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or (x, y, z) .
or ~v (x, y, z) .
Remark 1.1 Notice that for every vector field ~v in D, there are three scalar fields P ,
Q, R in D such that
~v (x, y, z) = P (x, y, z)~i + Q (x, y, z) ~j + R (x, y, z) ~k,
Example 1.1
(x, y, z) D.
(x, y, z) R3 .
(ii) The modulus (or the length) of ~r is the following scalar field:
p
r = |~r| = x2 + y 2 + z 2 , (x, y, z) R3 .
Definition 1.3 Let be a scalar field in D. The level surface of at the level c R
is the following set:
{M (x, y, z) D : (x, y, z) = c} .
The level surface of through the point M0 (x0 , y0 , z0 ) D is the following set:
{M (x, y, z) D : (x, y, z) = (x0 , y0 , z0 )} .
Example 1.2 When is the temperature or pressure field, the level surfaces of are
called isotherms or isobars, respectively.
1
(x, y, z) D.
Since d~r = dx~i + dy ~j + dz ~k, the condition for ~v to be tangent to at each point
M (x, y, z) can be written as
~v k d~r ~v d~r = ~0
dy
dz
dx
=
=
.
P (x, y, z)
Q (x, y, z)
R (x, y, z)
(1)
Formula (1) is a differential system under symmetric form and is called the differential
system of the field lines of ~v . Denote by
1 (x, y, z) = c1 ,
2 (x, y, z) = c2 ,
c1 R,
c2 R,
two functionally independent first integrals of the symmetric system (1). Then, the set
of the field lines of ~v is the following family of curves in space which depends on two
parameters c1 , c2 R:
1 (x, y, z) = c1 ,
c1 ,c2 :
2 (x, y, z) = c2 .
Example 1.3 Find the field lines of the following vector field:
~v = (y z)~i + (z x) ~j + (x y) ~k.
Answer. The field lines of ~v are the following:
x + y + z = c1 ,
c1 ,c2 :
x2 + y 2 + z 2 = c 2 ,
c1 , c2 R.
c1 R,
c2 R,
be two functionally independent first integrals of system (1). Then, the equation of a
field surface of ~v is
(1 (x, y, z) , 2 (x, y, z)) = 0,
where : R2 R is an arbitrary function.
Differential operators
d
=
s1 +
s2 +
s3 .
d~s
x
y
z
Definition 2.2 Let ~v be a vector field of class C 1 in D. Let ~s = s1~i + s2~j + s3~k be a
unit vector. The directional derivative of ~v along the unit vector ~s is
d~v
~v
~v
~v
=
s1 +
s2 +
s3 .
d~s
x
y
z
Remark 2.1 If ~v = P~i + Q~j + R~k, then
~v
P ~ Q ~ R ~
=
k,
i+
j+
x
x
x
x
P ~ Q ~ R ~
~v
=
k,
i+
j+
y
y
y
y
P ~ Q ~ R ~
~v
=
k.
i+
j+
z
z
z
z
Consequently,
d~v
dP ~ dQ ~ dR ~
=
k.
i+
j+
d~s
d~s
d~s
d~s
Definition 2.3 Let be a scalar field of class C 1 in D. The gradient of is the vector
field in D
~ ~ ~
grad =
k.
i+
j+
x
y
z
Proposition 2.1 (Properties of the gradient) Let , be two scalar fields of class C 1
in D, let c R be a constant and let F : R R be a function of class C 1 . We have:
(i) grad ( + ) = grad + grad ;
(ii) grad (c) = c grad ;
(iii) grad () = grad + grad ;
grad grad
;
=
(iv) grad
2
(v) grad (F ()) = F () grad .
3
Example 2.1 Let ~r = x~i+y~j +z~k be the position vector field and let ~a = a1~i+a2~j +a3~k
be a constant vector. Remember that
p
r = |~r| = x2 + y 2 + z 2 ,
~a ~r = a1 x + a2 y + a3 z.
Then, we have
~r
1
x~i + y~j + z~k ,
=p
r
x2 + y 2 + z 2
grad (~a ~r) = ~a.
grad r =
Definition 2.4 Let ~v = P~i + Q~j + R~k be a vector field of class C 1 in D. The divergence
of ~v is the scalar field in D
div ~v =
The curl of ~v
curl ~v =
Q R
P
+
+
.
x
y
z
k.
i+
j+
=
y
z
z
x
x
y
x y z
P
Q R
Proposition 2.2 (Properties of the divergence and curl) Let ~u, ~v be two vector fields
of class C 1 in D, let be a scalar field of class C 1 in D and let c R be a constant.
We have:
(i)
(ii)
(iii)
(iv)
.
curl (~u ~v ) = ~u div ~v ~v div ~u +
d~v d~u
Example 2.2 Let ~r = x~i+y~j +z~k be the position vector field and let ~a = a1~i+a2~j +a3~k
be a constant vector. Remember that
~i ~j ~k
~a ~r = a1 a2 a3 = (a2 z a3 y)~i + (a3 x a1 z) ~j + (a1 y a2 x) ~k.
x y z
Then, we have
Definition 2.5 We call the nabla or del or Hamilton operator the vector differential
operator
~
~
~
k.
i+
j+
=
x
y
z
Proposition 2.3 (Properties of ) Let be a scalar field of class C 1 in D, let ~v be a
vector field of class C 1 in D and let ~s be a unit vector. We have:
(i) grad = ;
(ii) div ~v = ~v ;
(iii) curl ~v = ~v ;
(iv)
d
= (~s ) ;
d~s
(v)
d~v
= (~s ) ~v .
d~s
Definition 2.6 We call the Laplace operator or the Laplacian the differential operator
=
2
2
2
+
+
.
x2 y 2 z 2
Remark 2.2 If is a scalar field of class C 2 in D and ~v = P~i + Q~j + R~k is a vector
field of class C 2 in D, then
2 2 2
+ 2 + 2,
x2
y
z
2
2
~v ~v 2~v
+
+
,
~v =
x2 y 2 z 2
2P ~ 2Q ~ 2R ~ 2P ~ 2Q ~ 2R ~ 2P ~ 2Q ~ 2R ~
=
i+
j+
k+
i+
j+
k+
i+
j+
k
x2
x2
x2
y 2
y 2
y 2
z 2
z 2
z 2
= P ~i + Q ~j + R ~k.
Proposition 2.4 Let be a scalar field of class C 2 in D and let ~v be a vector field of
class C 2 in D. We have:
(i) div (curl ~v ) = 0;
(ii) curl (grad ) = ~0;
(iii) div (grad ) = ;
(iv) curl (curl ~v ) = grad (div ~v ) ~v .
Integral formulas
Remark 3.3 If ~v = P~i+Q~j +R~k, then, taking into account that d~r = dx~i+dy ~j +dz ~k,
we infer that
Z
C = P dx + Qdy + Rdz.
Remark 3.5 If ~v = P~i + Q~j + R~k, then the right-hand side of the above formula can
be written as
ZZZ
ZZZ
P
Q R
div ~v d =
+
+
dxdydz,
x
y
z
D
D
which is a volume integral.
6
Theorem 3.2 (Divergence theorem for the gradient) Let D R3 be a bounded smooth
domain, let be the closed surface which is the boundary of D, let ~n be the outer unit
normal (vector) field to the surface and let be a scalar field of class C 1 on D .
Then,
ZZ
ZZZ
~n d =
grad d.
D
Theorem 3.3 (Divergence theorem for the curl) Let D R3 be a bounded smooth
domain, let be the closed surface which is the boundary of D, let ~n be the outer unit
normal (vector) field to the surface and let ~v be a vector field of class C 1 on D .
Then,
ZZ
ZZZ
~n ~v d =
curl ~v d.
D
Theorem 3.4 (Stokes formula) Let R3 be a bounded smooth open surface, let be
the closed curve which is the boundary of , let ~n be a unit normal (vector) field to the
surface and let ~v be a vector field of class C 1 in a domain D R3 which contains the
surface . Then
Z
ZZ
~v d~r =
curl ~v ~n d.
4.1
in D.
c = const R,
and
grad = grad = ~v c = const R s.t. = in D.
Theorem 4.1 Let D R3 be a simply connected domain and let ~v be a vector field of
class C 1 in D.
(i) If ~v is irrotational in
R D, then the circulation of ~v along any closed smooth curve
D is zero (i.e. ~v d~r = 0).
7
(ii) If ~v is Rirrotational in D, then the circulation of ~v along any smooth path AB D
~v d~r) depends only on A and B, and does not depend on the path
(i.e.
AB
between A and B.
AM
where A D is a fixed point.
4.2
in D.
In this case, w
~ is called a vector potential of ~v .
Remark 4.2 Since
curl (grad ) = ~0 ,
we have
curl w
~ = ~v curl (w
~ + grad ) = ~v
(ii) If ~v isRRsolenoidal in D, then the flow of ~v through any open smooth surface D
(i.e. ~v ~n d) depends only on the boundary of , and does not depend on
the surface .
(iii) The vector field ~v is solenoidal in D if and only if ~v is a curl field in D.
4.3
in D,
i.e. ~v curl ~v .
(ii) If
~v curl ~v = 0 in D,
curl ~v 6= ~0 in D,
then ~v is represented by two scalar fields in D.
4.4
~r
r3
(k = const > 0) ,
2 2 2
+ 2 + 2.
x2
y
z
Theorem 4.4 Let D R3 be a simply connected domain and let ~v be a vector field of
class C 1 in D. The following statements are equivalent:
(i) The vector field ~v is Laplacian in D.
(ii) There is a harmonic function in D such that
~v = grad
in D.