Vector Calculus and Differential Forms with Applications to Electromagnetism Sean Roberson May 7, 2015 PREFACE This paper is written as a final project for a course in vector analysis, taught at Texas A&M University - San Antonio in the spring of 2015 as an independent study course. Students in mathematics, physics, engineering, and the sciences usually go through a sequence of three calculus courses before go- ing on to differential equations, real analysis, and linear algebra. In the third course, traditionally reserved for multivariable calculus, stu- dents usually learn how to differentiate functions of several variable and integrate over general domains in space. Very rarely, as was my case, will professors have time to cover the important integral theo- rems using vector functions: Green’s Theorem, Stokes’ Theorem, etc. In some universities, such as UCSD and Cornell, honors students are able to take an accelerated calculus sequence using the text Vector Cal- culus, Linear Algebra, and Differential Forms by John Hamal Hubbard and Barbara Burke Hubbard. Here, students learn multivariable cal- culus using linear algebra and real analysis, and then they generalize familiar integral theorems using the language of differential forms. This paper was written over the course of one semester, where the majority of the book was covered. Some details, such as orientation of manifolds, topology, and the foundation of the integral were skipped to save length. The paper should still be readable by a student with at least three semesters of calculus, one course in linear algebra, and one course in real analysis - all at the undergraduate level. Many of the fundamental theorems do not have their proofs, for some would be lengthy or require many details from real analysis. The idea of this paper is to introduce differential forms - an object that allows Maxwell’s equations of electromagnetism to be concisely represented in two lines as opposed to four. The development of this idea takes time, but it is worth it in the long run. -Sean Zachary Roberson 2 ACKNOWLEDGEMENTS Many individuals supported me in writing this paper. First, I would like to acknowledge my professor Donald F. Myers for teaching this class in a way that tapped into my interests and offered me a chal- lenge. He has also provided me with numerous resources that ex- tended my knowledge of mathematics and my methods of problem solving. I would also like to thank Dr. John G. Romo for being able to have this course offered. It served as an excellent extension of my knowledge from real analysis taken the semester before, as well as linear algebra and differential equations. While writing this paper, I have received numerous amounts of sup- port from my coworkers, each of whom are writing tutors. I would like to extend my thanks to Brandi Anderson, Stephanie Gil, Carlos Lopez, Coral Rosario, Teresa Ruiz, Lisa Sanna, and Sheridan Santens for their encouragement in motivating me to finish this project, all while still tending to my responsibilities at work. I also would like to thank Chris Tingwald and Dr. Katherine T. Bridgman for their support as well. Most importantly, I could not have been motivated to finish this paper without the undying support of my family and friends, espe- cially my mother, Denise Ginther, for giving me the motivation to finish college and pursue a degree. Without all your help, I would not have finished this paper, nor would it have been a quality product. 3 1 FUNDAMENTALDIFFERENTIALOPERATORS In vector analysis, it is of interest to examine the rate of flow of var- ious quantities such as heat, electricity, and fluids. The concept of derivative can be extended to vectors in three ways, each using some sort of partial derivative. Each differential operator uses the symbol r to operate on a function of several variables. This symbol is treated as the following vector: 0 ¶ 1 ¶x1 B ¶ C B ¶x2 C B ¶ C r := B ¶x C B 3 C B . C @ . A ¶ ¶xn 1.1 gradient The first differential operator is the gradient, denoted by r f or grad f . The gradient operates on a C1 function f : Rn ! R and returns a vector of first derivatives. For example, if f (x, y, z) = 2x + 3xy − 4yz2, then 0 2 + 3y 1 r f = @3x − 4z2A −8yz There are scalar product and quotient rules for gradients, with grad( f g) = f grad g + g grad f and f g grad f − f grad g grad = , g g2 similar to the product and quotient rules familiar in single variable calculus. 4 1.2 divergence 1.2 divergence The next operator is the divergence, and it returns a sum of partial derivatives of a vector function F : Rn ! Rn. Using the nabla nota- tion, divergence can be denoted by r · F, or as div F. By definition, ¶Fj div F := ∑ . 1≤j≤n ¶xj Since div is a differential operator, there are product and quotient rules for differentiation. The product rule states that for a scalar func- tion f and a vector function G, div( f G) = G · grad f + f div G. Similarly, the quotient rule states G f div G − G · grad f div = . f f 2 Another differential operator can be built from the divergence op- erator. The Laplacian is a differential operator that returns a sum of second derivatives. It it defined as r2 := r · r, or, when acting on a function f , r2 f = div grad f = r · r f ¶2 f = ∑ 2 . 1≤j≤n ¶xj The Laplacian appears in many partial differential equations, such as the wave equation ¶2u = c2r2u, ¶t2 the diffusion equation ¶u = kr2u, ¶t and the Laplace equation r2u = 0. It is important to note that the Laplacian operator acts on spatial variables such as x, y, z and not the time variable t (Strauss, 14). 5 1.3 curl 1.3 curl The last fundamental differential operator exists only in R3. The curl returns a vector of derivatives according to the rule r × F. That is, 0 ¶F3 ¶F2 1 ¶y − ¶z F = B ¶F1 − ¶F3 C curl : @ ¶z ¶x A . ¶F2 ¶F1 ¶x − ¶y The curl of a product of a scalar and vector function is given by curl( f G = f curl G + grad f × G, and the curl of the quotient of a vector function with a scalar func- tion is G f curl G − G × (grad f ) curl = . f f 2 We also have two important results regarding the curl. Theorem 1. Suppose f is differentiable. Then curl grad f = 0. Proof. By definition, 0 ¶2 f ¶2 f 1 ¶y¶z − ¶z¶y B 2 2 C curl grad f = B ¶ f − ¶ f C @ ¶x¶z ¶z¶x A ¶2 f ¶2 f ¶x¶y − ¶y¶x = 0 since mixed partials commute. Theorem 2. Suppose F is a differentiable vector function on R3. Then div curl F = 0. Proof. By definition, 0 ¶F3 − ¶F2 1 T ¶y ¶z F = ¶ ¶ ¶ B ¶F3 − ¶F1 C div curl ¶x ¶y ¶z @ ¶x ¶z A ¶F2 ¶F1 ¶x − ¶y ¶2F ¶2F ¶2F ¶2F ¶2F ¶2F = 3 − 2 + 1 − 3 + 2 − 1 ¶x¶y ¶x¶z ¶y¶z ¶y¶x ¶z¶x ¶z¶y = 0, since, as above, mixed partials commute. 6 1.3 curl There are many other product rules for vector derivatives. Griffiths gives the following three product rules utilizing both the inner and cross products: 1. grad(F · G) = (F × curl G) + (G × curl F) + (F · r)G + (G · r)F 2. div(F × G) = G · curl F − F · curl G 3. curl(F × G) = (G · r)F − (F · r)G + F(div G) − G(div F) 7 2 CLASSICALTHEOREMSANDRESULTS As with any branch of mathematics, vector calculus has its own set of classic results. The theorems here are presented in the order in which they appear in James Stewart’s Calculus: Early Transcendentals. 2.1 fundamental theorem for line integrals The Fundamental Theorem for Line Integrals, also called the Gradi- ent Theorem by David Griffiths gives a way to evaluate special line integrals (p. 29). In order to understand the theorem, we must first define a conservative vector field and a potential function. Definition 1 (Conservative Vector Field, Potential Function). A vector field is conservative if it is the gradient of some differentiable function. That is, F is conservative iff F = grad f . Such a function f is called a potential function for F. Finding these potential functions amounts to solving an exact dif- ferential equation, defined below, along with the definition of an exact differential. Definition 2 (Exact Differential, Exact Differential Equation). Let z = f (x, y) be a differentiable function. The symbol dz denotes the ¶ f ¶ f differential of f , given as ¶x dx + ¶y dy. The expression M dx + N dy ¶ f ¶ f is an exact differential if M = ¶x and N = ¶y - that is, it corresponds to the differential of a function. The associated differential equation M dx + N dy = 0 is exact if the left side is an exact differential. Solving these exact differential equations uses the equality of mixed derivatives. This establishes the following exactness condition; a simi- lar expression will be used in the computations for Green’s Theorem. Theorem 3 (Condition for Exactness). A necessary and sufficient condition for M dx + N dy to an exact differential on some rectangle R is 8 2.1 fundamental theorem for line integrals ¶M ¶N = , ¶y ¶x provided that M and N are differentiable on R. The proof for the necessity is given in Zill, while the proof of the sufficiency outlines the method of solution to an exact differential equation (p.