第一章: 向量及場

→1.1 向量代數
1.2 笛卡爾(直角)座標系
1.3 圓柱及球座標系
1.4 純量場及向量場
1.5 電場
1.6 磁場
1.7 Lorentz Force Equation

EEEp3 1.1 Vector Algebra 1

 向量代數
• 專注在三維空間的向量: (3,1,2), (-2,5,4),

A = ( A1 , A2 , A3 ) = A1 a1 + A2 a2 + A3 a3

• 向量加法有交換律 及結合律

4a1 + 6a2 = 6a2 + 4a1

( 4a1 + 6a2 ) − 2a3 = 4a1 + (6a2 − 2a3 )

EEEp4,5 1.1 Vector Algebra 2
 向量內積
• 向量內積 A B  A B cos  = B A
• 有交換律
• 沒有結合律
• 有分配律

A B + A C = A (B + C )
EEEp7 1.1 Vector Algebra 3
 向量內積與座標值
• 基於向量內積分配律
A B = A B cos  = ? A1 B1 + A2 B2 + A3 B3
A B = ( A1 a1 + A2 a2 + A3 a3 ) ( B1 a1 + B2 a2 + B3 a3 )
= A1 a1 ( B1 a1 + B2 a2 + B3 a3 )
+ ( A2 a2 + A3 a3 ) ( B1 a1 + B2 a2 + B3 a3 )
= A1 B1 + ( A2 a2 + A3 a3 ) ( B1 a1 + B2 a2 + B3 a3 )
= A1 B1 + A2 B2 + A3 B3
EEEp7,8 1.1 Vector Algebra 4
 如何求得兩向量夾角?

A B = A B cos  = A1 B1 + A2 B2 + A3 B3

AB
  = cos −1

A B

EEEp8 1.1 Vector Algebra 5

 向量外積
• 向量外積 A  B  A B sin  a N
• 單位向量依右手法則

A  B 是所夾平行四邊形的面積

A  B = −B  A B

A
EEEp8.9 1.1 Vector Algebra 6
 向量外積與平行六面體
A  B  A B sin  a N
B
A  B 是所夾平行四邊形的面積
A
C ( A  B ) 是以 A 、B 、C
為陵線的平行六面體的體積
= C ( A  B ) cos  B

= 六面體高  四邊形面積 C
A
 C ( A  B ) = A ( B  C ) = B ( C  A)
EEEp10 1.1 Vector Algebra 7
 向量外積分配律
A ( B  C ) = B ( C  A ) = C ( A  B ))
A (B + C ) = ?A B + A C Scalar triple product cyclical
D A (B + C ) = (B + C ) D  A
= B D A+ C D A B
= D A B + D A C C
= D (A B + A C) A
因 D為任意向量(例a 、
x a、
y a z )，故

A  (B + C) = A  B + A  C
EEEp10 1.1 Vector Algebra 8
 單位向量外積

A  B = ( A1 a1 + A2 a2 + A3 a3 )  ( B1 a1 + B2 a2 + B3 a3 )

a1  a1 = 0 a1  a2 = a3 a1  a3 = − a2

a2  a1 = − a3 a2  a2 = 0 a2  a3 = a1

a3  a1 = a2 a3  a2 = − a1 a3  a3 = 0

EEEp8 1.1 Vector Algebra 9

 外積行列式表示法

A  B = ( A1 a1 + A2 a2 + A3 a3 )  ( B1 a1 + B2 a2 + B3 a3 )
= a1 ( A2 B3 − A3 B2 ) + ...
A2 A3
= a1 + ...
B2 B3

a1 a2 a3
= A1 A2 A3
B1 B2 B3
EEEp9 1.1 Vector Algebra 10
 垂直於兩向量的單位向量

A  B = A B sin  a N

A B A B
aN = =
A B sin  A B

EEEp9 1.1 Vector Algebra 11

 Triple cross product
Cross product 無結合律:

A  ( B  C )  ( A  B)  C
Example:
a x  (a x  a y ) = a x  a z = − a y  (a x  a x )  a y = 0  a y = 0

EEEp10 1.1 Vector Algebra 12

 Scalar triple product
a1 a2 a3
A ( B  C ) = ( A1 a1 + A2 a2 + A3 a3 ) B1 B2 B3
C1 C 2 C3
 B2 B3 
= ( A1 a1 + A2 a2 + A3 a3 )  a1 + a2 ... 
 C 2 C3 
A1 A2 A3
B2 B3
=A1 + ( A2 a2 + A3 a3 ) (a2 ...) = B1 B2 B3
C 2 C3
C1 C 2 C3
EEEp10 1.1 Vector Algebra 13
 Example 1.1 Vector operations (1/3)
A = a1 + a2 B = a1 + 2a2 − 2a3 C = a2 + 2a3
(a ) A + B = 2a1 + 3a2 − 2a3 a1 + 2a2 − 2a3
B
(e ) iB = =
(b) B − C = a1 + a2 − 4a3 B 3
(c ) 4C = 4a2 + 8a3 (f) A B
(d ) B = a1 + 2a2 − 2a3 = (a1 + a2 ) (a1 + 2a2 − 2a3 )
= 1 + 2 + ( −2) =3
2 2 2 = 1+ 2 + 0 = 3
EEEp10,11 1.1 Vector Algebra 14
 Example 1.1 Vector operations (2/3)
A = a1 + a2 B = a1 + 2a2 − 2a3 C = a2 + 2a3

−1 A B = cos −1 3 = 45
( g ) Angle between A and B = cos
AB 2 3
a1 a2 a3
( h) A  B = 1 1 0 = ( −2 − 0)a1 + (0 + 2)a2 + ( 2 − 1)a3 = −2a1 + 2a2 + a3
1 2 −2
A B −2a1 + 2a2 + a3
( i ) Unit vector normal to A and B =  =
A B 3

EEEp10,11 1.1 Vector Algebra 15

 Example 1.1 Vector operations (3/3)
A = a1 + a2 B = a1 + 2a2 − 2a3 C = a2 + 2a3
a1 a2 a3 ( h) A  B = −2a1 + 2a2 + a3 (前頁)
( j ) ( A  B )  C = −2 2 1 = 3a1 + 4a2 − 2a3
0 1 2

1 1 0
( k ) A B  C = 1 2 −2 = 4 + 0 + 0 − 0 − ( −2 ) − 2 = 4
0 1 2

2 −2 1 −2 1 2
or = 1 −1 + 0 = 1 6 − 1 ( 2 ) + 0  1 = 4
1 2 0 2 0 1
EEEp10,11 1.1 Vector Algebra 16
 Example 1.1 Vector operations Q’s
A = a1 + a2 B = a1 + 2a2 − 2a3 C = a2 + 2a3
(a ) A + B = ( g ) Angle between A and B =
(b) B − C = ( h) A  B =
(c ) 4C =
( i ) Unit vector normal to A and B =
(d ) B =
( j) ( A  B)  C =
(e ) iB = (k ) A B  C =

( f ) A B=
EEEp10,11 1.1 Vector Algebra 17
 Key words 1.1

Scalars; Vectors; Unit vectors; Right-

handed system; Components of a vector;
Vector addition; Multiplication of
vector by a scalar; Magnitude of a
vector; Dot product; Cross product;
Triple cross product; Scalar triple
product.

EEEp11 1.1 Vector Algebra 18