
In
vector calculus
Vector calculus or vector analysis is a branch of mathematics concerned with the differentiation and integration of vector fields, primarily in three-dimensional Euclidean space, \mathbb^3. The term ''vector calculus'' is sometimes used as a ...
, the curl, also known as rotor, is a
vector operator
A vector operator is a differential operator used in vector calculus. Vector operators include:
* Gradient is a vector operator that operates on a scalar field, producing a vector field.
* Divergence is a vector operator that operates on a vector ...
that describes the
infinitesimal
In mathematics, an infinitesimal number is a non-zero quantity that is closer to 0 than any non-zero real number is. The word ''infinitesimal'' comes from a 17th-century Modern Latin coinage ''infinitesimus'', which originally referred to the " ...
circulation of a
vector field
In vector calculus and physics, a vector field is an assignment of a vector to each point in a space, most commonly Euclidean space \mathbb^n. A vector field on a plane can be visualized as a collection of arrows with given magnitudes and dire ...
in three-dimensional
Euclidean space
Euclidean space is the fundamental space of geometry, intended to represent physical space. Originally, in Euclid's ''Elements'', it was the three-dimensional space of Euclidean geometry, but in modern mathematics there are ''Euclidean spaces ...
. The curl at a point in the field is represented by a
vector
Vector most often refers to:
* Euclidean vector, a quantity with a magnitude and a direction
* Disease vector, an agent that carries and transmits an infectious pathogen into another living organism
Vector may also refer to:
Mathematics a ...
whose length and direction denote the
magnitude
Magnitude may refer to:
Mathematics
*Euclidean vector, a quantity defined by both its magnitude and its direction
*Magnitude (mathematics), the relative size of an object
*Norm (mathematics), a term for the size or length of a vector
*Order of ...
and axis of the maximum circulation.
The curl of a field is formally defined as the circulation density at each point of the field.
A vector field whose curl is zero is called
irrotational
In vector calculus, a conservative vector field is a vector field that is the gradient of some function. A conservative vector field has the property that its line integral is path independent; the choice of path between two points does not chan ...
. The curl is a form of
differentiation for vector fields. The corresponding form of the
fundamental theorem of calculus
The fundamental theorem of calculus is a theorem that links the concept of derivative, differentiating a function (mathematics), function (calculating its slopes, or rate of change at every point on its domain) with the concept of integral, inte ...
is
Stokes' theorem
Stokes' theorem, also known as the Kelvin–Stokes theorem after Lord Kelvin and George Stokes, the fundamental theorem for curls, or simply the curl theorem, is a theorem in vector calculus on \R^3. Given a vector field, the theorem relates th ...
, which relates the
surface integral
In mathematics, particularly multivariable calculus, a surface integral is a generalization of multiple integrals to integration over surfaces. It can be thought of as the double integral analogue of the line integral. Given a surface, o ...
of the curl of a vector field to the
line integral
In mathematics, a line integral is an integral where the function (mathematics), function to be integrated is evaluated along a curve. The terms ''path integral'', ''curve integral'', and ''curvilinear integral'' are also used; ''contour integr ...
of the vector field around the boundary curve.
The notation is more common in North America. In the rest of the world, particularly in 20th century scientific literature, the alternative notation is traditionally used, which comes from the "rate of rotation" that it represents. To avoid confusion, modern authors tend to use the
cross product
In mathematics, the cross product or vector product (occasionally directed area product, to emphasize its geometric significance) is a binary operation on two vectors in a three-dimensional oriented Euclidean vector space (named here E), and ...
notation with the
del
Del, or nabla, is an operator used in mathematics (particularly in vector calculus) as a vector differential operator, usually represented by the nabla symbol ∇. When applied to a function defined on a one-dimensional domain, it denotes ...
(nabla) operator, as in which also reveals the relation between curl (rotor),
divergence
In vector calculus, divergence is a vector operator that operates on a vector field, producing a scalar field giving the rate that the vector field alters the volume in an infinitesimal neighborhood of each point. (In 2D this "volume" refers to ...
, and
gradient
In vector calculus, the gradient of a scalar-valued differentiable function f of several variables is the vector field (or vector-valued function) \nabla f whose value at a point p gives the direction and the rate of fastest increase. The g ...
operators.
Unlike the
gradient
In vector calculus, the gradient of a scalar-valued differentiable function f of several variables is the vector field (or vector-valued function) \nabla f whose value at a point p gives the direction and the rate of fastest increase. The g ...
and
divergence
In vector calculus, divergence is a vector operator that operates on a vector field, producing a scalar field giving the rate that the vector field alters the volume in an infinitesimal neighborhood of each point. (In 2D this "volume" refers to ...
, curl as formulated in vector calculus does not generalize simply to other dimensions; some
generalizations
A generalization is a form of abstraction whereby common properties of specific instances are formulated as general concepts or claims. Generalizations posit the existence of a domain or set of elements, as well as one or more common character ...
are possible, but only in three dimensions is the geometrically defined curl of a vector field again a vector field. This deficiency is a direct consequence of the limitations of vector calculus; on the other hand, when expressed as an antisymmetric tensor field via the wedge operator of
geometric calculus
In mathematics, geometric calculus extends geometric algebra to include differentiation and integration. The formalism is powerful and can be shown to reproduce other mathematical theories including vector calculus, differential geometry, an ...
, the curl generalizes to all dimensions. The circumstance is similar to that attending the 3-dimensional
cross product
In mathematics, the cross product or vector product (occasionally directed area product, to emphasize its geometric significance) is a binary operation on two vectors in a three-dimensional oriented Euclidean vector space (named here E), and ...
, and indeed the connection is reflected in the notation
for the curl.
The name "curl" was first suggested by
James Clerk Maxwell
James Clerk Maxwell (13 June 1831 – 5 November 1879) was a Scottish physicist and mathematician who was responsible for the classical theory of electromagnetic radiation, which was the first theory to describe electricity, magnetism an ...
in 1871 but the concept was apparently first used in the construction of an optical field theory by
James MacCullagh
James MacCullagh (1809 – 24 October 1847) was an Irish mathematician and scientist. He served as the Erasmus Smith's Professor of Mathematics at Trinity College Dublin beginning in 1835, and in 1843, he was appointed as the Erasmus Smith' ...
in 1839.
Definition
The curl of a vector field , denoted by , or
, or , is an operator that maps functions in to functions in , and in particular, it maps continuously differentiable functions to continuous functions . It can be defined in several ways, to be mentioned below:
One way to define the curl of a vector field at a point is implicitly through its components along various axes passing through the point: if
is any unit vector, the component of the curl of along the direction
may be defined to be the limiting value of a closed
line integral
In mathematics, a line integral is an integral where the function (mathematics), function to be integrated is evaluated along a curve. The terms ''path integral'', ''curve integral'', and ''curvilinear integral'' are also used; ''contour integr ...
in a plane perpendicular to
divided by the area enclosed, as the path of integration is contracted indefinitely around the point.
More specifically, the curl is defined at a point as
where the
line integral
In mathematics, a line integral is an integral where the function (mathematics), function to be integrated is evaluated along a curve. The terms ''path integral'', ''curve integral'', and ''curvilinear integral'' are also used; ''contour integr ...
is calculated along the
boundary of the
area
Area is the measure of a region's size on a surface. The area of a plane region or ''plane area'' refers to the area of a shape or planar lamina, while '' surface area'' refers to the area of an open surface or the boundary of a three-di ...
containing point p, being the magnitude of the area. This equation defines the component of the curl of along the direction
. The infinitesimal surfaces bounded by have
as their
normal. is oriented via the
right-hand rule
In mathematics and physics, the right-hand rule is a Convention (norm), convention and a mnemonic, utilized to define the orientation (vector space), orientation of Cartesian coordinate system, axes in three-dimensional space and to determine the ...
.
The above formula means that the component of the curl of a vector field along a certain axis is the ''infinitesimal
area density
The area density (also known as areal density, surface density, superficial density, areic density, column density, or density thickness) of a two-dimensional object is calculated as the mass per unit area. The SI derived unit is the "kilogram p ...
'' of the circulation of the field in a plane perpendicular to that axis. This formula does not ''a priori'' define a legitimate vector field, for the individual circulation densities with respect to various axes ''a priori'' need not relate to each other in the same way as the components of a vector do; that they ''do'' indeed relate to each other in this precise manner must be proven separately.
To this definition fits naturally the
Kelvin–Stokes theorem
Stokes' theorem, also known as the Kelvin–Stokes theorem after Lord Kelvin and George Stokes, the fundamental theorem for curls, or simply the curl theorem, is a theorem in vector calculus on \R^3. Given a vector field, the theorem relates th ...
, as a global formula corresponding to the definition. It equates the
surface integral
In mathematics, particularly multivariable calculus, a surface integral is a generalization of multiple integrals to integration over surfaces. It can be thought of as the double integral analogue of the line integral. Given a surface, o ...
of the curl of a vector field to the above line integral taken around the boundary of the surface.
Another way one can define the curl vector of a function at a point is explicitly as the limiting value of a vector-valued surface integral around a shell enclosing divided by the volume enclosed, as the shell is contracted indefinitely around .
More specifically, the curl may be defined by the vector formula
where the surface integral is calculated along the boundary of the volume , being the magnitude of the volume, and
pointing outward from the surface perpendicularly at every point in .
In this formula, the cross product in the integrand measures the tangential component of at each point on the surface , and points along the surface at right angles to the ''tangential projection'' of . Integrating this cross product over the whole surface results in a vector whose magnitude measures the overall circulation of around , and whose direction is at right angles to this circulation. The above formula says that the ''curl'' of a vector field at a point is the ''infinitesimal volume density'' of this "circulation vector" around the point.
To this definition fits naturally another global formula (similar to the Kelvin-Stokes theorem) which equates the
volume integral
In mathematics (particularly multivariable calculus), a volume integral (∭) is an integral over a 3-dimensional domain; that is, it is a special case of multiple integrals. Volume integrals are especially important in physics for many applica ...
of the curl of a vector field to the above surface integral taken over the boundary of the volume.
Whereas the above two definitions of the curl are coordinate free, there is another "easy to memorize" definition of the curl in curvilinear
orthogonal coordinates
In mathematics
Mathematics is a field of study that discovers and organizes methods, Mathematical theory, theories and theorems that are developed and Mathematical proof, proved for the needs of empirical sciences and mathematics itself. ...
, e.g. in
Cartesian coordinates
In geometry, a Cartesian coordinate system (, ) in a plane is a coordinate system that specifies each point uniquely by a pair of real numbers called ''coordinates'', which are the signed distances to the point from two fixed perpendicular o ...
,
spherical
A sphere (from Ancient Greek, Greek , ) is a surface (mathematics), surface analogous to the circle, a curve. In solid geometry, a sphere is the Locus (mathematics), set of points that are all at the same distance from a given point in three ...
,
cylindrical
A cylinder () has traditionally been a Solid geometry, three-dimensional solid, one of the most basic of curvilinear geometric shapes. In elementary geometry, it is considered a Prism (geometry), prism with a circle as its base.
A cylinder may ...
, or even
elliptical or
parabolic coordinates
Parabolic coordinates are a two-dimensional orthogonal coordinate system in which the coordinate lines are confocal parabolas. A three-dimensional version of parabolic coordinates is obtained by rotating the two-dimensional system about the symm ...
:
The equation for each component can be obtained by exchanging each occurrence of a subscript 1, 2, 3 in cyclic permutation: 1 → 2, 2 → 3, and 3 → 1 (where the subscripts represent the relevant indices).
If are the
Cartesian coordinates
In geometry, a Cartesian coordinate system (, ) in a plane is a coordinate system that specifies each point uniquely by a pair of real numbers called ''coordinates'', which are the signed distances to the point from two fixed perpendicular o ...
and are the orthogonal coordinates, then
is the length of the coordinate vector corresponding to . The remaining two components of curl result from
cyclic permutation
In mathematics, and in particular in group theory, a cyclic permutation is a permutation consisting of a single cycle. In some cases, cyclic permutations are referred to as cycles; if a cyclic permutation has ''k'' elements, it may be called a ''k ...
of
indices: 3,1,2 → 1,2,3 → 2,3,1.
Usage
In practice, the two coordinate-free definitions described above are rarely used because in virtually all cases, the curl
operator can be applied using some set of
curvilinear coordinates
In geometry, curvilinear coordinates are a coordinate system for Euclidean space in which the coordinate lines may be curved. These coordinates may be derived from a set of Cartesian coordinates by using a transformation that is invertible, l ...
, for which simpler representations have been derived.
The notation
has its origins in the similarities to the 3-dimensional
cross product
In mathematics, the cross product or vector product (occasionally directed area product, to emphasize its geometric significance) is a binary operation on two vectors in a three-dimensional oriented Euclidean vector space (named here E), and ...
, and it is useful as a
mnemonic
A mnemonic device ( ), memory trick or memory device is any learning technique that aids information retention or retrieval in the human memory, often by associating the information with something that is easier to remember.
It makes use of e ...
in
Cartesian coordinates
In geometry, a Cartesian coordinate system (, ) in a plane is a coordinate system that specifies each point uniquely by a pair of real numbers called ''coordinates'', which are the signed distances to the point from two fixed perpendicular o ...
if
is taken as a vector
differential operator
In mathematics, a differential operator is an operator defined as a function of the differentiation operator. It is helpful, as a matter of notation first, to consider differentiation as an abstract operation that accepts a function and retur ...
del
Del, or nabla, is an operator used in mathematics (particularly in vector calculus) as a vector differential operator, usually represented by the nabla symbol ∇. When applied to a function defined on a one-dimensional domain, it denotes ...
. Such notation involving
operators
Operator may refer to:
Mathematics
* A symbol indicating a mathematical operation
* Logical operator or logical connective in mathematical logic
* Operator (mathematics), mapping that acts on elements of a space to produce elements of another ...
is common in
physics
Physics is the scientific study of matter, its Elementary particle, fundamental constituents, its motion and behavior through space and time, and the related entities of energy and force. "Physical science is that department of knowledge whi ...
and
algebra
Algebra is a branch of mathematics that deals with abstract systems, known as algebraic structures, and the manipulation of expressions within those systems. It is a generalization of arithmetic that introduces variables and algebraic ope ...
.
Expanded in 3-dimensional
Cartesian coordinates
In geometry, a Cartesian coordinate system (, ) in a plane is a coordinate system that specifies each point uniquely by a pair of real numbers called ''coordinates'', which are the signed distances to the point from two fixed perpendicular o ...
(see ''
Del in cylindrical and spherical coordinates
This is a list of some vector calculus formulae for working with common curvilinear coordinates, curvilinear coordinate systems.
Notes
* This article uses the standard notation ISO 80000-2, which supersedes ISO 31-11#Coordinate systems, ISO 31- ...
'' for
spherical
A sphere (from Ancient Greek, Greek , ) is a surface (mathematics), surface analogous to the circle, a curve. In solid geometry, a sphere is the Locus (mathematics), set of points that are all at the same distance from a given point in three ...
and
cylindrical
A cylinder () has traditionally been a Solid geometry, three-dimensional solid, one of the most basic of curvilinear geometric shapes. In elementary geometry, it is considered a Prism (geometry), prism with a circle as its base.
A cylinder may ...
coordinate representations),
is, for
composed of