Important Formulas for 21D If A = x1i + y1 j + z1 k, B = x2 i + y2 j + z 2k , and !

is the angle between them, (for two dimensions z1 = z 2 = 0 ):

A = x1 + y1 + z1 = A " A
2 2 2

A " B = x 1 x2 + y1 y2 + z1z 2 = A B c o s ! Proj B A = A "B B B2 Orth B A = A # Proj BA

An equation of the plane passing through ( x0 , y 0 , z0 ) and perpendicular to the non-zero vector Ai + Bj + Ck is

A( x # x 0 ) + B( y # y0 ) + C( z # z0 ) = 0

The (parametric) equations of a line passing through P 0 = ( x0 , y0 , z 0 ) and parallel to the nonzero vector A = a1 i + a2 j + a3 k is

$ x = x 0 + a1t & P = P0 + tA , or % y = y 0 + a2t & ' z = z 0 + a3t

The distance from the point ( x1 , y1, z1 ) to the plane Ax + By + Cz + D = 0 is

Ax1 + By1 + Cz1 + D A2 + B 2 + C2

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If ( , ) , and * are the angles between the vector A and i, j, and k (respectively), then:

cos 2 ( + cos 2 ) + cos 2 * = 1

The determinant of a matrix A is denoted |A| or det(A). The determinants of 2x2 and 3x3 matrices are:

a1 b1 a1 a2 b1 b2 c1 c 2

a2 b2

= a1 b2 # a2 b1

a3 b2 b3 b1 b3 b1 b2 b3 = a1 # a2 + a3 c 2 c3 c1 c3 c1 c2 c3

Properties of the determinant: If two rows (or columns) of are matrix are the same then |A|=0 If two rows (or columns) of a matrix are switched, the resulting determinant changes sign.

The area of the parallelogram spanned by A = a1 i + a2 j and B = b1i + b2 j is

a1 a2 b1 b2

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The Cross Product of two vectors A = a1 i + a2 j + a3 k and B = b1i + b2 j + b3 k :

i A + B = a1 b1

j a2 b2

a2 a3 = i b2 b3

a3 a1 #j b3 b1

a3 a1 +k b3 b1

a2 b2

A + B = A B sin ! A + B is a vector that is perpendicular to both A and B

Use the right hand rule to determine the direction of A + B

The volume of the parallelepiped spanned by the vectors A = a1 i + a2 j + a3 k , B = b1i + b2 j + b3 k, and C = c1i + c 2 j + c3k is given by the scalar triple product:

a1 A " (B + C) = b1 c1

a2 b2 c2

a3 b3 c3

Properties of the cross product:

A + B = #B + A A + A= 0 If A is parallel to B, thenA + B = 0 A + (B + C) = A + B + A + C ( cA) + B = A + (c B) = c(A + B) A + (B + C) = B(A " C) # C(A " B)

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Properties of vector differentiation where G and H are vector functions, and f is a scalar function. (NOTE: the order of products is important for the cross product product rule since the cross product is not commutative)

(G " H)' = G " H' +G' "H

(dot product - product rule)

(G + H)' = G + H' + G' +H (cross product - product rule) ( f G)' = f G' + f ' G (scalar product - product rule) (G( f (t))' = G'( f (t )) f ' (t ) (chain rule)

If G(t) describes a vector functions then:

v(t ) = G ' (t) (tangent vector / velocity) a(t ) =v'( t ) (acceleration vector) v(t ) T(t ) = (unit tangent vector) v( t ) N(t ) = T'( t) T'( t) (unit Normal vector)

Unit Speed Curves: If the curve is parameterized by s (rather than t), then the curve is unit speed which means that Acceleration:

dr = G' (s) = 1. Here s denotes the arclength of the curve. ds

d2s v2 a = 2 T + N, where dt r d2s a T = 2 = a " T (acceleration along the curve - tangential) dt v2 aN = = a " N (acceleration normal to the curve - centripetal) r

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The Gradient of a function f ( x, y, z ) is:

,f =

-f -f -f i + j+ k -x -y -z

The Gradient of a function f ( x, y, z ) has the properties:

,f points in the direction in which f ( x, y, z ) increases the most (at a given point).
The length of ,f is the largest directional derivative of f ( x, y, z ) (at a given point).

,f is normal to the level surface f ( x, y, z ) = constant (at a given point).

NOTE: If f is a function of two variables only (x and y for example) then ,f is normal to a level curve since f ( x, y) = constant describes a curve. If f is a function of x,y, and z, then ,f gives the normal to the tangent plane. To find the normal of the tangent plane to the surface z = f ( x , y) , calculate ,g , where g( x , y, z) = f ( x, y ) # z = 0 . Remember it must have the form function = constant. The Directional Derivative of f ( x, y, z ) which has continuous partial derivatives, in the direction of the unit vector u , is:

Du f = ,f " u
The Differential , an approximation for the change in the function z = f ( x , y) , at the point (a,b) is:

dz =

-f -f (a, b )( x # a ) + (a, b)( y # b) -x -y

The exact value for the change is given by:

.z = f ( a + . x, b + . y) # f (a, b)
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The Divergence of a vector field F = P( x, y , z)i + Q( x , y, z ) j + R( x, y, z)k is denoted ," F and is given by the scalar function: ," F = -P -Q -R + + -x -y -z

The Curl of a vector field F = P( x, y , z)i + Q( x , y, z ) j + R( x, y, z)k is denoted by , + F and is the vector field given by the determinant:

i , +F = -x P

j -y Q

k -z R

The Laplacian of a scaler field f ( x, y, z ) is denoted by ,2 f given by the scalar function: , f =, " , f =
2

-2 f -2 f -2 f 2 + 2 + 2 -x -y -z

Flux is defined as Flux = Circulation and Work are defined as: Circulation = / F " T ds = / Pdx + Qdy
C C

/ F " n ds = / P d y# Qdx
C C

Work =

/ F " dr = / P d x+ Qdy
C C

Greens Theorem: Let C be a closed curve in the xy plane bounding a region A and let n be the unit exterior normal to C. Let F be a vector field defined on A. Then

/ F " n ds = / , "F d A
C

, or

0 - P -Q 3 2 + 5 P d y # Qdx = 2 5 dA / /1 -x -y 4 C A

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The left side of Greens Theorem measures flux by definition (directly). The right side measures flux by using the divergence. Greens Theorem (2-curve case) Let A be a region in the plane bounded by the curves C1 and C2. Let n* denote the exterior unit normal along the boundary. Then,

C1

/ F "n

ds + / F " n ds = / , " F dA
* C2

Corollary 1 (to Greens Theorem in the two-curve case): Let curves C1 and C2 be two closed curves that form the boundary of a region A. Let F be a vector field defined on A so that ," F = 0 on A. Then,

C1

/ F " n ds = / F " n ds
C2

Corollary 2 (to Greens Theorem in the two curve case): Let F be a vector field defined everywhere in the plane except at the point Po. Let curves C1 and C2 be two simple closed curves each of which encloses the point Po.. Let F be a vector field so that ," F = 0 . Then,

C1

/ F " n ds = / F " n ds
C2

Stokes Theorem. Let C be a closed curve in the xy plane bounding a region A. Let F be a vector field defined on A. Then,

/ F " dr = /( , + F ) " k dA
C

, or

0 -P -Q 3 2 # 5 Pdx + Q d y = 2 5 dA / / 1 y x 4 C A Corollary 3 (to Stokes Theorem). Let curves C1 and C2 be two closed curves (oriented counter clockwise) that form the boundary of a region A. Let F be a vector field defined on A so that , + F = 0 on A. Then,

C1

/ F " dr = / F " dr
C2

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A vector field is said to be Conservative if:

C1

/ F " dr = / F " dr for any two paths C1 and C2 that begin and end at the same points,
C2

or equivalently,

/ F " dr = 0 for every close path C,

C

IF a vector field is conservative, then: (1) , + F = 0 (2) There exists a scalar function f so that ,f = F . (3)

/ F " dr = / , f " dr = f ( b) # f (a ) for any path that begins

C C

at a and ends at b. (4)

/ ,f " dr = 0 for any closed path C.

C

If F is defined on a simply connected region in the plane and curl F = 0, then F is conservative. The general technique for finding surface integrals where S is apart of the level surface g( x , y, z ) = 0 is:

/ f ( P) dS = /
S

h(Q) dA, cos*

where Q is the projection of P onto the xy plane, f (P) = h( Q) , and -g -z 0 -g 3 2 0 -g 3 0 -g 3 2 2 5 2 5 +2 5 +2 5 1 -x 4 1 -y 4 1 -z 4

2

cos* =

,g "k ,g

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Divergence Theorem: (the 3-D version of Greens Theorem) Let V be a region in space bounded by a connected surface S. Let n denote the exterior unit normal. Then

/ F " n dS = / , "F dV
S

Divergence Theorem (two surface case) Let V be a region in space bounded by a two surfaces S1 and S2. Let n* denote the exterior unit normal. Then

S1

/ F "n

dS + / F " n dS = / , "F dV
*

S2

Corollary 1: (to the Divergence Theorem) Let V be a region in space bounded by a two connected surfaces S1 and S2. Suppose the divergence of F is 0 throughout V. Then

S1

/ F " n dS = / F " n dS
S2

Corollary 2: Let F be defined everywhere except perhaps at a point Po. Assume that the divergence of F is 0. Let S1 and S2 be two connected surfaces that each enclose the point Po. Then: / F " n dS = / F " n dS
S1 S2

Stokes Theorem: Let S be an orientable surface bounded by the parameterized curve C. At each point S, let n denote the unit normal chosen by the right hand rule. Then

/ F " dr = / ( , + F) " n dS
C

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