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1.1.2 Vector Algebra: Component form (III) 1.1.3 Triple Products (I)
(iii) To calculate the dot product, multiply like components, Since the cross product of two vectors is itself a vector, it
and add. can be dotted or crossed with a third vector to form a
A ⋅ B = ( Ax x̂ + Ay ŷ + Az ẑ) ⋅ ( Bx x̂ + B y ŷ + Bz ẑ) triple product.
A short-hand notation for the Ans: It tells us how rapidly the function f(x) varies when we
separation vector from the source change the argument x by a tiny amount, dx.
point to the field point is df
df = dx
r ≡ r − r′, magnitude r = r − r′ dx
In words, if we change x by an amount dx, then, f changes
r r − r′
unit vector in the direction form r′ to r is rˆ = = by an amount df.
r r − r′ The derivative df/dx is the slope of the graph of f versus x.
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1.2.2 Gradient (I) 1.2.2 Gradient (II)
Suppose we have a function of three A mountain hill Geometrical interpretation: Like any vector, the gradient
variables. What does the derivative H ( x, y , z ) has magnitude and direction.
mean in this case? A dot product in abstract form is: dH = ∇H ⋅ dl = ∇H dl cos θ
A theorem on partial derivatives states that where θ is the angle between ∇H and dl.
∂H ∂H ∂H
dH = dx + dy + dz
∂x ∂y ∂z The gradient ∇H points in the direction of maximum
∂H ∂H ∂H increase of the function H.
=( xˆ + yˆ + zˆ ) ⋅ (dxxˆ + dyyˆ + dzzˆ )
∂x ∂y ∂z
= (∇H ) ⋅ (dl )
Analogous to the derivative of one variable, a vanishing
The gradient of H is a vector quantity, with three components. derivative signals a maximum, a minimum, or an inflection.
∂H ∂H ∂H
∇H = xˆ + yˆ + zˆ
∂x ∂y ∂z 13 14
d df dg
( f + g) = + ∇ ( f + g ) = ∇f + ∇g
dx dx dx
Example 1.5 Suppose the functions in above two figures ∇ ⋅ ( A + B) = ∇ ⋅ A + ∇ ⋅ B ∇ × ( A + B) = ∇ × A + ∇ × B
are v a = − yxˆ + xyˆ , v b = xyˆ Calculate their curls.
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0
1− x
0
ydy )dx }
The volume integrals of vector functions: 1 1
= 9∫ x( (1 − x) 2 )dx
∫ vdτ = ∫ (v xˆ + v yˆ + v zˆ )dτ
0 2
x y z
1 1 3
= 9( )( ) =
= xˆ ∫ v dτ + yˆ ∫ v dτ + zˆ ∫ v dτ
x y z 2 12 8
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1.3.2 The Fundamental Theorem of Calculus 1.3.3 The Fundamental Theorem for Gradients
Fundamental theorem of calculus: A scalar function of three variables T(x, y, z) changes by
b df b a small amount.
∫
a dx
dx = ∫ df = f (b) − f (a )
a
dT = (∇T ) ⋅ dl1
Geometrical Interpretation: two ways to determine the total The total change in T in going from a to b along the path
change in the function: selected is:
1. go step-by-step adding up all the tiny increments as you go b
2. subtract the values at the ends. ∫a
(∇T ) ⋅ dl = T (b) − T (a)
b
Corollary 1: ∫
a
(∇T ) ⋅ dl is independent of path taken from *Conservative forces tend to minimize the potential
a to b. energy within any system: It allowed to, an apple falls
Corollary 2: ∫ (∇T ) ⋅ dl = 0 , since the beginning and end to the ground and a spring returns to its natural length.
points are identical, and hence T(b)-T(a)=0.
Non-conservative force does not imply it is dissipative,
for example, magnetic force, and also does not mean it
A conservative force may be associated with a scalar
will decrease the potential energy, such as hand force.
potential energy function, whereas a non-conservative
force cannot.
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and add it all up. 41 = ∫∫ v ⋅ nˆ da Engineering Mathematics (John Wiley and Sons, New
York, 1993), 7th ed. Chap. 9, pp. 546-547. 42
S
Example 1.10 Check the divergence theorem using the 1.3.5 The Fundamental Theorem for Curls (I)
function v = y 2 xˆ + (2 xy + z 2 ) yˆ + ( 2 yz )zˆ
The fundamental theorem for curls---Stokes’ theorem---
and the unit cube situated at the origin. states that:
∫ (∇ × v) ⋅ da = ∫ v ⋅ dl
S
Sol : In this case ∇ ⋅ v = 2( x + y ) P
The integration of a derivative (here, the curl) over a region
1 1 1
∫ 2( x + y)dxdydz =2∫ dz ∫
v 0 ∫ ( x + y)dxdy
0 0
(here, a patch of surface) is equal to the value of the
function at the boundary (in this case the perimeter of the
1 1 1
= 2∫ ∫ ( 12 + y )dy = 2 ∫ ( 12 + y )dy = 2 patch).
0 0 0
∴ ∫ ∇ ⋅ v dτ = 2 Geometrical Interpretation:
v
Measure the “twist” of the
To evaluate the surface integral we must consider vectors v; a region of high
separately the six sides of the cube. The total flux is… curl is a whirlpool.
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Supplementary
= fg a
b
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1.4.2 Cylindrical Coordinates (II) 1.5 The Dirac Delta Function
1.5.1 The Divergence of rˆ / r
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1.5.2 The One-Dimensional Dirac Delta Function 1.5.2 The One-Dimensional Dirac Delta Function (II)
The 1-D Dirac delta function can be pictured as If f(x) is some “ordinary” function (let’s say that it is
an infinitely high, infinitesimally narrow “spike”, with area just 1. continuous), then the product f(x)δ(x) is zero everywhere
except at x=0. It follows that f(x)δ(x)=f(0)δ(x). In particular,
0 if x ≠ 0 +∞
δ ( x) =
∞ if x = 0
with ∫-∞
δ ( x)dx = 1
∫
+∞
-∞
+∞
f ( x)δ ( x)dx = f (0) ∫ δ ( x)dx = f (0)
-∞
Technically, δ(x) is not a function at all, since its value is We can shift the spike from x=0 to some other point x=a.
not finite at x=0. Such function is called the generalized
0 if x ≠ a +∞
function, or distribution. δ ( x − a) =
∞ if x = a
with ∫
-∞
δ ( x − a )dx = 1
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∫-∞
f ( x)δ ( x − a )dx = f (a ) ∫ δ ( x)dx = f (a )
-∞
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1.5.2 The One-Dimensional Dirac Delta Function (III) 1
Example 1.15 Show that δ (kx) = δ ( x)
k
Although δ(x) is not a legitimate function, integrals over δ(x) where k is any (nonzero) constant.
are perfectly acceptable.
Sol : Consider the integral for an arbitrary test function f ( x),
It is best to think of the delta function as something that is ∞
always intended for use under an integral sign. ∫−∞
f ( x)δ (kx)dx
In particular, two expressions involving delta function are Let y ≡ kx, so that x ≡ y k , dx ≡ 1 k dy
considered equal if:
positive : the integration runs from - ∞ to ∞
+∞ +∞ k =
∫-∞
f ( x) D1 ( x)dx = ∫
-∞
f ( x) D2 ( x)dx negative : the integration runs from ∞ to - ∞
∞ 1 ∞ 1
for all (" ordinary" ) function of f ( x).
∫−∞
f ( x)δ (kx)dx = ± ∫ f ( y / k )δ ( y )dy =
k −∞ k
f ( 0)
3
∫ x 3δ ( x − 2)dx 1
Example 1.14 Evaluate the integral (a)
3 0
So δ (kx) serves the same purpose as δ ( x) and δ (− x) = δ ( x) .
(b) ∫ x 3δ ( x − 4)dx 62
k
63
0
Show that dθ dx = δ ( x)
∫ all space
δ 3 (r )dx = ∫
-∞ ∫ ∫
-∞ -∞
δ ( x)δ ( y )δ ( z )dxdydz = 1
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∫all space
f (r )δ 3 (r − a)dx = f (a)
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1.6 The Theory of Vector Fields
1.5.3 The three-Dimensional Dirac Delta Function (II)
1.6.1 The Helmholtz Theorem
We found that the divergence of rˆ / r is zero everywhere
2
To what extent is a vector function F determined by its
except at the origin, and yet its integral over any volume divergence and curl?
containing the origin is a constant of 4π. The Dirac delta The divergence of F is a specified scalar function D,
function can be defined as:
rˆ ∇⋅F = D
∇⋅( 2
) = 4πδ 3 (r )
r and the curl of F is a specified vector function C,
More generally, ∇×F = C with ∇ ⋅ (∇ × F ) = ∇ ⋅ C = 0
rˆ
∇ ⋅ ( 2 ) = 4πδ 3 (r )
r Can you determine the function F?
where r is the separation vector r =r-r′. Note that the
differentiation here is with respect to r, while r′ is held Helmholtz theorem guarantees that the field F is uniquely
constant. determined by the divergence and curl with appropriate
1 1 rˆ boundary conditions.
∇ 2 ( ) = ∇ ⋅ (∇( )) = ∇ ⋅ (− 2 ) = −4πδ 3 (r )
r r r 66 67
∇⋅F = 0 ⇒ F = ∇× A
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