PURE AND APPLIED MATHEMATICS

A Program of Monographs, Textbooks, and Lecture Notes

Vector and Tensor Analysis

Second Edition, Revised and Expanded

Eutiquio C. Young

Department of Mathematics
Florida State University
Tallahassee, Florida
Library of Congress Cataloging-in-Publication Data

Young, Eutiquio C.
Vector and tensor analysis / Eutiquio C. Young -- 2nd ed., rev.
and expanded.
p. cm. -- (Monographs and textbooks in pure and applied
mathematics; 172)
Includes bibliographical references and index.
ISBN 0-8247-8789-7 (alk. paper)
1. Vector analysis. 2. Calculus of tensors. I. Title.
II. Series.
QA433.Y67 1992
515'.63--dc20 92-33741
CIP

This book is printed on acid-free paper.

Copyright © 1993 by MARCEL DEKKER, INC. All Rights Reserved.

Neither this book nor any part may be reproduced or transmitted in any form or by any
means, electronic or mechanical, including photocopying, microfilming, and recording,
or by any information storage and retrieval system, without permission in writing from
the publisher.

MARCEL DEKKER, INC.

270 Madison Avenue, New York, New York 10016

Current printing (last digit):

10 9 8 7 6 5 4 3 2 1

PRINTED IN THE UNITED STATES OF AMERICA

Preface to the Second Edition

In this new edition we have tried to maintain the objective of the first edition, namely, to
acquaint students with the fundamental concepts of vector and tensor analysis together
with some of their physical applications and geometrical interpretations, and to enable
students to attain some degree of proficiency in the manipulation and application of the
mechanics and techniques of the subject. We have tried to retain the qualities and
features of the previous edition, placing great emphasis on intuitive understanding and
development of basic techniques and computational skills.

In this edition each chapter has been rewritten and certain chapters have been
reorganized. For example, in Chapter 3 the section on directional derivatives of vector
fields has been deleted, the section on transformation of rectangular cartesian coordinate
systems, together with the invariance of the gradient, divergence and the curl has been
incorporated in the discussion of tensors. In Chapter 4 the section on test for
independence of path has been combined with the section on path independence. In each
chapter we have expanded discussions and provided more examples and figures to
demonstrate computational techniques as well as to help clarify concepts. Whenever it is
helpful we have introduced subtitles in each section to alert students to discussion of
new topics. Throughout the book, we have written statements of definitions and
theorems in boldface letters for easy identification.

The author will appreciate receiving information about any errors or suggestions for the
improvement of this book. The author also wishes to thank Miss Deirdre Griese,
Production Editor, and her staff for assistance rendered in the revision of this book.

EUTIQUIO C. YOUNG
Preface to the First Edition

This book is intended for an introductory course in vector and tensor analysis. In writing
the book, the author's objective has been to acquaint the students with the various
fundamental concepts of vector and tensor analysis together with some of their
corresponding physical and geometric interpretations, as well as to enable the students to
attain some degree of proficiency in the manipulation and application of the mechanics
and techniques of the subject.

Throughout the book, we place great emphasis on intuitive understanding as well as

geometric and physical illustrations. To help achieve this end, we have included a great
number of examples drawn from the physical sciences, such as mechanics, fluid
dynamics, and electromagnetic theory, although prior knowledge of these subjects is not
assumed. We stress the development of basic techniques and computational skills and
deliberately de-emphasize highly complex proofs. Teaching experience at this level
suggests that highly technical proofs of theorems are difficult for students and serve little
purpose toward understanding the significance and implications of the theorems. Thus
we have presented the classical integral theorems of Green, Gauss, and Stokes only
intuitively and in the simplest geometric setting. At the end of practically every section,
there are exercises of varying degree of difficulty to test students' comprehension of the
subject matter presented and to make the students proficient in the basic computation
and techniques of the subject.

The book contains more than enough material for a one-year or two-quarter course at the
junior or senior level or even at the beginning graduate level for physical sciences
majors. Omitting Secs. 3.9 through 3.12, Chaps. 1 through 4 can serve as material for a
one-semester course in vector analysis, or for a one-quarter course with further deletion
of topics depending on the interest of the class. Preceded by Secs. 3.9 and 3.11, the
material of Chaps. 5 and 6 can then be used for a second-semester or a one-quarter
course in tensor analysis.
As a prerequisite for a course based on this book, the students must be familiar with the
usual topics covered in a traditional elementary calculus course. Specifically, the students
must know the basic rules of differentiation and integration, such as the chain rule,
integration by parts, and iterated integration of multiple integrals. Although a knowledge
of matrix algebra would be helpful, this is not an essential prerequisite. The book
requires only the bare rudiments of this subject, and they are summarized in the text.

The author wishes to thank his colleagues Professor Steven L. Blumsack, Wolfgang
Heil, David Lovelady, and Kenneth P. Yanosko for reviewing portions of the manuscript
and offering valuable comments and suggestions, and Professors Chiu Yeung Chan and
Christopher K. W. Tam for testing the material on tensors in their classes during the
developmental stage of the book. Last but not least, the author acknowledges with
gratitude the assistance rendered by the production and editorial department of the
publisher.

EUTIQUIO C. YOUNG
Contents

Preface to the Second Edition v

Preface to the First Edition vii

Chapter 1
Vector Algebra 1

1.1 Introduction 1.2 Definition of a Vector 1.3 Geometric

Representation of a Vector 1.4 Addition and Scalar Multiplication
1.5 Some Applications in Geometry 1.6 Scalar Product 1.7 Vector
Product 1.8 Lines and Planes in Space 1.9 Scalar and Vector Triple
Products

Chapter 2
Differential Calculus of Vector Functions of One Variable 75

2.1 Vector Functions of a Real Variable 2.2 Algebra of Vector

Functions 2.3 Limit, Continuity, and Derivatives 2.4 Space Curves
and Tangent Vectors 2.5 Arc Length as a Parameter 2.6 Simple
Geometry of Curves 2.7 Torsion and Frenet-Serret Formulas 2.8
Applications to Curvilinear Motions 2.9 Curvilinear Motion in Polar
Coordinates 2.10 Cylindrical and Spherical Coordinates

Chapter 3
Differential Calculus of Scalar and Vector Fields 147
3.1 Scalar and Vector Fields 3.2 Algebra of Vector Fields 3.3
Directional Derivative of a Scalar Field 3.4 Gradient of a Scalar
Field 3.5 Divergence of a
Vector Field 3.6 Curl of a Vector Field 3.7 Other Properties of the
Divergence and the Curl 3.8 Curvilinear Coordinate Systems 3.9
Gradient, Divergence, and Curl in Orthogonal Curvilinear Coordinate
Systems

Chapter 4
Integral Calculus of Scalar and Vector Fields 207

4.1 Line Integrals of Scalar Fields 4.2 Line Integrals of Vector Fields
4.3 Properties of Line Integrals 4.4 Line Integrals Independent of
Path 4.5 Green's Theorem in the Plane 4.6 Parametric Representation
of Surfaces 4.7 Surface Area 4.8 Surface Integrals 4.9 The
Divergence Theorem 4.10 Applications of the Divergence Theorem
4.11 Stokes' Theorem 4.12 Some Applications of Stokes' Theorem

Chapter 5
Tensors in Rectangular Cartesian Coordinate Systems 307

5.1 Introduction 5.2 Notation and Summation Convention 5.3

Transformations of Rectangular Cartesian Coordinate Systems 5.4
Transformation Law for Vectors 5.5 Cartesian Tensors 5.6 Stress
Tensor 5.7 Algebra of Cartesian Tensors 5.8 Principal Axes of
Second Order Tensors 5.9 Differentiation of Cartesian Tensor Fields
5.10 Strain Tensor

Chapter 6
Tensors in General Coordinates 373

6.1 Oblique Cartesian Coordinates 6.2 Reciprocal Basis;

Transformations of Oblique Coordinate Systems 6.3 Tensors in
Oblique Cartesian Coordinate Systems 6.4 Algebra of Tensors in
Oblique Coordinates 6.5 The Metric Tensor 6.6 Transformations of
Curvilinear Coordinates 6.7 General Tensors 6.8 Covariant
Derivative of a Vector 6.9 Transformation of Christoffel Symbols
6.10 Covariant Derivative of Tensors 6.11 Gradient, Divergence,
Laplacian, and Curl in General Coordinates 6.12 Equations of
Motion of a Particle
Solutions to Selected Problems

469

Index 495