Vector analysis

• Vector algebra – addition, subtraction, multiplication

• Coordinate system– Cartesian, cylindrical and spherical

• Vector calculus–
vector differentiation and integration,
line integration, surface integration and volume
integration,
gradient, divergence and curl.
Vector algebra

Vector addition Vector subtraction

B A
B A+B
A-B
A -B

Scalar multiplication Vector multiplication

(Dot product) (Cross product)

AB=AB cosAB AB=an|ABsinAB|

B AB
AB A
B
BsinAB
an
A
Orthogonal coordinate system
-a point is the intersection of three planes

• Cartesian coordinate system

z
az
ay
ax

x
dl=dxax + dyay + dzaz

dsx=dy dz ax
dsy=dx dz ay
dsz=dx dy az

dv=dx dy dz
 Cylindrical coordinate system
-useful in order to solve problems such as fluid flow in a
pipe, charge flow in a wire

az a
ar
z1
r1
y1
x1

Converting from spherical coordinates to cartesian coordinates

x=r cos
y=r sin
z=z

r=(x2+y2)1/2
=tan-1(y/x)
z=z

y
cos  
x sin  
x2  y2 x2  y2
 z

dr
dz

rd

y

x d

dl=dr ar + r d a +dz az

dsr= r d dz ar
ds=dr dz a
dsz= r d dr az

dv= r d dr dz
Spherical coordinates
z
satah = 1
ar
1
a
kon  = 1

r1
a

y
1

x sfera r=r1

x=r sin cos , y=r sin sin , z=r cos

z
cos  
x2  y2  z 2 r  x2  y2  z 2
x2  y2 x2  y2
sin     tan 1
x2  y2  z 2 z
x y
cos     tan 1
x y
2 2
x
y
sin  
x2  y2
 z

dr

r
 r sin d
r d
d
y

d
x

dl = dr ar + r d a + r sin d a

dsr=r2 sin d d ar
ds=r sin dr d a
ds=r dr d a

dv=r2 sin dr d d
 Gradient of a scalar field (grad)

1 2

• Quantities in a scalar field is a function of position and

time, for example, f(x,y,z) in Cartesian coordinates.

• Definition of the gradient of a scalar field (grad):

A vector that represents the magnitude and direction of
the maximum rate of change for the scalar field, f. The
direction of this vector is perpendicular to the surface
that has a constant value of f.

dl
grad f
Grad for different coordinate systems

• Cartesian coordinate system

f f f
f ( x, y, z )  ax  a y  az
x y z
• Cylindrical coordinate system

f 1 f f
f r ,  , z   ar  a  az
r r  z

• Spherical coordinate system

f 1 f 1 f
f r , ,    ar  a  a
r r  r sin  
Example of calculating the grad using
Cartesian coordinates
z

(1,-1,2)

Surface of equation
x F=2xz2-3xy-4x-7=0

The surface shown above is described by the equation

f=2xz2 -3xy-4x-7=0. Find the unit vector perpendicular to
this surface at the point (1,-1,2).
The vector perpendicular to this surface is the grad of the
surface. From equation:

f f f
f ( x, y, z )  ax  a y  az
x y z

f
 2z 2  3 y  4
x
f
 3x
y
f
 4 xz
z
f ( x, y, z )  (2 z 2  3 y  4)a x  3x a y  (4 xz)a z

Substituting x=1, y=-1, z=2 into the equation above,

f(x,y,z)=7ax -3ay +8az
 z

7ax-3ay+8az

8az

7ax y

-3ay

x
Integration of vector field lines

• Cartesian coordinate system

b xb yb zb
a
F ( x, y, z ) dl   Fx dx   Fy dy   Fz dz
xa ya za

• Cylindrical coordinate system

b rb b zb
a
F (r ,  , z )  dl   Fr dr   rF d   Fz dz
ra a za

• Spherical coordinate system

b rb b a
a
F (r , ,  )  dl   Fr dr   rF d   r sin F d
ra a a
Example of a line integral of the vector
field
z

z=2 P1(0,1,2)

c1
P3(1,0,2) c1

P4(0,1,0)
y
P5(0,0,0)
P2(1,0,0)
X=1
x

Evaluate the line integral of the vector field

F(x,y,z)=(x+y)ax - (x)ay + (xz)az

From P1(0,1,2) to P2(1,0,0) along contour c1 and along

contour c2.
From
b xb yb zb

a
F ( x, y, z ) dl   Fx dx   Fy dy   Fz dz
xa ya za

P2
 P1
F  dl   ( x  y )dx   x dy   xz dz

Integrating along c1, we separate the integral into 2

stages, from P1[0.1.2] to P3[1,0,2] and then from
P3[1,0,2] to P2[1,0,0] so that
P2 P3 P2

P1
F  dl   F  dl   F  dl
P1 P3

x  y dx  y 1 x
P2 1 0 2

P1
F  dl  
x 0
dy   xz dz
z 2

let y  1  x

so that
P2 1 0 2

P1
F  dl   1 dx   (1  y ) dy   xz dz
x 0 y 1 z 2

0
 y2 
 x 0   y    0
1

 2 1
1 3
 (1  0)  (0  ) 
2 2
 x  y dx  y 0 x
P2 1 0 0
P3
F  dl  
x 1
dy   xz dz
z 2

0
 00 z dz
z 2

0
 z2 
    2
 2  z 2
Therefore, the integral along c1 is
3 1
c1
 F  dl  2
2  
2

Now, similarly, we evaluate the line integral along contour

C2, which we have to separate from P1[0,1,2] to P4[0,1,0]
Then from P4[0,1,0] to P5[0,0,0] and then from P5[0,0,0] to
P2[1,0,0].
P4 P5 P2
 F  dl  
c2
P1
F  dl   F  dl   F  dl
P4 P5

x  y dx  y 1 x
0 1 0
 dy   x z dz
x 0 z 2

x  y dx  y x1
0 0 0
 dy   xz dz
x 0 z 0

x  y dx  y x0
1 0 0
 dy   xz dz
x 0 z 0

1

2
 Divergence of a vector field (div)

F

F
ds

F
permukaan, s
The variation in a vector field can be represented by flux, .
Flux can be written as
   F  ds
s
where F=F cos, the component of the vector F which is
perpendicular to the surface, s.
For a closed surface, flux may be written as:,
   F  ds
s
This closed surface can be regarded as a source or sink.

For a very small closed surface, (v0), the flux lines can be
thought to diverge from a single point. Therefore flux divergence,
lim  F  ds
divF  s
v  0 v
Flux divergence is a scalar quantity, and represents the strength
of the flow in the vector field.
Flux divergence for different coordinate
systems.

• Cartesian coordinate system

Fx Fy Fz

divF   
x y z

• Cylindrical coordinate system

1  F
  F r ,  , z   rFr   1   Fz
r r r  z

• Spherical coordinate system

1  2 1 F sin   1 F

  F r , ,   
r 2 r
r Fr  
r sin  

r sin  
Divergence of a vector field
Divergence theorem

 F  ds     Fdv
s v

The integral of the normal component of a vector field

over a closed surface yields the same result as the integral
of the divergence of the vector field throughout the volume
enclosed by the surface.
Curl of a vector field
is the circulation of F per unit surface (enclosed by c) as
the contour and surface shrink to zero.
 
 F .dl
curl F .an  curl F   lim c
  n s 0 s
• Cartesian coordinate system

ax ay az
  
 F 
x y z
Fx Fy Fz

• Cylindrical coordinate system

 1 Fz F   F F  1  F 
  F    ar   r  z a   rF   r  az
 r  z   z r  r  r  

• Spherical coordinate system

 F 
 F 
1

  
F sin     ar
r sin 
  
1  1 Fr  
   rF  a
r  sin   r 
1  F 
  rF   r  a
r  r  
 Curl of a vector field

Cartesian coordinate system

ax ay az
  
 F 
x y z
Fx Fy Fz
Fz Fx Fy Fy F F
 ax  ay  az  ax  z a y  x az
y z x z x y
 Fz Fy   Fx Fz   Fy Fx 
   a x    a y    a z
 y z   z x   x y 
 Stokes Theorem

   F   ds   F  dl
s c

The surface integral of the curl of a vector field over an open

surface is equal to the closed line integral of the vector along
the contour bounding the surface.