.
a) Find the enclosed volume:
Differential Volume is
dv = ρdρdΦdz so
v   dddz
v     dddzz
 2 2 z 2
v    dddz
z1
1 1

5 1300 4.5
NOTE: The limits on the φ integration must
v   dddz be converted to radians (as was done
3 1000 3
here, but not
5
   1300 4.5
2 shown).
v     1000 z 3
 2 3
v  6.28m 3
 b) Find the total area of the enclosing surface:
Differential (normal) surface (area):

dS  ddz  ddz  dd

S   ddz   ddz   dd

S    ddz    ddz    dd

S    ds1 | 3    ds2 | 5    ds3 | 1000    ds4 | 1300    ds5 | z  2    ds6 | z 3
 z  z  z  z  

  1300 z  4.5  1300 z  4.5 5 4.5 5 4.5

S   ddz    ddz    ddz    ddz 
 1000 z 3  1000 z 3 3 z 3 3 z 3

 1300 5  1300 5

  dd    dd
3 3
 1000  1000
Area  3  z   5  z     z     z 
1300 4.5 1300 4.5 5 4.5 5 4.5
1000 3 1000 3 3 3 3 3

 3 3  100  5 3  100

0 0
5 130 5 130
0 0

Area  20.56
The surfaces r = 2 and 4, θ = 30◦ and 50◦, and φ = 20◦ and 60◦ identify a closed
surface.
a) Find the enclosed volume:
Differential Volume:
dv = r2sinθdrdθdΦ

v   r 2 sin drdd
v     r 2 sin drdd
r2  2 2

v     r 2 sin drdd
r1 1 1
5 0.3 1.6
v  dddz
3 0.1 1.2
5
r 3
v     cos  0.1  1.2
0.3 1.6

 3 3
v  14.89m 3
b) Find the total area of the enclosing surface:

d S  r 2 sin dd  r sin drd  rdrd

d S  d Sr1  d Sr 2  d S 1  d S 2  d S1  d S 2

d S    d S r1 |r 3    d S r 2 |r 5    d S 1 | 0.1    d S 2 | 0.3 
    r  r 

  d S
r
|
1  1.2    d S 2 | 1.6
r 
0.3 1.6 0.3 1.6 5 1.6
dS    sin dd |r 3    sin dd |r 5    r sin drd | 
2 2
r r  0.1
 
 0.1 1.2  
 0.1 1.2 
r 3 1.2 
5 1.6 5 0.3 5 0.3

   r sin drd |
r 3 1.2
 0.3     rdrd

r 3  0.1
 | 1.2 

 rdrd  |

r 3  0.1
1.6
 0.3 1.6 0.3 1.6 5 1.6
d S  32  sin d     sin d  d  sin 0.1  rdr  d 
2
d 5
 
 0.1  1.2  
 0.1   1.2   r 3 1.2
5 1.6 5 0.3 5 0.3
sin 0.3  rdr   d    rdr  d    rdr  d 
r 3 1.2 r 3  0.1 r 3  0.1

5
 r  1.6
2
Area  9 cos      25 cos      sin 0.1    1.2 
0.3 1.6 0.3 1.6
0.1 1.2 0.1 1.2
 2 3
5 5 5
 r  1.6  r 
2
r  2 2
sin 0.3    1.2     0.1     0.1
0.3 0.3

 2 3  2 3  2 3
Area 
36.79