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APPENDIX A

VECTOR ANALYSIS

We shall normally orient rectangular (x,y,z), cylindrical (p,e/>,z), and spherical (r,O,e/ coordinates as shown in Fig. A-I. Coordinate transformations are then given by
x = p cos e/> = r sin 0 cos e/> y = p sin e/> = r sin 0 sin e/> Z = r cos 0 p = y'-'x2-+-y--:2 = r sin 0 = e/>
=

tan-1 JL

(A-I)

r = y' x 2

o=

+ y2 + Z2 = tan-1 VX2 + y2 =
Z

y' p2 + z~
tan-1 e
Z

Transformations of the coordinate components of a vector among the three coordinate systems are given by
A: = Ap cos e/> - A</> sin e/> = Ar sin 0 cos e/> A s cos 0 cos e/> - A</> sin e/> All = Ap sin e/> + A</> cos e/> = AT sin 0 sin e/> A 8 cos 0 sin e/> A</> cos e/> A. = Ar cos 0 - As sin 0 Ap = Ax cos e/> All sin e/> = Ar sin 0 A8 cos 0 (A-2) A</> = - A: sin e/> + All cos If> Ar = Ax sin 0 cos If> All sin 0 sin If> A. cos 0 = Ap sin 0 + A. cos 0 A8 = A", cos 0 cos If> + All cos 0 sin If> - A. sin 0 = Ap cos 0 - A. sin (}

+ +

The coordinate-unit vectors in the three systems are denoted by (u:,ulI,u.), (up,u</>,u.), and (Ur ,U8,U</. Differential elements of volume are
d., = dx dy dz

= p dp dlf> dz = r2 sin 0 dr dO de/>

447

(A-3)

448

TIME-HARMONIC ELECTROMAGNETIC FIELDS

FIG. A-l. Normal coordinate orientation.

differential elements of vector area are

ds = u'" dy dz + U y dx dz + u. dx dy = UpP dcp dz + dp dz + Uzp dp d4> = u rr 2 sin 0 dO d4> + Uer sin 0 dr d4> + u",r dr dO

u'"

(A-4)

and differential elements of vector length are dl

= Uz dx + U7I dy + Uz dz = Up dp + u",p d4> + U z dz

= U dr r

+ Uer dO + u",r sin 0 d4>

(A-5)

The elementary algebraic operations are the same in all right-handed orthogonal coordinate systems. Letting (UI,U2,Ua) denote the unit vectors and (AI,A2,Aa) the corresponding vector components, we have addition defined by
A

+B

= uI(A I

+ B + u2(A 2 + B + u a(A a + Ba)

I) 2)

(A-6)

scalar multiplication defined by

A.B

AlB I

+ A 2B 2 + A aB a
UI Al
BI

(A-7)

and vector multiplication defined by U2

A2 B2

AX B

Ua Aa Ba

(A-8)

The above formula is a determinant, to be expanded in the usual manner. The differential operators that we have occasion to use are the gradient (Vw) , divergence (v. A), curl (V X A), and Laplacian (V' 2w). In rectangular coordinates we can think of del (V) as the vector operator
(A-g)

VECTOR ANALYSIS

449

and the various operations are

U",

Uy

Uz

vxA= a

a a ax ay az A", Ay A. 2 2 2 w 'V2 = a w + a w + a w ax2 ay2 az 2

(A-lO)

In cylindrical coordinates we have

In spherical coordinates we have

aw 1 aw 1 aw --o-a ar + U e- ao + U</> rsm r cp 1 0 2) 1 a. V . A = "2 a- (r Ar + r SIn ao (Ae sm 0) - . -0 r r 1 a . v x A = u. r sin 0 [ ao (A</> sm 0) - aAe] acp
Vw

Ur -

loA + --0 oA-</> r SIn

'I'

1 aAr a + Ue -r [ - .1 0 - - - -ar (r A</ ] sm acp + u</> -1 [ -a (rAe)

(A-12)

r ar

oAr] - -

00

'V2w =

r2 ar

! ~ (r2 aw) + _1_ ~ (sin 0 aw) +

ar r2 sin 0 ao ao

1 02W r2 sin 2 0 Ocp2

A number of useful vector identities, which are independent of the choice of coordinate system, are as follows . For addition and multiplica-

450

TIME-HARMONIC ELEC'l' ROMAGNETIC FIELDS

tion we have

A2 = A A
A A* A+B=B+A AB = BA A X B = -B X A (A + B) C = A C + B . C (A + B) X C = A X C + B X C ABxC=BCxA=CAxB A X (B X C) = (A C)B - (A B)C

IAI2=

(A-13)

For differentiation we have

V(v
V X

v . (A

+ B) (A + B )

+ w)

= V A + V . B = V X A+V X

= Vv

+ Vw

v(vw) = v Vw w Vv V (wA) = wV' A A VW V X (wA) = wV X A - A X Vw V . (A X B) = B V X A - A . V X B V2A = V(V . A) - V X V X A V X (v Vw) = V v X Vw

V X Vw

+ +

(A-14)

vvxA=O

For integration we have

fff V A dr 1fi A ds ff V X A ds = A . dl fff A dr -1fi A fff dr = 1fi ds ff n ds = w dl

=

V X

X ds

(A-15)

Vw

X Vw

Finally, we have the Helmholtz identity

47rA = - V
r- 2 at infinity.

Iff Ir _ r'l

V' A dr'

+V

Iff v' _ r'l Ir

X A dr'

(A-16)

valid if A is well-behaved in all space and vanishes at least as rapidly as