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Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System

Lecture 3: Position Vector and Coordinate Systems (cont.); Vectors: Scalar


Product; Vector Product; Dyadic Product
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 42 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
MFEFT - Lecture 3
1
Introduction
2
Vector and Tensor Algebra
3
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
4
Vectors: Scalar Product; Vector Product; Dyadic Product
Scalar Product
5
Vector and Tensor Analysis
6
Distributions
7
Complex Analysis
8
Special Functions
9
Fourier Transform
10
Laplace Transform
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 43 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
The explicit request of a NEW Orthonormal Coordinate System according to
e

i
e

k
=
ik
(110)
transfers this requirement into

ij
e
x
j

kl
e
x
l
=
ik
(111)

ij

kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to

ij

kj
=
ik
_
on the left-hand side
sum over j from 1 to 3
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 44 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
The explicit request of a NEW Orthonormal Coordinate System according to
e

i
e

k
=
ik
(110)
transfers this requirement into

ij
e
x
j

kl
e
x
l
=
ik
(111)

ij

kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to

ij

kj
=
ik
_
on the left-hand side
sum over j from 1 to 3
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 44 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
The explicit request of a NEW Orthonormal Coordinate System according to
e

i
e

k
=
ik
(110)
transfers this requirement into

ij
e
x
j

kl
e
x
l
=
ik
(111)

ij

kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to

ij

kj
=
ik
_
on the left-hand side
sum over j from 1 to 3
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 44 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
The explicit request of a NEW Orthonormal Coordinate System according to
e

i
e

k
=
ik
(110)
transfers this requirement into

ij
e
x
j

kl
e
x
l
=
ik
(111)

ij

kl
e
x
j
e
x
l
. .
=
jl
=
ik
(112)
and further to

ij

kj
=
ik
_
on the left-hand side
sum over j from 1 to 3
_
(113)
with the denition
e
x
j
e
x
l
=
jl
. (114)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 44 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthonormal Relation; Transformation Dyad
Orthonormal Relation; Transformation Dyad
The Orthonormal Relation (see Eq. (113))
e
x
j
e
x
l
=
jl
(115)
says, that the Transposed
T
of the Dyad
a)
is equal to the Inverse, i.e., the dot product

T
is equal to the unit dyadic I:

T
= I (116)
=
1
(117)
is an Orthogonal Dyad.
a)
Compared to with the elements
ij
has
T
the elements
ji
.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 45 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthonormal Relation; Transformation Dyad
Orthonormal Relation; Transformation Dyad
The Orthonormal Relation (see Eq. (113))
e
x
j
e
x
l
=
jl
(115)
says, that the Transposed
T
of the Dyad
a)
is equal to the Inverse, i.e., the dot product

T
is equal to the unit dyadic I:

T
= I (116)
=
1
(117)
is an Orthogonal Dyad.
a)
Compared to with the elements
ij
has
T
the elements
ji
.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 45 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthonormal Relation; Transformation Dyad
Orthonormal Relation; Transformation Dyad
The Orthonormal Relation (see Eq. (113))
e
x
j
e
x
l
=
jl
(115)
says, that the Transposed
T
of the Dyad
a)
is equal to the Inverse, i.e., the dot product

T
is equal to the unit dyadic I:

T
= I (116)
=
1
(117)
is an Orthogonal Dyad.
a)
Compared to with the elements
ij
has
T
the elements
ji
.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 45 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
Uniqueness of the Transformation Formulas
Via the computation of the products e

i
e
x
j
we can illustrate the meaning of
ij
; it follows
with the application of the orthonormal property of e
x
j

e

i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il

lj
(119)
=
ij
(120)
= cos (e

i
, e
x
j
) . (121)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 46 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
Uniqueness of the Transformation Formulas
Via the computation of the products e

i
e
x
j
we can illustrate the meaning of
ij
; it follows
with the application of the orthonormal property of e
x
j

e

i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il

lj
(119)
=
ij
(120)
= cos (e

i
, e
x
j
) . (121)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 46 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
Uniqueness of the Transformation Formulas
Via the computation of the products e

i
e
x
j
we can illustrate the meaning of
ij
; it follows
with the application of the orthonormal property of e
x
j

e

i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il

lj
(119)
=
ij
(120)
= cos (e

i
, e
x
j
) . (121)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 46 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
Uniqueness of the Transformation Formulas
Via the computation of the products e

i
e
x
j
we can illustrate the meaning of
ij
; it follows
with the application of the orthonormal property of e
x
j

e

i
e
x
j
=
il
e
x
l
e
x
j
(118)
=
il

lj
(119)
=
ij
(120)
= cos (e

i
, e
x
j
) . (121)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 46 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
The
ij
are

ij
= cos (e

i
, e
x
j
) (122)
the so-called Direction Cosines of the NEW orthonormal tripod
a
vectors relative to the OLD
Cartesian Coordinate System. The
ij
are determine the Local Rotation of the NEW
orthonormal tripod at every point in space. If this rotation is independent of position, then the
coordinate transformation in Eq. (96) is a simple rotation of a cartesian coordinate system.
a
Tripod is a word generally used to refer to a three-legged object, generally one used as a platform of some sort, and comes
from the Greek tripous, meaning three feet.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 47 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Handiness of the Coordinate System
The Handiness of the NEw Coordinate System compared to the OLD one is given by the
Determinant of . With the properties det
_
I
_
= 1 and det
_

T
_
= det
_

_
it follows
det
_
(
T
)
_
= det
_

_
det
_

T
_
= 1 . (123)
and
(det
_

_
)
2
= 1 (124)
and
det
_

_
= 1 (125)
=
_
+1 the tripod e

1
, e

2
, e

3
is right-handed
1 the tripod e

1
, e

2
, e

3
is left-handed
(126)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 48 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Handiness of the Coordinate System
The Handiness of the NEw Coordinate System compared to the OLD one is given by the
Determinant of . With the properties det
_
I
_
= 1 and det
_

T
_
= det
_

_
it follows
det
_
(
T
)
_
= det
_

_
det
_

T
_
= 1 . (123)
and
(det
_

_
)
2
= 1 (124)
and
det
_

_
= 1 (125)
=
_
+1 the tripod e

1
, e

2
, e

3
is right-handed
1 the tripod e

1
, e

2
, e

3
is left-handed
(126)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 48 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Handiness of the Coordinate System
The Handiness of the NEw Coordinate System compared to the OLD one is given by the
Determinant of . With the properties det
_
I
_
= 1 and det
_

T
_
= det
_

_
it follows
det
_
(
T
)
_
= det
_

_
det
_

T
_
= 1 . (123)
and
(det
_

_
)
2
= 1 (124)
and
det
_

_
= 1 (125)
=
_
+1 the tripod e

1
, e

2
, e

3
is right-handed
1 the tripod e

1
, e

2
, e

3
is left-handed
(126)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 48 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Handiness of the Coordinate System
The Handiness of the NEw Coordinate System compared to the OLD one is given by the
Determinant of . With the properties det
_
I
_
= 1 and det
_

T
_
= det
_

_
it follows
det
_
(
T
)
_
= det
_

_
det
_

T
_
= 1 . (123)
and
(det
_

_
)
2
= 1 (124)
and
det
_

_
= 1 (125)
=
_
+1 the tripod e

1
, e

2
, e

3
is right-handed
1 the tripod e

1
, e

2
, e

3
is left-handed
(126)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 48 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
If the OLD Coordinate System is not a Cartesian Coordinate System, but also Curvilinear
Orthogonal, than we have the Transformation
j

i
, and Eq. (109) reads for this general case:

ij
=
h

j
h

i
=
h

i
h

j
. (127)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 49 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Uniqueness of the Transformation Formulas
If the OLD Coordinate System is not a Cartesian Coordinate System, but also Curvilinear
Orthogonal, than we have the Transformation
j

i
, and Eq. (109) reads for this general case:

ij
=
h

j
h

i
=
h

i
h

j
. (127)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 49 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric
Coecients h

i
Like the
ij
we can illustrate the meaning of the
metric coecients h

i
. h

has been already


discussed. We dene a Line Element ds as the
magnitude of the dierential change dR of the
position vector, i. e., a change of R to R+dR
(see Fig. 3):
ds
2
= dR dR. (128)
In order the compute ds in the orthogonal
curvilinear coordinates we build the total dierential
of R with regard to the dependence of
1
,
2
,
3
dR =
R

1
d
1
+
R

2
d
2
+
R

3
d
3
(129)
.................................................................................................................................................................................................................................................................. . . . . . . . .. . .... .
. . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
................................................................................................................................................................................................................................................................................................................................................................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
O
R
R+dR
dR, |dR| = ds
Figure 3: Denition of the Line Elements
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 50 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric Coecients h

i
We multiply and make use of the summation convention
ds
2
=
R

i
d
i

R

j
d
j
(130)
= d
i
h

i
e

i
e

j
. .
=
ij
h

j
d
j
(131)
= h
2

j
d
2
j
(132)
= h
2

1
d
2
1
+h
2

2
d
2
2
+h
2

3
d
2
3
. (133)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 51 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric Coecients h

i
We multiply and make use of the summation convention
ds
2
=
R

i
d
i

R

j
d
j
(130)
= d
i
h

i
e

i
e

j
. .
=
ij
h

j
d
j
(131)
= h
2

j
d
2
j
(132)
= h
2

1
d
2
1
+h
2

2
d
2
2
+h
2

3
d
2
3
. (133)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 51 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric Coecients h

i
We multiply and make use of the summation convention
ds
2
=
R

i
d
i

R

j
d
j
(130)
= d
i
h

i
e

i
e

j
. .
=
ij
h

j
d
j
(131)
= h
2

j
d
2
j
(132)
= h
2

1
d
2
1
+h
2

2
d
2
2
+h
2

3
d
2
3
. (133)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 51 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric Coecients h

i
We multiply and make use of the summation convention
ds
2
=
R

i
d
i

R

j
d
j
(130)
= d
i
h

i
e

i
e

j
. .
=
ij
h

j
d
j
(131)
= h
2

j
d
2
j
(132)
= h
2

1
d
2
1
+h
2

2
d
2
2
+h
2

3
d
2
3
. (133)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 51 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric Coecients h

i
Because of the invariance of the Scalar Line Element ds when the Coordinate System is
changing, we can use Eq. (133)
ds
2
= h
2

1
d
2
1
+h
2

2
d
2
2
+h
2

3
d
2
3
to interpret the Metric Coecients:
In the Cartesian Coordinate System ds read
ds
2
= dx
2
+ dy
2
+ dz
2
[m
2
] (134)
this means ds
2
is given by the Theorem of Pythagoras by adding the squares of the three
Metric Dierential Changes dx, dy, dz in the direction of the Coordinate Lines.
In an arbitrary Orthogonal Curvilinear Coordinate System the h

i
determine the Metric of
the Coordinate Lines (in meter).
The d
i
can represent as d in cylinder coordinates and d in spherical coordinates a
Change in Angle Direction.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 52 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric Coecients h

i
Because of the invariance of the Scalar Line Element ds when the Coordinate System is
changing, we can use Eq. (133)
ds
2
= h
2

1
d
2
1
+h
2

2
d
2
2
+h
2

3
d
2
3
to interpret the Metric Coecients:
In the Cartesian Coordinate System ds read
ds
2
= dx
2
+ dy
2
+ dz
2
[m
2
] (134)
this means ds
2
is given by the Theorem of Pythagoras by adding the squares of the three
Metric Dierential Changes dx, dy, dz in the direction of the Coordinate Lines.
In an arbitrary Orthogonal Curvilinear Coordinate System the h

i
determine the Metric of
the Coordinate Lines (in meter).
The d
i
can represent as d in cylinder coordinates and d in spherical coordinates a
Change in Angle Direction.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 52 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Illustration of the Meaning of the Metric Coecients h

i
Because of the invariance of the Scalar Line Element ds when the Coordinate System is
changing, we can use Eq. (133)
ds
2
= h
2

1
d
2
1
+h
2

2
d
2
2
+h
2

3
d
2
3
to interpret the Metric Coecients:
In the Cartesian Coordinate System ds read
ds
2
= dx
2
+ dy
2
+ dz
2
[m
2
] (134)
this means ds
2
is given by the Theorem of Pythagoras by adding the squares of the three
Metric Dierential Changes dx, dy, dz in the direction of the Coordinate Lines.
In an arbitrary Orthogonal Curvilinear Coordinate System the h

i
determine the Metric of
the Coordinate Lines (in meter).
The d
i
can represent as d in cylinder coordinates and d in spherical coordinates a
Change in Angle Direction.
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 52 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Dierential Volume Element
Dierential Volume Element
This interpretation of the h

i
makes clear, that a Dierential Volume Element dV in Cartesian
Coordinate System
dV = dxdy dz (135)
can be generalized to a Dierential Volume Element of an arbitrary Curvilinear Coordinate
System
dV = h

1
d
1
h

2
d
2
h

3
d
3
(136)
= h

1
h

2
h

3
d
1
d
2
d
3
(137)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 53 / 77
Position Vector and Coordinate Systems Orthogonal Curvilinear Coordinate System
Illustration of the Meaning of the Metric Coecients h

i
Dierential Volume Element
Dierential Volume Element
This interpretation of the h

i
makes clear, that a Dierential Volume Element dV in Cartesian
Coordinate System
dV = dxdy dz (135)
can be generalized to a Dierential Volume Element of an arbitrary Curvilinear Coordinate
System
dV = h

1
d
1
h

2
d
2
h

3
d
3
(136)
= h

1
h

2
h

3
d
1
d
2
d
3
(137)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 53 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Coordinates; Unit Vectors, Magnitude of the Position Vector
Spherical Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: R, , in the
limits 0 R < , 0 ,
0 < 2
: polar angle; : azimuth angle
Orthonormal Unit Vectors: e
R
, e

, e

with |e
R
| = |e

| = |e

| = 1
a
and
e
R
e

b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P
the magnitude of the position vector is
|R| = R =

R
2
a
|| stands for the magnitude of the argument
b
stands for perpendicular
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
Figure 4: Spherical Coordinates of the spatial
point P and the related position vector
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 54 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Coordinates; Unit Vectors, Magnitude of the Position Vector
Spherical Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: R, , in the
limits 0 R < , 0 ,
0 < 2
: polar angle; : azimuth angle
Orthonormal Unit Vectors: e
R
, e

, e

with |e
R
| = |e

| = |e

| = 1
a
and
e
R
e

b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P
the magnitude of the position vector is
|R| = R =

R
2
a
|| stands for the magnitude of the argument
b
stands for perpendicular
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
Figure 4: Spherical Coordinates of the spatial
point P and the related position vector
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 54 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Coordinates; Unit Vectors, Magnitude of the Position Vector
Spherical Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: R, , in the
limits 0 R < , 0 ,
0 < 2
: polar angle; : azimuth angle
Orthonormal Unit Vectors: e
R
, e

, e

with |e
R
| = |e

| = |e

| = 1
a
and
e
R
e

b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P
the magnitude of the position vector is
|R| = R =

R
2
a
|| stands for the magnitude of the argument
b
stands for perpendicular
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
Figure 4: Spherical Coordinates of the spatial
point P and the related position vector
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 54 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Coordinates; Unit Vectors, Magnitude of the Position Vector
Spherical Coordinates; Unit Vectors,
Magnitude of the Position Vector
Cartesisan Coordinates: R, , in the
limits 0 R < , 0 ,
0 < 2
: polar angle; : azimuth angle
Orthonormal Unit Vectors: e
R
, e

, e

with |e
R
| = |e

| = |e

| = 1
a
and
e
R
e

b
The straight line from the coordinate
origin O to the (observation) point P is
illustrating the position vector R of P
the magnitude of the position vector is
|R| = R =

R
2
a
|| stands for the magnitude of the argument
b
stands for perpendicular
R
e
q
(q,j)
e (j)
j
y
R
z
j
x
O
P R, ( ) j q,
e
R
(q,j)
q
Figure 4: Spherical Coordinates of the spatial
point P and the related position vector
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 54 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Coordinates; Unit Vectors, Magnitude of the Position Vector
Coordinate Transformation Formulas
The Transformation Formulas are following from Fig. 4:
x = R sin cos (138)
y = R sin sin (139)
z = R cos (140)
Cartesian Position Vector as a Funtion of the Spherical Coordinates
The representation of the Position Vector in the Cartesian Coordinate System as a function of
the Spherical Coordinates is:
R = x
..
R sin cos
e
x
+ y
..
R sin sin
e
y
+ z
..
R cos
e
z
(141)
= R sin cos e
x
+R sin sin e
y
+R cos e
z
(142)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 55 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Metric Coeecients; Orthonormal Unit Vectors
Metric Coecients
The three Metric Coecients of the Spherical Coordinate System are
h
R
= 1 (143)
h

= R (144)
h

= R sin . (145)
Orthonormal Unit Vectors
The Orthonormal Unit Vectors of the Spherical Coordinate System in form of the Vector
Decomposition in the Cartesian Coordinate System as a function of the Spherical Coordinates read
e
R
(, ) = sin cos e
x
+ sin sin e
y
+ cos e
z
(146)
e

(, ) = cos cos e
x
+ cos sin e
y
sin e
z
(147)
e

() = sin e
x
+ cos e
y
. (148)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 56 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Metric Coeecients; Orthonormal Unit Vectors
Metric Coecients
The three Metric Coecients of the Spherical Coordinate System are
h
R
= 1 (143)
h

= R (144)
h

= R sin . (145)
Orthonormal Unit Vectors
The Orthonormal Unit Vectors of the Spherical Coordinate System in form of the Vector
Decomposition in the Cartesian Coordinate System as a function of the Spherical Coordinates read
e
R
(, ) = sin cos e
x
+ sin sin e
y
+ cos e
z
(146)
e

(, ) = cos cos e
x
+ cos sin e
y
sin e
z
(147)
e

() = sin e
x
+ cos e
y
. (148)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 56 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Position Vector in the Spherical Coordinate System
Position Vector in the Spherical Coordinate System
The Position Vector in the Spherical Coordinate System can be found via Coordinate
Transformation from the Cartesian Coordinate to the Spherical Coordinate System. The result is:
R = Re
R
(, ) . (149)
The position vector in the spherical coordinate system has only ONE vector component
Re
R
(, ) with the scalar vector component R. The dependencies of the angles and are
hidden in the unit vector e
R
(, ).
Position Vector in the Spherical Coordinate System
For Unit Position Vector it follows then

R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 57 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Position Vector in the Spherical Coordinate System
Position Vector in the Spherical Coordinate System
The Position Vector in the Spherical Coordinate System can be found via Coordinate
Transformation from the Cartesian Coordinate to the Spherical Coordinate System. The result is:
R = Re
R
(, ) . (149)
The position vector in the spherical coordinate system has only ONE vector component
Re
R
(, ) with the scalar vector component R. The dependencies of the angles and are
hidden in the unit vector e
R
(, ).
Position Vector in the Spherical Coordinate System
For Unit Position Vector it follows then

R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 57 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Position Vector in the Spherical Coordinate System
Position Vector in the Spherical Coordinate System
The Position Vector in the Spherical Coordinate System can be found via Coordinate
Transformation from the Cartesian Coordinate to the Spherical Coordinate System. The result is:
R = Re
R
(, ) . (149)
The position vector in the spherical coordinate system has only ONE vector component
Re
R
(, ) with the scalar vector component R. The dependencies of the angles and are
hidden in the unit vector e
R
(, ).
Position Vector in the Spherical Coordinate System
For Unit Position Vector it follows then

R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 57 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Position Vector in the Spherical Coordinate System
Position Vector in the Spherical Coordinate System
The Position Vector in the Spherical Coordinate System can be found via Coordinate
Transformation from the Cartesian Coordinate to the Spherical Coordinate System. The result is:
R = Re
R
(, ) . (149)
The position vector in the spherical coordinate system has only ONE vector component
Re
R
(, ) with the scalar vector component R. The dependencies of the angles and are
hidden in the unit vector e
R
(, ).
Position Vector in the Spherical Coordinate System
For Unit Position Vector it follows then

R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 57 / 77
Position Vector and Coordinate Systems Spherical Coordinate System
Spherical Coordinate System
Position Vector in the Spherical Coordinate System
Position Vector in the Spherical Coordinate System
The Position Vector in the Spherical Coordinate System can be found via Coordinate
Transformation from the Cartesian Coordinate to the Spherical Coordinate System. The result is:
R = Re
R
(, ) . (149)
The position vector in the spherical coordinate system has only ONE vector component
Re
R
(, ) with the scalar vector component R. The dependencies of the angles and are
hidden in the unit vector e
R
(, ).
Position Vector in the Spherical Coordinate System
For Unit Position Vector it follows then

R =
R
R
=
Re
R
(, )
R
= e
R
(, ) . (150)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 57 / 77
Position Vector and Coordinate Systems Dupin Coordinates
Dupin Coorindates
Dupin Coorindates
The (Circular)Cylindrical and Spherical
Coodinate System are Special Cases of
the so-called general Dupin Coordinate
System [Tai, 1992], which are very
important in the Vector and Tensor
Analysis of Surfaces.
The Transition and Boundary
Conditions for electromagnetic elds
from Maxwells equations are typically
derived using Dupin Coordinates.
Dupin Coordinates are orthogonal
curvilinear coordinates
1
,
2
,
3
with
the unit vectors e

1
, e

2
, n, i. e. e

3
is
the unit normal vector n of the surface
given by e

1
and e

2
. The related
metric coecient h

3
is h

3
= 1. The
coordinate system is right handed, if
n = e

1
e

2
.
Figure 5: Dupin Coordinates of the surface =

2
plane with the unit normal vector
n = e

1
e

2
................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
.............................................................. ...............
. .. . . . . . . . . . . . . .
.............................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O

2
n
e

1
e

2
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 58 / 77
Position Vector and Coordinate Systems Dupin Coordinates
Dupin Coorindates
Dupin Coorindates
The (Circular)Cylindrical and Spherical
Coodinate System are Special Cases of
the so-called general Dupin Coordinate
System [Tai, 1992], which are very
important in the Vector and Tensor
Analysis of Surfaces.
The Transition and Boundary
Conditions for electromagnetic elds
from Maxwells equations are typically
derived using Dupin Coordinates.
Dupin Coordinates are orthogonal
curvilinear coordinates
1
,
2
,
3
with
the unit vectors e

1
, e

2
, n, i. e. e

3
is
the unit normal vector n of the surface
given by e

1
and e

2
. The related
metric coecient h

3
is h

3
= 1. The
coordinate system is right handed, if
n = e

1
e

2
.
Figure 5: Dupin Coordinates of the surface =

2
plane with the unit normal vector
n = e

1
e

2
................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
.............................................................. ...............
. .. . . . . . . . . . . . . .
.............................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O

2
n
e

1
e

2
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 58 / 77
Position Vector and Coordinate Systems Dupin Coordinates
Dupin Coorindates
Dupin Coorindates
The (Circular)Cylindrical and Spherical
Coodinate System are Special Cases of
the so-called general Dupin Coordinate
System [Tai, 1992], which are very
important in the Vector and Tensor
Analysis of Surfaces.
The Transition and Boundary
Conditions for electromagnetic elds
from Maxwells equations are typically
derived using Dupin Coordinates.
Dupin Coordinates are orthogonal
curvilinear coordinates
1
,
2
,
3
with
the unit vectors e

1
, e

2
, n, i. e. e

3
is
the unit normal vector n of the surface
given by e

1
and e

2
. The related
metric coecient h

3
is h

3
= 1. The
coordinate system is right handed, if
n = e

1
e

2
.
Figure 5: Dupin Coordinates of the surface =

2
plane with the unit normal vector
n = e

1
e

2
................................................................................................................................................................................... . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
.............................................................. ...............
. .. . . . . . . . . . . . . .
.............................................................. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
................
O

2
n
e

1
e

2
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 58 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product
MFEFT - Lecture 3
1
Introduction
2
Vector and Tensor Algebra
3
Position Vector and Coordinate Systems
Cartesian Coordinates
Einsteins Summation Convention
Dierentiation of the Position Vector; Kronecker Symbol (Kronecker Delta)
Cylinder Coordinate System
Orthogonal Curvilinear Coordinate System
Spherical Coordinate System
Dupin Coordinates
4
Vectors: Scalar Product; Vector Product; Dyadic Product
Scalar Product
5
Vector and Tensor Analysis
6
Distributions
7
Complex Analysis
8
Special Functions
9
Fourier Transform
10
Laplace Transform
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 59 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product
Vectors: Scalar Product; Vector Product; Dyadic Product
The Scalar, Vector, and Dyadic Product
Scalar Product (Dot Product)
Example:
A B = C = Scalar! (151)
Vector Product (Cross Product)
Example:
AB = C = Vector! (152)
Dyadic Product
Example:
AB = D = Dyad! (153)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 60 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product
Vectors: Scalar Product; Vector Product; Dyadic Product
The Scalar, Vector, and Dyadic Product
Scalar Product (Dot Product)
Example:
A B = C = Scalar! (151)
Vector Product (Cross Product)
Example:
AB = C = Vector! (152)
Dyadic Product
Example:
AB = D = Dyad! (153)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 60 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product
Vectors: Scalar Product; Vector Product; Dyadic Product
The Scalar, Vector, and Dyadic Product
Scalar Product (Dot Product)
Example:
A B = C = Scalar! (151)
Vector Product (Cross Product)
Example:
AB = C = Vector! (152)
Dyadic Product
Example:
AB = D = Dyad! (153)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 60 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product
Fig. 6 shows a vector A, which is projected to a unit
vector e, the result is given by the Scalar Product
A e = A cos , (154)
where determines the enclosed angle between A
and e.
Replacing e by a vector B with the magnitude B
yields the general form of Eq. (154), the
Commutative scalar product A B (say: A dot B):
A B = B A (155)
= AB cos . (156)
Obviously is A B = 0, if A and B are
perpendicular, A B, to each other; this means
one can dene two orthogonal vectors by a
vanishing scalar product between both.
............................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
............
............
............
............
.........
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . .
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................................................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .. . .. .. .
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . ........................
.......................

A
e
A e

Figure 6: Illustration des Skalarprodukts


Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 61 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product
Fig. 6 shows a vector A, which is projected to a unit
vector e, the result is given by the Scalar Product
A e = A cos , (154)
where determines the enclosed angle between A
and e.
Replacing e by a vector B with the magnitude B
yields the general form of Eq. (154), the
Commutative scalar product A B (say: A dot B):
A B = B A (155)
= AB cos . (156)
Obviously is A B = 0, if A and B are
perpendicular, A B, to each other; this means
one can dene two orthogonal vectors by a
vanishing scalar product between both.
............................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
............
............
............
............
.........
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
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. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . .
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................................................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .. . .. .. .
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . ........................
.......................

A
e
A e

Figure 6: Illustration des Skalarprodukts


Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 61 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product
Fig. 6 shows a vector A, which is projected to a unit
vector e, the result is given by the Scalar Product
A e = A cos , (154)
where determines the enclosed angle between A
and e.
Replacing e by a vector B with the magnitude B
yields the general form of Eq. (154), the
Commutative scalar product A B (say: A dot B):
A B = B A (155)
= AB cos . (156)
Obviously is A B = 0, if A and B are
perpendicular, A B, to each other; this means
one can dene two orthogonal vectors by a
vanishing scalar product between both.
............................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................
.......................
............
............
............
............
.........
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
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. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . . . . . . . . .
. . . . . .
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
.............
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......................................................................................................................................................................................................................................................................................................................................................................................................................................................................... . . . . . . . . . . . . . . .. . .. .. .
. . . . . . . . . . . . . . . . . . . . . . .
.................................................................................................................................................................................................................................. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . ........................
.......................

A
e
A e

Figure 6: Illustration des Skalarprodukts


Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 61 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Orthonormal Tripod
The orthonormal tripod of a the cartesian coordinate system is charachterized by
e
x
i
e
x
j
=
ij
f ur i, j = 1, 2, 3 . (157)
Scalar Product: Scalar Vector Components
Further, we can use the scalar sroduct to determine the scalar vector components of a vector A,
i. e. in the Cartesian Coordinate System we nd
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
We compute for the scalar product in components form of A and B
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
and nd by formal multiplication and the use of Eq. (157)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 62 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Orthonormal Tripod
The orthonormal tripod of a the cartesian coordinate system is charachterized by
e
x
i
e
x
j
=
ij
f ur i, j = 1, 2, 3 . (157)
Scalar Product: Scalar Vector Components
Further, we can use the scalar sroduct to determine the scalar vector components of a vector A,
i. e. in the Cartesian Coordinate System we nd
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
We compute for the scalar product in components form of A and B
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
and nd by formal multiplication and the use of Eq. (157)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 62 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Orthonormal Tripod
The orthonormal tripod of a the cartesian coordinate system is charachterized by
e
x
i
e
x
j
=
ij
f ur i, j = 1, 2, 3 . (157)
Scalar Product: Scalar Vector Components
Further, we can use the scalar sroduct to determine the scalar vector components of a vector A,
i. e. in the Cartesian Coordinate System we nd
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
We compute for the scalar product in components form of A and B
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
and nd by formal multiplication and the use of Eq. (157)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 62 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Orthonormal Tripod
The orthonormal tripod of a the cartesian coordinate system is charachterized by
e
x
i
e
x
j
=
ij
f ur i, j = 1, 2, 3 . (157)
Scalar Product: Scalar Vector Components
Further, we can use the scalar sroduct to determine the scalar vector components of a vector A,
i. e. in the Cartesian Coordinate System we nd
A
x
= A e
x
A
y
= A e
y
(158)
A
z
= A e
z
.
We compute for the scalar product in components form of A and B
A B = (A
x
e
x
+ A
y
e
y
+ A
z
e
z
) (B
x
e
x
+ B
y
e
y
+ B
z
e
z
) (159)
and nd by formal multiplication and the use of Eq. (157)
A B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
. (160)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 62 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Enclosed Angle between two General Vectors A and B
The Enclosed Angle between the vector A and B is if A = 0 and B = 0:
cos =
A B
AB
=
A
x
B
x
+ A
y
B
y
+ A
z
B
z
_
A
2
x
+ A
2
y
+ A
2
z
_
B
2
x
+ B
2
y
+ B
2
z
. (161)
Magnitude of a General Vector A
The Magnitude A of the Vector A is dened by the scalar product A A:
A =
_
A A =
_
A
2
x
+ A
2
y
+ A
2
z
; (162)
Unit Vector of a General Vector A
Then, the Unit Vector of the Vector A can be computed by

A =
A
_
A A
=
A
A
=
A
x
A
e
x
+
A
y
A
e
y
+
A
z
A
e
z
. (163)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 63 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Enclosed Angle between two General Vectors A and B
The Enclosed Angle between the vector A and B is if A = 0 and B = 0:
cos =
A B
AB
=
A
x
B
x
+ A
y
B
y
+ A
z
B
z
_
A
2
x
+ A
2
y
+ A
2
z
_
B
2
x
+ B
2
y
+ B
2
z
. (161)
Magnitude of a General Vector A
The Magnitude A of the Vector A is dened by the scalar product A A:
A =
_
A A =
_
A
2
x
+ A
2
y
+ A
2
z
; (162)
Unit Vector of a General Vector A
Then, the Unit Vector of the Vector A can be computed by

A =
A
_
A A
=
A
A
=
A
x
A
e
x
+
A
y
A
e
y
+
A
z
A
e
z
. (163)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 63 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Enclosed Angle between two General Vectors A and B
The Enclosed Angle between the vector A and B is if A = 0 and B = 0:
cos =
A B
AB
=
A
x
B
x
+ A
y
B
y
+ A
z
B
z
_
A
2
x
+ A
2
y
+ A
2
z
_
B
2
x
+ B
2
y
+ B
2
z
. (161)
Magnitude of a General Vector A
The Magnitude A of the Vector A is dened by the scalar product A A:
A =
_
A A =
_
A
2
x
+ A
2
y
+ A
2
z
; (162)
Unit Vector of a General Vector A
Then, the Unit Vector of the Vector A can be computed by

A =
A
_
A A
=
A
A
=
A
x
A
e
x
+
A
y
A
e
y
+
A
z
A
e
z
. (163)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 63 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: More Short-Hand Notations
We are going to cite two other short-hand notation of the scalar product. With Eq. (158) in
numbered form we nd
A
x
i
= A e
x
i
f ur i = 1, 2, 3 (164)
and for B we obtain instead Eq. (159)
A B =
3

i=1
A
x
i
B
x
i
(165)
or applying the summation convention
A B = A
x
i
B
x
i
. (166)
Obviously, this proves that the scalar product is commutative, i.e.,
A B = B A. (167)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 64 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: More Short-Hand Notations
We are going to cite two other short-hand notation of the scalar product. With Eq. (158) in
numbered form we nd
A
x
i
= A e
x
i
f ur i = 1, 2, 3 (164)
and for B we obtain instead Eq. (159)
A B =
3

i=1
A
x
i
B
x
i
(165)
or applying the summation convention
A B = A
x
i
B
x
i
. (166)
Obviously, this proves that the scalar product is commutative, i.e.,
A B = B A. (167)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 64 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: More Short-Hand Notations
We are going to cite two other short-hand notation of the scalar product. With Eq. (158) in
numbered form we nd
A
x
i
= A e
x
i
f ur i = 1, 2, 3 (164)
and for B we obtain instead Eq. (159)
A B =
3

i=1
A
x
i
B
x
i
(165)
or applying the summation convention
A B = A
x
i
B
x
i
. (166)
Obviously, this proves that the scalar product is commutative, i.e.,
A B = B A. (167)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 64 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: More Short-Hand Notations
We are going to cite two other short-hand notation of the scalar product. With Eq. (158) in
numbered form we nd
A
x
i
= A e
x
i
f ur i = 1, 2, 3 (164)
and for B we obtain instead Eq. (159)
A B =
3

i=1
A
x
i
B
x
i
(165)
or applying the summation convention
A B = A
x
i
B
x
i
. (166)
Obviously, this proves that the scalar product is commutative, i.e.,
A B = B A. (167)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 64 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Independence of the Coordinate System
In generalization of Eq. (164) we dene for the components of a vector in orthogonal curvilinear
coordinates by
a)
A

i
= A e

i
, (168)
and obtain by applying the summation convention
A = A

i
e

i
= A

i

ij
e
x
j
= A
x
j
e
x
j
(169)
with
A
x
j
=
ij
A

i
, (170)
by applying the transformation formulas in Eq. (108).
a)
At the point in space R(
1
,
2
,
3
) we project the general position dependent vector A(
1
,
2
,
3
) onto the position
dependent unit vectors e

i
(
1
,
2
,
3
).
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 65 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Independence of the Coordinate System
In generalization of Eq. (164) we dene for the components of a vector in orthogonal curvilinear
coordinates by
a)
A

i
= A e

i
, (168)
and obtain by applying the summation convention
A = A

i
e

i
= A

i

ij
e
x
j
= A
x
j
e
x
j
(169)
with
A
x
j
=
ij
A

i
, (170)
by applying the transformation formulas in Eq. (108).
a)
At the point in space R(
1
,
2
,
3
) we project the general position dependent vector A(
1
,
2
,
3
) onto the position
dependent unit vectors e

i
(
1
,
2
,
3
).
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 65 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Independence of the Coordinate System
On the other hand, by inserting the cartesian components form A = A
x
i
e
x
i
in
A

j
= A
..
=A
x
i
e
x
i
e

j
= A
x
i
e
x
i
e

j
= A
x
i
e
x
i
e

j
. .
=
ji
(171)
=
ji
A
x
i
. (172)
Number triples, which are transformed from the cartesian to an orthonormal curvilinear
coordinate system with Eq. (170) or Eq. (172) are in the mathematical sense (scalar) components
of vectors. Because of the inverse of is equal to the transpose, Eq. (172), A

j
=
ji
A
x
i
can
be derived from Eq. (170), A
x
j
=
ij
A

i
, via inversion and vice versa. The vector A as a
directed physical value is independent of the coordinate system (it is koordinatenfrei), simply the
mathematical representation is coordinate dependent.
The values of the Scalar Product of two Vectors is Independent of the Coordinate System:
A B = A
x
i
B
x
i
= A

i
B

i
. (173)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 66 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Independence of the Coordinate System
On the other hand, by inserting the cartesian components form A = A
x
i
e
x
i
in
A

j
= A
..
=A
x
i
e
x
i
e

j
= A
x
i
e
x
i
e

j
= A
x
i
e
x
i
e

j
. .
=
ji
(171)
=
ji
A
x
i
. (172)
Number triples, which are transformed from the cartesian to an orthonormal curvilinear
coordinate system with Eq. (170) or Eq. (172) are in the mathematical sense (scalar) components
of vectors. Because of the inverse of is equal to the transpose, Eq. (172), A

j
=
ji
A
x
i
can
be derived from Eq. (170), A
x
j
=
ij
A

i
, via inversion and vice versa. The vector A as a
directed physical value is independent of the coordinate system (it is koordinatenfrei), simply the
mathematical representation is coordinate dependent.
The values of the Scalar Product of two Vectors is Independent of the Coordinate System:
A B = A
x
i
B
x
i
= A

i
B

i
. (173)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 66 / 77
Vectors: Scalar Product; Vector Product; Dyadic Product Scalar Product
Scalar Product
Scalar Product: Independence of the Coordinate System
On the other hand, by inserting the cartesian components form A = A
x
i
e
x
i
in
A

j
= A
..
=A
x
i
e
x
i
e

j
= A
x
i
e
x
i
e

j
= A
x
i
e
x
i
e

j
. .
=
ji
(171)
=
ji
A
x
i
. (172)
Number triples, which are transformed from the cartesian to an orthonormal curvilinear
coordinate system with Eq. (170) or Eq. (172) are in the mathematical sense (scalar) components
of vectors. Because of the inverse of is equal to the transpose, Eq. (172), A

j
=
ji
A
x
i
can
be derived from Eq. (170), A
x
j
=
ij
A

i
, via inversion and vice versa. The vector A as a
directed physical value is independent of the coordinate system (it is koordinatenfrei), simply the
mathematical representation is coordinate dependent.
The values of the Scalar Product of two Vectors is Independent of the Coordinate System:
A B = A
x
i
B
x
i
= A

i
B

i
. (173)
Dr.-Ing. Rene Marklein (University of Kassel) Mathematical Foundation of EFT (MFEFT) WS 2007/2008 66 / 77

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