Chapter 10 Vector Calculus

10.1 Differentiation of vector

In Cartesian coordinates   
  a  a ( u   u )  a ( u)
a ( u)  a x ( u)iˆ  a y ( u) ˆj  a z ( u)kˆ
 
a ( u) is continuous at some point u  u0 a ( u  u)
  
da ( u) a ( u  u )  a ( u)
  lim
du u  0 u 
da x ( u) ˆ da y ( u) ˆ da z ( u) ˆ a (u)
 i j k
du du du
In physics :

r ( t )  x( t )iˆ  y( t ) ˆj  z ( t )kˆ

 dr dx ˆ dy ˆ dz ˆ
v (t )   i j  k  v x iˆ  v y ˆj  v z kˆ
dt dt dt dt

 dv ( t ) dv x ˆ dv y ˆ dv z ˆ d 2 x ˆ d 2 y ˆ d 2 z ˆ
a(t )   i j k 2 i  2 j 2 k
dt dt dt dt dt dt dt
Note : in Cartesian coordinates, iˆ , ˆj , kˆ are fixed, in general the basis vector
may be differentiable.
 Chapter 10 Vector Calculus
For two-dimensional plane polar coordinates
ĵ
(1) iˆ and ˆj are constant in magnitude and direction y
ê ê 
(2) eˆ  and eˆ have constant magnitudes but their
direction changes as  and  . iˆ

deˆ  d ˆ d ˆ 
eˆ   cos iˆ  sin ˆj    sin  i  cos  j  eˆ 
dt dt dt
deˆ d ˆ d ˆ x
ˆ
eˆ   sin i  cos j ˆ   cos  i  sin  j  eˆ 
dt dt dt

Ex : position vector r ( t )   ( t )eˆ  , find the velocity and acceleration
 d deˆ 
v ( t )  r ( t )  eˆ      eˆ   eˆ
dt dt
  d
a ( t )  v ( t )  (  eˆ   eˆ )
dt
.. ..
 eˆ  (    2 )  eˆ (    2   )
 Chapter 10 Vector Calculus
 Differentiation of composite vector expressions

d  da d 
(1) (a )    a
du du du
 
d    db da 
(2) ( a  b )  a   b
du du du
 
d    db da 
(3) ( a  b )  a   b
du du du
     
Ex : torque T  r  F , the angular momentum is L  r  m v
 
dL d   dr   d 
 (r  mv )   mv  r  (mv )
dt dt dt dt
      
 v  mv  r  F  r  F  T
 
  da ( s ) da ds
* if a vector a  a ( s ) and s  s( u)  
du ds du
 
  d    d a  da
* if a  a  a 2 is a constant  (a  a )  2a   0a 
du du du
 Chapter 10 Vector Calculus
10.2 Integration of vector

 dA ( u)    
a ( u)    a ( u)du  A( u)  b b is a constant vector
du
u2 
 a (u)du  A(u2 )  A(u1 )
u1
 
d 2r GMm  dr
Ex : Newton' s law of gravitation m  2
rˆ , show that r 
dt r dt
is a constant of the motion.

 d 2r GM 
r  2   2 r  rˆ  0
dt r
   
d  dr  d 2 r dr dr
(r  )  r  2   0
dt dt dt dt dt

 dr 
r  c is a constant vector
dt
  
for infinitesimal time interval dt  0  r  r  dr
 
  dA 1  dr | c |
the change in area is dA | r  dr | / 2 its changing rate  | r  |
dt 2 dt 2
 Chapter 10 Vector Calculus
10.3 Space curves

r ( u)  x ( u)iˆ  y( u) ˆj  z ( u)kˆ
  
dr ( u)  dxiˆ  dyˆj  dzkˆ  (ds ) 2  dr  dr  (dx ) 2  (dy ) 2  (dz ) 2
   
ds 2 dr dr ds dr dr
( )     
du du du du du du
 
u2 dr dr
The arc length is s    du
u1 du du

Ex: A curve lying in the xy-plane is given by y=y(x), z=0. Evaluate the arc
length along the curve between x=a and x=b.

 dr dy ˆ
Set u  x  r ( u)  uiˆ  y( u) ˆj   iˆ  j
du du
 
dr dr dy 2 b dy
  1  ( )  s   1  ( ) 2 dx for u  x
du du du a dx
 Chapter 10 Vector Calculus

 dr
If a curve C is described by r ( u), is a vector tangent to C
du 
r (u)
at that point in the direction of increasing u.

dr ˆ
If u is the arc length (s) along the curve,  t is a unit tangent 
ds dr ˆ
t
vector to C at a given point. ds
(1) Curvature : the changing rate of the unit tangent vector tˆ
 C
dtˆ d 2 r
with respect to s   | || 2 | z n̂
ds ds
The radius of curvature   1 / 
b̂
dtˆ dtˆ tˆ
ˆ ˆ ˆ
| t | 1  t   0 , t 
ds ds 
dtˆ r (u)
 nˆ nˆ is the principal normal vector
ds x y
bˆ  tˆ  nˆ binormal vector
 tˆ , nˆ and bˆ form a right - handed retangular cordinate system.
Chapter 10 Vector Calculus
ˆ ˆ dbˆ ˆ dbˆ
(2) | b | 1  b   0b 
ds ds
d dbˆ dtˆ dbˆ dbˆ dbˆ
ˆ ˆ
for b  tˆ  0  0  (b  tˆ )  ˆ
 tˆ  b   ˆ
 tˆ  b  nˆ   tˆ  tˆ 
ds ds ds ds ds ds
dbˆ ˆ d ˆ
b
perpendicular to b and tˆ   nˆ
ds ds
dbˆ dbˆ
 nˆ     nˆ  the torsion of a curve
ds ds
1
  the radius of the torsion

(3) nˆ  bˆ  tˆ
dnˆ dbˆ ˆ ˆ dtˆ
  t  b   nˆ  tˆ  bˆ  nˆ  bˆ  tˆ
ds ds ds

Frenet-Serret dtˆ dnˆ dbˆ

 nˆ  bˆ  tˆ  nˆ
formula: ds ds ds
 Chapter 10 Vector Calculus
Ex : Show that the acceleration of a travelling along a trajectory
  dv ˆ v 2
r ( t ) is given by a ( t )  t  nˆ
dt 
v : the speed of the particle tˆ : the unit tangent to the trajectory
nˆ : the principal normal  : the radius of curvature
  dv ˆ
 dr dr ds ds ˆ t
v (t )    t  vtˆ dt
dt ds dt dt

 dv d ˆ dv ˆ dtˆ
a(t )   (vt )  t v
dt dt dt dt v2
dtˆ ds dtˆ v dv ˆ v 2 nˆ


 vnˆ  nˆ  a ( t )  t  nˆ 
dt dt ds  dt 
dv ˆ
t : tangential acceleration
dt
v2
nˆ : centripetal acceleration

 Chapter 10 Vector Calculus
 
  dr dr du
For a curve r ( u), u is some parameter v  
dt du dt
    2  
 dv d dr du d dr du dr d u d dr du du dr d 2 u
a  ( )  [ ( )]  [ ( ) ] 
dt dt du dt dt du dt du dt 2 du du dt dt du dt 2
 
d 2 r du 2 dr d 2 u
 2( ) 
du dt du dt 2

10.4 Vector functions of several arguments

 
(1) If a  a ( u1 , u2 ,.....un ), ui is also a function of ui (v1 , v 2 ,...v n )
    
a a u1 a u2 a un n
 a u j
   ......  
v i u1 v i u2 v i un v i j  1 u j v i

(2) If a is an explicit function of v and scalars u j  u j (v )
  
da a n a u j
 
dv v j 1 u j v
(3) The differenti al of a vector dependent variables u1 , u2 ,...un
   
 a a a n
a
da  du1  du2  .....  dun   du j
u1 u2 un j  1 u j
 Chapter 10 Vector Calculus
10.5 Surface
In Cartesian coordinate the surface equation is :

(1) r ( u, v )  x ( u, v )iˆ  y( u, v ) ˆj  z ( u, v )kˆ
(2) z  f ( x , y )
(3) g ( x , y , z )  0

(4) z  f ( x , y )  r ( u, v )  uiˆ  vˆj  f ( u, v )kˆ

For a parameter  , any curve r ( ) on the
surface can be represented by
 
u  f ( ) and v  g ( )  r ( )  r ( u( ), v ( ))
  
 dr r du r dv
The vector tangent to r ( ) is  
d u d v d
u  c1 and v  c2 are called coordinate curves.

r
(a) is the tangent vector of curve u  c1
v

r
(b) is the tangent vector of curve v  c2
u
 Chapter 10 Vector Calculus
 
r r
 If and are linearly independen t, we can use the two vectors
u v
to define the tangent plane T at the point P.
 
 r r
 For a point P on the smooth surface S, a normal vector is n  
 u v

 In the neighbourh ood of P, an infinitesi mal vector displaceme nt dr is
 
 r r
dr  du  dv
u v
 The element of area at P is an infitesima l parallelog ram
   
r r r r 
dS | du  dv ||  | dudv | n | dudv
u v u v
 Total area
 
r  r 
A   dS   |  | dudv   | n | dudv
R u v R
 Chapter 10 Vector Calculus

Ex: Find the element of area on the surface of a sphere of radius a,

and hence calculate the total surface area of the sphere.

r ( ,  )  a sin  cos iˆ  a sin  sin ˆj  a cos kˆ
(1) The vector tangent to the curve   c1 is

r
 a cos  cos iˆ  a cos  sin ˆj  a sin kˆ

(2) The vector tangent to the curve   c2 is

r
  a sin  sin iˆ  a sin  cos ˆj


  iˆ ˆj kˆ
 r r
Normal vector n    a cos  cos  a cos  sin   a sin 
  
 a sin  sin  a sin  cos  0
  2
| n | a sin   dS  a sin dd  A    a 2 sin dd  4a 2
2 2
0 0
 Chapter 10 Vector Calculus
10.7 Vector operator
 Gradient of a scalar field

  ˆ  ˆ 
del   iˆ j k in Cartesian coordinate
x y z
  ˆ   ˆ 
 For a scalar field  ( x , y , z )  grad     iˆ j k
x y z
  
 The change in  from r to r  dr
   ˆ   ˆ  ˆ
  dr  ( iˆ j k )  ( i dx  ˆjdy  kˆdz )
x y z
  
 dx  dy  dz  d
x y z

  d  dr
 If r  r ( u), u is a parameter   
du du
 If u  s , the arc length along the curve

d  dr  ˆ ˆ
      t t is the unit tangent vector
ds ds
 Chapter 10 Vector Calculus
 The changing rate of  with respect to the

distance s in a particular vector a is
d    d 
   aˆ |  | cos   |  | |  |
ds ds
 d 
 || aˆ (  0)  ( )max |  |
ds

Ex: For a function   x 2 y  yz at a point (1,2-1), find its rate


of change with distance in the direction a  iˆ  2 ˆj  3kˆ . At the
same point, what is the greatest possible rate of change with
distance and in which direction does it occur?

  2 xyiˆ  ( x 2  z ) ˆj  ykˆ  4iˆ  2kˆ at point (1,2,1)

a 1 ˆ ˆ ˆ d  1 10
(1) a   
ˆ ( i  2 j  3k )     aˆ  ( 4  6) 
|a | 14 ds 14 14

ˆ ˆ d 
(2) In the direction   4i  2k  ( )max |  | 20
ds
 Chapter 10 Vector Calculus
 The rate of change of a vector (or scalar) field with distance in the
direction of aˆ could be found by the scalar differenti al operator
   
aˆ    a x  ay  az
x y z
      
Ex : the change in electric field from r to r  dr  dE  (dr   ) E

d
 If  ( x , y , z )  c (constant)   0 and
ds
d  dx  dy  dz  ˆ  ˆ  ˆ dx ˆ dy ˆ dz
    ( iˆ j k )  (i  j k )
ds x ds y ds z ds x y z ds ds ds
 dr  
      t  0    tˆ
ˆ
ds
(1) tˆ is a tangent vector to this surface at some point
 
(2)   nˆ is a normal vector to the surface  ( x , y , z )  c at every points.
n
 
(3) |  | changing rate along nˆ , is called normal derivative.
n
 Chapter 10 Vector Calculus
Ex: Find the expression for the equations of the tangent plane and the line normal
to the surface  ( x , y , z )  c at the point P with the coordinates x0 , y0 , z0 . Use the
results to find the equations of the tangent plane and the line normal to the
surface of the sphere   x 2  y 2  z 2  a 2 at the point (0,0, a ) .

(1) Point P at r  x0 iˆ  y0 ˆj  z0 kˆ
 
Normal vector  | x0 , y0 , z0  n0 z
  
The tangent surface ( r  r0 )  n0  0
 n̂0 za
(2) If r is on the straight line passing through P along (0,0, a )
   
n0  ( r  r0 )  n0  0
(3) For the surface   x 2  y 2  z 2  a 2 a
 y
  2 xiˆ  2 yˆj  2 zkˆ  2akˆ (at (0,0, a )) x
 
The tangent plane is ( r  r0 )  2akˆ  0  2a ( z  a )  0  z  a
(4) The line normal the sphere at (0,0, a)
 
( r  r )  2akˆ  0  ( xiˆ  yˆj  ( z  a )kˆ )  2akˆ  0
0

 2ayiˆ  2axˆj  0  x  y  0 is the z axis

 Chapter 10 Vector Calculus
 Divergence of a vector field

   a  a y a z
div a    a  x  
x y z

If   a  0  Solenoidal

Ex :V ( x , y , z ) is a local velocity in a fluid
 
  V is the net rate of outflow of fluid per unit volume

 Scalar differential operator

2 2 2
  2 2 2
2

x y z
 
     2 the Laplacian of 
Ex : Find the Laplacian of the scalar field   xy 2 z 3
 2  2 xz 3  6 xy 2 z
 Chapter 10 Vector Calculus
 Curl of a vector

    a  a y ˆ a x a x ˆ a y  a x ˆ
curl a    a  ( z  )i  (  )j(  )k
y z z x x y
iˆ ˆj kˆ
    
 If   a  0  Irrotation al
x y z
ax ay az


Ex : a  x 2 y 2 z 2 iˆ  y 2 z 2 ˆj  x 2 z 2 kˆ
iˆ ˆj kˆ
    
a   iˆ (0  2 zy 2 )  ˆj ( 2 xz 2  2 zx 2 y 2 )  kˆ (0  2 yx 2 z 2 )
x y z
x2 y2z2 y2z2 x2z2
 - 2[ y 2 ziˆ  ( xz 2  x 2 y 2 z ) ˆj  x 2 yz 2 kˆ ]
 Chapter 10 Vector Calculus
  
If v ( x , y , z ) is the local velocity in a fluid,   v is related to the
angular velocity of the fluid in the neighborhood of that point.
 
A small paddle wheel rotate    v  0
 
doesnot rotate    v  0

    
Ex : If r is the position vector and   kˆ , then v    r .

v  (kˆ )  ( xiˆ  yˆj  zkˆ )  xˆj  yiˆ
iˆ ˆj kˆ
     
v   2kˆ  2
x y z
 y  x 0
 Chapter 10 Vector Calculus

Useful formulas:
  
(1)  (   )    
      
(2)   (a  b )    a    b
      
(3)   (a  b )    a    b
  
(4)  ( )    
              
(5)  (a  b )  a  (  b )  b  (  a )  (a   )b  (b   )a
     
(6)   (a )    a  a  
        
(7)   (a  b )  b  (  a )  a  (  b )
    
(8)   (a )    a    a
             
(9)   (a  b )  a (  b )  b (  a )  (b   )a  (a   )b
 Chapter 10 Vector Calculus
10.8 Vector operator formula
     
Ex : Show that   (a )    a    a

 
[  (a )]k    i (a j ) ijk    ijk [ i a j  a j  i ]
i, j i, j

    i a j  ijk    ijk ( ) i a j
i, j i, j
   
 (   a ) k   (  a ) k

Useful special cases:

 
r  xiˆ  yˆj  zkˆ is a position vector | r | r  ( x 2  y 2  z 2 )1 / 2
 d
(1)  ( r )  rˆ
dr
  ˆ  ˆ  ˆ d r ˆ d r ˆ d r ˆ
 ( r )  i j k i j k
x y z dr x dr y dr z
d ( xiˆ  yˆj  zkˆ ) d
  rˆ
dr r dr
 Chapter 10 Vector Calculus
     
(2) [ ( r )r ]    r  r  
 x  y  z  d d ( r )
 (   ) r  rˆ  3 ( r )  r
x  y  z dr dr
  x  y  z
(3)   rˆ  ( ) ( ) ( )
x x 2  y 2  z 2 y x 2  y 2  z 2  x2  y2  z2
 2 1 / 2 1 x2
for the 1st term : [ x( x  y  z ) ]   3 another terms are similar
2 2

x r r
 3 x2  y2  z2 3 1 2
  rˆ     
r r3 r r r
   d d   d 2 d ( r ) d 2 ( r )
(4)   ( r )    ( ( r ))    ( rˆ ) 
2
(  rˆ )  ( )  rˆ  
dr dr dr r dr dr 2
 d  d x  d y  d z
for the 2nd term : ( )  rˆ  ( )  ( )  ( )
dr x dr r y dr r z dr r
d 2 r x d 2 r y d 2 r z
( 2 ) ( 2 ) ( 2 )
dr x r dr y r dr z r
d 2 x 2  y 2  z 2 d 2
 2( 2
) 2
dr r dr
 Chapter 10 Vector Calculus
     
(5)   [ ( r )r ]    r    r  0
iˆ ˆj kˆ
     z  y z x y x
(a)   r   iˆ (  )  ˆj (  )  kˆ (  )  0
x y z y z  x z  x y
x y z

iˆ ˆj kˆ
     ˆ      
(b)   r   i (z  y )  ˆj ( z  x )  kˆ ( y x )
x y z y z x z x y
x y z
  d  r x d   y d   z d
for    
x dr x r dr y r dr z r dr
  y d z d x d z d x d y d
   r  iˆ ( z y )  ˆj ( z x )  kˆ ( y x )0
r dr r dr r dr r dr r dr r dr

 r ˆj r  kˆ r  iˆ x  ˆj y  kˆ z  1 ( xiˆ  yˆj  zkˆ )  rˆ

(6) r  iˆ 
x y z r r r r
 Chapter 10 Vector Calculus
 
(7)   r  3
 1 rˆ
(8)  ( )   2
r r
 rˆ   1 1
(9)   ( 2 )    (  )   2 ( )  4 ( r )
r r r
 ( r ) is Dirac delta function
 ( x  x0 )  0 for x  x0
b
a
f ( x ) ( x  x0 )dx  f ( x0 ) if x0  [a , b]
0 if x0  [a , b]
 Chapter 10 Vector Calculus
Combinations of grad, div, and curl

 : scalar field a : vector field
 
(1)   ( )  0
iˆ ˆj kˆ
 
  (   )   / x  / y  / z
 /  x   /  y   /  z

ˆ  2  2 ˆ  2  2 ˆ  2  2
 i(  )  j(  )  k(  )0
yz zy  z x  x  z xy yx
  
(2)   (  a )  0
 /  x  / y  /  z
  
  (   a )   /  x  / y  /  z  0
ax ay az
      
(3) a      a    ( )  0 a is irrotation al
        
(4) b    a    b    (  a )  0 b is solenoidal
 Chapter 10 Vector Calculus
   2  2  2
(5)   ( )     2  2  2
2

x y z
    ˆ  ˆ   a x a y a z
(6)  (  a )  ( iˆ j  k )(   )
x y z x y z
 2
a  2
a  2
a  2
a  2
a  2
a  2
a  2
a  2
az
 iˆ ( 2  )  ˆj ( ˆ(
y y y
x
 z x
  z
)  k x
  )
x  x y  x z yx y 2 yz zx zy z 2
      
(7)   (  a )   (  a )   2 a
 2 2 2
 a  ( 2  2  2 )(a x iˆ  a y ˆj  a z kˆ )
2

x y z
Note : In Cartesian coordinates, the unit vector are constant, so the operator  2
does not act on them.
In cylindrical and spherical coordinates, the unit vectors are not constant
, so  2 can act on them.

       
(8)   (   )    (   )    (   )  0
 Chapter 10 Vector Calculus
10.9 Cylindrical and spherical polar coordinates

A. Cylindrical polar coordinates

x   cos  y   sin  z  z
0 0    2  z  

for point P : r   cos iˆ   sin ˆj  zkˆ

 r
e   cos iˆ  sin ˆj eˆ   cos iˆ  sin ˆj


 r
e     sin iˆ   cos ˆj eˆ   sin iˆ  cos ˆj


 r ˆ
ez  k eˆ z  kˆ
z
  
 r r r
dr  d  d  dz
  z
  
 de   de  dze z  deˆ   deˆ  dzeˆ z
Chapter 10 Vector Calculus
Position from (  ,  , z ) to (   d ,   d , z  dz )
The change of the distance along
(1) eˆ  is d (2) eˆ is d (3) eˆ z is dz
Scale factors are h  1, h   , and hz  1
along directions eˆ  , eˆ , and eˆ z , respective ly.
 
ds  (ds ) 2  (dr  dr )1 / 2  [(d ) 2   2 ( d ) 2  (dz ) 2 ]1 / 2
The area in x - y plane is dA  dd
The volume element is
dV | deˆ   ( deˆ  dzeˆ z ) | dddz


For a scalar field (  ,  , z ), and a vector field a  a  eˆ   a eˆ  a z eˆ z
  1  
(1)   eˆ   eˆ  eˆ z
   z
  1  1 a a z
(2)   a  ( a  )  
    z
 Chapter 10 Vector Calculus

eˆ  eˆ eˆ z
  1   
(3)   a 
   z
a a az
1   1  2  2
(4)   
2
( ) 2  2
     2
z


Ex : a  yziˆ  yˆj  xz 2 kˆ expressed in cylindrical coordinates
eˆ   cos iˆ  sin ˆj eˆ   sin iˆ  cos ˆj eˆ z  kˆ
iˆ  cos eˆ   sin eˆ ˆj  sin eˆ   coseˆ kˆ  eˆ z
x   cos  y   sin  z  z

The above are put into vector a .
Chapter 10 Vector Calculus
B. Spherical polar coordinates
x  r sin  cos  y  r sin  sin  z  r cos 
r0 0  0    2

r  r sin  cos iˆ  r sin  sin ˆj  r cos kˆ

 r
er   sin  cos iˆ  sin  sin ˆj  cos kˆ
r

 r
e   r cos  cos iˆ  r cos  sin ˆj  sin kˆ


 r
e    r sin  sin iˆ  r sin  cos ˆj

  
| er | 1 | e | r | e | r sin 

eˆ r  e r  sin  cos iˆ  sin  sin ˆj  cos kˆ
 
eˆ  e / | e | cos cos iˆ  cos  sin ˆj  sin kˆ
 
eˆ  e / | e |  sin iˆ  cos ˆj
 Chapter 10 Vector Calculus
Displacement :
  
 r r r
dr  dr  d  d
r  
  
 dre r  de  de
 dreˆ r  rdeˆ  r sin deˆ

Magnitude of displacement :
 
ds  (ds ) 2  dr  dr
 (dr ) 2  r 2 (d ) 2  r 2 sin 2  (d ) 2

The area element on the surface of a sphere with a radius a

dA | a sin deˆ  adeˆ | a 2 sin dd

The volume element :

dV | dreˆr  ( rdeˆ  r sin deˆ ) | r 2 sin drdd
 Chapter 10 Vector Calculus

A scalar field ( r , ,  ), a vector field a  a r eˆ r  a eˆ  a eˆ

  1  1 
(1)   eˆ r  eˆ  eˆ
r r  r sin  
  1  2 1  1 a
(2)   a  2 (r ar )  (sin a ) 
r r r sin   r sin  
eˆ r eˆ eˆ
  1   
(3)   a  2
r sin  r  
ar ra r sin a
1  2  1   1  2
(4)    2
2
(r ) 2 (sin  ) 2 2
r r r r sin    r sin   2
 Chapter 10 Vector Calculus
10.10 General curvilinear coordinate
x  x( u1 , u2 , u3 ) y  y( u1 , u2 , u3 ) z  z ( u1 , u2 , u3 )
u1  u1 ( x , y , z ) u2  u2 ( x , y , z ) u3  u3 ( x , y , z )

r ( u1 , u2 , u3 ) is the position vector at point P

 r
e1  a vector tangent to u1 - curve at P
u1

 r
e2  a vector tangent to u2 - curve at P
u2

 r
e3  a vector tangent to u3 - curve at P
u3
  
| e1 | h1 | e2 | h2 | e3 | h3
  
1 r 1 r 1 r
Unit vectors : eˆ1  eˆ2  eˆ3 
h1 u1 h2 u2 h3 u3
  
r r r
Scale factors : h1 | | h2 | | h3 | |
u1 u2 u3
 Chapter 10 Vector Calculus
The distance element of changing dui is hi du1
Cylindrical coordinate : h  1 h   hz  1
Spherical coordinate : hr  1 h  r h  r sin 
  
 r r r
dr  du1  du2  du3
u1 u2 u3
  
 du1e1  du2e2  du3e3
 h1du1eˆ1  h2du2eˆ 2  h3du3eˆ 3

For orthogonal curvilinear coordinates, eˆi are mutually

perpendicular, the element of arc length is
 
(ds )2  dr  dr  h12 (du1 )2  h22 (du2 )2  h32 (du3 )2
The infinitesimal parallelpiped defined by the vector

r 
( )dui  dui ei  hi dui eˆ i for i  1,2,3
ui
  
The volume element is dV | du1e1  (du2e2  du3e3 ) |
| h1du1eˆ1  ( h2du2eˆ 2  h3du3eˆ3 ) | h1h2 h3du1du2du3
 Chapter 10 Vector Calculus

Another useful three unit vectors :


u
ˆ1   1 normal to the surface u1  c1
| u1 |

u2
ˆ2   normal to the surface u2  c2
| u2 |

u
ˆ3   3 normal to the surface u3  c3
| u3 |

 r
Two sets of vectors : ei 
ui
 
 i  ui
      
a   1e1   2e2   3e3   1 1   2 2   3 3
  
r r r   
 1  2  3   1u1   2u2   3u3
u1 u2 u3
 Chapter 10 Vector Calculus
 
{ei } and { i } are reciprocal system of vectors

  r 
ei   j   u j
ui
x ˆ y ˆ z ˆ u j ˆ u j ˆ u j ˆ
( i j k) ( i j k)
ui ui ui x y z
 x u j y u j  z u j  u j
   
ui x ui y ui z ui
 
 ei   j  1 if i  j
 0 otherwise
 Chapter 10 Vector Calculus
 Gradient
  
d  du1  du2  du3
u1 u2 u3
  
   dr    ( h1du1iˆ  h2du2 ˆj  h3du3 kˆ )
 1  1  1 
   eˆ1  eˆ2  eˆ3
h1 u1 h2 u2 h3 u3

 Divergence

a  a1eˆ1  a2eˆ2  a 3eˆ 3
  1   
a  [ ( h2 h3a1 )  ( h3 h1a 2 )  ( h1h2a 3 )]
h1h2 h3 u1 u2 u3
Proof:
 
eˆ1  eˆ2  eˆ3  h2u2  h3u3
   
  (a1eˆ1 )    (a1h2 h3u2  u3 )
     
  (a1h2 h3 )  (u2  u3 )  a1h2 h3  (u2  u3 )
 Chapter 10 Vector Calculus
    
From eq. 10.43   (   )  0    (u2  u3 )  0
  eˆ 2 eˆ 3  eˆ1
  (a1e1 )   (a1h2 h3 )  (  )   (a1h2 h3 ) 
ˆ
h2 h3 h2 h3
1 
 (a1h2 h3 )
h1h2 h3 u1
 
the same for   (a2eˆ2 ) and   (a 3eˆ3 )
 1   1 
   (a2eˆ2 )  ( h3 h1a2 ) and   (a 3eˆ3 )  ( h1h2a 3 )
h1h2 h3 u2 h1h2 h3 u3

 Laplacian

  1  1  1 
a    eˆ1  eˆ2  eˆ3
h1 u1 h2 u2 h3 u3
2   1  h2 h3   h3 h1   h1h2 
   a  [ ( ) ( ) ( )]
h1h2 h3 u1 h1 u1 u2 h2 u2 u3 h3 u3
 Chapter 10 Vector Calculus

 Curl
h1eˆ1 h2 eˆ2 h3eˆ 3
   1   
a  a1e1  a 2 e2  a 3e3    a 
ˆ ˆ ˆ
h1h2 h3 u1 u2 u3
h1a1 h2a2 h3a 3
Proof:
      
  (a1eˆ1 )    (a1h1u1 )   (a1h1 )  u1  a1h1  u1
 eˆ
  (a1h1 )  1
h1
1  1  1  eˆ
[ (a1h1 )eˆ1  (a1h1 )eˆ2  (a1h1 )eˆ3 ]  1
h1 u1 h2 u2 h3 u3 h1
eˆ  eˆ 
 2 (a1h1 )  3 (a1h1 )
h3 h1 u3 h1h2 u2
 
the same for   (a2e2 ) and   (a 3eˆ3 )
ˆ