Advanced
Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
Advanced Mathematics calculus
Integral vector
Vector Analysis theorems
Diego Medoza, PhD.1
1 Programof Master in Mechanical Engineering
Universidad Autónoma del Caribe
March 24, 2017
Advanced
Outline Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
Vector algebra theorems
Differential vector calculus
Integral vector theorems
Advanced
Vectors Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
Definition
From a geometrical point of view a vector is a segment of a
line with magnitude and direction.
Two vectors are equal if they have the same magnitude and
direction.
Advanced
Operation: Addition Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
a+b = c
a+b = b+a
a + (−b) = a − b
a+0 = a
(a + b) + c = a + (b + c) = (a + c) + b
Advanced
Operation: Scalar multiplication Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
α( βa) = (αβ)a
(α + β)a = αa + βa
α(a + b) = αa + αb
1a = a
Advanced
Unit vectors Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Unit vectors are those who have a length (norm) of one Integral vector
theorems
a
â = , ∀ kak > 0
kak
â has the same direction that a, so any vector a can
be represented as the product of its norm (scalar) and
its unit vector
a = kakâ
Advanced
Unit rectangular vectors Mathematics
Diego Medoza,
PhD.
Vector algebra
An important unit vector set are denoted by î, ĵ, k̂. They Differential vector
calculus
have the same direction of the x, y , z axis. Integral vector
theorems
Advanced
Components and norm of a vector Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
a = a1 î + a2 ĵ + a3 k̂ Integral vector
theorems
a = a1 ê1 + a2 ê2 + a3 ê3
q
kak = a12 + a22 + a32
where
î = [1, 0, 0] ĵ = [0, 1, 0] k̂ = [0, 0, 1]
ê1 = [1, 0, 0] ê2 = [0, 1, 0] ê3 = [0, 0, 1]
Advanced
Linear independence Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Vectors a1 , . . . , an are linearly dependent if there exist Integral vector
scalars a1 , . . . , an , not all equal to zero such that theorems
a1 a1 + · · · + an an = 0
I Two or more vectors are linearly dependent if and only
if one of them is a linear combination of the other.
I Vectors a and b are linearly dependent if and only if one
is multiple of the other.
Advanced
Scalar field Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
A scalar field is defined by a scalar function φ(x, y , z, t )
which depends on variables x, y , z, t on a region D.
An example of this if the temperature distribution on the
earth’s surface.
Advanced
Vector field Mathematics
Diego Medoza,
PhD.
A vector field is defined by a vector function
Vector algebra
v(x, y , z, t ) which depends on variables x, y , z, t on a
region D. Differential vector
calculus
Integral vector
theorems
An example of this if the velocity distribution on a fluid flow.
Advanced
Angle and dot product Mathematics
Diego Medoza,
PhD.
Vector algebra
a · b ≡ kakkbk cos θ Differential vector
calculus
0≤θ≤π Integral vector
theorems
vectors a and b are orthogonal if
a·b = 0 a, b 6= 0
Advanced
Properties of dot product Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
Commutative a·b = b·a
Nonnegative a · a > 0 ∀ a 6= 0
a · a = 0 if a = 0
Linear (αa + βb) · w = α(a · w) + β(b · w)
Advanced
Cross product Mathematics
Diego Medoza,
PhD.
Vector algebra
a × b ≡ kakkbk sin θ ê Differential vector
calculus
0≤θ≤π Integral vector
theorems
vectors a and b are parallel if
a×b = 0 a, b 6= 0
If we use cartesian coordinates, we can compute the cross
product from the following determinant
î ĵ ĵ
a × b = a1 a2 a3
b1 b2 b3
Advanced
Properties of cross product Mathematics
Diego Medoza,
PhD.
Anticommutative : a × b = −(b × a) Vector algebra
Differential vector
Associative : (αa) × b = α(a × b) calculus
Distributive : (a + b) × w = a × w + b × w Integral vector
theorems
Linear : (αa + βb) × w = α(a × w) + β(b × w)
The magnitude of a × b represents the area of parallelogram
formed by a and b
Advanced
Scalar triple product Mathematics
Diego Medoza,
PhD.
a · (b × w ) Vector algebra
Differential vector
calculus
a1 a2 a3 Integral vector
theorems
a · (b × w) = b1 b2 b3
w1 w2 w3
The geometric meaning if the volume of the a, b, w
parallelepiped.
Advanced
Vector triple product Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
a × (b × w ) = (a · w )b − (a · b)w
Advanced
n-space vectors Mathematics
Diego Medoza,
consider two vectors: PhD.
Vector algebra
u = (u1 , u2 , . . . , un ), v = (v1 , v2 , . . . , vn )
Differential vector
calculus
The scalars, u1 , u2 , . . . , un ; v1 , v2 , . . . , vn are called the Integral vector
theorems
components of u, v, and they are said to be equal if:
u1 = v1 , . . . , un = vn
and we define
u + v ≡ (u1 + v1 , . . . , un + vn ) addition
αu ≡ (αu1 , . . . , αun ) scalar multiplication
0 ≡ (0, . . . , 0) zero vector
−u ≡ (−1)u negative inverse
u − v ≡ u + (−v)
Advanced
Mathematics
From these definitions we ay deduce the following properties
Diego Medoza,
PhD.
Vector algebra
u+v = v+u communtativity Differential vector
calculus
(u + v ) + w = u + (v + w ) associativity
Integral vector
u+0 = u theorems
u + (−u) = 0
α( βu) = (αβ)u associativity
(α + β)u = αu + βu distributivity
α(u + v) = αu + αv distributivity
1u = u
0u = 0
(−1)u = −u
α0 = 0
Advanced
Dot product, norm and angle for n-space Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
n
u · v ≡ u1 v1 + · · · + un vn = ∑ uj vj Integral vector
theorems
j =1
s
√ n
kuk = u·u = ∑ uj2
j =1
u·v
−1
θ = cos
kukkvk
u·v
−1 ≤ ≤ 1 or |u · v| ≤ kukkvk
kukkvk
Advanced
Properties of dot product Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
Commutative u·v = v·u
Nonnegative u · u > 0 ∀ u 6= 0
u · u = 0 if u = 0
Linear (αu + βv) · w = α(u · w) + β(u · w)
Advanced
Parametric curves Mathematics
Diego Medoza,
Bodies that move in space form paths that may be PhD.
represented by curves C . This and other applications show Vector algebra
the need for parametric representations of C with parameter Differential vector
t, which may denote time or something else. calculus
A typical parametric representation is given by Integral vector
theorems
r(t ) = [x (t ), y (t ), z (t )] = x (t )î + y (t )ĵ + z (t )k̂.
Advanced
The circle x 2 + y 2 = 4, z = 0 in the xy-plane with center 0 Mathematics
and radius 2 can be represented parametrically by Diego Medoza,
PhD.
r(t ) = [2 cos t, 2 sin t, 0] Vector algebra
Differential vector
calculus
where 0 ≤ t ≤ 2π
Integral vector
theorems
Advanced
Differentiation of a vector function of a single Mathematics
Diego Medoza,
variable PhD.
Let r(t ) a vector which depends on a scalar t, then the Vector algebra
derivative of r with respect to t is Differential vector
calculus
dr r(t + ∆t ) − r(t ) Integral vector
r0 = = lim theorems
dt ∆t →0 ∆t
This derivative represents the tangent to a curve r.
Advanced
Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
The unit tangent vector to the curve r is theorems
r0
u=
kr 0 k
Advanced
Position, velocity and acceleration vectors Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
r(t ) = x (t )î + y (t )ĵ + z (t )k̂ theorems
dr dx dy dz
v= = î + ĵ + k̂
dt dt dt dt
2
d r 2
d x 2
d y d 2z
a = 2 = 2 î + 2 ĵ + 2 k̂
dt dt dt dt
These expressions are actively used in kinematics of
particles (solids and fluids).
Let a, b, c differentiable vector functions of an scalar t, and Advanced
Mathematics
φ a scalar differentiable function of t, then they obey the Diego Medoza,
following laws PhD.
Vector algebra
Differential vector
d da db calculus
(a + b) = + Integral vector
dt dt dt theorems
d db da
(a · b)= a· +b·
dt dt dt
d db da
(a × b) = a× + ×b
dt dt dt
d da d φ
(φa) =φ + a
dt dt dt
d dc db da
(a · (b × c)) = a · b × +a· ×c+ ·b×c
dt dt dt dt
d dc db
(a × (b × c)) = a × (b × ) + a × ( xc)+
dt dt dt
da
× (bxc)
dt
Advanced
Partial derivatives Mathematics
Diego Medoza,
PhD.
Vector algebra
Let a be a vector depending on x, y , z, the partial derivative
Differential vector
of a with respect to x is, when the limit exists: calculus
Integral vector
∂a a(x + ∆x, y , z ) − a(x, y , z ) theorems
= lim
∂x ∆x →0 ∆x
in similar fashion we define the partial derivatives with
respect to y and z
∂a a(x, y + ∆y , z ) − a(x, y , z )
= lim
∂y ∆y →0 ∆x
∂a a(x, y , z + ∆z ) − a(x, y , z )
= lim
∂z ∆z →0 ∆z
Advanced
Mathematics
we may define partial derivatives of order superior, for Diego Medoza,
PhD.
example:
Vector algebra
Differential vector
∂2 a ∂ ∂a ∂2 a ∂ ∂a ∂2 a ∂ ∂a calculus
2
= 2
= 2
= Integral vector
∂x ∂x ∂x ∂y ∂y ∂y ∂z ∂z ∂z theorems
2
∂ a ∂ ∂a 2
∂ a ∂ ∂a 3
∂ a ∂ ∂2 a
= = =
∂x ∂y ∂x ∂y ∂y ∂x ∂y ∂x ∂x ∂z 2 ∂x ∂z 2
The differentialtion order is irrelevant, so:
∂ ∂a ∂ ∂a
=
∂x ∂y ∂y ∂x
A function is said C n continuous if it has continuous
derivatives up to order n.
Advanced
Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
Let a, b vector functions of x, y and z, then they obey the calculus
following rules Integral vector
theorems
∂ ∂b ∂a
(a · b) = a · +b·
∂x ∂x ∂x
∂ ∂b ∂a
(a × b) = a × + ×b
∂x ∂x ∂x
Advanced
Mathematics
Diego Medoza,
PhD.
Let a, b vector functions of x, y and z, then they obey the
following laws: Vector algebra
Differential vector
calculus
1. If a = a1 î + a2 ĵ + a3 k̂, so Integral vector
da = da1 î + da2 ĵ + da3 k̂ theorems
2. d (a · b) = a · db + b · d (a)
3. d (a × b) = a × db + da × b
4. if a(x, y , z ), then
∂a ∂a ∂a
da = dx + dy + dz
∂x ∂y ∂z
and so on.
Advanced
The chain rule Mathematics
Diego Medoza,
PhD.
Theorem
Vector algebra
Let f (x, y ), fx (x, y ) and fy (x, y ) be continuous at each
Differential vector
point of an open region R in the xy -plane. And let calculus
x = x (t ), y = y (t ) be differentiable functions of t over Integral vector
theorems
some open interval T on the axis t, such that the point
(x (t ), y (t )) is in R whenever t is in T . Then the composite
function f (x (t ), y (t )) ≡ F (t ) is a differentiable function of
t in all T and
dF ∂f dx ∂f dy
= +
dt ∂x dt ∂y dt
In general if f (x1 (t ), . . . , xn (t )) ≡ F (t )
dF ∂f dx1 ∂f dxn
= +···+
dt ∂x1 dt ∂xn dt
Advanced
Gradient, divergence and curl Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Let define the differential operator del or nabla, ∇, Integral vector
theorems
∂ ∂ ∂
∇= î + ĵ + k̂
∂x ∂y ∂z
This operator has analogous properties of a common vector.
So we may operate it on a scalar or a vector field as well as
defining dot and cross products.
Advanced
Gradient Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Let φ(x, y , z ) a differentiable scalar field, then the gradient Integral vector
theorems
of φ(x, y , z ) is
∂ ∂ ∂ ∂φ ∂φ ∂φ
∇φ = î + ĵ + k̂ φ = î + ĵ + k̂
∂x ∂y ∂z ∂x ∂y ∂z
Observe that ∇φ is a vector field.
Advanced
Divergence Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
In this case ∇ operates on a vector v = v1 î + v2 ĵ + v3 k̂ to Integral vector
produce a scalar theorems
∂ ∂ ∂
∇·v = î + ĵ + k̂ · (v1 î + v2 ĵ + v3 k̂)
∂x ∂y ∂z
∂v1 ∂v2 ∂v3
= + +
∂x ∂y ∂z
Advanced
Curl Mathematics
Diego Medoza,
PhD.
Vector algebra
Here ∇ operates on a vector v = v1 î + v2 ĵ + v3 k̂ to produce Differential vector
a vector calculus
Integral vector
theorems
∂ ∂ ∂
∇×v = î + ĵ + k̂ × (v1 î + v2 ĵ + v3 k̂)
∂x ∂y ∂z
î ĵ k̂
∂ ∂ ∂
= ∂x ∂y ∂z
v
1 v2 v3
∂v3 ∂v2 ∂v1 ∂v3 ∂v2 ∂v1
= − î + − ĵ + − k̂
∂y ∂z ∂z ∂x ∂x ∂y
Advanced
Invariance Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
The gradient, divergence and rotational are invariant with
respect to coordinate transformation.
Advanced
Integral theorems Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
There are three main integral theorems
1. Gauss divergence theorem: It relates volume and area
integrals.
2. Stoke’s theorem: Relates surface and line integrals.
3. Green’s theorem: Relates surface and line integrals.
Advanced
Divergence theorem Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
theorems
It relates volume of a region with the surface that encloses
that region. Z Z
∇ · adV = a · ndS
V S
Here n is the normal pointing outward the surface.
Advanced
Stoke’s theorem Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Integral vector
Let S be an two-side open surface, limited by a closed curve
theorems
(simple), let a a vector function with continuous derivatives
Z Z
a · dr = (∇ × a) · ndS
C S
Here C runs in positive direction.
Advanced
Green’s theorem Mathematics
Diego Medoza,
PhD.
Vector algebra
Differential vector
calculus
Let R be a closed region in the x − y plane, bounded by a Integral vector
theorems
closed curve C running in possive direction, and M and N
are continuous functions of x and y and with countinuous
first derivatives, then
Z Z
∂N ∂M
Mdx + Ndy = − dxdy
C R ∂x ∂y
