Vector Calculus

Dr. Ir. Harinaldi, M.Eng

Mechanical Engineering Department
Faculty of Engineering University of Indonesia
Vector Function
 Function whose values are vectors
 Domain : subset of real number (scalar)
 Range : vector
 Strong resemblance to parametric equations
Notation :

where :
f(t), g(t) and h(t) are scalar functions depending on
single variable t
Vector Function
Example :
 r(t) = (t - 1)i + t2 j
 r(t) = 3i + t j + (sin t) k

 Sketch the function r(t) = (t - 1)i + t2 j for t = { 0,1,2,3 } :

r (0) = -i
r (1) = j
r (2) = i + 4 j
r (3) = 2i + 9j
Vector Field
 A vector function defines a vector field
 A scalar function defines a scalar field
Example :
 velocity of all fluid particles in a river flow make a
velocity field (which is a vector field)
 temperature in a whole surface of human body make a
temperature field (which is a scalar field)
Limit of Vector Function
Limit

Example:
Limit of Vector Function
Answer :
Derivative of Vector Function
Derivative

Examples:
Find the derivative of :
1. r (t) = 3 i + sint j
2. r (t) = 3t2 i + cos(4t) j + tet k
Derivative of Vector Function
Answer :
Derivative of Vector Function
Properties of Derivative
Derivative of Vector Function
Examples :
Derivative of Vector Function Answer :
Partial Derivative of Vector Function
If A is a vector depending on more than one scalar variable
then we can have partial derivative of A

Examples :
Partial Derivative of Vector Function
Answer :
Partial Derivative of Vector Function
Answer :
Vector Differential Operator Del ( )
Gradient
Let :
(x,y,z) is a scalar function defined at each point (x,y,z) in a
certain region of space

Then:
Gradient of  is defined as :
Directional Derivative

The component of  in the direction of a unit vector a is

given by  . a and is called the directional derivative
of  in the direction of a.

Physically it is the rate of change of  (x,y,z) in the direction

of a.
Divergence
Let :
v(x,y,z) = vx i + vy j + vz k is a vector function defined at each
point (x,y,z) in a certain region of space

Then:
Divergence of v is defined as :
Curl
Let :
v(x,y,z) = vx i + vy j + vz k is a vector function defined at each
point (x,y,z) in a certain region of space

Then:
curl of v is defined as :
Gradient – Divergence - Curl
Example :
Gradient – Divergence - Curl
Answer :
Gradient – Divergence - Curl
Answer :
Gradient – Divergence - Curl
Answer :
Formulae Involving ( )
Formulae Involving ( )
Example :
Formulae Involving ( )
Answer :
Formulae Involving ( )
Answer :
Vector Integration – Ordinary Integral
Let :
 R(u) = R1(u) i + R2(u) j + R3(u) k be a vector depending
on single variable u
 there exist a vector S(u) such that R(u) = dS(u)/du, then:

Indefinite Integral is:

 R(u)du  i  R (u)du  j R (u)du  k  R (u)du

1 2 2

  S(u ) du  S(u )   c

d
du
c is an arbitrary constant vector independent of u
Vector Integration – Ordinary Integral

The definite Integral between limits u = a and u = b is:

d
S(u )du  S(u )   c a  S(b)  S(a)
b b
 R (u )du  
b
a a du
Example :
If R (u )  (u  u 2 )i  2u 3 j  3k
find :
(a)  R (u )du 
2
(b)  R (u )du 
1
Vector Integration – Ordinary Integral
Answer :
Vector Integration – Ordinary Integral
Answer :
Vector Integration – Line Integral
Consider :
 vector position of (x,y,z) which depend on single variable
t is r(t) = x(t) i + y(t) j + z(t) k
 Defined a curve C joining points P1 and P2. At P1, t = t1
and at P2, t = t2
 Another vector function A(x,y,z)= A1 i + A2 j + A3 k is
defined and continuous along C.
Line Integral:
P2
P1
A  dr   A  dr   A1dx  A2 dy  A3dz
C C

If A is the force F on a particle moving along C, the line integral

represent the work done by the force.
Vector Integration – Line Integral
Example :
Find the total work done in moving a particle in a force field
given by F = 3xy i – 5z j + 10x k along the curve x = t2 + 1, y =
2t2, z = t 3 from t = 1 to t = 2
Vector Integration – Line Integral
Answer :
Vector Integration – Line Integral
Theorem :
If A = 
then :
P2
1.  A  dr is independen t of the path C joining
P1
P1 and P2

2.  A  dr  0 around any closed curve C

C

 A is called a conservative vector field

  is its scalar potential

Note :
A vector field A is conservative if and only if x A = 0
Vector Integration – Line Integral
Example :
Determine if the vector field
F = yz2 i + (xz2 + 2) j + (2xyz - 1) k
is conservative? If it is, find a potential function!
Vector Integration – Line Integral
Answer :
Vector Integration – Surface Integral
Consider:
 S is two-sided surface, and one side of S is taken as positive
side.
 A unit normal vector n to any point of the positive side of S is
called positive (outward) unit normal vector
 vector dS is vector whose magnitude is equal to dS
(differential surface on S) and whose direction is that of n
 A is a vector function and  is a scalar function
Surface Integral: 1.  A  dS   A  n dS
S S
 flux A over S

2.  A  dS   A  n dS
S S

3.   dS    n dS
S S
Vector Integration – Surface Integral
z A
S
dS n

o
y
dR
R dx
dy

x
Vector Integration – Surface Integral
To evaluate surface integral
 Express as double integral taken over projected area of S on
one of coordinate plane
Then:
dx dy
Projection on xy plane n dS  n
n k
dx dz
Projection on xz plane n dS  n
n j
dy dz
Projection on yz plane n dS  n
ni
Vector Integration – Surface Integral
Example:
Evaluate  A  n dS , where
S
A  18 z i  12 j  3 y k
and S is the part of the plane 2x +3y +6z = 12 in the first octant

Answer:
Vector Integration – Surface Integral
Answer:
Vector Integration – Surface Integral
Answer:
Vector Integration – Volume Integral
Consider:
 a closed surface in space enclosing a volume V,
 A is a vector function and  is a scalar function

Volume Integral: 1.  A dV

V

2.   dV
V

Example:
Evaluate     2
F dV where F 2 xz i x j y k
V
and V is the region bounded by the surfaces x = 0, y = 0,
y = 6, z = x2, z = 4
Vector Integration – Volume Integral
Answer:
Divergence Theorem (Gauss Theorem)
If:
 V is a volume bounded by a closed surface S
 A is a vector function of position with continuous derivatives
 n is thepositive (outward) unit normal vector to S
Divergence Theorem of Gauss:

   A dV   A  n dS   A  dS
V S S

Example:
Evaluate     j  yz k
2
F n dS where F 4 xz i y
S
and S is the surface of the cube bounded by the surfaces x = 0,
x = 1, y=0, y = 1, z = 0, z = 1 using divergence theorem
Divergence Theorem (Gauss Theorem)
Answer:
Stokes’ Theorem
If:
 S is an open, two-sided surface bounded by a closed, non-
intersecting curve C
 C in positive direction (if an observer walking forward along C,
the surface is on his left)
 A is a vector function of position with continuous derivatives
 n is thepositive (outward) unit normal vector to S
Stoke’s Theorem :

 A  dr     A dS     A n dS
C S S
Stokes’ Theorem
Example:
Verify Stokes’ theorem for A = (2x – y) i – yz2 j – y2z k , where
S is the upper half surface of the sphere x2 + y2 + z2 =1 and C is
its boundary.
Stokes’ Theorem
Answer:
Green’s Theorem
If:
 R is a closed region of the xy plane bounded by a simple
closed curve C
 M and N are continuous function of x and y with continuous
derivatives in R
 C in positive direction

Green’s Theorem :

 N M 
C Mdx  Ndy  R  x  y  dxdy
Green’s Theorem
Example:
 xy  y  dx  x dy
2 2
Verify Green’s theorem for
C
where C is the closed curve of the region bounded by y = x
and y = x2
Green’s Theorem
Answer: