Mathematical and Physical Formulae

(version 14.09.2022)

This collection of mathematical and physical formulae will NOT be available at the exam. The opera-
tors in cylindrical and spherical coordinates as well as the physical constants necessary for the solution
of the exam will be written in the exam document. For all other formula in this collection and in the
course slides, each student is responsible to prepare her/his own collection of formulas, in a two A4
sheets (four pages).

Conversion between cartesian, cylindrical, and spherical coordinates

Cartesian Cylindrical
xx̂ + yŷ
x̂ = cos ϕr̂ − sin ϕϕ̂ r̂ = p
x2 + y 2
−yx̂ + xŷ
ŷ = sin ϕr̂ + cos ϕϕ̂ ϕ̂ = p
x2 + y 2
ẑ = ẑ ẑ = ẑ

p
x = r cos ϕ r= x2 + y 2
y
y = r sin ϕ ϕ = arctan
x
z=z z=z

∂r̂ ∂r̂ ∂r̂

=0 = ϕ̂ =0
∂r ∂ϕ ∂z
∂ ϕ̂ ∂ ϕ̂ ∂ ϕ̂
=0 = −r̂ =0
∂r ∂ϕ ∂z
∂ẑ ∂ẑ ∂ẑ
=0 =0 =0
∂r ∂ϕ ∂z

Cartesian Spherical

x̂ = sin θ cos ϕr̂ + cos θ cos ϕθ̂ − sin ϕϕ̂ r̂ = sin θ (cos ϕx̂ + sin ϕŷ) + cos θẑ
ŷ = sin θ sin ϕr̂ + cos θ sin ϕθ̂ + cos ϕϕ̂ θ̂ = cos θ (cos ϕx̂ + sin ϕŷ) − sin θẑ
ẑ = cos θr̂ − sin θθ̂ ϕ̂ = − sin ϕx̂ + cos ϕŷ

p
x = r sin θ cos ϕ r= x2 + y 2 + z 2
z 
y = r sin θ sin ϕ θ = arccos
ry 
z = r cos θ ϕ = arctan
x

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 ∂r̂ ∂r̂ ∂r̂
=0 = sin ϕθ̂ = ϕ̂
∂r ∂θ ∂ϕ
∂ θ̂ ∂ θ̂ ∂ θ̂
=0 =0 = − cos ϕϕ̂ − sin ϕr̂
∂r ∂ϕ ∂θ
∂ ϕ̂ ∂ ϕ̂ ∂ ϕ̂
=0 = −r̂ = cos ϕθ̂
∂r ∂ϕ ∂θ

Scalar and Vector product: general expression

u · v = (u1 i + u2 j + u3 k) · (v1 i + v2 j + v3 k) =
(u1 i · v1 i) + (u1 i · v2 j) + (u1 i · v3 k) +
(u2 j · v1 i) + (u2 j · v2 j) + (u2 j · v3 k) +
(u3 k · v1 i) + (u3 k · v2 j) + (u3 k · v3 k)

u × v = (u1 i + u2 j + u3 k) × (v1 i + v2 j + v3 k) =
(u1 i × v1 i) + (u1 i × v2 j) + (u1 i × v3 k) +
(u2 j × v1 i) + (u2 j × v2 j) + (u2 j × v3 k) +
(u3 k × v1 i) + (u3 k × v2 j) + (u3 k × v3 k)

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Gradient, Divergence, Curl, Laplacian
Cartesian coordinates

A = Ay x̂ + Ay ŷ + Az ẑ
dl = dxx̂ + dy ŷ + dz ẑ
ds = dy dz x̂ + dx dz ŷ + dx dy ẑ
dV = dx dy dz
∂ ∂ ∂
∇ = x̂ + ŷ + ẑ
∂x ∂y ∂z
∂f ∂f ∂f
∇f = x̂ + ŷ + ẑ
∂x ∂y ∂z
∂Ax ∂Ay ∂Az
∇·A= + +
∂x ∂y ∂z
     
∂Az ∂Ay ∂Ax ∂Az ∂Ay ∂Ax
∇×A= − x̂ + − ŷ + − ẑ
∂y ∂z ∂z ∂x ∂x ∂y
∂2f ∂2f ∂2f
∇2 f = ∇ · ∇f = + +
∂x2 ∂y 2 ∂z 2
∇2 A = ∇2 Ax x̂ + ∇2 Ay ŷ + ∇2 Az ẑ

Cylindrical coordinates

A = Ar r̂ + Aϕ ϕ̂ + Az ẑ
dl = dr r̂ + r dϕ ϕ̂ + dz ẑ
ds = r dϕ dz r̂ + dr dz ϕ̂ + r dr dϕ ẑ
dV = r dr dϕ dz
∂ 1 ∂ ∂
∇ = r̂ + ϕ̂ + ẑ
∂r r ∂ϕ ∂z
∂f 1 ∂f ∂f
∇f = r̂ + ϕ̂ + ẑ
∂r r ∂ϕ ∂z
1 ∂ (rAr ) 1 ∂Aϕ ∂Az
∇·A= + +
r ∂r r ∂ϕ ∂z
     
1 ∂Az ∂Aϕ ∂Ar ∂Az 1 ∂ (rAϕ ) ∂Ar
∇×A= − r̂ + − ϕ̂ + − ẑ
r ∂ϕ ∂z ∂z ∂r r ∂r ∂ϕ
1 ∂2f ∂2f
 
2 1 ∂ ∂f
∇ f= r + 2 +
r ∂r ∂r r ∂ϕ2 ∂z 2
   
Ar 2 ∂Aϕ Aϕ 2 ∂Ar
∇ 2 A = ∇ 2 Ar − 2 − 2 r̂ + ∇2 Aϕ − 2 + 2 ϕ̂ + (∇2 Az )ẑ
r r ∂ϕ r r ∂ϕ

3
Spherical coordinates

A = Ar r̂ + Aθ θ̂ + Aϕ ϕ̂
dl = dr r̂ + r dθ θ̂ + r sin θ dϕ ϕ̂
ds = r2 sin θ dθ dϕ r̂ + r sin θ dr dϕ θ̂ + r dr dθ ϕ̂
dV = r2 sin θ dr dθ dϕ
∂ 1 ∂ 1 ∂
∇ = r̂ + θ̂ + ϕ̂
∂r r ∂θ r sin θ ∂ϕ
∂f 1 ∂f 1 ∂f
∇f = r̂ + θ̂ + ϕ̂
∂r r ∂θ r sin θ ∂ϕ
1 ∂ r 2 Ar


1 ∂ 1 ∂Aϕ
∇·A= 2 + (Aθ sin θ) +
r ∂r r sin θ ∂θ r sin θ ∂ϕ
     
1 ∂ ∂Aθ 1 1 ∂Ar ∂ 1 ∂ ∂Ar
∇×A= (Aϕ sin θ) − r̂ + − (rAϕ ) θ̂ + (rAθ ) − ϕ̂
r sin θ ∂θ ∂ϕ r sin θ ∂ϕ ∂r r ∂r ∂θ
∂2f
   
2 1 ∂ 2 ∂f 1 ∂ ∂f 1
∇ f= 2 r + 2 sin θ + 2 2
r ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂ϕ2
 
2 2 2Ar 2 ∂ (Aθ sin θ) 2 ∂Aϕ
∇ A = ∇ Ar − 2 − 2 − 2 r̂
r r sin θ ∂θ r sin θ ∂ϕ
   
2 Aθ 2 ∂Ar 2 cos θ ∂Aϕ 2 Aϕ 2 ∂Ar 2 cos θ ∂Aθ
+ ∇ Aθ − 2 2 + 2 − 2 2 θ̂ + ∇ Aϕ − 2 2 + 2 + 2 2 ϕ̂
r sin θ r ∂θ r sin θ ∂ϕ r sin θ r sin θ ∂ϕ r sin θ ∂ϕ

4
Gauss and Stokes theorems
In the following, A is a well-behaved vector field, V is a three-dimensional volume with volume
element, S is a closed two-dimensional surface bonding V , with a unit area element vector ds normal
and outward to the surface:
H R
S A · ds = V (∇ · A) dV (Divergence (Gauss) theorem)

In the following, A is a well-behaved vector field, S is a two-dimensional surface having as

contour the closed line C with line element dl. The direction of the surface unit vector ds is defined
by the right-hand-screw rule in relation to the sense of the line integral around C:
H R
C A · dl = S (∇ × A) · ds (Curl (Stokes) theorem)

Line integral of a scalar field

For a scalar field f , the line integral along a piecewise smooth curve C is defined as:
R Rb
C f (r)dl = a f (r(t)) |ṙ(t)|dt

where r is an arbitrary bijective parametrization of the curve C such that r(a) and r(b) give the
endpoints of C, a < b, and ṙ(t) = dr/dt. Line integrals of scalar fields over a curve C do not depend
on the chosen parametrization r of C.

Line integral of a vector field

For a vector field A, the line integral along a piecewise smooth curve C, in the direction of r, is defined
as:
R Rb
C A(r) · dl = a A(r(t)) · ṙ(t)dt

where r is an arbitrary bijective parametrization of the curve C such that r(a) and r(b) give the
endpoints of C, and ṙ(t) = dr/dt. Line integrals of vector fields are independent of the parametrization
r(t) in absolute value, but they do depend on its orientation. Specifically, a reversal in the orientation
of the parametrization changes the sign of the line integral.

Vectorial identities
A+B=B+A
A·B=B·A
A × B × C = (A · C) B − (B · C) A
(A × B) × C = (A · C) B − (B · C) A

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Mechanics of fluids: main equations
Force on the unit of volume due to the pressure:
f = −∇P

Continuity equation:
∂ρ
∂t + (∇ · (ρv)) = 0 ”Mass conservation in the unit of volume”

Bernoulli equation :
1 2
2 ρv + ρgz + P = const ”Energy conservation in the unit of volume”

Euler equation:
−∇P + ρg = ρ( ∂v∂t + (v · ∇)v) ”Forces acting on the unit of volume”

Nevier-Stokes equation:
−∇P + ρg + η∇2 v = ρ( ∂v∂t + (v · ∇)v) ”Forces acting on the unit of volume, in presence of viscosity”

6
Electromagnetism: main equations
Macroscopic Maxwell equations (differential and integral form)
I Z
∇ · D = ρf D · ds = ρf dV
S V
I
∇·B=0 B · ds = 0
S
I Z
∂B ∂B
∇×E=− E · d` = − · ds
∂t ∂t
IC Z S Z
∂D ∂D
∇ × H = Jf + H · d` = Jf · ds + · ds
∂t ∂t
C S S

Microscopic Maxwell equations (differential and integral form)

I Z
ρ 1
∇·E= E · ds = ρ dV
ε0 ε0
IS V

∇·B=0 B · ds = 0
S
I Z
∂B ∂B
∇×E=− E · d` = − · ds
∂t ∂t
C S
  I Z Z
∂E ∂E
∇ × B = µ 0 J + ε0 B · d` = µ0 J · ds + µ0 ε0 · ds
∂t ∂t
C S S

Relationships between the auxiliary fields (always valid)

1
D = ε0 E + P H= B−M
µ0

Additional relationships between the auxiliary fields in linear media

P = ε0 χ e E M = χm H
1
D = εE H= B
µ

Lorentz force

F = qE + qv × B

7
Potentials
∂A
E = −∇V − B=∇×A
Z ∂t 0
J(r0 , tr ) 0
Z
1 ρ(r , tr ) 0 µ0
V (r, t) = dV A(r, t) = dV
4π0 |r − r0 | 4π |r − r0 |
ρf (r0 , tr ) − ∇ · P(r0 , tr ) 0 Jf (r0 , tr ) − ∇ · M(r0 , tr ) + ∂P 0
∂t (r , tr )
Z Z
1 µ0
V (r, t) = dV A(r, t) = dV 0
4π0 |r − r0 | 4π |r − r0 |

|r − r0 |
tr = t −
c

8
Name Symbol Value Unit
Number π π 3.14159265358979323846
Number e e  n 2.71828182845904523536

P
Euler’s constant γ = lim 1/k − ln(n) = 0.5772156649
n→∞ k=1
Elementary charge e 1.60217733 · 10−19 C
Gravitational constant G, κ 6.67259 · 10−11 m3 kg−1 s−2
Fine-structure constant α = e2 /2hcε0 ≈ 1/137
Speed of light in vacuum c 2.99792458 · 108 m/s (def)
Permittivity of the vacuum ε0 8.854187 · 10−12 F/m
Permeability of the vacuum µ0 4π · 10−7 H/m
(4πε0 )−1 8.9876 · 109 Nm2 C−2
Planck’s constant h 6.6260755 · 10−34 Js
Dirac’s constant ~ = h/2π 1.0545727 · 10−34 Js
Bohr magneton µB = e~/2me 9.2741 · 10−24 Am2
Bohr radius a0 0.52918 Å
Rydberg’s constant Ry 13.595 eV
Proton Compton wavelength λCp = h/mp c 1.3214 · 10−15 m
Reduced mass of the H-atom µH 9.1045755 · 10−31 kg
Stefan-Boltzmann’s constant σ 5.67032 · 10−8 Wm−2 K−4
Wien’s constant kW 2.8978 · 10−3 mK
Molar gasconstant R 8.31441 J·mol−1 ·K−1
Avogadro’s constant NA 6.0221367 · 1023 mol−1
Boltzmann’s constant k = R/NA 1.380658 · 10−23 J/K
Electron mass me 9.1093897 · 10−31 kg
Proton mass mp 1.6726231 · 10−27 kg
Neutron mass mn 1.674954 · 10−27 kg
Elementary mass unit mu = 1 12
12 m( 6 C) 1.6605656 · 10−27 kg
Nuclear magneton µN 5.0508 · 10−27 J/T
Diameter of the Sun D 1392 · 106 m
Mass of the Sun M 1.989 · 1030 kg
Rotational period of the Sun T 25.38 days
Radius of Earth RA 6.378 · 106 m
Mass of Earth MA 5.976 · 1024 kg
Rotational period of Earth TA 23.96 hours
Earth orbital period Tropical year 365.24219879 days
Astronomical unit AU 1.4959787066 · 1011 m
Light year lj 9.4605 · 1015 m
Parsec pc 3.0857 · 1016 m
Hubble constant H ≈ (75 ± 25) km·s−1 ·Mpc−1

9
 The SI units

Basic units Derived units with special names

Quantity Unit Sym. Quantity Unit Sym. Derivation
Length metre m Frequency hertz Hz s−1
Mass kilogram kg Force newton N kg · m · s−2
Time second s Pressure pascal Pa N · m−2
Therm. temp. kelvin K Energy joule J N·m
Electr. current ampere A Power watt W J · s−1
Luminous intens. candela cd Charge coulomb C A·s
Amount of subst. mol mol El. Potential volt V W · A−1
El. Capacitance farad F C · V−1
Extra units El. Resistance ohm Ω V · A−1
Plane angle radian rad El. Conductance siemens S A · V−1
solid angle sterradian sr Mag. flux weber Wb V·s
Mag. flux density tesla T Wb · m−2
Inductance henry H Wb · A−1
Luminous flux lumen lm cd · sr
Illuminance lux lx lm · m−2
Activity bequerel Bq s−1
Absorbed dose gray Gy J · kg−1
Dose equivalent sievert Sv J · kg−1

Prefixes

yotta Y 1024 giga G 109 deci d 10−1 pico p 10−12

zetta Z 1021 mega M 106 centi c 10−2 femto f 10−15
exa E 1018 kilo k 103 milli m 10−3 atto a 10−18
peta P 1015 hecto h 102 micro µ 10−6 zepto z 10−21
tera T 1012 deca da 10 nano n 10−9 yocto y 10−24

10