Chapter 1.

Vector Analysis

Chapter 1: Discusses the language (or the math) that will be used the
entire semester.

Day 1

6. Scalars and vectors

7. Scalar and vector fields
8. Vector Algebra
9. Component vectors and unit vectors
Chapter 1. Vector Analysis

Scalars and Vectors

Scalar - a quantity whose value may be represented by a single

(positive or negative) real number.
Example: height, temperature, speed

Vector - a quantity with both magnitude and direction in space

Example: force, velocity
Convention: a quantity is→a vector if it is written in bold font or
has an arrow above, e.g. A

Vectors are usually represented by directed segments:

A
Chapter 1. Vector Analysis

A field (scalar or vector) may be

defined mathematically as some
function of that vector which
connects an arbitrary origin to a
general point in space.
- “Function of position”

Types of fields:
1. Scalar field

Examples of scalar fields:

– density at any point P within a
volume, ρ(P)
– elevation of a point with
coordinates (x,y) from sea level,
h(x,y)
– temperature at any point A
inside a container, T(A)
Chapter 1. Vector Analysis

2. Vector Field
Examples of vector fields:
wind strength and direction in a region:

Magnetic field of the earth:

Chapter 1. Vector Analysis

Vector Algebra
• Vector addition follows the parallelogram law and is commutative
and associative

B
A
A
B
A+B=B+A
Chapter 1. Vector Analysis

(A+B)+C
B+C
C B C C

A A A
B B
A+B
A+(B+C)

A + (B + C) = (A + B) +
C
Associativity of Vector Addition
Chapter 1. Vector Analysis

• Negating a vector reverses its direction:

“negative” B = -B
A - B = A + (-B)
A

A-
B
A+
B

-B B

• Multiplication of vectors and scalars obey the associative and

distributive laws
(r + s)(A + B) = r(A + B) + s(A + B)
= rA + rB + sA + sB
Chapter 1. Vector Analysis

• A vector reverses its direction when multiplied by a negative scalar

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

the scalar
A ÷ a = A x 1/a

• Two vectors are equal if their difference is zero

A = B if A - B = 0
Chapter 1. Vector Analysis

The Cartesian Coordinate System

• Also known as the rectangular coordinate system
• The right-handed cartesian coordinate system:
z-axis

x = 0 plane
y = 0, yz plane
xz origin
plane
y-axis
z = 0 plane
xy plane

x-axis
Chapter 1. Vector Analysis

A point in space may be described by stating its x, y and z

coordinates. These coordinates are the distances from the origin
to the intersection of a perpendicular dropped from the point and
the x, y and z axes.
z

z-
coordinate P

x-coordinate
y-coordinate

x
Chapter 1. Vector Analysis

The x-coordinate is equal to the distance of P from the yz plane

The y-coordinate is equal to the distance of P from the xz plane
The z-coordinate is equal to the distance of P from the xy plane

Illustration:
The point (2,-1,4) is 2
units in front of the yz
plane, 1 unit at the
back of the xz plane
and 4 units above the
the xy plane.
Chapter 1. Vector Analysis

Vector Components and Unit Vectors

A vector is identified by giving its three component vectors, each
lying along the three coordinate axes, whose vector sum is the
given vector.
z

r = x + y +z
x, y and z are the three
z component vectors of r

r
y
y
x

x
Chapter 1. Vector Analysis

Unit vectors are vectors with unit magnitude and directed along the
coordinate axes in the direction of increasing coordinate values.
→ → → → → →
Symbols: ax, ay or az or i, j, k or a , a , a or i , j , k
x y z

A vector pointing from the origin to a point P(x = x0, y = y0, z = z0) is
written as
rP = x0 ax + y0 ay + z0 az
rP is called a position vector
Illustration: For P(2, -3, 1)
rP = 2ax - 3ay + az
2, -3 and 1 are the component scalars
and 2ax, -3ay and az are the
component vectors
Note: rP may be also written as <2, -3, 1>
Chapter 1. Vector Analysis

Vector RPQ is a vector whose tail is at P and head (arrow) at Q

RPQ = rQ - rP
Q

rQ
RPQ

O
rp P

Illustration: For rP = 2ax - 3ay + az and rQ = -4ax - ay + 2az:

RPQ = (-4-2)ax + (-1-(-3))ay + (2-1)az
= -6ax + 2ay + az
- to add two vectors, add the corresponding component vectors
Chapter 1. Vector Analysis

For a vector B = Bx ax + By ay + Bz az, the magnitude |B| or B is given

by
→
2 2 2
B = | B |= B x + B y + Bz

The unit vector in the direction of B, or aB, is given by

→ →
→ B B
aB = = →
2 2 2
Bx + By + Bz |B|

z
Example: Given H = ax + 2ay - 2az, y
→
aH
H = | H |= 12 + 22 + ( − 2)2 = 3
→
→ H → → →
aH = = 1 ax + 2 a − 2a x H
3 3 y 3 z
H
Chapter 1. Vector Analysis

The Vector Field

A vector field is a vector function of a position vector.
Given a position vector r, the notation for the vector field is G(r).
A scalar field is a scalar function of a position vector.
Given a position vector r, the notation for the scalar field is T(r).

Example of a vector field:

→ → → → → →
2x → →
2
→
G( r = x a x + y a y + z a z ) = G = a + ( y + z + 1) a y + (5x − z ) a z
2 x
1+ y

Given rP = ax + 2ay -3az, evaluate

a. G(rP)
b. The unit vector in the direction of G(rP)
Chapter 1. Vector Analysis

a. rP = ax + 2ay -3az -> P(1, 2, -3)

→ → 2x → → →
2
G (rP ) = a + ( y + z + 1) a y + (5 x − z ) az
2 x
1+ y
2(1) → →
2
→
= a + (2 + − 3 + 1) a y + (5(1) − ( − 3) ) az
2 x
1+ 2
2→ →
= a x − 4 az
5

b. | G(rp ) |= ( 52 )2 + (− 4)2 ≈ 4.02

The unit vector in the direction of G at P is

2 → →
→ a x − 4 az → →
→
a G (P) = 5 = 0.0995 a x − 0.995 a z
4.02
Chapter 1. Vector Analysis

The Dot Product

The dot product, or scalar product, of A and B 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 θAB = AB cos θAB

Note: A • B = B • A and (A + B)•C = A•C + B•C

Given A = Axax + Ayay + Azaz and B = Bxax + Byay + Bzaz

A • B = AxBx + AyBy + AzBz

Note: aA • aA = 1 and A • A = |A|2 = A2

Chapter 1. Vector Analysis

The dot product is used to find the component or projection of a

vector in a given direction.

Illustration: To find the component of B in the direction of A:

a. Obtain aA
b. Get B • aA = |B||aA| cos θBA = B cos θBA

B aA
A
θ AB

aA
B
Chapter 1. Vector Analysis

Example:
Determine the vector component of A = 2 ax – ay + 3 az that is
parallel to B = ax + ay.
The unit vector in the direction of B is

Β ax + ay 1 1
ab = = = ax + ay
B 12 + 12 2 2
The magnitude of the component of A that is parallel to B is A • ab =
1 1
2− =
2 2

Therefore, the vector component of A that is parallel to B is ???

Chapter 1. Vector Analysis

The Cross Product

The cross product or vector product of A and B is a vector
with magnitude equal to AB sin θAB and direction according
to the right-hand rule.
Given: A = Axax + Ayay + Azaz and B = Bxax + Byay + Bzaz
The cross product of A and B, denoted by A x B, is given by:

→ → →
ax ay az
→ →
A× B = A x Ay Az
Bx By Bz

→ → →
= ( A yB z − A zB y ) a x + ( A zB x − A x B z ) a y + ( A x B y − A yB x ) a z
Chapter 1. Vector Analysis

Example:
Given M = 2ax + 4ay - az and N = ax - 2ay

→ → → → →
ax ay az ax ay
→ →
M× N = 2 4 −1 2 4
1 − 2 0 1 − 2

→ → →
= [(4)(0) − (− 1)( − 2)] ax + [(− 1)(1) − (2)(0)] ay + [(2)(− 2) − (1)(4)] az
→ → →
= − 2 ax − ay − 8 az
Chapter 1. Vector Analysis

Circular Cylindrical Coordinate System

• Three dimensional version of polar coordinates in analytic geometry
• A point P(ρi, φi, zi) is the intersection of three mutually
perpendicular planes:
ρ = ρi: a cylindrical surface which axis is the z-axis and radius
equal to ρi
φ = φi: a half-plane perpendicular to the x-y plane and makes an
angle φι with the x-z plane
z = zi

θi

radius = ρ
Chapter 1. Vector Analysis

• The unit vectors are aρ, aφ and az

– aρ: at P(ρ0, φ0, z0), aρ is directed radially outward, normal to ρ =
ρ0 and lies in the planes φ = φ0 and z = z0
– aφ: normal to φ = φ0 and points in the direction of increasing φ.
It lies in the plane z = z0 and tangent to ρ = ρ0.
– az: same as az in the cartesian coordinate system
Note: aρ x aφ = az
az

aφ
aρ
Chapter 1. Vector Analysis
Chapter 1. Vector Analysis

• Conversion from cartesian to cylindrical coordinates and vice versa

– cylindrical to cartesian:
x = ρ cos φ y = ρ sin φ z=z
– cartesian to cylindrical
y
ρ = 2
x + y 2 φ = tan− 1 x
z=z

Illustration:
A point at (x = 3, y = -4, z = 3) is also
at (ρ = 5, φ = -53.130 or 306.90, z = 3)

ρ = 32 + 4 2 = 5

φ = tan − 1 −4
3
Chapter 1. Vector Analysis

• Transforming a vector function in one coordinate system to another

Given A = Axax + Ayay + Azaz where Ax, Ay and Az are functions of x,
y and z. Transform A to cylindrical coordinates:

A = Aρaρ + Aφaφ + Azaz

a. Solve for Aρ, Aφ and Az using the following:

A ρ = A • aρ A φ = A • aφ A z = A • az
so
Aρ = (Ax ax + Ay ay + Az az) • ar = Ax ax • aρ + Ay ay • aρ + Az az • aρ
Aφ = (Ax ax + Ay ay + Az az) • aφ = Ax ax •aφ + Ay ay • aφ + Az az • aφ
Az = (Ax ax + Ay ay + Az az) • az = Ax ax •az + Ay ay • az + Az az • az
Chapter 1. Vector Analysis

b. In Aρ, Aφ and Az , convert all x’s, y’s and z’s to cylindrical

coordinates
Chapter 1. Vector Analysis

Example: Express the field F = 2xyz ax - 5(x + y + z) az in cylindrical

coordinates.
Fρ = F • aρ = [2xyz ax - 5(x + y + z) az] • aρ
= 2xyz cos φ = 2(ρ cos φ)(ρ sin φ)z cos φ = 2ρ2z cos2φ sin φ

Fφ = F • aφ = [2xyz ax - 5(x + y + z) az] • aφ

= 2xyz (-sin φ) = 2(ρ cos φ)(ρ sin φ)z (-sin φ)
= -2ρ2z cos φ sin2 φ

Fz = F • az = [2xyz ax - 5(x + y + z) az] • az

= -5(x + y + z) = -5(ρ cos φ + ρ sin φ + z)
Therefore:
F = 2ρ2z cos2φ sin φ aρ - 2ρ2z cos φ sin2 φ aφ
- 5(ρ cos φ + ρ sin φ + z) az
Chapter 1. Vector Analysis

Example: Find the distance of point P(ρ = 4, φ = -500, z = 2) from the

origin.

z From the illustration:

d= ρ 2 + z2 = 42 + 22

d = 20 ≈ 4.47
y
2
4 Note:

d= x2 + y2 + z2 = (ρ cos φ ) 2 + (ρ sin φ ) 2 + z 2
x 2 2 2 2 2 2
= ρ (cos φ + sin φ ) + z = ρ + z
Chapter 1. Vector Analysis

Example. Transform 5 ax at P(ρ=4, φ=1200, z=2) to cylindrical

coordinates z

Compute for the components of 5 ax along

P
aρ, aφ and az:

• component along aρ: y

5 ax • aφ = 5 cos φ = 5 cos 1200 = -2.5

x
• component along aφ: z

5 ax • aφ = -5 sin φ = -5 sin 1200 = -4.333

P
• component along az:
5 ax • az = 0 y
Therefore, at P, 5 ax in cylindrical coordinates is
-2.5 aρ - 4.333 aφ x
Chapter 1. Vector Analysis

The Spherical Coordinate System

The three coordinates are

z
– r = distance of the point from the
origin
P
r = constant is a spherical surface with
radius r and centered at the origin θ
− θ = angle between the z-axis and the
r
line drawn from the origin to the point y
note: 0 ≤ θ ≤ π
θ = constant is a conical surface with
φ
vertex at the origin and the z-axis as x
central axis
− φ = same as in cylindrical coordinates
Chapter 1. Vector Analysis

The unit vectors are

ar: at P(r = r0, θ = θ0, φ = φ0), ar is directed radially outward from
the origin and normal to the sphere r = r0
aθ: normal to the conical surface θ = θ0, tangent to the sphere r =
r0 and points to increasing values of θ (“downwards”).
aφ: normal to the plane φ = φ0, and tangent to the cone and
sphere z ar

Note: ar x aθ = aφ aφ

aθ

x
Chapter 1. Vector Analysis
Chapter 1. Vector Analysis

Transformation from cartesian coordinates to spherical coordinates

and vice versa
a. Transformation of variables:
x = r sin θ cos φ
y = r sin θ sin φ
z = r cos θ P

2 2 2
θ r z
r= x + y + z

−1 z φ
θ = cos x
2 2 2
x + y + z
−1 y y
φ = tan
x
 Chapter 1. Vector Analysis

b. Transformation of vectors
Use the following table:

Example. Express the vector field F = 2xyz ax - 5(x + y + z) az in

spherical coordinates
Fr = F • ar = 2 xyz sin θ cos φ − 5( x + y + z) cos θ
Fθ = F • a θ = 2 xyz cos θ cos φ + 5( x + y + z) sin θ
Fφ = F • a φ = − 2xyz sin φ

F = [2(r sin θ cos φ )(r sin θ sin φ )(r cos θ ) sin θ cos φ − 5(r sin θ cos φ + r sin θ sin φ + r cos θ ) cos θ ]a r
+ [2(r sin θ cos φ )(r sin θ sin φ )(r cos θ ) cos θ cos φ + 5(r sin θ cos φ + r sin θ sin φ + r cos θ ) sin θ ]aθ
− 2(r sin θ cos φ )(r sin θ sin φ )(r cos θ ) sin φ aφ