- 1 -

Chapter 1
Vector Analysis
1.1 Scalar and Vector
1.2 Cartesian Coordinate System
(a) Vector components and unit vectors
(b) Dot product
(c) Cross product
(d) Length, area, and volume
(e) Vector differentiation
- gradient
- divergence
- curl
(f) Vector identities (Appendix A.3)
1.3 Cylindrical Coordinate System
1.4 Spherical Coordinate System
- 2 -
1.1 Scalar and Vector
(a) Scalar vs. vector
- scalar
magnitude only
invariant under any circumstances
- Vector
magnitude + direction
magnitude : scalar quantity
direction : described in the n-th dimensional space
(b) Some examples
- time : scalar
- length : scalar
- mass vs. weight
mass () : scalar
weight () : vector
- force : vector
(c) Vector analysis
. = 1 = 1 = .
(commutative law)
. = ( 1 = ) = ( . = 1) =
(associative law)
, ( . = 1) = , . = , 1
(distributive law)
The above equations are not valid under time-varying system.
(d) Necessity of coordinate system
- For the vector analysis,
- Origin and criteria axis are needed for the vector analysis.
- Then, the coordinate system is needed.
- 3 -
1.2 Cartesian Coordinate System
(a) Vector components and unit vectors
- criteria axis : x-axis, y-axis, and z-axis
- Three criteria axis are crossed in such a way to be
orthogonal with each other at the origin.
- unit vectors in the criteria axis :
u
x
,
u
,
, and
u
.

(ex) Define point

1
in vector space.
-
O1 = :
: vector from
O(O O O )
to
1(x , . )
O1 = : = (xO ) u
x

= (,O ) u
,

= (.O ) u
.

= x u
x

=, u
,

=. u
.

- magnitude of
O1
O1 = : = (x

= ,

= .

)
|{
- direction of
O1
u

O1
= u

:
=
O1
O1
- magnitude and direction of
O1
O1 = : = O1 u

O1
- 4 -
(ex) For the point
1
.
( , | )
and
1
1
(] o )
1
.
( , | )
1
O
(O O O )
1
1
(] o )
.1
O.
O1
- vector
.1
from the point
1
.
to
1
1
.
O. = u
x

, u
,

= | u
.

O1 = ] u
x

u
,

= o u
.

.1 = O1 O.
=
(
] u
x

u
,

= o u
.

)

(
u
x

, u
,

= | u
.

)
= o u

x
= u

,
= z u

.
- magnitude of
.1
.
.1 = | ( o)

= ( =|)

= ( =z)

|
|{
= o
- unit vector of
.1
.
u

.1
=
.1
.1
=
o u

x
= u

,
= z u

.
o
-
.1 = .1 u

.1
(ex) For the given two points
1
.
( , | )
and
1
1
(] o )
,
the point
1

is on line passing through points

1
.
and
1
1
.
When
.
is two times larger than
1
, find out
1

.
- 5 -
(b) Dot product
When two vectors are additive, its calculation is conventional
just like as that of scalar quantity. However, the multiplication
of two vector is not simple. Therefore, the way of the vector
multiplication is needed.
1 cos0
1 sin0
1
0
:
1 = 1 cos0 * : = 1 : cos0 = 1:
(ex) Compare above problem with the case when you go up stairs.

analysis of dot product using components
- When
. = .
x
u

x
=.
,
u

,
=.
.
u

.
and
1 = 1
x
u

x
=1
,
u

,
=1
.
u

.

Obtain
.1

- Method 1
.1 =
(
.
x
u

x
=.
,
u

,
=.
.
u

. )

(
1
x
u

x
=1
,
u

,
=1
.
u

. )
(
.
x
u

x )

(
1
x
u

x )
= .
x
1
x
cos0 = .
x
1
x
(
.
x
u

x )

(
1
,
u

, )
= .
x
1
,
cos ( *{) = O
.1 = .
x
1
x
= .
,
1
,
= .
.
1
.
- 6 -
- Method 2
.1 = . 1 cos0
.1
=
(
.

x
= .

,
= .

. )
|{

(
1

x
= 1

,
= 1

. )
|{
cos0
.1
- Then,
cos 0
.1
=
.1
. 1
=
.
x
1
x
= .
,
1
,
= .
.
1
.
(
.

x
= .

,
= .

. )
|{
(
1

x
= 1

,
= 1

. )
|{
(ex) Calculate the angle between [001] and [111] directions.
(ex) For the given two points
1
.
( , | )
and
1
1
(] o )
,
calculate the angle
cos 0
.1
.
(ex) For the given points
1
.
( , | )
and
1
1
(] o )
, and

1
o
( O O O )
, obtain the area of the triangle enclosed by three
points.
(When you happen to know
S =
|

O. O1 sin0
.1
)
- 7 -
Meaning of the dot product
1u

= 1 u

cos0
1u
= 1 cos0
1u
1u

: projected value of
1
in the direction of
u

1u
x
: projected value of
1
in the x-direction
1 = 1
x
u
x

= 1
,
u
,

= 1
.
u
.

=
(
1u
x

)
u
x

=
(
1u
,

)
u
,

=
(
1u
.

)
u
.

1 = 1
I
u
I

= 1
:
u
:

=
(
1u
I

)
u
I

=
(
1u
:

)
u
:

(ex) For the given vector of

1 = ,O u
x

= zOu
,

= 7Ou
.

= 1
:
u
:

= 1
I
u
I

,
obtain
1
:
,
1
I
, and
u
I

when
u
:
is chosen to be
u
x
.
(ex) Repeat above problem when
u
:
is chosen to be
u
x

= u
,

.
(ex) For the given vector of
1 = ,O u
x

= zOu
,

= 7Ou
.
, obtain
u
I

and
u
:
when the normal direction is chosen to be the normal
to the plane of
ux = , = o. = |
.
- 8 -
(c) Cross product
definition of the cross product
- magnitude of torque : force for the volt to be rotated
= 1 1 sin0
- direction of torque : normal to
1 und !
, that is,
u

then,
= 1 1 sin0 u

= 11
u

=
11
11
analysis of cross product using components
- Method 1
.1 = ( .
x
u
x

=.
,
u
,

=.
.
u
.

)
( 1
x
u
x

=1
,
u
,

=1
.
u
.

)
(
.
x
u

x )

(
1
x
u

x )
= .
x
1
x
sin0 = O
(
.
x
u

x )

(
1
,
u

, )
= .
x
1
,
sin
(
*{) u

.
= .
x
1
,
u

.
.1 = u
x

( .
,
1
.
.
.
1
,
) = u
,

( .
.
1
x
.
x
1
.
) = u
.

( .
x
1
,
.
,
1
x
)
=

u
x

u
,

u
.

.
x
.
,
.
.
1
x
1
,
1
.

- 9 -
- Method 2
.1 = . 1 sin0
.1
u

- Then,
sin0
.1
u

=
.1
. 1
=
.1
. 1

.1
.1
(ex) For the given points
1
.
( , | )
and
1
1
(] o )
, and

1
o
( O O O )
, calculate the angle
sin0
.1
and
u

. Also obtain the

area of the triangle enclosed by three points.
Meaning of the cross product
= .1 = . 1 sin0
.1
u

.
1
u

=
.1
.1
- 10 -
(d) Length, area, and volume for integration
- length in the vector space
u/ =
(
u/u
x

)
u
x

=
(
u/u
,

)
u
,

=
(
u/u
.

)
u
.

= ux u

x
=u, u

,
=u. u

.
u/ = u/ = ux

= u,

= u.

(ex)
1 =

1u/
where one goes through
u/
under
1
.
- area
u: = u:
x
u

x
= u:
,
u

,
= u:
.
u

.
= u,u. u

x
= u.ux u

,
= uxu, u

.
- volume
uu = ux u, u.
- 11 -
(e) Vector differentiation
Differentiation of vector through gradient, divergence, and curl.
(e1) Gradient of
]
- For a given function
](x )
,
u]
indicates the increasement in the
x
direction during
ux
.
u] = ](x = ux ) ](x )
=
](x = ux ) ](x )
ux
ux =
u]
ux
ux
- For a given function
](x, )
during
ux
and
u,
,
u]
only indicates the increasement
u] = ](x = ux , = u, ) ](x , )
= ](x = ux , = u, ) ](x , = u, ) = ](x , = u, ) ](x , )
=
](x=ux,=u,)](x,=u,)
ux
ux=
](x,=u,)](x,)
u,
u,
=
J]
Jx
ux =
J]
J,
u,
- The increasement of
](x,. )
during
ux
,
u,
, and
u.
can be
obtained in terms of partial differential equation and written as
u] =
J]
Jx
ux =
J]
J,
u, =
J]
J.
u.
- directional dependence of
u]

increasement of
](x,. )
during
u/

remember that
u/ = ux u

x
= u, u

,
= u. u

u]
u/
: how it is changed or depends on the direction
u]
u/
=
J]
Jx
ux
u/
=
J]
J,
u,
u/
=
J]
J.
u.
u/

Needed to maximize or minimize

u]{ u/

vector
- 12 -
(ex) For
](x, ) = x

= ,

u] =
J]
Jx
ux =
J]
J,
u,
u]
u/
=
J]
Jx
ux
u/
=
J]
J,
u,
u/
= x
ux
u/
= ,
u,
u/
=
ux
u/
(
x = ,
u,
ux
)

u,
ux
=
=
ux
u/
(x = , )
Since
(u/)

= ( ux)

= ( u,)

,
(
u/
ux
)

= | =
(
u,
ux
)

= | =

u]
u/
=
ux
u/
(x = , ) =
|
| =

(x = , )
u] {u/
has an extremum value for a certain

. That is,
J
J
(
u]
u/
)
=
J
J (
x = ,
| =

)
=
, x
(| =

)
,{
= O
When
=
u,
ux
=
,
x
,
u]
u/
has a maximum value.

u]
u/

mux
=
u]
u/

= ,{x
=
x = ,
| =

= ,{x
= x

= ,

0
u/
- 13 -
- Now, we can define the maximum directional derivative.
u]
u/
=

u]
u/

mux
cos0
u] =

u]
u/

mux
u/ cos0
Define

u]
u/

mux
= ']
,
0
is the angle between
']
and
u/
.
u] =

u]
u/

mux
u/ cos0 = '] u/ cos0 = ']u/
Since
u] =
J]
Jx
ux =
J]
J,
u, =
J]
J.
u.
=
(
J]
Jx
u
x

=
J]
J,
u
,

=
J]
J.
u
.

(
ux u
x

= u, u
,

= u. u
.

)
=
(
J]
Jx
u
x

=
J]
J,
u
,

=
J]
J.
u
.

)
u/
Then,
'] =
J]
Jx
u
x

=
J]
J,
u
,

=
J]
J.
u
.

' =
J
Jx
u
x

=
J
J,
u
,

=
J
J.
u
.

- Check the gradient

](x, ) = x

= ,

'] =
J]
Jx
u
x

=
J]
J,
u
,

=
J]
J.
u
.

= x u
x

= , u
,

'] = x

= ,

Therefore,

u]
u/

mux
= ']
- 14 -
(e2) Divergence of
.
- The divergence of a vector is the limit of its surface integral
per unit volume as the volume enclosed by the surface goes
to zero, that is,
di. . = '. = Iim
'O
|
'

:
.u:
The detail proof will be done later.(Divergence theorem)
- Instead, from the definition of
'
,
' =
J
Jx
u
x

=
J
J,
u
,

=
J
J.
u
.

'. =
(
J
Jx
u
x

=
J
J,
u
,

=
J
J.
u
.

(
.
x
u
x

= .
,
u
,

= .
.
u
.

)
=
J.
x
Jx
=
J.
,
J,
=
J.
.
J.
(e3) Curl of
.
- The curl of a vector is the limit of the ratio of the integral
of its cross product with the outward drawn normal, over a
closed surface, to the volume enclosed by the surface as
the
'O
'. = Iim
'O
|
'

:
:

.u:
The detail proof will be done later. (Stokes theorem)
- Instead, from the definition of
'
,
'. =
(
J
Jx
u
x

=
J
J,
u
,

=
J
J.
u
.

(
.
x
u
x

= .
,
u
,

= .
.
u
.

)
= u
x

(
J.
.
J,

J.
,
J.
)
= u
,

(
J.
x
J.

J.
.
Jx
)
= u
.

(
J.
,
Jx

J.
x
J,
)
- 15 -
(f) Vector identities (Appendix A.3)

-
( .1 ) = ( 1 ). = ( . )1
or
( .1 ) = .( 1 ) = 1( . )
-
.( 1) = 1( .) ( .1) = ( .) 1 ( .1)

-
'(u = u) = 'u = 'u
-
'( . = 1) = '. = '1
-
'( . = 1 ) = '. = '1

-
'(uu) = u'u = u'u
-
'(u .) = u ('.) = 'u.
-
'( u . ) = u ( '. ) = 'u.

-
'( .1 ) = ( .' ) 1=( 1' ) .= .( '1 ) = 1( '. )
-
'( .1 ) = 1( '. ) .( '1 )
-
'( .1) = .( '1) 1( '.) = ( 1' ) . ( .' ) 1

-
''u = '

u
-
''u = O
-
''. = O
-
''. = '( '.) '

.
pp. 24~25 #2, #4, #5, #9, #11, #13, #15, #17
- 16 -
1.3 Cylindrical Coordinate System
(a) Vector components and unit vectors
cartesian vs. cylindrical coordinate system
x = , cos
, = , sin
. = .
, = x

= ,

= lun
|
(
,
x
)
. = .
- 17 -
unit vectors in the cylindrical coordinate system
u
,

u
x

= cos
u
,

u
,

= cos
(
*

)
= sin
u
,

u
.

= O
u

u
x

= cos
(
=
*

)
= sin
u

u
,

= cos
(
=
*

)
= cos
u

u
.

= O
u
.

u
x

= O
u
.

u
,

= O
u
.

u
.

= |
relations among unit vectors
u
x

u
,

u
.

u
,

cos sin
0
u

sin cos
0
u
.
0 0 1
- 18 -
(b) transformation between cartesian and cylindrical coordinate sys.
transformation of unit vectors and projected values
. = .
x
u
x

= .
,
u
,

= .
.
u
.

= .
,
u
,

= .

= .
.
u
.

u
x

u
,

u
.

u
,

cos sin
0
u

sin cos
0
u
.
0 0 1
- transformation of unit vectors
u
,

=
(
u
,

u
x

)
u
x

=
(
u
,

u
,

)
u
,

=
(
u
,

u
.

)
u
.

= cos u
x

= sin u
,

=
(
u

u
x

)
u
x

=
(
u

u
,

)
u
,

=
(
u

u
.

)
u
.

= sin u
x

= cos u
,

u
.

=
(
u
.

u
x

)
u
x

=
(
u
.

u
,

)
u
,

=
(
u
.

u
.

)
u
.

= u
.

u
,

u
.

cos sin O
sin cos O
O O |

u
x

u
,

u
.

- transformation of projected values

.
,
= .u
,

=
(
.
x
u
x

= .
,
u
,

= .
.
u
.

)
u
,

= .
x
cos = .
,
sin
.

= .u

=
(
.
x
u
x

= .
,
u
,

= .
.
u
.

)
u

= .
x
sin = .
,
cos
.
.
= .u
.

=
(
.
x
u
x

= .
,
u
,

= .
.
u
.

)
u
.

= .
.

.
,
.

.
.
=

cos sin O
sin cos O
O O |

.
x
.
,
.
.
- 19 -
inverse transformation
. = .
x
u
x

= .
,
u
,

= .
.
u
.

= .
,
u
,

= .

= .
.
u
.

u
x

u
,

u
.

u
,

cos sin
0
u

sin cos
0
u
.
0 0 1
- projected values : switching of off-diagonal terms
u
x

=
(
u
x

u
,

)
u
,

=
(
u
x

)
u

=
(
u
x

u
.

)
u
.

= cos u
,

sin u

u
,

=
(
u
,

u
,

)
u
,

=
(
u
,

)
u

=
(
u
,

u
.

)
u
.

= sin u
,

= cos u

u
.

=
(
u
.

u
,

)
u
,

=
(
u
.

)
u

=
(
u
.

u
.

)
u
.

= u
.

u
x

u
,

u
.

cos sin O
sin cos O
O O |

u
,

u
.

- direct inverse transformation : use of cofactors

u
x

u
,

u
.

cos sin O
sin cos O
O O |
|

u
,

u
.

cos sin O
sin cos O
O O |

u
,

u
.

Similarly,

.
x
.
,
.
.
=

cos sin O
sin cos O
O O |
|

.
,
.

.
.
=

cos sin O
sin cos O
O O |

.
,
.

.
.
- 20 -
(ex) vector transformation
method 1 : projected value
1 = , u
x

x u
,

= . u
.

1
,
u
,

= 1

= 1
.
u
.

x = , cos , = , sin . = .
u
x

u
,

u
.

u
,

cos sin
0
u

sin cos
0
u
.
0 0 1
1
,
= 1u
,

=
(
, u
x

x u
,

= . u
.

)
u
,

= ( , sin) ( cos) ( , cos) ( sin) = O

1

= 1u

=
(
, u
x

x u
,

= . u
.

)
u

= (,sin) ( sin) (,cos) ( cos) = ,

1
.
= 1u
.

=
(
1
x
u
x

= 1
,
u
,

= 1
.
u
.

)
u
.

= 1
.
= .
1 = , u

= . u
.

- 21 -
method 2 : use of the transformation matrix
1 = , u
x

x u
,

= . u
.

1
,
u
,

= 1

= 1
.
u
.

1
,
1

1
.
=

cos sin O
sin cos O
O O |

1
x
1
,
1
.
1
,
= cos 1
x
= sin 1
,
= ( cos) ( , sin) = ( sin) (,cos) = O
1

= sin 1
x
= cos 1
,
= ( sin) (,sin) = ( cos) (,cos) = ,
1
.
= 1
.
= .
1 = 1
,
u
,

= 1

= 1
.
u
.

= , u

= . u
.

method 3 : use of inverse transformation matrix

1 = , u
x

x u
,

= . u
.

1
,
u
,

= 1

= 1
.
u
.

u
x

u
,

u
.

cos sin O
sin cos O
O O |
|

u
,

u
.

cos sin O
sin cos O
O O |

u
,

u
.

1 = , u
x

x u
,

= . u
.

= (, sin) ( cos u
,

sin u

)
(,cos) ( sin u
,

= cos u

) = . u
.

= , u

=. u
.

- 22 -

Transformation matrix for the rotation

- rotation by

on the
x,
-plane (
.
-axis rotation by

)
u
,
: rotated value of
u
x
by

on the
x,
-plane
u

: rotated value of
u
,
by

on the
x,
-plane
u
.
: unchanged
- rotation by

on the
x,
-plane (
.
-axis rotation by

u
,

u
.

cos sin O
sin cos O
O O |

u
x

u
,

u
.

- rotation by

on the
x,
-plane (
.
-axis rotation by

u
x

u
,

u
.

cos ( ) sin ( ) O
sin ( ) cos ( ) O
O O |

u
,

u
.

cos sin O
sin cos O
O O |

u
,

u
.

- 23 -

u
x

u
,

u
.

cos sin O
sin cos O
O O |
|

u
,

u
.

cos sin O
sin cos O
O O |

u
,

u
.

-
x
-axis rotation by

(rotation by

on the
,.
-plane)

| O O
O cos sin
O sin cos
-
,
-axis rotation by

(rotation by

on the
.x
-plane)

cos O sin
O | O
sin O cos
-
.
-axis rotation by
,
(rotation by
,
on the
x,
-plane)

cos, sin, O
sin, cos, O
O O |
(ex) Obtain the transformation matrix for the vector transformation
that the new z-axis is the [111] direction.
(ex) Obtain the transformation matrix for the rotation by

on the

x,
-plane and the rotation by
0
on the
.x
-plane.
- 24 -
(c) Dot product
.1 =
(
.
,
u
,

= .

= .
.
u
.

(
1
,
u
,

= 1

= 1
.
u
.

)
= .
,
1
,
= .

= .
.
1
.
or
.1 = .
x
1
x
= .
,
1
,
= .
.
1
.
= ( cos .
,
sin .

) ( cos 1
,
sin 1

)
= ( sin .
,
= cos .

) ( sin .
,
= cos 1

) = .
.
1
.
= .
,
1
,
=.

=.
.
1
.
(d) Cross product
.1 =
(
.
,
u
,

= .

= .
.
u
.

(
1
,
u
,

= 1

= 1
.
u
.

)
= u
,

( .

1
.
.
.
1

) = u

( .
.
1
,
.
,
1
.
)
= u
.

( .
,
1

1
,
)
or
.1 = u
x

( .
,
1
.
.
.
1
,
) = u
,

( .
.
1
x
.
x
1
.
) = u
.

( .
x
1
,
.
,
1
x
)
=
(
cos u
,

sin u

)
( .
,
1
.
.
.
1
,
)
=
(
sin u
,

= cos u

)
( .
.
1
x
.
x
1
.
)
= u
.

( .
x
1
,
.
,
1
x
)
= u
,

cos( .
,
1
.
.
.
1
,
) = sin( .
.
1
x
.
x
1
.
)
= u

sin (.
,
1
.
.
.
1
,
) = cos( .
.
1
x
.
x
1
.
)
= u
.

( .
x
1
,
.
,
1
x
)
= u
,

( cos.
,
sin.
x
) 1
.
.
.
( cos1
,
sin1
x
)
= u

.
.
( sin1
,
= cos1
x
) ( sin.
,
= cos.
x
) 1
.

= u
.

( cos.
,
sin.

) ( sin1
,
= cos1

)
( sin.
,
= cos.

) ( cos1
,
sin1

)
- 25 -
(e) Length, area, and volume
- length in the vector space
u/ = ( u/ )
,
u
,

= ( u/ )

= ( u/ )
.
u
.

= u, u
,

= , u u

=u. u
.

- area
u: = u:
,
u

,
= u:

= u:
.
u

.
= (u/ )

(u/ )
.
u

,
= (u/ )
.
(u/ )
,
u

= (u/ )
,
(u/ )

.
= , u u. u

,
= u, u. u

= , u, u

.
- volume
u' = , u, u u.
- 26 -
(f) Vector differentiation
(f1) Gradient of
]
Gradient of
]
in the cylindrical coordinate system
'] =
J]
Jx
u
x

=
J]
J,
u
,

=
J]
J.
u
.

= ? u
,

= ? u

= ? u
.

cylindrical coordinate system

cartesian coordinate system

- conversion process of unit vectors

u
x

u
,

u
.

cos sin O
sin cos O
O O |
|

u
,

u
.

cos sin O
sin cos O
O O |

u
,

u
.

- conversion processes of the differentiation operator

x = , cos
, = , sin
. = .
J
J,
=
Jx
J,
J
Jx
=
J,
J,
J
J,
=
J.
J,
J
J.
= cos
J
Jx
= sin
J
J,
J
J
=
Jx
J
J
Jx
=
J,
J
J
J,
=
J.
J
J
J.
=,sin
J
Jx
=,cos
J
J,
J
J.
=
J
J.

J
J,
J
J
J
J.
=

cos sin O
, sin , cos O
O O |

J
Jx
J
J,
J
J.
- 27 -

J
Jx
J
J,
J
J.
=

cos sin O
, sin , cos O
O O |
|

J
J,
J
J
J
J.
=

cos
|
,
sin O
sin
|
,
cos O
O O |

J
J,
J
J
J
J.
- Gradient of
]
in the cylindrical coordinate system is
'] =
J]
Jx
u
x

=
J]
J,
u
,

=
J]
J.
u
.

=
(
cos
J]
J,

|
,
sin
J]
J
)

(
cos u
,

sin u

)
=
(
sin
J]
J,
=
|
,
cos
J]
J
)

(
sin u
,

= cos u

)
=
J]
J.
u
.

=
J]
J,
u
,

=
|
,
J]
J
u

=
J]
J.
u
.

(ex) Obtain
J
Jx
directly from the partial differential equation.
J
Jx
=
J,
Jx
J
J,
=
J
Jx
J
J
=
J.
Jx
J
J.
= cos
J
J,

|
,
sin
J
J
from
, = x

= ,

= lun
|
(
,
x
)
und . = .
(ex) Obtain
J
J,
directly from the partial differential equation.
- 28 -
(f2) Divergence of
.
'. =
J.
x
Jx
=
J.
,
J,
=
J.
.
J.

J
Jx
J
J,
J
J.
=

cos
|
,
sin O
sin
|
,
cos O
O O |

J
J,
J
J
J
J.

.
x
.
,
.
.
=

cos sin O
sin cos O
O O |
|

.
,
.

.
.
=

cos sin O
sin cos O
O O |

.
,
.

.
.
J.
x
Jx
=
(
cos
J
J,

|
,
sin
J
J
)
( .
,
cos .

sin )
= cos

J.
,
J,
cossin
J.

J,
=
|
,
sin

.
,

|
,
sincos
J.
,
J
=
|
,
sincos.

=
|
,
sin

J.

J
J.
,
J,
=
(
sin
J
J,
=
|
,
cos
J
J
)
( .
,
sin = .

cos )
= sin

J.
,
J,
= sincos
J.

J,
=
|
,
cos

.
,
=
|
,
cossin
J.
,
J

|
,
cossin.

=
|
,
cos

J.

J,
J.
.
J.
=
J.
.
J.
'. =
J.
,
J,
=
|
,
.
,
=
|
,
J.

J
=
J.
.
J,
=
|
,
J
J,
(,.
,
) =
|
,
J.

J
=
J.
.
J.
- 29 -
(f3) Curl of
.
- definition of curl in the cartesian coordinate system
1 = '. = u
x

(
J.
.
J,

J.
,
J.
)
= u
,

(
J.
x
J.

J.
.
Jx
)
= u
.

(
J.
,
Jx

J.
x
J,
)
- transformation matrix for the conversion processes

J
Jx
J
J,
J
J.
=

cos
|
,
sin O
sin
|
,
cos O
O O |

J
J,
J
J
J
J.

u
x

u
,

u
.

cos sin O
sin cos O
O O |
|

u
,

u
.

cos sin O
sin cos O
O O |

u
,

u
.

.
x
.
,
.
.
=

cos sin O
sin cos O
O O |
|

.
,
.

.
.
=

cos sin O
sin cos O
O O |

.
,
.

.
.
- conversion
'. =
(
cos u
,

sin u

)
(
J.
.
J,

J.
,
J.
)
=
(
sin u
,

= cos u

)
(
J.
x
J.

J.
.
Jx
)
= u
.

(
J.
,
Jx

J.
x
J,
)
- 30 -
'. = u
,

cos
(
J.
.
J,

J.
,
J.
)
= sin
(
J.
x
J.

J.
.
Jx
)
= u

sin
(
J.
.
J,

J.
,
J.
)
= cos
(
J.
x
J.

J.
.
Jx
)
= u
.

(
J.
,
Jx

J.
x
J,
)
= u
,

1
,
= u

= u
.

1
.
J.
.
J,

J.
,
J.
=
(
sin
J
J,
=
|
,
cos
J
J
)
.
.

J
J.
(.
,
sin =.

cos)
= sin
J.
.
J,
=
|
,
cos
J.
.
J
sin
J.
,
J.
cos
J.

J.
J.
x
J.

J.
.
Jx
=
J
J.
( .
,
cos .

sin )

(
cos
J
J,

|
,
sin
J
J
)
.
.
= cos
J.
,
J.
sin
J.

J.
cos
J.
.
J,
=
|
,
sin
J.
.
J
J.
,
Jx

J.
x
J,
=
(
cos
J
J,

|
,
sin
J
J
)
(.
,
sin=.

cos)

(
sin
J
J,
=
|
,
cos
J
J
)
(.
,
cos.

sin)
=
J.

J,

|
,
J.
,
J
=
|
,
.

=
|
,
J(,.

)
J,

|
,
J.
,
J
- 31 -
1
,
= cos
(
J.
.
J,

J.
,
J.
)
= sin
(
J.
x
J.

J.
.
Jx
)
= cos
(
sin
J.
.
J,
=
|
,
cos
J.
.
J
sin
J.
,
J.
cos
J.

J.
)
= sin
(
cos
J.
,
J.
sin
J.

J.
sin
J.
.
J,
=
|
,
sin
J.
.
J
)
=
|
,
J.
.
J

J.

J.
1

= sin
(
J.
.
J,

J.
,
J.
)
= cos
(
J.
x
J.

J.
.
Jx
)
= sin
(
sin
J.
.
J,
=
|
,
cos
J.
.
J
sin
J.
,
J.
cos
J.

J.
)
= cos
(
cos
J.
,
J.
sin
J.

J.
cos
J.
.
J,
=
|
,
sin
J.
.
J
)
=
J.
,
J.

J.
.
J,
1
.
=
J.
,
Jx

J.
x
J,
=
|
,
J(,.

)
J,

|
,
J.
,
J
'. = u
,

1
,
= u

= u
.

1
.
= u
,

(
|
,
J.
.
J

J.

J.
)
= u

(
J.
,
J.

J.
.
J,
)
= u
.

|
,
J( ,.

)
J,

|
,
J.
,
J

pp. 25~26 #18, #19, #20, #21, #22, #23
- 32 -
1.4 Spherical Coordinate System
(a) Vector components and unit vectors

1(x,. ) u:, 1(:0)

x = : cos
(
*

0
)
cos = : sin0 cos
, = : cos
(
*

0
)
cos
(
*

)
= : sin0 sin
. = : cos0

: = ( x

= ,

= .

)
|{
0 = cos
|

.
( x

= ,

= .

)
|{

= lun
|
(
,
x
)
- 33 -
unit vectors
u
:

u
x

= cos
(
*

0
)
cos = sin0 cos
u
:

u
,

= cos
(
*

0
)
cos
(
*

)
= sin0 sin
u
:

u
.

= cos0
z
xy
u
0

u
:

0
0
u
0

u
x

= cos0 cos
u
0

u
,

= cos0 cos
(
*

)
= cos0 sin
u
0

u
.

= cos
(
*

= 0
)
= sin0
- 34 -
y
x
u

u
:

u
x

= cos
(
*

=
)
= sin
u

u
,

= cos
u

u
.

= cos
(
*

)
= O
Table
u
x

u
,

u
.

u
:

sin0 cos sin0 sin cos0

u
0

cos0 cos cos0 sin sin0

u

sin cos O
- 35 -
(b) transformation between cartesian and spherical coordinate sys.
transformation of unit vectors and projected values
. = .
x
u
x

= .
,
u
,

= .
.
u
.

= .
:
u
:

= .
0
u
0

= .

u
:

=
(
u
:

u
x

)
u
x

=
(
u
:

u
,

)
u
,

=
(
u
:

u
.

)
u
.

= sin0 cos u
x

= sin0 sin u
,

= cos0 u
.

u
0

=
(
u
0

u
x

)
u
x

=
(
u
0

u
,

)
u
,

=
(
u
0

u
.

)
u
.

= cos0 cos u
x

= cos0 sin u
,

sin0 u
.

=
(
u

u
x

)
u
x

=
(
u

u
,

)
u
,

=
(
u

u
.

)
u
.

= sin u
x

= cos u
,

u
:

u
0

sin0 cos sin0 sin cos0

cos0 cos cos0 sin sin0
sin cos O

u
x

u
,

u
.

.
:
= .u
:

=
(
.
x
u
x

=.
,
u
,

=.
.
u
.

)
u
:

= .
x
sin0 cos =.
,
sin0 sin =.
.
cos0
.
0
= .u
0

=
(
.
x
u
x

=.
,
u
,

=.
.
u
.

)
u
0

= .
x
cos0 cos =.
,
cos0 sin .
.
sin0
.

= .u

=
(
.
x
u
x

= .
,
u
,

= .
.
u
.

)
u

= .
x
sin =.
,
cos

.
:
.
0
.

sin0 cos sin0 sin cos0

cos0 cos cos0 sin sin0
sin cos O

.
x
.
,
.
.
- 36 -
inverse transformation matrix
. = .
x
u
x

= .
,
u
,

= .
.
u
.

= .
:
u
:

= .
0
u
0

= .

u
x

u
,

u
.

u
:

sin0 cos sin0 sin cos0

u
0

cos0 cos cos0 sin sin0

u

sin cos O
u
x

=
(
u
x

u
:

)
u
:

=
(
u
x

u
0

)
u
0

=
(
u
x

)
u

= sin0 cos u
:

= cos0 cos u
0

sin u

u
,

=
(
u
,

u
:

)
u
:

=
(
u
,

u
0

)
u
0

=
(
u
,

)
u

= sin0 sin u
:

= cos0 sin u
0

= cos u

u
.

=
(
u
.

u
:

)
u
:

=
(
u
.

u
0

)
u
0

=
(
u
.

)
u

= cos0 u
,

sin0 u

u
x

u
,

u
.

sin0 cos cos0 cos sin

sin0 sin cos0 sin cos
cos0 sin0 O

u
:

u
0

Similarly,

.
x
.
,
.
.
=

sin0 cos cos0 cos sin

sin0 sin cos0 sin cos
cos0 sin0 O

.
:
.
0
.

Compare with the below relation : change of elements

u
:

u
0

sin0 cos sin0 sin cos0

cos0 cos cos0 sin sin0
sin cos O

u
x

u
,

u
.

- 37 -
(ex) vector transformation
method 1 : projected value
1 = , u
x

x u
,

= . u
.

= 1
:
u
:

= 1
0
u
0

= 1

x = : sin0 cos , = : sin0 sin . = : cos0

u
x

u
,

u
.

u
:

sin0 cos sin0 sin cos0

u
0

cos0 cos cos0 sin sin0

u

sin cos O
1
:
= 1u
:

= , ( u
x

u
:

) x ( u
,

u
:

) = . ( u
.

u
:

)
= (: sin0 sin) ( sin0 cos) (: sin0 cos) ( sin0 sin)
= (: cos0 ) ( cos0 )
= : sin

0 sin cos : sin

0 cos sin = : cos

0
= : cos

0
1
0
= 1u
0

= , ( u
x

u
0

) x ( u
,

u
0

) = . ( u
.

u
0

)
= (: sin0 sin) ( cos0 cos) (: sin0 cos) ( cos0 sin)
= (: cos0 ) ( sin0 )
= : cos0 sin0
1

= 1u

= , ( u
x

) x ( u
,

) = . ( u
.

)
= (: sin0 sin) ( sin) (: sin0 cos) ( cos)
= : sin0 sin

: sin0 cos

= : sin0
1 = : cos

0 u
:

: cos0 sin0 u
0

: sin0 u

- 38 -
method 2 : use of the transformation matrix
1 = , u
x

x u
,

= . u
.

= 1
:
u
:

= 1
0
u
0

= 1

x = : sin0 cos , = : sin0 sin . = : cos0

1
:
1
0
1

sin0 cos sin0 sin cos0

cos0 cos cos0 sin sin0
sin cos O

1
x
1
,
1
.
1
:
= sin0 cos 1
x
= sin0 sin 1
,
= cos0 1
.
= ( sin0 cos) (: sin0 sin) = ( sin0 sin) (: sin0 cos)
= ( cos0 ) ( : cos0 )
= : cos

0
1
0
= cos0 cos 1
x
= cos0 sin 1
,
sin0 1
.
= ( cos0 cos) (: sin0 sin) = ( cos0 sin) (: sin0 cos)
= ( sin0 ) ( : cos0 )
= : cos0 sin0
1

= sin 1
x
= cos 1
,
= ( sin) (: sin0 sin) = ( cos) (: sin0 cos)
= : sin0
1 = : cos

0 u
:

: cos0 sin0 u
0

: sin0 u

- 39 -
method 3 : use of the inverse transformation matrix
1 = , u
x

x u
,

= . u
.

= 1
:
u
:

= 1
0
u
0

= 1

x = : sin0 cos , = : sin0 sin . = : cos0

u
x

u
,

u
.

sin0 cos cos0 cos sin

sin0 sin cos0 sin cos
cos0 sin0 O

u
:

u
0

1 = , u
x

x u
,

= . u
.

= (: sin0 sin) ( sin0 cos u

:

= cos0 cos u
0

sin u

)
(: sin0 cos) ( sin0 sin u
:

= cos0 sin u
0

= cos u

)
= (: cos0 ) ( cos0 u
:

sin0 u
0

)
= : cos

0 u
:

: cos0 sin0 u
0

: sin0 u

- 40 -

Transformation matrix for the rotation

- Cartesian vs. spherical coordinate system : two rotations
.
-axis rotation by

x
,
.
=

cos sin O
sin cos O
O O |

x
,
.
,
-axis rotation by
0

x
,
.
=

cos0 O sin0
O | O
sin0 O cos0

x
,
.
Therefore,

x
,
.
=

cos0 cos cos0 sin sin0

sin cos O
sin0 cos sin0 sin cos0

x
,
.
- 41 -
Relate the rotated values

u
0

u
:

cos0 cos cos0 sin sin0

sin cos O
sin0 cos sin0 sin cos0

u
x

u
,

u
.

Relocations of the values

u
:

u
0

sin0 cos sin0 sin cos0

cos0 cos cos0 sin sin0
sin cos O

u
x

u
,

u
.

- Cartesian vs. spherical coordinate system : three rotations

u
x

u
:

u
,

u
0

u
.

1st rotation :
,
-axis rotation by
=
*

2nd rotation :
x
-axis rotation by
=
(
*

)
3rd rotation :
.
-axis rotation by
, = 0
- 42 -
,
-axis rotation by
=
*

x
,
.
=

cos O sin
O | O
sin O cos

x
,
.
=

O O |
O | O
| O O

x
,
.
x
-axis rotation by
=
(
*

x
,
.
=

| O O
O cos sin
O sin cos

x
,
.
=

| O O
O sin cos
O cos sin

x
,
.
.
-axis rotation by
, = 0

x
,
.
=

cos, sin, O
sin, cos, O
O O |

x
,
.
=

cos0 sin0 O
sin0 cos0 O
O O |

x
,
.
then

x
,
.
=

sin0 cos sin0 sin cos0

cos0 cos cos0 sin sin0
sin cos O

x
,
.
convert into unit vectors in the spherical coordinate system

u
:

u
0

sin0 cos sin0 sin cos0

cos0 cos cos0 sin sin0
sin cos O

u
x

u
,

u
.

- 43 -
(c) Dot product
.1 = ( .
:
u
:

= .
0
u
0

= .

)( 1
:
u
:

= 1
0
u
0

= 1

)
= .
:
1
:
= .
0
1
0
= .

(d) Cross Product

.1 = ( .
:
u
:

= .
0
u
0

= .

) ( 1
:
u
:

= 1
0
u
0

= 1

)
= u
:

( .
0
1

1
0
) = u
0

( .

1
:
.
:
1

)
= u

( .
:
1
0
.
0
1
:
)
(ex) Try to obtain
.1
and
. 1
from the result defined in the
cartesian coordinate system.
.1 = .
x
1
x
= .
,
1
,
= .
.
1
.
.1= u
x

( .
,
1
.
.
.
1
,
) = u
,

( .
.
1
x
.
x
1
.
) = u
.

( .
x
1
,
.
,
1
x
)

u
x

u
,

u
.

sin0 cos cos0 cos sin

sin0 sin cos0 sin cos
cos0 sin0 O

u
:

u
0

.
x
1
x
.
,
1
,
.
.
1
.
=

sin0 cos cos0 cos sin

sin0 sin cos0 sin cos
cos0 sin0 O

.
:
1
:
.
0
1
0
.

- 44 -
(e) Length, area, and volume
- length in the vector space
u/ = u: u
:

= :u0 u
0

= : sin0u u

- area
u: = u:
:
u

:
= u:
0
u

0
= u:

u:
:
= (u/ )
0
(u/ )

= (: u0 ) (: sin0u) = :

sin0 u0 u
u:
0
= ( u/ )

( u/ )
:
= ( : sin0u ) ( u: ) = : sin0 u: u
u:

= ( u/ )
:
( u/ )
0
= ( u: ) ( : u0 ) = : u: u0
- volume
u' = ( u/ )
:
( u/ )
0
( u/ )

= (u: ) (:u0 ) (: sin0u) = :

sin0 u: u0 u
- 45 -
(f) Vector differentiation
-
']
,
'.
and
' .
in the cartesian coordinate system
'] =
J]
Jx
u
x

=
J]
J,
u
,

=
J]
J.
u
.

'. =
J.
x
Jx
=
J.
,
J,
=
J.
.
J.
'. = u
x

(
J.
.
J,

J.
,
J.
)
= u
,

(
J.
x
J.

J.
.
Jx
)
= u
.

(
J.
,
Jx

J.
x
J,
)
- conversion processes for unit vectors and projected values

u
x

u
,

u
.

sin0 cos cos0 cos sin

sin0 sin cos0 sin cos
cos0 sin0 O

u
:

u
0

.
x
.
,
.
.
=

sin0 cos cos0 cos sin

sin0 sin cos0 sin cos
cos0 sin0 O

.
:
.
0
.

- conversion processes for the differentiation operator

Relation between variables
x = : sin0 cos
, = : sin0 sin
. = : cos0
Partial differential equations are as follows
J
J:
=
Jx
J:
J
Jx
=
J,
J:
J
J,
=
J.
J:
J
J.
= sin0 cos
J
Jx
= sin0 sin
J
J,
= cos0
J
J.
- 46 -
J
J0
=
Jx
J0
J
Jx
=
J,
J0
J
J,
=
J.
J0
J
J.
= : cos0 cos
J
Jx
= : cos0 sin
J
J,
= (: sin0 )
J
J.
J
J
=
Jx
J
J
Jx
=
J,
J
J
J,
=
J.
J
J
J.
= : sin0 sin
J
Jx
= : sin0 cos
J
J,
= O
Invert the partial differential equations
J
Jx
= sin0 cos
J
J:
=
|
:
cos0 cos
J
J0

sin
: sin0
J
J
J
J,
= sin0 sin
J
J:
=
|
:
cos0 sin
J
J0
=
cos
: sin0
J
J
J
J.
= cos0
J
J:

sin0
:
J
J0
Transformation matrix is as follows

J
Jx
J
J,
J
J.
=

sin0 cos
|
:
cos0 cos
sin
: sin0
sin0 sin
|
:
cos0 sin
cos
: sin0
cos0
sin0
:
O

J
J:
J
J0
J
J
(ex) Obtain
J
Jx

J
J,
und
J
J.
directly from the partial
differential equation.
p. 26 #25, #26, #27, #28, #29, #30