EEE241:

Fundamentals of
Electromagnetics
Introductory Concepts, Vector
Fields and Coordinate Systems

Instructor: Dragica Vasileska
Outline
Class Description
Introductory Concepts
Vector Fields
Coordinate Systems

Class Description
Prerequisites by Topic:
University physics
Complex numbers
Partial differentiation
Multiple Integrals
Vector Analysis
Fourier Series
Class Description
Prerequisites: EEE 202; MAT 267, 274 (or
275), MAT 272; PHY 131, 132
Computer Usage: Students are assumed to be
versed in the use MathCAD or MATLAB to
perform scientific computing such as numerical
calculations, plotting of functions and performing
integrations. Students will develop and visualize
solutions to moderately complicated field
problems using these tools.
Textbook: Cheng, Field and Wave
Electromagnetics.
Class Description
Grading:

Midterm #1 25%
Midterm #2 25%
Final 25%
Homework 25%
Class Description
Why Study Electromagnetics?
Examples of Electromagnetic
Applications
Examples of Electromagnetic
Applications, Contd
Examples of Electromagnetic
Applications, Contd
Examples of Electromagnetic
Applications, Contd
Examples of Electromagnetic
Applications, Contd
Research Areas of
Electromagnetics
Antenas
Microwaves
Computational Electromagnetics
Electromagnetic Scattering
Electromagnetic Propagation
Radars
Optics
etc
Why is Electromagnetics
Difficult?
What is Electromagnetics?
What is a charge q?
Fundamental Laws of
Electromagnetics
Steps in Studying Electromagnetics
SI (International System) of
Units
Units Derived From the
Fundamental Units
Fundamental Electromagnetic Field
Quantities
Three Universal Constants
Fundamental Relationships
Scalar and Vector Fields
A scalar field is a function that gives us
a single value of some variable for
every point in space.
Examples: voltage, current, energy,
temperature
A vector is a quantity which has both a
magnitude and a direction in space.
Examples: velocity, momentum, acceleration
and force
Example of a Scalar Field
26
Scalar Fields
e.g. Temperature: Every location has
associated value (number with units)
27
Scalar Fields - Contours
Colors represent surface temperature
Contour lines show constant temperatures
28
Fields are 3D
T = T(x,y,z)
Hard to visualize
Work in 2D
29
Vector Fields
Vector (magnitude, direction) at every point
in space
Example: Velocity vector field - jet stream
Vector Fields Explained
Examples of Vector Fields
Examples of Vector Fields
Examples of Vector Fields
VECTOR REPRESENTATION
3 PRIMARY COORDINATE SYSTEMS:
RECTANGULAR
CYLINDRICAL
SPHERICAL
Choice is based on
symmetry of problem
Examples:
Sheets - RECTANGULAR
Wires/Cables - CYLINDRICAL
Spheres - SPHERICAL
Orthogonal Coordinate Systems: (coordinates mutually perpendicular)
Spherical Coordinates
Cylindrical Coordinates
Cartesian Coordinates
P (x,y,z)
P (r, , )
P (r, , z)
x
y
z
P(x,y,z)

z
r
x
y
z
P(r, , z)


r
z
y
x
P(r, , )
Page 108
Rectangular Coordinates
-Parabolic Cylindrical Coordinates (u,v,z)
-Paraboloidal Coordinates (u, v, )
-Elliptic Cylindrical Coordinates (u, v, z)
-Prolate Spheroidal Coordinates (, , )
-Oblate Spheroidal Coordinates (, , )
-Bipolar Coordinates (u,v,z)
-Toroidal Coordinates (u, v, )
-Conical Coordinates (, , )
-Confocal Ellipsoidal Coordinate (, , )
-Confocal Paraboloidal Coordinate (, , )
Parabolic Cylindrical Coordinates
Paraboloidal Coordinates
Elliptic Cylindrical Coordinates
Prolate Spheroidal Coordinates
Oblate Spheroidal Coordinates
Bipolar Coordinates
Toroidal Coordinates
Conical Coordinates
Confocal Ellipsoidal Coordinate
Confocal Paraboloidal Coordinate

Cartesian Coordinates
P(x,y,z)
Spherical Coordinates
P(r, , )
Cylindrical Coordinates
P(r, , z)
x
y
z
P(x,y,z)

z
r
x
y
z
P(r, , z)


r
z
y
x
P(r, , )
Coordinate Transformation
Cartesian to Cylindrical
(x, y, z) to (r,,)


(r,,) to (x, y, z)
Cartesian to Cylindrical
Vectoral Transformation
Coordinate Transformation
Coordinate Transformation
Cartesian to Spherical
(x, y, z) to (r,,)


(r,,) to (x, y, z)
Cartesian to Spherical
Vectoral Transformation
Coordinate Transformation
Page 109
x
y
z
Z plane
x plane
x
y
z
x
1

y
1

z
1

A
x

A
y

Unit vector properties
0

1
= = =
= = =
x z z y y x
z z y y x x
y x z
x z y
z y x



=
=
=
Vector Representation
Unit (Base) vectors
A unit vector a
A
along A is a vector
whose magnitude is unity
A
A
a

=
z y x
A z A y A x A
+ + =

Page 109
x
y
z
Z plane
x plane
+
+
+ + = =
2 2 2
z y x
A A A A A A

x
y
z
x
1

y
1

z
1

A
x

A
y

A
z

Vector representation
Magnitude of A
Position vector A
) , , (
1 1 1
z y x A

1 1 1

z z y y x x + +
Vector Representation
x
y
z
A
x

A
y

A
z

A

Dot product:
z z y y x x
B A B A B A B A + + =

Cross product:
z y x
z y x
B B B
A A A
z y x
B A

=

Back
Cartesian Coordinates
Page 108
Multiplication of vectors
Two different interactions (whats the
difference?)
Scalar or dot product :

the calculation giving the work done by a force during a
displacement
work and hence energy are scalar quantities which arise
from the multiplication of two vectors
if AB = 0
The vector A is zero
The vector B is zero
u = 90

A B B A B A = = u cos | || |
u
A
B
Vector or cross product :

n is the unit vector along the normal to the plane
containing A and B and its positive direction is
determined as the right-hand screw rule

the magnitude of the vector product of A and B is
equal to the area of the parallelogram formed by A
and B
if there is a force F acting at a point P with position
vector r relative to an origin O, the moment of a force
F about O is defined by :

if A x B = 0
The vector A is zero
The vector B is zero
u = 0

n u sin | || | B A B A =
u
A
B
A B B A =
F r L =
Commutative law :
A B B A =
A B B A =
Distribution law :
C A B A C B A + = + ) (
C A B A C B A + = + ) (
Associative law :
) )( ( D C B A D BC A =
C B A BC A ) ( =
C B A C B A = ) (
C B A C B A = ) ( ) (
Unit vector relationships
It is frequently useful to resolve vectors into components
along the axial directions in terms of the unit vectors i, j,
and k.
1
0
= = =
= = =
k k j j i i
i k k j j i
j i k
i k j
k j i
k k j j i i
=
=
=
= = = 0
z y x
z y x
z z y y x x
z y x
z y x
B B B
A A A
k j i
B A
B A B A B A B A
k B j B i B B
k A j A i A A
=
+ + =
+ + =
+ + =
Scalar triple product
C B A
The magnitude of is the volume of the parallelepiped with edges parallel to
A, B, and C.
C B A
A
B
C
A B
] , , [ C B A B A C A C B A C B C B A C B A = = = = =
Vector triple product
C B A
The vector is perpendicular to the plane of A and B. When the further vector
product with C is taken, the resulting vector must be perpendicular to and
hence in the plane of A and B :
B A
A
B
C
A B
B A
nB mA C B A + = ) ( where m and n are scalar constants to be determined.
0 ) ( = + = B nC A mC C B A C
A C n
B C m
=
=
o
o
| | B A C A B C C B A ) ( ) ( ) ( = o
Since this equation is valid
for any vectors A, B, and C
Let A = i, B = C = j:
1 = o
C B A B C A C B A
A C B B C A C B A
) ( ) ( ) (
) ( ) ( ) (
=
=
x
z
y
VECTOR REPRESENTATION: UNIT VECTORS
y
a

x
a

z
a

Unit Vector
Representation
for Rectangular
Coordinate
System
x
a

The Unit Vectors imply :

y
a

z
a

Points in the direction of increasing x

Points in the direction of increasing y
Points in the direction of increasing z
Rectangular Coordinate System
r
|
z
P
x
z
y
VECTOR REPRESENTATION: UNIT VECTORS
Cylindrical Coordinate System
z
a

|
a

r
a

The Unit Vectors imply :

z
a

Points in the direction of increasing r

Points in the direction of increasing
Points in the direction of increasing z
r
a

|
a

Base
Vectors
A
1

radial distance in x-y plane

azimuth angle measured from the positive
x-axis

Z
s s r 0
t 2 0 < u s
< < z
Cylindrical Coordinates
u =
= u
= u

z
z
z
z
A z A A A a A

+ u + = =
u

Pages 109-112 Back
( , , z)
Vector representation
+
u
+
+ + = =
2 2 2
z
A A A A A A


Magnitude of A
Position vector A
Base vector properties
1 1

z z +
Dot product:
z z r r
B A B A B A B A + + =
| |

Cross product:
z r
z r
B B B
A A A
z r
B A
|
|
|

=

B
A
Back
Cylindrical Coordinates
Pages 109-111
VECTOR REPRESENTATION: UNIT VECTORS
Spherical Coordinate System
r
|
P
x
z
y
u
u
a

|
a

r
a

The Unit Vectors imply :

Points in the direction of increasing r
Points in the direction of increasing
Points in the direction of increasing u
r
a

|
a

u
a

O = u = u O u = O

,

,

R R R
Spherical Coordinates
Pages 113-115 Back
(R, , )
| u
| u A A A R A
R

+ + =

Vector representation
+
+
+ + = =
2 2 2
| u
A A A A A A
R

Magnitude of A
Position vector A
1

R R
Base vector properties
Dot product:
| | u u
B A B A B A B A
R R
+ + =

Cross product:
| u
| u
| u
B B B
A A A
R
B A
R
R

=

Back
B
A
Spherical Coordinates
Pages 113-114
( )
z r
a a a

|
( )
| u
a a a
r
( )
z y x
a a a

RECTANGULAR
Coordinate
Systems
CYLINDRICAL
Coordinate
Systems
SPHERICAL
Coordinate
Systems
NOTE THE ORDER!
r,|, z r,u ,|
Note: We do not emphasize transformations between coordinate systems
VECTOR REPRESENTATION: UNIT VECTORS
Summary
METRIC COEFFICIENTS
1. Rectangular Coordinates:
When you move a small amount in x-direction, the distance is dx
In a similar fashion, you generate dy and dz
Unit is in meters
Cartesian Coordinates
Differential quantities:

Differential distance:


Differential surface:






Differential Volume:
dz z dy y dx x l d
+ + =

dxdy z s d
dxdz y s d
dydz x s d
z
y
x

=
=
=

dxdydz dv =
Page 109
Cylindrical Coordinates:
Distance = r d|
x
y
d|
r
Differential Distances:
( dr, rd|, dz )
Cylindrical Coordinates:
Differential Distances:
( d, rd|, dz )
z a dz a d a d l d - + - - + - = | |

z z
a d d s d
a dz d s d
a dz d s d

- - =
- - =
- - =
|

|
| |

Differential Surfaces:
Differential Volume:
Spherical Coordinates:
Distance = r sinu d|
x
y
d|
r sinu
Differential Distances:
( dr, rdu, r sinu d| )
r
|
P
x
z
y
u
Spherical Coordinates
Differential quantities:

Length:





Area:








Volume:
u O u + O O + =
u + O + =
u O
d R Rd dR R
dl dl dl R l d
R
sin

O u = u =
u O O = O =
u O O = =
O u
u O
u O
RdRd dl dl s d
dRd R dl dl s d
d d R R dl dl R s d
R
R
R

sin

sin

2

u O O = d dRd R dv sin
2
u O =
O =
=
u
O
d R dl
Rd dl
dR dl
R
sin
Pages 113-115 Back
Representation of differential length dl in coordinate systems:
z y x a dz a dy a dx l d

- + - + - =

z r a dz a d r a dr l d - + - - + - = | |

| u | u u a d r a rd a dr l d r sin - + - + - =

rectangular
cylindrical
spherical
METRIC COEFFICIENTS
Example
For the object on the right
calculate:
(a) The distance BC
(b) The distance CD
(c) The surface area ABCD
(d) The surface area ABO
(e) The surface area A OFD
(f) The volume ABDCFO
AREA INTEGRALS
integration over 2 delta distances
dx
dy
Example:
x
y
2
6
3 7
AREA =
} }
-
7
3
6
2
dx dy
= 16
Note that: z =constant
In this course, area & surface integrals will be
on similar types of surfaces e.g. r =constant
or | = constant or u = constant et c.
Representation of differential surface element:
z
a dy dx s d

- - =

Vector is NORMAL
to surface
SURFACE NORMAL
DIFFERENTIALS FOR INTEGRALS
Example of Line differentials
or or
Example of Surface differentials
z
a dy dx s d - - =

r
a dz rd s d

- - = |

or
Example of Volume differentials
dz dy dx dv - - =
x
a dx l d

- =

r
a dr l d

- =

|
| a rd l d

- =

z z
y x
y x r

cos

sin

sin

cos

=
+ =
+ =
| | |
| |
z z
y x
y x r
A A
A A A
A A A
=
+ =
+ =
| |
| |
|
cos sin
sin cos
Back
Cartesian to Cylindrical Transformation
z z
x y
y x r
=
=
+ =

+
) / ( tan
1
2 2
|
Page 115